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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..75bf903e41db148a96c3899d0c86aa7ee1ddcbc8
--- /dev/null
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+11,0.183333333,BASELINE,765,744,714,679,659,634,879,786.61177942,805.61177942,651.61177942,631,652,0.400979026935,-0.0153507236706,0.0798392892691,0.999999919227,0.000288919989058,-0.000277190366326,3.51663833529e-05,1793244503499792128
+12,0.200000000,BASELINE,765,744,714,679,659,634,879,786.035465407,805.035465407,651.035465407,631,652,0.400979297092,-0.0153528915757,0.0798396333043,0.9999999207,0.000285016049442,-0.000275933260062,3.50316615985e-05,1793244503516458752
+13,0.216666667,BASELINE,765,744,714.536165114,679.536165114,659,634,879,786.536165114,805,651,631,652,0.400978195714,-0.0153522395344,0.0798390718731,0.999999919724,0.000287086133245,-0.000277317860465,3.50501251432e-05,1793244503533125632
+14,0.233333333,BASELINE,765,744,714.888194928,679.888194928,659,634,879,787,805,651,631,652.111805072,0.400977409204,-0.0153515092882,0.0798386378145,0.999999918897,0.000288995956439,-0.00027831377489,3.50434463312e-05,1793244503549792256
+15,0.250000000,BASELINE,765,744,714.29392798,679.29392798,659,634,879,787,805,651,631,652.70607202,0.400978369509,-0.0153512395146,0.0798390096081,0.999999919436,0.000288523791161,-0.00027688492281,3.48849272113e-05,1793244503566458880
+16,0.266666667,BASELINE,765,744,714,679,659,634,879.280662613,787,805,651,631,652.719337387,0.400978025564,-0.0153509005121,0.0798387384641,0.9999999192,0.000288817042072,-0.000277435423893,3.48359261479e-05,1793244503583125248
+17,0.283333333,BASELINE,765,744,714,679,659,634,879.835996827,787,805,651,631,652.164003173,0.400976405208,-0.0153504937585,0.0798378381066,0.999999918204,0.000289859370659,-0.000279923027034,3.48941053828e-05,1793244503599791872
+18,0.300000000,BASELINE,765,744,714,679,659,634,879.578587843,787,805,651,631,652,0.400976484647,-0.0153502942575,0.0798379302957,0.999999918046,0.000290852508684,-0.000279449029222,3.49569748652e-05,1793244503616458752
+19,0.316666667,BASELINE,765,744.019067285,714,679,658.980932715,634.019067285,879,787,805,651,631,652,0.400977278262,-0.0153501812953,0.0798384441775,0.999999918251,0.000291730694615,-0.000277784897177,3.50207996713e-05,1793244503633125376
+20,0.333333333,BASELINE,765,744.605799169,714,679,658.394200831,634.605799169,879,787,805,651,631,652,0.400978125633,-0.0153500588434,0.0798391285215,0.999999918851,0.000289800319007,-0.000277640457263,3.50545457701e-05,1793244503649792256
+21,0.350000000,BASELINE,765,744.808962933,714,679,658.191037067,634.808962933,879.191037067,787,805,651,631,652,0.400978755717,-0.0153502191911,0.0798397124726,0.999999919327,0.000288392078321,-0.000277392535648,3.50702665196e-05,1793244503666458880
+22,0.366666667,BASELINE,765,744.226783994,714,679,658.773216006,634.226783994,879.773216006,787,805,651,631,652,0.400978940915,-0.0153509585615,0.0798400908727,0.999999919553,0.000288052891302,-0.000276932738797,3.50490809775e-05,1793244503683125504
+23,0.383333333,BASELINE,765,744,714,679.350259178,659,634,879.649740822,787,805.350259178,651.350259178,631,652.350259178,0.40097952581,-0.0153507282064,0.0798406438495,0.999999919549,0.000288957684958,-0.000276009643336,3.49992833751e-05,1793244503699792128
+24,0.400000000,BASELINE,765,744,714,679.924025178,659,634,879.075974822,787,805.924025178,651.924025178,631,652.924025178,0.400980365759,-0.0153498790518,0.0798413082269,0.999999919394,0.000290656285525,-0.000274790908466,3.49312278888e-05,1793244503716458752
+25,0.416666667,BASELINE,765,744,714,679.499053105,659,634,879,787,805.499053105,652,631,652.499053105,0.400979685722,-0.015350154273,0.079841018836,0.999999919285,0.000290340239219,-0.0002755180485,3.4955189633e-05,1793244503733125376
+26,0.433333333,BASELINE,765,744,714,679.080133698,658.919866302,634,879,787,805,651.919866302,631,652,0.400978956874,-0.0153505688568,0.0798406102139,0.999999919297,0.000289531118389,-0.000276325010623,3.49526240049e-05,1793244503749792000
+27,0.450000000,BASELINE,765,744,714,679.670680459,658.329319541,634,879,787,805,651.329319541,631,652,0.400979394756,-0.0153507780618,0.079840369343,0.99999992004,0.000287539870077,-0.000275748737429,3.46916381193e-05,1793244503766458880
+28,0.466666667,BASELINE,765,744.256073546,714,679.743926454,658.256073546,634.256073546,879,787,805,651,631,652.256073546,0.400979638509,-0.0153510713267,0.0798401859045,0.999999920191,0.000287211299196,-0.000275548265342,3.46460120186e-05,1793244503783125504
+29,0.483333333,BASELINE,765,744.834969548,714,679.165030452,658.834969548,634.834969548,879,787,805,651,631,652.834969548,0.400979637533,-0.0153514705627,0.0798400748689,0.999999919599,0.000288978804438,-0.000275821551861,3.48718820569e-05,1793244503799792128
+30,0.500000000,BASELINE,765,744.589159958,714,679,659,635,879.410840042,787,805,651,631,652.589159958,0.400978157228,-0.0153509896546,0.0798393142456,0.999999918968,0.000289504843825,-0.000277552957343,3.48688786591e-05,1793244503816458752
+31,0.516666667,BASELINE,765,744.014495912,714,679,659,635,879.985504088,787,805,651,631,652.014495912,0.400976087036,-0.0153501577857,0.0798382945968,0.999999918317,0.000289535844009,-0.000279865793211,3.4774611116e-05,1793244503833125376
+32,0.533333333,BASELINE,765,744,714,679,659,634.438628848,880,787,805,651,631,652,0.400979124075,-0.015350913556,0.0798403282051,0.999999919356,0.000289381990636,-0.000276267411922,3.49557595457e-05,1793244503849792256
+33,0.550000000,BASELINE,765,744,714,679.140895901,659,634,879.859104099,787,805,651,631,652,0.400980811072,-0.0153512458466,0.0798414704115,0.999999919912,0.000289413398168,-0.000274213202014,3.49764960932e-05,1793244503866458880
+34,0.566666667,BASELINE,765,744,714,679.732008779,659,634,879.267991221,787,805,651,631,652,0.400977761845,-0.0153500936743,0.0798395117708,0.999999918815,0.000290052071553,-0.000277582014421,3.44618804872e-05,1793244503883125760
+35,0.583333333,BASELINE,765,744,714,679.683114983,659,634.316885017,879,787,805,651,631,652.316885017,0.400977482375,-0.0153504079822,0.0798394009673,0.999999918918,0.000289723452558,-0.000277545707775,3.45266092823e-05,1793244503899792384
+36,0.600000000,BASELINE,765,744,714,679.103411239,659,634.896588761,879,787,805,651,631,652.896588761,0.400979500094,-0.0153519385624,0.0798408227265,0.999999920016,0.000288592578749,-0.000274685257061,3.5071835837e-05,1793244503916459008
+37,0.616666667,BASELINE,765,744,714,679,659,635,879,787,805,651,631,652.527935748,0.400978666706,-0.0153516263895,0.0798400536014,0.999999919245,0.000289796400317,-0.000276189540179,3.53072252665e-05,1793244503933125632
+38,0.633333333,BASELINE,765.047687078,744,714,679,659,634.952312922,879,787,805.047687078,651,631,652,0.400977418481,-0.0153509208976,0.0798389932659,0.999999918218,0.000291340393601,-0.000278260230262,3.54462442218e-05,1793244503949792000
+39,0.650000000,BASELINE,765.635374286,744,714,679,659,634.364625714,879,787,805.635374286,651,631,652,0.40097848242,-0.0153502921151,0.0798400218124,0.999999918947,0.000290996360828,-0.000276013699103,3.52557451844e-05,1793244503966458624
+40,0.666666667,BASELINE,765.779986862,744,714,678.779986862,659,634,879,787,805.779986862,651,631,652,0.400979193444,-0.0153499687432,0.0798407294361,0.999999919413,0.00029054153347,-0.000274824811031,3.50933553646e-05,1793244503983125248
+41,0.683333333,BASELINE,765.200331016,744,714,678.200331016,659,634,879,787,805.200331016,651,631,652,0.400979327576,-0.0153501446084,0.0798409124657,0.999999919453,0.000289905596658,-0.000275364790859,3.49769140629e-05,1793244503999791872
+42,0.700000000,BASELINE,765,744.378095427,714,678.378095427,659,634,879,787,805,651,631,652,0.400979118703,-0.015349815916,0.0798404195206,0.999999918999,0.000291175748269,-0.000275686661473,3.48676062837e-05,1793244504016458752
+43,0.716666667,BASELINE,765,744.955872572,714,678.955872572,659,634,879,787,805,651,631,652,0.40097872868,-0.015349220754,0.0798395695763,0.99999991828,0.000293452553208,-0.0002758933431,3.47620659008e-05,1793244504033125632
+44,0.733333333,BASELINE,765.52956698,744.47043302,714,679,658.47043302,634,879,787,805,651,631,652,0.400978935704,-0.01535087023,0.0798401750184,0.999999919053,0.00029079178951,-0.000275866434622,3.50942838362e-05,1793244504049792256
+45,0.750000000,BASELINE,765.893962016,744.106037984,714,679,658,634,879,787,805,651,631,652,0.400979323097,-0.0153521958085,0.0798407463314,0.999999919812,0.000288424900915,-0.000275569739169,3.53217392025e-05,1793244504066458880
+46,0.766666667,BASELINE,765.303257147,744.696742853,714,679,658,634,879,787,805,651,631,652,0.400980309248,-0.0153511925903,0.0798406115868,0.99999991998,0.000289267379094,-0.000274128216119,3.49049063983e-05,1793244504083125504
+47,0.783333333,BASELINE,765,745,714.281637779,679,658.281637779,634,879,787,805,651,631,652,0.400980662021,-0.0153508663388,0.0798407728954,0.999999920092,0.000289614871,-0.000273369837784,3.47646805512e-05,1793244504099792128
+48,0.800000000,BASELINE,765,745,714.86040329,679,658.86040329,634,879,787,805,651,631,652,0.400980346579,-0.0153512542868,0.0798412465399,0.999999920147,0.000289440152713,-0.000273332176641,3.49162748693e-05,1793244504116458752
+49,0.816666667,BASELINE,764.563134697,744.563134697,714.563134697,679,659,634,879,787,805,651,631,652,0.400980119771,-0.0153524649309,0.0798410400164,0.999999920937,0.000286476593808,-0.000273565587551,3.49014808036e-05,1793244504133125376
+50,0.833333333,BASELINE,764.012847101,744,714,679,659,634,879,786.987152899,805,651,631,652,0.400979906648,-0.0153538656236,0.0798406308034,0.999999921902,0.000282787150076,-0.000273885821968,3.4831886862e-05,1793244504149792000
+51,0.850000000,BASELINE,764.600096995,744,714,679,659,634,879,786.399903005,805,651,631,652,0.400979045738,-0.0153520713673,0.0798408257406,0.999999920819,0.000286277876753,-0.000274235521467,3.467686353e-05,1793244504166459392
+52,0.866666667,BASELINE,765,744,714,679,659,634,879.184636383,786.184636383,805,651,630.815363617,652,0.400978642442,-0.0153508254249,0.0798409497331,0.999999920189,0.000288332640328,-0.000274397462921,3.4541659678e-05,1793244504183126784
+53,0.883333333,BASELINE,765,744,714,679,659,634,879.763390001,786.763390001,805,651,630.236609999,652,0.40097921595,-0.0153507498913,0.0798409222899,0.999999920548,0.000287322255868,-0.000274158623749,3.44487616839e-05,1793244504199793152
+54,0.900000000,BASELINE,765,744,714,679,659,634.338946069,879.661053931,787,805,651,630.338946069,652,0.400979678497,-0.015351488301,0.0798410106628,0.999999920766,0.000286810612883,-0.000273865008353,3.47123326481e-05,1793244504216459520
+55,0.916666667,BASELINE,765,744,714,679,659,634.912290842,879.087709158,787,805,651,630.912290842,652,0.400980064309,-0.0153527895947,0.0798411791285,0.999999920887,0.000286643875416,-0.000273533512378,3.52224203032e-05,1793244504233125888
+56,0.933333333,BASELINE,765,744.487448278,714,679,659,635,879,787,805,651,631,652,0.400981100172,-0.0153522926514,0.0798421002517,0.999999921147,0.000286988726884,-0.000272209408604,3.52832605917e-05,1793244504249792768
+57,0.950000000,BASELINE,765,745,714,679,659,635,879,787,805,651,631,652.064937348,0.400981919238,-0.0153516230228,0.0798428837157,0.999999921338,0.000287384647853,-0.000271093659837,3.52321066768e-05,1793244504266459648
+58,0.966666667,BASELINE,765,745,714,679,659,635,879,787,805,651,631,652.6587495,0.40098001644,-0.0153521920625,0.0798414389206,0.999999920777,0.000287443985488,-0.000273134894534,3.49296413401e-05,1793244504283126528
+59,0.983333333,BASELINE,765,744.75381536,714,679,659,634.75381536,879,787,805,651.24618464,631,652.75381536,0.40097925562,-0.0153518890701,0.0798408328715,0.999999920227,0.000288581674547,-0.00027396089189,3.48204695734e-05,1793244504299793408
+60,1.000000000,BASELINE,765,744.174996484,714,679,659,634.174996484,879,787,805,651.825003516,631,652.174996484,0.400980037792,-0.0153504078252,0.0798413601003,0.999999919693,0.000291176386285,-0.000273144912419,3.49724678308e-05,1793244504316460288
+61,1.016666667,BASELINE,765,744,714,679,659,634,879.401359035,787,805,651.598640965,631,652,0.400980571229,-0.0153513570109,0.0798419178686,0.999999920342,0.000289652396933,-0.000272366173109,3.51273652686e-05,1793244504333126400
+62,1.033333333,BASELINE,765,744,714,679,659,634,879.976647023,787,805,651.023352977,631,652,0.400980996877,-0.015353359424,0.0798424888712,0.999999921497,0.000286343568149,-0.000271603571869,3.52835190567e-05,1793244504349792256
+63,1.050000000,BASELINE,765,744,714,679,659,634,879.44795594,787,805,651,631,652,0.400980632816,-0.0153527777342,0.0798420420927,0.999999920952,0.000287808421834,-0.000272064587144,3.52668901561e-05,1793244504366459136
+64,1.066666667,BASELINE,765,744,714,679,659,634,879,787,805,651.131182935,631,652,0.40098009724,-0.0153520822542,0.0798414540274,0.99999992028,0.000289425996693,-0.000272826299723,3.52000656697e-05,1793244504383125760
+65,1.083333333,BASELINE,765,744,714,679,659,634,879,787,805,651.723457666,631,652,0.400979076257,-0.0153513711191,0.0798405207192,0.99999991942,0.000290870433666,-0.000274462951965,3.49825058525e-05,1793244504399792384
+66,1.100000000,BASELINE,765,744,714,679,659,634,879,787,805,651.692115564,631,652,0.400978902137,-0.0153511828997,0.0798406071004,0.999999919541,0.000290375603395,-0.000274582731668,3.4703171283e-05,1793244504416459264
+67,1.116666667,BASELINE,765,744,714,679,659,634,879,787,805,651.114562663,631,652,0.400979469764,-0.0153514526895,0.0798415866027,0.999999920518,0.000288182216182,-0.000273373919637,3.43697297266e-05,1793244504433126656
+68,1.133333333,BASELINE,764.538641151,744,714,679,658.538641151,634.461358849,879.461358849,787,805,651,631,652,0.400979705634,-0.0153524442654,0.0798420869174,0.99999992136,0.000286244250909,-0.000272295056306,3.46410327185e-05,1793244504449793280
+69,1.150000000,BASELINE,764.036871799,744,714,679,658.036871799,634.963128201,879.926256403,787,805.036871799,651,631,652,0.400979934352,-0.0153534811064,0.0798424692677,0.999999922103,0.000284544181326,-0.000271295594209,3.50250850435e-05,1793244504466459904
+70,1.166666667,BASELINE,764.612312664,744,714,679,658.612312664,634.387687336,878.775374672,787,805.612312664,651,631,652,0.400981257671,-0.0153525703967,0.0798428604714,0.99999992195,0.000285395785499,-0.000270986242593,3.48703147375e-05,1793244504483126528
+71,1.183333333,BASELINE,765,744,714,679,659.192986923,634.192986923,878.192986923,786.807013077,805.807013077,651,631,652,0.400981730923,-0.0153518631632,0.0798427215346,0.999999921673,0.0002860482301,-0.000271342659757,3.4685041922e-05,1793244504499793152
+72,1.200000000,BASELINE,765,744,714,679,659.784467586,634.784467586,878.784467586,786.215532414,805.215532414,651,631,652,0.400980448897,-0.0153515760823,0.0798414879245,0.999999921142,0.000286289435372,-0.000273073805722,3.44367852297e-05,1793244504516460032
+73,1.216666667,BASELINE,765,744.366789571,714,679,659.633210429,634.633210429,879,786.366789571,805.366789571,651,631,652,0.400980197213,-0.0153514865147,0.0798416826146,0.999999921048,0.000286877243321,-0.000272800256962,3.44160736886e-05,1793244504533126656
+74,1.233333333,BASELINE,765,744.943860821,714,679,659.056139179,634.056139179,879,786.943860821,805.943860821,651,631,652,0.400980536227,-0.0153515101821,0.0798426961541,0.999999921206,0.000287663759721,-0.000271377409959,3.4525814553e-05,1793244504549793280
+75,1.250000000,BASELINE,764.480009285,745,714,679,659.519990715,634,879,787,805.480009285,651,631,652,0.400978593169,-0.0153518664323,0.0798409303729,0.999999920151,0.000288442279928,-0.000274387104719,3.47934472238e-05,1793244504566459648
+76,1.266666667,BASELINE,764.097771783,744.902228217,714,679,659.902228217,634.097771783,879,787,805,651.097771783,631,652,0.400976973874,-0.0153521404216,0.0798393624571,0.999999919385,0.000288693278455,-0.00027688582086,3.49486950051e-05,1793244504583125760
+77,1.283333333,BASELINE,764.684314361,744.315685639,714,679,659.315685639,634.684314361,879,787,805,651.684314361,631,652,0.400978202538,-0.0153518240062,0.0798402810131,0.99999992076,0.000286311451858,-0.00027444213086,3.4457057494e-05,1793244504599792384
+78,1.300000000,BASELINE,765,744,714,679,659,634.731284121,879.268715879,787,805.268715879,652,631,652,0.400979654955,-0.0153518761739,0.079841343467,0.999999921366,0.000286017766045,-0.000272526328773,3.45073375678e-05,1793244504616459008
+79,1.316666667,BASELINE,765,744,714,679,659,634.149378063,879.850621937,787,805.850621937,652,631,652,0.400981368158,-0.0153523579277,0.0798425736348,0.999999921082,0.000288157822636,-0.000271225783802,3.51892262943e-05,1793244504633125632
+80,1.333333333,BASELINE,765,744,714,679.427215094,659.427215094,634,879.572784906,787,805.572784906,652,631,652,0.400981031969,-0.0153524449229,0.0798423004459,0.99999992125,0.000287040046747,-0.000271788477307,3.5209057932e-05,1793244504649792256
+81,1.350000000,BASELINE,765,744.001967193,714,679.998032807,659.998032807,634.001967193,879,787,805.001967193,652,631,652.001967193,0.400979989066,-0.0153523919321,0.079841511508,0.999999921566,0.000284812510854,-0.000272991339479,3.4999934583e-05,1793244504666458880
+82,1.366666667,BASELINE,765,744.574908176,714,679.425091824,659.425091824,634.574908176,879,787,805.574908176,652,631,652.574908176,0.400979255163,-0.0153512789404,0.0798417242255,0.999999920873,0.000287045121972,-0.00027323048767,3.47018112584e-05,1793244504683126016
+83,1.383333333,BASELINE,765,745,714,679,659,635,879,787,805.846707338,652,631,652.846707338,0.400978581001,-0.0153507200114,0.0798416648424,0.999999920302,0.000288630581345,-0.000273672780301,3.45208911652e-05,1793244504699793408
+84,1.400000000,BASELINE,765,745,714,679,659,635,879,787,805.252671708,652,631,652.252671708,0.40097807861,-0.0153517541085,0.0798408231234,0.999999920095,0.000288355367819,-0.000274699148461,3.46769506054e-05,1793244504716460288
+85,1.416666667,BASELINE,765,744.669110203,714.330889797,679,659,634.669110203,879,787,805.330889797,652,630.669110203,652.330889797,0.400978134335,-0.0153526822125,0.0798407610207,0.999999920437,0.000287168175879,-0.000274688123571,3.47396566325e-05,1793244504733127168
+86,1.433333333,BASELINE,765,744.093301501,714.906698499,679,659,634.093301501,879,787,805.906698499,652,630.093301501,652.906698499,0.400978603168,-0.0153535318621,0.0798412759765,0.999999921184,0.000285305953304,-0.00027390923822,3.47332640681e-05,1793244504749794304
+87,1.450000000,BASELINE,765,744,714.517159703,679,659,634.482840297,879,787,805.517159703,651.517159703,630.482840297,653,0.400979247941,-0.0153542808466,0.079841420806,0.999999921611,0.000284237973169,-0.000273423898363,3.5013639017e-05,1793244504766460672
+88,1.466666667,BASELINE,765,744,714,679,659,634.939406868,879.060593132,787,805,651,631,652.939406868,0.400979859217,-0.015354754176,0.0798414860211,0.999999921882,0.00028360491846,-0.000273055485749,3.5271654982e-05,1793244504783126784
+89,1.483333333,BASELINE,765,744,714,679,659,634.348107862,879.651892138,787,805,651,631,652.348107862,0.400979879146,-0.0153529836643,0.0798414807839,0.999999921333,0.000285436021878,-0.000273214028419,3.48481649844e-05,1793244504799792640
+90,1.500000000,BASELINE,765,744.235646827,714,679.235646827,659,634,879.764353173,786.764353173,805,651,631,652,0.400980290228,-0.0153518323239,0.079841786449,0.999999920978,0.000287008313595,-0.000272882554211,3.47061716378e-05,1793244504816459264
+91,1.516666667,BASELINE,765,744.808602405,714,679.808602405,659,634,879.191397595,786.191397595,805,651,631,652,0.400981261212,-0.0153515672756,0.0798425371445,0.999999920905,0.000288210137824,-0.000271849661758,3.4967117272e-05,1793244504833126912
+92,1.533333333,BASELINE,765,745,714.386973003,680,659,634,879,786.386973003,805,651.386973003,631,652.386973003,0.400981305191,-0.0153514978877,0.0798426397731,0.999999920974,0.000288215539597,-0.000271600765926,3.48784699446e-05,1793244504849793792
+93,1.550000000,BASELINE,765,745,714.968059941,680,659,634,879,786.968059941,805,651.968059941,631,652.968059941,0.400980884164,-0.0153515266473,0.0798424173176,0.999999921115,0.000287620790383,-0.000271745139477,3.46144593329e-05,1793244504866460672
+94,1.566666667,BASELINE,764.456565197,745,714.456565197,680,659,634.543434803,879,787,805,651.456565197,631,653,0.400978560833,-0.0153520745161,0.0798404693611,0.999999920303,0.000287528598395,-0.000274815310693,3.45994420355e-05,1793244504883126784
+95,1.583333333,BASELINE,764.243904982,744.878047509,714,679.878047509,659,634.878047509,879,787,805.121952491,651,630.878047509,652.878047509,0.400976824045,-0.015352401195,0.0798391190645,0.99999991971,0.000287490317238,-0.000277012899379,3.4548208226e-05,1793244504899792640
+96,1.600000000,BASELINE,765.427723696,744.286138152,714,679.286138152,659,634.286138152,879,787,805.713861848,651,630.286138152,652.286138152,0.400977773944,-0.0153517591435,0.0798404586625,0.999999920205,0.000287547145259,-0.000275192118681,3.43016015076e-05,1793244504916459008
+97,1.616666667,BASELINE,765.704040097,744,714,679,659.295959903,634,879,787,805.704040097,651,630.295959903,652,0.400978793379,-0.0153517284025,0.0798416099802,0.999999920659,0.000287694678645,-0.000273376395649,3.43342235268e-05,1793244504933125888
+98,1.633333333,BASELINE,765.131123413,744,714,679,659.868876587,634,879,787,805.131123413,651,630.868876587,652,0.400979877885,-0.0153522697208,0.0798425851066,0.999999921076,0.000287927093346,-0.000271565405649,3.46281454598e-05,1793244504949792512
+99,1.650000000,BASELINE,765,744,714,679.44440859,659.55559141,634,879,787,805.44440859,651,631,652.44440859,0.400979358637,-0.0153528695617,0.0798421852541,0.999999921009,0.00028746436057,-0.000272292492473,3.46875871284e-05,1793244504966459136
+100,1.666666667,BASELINE,765,744.021210438,714.021210438,679.978789562,659,634.021210438,879,787,806,651,631,652.978789562,0.400978411365,-0.0153534385186,0.0798413977559,0.999999920807,0.000286811866984,-0.00027371897231,3.4676412729e-05,1793244504983125760
+101,1.683333333,BASELINE,765,744.611250697,714.611250697,679.388749303,659,634.611250697,879,787,806,651,631,652.388749303,0.400978750546,-0.0153527134005,0.0798411585733,0.999999920874,0.000286603422799,-0.000273699849861,3.46378093756e-05,1793244504999792640
+102,1.700000000,BASELINE,765,744.802529758,714.802529758,679,659,635,879,787,805.802529758,651.197470242,631,652,0.400978786741,-0.0153522352059,0.0798409102823,0.999999920723,0.000286994023675,-0.000273846194325,3.45855733341e-05,1793244505016459264
+103,1.716666667,BASELINE,765,744.223689151,714.223689151,679,659,635,879,787,805.223689151,651.776310849,631,652,0.400978237786,-0.0153522338898,0.0798406444005,0.999999920153,0.00028854154843,-0.000274312101762,3.45070087566e-05,1793244505033125888
+104,1.733333333,BASELINE,764.646951004,744.353048996,714,679,659,634.646951004,879,787,805.353048996,652,631,652,0.400978779528,-0.015352689688,0.0798409170272,0.99999992056,0.000287641684826,-0.000273771679216,3.4516762829e-05,1793244505049792512
+105,1.750000000,BASELINE,764.071537019,744.928462981,714,679,659,634.071537019,879,787,805.928462981,652,631,652,0.400980008236,-0.0153534333958,0.079841528829,0.999999921578,0.000285200354057,-0.000272597428098,3.45821436648e-05,1793244505066459136
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,880,787,805,651,631,652,0.400979808589,-0.0153537545285,0.0798425674252,0.99999992245,0.000282686798493,-0.000271996388213,3.47304519971e-05,1793244505097610752
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744.594424467,714,679.594424467,659,634.405575533,880,787,805,651.594424467,631,652,0.400979986047,-0.0153531068269,0.0798419746389,0.999999921734,0.000284852244452,-0.000272388002296,3.45721742665e-05,1793244505114277632
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.816351111,714,679.816351111,659,634.183648889,879.816351111,787,805,652,631,652,0.40098008024,-0.0153525289316,0.0798417399702,0.999999921329,0.000286180346178,-0.000272494945124,3.44937600687e-05,1793244505130944256
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.238294298,714,679.238294298,659,634.761705702,879.238294298,787,805,652,631,652,0.400979995613,-0.0153521009537,0.0798422744013,0.999999921597,0.000285710151557,-0.000271990522506,3.45868623172e-05,1793244505147610880
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,714.337573376,679.337573376,659,634.662426624,879,787,805,652,631,652,0.400979940489,-0.0153520349767,0.0798422746804,0.99999992136,0.000286576613578,-0.00027192611899,3.47821194513e-05,1793244505164277504
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,714.91190565,679.91190565,659,634.08809435,879,787,805,652,631,652,0.400979906056,-0.0153522228911,0.079841900329,0.999999920766,0.000288380546929,-0.000272170325261,3.50490234565e-05,1793244505180944128
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.499281733,714.500718267,679.500718267,659,634.499281733,879,787,805,652,631,652.499281733,0.400979663584,-0.0153532726246,0.079841677295,0.999999921461,0.000285744249322,-0.000272439092385,3.47265121097e-05,1793244505197611008
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.912859804,879,787,805,652,631,652.912859804,0.40097942998,-0.0153539447229,0.079841497808,0.999999922032,0.000283495865825,-0.000272733245802,3.43760946703e-05,1793244505214277632
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.33558052,879,787,805,652,631,652.33558052,0.400979458261,-0.0153516144831,0.079841409059,0.999999920643,0.000287954254747,-0.000273145160999,3.44693633038e-05,1793244505230944512
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,805.241671795,652,631.241671795,652.241671795,0.400982706205,-0.0153509150275,0.0798432194391,0.999999921008,0.000289020772042,-0.000270651903881,3.46146408097e-05,1793244505247611392
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,805.818886616,652,631.818886616,652.818886616,0.400990424407,-0.0153524797927,0.0798476666164,0.999999923792,0.000285377931487,-0.000264125034468,3.48321286972e-05,1793244505264277760
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.395238141,634.395238141,879,787,805.604761859,651.604761859,631.604761859,652.604761859,0.401011133625,-0.0153536635681,0.0798565007183,0.999999927978,0.000284716142956,-0.000248444377917,3.5448962116e-05,1793244505280944384
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.971194982,634.971194982,879,787,805.028805018,651.028805018,631.028805018,652.028805018,0.401037782855,-0.0153546731398,0.079867340698,0.999999932487,0.00028541741034,-0.000228578242796,3.62483923061e-05,1793244505297611520
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.438923422,714,679,659.438923422,634.438923422,879,787,805.561076578,651,631,652,0.40108879745,-0.0153560701878,0.0798854188377,0.999999939304,0.000286653966784,-0.000194493681689,3.73369635115e-05,1793244505314277888
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.148742924,714,679.148742924,659,634.148742924,879,787,805.851257076,651,631,652.148742924,0.401145878266,-0.0153581156878,0.0799034731626,0.999999945072,0.000287270996723,-0.000160864828743,3.81187186373e-05,1793244505330944512
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.727878337,714,679.727878337,659,634.727878337,879,787,805.272121663,651,631,652.727878337,0.401216800298,-0.0153619784808,0.0799203559854,0.999999949833,0.000286013866363,-0.000130720483434,3.79686466264e-05,1793244505347611392
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.6939291,714.3060709,680,659,635,879.3060709,787,805,651.3060709,631,653,0.401291672648,-0.0153660271174,0.0799327736847,0.999999952715,0.000284146697274,-0.000111541300898,3.72778121699e-05,1793244505364278016
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.116572264,714.883427736,680,659,635,879.883427736,787,805,651.883427736,631,653,0.401370046359,-0.0153702404765,0.0799412337206,0.999999954449,0.000281738820596,-0.00010208109198,3.61076729619e-05,1793244505380944640
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.465932933,714.534067067,679.534067067,659,634.534067067,879.534067067,787,805.465932933,651.534067067,631,653,0.401460363707,-0.0153720560839,0.079943721888,0.99999995513,0.000281466792186,-9.70016286294e-05,3.32781340344e-05,1793244505397611264
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.950542322,714.049457678,679,659,634,879,787,805.950542322,651,631,652.950542322,0.401555920733,-0.0153735496726,0.079944837228,0.999999955648,0.000281354936499,-9.29616133765e-05,3.00102612098e-05,1793244505414277888
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.370055216,714.629944784,679,659,634,879,787,805.370055216,651,631,652.370055216,0.401675293598,-0.0153780988106,0.0799474340081,0.99999995735,0.000277161199004,-8.81826603899e-05,2.65434497601e-05,1793244505430945024
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714.790396,679.209604,659,634,879,787,805,651,631,652,0.401804866652,-0.0153835694209,0.0799511900003,0.999999959343,0.000272381121702,-8.12293282308e-05,2.29013888431e-05,1793244505447611904
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,714.212192732,679.787807268,659,634,879,787,805,651,631,652,0.401952377245,-0.0153906604862,0.0799569845256,0.999999961809,0.000266569936534,-7.04522404815e-05,1.89511432116e-05,1793244505464278272
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,714,679.63600041,659,634,879,787.36399959,805,651,631,652.36399959,0.402115444181,-0.0153966569371,0.0799597972169,0.999999964147,0.000259314538221,-6.53462551839e-05,1.38172341493e-05,1793244505480944896
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+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,679.691239254,659,634,879,787,805,651,631,652,0.402907358323,-0.0154193326097,0.0799472447471,0.999999987402,0.000130300479632,-8.93564808643e-05,-1.52741442162e-05,1793244505547610624
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,679.73144428,659,634,879.26855572,787,805,651,631,652,0.403160518918,-0.0154275968066,0.0799474812264,0.999999992619,8.0805864855e-05,-8.77937911099e-05,-2.2896920769e-05,1793244505564277504
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,714,679.155502819,659,634,879.844497181,787,805,651,631,652,0.403438925461,-0.015438197915,0.07995074051,0.999999993644,7.46166322335e-05,-7.90347262577e-05,-2.9971974725e-05,1793244505580944128
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,714,679.420611366,659,634,879.579388634,787,805,651.420611366,631,652,0.40374896123,-0.015448618037,0.0799549250247,0.999999992418,9.58859300378e-05,-7.34009076497e-05,-2.41086754131e-05,1793244505597610752
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,714,679.996789421,659,634,879.003210579,787,805,651.996789421,631,652,0.404070695333,-0.0154589712194,0.0799594517439,0.99999998943,0.000127310998762,-6.89229880554e-05,-1.3460015991e-05,1793244505614277632
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.566166474,714,680,659,634,879,787,805,652,631,652,0.404435264995,-0.0154605582341,0.0799589100491,0.999999992334,0.000103412560525,-6.48474786904e-05,-2.08000121554e-05,1793244505630944000
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.857045266,714,679.857045266,659,634,879,787,805,651.857045266,631,652.142954734,0.404806548824,-0.0154638727432,0.0799570238084,0.999999994356,8.06862306677e-05,-6.34840163172e-05,-2.73283747778e-05,1793244505647610880
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.256407424,714,679.256407424,659,634,879,787,805,651.256407424,631,652.743592576,0.405198560153,-0.015472875253,0.0799509238038,0.999999995049,6.27050191414e-05,-7.07962106604e-05,-3.09354999274e-05,1793244505664277504
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.329549939,714,679,659,634,879,787,805,651,631,652.670450061,0.405611557343,-0.0154787115217,0.0799453171211,0.999999994897,5.25183997727e-05,-7.93563854832e-05,-3.39190358593e-05,1793244505680944128
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.904572294,714,679,659,634,879,787,805,651,631,652.095427706,0.406040186347,-0.0154821893481,0.0799400778993,0.999999994231,4.81377494368e-05,-8.88461463882e-05,-3.6438078228e-05,1793244505697611008
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.490547607,679.490547607,659,634,879.490547607,787,805,651.490547607,631,652,0.406504611442,-0.0154714494449,0.0799339993488,0.999999992285,6.53156048748e-05,-9.95582075372e-05,-3.53950921288e-05,1793244505714278144
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.922546851,679.922546851,659,634,879.922546851,787,805.077453149,651.922546851,631,652,0.406980482493,-0.0154610240079,0.079928622572,0.999999990047,8.2402689922e-05,-0.000109362106594,-3.40039969112e-05,1793244505730945536
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.34372697,679.34372697,659,634,879.34372697,787,805.65627303,651.34372697,631,652,0.407484339833,-0.0154709466223,0.0799288695442,0.999999990619,7.11348112104e-05,-0.0001117130057,-3.49474348945e-05,1793244505747612160
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.765490646,714,679,659,634.234509354,879,787,805.765490646,651,631,652.234509354,0.408005568003,-0.0154857208251,0.0799257219026,0.999999991124,5.06801917866e-05,-0.000118003451465,-3.54805855606e-05,1793244505764279296
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.188107569,714,679,659,634.811892431,879,787,805.188107569,651,631,652.811892431,0.408552193853,-0.0155075884852,0.0799176110308,0.999999990775,1.67937335625e-05,-0.000130053867794,-3.54138592618e-05,1793244505780946432
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.387748239,714,679,659,634.612251761,879,786.612251761,805.387748239,651,631,652.612251761,0.409153578277,-0.0155192103461,0.0799322218529,0.999999993719,1.63484350071e-07,-0.000106380171404,-3.52996199823e-05,1793244505797612800
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.962866015,714,679,659,634.037133985,879,786.037133985,805.962866015,651,631,652.037133985,0.409781423383,-0.015525881183,0.0799578123596,0.999999997207,-8.12813696245e-06,-6.54436998848e-05,-3.51624212206e-05,1793244505814278656
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.551694422,745,714,679.551694422,659.551694422,634,879,786.551694422,805.448305578,651.551694422,631,652.551694422,0.41045498546,-0.0155250009382,0.0799866899189,0.999999999254,-1.19865397273e-06,-2.01654412251e-05,-3.2915045136e-05,1793244505830945280
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.866280968,745,714,680,659.866280968,634,879,787,805,651.866280968,631,652.866280968,0.411121692624,-0.0155219763642,0.0800023413414,0.999999999464,5.22603969012e-06,2.91969478414e-06,-3.21903813441e-05,1793244505847612160
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.308816177,745,714,680,659.308816177,634,879,787,805,651.308816177,631,652.308816177,0.411756677124,-0.0155138082412,0.0799753611179,0.999999998277,6.72173219718e-06,-4.52732414129e-05,-3.67526468518e-05,1793244505864278528
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.266642271,680,659,634,879,787,805,651,631,652,0.412411369444,-0.0155093766712,0.0799469338544,0.999999995312,4.83405810336e-06,-8.73334242526e-05,-4.154900201e-05,1793244505880944896
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.864448533,680,659,634,879,787,805,651,631,652,0.41309053854,-0.0155095858188,0.0799167093948,0.999999991497,-1.25568463199e-06,-0.000121776865314,-4.66360921632e-05,1793244505897611264
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.553915519,680,659.446084481,634,879,787,805,651,631,652,0.413823197596,-0.0155152114213,0.0799186480514,0.999999992691,-6.71847255099e-06,-0.000111044107485,-4.73577487126e-05,1793244505914277376
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.976462364,714,680,659.976462364,634,879,786.976462364,805.023537636,651,630.976462364,652,0.41457336024,-0.0155221991687,0.0799305422887,0.999999995086,-1.20059295673e-05,-8.65871822553e-05,-4.67504748246e-05,1793244505930944000
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.385533647,714,680,659.385533647,634,879,786.385533647,805.614466353,651,630.385533647,652,0.415367353165,-0.015523734821,0.0799550697938,0.999999997554,-1.74987064885e-05,-5.06387610529e-05,-4.49665555096e-05,1793244505947610880
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659.200785771,634,879,786.200785771,805.799214229,651,630.200785771,652.200785771,0.416149092312,-0.0155226345788,0.079965021523,0.999999998065,-1.85490784435e-05,-3.93049407696e-05,-4.44984158652e-05,1793244505964277504
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659.778453341,634,879,786.778453341,805.221546659,651,630.778453341,652.778453341,0.416907830648,-0.0155165866719,0.0799476140176,0.999999996105,-1.12609031722e-05,-7.41735752478e-05,-4.65000400793e-05,1793244505980943872
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659.646092207,634,879.353907793,787,805,651,631,652.646092207,0.417733872785,-0.0155166329867,0.0799567805458,0.999999997503,-8.88544793442e-06,-5.23188112259e-05,-4.66653606113e-05,1793244505997610752
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659.072014581,634,879.927985419,787,805,651,631,652.072014581,0.418601785309,-0.0155204705824,0.079982479066,0.999999998899,-9.5662487711e-06,4.82418876273e-06,-4.5688296756e-05,1793244506014277376
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.516016097,714,680.516016097,659.516016097,634,879.483983903,787,805,651,631,652,0.419431475001,-0.015523886878,0.0799873172598,0.99999999861,-1.73005145918e-05,1.59102309916e-05,-4.71994474735e-05,1793244506030944000
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.895851665,745,714,680.895851665,660,634,879.104148335,787,805.104148335,651,631,652,0.420262583856,-0.0155269841035,0.0799856336602,0.999999998372,-2.53781047377e-05,1.38731313318e-05,-4.91823170175e-05,1793244506047610624
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.316390062,745,714,680.316390062,660,634,879.683609938,787,805.683609938,651,631,652,0.421125190709,-0.0155289009442,0.0799678414343,0.999999998042,-3.04052145638e-05,-1.79056611765e-05,-5.16891842938e-05,1793244506064277248
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.261582616,744.738417384,714,680,660,634,880,787,806,651,631,652,0.422003004127,-0.0155295039791,0.0799691416544,0.999999998049,-3.06235432451e-05,-1.75903391368e-05,-5.15188293599e-05,1793244506080943872
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.837764675,744.162235325,714,680,660,634,880,787,806,651,631,652,0.422899106248,-0.0155285269301,0.0799934039211,0.999999998301,-2.50584612486e-05,2.13238378222e-05,-4.81286406961e-05,1793244506097610496
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.42115826,714,680,660,634,880,787,806,651,631,652,0.42375365039,-0.0155275488633,0.079998293112,0.999999998534,-1.65813322635e-05,2.0786137147e-05,-4.71726398558e-05,1793244506114277120
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680.007290497,660,634,879.992709503,786.992709503,806,651,631,652,0.424592145751,-0.0155265923518,0.0799950570904,0.99999999885,-7.16359924557e-06,4.01769062752e-06,-4.72404181448e-05,1793244506130943488
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.586544081,660,634,879.413455919,786.413455919,806,651,631,652,0.425449376108,-0.0155273582144,0.0799500482727,0.999999995848,-1.34909704777e-05,-7.30531271723e-05,-5.27814439673e-05,1793244506147610368
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.165373114,786,806,651,631,652,0.426328941365,-0.0155286613104,0.0799176592953,0.999999990654,-2.00422177333e-05,-0.000122701456612,-5.68708874162e-05,1793244506164277248
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.743143395,786,806,651,631,652,0.427264203948,-0.0155313041252,0.0799167408921,0.999999992583,-2.71517528554e-05,-0.000103965289715,-5.73404655297e-05,1793244506180943872
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.681081765,744.681081765,714,681,660,634,880,786.318918235,805.681081765,651,631,652.318918235,0.428167756604,-0.0155317905726,0.0799211700456,0.999999993218,-2.90909649582e-05,-9.74725113856e-05,-5.67088946689e-05,1793244506197610240
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.106904085,744.106904085,714,681,660,634,880,786.893095915,805.106904085,651,631,652.893095915,0.429045928859,-0.0155305510817,0.079929879338,0.999999993037,-2.68918941358e-05,-0.000100779238103,-5.519597352e-05,1793244506214276864
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.480038879,744.480038879,714,681,660,634,880,787,805.480038879,651,631,652.519961121,0.429963262889,-0.015533934486,0.0799684240994,0.999999997114,-3.01584313898e-05,-4.5146637953e-05,-5.31425381628e-05,1793244506230943744
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.931508417,745,714,681,660.068491583,634,880,787,805.931508417,651,631,652,0.430887172427,-0.0155382404257,0.0800107922947,0.999999997928,-3.42997214633e-05,1.92127727198e-05,-5.09813513863e-05,1793244506247610368
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.353549626,745,714,681,660.646450374,634,880,787,805.353549626,651,631,652,0.431793348141,-0.0155415414159,0.080030827414,0.999999997006,-3.56465297621e-05,4.81841157114e-05,-4.89385036084e-05,1793244506264276992
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.224271147,745,714,681,660.775728853,634,880,786.775728853,805.224271147,651,631,652.224271147,0.432665139686,-0.0155414816718,0.0800166238077,0.999999997759,-3.67259079169e-05,2.56313388577e-05,-4.97589984135e-05,1793244506280943872
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.801874568,745,714,681,660.198125432,634,880,786.198125432,805.801874568,651,631,652.801874568,0.433482760171,-0.0155361271949,0.0799484781486,0.999999994734,-3.73839581031e-05,-7.80960952872e-05,-5.50906005054e-05,1793244506297610496
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681.37813567,660.37813567,634,880.37813567,786.37813567,806,651,631,652.62186433,0.43433223271,-0.0155360035234,0.0799202374377,0.999999990978,-4.0651151206e-05,-0.000113791866692,-5.86742746374e-05,1793244506314277120
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681.953695912,660.953695912,634,880.953695912,786.953695912,806,651,631,652.046304088,0.435198335153,-0.0155386108549,0.0799128310981,0.999999990599,-4.52805775109e-05,-0.000113968312066,-6.13453557555e-05,1793244506330943744
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681.457469148,660.457469148,634.542530852,880.457469148,787,806,651,631,652,0.436036999896,-0.0155432737312,0.079944669161,0.999999994075,-5.19287962074e-05,-7.54149602698e-05,-5.88714273655e-05,1793244506347610624
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.129947735,634.870052265,880,787,805.870052265,651,630.870052265,652,0.436875345033,-0.0155485353227,0.0799762334592,0.999999996017,-5.86594189391e-05,-3.69928562918e-05,-5.61843952507e-05,1793244506364277248
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.708460626,634.291539374,880,787,805.291539374,651,630.291539374,652,0.43772087314,-0.0155552428338,0.0799950008513,0.999999996351,-6.50648112847e-05,-1.07202949588e-05,-5.43155578146e-05,1793244506380943872
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.285267769,745,714,681.285267769,660.714732231,634,880,787,805.285267769,651,630.285267769,652,0.438537492978,-0.0155612063002,0.0799954609824,0.999999995779,-7.24794661647e-05,-1.26789629012e-05,-5.50348974072e-05,1793244506397611008
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.860341987,745,714,681.860341987,660.139658013,634,880,787,805.860341987,651,630.860341987,652,0.439324744558,-0.0155664138834,0.0799773225784,0.999999994083,-8.09194407906e-05,-4.33180276004e-05,-5.83835926717e-05,1793244506414278656
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.565419843,745,714,682,660,634,880,787,806,651,630.565419843,652.434580157,0.440011622988,-0.0155689186349,0.0799083900726,0.999999982803,-9.23562244495e-05,-0.000147442788264,-6.42216850078e-05,1793244506430945024
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.008832524,714,682,660,634,880.008832524,786.991167476,806,651,630.008832524,652.991167476,0.440666056707,-0.0155705481144,0.0798233059094,0.999999954235,-0.000104611778459,-0.000274888739755,-7.08672014411e-05,1793244506447611136
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.601753854,714,682,660,634,880.601753854,786.398246146,806,651,630.601753854,652.398246146,0.441303926718,-0.015571625439,0.0797475033393,0.999999916732,-0.00010744761434,-0.000385864425781,-7.8105255243e-05,1793244506464278272
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.810000426,714,681.810000426,660,634,880.810000426,786,806,651,631,652,0.441979581773,-0.0155755756279,0.0797101792099,0.999999893991,-0.000116409889073,-0.0004379212022,-8.1806461925e-05,1793244506480945152
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.231319476,714,681.231319476,660,634,880.231319476,786,806,651,631,652,0.442732533661,-0.0155854028239,0.0797515702605,0.999999919182,-0.000137904997919,-0.000369447825521,-7.82723571569e-05,1793244506497612032
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.655862869,745,714,681.344137131,659.655862869,633.655862869,880.344137131,785.655862869,806.344137131,651,631,652,0.443455183188,-0.0155974675199,0.079793781222,0.999999938612,-0.000147770369566,-0.000308967686871,-7.40240199457e-05,1793244506514278656
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.082553492,745,714,681.917446508,659.082553492,633.082553492,880.917446508,785.082553492,806.917446508,651,631,652,0.444157653331,-0.01561102224,0.0798365381868,0.999999954155,-0.000149891115019,-0.000253810512751,-6.93000520503e-05,1793244506530945280
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_08/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..737a329b4c63eee7f45af87587b951bfe49d7164
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
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+394,6.566666667,pose2_to_pose3_retreat,0.575671095376,-0.0101223115438,1.07005088251,0.546242731717,-0.00144661505371,1.06971737599
+395,6.583333333,pose2_to_pose3_retreat,0.575671033883,-0.0101223167659,1.07005087814,0.546242670301,-0.00144662000617,1.06971737184
+396,6.600000000,pose2_to_pose3_retreat,0.575670961189,-0.0101223229392,1.07005087296,0.546242597697,-0.0014466258608,1.06971736694
+397,6.616666667,pose2_to_pose3_retreat,0.575670894176,-0.01012232863,1.07005086819,0.546242530768,-0.00144663125786,1.06971736242
+398,6.633333333,pose2_to_pose3_retreat,0.575670798251,-0.0101223367761,1.07005086136,0.546242434963,-0.00144663898338,1.06971735595
+399,6.650000000,pose2_to_pose3_retreat,0.575670520927,-0.0101223259978,1.07005085426,0.546242157032,-0.00144663026806,1.06971734882
+400,6.666666667,pose2_to_pose3_retreat,0.575670355073,-0.0101223029342,1.07005085612,0.546241990352,-0.00144661002539,1.06971735014
+401,6.683333333,pose2_to_pose3_retreat,0.575670299609,-0.0101222952214,1.07005085675,0.546241934612,-0.00144660325595,1.06971735059
+402,6.700000000,pose2_to_pose3_retreat,0.575670267809,-0.0101222907993,1.07005085711,0.546241902653,-0.0014465993747,1.06971735084
+403,6.716666667,pose2_to_pose3_retreat,0.575670223625,-0.0101222846551,1.0700508576,0.54624185825,-0.00144659398199,1.06971735119
+404,6.733333333,pose2_to_pose3_retreat,0.575670039875,-0.0101222591029,1.07005085967,0.546241673585,-0.0014465715551,1.06971735266
+405,6.750000000,pose2_to_pose3_retreat,0.57566988021,-0.0101222368999,1.07005086146,0.546241513125,-0.00144655206782,1.06971735394
+406,6.766666667,pose2_to_pose3_retreat,0.575669771446,-0.0101222159494,1.07005085747,0.546241403813,-0.00144653299857,1.06971734942
+407,6.783333333,pose2_to_pose3_retreat,0.57566963456,-0.0101221435914,1.07005081123,0.546241266179,-0.00144646325573,1.06971730112
+408,6.800000000,pose2_to_pose3_retreat,0.575669495365,-0.0101220790323,1.07005078754,0.546241126374,-0.00144640076474,1.0697172775
+409,6.816666667,pose2_to_pose3_retreat,0.57566940041,-0.0101220622673,1.07005084191,0.546241031456,-0.00144638362312,1.06971733846
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..66993ecb8b8fcc45a1262cc4014eb3faba622dda
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d699232130e6af2956324fdb4b1a485b01d315c2a8ab7ae665a679a07241161
+size 26160863
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ab9b982e301bd6da603df75b47b6c1669c58823
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
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+49,0.816666667,BASELINE,764.561875796,744.561875796,714,679.438124204,659,634,880,787,805,651.438124204,631,652,0.400979240858,-0.015350650616,0.0798398737906,0.999999920174,0.000287618056192,-0.000275258584723,3.40576036461e-05,1793244511140903680
+50,0.833333333,BASELINE,764.013153114,744,714,679.986846886,659,634,879.986846886,787,805,652,631,652,0.400977462841,-0.0153517199349,0.0798379517781,0.999999920239,0.000284723262152,-0.000278052704447,3.37929126523e-05,1793244511157570304
+51,0.850000000,BASELINE,764.585624013,744,714,679.414375987,659,634,879.414375987,787,805,652,631,652,0.400979844402,-0.0153499255829,0.0798400573126,0.999999920359,0.000287202280866,-0.000275029773306,3.40057080717e-05,1793244511174236928
+52,0.866666667,BASELINE,765,744,714,679,659,634,879.16333922,787,805.16333922,651.83666078,631,652,0.400981675799,-0.0153491735426,0.0798417475201,0.999999920543,0.000288866199364,-0.000272580971692,3.42164327532e-05,1793244511190903552
+53,0.883333333,BASELINE,765,744,714,679,659,634,879.754800033,787,805.754800033,651.245199967,631,652,0.400982065185,-0.0153511534615,0.0798423491313,0.999999920929,0.000288393692678,-0.000271636997133,3.44217298988e-05,1793244511207570176
+54,0.900000000,BASELINE,765,744,714,679,659,634,879.660605262,787,805.660605262,651,631,652,0.400981753845,-0.0153516725408,0.0798421402617,0.999999920794,0.000288690567812,-0.0002718107956,3.44651069972e-05,1793244511224236800
+55,0.916666667,BASELINE,765,744,714,679,659,634,879.080872722,787,805.080872722,651,631,652,0.400980946295,-0.0153511571463,0.0798413574609,0.999999920291,0.000289532270315,-0.000272776129981,3.43938225918e-05,1793244511240903424
+56,0.933333333,BASELINE,765,744,714,679.49319701,659,634.49319701,879,787,805.49319701,651.49319701,631,652,0.400982229861,-0.0153501130981,0.0798423313592,0.999999920255,0.000290905374212,-0.000271411251782,3.46404870991e-05,1793244511257570048
+57,0.950000000,BASELINE,765,744.066622587,714,679.933377413,659,634.933377413,879,787,805.933377413,651.933377413,631,652,0.400983589173,-0.0153492224407,0.0798433776495,0.999999920337,0.000291986845422,-0.000269914127641,3.48634878837e-05,1793244511274236928
+58,0.966666667,BASELINE,765,744.642139815,714,679.357860185,659,634.357860185,879,787,805.357860185,651.357860185,631,652,0.400982937622,-0.0153501580919,0.0798428015618,0.999999920772,0.00029018264778,-0.000270292376941,3.45120140555e-05,1793244511290903552
+59,0.983333333,BASELINE,765,744.775539686,714,679.224460314,659,634,878.775539686,787,805,651,630.775539686,652,0.400982894279,-0.0153506851496,0.079842619332,0.999999920994,0.000289365895144,-0.000270374690874,3.43173324489e-05,1793244511307570176
+60,1.000000000,BASELINE,765,744.182033514,714,679.817966486,659,634,878.182033514,787,805,651,630.182033514,652,0.40098385092,-0.0153505404192,0.0798430846624,0.999999920867,0.000290172647428,-0.000269970443484,3.43804403209e-05,1793244511324236544
+61,1.016666667,BASELINE,765,744,714,680,659,634,878.399099809,786.600900191,805,651,630.399099809,652,0.400983417532,-0.0153511807087,0.0798427010886,0.999999921103,0.000288522425394,-0.000270869284616,3.43381527406e-05,1793244511340903424
+62,1.033333333,BASELINE,765,744,714,680,659,634,878.974759409,786.025240591,805,651,630.974759409,652,0.400982369203,-0.0153521682871,0.0798419419636,0.999999921491,0.000285785249961,-0.000272344605719,3.4249238727e-05,1793244511357570560
+63,1.050000000,BASELINE,765,744.54835512,714,680,659,634,879,786.54835512,805,651.54835512,631,652,0.400982694219,-0.0153513098654,0.0798424052345,0.999999921333,0.000287759190577,-0.000270822932628,3.43939388583e-05,1793244511374236928
+64,1.066666667,BASELINE,765,744.874121626,714,679.874121626,659,634.125878374,879,787,805,651.874121626,631,652.125878374,0.40098312349,-0.0153508090442,0.0798429006586,0.999999921197,0.000289448524349,-0.000269500469792,3.45706790992e-05,1793244511390903296
+65,1.083333333,BASELINE,765,744.281690662,714,679.281690662,659,634.718309338,879,787,805,651.281690662,631,652.718309338,0.400983705748,-0.0153519473779,0.0798433074918,0.999999921256,0.000289282280426,-0.000269425734669,3.48264661594e-05,1793244511407569920
+66,1.100000000,BASELINE,764.696857557,744.303142443,714,679,658.696857557,634.696857557,879,787,805,651,631,652.696857557,0.400984239857,-0.0153520111571,0.0798437656676,0.99999992141,0.000289052679302,-0.000269102933044,3.48126975075e-05,1793244511424236544
+67,1.116666667,BASELINE,764.118912054,744.881087946,714,679,658.118912054,634.118912054,879,787,805,651,631,652.118912054,0.400984730317,-0.0153511008369,0.0798442703862,0.999999921649,0.000288765643957,-0.000268555255508,3.4554572645e-05,1793244511440903424
+68,1.133333333,BASELINE,764.457650502,744.542349498,714,679,658.457650502,634,879,787,805,651,631,652,0.400986250985,-0.0153519333266,0.0798455211508,0.999999922315,0.000288248080838,-0.000266607135666,3.47004417575e-05,1793244511457570048
+69,1.150000000,BASELINE,765,744,714,679,659,634,879,787,805,651,631,652,0.400987783564,-0.0153531023313,0.0798467553839,0.999999922959,0.000287819074059,-0.000264615486376,3.4935814522e-05,1793244511474236672
+70,1.166666667,BASELINE,765,744,714,679,659,634,879,787,805,651,631,652,0.400985231678,-0.015352429727,0.0798446287519,0.999999921566,0.00028976539907,-0.000267738230438,3.4928478422e-05,1793244511490903296
+71,1.183333333,BASELINE,765,744.187045512,714.187045512,679.187045512,659,634,879,787,805.187045512,651.187045512,631,652,0.400983805859,-0.0153522885003,0.0798434507931,0.999999920912,0.000290200758005,-0.000269715463611,3.48362575325e-05,1793244511507569920
+72,1.200000000,BASELINE,765,744.780740605,714.780740605,679.780740605,659,634,879,787,805.780740605,651.780740605,631,652,0.400984828188,-0.0153533025243,0.0798443353138,0.999999921883,0.000287351174956,-0.000269202279304,3.45594913737e-05,1793244511524236800
+73,1.216666667,BASELINE,765,744.634249847,714.634249847,679.634249847,659,634,879,787,805.634249847,651.634249847,631,652,0.40098400233,-0.0153525975682,0.0798440226207,0.999999921784,0.000287283467603,-0.000269672228423,3.43128094913e-05,1793244511540903168
+74,1.233333333,BASELINE,765,744.054326354,714.054326354,679.054326354,659,634,879,787,805.054326354,651.054326354,631,652,0.400982094226,-0.015350886024,0.0798430088719,0.999999921059,0.000288844751151,-0.000270717873761,3.40837441591e-05,1793244511557569792
+75,1.250000000,BASELINE,765,744,714,679,659,634.521240485,879,787,804.478759515,651.521240485,631,652,0.400982949416,-0.0153513211441,0.079843417266,0.999999921757,0.000287155707391,-0.000269906682112,3.43138060551e-05,1793244511574236672
+76,1.266666667,BASELINE,765,744.098287759,714,679.098287759,659,634.901712241,879,786.901712241,804.098287759,652,631,652,0.400983816925,-0.0153518460471,0.0798437978664,0.999999922322,0.000285785537461,-0.000269236694797,3.45602318839e-05,1793244511590903552
+77,1.283333333,BASELINE,765,744.684928113,714,679.684928113,659,634.315071887,879,786.315071887,804.684928113,652,631,652,0.400983326517,-0.0153517146036,0.0798433100137,0.999999921513,0.000287668964011,-0.000270221893599,3.46521739305e-05,1793244511607570176
+78,1.300000000,BASELINE,765,744.732158789,714,679.732158789,659,634,879,786.267841211,805,652,631,652,0.400982995151,-0.0153517735304,0.0798431355319,0.999999921125,0.000288704100786,-0.000270548571047,3.46774743282e-05,1793244511624236544
+79,1.316666667,BASELINE,765,744.153570068,714,679.153570068,659,634,879,786.846429932,805,652,631,652,0.400982848303,-0.0153520533233,0.0798433246209,0.999999921231,0.000288755057534,-0.000270111236531,3.46254575423e-05,1793244511640903168
+80,1.333333333,BASELINE,765,744,714,679,659.424684216,634,879,787,805,651.575315784,631,652,0.400982969613,-0.0153505729774,0.0798430329963,0.999999920848,0.000289972945311,-0.000270262182168,3.43251650464e-05,1793244511657570048
+81,1.350000000,BASELINE,765,744,714,679.002684348,659.997315652,634.002684348,879,787,805,651.002684348,631,652,0.400983185547,-0.0153484756542,0.0798425718038,0.999999920293,0.000291594541958,-0.000270618908097,3.39392351973e-05,1793244511674236416
+82,1.366666667,BASELINE,765,744,714,679.553455385,659.446544615,634.553455385,879,787,805,651.553455385,631,652,0.400982938255,-0.0153502589626,0.0798429530759,0.999999921148,0.000289554565632,-0.000269591231959,3.43845206995e-05,1793244511690903296
+83,1.383333333,BASELINE,765.116879282,744,714,679.883120718,659,634.883120718,879,787,805,651.883120718,631,652,0.400982728366,-0.0153518321331,0.0798432110381,0.999999921828,0.000287781542741,-0.000268922053705,3.47308899883e-05,1793244511707569920
+84,1.400000000,BASELINE,765.734512917,744,714,679.265487083,659,634.265487083,879,787,805,651.265487083,631,652,0.40098267872,-0.0153525049955,0.0798429406949,0.999999921778,0.000287152247099,-0.000269788813518,3.46534655392e-05,1793244511724236800
+85,1.416666667,BASELINE,765.668834066,744.331165934,714,679,659,634,879,787,805,651.331165934,631,652,0.400983142371,-0.0153523345863,0.0798433944887,0.999999921862,0.000287229479241,-0.000269395305594,3.46560332846e-05,1793244511740903680
+86,1.433333333,BASELINE,765.087998598,744.912001402,714,679,659,634,879,787,805,651.912001402,631,652,0.400983993001,-0.0153515284256,0.0798443942171,0.999999922046,0.000287839370262,-0.000268051668315,3.47189080044e-05,1793244511757570304
+87,1.450000000,BASELINE,764.512301906,745,714,679,659,634,879,787,805,651.512301906,630.512301906,652,0.400983852753,-0.0153513894938,0.0798439378895,0.999999921644,0.000288640711162,-0.000268722154452,3.44544663593e-05,1793244511774236672
+88,1.466666667,BASELINE,764.062091778,745,714,679,659,634,879,787,805,651,630.062091778,652.062091778,0.400983648218,-0.0153513655985,0.0798433962787,0.999999921297,0.000289199614544,-0.000269449391698,3.41628320632e-05,1793244511790903552
+89,1.483333333,BASELINE,764.633324821,745,714,679,659,634,879,787,805,651,630.633324821,652.633324821,0.400984367321,-0.015351308078,0.0798442872031,0.999999922263,0.000287490268791,-0.000267693058702,3.41274535139e-05,1793244511807570176
+90,1.500000000,BASELINE,765,744.787125972,714,679,659,634,879,787,805,651.212874028,631.212874028,653,0.400984033259,-0.0153515016076,0.0798440339002,0.999999922503,0.00028648835605,-0.000267867959636,3.41492433564e-05,1793244511824236800
+91,1.516666667,BASELINE,765,744.192669893,714,679,659,634,879,787,805,651.807330107,631.807330107,653,0.400981811372,-0.015352145151,0.079841729541,0.999999921441,0.000286754534967,-0.000271504646165,3.42735089834e-05,1793244511840903424
+92,1.533333333,BASELINE,765,744,714,679,659,634,879,787,805,651.609393926,631.609393926,652.609393926,0.400982312257,-0.0153527124472,0.0798422067199,0.999999921497,0.000286817381421,-0.000271210503483,3.44517031236e-05,1793244511857570304
+93,1.550000000,BASELINE,765,744,714,679,659,634,879,787,805,651.031479145,631.031479145,652.031479145,0.400984118803,-0.0153532431806,0.0798440177393,0.999999922088,0.000286782723166,-0.000269031396737,3.46557578049e-05,1793244511874237184
+94,1.566666667,BASELINE,764.459349498,744.540650502,714,679,659,634,879,787,805,651,631,652.540650502,0.400984523783,-0.0153524249572,0.0798442267994,0.999999922153,0.000287616298548,-0.000267912571378,3.45527699002e-05,1793244511890903808
+95,1.583333333,BASELINE,764,744.883375051,714,679,659,634,879,787,805,651,631,653,0.400984730971,-0.0153518168643,0.0798442919143,0.999999922185,0.00028827915717,-0.000267088440289,3.44846035222e-05,1793244511907570432
+96,1.600000000,BASELINE,764,744.290332853,714,679,659,634,879,787,805,651,631,653,0.400984460005,-0.0153523846132,0.0798441459985,0.999999922214,0.000288040309085,-0.000267218628391,3.46309411071e-05,1793244511924237056
+97,1.616666667,BASELINE,764.295449853,744.295449853,714,679.295449853,659,634,879,787,805,651,631,652.704550147,0.400983946182,-0.0153525704742,0.079843859833,0.999999922201,0.000287650712076,-0.00026767548772,3.47110503057e-05,1793244511940903680
+98,1.633333333,BASELINE,764.87426984,744.87426984,714,679.87426984,659,634,879,787,805,651,631,652.12573016,0.400983199431,-0.015352390061,0.079843439152,0.999999922148,0.000287116529651,-0.000268445662036,3.47276389135e-05,1793244511957570304
+99,1.650000000,BASELINE,765,745,714,679.550338326,659,634,879,787,805.449661674,651,631,652,0.400982159183,-0.0153519655596,0.0798432054103,0.99999992196,0.000286857942263,-0.00026944895759,3.44874670592e-05,1793244511974236928
+100,1.666666667,BASELINE,765,744.975291339,714,679,659,634,879,787,805.975291339,651,631,652,0.400981124473,-0.0153515187153,0.0798430509127,0.999999921744,0.000286726255,-0.000270424827499,3.42042387926e-05,1793244511990903808
+101,1.683333333,BASELINE,765,744.386396797,714,679,659,634,879,787,805.386396797,651,631,652,0.400982075854,-0.015352108294,0.0798435213515,0.999999921743,0.000287745922757,-0.000269297373245,3.45647636032e-05,1793244512007570176
+102,1.700000000,BASELINE,765,744,714,679,659,634,879,787,805,651,631,652,0.400982908268,-0.0153526485502,0.0798438217776,0.99999992191,0.000288011917511,-0.000268371802063,3.47179024451e-05,1793244512024236800
+103,1.716666667,BASELINE,765,744,714,679,659,634,879,787,805,651,631,652,0.400983513677,-0.0153530946914,0.0798437977933,0.9999999224,0.000286839788557,-0.000267831454854,3.44753170349e-05,1793244512040903424
+104,1.733333333,BASELINE,765,744,714,679,659,634,879.356870385,787,805,651,631,652,0.400983689296,-0.0153532115863,0.0798435027259,0.999999922236,0.000287133537893,-0.000268122807363,3.45212208893e-05,1793244512057570048
+105,1.750000000,BASELINE,765,744,714,679,659,634,879.935973702,787,805,651,631,652,0.400983597273,-0.0153531234507,0.0798430388476,0.999999921664,0.000288340129547,-0.000268932081941,3.47467748612e-05,1793244512074236928
+106,1.766666667,BASELINE,765,744,714,679,659,634.509375419,879.490624581,787,805,651.509375419,631,652,0.400982289048,-0.0153521403583,0.0798423642804,0.999999921049,0.000289200343211,-0.000270310401536,3.4610867663e-05,1793244512090903552
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,880,787,805,651,631,652,0.400980607606,-0.0153515508051,0.0798417675008,0.99999992093,0.000288341097951,-0.000271712536733,3.4237710841e-05,1793244512134334464
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,880,787,805,651,631,652,0.400981497083,-0.0153518992053,0.0798422078356,0.999999921319,0.000287875086345,-0.0002707553864,3.43827449102e-05,1793244512151001088
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.188328567,744,714,679,659,634,879.811671433,787,805,651,631,652,0.400982391507,-0.0153517293727,0.0798428334782,0.999999921465,0.000288401299628,-0.000269635465989,3.45141925721e-05,1793244512167667712
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.762828994,744,714,679,659,634,879.237171006,787,805,651,631,652,0.400983296076,-0.0153504968925,0.079843839099,0.999999921111,0.000290962091739,-0.00026818178178,3.46177810344e-05,1793244512184334080
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.666069816,744,714,679,659,634,879,787,805,651,631,652,0.400982786789,-0.0153509436679,0.0798433134119,0.99999992096,0.000290579923203,-0.000269173086468,3.44907644051e-05,1793244512201000704
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.097358608,744,714,679,659,634,879,787,805,651,631,652,0.400981283442,-0.0153525711013,0.0798417110864,0.999999920946,0.000288128605501,-0.000271883424205,3.42016129825e-05,1793244512217667328
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.491515501,714,679.491515501,659,634,879,787,805,651,631,652.491515501,0.400980896665,-0.0153509350697,0.0798416701839,0.999999920534,0.000289802227995,-0.000271626351544,3.41484481786e-05,1793244512234333952
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.917015361,714,679.917015361,659,634,879,787,805.082984639,651.082984639,631,652.917015361,0.400981079223,-0.0153492988232,0.0798421319427,0.999999920321,0.000291442324164,-0.000270648456832,3.41822151153e-05,1793244512251000832
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.334985623,714,679.334985623,659,634,879,787,805.665014377,651.665014377,631,652.334985623,0.400983298661,-0.0153517149641,0.0798436770522,0.999999921818,0.000287757049919,-0.000269021690345,3.44456354423e-05,1793244512267667456
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.245677488,714.245677488,679,659,634,879.245677488,787,805.754322512,651.754322512,631,652,0.400988559148,-0.0153531625139,0.0798463450894,0.999999923358,0.000286031535132,-0.00026506387695,3.47932174033e-05,1793244512284334336
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.824487439,714.824487439,679,659,634,879.824487439,787,805.175512561,651.175512561,631,652,0.400997943222,-0.0153532966785,0.079850535788,0.999999924937,0.000286963404927,-0.000257945223003,3.52549203905e-05,1793244512301001216
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714.600097592,679,659,634.399902408,879.600097592,787,805.399902408,651.399902408,631,652,0.401024162597,-0.0153540352203,0.0798612196003,0.999999929459,0.000287280434089,-0.000239306398253,3.58359334676e-05,1793244512317667840
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714.02616005,679,659,634.97383995,879.02616005,787,805.97383995,651.97383995,631,652,0.401057708597,-0.0153550367835,0.0798747291773,0.999999934802,0.000287329888234,-0.000215654063379,3.64688696051e-05,1793244512334334208
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.433650487,879,787,805.433650487,651.433650487,631,652,0.401120896592,-0.0153576575177,0.0798950258158,0.999999942757,0.000286920726896,-0.000175412218291,3.73158472327e-05,1793244512351000832
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.154985848,745,714,679,659,634,879,787,805.154985848,651,631,652,0.401187141687,-0.0153603434493,0.0799138951838,0.999999948368,0.000286561145345,-0.000140413806612,3.78261035565e-05,1793244512367667456
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.730700246,745,714,679,659,634,879,787,805.730700246,651,631,652,0.401257842842,-0.0153629964562,0.0799280101663,0.999999950872,0.00028639561092,-0.000121800035349,3.7394539256e-05,1793244512384334336
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.694062109,744.694062109,714,679,659,634,879,787,806,651,631,652.305937891,0.40133598652,-0.0153654909297,0.0799382191362,0.999999952899,0.000285353291847,-0.000107101213196,3.61164748265e-05,1793244512401000960
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.119243503,744.119243503,714,679,659,634,879,787,806,651,631,652.880756497,0.40142067123,-0.0153678460722,0.0799449952142,0.999999954628,0.00028354039,-9.58431373141e-05,3.40944438727e-05,1793244512417667584
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879.457581671,787,806,651,631,652.542418329,0.401516450632,-0.0153729777272,0.0799455925171,0.999999956137,0.000279251915442,-9.37400265172e-05,3.09375081876e-05,1793244512434334208
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.035775288,714,679,659,634,879.964224712,787,805.964224712,651,631,652,0.401617117761,-0.0153785242979,0.0799448848029,0.999999957516,0.00027473118457,-9.34653077334e-05,2.74600744226e-05,1793244512451000576
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.627062651,714,679,659,634,879.372937349,787,805.372937349,651,631,652,0.401748588519,-0.0153792290401,0.0799490253813,0.99999995789,0.00027666547489,-8.43730537164e-05,2.36185913661e-05,1793244512467667200
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,805,651,631,652,0.401889527856,-0.015382379423,0.0799539373888,0.999999959162,0.000275161961955,-7.46996259435e-05,1.95282719893e-05,1793244512484333824
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,805,651,631,652,0.402046639317,-0.0153897069093,0.0799601669806,0.999999961982,0.000267786752313,-6.40335664071e-05,1.50129457433e-05,1793244512501000448
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,786.64045006,805,651.35954994,631,652,0.402214310014,-0.0153964287153,0.0799608805299,0.99999996452,0.000258441597597,-6.38488241005e-05,9.55683832865e-06,1793244512517667584
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,786.065507071,805,651.934492929,631,652,0.402388306374,-0.0154027876814,0.079958289623,0.999999966816,0.000247916321041,-6.99430496432e-05,3.53714333287e-06,1793244512534334464
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.475094028,714,679,659,634,878.475094028,786.524905972,805,651.475094028,630.475094028,652,0.402582991656,-0.0154101441082,0.0799521835202,0.999999969166,0.000234499143837,-8.16328196347e-05,-3.75632645325e-06,1793244512551000832
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,878.115093388,786.884906612,805,651.115093388,630.115093388,652,0.402791290146,-0.0154178600117,0.0799465835896,0.999999974431,0.00020634286003,-9.18220435585e-05,-1.1390572715e-05,1793244512567667712
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,878.696310788,786.303689212,805,651.696310788,630.696310788,652,0.40304394743,-0.0154265123329,0.0799448642605,0.999999988279,0.000119999756661,-9.30200973077e-05,-1.97416040271e-05,1793244512584334592
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.727152518,744.272847482,714,679,659,634,879,786.272847482,805.272847482,651.727152518,631,652,0.403316933438,-0.0154352681168,0.079946677781,0.999999993099,7.2916699995e-05,-8.80208494348e-05,-2.71507501835e-05,1793244512601001216
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.155737788,744.844262212,714,679,659,634,879,786.844262212,805.844262212,651.155737788,631,652,0.403612164426,-0.0154441371157,0.0799523571728,0.999999994165,6.87945151862e-05,-7.62401163736e-05,-3.35292247042e-05,1793244512617667584
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.429124283,745,714,679,659,634,879,787,805.141751434,651,631,652,0.403928283525,-0.015452696353,0.0799566751769,0.99999999349,8.82215066489e-05,-6.74757912797e-05,-2.61608430395e-05,1793244512634333952
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.981466091,714,679,659,634,879,786.981466091,804.018533909,651,631,652,0.404253638225,-0.0154609713863,0.0799602073408,0.999999991481,0.000114916941905,-6.02323189848e-05,-1.43162768386e-05,1793244512651000576
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.406778736,714,679,659,634,879,786.406778736,804.593221264,651,631,652,0.404621292933,-0.0154642007355,0.0799554640254,0.999999993139,9.49658078511e-05,-6.47134182315e-05,-2.27032979765e-05,1793244512667667200
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,786.168944217,805,651,631,652,0.405002368128,-0.0154692237645,0.0799510701501,0.999999994349,7.45337294874e-05,-6.97616394824e-05,-2.96587133372e-05,1793244512684333824
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,786.747175951,805,651,631,652,0.405415955998,-0.0154785921964,0.0799475228357,0.999999995148,5.29365091383e-05,-7.618378082e-05,-3.3145891752e-05,1793244512701000704
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,787,805,651,631,652,0.405847852723,-0.0154822482585,0.0799427536769,0.999999994593,4.97495167868e-05,-8.47679095441e-05,-3.3967362901e-05,1793244512717667584
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,787,805,651,631,652,0.406293974477,-0.0154814661204,0.0799370352109,0.999999993097,6.08662701484e-05,-9.50317858269e-05,-3.27177245511e-05,1793244512734334208
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.49011479,714,679,659,634.49011479,879,787,805.49011479,651,631,652.49011479,0.406752582646,-0.0154814623604,0.0799295947371,0.999999991907,5.92998961456e-05,-0.000107813798558,-3.23247464607e-05,1793244512751001088
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.91943011,714,679,659,634.91943011,879.08056989,787,805.91943011,651.08056989,631,653,0.407220801698,-0.0154839024587,0.0799218675629,0.99999999076,5.25043119323e-05,-0.000121119993726,-3.24521252053e-05,1793244512767667712
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.343060073,714,679,659,634.343060073,879.656939927,787,805.343060073,651.656939927,631,653,0.407732073518,-0.0155003782502,0.0799145950501,0.99999998992,2.98729820076e-05,-0.000134407049098,-3.4677741145e-05,1793244512784334336
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,714,679.233019896,659,634,879.766980104,787,805.233019896,652,631,652.766980104,0.408274825746,-0.0155120919069,0.07991196443,0.99999998945,1.37601403574e-05,-0.000140046827127,-3.60297895398e-05,1793244512801000960
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714,679.808673313,659,634,879.191326687,787,805.808673313,652,631,652.191326687,0.408863866879,-0.0155168032977,0.0799161592706,0.999999990285,7.23211507737e-06,-0.000134442012859,-3.60973401115e-05,1793244512817667584
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.383780281,714,680,659,634,879.383780281,787,805.616219719,651.616219719,631,652.383780281,0.409494045209,-0.0155170492167,0.0799399631046,0.999999994813,7.36003945913e-06,-9.51800766273e-05,-3.55159567387e-05,1793244512834333952
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.958615198,714,680,659,634,879.958615198,787,805.041384802,651.041384802,631,652.958615198,0.410144702562,-0.0155150721211,0.0799735287457,0.999999998576,1.0801448575e-05,-3.91628522487e-05,-3.46115190547e-05,1793244512851001088
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.449091016,714,679.449091016,659,634,879.449091016,787,805,651,631,652.449091016,0.410789391226,-0.015510230795,0.079985660952,0.999999999007,1.96322453697e-05,-2.02771535136e-05,-3.4486914559e-05,1793244512867667456
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879.140292295,786.859707705,805,651,630.859707705,652.140292295,0.411433102064,-0.0155069296121,0.0799861752394,0.999999998882,2.36803896983e-05,-2.06105762794e-05,-3.53669459762e-05,1793244512884333824
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879.716425795,786.283574205,805,651,630.283574205,652.716425795,0.412075213532,-0.0155091034579,0.0799557622883,0.999999996595,1.15715160348e-05,-7.17021775845e-05,-3.91800944881e-05,1793244512901000704
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,880,786,805.291929606,651,630,653,0.412757395169,-0.0155106712742,0.0799297149083,0.999999993305,2.57463133571e-06,-0.000107142267949,-4.36403792185e-05,1793244512917667328
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,880,786,805.866823134,651,630,653,0.413478416423,-0.0155116516734,0.0799078990212,0.99999999069,-3.40584058814e-06,-0.000127411539573,-4.8727925967e-05,1793244512934333952
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714.452860794,679.452860794,659.452860794,634,880,786,806,651,630.452860794,652.547139206,0.414227567141,-0.0155143529807,0.0799207038811,0.999999993621,-4.5248177842e-06,-0.000102042944981,-4.82103196639e-05,1793244512951000576
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.04156418,715,680,659.95843582,634,879.95843582,786,805.95843582,651,630.95843582,652,0.414985616501,-0.0155172172233,0.0799428837116,0.999999996763,-4.24742304298e-06,-6.57790992906e-05,-4.61441116936e-05,1793244512967667456
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.621279761,715,680,659.378720239,634,879.378720239,786,805.378720239,651,630.378720239,652,0.415749074059,-0.0155154732564,0.0799512987195,0.999999996716,-4.86807734193e-06,-6.66031810816e-05,-4.59079382239e-05,1793244512984334080
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.800784415,680,659.199215585,634,879,786.199215585,805.199215585,651.199215585,630.199215585,652,0.416522278714,-0.0155137555694,0.0799529479366,0.999999996457,-5.02229318602e-06,-7.00785504527e-05,-4.63613408674e-05,1793244513001000704
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.226202086,680,659.773797914,634,879,786.773797914,805.773797914,651.773797914,630.773797914,652,0.417313849035,-0.0155120874002,0.0799418488893,0.999999995748,-4.29763455877e-06,-7.85495389074e-05,-4.81140592414e-05,1793244513017667328
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.652656356,634,879,786.652656356,806,651.652656356,631,652.347343644,0.418170299056,-0.0155153463873,0.0799566149831,0.999999997841,-8.75208375728e-06,-4.35946155758e-05,-4.83917276623e-05,1793244513034334208
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.079783708,634,879,786.079783708,806,651.079783708,631,652.920216292,0.419068875205,-0.0155218045597,0.0799881752222,0.999999998533,-1.65693094113e-05,1.95565996767e-05,-4.77116511247e-05,1793244513051000832
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.488097994,744.488097994,714,680,659.511902006,634,879,786,806,651,630.488097994,652.488097994,0.419895735893,-0.0155220792511,0.0799811575011,0.999999998541,-2.1435383051e-05,7.61277087097e-06,-4.89909158204e-05,1793244513067667456
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.103653425,744.103653425,714,680,659.896346575,634,879.103653425,786.103653425,806,651,630,652,0.420717772785,-0.0155216233231,0.0799685750297,0.999999998298,-2.48353238135e-05,-1.49210780802e-05,-5.06398875178e-05,1793244513084334080
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.681771635,744.681771635,714,680,659.318228365,634,879.681771635,786.681771635,806,651,630,652,0.421570844495,-0.0155224028022,0.0799590929091,0.99999999788,-2.37099158649e-05,-3.03111755446e-05,-5.25299876755e-05,1793244513101000960
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.256770119,659.256770119,634,880,787,805.743229881,651,630.256770119,652,0.422447641603,-0.0155238919514,0.0799677856773,0.999999998209,-2.291901339e-05,-1.81746493668e-05,-5.22191851122e-05,1793244513117667584
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.827948656,659.827948656,634,880,787,805.172051344,651,630.827948656,652,0.423353489966,-0.0155262500735,0.0799987331291,0.999999998152,-2.25377040988e-05,2.76675186875e-05,-4.92134338592e-05,1793244513134334208
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,787,805.391362586,651,631,652,0.424213742785,-0.0155260576233,0.0799858563556,0.999999998608,-1.50576502706e-05,-1.09161703701e-05,-4.93690422313e-05,1793244513151000832
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,787,805.951429402,651,631,652,0.42505434073,-0.0155247657007,0.0799540883209,0.999999995006,-4.51754859478e-06,-8.58932211908e-05,-5.08874143025e-05,1793244513167667456
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680.435129889,660,634.564870111,880,787,806,651,631,652,0.425960637286,-0.0155246730919,0.0799296209233,0.999999993197,-6.91665469877e-06,-0.000102805001155,-5.46706623954e-05,1793244513184333824
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680.170618007,660,634.829381993,880.170618007,787,806.170618007,651,631,652,0.426864314331,-0.0155252089851,0.0799112475646,0.999999991731,-1.24068628994e-05,-0.000114177553053,-5.7852626733e-05,1793244513201000448
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680.74608582,660,634.25391418,880.74608582,787,806.74608582,651,631,652,0.427746972419,-0.0155269659859,0.0799056894261,0.999999990131,-2.23163073688e-05,-0.00012548966121,-5.90975164115e-05,1793244513217667072
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.618274835,744.381725165,714,680,659,634,879.618274835,786.618274835,805.381725165,651,631,652,0.412184676494,-0.0153634540491,0.0798063747333,0.999999919808,0.000256192971043,-0.000305545547763,3.72934587242e-05,1793244516201041152
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,659,634,879.802332523,786.802332523,805,651.197667477,631,652,0.411467029839,-0.0153617238443,0.0798021121818,0.999999914694,0.000259814181676,-0.000318911250256,3.74767639253e-05,1793244516217707776
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,659,634,879.227606649,786.227606649,805,651.772393351,631,652,0.410762520251,-0.0153583949508,0.0797847888755,0.999999903388,0.000261607808448,-0.000351424275011,3.5853976249e-05,1793244516234374400
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.346477033,714,680,659,634,879.346477033,786.346477033,805,651.653522967,631,652,0.410113250813,-0.015356273351,0.0797842730603,0.999999901751,0.000266490513249,-0.000352386270143,3.61335375875e-05,1793244516251041280
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.920139594,714,680,659,634,879.920139594,786.920139594,805,651.079860406,631,652,0.409500202469,-0.0153549433756,0.0797947779441,0.999999906586,0.00027339873123,-0.000332660204318,3.76604722271e-05,1793244516267708160
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879.488421909,786.488421909,805,651,631,652,0.408920635863,-0.0153551868839,0.0798224406593,0.999999921354,0.000273006309613,-0.000284907393126,3.98454621306e-05,1793244516284374528
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.89734728,714,680,658.89734728,634,879.10265272,786,805.10265272,651,631,652,0.408346100359,-0.0153551770269,0.0798451321728,0.999999931465,0.000272611183978,-0.000247010200569,4.17122948248e-05,1793244516301041152
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.321211046,714,680,658.321211046,634,879.678788954,786,805.678788954,651,631,652,0.407769794827,-0.0153528247785,0.0798320951438,0.999999922645,0.000277649541251,-0.00027547855065,4.16207544898e-05,1793244516317707776
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.169857086,744,714,680,658.830142914,634,879.169857086,786,805.169857086,651,631,652,0.406652755522,-0.0153466366843,0.0797721155965,0.999999887971,0.000278979103616,-0.000380767975031,3.52746521889e-05,1793244516351041280
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,744,714,679.595933415,658.595933415,634,879,786,805,651,631,652,0.406176275154,-0.0153479596643,0.0797661658172,0.999999886451,0.00027892022604,-0.00038487860353,3.42080125896e-05,1793244516367708416
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.137108769,744,714,679.568554385,658.568554385,634,879,786,805,651,631,652,0.40532615816,-0.0153530714608,0.0797950444111,0.9999999091,0.000275305012432,-0.000323562146919,3.62696610083e-05,1793244516401041920
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.315015496,714,679.684984504,658.315015496,634,879,786.684984504,805,651.315015496,630,652,0.404175365243,-0.0153425945884,0.0798257190231,0.999999914033,0.000294485797836,-0.00028912268345,4.02554293714e-05,1793244516451041280
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.89078881,714,679.10921119,658.89078881,634,879,786.10921119,805,651.89078881,630,652,0.403823789083,-0.0153388083982,0.0798250381422,0.999999911656,0.000294018353051,-0.000297744440829,3.9873703115e-05,1793244516467708160
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.475069051,659,634,879.475069051,786,805,651.524930949,630,652,0.403512211472,-0.0153348064597,0.0798253550519,0.999999909457,0.000297536583898,-0.000301715438865,3.90643327821e-05,1793244516484374784
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.939049561,714,679.939049561,659,634,879.939049561,786,805,651,630.060950439,652,0.403213681052,-0.0153313311962,0.0798264034641,0.999999907867,0.000301209217111,-0.000303428958974,3.83398232234e-05,1793244516501041152
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.35650668,714,679.35650668,659,634,879.35650668,786,805,651,630.64349332,652,0.402946681035,-0.015332795207,0.0798317131,0.999999911211,0.000298219290682,-0.000295139915667,3.91981548532e-05,1793244516517708032
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.777132573,744,714,679.222867427,658.777132573,634,879,786,805,651,631,652,0.402696815089,-0.0153352901239,0.0798352886557,0.999999912972,0.000297116307016,-0.000290149374842,3.98829099841e-05,1793244516534374656
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.202756344,744,714,679.797243656,658.202756344,634,879,786,805,651,631,652,0.402473973203,-0.0153394109965,0.0798361292017,0.999999912336,0.000298989429237,-0.000290361266939,4.02938983939e-05,1793244516551041536
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.370666161,744,714,679.629333839,658,634,879,786,804.629333839,651.370666161,630.629333839,652,0.402273936584,-0.0153470063524,0.0798346062325,0.999999914564,0.000290086577055,-0.000291668426573,4.06484769968e-05,1793244516567707904
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.943568366,744,714,679.056431634,658,634,879,786,804.056431634,651.943568366,630.056431634,652,0.402086342533,-0.0153564973925,0.0798317937258,0.999999918172,0.000275304336303,-0.000293573165873,4.09722783504e-05,1793244516584374272
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.535881788,714,679,658.535881788,634,879,786,804.535881788,651.464118212,630.535881788,652,0.401933698253,-0.0153578243437,0.079833457871,0.999999919968,0.000273547800589,-0.000288935500599,4.18437582463e-05,1793244516601040896
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.29550279,714,679,659,634,879,786,805,651.70449721,630.29550279,652,0.401664079609,-0.0153517418241,0.079842577328,0.999999920691,0.000284080895091,-0.000275605321347,4.42442239033e-05,1793244516634374400
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.030537261,634,879,786,804.969462739,651,630,652,0.401274037293,-0.0153487578926,0.0798361439396,0.999999913789,0.000297571535779,-0.000288001523627,3.04818368633e-05,1793244516701041152
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.610232361,634,879,786,804.389767639,651,630,652,0.401211246066,-0.0153464163374,0.079833815125,0.999999912863,0.000297649876232,-0.000291028193412,3.13072274096e-05,1793244516717707520
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879.188545548,786.188545548,804.188545548,651,630.188545548,652,0.40115535978,-0.0153451760892,0.0798328510898,0.999999912939,0.000296429443038,-0.000291915940958,3.2210175009e-05,1793244516734374144
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879.764022715,786.764022715,804.764022715,651,630.764022715,652,0.401113643764,-0.0153461959344,0.0798346878439,0.999999915064,0.000292543677279,-0.000288414209567,3.32722844513e-05,1793244516751041024
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879.660586443,786.660586443,805,651,631,652.339413557,0.401078908259,-0.015346590304,0.0798349856649,0.999999915799,0.000290934457111,-0.000287424841455,3.38417597292e-05,1793244516767707648
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879.085255545,786.085255545,805,651,631,652.914744455,0.401049024715,-0.0153465499223,0.0798342138146,0.999999915582,0.000290907602876,-0.00028818174992,3.40688182028e-05,1793244516784374272
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.502816616,658.497183384,634,879,786,804.497183384,651,631,652.497183384,0.401027785728,-0.0153450162097,0.079833660983,0.999999914499,0.000293386310814,-0.000289420716665,3.40992927618e-05,1793244516801041152
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.908935257,658,634,879,786,804.091064743,651.091064743,631,652,0.401009623589,-0.0153437201965,0.0798331812297,0.999999913517,0.000295630773218,-0.000290513601445,3.42022829834e-05,1793244516817707776
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.331583507,658,634,879,786,804.668416493,651.668416493,631,652,0.400999861315,-0.0153450807622,0.0798328882538,0.999999913927,0.000294296767592,-0.000290378588803,3.48751286275e-05,1793244516834374400
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.245230616,634,879,786.245230616,805.245230616,651.754769384,631,652,0.400991777238,-0.015346077972,0.0798331090699,0.999999914309,0.000293381760015,-0.000289962234604,3.50817225738e-05,1793244516851041280
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.821319354,634,879,786.821319354,805.821319354,651.178680646,631,652,0.400985957337,-0.0153465849524,0.0798340230795,0.999999914657,0.000293032052689,-0.000289166302445,3.46592630459e-05,1793244516867707904
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.593839913,744.406160087,714,679,659,634,879,786.593839913,805.593839913,651,631,652,0.400983689823,-0.0153458676375,0.0798344921594,0.999999914857,0.000293769868462,-0.000287770650994,3.42545007937e-05,1793244516884374272
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.005064166,744.994935834,714,679,659,634,879,786.005064166,805.005064166,651,631,652,0.400983019515,-0.0153445998611,0.0798347611923,0.999999914987,0.00029499665092,-0.000286105356786,3.38576955129e-05,1793244516901040896
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.574293979,744.425706021,714,679,658.425706021,634,879,786,805,651.574293979,631,652,0.400981257476,-0.0153440639115,0.0798354067202,0.999999915133,0.000295702076428,-0.000284843189419,3.40511076814e-05,1793244516917707776
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.152703534,658.152703534,634,879,786.152703534,805,651.847296466,631,652,0.400979700738,-0.0153441575723,0.0798358032832,0.999999915498,0.000295389061685,-0.000283874947317,3.41090972822e-05,1793244516934374400
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.72870994,658.72870994,634,879,786.72870994,805,651.27129006,631,652,0.400978739361,-0.0153459789486,0.079835500647,0.999999916474,0.000292265411144,-0.000283711787826,3.37774931791e-05,1793244516951042048
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.696399332,658.696399332,634,879,786.696399332,805,651,630.696399332,652,0.400978921536,-0.0153469648975,0.0798359270417,0.999999917292,0.000290278123386,-0.000282877060064,3.36919559656e-05,1793244516967709184
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.122501829,658.122501829,634,879,786.122501829,805,651,630.122501829,652,0.400980121821,-0.0153472070622,0.0798370024954,0.999999917974,0.000289302543403,-0.000281444432489,3.38254930061e-05,1793244516984375552
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.946022767,634,879,786,805,651,631,652,0.400981555624,-0.0153475519466,0.0798389785562,0.999999917728,0.000291505115309,-0.00027995870411,3.45285420693e-05,1793244517017709312
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658,634,879,786,805,651,631,652,0.400979733848,-0.0153479599847,0.0798385740033,0.999999917347,0.000293111721346,-0.000279638226818,3.45540117513e-05,1793244517051041280
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.115391259,659.115391259,634,878.884608741,786.115391259,805,651.884608741,630.115391259,652,0.400981560656,-0.0153461318084,0.0798404015751,0.999999918602,0.000291878880017,-0.000276486140948,3.40177841187e-05,1793244517134375168
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_08/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d9c40f2da6391302979a14ef3e11d03a44a0810e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aca49e7707a058e2645fcbdd7bda81d223dde18c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd17bae7c6bd3ffec7d1b7458087d5a01b1bf09a1bcc40eddfed4df31510dbf4
+size 25662895
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..06fa07ac25b7ca9e3728c01eedf9c5a43fa8417d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+24,0.400000000,BASELINE,764,745.93719194,713.06280806,680.93719194,662.93719194,634.06280806,879.06280806,786.93719194,805,653,631,652.93719194,0.400923544503,0.00441601509094,0.0599346332121,0.999999972413,-0.000108450691069,-0.000205618781883,-3.3657026105e-05,1793244519370132480
+25,0.416666667,BASELINE,764,746,713.529990521,679.940018959,662.470009479,634.529990521,879,787,805.529990521,653,631,652.470009479,0.400923419271,0.00441545936098,0.0599346876259,0.999999972506,-0.000108116662596,-0.000205361127676,-3.35610294475e-05,1793244519386798848
+26,0.433333333,BASELINE,764.120770288,746,713.879229712,679,662.120770288,634.879229712,879,786.879229712,805.879229712,653,630.879229712,652,0.400923188872,0.0044155716902,0.0599347500933,0.999999972636,-0.000107157178215,-0.000205236210388,-3.35268975e-05,1793244519403465472
+27,0.450000000,BASELINE,764.696190293,746,713.303809707,679,662.696190293,634.303809707,879,786.303809707,805.303809707,653,630.303809707,652,0.400923395072,0.00441823811119,0.059935017314,0.999999972864,-0.000105073491701,-0.000205161822146,-3.37752656786e-05,1793244519420132352
+28,0.466666667,BASELINE,764.730491534,745.730491534,713,679.269508466,662.460983068,634,879,786,805,653,630,652,0.400923594073,0.00441888660776,0.0599352502601,0.999999972959,-0.000104469367627,-0.000204997165325,-3.38209524816e-05,1793244519436798976
+29,0.483333333,BASELINE,764.159524399,745.159524399,713,679.840475601,661.319048797,634,879,786,805,653,630,652,0.400923785024,0.004417277955,0.0599354448681,0.999999972909,-0.000105520208104,-0.000204731538598,-3.3639930036e-05,1793244519453465856
+30,0.500000000,BASELINE,764.429390102,745,713.429390102,680,661,634,879,786,805,653,630.429390102,652,0.400922901922,0.00441762505323,0.0599345527454,0.999999972892,-0.00010347472372,-0.000205860547617,-3.3620677924e-05,1793244519470132480
+31,0.516666667,BASELINE,765,745.02456731,714,679.97543269,661.02456731,634,879,786.02456731,805,653,631,652.02456731,0.400921691437,0.00441858921644,0.0599333350531,0.999999972871,-0.000100516685488,-0.000207418175624,-3.36572741713e-05,1793244519486798848
+32,0.533333333,BASELINE,765,745.604028152,714,679.395971848,661.604028152,634,879,786.604028152,805,653,631,652.604028152,0.400922492258,0.0044163637379,0.0599342806456,0.999999972714,-0.000104062517648,-0.000206443645918,-3.35386286129e-05,1793244519503465728
+33,0.550000000,BASELINE,764.817406279,746,713.817406279,679.182593721,662,634,879.182593721,786.817406279,805,653,631,652.817406279,0.400923399108,0.00441536747619,0.0599350752714,0.999999972706,-0.000106194498961,-0.000205389414777,-3.35428148702e-05,1793244519520132352
+34,0.566666667,BASELINE,764.240772798,746,713.240772798,679.759227202,662,634,879.759227202,786.240772798,805,653,631,652.240772798,0.400924534771,0.00441702388159,0.0599355441092,0.999999973046,-0.000105275370266,-0.000204163186975,-3.38120738898e-05,1793244519536798976
+35,0.583333333,BASELINE,764.341245459,745.658754541,713,680,662,634,879.658754541,786,805,653,631,652,0.400924243963,0.00441669060136,0.0599351369326,0.999999972754,-0.000106941899886,-0.000204737218302,-3.37306987045e-05,1793244519553465856
+36,0.600000000,BASELINE,764.927124031,745.072875969,713,680,662,634,879.072875969,786,805,653,631,652,0.400922930541,0.00441493094923,0.0599341017561,0.999999971999,-0.000110462044232,-0.000206601824895,-3.33979598009e-05,1793244519570132224
+37,0.616666667,BASELINE,765,745,713.507410939,679.492589061,662,634,879,786,805,653,631,652,0.400922797148,0.00441597601162,0.0599339490534,0.99999997221,-0.000109512820062,-0.000206068913515,-3.35088051336e-05,1793244519586799104
+38,0.633333333,BASELINE,764.913422957,745,714,679.086577043,662,634,879,786,804.913422957,653,631,652,0.400922991293,0.00441744092447,0.0599339567717,0.999999972605,-0.000107305971079,-0.000205285820423,-3.36571005841e-05,1793244519603465728
+39,0.650000000,BASELINE,764.336107105,745,714,679.663892895,662,634,879,786,804.336107105,653,631,652,0.400924091823,0.00441902724677,0.0599341632118,0.99999997326,-0.000101569418969,-0.00020501515887,-3.36604909249e-05,1793244519620132608
+40,0.666666667,BASELINE,764.240371836,745.240371836,713.759628164,680,662,634,879,786,804.240371836,653,631,652,0.400924091334,0.00441942520307,0.0599339308845,0.999999973279,-0.000100480966946,-0.000205435132726,-3.38005770881e-05,1793244519636799488
+41,0.683333333,BASELINE,764.815684568,745.815684568,713.184315432,680,662,634,879,786,804.815684568,653,631,652,0.400922556655,0.00441816725657,0.0599330871665,0.999999972427,-0.000105869309011,-0.000206817457455,-3.41311390659e-05,1793244519653466624
+42,0.700000000,BASELINE,765,746,713.400455208,680,662.400455208,634,879,786,805.400455208,653,631,652,0.40092207865,0.00441807982403,0.0599331441127,0.999999972399,-0.000105667968991,-0.000207067262758,-3.40566306032e-05,1793244519670132992
+43,0.716666667,BASELINE,765,746,713.989684273,680,662.989684273,634,879,786,805.989684273,653,631,652,0.400922098759,0.00441854416967,0.0599336256305,0.999999972762,-0.000102831662843,-0.00020678320042,-3.37911726619e-05,1793244519686799360
+44,0.733333333,BASELINE,764.431067908,746,714,680,662.431067908,634,879,786,805.431067908,653,631,652,0.400922343442,0.00441786254828,0.0599333721803,0.999999972806,-0.000102353050718,-0.000206858917224,-3.34935320237e-05,1793244519703465984
+45,0.750000000,BASELINE,764,745.852644709,713.852644709,680,662,634,879,786,805,653,631,652,0.400922924833,0.00441740946218,0.0599334752584,0.999999972948,-0.00010213705987,-0.000206306394324,-3.33071449808e-05,1793244519720132608
+46,0.766666667,BASELINE,764,745.276105358,713.276105358,680,662,634,879,786,805,653,631,652,0.400924475261,0.00441768147872,0.0599346548982,0.999999973392,-0.000102563611142,-0.000203905400673,-3.34464632454e-05,1793244519736799232
+47,0.783333333,BASELINE,764.30009253,745,713,679.69990747,662,634.30009253,879,786,805,653,631,652,0.400925423791,0.00441802467534,0.059935085621,0.999999973611,-0.000102554987788,-0.000202827029016,-3.34817831332e-05,1793244519753465856
+48,0.800000000,BASELINE,764.875976672,745,713,679.124023328,662,634.875976672,879,786,805,653,631,652,0.400925819166,0.00441843328805,0.059934828073,0.999999973627,-0.000102146429463,-0.000202964175688,-3.34215262495e-05,1793244519770132992
+49,0.816666667,BASELINE,765,745.46241333,713,679.46241333,662,634.53758667,879,786,805,653,631,652,0.400924791048,0.00441755394517,0.0599347488454,0.999999973306,-0.00010340426345,-0.000203936362524,-3.32484460273e-05,1793244519786799616
+50,0.833333333,BASELINE,765,745.949272225,713,679.949272225,662,634.050727775,879,786,805,653,631,652,0.400923524341,0.00441651587645,0.0599346807793,0.999999972924,-0.00010502533285,-0.000205005945158,-3.30876119354e-05,1793244519803465984
+51,0.850000000,BASELINE,765,745.371539361,713,679.371539361,662,634.628460639,879,786,805,653,631,652,0.40092383799,0.00441750137952,0.0599342201937,0.999999972908,-0.00010566835935,-0.000204706276628,-3.33757128969e-05,1793244519820132864
+52,0.866666667,BASELINE,765,745,713,679,662,634.794530319,879,786,805,653,631,652,0.400924071108,0.00441799484575,0.0599338463371,0.999999972886,-0.000105629695998,-0.000204816761644,-3.34606480308e-05,1793244519836799232
+53,0.883333333,BASELINE,765,745,713,679,662,634.21882556,879,786,805,653,631,652,0.400924159119,0.0044176017125,0.0599336287571,0.999999972854,-0.000104362698125,-0.000205666300876,-3.31794993756e-05,1793244519853465856
+54,0.900000000,BASELINE,765,745,713,679,662,634,879,786.364548252,805,653,631,652,0.400924272527,0.00441735029983,0.0599339799421,0.999999972868,-0.000104549934563,-0.000205485750063,-3.32981926715e-05,1793244519870132480
+55,0.916666667,BASELINE,765,745,713,679,662,634,879,786.952624431,805,653,631,652,0.400924401508,0.00441718578514,0.0599346798734,0.999999972909,-0.00010562885543,-0.000204673584907,-3.36620547375e-05,1793244519886799104
+56,0.933333333,BASELINE,764.468201131,745.531798869,713,679.531798869,662,634.531798869,879,786.468201131,805,653,631,652,0.400923864416,0.0044182084604,0.0599344167805,0.999999972996,-0.000104513913274,-0.000204835123892,-3.35742481559e-05,1793244519903466240
+57,0.950000000,BASELINE,764,745.889766448,713.110233552,680,662,635,879,786,805,653,631,652,0.400923394686,0.00441880759275,0.0599342005152,0.999999973052,-0.000103572315335,-0.000205061815809,-3.34458706275e-05,1793244519920133120
+58,0.966666667,BASELINE,764,745.311161096,713.688838904,680,662,635,879,786,805,653,631,652,0.400923459141,0.00441716515957,0.0599345417342,0.999999972964,-0.000104183981097,-0.000205202841636,-3.33132601365e-05,1793244519936800000
+59,0.983333333,BASELINE,764,745,713.736084598,680,662,634.736084598,879,786,805,653,631,652,0.400924036743,0.00441695672682,0.0599346266064,0.999999973053,-0.000104029036187,-0.000204847154442,-3.33235169049e-05,1793244519953466624
+60,1.000000000,BASELINE,764,745,713.165113712,680,662,634.165113712,879,786,805,653,631,652,0.400925211372,0.00441841669855,0.0599344132292,0.999999973346,-0.000102982169141,-0.000203913560649,-3.34999942517e-05,1793244519970132736
+61,1.016666667,BASELINE,764,745,713.423242012,679.576757988,662,634,879.423242012,786,805,653,631,652,0.400924040004,0.00441852376007,0.0599340221874,0.999999973051,-0.000103514990204,-0.000205083559834,-3.35279889511e-05,1793244519986799360
+62,1.033333333,BASELINE,764,745,713.981942765,679,662,634,879.981942765,786,805,653,631,652,0.400922014815,0.00441808095414,0.0599335888642,0.999999972539,-0.000104658995988,-0.00020699273602,-3.34891337735e-05,1793244520003465728
+63,1.050000000,BASELINE,764,745,713.4060668,679,662,634,879.4060668,786,805,653,631,652,0.400923097165,0.0044176546172,0.0599340822058,0.999999972879,-0.000104830679482,-0.000205299273297,-3.32512400006e-05,1793244520020132352
+64,1.066666667,BASELINE,764.169299757,745,713.169299757,679,662,634,879,786,805,653,631,652,0.400923444602,0.00441761846328,0.0599340483121,0.999999972968,-0.000104920464222,-0.00020482728636,-3.31754174201e-05,1793244520036798976
+65,1.083333333,BASELINE,764.743448129,745,713.743448129,679,662,634,879,786,805,653,631,652,0.400922034633,0.00441851535891,0.0599327536336,0.999999972465,-0.000104814403449,-0.000207276229763,-3.34871577111e-05,1793244520053465600
+66,1.100000000,BASELINE,764.681355969,745,713.681355969,679,662,634,878.681355969,786,805,653,631,652,0.400922632833,0.00441907700824,0.0599329173542,0.999999972622,-0.000104061124184,-0.000206882187089,-3.35603072919e-05,1793244520070132480
+67,1.116666667,BASELINE,764.105313908,745,713.105313908,679,662,634,878.105313908,786,805,653,631,652,0.400924853215,0.00441936784833,0.0599342591576,0.999999973311,-0.000102785027144,-0.000204191603498,-3.34407252417e-05,1793244520086799360
+68,1.133333333,BASELINE,764.486525728,745,713,679.486525728,662,634,878.486525728,786,805.486525728,653,631,652,0.400924297697,0.00441964338651,0.0599337843735,0.999999973196,-0.000102095801119,-0.000205084571902,-3.35256587162e-05,1793244520103465984
+69,1.150000000,BASELINE,764.92121901,745,713,679.92121901,662,634,879,786,806,653,630.92121901,652,0.400923461545,0.00441992505202,0.0599331051864,0.999999972976,-0.000101615682508,-0.000206376699351,-3.36233838901e-05,1793244520120132608
+70,1.166666667,BASELINE,764.348516836,745,713,679.348516836,662,634,879,786,806,653,630.348516836,652,0.400924759573,0.0044202665964,0.0599336925361,0.999999973233,-0.000101623393792,-0.000205144875051,-3.35144418473e-05,1793244520136799232
+71,1.183333333,BASELINE,764,745,713.225539332,679.225539332,662,634.225539332,879,786,805.774460668,652.774460668,630.225539332,652,0.400925255703,0.00442027998643,0.0599341558758,0.999999973348,-0.000101814892179,-0.000204499222753,-3.3443864319e-05,1793244520153465856
+72,1.200000000,BASELINE,764,745,713.801700496,679.801700496,662,634.801700496,879,786,805.198299504,652.198299504,630.801700496,652,0.400924505206,0.00441978323009,0.0599344264303,0.999999973245,-0.000102292104684,-0.000204764829069,-3.34329279741e-05,1793244520170132224
+73,1.216666667,BASELINE,764.38740575,745,713.61259425,680,662,634.61259425,879,786,805,652.38740575,630.61259425,652,0.400923570139,0.00441875290298,0.0599342412994,0.999999972917,-0.000104014709034,-0.000205522119055,-3.32673015904e-05,1793244520186798848
+74,1.233333333,BASELINE,764.978119649,745,713.021880351,680,662,634.021880351,879,786,805,652.978119649,630.021880351,652,0.400922538211,0.00441744256125,0.0599338170275,0.999999972466,-0.000106390887317,-0.000206537441582,-3.30204948286e-05,1793244520203465472
+75,1.250000000,BASELINE,764.44025238,745,713.55974762,679.44025238,662,634.55974762,879,786,805,653,630.55974762,652.55974762,0.400921789489,0.00441748380369,0.0599327886905,0.999999972348,-0.000105598007974,-0.000207510868532,-3.30384550127e-05,1793244520220132352
+76,1.266666667,BASELINE,764,745.13973259,713.86026741,679.13973259,662,634.86026741,879.279465179,786,805,653,631,652.86026741,0.400921631007,0.00441769239077,0.0599321948574,0.999999972367,-0.000104897777356,-0.000207755899316,-3.31690075551e-05,1793244520236798976
+77,1.283333333,BASELINE,764,745.715679484,713.284320516,679.715679484,662,634.284320516,880.431358969,786,805,653,631,652.284320516,0.400923281116,0.00441826109241,0.0599330299862,0.999999972773,-0.000104867316616,-0.000205732068813,-3.361925533e-05,1793244520253465856
+78,1.300000000,BASELINE,764.294190709,746,713.294190709,680,662,634,880.411618582,786.294190709,805,653,631,652.294190709,0.400924256602,0.00441805721451,0.0599338236471,0.999999972895,-0.000106044262715,-0.00020451661249,-3.37295725128e-05,1793244520270132480
+79,1.316666667,BASELINE,764.875201987,746,713.875201987,680,662,634,879.249596026,786.875201987,805,653,631,652.875201987,0.400924574367,0.0044171001119,0.059934576879,0.999999972737,-0.000108398367394,-0.000204089278873,-3.35084751039e-05,1793244520286798848
+80,1.333333333,BASELINE,765,745.54342032,714,679.54342032,662,634,879,787,805,653,631,653,0.400924230536,0.00441737656828,0.0599342778649,0.999999972835,-0.000106086107715,-0.000204819438343,-3.35387092676e-05,1793244520303465472
+81,1.350000000,BASELINE,765,745,714,679,662,634,879,787,805,653,630.961976319,652.961976319,0.400923745385,0.00441794825931,0.0599337297556,0.999999972975,-0.000102827130321,-0.000205782637517,-3.36256379445e-05,1793244520320131840
+82,1.366666667,BASELINE,765,745,714,679,662,634,879,787,805,653,630.381017374,652.381017374,0.400923826534,0.00441791727025,0.0599337349351,0.999999972875,-0.000104276974604,-0.000205552196892,-3.35403958814e-05,1793244520336798720
+83,1.383333333,BASELINE,765,745,714,679,662,634,879.197291578,786.802708422,805,653,630.197291578,652,0.40092397799,0.00441778667594,0.0599337383702,0.999999972803,-0.000105734611928,-0.000205158113243,-3.35397918775e-05,1793244520353465600
+84,1.400000000,BASELINE,765,745,714,679,662,634,879.770550685,786.229449315,805,653,630.770550685,652,0.400924263429,0.00441746626945,0.0599337384813,0.999999972785,-0.000107207100268,-0.000204452184191,-3.37004778761e-05,1793244520370132480
+85,1.416666667,BASELINE,764.646928932,745,714,679.353071068,662,634,879.646928932,786,805,653,631,652,0.400924132256,0.00441722797744,0.0599337072819,0.999999972789,-0.000107754326246,-0.00020417541948,-3.35159712459e-05,1793244520386799360
+86,1.433333333,BASELINE,764.05822786,745,714,679.94177214,662,634,879.05822786,786,805,653,631,652,0.400923723049,0.0044170444864,0.0599336551867,0.999999972808,-0.000107684057267,-0.000204185067387,-3.31010924581e-05,1793244520403466240
+87,1.450000000,BASELINE,764.522512052,745,713.477487948,679.477487948,662,634,879,786,805.522512052,653,631,652,0.400923264175,0.00441727696869,0.059933075798,0.999999972414,-0.000108104876623,-0.000205876215339,-3.31835981328e-05,1793244520420132608
+88,1.466666667,BASELINE,765,745,713.101377791,679,662.101377791,634,879,786,805.898622209,653,631,652.101377791,0.400922851956,0.00441755199009,0.0599325926159,0.999999972091,-0.000108204954464,-0.000207366337633,-3.33093029256e-05,1793244520436798720
+89,1.483333333,BASELINE,765,745,713.675578107,679,662.675578107,634,879,786,805.324421893,653,631,652.675578107,0.40092268276,0.00441781245732,0.0599328280834,0.999999972329,-0.000106557695059,-0.000207058048798,-3.3381853776e-05,1793244520453465344
+90,1.500000000,BASELINE,764.749336116,745,713.749336116,679.250663884,662.749336116,634,878.749336116,786,805,653,631,652.749336116,0.400922900652,0.00441751955144,0.0599330905794,0.999999972512,-0.000105637576292,-0.000206663048619,-3.32599038796e-05,1793244520470131968
+91,1.516666667,BASELINE,764.17310031,745,713.17310031,679.82689969,662.17310031,634,878.17310031,786,805,653,631,652.17310031,0.400923621308,0.00441650790318,0.0599333881814,0.999999972627,-0.00010566189596,-0.00020615542443,-3.28853289052e-05,1793244520486798592
+92,1.533333333,BASELINE,764,745,713,680,662,634,878.412782011,786,805,653,631,652,0.400923264499,0.00441626938415,0.0599330073154,0.999999972583,-0.000105765957149,-0.000206295676842,-3.30087287567e-05,1793244520503465216
+93,1.550000000,BASELINE,764,745.00275966,713.00275966,679.99724034,662,634,879,786,805,653,631,652.00275966,0.400922451779,0.00441637040192,0.0599323411747,0.999999972473,-0.0001058943841,-0.000206710834502,-3.33446769919e-05,1793244520520132352
+94,1.566666667,BASELINE,764,745.582946842,713.582946842,679.417053158,662,634,879,786,805,653,631,652.582946842,0.400923048225,0.0044180546754,0.0599329407878,0.99999997273,-0.000103956776922,-0.000206439010903,-3.34139429965e-05,1793244520536798976
+95,1.583333333,BASELINE,764.161467476,745.838532524,714,679.161467476,662,634,879,786,805,653,631,652.838532524,0.400923583057,0.00441938755082,0.0599333447717,0.999999972939,-0.00010287609709,-0.000205947349124,-3.35203084401e-05,1793244520553465600
+96,1.600000000,BASELINE,764.735727693,745.264272307,714,679.735727693,662,634,879,786,805,653,631,652.264272307,0.400923960375,0.00441982207496,0.0599332486282,0.999999973034,-0.00010398615766,-0.000204893669436,-3.37215188766e-05,1793244520570132224
+97,1.616666667,BASELINE,764.68234095,745,713.68234095,679.68234095,662,634,878.68234095,786.31765905,805,653,631,652,0.400923785487,0.00441948472463,0.0599330178644,0.999999972949,-0.000103962188602,-0.000205320516422,-3.37295818876e-05,1793244520586799104
+98,1.633333333,BASELINE,764.093869792,745,713.093869792,679.093869792,662,634,878.093869792,786.906130208,805,653,631,652,0.400923139831,0.00441848933243,0.0599326723334,0.999999972708,-0.000102971431492,-0.00020700954866,-3.35729819837e-05,1793244520603465728
+99,1.650000000,BASELINE,764,745,713.486369687,679.486369687,662,634,878.486369687,786.513630313,805,653,631,652,0.40092403719,0.0044188066264,0.0599331299973,0.999999972926,-0.000103045211444,-0.000205919997279,-3.35678901869e-05,1793244520620132096
+100,1.666666667,BASELINE,764,745.064921816,714,680,662,634.064921816,879,786,805,653,631,652,0.40092497632,0.00441935665856,0.0599336447326,0.999999973183,-0.000103337180813,-0.000204515965359,-3.36065502346e-05,1793244520636798720
+101,1.683333333,BASELINE,764,745.642486371,714,680,662,634.642486371,879,786,805,653,631,652,0.400923932866,0.00441977723142,0.0599334064279,0.999999973077,-0.000103756693123,-0.000204792769177,-3.37636336415e-05,1793244520653465344
+102,1.700000000,BASELINE,764,745.781176354,713.781176354,680,662,634.781176354,879,786,805,653,631,652,0.400923044231,0.00441971860032,0.0599328799371,0.999999972895,-0.000104264026485,-0.000205431914363,-3.37226187794e-05,1793244520670132224
+103,1.716666667,BASELINE,764,745.206833081,713.206833081,680,662,634.206833081,879,786,805,653,631,652,0.400922407131,0.00441888141338,0.0599318852344,0.999999972586,-0.000104914041407,-0.000206659750326,-3.33597564952e-05,1793244520686799104
+104,1.733333333,BASELINE,764.377560553,745.377560553,713.377560553,680,661.622439447,634,879,786,805,653,631,652.377560553,0.400922404219,0.0044186321637,0.0599318063886,0.999999972628,-0.000104593027502,-0.000206605103013,-3.34354625793e-05,1793244520703465984
+105,1.750000000,BASELINE,764.96761054,745.96761054,713.96761054,680,661.03238946,634,879,786,805,653,631,652.96761054,0.400922758226,0.00441871380248,0.059932242983,0.999999972868,-0.000103725522863,-0.000205828679814,-3.37579929963e-05,1793244520720132352
+106,1.766666667,BASELINE,764.452145622,745.452145622,713.452145622,680,661.547854378,634,879,786,805,653,631,652.452145622,0.400924415517,0.00441900442253,0.0599331253196,0.999999973206,-0.000103119136815,-0.00020452902098,-3.35059194466e-05,1793244520736798976
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,746,713,680,662,634,879,786,805,653,631,652,0.400921398096,0.00441936940231,0.0599318590063,0.999999972426,-0.000104603232557,-0.00020760213308,-3.32657989912e-05,1793244520778978304
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745.421710645,713,679.421710645,662,634,879,786,805,653,631,652.578289355,0.400923306717,0.00441909902464,0.0599327230972,0.999999972872,-0.000103557795664,-0.000205977453955,-3.32295688746e-05,1793244520795645440
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.160299607,713.160299607,679.160299607,662,634,879,786,805,653,631,652.839700393,0.400924390274,0.00441868199807,0.0599332100916,0.999999973092,-0.000103261902059,-0.000205055686342,-3.32495435118e-05,1793244520812312576
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.752331418,713.752331418,679.752331418,662,634,879,786,805,653,631,652.247668582,0.400923251697,0.00441787000446,0.0599326814584,0.999999972707,-0.000104984740394,-0.000206027057974,-3.34208934476e-05,1793244520828979200
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.663589085,745.663589085,713.663589085,680,662,634,878.663589085,786,805,652.663589085,631,652,0.400923212782,0.00441875561386,0.0599329431502,0.99999997286,-0.000104126176119,-0.000205700604334,-3.35320737311e-05,1793244520845645568
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.085228987,745.085228987,713.085228987,680,662,634,878.085228987,786,805,652.085228987,631,652,0.400923964751,0.00442086215176,0.0599337732497,0.999999973395,-0.000101411048152,-0.000204440745231,-3.35999795512e-05,1793244520862312192
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.487888578,745.487888578,713,680,662,634,878.487888578,786.487888578,805,652.487888578,631,652,0.400927587009,0.00442033835576,0.0599349020838,0.999999973945,-0.000101821483119,-0.000201556198872,-3.34313361511e-05,1793244520878978560
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745.937862482,713,680,662,634.062137518,879,786.937862482,805,653,631,652,0.400932326465,0.00441946565945,0.0599362219059,0.999999974562,-0.000102633778657,-0.000198085359849,-3.32469636954e-05,1793244520895644928
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.346252417,713,680,662,634.653747583,879,786.346252417,805,653,631,652,0.400942358468,0.00441949368495,0.059938729185,0.999999975783,-0.000102267301678,-0.000192011410588,-3.3276930451e-05,1793244520912311552
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,713,679.759822747,662,634.759822747,879,786,805,653,631,652.240177253,0.400957866834,0.00441917423397,0.0599422829628,0.999999977485,-0.000103009581864,-0.00018248422895,-3.34567323383e-05,1793244520928978432
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,713,679.180703775,662,634.180703775,879,786,805,653,631,652.819296225,0.400981103522,0.00441836441901,0.059947313575,0.999999979755,-0.0001053165567,-0.000168083794835,-3.38479837898e-05,1793244520945645056
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.603645378,745.396354622,713,679.396354622,662,634,879,786,805,653,631,652.603645378,0.401014094302,0.00441792458201,0.0599526802689,0.99999998259,-0.000105779329009,-0.000149782635568,-3.45843750242e-05,1793244520962311680
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.027521517,745.972478483,713,679.972478483,662,634,879,786,805,653,631,652.027521517,0.401051509117,0.00441765255087,0.0599581993954,0.999999985403,-0.000105405651341,-0.000129712275531,-3.5477306695e-05,1793244520978978560
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.545508054,745.454491946,713,679.454491946,662,634,879,786,805,653,631,652,0.401098180219,0.00441839351873,0.059961175347,0.999999987157,-0.000106720955358,-0.00011386985473,-3.64702927311e-05,1793244520995645184
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745.122317675,713,679,661.877682325,634,879,786.122317675,805.122317675,653,631,652,0.401147854875,0.00441907963924,0.0599634297936,0.999999988326,-0.000108157027319,-0.00010125319331,-3.73991457307e-05,1793244521012311552
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745.714235734,713,679,661.285764266,634,879,786.714235734,805.714235734,653,631,652,0.401207277996,0.0044193600882,0.0599634040614,0.999999988234,-0.000109731454337,-0.000100206523152,-3.8062509983e-05,1793244521028978176
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.699649309,713,679,661.300350691,634,878.699649309,786.699649309,805.699649309,653,631,652,0.40127614186,0.00441965153456,0.0599636831933,0.999999988349,-0.000110597352803,-9.78414265731e-05,-3.87056112891e-05,1793244521045644800
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.118951011,713,679,661.881048989,634,878.118951011,786.118951011,805.118951011,653,631,652,0.401353817721,0.0044199532459,0.0599642468857,0.999999988647,-0.00011080190998,-9.42457096353e-05,-3.93297991028e-05,1793244521062311168
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.545613261,745,713.454386739,679.454386739,662,634,878.908773478,786,805.454386739,653,631,652,0.401449743486,0.00442057295759,0.0599663300116,0.999999989223,-0.000109421450559,-8.91996154593e-05,-4.03041833903e-05,1793244521078978048
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713.973321889,679.973321889,662,634,879.973321889,786,805.973321889,653,631,652,0.401551859758,0.0044212210418,0.0599688845435,0.999999989843,-0.000107893095119,-8.34330013428e-05,-4.13696766394e-05,1793244521095644928
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713.383079147,679.383079147,662,634,879.383079147,786,805.383079147,653,631,652,0.401685433491,0.00442073795088,0.0599731287028,0.999999990368,-0.000111866033043,-7.03385268329e-05,-4.24540688191e-05,1793244521112311552
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.203083071,745,713,679,662,634,879,786,805.203083071,653,631,652,0.401824923293,0.00442034974525,0.0599758666478,0.999999990569,-0.000115131547811,-6.09415486374e-05,-4.35169416662e-05,1793244521128978176
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.781699672,745,713,679,662,634,879,786,805.781699672,653,631,652,0.401975352852,0.00442013699794,0.0599758193578,0.999999990449,-0.000117088922034,-5.83818422111e-05,-4.45400216687e-05,1793244521145645056
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,713.360502445,679.360502445,662,634,879,786,805.639497555,653,631,652,0.402145008775,0.00442071715899,0.0599752117897,0.999999990769,-0.000115651534036,-5.47598261712e-05,-4.56887927185e-05,1793244521162311424
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,713.939418068,679.939418068,662,634,879,786,805.060581932,653,631,652,0.402326313154,0.00442177770965,0.0599742647727,0.999999991335,-0.000112157403437,-5.04942014381e-05,-4.69137147532e-05,1793244521178978048
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,713.486339548,679.486339548,662,634,879,786,805,653,631,652,0.402542733981,0.00442317964962,0.0599754494937,0.999999991977,-0.000109246301291,-4.26833817382e-05,-4.78380004485e-05,1793244521195644672
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.910289491,745,713.089710509,679,662,634,879,786,805,653,631,652,0.40276965145,0.0044241601936,0.0599771926214,0.999999992491,-0.00010723754466,-3.38532087777e-05,-4.87009556815e-05,1793244521212311296
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.321134515,745,713.678865485,679,662,634,879,786,805,653,631,652,0.403032156766,0.00442257256395,0.05998065745,0.999999992508,-0.000109873032823,-2.16548379903e-05,-4.94180893842e-05,1793244521228978176
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745.260947581,713.739052419,679.260947581,662,634,879,786,805,653,630.739052419,652.260947581,0.403304247632,0.00442251415435,0.0599822412509,0.999999992527,-0.000110486489772,-1.4907592679e-05,-5.0159287844e-05,1793244521245644800
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745.834555117,713.165444883,679.834555117,662,634,879,786,805,653,630.165444883,652.834555117,0.403587823614,0.00442428801273,0.0599815712578,0.99999999269,-0.000108677206405,-1.46917312869e-05,-5.09293199743e-05,1793244521262311424
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.413401785,746,713.413401785,679.586598215,662.413401785,634.413401785,879,786,805,653,630,652.586598215,0.403891840767,0.00442559361326,0.0599713704654,0.999999992708,-0.000104911784922,-3.01359134908e-05,-5.16563956105e-05,1793244521278978304
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+143,2.383333333,POSE1_TO_POSE2_PRESS,764.904084307,746,714,679.904084307,661.904084307,634.904084307,879,786,804.095915693,653,631,652,0.406218649601,0.00443171172586,0.0599563138488,0.999999993738,-7.99546947071e-05,-5.77208885e-05,-5.29046834312e-05,1793244521378978048
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.522715263,713.522715263,679.522715263,662,634.522715263,879,786,804.954569473,652.522715263,631,652,0.406734515497,0.0044324729926,0.0599832739027,0.999999995609,-7.6634251429e-05,-9.01045078066e-06,-5.31722093294e-05,1793244521395645184
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.948710357,745,713,679,662,634,879.051289643,786,805.948710357,652,631,652,0.407258940929,0.00443336009425,0.060009885252,0.999999995111,-7.33148284432e-05,3.91683338322e-05,-5.35656807159e-05,1793244521412311808
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.354485171,745,713,679,662,634,879.645514829,786,805.354485171,652,631,652,0.407777969566,0.00443328057119,0.060017423587,0.999999994966,-7.36600430583e-05,4.17362350079e-05,-5.38456020232e-05,1793244521428978688
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713,679,662,634.233747365,879.766252635,786,805,652,630.766252635,652,0.408310287906,0.00443359502924,0.0600161253277,0.999999995336,-7.49926796612e-05,2.8834282931e-05,-5.35908323335e-05,1793244521445645312
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713,679,662,634.813118993,879.186881007,786,805,652,630.186881007,652,0.408862256676,0.00443449203687,0.0600017610751,0.99999999557,-7.77853411759e-05,-6.94175230718e-06,-5.25454560986e-05,1793244521462311680
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745.386822317,713,679.386822317,662,634.613177683,879,786,805,652.386822317,630,652,0.409441151906,0.00443548766792,0.0599931113926,0.999999993241,-0.000100001950097,-2.73283046703e-05,-5.26291613832e-05,1793244521478978816
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745.957826713,713,679.957826713,662,634.042173287,879,786,805,652.957826713,630,652,0.410032867918,0.00443653025764,0.0599871826532,0.999999989125,-0.000131467102273,-4.03872877478e-05,-5.3250469e-05,1793244521495646208
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.547507141,745.452492859,713,679.452492859,662.547507141,634,879.547507141,786,805,653,630.547507141,652,0.410682672089,0.00443890209373,0.0599961829161,0.99999999016,-0.000128301732258,-1.23115699552e-05,-5.53890976837e-05,1793244521512312320
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713,679.135581102,662.864418898,634,879.864418898,786,805,652.864418898,631,652,0.411341715888,0.00444115070086,0.0600027106262,0.99999999087,-0.000122081660725,8.99131255237e-06,-5.72376635937e-05,1793244521528978688
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713,679.713553422,662.286446578,634,879.286446578,786,805,652.286446578,631,652,0.412015792527,0.00444265133421,0.0599972858651,0.999999991728,-0.000114905610559,-2.50883213883e-06,-5.77449499761e-05,1793244521545645568
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713.291119018,679.708880982,662,634,879.291119018,786,804.708880982,652,631,652,0.412685617182,0.00444312611713,0.0599766470888,0.999999991975,-0.000104507984815,-4.34050433452e-05,-5.69632011528e-05,1793244521562312192
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713.868285047,679.131714953,662,634,879.868285047,786,804.131714953,652,631,652,0.413351264013,0.00444259292264,0.0599410593621,0.999999987951,-9.09449099993e-05,-0.000113185170686,-5.49148751315e-05,1793244521578979072
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.443684541,714,679.443684541,661.556315459,634,880,786,804.443684541,652.443684541,631,652,0.414076123948,0.00444385864081,0.0599304270365,0.999999985982,-8.6737473639e-05,-0.000131907828244,-5.5795770727e-05,1793244521595645184
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.980947571,713.980947571,680,661.019052429,634,880,786,805,652.980947571,630.980947571,652,0.414821364202,0.00444556306577,0.0599290548851,0.999999985974,-8.53431207412e-05,-0.000132141164167,-5.75020198476e-05,1793244521612311552
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.390870594,713.390870594,680,661.609129406,634,880,786,805,652.390870594,630.390870594,652,0.415652672959,0.00444447382298,0.0599840627415,0.999999994205,-8.53491593199e-05,-3.07063382633e-05,-5.79858976148e-05,1793244521628978432
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,713,680,662,634,880,786.195591043,805,652,630.195591043,651.804408957,0.416474298563,0.0044442995418,0.0600236242915,0.999999994083,-8.34392273134e-05,3.89020211785e-05,-5.79463723868e-05,1793244521645644800
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,713,680,662,634,880,786.774958844,805,652,630.774958844,651.225041156,0.417276924427,0.00444592054231,0.0600328780426,0.999999994297,-7.77698966782e-05,4.6062432172e-05,-5.68798588212e-05,1793244521662311424
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.647672282,745,713,680,662,634,880,786.647672282,805,652,631,651.352327718,0.418091205179,0.0044457923872,0.0600219525767,0.999999995059,-7.61215118278e-05,2.87661009337e-05,-5.70979353362e-05,1793244521678978304
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.071572995,745,713,680,662,634,880,786.071572995,805,652,631,651.928427005,0.41891288819,0.00444455330242,0.0599982108183,0.999999995336,-7.70269237735e-05,-4.06327918728e-06,-5.81318850273e-05,1793244521695645184
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.502932321,745,713.502932321,679.497067679,662,634,879.497067679,786,805,652,631,652,0.419722211235,0.00444633703136,0.0599741561068,0.999999994307,-7.6824729479e-05,-4.41775474248e-05,-5.94254711821e-05,1793244521712312064
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,713.920434553,679.079565447,662,634,879.079565447,786.079565447,805,652,631,652,0.420526374753,0.00444841745488,0.0599492773167,0.999999991479,-7.63396473053e-05,-8.68326840744e-05,-6.06156190176e-05,1793244521728978688
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,713.328647683,679.671352317,662,634,879.671352317,786.671352317,805,652,631,652,0.421308610207,0.00444964727769,0.0599193791464,0.999999985642,-7.50449503134e-05,-0.000139192184439,-6.09027401292e-05,1793244521745645056
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,713.257149527,680,662,634,880,786.742850473,805.257149527,652,630.742850473,652,0.422137207073,0.00444998830492,0.0599045375952,0.999999981951,-7.44153563766e-05,-0.000163759057386,-6.11843407789e-05,1793244521762311680
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,713.835466032,680,662,634,880,786.164533968,805.835466032,652,630.164533968,652,0.423023707141,0.00444921927081,0.0599085010088,0.999999983529,-7.46164431132e-05,-0.000153614327673,-6.14590468429e-05,1793244521778978560
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634,880,786,805.593453633,652,630.406546367,652,0.423966702978,0.00444743441605,0.0599583645157,0.999999992576,-7.69806415625e-05,-7.23393718072e-05,-6.07354396274e-05,1793244521795645440
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634,880,786,805.025250679,652,630.974749321,652,0.424932163391,0.00444524563669,0.060026479452,0.999999994314,-8.02049656008e-05,3.72193683655e-05,-5.96148686397e-05,1793244521812311808
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713.442817271,680,662.557182729,634,880,786,805,652,631,652,0.425831899674,0.00444808684153,0.060037925254,0.999999993435,-7.82206645256e-05,5.74255486376e-05,-6.09427059523e-05,1793244521828978432
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.14117535,713.14117535,680,662.85882465,634,880.14117535,786,805,652,631,652,0.426719452799,0.00444888922282,0.060040070298,0.999999992744,-7.90449119586e-05,6.6153078861e-05,-6.23548503844e-05,1793244521845645568
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.728000796,713.728000796,680,662.271999204,634,880.728000796,786,805,652,631,652,0.427578195901,0.00444251718619,0.0600211749368,0.999999992628,-8.94996039853e-05,5.17633758378e-05,-6.36736848329e-05,1793244521862312704
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,746,714,680,662,634,880.687850906,786,805.312149094,652,631,652,0.428432433176,0.00444149032293,0.0599988957965,0.999999993517,-9.1042373273e-05,2.25639882856e-05,-6.4568829597e-05,1793244521878979328
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,746,714,680,662,634,880.106015603,786,805.893984397,652,631,652,0.429282777525,0.00444508150814,0.059973693187,0.99999999409,-8.48855435699e-05,-1.94304626208e-05,-6.50979207301e-05,1793244521895645440
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,746,714,680.469120694,661.530879306,634,880,786,806,652,631,652,0.430124897392,0.00444543230514,0.059945701765,0.99999999204,-8.11149410292e-05,-7.2108003276e-05,-6.43470178183e-05,1793244521912311808
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.957291788,713.957291788,680.957291788,661.085416425,634,880.042708212,786,805.957291788,652,630.957291788,652,0.430972045258,0.00444472873058,0.0599225788436,0.999999988085,-7.87904520707e-05,-0.000116585054483,-6.34852458577e-05,1793244521928978688
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.384402442,713.384402442,680.384402442,662.231195117,634,880.615597558,786,805.384402442,652,630.384402442,652,0.431904358402,0.00443989882122,0.0599676073162,0.999999993604,-8.78179460583e-05,-2.97123006746e-05,-6.47875108201e-05,1793244521945645312
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713.196221424,680,663,634,880.803778576,786.196221424,805.196221424,652,630.196221424,652,0.432810609564,0.00443650874267,0.0600050545243,0.999999992814,-9.35245528794e-05,3.70151168057e-05,-6.52298394042e-05,1793244521962311680
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713.792619269,680,663,634,880.207380731,786.792619269,805.792619269,652,630.792619269,652,0.433663709766,0.00443605507217,0.0600270404147,0.99999999172,-9.24585037021e-05,6.26578993625e-05,-6.39184040533e-05,1793244521978978560
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.374726098,662.625273902,634,880,786.625273902,806,652,631,652,0.434489320552,0.00443455611562,0.0600144094832,0.999999992642,-9.47073126916e-05,4.06734964197e-05,-6.39774889292e-05,1793244521995645440
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.94921451,662.05078549,634,880,786.05078549,806,652,631,652,0.435300276986,0.00443249992873,0.0599833247076,0.999999993007,-9.8723235595e-05,-6.70043077581e-06,-6.47671828628e-05,1793244522012312064
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,713.463579424,680.463579424,662.536420576,634,880,786,805.463579424,651.463579424,631,651.463579424,0.436087294796,0.00443253351618,0.0599570919131,0.999999991245,-9.97932921964e-05,-5.70065383043e-05,-6.55923700585e-05,1793244522028978688
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713.122918997,680,663,634,880,786,805.122918997,651.122918997,631,651.122918997,0.436866934496,0.00443285309016,0.059935105113,0.999999987802,-9.95490010884e-05,-0.000100560042635,-6.61377890381e-05,1793244522045645312
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.702211142,680,663,634,880,786,805.702211142,651.702211142,631,651.702211142,0.437627799709,0.00443348206275,0.0599271358966,0.999999986327,-9.54854477623e-05,-0.000117986793747,-6.56317070496e-05,1793244522062311936
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713.718134211,680.281865789,662.718134211,634,880,786,806,652,631,652,0.438390305617,0.00443248185736,0.0599242594447,0.999999985408,-9.43133198638e-05,-0.000126708992772,-6.50618822382e-05,1793244522078978304
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,713.138096126,680.861903874,662.138096126,634,880,786,806,652,631,652,0.439154547089,0.0044297582227,0.0599267703844,0.999999985331,-9.61998924833e-05,-0.000126223062695,-6.44246270014e-05,1793244522095644928
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.436391004,680.563608996,662,634,880,786,806,652,631,652,0.439936595713,0.00442939403488,0.0599602720822,0.999999990432,-9.78295336821e-05,-7.35268988879e-05,-6.44988447188e-05,1793244522112311296
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.990604495,680.009395505,661.990604495,633.990604495,880,786,806,652,631,652,0.44072239258,0.00442983893333,0.060002583632,0.999999992958,-9.92468988903e-05,-6.01461888274e-06,-6.47945193516e-05,1793244522128977920
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,713.402075222,680.597924778,661.402075222,633.402075222,880,786,806,652,631,652,0.441396244665,0.00443471055684,0.0599910216617,0.999999993128,-9.25284185855e-05,-3.08579132844e-05,-6.50371314186e-05,1793244522145645312
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713,680.816624841,660.633249681,633,880,786,806,652,630.816624841,652,0.442046434561,0.00443900012782,0.0599642932174,0.99999999136,-8.52987285935e-05,-7.59775399117e-05,-6.5053367016e-05,1793244522162312192
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713,680.237813764,659.475627528,633,880,786,806,652,630.237813764,652,0.442645598703,0.0044420345435,0.0599048593131,0.99999998137,-7.69666484493e-05,-0.000164821686764,-6.45814371104e-05,1793244522178978560
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.660721428,745,713,680.339278572,659,633,880.339278572,786,806,652,630.339278572,652,0.443241604779,0.00444680294083,0.059865568117,0.999999970527,-6.98635454736e-05,-0.00022320617647,-6.51486844143e-05,1793244522195645184
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.084827789,745,713,680.915172211,659,633,880.915172211,786,806,652,630.915172211,652,0.443835408364,0.00445278062799,0.0598403245793,0.999999961879,-6.36175398273e-05,-0.000260347899652,-6.64406608259e-05,1793244522212312064
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.490923818,745,713,681,659,633,880.509076182,786,806,652,630.509076182,652,0.444429730648,0.00445646798476,0.0598432861097,0.999999963436,-5.85800361095e-05,-0.000255405462348,-6.68225863293e-05,1793244522228978688
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713.068405827,681,659,632.931594173,880,786,806,652,630.068405827,652,0.445015943108,0.00445981661781,0.0598486757063,0.999999965479,-5.3551273814e-05,-0.000248382024291,-6.69329751463e-05,1793244522245645312
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713.659291958,681,659,632.340708042,880,786,806,652,630.659291958,652,0.445539528768,0.00446359994938,0.059835397092,0.999999957229,-4.69947850395e-05,-0.000280989688609,-6.61700979567e-05,1793244522262311680
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.754941826,745.245058174,714,681,659,632,880.245058174,785.754941826,806,652,630.754941826,652,0.446039755256,0.00446926215342,0.0598138812882,0.999999945561,-3.83707559902e-05,-0.000320949400482,-6.63070627623e-05,1793244522278978560
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.176148277,745.823851723,714,681,659,632,880.823851723,785.176148277,806,652,630.176148277,652,0.446508169735,0.00447748312186,0.0597811475718,0.999999928556,-2.69310232573e-05,-0.000370921582442,-6.76694880582e-05,1793244522295645952
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.399713687,745.600286313,713.600286313,681,658.600286313,632,880.600286313,785,806,652,630.399713687,652,0.446976415007,0.00448393318236,0.0597709421372,0.999999924554,-1.95358218233e-05,-0.0003818202022,-6.87312601771e-05,1793244522312312576
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.974293198,745.025706802,713.025706802,681,658.025706802,632,880.025706802,785,806,652,630.974293198,652,0.447444586294,0.00448960851084,0.0597705923206,0.99999992693,-1.39100116655e-05,-0.000375625014442,-6.96615034006e-05,1793244522328978944
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.708676274,745,713.291323726,680,661.708676274,633,880,786,805,652,630,651.708676274,0.424592860653,0.00456926224992,0.0598107916196,0.999999930833,0.000213650742134,-0.000302717153453,3.24075892398e-05,1793244524504190976
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_09/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70a7bfd4ba2d8ed2cf8c84e85e4cd44c96f5f4d0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_09/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4c9656c206dda0906c895030f8eb7b4ac40a5aa1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..596b796a8d5e1e4add8ad7abdc84c5a277e3e23c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+59,0.983333333,BASELINE,764.233327404,745,713,679,662,634,878.233327404,786,805,652.766672596,631,652,0.40096204799,0.00451034638142,0.0598433937595,0.999999956729,0.000122518715806,-0.000266105055987,2.68175762818e-05,1793244526903022336
+60,1.000000000,BASELINE,764.825349688,745,713,679,662,634,878.825349688,786,805,652.174650312,631,652,0.400962084844,0.00450988494227,0.0598441448351,0.999999957149,0.000120641487727,-0.000265384353875,2.68220924207e-05,1793244526919688448
+61,1.016666667,BASELINE,765,745,713.40556307,679.40556307,662,634,878.59443693,786.40556307,805,652.40556307,631,652,0.400962961766,0.00450945600606,0.0598443259992,0.999999957549,0.000118109595709,-0.000265014830801,2.68209670633e-05,1793244526936355072
+62,1.033333333,BASELINE,765,745,713.980834954,679.980834954,662,634,878.019165046,786.980834954,805,652.980834954,631,652,0.400964190216,0.0045090406708,0.0598442686824,0.999999957935,0.000115303758149,-0.000264792259457,2.68174810081e-05,1793244526953021952
+63,1.050000000,BASELINE,764.442874383,745,713.442874383,679.442874383,661.442874383,634,878,787,805,652.442874383,630.442874383,652,0.400964853125,0.004509910862,0.0598449565309,0.999999958098,0.000117121477868,-0.000263391779328,2.66843543968e-05,1793244526969688320
+64,1.066666667,BASELINE,764,745,713.136640823,679,661.136640823,634,878.136640823,786.863359177,805,652.136640823,630,652,0.400965200655,0.00451062498359,0.0598453462049,0.999999958123,0.000118747972629,-0.000262579348102,2.65431478167e-05,1793244526986354432
+65,1.083333333,BASELINE,764,745,713.726740517,679,661.726740517,634,878.726740517,786.273259483,805,652.726740517,630,652,0.400964566241,0.00451067414486,0.0598446611275,0.999999957737,0.000119211071944,-0.000263853143856,2.63899537892e-05,1793244527003021056
+66,1.100000000,BASELINE,764,745.310854206,714,679,662,634,879,786,805,652.689145794,630,652,0.400963506477,0.00451044891594,0.0598438132246,0.999999957306,0.000119983378261,-0.000265129072449,2.64481685313e-05,1793244527019687936
+67,1.116666667,BASELINE,764,745.889805222,714,679,662,634,879,786,805,652.110194778,630,652,0.400962079867,0.00450998703865,0.0598428248924,0.999999956834,0.000121022360731,-0.000266406840447,2.66887131827e-05,1793244527036355072
+68,1.133333333,BASELINE,764,745.53595297,714,679,661.53595297,634,879,786,805,652,630.46404703,652,0.400961451197,0.0045105913837,0.0598422577447,0.999999956578,0.000120946368924,-0.000267404725172,2.66504995559e-05,1793244527053021696
+69,1.150000000,BASELINE,764,745,713.962592145,679.037407855,661,634,879,786,805,652,630.962592145,652,0.40096112165,0.00451139774032,0.0598418883734,0.999999956412,0.000120684279168,-0.000268152651039,2.65520643003e-05,1793244527069688576
+70,1.166666667,BASELINE,764,745,713.385973526,679.614026474,661,634,879,786,805,652,630.385973526,652,0.400962399951,0.00451150305308,0.0598429426338,0.999999956821,0.000121517814161,-0.000266245965098,2.65301493902e-05,1793244527086354944
+71,1.183333333,BASELINE,764.195800337,745,713,679.804199663,661.195800337,634,879,786,804.804199663,652.195800337,630.195800337,652,0.400963342571,0.00451134432339,0.059843615396,0.999999957079,0.000122055858007,-0.000265027981161,2.6532730022e-05,1793244527103021312
+72,1.200000000,BASELINE,764.788011442,745,713,679.211988558,661.788011442,634,879,786,804.211988558,652.788011442,630.788011442,652,0.40096360558,0.00451065102229,0.0598435157897,0.999999957038,0.000121995660582,-0.000265204319762,2.65849034994e-05,1793244527119687680
+73,1.216666667,BASELINE,765,745,713,679,662,634,879,786.370372045,804.370372045,652.629627955,631,652,0.400962758902,0.00451047750598,0.0598432721177,0.999999956873,0.000121871589453,-0.000265885280744,2.65882688438e-05,1793244527136354304
+74,1.233333333,BASELINE,765,745,713,679,662,634,879,786.947240582,804.947240582,652.052759418,631,652,0.40096129353,0.00451059378951,0.0598429481234,0.999999956636,0.000121711906311,-0.000266847587874,2.65644217956e-05,1793244527153020928
+75,1.250000000,BASELINE,764.477559001,745,713.522440999,679,662,634,878.477559001,786.477559001,805,652,630.477559001,652,0.400962524674,0.00451025582368,0.0598439330328,0.999999957064,0.000121002132294,-0.000265567070585,2.6533788736e-05,1793244527169687808
+76,1.266666667,BASELINE,764.097051641,745,714,679,661.902948359,634,878.097051641,786,805,652.097051641,630.097051641,652,0.400963615674,0.0045099311297,0.0598446111854,0.999999957423,0.000120489827153,-0.000264449012236,2.65070152934e-05,1793244527186354688
+77,1.283333333,BASELINE,764.669595446,745,714,679,661.330404554,634,878.669595446,786,805,652.669595446,630.669595446,652,0.400962690154,0.00450989549303,0.059843140877,0.999999957128,0.000121216297787,-0.000265233050856,2.65024983815e-05,1793244527203021824
+78,1.300000000,BASELINE,764.747381561,745,713.747381561,679,661.252618439,634,879,786,805,652.747381561,631,652,0.400962491525,0.00450982132479,0.059842705364,0.999999957174,0.000120241151608,-0.000265505301183,2.64657804626e-05,1793244527219688448
+79,1.316666667,BASELINE,764.150059526,745,713.150059526,679,661.849940474,634,879,786,805,652.150059526,631,652,0.400963284756,0.00450969457933,0.0598436818529,0.99999995768,0.000116944110583,-0.000265079204694,2.63851235383e-05,1793244527236354304
+80,1.333333333,BASELINE,764,745,713,679,661.5737318,634,879,786,805,652,630.5737318,652,0.400963044885,0.00450890943037,0.0598434828205,0.999999957625,0.000116495233557,-0.0002654767223,2.64735532169e-05,1793244527253020928
+81,1.350000000,BASELINE,764,745,713,679,661.004447759,634,879,786,805,652,630.004447759,652,0.400962458401,0.00450790338261,0.0598428893929,0.999999957383,0.000117001934403,-0.000266150567927,2.6618712579e-05,1793244527269687808
+82,1.366666667,BASELINE,764,745,713.577089409,679,661,634,879,786,805,652,630,652,0.400962775757,0.00450938892857,0.0598441337664,0.999999957553,0.000118151630877,-0.000264976908096,2.68582808443e-05,1793244527286354176
+83,1.383333333,BASELINE,764,745,713.83981769,679,661.16018231,634,878.83981769,786,805,652,630,652,0.400963088806,0.00451089191738,0.0598447511591,0.999999957565,0.000119542954089,-0.000264301338143,2.68942243151e-05,1793244527303021056
+84,1.400000000,BASELINE,764,745,713.252836563,679,661.747163437,634,878.252836563,786,805,652,630,652,0.400963371412,0.00451238910597,0.0598436594299,0.999999957153,0.000121564590795,-0.00026499166942,2.63856376061e-05,1793244527319688192
+85,1.416666667,BASELINE,764.330932579,745,713.330932579,679,661.669067421,634,878.330932579,786,805,652,630,652,0.400963982513,0.00451246751007,0.0598437509513,0.999999957225,0.000121957684389,-0.000264536235039,2.64141903463e-05,1793244527336354816
+86,1.433333333,BASELINE,764.912271278,745,713.912271278,679,661.087728722,634,878.912271278,786,805,652,630,652,0.400964842176,0.00451147236514,0.0598447378009,0.999999957664,0.000121118511264,-0.000263213836311,2.68491793948e-05,1793244527353021696
+87,1.450000000,BASELINE,765,745.489203226,713.510796774,679.489203226,661,634,878.510796774,786,805,652,630.489203226,652,0.400964094008,0.00451133854679,0.059844657726,0.999999957699,0.000120099802355,-0.000263598182841,2.63356239271e-05,1793244527369688320
+88,1.466666667,BASELINE,764.935070992,745.935070992,713.064929008,679.935070992,661,634,878.064929008,786,805,652.064929008,631,652,0.40096311648,0.0045112387556,0.0598444316345,0.999999957646,0.000119268303882,-0.000264231747638,2.57958009327e-05,1793244527386354944
+89,1.483333333,BASELINE,764.362651091,745.362651091,713.637348909,679.362651091,661,634,878.637348909,786,805,652.637348909,631,652,0.40096257975,0.0045102084168,0.0598445463752,0.99999995747,0.000120149459888,-0.000264442309123,2.63683338003e-05,1793244527403021312
+90,1.500000000,BASELINE,764.216591194,745,713.783408806,679.216591194,661,634,879,786,805,652.783408806,630.783408806,652,0.400962563837,0.00451017057465,0.0598444942079,0.999999957355,0.000121141234806,-0.000264394228939,2.66428800508e-05,1793244527419687936
+91,1.516666667,BASELINE,764.807628042,745,713.192371958,679.807628042,661,634,879,786,805,652.192371958,630.192371958,652,0.400963448317,0.00451184857367,0.0598441534878,0.999999957349,0.000122324249038,-0.000263899005673,2.64022631269e-05,1793244527436354560
+92,1.533333333,BASELINE,764.609801891,745,713,679.609801891,661.390198109,634,879,786,805,652,630,652,0.400963029656,0.0045116410433,0.0598440367272,0.99999995739,0.000120772128837,-0.000264461927327,2.6337554861e-05,1793244527453021440
+93,1.550000000,BASELINE,764.031317337,745,713,679.031317337,661.968682663,634,879,786,805,652,630,652,0.400961982175,0.00451052366854,0.0598440280362,0.999999957448,0.000117900195225,-0.000265535446861,2.63577296495e-05,1793244527469688320
+94,1.566666667,BASELINE,764,745.546016639,713.546016639,679,661.453983361,634,879,786,805,652,630,652,0.400963732728,0.0045102678889,0.0598445765826,0.999999957961,0.000117390204633,-0.000263823111105,2.63468558071e-05,1793244527486354944
+95,1.583333333,BASELINE,764,745.874875339,714,679.125124661,661.125124661,634,879,786,805,652,630,652,0.400965094332,0.00451020474602,0.0598450421786,0.999999958296,0.000117506738832,-0.000262502446412,2.63287629558e-05,1793244527503021824
+96,1.600000000,BASELINE,764,745.288991907,714,679.711008093,661.711008093,634,879,786,805,652,630,652,0.400964433945,0.00451066937544,0.0598450848731,0.999999957882,0.000119432574969,-0.000263211226505,2.62906307578e-05,1793244527519688960
+97,1.616666667,BASELINE,764,745,714,680,662,634,879,786,805.295166053,652,630.295166053,652,0.400964737594,0.00451096835656,0.059845218304,0.99999995795,0.000119525410062,-0.00026291248806,2.62766103351e-05,1793244527536355840
+98,1.633333333,BASELINE,764,745,714,680,662,634,879,786,805.877644415,652,630.877644415,652,0.40096597963,0.0045111060969,0.059845440057,0.999999958486,0.000117834016262,-0.000261633038966,2.62860601266e-05,1793244527553022464
+99,1.650000000,BASELINE,764,745,714,680,662,634,878.547687691,786,805.547687691,652,631,652,0.400964911138,0.00451094373895,0.0598450620714,0.999999958192,0.000117675833184,-0.000262833676929,2.61980046505e-05,1793244527569688576
+100,1.666666667,BASELINE,764.025178075,745,713.974821925,679.974821925,661.974821925,634,878.025178075,786,805,652,630.974821925,652,0.400963232544,0.00451073399812,0.0598445150902,0.999999957672,0.000117999259208,-0.000264672324109,2.60802633574e-05,1793244527586355200
+101,1.683333333,BASELINE,764.604088173,745,713.395911827,679.395911827,661.395911827,634,878.604088173,786,805,652,630.395911827,652,0.400961648785,0.00451123723804,0.0598437588826,0.999999957083,0.000119947909476,-0.00026603825994,2.58798897378e-05,1793244527603022080
+102,1.700000000,BASELINE,764.813355863,745,713.186644137,679,661.186644137,634,879,786.186644137,805,652,630.186644137,652,0.400961435557,0.00451139271953,0.0598435279084,0.999999956929,0.0001211334796,-0.000266090524593,2.57854398508e-05,1793244527619688704
+103,1.716666667,BASELINE,764.222912242,745,713.777087758,679,661.777087758,634,879,786.777087758,805,652,630.777087758,652,0.400964187438,0.00451079583514,0.0598444332623,0.99999995772,0.00012066814646,-0.00026330069743,2.59201530869e-05,1793244527636355328
+104,1.733333333,BASELINE,764.360311747,745.360311747,714,679,662.360311747,634,879,786.639688253,805.360311747,652.360311747,631,652,0.400965116353,0.0045096886881,0.0598452446538,0.999999958214,0.000118945204144,-0.00026216766095,2.62975375202e-05,1793244527653021952
+105,1.750000000,BASELINE,764.939156998,745.939156998,714,679,662.939156998,634,879,786.060843002,805.939156998,652.939156998,631,652,0.400964939617,0.00450827206044,0.059845999056,0.999999958527,0.000116459506359,-0.000262039488119,2.68221050307e-05,1793244527669688576
+106,1.766666667,BASELINE,765,745.485619713,714,679,662.485619713,634,879,786,806,652.485619713,630.485619713,652,0.400964049127,0.00450800919207,0.0598450572417,0.99999995833,0.000116000577968,-0.000263003370061,2.67014690832e-05,1793244527686354688
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,879,786,805,653,631,652,0.400961226142,0.00450986308574,0.0598432376067,0.999999956756,0.000120682063762,-0.000266844234984,2.67888015247e-05,1793244527728771072
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,679,661.579675235,634,879,786,805,653,631,652,0.400962547415,0.00451003968416,0.059843826452,0.999999957252,0.000119605867604,-0.000265528119727,2.61812483373e-05,1793244527745437440
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.158621521,745,714,679.158621521,662,634,879,786,805.158621521,653,630.841378479,652,0.400963563103,0.00451051048869,0.0598443700118,0.999999957645,0.000119261679454,-0.000264244750446,2.57348091344e-05,1793244527762104064
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.735645155,745,714,679.735645155,662,634,879,786,805.735645155,653,630.264354845,652,0.400963772735,0.00451175733209,0.0598447941205,0.99999995777,0.000120848336882,-0.000263047756203,2.57133463825e-05,1793244527778770944
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634,878.688372982,786,805.688372982,653,630.311627018,652,0.400963559998,0.00451104343739,0.0598448054065,0.999999957801,0.000120351560427,-0.000263132120216,2.59670186222e-05,1793244527795437312
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634,878.11327195,786,805.11327195,653,630.88672805,652,0.400962990157,0.00450867178026,0.0598444676596,0.99999995775,0.000118093284855,-0.000264299845446,2.6453311645e-05,1793244527812103936
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.52646096,745.47353904,714,680,662,634,878.47353904,786,805,653,631,652,0.40096290727,0.00450894693187,0.0598443829112,0.999999957804,0.000117652280758,-0.000264309910284,2.62791815609e-05,1793244527828770304
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.061942828,745.938057172,713.938057172,679.938057172,662,634,878.938057172,786,805,653,631,652,0.400963205883,0.00450984305781,0.0598445480657,0.999999957924,0.000117660806482,-0.000263878834844,2.59986855965e-05,1793244527845436416
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+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,713.216563309,679,661.783436691,634,878.216563309,786,805,652.783436691,630.783436691,652,0.400973503859,0.00451063209734,0.0598497863326,0.999999959839,0.00011774944819,-0.000256443007726,2.63326611403e-05,1793244527878769664
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,713.791971911,679,661.208028089,634,878.791971911,786,805,652.208028089,630.208028089,652,0.400990163025,0.00450987585266,0.0598562437056,0.999999962896,0.000117811282786,-0.00024419294525,2.64322196271e-05,1793244527895436288
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,713.635442649,679.364557351,661.364557351,634,878.635442649,786,805,652.364557351,630.364557351,652,0.401024076836,0.00451002558284,0.059868682362,0.999999968192,0.000118809678985,-0.000220897341953,2.65375661047e-05,1793244527912102912
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,713.064455762,679.935544238,661.935544238,634,878.064455762,786,805,652.935544238,630.935544238,652,0.401067761039,0.00451068831858,0.0598845079035,0.999999974097,0.000120338400387,-0.000191347232103,2.66461900072e-05,1793244527928770048
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.473384147,745,713.526615853,679.473384147,662,634,878.526615853,786,805,652.473384147,630.473384147,652,0.40113168505,0.00450979657809,0.0599033608413,0.999999979698,0.000118819049174,-0.000160523584508,2.67919968536e-05,1793244527945437184
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.11740483,745,713.88259517,679,661.88259517,634,879.11740483,786,805,652.11740483,630.11740483,652,0.401200439822,0.00450859996568,0.0599208034361,0.999999984059,0.000116605838733,-0.000132517222532,2.68999976026e-05,1793244527962104064
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.697019486,745,713.302980514,679,661.302980514,634,879.697019486,786,805,652.697019486,630.697019486,652,0.401278073322,0.00450698184668,0.0599311770469,0.999999986478,0.000113187963787,-0.000116240193585,2.6840532633e-05,1793244527978770432
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.724991764,713.275008236,679,661.275008236,634,879.449983528,786,805,652.724991764,631,652,0.401361649126,0.00450688357436,0.0599382737786,0.999999987859,0.000112224908138,-0.000104861843429,2.63068835762e-05,1793244527995437056
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.148783804,713.851216196,679,661.851216196,634,878.297567608,786,805,652.148783804,631,652,0.40145173317,0.00450844989738,0.0599417815441,0.999999988303,0.000113950466353,-9.8848717947e-05,2.52538896601e-05,1793244528012103424
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.565116403,744.434883597,713.565116403,679.434883597,662,634.434883597,878.434883597,786,805,652.434883597,630.565116403,652,0.401559694699,0.00450947485143,0.0599463643374,0.999999989269,0.00011340261811,-8.95031174128e-05,2.43314025794e-05,1793244528028769792
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.0208252,745,713,679.9791748,662,634.9791748,878.9791748,786,805,652.9791748,630.0208252,652,0.401674626985,0.00451021255185,0.0599511482936,0.999999990313,0.000111937377888,-7.93322615102e-05,2.3444103935e-05,1793244528045435904
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.598152156,745,713,679.401847844,662,634.401847844,878.401847844,786,805,652.401847844,630.598152156,652,0.401809540017,0.00450830989959,0.0599513079771,0.999999990966,0.000107104225779,-7.81070130567e-05,2.22831605674e-05,1793244528062103040
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,713.176649499,679.176649499,661.823350501,634,878.176649499,786.176649499,805,652.176649499,631,652,0.401955120347,0.00450698896383,0.0599509245221,0.999999991671,0.000102341490186,-7.58456681459e-05,2.08002371783e-05,1793244528078769920
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,713.757826952,679.757826952,661.242173048,634,878.757826952,786.757826952,805,652.757826952,631,652,0.402125128807,0.00450700016111,0.0599492972781,0.999999992515,9.77400093221e-05,-7.12116589976e-05,1.85799786058e-05,1793244528095436800
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661.334148767,634,879,786.665851233,805,653,631,652,0.402311996877,0.00450657415592,0.0599493846451,0.999999993347,9.31087696061e-05,-6.60368034201e-05,1.66399419907e-05,1793244528112103168
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661.907001941,634,879,786.092998059,805,653,631,652,0.40251090889,0.00450583582827,0.0599506968711,0.999999994148,8.84562707128e-05,-6.04755852443e-05,1.49000860925e-05,1793244528128769536
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.505622411,745,714,679.505622411,662,634,879,786.494377589,805,653,630.505622411,652,0.402738493794,0.00450606981471,0.0599524154859,0.999999994838,8.54071067866e-05,-5.35218409295e-05,1.28203566342e-05,1793244528145436160
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.083032839,745,713.916967161,679,662,634,879,786.916967161,805,653,630.083032839,652,0.402977322632,0.00450638514329,0.059954240395,0.99999999549,8.22276496539e-05,-4.63276387126e-05,1.05560847404e-05,1793244528162103040
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.662511204,745,713.337488796,679,662,634,879,786.337488796,805,653,630.662511204,652,0.403250153599,0.00450606015128,0.0599562299295,0.999999996279,7.64113344774e-05,-3.93093321073e-05,7.58227471667e-06,1793244528178769408
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.760164394,745,713,679,661.760164394,634,878.760164394,786,805,652.760164394,631,652,0.40353472953,0.00450565052124,0.0599543785712,0.999999996698,7.04445223014e-05,-4.02362447401e-05,4.72623183602e-06,1793244528195436032
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.185844034,745,713,679,661.185844034,634,878.185844034,786,805,652.185844034,631,652,0.403835685462,0.0045051228515,0.0599471705434,0.999999996568,6.42678210711e-05,-5.22438924025e-05,2.03443211048e-06,1793244528212103168
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.387237765,679.387237765,661.387237765,634,878.387237765,786,805,652,631,652,0.404151524523,0.00450490907916,0.0599359250539,0.999999995726,5.85864078687e-05,-7.15085145178e-05,-1.22386958791e-06,1793244528228769792
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.95972703,679.95972703,661.95972703,634,878.95972703,786,805,652,631,652,0.404474483548,0.00450484547286,0.0599227480747,0.999999994136,5.31419367152e-05,-9.42448157356e-05,-4.75318129482e-06,1793244528245436416
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.553272844,745,713.446727156,679.446727156,661.446727156,634,879,786,805,652.553272844,630.446727156,652,0.404831522127,0.00450452765666,0.0599122926876,0.999999992534,4.50908073991e-05,-0.00011326942408,-8.2743187406e-06,1793244528262103040
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,713,679,661,634,879,786,805,652.855830667,630,652,0.405211372757,0.00450334855137,0.0599067608623,0.999999991568,3.58559206497e-05,-0.000124265165519,-1.16927463478e-05,1793244528278769408
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,713,679,661,634,879,786,805,652.277704957,630,652,0.405652126306,0.00449963482776,0.0599154292881,0.999999993346,2.36515922563e-05,-0.000111939058215,-1.48038737618e-05,1793244528295436032
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,713.298753546,679.298753546,661.298753546,634,879,786.298753546,805,652,630,651.701246454,0.40613311942,0.00449622771044,0.0599364555579,0.999999996762,1.20445892266e-05,-7.75186366712e-05,-1.79366355917e-05,1793244528312102656
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,713.873670971,679.873670971,661.873670971,634,879,786.873670971,805,652,630,651.126329029,0.406651309513,0.00449310401556,0.0599689052582,0.99999999952,9.89744529233e-07,-2.26745177398e-05,-2.10893963146e-05,1793244528328769280
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634,879,787,805,652.458687677,630,651.458687677,0.407176829505,0.00449150501044,0.0599946531655,0.999999999475,-9.2754385356e-06,1.91463043302e-05,-2.44421262483e-05,1793244528345436928
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.954169364,662,634,879,787,805,653,630.045830636,652,0.407703747643,0.00449019538311,0.0600160397471,0.999999998065,-1.92123498866e-05,5.22299880603e-05,-2.77841840527e-05,1793244528362104576
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.375373866,662,634,879,787,805,653,630.624626134,652,0.408222920555,0.00448725772789,0.0600086561425,0.999999998802,-2.79178558897e-05,2.63594159939e-05,-3.03472595454e-05,1793244528378771456
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662,634,879,787,805,652.796843916,631,652,0.408756894446,0.00448441399154,0.0599977936467,0.999999998804,-3.6070192098e-05,-2.66809489289e-06,-3.29189622389e-05,1793244528395438336
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,662,634,879,787,805,652.218804018,631,652,0.409318180544,0.00448174356379,0.059980511555,0.999999997733,-4.32017638597e-05,-3.75211017357e-05,-3.55065845552e-05,1793244528412104192
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.356081649,713.643918351,679.356081649,662,634,879,787,805.356081649,652.356081649,631,652,0.409937815397,0.00447489758145,0.0599785680102,0.999999997002,-5.48648443421e-05,-4.00259622644e-05,-3.71872304401e-05,1793244528428770560
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.929046111,713.070953889,679.929046111,662,634,879,787,805.929046111,652.929046111,631,652,0.410592989388,0.00446550834535,0.0599859668942,0.999999996605,-6.92879835521e-05,-2.28281579339e-05,-3.8315453498e-05,1793244528445436928
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.482169438,745.482169438,713,680,662,634,879,786.482169438,805.482169438,652.482169438,631,652,0.411254270095,0.0044619472866,0.0599917599075,0.999999999029,-3.30623761374e-05,-7.81229426792e-06,-2.80812449195e-05,1793244528462103040
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.10660444,745.10660444,713.10660444,680,662,634,879,786,805.10660444,652,630.89339556,652,0.411917054648,0.00446118425306,0.0599931362438,0.999999999804,2.9198649612e-06,-1.71845057907e-06,-1.95114568171e-05,1793244528478769664
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.685426713,745.685426713,713.685426713,680,662,634,879,786,805.685426713,652,630.314573287,652,0.412582677176,0.00446916651618,0.0599759537547,0.999999999087,6.1138593507e-06,-3.37797548346e-05,-2.5428234415e-05,1793244528495436288
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.737548598,713.737548598,680,661.737548598,634,879,786,806,652.262451402,630,652,0.413251542409,0.00446982461696,0.059951345367,0.999999996218,1.88567310485e-06,-8.18660511802e-05,-2.92890008637e-05,1793244528512103168
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.162663755,713.162663755,680,661.162663755,634,879,786,806,652.837336245,630,652,0.413924267984,0.00446176372082,0.0599178968677,0.999999988361,-1.11781959174e-05,-0.000149029191658,-3.07022038812e-05,1793244528528769792
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.57811729,745.42188271,713.42188271,679.57811729,661.42188271,634,879.42188271,786,805.57811729,652.57811729,630.42188271,652,0.414704659646,0.00446325233366,0.0599349749753,0.999999992634,-8.46917534159e-06,-0.000116570030659,-3.27459324293e-05,1793244528545436160
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.010148411,746,714,679.010148411,662.010148411,634,880,786,805,652,631,652,0.415527744405,0.00446837163262,0.0599720219645,0.999999998378,4.50660271687e-07,-4.49580759349e-05,-3.49638412082e-05,1793244528562102272
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.593151184,746,714,679.593151184,662.593151184,634,880,786,805,652,631,652,0.416362557117,0.00446572484487,0.0600108145353,0.999999999263,8.62443024149e-06,1.7708056685e-05,-3.29692333687e-05,1793244528578768896
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.826718457,713.826718457,680,662.653436913,634,880,786,805,652,631,652,0.417184071236,0.00446329283497,0.060034943323,0.999999997787,1.48823351957e-05,5.64393058276e-05,-3.19081667863e-05,1793244528595435520
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.25322232,713.25322232,680,661.50644464,634,880,786,805,652,631,652,0.417974870602,0.00446135688054,0.0600252043351,0.99999999852,1.67153187417e-05,3.98900554404e-05,-3.30032265364e-05,1793244528612102144
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.677997019,745,713,679.677997019,661.322002981,634,880,786,805,652,630.677997019,652,0.418778334299,0.00446194047282,0.0600066033025,0.999999999137,1.92122411133e-05,1.07631942955e-05,-3.52365183149e-05,1793244528628769024
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.101404593,745,713,679.101404593,661.898595407,634,880,786,805,652,630.101404593,652,0.419591810925,0.00446451612751,0.0599809955556,0.999999998616,2.22341020502e-05,-2.8308067625e-05,-3.83697453393e-05,1793244528645435904
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.484309632,745,713.484309632,679,662.484309632,634,880,786,805,652.484309632,630.484309632,652,0.420405162576,0.00446623142731,0.0599529825821,0.999999996653,1.75009183897e-05,-6.87687133674e-05,-4.07134906014e-05,1793244528662102272
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.928977543,745,714,679.071022457,662.928977543,634,879.928977543,786,805.071022457,652.928977543,630.928977543,652,0.42121809987,0.00446770095752,0.0599243021298,0.999999992752,4.71843585952e-06,-0.00011257479484,-4.24333161059e-05,1793244528678769152
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.349057607,745,714,679.650942393,662.349057607,634,879.349057607,786,805.650942393,652.349057607,630.349057607,652,0.422028258841,0.00446872501468,0.0598945167594,0.99999998183,-5.38817212241e-05,-0.00017822745578,-4.08897376865e-05,1793244528695436544
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.22816039,745,713.77183961,679.77183961,662,634,879.22816039,786,805.77183961,651.77183961,630.22816039,651.77183961,0.422895630604,0.00446748129715,0.0598993412947,0.999999979879,-9.02000273853e-05,-0.000174484553343,-4.0763379427e-05,1793244528712103680
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.801293215,745,713.198706785,679.198706785,662,634,879.801293215,786,805.198706785,651.198706785,630.801293215,651.198706785,0.423849506707,0.00446280876484,0.0599564950812,0.99999999261,-9.2828776961e-05,-6.58174169034e-05,-4.27798201285e-05,1793244528728769792
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713,679,662.378263904,634,880,786,805,651.378263904,630.621736096,651.378263904,0.424786592534,0.00446162665206,0.0600045294881,0.999999994936,-8.99276198053e-05,1.163220065e-05,-4.36606627104e-05,1793244528745436160
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713,679,662.957271302,634,880,786,805,651.957271302,630.042728698,651.957271302,0.425714767755,0.00446229689452,0.060047724265,0.99999999287,-8.40917580596e-05,7.2514769996e-05,-4.39388467797e-05,1793244528762102784
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713.544456834,679.544456834,662.455543166,634,880,786.544456834,805.544456834,652,630.544456834,652,0.426608744643,0.00446141940657,0.0600384602833,0.999999993659,-7.59058270148e-05,6.97818564603e-05,-4.5286401205e-05,1793244528778769664
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713.869836833,680,662.130163167,634,880,786.869836833,806,652,631,652,0.427495689827,0.00446011606011,0.0600234344183,0.999999994915,-6.89037392145e-05,5.68930677676e-05,-4.67460361929e-05,1793244528795436288
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,713.291467763,680,662.708532237,634,880,786.291467763,806,652,631,652,0.428367804496,0.00445777093893,0.0600029605056,0.999999996264,-6.66228779324e-05,2.64868334177e-05,-4.82982201102e-05,1793244528812102912
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713,680.286047884,662.713952116,634,880,786.286047884,805.713952116,652,630.713952116,652,0.429213714161,0.00445704949216,0.0599783277245,0.99999999683,-6.13140574919e-05,-1.3394380256e-05,-4.89949686161e-05,1793244528828769536
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713,680.862696487,662.137303513,634,880,786.862696487,805.137303513,652,630.137303513,652,0.430033001682,0.00445797756291,0.0599494698822,0.999999995429,-5.29290839181e-05,-6.2901378419e-05,-4.88226661537e-05,1793244528845436416
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713.437299469,680.562700531,662,634,880,786.562700531,805,652,630.437299469,652,0.430906966611,0.00445707611137,0.0599458616399,0.999999995515,-4.9873679004e-05,-6.30468878115e-05,-5.00678488233e-05,1793244528862103040
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.988297479,745,714,680,662.011702521,634,880,786,805.011702521,652,631,652,0.431798898424,0.00445557474318,0.0599510029598,0.9999999964,-4.85071947346e-05,-4.65990298211e-05,-5.17240418998e-05,1793244528878769920
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+234,3.900000000,POSE1_TO_POSE2_PRESS,764.684372827,746,713.684372827,681.315627173,654.684372827,630,880,785,806.684372827,651.684372827,630,652,0.452847303809,0.00456488047944,0.0596481256017,0.999999845489,5.73672560028e-05,-0.000548276590433,-7.15866250154e-05,1793244529845435904
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.740164491,745.740164491,713.740164491,681,655,630,880,785,806.740164491,652,630,652,0.452848090534,0.0045654849525,0.0596481550346,0.999999845452,5.7661220386e-05,-0.000548314028137,-7.15779714058e-05,1793244529862103040
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.161459409,745.161459409,713.161459409,681,655,630,880,785,806.161459409,652,630,652,0.45284693265,0.00456792630636,0.0596470855734,0.999999843899,6.05600456088e-05,-0.000550811007289,-7.17098740812e-05,1793244529878769664
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,745,713,681,655,630,880,785.425425577,806,652,630,652,0.452849110434,0.00456742301507,0.0596478458849,0.999999844841,5.89382261784e-05,-0.0005492848064,-7.16234264401e-05,1793244529895436288
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,745,713,681.01517981,655,630,880,785.98482019,806,652,630,652,0.45285243258,0.00456583260481,0.0596492303288,0.999999846646,5.56931485752e-05,-0.000546353584855,-7.14463519907e-05,1793244529912102912
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745,713,681.593942487,655,630,880,785.406057513,806,652,630,652,0.45285031844,0.00456618598976,0.0596474988713,0.999999845112,5.71287705147e-05,-0.000549058575011,-7.10415797879e-05,1793244529928769536
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745,713,681.828999375,655,630,880,785,806,652,630.171000625,652,0.452849186887,0.00456646846351,0.0596465007648,0.999999844193,5.77205174696e-05,-0.000550694572102,-7.08367671759e-05,1793244529945436160
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+247,4.116666667,HOLD_POSE2,765,745,713,682,654,630,881,785,806,652,631,652,0.452853808188,0.00456680131458,0.0596485555063,0.999999845145,6.01681112894e-05,-0.000548685206368,-7.09485020568e-05,1793244530084406272
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+256,4.266666667,HOLD_POSE2,764,745,713,681.235183152,655,630,881.529633695,785,806.235183152,652,630.764816848,652,0.452856408573,0.00456759803728,0.0596482090482,0.999999846005,5.84746390908e-05,-0.000547344558495,-7.06032294472e-05,1793244530234405120
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+262,4.366666667,HOLD_POSE2,764,745.718279339,713.718279339,681,655,630,881,785.718279339,806,652,630,652,0.45285734858,0.00456643197864,0.0596480756179,0.999999846217,6.01083216652e-05,-0.000546803179569,-7.04247672896e-05,1793244530334405376
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745.752465294,713,681.752465294,655,629,880,785,806,652,631,652,0.452858038236,0.00456803521533,0.0596478638311,0.999999846155,6.09608800753e-05,-0.00054683789164,-7.03013874842e-05,1793244530421522432
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,745.668276675,713,681.668276675,655,629,880.331723325,785,806.331723325,652,630.668276675,651.668276675,0.45285845252,0.00456668689617,0.059647968008,0.999999846292,6.0049470306e-05,-0.000546723304094,-7.00195942703e-05,1793244530438189312
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745.088736787,713,681.088736787,655,629,880.911263213,785,806.911263213,652,630.088736787,651.088736787,0.452858166017,0.00456550357306,0.0596481501092,0.999999846224,5.85316816035e-05,-0.000547056613075,-6.96772982774e-05,1793244530454856448
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745.486547225,713.486547225,681,655,629.486547225,881,785,807,652,630.486547225,651.486547225,0.452856641758,0.00456665479603,0.0596464791587,0.99999984515,5.90870969099e-05,-0.000548956980555,-6.96843908966e-05,1793244530471522560
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745.369941517,713.369941517,681.630058483,655,629.369941517,881,785,806.369941517,652,631,652,0.452855043979,0.00456720305769,0.0596455629411,0.999999845096,5.99516465162e-05,-0.00054893796018,-6.98625285026e-05,1793244530504855552
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,713,681.790290694,655,629.209709306,880.580581388,785,806,652,631,652,0.45284921122,0.0045665614331,0.0596434207318,0.999999843314,5.90876785289e-05,-0.000552250550477,-7.00058887341e-05,1793244530521522176
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,745,713,681.191874591,655,629.808125409,879.383749183,785,806,652,631,652,0.452832626668,0.00456616779322,0.059635839177,0.999999836319,5.65667242927e-05,-0.000565004915934,-7.02217192633e-05,1793244530538188800
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745,713,681.392521216,655,630,879.785042432,785,806,652,630.607478784,652,0.452799709437,0.00456629988485,0.0596225480341,0.999999823468,5.80651211063e-05,-0.000587181220081,-7.00801814217e-05,1793244530554855424
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,745,713,681.970299944,655,630,880.940599888,785,806,652,630.029700056,652,0.452759083699,0.00456668010496,0.059606562147,0.999999807299,6.14605233374e-05,-0.000613804379987,-6.97699770721e-05,1793244530571522048
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,745,713,682,655,630,880.45404124,785.54595876,806,652,630,652,0.452701279363,0.00456789798027,0.0595884505604,0.999999793451,6.19417788094e-05,-0.000635843403196,-7.04624561797e-05,1793244530588189184
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.452098473,745,713,681.452098473,655,629.547901527,881,785,806,652,630.547901527,652,0.452305255533,0.00457110024214,0.059557415161,0.999999768655,7.07060655835e-05,-0.000672966508545,-6.93240127756e-05,1793244530671522304
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.332669885,745,714,679.667330115,661.334660231,634,879,786,805,653,631,652,0.409025287543,0.00454072807343,0.0598378692887,0.99999994305,0.000180749228087,-0.00028263619606,3.66920286977e-05,1793244531788189696
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.914224171,745,714,679.085775829,660.171551659,634,879,786,805,653,631,652,0.408414130048,0.00453885165368,0.0598480099526,0.999999949132,0.00017106174646,-0.000266596201915,3.7432159296e-05,1793244531804856576
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.489659514,714,679,660.489659514,634,879.489659514,786,805,653,631,652,0.40784544946,0.00453891719718,0.0598380667801,0.999999947104,0.000165146287762,-0.000277808522717,3.66213548665e-05,1793244531821522944
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.347312631,714,679.652687369,661,634,879.347312631,786,805,652.347312631,631,652,0.406790051296,0.00453679837617,0.0598164882542,0.999999942895,0.000148037243,-0.000301869148566,3.42157485304e-05,1793244531854855936
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.762908551,745,714,680,661,634,879,786.237091449,805,652.237091449,631,652,0.406305424603,0.00453517022478,0.0598147214691,0.9999999445,0.000137837654798,-0.000301514631009,3.301595162e-05,1793244531871522560
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.395428643,745,714,680,661,634,879,786.604571357,805,653,631,652,0.40539575975,0.00453196691802,0.0598217031874,0.999999951082,0.000121028051548,-0.000286690186095,3.15598992207e-05,1793244531904855808
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.972372799,745,714,680,661,634,879,786.027627201,805,653,631,652,0.404953126987,0.00452875246875,0.0598160600114,0.999999950603,0.000113327138012,-0.000291480527747,3.14539046789e-05,1793244531921522176
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.870720096,746,714,679.870720096,661,634,879,786,805,652.870720096,630.870720096,652,0.404135993025,0.00452717925475,0.059771156871,0.99999992391,0.000110724055964,-0.000372594230143,3.30804471722e-05,1793244531954854912
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.283880605,746,714,679.283880605,661,634,879,786,805,652.283880605,630.283880605,652,0.403798281309,0.00452803981435,0.0597601731318,0.999999918258,0.000110222307952,-0.000387629786234,3.28227808475e-05,1793244531971521536
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,745.120874312,714,679.879125688,661,634.879125688,879,786.879125688,805,652.879125688,630.879125688,652,0.403227235459,0.00452269400564,0.0597875429132,0.999999937748,0.000107243765475,-0.00033436691633,3.46729581533e-05,1793244532004855296
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.45615816,745,714,679.54384184,661,634.54384184,879,786.54384184,805,653,631,652,0.402984158589,0.00452199970187,0.059809673443,0.999999949682,0.000108464249913,-0.000296038553243,3.51060108298e-05,1793244532021522176
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,713.967645139,679.032354861,661,634,878.967645139,786,805,653,630.967645139,652,0.402748892863,0.00452200650069,0.0598310534805,0.999999959107,0.000113869661858,-0.000259960221538,3.52197587519e-05,1793244532038188800
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.393235569,679.606764431,661,634,878.393235569,786,805,653,630.393235569,652,0.402530664031,0.00452005400959,0.0598373212892,0.99999995154,0.00017603964316,-0.000254533002198,3.38202913817e-05,1793244532054855424
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.813679692,745,713.186320308,680,661,634,878.186320308,786,805,653,630.186320308,652,0.402317318181,0.00451706260842,0.0598388657877,0.999999945243,0.000206102148835,-0.000257096113025,3.06163095425e-05,1793244532071521792
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,713.640182225,679.640182225,661,634,879,786,805,652.640182225,631,652,0.401935988001,0.00451015938349,0.0598248593,0.999999946169,0.000153263439499,-0.000289323283898,2.15718119613e-05,1793244532104855296
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,713.062232493,679.062232493,661,634,879,786,805,652.062232493,631,652,0.401772054459,0.00451067852943,0.0598216263795,0.999999943444,0.000156063898807,-0.00029704629915,2.27984235121e-05,1793244532121521664
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,745,713.513627166,679.513627166,661,634,879.513627166,786,805,652,631,652,0.401641989072,0.00451043800541,0.0598242622732,0.999999944033,0.000157086334445,-0.000294430755775,2.38336846126e-05,1793244532138188288
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745.091267078,714,679.908732922,661.091267078,633.908732922,879.908732922,786,805,652.091267078,630.908732922,652,0.401521233394,0.00450994701457,0.0598277865175,0.999999945258,0.000157554194364,-0.000289911295697,2.47554343095e-05,1793244532154854912
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745.679985153,714,679.320014847,661.679985153,633.320014847,879.320014847,786,805,652.679985153,630.320014847,652,0.401428944414,0.0045085905056,0.0598322926736,0.999999947779,0.000156168784426,-0.000281814427679,2.51843459632e-05,1793244532171521536
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745.735573204,713.735573204,679.264426796,661.735573204,633.264426796,879,786,805,652.735573204,630,652,0.401342222168,0.00450778932627,0.0598341765485,0.999999949077,0.000154749103707,-0.000277924570214,2.5617568019e-05,1793244532188188416
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745.156224656,713.156224656,679.843775344,661.156224656,633.843775344,879,786,805,652.156224656,630,652,0.401262129683,0.00450764952242,0.0598329373912,0.999999948979,0.000153288607951,-0.000279045094772,2.60559235675e-05,1793244532204855296
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.997705446,745,713.997705446,679.002294554,661,634,879,786,805,652.997705446,630.997705446,652,0.401134207727,0.00450632621569,0.059828475521,0.999999946674,0.000152147473197,-0.00028774417235,2.65819343884e-05,1793244532238189824
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.429717393,745,714,679.570282607,661,634,878.429717393,786,805,653,631,652,0.401087641928,0.00450713914952,0.0598255915038,0.999999945292,0.000151866412196,-0.000292690657698,2.61748933094e-05,1793244532254855680
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,661,634,878.147948451,786.147948451,805,653,630.852051549,652,0.401046357015,0.00450769431941,0.059823405549,0.999999944354,0.000151020943494,-0.000296332980493,2.59024981976e-05,1793244532271521792
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,661,634,878.740970773,786.740970773,805,653,630.259029227,652,0.401020779754,0.00450745535586,0.0598233255707,0.999999944815,0.000148475752318,-0.000296050858713,2.60428842138e-05,1793244532288188416
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,745,713.675060555,679.675060555,661,634,879,786.675060555,805,653,630.324939445,652,0.401002470267,0.00450654141047,0.0598254743643,0.999999946119,0.000146538953055,-0.0002925695458,2.6279010421e-05,1793244532304855552
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,745,713.098113404,679.098113404,661,634,879,786.098113404,805,653,630.901886596,652,0.400989797322,0.00450510398099,0.0598293516885,0.999999948051,0.00014507399359,-0.000286607091103,2.65893882188e-05,1793244532321523200
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.477889208,745,713.477889208,679,661,634,879,786,805,652.522110792,631,652,0.400979660886,0.00450532651472,0.0598300653149,0.999999948256,0.000145224847725,-0.000285838818036,2.63435345473e-05,1793244532338190080
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,713.94508021,679,661,634,879,786.05491979,805,652.05491979,631,652,0.4009705608,0.00450568627546,0.0598303120742,0.999999948198,0.000145594919034,-0.000285880717312,2.60563250476e-05,1793244532354856960
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,713.356172482,679,661,634,879,786.643827518,805,652.643827518,631,652,0.40096648381,0.00450407322236,0.0598323223713,0.999999948982,0.000144877328548,-0.000283451800111,2.64751685676e-05,1793244532371522560
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745.228965217,713.228965217,679,661.228965217,634,879,786.771034783,805.228965217,653,631,652.228965217,0.40096361652,0.00450348951329,0.0598337051158,0.999999949736,0.000144254849028,-0.000281081764196,2.66725542716e-05,1793244532388188416
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745.808333321,713.808333321,679,661.808333321,634,879,786.191666679,805.808333321,653,631,652.808333321,0.400962600528,0.00450448108778,0.0598341274687,0.999999950447,0.000143777925098,-0.000278801838934,2.65310262121e-05,1793244532404855040
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745.614190641,713.614190641,679.385809359,661.228381283,634,879,786.385809359,805.614190641,652.614190641,631,652.614190641,0.400959964459,0.00450499686762,0.0598336491723,0.999999950083,0.000144564438328,-0.000279708626611,2.64073898759e-05,1793244532421521664
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745.037649995,713.037649995,679.962350005,660.075299989,634,879,786.962350005,805.037649995,652.037649995,631,652.037649995,0.400956527476,0.00450527743042,0.059832725625,0.999999949184,0.000145975552795,-0.000282190819021,2.62925986153e-05,1793244532438188288
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.463277305,745,713.536722695,679.463277305,661.07344539,634,879,787,805,652.536722695,631,652,0.400958238345,0.0045041969336,0.0598342579839,0.999999950274,0.000143156944882,-0.000279765289479,2.6241216606e-05,1793244532454855168
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745.114226368,713.885773632,679,662,634,878.885773632,786.885773632,805,652.885773632,631,652,0.400959786654,0.0045030315864,0.0598356212078,0.999999951299,0.000140256955099,-0.000277567827726,2.62077537661e-05,1793244532471521792
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745.705436665,713.294563335,679,662,634,878.294563335,786.294563335,805,652.294563335,631,652,0.400959154291,0.0045019090039,0.0598355616657,0.999999951526,0.000138251128865,-0.000277754524635,2.62306181535e-05,1793244532488188416
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745.70945782,713,679,661.70945782,634,878,786.29054218,805,652.29054218,630.70945782,652,0.400958605998,0.00450207049326,0.059835527569,0.999999951393,0.000138866113848,-0.000277924378135,2.62511563946e-05,1793244532504855296
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745.130414138,713,679,661.130414138,634,878,786.869585862,805,652.869585862,630.130414138,652,0.400958141183,0.00450350703542,0.0598355187391,0.999999950898,0.000142083502052,-0.000278077506553,2.626938483e-05,1793244532521521920
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.446258442,745.446258442,713.446258442,679,661.446258442,634.446258442,878.446258442,786.553741558,805,652.553741558,630.446258442,652,0.400959439492,0.00450364155311,0.0598365912115,0.999999951652,0.000141266237985,-0.000275787355537,2.61080272113e-05,1793244532538188544
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.977900534,745.977900534,714,679.022099466,661.977900534,634.977900534,879,786,805,652.022099466,631,652,0.400961181809,0.00450337348826,0.059837942453,0.99999995272,0.000139343265473,-0.000272896995806,2.59076329144e-05,1793244532554855168
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.405601167,745.405601167,714,679.594398833,661.405601167,634.405601167,879,786,805,652.594398833,631,652,0.4009612182,0.0045025056358,0.0598384083907,0.999999952793,0.000139091911103,-0.000272746224232,2.60350757016e-05,1793244532571521792
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.826996397,661,634,878.826996397,786,805,652.826996397,631,652,0.400960938596,0.00450252989326,0.0598385440665,0.999999952656,0.000139621745379,-0.000272974252685,2.60388800584e-05,1793244532588188160
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.233049693,661,634,878.233049693,786,805,652.233049693,631,652,0.400959890131,0.00450472478486,0.0598378761671,0.999999952007,0.000142052326039,-0.00027412395708,2.57418540004e-05,1793244532604855040
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745.49749027,713.50250973,679.50250973,661,634,879,786,805.49749027,652.50250973,630.49749027,652.49749027,0.400959973576,0.00450159987749,0.0598372079457,0.99999995304,0.000135017286085,-0.000273911016471,2.5767864391e-05,1793244532654855168
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_09/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c5c36077a24156f446277a4c83d3afe83abc2ae9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
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+263,4.383333333,pose2_to_pose3_retreat,0.619492969318,0.00987791709915,1.05005110223,0.590064600766,0.018553598804,1.04971759844
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+265,4.416666667,pose2_to_pose3_retreat,0.619492635603,0.00987794233434,1.05005097284,0.590064267519,0.0185536252326,1.04971745882
+266,4.433333333,pose2_to_pose3_retreat,0.619492482371,0.00987797482333,1.05005092087,0.590064113297,0.0185536544254,1.04971740789
+267,4.450000000,pose2_to_pose3_retreat,0.619492439837,0.00987797491715,1.05005091367,0.590064070721,0.0185536543902,1.04971740108
+268,4.466666667,pose2_to_pose3_retreat,0.619492260997,0.00987794900667,1.05005090469,0.590063892384,0.0185536302538,1.04971739406
+269,4.483333333,pose2_to_pose3_retreat,0.619491928351,0.00987790081263,1.05005088799,0.590063560675,0.0185535853597,1.04971738099
+270,4.500000000,pose2_to_pose3_retreat,0.61949085893,0.00987780902135,1.05005085743,0.590062492864,0.0185534992409,1.04971735686
+271,4.516666667,pose2_to_pose3_retreat,0.619487529677,0.00987781659416,1.05005090004,0.59005916241,0.0185535026052,1.04971739561
+272,4.533333333,pose2_to_pose3_retreat,0.619479292297,0.0098777804251,1.05005091984,0.590050925865,0.0185534693228,1.04971741592
+273,4.550000000,pose2_to_pose3_retreat,0.619464686163,0.00987783717872,1.05005100554,0.59003631903,0.0185535234583,1.04971749449
+274,4.566666667,pose2_to_pose3_retreat,0.619440271232,0.00987791161165,1.05005095476,0.590011903136,0.0185535949925,1.04971745355
+275,4.583333333,pose2_to_pose3_retreat,0.619406645912,0.00987780816174,1.05005084177,0.589978279744,0.0185534977692,1.04971733452
+276,4.600000000,pose2_to_pose3_retreat,0.619363843506,0.00987780699181,1.05005090482,0.589935477482,0.0185534968229,1.04971739539
+277,4.616666667,pose2_to_pose3_retreat,0.619313669324,0.00987772365235,1.05005105796,0.589885305435,0.0185534210987,1.04971755494
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+288,4.800000000,pose2_to_pose3_retreat,0.618017436375,0.00987790212598,1.05005093029,0.588589069149,0.0185535878632,1.04971743089
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+337,5.616666667,pose2_to_pose3_retreat,0.589118794163,0.00987781339915,1.0500511076,0.559690429239,0.0185535055374,1.04971759921
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+346,5.766666667,pose2_to_pose3_retreat,0.583475604539,0.00987789824941,1.05005097944,0.554047237756,0.0185535842628,1.04971747573
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+370,6.166666667,pose2_to_pose3_retreat,0.57614902106,0.00987776943591,1.05005082253,0.546720655698,0.0185534599959,1.04971731198
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+375,6.250000000,pose2_to_pose3_retreat,0.575820664138,0.00987781509102,1.05005094579,0.546392298366,0.0185535041394,1.04971743214
+376,6.266666667,pose2_to_pose3_retreat,0.575781205707,0.00987787297229,1.05005088047,0.546352839396,0.0185535605306,1.04971737561
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+378,6.300000000,pose2_to_pose3_retreat,0.575726495116,0.00987775300814,1.05005083446,0.546298128284,0.0185534386582,1.04971732604
+379,6.316666667,pose2_to_pose3_retreat,0.575709247442,0.00987770869577,1.05005081676,0.546280881777,0.0185533983592,1.04971730977
+380,6.333333333,pose2_to_pose3_retreat,0.575697378618,0.00987771044216,1.05005100485,0.546269012988,0.0185533999856,1.04971749182
+381,6.350000000,pose2_to_pose3_retreat,0.57568903097,0.00987779993832,1.05005093175,0.546260664732,0.0185534876766,1.04971742516
+382,6.366666667,pose2_to_pose3_retreat,0.575683138673,0.00987783839857,1.05005087903,0.54625477226,0.0185535256691,1.04971737554
+383,6.383333333,pose2_to_pose3_retreat,0.575679135673,0.00987779527644,1.05005088957,0.546250769791,0.0185534842147,1.04971738283
+384,6.400000000,pose2_to_pose3_retreat,0.575676293633,0.0098777948643,1.05005085969,0.546247927596,0.0185534832768,1.04971735297
+385,6.416666667,pose2_to_pose3_retreat,0.575674339438,0.00987783279297,1.05005079188,0.546245972623,0.0185535186806,1.04971728811
+386,6.433333333,pose2_to_pose3_retreat,0.575673191225,0.00987785507845,1.05005075204,0.546244823952,0.0185535394826,1.04971725
+387,6.450000000,pose2_to_pose3_retreat,0.57567268818,0.00987785957638,1.05005076037,0.546244320816,0.0185535436529,1.04971725788
+388,6.466666667,pose2_to_pose3_retreat,0.575672258917,0.00987785910152,1.05005078861,0.546243891564,0.0185535431625,1.04971728473
+389,6.483333333,pose2_to_pose3_retreat,0.575672089707,0.00987785891434,1.05005079974,0.546243722359,0.0185535429691,1.04971729531
+390,6.500000000,pose2_to_pose3_retreat,0.575671888704,0.00987785869199,1.05005081295,0.546243521361,0.0185535427395,1.04971730788
+391,6.516666667,pose2_to_pose3_retreat,0.575671739089,0.00987785852649,1.05005082279,0.54624337175,0.0185535425685,1.04971731724
+392,6.533333333,pose2_to_pose3_retreat,0.575671565309,0.00987785833425,1.05005083422,0.546243197974,0.01855354237,1.04971732811
+393,6.550000000,pose2_to_pose3_retreat,0.575671308229,0.00987785804986,1.05005085113,0.5462429409,0.0185535420763,1.04971734419
+394,6.566666667,pose2_to_pose3_retreat,0.575671017681,0.00987785772846,1.05005087024,0.546242650359,0.0185535417443,1.04971736236
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+396,6.600000000,pose2_to_pose3_retreat,0.575670794061,0.00987785748109,1.05005088495,0.546242426746,0.0185535414888,1.04971737635
+397,6.616666667,pose2_to_pose3_retreat,0.575670599323,0.00987786825507,1.05005089589,0.546242231925,0.0185535520365,1.04971738866
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_09/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2ef2bac427bfce05def52979d28a3f15399dd7cf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17f17c0a0fcd8522cad71f2e506cf37572d44dd3aaa679e65e02984f4ac976b2
+size 25797048
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0247fcbf230e86b38c4f6dcdfa902088035e6bfc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+27,0.450000000,BASELINE,764,745,714,679,661.673701223,634,879.326298777,786,805,652,631,652,0.400960460577,0.00450306951029,0.0598413484092,0.999999954397,0.000135829458626,-0.000268505877168,2.56920861434e-05,1793244533320267520
+28,0.466666667,BASELINE,764.260205667,745.260205667,714,679,661.739794333,634,879,786,805.260205667,652.260205667,631,652,0.400960729975,0.0045031049579,0.0598414945628,0.99999995444,0.000135899019287,-0.000268315683084,2.56625433595e-05,1793244533336934144
+29,0.483333333,BASELINE,764.83960807,745.83960807,714,679,661.16039193,634,879,786,805.83960807,652.83960807,631,652,0.400961190972,0.00450211724528,0.0598422873663,0.999999954676,0.000135636965097,-0.00026756502026,2.56711149644e-05,1793244533353600768
+30,0.500000000,BASELINE,764.585215467,745.585215467,713.585215467,679,661,634,879,786,805.585215467,652.585215467,630.585215467,652,0.400961067517,0.00450284555018,0.0598424873835,0.999999954561,0.000136951820082,-0.000267343189713,2.55022695752e-05,1793244533370267648
+31,0.516666667,BASELINE,764.011656653,745.011656653,713.011656653,679,661,634,879,786,805.011656653,652.011656653,630.011656653,652,0.400960720341,0.00450423072492,0.0598424604895,0.999999954307,0.000138870295984,-0.000267323789499,2.52655112018e-05,1793244533386934528
+32,0.533333333,BASELINE,764.559039338,745,713,679.559039338,661,634,879,786,805,652,630.559039338,652,0.400960985056,0.00450324915189,0.0598422495939,0.999999954723,0.000135632807583,-0.000267442277377,2.51463099351e-05,1793244533403601408
+33,0.550000000,BASELINE,765,745,713,679.864032334,661,634,879,786,805,652,630.864032334,652,0.400961059624,0.00450253335054,0.0598420071924,0.999999954942,0.000133605812196,-0.000267646711286,2.5115504977e-05,1793244533420268288
+34,0.566666667,BASELINE,765,745,713,679.26570923,661,634,879,786,805,652,630.26570923,652,0.400960444437,0.0045028882582,0.059841670636,0.999999954474,0.000136058792608,-0.000268133675969,2.53769971708e-05,1793244533436934912
+35,0.583333333,BASELINE,764.679952347,745,713.320047653,679.320047653,661.320047653,634,879,786,805.320047653,652.320047653,630.320047653,652,0.400960853733,0.00450301556405,0.0598419119411,0.999999954476,0.000136684409349,-0.000267797434728,2.54995316405e-05,1793244533453602048
+36,0.600000000,BASELINE,764.104233952,745,713.895766048,679.895766048,661.895766048,634,879,786,805.895766048,652.895766048,630.895766048,652,0.400962081437,0.00450296104973,0.0598426148721,0.999999954855,0.000135850233031,-0.000266803573753,2.55110594676e-05,1793244533470269952
+37,0.616666667,BASELINE,764.471425071,745,714,680,662,634,879,786,805.528574929,653,630.528574929,652,0.400961707214,0.00450274760855,0.0598423826366,0.999999954909,0.000134572523313,-0.000267254771988,2.54238400751e-05,1793244533486936064
+38,0.633333333,BASELINE,764.951719481,745,713.951719481,680,661.951719481,634,879,786,805,653,630.048280519,652,0.400961069085,0.00450256506735,0.0598419897376,0.99999995488,0.000133564939379,-0.000267877966902,2.53163022359e-05,1793244533503601664
+39,0.650000000,BASELINE,764.361281152,745,713.361281152,680,661.361281152,634,879,786,805,653,630.638718848,652,0.400961444305,0.00450312405379,0.0598421142782,0.999999954736,0.000136691773405,-0.000266845157541,2.5225745368e-05,1793244533520268032
+40,0.666666667,BASELINE,764.224585836,745,713.224585836,679.775414164,661,634.224585836,879.224585836,786,805,653,630.775414164,652,0.40096176849,0.00450273974791,0.0598424639837,0.999999954971,0.000137005267314,-0.000265799424094,2.52606365136e-05,1793244533536934656
+41,0.683333333,BASELINE,764.803245775,745,713.803245775,679.196754225,661,634.803245775,879.803245775,786,805,653,630.196754225,652,0.400962012214,0.00450086828061,0.0598431686762,0.999999955804,0.000132883348287,-0.000264733315055,2.54933045758e-05,1793244533553601792
+42,0.700000000,BASELINE,764.619470816,745,714,679.380529184,661,634.619470816,879.238941633,786,805,653,630.380529184,652,0.400962150393,0.00450030472216,0.059843212742,0.99999995587,0.000132484939017,-0.000264688111317,2.54732651381e-05,1793244533570268160
+43,0.716666667,BASELINE,764.042896602,745,714,679.957103398,661,634.042896602,878.085793204,786,805,653,630.957103398,652,0.400962234195,0.00450041498604,0.0598429164593,0.999999955543,0.00013400484683,-0.000265168868352,2.53230331833e-05,1793244533586934528
+44,0.733333333,BASELINE,764.530374513,745,714,679.469625487,661.530374513,634,878.530374513,786,805,653,631,652,0.400961108293,0.00450239154219,0.0598424778979,0.999999954871,0.000137046732947,-0.000266151395654,2.52970130205e-05,1793244533603600640
+45,0.750000000,BASELINE,764.892909875,745,714,679.107090125,661.892909875,634,879,786,805,653,631,652,0.400960443717,0.00450422439932,0.0598423302724,0.999999954402,0.000139632375043,-0.000266571001324,2.52860849664e-05,1793244533620267264
+46,0.766666667,BASELINE,764.29934101,745,714,679.70065899,661.29934101,634,879,786,805,653,631,652,0.400962316522,0.00450472301739,0.0598435562334,0.999999955023,0.000139589700892,-0.000264250204423,2.52983613188e-05,1793244533636933888
+47,0.783333333,BASELINE,764.285896633,745.285896633,714,680,661,634,878.714103367,786,805,653,630.714103367,652.285896633,0.4009626202,0.00450456859446,0.0598435362797,0.999999955137,0.000138910385181,-0.000264188160654,2.51885614507e-05,1793244533653600512
+48,0.800000000,BASELINE,764.862658344,745.862658344,714,680,661,634,878.137341656,786,805,653,630.137341656,652.862658344,0.400961327482,0.00450374978174,0.0598422487591,0.999999954733,0.00013758336405,-0.000266424123397,2.49545638665e-05,1793244533670267136
+49,0.816666667,BASELINE,765,745.562042468,714,679.562042468,661,634,878.437957532,786,805,652.562042468,630.437957532,652.562042468,0.400961288876,0.00450248502668,0.0598422511229,0.999999954924,0.000135405512843,-0.000266830262617,2.48813151872e-05,1793244533686934016
+50,0.833333333,BASELINE,764.986891917,745,713.986891917,679,661.013108083,634,879,786.013108083,805,652.013108083,631,652.013108083,0.400961652588,0.0045011282504,0.0598426532415,0.999999955293,0.000133029580118,-0.000266644348146,2.48662867862e-05,1793244533703601152
+51,0.850000000,BASELINE,764.398194241,745,713.398194241,679,661.601805759,634,879,786.601805759,805,652.601805759,631,652.601805759,0.400962470454,0.00450185105254,0.0598429060112,0.999999955489,0.000133632882051,-0.000265574129654,2.5201574992e-05,1793244533720267776
+52,0.866666667,BASELINE,764,745,713,679,662,634,878.812114642,786.812114642,805,653,630.812114642,652.812114642,0.400962599391,0.0045021933645,0.0598429433296,0.999999955497,0.000134210276232,-0.000265225301342,2.54634122001e-05,1793244533736934400
+53,0.883333333,BASELINE,764,745,713,679,662,634,878.231507436,786.231507436,805,653,630.231507436,652.231507436,0.400961288314,0.00450174036799,0.0598425303073,0.999999955116,0.00013473351746,-0.000266384337712,2.55717205992e-05,1793244533753600768
+54,0.900000000,BASELINE,764.34522806,745,713.34522806,679.34522806,661.65477194,634.34522806,878.34522806,786,805.34522806,653,630.34522806,652,0.400961766254,0.00450269416248,0.0598429236225,0.999999955129,0.000135959906719,-0.000265734634702,2.53502784307e-05,1793244533770267136
+55,0.916666667,BASELINE,764.919395988,745,713.919395988,679.919395988,661.080604012,634.919395988,878.919395988,786,805.919395988,653,630.919395988,652,0.40096343059,0.0045045808781,0.0598438516649,0.999999955398,0.000137652592404,-0.000263885456275,2.49101603728e-05,1793244533786934016
+56,0.933333333,BASELINE,764.51010871,745,714,680,661,634.51010871,879,786,805.51010871,653,630.51010871,652,0.400961540828,0.00450308130361,0.0598423408175,0.999999955041,0.000136087117168,-0.000266011432904,2.52284598894e-05,1793244533803600384
+57,0.950000000,BASELINE,764,745,713.937218259,680,661,634,878.937218259,786,805,653,630.062781741,652,0.400959527292,0.0045013982176,0.0598408070014,0.999999954669,0.000134396148756,-0.000268224078681,2.558771131e-05,1793244533820267008
+58,0.966666667,BASELINE,764,745,713.338775061,680,661,634,878.338775061,786,805,653,630.661224939,652,0.40096140992,0.00450286778695,0.0598424755206,0.999999955128,0.000136174322418,-0.000265637283713,2.52396034519e-05,1793244533836934144
+59,0.983333333,BASELINE,764.250413523,745,713,679.749586477,661.250413523,634,878.250413523,786.250413523,805,653,630.749586477,652,0.400962261798,0.0045035611591,0.0598433027781,0.99999995537,0.000136737602768,-0.000264448290789,2.51087838974e-05,1793244533853601024
+60,1.000000000,BASELINE,764.827528189,745,713,679.172471811,661.827528189,634,878.827528189,786.827528189,805,653,630.172471811,652,0.400961768912,0.00450324186845,0.0598430324866,0.999999955337,0.000135715876976,-0.00026508293515,2.52614487347e-05,1793244533870267904
+61,1.016666667,BASELINE,764.598504802,745.401495198,713,679,661.598504802,634,878.598504802,786.598504802,805,652.598504802,630,652,0.400962089263,0.00450269796211,0.059843141846,0.999999955525,0.000134932338743,-0.000264770640278,2.53099093948e-05,1793244533886934272
+62,1.033333333,BASELINE,764.02587946,745.97412054,713,679,661.02587946,634,878.02587946,786.02587946,805,652.02587946,630,652,0.40096275624,0.00450205831737,0.0598434130249,0.999999955806,0.000134250323758,-0.000264054729464,2.53139548798e-05,1793244533903600384
+63,1.050000000,BASELINE,764.564604081,745.435395919,713.564604081,679.564604081,661,634,878.564604081,786,805,652.564604081,630,652,0.400962331904,0.00450228558396,0.0598429145413,0.999999955678,0.000133523897848,-0.000264948325906,2.48721850395e-05,1793244533920267008
+64,1.066666667,BASELINE,764.846957124,745,713.846957124,680,661,634,879,786,805,653,630.153042876,652,0.400962124342,0.00450258638804,0.0598426652991,0.999999955563,0.000133608306988,-0.000265358090097,2.46409092021e-05,1793244533936933632
+65,1.083333333,BASELINE,764.266587924,745,713.266587924,680,661,634,879,786,805,653,630.733412076,652,0.400962666294,0.00450297794823,0.0598432137108,0.999999955541,0.000135962599371,-0.000264204177409,2.50562958958e-05,1793244533953600512
+66,1.100000000,BASELINE,764,745,713.310509757,680,661,634,879,786,805,652.689490243,631,652,0.400962388641,0.00450279890589,0.0598433812829,0.999999955495,0.000136654505737,-0.000263997469153,2.5299307031e-05,1793244533970267648
+67,1.116666667,BASELINE,764,745,713.884827935,680,661,634,879,786,805,652.115172065,631,652,0.400961414652,0.00450213508084,0.0598432252945,0.999999955433,0.000135934052406,-0.000264595503802,2.5395868242e-05,1793244533986935040
+68,1.133333333,BASELINE,764,745,714,679.535178762,661,634,878.535178762,786,805,652.464821238,631,652,0.400961637047,0.00450301205303,0.0598428622819,0.999999955291,0.000136335523514,-0.00026494176326,2.52250584542e-05,1793244534003601920
+69,1.150000000,BASELINE,764.046551384,745,713.953448616,679,661,634,878.046551384,786,805,653,631,652,0.400962107175,0.00450415547297,0.0598425251286,0.999999955166,0.000136839715103,-0.000265174676886,2.50231774476e-05,1793244534020269312
+70,1.166666667,BASELINE,764.631907241,745,713.368092759,679,661,634,878.631907241,786,805,653,631,652,0.400961971184,0.00450390943857,0.0598430883395,0.999999955465,0.000135275529152,-0.000264826663768,2.52379292914e-05,1793244534036940032
+71,1.183333333,BASELINE,764.785481584,745,713.214518416,679,661,634,879,786.214518416,805,653,630.785481584,652,0.400961894631,0.00450348143889,0.0598433832104,0.99999995565,0.000134316535143,-0.000264607325392,2.53504647334e-05,1793244534053607680
+72,1.200000000,BASELINE,764.207520428,745,713.792479572,679,661,634,879,786.792479572,805,653,630.207520428,652,0.400961918782,0.00450274514882,0.0598432234531,0.999999955643,0.00013438287298,-0.000264605991087,2.52898224955e-05,1793244534070269952
+73,1.216666667,BASELINE,764,745.368685149,714,679,661,634,879,786.631314851,805,652.631314851,630,652,0.400961740652,0.00450287876021,0.0598432571652,0.999999955666,0.000134460881751,-0.000264503301364,2.50236865891e-05,1793244534086934784
+74,1.233333333,BASELINE,764,745.943907218,714,679,661,634,879,786.056092782,805,652.056092782,630,652,0.400961449206,0.00450349968925,0.0598433992588,0.999999955706,0.000134545428561,-0.000264343832473,2.46424334114e-05,1793244534103601152
+75,1.250000000,BASELINE,764,745.468563267,713.468563267,679.531436733,661,634,878.468563267,786,805.531436733,652,630,652,0.400961894931,0.004503939917,0.0598433838233,0.999999955472,0.000135989632279,-0.000264450506368,2.5084455261e-05,1793244534120267776
+76,1.266666667,BASELINE,764,745,713,680,661,634,878.11837241,786.11837241,805.88162759,652,630.11837241,652,0.40096227102,0.00450433204938,0.0598433311647,0.999999955307,0.000136900003609,-0.000264573946439,2.53978316405e-05,1793244534136934400
+77,1.283333333,BASELINE,764,745,713,680,661,634,878.697815182,786.697815182,805.302184818,652,630.697815182,652,0.400962065613,0.00450461289811,0.0598431998181,0.999999955537,0.00013515881436,-0.000264650680593,2.48636313004e-05,1793244534153601280
+78,1.300000000,BASELINE,764.275891502,745.275891502,713.275891502,679.724108498,661.275891502,634,879,786.724108498,805,652.275891502,631,652,0.400962549702,0.00450375119333,0.059843409178,0.999999955863,0.000133726541945,-0.000264160221018,2.47025266343e-05,1793244534170267648
+79,1.316666667,BASELINE,764.852478483,745.852478483,713.852478483,679.147521517,661.852478483,634,879,786.147521517,805,652.852478483,631,652,0.400963785276,0.00450164421395,0.0598439898756,0.999999956295,0.000132630959588,-0.000263051574264,2.49480607763e-05,1793244534186934016
+80,1.333333333,BASELINE,764.573753479,746,714,679.426246521,662,634,879,786,805,653,630.573753479,652,0.400961632268,0.00450199654158,0.0598432339976,0.999999955618,0.000134082724494,-0.000264857223946,2.52117429212e-05,1793244534203600640
+81,1.350000000,BASELINE,764.000954604,746,714,679.999045396,662,634,879,786,805,653,630.000954604,652,0.400958314197,0.00450319442955,0.0598420185772,0.999999954549,0.000136410319888,-0.000267664868815,2.54816647436e-05,1793244534220267520
+82,1.366666667,BASELINE,764.591716351,745.408283649,714,680,662,634,879,786.591716351,805,652.408283649,630.591716351,652,0.400961116209,0.00450263095145,0.059843287038,0.999999955322,0.000135596506311,-0.000265191917234,2.53346041284e-05,1793244534236937984
+83,1.383333333,BASELINE,764.819809453,745,714,680,662,634,879,786.819809453,805,652.180190547,630.819809453,652,0.400962889709,0.00450244947183,0.0598440199927,0.999999955782,0.000135341530062,-0.000263597429239,2.51906818237e-05,1793244534253605888
+84,1.400000000,BASELINE,764.240699677,745,714,680,662,634,879,786.240699677,805,652.759300323,630.240699677,652,0.400962363598,0.00450312019821,0.0598435582247,0.999999955553,0.000136335359021,-0.000263967264329,2.50552483634e-05,1793244534270269440
+85,1.416666667,BASELINE,764,745.335772586,714,679.664227414,661.664227414,634,879,786,805,653,630.335772586,652,0.400961802391,0.00450303943572,0.0598433771272,0.999999955546,0.000135458302286,-0.000264449947326,2.50140783853e-05,1793244534286934784
+86,1.433333333,BASELINE,764,745.910368842,714,679.089631158,661.089631158,634,879,786,805,653,630.910368842,652,0.400961216222,0.00450242416462,0.059843395661,0.999999955693,0.000133250547861,-0.000265012895197,2.50399548374e-05,1793244534303601664
+87,1.450000000,BASELINE,764,745.514517081,714,679.485482919,661,634.485482919,879,786,805,653,630.514517081,652,0.400961569701,0.00450128962852,0.0598430369186,0.999999955783,0.000131871331636,-0.000265365228317,2.49973916537e-05,1793244534320268288
+88,1.466666667,BASELINE,764.062533937,745.062533937,714,679.937466063,661,634.937466063,878.937466063,786,805,653,630.062533937,652,0.400962181725,0.00450028025597,0.0598427526191,0.9999999559,0.000130844335272,-0.000265439007173,2.49490949237e-05,1793244534336934656
+89,1.483333333,BASELINE,764.655193895,745.655193895,714,679.344806105,661,634.344806105,878.344806105,786,805,653,630.655193895,652,0.400963513302,0.00450114552771,0.0598436905168,0.999999956331,0.00013150510353,-0.00026348135638,2.49594233582e-05,1793244534353601024
+90,1.500000000,BASELINE,764.759251096,745.759251096,714,679,661,634,878,786,805,652.759251096,630.759251096,652,0.400963320187,0.00450142053237,0.0598437923485,0.999999956384,0.000131923616059,-0.000263058706575,2.50494938746e-05,1793244534370267392
+91,1.516666667,BASELINE,764.183580306,745.183580306,714,679,661,634,878,786,805,652.183580306,630.183580306,652,0.40096100597,0.00450087437699,0.0598427310726,0.999999955917,0.000132005110405,-0.000264771499361,2.52504989276e-05,1793244534386934016
+92,1.533333333,BASELINE,764.392291895,745,714,679,661.392291895,634,878.392291895,786.392291895,805,652.392291895,630.392291895,652,0.400962229766,0.00450060775372,0.0598430543345,0.99999995619,0.000132075170737,-0.000263712278272,2.51406757193e-05,1793244534403600640
+93,1.550000000,BASELINE,764.968258449,745,714,679,661.968258449,634,878.968258449,786.968258449,805,652.968258449,630.968258449,652,0.400965110091,0.00450047200991,0.0598440258496,0.999999956807,0.000132139877565,-0.000261355175038,2.48853198892e-05,1793244534420267264
+94,1.566666667,BASELINE,765,745,714,679,661.44256314,634,879,786.44256314,805,653,631,652,0.400963710255,0.00450100182325,0.0598435576925,0.999999956265,0.00013259500544,-0.000263172496275,2.50849661943e-05,1793244534436933888
+95,1.583333333,BASELINE,765,745.144825231,714,679.144825231,661.144825231,634,879,786,805,652.855174769,631,652,0.40096242514,0.00450155127001,0.0598434168654,0.999999955875,0.000132898009284,-0.000264487888867,2.51716412774e-05,1793244534453600768
+96,1.600000000,BASELINE,765,745.724524863,714,679.724524863,661.724524863,634,879,786,805,652.275475137,631,652,0.400962234101,0.00450204310985,0.0598445110646,0.999999956157,0.000132675846541,-0.00026356503258,2.48394056152e-05,1793244534470267648
+97,1.616666667,BASELINE,764.698680405,745.698680405,713.698680405,680,661.698680405,634,879,786.301319595,805,652.301319595,631,652,0.400962907563,0.00450207502583,0.0598450193131,0.99999995648,0.000131981272264,-0.000262701948009,2.46876401834e-05,1793244534486934272
+98,1.633333333,BASELINE,764.124516091,745.124516091,713.124516091,680,661.124516091,634,879,786.875483909,805,652.875483909,631,652,0.400964363831,0.00450169048101,0.0598449969834,0.999999956839,0.000130858929632,-0.000261892986747,2.46992904603e-05,1793244534503600640
+99,1.650000000,BASELINE,764,745,713.451307125,679.548692875,661,634,879,786.548692875,805,652.548692875,630.548692875,652,0.400962722946,0.00450186804019,0.0598438487289,0.999999956215,0.000131767384264,-0.000263805119758,2.4787385245e-05,1793244534520267520
+100,1.666666667,BASELINE,764.028308305,745,714,679,661,634,878.971691695,786,805,652.028308305,630,652,0.400960432749,0.00450223168969,0.0598425063831,0.999999955368,0.000133238647494,-0.000266255859207,2.48998579297e-05,1793244534536934144
+101,1.683333333,BASELINE,764.619600514,745,714,679,661,634,878.380399486,786,805,652.619600514,630,652,0.400962286087,0.00450320057991,0.059843504779,0.999999955649,0.000134718710434,-0.000264432438628,2.50761493388e-05,1793244534553602048
+102,1.700000000,BASELINE,764.794160382,745.205839618,714,679.205839618,661.205839618,634,878.205839618,786,805,653,630.205839618,652,0.400963257388,0.00450332796509,0.0598438908636,0.999999955876,0.000134736909402,-0.000263557964809,2.51417764172e-05,1793244534570269184
+103,1.716666667,BASELINE,764.217035924,745.782964076,714,679.782964076,661.782964076,634,878.782964076,786,805,653,630.782964076,652,0.400962637708,0.00450193747878,0.0598431724864,0.999999956007,0.000132118259494,-0.000264395161423,2.50077918131e-05,1793244534586935040
+104,1.733333333,BASELINE,764,745.642009969,714,680,662,634,879,786,805,653,631,652,0.400962625646,0.00450133054723,0.0598436419056,0.999999956208,0.000131636900853,-0.000263875856974,2.50241237997e-05,1793244534603601152
+105,1.750000000,BASELINE,764,745.068248788,714,680,662,634,879,786,805,653,631,652,0.400962979813,0.0045011958871,0.0598448272445,0.99999995645,0.000132443750445,-0.000262538949408,2.51310560156e-05,1793244534620267776
+106,1.766666667,BASELINE,764,745.520949805,714,679.479050195,661.479050195,634,878.479050195,786,805,652.479050195,630.479050195,652,0.400963665549,0.0045012007017,0.0598443755112,0.999999956642,0.000131511643001,-0.000262283830882,2.50580853254e-05,1793244534636934400
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,746,714,680,661,634,879,786,805,653,630,652,0.400962282608,0.00450188331923,0.0598439173575,0.999999956077,0.000132758934533,-0.000263820445384,2.48969290205e-05,1793244534679227904
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.577039597,745.422960403,714,679.422960403,661.577039597,634,879,786,805.577039597,652.422960403,630.577039597,652,0.400960736436,0.00450214562377,0.0598431919709,0.999999955532,0.000134387705947,-0.000265060816148,2.48904827918e-05,1793244534695894272
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.847068242,745,714,679,661.847068242,634,879,786,805.847068242,652.152931758,631,652,0.400959966425,0.00450242520139,0.0598428157133,0.999999955181,0.000135590375316,-0.000265767383326,2.49310874404e-05,1793244534712560640
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.274325762,745,714,679,661.274325762,634,879,786,805.274325762,652.725674238,631,652,0.400961327042,0.00450275219513,0.0598433978449,0.999999955373,0.000135623358592,-0.000265008614408,2.51008507595e-05,1793244534729227008
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.691367261,679.308632739,661.308632739,634,879,786,805.308632739,653,631,652,0.400961764388,0.004502893546,0.0598434895134,0.999999955427,0.000135682854937,-0.000264772945527,2.51216313304e-05,1793244534745893632
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.099017509,679.900982491,661.900982491,634,879,786,805.900982491,653,631,652,0.400961352998,0.0045028642408,0.0598431303138,0.999999955354,0.000135766723967,-0.000265018147196,2.50054564253e-05,1793244534762560256
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745,713,680,662,634,879,786,805.519391828,652.519391828,631,652,0.400961178058,0.00450346430474,0.0598428740708,0.999999955265,0.000135434803021,-0.000265535524704,2.48810472663e-05,1793244534779226880
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,713.057627802,679.942372198,661.942372198,634,879,786,805,652.057627802,631,652,0.400961133012,0.00450413752632,0.059842683343,0.999999955175,0.000135120485146,-0.000266042837911,2.47585986166e-05,1793244534795893248
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,713.634177589,679.365822411,661.365822411,634,879,786,805,652.634177589,631,652,0.400961830267,0.00450433202076,0.0598428964828,0.999999955117,0.000135716156316,-0.000265967607693,2.46686859782e-05,1793244534812559616
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,879,786,805,652.789979352,631,652,0.40096751391,0.00450396330305,0.059845576731,0.999999956287,0.00013525104447,-0.000261759598677,2.47903995307e-05,1793244534829226240
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,679,661,634,879,786,805,652.215363233,631,652,0.400981853914,0.00450261685003,0.0598525398749,0.999999959499,0.000132944415118,-0.000250377092973,2.5279495783e-05,1793244534845893888
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,679,661.370495568,634,879,786,805.370495568,652,630.629504432,652,0.401014078866,0.00450158666652,0.0598656493792,0.999999965172,0.000132264643012,-0.00022695940089,2.55185308685e-05,1793244534862560768
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,679,661.963094135,634,879,786,805.963094135,652,630.036905865,652,0.401057025406,0.0045007460787,0.0598824434763,0.999999971614,0.000132560131579,-0.00019632690872,2.56076604512e-05,1793244534879227136
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679,661.460664431,634,879,786,805.460664431,652.539335569,630.539335569,652,0.401119870397,0.00450122955803,0.059902117413,0.999999977659,0.000132325876712,-0.000162861805945,2.54563057105e-05,1793244534895893760
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713.885381139,679.114618861,661.114618861,634,878.885381139,786,805,652.885381139,631,652,0.401185700226,0.00450159686599,0.0599201743566,0.999999982134,0.000132011956391,-0.000132887379136,2.54151134474e-05,1793244534912560384
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713.309581831,679.690418169,661.690418169,634,878.309581831,786,805,652.309581831,631,652,0.401258222526,0.00450114292444,0.0599309556104,0.999999984088,0.000131519054732,-0.000117714968077,2.58814341551e-05,1793244534929227008
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.271888264,745,713.271888264,680,661.728111736,634,878.543776528,786,805.271888264,652.271888264,631,652,0.401336889304,0.00450090419451,0.0599380100212,0.999999985474,0.000130683003803,-0.00010639878635,2.55673377343e-05,1793244534945893632
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.85995283,745,713.85995283,680,661.14004717,634,879.719905659,786,805.85995283,652.85995283,631,652,0.401422701433,0.00450091573218,0.0599407305207,0.999999986368,0.000129447907876,-9.95669783294e-05,2.43457015597e-05,1793244534962560256
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661.442622435,634,879.557377565,786,805.557377565,652.557377565,631,652,0.401527693021,0.00450010099574,0.0599441729229,0.999999987608,0.000125240959584,-9.24061469997e-05,2.3655501353e-05,1793244534979226624
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634,879,786,805,652.023301592,631,652,0.401639667045,0.00449907767878,0.0599478833037,0.999999988886,0.000120265075653,-8.50364279379e-05,2.30927833505e-05,1793244534995892736
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634,879,786,805,652.596802425,631,652,0.401774947851,0.00449922804993,0.0599525928746,0.999999989853,0.000119068188006,-7.51629442074e-05,2.16176695273e-05,1793244535012559616
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.828946867,745,714,680,662,634,879,786.171053133,805,653,631,652,0.401916448519,0.00449907762626,0.0599552929858,0.999999990648,0.000117019983835,-6.78676214897e-05,2.01049301232e-05,1793244535029226496
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.252920892,745,714,680,662,634,879,786.747079108,805,653,631,652,0.402072674856,0.00449821506282,0.0599532356472,0.999999991226,0.00011295626535,-6.66761649441e-05,1.85031113696e-05,1793244535045893376
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,679.668952937,662,634,879,787,805,653,631,652,0.402250498974,0.00449837861365,0.0599525513477,0.999999991829,0.000109768164142,-6.33457386157e-05,1.67588608769e-05,1793244535062560000
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,679.078768076,662,634,879,787,805,653,631,652,0.40244522947,0.00449934538852,0.0599529418389,0.999999992434,0.000107265480243,-5.83409643768e-05,1.49031171621e-05,1793244535079226880
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,679.500435213,662,634,879,787,805,653,631,652,0.402672700386,0.00449915191925,0.0599543496669,0.9999999934,0.000101953745811,-5.15273465864e-05,1.2260005375e-05,1793244535095892992
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,679.922417359,661.922417359,634,879,786.922417359,805,652.922417359,630.922417359,652,0.402909972851,0.00449868558706,0.0599563566605,0.999999994375,9.6198247056e-05,-4.36369070919e-05,9.5515835841e-06,1793244535112559360
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679.347605677,661.347605677,634,879,786.347605677,805,652.347605677,630.347605677,652,0.403177745263,0.00449761576258,0.0599611994952,0.999999995421,9.03715017374e-05,-3.06306221994e-05,7.20180898684e-06,1793244535129225984
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679,661.227629311,634,879.227629311,786.227629311,805.227629311,652,630.227629311,652,0.403452906623,0.00449722183271,0.0599614918627,0.999999995957,8.53999367303e-05,-2.77762742275e-05,4.62765718001e-06,1793244535145892608
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679,661.803511886,634,879.803511886,786.803511886,805.803511886,652,630.803511886,652,0.403739372421,0.00449786196351,0.0599548224064,0.99999999584,8.1736724401e-05,-4.04535172836e-05,1.71022768494e-06,1793244535162559232
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.606671796,679.393328204,661.606671796,634,879.606671796,786.606671796,805.606671796,652.393328204,631,652,0.404049759208,0.00449710540531,0.0599421528804,0.999999995378,7.46377135422e-05,-6.05879232862e-05,-1.61821289077e-06,1793244535179226112
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.009639222,679.990360778,661.009639222,634,879.009639222,786.009639222,805.009639222,652.990360778,631,652,0.404372534649,0.00449562550294,0.0599263759232,0.999999994247,6.5759305386e-05,-8.45843877304e-05,-5.15951569262e-06,1793244535195892992
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713.563916881,679.436083119,661,634,879,785.436083119,805.563916881,653,630.436083119,652,0.404720234685,0.00449497643886,0.0599127823424,0.999999992039,5.96323229491e-05,-0.000110892130682,-8.30505124475e-06,1793244535212559616
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.137593256,745,713.862406744,679,661.137593256,634.137593256,879,785.137593256,805.862406744,653,630.137593256,652,0.40508675768,0.00449384188565,0.0599040524776,0.999999990303,5.18753025048e-05,-0.000128722803953,-1.15147613447e-05,1793244535229225984
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.712877625,745,713.287122375,679,661.712877625,634.712877625,879,785.712877625,805.287122375,653,630.712877625,652,0.405511856285,0.00449111959595,0.0599106803666,0.999999992,3.87894212234e-05,-0.000119466832285,-1.49492730061e-05,1793244535245892864
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.703684416,745.296315584,713.296315584,679.296315584,662,634.703684416,879,786,805,652.703684416,630.703684416,652,0.405976896835,0.00448947698636,0.0599293205112,0.999999995439,2.79073958471e-05,-8.94930031475e-05,-1.82534889595e-05,1793244535262559488
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.112122213,745.887877787,713.887877787,679.887877787,662,634.112122213,879,786,805,652.112122213,630.112122213,652,0.406481735289,0.00448891016159,0.0599599295778,0.99999999883,1.92212743007e-05,-3.88760553637e-05,-2.14278796289e-05,1793244535279225856
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745.531900292,714,680,662,634,879,786.468099708,805,652.468099708,630,652,0.407012010474,0.00448642548468,0.0599873257442,0.999999999634,7.3544924488e-06,8.17138476504e-06,-2.47233721659e-05,1793244535295892736
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680,662,634,879,786.954414192,805,652.954414192,630.045585808,652,0.407546569983,0.00448346352398,0.0600114260304,0.999999998395,-4.99164197584e-06,4.90183226707e-05,-2.79746820562e-05,1793244535312559872
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,680,662,634,879,786.37790334,805,652.37790334,630.62209666,652,0.408061745918,0.0044801664456,0.0600058911589,0.999999999062,-1.42574718103e-05,2.73721010442e-05,-3.03815656699e-05,1793244535329226240
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.20255848,745,714,680,661.79744152,634,879.20255848,786,805,652.20255848,631,652,0.408585248363,0.00447429684351,0.0599970579123,0.999999999074,-2.79736920303e-05,2.05552339875e-06,-3.26327898112e-05,1793244535345892352
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.790538028,745,714,680,661.209461972,634,879.790538028,786,805,652.790538028,631,652,0.409124594163,0.00446353233505,0.0599819486351,0.999999997687,-5.01579561362e-05,-3.02448757552e-05,-3.45878304974e-05,1793244535362558976
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.626529896,745,714,680,661.373470104,634,879.626529896,786,805,653,630.626529896,652,0.409731733352,0.0044548974358,0.0599787885936,0.999999996145,-6.8957792557e-05,-3.97993828297e-05,-3.70151366238e-05,1793244535379225600
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.046390981,745,714,680,661.953609019,634,879.046390981,786,805,653,630.046390981,652,0.410376387651,0.00444744100822,0.0599822409542,0.999999994848,-8.58847724767e-05,-3.67668935123e-05,-3.97037823207e-05,1793244535395892480
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.529624026,745,714,679.470375974,662,634,879,786,805,653,630.529624026,652,0.411048322428,0.00444699222017,0.0599903477761,0.999999994647,-9.25845512155e-05,-1.1484392808e-05,-4.47473430909e-05,1793244535412559104
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.105038863,714,679.105038863,662,634,879,786.105038863,805,653,630.894961137,652,0.411722152365,0.00444821161406,0.0599953903706,0.999999995749,-8.00934810764e-05,7.52484321737e-06,-4.50561083778e-05,1793244535429225984
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.679373487,714,679.679373487,662,634,879,786.679373487,805,653,630.320626513,652,0.412393855696,0.00445416292785,0.059984935078,0.999999999577,1.41675725228e-05,-1.01340160257e-05,-2.32961420638e-05,1793244535445893888
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.738554395,714,680,661.738554395,634,879.261445605,786.738554395,805,652.738554395,630,652.261445605,0.413050888364,0.00446004148127,0.0599616213312,0.99999999624,6.43437015932e-05,-5.64334486992e-05,-1.39388593941e-05,1793244535462561536
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.14670385,714,680,661.14670385,634,879.85329615,786.14670385,805,652.14670385,630,652.85329615,0.413689380902,0.00446582808374,0.0599220575609,0.999999988415,5.88070047138e-05,-0.000138927743201,-2.02556103346e-05,1793244535479227904
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.56391789,745,714,680,661,634,880,786.43608211,805,652,630.43608211,652.56391789,0.414461585534,0.0044615935187,0.0599267454894,0.999999990502,4.28150302276e-05,-0.000128560765559,-2.52178055815e-05,1793244535495894272
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,680,661.031376636,634,879.984311682,786.984311682,805,652,631,652.015688318,0.415278213378,0.00445428407295,0.059946775339,0.999999995533,2.39422720374e-05,-8.64991907657e-05,-2.96588696239e-05,1793244535512561152
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,680,662.176927457,634,879.411536272,786.411536272,805,652,631,652.588463728,0.416107507943,0.00445506103857,0.0599937287179,0.999999999174,2.51284694051e-05,-5.69774683899e-06,-3.14466659656e-05,1793244535529227008
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.161035656,745.161035656,714,680,662.838964344,634,879.322071312,786.161035656,805,652,631,652.677928688,0.41692513654,0.00445648295967,0.06002560137,0.999999997943,2.84930890946e-05,4.71188757377e-05,-3.28814186396e-05,1793244535545893120
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.733088193,745.733088193,714,680,662.266911807,634,880.466176386,786.733088193,805,652,631,651.533823614,0.417712989633,0.00445955102293,0.0600189829584,0.999999998335,3.74177717974e-05,2.85088647572e-05,-3.34150860696e-05,1793244535562559488
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.68282492,713.68282492,680,661.68282492,633.68282492,880.68282492,786.68282492,805,652,630.68282492,651.31717508,0.418510955985,0.00445845722722,0.0600045566346,0.999999998602,3.97488171108e-05,4.3603951178e-06,-3.45989720009e-05,1793244535579225856
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.088211412,713.088211412,680,661.088211412,633.088211412,880.088211412,786.088211412,805,652,630.088211412,651.911788588,0.419317768535,0.00445372298264,0.0599833005976,0.999999998377,3.63122953646e-05,-2.46326573689e-05,-3.63516150537e-05,1793244535595892736
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.507657434,745,713.492342566,680,661.492342566,633.492342566,879.507657434,786,805.492342566,652,630.492342566,652,0.420155368757,0.0044559346189,0.0599582039665,0.999999997232,2.01701902398e-05,-6.0253017903e-05,-3.87156570648e-05,1793244535612560128
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.070013764,745,714,680,662,634,879.140027528,786,805.929986236,652,631,652,0.420992288222,0.0044588478126,0.0599314585491,0.99999999407,-4.73608452673e-06,-0.00010088571413,-4.07334834134e-05,1793244535629227520
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.644559226,745,714,680,662,634,880.289118453,786,805.355440774,652,631,652,0.421785655012,0.0044580976541,0.0598976526473,0.999999981933,-7.68496898189e-05,-0.000169319172438,-3.94889509609e-05,1793244535645893376
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.775220445,745,714,680.224779555,662,634,880.775220445,786,805,652,631,652,0.422628743473,0.00445687106506,0.0598921709061,0.999999975494,-0.000121043857162,-0.000181110487716,-3.9496882658e-05,1793244535662559232
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.185794019,745,714,680.814205981,662,634,880.185794019,786,805,652,631,652,0.423552492651,0.0044548715902,0.0599326378073,0.999999986842,-0.000119945947048,-0.000101014542596,-4.15366146471e-05,1793244535679225600
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.397002458,745,714,680.602997542,662,634,879.602997542,786.397002458,805,652,631,652,0.424493974227,0.00445449163209,0.0599837061794,0.999999992205,-0.000115806545365,-1.95685301918e-05,-4.23704891997e-05,1793244535695892480
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.976747102,745,714,680.023252898,662,634,879.023252898,786.976747102,805,652,631,652,0.425443618057,0.00445485714563,0.0600396544584,0.999999991058,-0.000110267129771,6.24989200192e-05,-4.26493013551e-05,1793244535712559104
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634,879.553650317,786.446349683,805.553650317,652,631,652,0.426362653963,0.00445343594516,0.0600367450094,0.99999999147,-0.000102968180601,6.728422099e-05,-4.39320942348e-05,1793244535729225728
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634,880,786.128392848,805.871607152,652,631,652,0.427266872294,0.00445197888232,0.0600272464147,0.999999992476,-9.65330660793e-05,6.06625682708e-05,-4.52607334751e-05,1793244535745892352
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634,880,786.69614775,805.30385225,652,631,652,0.428124761207,0.00445065457693,0.0600036156329,0.999999994222,-9.33055980837e-05,2.60565983795e-05,-4.660270211e-05,1793244535762558976
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634,880,787,805,652,631,652,0.428969026172,0.00444975351302,0.0599796617468,0.999999995045,-8.69014858534e-05,-1.05180137692e-05,-4.74142251655e-05,1793244535779225600
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634,880,787,805,652,631,652,0.429797604737,0.00444933976093,0.0599553358464,0.999999994696,-7.68398494939e-05,-4.93592786463e-05,-4.761500374e-05,1793244535795892224
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.458741583,714,680,661.541258417,634,880,786.541258417,805.458741583,652,631,652,0.430665637389,0.00444816940566,0.0599415922081,0.999999993639,-7.32430405298e-05,-7.05628309432e-05,-4.87681560349e-05,1793244535812558848
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.963287669,713.963287669,680,661.073424663,634,880,786,806,652,631,652,0.431549493863,0.00444663910948,0.0599347535459,0.999999992977,-7.1374355695e-05,-8.02551184871e-05,-5.01025185433e-05,1793244535829225728
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.388198191,713.388198191,680,662.223603618,634,880,786,806,652,631,652,0.432514777108,0.00444271886985,0.0599887745389,0.999999996199,-7.01672855291e-05,1.15265968446e-05,-5.04583863769e-05,1793244535845892352
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713.191173969,680.191173969,663,634,880.191173969,786,806,652,631,652,0.433432261805,0.00443987250966,0.0600220672611,0.99999999421,-6.81520832005e-05,6.60071735617e-05,-5.07781659075e-05,1793244535862558976
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713.779441941,680.779441941,663,634,880.779441941,786,806,652,631,652,0.434250462676,0.00443925674055,0.0600123045914,0.999999995696,-6.44582826359e-05,4.30082938572e-05,-5.10229859742e-05,1793244535879225856
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.362590852,714,680.637409148,662.637409148,634,880.637409148,786,806,652,631,652,0.435070718006,0.00443631139808,0.0599894830412,0.999999996472,-6.59361218619e-05,3.59484881314e-06,-5.19106590784e-05,1793244535895892480
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.942669238,714,680.057330762,662.057330762,634,880.057330762,786,806,652,631,652,0.435892205585,0.00443196874197,0.0599588285756,0.999999995057,-7.05159897568e-05,-4.56643019472e-05,-5.31839251502e-05,1793244535912559104
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.479450979,713.479450979,680,662.520549021,634,880,786.520549021,806,652,631,652,0.436695937102,0.00443253564949,0.0599430632459,0.999999993997,-6.3658084485e-05,-7.13652412678e-05,-5.34761045447e-05,1793244535929225984
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.900739373,745.099260627,713.099260627,680.099260627,662.900739373,634,880,786.900739373,806,651.900739373,631,652,0.437489287776,0.0044328505352,0.059928696607,0.999999992197,-5.6693209954e-05,-9.76063172103e-05,-5.35161005444e-05,1793244535945892352
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.31678857,745.68321143,713.68321143,680.68321143,662.31678857,634,880,786.31678857,806,651.31678857,631,652,0.438241457599,0.00442930558421,0.0599131862217,0.999999987398,-5.53312613912e-05,-0.000139100983741,-5.2850083899e-05,1793244535962559232
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.265490586,746,714,681,662,634,880,786,806,651.265490586,631,652,0.439028478147,0.00442603421854,0.0599195698602,0.999999987833,-5.6088544163e-05,-0.000135573714424,-5.29837406233e-05,1793244535979225856
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.845787539,746,714,681,662,634,880,786,806,651.845787539,631,652,0.439856823008,0.00442308725784,0.059951914413,0.999999993683,-5.93587127651e-05,-7.86615281504e-05,-5.40656127767e-05,1793244535995892480
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.578196141,745.578196141,714,680.578196141,662,633.578196141,880,786,806.421803859,652,631,652,0.440632343314,0.00442405579979,0.0599820456026,0.999999996444,-5.41428323221e-05,-3.55078772605e-05,-5.40364822568e-05,1793244536012560128
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.003729061,745.003729061,714,680.003729061,662,633.003729061,880,786,806.996270939,652,631,652,0.441388744927,0.00442644147706,0.0600113757136,0.999999997508,-4.58556013914e-05,2.66615968784e-06,-5.36052472516e-05,1793244536029228032
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,714,680,660.84833509,633,880.575832455,786,806.424167545,652,631,652,0.442040523905,0.00442731543616,0.0599594335072,0.999999995185,-3.93090012604e-05,-7.19375535926e-05,-5.39472367783e-05,1793244536045894656
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.153563071,745,713.846436929,680.153563071,659.846436929,633,880.846436929,786,806,652,630.846436929,651.846436929,0.442686541037,0.00442871719334,0.0599090421207,0.999999987451,-3.16302545762e-05,-0.000145417521324,-5.43181939429e-05,1793244536062561280
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.726206371,745,713.273793629,680.726206371,659.273793629,633,880.273793629,786,806,652,630.273793629,651.273793629,0.443318699509,0.00443158628967,0.0598643321345,0.999999975425,-2.08307931756e-05,-0.000213819828659,-5.47544183934e-05,1793244536079227904
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.689484244,745,713,681,659,632.689484244,880.310515756,786,806.310515756,652,630.310515756,651.310515756,0.443946176323,0.0044350159698,0.0598421731217,0.999999967668,-1.24687897002e-05,-0.000247900742995,-5.52615667394e-05,1793244536095894272
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.094486913,745,713,681,659,632.094486913,880.905513087,786,806.905513087,652,630.905513087,651.905513087,0.44456936396,0.00443895923322,0.0598406743722,0.999999967037,-6.3398841469e-06,-0.000250537826217,-5.58336927482e-05,1793244536112560384
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.484873095,745,713,681,659,632.484873095,880.515126905,786,806.515126905,652,631,652,0.445151546195,0.00445196627818,0.0598382009303,0.999999964045,9.02749660907e-06,-0.00026236876009,-5.46955962781e-05,1793244536129226752
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.938875931,745,713.061124069,681,658.938875931,633,880,785.938875931,806,652,630.938875931,652,0.445719332789,0.00446903637797,0.0598322885868,0.999999958834,2.78891053052e-05,-0.000280423735891,-5.40073530283e-05,1793244536145893632
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.363944697,745,713.636055303,681,658.363944697,633,880,785.363944697,806,652,630.363944697,652,0.446231181051,0.00450587718872,0.0597990156634,0.999999939804,6.14626631378e-05,-0.000336208212813,-5.98144954855e-05,1793244536162560512
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,714,681,658,632.784464275,880.215535725,785.215535725,806,652,630.215535725,652,0.44674383529,0.0045336697736,0.0597754312887,0.999999926791,5.23693101344e-05,-0.000373322814687,-6.5621176098e-05,1793244536179227392
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,714,681,658,632.197136715,880.802863285,785.802863285,806,652,630.802863285,652,0.44725787976,0.0045458544711,0.0597685593359,0.999999925459,-3.03230241978e-05,-0.000378232508198,-7.14270595064e-05,1793244536195894528
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,745,713.614917211,681,658,632,880.614917211,786,806,652,631,652,0.447762922437,0.00455144673068,0.0597729732079,0.999999927528,-5.78874444686e-05,-0.000368716991749,-7.51095000377e-05,1793244536212561152
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,745,713.035278405,681,658,632,880.035278405,786,806,652,631,652,0.44826341717,0.004553708283,0.0597830890352,0.999999933399,-5.75995048946e-05,-0.000351913403791,-7.77191106804e-05,1793244536229227520
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764.882076216,745.117923784,713.117923784,681,657,631,881,785.117923784,806.882076216,652,631,652,0.449092537536,0.00455215335959,0.0597599188288,0.999999919569,-6.26409022158e-05,-0.000387569197167,-8.20278355005e-05,1793244536262561536
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+205,3.416666667,POSE1_TO_POSE2_PRESS,764,745.135662913,713.135662913,681,657,631,881,785.135662913,806.864337087,652,631,652,0.450110349342,0.00455216969286,0.0596615702353,0.999999848872,-6.7036801001e-05,-0.000538726001683,-8.6817451195e-05,1793244536312559872
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,745.44711549,713,681.44711549,657,631,881,785,806.55288451,652,631,651.55288451,0.450439951026,0.00455424856536,0.0596587773585,0.999999849764,-5.68962177801e-05,-0.00053845470395,-8.54460499348e-05,1793244536329226752
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764,746,713,681.400110968,656.400110968,630.400110968,881,785.599889032,806,652,631,651.599889032,0.451054261508,0.00455805511375,0.0596732193123,0.999999867272,1.35955862963e-05,-0.000510840001688,-6.56786418694e-05,1793244536362560000
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+214,3.566666667,POSE1_TO_POSE2_PRESS,764.916985434,745.916985434,713.083014566,680.083014566,655.083014566,630.916985434,880,785,806.916985434,652,630.916985434,651.083014566,0.452369390055,0.00456009879751,0.0596776827975,0.999999874095,3.02738311963e-05,-0.00049682837944,-6.36850938243e-05,1793244536462559232
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764,745,714,681.587023574,655,630,881,785.412976426,806,652,630.412976426,652,0.452844785046,0.00456082565171,0.0596579055581,0.999999855403,2.61729340684e-05,-0.000532950084847,-6.68886615768e-05,1793244536529226496
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,745,714,681.007318922,655,630,881,785.992681078,806,652,630.992681078,652,0.452938097291,0.00456413737701,0.0596576225266,0.999999854861,2.88323862546e-05,-0.000533705152114,-6.78704591604e-05,1793244536545892864
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.566650927,745,714,681,655,630,880.433349073,785.433349073,806,652,631,652,0.453008279463,0.00456158928422,0.0596541205903,0.999999852348,2.68898993385e-05,-0.000538526622202,-6.75988185285e-05,1793244536562559488
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.859194546,745.140805454,714,681.140805454,655,630,880.140805454,785.140805454,806.140805454,652,631,652,0.453073800926,0.0045598411939,0.0596510078383,0.999999849948,2.56436302652e-05,-0.000543050490636,-6.73963783823e-05,1793244536579225856
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.284244615,745.715755385,714,681.715755385,655,630,880.715755385,785.715755385,806.715755385,652,631,652,0.453125863953,0.00456079077024,0.0596492219617,0.999999848038,2.67254372445e-05,-0.000546496446629,-6.74567206336e-05,1793244536595892736
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+224,3.733333333,POSE1_TO_POSE2_PRESS,764,746,713.106688876,682,655,630,880.106688876,786,806.106688876,652,631,652,0.453212994738,0.00456254203238,0.0596484342613,0.999999847059,3.05633018769e-05,-0.000548012593299,-6.80386670358e-05,1793244536629226240
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764.049298127,745.950701873,714,682,655,630,881,786,806,652.049298127,631,652,0.453265060122,0.00456166727483,0.0596459315847,0.999999844448,3.01692507387e-05,-0.000552848395036,-6.74729565986e-05,1793244536662559744
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+232,3.866666667,POSE1_TO_POSE2_PRESS,764,745,713.529363026,681.529363026,655,630,880,785,806.529363026,652,630.529363026,652,0.453311706469,0.00456273127785,0.0596344335892,0.999999833846,3.24928448989e-05,-0.000571604172864,-6.72427603186e-05,1793244536762560768
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,745,713.898327613,682,655,630,880.101672387,785.101672387,806.898327613,652,631,652,0.453313827596,0.0045622878514,0.0596343931411,0.999999833928,3.2825674211e-05,-0.000571493824051,-6.67916526863e-05,1793244536779227904
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+247,4.116666667,HOLD_POSE2,764,745,713,681,656,629,880,785,806,652,631,652,0.453320926404,0.00456490906397,0.0596325046117,0.999999832328,3.94196652092e-05,-0.000573950898264,-6.61034244072e-05,1793244537034469888
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+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,713,681,655,630,880,786,806,652,631,652,0.453321637631,0.0045652332633,0.0596316630444,0.999999831668,4.04072672624e-05,-0.000575094330742,-6.55513041198e-05,1793244537322086400
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745.490609687,713.490609687,681.509390313,654,629,880.509390313,785,806,652,630,651.490609687,0.453322300898,0.00456379149801,0.0596313936806,0.999999831874,3.95936589899e-05,-0.000574754259596,-6.58993068839e-05,1793244537422086656
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,746,713.341249605,681.658750395,654.658750395,629.658750395,880.658750395,785,806,652,630,652,0.453321772042,0.00456463321154,0.0596317929572,0.999999831865,4.07200477178e-05,-0.00057467704594,-6.60109962233e-05,1793244537455419648
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.506101568,746,713.493898432,680.506101568,660.518304704,633,880,786,805.493898432,652,631,652,0.434104228524,0.00460728146113,0.0597511863574,0.999999914823,0.000191230470387,-0.000365725610449,5.46160859456e-06,1793244538255419136
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_09/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4cfd36d0632b1f2863767c3fa5f0d9340f894519
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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+398,6.633333333,pose2_to_pose3_retreat,0.575673352528,0.00987783110137,1.05005077343,0.546244985341,0.0185535157796,1.04971727091
+399,6.650000000,pose2_to_pose3_retreat,0.575672774446,0.00987782671867,1.05005084011,0.546244407507,0.0185535121287,1.04971733466
+400,6.666666667,pose2_to_pose3_retreat,0.575672182245,0.00987782222894,1.05005090842,0.546243815562,0.0185535083887,1.04971739996
+401,6.683333333,pose2_to_pose3_retreat,0.575671716627,0.00987781869889,1.05005096213,0.546243350144,0.0185535054482,1.0497174513
+402,6.700000000,pose2_to_pose3_retreat,0.57567162603,0.00987781801203,1.05005097258,0.546243259586,0.018553504876,1.04971746129
+403,6.716666667,pose2_to_pose3_retreat,0.575671247884,0.00987781514514,1.0500510162,0.546242881603,0.0185535024879,1.04971750299
+404,6.733333333,pose2_to_pose3_retreat,0.575670557497,0.00987785578909,1.05005107116,0.54624218981,0.0185535384612,1.04971756056
+405,6.750000000,pose2_to_pose3_retreat,0.575669825042,0.0098778910225,1.05005104794,0.546241456371,0.0185535705465,1.04971754235
+406,6.766666667,pose2_to_pose3_retreat,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_09/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..23d1e76d0a8a7b969f33d00de2fdd1add825c267
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5db2f248799a91357bc362c4f61bd75a2873739f9cc5b3aff3c2142151b3d113
+size 25920838
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1d128eb2cbbbdac3593a3db1daee56e9d8a6f6a1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
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+51,0.850000000,BASELINE,764.410835809,745.410835809,714,679.589164191,662,634,879,786,805,652,631,652,0.400958719539,0.0045601330705,0.0598409125799,0.99999994135,0.00021127011652,-0.000268449236288,2.4492799245e-05,1793244540699099648
+52,0.866666667,BASELINE,764.163105038,745,714,680,662,634,879,786,805,652,630.836894962,652,0.400959632957,0.00456053387186,0.0598416461333,0.9999999415,0.000212429175376,-0.000266981637015,2.4370712634e-05,1793244540715766016
+53,0.883333333,BASELINE,764.736916201,745,714,680,662,634,879,786,805,652,630.263083799,652,0.400961014749,0.00456034718508,0.0598425660832,0.999999942088,0.000211253787886,-0.000265744234907,2.39768602773e-05,1793244540732432128
+54,0.900000000,BASELINE,764.678667688,745.321332312,714,679.678667688,661.678667688,634,879,786,805,652.321332312,630,652,0.400961116288,0.00455998918113,0.059842055231,0.999999942188,0.000210377714021,-0.000266074550028,2.38833249018e-05,1793244540749098752
+55,0.916666667,BASELINE,764.085272708,745.914727292,714,679.085272708,661.085272708,634,879,786,805,652.914727292,630,652,0.400960133876,0.00455948612795,0.0598403329603,0.999999941872,0.000209755060307,-0.000267732205525,2.40440591489e-05,1793244540765765376
+56,0.933333333,BASELINE,764.493679421,745.506320579,714,679.493679421,661,634,879,786.493679421,805,653,630.493679421,652,0.400961308228,0.00456008714279,0.0598414687241,0.999999942173,0.000210374030998,-0.000266136109783,2.38276177109e-05,1793244540782431744
+57,0.950000000,BASELINE,765,745.070337582,713.929662418,679.929662418,661,634,879.070337582,786.929662418,805,652.929662418,631,652,0.40096254158,0.00456061828235,0.0598428815687,0.999999942534,0.000210845190679,-0.000264417143361,2.36564108932e-05,1793244540799098368
+58,0.966666667,BASELINE,765,745.647931675,713.352068325,679.352068325,661,634,879.647931675,786.352068325,805,652.352068325,631,652,0.40096159015,0.00455930927938,0.059842833656,0.999999942606,0.000208747675125,-0.000265749981634,2.42679087965e-05,1793244540815764992
+59,0.983333333,BASELINE,764.769427491,745.769427491,713.230572509,679,661,634,879.769427491,786,805.230572509,652.230572509,631,652,0.400960594854,0.00455831344879,0.0598423977941,0.999999942424,0.000207606026823,-0.000267289898051,2.46384574557e-05,1793244540832431872
+60,1.000000000,BASELINE,764.178908098,745.178908098,713.821091902,679,661,634,879.178908098,786,805.821091902,652.821091902,631,652,0.400959531077,0.00455780651163,0.0598413563045,0.999999941852,0.000207956583158,-0.000269153084495,2.4632860197e-05,1793244540849098752
+61,1.016666667,BASELINE,764,745,713.59598074,679,661,634,879,786,805.59598074,653,630.59598074,652,0.40096015742,0.00455722668082,0.0598415735161,0.999999942469,0.000205741311225,-0.000268575003406,2.44756910758e-05,1793244540865765632
+62,1.033333333,BASELINE,764,745,713.016353319,679,661,634,879,786,805.016353319,653,630.016353319,652,0.400961518379,0.0045566151666,0.059842337826,0.999999943593,0.000202410794451,-0.000266935818076,2.4252640798e-05,1793244540882432256
+63,1.050000000,BASELINE,764,745.558775307,713.558775307,679,661.558775307,634,879,786.558775307,805,653,630.558775307,652,0.400961787026,0.00455787512525,0.0598428043919,0.999999943095,0.000206288072332,-0.000265834579209,2.42436307006e-05,1793244540899098880
+64,1.066666667,BASELINE,764.133580831,745.866419169,714,679.133580831,661.866419169,634,879,787,805.133580831,653,631,652,0.400962088492,0.00455913432761,0.0598432301598,0.999999942606,0.000209864947628,-0.000264869010097,2.42526315497e-05,1793244540915765248
+65,1.083333333,BASELINE,764.707751434,745.292248566,714,679.707751434,661.292248566,634,879,787,805.707751434,653,631,652,0.400962602801,0.00456021182637,0.0598435498748,0.999999942356,0.000211760798491,-0.000264299407897,2.43005417983e-05,1793244540932431872
+66,1.100000000,BASELINE,765,745,714,680,661.287567353,634,879,787,805.712432647,653,631,652,0.40096239015,0.00456023599166,0.059843280581,0.999999942207,0.000212128939311,-0.000264565055372,2.43245267417e-05,1793244540949098752
+67,1.116666667,BASELINE,765,745,714,680,661.873235331,634,879,787,805.126764669,653,631,652,0.40096142391,0.00455916824097,0.0598424007038,0.999999942165,0.000210913411642,-0.000265696546829,2.43237100193e-05,1793244540965765376
+68,1.133333333,BASELINE,765,745,714,680,662,634,879,786.54410794,805,653,630.54410794,652,0.400961023757,0.00455825393906,0.0598423407695,0.999999942429,0.000209463005656,-0.000265834386221,2.44919067585e-05,1793244540982432256
+69,1.150000000,BASELINE,765,745,713.962766115,680,662,634,879,786,805,653,630.037233885,652,0.40096090834,0.00455752971777,0.0598425557635,0.999999942762,0.00020814755576,-0.000265595434759,2.46747133915e-05,1793244540999098624
+70,1.166666667,BASELINE,765,745,713.388394083,680,662,634,879,786,805,653,630.611605917,652,0.400962644684,0.00455893612315,0.0598434694433,0.999999942896,0.000209714974053,-0.000263880547369,2.43947699497e-05,1793244541015765504
+71,1.183333333,BASELINE,765,745,713.191523261,680,661.808476739,634,879.191523261,786.191523261,805.191523261,653,631,652,0.400963187787,0.00455946416255,0.0598436619723,0.99999994285,0.000210591309048,-0.000263360128535,2.43393718151e-05,1793244541032431872
+72,1.200000000,BASELINE,765,745,713.783021472,680,661.216978528,634,879.783021472,786.783021472,805.783021472,653,631,652,0.400961238939,0.00455815783289,0.0598423484582,0.999999942437,0.00021002439401,-0.000265334223639,2.47529114381e-05,1793244541049098752
+73,1.216666667,BASELINE,765,745,714,679.633671848,661.366328152,634,879.633671848,786.633671848,805.633671848,653,631,652,0.40096068191,0.0045580750781,0.0598423036404,0.999999942319,0.000209599198996,-0.000266124630945,2.46525343961e-05,1793244541065765632
+74,1.233333333,BASELINE,765,745,714,679.05511098,661.94488902,634,879.05511098,786.05511098,805.05511098,653,631,652,0.400960931234,0.00455870120318,0.0598429938436,0.999999942373,0.000209256109708,-0.000266229266986,2.42544190052e-05,1793244541082432000
+75,1.250000000,BASELINE,764.479266945,745.520733055,714,679,661.479266945,634,879,786.520733055,805,653,630.479266945,652,0.400961834117,0.00456078586574,0.0598437526875,0.999999942359,0.000211297536443,-0.000264671803424,2.41696040752e-05,1793244541099098368
+76,1.266666667,BASELINE,764,745.903821426,714,679.096178574,661.096178574,634,879,786.903821426,805.096178574,653,630.096178574,652,0.400962739811,0.00456214277586,0.0598442911911,0.999999942417,0.000212793763533,-0.000263252812371,2.41578914171e-05,1793244541115764992
+77,1.283333333,BASELINE,764,745.328935745,714,679.671064255,661.671064255,634,879,786.328935745,805.671064255,653,630.671064255,652,0.400963317018,0.00455911314806,0.0598436970303,0.999999942897,0.000210326829224,-0.00026339402385,2.43458505525e-05,1793244541132431872
+78,1.300000000,BASELINE,764.253424566,745,714,680,661.746575434,634,879.253424566,786,806,653,631,652,0.400962549317,0.00455788440019,0.0598430802231,0.999999942985,0.000208338510384,-0.000264630676897,2.4386038983e-05,1793244541149098752
+79,1.316666667,BASELINE,764.845781471,745,714,680,661.154218529,634,879.845781471,786,806,653,631,652,0.400959982924,0.00455906416592,0.0598424331283,0.999999942551,0.000206990296454,-0.00026733238353,2.4228597503e-05,1793244541165765632
+80,1.333333333,BASELINE,764.572075297,745,714,680,661.427924703,634,879.572075297,786,806,653,631,652.427924703,0.400960023805,0.00455911226533,0.0598417521463,0.999999942378,0.000207709796379,-0.000267422877022,2.41868439813e-05,1793244541182432256
+81,1.350000000,BASELINE,764,745,714,680,662,634,879,786,805.993568306,653,631,652.993568306,0.400960971383,0.00455877873284,0.059841070557,0.999999942299,0.000209141233414,-0.000266601862329,2.4183727768e-05,1793244541199098624
+82,1.366666667,BASELINE,764,745,714,680,662,634,879,786,805.418704244,653,631,652.418704244,0.400960944418,0.00455992103042,0.0598413894802,0.999999942337,0.00020917015902,-0.000266452718916,2.39964966772e-05,1793244541215765248
+83,1.383333333,BASELINE,764.156010024,745,714,680,661.843989976,634,879,786,805,653,631,652.156010024,0.400961279649,0.00456069000619,0.0598419803935,0.999999942418,0.000209561767852,-0.000265843389675,2.39696859547e-05,1793244541232431872
+84,1.400000000,BASELINE,764.730322779,745,714,680,661.269677221,634,879,786,805,653,631,652.730322779,0.400962586024,0.00456045801106,0.0598433005817,0.99999994261,0.000210925823077,-0.000264000184626,2.43730031825e-05,1793244541249098752
+85,1.416666667,BASELINE,765,745,714,680,661,634.314070911,878.685929089,786,805,652.685929089,631,652.685929089,0.400962960417,0.00456059819859,0.0598439909836,0.999999942551,0.000212099705821,-0.000263264610737,2.45455572512e-05,1793244541265765376
+86,1.433333333,BASELINE,765,745,714,680,661,634.906171631,878.093828369,786,805,652.093828369,631,652.093828369,0.400962509778,0.0045610678591,0.0598441238699,0.999999942274,0.000213105239186,-0.000263509562282,2.45138292851e-05,1793244541282432256
+87,1.450000000,BASELINE,764.513686423,745,713.513686423,679.513686423,661,634.513686423,878.486313577,786,805.486313577,652.486313577,630.513686423,652,0.400962441043,0.00455992717482,0.0598439905775,0.99999994269,0.000211079638329,-0.00026356807857,2.44559670205e-05,1793244541299098880
+88,1.466666667,BASELINE,764,745,713.063804902,679,661,634,879,786.063804902,806,653,630.063804902,652,0.400962505683,0.00455865690732,0.0598438436189,0.999999943193,0.000208718106837,-0.000263547255612,2.43782981049e-05,1793244541315765504
+89,1.483333333,BASELINE,764,745,713.638106323,679,661,634,879,786.638106323,806,653,630.638106323,652,0.400963062056,0.00455877604867,0.0598439883515,0.999999943397,0.000208235621089,-0.000263172536064,2.41815328649e-05,1793244541332431872
+90,1.500000000,BASELINE,764.218338151,745.218338151,714,679,661.218338151,634,879.218338151,787,806,653,631,652.218338151,0.40096253727,0.00455844897309,0.0598436830359,0.999999943427,0.000207339800141,-0.000263766507729,2.41683479018e-05,1793244541349098496
+91,1.516666667,BASELINE,764.808673962,745.808673962,714,679,661.808673962,634,879.808673962,787,806,653,631,652.808673962,0.400960170439,0.00455736164716,0.0598426109424,0.999999943155,0.000205739751754,-0.000266010904988,2.44679412476e-05,1793244541365765120
+92,1.533333333,BASELINE,764.608516013,746,714,679,662,634,879.608516013,787,805.608516013,653,631,652.608516013,0.400960447259,0.0045577792619,0.0598427398546,0.99999994295,0.000206989502216,-0.000265808908633,2.44993885219e-05,1793244541382431744
+93,1.550000000,BASELINE,764.029314566,746,714,679,662,634,879.029314566,787,805.029314566,653,631,652.029314566,0.400961991716,0.00455891849899,0.0598434446516,0.999999942772,0.00020960573754,-0.000264433861196,2.44022591736e-05,1793244541399098368
+94,1.566666667,BASELINE,764,745.454207768,714,679.545792232,661.454207768,634,879,786.454207768,805.545792232,653,630.454207768,652,0.40096115487,0.0045602661937,0.0598426603789,0.99999994239,0.000210428627181,-0.000265265796909,2.39669392374e-05,1793244541415765248
+95,1.583333333,BASELINE,764,745,714,679.879993318,661.120006682,634,879,786.120006682,805.879993318,653,630.120006682,652,0.400960257572,0.00456130873301,0.0598418803589,0.999999941959,0.000211123248605,-0.000266360565915,2.36879485362e-05,1793244541432432384
+96,1.600000000,BASELINE,764,745,714,679.30831568,661.69168432,634,879,786.69168432,805.30831568,653,630.69168432,652,0.400959610545,0.0045611609289,0.0598414151177,0.999999941391,0.000211694929822,-0.000268001746205,2.40651924204e-05,1793244541449098752
+97,1.616666667,BASELINE,764,745,713.725835549,679,662,634,879,787,805,653,631,652,0.400959877928,0.0045611759314,0.0598418656975,0.999999941456,0.000211807449321,-0.000267653144738,2.42553145309e-05,1793244541465765376
+98,1.633333333,BASELINE,764,745,713.130709063,679,662,634,879,787,805,653,631,652,0.400961215803,0.00456138153026,0.0598433884214,0.999999942259,0.000211382431995,-0.000264975122284,2.42263747209e-05,1793244541482432000
+99,1.650000000,BASELINE,764.450899935,745,713.450899935,679.450899935,662,634,879,786.549100065,805,653,631,652,0.400963035067,0.00456076636475,0.0598443982477,0.999999942953,0.000210656771737,-0.000262937237328,2.41141528387e-05,1793244541499098624
+100,1.666666667,BASELINE,765,745,714,679.971402622,662,634,879,786.028597378,805,653,631,652,0.400964758834,0.00455992862207,0.0598451250079,0.999999943543,0.000209878149864,-0.00026132228639,2.39997365664e-05,1793244541515765248
+101,1.683333333,BASELINE,765,745,714,679.395753658,662,634,879,786.604246342,805,653,631,652,0.400962064016,0.00455925204114,0.0598431982774,0.999999942776,0.000209705042168,-0.000264351367921,2.42917275224e-05,1793244541532431872
+102,1.700000000,BASELINE,764.819383989,745,714,679.180616011,661.819383989,634,879,786.819383989,805,653,631,652,0.400960298089,0.00455874204999,0.0598419454249,0.999999942288,0.000209507305116,-0.000266328117701,2.44788098758e-05,1793244541549098752
+103,1.716666667,BASELINE,764.241428906,745,714,679.758571094,661.241428906,634,879,786.241428906,805,653,631,652,0.400960575639,0.00455859854155,0.0598421750443,0.999999942432,0.000209255385711,-0.00026598983135,2.44351026475e-05,1793244541565765632
+104,1.733333333,BASELINE,764,745,714,680,661,634,879,786.342983517,805,653,631,652,0.400961414298,0.00455890993755,0.0598429636759,0.99999994255,0.000210172473221,-0.00026482437849,2.44072857103e-05,1793244541582432512
+105,1.750000000,BASELINE,764,745,714,680,661,634,879,786.932028594,805,653,631,652,0.400962655505,0.00455954768884,0.0598441533514,0.999999942644,0.000211928223933,-0.000263065503837,2.43908687031e-05,1793244541599099136
+106,1.766666667,BASELINE,764.50992001,745.50992001,714,679.49007999,661.50992001,634,879,786.49007999,805,653,630.49007999,652,0.400963515912,0.00456061428587,0.0598449199131,0.999999942777,0.000212792835235,-0.000261888504344,2.40889961487e-05,1793244541615765504
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,662,634,879,786,805,653,630,652,0.400962257139,0.00455714851021,0.0598435384975,0.999999943616,0.000206149132824,-0.000263966964354,2.4338756132e-05,1793244541658879488
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.411268449,679.588731551,662,634,878.411268449,786,805,653,630.588731551,652,0.400963042776,0.00455876026523,0.0598439087571,0.999999943693,0.000206904834805,-0.000263111655255,2.40289292029e-05,1793244541675546112
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.175400935,745,713.175400935,680,662,634,878.175400935,786.175400935,804.824599065,653,631,652,0.400963426377,0.00455962692558,0.0598441397936,0.999999943603,0.000207924351163,-0.000262655010978,2.39739324659e-05,1793244541692212736
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.75729139,745,713.75729139,680,662,634,878.75729139,786.75729139,804.24270861,653,631,652,0.400962878265,0.0045587668385,0.0598440481823,0.999999943126,0.00020955525426,-0.000263122267375,2.4509501516e-05,1793244541708879360
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634.333613687,879,787,804.667227375,653,631,652,0.400961902194,0.00455865947194,0.059843322536,0.999999942726,0.000209745520551,-0.000264480064417,2.45863433958e-05,1793244541725545728
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634.90595154,879,787,805.81190308,653,631,652,0.400960619887,0.00455909073014,0.0598421431928,0.999999942379,0.000208904909316,-0.000266475106185,2.43349335407e-05,1793244541742212352
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.525315623,745,714,679.525315623,661.525315623,634.525315623,879,786.525315623,805.525315623,653,631,652,0.4009606327,0.00455854378081,0.0598426447752,0.999999942683,0.000208293436107,-0.000265801030469,2.44497943933e-05,1793244541758878720
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.044968528,745.044968528,714,679.044968528,661,634.044968528,879,786,805,653,631,652,0.400960970117,0.00455793147547,0.0598434522243,0.999999943088,0.00020776712806,-0.000264673792069,2.45876702852e-05,1793244541775545088
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.643053183,745.643053183,714,679.643053183,661,634.643053183,879,786,805,653,631,652,0.400962167782,0.00455888120406,0.059843956325,0.999999943171,0.000207734158576,-0.000264428215004,2.4122761234e-05,1793244541792211712
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745.765671516,714,679.765671516,661,634.765671516,879,786,805,653,631,652,0.400968874624,0.00455970946059,0.0598468667304,0.999999944324,0.000208273035438,-0.000259621443369,2.39027891591e-05,1793244541808878336
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745.184475884,714,679.184475884,661,634.184475884,879,786,805,653,631,652,0.400983736485,0.00456035790677,0.0598533390928,0.999999946965,0.000209658393712,-0.000248062916583,2.40453876e-05,1793244541825545216
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.390614356,661,634.390614356,879.390614356,786,805,652.609385644,631,652,0.401016149835,0.00455966460996,0.0598660149007,0.999999952701,0.000208521232498,-0.000224793389881,2.41814958773e-05,1793244541842212096
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.96286562,661,634.96286562,879.96286562,786,805,652.03713438,631,652,0.401056724686,0.00455834739848,0.0598815753309,0.99999995922,0.000206211091745,-0.000196078210098,2.43145862045e-05,1793244541858878720
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.450241357,745,714,679.450241357,661,634.450241357,879.450241357,786,805,652.549758643,631,652,0.401116997069,0.00455772856678,0.0598991617083,0.999999965094,0.000204656363759,-0.000165323001615,2.43990383253e-05,1793244541875545344
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.135857323,745.135857323,714,679,661.135857323,634,878.864142677,786,805.135857323,652.864142677,631,652,0.40118223235,0.00455743934973,0.0599158261792,0.999999969601,0.0002033511341,-0.000137289991867,2.44481092403e-05,1793244541892211968
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.716035234,745.716035234,714,679,661.716035234,634,878.283964766,786,805.716035234,652.283964766,631,652,0.40125922831,0.00455806963411,0.0599290157648,0.999999972125,0.000202690442217,-0.000118622905724,2.43925049182e-05,1793244541908878592
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.705152827,714,679,661.705152827,634,878.589694347,786,805.705152827,652.294847173,631,652,0.40134101988,0.00455805436658,0.0599377240323,0.999999973717,0.000202473619195,-0.000104821458037,2.41503153354e-05,1793244541925545472
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.127650411,714,679,661.127650411,634,879.744699177,786,805.127650411,652.872349589,631,652,0.401427408756,0.00455742024066,0.0599421362835,0.999999974601,0.000202682311134,-9.56844557893e-05,2.37292558007e-05,1793244541942212096
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,879.554431393,786.445568607,805.445568607,653,631,652,0.401532122073,0.00455758374157,0.0599455511913,0.999999975387,0.000201798451113,-8.93232134748e-05,2.29253142492e-05,1793244541958878720
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.981804683,745,714,679.018195317,661,634,879,787,805.981804683,653,631,652,0.40164271899,0.00455792518888,0.0599487021174,0.999999976153,0.000200528989444,-8.36578081427e-05,2.20027562943e-05,1793244541975545088
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.389516166,745,714,679.610483834,661,634,879,787,805.389516166,653,631,652,0.401774892332,0.00455673988377,0.0599524533285,0.999999977585,0.000196874909246,-7.50954755741e-05,2.07656446153e-05,1793244541992212480
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.197706393,745,714,680.197706393,661,634,879,787,805.197706393,653,631,652,0.401915236182,0.00455637044379,0.0599534896571,0.999999978589,0.000193659679647,-7.0348863123e-05,1.91965234656e-05,1793244542008879872
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.775197417,745,714,680.775197417,661,634,879,787,805.775197417,653,631,652,0.402071275177,0.00455756824226,0.0599493108243,0.999999978901,0.000191287461744,-7.29320695765e-05,1.69896279684e-05,1793244542025546496
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680.646678355,661,634,879,787,805.646678355,653,631,652,0.402251176913,0.00455711022307,0.0599489293921,0.999999980091,0.000186320568885,-6.98200780079e-05,1.50632201334e-05,1793244542042212608
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680.068150468,661,634,879,787,805.068150468,653,631,652,0.402446288709,0.00455559679041,0.0599509684122,0.999999981776,0.000179699837118,-6.30779831768e-05,1.33155941429e-05,1793244542058878464
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.483423067,745.516576933,714,680,661.516576933,634,879,786.483423067,805,652.483423067,631,652,0.402668859173,0.00455461974553,0.0599531815254,0.999999983273,0.000174787901035,-5.2777755971e-05,1.08775639259e-05,1793244542075545600
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.101594403,745.898405597,714,679.898405597,661.898405597,634,879,786,805,652.101594403,630.898405597,652,0.402901979742,0.00455417617619,0.0599553374456,0.999999984496,0.000170512898234,-4.31721365024e-05,8.32499783509e-06,1793244542092212224
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.684066734,745.315933266,714,679.315933266,661.315933266,634,879,786,805,652.684066734,630.315933266,652,0.403167682428,0.00455591869543,0.0599571126204,0.999999985078,0.000168172675408,-3.91031790324e-05,5.6666579076e-06,1793244542108878592
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.73668643,745,714,679,661.26331357,634.26331357,879,786.26331357,805.26331357,653,630,652,0.403446085468,0.00455657505998,0.0599549073337,0.999999985684,0.000163874093914,-4.2044870486e-05,2.9777983219e-06,1793244542125544960
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.161262864,745,714,679,661.838737136,634.838737136,879,786.838737136,805.838737136,653,630,652,0.403739542434,0.00455594398704,0.059947983939,0.999999986215,0.000157254237125,-5.32964020904e-05,2.52763431914e-07,1793244542142211584
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.413688677,745,714,679.413688677,662,634.586311323,879,786.586311323,805.586311323,653,630,652,0.404051641715,0.00455526735453,0.0599378765481,0.999999986469,0.000149404124166,-6.87890846661e-05,-3.00054583622e-06,1793244542158878720
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.988456411,745,714,679.988456411,662,634.011543589,879,786.011543589,805.011543589,653,630,652,0.404370999797,0.00455457298238,0.0599265293962,0.999999986336,0.000141074983214,-8.59331551519e-05,-6.45955063429e-06,1793244542175545600
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.579556745,714,679.420443255,661.420443255,634,879,786,805,653,630.579556745,652,0.404712078535,0.00455660809967,0.0599124705991,0.999999984117,0.000137757269631,-0.000112619862165,-1.02350829345e-05,1793244542192212480
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.832676659,714,679.167323341,661,634,879,786.167323341,805,653,631,652,0.405078567731,0.00455757036588,0.0599038760805,0.99999998273,0.000132435288184,-0.000129647474129,-1.38462196161e-05,1793244542208879104
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.253930402,714,679.746069598,661,634,879,786.746069598,805,653,631,652,0.405506442745,0.00455575709849,0.0599088540578,0.999999984925,0.000121932561092,-0.000122443915339,-1.70371801028e-05,1793244542225545216
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.678398886,745.321601114,714,680,661,634,879.321601114,786.678398886,805,653,631,652,0.405974432837,0.00455431140003,0.059926498868,0.999999989242,0.000110751657988,-9.39847778567e-05,-2.03994204917e-05,1793244542242211584
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.105380488,745.894619512,714,680,661,634,879.894619512,786.105380488,805,653,631,652,0.406473783637,0.00455315305479,0.0599540461966,0.999999993614,9.90405776483e-05,-4.8908719848e-05,-2.38955622425e-05,1793244542258878464
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.472300075,745.527699925,714,679.527699925,661.472300075,634,879.527699925,786,805,652.527699925,631,652,0.407004175124,0.00455120375375,0.0599818099949,0.999999995707,8.85920026327e-05,-1.2989888908e-06,-2.71249021799e-05,1793244542275545344
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745.052008909,714,679.052008909,661.947991091,634,879.052008909,786,805,652.052008909,630.947991091,652,0.407538373068,0.0045491113836,0.0600066805821,0.999999995635,7.83962374193e-05,4.08407610987e-05,-3.02826898401e-05,1793244542292212224
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745.641827948,714,679.641827948,661.358172052,634,879.641827948,786,805,652.641827948,630.358172052,652,0.408039600491,0.00454738269429,0.0600011288437,0.999999996931,6.78727573399e-05,2.05128620279e-05,-3.33222911177e-05,1793244542308878848
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.773537895,745.773537895,714,680,661,634,879.773537895,786,805,652.773537895,630,652,0.408560854438,0.00454611811323,0.0599917957851,0.999999997614,5.82434659345e-05,-5.52549758217e-06,-3.67278816638e-05,1793244542325545472
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.196920628,745.196920628,714,680,661,634,879.196920628,786,805,652.196920628,630,652,0.409113073317,0.00454557113536,0.0599766160588,0.999999997106,4.99967675318e-05,-4.03933563465e-05,-4.06993637469e-05,1793244542342211840
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.378082952,745.378082952,713.621917048,680,661.378082952,634,879.378082952,786,805.378082952,652.378082952,630,652,0.409721803575,0.00454436234168,0.0599733383827,0.999999996949,3.94793103324e-05,-5.00765188374e-05,-4.51121393443e-05,1793244542358878464
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.952249614,745.952249614,713.047750386,680,661.952249614,634,879.952249614,786,805.952249614,652.952249614,630,652,0.410359842095,0.00454281031302,0.0599762334218,0.999999997286,2.77841784853e-05,-4.66982378883e-05,-4.97537811925e-05,1793244542375545088
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.458351088,745.458351088,713.541648912,680,662,634,879.458351088,786,805.458351088,653,630.541648912,652,0.411025569326,0.00454058596647,0.0599869704632,0.999999998201,1.78006232668e-05,-1.75203162461e-05,-5.45424110856e-05,1793244542392211968
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745.129644881,714,679.870355119,662,634,879.129644881,786.129644881,805,652.870355119,631,652,0.411694187999,0.00453861146061,0.0599936883539,0.999999998222,9.00360671374e-06,2.35360294246e-06,-5.8901981859e-05,1793244542408878592
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745.708001402,714,679.291998598,662,634,879.708001402,786.708001402,805,652.291998598,631,652,0.41236412119,0.00453771274828,0.0599840336379,0.999999997924,3.77595244684e-06,-1.80741854386e-05,-6.17303958622e-05,1793244542425545216
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.285807126,746,714,679.571614253,662,634,879.714192874,787,805.285807126,652,631,652,0.413027261273,0.00453552947155,0.0599593697355,0.999999995325,5.13038328856e-05,-6.58633058646e-05,-4.87794519878e-05,1793244542442211840
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.863051276,746,714,680.726102552,662,634,879.136948724,787,805.863051276,652,631,652,0.413683474515,0.00453203632666,0.0599194009909,0.999999978139,0.000152626438117,-0.000141552730238,-1.97383243571e-05,1793244542458878720
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.553171189,714,680.553171189,661.553171189,634,879,787,805.553171189,652,631,652.446828811,0.414437350439,0.00452336014175,0.059921346879,0.999999978325,0.000155671566177,-0.000137245462715,-1.67521195497e-05,1793244542475545600
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.967730926,745,714,680,661.032269074,634,879,787,805,652,631,652.967730926,0.415223185111,0.0045137131344,0.0599383223661,0.999999985938,0.000129207973019,-0.000104648025704,-2.18736718551e-05,1793244542492212224
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.388550876,745,714,680,661.611449124,634,879,787,805,652,631,652.388550876,0.416035831686,0.00451493518338,0.0599890684231,0.999999992248,0.000120698427317,-1.42878831182e-05,-2.70575861055e-05,1793244542508878592
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.190144674,745,714,680.190144674,662,634,879.190144674,786.809855326,805,652,631,652,0.41685330821,0.00451601251853,0.0600217668268,0.999999991826,0.000116970969287,4.14494007331e-05,-3.07712886458e-05,1793244542525544960
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.76785265,745,714,680.76785265,662,634,879.76785265,786.23214735,805,652,631,652,0.417680629352,0.00451679488993,0.0600176795104,0.999999991587,0.000122990626837,2.66164692663e-05,-3.14883251047e-05,1793244542542211840
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.655312073,745,714,680.655312073,661.655312073,634,879.655312073,786,805.344687927,652,631,652,0.41850432096,0.00451689279185,0.0600035669138,0.999999991406,0.000126809596641,3.85063453811e-06,-3.30645386239e-05,1793244542558878208
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.079063098,745,714,680.079063098,661.079063098,634,879.079063098,786,805.920936902,652,631,652,0.419325574217,0.00451653086774,0.0599827193429,0.999999990746,0.000129150146041,-2.42445170507e-05,-3.52179464929e-05,1793244542575544832
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,680,662.013910435,634,879.506955218,786,806,652,630.493044782,652,0.420148117188,0.00451767588367,0.0599576982836,0.999999989332,0.000127590832695,-6.02823097646e-05,-3.77123975714e-05,1793244542592211712
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.093172282,745,714,680,662.906827718,633.906827718,880,786,805.906827718,652,630,652,0.420968188289,0.00451883212675,0.0599308443791,0.999999988133,0.000107900554649,-0.000102590998396,-3.95733099672e-05,1793244542608878848
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.672322708,745,714,680,662.327677292,633.327677292,880,786,805.327677292,652,630,652,0.421774296302,0.00451879701259,0.0598978921885,0.999999984655,-3.12448230462e-06,-0.000171020150148,-3.78468662319e-05,1793244542625545984
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,662,633.250410157,880,786.250410157,805,652,630.250410157,652,0.422634740445,0.00451816166473,0.0598948001744,0.999999981168,-6.41004665306e-05,-0.000179206548606,-3.79523164233e-05,1793244542642212608
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,633.827112594,880,786.827112594,805,652,630.827112594,652,0.423565986378,0.00451674419354,0.0599306169016,0.999999991461,-5.98609821232e-05,-0.000108894763576,-4.04447820886e-05,1793244542658878976
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662.804867552,634,880,787,805.402433776,652,631,652,0.42450890406,0.00451506572157,0.0599805663145,0.999999997206,-5.56799950943e-05,-2.81084532588e-05,-4.12142470608e-05,1793244542675545344
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,663.954327119,634,880,787,805.977163559,652,631,652,0.425456818772,0.00451327550609,0.0600365664235,0.999999996188,-5.15240528325e-05,5.71623643947e-05,-4.12460346874e-05,1793244542692211968
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.566259958,714,680,662.867480084,634,880,786.433740042,806,652,631,652,0.426362010729,0.00451320206304,0.0600347485281,0.999999996112,-4.6661486316e-05,6.15784251616e-05,-4.25105396711e-05,1793244542708878592
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,746,714,680.153275334,662,634,880,786.153275334,805.846724666,652,631,652,0.427260066852,0.00451238024877,0.0600248819345,0.999999996737,-4.22471704941e-05,5.30108361343e-05,-4.39528827852e-05,1793244542725545216
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,746,714,680.732849442,662,634,880,786.732849442,805.267150558,652,631,652,0.428143193015,0.00450927944536,0.0599992837366,0.999999998031,-3.91608784147e-05,1.76374140267e-05,-4.5747974028e-05,1793244542742212096
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,746,713.690191426,680.690191426,662,634,880,786.690191426,805,652,631,652,0.428994612926,0.00450828848353,0.0599711062215,0.999999998087,-3.19092448954e-05,-2.50532302946e-05,-4.66900559913e-05,1793244542758878976
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,746,713.115468366,680.115468366,662,634,880,786.115468366,805,652,631,652,0.429818921066,0.00450910162815,0.059940723157,0.999999995939,-2.10958660319e-05,-7.40007627287e-05,-4.69027373553e-05,1793244542775545600
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.544604713,745.544604713,713.455395287,680,661.544604713,634,880,786,805.455395287,652,631,652,0.430690407048,0.00450835650756,0.0599299823834,0.999999994969,-1.5327236166e-05,-8.68568478584e-05,-4.77903063386e-05,1793244542792212224
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.026524495,745,714,680,661.053048991,634,880,786.026524495,806,652,631.026524495,652,0.431577496713,0.00450707348366,0.0599268863093,0.999999995009,-1.10338794305e-05,-8.64789117115e-05,-4.87964303859e-05,1793244542808878592
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.624268773,745,714,680,662.248537547,634,880,786.624268773,806,652,631.624268773,652,0.432545170306,0.00450264378049,0.0599820681654,0.999999998745,-1.11961140955e-05,3.48068461465e-06,-4.87014621685e-05,1793244542825544960
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,663,634,880.215041718,786.784958282,806,652,631.784958282,652,0.433471420187,0.00449994006519,0.0600143368979,0.999999997307,-9.24813260503e-06,5.40223816412e-05,-4.88156881452e-05,1793244542842211584
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,663,634,880.794016587,786.205983413,806,652,631.205983413,652,0.434327565397,0.00450015738335,0.0600078278368,0.999999998062,-3.72885533063e-06,3.78538735241e-05,-4.92839515345e-05,1793244542858878464
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.369041654,662.630958346,634,880.630958346,786.369041654,806,652,631,652,0.435156173835,0.00449784068972,0.0599849477316,0.999999998733,-2.83323257211e-06,-1.07622847596e-06,-5.02412128481e-05,1793244542875545088
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.941885421,662.058114579,634,880.058114579,786.941885421,806,652,631,652,0.435969575125,0.0044941245959,0.0599530267681,0.999999997283,-4.49100905883e-06,-5.2576349402e-05,-5.14685216224e-05,1793244542892211968
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.529726145,713.470273855,680.470273855,662.529726145,634,880.529726145,786.470273855,806,652,631,652,0.436782089043,0.00449432269222,0.0599373732307,0.999999995426,-7.95148156626e-07,-8.01950881096e-05,-5.2111186665e-05,1793244542908878592
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.882610752,745.882610752,713.117389248,680,662.765221504,634,880.882610752,786.117389248,806,652,631,652,0.437585048252,0.00449445859453,0.059922797488,0.999999992666,3.24645740248e-06,-0.000109098314626,-5.24792305953e-05,1793244542925545216
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.302324825,745.302324825,713.697675175,680,661.60464965,634,880.302324825,786.697675175,806,652,631,652,0.438350725769,0.0044926066244,0.059905229401,0.999999986815,6.26794778028e-06,-0.000153698773504,-5.20246587641e-05,1793244542942211840
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.274404598,745,714,680.274404598,661.274404598,634,880,786.725595402,806,652,631,652,0.439146604362,0.00449050566338,0.0599125273581,0.99999998769,6.32790642552e-06,-0.000147727638611,-5.25065255595e-05,1793244542958878464
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.847265746,745,714,680.847265746,661.847265746,634,880,786.152734254,806,652,631,652,0.439975331148,0.00448813388719,0.0599468709044,0.999999994774,3.1667506679e-06,-8.67522347983e-05,-5.40069111298e-05,1793244542975545088
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681,662,633.569585299,880.430414701,786,806,651.569585299,631,652,0.440744184775,0.00448774074836,0.059973976014,0.99999999736,7.09687391244e-06,-4.86276196692e-05,-5.35189315174e-05,1793244542992211456
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680.982880301,661.965760602,633,880.982880301,786,806,651.017119699,631,652,0.441489316597,0.00448809121154,0.0599962208279,0.999999998297,1.37061402673e-05,-2.1859259225e-05,-5.23514816561e-05,1793244543008878336
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680.402234224,660.804468448,633,880.402234224,786,806,651.597765776,631,652,0.44217008315,0.00448924095911,0.0599451001475,0.999999993781,2.36451648066e-05,-9.54546523228e-05,-5.26121743462e-05,1793244543025544960
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.823332011,745,713.823332011,680.176667989,660,633,880,786,806,652,631,652,0.442835502409,0.00449025020811,0.0598964594013,0.999999984213,3.2461235062e-05,-0.000166499490535,-5.28974631172e-05,1793244543042211584
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.248361273,745,713.248361273,680.751638727,660,633,880,786,806,652,631,652,0.443466320916,0.00449094269953,0.0598534097238,0.999999970968,3.87455766941e-05,-0.000231794048949,-5.32382048729e-05,1793244543058878464
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713.327761203,680.672238797,659.672238797,633,880,786,806,652,631,652,0.444104181507,0.00449252282231,0.0598359537618,0.999999964323,4.43386471532e-05,-0.000257798978588,-5.41102030457e-05,1793244543075545088
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,713.904759453,680.095240547,659.095240547,633,880,786,806,652,631,652,0.44474739702,0.00449477792003,0.0598379598436,0.999999965006,4.94060590635e-05,-0.000253927180788,-5.53861807399e-05,1793244543092211456
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745.491482777,714,680,659,633,880,786,806,652,631,652,0.445327415471,0.00449455574147,0.0598294531314,0.999999958113,5.15607732468e-05,-0.000279371109646,-5.5391815586e-05,1793244543108878080
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.078699815,745.921300185,714,680.078699815,658.921300185,633,880.078699815,786,806.078699815,652,631,652,0.445891685441,0.0044945688567,0.0598157047389,0.999999948056,5.30377544204e-05,-0.000313025670422,-5.55793900934e-05,1793244543125544960
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.656848874,745.343151126,714,680.656848874,658.343151126,633,880.656848874,786,806.656848874,652,631,652,0.446435299562,0.00449918323748,0.0597818808167,0.999999931313,5.38679855248e-05,-0.000362007029154,-5.85153932345e-05,1793244543142211584
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.764916831,745,714,681.235083169,658,632.764916831,881,786,806.764916831,652,630.764916831,652,0.446976892926,0.00450165176294,0.0597630279436,0.999999922442,4.97317596652e-05,-0.000385899558694,-6.10232778881e-05,1793244543158878208
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.186558123,745,714,681.813441877,658,632.186558123,881,786,806.186558123,652,630.186558123,652,0.447515535475,0.00450098684529,0.0597660362512,0.999999927663,3.83433635112e-05,-0.00037315661925,-6.29060108995e-05,1793244543175544832
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,745,714,681.613055209,658,632,880.613055209,786,806,652,630.386944791,652,0.448029211353,0.00450392678058,0.0597730289214,0.999999932685,-2.34931626027e-05,-0.000360158736949,-6.60641162064e-05,1793244543192211712
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764.136544952,745.863455048,713.863455048,681,657,631.863455048,880,785.136544952,806,652,631,652,0.44933042217,0.00453987804606,0.0597283292498,0.999999896905,-8.49945070011e-05,-0.000438667483386,-8.08553053302e-05,1793244543242211840
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.691736147,745.308263853,713.308263853,681,657,631.308263853,880,785.691736147,806,652,631,652,0.449695973721,0.00455441737228,0.0596900219038,0.99999987072,-6.96589196152e-05,-0.000496501910255,-8.48121971602e-05,1793244543258878720
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+229,3.816666667,POSE1_TO_POSE2_PRESS,764.803589191,745.803589191,713.803589191,681,654.196410809,629,881,785,806,652,630.803589191,652,0.453770919096,0.00456783199641,0.0596269965416,0.999999825918,3.19271276595e-05,-0.000585158848797,-6.88056979512e-05,1793244543692212992
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764.041901703,745.041901703,713.041901703,681,654.958098297,629,881,785,806,652,631,652,0.453789243561,0.00456629400569,0.0596280664644,0.999999827274,3.24410049671e-05,-0.000582817182017,-6.87255108022e-05,1793244543725545472
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,745.545636891,713.545636891,681.545636891,655,629,881,785,806,652,630.454363109,652,0.453792094787,0.00456527188858,0.0596265355656,0.999999826057,3.33540976458e-05,-0.000584916236806,-6.81577332605e-05,1793244543742212352
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,746,714,682,655,629,881,785,806,652,630.131762084,652,0.4537943921,0.00456468649013,0.0596253207111,0.999999825161,3.38267225154e-05,-0.000586474443901,-6.76861630719e-05,1793244543758879232
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+235,3.916666667,POSE1_TO_POSE2_PRESS,764,745.712560167,713.712560167,682,655,629,881,785.287439833,806,652,631,652,0.45379793938,0.00456644567522,0.0596259955321,0.999999826502,3.2565238435e-05,-0.000584221750308,-6.7976536361e-05,1793244543792213248
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,745.137167238,713.137167238,682,655,629,881,785.862832762,806,652,631,652,0.453799112401,0.00456704308988,0.0596260515934,0.999999826754,3.35174516121e-05,-0.00058367333785,-6.85192680044e-05,1793244543808879872
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+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745,713.808514532,681.808514532,654.191485468,629,880,785,806,652,631,652,0.453799284355,0.00456755269559,0.0596244291422,0.999999824056,3.61243711354e-05,-0.000588146873662,-6.83114249644e-05,1793244543875545344
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,713.232343025,681.232343025,654.767656975,629,880,785,806,652,631,652,0.453800072108,0.00456519138173,0.0596254294278,0.999999824748,3.42957008721e-05,-0.000587151257321,-6.76909463589e-05,1793244543892211712
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745.342562236,713.342562236,681.342562236,655,629,880.342562236,785,806,652,630.657437764,652,0.453800593999,0.00456526316678,0.0596252375636,0.999999824823,3.43773913734e-05,-0.000587028194633,-6.76062348868e-05,1793244543908878848
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,745.916611805,713.916611805,681.916611805,655,629,880.916611805,785,806,652,630.083388195,652,0.453800936234,0.00456697912491,0.059624240101,0.999999824482,3.57500132615e-05,-0.000587494762414,-6.78835694898e-05,1793244543925545728
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,746,714,681.493972548,655,629,881.506027452,785,806,652,630.506027452,652,0.453800078192,0.0045686226496,0.059623388709,0.999999823585,3.90167485844e-05,-0.000588823350979,-6.77900845308e-05,1793244543942212864
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,746,714,681.095981648,654.904018352,629.095981648,881.904018352,785,806.095981648,652,631,652,0.453799466979,0.00456988129824,0.0596228865723,0.999999822941,4.15795915144e-05,-0.000589748129676,-6.77187653928e-05,1793244543958879488
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+247,4.116666667,HOLD_POSE2,764,745,713,681,654,630,881,786,807,652,630,652,0.453801733428,0.00456723792616,0.0596233951126,0.99999982339,3.57126611909e-05,-0.000589347439359,-6.79329014914e-05,1793244544013851392
+248,4.133333333,HOLD_POSE2,764,745.584114563,713,681.584114563,654,629.415885437,881,785.415885437,806.415885437,652,630,651.415885437,0.453801980981,0.00456858234893,0.059624033706,0.999999824108,3.85451329383e-05,-0.000587988188382,-6.75948917068e-05,1793244544030518528
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+251,4.183333333,HOLD_POSE2,764,745,713.67065418,681,654,629.32934582,880.32934582,785,806,652,631,652,0.453801174954,0.00456858585236,0.0596232925644,0.999999823604,3.71961960313e-05,-0.000588873695363,-6.80959152048e-05,1793244544080519168
+252,4.200000000,HOLD_POSE2,764,745,713.090883359,681,654,629.909116641,880.909116641,785,806,652,631,652,0.453800647868,0.00456854281332,0.0596226100067,0.999999823286,3.75983904466e-05,-0.00058939020098,-6.80694018013e-05,1793244544097186304
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+256,4.266666667,HOLD_POSE2,764,745.233553272,713.766446728,681.766446728,654,629,880.766446728,785.766446728,806,652,630,652,0.453801007013,0.00457014925772,0.059622337571,0.999999822322,4.15849971852e-05,-0.000590759164928,-6.80526532201e-05,1793244544163851520
+257,4.283333333,HOLD_POSE2,764,745.813066012,713.186933988,681.186933988,654,629,880.186933988,785.186933988,806,652,630,652,0.453802075191,0.00456950788986,0.0596235631032,0.999999823131,4.23867775864e-05,-0.000589381382115,-6.76113137534e-05,1793244544180518144
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+260,4.333333333,HOLD_POSE2,764.461308805,745,714,681.461308805,654,629,881,785,806.538691195,652,631,651.538691195,0.453803165307,0.00456747346943,0.0596236427971,0.999999823737,3.87741571396e-05,-0.000588654205556,-6.71472015735e-05,1793244544230518528
+261,4.350000000,HOLD_POSE2,764.115729543,745,714,681.115729543,654,629,881,785,807,652,630.884270457,652,0.453803180667,0.00456853737918,0.0596235215926,0.999999823399,3.98303146958e-05,-0.000589154990444,-6.71749460583e-05,1793244544247185664
+262,4.366666667,HOLD_POSE2,764.708818571,745,714,681.708818571,654,629,881,785,807,652,630.291181429,652,0.453802867079,0.00456708834597,0.0596226417876,0.999999823168,3.86823079558e-05,-0.000589656650417,-6.68710617259e-05,1793244544263852032
+263,4.383333333,HOLD_POSE2,765,745,714,682,654,629,881,785,807,652,630.295100724,652,0.45380288985,0.00456654815735,0.0596222506015,0.999999822764,3.84238391769e-05,-0.000590367798241,-6.67887002893e-05,1793244544280518400
+264,4.400000000,HOLD_POSE2,765,745,714,682,654,629,881,785,807,652,630.874817802,652,0.45380323703,0.00456688452388,0.0596223306744,0.999999822193,3.90233048305e-05,-0.000591280991177,-6.69199914783e-05,1793244544297184768
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745,713,681.589427614,654,629,881,785,806.589427614,652,631,652,0.453803452352,0.00456806207581,0.0596228418616,0.999999823232,4.05566322858e-05,-0.000589455859547,-6.6583728988e-05,1793244544346538240
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,745.175727328,713,682,654.175727328,629,880.824272672,785,806.824272672,652,631,652,0.453804676316,0.0045670107812,0.0596236278768,0.999999823861,3.86995574034e-05,-0.000588524038699,-6.64867291913e-05,1793244544363204864
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745.754846883,713,682,654.754846883,629,880.245153117,785,806.245153117,652,631,652,0.453805388393,0.00456931367628,0.0596244835384,0.999999824672,3.85404450545e-05,-0.000587047553722,-6.74259399248e-05,1793244544379871232
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,746,713.332320581,681.667679419,655,629,880.332320581,785,806,652,631,652,0.453804826948,0.00456986225134,0.0596240714112,0.999999824053,3.96962179099e-05,-0.000588023250285,-6.74239236448e-05,1793244544396537856
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,746,713.908586078,681.091413922,655,629,880.908586078,785,806,652,631,652,0.453803330655,0.00456912304129,0.0596227286444,0.999999822377,4.18172020156e-05,-0.000590799007637,-6.67309854764e-05,1793244544413204736
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,746,714,681.483172893,655,629,880.516827107,785,806.483172893,652,631,652,0.453803924312,0.00456972227144,0.0596235576627,0.999999823283,4.05955171613e-05,-0.000589303438277,-6.71312523527e-05,1793244544429871104
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.762786336,745,713,681.762786336,654,629,880,785,806,652,630.237213664,652,0.45379340292,0.00456558440551,0.0596174135264,0.999999819156,3.83392189981e-05,-0.000596466756901,-6.66716681838e-05,1793244544479871232
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.183655673,745,713,681.183655673,654,629,880,785,806,652,630.816344327,652,0.453779291705,0.00456642638062,0.0596122512549,0.999999814014,3.7880393649e-05,-0.000605025514239,-6.69377673937e-05,1793244544496538624
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,745,713,681,654.393511879,629,880.393511879,785,806,652,630.606488121,652,0.453744585961,0.00456704441897,0.0595973591647,0.999999798838,3.98299974272e-05,-0.000629497679033,-6.68554734643e-05,1793244544513205248
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,745,713,681,654.969767827,629,880.969767827,785,806,652,630.030232173,652,0.453700316265,0.0045675584628,0.0595779486168,0.999999778163,4.28980581896e-05,-0.000661359915318,-6.66113882492e-05,1793244544529871616
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.855499864,680,661.710999727,633.144500136,879,786.144500136,805.144500136,652.144500136,630,652,0.413751851082,0.00460989772211,0.0598389812221,0.999999914481,0.000307456957459,-0.000274435655399,3.45548529028e-05,1793244545646536960
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.006370662,745,713.006370662,680,660.987258676,634,878.993629338,786,805,652.993629338,631,652,0.412176667805,0.00460650226893,0.0597770123518,0.999999880144,0.000292316774868,-0.000391028970144,3.68577864071e-05,1793244545679870208
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.594348918,745,713.594348918,680,659.811302165,634,878.405651082,786,805,652.405651082,631,652,0.411479594915,0.00460628903838,0.059746255346,0.999999868618,0.000279656441781,-0.000428222538194,3.43760841326e-05,1793244545696537088
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.48537496,661,634,879,787,805.51462504,652.48537496,630.48537496,652,0.408411034136,0.00459724198631,0.0598515775321,0.999999941646,0.000226179361539,-0.000253607371163,3.5125014379e-05,1793244545779870464
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.064700884,745.064700884,714,680,661,634,879.064700884,787,805,652.935299116,631,652,0.407831889224,0.00459552320633,0.0598462051524,0.999999941135,0.00021870669487,-0.00026202761731,3.51980387973e-05,1793244545796537088
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.179322108,713.179322108,679.179322108,660.179322108,634,879.179322108,786.179322108,805,652,631,652,0.406269701493,0.00459119523132,0.0598201405144,0.999999937088,0.0001965568011,-0.000293493094476,3.24246387677e-05,1793244545846536960
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,713.96812235,679.96812235,661.936244701,634,879,786,805,652,630.03187765,652,0.405380051932,0.00458507284494,0.0598348549237,0.999999945326,0.000188298099231,-0.000269754104906,3.35305764904e-05,1793244545879870464
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.300607771,745,714,679.699392229,660.699392229,634,878,786,805,652.300607771,630,652,0.403792929758,0.00458109298093,0.0597660570847,0.999999901046,0.000232122068047,-0.000377859515436,3.53412628503e-05,1793244545946536704
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745.099102846,714,679.900897154,661,634,879,786,805.900897154,653,630.900897154,652,0.401001827739,0.00455636718794,0.0598248249466,0.999999943533,0.000161937446571,-0.000293857252401,1.8945816008e-05,1793244546279871488
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,713,679,661,634,878.61849879,786,805,653,631,652,0.400958115438,0.00455588347542,0.0598298438076,0.999999945177,0.000164235250512,-0.000286860521152,1.96142022923e-05,1793244546379871744
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745,713,679,661,634,878.042533729,786,805,653,631,652,0.400955864497,0.00455684231843,0.0598302051596,0.99999994492,0.000167260762645,-0.000285997264903,1.97287664796e-05,1793244546396537856
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_09/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f45dd7ba57c6a0c67a791d33aade08ad1ec7347c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_09/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a9b22e3b142aa6fec952f938bc00e3f158bc4dc3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e1820dc1c63769030c4da75b8033f88fd29b32e10db5e4a29ea91a433b93e06
+size 25998092
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8af80ffe1aa6c991930a6b0e73a06c0cdde663c1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+18,0.300000000,BASELINE,765,745,714,680,661.435359948,634,879,786,805.564640052,652.435359948,631,652,0.400956438311,0.00455631661486,0.0598378690726,0.999999947807,0.000168991477707,-0.000274621938694,2.02526116722e-05,1793244547156943872
+19,0.316666667,BASELINE,764.97353058,745.02646942,714,680,661.97353058,634,879,786.02646942,805.02646942,653,631,652,0.400955039723,0.00455703652453,0.0598366769971,0.999999947404,0.000170157307391,-0.000275393752904,1.99376108924e-05,1793244547173610752
+20,0.333333333,BASELINE,764.397124538,745.602875462,714,680,661.397124538,634,879,786.602875462,805.602875462,653,631,652,0.400955364389,0.00455613319377,0.0598370997904,0.999999947678,0.000168907950252,-0.000275140472964,2.02831471149e-05,1793244547190277376
+21,0.350000000,BASELINE,764,745.821135979,714,680,661,634,879,787,806,653,631,652,0.400955698669,0.00455512145422,0.0598372876215,0.999999947952,0.00016752788184,-0.000274972001311,2.05088830996e-05,1793244547206944256
+22,0.366666667,BASELINE,764,745.246072257,714,680,661,634,879,787,806,653,631,652,0.400956054246,0.00455386957966,0.0598369549899,0.999999948226,0.000165858276513,-0.000274991387583,2.04692508659e-05,1793244547223611392
+23,0.383333333,BASELINE,764,745.338083367,714,680,661,634.338083367,879,786.661916633,806,653,631,652,0.400956773726,0.00455448391738,0.0598373675977,0.999999948379,0.000166554854013,-0.000274026127082,2.02562581059e-05,1793244547240278272
+24,0.400000000,BASELINE,764,745.929039428,714,680,661,634.929039428,879,786.070960572,806,653,631,652,0.400957765389,0.0045564941063,0.0598383376144,0.999999948437,0.000169021240454,-0.000272324390596,1.99135986752e-05,1793244547256944640
+25,0.416666667,BASELINE,764.510001034,745.489998966,714,680,661,634.489998966,878.489998966,786,806,653,631,652.510001034,0.400956754059,0.00455621321024,0.0598381032503,0.99999994813,0.000169327175929,-0.000273258815377,1.99293391269e-05,1793244547273611008
+26,0.433333333,BASELINE,764.911661695,745,714,679.911661695,661,634,878.088338305,786.088338305,805.911661695,653,631,652.911661695,0.400955999138,0.00455574847425,0.0598378858513,0.999999947897,0.000169409605,-0.000274056370614,2.00064683519e-05,1793244547290277120
+27,0.450000000,BASELINE,764.340217386,745,714,679.340217386,661,634,878.659782614,786.659782614,805.340217386,653,631,652.340217386,0.400958141297,0.00455598817782,0.0598386600555,0.999999948337,0.000169882053651,-0.000272138056237,2.01518492837e-05,1793244547306943744
+28,0.466666667,BASELINE,764,745,714,679,661,634,879,786.76626066,805,653,631,652,0.400959481202,0.00455576618425,0.0598393021326,0.999999948688,0.000169724959384,-0.000270938287034,2.02579427414e-05,1793244547323610368
+29,0.483333333,BASELINE,764,745,714,679,661,634,879,786.188607305,805,653,631,652,0.400959640706,0.00455486486935,0.0598397498033,0.999999948909,0.000168641582713,-0.000270795754418,2.03062302903e-05,1793244547340277248
+30,0.500000000,BASELINE,764,745,714,679,661.398911128,634,879,786,805.398911128,653,631,652,0.400958862063,0.00455383776602,0.0598394896218,0.999999949035,0.000166877533905,-0.000271419541794,2.03541876222e-05,1793244547356944128
+31,0.516666667,BASELINE,764,745,714,679,661.991212078,634,879,786,805.991212078,653,631,652,0.400957628612,0.00455274968122,0.0598388862774,0.99999994911,0.000164783499189,-0.0002724148367,2.04019848653e-05,1793244547373611264
+32,0.533333333,BASELINE,764,745,713.431159389,679.568840611,661.431159389,634,879,786,805.431159389,653,631,652,0.400956919101,0.00455219664401,0.0598387201726,0.999999949152,0.000163251045711,-0.000273176087219,2.04710590952e-05,1793244547390278400
+33,0.550000000,BASELINE,764,745,713.145035371,679.854964629,661,634,879,786.145035371,805,653,630.854964629,652,0.400956535653,0.00455217406476,0.0598387206007,0.999999949144,0.000162741744511,-0.000273511432451,2.04521673982e-05,1793244547406945024
+34,0.566666667,BASELINE,764,745,713.717654531,679.282345469,661,634,879,786.717654531,805,653,630.282345469,652,0.400957090221,0.0045536915909,0.0598391925769,0.999999948991,0.000165223899952,-0.000272601543026,2.01729956034e-05,1793244547423611392
+35,0.583333333,BASELINE,764.292069976,745,714,679.292069976,661.292069976,634,879,786.707930024,805,653,630.292069976,652,0.400957282542,0.0045544015922,0.0598390812195,0.999999948891,0.000166177447617,-0.000272391314688,2.01397776907e-05,1793244547440278272
+36,0.600000000,BASELINE,764.868232714,745,714,679.868232714,661.868232714,634,879,786.131767286,805,653,630.868232714,652,0.40095712251,0.00455432612449,0.0598384024609,0.999999948847,0.000165644138178,-0.000272861637705,2.03457959661e-05,1793244547456945408
+37,0.616666667,BASELINE,764.540762567,745.459237433,714,680,661.540762567,634,879,786.459237433,805,653,631,652,0.400956743617,0.00455267589776,0.0598377771079,0.999999948887,0.000164394351028,-0.000273462439263,2.04758252785e-05,1793244547473612032
+38,0.633333333,BASELINE,764.052769554,745.947230446,714,679.947230446,661.052769554,634,879,786.947230446,805.052769554,653,631,652,0.400956411885,0.00455092318448,0.0598373286051,0.999999948935,0.000163291085491,-0.000273936996187,2.0596154e-05,1793244547490278912
+39,0.650000000,BASELINE,764.627762528,745.372237472,714,679.372237472,661.627762528,634,879,786.372237472,805.627762528,653,631,652,0.400957189084,0.00455277711559,0.059838473553,0.999999948844,0.000165740232647,-0.000272779329724,2.08434605244e-05,1793244547506945280
+40,0.666666667,BASELINE,765,745.200794906,714,679.200794906,661.799205094,634,879,786,806,653,631,652,0.400957744282,0.00455381981448,0.0598393083217,0.9999999489,0.00016670893375,-0.000271975158957,2.09362900926e-05,1793244547523611904
+41,0.683333333,BASELINE,765,745.770227803,714,679.770227803,661.229772197,634,879,786,806,653,631,652,0.400957891913,0.00455337317755,0.0598395736345,0.999999949236,0.000164959693936,-0.000271819968592,2.07455164603e-05,1793244547540279040
+42,0.700000000,BASELINE,764.645849757,746,713.645849757,679.645849757,661.354150243,634,878.645849757,786,806,653,630.645849757,652,0.400957269481,0.00455378720913,0.0598390786315,0.999999949026,0.000165249647392,-0.000272423055842,2.06387830292e-05,1793244547556945664
+43,0.716666667,BASELINE,764.05212552,746,713.05212552,679.05212552,661.94787448,634,878.05212552,786,806,653,630.05212552,652,0.400956126119,0.00455478346196,0.0598380692935,0.999999948445,0.000166919065391,-0.000273539099395,2.05889007509e-05,1793244547573612032
+44,0.733333333,BASELINE,764.530193478,745.469806522,713.530193478,679.530193478,661.469806522,634,878.530193478,786.530193478,806,652.469806522,630,652,0.400958083541,0.00455462694793,0.0598394499751,0.999999949296,0.000165827163964,-0.000271089408082,2.04904290457e-05,1793244547590278144
+45,0.750000000,BASELINE,765,745,714,679.889421357,661,634,879,787,806,652.110578643,630.110578643,652,0.400959300629,0.00455432651238,0.059840479969,0.999999949928,0.00016469133908,-0.000269452532956,2.03952712635e-05,1793244547606944256
+46,0.766666667,BASELINE,765,745,714,679.312562169,661,634,879,787,806,652.687437831,630.687437831,652,0.400956137528,0.00455388703081,0.0598390612538,0.999999949085,0.000164490939399,-0.000272690184657,2.03338066954e-05,1793244547623610880
+47,0.783333333,BASELINE,764.737695307,745.262304693,714,679,661,634,879,786.737695307,805.737695307,653,631,652,0.400956302895,0.00455373711504,0.0598389919898,0.999999949008,0.000165188689544,-0.000272554452487,2.02797614671e-05,1793244547640277760
+48,0.800000000,BASELINE,764.165184528,745.834815472,714,679,661,634,879,786.165184528,805.165184528,653,631,652,0.400960404566,0.00455392964475,0.0598405186101,0.999999949832,0.000166948607241,-0.000268429298397,2.02344904707e-05,1793244547656944640
+49,0.816666667,BASELINE,764,745.576890549,714,679,661,634,878.576890549,786,805.423109451,653,631,652,0.400959620758,0.00455402715176,0.0598398747073,0.999999949495,0.000167028720103,-0.000269636281366,2.02117424506e-05,1793244547673611264
+50,0.833333333,BASELINE,764,745,714,679.034593829,661,634,878.017296914,786.017296914,806,653,631,652,0.400956956593,0.00455409792421,0.0598383940972,0.999999948706,0.000166451947006,-0.000272897926733,2.02034289897e-05,1793244547690278144
+51,0.850000000,BASELINE,764,745,714,680.190106459,661,634,878.59505323,786.59505323,806,653,631,652,0.400957560806,0.00455455105463,0.0598383233999,0.99999994873,0.000166663569865,-0.000272669887598,2.03668713243e-05,1793244547706944768
+52,0.866666667,BASELINE,764.171941239,745,714,680.656117523,661.171941239,634,879,786.828058761,805.828058761,653,630.828058761,652,0.400957628633,0.00455490238167,0.0598383938907,0.999999948674,0.000167224111426,-0.000272520231087,2.0528181388e-05,1793244547723611392
+53,0.883333333,BASELINE,764.7467945,745,714,679.506411,661.7467945,634,879,786.2532055,805.2532055,653,630.2532055,652,0.400956439537,0.00455501515154,0.0598387952294,0.99999994843,0.000168602278464,-0.000272554249561,2.06844948653e-05,1793244547740278016
+54,0.900000000,BASELINE,765,745,713.670050743,679,661.670050743,634,879,786,805,653,630.329949257,652,0.400956898143,0.00455501432019,0.0598392332836,0.999999948634,0.000168214733918,-0.000272051402968,2.05787223782e-05,1793244547756944384
+55,0.916666667,BASELINE,765,745,713.080360964,679,661.080360964,634,879,786,805,653,630.919639036,652,0.400958653842,0.00455492406042,0.0598397002408,0.999999949189,0.00016643719724,-0.000271125928923,2.02666322642e-05,1793244547773611008
+56,0.933333333,BASELINE,764.500922272,745,713.499077728,679,661,634,879,786.499077728,805,652.500922272,630.500922272,652,0.400958484026,0.00455355396473,0.0598395671372,0.999999949241,0.00016528656476,-0.000271618805847,2.05392005157e-05,1793244547790277632
+57,0.950000000,BASELINE,764,745,714,679.075829625,661.075829625,634,879,786.924170375,805,652,630,652,0.400957861609,0.00455245400164,0.0598392954548,0.999999949134,0.000164699917314,-0.000272348934861,2.07997198726e-05,1793244547806944256
+58,0.966666667,BASELINE,764,745,714,679.645615187,661.645615187,634,879,786.354384813,805,652,630,652,0.400956269928,0.00455442906709,0.0598387377924,0.999999948514,0.000167142768236,-0.000273166789734,2.03808576079e-05,1793244547823611136
+59,0.983333333,BASELINE,764.218755992,745,714,679.781244008,662,634,879.218755992,786.218755992,805,652.218755992,630.218755992,652,0.400955931908,0.00455520206418,0.059838609677,0.999999948291,0.000168379957165,-0.000273223442913,2.03728225914e-05,1793244547840277760
+60,1.000000000,BASELINE,764.797417052,745,714,679.202582948,662,634,879.797417052,786.797417052,805,652.797417052,630.797417052,652,0.400957656454,0.00455399737638,0.0598391882675,0.999999948729,0.00016763354889,-0.000272027740373,2.10406949728e-05,1793244547856944384
+61,1.016666667,BASELINE,765,745,714,679,662,634,879.61342012,786.61342012,805.38657988,653,631,652,0.400958075866,0.004553235206,0.0598393329734,0.999999949119,0.000166427955604,-0.000271340593229,2.0936602505e-05,1793244547873611008
+62,1.033333333,BASELINE,765,745,714,679,662,634,879.018600314,786.018600314,805.981399686,653,631,652,0.400957792237,0.00455271140764,0.0598392439578,0.999999949482,0.000164975012052,-0.000270927390932,2.04166738076e-05,1793244547890277376
+63,1.050000000,BASELINE,764.444013906,745,714,679,661.444013906,634,879,786,806,653,631,652,0.400959344219,0.00455293589269,0.0598402460436,0.9999999499,0.000164737018534,-0.00026951949069,2.05210411914e-05,1793244547906944000
+64,1.066666667,BASELINE,764.130458017,745,714,679,661.130458017,634,879,786.130458017,806,653,631,652.130458017,0.400960501581,0.00455322687762,0.0598411022326,0.999999950154,0.00016505093816,-0.000268375645367,2.06003959461e-05,1793244547923610624
+65,1.083333333,BASELINE,764.706770799,745,714,679,661.706770799,634,879,786.706770799,806,653,631,652.706770799,0.400960107779,0.00455366258254,0.0598413394321,0.999999949848,0.000167117048789,-0.000268243972408,2.05253947984e-05,1793244547940277504
+66,1.100000000,BASELINE,765,745,714,679,661.71609799,634.28390201,879.28390201,786.71609799,805.71609799,653,631,652.71609799,0.400959218658,0.00455393681782,0.0598405193594,0.999999949364,0.00016798333159,-0.000269509260749,2.04630249059e-05,1793244547956944128
+67,1.116666667,BASELINE,765,745,714,679,661.138119057,634.861880943,879.861880943,786.138119057,805.138119057,653,631,652.138119057,0.400957816465,0.00455404379646,0.0598386041222,0.999999948693,0.00016760678517,-0.000272221576835,2.04137389713e-05,1793244547973611008
+68,1.133333333,BASELINE,764.55086645,745,713.55086645,679.44913355,661.44913355,635,879.55086645,786.44913355,805.44913355,653,630.55086645,652,0.400957249931,0.00455443919314,0.0598389343299,0.999999948844,0.000166581255655,-0.000272309597813,2.02574341637e-05,1793244547990277888
+69,1.150000000,BASELINE,764,745,713,680,661.961702568,634.961702568,879,786.961702568,805.961702568,653,630.038297432,652,0.400956990875,0.00455486629477,0.0598398987133,0.999999949237,0.000165412792077,-0.000271588785703,2.00854649055e-05,1793244548006944768
+70,1.166666667,BASELINE,764,745,713,680,661.386567069,634.386567069,879,786.386567069,805.386567069,653,630.613432931,652,0.400957363678,0.0045544683153,0.0598398691145,0.999999949426,0.000165097316728,-0.000271081235401,2.01649746586e-05,1793244548023612416
+71,1.183333333,BASELINE,764,745,713.188846974,679.811153026,661,634.188846974,879,786,805.188846974,653,631,652,0.400957456522,0.00455462578886,0.0598396538794,0.999999949348,0.000165607135799,-0.000271052137561,2.02439445482e-05,1793244548040279552
+72,1.200000000,BASELINE,764,745,713.764832139,679.235167861,661,634.764832139,879,786,805.764832139,653,631,652,0.40095697545,0.00455592194666,0.0598390580881,0.999999948721,0.000167808816649,-0.00027200387198,2.03218077271e-05,1793244548056945408
+73,1.216666667,BASELINE,764.349874612,745,714,679,661,634.650125388,879,786.349874612,805.650125388,653,631,652,0.400956763696,0.00455591736083,0.0598390666781,0.999999948589,0.000168053750485,-0.000272326488804,2.04335508417e-05,1793244548073611520
+74,1.233333333,BASELINE,764.941166695,745,714,679,661,634.058833305,879,786.941166695,805.058833305,653,631,652,0.400956737776,0.00455501524697,0.0598394922981,0.999999948802,0.000166948506435,-0.000272215007256,2.05686714938e-05,1793244548090278144
+75,1.250000000,BASELINE,764.478713839,745.521286161,713.478713839,679,661,634,878.478713839,786.478713839,805,652.478713839,631,652,0.400957643978,0.00455480155282,0.0598402855774,0.999999949317,0.000165629682519,-0.00027112834599,2.05681797158e-05,1793244548106945024
+76,1.266666667,BASELINE,764,746,713,679.099852155,661,634,878.099852155,786.099852155,805,652,631,652,0.400958270561,0.00455468948794,0.0598407970414,0.999999949641,0.00016486855192,-0.0002703953737,2.05373589291e-05,1793244548123611904
+77,1.283333333,BASELINE,764,746,713,679.676893795,661,634,878.676893795,786.676893795,805,652,631,652,0.400957068654,0.00455469958894,0.0598397675809,0.99999994891,0.000166885395293,-0.000271867605482,2.04332064367e-05,1793244548140277760
+78,1.300000000,BASELINE,764,745.742114082,713.257885918,679.742114082,661,634,878.742114082,786.742114082,805.257885918,652.257885918,631,652,0.400956454955,0.00455476717073,0.059838957479,0.999999948412,0.00016826736326,-0.000272851514658,2.03428790903e-05,1793244548156944128
+79,1.316666667,BASELINE,764,745.15609543,713.84390457,679.15609543,661,634,878.15609543,786.15609543,805.84390457,652.84390457,631,652,0.400956589689,0.00455490789078,0.0598384264879,0.999999948218,0.000168841518827,-0.000273214084517,2.02701427978e-05,1793244548173610752
+80,1.333333333,BASELINE,764,745,713.574736608,679,661,634,878.425263392,786,805.574736608,653,631,652,0.400957242756,0.00455515871303,0.0598387785792,0.999999948699,0.000168013337423,-0.000271973304432,2.01150214397e-05,1793244548190277120
+81,1.350000000,BASELINE,764.00490663,745.00490663,713.00490663,679.00490663,661.00490663,634,879,786,805,653,630.99509337,652,0.400958078337,0.00455545126042,0.0598394519998,0.999999949416,0.000166688774144,-0.000270158014421,1.99321871616e-05,1793244548206943744
+82,1.366666667,BASELINE,764.581781212,745.581781212,713.581781212,679.581781212,661.581781212,634,879,786,805,653,630.418218788,652,0.400958251692,0.00455594774661,0.0598402072344,0.999999949637,0.000166853418351,-0.000269232208191,2.0005721003e-05,1793244548223610368
+83,1.383333333,BASELINE,765,745.842088898,714,679.842088898,661.842088898,634,879,786,805.157911102,652.842088898,630.157911102,652,0.400958051024,0.00455549559775,0.0598405393562,0.999999949668,0.000166792993712,-0.000269134211973,2.02672732464e-05,1793244548240276992
+84,1.400000000,BASELINE,765,745.267921899,714,679.267921899,661.267921899,634,879,786,805.732078101,652.267921899,630.732078101,652,0.400956864426,0.0045525428336,0.0598397561472,0.999999949198,0.000166139284452,-0.000271218334435,2.10244446691e-05,1793244548256943616
+85,1.416666667,BASELINE,764.684826164,745,713.684826164,679,661,634,879,786,805.684826164,652.315173836,631,652,0.400956968373,0.00455254289119,0.0598400310813,0.999999949047,0.000166747338902,-0.000271396230362,2.10900930556e-05,1793244548273610240
+86,1.433333333,BASELINE,764.093919062,745,713.093919062,679,661,634,879,786,805.093919062,652.906080938,631,652,0.400958201366,0.00455512625724,0.0598412317435,0.999999949175,0.000168459261131,-0.000269906443093,2.05507549279e-05,1793244548290276864
+87,1.450000000,BASELINE,764,745,713.4870211,679,661,634,879,786.4870211,805.4870211,652.5129789,631,652,0.400958717268,0.00455628304309,0.0598407401561,0.999999949132,0.000169160044872,-0.000269644587412,2.0316502237e-05,1793244548306943488
+88,1.466666667,BASELINE,764,745,714,679.065492238,661,634,878.934507762,786.934507762,806,652,630.934507762,652.065492238,0.40095886711,0.00455691252306,0.0598399781199,0.99999994905,0.000169366286244,-0.00026983071524,2.01831148449e-05,1793244548323610368
+89,1.483333333,BASELINE,764,745,714,679.639417947,661,634,878.360582053,786.360582053,806,652,630.360582053,652.639417947,0.400957227164,0.00455554128794,0.0598395991737,0.999999948903,0.000167216680424,-0.000271693189996,2.03851882889e-05,1793244548340276992
+90,1.500000000,BASELINE,764,745,714,680,661,634.213848027,878.213848027,786,805.786151973,652.213848027,630.213848027,652.786151973,0.400956709301,0.00455473730155,0.0598397325655,0.99999994896,0.000166580658123,-0.000271864531951,2.05082379509e-05,1793244548356943616
+91,1.516666667,BASELINE,764,745,714,680,661,634.789130509,878.789130509,786,805.210869491,652.789130509,630.789130509,652.210869491,0.400958087923,0.00455489204863,0.0598407318836,0.999999949365,0.00016850281365,-0.000269177611842,2.04977258385e-05,1793244548373610240
+92,1.533333333,BASELINE,764.375809338,745.375809338,714,679.624190662,661.375809338,634.624190662,879,786.375809338,805,653,631,652,0.40095836951,0.00455523961891,0.059840741489,0.999999949385,0.000168451689421,-0.00026914378871,2.04088902833e-05,1793244548390277120
+93,1.550000000,BASELINE,764.969082777,745.969082777,714,679.030917223,661.969082777,634.030917223,879,786.969082777,805,653,631,652,0.400958016293,0.00455569876739,0.0598401783918,0.999999949182,0.000167258716389,-0.00027064519421,2.02747324443e-05,1793244548406944000
+94,1.566666667,BASELINE,765,746,714,679.545116,662,634,879,787,805.545116,653,631,652,0.400957701201,0.00455487747732,0.0598400441496,0.999999949485,0.000165628440893,-0.000270528020914,2.03017417788e-05,1793244548423610624
+95,1.583333333,BASELINE,765,746,714,679.879078369,662,634,879,786.879078369,806,653,631,652,0.400957567274,0.00455413844691,0.0598399881509,0.999999949751,0.000164391768031,-0.000270296454798,2.03182695638e-05,1793244548440276992
+96,1.600000000,BASELINE,765,746,714,679.300546927,662,634,879,786.300546927,806,653,631,652,0.400958111005,0.00455397711856,0.0598401390264,0.999999949784,0.000164735608358,-0.000269968741199,2.02615997032e-05,1793244548456943616
+97,1.616666667,BASELINE,764.717319939,746,714,679.282680061,662,634.282680061,879.282680061,786.282680061,805.717319939,652.717319939,631,652,0.400958739433,0.00455396502356,0.0598405010073,0.99999994982,0.000165237275374,-0.000269534195606,2.02168634998e-05,1793244548473610496
+98,1.633333333,BASELINE,764.129016328,746,714,679.870983672,662,634.870983672,879.870983672,786.870983672,805.129016328,652.129016328,631,652,0.400959459432,0.00455411427432,0.0598410912276,0.999999949857,0.00016590957893,-0.000268984147111,2.01850295425e-05,1793244548490277120
+99,1.650000000,BASELINE,764,746,714,680,662,634.548220205,879.548220205,786.548220205,805,652.451779795,631,652.451779795,0.400958180091,0.00455513425312,0.0598404650096,0.999999949365,0.00016661608485,-0.000270380120043,2.0076332841e-05,1793244548506943744
+100,1.666666667,BASELINE,764,745.969776455,714,680,661.969776455,634,879,786,805.030223545,653,631,652.969776455,0.400956448448,0.00455623135635,0.0598395687535,0.999999948778,0.000167233291534,-0.000272172035132,1.99748674201e-05,1793244548523610624
+101,1.683333333,BASELINE,764,745.395713694,714,680,661.395713694,634,879,786,805.604286306,653,631,652.395713694,0.400956683933,0.00455431506088,0.0598399620496,0.999999949213,0.000166070778819,-0.000271252163373,2.03920300204e-05,1793244548540276992
+102,1.700000000,BASELINE,764,745.177782184,714,679.822217816,661.177782184,634,879,786.177782184,805.822217816,653,631,652,0.40095751163,0.00455330002365,0.0598406228206,0.999999949664,0.000165390583697,-0.00026998624237,2.06375716465e-05,1793244548556943872
+103,1.716666667,BASELINE,764,745.750020206,714,679.249979794,661.750020206,634,879,786.750020206,805.249979794,653,631,652,0.400959653304,0.00455428466157,0.0598418770539,0.999999950149,0.00016578053528,-0.00026795252159,2.05023276202e-05,1793244548573610496
+104,1.733333333,BASELINE,764,745.664069147,714,679.335930853,662,634,878.664069147,787,805.335930853,653,631,652,0.400959629398,0.00455446869298,0.0598419928045,0.999999950019,0.000166146001191,-0.000268203699602,2.05861922805e-05,1793244548590277120
+105,1.750000000,BASELINE,764,745.067552406,714,679.932447594,662,634,878.067552406,787,805.932447594,653,631,652,0.400957925623,0.00455403168373,0.0598412254197,0.999999949412,0.000166492473295,-0.000270227302804,2.0840022355e-05,1793244548606943744
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,680,661,634,879,787,806,653,631,652,0.400956936801,0.0045537187013,0.0598394181928,0.999999949266,0.000165998378565,-0.000271098779797,2.04203232249e-05,1793244548641847552
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.66830022,745,713.33169978,679.33169978,661,634,878.33169978,787,805.33169978,653,630.33169978,652,0.400958068851,0.00455378690022,0.0598405351173,0.999999949687,0.000164830980931,-0.000270255722141,2.04466457795e-05,1793244548658514176
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,713.297900402,679,661,634,878.297900402,786.702099598,805,652.702099598,630.297900402,652,0.400958312428,0.00455412981504,0.0598411155297,0.9999999498,0.000164845934534,-0.000269828275686,2.04617544444e-05,1793244548675180800
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,713.889364063,679,661,634,878.889364063,786.110635937,805,652.110635937,630.889364063,652,0.400957680467,0.00455474344616,0.0598411672412,0.999999949609,0.000166026025338,-0.000269810389428,2.04658124861e-05,1793244548691847168
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.528953223,745,714,679,661,634,878.528953223,786,805.471046777,652,630.528953223,652,0.40095827724,0.00455473822652,0.0598415019409,0.999999949704,0.000166140882807,-0.000269388673007,2.04871531947e-05,1793244548708513792
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679.050279308,661.050279308,634,878.050279308,786,805.949720692,652.050279308,630.050279308,652,0.400958987402,0.00455457024627,0.0598417274199,0.999999949814,0.000165928846635,-0.000269106181122,2.05078409482e-05,1793244548725180416
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679.627420274,661.627420274,634,878.627420274,786,805.372579726,652.627420274,630.627420274,652,0.400957923141,0.00455418885373,0.0598401260967,0.999999949411,0.000164859767792,-0.000271256252915,2.04800164776e-05,1793244548741847040
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.203194723,745,714,680,661.796805277,634,879,786,805,653,630.796805277,652,0.400956994969,0.0045540817045,0.0598391512366,0.999999949165,0.000164122422941,-0.00027261999234,2.0290022511e-05,1793244548758514176
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.776480219,745,714,680,661.223519781,634,879,786,805,653,630.223519781,652,0.400956314664,0.00455447405115,0.0598393173915,0.999999949215,0.000163989285233,-0.000272551537194,1.98046594875e-05,1793244548775181824
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.350529899,714,679.649470101,661.350529899,634,879,786,805.350529899,653,630,652,0.400958252592,0.00455397827161,0.0598403878225,0.999999949537,0.000164613176544,-0.000270972897817,2.00788502599e-05,1793244548791848704
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745.925067915,714,679.074932085,661.925067915,634,879,786,805.925067915,653,630,652,0.400961863717,0.00455291492997,0.0598420361363,0.999999950024,0.000165720851539,-0.000268429166662,2.0838438203e-05,1793244548808514816
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745.48300943,714,679.51699057,662,634,879,786,805.48300943,653,630.51699057,652,0.400980991028,0.00455272382221,0.0598512671349,0.999999954264,0.000164517802247,-0.000252919399057,2.09303779879e-05,1793244548825181696
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.891923045,745,714,680,661.891923045,634,879,786,805.108076955,653,631,652,0.401007836981,0.00455272464566,0.0598631658408,0.999999959518,0.000163269777036,-0.00023209689598,2.09081682072e-05,1793244548841848064
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.315751743,745,714,680,661.315751743,634,879,786,805.684248257,653,631,652,0.401058034111,0.00455299015046,0.0598816930565,0.999999967102,0.000163327983762,-0.000196686929974,2.08252616438e-05,1793244548858514944
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.259593269,745,714,679.740406731,661.259593269,634,879,786.259593269,806,653,631,652.259593269,0.401115193547,0.00455299016644,0.0598993736601,0.999999972657,0.000163813334789,-0.000165552681469,2.10362581899e-05,1793244548875181824
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.833936503,745,714,679.166063497,661.833936503,634,879,786.833936503,806,653,631,652.833936503,0.401180794602,0.00455266828431,0.0599160277714,0.99999997644,0.000164816587089,-0.000139602622642,2.16036044764e-05,1793244548891848960
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745.419430188,714,679.419430188,661.580569812,634,879,786.580569812,805.580569812,653,631,653,0.401252205029,0.00455289385257,0.059927114547,0.999999978936,0.00016393923395,-0.000121693175592,2.10518535751e-05,1793244548908515328
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.990708546,714,680,661,634,879,786,805.009291454,653,631,652.990708546,0.401326259963,0.00455331086542,0.0599358439452,0.999999980884,0.000162293944876,-0.000107189594324,2.0056653389e-05,1793244548925181440
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.411140912,714,680,661,634,879,786,805.588859088,653,631,652.411140912,0.401417599235,0.00455181139427,0.05993887015,0.99999998183,0.000160463328889,-0.000100998249008,1.97815021874e-05,1793244548941848064
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.832987052,745,714,679.832987052,661,634,879,786,805.832987052,653,631,652,0.401515099606,0.00455083920042,0.059941661982,0.999999982774,0.000158314972793,-9.49723722188e-05,1.91833405991e-05,1793244548958514432
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.25828434,745,714,679.25828434,661,634,879,786,805.25828434,653,631,652,0.401627639627,0.00455115412577,0.0599438816938,0.999999983777,0.000155390991977,-8.93504155376e-05,1.7796689095e-05,1793244548975180800
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679.316037163,661.316037163,634,879,786,805.316037163,653,631,652,0.401755941665,0.00455073788561,0.0599460622099,0.999999984707,0.000151901459043,-8.50409279863e-05,1.67505678408e-05,1793244548991847680
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,679.890047467,661.890047467,634,879,786,805.890047467,653,631,652,0.401897109834,0.00454972481352,0.0599482107314,0.999999985582,0.00014795028037,-8.18027760561e-05,1.59824128823e-05,1793244549008514816
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.482388113,745,714,680,662,634,879,786.482388113,805.517611887,653,631,652,0.402058212809,0.00455064304516,0.0599490895279,0.99999998642,0.000146495672449,-7.41679340215e-05,1.4050418641e-05,1793244549025181696
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+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745.774833565,714,680,661.774833565,634,879,787,805.774833565,653,631,652,0.402640907535,0.00455176128725,0.0599544074854,0.999999988906,0.000139218873874,-5.23565283406e-05,8.09055781171e-06,1793244549075181056
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745.20132946,714,680,661.20132946,634,879,787,805.20132946,653,631,652,0.40287692845,0.00455263385862,0.0599539859314,0.999999989648,0.000135808427985,-4.7202411827e-05,5.58111964419e-06,1793244549091847680
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+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745.441866842,714,680,662,634.558133158,879.441866842,786,805,653,631,652,0.403705212863,0.00454921044588,0.0599492151143,0.999999992308,0.000113628477444,-4.96402839396e-05,-2.90776246819e-06,1793244549141848320
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.864374137,662,634.864374137,879.135625863,786,805.135625863,653,630.864374137,652,0.404009441184,0.0045484360778,0.0599425017922,0.999999992469,0.000106565157341,-6.05874848239e-05,-5.95579751872e-06,1793244549158515200
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.291958364,662,634.291958364,879.708041636,786,805.708041636,653,630.291958364,652,0.404323342972,0.00455021308247,0.0599288159192,0.999999990737,0.000104778415705,-8.63849166311e-05,-9.19732506715e-06,1793244549175181824
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.28917531,713.71082469,679,661.71082469,634,879.42164938,786,806,652.71082469,630.28917531,652,0.404665390701,0.00455041053931,0.0599165765342,0.999999989162,9.93619779793e-05,-0.00010790648762,-1.26080020819e-05,1793244549191847936
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.879384352,713.120615648,679,661.120615648,634,878.241231297,786,806,652.120615648,630.879384352,652,0.405036738551,0.00454896367455,0.0599058429552,0.999999987994,9.0166998734e-05,-0.000124976852885,-1.61947647966e-05,1793244549208514304
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.539094478,713.460905522,679.460905522,661.460905522,634,878.460905522,786,806,652.460905522,631,652,0.405460479834,0.00454843330921,0.059909690302,0.999999989195,8.13652683035e-05,-0.000120777636931,-2.0078139615e-05,1793244549225180672
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.960013656,745,714,680,662,634,879,786,806,653,631,652,0.405902333463,0.00454806130543,0.0599188420333,0.999999991214,7.27137143899e-05,-0.000108211833232,-2.39592243202e-05,1793244549241847296
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.383734595,745,714,680,662,634,879,786,806,653,631,652,0.406406619392,0.00454665601646,0.0599489063304,0.999999995939,6.47216331567e-05,-5.67050084618e-05,-2.67878023579e-05,1793244549258514432
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.191948731,745.191948731,714,680,662,634,879,786,805.808051269,652.808051269,631,652,0.406918636742,0.00454590347535,0.0599767197846,0.999999997891,5.66691880899e-05,-1.08356534158e-05,-2.98089663425e-05,1793244549275181568
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.76644488,745.76644488,714,680,662,634,879,786,805.23355512,652.23355512,631,652,0.407446062644,0.00454645183869,0.0600000473895,0.999999997989,4.84964387196e-05,2.37984215194e-05,-3.32139483018e-05,1793244549291848704
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.649696829,746,714,680,661.649696829,634,879.350303171,786,805.350303171,652.350303171,631,652,0.407973589087,0.0045458583252,0.0600048177614,0.999999998262,3.99218653259e-05,2.34018651251e-05,-3.65283987639e-05,1793244549308515584
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.059425219,746,714,680,661.059425219,634,879.940574781,786,805.940574781,652.940574781,631,652,0.408501184373,0.00454448259096,0.0599968758568,0.999999998726,3.10720306209e-05,-9.91752606968e-07,-3.97808321645e-05,1793244549325182464
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,746,713.482779142,680,661,634,879.482779142,786,805.482779142,652.482779142,631,652,0.409056270037,0.00454382234858,0.0599819629265,0.999999998196,2.32233985463e-05,-3.39680022712e-05,-4.3761776131e-05,1793244549341849088
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.092743595,746,713.092743595,680,661.092743595,634,879.092743595,786,805.092743595,652.092743595,631,652,0.409628030869,0.00454293804953,0.0599699044309,0.999999996947,1.4582829502e-05,-5.99048754327e-05,-4.80109646839e-05,1793244549358515712
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.67036784,746,713.67036784,680,661.67036784,634,879.67036784,786,805.67036784,652.67036784,631,652,0.410270883386,0.00454046358815,0.059976849348,0.999999997614,1.21589872217e-06,-4.4015469522e-05,-5.32362135906e-05,1793244549375181824
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,746,714,679.753241551,662,634,879.753241551,786,805.753241551,653,630.753241551,652,0.410926493553,0.00453905189736,0.0599839479838,0.999999997875,-1.13427923814e-05,-2.6878972954e-05,-5.8298771723e-05,1793244549391847936
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,746,714,679.178490745,662,634,879.178490745,786,805.178490745,653,630.178490745,652,0.411599061189,0.00453905284588,0.0599912509425,0.999999997713,-2.28271668708e-05,-8.08483956294e-06,-6.31450801889e-05,1793244549408514560
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.590508582,746,714,679.409491418,662,634,879,786,805,652.590508582,630.409491418,652,0.412274635809,0.00453938732837,0.0599803294135,0.99999999763,-1.04963971129e-05,-2.8284408235e-05,-6.18908191825e-05,1793244549425181696
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.003333312,746,714,680,661.996666688,634,879.003333312,786.003333312,805.003333312,652.003333312,631,652.003333312,0.412951529837,0.00453982176615,0.0599611068273,0.999999996057,1.28895088337e-05,-6.62079582299e-05,-5.77627684495e-05,1793244549441849344
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.579937148,746,714,680,661.420062852,634,879.579937148,786.579937148,805.579937148,652.579937148,631,652.579937148,0.413622385389,0.00453160871783,0.0599260538817,0.999999986536,9.26647702751e-05,-0.00013160011453,-3.19892734922e-05,1793244549458515968
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.843664572,713.843664572,680,661.156335428,634,879.843664572,786.843664572,805.843664572,653,631,652.843664572,0.414334008343,0.00452265669198,0.059910705768,0.999999976802,0.000143716448643,-0.000159797541938,-1.43704186209e-05,1793244549475182592
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.267817757,713.267817757,680,661.732182243,634,879.267817757,786.267817757,805.267817757,653,631,652.267817757,0.415155026925,0.00451172168777,0.0599482337058,0.999999989012,0.000117691118343,-8.81864369216e-05,-1.86337669904e-05,1793244549491849216
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,713.306602777,680,662.306602777,634,879.306602777,786,805,653,630.693397223,652,0.415972486844,0.00450888811897,0.0599842309052,0.999999994115,0.000103062807455,-2.44316275041e-05,-2.34609464433e-05,1793244549508515584
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,713.879783188,680,662.879783188,634,879.879783188,786,805,653,630.120216812,652,0.416786852613,0.00451309839271,0.0600188971926,0.999999994222,9.8343705524e-05,3.24924738731e-05,-2.87783519924e-05,1793244549525181952
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.470667584,714,680,662.058664832,634,879.529332416,786,805,653,630.470667584,652,0.417607444542,0.004511237299,0.0600177881403,0.99999999462,9.42530923253e-05,3.02350101618e-05,-3.10088831255e-05,1793244549541848320
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,746,714,680,661.063967125,634,879,786,805,652.936032875,631,652,0.41842893099,0.00450816460821,0.0600058805728,0.999999995291,9.08766379222e-05,1.03052882934e-05,-3.24614081316e-05,1793244549558514944
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,746,714,680,661.639021864,634,879,786,805,652.360978136,631,652,0.41924436191,0.00450828583899,0.0599835564922,0.999999994873,9.18734863545e-05,-2.53279629442e-05,-3.42435319939e-05,1793244549575181824
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.785538613,745.785538613,714,680,662.214461387,634,879.214461387,786,805,652,631,652,0.420060781431,0.00450967672569,0.0599591556874,0.999999995836,5.71166397972e-05,-6.12540873746e-05,-3.62346759348e-05,1793244549591848448
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.209450318,745.209450318,714,680,662.790549682,634,879.790549682,786,805,652,631,652,0.420878867857,0.00451320851872,0.0599312530918,0.999999993766,-3.79284405105e-05,-9.76740535764e-05,-3.85782712221e-05,1793244549608515072
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.375558264,745,714,680,662.248883472,634,879.624441736,786,805,652,631,652,0.42168503633,0.00451142722729,0.0599034804577,0.999999985358,-6.79916657649e-05,-0.00015226694553,-3.84079954153e-05,1793244549625181696
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.96566282,745,714,680,661.06867436,634,879.03433718,786,805,652,631,652,0.422484396475,0.00450661071455,0.0598757820646,0.999999973869,-6.09325215042e-05,-0.000217241542449,-3.68016132017e-05,1793244549641848576
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.543928136,714,680.543928136,661.543928136,634,880.087856272,786.543928136,805.543928136,652,631,652,0.423468953155,0.00450995998675,0.0599282481142,0.99999999057,-5.51258423611e-05,-0.000119399147522,-3.95707226494e-05,1793244549658515200
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.879398146,714,680.879398146,662.120601854,634,880.879398146,787,805.879398146,652,631,652,0.424449198631,0.00451230417318,0.0599820845832,0.999999997655,-4.97170770603e-05,-2.16834920682e-05,-4.18164909309e-05,1793244549675182080
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.30595393,714,680.30595393,662.69404607,634,880.30595393,787,805.30595393,652,631,652,0.425370293163,0.00450898005002,0.0600224696419,0.999999997407,-4.55118642038e-05,3.77847896131e-05,-4.10821322452e-05,1793244549691848448
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662.448756616,634,880,786.724378308,805,652,631,652,0.426273559111,0.0045060033496,0.060038857413,0.999999996047,-4.17621823617e-05,6.67113889681e-05,-4.13666826704e-05,1793244549708515072
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661.267004128,634,880,786.133502064,805,652,631,652,0.427156432768,0.00450342402959,0.0600277972183,0.999999996498,-3.85335347404e-05,6.07045792111e-05,-4.28166558171e-05,1793244549725181952
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661.896937509,633.551531246,880,786.448468754,805,652,631,652,0.42803860212,0.00450494339609,0.0600037069891,0.999999998147,-3.10617322465e-05,2.6922656332e-05,-4.49008552826e-05,1793244549741848832
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.027707513,662.972292487,633.027707513,880,786.972292487,805,651.972292487,631,652,0.428919016679,0.00450744052978,0.0599754675477,0.99999999852,-2.23010757702e-05,-1.58450237153e-05,-4.70254968547e-05,1793244549758515712
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.604318117,662.395681883,633.604318117,880,786.395681883,805,651.395681883,631,652,0.429768740603,0.00450560725049,0.0599403755921,0.999999995961,-1.2543394196e-05,-7.60170043732e-05,-4.62839199388e-05,1793244549775182080
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.819727632,745,714,680.819727632,661.819727632,634,880,786,805.180272368,651.180272368,631,652,0.43064238718,0.00450452106786,0.0599215384129,0.999999993402,-4.64762941625e-06,-0.000104892151021,-4.66005252992e-05,1793244549791848448
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.245208867,745,714,680.245208867,661.245208867,634,880,786,805.754791133,651.754791133,631,652,0.431568351259,0.00450506874746,0.0599382495985,0.999999996654,-8.23782257229e-07,-6.53227239177e-05,-4.92313212383e-05,1793244549808514816
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.338681426,745,714,680.338681426,661.677362852,633.661318574,880,786.338681426,806,652,631,652,0.432485466634,0.00450160668905,0.0599708641503,0.999999998688,-2.25310302508e-06,-1.14710500679e-05,-4.9864260048e-05,1793244549825181184
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.929549955,745,714,680.929549955,662.85909991,633.070450045,880,786.929549955,806,652,631,652,0.433395993234,0.00449515892161,0.060015320581,0.999999997365,-7.59400842767e-06,5.3015396048e-05,-4.90095656111e-05,1793244549841847808
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.510308015,714,681,662.489691985,633.510308015,880,787,806,652,631,652,0.434268990827,0.00449335270931,0.0600097707725,0.999999997868,-5.68483648225e-06,4.23018646218e-05,-4.94240850137e-05,1793244549858514176
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,746,714,680.911072765,662,634,880,787,805.911072765,652,631,652,0.435132181563,0.00449235227767,0.0599943078397,0.999999998622,-3.03446158451e-06,1.54687233409e-05,-5.00777706198e-05,1793244549875180800
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,746,714,680.336657954,662,634,880,787,805.336657954,652,631,652,0.435969568956,0.0044923205824,0.0599616823364,0.999999997734,-1.69572280104e-06,-4.37912067904e-05,-5.10991472596e-05,1793244549891848192
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.757898582,714,680,662,634,880,787,805.242101418,652,631,652,0.436779688177,0.00449115344907,0.059935729058,0.999999994652,-6.72969462168e-07,-8.95301737064e-05,-5.17723874627e-05,1793244549908515072
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.172987451,714,680,662,634,880,787,805.827012549,652,631,652,0.437551196277,0.0044883785631,0.0599192234897,0.999999991908,-9.76439041528e-08,-0.000116123782567,-5.19526750635e-05,1793244549925181696
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.409811388,714,680,662,633.590188612,880,786.590188612,806,652,631,652,0.438335537622,0.00448540326971,0.0599084638303,0.999999988464,-8.53988819441e-07,-0.000142704163973,-5.20204128293e-05,1793244549941848320
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.991723155,714,680,662,633.008276845,880,786.008276845,806,652,631,652,0.439125268272,0.00448234381525,0.0599001171668,0.999999984316,-2.16956904249e-06,-0.000169278989774,-5.20408852424e-05,1793244549958514688
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.430473937,745.430473937,713.430473937,680.569526063,662,633.569526063,880,786,806,652,631,652,0.439979703363,0.00448119560308,0.0599470158635,0.999999994646,-2.25234228128e-06,-8.90707863198e-05,-5.26293009346e-05,1793244549975181056
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745,713.146943833,681,662,633.853056167,880.146943833,786,806,652,631,652,0.440808380092,0.00448069585544,0.0599815601429,0.99999999811,-2.39074889991e-07,-3.15126329658e-05,-5.27952855621e-05,1793244549991847680
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745,713.723409022,681,662,633.276590978,880.723409022,786,806,652,631,652,0.441559035227,0.00448201098181,0.0599776620574,0.999999997635,7.84898934565e-06,-4.46649432679e-05,-5.17025385088e-05,1793244550008514304
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.30564163,745,714,680.69435837,661.08307511,633,880.69435837,786,806.30564163,652,631,651.69435837,0.442253882288,0.00448282013166,0.0599472783888,0.999999994314,1.55901230685e-05,-9.22523891045e-05,-5.11688180145e-05,1793244550025180928
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.893193924,745,714,680.106806076,659.320418229,633,880.106806076,786,806.893193924,652,631,651.106806076,0.442897254477,0.00448316259074,0.0598924655596,0.999999983704,2.30112639082e-05,-0.000171601320643,-5.11507191548e-05,1793244550041848064
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.527875409,745.472124591,714,680.472124591,659.472124591,633,880.472124591,785.527875409,806.527875409,652,631,651.472124591,0.443542746977,0.00448388162999,0.0598575386499,0.999999973609,2.37613456435e-05,-0.000222467494087,-5.22050732972e-05,1793244550058514688
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745.95070809,714,681,660,632.95070809,881,785.04929191,806,652,631,652,0.444188951603,0.00448491715344,0.0598299693015,0.999999963856,1.719911481e-05,-0.000262924563122,-5.35067215856e-05,1793244550075181312
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+252,4.200000000,HOLD_POSE2,764,745.242614615,714,681.757385385,654,629,880.242614615,785.757385385,806.757385385,652,631,652.242614615,0.454298996402,0.00459842037896,0.059625857371,0.999999824717,9.26401494785e-05,-0.000580734278958,-6.87789749902e-05,1793244551100679936
+253,4.216666667,HOLD_POSE2,764,745,714,682,654,629,880.333923863,786,806.666076137,652,631,652,0.454298561004,0.00459937420476,0.0596253279774,0.999999824146,9.42724366856e-05,-0.000581461953504,-6.872167705e-05,1793244551117346304
+254,4.233333333,HOLD_POSE2,764,745,714,682,654,629,880.90729805,786,806.09270195,652,631,652,0.454298103463,0.00460011124068,0.0596247087756,0.999999823336,9.72979503008e-05,-0.000582391580468,-6.84228306131e-05,1793244551134012672
+255,4.250000000,HOLD_POSE2,764.477384675,745.477384675,714,682,654,629,880.522615325,785.522615325,806.477384675,652,631,652,0.45429875419,0.00459947442378,0.0596252046163,0.999999823798,9.56903197052e-05,-0.000581844433508,-6.85863941202e-05,1793244551150679552
+256,4.266666667,HOLD_POSE2,764.950599282,746,713.950599282,682,654,629,880.049400718,785,807,652,631,652,0.454299619445,0.00459874702869,0.0596259036745,0.999999824497,9.34594116407e-05,-0.000580980305008,-6.87973477071e-05,1793244551167346432
+257,4.283333333,HOLD_POSE2,764.349979897,746,713.349979897,682,654,629,880.650020103,785,807,652,631,652,0.454300493504,0.00459996540309,0.0596264707507,0.999999825151,9.42441604133e-05,-0.000579757192727,-6.85420058561e-05,1793244551184012800
+258,4.300000000,HOLD_POSE2,764,746,713.241067724,681.758932276,654,629,881,785,806.758932276,652,631,652,0.454301605743,0.00460045691841,0.0596271125589,0.99999982583,9.43840014859e-05,-0.000578562514759,-6.85352032604e-05,1793244551200679680
+259,4.316666667,HOLD_POSE2,764,746,713.818749785,681.181250215,654,629,881,785,806.181250215,652,631,652,0.454303050563,0.00459993348571,0.0596278587189,0.999999826546,9.36233271786e-05,-0.000577407541079,-6.88754478766e-05,1793244551217346816
+260,4.333333333,HOLD_POSE2,764,746,714,681.394972063,654,629.394972063,880.605027937,785.394972063,806,652.394972063,631,652,0.454302377819,0.00460027604337,0.0596271260416,0.99999982584,9.59634467274e-05,-0.00057826279175,-6.87265165552e-05,1793244551234013696
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+262,4.366666667,HOLD_POSE2,764,745.455755285,714,682,654,629.455755285,880.544244715,786,806.544244715,652.455755285,631,652,0.454301322668,0.00460130780131,0.0596259886882,0.999999824886,9.84572346293e-05,-0.000579527318196,-6.84249884838e-05,1793244551267347456
+263,4.383333333,HOLD_POSE2,764,745,714,682,654.122351666,629,881,785.877648334,806.877648334,652,631,652,0.454301658006,0.00460130907168,0.059626159663,0.999999825158,9.73166117878e-05,-0.000579257526944,-6.83627048519e-05,1793244551284014336
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,745,714,682,654,629,881,785,806,652,631,652,0.454301570821,0.00459884182512,0.0596255212258,0.999999825261,9.39899011097e-05,-0.000579661084525,-6.81013953183e-05,1793244551337459456
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,745.566192724,714,682,654,629,881,785,806.566192724,652,631,652,0.4543023008,0.00460005664359,0.0596265376407,0.999999825626,9.57665604678e-05,-0.000578693219178,-6.84896960346e-05,1793244551354126848
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,745.860842127,713.860842127,681.860842127,654,629,880.860842127,785.139157873,807,652,631,652,0.454302825833,0.00460066781934,0.0596270409361,0.999999825858,9.65651756036e-05,-0.000578125727022,-6.87680878823e-05,1793244551370793728
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745.2656846,713.2656846,681.2656846,654,629,880.2656846,785.7343154,807,652,631,652,0.45430267929,0.00459930094797,0.0596258628157,0.999999825663,9.41588857455e-05,-0.000578870198022,-6.86863248143e-05,1793244551387460608
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745,713,681,654,629,880.322622528,785.677377472,806.677377472,652,631,652,0.454302945933,0.00459873446109,0.0596255486075,0.999999825766,9.31365720301e-05,-0.000578876466562,-6.85209938399e-05,1793244551404126720
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745.480748822,713,681.480748822,654,629,881.480748822,785.480748822,806,652,630.519251178,652,0.45430430596,0.00460036868884,0.0596270475188,0.999999826647,9.47906422058e-05,-0.000577101782516,-6.83677161628e-05,1793244551437459200
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745.945227286,713,682,654,629,881.945227286,786,806,652,630.054772714,651.945227286,0.454304758717,0.00460178387811,0.0596279508829,0.999999826985,9.63377047356e-05,-0.000576249394223,-6.84453061896e-05,1793244551454125824
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745,713.210402401,682,654,629,881,785.789597599,806.210402401,652,631,651.210402401,0.454297545621,0.00459706984073,0.0596226313181,0.999999823065,9.36941984014e-05,-0.000583551019465,-6.75260431569e-05,1793244551487458816
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,745,713.800337665,682,654,629,881,785.199662335,806.800337665,652,631,651.800337665,0.454290054701,0.00459598889562,0.0596191097469,0.999999820438,9.21771503988e-05,-0.000588298978215,-6.73201651051e-05,1793244551504125440
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745.022498809,714,680,661,634,879,786,805.977501191,653,631,652.022498809,0.403318023913,0.00454141166753,0.0597805678351,0.999999929134,0.000148201060115,-0.000344245707036,3.55448794636e-05,1793244553004126720
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745.597379235,714,680,661,634,879,786,805.402620765,653,631,652.597379235,0.403075773536,0.00454008104013,0.0598036987363,0.999999941735,0.000145868712713,-0.000306368317808,3.72910919939e-05,1793244553020793088
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.176680109,745.823319891,714,680,661,634,879,786,805.176680109,653,631,652.823319891,0.402839221493,0.00453922597649,0.0598240847723,0.999999951195,0.000144945258079,-0.000274030400894,3.88410300835e-05,1793244553037459456
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.766312768,745.233687232,714,680,661,634,879,786,805.766312768,653,631,652.233687232,0.40261598814,0.00453948244318,0.0598380552605,0.999999955931,0.000147314794321,-0.000254639840148,3.99322178514e-05,1793244553054125824
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634,879.928994882,786,806,653,631,652,0.402183887309,0.00453796525418,0.0598350262603,0.99999995306,0.000144345096177,-0.000267074916075,4.14113319125e-05,1793244553087458304
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.495208208,745,714,680,661,634,879.495208208,786,805.495208208,653,631,652,0.402003680256,0.0045375877188,0.0598288919202,0.999999949168,0.000143460249846,-0.000281671851501,4.17681843671e-05,1793244553104125184
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.081754526,745,714,680,661,634,879,786,805,653,631,652,0.401833319502,0.00453698710434,0.0598234360094,0.999999945652,0.000141487347124,-0.000294829448114,4.18692814999e-05,1793244553120791808
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.668943468,745,714,680,661,634,879,786,805,653,631,652,0.401694409111,0.00453446158742,0.0598228591841,0.999999946336,0.000131446848468,-0.000297317503908,4.06446805421e-05,1793244553137458944
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.747225581,745.252774419,714,680,661,634,878.747225581,786,805.252774419,653,631,652,0.401569567459,0.00452967548311,0.0598235426615,0.999999950983,9.30789354141e-05,-0.000297138612776,3.28472711728e-05,1793244553154125568
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.16773494,745.83226506,714,680,661,634,878.16773494,786,805.83226506,653,631,652,0.401462909954,0.00452196752248,0.0598258551065,0.999999956624,1.80972470095e-05,-0.000293512635593,1.65543694027e-05,1793244553170792192
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745.588931169,714,679.588931169,661,634,878.411068831,786,806,653,630.588931169,652,0.401373567681,0.00452038062108,0.0598289136934,0.999999958716,-1.13418954792e-06,-0.000287078689548,1.23672564573e-05,1793244553187459072
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.894448105,745,714,679.105551895,661,634,879,786,805.105551895,653,631,652.894448105,0.401031671315,0.00452128011923,0.0598234973224,0.999999955319,1.45367341058e-05,-0.000298165606837,1.57763373754e-05,1793244553287459328
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,713.956186468,679,661,633.043813532,879,786,806,653,631,652,0.400995122247,0.00451632905278,0.0598267616048,0.999999957547,9.86806737053e-06,-0.00029071100808,1.72106075538e-05,1793244553320792064
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,713.215597519,679.215597519,661.215597519,634,879,786,806,653,631,652,0.400975339213,0.00452046719493,0.059828846141,0.99999995832,1.43224016869e-05,-0.000287871797599,1.68619563751e-05,1793244553354125056
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745,713.800795228,679.800795228,661.800795228,634,879,786,806,653,631,652,0.40096762915,0.00451992581692,0.0598301999711,0.999999958391,1.704210766e-05,-0.000287449408671,1.73334834453e-05,1793244553370791680
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,713.621587684,679.621587684,661.621587684,634,879,786.378412316,806,652.621587684,631,652,0.400964329633,0.00451890199214,0.05983143706,0.999999958919,1.61490754811e-05,-0.000285642760176,1.76152531904e-05,1793244553387458304
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745,713.04788285,679.04788285,661.04788285,634,879,786.95211715,806,652.04788285,631,652,0.400963306329,0.00451762918435,0.0598326139005,0.999999959673,1.33915670887e-05,-0.000283121717562,1.7799092213e-05,1793244553404125184
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.52740045,661,634,879,786.47259955,805.47259955,652.52740045,631,652,0.400961822348,0.00451947188115,0.0598330855169,0.999999959674,1.69804824607e-05,-0.00028293570548,1.76624879787e-05,1793244553420792064
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745,713.105349347,679.894650653,661,634,879,786,805.105349347,653,631,652,0.400960674925,0.00452076390119,0.0598335954899,0.999999959768,1.97219456062e-05,-0.000282429554923,1.75848482875e-05,1793244553437458432
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745,713.694888631,679.305111369,661,634,879,786,805.694888631,653,631,652,0.400961267148,0.00451822105961,0.0598345769074,0.99999996066,1.59123221922e-05,-0.000279474757663,1.79123267893e-05,1793244553454125056
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.279621042,745,714,679,661,634,879,786,805.720378958,653,630.720378958,652,0.400961499061,0.00451865823582,0.0598354554565,0.999999961128,1.71613221672e-05,-0.000277726335481,1.78320423455e-05,1793244553470791680
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.8591971,745,714,679,661,634,879,786,805.1408029,653,630.1408029,652,0.400961344462,0.00452229213567,0.0598362236566,0.999999961126,2.38368069075e-05,-0.000277272015308,1.73143425755e-05,1793244553487458304
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.564063413,745,714,679.435936587,661,634,879,786,805.435936587,653,630.435936587,652,0.400960663883,0.00452015902848,0.0598359855412,0.999999961025,2.08845272776e-05,-0.000277864159711,1.74524293534e-05,1793244553504125184
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.988022715,661,634,878.988022715,786,805.988022715,653,631,652,0.400959864753,0.0045162937165,0.0598354588327,0.999999960884,1.50144979985e-05,-0.000278729238648,1.77927286421e-05,1793244553520791552
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.401842206,661,634,878.401842206,786,805.401842206,653,631,652,0.400961474055,0.00451810631482,0.0598365781707,0.999999961443,1.73813391258e-05,-0.000276579915842,1.7738460991e-05,1793244553537458432
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.18223281,661,634,878.18223281,786,805,652.81776719,631,652,0.400962437955,0.00451949557339,0.059837466223,0.999999961875,1.91880165695e-05,-0.000274900042665,1.76590692959e-05,1793244553554125312
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.761717991,661,634,878.761717991,786,805,652.238282009,631,652,0.40096199493,0.00451996198639,0.0598378500916,0.999999962046,1.97735836242e-05,-0.000274243530775,1.75249092777e-05,1793244553570791936
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,713.65927107,679.65927107,660.65927107,634,878.65927107,786,805,652,631,652,0.400962278687,0.00451953815797,0.0598382623239,0.999999962134,2.07099082707e-05,-0.000273841682114,1.77067634047e-05,1793244553587458816
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745,713.080591346,679.080591346,660.080591346,634,878.080591346,786,805,652,631,652,0.400963069997,0.00451849262224,0.0598386943642,0.999999962163,2.18911872847e-05,-0.000273617679602,1.81093085629e-05,1793244553604125440
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,713.491911067,679.491911067,660.491911067,634,878,786.491911067,805.491911067,652.491911067,631,652,0.400962112586,0.004519102366,0.0598380473512,0.999999961972,2.20864283857e-05,-0.000274312127529,1.79238652428e-05,1793244553620791808
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.065559146,745,714,680,661,634,878.065559146,786.934440854,805.934440854,653,631,652,0.400960877264,0.00451971675841,0.0598372321481,0.999999961722,2.20490766259e-05,-0.000275239199462,1.76969593131e-05,1793244553637458432
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.656394475,745,714,680,661,634,878.656394475,786.343605525,805.343605525,653,631,652,0.400959682283,0.00451822250496,0.0598364682409,0.99999996129,2.14264248996e-05,-0.000276839440299,1.79001085047e-05,1793244553654125568
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764.75703964,745,713.75703964,679.75703964,661,634,879,786,805,653,631,652,0.400959248368,0.0045175081633,0.0598361398443,0.999999961188,2.18267289665e-05,-0.000277168536501,1.80345140666e-05,1793244553670792448
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.176407439,745,713.176407439,679.176407439,661,634,879,786,805,653,631,652,0.4009598722,0.00451787776061,0.0598364167303,0.999999961543,2.36487601961e-05,-0.000275730967179,1.80733781958e-05,1793244553687458816
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764,745,713.402384837,679.402384837,661.402384837,634,879,786,805,653,631,652,0.400959705032,0.00451845881407,0.0598367657564,0.999999961618,2.43431903181e-05,-0.000275417443401,1.77940985422e-05,1793244553704125440
+408,6.800000000,POSE2_TO_POSE3_RETREAT,764,745,713.980374119,679.980374119,661.980374119,634,879,786,805,653,631,652,0.400959192664,0.00451913214891,0.059837146265,0.999999961572,2.45455248338e-05,-0.000275594463525,1.73759780125e-05,1793244553720792064
+409,6.816666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.44660118,661.44660118,634,879,786,805,653,630.44660118,652,0.400959972514,0.00451853285481,0.0598379643125,0.999999961934,2.51860941922e-05,-0.00027419580595,1.77504997766e-05,1793244553737458432
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_09/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9fedd6b1b3aed6ab6a247279fa74aaa3f57d4a4d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+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
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+6,0.100000000,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
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+20,0.333333333,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+21,0.350000000,pose1_baseline,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
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+379,6.316666667,pose2_to_pose3_retreat,0.575843472225,0.00987778841893,1.05005097737,0.546415107259,0.0185534802172,1.04971746435
+380,6.333333333,pose2_to_pose3_retreat,0.575799160661,0.00987778872255,1.05005103475,0.546370794952,0.0185534779684,1.04971752093
+381,6.350000000,pose2_to_pose3_retreat,0.575763604289,0.00987785776647,1.05005096585,0.546335236908,0.0185535412372,1.04971744942
+382,6.366666667,pose2_to_pose3_retreat,0.57573678463,0.00987787905759,1.05005083823,0.546308417234,0.0185535626977,1.04971732764
+383,6.383333333,pose2_to_pose3_retreat,0.575716692664,0.00987779022187,1.05005081945,0.546288327516,0.0185534816014,1.04971731161
+384,6.400000000,pose2_to_pose3_retreat,0.575701905457,0.00987769046686,1.05005090512,0.546273542005,0.0185533874383,1.04971739277
+385,6.416666667,pose2_to_pose3_retreat,0.575691578095,0.00987778090591,1.05005087767,0.546263210641,0.0185534644679,1.04971736982
+386,6.433333333,pose2_to_pose3_retreat,0.5756840284,0.00987773062933,1.05005075132,0.546255661441,0.0185534163035,1.04971725471
+387,6.450000000,pose2_to_pose3_retreat,0.575679086325,0.00987774038759,1.05005078965,0.546250719318,0.0185534259156,1.04971729352
+388,6.466666667,pose2_to_pose3_retreat,0.575675656738,0.00987780853713,1.05005096329,0.546247288869,0.0185534908278,1.0497174589
+389,6.483333333,pose2_to_pose3_retreat,0.575673575948,0.00987785241645,1.05005094292,0.546245209086,0.0185535380087,1.04971743563
+390,6.500000000,pose2_to_pose3_retreat,0.575672688,0.00987787148814,1.05005091701,0.546244321776,0.0185535592105,1.04971740877
+391,6.516666667,pose2_to_pose3_retreat,0.575672292936,0.00987787997348,1.05005090549,0.546243926996,0.0185535686436,1.04971739682
+392,6.533333333,pose2_to_pose3_retreat,0.575672019117,0.00987788585467,1.0500508975,0.546243653374,0.0185535751817,1.04971738854
+393,6.550000000,pose2_to_pose3_retreat,0.57567185743,0.00987788932745,1.05005089278,0.546243491803,0.0185535790424,1.04971738364
+394,6.566666667,pose2_to_pose3_retreat,0.575671756375,0.00987788455609,1.05005089402,0.54624339074,0.0185535742275,1.04971738452
+395,6.583333333,pose2_to_pose3_retreat,0.575671731112,0.00987788301148,1.05005089454,0.54624336547,0.0185535726575,1.04971738493
+396,6.600000000,pose2_to_pose3_retreat,0.575671616472,0.00987787600238,1.05005089692,0.546243250802,0.0185535655333,1.04971738682
+397,6.616666667,pose2_to_pose3_retreat,0.575671537049,0.00987787114646,1.05005089856,0.546243171359,0.0185535605976,1.04971738813
+398,6.633333333,pose2_to_pose3_retreat,0.57567133988,0.00987785909152,1.05005090264,0.546242974141,0.0185535483446,1.04971739139
+399,6.650000000,pose2_to_pose3_retreat,0.575670948517,0.00987783516351,1.05005091075,0.546242582681,0.0185535240236,1.04971739785
+400,6.666666667,pose2_to_pose3_retreat,0.575670870552,0.00987783039671,1.05005091236,0.546242504696,0.0185535191785,1.04971739913
+401,6.683333333,pose2_to_pose3_retreat,0.57567067999,0.00987781874573,1.05005091631,0.546242314087,0.0185535073361,1.04971740228
+402,6.700000000,pose2_to_pose3_retreat,0.575670397614,0.0098778014812,1.05005092215,0.54624203164,0.018553489788,1.04971740694
+403,6.716666667,pose2_to_pose3_retreat,0.575670071295,0.00987783296039,1.05005094179,0.546241704598,0.0185535188915,1.04971742864
+404,6.733333333,pose2_to_pose3_retreat,0.57566976412,0.00987791222268,1.05005097271,0.546241396122,0.0185535939412,1.04971746482
+405,6.750000000,pose2_to_pose3_retreat,0.575669564264,0.00987789042724,1.0500509871,0.546241196422,0.0185535728,1.04971748242
+406,6.766666667,pose2_to_pose3_retreat,0.575669469362,0.00987775860897,1.05005098444,0.546241103256,0.0185534469134,1.04971748095
+407,6.783333333,pose2_to_pose3_retreat,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290519,1.04971748074
+408,6.800000000,pose2_to_pose3_retreat,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
+409,6.816666667,pose2_to_pose3_retreat,0.575669455897,0.00987773990588,1.05005098406,0.546241090037,0.0185534290517,1.04971748074
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_10/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..528ba792165e3fca6629241145db8e23e8ae6824
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49cbc43ecee5e6a99662c7cfe20c7db04a462c9b98a4de9091e5f5ca0af5569a
+size 25714221
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b2e2240043b9d5f337b36525ebaee94141345569
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+39,0.650000000,BASELINE,764,745.362043915,713,679,663,634,879,787,806,653,631,652.637956085,0.400940334886,0.00455766377941,0.0499316715326,0.999999974524,8.19149937468e-05,-0.000209073956674,-2.30248164123e-05,1793244555635440384
+40,0.666666667,BASELINE,764,745,713.224331759,679,663,634.224331759,879,787,806,653,631,652.775668241,0.400940516961,0.00455778104391,0.0499315941367,0.999999974373,8.33547911343e-05,-0.000209245186258,-2.28547774951e-05,1793244555652107520
+41,0.683333333,BASELINE,764,745,713.803095788,679,663,634.803095788,879,787,806,653,631,652.196904212,0.400940583784,0.00455729667726,0.0499312343767,0.999999974214,8.36548969566e-05,-0.00020988640834,-2.28424978248e-05,1793244555668774656
+42,0.700000000,BASELINE,764.380142958,745,713.619857042,679,663,634.619857042,879,786.619857042,805.619857042,653,631,652.380142958,0.400939264284,0.00455800805867,0.049930796271,0.999999973966,8.39992860316e-05,-0.000210921298161,-2.29011298235e-05,1793244555685441024
+43,0.716666667,BASELINE,764.956304819,745,713.043695181,679,663,634.043695181,879,786.043695181,805.043695181,653,631,652.956304819,0.400937229933,0.00455933602189,0.0499303177669,0.999999973671,8.43665095452e-05,-0.000212159180854,-2.29963270865e-05,1793244555702106880
+44,0.733333333,BASELINE,765,745,713,679.529426717,663,634,879,786,805.529426717,653,631,652.470573283,0.400938793181,0.00455878914518,0.049930470306,0.999999973869,8.51823887855e-05,-0.000210880538052,-2.31475939227e-05,1793244555718773504
+45,0.750000000,BASELINE,764.893927533,745.106072467,713,679.893927533,663,634,878.893927533,786,806,653,630.893927533,652.106072467,0.400940083921,0.00455805112476,0.0499305937439,0.999999974063,8.5495707947e-05,-0.000209818168631,-2.32617847659e-05,1793244555735440128
+46,0.766666667,BASELINE,764.299924803,745.700075197,713,679.299924803,663,634,878.299924803,786,806,653,630.299924803,652.700075197,0.400938763096,0.00455714156721,0.0499303451095,0.999999974062,8.33279056757e-05,-0.000210700593878,-2.31842618225e-05,1793244555752106752
+47,0.783333333,BASELINE,764,745.713801687,713,679,663,634,878,786.286198313,805.713801687,653,630.286198313,652.713801687,0.400939394308,0.00455676197904,0.049930913711,0.999999974332,8.18193282406e-05,-0.000210028552358,-2.30042754872e-05,1793244555768773376
+48,0.800000000,BASELINE,764,745.135714778,713,679,663,634,878,786.864285222,805.135714778,653,630.864285222,652.135714778,0.400942016365,0.00455692289715,0.0499323157969,0.999999974878,8.098308229e-05,-0.000207771137794,-2.27197885418e-05,1793244555785440000
+49,0.816666667,BASELINE,764,745,713,679.439794266,663.439794266,634,878.879588531,786.560205734,805.439794266,653,631,652.439794266,0.400941072967,0.00455738436902,0.0499313189216,0.999999974462,8.27426868846e-05,-0.000209068885789,-2.28074255168e-05,1793244555802106368
+50,0.833333333,BASELINE,764,745,713.014867074,679.985132926,663.985132926,634,879.985132926,786.014867074,805.985132926,653,631,653,0.400939102673,0.00455791977053,0.0499296518197,0.999999973769,8.51820153761e-05,-0.000211369738235,-2.29997865338e-05,1793244555818772736
+51,0.850000000,BASELINE,764,745,713.603630383,679.396369617,663.396369617,634,879.396369617,786.603630383,805.396369617,653,631,653,0.40093971656,0.00455774965331,0.049930522694,0.999999974174,8.31183014488e-05,-0.000210289874817,-2.28277707798e-05,1793244555835439104
+52,0.866666667,BASELINE,764.189368029,745.189368029,713.810631971,679,663.189368029,634.189368029,879,786.810631971,805.189368029,653,631,652.810631971,0.400940231499,0.00455753475599,0.0499310097806,0.999999974435,8.17064494575e-05,-0.000209597343347,-2.2890925004e-05,1793244555852105472
+53,0.883333333,BASELINE,764.76887217,745.76887217,713.23112783,679,663.76887217,634.76887217,879,786.23112783,805.76887217,653,631,652.23112783,0.400940542583,0.00455722760269,0.0499307061874,0.999999974405,8.16375638845e-05,-0.000209702793419,-2.34385765481e-05,1793244555868772096
+54,0.900000000,BASELINE,765,745.653128481,713,679.346871519,663.653128481,634.653128481,879,786.346871519,806,653,631,652,0.400939937906,0.00455721799419,0.0499303379225,0.999999974227,8.22444617873e-05,-0.000210328188151,-2.33357648261e-05,1793244555885438720
+55,0.916666667,BASELINE,765,745.0761275,713,679.9238725,663.0761275,634.0761275,879,786.9238725,806,653,631,652,0.400938725675,0.0045574057897,0.0499299267517,0.999999973947,8.32997034735e-05,-0.000211298536496,-2.28014078156e-05,1793244555902105600
+56,0.933333333,BASELINE,765,745,713.498449619,680,663.498449619,634,879,787,806,653,631,652.498449619,0.400938558835,0.0045577136244,0.0499302572968,0.999999974044,8.2231929348e-05,-0.00021123297272,-2.30165622214e-05,1793244555918772224
+57,0.950000000,BASELINE,764.925249038,745,713.925249038,680,664,634,878.925249038,787,806,653,631,653,0.400938669774,0.0045578274426,0.0499307332817,0.999999974228,8.08525122148e-05,-0.000210871488208,-2.32483022139e-05,1793244555935438848
+58,0.966666667,BASELINE,764.334502881,745,713.334502881,680,664,634,878.334502881,787,806,653,631,653,0.400939601391,0.00455647605208,0.0499314350355,0.999999974619,7.95492553912e-05,-0.000209554144554,-2.28081713527e-05,1793244555952105472
+59,0.983333333,BASELINE,764,745,713,679.749024076,663.749024076,634,878.250975924,787,805.749024076,653,630.749024076,652.749024076,0.400940232081,0.00455601019171,0.0499315500044,0.999999974708,7.98466743631e-05,-0.000209040558304,-2.25944899373e-05,1793244555968772096
+60,1.000000000,BASELINE,764,745,713,679.170421255,663.170421255,634,878.829578745,787,805.170421255,653,630.170421255,652.170421255,0.400940469936,0.00455670031254,0.0499308989773,0.999999974401,8.22336340072e-05,-0.000209576206162,-2.26764182087e-05,1793244555985438720
+61,1.016666667,BASELINE,764,745,713,679,663,634,878.594510569,787,805,653,630.405489431,652,0.400940003504,0.00455832670726,0.0499304530022,0.999999974112,8.45981528524e-05,-0.000209981110384,-2.29396119393e-05,1793244556002105344
+62,1.033333333,BASELINE,764,745,713,679,663,634,878.01972392,787,805,653,630.98027608,652,0.400939243022,0.00456034400871,0.049930092639,0.999999973829,8.69533022229e-05,-0.000210331427369,-2.32784863995e-05,1793244556018771968
+63,1.050000000,BASELINE,764,745,713,679,663,634,878.568021613,787,805.568021613,653,630.431978387,652.568021613,0.400940298596,0.00455976194745,0.049931412661,0.999999974321,8.66891801921e-05,-0.000208091234385,-2.32412240607e-05,1793244556035438592
+64,1.066666667,BASELINE,764.154257045,745,713,679.154257045,663,634,879,787,806,653,630.154257045,652.845742955,0.400940710612,0.00455883973565,0.0499320689491,0.99999997462,8.57062082818e-05,-0.000207072770427,-2.31549390762e-05,1793244556052105472
+65,1.083333333,BASELINE,764.735043652,745,713,679.735043652,663,634,879,787,806,653,630.735043652,652.264956348,0.400939164717,0.00455723238888,0.0499307248689,0.999999974308,8.29929321983e-05,-0.000209686988228,-2.29700610472e-05,1793244556068772096
+66,1.100000000,BASELINE,764.686896874,745.313103126,713,680,663,634,879,787,805.686896874,653,631,652,0.400938551528,0.0045572516885,0.049930302197,0.999999974234,8.16153014004e-05,-0.000210556736644,-2.31645059597e-05,1793244556085438976
+67,1.116666667,BASELINE,764.111125275,745.888874725,713,680,663,634,879,787,805.111125275,653,631,652,0.400938720804,0.00455863561438,0.0499306525129,0.999999974368,8.13581702703e-05,-0.000209963014687,-2.36771724804e-05,1793244556102105600
+68,1.133333333,BASELINE,764,745.535632861,713,679.535632861,663,634.464367139,878.535632861,787,805,653,631,652.464367139,0.400939151922,0.00455831816934,0.0499305328042,0.999999974426,8.23869390674e-05,-0.000209307588797,-2.34761083311e-05,1793244556118772480
+69,1.150000000,BASELINE,764,745,713,679.041008909,663,634.958991091,878.041008909,786.958991091,805,653,630.958991091,652.958991091,0.400939797696,0.00455769626326,0.0499304364157,0.999999974508,8.36943023378e-05,-0.000208433967797,-2.31370272605e-05,1793244556135439104
+70,1.166666667,BASELINE,764,745,713,679.634019816,663,634.365980184,878.634019816,786.365980184,805,653,630.365980184,652.365980184,0.400942489919,0.00455845326249,0.0499321670508,0.999999975174,8.46120809251e-05,-0.00020482196335,-2.32378317489e-05,1793244556152105728
+71,1.183333333,BASELINE,764,745,713,679.779169083,663.220830917,634,879,786,805,653,630.220830917,652,0.400943717136,0.00455862016394,0.0499330433587,0.999999975464,8.44088114341e-05,-0.000203494981234,-2.31635954321e-05,1793244556168772352
+72,1.200000000,BASELINE,764,745,713,679.20235216,663.79764784,634,879,786,805,653,630.79764784,652,0.40094258272,0.00455783581033,0.0499325424659,0.999999975158,8.23983792404e-05,-0.00020585152252,-2.28071881467e-05,1793244556185438720
+73,1.216666667,BASELINE,764.373021731,745.373021731,713,679.373021731,663.626978269,634,879,786.373021731,805,653,631,652,0.400940750818,0.00455788815629,0.0499311486059,0.999999974594,8.25856127146e-05,-0.0002084799989,-2.29778678772e-05,1793244556202105600
+74,1.233333333,BASELINE,764.947615807,745.947615807,713,679.947615807,663.052384193,634,879,786.947615807,805,653,631,652,0.400938542013,0.00455839263544,0.049929272207,0.999999973886,8.39604141742e-05,-0.000211255422594,-2.34333733015e-05,1793244556218772480
+75,1.250000000,BASELINE,764.480198756,745.480198756,713,679.480198756,663.519801244,634,879,787,805.519801244,653,631,652,0.400939208781,0.00455845661186,0.049930159938,0.999999974321,8.21910590193e-05,-0.000209873296094,-2.35598745877e-05,1793244556235439104
+76,1.266666667,BASELINE,764,745.095881401,713.095881401,679,663.904118599,634,879,787,805.904118599,653,630.904118599,652,0.400940125759,0.00455845991471,0.049931100535,0.999999974776,8.0719850655e-05,-0.000208266645634,-2.35926177241e-05,1793244556252105728
+77,1.283333333,BASELINE,764,745.693611366,713.693611366,679,663.306388634,634,879,787,805.306388634,653,630.306388634,652,0.400940842556,0.0045583769309,0.049930866553,0.999999974766,8.24599712931e-05,-0.000207667710024,-2.33073662768e-05,1793244556268772352
+78,1.300000000,BASELINE,764,745.719841214,713.719841214,679,663,634,879,786.719841214,805,653,630,652,0.400940536013,0.00455841779969,0.0499302781516,0.999999974585,8.29665641885e-05,-0.000208336232582,-2.3288885727e-05,1793244556285439232
+79,1.316666667,BASELINE,764,745.145053935,713.145053935,679,663,634,879,786.145053935,805,653,630,652,0.400939153276,0.00455858891785,0.0499293170257,0.999999974225,8.21759197036e-05,-0.00021033767532,-2.35509543379e-05,1793244556302105856
+80,1.333333333,BASELINE,764,745,713,679,663.429451685,634,879,786.429451685,805.429451685,653,630.429451685,652,0.400939891508,0.00455953482672,0.049930003609,0.999999974375,8.30313566636e-05,-0.000209280129578,-2.36025764343e-05,1793244556318772992
+81,1.350000000,BASELINE,764,745,713,679,663.996016068,634,879,786.996016068,806,653,631,652,0.400941325211,0.00456072920756,0.0499312293798,0.999999974688,8.44271714367e-05,-0.000207217583676,-2.35829383331e-05,1793244556335440896
+82,1.366666667,BASELINE,764,745,713,679,663.403512892,634,879,786.403512892,806,653,631,652,0.400939737743,0.00455999519099,0.0499299457554,0.999999974344,8.35706050882e-05,-0.000209223835482,-2.35300291376e-05,1793244556352106496
+83,1.383333333,BASELINE,764,745,713.184300382,679,663,634,878.815699618,786.184300382,805.815699618,653,630.815699618,652,0.400938837259,0.00455898400603,0.0499293298772,0.999999974194,8.26891748786e-05,-0.000210294825025,-2.34459058341e-05,1793244556368772608
+84,1.400000000,BASELINE,764,745,713.762100362,679,663,634,878.237899638,786.762100362,805.237899638,653,630.237899638,652,0.400939403553,0.00455738103893,0.0499301397031,0.999999974469,8.17546576983e-05,-0.000209368937235,-2.32951373037e-05,1793244556385440000
+85,1.416666667,BASELINE,764,745,713.662288254,679.337711746,663.337711746,634,878.337711746,787,805,653,630.337711746,652,0.400939901068,0.00455690394404,0.0499305977992,0.999999974699,8.0867471523e-05,-0.000208624442325,-2.32186245817e-05,1793244556402106624
+86,1.433333333,BASELINE,764,745,713.088208724,679.911791276,663.911791276,634,878.911791276,787,805,653,630.911791276,652,0.400940350443,0.00455721485829,0.049930809716,0.999999974897,8.0013412841e-05,-0.000208006906137,-2.3194084242e-05,1793244556418772480
+87,1.450000000,BASELINE,764,745,713,679.512008517,663.512008517,634,878.512008517,787,805,653,631,652,0.400940005106,0.00455749827335,0.0499304214805,0.999999974679,8.14097884101e-05,-0.000208494351556,-2.33323422967e-05,1793244556435439104
+88,1.466666667,BASELINE,764,745,713,679,663.066017251,634,878.066017251,787,805,653,630.933982749,652.066017251,0.400939531406,0.00455788236531,0.0499299272982,0.999999974398,8.29865013841e-05,-0.000209205143125,-2.3479867427e-05,1793244556452105472
+89,1.483333333,BASELINE,764,745,713,679,663.655464759,634,878.655464759,787,805,653,630.344535241,652.655464759,0.400939183901,0.00455910427651,0.0499294569773,0.99999997423,8.27536993188e-05,-0.000210096227458,-2.34665305829e-05,1793244556468772096
+90,1.500000000,BASELINE,764,745,713,679,663.760091678,634,879,787,805,653,630,652.760091678,0.40093864617,0.00455907246484,0.049928975524,0.999999974115,8.22709270305e-05,-0.000210845668201,-2.33568824048e-05,1793244556485439232
+91,1.516666667,BASELINE,764,745,713,679,663.182687563,634,879,787,805,653,630,652.182687563,0.400937840834,0.00455727695353,0.0499284784101,0.999999974073,8.14365041894e-05,-0.000211395848936,-2.31117463472e-05,1793244556502106624
+92,1.533333333,BASELINE,764,745,713,679,663.392832217,634,879,787,805.392832217,653,630,652,0.400940429929,0.00455654030405,0.0499300389766,0.999999974682,8.11760526385e-05,-0.000208623914282,-2.28644584908e-05,1793244556518772992
+93,1.550000000,BASELINE,764,745,713,679,663.967479917,634,879,787,805.967479917,653,630,652,0.400944590076,0.00455629372999,0.0499325519042,0.999999975577,8.11812535309e-05,-0.00020431439699,-2.26161746905e-05,1793244556535438848
+94,1.566666667,BASELINE,764,745,713,679.556429816,664,634,879,786.443570184,806,653,630.556429816,652,0.400942194955,0.00455736499463,0.0499321507837,0.999999975079,8.27008157164e-05,-0.000206127494733,-2.26751000563e-05,1793244556552105728
+95,1.583333333,BASELINE,764.14408313,745,713,679.85591687,663.85591687,634,879,786,805.85591687,653,630.85591687,652.14408313,0.400940370325,0.00455833066695,0.0499316167571,0.999999974678,8.36050071636e-05,-0.000207688730348,-2.28126872254e-05,1793244556568772352
+96,1.600000000,BASELINE,764.725201473,745,713,679.274798527,663.274798527,634,879,786,805.274798527,653,630.274798527,652.725201473,0.40094146885,0.0045587362738,0.04993120981,0.999999974839,8.23671079198e-05,-0.000207372001065,-2.31329757497e-05,1793244556585438976
+97,1.616666667,BASELINE,764.696643985,745,713,679,663,634,878.696643985,786.303356015,805,653,630.303356015,653,0.400941707511,0.00455798884484,0.0499306447132,0.999999974972,8.11273282666e-05,-0.000207215886021,-2.31505653305e-05,1793244556602105856
+98,1.633333333,BASELINE,764.121148294,745,713,679,663,634,878.121148294,786.878851706,805,653,630.878851706,653,0.400941174792,0.00455620703123,0.0499299377407,0.99999997508,7.98858617787e-05,-0.000207203857496,-2.28966046717e-05,1793244556618772480
+99,1.650000000,BASELINE,764,745,713,679.461514009,663,634,878.461514009,786.538485991,805,653,631,652.538485991,0.400941135547,0.00455783187977,0.0499299583448,0.99999997476,8.2284027526e-05,-0.000207780414663,-2.31735084671e-05,1793244556635439872
+100,1.666666667,BASELINE,764.045970209,745.045970209,713,679.954029791,663,634,879,786.045970209,805.045970209,653,630.954029791,652,0.400941161891,0.00456017549534,0.0499301562026,0.99999997435,8.5349242566e-05,-0.000208469765796,-2.35688796478e-05,1793244556652107520
+101,1.683333333,BASELINE,764.629059143,745.629059143,713,679.370940857,663,634,879,786.629059143,805.629059143,653,630.370940857,652,0.400940417181,0.00456030388758,0.0499301583622,0.999999974352,8.48691507209e-05,-0.00020864328967,-2.36945406711e-05,1793244556668773888
+102,1.700000000,BASELINE,765,746,713,679.207829539,663,634,879,787,805.792170461,653,630.207829539,652,0.400939835383,0.00455964627225,0.0499301051783,0.9999999744,8.38335050198e-05,-0.000208852016334,-2.35258780445e-05,1793244556685440256
+103,1.716666667,BASELINE,765,746,713,679.779048912,663,634,879,787,805.220951088,653,630.779048912,652,0.400939538438,0.00455761432308,0.049929955226,0.999999974525,8.18264737606e-05,-0.000209122295038,-2.28425906671e-05,1793244556702106880
+104,1.733333333,BASELINE,764.644046839,745.644046839,713,680,663,634.355953161,879,786.644046839,805,653,631,652.355953161,0.400940243112,0.00455638700818,0.0499301346002,0.999999974705,8.09971610588e-05,-0.000208612689419,-2.26072280038e-05,1793244556718773760
+105,1.750000000,BASELINE,764.063556483,745.063556483,713,680,663,634.936443517,879,786.063556483,805,653,631,652.936443517,0.400941579614,0.00455566726077,0.0499305217155,0.999999974919,8.09107594466e-05,-0.000207611128545,-2.26544186251e-05,1793244556735440384
+106,1.766666667,BASELINE,764,745,713,679.474637858,663,634.474637858,879,786,805.525362142,653,631,652.474637858,0.400941530527,0.00455564683255,0.0499308611457,0.999999975044,7.96236571861e-05,-0.000207478389454,-2.29192302464e-05,1793244556752106496
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,746,714,680,663,634,879,787,805,654,631,652,0.400942009894,0.00455662584792,0.0499314024256,0.999999974884,8.16578331988e-05,-0.00020747181353,-2.278536708e-05,1793244556794276352
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745.427902953,713.427902953,679.427902953,663,634,879,786.427902953,805.572097047,653.427902953,631,652,0.400941682271,0.00455800995643,0.0499307326117,0.999999974802,8.14971441565e-05,-0.00020788389976,-2.32221630754e-05,1793244556810943232
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713,679.148508756,663.148508756,634,879,786.148508756,806,653,630.851491244,652,0.400941285377,0.00455866246901,0.0499301626335,0.999999974699,8.15754616403e-05,-0.000208326806029,-2.3404137801e-05,1793244556827610112
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713,679.737724573,663.737724573,634,879,786.737724573,806,653,630.262275427,652,0.400940682919,0.00455714393489,0.0499298889227,0.999999974536,8.23630427443e-05,-0.000208861172378,-2.28299179416e-05,1793244556844276736
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.322153369,745,713,679.677846631,663.677846631,634,879,787,806,653,630.322153369,652,0.400941281346,0.00455622688376,0.0499303791683,0.999999974774,8.14222412039e-05,-0.000208110192071,-2.26388961424e-05,1793244556860943360
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.902741926,745,713,679.097258074,663.097258074,634,879,787,806,653,630.902741926,652,0.400942843137,0.00455579234939,0.0499314822687,0.999999975327,7.90949109056e-05,-0.000206328091658,-2.27552803296e-05,1793244556877609984
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.52093389,745,713,679,663,634,879,787,805.52093389,653,630.52093389,652.47906611,0.400947280002,0.004555359058,0.0499330181475,0.99999997606,7.91722926696e-05,-0.00020269139608,-2.29589031306e-05,1793244556894276608
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.054527249,745,713,679.054527249,663.054527249,634,879,786.945472751,805.054527249,653,630.054527249,653,0.400953121067,0.00455507679848,0.0499348308968,0.999999976907,7.97994546403e-05,-0.000198197329055,-2.31668068585e-05,1793244556910942976
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.62994116,745,713,679.62994116,663.62994116,634,879,786.37005884,805.62994116,653,630.62994116,653,0.400966849501,0.00455623492352,0.0499384566172,0.999999978569,8.10560733269e-05,-0.000189077989246,-2.32479104298e-05,1793244556927609856
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.795834187,745,713,679.795834187,663.795834187,634,879,786.204165813,805.795834187,653,631,652.795834187,0.400985501229,0.00455667532186,0.0499428659384,0.999999980856,8.07061502414e-05,-0.000176702303341,-2.34725956296e-05,1793244556944276480
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.223752693,745,713,679.223752693,663.223752693,634,879,786.776247307,805.223752693,653,631,652.223752693,0.401013024945,0.00455582234534,0.0499486873418,0.999999984158,7.74611688043e-05,-0.000158458540991,-2.39560211633e-05,1793244556960943104
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.635690099,745,713,679,663.364309901,634,879,787,805,653,631,652,0.401047591107,0.00455580016236,0.0499537843047,0.999999987176,7.67183418558e-05,-0.000138405079965,-2.46329723953e-05,1793244556977609984
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.037361819,745,713,679,663.962638181,634,879,787,805,653,631,652,0.401086681062,0.00455631164846,0.0499584159162,0.9999999898,7.75828003959e-05,-0.000117189137722,-2.54342369817e-05,1793244556994277120
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.538722902,745,713,679,663.461277098,634,878.461277098,786.461277098,805,653,631,652.538722902,0.40114036919,0.00455817219607,0.0499631401761,0.999999992261,7.82267599602e-05,-9.29964537955e-05,-2.66487212453e-05,1793244557010943488
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.886475286,878,786.113524714,805,653,631,652.886475286,0.401195891271,0.00455938840625,0.0499671389253,0.999999993851,7.85977105182e-05,-7.32759361432e-05,-2.74184798868e-05,1793244557027610112
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.310865056,878,786.689134944,805,653,631,652.310865056,0.401254920692,0.00455761621188,0.049968159476,0.999999993987,7.79171951278e-05,-7.25656836887e-05,-2.62660270644e-05,1793244557044276224
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.271023341,878.271023341,786.728976659,805.271023341,653,631,652,0.401324203358,0.00455627377162,0.04996963721,0.999999994233,7.69101671509e-05,-7.05124906319e-05,-2.54198115457e-05,1793244557060942848
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663,633.860283557,878.860283557,786.139716443,805.860283557,653,631,652,0.401405525429,0.00455543595075,0.0499716517708,0.999999994601,7.55197466078e-05,-6.68824104799e-05,-2.49331813704e-05,1793244557077609472
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878.558083027,786,805.558083027,653,631,652,0.401502046036,0.00455559681784,0.0499717968874,0.999999994788,7.38096078171e-05,-6.60847194928e-05,-2.46892155723e-05,1793244557094276352
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878.021013851,786,805,653,631,652,0.401604190818,0.00455595044165,0.0499713283,0.999999994919,7.19357238011e-05,-6.62427948321e-05,-2.44780517729e-05,1793244557110942720
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878.595732774,786,805,653,631,652,0.401730064152,0.00455320452909,0.0499699983958,0.999999995057,6.83655078149e-05,-6.83894921362e-05,-2.31439463896e-05,1793244557127609600
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878.825666892,786.174333108,805,653,631,652,0.40186515521,0.0045509720863,0.0499701278908,0.99999999528,6.59723799786e-05,-6.7895376434e-05,-2.18665108994e-05,1793244557144276224
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878.23786094,786.76213906,805,653,631,652,0.402022108299,0.0045499574608,0.0499737187018,0.999999995714,6.63709999567e-05,-6.113793801e-05,-2.0723481864e-05,1793244557160942848
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,878.68966881,786.655165595,805,653,631,652,0.402196355058,0.00454827885622,0.0499728803469,0.999999995747,6.36012918979e-05,-6.3924946029e-05,-1.93745516665e-05,1793244557177609728
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713,679,663,634,879.848112163,786.075943919,805,653,631,652,0.402382356507,0.00454614893855,0.0499690314454,0.999999995439,5.86780407485e-05,-7.31994056701e-05,-1.78856683465e-05,1793244557194276352
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,713.50048599,679,663,634,879.49951401,786,805,652.49951401,630.49951401,652,0.402597966267,0.00454378311361,0.0499689830368,0.999999995886,5.32612196368e-05,-7.15060416214e-05,-1.66722485066e-05,1793244557210942976
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713.923310829,679,663,634,879,786,805,652.076689171,630.076689171,652,0.402823557246,0.00454149957347,0.0499697068124,0.999999996391,4.83760338947e-05,-6.8115331379e-05,-1.54090978818e-05,1793244557227609344
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,713.345836993,679,663,634,879,786,805,652.654163007,630.654163007,652,0.403085150911,0.00453998581414,0.0499717280777,0.999999996706,4.74488073089e-05,-6.44482888922e-05,-1.3549766595e-05,1793244557244275968
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713,679.236198054,663,634,878.763801946,786,805.236198054,653,630.763801946,652,0.403365404037,0.00453830342186,0.0499774865257,0.999999997555,4.44606736677e-05,-5.26873606369e-05,-1.17214222803e-05,1793244557260942592
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713,679.825043014,663,634,878.174956986,786,805.825043014,653,630.174956986,652,0.403673515974,0.0045363692584,0.049988824638,0.999999998798,3.83955777947e-05,-2.88421510212e-05,-9.93934204355e-06,1793244557277609472
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.40710213,745,713,679.59289787,663,634,878,786,805.59289787,653,630.40710213,652,0.40401710906,0.00453189260964,0.0499985076042,0.999999999442,3.15442903608e-05,-8.09169206444e-06,-7.49938601864e-06,1793244557294276096
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.986292748,745,713,679.013707252,663,634,878,786,805.013707252,653,630.986292748,652,0.40437570058,0.00452634121231,0.0500074909136,0.999999999627,2.43606675101e-05,1.13505664034e-05,-4.78133557238e-06,1793244557310942976
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663.561855105,634,878,786.561855105,805,653,630.438144895,652,0.404755059029,0.00452207381106,0.050010411799,0.999999999605,1.90754339504e-05,2.05310810819e-05,-2.07878080379e-06,1793244557327609600
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.863330256,745.136669744,713,679,664,634.136669744,878.136669744,786.863330256,805.136669744,653,630.136669744,652,0.405139739933,0.00451826124264,0.0500102228474,0.999999999633,1.43750819027e-05,2.29550878966e-05,5.76574117785e-07,1793244557344276224
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.290620701,745.709379299,713,679,664,634.709379299,878.709379299,786.290620701,805.709379299,653,630.709379299,652,0.405539795818,0.00451580050285,0.0500005809206,0.99999999992,1.1393959187e-05,4.61630930503e-06,3.08253750833e-06,1793244557360943360
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745.707570853,713,679,663.707570853,634.707570853,879,786.292429147,806,653,631,652,0.405945958855,0.00451175473161,0.049985313999,0.999999999616,7.10413628469e-06,-2.60840823354e-05,6.16345497e-06,1793244557377610240
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745.113867892,713,679,663.113867892,634.113867892,879,786.886132108,806,653,631,652,0.406358413808,0.00450607598857,0.0499642519505,0.999999997534,1.46603053145e-06,-6.95199724069e-05,9.83671657485e-06,1793244557394277120
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.464574722,745,713,679.464574722,663,634,879,787,805.535425278,653,631,652,0.406834965857,0.00450088068258,0.0499490059402,0.999999995546,-4.99663358441e-06,-9.33886421997e-05,1.26780605179e-05,1793244557410943744
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,713.039577874,679.960422126,663,634,879,787,805.039577874,653,631,652,0.407331202993,0.0044957171758,0.0499369814863,0.999999993841,-1.08389459022e-05,-0.000109379219179,1.53981345462e-05,1793244557427610624
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,713.617053911,679.382946089,663,634,879,787,805.617053911,653,631,652,0.407888252163,0.00448942666164,0.0499499829103,0.999999996487,-5.59076961837e-06,-8.14078274001e-05,1.91531483086e-05,1793244557444276736
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.198668148,714,679,663.198668148,634,879,787,806,653,631,652,0.408457650169,0.00448361923732,0.049966979812,0.999999998546,8.20887849477e-06,-4.82104566744e-05,2.27169469059e-05,1793244557460942848
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.788428692,714,679,663.788428692,634,879,787,806,653,631,652,0.409051357704,0.00447876281012,0.0499918420949,0.999999998899,3.88427074616e-05,-4.72537596015e-06,2.5904324596e-05,1793244557477609216
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.628320034,713.628320034,679,664,634,879,787,806,653,631,652.371679966,0.409664644766,0.004472866435,0.0500061895792,0.999999998964,3.29538311305e-05,1.55740316139e-05,2.72511610822e-05,1793244557494276096
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.048710276,713.048710276,679,664,634,879,787,806,653,631,652.951289724,0.410288885229,0.00446638827954,0.0500146547441,0.999999999336,6.63297148072e-06,2.29026224561e-05,2.75683392095e-05,1793244557510942720
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.473480654,745.526519346,713.526519346,679.526519346,664,634,879.526519346,787,805.473480654,652.473480654,631,652.473480654,0.410899754802,0.00445619802662,0.049989433483,0.999999998963,-1.6954755706e-05,-3.17591590867e-05,2.78732569212e-05,1793244557527609344
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.101710592,746,713.898289408,679.898289408,664,634,879.898289408,787,805,652,630.898289408,652,0.411520798537,0.00444675711845,0.0499634663911,0.99999999535,-3.72225310324e-05,-8.43667962781e-05,2.82090132013e-05,1793244557544275968
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.67859991,746,713.32140009,679.32140009,664,634,879.32140009,787,805,652,630.32140009,652,0.412195105835,0.00444240823213,0.0499484544456,0.999999993576,-4.31514611301e-05,-0.00010080577446,2.86940990363e-05,1793244557560942592
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.738582114,713.261417886,679.261417886,664,634,879.261417886,787,805.261417886,652.261417886,630.261417886,652,0.412906044267,0.00443841538364,0.0499531370618,0.999999995356,-3.91031975777e-05,-8.30869123896e-05,2.92346540754e-05,1793244557577609472
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.148305932,713.851694068,679.851694068,664,634,879.851694068,787,805.851694068,652.851694068,630.851694068,652,0.413663063997,0.0044348704228,0.0499825950276,0.999999999051,-2.25038313723e-05,-2.23981954307e-05,2.98449882179e-05,1793244557594276096
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.565857587,664,634,880,787,805.565857587,652.565857587,631,652,0.41440612347,0.00443371081954,0.0499841091134,0.999999998984,-2.32829481119e-05,-2.25604116954e-05,3.13164243449e-05,1793244557610942720
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,880,787,805.013785412,652,630.986214588,652,0.415145031935,0.00443370881292,0.0499757517803,0.999999998065,-2.9532704997e-05,-4.37023705325e-05,3.29986458279e-05,1793244557627609344
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,880,787,805.586189935,652,630.413810065,652,0.415905558783,0.00444818041059,0.0499473490854,0.999999995445,-2.11611383503e-05,-8.75703811107e-05,3.15135166697e-05,1793244557644275968
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.163424855,713.836575145,679.163424855,664,634,880,787,805.836575145,652.163424855,630.163424855,652,0.416678962828,0.00445851762822,0.0499316789942,0.999999993428,-1.43979855393e-05,-0.000109550774121,3.05732221566e-05,1793244557660942592
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.753263376,713.246736624,679.753263376,664,634,880,787,805.246736624,652.753263376,630.753263376,652,0.41748596645,0.00445806728057,0.0499492312452,0.999999996679,-1.18315611606e-05,-7.44212518333e-05,3.1054528856e-05,1793244557677609216
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,746,713,680,664,634,880,787,805.336743679,652.663256321,631,652,0.418309974892,0.0044523257093,0.0499688246279,0.999999998537,-1.50112083671e-05,-4.07916479274e-05,3.22100854237e-05,1793244557694275584
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,746,713,680,664,634,880,787,805.91565154,652.08434846,631,652,0.419146212061,0.00444277903372,0.0499898858592,0.999999999144,-2.23230571293e-05,-8.2406894117e-06,3.38505186716e-05,1793244557710942208
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,746,713.492609433,680,664,634,880,787,805.507390567,652.492609433,631,652,0.419959780689,0.00444007134995,0.049974862175,0.999999998247,-3.07836824619e-05,-3.72645816367e-05,3.42141786803e-05,1793244557727609088
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,746,713.930884365,680,663.930884365,634,880,787,805.069115635,652.930884365,631,652.069115635,0.420784442268,0.00443844183269,0.0499593426225,0.999999996582,-3.85912894542e-05,-6.45765914627e-05,3.43011907595e-05,1793244557744275968
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,746,713.355251432,680,663.355251432,634,880,787,805.644748568,652.355251432,631,652.644748568,0.421718732163,0.00443616562846,0.0499852917681,0.999999998614,-4.01773549749e-05,-2.38031198865e-06,3.3956619226e-05,1793244557760942336
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.775348471,745.775348471,713,679.775348471,663.449303058,634,880,787,806,652,631,652.775348471,0.422617659842,0.00443480028738,0.0500011492778,0.99999999803,-4.01118951374e-05,3.42322333994e-05,3.40341812512e-05,1793244557777608960
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.188562203,745.188562203,713,679.188562203,664.622875595,634,880,787,806,652,631,652.188562203,0.423459584329,0.00443490324305,0.0500007392332,0.999999998258,-3.73842027927e-05,2.96042107201e-05,3.47922160643e-05,1793244557794275584
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.395383662,745,713,679.395383662,664.604616338,634,880,786.604616338,806,652,631,652,0.42431702117,0.00443875917205,0.0499895207974,0.999999998701,-3.54820611438e-05,1.09149741901e-05,3.49246112918e-05,1793244557810942464
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.977984537,745,713,679.977984537,664.022015463,634,880,786.022015463,806,652,631,652,0.42518180318,0.00444439216286,0.0499731845051,0.999999998715,-3.39708242634e-05,-1.44323553136e-05,3.47607612842e-05,1793244557827609088
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.552977657,713,680,664,634,880,786.552977657,806,652,631,652,0.426088332355,0.00444089603969,0.0499941475398,0.999999998565,-3.73883314697e-05,1.01523124152e-05,3.70114801361e-05,1793244557844275712
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.872338229,713.127661771,679.872338229,664.127661771,634,880,787,806,652,631,652,0.426983042472,0.00443720748934,0.0500069388595,0.999999998275,-3.99934640322e-05,1.77342156812e-05,3.91999006754e-05,1793244557860942336
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.297689969,713.702310031,679.297689969,664.702310031,634,880,787,806,652,631,652,0.427830629622,0.00443410048925,0.0499859894183,0.999999997559,-3.90764728865e-05,-4.10821546425e-05,4.08381777933e-05,1793244557877609216
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.284276428,714,679.284276428,664.715723572,634,879.715723572,787,806,652,631,652,0.428684810397,0.00443305895006,0.0499660631828,0.999999995689,-3.38068614272e-05,-7.62812993653e-05,4.07347306873e-05,1793244557894276096
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.874108722,714,679.874108722,664.125891278,634,879.125891278,787,806,652,631,652,0.429546078308,0.00443423748152,0.0499472367462,0.999999995258,-2.38588155541e-05,-8.60953535434e-05,3.87591830476e-05,1793244557910942720
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,746,714,680,664.455582366,634,879.455582366,787,806,652,631,652,0.430434983079,0.00443395521415,0.0499554611654,0.999999996805,-2.87649226658e-05,-6.37760498075e-05,3.86640367769e-05,1793244557927609344
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.965484952,713.965484952,680,664.965484952,633.965484952,880,787,806,652,631,652,0.431327508336,0.00443339392966,0.0499687086079,0.999999997851,-3.72615702399e-05,-3.71993457022e-05,3.90659407501e-05,1793244557944275968
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.390822589,713.390822589,680,664.390822589,633.390822589,880,787,806,652,631,652,0.432159330335,0.00443466949527,0.0499456915171,0.999999995238,-3.88698369314e-05,-8.04520168925e-05,3.92612658937e-05,1793244557960942592
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.188066082,713,680,664,633.188066082,880,786.811933918,806,652,631,652,0.433003939464,0.00443397756614,0.0499346535595,0.999999993371,-4.17415842741e-05,-9.96936097436e-05,3.97134505422e-05,1793244557977609216
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.775939521,713,680,664,633.775939521,880,786.224060479,806,652,631,652,0.433875732748,0.00442910296455,0.0499490818882,0.999999995748,-4.72993498951e-05,-6.78903567425e-05,4.07116897732e-05,1793244557994275840
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,746,713.358783372,680,664,634,880,786.358783372,806,652,631,652,0.434732407855,0.00442939242794,0.0499685151976,0.999999997342,-4.48919238771e-05,-3.9183654867e-05,4.20267513142e-05,1793244558010942720
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,746,713.938529629,680,664,634,880,786.938529629,806,652,631,652,0.43557977212,0.00443286226949,0.0499910309092,0.999999998269,-3.75789977983e-05,-1.23840189561e-05,4.35369332342e-05,1793244558027609344
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.483496863,745.483496863,714,680,664,634,880,787,806,652,631,651.483496863,0.436344211533,0.00443344965247,0.0499691719199,0.999999996222,-3.64522795825e-05,-6.49060397332e-05,4.48757310464e-05,1793244558044275712
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745.093249605,714,680,664,633.906750395,880,786.906750395,806,652,631,651.093249605,0.437110559204,0.00443349237649,0.0499496284388,0.999999992452,-3.68002725791e-05,-0.000107965197037,4.56738385177e-05,1793244558060942848
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745.664780945,714,680,664,633.335219055,880,786.335219055,806,652,631,651.664780945,0.437937140363,0.00443249501412,0.0499689559216,0.999999996732,-4.09488547351e-05,-5.42348610008e-05,4.38029784019e-05,1793244558077609984
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.244938295,746,713.755061705,680,664.244938295,633.244938295,880,786.244938295,806.244938295,652,631,652,0.438739752002,0.00443112307695,0.0499832149294,0.999999998073,-3.93415420242e-05,-2.13274762596e-05,4.3036901943e-05,1793244558094276608
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.837331961,746,713.162668039,680,664.837331961,633.837331961,880,786.837331961,806.837331961,652,631,652,0.439508361788,0.0044292197896,0.0499902840886,0.999999998441,-2.95692478759e-05,-1.79583366237e-05,4.38380083004e-05,1793244558110942976
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.57959012,745.57959012,713.42040988,680,664.57959012,634,880,786.57959012,806.57959012,652,631,651.57959012,0.440225667527,0.00443048586488,0.0499718436976,0.999999997809,-2.28735806483e-05,-4.41173599959e-05,4.37421423049e-05,1793244558127609600
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.000038529,745.000038529,713.999961471,680,664.000038529,634,880,786.000038529,806.000038529,652,631,651.000038529,0.440923552724,0.00443295166868,0.0499437469369,0.999999995595,-1.73425371461e-05,-8.14539566491e-05,4.33067369316e-05,1793244558144276224
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.576465347,745,714,680,664,634,880,786.576465347,806.576465347,652,631,651,0.441607161076,0.00443355854951,0.0499438509274,0.999999995464,-1.82461098747e-05,-8.20334181526e-05,4.48240137791e-05,1793244558160943104
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713.844459438,680.155540562,664,633.844459438,880,786.844459438,806.844459438,652,631,651.155540562,0.442286532067,0.00443588071976,0.0499455167049,0.999999995707,-1.72876071562e-05,-7.87638771923e-05,4.56468865574e-05,1793244558177609984
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713.258264105,680.741735895,664,633.258264105,880,786.258264105,806.258264105,652,631,651.741735895,0.442954173595,0.00444295246017,0.0499515015074,0.999999996843,-1.11722767557e-05,-6.48441315223e-05,4.45467607497e-05,1793244558194276608
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713.323975181,681,663.676024819,633,880.323975181,786.323975181,806.323975181,652,631,651.676024819,0.443562130723,0.00445063447209,0.0499358376074,0.999999994636,-3.2582756857e-06,-9.35819351403e-05,4.42757056821e-05,1793244558210943488
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713.903098827,681,663.096901173,633,880.903098827,786.903098827,806.903098827,652,631,651.096901173,0.444123083028,0.00445879710634,0.0499031241504,0.99999998683,6.07227816805e-06,-0.000155914930659,4.46575898438e-05,1793244558227610112
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.519969936,662.519969936,633,881,786.519969936,806.519969936,652,630.519969936,651,0.444663180948,0.00446457800062,0.04986498872,0.999999976038,1.14483874051e-05,-0.000214161948993,4.39061311617e-05,1793244558244276480
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713.943375148,680.056624852,662.056624852,633,880.943375148,786,806,652,630.056624852,651.056624852,0.445200901346,0.00446990631482,0.0498301366436,0.99999996423,1.63348269716e-05,-0.000263506127509,4.28746758058e-05,1793244558260942848
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713.365822562,680.634177438,662.634177438,633,880.365822562,786,806,652,630.634177438,651.634177438,0.445755301664,0.00447547403573,0.0498355134782,0.999999970415,2.40268253112e-05,-0.000238500968461,4.13624965095e-05,1793244558277609728
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.78445892,745,713,680.78445892,662.78445892,632.78445892,880.21554108,786,806,652,631,652,0.446295808181,0.00447966479656,0.0498413714903,0.999999975029,3.11923053816e-05,-0.000217589389363,4.0309834132e-05,1793244558294276608
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.196510678,745,713,680.196510678,662.196510678,632.196510678,880.803489322,786,806,652,631,652,0.446812309235,0.00448147647532,0.0498480608696,0.99999997774,3.7448077931e-05,-0.000203750610903,4.00511152214e-05,1793244558310943232
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.385313049,745.385313049,713,680.385313049,662,632,880.614686951,786.385313049,806.385313049,652,631,652,0.447258583628,0.00448806460334,0.0498270038486,0.999999970411,4.67804226697e-05,-0.000235558640867,3.87470313922e-05,1793244558327609856
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.96406218,745.96406218,713,680.96406218,662,632,880.03593782,786.96406218,806.96406218,652,631,652,0.447669602656,0.00449705061977,0.049792017492,0.999999955524,5.76572784099e-05,-0.000290282424927,3.6918150021e-05,1793244558344276992
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.460384364,713,681,661.460384364,632,880.539615636,786.460384364,807,652,631,652,0.448054549642,0.00450131257662,0.0497638711717,0.999999941036,6.20215816517e-05,-0.000335841109206,3.5954170918e-05,1793244558360943616
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.88250038,745,713.11749962,680.88250038,661,631.88250038,881,786,807,652,631,652,0.448436371971,0.00450588000802,0.0497426320314,0.999999928482,6.62033354574e-05,-0.000370716707996,3.49726064968e-05,1793244558377609984
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.294435551,745,713.705564449,680.294435551,661,631.294435551,881,786,807,652,631,652,0.448812593635,0.00451292338099,0.0497472413053,0.999999930185,7.13807943077e-05,-0.000365238549167,3.36912899846e-05,1793244558394276352
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.289212146,745.289212146,714,680.289212146,661,631,880.710787854,786,806.710787854,652,631,652,0.449183484463,0.00452604775311,0.0497574920846,0.999999935144,8.2855620308e-05,-0.000349195364098,3.01740341693e-05,1793244558410942976
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.868430547,745.868430547,714,680.868430547,661,631,880.131569453,786,806.131569453,652,631,652,0.449549029796,0.00454526982094,0.0497733998593,0.999999942615,0.000100645104176,-0.000322558143775,2.44146997414e-05,1793244558427609600
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.553195732,714,681,661,631,880.446804268,786,806.446804268,652,631,652,0.449865402361,0.0045621431018,0.0497774088751,0.999999942189,0.000118159473999,-0.000318117272465,2.15102231217e-05,1793244558444276224
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680.975319161,661,631,880.975319161,786,807,652,630.975319161,652,0.450165288221,0.00457740848585,0.0497776756247,0.999999939358,0.000134614776,-0.000320590912215,1.96049109985e-05,1793244558460942592
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680.40296529,661,631,880.40296529,786,807,652,630.40296529,652,0.450420034126,0.00457231302791,0.0497725040697,0.999999936383,0.000129363431018,-0.000331735044559,2.12519664444e-05,1793244558477609472
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.824879775,745,713.824879775,680,661,630.824879775,880.175120225,786,807,652,630.175120225,652,0.450661571178,0.00456860629195,0.0497661927491,0.999999932223,0.00012623767299,-0.000345133440651,2.23943733141e-05,1793244558494276352
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.233159109,745,713.233159109,680,661,630.233159109,880.766840891,786,807,652,630.766840891,652,0.45087168513,0.00456820324246,0.0497571699956,0.999999925327,0.000128168558755,-0.000363894592532,2.23362514561e-05,1793244558510942976
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.351422061,745.351422061,713.351422061,680.702844122,661,630,881,786,806.648577939,652,631,652,0.451070481991,0.00457159749563,0.0497506188058,0.999999919929,0.000133099623633,-0.000376750227588,2.20369565405e-05,1793244558527609600
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+245,4.083333333,HOLD_POSE2,765,746,714,681,660,629,881,786,807,652,631,651,0.452416490707,0.00458369793614,0.0496953869163,0.999999875194,0.000153299185052,-0.00047511322645,1.94579190425e-05,1793244559120615168
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+256,4.266666667,HOLD_POSE2,764,745.630556081,714,681,660,629.630556081,881.630556081,786,806.630556081,652,631,652,0.452417610049,0.00458313671993,0.0496942757429,0.999999874618,0.000150700021811,-0.00047715335809,1.94676621343e-05,1793244559303949312
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.783354927,746,713.783354927,680.783354927,660,629,881,786,806.216645073,652.783354927,631,652,0.452400100373,0.00458437848788,0.0496857619982,0.999999867803,0.000152132457153,-0.000490807827611,1.89012819505e-05,1793244559586551808
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.207674195,746,713.207674195,680.207674195,660,629,881,786,806.792325805,652.207674195,631,652,0.452375870711,0.00458309281353,0.0496742066415,0.999999858218,0.000149833810811,-0.000510653399298,1.86069878257e-05,1793244559603218432
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,746,713.375780545,680,660,629,881,786,807,652.375780545,630.624219455,652,0.452335693541,0.00458343430244,0.0496573681146,0.999999842615,0.000150063984642,-0.000540285121838,1.85107146028e-05,1793244559619884800
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,746,713.963622384,680,660,629,881,786,807,652.963622384,630.036377616,652,0.452286516836,0.00458469403554,0.0496375481764,0.999999822753,0.000151721227426,-0.00057543938769,1.85261889219e-05,1793244559636551424
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,745.456843576,713.456843576,680.543156424,659.456843576,629,881,786,807,652.456843576,630.543156424,652,0.452216195871,0.00458510380822,0.0496155238673,0.999999802505,0.000152678765538,-0.000609391842897,1.79112245588e-05,1793244559653218560
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,745.121746223,713,680.878253777,659.121746223,629,880.878253777,786.121746223,806.878253777,652,631,652,0.452143185661,0.00458565326923,0.0495959725425,0.999999783933,0.000153895534057,-0.000638868552117,1.72233842352e-05,1793244559669885696
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,745.698854255,713,680.301145745,659.698854255,629,880.301145745,786.698854255,806.301145745,652,631,652,0.452065333852,0.00458693490896,0.04958621468,0.99999977517,0.000156254527503,-0.000651901365893,1.64185158934e-05,1793244559686552576
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.275049535,746,713.275049535,680,660,629,880,786.724950465,806,652,631,652,0.451980669717,0.00458928233748,0.0495810315419,0.999999770212,0.000159424427804,-0.000658724847274,1.55086850241e-05,1793244559703219200
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.850248735,746,713.850248735,680,660,629,880,786.149751265,806,652,631,652,0.451888571593,0.00459279281514,0.0495808406031,0.999999769542,0.000163479235573,-0.000658772352003,1.44843131375e-05,1793244559719885568
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,660,629,880,786,806.435931936,652.435931936,631,652,0.451784830104,0.00459298379927,0.0495856680559,0.999999772619,0.000166316681322,-0.000653359589078,1.49006852147e-05,1793244559736551936
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.024879448,660,629.024879448,880,786,807,652.975120552,631,652,0.451675248025,0.00459220234598,0.0495920230615,0.999999776792,0.000168851860111,-0.000646264959868,1.57348747876e-05,1793244559753218304
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.604333683,660,629.604333683,880,786,807,652.395666317,631,652,0.451526829161,0.00459578925282,0.0495930540907,0.999999777017,0.00017420068095,-0.000644521507425,1.45784653073e-05,1793244559769884928
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.817443787,714,681,660,629.817443787,880,786,806.817443787,652,631,652,0.451372074555,0.00459814484416,0.0495947480281,0.999999778815,0.000177660243646,-0.00064080141229,1.3413911518e-05,1793244559786551808
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.241872995,714,681,660,629.241872995,880,786,806.241872995,652,631,652,0.451203680121,0.004597849608,0.0495978691019,0.999999784017,0.00017705253246,-0.000632825919126,1.2231824473e-05,1793244559803218688
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.666850558,745,714,681,660,629.333149442,880.333149442,786,806.333149442,652.333149442,631,651.666850558,0.451014547627,0.00459942587335,0.0496000659381,0.999999787091,0.000180822065503,-0.00062689208825,1.13260561816e-05,1793244559819885312
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.092225523,745,714,681,660,629.907774477,880.907774477,786,806.907774477,652.907774477,631,651.092225523,0.450810383618,0.00460235865281,0.0496015928626,0.999999788601,0.000187764341737,-0.000622438107766,1.06205709635e-05,1793244559836552192
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.496392761,745,714,681,660,630,880.503607239,786,807,652.503607239,631,651,0.450590051476,0.00460628452446,0.0496120114252,0.999999799729,0.000193415003085,-0.000602531502219,9.43115715323e-06,1793244559853218560
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.085911869,714,681,660,630,880.085911869,786,806.914088131,652,631,651.085911869,0.450357645147,0.00461012904288,0.0496233847634,0.999999811317,0.000198827379291,-0.000581178865741,8.04847052241e-06,1793244559869885184
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.665240233,714,681,660,630,880.665240233,786,806.334759767,652,631,651.665240233,0.450073645914,0.00461241590674,0.0496304785837,0.999999817525,0.000204289419363,-0.000568488328449,6.08711873737e-06,1793244559886551552
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,660.24255758,630,881,786,806.24255758,652,631,652,0.449771592985,0.00461583095648,0.0496340312407,0.999999819962,0.000211440632927,-0.000561557472807,4.69283263806e-06,1793244559903217920
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,660.81712226,630,881,786,806.81712226,652,631,652,0.4494448286,0.00462079024035,0.0496327368363,0.999999817383,0.000220903947065,-0.000562510334532,4.07473280586e-06,1793244559919884544
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.608071808,745.608071808,714,680.608071808,661,630.391928192,881,786,806.608071808,652.391928192,631,652,0.449088239488,0.00462364291443,0.0496314200447,0.999999814096,0.000227750051396,-0.000565623685573,2.80667228748e-06,1793244559936551424
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.033153253,745.033153253,714,680.033153253,661,630.966846747,881,786,806.033153253,652.966846747,631,652,0.448717725289,0.00462551201714,0.0496300928005,0.999999810462,0.000233374186273,-0.000569745764028,1.23514665021e-06,1793244559953218304
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764.558500131,745,713.441499869,680.558500131,661.558500131,631,880.441499869,786,806.558500131,652.441499869,631,652,0.448318868349,0.00463080600157,0.0496292300158,0.99999981125,0.000243470873549,-0.000564111204925,-9.96773703726e-07,1793244559969884928
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713.147153919,680.852846081,661.852846081,631,880,786,806.852846081,652,631,652,0.447903152737,0.00463575142074,0.0496289601285,0.999999812336,0.000252465143669,-0.000558192309723,-3.31496028573e-06,1793244559986551552
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713.724056816,680.275943184,661.275943184,631,880,786,806.275943184,652,631,652,0.447443268295,0.00463906681389,0.0496303387358,0.999999813838,0.000257440601205,-0.00055318668475,-5.76705711374e-06,1793244560003218176
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.299837644,661,631.299837644,880,786.299837644,806,652,631,652,0.446965801655,0.00464276475918,0.049629024257,0.99999981142,0.000263260357952,-0.000554789814437,-7.82714262199e-06,1793244560019884800
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.874589739,661,631.874589739,880,786.874589739,806,652,631,652,0.446472214235,0.0046468134584,0.0496252405476,0.999999805368,0.000269854234385,-0.000562452363334,-9.52780197256e-06,1793244560036551168
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,661.038209289,632,880,786,807,652,631,652,0.445485515181,0.00465435851669,0.049659433266,0.999999829227,0.000283493780789,-0.000510885643504,-1.31929343303e-05,1793244560069884672
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,661.62436846,632,880,786,807,652,631,652,0.444929612479,0.0046578586285,0.0496969252636,0.999999849629,0.000291131117514,-0.000464514552505,-1.45069310108e-05,1793244560086551552
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,746,713.793483128,681,662,632,880,786,806.793483128,652,631,652,0.444344652229,0.00466091014688,0.0497236128255,0.999999862526,0.00029751425493,-0.000431475158346,-1.61802305778e-05,1793244560103218432
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,746,713.218490902,681,662,632,880,786,806.218490902,652,631,652,0.443707846413,0.00466316126737,0.0497310226948,0.999999865194,0.000301659602127,-0.000422222695096,-1.84946121525e-05,1793244560119885056
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.049289003,713,680.049289003,662.950710997,632,880.950710997,786.950710997,806,652,631.950710997,652,0.44241618484,0.00466837166015,0.0497152503491,0.999999853126,0.00031222515406,-0.000442342241148,-2.44354249694e-05,1793244560153218304
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.530813233,663,632.530813233,880.469186767,787,806,652,631.469186767,652,0.441771361561,0.00466249752674,0.0497458885679,0.999999878736,0.000302423882022,-0.000387633785011,-2.8430163891e-05,1793244560169884928
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713.110313552,680.889686448,663.220627105,633,880.110313552,787,806,652,631,652,0.441115674445,0.00465147198858,0.0497811667156,0.999999910058,0.000268677753519,-0.000326641368972,-3.16631764514e-05,1793244560186551808
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.68988695,680.31011305,664.3797739,633,880.68988695,787,806,652,631,652,0.440412555499,0.00462187265438,0.0498197573035,0.999999954477,0.000139060606787,-0.000265946450316,-3.13163930327e-05,1793244560203218432
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.266771096,745,714,680,664.733228904,633,881,787,806,652,631,652,0.439655562998,0.00460673495953,0.0498278404808,0.999999964029,7.29406696449e-05,-0.000255963483429,-3.32326927307e-05,1793244560219885056
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.840560347,745,714,680,664.159439653,633,881,787,806,652,631,652,0.438836569086,0.00460824068992,0.0498008136792,0.999999949783,7.98975852463e-05,-0.000304343244185,-3.77535014405e-05,1793244560236551680
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_10/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..79a1bcf79d79bd7879e68407869f01d8396efedd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_10/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cf8fa47df4e833c7140480e934090b2c37d21bed
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f233efb2eb29f0ef65aba73cb1de7213451c291f16f0a0f21afc2b5b8741cfe
+size 25910896
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb1768b308b672933b90b1438fb3d5980bce774b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+11,0.183333333,BASELINE,765,745.373380679,713,679,663.373380679,634,879,787.373380679,805.626619321,653,631,652.373380679,0.400982328288,0.00461137249157,0.0498531336563,0.999999956955,0.000131894775192,-0.000258438782935,-4.3625764538e-05,1793244562118759168
+12,0.200000000,BASELINE,765,745.963978083,713,679,663.963978083,634,879,787.963978083,805.036021917,653,631,652.963978083,0.400980826159,0.00461239429082,0.0498523120814,0.999999956157,0.000134924519668,-0.000259902431231,-4.39459374245e-05,1793244562135425792
+13,0.216666667,BASELINE,764.456006436,745.456006436,713,679,664,634,879,787.456006436,805,653,631,652.456006436,0.400980987212,0.00461052395552,0.049852600349,0.999999956738,0.000131402372047,-0.000259573525003,-4.33583323522e-05,1793244562152092416
+14,0.233333333,BASELINE,764.122558302,745,713,679.122558302,664,634,879.122558302,787,805,653,631,652,0.400981416372,0.00460934885341,0.0498529296795,0.999999957173,0.000129183932498,-0.000259074506429,-4.29722066215e-05,1793244562168759040
+15,0.250000000,BASELINE,764.698300365,745,713,679.698300365,664,634,879.698300365,787,805,653,631,652,0.40098243745,0.0046114391484,0.0498531442852,0.99999995678,0.000133359849131,-0.000258377000075,-4.35491213165e-05,1793244562185425920
+16,0.266666667,BASELINE,764.726021667,745.273978333,713,680,664,634,879.726021667,787,805.273978333,653.273978333,631,652.273978333,0.400983523962,0.00461144068043,0.0498538315399,0.999999957057,0.000134069231897,-0.000256938137679,-4.35342132089e-05,1793244562202092544
+17,0.283333333,BASELINE,764.150414294,745.849585706,713,680,664,634,879.150414294,787,805.849585706,653.849585706,631,652.849585706,0.400984682512,0.00460914264522,0.0498550391446,0.999999958074,0.000130962227672,-0.000254683099433,-4.28677537524e-05,1793244562218759680
+18,0.300000000,BASELINE,764,745.56387799,713,679.56387799,663.56387799,634,879,787,805.56387799,653.56387799,631,653,0.400983773065,0.00460961381907,0.0498542876454,0.999999957819,0.000131003816458,-0.000255651296934,-4.29160121309e-05,1793244562235426304
+19,0.316666667,BASELINE,764,745,713,679.026035048,663.026035048,634,879,787,805,653,630.973964952,652.973964952,0.40098221872,0.00461096023884,0.049852940377,0.999999957143,0.000132117758121,-0.000257668622094,-4.31959587881e-05,1793244562252092672
+20,0.333333333,BASELINE,764,745,713,679.605543581,663.605543581,634,879,787,805,653,630.394456419,652.394456419,0.400982506822,0.00461008774386,0.0498536610357,0.999999957099,0.000132349917608,-0.000257749081706,-4.30263476296e-05,1793244562268759552
+21,0.350000000,BASELINE,764,745,713,679.816177061,663.816177061,634,879,787,805,653,630,652,0.400982934114,0.00460968451156,0.0498542520929,0.999999957172,0.000132183524202,-0.000257556731808,-4.2991745901e-05,1793244562285426176
+22,0.366666667,BASELINE,764,745,713,679.240517883,663.240517883,634,879,787,805,653,630,652,0.400983658102,0.00461028155782,0.0498545668919,0.999999957494,0.000131167577014,-0.000256782862246,-4.32449297532e-05,1793244562302092288
+23,0.383333333,BASELINE,764.34126106,745,713,679,663.34126106,634,879,787,805.34126106,653,630.34126106,652,0.400983398507,0.00461105930125,0.0498546470245,0.999999957431,0.000132432700219,-0.00025635172261,-4.3392440245e-05,1793244562318758656
+24,0.400000000,BASELINE,764.927431983,745,713,679,663.927431983,634,879,787,805.927431983,653,630.927431983,652,0.400982433033,0.00461196672412,0.049854558746,0.999999957087,0.000135334859298,-0.0002561665469,-4.34641130794e-05,1793244562335425792
+25,0.416666667,BASELINE,765,745,713,679,663.488924315,634,879,787,806,653,631,652.511075685,0.400983280948,0.00461205801352,0.0498550752416,0.999999957339,0.000135381321493,-0.000255177402813,-4.33440325876e-05,1793244562352092928
+26,0.433333333,BASELINE,765,745,713.09281119,679,663.09281119,634,879,787,805.90718881,653,631,652.90718881,0.40098413973,0.00461172668585,0.0498556300573,0.999999957696,0.000134517708307,-0.000254261723769,-4.31680141749e-05,1793244562368759808
+27,0.450000000,BASELINE,765,745,713.666510001,679,663.666510001,634,879,787,805.333489999,653,631,652.333489999,0.400983727268,0.00460980310797,0.049855940678,0.99999995816,0.000131029282983,-0.000254315265263,-4.28425411272e-05,1793244562385426432
+28,0.466666667,BASELINE,765,745,713.759857607,679.240142393,663.759857607,634,879.240142393,787,805.240142393,653,631,652,0.400983273588,0.00460928815791,0.0498555496161,0.999999958077,0.000129786926213,-0.000255279714709,-4.28252615076e-05,1793244562402093056
+29,0.483333333,BASELINE,765,745,713.186317461,679.813682539,663.186317461,634,879.813682539,787,805.813682539,653,631,652,0.400982762685,0.0046107288533,0.0498541843847,0.999999957242,0.000131662862096,-0.000257508808272,-4.32358572001e-05,1793244562418759680
+30,0.500000000,BASELINE,765,745,713.398858178,680,663.398858178,634,879.601141822,787,806,653,631,652,0.400983300233,0.00461061858773,0.0498541852666,0.999999957309,0.000132732072777,-0.000256741297232,-4.29989653421e-05,1793244562435426048
+31,0.516666667,BASELINE,765,745,713.989632374,680,663.989632374,634,879.010367626,787,806,653,631,652,0.400984342259,0.00460976205622,0.0498548434726,0.999999957806,0.000133413116641,-0.000254531929204,-4.24505260606e-05,1793244562452092672
+32,0.533333333,BASELINE,765,745,713.428758456,680,663.428758456,634,878.428758456,787,805.428758456,653,630.428758456,652,0.40098437906,0.0046099587207,0.049854610197,0.999999957701,0.000132348746426,-0.000255416319422,-4.29562368196e-05,1793244562468759296
+33,0.550000000,BASELINE,765,745,713,680,663.150698969,634,878.150698969,787,805.150698969,653,630.150698969,652.150698969,0.400984421137,0.00461004109431,0.0498545946102,0.999999957696,0.000131456304233,-0.000255832751852,-4.3315197464e-05,1793244562485426176
+34,0.566666667,BASELINE,765,745,713,680,663.724573728,634,878.724573728,787,805.724573728,653,630.724573728,652.724573728,0.400984528452,0.00460974970086,0.049855235029,0.999999958012,0.000131134201013,-0.000254779935103,-4.3209194788e-05,1793244562502093056
+35,0.583333333,BASELINE,765,745.304044513,713,680,664,634,879,787,806,653,631,652.695955487,0.400984433292,0.00460995145551,0.0498549847438,0.999999957891,0.000132247761866,-0.000254721946857,-4.29612249196e-05,1793244562518759424
+36,0.600000000,BASELINE,765,745.888679718,713,680,664,634,879,787,806,653,631,652.111320282,0.400984151275,0.00461060831705,0.049853912463,0.999999957362,0.00013468624044,-0.000255582046484,-4.25822391151e-05,1793244562535425536
+37,0.616666667,BASELINE,765,746,713,680,663.529981543,634,879.470018457,787,806,653,631,652,0.400984471006,0.00460965767327,0.0498546466628,0.999999957653,0.000134284059511,-0.000254658784383,-4.25597424371e-05,1793244562552092160
+38,0.633333333,BASELINE,765,745.949561392,713,679.949561392,663.050438608,634,879.949561392,787,806,653,631,652.050438608,0.400984704481,0.00460853197817,0.0498556128179,0.999999958076,0.000133077242592,-0.000253615035279,-4.26367034369e-05,1793244562568758784
+39,0.650000000,BASELINE,765,745.37064211,713,679.37064211,663.62935789,634,879.37064211,787,806,653,631,652.62935789,0.400982551312,0.00460953349043,0.0498545576585,0.999999957881,0.000130439870762,-0.000255703561745,-4.28772631743e-05,1793244562585425408
+40,0.666666667,BASELINE,765,745.206524717,713.206524717,679,664,634,879,787,805.793475283,653,631,653,0.40098161013,0.0046098384146,0.0498542679684,0.999999957882,0.000128797389077,-0.000256502627286,-4.3054374493e-05,1793244562602092288
+41,0.683333333,BASELINE,765,745.780572907,713.780572907,679,664,634,879,787,805.219427093,653,631,653,0.400982825752,0.00460890371719,0.0498553404784,0.999999958245,0.000128925375934,-0.000255007017451,-4.31185754236e-05,1793244562618759168
+42,0.700000000,BASELINE,765,745.636978127,714,679,663.636978127,634,879,787,805.363021873,653,631,652.636978127,0.400983983759,0.00460938598325,0.049855877125,0.999999958305,0.000130699382944,-0.00025384995012,-4.3210878469e-05,1793244562635426304
+43,0.716666667,BASELINE,765,745.049331077,714,679,663.049331077,634,879,787,805.950668923,653,631,652.049331077,0.400985106118,0.00461074501654,0.0498560821981,0.999999958172,0.000133491889373,-0.000252902361046,-4.33205701128e-05,1793244562652093184
+44,0.733333333,BASELINE,764.46587922,745,714,679,663.53412078,634,879,787,805.46587922,653,630.46587922,652.53412078,0.400984365928,0.00461098029118,0.0498557528352,0.999999957991,0.000133039588684,-0.000253861439184,-4.32868929535e-05,1793244562668759808
+45,0.750000000,BASELINE,764.115217772,745,713.884782228,679,663.884782228,634.115217772,879,787,805,653,630.115217772,652.884782228,0.400983648203,0.00461066642872,0.049855441709,0.999999957861,0.000132376536529,-0.000254744278052,-4.31284506309e-05,1793244562685426432
+46,0.766666667,BASELINE,764.688481257,745,713.311518743,679,663.311518743,634.688481257,879,787,805,653,630.688481257,652.311518743,0.400983698333,0.00460857888182,0.0498553977834,0.999999957958,0.00013205776676,-0.000254629408622,-4.25262380431e-05,1793244562702092800
+47,0.783333333,BASELINE,764.736866974,745,713,679.263133026,663.263133026,634.736866974,879,787,805.263133026,653,631,652.263133026,0.400982941554,0.00460799870043,0.0498549371512,0.999999957821,0.000131500724316,-0.000255485316702,-4.23505430628e-05,1793244562718759424
+48,0.800000000,BASELINE,764.160562845,745,713,679.839437155,663.839437155,634.160562845,879,787,805.839437155,653,631,652.839437155,0.400981224421,0.00460921252892,0.0498539805704,0.999999957401,0.000130660098589,-0.00025749660792,-4.2682473336e-05,1793244562735426048
+49,0.816666667,BASELINE,764.42448522,745.42448522,713,679.57551478,664,634,879,787,806,653,630.57551478,653,0.400982579294,0.00460948918386,0.049854702176,0.999999957681,0.000131466620867,-0.000255984272037,-4.27328253157e-05,1793244562752092416
+50,0.833333333,BASELINE,765,746,713.012725761,679,664,634,879,787,806,653,630,653,0.400985040529,0.00460941467644,0.0498560314057,0.999999958212,0.0001328452394,-0.000253192517894,-4.26792601982e-05,1793244562768759040
+51,0.850000000,BASELINE,765,746,713.592742872,679,664,634,879,787,806,653,630,653,0.400983932271,0.00460982081468,0.0498555549611,0.999999958188,0.000131368788759,-0.000254031056968,-4.28410455681e-05,1793244562785426176
+52,0.866666667,BASELINE,765,745.828681085,714,679.171318915,664,634,879,787,806,653,630.171318915,653,0.400983277967,0.00461009135338,0.0498552756228,0.99999995814,0.000130687637383,-0.000254549329821,-4.29573421509e-05,1793244562802093312
+53,0.883333333,BASELINE,765,745.253502193,714,679.746497807,664,634,879,787,806,653,630.746497807,653,0.400983693797,0.00461004223541,0.0498554609345,0.999999958043,0.000131881291004,-0.000254312620558,-4.29664053778e-05,1793244562818760192
+54,0.900000000,BASELINE,764.678359296,745,713.678359296,679.678359296,664,634,879,787,805.678359296,653,631,652.678359296,0.400983941491,0.00460987958745,0.0498555619702,0.999999958068,0.000132238913314,-0.000254053177228,-4.28319631537e-05,1793244562835426560
+55,0.916666667,BASELINE,764.103244795,745,713.103244795,679.103244795,664,634,879,787,805.103244795,653,631,652.103244795,0.400984056685,0.00460962747048,0.0498555965909,0.999999958188,0.000131937688506,-0.000253775817986,-4.25844292983e-05,1793244562852092672
+56,0.933333333,BASELINE,764.486933928,745,713,679,664,634,879,787,805.486933928,653,630.513066072,652.486933928,0.400984623532,0.0046098899653,0.049855841442,0.99999995848,0.000130589618459,-0.000253297482951,-4.27382243081e-05,1793244562868759040
+57,0.950000000,BASELINE,764.921812269,745.078187731,713,679.078187731,664,634,878.921812269,787.078187731,806,653,630.078187731,652.921812269,0.400985023778,0.00460994061238,0.049856016201,0.999999958711,0.000129327866865,-0.000253002876007,-4.29107645838e-05,1793244562885425664
+58,0.966666667,BASELINE,764.344730094,745.655269906,713,679.655269906,664,634,878.344730094,787.655269906,806,653,630.655269906,652.344730094,0.400983730435,0.00460792106824,0.0498554502184,0.999999958332,0.000130078389655,-0.000254161169838,-4.26426184344e-05,1793244562902092544
+59,0.983333333,BASELINE,764,745.769086735,713,679.769086735,664,634.230913265,878,787.769086735,805.769086735,653,631,652.230913265,0.400983445355,0.00460780209031,0.0498553349717,0.999999958095,0.000131266354257,-0.000254461538836,-4.2768116272e-05,1793244562918759424
+60,1.000000000,BASELINE,764,745.195577993,713,679.195577993,664,634.804422007,878,787.195577993,805.195577993,653,631,652.804422007,0.400984656186,0.00461050289548,0.049855888461,0.999999958068,0.000133103331432,-0.000253489044074,-4.34776456939e-05,1793244562935426560
+61,1.016666667,BASELINE,764.389211998,745,713.389211998,679.389211998,664,634.610788002,878.389211998,787,805.389211998,653,631,652.610788002,0.400985416423,0.00461085226667,0.0498566157101,0.999999958519,0.000132520426204,-0.000252011899435,-4.34811048269e-05,1793244562952092928
+62,1.033333333,BASELINE,764.979839965,745,713.979839965,679.979839965,664,634.020160035,878.979839965,787,805.979839965,653,631,652.020160035,0.400985943479,0.00460998477809,0.0498574328794,0.999999959213,0.000130685239432,-0.000250273600149,-4.31191747919e-05,1793244562968759296
+63,1.050000000,BASELINE,764.440654209,745,713.440654209,679.440654209,663.440654209,634,879,787,805.440654209,653,631,652,0.40098356196,0.00461063256243,0.0498558643459,0.999999958343,0.000131014748448,-0.000253527700376,-4.3270560685e-05,1793244562985425664
+64,1.066666667,BASELINE,764.137827868,745,713,679,663,634,879.137827868,787,805.137827868,653,630.862172132,652,0.400982004956,0.00461091470032,0.0498549326058,0.999999957774,0.00013115963622,-0.000255681550508,-4.3315871301e-05,1793244563002092288
+65,1.083333333,BASELINE,764.714302673,745,713,679,663,634,879.714302673,787,805.714302673,653,630.285697327,652,0.40098339916,0.00460986271921,0.0498562958268,0.999999958365,0.000130473489675,-0.000253772279717,-4.29658570065e-05,1793244563018758656
+66,1.100000000,BASELINE,765,745,713,679.295540396,663.295540396,634,879.408919207,787,806,653,630.295540396,652.295540396,0.400985036457,0.00460961202723,0.049857338296,0.999999958772,0.000130802060549,-0.000252026897686,-4.27809982405e-05,1793244563035425536
+67,1.116666667,BASELINE,765,745,713,679.881457792,663.881457792,634,878.237084415,787,806,653,630.881457792,652.881457792,0.400986912601,0.00461014862509,0.0498580656172,0.999999958996,0.000132127620714,-0.000250442541222,-4.27584095854e-05,1793244563052092416
+68,1.133333333,BASELINE,765,745.462022175,713,679.537977825,663.537977825,634,878,787,805.537977825,653,630.537977825,652.537977825,0.400986072288,0.00460962250102,0.049857408919,0.999999958804,0.000131924980397,-0.000251328118301,-4.2673423654e-05,1793244563068759296
+69,1.150000000,BASELINE,764.958899066,745.958899066,713,679,663,634,878.041100934,787,805,653,630.041100934,652,0.400984608758,0.00460877973751,0.0498564508202,0.999999958555,0.000131078237305,-0.000252775211156,-4.25739707628e-05,1793244563085425920
+70,1.166666667,BASELINE,764.38149001,745.38149001,713,679,663,634,878.61850999,787,805,653,630.61850999,652,0.400984003404,0.00460732242524,0.0498561403731,0.999999958948,0.000126884547921,-0.000253374887298,-4.24922523598e-05,1793244563102092544
+71,1.183333333,BASELINE,764.19508252,745,713,679,663.19508252,634,879,787,805,653,631,652,0.400983568093,0.00460723029562,0.0498559290679,0.999999959008,0.000125174994899,-0.000253982999945,-4.25190899071e-05,1793244563118759424
+72,1.200000000,BASELINE,764.770026283,745,713,679,663.770026283,634,879,787,805,653,631,652,0.400983463886,0.00460979642535,0.0498559108097,0.999999958443,0.000128302507659,-0.000254607540122,-4.27573056733e-05,1793244563135426048
+73,1.216666667,BASELINE,765,745,713,679.353789713,664,634,878.646210287,787,805,653,630.646210287,652,0.400983704681,0.00461038749025,0.0498560228714,0.999999958136,0.000130978930155,-0.000254432476102,-4.28542002549e-05,1793244563152092416
+74,1.233333333,BASELINE,765,745,713,679.943432725,664,634,878.056567275,787,805,653,630.056567275,652,0.400984175471,0.00460966188146,0.0498562218107,0.999999958002,0.00013335463392,-0.000253724357293,-4.28568832993e-05,1793244563168759040
+75,1.250000000,BASELINE,765,745.523701895,713,679.476298105,663.476298105,634.523701895,878.523701895,787,805.523701895,653,630.523701895,652,0.400983255773,0.004610040601,0.0498552933018,0.999999957927,0.000131691381813,-0.000254853191018,-4.30527237423e-05,1793244563185425920
+76,1.266666667,BASELINE,764.89742955,745.89742955,713,679,663.10257045,634.89742955,879,787,805.89742955,653,631,652,0.400982632245,0.00461027829538,0.0498545853278,0.999999957973,0.000130009171285,-0.00025552282808,-4.31235237232e-05,1793244563202092800
+77,1.283333333,BASELINE,764.320438471,745.320438471,713,679,663.679561529,634.320438471,879,787,805.320438471,653,631,652,0.400984061065,0.00460932168329,0.0498554507656,0.99999995857,0.000130221651452,-0.000253166932477,-4.25211676825e-05,1793244563218759680
+78,1.300000000,BASELINE,764.260050559,745,713,679,664,634,879,787,805.260050559,653,631,652.260050559,0.400984773769,0.00460902986104,0.0498560470835,0.999999958877,0.000129993183392,-0.000252097511101,-4.235440298e-05,1793244563235426560
+79,1.316666667,BASELINE,764.844908544,745,713,679,664,634,879,787,805.844908544,653,631,652.844908544,0.400984592031,0.0046095683723,0.049856307266,0.999999958827,0.000129213963728,-0.000252634917372,-4.27316990695e-05,1793244563252093440
+80,1.333333333,BASELINE,764.574424559,745,713,679,664,634,879,787,806,653,631,652.574424559,0.400983726616,0.00460909503889,0.0498557862028,0.999999958526,0.000129131409412,-0.000253857690956,-4.27681195531e-05,1793244563268759552
+81,1.350000000,BASELINE,764.004735073,745,713.004735073,679.004735073,663.995264927,634,879,787,806,653,631,652,0.400982626712,0.0046082728789,0.0498549915464,0.999999958138,0.000129301843169,-0.000255308733148,-4.26822098813e-05,1793244563285425920
+82,1.366666667,BASELINE,764.584519119,745,713.584519119,679.584519119,663.415480881,634,879,787,806,653,631,652,0.400983012275,0.00460943289871,0.0498552094976,0.999999958312,0.000129664138468,-0.000254444728351,-4.2679235637e-05,1793244563302092544
+83,1.383333333,BASELINE,765,745,714,680,663.162676543,634,879,787,806,653,631,652,0.400983471067,0.00461033187051,0.0498555207511,0.999999958497,0.000130081958084,-0.000253488509444,-4.27673840078e-05,1793244563318759424
+84,1.400000000,BASELINE,765,745,714,680,663.736720773,634,879,787,806,653,631,652,0.400984115035,0.00461057071841,0.0498560679426,0.999999958711,0.000130640184684,-0.000252299104279,-4.30859583435e-05,1793244563335426048
+85,1.416666667,BASELINE,765,745,713.688788038,680,664,634,879,787,805.688788038,653,631,652,0.400984202994,0.00461042490024,0.0498560567797,0.999999958655,0.000131403283607,-0.000252129777313,-4.3059044493e-05,1793244563352092928
+86,1.433333333,BASELINE,765,745,713.11391822,680,664,634,879,787,805.11391822,653,631,652,0.400983819902,0.0046099531941,0.0498555725806,0.99999995837,0.000132339949725,-0.000252824657658,-4.27394340525e-05,1793244563368759296
+87,1.450000000,BASELINE,765,745,713.473027845,680,664,634,879.473027845,786.526972155,805,653,630.526972155,652.473027845,0.400985435631,0.00461016629625,0.0498567894288,0.999999958496,0.000133723943094,-0.000251598228515,-4.27207343162e-05,1793244563385425920
+88,1.466666667,BASELINE,765,745,713.938117195,680,663.938117195,634,880,786.061882805,805,653,630.061882805,652.938117195,0.400987059091,0.00461049023853,0.0498581038024,0.999999958647,0.000134904550801,-0.000250353117168,-4.27693797847e-05,1793244563402092544
+89,1.483333333,BASELINE,765,745,713.358265085,680,663.358265085,634,880,786.641734915,805,653,630.641734915,652.358265085,0.400984612542,0.00461032535162,0.0498567157318,0.999999958195,0.00013345745571,-0.000252926011068,-4.27592584965e-05,1793244563418759168
+90,1.500000000,BASELINE,764.780896181,745,713,680,663.219103819,634,879.561792362,787,805.219103819,653,630.780896181,652.219103819,0.400983051849,0.00461057699824,0.0498559276326,0.999999957851,0.000133252176084,-0.000254372850584,-4.28447781142e-05,1793244563435425792
+91,1.516666667,BASELINE,764.207542217,745,713,680,663.792457783,634,878.415084433,787,805.792457783,653,630.207542217,652.792457783,0.400982923419,0.00461150210217,0.0498561095758,0.999999957694,0.000135054681359,-0.00025399906924,-4.30849312997e-05,1793244563452092416
+92,1.533333333,BASELINE,764.376866884,745,713,680,663.623133116,634,878.376866884,787,805.623133116,653,630.376866884,652.623133116,0.400982666363,0.00461158292666,0.0498556989552,0.999999957715,0.000133942959148,-0.000254495519191,-4.31535208269e-05,1793244563468759040
+93,1.550000000,BASELINE,764.967548138,745,713,680,663.032451862,634,878.967548138,787,805.032451862,653,630.967548138,652.032451862,0.400982336331,0.00461118475166,0.0498549521452,0.99999995783,0.000131177858304,-0.000255485692393,-4.31247742151e-05,1793244563485425664
+94,1.566666667,BASELINE,764.452489687,745,713,679.452489687,663.547510313,634.547510313,879,787,805.547510313,653,631,652.547510313,0.40098267258,0.00461039687931,0.0498550335901,0.999999958079,0.000130466104551,-0.000254905826163,-4.29465383767e-05,1793244563502092288
+95,1.583333333,BASELINE,764,745.126453157,713,679,663.873546843,634.873546843,879,787,805.873546843,653,631,652.873546843,0.400983103063,0.00460985059833,0.049855378459,0.999999958324,0.000130117987908,-0.000254144081562,-4.27921199119e-05,1793244563518758656
+96,1.600000000,BASELINE,764,745.703982883,713,679,663.296017117,634.296017117,879,787,805.296017117,653,631,652.296017117,0.40098373153,0.00461024692003,0.0498564912434,0.999999958533,0.000130641212745,-0.000253059130787,-4.27536610819e-05,1793244563535425280
+97,1.616666667,BASELINE,764.284821781,745.715178219,713,679.284821781,663.284821781,634,879,787,805.284821781,653,631,652,0.400983742703,0.00461054382274,0.0498565441929,0.999999958263,0.000132523107575,-0.00025316633599,-4.2636581172e-05,1793244563552092672
+98,1.633333333,BASELINE,764.869140316,745.130859684,713,679.869140316,663.869140316,634,879,787,805.869140316,653,631,652,0.400983104778,0.00461073618404,0.0498554827014,0.999999957482,0.000135833675598,-0.00025452712111,-4.24368293624e-05,1793244563568760320
+99,1.650000000,BASELINE,764.548817286,745,713,680,664,634,879,787,806,653,631,652,0.400983306159,0.00461047186623,0.0498556310811,0.999999957885,0.000133850757983,-0.000253942449849,-4.27406550005e-05,1793244563585427200
+100,1.666666667,BASELINE,764.032304527,745.032304527,713,679.967695473,664,634,879,787,805.967695473,653,631,652.032304527,0.400983741437,0.00461011711709,0.049856113154,0.99999995857,0.000130591014369,-0.000252870384146,-4.31520550257e-05,1793244563602093568
+101,1.683333333,BASELINE,764.608982186,745.608982186,713,679.391017814,664,634,879,787,805.391017814,653,631,652.608982186,0.400984036666,0.00461045929791,0.0498563348258,0.999999958409,0.000131557141099,-0.000253045779655,-4.292734268e-05,1793244563618759680
+102,1.700000000,BASELINE,764.81490783,746,713.18509217,679,663.81490783,634,879,787,805,653,631,653,0.400984342089,0.00461047378162,0.0498564935736,0.99999995842,0.000131586571647,-0.000253017736268,-4.27502610022e-05,1793244563635426048
+103,1.716666667,BASELINE,764.239993498,746,713.760006502,679,663.239993498,634,879,787,805,653,631,653,0.400984668984,0.00460979810322,0.0498565197975,0.999999958792,0.000129643228566,-0.000252561230707,-4.26734941839e-05,1793244563652092928
+104,1.733333333,BASELINE,764,745.655823652,713.655823652,679,663.344176348,634,879.344176348,787,805,653,631,653,0.400985528717,0.00460950034377,0.0498568465528,0.999999959127,0.000129665864793,-0.000251256261073,-4.24679171284e-05,1793244563668760064
+105,1.750000000,BASELINE,764,745.06502154,713.06502154,679,663.93497846,634,879.93497846,787,805,653,631,653,0.400986770263,0.0046094733889,0.0498573886593,0.999999959432,0.000131097258717,-0.000249343309171,-4.21700387681e-05,1793244563685426944
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,713,679,664,634,879,787,806,653,631,652,0.400984026893,0.00460815324183,0.0498556490928,0.999999958519,0.000129146579346,-0.000253920172531,-4.25232018482e-05,1793244563717472256
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.468828459,745,713.468828459,679.468828459,664,634,879,787,806,653,631,652,0.400984338145,0.00460778841419,0.0498568296639,0.999999958948,0.000129187687029,-0.000252226291246,-4.23939096565e-05,1793244563734139136
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.93765689,745,713.93765689,679.93765689,664,634,879,787,806,653,631,652,0.400984649396,0.00460742358658,0.049858010235,0.999999959374,0.00012922879471,-0.00025053241006,-4.22646174722e-05,1793244563750806016
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,713.367582165,680,664,634,879,787,806,653,631,652,0.400983924077,0.00460935112205,0.0498569324501,0.999999958856,0.000129852550677,-0.000252196306006,-4.26908078387e-05,1793244563767472384
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.685666494,745.314333506,713.314333506,680,664,634,879,787,805.685666494,653,631,652.314333506,0.400983360455,0.00460967326596,0.0498559198444,0.999999958492,0.000129597124158,-0.000253766964387,-4.26982072356e-05,1793244563784139008
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.052002687,745.947997313,713.947997313,680,664,634,879,787,805.052002687,653,631,652.947997313,0.400983122609,0.00460800732692,0.0498553253266,0.999999958431,0.000128357757263,-0.000254719730432,-4.21936090552e-05,1793244563800805632
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.529264154,745.470735846,713.470735846,679.470735846,664,634,879,787,805.529264154,653,630.470735846,652.470735846,0.400983919832,0.00460876389926,0.0498555814535,0.99999995871,0.00012928599827,-0.000253104726398,-4.24622834767e-05,1793244563817472768
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.894571044,745,713.105428956,679,664,634,879.105428956,787,806,653,630,652.105428956,0.400984410868,0.00460960668375,0.0498557841515,0.999999958873,0.000130236771982,-0.00025192822223,-4.27241712137e-05,1793244563834139648
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.320263271,745,713.679736729,679,664,634,879.679736729,787,806,653,630,652.679736729,0.400983128632,0.00460986967038,0.0498554110082,0.999999958397,0.00013042589543,-0.000253722846901,-4.26484158956e-05,1793244563850806016
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,679.261074115,664,634,879.738925885,787,806,653,630.261074115,653,0.400984591858,0.00461034710361,0.0498562601202,0.999999958485,0.00013128182849,-0.000252945041218,-4.25936407184e-05,1793244563867472384
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,679.851273396,664,634,879.148726604,787,806,653,630.851273396,653,0.400989516172,0.00461109488066,0.0498586500782,0.999999959271,0.000132978380389,-0.000248924280559,-4.25653143283e-05,1793244563884139008
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.429097488,745,713.570902512,680,664,634.429097488,879,787,806,653,631,653,0.401007284502,0.00461128630063,0.0498661747679,0.999999962687,0.000132758048328,-0.000234969534576,-4.23197636604e-05,1793244563900805632
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745.002780772,713.002780772,680,664,635,879,787,806,653,631,652.997219228,0.401029518283,0.00461128107383,0.0498754661738,0.99999996675,0.000131894106851,-0.000217578053277,-4.20021717268e-05,1793244563917472256
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745.582311123,713.582311123,680,664,635,879,787,806,653,631,652.417688877,0.401080469817,0.0046093641723,0.0498924085316,0.999999974007,0.000131479165843,-0.000181499494222,-4.19207954836e-05,1793244563934139392
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745.839992094,713.839992094,680,664,634.839992094,879,787,806,653.160007906,631,652.160007906,0.401136112178,0.00460798164366,0.0499094711663,0.999999979967,0.000130774078969,-0.000145660219259,-4.18079166523e-05,1793244563950806016
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745.267027357,713.267027357,680,664,634.267027357,879,787,806,653.732972643,631,652.732972643,0.401203860881,0.00460797825231,0.0499268442213,0.999999984674,0.000129320168546,-0.00011043849393,-4.16137343524e-05,1793244563967472384
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,713.317858238,679.682141762,664,634,879.317858238,787,805.682141762,653.682141762,631,652.682141762,0.401274854654,0.00460703000605,0.0499392569371,0.999999987073,0.000127043561646,-8.96829438451e-05,-4.08860390646e-05,1793244563984139008
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,713.913148525,679.086851475,664,634,879.913148525,787,805.086851475,653.086851475,631,652.086851475,0.401348680776,0.00460525707444,0.0499473401838,0.999999988193,0.000124048891522,-8.15537185074e-05,-3.9692684655e-05,1793244564000805632
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.506549117,745,713.506549117,679,664,634,879.506549117,787,805,653,630.506549117,652,0.4014345129,0.00460410829005,0.0499489843264,0.999999988456,0.00012347903647,-7.95764715854e-05,-3.8835773609e-05,1793244564017472256
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.071044718,745,713.071044718,679.071044718,664,634,879,787,805,653,630,652,0.401525163449,0.00460322845941,0.0499491009017,0.999999988533,0.000123205538433,-7.94032719557e-05,-3.80635856856e-05,1793244564034139136
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.647583475,745,713.647583475,679.647583475,664,634,879,787,805,653,630,652,0.401635505617,0.00460350368112,0.0499461747517,0.999999988266,0.00012209352179,-8.45889697507e-05,-3.74852991562e-05,1793244564050805760
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745.228124648,713.771875352,679.771875352,663.771875352,634,879,787,805.228124648,653,630.228124648,652.228124648,0.401755806273,0.00460275086705,0.0499450476661,0.999999988332,0.000119898847828,-8.72982392675e-05,-3.6605333241e-05,1793244564067472128
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745.814959283,713.185040717,679.185040717,663.185040717,634,879,787,805.814959283,653,630.814959283,652.814959283,0.401891765942,0.00460038153887,0.0499467494833,0.999999988943,0.000116001771378,-8.61134987526e-05,-3.52509977345e-05,1793244564084139008
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.603396628,745.603396628,713,679,663,634,879,787,805.603396628,653,631,652.603396628,0.402050671022,0.00459867041736,0.0499489215572,0.999999989433,0.000113053486557,-8.49093696226e-05,-3.38003071934e-05,1793244564100805888
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.024142923,745.024142923,713,679,663,634,879,787,805.024142923,653,631,652.024142923,0.402220143313,0.00459726242384,0.0499513102016,0.999999989866,0.000110542154578,-8.36963112235e-05,-3.23052415226e-05,1793244564117472512
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745.553146993,713,679,664.106293986,634,879,787,805.553146993,653,631,652,0.402410922279,0.00459358076987,0.0499465278104,0.99999998954,0.00010657048548,-9.28019871469e-05,-3.08156350006e-05,1793244564134138880
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.129748896,746,713,679,664.870251104,634,879,787,805.870251104,653,631,652,0.402613449061,0.00459059831987,0.0499428862136,0.999999989262,0.000103094619289,-9.99191466782e-05,-2.93988664876e-05,1793244564150805760
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.704285188,746,713,679,664.295714812,634,879,787,805.295714812,653,631,652,0.402853071459,0.00459035177241,0.0499442244854,0.999999989578,0.000101536122602,-9.86810919685e-05,-2.82309769526e-05,1793244564167472384
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.713394987,713,679,664,634,878.713394987,787,805.286605013,653,631,652,0.403114600216,0.00458913809818,0.0499498408862,0.999999990973,9.7919270239e-05,-8.80416097763e-05,-2.67150435668e-05,1793244564184139008
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.122820074,713,679,664,634,878.122820074,787,805.877179926,653,631,652,0.403399362586,0.00458689870069,0.0499599946201,0.999999993175,9.21193501564e-05,-6.74310843909e-05,-2.48299790339e-05,1793244564200805632
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745.458927559,713,679.458927559,664,634,878.458927559,787,806,653,631,652,0.403715128028,0.00458372525955,0.0499691516141,0.999999994755,8.67183310972e-05,-4.95633488921e-05,-2.26676505926e-05,1793244564217472256
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.961959122,713.038040878,679.961959122,664,634,879,787,806,653,631,652,0.40404151952,0.00458023858528,0.0499779786862,0.999999995943,8.14878093312e-05,-3.25370695204e-05,-2.03597370359e-05,1793244564234138880
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.387310327,713.612689673,679.387310327,664,634,879,787,806,653,631,652,0.404402971189,0.00457579300786,0.0499858436651,0.999999996728,7.71848526024e-05,-1.7221459392e-05,-1.70251408572e-05,1793244564250805760
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.191324706,714,679,663.808675294,634,879,787,806.191324706,652.808675294,631,652,0.404778159032,0.00457185100615,0.0499927645068,0.999999997251,7.27285835295e-05,-2.96466245853e-06,-1.41061340134e-05,1793244564267472640
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.778200959,714,679,663.221799041,634,879,787,806.778200959,652.221799041,631,652,0.405181745489,0.00456895011545,0.0499977334041,0.999999997577,6.79553515888e-05,9.10310426877e-06,-1.20463318566e-05,1793244564284139520
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.640592399,714,679.359407601,663.359407601,634,879,787,806.281184797,652.359407601,631,652.359407601,0.405580679639,0.00456473360087,0.0499863987137,0.999999997938,6.22793765234e-05,-1.24825309133e-05,-9.44413543194e-06,1793244564300805888
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.062830215,714,679.937169785,663.937169785,634,879,787,805.12566043,652.937169785,631,652.937169785,0.405976787364,0.00455971779156,0.049965158938,0.999999996922,5.6054948131e-05,-5.45139609441e-05,-6.51241244893e-06,1793244564317472256
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,663.485026526,634,879,787,805.514973474,653,631,653,0.406421149775,0.00455474515466,0.0499493170944,0.999999995393,4.92230079229e-05,-8.23346633066e-05,-3.45839148483e-06,1793244564334138880
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,663.184133153,634,879,787.092066576,806,653,631,652.907933424,0.406879074715,0.00454990989495,0.0499353218837,0.999999993378,4.29901865819e-05,-0.000106746972149,-3.18415030904e-07,1793244564350805760
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,664.330837531,634,879,787.665418766,806,653,631,652.334581234,0.407377119731,0.00454576524642,0.0499275370145,0.999999991692,4.02768083385e-05,-0.000122405966873,3.19289401644e-06,1793244564367472384
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,664.753313093,634,879,787.753313093,805.753313093,653,631,652.246686907,0.407917336575,0.00454079588791,0.0499332202997,0.999999993359,3.561504685e-05,-0.000109397765334,6.71324847618e-06,1793244564384139008
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,664.160952645,634,879,787.160952645,805.160952645,653,631,652.839047355,0.408516647262,0.00453467089307,0.0499577760285,0.999999997969,2.82230856974e-05,-5.62192457466e-05,1.02462777275e-05,1793244564400805888
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,664,634,879,787,805.420254028,653,631,653,0.409130083216,0.00452803511295,0.0499808037332,0.999999997432,6.80557831524e-05,-1.73664879407e-05,1.42372341107e-05,1793244564417472768
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,664,634,879,787,805.997299359,653,631,653,0.409748789109,0.00452120876563,0.0500032613515,0.999999991824,0.000125507385511,1.61415136041e-05,1.83990370164e-05,1793244564434139392
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.427301754,664,634,879,787,805.427301754,653,631,652.427301754,0.410355305689,0.00451352739287,0.0499989817492,0.999999991177,0.000130970251126,2.82241365837e-06,2.20362165736e-05,1793244564450806016
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.851933873,745,714,679,664.148066127,634,879.148066127,787,805,653,631,652,0.410961533863,0.00450676433676,0.0499861874388,0.999999990986,0.0001290285097,-2.74792253357e-05,2.50048891914e-05,1793244564467472640
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.276633221,745,714,679,664.723366779,634,879.723366779,787,805,653,631,652,0.41156709514,0.00450266262159,0.0499491872919,0.999999988364,0.000106426652979,-0.000106147464764,2.60517486543e-05,1793244564484139264
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.308193862,745,713.691806138,679,664.691806138,634,880.308193862,787,805,652.691806138,631,652,0.412244999152,0.00449437381268,0.0499378052455,0.99999999073,5.78449364484e-05,-0.000121645992239,1.99078775975e-05,1793244564500805888
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.901844632,745,713.098155368,679,664.098155368,634,880.901844632,787,805,652.098155368,631,652,0.412989908895,0.00448220681174,0.0499501513238,0.999999996774,-1.479998228e-05,-7.86351524735e-05,7.10377117552e-06,1793244564517472512
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713,679.482930581,664,634,880.034138837,787,805.482930581,652.482930581,631,652,0.413754399474,0.00447608121449,0.0499716270067,0.999999998957,-1.52641559486e-05,-4.21863115051e-05,8.61420427515e-06,1793244564534139392
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.94158313,745.05841687,713,680,664,634,879,787,805.94158313,653,631,652,0.414516823773,0.00447174320931,0.0499892432522,0.999999999783,-2.86333089127e-06,-1.61891724885e-05,1.27932173258e-05,1793244564550806016
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.392237857,745.607762143,713,680,664,634,879,787,805.392237857,653,631,652,0.415229286143,0.00447237036274,0.0499592265653,0.999999997624,-2.51094010766e-06,-6.71026494879e-05,1.55682409467e-05,1793244564567472384
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.176565832,745.823434168,713,680,664,634,879.176565832,787,805.176565832,652.823434168,631,652.176565832,0.415965179141,0.00448005507094,0.0499348772708,0.999999994148,4.80866810119e-06,-0.000106721119348,1.7083356168e-05,1793244564584138752
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.793949797,745.206050203,713,680,664,634,879.793949797,787,805.793949797,652.206050203,631,652.793949797,0.416759569519,0.0045053598252,0.049924677314,0.999999992466,2.95227842197e-05,-0.000118140223773,1.54529563391e-05,1793244564600805632
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.613832227,745,713,679.613832227,664.386167773,634,880,787,806,652,631,652.613832227,0.417591665238,0.00451529197843,0.0499438748868,0.999999995131,5.05782034212e-05,-8.33358753528e-05,1.53470464747e-05,1793244564617472256
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.034220715,745,713,679.034220715,664.965779285,634,880,787,806,652,631,652.034220715,0.418442648738,0.00451752350536,0.0499777986189,0.999999997114,6.98008639074e-05,-2.53767264384e-05,1.60048021993e-05,1793244564634138880
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.544766121,745,713.544766121,679,664.455233879,634,880,787,806,652,631,652,0.419256727602,0.00450458518539,0.0499771394509,0.999999998006,4.63852767301e-05,-3.89869226182e-05,1.77785921943e-05,1793244564650805504
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679.122120209,664,634,880,787,806,652,631,652,0.420076493089,0.00449311082408,0.0499738550633,0.999999998262,2.37261980771e-05,-5.05404179941e-05,1.89655508771e-05,1793244564667471872
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679.69361031,664,634,880,787,806,652,631,652,0.420925704415,0.00449052595074,0.0499688952762,0.999999999027,1.36954527859e-05,-3.80014332284e-05,1.7735449244e-05,1793244564684138752
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679.725971237,664.274028763,634,880,787,806,652,631.274028763,652,0.421806336457,0.00448969876196,0.049976188699,0.999999999692,1.28187779728e-05,-1.24471573936e-05,1.72381469866e-05,1793244564700805376
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679.135233769,664.864766231,634,880,787,806,652,631.864766231,652,0.422723283097,0.00449090301653,0.0499976437668,0.999999999196,2.25219175556e-05,2.81495409571e-05,1.75877773306e-05,1793244564717472256
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.446360525,664.553639475,634,880,787,806,652,631.553639475,652,0.423586967531,0.00449216229917,0.0499876630222,0.99999999953,2.32868842854e-05,7.32472728788e-06,1.85426518188e-05,1793244564734138880
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.97507945,664,634,880,787,806.02492055,652,631,652,0.424436990433,0.0044936131638,0.0499696752509,0.999999999151,2.15791745445e-05,-2.90779585219e-05,1.96466878799e-05,1793244564750805760
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.403532612,664,634,880,787,806.596467388,652,631,652,0.425334204948,0.00449890798259,0.0499807707892,0.999999999488,2.384085251e-05,-7.18988856154e-06,2.00810928238e-05,1793244564767472384
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.169626585,714,679,664.169626585,634,880,787,806.830373415,652,631,652,0.426227276508,0.00450051387425,0.0499924366802,0.999999999452,2.36643518599e-05,9.9223440005e-06,2.09227427292e-05,1793244564784138752
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.746658277,714,679,664.746658277,634,880,787,806.253341723,652,631,652,0.427110397564,0.004493259788,0.0500054724297,0.999999999465,1.76318915855e-05,1.55640823675e-05,2.27425039076e-05,1793244564800805632
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.667209258,714,679,664.667209258,634,880,787,806,652,631,652,0.427971129512,0.00448832149385,0.0499885088765,0.999999999315,1.74678040281e-05,-2.24484911957e-05,2.36963736412e-05,1793244564817472512
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.073953937,714,679,664.073953937,634,880,787,806,652,631,652,0.428814338187,0.00448519569582,0.0499480658362,0.999999994996,2.1896702711e-05,-9.46278867264e-05,2.39725378919e-05,1793244564834139136
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.50559769,714,679.50559769,664,633.49440231,880,787,806,652,631,652,0.429725751983,0.0044861687651,0.0499522302389,0.999999996726,2.32986392914e-05,-7.3968365612e-05,2.31043327346e-05,1793244564850805504
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,746,714,679.916889628,664.083110372,633.083110372,880,787,806.083110372,652,631,652,0.430637419437,0.00448771050239,0.0499601928113,0.999999998325,2.38761001352e-05,-4.77255572522e-05,2.23923957721e-05,1793244564867472384
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,746,714,679.339896537,664.660103463,633.660103463,880,787,806.660103463,652,631,652,0.431492873731,0.00448916278387,0.0499529759027,0.999999997242,2.21157561367e-05,-6.68711809546e-05,2.35775306021e-05,1793244564884139008
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,746,714,679.241089725,664.758910275,634,880,787.241089725,806.758910275,652,631,652,0.432339565665,0.0044899935629,0.0499440891808,0.999999996078,1.85105948143e-05,-8.31841870732e-05,2.41076056263e-05,1793244564900805632
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,746,714,679.827800597,664.172199403,634,880,787.827800597,806.172199403,652,631,652,0.433173696187,0.00448993336933,0.0499328086486,0.99999999509,1.22607420138e-05,-9.54364151488e-05,2.36986009007e-05,1793244564917472256
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.59113145,714,680,664,634,880,787.59113145,806,652,631,652,0.434058064155,0.00448685347271,0.0499515821314,0.999999997629,8.70692532464e-06,-6.37642992205e-05,2.44840234951e-05,1793244564934139136
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.012407755,714,680,664,634,880,787.012407755,806,652,631,652,0.434963302078,0.00448251910911,0.0499828408723,0.999999999553,6.27311591102e-06,-1.38448121537e-05,2.57656437426e-05,1793244564950805760
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,664.566459639,634,880,787,806,651.433540361,631,652,0.435759971187,0.00448200175407,0.0499789172779,0.999999998675,1.73213721951e-05,-3.93673606634e-05,2.82817040209e-05,1793244564967472128
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.142393275,745,713.857606725,680,664.857606725,634,880.142393275,787,806,651.142393275,631,652,0.436552050484,0.00448224543724,0.0499720054959,0.999999997167,2.43604468659e-05,-6.45592541621e-05,3.00687097177e-05,1793244564984139008
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.709565671,745,713.290434329,680,664.290434329,634,880.709565671,787,806,651.709565671,631,652,0.437337533676,0.00448450992682,0.0499584790279,0.999999995876,1.8558389742e-05,-8.38339089766e-05,2.96001609343e-05,1793244565000805632
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.709342139,745.290657861,713.290657861,680,664.290657861,634,881,787,806,652,631,652,0.438139602415,0.00448811818558,0.0499627742337,0.999999997303,1.26054801435e-05,-6.69393364413e-05,2.74760617577e-05,1793244565017472256
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.113641279,745.886358721,713.886358721,680,664.886358721,634,881,787,806,652,631,652,0.438959077499,0.00449313671874,0.0499857731382,0.999999999627,6.49425247129e-06,-1.20854602226e-05,2.36144762316e-05,1793244565034139136
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,714,680,664.529182621,634,881,787.470817379,806.470817379,652,631,652,0.439723749477,0.00449266407934,0.0499767797741,0.999999999084,2.27671029091e-05,-2.6892049341e-05,2.42795891773e-05,1793244565050805504
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,746,714,680,664,634,880.947918023,787.947918023,806.947918023,652,631,652,0.440470409598,0.00449071810506,0.0499602220488,0.999999997094,4.2548781858e-05,-5.76718250361e-05,2.59920560138e-05,1793244565067472384
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,746,714,680,664,634,880.372122177,787.372122177,806.372122177,652,631,652,0.441165861084,0.0044869737987,0.0499434384173,0.999999995106,4.4552001859e-05,-8.39401323657e-05,2.75056708647e-05,1793244565084138752
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+191,3.183333333,POSE1_TO_POSE2_PRESS,765,746,713,680.650003675,664,634,880.349996325,786.349996325,806.650003675,652,630.349996325,652,0.443188689964,0.00449144369669,0.0499449404049,0.99999999575,4.71764008349e-05,-7.28483360782e-05,3.11176104955e-05,1793244565134138624
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,746,713,680.054552751,664,634,880.945447249,786.945447249,806.054552751,652,630.945447249,652,0.443802739132,0.00450005260905,0.0499331341206,0.999999993308,5.45393171535e-05,-9.67091831777e-05,3.24999627818e-05,1793244565150805248
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+247,4.116666667,HOLD_POSE2,764.581970063,745,714,680.418029937,660,629,880.581970063,786,806.581970063,652,630.418029937,652,0.452899228424,0.00459494167891,0.0496833646694,0.999999863457,0.000183940229769,-0.000488783890141,1.84842289095e-05,1793244566087966208
+248,4.133333333,HOLD_POSE2,764.839004194,745,714,680,659.839004194,629,880.839004194,786,807,652,630.160995806,652,0.452900082093,0.00459505799009,0.0496844077844,0.999999864123,0.000183629575213,-0.000487534248652,1.85743051643e-05,1793244566104632832
+249,4.150000000,HOLD_POSE2,764.267486029,745,714,680,659.267486029,629,880.267486029,786,807,652,630.732513971,652,0.452899790627,0.00459471362753,0.0496838324079,0.999999863837,0.000183565866268,-0.000488146522612,1.84910569205e-05,1793244566121299456
+250,4.166666667,HOLD_POSE2,764.314141931,745.314141931,714,680,659.314141931,629,880.314141931,786,807,652,631,652,0.452898733792,0.00459510728626,0.0496829647109,0.999999863107,0.000184123169924,-0.000489444346399,1.81429177911e-05,1793244566137966080
+251,4.183333333,HOLD_POSE2,764.904664406,745.904664406,714,680,659.904664406,629,880.904664406,786,807,652,631,652,0.45289700359,0.00459615025255,0.0496818398318,0.999999861981,0.000185226837451,-0.000491345313551,1.75617289526e-05,1793244566154632192
+252,4.200000000,HOLD_POSE2,765,746,714,680.485883518,660,629,880.514116482,786,807,652,631,652,0.45289772006,0.00459582148789,0.0496821177939,0.99999986256,0.000184467561141,-0.000490449435514,1.76140799818e-05,1793244566171298816
+253,4.216666667,HOLD_POSE2,765,746,714,681,659.935089682,629,880,786,807,652,631,651.935089682,0.452898708382,0.00459546276073,0.0496825254812,0.999999863265,0.000183684986769,-0.000489300220887,1.77467830834e-05,1793244566187965696
+254,4.233333333,HOLD_POSE2,765,746,714,681,659.359220916,629,880,786,807,652,631,651.359220916,0.452898128698,0.00459694704315,0.0496818283193,0.999999862389,0.000185542319052,-0.000490395438346,1.75518646576e-05,1793244566204632320
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+256,4.266666667,HOLD_POSE2,765,745.208624585,714,681,659.791375415,629,880.791375415,786,806.208624585,652,630.208624585,651,0.452899226338,0.00459719309604,0.0496828866115,0.999999862856,0.000185770728566,-0.000489358807298,1.74771289698e-05,1793244566237965568
+257,4.283333333,HOLD_POSE2,765,745.37679158,714,680.62320842,659.62320842,629,880.62320842,786,806,652,630.37679158,651.37679158,0.452899391546,0.00459654529522,0.0496833047475,0.99999986287,0.000185237077771,-0.000489516534259,1.79056194168e-05,1793244566254632192
+258,4.300000000,HOLD_POSE2,765,745.968115922,714,680.031884078,659.031884078,629,880.031884078,786,806,652,630.968115922,651.968115922,0.452899047099,0.0045958099165,0.0496833431988,0.999999862472,0.000184784416574,-0.000490475589768,1.85586944514e-05,1793244566271299072
+259,4.316666667,HOLD_POSE2,765,746,714,680.546113579,659.546113579,629,880.546113579,786,806.546113579,652,631,652,0.452898968517,0.00459648392246,0.0496825096581,0.999999861762,0.00018698346651,-0.000491103936631,1.81693557781e-05,1793244566287965440
+260,4.333333333,HOLD_POSE2,765,745.877488689,714,680.877488689,659.877488689,629,880.877488689,786,807,652,631,652,0.452899054588,0.0045968642121,0.0496818751837,0.999999861298,0.000188507949459,-0.00049147690248,1.78507597968e-05,1793244566304631808
+261,4.350000000,HOLD_POSE2,765,745.304183143,714,680.304183143,659.304183143,629,880.304183143,786,807,652,631,652,0.452899690761,0.00459586817527,0.0496821560629,0.999999861824,0.000186994193081,-0.000490979518571,1.80110756059e-05,1793244566321298688
+262,4.366666667,HOLD_POSE2,764.729544035,745,714,680,659,629,880.270455965,786,806.729544035,652,631,652,0.452900104967,0.00459559447214,0.0496826248206,0.999999862252,0.00018593438692,-0.000490506804238,1.80910973297e-05,1793244566337965568
+263,4.383333333,HOLD_POSE2,764.153397664,745,714,680,659,629,880.846602336,786,806.153397664,652,631,652,0.452900268287,0.00459613720688,0.049683305933,0.999999862572,0.000185387670754,-0.00049006197341,1.80803644126e-05,1793244566354632448
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.424469496,745,713.424469496,680.424469496,660,629,880.424469496,786,807,652,630.575530504,652,0.452899296194,0.0045959585062,0.0496822410474,0.999999861966,0.000184649099332,-0.000491573200563,1.81460175325e-05,1793244566403746048
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.150646589,745,713.150646589,680,660,629,880,786,807,652,631,652,0.452900454281,0.00459691286391,0.0496825827037,0.999999862101,0.000186155212739,-0.000490737957837,1.79263413602e-05,1793244566420412672
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.724598323,745,713.724598323,680,660,629,880,786,807,652,631,652,0.452898560598,0.00459630980361,0.0496817077956,0.999999861281,0.000185102556774,-0.000492817233701,1.74818963683e-05,1793244566437079552
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.30808891,714,680.30808891,660,629,880.30808891,786,807,652,631,652,0.452897769668,0.00459696113511,0.0496811607678,0.999999860547,0.000186768172725,-0.000493681783719,1.73951518295e-05,1793244566453746432
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.900378711,714,680.900378711,660,629,880.900378711,786,807,652,631,652,0.452897995989,0.00459876959778,0.0496809161979,0.999999859881,0.000190941296383,-0.000493425792893,1.76383730636e-05,1793244566470412800
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.942913313,714,680,660,629,880.057086687,786,807,652,631,652,0.45290044898,0.00459582519179,0.0496828830446,0.999999863158,0.000185695254542,-0.000488756082834,1.78660024633e-05,1793244566503746560
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.787569359,714,680,660,629.787569359,880.212430641,786,807,652,631,652,0.452871919314,0.00459888055466,0.0496695482601,0.999999850989,0.000188500504196,-0.000512048334908,1.72037316351e-05,1793244566553746688
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.627967687,714,680,660,629.627967687,880,786,806.627967687,652,631,652,0.452838469102,0.00459891716626,0.0496552416475,0.99999983794,0.000188007244364,-0.000537108058478,1.69804417155e-05,1793244566570413056
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.461465877,745,714,680.538534123,659.461465877,629,880.538534123,786,806,652,631,652,0.45273059909,0.00459884898596,0.0496154624096,0.999999799749,0.000186984037698,-0.000604375294846,1.64347173761e-05,1793244566603746304
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.114382445,745.114382445,714,681,659,629,881,786,806,652,630.885617555,652,0.452663186587,0.00459967829404,0.0495958595638,0.99999978064,0.000187109070972,-0.000635183743315,1.58375737562e-05,1793244566620413184
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.135871783,745.135871783,714,680.135871783,659.864128217,629,880.135871783,786,806,652,630.864128217,652,0.452422420464,0.00460429996143,0.0495785365381,0.999999762123,0.000196409874243,-0.000661048829175,1.3819182833e-05,1793244566670413056
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.924882129,746,713.075117871,680.924882129,660,629,881,786,807,652,631,652,0.451367521174,0.00461330027463,0.0495871299591,0.999999760124,0.000215541233516,-0.000658174592632,1.00073097741e-05,1793244566787079680
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.051362181,745,713.051362181,681,662.051362181,632,881,786.948637819,806.051362181,652,631,652,0.4431846084,0.00467378916208,0.0497226853464,0.99999984593,0.000336793649367,-0.000440723689586,-2.17425162223e-05,1793244567103746304
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745.494974171,713,680.494974171,663.989948341,633.494974171,880.505025829,786.494974171,806,652,631,652,0.432965718643,0.00461858509444,0.049789067834,0.99999993675,6.89898296274e-05,-0.00034391456696,-5.88515919542e-05,1793244567320412928
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.482447717,664,634,879,787,805.517552283,652.517552283,630.517552283,652,0.416151048964,0.00459431260075,0.049798087245,0.9999999368,0.000127395644292,-0.000329791221879,-3.75139638416e-05,1793244567637080064
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.821295155,679.178704845,663,634,879.178704845,787,805,652.821295155,631,652,0.413013414754,0.00459820615089,0.0497678448457,0.999999920292,0.000128839124644,-0.000375900185531,-3.89320737622e-05,1793244567703746816
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.59051792,745,713.59051792,679.40948208,663.40948208,634,879,787,805,653,631,652,0.412304539714,0.00460192538126,0.0497775402934,0.999999922915,0.000137919406775,-0.000365524087998,-3.92512016644e-05,1793244567720413440
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.003721379,745.003721379,713.003721379,680,663.996278621,634,879.003721379,787,805.003721379,653,631,652,0.411625458988,0.00460628010776,0.0498020448708,0.999999933083,0.000146009063108,-0.00033308656575,-3.96080326402e-05,1793244567737079808
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.484441436,745.484441436,714,679.484441436,663.484441436,634,879,787,805,653,631,652,0.407896345968,0.00458752804541,0.0498129518523,0.999999942262,0.000114942118943,-0.000317401932805,-3.90027088314e-05,1793244567837080576
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.550454468,745,713,679,663,634,879,787,806,653,630.550454468,652,0.402989361511,0.00460724032414,0.0498351228923,0.99999993906,0.000140405398462,-0.000316824701766,-4.2299762122e-05,1793244568037079808
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.028711094,745,713,679.028711094,663,634,879.028711094,786.971288906,805.971288906,653,630.028711094,652,0.402700468302,0.00460757938212,0.0498182736556,0.999999927847,0.000144920347647,-0.000348548754342,-4.26451251378e-05,1793244568053746688
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.605053672,745,713,679.605053672,663,634,879.605053672,786.394946328,805.394946328,653,630.605053672,652,0.402463900459,0.00460228482549,0.0498087768043,0.999999917144,0.000181775752041,-0.00036271435215,-3.328411419e-05,1793244568070413312
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.819522779,745,713,680,663.180477221,634,879.819522779,786.180477221,805,653,631,652.180477221,0.40224383441,0.00459430515285,0.0498033164984,0.999999914598,0.000183958340947,-0.000369113722874,-2.67943564215e-05,1793244568087079680
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.246100265,745,713,680,663.753899735,634,879.246100265,786.753899735,805,653,631,652.753899735,0.402059697039,0.00458047929325,0.0498066447904,0.999999929227,0.000110649294439,-0.000358604019187,-2.65560559733e-05,1793244568103746304
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.336202999,745,713,679.663797001,663.663797001,634,879,787,805,653,631,653,0.401898370841,0.00457381308403,0.0498118017123,0.999999936654,7.82752745949e-05,-0.00034614721114,-2.73440839132e-05,1793244568120412928
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.9251834,745,713,679.0748166,663.0748166,634,879,787,805,653,631,653,0.40175419542,0.00457252992416,0.0498183335074,0.999999941455,7.66786339186e-05,-0.00033222645417,-2.89037665991e-05,1793244568137079808
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,713,679.913980202,663,634,878.086019798,787,805.086019798,653,630,652,0.401523660533,0.00458004948241,0.0498324022265,0.999999949324,8.6829296708e-05,-0.000304606656116,-3.20608093024e-05,1793244568170413312
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.764868344,745,713,679,663.235131656,634,878.764868344,787,806,653,630.235131656,652.235131656,0.401343522371,0.00457571333433,0.0498381078842,0.999999953332,8.31969310894e-05,-0.000292192941291,-3.22078002026e-05,1793244568203746816
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.301084138,745,713.301084138,679,663.698915862,634,879.698915862,787,805,653,631,652.301084138,0.401033887894,0.00457909114115,0.0498458485207,0.999999957371,9.37800253221e-05,-0.000274485757689,-3.34848472926e-05,1793244568320413440
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.889638205,745,713.889638205,679,663.110361795,634,879.110361795,787,805,653,631,652.889638205,0.40101452219,0.0045775749866,0.0498441956197,0.999999957013,9.33021033532e-05,-0.00027599254061,-3.31226046776e-05,1793244568337080064
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.529585306,745,714,679,663.470414694,634,879,787,805,653,630.529585306,652.529585306,0.401001400951,0.00457785751547,0.0498429824405,0.999999956452,9.33782182931e-05,-0.000277944198168,-3.35238877954e-05,1793244568353746432
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,713.372174274,679,663.372174274,634,879,787,805.627825726,653,630.627825726,652,0.400986465936,0.0045798110188,0.0498424408302,0.999999956153,9.63233862548e-05,-0.000277954660086,-3.40292195948e-05,1793244568387079936
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.776189281,745,713,679,663,634,879,787,805.223810719,653,630.223810719,652,0.400981984129,0.00457992939374,0.0498438384842,0.999999957198,9.53950896749e-05,-0.000274464569887,-3.42391659213e-05,1793244568420413696
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.049019835,745,713,679.950980165,663.950980165,634,879,787,805.950980165,653,630.950980165,652,0.400983531958,0.00458048874979,0.0498467222218,0.999999958677,9.70321314294e-05,-0.000268494028817,-3.37991821729e-05,1793244568453746432
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.896598322,679,663.103401678,634,879,787,805.103401678,653.896598322,630,652,0.400981423393,0.00457859962503,0.0498481180927,0.999999959086,9.51181650758e-05,-0.000267698637914,-3.34366780196e-05,1793244568487079936
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.320082344,679,663.679917656,634,879,787,805.679917656,653.320082344,630,652,0.400983314763,0.0045802161424,0.0498484572682,0.999999959407,9.69986914775e-05,-0.000265792710318,-3.36458324005e-05,1793244568503746560
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.744224198,745,713.255775802,679.255775802,663.744224198,634,879,787,805.744224198,653,630,652,0.4009834372,0.0045805899127,0.0498481044659,0.999999959414,9.71851716243e-05,-0.000265685684004,-3.37387490534e-05,1793244568520413184
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.169187083,745,713.830812917,679.830812917,663.169187083,634,879,787,805.169187083,653,630,652,0.400981351641,0.0045794124768,0.0498468879318,0.999999959031,9.52571305295e-05,-0.000267824059775,-3.36865769131e-05,1793244568537079808
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.420704645,745.420704645,713.579295355,679.579295355,663.84140929,634,879,787,805.420704645,653,630,652,0.400981352623,0.00457853441336,0.0498481198873,0.999999959502,9.34600963171e-05,-0.000266707792095,-3.35875611937e-05,1793244568553746688
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.983709489,745.983709489,713,679.016290511,664.983709489,634,879,787,806,653,630.016290511,652.016290511,0.40098221679,0.00457786174504,0.0498503034786,0.999999960292,9.18946533803e-05,-0.000264294480052,-3.34732581297e-05,1793244568570413312
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.405316801,745.405316801,713,679.594683199,664.405316801,634,879,787,806,653,630.594683199,652.594683199,0.400982852068,0.00457997001094,0.0498501038771,0.999999959956,9.64358228848e-05,-0.000263941860122,-3.35052687065e-05,1793244568587079936
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.175066171,745,713,680,664,634,879,787,805.824933829,653,631,653,0.400983017111,0.00458102396401,0.0498496970076,0.999999959705,9.9372046238e-05,-0.000263823873103,-3.33536403774e-05,1793244568603746560
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.760110041,745,713,680,664,634,879,787,805.239889959,653,631,653,0.400982080938,0.00457960888053,0.0498488047485,0.999999959692,9.8549735473e-05,-0.000264255359837,-3.27719583395e-05,1793244568620413184
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.341895652,680,664,634,879,787,805,653,631,653,0.400982446667,0.00457867542546,0.0498491034157,0.999999960026,9.72308177075e-05,-0.000263477901136,-3.27672204564e-05,1793244568637079552
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.921416673,680,664,634,879,787,805,653,631,653,0.400983717249,0.0045780767133,0.0498502298042,0.999999960598,9.5566746649e-05,-0.000261860197435,-3.31634721008e-05,1793244568653746432
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,713.500846194,680,663.500846194,634,879,787,805,653,631,652.500846194,0.400983229445,0.00457836785213,0.0498501011536,0.999999960435,9.61445643076e-05,-0.000262263398645,-3.32256090252e-05,1793244568670413056
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.923665044,745.076334956,713,679.923665044,663.076334956,634,879,787,805.076334956,653,631,652,0.400982540843,0.00457893224579,0.0498498993777,0.999999960203,9.70238900823e-05,-0.000262818930359,-3.32598815987e-05,1793244568687079936
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.348289417,745.651710583,713,679.348289417,663.651710583,634,879,787,805.651710583,653,631,652,0.400982342839,0.00458037045426,0.0498505066567,0.99999996028,9.75751469105e-05,-0.000262297774003,-3.34546438459e-05,1793244568703746560
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,745.767752725,713,679.232247275,663.767752725,634,879,786.767752725,805.767752725,653,630.767752725,652,0.400982829675,0.00458037580537,0.0498511124034,0.999999960522,9.72561182003e-05,-0.000261480028715,-3.35364702763e-05,1793244568720413184
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764,745.179300253,713,679.820699747,663.179300253,634,879,786.179300253,805.179300253,653,630.179300253,652,0.400984366872,0.00457818353677,0.0498517157999,0.999999961017,9.56023043442e-05,-0.000260207395254,-3.34450834016e-05,1793244568737079552
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764,745,713,679.597334878,663.402665122,634,878.597334878,786.402665122,805.402665122,653,630.402665122,652,0.400983975469,0.00457774586786,0.0498515563135,0.999999960897,9.61142261196e-05,-0.000260519013757,-3.31268436941e-05,1793244568753746176
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.018212339,663.981787661,634,878.018212339,786.981787661,805.981787661,653,630.981787661,652,0.400982738909,0.00457807710634,0.0498510625136,0.999999960507,9.7575224769e-05,-0.000261524889161,-3.27091916945e-05,1793244568770412800
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_10/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a2ecda7171d68b98b014deb0343ca99ef1e4785
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_02/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,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
+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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+12,0.200000000,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
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+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
+18,0.300000000,pose1_baseline,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
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+379,6.316666667,pose2_to_pose3_retreat,0.575727173121,0.0098777051328,1.04005079121,0.546298808742,0.0185533990067,1.03971728005
+380,6.333333333,pose2_to_pose3_retreat,0.575710321487,0.00987782959022,1.04005092715,0.546281955349,0.0185535178549,1.03971742548
+381,6.350000000,pose2_to_pose3_retreat,0.575697136091,0.00987783734763,1.04005105697,0.546268769978,0.018553525716,1.03971755577
+382,6.366666667,pose2_to_pose3_retreat,0.575686826266,0.00987778530966,1.04005110078,0.54625846119,0.0185534768725,1.03971759113
+383,6.383333333,pose2_to_pose3_retreat,0.575679329682,0.00987775186611,1.0400510489,0.546250964873,0.0185534440737,1.03971753239
+384,6.400000000,pose2_to_pose3_retreat,0.57567465175,0.0098777438961,1.04005102332,0.546246285945,0.0185534329503,1.03971751264
+385,6.416666667,pose2_to_pose3_retreat,0.575672194633,0.00987780670597,1.04005102578,0.546243829301,0.0185534974406,1.03971751725
+386,6.433333333,pose2_to_pose3_retreat,0.575671359385,0.00987779723644,1.04005103086,0.546242994028,0.0185534878585,1.0397175215
+387,6.450000000,pose2_to_pose3_retreat,0.575670876881,0.00987777156848,1.04005103657,0.546242511389,0.0185534616773,1.03971752572
+388,6.466666667,pose2_to_pose3_retreat,0.575670644935,0.00987775922961,1.04005103931,0.546242279379,0.0185534490917,1.03971752775
+389,6.483333333,pose2_to_pose3_retreat,0.57567049113,0.00987775104756,1.04005104113,0.546242125531,0.018553440746,1.03971752909
+390,6.500000000,pose2_to_pose3_retreat,0.57567035024,0.00987774355258,1.0400510428,0.546241984602,0.0185534331012,1.03971753032
+391,6.516666667,pose2_to_pose3_retreat,0.575670120418,0.0098777385679,1.04005103072,0.546241754621,0.0185534275643,1.03971751783
+392,6.533333333,pose2_to_pose3_retreat,0.575670044452,0.00987774515137,1.0400510099,0.546241678497,0.0185534336153,1.03971749723
+393,6.550000000,pose2_to_pose3_retreat,0.575669980264,0.00987775071416,1.0400509923,0.546241614174,0.0185534387282,1.03971747982
+394,6.566666667,pose2_to_pose3_retreat,0.575669942831,0.00987775395828,1.04005098204,0.546241576662,0.01855344171,1.03971746967
+395,6.583333333,pose2_to_pose3_retreat,0.575669908845,0.00987775690367,1.04005097273,0.546241542604,0.0185534444172,1.03971746045
+396,6.600000000,pose2_to_pose3_retreat,0.575669849842,0.00987776201703,1.04005095655,0.546241483478,0.018553449117,1.03971744444
+397,6.616666667,pose2_to_pose3_retreat,0.575669761331,0.00987776968777,1.04005093229,0.546241394781,0.0185534561674,1.03971742043
+398,6.633333333,pose2_to_pose3_retreat,0.57566963994,0.00987778020802,1.04005089902,0.546241273135,0.0185534658369,1.03971738751
+399,6.650000000,pose2_to_pose3_retreat,0.575669625585,0.00987779009551,1.04005089712,0.54624125861,0.0185534751596,1.03971738595
+400,6.666666667,pose2_to_pose3_retreat,0.575669610115,0.00987780375847,1.04005089577,0.546241242907,0.0185534880525,1.03971738509
+401,6.683333333,pose2_to_pose3_retreat,0.575669601608,0.00987781127176,1.04005089503,0.546241234272,0.0185534951423,1.03971738461
+402,6.700000000,pose2_to_pose3_retreat,0.575669589167,0.00987782225932,1.04005089395,0.546241221645,0.0185535055106,1.03971738391
+403,6.716666667,pose2_to_pose3_retreat,0.575669568065,0.00987784089541,1.04005089211,0.546241200226,0.0185535230962,1.03971738273
+404,6.733333333,pose2_to_pose3_retreat,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392259,1.03971738165
+405,6.750000000,pose2_to_pose3_retreat,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392259,1.03971738165
+406,6.766666667,pose2_to_pose3_retreat,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392259,1.03971738165
+407,6.783333333,pose2_to_pose3_retreat,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392259,1.03971738165
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_10/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..145755486e260f68d52234efa432e3be2d0b2982
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58bc1c591b6fc38a61c3eac340b911f9e97451acda4509976f5c772f51391015
+size 25831654
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_10/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..99d949d7237ad974e765c45d977be163e2b3b773
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+21,0.350000000,BASELINE,764.821256268,745,713,679.821256268,663.178743732,634,879.821256268,786,806,653,631,652,0.400984351987,0.00457787224064,0.0498534184615,0.999999962187,9.27340268224e-05,-0.000256801700577,-3.28460228074e-05,1793244569235866112
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+40,0.666666667,BASELINE,764.799279215,745.200720785,713,679,664,634,879,787,805.799279215,653,631,652.200720785,0.400985302547,0.00457860589949,0.0498542929343,0.999999962476,9.60759878128e-05,-0.000254457705616,-3.26959381338e-05,1793244569552534528
+41,0.683333333,BASELINE,764.211186449,745.788813551,713,679,664,634,879,787,805.211186449,653,631,652.788813551,0.400983693093,0.00457578239418,0.0498529732186,0.999999962385,9.07789240811e-05,-0.000256784094151,-3.24111767978e-05,1793244569569201152
+42,0.700000000,BASELINE,764,746,713,679.372048449,664,634,879,787,805,653,630.627951551,652.627951551,0.400983625155,0.00457539934704,0.0498528961884,0.999999962412,9.09615865439e-05,-0.000256615460453,-3.24217353751e-05,1793244569585867776
+43,0.716666667,BASELINE,764,746,713,679.952561389,664,634,879,787,805,653,630.047438611,652.047438611,0.400984420952,0.00457638372639,0.0498535154542,0.999999962506,9.42146243969e-05,-0.000255048827188,-3.25977662698e-05,1793244569602534400
+44,0.733333333,BASELINE,764.529424487,746,713,679.470575513,663.470575513,634,879,787,805,653,630.529424487,652,0.400984315195,0.00457723242413,0.0498537943357,0.999999962385,9.55141590992e-05,-0.000255044599898,-3.25342472623e-05,1793244569619200768
+45,0.750000000,BASELINE,764.894295553,745.894295553,713.105704447,679,663.105704447,634,879,787,805.105704447,653,630.894295553,652.105704447,0.40098434324,0.00457797492255,0.0498540751105,0.99999996232,9.63418992236e-05,-0.000254996795387,-3.24817877352e-05,1793244569635867136
+46,0.766666667,BASELINE,764.319163011,745.319163011,713.680836989,679,663.680836989,634,879,787,805.680836989,653,630.319163011,652.680836989,0.400985321786,0.00457829941667,0.0498544988139,0.999999962583,9.58464531223e-05,-0.00025413799939,-3.25731136167e-05,1793244569652533504
+47,0.783333333,BASELINE,764.261793323,745.261793323,713.738206677,679,663.738206677,634,879,787,806,653,630.261793323,652.738206677,0.400985611166,0.00457765568322,0.0498546172731,0.999999962805,9.43577476628e-05,-0.000253831693074,-3.24899841315e-05,1793244569669200128
+48,0.800000000,BASELINE,764.850011301,745.850011301,713.149988699,679,663.149988699,634,879,787,806,653,630.850011301,652.149988699,0.40098504124,0.00457580468698,0.0498543551294,0.999999962971,9.16305676826e-05,-0.000254214274542,-3.21893298868e-05,1793244569685867264
+49,0.816666667,BASELINE,764.56780923,745.56780923,713,679.43219077,663,634,879,787,806,653,631,652,0.400984894281,0.0045770290046,0.0498543040523,0.999999962886,9.21801802538e-05,-0.00025429955339,-3.25963556059e-05,1793244569702533888
+50,0.833333333,BASELINE,764.012209376,745.012209376,713,679.987790624,663.012209376,634,879,787,806,653,631,652,0.400984849111,0.00457926944389,0.0498542871334,0.999999962698,9.38517983443e-05,-0.000254344251265,-3.32347759594e-05,1793244569719200768
+51,0.850000000,BASELINE,764.587886032,745.587886032,713,679.412113968,663.587886032,634,879,787,806,653,631,652,0.400982820535,0.00457982827743,0.0498525127363,0.9999999618,9.55459384526e-05,-0.000257212154609,-3.33740140503e-05,1793244569735867392
+52,0.866666667,BASELINE,765,745.833578465,713,679.166421535,664,634,879,787,806,653,631,652.166421535,0.40098164298,0.00457984585589,0.049851445952,0.999999961337,9.61833437165e-05,-0.000258777496912,-3.33118042983e-05,1793244569752534016
+53,0.883333333,BASELINE,765,745.247839819,713,679.752160181,664,634,879,787,806,653,631,652.752160181,0.400982609665,0.0045784996834,0.0498521620749,0.999999961991,9.41581908072e-05,-0.00025706089521,-3.27420248455e-05,1793244569769200640
+54,0.900000000,BASELINE,764.663790251,745,713.336209749,679.663790251,664,634,879,787,806,653,631,653,0.400983392166,0.00457761641962,0.0498531836746,0.999999962401,9.3435126333e-05,-0.000255751650902,-3.25415184422e-05,1793244569785867264
+55,0.916666667,BASELINE,764.080979603,745,713.919020397,679.080979603,664,634,879,787,806,653,631,653,0.400984039574,0.00457707268711,0.0498544293334,0.999999962635,9.36671091502e-05,-0.000254741192476,-3.2611864015e-05,1793244569802533632
+56,0.933333333,BASELINE,764,745,713.504614977,679,664,634,879,787,805.504614977,653,630.504614977,652.504614977,0.400983551721,0.00457655080783,0.0498538127026,0.999999962396,9.36249803234e-05,-0.000255693382896,-3.26070114502e-05,1793244569819200000
+57,0.950000000,BASELINE,764,745,713,679.070866108,664.070866108,634,879,787,805.070866108,653,630,652,0.400983154502,0.00457614429811,0.0498530837823,0.999999962182,9.3449044753e-05,-0.000256598568317,-3.25637369264e-05,1793244569835866624
+58,0.966666667,BASELINE,764,745,713,679.647464778,664.647464778,634,879,787,805.647464778,653,630,652,0.400984711463,0.00457653595189,0.0498536981209,0.999999962698,9.26338699539e-05,-0.00025490812406,-3.23328638911e-05,1793244569852533248
+59,0.983333333,BASELINE,764,745.228987908,713.228987908,679.771012092,664.542024183,634,879,787,805.771012092,653,630.228987908,652.228987908,0.400985639351,0.00457724477401,0.0498540676354,0.999999962928,9.28499486681e-05,-0.000253926486926,-3.23025327188e-05,1793244569869200128
+60,1.000000000,BASELINE,764,745.818259139,713.818259139,679.181740861,663.363481722,634,879,787,805.181740861,653,630.818259139,652.818259139,0.400985577473,0.00457845262023,0.0498540519503,0.999999962713,9.46885733766e-05,-0.000254060067305,-3.25877286029e-05,1793244569885867008
+61,1.016666667,BASELINE,764.400579775,746,713.599420225,679.400579775,663.400579775,634,878.599420225,787,805.400579775,653,630.599420225,653,0.400984303389,0.00457737199143,0.0498533298467,0.999999962395,9.42019538015e-05,-0.000255500197054,-3.24829039987e-05,1793244569902533632
+62,1.033333333,BASELINE,764.979800712,746,713.020199288,679.979800712,663.979800712,634,878.020199288,787,805.979800712,653,630.020199288,653,0.400982488713,0.00457527080221,0.0498522927111,0.999999962028,9.26783762671e-05,-0.000257522991003,-3.22041471978e-05,1793244569919200000
+63,1.050000000,BASELINE,765,745.448372533,713,680,664,634,879.103254933,787.551627467,805.448372533,653,630.551627467,652.448372533,0.400982253833,0.00457668976836,0.0498524275275,0.999999962124,9.19119298412e-05,-0.000257383891057,-3.25272205828e-05,1793244569935866624
+64,1.066666667,BASELINE,764.872599433,745,713,680,663.872599433,634,879.872599433,787.872599433,805.127400567,653,631,652,0.400982210474,0.00457766683698,0.0498526137906,0.999999962219,9.16130303389e-05,-0.000257093048727,-3.2731861243e-05,1793244569952533248
+65,1.083333333,BASELINE,764.281490112,745,713,680,663.281490112,634,879.281490112,787.281490112,805.718509888,653,631,652,0.400982656441,0.00457657254048,0.0498528331771,0.999999962253,9.29163186113e-05,-0.000256534224501,-3.24262832108e-05,1793244569969199616
+66,1.100000000,BASELINE,764.303477784,745,713,679.696522216,663,634,879,787.303477784,805.696522216,653,631,652,0.400983148012,0.00457661387484,0.0498532137937,0.999999962281,9.43434563075e-05,-0.000255889308717,-3.25348248977e-05,1793244569985866240
+67,1.116666667,BASELINE,764.882862175,745,713,679.117137825,663,634,879,787.882862175,805.117137825,653,631,652,0.400983681042,0.00457768766722,0.0498537409925,0.999999962303,9.58831915465e-05,-0.000255166122887,-3.30198632446e-05,1793244570002532864
+68,1.133333333,BASELINE,764.53937953,745.46062047,713,679,663.46062047,634,879,787.53937953,805.46062047,653,631,652,0.400983765063,0.00457813017391,0.0498538354279,0.999999962411,9.47386257696e-05,-0.000255189277628,-3.28754632852e-05,1793244570019199744
+69,1.150000000,BASELINE,764,745.962107651,713,679,663.962107651,634,879,787,805.962107651,653,631,652,0.400983694423,0.00457830748458,0.0498538020387,0.999999962526,9.29813759809e-05,-0.000255422167362,-3.25774563271e-05,1793244570035866880
+70,1.166666667,BASELINE,764,745.385892625,713,679,663.385892625,634,879,787,805.385892625,653,631,652,0.400983043038,0.00457698994453,0.0498535106841,0.999999962473,9.21837046177e-05,-0.00025594778387,-3.23632525881e-05,1793244570052533504
+71,1.183333333,BASELINE,764.194118746,745,713.194118746,679,663.194118746,634,879,787,805.194118746,653,631,652,0.400982682831,0.00457605008035,0.0498534056244,0.999999962453,9.17858323285e-05,-0.000256183822585,-3.2244270427e-05,1793244570069200128
+72,1.200000000,BASELINE,764.781827589,745,713.781827589,679,663.781827589,634,879,787,805.781827589,653,631,652,0.400982913009,0.00457587598163,0.0498536782911,0.999999962502,9.21985820508e-05,-0.00025583272103,-3.23183570101e-05,1793244570085866752
+73,1.216666667,BASELINE,765,745,713.635660852,679,663.635660852,634,878.635660852,787,806,653,630.635660852,652.364339148,0.400983615468,0.00457645142132,0.0498543569653,0.999999962742,9.21367418012e-05,-0.000254913359171,-3.23348004798e-05,1793244570102533632
+74,1.233333333,BASELINE,765,745,713.056217778,679,663.056217778,634,878.056217778,787,806,653,630.056217778,652.943782222,0.400984596759,0.00457746938455,0.0498552753441,0.999999963093,9.17947060915e-05,-0.000253658499425,-3.23172117524e-05,1793244570119200256
+75,1.250000000,BASELINE,765,745,713,679.520699446,663,634,878.520699446,787,806,653,630,652.479300554,0.400985276628,0.00457692665933,0.0498550631781,0.999999963074,9.26858980702e-05,-0.000253422387781,-3.22116603545e-05,1793244570135866880
+76,1.266666667,BASELINE,765,745,713,679.90380762,663.09619238,634,879,787,806,653,630.09619238,652,0.400985627568,0.00457637566357,0.0498546970252,0.999999962985,9.34768266724e-05,-0.000253496168476,-3.21147977162e-05,1793244570152533760
+77,1.283333333,BASELINE,765,745,713,679.333991255,663.666008745,634,879,787,806,653,630.666008745,652,0.400984518413,0.00457660959261,0.0498541707735,0.999999962749,9.31216758962e-05,-0.000254556825711,-3.21072507091e-05,1793244570169200384
+78,1.300000000,BASELINE,765,745,713,679,663.753867271,634,879,787,806,653,631,652.246132729,0.400984320404,0.00457623201636,0.0498540072746,0.999999962826,9.2529046525e-05,-0.000254470798696,-3.21233846292e-05,1793244570185867264
+79,1.316666667,BASELINE,765,745,713,679,663.159145,634,879,787,806,653,631,652.840855,0.40098541282,0.00457498838563,0.0498543575306,0.999999963343,9.16000842032e-05,-0.00025276076109,-3.2173057054e-05,1793244570202534912
+80,1.333333333,BASELINE,765,745,713.423947392,679.423947392,663,634,879.423947392,787,806,653,631,652.576052608,0.40098568969,0.00457607789588,0.0498543308901,0.999999963265,9.1875585754e-05,-0.000252934039361,-3.24513249523e-05,1793244570219201536
+81,1.350000000,BASELINE,765,745,714,679.997227952,663.002772048,634,879.997227952,787,805.997227952,653,631,652.002772048,0.400985670045,0.00457801660619,0.0498541708101,0.999999962971,9.2599561497e-05,-0.000253785069611,-3.28122482323e-05,1793244570235868160
+82,1.366666667,BASELINE,765,745,714,679.422247872,663.577752128,634,879.422247872,787,805.422247872,653,631,652.577752128,0.400985951172,0.00457928448617,0.0498548911928,0.999999963059,9.50583650981e-05,-0.000252500235617,-3.29944945548e-05,1793244570252534272
+83,1.383333333,BASELINE,765,745,714,679.156235852,664,634,879,787,805,653,631,653,0.400986203502,0.00458001140287,0.0498554929636,0.999999963159,9.66665850206e-05,-0.000251482361243,-3.30771974048e-05,1793244570269200896
+84,1.400000000,BASELINE,765,745,714,679.744405982,664,634,879,787,805,653,631,653,0.400986376217,0.00457924275673,0.0498557668166,0.999999963307,9.5923256593e-05,-0.000251202531076,-3.28846994556e-05,1793244570285867520
+85,1.416666667,BASELINE,765,745,714,679.673328978,664,634,879,787,805,653,631,652.673328978,0.400986608995,0.00457846036771,0.049855658117,0.999999963431,9.49083981118e-05,-0.000251105360314,-3.27998313215e-05,1793244570302534144
+86,1.433333333,BASELINE,765,745,714,679.095602197,664,634,879,787,805,653,631,652.095602197,0.400986887931,0.00457766741695,0.0498552554149,0.999999963536,9.36848612838e-05,-0.000251148568397,-3.27976797025e-05,1793244570319200256
+87,1.450000000,BASELINE,764.519228585,745,714,679,663.519228585,634,879,787,805.480771415,653,631,652.480771415,0.400985003829,0.00457726107669,0.0498542246942,0.999999963068,9.20710088118e-05,-0.000253616229846,-3.26464680283e-05,1793244570335866880
+88,1.466666667,BASELINE,764,745,714,679,663,634,879,787,805.943397589,653,630.943397589,653,0.400982874862,0.00457701675261,0.0498531271612,0.999999962515,9.06879616953e-05,-0.000256299371797,-3.25039643289e-05,1793244570352533504
+89,1.483333333,BASELINE,764,745,714,679,663,634,879,787,805.370070581,653,630.370070581,653,0.400982426105,0.00457755162531,0.0498525565541,0.99999996231,9.21185009867e-05,-0.000256560831373,-3.27107882983e-05,1793244570369200128
+90,1.500000000,BASELINE,764.210537442,745,714,679.210537442,663,634,879,787,805,653,630,652.789462558,0.400982748284,0.0045775613296,0.0498527100269,0.999999962465,9.23350741975e-05,-0.000255862406803,-3.28409567549e-05,1793244570385866752
+91,1.516666667,BASELINE,764.804402004,745,714,679.804402004,663,634,879,787,805,653,630,652.195597996,0.400984474111,0.0045766148557,0.0498541818376,0.99999996327,9.03413699916e-05,-0.000253416313852,-3.28315579146e-05,1793244570402533120
+92,1.533333333,BASELINE,765,745,714,679.613602266,663.386397734,634,879,787,805,653,630.386397734,652.386397734,0.400984672184,0.00457647925306,0.0498547973029,0.999999963439,9.06104415452e-05,-0.000252678972733,-3.26439038803e-05,1793244570419199744
+93,1.550000000,BASELINE,765,745,714,679.037435545,663.962564455,634,879,787,805,653,630.962564455,652.962564455,0.400984119942,0.00457674188823,0.049854992197,0.999999963296,9.19908151503e-05,-0.000252780839485,-3.23687045399e-05,1793244570435866624
+94,1.566666667,BASELINE,765,745,714,679,664,634,879,787,805,653,631,652.460351862,0.400984953237,0.00457718219434,0.0498552149003,0.999999963343,9.36047280389e-05,-0.00025198842147,-3.24673442736e-05,1793244570452533248
+95,1.583333333,BASELINE,765,745,713.884737637,679.115262363,664,634,879,787,805.115262363,653,630.884737637,652,0.400985608397,0.00457736977949,0.0498552454151,0.999999963367,9.44775069731e-05,-0.000251551412264,-3.25827732058e-05,1793244570469199872
+96,1.600000000,BASELINE,765,745,713.315166286,679.684833714,664,634,879,787,805.684833714,653,630.315166286,652,0.400985181952,0.00457651259756,0.0498545107985,0.999999963257,9.23651275696e-05,-0.00025276018944,-3.26619864399e-05,1793244570485866752
+97,1.616666667,BASELINE,764.734289862,745.265710138,713.265710138,680,663.734289862,634,879,787,806,653,630.265710138,652,0.400985006203,0.00457649137127,0.0498542770662,0.999999963227,9.16638855019e-05,-0.000253126337661,-3.27112002066e-05,1793244570502533376
+98,1.633333333,BASELINE,764.139408337,745.860591663,713.860591663,680,663.139408337,634,879,787,806,653,630.860591663,652,0.400985141027,0.00457750575728,0.0498546638475,0.999999963302,9.27108118422e-05,-0.000252448606401,-3.27232495367e-05,1793244570519199744
+99,1.650000000,BASELINE,764.44381842,745.55618158,713.55618158,679.55618158,663,634,879,787,806,653,631,652,0.400984732674,0.00457664530985,0.0498542058667,0.999999963322,9.09134080103e-05,-0.000253038247691,-3.26069099001e-05,1793244570535866368
+100,1.666666667,BASELINE,764.976677978,745.023322022,713,679,663,634,879,787,806,653,631,652,0.400984236266,0.00457534561692,0.0498535854817,0.999999963323,8.8490652762e-05,-0.00025391031568,-3.24605154784e-05,1793244570552533248
+101,1.683333333,BASELINE,764.400868261,745.599131739,713,679,663,634,879,787,806,653,631,652,0.400985592314,0.00457723433487,0.0498552429707,0.999999963427,9.18771155806e-05,-0.000252283550212,-3.25330523646e-05,1793244570569199872
+102,1.700000000,BASELINE,764.179118189,745.820881811,713.179118189,679,663,634,878.820881811,787,805.820881811,653,630.820881811,652,0.400986767208,0.0045780132044,0.0498564030595,0.999999963638,9.34038769073e-05,-0.000250885549554,-3.25044285531e-05,1793244570585866496
+103,1.716666667,BASELINE,764.768675303,745.231324697,713.768675303,679,663,634,878.231324697,787,805.231324697,653,630.231324697,652,0.400987526999,0.00457624892049,0.0498564233846,0.999999964117,9.06692398465e-05,-0.000250011750398,-3.22440008711e-05,1793244570602533376
+104,1.733333333,BASELINE,765,745.352135868,713.647864132,679,663,634,878.352135868,786.647864132,805.352135868,653,630,652,0.400986575308,0.00457658146786,0.0498555368248,0.999999963713,9.11378270007e-05,-0.000251438605838,-3.2342390519e-05,1793244570619200256
+105,1.750000000,BASELINE,765,745.93165971,713.06834029,679,663,634,878.93165971,786.06834029,805.93165971,653,630,652,0.400984518447,0.00457826802145,0.0498540646538,0.999999962732,9.36748616922e-05,-0.00025435108431,-3.26724825974e-05,1793244570635866880
+106,1.766666667,BASELINE,765,746,713.502216259,679.502216259,663,634,879,786.502216259,806,653,630.502216259,652,0.400983523403,0.00457786284967,0.0498540877384,0.999999962865,9.22555619769e-05,-0.000254325654583,-3.28170666664e-05,1793244570652533760
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,713,679,664,634,879,788,806,653,631,652,0.400985636882,0.00457654783692,0.0498539083524,0.999999963218,9.22473615587e-05,-0.000253005279519,-3.22907561185e-05,1793244570695930112
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745.593774263,713,679,663.406225737,634,879,788,806,653,631,652.593774263,0.400985814084,0.00457735752749,0.0498546076857,0.999999963386,9.27516873331e-05,-0.000252138939241,-3.24132791752e-05,1793244570712596992
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.817060195,713,678.817060195,663.182939805,634,879,787.817060195,805.817060195,653,631,653,0.400986176998,0.00457830877621,0.0498551948927,0.999999963498,9.3553089662e-05,-0.000251371305514,-3.2617047004e-05,1793244570729263616
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.237876924,713,678.237876924,663.762123076,634,879,787.237876924,805.237876924,653,631,653,0.400986942158,0.00457956663687,0.0498555392364,0.999999963489,9.49979531625e-05,-0.000250817467768,-3.29967891882e-05,1793244570745929472
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.660435047,745,713.339564953,678.679129906,663.660435047,634,879,787,805.339564953,653,630.660435047,652.660435047,0.400986233431,0.00457897046366,0.0498553015327,0.999999963404,9.45066256468e-05,-0.000251359318027,-3.28456174669e-05,1793244570762596352
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.084206887,745,713.915793113,679.831586227,663.084206887,634,879,787,805.915793113,653,630.084206887,652.084206887,0.400984497463,0.00457708210284,0.0498546581651,0.999999963264,9.26658502529e-05,-0.000252664819084,-3.23244199392e-05,1793244570779263232
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.500552975,745.500552975,713.499447025,679.499447025,663.500552975,634,879,787,805.499447025,653,630.500552975,652,0.400985207053,0.00457646942993,0.049854703819,0.999999963459,9.20206386284e-05,-0.000252133924424,-3.22830022783e-05,1793244570795929856
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,746,713.086255577,679.086255577,663.913744423,634,879.086255577,787,805.086255577,653,631,652.086255577,0.400985808404,0.00457626099422,0.0498547334471,0.999999963547,9.19220483155e-05,-0.000251818429205,-3.23039832516e-05,1793244570812596480
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,746,713.668980036,679.668980036,663.331019964,634,879.668980036,787,805.668980036,653,631,652.668980036,0.400983377704,0.00457712261625,0.0498539920974,0.999999962684,9.37919767821e-05,-0.000254551712187,-3.22114992134e-05,1793244570829262848
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.751622948,745.751622948,713.751622948,680,663.248377052,634.248377052,879.751622948,787,806,653,631,652.751622948,0.400987757636,0.0045770791263,0.0498559034892,0.999999963454,9.36853954163e-05,-0.000251568224989,-3.20833198057e-05,1793244570845929472
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.176601943,745.176601943,713.176601943,680,663.823398057,634.823398057,879.176601943,787,806,653,631,652.176601943,0.401001094321,0.00457584531151,0.0498613035366,0.999999966296,9.09794796201e-05,-0.000241066537326,-3.19081969492e-05,1793244570862596352
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,713,680,664,634.602421602,879,787,806,653,630.602421602,652.397578398,0.401031228237,0.00457638251821,0.0498723824582,0.999999971413,9.12387561486e-05,-0.000218696842764,-3.19692080542e-05,1793244570879262976
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,713,680,664,634.028613841,879,787,806,653,630.028613841,652.971386159,0.401068807642,0.00457770474227,0.0498859785804,0.999999976923,9.28123742988e-05,-0.000191066571393,-3.21348871285e-05,1793244570895929344
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,713,679.439661802,664,634,879,787,805.439661802,653,630.560338198,652.439661802,0.40113447775,0.00457620813678,0.0499073374734,0.999999984852,9.12535476538e-05,-0.000144719987277,-3.20296186594e-05,1793244570912596224
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.147630658,745,713.147630658,679,664,634,878.852369342,787,805,653,631,652,0.401202097933,0.00457471534551,0.0499264383808,0.999999989827,8.99149177798e-05,-0.000106133350101,-3.15743609992e-05,1793244570929263104
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.727733267,745,713.727733267,679,664,634,878.272266733,787,805,653,631,652,0.401271111853,0.00457366711376,0.0499377312064,0.999999991184,8.97029403251e-05,-9.31564093984e-05,-3.0135496106e-05,1793244570945929984
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,878.305220621,787,805,653,630.694779379,652.305220621,0.401346112192,0.00457333289439,0.0499452426315,0.999999992217,8.85178148016e-05,-8.287366226e-05,-2.93729682672e-05,1793244570962596608
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,664,634,878.880394869,787,805,653,630.119605131,652.880394869,0.401426407238,0.00457363018626,0.0499494095808,0.999999993024,8.64719845067e-05,-7.49738064231e-05,-2.92086295903e-05,1793244570979263232
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,713.535760705,679,663.535760705,634,879,787,805.464239295,653,630,652.535760705,0.401521470078,0.00457185734469,0.0499489880279,0.999999993078,8.43535141661e-05,-7.69169977492e-05,-2.84991867005e-05,1793244570995929856
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.95021744,745,713,679.04978256,663.04978256,634,879,787,805.95021744,653,630.04978256,652,0.401622459459,0.00456968032088,0.0499473992932,0.999999992946,8.2115262297e-05,-8.12322826023e-05,-2.76660844149e-05,1793244571012596480
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.370817172,745,713,679.629182828,663.629182828,634,879,787,805.370817172,653,630.629182828,652,0.401745251672,0.00456898536978,0.0499462093327,0.999999993061,7.88055883678e-05,-8.32911123847e-05,-2.70399274745e-05,1793244571029262592
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.792419915,713,679.792419915,664,634,879,787,805,653,631,652.207580085,0.401880097997,0.00456783407863,0.0499466370608,0.999999993267,7.59873590711e-05,-8.37736104071e-05,-2.59686461476e-05,1793244571045928960
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744.215805865,713,679.215805865,664,634,879,787,805,653,631,652.784194135,0.402036373999,0.00456587151041,0.0499499407008,0.999999993651,7.40428158728e-05,-8.14537201165e-05,-2.41060268501e-05,1793244571062595840
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744.361009986,713,679,664,634,879,787,805,653,630.638990014,652.638990014,0.402206217178,0.00456400731139,0.0499488571223,0.999999993466,7.19233957242e-05,-8.59366864605e-05,-2.25635234133e-05,1793244571079262720
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,744.937946592,713,679,664,634,879,787,805,653,630.062053408,652.062053408,0.402384175146,0.00456220194857,0.0499451494692,0.999999992882,6.96993783086e-05,-9.44885645287e-05,-2.12124868995e-05,1793244571095929344
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.524578718,745,713.524578718,679,663.475421282,634,879,787,805.524578718,653,630,652,0.402601426131,0.00456108955661,0.0499464200037,0.999999993467,6.5458939353e-05,-9.15469346024e-05,-1.99863638776e-05,1793244571112595712
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,713.888713235,679,663.111286765,634,879.111286765,787.111286765,805.888713235,653,630.111286765,652.111286765,0.402830988274,0.00455959553116,0.0499487490581,0.99999999418,6.10400710301e-05,-8.70176770988e-05,-1.85137742904e-05,1793244571129262336
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,713.306627155,679,663.693372845,634,879.693372845,787.693372845,805.306627155,653,630.693372845,652.693372845,0.403092599055,0.00455613368593,0.0499530180194,0.999999994923,5.68944434269e-05,-8.16320071895e-05,-1.5934817931e-05,1793244571145928960
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663.728738531,634,879.457477062,787.728738531,805,653,630.728738531,652.728738531,0.40337396894,0.00455213778449,0.049958957159,0.999999996028,5.2071933011e-05,-7.10733784097e-05,-1.34816403269e-05,1793244571162595328
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,713,679,663.15552234,634,878.311044681,787.15552234,805,653,630.15552234,652.15552234,0.403677333658,0.00454754739856,0.0499667554576,0.999999997358,4.64959506895e-05,-5.47564704545e-05,-1.11684735044e-05,1793244571179261952
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,713,679,663.4189127,634,878,787,805,652.5810873,630.4189127,652,0.404010763553,0.00454611490281,0.0499755921322,0.999999998317,4.42162152801e-05,-3.63827881207e-05,-9.34778467152e-06,1793244571195928832
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,713,679,663.993801549,634,878,787,805,652.006198451,630.993801549,652,0.40435538778,0.00454585820239,0.0499848154311,0.99999999889,4.31637903501e-05,-1.72432956371e-05,-7.71046301986e-06,1793244571212595968
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.412595996,745,713.587404004,679,664,634,878.587404004,787,805,652.587404004,630.412595996,652,0.404745785662,0.00454055255139,0.0499924806658,0.999999999235,3.88474758804e-05,-2.3876531357e-06,-3.96337582718e-06,1793244571229263104
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.175826781,745,713.824173219,679,663.824173219,634,879,786.824173219,805.175826781,652.824173219,630.175826781,652.175826781,0.405138439779,0.00453605510726,0.0499944838212,0.999999999398,3.46383319834e-05,1.88853312349e-06,-6.43599805285e-07,1793244571245929984
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.75199151,745,713.24800849,679,663.24800849,634,879,786.24800849,805.75199151,652.24800849,630.75199151,652.75199151,0.405535095074,0.00453352316042,0.0499836337197,0.999999999367,3.07542040262e-05,-1.78172110121e-05,1.65087784831e-06,1793244571262596352
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,713,679.327877995,663.327877995,634,879,786.327877995,805.672122005,652.327877995,631,652.672122005,0.405942598033,0.00452869077045,0.049966639589,0.999999998356,2.47422314838e-05,-5.15158328228e-05,4.58546565554e-06,1793244571279262720
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,713,679.903554253,663.903554253,634,879,786.903554253,805.096445747,652.903554253,631,652.096445747,0.406358299303,0.00452211978898,0.0499450020232,0.999999995234,1.71221109544e-05,-9.57897646365e-05,8.00382567038e-06,1793244571295929600
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,713,679.509000511,663.509000511,634,879,787,805,653,631,652,0.406817787379,0.00451961693352,0.049929744332,0.999999992685,1.31272324126e-05,-0.000119809904853,1.02087695083e-05,1793244571312595968
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.920806436,745,713,679.079193564,663.079193564,634,879,787,805.079193564,653,631,652,0.4073007347,0.00451713666246,0.0499199434334,0.999999991119,9.28406415077e-06,-0.000132371929498,1.24142497819e-05,1793244571329262592
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.342813652,745,713,679.657186348,663.657186348,634,879,787,805.657186348,653,631,652,0.407875936689,0.00450964197328,0.0499364250523,0.999999995023,1.80116395761e-06,-9.84384799811e-05,1.61612086079e-05,1793244571345930240
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.234479088,745,713,679.765520912,664,634,879.234479088,787,806,653,631,652.234479088,0.408462245931,0.00450286847441,0.0499560183666,0.999999997906,-5.06974311753e-06,-6.13049019102e-05,2.00822633703e-05,1793244571362597376
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.81075136,745,713,679.18924864,664,634,879.81075136,787,806,653,631,652.81075136,0.409064745849,0.00449714623362,0.0499801475055,0.999999999455,-1.10485655976e-05,-1.95065938301e-05,2.42570923691e-05,1793244571379263744
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,713,679,664,634,880,787,805.605428558,653,631,652.605428558,0.409664728527,0.00449033575642,0.049992791319,0.999999998426,4.83951635324e-05,-1.3280233866e-06,2.83737912582e-05,1793244571395930368
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,713,679,664,634,880,787,805.017917729,653,631,652.017917729,0.410263480296,0.00448299314847,0.0499998189838,0.999999989683,0.000139829517338,5.30085621891e-06,3.24620651085e-05,1793244571412597248
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.561547814,713.561547814,679,664,634,879.438452186,787,805.561547814,652.438452186,631,652,0.410870989566,0.00447700827303,0.0499788229347,0.999999988303,0.000141759416337,-4.42166065165e-05,3.66356796684e-05,1793244571429262848
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.859712552,713.859712552,679,664,634,879.140287448,787,805.859712552,652,631,652,0.411498008724,0.00447091870862,0.0499579012145,0.999999985975,0.000136446082767,-8.83176992024e-05,4.04057536411e-05,1793244571445928704
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.28244583,713.28244583,679,664,634,879.71755417,787,805.28244583,652,631,652,0.412184940724,0.00446437001364,0.0499399569325,0.99999998614,0.000117341020815,-0.000110045904535,4.29104823758e-05,1793244571462595328
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713,679,664,634,879.70616967,787,805.29383033,652.29383033,631,652,0.412914235655,0.00445879661955,0.0499464150249,0.999999993517,6.19864479402e-05,-8.88995291063e-05,3.49320127878e-05,1793244571479261952
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713,679,664,634,879.130842426,787,805.869157574,652.869157574,631,652,0.413684115428,0.00445415758769,0.049976251209,0.999999999106,-2.80960793564e-05,-2.66782188159e-05,1.69103731005e-05,1793244571495928832
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,713.455122523,679,664,634,879.455122523,787,805.544877477,652.544877477,631,652.455122523,0.414413135175,0.00444316866694,0.0499785114446,0.999999996923,-7.21643554762e-05,-2.77287889508e-05,1.3314119436e-05,1793244571512595712
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679.04350334,664,634,880,787,805.04350334,652,631,652.95649666,0.415132886942,0.00443311242409,0.0499709037676,0.999999993982,-9.70501302145e-05,-4.91647138372e-05,1.41335404667e-05,1793244571529262336
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679.623067548,664,634,880,787,805.623067548,652,631,652.376932452,0.415886647975,0.00445758183556,0.0499417269503,0.99999999422,-5.24709141551e-05,-9.22890266725e-05,1.70390309167e-05,1793244571545928960
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,713.799340645,679.799340645,664,634,880,787,806,652.200659355,631,652,0.41667054367,0.00447892498996,0.0499296134498,0.999999993918,-1.20749399902e-05,-0.00010796104119,1.90669489255e-05,1793244571562595328
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,713.225417901,679.225417901,664,634,880,787,806,652.774582099,631,652,0.417510495344,0.00449445272845,0.0499492408656,0.999999996967,2.05394301666e-05,-7.2566717941e-05,1.94624203166e-05,1793244571579261952
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.349748525,713,679.349748525,664,634,879.650251475,787,806,652.650251475,631,652,0.418348392525,0.00449188506408,0.0499685405607,0.999999998526,2.88294864235e-05,-4.08405224808e-05,2.11813933097e-05,1793244571595928576
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.925719358,713,679.925719358,664,634,879.074280642,787,806,652.074280642,631,652,0.419184960797,0.00447761303576,0.0499876282807,0.999999999423,2.1386230027e-05,-1.14869255292e-05,2.37564259095e-05,1793244571612595200
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,746,713,678.974974152,664,634,879.512512924,787,806,652,631,652,0.419974523493,0.00447241760769,0.0499686680448,0.999999998553,3.18031543241e-06,-4.8213387475e-05,2.36461543884e-05,1793244571629262080
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.900367159,713.099632841,678.099632841,664,634,879.900367159,787,806,652,631,652,0.420782882732,0.00446840721193,0.0499526514796,0.999999996751,-1.46930797334e-05,-7.57681091196e-05,2.32840043641e-05,1793244571645928704
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.319412081,713.680587919,678.680587919,664,634,879.319412081,787,806,652,631,652,0.421715669003,0.00446362938958,0.0499780704532,0.999999999381,-2.3261812866e-05,-1.17490503298e-05,2.36257724792e-05,1793244571662595840
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.258438401,714,679.258438401,664,634,879.258438401,787,806,652,631,652,0.422626201032,0.00446375502321,0.0499918745532,0.999999999325,-1.76447212188e-05,2.13756323191e-05,2.41032949166e-05,1793244571679262976
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.83249744,714,679.83249744,664,634,879.83249744,787,806,652,631,652,0.423509554956,0.00446986905384,0.049991493869,0.999999999539,5.2969582066e-06,1.67702388704e-05,2.47466088895e-05,1793244571695929600
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,746,714,680,664,634,880.407211288,787,806,652,631,652,0.424381527226,0.00447816463425,0.0499809811225,0.999999999624,1.21586270666e-05,-3.69119471218e-07,2.45751673879e-05,1793244571712595712
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,746,714,680,664,634,880.982194885,787,806,652,631,652,0.425248810167,0.00448735901954,0.0499662939352,0.999999999377,1.23952805303e-05,-2.26725097823e-05,2.4068044069e-05,1793244571729262080
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.427026141,714,679.427026141,664.572973859,634,880.427026141,787,805.427026141,652,631,652,0.426142529619,0.00448089561305,0.0499868852093,0.999999999648,-2.48968542164e-07,1.45769993574e-06,2.6488444334e-05,1793244571745928704
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.160985327,714,679,664.839014673,634,880,787,805.160985327,652,631,652,0.427024786804,0.00447359107087,0.0499974217255,0.999999999559,-5.61446544883e-06,4.96096194555e-06,2.87518363859e-05,1793244571762595328
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.74048975,714,679,664.25951025,634,880,787,805.74048975,652,631,652,0.427875048835,0.00446540059793,0.0499788877208,0.999999998297,9.01296434415e-06,-4.90179156246e-05,3.03638395227e-05,1793244571779261952
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.682665557,714,679,664,634,880.317334443,787,806,652,631,652,0.428757730988,0.00446145135514,0.0499605214492,0.999999996385,1.07524698745e-05,-7.86403058536e-05,3.05071560365e-05,1793244571795928832
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.107977891,714,679,664,634,880.892022109,787,806,652,631,652,0.429666705308,0.00446094168343,0.0499422912076,0.999999995647,2.04007159959e-06,-8.85099668445e-05,2.94593908592e-05,1793244571812596224
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,664.477026537,634,880.522973463,787,806,652,631,652,0.430555111158,0.00446414183905,0.049949923337,0.99999999717,-2.62269238695e-06,-6.91842865024e-05,2.94392731362e-05,1793244571829262592
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.063446623,714,679.063446623,664.936553377,634,880,787,806,652,631,652,0.431434433304,0.00446813944685,0.049959990209,0.999999998294,-5.3791967761e-06,-5.00210662565e-05,2.96796673547e-05,1793244571845928704
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.641981498,714,679.641981498,664.358018502,634,880,787,806,652,631,652,0.43227864273,0.00447164302166,0.0499412465529,0.999999995761,-2.66185280828e-07,-8.70139061133e-05,3.010480183e-05,1793244571862595328
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,746,714,680,664,633.781377608,879.781377608,786.781377608,806,652,630.781377608,652,0.433139171205,0.00447108945763,0.0499365969288,0.999999995008,-2.04040768053e-06,-9.51414718684e-05,3.04622993607e-05,1793244571879262208
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,746,714,680,664,633.20781159,879.20781159,786.20781159,806,652,630.20781159,652,0.434026194549,0.00446394894044,0.0499548296186,0.999999997825,-1.49963739626e-05,-5.64049279105e-05,3.07099852522e-05,1793244571895928832
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.632835873,714,680,664.367164127,633.367164127,879.367164127,786.367164127,806.367164127,652,630.367164127,652,0.434899295952,0.00446031457364,0.0499720992002,0.999999998897,-8.42627030085e-06,-3.32179832204e-05,3.21132708834e-05,1793244571912595456
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.057059237,714,680,664.942940763,633.942940763,879.942940763,786.942940763,806.942940763,652,630.942940763,652,0.43576448724,0.00445867230502,0.0499888215693,0.999999999195,9.23800737056e-06,-1.8865893379e-05,3.41731363371e-05,1793244571929261824
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.534070422,745,714,680,664.465929578,634,880,787,806.465929578,652,631,652,0.436538385081,0.00445976300321,0.0499646451707,0.999999996518,5.01676617791e-06,-7.52922286194e-05,3.56367474124e-05,1793244571945928704
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.876074657,745,713.876074657,680,664,634,880.123925343,787,806.123925343,652,631,652,0.437321084542,0.00446163029734,0.0499469827259,0.999999993049,-2.30002429952e-06,-0.000112198820635,3.61708130234e-05,1793244571962595328
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.297101875,745,713.297101875,680,664,634,880.702898125,787,806.702898125,652,631,652,0.438172978011,0.00446524532086,0.0499697588737,0.999999998171,-1.21435870511e-05,-4.88413448396e-05,3.35324731758e-05,1793244571979261952
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713.277728423,680,664.555456846,633.722271577,880.722271577,787,806.722271577,651.722271577,631,652,0.438982669469,0.00446925396247,0.0499811887859,0.999999999193,-1.39433204738e-05,-1.93940165139e-05,3.22916083599e-05,1793244571995928832
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,713.848192361,680,665.696384723,633.151807639,880.151807639,787,806.151807639,651.151807639,631,652,0.439747878472,0.00447367749116,0.0499806593657,0.999999999115,-7.26457461628e-06,-2.56891790538e-05,3.25237315957e-05,1793244572012595200
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.567433004,679.567433004,665.134866008,633.432566996,880,786.567433004,806,651.432566996,631,652,0.440477258988,0.00447020282284,0.0499598796273,0.99999999769,1.54732904521e-05,-5.69613004421e-05,3.36924797358e-05,1793244572029261824
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.021853429,679.021853429,664,633.978146571,880,786.021853429,806,651.978146571,631,652,0.44119405368,0.00446402761712,0.0499330096711,0.999999993915,4.26139792646e-05,-9.54779075088e-05,3.51870258343e-05,1793244572045928448
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,713.607723701,679.607723701,664,633.392276299,880,786.607723701,806,651.392276299,631,652,0.44192132094,0.00446206970192,0.0499384704463,0.999999994989,3.30973890382e-05,-8.72198550294e-05,3.63246660889e-05,1793244572062595328
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.810074124,745,714,680,664,633,880,786.810074124,806,651.189925876,631,652,0.442626436222,0.00446318500902,0.0499419316134,0.999999995551,2.80953221268e-05,-8.19216774643e-05,3.73700667366e-05,1793244572079262464
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.235304447,745,714,680,664,633,880,786.235304447,806,651.764695553,631,652,0.443286665431,0.00447052753751,0.0499413410076,0.999999995336,3.22409606942e-05,-8.26210461523e-05,3.82285639435e-05,1793244572095929088
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.339306383,745.339306383,714,680,663.660693617,633,880.339306383,786,806,652,631,652,0.443892687451,0.00448107694649,0.0499124345713,0.999999989588,4.12893011273e-05,-0.000132554471498,3.93593630998e-05,1793244572112595712
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.913807072,745.913807072,714,680,663.086192928,633,880.913807072,786,806,652,631,652,0.444461135067,0.00449384924287,0.049863900676,0.999999974268,5.37360079432e-05,-0.000216615075575,4.06789113562e-05,1793244572129261824
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.496537837,714,680,663,633,880.496537837,786.503462163,806,652,631,652,0.445046988757,0.00451259732231,0.0498361518685,0.999999965036,7.90130209409e-05,-0.000249299865018,3.91637261044e-05,1793244572145928448
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.906428707,745.093571293,714,680,663,632.906428707,880,786.906428707,806.093571293,652,631,652,0.44563665395,0.00452986893287,0.0498180959716,0.999999959195,0.000103500865631,-0.000263611084183,3.74965646378e-05,1793244572162595072
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.327831685,745.672168315,714,680,663,632.327831685,880,786.327831685,806.672168315,652,631,652,0.446230150236,0.00453401970582,0.0498312657278,0.999999966623,0.00011215890129,-0.000229689715201,3.76352923474e-05,1793244572179261696
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.24921662,745.75078338,714,680,662.75078338,632,880,786.24921662,807,652,631,651.75078338,0.446780455793,0.00453609240432,0.0498328691791,0.999999967916,0.000118101262873,-0.00022085253109,3.80094063863e-05,1793244572195928320
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.824240204,745.175759796,714,680,662.175759796,632,880,786.824240204,807,652,631,651.175759796,0.447274297013,0.00453544838512,0.049819351717,0.999999962027,0.000120493356917,-0.000244808516489,3.86912467351e-05,1793244572212594944
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713.602231047,680,662,631.602231047,880.397768953,786.602231047,807,652,631,651.397768953,0.447727454462,0.00453753409376,0.0497889508741,0.999999949233,0.000124260425275,-0.00029088740062,3.84401291477e-05,1793244572229261824
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713.02936029,680,662,631.02936029,880.97063971,786.02936029,807,652,631,651.97063971,0.448162702559,0.0045408214554,0.0497511177996,0.999999930911,0.000128632770746,-0.000346705003676,3.77783142652e-05,1793244572245928448
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,713,680,661.436171366,631,881,786.563828634,807,652,631,652,0.448597896936,0.00454260096379,0.0497394705786,0.999999924447,0.000128601995866,-0.000364917329748,3.74517561168e-05,1793244572262595072
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,713.152839839,680,661.152839839,631,881,786.847160161,806.847160161,652,631,652,0.449026360758,0.00454444510917,0.0497356029955,0.999999922118,0.000126778140293,-0.000371951283151,3.66556295863e-05,1793244572279261696
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,713.727298901,680,661.727298901,631,881,786.272701099,806.272701099,652,631,652,0.449436265981,0.00454669225649,0.0497492939359,0.999999929554,0.000120664088568,-0.0003537527608,3.45142072707e-05,1793244572295929344
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661.697296382,631,881,786,806,651.697296382,630.697296382,652,0.449828874692,0.00454643823297,0.0497617668107,0.999999939442,8.48487010318e-05,-0.000336614685451,2.46593292445e-05,1793244572312596224
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661.121037101,631,881,786,806,651.121037101,630.121037101,652,0.450205852385,0.00454392388137,0.0497731389093,0.999999948384,2.21919806786e-05,-0.000320434944492,7.83374012104e-06,1793244572329262592
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.534106646,745,714,680,661,631,881,786,806,651.465893354,630.465893354,652,0.450533709397,0.00454230339584,0.0497716852494,0.999999945638,1.30925390189e-05,-0.000329409533676,6.42686495412e-06,1793244572345929728
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.054679928,745,714,680,661,630.945320072,881,786,806.054679928,652,631,652,0.450843649823,0.00454186366266,0.0497659777629,0.999999939806,2.44098739703e-05,-0.000345995239976,8.94872636802e-06,1793244572362596864
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.634051334,745,714,680,661,630.365948666,881,786,806.634051334,652,631,652,0.451106992715,0.00455047348827,0.0497521749715,0.999999926457,9.49964885295e-05,-0.00037143717546,9.83087622612e-06,1793244572379263488
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.787381606,745.212618394,714,680.212618394,661,630.212618394,881,786,807,652,631,652,0.451356190522,0.00456322493164,0.0497380947658,0.999999909548,0.000150258745846,-0.000397761238863,1.06321981647e-05,1793244572395929856
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.21019379,745.78980621,714,680.78980621,661,630.78980621,881,786,807,652,631,652,0.451581134214,0.00458307786314,0.0497235388888,0.999999893305,0.000179244850172,-0.000425597856456,1.12949272359e-05,1793244572412596480
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,745.636652428,714,680.636652428,661,630.636652428,881,786,806.636652428,652,630.636652428,651.636652428,0.451785298853,0.00459507203159,0.0497103985081,0.999999879691,0.000192952483908,-0.000450836804103,1.15871757707e-05,1793244572429263104
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,745.065199498,714,680.065199498,661,630.065199498,881,786,806.065199498,652,630.065199498,651.065199498,0.451977562424,0.00460256513786,0.0496980688439,0.999999867731,0.000197909458963,-0.000474587953016,1.16672336452e-05,1793244572445929728
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.525467611,745,714,680.525467611,660.474532389,630,880.474532389,786,806,652,630,651.525467611,0.452169311035,0.00459774247103,0.0496993802418,0.999999870709,0.000191049749096,-0.000471072826852,1.31308392677e-05,1793244572462596096
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680.884245382,660,629.884245382,880.115754618,786,806,652,630.115754618,652,0.452355000268,0.00459277992696,0.0497029194784,0.999999875605,0.000184138083527,-0.000463329644746,1.44705048721e-05,1793244572479262464
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.824614109,745.175385891,714,680.175385891,659,628,881,786.824614109,807,652,631,652,0.453330178139,0.00460283928024,0.0496436473822,0.999999832429,0.000183684547856,-0.000548845925174,1.30455584095e-05,1793244573533601024
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.801835826,628,881,786.599082087,806.599082087,652,631,652,0.453285992916,0.00460375309278,0.0496254924779,0.999999814037,0.000183745210758,-0.000581377852804,1.27747033757e-05,1793244573550267648
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.950186083,628,881,786.024906959,806.024906959,652,631,652,0.45323383887,0.0046053583443,0.0496046292933,0.999999791262,0.000183913510017,-0.000619274470754,1.22633658392e-05,1793244573566934016
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.45036534,745,713.45036534,680.54963466,659.900730679,628.54963466,880.45036534,786.54963466,806.54963466,652,631,652,0.453163868198,0.00460531076008,0.0495857705783,0.999999773286,0.000184704530517,-0.000647439356765,1.15799981546e-05,1793244573583600640
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.72002467,745.72002467,713.72002467,680.27997533,660.44004934,628.27997533,880,786.27997533,807,652,630.27997533,652,0.453013936858,0.00460667697871,0.0495636565568,0.999999751489,0.000188618365983,-0.000679217479786,1.03775921951e-05,1793244573616933888
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.694987085,714,680,660.694987085,628.305012915,880,786,806.694987085,652,630.305012915,652,0.45293039213,0.00460747146287,0.0495630165371,0.999999750895,0.00019135287343,-0.000679329068738,1.03029684589e-05,1793244573633600256
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,746,714,681,660,629,881,786,806.032860587,652,631,652,0.452614780671,0.00461088995351,0.0495766542696,0.999999761704,0.000196462606143,-0.000661751064564,8.96210101986e-06,1793244573683600384
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.208017188,746,714,680.791982812,660,629,881.208017188,786,807,652,631,652,0.452304918505,0.00461560842411,0.0495824726048,0.999999760244,0.000205233474685,-0.000661302275182,8.36460641106e-06,1793244573716933632
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.789054211,746,714,680.210945789,660,629,881.789054211,786,807,652,631,652,0.452123432177,0.00461667637089,0.0495831137511,0.999999758673,0.000208751642152,-0.000662581534274,7.92453975925e-06,1793244573733600256
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,660,629,881.63296583,786.36703417,806.63296583,652,631,652,0.451918665807,0.00461865593335,0.0495838516562,0.999999755808,0.000213337492251,-0.000665444273226,7.46194180352e-06,1793244573750266880
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,660,629,881.056728291,786.943271709,806.056728291,652,631,652,0.451700630182,0.00462115510167,0.0495846447124,0.999999752177,0.000218531904005,-0.000669209569445,6.98650133787e-06,1793244573766933760
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.516213669,660,629,881,787,806.516213669,652,631,652,0.4514526133,0.00462404809783,0.0495805418161,0.999999748227,0.000223829292512,-0.000673360735742,5.57596649413e-06,1793244573783600640
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.908367635,660,629,880.908367635,786.908367635,806.908367635,652,631,652,0.451197622847,0.00462694425327,0.0495778658658,0.999999746826,0.000229604559129,-0.000673507479109,4.12879606895e-06,1793244573800267264
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.317494057,660,629,880.317494057,786.317494057,806.317494057,652,631,652,0.450922474986,0.00462962332148,0.0495858771159,0.999999759396,0.000237922189947,-0.000651607333736,3.03834154562e-06,1793244573816933632
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.732663459,714,680.267336541,660,629.267336541,880.267336541,786,806,652,631,652,0.450634266146,0.00463398299796,0.0495990401971,0.999999774493,0.000246171676785,-0.000624829364257,1.33504846758e-06,1793244573833600256
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.154851014,714,680.845148986,660,629.845148986,880.845148986,786,806,652,631,652,0.450330888727,0.00464029447767,0.0496181864456,0.999999792194,0.000254342022852,-0.000592386450701,-1.07997517425e-06,1793244573850267136
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.006818288,745,714,681,660.993181712,630,880.006818288,786,806,652,630.006818288,652,0.44963168352,0.00464680649181,0.049634805154,0.999999808756,0.000267267716275,-0.000557709261828,-4.06969359347e-06,1793244573883600640
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.11672755,714,680,663.88327245,633,880.88327245,786,806.88327245,652,631.11672755,652,0.441858970316,0.0046722213759,0.0497345987561,0.999999864865,0.000320519467353,-0.000407970464766,-3.31372089689e-05,1793244574116933632
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.037058522,745,714,680,664,633,880,787,806,652,631,652,0.432054874386,0.00459445897896,0.0498213238937,0.999999952493,2.51738281784e-05,-0.000301588490792,-5.85175374787e-05,1793244574316934144
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.232873148,713,679,663.232873148,633.232873148,879,787,805.232873148,652.767126852,630.767126852,652,0.409486749578,0.00459853730944,0.0497896421981,0.999999927751,0.000122617116825,-0.000357799164005,-3.7980628912e-05,1793244574766934272
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.042452683,745,713,680,663,633.957547317,878.957547317,787,805.957547317,653,630,652,0.402667480892,0.00461230800695,0.0498165138417,0.999999927978,0.000144867657336,-0.000347641301664,-4.69251154155e-05,1793244575033600512
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.885304799,745,713.114695201,679,663,634,879,787,805,653,630.885304799,652,0.401513287062,0.00458136183365,0.0498358380085,0.999999950358,0.000104629175437,-0.000295980476542,-2.70726444796e-05,1793244575150267136
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.845874097,745.845874097,713.154125903,679,663,634,879,786.154125903,805,653,630,652,0.40125053066,0.00458165486028,0.0498335444339,0.999999950105,0.000104730533929,-0.000296606714594,-2.9076772755e-05,1793244575200267008
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745.577660445,713,679.422339555,663.422339555,634,879,786.422339555,805.422339555,653,630,652.422339555,0.401192724623,0.00458096532308,0.0498349002237,0.999999951308,0.000104058177208,-0.000292702246583,-2.96925547089e-05,1793244575216933632
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745.175287613,713,679,663.175287613,634,879,787,805.175287613,653,630.175287613,652,0.401073056811,0.00457866738303,0.0498395942819,0.99999995482,0.000100612071109,-0.000281668216477,-2.99888906385e-05,1793244575266934016
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_10/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d91155539e68e44bd65b271a617d63183e2bd63b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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+394,6.566666667,pose2_to_pose3_retreat,0.575670564161,0.00987774195515,1.04005105322,0.546242199877,0.0185534365281,1.03971755201
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+396,6.600000000,pose2_to_pose3_retreat,0.575670371794,0.0098777420916,1.04005109616,0.546242007632,0.0185534371191,1.03971759598
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_10/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca4296af3ae3dcf4d93b7377485fb0325c0c07a4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:740adfd4b2faf86bc4b3adfbb46383ad717489ce05cf2710f843b84a540c5483
+size 25958641
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_10/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..412c71166ef023c2341a1304540857992c7debc0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
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+8,0.133333333,BASELINE,765,745.660267453,713,679,664,634,879,787,805.339732547,653,630.660267453,652.339732547,0.400980189285,0.00457820765189,0.049848102586,0.999999960134,9.94533902766e-05,-0.000262448654579,-3.10166418017e-05,1793244575998908160
+9,0.150000000,BASELINE,764.762931322,745.762931322,713.237068678,679.237068678,664,634,879,787,805.237068678,653,631,652.237068678,0.400980801368,0.00457868191165,0.0498483133034,0.999999960234,0.000100050325798,-0.000261821847423,-3.11513786656e-05,1793244576015575040
+10,0.166666667,BASELINE,764.189336267,745.189336267,713.810663733,679.810663733,664,634,879,787,805.810663733,653,631,652.810663733,0.400982880789,0.00457920717584,0.0498499785676,0.99999996118,9.84632689535e-05,-0.000258772378586,-3.13248491828e-05,1793244576032242176
+11,0.183333333,BASELINE,764.383255376,745,713.616744624,679.616744624,664,634,879.383255376,787.383255376,805.616744624,653,630.616744624,652.616744624,0.400983060528,0.00457993976738,0.0498501521515,0.99999996106,0.000100103924678,-0.000258603832027,-3.13681921799e-05,1793244576048908288
+12,0.200000000,BASELINE,764.955352659,745,713.044647341,679.044647341,664,634,879.955352659,787.955352659,805.044647341,653,630.044647341,652.044647341,0.400982304235,0.00458077451563,0.0498495907382,0.999999960407,0.000103334975155,-0.000259854805668,-3.13474172949e-05,1793244576065574144
+13,0.216666667,BASELINE,765,745,713,679.550100347,663.449899653,634,880,788,805.550100347,652.449899653,630.550100347,652,0.400981402701,0.00457929836109,0.049849422686,0.999999960398,0.000101618255975,-0.000260613782499,-3.09603346003e-05,1793244576082241280
+14,0.233333333,BASELINE,764.857620406,745,713,679.857620406,663.142379594,634,879.857620406,787.857620406,806,652.142379594,630.857620406,652,0.400980950772,0.00457808406195,0.0498493555778,0.9999999605,9.98869725553e-05,-0.000260920116405,-3.07204066234e-05,1793244576098908160
+15,0.250000000,BASELINE,764.278785227,745,713,679.278785227,663.721214773,634,879.278785227,787.278785227,806,652.721214773,630.278785227,652,0.400981914762,0.00457827210035,0.0498494958366,0.999999960788,9.9394898303e-05,-0.000259966566552,-3.10266221236e-05,1793244576115575040
+16,0.266666667,BASELINE,764.29804939,745,713,679,663.70195061,634,878.70195061,787,806,653,630.29804939,652,0.400982609138,0.0045780558724,0.0498498008663,0.999999961056,9.86121204884e-05,-0.000259225970716,-3.10855633705e-05,1793244576132241664
+17,0.283333333,BASELINE,764.873025191,745,713,679,663.126974809,634,878.126974809,787,806,653,630.873025191,652,0.400983053008,0.00457746402873,0.0498502589895,0.999999961305,9.75592415158e-05,-0.000258683236746,-3.09147548537e-05,1793244576148908032
+18,0.300000000,BASELINE,765,745,713.449892605,679,663,634,878.449892605,787,806,653,631,652,0.400981467735,0.00457777388048,0.0498492068335,0.999999960678,9.90894680151e-05,-0.000260525222589,-3.08444546203e-05,1793244576165573888
+19,0.316666667,BASELINE,765,745.027867327,713.972132673,679,663,634,879,787,805.972132673,653,631,652,0.40097944296,0.00457826547308,0.0498478429781,0.999999959863,0.000101123414737,-0.000262866683766,-3.08056743979e-05,1793244576182239744
+20,0.333333333,BASELINE,765,745.61735332,713.38264668,679,663,634,879,787,805.38264668,653,631,652,0.40098015117,0.00457726930011,0.049848823997,0.999999960437,9.85544045514e-05,-0.000261652809672,-3.08280276422e-05,1793244576198906368
+21,0.350000000,BASELINE,765,745.796397328,713,679,663.203602672,634,879,787,805,653,631,652,0.400981305633,0.00457723982657,0.0498499559089,0.99999996098,9.73855839913e-05,-0.00025999392438,-3.09735624934e-05,1793244576215572736
+22,0.366666667,BASELINE,765,745.216135731,713,679,663.783864269,634,879,787,805,653,631,652,0.400983285652,0.00457899871853,0.0498513669686,0.999999961471,9.88070731263e-05,-0.000257511781663,-3.13469796729e-05,1793244576232239360
+23,0.383333333,BASELINE,765,745,713,679,663.639863847,634,878.639863847,787,805,653,631,652,0.400983136971,0.00457986122858,0.0498511055876,0.999999961315,9.96429904507e-05,-0.000257786534095,-3.14284079083e-05,1793244576248906240
+24,0.400000000,BASELINE,765,745,713,679,663.065960099,634,878.065960099,787,805,653,631,652,0.400981724749,0.00458019166946,0.049849851489,0.999999960774,0.000100131327485,-0.000259697708628,-3.13365190222e-05,1793244576265572864
+25,0.416666667,BASELINE,764.477313379,745,713,679.522686621,663.522686621,634,878.522686621,787,805.522686621,653,630.477313379,652.522686621,0.400982285564,0.0045781389178,0.0498499986635,0.999999961125,9.80470281207e-05,-0.000259174727142,-3.10817763726e-05,1793244576282239232
+26,0.433333333,BASELINE,764,745,713,679.889372892,663.889372892,634,879.110627108,787,806,653,630.110627108,652.889372892,0.400982950445,0.0045766946703,0.0498502796808,0.999999961451,9.65814854873e-05,-0.00025848117534,-3.09567874985e-05,1793244576298906112
+27,0.450000000,BASELINE,764,745,713,679.312477923,663.312477923,634,879.687522077,787,806,653,630.687522077,652.312477923,0.400982974059,0.00457911949146,0.0498503578725,0.999999961206,9.91319097403e-05,-0.000258400965835,-3.14678136999e-05,1793244576315574016
+28,0.466666667,BASELINE,764.264545838,745,713.264545838,679,663,634.264545838,879.735454162,787,806,653,631,652,0.400982074671,0.00458064333312,0.049850191012,0.999999960929,9.99881961497e-05,-0.000259116463711,-3.16569267056e-05,1793244576332241152
+29,0.483333333,BASELINE,764.841721766,745,713.841721766,679,663,634.841721766,879.158278234,787,806,653,631,652,0.400980084516,0.00458110243175,0.0498497345583,0.999999960619,9.88424155079e-05,-0.000260772297949,-3.14656150556e-05,1793244576348907776
+30,0.500000000,BASELINE,765,745,713.583724443,679,663.416275557,634.583724443,879,787,806,653,631,652,0.40098002657,0.00457979426205,0.0498492962915,0.999999960557,9.88017114459e-05,-0.00026106599645,-3.11124342467e-05,1793244576365574656
+31,0.516666667,BASELINE,765,745,713.010161426,679,663.989838574,634.010161426,879,787,806,653,631,652,0.400980698699,0.00457781833958,0.0498488648966,0.999999960591,9.91785545992e-05,-0.000260845019317,-3.06980920588e-05,1793244576382241536
+32,0.533333333,BASELINE,765,745,713,679.580899535,664,634,879,787,805.419100465,653,631,652,0.400981180737,0.00457971366569,0.0498494648493,0.999999960474,0.000101263593295,-0.000260429704896,-3.12228767121e-05,1793244576398908160
+33,0.550000000,BASELINE,765,745,713,679.832179146,663.832179146,634,879,787,805,653,630.832179146,652,0.400981471877,0.0045810856377,0.0498497670381,0.999999960422,0.000102317844883,-0.000260174847861,-3.15691688929e-05,1793244576415574784
+34,0.566666667,BASELINE,765,745,713,679.256096267,663.256096267,634,879,787,805,653,630.256096267,652,0.400981306956,0.00458101457678,0.0498492995977,0.999999960544,0.000100789525133,-0.00026031886641,-3.14400324792e-05,1793244576432241664
+35,0.583333333,BASELINE,765,745.319844592,713,679,663.319844592,634,879.319844592,787.319844592,805.319844592,653,630.319844592,652.319844592,0.400982081338,0.00458093818086,0.0498498024646,0.999999960901,0.000100182592253,-0.00025916177109,-3.15696468549e-05,1793244576448908032
+36,0.600000000,BASELINE,765,745.89567185,713,679,663.89567185,634,879.89567185,787.89567185,805.89567185,653,630.89567185,652.89567185,0.400983607476,0.00458085751515,0.049851081902,0.999999961445,0.000100313076919,-0.000256963349447,-3.19063484044e-05,1793244576465573376
+37,0.616666667,BASELINE,765,745.516273471,713,679.483726529,663.516273471,634,880,787.516273471,806,653,631,652.516273471,0.400982755722,0.00457974362026,0.0498509089773,0.999999961442,9.85770017281e-05,-0.000257683482528,-3.15917803637e-05,1793244576482239744
+38,0.633333333,BASELINE,765,745,713.073027327,679.926972673,663,634,879.926972673,787,806,653,631,652,0.400981515278,0.00457855152765,0.0498504679622,0.999999961314,9.66740222445e-05,-0.00025894606136,-3.11840754479e-05,1793244576498906368
+39,0.650000000,BASELINE,765,745,713.652212973,679.347787027,663,634,879.347787027,787,806,653,631,652,0.400981227611,0.00457840203453,0.049850396181,0.999999961193,9.6476833424e-05,-0.000259492382787,-3.11296399941e-05,1793244576515572992
+40,0.666666667,BASELINE,764.770289015,745.229710985,713.770289015,679.229710985,663.229710985,634,879,787,805.770289015,653,630.770289015,652,0.400981304601,0.004579030414,0.0498505778658,0.9999999611,9.77823009125e-05,-0.000259358091655,-3.11842937959e-05,1793244576532239616
+41,0.683333333,BASELINE,764.195327515,745.804672485,713.195327515,679.804672485,663.804672485,634,879,787,805.195327515,653,630.195327515,652,0.400981929662,0.00458082791873,0.0498511405045,0.999999961038,0.000101346227512,-0.000258200854909,-3.14029063317e-05,1793244576548906240
+42,0.700000000,BASELINE,764.37964058,745.62035942,713.37964058,679.62035942,663.62035942,634,879,786.62035942,805.37964058,653,630.37964058,652,0.400982119223,0.00458071460714,0.049851344096,0.999999961145,0.000101370910875,-0.000257764059197,-3.14821390486e-05,1793244576565572864
+43,0.716666667,BASELINE,764.954612052,745.045387948,713.954612052,679.045387948,663.045387948,634,879,786.045387948,805.954612052,653,630.954612052,652,0.400982084712,0.00457961815126,0.0498513629523,0.999999961343,9.95745992923e-05,-0.000257697941467,-3.14896587079e-05,1793244576582239488
+44,0.733333333,BASELINE,765,745,713.454538174,679,663.545461826,634.545461826,879,786.545461826,806,652.454538174,631,652,0.400982099928,0.00457760687401,0.0498510422712,0.999999961594,9.59206847135e-05,-0.000258155339638,-3.11092030459e-05,1793244576598906368
+45,0.750000000,BASELINE,764.865516017,745,713.134483983,679,664,634.865516017,879,787,805.865516017,652.134483983,630.865516017,652,0.400982180033,0.00457634742173,0.0498506650012,0.99999996169,9.36936691943e-05,-0.000258626041285,-3.08766633562e-05,1793244576615572736
+46,0.766666667,BASELINE,764.287021002,745,713.712978998,679,664,634.287021002,879,787,805.287021002,652.712978998,630.287021002,652,0.400982460302,0.00457782904844,0.0498501969746,0.999999961298,9.67033232566e-05,-0.000258992529955,-3.12422642835e-05,1793244576632239360
+47,0.783333333,BASELINE,764.288796527,745,714,679.288796527,664,634,879.288796527,787,805,653,630.288796527,652,0.400982474656,0.00457920029078,0.0498500867988,0.999999961041,9.91931731044e-05,-0.000259014742587,-3.14593498186e-05,1793244576648906240
+48,0.800000000,BASELINE,764.861977544,745,714,679.861977544,664,634,879.861977544,787,805,653,630.861977544,652,0.400982227158,0.00458046283532,0.0498503290069,0.999999960923,0.000101171160313,-0.000258697938842,-3.15301889227e-05,1793244576665572608
+49,0.816666667,BASELINE,764.5519014,745,714,679.5519014,664,634,879.103802799,787,805.4480986,653,631,652.4480986,0.400981595555,0.00457998518582,0.049850083463,0.999999960824,0.000100512021128,-0.000259336799643,-3.15188225549e-05,1793244576682239232
+50,0.833333333,BASELINE,764,745,713.962404768,679,664,634,878.037595232,787,806,653,631,652.962404768,0.400981033306,0.00457897516977,0.0498497918243,0.999999960794,9.90599309275e-05,-0.000260018090877,-3.14715867904e-05,1793244576698905856
+51,0.850000000,BASELINE,764,745,713.38340176,679,664,634,878.61659824,787,806,653,631,652.38340176,0.40098322429,0.0045782471765,0.0498510642605,0.999999961675,9.82340777127e-05,-0.000256945269894,-3.12832837104e-05,1793244576715572480
+52,0.866666667,BASELINE,764.195078512,745,713.195078512,679.195078512,664,634,879,787,806,653,631,652,0.40098431616,0.00457811172414,0.0498516644928,0.99999996211,9.79533673121e-05,-0.000255356217282,-3.12873585675e-05,1793244576732239360
+53,0.883333333,BASELINE,764.772534126,745,713.772534126,679.772534126,664,634,879,787,806,653,631,652,0.400983253638,0.00457913772253,0.0498509471254,0.999999961682,9.87412017645e-05,-0.000256675527466,-3.16685170905e-05,1793244576748905984
+54,0.900000000,BASELINE,764.653060053,745.346939947,713.653060053,679.653060053,664,634,879,787,805.653060053,653,631,652,0.400982882801,0.00457922171619,0.0498510391115,0.999999961703,9.82427036745e-05,-0.000256779626391,-3.17122420702e-05,1793244576765572864
+55,0.916666667,BASELINE,764.080636382,745.919363618,713.080636382,679.080636382,664,634,879,787,805.080636382,653,631,652,0.400982961506,0.00457869348071,0.049851657114,0.999999962015,9.69081904018e-05,-0.000256093933362,-3.15366617263e-05,1793244576782239232
+56,0.933333333,BASELINE,764.508224054,745.491775946,713.508224054,679,663.491775946,634,879,787,805.508224054,653,631,652,0.40098278076,0.00457929456368,0.0498512795533,0.999999961621,9.86768327018e-05,-0.000256963673657,-3.14787458807e-05,1793244576798905856
+57,0.950000000,BASELINE,764.902508048,745,713.902508048,679.097491952,663.097491952,634,879,787,806,653,630.902508048,652,0.400982660867,0.0045799074176,0.0498508779366,0.999999961232,0.000100563071904,-0.000257749088399,-3.1440767299e-05,1793244576815572736
+58,0.966666667,BASELINE,764.324515103,745,713.324515103,679.675484897,663.675484897,634,879,787,806,653,630.324515103,652,0.400983050566,0.00457966565376,0.0498511622978,0.999999961466,0.000100521159296,-0.000256861907349,-3.14059641933e-05,1793244576832240384
+59,0.983333333,BASELINE,764.252291646,745,713,679.747708354,663.747708354,634,878.747708354,787,806,653,630.252291646,652,0.400982635509,0.00457994408142,0.0498509352315,0.999999961371,0.000100303886267,-0.000257307668146,-3.14510799787e-05,1793244576848907520
+60,1.000000000,BASELINE,764.827579847,745,713,679.172420153,663.172420153,634,878.172420153,787,806,653,630.827579847,652,0.400981190165,0.00458088848455,0.0498500534097,0.999999960855,9.98621079329e-05,-0.000259459928546,-3.1598511975e-05,1793244576865574144
+61,1.016666667,BASELINE,765,745,713,679.401803299,663.401803299,634,878.401803299,787,806,653,630.598196701,652.401803299,0.400981489725,0.00458039182397,0.0498500453401,0.999999961096,9.84617396453e-05,-0.000259064077312,-3.16123171364e-05,1793244576882241024
+62,1.033333333,BASELINE,765,745,713,679.975571023,663.975571023,634,878.975571023,787,806,653,630.024428977,652.975571023,0.400982536072,0.00457927841457,0.0498504112205,0.999999961658,9.66511125076e-05,-0.000257577681014,-3.15689324603e-05,1793244576898908160
+63,1.050000000,BASELINE,765,745,713,679.432368633,664,634,879.567631367,787,806,653,630,652.432368633,0.40098198323,0.0045777640878,0.04985021628,0.999999961655,9.64720691074e-05,-0.000257734286281,-3.09347718072e-05,1793244576915574528
+64,1.066666667,BASELINE,765,745.155385016,713.155385016,679,664,634,879.844614984,787,806,653,630.155385016,652.155385016,0.400981671438,0.00457657437892,0.0498503525115,0.999999961764,9.59663321977e-05,-0.000257543492569,-3.05459435087e-05,1793244576932241152
+65,1.083333333,BASELINE,765,745.729345946,713.729345946,679,664,634,879.270654054,787,806,653,630.729345946,652.729345946,0.400982200552,0.00457630715225,0.0498514480362,0.999999962244,9.4385097107e-05,-0.00025622005653,-3.08887617711e-05,1793244576948907776
+66,1.100000000,BASELINE,764.69391424,746,714,679.30608576,664,634,878.69391424,787,805.69391424,653,631,653,0.400982774983,0.00457746192603,0.0498521217458,0.999999962375,9.50812489559e-05,-0.000255397589238,-3.13154782239e-05,1793244576965574144
+67,1.116666667,BASELINE,764.114694738,746,714,679.885305262,664,634,878.114694738,787,805.114694738,653,631,653,0.400983389853,0.00457988561318,0.0498524190513,0.999999962192,9.78096131003e-05,-0.000255022158394,-3.18170606916e-05,1793244576982240512
+68,1.133333333,BASELINE,764.471514576,745.528485424,714,679.528485424,664,634,878.471514576,787,805.471514576,653,631,652.528485424,0.400983303149,0.00457929481487,0.0498518856499,0.999999962061,9.77029594983e-05,-0.000255595426315,-3.16874867606e-05,1793244576998907136
+69,1.150000000,BASELINE,764.941093834,745,713.941093834,679,664,634,878.941093834,787,806,653.058906166,631,652.058906166,0.400983146213,0.00457797779889,0.0498513214744,0.999999961983,9.69539826539e-05,-0.00025621901588,-3.1382824991e-05,1793244577015573760
+70,1.166666667,BASELINE,764.35853469,745,713.35853469,679,664,634,878.35853469,787,806,653.64146531,631,652.64146531,0.400983904843,0.00457682152569,0.0498523070592,0.99999996228,9.67176209669e-05,-0.000255207632939,-3.0907034216e-05,1793244577032240384
+71,1.183333333,BASELINE,764.220733956,745,713.220733956,679,664,634,878.441467912,787,805.779266044,653.779266044,631,653,0.400984653929,0.00457697202089,0.0498527866801,0.999999962437,9.70733564524e-05,-0.000254468626518,-3.081083213e-05,1793244577048907008
+72,1.200000000,BASELINE,764.794736491,745,713.794736491,679,664,634,879.589472982,787,805.205263509,653.205263509,631,653,0.400985387742,0.00457921390331,0.0498524565432,0.99999996237,9.837670019e-05,-0.000254165538669,-3.13221339485e-05,1793244577065573376
+73,1.216666667,BASELINE,764.63035223,745,714,679,664,634,879.63035223,787,805.36964777,653,631,652.63035223,0.400984631782,0.00457849928206,0.0498520988738,0.999999962439,9.60976228216e-05,-0.00025476705485,-3.13167520344e-05,1793244577082239744
+74,1.233333333,BASELINE,764.05493512,745,714,679,664,634,879.05493512,787,805.94506488,653,631,652.05493512,0.40098304652,0.00457613888364,0.0498517258782,0.999999962568,9.18243431004e-05,-0.00025587213089,-3.10237512291e-05,1793244577098906112
+75,1.250000000,BASELINE,764.53423186,745,714,679.53423186,664,634,879,787,805.46576814,653,631,652.53423186,0.400983921948,0.00457802589276,0.0498521654815,0.999999962364,9.62371454237e-05,-0.000255037770789,-3.10858863497e-05,1793244577115572736
+76,1.266666667,BASELINE,764.877732014,745,713.877732014,680,664,634,879,787,805,653,631,652.877732014,0.400984685689,0.00457951170722,0.0498523898146,0.999999962158,9.96113590476e-05,-0.000254540502045,-3.11485834232e-05,1793244577132239360
+77,1.283333333,BASELINE,764.299328762,745,713.299328762,680,664,634,879,787,805,653,631,652.299328762,0.400984063861,0.00457782838241,0.0498514910921,0.999999962154,9.56908120106e-05,-0.000256064454004,-3.10735406444e-05,1793244577148907008
+78,1.300000000,BASELINE,764.276035638,745,713,679.723964362,664,634,879,787,805.276035638,653,630.723964362,652.276035638,0.400983994625,0.00457729269772,0.049851264871,0.999999962179,9.47664914895e-05,-0.00025632275638,-3.09939868975e-05,1793244577165574144
+79,1.316666667,BASELINE,764.848140599,745,713,679.151859401,664,634,879,787,805.848140599,653,630.151859401,652.848140599,0.400984518087,0.00457798794492,0.0498517599591,0.999999962243,9.70558532039e-05,-0.000255223552729,-3.09095947973e-05,1793244577182240768
+80,1.333333333,BASELINE,764.56694623,745,713,679,663.56694623,634.43305377,879,787,806,653,630.43305377,652.56694623,0.400983807013,0.00457793919145,0.0498513276307,0.999999962085,9.64218969794e-05,-0.000256063591068,-3.10643436342e-05,1793244577198907648
+81,1.350000000,BASELINE,764,745,713,679,663.022249646,634.977750354,879,787,806,653,631,652,0.400982693558,0.00457760614455,0.0498506125192,0.999999961857,9.48320839623e-05,-0.000257514023639,-3.12855235537e-05,1793244577215574272
+82,1.366666667,BASELINE,764,745,713,679,663.602771423,634.397228577,879,787,806,653,631,652,0.400982677326,0.00457688563121,0.0498512108625,0.999999961987,9.57641904458e-05,-0.000256697009602,-3.10052642208e-05,1793244577232241408
+83,1.383333333,BASELINE,764.181908012,745.181908012,713.181908012,679,664,634,879,787,806,653,631,652.181908012,0.400982899022,0.00457645966355,0.0498517203544,0.99999996214,9.61749458643e-05,-0.000255974080359,-3.07788251488e-05,1793244577248908032
+84,1.400000000,BASELINE,764.758042766,745.758042766,713.758042766,679,664,634,879,787,806,653,631,652.758042766,0.40098363635,0.00457667202822,0.0498520372897,0.999999962345,9.54558417571e-05,-0.000255455049302,-3.06690240209e-05,1793244577265574400
+85,1.416666667,BASELINE,764.668461921,745.668461921,713.668461921,679.331538079,664,634,878.668461921,787,805.668461921,653,631,653,0.400984721627,0.00457731574821,0.0498525853022,0.999999962697,9.5483947367e-05,-0.000254026786189,-3.09615852171e-05,1793244577282240768
+86,1.433333333,BASELINE,764.096877699,745.096877699,713.096877699,679.903122301,664,634,878.096877699,787,805.096877699,653,631,653,0.400986058833,0.0045782717858,0.0498533006232,0.999999963152,9.60530611947e-05,-0.000251940204614,-3.15454720031e-05,1793244577298907648
+87,1.450000000,BASELINE,764.492732431,745,713,679.507267569,664,634.492732431,878.492732431,787,805.492732431,653,631,653,0.400985673408,0.00457714278919,0.0498528052842,0.999999962826,9.54932233124e-05,-0.000253489609183,-3.11765171118e-05,1793244577315574528
+88,1.466666667,BASELINE,765,745.08352298,713.08352298,679.08352298,663.91647702,634.91647702,879,787,806,653,630.91647702,652.91647702,0.400984963719,0.00457594907327,0.0498521271082,0.999999962437,9.47730332831e-05,-0.000255337996489,-3.07514963374e-05,1793244577332241152
+89,1.483333333,BASELINE,765,745.659581094,713.659581094,679.659581094,663.340418906,634.340418906,879,787,806,653,630.340418906,652.340418906,0.400984414952,0.00457688295216,0.0498518277173,0.999999962649,9.44658889703e-05,-0.000254573739812,-3.11425570298e-05,1793244577348907776
+90,1.500000000,BASELINE,764.763825509,746,713.763825509,679.763825509,663.236174491,634,879.236174491,787.236174491,806,653,630.236174491,652.236174491,0.400983448859,0.00457779684216,0.0498512696482,0.99999996243,9.50134821268e-05,-0.000255200316,-3.13746013901e-05,1793244577365574656
+91,1.516666667,BASELINE,764.186458859,746,713.186458859,679.186458859,663.813541141,634,879.813541141,787.813541141,806,653,630.813541141,652.813541141,0.400981879872,0.0045786818549,0.0498503378768,0.999999961583,9.67958814964e-05,-0.00025783617474,-3.13769209674e-05,1793244577382242560
+92,1.533333333,BASELINE,764,745.614388838,713,679,664,634,879.614388838,787.614388838,806,653,631,653,0.400982302154,0.00457750702539,0.0498505966349,0.999999961774,9.59634095551e-05,-0.000257449617482,-3.1038389082e-05,1793244577398908672
+93,1.550000000,BASELINE,764,745.044845204,713,679,664,634,879.044845204,787.044845204,806,653,631,653,0.40098367425,0.00457534967285,0.0498514232632,0.999999962456,9.38836716287e-05,-0.000255621399781,-3.053727463e-05,1793244577415574016
+94,1.566666667,BASELINE,764.555194498,745.555194498,713.555194498,679,664,634,879,787,806,653,631,653,0.400984177025,0.00457681667892,0.0498515082077,0.999999962439,9.38180509598e-05,-0.000255670280504,-3.08564749263e-05,1793244577432240128
+95,1.583333333,BASELINE,765,745.849439004,714,679,664,634,879,787,806,653,631,652.849439004,0.400984549359,0.00457779984217,0.0498517959045,0.999999962466,9.395593782e-05,-0.000255481679039,-3.11214705321e-05,1793244577448906496
+96,1.600000000,BASELINE,765,745.274586937,714,679,664,634,879,787,806,653,631,652.274586937,0.400984763483,0.00457654655515,0.0498528336099,0.999999962782,9.41822102545e-05,-0.000254171726153,-3.10361359302e-05,1793244577465573120
+97,1.616666667,BASELINE,765,745.300402561,714,679,664,634,879,787,805.699597439,653,631,652.300402561,0.400984857254,0.00457593748724,0.0498532634247,0.999999962966,9.40058028975e-05,-0.000253529472123,-3.08788525188e-05,1793244577482240256
+98,1.633333333,BASELINE,765,745.875517703,714,679,664,634,879,787,805.124482297,653,631,652.875517703,0.400984840966,0.00457591754585,0.0498531373345,0.999999963032,9.34611523125e-05,-0.000253497816417,-3.06557732584e-05,1793244577498908160
+99,1.650000000,BASELINE,765,745.536932956,714,679,663.536932956,634,878.536932956,787,805,653,631,652.536932956,0.400983489301,0.00457706432193,0.0498520546702,0.999999962478,9.45701087237e-05,-0.000255207172416,-3.11556614813e-05,1793244577515574528
+100,1.666666667,BASELINE,765,745,714,679,663.053020534,634,878.053020534,787,805.053020534,653,631,652,0.400982121551,0.00457842280867,0.0498510237958,0.999999961867,9.61569768879e-05,-0.000256925419126,-3.17638640263e-05,1793244577532240640
+101,1.683333333,BASELINE,765,745,714,679,663.632735737,634,878.632735737,787,805.632735737,653,631,652,0.40098425843,0.00457868279722,0.0498531323234,0.999999962461,9.7953659349e-05,-0.000253954478255,-3.1464144572e-05,1793244577548907008
+102,1.700000000,BASELINE,765,745,713.78960861,679,663.78960861,634,879,787,805.78960861,653,630.78960861,652.21039139,0.400984960908,0.00457836418306,0.0498537336039,0.999999962662,9.79215694196e-05,-0.000253194046938,-3.13050775725e-05,1793244577565573376
+103,1.716666667,BASELINE,765,745,713.215513364,679,663.215513364,634,879,787,805.215513364,653,630.215513364,652.784486636,0.400983183733,0.00457704533768,0.0498517293041,0.999999962187,9.47280782197e-05,-0.000256254926525,-3.13891566764e-05,1793244577582239744
+104,1.733333333,BASELINE,765,745,713,679.366844378,663.366844378,634,879,787,805.366844378,652.633155622,630,652.633155622,0.400983479416,0.00457771528535,0.0498520723805,0.999999962242,9.55444185661e-05,-0.00025572633712,-3.14883319688e-05,1793244577598906624
+105,1.750000000,BASELINE,765,745,713,679.954168068,663.954168068,634,879,787,805.954168068,652.045831932,630,652.045831932,0.400985020919,0.00457958052919,0.0498538262673,0.999999962608,9.87707312067e-05,-0.000253040419994,-3.15965803189e-05,1793244577615573504
+106,1.766666667,BASELINE,765,745,713.534504028,680,664,634,879,787,806,652.534504028,630,652.534504028,0.400983749883,0.00457809533552,0.0498524877686,0.999999962422,9.65007647375e-05,-0.000254701740036,-3.11543143484e-05,1793244577632240128
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,664,634,879,787,805,653,630,652,0.400983200526,0.00457957357507,0.0498527341889,0.999999962253,9.83705266239e-05,-0.000254635052921,-3.12661033891e-05,1793244577674578944
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.575484221,745,714,679,664,634,879,787,805,653,630.575484221,652,0.400982299848,0.00457793977415,0.0498516242042,0.999999962051,9.75247384153e-05,-0.000255749634887,-3.1305545077e-05,1793244577691245824
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.154806706,664,634,879,787,805.154806706,653,631,652.154806706,0.400981901845,0.00457682608648,0.0498508130935,0.999999961957,9.65402792734e-05,-0.000256483604972,-3.13471117949e-05,1793244577707912192
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.744922335,664,634,879,787,805.744922335,653,631,652.744922335,0.400982917338,0.00457717493157,0.0498508424014,0.999999962173,9.51658840226e-05,-0.000256147313226,-3.13946540036e-05,1793244577724578304
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745.328799723,713.671200277,680,664,634,879,787,805.671200277,653,631,653,0.400983027078,0.0045774217125,0.0498512185975,0.99999996226,9.46290129277e-05,-0.000256001071459,-3.14531691691e-05,1793244577741244672
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745.907927655,713.092072345,680,664,634,879,787,805.092072345,653,631,653,0.400982447232,0.00457759078792,0.0498518588932,0.999999962248,9.47297821184e-05,-0.000255999522265,-3.15200384769e-05,1793244577757911296
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745.515538401,713.484461599,679.515538401,664,634.484461599,879.484461599,787,805.484461599,653,631,652.515538401,0.400982273401,0.00457721729894,0.0498515763513,0.9999999622,9.47254891439e-05,-0.000256208301361,-3.13668104341e-05,1793244577774577664
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.939792802,745,713.939792802,679,664,635,879.939792802,787.060207198,806,653,631,652.060207198,0.400982358666,0.00457697679112,0.0498512432174,0.999999962168,9.48635145416e-05,-0.000256304260387,-3.11956040926e-05,1793244577791244288
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.366586153,745,713.366586153,679,664,635,879.366586153,787.633413847,806,653,631,652.633413847,0.400983997589,0.00457874327568,0.0498519654408,0.99999996233,9.63833985042e-05,-0.000255100149194,-3.12257269242e-05,1793244577807911168
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,713,679,664,634.786445585,879,787.786445585,806,653,631,653,0.400989347813,0.00457961037627,0.0498543132313,0.999999963213,9.77089106646e-05,-0.000251105753941,-3.11952676595e-05,1793244577824578048
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,713,679,664,634.194002919,879,787.194002919,806,653,631,653,0.401001282627,0.00457888178962,0.0498595451031,0.999999965327,9.86895681991e-05,-0.000242160836716,-3.10573236323e-05,1793244577841244416
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.388935497,745.388935497,713.388935497,679.388935497,664,634,879.388935497,787,806,653,631,652.611064503,0.401030399822,0.00457754748011,0.0498702460904,0.999999970515,9.72652821336e-05,-0.000220369951397,-3.07717455368e-05,1793244577857911040
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.967246282,745.967246282,713.967246282,679.967246282,664,634,879.967246282,787,806,653,631,652.032753718,0.401067883235,0.00457591824003,0.049883610027,0.999999976562,9.46700130094e-05,-0.00019232427757,-3.04142833969e-05,1793244577874577664
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745.457426604,714,679.457426604,664,634,879.457426604,787,806,653,631,652,0.401131408297,0.004576271134,0.0499034383341,0.999999983712,9.42894063463e-05,-0.000150838585256,-3.05611432948e-05,1793244577891244544
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,713.879671746,679.120328254,664,634,879,786.879671746,805.879671746,653,630.879671746,652,0.401197744405,0.0045763122842,0.0499222568081,0.999999988671,9.38711136274e-05,-0.000113673296078,-3.04001978315e-05,1793244577907910912
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,713.291787255,679.708212745,664,634,879,786.291787255,805.291787255,653,630.291787255,652,0.401268928216,0.00457467969823,0.0499356433667,0.999999990627,9.27897383493e-05,-9.64310223852e-05,-2.89255709181e-05,1793244577924577536
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.708136134,745.291863866,713,680,663.708136134,634,879.291863866,786.291863866,805.291863866,653,630.291863866,652,0.401345874247,0.00457401908595,0.0499445321637,0.999999991867,9.20416258107e-05,-8.37542253782e-05,-2.79343116397e-05,1793244577941244160
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.128656796,745.871343204,713,680,663.128656796,634,879.871343204,786.871343204,805.871343204,653,630.871343204,652,0.401428498619,0.00457431629933,0.0499489886679,0.999999992571,9.16219250919e-05,-7.55764506448e-05,-2.74193841497e-05,1793244577957911040
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.447803357,746,713,680,663.447803357,634,879.552196643,787,806,653,631,652.447803357,0.401523207751,0.00457359011623,0.0499477533275,0.999999992601,8.87962149117e-05,-7.8708901806e-05,-2.67950702259e-05,1793244577974578176
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.976707316,746,713,679.976707316,664,634,879,787,805.976707316,653,631,652.976707316,0.401622388447,0.00457258388575,0.04994496812,0.999999992411,8.54153798933e-05,-8.48518538123e-05,-2.61288953491e-05,1793244577991244544
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.40379461,746,713,679.40379461,664,634,879,787,805.40379461,653,631,652.40379461,0.401745703138,0.00457186109093,0.0499439404755,0.999999992371,8.51376346926e-05,-8.58688059663e-05,-2.52115618715e-05,1793244578007910912
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745.824935162,713.175064838,679,663.824935162,634,879.175064838,787,805.175064838,653,631,652,0.401878400164,0.00457074000313,0.0499445101837,0.999999992519,8.41645729257e-05,-8.54060842309e-05,-2.41686718194e-05,1793244578024577280
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745.231877073,713.768122927,679,663.231877073,634,879.768122927,787,805.768122927,653,631,652,0.402033498886,0.00456866793194,0.0499488938085,0.999999993102,8.15313398202e-05,-8.14104215881e-05,-2.28259969646e-05,1793244578041243648
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.352015501,745.352015501,713.647984499,679,663.352015501,634,879.647984499,787,806,653,631,652,0.402205864922,0.0045657457453,0.0499499823975,0.999999993426,7.68276166061e-05,-8.24269938244e-05,-2.12437173895e-05,1793244578057910272
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.9300239,745.9300239,713.0699761,679,663.9300239,634,879.0699761,787,806,653,631,652,0.402389316537,0.00456227778688,0.0499489555838,0.999999993549,7.07946446741e-05,-8.66614054624e-05,-1.95076121679e-05,1793244578074576640
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.496239142,745.496239142,713,679,664,634,879,787,806,653,630.496239142,652.503760858,0.402603635706,0.00456052274215,0.0499479680981,0.999999993558,6.76179577857e-05,-8.93966569249e-05,-1.7879207976e-05,1793244578091243520
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,713,679,664,634,879,787,806,653,630.076090139,652.923909861,0.402827443955,0.00455894483495,0.0499476771939,0.999999993638,6.4954434326e-05,-9.07831829597e-05,-1.62175794689e-05,1793244578107910656
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,713,679,664,634,879,787,806,653,630.643133146,652.356866854,0.40308504534,0.00455698754552,0.0499518458578,0.999999994315,6.30635040098e-05,-8.47997402933e-05,-1.42458613986e-05,1793244578124577280
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,713.224072424,679,664,634.224072424,879,787,806,653,631,652,0.403361870945,0.00455416906588,0.0499580742716,0.99999999543,5.98333956531e-05,-7.35844726703e-05,-1.20473229795e-05,1793244578141243904
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,713.828606721,679,664,634.828606721,879,787,806,653,631,652,0.403671338136,0.00454988833573,0.0499678000204,0.999999997049,5.4329441384e-05,-5.34858725165e-05,-9.46365698559e-06,1793244578157910272
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679.412078705,664,634.587921295,879,787,805.587921295,653,631,652,0.404005463582,0.00454667251572,0.0499764622893,0.999999998134,4.91311276539e-05,-3.55618837087e-05,-7.3257005038e-06,1793244578174576896
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679.987216347,664,634.012783653,879,787,805.012783653,653,631,652,0.404349346256,0.00454387807919,0.0499847037406,0.999999998844,4.40537555588e-05,-1.8498385886e-05,-5.36411068093e-06,1793244578191243776
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745.561974303,713.438025697,680,664,634,879,787,805.561974303,653,631,652,0.40473689125,0.00453950062305,0.0499891456535,0.99999999911,4.10960863511e-05,-9.21865035327e-06,-2.37209484818e-06,1793244578207910400
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.282232991,745.858883504,713.141116496,680,664,634,879.141116496,787,805.858883504,653.141116496,631,652,0.405127472966,0.00453551365692,0.0499903857798,0.999999999268,3.78203182857e-05,-5.84693022984e-06,4.87478546839e-07,1793244578224576768
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.46866428,745.26566786,713.73433214,680,664,634,879.73433214,787,805.26566786,653.73433214,631,652,0.40552460358,0.00453289300513,0.04998164496,0.999999999222,3.33710732593e-05,-2.08360186338e-05,2.84769720375e-06,1793244578241243904
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.681154121,745.318845879,714,680,664,634,879.681154121,787.318845879,805.318845879,653.681154121,631.318845879,652,0.405932364942,0.00452927521484,0.0499668577421,0.999999998298,3.01271915594e-05,-4.96409295631e-05,5.70739634975e-06,1793244578257910784
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.103698272,745.896301728,714,680,664,634,879.103698272,787.896301728,805.896301728,653.103698272,631.896301728,652,0.40634874875,0.00452484866375,0.0499471664021,0.999999995553,2.78609571502e-05,-8.96515991274e-05,8.97221509438e-06,1793244578274577408
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.529652536,713.529652536,679.529652536,664,634,879,787.529652536,806,653,631.059305072,652,0.406814214985,0.00452017703448,0.049932308152,0.999999993196,2.09144155848e-05,-0.000114181552988,1.15764020412e-05,1793244578291244032
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745.043807539,713,679,664,634,879,787,806,653,630.043807539,652,0.407297663931,0.00451536093014,0.0499206791789,0.999999991202,1.29390247793e-05,-0.000131257841683,1.41086919429e-05,1793244578307910656
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745.619218903,713,679,664,634,879,787,806,653,630.619218903,652,0.407868962284,0.00450944258672,0.0499353999519,0.999999994934,4.91021265365e-06,-9.90033251461e-05,1.75232594554e-05,1793244578324577280
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.806761972,746,713.193238028,679.193238028,664,634,879,787,806,653,631,652,0.408450539314,0.00450325533303,0.0499543381153,0.9999999978,-3.22943396042e-06,-6.27616992262e-05,2.12206045087e-05,1793244578341244160
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.235466702,746,713.764533298,679.764533298,664,634,879,787,806,653,631,652,0.409052225848,0.00449654197478,0.0499815273191,0.999999999433,-1.1585920329e-05,-1.87195631821e-05,2.54711846577e-05,1793244578357911040
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.338139173,745.661860827,714,679.661860827,664,634,879,787,806,653,631,652.338139173,0.409660445852,0.00448979988978,0.0499950502919,0.999999999434,-1.55346518997e-05,1.09528132608e-06,2.98196357508e-05,1793244578374577664
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.913365109,745.086634891,714,679.086634891,664,634,879,787,806,653,631,652.913365109,0.410273246783,0.00448303766328,0.0499989911662,0.999999999272,-1.63928795935e-05,3.92312409209e-06,3.42367090428e-05,1793244578391244288
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.511215877,713.488784123,679.511215877,664,634,880.022431754,787,806,653,631,652.488784123,0.41087355352,0.00447612307354,0.0499771522445,0.999999994491,8.66872546818e-05,-4.5122480096e-05,3.83089237174e-05,1793244578407911168
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,746,713.110458187,680,664,634,880.889541813,787,806,653,630.889541813,652,0.411486410451,0.00446942380436,0.0499529264908,0.999999977921,0.000182330977846,-9.55907514572e-05,4.21310024349e-05,1793244578424578304
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,746,713.698374448,680,664,634,880.301625552,787,806,653,630.301625552,652,0.4121630919,0.0044637720444,0.0499381425716,0.999999978853,0.000166166899169,-0.000112450039818,4.51361813363e-05,1793244578441245184
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.717932502,714,679.717932502,664,634,880,787,805.717932502,652.717932502,630.282067498,652.282067498,0.412888812849,0.00445730066069,0.0499454274093,0.999999984577,0.000142896208711,-9.062665345e-05,4.70399931091e-05,1793244578457911552
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.138688803,714,679.138688803,664,634,880,787,805.138688803,652.138688803,630.861311197,652.861311197,0.413666200139,0.00444996575008,0.0499759630962,0.999999992178,0.000112138244469,-2.80485899273e-05,4.77834441919e-05,1793244578474577664
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.44011509,745,714,679,664,634,880,787,805.44011509,652.44011509,631,652.55988491,0.414407686853,0.00444044699612,0.0499780236089,0.999999999035,1.1829007113e-05,-2.85533080044e-05,3.12335125098e-05,1793244578491244288
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.018514054,714,679.018514054,664,634,880,787,806,653,630.981485946,652,0.415138264433,0.00443125567587,0.0499703845981,0.999999993153,-0.000105420061305,-4.97894568489e-05,1.00652301538e-05,1793244578507910912
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.588969928,714,679.588969928,664,634,880,787,806,653,630.411030072,652,0.41588054578,0.00445232112241,0.0499408217521,0.999999992392,-7.49433737538e-05,-9.70416549193e-05,1.35124114249e-05,1793244578524577792
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.834523291,746,714,680,664,634,880.165476709,787,806,652.834523291,630.165476709,652.165476709,0.416649239683,0.00447302078173,0.0499252294709,0.999999991968,-3.81414980184e-05,-0.000119766531359,1.62687732858e-05,1793244578541244672
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.242416155,746,714,680,664,634,880.757583845,787,806,652.242416155,630.757583845,652.757583845,0.417486030131,0.00449277737079,0.0499456559644,0.999999996599,1.49679136384e-05,-7.9255305359e-05,1.72440711677e-05,1793244578557911296
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.34220601,746,714,680,664.34220601,634,880.65779399,787,806,652.34220601,631,652.65779399,0.418329637567,0.00449295376936,0.0499666275884,0.999999998331,3.30464202199e-05,-4.30245788493e-05,1.98795497844e-05,1793244578574578176
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.921639349,746,714,680,664.921639349,634,880.078360651,787,806,652.921639349,631,652.078360651,0.419177970705,0.00447955659993,0.0499879771121,0.999999999312,2.68404650963e-05,-9.76122298296e-06,2.36659147705e-05,1793244578591245312
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.501979233,746,714,680,664.501979233,634,880,787,806,652.501979233,631,652,0.419986804159,0.0044732512145,0.049971058556,0.999999998795,7.74066919238e-06,-4.21941990682e-05,2.38695655231e-05,1793244578607911680
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.926505083,714,680,664.073494917,634,880,787,805.926505083,652,631,652,0.42080433488,0.00446815255256,0.0499541712387,0.999999997064,-1.25284254675e-05,-7.1827942119e-05,2.35639031987e-05,1793244578624578048
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.353951016,714,680,664.646048984,634,880,787,805.353951016,652,631,652,0.421722868596,0.00446371710506,0.0499781337163,0.999999999275,-2.70452701997e-05,-1.26894960897e-05,2.3604364719e-05,1793244578641244160
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.226645471,713.773354529,679.773354529,665,634,880,787,805.226645471,652,630.773354529,652,0.422627160942,0.00446068065682,0.0499925566658,0.99999999915,-2.46893427198e-05,2.24861550694e-05,2.41800834398e-05,1793244578657910528
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.820263933,713.179736067,679.179736067,665,634,880,787,805.820263933,652,630.179736067,652,0.423508394518,0.00445990939739,0.0499915336934,0.999999999481,4.98612968237e-06,1.88624587303e-05,2.56224639058e-05,1793244578674577152
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.402385839,745.597614161,713.402385839,679,664.597614161,634,880,787,806,652,630.402385839,652,0.424385934774,0.00446829860402,0.0499819802046,0.999999999614,1.07035838768e-05,2.33937542297e-06,2.55143655798e-05,1793244578691244288
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.979515119,745.020484881,713.979515119,679,664.020484881,634,880,787,806,652,630.979515119,652,0.425261871083,0.00448066591134,0.0499687221825,0.99999999948,6.0168268383e-06,-1.97855033823e-05,2.4732943269e-05,1793244578707911424
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.555159308,714,679.555159308,664.555159308,634,880,787,806,652,631,652,0.426169512884,0.0044789643667,0.0499893668503,0.999999999625,-2.99123534898e-06,3.61038053583e-06,2.6989115514e-05,1793244578724578304
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.866262717,746,714,679.866262717,664.866262717,634,880.133737283,787,806.133737283,652,631,652,0.427065262755,0.00447460438596,0.0500012375706,0.999999999502,-7.03333445843e-06,9.42506778461e-06,2.92979421403e-05,1793244578741245184
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.27751735,746,714,679.27751735,664.27751735,634,880.72248265,787,806.72248265,652,631,652,0.427916583534,0.00446296122582,0.0499790123083,0.999999998223,6.3610797814e-06,-5.02753611212e-05,3.14055896532e-05,1793244578757911552
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.69385857,714,679,664,634,880.69385857,787,806.69385857,652,631,652,0.42879554487,0.0044560207975,0.0499608443133,0.999999996341,5.94190330855e-06,-7.92791227972e-05,3.15857966225e-05,1793244578774577920
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.114735453,714,679,664,634,880.114735453,787,806.114735453,652,631,652,0.429699152827,0.0044532737247,0.0499462941235,0.999999996252,-6.79464393776e-06,-8.09111271645e-05,3.00473339493e-05,1793244578791244800
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.463499546,714,679.463499546,664.463499546,634,880,787,806,652,631,652,0.430603703479,0.00445678598862,0.0499515930948,0.999999997307,-8.44070948138e-06,-6.63074452263e-05,3.03070757527e-05,1793244578807911424
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.041150781,746,714,680,665.041150781,634,880.041150781,787.041150781,806.041150781,652,631,652,0.431504162239,0.00446198187712,0.0499597377129,0.999999998171,-7.08783249831e-06,-5.14766550265e-05,3.09443778571e-05,1793244578824577792
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.614093123,746,714,680,665.614093123,634,880.614093123,787.614093123,806.614093123,652,631,652,0.432348730687,0.0044689500357,0.0499412809602,0.999999995866,-2.39001239423e-06,-8.55492892516e-05,3.07194703162e-05,1793244578841244672
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.807080833,745.807080833,714,680,665.807080833,634,881,787.807080833,806.807080833,652,631,652,0.433213976602,0.00447125042612,0.0499357381226,0.999999995029,-1.50996416355e-06,-9.4793058705e-05,3.08928707571e-05,1793244578857911552
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.216114944,745.216114944,714,680,665.216114944,634,881,787.216114944,806.216114944,652,631,652,0.434121886123,0.00446391989403,0.0499568403354,0.999999998061,-8.50705654691e-06,-5.28078750432e-05,3.18880930271e-05,1793244578874578432
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.367138124,713.632861876,680,665,634,881,787,806,652,631,652,0.434994547777,0.00445808646237,0.0499744723101,0.999999998996,-5.33257387715e-06,-2.9624757838e-05,3.31852934645e-05,1793244578891244800
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.945944442,713.054055558,680,665,634,881,787,806,652,631,652,0.435846887726,0.00445311616285,0.0499901035678,0.999999999243,3.70618420499e-06,-1.72817036047e-05,3.46565950188e-05,1793244578907910656
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,746,713.522283114,680,664.477716886,634,880.477716886,787,806,652,631,652,0.436640514234,0.00445358919661,0.0499662999597,0.99999999686,-6.47697944741e-06,-7.05744302073e-05,3.54696879153e-05,1793244578924577024
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,746,714,680,664,634,880.097929644,787,806,652,631,652,0.437439262781,0.0044550003292,0.0499472888871,0.999999993247,-1.77688277475e-05,-0.000109096816579,3.58888224141e-05,1793244578941243392
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,746,714,680,664,634,880.671449305,787,806,652,631,652,0.438292258875,0.00445824414301,0.0499712806464,0.999999998162,-2.48287616612e-05,-4.30521288545e-05,3.47240028077e-05,1793244578957910016
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.254475689,745.745524311,714,680,664.254475689,634,880.745524311,787,806,652,631,652,0.439115776989,0.00446302135287,0.049982029617,0.999999999087,-2.19289606307e-05,-1.35730680316e-05,3.40807309491e-05,1793244578974576640
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.850252378,745.149747622,714,680,664.850252378,634,880.149747622,787,806,652,631,652,0.439899759375,0.00446985514247,0.0499750174506,0.999999998852,-5.67123283002e-06,-3.31355737555e-05,3.41369554926e-05,1793244578991243264
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.569448479,745,714,680,664.569448479,634,880,786.569448479,806.430551521,652,631,651.569448479,0.440638835062,0.00446763228299,0.049956976256,0.99999999736,1.71292753799e-05,-6.13857500767e-05,3.49069315079e-05,1793244579007909888
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,664,634,880,786.005650171,807,652,631,651.005650171,0.441362861024,0.00446239377084,0.0499355166989,0.999999994243,4.17541628417e-05,-9.20860347106e-05,3.5921720732e-05,1793244579024576512
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,664,634,880,786.580327652,807,652,631,651.580327652,0.442089603396,0.00445967128003,0.0499427061763,0.999999996009,2.88884502386e-05,-7.57900953125e-05,3.7458361314e-05,1793244579041248512
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.158939914,714,680,664,633.841060086,880.158939914,787,806.841060086,652,631,652,0.442796289115,0.00445951074113,0.0499463760904,0.999999996748,2.08626943281e-05,-6.74662362314e-05,3.8941799515e-05,1793244579057917696
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.748205624,714,680,664,633.251794376,880.748205624,787,806.251794376,652,631,652,0.443448672114,0.00446628662154,0.0499405168777,0.999999995594,2.5940995835e-05,-8.07265792913e-05,4.02811939908e-05,1793244579074579456
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,746,714,680,663.668782383,633,880.668782383,787,806,652,631,652,0.444065943983,0.00447972572268,0.0499068767757,0.999999988569,4.03563039736e-05,-0.000139791749986,4.11378930563e-05,1793244579091244288
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,746,714,680,663.090436454,633,880.090436454,787,806,652,631,652,0.444657018672,0.00449813639018,0.0498525087781,0.999999970075,6.17381452669e-05,-0.000233032848065,4.16344427236e-05,1793244579107911168
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,746,714,680,663,632.514197032,880.485802968,787,806.485802968,652,631,652,0.445257307398,0.00451228767573,0.0498302654388,0.999999964125,7.99063235084e-05,-0.000252499488523,4.0101297737e-05,1793244579124578304
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,746,714,680,663,632,881,787,807,652,631,652,0.445858128106,0.00452464490041,0.0498168888663,0.999999962078,9.67864162205e-05,-0.000254946474061,3.84433213383e-05,1793244579141244928
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,746,714,680,663,632,881,787,807,652,631,652,0.446449141568,0.0045286237446,0.0498278018238,0.99999996709,0.000107891527476,-0.000229493483147,3.88819566757e-05,1793244579157911808
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.784071202,714,680.215928798,662.784071202,632,881,786.784071202,807,652,631,652,0.447002087949,0.00453125096202,0.0498257291586,0.999999966251,0.000116811833792,-0.000228681513992,3.94704893419e-05,1793244579174578944
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.190777699,714,680.809222301,662.190777699,632,881,786.190777699,807,652,631,652,0.447488506907,0.00453151602888,0.0498009623648,0.999999955053,0.000121913897548,-0.000270933057204,4.03209877604e-05,1793244579191245568
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680.60861665,662,632,881,786,807,652,631,652,0.447958192484,0.0045341789602,0.0497701532135,0.999999940318,0.000124597614695,-0.000319715359723,4.02691500978e-05,1793244579207911680
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680.031731924,662,632,881,786,807,652,631,652,0.448419947094,0.00453797839147,0.0497364802038,0.999999922213,0.000126135124348,-0.000371593006186,3.97896381829e-05,1793244579224578048
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,746,714,681,662.124074319,631,880.124074319,787,806.124074319,652,631,652,0.449313776751,0.0045319582252,0.0497386906689,0.999999923529,0.000114428503485,-0.0003718123411,4.00536738808e-05,1793244579257910784
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,746,714,681,662.712528578,631,880.712528578,787,806.712528578,652,631,652,0.449727745559,0.00453325329329,0.049752618163,0.999999932534,0.00010228324549,-0.000350983933898,3.57790448861e-05,1793244579274577920
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,746,714,681,662.703826671,630.703826671,881,787,807,652,631,652,0.450127746557,0.00453710920096,0.0497622336526,0.999999940536,7.12297680466e-05,-0.000336512450497,2.47591338494e-05,1793244579291245056
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,746,714,681,662.12477556,630.12477556,881,787,807,652,631,652,0.45051440675,0.00454341098923,0.0497677307075,0.9999999459,2.21168825408e-05,-0.000328112522278,7.29674411811e-06,1793244579307912192
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714,681,662,630.452112562,881,787,807,652,631,652,0.450853063134,0.00454631995369,0.0497641436857,0.99999994129,1.45536599047e-05,-0.000342325427906,4.69051038561e-06,1793244579324578048
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.971087384,714,680.971087384,661.971087384,630.971087384,881,786.971087384,807,652,631,652,0.451175000963,0.00454847649975,0.0497573322161,0.999999933691,1.86620054614e-05,-0.000363636816171,6.15845630229e-06,1793244579341244160
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.384527054,714,680.384527054,661.384527054,630.384527054,881,786.384527054,807,652,631,652,0.451428789342,0.00455409486002,0.0497364538892,0.999999918758,2.77686739683e-05,-0.00040206439657,7.50391420425e-06,1793244579357910528
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.199609573,713.800390427,680.199609573,661.199609573,630,881,786,806.800390427,652,631,652,0.451676224611,0.00456462596958,0.0497172275206,0.999999903257,4.41915114513e-05,-0.00043755738034,8.73639041393e-06,1793244579374576896
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.779133133,713.220866867,680.779133133,661.779133133,630,881,786,806.220866867,652,631,652,0.451911568072,0.00458450744252,0.0497011453024,0.999999887913,7.45391055932e-05,-0.000467464985244,9.75383007187e-06,1793244579391243520
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.643015836,713.356984164,681,661.286031672,630,881,786,806.356984164,652,631,652,0.452142065321,0.00459924504511,0.0496942166801,0.999999876402,0.000136972080888,-0.000477855342298,9.40466675044e-06,1793244579407910400
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.066194721,713.933805279,681,660.132389442,630,881,786,806.933805279,652,631,652,0.452369578211,0.0046108149663,0.0496929249971,0.999999862554,0.000219163784789,-0.000476226645079,8.21392600304e-06,1793244579424577024
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680.911028353,660,630,880,786,807,652,631,652,0.452773518687,0.00459905314639,0.0497053167013,0.999999875482,0.00020896029354,-0.000453017314787,1.21198567536e-05,1793244579457910784
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+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.260561022,714,680,660,629.739438978,880.260561022,786,806.739438978,652,630.739438978,652,0.453077306745,0.00460035747895,0.0497045593287,0.99999987579,0.000207403360685,-0.000453025716625,1.30687999788e-05,1793244579491245312
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.839791159,714,680,660,629.160208841,880.839791159,786,806.160208841,652,630.160208841,652,0.453202891292,0.00460069775747,0.0496990045456,0.999999872622,0.000204068968353,-0.000461458101936,1.29668818574e-05,1793244579507912704
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714,680.417851472,660,629,881,786,806,652,630.417851472,652,0.453307444662,0.00459927587986,0.0496911815469,0.999999867891,0.000201151343159,-0.000472834475917,1.35230678902e-05,1793244579524579072
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+222,3.700000000,POSE1_TO_POSE2_PRESS,765,746,714,680.7381589,660,629,881,786.7381589,807,652,631,651.7381589,0.453621986937,0.00460025270537,0.0496702493617,0.999999855485,0.000195276965168,-0.000500718746313,1.32976112238e-05,1793244579591244800
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+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,714,681,660,629,881,786.099663891,807,652,631,652,0.453721583772,0.0046003906955,0.0496676117284,0.999999854039,0.000194412230635,-0.000503934517269,1.32893496423e-05,1793244579624578560
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714,680.235023728,660,629,881,786,807,652.764976272,631,652,0.453859096542,0.00460722181159,0.0496522831361,0.999999841353,0.000197472859076,-0.000527388597753,1.26536984477e-05,1793244579907910400
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.655024712,714,680,660,628.655024712,881,786,806.655024712,653,631,652,0.453860496904,0.00460745890575,0.0496531031829,0.999999841998,0.000197800764399,-0.000526044732364,1.25032622979e-05,1793244579924577024
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.08142257,714,680,660,628.08142257,881,786,806.08142257,653,631,652,0.453862817902,0.00460864430679,0.0496547299954,0.999999843154,0.000198704749011,-0.000523509778088,1.2040235199e-05,1793244579941243648
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.50305518,745,714,680.49694482,659.50305518,628,881,786,806.49694482,652.50305518,631,652,0.453861394935,0.0046090912118,0.0496535288512,0.999999842345,0.000197903792837,-0.000525352522224,1.21620418774e-05,1793244579957910272
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.077380038,745.077380038,714,680.922619962,659.077380038,628,880.922619962,786,806.922619962,652,631,652,0.453859742531,0.00460939815379,0.0496520811689,0.999999841378,0.00019713956653,-0.000527472828241,1.23449444083e-05,1793244579974577152
+246,4.100000000,POSE1_TO_POSE2_PRESS,764.666272992,745.666272992,714,680.333727008,659.666272992,628,880.333727008,786,806.333727008,652,631,652,0.453860667771,0.00460958748564,0.049652096357,0.999999841552,0.00019848262176,-0.000526640582833,1.22921547329e-05,1793244579991243776
+247,4.116666667,HOLD_POSE2,764,745,714,681,659,628,881,786,807,652,631,651,0.45386127513,0.00460574055894,0.0496534258123,0.999999842068,0.000195552524266,-0.000526738317183,1.30635459165e-05,1793244580029548800
+248,4.133333333,HOLD_POSE2,764,745,714,680.421385709,659,628,880.421385709,786,806.421385709,652,631,651.578614291,0.453861404345,0.00460703513185,0.0496527885729,0.999999841587,0.000197243110231,-0.000527020545408,1.30645292194e-05,1793244580046215424
+249,4.150000000,HOLD_POSE2,764.155995292,745,714,680.155995292,659,628,880.155995292,786,806.155995292,652,631,652,0.453861543784,0.00460819707173,0.0496525064928,0.999999841288,0.000198629542413,-0.000527067323111,1.30187646105e-05,1793244580062882048
+250,4.166666667,HOLD_POSE2,764.730071099,745,714,680.730071099,659,628,880.730071099,786,806.730071099,652,631,652,0.453861710623,0.0046090035442,0.0496531762694,0.999999841485,0.000199200817223,-0.000526483073661,1.28477116633e-05,1793244580079548672
+251,4.183333333,HOLD_POSE2,764.687207711,745,714,681,659.312792289,628,881,786,807,652,630.687207711,652,0.453862020558,0.00460962418349,0.0496533755219,0.999999841574,0.000199102180577,-0.000526361022023,1.24443620172e-05,1793244580096215296
+252,4.200000000,HOLD_POSE2,764.096813821,745,714,681,659.903186179,628,881,786,807,652,630.096813821,652,0.45386245749,0.0046100798967,0.0496531571866,0.999999841567,0.000198409000813,-0.000526649168679,1.1834850217e-05,1793244580112882176
+253,4.216666667,HOLD_POSE2,764.484161877,745,714,681,659.515838123,628,880.515838123,786.484161877,807,652,630.484161877,652,0.453862331033,0.0046085631142,0.0496523331739,0.999999841369,0.000197133737198,-0.000527501688234,1.18928755852e-05,1793244580129548800
+254,4.233333333,HOLD_POSE2,764.93715101,745.06284899,714,681,659,628,880.06284899,786.93715101,807,652,631,652,0.453862283753,0.00460706601898,0.0496516614134,0.999999841213,0.000196261777694,-0.000528119212271,1.20916052331e-05,1793244580146215424
+255,4.250000000,HOLD_POSE2,764.362060158,745.637939842,714,681,659,628,880.637939842,786.362060158,807,652,631,652,0.453863782472,0.00460888273499,0.0496531988365,0.999999841706,0.000199607446644,-0.00052591919719,1.23699593864e-05,1793244580162882048
+256,4.266666667,HOLD_POSE2,764.217417585,746,714,681,659.217417585,628,881,786.217417585,807,652,631,652,0.453864249305,0.00460986568025,0.0496538242381,0.999999841719,0.000201100460387,-0.000525322331789,1.25036603733e-05,1793244580179548928
+257,4.283333333,HOLD_POSE2,764.804351086,746,714,681,659.804351086,628,881,786.804351086,807,652,631,652,0.453862962376,0.00460943157545,0.0496528995972,0.999999840932,0.000199444760738,-0.000527450128123,1.23915134749e-05,1793244580196215552
+258,4.300000000,HOLD_POSE2,765,746,714,681,659.613660202,628,881,786.613660202,807,652,631,652,0.453863663286,0.00461005527834,0.0496530809487,0.99999984096,0.000199804267075,-0.00052726244987,1.23432551636e-05,1793244580212882176
+259,4.316666667,HOLD_POSE2,765,746,714,681,659.034143917,628,881,786.034143917,807,652,631,652,0.453865358148,0.00461120790308,0.0496538153151,0.999999841395,0.000201171410627,-0.000525916995023,1.23269422253e-05,1793244580229549056
+260,4.333333333,HOLD_POSE2,765,745.45550943,714,680.45550943,659,628,880.45550943,786,807,652,631,652,0.453863396009,0.00460901607442,0.0496526586624,0.999999841325,0.00019795600611,-0.000527268662639,1.23063132413e-05,1793244580246215424
+261,4.350000000,HOLD_POSE2,765,745,714,680.12193717,659,628,880.12193717,786,807,652,630.87806283,652,0.453861760593,0.0046073824268,0.0496516454134,0.999999841122,0.000195471224018,-0.00052858065715,1.22294160124e-05,1793244580262882048
+262,4.366666667,HOLD_POSE2,765,745,714,680.695191624,659,628,880.695191624,786,807,652,630.304808376,652,0.453862181851,0.00460858971514,0.0496516011231,0.999999840588,0.000196752515465,-0.000529120832034,1.19452572885e-05,1793244580279548672
+263,4.383333333,HOLD_POSE2,765,745,714,680.731667471,659.268332529,628,881,786,807,652,630.268332529,652,0.453862883792,0.00460929090205,0.0496521145789,0.999999840811,0.000197152398918,-0.000528553369456,1.18585096436e-05,1793244580296215296
+264,4.400000000,HOLD_POSE2,765,745,714,680.15865553,659.84134447,628,881,786,807,652,630.84134447,652,0.453863904437,0.00460941743368,0.0496532613304,0.99999984189,0.000196551483511,-0.000526728234765,1.19959133384e-05,1793244580312881920
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,660,628,881,786,807,652,631,652,0.453864405537,0.00460774619166,0.0496531862385,0.999999841761,0.000196100720837,-0.000527123665468,1.28087655914e-05,1793244580345459200
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.423340044,745.423340044,714,680,659.423340044,628,881,786,807,652,630.423340044,652,0.453864003884,0.0046077221982,0.0496526188617,0.999999841155,0.000197652766041,-0.000527694015639,1.27234303836e-05,1793244580362125824
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.152992402,745,714,680.152992402,659,628.152992402,881,786,807,652,630.152992402,652,0.453863210802,0.00460756482477,0.0496517520782,0.999999840503,0.000198294664989,-0.000528692373317,1.25750287132e-05,1793244580378792448
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.728420672,745,714,680.728420672,659,628.728420672,881,786,807,652,630.728420672,652,0.453861336926,0.00460703916841,0.0496500585859,0.999999839721,0.000196423508631,-0.000530872526558,1.22524906915e-05,1793244580395459072
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.6885139,659,628.6885139,881,786,807,652,630.6885139,652,0.453861172363,0.0046083768773,0.0496500855297,0.999999839367,0.000196487518595,-0.000531521003045,1.2032756864e-05,1793244580412125696
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.098622436,659,628.098622436,881,786,807,652,630.098622436,652,0.45386253558,0.0046113800566,0.0496516501943,0.999999839397,0.000198281174655,-0.000530800471211,1.19049091435e-05,1793244580428792320
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.519620606,745.480379394,714,680.480379394,659,628,881,786,807,652,630.480379394,652,0.453862097092,0.00460971863095,0.04965114872,0.999999839673,0.00019718482131,-0.000530692433753,1.17454817161e-05,1793244580445459968
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745.942884334,714,681,659,628,880.942884334,786,807,652,630.942884334,652,0.45386127849,0.0046074769474,0.0496502761768,0.999999839927,0.000195789563577,-0.000530733172722,1.1630641594e-05,1793244580462127360
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,745.366869941,714,681,659,628,880.366869941,786,807,652,630.366869941,652,0.453860292531,0.00460847102488,0.0496498007339,0.999999839549,0.000196949622139,-0.000531008469163,1.19784753323e-05,1793244580478793984
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.786312824,659,628.213687176,880.213687176,786,807,652.213687176,630.213687176,652,0.453853751665,0.00460953169111,0.0496467993159,0.999999836953,0.000197651420679,-0.000535618052645,1.1889768509e-05,1793244580495460608
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,745,714,680.197787167,659,628.802212833,880.802212833,786,807,652.802212833,630.802212833,652,0.453837466682,0.00461070916362,0.0496393669694,0.999999830367,0.000197549364144,-0.000547830607822,1.10353058183e-05,1793244580512127232
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.384353748,745,714,680,659,628.615646252,881,786,806.615646252,652.615646252,631,652,0.453805092447,0.00461135890732,0.0496250554374,0.999999816425,0.000198479297895,-0.000572397192309,1.08315134872e-05,1793244580528793600
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.963262835,745,714,680,659,628.036737165,881,786,806.036737165,652.036737165,631,652,0.453764574022,0.00461174152101,0.049607261742,0.999999798018,0.000199931612816,-0.000603217241572,1.09570827415e-05,1793244580545459712
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.540682509,714,680,659.540682509,628,881,786,806.540682509,652,631,651.459317491,0.453695703178,0.00461173605748,0.0495828720379,0.999999772742,0.000199823671253,-0.000643799922009,1.039748764e-05,1793244580562126336
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.882941396,714,680.117058604,660,628,881,786,807,652,631,651.117058604,0.453624588353,0.00461197308569,0.0495605544959,0.999999749263,0.000200172723075,-0.000679199446362,9.68812812374e-06,1793244580578792960
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.3102344,714,680.6897656,660,628,881,786,807,652,631,651.6897656,0.453552216843,0.00461325636432,0.0495480425064,0.99999974009,0.000202712134146,-0.00069184874024,8.57652654916e-06,1793244580595459584
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.271358119,714,680.728641881,660,628.271358119,881.271358119,786,807,652,631,652,0.453473681645,0.00461487835826,0.0495412765106,0.999999733996,0.000205464693011,-0.000699806497659,7.94287759895e-06,1793244580612125952
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.863453012,714,680.136546988,660,628.863453012,881.863453012,786,807,652,631,652,0.453387861165,0.00461690070298,0.0495413020995,0.999999731683,0.000208469185752,-0.000702219005661,7.87415370847e-06,1793244580628792576
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.444568804,660,629,881.555431196,786,807,652,631,652,0.453288371971,0.00461701095127,0.0495462423112,0.999999735247,0.000208637819389,-0.000697076919238,7.80198192836e-06,1793244580645459968
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.977755335,714,680.977755335,660,629,881,786.022244665,807,652,631,652,0.45318347508,0.00461673996753,0.049552631637,0.999999740389,0.000208294442361,-0.000689765383338,7.69793667503e-06,1793244580662127616
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.403775627,714,680.403775627,660,629,881,786.596224373,807,652,631,652,0.453046071184,0.00462122878846,0.0495584255354,0.999999742094,0.000216334893778,-0.000684809691629,6.82896615002e-06,1793244580678793984
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,629,881,786.825064863,807,652,631,652,0.452901857136,0.00462430407061,0.0495639021002,0.999999744115,0.000222268934484,-0.000679946946243,6.20750547199e-06,1793244580695460352
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,629,881,786.235130686,807,652,631,652,0.452741487365,0.00462402601071,0.0495686258527,0.999999747052,0.000223205930943,-0.000675304698452,6.17321311716e-06,1793244580712127232
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,629,881,786,806.651776224,652,631,652,0.452557964873,0.00462466458025,0.0495721960352,0.999999747631,0.000225186710266,-0.000673790405979,5.90256992831e-06,1793244580728793856
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,629,881,786,806.072782127,652,631,652,0.452359098895,0.00462591060648,0.0495750017394,0.999999746652,0.000227859211856,-0.000674349030813,5.47529539256e-06,1793244580745459968
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.496069809,680.503930191,660,629,881.503930191,786,806,652,631,652,0.452128611848,0.00462777250052,0.049577957309,0.999999746154,0.00023228755132,-0.000673579660712,4.93664202116e-06,1793244580762127104
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.08010331,713.08010331,681,660,629,881.91989669,786,806,652,631,652,0.451886100438,0.00463012194725,0.0495796967116,0.999999744567,0.000237757788253,-0.000674031746675,4.29887356869e-06,1793244580778793728
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.654972607,713.654972607,681,660,629,881.345027393,786,806,652,631,652,0.45159740063,0.00463493588521,0.0495737912503,0.999999735831,0.00024810412239,-0.00068320761358,3.14782176149e-06,1793244580795459840
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.763748274,714,680.763748274,659.763748274,629,881,786,806.236251726,652,631,652,0.451303454272,0.00463924866626,0.0495702602214,0.999999731901,0.00025695941443,-0.000685687436702,1.62812167347e-06,1793244580812125952
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.17284708,714,680.17284708,659.17284708,629,881,786,806.82715292,652,631,652,0.451001632069,0.00464280913495,0.0495702935741,0.999999735343,0.000263576426846,-0.000678115487866,-4.44975008303e-07,1793244580828792576
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.409697032,659.819394064,629,880.590302968,786,806.590302968,652,631,652,0.450689825831,0.00464655265457,0.0495852051718,0.999999755274,0.00027035950838,-0.000645254101773,-2.19318652713e-06,1793244580845458944
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.988785841,660.977571682,629,880.011214159,786,806.011214159,652,631,652,0.450373891641,0.00465037185764,0.0496062682722,0.999999780406,0.000277211251619,-0.000601936640225,-3.80707220646e-06,1793244580862125568
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.433685262,745.566314738,714,681,660.433685262,629.566314738,880.566314738,786,806,652,631,652,0.450001544231,0.00465395167288,0.0496269806723,0.999999796765,0.00028244179261,-0.000571553879093,-4.80574158361e-06,1793244580878792448
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.14168199,745.85831801,713.85831801,681,660.14168199,630,881,786.14168199,806,651.85831801,631,652,0.449609956269,0.0046573979612,0.0496427784423,0.999999807953,0.000288038618664,-0.000548718415166,-5.94244941762e-06,1793244580895459328
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+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.292725626,713.292725626,680.707274374,661,630,881,787,806,651.292725626,631,652,0.448700601984,0.00466463919673,0.0496418480866,0.999999803183,0.000301843808898,-0.000549937182798,-9.67948348549e-06,1793244580928792320
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.888450888,713.888450888,680.111549112,661,630,881,787,806,651.888450888,631,652,0.448220053804,0.00466998753969,0.0496368907184,0.999999798141,0.0003090676926,-0.000555014690671,-1.24042801464e-05,1793244580945458944
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.530637479,714,680.469362521,661.469362521,630.469362521,881,786.530637479,806,652,631,652,0.447701317564,0.004672846501,0.0496294076911,0.999999792649,0.000315047464802,-0.000561447207984,-1.4955447208e-05,1793244580962125568
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.04686528,714,680.95313472,662,631,881,786.04686528,806.04686528,652,631,652,0.447170242707,0.00467532629049,0.0496216364726,0.999999786838,0.000320928657976,-0.000568351568181,-1.7482946902e-05,1793244580978792192
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.624414119,714,680.375585881,662,631,881,786.624414119,806.624414119,652,631,652,0.446599076409,0.00468000688645,0.0496171909232,0.999999779194,0.000328939271901,-0.000577063892139,-2.01954202503e-05,1793244580995458816
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.79890623,745.79890623,714,680,662,631,880.79890623,787,807,652,631,652,0.446022832667,0.00468350893847,0.0496238245892,0.99999978158,0.00033645051052,-0.000568446366734,-2.2587462698e-05,1793244581012125440
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.223843019,745.223843019,714,680,662,631,880.223843019,787,807,652,631,652,0.445437146554,0.00468481927927,0.0496510620166,0.999999801685,0.000343033071616,-0.000527600919602,-2.43836070161e-05,1793244581028792320
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.360485198,745,713.639514802,680,662,631.360485198,880,787,806.639514802,652,631,652,0.444839905793,0.00468494930859,0.049685248938,0.999999822509,0.000348564491631,-0.000482541841788,-2.52807859936e-05,1793244581045459200
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.950718256,745,713.049281744,680,662,631.950718256,880,787,806.049281744,652,631,652,0.444235300937,0.0046843270905,0.0497238649759,0.999999842693,0.00035342598777,-0.000434797293802,-2.56050277249e-05,1793244581062126080
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.103379661,745.896620339,713,680.896620339,662.103379661,633,880,786.103379661,806.896620339,652,631,652,0.442862743636,0.00468607011555,0.0497257969128,0.999999838504,0.000363128373893,-0.000436068427791,-3.12225039676e-05,1793244581095459072
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.736874768,745,713.263125232,680,663.263125232,633,880.526250464,787,806,652,631,652,0.44146006862,0.00464273677318,0.0497592941466,0.999999903126,0.000238615500936,-0.000367874312175,-3.8451654501e-05,1793244581128794368
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.142543101,745,713.857456899,680,663.857456899,633,881.714913797,787,806,652,631,652,0.440752187566,0.00459784973114,0.0498107436178,0.999999959009,2.82499615299e-05,-0.000282936756858,-3.36349879446e-05,1793244581145459968
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.439137747,664,633,881.121724505,787,806.439137747,652,631,652.439137747,0.439982385725,0.00457978713412,0.0498276179088,0.999999965877,-1.92102638374e-05,-0.000258543465951,-3.21140286441e-05,1793244581162126336
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.983263276,664,633,880,787,806.983263276,652,631,652.983263276,0.439190942759,0.00457061962854,0.0498323120896,0.99999996681,-1.49235358185e-05,-0.000255243274388,-3.17632872611e-05,1793244581178792448
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.408677307,664,633,880,787,806.408677307,652,631,652.408677307,0.438329350275,0.00457584279402,0.0497946311226,0.999999948703,9.94133099703e-07,-0.000318300496506,-3.57586936803e-05,1793244581195459840
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,633,880.738820873,787,806,652,631,652,0.436638649627,0.00459228051853,0.0497891552471,0.999999940934,4.03404961717e-05,-0.000338595232657,-4.30968644289e-05,1793244581228793856
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.322192559,745,714,680,664,633,880.677807441,787,806,652,631,652,0.435765550637,0.00460026904049,0.0497935528097,0.99999993932,5.86706217219e-05,-0.000340262884109,-4.6243625277e-05,1793244581245460736
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.914003132,745,714,680,664,633,880.085996868,787,806,652,631,652,0.434861729683,0.00460668127403,0.0497877834137,0.999999931508,7.41423990161e-05,-0.00035927043048,-4.910400124e-05,1793244581262127616
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.507725462,745,713.507725462,680,664,633.492274538,880,787,806,652,631,652,0.433989174453,0.00460418087806,0.0497812412636,0.999999931155,7.43563075238e-05,-0.000359569628714,-5.35716460392e-05,1793244581278793728
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,664,633.931636162,880,787,806,652.068363838,631,652,0.433121942785,0.00459861644454,0.049778467684,0.99999993356,7.1048575656e-05,-0.000353118792787,-5.6022766343e-05,1793244581295459840
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,664,633.354656015,880,787,806,652.645343985,631,652,0.432254770054,0.00458152962797,0.0498047091406,0.999999946055,6.08400537186e-05,-0.000320112927878,-4.14382228116e-05,1793244581312126464
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.815315815,713.815315815,680,664,633,880,787,806,652.184684185,631,652,0.430405163653,0.00458192633777,0.0497887761027,0.999999932913,0.000140167037191,-0.000337954411156,-1.77081964772e-05,1793244581345459968
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745.018780393,714,680,664,633.981219607,880,787,806,652.981219607,631,652,0.428534894503,0.0045999149377,0.0497655655619,0.999999916257,0.000174804687078,-0.000369235378241,-2.43737145727e-05,1793244581378793984
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.556848854,745,713.443151146,680,664,634,880,787,806,652.443151146,630.443151146,652,0.427601611581,0.00459936413688,0.0497748701201,0.999999918184,0.00015752878445,-0.000371638878572,-2.64802751761e-05,1793244581395460864
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.867972472,745,713.132027528,680,663.867972472,633.867972472,880,787,806,652,630.132027528,652,0.426676421797,0.0045995536709,0.0497807825129,0.999999920514,0.000142723695059,-0.000371186743405,-2.86709620152e-05,1793244581412128000
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.293601384,745,713.706398616,680,663.293601384,633.293601384,880,787,806,652,630.706398616,652,0.425778457227,0.00460331356026,0.049773233422,0.999999924155,0.000139137467392,-0.000362399054119,-3.15714435272e-05,1793244581428794112
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.288010557,713.711989443,680,663.288010557,633,880,787,806.288010557,652,631,652,0.424895134217,0.00460136879315,0.0497889608075,0.999999937821,0.0001355356234,-0.00032382435541,-3.35626666901e-05,1793244581445460224
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.877194233,713.122805767,680,663.877194233,633,880,787,806.877194233,652,631,652,0.424027121969,0.00459345865701,0.0498290284439,0.999999958416,0.000131917449134,-0.000254101330556,-3.46030765787e-05,1793244581462126336
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745.54373398,713.45626602,680,664,633,880,787,806.54373398,652,631,652,0.423123338696,0.00458883273737,0.0498327484171,0.999999960335,0.000128823278443,-0.000248012821614,-3.49892482866e-05,1793244581478792960
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745.032733072,714,680,663.967266928,633,880,787,806,652.032733072,631,651.967266928,0.422209556687,0.00458549758278,0.0498258566401,0.999999957434,0.000126390686518,-0.000260615285552,-3.51813244234e-05,1793244581495460096
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.610163033,714,680,663.389836967,633,880,787,806,652.610163033,631,651.389836967,0.421286131344,0.00458925083613,0.049801646185,0.999999943947,0.000132671083159,-0.000305414737452,-3.50102563115e-05,1793244581512126976
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745.809052936,713.809052936,680.190947064,663.190947064,633.190947064,880,787,806,653,631,651.190947064,0.420388967958,0.00459471917315,0.0497924581506,0.99999993646,0.000133277806577,-0.000328783695118,-3.49144069017e-05,1793244581528793856
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.362435137,680.637564863,664,634,880,787,805.637564863,653,631,652,0.418657146897,0.00460826959099,0.0498060633983,0.999999936419,0.000128903162441,-0.000330600184175,-3.5337921018e-05,1793244581562126848
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.094954951,714,679.094954951,663.094954951,634,880,787,805,653,631,652,0.416151727463,0.00459288877554,0.0497955128804,0.999999934981,0.000136115995902,-0.00033183285284,-3.73875979859e-05,1793244581612126208
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.668443529,714,679.668443529,663.668443529,634,880,787,805,653,631,652,0.415383552545,0.00458926999701,0.0498143839183,0.99999994882,0.000120288188865,-0.00029409272224,-3.74227172348e-05,1793244581628792832
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.426221095,714,679.573778905,663,634,879.426221095,787,806,653,630.426221095,652,0.413044161944,0.00460307268603,0.0497796018563,0.999999926159,0.000134020924251,-0.000358037691887,-3.909957836e-05,1793244581678792960
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.994122647,746,713.994122647,679.005877353,663.005877353,634,880,787,806,653,631,652,0.412289297614,0.00460801404503,0.0497780303542,0.999999923039,0.00015268926186,-0.000359248266293,-3.93644391199e-05,1793244581695460096
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.419523782,746,713.419523782,679.580476218,663.580476218,634,880,787,806,653,631,652,0.411616274373,0.00460714410854,0.0498039961341,0.999999934585,0.00015193011093,-0.000325966802011,-3.86369134857e-05,1793244581712126464
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745.390620113,713.609379887,679.390620113,663,634,878.390620113,787,805,653,630.390620113,652.390620113,0.405815478228,0.0045983214323,0.0497752804404,0.999999915254,0.000119189271562,-0.000391944988545,-4.0794642759e-05,1793244581878792448
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.969926327,713.030073673,679.969926327,663,634,878.969926327,787,805,653,630.969926327,652.969926327,0.405341295847,0.00460186387865,0.0497612319598,0.999999906583,0.000124416532833,-0.000411801070491,-4.21211456414e-05,1793244581895458816
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.454265523,713,679.454265523,663,634,879,787,805,653,630.454265523,652.454265523,0.404948824017,0.00460387165797,0.0497813380829,0.999999919165,0.000129828091349,-0.000378148818163,-4.26469068687e-05,1793244581912125440
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.413446714,745,713.293276643,679.706723357,663,633.706723357,879.293276643,787,805,653,630.293276643,652,0.403927803663,0.00460674583411,0.0498505951119,0.999999951498,0.000136128606316,-0.000276882176343,-4.25349668607e-05,1793244581962126336
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.255317533,745,713.872341234,679.127658766,663,633.127658766,879.872341234,787,805,653,630.872341234,652,0.403609004916,0.00460899009911,0.0498561526393,0.999999952918,0.000140188303315,-0.000269518415393,-4.32451082394e-05,1793244581978794240
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.451292448,745,713.548707552,679,663,633.451292448,879.548707552,787,805.451292448,653,630.548707552,652,0.403297520866,0.00461035000806,0.0498474992172,0.999999947136,0.000142865477337,-0.000288772341898,-4.39177146639e-05,1793244581995460608
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745.030035864,713.030035864,679,663,634,879,786.969964136,806,653,630.030035864,652.030035864,0.402990319806,0.00461139755237,0.04983492454,0.999999938853,0.000145046795771,-0.00031506551841,-4.45955196232e-05,1793244582012126464
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745.605587699,713.605587699,679,663,634,879,786.394412301,806,653,630.605587699,652.605587699,0.402723336482,0.00461131420507,0.0498241231993,0.999999933128,0.000145323371109,-0.000332490075742,-4.55605327966e-05,1793244582028792832
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.77137941,745.22862059,713.22862059,679.77137941,663.77137941,634,879,786.77137941,805.22862059,653,630.22862059,652.22862059,0.402259818682,0.00460862943481,0.0498106591836,0.999999925437,0.000140329414339,-0.000356704091352,-4.68695990661e-05,1793244582062125824
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.646404297,745.353595703,713.353595703,679.646404297,664,634,879,787,805,653,630.353595703,652,0.402075741069,0.00460016284264,0.0498107860733,0.999999932596,8.64498568209e-05,-0.000353657072621,-4.75412687055e-05,1793244582078792448
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.087163401,663.912836599,634,879,787,805.912836599,653,630.087163401,652.912836599,0.401645695594,0.00455979930527,0.0498304632957,0.999999948389,8.03963173209e-05,-0.000310464387248,-1.92213135838e-05,1793244582128792832
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,713,679.661319243,663.338680757,634,879,787,805.338680757,653,630.661319243,652.338680757,0.40153537384,0.00457337028764,0.0498333406166,0.999999949545,9.65444034942e-05,-0.000301775617649,-2.28016930073e-05,1793244582145459456
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,745,713,679.757724881,663,634,879,787,805,653,631,652.242275119,0.401433394064,0.00457883685998,0.0498340599132,0.999999950004,0.000103352585423,-0.000297812262447,-2.48460364015e-05,1793244582162126080
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,713,679.166988642,663,634,879,787,805,653,631,652.833011358,0.40134341245,0.00457264696506,0.0498316753518,0.999999949824,9.6727304872e-05,-0.000300645409313,-2.46811191529e-05,1793244582178792704
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745.414922102,713.414922102,679.414922102,663,634,878.585077898,787,805,653,631,652.585077898,0.401268768698,0.00457372641045,0.0498311298025,0.99999994943,9.97455479858e-05,-0.000300925882324,-2.51791432601e-05,1793244582195459328
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.26655299,745,713.26655299,679.73344701,663,634.26655299,879,787,805,653,631,652,0.40108017284,0.00457465659737,0.0498382923075,0.999999954453,9.89930632681e-05,-0.000283849113799,-2.69146400698e-05,1793244582262125824
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,713.046236322,679,664,634.046236322,879.953763678,787,806,653,630.046236322,652,0.40100263836,0.00457771127696,0.0498398140343,0.99999995549,0.000103451409828,-0.000278457070482,-2.79243607819e-05,1793244582328792320
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745,713.617291154,679,664,634.617291154,879.382708846,787,806,653,630.617291154,652,0.400997649259,0.00457752837793,0.0498409396149,0.999999956375,0.000102571646948,-0.000275523867861,-2.85461118154e-05,1793244582345458944
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,713.803074894,679,663.803074894,634.803074894,879,787,805.803074894,653,631,652,0.400993154597,0.00457741560366,0.0498420191326,0.999999957044,0.000102063577708,-0.000273243389942,-2.88705078299e-05,1793244582362125568
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745,713.206008669,679,663.206008669,634.206008669,879,787,805.206008669,653,631,652,0.400989664609,0.00457744531909,0.049843005053,0.999999957287,0.000102310769802,-0.000272289213338,-2.85906945634e-05,1793244582378792192
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.378922495,745.378922495,713,679.378922495,663.757844989,634,879,787,805.378922495,653,630.621077505,652,0.400986748526,0.00457805982035,0.0498426642001,0.999999957187,0.00010340420824,-0.000272232337298,-2.86992776827e-05,1793244582395459072
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.957460905,745.957460905,713,679.957460905,664.914921809,634,879,787,805.957460905,653,630.042539095,652,0.400984134775,0.0045789823861,0.0498416244047,0.999999956904,0.000104943448226,-0.000272648158147,-2.90124675604e-05,1793244582412125696
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.466236366,745.466236366,713.533763634,680,664.466236366,634,879,787,806,653,630.533763634,652,0.400983709985,0.00457999456747,0.0498425147764,0.999999957023,0.000105961548443,-0.000271805204488,-2.91179879013e-05,1793244582428792832
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745,713.887955626,679.887955626,664,634,879,787,806,653,631,652,0.40098384944,0.00458043775351,0.0498436617485,0.999999957371,0.000106174574923,-0.000270441149537,-2.90849594537e-05,1793244582445459456
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745,713.300529945,679.300529945,664,634,879,787,806,653,631,652,0.40098564579,0.00457843663289,0.0498452474864,0.999999958551,0.000103147319391,-0.000267290030424,-2.85340245151e-05,1793244582462126080
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745.283007257,713,679,664,634,879,787,806,653,630.716992743,652,0.400986661799,0.00457808882409,0.04984606677,0.99999995912,0.000102729255513,-0.000265325544215,-2.84612128199e-05,1793244582478792448
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,745.862471257,713,679,664,634,879,787,806,653,630.137528743,652,0.400986860383,0.00457947289797,0.0498460831748,0.999999959058,0.000105044380757,-0.000264604083436,-2.88892463759e-05,1793244582495459072
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745.560217326,713,679,664,634,879,787,805.560217326,653,630.439782674,652,0.400985839626,0.00457942729326,0.0498463690846,0.999999959125,0.000104456427357,-0.000264593441253,-2.88070853367e-05,1793244582512125696
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745.016345687,713,679,664,634,879,787,805.016345687,653,631,652,0.40098449826,0.00457893012254,0.0498467307954,0.999999959234,0.000102981498038,-0.000264783414303,-2.85795674506e-05,1793244582528792320
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745.590231373,713,679,664,634,879,787,805.590231373,653,631,652,0.400985164037,0.00457820595649,0.0498468173103,0.999999959456,0.000102067740074,-0.000264271108383,-2.88095901952e-05,1793244582545459456
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.169081568,745.830918432,713,679.169081568,664,634,879,787,806,653,631,652,0.400985475289,0.00457793103235,0.0498470868328,0.999999959585,0.00010208959447,-0.000263764304664,-2.89161279224e-05,1793244582562126080
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.760327148,745.239672852,713,679.760327148,664,634,879,787,806,653,631,652,0.400984901363,0.00457877777853,0.0498478132896,0.999999959477,0.000104447492241,-0.000263271238913,-2.87143474022e-05,1793244582578792960
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745.34438818,713.34438818,680,664,634,879,787,805.65561182,653,631,652,0.400984036864,0.00457861017628,0.0498476691411,0.999999959323,0.000104497965306,-0.00026384198479,-2.86659410183e-05,1793244582595459584
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745.923551365,713.923551365,680,664,634,879,787,805.076448635,653,631,652,0.400982974277,0.00457775107621,0.049846931487,0.999999959136,0.000102975429447,-0.00026513794832,-2.87220922773e-05,1793244582612125952
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,746,713.500583384,680,664,634,879,787,805,653,631,652,0.400984528951,0.00457852093362,0.0498477084022,0.999999959647,0.00010331617841,-0.000263046662183,-2.89633650849e-05,1793244582628792576
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745.925373366,713,680,663.925373366,634,879.074626634,787,805,653.074626634,631,652,0.400986313109,0.00457925865279,0.0498486565577,0.999999960213,0.000103708575878,-0.000260709677226,-2.9143946341e-05,1793244582645459456
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745.351192561,713,680,663.351192561,634,879.648807439,787,805,653.648807439,631,652,0.40098696914,0.00457812299887,0.049849209209,0.999999960483,0.000102549933593,-0.000260176108852,-2.87298063247e-05,1793244582662126080
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,713,679.769960855,663,634,879.769960855,787,805.230039145,653.769960855,631,652.230039145,0.400986620353,0.0045776993269,0.0498491200983,0.999999960385,0.000101893091549,-0.000260828329918,-2.85748757356e-05,1793244582678792704
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.177624329,663,634,879.177624329,787,805.822375671,653.177624329,631,652.822375671,0.400984689041,0.00457839698217,0.0498480202522,0.999999959704,0.000102026553572,-0.000263348095695,-2.88281838475e-05,1793244582695459584
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764.595576239,745,713.404423761,679,663.404423761,634,879,787,806,653,630.595576239,652.595576239,0.400984177535,0.00457888945967,0.0498477479976,0.999999959573,0.000102474764442,-0.000263655664822,-2.89430624536e-05,1793244582712126464
+408,6.800000000,POSE2_TO_POSE3_RETREAT,764.017934797,745,713.982065203,679,663.982065203,634,879,787,806,653,630.017934797,652.017934797,0.400984274142,0.00457929405798,0.0498478302065,0.99999995968,0.00010305778456,-0.000263015733648,-2.89986506659e-05,1793244582728793088
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_10/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..edca26b805e8155b9b97de562d4c3b1c0c04a1db
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+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
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+369,6.150000000,pose2_to_pose3_retreat,0.57661073037,0.00987789974328,1.04005087103,0.547182363853,0.0185535867131,1.03971736848
+370,6.166666667,pose2_to_pose3_retreat,0.576469512923,0.00987775297532,1.04005098185,0.547041148523,0.0185534471646,1.03971748024
+371,6.183333333,pose2_to_pose3_retreat,0.576346039473,0.00987773048393,1.04005103558,0.54691767467,0.0185534228783,1.03971752292
+372,6.200000000,pose2_to_pose3_retreat,0.576236712392,0.00987770910746,1.0400509073,0.546808347037,0.0185533995332,1.03971739216
+373,6.216666667,pose2_to_pose3_retreat,0.576140359895,0.00987774782203,1.04005090826,0.546711994502,0.0185534381495,1.03971739428
+374,6.233333333,pose2_to_pose3_retreat,0.576054547112,0.00987781516349,1.04005092903,0.546626181384,0.0185535044584,1.03971741838
+375,6.250000000,pose2_to_pose3_retreat,0.575979080164,0.00987783681128,1.0400506578,0.546550712488,0.0185535198636,1.03971715674
+376,6.266666667,pose2_to_pose3_retreat,0.575914877849,0.00987803726228,1.04005084932,0.546486507351,0.0185537109354,1.03971735319
+377,6.283333333,pose2_to_pose3_retreat,0.575861017338,0.0098778577532,1.04005078081,0.546432650945,0.0185535450209,1.03971727619
+378,6.300000000,pose2_to_pose3_retreat,0.575816947421,0.00987764978897,1.04005092659,0.546388582258,0.0185533413099,1.03971742415
+379,6.316666667,pose2_to_pose3_retreat,0.575780896095,0.00987768332408,1.04005093694,0.546352530892,0.0185533745599,1.0397174308
+380,6.333333333,pose2_to_pose3_retreat,0.575752509217,0.00987775154013,1.04005093456,0.546324144436,0.0185534442655,1.0397174296
+381,6.350000000,pose2_to_pose3_retreat,0.575729483836,0.00987776215051,1.04005100012,0.546301119623,0.0185534568568,1.03971749598
+382,6.366666667,pose2_to_pose3_retreat,0.575711696575,0.00987779741469,1.04005108699,0.546283331082,0.018553486943,1.03971756136
+383,6.383333333,pose2_to_pose3_retreat,0.575698408635,0.00987770860926,1.04005070009,0.546270043802,0.0185534012386,1.03971719674
+384,6.400000000,pose2_to_pose3_retreat,0.575689050537,0.00987773666471,1.04005083303,0.546260685546,0.0185534287673,1.03971732989
+385,6.416666667,pose2_to_pose3_retreat,0.575683009896,0.00987778484014,1.04005099138,0.546254644406,0.0185534750642,1.03971748329
+386,6.433333333,pose2_to_pose3_retreat,0.575678921526,0.00987782223965,1.04005094489,0.546250555133,0.018553509244,1.03971743275
+387,6.450000000,pose2_to_pose3_retreat,0.575676238559,0.00987782691777,1.04005095327,0.546247871921,0.0185535129897,1.03971743857
+388,6.466666667,pose2_to_pose3_retreat,0.575674299302,0.0098778008314,1.04005101703,0.546245933001,0.0185534879806,1.03971750061
+389,6.483333333,pose2_to_pose3_retreat,0.575673004752,0.00987778341746,1.04005105959,0.546244638676,0.0185534712857,1.03971754202
+390,6.500000000,pose2_to_pose3_retreat,0.575672470772,0.00987778215699,1.04005104776,0.54624410482,0.0185534705418,1.03971753267
+391,6.516666667,pose2_to_pose3_retreat,0.575672459279,0.00987778213753,1.04005104746,0.54624409333,0.0185534705337,1.03971753244
+392,6.533333333,pose2_to_pose3_retreat,0.575672098104,0.00987778152595,1.04005103827,0.54624373224,0.0185534702804,1.03971752504
+393,6.550000000,pose2_to_pose3_retreat,0.575671815902,0.0098777810481,1.04005103108,0.546243450105,0.0185534700825,1.03971751927
+394,6.566666667,pose2_to_pose3_retreat,0.575671729926,0.00987778090251,1.04005102889,0.546243364149,0.0185534700222,1.03971751751
+395,6.583333333,pose2_to_pose3_retreat,0.575671666088,0.00987778079442,1.04005102726,0.546243300326,0.0185534699775,1.0397175162
+396,6.600000000,pose2_to_pose3_retreat,0.575671508861,0.00987778052818,1.04005102326,0.546243143136,0.0185534698672,1.03971751298
+397,6.616666667,pose2_to_pose3_retreat,0.575671249268,0.00987778008861,1.04005101665,0.546242883605,0.0185534696852,1.03971750766
+398,6.633333333,pose2_to_pose3_retreat,0.575671010381,0.0098777796841,1.04005101056,0.546242644774,0.0185534695176,1.03971750277
+399,6.650000000,pose2_to_pose3_retreat,0.575670808436,0.00987777934215,1.04005100542,0.546242442876,0.018553469376,1.03971749864
+400,6.666666667,pose2_to_pose3_retreat,0.575670724279,0.00987777919965,1.04005100327,0.54624235874,0.018553469317,1.03971749691
+401,6.683333333,pose2_to_pose3_retreat,0.575670633007,0.00987777330478,1.04005100396,0.546242267466,0.0185534634125,1.03971749745
+402,6.700000000,pose2_to_pose3_retreat,0.57567041653,0.00987775621694,1.0400510072,0.546242050974,0.0185534462477,1.03971750003
+403,6.716666667,pose2_to_pose3_retreat,0.575670146063,0.00987773486732,1.04005101126,0.546241780488,0.0185534248019,1.03971750326
+404,6.733333333,pose2_to_pose3_retreat,0.575669966543,0.00987772069673,1.04005101395,0.546241600956,0.0185534105675,1.0397175054
+405,6.750000000,pose2_to_pose3_retreat,0.575669929753,0.00987771779268,1.0400510145,0.546241564163,0.0185534076504,1.03971750583
+406,6.766666667,pose2_to_pose3_retreat,0.575669740391,0.00987772813155,1.04005099661,0.546241374381,0.0185534165523,1.03971748757
+407,6.783333333,pose2_to_pose3_retreat,0.575669558857,0.0098778193691,1.04005091279,0.546241191139,0.0185535020073,1.03971740404
+408,6.800000000,pose2_to_pose3_retreat,0.575669548711,0.00987785798852,1.04005089043,0.546241180581,0.0185535392258,1.03971738165
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_10/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6a6a577c5397f3fc764cd92cc543c694b4ec1f8b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c206a150a576b35e8dd0e82868feab90079009c4427332e9dd94c00e804f571
+size 26080014
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_10/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..63a90af28d6a74a479fcbe228b13fbe1a5f5e2aa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_05/franka_data.csv
@@ -0,0 +1,412 @@
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+35,0.583333333,BASELINE,765,745.323444906,713.323444906,679,664,634,879,787,805.676555094,653,631,652.676555094,0.400984796494,0.00457806329356,0.0498500877655,0.999999961198,0.000101298146336,-0.000257855935839,-2.92090506713e-05,1793244583456635648
+36,0.600000000,BASELINE,765,745.897190641,713.897190641,679,664,634,879,787,805.102809359,653,631,652.102809359,0.400985338081,0.00457710075282,0.0498509000171,0.999999961527,9.95519067669e-05,-0.000257276236092,-2.90605180924e-05,1793244583473301760
+37,0.616666667,BASELINE,764.528350504,745.528350504,713.528350504,679,664,634,879,787,805,653,631,652,0.400984558253,0.00457498946659,0.0498506546723,0.999999961739,9.59796213467e-05,-0.000257848585521,-2.87094170059e-05,1793244583489968640
+38,0.633333333,BASELINE,764.047632996,745,713,679.047632996,664,634,879,787,805.047632996,653,631,652,0.400983556579,0.00457298626015,0.04985016361,0.999999961867,9.26627682966e-05,-0.000258602859391,-2.8357903514e-05,1793244583506635776
+39,0.650000000,BASELINE,764.639250972,745,713,679.639250972,664,634,879,787,805.639250972,653,631,652,0.400983315855,0.00457508136126,0.049849503124,0.99999996148,9.68156534369e-05,-0.000258562534682,-2.85067147718e-05,1793244583523301888
+40,0.666666667,BASELINE,765,745,713.22584985,680,664,634,879,787,806,653,630.77415015,652.22584985,0.400983997658,0.00457605625372,0.0498498011053,0.999999961558,9.83931931621e-05,-0.000257638063577,-2.87411517799e-05,1793244583539968256
+41,0.683333333,BASELINE,765,745,713.804606001,680,664,634,879,787,806,653,630.195393999,652.804606001,0.400986120973,0.00457528074113,0.0498515967592,0.999999962376,9.59465740246e-05,-0.000255332051457,-2.91093850453e-05,1793244583556635392
+42,0.700000000,BASELINE,764.618380331,745.381619669,713.618380331,679.618380331,664,634,879,787,805.618380331,653,630.381619669,652.618380331,0.400986156708,0.00457554611848,0.0498519986274,0.999999962297,9.71187151233e-05,-0.00025522113613,-2.89045876678e-05,1793244583573302528
+43,0.716666667,BASELINE,764.042254797,745.957745203,713.042254797,679.042254797,664,634,879,787,805.042254797,653,630.957745203,652.042254797,0.400985128435,0.00457634202194,0.0498516901037,0.999999961756,0.000100135284516,-0.000256229029029,-2.84077250909e-05,1793244583589969408
+44,0.733333333,BASELINE,764,745.456105612,713,679,664,634,879,787,805.543894388,653,631,652,0.400984863105,0.00457604470204,0.0498508432911,0.999999961607,9.92000197333e-05,-0.000257150694221,-2.86249863419e-05,1793244583606635776
+45,0.750000000,BASELINE,764,745,713.129773846,679.129773846,664,634,879,787,806,653,631,652.129773846,0.400984586622,0.00457578693497,0.0498501055495,0.999999961451,9.85876042265e-05,-0.000257959333034,-2.88962249193e-05,1793244583623301888
+46,0.766666667,BASELINE,764,745,713.711947214,679.711947214,664,634,879,787,806,653,631,652.711947214,0.400984060748,0.00457596868799,0.0498498965579,0.999999961171,0.000100191030422,-0.000258397746307,-2.91585944037e-05,1793244583639968256
+47,0.783333333,BASELINE,764,745,713.710238823,680,663.710238823,634,879,787,806,653,631,652.710238823,0.400984569708,0.00457614793194,0.0498500533799,0.999999961241,0.00010086064191,-0.000257859405344,-2.92057494684e-05,1793244583656634880
+48,0.800000000,BASELINE,764,745,713.136694261,680,663.136694261,634,879,787,806,653,631,652.136694261,0.400986092152,0.00457632471859,0.0498505684688,0.999999961655,0.000100615703535,-0.000256364460698,-2.90421300314e-05,1793244583673301504
+49,0.816666667,BASELINE,764,745.436689956,713.436689956,679.563310044,663.436689956,634,879,787,806,653,630.563310044,652,0.400984610199,0.00457533328399,0.049849982882,0.99999996145,9.89122372694e-05,-0.000257860979145,-2.8702780808e-05,1793244583689968128
+50,0.833333333,BASELINE,764,745.989583928,713.989583928,679.010416072,663.989583928,634,879,787,805.989583928,653,630.010416072,652,0.40098226836,0.00457402508986,0.0498490879516,0.999999961056,9.68310283044e-05,-0.000260212413863,-2.83200125433e-05,1793244583706634240
+51,0.850000000,BASELINE,764,745.393822849,713.393822849,679.606177151,663.393822849,634,879,787,805.393822849,653,630.606177151,652,0.400984434267,0.00457545854506,0.0498501636787,0.999999961391,9.91692806163e-05,-0.000258004167699,-2.85873410612e-05,1793244583723301888
+52,0.866666667,BASELINE,764.195153708,745,713,679.804846292,663.195153708,634,879,787,805,653,631,652,0.400985932444,0.00457593412114,0.0498510982893,0.99999996177,9.97743427572e-05,-0.000256281576615,-2.87233097133e-05,1793244583739969024
+53,0.883333333,BASELINE,764.770898957,745,713,679.229101043,663.770898957,634,879,787,805,653,631,652,0.400986128402,0.00457454162762,0.0498517576924,0.999999962245,9.69993125934e-05,-0.000255506117124,-2.86030984677e-05,1793244583756635648
+54,0.900000000,BASELINE,764.653972853,745,713,679.346027147,664,634,879,787,805.346027147,653,631,652,0.40098550487,0.00457455401628,0.0498513448753,0.999999962061,9.68243170386e-05,-0.000256299365767,-2.85232990552e-05,1793244583773302272
+55,0.916666667,BASELINE,764.079252509,745,713,679.920747491,664,634,879,787,805.920747491,653,631,652,0.400984339729,0.00457549490728,0.0498502234158,0.999999961441,9.83677134434e-05,-0.000258129391132,-2.84702082782e-05,1793244583789968896
+56,0.933333333,BASELINE,764.509800145,745.509800145,713,680,663.490199855,634,879.509800145,787,806,653,631,652,0.400982539865,0.00457413024147,0.0498497084526,0.999999961252,9.69691893507e-05,-0.000259412299554,-2.82575636013e-05,1793244583806635008
+57,0.950000000,BASELINE,765,745.900903613,713,679.900903613,663.099096387,634,879.900903613,787,805.900903613,653,631,652.099096387,0.400981129147,0.00457312963158,0.0498493391231,0.999999961109,9.60036969718e-05,-0.000260331306558,-2.81647068337e-05,1793244583823301632
+58,0.966666667,BASELINE,765,745.32153771,713,679.32153771,663.67846229,634,879.32153771,787,805.32153771,653,631,652.67846229,0.400982096479,0.00457568072799,0.0498492054372,0.999999960867,9.94175229617e-05,-0.000259910804851,-2.87760901998e-05,1793244583839968256
+59,0.983333333,BASELINE,765,745,713.255365393,679,664,634,879,787,805,653,631,653,0.400983051136,0.00457690111483,0.0498493104236,0.999999960879,0.00010092970868,-0.000259248973593,-2.90665457397e-05,1793244583856634880
+60,1.000000000,BASELINE,765,745,713.829197217,679,664,634,879,787,805,653,631,653,0.400983989987,0.00457646197283,0.0498497130583,0.999999961218,0.000100070357431,-0.000258286179965,-2.89567719588e-05,1793244583873302016
+61,1.016666667,BASELINE,764.595949918,745.404050082,713.595949918,679.404050082,664,634,879,787,805.404050082,653,631,653,0.400984800604,0.00457599241322,0.0498504735383,0.999999961703,9.7950478703e-05,-0.000257215319695,-2.8984189829e-05,1793244583889968896
+62,1.033333333,BASELINE,764.020664373,745.979335627,713.020664373,679.979335627,664,634,879,787,805.979335627,653,631,653,0.400985556875,0.00457550996273,0.0498513856723,0.999999962244,9.5296391478e-05,-0.000256098661096,-2.90697492011e-05,1793244583906636032
+63,1.050000000,BASELINE,764,745.428708045,713,680,664,634,878.428708045,787,805.428708045,653,630.428708045,652.428708045,0.400983944231,0.00457619778629,0.0498504459419,0.999999961737,9.58857401665e-05,-0.000257857237511,-2.90029521647e-05,1793244583923301632
+64,1.066666667,BASELINE,764,745.159827745,713,680,664.159827745,634,878.159827745,787,805.159827745,653,630.159827745,652.159827745,0.400983184723,0.00457686104695,0.0498499202397,0.99999996139,9.71213186543e-05,-0.000258746146785,-2.89502734693e-05,1793244583939968000
+65,1.083333333,BASELINE,764,745.737789868,713,680,664.737789868,634,878.737789868,787,805.737789868,653,630.737789868,652.737789868,0.400984888061,0.00457734597569,0.0498506582091,0.999999961563,9.97313841549e-05,-0.000257079609585,-2.89493813789e-05,1793244583956634368
+66,1.100000000,BASELINE,764.313296268,745.686703732,713,679.686703732,664.373407463,634,879.313296268,787,806,652.686703732,631,652.686703732,0.400985140763,0.00457710887816,0.0498507675361,0.999999961527,0.000100696461651,-0.000256832605262,-2.90214846424e-05,1793244583973300992
+67,1.116666667,BASELINE,764.886763333,745.113236667,713,679.113236667,663.226473333,634,879.886763333,787,806,652.113236667,631,652.113236667,0.400984188812,0.00457627218794,0.0498503548194,0.999999961324,0.000100295490701,-0.00025776442451,-2.91542054793e-05,1793244583989967616
+68,1.133333333,BASELINE,764.526417281,745,713.473582719,679.473582719,663.473582719,634,879.052834561,787,806,652.473582719,631,652.473582719,0.400983413726,0.00457713070092,0.0498500330446,0.999999961083,0.000100565277006,-0.000258581108969,-2.92790110658e-05,1793244584006633984
+69,1.150000000,BASELINE,764,745,713.937516003,680,664,634,878.062483997,787,805.937516003,653,630.937516003,652.937516003,0.400982913191,0.00457820203689,0.0498498938089,0.999999960928,0.000100882102882,-0.000259048668495,-2.93408375253e-05,1793244584023300864
+70,1.166666667,BASELINE,764,745,713.358561629,680,664,634,878.641438371,787,805.358561629,653,630.358561629,652.358561629,0.400984322314,0.00457758494413,0.0498510784266,0.99999996157,0.000100223617003,-0.000256864636088,-2.88981982633e-05,1793244584039967744
+71,1.183333333,BASELINE,764.219902086,745.219902086,713.219902086,680,664,634,879,787,805,653,630,652,0.400985232029,0.00457722298055,0.0498517091641,0.999999961844,0.000100355026371,-0.0002557705181,-2.86682745388e-05,1793244584056634624
+72,1.200000000,BASELINE,764.797567628,745.797567628,713.797567628,680,664,634,879,787,805,653,630,652,0.400985329247,0.00457727609202,0.0498514387821,0.999999961524,0.000101771533279,-0.000256449605089,-2.87844222486e-05,1793244584073301504
+73,1.216666667,BASELINE,765,745.628221083,714,679.628221083,664,634,879,787,805.371778917,653,630.371778917,652,0.400984420879,0.0045762999169,0.049850752382,0.99999996135,0.000100290615676,-0.000257691586124,-2.89276911903e-05,1793244584089967872
+74,1.233333333,BASELINE,765,745.055873344,714,679.055873344,664,634,879,787,805.944126656,653,630.944126656,652,0.400982970016,0.00457476845799,0.0498498415468,0.999999961247,9.72465834701e-05,-0.000259237239514,-2.90855915988e-05,1793244584106634496
+75,1.250000000,BASELINE,765,745,714,679,664,634,879,787,806,653,631,652,0.400983606733,0.00457456084231,0.0498500811341,0.999999961599,9.59706597759e-05,-0.000258380298241,-2.88193827562e-05,1793244584123300864
+76,1.266666667,BASELINE,764.876040125,745,714,679,664,634,879,787,806,653,631,652.123959875,0.40098433409,0.00457476969518,0.0498504486318,0.999999961887,9.57052388674e-05,-0.000257390420879,-2.85872994977e-05,1793244584139967488
+77,1.283333333,BASELINE,764.297220942,745,714,679,664,634,879,787,806,653,631,652.702779058,0.400984565344,0.00457598122194,0.0498508288079,0.999999961754,9.84458880456e-05,-0.000256866491992,-2.86487933051e-05,1793244584156634112
+78,1.300000000,BASELINE,764,745.279838682,713.720161318,679,664,634,879,787,806,653,631,652.720161318,0.400984434626,0.00457654279809,0.0498509179388,0.999999961656,9.98531627423e-05,-0.000256693563709,-2.87369517656e-05,1793244584173300992
+79,1.316666667,BASELINE,764,745.855041092,713.144958908,679,664,634,879,787,806,653,631,652.144958908,0.400983921856,0.00457641836524,0.0498506998776,0.999999961602,9.98530890918e-05,-0.000256891109076,-2.88532541919e-05,1793244584189967616
+80,1.333333333,BASELINE,764.428852757,745.571147243,713.428852757,679.428852757,663.571147243,634.428852757,879,787,806,653,631,652,0.400984345987,0.00457612036843,0.049851119591,0.999999961842,0.000100371548109,-0.000255764831939,-2.87378103053e-05,1793244584206633984
+81,1.350000000,BASELINE,765,745.002273467,714,680,663,634.997726533,879.002273467,787,806,653,631,652,0.400985084544,0.00457576303816,0.0498517511587,0.999999962178,0.000101052112233,-0.00025419853259,-2.85447948785e-05,1793244584223300608
+82,1.366666667,BASELINE,765,745.595871125,714,680,663,634.404128875,879.595871125,787,806,653,631,652,0.400985501193,0.00457518312497,0.0498515955338,0.99999996244,9.84553114858e-05,-0.000254193885133,-2.84842019506e-05,1793244584239967232
+83,1.383333333,BASELINE,765,745.81574301,713.81574301,679.81574301,663.18425699,634,879.81574301,787,806,653,631,652.18425699,0.400985687042,0.00457512089468,0.0498514514179,0.999999962527,9.70497082885e-05,-0.000254381666695,-2.85901444358e-05,1793244584256633856
+84,1.400000000,BASELINE,765,745.238473569,713.238473569,679.238473569,663.761526431,634,879.238473569,787,806,653,631,652.761526431,0.400985380605,0.00457616286027,0.0498513318501,0.999999962251,9.81848791495e-05,-0.00025497989131,-2.90512999804e-05,1793244584273300480
+85,1.416666667,BASELINE,764.661910962,745,713,679,663.661910962,634,879,787,806.338089038,653,631,653,0.400985137581,0.00457573341379,0.0498510609709,0.999999962125,9.82534237579e-05,-0.000255433981476,-2.91396862451e-05,1793244584289967104
+86,1.433333333,BASELINE,764.085845919,745,713,679,663.085845919,634,879,787,806.914154081,653,631,653,0.400984939193,0.00457426826149,0.0498506835858,0.999999962107,9.75711854436e-05,-0.000255786617445,-2.89656855555e-05,1793244584306633728
+87,1.450000000,BASELINE,764.500257024,745,713.500257024,679,663.500257024,634,879,787,806.499742976,653,630.499742976,652.499742976,0.400985219041,0.00457461711442,0.0498510056027,0.9999999622,9.62341768567e-05,-0.00025595290073,-2.87722041573e-05,1793244584323300352
+88,1.466666667,BASELINE,764.913165761,745.086834239,714,679.086834239,664,634,879,787,806,653,630.086834239,652,0.400985514688,0.00457521532999,0.0498514668133,0.99999996232,9.52388271811e-05,-0.000255871615654,-2.86068480954e-05,1793244584339966976
+89,1.483333333,BASELINE,764.333867898,745.666132102,714,679.666132102,664,634,879,787,806,653,630.666132102,652,0.400985424978,0.00457542618788,0.0498520228266,0.999999962499,9.68314117369e-05,-0.000254571369594,-2.86203466127e-05,1793244584356633600
+90,1.500000000,BASELINE,764,746,713.756382109,680,664,634,879,787,806,653,631,652,0.400985146015,0.00457536721813,0.0498519483217,0.999999962434,9.73658561435e-05,-0.000254615602244,-2.86997639621e-05,1793244584373300224
+91,1.516666667,BASELINE,764,746,713.181361401,680,664,634,879,787,806,653,631,652,0.400984609602,0.00457494119143,0.0498510160987,0.999999962038,9.64608715519e-05,-0.00025648878126,-2.88688532408e-05,1793244584389966848
+92,1.533333333,BASELINE,764,745.597797163,713.402202837,679.597797163,663.597797163,634,879,787,806,653,631,652,0.40098514212,0.00457505275971,0.0498515160612,0.999999962125,9.77098363426e-05,-0.000255701213766,-2.86203893289e-05,1793244584406633472
+93,1.550000000,BASELINE,764,745.010296813,713.989703187,679.010296813,663.010296813,634,879,787,806,653,631,652,0.400986167103,0.00457541200153,0.049852675841,0.999999962429,9.99511398088e-05,-0.000253687822883,-2.81795559093e-05,1793244584423300352
+94,1.566666667,BASELINE,764.568398274,745,714,679,663,634,879,787,805.431601726,653,631,652,0.400985791033,0.00457615670409,0.0498519478986,0.999999962349,9.93051500952e-05,-0.00025419890603,-2.87005215026e-05,1793244584439967232
+95,1.583333333,BASELINE,765,745,714,679,663.147026336,634,879,787,805.147026336,653,631,652,0.400985235211,0.00457604819979,0.0498513486745,0.999999962266,9.78773322093e-05,-0.000255040168195,-2.90316105065e-05,1793244584456634112
+96,1.600000000,BASELINE,765,745,714,679,663.725919056,634,879,787,805.725919056,653,631,652,0.40098422481,0.00457341333879,0.0498512264556,0.999999962188,9.43043118116e-05,-0.000256718997154,-2.87545695803e-05,1793244584473300736
+97,1.616666667,BASELINE,764.69800062,745,714,679,664,634,879,787,806,653,631,652,0.400984195138,0.00457304875621,0.0498512253822,0.999999962192,9.39662364214e-05,-0.000256861481446,-2.84271512548e-05,1793244584489967104
+98,1.633333333,BASELINE,764.124449184,745,714,679,664,634,879,787,806,653,631,652,0.400985047316,0.00457472556466,0.0498513332405,0.999999962275,9.65369618201e-05,-0.000255622513947,-2.80544345538e-05,1793244584506633984
+99,1.650000000,BASELINE,764.461422349,745,713.538577651,679,664,634,879,787,806,653,631,652.461422349,0.400985022627,0.00457484264366,0.0498514813619,0.999999962279,9.76907115194e-05,-0.000255177274449,-2.7996707104e-05,1793244584523300352
+100,1.666666667,BASELINE,765,745,713.049763753,679,664,634,879,787,805.950236247,653,631,653,0.400984841661,0.00457460988758,0.0498516678263,0.999999962273,9.84103566956e-05,-0.000254915136234,-2.80525921908e-05,1793244584539966976
+101,1.683333333,BASELINE,765,745,713.628077674,679,664,634,879,787,805.371922326,653,631,653,0.40098558165,0.00457525206459,0.049852143036,0.999999962403,9.86897404583e-05,-0.000254261650134,-2.83881007195e-05,1793244584556634624
+102,1.700000000,BASELINE,765,745.20672832,713.79327168,679,664,634,878.79327168,787,805.20672832,653,631,653,0.400985829495,0.00457600408687,0.0498520955586,0.999999962365,9.90660562416e-05,-0.000254224733763,-2.8741539748e-05,1793244584573301504
+103,1.716666667,BASELINE,765,745.785985688,713.214014312,679,664,634,878.214014312,787,805.785985688,653,631,653,0.400985190488,0.00457695405275,0.0498511061875,0.999999962025,9.96170456606e-05,-0.000255298889882,-2.91272899014e-05,1793244584589967872
+104,1.733333333,BASELINE,765,745.639088522,713.360911478,679,664,634,878.360911478,787.360911478,805.639088522,653,630.639088522,652.639088522,0.400984565141,0.00457686530861,0.0498506251313,0.999999961918,9.88326971536e-05,-0.000256029315393,-2.90680322832e-05,1793244584606634752
+105,1.750000000,BASELINE,765,745.066700767,713.933299233,679,664,634,878.933299233,787.933299233,805.066700767,653,630.066700767,652.066700767,0.400983947797,0.00457616793185,0.0498504419223,0.999999961945,9.72659067199e-05,-0.000256558331869,-2.87480221573e-05,1793244584623301888
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,713,680,664,634,879,787,806,653,631,653,0.400983788991,0.00457594018447,0.0498514213169,0.999999962207,9.73944965677e-05,-0.00025543454748,-2.92159255731e-05,1793244584654262272
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,680,663.40968905,634,879,787,806.59031095,653,631,653,0.400985019172,0.00457591996875,0.0498518565944,0.999999962446,9.69211852287e-05,-0.000254696639982,-2.90391032971e-05,1793244584670929664
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,713.177772055,679.822227945,663.177772055,634,879,787,806.644455889,653,631,652.822227945,0.400985764421,0.00457564440318,0.049852004107,0.999999962613,9.60507976654e-05,-0.000254383593081,-2.89256115384e-05,1793244584687596544
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713.758769217,679.241230783,663.758769217,634,879,787,805.482461567,653,631,652.241230783,0.400985409738,0.00457478964947,0.0498514989073,0.999999962615,9.42797560671e-05,-0.000255034220885,-2.89557669256e-05,1793244584704262912
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713.668928353,679,664,634,879,787,805.331071647,653,631,652,0.400985201966,0.00457504491824,0.0498518835611,0.999999962568,9.57247217165e-05,-0.00025470528299,-2.87466651805e-05,1793244584720929024
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.10279913,679,664,634,879,787,805.89720087,653,631,652,0.400985098499,0.00457608829198,0.0498529000023,0.999999962475,9.94530206273e-05,-0.000253680863148,-2.83676932495e-05,1793244584737595392
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745.491466041,713,679.491466041,664,634,879,787,805.508533959,653,631,652.491466041,0.400985554329,0.00457569651565,0.0498526325161,0.999999962578,9.83776348863e-05,-0.000253678485953,-2.8530581945e-05,1793244584754262272
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,746,713.088220753,679.911779247,664,634,879,787.088220753,805.088220753,653,630.911779247,652.911779247,0.40098596502,0.00457513882343,0.0498521361647,0.999999962666,9.67821194942e-05,-0.000253913149321,-2.87828459596e-05,1793244584770928896
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,746,713.664224755,679.335775245,664,634,879,787.664224755,805.664224755,653,630.335775245,652.335775245,0.400985440015,0.00457542432832,0.049851949444,0.999999962451,9.82036504695e-05,-0.000254204650858,-2.88645509939e-05,1793244584787595520
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,746,714,679,664,634,879,787.760154795,806,653,630.239845205,652.239845205,0.400985833927,0.00457572784692,0.0498519876828,0.999999962386,9.87043087731e-05,-0.00025426375347,-2.89042876871e-05,1793244584804262144
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,746,714,679,664,634,879,787.185070497,806,653,630.814929503,652.814929503,0.400987512234,0.00457605654381,0.0498523403545,0.999999962531,9.7917834617e-05,-0.000253998024863,-2.88853639193e-05,1793244584820928512
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.400492748,745.599507252,714,679,664,634,879.400492748,787,806,653,631,652.599507252,0.401002105425,0.00457657704632,0.0498577849284,0.999999965124,9.86169919996e-05,-0.000243287812356,-2.89323622747e-05,1793244584837595136
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.991028545,745.008971455,714,679,664,634,879.991028545,787,806,653,631,652.008971455,0.401022827027,0.00457718856504,0.0498656457274,0.999999968671,0.000100021115735,-0.000227621451181,-2.90106421911e-05,1793244584854261760
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745.569362915,714,679,664,634,879.430637085,787,806,653,630.430637085,652,0.401071778855,0.00457532864001,0.0498847529792,0.999999976893,9.66157221827e-05,-0.00018993776366,-2.8353741617e-05,1793244584870928384
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.853914287,745.853914287,713.853914287,679,664,634,879.146085713,787,805.853914287,653,630,652.146085713,0.401125833611,0.00457380053815,0.0499036921203,0.999999983627,9.40655669002e-05,-0.000152064862908,-2.78026934728e-05,1793244584887595264
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.281346668,745.281346668,713.281346668,679,664,634,879.718653332,787,805.281346668,653,630,652.718653332,0.401193514469,0.00457335246226,0.0499216339915,0.99999998861,9.4228789959e-05,-0.000114631133727,-2.75937797611e-05,1793244584904261888
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.294094595,745,713,679,663.705905405,634,879.705905405,787,805.294094595,653,630.294094595,652.705905405,0.401263865399,0.00457234719623,0.0499345704703,0.999999990931,9.36023864943e-05,-9.30366080883e-05,-2.68327621953e-05,1793244584920928512
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.87231203,745,713,679,663.12768797,634,879.12768797,787,805.87231203,653,630.87231203,652.12768797,0.401336795862,0.00457080363253,0.0499426712717,0.99999999166,9.22131301537e-05,-8.67442345074e-05,-2.55383607899e-05,1793244584937595136
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.539775571,745,713.460224429,679,663,634,879,787,806,653,631,652,0.401420403975,0.00457030030186,0.0499450325148,0.9999999921,9.08467228653e-05,-8.31927227398e-05,-2.50099722498e-05,1793244584954261760
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,713.950111148,679,663.049888852,634,879,787,805.950111148,653,630.950111148,652.049888852,0.401508875138,0.00457008656045,0.0499455858277,0.999999992408,8.95240621113e-05,-8.1003612813e-05,-2.46583578154e-05,1793244584970928384
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713.371008872,679,663.628991128,634,879,787,805.371008872,653,630.371008872,652.628991128,0.401616830993,0.0045698173287,0.0499442165892,0.999999992175,8.85967632804e-05,-8.50263893332e-05,-2.38789563189e-05,1793244584987595008
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713,679.2066159,664,634,879.4132318,787,805,653,630.2066159,652.7933841,0.401733838635,0.00456853202704,0.0499438276091,0.999999992093,8.6988509971e-05,-8.7903169381e-05,-2.27847984659e-05,1793244585004261632
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,713,679.781606375,664,634,880.56321275,787,805,653,630.781606375,652.218393625,0.401866984656,0.00456543517884,0.0499451863274,0.999999992298,8.41661860335e-05,-8.87367569561e-05,-2.11294629801e-05,1793244585020928512
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745.356790055,713,679.643209945,663.643209945,634,880.28641989,787,805,653,630.643209945,652,0.402021753269,0.00456423463192,0.0499474463649,0.999999992724,8.11083781442e-05,-8.70260740377e-05,-1.99799220334e-05,1793244585037595392
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745.932092117,713,679.067907883,663.067907883,634,879.135815766,787,805,653,630.067907883,652,0.402189764406,0.00456419545284,0.0499502584052,0.999999993274,7.79063505154e-05,-8.37571816998e-05,-1.91401490338e-05,1793244585054262272
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.464157146,745.535842854,713,679,663.464157146,634,878.535842854,787,805.464157146,653,630.464157146,652,0.402376673013,0.00456207256245,0.0499487091131,0.999999993227,7.4925009806e-05,-8.7332107674e-05,-1.74833512975e-05,1793244585070929152
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.990435449,745.009564551,713,679,663.990435449,634,878.009564551,787,805.990435449,653,630.990435449,652,0.40256611078,0.00455967079548,0.0499465761155,0.999999993071,7.19732052462e-05,-9.1822986364e-05,-1.57172058997e-05,1793244585087595776
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.357587787,745.642412213,713,679.642412213,664,634,878.642412213,787,805.357587787,653,630.357587787,652,0.402804394665,0.00455814391129,0.0499470165202,0.999999993171,6.88977152128e-05,-9.33790379453e-05,-1.38688824542e-05,1793244585104262400
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745.739471509,713,679.739471509,663.739471509,634,878.739471509,787,805,653,630.260528491,652,0.403060845755,0.00455533656589,0.0499500606503,0.999999993981,6.39626896295e-05,-8.83391204973e-05,-1.19451037364e-05,1793244585120928768
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745.164966384,713,679.164966384,663.164966384,634,878.164966384,787,805,653,630.835033616,652,0.40333810144,0.00455096655249,0.0499561852603,0.999999995494,5.67893989286e-05,-7.54155220545e-05,-9.93222320554e-06,1793244585137595136
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.425174431,745.425174431,713,679,663,634,878.425174431,787,805,653,631,652,0.403650655697,0.00454747798782,0.0499637809876,0.999999996834,5.263910996e-05,-5.91921368351e-05,-7.62088055767e-06,1793244585154261760
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.979237236,745.979237236,713,679,663,634,879.020762764,786.979237236,805.020762764,653,630.979237236,652,0.403978426181,0.00454439322194,0.0499719662705,0.999999997876,4.97355973827e-05,-4.18022424872e-05,-5.1942756707e-06,1793244585170928384
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.406273479,745.406273479,713,679,663,634,879.593726521,786.406273479,805.593726521,653,630.406273479,652,0.404332728821,0.00454260479029,0.0499800710911,0.99999999845,4.76054992269e-05,-2.87388970215e-05,-2.89962009641e-06,1793244585187595264
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713,679.168129631,663.168129631,634,879.831870369,786.168129631,805.831870369,653,630,652,0.404699303431,0.00454020923701,0.0499869748101,0.999999998846,4.52128767132e-05,-1.62428484134e-05,-4.9640627488e-07,1793244585204262144
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,713,679.746040786,663.746040786,634,879.253959214,786.746040786,805.253959214,653,630,652,0.405095788401,0.00453633394943,0.049990951089,0.999999999095,4.21804051994e-05,-5.12947156268e-06,2.17139569173e-06,1793244585220928768
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,713,679.669080406,664,634,879,787,805,653,630,652,0.405490270208,0.00453152720223,0.049983982395,0.999999999173,3.66292800883e-05,-1.69053736766e-05,5.07011334372e-06,1793244585237595648
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,713,679.078739305,664,634,879,787,805,653,630,652,0.405883181697,0.00452599024501,0.0499684334862,0.999999998456,2.9103678276e-05,-4.66251236687e-05,8.14985560016e-06,1793244585254262272
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.50079981,745,713,679,664,634,879,787,805,653,630.50079981,652,0.406324664645,0.00452164796265,0.0499475420398,0.999999996068,2.46643766734e-05,-8.44601072044e-05,1.10790708165e-05,1793244585270928896
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.921750847,745,713,678.921750847,664,634,879,787,805,653,631,652,0.406779381345,0.00451739286636,0.0499276399211,0.999999992457,2.0091134469e-05,-0.000120364806024,1.39649725487e-05,1793244585287595264
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.34701225,745,713,678.34701225,664,634,879,787,805,653,631,652,0.407270634196,0.00451252431491,0.0499192322593,0.999999990531,1.1654145436e-05,-0.000136097053938,1.67230480088e-05,1793244585304261632
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,713.227819696,678.227819696,664,634,879.227819696,787,805,653,631,652,0.407799951927,0.00450663273998,0.0499238604428,0.999999992024,2.17966774e-06,-0.000124731434623,1.97222729491e-05,1793244585320928512
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713.80279385,678.80279385,664,634,879.80279385,787,805,653,631,652,0.408387273364,0.00449918226957,0.0499483528082,0.999999997097,-8.87574746584e-06,-7.20737501537e-05,2.30889642424e-05,1793244585337595136
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,713.610357928,679,664,634,880,787,805.389642072,653,630.610357928,652,0.408992244462,0.00449342661867,0.0499752324595,0.999999999172,-1.6989280698e-05,-2.53165536538e-05,2.69601641621e-05,1793244585354261760
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,713.017311108,679,664,634,880,787,805.982688892,653,630.017311108,652,0.409606429188,0.00448855571419,0.0500033583444,0.99999999907,-2.35670636994e-05,1.83604110101e-05,3.10947324626e-05,1793244585370928640
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+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.285715143,713,679,664,634,879.285715143,787,805.714284857,652.285715143,631,652,0.411450380818,0.00446919087777,0.0499517560427,0.999999984293,0.000142750935697,-9.54425799091e-05,4.38904829692e-05,1793244585420929536
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.710481786,745,713,679,664,634,879.289518214,786.710481786,806,652,631,652,0.412113295981,0.00446257753756,0.0499387590905,0.999999972052,0.000200976914347,-0.000115289038736,4.70392267892e-05,1793244585437595904
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.134537384,745,713,679,664,634,879.865462616,786.134537384,806,652,631,652,0.412839556186,0.00445508013008,0.049947838587,0.999999979415,0.000178936839165,-8.19478787327e-05,4.93630401077e-05,1793244585454262016
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,713.453768526,679,664.453768526,634,880,786.453768526,805.546231474,652,631,652.453768526,0.413585169541,0.00444515522831,0.0499666335324,0.999999996492,5.96779645557e-05,-5.1450826961e-05,2.84203793948e-05,1793244585470928640
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.044490099,745.044490099,714,679,664.955509901,634,880.044490099,787,805.044490099,652,630.955509901,652.955509901,0.414336511993,0.00443507009328,0.0499850230572,0.999999996583,-7.81938495656e-05,-2.66411619755e-05,3.11352538189e-06,1793244585487595520
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.619102038,745.619102038,714,679,664.380897962,634,880.619102038,787,805.619102038,652,630.380897962,652.380897962,0.415085834247,0.00443189174553,0.049963297718,0.999999994597,-8.47737946473e-05,-5.92704594187e-05,1.03031465535e-05,1793244585504262656
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.805494268,714,679,663.805494268,634,880.610988536,787,806,652.194505732,630.194505732,652,0.4158418087,0.00444099877837,0.049943458971,0.999999993069,-7.50630922894e-05,-8.94062242862e-05,1.5318112424e-05,1793244585520929792
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.228533789,714,679,663.228533789,634,879.457067579,787,806,652.771466211,630.771466211,652,0.416610863266,0.00447426243684,0.0499273298136,0.999999992745,-3.33202464848e-05,-0.000114638978114,1.60570740985e-05,1793244585537596160
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,713.653364889,679,663.346635111,634,879,787,806,652.653364889,630.653364889,652,0.41742724545,0.004489271953,0.0499404348016,0.999999995767,5.55177500086e-06,-9.00017226921e-05,1.82984673242e-05,1793244585554262528
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,713.079371112,679,663.920628888,634,879,787,806,652.079371112,630.079371112,652,0.418274669886,0.00449230853916,0.0499727145252,0.99999999833,4.25408153736e-05,-3.26546266302e-05,2.15253083492e-05,1793244585570928640
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.513128929,745.513128929,713.513128929,679,664,634,879.513128929,787,806,652,630.513128929,652,0.419085512616,0.0044815965406,0.0499756960534,0.999999998513,3.0425921357e-05,-3.84991411808e-05,2.37747621108e-05,1793244585587595008
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.895094348,746,713.895094348,679,664,634,880,787,805.895094348,652,631,652,0.419903487472,0.00447048463607,0.0499723835169,0.999999998297,1.0726236448e-05,-5.14938163022e-05,2.53028191773e-05,1793244585604261632
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.31987423,746,713.31987423,679,664,634,880,787,805.31987423,652,631,652,0.420779754256,0.00446747077347,0.049961930827,0.999999998371,-7.65170371326e-06,-5.1083358788e-05,2.42998444681e-05,1793244585620928256
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,746,713.255308335,679.255308335,664.255308335,634,880,787,805,652,631,652,0.4216722893,0.00446295435176,0.0499675423509,0.9999999991,-1.94762347903e-05,-2.87211209783e-05,2.44087250747e-05,1793244585637595136
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,746,713.830443933,679.830443933,664.830443933,634,880,787,805,652,631,652,0.422585203872,0.00445655565905,0.0499932776723,0.999999999174,-2.30912482705e-05,2.11403281505e-05,2.59104376061e-05,1793244585654262016
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.582627634,714,680,664.582627634,634,880,787,805,652,631,652,0.423445732811,0.00446072924442,0.049988428244,0.999999999559,-9.06663676273e-06,1.04874594096e-05,2.62657701347e-05,1793244585670928384
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.00902061,714,680,664,634,880,787,805.00902061,652,631,652,0.42428551963,0.00446932459817,0.0499711449881,0.999999999282,1.19695186973e-05,-2.47033330754e-05,2.61365572477e-05,1793244585687594752
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.587398305,714,680,664,634,880,787,805.587398305,652,631,652,0.425198409204,0.004478042126,0.049976103866,0.999999999549,1.01032789847e-05,-1.18862082904e-05,2.56733762823e-05,1793244585704261632
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,746,713.835110736,680,664.164889264,634,880,787,806,652,631,652.164889264,0.426115004925,0.00448170135343,0.0499845950814,0.999999999649,3.79996259717e-06,4.78797789164e-07,2.62058442803e-05,1793244585720928256
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,746,713.259826819,680,664.740173181,634,880,787,806,652,631,652.740173181,0.427040824865,0.00447277092232,0.0500018779689,0.999999999413,-1.35468413186e-05,1.17185200102e-05,2.92163936732e-05,1793244585737594880
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,746,713,680,664.678010701,634,880.321989299,787,806,651.678010701,631,652.678010701,0.427907443,0.0044646615326,0.0499890948346,0.99999999922,-9.36900624339e-06,-2.25792213837e-05,3.10199920814e-05,1793244585754261504
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,746,713,680,664.090814353,634,880.909185647,787,806,651.090814353,631,652.090814353,0.428725299422,0.00445722839551,0.0499515477682,0.999999994961,1.25376362861e-05,-9.43839748196e-05,3.18294829246e-05,1793244585770928384
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.510442225,713.489557775,679.510442225,664,634,880.510442225,787,806,651.489557775,631,652,0.429640039638,0.00445522447329,0.0499506800435,0.999999996282,4.18961882991e-06,-8.03289946608e-05,3.106869316e-05,1793244585787595008
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.06846626,664.06846626,634,880,787,806,652,631,652,0.430566903904,0.00445501410033,0.049955613757,0.999999997979,-7.92031806616e-06,-5.53124497461e-05,3.03145413016e-05,1793244585804261632
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.645775553,664.645775553,634,880,787,806,652,631,652,0.431452140243,0.00446075128522,0.049953790707,0.999999997323,-6.8514236889e-06,-6.55734638871e-05,3.17448464953e-05,1793244585820929280
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.219983349,714,680,664.780016651,634,880.219983349,787,806,652,631,652,0.432337032595,0.00446539487858,0.0499489681692,0.999999996625,-7.37374858787e-06,-7.53137561488e-05,3.19874993064e-05,1793244585837596416
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.789266535,714,680,664.210733465,634,880.789266535,787,806,652,631,652,0.433221378887,0.00446830201712,0.049939382904,0.999999995938,-1.04226856078e-05,-8.42272234878e-05,3.03443424185e-05,1793244585854262528
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,746,713.624522221,680,664.375477779,634,880.624522221,787,806,652,631.375477779,652,0.434110905865,0.00446544690549,0.0499548075892,0.999999997775,-6.92706396731e-06,-5.85714017794e-05,3.11707128949e-05,1793244585870928896
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,746,713.02836174,680,664.97163826,634,880.02836174,787,806,652,631.97163826,652,0.435003477678,0.00445920509811,0.0499849315824,0.999999999361,4.15046164941e-07,-1.25978815349e-05,3.34485194251e-05,1793244585887595264
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,746,713.545957941,680,664.454042059,634,880,787,806,652,631.454042059,652,0.435809443085,0.0044557366155,0.049977319917,0.999999998342,2.22976229778e-06,-4.4728233075e-05,3.61900518234e-05,1793244585904261632
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.87920178,714,680,664,634,880,787,806.12079822,652,631,652,0.436620561132,0.00445357773448,0.0499678012046,0.999999996547,7.58501761292e-07,-7.39162613099e-05,3.79589198731e-05,1793244585920928512
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.298222314,714,680,664,634,880,787,806.701777686,652,631,652,0.437467788131,0.00445588006066,0.0499581981573,0.999999996313,-1.21789129324e-05,-7.70334239796e-05,3.59341791157e-05,1793244585937595392
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.285816863,714,680,664.285816863,634,880,787,807,652,631,652,0.438313941959,0.00445953298696,0.049963516248,0.999999997491,-1.98673857884e-05,-5.83330096928e-05,3.49416882701e-05,1793244585954262016
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.873083062,714,680,664.873083062,634,880,787,807,652,631,652,0.439158963867,0.00446461038299,0.0499845715742,0.999999999006,-2.20198302227e-05,-1.66217271339e-05,3.5037905324e-05,1793244585970928640
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.545668708,714,680,664.545668708,634,880,787,807,652,631,652,0.439931558763,0.00446722767807,0.0499708244479,0.99999999859,1.42665041927e-05,-3.72604955084e-05,3.50393341177e-05,1793244585987595008
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.966322306,680,664,634,880,787,807,652,631.033677694,652,0.440683258582,0.00446879910118,0.0499484804836,0.999999995021,5.75544829339e-05,-7.3551517606e-05,3.5143137228e-05,1793244586004261888
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.390880745,680,664,634,880,787,807,652,631.609119255,652,0.441420042482,0.00446445656848,0.0499421926409,0.999999994758,4.29975259683e-05,-8.51096017219e-05,3.73142015986e-05,1793244586020928512
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,713.184911544,680,664.184911544,633.815088456,880.184911544,787,807,652,631.815088456,652,0.442154703562,0.00446138109147,0.0499404171348,0.999999995022,3.08437672637e-05,-8.6469631763e-05,3.90860791132e-05,1793244586037594880
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713.761446746,680,664.761446746,633.238553254,880.761446746,787,807,652,631.238553254,652,0.442884868866,0.00446098910743,0.049948198293,0.999999996723,2.37797329546e-05,-6.62312328254e-05,4.00125202822e-05,1793244586054261504
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.345581524,714,680,664.654418476,633,881,787,806.654418476,652,631,652,0.443553533763,0.00446751317612,0.0499318754321,0.999999994121,2.89694624421e-05,-9.60081676415e-05,4.12513500932e-05,1793244586070928384
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.935080174,714,680,664.064919826,633,881,787,806.064919826,652,631,652,0.444178790617,0.00447891870862,0.0498985395574,0.999999985197,4.28081003511e-05,-0.0001610867488,4.27106687567e-05,1793244586087595264
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.486560195,714,680,663.486560195,633,880.486560195,787,806.513439805,652,631,652,0.44478278604,0.00449586480173,0.0498560261027,0.999999972683,6.23743360532e-05,-0.000221319854849,4.19576079956e-05,1793244586104261632
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713.909791805,680.090208195,663,632.909791805,880,787,807,652,631,652,0.445386960041,0.00451223106842,0.049819777691,0.999999959912,8.16907310783e-05,-0.000268014179946,4.08862126368e-05,1793244586120928512
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713.334168091,680.665831909,663,632.334168091,880,787,807,652,631,652,0.446006253783,0.00452178758145,0.0498233535455,0.999999964591,9.58484904925e-05,-0.00024508233268,3.95751501854e-05,1793244586137594880
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713.241082777,680.758917223,663,632,880.241082777,787,807,652,631,652,0.446601737912,0.00452581966197,0.0498242655162,0.999999966409,0.000103107380682,-0.000234524727412,3.93510181829e-05,1793244586154261504
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713.815817589,680.184182411,663,632,880.815817589,787,807,652,631,652,0.447164270131,0.0045222060767,0.0498214907435,0.99999996503,0.000100818421567,-0.000241092740088,4.06311686291e-05,1793244586170928128
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.596719039,745.403280961,714,680.403280961,662.596719039,632,881,786.596719039,807,652,631,652,0.447676899276,0.00452509753194,0.0497940643196,0.99999995409,0.000107194827341,-0.000280550424727,4.02633167424e-05,1793244586187594752
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.003252895,745.996747105,714,680.996747105,662.003252895,632,881,786.003252895,807,652,631,652,0.448165994442,0.00453105672979,0.0497550123062,0.999999936027,0.000117657773212,-0.000335518705801,3.9118275617e-05,1793244586204261632
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.571254606,745.428745394,714,681,662,631.428745394,881,786,807,652,631,652.571254606,0.448632533549,0.00453317636639,0.0497399372547,0.999999925972,0.000120067956193,-0.000363414157858,3.96173832011e-05,1793244586220928256
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680.853988655,662,631,881,786,806.853988655,652,631,652.853988655,0.449096234272,0.00453406226161,0.049732126537,0.999999920133,0.000120073457787,-0.000379115284658,3.98543142596e-05,1793244586237594880
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680.278190581,662,631,881,786,806.278190581,652,631,652.278190581,0.449551946197,0.00453137890849,0.0497453095235,0.999999928258,0.000113131380862,-0.000359361425915,3.9292851912e-05,1793244586254262016
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,881,786,806,652,631,652,0.449992569865,0.00452978897853,0.0497569292497,0.999999937706,7.86585423919e-05,-0.000342798137092,2.98393571781e-05,1793244586270928640
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,662,631,881,786,806,652,631,652,0.450419089657,0.00452922113316,0.0497670877074,0.999999945565,1.84511450978e-05,-0.000329217254532,1.20739770922e-05,1793244586287595264
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.459862292,714,680.459862292,661.540137708,630.540137708,881,786.459862292,806,652,631,652,0.450792928337,0.00452536449278,0.049767609129,0.999999943321,2.69234239756e-06,-0.000336520536926,1.02448786643e-05,1793244586304261632
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,713.951634878,681,661,630,881,786.951634878,806.048365122,652,631,652,0.451146938194,0.00452139249046,0.0497638491899,0.999999937964,1.4517128156e-07,-0.000352005173895,1.27963510852e-05,1793244586320928000
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,713.371668139,681,661,630,881,786.371668139,806.628331861,652,631,652,0.451445958069,0.00452632563193,0.0497428409645,0.999999922734,5.32108158795e-06,-0.000392814161222,1.42012920114e-05,1793244586337594880
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,746,713.205956543,680.794043457,661,630,881,786,807,652,631,652,0.451728678545,0.00453101854602,0.0497212152078,0.999999905906,1.11856377889e-05,-0.000433385794146,1.54692361283e-05,1793244586354261760
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,746,713.779402219,680.220597781,661,630,881,786,807,652,631,652,0.4519823159,0.00453528282086,0.0496984875895,0.99999988758,1.82789472316e-05,-0.000473533910743,1.6492736125e-05,1793244586370928896
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.63500245,713.63500245,680,661,630,880.63500245,786,807,652,631,652,0.452242766437,0.00454806506567,0.0496875917516,0.999999880068,3.50090239527e-05,-0.00048820260677,1.71936888862e-05,1793244586387595520
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.041811192,713.041811192,680,661,630,880.041811192,786,807,652,631,652,0.452507476547,0.00456617268131,0.0496840930513,0.999999879619,5.77639354056e-05,-0.000486941765768,1.76929876591e-05,1793244586404261632
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.536351,713.536351,680,660.463649,629.463649,880,786,807,652,631,652,0.452745035309,0.00458915901819,0.0496956018931,0.999999883625,0.000120327440551,-0.000466978934549,1.4215752571e-05,1793244586420928256
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.887548828,746,714,680,660.112451172,629,880,786,807,652,631,652,0.452971657598,0.00460826591072,0.049706125954,0.999999882768,0.000180244560542,-0.000449277374851,1.1215294724e-05,1793244586437594880
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.315220552,746,714,680,660.684779448,629,880,786,807,652,631,652,0.45316197444,0.00460999459296,0.0497079686603,0.999999876656,0.000216993978292,-0.000446623168756,1.13978234566e-05,1793244586454262016
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,745.73381411,714,680,660.73381411,629,880.26618589,786,807,652,631,652,0.453331860899,0.0046097978026,0.0497044999333,0.999999870112,0.000234683248996,-0.000452285614288,1.17037990632e-05,1793244586470928896
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,745.141277645,714,680,660.141277645,629,880.858722355,786,807,652,631,652,0.453476699185,0.00460724033446,0.0496945192559,0.999999864125,0.000229004299532,-0.000468144483895,1.21611236344e-05,1793244586487595264
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.441285201,745.441285201,714,680.441285201,660,629,881,786,807,652,631,652,0.453604700789,0.00460573157895,0.0496829133595,0.999999857679,0.000225570886019,-0.000483328115773,1.23895873305e-05,1793244586504261632
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.979288323,745.979288323,714,681,660,629,881,786,806.979288323,652,631,652,0.453726535308,0.00460466250402,0.0496709789142,0.99999985101,0.0002228992033,-0.000498135881323,1.25198634097e-05,1793244586520928000
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+221,3.683333333,POSE1_TO_POSE2_PRESS,764,745,714,680.250214502,659.250214502,629,880.250214502,786,807.499570996,652,631,651.250214502,0.4539984425,0.00460566014642,0.0496592930504,0.999999843794,0.000215779267812,-0.000515458162732,1.23842782402e-05,1793244586570929920
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+244,4.066666667,POSE1_TO_POSE2_PRESS,764,745,713.106857565,680,659.106857565,628,880.893142435,786.893142435,806.893142435,652.106857565,631,652,0.454346112893,0.00461275625735,0.0496447921735,0.999999830726,0.000215409899517,-0.000540363696654,1.23850851775e-05,1793244586954261504
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,745,713.678195955,680,659.678195955,628,880.321804045,786.321804045,806.321804045,652.678195955,631,652,0.454346568225,0.00461310294932,0.0496442945916,0.999999829924,0.000215833913988,-0.000541677603793,1.23528987432e-05,1793244586970928128
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+247,4.116666667,POSE1_TO_POSE2_PRESS,764.830207992,745,714,680,659.169792008,628.830207992,880.830207992,786,806.830207992,652.169792008,631,652,0.454349244688,0.00461433503275,0.0496454407514,0.999999831087,0.000217515794602,-0.000538847524888,1.24902465538e-05,1793244587004261376
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+250,4.166666667,HOLD_POSE2,764,745,714,680,659,628,881,786,807,652,631,652,0.454349771797,0.00461447401672,0.0496457557898,0.999999832134,0.000214636875684,-0.000538077648838,1.16570680072e-05,1793244587066132224
+251,4.183333333,HOLD_POSE2,764.572167261,745,714,680.572167261,659,628.572167261,881,786,807,652,630.427832739,652,0.454349579715,0.00461597897364,0.0496454415205,0.999999831131,0.000217631222157,-0.000538739074442,1.15887162012e-05,1793244587082799104
+252,4.200000000,HOLD_POSE2,765,745,714,681,659.149342008,628.850657992,880.850657992,786,806.850657992,652,630.149342008,652,0.454349480651,0.00461726893392,0.0496450712077,0.99999983027,0.000219619733469,-0.00053953330064,1.14540559281e-05,1793244587099465984
+253,4.216666667,HOLD_POSE2,765,745,714,681,659.74135996,628.25864004,880.25864004,786,806.25864004,652,630.74135996,652,0.454349657308,0.00461792160677,0.0496445347721,0.99999982985,0.000218626773392,-0.000540721171297,1.11228456947e-05,1793244587116132352
+254,4.233333333,HOLD_POSE2,765,745,714,681,659.674067741,628,880.325932259,786,806.325932259,652,631,652,0.454348830955,0.00461742345694,0.0496437288743,0.999999829592,0.000217231583392,-0.000541760954699,1.10211700862e-05,1793244587132798976
+255,4.250000000,HOLD_POSE2,765,745,714,681,659.095271935,628,880.904728065,786,806.904728065,652,631,652,0.454347226451,0.00461603248012,0.0496427139232,0.999999829459,0.000215524336937,-0.000542685849528,1.10975711914e-05,1793244587149465600
+256,4.266666667,HOLD_POSE2,764.519377846,745.480622154,714,681,659,628,880.519377846,786.480622154,807,652,631,652,0.454348469446,0.00461640954334,0.0496437092121,0.99999982973,0.000217249603756,-0.000541494748951,1.12580666449e-05,1793244587166132224
+257,4.283333333,HOLD_POSE2,764,745.945927218,714,681,659,628,880.054072782,786.945927218,807,652,631,652,0.45435007842,0.00461706811732,0.0496448778386,0.999999829965,0.000219532338214,-0.000540134305022,1.14185797872e-05,1793244587182799360
+258,4.300000000,HOLD_POSE2,764,745.389853219,714,681,659,628,880.610146781,786.389853219,807,652,631,652,0.454349876276,0.00461710599495,0.0496439784653,0.999999829198,0.000220711568471,-0.000541072395328,1.14254275517e-05,1793244587199466752
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+260,4.333333333,HOLD_POSE2,764.796613331,745.796613331,713.203386669,681,659,628,881,786,807,652,631,652,0.45435004581,0.00461680690357,0.0496439497699,0.999999830194,0.000217010084981,-0.000540736994656,1.10810851502e-05,1793244587232799232
+261,4.350000000,HOLD_POSE2,765,745.614858729,713.385141271,681,659.770282541,628,881,786,806.614858729,652,631,652,0.454349703414,0.00461612373497,0.0496438887628,0.999999829931,0.000217196811514,-0.000541143694911,1.12754978407e-05,1793244587249465600
+262,4.366666667,HOLD_POSE2,765,745.038617086,713.961382914,681,660.922765827,628,881,786,806.038617086,652,631,652,0.454349072229,0.00461522598596,0.0496435675848,0.999999828953,0.000219205953149,-0.00054213154533,1.16997462437e-05,1793244587266132224
+263,4.383333333,HOLD_POSE2,764.464425024,745.535574976,714,681,659.928850048,628,881,786,806.535574976,652,631,652,0.454349156371,0.00461591322227,0.0496435971566,0.999999829009,0.000219379361223,-0.000541956699842,1.17103174844e-05,1793244587282799104
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.363830289,714,680,659,628,881,785.363830289,807,652,630,652,0.454348505365,0.00461593111692,0.0496420492499,0.999999829281,0.000214314877415,-0.000543485015436,1.14519991737e-05,1793244587486577920
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.371987516,745,714,680.628012484,659,628,881,786,807,652,630.628012484,652,0.454303042875,0.00461834402496,0.0496203215725,0.999999809177,0.000218534470401,-0.000577733541664,1.05723874197e-05,1793244587536577536
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.962395433,745,714,680.037604567,659,628,881,786,807,652,630.037604567,652,0.454265313447,0.00461753421704,0.0496024061918,0.999999792277,0.000217417507757,-0.000606685145505,1.04655799511e-05,1793244587553244416
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.119414917,745.119414917,714,680.119414917,659,628,881,786,807,652,631,652,0.454133851415,0.00461693254718,0.0495563819889,0.999999742257,0.000217798794664,-0.000684065444444,1.02396705068e-05,1793244587586577920
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.692862389,745.692862389,714,680.692862389,659,628,881,786,807,652,631,652,0.454062097192,0.00461916726152,0.0495410947814,0.999999729926,0.000221445461119,-0.000700739340459,8.58542303539e-06,1793244587603244544
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,659,628,881,786,807,652,630.137052884,652,0.453897465445,0.00462444607228,0.0495281142344,0.99999971652,0.000225277015398,-0.000718448219453,6.48063397545e-06,1793244587636577792
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.555330462,714,680.555330462,659.444669538,628,881,786,806.555330462,652,630.444669538,652,0.453800152922,0.0046248173532,0.0495315045339,0.999999718616,0.000226929716622,-0.000715004866303,6.29321561809e-06,1793244587653244416
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.601238136,659.398761864,628,881,786,806.601238136,652,631,652,0.453568223784,0.00462597787282,0.0495415303144,0.999999724906,0.000233840348568,-0.000703894017076,6.30209173091e-06,1793244587686577920
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.82231324,659.17768676,628,881,786,807,652,631,652,0.453428501815,0.004627610131,0.0495451711932,0.999999726094,0.000238276625123,-0.000700712112543,6.16464603068e-06,1793244587703244544
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.247608611,659.752391389,628,881,786,807,652,631,652,0.453267107099,0.00462965788098,0.049546562153,0.999999724932,0.0002414292241,-0.000701295359219,5.71752359884e-06,1793244587719911168
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.674595524,745,714,680.325404476,660,628,881,786,807,652,631,652,0.453088348563,0.00463240624441,0.0495501918709,0.999999725156,0.000245697634483,-0.000699496137299,5.13673329308e-06,1793244587736577792
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.102862858,745,714,680.897137142,660,628,881,786,807,652,631,652,0.452896445759,0.00463568496597,0.0495555163082,0.999999726403,0.000250810704146,-0.000695893408651,4.45475759122e-06,1793244587753244416
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,745.492571087,714,681,660,628.492571087,880.507428913,786,806.507428913,652,631,652,0.452673357945,0.00463700281652,0.04956262286,0.999999729855,0.000254055838424,-0.000689731789218,3.94635810901e-06,1793244587769911040
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.088825819,745.911174181,714,680.911174181,659.911174181,629,880.177651639,786,806.088825819,652,631,652,0.452437990366,0.00463835528405,0.0495694182836,0.99999973274,0.000258028391916,-0.000684054016726,3.44468599128e-06,1793244587786577664
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.811526237,714,680,659.811526237,629,881.188473763,786,807,652,631,652,0.451579418187,0.00464932266989,0.0495719121803,0.999999720872,0.000283884916705,-0.000691132934417,9.95797993499e-07,1793244587836577536
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.399115346,660,629,881,786,807,652,631,652,0.451247273415,0.00465306168957,0.049571749908,0.999999724536,0.000288174372731,-0.000684019610643,-1.10430282299e-06,1793244587853244160
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.043382129,680,660.043382129,630.043382129,881,786,806.043382129,652,631,651.043382129,0.447827011963,0.00468464901576,0.0496363393525,0.999999789529,0.000339952270996,-0.000552345925606,-1.69667206673e-05,1793244587986579200
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713.316769805,680,662,632,880.316769805,786.683230195,806,652,631,652,0.442832409015,0.00468262653356,0.0497275136294,0.999999837427,0.00036802524153,-0.000434014728858,-3.65277871729e-05,1793244588119911936
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,713,679.296176668,663.703823332,633.296176668,880,787,806,652,631,651.296176668,0.426481375312,0.00460286781716,0.0497685029784,0.999999916726,0.00014074480632,-0.000381851078418,-3.04662093881e-05,1793244588436577536
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745.18846788,713,680,663,633,879.81153212,787,805.18846788,652.81153212,631,652,0.421099490978,0.00459609481981,0.0497974096501,0.999999939351,0.000138694056817,-0.000317475840891,-3.56510693686e-05,1793244588536578304
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.004098104,745.995901896,713,680,663.004098104,633,880,787,805,653,631,652,0.412844434251,0.00460935365523,0.0497686040439,0.999999918631,0.000147803789491,-0.000373236415844,-3.98398996644e-05,1793244588703244288
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.57838074,745.42161926,713,680,663.57838074,633,880,787,805,653,631,652,0.412163193311,0.0046096982952,0.0497898901352,0.999999927989,0.000153749987002,-0.000344730660697,-3.92927713198e-05,1793244588719911680
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.153016773,713,680,664,633.153016773,879.846983227,787,805,653,631,652,0.411481937489,0.00460916339627,0.0498080889011,0.999999936642,0.000150412867648,-0.000320301681418,-3.87186167687e-05,1793244588736578816
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.092140317,713,680,664,634,879,787,805,653,630.092140317,652,0.40946320131,0.00459358242008,0.0497871585419,0.999999927854,0.00011578987079,-0.000359906676724,-3.67593983729e-05,1793244588786577920
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.487437382,713,680,664,634,879.487437382,787,805,653,630.487437382,652,0.408875634546,0.0045920891119,0.0497924207879,0.999999932213,0.000117359658601,-0.000346919652475,-3.8052001259e-05,1793244588803244544
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.205842069,745,714,679.794157931,663.794157931,634,879.205842069,787,805.794157931,653,631,652,0.407246971008,0.00459618880461,0.0498285454734,0.999999946556,0.000123332830622,-0.000300224869543,-3.9276172247e-05,1793244588853245440
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.628497366,745,713.628497366,679.371502634,663,634,879.628497366,787,805,653,631,652,0.406191775728,0.00459811450615,0.0497893722076,0.999999925375,0.000121106641387,-0.000364571797518,-4.08723789524e-05,1793244588886578688
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.034705439,745,713.034705439,679.965294561,663,634,879.034705439,787,805,653,631,652,0.405685234771,0.00459874655489,0.049765737549,0.999999910466,0.000124004758529,-0.000402433814093,-4.16915854825e-05,1793244588903245568
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.690514326,745.690514326,714,679,663,634,879.690514326,787,806,653,630.690514326,652,0.404516950447,0.00460920880148,0.0498116983411,0.99999993471,0.000139501697709,-0.000330477959081,-4.3619743474e-05,1793244588953244928
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.975522444,679.975522444,663.975522444,634,879,787,805,653,631,652,0.403218643962,0.00461200105908,0.0498462376862,0.999999944984,0.000147615500844,-0.000293862855705,-4.34314526553e-05,1793244589019911424
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.399986767,679.399986767,663.399986767,634,879,787,805,653,631,652,0.402935914141,0.00461172241274,0.0498359767207,0.999999938992,0.000145818060453,-0.000314344366222,-4.4062240613e-05,1793244589036578048
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.825751727,745,713,679.174248273,663,634,879,787,805.174248273,652.825751727,631,652,0.402669009636,0.00461218234398,0.0498267695314,0.999999933272,0.000146044214272,-0.000331860549002,-4.4680538595e-05,1793244589053244672
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.254480254,745,713,679.745519746,663,634,879,787,805.745519746,652.254480254,631,652,0.402438163019,0.00461432511793,0.0498199633636,0.999999928898,0.000150881110548,-0.00034262025531,-4.52703782195e-05,1793244589069911808
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.331355396,745,713.331355396,680,663.331355396,634,879,787,805.668644604,652.331355396,631,652.331355396,0.402229320208,0.00461518525679,0.0498157248996,0.999999928304,0.000148579918108,-0.000345251457576,-4.60054747515e-05,1793244589086578432
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.928890599,745,713.928890599,680,663.928890599,634,879,787,805.071109401,652.928890599,631,652.928890599,0.402038153164,0.00461501504729,0.0498135490871,0.999999930765,0.000140544656078,-0.000341352984231,-4.68572571058e-05,1793244589103245056
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.491724758,745,713.491724758,679.491724758,663.491724758,634,879,787,805,653,631,652.491724758,0.401880648162,0.00460635414855,0.0498158849479,0.999999936159,0.000115833993152,-0.000335958243536,-3.73588964255e-05,1793244589119911424
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,713.239108433,679.239108433,663.239108433,634,879,787,806.760891567,653,630.239108433,652,0.401508948216,0.00457532553669,0.0498283644482,0.999999948364,9.69833447287e-05,-0.000305563521155,-2.23016279298e-05,1793244589169911040
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,713.831462797,679.831462797,663.831462797,634,879,787,806.168537203,653,630.831462797,652,0.401415450776,0.00457989527648,0.0498319254173,0.999999949896,0.000102923051817,-0.000298394383244,-2.4001072653e-05,1793244589186577664
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_10/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..efc0aecb0ce55f3e4d08bc562c7c074e504e093a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,412 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_11/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bb6b546faae1f8affd6e0aa94be39072863f832b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2b94fd6503951f3989cb7ca03457605b8e58293e0de38db5edd29e1b1d17604
+size 25820495
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7373a273feb0e61d3ddccab3475341364bc82db8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_01/franka_data.csv
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+3,0.050000000,BASELINE,764,745,714,679,659,634,879.754412357,786.754412357,805,653,630.754412357,652,0.401028348259,0.00446969257801,0.0698536454391,0.999999988608,2.79744042684e-06,-0.000149542819687,2.03036000192e-05,1793244591367075328
+4,0.066666667,BASELINE,764,745,714,679,659,634,879.667914153,787,805,652.667914153,631,652,0.401027733159,0.0044692312771,0.0698533006884,0.999999988488,2.3904318487e-06,-0.000150353652234,2.03031291222e-05,1793244591383741952
+5,0.083333333,BASELINE,764,745,714,679,659,634,879.091281705,787,805,652.091281705,631,652,0.401028328237,0.00446937863119,0.0698539308935,0.999999988572,2.84169276405e-06,-0.000149779127047,2.03632342722e-05,1793244591400408576
+6,0.100000000,BASELINE,764.484985154,745,714,679.484985154,658.515014846,634,879,787,805,652.484985154,631,652,0.401028274724,0.00446917091419,0.0698541542659,0.999999988643,2.13173797637e-06,-0.000149282011577,2.06005500748e-05,1793244591417075200
+7,0.116666667,BASELINE,764.937504295,745,714,679.937504295,658.062495705,634,879.062495705,786.937504295,805,652.937504295,631,652,0.401028129002,0.00446904229675,0.069854318143,0.999999988707,1.34642327187e-06,-0.000148836154086,2.07970055921e-05,1793244591433741824
+8,0.133333333,BASELINE,764.348946065,745,714,679.348946065,658.651053935,634,879.651053935,786.348946065,805,652.348946065,631,652,0.401028233901,0.00447014162803,0.0698546252814,0.999999988735,1.76511021881e-06,-0.000148699215396,2.0368969813e-05,1793244591450408704
+9,0.150000000,BASELINE,764.235669545,745.235669545,714,679.235669545,658.764330455,634,879.764330455,786.235669545,805,652.235669545,631,652,0.401028606738,0.00447073506821,0.0698552077831,0.99999998878,2.14534787368e-06,-0.000148415894529,2.02127570746e-05,1793244591467075328
+10,0.166666667,BASELINE,764.814543485,745.814543485,714,679.814543485,658.185456515,634,879.185456515,786.814543485,805,652.814543485,631,652,0.401029369773,0.00447059178158,0.0698561912949,0.999999988848,2.46959197753e-06,-0.000147919398032,2.04523989274e-05,1793244591483741952
+11,0.183333333,BASELINE,764.606672678,745.606672678,714.393327322,679.606672678,658,634,879,787,805,653,630.606672678,652,0.401029556139,0.00447014964882,0.0698560387624,0.999999988789,3.70042081827e-06,-0.000148250111181,2.07407565264e-05,1793244591500408576
+12,0.200000000,BASELINE,764.027931264,745.027931264,714.972068736,679.027931264,658,634,879,787,805,653,630.027931264,652,0.401029470664,0.00446956664029,0.0698553507,0.999999988668,5.35861279181e-06,-0.000148970770054,2.10520786987e-05,1793244591517075200
+13,0.216666667,BASELINE,764.546383774,745,714.453616226,679.546383774,658.546383774,634,879,786.453616226,805,652.453616226,630,652,0.40102893363,0.00447002296551,0.0698551093488,0.999999988609,3.70749250924e-06,-0.000149447984393,2.08115428097e-05,1793244591533742080
+14,0.233333333,BASELINE,764.876357585,745.123642415,714,679.876357585,659,634,879.123642415,786,805,652,630.123642415,652,0.401028502509,0.00447045023394,0.0698551013118,0.999999988591,2.45866758234e-06,-0.000149633027781,2.05367240657e-05,1793244591550408448
+15,0.250000000,BASELINE,764.287170222,745.712829778,714,679.287170222,659,634,879.712829778,786,805,652,630.712829778,652,0.401028556399,0.00447056965243,0.0698558864691,0.999999988724,3.35644537363e-06,-0.00014876445561,2.02381899802e-05,1793244591567075072
+16,0.266666667,BASELINE,764.296829015,746,714,679.296829015,659,634,879.703170985,786.296829015,805.296829015,652,631,652,0.401028909115,0.00447021787792,0.069855987288,0.999999988775,2.92994649908e-06,-0.000148433685302,2.02332302521e-05,1793244591583741696
+17,0.283333333,BASELINE,764.875895135,746,714,679.875895135,659,634,879.124104865,786.875895135,805.875895135,652,631,652,0.401029545968,0.00446941807393,0.0698554374102,0.999999988746,1.2442714378e-06,-0.00014861427894,2.05074129848e-05,1793244591600408576
+18,0.300000000,BASELINE,765,745.548484691,714,679.548484691,659,634,879,787,805.548484691,652.451515309,631,652,0.401029415746,0.00446927841038,0.0698555789395,0.999999988731,8.46352312498e-07,-0.000148719117821,2.04817044725e-05,1793244591617075968
+19,0.316666667,BASELINE,764.973800696,745,714,679.026199304,658.973800696,634,879,786.973800696,805,652.973800696,631,651.973800696,0.40102907439,0.00446934077213,0.0698558754401,0.999999988719,8.06534438386e-07,-0.000148813385223,2.03826356457e-05,1793244591633743360
+20,0.333333333,BASELINE,764.399036762,745,714,679.600963238,658.399036762,634,879,786.399036762,805,652.399036762,631,651.399036762,0.401028693454,0.00446986275529,0.0698554677601,0.999999988672,9.09633477037e-07,-0.000149118981103,2.04603761966e-05,1793244591650409216
+21,0.350000000,BASELINE,764.180980952,745.180980952,714,679.819019048,658,634,879.180980952,786.180980952,805,652,631,651.180980952,0.40102869469,0.00447030079587,0.0698554830158,0.999999988699,1.35164626799e-06,-0.000148927579833,2.04909311033e-05,1793244591667075328
+22,0.366666667,BASELINE,764.772928739,745.772928739,714,679.227071261,658,634,879.772928739,786.772928739,805,652,631,651.772928739,0.401029563753,0.00447054822175,0.0698564586626,0.999999988894,2.56325556852e-06,-0.000147607610334,2.04143380672e-05,1793244591683741696
+23,0.383333333,BASELINE,765,745.642648275,714,679.357351725,658.357351725,634,879.642648275,787,805,652,631,652,0.401029020881,0.0044714958212,0.0698563757221,0.99999998884,4.99861940782e-06,-0.000147915715858,2.03917846298e-05,1793244591700409088
+24,0.400000000,BASELINE,765,745.062908093,714,679.937091907,658.937091907,634,879.062908093,787,805,652,631,652,0.40102759933,0.0044728791553,0.0698556339976,0.999999988622,8.19555484881e-06,-0.000149237010965,2.04028613092e-05,1793244591717076224
+25,0.416666667,BASELINE,764.487421057,745,714,679.487421057,659,634,879,787,805.512578943,652,631,652,0.40102730789,0.0044714143044,0.0698550838281,0.999999988517,5.77038189603e-06,-0.000150049347859,2.04335916825e-05,1793244591733742848
+26,0.433333333,BASELINE,764,745,714,679.089353647,659,634,879,787,805.821292705,652,631,652,0.40102747694,0.00447000055708,0.0698549179744,0.999999988497,3.0184080761e-06,-0.000150259498065,2.04629094458e-05,1793244591750409728
+27,0.450000000,BASELINE,764,745,714,679.676179811,659,634,879,787,804.647640378,652,631,652,0.401029443908,0.00447080143589,0.0698567619723,0.999999988915,2.25687908665e-06,-0.000147461902799,2.04710439954e-05,1793244591767076352
+28,0.466666667,BASELINE,764.259468457,745,714,679.740531543,658.740531543,634,879,787,804.259468457,652,630.740531543,652,0.401029697593,0.0044719191826,0.069857257193,0.999999989001,3.37976268538e-06,-0.000146869417208,2.03858227878e-05,1793244591783742720
+29,0.483333333,BASELINE,764.83840158,745,714,679.16159842,658.16159842,634,879,787,804.83840158,652,630.16159842,652,0.401027841834,0.00447342706568,0.069856091762,0.999999988674,6.82278667904e-06,-0.000148991923163,2.01856594163e-05,1793244591800409088
+30,0.500000000,BASELINE,765,745,714,679.416391988,658.416391988,634,879.416391988,786.583608012,805,652,630.416391988,652,0.40102872754,0.00447266114196,0.0698563929057,0.999999988773,6.215141068e-06,-0.000148353856775,2.0178637633e-05,1793244591817075712
+31,0.516666667,BASELINE,765,745,714,679.994017349,658.994017349,634,879.994017349,786.005982651,805,652,630.994017349,652,0.401030674783,0.00447101476528,0.0698572619297,0.999999989034,4.03901390012e-06,-0.000146646854331,2.02464032434e-05,1793244591833742336
+32,0.533333333,BASELINE,765,745,714,679.432165882,658.432165882,634,879.432165882,786,805,652,631,652,0.401028904352,0.00447208809465,0.069856520831,0.99999998881,5.61199791591e-06,-0.000148118013093,2.02445926514e-05,1793244591850409216
+33,0.550000000,BASELINE,764.854520341,745,714,679.145479659,658.145479659,634,879,786,805,652.145479659,631,652,0.401027772808,0.00447289044795,0.0698561719999,0.999999988669,6.88801175388e-06,-0.000149008924497,2.0261772053e-05,1793244591867076096
+34,0.566666667,BASELINE,764.265068692,745,714,679.734931308,658.734931308,634,879,786,805,652.734931308,631,652,0.401028709747,0.00447277897669,0.0698570717094,0.999999988812,7.13799435927e-06,-0.00014802754051,2.03391269479e-05,1793244591883743232
+35,0.583333333,BASELINE,764,745,714,679.680617295,659,634,879,786,805,652.680617295,631,651.680617295,0.401028505058,0.00447202161346,0.0698569544787,0.999999988795,5.86457094589e-06,-0.000148211936438,2.02144100457e-05,1793244591900409856
+36,0.600000000,BASELINE,764,745,714,679.10025178,659,634,879,786,805,652.10025178,631,651.10025178,0.40102736749,0.00447073646114,0.0698560062579,0.999999988643,3.34629998732e-06,-0.000149348946516,1.99245706679e-05,1793244591917075968
+37,0.616666667,BASELINE,764,745,714,679,659,634,879,786,805,652,631,651.47580199,0.401028157941,0.00447119313826,0.0698557361326,0.999999988613,3.78651538171e-06,-0.00014950851311,2.01708329064e-05,1793244591933742336
+38,0.633333333,BASELINE,764.051948797,745.051948797,714,679.051948797,659,634,879,786.051948797,805,652,630.948051203,652,0.401029257001,0.00447191434004,0.0698556792522,0.99999998862,4.72934647799e-06,-0.000149395878739,2.0479645494e-05,1793244591950408960
+39,0.650000000,BASELINE,764.638315139,745.638315139,714,679.638315139,659,634,879,786.638315139,805,652,630.361684861,652,0.401029389272,0.00447161519832,0.0698563594911,0.999999988746,4.48767691956e-06,-0.000148582646775,2.02803417878e-05,1793244591967075328
+40,0.666666667,BASELINE,765,745.776850531,714,679.776850531,659,634,879,787,805,652.223149469,630.223149469,652,0.401029129814,0.00447135205904,0.0698565204565,0.999999988786,4.6499411423e-06,-0.000148316948881,2.0208345508e-05,1793244591983742208
+41,0.683333333,BASELINE,765,745.194482421,714,679.194482421,659,634,879,787,805,652.805517579,630.805517579,652,0.401028239765,0.00447114687529,0.0698558455124,0.999999988688,5.46244463421e-06,-0.000148932653293,2.03412845287e-05,1793244592000409088
+42,0.700000000,BASELINE,765,745,714,679,659,634,879,786.617569606,805.382430394,652.617569606,631,652,0.401027795442,0.00447044235853,0.0698559253882,0.999999988641,4.95666365521e-06,-0.000149245413093,2.04783543841e-05,1793244592017076224
+43,0.716666667,BASELINE,765,745,714,679,659,634,879,786.043392044,805.956607956,652.043392044,631,652,0.401027574604,0.00446948748071,0.069856383724,0.999999988619,3.78990665131e-06,-0.000149406279164,2.06174953989e-05,1793244592033743616
+44,0.733333333,BASELINE,764.468036895,745,714,679,659,634,879,786,806,652,631,652,0.401027511423,0.00447018768498,0.069856149228,0.999999988535,3.35817337828e-06,-0.000149977815699,2.06184321228e-05,1793244592050410496
+45,0.750000000,BASELINE,764.110501732,745,714,679.110501732,658.889498268,634,879,786.110501732,805.889498268,652.110501732,631,652,0.401027394441,0.00447073485764,0.0698557929979,0.999999988458,3.24518507157e-06,-0.000150497741266,2.05773680164e-05,1793244592067076864
+46,0.766666667,BASELINE,764.702492074,745,714,679.702492074,658.297507926,634,879,786.702492074,805.297507926,652.702492074,631,652,0.401026986868,0.00447002566688,0.0698551531307,0.999999988436,4.25923868685e-06,-0.000150646496912,2.04025238805e-05,1793244592083742720
+47,0.783333333,BASELINE,765,745,714,680,658,634,879,787,805,652.712066553,630.712066553,652,0.401027315315,0.00447052787004,0.0698554531016,0.999999988544,4.89370406198e-06,-0.000149912571932,2.03587065569e-05,1793244592100409088
+48,0.800000000,BASELINE,765,745,714,680,658,634,879,787,805,652.133241365,630.133241365,652,0.401028387342,0.00447225391316,0.0698567025667,0.999999988783,5.14468134238e-06,-0.000148286897478,2.04472622244e-05,1793244592117075712
+49,0.816666667,BASELINE,764.557442858,745,714,679.557442858,658.442557142,634,879.442557142,787,805,652,630.442557142,652,0.401027987609,0.00447182030108,0.069856165701,0.999999988641,4.69326061978e-06,-0.000149288419141,2.02367341345e-05,1793244592133742336
+50,0.833333333,BASELINE,764.017828791,745,714,679.017828791,659,634,879.982171209,787,805.017828791,652,631,652,0.401027204305,0.00447072443232,0.0698551773541,0.999999988398,3.99874756675e-06,-0.000150965361532,1.99531069348e-05,1793244592150408960
+51,0.850000000,BASELINE,764.605182845,745,714,679.605182845,659,634,879.394817155,787,805.605182845,652,631,652,0.401028226625,0.00446910267873,0.0698568301123,0.999999988675,2.24826486129e-06,-0.000149122687167,2.01912819097e-05,1793244592167076096
+52,0.866666667,BASELINE,765,745,714,680,659,634,879,787,805.810109709,652.189890291,630.810109709,652,0.401028700438,0.00446823810772,0.0698574719023,0.999999988814,1.8780042624e-06,-0.000148163552249,2.04078418819e-05,1793244592183742976
+53,0.883333333,BASELINE,765,745,714,680,659,634,879,787,805.230829443,652.769170557,630.230829443,652,0.401028049478,0.00446892621918,0.0698560405956,0.999999988676,4.33803406954e-06,-0.000149016207817,2.0580078008e-05,1793244592200409856
+54,0.900000000,BASELINE,765,745,714,680,658.653052872,634,879,786.653052872,804.653052872,652.653052872,630.346947128,652,0.401028647202,0.00447015892344,0.0698565133157,0.999999988831,6.29140006831e-06,-0.000147890481441,2.06569644653e-05,1793244592217076480
+55,0.916666667,BASELINE,765,745,714,680,658.076272439,634,879,786.076272439,804.076272439,652.076272439,630.923727561,652,0.401030072111,0.00447175239031,0.0698582473486,0.999999989177,7.90912918676e-06,-0.000145454186288,2.06706870279e-05,1793244592233742592
+56,0.933333333,BASELINE,765,745,714,680,658.498160559,634,879.498160559,786,804.498160559,652,630.501839441,652,0.401028865816,0.00447049474525,0.0698572103049,0.99999998887,4.58398476669e-06,-0.000147712997998,2.05123486359e-05,1793244592250408960
+57,0.950000000,BASELINE,764.925688219,745,714,679.925688219,659,634,879.925688219,786,805,652.074311781,630,652,0.401027427041,0.00446919412972,0.0698558832733,0.999999988486,1.49437356576e-06,-0.000150370957635,2.03380311881e-05,1793244592267075584
+58,0.966666667,BASELINE,764.335115175,745,714,679.335115175,659,634,879.335115175,786,805,652.664884825,630,652,0.401027158801,0.00447061343056,0.0698554753386,0.999999988406,5.27403538546e-06,-0.000150831230551,2.02348626834e-05,1793244592283742208
+59,0.983333333,BASELINE,764,745,714,679.250583261,658.749416739,633.749416739,879,786,805,652.749416739,630.250583261,652,0.401026975351,0.00447184438249,0.0698555446003,0.999999988391,7.43296050752e-06,-0.000150861039396,2.01100179254e-05,1793244592300408832
+60,1.000000000,BASELINE,764,745,714,679.829887159,658.170112841,633.170112841,879,786,805,652.170112841,630.829887159,652,0.40102690313,0.00447282825436,0.0698562398588,0.999999988474,7.46576807368e-06,-0.000150326156063,1.99567377673e-05,1793244592317075456
+61,1.016666667,BASELINE,764.406359116,745,714,680,658,633.406359116,879.406359116,786,805,652,630.593640884,652,0.401027137241,0.00447200169713,0.0698567595989,0.99999998858,6.08006572086e-06,-0.00014968857689,1.99138960687e-05,1793244592333742336
+62,1.033333333,BASELINE,764.981653716,745,714,680,658,633.981653716,879.981653716,786,805,652,630.018346284,652,0.401027498701,0.00447042249099,0.0698572063708,0.999999988691,4.10464690194e-06,-0.000149008304053,1.99169669082e-05,1793244592350409216
+63,1.050000000,BASELINE,764.443575774,745,714,679.443575774,658.556424226,634,879.443575774,786.556424226,805,652,630.556424226,652,0.401027145476,0.00447045618797,0.0698563871078,0.999999988599,5.4753083154e-06,-0.000149536670924,2.02750650176e-05,1793244592367075840
+64,1.066666667,BASELINE,764,745,714,679,659,634,879.134998932,787,805,652,630.865001068,652,0.401026791834,0.00447070077902,0.0698557085807,0.999999988501,6.31844622807e-06,-0.000150128197682,2.0497486672e-05,1793244592383742464
+65,1.083333333,BASELINE,764,745,714,679,659,634,879.726495849,787,805,652,630.273504151,652,0.401026516393,0.00447147884748,0.0698556469731,0.999999988413,5.00505082884e-06,-0.000150798670153,2.02215732018e-05,1793244592400408832
+66,1.100000000,BASELINE,764.311271451,745,714.311271451,679,659.311271451,634,879.688728549,787,805,652,630.311271451,652,0.401026328065,0.00447164200727,0.0698559532232,0.999999988396,3.68440082997e-06,-0.000150968217382,2.00559411832e-05,1793244592417075456
+67,1.116666667,BASELINE,764.890266051,745,714.890266051,679,659.890266051,634,879.109733949,787,805,652,630.890266051,652,0.401026214662,0.00447127628689,0.0698565758662,0.999999988441,2.35751125097e-06,-0.00015070692107,1.99851617501e-05,1793244592433742080
+68,1.133333333,BASELINE,764.535088108,745,714.535088108,679.464911892,659.535088108,634,879,787,805.464911892,652,631,652,0.401027061012,0.00447112958976,0.0698568435707,0.999999988547,3.87833305721e-06,-0.000149962267917,2.00734427995e-05,1793244592450408960
+69,1.150000000,BASELINE,764,745,714,679.960458748,659,634,879,787,805.960458748,652.039541252,630.960458748,652,0.401028052158,0.00447103929844,0.0698570323912,0.999999988662,5.73084450448e-06,-0.000149114205975,2.01860211253e-05,1793244592467075840
+70,1.166666667,BASELINE,764,745,714,679.371940053,659,634,879,787,805.371940053,652.628059947,630.371940053,652,0.40102793765,0.00447102104202,0.0698572783614,0.999999988782,2.9429951235e-06,-0.000148399726254,2.01195261907e-05,1793244592483742976
+71,1.183333333,BASELINE,764.213149496,745,714,679.213149496,659,634,879,787,805,652.786850504,630,652,0.401027787617,0.00447164063149,0.0698572839831,0.999999988827,2.96214860212e-06,-0.00014810553363,2.00441788447e-05,1793244592500409600
+72,1.200000000,BASELINE,764.792350118,745,714,679.792350118,659,634,879,787,805,652.207649882,630,652,0.401027576578,0.00447335562211,0.0698568768435,0.999999988739,7.80189267098e-06,-0.000148533118641,1.99536288471e-05,1793244592517075968
+73,1.216666667,BASELINE,765,745,714,680,659,634,879,786.631930783,805,652,630,652,0.401027640861,0.00447317464396,0.069856789427,0.999999988712,7.99871601831e-06,-0.000148707706957,1.99303344871e-05,1793244592533744128
+74,1.233333333,BASELINE,765,745,714,680,659,634,879,786.058157449,805,652,630,652,0.401027859014,0.00447193405908,0.0698568806952,0.999999988723,5.60073389806e-06,-0.000148740902108,1.99446275238e-05,1793244592550412544
+75,1.250000000,BASELINE,765,745,714,680,659,634,879.518758476,786.518758476,805,652.518758476,630,652,0.401027416299,0.00447209130618,0.0698568558726,0.999999988621,4.93816028373e-06,-0.000149445590321,1.99968583348e-05,1793244592567077888
+76,1.266666667,BASELINE,765,745,714,680,659,634,879.901818406,786.901818406,805,652.901818406,630,652,0.401027042388,0.00447219385046,0.0698568750361,0.999999988534,4.40154291704e-06,-0.000150035084127,2.00750036467e-05,1793244592583742464
+77,1.283333333,BASELINE,765,745,714,680,659,634,879.311607038,786.311607038,805,652.311607038,630,652,0.401027386847,0.0044712321314,0.0698571802529,0.999999988588,3.51520675238e-06,-0.000149667728412,2.02615732384e-05,1793244592600409344
+78,1.300000000,BASELINE,764.725628463,745,714,679.725628463,659,634,879,786,805,652.274371537,630.274371537,651.725628463,0.401026966803,0.0044712443202,0.0698567842554,0.999999988504,4.84185752629e-06,-0.000150192840128,2.0248851368e-05,1793244592617076480
+79,1.316666667,BASELINE,764.144384125,745,714,679.144384125,659,634,879,786,805,652.855615875,630.855615875,651.144384125,0.401025691696,0.00447234578327,0.06985560398,0.999999988253,8.64363937836e-06,-0.000151716138427,2.00132305283e-05,1793244592633743360
+80,1.333333333,BASELINE,764.426653857,745,714,679.426653857,659,634,879,786,805,652.573346143,631,651.426653857,0.401026280111,0.00447191068829,0.0698561585117,0.999999988395,8.55384857198e-06,-0.000150786870047,2.00011349141e-05,1793244592650409984
+81,1.350000000,BASELINE,764.994318641,745,714,679.994318641,659,634,879,786,805,652.005681359,631,651.994318641,0.401027484428,0.00447096775438,0.0698572864046,0.999999988665,7.17787664125e-06,-0.000149047018001,2.00629153252e-05,1793244592667076352
+82,1.366666667,BASELINE,764.424206579,745,714,679.424206579,659,634,879,786.575793421,805,652,631,652,0.401028546644,0.00447147329003,0.0698570252929,0.999999988708,5.45170694061e-06,-0.000148835410777,2.00351471396e-05,1793244592683742464
+83,1.383333333,BASELINE,764.160658413,745,714,679,659,634,879,787,805,652,631,652,0.401028941007,0.00447185877497,0.0698566026291,0.999999988674,4.25040546715e-06,-0.000149108986373,1.99952155501e-05,1793244592700409088
+84,1.400000000,BASELINE,764.754283746,745,714,679,659,634,879,787,805,652,631,652,0.401027539409,0.00447188126603,0.0698557824329,0.999999988444,4.47313996349e-06,-0.000150648470594,1.99249438614e-05,1793244592717075712
+85,1.416666667,BASELINE,765,745,714,679,658.662022237,634,879,787,805,652,631,652,0.40102736139,0.00447178886058,0.06985564004,0.999999988412,5.12034043791e-06,-0.000150837273225,1.99235405258e-05,1793244592733742336
+86,1.433333333,BASELINE,765,745,714,679,658.085342402,634,879,787,805,652,631,652,0.401028047543,0.00447161530767,0.0698559763562,0.999999988521,6.06732662291e-06,-0.000150072135803,1.99707765439e-05,1793244592750408960
+87,1.450000000,BASELINE,765,745,714,679,658.494125325,634,879,787,805,652,631,652,0.401028302692,0.00447129682488,0.0698568688872,0.999999988655,5.15228602271e-06,-0.000149204059966,2.00518095778e-05,1793244592767075840
+88,1.466666667,BASELINE,765,745,714,679,659,634,879,787,805,652,630.925352125,652,0.401028162137,0.00447107696484,0.0698575541397,0.999999988726,4.09753305043e-06,-0.000148752653242,2.01057386449e-05,1793244592783742720
+89,1.483333333,BASELINE,765,745,714,679,659,634,879,787,805,652,630.340933049,652,0.401025830551,0.00447170251058,0.0698561641267,0.999999988351,4.29734224292e-06,-0.000151268786022,1.99344857806e-05,1793244592800409344
+90,1.500000000,BASELINE,765,745,714,679,659,634,879,787,805,652,630.240970763,652,0.401025389747,0.0044725029468,0.069855785253,0.999999988277,5.25729569484e-06,-0.000151731564618,1.98969387393e-05,1793244592817075968
+91,1.516666667,BASELINE,765,745,714,679,659,634,879,787,805,652,630.819352612,652,0.401027596447,0.00447354826739,0.0698568221928,0.999999988624,7.28161518967e-06,-0.000149319203879,2.00466087281e-05,1793244592833742336
+92,1.533333333,BASELINE,764.603958492,745,714,679,659,634,879,787,805,652.396041508,631,652,0.401027959804,0.00447258038149,0.0698570645844,0.999999988653,6.75576304491e-06,-0.000149167082053,1.99434774746e-05,1793244592850408960
+93,1.550000000,BASELINE,764.02803847,745,714,679,659,634,879,787,805,652.97196153,631,652,0.401027485931,0.00447069811528,0.0698569460996,0.999999988536,5.07164590921e-06,-0.000150041540331,1.97255261691e-05,1793244592867075328
+94,1.566666667,BASELINE,764,745,714,679,659,634,879,786.441881494,805,652.441881494,631,652,0.401027408199,0.00446984243823,0.0698570851827,0.999999988587,2.68512803509e-06,-0.000149727862454,2.00136141648e-05,1793244592883742464
+95,1.583333333,BASELINE,764,745,714,679,659,634,879,786,805,652,630.857103335,652,0.401026932128,0.00446944898759,0.0698569851316,0.999999988562,1.2875927843e-06,-0.000149875951934,2.02764174434e-05,1793244592900409088
+96,1.600000000,BASELINE,764,745,714,679,659,634,879,786,805,652,630.278131483,652,0.401025178586,0.00447030577894,0.0698561150937,0.999999988294,3.01781372694e-06,-0.000151618763676,2.03830300307e-05,1793244592917075968
+97,1.616666667,BASELINE,764.301160667,745,714,679,659,634,879,786.301160667,805,652,630,652,0.401025635631,0.00447079091933,0.0698563393112,0.999999988367,3.86489943204e-06,-0.000151116530697,2.03806663668e-05,1793244592933742592
+98,1.633333333,BASELINE,764.880748904,745,714,679,659,634,879,786.880748904,805,652,630,652,0.401028136398,0.00447093246276,0.0698575751844,0.999999988755,3.89551321412e-06,-0.000148538719977,2.02775525121e-05,1793244592950409216
+99,1.650000000,BASELINE,765,745,714,679,659,634,879,787,805,652,630.455382891,652,0.401028788678,0.00447126833689,0.0698582147015,0.999999988864,4.29264588141e-06,-0.000147824031945,2.0017738923e-05,1793244592967075584
+100,1.666666667,BASELINE,765,745,714,679,659,634,879.029480931,787,805,652.029480931,631,652,0.401028934581,0.00447164209473,0.069858616444,0.999999988891,4.79679217205e-06,-0.000147666854239,1.97421438118e-05,1793244592983741952
+101,1.683333333,BASELINE,765,745,714,679,659,634,879.617746522,787,805,652.617746522,631,652,0.401028558794,0.00447177972281,0.0698574395435,0.999999988696,5.52964451849e-06,-0.000148928681559,1.99368341313e-05,1793244593000408576
+102,1.700000000,BASELINE,764.797034674,745,714,679.202965326,659,634,880,787,805.202965326,652.797034674,631,652,0.401028519753,0.0044719939245,0.0698569888996,0.999999988626,5.99201362515e-06,-0.000149370104401,2.00016091452e-05,1793244593017075456
+103,1.716666667,BASELINE,764.217469218,745,714,679.782530782,659,634,880,787,805.782530782,652.217469218,631,652,0.401029105541,0.00447235020774,0.0698578858176,0.999999988791,5.95250370538e-06,-0.0001482892748,1.98253275875e-05,1793244593033742080
+104,1.733333333,BASELINE,764.359814772,745,714,680,658.640185228,634,880,786.640185228,805.640185228,652,631,652,0.40102885435,0.00447204147901,0.0698579547287,0.9999999888,5.68187479835e-06,-0.000148239519738,1.98360207262e-05,1793244593050409216
+105,1.750000000,BASELINE,764.935728605,745,714,680,658.064271395,634,880,786.064271395,805.064271395,652,631,652,0.401028100483,0.00447133335464,0.069857526352,0.999999988715,5.27243947981e-06,-0.000148809011631,1.99590078926e-05,1793244593067075840
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,805,653,630,652,0.401026837798,0.00447275330954,0.0698566438789,0.999999988507,5.60958091807e-06,-0.000150172071469,2.00624583863e-05,1793244593099589120
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,805,653,630.62725117,652,0.40102649272,0.00446991000747,0.0698561028135,0.99999998839,1.91674882771e-06,-0.000151037505326,2.00889379121e-05,1793244593116255744
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.766348861,634.233651139,879,786.766348861,805,652.766348861,631,652,0.40102654757,0.00446915484748,0.0698558883821,0.999999988351,1.40599608007e-06,-0.000151304045866,2.00727820996e-05,1793244593132922368
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.190487859,634.809512141,879,786.190487859,805,652.190487859,631,652,0.401027188165,0.0044714580193,0.0698561523449,0.99999998843,5.55577615638e-06,-0.000150693436098,1.99941817711e-05,1793244593149588992
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634.61395791,879.38604209,786,805,652,631,652,0.401028321686,0.00447204413564,0.0698573337494,0.999999988636,6.02275261601e-06,-0.000149322513935,1.98623311339e-05,1793244593166255616
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634.037097339,879.962902661,786,805,652,631,652,0.401029698857,0.00447178152077,0.0698589686402,0.999999988906,4.66933925636e-06,-0.000147575773573,1.97041591668e-05,1793244593182922240
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.537903672,634,879.462096328,786.537903672,805,652,631,652,0.401028517092,0.00447062453106,0.0698580732311,0.999999988768,4.93239058576e-06,-0.000148450805142,2.00375449219e-05,1793244593199589120
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.116385716,745,714,679.116385716,659,634,879.116385716,786.883614284,805,652,631,652,0.40102757216,0.00446995425416,0.0698574156802,0.999999988667,5.4512268706e-06,-0.000149070751905,2.03376984887e-05,1793244593216255744
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.709654727,745,714,679.709654727,659,634,879.709654727,786.290345273,805,652,631,652,0.401028318263,0.00447153012021,0.0698584453027,0.999999988833,6.56290959803e-06,-0.000147907180656,2.03632564079e-05,1793244593232922624
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.408886721,745,714,679.70444336,659,634,880,786.29555664,805,652,631,652,0.401027993493,0.00447261067244,0.0698583937906,0.999999988386,7.464463722e-06,-0.000150872622737,2.02577456836e-05,1793244593249589248
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.251205346,745,714,679.125602673,659,634,880,786.874397327,805,652,631,652,0.401026642319,0.00447321647799,0.0698573060364,0.999999987316,8.1646144857e-06,-0.000157795626489,2.00266087624e-05,1793244593266255872
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879.549064559,787,805,652,630.549064559,652,0.40103881867,0.00447238513096,0.0698629714688,0.999999987317,6.68904643071e-06,-0.000157802668133,2.0479381908e-05,1793244593282922496
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658.973417304,634,879,786.973417304,805,652,630.026582696,652,0.401055926155,0.00447121155843,0.0698708308542,0.999999987713,4.65037357075e-06,-0.00015526589713,2.11118563223e-05,1793244593299589120
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,679,658.402942568,634,879,786.402942568,805,652,630.597057432,652,0.401097224852,0.00447118463929,0.0698852884935,0.999999989977,3.42678196317e-06,-0.000139895549402,2.15432874183e-05,1793244593316256000
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658.175837556,634,879,786.175837556,805,652,631,652,0.401143653332,0.00447129034767,0.0698987153373,0.999999991995,3.27433332384e-06,-0.000124620260035,2.16644304912e-05,1793244593332922880
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658.774593633,634,879,786.774593633,805,652,631,652,0.401202419798,0.00447171504726,0.0699096629502,0.999999993759,5.69816114743e-06,-0.000109573598718,2.10392794383e-05,1793244593349589760
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.357723069,745,714,679,659,634,879,786.642276931,805,652,631,652,0.401271346408,0.0044717069284,0.0699176429378,0.999999994863,3.36722279536e-06,-9.9309597298e-05,2.00287690602e-05,1793244593366256128
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.931418034,745,714,679,659,634,879,786.068581966,805,652,631,652,0.401346407106,0.00447143749949,0.0699238312492,0.999999995596,-1.83436048941e-06,-9.193308214e-05,1.87856016982e-05,1793244593382922240
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.493470305,745,714,679,659,634,879,786.506529695,805,652.506529695,631,652,0.40143512284,0.00447159456091,0.0699238063522,0.999999995648,-1.86163549953e-06,-9.17019777076e-05,1.70666622844e-05,1793244593399589888
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,787,805,653,631,652,0.401527699747,0.00447170503226,0.0699224895494,0.999999995472,-2.00202771494e-06,-9.39188510059e-05,1.5202003633e-05,1793244593416257024
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,787,805,653,631,652,0.401632380103,0.0044711853699,0.0699184693996,0.999999994375,-7.06098851293e-06,-0.000105047130473,1.2848172118e-05,1793244593432923136
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679.261864718,659,634,879,787,805,653,631,652,0.401754692018,0.00447126977761,0.0699173220412,0.999999993832,-1.02996484068e-05,-0.00011008490033,1.05135136818e-05,1793244593449589248
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,679.8373548,659,634,879,787,805,653,631,652,0.401898120566,0.00447207765699,0.0699196153154,0.999999994088,-1.13582031088e-05,-0.000107828298795,8.20181828044e-06,1793244593466255872
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,787,805,652.586136656,630.586136656,652,0.402064272091,0.00447396389877,0.069920674847,0.99999999402,-1.2990648083e-05,-0.000108498187945,4.3512788219e-06,1793244593482922240
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,787,805,652.00922683,630.00922683,652,0.402239375619,0.00447627497455,0.0699212483309,0.999999993804,-1.48491841769e-05,-0.000110321003396,-1.05507105883e-07,1793244593499588864
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.57966622,745,714,680,659.57966622,634,879,787,805.57966622,652,630.57966622,652,0.402439819853,0.00447632027993,0.0699240660183,0.99999999403,-1.90921920697e-05,-0.000107514431493,-3.96961212428e-06,1793244593516255488
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.834049864,745,714,680,659.834049864,634,879,787,805.668099728,652,631,652,0.402652406258,0.00447679801591,0.0699262141888,0.999999994116,-2.45918319941e-05,-0.000105322604291,-8.34471006708e-06,1793244593532922368
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.254749811,745,714,680,659.254749811,634,879,787,804.509499623,652,631,652,0.40289421062,0.0044784445816,0.0699266038668,0.999999993856,-3.31249681243e-05,-0.000104849405082,-1.40165883334e-05,1793244593549588992
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.32296764,745,714,680,659,634,879.32296764,787,804.32296764,652,630.67703236,651.67703236,0.403162217628,0.00447854650424,0.0699316370553,0.999999994362,-3.92226331362e-05,-9.68811005779e-05,-1.8744138217e-05,1793244593566255616
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.899442824,745,714,680,659,634,879.899442824,787,804.899442824,652,630.100557176,651.100557176,0.40345079191,0.00447743598746,0.0699403150825,0.999999995353,-4.34086191147e-05,-8.30296502528e-05,-2.27304544631e-05,1793244593582922240
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.525926806,745,714,680,659,634,879.525926806,786.525926806,805,652,630,651,0.403774147237,0.0044793741316,0.0699483717356,0.999999996399,-3.97200985506e-05,-7.0576486996e-05,-2.53772632486e-05,1793244593599589120
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679.950322666,658.950322666,634,879,786,805,652,630,651,0.404106137145,0.00448204897248,0.0699556132398,0.999999997299,-3.31517445459e-05,-5.95781338108e-05,-2.74562976481e-05,1793244593616255744
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679.359875211,658.359875211,634,879,786,805,652,630,651,0.404452122335,0.00448573119596,0.0699554105031,0.999999997689,-1.33462062533e-05,-6.12002186722e-05,-2.64356588189e-05,1793244593632922112
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.225686795,745,714,679,658.225686795,634,879,786,805,652,630,651,0.40481810699,0.00448933812265,0.0699568586127,0.999999997873,1.43168432553e-06,-5.95587844393e-05,-2.65584872921e-05,1793244593649588736
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.80362358,745,714,679,658.80362358,634,879,786,805,652,630,651,0.405215306605,0.00449282752642,0.069960883349,0.999999998165,8.36246415601e-06,-5.2823677822e-05,-2.84660297076e-05,1793244593666255360
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.61892421,745,714,679.38107579,659,634,879.38107579,786.38107579,804.61892421,652,630,651.38107579,0.405640036435,0.00449637799407,0.0699662027816,0.999999998624,-2.59081031197e-06,-4.28648368772e-05,-3.01348601474e-05,1793244593682921984
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.041721342,745,714,679.958278658,659,634,879.958278658,786.958278658,804.041721342,652,630,651.958278658,0.406078935192,0.00449995988961,0.0699721885517,0.999999998751,-2.27484140771e-05,-3.12468461042e-05,-3.16808336071e-05,1793244593699588864
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.543543335,745,714,680,658.456456665,634,880,787,804.543543335,652,630.543543335,652,0.406524309869,0.00450485321577,0.069957441193,0.999999997618,-8.60087532919e-06,-6.04766658967e-05,-3.2143116802e-05,1793244593716255488
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.872120614,658,634,880,786.872120614,805,652,630.872120614,652,0.406984859135,0.0045099554547,0.0699422100012,0.999999995558,7.87046951399e-06,-8.80172333489e-05,-3.27797715067e-05,1793244593732922624
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.293274298,658,634,880,786.293274298,805,652,630.293274298,652,0.407497142403,0.00451543409396,0.0699309692591,0.999999994305,2.31109490827e-05,-9.83771989269e-05,-3.43291057141e-05,1793244593749590784
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.283958471,658.567916941,634,879.716041529,786,805,652,630,652,0.408042726927,0.00452106145098,0.0699317328653,0.999999994714,3.4480247312e-05,-8.99381914317e-05,-3.59619688188e-05,1793244593766257920
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.859534137,659.719068275,634,879.140465863,786,805,652,630,652,0.408622510852,0.00452684153652,0.0699448245931,0.999999996479,4.18739525334e-05,-6.21931777219e-05,-3.76806135968e-05,1793244593782924544
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.565657926,634,879,786,805,652,630,651.565657926,0.409223304753,0.00453264831845,0.0699534387041,0.999999997541,4.16294125065e-05,-4.06950765806e-05,-3.90939914479e-05,1793244593799590656
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.990838175,658.990838175,634,879.018323649,786,805,652,630.009161825,651.009161825,0.409830936058,0.00453845406261,0.0699603217926,0.999999998182,3.90581666993e-05,-2.18595685419e-05,-4.03934527171e-05,1793244593816257024
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.399518505,658.399518505,634,880.20096299,786,805,652,630.600481495,651.600481495,0.410442049085,0.00454364624651,0.0699490624646,0.999999997173,4.53279682645e-05,-4.40663446472e-05,-4.07164259066e-05,1793244593832923648
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.812054903,745.187945097,714,679.187945097,658.187945097,634,880.812054903,786.187945097,805,652,631,652,0.411075779042,0.00455002327063,0.0699440253136,0.999999996085,5.527783403e-05,-5.53669610481e-05,-4.1344349363e-05,1793244593849590528
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.232623499,745.767376501,714,679.767376501,658.767376501,634,880.232623499,786.767376501,805,652,631,652,0.411756619585,0.0045588682953,0.0699519488484,0.99999999547,7.28932075938e-05,-4.39502371859e-05,-4.26074788098e-05,1793244593866256640
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745.654824307,714,680,659,634,879.654824307,786.654824307,805.345175693,652,630.654824307,652,0.412471403959,0.00456549355499,0.0699740556374,0.999999995675,8.17736016208e-05,-8.84525900435e-06,-4.3416413006e-05,1793244593882922752
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745.078119873,714,680,659,634,879.078119873,786.078119873,805.921880127,652,630.078119873,652,0.413208956436,0.00457062989442,0.070005675933,0.999999994552,8.47949554918e-05,4.21487640343e-05,-4.39206929624e-05,1793244593899589376
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.49822773,745,714,680,659,633.50177227,879,786,805.50177227,652,630,652,0.413951181692,0.00457673773063,0.07001907601,0.999999993131,8.95869512938e-05,6.14296120863e-05,-4.40318759248e-05,1793244593916255744
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633.0760109,879.0760109,786,805.0760109,652,630.0760109,652,0.414687949338,0.0045833422504,0.0700216975945,0.999999992477,9.60220148868e-05,6.221220971e-05,-4.42207194305e-05,1793244593932922368
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,633.663837106,879.663837106,786,805.663837106,652,630.663837106,652,0.415383038937,0.00459226621793,0.0699709654534,0.999999992344,0.000111652528888,-2.81041725349e-05,-4.53472104595e-05,1793244593949588992
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.752793116,745,714,679.752793116,659,634,879.752793116,786,805.752793116,652,630.752793116,652,0.41611952646,0.00459827455763,0.0699343267291,0.999999987725,0.00011949099807,-8.96182450362e-05,-4.73247317192e-05,1793244593966255616
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.175376113,745,714,679.175376113,659,634,879.175376113,786,805.175376113,652,630.175376113,652,0.416911311811,0.00460038830534,0.0699165134903,0.999999985547,0.000116921132313,-0.00011265921657,-5.0439029058e-05,1793244593982922240
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,679.397589326,659.397589326,634,879,786,805,652,630.397589326,652,0.417727680269,0.00460183233762,0.0699313984348,0.999999988197,0.000115697227444,-8.76817408567e-05,-5.03113083658e-05,1793244593999588608
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,714,679.968612913,659.968612913,634,879,786,805,652,630.968612913,652,0.418554772215,0.0046029842302,0.0699605468041,0.999999991319,0.000115060450218,-4.17579175604e-05,-4.87693719737e-05,1793244594016255488
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.547626972,745,714,680,660,634,879.547626972,786,805,652,630.452373028,652,0.419415765178,0.00459793813516,0.0699824124417,0.999999992526,0.000110908803274,-1.22821517831e-05,-4.99671290359e-05,1793244594032922112
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.869869928,880,786,805.130130072,652,630,652,0.420284290285,0.00459167629623,0.0700034208856,0.999999993026,0.000105303534826,1.63380366782e-05,-5.09177827195e-05,1793244594049588736
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.276603436,880,786,805.723396564,652,630,652,0.421172604615,0.00458237060815,0.0700228861113,0.999999993165,9.52523854088e-05,4.53180271869e-05,-5.04218582075e-05,1793244594066255616
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.690328469,745,714,680.309671531,660,633.309671531,880,786,805.690328469,652,630.309671531,652,0.422033783536,0.00457948396211,0.0700192996681,0.999999993978,8.98023616948e-05,3.70200878511e-05,-5.10884836309e-05,1793244594082922496
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.110160494,745,714,680.889839506,660,633.889839506,880,786,805.110160494,652,630.889839506,652,0.42287125992,0.00458220431427,0.0699955777161,0.999999994696,8.83713957446e-05,-3.83992269499e-06,-5.27705901798e-05,1793244594099589120
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.463677361,745,714,680.536322639,659.536322639,634,880,786,805,652,630.536322639,651.536322639,0.423650110248,0.00458980633279,0.0699199086801,0.999999986991,9.69496322212e-05,-0.000116303465296,-5.56141155324e-05,1793244594116255744
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.037293296,714,680,659,634,880.037293296,786,805.037293296,651.962706704,630,651.037293296,0.424426457863,0.00459799911047,0.0698394883045,0.999999965225,0.000106470748957,-0.000234028456468,-5.86897776791e-05,1793244594132922368
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.629690457,714,680,659,634,880.629690457,786,805.629690457,651.370309543,630,651.629690457,0.425370082943,0.00459795453109,0.0698695732208,0.999999977359,9.51073145461e-05,-0.000180265496305,-6.11689174869e-05,1793244594149588992
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.783012555,745.783012555,714,680.216987445,659.433974891,634,880.783012555,786.216987445,806,651.216987445,630.216987445,652,0.426308831032,0.00459820679685,0.0699104940929,0.999999987108,9.29985867825e-05,-0.000115911390983,-6.08238861802e-05,1793244594166255616
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.204219644,745.204219644,714,680.795780356,660.591560713,634,880.204219644,786.795780356,806,651.795780356,630.795780356,652,0.427239447156,0.00459895402303,0.0699694828659,0.999999992218,0.000106321183104,-3.38975842169e-05,-5.57698239577e-05,1793244594182922240
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.372857195,745,714,681,660.254285609,633.627142805,879.627142805,786.627142805,806,652,631,652,0.428160699844,0.00460135112599,0.0700056804215,0.99999999191,0.000113299102814,1.79477951836e-05,-5.49670326227e-05,1793244594199588864
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.948998403,745,714,681,659.102003195,633.051001597,879.051001597,786.051001597,806,652,631,652,0.429076847499,0.00460464775178,0.0700294520646,0.999999990159,0.000116817865963,5.3345161711e-05,-5.64820602892e-05,1793244594216255488
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.068050196,633.534025098,879.534025098,786,805.465974902,652,631,652,0.429943363853,0.00460412426658,0.0700333994681,0.999999989704,0.000115295490326,6.37716502736e-05,-5.68543573281e-05,1793244594232923392
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.88139584,660.88139584,634,880,786.23720832,805.11860416,652,631,652,0.43078992094,0.0046032052465,0.0700195225193,0.999999991021,0.000113534283609,4.25052121659e-05,-5.71098860689e-05,1793244594249590528
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680.301909738,660.301909738,634,880,787.396180524,805.698090262,652,631,652,0.431577649141,0.00460219092368,0.0699438638292,0.999999987722,0.000112747518495,-9.24923069797e-05,-5.73429295533e-05,1793244594266256640
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.724114078,745,714,680.275885922,659.724114078,634,880,787.448228156,806,652,631,652,0.432394625737,0.00460139520352,0.0698985379076,0.999999978275,0.000111105003179,-0.000166439858487,-5.8347603361e-05,1793244594282922752
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.148156978,745,714,680.851843022,659.148156978,634,880,786.296313956,806,652,631,652,0.433243414859,0.00460083724947,0.0698862038363,0.999999977163,0.00010853172079,-0.000173985578359,-6.01915525633e-05,1793244594299589120
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,745,713.571227257,681,659.857545486,634,880.428772743,786,806,652,631,652,0.4341413126,0.00459767766565,0.0699334283867,0.999999989101,9.94164778339e-05,-9.07832449393e-05,-6.05981220695e-05,1793244594316255744
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,713.006159465,681,661,634,880.993840535,786,805.993840535,652,631,652,0.435055222793,0.00459363982646,0.0700007672093,0.99999999402,8.81721312612e-05,2.29260124359e-05,-6.04953820827e-05,1793244594332922112
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,713.594914933,681,661,634,880.405085067,786,805.405085067,652,631,652,0.435875026995,0.00459175365085,0.070019655728,0.999999992981,8.98413118083e-05,4.95032178405e-05,-5.93038402199e-05,1793244594349588992
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660.819844578,634,880,786.180155422,805.180155422,652,631,652,0.436693355941,0.00459066958052,0.0700285556634,0.999999992032,9.12455941774e-05,6.43716060303e-05,-5.88782481414e-05,1793244594366256128
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,714,681,660.24235641,634,880,786.75764359,805.75764359,652,631,652,0.437508431161,0.00459135455332,0.070015425779,0.999999992527,9.20656436815e-05,5.34161987581e-05,-6.01419582978e-05,1793244594382923264
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.029613306,745.029613306,713.970386694,679.970386694,657.970386694,634,879,786,805,652,631,651.029613306,0.404633227949,0.00447882451433,0.0698330594358,0.999999962568,3.20866020552e-05,-0.000270118153609,2.95031959705e-05,1793244597318877440
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.553228467,745,714,679.446771533,658.553228467,634,879,786,804.446771533,652,631,651,0.404293108924,0.0044772729896,0.0698437019595,0.99999996725,2.94588060258e-05,-0.000252542150105,2.92363167727e-05,1793244597335543808
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.863721419,745,713.863721419,679,658.863721419,633.863721419,879,786,804.136278581,652,631,651.136278581,0.403957207099,0.0044759147846,0.0698496253804,0.999999969868,2.51148608743e-05,-0.00024251122065,2.86464758862e-05,1793244597352210432
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.281601936,745,713.281601936,679,658.281601936,633.281601936,879,786,804.718398064,652,631,651.718398064,0.403629304549,0.00447474794795,0.0698419084644,0.999999967575,1.63446344326e-05,-0.000252690398082,2.70080403188e-05,1793244597368877312
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.298836918,745,713.298836918,679.298836918,658,633.298836918,879,786,805,652,631,652,0.403316689051,0.00447221117044,0.0698333525871,0.999999964079,8.64501821291e-06,-0.000266582439258,2.64622239994e-05,1793244597385543936
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.877700891,745,713.877700891,679.877700891,658,633.877700891,879,786,805,652,631,652,0.403018398404,0.00446839068111,0.069824010556,0.99999995932,1.94862471466e-06,-0.000283953642643,2.69402536703e-05,1793244597402210560
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.546613183,744.546613183,714,679.546613183,658.453386817,634,878.546613183,786,805,652,631,652,0.402751457302,0.00447004327066,0.0698153051361,0.999999954742,1.50343392984e-06,-0.000299686457993,2.64995458684e-05,1793244597418876928
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,744.028870354,714,679.028870354,658.971129646,634,878.028870354,786,805,652,631,652,0.402495516858,0.00447315305577,0.0698069559309,0.999999950182,2.80738445092e-06,-0.000314579454629,2.58289781936e-05,1793244597435543296
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,744.616922575,714,679.616922575,658.383077425,634,878.616922575,786,805,652,631,652,0.40228999544,0.00447609109828,0.0698022032433,0.999999947913,5.5570990394e-06,-0.000321706624649,2.54729677573e-05,1793244597452210176
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.797126072,658,634,879,786.202873928,804.797126072,652,631,652,0.402096303497,0.00448012203748,0.0697998176291,0.999999946553,1.12548874154e-05,-0.000325793308099,2.50101567755e-05,1793244597468876800
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.215101096,658,634,879,786.784898904,804.215101096,652,631,652,0.401924719682,0.0044861954908,0.0698018558389,0.999999946899,2.24623300824e-05,-0.000324197625916,2.4347746312e-05,1793244597485543168
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.362618903,745,714,679,658,634,878.637381097,786.637381097,804.362618903,652,630.637381097,652,0.401772764939,0.00449370610195,0.0698026909764,0.999999946892,4.14340598041e-05,-0.000322394927594,2.36843484266e-05,1793244597502210304
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.937815259,745,714,679,658,634,878.062184741,786.062184741,804.937815259,652,630.062184741,652,0.401632317297,0.00450205921623,0.069802820839,0.999999946275,6.49574351537e-05,-0.000320470870278,2.3020371614e-05,1793244597518877440
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.490365096,745,714,679,658,633.490365096,878.509634904,786,805,652,630.509634904,652,0.401518052919,0.00450311114515,0.069803405135,0.999999947562,6.15533668088e-05,-0.000317141657781,2.25320300342e-05,1793244597535544064
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.084496161,658,633.084496161,878.915503839,786,805,652,630.915503839,651.915503839,0.401410147137,0.00450279112495,0.0698037806522,0.999999948851,5.46941372457e-05,-0.000314360634672,2.19844106734e-05,1793244597552210432
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.680237499,658,633.680237499,878.319762501,786,805,652,630.319762501,651.319762501,0.401321510917,0.00449952489553,0.0698025596639,0.999999948786,4.66783545631e-05,-0.000315926997228,2.09493168454e-05,1793244597568876800
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.26780552,786,805,652,630.26780552,651,0.401244251934,0.00449770834838,0.0698023447125,0.999999948942,4.09608506434e-05,-0.000316264981663,2.03523540644e-05,1793244597585543680
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.845903502,786,805,652,630.845903502,651,0.401180175175,0.00449757147362,0.0698032954041,0.999999949407,3.79062444393e-05,-0.000315179707558,2.02630312254e-05,1793244597602210304
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.579293426,658.420706574,634,879,786,805,652.420706574,631,651.420706574,0.401129998455,0.00449759086655,0.0698048661452,0.999999950204,3.73829867157e-05,-0.000312692897549,2.0417157e-05,1793244597618877184
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.00568785,658.99431215,634,879,786,805,652.99431215,631,651.99431215,0.401084873482,0.00449766705245,0.0698066622333,0.999999951117,3.77797067423e-05,-0.000309696721993,2.06597602396e-05,1793244597635544064
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.583445952,658.416554048,634,879,786,804.416554048,652.416554048,631,652,0.401056441945,0.00449863916445,0.0698097367901,0.999999952773,3.89991602857e-05,-0.000304140755421,2.07671172231e-05,1793244597652211200
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.169524248,745,714,680,658,634,879,786,804.169524248,652,631,652,0.401031219323,0.00449900776565,0.069812660163,0.999999954367,3.95626610895e-05,-0.000298772621042,2.0866492337e-05,1793244597668878080
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.747859013,745,714,680,658,634,879,786,804.747859013,652,631,652,0.40101333188,0.00449789935208,0.0698151880752,0.999999955844,3.85244502159e-05,-0.000293919271974,2.09498854925e-05,1793244597685544704
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.324799373,634,879,786,805,652,631,652,0.401000689998,0.00449761558281,0.0698181038475,0.999999957385,3.84719135346e-05,-0.000288648143162,2.08076750281e-05,1793244597702211072
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.900661946,634,879,786,805,652,631,652,0.400992102823,0.00449796924641,0.0698213194281,0.999999958963,3.91812825167e-05,-0.000283054078727,2.04910776379e-05,1793244597718877184
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.474304088,879,786,804.525695912,652,631,651.525695912,0.400985317399,0.00449769740382,0.069822136727,0.999999959219,4.00246848608e-05,-0.00028200684626,2.07735564121e-05,1793244597735543808
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.950820647,745,714,680,658.950820647,634.950820647,879,786,804.049179353,652,631,651.049179353,0.400979523538,0.00449737954259,0.0698227478613,0.999999959345,4.07525215063e-05,-0.000281429877137,2.11415704264e-05,1793244597752210688
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.357168228,745,714,680,658.357168228,634.357168228,879,786,804.642831772,652,631,651.642831772,0.400980549117,0.0044979958297,0.0698266115953,0.999999961014,3.98915704875e-05,-0.00027556547155,2.10739299083e-05,1793244597768877312
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.769403621,658,634,878.769403621,786.230596379,805,652,631,652,0.400979889781,0.00449840626924,0.06982845403,0.999999961735,4.00742965393e-05,-0.000272923542796,2.09183450822e-05,1793244597785544192
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.190531565,658,634,878.190531565,786.809468435,805,652,631,652,0.400976685675,0.00449850581181,0.0698272436437,0.999999961059,4.18333151286e-05,-0.000275148604547,2.06299356973e-05,1793244597802211072
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.384048403,745,714,679.384048403,658.384048403,634,878.384048403,786.615951597,805,652.384048403,631,652,0.400974806264,0.0044979483821,0.0698267797346,0.999999960795,4.14082814889e-05,-0.000276176791973,2.05442167771e-05,1793244597818877440
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.956522526,745,714,679.956522526,658.956522526,634,878.956522526,786.043477474,805,652.956522526,631,652,0.400973576789,0.00449706862199,0.0698266820696,0.999999960734,3.99116859519e-05,-0.000276617756721,2.05579439163e-05,1793244597835543808
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.454424124,659,634,879,786,805,652.454424124,631,652,0.400973892727,0.00449862424143,0.069827026455,0.999999960968,4.05113268148e-05,-0.000275707952244,2.01886470966e-05,1793244597852210176
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.866583771,745,714,679,659,634,879.133416229,786.133416229,805,652,631,652,0.400974518294,0.00449942001095,0.0698275696723,0.999999961305,4.04670564851e-05,-0.000274504586243,1.99688288975e-05,1793244597868877056
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.287350118,745,714,679,659,634,879.712649882,786.712649882,805,652,631,652,0.400975754074,0.00449700785476,0.0698286558928,0.999999961902,3.76954174621e-05,-0.000272691240831,2.03536942712e-05,1793244597885543680
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745,714,679,659,634,879.709505717,786.709505717,805,652,631,652,0.400976082812,0.00449574678365,0.0698294688429,0.999999962235,3.68973871024e-05,-0.000271558316812,2.06121164525e-05,1793244597902210304
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,659,634,879.133028924,786.133028924,805,652,631,652,0.400975518598,0.00449561891942,0.0698300127671,0.999999962315,3.80423122414e-05,-0.0002710952461,2.07460593229e-05,1793244597918876672
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.440796179,745,714,679,659,634,879,786,805,652,631,652,0.400975436993,0.00449801883388,0.0698306445656,0.999999962475,4.01743665787e-05,-0.000270235619076,2.02058608458e-05,1793244597935543552
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.985709925,745,714,679.014290075,658.985709925,634,879,786,805,652,630.985709925,652,0.400975509924,0.0045010763475,0.0698312928438,0.999999962654,4.25491345169e-05,-0.000269262040075,1.9496877908e-05,1793244597952210432
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.393436591,745,714,679.606563409,658.393436591,634,879,786,805,652,630.393436591,652,0.40097597753,0.0045000607685,0.0698315414454,0.999999962839,4.27635382827e-05,-0.000268491097825,2.01408149431e-05,1793244597968877568
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,879,786.194474392,805,652,630.194474392,652,0.400976097605,0.00449889267238,0.0698316336621,0.999999962951,4.20004679758e-05,-0.000268171306733,2.04716570537e-05,1793244597985544448
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,879,786.773753591,805,652,630.773753591,652,0.400975530026,0.00449742279201,0.0698314164415,0.999999962912,3.93032781199e-05,-0.0002687442046,2.01829808932e-05,1793244598002210560
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.649740146,658.350259854,634,879,786.649740146,804.649740146,652,631,652,0.400975145221,0.0044978744203,0.0698316878984,0.999999962954,3.95280848039e-05,-0.000268558034266,2.01586832648e-05,1793244598018876928
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.075010982,658.924989018,634,879,786.075010982,804.075010982,652,631,652,0.40097487755,0.00449955747646,0.0698322725316,0.999999963046,4.16254971409e-05,-0.000267885403606,2.03038166169e-05,1793244598035543552
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.510748644,659,634,879,786,804.510748644,652,631,652,0.400975212145,0.00450063680588,0.0698323798014,0.999999963078,4.42937814091e-05,-0.000267354325598,2.01141413496e-05,1793244598052210176
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.096768014,745,714,680,658.903231986,634,879,786,805,652,631,652,0.400975545765,0.00450102233033,0.0698323417222,0.999999963082,4.5915205307e-05,-0.000267075273591,1.9951745791e-05,1793244598068877056
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.67582948,745,714,680,658.32417052,634,879,786,805,652,631,652,0.400975423947,0.00449840158681,0.0698319363524,0.999999963021,4.18919695208e-05,-0.000267946423407,2.01757944799e-05,1793244598085543936
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.746162723,658,634,879,786,805,652,631,652,0.400975135188,0.00449765061735,0.0698317751313,0.999999962941,4.04990250929e-05,-0.000268453922543,2.02770425547e-05,1793244598102210816
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.169494905,658,634,879,786,805,652,631,652,0.400974634111,0.00449927762833,0.0698319244187,0.999999962849,4.24512876814e-05,-0.00026849893045,2.02221126985e-05,1793244598118877696
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_11/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a84463937c6441123f70b78d354d0398a87db81e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
+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
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+368,6.133333333,pose2_to_pose3_retreat,0.576336483988,0.00987787664395,1.06005083122,0.546908116137,0.0185535594058,1.0597173369
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+370,6.166666667,pose2_to_pose3_retreat,0.576122190851,0.00987772763594,1.06005076523,0.546693827318,0.0185534247352,1.05971726293
+371,6.183333333,pose2_to_pose3_retreat,0.576034472732,0.00987784080772,1.06005086632,0.546606108208,0.0185535341252,1.05971735675
+372,6.200000000,pose2_to_pose3_retreat,0.575959730039,0.00987779367578,1.06005088803,0.546531364572,0.018553483815,1.05971737713
+373,6.216666667,pose2_to_pose3_retreat,0.575895780557,0.00987782693229,1.06005094336,0.546467413981,0.0185535135463,1.05971743742
+374,6.233333333,pose2_to_pose3_retreat,0.575842434154,0.00987790687827,1.0600509761,0.546414066481,0.0185535899245,1.05971747396
+375,6.250000000,pose2_to_pose3_retreat,0.575799154546,0.00987791882149,1.06005092181,0.546370786527,0.0185536006927,1.05971741957
+376,6.266666667,pose2_to_pose3_retreat,0.575764540139,0.009877868832,1.0600508584,0.546336172563,0.0185535521088,1.05971735363
+377,6.283333333,pose2_to_pose3_retreat,0.575737710007,0.0098778332297,1.06005085438,0.546309342807,0.0185535177113,1.05971734771
+378,6.300000000,pose2_to_pose3_retreat,0.575717075537,0.00987786462014,1.0600507154,0.546288707834,0.0185535477055,1.05971721688
+379,6.316666667,pose2_to_pose3_retreat,0.575702576526,0.00987776815784,1.06005095773,0.546274210957,0.0185534579873,1.0597174464
+380,6.333333333,pose2_to_pose3_retreat,0.575691551367,0.0098778563686,1.06005087201,0.546263185491,0.018553545229,1.05971736262
+381,6.350000000,pose2_to_pose3_retreat,0.575683691518,0.009877921179,1.06005078634,0.546255325364,0.0185536092954,1.05971728219
+382,6.366666667,pose2_to_pose3_retreat,0.575678865962,0.00987787496246,1.06005085199,0.546250500637,0.0185535659588,1.05971734956
+383,6.383333333,pose2_to_pose3_retreat,0.575675927385,0.00987786865589,1.06005079955,0.54624756071,0.0185535550935,1.0597172977
+384,6.400000000,pose2_to_pose3_retreat,0.575673773858,0.009877868569,1.06005074194,0.546245405808,0.0185535503549,1.0597172404
+385,6.416666667,pose2_to_pose3_retreat,0.575672417114,0.00987792693907,1.06005083734,0.546244048783,0.0185536077254,1.05971733459
+386,6.433333333,pose2_to_pose3_retreat,0.575671667187,0.00987796921783,1.06005091265,0.546243298801,0.0185536497826,1.05971740898
+387,6.450000000,pose2_to_pose3_retreat,0.575670849932,0.00987800353037,1.06005101256,0.546242481635,0.0185536843155,1.0597175067
+388,6.466666667,pose2_to_pose3_retreat,0.575670295526,0.0098779695187,1.06005116721,0.546241928019,0.018553652702,1.05971765407
+389,6.483333333,pose2_to_pose3_retreat,0.575670199373,0.00987796361991,1.06005119403,0.546241832003,0.0185536472192,1.05971767963
+390,6.500000000,pose2_to_pose3_retreat,0.575670067617,0.00987795553694,1.06005123078,0.546241700434,0.0185536397061,1.05971771466
+391,6.516666667,pose2_to_pose3_retreat,0.575669871321,0.00987794413204,1.06005128464,0.5462415044,0.0185536290905,1.05971776592
+392,6.533333333,pose2_to_pose3_retreat,0.575669784456,0.00987795001518,1.06005129298,0.546241417353,0.018553634297,1.05971777283
+393,6.550000000,pose2_to_pose3_retreat,0.575669728678,0.00987795379297,1.06005129834,0.546241361456,0.0185536376403,1.05971777728
+394,6.566666667,pose2_to_pose3_retreat,0.575669716108,0.00987795464426,1.06005129955,0.54624134886,0.0185536383937,1.05971777828
+395,6.583333333,pose2_to_pose3_retreat,0.575669715276,0.00987795470062,1.06005129963,0.546241348026,0.0185536384436,1.05971777834
+396,6.600000000,pose2_to_pose3_retreat,0.575669714633,0.00987795474415,1.06005129969,0.546241347382,0.0185536384821,1.0597177784
+397,6.616666667,pose2_to_pose3_retreat,0.575669698221,0.00987795585571,1.06005130127,0.546241330935,0.0185536394659,1.0597177797
+398,6.633333333,pose2_to_pose3_retreat,0.57566966265,0.00987795826484,1.06005130469,0.54624129529,0.0185536415979,1.05971778254
+399,6.650000000,pose2_to_pose3_retreat,0.575669619598,0.00987796118071,1.06005130882,0.546241252146,0.0185536441784,1.05971778597
+400,6.666666667,pose2_to_pose3_retreat,0.575669577218,0.00987794040875,1.06005130084,0.546241210146,0.0185536247546,1.05971777955
+401,6.683333333,pose2_to_pose3_retreat,0.575669568016,0.00987793428711,1.06005129828,0.546241201058,0.0185536190401,1.05971777749
+402,6.700000000,pose2_to_pose3_retreat,0.575669567145,0.00987793370813,1.06005129804,0.546241200199,0.0185536184996,1.0597177773
+403,6.716666667,pose2_to_pose3_retreat,0.575669546028,0.00987791965969,1.06005129217,0.546241179344,0.0185536053855,1.05971777257
+404,6.733333333,pose2_to_pose3_retreat,0.575669495886,0.00987788630235,1.06005127825,0.546241129826,0.0185535742465,1.05971776134
+405,6.750000000,pose2_to_pose3_retreat,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_11/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e1f1c4d0c40345e352ed027a88c77f005a809e34
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:744cb769fe24574b1d70b58a02e0fccf4a65970724bd2b75132b133adb8e217a
+size 25954458
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6bdfa21f612e60b1d48956b5fe5f8d0e20f89f4e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+39,0.650000000,BASELINE,764.650720786,745,714,679.650720786,659,634,879,786,804.349279214,652,631,652,0.400976039117,0.00450143738241,0.0698346615546,0.999999964067,4.43789344761e-05,-0.000263682250199,1.91928784737e-05,1793244598917693952
+40,0.666666667,BASELINE,764.77166258,745,714,680,659,634,879,786,804.22833742,652,630.77166258,652,0.400976275589,0.00450143262057,0.069835184507,0.99999996417,4.52844673194e-05,-0.00026311712582,1.94643282805e-05,1793244598934360832
+41,0.683333333,BASELINE,764.195185024,745,714,680,659,634,879,786,804.804814976,652,630.195185024,652,0.400977074348,0.00449903559345,0.0698356514737,0.999999964508,4.31167119999e-05,-0.000262193159425,1.95001204107e-05,1793244598951027456
+42,0.700000000,BASELINE,764.379359463,745,714,680,659,634,879,786,804.620640537,652,630.379359463,652,0.400976580872,0.00449886971753,0.0698351402709,0.999999964371,4.17405588863e-05,-0.000262952903033,1.92778859738e-05,1793244598967694080
+43,0.716666667,BASELINE,764.952914388,745,714,680,659,634,879,786,804.047085612,652,630.952914388,652,0.400975425896,0.00449984597593,0.0698341283395,0.99999996399,4.07696298301e-05,-0.000264574543823,1.89235668164e-05,1793244598984360704
+44,0.733333333,BASELINE,764.45604767,745,714,679.45604767,659,634,879,786,804.54395233,652,631,652,0.400975052875,0.00450046579137,0.0698345553532,0.999999964087,4.23861287838e-05,-0.000263921302858,1.93463585528e-05,1793244599001027328
+45,0.750000000,BASELINE,764.133157942,745,714,679,659,634,879,786.133157942,805,652,631,652,0.400974614679,0.00450081547491,0.0698348904779,0.999999964128,4.38153904666e-05,-0.000263507222124,1.96919559077e-05,1793244599017693952
+46,0.766666667,BASELINE,764.711022009,745,714,679,659,634,879,786.711022009,805,652,631,652,0.400973725251,0.00450036946789,0.069834488923,0.999999963849,4.38464976981e-05,-0.000264571347616,1.95476323973e-05,1793244599034360576
+47,0.783333333,BASELINE,764.711512484,745,714,679.288487516,659,634,878.711512484,786.711512484,805,652,631,652,0.400974250495,0.00450006846557,0.0698347769619,0.999999963969,4.29773515633e-05,-0.000264277086134,1.93114487384e-05,1793244599051027456
+48,0.800000000,BASELINE,764.134445595,745,714,679.865554405,659,634,878.134445595,786.134445595,805,652,631,652,0.400976190863,0.00449991251407,0.0698357548141,0.999999964485,4.12076654154e-05,-0.000262624005281,1.8983375664e-05,1793244599067694080
+49,0.816666667,BASELINE,764,745,714,680,659,634,878.450045029,786,805,652,631,652,0.400975908829,0.00450010670578,0.0698354425656,0.999999964357,4.1360495728e-05,-0.000263093018258,1.88791863989e-05,1793244599084360448
+50,0.833333333,BASELINE,764.036313492,745,714,679.963686508,659,634,879,786,804.963686508,652,631,652,0.400975093587,0.00450026436229,0.0698348496729,0.99999996409,4.18993825334e-05,-0.000264024046658,1.88591042923e-05,1793244599101027328
+51,0.850000000,BASELINE,764.615450554,745,714,679.384549446,659,634,879,786,804.384549446,652,631,652,0.400976398666,0.00449828605141,0.0698359193556,0.999999964657,3.94799316936e-05,-0.000262226007991,1.90797305167e-05,1793244599117693952
+52,0.866666667,BASELINE,764.805993551,745,714,679.194006449,659,634,879.194006449,786,804.194006449,652,631,651.805993551,0.400977237826,0.00449743200391,0.0698364601348,0.999999964963,3.85793194283e-05,-0.000261176324492,1.92800616469e-05,1793244599134360832
+53,0.883333333,BASELINE,764.22858621,745,714,679.77141379,659,634,879.77141379,786,804.77141379,652,631,651.22858621,0.400977156224,0.00449879975678,0.0698359556799,0.999999964765,4.06802779585e-05,-0.000261605561212,1.94402850395e-05,1793244599151027456
+54,0.900000000,BASELINE,764.344354796,745,714,680,659,634,879.655645204,786,805,652,630.655645204,651.344354796,0.400977215018,0.0044992650299,0.0698356287233,0.999999964724,4.10758617317e-05,-0.000261708405376,1.93030049692e-05,1793244599167694848
+55,0.916666667,BASELINE,764.914368943,745,714,680,659,634,879.085631057,786,805,652,630.085631057,651.914368943,0.400977365817,0.00449913889842,0.0698354180831,0.999999964789,4.0353895255e-05,-0.00026159736102,1.89707677179e-05,1793244599184362752
+56,0.933333333,BASELINE,764.49476767,745,714,680,659,634,879.50523233,786,805,652,630.50523233,652,0.400977538774,0.00449945360661,0.0698356730334,0.999999964845,4.14872130166e-05,-0.000261207415862,1.89516345468e-05,1793244599201028864
+57,0.950000000,BASELINE,764.097286665,745,714,680,659.097286665,634,879.902713335,786.097286665,804.902713335,652,631,652,0.400977193383,0.00449969271531,0.0698356799725,0.99999996476,4.24427369018e-05,-0.000261378061501,1.89954907994e-05,1793244599217694464
+58,0.966666667,BASELINE,764.676970005,745,714,680,659.676970005,634,879.323029995,786.676970005,804.323029995,652,631,652,0.400974258326,0.00449917053036,0.0698340490168,0.999999963983,4.08903562904e-05,-0.000264572880934,1.90772186891e-05,1793244599234361088
+59,0.983333333,BASELINE,764.745725327,745,714,679.745725327,659.745725327,634,879,786.745725327,804.254274673,652,630.745725327,652,0.400973340888,0.00449836371844,0.0698334678265,0.999999963776,3.98129077643e-05,-0.000265506471173,1.92085035078e-05,1793244599251027712
+60,1.000000000,BASELINE,764.171414432,745,714,679.171414432,659.171414432,634,879,786.171414432,804.828585568,652,630.171414432,652,0.400974962872,0.00449719866808,0.069834207896,0.999999964297,3.9333219977e-05,-0.000263594024382,1.94021618811e-05,1793244599267694848
+61,1.016666667,BASELINE,764,745,714,679,659.412152679,634,878.587847321,786,804.587847321,652,630,652,0.40097460083,0.00449777740456,0.0698342255174,0.999999964327,4.00307363778e-05,-0.000263391826524,1.92046169405e-05,1793244599284361984
+62,1.033333333,BASELINE,764,745,714,679,659.99965786,634,878.00034214,786,804.00034214,652,630,652,0.400973394674,0.0044990980443,0.0698339357693,0.999999964146,4.12291004554e-05,-0.00026391726309,1.88406325025e-05,1793244599301029120
+63,1.050000000,BASELINE,764,745,714,679.57940855,659.42059145,634,878.57940855,786,804.57940855,652,630.57940855,651.42059145,0.400975811853,0.00449978623515,0.069835418093,0.999999964689,4.21453303969e-05,-0.000261710662956,1.8818745827e-05,1793244599317694976
+64,1.066666667,BASELINE,764,745,714,680,659,634,879,786,804.841269278,652,631,651.158730722,0.400977282221,0.00450011340058,0.069836238144,0.999999964998,4.25507801757e-05,-0.000260462284839,1.8786211923e-05,1793244599334361344
+65,1.083333333,BASELINE,764,745,714,680,659,634,879,786,804.26306763,652,631,651.73693237,0.400976244909,0.00449948747336,0.0698353053062,0.999999964702,4.16068473375e-05,-0.000261750366423,1.87250142555e-05,1793244599351027968
+66,1.100000000,BASELINE,764,745,714,680,659,634,879.311709586,786,804.311709586,652,631,652,0.400976087245,0.00450023177162,0.0698352358921,0.999999964696,4.23593003468e-05,-0.0002616533767,1.87419059634e-05,1793244599367694848
+67,1.116666667,BASELINE,764,745,714,680,659,634,879.883628123,786,804.883628123,652,631,652,0.400976663893,0.00450211990684,0.069835887247,0.999999964927,4.45278625096e-05,-0.00026040015698,1.88239851289e-05,1793244599384361472
+68,1.133333333,BASELINE,764,745,714,679.529076424,659.470923576,634,879.058152848,786,805,652,631,652,0.400976778037,0.00450129747238,0.0698360880226,0.999999964836,4.29297187896e-05,-0.000261027033057,1.87297693674e-05,1793244599401028096
+69,1.150000000,BASELINE,764.060785388,745,714,679,659.939214612,634,878.060785388,786,804.939214612,652,631,652,0.400976766993,0.00449991043826,0.0698361378518,0.999999964673,4.06302492378e-05,-0.000262023211255,1.86386664064e-05,1793244599417694976
+70,1.166666667,BASELINE,764.639053796,745,714,679,659.360946204,634,878.639053796,786,804.360946204,652,631,652,0.400976696024,0.00449961165874,0.0698358825361,0.999999964657,4.05518936091e-05,-0.000262074596922,1.89574634927e-05,1793244599434361600
+71,1.183333333,BASELINE,764.783397995,745,713.783397995,679,659,634,879,786,804.216602005,652,631,652,0.400976621134,0.00449934909033,0.0698359922757,0.999999964678,4.07782010076e-05,-0.000261940295858,1.91942443699e-05,1793244599451028224
+72,1.200000000,BASELINE,764.207045856,745,713.207045856,679,659,634,879,786,804.792954144,652,631,652,0.400976539732,0.00449914666418,0.0698367083287,0.999999964762,4.15105173966e-05,-0.000261497591254,1.92948061426e-05,1793244599467694592
+73,1.216666667,BASELINE,764,745,713.367594912,679.367594912,659,634,879,786,804.632405088,652,631,652,0.400975817566,0.00449947043296,0.06983595014,0.999999964475,4.11306021201e-05,-0.000262667928205,1.90639546219e-05,1793244599484360960
+74,1.233333333,BASELINE,764,745,713.941276192,679.941276192,659,634,879,786,804.058723808,652,631,652,0.400974736166,0.00450008920475,0.0698343654405,0.999999963977,4.01271314193e-05,-0.000264742591835,1.86473013879e-05,1793244599501027584
+75,1.250000000,BASELINE,764,745,714,680,659,634,879,786,804.53183478,652,630.46816522,651.46816522,0.400975886933,0.00450093868287,0.0698347584601,0.999999964213,4.15972209242e-05,-0.000263623278103,1.86194941852e-05,1793244599517694208
+76,1.266666667,BASELINE,764.121511709,745,713.878488291,680,659,634,879,786,805,652,630,651.121511709,0.400976647038,0.00450135909793,0.0698351338117,0.999999964393,4.3139517877e-05,-0.000262687364794,1.86658295887e-05,1793244599534360832
+77,1.283333333,BASELINE,764.700620524,745,713.299379476,680,659,634,879,786,805,652,630,651.700620524,0.400974977369,0.00450006464212,0.0698345933055,0.999999964061,4.38914793877e-05,-0.000263813752394,1.88243881388e-05,1793244599551027968
+78,1.300000000,BASELINE,764.721672608,745,713.278327392,680,659.278327392,634,879,786,805,652,630.278327392,652,0.400974919015,0.00449939654419,0.0698347539633,0.999999964086,4.38232710926e-05,-0.00026371657568,1.89999985524e-05,1793244599567694848
+79,1.316666667,BASELINE,764.145466207,745,713.854533793,680,659.854533793,634,879,786,805,652,630.854533793,652,0.400976585166,0.00449939880389,0.0698356650394,0.999999964493,4.28772786167e-05,-0.00026230988307,1.91938586585e-05,1793244599584361472
+80,1.333333333,BASELINE,764.438390758,745,714,680,659.561609242,634,879,786.438390758,804.561609242,652,630.561609242,652,0.400977128662,0.00450008125565,0.0698360998152,0.999999964747,4.25384768261e-05,-0.000261386256632,1.93285089151e-05,1793244599601027840
+81,1.350000000,BASELINE,764.975460754,745,714,680,659,634,879,787,804.024539246,652,630.024539246,652,0.400977202216,0.00450095913683,0.0698363004575,0.999999964908,4.24221853716e-05,-0.000260783658238,1.94187209378e-05,1793244599617694208
+82,1.366666667,BASELINE,764.395921194,745,714,680,659,634,879,787,804.604078806,652,630.604078806,652,0.400975222007,0.00450106171694,0.0698348437114,0.999999964126,4.27006632663e-05,-0.000263752051011,1.89561239904e-05,1793244599634360832
+83,1.383333333,BASELINE,764.182851643,745,714,680,659,634,879,786.817148357,805,652,631,652,0.400974287246,0.004500804158,0.069834205334,0.999999963826,4.2525416053e-05,-0.000264929293735,1.87373305363e-05,1793244599651027712
+84,1.400000000,BASELINE,764.759971365,745,714,680,659,634,879,786.240028635,805,652,631,652,0.400975606698,0.00449977006059,0.0698353315376,0.999999964577,4.13718384592e-05,-0.000262244426304,1.90442305767e-05,1793244599667694592
+85,1.416666667,BASELINE,764.66581729,745.33418271,714,680,659,634,879,786,805,652,631,652,0.400976484248,0.00449933019481,0.0698359629026,0.999999964885,4.12955512389e-05,-0.000261058694959,1.93128420655e-05,1793244599684361216
+86,1.433333333,BASELINE,764.093676914,745.906323086,714,680,659,634,879,786,805,652,631,652,0.400977047138,0.00449931345682,0.0698362419133,0.999999964882,4.19863579419e-05,-0.00026094043649,1.95541898442e-05,1793244599701028096
+87,1.450000000,BASELINE,764.49512939,745.50487061,714,680,659,634,879,786,804.50487061,652,631,652,0.400977110582,0.00449973113589,0.0698362866433,0.999999964819,4.26795205154e-05,-0.000261092270286,1.92711019493e-05,1793244599717694976
+88,1.466666667,BASELINE,764.914616083,745,714,680,659,634,879,786,804.085383917,652,631,652,0.400976926879,0.00450005160497,0.0698362095902,0.999999964752,4.27923985299e-05,-0.000261358615801,1.88964812817e-05,1793244599734362112
+89,1.483333333,BASELINE,764.334868736,745,714,680,659,634,879,786,804.665131264,652,631,652,0.400975878384,0.0044993167904,0.069835693004,0.999999964728,3.95428226049e-05,-0.000261981798971,1.85863883547e-05,1793244599751028736
+90,1.500000000,BASELINE,764.242878071,745,714,680,659,634,879,786,805,652,631,652,0.400975172404,0.00449891803612,0.0698355031734,0.999999964681,3.90188733276e-05,-0.000262239148963,1.86062416831e-05,1793244599767695104
+91,1.516666667,BASELINE,764.817889118,745,714,680,659,634,879,786,805,652,631,652,0.40097493481,0.00449897884047,0.0698357601773,0.999999964606,4.22221874708e-05,-0.000261996226232,1.90772927537e-05,1793244599784361216
+92,1.533333333,BASELINE,764.598706276,745,714,680,659,634,879,786,805,652,631,652,0.400975019478,0.00449927957621,0.0698356680829,0.99999996457,4.23532355589e-05,-0.000262107588725,1.91325577705e-05,1793244599801027840
+93,1.550000000,BASELINE,764.011411167,745,714,680,659,634,879,786,805,652,631,652,0.400975253515,0.0044996915212,0.0698354141798,0.999999964554,4.10602752656e-05,-0.000262383163936,1.89951041864e-05,1793244599817694464
+94,1.566666667,BASELINE,764,745,714,679.432400513,659,633.432400513,879,786,805,652,630.432400513,651.432400513,0.400974859852,0.00450045070089,0.0698352438893,0.99999996422,4.33706215489e-05,-0.000263279092678,1.90358154225e-05,1793244599834361344
+95,1.583333333,BASELINE,764.146139271,745,714,679,659,633.146139271,879.146139271,786,805,652,630.146139271,651,0.400974789547,0.00450090121363,0.0698353383224,0.999999964075,4.48833376203e-05,-0.00026358042888,1.90099759204e-05,1793244599851028224
+96,1.600000000,BASELINE,764.72377358,745,714,679,659,633.72377358,879.72377358,786,805,652,630.72377358,651,0.400975710722,0.00450042003212,0.0698362094939,0.999999964518,4.38301314338e-05,-0.000262089859467,1.87772129976e-05,1793244599867695104
+97,1.616666667,BASELINE,764.699360294,745,714,679.300639706,659,634,879.699360294,786,805,652,630.699360294,651.300639706,0.400976969337,0.00450063842075,0.0698370056322,0.999999964896,4.41582521975e-05,-0.000260592382406,1.86794679704e-05,1793244599884361984
+98,1.633333333,BASELINE,764.123198209,745,714,679.876801791,659,634,879.123198209,786,805,652,630.123198209,651.876801791,0.4009785372,0.00450149793306,0.069837733006,0.999999965215,4.57522952595e-05,-0.000259088574897,1.8705460611e-05,1793244599901028352
+99,1.650000000,BASELINE,764,745,714,680,659,634,879.462434052,786,805,652,630.462434052,652,0.400977861768,0.00450056000558,0.0698368424639,0.999999965019,4.32182751103e-05,-0.000260270406665,1.87946868339e-05,1793244599917694720
+100,1.666666667,BASELINE,764.04979091,745,714,679.95020909,659.04979091,634,879.95020909,786.04979091,804.95020909,652,631,652,0.400976605053,0.00449934433839,0.0698356157615,0.999999964679,3.99371532085e-05,-0.000262090653118,1.8877480621e-05,1793244599934361088
+101,1.683333333,BASELINE,764.628113159,745,714,679.371886841,659.628113159,634,879.371886841,786.628113159,804.371886841,652,631,652,0.400975654624,0.00450036984382,0.0698354917917,0.999999964432,4.06436557383e-05,-0.000262933978958,1.87094324725e-05,1793244599951027712
+102,1.700000000,BASELINE,764.793946499,745,714,679.206053501,659.793946499,634,879,787,804.206053501,652,631,652,0.400975875974,0.00450083208149,0.0698358388535,0.999999964534,4.17542598259e-05,-0.000262371501332,1.87020897841e-05,1793244599967694336
+103,1.716666667,BASELINE,764.216694212,745,714,679.783305788,659.216694212,634,879,787,804.783305788,652,631,652,0.400978208246,0.0045002796102,0.0698370344636,0.999999965257,4.35928398538e-05,-0.000259276513683,1.89842528547e-05,1793244599984360960
+104,1.733333333,BASELINE,764,745,714,680,659,634,879,786.633786315,805,652,631,652,0.400978059672,0.00450034547374,0.0698369434319,0.999999965261,4.38073223329e-05,-0.00025921486825,1.91271899649e-05,1793244600001027840
+105,1.750000000,BASELINE,764,745,714,680,659,634,879,786.047479359,805,652,631,652,0.400976420117,0.0045007829545,0.0698360791325,0.999999964835,4.30457274759e-05,-0.000260976251642,1.91864527384e-05,1793244600017695232
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,786,805,652,631,652,0.400979123844,0.00450043470968,0.0698378213045,0.999999965591,4.27975243619e-05,-0.000258154707685,1.848515268e-05,1793244600047809792
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,786.575319657,805,652,631,652,0.400978021973,0.00450003807013,0.0698369832048,0.999999965164,4.30469593573e-05,-0.000259737556813,1.88653117976e-05,1793244600064475904
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.150752573,745,714,679.150752573,659,634,879.150752573,786.849247427,805,652,631,652,0.400977310643,0.00450016212191,0.0698362632261,0.999999964851,4.36557402585e-05,-0.000260821929074,1.90801427217e-05,1793244600081142528
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.726504918,745,714,679.726504918,659,634,879.726504918,786.273495082,805,652,631,652,0.400977700324,0.0045017541001,0.0698358762523,0.999999964867,4.527758471e-05,-0.000260501001939,1.88288825531e-05,1793244600097809152
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.697800166,745,714,680,659,634,879.697800166,786,805,652,631,652,0.400978240391,0.00450148454578,0.0698361477483,0.999999965088,4.4786473368e-05,-0.000259740914304,1.87641181619e-05,1793244600114475776
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.122157246,745,714,680,659,634,879.122157246,786,805,652,631,652,0.400978916533,0.0044995305987,0.0698370150553,0.999999965491,4.23834709079e-05,-0.00025858345585,1.88681029873e-05,1793244600131142400
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,786.467537225,805,652,631,652,0.400977798879,0.00449968126183,0.0698370566068,0.999999965186,4.33131173468e-05,-0.000259593737095,1.90338744019e-05,1793244600147809280
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.059175578,745,714,680,659,634,879,786.940824422,805,652,630.940824422,651.940824422,0.400976315657,0.00450011573007,0.0698368501156,0.999999964733,4.47036467206e-05,-0.000261088354099,1.92110958021e-05,1793244600164476160
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.634746394,745,714,680,659,634,879,786.365253606,805,652,630.365253606,651.365253606,0.40097585897,0.00449807953495,0.0698364201772,0.999999964672,4.2282042821e-05,-0.000261713839283,1.93429943051e-05,1793244600181142784
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.790038265,745,714,679.790038265,659,634,879,786,805,652,630.209961735,651.209961735,0.400978047849,0.00449755279872,0.0698372708269,0.999999965119,4.10061808081e-05,-0.000260201982762,1.93805582476e-05,1793244600197809152
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.215440331,745,714,679.215440331,659,634,879,786,805,652,630.784559669,651.784559669,0.400984831227,0.0044996475087,0.0698403454478,0.999999966437,4.17201052601e-05,-0.000254978249085,1.92542932976e-05,1793244600214475520
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,679.3711468,659,634,879,786,805,652,631,652,0.401002363769,0.0045002944637,0.069848333446,0.999999969581,4.22777115568e-05,-0.000242249122718,1.91495689726e-05,1793244600231142400
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,679.964925695,659,634,879,786,805,652,631,652,0.401026344187,0.00450007298427,0.0698592687299,0.999999973588,4.27415505983e-05,-0.000225017892294,1.90577657568e-05,1793244600247809024
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.542555337,745,714,679.457444663,659,634,879,786,805,652,631,651.457444663,0.401074075285,0.00450047116771,0.0698757695331,0.999999979926,4.15728062527e-05,-0.000195133318798,1.85351750991e-05,1793244600264475392
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.118861152,786,805,652,631,651.118861152,0.401125729663,0.00450059601603,0.0698916941506,0.999999984907,4.05017546151e-05,-0.000167982647673,1.81030262162e-05,1793244600281142272
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.693977142,786,805,652,631,651.693977142,0.401186720422,0.00449952232904,0.0699040658956,0.999999987112,4.01991153264e-05,-0.000154375353713,1.81218523567e-05,1793244600297809152
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.723839146,745,714,679.276160854,659,634,879.447678291,786.276160854,804.723839146,652,631,652,0.401253518364,0.00449926745639,0.0699117466222,0.999999988657,3.894943222e-05,-0.000144465258554,1.72642697536e-05,1793244600314475776
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.133617787,745,714,679.866382213,659,634,878.267235574,786.866382213,804.133617787,652,631,652,0.40132692045,0.00449994377024,0.0699140925459,0.999999989584,3.66227353103e-05,-0.000138759757678,1.54100021859e-05,1793244600331142144
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.447637926,745,714.447637926,680,659,634,878,786.552362074,804.447637926,652,631,651.552362074,0.401412050208,0.00449952971188,0.069912567411,0.999999989519,3.31088412295e-05,-0.000140292742869,1.35269651683e-05,1793244600347808512
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.973779318,745,714.973779318,680,659,634,878,786,805,652,631,651,0.40150159146,0.00449889765273,0.0699098945041,0.999999989118,2.94520393256e-05,-0.000144086552926,1.16203852564e-05,1793244600364475136
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.396233056,745,714.396233056,680,659,634,878,786,805,652,631,651,0.401611729699,0.0045003909241,0.0699069068693,0.999999988121,3.00952658749e-05,-0.000150878656725,9.39580265332e-06,1793244600381142016
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.180667444,786,804.819332556,652,631,651.180667444,0.401732750575,0.00450154287848,0.0699059232625,0.999999987694,2.9080022681e-05,-0.000154008044476,6.89244679283e-06,1793244600397808896
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.756156652,786,804.243843348,652,631,651.756156652,0.401877553818,0.00450194893529,0.0699093191605,0.999999988574,2.44404410329e-05,-0.000149133111478,3.77987383142e-06,1793244600414475264
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.33919865,745,714,679.66080135,659,634,878.66080135,786,804,652,631,651.66080135,0.402042897101,0.00450199973913,0.0699125751208,0.999999989432,1.86270271135e-05,-0.000144185507124,1.66637177405e-07,1793244600431141888
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.927793913,745,714,679.072206087,659,634,878.072206087,786,804,652,631,651.072206087,0.402223342513,0.00450178934243,0.0699157281919,0.999999990235,1.19505497431e-05,-0.000139184470469,-3.81471397054e-06,1793244600447808512
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.508377422,659,634,878.508377422,786,804.508377422,652,631,651.508377422,0.402427914242,0.00449984030397,0.0699178387071,0.999999990814,6.62832117692e-06,-0.000135188966541,-7.22627849896e-06,1793244600464475136
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.912759592,658.912759592,634,879,786,805,652,631,652,0.402641645689,0.00449575741656,0.0699199324863,0.999999991372,-1.48931503657e-06,-0.000130942416159,-1.04134310769e-05,1793244600481141760
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.337255817,658.337255817,634,879,786,805,652,631,652,0.402887760965,0.00448109253432,0.0699227484905,0.999999991821,-2.63119893639e-05,-0.000124503900462,-1.27905139337e-05,1793244600497808384
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.757231643,745,714,679.242768357,658.242768357,634,878.757231643,786.242768357,805,652,631,651.757231643,0.403147396249,0.00446825737546,0.0699264553024,0.99999999198,-4.72713648251e-05,-0.000116515002319,-1.5164173961e-05,1793244600514475264
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.170808579,745,714,679.829191421,658.829191421,634,878.170808579,786.829191421,805,652,631,651.170808579,0.403426169986,0.0044580123123,0.0699314231112,0.999999992224,-6.2761983066e-05,-0.00010633143546,-1.75329886097e-05,1793244600531141888
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.410578776,745.410578776,714,679.589421224,659,634,878.410578776,786.589421224,805,652,631,651,0.403746696934,0.00446313070863,0.0699407584494,0.999999993645,-6.18315324562e-05,-9.14695276539e-05,-2.28168292174e-05,1793244600547808512
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.989896548,745.989896548,714,679.010103452,659,634,878.989896548,786.010103452,805,652,631,651,0.404084383541,0.00447456315478,0.0699518887474,0.999999995316,-5.41523773247e-05,-7.46849231382e-05,-2.92986823808e-05,1793244600564475392
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.434379428,745.434379428,714,679.565620572,659,634,879,786,805,652,631,651.565620572,0.404438729352,0.00447472772228,0.0699536369512,0.99999999703,-1.31818936664e-05,-7.30723519326e-05,-2.06344747702e-05,1793244600581142016
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.141552114,745,714,680,658.858447886,634,879.141552114,786,805,652,631,652,0.404805560906,0.00447642559943,0.0699562188543,0.99999999727,1.97840131468e-05,-6.95439319224e-05,-1.52653973676e-05,1793244600597808640
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.718317696,745,714,680,658.281682304,634,879.718317696,786,805,652,631,652,0.405209871679,0.00448345268661,0.0699618760454,0.999999997678,2.63223739454e-05,-5.92970923447e-05,-2.08540371899e-05,1793244600614475264
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.6027167,634,879.69864165,786,805,652,631,652,0.405623598861,0.00448852750416,0.0699653800948,0.999999997709,3.46721568187e-05,-5.26297809264e-05,-2.47118471375e-05,1793244600631141888
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.780778332,634,879.109610834,786,805,652,631,652,0.406046314862,0.00449173871323,0.069966828786,0.999999997417,4.47510986408e-05,-4.93794358329e-05,-2.69174317472e-05,1793244600647808768
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.529015702,745,714,680,659.058031403,634,879,786,805,652,631,652,0.406502594105,0.00449708391769,0.0699534242823,0.99999999692,-4.58281883347e-06,-7.29444977152e-05,-2.86182255113e-05,1793244600664475392
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,713.950485594,680,658.049514406,634,879,786,805,652,631,652,0.406971084127,0.00450324457552,0.0699373750666,0.999999992737,-5.91885787741e-05,-0.000100540361432,-3.02309315194e-05,1793244600681141760
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,713.373407915,680,658.626592085,634,879,786,805,652,631,652,0.407487916541,0.00451289523424,0.0699293297492,0.999999993573,-2.52337699944e-05,-0.00010576061745,-3.21347666059e-05,1793244600697808640
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,713.206663351,680,659,634,879,786,805,652,631,651.793336649,0.40802318317,0.0045201115832,0.0699293802515,0.999999994505,2.85475276151e-06,-9.90961786683e-05,-3.40986359775e-05,1793244600714475264
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,713.79222302,680,659,634,879,786,805,652,631,651.20777698,0.40859224703,0.00452286487121,0.0699442736198,0.999999996647,2.01880322738e-05,-7.06423556881e-05,-3.61725720475e-05,1793244600731142144
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.373391036,745,714,680,659,634,879,786,805,652,631,651.373391036,0.409188731905,0.00453058000996,0.0699536426186,0.999999997432,3.71842915538e-05,-4.80946739278e-05,-3.79566379974e-05,1793244600747808768
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.952143664,745,714,680,659,634,879,786,805,652,631,651.952143664,0.409800298063,0.00454102412032,0.0699599732651,0.999999997344,5.39951922645e-05,-2.87953157665e-05,-3.95812780075e-05,1793244600764475392
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680.530412068,659,634,879,786,805,652,631,652,0.41042514186,0.00454709023614,0.0699484908302,0.999999996635,5.19017310675e-05,-4.90999225977e-05,-4.03269542804e-05,1793244600781142784
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680.891807821,659,634,879,786,805,652,631,652,0.411061580098,0.00455308432623,0.0699403999381,0.999999995666,5.22255776186e-05,-6.52697759953e-05,-4.09836099348e-05,1793244600797810176
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.315949863,659,634,879,786,805,652,631,652,0.411742962102,0.00456047294525,0.0699539099372,0.999999995501,7.03643479938e-05,-4.81354566984e-05,-4.15979537789e-05,1793244600814476288
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.734648491,745,714,679.734648491,659.265351509,634,879,786,805,652,631,652,0.412444268511,0.00456759996752,0.0699761074164,0.999999995401,8.48656237689e-05,-1.49835157533e-05,-4.20835532072e-05,1793244600831142400
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.146729907,745,714,679.146729907,659.853270093,634,879,786,805,652,631,652,0.413169795551,0.00457440898809,0.0700088655874,0.999999993885,9.49450841604e-05,3.76397972678e-05,-4.2412648138e-05,1793244600847809024
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,679.434698831,660,634,879.434698831,786,805,652,630.565301169,652,0.413912176975,0.00458058859116,0.0700230618203,0.999999992635,9.6601020194e-05,5.94264022187e-05,-4.32106053732e-05,1793244600864475648
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745.013961586,714,680,660,634,880,786,805,652,630,652,0.414659262721,0.00458662245491,0.0700295067072,0.999999992101,9.58743801406e-05,6.82353401509e-05,-4.41620523037e-05,1793244600881142784
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745.592918253,714,680,660,634,880,786,805,652,630,652,0.415369885391,0.00459522974169,0.0699720916409,0.999999992155,0.000112100021964,-3.31106725342e-05,-4.5014602529e-05,1793244600897809408
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745.829311109,714,680,659.829311109,634,880,786,805,652,630.170688891,652,0.416105708054,0.00460290241533,0.0699278658132,0.99999998535,0.000123760421989,-0.000108682532901,-4.65964865702e-05,1793244600914476032
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745.25434959,714,680,659.25434959,634,880,786,805,652,630.74565041,652,0.416901216268,0.00460836147921,0.0699148783907,0.999999983401,0.000124608155432,-0.000123208913457,-4.99057815255e-05,1793244600931143168
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659.327521237,634.327521237,880,786,805,652,630.672478763,652,0.417709695235,0.00461305985548,0.0699266758508,0.999999985543,0.000125845476319,-0.000102794188809,-5.01069615143e-05,1793244600947809792
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659.914873366,634.914873366,880,786,805,652,630.085126634,652,0.41852846419,0.00461715475873,0.0699581357864,0.999999989247,0.000127391866539,-5.4659799745e-05,-4.78423949535e-05,1793244600964475648
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634.505428443,879.505428443,786,805,652,630.494571557,652,0.419388313873,0.00461990408722,0.0699821596531,0.999999989423,0.000135273676516,-2.06492926982e-05,-4.92880980903e-05,1793244600981142016
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634,879,786,805,652,630.927319989,652,0.420259371705,0.00461956274892,0.0700043566194,0.999999988825,0.000140161109346,1.01877334782e-05,-5.09959234439e-05,1793244600997808640
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634,879,786,805,652,630.351237091,652,0.421159831322,0.00459939425497,0.0700226298633,0.999999991278,0.000116870840489,3.56257048014e-05,-5.01634328214e-05,1793244601014475520
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634,879.224436108,786,805.224436108,652,630.224436108,652,0.422029827309,0.0045823754515,0.0700214011927,0.999999993887,9.35553032834e-05,3.09716396018e-05,-5.01433243423e-05,1793244601031142656
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634,879.799469394,786,805.799469394,652,630.799469394,652,0.422852235446,0.00457027685406,0.0699897081035,0.999999996001,7.02002901286e-05,-2.06899339147e-05,-5.13922578748e-05,1793244601047809536
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.385172488,745,714,680,659.614827512,634,880,786,805.614827512,652,630.614827512,652,0.423641369953,0.00457398277825,0.069927522575,0.999999989081,7.47028193387e-05,-0.000115704546787,-5.35694783198e-05,1793244601064476160
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.976588785,745,714,680,659.023411215,634,880,786,805.023411215,652,630.023411215,652,0.424412687767,0.0045861513656,0.0698490096183,0.999999966627,9.41219016845e-05,-0.000233932900452,-5.62437570573e-05,1793244601081143040
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.556701258,660.113402516,634,879.443298742,786,805.556701258,652,630.556701258,651.443298742,0.425347630278,0.00459023959095,0.0698756115687,0.999999977798,8.65727731161e-05,-0.000182953708809,-5.86186722601e-05,1793244601097809664
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634,879.135040987,786,806,652,631,651.135040987,0.426290696342,0.00459404500632,0.0699121248851,0.999999987278,8.41938252302e-05,-0.000121769504373,-5.93987127235e-05,1793244601114476032
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661,634,879.709131848,786,806,652,631,651.709131848,0.427238247451,0.00459801374638,0.069966776482,0.999999992005,0.000102238213026,-5.00810214352e-05,-5.50335582203e-05,1793244601131142400
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.710077619,745,714,681,660.710077619,634,879.710077619,786,806,652,631,652,0.428164568469,0.00460082144133,0.0700081903117,0.999999992308,0.000111560454616,8.4160444392e-06,-5.35484368659e-05,1793244601147809024
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.122406595,745,714,681,660.122406595,634,879.122406595,786,806,652,631,652,0.429069086246,0.00460243674928,0.0700360090263,0.999999990799,0.000111925100642,5.33655951706e-05,-5.50210936556e-05,1793244601164475648
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+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.383085718,714,681,660,634,880,786,805.383085718,652,631,652,0.431592823027,0.00460710012799,0.0699474920778,0.999999986918,0.000119139205238,-9.38081123778e-05,-5.63010387837e-05,1793244601214476288
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,786,805.191579995,652,631,652,0.43239815843,0.00460622791143,0.0698941118838,0.999999974392,0.000120061745471,-0.000183136310378,-5.71208856138e-05,1793244601231142400
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,786,805.765383567,652,631,652,0.433293045816,0.00460281093231,0.0698946428375,0.999999977695,0.000113983958146,-0.000167713531022,-5.906962888e-05,1793244601247809024
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.649107606,745,714,681.350892394,660.701784787,633.649107606,880,786,806,652,631,652,0.43419290288,0.0045956686969,0.0699351106418,0.999999988784,9.78239238953e-05,-9.63951186451e-05,-5.97529821666e-05,1793244601264475648
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.055502268,745,714,681.944497732,661.888995465,633.055502268,880,786,806,652,631,652,0.435096197426,0.00458594969474,0.0700032028426,0.999999995345,7.46899793846e-05,1.35864109656e-05,-5.95610620554e-05,1793244601281142272
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,714,681.476836241,661.476836241,633.523163759,880,786,806,652,631,652,0.435943202427,0.00458344188034,0.0700239234537,0.999999993814,8.17828452681e-05,4.84882289772e-05,-5.77295440091e-05,1793244601297808896
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.099737826,745,714,681.099737826,660.900262174,634,880,786,806,652,631,652,0.436776224599,0.00458284134898,0.0700338395303,0.999999992021,9.01866399603e-05,6.8003900088e-05,-5.65753337163e-05,1793244601314475776
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.673691818,745,714,681.673691818,660.326308182,634,880,786,806,652,631,652,0.437570368719,0.00458777277918,0.0700156157041,0.999999992873,8.99998000901e-05,5.11842243701e-05,-5.94455489126e-05,1793244601331142912
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660.248073189,634,880,786,806,652,631,652,0.438333598068,0.00459186225068,0.0699809816648,0.999999994203,8.83300402191e-05,5.47574075145e-06,-6.13269239469e-05,1793244601347809792
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.993835007,682,660,634,880,786.006164993,806,652,631,652,0.440381412584,0.00460722600793,0.0698108776581,0.999999953776,0.000118021834445,-0.000273615717481,-6.04470778625e-05,1793244601397809408
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+190,3.166666667,POSE1_TO_POSE2_PRESS,764.266485995,745,713,682,659.266485995,633.266485995,880,786.266485995,806,652,631,652,0.442567293962,0.00462658065376,0.0699000558266,0.999999980366,0.000132358664559,-0.000135136148558,-5.90519527473e-05,1793244601447808768
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.316052261,745,713.316052261,682,658.683947739,633.316052261,880.316052261,786,806.316052261,652,631,652,0.443221821375,0.00463184341095,0.0699043209275,0.999999979959,0.000133376498599,-0.000137215012435,-5.88555605705e-05,1793244601464475648
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.906412879,745,713.906412879,682,658.093587121,633.906412879,880.906412879,786,806.906412879,652,631,652,0.443831540252,0.00463684999162,0.0698805416615,0.99999997163,0.00013977357959,-0.000183469312857,-5.95107470476e-05,1793244601481143040
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.513131355,745,714,682,658,633.026262711,880.513131355,786,806.513131355,652,630.513131355,652,0.444399571777,0.00464333687169,0.0698364605709,0.999999953029,0.000158434601021,-0.000255645656027,-5.90377927043e-05,1793244601497809920
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+195,3.250000000,POSE1_TO_POSE2_PRESS,764.640159245,745,713.359840755,682,658,632.640159245,880,786,806.640159245,652,630.640159245,652,0.445497210299,0.00465408719508,0.0697644413681,0.999999916178,0.000190684380548,-0.00035766322147,-5.79696209526e-05,1793244601531142656
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713,682.214608497,657.785391503,633,880,786,807,652,631,652,0.446028706383,0.00465840261591,0.0697466171447,0.999999906659,0.000199547870776,-0.000378831495505,-5.78796818379e-05,1793244601547809024
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713,682.787976406,657.212023594,633,880,786,807,652,631,652,0.446546371973,0.00466279858319,0.0697433489886,0.999999903709,0.000202727555809,-0.000384812549244,-5.83305734949e-05,1793244601564475648
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713.37425231,683,657,633,880,785.62574769,806.62574769,652,631,652,0.447023983458,0.00466814566926,0.0697305562639,0.999999890673,0.000209967851668,-0.000413767453544,-5.79941657286e-05,1793244601581142272
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713.968102209,683,657,633,880,785.031897791,806.031897791,652,631,652,0.447478092705,0.00467405083751,0.0697121748699,0.999999870194,0.000219590765649,-0.000456202574282,-5.71957993674e-05,1793244601597808896
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.150008905,652,630.849991095,880.150008905,785,806.150008905,652.849991095,630,652,0.452323165917,0.00475843568036,0.0694683682926,0.999999630433,0.000296373695643,-0.000804536649948,-6.33887270429e-05,1793244603002193152
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.100014414,744.100014414,714,680,657.200028827,634,879,786,805,652,631,652,0.415404138891,0.00443156226492,0.069792549318,0.999999949383,-2.43846017142e-05,-0.000315394026864,3.41561509561e-05,1793244603985526016
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.175301288,745,714,680.824698712,658.175301288,634,879,786,805.824698712,652,631,652,0.41304802313,0.00442863874296,0.0697635000482,0.999999924542,-2.45839014189e-05,-0.000385839296725,3.79425555495e-05,1793244604035526144
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,659.581610138,634,880,786.581610138,805,652,631,652,0.411070747481,0.00448538962899,0.0698756692206,0.999999980711,4.72272130266e-05,-0.000187616695788,3.38737791065e-05,1793244604085526016
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.158761879,745,714,680,659.523714362,634,879.841238121,786.841238121,805,652,631,652,0.410399755703,0.00448205619032,0.0698747565117,0.999999979173,5.23263340872e-05,-0.000194148202466,3.4959606461e-05,1793244604102192640
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.360684207,634,879,786,805,652,630.639315793,652,0.406843212354,0.00447108631894,0.0698087330219,0.999999952523,2.10156980791e-05,-0.000305879104574,3.08383319804e-05,1793244604202192384
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.548661557,745,714,680,658,634,879,787,805,652,631,652,0.404647074817,0.00448018752668,0.069832342508,0.999999961426,3.59521232701e-05,-0.000273863106816,2.9243140643e-05,1793244604285526272
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.029894453,745.029894453,714,679.029894453,658,634,879,786,805,652,631,652,0.402743400972,0.00446399611404,0.0698164460269,0.999999953781,-1.93694850489e-05,-0.000302239821723,2.67009564724e-05,1793244604385526016
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.759810807,634,879,786,805.240189193,652,631,652,0.401322888112,0.00450270628781,0.0698022406553,0.999999947736,6.08391400142e-05,-0.000317068913986,1.71284782649e-05,1793244604535526144
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.996951899,634,879,786,805.003048101,652,631,652,0.401125397781,0.00450464969157,0.0698028452256,0.999999948387,6.08399361869e-05,-0.000314896167585,1.91158113391e-05,1793244604585526016
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.573968124,745,714,680,658,634,879,786,804.426031876,652,631,652,0.401088536308,0.00450170558667,0.0698064816564,0.999999950465,5.49441364461e-05,-0.000309291627924,1.97659422506e-05,1793244604602192896
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,804.725873418,652,631,652,0.401034883108,0.00450284224171,0.0698135222932,0.999999954378,5.53960862147e-05,-0.000296250721106,2.02666881509e-05,1793244604635526144
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745.521258104,713.521258104,680,658,634,879,786,805,652,631,652,0.400989954853,0.00450067324823,0.0698195026636,0.999999956951,5.48237893601e-05,-0.000287501030315,2.08752873015e-05,1793244604685526016
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,713.633773837,680,658.633773837,634,879,786,805,652,631,652,0.400978365285,0.00450147072808,0.069821626834,0.999999957966,5.28414947636e-05,-0.000284345190389,2.05646898484e-05,1793244604718859264
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_11/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6868365449ae264182429649127ec69403afcaf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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+395,6.583333333,pose2_to_pose3_retreat,0.575670644509,0.00987783001617,1.06005094246,0.546242277897,0.0185535163654,1.05971743268
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_11/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..358d0fb339c8a4a89e510c23774bdf09e477fa5f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3ea10ae484ec73ffc5c55a3456c5d7968a81075413201b30d9859d59a25f4f4
+size 26012879
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_11/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..99477e449085f1d6daafc0d310466c641b81587b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_03/franka_data.csv
@@ -0,0 +1,410 @@
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+16,0.266666667,BASELINE,764.722869026,745,714,680,658.277130974,634,879.277130974,786,805,652,631,651.722869026,0.400974273337,0.00449955476179,0.0698338502316,0.999999963619,4.8582092937e-05,-0.000264606470292,1.96088490046e-05,1793244605484282112
+17,0.283333333,BASELINE,764.1321984,745,714,680,658.8678016,634,879.8678016,786,805,652,631,651.1321984,0.400973414656,0.00449939283641,0.0698330768228,0.999999963185,4.80580953923e-05,-0.000266332314521,1.96706200577e-05,1793244605500948736
+18,0.300000000,BASELINE,764.449450491,745,714,679.550549509,658.550549509,634,879.101099017,786,805,652.449450491,631,651.449450491,0.40097393357,0.00450014083737,0.0698335303232,0.999999963375,4.95740189864e-05,-0.000265333321072,1.97799884301e-05,1793244605517615360
+19,0.316666667,BASELINE,765,745,714,679.056469622,658.028234811,634,878,786,805,652.971765189,631,652,0.400974828516,0.0045010606475,0.0698342942953,0.999999963719,5.1472219524e-05,-0.000263658821307,1.98970917988e-05,1793244605534282240
+20,0.333333333,BASELINE,765,745,714,680.203869307,658.601934654,634,878,786,805,652.398065346,631,652,0.400975314074,0.00450023086251,0.0698342217234,0.999999963704,4.93921771598e-05,-0.000264113036907,1.98984852099e-05,1793244605550948608
+21,0.350000000,BASELINE,764.823833529,745.176166471,714,680.823833529,658.823833529,634,878.176166471,786,805,652,631,652,0.40097513175,0.00449954644044,0.0698336926385,0.999999963504,4.80693968585e-05,-0.000265115557678,1.98764955604e-05,1793244605567615232
+22,0.366666667,BASELINE,764.248396101,745.751603899,714,680.248396101,658.248396101,634,878.751603899,786,805,652,631,652,0.400973435709,0.00449919147497,0.0698321288937,0.999999962889,4.84629068218e-05,-0.000267360779849,1.98015095777e-05,1793244605584282112
+23,0.383333333,BASELINE,764,745.663795111,714,679.663795111,658,634,879,786.336204889,805,652.336204889,631,652,0.400972865025,0.00449889092125,0.0698321725687,0.999999962738,4.85092805071e-05,-0.000267920637668,1.97206359668e-05,1793244605600948736
+24,0.400000000,BASELINE,764,745.072234105,714,679.072234105,658,634,879,786.927765895,805,652.927765895,631,652,0.40097314908,0.00449863169458,0.0698334371195,0.999999962943,4.82919954498e-05,-0.000267200418867,1.96352905452e-05,1793244605617615616
+25,0.416666667,BASELINE,764.506068027,745,714,679.506068027,658,634,878.493931973,786.493931973,805,652.493931973,631,652,0.400973055778,0.0044995686564,0.0698335321369,0.999999963086,5.03700236396e-05,-0.000266270526969,1.97464409449e-05,1793244605634282240
+26,0.433333333,BASELINE,764.917595602,745,714,680,658,634.082404398,878,786,805,652.082404398,631,652,0.400972972179,0.00450039477789,0.0698334791031,0.99999996323,5.21009832616e-05,-0.000265391114418,1.9842548225e-05,1793244605650948608
+27,0.450000000,BASELINE,764.341986545,745,714,680,658,634.658013455,878,786,805,652.658013455,631,652,0.400973260791,0.00449956168801,0.0698335135796,0.999999963455,4.98438561958e-05,-0.000264988379594,1.96850393589e-05,1793244605667615488
+28,0.466666667,BASELINE,764.234108455,745,714,680,658,634.765891545,878.234108455,786,805,652.765891545,631,652,0.400973801746,0.00449882538787,0.0698337251547,0.999999963713,4.80437437987e-05,-0.000264347845705,1.96222769912e-05,1793244605684281856
+29,0.483333333,BASELINE,764.810914763,745,714,680,658,634.189085237,878.810914763,786,805,652.189085237,631,652,0.400974712091,0.0044982307727,0.0698341959741,0.999999964027,4.69126289299e-05,-0.000263359211514,1.96982085629e-05,1793244605700948480
+30,0.500000000,BASELINE,764.602178542,745,714,679.602178542,658.397821458,634,879,786,805,652,631,652,0.400974151451,0.00449827767642,0.0698340446306,0.999999963742,4.75912017709e-05,-0.000264299903948,1.99375173602e-05,1793244605717615104
+31,0.516666667,BASELINE,764.010346072,745,714,679.010346072,658.989653928,634,879,786,805,652,631,652,0.400972873436,0.00449863743841,0.0698335898684,0.999999963161,4.91523297184e-05,-0.000266181497425,2.02565025539e-05,1793244605734281728
+32,0.533333333,BASELINE,764,745,714,679,658.434035146,634,879,786,805,652.565964854,631,652,0.400972733025,0.00449975398029,0.0698331074358,0.999999963048,5.02284763725e-05,-0.000266451128138,1.96256165761e-05,1793244605750948608
+33,0.550000000,BASELINE,764,745,714,679,658,634,879,786,805,652.858736316,631,652,0.400972783602,0.00450059586736,0.0698328104091,0.999999962994,5.09975168934e-05,-0.000266542280958,1.91474330827e-05,1793244605767615232
+34,0.566666667,BASELINE,764,745,714,679,658,634,879,786,805,652.285687025,631,652,0.400973356087,0.00450055708928,0.0698330815976,0.999999963098,5.08542340889e-05,-0.000266175564901,1.91876571551e-05,1793244605784282112
+35,0.583333333,BASELINE,764.296985086,745,714,679.296985086,658,634,879,786,804.703014914,652,631,652,0.400973821645,0.00450050779736,0.069833469069,0.999999963258,5.05180082805e-05,-0.000265637957301,1.91955438961e-05,1793244605800948736
+36,0.600000000,BASELINE,764.889223989,745,714,679.889223989,658,634,879,786,804.110776011,652,631,652,0.400974180899,0.0045004480529,0.0698339721453,0.999999963473,4.9989964208e-05,-0.000264930454321,1.91712818206e-05,1793244605817615360
+37,0.616666667,BASELINE,764.526225634,744.526225634,714,680,658,634,879,786.473774366,804.473774366,652,631,652,0.400974041019,0.00450009352609,0.069833717536,0.99999996352,4.97826261051e-05,-0.000264791660313,1.91457218357e-05,1793244605834281728
+38,0.633333333,BASELINE,764.055696568,744.055696568,714,680,658,634,879,786.944303432,805,652,631,652,0.400973753606,0.00449979325602,0.0698332991185,0.999999963515,4.97154194825e-05,-0.00026482524745,1.91291262705e-05,1793244605850948352
+39,0.650000000,BASELINE,764.629624821,744.629624821,714,680,658,634,879,786.370375179,805,652,631,652,0.400973162015,0.00450062889385,0.0698329786019,0.999999963375,5.02655025823e-05,-0.000265245265426,1.91987191882e-05,1793244605867615232
+40,0.666666667,BASELINE,764.797706074,745,714,680,658,634,879,786,805,652,631,652,0.400973380181,0.00450067935875,0.0698332613243,0.999999963491,5.00732329949e-05,-0.000264836261444,1.93080147344e-05,1793244605884281856
+41,0.683333333,BASELINE,764.22732809,745,714,680,658,634,879,786,805,652,631,652,0.400975071741,0.00449930116162,0.0698346416708,0.999999964069,4.85302150075e-05,-0.000262918809937,1.94895512222e-05,1793244605900948480
+42,0.700000000,BASELINE,764.358247,745,714,680,658,634,879,786,805,652.358247,631,651.641753,0.400974394879,0.00449890963842,0.069834200235,0.99999996378,4.79874464163e-05,-0.000264111741281,1.95495874805e-05,1793244605917615104
+43,0.716666667,BASELINE,764.953892699,745,714,680,658,634,879,786,805,652.953892699,631,651.046107301,0.400972148541,0.00449917195217,0.0698325515628,0.99999996291,4.81075108045e-05,-0.000267365822799,1.95291094597e-05,1793244605934281984
+44,0.733333333,BASELINE,765,745,714,680,658,634,879,786.532100297,805,652.467899703,631,651.532100297,0.400973397496,0.00449936226877,0.0698340675308,0.999999963425,4.85202865128e-05,-0.000265342080998,1.97290398481e-05,1793244605950948608
+45,0.750000000,BASELINE,764.891434398,745,714,680,658,634,879,786.891434398,805,652,631,652,0.400974429405,0.00449944318399,0.0698352763773,0.999999963859,4.87359297562e-05,-0.000263652777319,1.98699305263e-05,1793244605967615488
+46,0.766666667,BASELINE,764.316169488,745,714,680,658,634,879,786.316169488,805,652,631,652,0.400973267618,0.00449907977467,0.0698340235681,0.999999963461,4.79985706027e-05,-0.000265304730443,1.96775267011e-05,1793244605984281856
+47,0.783333333,BASELINE,764,745,714,679.734061348,658,634,879.265938652,786,805,652,631,652,0.400972937652,0.00449946082802,0.0698332755981,0.999999963286,4.81032449864e-05,-0.000265957386345,1.95075717272e-05,1793244606000948480
+48,0.800000000,BASELINE,764,745,714,679.143602457,658,634,879.856397543,786,805,652,631,652,0.400973622741,0.00450075033594,0.0698331436744,0.999999963384,4.92354379206e-05,-0.000265390617722,1.9365010664e-05,1793244606017615104
+49,0.816666667,BASELINE,764,745,714,679.438089516,658,634,879.123820967,786,805,652,631,652,0.400973939446,0.00450152182002,0.0698338555005,0.999999963417,5.10896439471e-05,-0.000264915035968,1.93867631739e-05,1793244606034281728
+50,0.833333333,BASELINE,764.016792248,745,714,680,658.016792248,634,878.016792248,786,805,652.016792248,630.983207752,652,0.400974127564,0.00450209044129,0.0698347943638,0.999999963424,5.3058943068e-05,-0.000264494629931,1.94546725762e-05,1793244606050948352
+51,0.850000000,BASELINE,764.58980247,745,714,680,658.58980247,634,878.58980247,786,805,652.58980247,630.41019753,652,0.400973977749,0.00450145370301,0.0698342721025,0.999999963411,5.1154979361e-05,-0.000264931186374,1.93024047735e-05,1793244606067615232
+52,0.866666667,BASELINE,765,745,714,679.836883526,658.836883526,634,878.836883526,786,805,652.836883526,630.163116474,652,0.400973534783,0.00450099359183,0.0698338785083,0.99999996333,4.98632906192e-05,-0.000265486346182,1.92405482058e-05,1793244606084282112
+53,0.883333333,BASELINE,765,745,714,679.262804194,658.262804194,634,878.262804194,786,805,652.262804194,630.737195806,652,0.400972353237,0.00450097848285,0.069833809084,0.999999963087,5.01141946179e-05,-0.000266340320528,1.94064777113e-05,1793244606100948736
+54,0.900000000,BASELINE,765,745,714,679.322043339,658,634,878,786,805,652,630.677956661,652,0.400972023886,0.00450120182726,0.06983368921,0.999999963113,5.06740519011e-05,-0.000266140734183,1.93528501504e-05,1793244606117615360
+55,0.916666667,BASELINE,765,745,714,679.915982247,658,634,878,786,805,652,630.084017753,652,0.400972414028,0.0045016264937,0.0698335267421,0.999999963365,5.14947530361e-05,-0.000265051644895,1.91138543825e-05,1793244606134281728
+56,0.933333333,BASELINE,764.503165358,745,714,680,658.496834642,634,878.496834642,786,805,652,630.496834642,652,0.400972669593,0.00450071114287,0.0698336686839,0.999999963623,4.95189992436e-05,-0.000264457083877,1.91007794814e-05,1793244606150948352
+57,0.950000000,BASELINE,764.075054874,745,714,680,658.924945126,634,879,786,804.924945126,652,631,651.924945126,0.40097291971,0.00449999839653,0.0698339088443,0.999999963813,4.78318931694e-05,-0.000264049393167,1.9099454021e-05,1793244606167614720
+58,0.966666667,BASELINE,764.650104211,745,714,680,658.349895789,634,879,786,804.349895789,652,631,651.349895789,0.400973281249,0.0045021061824,0.0698344691816,0.999999963575,5.11371393387e-05,-0.000264343773125,1.8928423438e-05,1793244606184281600
+59,0.983333333,BASELINE,764.774846246,745,714,680,658.225153754,634,879,786,804.225153754,652,631,651.225153754,0.400973356021,0.00450278418117,0.0698345590821,0.999999963376,5.27599221756e-05,-0.000264777761566,1.88934531427e-05,1793244606200948480
+60,1.000000000,BASELINE,764.199796294,745,714,680,658.800203706,634,879,786,804.800203706,652,631,651.800203706,0.400972985146,0.004501240245,0.0698339179087,0.999999963252,5.176810322e-05,-0.000265428706144,1.90699248987e-05,1793244606217615616
+61,1.016666667,BASELINE,764,745,714,680,659,634,879,786,805,652,631,652,0.400972446202,0.00450093060241,0.069833092297,0.999999962972,5.20918186379e-05,-0.000266416069783,1.90892706212e-05,1793244606234282240
+62,1.033333333,BASELINE,764,745,714,680,659,634,879,786,805,652,631,652,0.400971817774,0.00450127813468,0.0698321684849,0.999999962608,5.31159639239e-05,-0.000267582552945,1.9024957738e-05,1793244606250948608
+63,1.050000000,BASELINE,764,745,714,680,659,634,879,786,805,652,631,651.441663098,0.400972794082,0.00449987278146,0.0698331860313,0.999999963248,5.09294332049e-05,-0.000265604294361,1.90919010157e-05,1793244606267615232
+64,1.066666667,BASELINE,764,745,714,680,659,634,879,786,804.865966465,652,631,651,0.400973644216,0.00449920265286,0.069834177432,0.999999963766,4.9524376832e-05,-0.000263909475092,1.91853148569e-05,1793244606284281856
+65,1.083333333,BASELINE,764,745,714,680,659,634,879,786,804.291668942,652,631,651,0.400973911996,0.00450113095046,0.069834879819,0.999999963802,5.10221992501e-05,-0.000263474724971,1.93519434742e-05,1793244606300948480
+66,1.100000000,BASELINE,764.291167951,745,714,680,659,634,879,786.291167951,804,652,631,651.291167951,0.40097397948,0.00450121492166,0.0698348918611,0.999999963771,5.06388705524e-05,-0.000263651559118,1.95114255859e-05,1793244606317615360
+67,1.116666667,BASELINE,764.882817324,745,714,680,659,634,879,786.882817324,804,652,631,651.882817324,0.400973840264,0.00449939557262,0.0698341914765,0.99999996367,4.83142190223e-05,-0.000264459540061,1.96635325891e-05,1793244606334281984
+68,1.133333333,BASELINE,764.536991717,745,714,679.536991717,659,634,879,786.536991717,804.463008283,652,630.536991717,652,0.400974294426,0.00450057676224,0.0698338462071,0.99999996357,5.0187469501e-05,-0.000264506426189,1.94287463936e-05,1793244606350948352
+69,1.150000000,BASELINE,764.040351737,745,714,679.040351737,659,634,879,786,805,652.040351737,630.040351737,652,0.400974727333,0.00450228286842,0.0698335870104,0.999999963454,5.2774240605e-05,-0.000264462854277,1.91343846096e-05,1793244606367614976
+70,1.166666667,BASELINE,764.617461387,745,714,679.617461387,659,634,879,786,805,652.617461387,630.617461387,652,0.400972928092,0.00450111375733,0.069833306094,0.999999963207,5.10609129623e-05,-0.000265716429936,1.93186069014e-05,1793244606384282112
+71,1.183333333,BASELINE,764.806710384,745,714,679.806710384,659,634,879,786,805,652.806710384,631,652,0.400972357631,0.00449982373058,0.0698334197734,0.999999963224,4.89577326383e-05,-0.000266036176461,1.94794227779e-05,1793244606400948992
+72,1.200000000,BASELINE,764.233401407,745,714,679.233401407,659,634,879,786,805,652.233401407,631,652,0.400974203029,0.00449829597594,0.0698343092527,0.999999963761,4.60880774809e-05,-0.000264519957262,1.95942202241e-05,1793244606417615616
+73,1.216666667,BASELINE,764,745,714,679,658.64893723,634,879,786,805,652,631,652,0.400974220201,0.00449845861282,0.0698345206803,0.999999963856,4.64670236409e-05,-0.000264090956802,1.96340425765e-05,1793244606434281984
+74,1.233333333,BASELINE,764,745,714,679,658.056813245,634,879,786,805,652,631,652,0.400972982002,0.00449978197622,0.069834266516,0.999999963647,4.90766587607e-05,-0.000264408507461,1.96223824271e-05,1793244606450948864
+75,1.250000000,BASELINE,764,745,714,679.52130263,658.52130263,634,879,786,805,652,631,652,0.400973102926,0.00449888690606,0.0698340722386,0.999999963748,4.69027645321e-05,-0.000264450780071,1.92451823307e-05,1793244606467615232
+76,1.266666667,BASELINE,764.097826011,745,714,680,659,634,879,786,805,652,631,651.902173989,0.400973214589,0.00449810305603,0.0698338208881,0.999999963765,4.51541613063e-05,-0.000264710630135,1.89552381004e-05,1793244606484281856
+77,1.283333333,BASELINE,764.673832242,745,714,680,659,634,879,786,805,652,631,651.326167758,0.400972575907,0.00449901373043,0.0698332594925,0.999999963239,4.79659956962e-05,-0.000266176821639,1.9281440314e-05,1793244606500948480
+78,1.300000000,BASELINE,764.744771746,745,714,680,659,634,878.744771746,786,805,652,631,651.255228254,0.400972399839,0.0044997937355,0.0698330972659,0.999999963016,5.01848548732e-05,-0.000266594062182,1.94261579736e-05,1793244606517615360
+79,1.316666667,BASELINE,764.156339343,745,714,680,659,634,878.156339343,786,805,652,631,651.843660657,0.400972827721,0.00450040314981,0.0698334561601,0.999999963197,5.16295761791e-05,-0.00026564188208,1.93339449181e-05,1793244606534281984
+80,1.333333333,BASELINE,764.425419546,745,714,680,658.574580454,634,878.425419546,786,805,652,630.574580454,651.574580454,0.400972539186,0.00450069230003,0.0698336299538,0.999999963255,5.13174613826e-05,-0.000265491319216,1.92813805554e-05,1793244606550948864
+81,1.350000000,BASELINE,764.995255774,745,714,680,658.004744226,634,878.995255774,786.004744226,804.995255774,652,630.004744226,651.004744226,0.400972001288,0.00450087039946,0.0698337401393,0.999999963268,5.0399578396e-05,-0.00026561996171,1.92424217798e-05,1793244606567615488
+82,1.366666667,BASELINE,764.418301412,745,714,680,658.581698588,634,878.418301412,786.581698588,804.418301412,652,630.581698588,651.581698588,0.400972651569,0.00450163066143,0.069834256143,0.999999963443,5.3086545596e-05,-0.000264441804513,1.91142044584e-05,1793244606584282112
+83,1.383333333,BASELINE,764,745,714,680,658.841840971,634,878,787,804,652,631,652,0.400972908706,0.00450183575832,0.0698343265715,0.999999963481,5.37702142496e-05,-0.000264169470736,1.90038695043e-05,1793244606600948736
+84,1.400000000,BASELINE,764,745,714,680,658.266682668,634,878,787,804,652,631,652,0.400972129288,0.00450057711703,0.0698332222042,0.999999963158,4.91720222632e-05,-0.000266285414576,1.89406828531e-05,1793244606617615360
+85,1.416666667,BASELINE,764,745,714,680,658.317509113,634,878.317509113,787,804.317509113,652.317509113,631,652,0.400972157686,0.00450048968371,0.0698330514079,0.99999996312,4.8339958251e-05,-0.000266572606263,1.90195978754e-05,1793244606634282240
+86,1.433333333,BASELINE,764,745,714,680,658.909510459,634,878.909510459,787,804.909510459,652.909510459,631,652,0.400972884453,0.00450141478046,0.0698336877003,0.99999996334,5.07637786334e-05,-0.000265278809305,1.92213623072e-05,1793244606650948864
+87,1.450000000,BASELINE,764.485230665,745,714,679.514769335,659,634,879,786.514769335,805,652.514769335,631,652,0.400974015084,0.004500711104,0.0698346164022,0.999999963771,5.04987542465e-05,-0.000263689201278,1.93862971575e-05,1793244606667615488
+88,1.466666667,BASELINE,765,745,714,679.058580856,659,634,879,786,805,652,631,652,0.400974957276,0.0044998680056,0.0698353875143,0.99999996416,4.97991270486e-05,-0.000262334428151,1.95004319185e-05,1793244606684282368
+89,1.483333333,BASELINE,765,745,714,679.63696799,659,634,879,786,805,652,631,652,0.400973580779,0.00450039550871,0.0698342921215,0.999999963862,4.95480894279e-05,-0.000263537024869,1.92227673343e-05,1793244606700948992
+90,1.500000000,BASELINE,764.780144542,745,714,680,659,634,878.780144542,786,805,652,631,652,0.400973050357,0.0045004689752,0.0698338896999,0.999999963784,4.9220680464e-05,-0.000263897347518,1.91542859476e-05,1793244606717615616
+91,1.516666667,BASELINE,764.189670757,745,714,680,659,634,878.189670757,786,805,652,631,652,0.400973946192,0.00449977705563,0.0698346554454,0.99999996408,4.87645295796e-05,-0.000262837818069,1.94384322997e-05,1793244606734281984
+92,1.533333333,BASELINE,764,745,714,680,659,634,878.392730716,786,805,652.392730716,631,652,0.400974724651,0.00449995242034,0.0698349149247,0.999999964115,4.95496316538e-05,-0.000262551954677,1.95429479275e-05,1793244606750948864
+93,1.550000000,BASELINE,764,745,714,680,659,634,878.971312206,786,805,652.971312206,631,652,0.400975447564,0.00450053820731,0.0698349348251,0.999999964024,5.09221280859e-05,-0.000262632210848,1.9562457474e-05,1793244606767615488
+94,1.566666667,BASELINE,764.547106133,745,714,680,659,634,879,786,805,653,631,652,0.400975005126,0.0045001881468,0.0698353275293,0.999999964133,5.05024250729e-05,-0.000262327364539,1.91615645556e-05,1793244606784282112
+95,1.583333333,BASELINE,765,745,714,680,659,634,879,786,805,653,631,652,0.400974938822,0.00450007726737,0.0698358517193,0.999999964317,5.02466612065e-05,-0.000261693420411,1.88928516348e-05,1793244606800948736
+96,1.600000000,BASELINE,765,745,714,680,659,634,879,786,805,653,631,652,0.400976484535,0.00450102895691,0.0698367892609,0.999999964739,5.09406941956e-05,-0.000259919417504,1.91927242783e-05,1793244606817615616
+97,1.616666667,BASELINE,764.72014287,745,714,680,658.72014287,634,878.72014287,786.27985713,805,652.72014287,631,652,0.400976763075,0.00450165281976,0.0698367601776,0.999999964757,5.19135909591e-05,-0.000259651659957,1.93064025935e-05,1793244606834282496
+98,1.633333333,BASELINE,764.128435664,745,714,680,658.128435664,634,878.128435664,786.871564336,805,652.128435664,631,652,0.40097562958,0.00450191137908,0.0698356539661,0.999999964324,5.31972308433e-05,-0.000261062340122,1.92126010397e-05,1793244606850949120
+99,1.650000000,BASELINE,764,745,714,680,658.453608744,634,878.453608744,786.546391256,805,652,631,652,0.400974059839,0.00450197991329,0.0698346414751,0.999999963876,5.24364120233e-05,-0.000262948641289,1.89012943951e-05,1793244606867615744
+100,1.666666667,BASELINE,764.032658799,745,714,680,659,634,879,786,805,652.032658799,631,652,0.40097252903,0.00450197906683,0.0698337519314,0.999999963467,5.11903567256e-05,-0.000264765839734,1.85640763283e-05,1793244606884282368
+101,1.683333333,BASELINE,764.6064815,745,714,680,659,634,879,786,805,652.6064815,631,652,0.400973647412,0.00450170151691,0.0698344691153,0.999999963857,5.12957955129e-05,-0.00026325304984,1.87966898097e-05,1793244606900948992
+102,1.700000000,BASELINE,765,745,714,679.815197211,659,634,879,786.184802789,805,653,631,651.815197211,0.40097386956,0.00450105964142,0.0698346103322,0.999999963899,5.08749839487e-05,-0.000263150877737,1.91034091031e-05,1793244606917615616
+103,1.716666667,BASELINE,765,745,714,679.227057717,659,634,879,786.772942283,805,653,631,651.227057717,0.400972135657,0.00449962261627,0.0698334944867,0.999999963181,4.93056178234e-05,-0.000266127414422,1.95718661528e-05,1793244606934282240
+104,1.733333333,BASELINE,764.645086115,745,714,679.354913885,659,634,879,787,805,653,631,651,0.400972597281,0.00449941248715,0.0698335016562,0.999999963322,4.89004199052e-05,-0.000265668266224,1.96104378086e-05,1793244606950948864
+105,1.750000000,BASELINE,764.066992991,745,714,679.933007009,659,634,879,787,805,653,631,651,0.400974439509,0.00449997386255,0.069834215007,0.999999964003,4.92272816007e-05,-0.000263048668769,1.93786862016e-05,1793244606967615488
+106,1.766666667,BASELINE,764,745,714,679.490099433,659,634,879,787,805,653,631,651.509900567,0.400972915285,0.00450082242762,0.0698336227284,0.999999963458,5.00879351598e-05,-0.000264966970489,1.91560049045e-05,1793244606984282368
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,652,631,652,0.40097601268,0.00449993323606,0.0698353684821,0.9999999644,4.9549072673e-05,-0.000261522419474,1.87505086265e-05,1793244607027515136
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.408016744,745.591983256,714,680,659,634,879,786,805,652,631,652,0.400975786505,0.00450080375726,0.069835601866,0.999999964487,4.95775631325e-05,-0.000261153008096,1.91431442281e-05,1793244607044181760
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745.819925985,714,679.819925985,659,634,879,786,805,652,631,652,0.400975153207,0.00450141360523,0.0698354018417,0.999999964376,4.99294833009e-05,-0.000261496028118,1.9370008748e-05,1793244607060848384
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745.24046823,714,679.24046823,659,634,879,786,805,652,631,652,0.400973616955,0.00450144530966,0.069834240567,0.99999996382,5.09987338825e-05,-0.000263419140103,1.9229211888e-05,1793244607077515008
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,786,805,652.336020166,631,651.663979834,0.400973231334,0.00450151572254,0.0698342936508,0.999999963742,5.12283807515e-05,-0.000263679085573,1.91261930862e-05,1793244607094181888
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679,659,634,879,786,805,652.910402161,631,651.089597839,0.400973661932,0.00450161359392,0.0698352081613,0.999999964004,5.08624398614e-05,-0.000262759234439,1.90499728244e-05,1793244607110848512
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,745.484770123,714,679.484770123,659,634,879,786,805,652.515229877,631,651.484770123,0.400973646772,0.00450071633544,0.0698348044802,0.999999963944,5.0171620718e-05,-0.000263116317075,1.90824415909e-05,1793244607127515136
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745.938968126,714,680,659,634,878.938968126,786,805,652,631,652,0.400973689436,0.00449994392134,0.0698343250522,0.99999996385,4.98189321969e-05,-0.000263534444697,1.91548627171e-05,1793244607144181760
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745.346183738,714,680,659,634,878.346183738,786,805,652,631,652,0.400974953696,0.004501861679,0.0698353083231,0.999999963976,5.29354205592e-05,-0.000262428215505,1.94003568424e-05,1793244607160848384
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.240484535,786,805,652,631,652,0.400980507798,0.00450211895733,0.0698383966961,0.999999965069,5.30768574188e-05,-0.000258195136648,1.94893110255e-05,1793244607177515008
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.818566812,786,805,652,631,652,0.400992084079,0.00450004521628,0.0698444402598,0.999999967467,4.90418480251e-05,-0.000249572514118,1.93585108017e-05,1793244607194181632
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,786,805,652,631,652,0.401021383704,0.00450023174773,0.0698562974553,0.999999972343,4.91265796383e-05,-0.00022919833018,1.91941940874e-05,1793244607210848256
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,786,805,652,631,652,0.401058790252,0.00450145216152,0.0698708138937,0.999999977818,5.10957421669e-05,-0.000203448805013,1.90145464062e-05,1793244607227514880
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679.474548792,659,634,879,786.525451208,805,652,631,652,0.401112602653,0.00450098947652,0.0698872417276,0.999999982884,5.04297646711e-05,-0.000176998398231,1.89793116875e-05,1793244607244181504
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.121539769,745,714,679,658.878460231,634,879,786.878460231,805,652,631,652,0.401169548573,0.00450080541015,0.06990189826,0.999999986642,4.9550194022e-05,-0.000154624309963,1.87436142639e-05,1793244607260848384
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.717111886,745,714,679,658.282888114,634,879,786.282888114,805,652,631,652,0.401230097984,0.00450259214609,0.0699086422737,0.999999987604,4.9221794091e-05,-0.000148516941579,1.76502076383e-05,1793244607277515008
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.696579074,745,714,679.303420926,658.303420926,634,878.696579074,786.303420926,805,652.303420926,631,652,0.401300657639,0.00450299561163,0.0699112118383,0.999999988148,4.71371897193e-05,-0.000145671381574,1.61691825465e-05,1793244607294181888
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.11865046,745,714,679.88134954,658.88134954,634,878.11865046,786.88134954,805,652.88134954,631,652,0.401380273652,0.0045021476197,0.0699100047402,0.999999988327,4.34637311416e-05,-0.000145776809824,1.43374755474e-05,1793244607310848512
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.455518262,745,714,680,658.544481738,634,878.455518262,786.544481738,805,652.544481738,631,652,0.401470087796,0.0045016991134,0.0699067367407,0.999999987539,4.1143023358e-05,-0.000151901473885,1.24877854405e-05,1793244607327514880
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745.029634869,714,680,658.029634869,634,879,786,805,652,631,652,0.401564201992,0.00450142491893,0.06990324489,0.999999986539,3.91276894827e-05,-0.000158992076773,1.05703131363e-05,1793244607344181760
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745.62118108,714,680,658.62118108,634,879,786,805,652,631,652,0.401689895149,0.0045024990189,0.0699056037765,0.999999987315,3.6276218948e-05,-0.000154913089105,7.45570097413e-06,1793244607360848128
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.791870534,745.791870534,714,680,659,634,879,786,805,652,631,652,0.401828546968,0.00450388190373,0.0699094003852,0.99999998828,3.3673123291e-05,-0.000149292730973,4.25609610596e-06,1793244607377514752
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.213109887,745.213109887,714,680,659,634,879,786,805,652,631,652,0.401990275199,0.00450581466395,0.0699157572497,0.999999989573,3.15123270307e-05,-0.00014092754351,9.05138917452e-07,1793244607394181632
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,786,804.638301869,652,631,652,0.402170876367,0.00450640213898,0.0699195677954,0.999999990549,2.77033063862e-05,-0.000134637497168,-2.76586258537e-06,1793244607410848512
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,786,804.065797481,652,631,652,0.402362477145,0.00450620555003,0.0699218942867,0.999999991323,2.2933661244e-05,-0.000129556891528,-6.62339382905e-06,1793244607427515136
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.51809707,745,714,680,659,634,879,786,804.51809707,652,630.48190293,652,0.402571340107,0.0045072641715,0.0699215658978,0.99999999156,1.8308819807e-05,-0.000128141682127,-1.12023488861e-05,1793244607444182016
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.102901077,805,652.102901077,630.102901077,652,0.402790363831,0.00450813550073,0.0699211733299,0.999999991714,1.3078983581e-05,-0.000127066626622,-1.59706523694e-05,1793244607460848896
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.685052462,805,652.685052462,630.685052462,652,0.403046270488,0.00450737541585,0.0699220874654,0.999999991906,4.94387604036e-06,-0.000125359054096,-2.11845264635e-05,1793244607477515008
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.734917621,745,714,680,658.734917621,634,879,787,805,652.734917621,631,652,0.403329328795,0.00450580443644,0.0699287583862,0.999999993411,-3.24068795346e-06,-0.000111783100329,-2.59192801966e-05,1793244607494181632
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.15738827,745,714,680,658.15738827,634,879,787,805,652.15738827,631,652,0.403644390163,0.00450327767289,0.0699422147076,0.999999995935,-1.14835447296e-05,-8.42181376106e-05,-3.0089304606e-05,1793244607510848256
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.419965146,634,879,786.580034854,805,652,631,652,0.403977758749,0.00448872635391,0.0699496759704,0.999999996119,-3.4228501945e-05,-7.46251243055e-05,-3.19663440754e-05,1793244607527514880
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.997252643,634,879,786.002747357,805,652,631,652,0.404317985361,0.00446967053897,0.0699548914351,0.999999994934,-6.24060634345e-05,-7.17645496391e-05,-3.2984412674e-05,1793244607544181760
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.415495236,634,879,786,804.415495236,652,631,652,0.404684735109,0.00447150504768,0.0699586727236,0.999999996505,-4.08536762284e-05,-6.64241454068e-05,-3.01556446257e-05,1793244607560848384
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.338469741,634,879.16923487,786,804.16923487,652,631,652,0.405063053461,0.00447752269411,0.0699619747575,0.999999997705,-9.7178266927e-06,-6.13022864851e-05,-2.7162685676e-05,1793244607577515008
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659.495500735,634,879.747750367,786,804.747750367,652,631,652,0.405469042751,0.00449341532932,0.0699641343383,0.999999997138,4.40197347629e-05,-5.67376401068e-05,-2.38171315827e-05,1793244607594182144
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659.34865546,634,879.67432773,786,805,652,631,652,0.405897065895,0.00449815839096,0.069962475921,0.999999996042,6.34310015425e-05,-5.73486978208e-05,-2.45779470236e-05,1793244607610848512
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.193729396,634,879.096864698,786,805,652,631,652,0.40634212437,0.00449428125575,0.0699578656509,0.999999996089,5.63031896427e-05,-6.19613069916e-05,-2.85135670287e-05,1793244607627514880
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.478104797,745,714,680,658,634,879,786,805,652,631,652,0.406814967882,0.00450248455189,0.069942680499,0.999999995755,-2.3135540682e-06,-8.69013346768e-05,-3.05570966374e-05,1793244607644181760
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.946027011,745,714,680,658.053972989,634,879,786.053972989,805.053972989,652,631,652,0.407298515745,0.00451256218206,0.0699269674215,0.999999991183,-6.24977082044e-05,-0.000112667797945,-3.2148822405e-05,1793244607660848384
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.356247607,745,714,680,658.643752393,634,879,786.643752393,805.643752393,652,631,652,0.407832735585,0.00451707576714,0.0699271722161,0.999999993219,-3.52204003265e-05,-0.000105966431938,-3.30411460262e-05,1793244607677515008
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.229461167,745,714,679.770538833,659,634,879,786.770538833,805.770538833,652,631,651.770538833,0.408393700274,0.00452145158444,0.0699338580981,0.999999995341,-9.02393529749e-06,-8.97578685905e-05,-3.43524818259e-05,1793244607694181632
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.80896025,745,714,679.19103975,659,634,879,786.19103975,805.19103975,652,631,651.19103975,0.408995463604,0.00452561723978,0.0699504307353,0.999999997477,1.55237263066e-05,-5.90462871162e-05,-3.63030113455e-05,1793244607710848512
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.383871485,659,634,879,786,804.616128515,652,631,651.383871485,0.40959219969,0.00453573922366,0.0699525026391,0.999999997117,4.11226839801e-05,-5.12205551257e-05,-3.8105507896e-05,1793244607727515392
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.956526452,659,634,879,786,804.043473548,652,631,651.956526452,0.41018646342,0.00454879045978,0.0699474432521,0.999999995453,6.72386559663e-05,-5.4649815741e-05,-3.98352035121e-05,1793244607744181760
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.544573526,804.544573526,652,631,651.455426474,0.410816871815,0.00455173978372,0.0699400512514,0.999999994944,6.09640309879e-05,-6.89554536696e-05,-4.05002678955e-05,1793244607760848896
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.868475507,805,652,631,651.131524493,0.411469257364,0.00455556525957,0.069939258777,0.999999994887,5.88918474368e-05,-7.11286917197e-05,-4.12019488589e-05,1793244607777515776
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.289554556,805,652,631,651.710445444,0.412186300039,0.00456519406581,0.0699615672427,0.999999995471,8.01663783244e-05,-2.89926820517e-05,-4.23256981594e-05,1793244607794181888
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.288745085,634,879,786.288745085,804.711254915,652,631,652,0.412918516848,0.00457378303178,0.0699883679462,0.999999994533,9.44594593365e-05,1.3280784133e-05,-4.28361350069e-05,1793244607810848256
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.866423081,634,879,786.866423081,804.133576919,652,631,652,0.413665917748,0.00458133148223,0.0700196638123,0.999999992358,0.000101766551667,5.56918012692e-05,-4.27328605932e-05,1793244607827514880
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.556374929,634,879,786.556374929,804.443625071,652,631,652,0.414393497318,0.0045876694003,0.0700150509858,0.999999992816,0.000103349220516,4.25666933161e-05,-4.32923426468e-05,1793244607844181504
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.978976089,745,714,680,659,634,879,786,805,652,631,652,0.415114997377,0.00459368973462,0.0699982050588,0.999999993576,0.000103887019971,1.05436278867e-05,-4.40972179221e-05,1793244607860848640
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.392430008,745,714,680,659,634,879,786,805,652,631,652,0.415833334138,0.00460096143926,0.0699428271502,0.999999988177,0.000122633431835,-8.0489895829e-05,-4.61407677919e-05,1793244607877515520
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659.192189874,634,879,786,805,652,631,652,0.416591369375,0.00460781823892,0.0699106033764,0.999999980981,0.000132993379317,-0.000134322382362,-4.80455270126e-05,1793244607894182144
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659.77291567,634,879,786,805,652,631,652,0.417429660011,0.00461383625571,0.0699251885921,0.999999984399,0.000126399038434,-0.000112948304775,-4.96697040738e-05,1793244607910848768
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.350138363,745,714,680,660,634,879,786,805,652,630.649861637,651.649861637,0.418265750261,0.0046199013053,0.0699481950911,0.999999987138,0.000130487412329,-7.89971802346e-05,-4.95648927002e-05,1793244607927515392
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.92511158,745,714,680,660,634,879,786,805,652,630.07488842,651.07488842,0.419100427542,0.0046259965559,0.0699766091605,0.999999988146,0.000141435493439,-3.69699390178e-05,-4.83498433495e-05,1793244607944182272
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.487612993,745,714,680,660,634,879,786,805.512387007,652,630,651.512387007,0.419979096032,0.00462852915459,0.0699983303614,0.999999987331,0.000151218885643,-3.1635318212e-06,-4.96011672661e-05,1793244607960848640
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634,879,786,805.900133643,652,630.099866357,652,0.420861833409,0.00462693626254,0.0700165165921,0.999999986591,0.000153595680409,2.50493914112e-05,-5.09747084749e-05,1793244607977515264
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634,879,786,805.320524872,652,630.679475128,652,0.421732470284,0.00460808806516,0.0700225361038,0.999999990821,0.000121230189855,3.23060036564e-05,-5.11610961406e-05,1793244607994181888
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.258117282,745,714,680,659.741882718,634,879,786,805.258117282,652,631,651.741882718,0.422570631627,0.00458923334126,0.0699988060916,0.999999994281,9.34236420178e-05,-7.06846986975e-06,-5.15726048854e-05,1793244608010848768
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.835563668,745,714,680,659.164436332,634,879,786,805.835563668,652,631,651.164436332,0.423368616068,0.00457037054058,0.0699382715362,0.999999990674,7.12571730082e-05,-0.000104132465345,-5.22626212804e-05,1793244608027515392
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.589931944,745.410068056,713.589931944,680,659,634,879.820136112,786,806,652,631,651.410068056,0.42419087212,0.00457351460606,0.0698853414664,0.999999979177,7.68122234191e-05,-0.000181043346887,-5.44839699884e-05,1793244608044182016
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.01659892,745.98340108,713.01659892,680,659,634,880.966802159,786,806,652,631,651.98340108,0.42502279165,0.00458542051163,0.0698354390587,0.999999962763,9.34043525775e-05,-0.000249930438269,-5.73150049597e-05,1793244608060848640
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745.425879031,713.574120969,680.574120969,659.574120969,633.425879031,879.851758062,786,806,652,631,652,0.425987926883,0.00458689784141,0.0698946082488,0.999999982515,8.58113202032e-05,-0.000156746806882,-5.51021897461e-05,1793244608077515264
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.16180281,745,714,680.83819719,660.16180281,633.16180281,879.16180281,786,806,652,631,651.83819719,0.426945566564,0.00458968281676,0.069952038736,0.999999992393,8.51224557899e-05,-7.16924106458e-05,-5.31759557603e-05,1793244608094181632
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.740325099,745,714,680.259674901,660.740325099,633.740325099,879.740325099,786,806,652,631,651.259674901,0.427873672286,0.0045966363865,0.0699966159096,0.999999993013,0.000104072236856,-2.0019668015e-05,-5.2375110391e-05,1793244608110848256
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.682669382,745,714,680.317330618,660.682669382,634,880,786,806,652,631,651.317330618,0.428803457043,0.00460115558449,0.0700286186065,0.999999991807,0.000112866456592,2.92617928933e-05,-5.28275113703e-05,1793244608127515136
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.106899176,745,714,680.893100824,660.106899176,634,880,786,806,652,631,651.893100824,0.429734609191,0.00460369218734,0.0700503804283,0.999999989164,0.000113389809211,7.65957497085e-05,-5.43005780652e-05,1793244608144182016
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.465620725,745,713.534379275,680.534379275,660.465620725,634,880,786,806,652,631,652,0.430572795566,0.00460438248834,0.0700230447197,0.999999991834,0.000111947708034,2.83000495654e-05,-5.4754304177e-05,1793244608160865280
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.038934313,713.038934313,680.038934313,660.922131373,634,879.961065687,786,806,651.961065687,631,652,0.431388593003,0.00460438703945,0.0699820914192,0.999999991373,0.000110382010101,-4.51793748686e-05,-5.50357803399e-05,1793244608177549568
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.63417612,713.63417612,680.63417612,659.731647761,634,879.36582388,786,806,651.36582388,631,652,0.432187337581,0.00460060793932,0.069906507274,0.999999978048,0.000113453069384,-0.000166965668589,-5.6176736266e-05,1793244608194195200
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.777884435,745.777884435,714,681,659.444231131,634,879,786,806,651.222115565,631,652,0.433038434874,0.00459386565829,0.0698803279662,0.999999972211,0.000105873549245,-0.000202786805773,-5.69756383891e-05,1793244608210848768
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.201589054,745.201589054,714,681,660.596821892,634,879,786,806,651.798410946,631,652,0.433973012592,0.00458239836398,0.0699329283403,0.999999989903,8.1310888587e-05,-0.00010153011733,-5.72291110662e-05,1793244608227515136
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.371856874,745,714,681,661.371856874,634,879.371856874,786,806,652,631,652,0.4348712186,0.00457795074119,0.06998160169,0.999999995451,7.37329562047e-05,-1.94740934938e-05,-5.72983220673e-05,1793244608244181504
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.943769784,745,714,681,661.943769784,634,879.943769784,786,806,652,631,652,0.435749856861,0.00457727964647,0.0700281623287,0.999999994161,7.52926737864e-05,5.22521195175e-05,-5.72684017218e-05,1793244608260848128
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.534998145,714,681.534998145,660.930003711,634,880,786.534998145,806.534998145,652,631,652,0.43657962291,0.00457967993446,0.0700319768854,0.99999999286,8.71290730099e-05,5.91363066931e-05,-5.64970793567e-05,1793244608277515008
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,746,714,681.874920963,660.125079037,634,880.125079037,787,806.874920963,652,631.125079037,652,0.437397319503,0.00458269303925,0.0700235150844,0.999999992668,9.43908926523e-05,5.08112932045e-05,-5.63296595478e-05,1793244608294181632
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,746,714,681.296629336,660.703370664,634,880.703370664,787,806.296629336,652,631.703370664,652,0.438190592791,0.00458671313364,0.0699874598943,0.999999994914,8.10168412145e-05,1.29960580992e-05,-5.86433523698e-05,1793244608310848512
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.719226526,746,714,681.280773474,660.719226526,634,880.719226526,787,806,652,631.719226526,652,0.438922445876,0.00459151440859,0.0699348135045,0.999999992616,8.21122899167e-05,-6.68523112892e-05,-5.96357930903e-05,1793244608327515392
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.142759802,746,714,681.857240198,660.142759802,634,880.142759802,787,806,652,631.142759802,652,0.439589614953,0.00459713837434,0.0698646942919,0.999999975165,9.84461209623e-05,-0.000190967374264,-5.92367720781e-05,1793244608344182272
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745.568061086,713.568061086,682,659.568061086,634,880.431938914,786.568061086,806,652,631,652,0.440294099789,0.00460526168931,0.069830592079,0.999999962247,0.000112732254211,-0.000243334076377,-5.98903153432e-05,1793244608360848640
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.006243406,745,713.006243406,682.006243406,659,633.993756594,880.993756594,786,806,652,631,651.993756594,0.441011338678,0.00461417403372,0.0698091603801,0.999999953491,0.000126199655047,-0.000270900959834,-6.08663953864e-05,1793244608377515008
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.598154403,745,713.598154403,682.598154403,659,633.401845597,880.401845597,786,806,652,631,651.401845597,0.441772766485,0.00461992870177,0.0698641889343,0.999999972697,0.00012609245751,-0.000187496215447,-5.95979358896e-05,1793244608394181376
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713.814122684,682.814122684,659,633,880.185877316,786,806,652,631,651.185877316,0.442508210575,0.00462577048775,0.0699025784836,0.999999981108,0.000129371623732,-0.000132672238597,-5.86886396017e-05,1793244608410848000
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713.235254313,682.235254313,659,633,880.764745687,786,806,652,631,651.764745687,0.443188718743,0.00463179646384,0.0699057890327,0.999999978953,0.000139810409942,-0.000138275126863,-5.85387045038e-05,1793244608427514624
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.660473564,745,713.339526436,682,658.660473564,633,880.660473564,786,806,652,631,652,0.443812832897,0.00463690599723,0.06988250863,0.999999970257,0.000150286392981,-0.00018298777496,-5.84337597592e-05,1793244608444181504
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.088491428,745,713.911508572,682,658.088491428,633,880.088491428,786,806,652,631,652,0.444398337026,0.00464138809066,0.0698410912809,0.999999952991,0.000160787841475,-0.000254476795328,-5.83596172879e-05,1793244608460848128
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.498975921,745,714,682,658,632.501024079,880.498975921,786,806,652,631,652,0.444952253695,0.00464561492721,0.0698001411817,0.999999932508,0.000175806650618,-0.000317545290479,-5.69327468264e-05,1793244608477515008
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.114870716,634,879,786.885129284,805,652.885129284,631,652,0.401650172628,0.00448922968894,0.0698053662086,0.999999947548,6.09486060661e-05,-0.000316621812005,3.06587548511e-05,1793244611481851136
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.694072806,634,879,786.305927194,805,652.305927194,631,652,0.401535868092,0.00450697402112,0.0698061586364,0.999999946598,9.61777323644e-05,-0.000311348682663,2.48258353639e-05,1793244611498517248
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.727093475,745,714,680,658,634,879,786.272906525,805,652,631,652,0.401430958296,0.00451253368414,0.0698058735561,0.999999946673,0.000100935261245,-0.00030993868963,2.01019049336e-05,1793244611515183616
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.148672176,745,714,680,658,634,879,786.851327824,805,652,631,652,0.401336565778,0.00450445279123,0.0698043822217,0.999999948361,7.15802905612e-05,-0.000312853420369,1.66194715264e-05,1793244611531850240
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.607837989,745,714,680,658,634,879,787,805.607837989,652.392162011,631,652,0.400978300694,0.00449903737885,0.0698245876197,0.99999995957,5.42985766694e-05,-0.000278379973735,2.04197347636e-05,1793244611748517632
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.125458797,745,714,679.874541203,658.125458797,634,879,786,805,652,631,652,0.400976407789,0.00449821885216,0.0698281824781,0.999999961138,5.26408669887e-05,-0.000273020229364,2.03435083811e-05,1793244611848516864
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.549717816,658,634,879,786,805,652.450282184,631,652,0.400976536642,0.00449833005829,0.0698286800937,0.9999999614,5.23430735396e-05,-0.000272128572363,2.01415360223e-05,1793244611865183744
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.025288688,745,714,679.025288688,658,634,878.974711312,786.025288688,805.025288688,652.974711312,631,652,0.400976454388,0.00449827550081,0.0698290694623,0.999999961572,5.18781824698e-05,-0.000271597619692,1.99928439023e-05,1793244611881850368
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.612214046,745,714,679.612214046,658,634,878.387785954,786.612214046,805.612214046,652.387785954,631,652,0.400976414079,0.00449772139508,0.0698288996265,0.999999961445,5.11785481014e-05,-0.000272172839297,2.0332417548e-05,1793244611898517248
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.803337452,658,634,878.393325095,786.803337452,805.803337452,652,631,652,0.400976200721,0.00449796336496,0.0698289739138,0.999999961419,5.14840850481e-05,-0.000272207736144,2.03577303255e-05,1793244611915183872
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.223712188,658,634,879.552575625,786.223712188,805.223712188,652,631,652,0.400975650381,0.00449975553992,0.0698295235839,0.999999961588,5.37470010202e-05,-0.000271190457676,1.9771080117e-05,1793244611931850240
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745.353886286,714,679.353886286,658,634,879.646113714,786,805.353886286,652,631,652.353886286,0.400975761606,0.00449941770311,0.0698298057249,0.999999961786,5.36217616214e-05,-0.000270479593073,1.98603809811e-05,1793244611948516608
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745.930210782,714,679.930210782,658,634,879.069789218,786,805.930210782,652,631,652.930210782,0.400976288665,0.00449774102937,0.0698299197081,0.999999962001,5.19954269402e-05,-0.000269961327526,2.0374556614e-05,1793244611965183232
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745.493396489,714,679.493396489,658,634,879,786,805.493396489,652,631,652.493396489,0.400977387831,0.00449782377791,0.0698309534536,0.99999996255,5.14111979873e-05,-0.000268027957512,2.04563993966e-05,1793244611981850112
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.085125984,658,634,878.914874016,786,805,652.085125984,631,652,0.400978249852,0.00449818108377,0.0698318804602,0.999999963003,5.12491271286e-05,-0.000266364938881,2.04331007924e-05,1793244611998516992
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.676251819,658,634,878.323748181,786,805,652.676251819,631,652,0.400977233706,0.00449872948334,0.0698314197411,0.999999962637,5.27429675728e-05,-0.000267467849792,2.01388949164e-05,1793244612015183872
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.739050894,658,634,878.521898211,786,805,652.739050894,631,652,0.400976675343,0.00449852835833,0.069831214534,0.999999962471,5.26122494639e-05,-0.000268120583814,2.00290231774e-05,1793244612031850496
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.162137394,658,634,879.675725212,786,805,652.162137394,631,652,0.400976671277,0.0044974196883,0.0698313187077,0.999999962548,5.05144711202e-05,-0.000268228231351,2.01423482714e-05,1793244612048517376
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.413756202,658,634,879.172487596,786,805,652,631,652,0.400976077509,0.00449899866264,0.0698308500425,0.9999999623,5.27086613851e-05,-0.000268733795501,2.00837111056e-05,1793244612065183744
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.989251079,658,634,878.021497842,786,805,652,631,652,0.400975253225,0.00450162824615,0.0698301574527,0.999999961913,5.65805965749e-05,-0.00026939490657,1.99578533137e-05,1793244612081850368
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_11/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d8debea6404d9179a32119e885ff1f4513ade0cd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,410 @@
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+393,6.550000000,pose2_to_pose3_retreat,0.57567122493,0.00987795888849,1.06005111218,0.546242856065,0.0185536375856,1.05971760206
+394,6.566666667,pose2_to_pose3_retreat,0.575671091482,0.00987796115841,1.06005107285,0.546242722663,0.0185536400913,1.05971756478
+395,6.583333333,pose2_to_pose3_retreat,0.575670939067,0.00987796375094,1.06005102793,0.546242570302,0.0185536429532,1.0597175222
+396,6.600000000,pose2_to_pose3_retreat,0.57567085555,0.00987796517154,1.06005100332,0.546242486814,0.0185536445214,1.05971749888
+397,6.616666667,pose2_to_pose3_retreat,0.575670764412,0.00987796672178,1.06005097646,0.546242395707,0.0185536462327,1.05971747342
+398,6.633333333,pose2_to_pose3_retreat,0.575670671153,0.00987796830809,1.06005094898,0.54624230248,0.0185536479839,1.05971744737
+399,6.650000000,pose2_to_pose3_retreat,0.575670651212,0.00987796864729,1.0600509431,0.546242282546,0.0185536483583,1.05971744179
+400,6.666666667,pose2_to_pose3_retreat,0.575670534041,0.00987797064033,1.06005090857,0.546242165416,0.0185536505584,1.05971740906
+401,6.683333333,pose2_to_pose3_retreat,0.575670287471,0.00987797483442,1.06005083591,0.546241918932,0.0185536551883,1.05971734019
+402,6.700000000,pose2_to_pose3_retreat,0.575670135435,0.00987797001832,1.06005086862,0.546241767195,0.0185536513666,1.0597173724
+403,6.716666667,pose2_to_pose3_retreat,0.575670056446,0.00987796540671,1.0600509077,0.546241688432,0.0185536474785,1.05971741043
+404,6.733333333,pose2_to_pose3_retreat,0.575670023371,0.00987796347568,1.06005092407,0.546241655451,0.0185536458504,1.05971742635
+405,6.750000000,pose2_to_pose3_retreat,0.5756699101,0.00987795686253,1.06005098012,0.546241542503,0.0185536402748,1.05971748087
+406,6.766666667,pose2_to_pose3_retreat,0.575669650756,0.00987793856395,1.06005111051,0.546241283934,0.0185536244568,1.0597176074
+407,6.783333333,pose2_to_pose3_retreat,0.575669476168,0.00987789272298,1.06005122026,0.546241110244,0.0185535814028,1.0597177105
+408,6.800000000,pose2_to_pose3_retreat,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_11/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b80662d4d493200922ce0d380efb9b5259aa8225
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:179f55ca9d4aa98d849475f85791818c7a09ee57e2ff7555991f06ddb34190bf
+size 26078450
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..db10f586d934920d6d6a8ed6c5c3dfa65145535f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_11/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,765,745,714,680,658,634,879,786,805,652,631,652,0.40097922196,0.00449678123965,0.0698337528424,0.99999996374,5.31813257698e-05,-0.000263210773426,2.02696212065e-05,1793244612225408256
+1,0.016666667,BASELINE,765,745,714,680,658,634,879,786,805,652.580418833,631,652,0.400979119164,0.00449776472457,0.0698340210789,0.999999963578,5.27842466055e-05,-0.000263915146458,2.01805286609e-05,1793244612242074624
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+22,0.366666667,BASELINE,764.246057105,745,714,679.246057105,658,634,879,786,805,652.246057105,631,652,0.400977630608,0.00449768821376,0.069834684481,0.999999963796,5.27331459416e-05,-0.000263085257013,2.03443247811e-05,1793244612592073984
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+48,0.800000000,BASELINE,764.839210647,745,714,680,658,634,879.839210647,786,805,652.160789353,631,651.839210647,0.400978479005,0.00449628297237,0.0698351420725,0.999999964439,4.90137390854e-05,-0.000261405386131,1.96560818865e-05,1793244613025407488
+49,0.816666667,BASELINE,765,745,714,680,658.425642894,634,879.574357106,786,805,652,631,652,0.400979686673,0.0044959273394,0.0698356834749,0.999999964722,4.87797411861e-05,-0.000260360432427,1.97182571662e-05,1793244613042074112
+50,0.833333333,BASELINE,765,745,714,680,659,634,879,786,805,652.015905124,631,652,0.400981616809,0.00449616927006,0.0698366343674,0.999999965094,4.88783002299e-05,-0.000258903882032,1.97930396711e-05,1793244613058740736
+51,0.850000000,BASELINE,765,745,714,680,659,634,879,786,805,652.595770402,631,652,0.400980834712,0.00449622492291,0.0698365263551,0.999999964954,4.8718152404e-05,-0.000259466108704,1.99171175747e-05,1793244613075407104
+52,0.866666667,BASELINE,765,745,714,680,658.826257124,634,879,786,805,652.826257124,630.826257124,652,0.400980312171,0.00449681578399,0.0698364916046,0.999999964838,4.91931146751e-05,-0.000259825662715,1.98910753545e-05,1793244613092073984
+53,0.883333333,BASELINE,765,745,714,680,658.25264102,634,879,786,805,652.25264102,630.25264102,652,0.400980387001,0.00449863843911,0.0698366254679,0.999999964775,5.11297974678e-05,-0.00025971876089,1.95195282048e-05,1793244613108740608
+54,0.900000000,BASELINE,764.678397592,745,714,679.678397592,658,634,879,786,805,652,630.321602408,652,0.400979687464,0.00449940338702,0.0698359737211,0.999999964435,5.24637233741e-05,-0.000260770285896,1.93991496009e-05,1793244613125407232
+55,0.916666667,BASELINE,764.103660422,745,714,679.103660422,658,634,879,786,805,652,630.896339578,652,0.400978378419,0.00449933580851,0.0698347036169,0.999999963874,5.33232164174e-05,-0.000262733614097,1.94764669545e-05,1793244613142073856
+56,0.933333333,BASELINE,764,745,714,679.484869758,658,634,879,786,805,652.484869758,631,652,0.400979060112,0.00449865282522,0.0698348697483,0.999999964167,5.3232324412e-05,-0.000261635374405,1.94811257455e-05,1793244613158740480
+57,0.950000000,BASELINE,764.07459473,745,714,679.92540527,658,634,879,786,805,652.92540527,631,652.07459473,0.400979996822,0.00449797373804,0.0698352731705,0.999999964568,5.29162953614e-05,-0.000260161591563,1.94952435307e-05,1793244613175407360
+58,0.966666667,BASELINE,764.651916421,745,714,679.348083579,658,634,879,786,805,652.348083579,631,652.651916421,0.400979699922,0.00449823356301,0.0698351458429,0.999999964447,5.24924026801e-05,-0.000260697206712,1.96808633647e-05,1793244613192073728
+59,0.983333333,BASELINE,765,745,714,679.228435667,658,634,879,786,805,652,631,652.771564333,0.400979152439,0.00449843971495,0.0698349028652,0.999999964244,5.26809168687e-05,-0.000261432470412,1.97319890256e-05,1793244613208740352
+60,1.000000000,BASELINE,765,745,714,679.803736538,658,634,879,786,805,652,631,652.196263462,0.400978224462,0.00449856436783,0.0698344842805,0.999999963916,5.37993323357e-05,-0.000262470887971,1.95788937659e-05,1793244613225407232
+61,1.016666667,BASELINE,765,745,714,680,658.39019728,634,879,786.39019728,805,652.39019728,631,652,0.400978885212,0.00449882399569,0.0698354533954,0.99999996422,5.32334502174e-05,-0.000261426723919,1.95326976221e-05,1793244613242074112
+62,1.033333333,BASELINE,765,745,714,680,658.982436505,634,879,786.982436505,805,652.982436505,631,652,0.400980368597,0.00449915351283,0.0698371410534,0.999999964848,5.17954482608e-05,-0.000259304210813,1.95418532456e-05,1793244613258740480
+63,1.050000000,BASELINE,764.438891376,745,714,679.438891376,659,634,879,786.438891376,805,652.438891376,631,652,0.40098045512,0.00449835852764,0.0698365541117,0.999999964903,5.09743058213e-05,-0.00025926552172,1.94209437956e-05,1793244613275407104
+64,1.066666667,BASELINE,764.137658858,745,714,679.137658858,658.862341142,634,878.862341142,786,805,652,631,652,0.400980570133,0.00449765153581,0.0698359626144,0.999999964927,5.0501074856e-05,-0.000259269344391,1.93507742562e-05,1793244613292073728
+65,1.083333333,BASELINE,764.708832623,745,714,679.708832623,658.291167377,634,878.291167377,786,805,652,631,652,0.400980909311,0.0044973298826,0.0698355756947,0.999999964913,5.1064114844e-05,-0.000259206482837,1.94529131099e-05,1793244613308740608
+66,1.100000000,BASELINE,764.709863618,745,714,680,658,634,878.290136382,786,805,652.290136382,631,652,0.400980472241,0.00449741673942,0.06983487857,0.999999964526,5.20511268797e-05,-0.000260491031148,1.95607123628e-05,1793244613325407488
+67,1.116666667,BASELINE,764.118026124,745,714,680,658,634,878.881973876,786,805,652.881973876,631,652,0.40097922798,0.00449792838934,0.0698338588757,0.999999963745,5.34790102974e-05,-0.000263176696588,1.96743976299e-05,1793244613342074112
+68,1.133333333,BASELINE,764,745,714,679.537353218,658,634,879,786,805,652.537353218,631,652,0.400980067715,0.00449908571045,0.0698349951622,0.999999964182,5.39742475107e-05,-0.00026142856428,1.94308921376e-05,1793244613358740736
+69,1.150000000,BASELINE,764.040503212,745,714,679.040503212,658,634,879,786,805,652,631,652,0.400981079418,0.00450024144204,0.0698364308393,0.9999999648,5.42536986352e-05,-0.000259018756856,1.91404098792e-05,1793244613375407104
+70,1.166666667,BASELINE,764.617890044,745,714,679.617890044,658,634,879,786,805,652,631,652,0.400977489473,0.00449924416397,0.0698347162139,0.999999963865,5.47523332803e-05,-0.000262478165337,1.94066418605e-05,1793244613392073728
+71,1.183333333,BASELINE,765,745,714,680,658,634,879.194284189,786,805,652,631,652,0.400975839413,0.00449850840016,0.0698339313647,0.999999963484,5.4102620172e-05,-0.000264052034936,1.95171377387e-05,1793244613408740608
+72,1.200000000,BASELINE,765,745,714,680,658,634,879.768735983,786,805,652,631,652,0.400977985245,0.00449828435693,0.0698349658643,0.999999964197,5.12058657483e-05,-0.000261936357341,1.9322895425e-05,1793244613425407232
+73,1.216666667,BASELINE,765,745,714,680,658,634,879.647414268,786,805,652,631,652,0.400979565308,0.00449828422074,0.0698358787897,0.999999964708,5.06263588381e-05,-0.000260101459947,1.91705863876e-05,1793244613442073856
+74,1.233333333,BASELINE,765,745,714,680,658,634,879.057231555,786,805,652,631,652,0.400980764116,0.00449843496881,0.0698367097897,0.999999965087,5.16083759157e-05,-0.000258455772063,1.9046534943e-05,1793244613458740480
+75,1.250000000,BASELINE,765,745,714,680,658,634,878.476711027,786,805,652,630.476711027,652,0.400979762733,0.00449874924124,0.0698363418831,0.999999964738,5.22228254276e-05,-0.000259667976962,1.92395250628e-05,1793244613475407104
+76,1.266666667,BASELINE,765,745,714,680,658.102161463,634,878.102161463,786.102161463,805,652,630.102161463,652,0.40097861733,0.0044988297458,0.0698359316721,0.99999996437,5.24628064241e-05,-0.00026101507565,1.94521414025e-05,1793244613492073728
+77,1.283333333,BASELINE,765,745,714,680,658.678202335,634,878.678202335,786.678202335,805,652,630.678202335,652,0.400977899828,0.00449774445635,0.0698359224232,0.999999964292,5.11488931088e-05,-0.000261564326919,1.95978717374e-05,1793244613508740608
+78,1.300000000,BASELINE,765,745,714,679.746059673,658.746059673,634,879,786.746059673,805.253940327,652,630.746059673,652,0.400978147591,0.00449739179421,0.0698359714445,0.999999964334,5.06723373739e-05,-0.000261502522059,1.95374710793e-05,1793244613525407232
+79,1.316666667,BASELINE,765,745,714,679.17070508,658.17070508,634,879,786.17070508,805.82929492,652,630.17070508,652,0.400979617097,0.00449796642428,0.069836094219,0.999999964528,5.12556317987e-05,-0.000260667298621,1.92161687952e-05,1793244613542073856
+80,1.333333333,BASELINE,764.582886082,745,714,679.417113918,658,634,879,786,805.582886082,652,630.417113918,652,0.400980242918,0.00449894085027,0.069836457184,0.999999964654,5.21768612244e-05,-0.000260005490679,1.91307971295e-05,1793244613558740480
+81,1.350000000,BASELINE,764,745,714,679.990105204,658,634,878.990105204,786.009894796,805,652,631,652,0.400980501873,0.00450005607292,0.0698369112782,0.999999964748,5.32152473998e-05,-0.00025943360279,1.91473085464e-05,1793244613575407104
+82,1.366666667,BASELINE,764,745,714,679.414276653,658,634,878.414276653,786.585723347,805,652,631,652,0.400980134528,0.00449957778347,0.0698367821347,0.999999964666,5.28006324255e-05,-0.000259820487695,1.92984344621e-05,1793244613592073728
+83,1.383333333,BASELINE,764,745,714,679,658.159971882,634.159971882,878.159971882,786.840028118,805,652,631,652,0.400979691073,0.00449898930019,0.0698364659933,0.999999964606,5.21003229873e-05,-0.000260191156036,1.93611939312e-05,1793244613608740352
+84,1.400000000,BASELINE,764,745,714,679,658.730168813,634.730168813,878.730168813,786.269831187,805,652,631,652,0.400979052444,0.00449811824047,0.0698356703227,0.999999964597,5.06673908014e-05,-0.000260520239404,1.91973502984e-05,1793244613625407232
+85,1.416666667,BASELINE,764.313796898,745,714,679.313796898,658.686203102,634.686203102,879.313796898,786,805,652.313796898,631,652,0.400978565946,0.0044976325271,0.0698353013882,0.999999964427,5.05903690235e-05,-0.000261177442349,1.92865473119e-05,1793244613642073856
+86,1.433333333,BASELINE,764.909490718,745,714,679.909490718,658.090509282,634.090509282,879.909490718,786,805,652.909490718,631,652,0.400978216114,0.00449749298657,0.0698353158089,0.999999964114,5.17314185472e-05,-0.000262129408859,1.96030613656e-05,1793244613658740480
+87,1.450000000,BASELINE,764.508932765,745.491067235,714,679.508932765,658,634,879.508932765,786,805,653,630.508932765,652,0.400978554623,0.00449877855691,0.0698357814742,0.999999964294,5.20958222374e-05,-0.000261400170964,1.91966739803e-05,1793244613675407104
+88,1.466666667,BASELINE,764.069376661,745.930623339,714,679.069376661,658.069376661,634,879,786,805,652.930623339,630.138753321,651.930623339,0.400979114142,0.00450007574378,0.0698363270079,0.999999964571,5.23760742429e-05,-0.000260312609994,1.87778087814e-05,1793244613692073728
+89,1.483333333,BASELINE,764.64233053,745.35766947,714,679.64233053,658.64233053,634,879,786,805,652.35766947,631.284661061,651.35766947,0.400980382714,0.00449960395595,0.0698368654493,0.999999964917,5.30554970235e-05,-0.000258810459024,1.92084738422e-05,1793244613708740608
+90,1.500000000,BASELINE,764.782123504,745,714,680,659,634,879,786,805,652,631.782123504,651.217876496,0.400980803768,0.00449937157302,0.0698371372071,0.999999965129,5.33806218145e-05,-0.000257896204735,1.95211193547e-05,1793244613725407488
+91,1.516666667,BASELINE,764.202271138,745,714,680,659,634,879,786,805,652,631.202271138,651.797728862,0.400979816774,0.00449953693287,0.0698369659016,0.999999965125,5.31171225883e-05,-0.000257958670976,1.96376893887e-05,1793244613742074112
+92,1.533333333,BASELINE,764,745,714,680,658.617616137,634,879,786,805,652,631,652,0.400978953767,0.00449955486352,0.0698358711851,0.999999964788,5.23282871371e-05,-0.000259444676322,1.9325750045e-05,1793244613758740736
+93,1.550000000,BASELINE,764,745,714,680,658.0303883,634,879,786,805,652,631,652,0.40097815718,0.004499493816,0.0698342817949,0.999999964268,5.12580277556e-05,-0.000261693275067,1.87842571862e-05,1793244613775407616
+94,1.566666667,BASELINE,764,745,714,680,658,634,879,786,805,652.548847507,631,652,0.400979475279,0.00449962656235,0.0698360129251,0.999999964505,5.43491249564e-05,-0.000260126152589,1.92358828598e-05,1793244613792073984
+95,1.583333333,BASELINE,764,745,714,680,658.126629015,634,879,786,805,652.873370985,631,652,0.400980470951,0.00449971211709,0.0698373820187,0.999999964727,5.63841772095e-05,-0.000258806282933,1.96274360266e-05,1793244613808740608
+96,1.600000000,BASELINE,764,745,714,680,658.700812154,634,879,786,805,652.299187846,631,652,0.400979919163,0.00449959350003,0.0698368310761,0.99999996479,5.38841288152e-05,-0.000259096275221,1.9615117352e-05,1793244613825407488
+97,1.616666667,BASELINE,764,745,714,680,659,634,879,786,805,652,631,652,0.400979567074,0.00449898650292,0.0698366209835,0.999999964764,5.25812671215e-05,-0.000259473409775,1.95047640361e-05,1793244613842074112
+98,1.633333333,BASELINE,764,745,714,680,659,634,879,786,805,652,631,652,0.400979432251,0.00449784816087,0.0698367817269,0.999999964646,5.25809139341e-05,-0.000259945352857,1.92877515514e-05,1793244613858740736
+99,1.650000000,BASELINE,764.453525958,745,714,680,659,634,879,786,805,652,631,652,0.400978926244,0.00449734211621,0.0698360483884,0.999999964416,5.28816269564e-05,-0.000260764926964,1.9321043297e-05,1793244613875407360
+100,1.666666667,BASELINE,765,745,714,680,658.967322021,634,879,786,805,652,631,652,0.400978291468,0.00449707592812,0.0698351036876,0.99999996416,5.32076079067e-05,-0.000261670243036,1.94178452094e-05,1793244613892073984
+101,1.683333333,BASELINE,765,745,714,680,658.391702899,634,879,786,805,652,631,652,0.400977228399,0.00449787998173,0.0698347690269,0.999999964004,5.25654697675e-05,-0.000262397541703,1.94159361145e-05,1793244613908740608
+102,1.700000000,BASELINE,764.816336729,745,714,680,658.183663271,634,879,786,805,652,631,652,0.400976875034,0.00449826955318,0.0698349026961,0.999999963987,5.21928387323e-05,-0.000262528697583,1.95257031403e-05,1793244613925407232
+103,1.716666667,BASELINE,764.241509366,745,714,680,658.758490634,634,879,786,805,652,631,652,0.40097803319,0.00449777636478,0.0698360338091,0.999999964268,5.23942011588e-05,-0.00026139019477,1.98733167872e-05,1793244613942074112
+104,1.733333333,BASELINE,764,745,714,680,658.658025961,634,878.658025961,786,805,652,631,652,0.400978068249,0.00449744262563,0.0698361209704,0.999999964369,5.18143432578e-05,-0.000261115218611,1.98958987143e-05,1793244613958740480
+105,1.750000000,BASELINE,764,745,714,680,658.068270662,634,878.068270662,786,805,652,631,652,0.400977289555,0.00449722441724,0.0698354517243,0.99999996434,5.06684431172e-05,-0.0002614659206,1.96829751702e-05,1793244613975407360
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.400979262224,0.00449905734737,0.0698363474715,0.99999996484,5.34492109896e-05,-0.000259007900799,1.94684324195e-05,1793244614006069760
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.424370506,745.575629494,714,680,658.575629494,634,879,786,805,652.575629494,631,652,0.400978392928,0.004500140273,0.069835942099,0.999999964634,5.42934779772e-05,-0.000259640997498,1.92704965383e-05,1793244614022736640
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.154332381,745.845667619,714,680,658.845667619,634,878.845667619,786,805,652.845667619,631,652,0.40097814695,0.00450074098054,0.0698359033132,0.999999964585,5.46545813356e-05,-0.000259760991147,1.9140517861e-05,1793244614039403520
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.741658078,745.258341922,714,680,658.258341922,634,878.258341922,786,805,652.258341922,631,652,0.400979649748,0.0044999887823,0.0698368930194,0.99999996498,5.36601260534e-05,-0.000258441428381,1.92011991602e-05,1793244614056070144
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.676077469,745,714,679.676077469,658.323922531,634,878.323922531,786,805,652,631,652,0.400979434759,0.00449973972781,0.0698368505619,0.999999964931,5.30763916953e-05,-0.000258753834821,1.91803524007e-05,1793244614072736512
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.097787506,745,714,679.097787506,658.902212494,634,878.902212494,786,805,652,631,652,0.400977870839,0.00449988577826,0.0698359975746,0.999999964532,5.2815185212e-05,-0.000260347781755,1.90954839015e-05,1793244614089403392
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679.479410283,659,634,878.520589717,786,805.479410283,652,631,651.520589717,0.40097713506,0.00449957284752,0.069835659196,0.999999964387,5.31016189263e-05,-0.000260828921858,1.93768042353e-05,1793244614106069760
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.056238941,745,714,680,659,634,878.112477882,786,805.943761059,652,631,651.056238941,0.400976858688,0.00449922508553,0.0698355741478,0.999999964339,5.35430033263e-05,-0.000260899148403,1.96731475444e-05,1793244614122736384
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.631711702,745,714,680,659,634,879.263423403,786,805.368288298,652,631,651.631711702,0.400979267818,0.00449941813878,0.0698368610868,0.999999964723,5.43860067378e-05,-0.000259266459148,1.9420144642e-05,1793244614139403008
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.787795917,745,714,680,659,634,879.787795917,786.212204083,805,652,631,652,0.400981011806,0.00449934843974,0.0698376708063,0.999999964834,5.47373515923e-05,-0.000258773692085,1.92672276401e-05,1793244614156069888
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.198380789,745,714,680,659,634,879.198380789,786.801619211,805,652,631,652,0.400981573446,0.00449881167583,0.0698376322267,0.999999964464,5.4214730901e-05,-0.000260307235138,1.92922219785e-05,1793244614172736512
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.386168679,745,714,680,658.613831321,634,879,786.613831321,805,652.386168679,631,652,0.40099670573,0.00449837147863,0.0698448310271,0.999999967383,5.27667430182e-05,-0.000249139526168,1.9446956838e-05,1793244614189403136
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.968249737,745,714,680,658.031750263,634,879,786.031750263,805,652.968249737,631,652,0.401019230043,0.00449798027193,0.0698557015193,0.999999971711,5.08492947089e-05,-0.000231528175798,1.9667512088e-05,1793244614206069760
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.458567409,745,714,680,658.541432591,634,879,786,805,653,631,652,0.401065601459,0.00449777987404,0.0698721881897,0.999999978047,5.16421226437e-05,-0.000202108368495,1.97982210011e-05,1793244614222736384
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.116862976,745.116862976,714.116862976,680,659,634,879,786.116862976,805,653,631,652,0.401115546486,0.00449778431521,0.0698878343734,0.999999983001,5.21897245029e-05,-0.000175738327963,1.97431365492e-05,1793244614239403264
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.703389365,745.703389365,714.703389365,680,659,634,879,786.703389365,805,653,631,652,0.401174324319,0.00449856774725,0.0698988005209,0.999999985006,5.11233664095e-05,-0.000164363015584,1.896219492e-05,1793244614256069888
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745.711969619,714.711969619,680,659,634,879,787,805,653,631,652,0.401239026672,0.00449880901722,0.0699060583094,0.999999986606,4.97978541698e-05,-0.000154875412837,1.79150811987e-05,1793244614272736512
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.129257547,714.129257547,680,659,634,879,787,805,653,631,652,0.401309790355,0.00449849560526,0.0699095221034,0.999999987849,4.8207203363e-05,-0.000147319112136,1.65956488843e-05,1793244614289403136
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.447916996,714,679.552083004,659,634,879,786.552083004,805.447916996,653,631,652,0.401393398942,0.0044997161126,0.0699085510521,0.999999987932,4.63196982644e-05,-0.000147586457935,1.44236965495e-05,1793244614306069760
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.976642591,745.976642591,714,679.023357409,659,634,879,786,805.976642591,652.976642591,631,652,0.401481585075,0.00450127900771,0.0699064075321,0.999999987682,4.42993059854e-05,-0.000150097524879,1.20264705561e-05,1793244614322736640
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.404856706,745.404856706,714,679.595143294,659,634,879,786,805.404856706,652.404856706,631,652,0.40159128105,0.00450061467362,0.0699064168124,0.99999998741,4.11455724164e-05,-0.000152927565146,1.00457246734e-05,1793244614339403264
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.173032439,745,714.173032439,679.826967561,659,634,878.826967561,786,804.826967561,652,631,652,0.401711689615,0.00450033471449,0.0699074966039,0.999999987508,3.81465437267e-05,-0.000153195885783,7.70987687595e-06,1793244614356070144
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.765723857,745,714.765723857,679.234276143,659,634,878.234276143,786,804.234276143,652,631,652,0.401858079621,0.00450098698761,0.0699111727271,0.999999988517,3.55227242848e-05,-0.00014725121699,4.51279370697e-06,1793244614372736512
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.649306687,745,714.649306687,679,659,634,878.350693313,786,804.350693313,652,631,652,0.402020961184,0.00450157293554,0.0699145301259,0.999999989525,3.16816917118e-05,-0.000141231507423,9.03794246094e-07,1793244614389403136
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.069384592,745,714.069384592,679,659,634,878.930615408,786,804.930615408,652,631,652,0.40219462238,0.00450211553043,0.0699176791924,0.999999990495,2.70450341122e-05,-0.000135162747267,-2.97445238346e-06,1793244614406070016
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745,713.495266178,679,658.495266178,634,879,786,805,652.504733822,631,652,0.402393170159,0.00450454120848,0.0699191315208,0.999999990809,2.53758758791e-05,-0.000132978605251,-7.34184796459e-06,1793244614422736640
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.078591646,745,713.078591646,679.078591646,658,634,879,786.078591646,805,653,631,652,0.402599888965,0.00450690134682,0.0699201922115,0.999999991052,2.32134030536e-05,-0.000131203963991,-1.19089103276e-05,1793244614439403264
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.65580057,745,713.65580057,679.65580057,658,634,879,786.65580057,805,653,631,652,0.402836990054,0.00450722201304,0.069920231183,0.999999991453,1.5362455966e-05,-0.00012867790191,-1.73209796872e-05,1793244614456069888
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.761392583,745.238607417,714,680,658.238607417,634,879,786.761392583,805,652.761392583,631,652,0.403096459808,0.004507793882,0.0699239574761,0.999999992561,7.95462749478e-06,-0.000119604935658,-2.25539840104e-05,1793244614472736256
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.170316573,745.829683427,714,680,658.829683427,634,879,786.170316573,805,652.170316573,631,652,0.403388972326,0.00450873682526,0.0699331306452,0.999999994534,1.20137007087e-06,-0.000100860945371,-2.75224748472e-05,1793244614489403136
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745.588617449,714,680,659,634,879,786,805,652.411382551,631,652,0.403701022897,0.00451069386339,0.0699421727465,0.999999995696,-3.31452264044e-06,-8.67404223937e-05,-3.27684552512e-05,1793244614506070016
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745.010713949,714,680,659,634,879,786,805,652.989286051,631,652,0.404020982146,0.00451306139057,0.0699511617934,0.999999996475,-6.92476643652e-06,-7.4491404039e-05,-3.81267587841e-05,1793244614522736640
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.564498857,745,714,680,659,634,879,786.564498857,805,652.435501143,631,652,0.404371716502,0.00450546673611,0.0699527586402,0.999999996216,-2.11056601291e-05,-7.33339515426e-05,-4.17686344872e-05,1793244614539403264
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,787,805.139297843,652,631,652,0.404733754498,0.00449666195441,0.0699553462262,0.999999996643,-1.76439326753e-05,-6.95809086816e-05,-3.95185973518e-05,1793244614556069888
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,787,805.712964802,652,631,652,0.405129227555,0.0044846704639,0.0699614586316,0.999999997331,4.14550001696e-05,-5.70807745261e-05,-1.89970515602e-05,1793244614572736512
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.70295885,745.29704115,714,680,658.70295885,634,879.29704115,786.70295885,805.70295885,652,631,652,0.405545279625,0.00448412881954,0.0699654066137,0.999999996138,7.10779473266e-05,-4.99324456844e-05,-1.3404288671e-05,1793244614589402880
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.108458391,745.891541609,714,680,658.108458391,634,879.891541609,786.108458391,805.108458391,652,631,652,0.405981939727,0.0044950531384,0.0699671871263,0.999999996049,7.11834212348e-05,-4.81434548223e-05,-2.27613222586e-05,1793244614606069504
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745.531259957,714,680,658.468740043,634,879.531259957,786,805,652,630.531259957,652,0.406421165677,0.00449811949749,0.069954843348,0.99999999423,7.55240094346e-05,-7.1751008624e-05,-2.62091870072e-05,1793244614622736640
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.957978466,634,879,786.042021534,805,652,630,652,0.406865820844,0.00449975957388,0.0699397544231,0.999999991903,7.40010692175e-05,-9.95715002436e-05,-2.83478895231e-05,1793244614639403520
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.385404356,634,879,786.614595644,805,652,630,652,0.407371795226,0.00450553066864,0.0699297995345,0.999999993497,-1.34851355085e-05,-0.000109031652968,-3.06058531724e-05,1793244614656070144
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.194267109,745,713.805732891,680,658.388534217,634,879,786.805732891,805,652,630.194267109,652,0.40790027789,0.00451317897638,0.0699272034559,0.999999992016,-6.05512020518e-05,-0.000105908644504,-3.29306756467e-05,1793244614672736768
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.788552816,745,713.211447184,680,659.577105632,634,879,786.211447184,805,652,630.788552816,652,0.408475107696,0.00452469268388,0.0699397600245,0.999999996121,-2.43874921109e-05,-7.68754425909e-05,-3.53931684566e-05,1793244614689403904
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.625887761,745,713.374112239,680,659.625887761,634,879,786,805,652,631,652,0.409066692294,0.00452974538097,0.069949685976,0.999999997953,3.67662044354e-06,-5.22793246092e-05,-3.67067161316e-05,1793244614706070272
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.045148008,745,713.954851992,680,659.045148008,634,879,786,805,652,631,652,0.409667530783,0.00453122956968,0.0699581589997,0.999999998475,2.7267208891e-05,-3.01338721938e-05,-3.73856849749e-05,1793244614722736896
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.470949475,634,879,786,805,652.529050525,631,652,0.410291206571,0.00454127416261,0.0699501395435,0.999999996832,5.10481297713e-05,-4.72047156711e-05,-3.87508356938e-05,1793244614739403520
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.105333597,634,879,786.105333597,805.105333597,652.894666403,631,652,0.410921418357,0.00455101720621,0.069943285184,0.999999994751,7.01367095402e-05,-6.30495606117e-05,-4.00436975345e-05,1793244614756070144
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658.693704325,634,879,786.693704325,805.693704325,652.306295675,631,652,0.411572774618,0.00455606828582,0.069948149063,0.999999995194,6.76336441436e-05,-5.81127345094e-05,-4.07398065791e-05,1793244614772736768
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.277636982,745,714,680,659,634,879,786.722363018,805.722363018,652,630.722363018,652,0.412272224284,0.00456198895848,0.0699670787264,0.999999995986,7.439270877e-05,-2.82986008779e-05,-4.11397484323e-05,1793244614789403392
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.856750561,745,714,680,659,634,879,786.143249439,805.143249439,652,630.143249439,652,0.413023897031,0.00456885389341,0.0700012819496,0.999999994584,9.12092062595e-05,2.85289593297e-05,-4.12180923423e-05,1793244614806070528
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680.431196028,659.431196028,634,879,786,805.431196028,652,630.431196028,652,0.413777155931,0.00457748527019,0.0700181513013,0.999999993266,9.45837152939e-05,5.24044106651e-05,-4.21321635329e-05,1793244614822737152
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.00413117,714,680.99586883,659.99586883,634,879.00413117,786,805.99586883,652,631,652,0.414530476948,0.0045866619509,0.0700288702389,0.999999992584,9.36344904987e-05,6.47110470347e-05,-4.33168859323e-05,1793244614839404032
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.580377793,714,680.419622207,659.419622207,634,879.580377793,786,805.419622207,652,631,652,0.415220213286,0.00459095729032,0.0699767809849,0.999999993127,0.000105711195938,-2.53107869725e-05,-4.39454878089e-05,1793244614856070656
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.838809273,745.838809273,714,680,659,634,879.838809273,786,805,651.838809273,631,652,0.41593197824,0.00459641848154,0.0699324962778,0.999999986896,0.000118924301598,-0.000100081508323,-4.52628307925e-05,1793244614872737280
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.245762488,745.245762488,714,680,659,634,879.245762488,786,805,651.245762488,631,652,0.416702761381,0.00460500317824,0.0699091212181,0.999999980713,0.000135182008638,-0.000133992024569,-4.84254234784e-05,1793244614889403648
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.339226545,745,714,680,659.339226545,634,879,786,805,651.339226545,631,652,0.41752378441,0.00461078466108,0.0699187749186,0.999999983497,0.00012931666093,-0.000117738572403,-4.92065792765e-05,1793244614906070016
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.918513329,745,714,680,659.918513329,634,879,786,805,651.918513329,631,652,0.418380360638,0.00461458239495,0.0699518020621,0.999999990846,0.000107795503894,-6.59856142302e-05,-4.83024648896e-05,1793244614922736640
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.506695811,745,714,680,660,634,879.493304189,785.506695811,805,652,631,652,0.419255644734,0.0046194637247,0.0699782146329,0.999999990527,0.000125727044197,-2.76340531444e-05,-4.87375054039e-05,1793244614939403264
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745.068953973,714,680.068953973,659.931046027,634,880,785.068953973,805.068953973,652,631,652,0.420132407942,0.00462282819023,0.0700027469995,0.999999987946,0.000146970528821,7.57315124186e-06,-4.94962874152e-05,1793244614956069888
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745.656600609,714,680.656600609,659.343399391,634,880,785.656600609,805.656600609,652,631,652,0.420997261029,0.00461344805267,0.0700212807575,0.999999987616,0.000144547272246,3.56293770943e-05,-5.10413793869e-05,1793244614972736512
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.240700052,745.759299948,714,681,659.240700052,634,879.759299948,786,806,652,630.759299948,652,0.421852278931,0.00459757963356,0.0700237705353,0.999999990797,0.000119774786266,3.70919939611e-05,-5.18086131442e-05,1793244614989403392
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.819812404,745.180187596,714,681,659.819812404,634,879.180187596,786,806,652,630.180187596,652,0.422693469178,0.00457258901203,0.0700037032779,0.999999996653,6.35803949208e-05,1.16532351386e-06,-5.14822170543e-05,1793244615006070016
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.603576611,634,879,786,806,652,630.396423389,652,0.423498197891,0.00457041923803,0.0699400332858,0.999999991913,6.3402748059e-05,-9.67351770134e-05,-5.28799391114e-05,1793244615022736896
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.028095485,634,879,786,806,652,630.971904515,652,0.424286457495,0.00457855725619,0.0698566686775,0.999999969784,8.85269193531e-05,-0.000222628204501,-5.50564155133e-05,1793244615039403520
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.451110326,745,714,681,659.548889674,634,879,786,806,652,631,652,0.425231323814,0.00458540589514,0.0698731589701,0.999999977006,8.5325948987e-05,-0.000188269700311,-5.71199970102e-05,1793244615056070144
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+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745,714,681,660.717262764,634.717262764,879.717262764,786,805.282737236,652,630.282737236,652,0.427103623255,0.0045956075231,0.0699641645383,0.999999992431,9.72402932919e-05,-5.25697428304e-05,-5.40328956664e-05,1793244615089403648
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.650031579,745,713,681.650031579,658.349968421,633,880,786,806,652,631,652,0.435674288072,0.00458705410836,0.069769312289,0.999999921471,0.000192846200945,-0.000345249658588,2.59026766482e-05,1793244617606191616
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764.070901318,745,713,681.070901318,658.929098682,633,880,786,806,652,631,652,0.434835145891,0.00458410346189,0.0698177629342,0.999999946818,0.000165291740377,-0.000279739812588,2.80604227486e-05,1793244617622858752
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,745,713,681.503669093,658.496330907,633.503669093,880,786,806,652,631,652,0.43394615469,0.00457790974382,0.0698332037061,0.999999954611,0.000141271691185,-0.000264467081695,2.96127531924e-05,1793244617639525376
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,745,713.07958538,682,658,633.92041462,880,786,805.92041462,652,631,652,0.433053519264,0.0045713154427,0.0698427639421,0.999999959497,0.000122252383534,-0.00025517254115,3.07634459501e-05,1793244617656192000
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,764.413080326,745,713.586919674,681.586919674,658.586919674,633.586919674,880,786,806,652,631.413080326,651.586919674,0.429304115062,0.0045504892855,0.0697270440484,0.999999899301,0.000120903446706,-0.000431075024011,3.08909367034e-05,1793244617722858240
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.434940027,745,713.434940027,680,657,633.565059973,879.565059973,786.565059973,805.434940027,652,631,652,0.412917204237,0.00444225213854,0.0697672893009,0.999999927556,-9.23822499297e-06,-0.000378910451175,3.50770011696e-05,1793244618039524352
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.987832856,745,714,680.012167144,657.036501433,633,879,786,805.987832856,652,631,652,0.412259306219,0.00446864624875,0.0698070326476,0.999999955237,6.08712178753e-07,-0.000297451682442,3.23722426025e-05,1793244618056191232
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.413401533,745,714,680.586598467,658.759795401,633,879,786,805.413401533,652,631,652,0.411617457598,0.00448444397321,0.0698538163614,0.999999973685,4.25031415513e-05,-0.000222855851019,3.40445505084e-05,1793244618072858112
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,745,713.834822347,680.834822347,659.669644695,633.165177653,879,786,805.165177653,652,631,651.834822347,0.410962588346,0.00449205845102,0.0698816805289,0.999999980988,6.65467267704e-05,-0.000179878758706,3.52006044637e-05,1793244618089525248
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,745,713.245594491,680.245594491,658.491188981,633.754405509,879,786,805.754405509,652,631,651.245594491,0.410274291909,0.00447866459746,0.0698609737446,0.999999974606,4.47629714874e-05,-0.000218074455139,3.5031312969e-05,1793244618106191616
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.338314556,745,713,680,658,634,879,786,805.661685444,652,631,651.338314556,0.40959596906,0.00447139532658,0.0698264772515,0.999999959903,2.71186045305e-05,-0.000279778577918,3.44021873066e-05,1793244618122858240
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.918422218,745,713,680,658,634,879,786,805.081577782,652,631,651.918422218,0.408924774365,0.00446850329021,0.0697821252673,0.99999993518,1.24326558571e-05,-0.000358284148283,3.34444184514e-05,1793244618139524864
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.507186627,745,713,680.492813373,658.492813373,634,879,786,805,652,630.507186627,651.507186627,0.408344354886,0.00446859913281,0.0697709681695,0.999999931379,2.46407237402e-05,-0.000368239761694,3.21675292485e-05,1793244618156191488
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.067376502,745,713.067376502,680.932623498,658.932623498,634,879,786,805.067376502,652,630.067376502,651.067376502,0.407784366932,0.00446895973054,0.0697686536825,0.999999932819,3.76785891951e-05,-0.000363294059705,3.09928141859e-05,1793244618172858112
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.650415095,745,713.650415095,680.349584905,658.349584905,634,879,786,805.650415095,652,630.650415095,651.650415095,0.407267065035,0.00446760464485,0.0697924428573,0.999999944746,2.33856306705e-05,-0.000330152873272,3.09997439134e-05,1793244618189524992
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.767229674,745,714,680,657.767229674,634,879,786,805.534459348,652,631,652,0.406755755941,0.00447069404411,0.0698077770458,0.999999950653,2.06723136945e-05,-0.000311903089021,3.13406322432e-05,1793244618206191872
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.185897793,745,714,680,657.185897793,634,879,786,804.371795587,652,631,652,0.406253420808,0.00448043883037,0.0698104503264,0.999999948946,3.52989138245e-05,-0.000315952414684,3.21816063928e-05,1793244618222858240
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,634,879,786.391332957,804.391332957,652.391332957,631,652,0.405786334238,0.00448785497037,0.0698068194712,0.999999945562,4.85078983421e-05,-0.000324806187398,3.20076903511e-05,1793244618239524864
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,634,879,786.966635774,804.966635774,652.966635774,631,652,0.405335818356,0.00449417638941,0.0698002249737,0.999999941224,6.1050447697e-05,-0.00033591858298,3.13566635136e-05,1793244618256191744
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.874604682,745,714,680,658,634,879,786.874604682,805,652,631,652,0.40458988789,0.00448145562123,0.0698311053027,0.999999960938,3.30936121003e-05,-0.00027593949981,2.97531443855e-05,1793244618289524480
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.283350529,745,714,680,658,634,879,786.283350529,805,652,631,652,0.404238750094,0.00447879133531,0.0698443463763,0.999999967545,2.3498372041e-05,-0.000252013089191,2.91162793978e-05,1793244618306191104
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745.876559169,714,680,658,634,879,786,805,652,630.123440831,652,0.403577022972,0.00447239014466,0.0698441792982,0.99999996806,3.04791892255e-06,-0.000251144155263,2.82228005532e-05,1793244618339524352
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745.54743807,714,680,658,634,879,786.45256193,805,652,630.45256193,652,0.403274066553,0.00446893901847,0.0698353120012,0.999999964033,-6.88334936171e-06,-0.000266639553101,2.81026687114e-05,1793244618356191232
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,879,787,805,652,631,652,0.402979053936,0.00446555114045,0.0698251952684,0.999999959023,-1.66889490772e-05,-0.000284411715697,2.80213151592e-05,1793244618372858112
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,879,787,805,652,631,652,0.40272404552,0.00446380733529,0.0698150791305,0.999999953888,-2.66589405547e-05,-0.000301279426659,2.72877958193e-05,1793244618389524736
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.793369279,786.793369279,805,652,631,652,0.402482359902,0.00446316693069,0.0698071585727,0.999999949642,-3.30089698053e-05,-0.000314465214338,2.71657010275e-05,1793244618406191104
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.639719129,634,878.360280871,786,805,652,631,652,0.402073871133,0.00446575660376,0.0698017238793,0.999999946696,-2.74278655289e-05,-0.000323960974481,3.00716100538e-05,1793244618439524352
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.063758029,634,878.936241971,786,805,652,631,652,0.401899393554,0.00446695545561,0.0698017871717,0.999999946584,-1.88183219933e-05,-0.000324678018199,3.25759081969e-05,1793244618456190976
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.508167465,634,879,786,805,652,630.491832535,652,0.401755876978,0.00448019605009,0.0698025064226,0.999999945875,5.87618750054e-05,-0.000321997337687,3.33804121024e-05,1793244618472857856
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,879,786,805,652.083129444,630.083129444,652,0.401619873831,0.00449452513909,0.0698029092316,0.999999939419,0.000134307388472,-0.000319347299776,3.37854627202e-05,1793244618489524480
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,879,786,805,653,631,652,0.401402219855,0.00450849530751,0.0697996652352,0.999999940631,0.000123226433883,-0.000320616383479,2.75278527879e-05,1793244618522858240
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,879,786,805,653,631,652,0.401308506002,0.00449955486148,0.069799484937,0.999999945539,6.64768963969e-05,-0.000322846318543,1.65386956387e-05,1793244618539525376
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.423297416,745,714,680,657.576702584,634,879.423297416,786,805,653,631,652,0.401236608525,0.00449581947283,0.0698003834778,0.999999947085,5.08867314825e-05,-0.000320965245703,1.48813221706e-05,1793244618556192000
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.997825766,745,714,680,657.002174234,634,879.997825766,786,805,653,631,652,0.40117250536,0.00449394368865,0.0698016674541,0.999999948173,5.00015249896e-05,-0.000317615438441,1.65579035434e-05,1793244618572858624
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.414616184,745,714,680,657.585383816,634,878.829232367,786,805,653,631,652,0.401128775285,0.00449553132628,0.0698056078371,0.999999949852,5.48279232624e-05,-0.000311404865228,1.78197837358e-05,1793244618589524992
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.170260848,745,714,680,658,634,878.170260848,786.170260848,805,652.829739152,631,652,0.401089853017,0.00449601153815,0.0698098710195,0.999999951824,5.68715459802e-05,-0.000304563879775,1.89342294604e-05,1793244618606191360
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.748593446,745,714,680,658,634,878.748593446,786.748593446,805,652.251406554,631,652,0.401062268354,0.00449380599995,0.0698148836832,0.999999954565,5.21935638327e-05,-0.000296238004435,1.96990879614e-05,1793244618622857984
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.672345107,745,713.672345107,680,658,634,879,786.672345107,805.327654893,652,631,651.672345107,0.401037020788,0.00449301670661,0.0698172429159,0.999999955802,5.05006103283e-05,-0.000292292994915,2.02431616969e-05,1793244618639524864
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.092723114,745,713.092723114,680,658,634,879,786.092723114,805.907276886,652,631,651.092723114,0.401013570449,0.00449331650745,0.0698175616567,0.999999955932,5.1103147805e-05,-0.000291716876869,2.0617451701e-05,1793244618656191744
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,713.480254109,680,658.480254109,634,879,786,805.519745891,652,631,651.480254109,0.400999495369,0.00449245132289,0.0698180698968,0.999999956327,4.97850199176e-05,-0.000290564929014,2.09680950041e-05,1793244618672858624
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.053727039,658.946272961,634,879,786,805,652.053727039,630.946272961,652,0.400987792094,0.00449136832583,0.0698187106667,0.999999956767,4.82155839729e-05,-0.000289288092743,2.13136370564e-05,1793244618689525248
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,714,680.644814404,658.355185596,634,879,786,805,652.644814404,630.355185596,652,0.400981953967,0.00449032576221,0.0698203160209,0.999999957192,4.77908977685e-05,-0.000287858933713,2.16531976786e-05,1793244618706191616
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745,713.768994609,680.537989217,658,634,879,786,805,652.768994609,630.231005391,652,0.400978275418,0.00448999569792,0.0698221649439,0.999999958007,4.75693444939e-05,-0.000285040366234,2.18040283057e-05,1793244618722858496
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,713.190175888,679.380351775,658,634,879,786,805,652.190175888,630.809824112,652,0.400977848439,0.00449073840848,0.0698243805965,0.999999959393,4.76536383941e-05,-0.000280129835635,2.16706975452e-05,1793244618739525632
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.387298822,745,713.387298822,679,658,634,879,786,805,652,631,652,0.400976812611,0.00449089428312,0.0698256935731,0.999999960018,4.74565124017e-05,-0.000277937939757,2.14883115434e-05,1793244618756192000
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.964115845,745,713.964115845,679,658,634,879,786,805,652,631,652,0.400975478854,0.00449076299939,0.0698265648404,0.999999960278,4.71216782892e-05,-0.000277076362459,2.12819211838e-05,1793244618772858112
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.462346877,745,714,679.537653123,658,634,878.462346877,786,805,652,631,652,0.400975139482,0.00449108053171,0.0698271069238,0.99999996068,4.71402960237e-05,-0.000275608115665,2.14177204602e-05,1793244618789525504
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878,786,805,652,631,652,0.40097530057,0.00449124124593,0.0698279176335,0.999999961147,4.73121080447e-05,-0.000273865344215,2.15714655164e-05,1793244618806192896
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878,786,805,652,631,652,0.400977271896,0.00449062456314,0.069829938503,0.999999961851,4.80244863686e-05,-0.00027114649237,2.17054029194e-05,1793244618822859264
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.292004112,745,713.707995888,680,658,634,878.292004112,786,805,652,631,652,0.400977320838,0.00449118112472,0.0698302313803,0.999999961837,4.99196896429e-05,-0.000270875405672,2.14729282502e-05,1793244618839525888
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.870847031,745,713.129152969,680,658,634,878.870847031,786,805,652,631,652,0.400975481401,0.00449289017692,0.0698288268324,0.999999961112,5.29767947834e-05,-0.000273008784909,2.08805230427e-05,1793244618856192000
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745.446875586,713.446875586,680,658,634,879,786,805,652,631,652,0.400975282909,0.00449131630014,0.0698293896225,0.999999961432,4.96678640423e-05,-0.000272449195259,2.10044396258e-05,1793244618872858624
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745.97751132,714,680,658,634,879,786,805,652,631,652,0.400975580369,0.00448892446709,0.0698305100345,0.999999962026,4.47786995197e-05,-0.000271088752581,2.13219005692e-05,1793244618889525248
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+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.806958517,745,714,679.806958517,658,634,879,786,805,652,631,651.806958517,0.400976821744,0.0044906259515,0.069831838919,0.999999962771,4.71417579444e-05,-0.000267922153556,2.12723178305e-05,1793244618922858240
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.222548888,745,714,679.222548888,658,634,879,786,805,652,631,651.222548888,0.400975955442,0.0044920608492,0.0698311357012,0.99999996255,4.76131268161e-05,-0.000268682024003,2.10595454381e-05,1793244618939525120
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.355004667,658,634,879,786,805.355004667,652,631,651.355004667,0.400976735161,0.0044913848567,0.0698314353474,0.999999962748,4.65690404602e-05,-0.000268118717399,2.11645279782e-05,1793244618956192000
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_11/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c0bf147ec0b94130fe25038bd892b3bfb4420dfa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_11/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e61f15f6da16d371eae64a056ab5935d23453be8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:631ec07c66d144417fbd8427e212c7055587d7eb6705642f5d87d502a72b7e9a
+size 26143397
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_11/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..202bf348721d72fb90d3bf0fe4b0c5249520fb04
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_05/franka_data.csv
@@ -0,0 +1,412 @@
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+19,0.316666667,BASELINE,764.028543524,745,714,680,658.971456476,634,878,786,805.028543524,652.971456476,630.971456476,652,0.400978453724,0.00449155321983,0.0698359200678,0.999999964548,4.52685898705e-05,-0.00026159372208,2.05723520395e-05,1793244619549915392
+20,0.333333333,BASELINE,764.60791922,745,714,680,658.39208078,634,878,786,805.60791922,652.39208078,630.39208078,652,0.400977027943,0.00449129065823,0.0698348771924,0.999999964164,4.51735443069e-05,-0.000263080622342,2.04716838124e-05,1793244619566582272
+21,0.350000000,BASELINE,765,745,714,680,658.186005182,634,878.186005182,786.186005182,805.813994818,652.186005182,630.186005182,652,0.400976214337,0.00449119425172,0.0698342733597,0.999999963936,4.5082371697e-05,-0.000263967767238,2.03987381287e-05,1793244619583248640
+22,0.366666667,BASELINE,765,745,714,680,658.761391158,634,878.761391158,786.761391158,805.238608842,652.761391158,630.761391158,652,0.400976682253,0.0044914456721,0.0698345886133,0.999999964037,4.49993066891e-05,-0.000263599391981,2.03838264643e-05,1793244619599915264
+23,0.383333333,BASELINE,764.656679487,745,714,680,659,634,879,786.656679487,805,652.656679487,631,652,0.400977304512,0.0044919691601,0.0698348738512,0.999999964101,4.65873715307e-05,-0.000263060128003,2.06418448335e-05,1793244619616582144
+24,0.400000000,BASELINE,764.070114043,745,714,680,659,634,879,786.070114043,805,652.070114043,631,652,0.400978036124,0.00449268540989,0.069835137823,0.999999964133,4.9359443286e-05,-0.000262399788161,2.10932359955e-05,1793244619633248768
+25,0.416666667,BASELINE,764,745,714,679.490733623,659,634,879,786,805,652.509266377,631,652,0.400979298839,0.00449087693688,0.0698362634118,0.999999964765,4.53836777287e-05,-0.000260711435961,2.09586035369e-05,1793244619649915392
+26,0.433333333,BASELINE,764.08775446,745,714,679,658.91224554,634,879,786,805.08775446,652.91224554,631,651.91224554,0.400980191938,0.00448907919865,0.0698371407473,0.999999965285,4.14063438938e-05,-0.000259391477348,2.07730015242e-05,1793244619666582016
+27,0.450000000,BASELINE,764.666707969,745,714,679,658.333292031,634,879,786,805.666707969,652.333292031,631,651.333292031,0.400978612546,0.00448926011636,0.0698359737488,0.999999964841,4.25479991002e-05,-0.000260914773659,2.0747428115e-05,1793244619683248640
+28,0.466666667,BASELINE,764.756252578,745,714,679.243747422,658.243747422,634,879,786,805.756252578,652.243747422,631,651.243747422,0.400977728242,0.00448933083157,0.0698353915888,0.999999964504,4.33533955462e-05,-0.000262063669184,2.08543854845e-05,1793244619699915776
+29,0.483333333,BASELINE,764.181809985,745,714,679.818190015,658.818190015,634,879,786,805.181809985,652.818190015,631,651.818190015,0.400977786974,0.00448925203366,0.0698356028867,0.999999964315,4.37025854646e-05,-0.0002627046104,2.11411490182e-05,1793244619716583424
+30,0.500000000,BASELINE,764.402161044,745,714,680,658.597838956,634,879,786,805,652.597838956,631,652,0.400978659412,0.00449001348138,0.0698361604761,0.999999964532,4.45102729287e-05,-0.00026175229421,2.09819527183e-05,1793244619733250048
+31,0.516666667,BASELINE,764.990544235,745,714,680,658.009455765,634,879,786,805,652.009455765,631,652,0.40097990864,0.00449116400794,0.069836878417,0.999999964935,4.55302693531e-05,-0.000260062214319,2.06162530739e-05,1793244619749916672
+32,0.533333333,BASELINE,764.427455585,745,714,680,658,634,879,786,805,652,631,652,0.400976894351,0.00449040712397,0.0698352977292,0.999999964172,4.51059173943e-05,-0.000263034603548,2.08505453029e-05,1793244619766582784
+33,0.550000000,BASELINE,764.152040146,745,714,680,658,634,879,786,805,652,631,652,0.40097500398,0.0044901444615,0.0698342829441,0.999999963693,4.49436750374e-05,-0.000264864590727,2.09927751616e-05,1793244619783249152
+34,0.566666667,BASELINE,764.724892591,745,714,680,658,634,879,786,805,652,631,652,0.400976417098,0.00449133591876,0.0698349383619,0.999999964075,4.55721863064e-05,-0.000263321895395,2.08530737802e-05,1793244619799915776
+35,0.583333333,BASELINE,764.700785003,745,714,680,658.299214997,634,879,786,805,652,631,652,0.400976783889,0.00449064607245,0.0698351077218,0.999999964206,4.47487927709e-05,-0.000262965415138,2.08579993568e-05,1793244619816582400
+36,0.600000000,BASELINE,764.125104331,745,714,680,658.874895669,634,879,786,805,652,631,652,0.400976183907,0.00448821795824,0.0698348279788,0.999999964103,4.25838828552e-05,-0.000263704961825,2.09965558845e-05,1793244619833249024
+37,0.616666667,BASELINE,764.464387535,745,714,680,658.535612465,634,879.464387535,786,805,652,631,652,0.400976061042,0.00448981253385,0.0698347823515,0.99999996404,4.42851257651e-05,-0.000263678058195,2.08235480813e-05,1793244619849915904
+38,0.633333333,BASELINE,764.943864122,745,714,679.943864122,658,633.943864122,879.943864122,786,804.943864122,652,631,652,0.400976148596,0.00449229977003,0.0698348656903,0.999999964011,4.68129663719e-05,-0.000263369408693,2.05836667266e-05,1793244619866582784
+39,0.650000000,BASELINE,764.366762346,745,714,679.366762346,658,633.366762346,879.366762346,786,804.366762346,652,631,652,0.400976959512,0.00449270581798,0.0698355426334,0.99999996425,4.70498830615e-05,-0.000262420985035,2.05259931567e-05,1793244619883249408
+40,0.666666667,BASELINE,764,745,714,679,658.208789793,633.208789793,878.791210207,786,804.208789793,652,631,652,0.400978041901,0.0044920540217,0.0698362868303,0.999999964606,4.63030023961e-05,-0.000261190070871,2.06076890922e-05,1793244619899916288
+41,0.683333333,BASELINE,764,745,714,679,658.781639841,633.781639841,878.218360159,786,804.781639841,652,631,652,0.400979597649,0.0044895576954,0.0698371482955,0.999999965158,4.38407049301e-05,-0.000259466586871,2.09323992938e-05,1793244619916582656
+42,0.700000000,BASELINE,764.366384064,745,713.633615936,679.366384064,659,634,878.366384064,786,805,652,630.633615936,652,0.400979651472,0.00448880735842,0.0698369533869,0.999999965162,4.25509512739e-05,-0.000259655892771,2.10732436328e-05,1793244619933249280
+43,0.716666667,BASELINE,764.958454888,745,713.041545112,679.958454888,659,634,878.958454888,786,805,652,630.041545112,652,0.400978780134,0.00448913252321,0.0698361077688,0.999999964829,4.19834660588e-05,-0.000261023446912,2.1100829511e-05,1793244619949915904
+44,0.733333333,BASELINE,764.461956212,745,713.538043788,680,659,634,879,786.538043788,805,652,630.538043788,652,0.400977355384,0.00448907317592,0.0698348459151,0.999999964276,4.33298737279e-05,-0.000262934358591,2.08665064575e-05,1793244619966582272
+45,0.750000000,BASELINE,764.116129843,745,714,680,659,634,879,787,805,652,631,652,0.400976337382,0.00448888321396,0.0698340274135,0.999999963919,4.41051231852e-05,-0.00026417481922,2.06859715923e-05,1793244619983248896
+46,0.766666667,BASELINE,764.691995242,745,714,680,659,634,879,787,805,652,631,652,0.400977094948,0.00448829104651,0.0698350884067,0.999999964421,4.20474937971e-05,-0.00026259876595,2.07966188629e-05,1793244619999915520
+47,0.783333333,BASELINE,764.733835796,745,714,680,658.733835796,634,879,786.733835796,805,652,631,652,0.400977077821,0.00448894467608,0.0698354562575,0.999999964584,4.23057584835e-05,-0.000261926823106,2.08746228452e-05,1793244620016582400
+48,0.800000000,BASELINE,764.161617441,745,714,680,658.161617441,634,879,786.161617441,805,652,631,652,0.400976169898,0.00449103080979,0.0698350270847,0.999999964359,4.52269993108e-05,-0.000262294489239,2.09150913137e-05,1793244620033249792
+49,0.816666667,BASELINE,764,745,714,680,658.425711062,634,879,786,805,652.425711062,631,652,0.400976672382,0.00449109995698,0.0698353048462,0.999999964472,4.49632453588e-05,-0.000261920056948,2.0792969401e-05,1793244620049916416
+50,0.833333333,BASELINE,764.018481575,745,714,680,659,634,879,786,805,652.981518425,631,651.981518425,0.400977671759,0.00449040005477,0.069835831927,0.999999964699,4.35557653574e-05,-0.000261305155018,2.06167178535e-05,1793244620066582784
+51,0.850000000,BASELINE,764.595962955,745,714,680,659,634,879,786,805,652.404037045,631,651.404037045,0.400976908978,0.00449045209522,0.0698354837239,0.999999964363,4.54731424313e-05,-0.000262251845366,2.07389333419e-05,1793244620083249152
+52,0.866666667,BASELINE,764.826805888,745,714,680,659,634,879,786,805,652,631,651.173194112,0.400976150743,0.00449033159408,0.0698351376499,0.999999964074,4.65570497298e-05,-0.000263154015881,2.08417864381e-05,1793244620099915776
+53,0.883333333,BASELINE,764.250157659,745,714,680,659,634,879,786,805,652,631,651.749842341,0.400975403097,0.00448980915885,0.0698347965355,0.999999963902,4.56993966003e-05,-0.000263952477793,2.08995350099e-05,1793244620116582144
+54,0.900000000,BASELINE,764,745,714,680,659,634,879,786,805,652,631,652,0.400976155142,0.00449059140368,0.069835483964,0.999999964186,4.55774766495e-05,-0.000262912409887,2.07058651193e-05,1793244620133249024
+55,0.916666667,BASELINE,764,745,714,680,659,634,879,786,805,652,631,652,0.400978056255,0.00449237329662,0.0698369594638,0.999999964814,4.60192767528e-05,-0.000260463657266,2.03195579717e-05,1793244620149916416
+56,0.933333333,BASELINE,764.487194536,745,714,680,659,634,879.487194536,786.487194536,805,652,631,652,0.400976912669,0.00449212011493,0.0698360301424,0.999999964431,4.69922747724e-05,-0.000261745349501,2.0467941559e-05,1793244620166583040
+57,0.950000000,BASELINE,764.920376898,745,714,680,658.920376898,634,879.840753796,786.920376898,805,652,631,652,0.400975417908,0.00449137331975,0.0698348051757,0.999999963923,4.76712384475e-05,-0.000263537048335,2.07117140088e-05,1793244620183249408
+58,0.966666667,BASELINE,764.342594264,745,714,680,658.342594264,634,878.685188529,786.342594264,805,652,631,652,0.400975932167,0.00449034961876,0.0698350526755,0.999999964055,4.57767565896e-05,-0.000263366131092,2.08136306366e-05,1793244620199915520
+59,0.983333333,BASELINE,764,745.232326353,714,680,658.232326353,634,878.232326353,786,805,652.232326353,631,652,0.400976522318,0.00449043732418,0.0698354668076,0.999999964248,4.50479512972e-05,-0.000262771777285,2.06230526037e-05,1793244620216582144
+60,1.000000000,BASELINE,764,745.803078011,714,680,658.803078011,634,878.803078011,786,805,652.803078011,631,652,0.400977223017,0.00449214399365,0.0698361236696,0.999999964534,4.60171642376e-05,-0.0002615606116,2.00064032699e-05,1793244620233248512
+61,1.016666667,BASELINE,764.388712524,745.611287476,714,680,658.611287476,634,879,786,805,653,631,652,0.400978014083,0.00449184216961,0.0698366083221,0.999999964758,4.49758549555e-05,-0.00026088182931,2.00585834393e-05,1793244620249915392
+62,1.033333333,BASELINE,764.982186832,745.017813168,714,680,658.017813168,634,879,786,805,653,631,652,0.400978852751,0.00449048233294,0.0698370022598,0.999999964946,4.28754644392e-05,-0.000260483490265,2.0463082426e-05,1793244620266582016
+63,1.050000000,BASELINE,764.43871955,745,714,680,658.56128045,634,879,786,805,652.43871955,631,652,0.400978369385,0.00448976057586,0.069837083379,0.999999964988,4.29562125504e-05,-0.000260304028212,2.05074213333e-05,1793244620283248896
+64,1.066666667,BASELINE,764.139115653,745,714,679.860884347,659,634,879,786,805,652,631,651.860884347,0.400978248752,0.00448939561694,0.0698371799984,0.999999965102,4.30228360096e-05,-0.000259852483367,2.05590760589e-05,1793244620299916032
+65,1.083333333,BASELINE,764.714400503,745,714,679.285599497,659,634,879,786,805,652,631,651.285599497,0.400979393659,0.00449008742175,0.0698373555654,0.999999965451,4.28335642958e-05,-0.000258526642513,2.06686101466e-05,1793244620316583168
+66,1.100000000,BASELINE,764.704471105,745,714,679.295528895,658.704471105,634,879.295528895,786,805,652,630.704471105,651.295528895,0.400979531262,0.0044906560396,0.0698371045505,0.999999965328,4.42486562151e-05,-0.000258754598195,2.07880661987e-05,1793244620333249792
+67,1.116666667,BASELINE,764.117581626,745,714,679.882418374,658.117581626,634,879.882418374,786,805,652,630.117581626,651.882418374,0.400978675769,0.00449110320796,0.0698364329706,0.999999964731,4.72454828975e-05,-0.000260514434835,2.09173042632e-05,1793244620349915904
+68,1.133333333,BASELINE,764.462948257,745,714,680,658.462948257,634,879.537051743,786,805,652,630.462948257,652,0.40097769049,0.00449132731843,0.0698361584267,0.999999964522,4.61684007515e-05,-0.000261520726045,2.07557963457e-05,1793244620366582272
+69,1.150000000,BASELINE,765,745,714,680,659,634,879,786,804.958054749,652,631,652,0.400976814599,0.00449145765498,0.0698359990149,0.999999964424,4.43049245391e-05,-0.000262235789814,2.05486194525e-05,1793244620383248896
+70,1.166666667,BASELINE,765,745,714,680,659,634,879,786,804.378283066,652,631,652,0.400977758203,0.00449110218209,0.0698360403684,0.999999964526,4.54455899821e-05,-0.000261637456573,2.06898872e-05,1793244620399915520
+71,1.183333333,BASELINE,764.800358537,745,714,680,659,634,879,786,804.199641463,652,631,652,0.400978297813,0.00449051628329,0.0698361535891,0.999999964716,4.57196127688e-05,-0.000260853884728,2.08195983652e-05,1793244620416582400
+72,1.200000000,BASELINE,764.225901832,745,714,680,659,634,879,786,804.774098168,652,631,652,0.400978078947,0.00448949777318,0.0698364017364,0.999999965069,4.43665645438e-05,-0.000259722538071,2.09276127429e-05,1793244620433249024
+73,1.216666667,BASELINE,764,745,714,680,659,634,879,786,805,652,631,652,0.400977780944,0.00448963918371,0.0698362307036,0.999999964952,4.39543370305e-05,-0.000260241680346,2.09375944811e-05,1793244620449915904
+74,1.233333333,BASELINE,764,745,714,680,659,634,879,786,805,652,631,652,0.400977431652,0.00449053235014,0.0698357879961,0.99999996453,4.41518646354e-05,-0.000261830520587,2.08840403072e-05,1793244620466582784
+75,1.250000000,BASELINE,764,745,714,679.47418294,659,634,879,786.52581706,805,652,631,652,0.400977232634,0.00449050537822,0.0698359537298,0.999999964529,4.47929260259e-05,-0.000261726257221,2.08792107865e-05,1793244620483249152
+76,1.266666667,BASELINE,764,745,714,679.106439525,659,634,878.893560475,786.893560475,805,652.106439525,631,652,0.400977191499,0.00449044051996,0.0698361939053,0.999999964589,4.53831830161e-05,-0.000261397488572,2.08343947155e-05,1793244620499915776
+77,1.283333333,BASELINE,764,745,714,679.680294589,659,634,878.319705411,786.319705411,805,652.680294589,631,652,0.400977772968,0.00449064228619,0.0698364746627,0.999999964722,4.55416214228e-05,-0.000260879572212,2.05910540489e-05,1793244620516582144
+78,1.300000000,BASELINE,764.253472851,745,714,680,659,634,878.253472851,786,805,652.746527149,631,652,0.400977745883,0.00449080578824,0.0698362694257,0.999999964638,4.51684346014e-05,-0.000261281006063,2.04215705832e-05,1793244620533249024
+79,1.316666667,BASELINE,764.825799692,745,714,680,659,634,878.825799692,786,805,652.174200308,631,652,0.400976953273,0.00449092115617,0.0698354528362,0.999999964277,4.41264943874e-05,-0.000262838928638,2.03449951663e-05,1793244620549915648
+80,1.333333333,BASELINE,764.585431315,745,714,679.585431315,659,634,879,786,805,652,631,652,0.400977161915,0.00449056272584,0.0698357510793,0.999999964391,4.35823710746e-05,-0.000262485477349,2.04770235783e-05,1793244620566582528
+81,1.350000000,BASELINE,764,745,714,679.020394968,659,634,879,786.010197484,805,652.010197484,631,652,0.400977811089,0.0044900083887,0.0698365292936,0.999999964711,4.3266986466e-05,-0.000261301181145,2.06992686833e-05,1793244620583249408
+82,1.366666667,BASELINE,764,745,714,680.174464373,659,634,879,786.587232187,805,652.587232187,631,652,0.40097859557,0.00449008793943,0.0698368725976,0.999999964924,4.35585393527e-05,-0.000260421330851,2.08627063553e-05,1793244620599916544
+83,1.383333333,BASELINE,764,745,714,680.836136019,659,634,879,786.836136019,805,652.836136019,631,652,0.400979123284,0.00449041634194,0.0698372589021,0.999999965101,4.40394394537e-05,-0.00025965144535,2.09630512716e-05,1793244620616583424
+84,1.400000000,BASELINE,764,745,714,680.260516525,659,634,879,786.260516525,805,652.260516525,631,652,0.400979005801,0.00449137005636,0.0698377532577,0.999999965188,4.4996129102e-05,-0.000259157877919,2.0904857477e-05,1793244620633249792
+85,1.416666667,BASELINE,764,745,714,680,659,634,879,786,804.678290252,652,631,652,0.400978649876,0.00449216255779,0.0698379750955,0.999999965159,4.60131328629e-05,-0.000259105580588,2.07219429476e-05,1793244620649916160
+86,1.433333333,BASELINE,764,745,714,680,659,634,879,786,804.090601753,652,631,652,0.400978096816,0.0044928217737,0.0698379716248,0.999999965034,4.70800022371e-05,-0.0002594181105,2.04359135311e-05,1793244620666582528
+87,1.450000000,BASELINE,764.490225912,745,714,680,658.509774088,634,879,786,804.490225912,652,631,652,0.400978921986,0.0044910644101,0.0698379545217,0.999999965191,4.63403132852e-05,-0.000258918132255,2.07664392711e-05,1793244620683248896
+88,1.466666667,BASELINE,765,745,714,680,658.069443298,634,879,786,805,652,631,652,0.400979789736,0.00448909400997,0.0698378629323,0.999999965375,4.51439127873e-05,-0.000258391541207,2.11247676654e-05,1793244620699915264
+89,1.483333333,BASELINE,765,745,714,680,658.646033156,634,879,786,805,652,631,652,0.400979133903,0.0044887844833,0.0698372455137,0.999999965381,4.30168261879e-05,-0.000258752117863,2.08654490368e-05,1793244620716582400
+90,1.500000000,BASELINE,764.778460294,745,714,680.221539706,659,634,879,786,805,652,631,652,0.400978947335,0.00448932020341,0.0698372705747,0.999999965421,4.30305686802e-05,-0.000258603754593,2.07526994465e-05,1793244620733249280
+91,1.516666667,BASELINE,764.204676239,745,714,680.795323761,659,634,879,786,805,652,631,652,0.400979506891,0.00449119985148,0.0698383171673,0.999999965513,4.64481930656e-05,-0.000257646185496,2.08729921481e-05,1793244620749915904
+92,1.533333333,BASELINE,764,745,714,680.619748549,659,634,879,786.380251451,805,652,631,652,0.400979507301,0.00449156492536,0.0698379021425,0.99999996526,4.65912162685e-05,-0.000258601306949,2.08475747871e-05,1793244620766582784
+93,1.550000000,BASELINE,764,745,714,680.028641478,659,634,879,786.971358522,805,652,631,652,0.400979197654,0.00449109014337,0.0698366766274,0.999999964815,4.49184201287e-05,-0.000260617046358,2.07413588357e-05,1793244620783249408
+94,1.566666667,BASELINE,764.551140099,745,714,680,658.448859901,634,878.448859901,786.448859901,805,652.551140099,631,652,0.400978222159,0.00449102483692,0.0698365056173,0.999999964873,4.46133392176e-05,-0.000260452155089,2.06950129301e-05,1793244620799915520
+95,1.583333333,BASELINE,765,745,714,680,658.129379689,634,878.129379689,786,805,652.870620311,631,652,0.400977462138,0.00449099871351,0.0698365522376,0.999999964907,4.47574306012e-05,-0.000260299289619,2.06508616435e-05,1793244620816582400
+96,1.600000000,BASELINE,765,745,714,680,658.704295369,634,878.704295369,786,805,652.295704631,631,652,0.400977560892,0.00449103571878,0.0698371633847,0.999999964772,4.62084712516e-05,-0.000260570219223,2.0603769342e-05,1793244620833249792
+97,1.616666667,BASELINE,765,745,714,680.284980963,659,634,879,786,805,652.284980963,631,652,0.400977861929,0.00449188342417,0.0698372870633,0.999999964777,4.71899522626e-05,-0.000260381543619,2.05306666992e-05,1793244620849916928
+98,1.633333333,BASELINE,765,745,714,680.871777278,659,634,879,786,805,652.871777278,631,652,0.400978377199,0.00449358971935,0.0698368944776,0.999999964931,4.76741357311e-05,-0.000259706113002,2.04300172359e-05,1793244620866583040
+99,1.650000000,BASELINE,764.548001095,745,714,680.548001095,659,634,878.548001095,786,805,653,631,652,0.400977464008,0.00449284585071,0.0698363405703,0.999999964559,4.73552401511e-05,-0.000261186133502,2.05202647526e-05,1793244620883249920
+100,1.666666667,BASELINE,764.030512844,745,714,680,659,634,878.030512844,786,805.030512844,653,631,652,0.400976311344,0.00449153801203,0.0698357899897,0.999999964091,4.69231834926e-05,-0.000263040347451,2.06494100291e-05,1793244620899916800
+101,1.683333333,BASELINE,764.6113839,745,714,680,659,634,878.6113839,786,805.6113839,653,631,652,0.400978043504,0.00449241490392,0.0698361130128,0.999999964612,4.85002526057e-05,-0.000260773180747,2.05173923321e-05,1793244620916583168
+102,1.700000000,BASELINE,764.810401799,745,714,680,659,634,879,786.189598201,805.810401799,653,631,652,0.400979182836,0.00449246920657,0.069836564473,0.999999964982,4.87503885204e-05,-0.000259298816265,2.05806979951e-05,1793244620933249536
+103,1.716666667,BASELINE,764.23755782,745,714,680,659,634,879,786.76244218,805.23755782,653,631,652,0.400979123848,0.00449086076205,0.0698372755504,0.999999965055,4.6318317639e-05,-0.000259426988912,2.1038822047e-05,1793244620949915648
+104,1.733333333,BASELINE,764,745,714,680,659,634,878.66408568,786.66408568,805,653,631,652,0.400978433479,0.00448991976401,0.0698369043611,0.999999964893,4.5181797592e-05,-0.000260247411399,2.10899456028e-05,1793244620966582016
+105,1.750000000,BASELINE,764,745,714,680,659,634,878.090168415,786.090168415,805,653,631,652,0.400977295762,0.00448945166682,0.069835766361,0.999999964565,4.49632045669e-05,-0.000261558308675,2.08527000847e-05,1793244620983248640
+106,1.766666667,BASELINE,764,745,714,680,659,634,878.502793788,786,805,652.497206212,631,652,0.400978808383,0.00449103090325,0.0698372469259,0.99999996516,4.59589638674e-05,-0.000259110842036,2.07151903849e-05,1793244620999915520
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,652,631,652,0.400977634132,0.00449073935548,0.0698370557497,0.999999965071,4.53025185633e-05,-0.000259584831458,2.05419986539e-05,1793244621043014656
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.408524921,745,713.408524921,680,658.408524921,634,878.408524921,786,805,652,631,652,0.400978587438,0.00449171599482,0.0698374791063,0.999999965126,4.61864723939e-05,-0.000259231323787,2.03646323045e-05,1793244621059680512
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,745,713,680,658.178820592,634,878,786,805,652,631,652,0.400978847248,0.00449216911464,0.0698377357124,0.999999965155,4.68037321907e-05,-0.000259008470547,2.032731852e-05,1793244621076346368
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,745,713,680,658.756944959,634,878,786,805,652,631,652,0.400977558494,0.00449145322317,0.069837619967,0.999999965131,4.68254682726e-05,-0.00025907736668,2.06027400354e-05,1793244621093012480
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,713.336269586,680,659,634,878.336269586,786.336269586,805,652,630.663730414,652,0.400977644388,0.00449133908926,0.0698374734565,0.999999965113,4.59160299263e-05,-0.000259314670341,2.05516501727e-05,1793244621109679104
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,713.916464831,680,659,634,878.916464831,786.916464831,805,652,630.083535169,652,0.400978727433,0.00449166146262,0.0698373046293,0.999999965097,4.43311295483e-05,-0.000259674134668,2.02637131121e-05,1793244621126345472
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.490648169,745,714,680,659,634,878.509351831,786.509351831,805,652,630.490648169,652,0.40097764821,0.00449158438197,0.0698365905175,0.999999964678,4.59435195431e-05,-0.000261001210132,2.02838068854e-05,1793244621143012352
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.934529121,745,714,680,659,634,878.065470879,786,805,652,631,652,0.400976606783,0.00449131634119,0.0698360766805,0.999999964306,4.75531283077e-05,-0.000262126707101,2.03950566399e-05,1793244621159679232
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.346533414,745,714,680,659,634,878.653466586,786,805,652,631,652,0.400978769536,0.00449006045351,0.0698378932111,0.999999964888,4.48486266928e-05,-0.000260344518677,2.08203365743e-05,1793244621176346368
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.761895667,786,805,652,631,652,0.40098795797,0.00448938549448,0.0698422956819,0.999999966773,4.35691105216e-05,-0.000253206581768,2.10133329359e-05,1793244621193013248
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878.18207713,786,805,652,631,652,0.401007229272,0.0044895442523,0.0698504093511,0.999999970386,4.43346550799e-05,-0.000238382370188,2.08729686876e-05,1793244621209680128
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.396279414,745,714,680,659,634,878.396279414,786,805,652.396279414,631,652,0.401044751153,0.00448985173041,0.0698646574856,0.999999976022,4.45639873728e-05,-0.000213404674666,2.06846879179e-05,1793244621226346496
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.973966741,745,714,680,659,634,878.973966741,786,805,652.973966741,631,652,0.401090627747,0.00449022728939,0.0698817138428,0.999999981911,4.45478536395e-05,-0.000183778938314,2.04744720028e-05,1793244621243012608
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.452488214,745,714,679.452488214,659,634,879,786,805,652.452488214,631,652,0.401145882221,0.00449147067439,0.0698936676944,0.999999984186,4.52721609056e-05,-0.000170800627995,2.01573311967e-05,1793244621259678976
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.12448926,745,714,679.12448926,659,634,878.87551074,786,805,652,631,652,0.401204334186,0.00449256138134,0.0699041521744,0.999999986187,4.56107980514e-05,-0.000158622932896,1.9610368916e-05,1793244621276345600
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.715049288,745,714,679.715049288,659,634,878.284950712,786,805,652,631,652,0.40127310027,0.00449292715737,0.0699100370303,0.999999988118,4.43747198291e-05,-0.000146501399609,1.82218776158e-05,1793244621293012224
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.299516528,680,659,634,878,786,805,652,631,652,0.401349802431,0.00449245902102,0.0699117632669,0.999999988877,4.14712828137e-05,-0.000142304892729,1.6609320751e-05,1793244621309679104
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.878302806,680,659,634,878,786,805,652,631,652,0.401433904203,0.00449121334323,0.0699096119991,0.999999988621,3.70131975367e-05,-0.000145497695472,1.47878448355e-05,1793244621326346240
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.545729809,679.545729809,659,634,878.454270191,786,805,652,631,652,0.401536086543,0.00449080795167,0.0699074619773,0.99999998794,3.31835286708e-05,-0.000151219152831,1.23465035148e-05,1793244621343013376
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.029436955,659,634,879,786,805,652,631,652,0.401644696395,0.00449076008116,0.0699056004764,0.999999987192,2.96804433939e-05,-0.000156974298778,9.72748810285e-06,1793244621359680000
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.603676481,659,634,879,786,805,652,631,652,0.401783171178,0.00449318850453,0.0699090726181,0.999999988168,2.91250650879e-05,-0.000150893008893,6.87456232625e-06,1793244621376346368
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.816637111,745,714,680,659,634,879,786,805,652.183362889,631,652,0.40192985761,0.00449484488738,0.0699123623838,0.999999989049,2.71563286561e-05,-0.00014543236279,3.79955039812e-06,1793244621393012736
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.224817375,745,714,680,659,634,879,786,805,652.775182625,631,652,0.402094836189,0.00449478148222,0.0699152458904,0.999999989767,2.20392136726e-05,-0.000141354255718,2.29822558521e-07,1793244621409679360
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.359091998,745,714,680,659,634,879,786,805,653,631,652,0.40228188619,0.00449654492665,0.069918262622,0.999999990626,2.00223567724e-05,-0.000135397007081,-3.79413793624e-06,1793244621426345728
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.938155718,745,714,680,659,634,879,786,805,653,631,652,0.402482456666,0.00449942745826,0.0699213609644,0.99999999154,1.99046480991e-05,-0.000128288637974,-8.09635153569e-06,1793244621443012352
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.487499903,745,714,680,659,634,878.487499903,786,805,652.487499903,631,652,0.40271740763,0.00450038244035,0.0699231541907,0.999999992277,1.18722059211e-05,-0.000122963491542,-1.36069492287e-05,1793244621459679488
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.08849857,745,714,680,659,634,878.08849857,786,805,652,631,652,0.402960901287,0.00450145890632,0.069925313611,0.99999999294,3.97266635227e-06,-0.000117200037272,-1.91788193997e-05,1793244621476346624
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.677031604,745,714,680,659,634,878.677031604,786,805,652,631,652,0.403229435564,0.00450452402939,0.069930423834,0.999999993897,2.17122797503e-06,-0.000107755313073,-2.42805115216e-05,1793244621493013248
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.73852035,745,714,680,658.73852035,634,879,786,805,652,631,652,0.403519681343,0.00450689589495,0.0699375072698,0.999999995016,-2.29328152621e-06,-9.53368583097e-05,-2.95454130891e-05,1793244621509679872
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.159040327,745,714,680,658.159040327,634,879,786,805,652,631,652,0.403836331707,0.00450842465017,0.0699469904421,0.999999996193,-9.99650417292e-06,-7.93018801155e-05,-3.50088026963e-05,1793244621526346752
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.41866099,745,714,680.41866099,658.41866099,634,879,786,805.41866099,652,631,652,0.404174618714,0.00450935665883,0.0699518919464,0.99999999641,-1.67375115355e-05,-7.25133337282e-05,-4.05238728824e-05,1793244621543013120
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.995689459,745,714,680.995689459,658.995689459,634,879,786,805.995689459,652,631,652,0.404521090238,0.00451006293529,0.0699550603364,0.999999996276,-2.31145401978e-05,-6.92224484374e-05,-4.60584922299e-05,1793244621559679488
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.431536937,745,714,680.431536937,658.431536937,634,879,786,805.431536937,652,631,652,0.404917803532,0.00450970222415,0.0699609591093,0.999999996942,-1.68127094255e-05,-5.95695523983e-05,-4.77960869772e-05,1793244621576345856
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+141,2.350000000,POSE1_TO_POSE2_PRESS,764.741663755,745,714,680,658.741663755,634,879,786,805,652,631,652,0.405737514996,0.00449641733389,0.0699681466351,0.99999999664,6.10843783311e-05,-4.89698699911e-05,-2.43148433244e-05,1793244621609679872
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.673532151,634,879,786,805,652,631,652,0.406168390146,0.00449231225496,0.0699618547455,0.999999994557,8.35915822282e-05,-5.92460180976e-05,-1.96863563499e-05,1793244621626346496
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.096534706,634,879,786,805,652,631,652,0.406609474906,0.00449306434922,0.069949055357,0.999999993415,7.83831125876e-05,-7.94337479938e-05,-2.67542011159e-05,1793244621643013120
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.520643036,745,714,680,658.479356964,634,879,786,805,652,631,652,0.407092055348,0.0045031458883,0.0699348244852,0.999999994617,7.41394471457e-06,-9.91097067283e-05,-2.97998858182e-05,1793244621659679488
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.056323242,745,714,680,659,634,879,786,805,652,631,652,0.407591129591,0.00451424198887,0.0699227394087,0.999999990675,-6.74758986989e-05,-0.000114346862043,-3.19693810868e-05,1793244621676345600
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.645559619,745,714,680,659,634,879,786,805,652,631,652,0.408167378203,0.00451720186427,0.069933678491,0.999999994035,-5.44479283391e-05,-8.85583478936e-05,-3.349495537e-05,1793244621693012224
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.230749196,714,680,659,634,879.230749196,786,805,652,630.769250804,652,0.408755940664,0.00452231337317,0.0699445376793,0.999999996785,-3.35007381691e-05,-6.37911029889e-05,-3.52044151183e-05,1793244621709679104
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.809829822,714,680,659,634,879.809829822,786,805,652,630.190170178,652,0.409363091673,0.00453067291734,0.0699552762617,0.999999998485,-5.98953924183e-07,-4.05655342399e-05,-3.71914622458e-05,1793244621726345728
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.613045702,714,680,659,634,879.613045702,786,805,652,630.386954298,652,0.409960844253,0.004538355391,0.0699509322996,0.999999997813,2.95582994672e-05,-4.48128748028e-05,-3.86278995883e-05,1793244621743012608
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.036877766,714,680,659,634,879.036877766,786,805,652,630.963122234,652,0.410554001153,0.00454570678921,0.0699392132461,0.999999995552,5.83735260257e-05,-6.24939707785e-05,-3.97950986498e-05,1793244621759679488
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.543642148,786,805,652,631,652,0.411203042728,0.00455048783669,0.0699394051933,0.999999994557,6.80800456108e-05,-6.82537502223e-05,-3.99169011126e-05,1793244621776346368
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.874988746,745,714,680,659.125011254,634,879.874988746,786,805,652,631,652,0.411875945592,0.00455642768115,0.069947480404,0.999999994535,7.60260680128e-05,-5.94715292252e-05,-4.01629507203e-05,1793244621793013248
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.291597237,745,714,680,659.708402763,634,879.291597237,786,805,652,631,652,0.412622328401,0.00456726098202,0.0699814747392,0.999999995767,8.23081173109e-05,-3.57098706401e-07,-4.11266986163e-05,1793244621809679616
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634,879.289998058,786,805,652,631,652,0.41336981385,0.00457492692898,0.070007425446,0.99999999431,8.93975018597e-05,4.02733165849e-05,-4.20227487209e-05,1793244621826345984
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680,660,634,879.869798421,786,805,652,631,652,0.414118401283,0.00457942766133,0.070025337958,0.9999999924,9.72936776367e-05,6.24322006921e-05,-4.28511469384e-05,1793244621843012352
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659.553589471,634,880,786,805.446410529,652,631,652,0.414822696555,0.00458693670327,0.0699979294349,0.999999993981,9.98962883554e-05,1.16550906754e-05,-4.38609742086e-05,1793244621859678976
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,680.022504203,659,634,879.977495797,786,805.977495797,652,631,652,0.415517351006,0.00459530376689,0.0699576137694,0.999999992042,0.000101826344158,-5.93605341051e-05,-4.49950595554e-05,1793244621876345344
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,680.608740773,659,634,879.391259227,786,805.391259227,652,631,652,0.416291815354,0.00460334093733,0.0699227490602,0.999999985141,0.000125310396037,-0.000108247331036,-4.79256718975e-05,1793244621893012736
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.192471792,745,714,680.807528208,659.384943584,634,879,786,805,652,630.807528208,652,0.417090092323,0.00460977085982,0.0699091569017,0.999999981517,0.000135422671838,-0.000127188876697,-4.9490398131e-05,1793244621909679872
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.77117491,745,714,680.22882509,660.54234982,634,879,786,805,652,630.22882509,652,0.417936153806,0.00461297553259,0.0699382521719,0.999999988086,0.00011870193,-8.60395670959e-05,-4.83142136158e-05,1793244621926346496
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.349776093,660.650223907,634,879,786,805,652,630.349776093,652,0.418790128347,0.00461706756808,0.0699652675311,0.999999990351,0.000121184786709,-4.78956337658e-05,-4.81390037624e-05,1793244621943013120
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.928310587,660.071689413,634,879,786,805,652,630.928310587,652,0.419649278105,0.00462173995093,0.0699909225987,0.999999989471,0.000136227062972,-1.1717259682e-05,-4.86184452061e-05,1793244621959679488
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.495220039,660,634,879,786,805,652,630.495220039,652,0.420525656553,0.00461892108464,0.0700118159176,0.999999987969,0.00014527419486,2.20484658282e-05,-4.97088059256e-05,1793244621976345856
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.917723,745,714,680,660,634,879,786,805,652,630.082277,652,0.421402384418,0.00461208424108,0.0700277991743,0.999999987233,0.000143768439528,4.78333428927e-05,-5.07532641508e-05,1793244621993012736
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.332153152,745,714,680,660,634,879,786,805,652,630.667846848,652,0.422266342863,0.00458715072763,0.0700178672247,0.999999994903,8.28971668254e-05,2.68863762294e-05,-5.09883598549e-05,1793244622009679360
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,680.251163667,659.748836333,634,879.502327334,786.251163667,805,652,631,652,0.423095437674,0.00457292090623,0.0699755310479,0.999999996216,5.52685408614e-05,-4.27157482769e-05,-5.18604643305e-05,1793244622026345984
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680.831527525,659.168472475,634,880.663055051,786.831527525,805,652,631,652,0.423878836843,0.00457272040936,0.0698907226525,0.999999980526,7.12110395337e-05,-0.000176090185553,-5.35674957181e-05,1793244622043012608
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.408740645,745,714,681,659,634,880.182518709,786.591259355,805,652,631,652,0.424753475888,0.0045806486388,0.0698666792086,0.999999973984,8.3983478676e-05,-0.000204409802018,-5.6520566961e-05,1793244622059679488
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.984665011,745,714,681,659,634,879.030669978,786.015334989,805,652,631,652,0.42566543396,0.00459190169223,0.0698674899426,0.99999997564,9.54592946408e-05,-0.000189759729051,-5.99832954583e-05,1793244622076346368
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.55869661,714,681,660.676089831,634,879.55869661,786,805,652,631,652,0.426605689974,0.00459388271327,0.0699297510489,0.999999988786,9.50838735663e-05,-0.00010128901944,-5.59193041593e-05,1793244622093012736
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.863188799,714,681,661.726377598,634,879.863188799,786,805.136811201,652,631,652,0.427550533739,0.00459710470648,0.0699871857576,0.999999993517,9.88219091381e-05,-2.01827046387e-05,-5.28460826641e-05,1793244622109679616
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.271321328,714,681,660.542642656,634,879.271321328,786,805.728678672,652,631,652,0.428508062298,0.00460529801422,0.0700229758608,0.999999991232,0.000117320286789,2.97116698926e-05,-5.37531618001e-05,1793244622126345728
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.68636261,660.31363739,634,879,786,806,652,631,652,0.429443232672,0.00460946320218,0.0700418782616,0.999999989247,0.000121699254227,6.1067619999e-05,-5.44527368156e-05,1793244622143012096
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.107251727,660.892748273,634,879,786,806,652,631,652,0.430359478259,0.00461021885038,0.0700464863274,0.999999989032,0.000114127065692,7.67320065442e-05,-5.49766732304e-05,1793244622159678720
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.467071451,660.532928549,634,879,786,806,652,631,651.532928549,0.431165817092,0.00460835634086,0.0699879924591,0.999999991341,0.000116421505818,-2.6753559274e-05,-5.52083495797e-05,1793244622176345600
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.040247835,786,805.959752165,652,631,651.040247835,0.431951943801,0.0046054253387,0.0699184667404,0.99999997997,0.000120008769279,-0.000150271808334,-5.54687310812e-05,1793244622193012736
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.612649291,786,805.387350709,652,631,651.612649291,0.432801128354,0.00459623513916,0.069892718479,0.999999975907,0.000111037574992,-0.000180580277733,-5.69869867172e-05,1793244622209679360
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.807266978,745,714,681,660.385466044,634,880,786,805,652,631,652,0.433691106252,0.00458817412168,0.0698981444776,0.999999980628,9.71719524683e-05,-0.000161008778368,-5.81252857649e-05,1793244622226345984
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.211102495,745,714,681,661.57779501,634,880,786,805,652,631,652,0.434666473505,0.00458247672221,0.069968824869,0.999999994936,7.30612416395e-05,-3.7027833749e-05,-5.84682541315e-05,1793244622243012352
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,714,681.37283682,661.62716318,634,880,786,805,652,631,652.37283682,0.435575667006,0.00458300855613,0.0700093316814,0.999999994993,7.69337943568e-05,2.77212316597e-05,-5.7672034272e-05,1793244622259678976
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,714,681.950073897,661.049926103,634,880,786,805,652,631,652.950073897,0.436448582026,0.00458695544181,0.0700332964341,0.999999991996,9.6147607982e-05,5.99976079337e-05,-5.62512777307e-05,1793244622276345600
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,714,682,660.472943199,634,880,786,805,652,631.527056801,652.472943199,0.437285394691,0.00459027272468,0.0700245194821,0.999999992278,9.42382524639e-05,5.68663226495e-05,-5.76952619282e-05,1793244622293012224
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.105723642,745,714,682,660,634,880,786,805.105723642,652,631.894276358,652,0.43809931291,0.00459340643257,0.0700050390691,0.99999999337,9.13586355708e-05,3.74312544113e-05,-5.92622379734e-05,1793244622309678848
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.692156487,745,714,682,660,634,880,786,805.692156487,652,631.307843513,652,0.438824675553,0.00459597649574,0.0699509868987,0.999999993015,9.31608715043e-05,-4.08916882047e-05,-6.0155173566e-05,1793244622326345472
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713.724200053,682,659.724200053,633.724200053,880,786,806.275799947,652,631,652,0.439540110943,0.00460052239025,0.0698901926152,0.999999983529,0.000101096210907,-0.000138027074637,-6.0586142394e-05,1793244622343011840
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,713.143638925,682,659.143638925,633.143638925,880,786,806.856361075,652,631,652,0.44024457659,0.00460725159424,0.0698219482457,0.999999958708,0.000115808678775,-0.000255950358152,-6.0506633819e-05,1793244622359678720
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.433128683,682,659,633,880.433128683,786,806.566871317,652,631,652,0.441008842859,0.0046125253082,0.069824186122,0.999999959797,0.000116421638481,-0.000251547840683,-5.97887441756e-05,1793244622376345344
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.991263125,745,713.991263125,682,659,633,880.991263125,786,806,652,631,652,0.441791752204,0.00461736693959,0.0698497768391,0.99999997052,0.00011271710132,-0.000206853622194,-5.88747281737e-05,1793244622393011968
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.409909324,745,713.409909324,682,659,633,880.409909324,786,806,652,631,652,0.442508037047,0.00462525041747,0.069887274868,0.999999977495,0.000129837374752,-0.00015712062192,-5.88614000098e-05,1793244622409678848
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,713.172182191,682.172182191,658.827817809,633,880.172182191,786,806.172182191,652,631,652,0.443208333078,0.00463236794134,0.0699068317862,0.999999978548,0.000145473430597,-0.000135263167527,-5.86906880766e-05,1793244622426345472
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745,713.75603764,682.75603764,658.24396236,633,880.75603764,786,806.75603764,652,631,652,0.44387040134,0.00463765413465,0.0698834930126,0.999999969687,0.00015756085001,-0.000180053808813,-5.81436849255e-05,1793244622443012096
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.336993664,745,714,683,658,633,880.663006336,786,806.663006336,652,631,652,0.444507396242,0.00464180522894,0.0698447373418,0.999999954366,0.000168442795276,-0.00024407235255,-5.76564130018e-05,1793244622459678976
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.915868554,745,714,683,658,633,880.084131446,786,806.084131446,652,631,652,0.445126394401,0.00464514159203,0.0697949160102,0.999999930632,0.000178459495713,-0.000321891949327,-5.72120136955e-05,1793244622476345600
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713.508195902,682.508195902,657.508195902,633,880.491804098,786,806,652,631,652,0.445713320194,0.00465180932941,0.0697659774687,0.99999991687,0.000187886384999,-0.000357175560601,-5.81799930369e-05,1793244622493011968
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.068663344,713.068663344,682.068663344,657,632.931336656,881,786,806,652,631,652,0.446289041127,0.00465847498532,0.0697429325466,0.999999905049,0.000196916162586,-0.000384214863557,-5.9204488373e-05,1793244622509678592
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.656281664,713.656281664,682.656281664,657,632.343718336,881,786,806,652,631,652,0.446821296729,0.004660843306,0.0697375920561,0.99999989607,0.000203702632028,-0.000403612793395,-5.88408890561e-05,1793244622526345472
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.759363166,714,683.240636834,657,632,881,786,806,652,631,652,0.447341613624,0.00466454547811,0.069724659234,0.999999881898,0.000211843183609,-0.000433540424544,-5.80441865598e-05,1793244622543012096
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.179606669,714,683.820393331,657,632,881,786,806,652,631,652,0.447845105741,0.00467012739237,0.0697010268495,0.999999859389,0.00022189198706,-0.000478307131629,-5.66371294128e-05,1793244622559678720
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.602668185,745,713.602668185,683.602668185,657,631.602668185,881,786,806,652,631,652,0.448351002318,0.00467172407977,0.0696950587702,0.999999853983,0.000223017075917,-0.000489031239696,-5.60926064848e-05,1793244622576346112
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764,745,713.620445814,683,654,631,880.379554186,785.620445814,806,652,631,652,0.45176433929,0.00474387169334,0.069591039784,0.9999997467,0.000321427472161,-0.000630886885299,-7.25690717679e-05,1793244622726345984
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+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.681680788,713,683.681680788,653,630.318319212,881,785,806,652,631,652,0.453287409836,0.00475733108722,0.0695721293408,0.999999750755,0.000248638470387,-0.000657434110461,-6.67093086007e-05,1793244622843013376
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+262,4.366666667,HOLD_POSE2,764.540790435,745,713,684,651,629.540790435,880,785,806.459209565,652,631,652,0.454235904212,0.00476181471435,0.0695581148769,0.999999726003,0.000275223865009,-0.00068400849548,-6.61743973337e-05,1793244623643416832
+263,4.383333333,HOLD_POSE2,764.882364345,745,713,683.882364345,651,629.882364345,880,784.882364345,806,652,630.882364345,652,0.454236257859,0.00476190829293,0.0695586112961,0.999999726872,0.000273839201858,-0.000683250864524,-6.66115910097e-05,1793244623660083456
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+266,4.433333333,HOLD_POSE2,764.873095101,745,713,683.873095101,651,629.873095101,880.873095101,784.873095101,806.873095101,652,630.873095101,652,0.454236957742,0.00476162760708,0.06955908551,0.999999727691,0.000272090493661,-0.00068275667849,-6.65387123349e-05,1793244623710083584
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,651,630,881,785,807,652,631,652,0.454237415924,0.00476176892126,0.0695589989981,0.999999726272,0.00027600488903,-0.000683319612799,-6.59606058865e-05,1793244623742657024
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,713.411486542,683.588513458,651,630,881,785,807,652,631,652,0.454236547425,0.00476180136009,0.0695576677401,0.999999725172,0.000275781424209,-0.000685023332874,-6.59072310926e-05,1793244623759323392
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.825873457,745,713,683.825873457,651,630,881,785,806.825873457,652,630.825873457,652.174126543,0.454236685928,0.00476202077119,0.0695574845904,0.999999725142,0.000275672733394,-0.000685116999005,-6.58493102791e-05,1793244623775989760
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.32979106,745,713,683.32979106,651,629.67020894,881,785,806,652,630.32979106,652.67020894,0.454239310604,0.00476153231028,0.0695603946171,0.999999727853,0.000275879762713,-0.000681109291289,-6.5381066662e-05,1793244623809323264
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.905037112,745,713,683.905037112,651,629.094962888,881,785,806,652,630.905037112,652.094962888,0.454237719131,0.00475905275226,0.0695592850973,0.999999726478,0.000275847455849,-0.000683198943675,-6.47347564167e-05,1793244623825990400
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.940585635,651.940585635,629.940585635,881,785,806,652,630.940585635,652,0.454236846024,0.00476062783941,0.069557951988,0.999999727598,0.000272771070608,-0.000682692234603,-6.58190610868e-05,1793244623859324160
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.349926899,651.349926899,629.349926899,881,785,806,652,630.349926899,652,0.454230884052,0.00476184377651,0.0695551103109,0.999999723557,0.000274559196159,-0.000687838172701,-6.61951650356e-05,1793244623875990016
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.235514838,683.235514838,651,629.235514838,880.764485162,785,806,652,630.235514838,652,0.45421897527,0.00476201988595,0.0695493407131,0.999999716951,0.000275835804725,-0.000696874383705,-6.6168374218e-05,1793244623892656384
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.813373115,683.813373115,651,629.813373115,880.186626885,785,806,652,630.813373115,652,0.454198422227,0.0047606845059,0.0695393151018,0.999999706499,0.000276368874035,-0.000711565479493,-6.55559371199e-05,1793244623909323264
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.801715586,745.801715586,713.198284414,683.198284414,652,630,880,785,806.198284414,652,631,652,0.453216874003,0.0047612912984,0.0694784139227,0.99999963618,0.000296000163214,-0.000798285803925,-5.25730461325e-05,1793244624092656896
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.354892402,745,713.645107598,683.645107598,651.645107598,630,880,785,806.645107598,652,630.645107598,652,0.452829578245,0.00475822107564,0.0694688908904,0.999999623034,0.000300646207786,-0.000813257302577,-4.64315554281e-05,1793244624125990656
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.930848069,745,713.069151931,683.069151931,651.069151931,630,880,785,806.069151931,652,630.069151931,652,0.452607682763,0.00475622721049,0.0694636144075,0.999999613215,0.000304246081983,-0.000824151381373,-4.21819092092e-05,1793244624142657280
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,652,629.078634361,880.921365639,785,806.078634361,652,631,652,0.452101922984,0.00475835383253,0.0694602492931,0.999999602562,0.000318005658674,-0.00083222476313,-3.39248756152e-05,1793244624175990272
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,652,630,880,785,807,652,631,652,0.451191999114,0.00475432505168,0.0694672937809,0.999999599504,0.000337475113683,-0.000828735095806,-1.7354297188e-05,1793244624225989888
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713.681407593,684,653.318592407,631,880.681407593,785,806,652,631,652,0.448816872839,0.00473566832357,0.0695680186656,0.999999697327,0.000357042943664,-0.000691068503587,1.70609581995e-05,1793244624325990144
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,713.767554197,682.232445803,658,633,880,786,805.232445803,652,631,652,0.436568239103,0.00460066327305,0.0697298358866,0.999999897773,0.000204963911088,-0.000402377632029,2.31432103225e-05,1793244624625989888
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764.655302905,745,713.655302905,682,658.344697095,633,880,786,805.344697095,652,631,652,0.435732261988,0.00459701163355,0.0697624617753,0.999999920448,0.000179448217842,-0.000355392565742,2.44484021066e-05,1793244624642656512
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.079809484,745,713.079809484,682,658.920190516,633,880,786,805.920190516,652,631,652,0.434899431103,0.00459445309397,0.0698112152465,0.999999946653,0.000156620596206,-0.00028552039595,2.53399758209e-05,1793244624659323136
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764.493934211,745,713.493934211,682,659,633,880,786,805.506065789,652,631,652,0.434033064598,0.00458807576071,0.0698315731791,0.999999954709,0.000142427399334,-0.000263685188554,2.77029356453e-05,1793244624675990016
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764.930282119,745,714,682,658.930282119,633.069717881,880,786,805,652,631,652,0.433156515122,0.00458124721945,0.06984592027,0.999999959661,0.000132895234268,-0.000249242117361,2.99182050981e-05,1793244624692656384
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764.337065567,745,714,682,658.337065567,633.662934433,880,786,805,652,631,652,0.432244048129,0.00457564751033,0.069849462845,0.999999961667,0.000147923007816,-0.000232229249793,2.9245609119e-05,1793244624709323008
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,745,714,682,658.248942043,634,880.248942043,786,805.248942043,652,631,652,0.431290922873,0.00457138843397,0.069823887018,0.999999951168,0.000152231604038,-0.000271342065485,2.9386647116e-05,1793244624725989632
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,745,714,682,658.825463584,634,880.825463584,786,805.825463584,652,631,652,0.430284295826,0.00456889347752,0.0697599946763,0.999999915541,0.000142434979171,-0.000384309911383,3.05983348161e-05,1793244624742656512
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.401275616,745,713.598724384,682,658.598724384,634,880.197448768,786,806,652,631,652,0.429339130759,0.00456165406241,0.0697310587116,0.999999900715,0.00013095551686,-0.000424912645752,2.94798698794e-05,1793244624759323392
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.976779555,745,713.023220445,682,658.023220445,634,879.046440891,786,806,652,631,652,0.428420651694,0.00455235466913,0.0697173003261,0.999999898356,0.000118745390868,-0.00043409544427,2.73496849299e-05,1793244624775990016
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.565725346,682,658.565725346,633.434274654,879.565725346,786,806,652,631,652,0.427576020348,0.00454666931365,0.0697852393397,0.999999938355,0.000109821520435,-0.000332171467965,2.98569058863e-05,1793244624792656640
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764.847459728,745,713.847459728,681.847459728,658.847459728,633,880,786,806,652,630.847459728,652,0.4267107808,0.00454043627936,0.0698421238495,0.999999963292,0.00010247176,-0.000248727233453,3.2406837745e-05,1793244624809323008
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764.268186973,745,713.268186973,681.268186973,658.268186973,633,880,786,806,652,630.268186973,652,0.425779203768,0.00453224602841,0.0698584740887,0.999999968028,9.91390587495e-05,-0.000230048554933,3.45308045214e-05,1793244624825989632
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764.310308174,745,713.310308174,681,657.689691826,633,880,786.310308174,806,652,630.310308174,652,0.424848923642,0.00452420548023,0.0698521097206,0.999999966759,9.10818191514e-05,-0.000238789713789,3.41524668471e-05,1793244624842656512
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764.888132913,745,713.888132913,681,657.111867087,633,880,786.888132913,806,652,630.888132913,652,0.423919761626,0.00451629399118,0.0698261630966,0.999999959617,7.89515568348e-05,-0.000271169505487,3.16168932629e-05,1793244624859323136
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.461851398,633.461851398,879.538148602,786.538148602,806,652,631,652,0.422933311458,0.00451163622795,0.0697681628368,0.999999925093,7.06118091608e-05,-0.000379167833016,3.25485150188e-05,1793244624875989760
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764.964386114,745,713.964386114,681,657.964386114,634,879,786,805.964386114,652,631,652,0.421940578238,0.00450731144921,0.0697057934283,0.999999873353,6.33211933801e-05,-0.000498113822589,3.4157843812e-05,1793244624892656640
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.37459951,745,713.37459951,681,657.37459951,634,879,786,805.37459951,652,631,652,0.421064094345,0.00449601289275,0.0696951830432,0.999999870279,5.8195161278e-05,-0.000504917265898,3.33600021349e-05,1793244624909323264
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.211715586,745,713,681,657.423431172,634,879,786,805,652,631,652,0.420215469788,0.0044855736318,0.0697193163914,0.99999989361,4.47710527588e-05,-0.000457931761217,3.27779262045e-05,1793244624925990144
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.791987547,745,713,681,658.583975094,634,879,786,805,652,631,652,0.419415342867,0.00447663023826,0.0698039319378,0.999999948984,1.69015774423e-05,-0.000317309971762,3.25714566155e-05,1793244624942656768
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.368721613,681,659.368721613,634,879,786,805,652,631,652,0.418605459037,0.00446990589396,0.0698529072613,0.999999969826,1.91296950092e-05,-0.0002425773414,3.37386681087e-05,1793244624959323136
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,713.943478728,681,659.943478728,634,879,786,805,652,631,652,0.417790123255,0.00446442151799,0.0698819674162,0.999999977692,3.81758483413e-05,-0.000204662486863,3.56734699481e-05,1793244624975989504
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.442023373,634,879,786,805,652,631,652,0.416940700869,0.00445384778357,0.0698517210846,0.999999969456,1.32915187664e-05,-0.00024430914974,3.49881887817e-05,1793244624992656384
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.902277851,745,714,681,657.097722149,634,879,786.097722149,805,652.097722149,631,652,0.416093628716,0.00444375941387,0.0698170439096,0.999999957368,-1.35071107122e-05,-0.000289713290119,3.38883204043e-05,1793244625009323264
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.311618927,745,714,681,657.688381073,634,879,786.688381073,805,652.688381073,631,652,0.415277164598,0.0044389192753,0.0697926439528,0.999999947473,-2.57935393997e-05,-0.000321489072191,3.21386071033e-05,1793244625025989888
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.850049575,745,713.149950425,680.149950425,658,634,879,786.149950425,805,652.149950425,630.149950425,652,0.413607255854,0.00443506582809,0.0697415420669,0.999999907378,-8.46368463621e-06,-0.000428862150996,3.53418679337e-05,1793244625059323136
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.426600392,680.426600392,657.573399608,634,879,786,805,652,630.426600392,652,0.412905989423,0.00445555337094,0.0697676892866,0.999999928466,4.94864492217e-06,-0.000376628374539,3.45738534419e-05,1793244625075989760
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.002940845,714,680.997059155,657.011763382,634,879.002940845,786.002940845,805.002940845,652,631,652,0.412254106152,0.00448341800313,0.0698121382874,0.999999958827,1.74693699924e-05,-0.0002845696726,3.25691538908e-05,1793244625092656640
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.590689129,714,680.409310871,659.362756517,634,879.590689129,786.590689129,805.590689129,652,631,652,0.411632270976,0.00448718052289,0.0698600822895,0.99999997609,4.523587781e-05,-0.00021126509785,3.3764428917e-05,1793244625109323264
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.824132921,714,680.175867079,660.472398762,634,880,787,805.824132921,652,631,652,0.410987595638,0.00448588637231,0.0698861219125,0.999999982728,5.8041692689e-05,-0.000173131365024,3.4642937225e-05,1793244625125989888
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.244850849,714,680.755149151,658.734552546,634,880,787,805.244850849,652,631,652,0.410290527977,0.00447299291332,0.0698619158993,0.99999997547,3.65297329259e-05,-0.000215674714345,3.47948266552e-05,1793244625142656768
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.667268812,634,879.667268812,786.667268812,805,652,631,651.667268812,0.40960078523,0.00446835493115,0.0698247707385,0.999999959736,2.28013042863e-05,-0.000280781215401,3.41994756042e-05,1793244625159323392
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.090931477,634,879.090931477,786.090931477,805,652,631,651.090931477,0.408916405394,0.00446976112291,0.0697781522986,0.999999933675,1.47715191879e-05,-0.000362407121465,3.30570390022e-05,1793244625175990272
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.465638301,634,879,786.465638301,805,652.465638301,631,651.465638301,0.408331899448,0.00446979070354,0.0697691799432,0.999999931196,2.19819076364e-05,-0.0003689562814,3.15665739538e-05,1793244625192657664
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745.020614387,714,681,658,634,879.020614387,786.979385613,805.020614387,653,631,652,0.407768208744,0.00446959190661,0.0697681131552,0.999999934011,3.14547000657e-05,-0.000360670561768,3.0091135826e-05,1793244625209325312
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.636502346,714,681,658,634,879.636502346,786.363497654,805.636502346,653,631,652,0.407265325755,0.00447024508939,0.06979168665,0.999999944745,2.3816654725e-05,-0.000330129883546,3.09322756905e-05,1793244625225990656
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.76299606,745.76299606,714,680.76299606,657.76299606,634,879.76299606,786,805.76299606,652.76299606,630.76299606,652,0.406763320025,0.00447360095483,0.0698072357352,0.999999950275,2.71417757426e-05,-0.000312585698649,3.16862641537e-05,1793244625242656768
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.18465427,745.18465427,714,680.18465427,657.18465427,634,879.18465427,786,805.18465427,652.18465427,630.18465427,652,0.406262577784,0.00448084927825,0.0698112279019,0.999999949186,4.62562705044e-05,-0.00031375932821,3.23147353674e-05,1793244625259323648
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.391394087,745,714,680,657.391394087,634,879.391394087,786.391394087,805,652,630.391394087,652,0.405786731915,0.00448623902803,0.0698060168515,0.999999945407,5.15622372743e-05,-0.000324809827493,3.2018010807e-05,1793244625275990272
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.451029531,745,714,680,658.548970469,634,879.451029531,786.451029531,805,652,631,652,0.404950459585,0.00448706279773,0.0698098235877,0.999999948902,4.04440724614e-05,-0.000315651429519,3.04164659957e-05,1793244625309323520
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.132404124,745,714,680,658.867595876,634,879,786.132404124,804.867595876,652,631,652,0.404590038697,0.00448266313372,0.0698256031235,0.99999995798,2.97483605575e-05,-0.000286826066061,2.97587246992e-05,1793244625325990400
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.717053439,745,714,680,658.282946561,634,879,786.717053439,804.282946561,652,631,652,0.404249984909,0.0044775967327,0.0698448825924,0.999999967383,1.83592377609e-05,-0.000252993156755,2.9858700271e-05,1793244625342656768
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.124225784,680,658,634,879.875774216,786.124225784,804.875774216,652,630.124225784,652,0.403581595983,0.00447244154805,0.0698432350164,0.999999967837,2.20127558361e-06,-0.000251973410909,2.88336152583e-05,1793244625375990016
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.450514274,680,658,634,879.549485726,786,805,652.450514274,630.450514274,652,0.403273440512,0.00446870851257,0.069832993054,0.999999963296,-8.60726112258e-06,-0.0002692865941,2.86203363026e-05,1793244625392656896
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652.9749023,631,652,0.402973924428,0.00446453683695,0.0698220006925,0.999999957769,-2.03334800175e-05,-0.000288505576465,2.85284476764e-05,1793244625409323520
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652.385787634,631,652,0.402719762806,0.00446251272655,0.0698126189263,0.999999952259,-2.9372108471e-05,-0.000306314863194,2.81182676878e-05,1793244625425990144
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.219648681,745,714,680,658,634,879.780351319,786,805,652.780351319,631,652,0.402269778446,0.00446438090813,0.0698016852491,0.999999946649,-2.8063156166e-05,-0.000324062762769,2.99589999632e-05,1793244625459323648
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.032165429,745,714,680,658,634,879.032165429,786.967834571,805,652,631,652,0.40097670074,0.00449134156933,0.0698301847063,0.999999962134,4.3542626562e-05,-0.00027096507974,2.03339106741e-05,1793244625925990144
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.810763018,786,805,652,631,652,0.400976945791,0.00448790936331,0.0698317286118,0.999999962759,4.07666058219e-05,-0.00026904072514,2.08900844919e-05,1793244625959323392
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745.507625257,714,680.507625257,658.507625257,634,879,786.507625257,805,652.492374743,631,652,0.4009727946,0.00449175407371,0.0698304440995,0.999999961704,4.35181810934e-05,-0.00027256428272,2.0173238054e-05,1793244626025990144
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.328027405,745.328027405,714,680.328027405,658.328027405,634,879,786.328027405,805.671972595,652,631,652,0.400976181278,0.00449153881239,0.0698326528084,0.999999962916,4.39336701612e-05,-0.000268021903413,2.00618711343e-05,1793244626059323136
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764.24907221,745,714,680,658,634,879,786,805.75092779,652,631,652,0.400977416516,0.00449099054533,0.0698336646859,0.999999963458,4.40181956514e-05,-0.000265962187223,2.02373325947e-05,1793244626075989760
+408,6.800000000,POSE2_TO_POSE3_RETREAT,764.823004278,745,714,680,658,634,879,786,805.176995722,652,631,652,0.400978995739,0.00449044748984,0.069835419704,0.999999964167,4.29318011846e-05,-0.000263449860245,2.04133108693e-05,1793244626092656640
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.400978482483,0.00448911230126,0.0698348858842,0.999999964025,4.12586374608e-05,-0.000264246417814,2.05103660385e-05,1793244626109323264
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.400977036181,0.00448742389704,0.0698333314613,0.999999963499,3.9323830773e-05,-0.000266518421915,2.05722290323e-05,1793244626125989888
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_11/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2ce4f2cdbeaa9086a6eb149a3d29c3ebfa01b9d1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,412 @@
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+403,6.716666667,pose2_to_pose3_retreat,0.575671833009,0.00987800292155,1.06005104536,0.54624346485,0.0185536842292,1.05971754094
+404,6.733333333,pose2_to_pose3_retreat,0.575671705366,0.00987801327766,1.06005102459,0.546243336989,0.0185536938424,1.05971752011
+405,6.750000000,pose2_to_pose3_retreat,0.575671141124,0.00987805905671,1.06005093279,0.546242771782,0.0185537363373,1.05971742806
+406,6.766666667,pose2_to_pose3_retreat,0.575670174784,0.00987800506407,1.06005111181,0.546241806403,0.0185536853973,1.05971760165
+407,6.783333333,pose2_to_pose3_retreat,0.575669683908,0.00987796266232,1.06005129379,0.54624131648,0.0185536458655,1.05971777419
+408,6.800000000,pose2_to_pose3_retreat,0.575669557009,0.00987793185534,1.06005129522,0.546241190189,0.0185536170953,1.05971777503
+409,6.816666667,pose2_to_pose3_retreat,0.575669461347,0.00987786354655,1.06005126865,0.546241095716,0.018553553019,1.05971775361
+410,6.833333333,pose2_to_pose3_retreat,0.575669456805,0.00987786030319,1.06005126739,0.546241091231,0.0185535499764,1.05971775259
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_12/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7353495e2467bb8c021de13c70a2bae856b06862
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6fae793c87b802dd1a61966a5dd6e8368690aa6dab06bc036fe8dca5bef99e0
+size 25623394
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f6ef28d813ac6c80ddbd651be18b1c6df6a80d03
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+54,0.900000000,BASELINE,764,745,714,679.682432776,658.317567224,634,879,786,805,652,631,652,0.401025157033,0.0044836674749,0.0798598398018,0.999999980118,0.000114842128224,-0.000155036456894,5.03832237947e-05,1793244628289861376
+55,0.916666667,BASELINE,764,745,714,679.105508791,658.894491209,634,879,786,805,652,631,652,0.401023654492,0.00448363335055,0.0798583988372,0.999999979666,0.000114900436647,-0.000157956753673,5.01571460727e-05,1793244628306528000
+56,0.933333333,BASELINE,764,745,714,679,658.030880741,634,878.51544037,786,805,652,631,652,0.401024216979,0.00448333075577,0.0798588406236,0.999999979726,0.000115127230529,-0.000157327909046,5.04209999329e-05,1793244628323194880
+57,0.950000000,BASELINE,764.075288957,745,714.075288957,679.150577915,657.075288957,634,878.150577915,786,805,652,631,652,0.401024928146,0.00448302046545,0.0798594979469,0.999999979859,0.000115280028968,-0.00015627847239,5.07002961795e-05,1793244628339861248
+58,0.966666667,BASELINE,764.6508612,745,714.6508612,680.3017224,657.6508612,634,879.3017224,786,805,652,631,652,0.401023556153,0.00448305830929,0.079858787449,0.999999979719,0.000114690567392,-0.000157712556513,5.03535775499e-05,1793244628356527872
+59,0.983333333,BASELINE,765,745,714.773659859,680.773659859,658,634,879.547319717,786,805,652,631.226340141,652,0.401022629897,0.00448322765917,0.0798581821582,0.99999997957,0.000114676323894,-0.000158729122087,5.01402121611e-05,1793244628373195008
+60,1.000000000,BASELINE,765,745,714.198324691,680.198324691,658,634,878.396649382,786,805,652,631.801675309,652,0.401022390925,0.00448359977888,0.0798577390865,0.999999979411,0.000115549012015,-0.000159101913888,5.01324647661e-05,1793244628389861632
+61,1.016666667,BASELINE,764.614715568,745,714,680,658,634,878,786,805,652,631.614715568,652,0.401022500881,0.0044841899165,0.0798576845465,0.999999979508,0.000114844822102,-0.000159012890552,5.00950767504e-05,1793244628406528256
+62,1.033333333,BASELINE,764.026754004,745,714,680,658,634,878,786,805,652,631.026754004,652,0.401022794389,0.00448489474142,0.0798578343919,0.999999979738,0.000113311122581,-0.00015868093143,5.00420964206e-05,1793244628423195136
+63,1.050000000,BASELINE,764,745,714,680,658,634,878.553721996,786,805,652,631,652,0.401023318822,0.00448438266175,0.0798581229837,0.999999979649,0.000114886610393,-0.000158132214591,4.99825799896e-05,1793244628439861760
+64,1.066666667,BASELINE,764,745,714,680,658,634,879,786,805,652,631,652,0.40102361687,0.00448385394068,0.0798583599173,0.999999979608,0.000115733976228,-0.000157771085244,4.99811537902e-05,1793244628456528128
+65,1.083333333,BASELINE,764,745,714,680,658,634,879,786,805,652,631,652,0.401023123354,0.00448346316691,0.0798584025473,0.999999979789,0.000113659273846,-0.000158069900224,5.01744617855e-05,1793244628473195008
+66,1.100000000,BASELINE,764,745.281472319,714,680,658,634,879,786,805,652.281472319,631,652,0.401023890858,0.0044835064439,0.0798591427204,0.999999979874,0.000113956300466,-0.000157228370034,5.0457932821e-05,1793244628489861632
+67,1.116666667,BASELINE,764,745.851047738,714,680,658,634,879,786,805,652.851047738,631,652,0.401025949088,0.00448399399683,0.079860596869,0.999999979854,0.00011668092819,-0.000155219630993,5.0833690899e-05,1793244628506528256
+68,1.133333333,BASELINE,764.440594572,745.559405428,714,680,658,634,879,786,805,652.559405428,631,652,0.401025597624,0.0044839591661,0.0798606464046,0.999999980026,0.000115185180435,-0.000155284935252,5.06712936407e-05,1793244628523194880
+69,1.150000000,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.401024486691,0.00448390070503,0.0798602096412,0.999999980218,0.000112630749083,-0.000156034500306,5.0319759114e-05,1793244628539861760
+70,1.166666667,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.401024786672,0.00448626780603,0.0798599398326,0.999999979777,0.00011662807491,-0.000156029368097,4.99898085917e-05,1793244628556528384
+71,1.183333333,BASELINE,765,745,714,680,658,634,879,786,804.806546093,652,631,652,0.401024862142,0.00448685599503,0.0798595701807,0.999999979555,0.000118306848616,-0.000156219331998,4.98915177976e-05,1793244628573195008
+72,1.200000000,BASELINE,765,745,714,680,658,634,879,786,804.232202879,652,631,652,0.401024495574,0.00448394170384,0.0798590039485,0.999999979784,0.000115420650837,-0.00015679341852,5.02493392802e-05,1793244628589861888
+73,1.216666667,BASELINE,765,745,714,680.351822261,658,634,879,786,804.351822261,652,631,651.648177739,0.401025156199,0.00448236393775,0.0798594680671,0.999999980032,0.000114256195761,-0.000156009968757,5.04233325834e-05,1793244628606528512
+74,1.233333333,BASELINE,765,745,714,680.942418269,658,634,879,786,804.942418269,652,631,651.057581731,0.401026513955,0.00448169324096,0.0798606314613,0.999999980294,0.000114260248374,-0.000154305190036,5.04725658711e-05,1793244628623195136
+75,1.250000000,BASELINE,764.477534445,745,714,680.477534445,658,634,879,786,804.477534445,652.522465555,630.477534445,651.522465555,0.401026918341,0.00448375097084,0.0798603674861,0.999999980159,0.000115267898005,-0.000154528327958,5.01707778453e-05,1793244628639862016
+76,1.266666667,BASELINE,764,745,714,680,657.899713964,634,878.899713964,786,804.100286036,652.899713964,630.100286036,652,0.401026844712,0.00448549103067,0.0798600538433,0.999999980017,0.000115893989248,-0.000155054027713,4.99373538808e-05,1793244628656529152
+77,1.283333333,BASELINE,764,745,714,680,657.327015032,634,878.327015032,786,804.672984968,652.327015032,630.672984968,652,0.401025004488,0.0044843461771,0.0798602326135,0.999999980046,0.000114211966308,-0.00015602388698,5.02046019904e-05,1793244628673196288
+78,1.300000000,BASELINE,764.247972248,745,714,680,657.247972248,634,878.247972248,786.247972248,804.752027752,652,631,652,0.40102383297,0.00448436801735,0.0798599643033,0.999999979793,0.000115176218754,-0.000156879025744,5.03788273575e-05,1793244628689863168
+79,1.316666667,BASELINE,764.826005365,745,714,680,657.826005365,634,878.826005365,786.826005365,804.173994635,652,631,652,0.401023551529,0.0044859427733,0.0798591009115,0.999999979153,0.00011966276852,-0.000157581466903,5.0429235754e-05,1793244628706530048
+80,1.333333333,BASELINE,764.587757585,745.412242415,714,680,658,634,878.587757585,786.587757585,804.412242415,652.412242415,631,652,0.401023728106,0.00448578188064,0.0798591341515,0.999999979152,0.000119837091248,-0.000157395345237,5.06141836378e-05,1793244628723195904
+81,1.350000000,BASELINE,764.001978349,745.998021651,714,680,658,634,878.001978349,786,804.998021651,652.998021651,631,652,0.401024105806,0.00448488004521,0.0798595537521,0.999999979428,0.000118166403565,-0.000156823789845,5.08562858641e-05,1793244628739861504
+82,1.366666667,BASELINE,764.581755013,745.418244987,714,680,658,634,878.581755013,786,804.418244987,652.418244987,631,652,0.40102561722,0.00448587511374,0.0798600423141,0.999999979425,0.000120000997174,-0.000155439115729,5.08695297224e-05,1793244628756528384
+83,1.383333333,BASELINE,765,745.160581261,714,680.160581261,658,634,879,786,804.160581261,652,631,652,0.401026103852,0.00448643066878,0.0798602252684,0.999999979389,0.000121042913278,-0.000154896146393,5.07639344445e-05,1793244628773195264
+84,1.400000000,BASELINE,765,745.736946774,714,680.736946774,658,634,879,786,804.736946774,652,631,652,0.401023937069,0.00448584821584,0.0798596169296,0.999999979277,0.0001200323934,-0.000156532556773,5.03506355133e-05,1793244628789862144
+85,1.416666667,BASELINE,765,745.687575735,714,681,658,634,879,786.312424265,805,652.312424265,631,652,0.401023015662,0.00448544009216,0.0798589808612,0.999999979303,0.000118719726011,-0.000157436603399,5.01427596589e-05,1793244628806528768
+86,1.433333333,BASELINE,765,745.112843851,714,681,658,634,879,786.887156149,805,652.887156149,631,652,0.401023139858,0.00448517833323,0.0798583215116,0.999999979443,0.000117153379301,-0.000157725766212,5.01073545506e-05,1793244628823194880
+87,1.450000000,BASELINE,765,745,714,680.525499382,658.474500618,634,879,786.525499382,805,652.525499382,631,652,0.401023019204,0.0044853335201,0.0798587108063,0.999999979302,0.000118421305507,-0.000157637140546,5.02382341175e-05,1793244628839861248
+88,1.466666667,BASELINE,764.936216263,745,714,680,658.936216263,634,878.936216263,786,804.936216263,652,631,652,0.401022953921,0.00448561930677,0.0798592931194,0.99999997914,0.000120009632979,-0.000157425089427,5.03558220761e-05,1793244628856528128
+89,1.483333333,BASELINE,764.356182109,745,714,680,658.356182109,634,878.356182109,786,804.356182109,652,631,652,0.401023820964,0.00448613767407,0.0798593641017,0.999999979398,0.000118586758285,-0.000156961095967,5.00370217909e-05,1793244628873194752
+90,1.500000000,BASELINE,764.220969784,745,714.220969784,679.779030216,658,634,878,786,804.220969784,652.220969784,631,652,0.401024345837,0.00448613204013,0.0798596325167,0.999999979637,0.000117303651708,-0.000156449445239,4.9904115363e-05,1793244628889861632
+91,1.516666667,BASELINE,764.793535515,745,714.793535515,679.206464485,658,634,878,786,804.793535515,652.793535515,631,652,0.401024326268,0.00448529264188,0.0798602150766,0.999999979844,0.000116242937225,-0.000155861964722,5.00669938711e-05,1793244628906528256
+92,1.533333333,BASELINE,765,745,714.62460256,679.37539744,658,634,878.37539744,786,805,652.62460256,631,652,0.401024146526,0.00448527055616,0.0798600875285,0.999999979791,0.000116509414964,-0.000155956492713,5.02096493246e-05,1793244628923194880
+93,1.550000000,BASELINE,765,745,714.037497948,679.962502052,658,634,878.962502052,786,805,652.037497948,631,652,0.401023876455,0.00448570939766,0.0798595595116,0.999999979591,0.000117524368964,-0.000156435642589,5.03408999055e-05,1793244628939861504
+94,1.566666667,BASELINE,765,745,714,680,658,634,878.453575001,786,805,652,631,652,0.401024485054,0.00448563896481,0.0798599741927,0.999999979624,0.000117877084646,-0.000155968756999,5.03157669022e-05,1793244628956528128
+95,1.583333333,BASELINE,764.87219518,745.12780482,714,680,658,633.87219518,878.12780482,786,805.12780482,652,631,652,0.401024833598,0.00448524399038,0.0798601833413,0.999999979686,0.000117402042033,-0.000155938614436,5.02746453161e-05,1793244628973194752
+96,1.600000000,BASELINE,764.298922724,745.701077276,714,680,658,633.298922724,878.701077276,786,805.701077276,652,631,652,0.401024066755,0.00448383892518,0.0798594519198,0.999999979791,0.0001141993073,-0.000157655726751,5.02149841162e-05,1793244628989861632
+97,1.616666667,BASELINE,764,745.724305471,714,680,658,633.275694529,879,786,805.724305471,652.275694529,631,652,0.401023812088,0.00448337584614,0.0798594470901,0.999999979826,0.00011360141174,-0.000157842592384,5.02862102317e-05,1793244629006528256
+98,1.633333333,BASELINE,764,745.148223006,714,680,658,633.851776994,879,786,805.148223006,652.851776994,631,652,0.401024115469,0.00448393912518,0.0798602339318,0.999999979791,0.000115841665779,-0.000156362150097,5.05000469813e-05,1793244629023194624
+99,1.650000000,BASELINE,764.440095535,745.440095535,714.440095535,680.440095535,658,634,879,786,805,652.559904465,631.440095535,652,0.401024073177,0.00448498716727,0.0798601682684,0.999999979532,0.000118435066359,-0.000156167213426,5.02168085133e-05,1793244629039861248
+100,1.666666667,BASELINE,764.968153888,746,714.968153888,680.968153888,658,634,879.031846112,786,805,652,631.968153888,652,0.401023898375,0.00448608258533,0.0798597987342,0.999999979211,0.000120919308343,-0.000156448539863,4.98042792298e-05,1793244629056527872
+101,1.683333333,BASELINE,764.390239081,746,714.390239081,680.390239081,658,634,879.609760919,786,805,652,631.390239081,652,0.4010235048,0.00448511074689,0.0798592827959,0.999999979246,0.000119434015294,-0.000157260165405,5.01275415903e-05,1793244629073194240
+102,1.700000000,BASELINE,764,745.813705622,714,680,658.186294378,634,879.813705622,786,805,652,630.813705622,652,0.40102337063,0.00448450433528,0.0798591551079,0.999999979363,0.000117967523501,-0.000157562521822,5.03205412578e-05,1793244629089861120
+103,1.716666667,BASELINE,764,745.240044507,714,680,658.759955493,634,879.240044507,786,805,652,630.240044507,652,0.40102377585,0.00448465776529,0.0798598347193,0.999999979653,0.000116540125832,-0.000156805941627,5.02426822855e-05,1793244629106527744
+104,1.733333333,BASELINE,764,745.339655149,714,680,658.660344851,634,879,786.339655149,805.339655149,652,630.339655149,652,0.401023859497,0.00448426455161,0.0798602996566,0.999999979825,0.000115637225008,-0.000156386454214,5.02206156409e-05,1793244629123194624
+105,1.750000000,BASELINE,764,745.923699728,714,680,658.076300272,634,879,786.923699728,805.923699728,652,630.923699728,652,0.401023711763,0.00448347801566,0.0798606101314,0.999999979912,0.000115111711178,-0.000156209512476,5.02386928085e-05,1793244629139861504
+106,1.766666667,BASELINE,764.508672058,746,714,680,658,634,879,786.491327942,805.491327942,652,631,652,0.401024166735,0.0044848358679,0.0798608863984,0.999999979818,0.000116757580975,-0.000155625618757,5.01215722388e-05,1793244629156528128
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.4010249445,0.00448401103075,0.079860336031,0.999999979635,0.000117951274247,-0.000155727723925,5.06522075595e-05,1793244629199470336
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652.574432253,631,652,0.401023816427,0.00448307826931,0.0798597617758,0.999999979817,0.00011523539936,-0.000156617692233,5.05799795928e-05,1793244629216136960
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714.153177471,680,658,634,878.846822529,786,805,653,631,652,0.401023359306,0.00448305042589,0.0798596021873,0.999999979849,0.000114639342376,-0.000156871681471,5.05024357183e-05,1793244629232803584
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714.744252552,680,658,634,878.255747448,786,805,653,631,652,0.401024820279,0.0044856095256,0.0798606280313,0.999999979457,0.000120103335175,-0.000155307559456,5.04096949233e-05,1793244629249470208
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.671725018,745,714.671725018,680,658,634,878,786,805,652.671725018,631,652,0.401024680417,0.00448661570179,0.0798603390333,0.999999979236,0.000121583236135,-0.000155644166403,5.02002873824e-05,1793244629266136832
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.093081532,745,714.093081532,680,658,634,878,786,805,652.093081532,631,652,0.40102331963,0.00448643749535,0.0798590472325,0.99999997916,0.000120024552765,-0.000157430419904,4.99019005465e-05,1793244629282803456
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.483445238,745,714,680,658,634,878.483445238,786.483445238,805,652,630.516554762,652,0.401023745343,0.00448537794662,0.0798597021863,0.999999979437,0.000118548068946,-0.000156722907958,5.00990064583e-05,1793244629299470080
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.939539286,658,634,879,786.939539286,805,652,630.060460714,652,0.401024325111,0.00448433010604,0.0798606340658,0.999999979709,0.000117144000871,-0.000155961979188,5.03426144759e-05,1793244629316136704
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.354766948,658,634,879,786.354766948,805,652,630.645233052,652,0.40102327095,0.00448484893979,0.079860731147,0.999999979365,0.000116231269253,-0.000158883454402,5.01657796224e-05,1793244629332803584
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.228154826,658,634,878.771845174,786,805,652,630.771845174,652,0.401026568997,0.00448526111014,0.0798625184188,0.999999979139,0.000116843452759,-0.000159843989703,5.02037933483e-05,1793244629349470208
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.808222183,658,634,878.191777817,786,805,652,630.191777817,652,0.401036580012,0.00448550875975,0.0798669126889,0.999999979097,0.000119807709063,-0.000157779914917,5.05731956861e-05,1793244629366136832
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.612660903,745,714,680,658,634,878.387339097,786,805,652.387339097,630.387339097,652,0.401061053648,0.00448426960252,0.0798763028633,0.999999980428,0.000118392352757,-0.000150211858321,5.06383933667e-05,1793244629382803456
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.034013365,745,714,680,658,634,878.965986635,786,805,652.965986635,630.965986635,652,0.401092670437,0.00448229610503,0.0798881605366,0.999999982342,0.000114813887255,-0.000139925361311,5.05533430912e-05,1793244629399470080
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,786,805,652.459148434,631,652,0.401146588049,0.00448380893189,0.0799031222943,0.999999984901,0.000116496772092,-0.000118920041193,4.98464661896e-05,1793244629416136704
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,679.881753398,658,634,878.881753398,786,805,652,631,652,0.401205218312,0.00448539015106,0.0799173895727,0.999999987043,0.000117409297076,-9.86737473642e-05,4.89197774607e-05,1793244629432803584
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,679.29335926,658,634,878.29335926,786,805,652,631,652,0.40127704858,0.00448637761679,0.0799281248437,0.999999988853,0.000113952444434,-8.41068960309e-05,4.7273522875e-05,1793244629449470208
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.290651568,745,714,679.290651568,657.709348432,634,878.290651568,786,805,652,631,652,0.401355825023,0.00448722760875,0.0799353482431,0.999999989894,0.000112116392897,-7.47279441352e-05,4.53719584226e-05,1793244629466136832
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.870303946,745,714,679.870303946,657.129696054,634,878.870303946,786,805,652,631,652,0.401441508185,0.00448794090766,0.079939079716,0.999999990321,0.000111891937343,-7.0507427858e-05,4.32165342436e-05,1793244629482803200
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.552814036,745.447185964,714,679.552814036,657.447185964,634,879,786,805,652.447185964,631,652,0.401542850093,0.00448957397441,0.0799411011832,0.999999990649,0.000112138784958,-6.73179233699e-05,3.99506777682e-05,1793244629499470080
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.023193581,745.976806419,714,679.023193581,658,634,879,786.023193581,805,652.976806419,631,652,0.401649999243,0.004491475007,0.0799428513185,0.999999990966,0.000112355723396,-6.42082277964e-05,3.63430879305e-05,1793244629516136960
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.59739898,745.40260102,714,679.59739898,658,634,879,786.59739898,805,652.40260102,631,652,0.401787884012,0.00449344376317,0.0799498651353,0.999999992016,0.000108634729022,-5.59344210205e-05,3.22209001371e-05,1793244629532803328
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.824107003,745.175892997,714,680,658,634,878.824107003,786.824107003,805,652,631,652,0.40193335883,0.00449539882604,0.0799560646848,0.999999992952,0.000104878984559,-4.82613474242e-05,2.77126788452e-05,1793244629549469952
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.235551543,745.764448457,714,680,658,634,878.235551543,786.235551543,805,652,631,652,0.402096640642,0.00449732176276,0.0799603538811,0.999999993765,0.000101041713468,-4.19976547761e-05,2.22987851645e-05,1793244629566136832
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,745.651836416,714,680,658,634,878.348163584,786,805,652,631,652,0.402277613214,0.00450012037497,0.0799630919823,0.999999994457,9.68822861167e-05,-3.79183988417e-05,1.61595956991e-05,1793244629582803456
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,745.071351074,714,680,658,634,878.928648926,786,805,652,631,652,0.40247039045,0.00450350330601,0.0799647950729,0.999999995053,9.25078907248e-05,-3.52967679471e-05,9.53643206861e-06,1793244629599469824
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,679.495385322,658,634,878.495385322,786,805,652,631,652,0.402675018359,0.00450566145835,0.0799606478692,0.999999995236,8.53256929666e-05,-4.73166749832e-05,2.88964431152e-06,1793244629616136704
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,679.079976137,658,634,878.079976137,786,805,652,631,652,0.402886676463,0.00450782868463,0.079955481214,0.999999995129,7.72627195025e-05,-6.12811664009e-05,-4.02678419606e-06,1793244629632803584
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,679.655518108,658,634,878.655518108,786,805,652,631,652,0.403131605839,0.00451111570933,0.0799490778761,0.99999999495,6.6180321111e-05,-7.45807294531e-05,-1.25935085679e-05,1793244629649469952
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745.238622345,714,680,658.238622345,634,878.761377655,786,804.761377655,652.238622345,631,652,0.403400153,0.00451540726463,0.0799456273863,0.999999994593,6.08079158149e-05,-8.20824681402e-05,-1.94603572844e-05,1793244629666137088
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745.833000945,714,680,658.833000945,634,878.166999055,786,804.166999055,652.833000945,631,652,0.403703911327,0.00452119644997,0.0799465792263,0.999999994397,6.39484011517e-05,-8.09403706154e-05,-2.37929021887e-05,1793244629682804736
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.413862983,745.586137017,714,680,658.586137017,634,878.413862983,786,804.413862983,652.586137017,631,652,0.404037184587,0.004527672649,0.0799519573675,0.999999995311,5.84400723965e-05,-7.32251942804e-05,-2.45258055376e-05,1793244629699471104
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.989443395,745.010556605,714,680,658.010556605,634,878.989443395,786,804.989443395,652.010556605,631,652,0.404381990834,0.00453441729928,0.0799590650908,0.999999996507,4.95522096582e-05,-6.29415799723e-05,-2.38521447669e-05,1793244629716136960
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.436007905,745,714,680,658.563992095,634,879,785.436007905,805,652,630.436007905,652,0.404760466413,0.00454166678542,0.0799582364134,0.999999995781,6.53014785291e-05,-5.88259851387e-05,-2.66994424142e-05,1793244629732803328
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.141880899,745,714,680,659,634,878.858119101,785.141880899,805,652,630.141880899,652,0.405149894713,0.00454871168122,0.0799566034357,0.999999994707,8.06027777601e-05,-5.67133990858e-05,-2.95505596208e-05,1793244629749469952
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.73034351,745,714,680,659,634,878.26965649,785.73034351,805,652,630.73034351,652,0.405571817507,0.00455508292256,0.0799529055794,0.99999999332,9.30451987302e-05,-6.05427202118e-05,-3.2206639033e-05,1793244629766136832
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.686053238,634,878.627893525,786,805,652,631,652,0.406010574616,0.00456189001221,0.0799466830935,0.999999992727,9.07891808939e-05,-7.16005750095e-05,-3.42915976876e-05,1793244629782803712
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.106560124,634,879.786879752,786,805,652,631,652,0.40646357078,0.00456906575721,0.0799383251935,0.99999999252,7.61007482805e-05,-8.87725583701e-05,-3.58934841714e-05,1793244629799470080
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.469579894,714,680,658,634,879.530420106,786,805,652,630.530420106,652,0.406944974357,0.00456801726537,0.0799339581204,0.999999990923,8.8051600441e-05,-9.6373990876e-05,-3.33669784105e-05,1793244629816137728
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,746,714,680.044826735,658,634,879,786.044826735,805,652,630.044826735,652,0.407434823626,0.00456509773408,0.0799303276801,0.999999988885,0.000104079586406,-0.00010240097522,-3.02060583288e-05,1793244629832805632
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,746,714,680.618450059,658,634,879,786.618450059,805,652,630.618450059,652,0.407948797053,0.0045619661688,0.0799247794792,0.999999988144,9.73974535947e-05,-0.000115293092374,-3.05343514171e-05,1793244629849472000
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.801611387,714,680.801611387,658,634,879,787,805,652,631,652,0.408489505769,0.00456570395775,0.0799216428287,0.999999987084,9.91142500559e-05,-0.000122582481963,-3.13235699799e-05,1793244629866138368
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.209127793,714,680.209127793,658,634,879,787,805,652,631,652,0.409083323567,0.00458308758059,0.0799232966748,0.9999999855,0.000117515350665,-0.000118742165395,-3.30284076926e-05,1793244629882804992
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.62587986,745,714,680,658.37412014,634,879,786.62587986,805,652,631,652,0.409720617613,0.00459300833271,0.0799446381933,0.999999987616,0.000128464815896,-8.41510875917e-05,-3.44027095867e-05,1793244629899471360
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.047670173,745,714,680,658.952329827,634,879,786.047670173,805,652,631,652,0.410381628747,0.00459885794843,0.0799767197058,0.999999989669,0.000135349273512,-3.27848931906e-05,-3.55966978699e-05,1793244629916137728
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658.470517388,634,879,786,805,652,631,652,0.411044959648,0.00459674336041,0.0799901988902,0.999999991277,0.000126279889985,-1.29418325624e-05,-3.64877802679e-05,1793244629932803840
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,786,804.891173244,652,630.891173244,652,0.411703976842,0.00459247611679,0.0799941619947,0.999999992434,0.000116895634195,-8.0171883372e-06,-3.74553042844e-05,1793244629949470208
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,786,804.301732122,652,630.301732122,652,0.412343022584,0.00458186237623,0.0799634807072,0.999999991327,0.000112451555301,-5.64682212356e-05,-3.88806172431e-05,1793244629966137088
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.281482144,745,714.281482144,680.281482144,658,634,879.281482144,786,804.281482144,652,630.281482144,652,0.413024204422,0.00457912675751,0.0799359530119,0.999999988639,0.000110680028083,-9.34131297987e-05,-4.17809828284e-05,1793244629982803968
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.858166124,745,714.858166124,680.858166124,658,634,879.858166124,786,804.858166124,652,630.858166124,652,0.413749576186,0.00458465324607,0.0799117326141,0.999999985695,0.000111711314719,-0.000118291101241,-4.62282966579e-05,1793244629999470592
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.566595669,745.433404331,714.566595669,681,658,634,880,786,805,652,631,652,0.414511013174,0.00459410364627,0.0799232749223,0.999999986372,0.000128045052641,-9.29957952219e-05,-4.70314981658e-05,1793244630016136960
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.008387441,745.991612559,714,680.991612559,658.016774882,634,879.991612559,786,805,652,631,652,0.415283892306,0.00460471587477,0.0799462947451,0.999999986505,0.000148727675321,-5.18933931391e-05,-4.66553047564e-05,1793244630032803840
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.598383371,745.401616629,714,680.401616629,659.196766742,634,879.401616629,786,805,652,631,652,0.416034505201,0.00460714408385,0.0799563399323,0.999999989879,0.000124873324714,-4.94692244822e-05,-4.69167428653e-05,1793244630049470720
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.184952871,659.815047129,634,879,785.815047129,805,652,631,652,0.41680003917,0.00460928480881,0.079958941864,0.999999990892,0.000114860921007,-5.24238560607e-05,-4.7701431992e-05,1793244630066137344
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680.764217331,659.235782669,634,879,785.235782669,805,652,631,652,0.417597384185,0.00461081262979,0.0799456750938,0.999999987509,0.000134358956154,-6.684585931e-05,-4.96016698697e-05,1793244630082803712
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,785.342162085,805,652,631,651.657837915,0.418458892626,0.00461061275083,0.0799602244989,0.99999998862,0.000137810107361,-3.35063264085e-05,-5.14427655635e-05,1793244630099470336
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,785.919200903,805,652,631,651.080799097,0.419364445938,0.00460922689436,0.0799938682832,0.999999989569,0.000130245893994,3.26190537088e-05,-5.32432629346e-05,1793244630116136960
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879.494117688,785.505882312,805,652,631,651.494117688,0.420190101347,0.00460877717844,0.07998512878,0.999999989833,0.000131343390413,1.68222446604e-05,-5.29055644151e-05,1793244630132803840
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.929602035,745.070397965,714,681,659.070397965,634,879.929602035,785.070397965,805.070397965,652,631,652,0.421005305866,0.00460872810891,0.0799706555521,0.99999998968,0.000133341723271,-9.86439112659e-06,-5.2565908895e-05,1793244630149470976
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.340735527,745.659264473,714,681,659.659264473,634,879.340735527,785.659264473,805.659264473,652,631,652,0.421839351417,0.00461050714649,0.0799647788272,0.999999989671,0.000131587776315,-1.85148091842e-05,-5.47758808021e-05,1793244630166137344
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745.755532427,714,681,659.755532427,634,879,786,805.755532427,652,631,652,0.422704056911,0.00461301757109,0.07997317412,0.999999989592,0.000133134557856,-6.28147654265e-06,-5.52503407146e-05,1793244630182803968
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745.175359868,714,681,659.175359868,634,879,786,805.175359868,652,631,652,0.42361086502,0.00461653234295,0.0800011678702,0.999999988287,0.000139213927921,3.46296019664e-05,-5.33415807981e-05,1793244630199470336
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,879.402729236,786,805,652,631,652,0.424474339621,0.00461841809473,0.0799873925412,0.999999988214,0.000144484802235,-4.83569856683e-06,-5.16917415565e-05,1793244630216136960
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,879.979915778,786,805,652,631,652,0.425319042631,0.00461959817504,0.0799555233639,0.999999984451,0.000149405445251,-7.91190511881e-05,-5.01540634337e-05,1793244630232803584
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,880,786,805.564331544,652,631,652,0.426177134171,0.00461899539399,0.0799293318425,0.99999998428,0.000137935531209,-9.76586749023e-05,-5.36405665935e-05,1793244630249470208
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745.14765953,714,681,659.14765953,634,879.85234047,786,806,652,631,651.85234047,0.427041100025,0.00461829756316,0.0799102810204,0.999999983768,0.000131347274326,-0.000109826067182,-5.61343044022e-05,1793244630266136832
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745.727045035,714,681,659.727045035,634,879.272954965,786,806,652,631,651.272954965,0.427920829878,0.00461750975135,0.0799115096688,0.999999982604,0.000140759644316,-0.000109238112491,-5.51958206003e-05,1793244630282803456
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745.694576345,714,681.305423655,659.38915269,634,879,785.694576345,806,652,631,651,0.428807208634,0.00461736571734,0.0799218221021,0.999999983175,0.00014354569908,-0.000100340101668,-5.45591107669e-05,1793244630299470080
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745.117094645,714,681.882905355,658.234189291,634,879,785.117094645,806,652,631,651,0.429699509897,0.00461779513251,0.0799402259738,0.99999998514,0.000140429321282,-8.40398560037e-05,-5.41912080392e-05,1793244630316136448
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+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713,684.695435548,653,630.695435548,880.304564452,784,806.695435548,652,630.695435548,652,0.4522417214,0.00476575380608,0.0795570388715,0.99999973022,0.000282309485754,-0.00067464527069,-6.86645898082e-05,1793244631316136960
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,713,684.719551292,653,631,880.280448708,784.280448708,807,652,631,652,0.452242528487,0.00476681216901,0.079557026575,0.999999729968,0.000283539359179,-0.000674502393972,-6.86794739937e-05,1793244631332803840
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713,684.139783945,653,631,880.860216055,784.860216055,807,652,631,652,0.452243478036,0.00476882486381,0.0795569748195,0.99999972977,0.000284755008438,-0.000674231329824,-6.91885805083e-05,1793244631349470464
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.562640225,745,713,684.437359775,653,630.562640225,881,785,807,652,631,652,0.452243335789,0.00476822890687,0.0795562110596,0.999999729151,0.000284399745562,-0.000675316603054,-6.90045110979e-05,1793244631366137088
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,745,713,684.986332246,653,630.013667754,881,784.986332246,806.986332246,652,631,652,0.452242886028,0.00476684059731,0.0795552557174,0.999999728416,0.000283587657643,-0.00067678708744,-6.86017612915e-05,1793244631382803456
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745,713,684.410113693,653,630.589886307,881,784.410113693,806.410113693,652,631,652,0.452244055954,0.0047669514282,0.0795557254365,0.999999728453,0.000284514867584,-0.000676376569753,-6.82625399821e-05,1793244631399470080
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.169849087,745,713,684,653,631,881,784.169849087,806,652,630.830150913,652,0.452245223521,0.00476728812899,0.0795560700541,0.999999728726,0.000285085410457,-0.000675749045436,-6.80956575037e-05,1793244631416136704
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.759056349,745,713,684,653,631,881,784.759056349,806,652,630.240943651,652,0.452246385261,0.00476818250358,0.0795561057955,0.999999729582,0.000284775340649,-0.00067458573078,-6.83542804092e-05,1793244631432803328
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.65743387,745,713,684,653,630.65743387,881,785,806,652,630.34256613,652,0.452246896683,0.00476780798743,0.0795559966047,0.999999729765,0.000283773162158,-0.000674732888796,-6.83971679219e-05,1793244631449470208
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.077865874,745,713,684,653,630.077865874,881,785,806,652,630.922134126,652,0.452246958187,0.00476655559848,0.0795557871437,0.99999972948,0.000282292153359,-0.000675786687774,-6.82908004731e-05,1793244631466137344
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.49720911,745,713,684,653,630.49720911,881,785,806,652,631,652,0.452246147757,0.00476587837319,0.0795559245716,0.999999729287,0.000280814908573,-0.000676685579373,-6.83025764602e-05,1793244631482803968
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.926786378,745,713,684,653,630.926786378,881,785,806,652,630.926786378,652,0.452245320472,0.00476550767433,0.0795560430119,0.999999729022,0.000279961116477,-0.000677429973701,-6.8306800813e-05,1793244631499470336
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+247,4.116666667,HOLD_POSE2,765,746,713,684,653,630,881,785,806,652,630,652,0.452246585874,0.00476937676327,0.0795546456562,0.999999727143,0.000286741819538,-0.000677294414798,-6.90330336901e-05,1793244631554502912
+248,4.133333333,HOLD_POSE2,765,745.42322308,713,684,652.42322308,630,881,784.42322308,806.57677692,652,630,652,0.452249000969,0.00476854823727,0.079555991962,0.999999728961,0.000284925935187,-0.000675396154083,-6.88062742328e-05,1793244631571169792
+249,4.150000000,HOLD_POSE2,765,745,713,684,652.152372463,630.152372463,881,784.152372463,806.847627537,652,630,652,0.452250517595,0.00476751233035,0.0795569079385,0.999999730341,0.000283183428667,-0.000674124415559,-6.84267540002e-05,1793244631587836672
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+252,4.200000000,HOLD_POSE2,765,745,713,684,652.095252844,630.095252844,881,785,806,652,630,652,0.452246694625,0.00476651140369,0.0795547425787,0.999999727993,0.000283209793795,-0.000677652548356,-6.77752219915e-05,1793244631637836544
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+254,4.233333333,HOLD_POSE2,764.059177045,745,713,684.940822955,652.940822955,630,880.940822955,784.940822955,806,652,630.940822955,652,0.452250365702,0.00476480339094,0.0795567063349,0.999999731414,0.000279762751394,-0.000674085136551,-6.71809890891e-05,1793244631671169536
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+256,4.266666667,HOLD_POSE2,764.824862853,745,713,684,652,630,880,784,806,652,630.175137147,652,0.452249242684,0.004767101972,0.0795568068511,0.999999730305,0.000282224876143,-0.000674640877264,-6.78207637334e-05,1793244631704502528
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+260,4.333333333,HOLD_POSE2,764,745,713,684.541216905,652.541216905,631,881,784,806.541216905,652,630.541216905,652,0.452250991318,0.00476716188438,0.079557121745,0.999999730006,0.000283055084654,-0.000674756616642,-6.76067543215e-05,1793244631771169280
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+262,4.366666667,HOLD_POSE2,764.694881087,745,713,684.305118913,653,631,881,784.694881087,806.305118913,652,631,652,0.452250770886,0.00476778915952,0.0795565183657,0.99999972918,0.000284182410623,-0.000675484035984,-6.78353148431e-05,1793244631804502528
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,713,685,652,631,881,785,807,652,631,652,0.452251471751,0.00476481295429,0.0795566666269,0.999999730465,0.000279793626607,-0.000675449873163,-6.74826994613e-05,1793244631841625088
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.553984006,745,713,684.446015994,652.553984006,630.446015994,881,784.446015994,806.446015994,652,630.446015994,652,0.452251627175,0.00476423834971,0.0795566172505,0.999999730508,0.000280236276316,-0.000675249583505,-6.70115792109e-05,1793244631858292224
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745.116872536,713,684,652.883127464,630,880.883127464,784,806,652,630.116872536,652,0.452251619082,0.0047643316479,0.0795565746771,0.999999730272,0.000281304723897,-0.000675184199787,-6.67074501955e-05,1793244631874959104
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.716545849,713,684,652.283454151,630,880.283454151,784,806,652,630.716545849,652,0.452250935503,0.0047671840542,0.0795565602071,0.999999728879,0.000284958344386,-0.000675676112825,-6.70931622952e-05,1793244631891625472
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.69668342,713,684,652,630,880.30331658,784,806,652,631,652,0.452250417475,0.00476763375888,0.0795564041714,0.999999728558,0.00028440047586,-0.000676358635218,-6.73784828082e-05,1793244631908291840
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.121478403,713,684,652,630,880.878521597,784,806,652,631,652,0.452250047844,0.00476592971768,0.0795561212385,0.99999972919,0.000280067491495,-0.000677212016949,-6.75738137844e-05,1793244631924958464
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,652.46771942,630.46771942,880.53228058,784,806,652,631,652,0.45225066875,0.00476656620624,0.0795567148812,0.999999729706,0.000281026884215,-0.000676030547098,-6.77771457654e-05,1793244631941625344
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.941371974,745.058628026,713,684.058628026,653,630.941371974,880.058628026,784,806,652,631,652,0.45225154173,0.00476763351341,0.0795574826705,0.999999730161,0.000283171306236,-0.000674452256261,-6.78750140657e-05,1793244631958291968
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.368324097,745.631675903,713,684.631675903,653,630.368324097,880.631675903,784,806,652,631,652,0.452252299535,0.00476698261397,0.0795577192352,0.999999730375,0.000283280755966,-0.000674172382539,-6.70287166421e-05,1793244631974958336
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745.792785947,713,684.792785947,653,630,881,784.207214053,806.207214053,652,630.792785947,652,0.452248491609,0.00476621472862,0.0795553296481,0.999999728273,0.000282879218465,-0.000677476872949,-6.67736875173e-05,1793244631991624960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,745.212767543,713,684.212767543,653,630,881,784.787232457,806.787232457,652,630.212767543,652,0.452236469352,0.00476523637085,0.0795482152808,0.999999721936,0.000281558350127,-0.000687230088821,-6.75824251057e-05,1793244632008291584
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.372301004,745,713,684,653,630,880.627698996,785,806.627698996,652,630.372301004,652,0.452207902596,0.00476523648162,0.0795342012049,0.999999706017,0.000281514112377,-0.000710040106228,-6.75173564797e-05,1793244632024958464
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.960295419,745,713,684,653,630,880.039704581,785,806.039704581,652,630.960295419,652,0.452169750747,0.00476580347021,0.079516189767,0.999999683831,0.000282209493057,-0.000740414610913,-6.69460463179e-05,1793244632041625600
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.460102715,745,713,684,653,630.539897285,880.539897285,784.460102715,806.539897285,652,630.460102715,652,0.452109574663,0.00476580235091,0.0794941865591,0.999999654745,0.000283734018531,-0.000778234230661,-6.60051100863e-05,1793244632058292992
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.11768739,745,713,684,653,630.88231261,881,784.11768739,807,652,630.11768739,652.11768739,0.452046279565,0.00476584278132,0.0794738653463,0.999999628023,0.000285092767901,-0.000811438714024,-6.51462617116e-05,1793244632074960128
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.690818204,745,713,684,653,630.309181796,881,784.690818204,807,652,630.690818204,652.690818204,0.451977086185,0.00476620321505,0.0794611720171,0.999999617067,0.000285577612977,-0.000824696457946,-6.47086738001e-05,1793244632091626752
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.73242259,745,713,684.26757741,653,630,881,785,806.73242259,652,631,652.73242259,0.451900691822,0.00476622392672,0.0794538798714,0.999999609411,0.000286564009727,-0.000833668180738,-6.36879097809e-05,1793244632108293120
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.15141323,745,713,684.84858677,653,630,881,785,806.15141323,652,631,652.15141323,0.451815862453,0.0047658466984,0.0794529145068,0.999999605764,0.000288137908692,-0.000837619389519,-6.19840312402e-05,1793244632124959744
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.421629829,745,712.578370171,684.578370171,652.578370171,630,881,785,806.421629829,652,631,652,0.451715585282,0.00476520486477,0.0794546412506,0.999999606744,0.000289865345939,-0.000836056208512,-5.91550375322e-05,1793244632141626112
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.991865115,745,712.008134885,684.008134885,652.008134885,630,881,785,806.991865115,652,631,652,0.451609863461,0.00476446976974,0.0794573168409,0.999999609338,0.000291646898451,-0.000832549454264,-5.59294916192e-05,1793244632158291968
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.935249992,745,714,680.935249992,657,633.064750008,878.064750008,786,805.870499984,652,631,651.935249992,0.407164870814,0.00448502434993,0.0797841781855,0.999999927724,9.97118813821e-05,-0.000362680428822,5.542821016e-05,1793244633308291584
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.3597481,745,714,680.3597481,657,633.6402519,878.6402519,786,804.7194962,652,631,651.3597481,0.406653064387,0.00448194591213,0.0797664704905,0.99999991943,0.000104722954429,-0.000383597659957,5.50078707422e-05,1793244633324957952
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,745,713.784283939,680.215716061,657.215716061,634,879,786,804.215716061,652,631,651.215716061,0.406173551509,0.00448069090667,0.0797640841545,0.999999921505,0.000104974543327,-0.000378187908048,5.42604048059e-05,1793244633341624832
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,745,713.375970683,680.624029317,657.624029317,634,878.624029317,786,805,652,631,652,0.405329737618,0.0044843658339,0.0798036562995,0.999999947652,0.00010171151368,-0.000302542952153,5.30915025614e-05,1793244633374958592
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745,713.966211098,680.033788902,657.033788902,634,878.033788902,786,805,652,631,652,0.40491587549,0.00448631473161,0.0798162216765,0.999999950307,0.000113032047791,-0.000289296124431,5.4023041799e-05,1793244633391625472
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,634,878.546424478,786,805,652,631,652,0.404533810738,0.00448750092039,0.0798235489113,0.999999952513,0.000110761399814,-0.000282354382533,5.46107471439e-05,1793244633408292352
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.125353023,745,714,680,657,634,879,786,805,652,631,652,0.404160663616,0.00448817975081,0.0798290466387,0.99999995362,0.000108123958002,-0.000279271204752,5.54763296815e-05,1793244633424958976
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.701848919,745,714,680,657,634,879,786,805,652,631,652,0.40381266183,0.00448719929013,0.0798291047408,0.99999995094,0.000107136615554,-0.000288697017734,5.74171271186e-05,1793244633441625344
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745.848983368,714,680.848983368,657,634,879,786,805,652.848983368,631,651.151016632,0.403199439744,0.00448128003117,0.0798268580764,0.999999950356,9.75536162121e-05,-0.000295011099948,5.23510417551e-05,1793244633474958592
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745.564077262,714,680.564077262,657,634,878.564077262,786,805,652.564077262,631,651.435922738,0.402932774711,0.00447598210696,0.0798266406347,0.999999950186,9.64095931002e-05,-0.000295712398723,5.37257057668e-05,1793244633491625472
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.972660994,745,714,680,657.027339006,634,878,786,805,652,631,652,0.402677282452,0.00447005264091,0.0798269040667,0.999999949879,9.62958559074e-05,-0.000296193405481,5.69100261769e-05,1793244633508292352
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.394929267,745,714,680,657.605070733,634,878,786,805,652,631,652,0.402462732299,0.00446329512642,0.0798273427659,0.999999951815,8.1046809055e-05,-0.000294181953259,5.70878766573e-05,1793244633524958464
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.818220309,634,878.181779691,786,805.181779691,652,631,652,0.402261007286,0.00445833871277,0.0798293779616,0.999999953815,6.9119986523e-05,-0.000290372869329,5.72443854524e-05,1793244633541624832
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.24372103,634,878.75627897,786,805.75627897,652,631,652,0.402086989928,0.00445727342542,0.0798348622524,0.999999956329,6.43705495242e-05,-0.000282680155121,5.73547873474e-05,1793244633558291456
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,634,879,786,805.335052154,652,631,652,0.401930696345,0.0044589694823,0.0798414177151,0.999999958853,6.5594690357e-05,-0.000273314604859,5.73620217466e-05,1793244633574958080
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,634,879,786,804.180163344,652,631,652,0.401787461818,0.0044627001282,0.0798487624298,0.999999961313,7.12202292442e-05,-0.000262716489577,5.72932411957e-05,1793244633591624704
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.502350681,634,878.497649319,786.502350681,804.502350681,652,631,652,0.401656109157,0.00447209882422,0.079845902632,0.999999958674,9.39844677135e-05,-0.000265671928161,5.68924671241e-05,1793244633608291328
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.094142436,745,714,680.094142436,657.905857564,634,878.094142436,786.905857564,805,652,631,652,0.401530426574,0.00448200654948,0.0798408556049,0.999999954371,0.000118007077063,-0.000272314328723,5.63626035316e-05,1793244633624957952
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.668534382,745,714,680.668534382,657.331465618,634,878.668534382,786.331465618,805,652,631,652,0.401422465339,0.00448916658901,0.0798342726814,0.999999949102,0.00013228895368,-0.000284985413164,5.54872512679e-05,1793244633641625856
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.7589132,657,634,879,786,805,652,631,652,0.401328642267,0.00449167949486,0.0798291290387,0.999999946251,0.000135137494446,-0.000293694879911,5.45819480061e-05,1793244633658292992
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.1888708,657,634,879,786,805,652,631,652,0.401254110293,0.0044878515278,0.0798259492511,0.999999946968,0.000122385595554,-0.00029699883919,5.36357775862e-05,1793244633674959360
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,634,879,786,804.600875596,652,631,652,0.401188877868,0.00448592031902,0.0798224101935,0.999999946172,0.000117588178884,-0.000301575836377,5.36826384895e-05,1793244633691625984
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,634,879,786,804.003984783,652,631,652,0.401128253379,0.00448492895535,0.0798186931174,0.999999944659,0.000116732213841,-0.00030678362461,5.42215471055e-05,1793244633708292608
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.427854176,745,714,680,657,634,879,786,804.572145824,652,631,652,0.401090012946,0.00448517851769,0.0798192796811,0.999999945204,0.000116734426827,-0.000305017239833,5.41257668676e-05,1793244633724958976
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,745,714,680.148060244,657,634,878.851939756,786,805,652,631,652,0.4010549568,0.00448463113701,0.0798198384972,0.999999945659,0.000116107608852,-0.00030374984945,5.41865766583e-05,1793244633741625344
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,745,714,680.723753145,657,634,878.276246855,786,805,652,631,652,0.40102866313,0.00448175791041,0.0798202336333,0.999999945819,0.00011364734393,-0.000304059048763,5.47119751808e-05,1793244633758291456
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,745,714,681,657,634,878,786,805,652,631,652.306850337,0.401008021312,0.00448223755859,0.0798200622307,0.999999945722,0.000114714327714,-0.000303951811892,5.48696300485e-05,1793244633774958080
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,745,714,681,657,634,878,786,805,652,631,652.89677825,0.400992593476,0.00448581032236,0.0798193681812,0.999999945376,0.000119035291709,-0.000303460401631,5.46880316994e-05,1793244633791624704
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,714,680.522374689,657.477625311,634,878.477625311,786,805.477625311,652,631,652.522374689,0.400983187519,0.00448611746916,0.0798200417643,0.999999945738,0.000119200042133,-0.000302262118937,5.43345496858e-05,1793244633808291328
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,879,786,805.943873272,652.056126728,631,652,0.400975364996,0.00448569207381,0.0798209553723,0.999999946239,0.000118290902185,-0.000301024039828,5.39717243026e-05,1793244633824957952
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,879,786,805.369249188,652.630750812,631,652,0.400970372053,0.00448489750391,0.0798214068446,0.999999946626,0.000115604087498,-0.000300803233737,5.3859341207e-05,1793244633841624576
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.789972799,634,879,786,804.789972799,652.789972799,631,652,0.400966971075,0.00448470732523,0.0798220274945,0.999999946929,0.000114746301366,-0.000300143694097,5.37489510751e-05,1793244633858291456
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.202331938,634,879,786,804.202331938,652.202331938,631,652,0.400966432335,0.00448560379814,0.0798229523136,0.999999947087,0.000117176975967,-0.000298695343399,5.36421441547e-05,1793244633874958080
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.379782244,634,878.620217756,786,804.379782244,652,631,652,0.400965797088,0.00448576913368,0.0798236030815,0.999999947198,0.000118329021947,-0.000297839683567,5.37993799644e-05,1793244633891624704
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.958994258,634,878.041005742,786,804.958994258,652,631,652,0.400965111163,0.00448555053718,0.0798241099407,0.999999947287,0.000118809639378,-0.000297295255299,5.40952688662e-05,1793244633908291328
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.5377728,658,634,878.5377728,786,805,652,631,652,0.400964656335,0.00448585064402,0.0798246947663,0.999999947534,0.000118061119064,-0.000296827977465,5.37370959339e-05,1793244633924957952
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745,714,680.884651517,658,634,878.884651517,786,805,652,631,652,0.400964410999,0.00448590623833,0.0798253447077,0.999999947904,0.000116978686598,-0.000296073266284,5.33807692369e-05,1793244633941624576
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745,714,680.311716698,658,634,878.311716698,786,805,652,631,652,0.400964926877,0.0044848350789,0.0798262293987,0.999999948714,0.000114943127011,-0.00029415499165,5.32294526311e-05,1793244633958291456
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.268522966,786,805,652,631,652,0.400965454271,0.00448545552246,0.079826966309,0.999999949056,0.00011546433458,-0.000292824425133,5.30033714399e-05,1793244633974957824
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.857479724,786,805,652,631,652,0.400965995408,0.00448809458933,0.0798275268699,0.999999948838,0.000119036582925,-0.000292195182132,5.26880721634e-05,1793244633991624448
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.439474922,745,714,680.439474922,658,634,879,786,805,652,631,651.560525078,0.40096728676,0.00448773307381,0.079827996071,0.999999949308,0.000118814088857,-0.000290619970334,5.29778716376e-05,1793244634008291328
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.980895166,745,714,680.980895166,658,634,879,786,805,652,631,651.019104834,0.400968720651,0.00448647494825,0.0798284085587,0.999999949962,0.000117435016225,-0.000288843311078,5.34371960432e-05,1793244634024958208
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.405425113,745,714,680.405425113,658,634,879,786,805,652,631,651.594574887,0.400967330922,0.00448700183955,0.0798280188084,0.999999949615,0.000117653385722,-0.000289994642936,5.32078907061e-05,1793244634041625856
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.830346439,634,879,786,805,652,631,652,0.400966512204,0.00448742477357,0.0798277897072,0.999999949474,0.000117493726388,-0.0002905979278,5.29113743598e-05,1793244634058293248
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.256200935,634,879,786,805,652,631,652,0.400967054903,0.0044875998502,0.0798279436293,0.999999949827,0.000116432761964,-0.000289894546282,5.24546119855e-05,1793244634074959872
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.327479193,745,714,680,657,634,878.672520807,786,805,652,631,652,0.400966750173,0.00448853030111,0.0798282653262,0.999999949862,0.000117175727474,-0.000289511977055,5.22307365493e-05,1793244634091626496
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.91884233,745,714,680,657,634,878.08115767,786,805,652,631,652,0.40096576258,0.00449006943542,0.0798287222167,0.99999994964,0.00011937230644,-0.000289387919593,5.21945222901e-05,1793244634108293120
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.499864526,745,714,680,657.500135474,634,878.500135474,786,805,652,631,652,0.400966227171,0.0044881696431,0.0798285442814,0.999999949811,0.000117823124539,-0.000289386746007,5.24417074128e-05,1793244634124959488
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.920722018,634,878.920722018,786,805,652,631,652,0.400966770087,0.00448612931354,0.0798282987108,0.999999949996,0.000116089302028,-0.000289407108619,5.26682634286e-05,1793244634141625856
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.34501637,634,878.34501637,786,805,652,631,652,0.400966356994,0.00448663435625,0.079828261945,0.999999949899,0.000116930309467,-0.000289439927536,5.24833584115e-05,1793244634158292480
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.23497617,745,714,680.23497617,657,634,878.23497617,786,805,652,631,652,0.400966454503,0.00448697010911,0.0798288497372,0.999999950047,0.000117605690931,-0.000288660052753,5.2450502938e-05,1793244634174959104
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.821380226,745,714,680.821380226,657,634,878.821380226,786,805,652,631,652,0.400967315662,0.00448705267394,0.0798303716117,0.99999995056,0.000118033364056,-0.000286664721833,5.2645051133e-05,1793244634191625472
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_12/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0f14ad0ff680356bd2699f8e2d7a5b4f5ad40fbb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+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
+4,0.066666667,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+5,0.083333333,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+6,0.100000000,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
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+363,6.050000000,pose2_to_pose3_retreat,0.577121927296,0.00987778642247,1.07005095135,0.547693562398,0.0185534790096,1.06971745203
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+365,6.083333333,pose2_to_pose3_retreat,0.576766030517,0.00987777395659,1.07005076084,0.547337665119,0.0185534649283,1.06971726357
+366,6.100000000,pose2_to_pose3_retreat,0.576616481745,0.00987779618766,1.07005074083,0.547188115885,0.0185534853044,1.0697172362
+367,6.116666667,pose2_to_pose3_retreat,0.576481045891,0.00987781481149,1.07005081122,0.547052679131,0.0185535006631,1.06971730098
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+369,6.150000000,pose2_to_pose3_retreat,0.576247227726,0.0098777747065,1.0700510121,0.546818863351,0.0185534686841,1.06971750286
+370,6.166666667,pose2_to_pose3_retreat,0.576146523734,0.00987789538408,1.07005109613,0.546718157219,0.01855358225,1.06971759075
+371,6.183333333,pose2_to_pose3_retreat,0.5760575486,0.00987780527028,1.07005081514,0.546629182657,0.0185534938773,1.06971730631
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+374,6.233333333,pose2_to_pose3_retreat,0.575858136027,0.00987786866487,1.07005099568,0.546429769499,0.0185535552854,1.06971748569
+375,6.250000000,pose2_to_pose3_retreat,0.575813074398,0.00987785432537,1.07005101522,0.546384707798,0.0185535407727,1.06971750699
+376,6.266666667,pose2_to_pose3_retreat,0.575776161158,0.00987784429129,1.07005090863,0.546347794287,0.0185535300032,1.06971740517
+377,6.283333333,pose2_to_pose3_retreat,0.575746710627,0.00987781151362,1.07005103258,0.546318345064,0.0185535017944,1.06971753261
+378,6.300000000,pose2_to_pose3_retreat,0.575724964494,0.00987764987284,1.07005075675,0.54629660097,0.0185533470138,1.06971725541
+379,6.316666667,pose2_to_pose3_retreat,0.575707894457,0.00987773505468,1.07005089649,0.54627952991,0.0185534287223,1.06971739519
+380,6.333333333,pose2_to_pose3_retreat,0.575695440942,0.00987776231066,1.07005092406,0.54626707553,0.0185534528004,1.06971741614
+381,6.350000000,pose2_to_pose3_retreat,0.575686524573,0.00987777502799,1.07005088688,0.546258158585,0.0185534634556,1.06971737596
+382,6.366666667,pose2_to_pose3_retreat,0.575680374144,0.00987781803869,1.07005085828,0.546252007693,0.018553505112,1.06971735322
+383,6.383333333,pose2_to_pose3_retreat,0.575676599692,0.00987783048479,1.07005078134,0.546248232725,0.018553515769,1.06971727529
+384,6.400000000,pose2_to_pose3_retreat,0.575674129881,0.00987783487142,1.07005077225,0.546245762696,0.01855351939,1.06971726544
+385,6.416666667,pose2_to_pose3_retreat,0.57567276197,0.00987782876367,1.07005088371,0.546244395011,0.0185535140425,1.06971737669
+386,6.433333333,pose2_to_pose3_retreat,0.575671999465,0.00987782535907,1.07005094584,0.546243632632,0.0185535110617,1.0697174387
+387,6.450000000,pose2_to_pose3_retreat,0.575671657938,0.00987782383415,1.07005097367,0.546243291162,0.0185535097265,1.06971746647
+388,6.466666667,pose2_to_pose3_retreat,0.575671457102,0.00987782293742,1.07005099003,0.546243090359,0.0185535089414,1.06971748281
+389,6.483333333,pose2_to_pose3_retreat,0.575671420924,0.0098778219924,1.0700509949,0.546243054146,0.0185535078624,1.06971748727
+390,6.500000000,pose2_to_pose3_retreat,0.575671329076,0.00987781944116,1.07005100763,0.546242962201,0.018553504941,1.06971749891
+391,6.516666667,pose2_to_pose3_retreat,0.575671055847,0.00987781185182,1.0700510455,0.546242688685,0.0185534962507,1.06971753354
+392,6.533333333,pose2_to_pose3_retreat,0.575670608193,0.00987779941754,1.07005110755,0.546242240559,0.0185534820126,1.06971759026
+393,6.550000000,pose2_to_pose3_retreat,0.575670358479,0.00987779248135,1.07005114216,0.546241990582,0.0185534740702,1.06971762191
+394,6.566666667,pose2_to_pose3_retreat,0.575670248589,0.00987778942898,1.07005115739,0.546241880577,0.018553470575,1.06971763583
+395,6.583333333,pose2_to_pose3_retreat,0.575670139972,0.00987778636183,1.07005116932,0.546241771887,0.0185534672226,1.06971764671
+396,6.600000000,pose2_to_pose3_retreat,0.575670094288,0.00987778474167,1.07005115378,0.54624172645,0.0185534664858,1.06971763233
+397,6.616666667,pose2_to_pose3_retreat,0.575669842442,0.00987777581013,1.0700510681,0.546241475969,0.018553462424,1.06971755301
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+400,6.666666667,pose2_to_pose3_retreat,0.575669667096,0.00987776959159,1.07005100845,0.546241301572,0.018553459596,1.06971749778
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_12/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7512660efff88b0b3b4f267d9adfc7c4cd36610e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c652d27f48566a781970e7cd22b4094eed96175d0bb8b6a0c29917e0ea26b9c9
+size 25744686
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_12/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b640fc4d594b5d7e69cc0252794c7e2d1292a273
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+35,0.583333333,BASELINE,764,745,714,680,658,634,878.686095983,786,805,652,631,651.313904017,0.400966895598,0.0044882285804,0.0798318809847,0.999999951249,0.000118388944787,-0.000284263106405,5.1766553334e-05,1793244634923677184
+36,0.600000000,BASELINE,764,745,714,680,658,634,878.106729638,786,805,652,631,651.893270362,0.400965780717,0.00448902709382,0.0798313456116,0.999999950875,0.000120264593117,-0.000284787539748,5.17992395274e-05,1793244634940343552
+37,0.616666667,BASELINE,764.471268056,745,714,680,658,634,878.471268056,786,805,652,631,652,0.400966466119,0.00448905293341,0.0798316653429,0.999999951048,0.00012010854002,-0.000284244074117,5.18076178685e-05,1793244634957010432
+38,0.633333333,BASELINE,764.951331737,745,714,680,658,634,879,786,805,652,631,652,0.400967446796,0.00448884039916,0.0798321208156,0.999999951323,0.000119499243895,-0.000283527455852,5.18208797747e-05,1793244634973677056
+39,0.650000000,BASELINE,764.377046074,745,714,680,658,634,879,786,805,652,631,652,0.400967225876,0.00448793784635,0.0798319568414,0.999999951377,0.000118949894921,-0.000283545211753,5.19461669167e-05,1793244634990343936
+40,0.666666667,BASELINE,764,745,714,680.202566187,657.797433813,634,879,786,805,652,630.797433813,652,0.400967171695,0.00448741057618,0.0798319133098,0.999999951508,0.000118265904799,-0.000283342129397,5.21007881403e-05,1793244635007010816
+41,0.683333333,BASELINE,764,745,714,680.792360812,657.207639188,634,879,786,805,652,630.207639188,652,0.400967436253,0.00448760070177,0.0798321000182,0.999999951785,0.000117324532757,-0.000282716889454,5.23114848089e-05,1793244635023677184
+42,0.700000000,BASELINE,764.37548831,745,714,681,657.37548831,634,878.62451169,786,805,652,630.37548831,652,0.400966717074,0.00448805020494,0.079831706319,0.999999951475,0.000117502564073,-0.000283738354428,5.23090701279e-05,1793244635040343808
+43,0.716666667,BASELINE,764.954993291,745,714,681,657.954993291,634,878.045006709,786,805,652,630.954993291,652,0.400965463396,0.00448864063753,0.079830997263,0.999999950843,0.000118288808621,-0.000285654535044,5.21908641698e-05,1793244635057010432
+44,0.733333333,BASELINE,764.468274961,745,714,680.468274961,658,634,879.063450078,786,805,652,631,652,0.400967159622,0.00448837970496,0.0798321767386,0.99999995155,0.000117827712033,-0.00028340040046,5.19696706796e-05,1793244635073677568
+45,0.750000000,BASELINE,764,745,714,680,658,634,879.784995171,786,805,652,631,652,0.400968418792,0.00448806198523,0.0798330568477,0.999999952067,0.000117633510595,-0.000281685790255,5.17844462051e-05,1793244635090344192
+46,0.766666667,BASELINE,764,745,714,680,658,634,878.639678939,786,805,652,631,652,0.400966712066,0.00448780874071,0.0798319535429,0.999999951294,0.000119048607332,-0.000283825093838,5.17923801465e-05,1793244635107010816
+47,0.783333333,BASELINE,764,745,714,680,658,634,878.261361679,786,805,652,631,652,0.40096673991,0.00448756945376,0.0798318174475,0.999999951202,0.000119436152471,-0.000283967211149,5.18909039238e-05,1793244635123677440
+48,0.800000000,BASELINE,764,745,714,680,658,634,878.853370652,786,805,652,631,652,0.400968962147,0.00448734782443,0.0798329049636,0.999999951974,0.000118523747649,-0.000281582698839,5.21040324302e-05,1793244635140344320
+49,0.816666667,BASELINE,764,745,714,680.435839625,658,634,879,786,805,652,631,652,0.400969031941,0.0044877282036,0.0798327283531,0.999999951957,0.000117749465017,-0.000282017500328,5.18308959866e-05,1793244635157010944
+50,0.833333333,BASELINE,764,745.015087037,714,680.984912963,658,634,878.984912963,786,805,652,631,652,0.400968413532,0.00448828104074,0.0798321691706,0.999999951693,0.000117057059477,-0.000283317639034,5.1412790383e-05,1793244635173677312
+51,0.850000000,BASELINE,764,745.591331508,714,680.408668492,658,634,878.408668492,786,805,652,631,652,0.400968555063,0.00448787659035,0.0798328600236,0.999999951901,0.000117718689095,-0.000282280223368,5.15570892034e-05,1793244635190343936
+52,0.866666667,BASELINE,764,745.829704673,714,680,657.829704673,634,878.170295327,786,805,652,631,652,0.400968330046,0.00448742497037,0.0798330884893,0.999999952044,0.000117185587615,-0.000281989525147,5.15905414895e-05,1793244635207011072
+53,0.883333333,BASELINE,764,745.244109205,714,680,657.244109205,634,878.755890795,786,805,652,631,652,0.400967211127,0.0044868583177,0.0798321893286,0.999999952021,0.000113738888853,-0.000283519850894,5.13536717188e-05,1793244635223677440
+54,0.900000000,BASELINE,764,745,713.661918846,680,657.338081154,634,878.661918846,786,805,652,631,652,0.400966850428,0.00448771373939,0.0798316835295,0.999999951782,0.000114940639488,-0.000283902615445,5.12216521672e-05,1793244635240344064
+55,0.916666667,BASELINE,764,745,713.082162632,680,657.917837368,634,878.082162632,786,805,652,631,652,0.400967031737,0.0044895857215,0.0798314589224,0.999999951379,0.00011946530335,-0.000283465053452,5.11645841057e-05,1793244635257010432
+56,0.933333333,BASELINE,764,745,713.496200279,680,658,634,878,786,805,652,631,652,0.400965855857,0.00448774224993,0.0798313297626,0.999999951262,0.000117870110579,-0.000284489469277,5.14531170983e-05,1793244635273677056
+57,0.950000000,BASELINE,764,745,714,679.926466152,658,634,878,786,805,652,631,651.926466152,0.400964776444,0.00448585123872,0.0798313101593,0.999999951213,0.000115877439456,-0.00028542851411,5.1740839995e-05,1793244635290343936
+58,0.966666667,BASELINE,764,745,714,679.354550048,658,634,878,786,805,652,631,651.354550048,0.400965869698,0.00448779604572,0.079831926269,0.999999951329,0.000118039649765,-0.000284152827017,5.16363047949e-05,1793244635307010560
+59,0.983333333,BASELINE,764,745,714.224881643,679.224881643,658,634,878,786,805,652,631,651.224881643,0.400966900881,0.00448883768169,0.0798326898244,0.999999951572,0.000118850736984,-0.000282967768567,5.15636215671e-05,1793244635323677184
+60,1.000000000,BASELINE,764,745,714.816572248,679.816572248,658,634,878,786,805,652,631,651.816572248,0.400967830818,0.00448840613759,0.0798336938817,0.999999952031,0.000117457980541,-0.000281930536115,5.15428927143e-05,1793244635340344064
+61,1.016666667,BASELINE,764,745,714.60042688,680,658,634,878,786,805,652,631,652,0.400967085729,0.00448716719241,0.0798328933675,0.999999951884,0.000116239088821,-0.000283005453345,5.12693369847e-05,1793244635357010944
+62,1.033333333,BASELINE,764,745,714.021330238,680,658,634,878,786,805,652,631,652,0.400965588071,0.0044855654914,0.0798312820804,0.999999951461,0.000115098312566,-0.000285029334743,5.08821891024e-05,1793244635373677568
+63,1.050000000,BASELINE,764,745,714,680,658,634,878,786,805.556248569,652,630.443751431,652,0.400967627181,0.00448693404882,0.0798328353754,0.99999995197,0.000117047592678,-0.000282347442467,5.13848227641e-05,1793244635390344192
+64,1.066666667,BASELINE,764,745,714,680,658,634,878,785.867268857,805.867268857,652,630.132731143,652,0.400969037721,0.0044881794779,0.0798338124725,0.999999952266,0.000118563087295,-0.000280602460953,5.17057747356e-05,1793244635407011072
+65,1.083333333,BASELINE,764,745,714,680,658,634,878,785.294230279,805.294230279,652,630.705769721,652,0.400967914437,0.00448863964614,0.0798324766947,0.999999951772,0.000118247584167,-0.000282562459418,5.13111580193e-05,1793244635423677696
+66,1.100000000,BASELINE,764,745.287415555,714,680,658,634,878,785.287415555,804.712584445,652,631,652,0.400967362467,0.00448855928754,0.0798320863281,0.99999995172,0.000117878797292,-0.000282917553721,5.12047428761e-05,1793244635440344064
+67,1.116666667,BASELINE,764,745.878144711,714,680,658,634,878,785.878144711,804.121855289,652,631,652,0.400967413412,0.00448790850347,0.0798326936674,0.999999952138,0.000117453779367,-0.000281578970394,5.1402470854e-05,1793244635457010688
+68,1.133333333,BASELINE,764,745.5413915,714,680,657.5413915,634,878.4586085,786,804,652,631,651.5413915,0.400967602371,0.00448846503216,0.0798326103413,0.999999952022,0.000118556502369,-0.000281524175942,5.14188955368e-05,1793244635473677312
+69,1.150000000,BASELINE,764,745,714,680,657.036282954,634,879,786,804.036282954,652,630.963717046,651.036282954,0.400967739911,0.00448921161745,0.079832286151,0.99999995175,0.0001198739243,-0.000281938208513,5.13968874019e-05,1793244635490344192
+70,1.166666667,BASELINE,764,745,714,680,657.612150223,634,879,786,804.612150223,652,630.387849777,651.612150223,0.40096657936,0.00448811842495,0.0798310493274,0.999999951224,0.000118479595674,-0.000284362639401,5.15040531825e-05,1793244635507010816
+71,1.183333333,BASELINE,764,745,714,680,657.80820573,633.80820573,878.80820573,786,805,652,630.19179427,651.80820573,0.400966107835,0.00448769351816,0.0798307610144,0.999999951074,0.000117916566136,-0.000285119301216,5.15153179243e-05,1793244635523677440
+72,1.200000000,BASELINE,764,745,714,680,657.22077069,633.22077069,878.22077069,786,805,652,630.77922931,651.22077069,0.400967057657,0.00448864717722,0.0798324293262,0.999999951709,0.000119068372818,-0.000282435623798,5.13287542494e-05,1793244635540344320
+73,1.216666667,BASELINE,764,745,714,680,657.361870372,633.361870372,878,785.638129628,805,652,631,651.361870372,0.400968077922,0.00448865305571,0.0798328438148,0.999999951908,0.000119802130224,-0.000281394714773,5.14603940601e-05,1793244635557010688
+74,1.233333333,BASELINE,764,745,714,680,657.941624918,633.941624918,878,785.058375082,805,652,631,651.941624918,0.4009691406,0.00448808827017,0.0798325033693,0.999999951848,0.000120284177756,-0.000281342925943,5.17836259794e-05,1793244635573677312
+75,1.250000000,BASELINE,764,745,714,680,658,634,878,785.519175048,804.480824952,652,631,652,0.400967426714,0.00448835217791,0.0798320955804,0.999999951683,0.000119757357708,-0.00028219407246,5.15573896435e-05,1793244635590343936
+76,1.266666667,BASELINE,764,745,714,680.096018539,658,634,878,786.096018539,804,652,631,651.903981461,0.400965814357,0.00448858893465,0.0798317880837,0.999999951519,0.000119409935886,-0.000282955065257,5.1386851009e-05,1793244635607010816
+77,1.283333333,BASELINE,764,745,714,680.670570344,658,634,878,786.670570344,804,652,631,651.329429656,0.400966257297,0.00448822797036,0.0798320179961,0.999999951418,0.00012051953509,-0.000282762919824,5.18004970717e-05,1793244635623678976
+78,1.300000000,BASELINE,764,745,714,680.747163995,658,634,878,786.747163995,804.252836005,652,631,651.252836005,0.400966675349,0.00448833927639,0.079832112334,0.999999951434,0.000120674602972,-0.000282630211842,5.18679758349e-05,1793244635640346112
+79,1.316666667,BASELINE,764,745,714,680.154531419,658,634,878,786.154531419,804.845468581,652,631,651.845468581,0.400967059949,0.0044890852857,0.0798320244678,0.999999951605,0.000119546837368,-0.000282577384279,5.14702262763e-05,1793244635657011968
+80,1.333333333,BASELINE,764,745,714,680.427222847,658,634,878,786,805,652.427222847,631,652,0.400966501224,0.00448941670568,0.0798316965225,0.99999995142,0.000119144478494,-0.000283428780515,5.13069704276e-05,1793244635673678336
+81,1.350000000,BASELINE,764,745,714,680.994887272,658,634,878,786,805,652.994887272,631,651.994887272,0.400965636775,0.00448958383575,0.0798312988839,0.99999995112,0.000118988654538,-0.00028456422941,5.12282094383e-05,1793244635690344704
+82,1.366666667,BASELINE,764,745,714,680.420042403,658,634,878,786,805,652.420042403,631,651.420042403,0.400967782664,0.00448773937794,0.0798325716079,0.999999952035,0.000117792283456,-0.000281811265046,5.13480129967e-05,1793244635707011840
+83,1.383333333,BASELINE,764,745,714,680,658,634,878.158269233,786,805,652.158269233,631,651.158269233,0.400969151219,0.00448654544807,0.0798334326561,0.999999952667,0.000116926276327,-0.000279908192143,5.14273110585e-05,1793244635723678976
+84,1.400000000,BASELINE,764,745,714,680,658,634,878.745987754,786,805,652.745987754,631,651.745987754,0.400968410546,0.00448711666667,0.0798331766592,0.999999952553,0.000116956681726,-0.000280311222462,5.13967011371e-05,1793244635740345856
+85,1.416666667,BASELINE,764,745,714,680,658,634,879,786,805,652.67103461,631,652,0.400968131668,0.00448818972911,0.0798336006946,0.999999952419,0.000118311401579,-0.000280223056966,5.13705069543e-05,1793244635757012736
+86,1.433333333,BASELINE,764,745,714,680,658,634,879,786,805,652.091665701,631,652,0.4009682043,0.00448964478753,0.0798345423604,0.999999952267,0.00012067416972,-0.000279761000561,5.13476739671e-05,1793244635773679104
+87,1.450000000,BASELINE,764.485766033,745,714,680.485766033,658,634,879.485766033,786,805,652,631,652,0.400967873381,0.00448898302838,0.0798337300328,0.999999952252,0.000119377623466,-0.000280375170692,5.1321175655e-05,1793244635790345472
+88,1.466666667,BASELINE,764.937631204,745,714,680.937631204,658,634,879.937631204,786,805,652,631,652,0.4009674877,0.00448808497773,0.0798327152665,0.999999952245,0.000117673115653,-0.000281122389978,5.13060898435e-05,1793244635807012096
+89,1.483333333,BASELINE,764.364832954,745,714,680.364832954,658,634,879.364832954,786,805,652,631,652,0.400967274594,0.00448850924501,0.0798327417654,0.999999952121,0.000118258674981,-0.000281303012836,5.13900426209e-05,1793244635823678464
+90,1.500000000,BASELINE,764,745,714,680,658,634,878.784922555,786,804.784922555,652,631,652,0.400967445,0.00448810813799,0.0798329799489,0.999999952211,0.000117836769765,-0.000281142534215,5.14884425777e-05,1793244635840344832
+91,1.516666667,BASELINE,764,745,714,680,658,634,878.192535396,786,804.192535396,652,631,652,0.400968288203,0.00448625907925,0.0798335894901,0.999999952673,0.000115647472471,-0.000280383662271,5.16121871688e-05,1793244635857011200
+92,1.533333333,BASELINE,764.390216371,745,714,680,658,634,878,786,804.390216371,652,631,652,0.400968055257,0.00448598420923,0.0798333112721,0.999999952547,0.000115876158838,-0.000280755457149,5.15344538475e-05,1793244635873677824
+93,1.550000000,BASELINE,764.968328585,745,714,680,658,634,878,786,804.968328585,652,631,652,0.400967304127,0.00448646733777,0.079832605583,0.999999952136,0.000117269145412,-0.00028167168733,5.13597054837e-05,1793244635890344704
+94,1.566666667,BASELINE,765,745,714,680,658,634,878.543933602,786,805,652,631,652,0.400966029685,0.00448649634406,0.0798316621427,0.999999951709,0.000117178347013,-0.000283166181517,5.16463355547e-05,1793244635907011840
+95,1.583333333,BASELINE,764.880972968,745,714,680.119027032,658,634,878.880972968,786,805,652,631,652,0.400965442111,0.00448650076111,0.079831135628,0.999999951491,0.000116942760545,-0.000283995785685,5.18526242718e-05,1793244635923678720
+96,1.600000000,BASELINE,764.307278482,745,714,680.692721518,658,634,878.307278482,786,805,652,631,652,0.400967594137,0.00448651179204,0.0798322543508,0.999999952076,0.000116482609034,-0.000282157572545,5.16498717697e-05,1793244635940345088
+97,1.616666667,BASELINE,764.275794695,745,714,680.724205305,658,634,878.275794695,786,805,652,631,652,0.400968048991,0.00448700867712,0.0798325652227,0.999999952227,0.000116302574768,-0.000281744980625,5.13717057939e-05,1793244635957011456
+98,1.633333333,BASELINE,764.869685017,745,714,680.130314983,658,634,878.869685017,786,805,652,631,652,0.400966546363,0.00448806593585,0.0798319443367,0.999999951881,0.000116445621692,-0.000282976669452,5.1006559563e-05,1793244635973677824
+99,1.650000000,BASELINE,764.570204139,745,714,680,658,634,879,786,805,652,631,652,0.400966391403,0.00448867695955,0.0798318714201,0.999999951759,0.000117701008242,-0.000282896837795,5.09654628803e-05,1793244635990344448
+100,1.666666667,BASELINE,764.019589003,745,714,680,658,634,879,786,805,652,631,652,0.400966615284,0.00448916254277,0.0798319525422,0.999999951698,0.000119269082924,-0.000282448326545,5.10154592896e-05,1793244636007011072
+101,1.683333333,BASELINE,764,745,714,680,658,634,879,786,805,652,631,652,0.400967026221,0.0044889933999,0.0798324522888,0.999999951846,0.000119270068929,-0.000281922931838,5.10032345294e-05,1793244636023678208
+102,1.700000000,BASELINE,764,745,714,680,658,634,879,786.180295621,805,652,631,652,0.400967279244,0.00448883694878,0.0798327080153,0.99999995195,0.000119209835073,-0.000281582378291,5.09984510639e-05,1793244636040344832
+103,1.716666667,BASELINE,764,745,714,680,658,634,879,786.767530348,805,652,631,652,0.400967160272,0.00448876365683,0.0798323781175,0.999999951934,0.000119141901054,-0.000281665424885,5.10156436786e-05,1793244636057011712
+104,1.733333333,BASELINE,764,745.351654916,714,680,658,634,878.648345084,786.648345084,805,652,631,652,0.400966443103,0.00448802173213,0.0798322767027,0.999999951863,0.000118589277761,-0.000282116914514,5.11899212272e-05,1793244636073678080
+105,1.750000000,BASELINE,764,745.933741525,714,680,658,634,878.066258475,786.066258475,805,652,631,652,0.400965333949,0.00448684166718,0.0798323250077,0.999999951756,0.000117719048298,-0.000282809836726,5.14671330619e-05,1793244636090344448
+106,1.766666667,BASELINE,764.509502782,745.490497218,714,680.509502782,657.490497218,634,879.019005563,786,805,652,631,652,0.4009660704,0.00448779848862,0.0798325278268,0.999999951747,0.000118965378429,-0.000282335471131,5.13786893274e-05,1793244636107011072
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,878,786,805,652,631,651,0.400965086356,0.00448885375495,0.0798312794917,0.999999951162,0.000119440060113,-0.000284202403885,5.13718927761e-05,1793244636150248192
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,680.589476167,658.410523833,634,878,786,805,652,631,651.589476167,0.4009670212,0.00448836236706,0.0798325376062,0.999999951858,0.000119426300033,-0.000281741270853,5.14047525861e-05,1793244636166914816
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.176242103,745,714,680.823757897,658,634,878,786,805,652,631,652,0.400968188678,0.00448747997898,0.0798333068771,0.999999952325,0.000118972488509,-0.000280261341283,5.14756006807e-05,1793244636183581184
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.756790773,745,714,680.243209227,658,634,878,786,805,652,631,652,0.400967595787,0.0044857006204,0.0798329547213,0.999999952273,0.000117509181031,-0.00028103233197,5.16335954561e-05,1793244636200247808
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,786,805,652,631,652,0.400967172456,0.00448709504761,0.0798324674941,0.99999995204,0.000118268128387,-0.000281572530976,5.14720680253e-05,1793244636216914176
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,786,805,652,631,652,0.40096687137,0.00449077765644,0.0798318828857,0.999999951673,0.000120629238908,-0.000281946337717,5.10801769594e-05,1793244636233580800
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.506066147,745,714,680,658,634,878,786,805.493933853,652,631,652,0.400965311303,0.00448930066081,0.0798314134326,0.999999951371,0.000118682388139,-0.000283849496344,5.10187930808e-05,1793244636250247168
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.079553715,786,805.84089257,652,631,652,0.400964428761,0.0044874202788,0.079831327672,0.9999999512,0.000116817038446,-0.000285217722258,5.1039490513e-05,1793244636266913792
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.661981027,786,804.676037946,652,631,652,0.400969314354,0.00448907745932,0.0798335314377,0.999999951831,0.000120549521889,-0.000281400169638,5.11890975704e-05,1793244636283580416
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,786,804.482426957,652,631,652,0.400980622489,0.00448946644531,0.0798387306688,0.999999954198,0.000121416310896,-0.000272452069189,5.13093387305e-05,1793244636300247296
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,786,805.632054721,652,631,652,0.401000813057,0.00448810150677,0.0798480726555,0.999999958807,0.00011831981848,-0.00025640837537,5.13889665712e-05,1793244636316914176
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,680.391652219,658,634,879,786,805.608347781,652,631,652,0.401039332576,0.00448806415685,0.0798633726009,0.999999965541,0.000117724983125,-0.000229053938796,5.09303283628e-05,1793244636333580544
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,680.967658863,658,634,879,786,805.032341137,652,631,652,0.401086479708,0.0044886517154,0.0798814770151,0.999999972459,0.000118307701174,-0.000196375426421,5.02183231707e-05,1793244636350246912
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.558124428,745,714,680.441875572,658,634,878.441875572,786,805,652,631,652,0.401152371093,0.00448874181848,0.0798990543679,0.999999978715,0.000116979261553,-0.000162690255345,4.91771662637e-05,1793244636366913536
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.853790286,745,714,680,658,634,878.146209714,786,805,652,631,652,0.401221534448,0.00448927495762,0.0799142420042,0.999999982929,0.00011633369268,-0.000135323067744,4.7909281851e-05,1793244636383579904
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.275285673,745,714,680,658,634,878.724714327,786,805,652,631,652,0.401297075153,0.00449120550599,0.0799224567267,0.999999983933,0.00011804329489,-0.000126813164579,4.60289299784e-05,1793244636400246528
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.300814039,745,714,680,658,634,879,786,805,652,631,652,0.401380971446,0.0044920047021,0.0799286186206,0.999999985331,0.000115920212218,-0.000118350567477,4.35262778688e-05,1793244636416913152
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.874730361,745,714,680,658,634,879,786,805,652,631,652,0.401472453583,0.00449177676889,0.0799329167971,0.999999987054,0.000110317521274,-0.000109930918991,4.04586535201e-05,1793244636433580032
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.550980572,745,714,680,658,634,878.550980572,786,805,652.449019428,631,652,0.401582331527,0.00449289467302,0.0799354388561,0.999999988031,0.00010758747399,-0.000104900177046,3.68587185283e-05,1793244636450246656
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.02421486,745,714,680,658,634,878.02421486,786.02421486,805,652.97578514,631.02421486,652,0.401698647133,0.00449439641582,0.0799377435426,0.999999988836,0.000105639924427,-0.000100369715035,3.3079814305e-05,1793244636466913280
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.618291151,745,714,680,658,634,878.618291151,786.618291151,805,652.381708849,631.618291151,652,0.401845585703,0.00449608780221,0.0799466034808,0.999999990621,0.000103231297658,-8.53442491599e-05,2.85869195214e-05,1793244636483579648
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.794005755,805,652,631.794005755,652,0.402002713544,0.00449810490402,0.079954026312,0.999999992012,0.000100708394526,-7.26048733557e-05,2.36957697925e-05,1793244636500246272
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.217757896,805,652,631.217757896,652,0.402178155545,0.00450070744585,0.0799588660895,0.99999999299,9.7980091589e-05,-6.3974512575e-05,1.80887979745e-05,1793244636516913152
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.642729912,745,714,680,658,634,879,786,805,652,631,652,0.40236500195,0.00450451361574,0.0799607853761,0.999999993521,9.52602679044e-05,-6.11453770685e-05,1.20040249576e-05,1793244636533580032
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.068442863,745,714,680,658,634,879,786,805,652,631,652,0.402558775763,0.00450905090697,0.079960930666,0.99999999379,9.25455945188e-05,-6.18400853566e-05,5.62902009414e-06,1793244636550246400
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879.519935137,786,805,652,631,652,0.402771555638,0.00451202670881,0.079956256071,0.99999999404,8.38985777726e-05,-6.98354197951e-05,-2.09161363413e-06,1793244636566913024
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879.783566058,786,804.891783029,652.108216971,631,652,0.402995088922,0.00451487527754,0.0799508775546,0.999999994004,7.5087253508e-05,-7.90856685736e-05,-9.94062865333e-06,1793244636583579648
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.624447922,786,804.312223961,652.687776039,631,652,0.403254258371,0.00451808989896,0.0799452735489,0.999999993456,6.90563374871e-05,-8.9499319703e-05,-1.75558066033e-05,1793244636600246528
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,786,804,652.735114387,631,652,0.403542965255,0.00452275723047,0.0799449610319,0.999999992873,7.47839787543e-05,-9.03453769375e-05,-2.23492273036e-05,1793244636616913408
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,786,804,652.16086564,631,652,0.403866169253,0.00452912119958,0.0799508285094,0.999999992073,9.4244582595e-05,-8.00173241291e-05,-2.38470828943e-05,1793244636633581312
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.423014117,745,714,680,658,634,878.423014117,786,804.423014117,652.423014117,631,652,0.40420014442,0.00453572311074,0.0799541152289,0.9999999904,0.000114288587279,-7.49001786005e-05,-2.29839717028e-05,1793244636650248448
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.989511173,879,786,805,652.989511173,631,652,0.404539517302,0.00454240849704,0.0799564462987,0.999999988331,0.000133261311912,-7.15942184933e-05,-2.13100088343e-05,1793244636666914816
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.410325823,879,786,805,652.410325823,631,652,0.404944288657,0.00454859948637,0.0799614144542,0.999999994728,8.18408012791e-05,-5.65438770377e-05,-2.54865667714e-05,1793244636683580672
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.831595241,745.168404759,714,680,658.168404759,633.168404759,878.831595241,786,805,652,631,652,0.405353781266,0.00455542537676,0.0799625094608,0.999999996935,5.26634422855e-05,-4.991782896e-05,-2.94046039422e-05,1793244636700247040
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.25396982,745.74603018,714,680,658.74603018,633.74603018,878.25396982,786,805,652,631,652,0.405774746385,0.0045637940649,0.0799541927816,0.999999994427,7.75365664516e-05,-6.37626711352e-05,-3.26944396348e-05,1793244636716913408
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.322191756,745.677808244,714,680,658.677808244,634,878.322191756,786,805.322191756,652.322191756,631,652,0.406223782915,0.00457205721441,0.0799452943957,0.999999990975,0.000103346858671,-7.97388087801e-05,-3.18031495823e-05,1793244636733580032
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.897204726,745.102795274,714,680,658.102795274,634,878.897204726,786,805.897204726,652.897204726,631,652,0.406694846896,0.00458023754952,0.0799359395484,0.99999998644,0.000129892541562,-9.73873578637e-05,-2.76309649653e-05,1793244636750246400
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.517815057,745,714,680,658,634,879,786,805.517815057,652.517815057,631,652,0.407184373892,0.00458380314851,0.0799355041955,0.999999985931,0.000133447130236,-9.72897005644e-05,-2.94206168267e-05,1793244636766913792
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.068589489,745,714,680,658,634,879,786,805,652,630.931410511,652,0.407682174082,0.00458483455652,0.0799359212105,0.999999986527,0.000129300343865,-9.59435156234e-05,-3.19851019042e-05,1793244636783580928
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.64942742,745,714,680,658,634,879,786,805,652,630.35057258,652,0.408211745146,0.00457444222038,0.0799282031103,0.999999987504,0.000105014990943,-0.000114123829848,-3.06438328187e-05,1793244636800247296
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.228617522,714,680.228617522,658,634,879,786,805,652,630.228617522,652,0.408769655001,0.00457139699447,0.0799261091493,0.999999987554,9.67173668365e-05,-0.000120918033939,-3.02746139535e-05,1793244636816913664
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.805298813,714,680.805298813,658,634,879,786,805,652,630.805298813,652,0.409370709841,0.0045795375386,0.0799325777833,0.999999987058,0.000112760613299,-0.000110377203489,-3.13853144113e-05,1793244636833580544
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.619476124,745.619476124,714,680.619476124,658.380523876,634,879,786,805.380523876,652,631,652,0.410033539245,0.0045903131541,0.0799597518009,0.999999989778,0.0001237538529,-6.35644106822e-05,-3.29944419304e-05,1793244636850246912
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.044993341,745.044993341,714,680.044993341,658.955006659,634,879,786,805.955006659,652,631,652,0.41072785608,0.00460243190601,0.0799974796728,0.999999990656,0.000132173024951,1.73676244162e-06,-3.48576252858e-05,1793244636866913280
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.543717334,745.543717334,714,680,659,634,879,786,805.456282666,652,631,652,0.411366449777,0.00459914099604,0.0799953411073,0.999999991282,0.000126910782631,-7.17498459287e-06,-3.57525898321e-05,1793244636883579904
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.868704861,714.131295139,680.131295139,659,634,879,786,805,652,631,652,0.412005260163,0.00459186323386,0.0799826250687,0.999999991721,0.0001192463954,-3.14249953471e-05,-3.67453265984e-05,1793244636900246528
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.28912318,714.71087682,680.71087682,659,634,879,786,805,652,631,652,0.412660977414,0.00457544385512,0.0799453605095,0.99999998976,0.000107349702196,-8.65134245635e-05,-3.83528037273e-05,1793244636916913408
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.288692721,714.711307279,681,658.711307279,634,879.288692721,786,805,652,631,652,0.413357505004,0.00457084937836,0.079922637416,0.999999987503,0.000102233557347,-0.000113449788862,-4.08941049207e-05,1793244636933580544
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.864751029,714.135248971,681,658.135248971,634,879.864751029,786,805,652,631,652,0.414094655404,0.00457802544195,0.0799143889359,0.999999987309,0.000103866789164,-0.000112363511496,-4.43649376275e-05,1793244636950247680
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.551868506,714,681,658.448131494,634,880,786,805,652,631,652,0.414866382481,0.0045895485252,0.079933447348,0.99999998862,0.000120630778916,-7.87445299936e-05,-4.47980365452e-05,1793244636966914304
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,681.033599642,659,634,879.966400358,786,805,652,631,652,0.415648115557,0.00460193283878,0.0799593053322,0.999999988429,0.00014028566913,-3.86783350345e-05,-4.43280713685e-05,1793244636983580928
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,681.616470806,659,634,879.383529194,786,805,652,631,652,0.41641999507,0.00460659261313,0.0799593551653,0.999999988806,0.000131307646306,-5.63918228117e-05,-4.43317339608e-05,1793244637000247040
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,681.803443843,659,634,879,786,805.196556157,652,631,652,0.417208861327,0.00461016908539,0.0799602364745,0.999999988713,0.000130297429925,-5.95792394264e-05,-4.52326606408e-05,1793244637016913408
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,681.22871836,659,634,879,786,805.77128164,652,631,652,0.418030409626,0.00461166131018,0.079962717524,0.999999987791,0.000144617082295,-3.48188430013e-05,-4.78599018746e-05,1793244637033580032
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.346324087,714,681.346324087,659.346324087,634,879.346324087,786,805.653675913,652,631,652,0.41888091736,0.00460882034403,0.0799774306343,0.999999989033,0.000139574042791,-1.0197825976e-06,-4.95179661259e-05,1793244637050246912
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.921576031,714,681.921576031,659.921576031,634,879.921576031,786,805.078423969,652,631,652,0.419750567887,0.00460311504306,0.0800002294064,0.999999990563,0.000121731836307,3.87540330051e-05,-5.05353828616e-05,1793244637066913792
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,746,714,682,659.489890735,634,879.489890735,786,805.510109265,652,631,652,0.420582716779,0.00460142693133,0.0799830500897,0.999999990928,0.000124202046906,1.12347068061e-05,-5.09096599485e-05,1793244637083580928
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.901361785,714,682,659.098638215,634,879.19727643,786,806,652,631,652,0.42141744637,0.00460177956492,0.0799649339101,0.999999990138,0.00012947602629,-1.86056613891e-05,-5.11158189696e-05,1793244637100247552
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.323048812,714,682,659.676951188,634,880.353902375,786,806,652,631,652,0.422293512424,0.004608972622,0.0799729496515,0.99999998985,0.000132792498654,-8.07783386229e-06,-5.09981096863e-05,1793244637116913664
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880.492647322,786,806,652,631,652,0.423176244864,0.00461519279795,0.0799889731691,0.999999989019,0.000138533206178,1.36066150493e-05,-5.08395377655e-05,1793244637133580032
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.343215789,786,806,652,631,652,0.424067414049,0.0046201817477,0.0800151309081,0.999999986643,0.000147341898503,4.9410298425e-05,-5.06292521808e-05,1793244637150246400
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+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745.420868868,714,681.420868868,659,634,879,786,805,652,631,652,0.426645546358,0.00462029369406,0.0799306876061,0.999999984463,0.000141985668946,-9.02158545537e-05,-5.26846183054e-05,1793244637200247040
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+173,2.883333333,POSE1_TO_POSE2_PRESS,764.314145238,745.314145238,714,682,659.685854762,634,879,785.314145238,805.314145238,652,630.314145238,652,0.429303620919,0.00461376609212,0.0799346360056,0.999999985337,0.000136262503771,-8.87961615915e-05,-5.36097387613e-05,1793244637250246912
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+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.362084045,634,880,786,806,652,630.637915955,652,0.43285304099,0.00462928336953,0.0800014249314,0.999999987117,0.000151646295168,-5.1128917096e-07,-5.26211735386e-05,1793244637316913664
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713.783263022,682.216736978,659,634,880,786,805.783263022,652,631,652,0.433665367885,0.00463362665985,0.0799604021569,0.999999984548,0.000155207962939,-6.30185314118e-05,-5.33164800744e-05,1793244637333580032
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713.206204224,682.793795776,659,634,880,786,805.206204224,652,631,652,0.434487717747,0.00463278478001,0.079912233835,0.999999981155,0.000142555879355,-0.00011868059059,-5.72948042944e-05,1793244637350246912
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,713.368939916,683,659.368939916,634,880,786,805.737879832,652,631,652,0.435329814823,0.00462753694989,0.0799168016961,0.999999983681,0.000134725438021,-0.000105358104678,-5.81891068108e-05,1793244637366914048
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713.943019426,683,659.943019426,634,880,786,806.886038852,652,631,652,0.436182891783,0.00461983930397,0.0799506921642,0.999999988519,0.000129575948036,-5.367852533e-05,-5.73686177267e-05,1793244637383580672
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,683,660,634,880,786,806.468483809,652,631,652,0.437006815521,0.00461687959097,0.0799707718747,0.999999989102,0.000131085949933,-3.86615889385e-05,-5.58373080844e-05,1793244637400247040
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+184,3.066666667,POSE1_TO_POSE2_PRESS,764.29892812,745.70107188,714,683,660,634,880,786,806,652,631,652,0.438608131282,0.00462951086201,0.0799857945074,0.999999989271,0.000133915154661,-2.10004921171e-05,-5.552980113e-05,1793244637433580032
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.279176691,746,714,683,660,633.720823309,880,785.720823309,806,651.720823309,631,652,0.439353107077,0.00464061045759,0.0799645088899,0.999999986343,0.000146493160321,-5.19179485722e-05,-5.6196477535e-05,1793244637450246656
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745.520147942,713.479852058,682,658,634,879.479852058,785.520147942,805.479852058,652,631,652,0.416378586705,0.00447292669117,0.0797940252212,0.999999940872,7.16112680026e-05,-0.000332610128372,4.99866110724e-05,1793244640042153728
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,746,713.097268345,682,658,634,879.097268345,786,805,652,631,652,0.415561442174,0.00447413102726,0.0797977167779,0.999999939099,7.26751770228e-05,-0.000337437912593,5.15416660766e-05,1793244640058820096
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,746,713.685728553,682,658,634,879.685728553,786,805,652,631,652,0.414785617337,0.00448950423003,0.0797780580398,0.999999927604,0.000101297342018,-0.000363158320646,5.14540510984e-05,1793244640075486976
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.151196238,714,681.151196238,658,634,879.151196238,786,805,652,631,652,0.413295725011,0.00449638836844,0.0797967251592,0.99999994369,0.000107599326927,-0.00031387342119,5.02600529513e-05,1793244640108820224
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.425335409,714,681.425335409,658,634,879,786,805,652,631,652,0.412565965653,0.00448848756053,0.079800025633,0.999999946229,8.96041434539e-05,-0.000311449473977,5.01219949319e-05,1793244640125487616
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.999009998,745.999009998,714,681.999009998,658,633.999009998,879,786,805.000990002,652.000990002,631,652,0.411837645711,0.00447812913061,0.0797974475671,0.999999944177,6.7483780321e-05,-0.00032337452355,5.02129804176e-05,1793244640142155520
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.422911648,745.422911648,714,681.422911648,658,633.422911648,879,786,805.577088352,652.577088352,631,652,0.411137184881,0.00447644535599,0.079786977942,0.9999999364,8.52589602876e-05,-0.000342529220245,5.10386483648e-05,1793244640158821632
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.156691685,745.156691685,714,681,658,633.156691685,879.156691685,786,805.843308315,652.843308315,631,652,0.410460227161,0.00447743859053,0.0797823742617,0.999999932072,9.93275418458e-05,-0.000351166325735,5.16976518877e-05,1793244640175488000
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.745971562,745.745971562,714,681,658,633.745971562,879.745971562,786,805.254028438,652.254028438,631,652,0.409848155739,0.0044858224055,0.0797939650468,0.999999938629,0.000103163097561,-0.000330766887103,5.18965351298e-05,1793244640192154880
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.670540035,714,681,657.670540035,634,879.670540035,786,805,652,631,652,0.409249236195,0.00449131656341,0.0798170031237,0.999999950254,0.00010524090222,-0.000292685170023,5.24641242099e-05,1793244640208821248
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.091440013,714,681,657.091440013,634,879.091440013,786,805,652,631,652,0.408660282195,0.00449462115537,0.0798487150993,0.999999963872,0.000105986814504,-0.000241205148876,5.33110908187e-05,1793244640225487616
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.514737446,745,714,680.514737446,657,634,879,786,805,652,631,652,0.408069044117,0.0044938649312,0.079834028478,0.999999957075,0.000102998901193,-0.000269011442404,5.36136650508e-05,1793244640242153984
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,745.632262206,714,680,657,634,879,786,805,652,631,652,0.406936998243,0.0044895119181,0.0797784809338,0.999999926599,0.00010889323404,-0.000363582445103,5.24510513873e-05,1793244640275487488
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,745.788366398,714,680,657,633.788366398,879.211633602,786,805,652,631,652,0.406428385086,0.00448777368947,0.0797635729302,0.999999918401,0.000111612686561,-0.000384790701305,5.17290994793e-05,1793244640292154624
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,745.194372178,714,680,657,633.194372178,879.805627822,786,805,652,631,652,0.405986102104,0.00448778802148,0.0797783067647,0.999999931212,0.00010424540768,-0.000352159196301,5.18930528542e-05,1793244640308821760
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.389038561,745,714,680.389038561,657.389038561,633.389038561,879.610961439,786,805,652,631,652,0.405557124526,0.00448939365086,0.0797956730918,0.999999942233,0.000103901135841,-0.000319478171723,5.17002719139e-05,1793244640325488128
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.967301652,745,714,680.967301652,657.967301652,633.967301652,879.032698348,786,805,652,631,652,0.405134618525,0.00449177327163,0.0798143198388,0.999999951841,0.000106972784852,-0.000286773058237,5.13339788975e-05,1793244640342154240
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.882837893,745,714,680,657,634,879,786,805,652,631,652,0.404365035318,0.00449193091197,0.0798311218037,0.99999995412,0.000115734474624,-0.000274652761482,5.41412848298e-05,1793244640375487232
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.315659441,745,714,680,657,634,879,786,805,652,631,652,0.404011060492,0.00448639585411,0.0798319166249,0.999999952845,0.000108605975618,-0.000281701649854,5.62078955325e-05,1793244640392153856
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.871398563,745.871398563,714,680,657.871398563,634,879,786,805,652,631,652,0.403362261044,0.00446686093517,0.0798295271013,0.999999954111,6.73234742109e-05,-0.000290471440129,5.3591957469e-05,1793244640425487104
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.548640363,745.548640363,714,680,658,634,878.548640363,786,805,652,630.548640363,652,0.403077939336,0.00445934121969,0.0798279326174,0.999999952829,6.40783597063e-05,-0.00029532263311,5.49502735303e-05,1793244640442153984
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.612700907,745,714,680,657.387299093,634,878.612700907,786.612700907,805,652,630.612700907,652,0.402589153875,0.00445692672521,0.0798325703403,0.999999954538,6.47080016283e-05,-0.000288870633258,5.73620838671e-05,1793244640475487744
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.802469373,745,714,680,657.197530627,634,878.802469373,786.802469373,805,652,631,652,0.402383310992,0.00445794142863,0.0798374770686,0.999999957316,5.94765233916e-05,-0.00028025092415,5.73612815849e-05,1793244640492154368
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.356035207,745,714,680.356035207,658,634,878.712070414,786,805,652,631,652,0.402024203645,0.00445374084581,0.0798424896062,0.999999960129,4.46113345296e-05,-0.000272849722152,5.74808352256e-05,1793244640525487360
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.933120419,745,714,680.933120419,658,634,879.866240838,786,805,652,631,652,0.401864237427,0.00445596023475,0.0798435611185,0.999999960847,4.61418862918e-05,-0.000269831289966,5.80343034385e-05,1793244640542154240
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,879.490054262,786,805,652,631,652,0.401724027868,0.00446276318706,0.0798415175336,0.9999999595,5.84580732522e-05,-0.000272506160613,5.76528760613e-05,1793244640558820608
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.91175671,745.08824329,714,680.91175671,658,634,879,786,805,652,631,652,0.40159070965,0.00447112034606,0.0798386738186,0.999999957144,7.73828813481e-05,-0.000276598894193,5.67119706216e-05,1793244640575487232
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.324948501,745.675051499,714,680.324948501,658,634,879,786,805,652,631,652,0.401481694766,0.00448486398249,0.0798336165207,0.999999950218,0.000125657754047,-0.00028448589437,5.33024662244e-05,1793244640592154368
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.258470292,745.741529708,714,680,657.741529708,634,879,786,805,652,631,652,0.401381603799,0.00449202192647,0.0798291236891,0.999999945134,0.000148556264958,-0.000291618736261,5.12023356034e-05,1793244640608821248
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.837683036,745.162316964,714,680,657.162316964,634,879,786,805,652,631,652,0.401292586756,0.004491007514,0.0798253313184,0.999999944571,0.000139964591309,-0.000297815723848,5.07270410014e-05,1793244640625488128
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.5852134,745,714,680,657,634,878.5852134,786,805,652,631,652,0.401221508154,0.004488363398,0.0798217714189,0.999999943835,0.000133839310717,-0.000302970602965,5.12517502394e-05,1793244640642154496
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.008931051,745,714,680,657,634,878.008931051,786,805,652,631,652,0.401157413826,0.00448508476252,0.0798183020313,0.999999943015,0.000128674312053,-0.000307719740553,5.21658075734e-05,1793244640658820608
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.564697745,745,714,680,657.564697745,634,878,786,805,652,630.435302255,652,0.401111608443,0.00448755760843,0.0798176191789,0.999999942512,0.000130846890126,-0.000308332357816,5.27763175009e-05,1793244640675487488
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.857352485,634,878.142647515,786,805,652,630.142647515,652,0.401070317935,0.00448868901552,0.0798173434641,0.999999942417,0.000130947179475,-0.000308525893585,5.32014522345e-05,1793244640692154112
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,634,878.681189208,786,805,652,631,652,0.401019309758,0.00448507080354,0.0798189529314,0.999999944147,0.000123019465251,-0.000306200380888,5.30399399866e-05,1793244640725487616
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.526750787,745,714,680.473249213,657,634,878,786,805,652.473249213,631,652,0.400986646345,0.00448703908694,0.0798184130507,0.99999994401,0.000123698818866,-0.000306377058613,5.30231832589e-05,1793244640758820864
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.951601013,657,634,878,786,805,652.951601013,631,652,0.400975041388,0.00448613027475,0.0798172918613,0.999999943851,0.000119950621778,-0.00030839984246,5.29054200153e-05,1793244640775487488
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,714,680.37729932,657,634,878,786,805,652.37729932,631,652,0.40097360365,0.00448530288554,0.0798210513686,0.999999945729,0.000120292073033,-0.000302091321451,5.30336149345e-05,1793244640792154112
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.20325028,745,714,680.20325028,657.20325028,634,878.20325028,786,805,652,631,652,0.400971877492,0.00448550943125,0.0798239627553,0.999999946979,0.000121250180525,-0.000297528205785,5.3076038137e-05,1793244640808820992
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.795765848,745,714,680.795765848,657.795765848,634,878.795765848,786,805,652,631,652,0.400969598952,0.00448769617096,0.0798252498196,0.999999947086,0.000123389309094,-0.000296307893856,5.2954191194e-05,1793244640825487616
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.62434436,657.62434436,634,878.62434436,786,805,652,631,652,0.400967512392,0.00448842114269,0.0798251457365,0.999999946956,0.000123872106033,-0.000296538763717,5.2989019999e-05,1793244640842154240
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.051095683,657.051095683,634,878.051095683,786,805,652,631,652,0.400965526812,0.00448837723153,0.0798243099166,0.999999946703,0.000123483680536,-0.000297532948169,5.31062594877e-05,1793244640858820608
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.526645011,680,657,634,878.526645011,786,805,652,631,652,0.400966107601,0.00448730423845,0.0798248861246,0.999999947104,0.000123129358617,-0.00029632776337,5.31131115104e-05,1793244640875487488
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.896134013,745,714.896134013,680,657.103865987,634,878.896134013,786,805,652,631,652,0.400966556724,0.00448614002103,0.0798254347191,0.99999994757,0.000122078808079,-0.000295205886529,5.30195599529e-05,1793244640892154368
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.323245022,745,714.323245022,680,657.676754978,634,878.323245022,786,805,652,631,652,0.400965277257,0.00448501859998,0.0798252346693,0.999999948034,0.000117869259327,-0.000295432063877,5.25213987633e-05,1793244640908820992
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.738811585,634,878.261188415,786,804.738811585,652,631,652,0.400965131151,0.00448541034348,0.0798258320983,0.999999948408,0.000117038145699,-0.000294541228951,5.22629550941e-05,1793244640925487616
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.992038233,657.992038233,634,879,786,805,652,631,652,0.400965339092,0.00448832294519,0.0798277688389,0.999999948494,0.000123438450409,-0.000291594804691,5.24219507047e-05,1793244640975487488
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_12/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da2392ae1ec6d5663813b97af7ee447ee7cb81bf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
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+379,6.316666667,pose2_to_pose3_retreat,0.575715528594,0.00987792739551,1.07005099497,0.546287161387,0.0185536118693,1.06971748877
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+381,6.350000000,pose2_to_pose3_retreat,0.57568946278,0.0098780327168,1.07005095895,0.546261093963,0.018553711674,1.06971745142
+382,6.366666667,pose2_to_pose3_retreat,0.575682137054,0.00987796515612,1.07005087674,0.546253766685,0.0185536388333,1.06971736881
+383,6.383333333,pose2_to_pose3_retreat,0.575677588369,0.00987789753205,1.07005103192,0.546249219811,0.0185535773574,1.06971752415
+384,6.400000000,pose2_to_pose3_retreat,0.575674818254,0.00987788446903,1.07005106699,0.546246450458,0.018553566881,1.06971755932
+385,6.416666667,pose2_to_pose3_retreat,0.5756735133,0.00987792320604,1.07005097315,0.546245145068,0.0185536041366,1.06971746549
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+388,6.466666667,pose2_to_pose3_retreat,0.575671253974,0.009877920276,1.07005091658,0.546242886309,0.0185536031125,1.06971740845
+389,6.483333333,pose2_to_pose3_retreat,0.575670964599,0.00987790032228,1.07005093895,0.546242597376,0.0185535846534,1.06971743062
+390,6.500000000,pose2_to_pose3_retreat,0.575670852101,0.00987789256502,1.07005094764,0.54624248505,0.0185535774771,1.06971743924
+391,6.516666667,pose2_to_pose3_retreat,0.575670849104,0.00987789235838,1.07005094787,0.546242482058,0.018553577286,1.06971743947
+392,6.533333333,pose2_to_pose3_retreat,0.575670701135,0.00987788215518,1.07005095931,0.546242334315,0.0185535678471,1.06971745081
+393,6.550000000,pose2_to_pose3_retreat,0.575670575337,0.00987787348084,1.07005096904,0.546242208709,0.0185535598225,1.06971746045
+394,6.566666667,pose2_to_pose3_retreat,0.575670391127,0.00987786077877,1.07005098328,0.546242024782,0.0185535480718,1.06971747457
+395,6.583333333,pose2_to_pose3_retreat,0.575670251821,0.00987785117293,1.07005099405,0.546241885688,0.0185535391855,1.06971748524
+396,6.600000000,pose2_to_pose3_retreat,0.575670150844,0.00987785437018,1.07005100422,0.546241784464,0.0185535414567,1.06971749314
+397,6.616666667,pose2_to_pose3_retreat,0.575670123137,0.00987785593415,1.07005100718,0.546241756662,0.0185535426688,1.06971749532
+398,6.633333333,pose2_to_pose3_retreat,0.575669982834,0.00987786385368,1.07005102213,0.546241615878,0.0185535488062,1.06971750636
+399,6.650000000,pose2_to_pose3_retreat,0.575669776797,0.00987787548368,1.07005104409,0.546241409135,0.0185535578191,1.06971752257
+400,6.666666667,pose2_to_pose3_retreat,0.575669670369,0.00987786732331,1.07005100974,0.546241302938,0.0185535505057,1.06971748988
+401,6.683333333,pose2_to_pose3_retreat,0.575669634557,0.00987786065407,1.07005098553,0.546241267369,0.0185535447304,1.06971746751
+402,6.700000000,pose2_to_pose3_retreat,0.575669614354,0.00987785689157,1.07005097187,0.546241247302,0.0185535414721,1.06971745489
+403,6.716666667,pose2_to_pose3_retreat,0.575669542345,0.00987784348132,1.07005092319,0.546241175781,0.0185535298593,1.06971740992
+404,6.733333333,pose2_to_pose3_retreat,0.575669460783,0.00987781817713,1.0700508671,0.546241094804,0.0185535066949,1.06971735787
+405,6.750000000,pose2_to_pose3_retreat,0.575669508868,0.00987771466015,1.07005088894,0.546241142923,0.0185534031341,1.06971737562
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_12/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ab45c269a01e8b59ecbabba14e748e7e0c71184
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d62486cf7ad5d671066586a762f3fe42fd513a32c734c078ac31aa5810e84268
+size 25880342
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c237398968f47ecc7c509ba83229132ac19a0a15
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_03/franka_data.csv
@@ -0,0 +1,410 @@
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+16,0.266666667,BASELINE,764.293851714,745.293851714,714,680,658,634,879,786,805,652,631,652,0.40096607421,0.00448817925771,0.0798306809111,0.999999950374,0.000119629699682,-0.000286858426012,5.14988948472e-05,1793244641557683712
+17,0.283333333,BASELINE,764.872092441,745.872092441,714,680,658,634,879,786,805,652,631,652,0.400966516334,0.00448967575068,0.0798308972346,0.999999950425,0.00012083259076,-0.000286222294213,5.12568206452e-05,1793244641574350336
+18,0.300000000,BASELINE,764.552827008,745.552827008,714,680.447172992,658,634,878.552827008,786,805,652,631,652,0.400966622064,0.00448973399905,0.0798307230914,0.999999950234,0.000121249151955,-0.000286711498838,5.12580213944e-05,1793244641591016704
+19,0.316666667,BASELINE,764.021246673,745,714,681,657.978753327,634,878,786,805,652,631,652,0.400966575328,0.00448938519258,0.0798304129182,0.999999949979,0.000121423852646,-0.000287514887242,5.13252137499e-05,1793244641607683584
+20,0.333333333,BASELINE,764.592491444,745,714,681,657.407508556,634,878,786,805,652,631,652,0.400965055124,0.00448907386808,0.0798294523181,0.999999949826,0.000121119133081,-0.00028817734829,5.13120169527e-05,1793244641624350464
+21,0.350000000,BASELINE,764.829066035,745,714,681,657.170933965,634,878,786,805,652,631,652,0.40096404629,0.00448905097325,0.0798288511827,0.999999949739,0.000121129466771,-0.000288482770749,5.12538503492e-05,1793244641641017088
+22,0.366666667,BASELINE,764.232709759,745,714,681,657.767290241,634,878,786,805,652,631,652,0.400964310164,0.00448974592536,0.0798291446867,0.999999949819,0.000121923908473,-0.00028789959159,5.10837624054e-05,1793244641657684224
+23,0.383333333,BASELINE,764.352820977,745.352820977,714,680.647179023,658,634,878.352820977,786,805,652,631.352820977,652,0.400964873777,0.00448966836121,0.0798296765093,0.999999950054,0.00012196199329,-0.000287057424794,5.11450997951e-05,1793244641674350848
+24,0.400000000,BASELINE,764.93142414,745.93142414,714,680.06857586,658,634,878.93142414,786,805,652,631.93142414,652,0.400965629202,0.0044890964376,0.0798303608401,0.999999950386,0.000121516059599,-0.000286049522913,5.13545341388e-05,1793244641691016960
+25,0.416666667,BASELINE,765,745.493754398,714,680,658,634,878.493754398,786,805,652,631.493754398,651.493754398,0.400965959908,0.00448740534222,0.0798307862927,0.999999950854,0.000118943473971,-0.000285503609254,5.13028683338e-05,1793244641707683584
+26,0.433333333,BASELINE,764.916911786,745,714,680,657.916911786,634,878,786,805,652,631,651.083088214,0.400966242555,0.00448619515515,0.0798311709718,0.999999951203,0.000117194698935,-0.000285017737612,5.12233628345e-05,1793244641724350208
+27,0.450000000,BASELINE,764.324564545,745,714,680,657.324564545,634,878,786,805,652,631,651.675435455,0.400966580649,0.00448885482371,0.079831519085,0.999999950742,0.000122247733156,-0.00028451914944,5.11883952701e-05,1793244641741016832
+28,0.466666667,BASELINE,764,745,714,680,657.261398309,634,878.261398309,786,805,652,630.738601691,652,0.400965998209,0.00448965983043,0.0798313450783,0.99999995045,0.000123397947114,-0.000285053398358,5.11595756117e-05,1793244641757683712
+29,0.483333333,BASELINE,764,745,714,680,657.839622967,634,878.839622967,786,805,652,630.160377033,652,0.400964300041,0.00448821690458,0.0798305382389,0.999999950376,0.000119817769443,-0.000286839491693,5.1138207491e-05,1793244641774350336
+30,0.500000000,BASELINE,764,745.415087109,714,680,658,634,878.584912891,786,805,652,630.415087109,652,0.400964805485,0.00448820533213,0.0798305753426,0.999999950272,0.000121248992987,-0.000286569640456,5.13091293652e-05,1793244641791016704
+31,0.516666667,BASELINE,764,745.989491705,714,680,658,634,878.010508295,786,805,652,630.989491705,652,0.400966156713,0.00448874313749,0.0798309363659,0.99999995015,0.000124603677577,-0.000285510682706,5.1553855408e-05,1793244641807683328
+32,0.533333333,BASELINE,764.577687004,745.422312996,714,680,658,634,878,786,805,652,630.422312996,652,0.400965275047,0.00448934662627,0.0798306569505,0.999999949972,0.000125288320224,-0.000285858761943,5.14100647066e-05,1793244641824349952
+33,0.550000000,BASELINE,764.836519672,745,714,680,658,634,878,786,805,652,630.163480328,652,0.400965157892,0.00448977279906,0.0798306380322,0.999999950012,0.000125085327759,-0.000285840284599,5.12278502668e-05,1793244641841016576
+34,0.566666667,BASELINE,764.257485325,745,714,680,658,634,878,786,805,652,630.742514675,652,0.40096708983,0.00448974513723,0.0798313116135,0.999999950605,0.000122752514626,-0.0002848233994,5.09663694389e-05,1793244641857683456
+35,0.583333333,BASELINE,764,745.317328131,714,680,658,634,878.317328131,786,805,652,631,652,0.400967574632,0.00449004966119,0.0798316895892,0.999999950842,0.000122086042897,-0.000284285141764,5.09169058043e-05,1793244641874349824
+36,0.600000000,BASELINE,764,745.888761703,714,680,658,634,878.888761703,786,805,652,631,652,0.400966900617,0.00449062018811,0.0798318308542,0.999999950798,0.00012275391974,-0.00028413015249,5.10372182099e-05,1793244641891016448
+37,0.616666667,BASELINE,764.467250618,745.532749382,714,680,657.532749382,634,879,786,805,652,631,652,0.400966331654,0.00449062249853,0.079831494189,0.99999995057,0.000122911315786,-0.00028491762872,5.07405901037e-05,1793244641907683328
+38,0.633333333,BASELINE,765,745,714,680,657.048205702,634,879,786,805,652,631,652,0.400965840695,0.00449050861883,0.0798310846737,0.999999950321,0.000122923961389,-0.000285844024499,5.04026748595e-05,1793244641924349952
+39,0.650000000,BASELINE,765,745,714,680,657.637703553,634,879,786,805,652,631,652,0.400965940475,0.00449063232958,0.079831154346,0.999999950353,0.000122696791985,-0.000285772259427,5.07328237725e-05,1793244641941016832
+40,0.666666667,BASELINE,765,745,714,680,657.776845057,634,879,786,805,652,631,652,0.400966608236,0.0044902496632,0.0798315582111,0.9999999506,0.000122175558817,-0.000285089580505,5.09586676666e-05,1793244641957683456
+41,0.683333333,BASELINE,765,745,714,680,657.197846208,634,879,786,805,652,631,652,0.400968181704,0.0044890595255,0.0798324949812,0.999999951189,0.000121185410223,-0.000283432735533,5.10181862742e-05,1793244641974350080
+42,0.700000000,BASELINE,764.620621795,745,714,680,657.379378205,634,879,786,805,652,631,652,0.400968093226,0.00448818546438,0.0798326801734,0.999999951224,0.000121491112191,-0.000283162249023,5.11019913563e-05,1793244641991016704
+43,0.716666667,BASELINE,764.044318463,745,714,680,657.955681537,634,879,786,805,652,631,652,0.400967142077,0.00448747547024,0.0798324752415,0.999999950972,0.000122469455719,-0.000283611384335,5.11984028987e-05,1793244642007683328
+44,0.733333333,BASELINE,764.538139959,745,714,680,658,634,879,786,805,652,631,652,0.400966708436,0.00448875598192,0.079832544082,0.999999951149,0.00012092062174,-0.000283713666872,5.08646230044e-05,1793244642024349952
+45,0.750000000,BASELINE,765,745,714,680,657.879201644,634,879,786,805,652,631,652,0.400966094474,0.00448975443126,0.079832405364,0.999999951205,0.000119704515588,-0.000284074060324,5.06332597144e-05,1793244642041016576
+46,0.766666667,BASELINE,765,745,714,680,657.297736231,634,879,786,805,652,631,652,0.40096462844,0.00448904485415,0.0798313881407,0.999999950672,0.00012056014822,-0.000285528958823,5.09291344161e-05,1793244642057683200
+47,0.783333333,BASELINE,764.717674765,745,714,680,657.282325235,634,878.717674765,786,805,652,631,652,0.400963794047,0.00448860358111,0.0798300896517,0.999999950186,0.000120742705973,-0.000287150965584,5.09251104997e-05,1793244642074349824
+48,0.800000000,BASELINE,764.139086486,745,714,680,657.860913514,634,878.139086486,786,805,652,631,652,0.400963622476,0.00448844385767,0.0798284960114,0.999999949748,0.000120218960648,-0.000288948330574,5.06063826304e-05,1793244642091016448
+49,0.816666667,BASELINE,764,745,714,680.436936938,658,634,878.436936938,786,805.436936938,652,631,652,0.400964662269,0.00448974475926,0.0798298056016,0.99999995001,0.000122412665366,-0.000287149886925,5.03972225619e-05,1793244642107683328
+50,0.833333333,BASELINE,764,745,714,680.987839717,658,634,878.987839717,786,805.987839717,652,631,652,0.400966051943,0.00449144677011,0.0798319792144,0.999999950476,0.000125326332527,-0.000284284328748,5.02330267266e-05,1793244642124349952
+51,0.850000000,BASELINE,764,745,714,680.412076931,658,634,878.412076931,786,805.412076931,652,631,652,0.400965890207,0.00449031573127,0.0798316155044,0.999999950783,0.000121750730098,-0.000284701549444,5.05457480741e-05,1793244642141016576
+52,0.866666667,BASELINE,764,745,714,680,657.830981826,634,878,786,805,652,631,652,0.400965534137,0.00448953508026,0.0798311446222,0.999999950814,0.000119867557377,-0.000285351555502,5.07816389628e-05,1793244642157683200
+53,0.883333333,BASELINE,764,745,714,680,657.236462719,634,878,786,805,652,631,652,0.400964688836,0.00448963652584,0.0798304039357,0.99999995017,0.000122245053429,-0.0002865875955,5.08241102088e-05,1793244642174349824
+54,0.900000000,BASELINE,764.346449636,745,713.653550364,680.346449636,657.692899271,634,878,786,805,652,631,652,0.4009648257,0.00449018521462,0.07983054863,0.999999950015,0.000123401242253,-0.000286632703016,5.08267742364e-05,1793244642191016704
+55,0.916666667,BASELINE,764.921696795,745,713.078303205,680.921696795,658.843393589,634,878,786,805,652,631,652,0.400965611192,0.00449102926563,0.0798312780353,0.999999950185,0.00012375087199,-0.000285891311165,5.08031493243e-05,1793244642207683328
+56,0.933333333,BASELINE,765,745,713.496294676,680.503705324,658.503705324,634,878.992589351,786,805,652,631,652,0.400966064444,0.00448974894988,0.0798312471952,0.999999950572,0.00012176994721,-0.000285400395207,5.07337870564e-05,1793244642224349952
+57,0.950000000,BASELINE,765,745,714,680,657.927126172,633.927126172,879.854252344,786.072873828,805,652,631,652,0.400966562241,0.00448830860201,0.0798312616068,0.999999950992,0.000119763110982,-0.0002847914446,5.06710413124e-05,1793244642241016320
+58,0.966666667,BASELINE,765,745,714,680,657.335721697,633.335721697,878.671443393,786.664278303,805,652,631,652,0.400967749507,0.00448811134859,0.0798324503771,0.99999995143,0.000120184873022,-0.000283061795354,5.07066549697e-05,1793244642257683200
+59,0.983333333,BASELINE,764.750316517,745,714,680,657,633.249683483,878.249683483,786.750316517,805,652,631,652,0.400967781501,0.00448861990048,0.0798326960411,0.999999951425,0.000120778360441,-0.000282821363954,5.07388105788e-05,1793244642274350080
+60,1.000000000,BASELINE,764.172788572,745,714,680,657,633.827211428,878.827211428,786.172788572,805,652,631,652,0.400966296577,0.00449005520313,0.0798317033685,0.999999950838,0.000121597330251,-0.000284536335282,5.07664256366e-05,1793244642291016704
+61,1.016666667,BASELINE,764,745,714,680,657.403055662,634,878.596944338,786,805,652,631,652,0.400964237363,0.00448890534824,0.0798303622139,0.999999950287,0.000120801892856,-0.000286803748523,5.07681430945e-05,1793244642307683328
+62,1.033333333,BASELINE,764,745,714,680,657.978181064,634,878.021818936,786,805,652,631,652,0.400961932979,0.00448665185565,0.0798288722879,0.999999949744,0.000119317243835,-0.000289307006346,5.07588045259e-05,1793244642324349952
+63,1.050000000,BASELINE,764,745,714,680.565744962,658,634,878,786,805,652,631,652,0.40096487603,0.00448912793135,0.079831191657,0.999999950462,0.000122111785342,-0.000285663922286,5.06144899107e-05,1793244642341017600
+64,1.066666667,BASELINE,764,744.84861802,714,680.84861802,658,634,878,786,805,652,631,652,0.400967429223,0.00449046414361,0.0798329851873,0.999999951074,0.000123745158351,-0.000282807755721,5.0594510447e-05,1793244642357684736
+65,1.083333333,BASELINE,764,744.269806536,714,680.269806536,658,634,878,786,805,652,631,652,0.400968297384,0.00448805533405,0.0798328698689,0.999999951302,0.000121623500228,-0.000282857808453,5.09406218081e-05,1793244642374351104
+66,1.100000000,BASELINE,764,744.308427666,714,680,658,634,878.308427666,786,805,652,630.691572334,652,0.400967378059,0.00448719188387,0.0798321472624,0.999999951122,0.000120765471922,-0.000283851308857,5.09896143692e-05,1793244642391017472
+67,1.116666667,BASELINE,764,744.886157785,714,680,658,634,878.886157785,786,805,652,630.113842215,652,0.400964897996,0.00448767775852,0.0798308944045,0.999999950586,0.000121010777342,-0.000285668577037,5.07791787517e-05,1793244642407684096
+68,1.133333333,BASELINE,764.461790212,745,714,680.461790212,658,634,878.538209788,786,805,652,630.461790212,651.538209788,0.400964940826,0.0044890960496,0.0798309165819,0.999999950413,0.000123071877055,-0.000285415501423,5.06557509705e-05,1793244642424350464
+69,1.150000000,BASELINE,765,745,714,680.962192637,657.962192637,634,878,786,805,652,631,651,0.400965696301,0.00449059365136,0.0798313579092,0.99999995039,0.000125282332258,-0.000284550950898,5.05556358207e-05,1793244642441016832
+70,1.166666667,BASELINE,765,745,714,680.373058881,657.373058881,634,878,786,805,652,631,651,0.400967815312,0.00448991098169,0.0798333485535,0.999999951328,0.000123172619318,-0.000282178654734,5.04841044856e-05,1793244642457683200
+71,1.183333333,BASELINE,764.789147075,745,714,680,657.210852925,634,878,786,805,652,631,651.210852925,0.400968502734,0.00448914237689,0.0798339492296,0.999999951703,0.000121845570632,-0.000281418229852,5.05123112278e-05,1793244642474349824
+72,1.200000000,BASELINE,764.214251009,745,714,680,657.785748991,634,878,786,805,652,631,651.785748991,0.400966718478,0.00448822540272,0.079832150089,0.999999951119,0.000121869812104,-0.000283440742923,5.07127183827e-05,1793244642491016704
+73,1.216666667,BASELINE,764,744.636954382,714,679.636954382,658,634,878.363045618,786,805,652,631,652,0.400965904595,0.00448878990021,0.0798310533303,0.999999950593,0.000122375867151,-0.000285070730118,5.07314455768e-05,1793244642507683328
+74,1.233333333,BASELINE,764,744.058231672,714,679.058231672,658,634,878.941768328,786,805,652,631,652,0.400965667186,0.00449023450616,0.0798303738407,0.999999950101,0.000123168156614,-0.000286467526552,5.06422408528e-05,1793244642524350464
+75,1.250000000,BASELINE,764.518058797,744.518058797,714,679.518058797,658,634,879,786,805,652,631,652,0.400966191215,0.00449081777358,0.0798311031949,0.999999950155,0.000125025606208,-0.000285489444025,5.05333509606e-05,1793244642541017088
+76,1.266666667,BASELINE,764.902954268,745,714,680,658,634,879,786,805,652,631,652,0.400966603867,0.00449103502191,0.0798317931961,0.999999950318,0.000125994670294,-0.00028451389515,5.04118003773e-05,1793244642557683968
+77,1.283333333,BASELINE,764.308759815,745,714,680,658,634,879,786,805,652,631,652,0.400966009553,0.004489870879,0.0798314741428,0.999999950733,0.000121802207883,-0.000284912448769,5.02366734691e-05,1793244642574350336
+78,1.300000000,BASELINE,764,745,714,680,658,634,879,786,805,652,631,652,0.400965469514,0.00448953175677,0.0798314944476,0.999999950796,0.000120624655485,-0.000285157146914,5.04283587867e-05,1793244642591016448
+79,1.316666667,BASELINE,764,745,714,680,658,634,879,786,805,652,631,652,0.400964988185,0.00449008507433,0.0798318818423,0.99999995049,0.000122708385676,-0.000285235416806,5.10168314896e-05,1793244642607683328
+80,1.333333333,BASELINE,764.425525647,745,714,680,658,634,878.574474353,786,805,652,631,652,0.400965992897,0.00448941696579,0.0798320787265,0.999999950763,0.000122318019747,-0.000284504647804,5.06902062059e-05,1793244642624349952
+81,1.350000000,BASELINE,764.998903518,745,714,680,658,634,878.001096482,786,805,652,631,652,0.400967513945,0.00448832446322,0.0798322094163,0.999999951235,0.000121068009881,-0.000283492771898,5.00456229958e-05,1793244642641016832
+82,1.366666667,BASELINE,765,745.588144626,714,680.588144626,658,634,878.588144626,786,805,652,631,652,0.400968013086,0.00448898739152,0.0798329298743,0.99999995149,0.000120873683429,-0.000282640814017,5.02425487475e-05,1793244642657683712
+83,1.383333333,BASELINE,765,745.825878683,714,680.825878683,657.825878683,634,878.825878683,786,805,652,631,651.825878683,0.400967667155,0.00448920252881,0.0798329618708,0.999999951459,0.000120645814241,-0.000282809265469,5.04519012025e-05,1793244642674350592
+84,1.400000000,BASELINE,765,745.247550479,714,680.247550479,657.247550479,634,878.247550479,786,805,652,631,651.247550479,0.400965364009,0.00448837035215,0.0798313930434,0.999999950764,0.000120335383132,-0.000285345793431,5.06863583153e-05,1793244642691017216
+85,1.416666667,BASELINE,765,745,714,680,657.331602995,634,878,786,805,652,630.668397005,651.331602995,0.400964519981,0.00448821693173,0.0798306746492,0.999999950414,0.000120637557751,-0.000286413751233,5.08542193626e-05,1793244642707684096
+86,1.433333333,BASELINE,765,745,714,680,657.911374058,634,878,786,805,652,630.088625942,651.911374058,0.400964767939,0.00448857148513,0.0798305927098,0.999999950325,0.00012139819984,-0.000286382646975,5.0972240626e-05,1793244642724350720
+87,1.450000000,BASELINE,764.514577438,745,714,680,657.514577438,634,878,786,805,652,630.485422562,652,0.400965535098,0.0044888195494,0.079831398459,0.999999950575,0.000122323971953,-0.000285094722102,5.1058171326e-05,1793244642741017088
+88,1.466666667,BASELINE,764.060480088,745,714,680,657.060480088,634,878.060480088,786,805,652,631,652,0.40096614682,0.0044890669528,0.0798322050459,0.999999950824,0.000123062729871,-0.000283901613003,5.10631702187e-05,1793244642757683456
+89,1.483333333,BASELINE,764.653515246,745,714,680,657.653515246,634,878.653515246,786,805,652,631,652,0.400964564889,0.00448947774014,0.0798316085392,0.999999950534,0.000121892362516,-0.000285540392971,5.04065166919e-05,1793244642774349824
+90,1.500000000,BASELINE,765,744.760173598,714,680,658,634,878.760173598,786,805,652,631,652,0.400964178672,0.00449006626474,0.0798314806165,0.999999950451,0.000122239768149,-0.000285734992756,5.01038362231e-05,1793244642791016704
+91,1.516666667,BASELINE,765,744.183311935,714,680,658,634,878.183311935,786,805,652,631,652,0.400965472828,0.00449090456882,0.0798320112093,0.999999950658,0.000124720145956,-0.000283900042512,5.02986048045e-05,1793244642807683328
+92,1.533333333,BASELINE,764.610049952,744.389950048,714,680,658,634,878.389950048,786,805,652,631,652,0.400965928433,0.00449037628214,0.0798324141709,0.999999950829,0.000124228642918,-0.000283496783204,5.03797943596e-05,1793244642824349952
+93,1.550000000,BASELINE,764.038464617,744.961535383,714,680,658,634,878.961535383,786,805,652,631,652,0.40096599345,0.00448921144963,0.0798327576832,0.999999950984,0.000122352864268,-0.000283760392718,5.04080798252e-05,1793244642841016832
+94,1.566666667,BASELINE,764,745,714,680,657.446608929,634,879,786,805,652.553391071,631,652,0.400965148085,0.00448910743801,0.0798314686343,0.999999950656,0.000121714527904,-0.000285151074105,5.0618758941e-05,1793244642857683200
+95,1.583333333,BASELINE,764,745,714,680,657.286207916,634,878.856896042,786,805,652.856896042,631,652,0.400964913851,0.00448896235188,0.0798306686648,0.999999950503,0.000121651118048,-0.000285673026756,5.08437190502e-05,1793244642874349824
+96,1.600000000,BASELINE,764,745,714,680,658.443683589,634,878.278158205,786,805,652.278158205,631,652,0.40096673996,0.00448845923193,0.0798317161106,0.999999950993,0.000123066098189,-0.000283302868222,5.10720926688e-05,1793244642891016704
+97,1.616666667,BASELINE,764,745,714,679.701956917,658.701956917,634,878,786,805,652,631,652,0.400967316616,0.00448881084374,0.0798321724819,0.999999951019,0.000124291245092,-0.000282688511629,5.10059259271e-05,1793244642907683584
+98,1.633333333,BASELINE,764,745,714,679.128102999,658.128102999,634,878,786,805,652,631,652,0.400966737023,0.0044899534294,0.0798320818692,0.999999950619,0.000125340719108,-0.000283698984689,5.06671897784e-05,1793244642924349952
+99,1.650000000,BASELINE,764.445313006,745,714,679.445313006,658,634,878.445313006,786,805,652,631,652,0.40096616258,0.0044901677939,0.0798314990665,0.999999950506,0.000124426909083,-0.000284499012526,5.06505574239e-05,1793244642941016576
+100,1.666666667,BASELINE,765,745,714,680,658.019277161,634,879,786,805,652,631,652,0.400965612653,0.00449010349276,0.0798308266796,0.999999950487,0.000122947948552,-0.000285197594312,5.07185192303e-05,1793244642957683712
+101,1.683333333,BASELINE,765,745,714,680,658.613338143,634,879,786,805,652,631,652,0.400965749588,0.00448968416334,0.0798317007352,0.999999950829,0.000121441308851,-0.000284674675169,5.05487136983e-05,1793244642974350336
+102,1.700000000,BASELINE,764.798146685,745,714,680,658.798146685,634,878.798146685,786,804.798146685,652,631,652,0.400966562411,0.00448975419425,0.0798328031749,0.999999951221,0.000121839133242,-0.000283130642381,5.0498316442e-05,1793244642991016960
+103,1.716666667,BASELINE,764.219970836,745,714,680,658.219970836,634,878.219970836,786,804.219970836,652,631,652,0.400968635319,0.00449073655761,0.0798343313993,0.999999951694,0.000125787520017,-0.000279682910048,5.06705364291e-05,1793244643007683584
+104,1.733333333,BASELINE,764.356759612,745,714,680.356759612,658,634,878.356759612,786,804.356759612,652,631,652,0.400968057882,0.00449010901981,0.0798342594278,0.999999951617,0.000125084205995,-0.000280280487016,5.0622102543e-05,1793244643024349952
+105,1.750000000,BASELINE,764.932602508,745,714,680.932602508,658,634,878.932602508,786,804.932602508,652,631,652,0.400965852889,0.00448849285441,0.0798332047888,0.999999951197,0.000121524319331,-0.000283362256406,5.0438166858e-05,1793244643041016832
+106,1.766666667,BASELINE,764.480991403,745,714,680.480991403,658,634,878.480991403,786,805,652,631,652,0.400965853435,0.00448869059182,0.0798329257871,0.999999951341,0.000121337913629,-0.000282945542092,5.03766243402e-05,1793244643057683456
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,786,805,652,631,652,0.400967807667,0.00448905668251,0.0798336773027,0.99999995173,0.000121811812028,-0.000281299767504,5.07171880032e-05,1793244643100282880
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.578174645,745,714,680,658,634,878.578174645,786,805,652,631,652,0.400966664618,0.00448817825516,0.0798333812858,0.999999951559,0.000120793707245,-0.000282305487527,5.09424781334e-05,1793244643116949504
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.400965823487,0.00448784051079,0.0798330227631,0.999999951333,0.000120401551777,-0.000283259940845,5.10112332552e-05,1793244643133616128
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.400965796926,0.00448896151199,0.0798324956013,0.999999950962,0.000121698187705,-0.000284076078419,5.06576618833e-05,1793244643150282752
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.686261115,745,714,680.313738885,658,634,879,786,805,652,631,652,0.400965707183,0.00448943856278,0.0798324624053,0.999999950924,0.000122180550115,-0.000284011979162,5.06030698218e-05,1793244643166949120
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.094050551,745,714,680.905949449,658,634,879,786,805,652,631,652,0.400965561359,0.00448934404919,0.0798328676488,0.999999951183,0.000121940170945,-0.00028316658994,5.08138490009e-05,1793244643183615488
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.488344008,745,714,680.511655992,657.511655992,633.511655992,878.511655992,786,805,652,631,652,0.400966333201,0.0044904316193,0.0798329352765,0.999999951285,0.000122929503216,-0.000282431432231,5.05070740322e-05,1793244643200282368
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,657.068158416,633.068158416,878.068158416,786,805,652,631,652,0.400967246528,0.0044914448152,0.0798330271014,0.99999995137,0.000123918749798,-0.000281759322461,5.01525376787e-05,1793244643216948992
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,657.64257347,633.64257347,878.64257347,786,805,652,631,652,0.400967923904,0.0044902479391,0.0798337720963,0.999999951561,0.000123182924519,-0.000281400931864,5.01690174588e-05,1793244643233615872
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.782765338,745,714,680,658,634,878.782765338,786,805,652,631,652,0.400972909279,0.00448960496034,0.0798363816502,0.999999952731,0.000122107962634,-0.000277696278481,5.01186462955e-05,1793244643250282496
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.207698759,745,714,680,658,634,878.207698759,786,805,652,631,652,0.400984990848,0.00448987436899,0.0798420625312,0.999999955454,0.000120474370344,-0.000268479615137,4.99581573361e-05,1793244643266949376
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.377620556,745,714,680,658,634,878.377620556,786,805,652,631,652,0.401011196913,0.00449026843505,0.0798527023115,0.999999960403,0.000120438388247,-0.000249410900452,4.98328442553e-05,1793244643283616000
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.968736516,745,714,680,658,634,878.968736516,786,805,652,631,652,0.401045388547,0.00449073297873,0.0798661457061,0.999999966145,0.000121305647111,-0.000224772128684,4.97274185292e-05,1793244643300282368
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.452324837,745,714,680,658,633.452324837,879,786,805,652,631,652,0.401102940587,0.00448996113118,0.0798849088868,0.999999973754,0.000120550227236,-0.000188598920875,4.88905182456e-05,1793244643316948992
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,680.1246506,658.1246506,633.1246506,879,786,805,652,631,652,0.401164373727,0.00448964695214,0.0799025421213,0.999999979498,0.000119870108207,-0.000156038057917,4.78348301628e-05,1793244643333615872
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,680.697017243,658.697017243,633.697017243,879,786,805,652,631,652,0.40123506143,0.00449122459849,0.0799150498524,0.999999982133,0.000119785917829,-0.000138765384594,4.61400209119e-05,1793244643350282496
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,680.72180313,658.72180313,634,879,786,805,652,631,652,0.401311104164,0.00449218863544,0.0799233270679,0.999999984047,0.000118630332675,-0.000125990790209,4.42637862385e-05,1793244643366948864
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,680.130711357,658.130711357,634,879,786,805,652,631,652,0.401393169832,0.00449246253062,0.079926846117,0.999999985356,0.000116269723334,-0.000118275297583,4.21834980136e-05,1793244643383615744
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.449353181,745,714,680,658,634,878.550646819,786,805,652,631,652,0.401491455279,0.00449489006386,0.0799296089025,0.99999998604,0.000116032552284,-0.000113790817137,3.88215823607e-05,1793244643400282624
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.973699732,745,714,680,658,634,878.026300268,786,805,652,631,652,0.401595633575,0.00449782650389,0.07993234252,0.999999986595,0.000116187423026,-0.00010990913783,3.50804294785e-05,1793244643416949248
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.396471631,745,714,680,658,634,878.603528369,786,805,652,631,652,0.401726786662,0.00449861466637,0.0799389629786,0.999999988311,0.000111925584167,-9.9438409352e-05,3.10175797259e-05,1793244643433615872
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.180114238,745,714,679.819885762,658,634,879,786,805,652,631,652,0.40186704449,0.00449985342147,0.0799452365089,0.999999989844,0.000108172866794,-8.88770613451e-05,2.66727643539e-05,1793244643450282496
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.755291359,745,714,679.244708641,658,634,879,786,805,652,631,652,0.402027272652,0.00450208050708,0.0799507490856,0.999999991144,0.000105536857951,-7.81169497021e-05,2.17094856444e-05,1793244643466949120
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.660203293,745,714,679.339796707,658,634,878.660203293,786,804.660203293,652,631,652,0.402204422145,0.00450465779286,0.0799560682977,0.999999992356,0.000101614936381,-6.86077356558e-05,1.59712181389e-05,1793244643483615744
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.068790423,745,714,679.931209577,658,634,878.068790423,786,804.068790423,652,631,652,0.402394101735,0.00450749439871,0.0799612443258,0.999999993472,9.67408086415e-05,-6.00247980109e-05,9.65907843525e-06,1793244643500282368
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680.512379262,658,634,878.512379262,786,804.512379262,652,631,652,0.402599099018,0.0045101535967,0.0799592487805,0.999999993938,8.93564729607e-05,-6.42815458557e-05,2.68012297567e-06,1793244643516948992
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.091145145,745,714,680.908854855,658,634,878.908854855,786,805,652,631,652,0.402810768399,0.0045131029357,0.0799558350741,0.999999994131,8.17859802729e-05,-7.09131348673e-05,-4.56226776916e-06,1793244643533615872
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.664328822,745,714,680.335671178,658,634,878.335671178,786,805,652,631,652,0.403047061474,0.00451771024026,0.0799499134731,0.999999993814,7.49783799344e-05,-8.11664831956e-05,-1.273370099e-05,1793244643550282752
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,657.761840068,634,878,786,805,652,631,652,0.40330642942,0.00452182197106,0.0799471557612,0.99999999367,7.06020006134e-05,-8.52395789487e-05,-2.02340595974e-05,1793244643566949376
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,657.187093994,634,878,786,805,652,631,652,0.403598408555,0.00452523331823,0.0799488695038,0.999999993968,6.96616123996e-05,-8.05782603585e-05,-2.67860028659e-05,1793244643583616000
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,657.39873723,634,878,786,804.60126277,652,631,652,0.403916911732,0.00453237943992,0.0799507867833,0.999999990801,0.000108621593383,-7.80324657558e-05,-2.2588956056e-05,1793244643600282624
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,657.989918503,634,878,786,804.010081497,652,631,652,0.404248216297,0.00454132808976,0.0799528022967,0.999999983069,0.00016683883882,-7.6507694334e-05,-1.32040836204e-05,1793244643616948992
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680.570254602,658,634,878,786,804.570254602,652,631,652,0.404627547121,0.00454626521369,0.0799562484775,0.999999987846,0.000138786112394,-6.81923220742e-05,-1.99248908018e-05,1793244643633615616
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,634,878,786,805,652,631,652,0.405015055801,0.0045516901545,0.0799580623279,0.999999992221,0.000104984679128,-6.22447964264e-05,-2.57387004599e-05,1793244643650282240
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,634,878,786,805,652,631,652,0.405423550281,0.00455870779044,0.0799551411986,0.999999995851,5.90339815284e-05,-6.33995408107e-05,-2.81625649545e-05,1793244643666948864
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.693758995,745,714,680.693758995,658.306241005,634,878.306241005,786,805,652,631,652,0.405851232718,0.00456637249041,0.0799490591532,0.999999995332,5.56983478974e-05,-7.29783013866e-05,-3.01358337146e-05,1793244643683615488
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.10607417,745,714,680.10607417,658.89392583,634,878.89392583,786,805,652,631,652,0.406296549456,0.00457463186066,0.0799400721396,0.999999991232,9.15271129076e-05,-9.02989623151e-05,-3.16949930123e-05,1793244643700282368
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.524999321,634,879,785.524999321,805,652,630.524999321,652,0.406771376645,0.00458305102954,0.0799351095207,0.999999987589,0.000117777508189,-9.96111986896e-05,-3.20497483435e-05,1793244643716948992
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,714,680.054308858,658,634,879,785.054308858,805,652,630,652,0.407256041561,0.00459107945228,0.0799312127482,0.999999983956,0.00013993192389,-0.000107112787577,-3.21434968148e-05,1793244643733615616
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,714,680.630629727,658,634,879,785.630629727,805,652,630,652,0.407772792169,0.00459501376705,0.0799290411035,0.999999982739,0.000142993683245,-0.000114164529062,-3.22782082725e-05,1793244643750282240
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745,714,680.793651957,658,634,879,786,805,652,630.206348043,652,0.40830268463,0.00459269330647,0.0799245854315,0.999999982733,0.000135661597336,-0.000122942122655,-3.1854485125e-05,1793244643766948864
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745,714,680.219009126,658,634,879,786,805,652,630.780990874,652,0.408856032948,0.00457920917705,0.0799160531748,0.999999984426,0.000109778334288,-0.000134800056772,-3.04340548768e-05,1793244643783615488
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,680.36554515,658,634,879,786,805.36554515,652,631,652,0.409479117723,0.00458007767418,0.0799336813113,0.999999987436,0.000113124867129,-0.000106666474267,-3.08722162337e-05,1793244643800282368
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680.956203147,658,634,879,786,805.956203147,652,631,652,0.410145148123,0.00458978491753,0.0799674197443,0.999999988979,0.000134471920103,-5.39050053856e-05,-3.24549498588e-05,1793244643816948992
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.536814593,745,714,680.463185407,658.536814593,634,879,786,805.463185407,652.536814593,631,652,0.410819696148,0.00459726358103,0.0799913575224,0.999999990924,0.000129653511247,-1.58534366937e-05,-3.30307676645e-05,1793244643833615360
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.884247881,745,714,680.115752119,658.884247881,634,879,786,805,652.884247881,631,652,0.411488154908,0.00459945456905,0.080004147905,0.999999991965,0.000122137439231,3.84297167778e-06,-3.37288381343e-05,1793244643850281984
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+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,681,658,634,879,786,805,652,631,652,0.412791079383,0.00457207407289,0.0799460935601,0.999999990029,0.000104291166125,-8.72835260596e-05,-3.8027943908e-05,1793244643883615488
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,681,658,634,879,786,805,652,631,652,0.413475355036,0.00457300720163,0.0799148753993,0.999999986673,9.86316190063e-05,-0.000123025226709,-4.23179786747e-05,1793244643900282112
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,714,681,658.428549419,634,879.428549419,785.571450581,805,652,631,652,0.414233280051,0.00458261090364,0.0799180579769,0.99999998669,0.000110493439162,-0.000111670399296,-4.406629849e-05,1793244643916948736
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.02395749,745,714,681,659,634,879.97604251,785.02395749,805,652,631,652,0.415019655998,0.00459531700777,0.0799348329951,0.999999987437,0.000128041208438,-8.20074152855e-05,-4.47847321742e-05,1793244643933615616
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.598295835,745,714,681,659,634,879.401704165,785.598295835,805,652,631,652,0.415797244087,0.00460131261218,0.0799544717208,0.999999990434,0.000118627296056,-5.53307949478e-05,-4.47034182368e-05,1793244643950281984
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.827071789,745,714,681,658.827071789,634,879,786,804.827071789,652,631,652,0.416573697854,0.00460765962505,0.0799633811617,0.99999999081,0.00011993553723,-4.45532394737e-05,-4.48343030226e-05,1793244643966948608
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.251755265,745,714,681,658.251755265,634,879,786,804.251755265,652,631,652,0.417347512106,0.00461482433328,0.0799473245253,0.999999985776,0.000146193261131,-7.07713723657e-05,-4.54589550908e-05,1793244643983615488
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.333086186,745,714,681,658.333086186,634,879,785.666913814,804.666172373,652,631,652,0.418177370055,0.00461530274369,0.0799591120934,0.999999986257,0.000152956783867,-4.34151689097e-05,-4.69551456655e-05,1793244644000282368
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.925338727,745,714,681,658.925338727,634,879,785.074661273,805.850677455,652,631,652,0.41905083422,0.00461057870616,0.0799925645684,0.999999988017,0.000144552335604,2.56259391517e-05,-4.91294592305e-05,1793244644016948736
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.503180909,633.496819091,879,785.503180909,805.496819091,652,630.496819091,652,0.41990507843,0.00460407841902,0.0799896224139,0.999999989958,0.000130519653142,2.22732674194e-05,-5.05286160619e-05,1793244644033615360
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,681.078927564,659.921072436,633.078927564,879.078927564,786,805.078927564,652,630.078927564,652,0.420755186516,0.00459891710598,0.0799806939672,0.999999991599,0.000118604249457,7.02980891888e-06,-5.18309662883e-05,1793244644050282240
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,681.654567814,659.345432186,633.654567814,879.654567814,786,805.654567814,652,630.654567814,652,0.421596712138,0.00460379478526,0.0799671308044,0.999999990605,0.000125122714891,-1.73273179985e-05,-5.32277644549e-05,1793244644066949120
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.769843895,745.230156105,714,681.769843895,659,634,879.769843895,786,805.769843895,652,631,652,0.422461316444,0.00460987917273,0.079970134668,0.99999998952,0.000133833160457,-1.60378689093e-05,-5.28412292129e-05,1793244644083615744
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+168,2.800000000,POSE1_TO_POSE2_PRESS,764.393687186,746,714,681.393687186,659,634,879.393687186,786,805,652,631,652,0.424218826056,0.00462078139187,0.079996479144,0.999999987374,0.000151098238755,9.68924111828e-06,-4.82414377954e-05,1793244644116948992
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+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.436722172,714,682,659,634,880,786,805,651.436722172,631,652,0.425941827181,0.00462152411229,0.0799431950184,0.999999984685,0.000147231622048,-7.98358039303e-05,-5.07765585347e-05,1793244644150282240
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.138249101,634,879.861750899,786,805,651.138249101,631,652,0.426830535164,0.00462050860821,0.0799151663584,0.999999982033,0.000141929284178,-0.000113724431577,-5.34522370866e-05,1793244644166949120
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+173,2.883333333,POSE1_TO_POSE2_PRESS,764.704572469,745,714,682,659.704572469,634,879,786,805,652,631,652,0.428603883469,0.00461254190227,0.079922692741,0.999999984514,0.000137616136243,-9.59485238065e-05,-5.3170413816e-05,1793244644200282368
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.116827646,745,714,682,659.116827646,634,879,786,805,652,631,652,0.429464584586,0.00461137446397,0.0799347392415,0.999999984495,0.000139642276082,-9.42453264989e-05,-5.12547142379e-05,1793244644216949248
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659.467114823,634,879.467114823,786,805.467114823,652,630.532885177,652,0.430400896526,0.00461319719052,0.0799720209239,0.99999998842,0.000137240831754,-4.05619375165e-05,-5.17675025178e-05,1793244644233615616
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.049272484,745,714,682,660.049272484,633.950727516,879.950727516,786,805.950727516,651.950727516,630.049272484,652,0.431350297953,0.00461604088969,0.0800127163014,0.999999989306,0.000134703148647,2.15523470395e-05,-5.27036194004e-05,1793244644250282240
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.622481631,745,714,682,660.622481631,633.377518369,879.377518369,786,805.377518369,651.377518369,630.622481631,652,0.432239423442,0.00462185298518,0.0800231405041,0.999999987868,0.000142396769324,3.61921652082e-05,-5.17348220813e-05,1793244644266949120
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+179,2.983333333,POSE1_TO_POSE2_PRESS,764.229788585,745,714,682,660.229788585,633.770211415,880.54042283,786,805.770211415,651,631,651.229788585,0.43387826901,0.00463396322568,0.0799378159574,0.999999982654,0.000154456348696,-8.9376189463e-05,-5.33636139529e-05,1793244644300283136
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,745,714,682.354087361,660,634,880.291825278,786,806,651.354087361,631,651.354087361,0.434698882992,0.00463394486823,0.0799108530781,0.999999979854,0.000148099381432,-0.000123440393903,-5.58657722908e-05,1793244644316949760
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+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,714,683,660,634,879.525400054,786,806,652,631.525400054,652,0.436390914045,0.00461833171358,0.0799433653568,0.999999987193,0.000128209428067,-7.77444227162e-05,-5.5957782691e-05,1793244644350282240
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713,684.39341067,654.39341067,631,880.60658933,785,806,652,631,652,0.450934535272,0.00479830772089,0.0796588808932,0.9999998034,0.000350729177882,-0.000514584088631,-7.34294685639e-05,1793244644783616000
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,713,684.659379937,654.340620063,630.659379937,880.340620063,784.659379937,806,652,631,652,0.451629445837,0.00476532107492,0.0796111035631,0.999999793573,0.000235060758158,-0.000593570373241,-7.2630068202e-05,1793244644833615872
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,713,684,653,631,880.90744896,784,806,652,631,652,0.452169846682,0.00475547659134,0.0795710017251,0.999999749165,0.000264006835285,-0.000653807950316,-6.71193139149e-05,1793244644883616000
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,713,684,653,630.582059622,880.417940378,784.582059622,806.582059622,652,630.582059622,652,0.452690358066,0.00475777846895,0.0795584953208,0.999999735648,0.000267866484291,-0.00067213374085,-7.20201251624e-05,1793244644950283008
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.145351289,713,684,652.854648711,631,880.854648711,784,806,652,630,652,0.452935913148,0.00476437904918,0.079546931532,0.999999722632,0.000272470373634,-0.000689163710518,-7.44871662781e-05,1793244645000282624
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764.233637083,745,713,684.766362917,651.766362917,629.233637083,880,784,806,652,631,652,0.453218300011,0.00476312013716,0.0795331420353,0.999999705272,0.000274902093341,-0.000713776277379,-6.63928703478e-05,1793244645333617408
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+243,4.050000000,POSE1_TO_POSE2_PRESS,764,745,713,684.071474065,652,629.928525935,880.928525935,784,806,652,630.071474065,652,0.453219570465,0.00476107157123,0.0795332369703,0.99999970592,0.000276123032159,-0.000712466840654,-6.5628650782e-05,1793244645366950400
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.914241018,745.914241018,713.914241018,683,658.085758982,633,880,785.914241018,805.914241018,651.914241018,631,651.085758982,0.434994501025,0.00454233728663,0.0798684127911,0.999999966735,0.000139938521687,-0.0002113894795,4.75659240759e-05,1793244646687741440
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.070407605,745,713.929592395,683,658,633,880,786,805.070407605,652,631,651.070407605,0.433170323533,0.00452445527317,0.0797991791033,0.999999947223,9.68381326473e-05,-0.000306481994265,4.73865979051e-05,1793244646721074432
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764.647495954,745,713.352504046,683,658,633,880,786,805.647495954,652,631,651.647495954,0.432153093847,0.00451374340261,0.0797407540871,0.99999990433,0.000103789487344,-0.000422008605237,4.9765288014e-05,1793244646737741312
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,745,714,682,657.961986752,633.038013248,879,785.038013248,805.961986752,651.038013248,631,651.038013248,0.422186132223,0.00442860715126,0.079756025341,0.999999926458,1.76909186782e-05,-0.000378672630888,5.81174289921e-05,1793244646921074688
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.766508666,745,714,682,657.766508666,633.233491334,879,786,805,652,631,652,0.419643025155,0.00447905964368,0.0798568816992,0.999999972997,9.15441302604e-05,-0.000206020468708,5.63964065504e-05,1793244646971074816
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.098226638,745,714,682,657.901773362,633.098226638,879.098226638,786,805,652,631,652,0.416221561138,0.00444187618716,0.0798066097953,0.999999946341,4.90420166455e-05,-0.000318702889267,5.77968142265e-05,1793244647037741056
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.266264318,745,713.733735682,681,658,634,879,786,805,652,631,651.266264318,0.41031789941,0.0044537547923,0.0797818720368,0.999999934222,6.65464456939e-05,-0.000351997912791,5.67870742075e-05,1793244647171074304
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,745,714,681,658,634,879,786,805,652,631,651,0.409103523753,0.00446963391242,0.0798313159175,0.999999959452,8.94940559965e-05,-0.00026408711809,5.78352841569e-05,1793244647204408064
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.469403727,745,714,681,658,634,879,786,805,652,631,651.469403727,0.408523883245,0.00447137622735,0.0798404447908,0.999999962662,8.25170660312e-05,-0.000254026086742,5.77758545981e-05,1793244647221074688
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.93801552,745,714,680.93801552,658,634,878.93801552,786,805,652,631,652,0.407946088521,0.00447077712757,0.0798383050198,0.999999960799,7.16275267918e-05,-0.000264522801176,5.74357158664e-05,1793244647237741312
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,745,714,681,657.036570901,634,878,785,805,651.036570901,631,652,0.405449158734,0.0044674310088,0.0797938368062,0.999999946368,7.07865419098e-05,-0.000315340198635,5.30492158623e-05,1793244647321074944
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.857586297,745,714,680.142413703,658,634,878.142413703,786,804.857586297,651.857586297,631,652,0.400964588089,0.00449177683134,0.0798262323294,0.999999946726,0.000132059490881,-0.000294269687739,5.01459656454e-05,1793244647921074432
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.562310988,745,713.562310988,680,658,634,878.437689012,786,805,652,630.562310988,652,0.400964942386,0.00449280818949,0.079826153752,0.999999946653,0.000132995333125,-0.000294107511912,5.00765373456e-05,1793244647937741312
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,713.016885441,680,658,634,879,786,805,652,630.016885441,652,0.400965599385,0.00449450818463,0.0798260518153,0.999999946512,0.000134487469334,-0.000293915671099,5.00364455285e-05,1793244647954408448
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,713.595735195,680,658,634,879,786,805,652,630.595735195,652,0.400965683756,0.00449429941791,0.079826739547,0.999999946684,0.000135660388728,-0.000292759475437,5.02078057595e-05,1793244647971075072
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.172677598,745,714,680,658,634,878.827322402,786,805,652,631,652,0.400965634853,0.00449409962648,0.0798272041406,0.999999946871,0.000136126574858,-0.000291896788554,5.02416370252e-05,1793244647987741440
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786,805,652,631,652,0.400964428699,0.00449462737055,0.0798264619274,0.99999994682,0.00013455912791,-0.000292891568936,4.96909603414e-05,1793244648021074688
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.500316521,745,714,680,658,634,878,786,805,652,631,651.500316521,0.400964379044,0.00449555055952,0.0798262800721,0.999999946796,0.000133995995822,-0.000293269187656,4.94634932677e-05,1793244648054407936
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.921910546,658,634,878,786,805,652,631,651.078089454,0.400965503487,0.0044948548831,0.0798273512263,0.999999947418,0.000133410495375,-0.000291394973585,4.9548671123e-05,1793244648071074816
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.347738147,658,634,878,786,805,652,631,651.652261853,0.400963735383,0.00449480601207,0.0798265056319,0.999999946466,0.000135117175902,-0.000293830194819,4.97471138696e-05,1793244648087741696
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.820086956,658,634,878,786,805,652,631,652,0.400966338882,0.00449644977278,0.0798287482022,0.999999947714,0.000135663828088,-0.000289296793607,4.97513386649e-05,1793244648121075200
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764.402264971,745.402264971,714,680,658,634,878,786,805,652,630.597735029,652,0.400966123161,0.00449598770628,0.079828730783,0.999999947555,0.000135853113414,-0.000289746892225,4.97998536513e-05,1793244648137741568
+408,6.800000000,POSE2_TO_POSE3_RETREAT,764.981814028,745.981814028,714,680,658,634,878,786,805,652,630.018185972,652,0.400964651031,0.00449479310492,0.0798278350169,0.999999946751,0.000136279735602,-0.00029229437341,4.99064007945e-05,1793244648154407936
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_12/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9db2f3b4d3c56f1b0859afe0a5b21a0e38379d1f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_12/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
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+404,6.733333333,pose2_to_pose3_retreat,0.575669730758,0.00987788267351,1.07005105975,0.546241363827,0.018553568071,1.06971755341
+405,6.750000000,pose2_to_pose3_retreat,0.575669568349,0.00987784558667,1.07005094452,0.54624120198,0.018553532834,1.06971743668
+406,6.766666667,pose2_to_pose3_retreat,0.575669488969,0.00987782746008,1.0700508882,0.546241122875,0.0185535156115,1.06971737963
+407,6.783333333,pose2_to_pose3_retreat,0.575669484228,0.00987776368917,1.07005087775,0.546241118266,0.0185534521856,1.06971736652
+408,6.800000000,pose2_to_pose3_retreat,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_12/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de5c966db37179248c38d32efabdcb87f1d2c18b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a988785d017117e26a6e53e02095d913e09c2ec19170ffcc60cdc9240ebe356d
+size 25947864
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..267866c356d1ccd5995abf7670f3fe30b6144789
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
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+29,0.483333333,BASELINE,765,745,714,680.164228576,658,634,878,785.164228576,805,651.835771424,631,652,0.400966027995,0.00449529437719,0.0798302980214,0.999999949179,0.00013118479357,-0.000286480310709,4.86029142469e-05,1793244648782136064
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+54,0.900000000,BASELINE,765,745,714,680.339544994,658.660455006,634,879,786,804.339544994,652,631,652,0.400966103698,0.00449400190382,0.0798310918678,0.999999950238,0.000128575638825,-0.000284024856004,4.81833539553e-05,1793244649198802944
+55,0.916666667,BASELINE,765,745,714,680.915381265,658.084618735,634,879,786,804.915381265,652,631,652,0.400965625559,0.00449576910991,0.0798307354214,0.999999949456,0.000132213884973,-0.000285047943637,4.8527579864e-05,1793244649215469568
+56,0.933333333,BASELINE,764.507752507,745,714,680.015505014,658,634,878.507752507,786,805,652,630.507752507,652,0.400966992304,0.00449647621068,0.0798316090256,0.999999949667,0.000132388092828,-0.000284232866426,4.8494663011e-05,1793244649232136192
+57,0.950000000,BASELINE,764.070701363,745,714,679.070701363,658,634,878,786,805,652,630.070701363,651.929298637,0.400968330215,0.00449663320037,0.07983249711,0.999999950014,0.000131643320052,-0.000283367474528,4.8418480898e-05,1793244649248803072
+58,0.966666667,BASELINE,764.659488736,745,714,679.659488736,658,634,878,786,805,652,630.659488736,651.340511264,0.400967128028,0.00449409726524,0.0798319385947,0.999999950106,0.000128537131368,-0.000284453724597,4.85013311924e-05,1793244649265469952
+59,0.983333333,BASELINE,765,745,714,680,658,634,878,786,804.755681007,652,631,651.244318993,0.40096623616,0.00449325552902,0.0798317748353,0.999999950064,0.000127982859476,-0.000284836827658,4.85870548883e-05,1793244649282136832
+60,1.000000000,BASELINE,765,745,714,680,658,634,878,786,804.176277864,652,631,651.823722136,0.400965769895,0.00449473739076,0.0798321524844,0.999999949844,0.000130928547829,-0.00028425556288,4.86767194743e-05,1793244649298803712
+61,1.016666667,BASELINE,764.599962611,745,714,680,658,634,878,786,804,652,631,652,0.400965514489,0.00449510171293,0.0798318292631,0.999999949734,0.000131238032698,-0.000284512000817,4.8600878363e-05,1793244649315470336
+62,1.033333333,BASELINE,764.02499766,745,714,680,658,634,878,786,804,652,631,652,0.400965351287,0.00449497735951,0.0798311995666,0.999999949674,0.000130394763518,-0.000285134747787,4.8452665241e-05,1793244649332136448
+63,1.050000000,BASELINE,764,745,714,680,658,634,878.550009695,786,804.550009695,652,631,652,0.400967096055,0.0044934185967,0.0798326323734,0.999999950187,0.000130037021916,-0.000283406960044,4.89529386151e-05,1793244649348803072
+64,1.066666667,BASELINE,764,744.871316925,714,680,658,633.871316925,878.871316925,786,805,652,631,652,0.400968060872,0.00449254716092,0.0798333913969,0.999999950409,0.000129995533832,-0.000282593777738,4.92408393474e-05,1793244649365469952
+65,1.083333333,BASELINE,764,744.279455108,714,680,658,633.279455108,878.279455108,786,805,652,631,652,0.400965906199,0.00449438434627,0.0798313877907,0.999999949491,0.000131012927535,-0.000285457157313,4.86582371606e-05,1793244649382136576
+66,1.100000000,BASELINE,764,744.305284705,714,680,658,633.305284705,878,786,805,652,630.694715295,652,0.400965573396,0.00449550320885,0.0798310899249,0.999999949303,0.00013174782336,-0.000285810939589,4.8466001585e-05,1793244649398803456
+67,1.116666667,BASELINE,764,744.88365369,714,680,658,633.88365369,878,786,805,652,630.11634631,652,0.400966870297,0.00449597951489,0.0798323178836,0.99999994977,0.000132230018199,-0.000283919828482,4.86229580661e-05,1793244649415470336
+68,1.133333333,BASELINE,764,745,714,680,658,634,878.4617319,786,805,652,630.4617319,652,0.400967334828,0.0044964487394,0.0798324546133,0.999999949716,0.000133439530819,-0.000283558631145,4.85389409301e-05,1793244649432136704
+69,1.150000000,BASELINE,764,745,714,680,658,634,879,786,805,652,631,652,0.40096754412,0.00449680195769,0.0798323109313,0.999999949548,0.000134656819238,-0.000283598410649,4.84065378478e-05,1793244649448803584
+70,1.166666667,BASELINE,764,745,714,680,658,634,879,786,805,652,631,652,0.400967135298,0.00449560793547,0.0798320911354,0.99999994963,0.000133498486544,-0.000283851058751,4.84406926503e-05,1793244649465469952
+71,1.183333333,BASELINE,764,745,714,679.790146646,658,634,879,786,805.209853354,652,631,652,0.400966900576,0.00449463892572,0.0798318432474,0.999999949716,0.000132383115457,-0.000284054307621,4.85418029921e-05,1793244649482136320
+72,1.200000000,BASELINE,764,745,714,679.207779335,658,634,879,786,805.792220665,652,631,652,0.400966974902,0.00449406933891,0.0798315454926,0.999999949809,0.000131344005997,-0.000284169867189,4.87617671605e-05,1793244649498802688
+73,1.216666667,BASELINE,764,744.629873217,714,679.740253565,658,634,878.629873217,785.629873217,805.629873217,652,631,652,0.400967758005,0.00449461815985,0.0798325838962,0.999999950166,0.000131335640809,-0.000282944200531,4.85997815289e-05,1793244649515469568
+74,1.233333333,BASELINE,764,744.054441704,714,680.891116592,658,634,878.054441704,785.054441704,805.054441704,652,631,652,0.400968934257,0.00449578734772,0.0798343634502,0.999999950665,0.000131899016731,-0.000280974572331,4.82259330724e-05,1793244649532136192
+75,1.250000000,BASELINE,764.518803736,744.518803736,714,680.481196264,658,634,878,785.518803736,804.481196264,652,631,651.481196264,0.400967309284,0.00449579484552,0.0798329335119,0.999999950094,0.000131823991094,-0.000283021280063,4.83032542663e-05,1793244649548803328
+76,1.266666667,BASELINE,765,745,714,680,658,634,878,786,804,652,631,651.09504652,0.400966051197,0.00449575527861,0.0798317093698,0.999999949621,0.000131783237996,-0.000284696353316,4.83599594497e-05,1793244649565470208
+77,1.283333333,BASELINE,765,745,714,680,658,634,878,786,804,652,631,651.688194339,0.400968249841,0.00449610523572,0.0798333213254,0.999999950272,0.000132271698946,-0.000282224387542,4.80615520968e-05,1793244649582136832
+78,1.300000000,BASELINE,764.725898164,745,714,680,658.274101836,634,878.274101836,786,804,652,630.725898164,652,0.400968953796,0.00449611948391,0.0798333748436,0.999999950245,0.000133131390693,-0.000281923945486,4.80166324084e-05,1793244649598803456
+79,1.316666667,BASELINE,764.148015003,745,714,680,658.851984997,634,878.851984997,786,804,652,630.148015003,652,0.400968001217,0.00449576167293,0.0798317011782,0.999999949467,0.000134402509726,-0.000284030157858,4.82526478105e-05,1793244649615469824
+80,1.333333333,BASELINE,764.427562177,745,714,680,658.572437823,634,879,786,804,652,630.427562177,651.572437823,0.400967050025,0.00449625319192,0.079831177839,0.999999949263,0.000133987471743,-0.000284924881279,4.83676148237e-05,1793244649632136192
+81,1.350000000,BASELINE,764.997664795,745,714,680,658,634,878.997664795,786,804,652,631,651,0.400966107031,0.00449703036815,0.0798310553602,0.999999949258,0.000132993638485,-0.000285394862613,4.84411559231e-05,1793244649648802816
+82,1.366666667,BASELINE,764.425377945,745,714,680,658,634,878.425377945,786,804,652,631,651,0.400967048339,0.00449615039894,0.0798320976807,0.999999949719,0.000132437510645,-0.000284011293911,4.85767515297e-05,1793244649665469696
+83,1.383333333,BASELINE,764,745.152951671,714,680,658,634,878,786,804.152951671,652,630.847048329,651,0.400967481326,0.00449544892185,0.0798328168954,0.999999950087,0.000131909749862,-0.000282942566498,4.8683968195e-05,1793244649682136576
+84,1.400000000,BASELINE,764,745.748778391,714,680,658,634,878,786,804.748778391,652,630.251221609,651,0.40096644246,0.00449526427255,0.0798326005504,0.999999950188,0.000131464126412,-0.000282785468886,4.87090130213e-05,1793244649698803200
+85,1.416666667,BASELINE,764.333335961,745.666664039,714,680,658,634,878,786,805,652,630.333335961,651,0.400966694004,0.00449556571232,0.0798326112815,0.999999950137,0.000132058774606,-0.000282699065855,4.86615396636e-05,1793244649715470080
+86,1.433333333,BASELINE,764.90967814,745.09032186,714,680,658,634,878,786,805,652,630.90967814,651,0.400967886274,0.00449622151731,0.079832787554,0.999999949972,0.000133411794278,-0.000282664200096,4.85611996124e-05,1793244649732136704
+87,1.450000000,BASELINE,764.514801303,745,714,680,658,634,878.485198697,786,805,652,631,651.485198697,0.400966921754,0.00449669012914,0.079832123739,0.99999994972,0.000132928720362,-0.000283815064291,4.83629576735e-05,1793244649748803328
+88,1.466666667,BASELINE,764,745,714,680,658,633.937896839,878.937896839,786,805,652,631,652,0.400965768366,0.00449698155068,0.0798314547665,0.99999994949,0.00013219173842,-0.000284998705785,4.81810523298e-05,1793244649765469952
+89,1.483333333,BASELINE,764,745,714,680,658,633.347931645,878.347931645,786,805,652,631,652,0.400966416507,0.00449606258606,0.0798320689532,0.999999949601,0.00013219687924,-0.000284587975955,4.82926492623e-05,1793244649782136576
+90,1.500000000,BASELINE,764.237706531,745,714,680,658,633.237706531,878,786,805,652,631,652,0.40096711918,0.00449549326013,0.0798325848124,0.999999949734,0.000132521282571,-0.00028392912439,4.8521919563e-05,1793244649798802944
+91,1.516666667,BASELINE,764.81712442,745,714,680,658,633.81712442,878,786,805,652,631,652,0.400967900245,0.004495426552,0.0798329593225,0.999999949898,0.000133304636797,-0.000282913589291,4.89203493887e-05,1793244649815469312
+92,1.533333333,BASELINE,765,745,714,680,658,633.606042824,878,785.606042824,805.393957176,652,631,652,0.400967697562,0.00449516740619,0.0798328496459,0.999999949976,0.000132393486377,-0.00028310211116,4.87236517477e-05,1793244649832136448
+93,1.550000000,BASELINE,765,745,714,680,658,633.030402216,878,785.030402216,805.969597784,652,631,652,0.400967041198,0.00449481951282,0.0798325166742,0.99999995001,0.000130700871851,-0.000283845914617,4.82524958831e-05,1793244649848803584
+94,1.566666667,BASELINE,764.455672085,745,714,680,658,633.544327915,878.544327915,785.544327915,805.455672085,652,631,651.455672085,0.400967276519,0.00449515298809,0.0798324074373,0.999999950095,0.000130638238458,-0.000283619084436,4.79952688891e-05,1793244649865470208
+95,1.583333333,BASELINE,764.122394601,745,714,680,658,634,878.877605399,786,805,652,631,651.122394601,0.400967237701,0.00449538250939,0.0798322200749,0.999999950101,0.00013059422347,-0.000283643077519,4.78422197865e-05,1793244649882136832
+96,1.600000000,BASELINE,764.713431323,745,714,680,658,634,878.286568677,786,805,652,631,651.713431323,0.400965958846,0.00449506852466,0.0798316858063,0.999999949795,0.000130273496351,-0.000284834689128,4.80423881529e-05,1793244649898803200
+97,1.616666667,BASELINE,764.701928315,745,714,680,658,634,878,786,805,651.701928315,631,652,0.40096545132,0.00449539188958,0.0798315885721,0.99999994955,0.000131163560164,-0.000285278505995,4.80910312911e-05,1793244649915469824
+98,1.633333333,BASELINE,764.123308313,745,714,680,658,634,878,786,805,651.123308313,631,652,0.400965669776,0.00449631513494,0.0798319026796,0.99999994936,0.000133193233606,-0.000285018490233,4.79970572222e-05,1793244649932136704
+99,1.650000000,BASELINE,764,745,714,680,658,634,878,785.547783705,805,651.452216295,630.547783705,652,0.400966020819,0.00449573962847,0.0798320517619,0.999999949811,0.000131159015526,-0.000284366928518,4.80695623388e-05,1793244649948803328
+100,1.666666667,BASELINE,764,745,714,680,658,634,878.027516007,785.027516007,805,652,630.027516007,652,0.400966407784,0.00449483537543,0.0798321966357,0.999999950396,0.000128267221544,-0.000283609120726,4.81834346326e-05,1793244649965469952
+101,1.683333333,BASELINE,764,745,714,680,658,634,878.615305836,785.615305836,805,652,630.615305836,652,0.400966795038,0.00449550199065,0.0798331658345,0.999999950344,0.000130323622364,-0.000282847099679,4.8221581461e-05,1793244649982136832
+102,1.700000000,BASELINE,764.200195303,745,714,680,658,634,879,786,805,652,631,652,0.400967116332,0.00449630850835,0.0798335897938,0.999999950134,0.000132764338506,-0.000282443960894,4.8281463938e-05,1793244649998803712
+103,1.716666667,BASELINE,764.779590973,745,714,680,658,634,879,786,805,652,631,652,0.400967312689,0.00449738002258,0.0798329809866,0.999999949625,0.00013593300612,-0.000282720599817,4.83825170368e-05,1793244650015470336
+104,1.733333333,BASELINE,764.641268756,745,714,680.358731244,658,634,878.641268756,786,804.641268756,652,630.641268756,652,0.400966710507,0.00449607998367,0.0798319538871,0.999999949487,0.000133958608194,-0.000284131984998,4.84680294865e-05,1793244650032136704
+105,1.750000000,BASELINE,764.062285239,745,714,680.937714761,658,634,878.062285239,786,804.062285239,652,630.062285239,652,0.400965618041,0.00449332386883,0.0798306699661,0.999999949557,0.00012882649321,-0.000286240076847,4.85440003637e-05,1793244650048803328
+106,1.766666667,BASELINE,764,745,714,680.489701215,658,634,878,786,804.510298785,652,630.510298785,651.489701215,0.400966625438,0.00449467872347,0.0798311775537,0.999999949832,0.000129989669867,-0.000284796948413,4.8264257258e-05,1793244650065469696
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633,879,786,804,652,631,652,0.400964810237,0.00449442174003,0.0798309822336,0.999999949347,0.000129748545669,-0.000286592464694,4.83304829081e-05,1793244650108929536
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.59595926,878.40404074,786.59595926,804.59595926,652,631,652,0.400966764416,0.00449546969031,0.0798320534515,0.999999949529,0.000133597641618,-0.00028419717439,4.82237886183e-05,1793244650125596416
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.814212387,745,714,680,658,633.814212387,878,786.814212387,805,652,631,652,0.400967901926,0.00449610393844,0.0798327186482,0.999999949793,0.00013533002659,-0.000282464968143,4.80957082849e-05,1793244650142263040
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.237291158,745,714,680,658,633.237291158,878,786.237291158,805,652,631,652,0.400967320126,0.00449586723084,0.0798325290596,0.999999950261,0.000132606158138,-0.000282128734315,4.7922604476e-05,1793244650158929664
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.339303534,878,786,805,652,630.660696466,652,0.400966809014,0.00449577003351,0.0798323260561,0.999999950289,0.00013172630619,-0.000282410445698,4.81061240436e-05,1793244650175596288
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.915670048,878,786,805,652,630.084329952,652,0.400966347289,0.00449577030856,0.0798321136799,0.999999950013,0.000132134823093,-0.000283123900126,4.85388075474e-05,1793244650192262656
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.504717946,745,714,680,658,634,878.504717946,786,805,651.495282054,630.504717946,652,0.400967656163,0.00449610418229,0.0798328693803,0.999999950346,0.00013141147993,-0.000282335112592,4.82285009999e-05,1793244650208929280
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,651.093891763,631,652,0.400969063289,0.00449639988565,0.0798336528558,0.999999950715,0.000130631195372,-0.000281440465864,4.79272614817e-05,1793244650225595904
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,651.672495252,631,652,0.400969411028,0.00449620337133,0.0798337231731,0.999999950736,0.000130558412765,-0.000281328495735,4.83302207011e-05,1793244650242262528
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.750932021,745,714,680,658,634,878.750932021,786,805,652,631,652,0.400977518399,0.00449659630169,0.0798376036808,0.999999952266,0.000131668411463,-0.000275292930264,4.84216420006e-05,1793244650258929152
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.177008036,745,714,680,658,634,878.177008036,786,805,652,631,652,0.400995746554,0.00449775803682,0.0798464537684,0.999999955622,0.000134321095851,-0.000261531299254,4.81067285547e-05,1793244650275596288
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.407765812,745,713.592234188,680,658,634,878,786,805,652,631,652,0.401031914792,0.00449685308369,0.0798610064575,0.999999962427,0.000133038870223,-0.00023486152156,4.78146889457e-05,1793244650292263168
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.9973783,745,713.0026217,680,658,634,878,786,805,652,631,652,0.401076083565,0.00449502647323,0.0798781022718,0.99999996993,0.0001300018377,-0.000202435243275,4.75328500536e-05,1793244650308929792
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,713.576602714,680,658,634,878,786,805,652,631,652,0.401143947318,0.00449696889809,0.0798970565303,0.999999976988,0.000130178635791,-0.000164299847379,4.56340339614e-05,1793244650325596160
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.846181122,745,714,680,658,634,878,786,805,652,631,652,0.401212951091,0.00449842914004,0.0799135202781,0.999999981566,0.000130078855662,-0.000134229546728,4.39285977942e-05,1793244650342262784
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.274296967,745,714,680,658,634,878,786,805,652,631,652,0.401284765714,0.00449853310184,0.0799231924959,0.999999982784,0.00012918834938,-0.000126148713822,4.27683784835e-05,1793244650358929152
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,680.302239596,658,634,878,786,805,652,631,652,0.401364904678,0.0044994687551,0.0799287321702,0.999999983856,0.000128214154431,-0.000119144578635,4.06743555025e-05,1793244650375595776
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,680.883064416,658,634,878,786,805,652,631,652,0.401452716486,0.00450117100863,0.0799304627283,0.999999984804,0.000127162820651,-0.000113132875371,3.77196117946e-05,1793244650392262400
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,680.529880887,658,634,878,785.529880887,805,652,631,652,0.401555316549,0.00450271957695,0.0799319703108,0.999999985134,0.00012702771345,-0.000111334954637,3.46617615564e-05,1793244650408929280
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.05802742,745.05802742,714,680,658.05802742,634,878.05802742,785.05802742,805,652,631,651.94197258,0.401666071975,0.00450413671677,0.079934152707,0.999999985574,0.000126533707778,-0.000108885171458,3.13757813478e-05,1793244650425595904
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.63947018,745.63947018,714,680,658.63947018,634,878.63947018,785.63947018,805,652,631,651.36052982,0.401816764888,0.00450471779763,0.07994292901,0.99999998823,0.000120719104399,-9.09743476704e-05,2.62664770848e-05,1793244650442262528
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.782466122,745.782466122,714,680,658.782466122,634,879,786,805,652,631,651.217533878,0.401973283699,0.00450618769595,0.0799507660278,0.99999999021,0.000115311209162,-7.64131749983e-05,2.10613161641e-05,1793244650458929152
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.20991711,745.20991711,714,680,658.20991711,634,879,786,805,652,631,651.79008289,0.402139310356,0.00450910814367,0.0799570701319,0.999999991498,0.000110567061943,-6.7318632355e-05,1.56997177573e-05,1793244650475595776
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.361872894,745,714,680,658,634,879,786,805,652,631,652,0.40232292994,0.0045120173773,0.0799609785009,0.999999992585,0.000104970983243,-6.09195408278e-05,1.00191023733e-05,1793244650492262656
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.933223584,745,714,680,658,634,879,786,805,652,631,652,0.402516733578,0.0045149201197,0.0799635000484,0.99999999353,9.88817454951e-05,-5.60807674562e-05,4.1538167411e-06,1793244650508930304
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.526605372,805,652,631,652,0.402727640658,0.00451789637728,0.0799599522388,0.999999993796,9.18062652868e-05,-6.29974004937e-05,-3.40423672743e-06,1793244650525596416
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.881138801,786.881138801,804.881138801,652,631,652,0.402949766264,0.00452107657247,0.0799554156619,0.999999993722,8.51148532488e-05,-7.20184554845e-05,-1.11418407602e-05,1793244650542262784
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.304450172,786.304450172,804.304450172,652,631,652,0.403206384721,0.00452500481715,0.0799501644396,0.999999993135,8.04055259922e-05,-8.31529351064e-05,-1.87081433787e-05,1793244650558929152
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.729972701,745,714,680,658.270027299,634,878.270027299,786,804.270027299,652,631,652,0.403485543148,0.00452834052933,0.0799486508164,0.999999992861,7.90145680266e-05,-8.59970889623e-05,-2.52845792349e-05,1793244650575596032
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.157968049,745,714,680,658.842031951,634,878.842031951,786,804.842031951,652,631,652,0.403789908497,0.0045310135994,0.0799513170313,0.999999993054,8.13346142992e-05,-7.95699920556e-05,-3.07540252902e-05,1793244650592262656
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,713.568685863,680.431314137,658.568685863,634,879,786,805,652,631,652,0.404120716242,0.00453999715821,0.0799552623765,0.999999989289,0.000124586001332,-7.23685156837e-05,-2.57570034896e-05,1793244650608929024
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,713.026245395,680.973754605,658,634,878.973754605,786,805,652,631,652,0.404463821453,0.00455104875455,0.0799595063645,0.99999998224,0.000176064983873,-6.49381543969e-05,-1.74524835204e-05,1793244650625595904
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,713.601455632,680.398544368,658,634,878.398544368,786,805,652,631,652,0.404853128597,0.00455499679386,0.0799597890432,0.999999995326,7.29910274626e-05,-5.89001154299e-05,-2.34923690977e-05,1793244650642262528
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,745,714,680.176224759,658.176224759,634,878.176224759,786,805,652,631,652,0.405254563204,0.00455909749304,0.079959139434,0.999999997995,9.52887557708e-06,-5.58724467671e-05,-2.82381873744e-05,1793244650658929152
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,745,714,680.7499987,658.7499987,634,878.7499987,786,805,652,631,652,0.405683356362,0.00456354258033,0.0799563866565,0.999999997142,3.54278512965e-05,-5.96359384856e-05,-3.00646913617e-05,1793244650675595520
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.333706055,745,714,680.666293945,658.666293945,634,879,786,805,652,631,652,0.406121582948,0.00456824689988,0.0799490222308,0.999999994559,6.98164665248e-05,-7.16566720726e-05,-2.95373894425e-05,1793244650692262400
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.925083565,745,714,680.074916435,658.074916435,634,879,786,805,652,631,652,0.406567093611,0.00457315138634,0.0799380969162,0.999999989442,0.000110760367837,-9.00532433254e-05,-2.71925941584e-05,1793244650708929536
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.407052057269,0.00456463249924,0.0799361130414,0.999999989163,0.000109386553307,-9.47151901834e-05,-2.71739959724e-05,1793244650725595904
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.91729439,786,805,652,631,652,0.407547241821,0.0045569409909,0.0799342885017,0.999999989419,0.000102408281765,-9.95417557054e-05,-2.76799016911e-05,1793244650742262528
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.343326053,786,805,652,631,652,0.408069143923,0.00456572993786,0.0799257062274,0.999999987844,9.86021218465e-05,-0.000117180237397,-2.92969963447e-05,1793244650758929152
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.768693819,745,714,680,658,634,878.231306181,786,805,652,631,652,0.408624791786,0.00457658226272,0.079923126932,0.999999986318,0.000105299631598,-0.000123894212957,-3.04215012717e-05,1793244650775595776
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.193073365,745,714,680,658,634,878.806926635,786,805,652,631,652,0.409230672376,0.00459050605907,0.0799294834609,0.999999984843,0.000127632536034,-0.000114346350592,-3.08127543017e-05,1793244650792262400
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,745,714,680.394042067,658,634,878.605957933,786,805,652,631,652,0.409872339417,0.00459736476902,0.0799544894675,0.999999987001,0.0001399468372,-7.34481806135e-05,-3.1896707849e-05,1793244650808929280
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,745,714,680.986959052,658,634,878.013040948,786,805,652,631,652,0.410532068033,0.00460065769558,0.0799889079545,0.99999998847,0.000147204700275,-1.67273603067e-05,-3.33302705733e-05,1793244650825596160
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,714,680.432351884,658,634,878.567648116,786.567648116,805,652,631,652,0.411189232811,0.00460600631902,0.0799947595348,0.999999989429,0.00014094661108,-1.03568936283e-05,-3.41889412329e-05,1793244650842262784
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.146507441,745,714,680,658.146507441,634,879,786.853492559,805,652,631,652,0.411846111256,0.00460451169073,0.0799904609226,0.999999990329,0.000133183871261,-1.90461394956e-05,-3.52454846286e-05,1793244650858929408
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.720826707,745,714,680,658.720826707,634,879,786.279173293,805,652,631,652,0.412502321837,0.00458289929705,0.0799583990367,0.999999989547,0.00012191504162,-6.84042766857e-05,-3.69175830187e-05,1793244650875596288
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,652,630.707048102,652,0.413195446479,0.00457280035461,0.0799324762458,0.999999988323,0.000107367227853,-0.000101224871502,-3.97485427849e-05,1793244650892263424
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,652,630.13699818,652,0.413923487555,0.00457359177972,0.0799123603125,0.999999988012,8.97178797924e-05,-0.000118402903099,-4.36756492918e-05,1793244650908930304
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.547012631,745.452987369,713.547012631,680,659,634,879,786,805,652,630.452987369,652,0.414689670731,0.00458646892353,0.0799286713797,0.99999998889,0.000112522994964,-8.72460993539e-05,-4.41125633906e-05,1793244650925596672
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745.952059569,713.047940431,680.047940431,658.952059569,634,878.952059569,786,805,652,631,652,0.415466620215,0.00460219775938,0.0799544985269,0.999999987598,0.000144332655432,-4.56148145012e-05,-4.34934535558e-05,1793244650942263040
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745.37197172,713.62802828,680.62802828,658.37197172,634,878.37197172,786,805,652,631,652,0.416229138437,0.0046071406938,0.0799580388433,0.999999988425,0.000134034529719,-5.74474758656e-05,-4.34084481323e-05,1793244650958929152
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.206262812,745.206262812,714,681,658,634,878,786,805,651.793737188,631,652,0.41701123639,0.00461049884292,0.0799582945293,0.999999988192,0.000133505452531,-6.21086482967e-05,-4.39883633881e-05,1793244650975595520
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.781184823,745.781184823,714,681,658,634,878,786,805,651.218815177,631,652,0.417828329687,0.0046110244614,0.0799526795049,0.999999986182,0.000150436865206,-5.3952020527e-05,-4.57567096796e-05,1793244650992262400
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.636924718,714,681,658.363075282,634,878.363075282,785.636924718,805,651,631,652,0.418685965668,0.00460838879278,0.0799699638429,0.999999988607,0.000142482285678,-1.51753901007e-05,-4.74716537759e-05,1793244651008929280
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.050752415,714,681,658.949247585,634,878.949247585,785.050752415,805,651,631,652,0.419568513675,0.00460381062414,0.080001319036,0.999999990784,0.00011923613603,4.24161573899e-05,-4.91537838905e-05,1793244651025596160
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.470111178,745,714,681,659,634,879,785.529888822,805,651.529888822,631,652,0.420402448564,0.00460109073294,0.0799848374055,0.999999991057,0.000123228881912,1.45734000633e-05,-4.98732269417e-05,1793244651042262784
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,681.109470564,658.890529436,634,879,786,805,651.890529436,631,652,0.421238873009,0.00460029062018,0.0799681661286,0.999999990343,0.000128675527138,-1.3972565738e-05,-5.06094712512e-05,1793244651058929408
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,681.686764939,658.313235061,634,879,786,805,651.313235061,631,652,0.422105628857,0.00460694194303,0.0799700624266,0.999999990239,0.000129301334036,-1.09154550321e-05,-5.18074869764e-05,1793244651075596032
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,681.749099399,658.250900601,634,879,785.749099399,805,651.250900601,631,652,0.422984499509,0.00461303808077,0.0799837856038,0.999999989452,0.000135540511294,7.41126733392e-06,-5.16780796909e-05,1793244651092262912
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,714,681.200572925,658.799427075,634,879,785.200572925,805,651.799427075,631,652,0.42387774122,0.00461847564203,0.0800115381827,0.999999986773,0.00014843843801,4.38512647982e-05,-4.99740432251e-05,1793244651108930048
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,879,785,805,652,631,651.607443576,0.424731941036,0.00462300165968,0.079991649964,0.99999998707,0.000152950309496,-5.5460647027e-06,-4.93405807055e-05,1793244651125596416
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.010682707,745.010682707,714,681.021365414,659,634,879.010682707,785.010682707,805,652,630.989317293,651.010682707,0.425565277759,0.00462684559515,0.0799448844013,0.999999981907,0.000152477626055,-0.000102457249712,-4.93830460511e-05,1793244651142262784
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.590766498,745.590766498,714,682.181532996,659,634,879.590766498,785.590766498,805,652,630.409233502,651.590766498,0.426486140799,0.00462234067286,0.0799292744704,0.99999998378,0.000143981494327,-9.45858960493e-05,-5.25602052961e-05,1793244651158929408
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.8311724,745.8311724,714,682.8311724,659.1688276,634,879.8311724,785.8311724,805,652,630,651.8311724,0.427391854977,0.00461710312383,0.0799179641505,0.99999998471,0.000137810660321,-9.28020991101e-05,-5.45487109978e-05,1793244651175596032
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.257956229,745.257956229,714,682.257956229,659.742043771,634,879.257956229,785.257956229,805,652,630,651.257956229,0.428261283403,0.00461011073236,0.0799169525831,0.99999998357,0.000137209554918,-0.000105599676575,-5.36900641135e-05,1793244651192262400
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,714,682,659.682783619,633.682783619,879.317216381,785.317216381,805,652,630.317216381,651,0.429157083103,0.00460780597193,0.0799296872867,0.999999985005,0.000133983973175,-9.62299021304e-05,-5.27078500533e-05,1793244651208929024
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,714,682,659.106010212,633.106010212,879.893989788,785.893989788,805,652,630.893989788,651,0.430074460617,0.00460933678795,0.0799536696479,0.999999988036,0.000128610957297,-6.87220601694e-05,-5.16245292228e-05,1793244651225595648
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.484857862,745.484857862,714,682,659.484857862,633.484857862,879.515142138,786,805,652,630.515142138,651.484857862,0.431022711938,0.00461553960586,0.0799964084295,0.999999989487,0.000135312080262,-1.08150285174e-06,-5.21041504942e-05,1793244651242262272
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.923586278,745.923586278,714,682,659.923586278,633.923586278,879,786,805.076413722,651.923586278,630.076413722,652,0.431960294823,0.00462256222648,0.0800334353191,0.999999986502,0.000144344792101,5.81053719065e-05,-5.27617664157e-05,1793244651258929152
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+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.369320574,713,684,651,630,880.630679426,784,806,652,630.630679426,652,0.453692015849,0.00476854926651,0.0795139864519,0.999999681002,0.000284616155888,-0.000743330005836,-6.67068921321e-05,1793244652308929536
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.794869112,745,713,684,651,630,880.794869112,784,806,652,630.794869112,652,0.453692738771,0.00476891726265,0.0795139638123,0.999999681076,0.000285417904123,-0.000742931403622,-6.6606845175e-05,1793244652325596416
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.220558805,745,713,684,651,630,880.220558805,784,806,652,630.220558805,652,0.453691227411,0.00476900909461,0.0795112686186,0.999999678755,0.000285143032615,-0.000746198954158,-6.61128327372e-05,1793244652342263296
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,713,684.363055553,651,630,880,784,806.363055553,652,630,652,0.453690834801,0.00476968738944,0.0795105942307,0.999999678235,0.000284486258888,-0.000747111264637,-6.64935363001e-05,1793244652358929920
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,745,713,684.952470826,651,630,880,784,806.952470826,652,630,652,0.453691139715,0.00477073133513,0.0795111797852,0.999999678843,0.000283591374837,-0.000746555117958,-6.74196122586e-05,1793244652375596032
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,745,713,685,651.534591961,630,880,784,806.465408039,652,630,652,0.453691945614,0.00476875508872,0.0795118861113,0.999999680008,0.000281886006601,-0.000745704158081,-6.66985949998e-05,1793244652392262144
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,744.885122614,713,684.885122614,651.885122614,630,880,784,806,652,630,652,0.453692356837,0.00476767464177,0.0795121775906,0.999999680559,0.000281228232869,-0.000745268177949,-6.60905870287e-05,1793244652408928768
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+247,4.116666667,POSE1_TO_POSE2_PRESS,764,744.264482933,713,684,651,630,880,784,806,652,630.264482933,652,0.453690955868,0.00477237707843,0.0795103790694,0.999999677603,0.000286649285258,-0.00074711347564,-6.66921957655e-05,1793244652442262784
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,651,630,881.652488468,784,806,652,630,652,0.453698051603,0.0047659601695,0.079513112765,0.999999681789,0.000279430313064,-0.000744376527911,-6.51447813051e-05,1793244652846685184
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.255574287,744.255574287,712.744425713,684,651,630,880,784,806.744425713,651.744425713,630,652,0.453692704494,0.00476804716159,0.0795101803989,0.999999678493,0.000280327735841,-0.000748437121906,-6.53682325994e-05,1793244652930018304
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.830217886,744.830217886,712.169782114,684,651,630,880,784,806.169782114,651.169782114,630,652,0.453688730534,0.00476587391852,0.0795076547636,0.999999677009,0.000278871009717,-0.000750968510619,-6.52580080117e-05,1793244652946684928
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.585706652,745,712.414293348,684,651,630,880.414293348,784,806.414293348,651.414293348,630,652,0.453670239219,0.00476574003269,0.0794984723909,0.999999665926,0.000279076071128,-0.000765510662104,-6.52522275996e-05,1793244652963351296
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,745,712.997712032,684,651,629.997712032,881,784,806.997712032,652,630,652,0.453645557426,0.00476645856178,0.079486471441,0.999999650453,0.00027997890061,-0.000785139430995,-6.52866399274e-05,1793244652980017408
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,745,712.418845973,684,651,629.418845973,881,784,806.418845973,652,630,652,0.45359504536,0.00476646971831,0.0794676621916,0.999999624411,0.00028110433002,-0.000817318084393,-6.44121233151e-05,1793244652996684288
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,745,712.73992623,684.73992623,651,629.73992623,880.26007377,784,806,652,630,651.26007377,0.453470150839,0.00476568119346,0.0794349326916,0.99999958041,0.000281621764532,-0.000869448773445,-6.26737121065e-05,1793244653030017536
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,745,712.631638104,684,651,629.631638104,880.368361896,784,806,652,630,651.631638104,0.452541617168,0.00475668398258,0.0794293873095,0.999999568023,0.000299396338543,-0.000879102038083,-3.86741704813e-05,1793244653163350784
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.831680224,713,680,657,634,879,786.168319776,805,652,631,652,0.406650252146,0.00447630669955,0.0797686080406,0.999999921496,9.84102043475e-05,-0.000379957264722,5.43625571535e-05,1793244654296685056
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745.583225918,713,680.416774082,657,633.583225918,879,786,805.416774082,651.583225918,631,652,0.406189538005,0.00447399350387,0.0797699602463,0.999999926115,9.0371858042e-05,-0.00036979699208,5.34098745215e-05,1793244654313351424
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.993850796,657,633.006149204,878.993850796,786,805.993850796,651.006149204,631,652,0.405756957453,0.00447225036593,0.079781642735,0.999999937617,7.42802424471e-05,-0.000341314753014,5.24567616333e-05,1793244654330018048
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.41443033,657,633.58556967,878.41443033,786,805.41443033,651.58556967,631,652,0.405344231632,0.0044738413377,0.0798022046843,0.999999947494,8.4850610453e-05,-0.000308217433949,5.30480423562e-05,1793244654346684672
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.836090873,745,713.163909127,680,657.163909127,634,878.163909127,786,804.836090873,652,631,651.836090873,0.404938144523,0.00447637799901,0.0798201897226,0.999999954263,9.58769172163e-05,-0.000281780825654,5.36801549988e-05,1793244654363351552
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.260466627,745,713.739533373,680,657.739533373,634,878.739533373,786,804.260466627,652,631,651.260466627,0.404548732774,0.0044812900908,0.0798317019519,0.99999995567,0.000108048476118,-0.000272074916548,5.44148315475e-05,1793244654380018688
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,745,713.684399677,680,657.684399677,633.684399677,878.684399677,786,804.315600323,652,631,651,0.404177004847,0.00448247812586,0.0798348419389,0.999999955213,0.0001062326241,-0.000274327163133,5.5072729876e-05,1793244654396685312
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745,713.107966881,680,657.107966881,633.107966881,878.107966881,786,804.892033119,652,631,651,0.403819891996,0.00448058835983,0.0798310625639,0.999999953109,9.28566723534e-05,-0.000286462401786,5.56671736785e-05,1793244654413352192
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.478934611,745,713,680,657.478934611,633.478934611,878,786,805.478934611,652,631,651.478934611,0.403511935444,0.00447731233556,0.0798304003262,0.999999953212,8.25018104937e-05,-0.000289530221627,5.42380627849e-05,1793244654430018560
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.067030611,680,658,633.932969389,878.067030611,786,805.865938778,652,631,652,0.403218851336,0.00447383241706,0.0798308379475,0.999999953776,7.41888618286e-05,-0.000290109919061,5.27330315452e-05,1793244654446684928
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.645825914,680,658,633.354174086,878.645825914,786,804.708348172,652,631,652,0.402952820636,0.00447123504478,0.0798341879013,0.999999954261,7.61496351149e-05,-0.000287648196504,5.42089762682e-05,1793244654463351552
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.778650595,680,658,633.221349405,878.778650595,786,804.221349405,652,631,652,0.402702780593,0.00446855055624,0.0798359147192,0.999999954779,7.33390794713e-05,-0.000286407189376,5.50903621391e-05,1793244654480018176
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,713.208286026,680,658,633.791713974,878.208286026,786,804.791713974,652,631,652,0.402477954021,0.00446572870642,0.079835082239,0.99999995529,6.30052770589e-05,-0.000287090959255,5.50342705069e-05,1793244654496684800
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.368167052,680,658,633.631832948,878.368167052,786,804.631832948,652,631,652,0.402277790009,0.00446414296247,0.0798344666671,0.999999955813,5.48645279275e-05,-0.000286932152701,5.50865512889e-05,1793244654513351424
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,713.948122606,680,658,633.051877394,878.948122606,786,804.051877394,652,631,652,0.40209181314,0.0044632682895,0.0798339758718,0.999999956345,4.79853341281e-05,-0.000286288653197,5.52011734162e-05,1793244654530018304
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.460707426,745,713.460707426,680,658,633,878.460707426,786,804.539292574,652,631,652,0.401939513498,0.00446364212564,0.0798379670856,0.999999958094,5.01614479864e-05,-0.000279395495051,5.68660461345e-05,1793244654546684928
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745,713.12829313,680,657.87170687,633,878.12829313,785.87170687,805,652,631,652,0.401794065726,0.00446611053963,0.0798409048913,0.999999959127,5.49547731647e-05,-0.000274438107241,5.83867522275e-05,1793244654563351552
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,713.705839227,680,657.294160773,633,878.705839227,785.294160773,805,652,631,652,0.401661026377,0.00447548418642,0.0798386120626,0.999999957347,6.57978790569e-05,-0.000278409266304,5.88693232046e-05,1793244654580017920
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.28186934,745,714,680,657.28186934,633,878.71813066,785.28186934,805,652,631,652,0.401538141437,0.00448710557744,0.0798350700673,0.999999952517,0.000104619941468,-0.000284167960639,5.71790044812e-05,1793244654596684544
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.856325793,745,714,680,657.856325793,633,878.143674207,785.856325793,805,652,631,652,0.401425797027,0.00450106018012,0.0798302314075,0.999999941139,0.000172484828565,-0.00029178215812,5.32331740854e-05,1793244654613351168
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.558165684,633.441834316,878.441834316,785.558165684,805,652,631,652,0.401335817422,0.00450215384565,0.0798265835483,0.999999939408,0.000173439020383,-0.000297766178055,4.9369935305e-05,1793244654630017792
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.969483651,745,714,680,657,633.969483651,878.969483651,785.030516349,805,652,631,651.969483651,0.401254362329,0.00449891836974,0.0798233689719,0.999999941334,0.000152873744244,-0.000303089264428,4.58064608866e-05,1793244654646684416
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.390021841,745,714,680,657,633.390021841,878.390021841,785.609978159,805,652,631,651.390021841,0.401192072534,0.00449496748273,0.0798208042793,0.999999941227,0.00014663711891,-0.00030630340859,4.71398054443e-05,1793244654663351296
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.188180389,745,714,680.188180389,657.188180389,633,878.188180389,786,805,652,631,651.188180389,0.401136166698,0.00449279534492,0.0798192082343,0.999999941033,0.000143245487374,-0.000308340700703,4.83742657293e-05,1793244654680018176
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.763789307,745,714,680.763789307,657.763789307,633,878.763789307,786,805,652,631,651.763789307,0.401093404261,0.00449428532237,0.0798196064553,0.999999940746,0.000145711171333,-0.000307955072287,4.94051414716e-05,1793244654696684800
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.661022411,745,714,680.661022411,658,633,879,786,805,651.661022411,631,652,0.401058818549,0.00449322599559,0.0798201730613,0.999999941141,0.000144466566218,-0.000307137125191,5.01376077273e-05,1793244654713351168
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.08612682,745,714,680.08612682,658,633,879,786,805,651.08612682,631,652,0.401029923584,0.00449039243145,0.0798208568582,0.999999942003,0.000140639713994,-0.000306018297514,5.06623902404e-05,1793244654730017792
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,633.502090724,879,785.497909276,804.497909276,651.502090724,631,652,0.401011093362,0.00449038336032,0.0798214942341,0.999999942793,0.000138385036684,-0.00030449846764,5.04406910537e-05,1793244654746684672
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.909377586,785.090622414,804,652,631,651.909377586,0.400994938733,0.00449094383665,0.0798218519486,0.999999943339,0.000137029916398,-0.000303356236978,5.01962042796e-05,1793244654763351040
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.331772344,785.668227656,804,652,631,651.331772344,0.400983631586,0.00449189035574,0.0798207507876,0.999999942662,0.000139020073353,-0.000304622848854,5.05361203684e-05,1793244654780017664
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878,786,804.245418614,652,631,651.245418614,0.400975267277,0.00449118281599,0.0798209581483,0.999999942945,0.000137250146905,-0.00030448730414,5.05996445561e-05,1793244654796684288
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878,786,804.822050424,652,631,651.822050424,0.400970874578,0.00448824298373,0.07982293147,0.999999944492,0.000130405669455,-0.000302459430319,5.02901544521e-05,1793244654813351168
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.405561176,745,714,680,658,633.594438824,878.405561176,786,804.594438824,652,631,652,0.400969560417,0.00448884030191,0.0798244591966,0.999999945393,0.000130300628282,-0.000299524848875,5.02127106452e-05,1793244654830018048
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.992142289,745,714,680,658,633.007857711,878.992142289,786,804.007857711,652,631,652,0.400969620345,0.00449101640727,0.0798257880344,0.999999946003,0.000133203696551,-0.000296185563663,5.02388393983e-05,1793244654846684928
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,633.571395952,879,786,804.571395952,652,631,652,0.400968501824,0.00449136801328,0.0798261269158,0.999999946174,0.000132311906127,-0.000296013429503,5.02175253096e-05,1793244654863351296
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.849545641,680,658,634,878.849545641,786,805,651.849545641,631,652,0.400967524437,0.00449139108683,0.0798264283564,0.99999994637,0.000131353391938,-0.000295802006849,5.00795834291e-05,1793244654880017920
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.270759971,680,658,634,878.270759971,786,805,651.270759971,631,652,0.400966994395,0.00449054938029,0.079826661472,0.999999946656,0.000130351609157,-0.000295356308431,4.96114456056e-05,1793244654896684544
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.303225576,680,658,633.696774424,878,786,805,651.303225576,631,652,0.400967475467,0.00449078759991,0.0798277010388,0.999999947167,0.000129971273469,-0.000293855452672,4.92260462588e-05,1793244654913351168
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.872991796,680,658,633.127008204,878,786,805,651.872991796,631,652,0.400968845326,0.00449197509362,0.0798294494904,0.999999947871,0.000130137200653,-0.000291427094903,4.89133754433e-05,1793244654930017792
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.551710703,745,714,680.448289297,658,633.448289297,878,786,805,652,631,652,0.400968684915,0.00449160901721,0.0798296619362,0.999999947905,0.000130236029679,-0.000291228819559,4.91361832107e-05,1793244654946684416
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,745,714,680.973942966,658,634,878,786,805,652,631,652,0.400968122481,0.00449082115356,0.0798294395763,0.999999947766,0.00013032004324,-0.000291609318588,4.94916064147e-05,1793244654963351296
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.376810199,658,634,878,786,805,652,631,652,0.400968369745,0.00449055632585,0.079829344508,0.999999948025,0.000130501192581,-0.000290654229547,4.93869987648e-05,1793244654980018176
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.212317415,785.787682585,805,652,631,652,0.400968277516,0.00449066910653,0.0798293290783,0.999999948157,0.000130342142124,-0.000290294851356,4.926269871e-05,1793244654996685056
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878.787754054,785.212245946,805,652,631,652,0.400967604664,0.004491427698,0.0798294498517,0.999999948069,0.000129601259557,-0.000290954297146,4.91047194138e-05,1793244655013351424
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.368404714,745,714,680,658,634,878.631595286,785.368404714,805,652,631,652,0.400967307573,0.00449149029838,0.079829898461,0.999999948054,0.000129794361176,-0.000290912334086,4.91373952565e-05,1793244655030018048
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.952102389,745,714,680,658,634,878.047897611,785.952102389,805,652,631,652,0.400967230075,0.00449114616675,0.079830538655,0.999999948083,0.000130533276199,-0.000290460472915,4.92814885425e-05,1793244655046684672
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.464413992,634,878.535586008,786,805,652,631,652,0.40096789713,0.00449172485435,0.079830602093,0.999999948311,0.000131176970382,-0.000289370378643,4.93539760089e-05,1793244655063351296
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.88231339,745,713.88231339,680,657.11768661,634,879,786,805,652,631,652,0.400968495024,0.00449231211284,0.0798307073521,0.99999994855,0.00013167987808,-0.00028830701198,4.93832543148e-05,1793244655080017664
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.305533416,745,713.305533416,680,657.694466584,634,879,786,805,652,631,652,0.400968563475,0.00449261099449,0.0798311768853,0.99999994877,0.00013166678609,-0.000287570478385,4.92689452941e-05,1793244655096684800
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764,745,713.270719392,680,658,633.729280608,878.729280608,785.729280608,804.729280608,652,631,652,0.400968158379,0.00449274140169,0.0798310073751,0.999999948651,0.000131868358928,-0.000287924299691,4.90801786858e-05,1793244655113352192
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764,745,713.84637847,680,658,633.15362153,878.15362153,785.15362153,804.15362153,652,631,652,0.400967219877,0.00449268203848,0.0798301180433,0.999999948149,0.000132311731308,-0.000289506302154,4.88075426608e-05,1793244655130019328
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,633.431163072,878.431163072,785,804.431163072,652,631,651.568836928,0.40096752814,0.00449134888709,0.0798305037401,0.99999994858,0.000130380278022,-0.000288855874147,4.90322382501e-05,1793244655146685696
+408,6.800000000,POSE2_TO_POSE3_RETREAT,764.018979347,745,714,680,658,634,879,785.018979347,805,652,631,651.018979347,0.400968290656,0.00448963034971,0.0798313381092,0.999999949324,0.000127699512618,-0.000287406608888,4.94197152192e-05,1793244655163351808
+409,6.816666667,POSE2_TO_POSE3_RETREAT,764.598235387,745,714,680,658,634,879,785.598235387,805,652,631,651.598235387,0.40096906591,0.0044902224392,0.0798317167589,0.999999949539,0.000128417230922,-0.0002863637389,4.92685304951e-05,1793244655180018176
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_12/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e9c754aeb5353802407aabe610ec8b4027713253
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
+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
+4,0.066666667,pose1_baseline,0.575669516689,0.00987769782231,1.07005089249,0.54624115075,0.0185533862891,1.06971737851
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+365,6.083333333,pose2_to_pose3_retreat,0.577645491548,0.00987787707828,1.07005087816,0.548217124005,0.0185535604179,1.06971737163
+366,6.100000000,pose2_to_pose3_retreat,0.577410173614,0.00987788229299,1.070051039,0.54798180717,0.0185535693062,1.06971753099
+367,6.116666667,pose2_to_pose3_retreat,0.577193927163,0.00987788612213,1.07005090904,0.547765560649,0.0185535728365,1.06971739951
+368,6.133333333,pose2_to_pose3_retreat,0.576996484413,0.00987786921548,1.07005108085,0.547568117062,0.0185535533069,1.06971757695
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+370,6.166666667,pose2_to_pose3_retreat,0.576660364427,0.00987787442725,1.07005091942,0.547231997372,0.0185535592129,1.06971740749
+371,6.183333333,pose2_to_pose3_retreat,0.576517675238,0.00987785174189,1.07005102545,0.547089308212,0.0185535366641,1.06971751452
+372,6.200000000,pose2_to_pose3_retreat,0.576388641901,0.00987786746268,1.07005107176,0.546960274026,0.018553549439,1.06971755913
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+374,6.233333333,pose2_to_pose3_retreat,0.576167560763,0.00987789690622,1.07005098706,0.546739193317,0.0185535803253,1.06971747478
+375,6.250000000,pose2_to_pose3_retreat,0.576073890201,0.00987767544291,1.07005087429,0.546645525136,0.0185533669717,1.06971736524
+376,6.266666667,pose2_to_pose3_retreat,0.575992552746,0.00987771479106,1.07005083236,0.546564187447,0.0185534059723,1.06971733309
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+379,6.316666667,pose2_to_pose3_retreat,0.575818491637,0.00987780841431,1.07005103611,0.546390126531,0.0185534997618,1.06971752415
+380,6.333333333,pose2_to_pose3_retreat,0.575780294777,0.00987784901179,1.07005107171,0.54635192921,0.0185535389527,1.06971756399
+381,6.350000000,pose2_to_pose3_retreat,0.575749661952,0.0098779106823,1.07005091174,0.54632129431,0.018553593591,1.06971740439
+382,6.366666667,pose2_to_pose3_retreat,0.575725989517,0.00987791276849,1.07005082696,0.546297620508,0.0185535908734,1.06971731473
+383,6.383333333,pose2_to_pose3_retreat,0.575707826427,0.00987786510267,1.07005090795,0.546279458625,0.0185535471825,1.06971739209
+384,6.400000000,pose2_to_pose3_retreat,0.575694162027,0.00987783556834,1.07005091204,0.546265795626,0.0185535225148,1.0697173994
+385,6.416666667,pose2_to_pose3_retreat,0.575684771917,0.00987794385972,1.07005101792,0.54625640254,0.0185536207819,1.06971750697
+386,6.433333333,pose2_to_pose3_retreat,0.575678211511,0.00987786560656,1.07005108681,0.546249844455,0.018553550631,1.06971758175
+387,6.450000000,pose2_to_pose3_retreat,0.575674474782,0.00987797071634,1.0700508353,0.546246106515,0.0185536518016,1.06971733456
+388,6.466666667,pose2_to_pose3_retreat,0.575672335599,0.00987797126342,1.07005072649,0.546243967528,0.0185536529296,1.06971722361
+389,6.483333333,pose2_to_pose3_retreat,0.575671292692,0.00987789464593,1.07005074694,0.546242925903,0.0185535804518,1.06971723855
+390,6.500000000,pose2_to_pose3_retreat,0.575670770058,0.00987785625047,1.07005075719,0.546242403912,0.0185535441308,1.06971724603
+391,6.516666667,pose2_to_pose3_retreat,0.575670559905,0.00987784798375,1.07005079535,0.546242193733,0.0185535358143,1.06971728526
+392,6.533333333,pose2_to_pose3_retreat,0.575670489151,0.00987784619914,1.07005081294,0.546242122931,0.0185535338899,1.06971730351
+393,6.550000000,pose2_to_pose3_retreat,0.575670472436,0.00987784577754,1.0700508171,0.546242106204,0.0185535334353,1.06971730782
+394,6.566666667,pose2_to_pose3_retreat,0.575670417839,0.00987784440044,1.07005083067,0.546242051569,0.0185535319503,1.0697173219
+395,6.583333333,pose2_to_pose3_retreat,0.575670292279,0.00987784123346,1.07005086188,0.546241925923,0.0185535285351,1.06971735428
+396,6.600000000,pose2_to_pose3_retreat,0.575670219057,0.00987783938661,1.07005088009,0.546241852651,0.0185535265436,1.06971737316
+397,6.616666667,pose2_to_pose3_retreat,0.575670105793,0.00987783652977,1.07005090824,0.546241739309,0.0185535234629,1.06971740238
+398,6.633333333,pose2_to_pose3_retreat,0.575669980052,0.0098778333582,1.0700509395,0.546241613481,0.0185535200428,1.0697174348
+399,6.650000000,pose2_to_pose3_retreat,0.575669898581,0.00987783130329,1.07005095976,0.546241531954,0.0185535178269,1.06971745582
+400,6.666666667,pose2_to_pose3_retreat,0.575669859303,0.00987782616878,1.07005096076,0.54624149277,0.0185535130115,1.06971745687
+401,6.683333333,pose2_to_pose3_retreat,0.575669843537,0.00987782138986,1.07005095542,0.54624147712,0.0185535086209,1.06971745134
+402,6.700000000,pose2_to_pose3_retreat,0.575669774037,0.00987780032362,1.07005093188,0.546241408134,0.0185534892664,1.06971742695
+403,6.716666667,pose2_to_pose3_retreat,0.575669712365,0.00987778163037,1.07005091099,0.546241346919,0.018553472092,1.06971740531
+404,6.733333333,pose2_to_pose3_retreat,0.575669711626,0.00987778140631,1.07005091074,0.546241346185,0.0185534718862,1.06971740505
+405,6.750000000,pose2_to_pose3_retreat,0.575669684879,0.00987777329915,1.07005090168,0.546241319636,0.0185534644377,1.06971739566
+406,6.766666667,pose2_to_pose3_retreat,0.575669670065,0.00987776880894,1.07005089667,0.546241304932,0.0185534603124,1.06971739046
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+408,6.800000000,pose2_to_pose3_retreat,0.575669570631,0.00987773741221,1.07005086544,0.546241206134,0.0185534310149,1.06971735772
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_12/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc0b7905829581ce4263636eb4dd42113a7b1570
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddf65fe14f022382e6fecaf899d42cc3f2306dc93be9a9dadfc398f1895e5622
+size 26064842
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b70e4f93e651bfd07335dea11ea6d66ba52fcc8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
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+31,0.516666667,BASELINE,764.989118861,745,714,680.989118861,658,634,878.010881139,786,805,652,631,651.010881139,0.400970960936,0.00449450109102,0.0798354540274,0.999999950782,0.000131556914065,-0.000280702771286,4.83286449999e-05,1793244655823141888
+32,0.533333333,BASELINE,764.437350626,745,714,680.437350626,658.562649374,634,878,786,805,652,631,651.562649374,0.400970015156,0.00449393514108,0.079834721327,0.99999995062,0.000130832166654,-0.000281610768445,4.83597025899e-05,1793244655839809536
+33,0.550000000,BASELINE,764.13953427,745,714,680.13953427,658.86046573,634,878.13953427,785.86046573,804.86046573,652,631,652,0.40096953955,0.004492843366,0.0798342469926,0.999999950734,0.00012910708602,-0.000282004362725,4.83317301478e-05,1793244655856476672
+34,0.566666667,BASELINE,764.727615616,745,714,680.727615616,658.272384384,634,878.727615616,785.272384384,804.272384384,652,631,652,0.40097077118,0.00449017237633,0.0798347761359,0.999999951779,0.000124271907883,-0.000280506810425,4.81144807656e-05,1793244655873143040
+35,0.583333333,BASELINE,765,745,714,680.687209465,658,634,878.687209465,785.312790535,804,652,630.687209465,652,0.400971129447,0.00448939495945,0.079835066301,0.999999952126,0.000123010162431,-0.000279821538612,4.8135789805e-05,1793244655889809152
+36,0.600000000,BASELINE,765,745,714,680.104542155,658,634,878.104542155,785.895457845,804,652,630.104542155,652,0.400970734173,0.00449025132353,0.079835150275,0.999999951885,0.000124831586732,-0.000279837105092,4.83629278661e-05,1793244655906475264
+37,0.616666667,BASELINE,765,745,714,680,658,634,878.471203635,786,804.471203635,652,630.471203635,652,0.40096899192,0.00449198142949,0.079834533162,0.999999951073,0.000126541793084,-0.000281998049261,4.81530746637e-05,1793244655923141888
+38,0.633333333,BASELINE,765,745,713.954513319,680,658,634,878.954513319,786,804.954513319,652,631,651.954513319,0.400967102342,0.00449354622456,0.0798338060272,0.999999950232,0.000127852978663,-0.000284420187276,4.79019290278e-05,1793244655939808512
+39,0.650000000,BASELINE,765,745,713.379640393,680,658,634,878.379640393,786,804.379640393,652,631,651.379640393,0.400966925835,0.00449096366898,0.0798335824915,0.999999950598,0.000124803271753,-0.000284422808112,4.8282226637e-05,1793244655956475392
+40,0.666666667,BASELINE,765,745,713.200022002,680,658,634,878,786,804.200022002,652,631,651.200022002,0.400967274586,0.00449015740209,0.0798335390638,0.999999950802,0.000124309574623,-0.000283886555611,4.8502063595e-05,1793244655973142016
+41,0.683333333,BASELINE,765,745,713.788997747,680,658,634,878,786,804.788997747,652,631,651.788997747,0.400968644732,0.00449280522604,0.0798338458658,0.999999950688,0.000128786178751,-0.000282302434379,4.84098760013e-05,1793244655989808896
+42,0.700000000,BASELINE,765,745,713.62686245,680,658,633.62686245,878,786,805,652,631,652,0.400969378015,0.00449378503046,0.0798345364691,0.999999950787,0.000130166640885,-0.000281313983568,4.84363500478e-05,1793244656006475520
+43,0.716666667,BASELINE,765,745,713.045422312,680,658,633.045422312,878,786,805,652,631,652,0.400969755773,0.00449383366935,0.079835441328,0.999999951012,0.000129818693624,-0.000280658063512,4.85290664976e-05,1793244656023142144
+44,0.733333333,BASELINE,765,745,713.528939664,680,658.528939664,633.528939664,878,786,805,652,631,652,0.400967484611,0.00449239971436,0.0798344421279,0.99999995055,0.000128062830425,-0.00028307364736,4.86757369335e-05,1793244656039808768
+45,0.750000000,BASELINE,764.897524675,745,714,680,658.897524675,634,878,786,805,652,631,652,0.4009659329,0.0044912397143,0.0798336822665,0.999999950242,0.000126583764136,-0.000284813303065,4.87242799948e-05,1793244656056475136
+46,0.766666667,BASELINE,764.325028114,745,714,680,658.325028114,634,878,786,805,652,631,652,0.400968710657,0.00449191250684,0.0798347602383,0.999999950944,0.000126921500185,-0.000282258872682,4.83017737825e-05,1793244656073142016
+47,0.783333333,BASELINE,764.256421031,745,714,680,658,634,878,786,805,652,631,652,0.400969689819,0.00449205304914,0.0798348752972,0.999999951163,0.000127473224857,-0.000281250619065,4.81945319171e-05,1793244656089808640
+48,0.800000000,BASELINE,764.849628694,745,714,680,658,634,878,786,805,652,631,652,0.400968306684,0.00449149452732,0.0798337256542,0.999999950754,0.000128306004944,-0.000282273133259,4.8501362183e-05,1793244656106475264
+49,0.816666667,BASELINE,765,745,714,680,658,633.56831537,878,786,805,652,631,651.56831537,0.400968597444,0.00449186235889,0.0798338755927,0.999999950654,0.000129187710374,-0.000282222664306,4.85067262323e-05,1793244656123142912
+50,0.833333333,BASELINE,764.99009737,745,713.99009737,680,658,633,878.00990263,786,804.99009737,652,631,651.00990263,0.400969436603,0.00449252615244,0.0798344686842,0.999999950667,0.000130037803617,-0.000281802509177,4.84119930532e-05,1793244656139810816
+51,0.850000000,BASELINE,764.414801206,745,713.414801206,680,658,633,878.585198794,786,804.414801206,652,631,651.585198794,0.400969134121,0.00449212830003,0.0798351680783,0.999999951115,0.000128134452644,-0.00028107748232,4.84468578741e-05,1793244656156476928
+52,0.866666667,BASELINE,764.163970624,745.163970624,713.163970624,680,658,633.163970624,878.836029376,786,804.163970624,652,631,652,0.400968731731,0.00449173386626,0.0798352546403,0.999999951272,0.00012710683342,-0.000280974485194,4.85087226144e-05,1793244656173143296
+53,0.883333333,BASELINE,764.751725319,745.751725319,713.751725319,680,658,633.751725319,878.248274681,786,804.751725319,652,631,652,0.400968071125,0.00449134826799,0.0798337573303,0.999999950684,0.000128342553656,-0.000282479131512,4.86403689732e-05,1793244656189809408
+54,0.900000000,BASELINE,765,745.663454619,714,680,658,634,878.336545381,786,805,652,631,652,0.40096825533,0.00449171379134,0.0798335242339,0.999999950567,0.000128810124818,-0.000282673636715,4.86692952691e-05,1793244656206475520
+55,0.916666667,BASELINE,765,745.080780791,714,680,658,634,878.919219209,786,805,652,631,652,0.400969057378,0.00449262863853,0.0798342157051,0.999999950797,0.000128715919269,-0.000281909985789,4.86230984677e-05,1793244656223141888
+56,0.933333333,BASELINE,765,745,714,680,658,634,878.504785317,785.504785317,805,652,631,652,0.400969355964,0.00449288587643,0.079834683593,0.999999950923,0.000128814604028,-0.000281464610156,4.83637881032e-05,1793244656239808768
+57,0.950000000,BASELINE,764.929888834,745,714,680,658,634,878,785.070111166,804.929888834,652,631,652,0.400969616259,0.00449308766919,0.0798350018157,0.999999951012,0.000128977546287,-0.000281117744626,4.80996915412e-05,1793244656256475136
+58,0.966666667,BASELINE,764.355166051,745,714,680,658,634,878,785.644833949,804.355166051,652,631,652,0.400970184173,0.00449365219552,0.0798345018561,0.999999950964,0.000129379520984,-0.000281111189524,4.80480229374e-05,1793244656273142272
+59,0.983333333,BASELINE,764,745,714,680,658,633.773978002,878,786,804.226021998,652,631,652,0.400970747717,0.00449352617676,0.0798346990518,0.999999951157,0.000129420305479,-0.000280401931808,4.80675360939e-05,1793244656289808896
+60,1.000000000,BASELINE,764,745,714,680,658,633.182331317,878,786,804.817668683,652,631,652,0.400971304191,0.00449228309721,0.0798360240014,0.999999951737,0.000128876810385,-0.000278555946581,4.82021964806e-05,1793244656306475776
+61,1.016666667,BASELINE,764,745,714,680,658,633.399194078,878,786,805,652,631,652,0.400970588681,0.00449198985121,0.0798354131731,0.99999995143,0.000128789889506,-0.000279659840022,4.84066471725e-05,1793244656323142400
+62,1.033333333,BASELINE,764,745,714,680,658,633.976210866,878,786,805,652,631,652,0.40096930656,0.00449211971272,0.0798339400441,0.999999950725,0.000128906351595,-0.000282077769643,4.86421862461e-05,1793244656339809024
+63,1.050000000,BASELINE,764,745,714,680,658,634,878.550178812,786.550178812,805,652,631,652,0.400969288825,0.00449268346271,0.0798346989979,0.999999951243,0.000127523784222,-0.000280936199361,4.82380206985e-05,1793244656356475648
+64,1.066666667,BASELINE,764.127661249,745.127661249,714,680,658,634,878.872338751,786.872338751,805,652,631,651.872338751,0.40096928719,0.00449282057812,0.0798352893921,0.999999951673,0.000126341426972,-0.000279980249381,4.79988278793e-05,1793244656373142016
+65,1.083333333,BASELINE,764.718366711,745.718366711,714,680,658,634,878.281633289,786.281633289,805,652,631,651.281633289,0.40096914675,0.00449134256044,0.0798349202627,0.999999951602,0.000126119060392,-0.000280252740234,4.84577870078e-05,1793244656389808640
+66,1.100000000,BASELINE,764.697351031,745.697351031,714,680.302648969,658,634,878,786,805,652,631,651.302648969,0.400968936425,0.00449106771135,0.0798345199216,0.999999951518,0.000125503476811,-0.000280850107592,4.83313974082e-05,1793244656406475520
+67,1.116666667,BASELINE,764.118921769,745.118921769,714,680.881078231,658,634,878,786,805,652,631,651.881078231,0.40096866242,0.0044918892156,0.0798340911395,0.99999995142,0.000124529585397,-0.000281743509439,4.76716253477e-05,1793244656423142912
+68,1.133333333,BASELINE,764.459360518,745,714,681,658,634,878,786,805,652,630.540639482,652,0.4009682724,0.00449288238861,0.0798336179302,0.999999951002,0.000126583889941,-0.000282266795737,4.79370070223e-05,1793244656439809536
+69,1.150000000,BASELINE,764.962578321,745,714,680.962578321,658,634,878.037421679,786,805,652,630.037421679,652,0.400967963343,0.00449386429219,0.0798332255323,0.999999950548,0.00012922027811,-0.000282600249536,4.83991422038e-05,1793244656456476416
+70,1.166666667,BASELINE,764.387150012,745,714,680.387150012,658,634,878.612849988,786,805,652,630.612849988,652,0.400969249944,0.0044940454352,0.0798341602551,0.999999950877,0.000128957975754,-0.000281581621436,4.82476899189e-05,1793244656473142784
+71,1.183333333,BASELINE,764.192595303,745,714,680,658,634,879,786,805,652,631,652,0.400969606987,0.00449379949108,0.0798347250073,0.999999951037,0.000128813780596,-0.000281070468939,4.82980658021e-05,1793244656489809408
+72,1.200000000,BASELINE,764.781217632,745,714,680,658,634,879,786,805,652,631,652,0.400968052613,0.00449267534258,0.0798345290023,0.999999950852,0.000128912445117,-0.000281602820692,4.87634539019e-05,1793244656506475776
+73,1.216666667,BASELINE,764.636682614,745,714,680,658,634,878.636682614,786,805,652,631,652,0.400968296704,0.00449170322808,0.0798346909921,0.99999995106,0.000128091231476,-0.0002812393365,4.87460857733e-05,1793244656523142144
+74,1.233333333,BASELINE,764.058441386,745,714,680,658,634,878.058441386,786,805,652,631,652,0.400969604692,0.00449082105081,0.0798350647571,0.9999999515,0.000126725855186,-0.000280345912031,4.84431385952e-05,1793244656539808512
+75,1.250000000,BASELINE,764.516368003,745,714,680,658,634,878.516368003,786,805,652,631,652,0.400970056085,0.0044914256167,0.0798352278918,0.999999951806,0.00012680098235,-0.000279252363141,4.82397624064e-05,1793244656556475904
+76,1.266666667,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400970274448,0.00449218947741,0.0798352666467,0.999999951917,0.000127387244409,-0.000278606042536,4.81288638504e-05,1793244656573143040
+77,1.283333333,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.40096976451,0.00449291146623,0.0798347689964,0.999999951068,0.000129833523079,-0.000280461889547,4.84509457634e-05,1793244656589809920
+78,1.300000000,BASELINE,765,745,713.734669943,680,658,634,879,786,805,652,631,652,0.400969413262,0.00449321570391,0.0798345927465,0.999999950698,0.000130890146388,-0.00028126742362,4.85896710549e-05,1793244656606476544
+79,1.316666667,BASELINE,765,745,713.15512069,680,658,634,879,786,805,652,631,652,0.400969249946,0.0044930252165,0.0798347971176,0.999999950902,0.000130301059285,-0.000280829116248,4.85112548098e-05,1793244656623142656
+80,1.333333333,BASELINE,764.57621827,745,713.42378173,680,658,634,878.57621827,786,805,652,631,652,0.400968549708,0.00449190291589,0.0798342676145,0.999999951038,0.000127675683064,-0.000281565222868,4.84041217361e-05,1793244656639809024
+81,1.350000000,BASELINE,764,745,714,680,658,634,878.002427013,786,805,652,631,652,0.400967657138,0.00449044239867,0.0798334748256,0.99999995114,0.000124319583002,-0.000282725991361,4.82869906245e-05,1793244656656475136
+82,1.366666667,BASELINE,764,745,714,680,658,634,878.576180926,786,805,652,631,652,0.400967683237,0.00448953361383,0.0798338429253,0.999999951137,0.000124141890044,-0.000282812253471,4.82869573205e-05,1793244656673142016
+83,1.383333333,BASELINE,764.152456628,745,714,679.847543372,658,634,878.847543372,786,805,652,631,652,0.400967664515,0.00448933310337,0.0798341660439,0.999999951107,0.0001246183441,-0.000282718248087,4.82349689753e-05,1793244656689808896
+84,1.400000000,BASELINE,764.735860778,745,714,679.264139222,658,634,878.264139222,786,805,652,631,652,0.400967519097,0.00449113466434,0.0798343620148,0.999999950995,0.000126943868499,-0.000282114682517,4.80361198696e-05,1793244656706475776
+85,1.416666667,BASELINE,765,745,714,679.319479465,658,634,878.319479465,786,805,652,631,652,0.400967487199,0.00449169242747,0.07983413773,0.999999950909,0.000127574813447,-0.000282137828171,4.80104678401e-05,1793244656723142912
+86,1.433333333,BASELINE,765,745,714,679.903275611,658,634,878.903275611,786,805,652,631,652,0.400967549222,0.00449122115247,0.0798335657527,0.999999950848,0.000126803772633,-0.000282679474263,4.81281079009e-05,1793244656739809792
+87,1.450000000,BASELINE,765,745,714,680.48174702,658.48174702,634,878.51825298,786,805,652,631,652,0.400967139314,0.00449135531362,0.0798332574486,0.999999950735,0.000126904047582,-0.000283030412581,4.81650361988e-05,1793244656756476160
+88,1.466666667,BASELINE,765,745,714,680.941456406,658.941456406,634,878,786,805,652,630.941456406,652,0.400966785086,0.00449151771306,0.0798331081525,0.999999950668,0.000127062026419,-0.000283192245827,4.81864571044e-05,1793244656773142272
+89,1.483333333,BASELINE,765,745,714,680.370068514,658.370068514,634,878,786,805,652,630.370068514,652,0.400967739592,0.00449087426488,0.0798338930882,0.999999951103,0.000126209753523,-0.000282029265962,4.82124387307e-05,1793244656789808896
+90,1.500000000,BASELINE,765,745,714,680,658,634,878,786,805,652,630.20890944,652,0.400968769691,0.00449087316119,0.079834613331,0.999999951397,0.000126313938147,-0.000280949334064,4.81494887908e-05,1793244656806475520
+91,1.516666667,BASELINE,765,745,714,680,658,634,878,786,805,652,630.801839504,652,0.400969938745,0.00449205282529,0.0798352146544,0.999999951431,0.000128176298136,-0.000280022062379,4.79230634424e-05,1793244656823142144
+92,1.533333333,BASELINE,765,745,714,680,658,634,878.385905952,786,805,652,631,652,0.400969869134,0.00449195034481,0.0798351794731,0.99999995147,0.000127983264918,-0.000279941183541,4.80943052096e-05,1793244656839808768
+93,1.550000000,BASELINE,765,745,714,680,658,634,878.965523229,786,805,652,631,652,0.400969177758,0.00449120427259,0.0798348247887,0.999999951512,0.000126758496188,-0.000280285164299,4.84651619744e-05,1793244656856475648
+94,1.566666667,BASELINE,765,745,714,680,658.540088231,634,878.459911769,786,805,652,631,651.459911769,0.400969635397,0.00449190639368,0.0798351956749,0.999999951406,0.000128262018981,-0.000279978804526,4.84593699142e-05,1793244656873143040
+95,1.583333333,BASELINE,764.885329878,745,714,680,658.885329878,634,878.114670122,785.885329878,805,652,631,651.114670122,0.400969946046,0.00449256701676,0.0798355520245,0.999999951322,0.000129496626806,-0.000279725593161,4.83799001374e-05,1793244656889810176
+96,1.600000000,BASELINE,764.309394571,745,714,680,658.309394571,634,878.690605429,785.309394571,805,652,631,651.690605429,0.400969373114,0.00449269229104,0.0798356653147,0.99999995137,0.000128955434215,-0.000279851620484,4.80998785467e-05,1793244656906476288
+97,1.616666667,BASELINE,764.275123924,745,714,680,658.275123924,634,879,785.275123924,805,652,631,652,0.400969299075,0.00449286129798,0.0798357060773,0.999999951442,0.00012877050478,-0.000279707523898,4.79312474113e-05,1793244656923142400
+98,1.633333333,BASELINE,764.86960556,745,714,680,658.86960556,634,879,785.86960556,805,652,631,652,0.400969804139,0.00449308106883,0.0798356626516,0.999999951543,0.000128999117698,-0.000279249873496,4.78919158473e-05,1793244656939809024
+99,1.650000000,BASELINE,764.550788645,745,714,680.449211355,658.550788645,634,879,786,805,652,630.550788645,652,0.400968599812,0.00449221964786,0.0798353282627,0.999999951366,0.000128102591594,-0.000280227404234,4.82719591897e-05,1793244656956475648
+100,1.666666667,BASELINE,764,745,714,680.975321351,658.024678649,634,879,786,805,652,630.024678649,651.975321351,0.400967046879,0.00449110377182,0.0798349301752,0.999999951139,0.000126882234695,-0.000281512798446,4.87248667296e-05,1793244656973142272
+101,1.683333333,BASELINE,764,745,714,680.398933708,658.601066292,634,879,786,805,652,630.601066292,651.398933708,0.400968437789,0.00449109063729,0.0798349356786,0.999999951579,0.000125489719908,-0.000280665928175,4.81724948001e-05,1793244656989808896
+102,1.700000000,BASELINE,764.181375733,745.181375733,714,680,658.818624267,634,879,786,805,652,631,651.181375733,0.400969297484,0.00449118293549,0.0798347869177,0.999999951793,0.0001246897565,-0.000280315779988,4.78557031327e-05,1793244657006475520
+103,1.716666667,BASELINE,764.77050168,745.77050168,714,680,658.22949832,634,879,786,805,652,631,651.77050168,0.400968962954,0.00449151225671,0.0798342913556,0.999999951501,0.000125221906161,-0.000281082311266,4.80685187825e-05,1793244657023142400
+104,1.733333333,BASELINE,764.647179505,745.647179505,714,680,658,634,879,786,804.647179505,652,631,652,0.400968702046,0.00449236844814,0.0798344071868,0.999999951266,0.000126539661761,-0.000281311142756,4.81545487514e-05,1793244657039809536
+105,1.750000000,BASELINE,764.06920464,745.06920464,714,680,658,634,879,786,804.06920464,652,631,652,0.400968488122,0.00449356086476,0.0798349131818,0.999999951067,0.000128358756228,-0.000281196838197,4.81596697508e-05,1793244657056476416
+106,1.766666667,BASELINE,764,745,714,680.507050184,658,634,878.492949816,786,804.507050184,652,631,652,0.400968743235,0.00449246098436,0.0798353353947,0.999999951294,0.000128475983097,-0.000280323352557,4.82079962933e-05,1793244657073142784
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,786,805,652,631,652,0.400967692293,0.00449133620339,0.0798345716093,0.999999951191,0.000125857533999,-0.000281913907186,4.79899009206e-05,1793244657115803392
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.578912345,878.578912345,786,805,652,631,652,0.40096952859,0.00449198424173,0.0798359670776,0.999999951964,0.000125745872212,-0.000279190455502,4.80862495015e-05,1793244657132470784
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.157219225,634.842780775,878.842780775,786,805,652,631,652,0.400970867864,0.00449236758905,0.0798368477513,0.999999952496,0.000125661966625,-0.000277311560831,4.81243584725e-05,1793244657149137408
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.733910807,634.266089193,878.266089193,786,805,652,631,652,0.400970881048,0.00449204472154,0.0798363549157,0.999999952399,0.000125652116577,-0.000277686005269,4.80070799391e-05,1793244657165803776
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.689147287,745,714,680,659,634,878.310852713,786,805,652,631,652,0.400970608714,0.0044926096987,0.0798358550366,0.999999952007,0.000126931300502,-0.000278526918704,4.79191761184e-05,1793244657182469888
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.111990967,745,714,680,659,634,878.888009033,786,805,652,631,652,0.40097009178,0.00449393528124,0.0798353491235,0.999999951359,0.000129314783613,-0.000279767450237,4.78564372514e-05,1793244657199136000
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.473928596,745,714,680,658.526071404,634,878.526071404,786,805,652,631,652,0.400969199597,0.00449349807154,0.0798351406541,0.999999951302,0.000128527385612,-0.000280326155072,4.78979233411e-05,1793244657215802368
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.938983816,745,714,680,658,634,878,786,805,652,631,652,0.400968275094,0.00449275938829,0.0798349725887,0.999999951324,0.000127316401101,-0.000280785635212,4.79722586628e-05,1793244657232468992
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.359892567,745,714,680,658,634,878,786,805,652,631,652,0.400967843258,0.00449306445793,0.0798345395497,0.999999950819,0.000128990749792,-0.00028179641001,4.81124530237e-05,1793244657249135616
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.218288187,745,714,680,658,634,878,786,805,652,631,651.781711813,0.400971037538,0.00449271643718,0.0798359734576,0.999999951383,0.000128883586637,-0.00027982749315,4.81601843533e-05,1793244657265802752
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.794973983,745,714,680,658,634,878,786,805,652,631,651.205026017,0.400980185378,0.0044912961365,0.0798404726221,0.999999953671,0.000125851438716,-0.000272966353759,4.8056104753e-05,1793244657282469632
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.369242979,786,805,652,631,651.369242979,0.40100635997,0.00449161731307,0.0798516805261,0.999999958803,0.000126470845007,-0.000253191772345,4.78941744902e-05,1793244657299136512
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.942178802,786,805,652,631,651.942178802,0.40104192737,0.00449289917523,0.0798665893058,0.999999964924,0.000129104630375,-0.000226293491441,4.77003308791e-05,1793244657315803392
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.467309972,745,714,680,658,634,878.467309972,785.467309972,805,652,631,652,0.401097734694,0.00449324796549,0.0798848408918,0.999999972637,0.000128302624636,-0.000189921014664,4.68525076594e-05,1793244657332469760
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.122344857,745,714,680,658,634,878.122344857,785,805,652,631,652,0.40115819397,0.0044936923435,0.0799023897865,0.999999978632,0.000127170852279,-0.000156415141343,4.57919524282e-05,1793244657349136384
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.70143757,745,714,680,658,634,878.70143757,785,805,652,631,652,0.401227538609,0.00449488458878,0.0799159145127,0.999999981589,0.000126247763626,-0.000137581333667,4.42112638333e-05,1793244657365802752
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,785.27846078,805,652,631,652,0.401302780473,0.00449592813548,0.0799250393315,0.999999983504,0.000125846283751,-0.000123958511936,4.22849835605e-05,1793244657382468864
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,785.853281427,805,652,631,652,0.401384298626,0.00449681342539,0.0799294814219,0.999999984548,0.000125999941057,-0.000115881632548,3.99908975425e-05,1793244657399135488
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.56250817,786,805,652,631,652,0.401480880476,0.00449797645868,0.0799324589177,0.999999985486,0.000124827198576,-0.00010988090795,3.7042859129e-05,1793244657415802368
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.024547594,634,878.024547594,786,805,652,631,652,0.401583703243,0.00449924889941,0.0799350153965,0.999999986379,0.000123145957045,-0.000104566168106,3.38193591978e-05,1793244657432469248
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.60319128,634,878.60319128,786,805,652,631,652,0.401710865938,0.00450084230999,0.0799393985876,0.999999987469,0.000120247681375,-9.86746526307e-05,2.94369991816e-05,1793244657449136384
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.81821046,634,878.81821046,786,805,652,631,652,0.401847151007,0.00450197235171,0.0799441557347,0.999999988823,0.000115897039976,-9.10977957772e-05,2.49476084802e-05,1793244657465803520
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.239711409,634,878.239711409,786,805,652,631,652,0.402003343322,0.00450209120835,0.0799497289453,0.999999990735,0.000108376979528,-7.98431100703e-05,2.02246510588e-05,1793244657482470144
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.663985156,745.336014844,714,680,658,634.336014844,878,786,805.336014844,652,631,652,0.402178421009,0.00450444373527,0.0799564311353,0.999999992256,0.000103649287019,-6.72903702866e-05,1.46937890694e-05,1793244657499136256
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.090220755,745.909779245,714,680,658,634.909779245,878,786,805.909779245,652,631,652,0.402366861186,0.00450837671058,0.0799639321429,0.999999993425,0.000100897352397,-5.38191824775e-05,8.59128829996e-06,1793244657515802624
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745.503296606,714,680.496703394,658,634.503296606,878,786,805.006593212,652,631,652,0.402565579071,0.00451226153204,0.0799603164094,0.999999993726,9.39558969996e-05,-6.09790889967e-05,1.64823494898e-06,1793244657532469248
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.084553258,745,714,680.915446742,658,634,878.084553258,786,804.169106515,652,631,652,0.402771096473,0.00451595478439,0.0799546050496,0.999999993678,8.61744512555e-05,-7.20207859235e-05,-5.56596791394e-06,1793244657549135872
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.663459952,745,714,680.336540048,658,634,878.663459952,786,805.326919904,652,631,652,0.403005156592,0.00451858053063,0.0799487683497,0.999999993398,7.8052146594e-05,-8.32518628413e-05,-1.34485462782e-05,1793244657565802496
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805.758087854,652,631,652,0.403261180289,0.00452105078304,0.0799463632053,0.999999993445,7.1204831058e-05,-8.71836061005e-05,-2.09673558151e-05,1793244657582469376
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805.180266795,652,631,652,0.403547701659,0.00452330512317,0.079948722973,0.999999994143,6.6127911677e-05,-8.09798045509e-05,-2.79810509651e-05,1793244657599136512
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.606483139,786,805,652,631,652,0.403865291258,0.00452756112925,0.0799538334354,0.999999991005,0.000111181264177,-7.22473947503e-05,-2.02099971743e-05,1793244657615803136
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.034530216,786,805,652,631,652,0.40419696841,0.00453272476954,0.0799601911711,0.999999982024,0.000178965658387,-6.23684141305e-05,-5.73495494336e-06,1793244657632469504
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680.55630316,658,633.44369684,878,786,805,652,631,652,0.404559776318,0.00453943980176,0.0799577120594,0.999999984266,0.000164168728463,-6.58519067887e-05,-1.34163993212e-05,1793244657649136128
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.144844259,745,714,681,658.144844259,633.144844259,878.144844259,786,805,652,631,652,0.404937441618,0.00454264370632,0.0799558006913,0.999999989514,0.000126674872853,-6.70432589409e-05,-2.07415441343e-05,1793244657665802496
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.722901073,745,714,681,658.722901073,633.722901073,878.722901073,786,805,652,631,652,0.405353561242,0.00453504810051,0.0799572855469,0.999999997321,3.71666801451e-05,-5.88112294812e-05,-2.27432491405e-05,1793244657682469376
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.700417482,745,714,681,658.700417482,634,879,786,805,652,631,652,0.405778955366,0.0045322116852,0.0799540858392,0.999999997669,7.70655295985e-06,-6.329970137e-05,-2.44187348966e-05,1793244657699136000
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.125002305,745,714,681,658.125002305,634,879,786,805,652,631,652,0.40621288879,0.00453375716748,0.0799465729443,0.999999995945,3.35340796511e-05,-7.95002369033e-05,-2.57938632696e-05,1793244657715802624
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,634,879,786,805,652,631,652,0.406683752909,0.00454618716583,0.0799402791407,0.999999992717,7.44100976859e-05,-9.1445525996e-05,-2.58092196181e-05,1793244657732469760
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680.952440951,658,634,878.952440951,786,805,652,631,652,0.407167606745,0.00456078162402,0.0799345853618,0.999999987732,0.000116249054503,-0.000101810274648,-2.56233718981e-05,1793244657749136384
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680.369779977,658,634,878.369779977,786,805,652,631,652,0.407682294093,0.00456574157915,0.0799318359628,0.999999986393,0.000121932580854,-0.000107679127467,-2.74196813409e-05,1793244657765803008
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680.209868686,658,634,878.209868686,785.790131314,805,652,631,652,0.408211441156,0.0045731930862,0.0799277923186,0.999999985434,0.000122256831359,-0.000115466657066,-2.91932207015e-05,1793244657782469632
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680.784284849,658,634,878.784284849,785.215715151,805,652,631,652,0.408765705098,0.00458497248475,0.0799215005365,0.999999985094,0.000113271877168,-0.000126586978785,-3.09272077163e-05,1793244657799135744
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.640995393,745,714,681,658,634,879,785.359004607,805,651.640995393,631,652,0.409370966695,0.00459470177156,0.079935727106,0.999999985881,0.00012795481796,-0.000104115871975,-3.20294678685e-05,1793244657815802368
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.06609308,745,714,681,658,634,879,785.93390692,805,651.06609308,631,652,0.410006897172,0.00460319816449,0.0799622929743,0.999999985272,0.000156871125609,-6.14435965145e-05,-3.27518208425e-05,1793244657832469248
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.524293867,745,714,680.475706133,658.524293867,634,879,786,805,651.524293867,631,652,0.410690100824,0.00460942691287,0.0799908917971,0.999999989137,0.000142697630841,-1.54510031134e-05,-3.35224218508e-05,1793244657849136128
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.886216952,745,714,680,659,634,879,786,805.113783048,652,631,652,0.41136990291,0.00461239321578,0.0800087654052,0.999999991059,0.000128583383723,1.26051764315e-05,-3.44772167518e-05,1793244657865803008
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+154,2.566666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,786,805.732752449,652,631,652,0.412671753574,0.00458886209451,0.0799519454577,0.999999987703,0.000130222865905,-7.8515652078e-05,-3.83604806938e-05,1793244657899136768
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,786,805.158975584,652,631,652,0.413355695074,0.00456842341596,0.0799186446559,0.999999986525,0.000104278214693,-0.000119922377667,-4.11634997196e-05,1793244657915803392
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.417079031,745,714,680.417079031,659,634,879,786,805,652,630.582920969,652,0.414095149051,0.00457275417503,0.0799188495935,0.999999987848,0.000101426029083,-0.000110197616488,-4.32808270219e-05,1793244657932470272
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.994006576,745,714,680.994006576,659,634,879,786,805,652,630.005993424,652,0.414855878541,0.00458657799897,0.0799318958467,0.999999989941,0.000107424197153,-8.08763458212e-05,-4.51353579037e-05,1793244657949136896
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,785.413764741,805,652,630.586235259,652,0.415655053231,0.00459785064123,0.079954837065,0.999999990609,0.000120039572233,-4.94406263516e-05,-4.39149457694e-05,1793244657965803008
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.826452509,634,879,785.173547491,805,651.826452509,631,652,0.416443815571,0.00460706933096,0.0799654523254,0.999999989498,0.000133008181847,-3.79909863655e-05,-4.32436101598e-05,1793244657982469120
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.250900813,634,879,785.749099187,805,651.250900813,631,652,0.417207523918,0.00461159229445,0.0799472752099,0.999999985628,0.000146634113514,-7.28883802212e-05,-4.39189236164e-05,1793244657999135744
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.675426568,745,714,681,658.324573432,634,879,785.675426568,805,651.324573432,631,651.675426568,0.418038220251,0.00461314580348,0.0799564253506,0.999999986414,0.000149601546758,-5.18618714006e-05,-4.58519774671e-05,1793244658015802624
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.100012205,745,714,681,658.899987795,634,879,785.100012205,805,651.899987795,631,651.100012205,0.41892068705,0.00461240442108,0.0799866948867,0.999999988319,0.000144331743917,1.23844544625e-05,-4.87570539558e-05,1793244658032469504
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,714,681.488009714,659.488009714,634,879,785,805,652,631,651.488009714,0.419756736438,0.00460356678854,0.0799913479785,0.999999990376,0.000127462194088,2.30216997018e-05,-4.97151898337e-05,1793244658049136384
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.076894586,745,714,681.923105414,659.923105414,633.923105414,879,785.076894586,805,652,630.923105414,652,0.420588416234,0.00459491640055,0.0799883206905,0.999999992257,0.000112349036876,1.83055542631e-05,-5.02951128106e-05,1793244658065803264
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+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.2308754,714,681.2308754,659,633.2308754,879,785.7691246,805,652,630.2308754,651.7691246,0.422336654772,0.00460393969204,0.0799705631572,0.999999989646,0.000133730108264,-1.4644551384e-05,-5.10838357619e-05,1793244658099136512
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+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.60894858,714,682,659.39105142,634,879,785.39105142,805,652,631,651.39105142,0.42409745849,0.00461771918524,0.0800006607565,0.999999987634,0.000147927717167,2.13320023689e-05,-4.89419091251e-05,1793244658132469504
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+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.44150564,634,879,786,805.55849436,652,631,651.44150564,0.425799710228,0.00462336204381,0.0799474184071,0.999999984309,0.000151180940625,-7.71517681962e-05,-5.07282119369e-05,1793244658165802752
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.862964228,745,714,681.862964228,659.137035772,634,879,786,805.862964228,652,631,651.137035772,0.426685251267,0.00462211719301,0.0799130230436,0.999999980469,0.000142898614136,-0.000125789011355,-5.31037564652e-05,1793244658182469632
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.285208989,745,714,681.285208989,659.714791011,634,879,786,805.285208989,652,631,651.714791011,0.427623275606,0.00461451008874,0.0799127518564,0.999999982943,0.000138312049203,-0.000109804681866,-5.40907855913e-05,1793244658199136256
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.291285601,745,714,681.291285601,659.708714399,633.708714399,879,786,805,651.708714399,630.708714399,652,0.428535703223,0.0046096975339,0.0799185707746,0.999999984098,0.000136399275724,-0.000101734904632,-5.3382777564e-05,1793244658215802624
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.866551126,745,714,681.866551126,659.133448874,633.133448874,879,786,805,651.133448874,630.133448874,652,0.42942317605,0.0046076094394,0.0799303270534,0.999999984162,0.000137093233162,-0.000101381177292,-5.10222452273e-05,1793244658232469248
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,682.451856865,659,633,879,786,805.90371373,651.451856865,630.451856865,652,0.43034342814,0.00461252980817,0.0799691229839,0.999999988056,0.000138182900349,-4.64794468634e-05,-5.13237286928e-05,1793244658249135872
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,682.960484418,659.079031164,633.039515582,879.039515582,786,806.920968836,652,631,652,0.431271652429,0.00461940838732,0.0800138955049,0.999999988645,0.000139650656518,2.16364530609e-05,-5.23449704477e-05,1793244658265802752
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682.382094399,660.235811202,633.617905601,879.617905601,786,805.764188798,652,631,652,0.43217357483,0.00462412321979,0.0800287944203,0.999999987151,0.000144644493823,4.52707023581e-05,-5.22167167283e-05,1793244658282469376
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682.195721807,660.804278193,634,880,786,805,652,631,651.804278193,0.43304712401,0.00462814709664,0.0800131310076,0.999999987188,0.000149485873145,2.32015017674e-05,-5.234029183e-05,1793244658299136256
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682.772421171,660.227578829,634,880,786,805,652,631,651.227578829,0.43386544414,0.00463082601133,0.0799379772354,0.999999982878,0.000154030488866,-8.78306422733e-05,-5.29540578402e-05,1793244658315803136
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.645252912,745,714,683,660,634,879.645252912,786,805.354747088,652,631,651,0.434705989839,0.00463021963718,0.0799104583339,0.999999979754,0.000147476708053,-0.000125277268363,-5.5215704772e-05,1793244658332469760
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.059259287,745,714,683,660,634,879.059259287,786,805.940740713,652,631,651,0.435561023516,0.00462747170431,0.0799139908514,0.999999982765,0.000133688292653,-0.00011475620473,-5.8551544715e-05,1793244658349136128
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.524146619,745,714,683.524146619,660,634,879,785.475853381,806,651.475853381,631,651.524146619,0.436424423773,0.00461772280574,0.0799461244957,0.999999986547,0.000134806120887,-7.53279843023e-05,-5.53102470205e-05,1793244658365802752
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.893811607,745,714,683.893811607,659.893811607,634,879.106188393,785.106188393,806,651.106188393,630.893811607,652,0.437284194662,0.00461024138751,0.0799767590947,0.999999988848,0.000134725687806,-3.73710065668e-05,-5.25077093098e-05,1793244658382469376
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.316530123,745,714,683.316530123,659.316530123,634,879.683469877,785.683469877,806,651.683469877,630.316530123,652,0.438123688407,0.00461631363353,0.0799864682944,0.999999990855,0.000121889476843,-2.03688280165e-05,-5.49343839738e-05,1793244658399135744
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764.415559786,745,714,683,659,633,880,785.584440214,805.415559786,652,630.584440214,652,0.440384322638,0.00465299490564,0.0798781070072,0.99999996539,0.000172222171927,-0.000190283733155,-5.78956462419e-05,1793244658449135872
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+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,683.58423076,659,633,880.58423076,785,806,652,630.58423076,652,0.441690486411,0.00467209784694,0.0797276801947,0.99999989348,0.000193192341615,-0.000414887713767,-5.98776843631e-05,1793244658482470144
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713,683.688104852,658,633,879.311895148,785,806,651.688104852,630.311895148,652,0.443870212878,0.00469087881732,0.0797942054749,0.999999926137,0.000222982880501,-0.000307767450391,-5.73112028695e-05,1793244658532469504
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,713,683.117205797,658,633,879.882794203,785,806,651.117205797,630.882794203,652,0.444558591707,0.00469450300751,0.0798252970393,0.999999939667,0.000209617510968,-0.000271114730834,-5.67796522984e-05,1793244658549136128
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+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713,684,656.203645656,632,880.203645656,785,806.203645656,652,630.203645656,652,0.44741487575,0.00471654452618,0.0797125356177,0.999999883555,0.000218568294244,-0.000426103386519,-5.96180539622e-05,1793244658632470784
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764.856971323,745.143028677,713.856971323,683,657.143028677,633,879.143028677,786,806,652,631,652,0.424475941688,0.00444585248568,0.0797493757682,0.999999919112,4.14586146825e-05,-0.000396932775852,5.002501964e-05,1793244660932167424
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.553168364,657.446831636,633.446831636,879,786,805.553168364,652,631,652,0.423546121882,0.00445760214018,0.0797336953063,0.999999907936,5.74901319482e-05,-0.000422135559459,5.12308814038e-05,1793244660948834048
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.040287095,658,634,879,786,805.040287095,652,630.959712905,651.959712905,0.422631090152,0.00447655017402,0.0797254040764,0.999999900726,8.16545631055e-05,-0.00043488250915,5.25191256864e-05,1793244660965499904
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.6139474,658,634,879,786,805.6139474,652,630.3860526,651.3860526,0.421820393598,0.00450351030923,0.0797842080883,0.999999938757,0.000113194209977,-0.000327175310515,5.12707545542e-05,1793244660982166784
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.811271065,658,634,879,786,805.811271065,652,630.188728935,651.188728935,0.420989972972,0.00451875450051,0.0798329471027,0.999999961049,0.000131125820058,-0.000241185160184,5.03726071528e-05,1793244660998833408
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.234182196,658,634,879,786,805.234182196,652,630.765817804,651.765817804,0.420118964677,0.00450989002897,0.0798609747211,0.999999971436,0.00012105528666,-0.000199883594223,5.01951389588e-05,1793244661015500032
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.648810297,657.648810297,633.648810297,879,786,805,652,631,652,0.419230584324,0.00449869343108,0.0798460187609,0.999999967087,0.000103982905948,-0.00022916303915,4.99710316612e-05,1793244661032166656
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.057781679,657.057781679,633.057781679,879,786,805,652,631,652,0.418330340079,0.00448590414851,0.0798017079098,0.999999948376,8.21287352609e-05,-0.000306644562305,4.97150727928e-05,1793244661048833280
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.477899742,681.522100258,657,633,879,786,805,652,631,652,0.417487048363,0.00447915997009,0.0797994328118,0.999999945089,8.36058215403e-05,-0.000316661070532,5.05690793893e-05,1793244661065499648
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.100058692,682,657,633.100058692,879.100058692,786,805.100058692,652,631,652,0.416649935522,0.00447564355981,0.0797998693491,0.999999942859,8.70949237146e-05,-0.000322561487339,5.14875779181e-05,1793244661082166272
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.674623213,682,657,633.674623213,879.674623213,786,805.674623213,652,631,652,0.415812858758,0.00448432775007,0.0797915645308,0.999999935723,8.81364563085e-05,-0.000343610134265,5.2141543078e-05,1793244661098832896
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,634,880,786,805.744860759,652,631,652,0.415003895806,0.0044924915188,0.0797820164028,0.999999929219,9.7993875783e-05,-0.000359541860289,5.18522938857e-05,1793244661115499776
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,634,880,786,805.156573601,652,631,652,0.414231642513,0.00449997574673,0.0797708448247,0.999999923606,0.000119362634387,-0.000368792168167,5.03314430494e-05,1793244661132166656
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.424714249,714,681.575285751,657.424714249,634,879.575285751,786,805,652,631,652,0.413505032466,0.00449957145814,0.0797853417182,0.999999935357,0.000111211582888,-0.000338384553995,4.91378098458e-05,1793244661148833536
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,657.996542936,634,879,786,805.003457064,652,631,652,0.412794850587,0.00449627897481,0.0798089482713,0.999999951346,9.24539063566e-05,-0.000294021359474,4.80772612154e-05,1793244661165500160
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,657.41889261,634,879,786,805.58110739,652,631,652,0.412063801279,0.0044884700503,0.0797993749071,0.999999943294,9.02395360271e-05,-0.000320668481186,4.94100544927e-05,1793244661182166784
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.842706661,745.842706661,713.842706661,681,657,634,879,786,805.842706661,652,631,652,0.411345647986,0.00448294124262,0.0797904990579,0.999999935931,8.83687951112e-05,-0.000343211065968,5.03466157343e-05,1793244661198833664
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.270384437,745.270384437,713.270384437,681,657,634,879,786,805.270384437,652,631,652,0.410661521525,0.00448342867232,0.0797834636458,0.999999931933,8.74047427959e-05,-0.000354923564788,5.02376928997e-05,1793244661215500288
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.312198869,745,713.312198869,681,657.312198869,634,879,786,805,652,631,652,0.410018689717,0.00448714766251,0.0797921472437,0.999999936539,9.76001595374e-05,-0.000338912071395,5.03371725759e-05,1793244661232166912
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.90397091,745,713.90397091,681,657.90397091,634,879,786,805,652,631,652,0.409412837192,0.00449376050564,0.0798149071694,0.999999947358,0.000117788848062,-0.000298073822927,5.06232760217e-05,1793244661248833536
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,879,786,805,652,631,652,0.408827827788,0.00449687084663,0.0798325502528,0.999999955723,0.000111906959181,-0.000270922389722,5.13077347628e-05,1793244661265500672
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.935889006,745,714,681,658,634,879,786,805,652,631,652,0.408246111466,0.00449868680894,0.0798439785728,0.999999960878,0.000101812025265,-0.000255273881256,5.20850346347e-05,1793244661282167552
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.360756975,745,714,681,658,634,879,786,805,652,631,652,0.40765846173,0.00449559336275,0.0798137702609,0.99999994565,9.83888718884e-05,-0.000310181107328,5.29872921196e-05,1793244661298834432
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.212408976,745.212408976,714,680.787591024,657.787591024,634,879,786,805,652,631,652,0.407098794337,0.00449287873574,0.0797875286563,0.999999931051,0.000100250751962,-0.000353615635913,5.29470332553e-05,1793244661315501056
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.782266289,745.782266289,714,680.217733711,657.217733711,634,879,786,805,652,631,652,0.406586216548,0.00449080159756,0.0797679623516,0.999999921177,0.000111006449111,-0.000377743552925,5.13206790771e-05,1793244661332168192
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.631314343,714,680.368685657,657,634,879,786,805,652,631,651.631314343,0.406114355906,0.00448965210632,0.079769840227,0.999999926205,0.000104229337184,-0.000366355202038,5.01084246875e-05,1793244661348834560
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745.034653861,714,680.965346139,657,634,879,786,805,652,631,651.034653861,0.405667672444,0.00448907622047,0.0797849779958,0.999999939595,8.6610906521e-05,-0.000333005556908,4.915222651e-05,1793244661365500416
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.454020859,657,634,879,786,805,652,631,651.545979141,0.405262167363,0.00449251890351,0.0798063537394,0.999999947078,0.000107165588533,-0.000303045001494,5.02412334574e-05,1793244661382167296
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745.124273246,714,680,657,634,879,786,805,652,631,652,0.404864644858,0.00449598237775,0.079824196076,0.999999951687,0.000125587336183,-0.000279689905517,5.124867536e-05,1793244661398833920
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745.697686172,714,680,657,634,879,786,805,652,631,652,0.404486795681,0.00449862545424,0.0798278780895,0.999999951461,0.000127793483952,-0.000279452531314,5.15055557596e-05,1793244661415500288
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745.721514098,714,680.278485902,657.278485902,634,879,786,805,652,631,652,0.40411994908,0.00449830659537,0.0798293389292,0.99999995088,0.000122783434692,-0.000283594272966,5.23347091563e-05,1793244661432166912
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745.132477071,714,680.867522929,657.867522929,634,879,786,805,652,631,652,0.403765371929,0.00449468475996,0.0798283228461,0.99999994972,0.000109726306136,-0.000292619347411,5.38020277672e-05,1793244661448833792
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.550914945,745,714,681,658,634,879,786,805,652,631,652,0.403454536819,0.00448594860304,0.0798286006452,0.999999950626,9.62873414025e-05,-0.00029418379124,5.41561220353e-05,1793244661465500672
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,745,714,681,658,634,879,786,805,652,631,652,0.403158465777,0.00447554830523,0.0798293895874,0.999999952035,8.25069534198e-05,-0.000293559895228,5.42749881438e-05,1793244661482167552
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,745,714,681,658,634,879,786,805,652,631,652,0.402902472345,0.00446166296003,0.0798328037733,0.999999953589,6.42650284635e-05,-0.000292480682179,5.6092143654e-05,1793244661498833664
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,745,714,680.819125844,657.819125844,634,879,786,805,652,631,652,0.402659713598,0.00445217585827,0.0798348155183,0.999999954643,5.00047425027e-05,-0.000291440753396,5.72398159443e-05,1793244661515500032
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.244605139,657.244605139,634,879,786,805,652,631,652,0.402445758271,0.00445226090173,0.0798337750518,0.999999955202,4.44099228058e-05,-0.000290486321474,5.69304542205e-05,1793244661532166656
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.338753197,745,714,680,657.338753197,634,879,786.338753197,805,652,631,652,0.402248950514,0.00445178783708,0.0798328883581,0.999999955708,3.95451365504e-05,-0.000289425949346,5.70334223962e-05,1793244661548833536
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.928663968,745,714,680,657.928663968,634,879,786.928663968,805,652,631,652,0.402064856247,0.00445090098127,0.079832115674,0.999999956175,3.52216093319e-05,-0.000288287031187,5.74420991725e-05,1793244661565500160
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.509348354,658,633.490651646,878.490651646,786.490651646,804.490651646,652,631,652,0.401909727421,0.0044519267974,0.0798349982943,0.999999957014,3.80487200232e-05,-0.000284599983166,5.93899168161e-05,1793244661582166784
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.911854526,658,633.088145474,878.088145474,786,804,652,631,652,0.401762486996,0.00445426853177,0.0798378027318,0.999999957651,4.28884830242e-05,-0.000281254063913,6.12834970399e-05,1793244661598833152
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.336473636,658,633.663526364,878.663526364,786,804,652,631,652,0.401636825622,0.00446242979691,0.0798373955473,0.999999956983,5.34161675024e-05,-0.000281731348741,6.17069264154e-05,1793244661615499776
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745.243672795,714,680,658,633.756327205,879,786,804.243672795,652,631,652,0.40151924431,0.00447360022286,0.0798352057058,0.999999954042,8.37030010339e-05,-0.000285332816279,5.91154290743e-05,1793244661632166400
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745.83053091,714,680,658,633.16946909,879,786,804.83053091,652,631,652,0.401413042852,0.00448900870789,0.0798305051953,0.999999945555,0.000141818340007,-0.000293334337894,5.22777513926e-05,1793244661648833024
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745.587675235,714,680,658,633.412324765,878.587675235,786,805,652,631,652,0.401323463737,0.00449410243333,0.0798270636217,0.999999942077,0.000155153235853,-0.000299032875624,4.85035645102e-05,1793244661665499648
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745.007937594,714,680,658,633.992062406,878.007937594,786,805,652,631,652,0.401240633661,0.00449500814033,0.0798241332041,0.999999941501,0.000150306290762,-0.000303796351571,4.59732221285e-05,1793244661682166272
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786,805,652,631,652,0.401180147553,0.00449091786414,0.0798208743406,0.999999941124,0.000143943062153,-0.000307916754262,4.71116595694e-05,1793244661698832896
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.851170521,634,878.148829479,786,805,652,631,652,0.401125167023,0.00448849526187,0.0798185238999,0.999999940776,0.000139711347088,-0.000310823202041,4.8138790175e-05,1793244661715499520
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.278196427,634,878.721803573,786,805,652,631,652,0.401084992726,0.00449102296075,0.07981877534,0.999999940645,0.000141614154913,-0.000310295476661,4.87035692062e-05,1793244661732166400
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,634,879,786,805,652,631,651.696877118,0.401051378118,0.00449077778528,0.079819301558,0.999999940792,0.000140402722279,-0.00031029273143,4.92113589596e-05,1793244661748833280
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,634,879,786,805,652,631,651.107681944,0.401023954212,0.00448791570926,0.0798200870978,0.999999941191,0.000136252224682,-0.000310785436275,4.96653651339e-05,1793244661765499904
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.473525255,634,878.526474745,786,805,652,631,651,0.401004433306,0.00448856280082,0.0798197179393,0.99999994125,0.000136477710109,-0.000310466456615,4.98466972713e-05,1793244661782166272
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.947286095,745,714,680,658,634,878.052713905,785.947286095,805,652,631,651.052713905,0.400987579484,0.0044897428311,0.0798192531831,0.999999941358,0.0001372028842,-0.000309782025303,4.99462904746e-05,1793244661798832896
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.370405763,745,714,680,658,634,878.629594237,785.370405763,805,652,631,651.629594237,0.400979672081,0.00448841881572,0.0798204055581,0.999999942684,0.000133165838425,-0.000307268638654,4.98394525217e-05,1793244661815499520
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.209423222,658,634,878.790576778,785.209423222,805,652,631,652,0.400973066193,0.00448741911619,0.0798216197726,0.999999943822,0.000129871495678,-0.000304982382105,4.97535010459e-05,1793244661832166400
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745,714,680.794541917,658,634,878.205458083,785.794541917,805,652,631,652,0.400968795164,0.00448700122422,0.0798229449242,0.999999944648,0.000127909527694,-0.000303103586499,4.9705018942e-05,1793244661848833024
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745,714,680.624112566,658,634,878.375887434,786,805,652,631,652,0.400967590571,0.00448798097403,0.0798249556469,0.999999945399,0.000128835097879,-0.000300203928217,4.98190408107e-05,1793244661865499648
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,745,714,680.04480897,658,634,878.95519103,786,805,652,631,652,0.400968045419,0.0044897170751,0.079827337375,0.999999946095,0.000131323295342,-0.000296751817452,5.00210037274e-05,1793244661882166272
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_12/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a5c403d137ee836369e425460b21c80962356ed2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b8b5178f5fbeeb7e3b51a92bda02626f005bd243
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cf99dfb2feb488ed88f7360816c379b4a7cc98d9cf512c23f53331f67ba04f1
+size 26310111
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01aa0233baa45544fd66f4ca0f86ef675054f1ea
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_01/franka_data.csv
@@ -0,0 +1,415 @@
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+6,0.100000000,BASELINE,766,745.523235189,715,679.523235189,664,636,879,787.523235189,803.523235189,652,631,653,0.400799806925,-0.0054395715327,0.059887497609,0.999999942304,-9.10318822967e-05,-0.000325146569496,-3.72192049398e-05,1793238904355208960
+7,0.116666667,BASELINE,766,746,715,679.895900866,664,636.104099134,879.104099134,787.895900866,803.895900866,652,631,653,0.400800971263,-0.00543992072877,0.0598880828652,0.999999942395,-9.25844741236e-05,-0.000324424934694,-3.72497422816e-05,1793238904371875584
+8,0.133333333,BASELINE,766,746,715,679.320796401,664,636.679203599,879.679203599,787.320796401,803.320796401,652,631,653,0.400799215743,-0.00544066359042,0.0598875779544,0.999999941709,-9.31787586955e-05,-0.000326364691289,-3.72223289917e-05,1793238904388542464
+9,0.150000000,BASELINE,766,746,715,679,664,637,879.745983737,787.254016263,803,652,631,653,0.400798185575,-0.0054408479734,0.0598870113328,0.999999941242,-9.36756255123e-05,-0.000327645813161,-3.72661202218e-05,1793238904405208832
+10,0.166666667,BASELINE,766,746,715,679,664,637,879.171539208,787.828460792,803,652,631,653,0.400798070401,-0.00544032786461,0.0598863668662,0.999999941054,-9.40496048679e-05,-0.000328096101543,-3.73997322411e-05,1793238904421875456
+11,0.183333333,BASELINE,766,745.584493425,715,679,664,636.584493425,879,788,803,652.415506575,631,653,0.400797774429,-0.00544028239693,0.0598864968476,0.999999941119,-9.30500884175e-05,-0.000328211937448,-3.71653393474e-05,1793238904438542080
+12,0.200000000,BASELINE,766,745,715,679,664,636.007709462,879.007709462,787.992290538,803.007709462,652.992290538,631.007709462,652.992290538,0.40079740401,-0.00544043539299,0.0598869412726,0.999999941281,-9.14820919859e-05,-0.000328201073086,-3.67830576898e-05,1793238904455208704
+13,0.216666667,BASELINE,766,745,715,679,664,636.58455689,879.58455689,787.41544311,803.58455689,652.41544311,631.58455689,652.41544311,0.400797220241,-0.00544032133965,0.0598862575234,0.999999940927,-9.11169523875e-05,-0.000329348847974,-3.70497887246e-05,1793238904471875328
+14,0.233333333,BASELINE,765.84023049,745,715,679,663.84023049,636.84023049,880,787,804,652,632,652.15976951,0.400797305774,-0.00544014042012,0.0598859477967,0.9999999408,-9.07110367867e-05,-0.000329828581365,-3.72098685435e-05,1793238904488542208
+15,0.250000000,BASELINE,765.269225625,745,715,679,663.269225625,636.269225625,880,787,804,652,632,652.730774375,0.400798084473,-0.00543978739178,0.0598866007774,0.999999941259,-9.02001665783e-05,-0.000328588823714,-3.70954357767e-05,1793238904505209088
+16,0.266666667,BASELINE,765.314274736,745.314274736,715,679.314274736,663.314274736,636,879.685725264,787,803.685725264,652.314274736,632,653,0.400797585234,-0.00543968883715,0.0598863352438,0.999999941221,-8.96303629087e-05,-0.000328858362355,-3.71023823372e-05,1793238904521875712
+17,0.283333333,BASELINE,765.908922641,745.908922641,715,679.908922641,663.908922641,636,879.091077359,787,803.091077359,652.908922641,632,653,0.40079594591,-0.00543981730555,0.0598852502782,0.99999994074,-8.90079831019e-05,-0.000330474385961,-3.72176147531e-05,1793238904538542080
+18,0.300000000,BASELINE,766,746,715,679.509288083,664,636,879,787,803.490711917,652.509288083,632,653,0.400796316897,-0.00544010950021,0.0598856015028,0.999999940672,-9.10894396708e-05,-0.000330125556433,-3.7104739217e-05,1793238904555208704
+19,0.316666667,BASELINE,766,745.930349915,715,679,664,636.069650085,879,787.069650085,803.930349915,652,631.930349915,652.930349915,0.400796957397,-0.00544036460259,0.0598861760987,0.99999994071,-9.31524878691e-05,-0.000329449638798,-3.6965158041e-05,1793238904571875328
+20,0.333333333,BASELINE,766,745.355225148,715,679,664,636.644774852,879,787.644774852,803.355225148,652,631.355225148,652.355225148,0.400796915147,-0.00544013560873,0.0598864866526,0.999999941015,-9.15329216609e-05,-0.000328978969268,-3.69311761998e-05,1793238904588541952
+21,0.350000000,BASELINE,766,745,715,679,664,636.775462135,879,788,803.224537865,652.224537865,631,652.224537865,0.40079706421,-0.00543994575752,0.0598868322839,0.999999941223,-9.09190262881e-05,-0.000328517626386,-3.6937727958e-05,1793238904605208576
+22,0.366666667,BASELINE,766,745,715,679,664,636.188206572,879,788,803.811793428,652.811793428,631,652.811793428,0.400797522321,-0.00543981913724,0.0598872345787,0.999999941274,-9.19296882986e-05,-0.000328071349785,-3.70097575572e-05,1793238904621875200
+23,0.383333333,BASELINE,766,745,715,679,664,636,879,787.606069176,803.606069176,652.606069176,631,653,0.400797622076,-0.00543989255683,0.059887216024,0.999999941261,-9.19970116621e-05,-0.000328094476671,-3.70038348819e-05,1793238904638541824
+24,0.400000000,BASELINE,766,745,715,679,664,636,879,787.026345651,803.026345651,652.026345651,631,653,0.400797552815,-0.0054400603228,0.0598869989807,0.999999941217,-9.16194208671e-05,-0.000328338991988,-3.69611469669e-05,1793238904655208448
+25,0.416666667,BASELINE,766,745.552262681,715,679,664,636,879,787.552262681,803,652,631.552262681,653,0.400796490735,-0.00543954265606,0.0598859335504,0.999999941018,-8.99011706263e-05,-0.000329394793957,-3.71627580856e-05,1793238904671875072
+26,0.433333333,BASELINE,766,746,715,678.870576692,664,636.129423308,879,788,803.129423308,652,632,653,0.400795696764,-0.00543924154169,0.0598850323864,0.999999940832,-8.85076004477e-05,-0.000330320514666,-3.72963306223e-05,1793238904688541952
+27,0.450000000,BASELINE,766,746,715,678.298189115,664,636.701810885,879,788,803.701810885,652,632,653,0.400795982199,-0.00543979328785,0.0598848316812,0.999999940728,-8.84437348295e-05,-0.000330668823687,-3.71572268191e-05,1793238904705209856
+28,0.466666667,BASELINE,766,745.717164134,715,678.565671732,664,637,879.282835866,787.717164134,804,652,631.717164134,653,0.400796106892,-0.00543919152272,0.0598851725188,0.999999940798,-8.81828422001e-05,-0.000330521043967,-3.71862463595e-05,1793238904721877248
+29,0.483333333,BASELINE,766,745.126746067,715,679.746507866,664,637,879.873253933,787.126746067,804,652,631.126746067,653,0.400796056779,-0.00543733532139,0.0598861022806,0.999999941059,-8.77076839556e-05,-0.000329833770885,-3.73980989727e-05,1793238904738543104
+30,0.500000000,BASELINE,765.544945577,745,715,679.544945577,664,636.544945577,879.544945577,787,804,652,631,653,0.400795791208,-0.00543798539096,0.0598861679281,0.999999940891,-8.8141121121e-05,-0.000330238665384,-3.72910793057e-05,1793238904755209984
+31,0.516666667,BASELINE,765.034223217,745,715,679,664,636,879.034223217,787.034223217,803.965776783,652,631.034223217,653,0.400795559324,-0.00543924071155,0.0598860238622,0.99999994064,-8.88533630948e-05,-0.000330829109227,-3.71127345378e-05,1793238904771876864
+32,0.533333333,BASELINE,765.609031573,745,715,679,664,636,879.609031573,787.609031573,803.390968427,652,631.609031573,653,0.400796789868,-0.00543923480726,0.0598862983033,0.999999940925,-9.00463941359e-05,-0.00032963465598,-3.71845890189e-05,1793238904788542720
+33,0.550000000,BASELINE,766,745,715,679,663.816824166,636,879.816824166,788,803,652.183175834,632,653,0.400797082077,-0.00543926251177,0.0598863204225,0.999999941011,-9.07299293661e-05,-0.00032917472738,-3.72816891758e-05,1793238904805208832
+34,0.566666667,BASELINE,766,745,715,679,663.244092294,636,879.244092294,788,803,652.755907706,632,653,0.40079537875,-0.00543936169137,0.0598858059341,0.999999940678,-9.03299308554e-05,-0.000330276896422,-3.74324787496e-05,1793238904821875712
+35,0.583333333,BASELINE,766,745.34141562,715,679,663.34141562,636,879.34141562,788,803.34141562,653,632,653,0.400794264257,-0.00543931147173,0.0598854533034,0.999999940335,-8.95078200171e-05,-0.000331555066786,-3.72637503279e-05,1793238904838542592
+36,0.600000000,BASELINE,766,745.936412817,715,679,663.936412817,636,879.936412817,788,803.936412817,653,632,653,0.400793587114,-0.00543915028797,0.0598852208902,0.999999939983,-8.83721912333e-05,-0.00033296395973,-3.68577044933e-05,1793238904855209216
+37,0.616666667,BASELINE,766.513960272,745.486039728,715,679,664,636,880,788,804,652.486039728,632,652.486039728,0.40079419506,-0.00543789087079,0.0598854999545,0.999999940452,-8.63699496513e-05,-0.000332059149657,-3.70596423886e-05,1793238904871875840
+38,0.633333333,BASELINE,766.910724937,745.089275063,715,679,664,636,879.910724937,788,803.910724937,652,632,652,0.400795012987,-0.00543684816884,0.0598858191024,0.999999940947,-8.49459347038e-05,-0.000330907647631,-3.72871749465e-05,1793238904888541952
+39,0.650000000,BASELINE,766.33619629,745.66380371,715,679,664,636,879.33619629,788,803.33619629,652,632,652,0.400796136439,-0.00543769770712,0.0598860234604,0.999999941078,-8.7228505473e-05,-0.000329920079036,-3.72583963973e-05,1793238904905208576
+40,0.666666667,BASELINE,766,745.755875816,715,679,664.244124184,636,879,787.755875816,803,652,632,652.244124184,0.400796310192,-0.00543853521304,0.059885933135,0.999999940925,-8.91974743148e-05,-0.000329854858512,-3.72840111022e-05,1793238904921875456
+41,0.683333333,BASELINE,766,745.167385314,715,679,664.832614686,636,879,787.167385314,803,652,632,652.832614686,0.400795144281,-0.00543935574583,0.0598854271232,0.999999940375,-9.07240700465e-05,-0.000331090720164,-3.73863539904e-05,1793238904938542080
+42,0.700000000,BASELINE,766,745,715,679,664.58553176,636,879,787,803,652,632,653,0.400795147182,-0.00544036759381,0.0598854337202,0.999999940298,-9.20913601203e-05,-0.000330961082866,-3.72638855997e-05,1793238904955208960
+43,0.716666667,BASELINE,766,745,715,679,664.006316344,636,879,787,803,652,632,653,0.400795614673,-0.00544145548775,0.0598856440743,0.999999940407,-9.33953276765e-05,-0.000330288672717,-3.70520568655e-05,1793238904971875584
+44,0.733333333,BASELINE,766,745,715,679,664,636.574412195,879,787,803,652,632,653,0.400795838603,-0.00544122597745,0.0598860495877,0.999999940801,-9.04627010803e-05,-0.000329933884563,-3.68642755784e-05,1793238904988542208
+45,0.750000000,BASELINE,766,745,715,679,664,636.84732851,879.15267149,787.15267149,803,652,631.84732851,653,0.400795971918,-0.00544109033003,0.0598862543599,0.999999940945,-8.87709606163e-05,-0.000329967369523,-3.67610909667e-05,1793238905005208832
+46,0.766666667,BASELINE,766,745,715,679,664,636.27588806,879.72411194,787.72411194,803,652,631.27588806,653,0.400795864046,-0.00544125198338,0.0598859026087,0.999999940415,-9.06110198715e-05,-0.000331056259583,-3.68892228818e-05,1793238905021875712
+47,0.783333333,BASELINE,766,745,715,679.305251387,664,636,879.694748613,788,803,652,631.305251387,653,0.400795612848,-0.00544132654676,0.0598856453637,0.999999940207,-9.12390088879e-05,-0.000331514586701,-3.6883388164e-05,1793238905038542592
+48,0.800000000,BASELINE,766,745,715,679.895444586,664,636,879.104555414,788,803,652,631.895444586,653,0.40079522786,-0.00544131981462,0.0598854763372,0.9999999403,-9.07355716757e-05,-0.000331384304835,-3.6752500155e-05,1793238905055209472
+49,0.816666667,BASELINE,765.522812584,745,715,679.522812584,664,636,879,787.522812584,803,652,631.522812584,653,0.400794862356,-0.00544070114617,0.0598853247599,0.99999993982,-9.31704089188e-05,-0.000332111282406,-3.7170625143e-05,1793238905071875584
+50,0.833333333,BASELINE,765.056636677,745.056636677,715.056636677,679.056636677,664,636,879,787.056636677,803,652.056636677,631.056636677,653,0.400794536752,-0.00544014024149,0.0598852121024,0.999999939303,-9.5847917392e-05,-0.000332854637735,-3.76165921028e-05,1793238905088542208
+51,0.850000000,BASELINE,765.631744867,745.631744867,715.631744867,679.631744867,664,636,879,787.631744867,803,652.631744867,631.631744867,653,0.400794538009,-0.00544131418147,0.0598854213389,0.999999939667,-9.49559233047e-05,-0.000332058361805,-3.72353930617e-05,1793238905105209344
+52,0.866666667,BASELINE,766,746,715.794309347,679.794309347,664,636.205690653,879.205690653,788,803,653,632,653,0.400793865476,-0.00544143931749,0.0598850560587,0.99999993976,-9.33174460381e-05,-0.00033226860779,-3.70130573251e-05,1793238905121876480
+53,0.883333333,BASELINE,766,746,715.222432997,679.222432997,664,636.777567003,879.777567003,788,803,653,632,653,0.400791993411,-0.00543969729514,0.0598836679815,0.999999939363,-9.03500243111e-05,-0.000334270738504,-3.70735418034e-05,1793238905138543104
+54,0.900000000,BASELINE,766,746,715,679.363491513,664,637,879.636508487,788,803.363491513,653,632,653,0.400792836507,-0.00543962100912,0.0598845929323,0.999999939762,-8.9408317772e-05,-0.000333345654537,-3.69160789653e-05,1793238905155210240
+55,0.916666667,BASELINE,766,746,715,679.958358147,664,637,879.041641853,788,803.958358147,653,632,653,0.400795407899,-0.00544060502287,0.0598869902067,0.999999940667,-8.97560502513e-05,-0.00033055729548,-3.66198849989e-05,1793238905171877376
+56,0.933333333,BASELINE,766,746,715,680,664,636.462338927,879.537661073,787.462338927,804,652.462338927,631.462338927,653,0.400795145405,-0.00544035511846,0.0598861487447,0.999999940321,-9.02037376607e-05,-0.000331445791193,-3.694286007e-05,1793238905188543488
+57,0.950000000,BASELINE,766,746,715.114991244,679.885008756,664,636,879.885008756,787,803.885008756,652.114991244,631,653,0.40079488894,-0.0054401869971,0.0598853853386,0.999999940032,-9.08584238867e-05,-0.000332106482908,-3.72343133425e-05,1793238905205209600
+58,0.966666667,BASELINE,766,746,715.689121987,679.310878013,664,636,879.310878013,787,803.310878013,652.689121987,631,653,0.400795508249,-0.00544071626787,0.0598859069797,0.999999940348,-9.23095784326e-05,-0.000330752536366,-3.72138179618e-05,1793238905221875968
+59,0.983333333,BASELINE,766,746,715.734473967,679,664,636.265526033,879,787.265526033,803.265526033,652.734473967,631.265526033,652.734473967,0.400795529439,-0.0054407320598,0.0598859346516,0.999999940353,-9.27195346207e-05,-0.000330629823453,-3.71627823289e-05,1793238905238542336
+60,1.000000000,BASELINE,766,746,715.155385278,679,664,636.844614722,879,787.844614722,803.844614722,652.155385278,631.844614722,652.155385278,0.400794844305,-0.00544014147893,0.0598853789899,0.999999939991,-9.18999282416e-05,-0.00033196108789,-3.70756813691e-05,1793238905255209216
+61,1.016666667,BASELINE,766,745.568014466,715,679,664,637,879,787.568014466,804,652,632,652.431985534,0.400794740271,-0.00543992858213,0.0598852687506,0.999999939943,-9.14453590101e-05,-0.000332226013379,-3.71186787067e-05,1793238905271876096
+62,1.033333333,BASELINE,766,745,715,679,664,636.978245371,879,787.021754629,804,652,632,652.978245371,0.400794781678,-0.0054398487042,0.0598853018156,0.999999939992,-9.10727678971e-05,-0.000332171189218,-3.71993994281e-05,1793238905288543232
+63,1.050000000,BASELINE,766,745,715,679,664,636.404684367,879,787.595315633,804,652,632,652.404684367,0.400793106691,-0.00543962958034,0.0598848264101,0.999999939567,-8.93839248676e-05,-0.000333925147652,-3.7026781522e-05,1793238905305210368
+64,1.066666667,BASELINE,766,745.169447359,715,679,664,636.169447359,879.169447359,787.830552641,803.830552641,652,632,652,0.40079233493,-0.005439418772,0.0598843180483,0.999999939277,-8.85513721234e-05,-0.000335015193494,-3.69975171083e-05,1793238905321877504
+65,1.083333333,BASELINE,766,745.744946687,715,679,664,636.744946687,879.744946687,787.255053313,803.255053313,652,632,652,0.400793727598,-0.0054392278904,0.059883730712,0.999999939325,-8.97707744929e-05,-0.000334514284856,-3.73117751323e-05,1793238905338543872
+66,1.100000000,BASELINE,766,745.669554068,715,679,663.669554068,637,879.669554068,787.330445932,803.330445932,652,632,652,0.400794467921,-0.00543884771093,0.05988432216,0.999999939671,-9.00781517121e-05,-0.000333364756782,-3.75793691309e-05,1793238905355210240
+67,1.116666667,BASELINE,766,745.076095594,715,679,663.076095594,637,879.076095594,787.923904406,803.923904406,652,632,652,0.400794689023,-0.00543831686322,0.0598858518404,0.999999940254,-8.96596187349e-05,-0.000331698971666,-3.78098217162e-05,1793238905371876864
+68,1.133333333,BASELINE,766,745,715,679,664.005134073,636.497432964,879.502567036,787.497432964,803.497432964,652.502567036,632,652.502567036,0.400793610412,-0.00543806501089,0.0598851539416,0.999999939855,-8.93462497159e-05,-0.00033297440494,-3.78768021837e-05,1793238905388543488
+69,1.150000000,BASELINE,766,745.079013612,715,679,664.920986388,636,879.920986388,787.079013612,803,652.920986388,632,653,0.400792670589,-0.00543811142942,0.0598843396127,0.999999939393,-8.95262267034e-05,-0.000334313310695,-3.78668814746e-05,1793238905405210112
+70,1.166666667,BASELINE,766,745.655209315,715,679,664.344790685,636,879.344790685,787.655209315,803,652.344790685,632,653,0.400793806954,-0.00543977646464,0.0598848542952,0.999999939444,-9.27131849641e-05,-0.000333329501096,-3.7524364784e-05,1793238905421876736
+71,1.183333333,BASELINE,766,746,715,679.235170007,664,636,879,787.764829993,803,652,632,653,0.400793996723,-0.00544058787173,0.0598849324446,0.999999939382,-9.40880488798e-05,-0.000333155277044,-3.72887157674e-05,1793238905438543360
+72,1.200000000,BASELINE,766,746,715,679.820740574,664,636,879,787.179259426,803,652,632,653,0.400792776074,-0.00544012738313,0.0598843601649,0.999999939165,-9.27629138911e-05,-0.000334187325847,-3.72122982845e-05,1793238905455209984
+73,1.216666667,BASELINE,766,745.598000461,715,679.598000461,664,636,879,787.401999539,803,652,632,653,0.400792988515,-0.00543948891894,0.0598843837487,0.999999939363,-9.04846639584e-05,-0.000334228650299,-3.71288358582e-05,1793238905471877120
+74,1.233333333,BASELINE,766,745.018643757,715,679.018643757,664,636,879,787.981356243,803,652,632,653,0.400793833218,-0.00543877193418,0.0598846702202,0.999999939739,-8.77859117193e-05,-0.000333832879503,-3.70422652955e-05,1793238905488544256
+75,1.250000000,BASELINE,766,745,715,679,664,636,879,787.441938648,803.558061352,652,632,653,0.400794016413,-0.00543943226138,0.0598851025522,0.999999939968,-8.89185239174e-05,-0.000332863697579,-3.68549208979e-05,1793238905505210368
+76,1.266666667,BASELINE,766,745,715,679,664,636,879,787,804,652,631.865384327,653,0.400794326487,-0.00544004718264,0.059885385316,0.999999940097,-9.05172144413e-05,-0.000332056557604,-3.67614453557e-05,1793238905521876736
+77,1.283333333,BASELINE,766,745,715,679,664,636,879,787,804,652,631.289035532,653,0.400795125086,-0.00544036283104,0.0598851613658,0.99999993991,-9.3227279417e-05,-0.000331843712285,-3.69869899966e-05,1793238905538543360
+78,1.300000000,BASELINE,766,745.293688362,715,679,664,636,879.293688362,787.293688362,803.706311638,652.293688362,631,653,0.400794984554,-0.00543960184954,0.059884971921,0.999999939918,-9.19839118825e-05,-0.000332149057819,-3.7155730247e-05,1793238905555210240
+79,1.316666667,BASELINE,766,745.882825532,715,679,664,636,879.882825532,787.882825532,803.117174468,652.882825532,631,653,0.400793899262,-0.0054377577845,0.0598848171885,0.999999940105,-8.67634137238e-05,-0.000332975700389,-3.72673255916e-05,1793238905571876864
+80,1.333333333,BASELINE,766,746,715,679,664,636,879.53559771,788,803,652.53559771,631.46440229,653,0.400793967149,-0.00543889852129,0.0598851464168,0.999999940028,-8.74721266302e-05,-0.000333044684611,-3.70700574504e-05,1793238905588543488
+81,1.350000000,BASELINE,766,746,715,679,664,636.043884644,879,788,803,652,632,653,0.400794250938,-0.0054405250516,0.0598855417266,0.999999939897,-8.93907527576e-05,-0.000332952314157,-3.68471321038e-05,1793238905605210624
+82,1.366666667,BASELINE,766,746,715,679,664,636.620726562,879,788,803,652,632,653,0.400793679772,-0.00543905175533,0.0598852803612,0.999999939917,-8.81258696065e-05,-0.000333184804741,-3.72438745411e-05,1793238905621876224
+83,1.383333333,BASELINE,766,745.799600791,715,679,664,636.799600791,879,787.799600791,803.200399209,652.200399209,631.799600791,652.799600791,0.400792773587,-0.00543856683121,0.059884545092,0.99999993958,-8.83748198434e-05,-0.000334105648708,-3.74515879019e-05,1793238905638542336
+84,1.400000000,BASELINE,766,745.214493873,715,679,664,636.214493873,879,787.214493873,803.785506127,652.785506127,631.214493873,652.214493873,0.400791224261,-0.0054399792915,0.0598829000664,0.999999938551,-9.1529885991e-05,-0.000336347929331,-3.72964209429e-05,1793238905655208960
+85,1.416666667,BASELINE,766,745.367044324,715,679,664,636,879,787.367044324,804,652.632955676,631,652,0.400791531222,-0.00544076420903,0.0598831115182,0.999999938596,-9.20060034795e-05,-0.000336097089405,-3.7168082481e-05,1793238905671875840
+86,1.433333333,BASELINE,766,745.946517074,715,679,664,636,879,787.946517074,804,652.053482926,631,652,0.400792912517,-0.00544118593349,0.0598843974142,0.999999939266,-9.09316681279e-05,-0.000334403345481,-3.70552711325e-05,1793238905688542464
+87,1.450000000,BASELINE,766,745.475234616,715,679,664,636.524765384,879,788,804,652.524765384,631.524765384,652,0.400793627968,-0.00544020519812,0.0598848225821,0.999999939528,-9.09979015624e-05,-0.000333571090189,-3.73286310376e-05,1793238905705209600
+88,1.466666667,BASELINE,766,745,715,679,664.102275054,636.897724946,879,787.897724946,803.897724946,652.897724946,632,652,0.400793878016,-0.00543918788347,0.0598849016911,0.999999939636,-9.09097142592e-05,-0.00033324722831,-3.75397954979e-05,1793238905721877248
+89,1.483333333,BASELINE,766,745,715,679,664.676948061,636.323051939,879,787.323051939,803.323051939,652.323051939,632,652,0.400792291136,-0.00543866028092,0.0598837866319,0.999999939225,-8.95726031101e-05,-0.000334866983546,-3.72823195093e-05,1793238905738544128
+90,1.500000000,BASELINE,766,745.257771098,715,679,664.742228902,636,879,787.257771098,803.257771098,652.257771098,632,652.257771098,0.400792056443,-0.00543860684904,0.0598837276341,0.999999939236,-8.83411781795e-05,-0.000335187355576,-3.70573903519e-05,1793238905755210240
+91,1.516666667,BASELINE,766,745.846490006,715,679,664.153509994,636,879,787.846490006,803.846490006,652.846490006,632,652.846490006,0.400793557798,-0.00543916219664,0.0598850244953,0.99999993979,-8.72454420417e-05,-0.000333839472088,-3.68742475226e-05,1793238905771876096
+92,1.533333333,BASELINE,765.571972237,745.571972237,715,679.428027763,664,636,879.428027763,788,804,652.571972237,631.571972237,653,0.400793377142,-0.00543963878788,0.0598849167293,0.999999939586,-8.85836466696e-05,-0.000334084020449,-3.70073623895e-05,1793238905788542208
+93,1.550000000,BASELINE,765,745,715,679.993041743,664,636,880,787.993041743,803.993041743,652,631.006958257,652.993041743,0.400792614644,-0.00544008410928,0.0598843237149,0.999999939118,-9.07524957158e-05,-0.000334875123042,-3.72493779159e-05,1793238905805208832
+94,1.566666667,BASELINE,765,745,715,679.420156119,664,636,880,787.420156119,803.420156119,652,631.579843881,652.420156119,0.400792783311,-0.00544024555308,0.0598845604382,0.999999939273,-9.06544070633e-05,-0.000334434882035,-3.72756989662e-05,1793238905821875200
+95,1.583333333,BASELINE,765.157158877,745,715,679,664,636,880,787,803.157158877,652,631.842841123,652.157158877,0.400793186979,-0.00544020498488,0.0598849783457,0.999999939455,-9.09906505297e-05,-0.000333792816132,-3.73140380303e-05,1793238905838542080
+96,1.600000000,BASELINE,765.746659125,745,715,679,664,636,880,787,803.746659125,652,631.253340875,652.746659125,0.400794237128,-0.00543960868517,0.0598858946879,0.999999939711,-9.25217341764e-05,-0.000332595533304,-3.73854384499e-05,1793238905855208960
+97,1.616666667,BASELINE,766,745.329424602,715,679,664,636,879.670575398,787,803.670575398,652,631,653,0.400794446282,-0.00543985113142,0.0598859331818,0.999999939804,-9.21469325899e-05,-0.000332442759803,-3.71723880148e-05,1793238905871875584
+98,1.633333333,BASELINE,766,745.907114497,715,679,664,636,879.092885503,787,803.092885503,652,631,653,0.400794021636,-0.00544072568445,0.0598853101001,0.999999939774,-9.0335792668e-05,-0.000333077163201,-3.67449659889e-05,1793238905888542464
+99,1.650000000,BASELINE,766,746,715,679.484432101,664,636,879,787,803.484432101,652.484432101,631,653,0.400793334994,-0.00544036640055,0.0598850202476,0.999999939606,-9.04615311784e-05,-0.000333526588454,-3.69428100439e-05,1793238905905208832
+100,1.666666667,BASELINE,766,746,715,679.938083061,664,636,879,787.061916939,803.938083061,653,631,652.938083061,0.400792715221,-0.00543973455176,0.0598848356912,0.999999939468,-9.06296078274e-05,-0.000333862858316,-3.72357457455e-05,1793238905921875200
+101,1.683333333,BASELINE,766,746,715,679.358604066,664,636,879,787.641395934,803.358604066,653,631,652.358604066,0.400793074005,-0.00543880036384,0.0598849976271,0.9999999398,-8.80496242295e-05,-0.000333549512814,-3.73221693327e-05,1793238905938542336
+102,1.700000000,BASELINE,766,745.776420491,715,679,664,636,879.223579509,788,803.223579509,652.776420491,631,652.223579509,0.400793510515,-0.00543825295443,0.0598852086187,0.999999940067,-8.63024613496e-05,-0.000333207534965,-3.73031549959e-05,1793238905955209216
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+105,1.750000000,BASELINE,766,745,715,679.970425524,664,636,879.029574476,787.029574476,803.029574476,652,631,652.029574476,0.400792973775,-0.00544151508462,0.0598854836861,0.999999939524,-9.363327719e-05,-0.000332879318228,-3.70923465828e-05,1793238906005210624
+106,1.766666667,BASELINE,766,745,715,679.453437262,664,636,879,787,803,652,631,652,0.400794144315,-0.00544084619891,0.0598857002485,0.999999939731,-9.22106069763e-05,-0.000332668524166,-3.69574788179e-05,1793238906021877504
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879,787,803,652,631,652,0.400792651263,-0.00544084484113,0.0598848024006,0.99999993949,-9.02324093202e-05,-0.000333925827576,-3.70464417198e-05,1793238906064426752
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,678.399089014,664,636,878.399089014,787.600910986,803,652,631.600910986,652,0.400792728284,-0.00543990370917,0.0598845547322,0.999999939403,-9.03880090575e-05,-0.000334142494696,-3.70566300213e-05,1793238906081092864
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.194302649,715,678.388605299,664,636,878.194302649,788,803.194302649,652.194302649,632,652,0.400792788043,-0.00543906036686,0.059884391741,0.999999939371,-9.01946254058e-05,-0.000334277870602,-3.71635942811e-05,1793238906097759488
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+111,1.850000000,POSE1_TO_POSE2_PRESS,766.349268778,746,715.349268778,679.650731222,663.650731222,636.349268778,879.349268778,787.650731222,804,652.650731222,632,652,0.400792273911,-0.00543836579659,0.0598838859264,0.999999939201,-8.96988079703e-05,-0.000334873949352,-3.75780356154e-05,1793238906131092480
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.924367468,746,715.924367468,679.075632532,663.075632532,636.924367468,879.924367468,787.075632532,804,652.075632532,632,652,0.400791368597,-0.00543871261616,0.0598830428531,0.999999938743,-9.09083519547e-05,-0.000335913621896,-3.75763233501e-05,1793238906147758848
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.493426207,746,715.493426207,679,663.506573793,636.493426207,879.493426207,787.506573793,803.493426207,652,631.493426207,652.506573793,0.400793673859,-0.00543914313616,0.0598842141072,0.999999939563,-8.95235331692e-05,-0.000333867843372,-3.72954797401e-05,1793238906164425728
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+121,2.016666667,POSE1_TO_POSE2_PRESS,765.153770114,745,715,678.153770114,664,636,879,787,804,652,631,652,0.400938588307,-0.00544464348203,0.0599063914462,0.999999947062,-9.50996413585e-05,-0.000309038040179,-3.64442652229e-05,1793238906297758464
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+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,678.68892893,664,636,879,787,803.68892893,652,631.31107107,652,0.401052296358,-0.00544712822428,0.059900328058,0.999999945216,-9.42589005687e-05,-0.000315002472776,-3.81610311815e-05,1793238906331092224
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,678.118872588,664,636,879,787,803.118872588,652,631.881127412,652,0.40112678538,-0.00544859893083,0.0598997817854,0.999999945387,-9.70652112058e-05,-0.000313483628311,-3.91446635878e-05,1793238906347759104
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+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.962002074,664,636,879,787.037997926,803,652,631,652.962002074,0.401322779068,-0.00545361439046,0.0599022411903,0.999999947723,-9.98253523483e-05,-0.000304812703676,-4.09600655813e-05,1793238906381092352
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.371476293,664,636,879,787.628523707,803,652,631,652.371476293,0.401450363299,-0.00545657166391,0.0599073114479,0.999999951206,-0.000102519492261,-0.000292120845462,-4.17439259202e-05,1793238906397758720
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+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.118344825,715,679,663.118344825,636,879.118344825,787,803,652,631.881655175,653,0.402530324041,-0.00546973605903,0.0599147689874,0.999999960797,-0.000115255146038,-0.000249669289089,-5.27966577077e-05,1793238906497758464
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765.226263526,746,715,680.226263526,661,634,880.773736474,786.226263526,805,651.773736474,631,652,0.449395967858,-0.00557085392199,0.059659486034,0.999999842038,-0.000121848590401,-0.000544391406237,-6.86646637492e-05,1793238908297758464
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.349338072,746,715,680.349338072,661,634,880.650661928,786.349338072,805,652,631,652,0.449395453579,-0.00557055800671,0.0596587711328,0.999999841565,-0.000121458473305,-0.000545315370586,-6.89063356635e-05,1793238908314425344
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.925530628,746,715,680.925530628,661,634,880.074469372,786.925530628,805,652,631,652,0.449394517161,-0.00556939240276,0.0596577438209,0.999999840852,-0.000120550682383,-0.000546769694572,-6.93221132185e-05,1793238908331091968
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745.485648734,715,681,661,634,880.514351266,787,804.485648734,652,631,652.514351266,0.44939529014,-0.00556901656728,0.0596586019449,0.999999841655,-0.000119413017161,-0.0005455815579,-6.90716157947e-05,1793238908347758592
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.897160239,745.102839761,715,681,661,634,881,786.897160239,804.102839761,652,631,653,0.449396146693,-0.00556875662981,0.0596594222951,0.999999842426,-0.000118546213649,-0.000544394529908,-6.87773674092e-05,1793238908364425216
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765.258234246,746,715,681,661,634,880.741765754,786.258234246,805,652,631,652.741765754,0.449396367851,-0.00556878832931,0.0596584263717,0.99999984168,-0.000120369628766,-0.000545376118179,-6.867795486e-05,1793238908397758720
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,661,634,881,787,805,652,631.576178593,652.423821407,0.449402640339,-0.00556967989323,0.0596609546338,0.999999843726,-0.000120790684467,-0.00054168459729,-6.73500566062e-05,1793238908837946112
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.900037639,636.900037639,879,787.199924723,804,652,632,653,0.406215220803,-0.00537100738617,0.0598369043592,0.999999935177,0.000228031921262,-0.000277090768395,2.94514602364e-05,1793238910254611456
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.535382918,745,715,679,663,636,880,788,803.464617082,652.464617082,631.464617082,653,0.400974294912,-0.00536758060517,0.0598408378834,0.999999933149,0.000244470041233,-0.00027088185713,2.36562742043e-05,1793238910787944960
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.629368103,636,879.370631897,788,803.370631897,652.370631897,632,653,0.400973740532,-0.00536755604378,0.0598414310792,0.999999933832,0.000243974560322,-0.000268820090323,2.34131243585e-05,1793238910821277696
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.795136354,745,715,679,663.204863646,636,879,788,803,652,631.204863646,653,0.40097396401,-0.00536646302498,0.0598442203956,0.999999933956,0.000246780758619,-0.000265785226203,2.33668517264e-05,1793238910854610944
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+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.995470473,715,679,663.004529527,636,879,788,804,652,632,653,0.4009752429,-0.00536971736787,0.0598466320413,0.999999935921,0.000243891632005,-0.000261009613788,2.34083131336e-05,1793238911004610816
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb5b3d8d38b8db0cdf29b6739e2188b9eda05955
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,415 @@
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+385,6.416666667,pose2_to_pose3_retreat,0.575674304813,9.08583780091e-05,1.05003228042,0.546244754618,0.00876259208383,1.04970041662
+386,6.433333333,pose2_to_pose3_retreat,0.575670971424,9.07912631276e-05,1.05003224018,0.546241422065,0.00876252761587,1.04970037126
+387,6.450000000,pose2_to_pose3_retreat,0.575668832602,9.08578386659e-05,1.05003223179,0.546239282548,0.00876259192168,1.04970036527
+388,6.466666667,pose2_to_pose3_retreat,0.575667532046,9.09062438553e-05,1.05003222794,0.546237981479,0.00876263865998,1.04970036331
+389,6.483333333,pose2_to_pose3_retreat,0.575666892889,9.09122007546e-05,1.05003224285,0.546237342382,0.00876264482184,1.04970037831
+390,6.500000000,pose2_to_pose3_retreat,0.575666778879,9.08957368455e-05,1.05003226203,0.546237228687,0.00876262940109,1.04970039669
+391,6.516666667,pose2_to_pose3_retreat,0.575666685648,9.08822736381e-05,1.05003227771,0.546237135715,0.00876261679093,1.04970041171
+392,6.533333333,pose2_to_pose3_retreat,0.575666488861,9.08538563318e-05,1.05003231081,0.546236939475,0.00876259017417,1.04970044343
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+394,6.566666667,pose2_to_pose3_retreat,0.575666243731,9.0818457749e-05,1.05003235203,0.546236695024,0.00876255701847,1.04970048293
+395,6.583333333,pose2_to_pose3_retreat,0.575666189132,9.08105732633e-05,1.05003236122,0.546236640577,0.00876254963355,1.04970049173
+396,6.600000000,pose2_to_pose3_retreat,0.575666085161,9.07955591382e-05,1.0500323787,0.546236536894,0.00876253557074,1.04970050849
+397,6.616666667,pose2_to_pose3_retreat,0.575666061252,9.07921065048e-05,1.05003238273,0.546236513052,0.00876253233687,1.04970051234
+398,6.633333333,pose2_to_pose3_retreat,0.575666037291,9.07886463577e-05,1.05003238676,0.546236489157,0.00876252909596,1.0497005162
+399,6.650000000,pose2_to_pose3_retreat,0.575666023438,9.07866459234e-05,1.05003238909,0.546236475343,0.00876252722227,1.04970051844
+400,6.666666667,pose2_to_pose3_retreat,0.575665941786,9.077485486e-05,1.05003240282,0.546236393918,0.0087625161783,1.0497005316
+401,6.683333333,pose2_to_pose3_retreat,0.575665771226,9.07502247668e-05,1.05003243151,0.546236223831,0.00876249310879,1.04970055908
+402,6.700000000,pose2_to_pose3_retreat,0.575665701349,9.07401340238e-05,1.05003244326,0.546236154147,0.00876248365741,1.04970057035
+403,6.716666667,pose2_to_pose3_retreat,0.575665607002,9.07265096231e-05,1.05003245913,0.546236060062,0.00876247089626,1.04970058555
+404,6.733333333,pose2_to_pose3_retreat,0.57566544362,9.07029161753e-05,1.05003248661,0.546235897134,0.00876244879772,1.04970061188
+405,6.750000000,pose2_to_pose3_retreat,0.575665269982,9.0677841597e-05,1.05003251581,0.546235723977,0.00876242531189,1.04970063987
+406,6.766666667,pose2_to_pose3_retreat,0.575664949474,9.06954762947e-05,1.05003245928,0.546235402329,0.00876243907164,1.04970058322
+407,6.783333333,pose2_to_pose3_retreat,0.575664780114,9.07062030089e-05,1.05003242697,0.546235232322,0.00876244760079,1.04970055089
+408,6.800000000,pose2_to_pose3_retreat,0.575664769741,9.07068600017e-05,1.05003242499,0.546235221909,0.00876244812318,1.04970054891
+409,6.816666667,pose2_to_pose3_retreat,0.575664590247,9.071822854e-05,1.05003239076,0.546235041729,0.00876245716267,1.04970051466
+410,6.833333333,pose2_to_pose3_retreat,0.5756645017,9.08389538328e-05,1.05003230843,0.546234951523,0.00876257231972,1.04970043401
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eafe9d88788cf1b5d341ea758852128583a85cba
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:512406aa353f5c7eb550292b4ed4744d9fd4926cb85a705dbdf819101e487d66
+size 26371310
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac9e71bfe25d52b2f33c0c834f1d27f3634ecc3b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_02/franka_data.csv
@@ -0,0 +1,416 @@
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+17,0.283333333,BASELINE,766,745.15102371,715,679.15102371,664,636,879,788,803.84897629,652,631.84897629,653,0.400972199372,-0.00537278431818,0.0598477826391,0.999999937568,0.00023888580593,-0.000259343493337,2.31916442874e-05,1793238911632019712
+18,0.300000000,BASELINE,766,745,715,679,664,636.433704665,879,788,803.566295335,652.433704665,632,653,0.400972716221,-0.00537251389504,0.0598474826543,0.999999937428,0.000239293422185,-0.000259519940296,2.30845948106e-05,1793238911648686592
+19,0.316666667,BASELINE,766,745,715,679,664,636.977991769,879,787.977991769,803.022008231,652.977991769,632,653,0.400973494373,-0.00537189546567,0.0598470508045,0.99999993718,0.000240447898776,-0.000259423807798,2.29077280642e-05,1793238911665353728
+20,0.333333333,BASELINE,766,745,715,679,664,636.396955044,879,787.396955044,803.603044956,652.396955044,632,653,0.400973539012,-0.00537049909475,0.0598479220308,0.999999937058,0.000241868628584,-0.000258600200077,2.25652107418e-05,1793238911682032128
+21,0.350000000,BASELINE,766,745,715,679,664,636,879,787.181572446,804,652,632,653,0.400973787676,-0.00537003974385,0.0598486648812,0.999999937095,0.000242573707382,-0.000257796393366,2.25516119987e-05,1793238911698703616
+22,0.366666667,BASELINE,766,745,715,679,664,636,879,787.754688932,804,652,632,653,0.4009744763,-0.00537160098939,0.0598491309009,0.999999937478,0.000241735551357,-0.000257035285794,2.32472955295e-05,1793238911715358464
+23,0.383333333,BASELINE,766,745,715,679,664,636,879,787.673209774,804,652,632,653,0.400974727836,-0.00537196422991,0.0598496484314,0.99999993782,0.000240866016715,-0.000256516012334,2.33198370383e-05,1793238911732020224
+24,0.400000000,BASELINE,766,745,715,679,664,636,879,787.101868133,804,652,632,653,0.400974652281,-0.00537143095103,0.0598502045096,0.99999993813,0.000239972999994,-0.000256177713832,2.29260541986e-05,1793238911748686848
+25,0.416666667,BASELINE,766,745,715,679,663.510124706,636,879,787.489875294,804,652,632,653,0.40097410955,-0.00537109201358,0.0598496822395,0.999999937726,0.000241513083192,-0.000256324010738,2.27396787859e-05,1793238911765353472
+26,0.433333333,BASELINE,766.082849997,745,715,679,663.082849997,636,879,788,804,652,632,653,0.400973575903,-0.00537094647759,0.0598490198088,0.999999937268,0.000243088823111,-0.000256629651247,2.26306659605e-05,1793238911782020352
+27,0.450000000,BASELINE,766.656879814,745,715,679,663.656879814,636,879,788,804,652,632,653,0.400973697078,-0.00537169753017,0.0598489136144,0.999999937431,0.000241746022062,-0.000257256584929,2.27134920983e-05,1793238911798686976
+28,0.466666667,BASELINE,767,745,715,679.2322835,664,636,879,788,803.7677165,652.2322835,632,653,0.400973678918,-0.00537186573654,0.0598486899455,0.999999937551,0.0002407051942,-0.000257764499994,2.2724866427e-05,1793238911815353856
+29,0.483333333,BASELINE,767,745,715,679.809728651,664,636,879,788,803.190271349,652.809728651,632,653,0.400973453714,-0.00537116786257,0.0598482917155,0.99999993761,0.000240113083453,-0.000258095559319,2.26300669398e-05,1793238911832020480
+30,0.500000000,BASELINE,766.603835408,745,715.396164592,679.603835408,663.603835408,636,879,788,803,652.603835408,631.603835408,653,0.400973273578,-0.00537185100876,0.059848318412,0.999999937864,0.000239279329119,-0.000257875439651,2.2761643335e-05,1793238911848686848
+31,0.516666667,BASELINE,766.012981081,745,715.987018919,679.012981081,663.012981081,636,879,788,803,652.012981081,631.012981081,653,0.40097311559,-0.00537321283868,0.0598485539329,0.999999938212,0.000238326822327,-0.000257384450506,2.30044691009e-05,1793238911865353472
+32,0.533333333,BASELINE,766,745,715.433255599,679,663,636,879.566744401,788,803.566744401,652,631.566744401,653,0.400973408236,-0.00537255162863,0.0598490133669,0.999999938025,0.000239660622454,-0.000256862777464,2.31088559108e-05,1793238911882020096
+33,0.550000000,BASELINE,766,745,715,679,663,636,879.855062012,788,804,652,632,653,0.400974031075,-0.00537195723962,0.0598493708069,0.999999937952,0.000240473885257,-0.000256388139259,2.30980268095e-05,1793238911898686976
+34,0.566666667,BASELINE,766,745,715,679,663,636,879.280666859,788,804,652,632,653,0.400975602295,-0.0053716954986,0.0598494111302,0.999999938257,0.000239592597005,-0.000256054909625,2.27550228006e-05,1793238911915353344
+35,0.583333333,BASELINE,766.286681655,745.286681655,715,679,663,636,879.286681655,787.713318345,803.713318345,652,631.713318345,652.713318345,0.400976593677,-0.00537184779367,0.0598500624046,0.999999938439,0.000240275589437,-0.000254698288702,2.27841582371e-05,1793238911932019968
+36,0.600000000,BASELINE,766.847296942,745.847296942,715,679,663,636,879.847296942,787.152703058,803.152703058,652,631.152703058,652.152703058,0.400977031007,-0.00537239571365,0.0598512974627,0.999999938496,0.000242453302768,-0.00025236378412,2.31688849614e-05,1793238911948686592
+37,0.616666667,BASELINE,767,745.557200763,715,679,663,636,879.557200763,787.442799237,803,652.442799237,631,652,0.40097546108,-0.00537204227963,0.0598503413451,0.99999993812,0.000242274507573,-0.000254038595569,2.29531578978e-05,1793238911965353728
+38,0.633333333,BASELINE,767,745.048583891,715,679,663.048583891,636,879,787.951416109,803,652.951416109,631.048583891,652,0.400973280453,-0.00537137053886,0.0598486866045,0.999999937604,0.000241267388122,-0.000257047589309,2.25523416776e-05,1793238911982020352
+39,0.650000000,BASELINE,767,745.624234977,715,679,663.624234977,636,879,787.375765023,803,652.375765023,631.624234977,652,0.400972626464,-0.00537090619675,0.0598483515893,0.999999937396,0.000240844368982,-0.000258247948909,2.25821316635e-05,1793238911998686720
+40,0.666666667,BASELINE,766.799556209,746,715,679.200443791,664,636,879,787.200443791,803.200443791,652,631.799556209,652.200443791,0.400972407293,-0.00537085997942,0.0598484984225,0.999999937456,0.000240181328577,-0.000258635696117,2.25521328189e-05,1793238912015353088
+41,0.683333333,BASELINE,766.222298959,746,715,679.777701041,664,636,879,787.777701041,803.777701041,652,631.222298959,652.777701041,0.400973005533,-0.00537159979315,0.0598495510805,0.99999993802,0.000239067073207,-0.000257495816549,2.24097371953e-05,1793238912032019712
+42,0.700000000,BASELINE,766,745.648476328,715,679.648476328,663.648476328,636.351523672,879,788,803.648476328,652.351523672,631,653,0.400973972888,-0.00537209230345,0.0598499880477,0.999999938118,0.000239646581578,-0.000256560510157,2.25974989083e-05,1793238912048686592
+43,0.716666667,BASELINE,766,745.076804709,715,679.076804709,663.076804709,636.923195291,879,788,803.076804709,652.923195291,631,653,0.400975171408,-0.00537242993556,0.0598500394276,0.999999937921,0.000241286839629,-0.000255753321395,2.29920275253e-05,1793238912065352960
+44,0.733333333,BASELINE,766,745,715,679,663.517237261,636.482762739,879,788,803.517237261,653,631.517237261,652.482762739,0.400975126241,-0.00537213169959,0.0598508675338,0.999999938246,0.000241274890205,-0.000254501552797,2.28745790972e-05,1793238912082019584
+45,0.750000000,BASELINE,766,745,715,679,664,636,879.220491678,788,803.889754161,653,631.889754161,652.110245839,0.40097498323,-0.00537196220054,0.0598514620956,0.999999938572,0.000240817276174,-0.000253660839427,2.2778630433e-05,1793238912098686208
+46,0.766666667,BASELINE,766,745,715,679,664,636,880.368600266,788,803.315699867,653,631.315699867,652.684300133,0.400975240643,-0.00537274948899,0.0598505669684,0.999999938566,0.000239563533043,-0.000254839737189,2.31074244577e-05,1793238912115353344
+47,0.783333333,BASELINE,766,745,715,679,664,636,880.482766253,788,803.258616873,652.741383127,631,653,0.400975372854,-0.00537254920464,0.0598501414829,0.999999938387,0.00023974319701,-0.000255367373458,2.31534961034e-05,1793238912132020224
+48,0.800000000,BASELINE,766,745,715,679,664,636,879.333491221,788,803.83325439,652.16674561,631,653,0.400975352073,-0.00537114214146,0.0598502898826,0.999999937998,0.000241674433424,-0.000255099191449,2.2854091077e-05,1793238912148686848
+49,0.816666667,BASELINE,766,745,715,679,664,636,879,788,803.578815702,652,631.421184298,653,0.400976052363,-0.00537178946172,0.0598505665955,0.999999938406,0.000240781695616,-0.00025434409148,2.28194568852e-05,1793238912165353216
+50,0.833333333,BASELINE,766.014192042,745,715,679,664,636,879,788,803,652,631.985807958,652.985807958,0.400976965993,-0.00537322645186,0.0598508609804,0.999999939103,0.000238788544367,-0.000253477250307,2.28892235094e-05,1793238912182019840
+51,0.850000000,BASELINE,766.593034278,745,715,679,664,636,879,788,803,652,631.406965722,652.406965722,0.400974639717,-0.00537266779774,0.0598497715037,0.999999938403,0.000238944771086,-0.00025608416257,2.28063254931e-05,1793238912198686720
+52,0.866666667,BASELINE,766.829696463,745.170303537,715,679,663.829696463,636,879,788,803,652,631.170303537,652.170303537,0.400972866868,-0.00537214104662,0.0598489764023,0.999999937867,0.000239174098564,-0.000257966809795,2.27096347706e-05,1793238912215353088
+53,0.883333333,BASELINE,766.256151698,745.743848302,715,679,663.256151698,636,879,788,803,652,631.743848302,652.743848302,0.400972404411,-0.00537168983482,0.0598488783167,0.99999993773,0.000239576512519,-0.000258134556934,2.25802859657e-05,1793238912232019712
+54,0.900000000,BASELINE,766,745.674153116,715,679,663.325846884,636,879,788,803,652,631.674153116,653,0.400972126688,-0.00537151181352,0.0598487640266,0.999999937484,0.000240272500905,-0.00025844073353,2.25793040312e-05,1793238912248686336
+55,0.916666667,BASELINE,766,745.085331919,715,679,663.914668081,636,879,788,803,652,631.085331919,653,0.400971998055,-0.0053715542703,0.0598486366587,0.999999937149,0.000241205418142,-0.000258858629436,2.2681920422e-05,1793238912265353216
+56,0.933333333,BASELINE,766,745.495887063,715,679,664,636,879,788,803,652,631,652.504112937,0.400972956679,-0.00537150086748,0.0598490049584,0.999999937709,0.000240634493134,-0.000257242355717,2.243984138e-05,1793238912282019840
+57,0.950000000,BASELINE,766,745.924542159,715,679,664,636,879,787.924542159,803,652.075457841,631,652.075457841,0.400973845657,-0.00537145598052,0.059849398263,0.999999938303,0.000239819114592,-0.000255709941503,2.21891552801e-05,1793238912298686208
+58,0.966666667,BASELINE,766,745.347363778,715,679,664,636,879,787.347363778,803,652.652636222,631,652.652636222,0.400973046339,-0.00537157573822,0.0598493992658,0.999999938143,0.000239073014631,-0.000257027382534,2.22696722281e-05,1793238912315353088
+59,0.983333333,BASELINE,766,745,715,679,663.771806573,636,878.771806573,787.228193427,803,652.771806573,631.228193427,653,0.400972528699,-0.00537211638259,0.0598491757857,0.999999938169,0.000238197143184,-0.000257721936932,2.24530682828e-05,1793238912332019456
+60,1.000000000,BASELINE,766,745,715,679,663.198699685,636,878.198699685,787.801300315,803,652.198699685,631.801300315,653,0.400972436815,-0.00537329319551,0.0598486130006,0.999999938479,0.000237125122536,-0.000257475000847,2.27919657127e-05,1793238912348686080
+61,1.016666667,BASELINE,766,745,715,679,663,636.38429401,878.38429401,788,803,652,632,653,0.400973373344,-0.00537314296738,0.0598492787804,0.999999938587,0.000237628844739,-0.000256579495748,2.29163374542e-05,1793238912365352960
+62,1.033333333,BASELINE,766,745,715,679,663,636.972534644,878.972534644,788,803,652,632,653,0.400974855657,-0.0053722884723,0.0598505965654,0.999999938585,0.000238968821092,-0.000255339792063,2.29268593914e-05,1793238912382019840
+63,1.050000000,BASELINE,766,745,715,679,663,636.445901118,879.554098882,788,803,652,632,653,0.400975022943,-0.00537246809486,0.0598505817513,0.999999938806,0.000238451239246,-0.000254962016922,2.28689265761e-05,1793238912398686720
+64,1.066666667,BASELINE,766.133858487,745,715,679,663.133858487,636,879.866141513,787.866141513,803,652,631.866141513,653,0.400975237693,-0.00537235891288,0.0598506161315,0.999999938819,0.000238955219341,-0.00025445019976,2.27653542568e-05,1793238912415353344
+65,1.083333333,BASELINE,766.708749582,745,715,679,663.708749582,636,879.291250418,787.291250418,803,652,631.291250418,653,0.400975821032,-0.00537113131209,0.0598510276362,0.999999938096,0.000243124761689,-0.000253357656422,2.25224568826e-05,1793238912432019968
+66,1.100000000,BASELINE,766.717539532,745,715,679,664,636,879,787.282460468,803,652,631,653,0.400976079409,-0.00537133666076,0.0598511431513,0.999999938168,0.000243456306443,-0.000252753981588,2.25547892752e-05,1793238912448686592
+67,1.116666667,BASELINE,766.145040553,745,715,679,664,636,879,787.854959447,803,652,631,653,0.400976004107,-0.00537301340314,0.0598509547359,0.999999939059,0.00023984688492,-0.000252652291026,2.28697355023e-05,1793238912465352960
+68,1.133333333,BASELINE,766,745,715,679,664,636,879,787.557290808,803,652,631.442709192,653,0.400974930741,-0.00537143228677,0.0598503092515,0.999999938503,0.000241352434919,-0.000253438115305,2.26430649349e-05,1793238912482019584
+69,1.150000000,BASELINE,766,745.034778105,715,679,664,636,879,787.034778105,803.034778105,652,632,653,0.400973618823,-0.00536894879441,0.0598495805152,0.999999937524,0.000244323264315,-0.000254484869197,2.22578591317e-05,1793238912498686464
+70,1.166666667,BASELINE,766,745.613465886,715,679,664,636,879,787.613465886,803.613465886,652,632,653,0.400973872438,-0.00536964081718,0.0598499752501,0.999999937724,0.00024306710867,-0.000254902724557,2.22673976246e-05,1793238912515353088
+71,1.183333333,BASELINE,766,745.808407664,715,679,664,636,879,788,804,652,632,653,0.400974312094,-0.0053707112241,0.0598505716804,0.999999938087,0.000241722909199,-0.000254743675237,2.2397650946e-05,1793238912532019456
+72,1.200000000,BASELINE,766,745.231410278,715,679,664,636,879,788,804,652,632,653,0.400975125991,-0.00537254278455,0.0598515738393,0.99999993878,0.0002402016015,-0.000253424130844,2.27707328993e-05,1793238912548686592
+73,1.216666667,BASELINE,766.351072311,745,715,679.351072311,663.648927689,636.351072311,879,787.648927689,803.648927689,652,632,653,0.400975439157,-0.00537347141318,0.0598515014726,0.999999939449,0.000237762688833,-0.000253088022253,2.27611215524e-05,1793238912565353216
+74,1.233333333,BASELINE,766.93722784,745,715,679.93722784,663.06277216,636.93722784,879,787.06277216,803.06277216,652,632,653,0.400975417027,-0.00537379542518,0.0598507095877,0.999999940094,0.000234709334384,-0.000253410436913,2.24952530827e-05,1793238912582019584
+75,1.250000000,BASELINE,766.482641557,745,715,679.482641557,663.517358443,636.482641557,879,787.517358443,803,652.517358443,632,653,0.400976230361,-0.0053731933064,0.0598511250107,0.999999939716,0.000237010023306,-0.000252730349271,2.2852995613e-05,1793238912598686208
+76,1.266666667,BASELINE,766.096361241,745.096361241,715,679,664,636,879,788,803.096361241,652.903638759,632,653,0.400976615799,-0.00537255601047,0.0598513360284,0.99999993914,0.000239613590138,-0.000252521325057,2.31903328719e-05,1793238912615353088
+77,1.283333333,BASELINE,766.673342992,745.673342992,715,679,664,636,879,788,803.673342992,652.326657008,632,653,0.400974367242,-0.00537229727397,0.0598498053218,0.999999938229,0.000240525026027,-0.000255261519497,2.30528501785e-05,1793238912632019712
+78,1.300000000,BASELINE,766.746128325,745.746128325,715,679.253871675,664,636,879,788,803.746128325,652.253871675,632,653,0.400973542182,-0.00537243935992,0.0598493322797,0.999999938039,0.000240480164173,-0.000256053453728,2.29811908217e-05,1793238912648686336
+79,1.316666667,BASELINE,766.16097118,745.16097118,715,679.83902882,664,636,879,788,803.16097118,652.83902882,632,653,0.400974574689,-0.00537310449224,0.0598502394189,0.999999938795,0.000239187397975,-0.00025430303913,2.29954265056e-05,1793238912665352960
+80,1.333333333,BASELINE,766,745,715,679.579947744,663.579947744,636,879.420052256,788,803,653,632,653,0.400975947439,-0.00537307596897,0.0598510421665,0.999999939478,0.000238266866875,-0.000252493246228,2.27916902164e-05,1793238912682019840
+81,1.350000000,BASELINE,766,745,715,679.000492931,663.000492931,636,879.999507069,788,803,653,632,653,0.400977449305,-0.00537278421546,0.0598518052994,0.999999940131,0.00023748759244,-0.000250660920142,2.25052373389e-05,1793238912698686720
+82,1.366666667,BASELINE,766,745,715,679.578835058,663.578835058,636,879.421164942,788,803,653,632,653,0.400976664869,-0.00537393206716,0.0598514851471,0.999999939579,0.000238635572734,-0.000251749935083,2.27393903435e-05,1793238912715353344
+83,1.383333333,BASELINE,766,745.156792471,715.156792471,679.843207529,664,636,879,788,803.156792471,652.843207529,632,653,0.400975946031,-0.00537458356367,0.0598511444477,0.999999939153,0.000239226322766,-0.000252864085095,2.29241181162e-05,1793238912732019968
+84,1.400000000,BASELINE,766,745.731100655,715.731100655,679.268899345,664,636,879,788,803.731100655,652.268899345,632,653,0.400975407057,-0.00537391007441,0.0598507514903,0.999999939068,0.000238328879911,-0.000254038543244,2.2976053384e-05,1793238912748686592
+85,1.416666667,BASELINE,766,746,715.687210272,679,664,636,879,788,803.687210272,652.312789728,632,653,0.400974699114,-0.00537218426709,0.059850354866,0.999999938693,0.000239219808578,-0.000254699039191,2.27284926375e-05,1793238912765353216
+86,1.433333333,BASELINE,766,746,715.099022679,679,664,636,879,788,803.099022679,652.900977321,632,653,0.400973842402,-0.00536953193914,0.0598499550131,0.999999938059,0.000241685321289,-0.000254907013516,2.22172385645e-05,1793238912782020096
+87,1.450000000,BASELINE,766,745.517900514,715,679.482099486,664,636,879.482099486,788,803.482099486,653,632,653,0.400974512722,-0.00537055223464,0.0598503927897,0.999999938532,0.000240350666656,-0.000254306721807,2.22439765372e-05,1793238912798686720
+88,1.466666667,BASELINE,766,745,715,679.938436709,664,636,879.938436709,787.938436709,804,652.938436709,631.938436709,653,0.400975224148,-0.00537215285623,0.0598508327362,0.999999939108,0.000238489144867,-0.000253782081808,2.23846042877e-05,1793238912815353344
+89,1.483333333,BASELINE,766,745,715,679.360884603,664,636,879.360884603,787.360884603,804,652.360884603,631.360884603,653,0.400973689239,-0.00537238620768,0.0598498696884,0.999999938687,0.000238659356026,-0.000255262873927,2.25669960691e-05,1793238912832019968
+90,1.500000000,BASELINE,766.215063413,745,715,679,664,636,879,787.215063413,804,652,631.215063413,653,0.400973532253,-0.0053732789846,0.0598498500394,0.999999938857,0.000237965759032,-0.000255221014964,2.28124633547e-05,1793238912848686592
+91,1.516666667,BASELINE,766.788339577,745,715,679,664,636,879,787.788339577,804,652,631.788339577,653,0.400975670358,-0.00537527011017,0.0598514017291,0.999999940009,0.00023583339059,-0.000252643006055,2.31629900993e-05,1793238912865353216
+92,1.533333333,BASELINE,767,745,715,679,664,636,879,787.627040595,803.627040595,652,631.627040595,653,0.400975800463,-0.00537475204649,0.0598514686167,0.999999939827,0.000236793418171,-0.000252467134633,2.31183870777e-05,1793238912882019840
+93,1.550000000,BASELINE,767,745,715,679,664,636,879,787.035781052,803.035781052,652,631.035781052,653,0.400974755249,-0.00537276530746,0.059850666422,0.999999938863,0.000239563482962,-0.000253697279106,2.28425072235e-05,1793238912898686464
+94,1.566666667,BASELINE,765.913380579,745,715,679,664,636,879.54330971,787.54330971,803.54330971,652,631.54330971,653,0.400973798229,-0.00537181927729,0.0598507764505,0.999999938595,0.000240032973289,-0.000254314350456,2.27465870763e-05,1793238912915353088
+95,1.583333333,BASELINE,765.121354923,745,715,679,664,636,879.878645077,787.878645077,803.878645077,652.121354923,632,653,0.400973455647,-0.0053715988484,0.0598509126344,0.999999938536,0.000240035471629,-0.00025454648922,2.2718899827e-05,1793238912932019968
+96,1.600000000,BASELINE,765.698417577,745,715,679,664,636,879.301582423,787.301582423,803.301582423,652.698417577,632,653,0.400975399051,-0.00537385143633,0.0598509263798,0.999999939089,0.000238840820243,-0.00025348143809,2.29039081801e-05,1793238912948686592
+97,1.616666667,BASELINE,766,745.272992579,715,679,664,636,879,787.272992579,803,653,632,653,0.400976055664,-0.00537397302056,0.0598507698029,0.99999993925,0.000238506470512,-0.000253184991133,2.26104234355e-05,1793238912965352960
+98,1.633333333,BASELINE,766,745.844844186,715,679,664,636,879,787.844844186,803,653,632,653,0.40097530356,-0.00537176168522,0.0598504267655,0.999999938985,0.000239113937361,-0.000253729974798,2.17931076535e-05,1793238912982019840
+99,1.650000000,BASELINE,766.432985419,745.567014581,715,679,664,636,879,788,803,653,632,653,0.400974216825,-0.00537156979577,0.059850377489,0.99999993862,0.00024008898942,-0.000254243626095,2.18607017753e-05,1793238912998686720
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+106,1.766666667,BASELINE,766.508137011,746,715.508137011,679,664,636,879.508137011,788,803.491862989,652,632,653,0.400974714178,-0.00537171012476,0.0598505381163,0.999999938321,0.000241295313009,-0.000254213024587,2.25717035899e-05,1793238913115353600
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+111,1.850000000,POSE1_TO_POSE2_PRESS,766.673833996,745.673833996,715,679,664,636.673833996,879,788,804,652,632,653,0.400972702435,-0.00537108226574,0.0598497082417,0.999999937206,0.000244131975919,-0.000255881944516,2.26403304986e-05,1793238913225126400
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+114,1.900000000,POSE1_TO_POSE2_PRESS,766.946730331,745,715.946730331,679,663.946730331,636,879.053269669,787.946730331,803.946730331,652,632,653,0.400973863176,-0.00537417765511,0.059850016162,0.999999938737,0.000238424277833,-0.00025524948596,2.29876968562e-05,1793238913275126016
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+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.209281687,715.209281687,678.790718313,663.209281687,636,880,787.209281687,803,652,631.790718313,653,0.400984972309,-0.0053715559879,0.0598564189945,0.999999940899,0.000238865542135,-0.000246252686503,2.24584154448e-05,1793238913308459520
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.804310131,715.804310131,678.195689869,663.804310131,636,880,787.804310131,803,652,631.195689869,653,0.401001445373,-0.00537272034954,0.0598629162566,0.999999943647,0.000238708746951,-0.000234952295346,2.28397414386e-05,1793238913325126144
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.613494404,715.613494404,678.386505596,663.613494404,636,879.613494404,788,803.386505596,652,631,653,0.401038110862,-0.00537429747147,0.0598776919188,0.999999949727,0.00023819393478,-0.000207952725056,2.37595495362e-05,1793238913341792768
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.037587497,715.037587497,678.962412503,663.037587497,636,879.037587497,788,803.962412503,652,631,653,0.40108467135,-0.00537607686055,0.0598965242885,0.999999956475,0.000237503681473,-0.000173260004623,2.49432327807e-05,1793238913358459392
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.538439863,663.538439863,636,879.538439863,788,803.461560137,652,631,653,0.40114781503,-0.00537891906411,0.0599154287111,0.999999961364,0.000236676847785,-0.000143435488371,2.61313483334e-05,1793238913375126016
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.116632379,745,715,680,663.883367621,636,879.883367621,788,803,652,631,653,0.401215083718,-0.00538146784142,0.0599329100272,0.99999996501,0.000236128874363,-0.000116139237185,2.71253159318e-05,1793238913391792640
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+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.020606101,715,679.020606101,664,636,879.020606101,788,803.979393899,653,632,653,0.401697220942,-0.00539165545609,0.0599616647391,0.999999971581,0.000227769425958,-6.5876938204e-05,2.48685339394e-05,1793238913475126272
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+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,879.82474884,788,803,652.82474884,632,653,0.401979911095,-0.00539747065486,0.0599608977453,0.999999972811,0.000224610836486,-5.90236336338e-05,2.10977080907e-05,1793238913508459520
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+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.831754001,664,636,879.168245999,788,803.168245999,652.831754001,632,652.168245999,0.403886772764,-0.00544795424164,0.0599541600289,0.999999983187,0.000178113124139,-4.35410234206e-05,2.39128870266e-06,1793238913641793024
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.409157213,715,679.590842787,664,636,879.409157213,788,803,652.590842787,631.590842787,652.409157213,0.404213420661,-0.00545560263458,0.0599459169762,0.999999984486,0.000166932103802,-5.62141585874e-05,-1.48920314334e-06,1793238913658459648
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.985737491,715,679.014262509,664,636,879.985737491,788,803,652.014262509,631.014262509,652.985737491,0.404547853651,-0.00546277701127,0.0599379586304,0.999999985455,0.000156026103173,-6.86736405451e-05,-5.38127368202e-06,1793238913675126528
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.428316574,715,679,664,636,879.428316574,788,803.571683426,652.571683426,631.571683426,653,0.404905095627,-0.00547268300104,0.0599256665866,0.999999985561,0.000143448353341,-9.06356069155e-05,-9.26184749372e-06,1793238913691793408
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.155765847,715,679,664,636,879.155765847,788,804,652.844234153,632,653,0.405286568832,-0.00548253817235,0.0599191367317,0.999999988004,0.000114718898804,-0.000103275350752,-1.29032999442e-05,1793238913708459776
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.734147676,715,679,664,636,879.734147676,788,804,652.265852324,632,653,0.405732215298,-0.0054920674859,0.0599285387837,0.999999994933,4.22825039787e-05,-8.99685894935e-05,-1.5896770946e-05,1793238913725126656
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.688040242,715,679,664,636,879.688040242,788,804,652,632,653,0.406220920384,-0.00550046865181,0.0599498874646,0.999999998276,7.142559851e-06,-5.52940373255e-05,-1.8436373325e-05,1793238913741793280
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.110712751,715,679,664,636,879.110712751,788,804,652,632,653,0.406746253218,-0.00550791016299,0.0599813985142,0.999999999778,3.72873368772e-06,-2.44302969187e-06,-2.05898939244e-05,1793238913758459904
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.465133734,715,679,664,636,879,788,803.534866266,652,631.534866266,653,0.407279415341,-0.0055087416166,0.0600050474275,0.999999999225,5.11309421239e-06,3.26970977956e-05,-2.13143378586e-05,1793238913775126784
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.95836457,715,679,663.95836457,636,879,787.95836457,803,652,631,653,0.407812811455,-0.0055075569013,0.0600245587439,0.999999997952,7.49632611485e-06,5.96352542e-05,-2.19937467162e-05,1793238913791793664
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.36861071,715,679,663.36861071,636,879,787.36861071,803,652,631,653,0.408324833164,-0.00550047684726,0.0600141577045,0.99999999904,8.04196611303e-06,3.39179378845e-05,-2.65440959625e-05,1793238913808460288
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.217198672,715,679,663.217198672,636,879,787.217198672,803,652,631,653,0.408860354595,-0.00550072623561,0.0600026207832,0.99999999949,-4.60366547515e-06,7.26850495405e-06,-3.07431899962e-05,1793238913825126912
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.796433196,715,679,663.796433196,636,879,787.796433196,803,652,631,653,0.409435046315,-0.0055131926463,0.0599891905269,0.999999998421,-3.92370617093e-05,-2.0934617486e-05,-3.43567968239e-05,1793238913841793536
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,679.37375054,664,636,879.37375054,787.62624946,803.37375054,652,631,652.62624946,0.410068700283,-0.00552070309976,0.0599903597891,0.999999997708,-5.43903987375e-05,-1.59070578256e-05,-3.70558770967e-05,1793238913858460160
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,679.950028984,664,636,879.950028984,787.049971016,803.950028984,652,631,652.049971016,0.410734304688,-0.00552552801923,0.0599994402372,0.999999997464,-5.89878822506e-05,7.12754120567e-06,-3.92593937096e-05,1793238913875126784
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,880,787.524727253,804,652.524727253,631.524727253,652.524727253,0.41140306061,-0.00552301116207,0.0600021362189,0.999999999353,-1.32360061702e-05,1.42839158141e-05,-3.02436148206e-05,1793238913891793408
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745.898361653,715,679.898361653,664,636,880,788,803.898361653,652.898361653,631.898361653,653,0.412067942471,-0.00551968781882,0.0600005153226,0.999999999371,2.37636192823e-05,1.29325856195e-05,-2.29183281513e-05,1793238913908459776
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.310138776,715,679.310138776,664,636,880,788,803.310138776,652.310138776,631.310138776,653,0.412712844895,-0.00551584068336,0.0599811298009,0.999999999337,-4.02357314501e-06,-2.19312160251e-05,-2.87858299419e-05,1793238913925126400
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.274987158,715,679,664,636,880,788,803.274987158,652.274987158,631.274987158,653,0.413377211701,-0.00551433456099,0.0599564485879,0.999999996753,-2.04183525433e-05,-7.04216190631e-05,-3.34372793023e-05,1793238913941793024
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.856659238,715,679,664,636,880,788,803.856659238,652.856659238,631.856659238,653,0.414063286632,-0.00551543929977,0.0599258612469,0.999999990042,-2.41075191094e-05,-0.00013410936595,-3.67325025842e-05,1793238913958459648
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,715,679,664,636,880.862756208,787.568621896,804,652.568621896,632,653,0.41486127611,-0.00552090294595,0.0599480274012,0.999999994763,-2.41197409761e-05,-9.24425748596e-05,-3.67025080167e-05,1793238913975126272
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,715.003847555,679.003847555,664.003847555,636,881.99230489,787,804,652,632,653,0.415695691,-0.00552776754042,0.0599873898065,0.999999998967,-2.29731701013e-05,-1.64987442092e-05,-3.55825961866e-05,1793238913991793152
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,715.57994961,679.57994961,664.57994961,636,880.840100781,787,804,652,632,653,0.416504489318,-0.00553099149513,0.0600185849973,0.999999998462,-2.83145947278e-05,3.33525548558e-05,-3.40875472969e-05,1793238914008459776
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715.839898047,679.839898047,664.839898047,636,880,787.160101953,804,652,631.839898047,653,0.417303358394,-0.00553288026254,0.0600380958029,0.999999996884,-3.25050130621e-05,6.36302090322e-05,-3.35561144611e-05,1793238914025126656
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715.248843418,679.248843418,664.248843418,636,880,787.751156582,804,652,631.248843418,653,0.418075500493,-0.00553117505394,0.0600261552909,0.999999997952,-3.35972226595e-05,4.12207162984e-05,-3.56184848546e-05,1793238914041793024
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.3345058,746,715,679.3345058,664,636,879.6654942,788,804,652,631.3345058,653,0.418870482898,-0.0055302598799,0.0600091345638,0.999999998604,-3.39853356521e-05,1.39324276985e-05,-3.79894581457e-05,1793238914058459392
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.912251901,746,715,679.912251901,664,636,879.087748099,788,804,652,631.912251901,653,0.419682073899,-0.00552991918998,0.0599884196918,0.99999999846,-3.3861455453e-05,-1.69035406507e-05,-4.05848359924e-05,1793238914075126016
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.512525171,715,679.512525171,664,636,879.974949659,787.512525171,804,652,631.512525171,653,0.420498590288,-0.00553034006873,0.059960760241,0.999999996741,-3.83562461104e-05,-5.62510477638e-05,-4.33793109906e-05,1793238914091793152
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.93611705,745,715,679,664,636,880.93611705,787,804,652,631,653,0.42131226378,-0.00553096599169,0.0599321802836,0.999999993114,-4.33043449026e-05,-9.89126478411e-05,-4.5962271366e-05,1793238914108460032
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.346230102,745,715,679,664,636,880.346230102,787,804,652,631,653,0.422095266216,-0.00553215728193,0.0599062608552,0.999999985681,-4.51746491408e-05,-0.000156311697717,-4.65100757134e-05,1793238914125126400
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679.238484977,664,636,880.238484977,787.238484977,804,652,631,653,0.422941638775,-0.00553359701305,0.0599135236429,0.999999987013,-4.66595885768e-05,-0.000147058461786,-4.65913822152e-05,1793238914141793024
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679.815851047,664,636,880.815851047,787.815851047,804,652,631,653,0.42387805878,-0.00553538977251,0.0599679375127,0.99999999688,-4.75969345047e-05,-4.30940284444e-05,-4.60098070243e-05,1793238914158459904
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.392030964,715,679.607969036,664.392030964,636,880.607969036,788,804,651.607969036,631.392030964,653,0.424789087908,-0.0055395977247,0.0600132746054,0.99999999715,-5.32395916824e-05,2.99419903007e-05,-4.43799765504e-05,1793238914175126784
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.967655353,715,679.032344647,664.967655353,636,880.032344647,788,804,651.032344647,631.967655353,653,0.425688226087,-0.00554493674436,0.0600543609169,0.999999993326,-6.10858099937e-05,8.84938059803e-05,-4.22592339428e-05,1793238914191793408
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.457458462,715,679.542541538,664.457458462,636,880,788,804,651.542541538,631.457458462,653,0.426565773142,-0.00554787222466,0.0600419304781,0.999999993763,-6.07855078521e-05,8.24358106875e-05,-4.45458562511e-05,1793238914208460032
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.12120248,636,880,788,804.12120248,652,631.12120248,652.87879752,0.427431361532,-0.00555039820007,0.0600249076609,0.999999994807,-6.15523766664e-05,6.63547142101e-05,-4.68363806842e-05,1793238914225126656
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664.714745351,636,880,788,804.714745351,652,631.714745351,652.285254649,0.428255355095,-0.00555188595176,0.060002404675,0.999999996162,-6.8368279664e-05,2.62030746642e-05,-4.81195221231e-05,1793238914241793536
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.700543118,664.700543118,636,880,788,804.700543118,652,632,652.299456882,0.429060931946,-0.0055498028756,0.0599780546734,0.999999996055,-7.1880336249e-05,-1.58521575735e-05,-4.97135260557e-05,1793238914258460160
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.124003129,664.124003129,636,880,788,804.124003129,652,632,652.875996871,0.429849468037,-0.0055444157642,0.0599519956561,0.999999994273,-7.2335391296e-05,-5.96687542415e-05,-5.15951664536e-05,1793238914275127040
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.452799375,745,715,679.452799375,664,636,880,787.547200625,804,652,632,653,0.430686285369,-0.00554291304919,0.0599440022446,0.999999994081,-6.72364607003e-05,-6.71263919933e-05,-5.30260245307e-05,1793238914291793664
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.969712141,745.030287859,715,680,664.030287859,636,880,787.030287859,804,652,632,653,0.431538881044,-0.00554284623751,0.0599438284291,0.999999994842,-6.14446168594e-05,-6.00387338671e-05,-5.41770147136e-05,1793238914308460288
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.380901158,745.619098842,715,680,664.619098842,636,880,787.619098842,804,652,632,653,0.432438469764,-0.00554963025083,0.0599965659184,0.999999995611,-7.09395349203e-05,3.15487287485e-05,-5.24449133729e-05,1793238914325126912
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,679.795505378,665,636,880.204494622,788,804,652,632,653,0.433298823556,-0.00555448789061,0.0600288921181,0.999999992125,-7.89024398798e-05,8.30189009983e-05,-5.13009642343e-05,1793238914341793536
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,679.216366323,665,636,880.783633677,788,804,652,632,653,0.43408729714,-0.00555581631831,0.0600238238177,0.999999993295,-8.40586222765e-05,6.09921953416e-05,-5.12345398734e-05,1793238914358460160
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.639047624,715,679.360952376,664.639047624,636,881,788,804.360952376,652,632,652.639047624,0.434852392015,-0.00555533623361,0.0600023380243,0.999999994722,-8.46038756939e-05,2.42032732943e-05,-5.30411988338e-05,1793238914375126528
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.062814662,715,679.937185338,664.062814662,636,881,788,804.937185338,652,632,652.062814662,0.435603543223,-0.00555377750901,0.0599710604478,0.99999999481,-8.23990609224e-05,-2.13901845694e-05,-5.59650091792e-05,1793238914391793152
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.507927808,636,881,788,805,652,632,652,0.43633138334,-0.00555318462017,0.059950444321,0.999999993285,-8.15648900652e-05,-5.91228833068e-05,-5.72921190392e-05,1793238914408459776
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.079290167,715,680,664.920709833,636,881,788,804.920709833,652,632,652.079290167,0.43705544191,-0.00555278428149,0.0599330205711,0.999999990568,-8.14370791092e-05,-9.40035459324e-05,-5.82645483388e-05,1793238914425126400
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.658801058,715,680,664.341198942,636,881,788,804.341198942,652,632,652.658801058,0.437773636317,-0.00555285321217,0.0599275076602,0.999999987877,-8.4707577391e-05,-0.000116958780442,-5.82318027739e-05,1793238914441793024
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.242682961,745.757317039,715.242682961,680,664,636,880.757317039,788,804,652,632,653,0.438484912339,-0.00555271198682,0.0599273502438,0.999999987088,-8.63525265022e-05,-0.000122315993619,-5.83591103032e-05,1793238914458459904
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.832822933,745.167177067,715.832822933,680,664,636,880.167177067,788,804,652,632,653,0.439186283026,-0.00555226987428,0.0599348604616,0.999999989356,-8.56701242573e-05,-0.000102477550921,-5.8715571025e-05,1793238914475127040
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.584841875,745,715.584841875,680,664,636,880.415158125,788,804,652,632,653,0.439895498532,-0.0055559536724,0.0599664382874,0.999999992952,-8.88025227849e-05,-5.40870859435e-05,-5.73100943692e-05,1793238914491793408
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.005591492,745,715.005591492,680,664,636,880.994408508,788,804,652,632,653,0.440607814782,-0.00556126824669,0.0600075288944,0.999999994095,-9.34427302676e-05,5.58863705414e-06,-5.52082075419e-05,1793238914508459776
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.431876268,745,715,680,664,636,880.431876268,788,804,652,632.568123732,653,0.441206944594,-0.00556296751459,0.0599932538641,0.999999992968,-0.000102013732641,-2.46817430089e-05,-5.5214034931e-05,1793238914525126400
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.146325245,745,715,680.146325245,663.853674755,636,880.146325245,788,804,652,632.853674755,653,0.441785324265,-0.00556327203268,0.0599665734014,0.999999990106,-0.000106923130949,-7.21432892371e-05,-5.61298271723e-05,1793238914541793280
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.738356446,745,715,680.738356446,663.261643554,636,880.738356446,788,804,652,632.261643554,653,0.442303859705,-0.00555943548702,0.0599037498298,0.999999978827,-0.000100562600072,-0.000169298591624,-5.97547905682e-05,1793238914558459904
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.323009324,715.323009324,680.676990676,663,636,880.676990676,787.676990676,804,651.676990676,631.676990676,653,0.442822356784,-0.00555623357244,0.0598588476644,0.999999965575,-9.80117360104e-05,-0.000235056897633,-6.31745912384e-05,1793238914575126784
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.368739289,663,636,879,788,804.368739289,652.368739289,631.368739289,653,0.401588655632,-0.0053685447877,0.0598374789498,0.999999931423,0.000247591070316,-0.000274729672286,1.93722544227e-05,1793238917621321216
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.955400142,663,636,879,788,804.955400142,652.955400142,631.955400142,653,0.401474687211,-0.00536853071347,0.0598370790133,0.99999993044,0.000249139315459,-0.000276867078759,1.98354823568e-05,1793238917637987840
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.464427791,745.464427791,715.535572209,679.464427791,663,636,880.071144418,788,804.464427791,652.464427791,632,653,0.401387216162,-0.00536532496095,0.0598405083885,0.999999931598,0.000253039211912,-0.000268989451985,2.04679639857e-05,1793238917654654720
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.114821607,745.114821607,715.885178393,679.114821607,663.114821607,636,880.770356786,788,804,652,632,653,0.401304861676,-0.00536319945523,0.0598433367653,0.99999993279,0.000255053772825,-0.000262530985588,2.11113622919e-05,1793238917671321344
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.692503948,745.692503948,715.307496052,679.692503948,663.692503948,636,879.614992104,788,804,652,632,653,0.401234344189,-0.00536648716109,0.0598424723562,0.999999933698,0.000248688321208,-0.000265115066267,2.17426302072e-05,1793238917687987968
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.731109777,745.731109777,715,679.731109777,663.731109777,636,879,788,804,652,632,653,0.401171468355,-0.00536705530773,0.0598401010155,0.999999933164,0.000245358359193,-0.000270176949255,2.18082709354e-05,1793238917704654848
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.428866055,745.428866055,715,679,663.428866055,636,879,787.571133945,803.571133945,652,632,653,0.401076031565,-0.00536175822017,0.0598336139219,0.999999928963,0.000248721092195,-0.000282435096348,2.10234834752e-05,1793238917737988096
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.982633603,745.982633603,715,679,663.982633603,636,879.017366397,787.017366397,803.017366397,652.017366397,632,653,0.401040110145,-0.00535905557459,0.0598319182125,0.999999927087,0.000252931287119,-0.000285327113084,2.09726057813e-05,1793238917754654720
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.405478262,745.405478262,715,679,663.405478262,636,879.594521738,787.594521738,803.594521738,652.594521738,632,653,0.401020830208,-0.00536145252139,0.0598326788973,0.999999928348,0.000251040910797,-0.000282527706737,2.14783414513e-05,1793238917771321600
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.171926944,745.171926944,715,679,663.171926944,636,879.828073056,788,803.828073056,652.828073056,632,653,0.40100421411,-0.00536299072905,0.0598338937276,0.999999929555,0.000249358862349,-0.000279711989172,2.1696329004e-05,1793238917787988480
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.749922213,745.749922213,715,679,663.749922213,636,879.250077787,788,803.250077787,652.250077787,632,653,0.400993889648,-0.00536250070998,0.0598361811885,0.999999930656,0.000248168856605,-0.000276857747106,2.12346941193e-05,1793238917804655104
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.667024518,745.667024518,715,679,663.667024518,636,879,788,803.332975482,652.332975482,631.667024518,653,0.400987762719,-0.00536240804857,0.0598387165573,0.999999931531,0.000248814551162,-0.000273079360694,2.13710203563e-05,1793238917821321472
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.500310999,745.500310999,715,679,663.500310999,636,879.500310999,788,803.499689001,653,631.500310999,653,0.400981218815,-0.00536322418465,0.059842000542,0.999999932612,0.000249949486714,-0.000267998498044,2.18843879188e-05,1793238917854654976
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.34380465,746,715,679,663.34380465,636,880,788,803.65619535,653,631.34380465,653,0.400978300569,-0.00536439412937,0.0598427312922,0.999999933747,0.0002468042931,-0.000266682662956,2.17491759292e-05,1793238917887988224
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.768634811,715,679,663,636.231365189,879.768634811,788,804.231365189,653,631.231365189,653,0.400978652269,-0.00536390909737,0.0598435346088,0.999999934042,0.000247390963201,-0.000265031607104,2.17430067778e-05,1793238917904655104
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.195925134,715,679,663,636.804074866,879.195925134,788,804.804074866,653,631.804074866,653,0.400979138315,-0.00536193859879,0.0598448184579,0.999999933671,0.000251380912905,-0.000262669671573,2.16960606822e-05,1793238917921321728
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636.610130002,879.389869998,788,804.610130002,652.610130002,631.610130002,652.610130002,0.40097768989,-0.00536311313503,0.0598446572883,0.99999993372,0.000250836948898,-0.00026299980036,2.17321458254e-05,1793238917937988096
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636.017530549,879.982469451,788,804.017530549,652.017530549,631.017530549,652.017530549,0.400975235556,-0.00536592306568,0.05984374472,0.999999933985,0.00024793538389,-0.000264729782329,2.18114065866e-05,1793238917954654720
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.561924946,679.561924946,663.561924946,636,879.438075054,788,803.438075054,652,631.561924946,652,0.400975912352,-0.00536453232416,0.0598446968272,0.999999934444,0.00024814119218,-0.000262827492748,2.14243922144e-05,1793238917971322368
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.140232171,745,715.859767829,680,664,636,879,788,803.140232171,652.140232171,632,652.140232171,0.40097634658,-0.00536339473304,0.0598453611464,0.999999934669,0.000248729008652,-0.000261430885497,2.11967171934e-05,1793238917987989760
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.716216262,745,715.283783738,680,664,636,879,788,803.716216262,652.716216262,632,652.716216262,0.400975730465,-0.00536344168292,0.0598449545721,0.999999934157,0.000250209514485,-0.000261949685012,2.15083352511e-05,1793238918004655872
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.709548056,745,715,680,664,636,879,788,803.709548056,653,632,653,0.40097568886,-0.00536441124074,0.0598450125666,0.999999934608,0.000248758792981,-0.000261617663918,2.14377852616e-05,1793238918021322496
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.137010354,745,715,680,664,636,879,788,803.137010354,653,632,653,0.400976205219,-0.0053662768317,0.0598455217483,0.999999935979,0.000244461275448,-0.000260459329326,2.09960752382e-05,1793238918037989376
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.448334012,715,679.551665988,664,636,879,787.551665988,803.448334012,652.551665988,632,653,0.400975679229,-0.00536525999707,0.0598456095741,0.999999935729,0.000245286811525,-0.000260651612985,2.09119720673e-05,1793238918054656512
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.618587586,746,715,679,663.381412414,636,879,787.618587586,804,652.618587586,632,653,0.400975190091,-0.00536375788914,0.059845586229,0.999999935112,0.000248026152092,-0.000260422275431,2.09662412656e-05,1793238918087989760
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745.802179831,715,679,663.197820169,636,879.197820169,788,804,652.802179831,632,653,0.400975468813,-0.0053636296837,0.0598457317711,0.999999935107,0.000248743224202,-0.000259760346013,2.0924408882e-05,1793238918104656128
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,745.227064213,715,679,663.772935787,636,879.772935787,788,804,652.227064213,632,653,0.400975723202,-0.00536272200556,0.0598461217027,0.999999934919,0.000250006770926,-0.000259282588677,2.07531522833e-05,1793238918121322240
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.655877267,745,715,679.344122733,664,636,879.655877267,788,803.655877267,652.344122733,632,653,0.4009760021,-0.00536319019769,0.0598463783974,0.999999935152,0.000249354000153,-0.000258996551965,2.09556762099e-05,1793238918137988864
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.087253358,745,715,679.912746642,664,636,879.087253358,788,803.087253358,652.912746642,632,653,0.400976296988,-0.00536455598966,0.0598465481702,0.999999935657,0.000247451048827,-0.000258835591301,2.14020496752e-05,1793238918154655744
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.505029183,715,679.494970817,663.494970817,636,879.505029183,788,803.505029183,653,631.494970817,653,0.400974832679,-0.00536534320876,0.0598460654911,0.999999935587,0.000246663643055,-0.000259859553985,2.13726927057e-05,1793238918171322112
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.098016234,745.901983766,715,679,663.098016234,636,880,788,804,653,631.098016234,652.901983766,0.400973362083,-0.00536599771153,0.059845570651,0.999999935447,0.000246159613358,-0.00026087919528,2.13037246315e-05,1793238918187988480
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.673543399,745.326456601,715,679,663.673543399,636,880,788,804,653,631.673543399,652.326456601,0.400973414329,-0.00536651656472,0.0598455927171,0.999999935483,0.000246051033746,-0.00026083143048,2.1461877379e-05,1793238918204655360
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,745.237775225,715,679.237775225,663.762224775,636,879.762224775,788,804,652.762224775,632,652.47555045,0.400974066747,-0.00536565418692,0.0598459968558,0.999999935409,0.000247117620057,-0.000260106311991,2.14464596167e-05,1793238918221322240
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,745.787202335,715,679.787202335,663.212797665,636,879.212797665,788,804,652.212797665,632,653.57440467,0.400975505811,-0.00536298143032,0.059846901777,0.999999935185,0.000249724495819,-0.000258493386305,2.12035430836e-05,1793238918237988864
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,746,715,680,663.380569609,636,879.380569609,788,804,652.380569609,632,653.619430391,0.400975645394,-0.0053635711702,0.0598472117762,0.999999935555,0.000248378750942,-0.000258358971645,2.1184388852e-05,1793238918254655232
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766.99840179,745.99840179,715,679.99840179,664,636,880,787.99840179,803.99840179,652.99840179,631.99840179,653,0.400974968681,-0.00536621748646,0.0598471487696,0.999999936293,0.000244540689811,-0.000259151621042,2.13062311919e-05,1793238918271321856
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766.418974716,745.418974716,715,679.418974716,664,636,880,787.418974716,803.418974716,652.418974716,631.418974716,653,0.400976157532,-0.00536677224249,0.059848195564,0.999999937176,0.000242980979956,-0.000257209147118,2.12642904485e-05,1793238918287988224
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766.15891089,745,715,679,664,636.15891089,880,787.15891089,803.15891089,652,631,653,0.400976875173,-0.00536704526249,0.059848730279,0.999999937646,0.000242451565688,-0.000255880134622,2.12153964567e-05,1793238918304654848
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766.732771368,745,715,679,664,636.732771368,880,787.732771368,803.732771368,652,631,653,0.400976362387,-0.00536658261075,0.0598479278474,0.999999937052,0.000244612468881,-0.0002561529984,2.11483460805e-05,1793238918321321728
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b427588767c173376dbc18948adf6bcebe98b980
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,416 @@
+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
+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
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+36,0.600000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
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+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
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+92,1.533333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
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+95,1.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
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+98,1.633333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
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+371,6.183333333,pose2_to_pose3_retreat,0.576312856101,9.06712079316e-05,1.05003233161,0.546883309546,0.00876241722095,1.04970046579
+372,6.200000000,pose2_to_pose3_retreat,0.576202128897,9.07160417594e-05,1.05003223255,0.546772581811,0.00876246027714,1.04970036744
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+374,6.233333333,pose2_to_pose3_retreat,0.576024051668,9.07694191911e-05,1.05003219115,0.546594503379,0.0087625094483,1.04970032364
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+376,6.266666667,pose2_to_pose3_retreat,0.575890399108,9.06702353148e-05,1.05003222995,0.546460852407,0.00876241571635,1.04970036399
+377,6.283333333,pose2_to_pose3_retreat,0.575836924223,9.0671162513e-05,1.05003225447,0.546407378272,0.00876241899982,1.04970038352
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+379,6.316666667,pose2_to_pose3_retreat,0.575755716827,9.08036254443e-05,1.05003228885,0.546326168352,0.00876254281772,1.04970041585
+380,6.333333333,pose2_to_pose3_retreat,0.575727557557,9.07573670701e-05,1.05003235208,0.546298009264,0.00876249747553,1.04970048699
+381,6.350000000,pose2_to_pose3_retreat,0.575706954221,9.07999059121e-05,1.05003235998,0.546277404029,0.00876253340122,1.04970049074
+382,6.366666667,pose2_to_pose3_retreat,0.575692645147,9.07469327031e-05,1.05003216847,0.546263096381,0.008762485038,1.04970029336
+383,6.383333333,pose2_to_pose3_retreat,0.575683805495,9.07604142491e-05,1.05003229724,0.546254257578,0.0087625013744,1.04970042104
+384,6.400000000,pose2_to_pose3_retreat,0.575677574185,9.07932262707e-05,1.0500324112,0.546248026137,0.00876253385835,1.04970053768
+385,6.416666667,pose2_to_pose3_retreat,0.575673587136,9.08380201714e-05,1.05003244537,0.546244037825,0.0087625746103,1.04970057843
+386,6.433333333,pose2_to_pose3_retreat,0.575671249748,9.08664009968e-05,1.05003239775,0.5462417002,0.00876260224868,1.04970053246
+387,6.450000000,pose2_to_pose3_retreat,0.575669923281,9.08847930636e-05,1.05003229781,0.546240374142,0.00876262197342,1.04970043107
+388,6.466666667,pose2_to_pose3_retreat,0.575669093572,9.08962973611e-05,1.0500322353,0.546239544689,0.00876263431131,1.04970036764
+389,6.483333333,pose2_to_pose3_retreat,0.575668579767,9.09034215124e-05,1.05003219658,0.546239031042,0.00876264195168,1.04970032837
+390,6.500000000,pose2_to_pose3_retreat,0.575668171455,9.09090829489e-05,1.05003216582,0.546238622856,0.00876264802334,1.04970029716
+391,6.516666667,pose2_to_pose3_retreat,0.575667823734,9.09139042526e-05,1.05003213962,0.546238275243,0.00876265319399,1.04970027058
+392,6.533333333,pose2_to_pose3_retreat,0.575667508417,9.0900058664e-05,1.05003213716,0.54623796001,0.00876263958255,1.04970026677
+393,6.550000000,pose2_to_pose3_retreat,0.57566705344,9.08695530679e-05,1.05003214593,0.546237505146,0.00876260936707,1.049700273
+394,6.566666667,pose2_to_pose3_retreat,0.575666786284,9.08516407146e-05,1.05003215108,0.546237238058,0.00876259162506,1.04970027666
+395,6.583333333,pose2_to_pose3_retreat,0.575666656826,9.08429607117e-05,1.05003215357,0.546237108632,0.00876258302761,1.04970027843
+396,6.600000000,pose2_to_pose3_retreat,0.575666625702,9.08408738956e-05,1.05003215417,0.546237077515,0.00876258096064,1.04970027886
+397,6.616666667,pose2_to_pose3_retreat,0.575666432385,9.08279123047e-05,1.05003215789,0.546236884247,0.00876256812232,1.04970028151
+398,6.633333333,pose2_to_pose3_retreat,0.575666360241,9.08230751109e-05,1.05003215928,0.54623681212,0.00876256333112,1.0497002825
+399,6.650000000,pose2_to_pose3_retreat,0.575666330862,9.08211053455e-05,1.05003215985,0.54623678275,0.00876256138009,1.0497002829
+400,6.666666667,pose2_to_pose3_retreat,0.575666266509,9.08167905382e-05,1.05003216109,0.546236718412,0.00876255710632,1.04970028378
+401,6.683333333,pose2_to_pose3_retreat,0.575666223403,9.0813900337e-05,1.05003216192,0.546236675317,0.0087625542436,1.04970028437
+402,6.700000000,pose2_to_pose3_retreat,0.575666036707,9.08013826721e-05,1.05003216552,0.546236488668,0.00876254184498,1.04970028693
+403,6.716666667,pose2_to_pose3_retreat,0.57566598899,9.07981832748e-05,1.05003216643,0.546236440962,0.00876253867601,1.04970028758
+404,6.733333333,pose2_to_pose3_retreat,0.575665707723,9.07793247409e-05,1.05003217185,0.546236159766,0.00876251999683,1.04970029144
+405,6.750000000,pose2_to_pose3_retreat,0.575665420599,9.07621274202e-05,1.05003219452,0.546235872679,0.0087625029034,1.04970031353
+406,6.766666667,pose2_to_pose3_retreat,0.575665241086,9.07577572845e-05,1.05003226196,0.546235693081,0.00876249835215,1.04970038377
+407,6.783333333,pose2_to_pose3_retreat,0.575665167701,9.07559707624e-05,1.05003228953,0.546235619661,0.00876249649159,1.04970041249
+408,6.800000000,pose2_to_pose3_retreat,0.575665092317,9.07541356063e-05,1.05003231784,0.546235544242,0.00876249458038,1.04970044198
+409,6.816666667,pose2_to_pose3_retreat,0.575664943298,9.07505078179e-05,1.05003237382,0.546235395151,0.00876249080225,1.04970050029
+410,6.833333333,pose2_to_pose3_retreat,0.575664688852,9.07443135115e-05,1.05003246941,0.546235140586,0.00876248435124,1.04970059985
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+413,6.883333333,pose2_to_pose3_retreat,0.575664395016,9.07112915613e-05,1.05003229452,0.546234846855,0.00876245164755,1.04970042401
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..164a079b13169583b2108d0c6f67319303f97c20
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f57c365fe8dc9a6008559f649ba0d94afb6f4d152338496e9cd2d51efd2669d
+size 26500867
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9652b110408188864c7340788bb6d09ec8354b1c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_03/franka_data.csv
@@ -0,0 +1,418 @@
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+30,0.500000000,BASELINE,766.410882782,745.589117218,715,679.589117218,664,636,879,788,803.410882782,653,632,653,0.400974940336,-0.00536785221254,0.0598485580137,0.999999937446,0.000243626139985,-0.000255569603869,2.0922440383e-05,1793238918943929856
+31,0.516666667,BASELINE,766.985621083,745.014378917,715,679.014378917,664,636,879,788,803.985621083,653,632,653,0.400974969794,-0.00536607469838,0.0598485033433,0.999999936932,0.000245756881125,-0.000255553561035,2.07841241666e-05,1793238918960596480
+32,0.533333333,BASELINE,766.42490448,745,715,679,664,636,879,788,803.42490448,652.42490448,632,653,0.400975751148,-0.00536660905039,0.0598490087098,0.999999937342,0.000244897481595,-0.000254775164295,2.07553736743e-05,1793238918977262848
+33,0.550000000,BASELINE,766,745.162005737,715,679.162005737,664,636,879,788,803,652,632,653,0.400976628004,-0.0053670523284,0.059849652932,0.999999937794,0.000244070761273,-0.000253792032345,2.07532163628e-05,1793238918993929472
+34,0.566666667,BASELINE,766,745.741336397,715,679.741336397,664,636,879,788,803,652,632,653,0.400977701176,-0.00536710818567,0.0598506178264,0.999999938295,0.000243525871578,-0.000252331896792,2.08123204566e-05,1793238919010596352
+35,0.583333333,BASELINE,766,745.681894094,715,679.681894094,664,636,879,788,803.318105906,652.318105906,632,653,0.400977727315,-0.00536693140899,0.0598506434626,0.999999938147,0.000244293383895,-0.000252179646076,2.07701937407e-05,1793238919027262976
+36,0.600000000,BASELINE,766,745.107190456,715,679.107190456,664,636,879,788,803.892809544,652.892809544,632,653,0.400976908874,-0.00536656697989,0.0598499114533,0.999999937474,0.000246119535349,-0.000253082390655,2.0646409961e-05,1793238919043929344
+37,0.616666667,BASELINE,766.46856822,745,715,679,663.53143178,636.46856822,879,788,804,652.53143178,632,653,0.400976255478,-0.0053664688476,0.0598493370752,0.999999937327,0.000245828953683,-0.000253954189202,2.05196923151e-05,1793238919060595968
+38,0.633333333,BASELINE,766.954198449,745,715,679,663.045801551,636.954198449,879,788,803.954198449,652,632,653,0.400975642253,-0.00536649271873,0.0598488255737,0.999999937327,0.000244942029116,-0.00025481873329,2.04112284308e-05,1793238919077262848
+39,0.650000000,BASELINE,766.362265421,745,715,679,663.637734579,636.362265421,879,788,803.362265421,652,632,653,0.400975056814,-0.00536724331869,0.0598486328585,0.999999937644,0.000242731284273,-0.00025568137957,2.05284406596e-05,1793238919093929472
+40,0.666666667,BASELINE,766.223588388,745,715.223588388,679.223588388,663.776411612,636,879.223588388,788,803,652,631.776411612,653,0.400974817186,-0.00536804700729,0.0598486622912,0.999999937781,0.000241912840572,-0.00025590615197,2.06852925268e-05,1793238919110596096
+41,0.683333333,BASELINE,766.799853129,745,715.799853129,679.799853129,663.200146871,636,879.799853129,788,803,652,631.200146871,653,0.400975123024,-0.00536893443502,0.0598490421279,0.999999937642,0.000243290538275,-0.000255124776218,2.09046698302e-05,1793238919127262976
+42,0.700000000,BASELINE,766.625549445,745,715.625549445,679.625549445,663.374450555,636,879.625549445,788,803.374450555,652,631.374450555,653,0.400975187344,-0.00536900865311,0.0598491312764,0.99999993774,0.000242999250089,-0.000255006561822,2.10394139488e-05,1793238919143929600
+43,0.716666667,BASELINE,766.051839279,745,715.051839279,679.051839279,663.948160721,636,879.051839279,788,803.948160721,652,631.948160721,653,0.400975123143,-0.00536865013088,0.0598490657385,0.999999937964,0.000241819829969,-0.000255241241237,2.11291214723e-05,1793238919160596224
+44,0.733333333,BASELINE,766,745,715,679.535549577,663.464450423,636,879,788,804,652.535549577,632,653,0.4009753191,-0.00536782480778,0.0598491419169,0.999999937823,0.000243276664997,-0.000254420075861,2.10027996086e-05,1793238919177262592
+45,0.750000000,BASELINE,766.123007115,745,715,679.876992885,663.123007115,636,879,787.876992885,804,652.876992885,632,653,0.400975663164,-0.00536720750327,0.0598493597073,0.999999937767,0.000244334524644,-0.000253633546442,2.08916515206e-05,1793238919193929216
+46,0.766666667,BASELINE,766.705644014,745,715,679.294355986,663.705644014,636,879,787.294355986,804,652.294355986,632,653,0.400976464085,-0.00536754074643,0.0598500540461,0.999999938178,0.000242923066969,-0.000253368337132,2.09173857738e-05,1793238919210595840
+47,0.783333333,BASELINE,766.716792838,745.283207162,715,679.283207162,663.716792838,636,879.283207162,787.283207162,804,652,631.716792838,653,0.400976399981,-0.00536818966105,0.0598502610342,0.999999938319,0.000242048195781,-0.000253656379085,2.08167759248e-05,1793238919227262464
+48,0.800000000,BASELINE,766.144410293,745.855589707,715,679.855589707,663.144410293,636,879.855589707,787.855589707,804,652,631.144410293,653,0.400975452624,-0.00536916089953,0.0598499704015,0.999999938186,0.000241721218766,-0.000254509331319,2.05871594395e-05,1793238919243929344
+49,0.816666667,BASELINE,766,745.569420498,715,680,663.430579502,636,879.569420498,788,804,652,631.430579502,653,0.400974745288,-0.00536851285871,0.059849352021,0.999999937785,0.000242715232275,-0.000255131391971,2.06706967283e-05,1793238919260596224
+50,0.833333333,BASELINE,766,745,715,679.993393112,663.993393112,636,879.006606888,788,803.993393112,652,632,652.993393112,0.4009741367,-0.00536733373915,0.0598486398411,0.999999937301,0.000244139542246,-0.000255655766807,2.08565514077e-05,1793238919277262592
+51,0.850000000,BASELINE,766,745,715,679.403427047,663.403427047,636,879.596572953,788,803.403427047,652,632,652.403427047,0.400975095989,-0.00536750670177,0.0598494103385,0.9999999376,0.000244200206456,-0.000254433986267,2.07466339072e-05,1793238919293929216
+52,0.866666667,BASELINE,766,745,715,679,663.183169821,636,879.816830179,788,803.183169821,652,631.816830179,652.183169821,0.400975383372,-0.00536779455395,0.0598496875401,0.999999937773,0.000243826847095,-0.000254109335734,2.07475121032e-05,1793238919310596096
+53,0.883333333,BASELINE,766,745,715,679,663.762480108,636,879.237519892,788,803.762480108,652,631.237519892,652.762480108,0.400974217624,-0.0053683308772,0.0598488978933,0.999999937675,0.000242514827102,-0.000255724903902,2.09880076102e-05,1793238919327262720
+54,0.900000000,BASELINE,766.338604913,745,715,679.338604913,663.661395087,636,879,787.661395087,804,652,631.338604913,653,0.40097406106,-0.00536776780351,0.0598485385992,0.999999937412,0.000243017994153,-0.000256274345658,2.10071679489e-05,1793238919343929344
+55,0.916666667,BASELINE,766.912516013,745,715,679.912516013,663.087483987,636,879,787.087483987,804,652,631.912516013,653,0.400974605805,-0.00536644072759,0.0598484783694,0.999999937034,0.000244782586369,-0.000256082905776,2.08725161731e-05,1793238919360596224
+56,0.933333333,BASELINE,766.511915042,745,715,679.511915042,663,636,879,787,803.511915042,652.488084958,631.511915042,653,0.400975990302,-0.00536635569383,0.0598496172564,0.999999937154,0.000246570755611,-0.000253885785158,2.08949442306e-05,1793238919377262848
+57,0.950000000,BASELINE,766,745,715.065738597,679.065738597,663.065738597,636,879.065738597,787.065738597,803,652.934261403,631,652.934261403,0.400976987278,-0.00536643232696,0.0598505432584,0.999999937245,0.000248035823559,-0.000252092397388,2.09002326492e-05,1793238919393929728
+58,0.966666667,BASELINE,766,745,715.65769248,679.65769248,663.65769248,636,879.65769248,787.65769248,803,652.34230752,631,652.34230752,0.400973673344,-0.00536601495567,0.0598480388918,0.999999936439,0.000246880631241,-0.000256418214026,2.05421856419e-05,1793238919410596608
+59,0.983333333,BASELINE,766,745.24284068,715.75715932,679.75715932,663.75715932,636,879.75715932,788,803,652,631,652,0.400972996123,-0.0053664811989,0.0598475884451,0.999999936683,0.000245114438334,-0.000257169246906,2.04090524474e-05,1793238919427262976
+60,1.000000000,BASELINE,766,745.818657215,715.181342785,679.181342785,663.181342785,636,879.181342785,788,803,652,631,652,0.400975934284,-0.0053681590278,0.0598499542714,0.999999938373,0.000242510459588,-0.000253018644171,2.0584314274e-05,1793238919443929600
+61,1.016666667,BASELINE,766,745.60444561,715,679.39555439,663.39555439,636,879,788,803,652,631,652.39555439,0.400976173653,-0.00536827581544,0.0598506161304,0.99999993865,0.000242013047956,-0.000252406979727,2.0507619057e-05,1793238919460596480
+62,1.033333333,BASELINE,766,745.027051691,715,679.972948309,663.972948309,636,879,788,803,652,631,652.972948309,0.400975172366,-0.00536767497978,0.0598504946616,0.999999938283,0.000242484042296,-0.000253422193878,2.03150971538e-05,1793238919477263104
+63,1.050000000,BASELINE,766,745.561516577,715,680,664,636,879.561516577,788,803,652,631.561516577,653,0.400975779556,-0.00536758495276,0.0598501531251,0.999999937906,0.000244033732589,-0.000253401321726,2.05537994237e-05,1793238919493929728
+64,1.066666667,BASELINE,766,745.851863165,715,679.851863165,663.851863165,636,880,788,803,652,632,653,0.400976143055,-0.00536782416473,0.0598498394587,0.999999937631,0.000245034514121,-0.000253497175397,2.08612921173e-05,1793238919510596096
+65,1.083333333,BASELINE,766,745.272512301,715,679.272512301,663.272512301,636,880,788,803,652,632,653,0.40097556704,-0.00536894867545,0.0598496384077,0.999999937657,0.000244283123483,-0.000254081055738,2.13073266827e-05,1793238919527262720
+66,1.100000000,BASELINE,766,745,715,679,663.304991726,636,879.695008274,788,803.304991726,652,631.695008274,653,0.400976046764,-0.00536950743086,0.0598503428697,0.999999937979,0.000243759832044,-0.000253315702151,2.13031676349e-05,1793238919543929600
+67,1.116666667,BASELINE,766,745,715,679,663.880855494,636,879.119144506,788,803.880855494,652,631.119144506,653,0.400977464119,-0.00536956372241,0.0598518515442,0.999999938561,0.000243439122191,-0.000251352054561,2.0899178495e-05,1793238919560596736
+68,1.133333333,BASELINE,766.454663065,745,715,679,663.545336935,636,879,788,804,652,631.454663065,653,0.400976228141,-0.00536847216454,0.0598510296087,0.999999937767,0.000245287119926,-0.00025271239727,2.09130138021e-05,1793238919577263616
+69,1.150000000,BASELINE,766.971145548,745,715,679,663,636,879,788,803.971145548,652,631.971145548,652.971145548,0.400974356382,-0.00536719528157,0.0598496367647,0.999999936674,0.000247491213158,-0.000254867496651,2.10288280271e-05,1793238919593930496
+70,1.166666667,BASELINE,766.378990412,745,715,679,663,636,879,788,803.378990412,652,631.378990412,652.378990412,0.400973585591,-0.0053681461649,0.0598489677764,0.999999936951,0.000245602369225,-0.000255609701407,2.10076144976e-05,1793238919610597120
+71,1.183333333,BASELINE,766.208795316,745,715.208795316,679,663.208795316,636,879,788,803.208795316,652,631,652.208795316,0.400973446014,-0.00536809535551,0.0598487896082,0.999999937086,0.000244976526921,-0.000255691166243,2.08892246704e-05,1793238919627263744
+72,1.200000000,BASELINE,766.78881267,745,715.78881267,679,663.78881267,636,879,788,803.78881267,652,631,652.78881267,0.400974428685,-0.00536626361354,0.0598494840803,0.999999936973,0.000246596204217,-0.000254597886366,2.05980628442e-05,1793238919643930112
+73,1.216666667,BASELINE,766.63397367,745,715.63397367,679.36602633,664,636,879,787.63397367,803.63397367,652,631,653,0.400975802791,-0.00536761298147,0.0598502097737,0.999999938097,0.000243706604005,-0.000252958105722,2.06242671423e-05,1793238919660596736
+74,1.233333333,BASELINE,766.058365403,745,715.058365403,679.941634597,664,636,879,787.058365403,803.058365403,652,631,653,0.400977401027,-0.00537078381185,0.0598509533441,0.999999939903,0.000238235049778,-0.000251005405875,2.08321911906e-05,1793238919677263104
+75,1.250000000,BASELINE,766,745,715,679.473153256,663.473153256,636,879,787.526846744,803,652.526846744,631,652.473153256,0.400975936558,-0.00536940117054,0.0598502875736,0.999999938738,0.000241220680792,-0.00025280304745,2.064473981e-05,1793238919693929984
+76,1.266666667,BASELINE,766,745,715,679,663,636,879,788,803,652.888265865,631.111734135,652.111734135,0.40097440969,-0.00536777609326,0.0598495417359,0.999999937436,0.000244587518105,-0.000254727113831,2.04718941889e-05,1793238919710596864
+77,1.283333333,BASELINE,766,745,715,679,663,636,879,788,803,652.309268524,631.690731476,652.690731476,0.400974067124,-0.00536728588573,0.0598491261115,0.999999937022,0.000245557705901,-0.000255410146601,2.05467006493e-05,1793238919727263488
+78,1.300000000,BASELINE,766,745,715.268660245,679,663,636,879,787.731339755,803,652,632,653,0.400973991476,-0.00536675096649,0.0598489462342,0.999999936705,0.000246720655234,-0.000255528257199,2.05982248644e-05,1793238919743930112
+79,1.316666667,BASELINE,766,745,715.845363761,679,663,636,879,787.154636239,803,652,632,653,0.400974221876,-0.00536616478129,0.0598490366624,0.999999936497,0.000248104623037,-0.000254998633387,2.06230538744e-05,1793238919760596736
+80,1.333333333,BASELINE,766,745.421126668,715.578873332,679.421126668,663,636.421126668,879,787.421126668,803,652,631.578873332,653,0.400974844693,-0.00536714173287,0.0598500686604,0.999999937425,0.000245479651168,-0.000253891015758,2.07373477157e-05,1793238919777263360
+81,1.350000000,BASELINE,766,745.996545004,715.003454996,679.996545004,663,636.996545004,879,787.996545004,803,652,631.003454996,653,0.400975611284,-0.00536869138379,0.0598514456292,0.999999938752,0.000241385890949,-0.000252571633694,2.08844195307e-05,1793238919793929984
+82,1.366666667,BASELINE,766,745.41368358,715,679.41368358,663.58631642,636.41368358,879,788,803,652,631.58631642,652.41368358,0.400974194999,-0.00536797482535,0.0598497827929,0.999999938249,0.000241455528583,-0.000254514841418,2.0575856978e-05,1793238919810596608
+83,1.383333333,BASELINE,766,745,715,678.82744728,664,636,879,788,803,652,631.82744728,652,0.400973668222,-0.00536770003375,0.0598488164168,0.999999937998,0.000241379378349,-0.000255579778299,2.0448458405e-05,1793238919827263232
+84,1.400000000,BASELINE,766,745,715,678.249715418,664,636,879,788,803,652,631.249715418,652,0.400975261099,-0.0053684947198,0.0598495285486,0.999999938373,0.000240901842365,-0.000254536129385,2.075292222e-05,1793238919843929856
+85,1.416666667,BASELINE,766,745.326713416,715,678.326713416,664,636,879,788,803,652,631,652.326713416,0.40097562066,-0.00536827254913,0.0598498656503,0.999999938385,0.000241505556175,-0.000253914874316,2.07758717685e-05,1793238919860596736
+86,1.433333333,BASELINE,766,745.902150234,715,678.902150234,664,636,879,788,803,652,631,652.902150234,0.400975041308,-0.00536727625635,0.0598499172455,0.99999993812,0.000242932413829,-0.00025361518319,2.05845075219e-05,1793238919877263616
+87,1.450000000,BASELINE,766,746,715,679,663.511123131,636,879.488876869,787.511123131,803.488876869,652,631,653,0.400976664796,-0.0053670052521,0.0598508115687,0.999999938283,0.000244307244488,-0.000251656230438,2.04156083728e-05,1793238919893930240
+88,1.466666667,BASELINE,766,746,715,679,663,636,879.923369956,787.076630044,803.923369956,652,631.076630044,653,0.400978215827,-0.00536686586013,0.0598516490995,0.999999938377,0.000245693833413,-0.000249934736148,2.03133737818e-05,1793238919910596864
+89,1.483333333,BASELINE,766,746,715,679,663,636,879.344056427,787.655943573,803.344056427,652,631.655943573,653,0.400976330909,-0.00536661503251,0.0598509814425,0.999999937474,0.000247227479972,-0.000252001005278,2.0618256998e-05,1793238919927263232
+90,1.500000000,BASELINE,766,745.765678417,715,679.234321583,663.234321583,636,879,788,803,652,631.765678417,653,0.400975507671,-0.00536690072912,0.0598505699652,0.999999937324,0.000246964298823,-0.000252845367765,2.07433890352e-05,1793238919943929600
+91,1.516666667,BASELINE,766,745.188668627,715,679.811331373,663.811331373,636,879,788,803,652,631.188668627,653,0.400976237105,-0.00536797107614,0.0598505331429,0.999999938274,0.000244073311509,-0.000251902728662,2.06056403978e-05,1793238919960596224
+92,1.533333333,BASELINE,766,745,715,679.613658395,663.613658395,636,879.386341605,788,803,652.386341605,631,653,0.400976051273,-0.00536842605664,0.0598503274578,0.999999938347,0.000243761627137,-0.000251917899208,2.05987088791e-05,1793238919977263104
+93,1.550000000,BASELINE,766,745,715,679.039619562,663.039619562,636,879.960380438,788,803,652.960380438,631,653,0.400975420776,-0.0053685820723,0.0598500397339,0.999999937994,0.000244703051167,-0.000252398404528,2.06553325288e-05,1793238919993929728
+94,1.566666667,BASELINE,766,745,715,679,663.549775313,636,879.450224687,788,803,653,631.549775313,653,0.400973556518,-0.00536897250115,0.0598492160062,0.999999937478,0.00024437789503,-0.000254743436516,2.06967412116e-05,1793238920010596096
+95,1.583333333,BASELINE,766,745,715,679,664,636,879,788,803.137776517,652.862223483,631.862223483,653,0.400972213797,-0.00536918219308,0.0598486202237,0.999999937152,0.000244040967477,-0.000256341925695,2.06857529187e-05,1793238920027262720
+96,1.600000000,BASELINE,766,745,715,679,664,636,879,788,803.717652811,652.282347189,631.282347189,653,0.400972838087,-0.0053687561691,0.0598488833847,0.999999937491,0.000243967571799,-0.000255101346804,2.0510251733e-05,1793238920043929344
+97,1.616666667,BASELINE,766.295060338,745,715,679,664,636,879,788,804,652,631.295060338,653,0.400973339347,-0.00536816686913,0.0598488271344,0.999999937529,0.000244056585678,-0.000254879454621,2.03869466243e-05,1793238920060595968
+98,1.633333333,BASELINE,766.870125037,745,715,679,664,636,879,788,804,652,631.870125037,653,0.400973723855,-0.00536742262465,0.0598484677716,0.999999937281,0.000244299721883,-0.000255624268924,2.0313174206e-05,1793238920077262848
+99,1.650000000,BASELINE,767,745,715,679,663.55762321,636,879.44237679,788,804,652,632,653,0.400973754473,-0.00536688771054,0.0598483689264,0.999999936844,0.000245640485578,-0.000256052856847,2.02401873205e-05,1793238920093929472
+100,1.666666667,BASELINE,766.985702976,745,715,679,663.014297024,636.014297024,879.985702976,788,804,652.014297024,632,653,0.400973693955,-0.00536644667061,0.0598483732236,0.999999936383,0.000247197068718,-0.000256359744931,2.01730225845e-05,1793238920110596096
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+102,1.700000000,BASELINE,766,745,715,679,663.807546838,636.807546838,879,788,804,652.807546838,631.807546838,653,0.40097448862,-0.00536809562652,0.0598502723907,0.999999937972,0.000242524957651,-0.000254591589762,2.04882201027e-05,1793238920143929600
+103,1.716666667,BASELINE,766,745,715,679,663.231408717,636.231408717,879,788,804,652.231408717,631.231408717,653,0.400974731695,-0.00536862413781,0.0598504698291,0.999999938372,0.000241800367037,-0.000253698748425,2.06403057817e-05,1793238920160596480
+104,1.733333333,BASELINE,766,745,715,679,663.343295722,636,879,788,803.656704278,652.343295722,631.343295722,653,0.400974812702,-0.00536847982521,0.0598504787638,0.99999993819,0.00024322557617,-0.000253050933438,2.06454202027e-05,1793238920177263360
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+106,1.766666667,BASELINE,766,745,715,679,664,636,879,788,803.507549774,652.492450226,631.492450226,653,0.400975992042,-0.00536911356962,0.0598508674873,0.999999938551,0.000243517403182,-0.000251321684286,2.08505148632e-05,1793238920210596352
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,715,679,664,636,880,788,803,653,632,653,0.400977577084,-0.00536879193299,0.059852108444,0.999999939151,0.000242885907306,-0.000249562893753,2.05655829699e-05,1793238920253335808
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.422395838,745,715,679,664,636.577604162,879.422395838,788,803,652.422395838,631.422395838,653,0.400977231745,-0.00536734256078,0.0598516703672,0.999999938806,0.00024359118863,-0.000250275372542,2.03521493155e-05,1793238920270002176
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.84638794,637,879,788,803,652,631,653,0.400977004981,-0.00536665112753,0.0598514009483,0.999999938594,0.000243986065905,-0.000250742552699,2.0294824746e-05,1793238920286668544
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.274724106,637,879,788,803,652,631,653,0.400977100916,-0.00536802240779,0.0598515905279,0.999999938746,0.000243536185684,-0.000250542158293,2.06623474996e-05,1793238920303335424
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.308933346,715,679,663.308933346,636.691066654,879,788,803.308933346,652,631.308933346,653,0.400977229637,-0.00536793333927,0.0598514508032,0.999999938596,0.000244234715857,-0.000250460491104,2.06441300639e-05,1793238920320002560
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.903687076,715,679,663.903687076,636.096312924,879,788,803.903687076,652,631.903687076,653,0.40097738869,-0.00536649317842,0.0598510064109,0.999999938165,0.000245995737697,-0.000250488668522,2.02690317131e-05,1793238920336669440
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.514012852,715,679,664,636,879,788,803.514012852,652.485987148,632,653,0.400976973247,-0.00536637644015,0.0598506089846,0.999999937923,0.000246392166761,-0.000251056608725,2.03802555261e-05,1793238920353335808
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879,788,803,652.934995095,631.934995095,653,0.400976742846,-0.00536665781735,0.0598504102453,0.999999937865,0.000246122397757,-0.000251536718111,2.05594733579e-05,1793238920370001920
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879,788,803,652.362811349,631.362811349,653,0.400978822288,-0.00536805016495,0.0598516908877,0.999999938955,0.000242712102462,-0.00025051781111,2.05360125507e-05,1793238920386668800
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.783930315,636,879.216069685,787.783930315,803,652,631.216069685,653,0.400984701386,-0.00536907204955,0.0598548701379,0.999999940527,0.000240837314382,-0.000245994596733,2.07355009576e-05,1793238920403335680
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.193443936,636,879.806556064,787.193443936,803,652,631.806556064,653,0.400997164728,-0.00536945197661,0.0598613393932,0.999999942875,0.000241623332744,-0.000235398937893,2.13213272628e-05,1793238920420002048
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.389987181,787.389987181,803,652,631.610012819,653,0.401026078214,-0.00537025864881,0.0598734298205,0.999999947542,0.000242222058043,-0.000213936167219,2.18333526991e-05,1793238920436668672
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.969980939,787.969980939,803,652,631.030019061,653,0.401063006415,-0.00537127323657,0.0598882589528,0.999999952774,0.000242729531778,-0.000187178804187,2.23094214795e-05,1793238920453335552
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.543331653,745,715,679,663,636,879.913336695,788,803,652,631.543331653,653,0.401122159326,-0.00537277770823,0.0599080797965,0.99999995843,0.000242580223414,-0.000154073046116,2.3596483342e-05,1793238920470002432
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.883111482,745,715,679,663.116888518,636,879.116888518,788,803.116888518,652,632,653,0.401185946357,-0.00537444210952,0.0599269900532,0.999999962834,0.000242068074451,-0.000122971717828,2.47637646827e-05,1793238920486669312
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.307321564,745,715,679,663.692678436,636,879.692678436,788,803.692678436,652,632,653,0.401263164312,-0.00537662941376,0.0599412556998,0.999999965704,0.000240272164997,-0.000101100119075,2.52870034466e-05,1793238920503335936
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.275163278,745.275163278,715,679,664,636,880,788,804,652.275163278,632,653,0.401342621852,-0.00537861365223,0.0599498156654,0.999999967304,0.000239208720368,-8.67881056841e-05,2.5281332874e-05,1793238920520002560
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.865311907,745.865311907,715,679,664,636,880,788,804,652.865311907,632,653,0.401424643089,-0.00538036543678,0.0599518442138,0.999999967848,0.000238983744261,-8.11297144228e-05,2.46702083293e-05,1793238920536668928
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.552124028,745.552124028,715,679,664,636,879.552124028,788,803.552124028,653,632,653,0.401525156541,-0.00538253795689,0.0599529172808,0.999999968216,0.000238585822847,-7.79653211752e-05,2.3812125623e-05,1793238920553335552
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879.028019026,788,803.028019026,652.971980974,632,653,0.40163238628,-0.00538490173623,0.0599537733954,0.999999968566,0.000238027661089,-7.54142985254e-05,2.28879206999e-05,1793238920570001920
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879.604674599,788,803.604674599,652.395325401,632,653,0.401764048963,-0.00538857429955,0.0599559140372,0.999999969585,0.000235333282127,-7.04322985435e-05,2.20989775756e-05,1793238920586668544
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636.18452331,879.81547669,787.81547669,804,652,631.81547669,653,0.401903708068,-0.00539241651278,0.0599569101782,0.999999970674,0.000231910049962,-6.6588150587e-05,2.08538523101e-05,1793238920603335168
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636.771333441,879.228666559,787.228666559,804,652,631.228666559,653,0.402060800482,-0.00539662858624,0.0599554111458,0.999999971958,0.000226897815463,-6.52246810504e-05,1.86141857938e-05,1793238920620002304
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.353764893,745.353764893,715.353764893,679,664,636.646235107,879,787.353764893,804,652,631.353764893,653,0.402242350168,-0.0054011939634,0.0599569029396,0.999999973364,0.000222338973306,-5.96581517861e-05,1.67062977903e-05,1793238920636669184
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.933400715,745.933400715,715.933400715,679,664,636.066599285,879,787.933400715,804,652,631.933400715,653,0.402439515288,-0.00540598491744,0.0599603043085,0.999999974789,0.000218069611459,-5.14080632599e-05,1.50102426855e-05,1793238920653335808
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.487190586,745.487190586,716,679,664,636,879,788,804,652,632,653,0.402666866953,-0.00541156740277,0.0599618069998,0.999999975946,0.000214460491735,-4.41407041313e-05,1.28620389595e-05,1793238920670002176
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715.908840546,679,664,636,879.091159454,788,804,652.091159454,632,653,0.402903144434,-0.00541754044665,0.0599630989896,0.999999977075,0.000210558555156,-3.74350698357e-05,1.06920319336e-05,1793238920686668800
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715.335929183,679,664,636,879.664070817,788,804,652.664070817,632,653,0.403165883544,-0.00542503446989,0.0599645800314,0.999999978475,0.000204656217329,-3.30238078967e-05,8.71698725418e-06,1793238920703335168
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.243902992,745,715,679,664,636,879.756097008,788,803.756097008,652.756097008,632,653,0.403442587172,-0.00543244253756,0.0599636103801,0.999999980098,0.000196760678138,-3.24266469467e-05,6.0967243247e-06,1793238920720001792
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.833545587,745,715,679,664,636,879.166454413,788,803.166454413,652.166454413,632,653,0.403739085894,-0.00543972876023,0.0599591668,0.999999981998,0.000186039718249,-3.72360856185e-05,2.56184583181e-06,1793238920736668416
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,715,679,664,636,879,788,803,652,632,653,0.404056500819,-0.00544823657212,0.0599516307299,0.999999983551,0.000174780089172,-4.8473453047e-05,-9.99997972978e-07,1793238920753335296
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,715,679,664,636,879,788,803,652,632,653,0.404382142797,-0.00545722487671,0.0599428782777,0.999999984718,0.000163308583275,-6.22391447796e-05,-4.57244807431e-06,1793238920770002176
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.429538244,745.570461756,715,679.570461756,664,636,879,788,803,652.570461756,631.429538244,653,0.404733750597,-0.00546476665866,0.0599291996679,0.999999984196,0.000154831179743,-8.69185349479e-05,-8.97420775811e-06,1793238920786668800
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+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.283376251,715,679.283376251,663.283376251,636,879,788,803,652.283376251,631.716623749,653,0.40552755022,-0.00548210309232,0.0599242253978,0.999999986011,0.000134273488513,-9.83683117517e-05,-1.65091235065e-05,1793238920820002304
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+149,2.483333333,POSE1_TO_POSE2_PRESS,766.639787804,745.360212196,715,679.360212196,663.639787804,636,880.279575609,788,803.360212196,652.639787804,632,652.639787804,0.409772103724,-0.00550565626815,0.0599907965655,0.999999998549,-3.48262750149e-05,-1.34223851968e-05,-3.88535030615e-05,1793238920953335808
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.04750102,745.95249898,715,679.95249898,663.04750102,636,879.09500204,788,803.95249898,652.04750102,632,652.04750102,0.410407126874,-0.00552324317569,0.0599954445937,0.999999996429,-7.31582601799e-05,-2.62225742262e-06,-4.22290778601e-05,1793238920970002432
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.529749968,746,715,680,663.529749968,636.529749968,879.529749968,788,804,652,632,652.529749968,0.411071038199,-0.00553149445731,0.0599994707965,0.999999995162,-8.68356661418e-05,6.65810377043e-06,-4.57284336534e-05,1793238920986668800
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.893703272,745.893703272,715,679.893703272,664,636.893703272,880,788,804,652,632,653,0.411738700812,-0.0055366610179,0.0600011975274,0.999999995526,-8.23708617238e-05,1.21268793828e-05,-4.49007594269e-05,1793238921003335168
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.314456935,745.314456935,715,679.314456935,664,636.314456935,880,788,804,652,632,653,0.412411846883,-0.00553172434945,0.0599929343745,0.99999999967,-6.74997165317e-06,1.22622495677e-06,-2.47726634088e-05,1793238921020002048
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679.268040787,664,636,879.731959213,788,804,652,631.731959213,653,0.41307762187,-0.00552286324309,0.0599694102401,0.99999999847,2.83210379891e-05,-4.4041081557e-05,-1.7850277764e-05,1793238921036668672
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.854399848,664,636,879.145600152,788,804,652,631.145600152,653,0.413734643238,-0.00550934157563,0.0599277625595,0.999999991064,1.52360732715e-05,-0.000130121332247,-2.66106479479e-05,1793238921053335040
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.564677978,663.564677978,636,879,787.564677978,804,652,631.435322022,653,0.414490841094,-0.00551007801542,0.0599335777055,0.999999992324,8.55463032746e-06,-0.000119575918284,-3.13039741587e-05,1793238921070001920
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.014319987,715,679,663.014319987,636,879.028639975,787.014319987,804,652,631.985680013,653,0.41528093902,-0.0055156813782,0.0599557619334,0.999999996511,3.59629337731e-06,-7.59796751708e-05,-3.45241419766e-05,1793238921086668544
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.588309258,715,679,663.588309258,636,880.176618515,787.588309258,804,652,631.411690742,653,0.416115520963,-0.00552741706793,0.0600049224345,0.999999999257,-1.66916629686e-05,1.18407074856e-05,-3.26771008526e-05,1793238921103335680
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715,679,664,636,880.836621283,788,804,652,631.163378717,653,0.41693414181,-0.00553606067756,0.0600377023521,0.999999996666,-3.19200053467e-05,6.81999127708e-05,-3.16009866163e-05,1793238921120002560
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715,679,664,636,880.258811823,788,804,652,631.741188177,653,0.417712275268,-0.00553686083494,0.0600289308486,0.999999997882,-3.43139971556e-05,4.47538643832e-05,-3.24804264438e-05,1793238921136668928
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,679,664,636,880,788,804,652,632,653,0.418514476677,-0.00553552775843,0.0600149077335,0.999999998559,-3.49599030489e-05,2.19554260156e-05,-3.43254817193e-05,1793238921153335296
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,679,664,636,880,788,804,652,632,653,0.419336205056,-0.00553246392897,0.0599966238378,0.999999998733,-3.41875373374e-05,-3.17586904301e-07,-3.69539680406e-05,1793238921170001664
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715,679.474279567,664,636,880,788,804,652,632,653,0.42014287586,-0.0055302620853,0.0599728259121,0.999999998095,-3.31243349187e-05,-3.36714243652e-05,-3.97392555624e-05,1793238921186668544
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.971816799,715,679.971816799,664,636,880,788,804,651.971816799,631.971816799,653,0.420946095932,-0.00552837629363,0.0599477211316,0.999999996088,-3.2261303118e-05,-7.05681197772e-05,-4.24720807194e-05,1793238921203335424
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.3701855,715,679.3701855,664,636,880,788,804,651.3701855,631.3701855,653,0.42172902317,-0.00553006349446,0.0599143064537,0.999999988187,-3.64353979202e-05,-0.000142815229205,-4.36175941785e-05,1793238921220002048
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,880,788,803.772666418,651.227333582,631.227333582,652.772666418,0.422557503139,-0.00553228076391,0.0599060388817,0.999999985333,-3.93052914683e-05,-0.000160663139947,-4.44530403866e-05,1793238921236668928
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,880,788,803.181724522,651.818275478,631.818275478,652.181724522,0.423458842467,-0.00553534585098,0.0599379928008,0.999999994007,-4.00891832889e-05,-9.15023557268e-05,-4.47925503799e-05,1793238921253335808
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.401321741,664.401321741,636,880,788.401321741,803.802643481,651.598678259,632,652.401321741,0.424394340564,-0.00553756211823,0.0599887516774,0.999999997973,-4.5402059895e-05,-9.70627759594e-06,-4.35720661237e-05,1793238921270002432
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.980861689,664.980861689,636,880,788.980861689,804.961723378,651.019138311,632,652.980861689,0.425345007769,-0.00553940144296,0.0600478614226,0.999999994724,-5.27261593099e-05,7.77008540687e-05,-4.16588222964e-05,1793238921286668800
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.44464262,636,880,787.889285241,804.44464262,651.55535738,632,653,0.426210399198,-0.00554207377729,0.0600474667905,0.999999994409,-5.09920291567e-05,8.24248632492e-05,-4.22765926419e-05,1793238921303335424
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.132879237,636,880,787.132879237,804,652,631.867120763,653,0.427064718356,-0.00554493670533,0.0600397873573,0.999999994894,-5.00115244317e-05,7.64068405242e-05,-4.32831649186e-05,1793238921320002048
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664.721367682,636,880,787.721367682,804,652,631.278632318,653,0.427891058851,-0.00554835558919,0.0600140978724,0.999999996651,-5.26756866299e-05,4.32389215562e-05,-4.53264704044e-05,1793238921336668928
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.305022516,745.305022516,715,680,664.694977484,636,880,788,804,652,631.305022516,653,0.428714409549,-0.00555012891339,0.0599904862038,0.999999997032,-6.04226998303e-05,8.77970380185e-06,-4.69939776569e-05,1793238921353335552
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.884330783,745.884330783,715,680,664.115669217,636,880,788,804,652,631.884330783,653,0.429535071686,-0.00555042249888,0.0599687429736,0.999999995827,-7.27403708894e-05,-2.68406882658e-05,-4.83235552986e-05,1793238921370002176
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.537577189,715,680,664,636,880,788,804,652,632,652.537577189,0.430375118766,-0.00554713379597,0.059950041377,0.999999994792,-6.6614239818e-05,-5.93333698835e-05,-4.95716596328e-05,1793238921386668800
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745,715,680,664.039980546,636,880.039980546,788,804.039980546,652,632,652.039980546,0.431224396466,-0.00554356810698,0.0599369125195,0.999999993711,-5.69544603462e-05,-8.22457302348e-05,-5.06880689834e-05,1793238921403335424
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,745,715,680,664.614451329,636,880.614451329,788,804.614451329,652,632,652.614451329,0.43213242154,-0.005548247302,0.0599881396616,0.999999996761,-6.15689569373e-05,1.24872286958e-05,-5.03156131542e-05,1793238921420002048
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.811225267,745.188774733,715,680,665,636,880.811225267,788.188774733,805,652,632,653,0.433006958155,-0.00555306081199,0.0600245615733,0.999999993555,-6.90062583914e-05,7.51770113575e-05,-4.97635269655e-05,1793238921436668928
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.237202528,745.762797472,715,680,665,636,880.237202528,788.762797472,805,652,632,653,0.433813152302,-0.00555814843037,0.0600307692522,0.999999992802,-8.22042899226e-05,7.24736862698e-05,-4.8844855138e-05,1793238921453335552
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715.34965613,680,664.65034387,636,880.34965613,788.65034387,804.65034387,652,632,653,0.434593081544,-0.00556013864466,0.0600139428548,0.999999994155,-8.58329257088e-05,4.2830220962e-05,-4.98869041107e-05,1793238921470001920
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715.945554329,680,664.054445671,636,880.945554329,788.054445671,804.054445671,652,632,653,0.435354513924,-0.00555994754068,0.0599808949237,0.999999995194,-8.2722402821e-05,-5.78558682335e-06,-5.23097723908e-05,1793238921486668544
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.522093592,745.477906408,715.477906408,680,664.522093592,636,881,788,804.522093592,652,632,653,0.436115212691,-0.00555715586132,0.0599561898568,0.999999993922,-8.13214020547e-05,-5.07032596658e-05,-5.45174981429e-05,1793238921503335424
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.903356581,745,715,680,665,636.096643419,880.903356581,788,804.903356581,651.903356581,632,653,0.436867941878,-0.00555463493744,0.0599356945194,0.999999991084,-8.0585485749e-05,-9.03964923988e-05,-5.62798928415e-05,1793238921520001792
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.32901833,745,715,680,665,636.67098167,880.32901833,788,804.32901833,651.32901833,632,653,0.437581643157,-0.00555474487977,0.0599318606427,0.99999998942,-8.22873080028e-05,-0.000106104129455,-5.59480110649e-05,1793238921536668672
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665,636.748078158,880,788,804,651.251921842,632,653,0.438289444544,-0.00555522754924,0.0599300606198,0.999999988423,-8.27591791825e-05,-0.000114805348628,-5.58958605545e-05,1793238921553335552
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,665,636.158283664,880,788,804,651.841716336,632,653,0.438989333053,-0.00555621011307,0.0599309883621,0.999999988581,-8.1581463906e-05,-0.000114109695841,-5.62188801924e-05,1793238921570002176
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665,636,880,788,804,651.577405752,632,653,0.439718451146,-0.00555807920054,0.0599598081773,0.999999992646,-8.3043793539e-05,-6.9632374414e-05,-5.44368468981e-05,1793238921586669056
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.999798496,636,880,788,804.000201504,651.000201504,631.999798496,653,0.440458258244,-0.00556027408472,0.0599988433901,0.999999994959,-8.5476767661e-05,-9.12254264152e-06,-5.18834716073e-05,1793238921603335680
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.422158541,636,880,788,804.577841459,651.577841459,631.422158541,653,0.441103963549,-0.00556421240568,0.059992678996,0.999999993865,-9.43358932408e-05,-2.64668297193e-05,-5.16758911675e-05,1793238921620002048
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.15481259,745,715,680.15481259,663.84518741,635.84518741,880.15481259,788,805,652,631.15481259,653,0.441719723361,-0.00556606028266,0.0599718817564,0.999999991626,-9.94877222225e-05,-6.38213875995e-05,-5.26932379827e-05,1793238921636668928
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.729967877,745,715,680.729967877,663.270032123,635.270032123,880.729967877,788,805,652,631.729967877,653,0.442254176175,-0.00556223224707,0.0599113538337,0.99999998181,-9.45736074933e-05,-0.000155507261708,-5.70364718202e-05,1793238921653335808
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.686512309,745,715,681,662.686512309,635,881,788,804.686512309,652,631.686512309,652.686512309,0.442781057444,-0.00555723685697,0.05986495508,0.999999969001,-9.06897948053e-05,-0.000223666728399,-6.12160253384e-05,1793238921670002432
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.095589976,745,715,681,662.095589976,635,881,788,804.095589976,652,631.095589976,652.095589976,0.443301237913,-0.00555120836567,0.059831060556,0.999999957302,-8.77177936211e-05,-0.00027100546697,-6.52507227533e-05,1793238921686669056
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.484887787,715,680.515112213,662,635,881,787.515112213,804,652,631,652.484887787,0.443840347538,-0.00555196180393,0.0598289644153,0.99999995601,-9.24092612792e-05,-0.000273849935779,-6.66909615518e-05,1793238921703335168
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680.062987,662,635,880.937013,787.062987,804,651.937013,631.062987,653,0.444378423431,-0.00555442782263,0.0598329593557,0.99999995683,-9.86203703345e-05,-0.000268403538923,-6.76292370997e-05,1793238921720001792
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680.638135087,662,635,880.361864913,787.638135087,804,651.361864913,631.638135087,653,0.444878390685,-0.00556017717528,0.0598365849913,0.999999956912,-0.000105162694648,-0.000265361581631,-6.8557098407e-05,1793238921736668672
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715,680.787013794,662,635,880,787.787013794,804.212986206,651.212986206,631.787013794,652.787013794,0.445340176985,-0.00556486890013,0.0598280728674,0.999999950901,-0.000110543546532,-0.000284738111133,-7.00229063596e-05,1793238921753335296
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715,680.212666582,662,635,880,787.212666582,804.787333418,651.787333418,631.212666582,652.212666582,0.445737183884,-0.00556776621031,0.0597989673299,0.999999932353,-0.00011395379644,-0.00034215075116,-7.24014160865e-05,1793238921770001920
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.627472552,715,680,662,635,880.372527448,787,804.627472552,652,631,652,0.446118465983,-0.00557125318441,0.0597711715064,0.999999915525,-0.000117983524111,-0.000386453653849,-7.53887453794e-05,1793238921786668544
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.035900585,715,680,662,635,880.964099415,787,804.035900585,652,631,652,0.446490502006,-0.0055750868786,0.0597441457863,0.999999899927,-0.000122377502358,-0.000423048093555,-7.87340581686e-05,1793238921803335168
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,680.54213132,661.45786868,635,881,787,804,652,631.54213132,652,0.446863147776,-0.00558207078828,0.0597413411232,0.999999898251,-0.000128190101961,-0.000425278972049,-7.87617777531e-05,1793238921820002048
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.881002772,745,715,681,661,634.881002772,881,787,804.118997228,652,632,652,0.447232430224,-0.00558787708897,0.0597425631883,0.999999900498,-0.000125141610854,-0.000421397032606,-7.59429115569e-05,1793238921836668672
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.305254445,745,715,681,661,634.305254445,881,787,804.694745555,652,632,652,0.447588652024,-0.00558838212748,0.0597532347099,0.999999913133,-8.7729498525e-05,-0.000402573720308,-6.30206133238e-05,1793238921853335296
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.276898757,745,715,681,661,634,881,787,804.723101243,652,631.723101243,652,0.447912142762,-0.0055815071141,0.0597589277962,0.9999999182,-8.16436054551e-05,-0.000392485626222,-5.37554709619e-05,1793238921870002176
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.866279875,745,715,681,661,634,881,787,804.133720125,652,631.133720125,652,0.448198696226,-0.00556630365579,0.0597590026796,0.999999915736,-0.000110909592222,-0.000392255294091,-4.86174577511e-05,1793238921886668800
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745.448058425,715,680.551941575,661,634,880.551941575,787,804,651.551941575,631,652.448058425,0.448443184527,-0.00555238021673,0.0597461722196,0.999999908666,-0.000104268850887,-0.000411329813525,-5.10238499905e-05,1793238921903335168
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,715,680.602835182,661,634,880.602835182,787,804.602835182,651.602835182,631,653,0.448859931749,-0.00554871372141,0.0597038018223,0.999999879253,-9.75926807629e-05,-0.000478253805976,-5.69532124632e-05,1793238921936668416
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.81837189,715,681,661,634,880.81837189,787,805,652,631,653,0.449042742193,-0.00555562235621,0.059682961157,0.999999862034,-0.000104750249512,-0.000511379695646,-5.87431807431e-05,1793238921953335040
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+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,681.350503066,661,634,880.350503066,786.649496934,805.350503066,652,631,652.649496934,0.449379974397,-0.00555951416992,0.0596682287633,0.999999850938,-0.000106490909523,-0.000531833049053,-6.27403206615e-05,1793238921986669056
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,681.930648645,661,634,880.930648645,786.069351355,805.930648645,652,631,652.069351355,0.449536152945,-0.00555981269502,0.0596688469136,0.999999851267,-0.000103572017647,-0.000531698969785,-6.35198733699e-05,1793238922003335680
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745.952457592,715,681,661,633,880,786.952457592,805,651.952457592,631,653,0.450353699374,-0.00556683674121,0.0596480979203,0.999999836939,-0.000105560150343,-0.00055756700951,-6.40187714869e-05,1793238922236668928
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+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.801826746,633.198173254,880.198173254,786.198173254,805,651,631,653,0.450365536356,-0.00556312328631,0.0596472945067,0.999999836822,-0.000102730651604,-0.000558209677624,-6.48357731646e-05,1793238922270002176
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,681.948063038,660.948063038,633.051936962,880.051936962,787,805,651.948063038,631,653,0.450371618571,-0.00556537949423,0.0596461759369,0.999999835265,-0.000102785722631,-0.000561060713166,-6.41588238651e-05,1793238922320001792
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+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,715,681,660,633,880.105123989,786,805,651.894876011,631.105123989,652,0.450372793742,-0.00556327507602,0.0596464469507,0.999999835517,-0.000103722060898,-0.000560411538387,-6.43867289297e-05,1793238922353335040
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+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745.244470937,715,681,660.755529063,633,880.755529063,786,805,652,631,653,0.450378180581,-0.00556375440943,0.0596463353989,0.999999835983,-0.00010371651545,-0.000559707342751,-6.32820602678e-05,1793238922486668544
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+254,4.233333333,HOLD_POSE2,766,746,715,681,660,633,881,787,805,652,631,652,0.450378966838,-0.00555903396588,0.0596449027185,0.999999835851,-0.000100042007198,-0.000560576868325,-6.35928822512e-05,1793238922723412736
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+268,4.466666667,HOLD_POSE2,766,745.886901322,715,681,660.886901322,633,880.886901322,786.113098678,805,652,631,652.886901322,0.45038160592,-0.0055607149806,0.0596452983644,0.999999836079,-0.000100949300842,-0.000560153598194,-6.22896183158e-05,1793238922956746240
+269,4.483333333,HOLD_POSE2,766,745.31188613,715,681,660.31188613,633,880.31188613,786.68811387,805,652,631,652.31188613,0.450381757686,-0.00556001416087,0.059645738843,0.999999836115,-0.000102759334608,-0.000559656433657,-6.32086577106e-05,1793238922973413120
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,661,633,880,786,804,651,631,653,0.450382002195,-0.00556077759798,0.0596462272634,0.999999836208,-0.000102588985489,-0.000559617317794,-6.23527951268e-05,1793238923011956480
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.395484348,715,681,660.395484348,633,880,786,804.604515652,651.604515652,631.604515652,653,0.450382168672,-0.00556090888421,0.0596454722692,0.999999835734,-0.000103960556673,-0.000560156907133,-6.2841289249e-05,1793238923028623104
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.19979651,715,681,660,633,880.19979651,786,805,652,631.80020349,653,0.450382667336,-0.00556031436613,0.0596454202211,0.999999835907,-0.000103504543254,-0.000559907724766,-6.30535629219e-05,1793238923045289984
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,746,715.327301424,681,660,633.327301424,881,786,804.672698576,652,631,652.672698576,0.450383794667,-0.00555920788655,0.0596465789656,0.999999837159,-0.000100485065046,-0.000558282320414,-6.24875474921e-05,1793238923078623232
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,660,633,881,786,805,652,631,653,0.450382943816,-0.00556077040063,0.0596461646545,0.999999836782,-0.000100193957813,-0.00055905970091,-6.20464457206e-05,1793238923145289472
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,660.89164516,633,880.89164516,786.89164516,804.89164516,651.89164516,631,653,0.449992656267,-0.00554605441336,0.0595459357665,0.99999975245,-9.02848975128e-05,-0.000694631160427,-6.66054324689e-05,1793238923295289600
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,661,633.802041385,881,786.802041385,805,651.802041385,631,653,0.449383954998,-0.00552672976369,0.0595494199403,0.99999975469,-7.59802602912e-05,-0.000693471084066,-6.28060551451e-05,1793238923378625280
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745.866150779,714.133849221,681,660.133849221,634,881,786.133849221,805,652,631,652.133849221,0.448579417745,-0.00550474646827,0.0595610687187,0.999999766597,-5.70913547417e-05,-0.000678577360034,-5.54854408229e-05,1793238923445289984
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745.033524378,715,680.033524378,660.033524378,634,880.966475622,786.033524378,804.033524378,651,631,653,0.447139126317,-0.00546458293422,0.0596180970175,0.999999825182,-1.9599713235e-05,-0.00058943954591,-4.2586834972e-05,1793238923528623360
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745.612745234,715,680.612745234,660.612745234,634,880.387254766,786.612745234,804.612745234,651,631,653,0.44675736467,-0.00545460225957,0.0596269613789,0.999999829146,-9.86550433777e-06,-0.000583126756063,-3.96752552424e-05,1793238923545290240
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.140254089,745.140254089,715,679.859745911,663.140254089,636,880,788.859745911,803.140254089,652,632,653,0.401162010478,-0.00536691791181,0.0598369137249,0.999999932006,0.000248433189343,-0.000271961020533,1.74962651981e-05,1793238924845290752
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745.443919749,715,680,663.443919749,636,879.556080251,788.556080251,803,652,632,653,0.401114427432,-0.00536501776766,0.0598345645119,0.999999930436,0.000250457123651,-0.000275847088595,1.7552581972e-05,1793238924861957376
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.969777474,663.969777474,636,879,788,803.030222526,652,631.969777474,653,0.401072164084,-0.00536311166953,0.0598328382268,0.999999928967,0.000252959340019,-0.0002788751203,1.75185488772e-05,1793238924878623744
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.386867592,663.386867592,636,879,788,803.613132408,652,631.386867592,653,0.401044208017,-0.00536277270613,0.0598331290446,0.999999928992,0.000253029538551,-0.000278693151635,1.7935205985e-05,1793238924895290112
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,746,715,679,663.192771314,636,879,787.807228686,804,652,631.192771314,653,0.401021127499,-0.00536264405895,0.0598338427947,0.999999929298,0.000252614685397,-0.000277952168344,1.82504270406e-05,1793238924911956736
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,746,715,679,663.765955248,636,879,787.234044752,804,652,631.765955248,653,0.401007668337,-0.00536293044736,0.059835391154,0.999999930152,0.000251242637005,-0.000276108032249,1.83654753466e-05,1793238924928623360
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.498280995,745,715,679.498280995,663.501719005,636,879,788,804,652,632,653,0.400984141103,-0.0053660902626,0.0598371942855,0.99999993293,0.000244836632083,-0.000271752778743,1.86000414403e-05,1793238924978624256
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.091232963,745,715,679,663.908767037,636,879,788,804,652,631.908767037,653,0.400977289525,-0.00536472252765,0.0598361798939,0.999999931765,0.000247069227957,-0.00027401694917,1.84973558217e-05,1793238924995291136
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.669664655,745,715,679,663.330335345,636,879,788,804,652,631.330335345,653,0.400978232824,-0.00536691924387,0.0598387321609,0.999999933693,0.000243722312451,-0.000269916117774,1.89358571319e-05,1793238925011957760
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745,715,679.247247742,663,636,879,788,803.752752258,652,631.247247742,653,0.40097856503,-0.00536755507393,0.0598405220224,0.999999934521,0.000243265791034,-0.000267233582482,1.91046246216e-05,1793238925028624384
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745,715,679.823700893,663,636,879,788,803.176299107,652,631.823700893,653,0.40097808358,-0.00536611261522,0.0598412967561,0.999999933906,0.000246657771587,-0.000266439480264,1.89142469125e-05,1793238925045290240
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.592605177,745.407394823,715,679.592605177,663,636,879,787.592605177,803,652,632,653,0.400977834241,-0.00536590851963,0.0598420518317,0.999999934048,0.000247673183577,-0.000264958160176,1.89711553903e-05,1793238925061956608
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.005721133,745.994278867,715,679.005721133,663,636,879,787.005721133,803,652,632,653,0.400977687165,-0.00536625001969,0.0598427982464,0.999999934523,0.000247641531515,-0.000263174066995,1.9137012741e-05,1793238925078623488
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,715,679,663.573709847,636.573709847,879,787.573709847,803,652.573709847,631.426290153,653,0.400979330303,-0.00536532175182,0.0598440152778,0.999999935212,0.000247058715816,-0.000261115381253,1.88689646678e-05,1793238925095290624
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.15299167,745.84700833,715,679,663.84700833,636.84700833,879,787.84700833,803,652.84700833,631.15299167,653,0.400980106884,-0.00536471978664,0.0598446751486,0.999999935691,0.000246242624527,-0.000260065916995,1.868475159e-05,1793238925111957248
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.732062331,745.267937669,715,679,663.267937669,636.267937669,879,787.267937669,803,652.267937669,631.732062331,653,0.40097842104,-0.00536506138075,0.0598437704347,0.999999935584,0.000244791975892,-0.000261834644658,1.87459134984e-05,1793238925128624128
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.692996101,745,715,679,663.307003899,636,879,787.307003899,803.307003899,652,631.692996101,653,0.400977992722,-0.00536497569967,0.0598437632428,0.999999935411,0.000245798849598,-0.000261555173699,1.87282364136e-05,1793238925145290752
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.12161031,745,715,679,663.87838969,636,879,787.87838969,803.87838969,652,631.12161031,653,0.400978647344,-0.00536452206295,0.0598445289679,0.999999935172,0.000248922062397,-0.000259511860109,1.86426657281e-05,1793238925161957120
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.536589269,636,879.463410731,788,803.536589269,652,631,653,0.400979644993,-0.00536427380004,0.0598455943862,0.999999935498,0.000249386436703,-0.000257797887572,1.87302370327e-05,1793238925178623488
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.948385434,663,636,880,788,803.051614566,652.051614566,631,653,0.400980608623,-0.00536433143948,0.059846682576,0.999999936003,0.000248860545024,-0.00025633318067,1.88799434817e-05,1793238925195289856
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.3653692,663,636,880,788,803.6346308,652.6346308,631,653,0.400980267113,-0.00536696681683,0.0598471709499,0.99999993677,0.000245540751602,-0.000256518013225,1.91873886107e-05,1793238925211956480
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.213204336,663,636,879.786795664,788,803.786795664,652.786795664,631,653,0.400979839584,-0.0053682757315,0.0598472710242,0.999999937155,0.000243721360305,-0.000256746019533,1.92638342964e-05,1793238925228623360
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.784319776,663,636,879.215680224,788,803.215680224,652.215680224,631,653,0.400979267654,-0.00536735788209,0.0598467192508,0.999999936913,0.000244420729342,-0.000257046502621,1.89524957962e-05,1793238925245290240
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.35753661,788,803.35753661,652,631.35753661,652.64246339,0.400978457778,-0.00536619503748,0.0598459064551,0.999999936251,0.000246139389844,-0.000257997762619,1.8720136773e-05,1793238925261956608
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.932028561,788,803.932028561,652,631.932028561,652.067971439,0.400977503514,-0.00536488352836,0.0598449352697,0.999999935328,0.000248476562441,-0.000259343917904,1.85357029777e-05,1793238925278622976
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.476371029,788,803.476371029,652.523628971,632,652.523628971,0.400978868341,-0.00536640434773,0.0598464093771,0.999999936554,0.000245585418827,-0.000257330843055,1.89850595175e-05,1793238925295289600
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,803,652.885610782,631.885610782,653,0.400980131763,-0.00536768090186,0.0598477632628,0.999999937601,0.000243189535551,-0.000255506217137,1.93492239957e-05,1793238925311955968
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,803,652.307561988,631.307561988,653,0.400979722734,-0.00536642677243,0.0598472997775,0.999999936811,0.000245644958613,-0.00025627262985,1.90233370372e-05,1793238925328622592
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.268795861,788,803.268795861,652.268795861,631.268795861,653,0.400979261338,-0.00536598318406,0.0598466682124,0.999999936346,0.000246625778136,-0.000257153405565,1.8870694607e-05,1793238925345289216
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.843231064,788,803.843231064,652.843231064,631.843231064,653,0.400978740399,-0.00536646123633,0.0598458455289,0.999999936256,0.000245929872547,-0.000258164219964,1.89150430536e-05,1793238925361956096
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.571179268,788,803.571179268,652.571179268,632,653,0.400978969462,-0.00536577850726,0.0598464201685,0.999999936307,0.000246960828117,-0.000256981181556,1.88904525252e-05,1793238925378622720
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.018284706,663,636,879,788,803,652.018284706,631.981715294,653,0.400979485034,-0.00536473227357,0.0598474854485,0.999999936437,0.000248466676396,-0.000255019476627,1.88330678538e-05,1793238925395289088
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.59815293,663,636,879,788,803,652.59815293,631.40184707,653,0.400980154151,-0.00536590319389,0.0598475114604,0.999999937533,0.000244650652898,-0.000254433266073,1.85632010169e-05,1793238925411955712
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.82321125,663.17678875,636,879,788,803,652.82321125,631.17678875,653,0.400980165069,-0.00536699417139,0.0598473999413,0.999999938168,0.000241918326398,-0.000254555968927,1.84366558269e-05,1793238925428622592
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.247357366,663.752642634,636,879,788,803,652.247357366,631.752642634,653,0.400978690231,-0.00536790469395,0.0598469779732,0.999999937794,0.000241632228679,-0.000256278901608,1.86336305158e-05,1793238925445289472
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f11d74877d0658506e302039d1582ff32027579a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_01/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,0.575664395988,9.07468878863e-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
+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
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+384,6.400000000,pose2_to_pose3_retreat,0.575706798984,9.07604726291e-05,1.05003230991,0.546277250316,0.00876249933016,1.04970044542
+385,6.416666667,pose2_to_pose3_retreat,0.575693560293,9.0784586658e-05,1.05003223686,0.546264011365,0.00876252248728,1.04970037049
+386,6.433333333,pose2_to_pose3_retreat,0.575683740849,9.07438450675e-05,1.05003221925,0.546254192869,0.008762485105,1.04970035685
+387,6.450000000,pose2_to_pose3_retreat,0.575676833765,9.07661398394e-05,1.05003247918,0.546247286604,0.00876251024399,1.04970061812
+388,6.466666667,pose2_to_pose3_retreat,0.575672322095,9.08181635885e-05,1.05003255356,0.546242774863,0.00876256212737,1.0497006948
+389,6.483333333,pose2_to_pose3_retreat,0.575669352047,9.08953367452e-05,1.05003215802,0.546239803261,0.00876263425167,1.04970030521
+390,6.500000000,pose2_to_pose3_retreat,0.575667357333,9.0815226661e-05,1.05003209151,0.546237808853,0.00876255479691,1.04970022871
+391,6.516666667,pose2_to_pose3_retreat,0.57566649674,9.07362182895e-05,1.05003212991,0.546236948847,0.00876247743428,1.04970025809
+392,6.533333333,pose2_to_pose3_retreat,0.575666442481,9.07312369075e-05,1.05003213233,0.546236894625,0.00876247255666,1.04970025994
+393,6.550000000,pose2_to_pose3_retreat,0.575666292726,9.07174883858e-05,1.05003213901,0.546236744972,0.00876245909452,1.04970026505
+394,6.566666667,pose2_to_pose3_retreat,0.575666082335,9.06981730158e-05,1.0500321484,0.546236534724,0.00876244018149,1.04970027223
+395,6.583333333,pose2_to_pose3_retreat,0.575666036287,9.06939455307e-05,1.05003215045,0.546236488708,0.00876243604206,1.0497002738
+396,6.600000000,pose2_to_pose3_retreat,0.575666014662,9.06919601811e-05,1.05003215142,0.546236467097,0.00876243409807,1.04970027454
+397,6.616666667,pose2_to_pose3_retreat,0.575665883905,9.0680133963e-05,1.05003215727,0.546236336429,0.00876242251851,1.04970027904
+398,6.633333333,pose2_to_pose3_retreat,0.575665850199,9.06832974646e-05,1.05003215959,0.546236302703,0.00876242562744,1.04970028167
+399,6.650000000,pose2_to_pose3_retreat,0.575665796459,9.06883413242e-05,1.05003216328,0.546236248932,0.00876243058429,1.04970028586
+400,6.666666667,pose2_to_pose3_retreat,0.57566559873,9.0706899445e-05,1.05003217686,0.546236051087,0.00876244882226,1.04970030127
+401,6.683333333,pose2_to_pose3_retreat,0.575665400916,9.07254654974e-05,1.05003219045,0.546235853159,0.00876246706803,1.04970031668
+402,6.700000000,pose2_to_pose3_retreat,0.575665334476,9.07317013223e-05,1.05003219502,0.54623578668,0.00876247319628,1.04970032186
+403,6.716666667,pose2_to_pose3_retreat,0.575665207316,9.07436361046e-05,1.05003220375,0.546235659446,0.00876248492518,1.04970033177
+404,6.733333333,pose2_to_pose3_retreat,0.575664874734,9.07748510067e-05,1.0500322266,0.54623532667,0.00876251560159,1.04970035768
+405,6.750000000,pose2_to_pose3_retreat,0.575664749112,9.07792371412e-05,1.05003223688,0.546235200905,0.00876251947029,1.04970036721
+406,6.766666667,pose2_to_pose3_retreat,0.575664726537,9.07786880394e-05,1.05003223902,0.546235178291,0.00876251877148,1.04970036888
+407,6.783333333,pose2_to_pose3_retreat,0.575664691375,9.07778327924e-05,1.05003224236,0.546235143068,0.00876251768305,1.04970037147
+408,6.800000000,pose2_to_pose3_retreat,0.575664629287,9.07763226353e-05,1.05003224826,0.546235080874,0.00876251576116,1.04970037604
+409,6.816666667,pose2_to_pose3_retreat,0.575664533718,9.07739981161e-05,1.05003225734,0.546234985142,0.00876251280287,1.04970038309
+410,6.833333333,pose2_to_pose3_retreat,0.575664525905,9.07738080761e-05,1.05003225808,0.546234977315,0.00876251256102,1.04970038367
+411,6.850000000,pose2_to_pose3_retreat,0.575664475935,9.07725926567e-05,1.05003226283,0.54623492726,0.00876251101422,1.04970038735
+412,6.866666667,pose2_to_pose3_retreat,0.575664449887,9.07696236751e-05,1.05003228853,0.546234901194,0.00876250796364,1.0497004125
+413,6.883333333,pose2_to_pose3_retreat,0.575664418714,9.07564744993e-05,1.05003241471,0.54623487011,0.00876249509132,1.04970053806
+414,6.900000000,pose2_to_pose3_retreat,0.575664416984,9.0755744561e-05,1.05003242171,0.546234868384,0.00876249437675,1.04970054503
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7dffe6191d5452a6ae89e055d58cc25f7d8cfe45
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6b420a4e8104b9de6c52cc3b42d4120b160e59b215f174897819678d7fe08c2
+size 26503756
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0f14d574b3f341a97b6187d83894fa55d962094c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
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+39,0.650000000,BASELINE,766.683766354,744.316233646,715,679,663,636,879,787.683766354,802.683766354,652,632,653,0.400980446999,-0.00536671204176,0.0598502691035,0.999999938587,0.000243607145417,-0.000251270662034,1.85545035708e-05,1793238926218794752
+40,0.666666667,BASELINE,766.729999943,744.270000057,715,679,663,636,879,788,803,652,632,653,0.400980626988,-0.00536704194926,0.0598505214652,0.99999993885,0.000242939804265,-0.000250870408807,1.85730827747e-05,1793238926235461376
+41,0.683333333,BASELINE,766.150874607,744.849125393,715,679,663,636,879,788,803,652,632,653,0.400980994589,-0.00536949025939,0.0598504177935,0.999999939857,0.000238766160309,-0.000250843161248,1.88228503933e-05,1793238926252126976
+42,0.700000000,BASELINE,766,745,715,679,663,636,879.423121747,787.576878253,803.423121747,652,631.576878253,653,0.400981034277,-0.00536843639166,0.0598503533305,0.999999939606,0.000240173238769,-0.000250502648163,1.87945685731e-05,1793238926268793344
+43,0.716666667,BASELINE,766,745,715,679,663,636,879.995311126,787.004688874,803.995311126,652,631.004688874,653,0.40098095844,-0.00536614869138,0.0598503026809,0.999999938905,0.000243546430102,-0.000250051770269,1.86683287205e-05,1793238926285459968
+44,0.733333333,BASELINE,766,745,715,679,663.585410322,636,879.414589678,787.585410322,803.414589678,652,631,653,0.400981019889,-0.00536675718869,0.0598509399871,0.999999939255,0.000242369986801,-0.000249809832855,1.84887643615e-05,1793238926302127104
+45,0.750000000,BASELINE,766,745,715,679,663.827394767,636,879,788,803.172605233,652,631,653,0.400980834402,-0.00536711643466,0.0598511140954,0.999999939263,0.00024204896863,-0.000250096852085,1.83689638603e-05,1793238926318793984
+46,0.766666667,BASELINE,766,745,715,679,663.247403935,636,879,788,803.752596065,652,631,653,0.400980063418,-0.00536683091519,0.0598501815413,0.999999938445,0.000243835660388,-0.000251628248657,1.83912588606e-05,1793238926335460608
+47,0.783333333,BASELINE,766.330270562,745,715,679,663,636,879,788,804,652,631,653,0.400979777871,-0.00536761185059,0.0598498022804,0.99999993841,0.000243413527234,-0.000252157678163,1.85900534315e-05,1793238926352126976
+48,0.800000000,BASELINE,766.906222049,745,715,679,663,636,879,788,804,652,631,653,0.400979853428,-0.00536918609803,0.0598498346019,0.999999938959,0.00024134829854,-0.000251941766815,1.89201421098e-05,1793238926368793344
+49,0.816666667,BASELINE,767,745,715,679,663,636,879,788,803.519546079,652,631.480453921,653,0.400978441083,-0.00536904392216,0.0598492034368,0.999999938803,0.000240489247862,-0.000253397504083,1.86506626096e-05,1793238926385460224
+50,0.833333333,BASELINE,766.945253472,745,715,679.054746528,663,636,879.054746528,787.945253472,803.054746528,652,632,653,0.400977128558,-0.00536860142617,0.059848617384,0.999999938602,0.000239886757949,-0.000254782350134,1.83122192061e-05,1793238926402127360
+51,0.850000000,BASELINE,766.367182924,745,715,679.632817076,663,636,879.632817076,787.367182924,803.632817076,652,632,653,0.400979536433,-0.00536847922568,0.0598496960729,0.999999939303,0.000239494290662,-0.000252381721456,1.8429226681e-05,1793238926418793472
+52,0.866666667,BASELINE,766,745,715,680,663.216082553,636,880,787.216082553,803.783917447,652,632,653,0.400980558597,-0.00536840331169,0.0598500476565,0.999999939576,0.000239487358246,-0.000251300832568,1.84927293145e-05,1793238926435459840
+53,0.883333333,BASELINE,766,745,715,680,663.808393045,636,880,787.808393045,803.191606955,652,632,653,0.400979168058,-0.00536840798852,0.0598491332546,0.999999939111,0.000240151692407,-0.000252517783125,1.84630730261e-05,1793238926452126720
+54,0.900000000,BASELINE,766,745,715,680,663.609810081,636,879.609810081,787.609810081,803.390189919,652,632,653,0.400978969035,-0.00536820097954,0.0598490804145,0.999999939041,0.000240648757312,-0.000252323664907,1.83919072742e-05,1793238926468794624
+55,0.916666667,BASELINE,766,745,715,680,663.033040586,636,879.033040586,787.033040586,803.966959414,652,632,653,0.400979339767,-0.00536789274742,0.0598494395529,0.999999939161,0.000241065838001,-0.000251454806994,1.83008926811e-05,1793238926485463040
+56,0.933333333,BASELINE,766,745,715,680,663,636,879,787.549953832,803.450046168,652.549953832,632,653,0.4009803223,-0.00536798428663,0.0598504205908,0.999999939137,0.000241850514913,-0.000250787863186,1.84539796921e-05,1793238926502128384
+57,0.950000000,BASELINE,766,745.132452777,715,679.867547223,663,636,879,787.867547223,803.132452777,653,631.867547223,653,0.400980804122,-0.00536813165981,0.0598509587884,0.999999939202,0.000241896403819,-0.000250479467068,1.85032822999e-05,1793238926518793728
+58,0.966666667,BASELINE,766,745.712002273,715,679.287997727,663,636,879,787.287997727,803.712002273,653,631.287997727,653,0.400979470289,-0.00536838550084,0.0598498746071,0.9999999396,0.000239373099497,-0.000251339938821,1.8152188906e-05,1793238926535460608
+59,0.983333333,BASELINE,766,745.708632016,715,679,663.291367984,636,879,787,803.708632016,652.708632016,631.291367984,652.708632016,0.400978997157,-0.00536823773775,0.0598494240296,0.999999939708,0.000238586096708,-0.000251661922549,1.80916256732e-05,1793238926552127232
+60,1.000000000,BASELINE,766,745.129447779,715,679,663.870552221,636,879,787,803.129447779,652.129447779,631.870552221,652.129447779,0.400979374232,-0.00536769326605,0.0598495993324,0.999999939535,0.000239514229901,-0.000251451982444,1.83180510416e-05,1793238926568793344
+61,1.016666667,BASELINE,766,745,715,679,664,636,879,787,803.44527774,652,632,652.44527774,0.400980649561,-0.00536872776421,0.0598506286443,0.999999940037,0.000239175344431,-0.000249749465442,1.86362637509e-05,1793238926585459712
+62,1.033333333,BASELINE,766,745,715,679,664,636,879,787.019248665,803.980751335,652,632,653,0.400982122588,-0.0053701496386,0.0598518580584,0.999999940704,0.000238488170335,-0.000247700959233,1.89667745056e-05,1793238926602126336
+63,1.050000000,BASELINE,766,745,715,679,664,636,879,787.608889314,803.391110686,652,632,653,0.400981792498,-0.00536958317993,0.0598517330276,0.999999940647,0.000238286905803,-0.000248130333921,1.88788371094e-05,1793238926618792960
+64,1.066666667,BASELINE,766,745,715,679,664,636,879,788,803,652,632,653,0.400981374259,-0.00536881311302,0.0598515133829,0.999999940337,0.000238836631359,-0.000248858315837,1.87869389955e-05,1793238926635459328
+65,1.083333333,BASELINE,766,745,715,679,664,636,879,788,803,652,632,653,0.400980782366,-0.0053676419311,0.0598511073457,0.999999939524,0.000240865832469,-0.000250174563933,1.86872381406e-05,1793238926652125952
+66,1.100000000,BASELINE,766,745,715,679,664,636.352146336,879.352146336,788,803,652,632,653,0.400980464284,-0.00536721013228,0.0598507957158,0.999999939278,0.000241177465167,-0.000250872282385,1.84781936357e-05,1793238926668792576
+67,1.116666667,BASELINE,766,745,715,679,664,636.928270595,879.928270595,788,803,652,632,653,0.400980320357,-0.00536724860814,0.0598505441324,0.999999939394,0.000240396661593,-0.00025117659336,1.81996025826e-05,1793238926685458944
+68,1.133333333,BASELINE,766.513286949,745.513286949,715,679,663.486713051,636.486713051,880,788,803.513286949,652,631.486713051,653,0.400980763758,-0.00536847842847,0.059851042619,0.999999939516,0.000240816632828,-0.000250259741195,1.85633013272e-05,1793238926702125824
+69,1.150000000,BASELINE,766.901570415,746,715,679.098429585,663.098429585,636,879.901570415,788,803.901570415,652.098429585,631.098429585,653,0.400981117434,-0.00536945390951,0.059851470539,0.99999993953,0.000241572704852,-0.00024945415957,1.88564224866e-05,1793238926718792704
+70,1.166666667,BASELINE,766.32199204,746,715,679.67800796,663.67800796,636,879.32199204,788,803.32199204,652.67800796,631.67800796,653,0.400980624229,-0.0053683579485,0.0598510320975,0.999999939013,0.000243137000576,-0.00025004139202,1.83580527454e-05,1793238926735459328
+71,1.183333333,BASELINE,766,745.743773476,715,679.743773476,664,636,879,787.743773476,803.256226524,652.743773476,631.743773476,653,0.400980364078,-0.0053674953104,0.0598509286288,0.99999993889,0.000243704032508,-0.000249993821867,1.81797537908e-05,1793238926752125952
+72,1.200000000,BASELINE,766,745.167254647,715,679.167254647,664,636,879,787.167254647,803.832745353,652.167254647,631.167254647,653,0.400980395253,-0.00536692433414,0.059851243888,0.999999939262,0.000243024449301,-0.000249152725872,1.84015546815e-05,1793238926768792576
+73,1.216666667,BASELINE,766,745,715,679,663.591822187,636,879,787.408177813,803.591822187,652,631,653,0.400979617217,-0.0053667244684,0.059850577733,0.999999939243,0.000242070022921,-0.000250173013125,1.8159036232e-05,1793238926785459200
+74,1.233333333,BASELINE,766,745,715,679,663.016833731,636,879,787.983166269,803.016833731,652,631,653,0.400978508479,-0.005366676265,0.059849510502,0.999999939061,0.000241003276007,-0.000251953994731,1.77267636823e-05,1793238926802126336
+75,1.250000000,BASELINE,766,745,715,679,663.572850061,636,879,788,803.572850061,652,631,653,0.400980375984,-0.00536650075554,0.0598504925418,0.999999938515,0.000245008449518,-0.000250191531226,1.85552741085e-05,1793238926818792960
+76,1.266666667,BASELINE,766,745,715,679,664,636.160037496,879.160037496,788,804,652.160037496,631.160037496,653,0.400981443307,-0.00536622006882,0.0598509984105,0.999999938247,0.000247067419332,-0.000249206766013,1.89888439916e-05,1793238926835459584
+77,1.283333333,BASELINE,766,745,715,679,664,636.739520541,879.739520541,788,804,652.739520541,631.739520541,653,0.400980178158,-0.00536567378389,0.0598500942861,0.999999938771,0.000243624629078,-0.000250540381254,1.82876462916e-05,1793238926852126208
+78,1.300000000,BASELINE,766,745,715,679,663.683572684,636.683572684,879.683572684,787.683572684,803.683572684,652.683572684,631.683572684,653.316427316,0.400979644718,-0.0053663781868,0.0598499599851,0.999999939412,0.000240686922043,-0.000250835850489,1.80649794228e-05,1793238926868792576
+79,1.316666667,BASELINE,766,745,715,679,663.108769566,636.108769566,879.108769566,787.108769566,803.108769566,652.108769566,631.108769566,653.891230434,0.400979708748,-0.00536810382733,0.0598504542763,0.999999940152,0.000238161636213,-0.00025028363113,1.82330525164e-05,1793238926885459200
+80,1.333333333,BASELINE,766,745,715,679,663.467604771,636,879,787.467604771,803,652,631,653.532395229,0.400980431146,-0.00536817726352,0.059850821417,0.999999940163,0.000238779814661,-0.000249658830943,1.81048891248e-05,1793238926902126080
+81,1.350000000,BASELINE,766,745,715,679,664,636,879,788,803.045185885,652,631.045185885,653,0.400981176031,-0.00536788141438,0.059851073675,0.999999939961,0.000240113489419,-0.000249200523297,1.79470399833e-05,1793238926918792960
+82,1.366666667,BASELINE,766,745,715,679,664,636,879,788,803.632851895,652,631.632851895,653,0.400980346129,-0.00536778161222,0.059850302985,0.999999939251,0.000241229019266,-0.000250944418952,1.8262858695e-05,1793238926935459584
+83,1.383333333,BASELINE,766,745,715,679.217457046,664,636,879.217457046,788,804,652,631.782542954,653,0.400980048581,-0.00536748938914,0.0598500189313,0.999999938828,0.000242321665285,-0.000251564485146,1.84496373343e-05,1793238926952126720
+84,1.400000000,BASELINE,766,745,715,679.796966159,664,636,879.796966159,788,804,652,631.203033841,653,0.400980637367,-0.0053668767975,0.0598505450958,0.999999938886,0.000243376211367,-0.000250313447485,1.84215725613e-05,1793238926968794368
+85,1.416666667,BASELINE,766,745.374245218,715,680,664,636,879.625754782,788,803.625754782,652.374245218,631.374245218,653,0.400981208366,-0.00536769761554,0.059851104623,0.999999939614,0.000241608892676,-0.000249109178165,1.84602427129e-05,1793238926985460736
+86,1.433333333,BASELINE,766,745.95032157,715,680,664,636,879.04967843,788,803.04967843,652.95032157,631.95032157,653,0.400981769771,-0.00536929147409,0.0598516821427,0.999999940695,0.000238319737051,-0.00024793013117,1.85349031335e-05,1793238927002126336
+87,1.450000000,BASELINE,766,745.477692963,715,678.955385925,663.477692963,636,879,788,803,652.477692963,632,653,0.40098073868,-0.0053685712555,0.059851309153,0.999999939982,0.000239525581447,-0.000249658544897,1.82755312052e-05,1793238927018792960
+88,1.466666667,BASELINE,766,745.097665375,715,678.292996124,663,636,879,788,803,652,631.902334625,653,0.400979817965,-0.00536765256027,0.0598509185725,0.999999939229,0.000240984017875,-0.000251283789187,1.80228488894e-05,1793238927035459840
+89,1.483333333,BASELINE,766,745.692145081,715,680.076435243,663,636,879,788,803,652,631.307854919,653,0.400980223241,-0.00536683515927,0.059850894823,0.999999939163,0.000241569437832,-0.000250988427362,1.7964555875e-05,1793238927052126976
+90,1.500000000,BASELINE,766,745.721765544,714.721765544,680.443531088,663,636,879,788,803.278234456,652.278234456,631.278234456,653,0.400981219398,-0.00536665892119,0.0598513866101,0.999999939418,0.000241938984273,-0.000249608631342,1.80153069716e-05,1793238927068793856
+91,1.516666667,BASELINE,766,745.144688005,714.144688005,679.289376011,663,636,879,788,803.855311995,652.855311995,631.855311995,653,0.400982850203,-0.00536717133658,0.0598524321191,0.999999940014,0.000242076667561,-0.000247064077883,1.81831790024e-05,1793238927085460480
+92,1.533333333,BASELINE,766.431986338,745.431986338,714.431986338,679,663.431986338,636,879.431986338,788,803.568013662,653,632,653,0.40098108026,-0.00536777325007,0.0598511348558,0.999999939717,0.000241550684564,-0.000248776914697,1.8133185359e-05,1793238927102126592
+93,1.550000000,BASELINE,767,745.991289783,715,679,664,636,879.991289783,788,803.008710217,652.991289783,632,653,0.400978230851,-0.00536837752371,0.0598490986989,0.999999939121,0.000240852831313,-0.000251838653917,1.80143149386e-05,1793238927118793216
+94,1.566666667,BASELINE,767,745.402280033,715,679,664,636,879.402280033,788,803.597719967,652.402280033,632,653,0.400979279342,-0.00536714379825,0.0598500642235,0.999999938975,0.000243500019275,-0.000249855464456,1.81636922435e-05,1793238927135459584
+95,1.583333333,BASELINE,767,745,715,679,664,636,879,788,803.816275424,652.183724576,632,653,0.4009802733,-0.00536684763183,0.0598508551175,0.999999939169,0.000244097835966,-0.000248480686979,1.82976703536e-05,1793238927152125952
+96,1.600000000,BASELINE,767,745,715,679,664,636,879,788,803.236744811,652.763255189,632,653,0.400981149772,-0.00536857129042,0.0598512697973,0.999999940108,0.000240280601367,-0.000248416638165,1.83984733215e-05,1793238927168792576
+97,1.616666667,BASELINE,767,745,715,679,663.661286441,636,879.338713559,788,803.338713559,653,632,653,0.400981100749,-0.00536928756451,0.0598512445704,0.99999994035,0.00023907340146,-0.00024859356158,1.85596105519e-05,1793238927185459712
+98,1.633333333,BASELINE,767,745,715,679,663.088640598,636,879.911359402,788,803.911359402,653,632,653,0.400980412534,-0.00536930808911,0.0598509155223,0.999999940119,0.000239668820431,-0.000248936912303,1.87624175929e-05,1793238927202127360
+99,1.650000000,BASELINE,767,745,715,679,663.487222896,636,879.512777104,788,804,652.512777104,632,653,0.400980557767,-0.005367760081,0.05985076277,0.999999939508,0.000241817904455,-0.000249330254204,1.85176721483e-05,1793238927218794240
+100,1.666666667,BASELINE,766.934863746,745,715,679,664,636,879,788,803.934863746,652,632,652.934863746,0.400980666236,-0.00536610664525,0.0598505469401,0.999999938842,0.000244052569541,-0.000249845810244,1.82143184134e-05,1793238927235461120
+101,1.683333333,BASELINE,766.345188357,745,715,679,664,636,879,788,803.345188357,652,632,652.345188357,0.400979249474,-0.00536591750214,0.0598495631454,0.999999938332,0.000244685045418,-0.000251271823155,1.80990523098e-05,1793238927252127232
+102,1.700000000,BASELINE,766.240648369,745,715,679,664,636,879.240648369,788,803,652.240648369,632,652.240648369,0.400978941194,-0.00536627300755,0.0598494306578,0.999999938305,0.000244610141238,-0.00025145069888,1.81133675633e-05,1793238927268793600
+103,1.716666667,BASELINE,766.821065282,745,715,679,664,636,879.821065282,788,803,652.821065282,632,652.821065282,0.400980197968,-0.00536739749569,0.0598505001208,0.99999993896,0.000243536495594,-0.000249868756464,1.83106371887e-05,1793238927285459968
+104,1.733333333,BASELINE,766.601058314,745,715,679,664,636,879.601058314,787.601058314,803.398941686,653,631.601058314,653,0.400980564173,-0.00536792688464,0.0598508916662,0.999999939215,0.00024332890047,-0.000249026282476,1.86020048298e-05,1793238927302126592
+105,1.750000000,BASELINE,766.024314127,745,715,679,664,636,879.024314127,787.024314127,803.975685873,653,631.024314127,653,0.400980533464,-0.00536819104663,0.0598509810738,0.999999939293,0.00024350729136,-0.000248513378664,1.89353106035e-05,1793238927318793728
+106,1.766666667,BASELINE,766,745,715,679,664,636,879,787.559913443,804,652.440086557,631,653,0.400981391974,-0.00536839719516,0.059851050852,0.999999939933,0.000240946537306,-0.000248453159859,1.86814178388e-05,1793238927335460352
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879,788,804,652,631,653,0.400980819094,-0.00536537657708,0.059852149579,0.999999938906,0.000245351011626,-0.000248298362218,1.83825334229e-05,1793238927377569536
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.593954169,745,715,679,663.406045831,636,879,788,804,652.593954169,631,653,0.400980627546,-0.00536590665504,0.05985203057,0.999999939087,0.00024471180605,-0.000248215212329,1.81753492425e-05,1793238927394236160
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.818918435,745,715,679,663,636,879.181081565,788,803.818918435,652.818918435,631.181081565,653,0.400980745453,-0.00536666692043,0.0598518798109,0.999999939411,0.000243543335331,-0.00024806617198,1.81067231867e-05,1793238927410902784
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.24654271,745,715,679,663,636,879.75345729,788,803.24654271,652.24654271,631.75345729,653,0.400981532055,-0.00536792459157,0.0598516604438,0.999999940039,0.000241231190046,-0.000247774750737,1.83375035204e-05,1793238927427569152
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.337386661,663,636,879.662613339,788,803,652,632,652.662613339,0.400981229602,-0.00536808575759,0.0598513025854,0.999999939882,0.000241473336536,-0.000248169141328,1.84048948565e-05,1793238927444235264
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.930058105,663,636,879.069941895,788,803,652,632,652.069941895,0.400980103114,-0.00536741724915,0.0598508399369,0.999999939128,0.000243648196867,-0.000249082453834,1.8348657329e-05,1793238927460901632
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.510668522,715,680,663.510668522,636,879,788,803,652,632,652,0.40098084546,-0.00536790096642,0.059851810864,0.9999999399,0.00024146876561,-0.000248097948677,1.84249452524e-05,1793238927477568512
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.911169932,715,679.911169932,663.911169932,636,879.088830068,788,803,652.088830068,632,652.088830068,0.400981879136,-0.00536834314363,0.0598528560168,0.999999940638,0.000239533655967,-0.000246991450851,1.85168675529e-05,1793238927494235392
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.337565752,715,679.337565752,663.337565752,636,879.662434248,788,803,652.662434248,632,652.662434248,0.400983138079,-0.00536771727221,0.059853259451,0.999999940111,0.00024211137627,-0.000246604979894,1.8597342027e-05,1793238927510902272
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.24265702,663,636,879.75734298,788,803,652.75734298,632,653,0.400984929243,-0.00536694744358,0.0598538085817,0.999999939921,0.000243545770542,-0.000245977995871,1.83980708147e-05,1793238927527569152
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.832345193,663,636,879.167654807,788,803,652.167654807,632,653,0.400987481553,-0.00536597173745,0.0598545660772,0.999999940219,0.00024334505942,-0.000245007046864,1.77987268186e-05,1793238927544235520
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.585215093,663,636,879,788,803.414784907,652,632,653,0.401009308239,-0.0053682600096,0.0598643836716,0.999999944444,0.000241999454994,-0.000228467525742,1.87216913657e-05,1793238927560901888
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.005654816,663,636,879,788,803.994345184,652,632,653,0.401038791767,-0.00537184491331,0.0598778004353,0.999999949782,0.000240199035876,-0.000205743311617,2.02494005057e-05,1793238927577568768
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.570243521,745.570243521,715,679,663.570243521,636.570243521,879,788,803.429756479,652,631.429756479,653,0.401094803002,-0.00537277207727,0.0598978403859,0.999999956831,0.000239211844403,-0.000169343840998,2.09590988846e-05,1793238927594235136
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.854333551,745.854333551,715,679.145666449,664,636.854333551,879,788,803,652.145666449,631.145666449,653,0.401154185795,-0.00537367857692,0.0599167821796,0.99999996203,0.000238286436363,-0.000136715412545,2.16515504699e-05,1793238927610901504
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.280202728,745.280202728,715,679.719797272,664,636.280202728,879,788,803,652.719797272,631.719797272,653,0.401222716889,-0.0053746013221,0.0599323018958,0.999999964864,0.000237519189855,-0.000115575488244,2.2316980297e-05,1793238927627568640
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.696705735,663.696705735,636,879,788,803.303294265,652.696705735,632,653,0.401298919581,-0.0053762039903,0.0599437294619,0.99999996689,0.000237071584952,-9.75256163469e-05,2.24942090765e-05,1793238927644235520
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.104279972,663.104279972,636,879,788,803.895720028,652.104279972,632,653,0.401382435632,-0.00537845483147,0.0599512559659,0.999999968289,0.000236928695604,-8.24215036393e-05,2.22060340312e-05,1793238927660902400
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.47578507,788,803.52421493,652.47578507,631.52421493,653,0.401479824684,-0.00538177943539,0.0599534608606,0.999999969363,0.000233893290039,-7.80626900937e-05,2.1754620795e-05,1793238927677569280
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.053129176,745,715.053129176,679,663,636,880,788,803.053129176,653,631.053129176,653,0.401582581835,-0.00538537089959,0.0599548071918,0.999999970415,0.000230263584198,-7.54907006073e-05,2.12255242745e-05,1793238927694236160
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.629681416,745,715.629681416,679,663,636,880,788,803.629681416,653,631.629681416,653,0.401709027717,-0.0053893315943,0.0599588949442,0.999999971755,0.000226866505701,-6.79076758677e-05,2.02746524888e-05,1793238927710902528
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.794733914,745,715.794733914,679,663.205266086,636,879.794733914,788,803.794733914,653,632,653,0.40184310791,-0.00539233780345,0.0599609776922,0.999999972633,0.000224776757574,-6.20696077198e-05,1.88841358606e-05,1793238927727568640
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.2208867,745,715.2208867,679,663.7791133,636,879.2208867,788,803.2208867,653,632,653,0.401990896456,-0.00539363011303,0.0599594602017,0.999999972778,0.00022503448629,-5.93648298931e-05,1.67041816089e-05,1793238927744235264
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.36296021,715,679,664,636,879,787.63703979,803.36296021,653,632,653,0.402155246332,-0.00539739307906,0.0599584039787,0.99999997344,0.000222467524109,-5.8330288353e-05,1.50576805367e-05,1793238927760902144
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.9530651,715,679,664,636,879,787.0469349,803.9530651,653,632,653,0.402329960493,-0.00540270221048,0.0599576364221,0.999999974413,0.00021813283785,-5.83409996573e-05,1.37450203967e-05,1793238927777569024
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.533732025,745.466267975,715,679,664,636,879.533732025,787.533732025,803.466267975,652.466267975,632,653,0.402551344053,-0.00540974032131,0.0599575320547,0.999999975974,0.00021208318463,-5.41904711668e-05,1.16605933389e-05,1793238927794235904
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,715.112569131,679.112569131,663.887430869,636,879.887430869,788,803.112569131,652,632,653,0.40278287837,-0.0054166322447,0.059957927855,0.999999977479,0.000206365596465,-4.8642280133e-05,9.46263841593e-06,1793238927810902784
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,715.687242668,679.687242668,663.312757332,636,879.312757332,788,803.687242668,652,632,653,0.403039527962,-0.00542231076348,0.0599601416364,0.999999978694,0.000202619483878,-3.88326409468e-05,7.072400925e-06,1793238927827569152
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.731936556,745,715.731936556,679.731936556,663.268063444,636,879,788,804,652,631.731936556,653,0.4033084086,-0.00542861553448,0.0599631893021,0.999999980198,0.000196642852737,-3.02366921153e-05,4.67146650004e-06,1793238927844235776
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.143775325,745,715.143775325,679.143775325,663.856224675,636,879,788,804,652,631.143775325,653,0.403591894464,-0.00543566812048,0.0599672327189,0.999999982058,0.000188002732744,-2.30900261475e-05,2.25775888091e-06,1793238927860901888
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.437307559,715,679,664,636,879,788,803.562692441,652,631.437307559,653,0.403895464532,-0.00544361905812,0.0599586328272,0.999999983316,0.000178753249253,-3.75959182197e-05,-1.33016968555e-06,1793238927877568768
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.983947394,715,679,664,636,879,788,803.016052606,652.016052606,631.983947394,653,0.404206744252,-0.0054518632909,0.0599459571519,0.999999983916,0.000169252314442,-5.91022224085e-05,-5.29670486691e-06,1793238927894235904
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.40687011,715,679,664,636,879,788,803.59312989,652.59312989,631.40687011,653,0.404560370839,-0.0054601999717,0.0599337985616,0.999999984264,0.000157853651675,-8.0434019092e-05,-9.21789889603e-06,1793238927910902272
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715.169319747,679,663.830680253,636.169319747,879,788,804,652.830680253,631,653,0.404926485353,-0.00546850960141,0.0599238199862,0.999999984296,0.000146976393818,-9.8134549855e-05,-1.32228351126e-05,1793238927927569152
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715.743388178,679,663.256611822,636.743388178,879,788,804,652.256611822,631,653,0.405322451454,-0.00547675456592,0.0599190526073,0.999999984675,0.00013734552489,-0.00010715475457,-1.7427951446e-05,1793238927944236032
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.327124111,715.672875889,679,663.327124111,636.672875889,879,788,804,652.327124111,631.327124111,653,0.405757119449,-0.00548562466005,0.059928677361,0.999999987557,0.000126612796724,-9.17952761316e-05,-2.07266504518e-05,1793238927960902656
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.918674703,715.081325297,679,663.918674703,636.081325297,879,788,804,652.918674703,631.918674703,653,0.406223071656,-0.0054950000704,0.0599499358055,0.999999991508,0.00011498939394,-5.67288017088e-05,-2.32926593451e-05,1793238927977569280
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,715,679.499078473,664,636,879,788,804,652.500921527,632,653,0.406745646997,-0.00550161450615,0.0599780619781,0.999999999386,2.22351971386e-05,-9.09284546223e-06,-2.55018041614e-05,1793238927994235904
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.922873671,715,679.922873671,664,636,879,788,804,652,631.922873671,653,0.407278578296,-0.00550537012417,0.0600045417742,0.99999999684,-6.58922923021e-05,3.48969545475e-05,-2.75817891356e-05,1793238928010902528
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.348559392,715,679.348559392,664,636,879,788,804,652,631.348559392,653,0.407820088342,-0.00549353353308,0.0600133517785,0.999999997838,-4.08323252158e-05,4.24670212872e-05,-2.91958373089e-05,1793238928027569152
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.231623617,715,679,664,636.231623617,879.231623617,788,803.768376383,652.231623617,631.231623617,653,0.408357273865,-0.00548554213141,0.0600135294837,0.999999998648,-2.11083749365e-05,3.54120116642e-05,-3.16950356897e-05,1793238928044235776
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.820867749,715,679,664,636.820867749,879.820867749,788,803.179132251,652.820867749,631.820867749,653,0.408887782408,-0.00548348759751,0.0600003791552,0.999999999305,-9.62308988327e-06,5.77628451134e-06,-3.55608816386e-05,1793238928060902400
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,679.402021868,664,636.597978132,880,788,803.402021868,652.597978132,632,653,0.409460832089,-0.00550016917856,0.0599914780477,0.999999998678,-3.12081964903e-05,-1.3871243321e-05,-3.84466910052e-05,1793238928077569024
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,679.979642344,664,636.020357656,880,788,803.979642344,652.020357656,632,653,0.410052463244,-0.00552503448291,0.0599844329524,0.999999996478,-6.72380766768e-05,-2.91560377843e-05,-4.09044313286e-05,1793238928094235648
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,715,679.442444098,664,636.557555902,880,788,803.442444098,652,631.442444098,653,0.410722553485,-0.00553252815171,0.0599943111301,0.99999999486,-9.05551190912e-05,-4.95882960936e-06,-4.53348192796e-05,1793238928110902272
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715.134235942,679.134235942,664,636.865764058,880,788,803.134235942,652,631,653,0.411398776895,-0.00553735895161,0.0600015123528,0.999999992614,-0.000109951970571,1.40320603315e-05,-4.98483713618e-05,1793238928127568640
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+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715.711835589,680,664,636,880,788,804,652,631,653,0.412749283292,-0.00552974017834,0.0599805640945,0.999999995689,-7.81075166541e-05,-2.36084714692e-05,-4.43050198063e-05,1793238928160901888
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715.121402803,680,664,636,880,788,804,652,631,653,0.413388480029,-0.00551968417442,0.0599486708585,0.999999995487,1.22674901766e-05,-9.22995399772e-05,-1.88522232031e-05,1793238928177568768
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.46076122,746,715,680,664,636.46076122,879.53923878,788,804,652,631,653,0.414104328047,-0.00550834719921,0.0599354858833,0.999999992546,4.04001658601e-05,-0.000113535346512,-1.96605565438e-05,1793238928194235648
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+158,2.633333333,POSE1_TO_POSE2_PRESS,766.384692946,745.384692946,715,680,664,636.384692946,879.615307054,788.615307054,804,652,631.615307054,653,0.415698338063,-0.00551571008567,0.0599871367848,0.999999999303,1.93119408569e-05,-1.52063060038e-05,-2.81173661984e-05,1793238928227569152
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.189301748,715,679.810698252,664,636,880,788.810698252,804,652,631.810698252,652.810698252,0.416532881833,-0.00552951013178,0.0600266604214,0.99999999817,-8.8412375912e-06,5.21116585411e-05,-2.94367983243e-05,1793238928244235776
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.761498538,715,679.238501462,664,636,880,788.238501462,804,652,631.238501462,652.238501462,0.417335626303,-0.00553680830341,0.0600338609848,0.999999997522,-3.29652308115e-05,5.40417826482e-05,-3.08059491109e-05,1793238928260902656
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,679.347048013,664,636,880,787.652951987,804,652,631.347048013,652.347048013,0.418132531966,-0.0055373204668,0.0600250195389,0.999999997964,-3.62896898177e-05,4.08694492068e-05,-3.2927136636e-05,1793238928277568768
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,679.942141002,664,636,880,787.057858998,804,652,631.942141002,652.942141002,0.418925264434,-0.00553298247891,0.0600047124175,0.999999998918,-2.47481356108e-05,1.69029644501e-05,-3.55858259039e-05,1793238928294235136
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.477245646,715,679.477245646,664,636,880,787.522754354,804,652.522754354,632,653,0.419731950206,-0.00552845385704,0.0599824165778,0.999999998764,-2.50575632005e-05,-2.01070554168e-05,-3.79516262608e-05,1793238928310901760
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.101124114,715,679,664,636,880,788,804,652.898875886,632,653,0.420536866305,-0.00552466990051,0.059958030258,0.999999996888,-2.64298405283e-05,-6.24927756932e-05,-4.02624643809e-05,1793238928327568384
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.676286546,715,679,664,636,880,788,804,652.323713454,632,653,0.421326442097,-0.0055244729468,0.0599248484398,0.999999991114,-2.68014053822e-05,-0.000123493005615,-4.24635223321e-05,1793238928344234752
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.742834461,715,679,663.742834461,636,880,788,804.257165539,652,631.742834461,653,0.422153794287,-0.00552760868973,0.0599088263004,0.999999987232,-3.01200324842e-05,-0.000150650782811,-4.39608496122e-05,1793238928360901376
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.15459593,715,679,663.15459593,636,880,788,804.84540407,652,631.15459593,653,0.423029779637,-0.00553503492136,0.0599148953984,0.999999989304,-3.7232685624e-05,-0.000134240048369,-4.4552199743e-05,1793238928377568256
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715.427201983,679,663.854403966,636,880,788,804.572798017,652,631.427201983,653,0.423962295127,-0.00553901689853,0.0599659161782,0.999999996878,-4.31805428046e-05,-5.03066110089e-05,-4.3002913138e-05,1793238928394235136
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.006641047,745.006641047,716,679.006641047,664.993358953,636,880.006641047,788,804,652,632,653,0.424914004837,-0.00554172376992,0.0600323363089,0.99999999638,-4.86396398435e-05,5.67071839512e-05,-4.07194014084e-05,1793238928410902528
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.580722826,745.580722826,716,679.580722826,664.419277174,636,880.580722826,788,804,652,632,653,0.425783771463,-0.00554039678321,0.0600452543155,0.999999994902,-4.781828446e-05,7.89733316056e-05,-4.09072622211e-05,1793238928427568896
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,716,679.844383174,664,636,881,788,804,652,632,653,0.426652506262,-0.00554064902977,0.0600480946605,0.999999994161,-4.68545088861e-05,8.80077382235e-05,-4.16868502752e-05,1793238928444235264
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,716,679.267289365,664,636,881,788,804,652,632,653,0.427518446382,-0.0055451785162,0.060023640383,0.999999996121,-4.55049985503e-05,6.12049244093e-05,-4.40690890304e-05,1793238928460901888
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,716,679.31570784,664,636,881,788,804.31570784,652,632,653,0.428365665723,-0.00554875194819,0.0599999603715,0.999999997048,-5.45563262351e-05,2.86454712493e-05,-4.59031786723e-05,1793238928477568768
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,716,679.903798275,664,636,881,788,804.903798275,652,632,653,0.429196733331,-0.00555150052684,0.0599769483733,0.99999999621,-7.25811632836e-05,-8.88062427567e-06,-4.72643426819e-05,1793238928494234880
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.515272876,745.515272876,715.515272876,680,664,636,881,788,805,652,632,653,0.430007929699,-0.00554649888206,0.0599499688966,0.99999999479,-6.64517732859e-05,-5.97924861069e-05,-4.92757923422e-05,1793238928510902272
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.064011023,745.064011023,715,680,664.064011023,636.064011023,880.935988977,788,804.935988977,652,632,653,0.430826364547,-0.00554091730877,0.0599293946124,0.99999999216,-5.65853900786e-05,-9.9306350293e-05,-5.11555549923e-05,1793238928527569408
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.641335394,745.641335394,715,680,664.641335394,636.641335394,880.358664606,788,804.358664606,652,632,653,0.43173401044,-0.00554284029689,0.059966406885,0.99999999686,-5.46338952087e-05,-2.64244414664e-05,-5.09594232578e-05,1793238928544235264
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.778221288,746,715,680,665,636.778221288,880,788,804.221778712,652,632,653,0.432624469122,-0.00554681081358,0.0600010370738,0.999999996339,-5.95341757533e-05,3.54712472086e-05,-5.01971403246e-05,1793238928560901376
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.192661913,746,715,680,665,636.192661913,880,788,804.807338087,652,632,653,0.433486735995,-0.00555413986435,0.0600317599682,0.999999992812,-7.56733321385e-05,7.93463968501e-05,-4.85062073821e-05,1793238928577567744
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.61100426,715.38899574,680,664.61100426,636.38899574,880.38899574,788,804.222008521,652,632,652.61100426,0.434297111059,-0.00555776327518,0.0600225231714,0.99999999364,-8.16319882578e-05,6.03684572744e-05,-4.91185760496e-05,1793238928594234112
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.031259898,715.968740102,680,664.031259898,636.968740102,880.968740102,788,803.062519797,652,632,652.031259898,0.435082040315,-0.00555956958157,0.0599936916697,0.999999995239,-8.2598515616e-05,1.05697656903e-05,-5.08603957039e-05,1793238928610900992
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.546205197,715.453794803,680,664.546205197,636.453794803,881,788,804.092410393,651.453794803,632,652.546205197,0.43584236443,-0.00555828287898,0.0599652733016,0.999999994564,-8.05209829303e-05,-3.91256459153e-05,-5.34576298136e-05,1793238928627567616
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.123037247,745.876962753,715,680,664.876962753,636,881,788,804.876962753,651.123037247,632,653,0.436595786251,-0.0055566578059,0.0599415148891,0.999999992085,-7.89838568594e-05,-8.06506777177e-05,-5.55617005926e-05,1793238928644234240
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+185,3.083333333,POSE1_TO_POSE2_PRESS,766.721510599,745.278489401,715,680,664.278489401,636,880.721510599,788,804,652,632,652.721510599,0.438055512265,-0.00555256354538,0.0599273595878,0.999999989246,-7.8530213434e-05,-0.000110517107273,-5.59193993787e-05,1793238928677567744
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.13497583,745.86502417,715,680,664.86502417,636,880.13497583,788,804,652,632,652.13497583,0.438774594826,-0.00555107322722,0.0599191578603,0.999999986372,-7.40888424361e-05,-0.000136366907011,-5.63082407239e-05,1793238928694234368
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.449081813,746,715,680,664.550918187,636,880.449081813,788,804.449081813,652,632,652,0.439528305049,-0.00555384635236,0.0599454549427,0.999999991184,-7.72190891352e-05,-9.31968292359e-05,-5.46164041254e-05,1793238928710900736
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,745.968166561,715,680,664.031833439,636,881,788,805,652,632,652,0.440286815379,-0.00555786043944,0.0599806453538,0.99999999467,-8.28186825994e-05,-3.25185369077e-05,-5.2373119434e-05,1793238928727567616
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,745.39503285,715,680,664.60496715,636,881,788,805,652,632,652,0.440950943637,-0.00556130612058,0.0599917113137,0.999999994147,-9.19229745314e-05,-2.49369565239e-05,-5.13284450204e-05,1793238928744234240
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.821347942,745.178652058,715,680.178652058,664.642695884,636,881,788,805,652,632,652.178652058,0.441583719353,-0.00556306858568,0.0599828397035,0.999999992969,-9.68121283601e-05,-4.4667349151e-05,-5.19077848705e-05,1793238928760900864
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766.337553173,746,715,681,663,636,881,788,804.662446827,652,632,653,0.442705905444,-0.00555833186559,0.0598822751633,0.999999975253,-9.12186807112e-05,-0.000193812323298,-6.00796232632e-05,1793238928794234880
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.928363606,746,715,681,663,636,881,788,804.071636394,652,632,653,0.443261642438,-0.00555496978061,0.0598390230752,0.999999961403,-9.25814215051e-05,-0.000254040002699,-6.39266605644e-05,1793238928810902784
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+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,681,662.912742332,635,881,787.912742332,805,652,632.912742332,653,0.444358724492,-0.00554992363308,0.0598307650269,0.999999956508,-9.03112752057e-05,-0.000272642476857,-6.70429413991e-05,1793238928844236032
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662.336329871,635,881,787.336329871,805,652,632.336329871,653,0.44487467419,-0.00555282186747,0.0598350630514,0.999999957806,-9.48234845311e-05,-0.000265777535953,-6.89801292333e-05,1793238928860902656
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715,680.755619558,662,635,880.755619558,787.244380442,805,652,632,653,0.445349288766,-0.00555821715508,0.0598265272113,0.999999951954,-0.000101256466167,-0.000284339230343,-7.06433735416e-05,1793238928877569024
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715,680.168888465,662,635,880.168888465,787.831111535,805,652,632,653,0.445765997248,-0.00556711054477,0.0598000125104,0.999999934023,-0.000110380242134,-0.00033852089933,-7.19228521986e-05,1793238928894235648
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,880.413121275,787.586878725,805,652,632,653,0.446180586697,-0.00557023252375,0.0597707199496,0.999999917015,-0.000115779786079,-0.000383259923163,-7.53441582259e-05,1793238928910902016
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765.563730986,746,715,681,661,633.563730986,881,786,805,652,631,653,0.450548032158,-0.00556835785096,0.0596580736891,0.99999984698,-0.000104208630493,-0.000539629483552,-6.30889767438e-05,1793238929227567616
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.013156078,746,715,681,660.986843922,633.013156078,881.013156078,786.013156078,805,652,631,653,0.450616396234,-0.00556876456094,0.0596578961978,0.999999845537,-0.000105273266481,-0.000542047414904,-6.34726144417e-05,1793238929244234240
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.586443112,746,715,681,660.413556888,633.586443112,881.586443112,786.586443112,805,652,631,653,0.450669541361,-0.00556877064466,0.0596558249124,0.999999845117,-0.000103905105739,-0.000543059365751,-6.36823278413e-05,1793238929260901120
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745.83888114,715,681,660.16111886,633.83888114,881.677762279,786.83888114,805,652,631,653,0.450717296719,-0.00556862780633,0.0596535130698,0.999999844021,-0.000103098226681,-0.000545202960648,-6.38887697191e-05,1793238929277568000
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745.260609963,715,681,660.739390037,633.260609963,880.521219926,786.260609963,805,652,631,653,0.450751097435,-0.00556809939439,0.0596505784016,0.999999841163,-0.000103744560414,-0.000550276491301,-6.4086741277e-05,1793238929294234624
+223,3.716666667,POSE1_TO_POSE2_PRESS,766.3243195,745.3243195,715,681,660.6756805,633.3243195,880.3243195,786,805.3243195,652,631,653,0.450779575035,-0.00556710919807,0.0596491649046,0.999999839825,-0.000101949318903,-0.000553053105018,-6.39349890712e-05,1793238929310901248
+224,3.733333333,POSE1_TO_POSE2_PRESS,766.914711501,745.914711501,715,681,660.085288499,633.914711501,880.914711501,786,805.914711501,652,631,653,0.450803685542,-0.00556574015267,0.0596489993798,0.99999983974,-9.81510032386e-05,-0.000553945323091,-6.34963226672e-05,1793238929327567872
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,715,681,661,633,881,786.070782781,805,652,631,652.929217219,0.450831334506,-0.00556642312951,0.0596455122954,0.999999836958,-9.91138409935e-05,-0.000558787401161,-6.33867676957e-05,1793238929360900864
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,715,681,661,633,881,786.64492112,805,652,631,652.35507888,0.450841645418,-0.00556623920125,0.059645005791,0.999999836537,-0.000100680044826,-0.000559238958406,-6.35650986446e-05,1793238929377567488
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.774667698,745.774667698,715,681,660.774667698,633,880.774667698,787,805,652,631,652.225332302,0.450849271171,-0.0055663711677,0.059644372655,0.999999836234,-0.000101067793269,-0.000559719372363,-6.34993533996e-05,1793238929394234112
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.977929073,745.977929073,715,681,660.977929073,633.977929073,880.977929073,786.022070927,805,652,631,653,0.450858317742,-0.00556378520251,0.0596444573093,0.999999836518,-9.44327314663e-05,-0.000560469505001,-6.26156539104e-05,1793238929444234752
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,715,681,660.446034316,633.446034316,881,786,805,652,631,652.446034316,0.450856785696,-0.00556357941425,0.0596410099096,0.999999833917,-9.56599289511e-05,-0.000564806570511,-6.33194401595e-05,1793238929460901120
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,715,681,660.128756165,633,881,786.128756165,805,652,631,652.128756165,0.450855927439,-0.00556354575816,0.0596386179146,0.9999998321,-9.67449035548e-05,-0.000567777293358,-6.3792764369e-05,1793238929477567744
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,715,681,660.699702973,633,881,786.699702973,805,652,631,652.699702973,0.450857974605,-0.00556385480955,0.0596404149529,0.999999833429,-9.6800753151e-05,-0.000565470248545,-6.33564197149e-05,1793238929494234368
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,715,681,661,633,880.717264766,786.717264766,805,652,631,652.717264766,0.450858628483,-0.00556404427618,0.0596407947817,0.999999833766,-9.64726838529e-05,-0.0005649856222,-6.28611948502e-05,1793238929510901248
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,715,681,661,633,880.120823125,786.120823125,805,652,631,652.120823125,0.45085773645,-0.00556410105862,0.0596396021582,0.999999833004,-9.57186407082e-05,-0.000566523044045,-6.23006399075e-05,1793238929527567872
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,715,681,660.541679031,633.458320969,880.458320969,786,805,652,631,652.458320969,0.450858858522,-0.00556397954424,0.059639881645,0.999999833153,-9.639545888e-05,-0.000566138211181,-6.23592254474e-05,1793238929544234496
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746.033093179,715,681,660,633.966906821,881,786,805,651.966906821,631,653,0.450860412655,-0.00556376278254,0.0596404947992,0.999999833508,-9.72874789909e-05,-0.000565335654433,-6.25645243623e-05,1793238929560901120
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746.608230841,715,681,660,633.391769159,881,786,805,651.391769159,631,653,0.450860663183,-0.00556272780845,0.0596404478945,0.999999833454,-9.57506889075e-05,-0.000565689372964,-6.25967075491e-05,1793238929577568000
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746.81258409,715,681,660.18741591,633,881,786,805,651.18741591,631,653,0.450860783508,-0.00556256944302,0.0596402914427,0.999999833264,-9.58123204723e-05,-0.000566008813576,-6.26502950509e-05,1793238929594234880
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746.22475172,715,681,660.77524828,633,881,786,805,651.77524828,631,653,0.450860625653,-0.00556428396316,0.0596399009422,0.99999983278,-9.92890001859e-05,-0.00056625501896,-6.27496131403e-05,1793238929610901504
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+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715,681.521022939,661,633,881,786,805,652,631,653,0.4508597384,-0.00556442681552,0.0596392298762,0.999999832373,-9.65606891453e-05,-0.00056754094452,-6.18718643971e-05,1793238929660901120
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+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,881,786.252270284,804.252270284,652,631.252270284,652.747729716,0.450862561844,-0.00556445687635,0.0596400043105,0.999999833975,-9.77615423713e-05,-0.000564511698965,-6.17942135685e-05,1793238929710901248
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+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745.422510366,715,681,660,633,881,786.577489634,805,652,631.577489634,652.422510366,0.450861425493,-0.0055637242859,0.0596385554872,0.99999983229,-9.77064575418e-05,-0.000567469616436,-6.20580194734e-05,1793238929744235264
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,715,681,660,633,881.002416508,786,805,652,631,653,0.450862592908,-0.00556357252618,0.0596391407902,0.99999983303,-9.80084393925e-05,-0.00056607885451,-6.23695248544e-05,1793238929760902144
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,715,681,660,633,881.57729915,786,805,652,631,653,0.450862663452,-0.005562539987,0.0596395026359,0.999999833088,-9.72703097521e-05,-0.000566089795358,-6.24934804174e-05,1793238929777568512
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,746,715,681,660,633,881.698488189,786,805,652,631,652.849244095,0.450862299278,-0.00556209284145,0.0596395630737,0.999999832859,-9.65907775625e-05,-0.000566613783908,-6.24561619826e-05,1793238929794234880
+253,4.216666667,POSE1_TO_POSE2_PRESS,766,746,715,681,660,633,880.559495843,786,805,652,631,652.279747921,0.450860727627,-0.00556327168785,0.0596387863195,0.999999831833,-9.60740059554e-05,-0.000568562816014,-6.19708881725e-05,1793238929810901504
+254,4.233333333,HOLD_POSE2,766,746,715,681,661,633,881,787,805,652,631,653,0.450860703426,-0.0055674238542,0.0596379993933,0.999999831286,-0.00010047692082,-0.000568908238867,-6.06284782216e-05,1793238929846950656
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+256,4.266666667,HOLD_POSE2,766,746,715,680.847218392,660,633,880.152781608,786,805,651.152781608,631,653,0.450862507883,-0.00556222065034,0.0596391983581,0.999999832747,-9.53552387456e-05,-0.000567156575882,-6.1211258952e-05,1793238929880285696
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+260,4.333333333,HOLD_POSE2,766,746,715,681.517880461,660,633,881,786,804.482119539,652,631,653,0.450864111887,-0.00555999677159,0.0596401243435,0.999999833802,-9.29511771482e-05,-0.000565588289515,-6.21800173437e-05,1793238929946950912
+261,4.350000000,HOLD_POSE2,766,746,715,681,660,633,881,786,805,652,631,653,0.450863815997,-0.00556137883961,0.0596404617301,0.999999833755,-9.55556708168e-05,-0.000565231910028,-6.22206620394e-05,1793238929963618048
+262,4.366666667,HOLD_POSE2,766,746,715,681,660,633,881,786,805,652,631,653,0.450862439392,-0.00556254160971,0.0596381833249,0.999999832131,-9.56333008942e-05,-0.000568195377506,-6.12073784981e-05,1793238929980284160
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.67148401,745,715,679.67148401,663.32851599,636,879.32851599,788.32851599,804,652,632,653,0.412717064238,-0.00537445704269,0.0598144676492,0.999999923504,0.000215222106626,-0.0003254180225,2.78216712493e-05,1793238931446335744
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.258293197,788,804,652.258293197,632,653,0.408252249745,-0.00537353522797,0.0598659509968,0.999999949844,0.000207664154628,-0.000237224902811,3.02115715356e-05,1793238931563003136
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787.096821201,803.096821201,652,631.096821201,653,0.407116469034,-0.00537701496827,0.0598342976166,0.999999930074,0.000232447110446,-0.000291502756774,2.90989954995e-05,1793238931596337664
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.025763466,663,636,879.025763466,787.025763466,803,652,631.025763466,653,0.402244655625,-0.00537413940749,0.0598540413759,0.999999940837,0.00024295609089,-0.000240292724908,3.94639684018e-05,1793238931829669120
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.767716376,715,679.232283624,663,636,880,788,803,652,631.232283624,653,0.401728212695,-0.00536443249311,0.0598353343946,0.999999946869,0.000170760813846,-0.000277208200367,1.61003102516e-05,1793238931879668736
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.622443427,715,679.377556573,663.377556573,636,879.622443427,787.377556573,803,652.377556573,631.377556573,653,0.400984270791,-0.00536943110593,0.0598449319935,0.999999937807,0.000237240800894,-0.000260471972914,1.60137437709e-05,1793238932163002112
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.79849579,715,679,663,636,880,787.20150421,803,652.20150421,631.20150421,653,0.400983194774,-0.00537010883954,0.0598454562206,0.999999938156,0.000236782304801,-0.000259540258868,1.61283290965e-05,1793238932179668480
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.209211448,715,679,663,636,880,787.790788552,803,652.790788552,631.790788552,653,0.400982353565,-0.00536900400948,0.0598455882923,0.999999937907,0.000237732221948,-0.000259645168431,1.59583149369e-05,1793238932196335104
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.373647666,679,663,636,879.626352334,788,803,653,632,652.626352334,0.40098128636,-0.00536795313593,0.0598457818941,0.99999993735,0.000240293834967,-0.000259419434852,1.61624528215e-05,1793238932213001728
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715.952969989,679,663,636,879.047030011,788,803,653,632,652.047030011,0.400980094756,-0.00536693196284,0.059846009365,0.999999936614,0.000243742607234,-0.000259011698484,1.65725430037e-05,1793238932229668352
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715.471560491,679.528439509,663,636,879.528439509,788,803.528439509,652.471560491,632,652.528439509,0.400981108128,-0.00536891510209,0.0598466076063,0.999999937829,0.000239738180215,-0.000258054873612,1.65731578883e-05,1793238932246335488
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.896394587,663,636,879.896394587,787.896394587,803.896394587,652.103605413,631.896394587,653,0.400982148816,-0.00537061547669,0.0598471816944,0.999999938959,0.000236018843451,-0.000257104025695,1.65418685462e-05,1793238932263002112
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787.26157758,803,652.73842242,631.26157758,653,0.400981953702,-0.005368843546,0.0598478127418,0.999999938912,0.000237118191687,-0.000256286268467,1.63790545301e-05,1793238932296335360
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787.853441177,803,652.146558823,631.853441177,653,0.400980532059,-0.00536763928536,0.0598481302518,0.999999938649,0.000237571442064,-0.000256913363703,1.60523553988e-05,1793238932313001728
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.435794172,715,679,663,636,879,788,803.435794172,652,631.564205828,653,0.400980863627,-0.00536769930879,0.0598481603747,0.999999938796,0.000237511575702,-0.000256391749983,1.61189622044e-05,1793238932329668608
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.985122055,715,678.985122055,663,636,879.014877945,787.985122055,803.985122055,652,631,652.985122055,0.400981718746,-0.00536816454506,0.05984809041,0.999999939063,0.000237282087143,-0.000255550515886,1.63082776158e-05,1793238932346335232
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.411262748,715,678.411262748,663,636,879.588737252,787.411262748,803.411262748,652,631,652.411262748,0.400980565031,-0.00536822068361,0.0598478137083,0.999999938778,0.000237024604475,-0.000256905050431,1.6244501245e-05,1793238932363001856
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.166900083,663,636,879.833099917,787.166900083,803.166900083,652,631,652.166900083,0.400980483552,-0.0053683677145,0.0598481019892,0.999999938829,0.000236872790872,-0.000256842257322,1.62816368261e-05,1793238932379668480
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.755947976,663,636,879.244052024,787.755947976,803.755947976,652,631,652.755947976,0.400983114125,-0.00536874464343,0.0598498193056,0.999999939727,0.00023698825075,-0.000253194554191,1.6574013504e-05,1793238932396335104
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745.339441512,715,679,663,636,879,788,803.660558488,652,631,653,0.40098329486,-0.00536910201661,0.0598499796184,0.999999939887,0.000236967533988,-0.000252575224528,1.66876403893e-05,1793238932413001728
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.91900584,715,679,663,636,879,788,803.08099416,652,631,653,0.400981742565,-0.00536944555592,0.0598490384979,0.999999939529,0.000236850485107,-0.000254098183273,1.66748186638e-05,1793238932429668608
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766.494198428,745.505801572,715,679,663,636.494198428,879.494198428,788,803,652,631.494198428,653,0.400980471497,-0.00537075025189,0.059848233698,0.999999939552,0.000234909134217,-0.00025580751401,1.66138497496e-05,1793238932446336256
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766.931281981,745,715,679,663,636.931281981,879.931281981,787.931281981,803.068718019,652,631.931281981,653,0.400979491781,-0.00537180604877,0.0598476659677,0.999999939626,0.00023319052386,-0.000257094052254,1.65110362525e-05,1793238932463003648
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766.356488696,745,715,679,663,636.356488696,879.356488696,787.356488696,803.643511304,652,631.356488696,653,0.400980321288,-0.00536987890655,0.0598486810496,0.999999939664,0.000235294864192,-0.00025504395244,1.61576601946e-05,1793238932479669504
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766.223581762,745,715,679,663,636,879,787.223581762,804,652,631.223581762,653,0.400980951347,-0.00536881751211,0.0598493975651,0.999999939579,0.000237115590326,-0.000253691081918,1.61042293123e-05,1793238932496335360
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766.812269873,745,715,679,663,636,879,787.812269873,804,652,631.812269873,653,0.400981255709,-0.00536916987317,0.0598496265252,0.999999939303,0.000238473178198,-0.000253476778183,1.65406052658e-05,1793238932513002240
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,663,636,879.395643775,787.604356225,804,652,632,653,0.400980344967,-0.00537005076491,0.0598490474932,0.999999939453,0.000236975385319,-0.000254286981442,1.65588694424e-05,1793238932529669120
+415,6.916666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,663,636,879.976529509,787.023470491,804,652,632,653,0.400978865308,-0.00537117911676,0.059848090156,0.999999939795,0.000234140691951,-0.000255576862881,1.63813720282e-05,1793238932546336256
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766.446963363,745,715,679,663,636,880,787.553036637,803.446963363,652,631.446963363,653,0.400981591569,-0.00537081425152,0.0598501683767,0.999999940161,0.000235588260288,-0.000252772547037,1.68068984539e-05,1793238932563002624
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5b84882e7178c7b1ac39a2dbac587f083add4dcb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664395988,9.07468878863e-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
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+35,0.583333333,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
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+408,6.800000000,pose2_to_pose3_retreat,0.57566503372,9.06772266068e-05,1.05003218895,0.546235487059,0.00876242311512,1.04970032992
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a3bb518ae3fd3816994eb75a5945c0757b8cb28a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49304da8cf04a833b0255a65e05203f71251dc42d5f5f03c35fd7f93caa34f7a
+size 26626591
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f8e823c27238857d9666e5622a0cb456222d0929
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
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+54,0.900000000,BASELINE,766,745,715,679,663.679235184,636,879.679235184,788,803.679235184,653,631.320764816,653,0.400982516558,-0.00537213988862,0.059852663085,0.999999941664,0.000234001277026,-0.000248257963699,1.68282277657e-05,1793238933619332864
+55,0.916666667,BASELINE,766,745,715,679,663.105892639,636,879.105892639,788,803.105892639,653,631.894107361,653,0.400983081779,-0.00537091606925,0.0598533652111,0.99999994123,0.000236969883103,-0.000247199026713,1.66644637431e-05,1793238933635999488
+56,0.933333333,BASELINE,766.484437902,745,715,679,663,636,879,788,803,652.515562098,632,653,0.400981279662,-0.00537109317925,0.0598518676799,0.999999940877,0.000236030541908,-0.000249522914498,1.65530911703e-05,1793238933652666112
+57,0.950000000,BASELINE,766.923821996,745,715,679.076178004,663,636,879.076178004,787.923821996,803,652,632,653,0.400979320601,-0.00537139021996,0.0598502353053,0.999999940514,0.000234857105085,-0.000252078980543,1.64633454149e-05,1793238933669332736
+58,0.966666667,BASELINE,766.348075439,745,715,679.651924561,663,636,879.651924561,787.348075439,803,652,632,653,0.400979849188,-0.00537039256184,0.0598509864083,0.99999994002,0.000237954061289,-0.000251132190818,1.64375947301e-05,1793238933685999360
+59,0.983333333,BASELINE,766,745,715,680,663,636,879.772776347,787.227223653,803,652,631.772776347,653,0.400980406362,-0.00536965782273,0.0598515893975,0.999999939961,0.000239016203785,-0.000250360969106,1.63932535185e-05,1793238933702665984
+60,1.000000000,BASELINE,766,745,715,680,663,636,879.198161278,787.801838722,803,652,631.198161278,653,0.400981007243,-0.00536932504785,0.0598519659425,0.999999940575,0.000236967417017,-0.000249858164818,1.63204901323e-05,1793238933719332608
+61,1.016666667,BASELINE,766,745.385837114,715,679.614162886,663,636,879,788,803,652,631.385837114,653,0.400981347678,-0.00537022722111,0.0598527087071,0.999999941145,0.000235393021369,-0.000249059456984,1.64064648085e-05,1793238933735999232
+62,1.033333333,BASELINE,766,745.974774752,715,679.025225248,663,636,879,788,803,652,631.974774752,653,0.400981551017,-0.00537177945787,0.0598536442457,0.999999941691,0.000234068340248,-0.000248104988723,1.65759975045e-05,1793238933752665856
+63,1.050000000,BASELINE,766.557127485,746,715.557127485,679,663.557127485,636,879,787.442872515,803,652.557127485,632,653,0.40098162029,-0.00537085628181,0.0598526326676,0.999999941069,0.000235647470293,-0.000249131394944,1.63154074267e-05,1793238933769332736
+64,1.066666667,BASELINE,766.862860319,746,716,679,663.862860319,636,879,787.137139681,803,652.862860319,632,653,0.400981505951,-0.00536990039792,0.059851731183,0.999999940549,0.000237011811749,-0.000249939644787,1.60725192976e-05,1793238933785999360
+65,1.083333333,BASELINE,766.289357888,746,716,679,663.289357888,636,879,787.710642112,803,652.289357888,632,653,0.400980826469,-0.00536919290173,0.0598514572424,0.999999940529,0.000237279263031,-0.00024977170035,1.5947199528e-05,1793238933802666240
+66,1.100000000,BASELINE,766,745.709311478,715.709311478,679,663.290688522,636,879.290688522,788,803,652,631.709311478,653,0.400981157434,-0.00536937417438,0.0598517878397,0.999999940832,0.000236693677089,-0.000249112814346,1.59930939549e-05,1793238933819332864
+67,1.116666667,BASELINE,766,745.12260106,715.12260106,679,663.87739894,636,879.87739894,788,803,652,631.12260106,653,0.400982517386,-0.00537046052249,0.0598527340666,0.999999941459,0.000235239402906,-0.000247953979294,1.62133439184e-05,1793238933835999744
+68,1.133333333,BASELINE,766,745.458325306,715,679.458325306,663.541674694,636,879.541674694,788,803,652.458325306,631.458325306,653,0.400982846807,-0.00536960520278,0.0598530292035,0.999999941307,0.000236147714194,-0.000247705270872,1.61805391329e-05,1793238933852666624
+69,1.150000000,BASELINE,766,745.962357765,715,679.962357765,663.037642235,636,879,788,803,652.962357765,632,653,0.400982952454,-0.00536842334449,0.0598531800148,0.999999941025,0.000237422479301,-0.000247631730971,1.61071037417e-05,1793238933869333248
+70,1.166666667,BASELINE,766,745.384211679,715,679.384211679,663.615788321,636,879,788,803,652.384211679,632,653,0.400983753873,-0.00536991771986,0.0598537281224,0.999999941842,0.000234997558592,-0.000246621206068,1.64101232621e-05,1793238933885999872
+71,1.183333333,BASELINE,766,745,715.192635595,679,664,636,879,788,803,652,631.807364405,653,0.400983645358,-0.00537056678978,0.059853803728,0.999999942111,0.000233904392215,-0.000246564193899,1.65270270509e-05,1793238933902666240
+72,1.200000000,BASELINE,766,745,715.766909841,679,664,636,879,788,803,652,631.233090159,653,0.400981734136,-0.00536954118902,0.0598529432397,0.999999941299,0.000235449621122,-0.000248396226591,1.62752090232e-05,1793238933919332864
+73,1.216666667,BASELINE,766,745,715.649655502,679.350344498,663.649655502,636,879,788,803.350344498,652.350344498,631.350344498,653,0.400982959944,-0.0053702606229,0.0598536828223,0.999999941985,0.000234298895339,-0.000246715668259,1.62937157174e-05,1793238933935999488
+74,1.233333333,BASELINE,766,745,715.05996267,679.94003733,663.05996267,636,879,788,803.94003733,652.94003733,631.94003733,653,0.400986328907,-0.00537217222951,0.0598555155414,0.999999943677,0.000231306347292,-0.000242635378082,1.64969028542e-05,1793238933952666368
+75,1.250000000,BASELINE,766.519691359,745,715,680,663.519691359,636,879,788,804,652.480308641,632,653,0.400984288924,-0.00537084793667,0.059854312539,0.999999942399,0.000234130476009,-0.000245180564785,1.64511329631e-05,1793238933969332992
+76,1.266666667,BASELINE,766.902177103,745,715,679.902177103,664,636,879,787.902177103,803.902177103,652,632,653,0.400982242527,-0.00536949096731,0.0598530571953,0.999999941133,0.000236728312354,-0.000247841292989,1.63824069337e-05,1793238933985999616
+77,1.283333333,BASELINE,766.32593412,745,715,679.32593412,664,636,879,787.32593412,803.32593412,652,632,653,0.400983159147,-0.00536976557776,0.0598532264392,0.999999941651,0.000234999320662,-0.000247399241056,1.633923219e-05,1793238934002666240
+78,1.300000000,BASELINE,766.250091716,745,715,679,664,636,879,787.250091716,803,652,632,653,0.400983618378,-0.00537003434545,0.0598536068137,0.99999994186,0.000234604922625,-0.000246921228606,1.64262279767e-05,1793238934019332864
+79,1.316666667,BASELINE,766.825834753,745,715,679,664,636,879,787.825834753,803,652,632,653,0.40098348203,-0.00537029550509,0.0598542621069,0.999999941669,0.000235948335932,-0.00024639639101,1.66827224045e-05,1793238934035999488
+80,1.333333333,BASELINE,766.590091653,745,715,679,664,636,879.409908347,788,803,652,631.590091653,653,0.400983380086,-0.00537048141657,0.0598543370673,0.999999941555,0.000236239839634,-0.000246576195483,1.67522714431e-05,1793238934052666368
+81,1.350000000,BASELINE,766.002405025,745,715,679,664,636,879.997594975,788,803,652,631.002405025,653,0.400983293063,-0.00537063469274,0.0598541603357,0.999999941474,0.000236075127612,-0.000247061604946,1.67407418183e-05,1793238934069332992
+82,1.366666667,BASELINE,766,745,715,679,664,636,879.42228998,788,803,652,631,653,0.400983127024,-0.0053712636412,0.0598535142472,0.99999994198,0.000233851909696,-0.000247142811674,1.65288277446e-05,1793238934085999616
+83,1.383333333,BASELINE,766.156539319,745,715,679,664,636,879.156539319,788,803.156539319,652,631,653,0.400983472927,-0.00537161766232,0.0598534796718,0.999999942508,0.000232327601316,-0.000246452114017,1.64201742605e-05,1793238934102665984
+84,1.400000000,BASELINE,766.732011081,745,715,679,664,636,879.732011081,788,803.732011081,652,631,653,0.400985189761,-0.00537123068868,0.0598550867967,0.999999943094,0.000232696360149,-0.000243700081439,1.65900716166e-05,1793238934119332608
+85,1.416666667,BASELINE,766.686380946,745,715,679,664,636,880,788,803.686380946,652,631.313619054,653,0.400984297141,-0.00537127817376,0.0598546170195,0.999999942865,0.000232658317391,-0.000244671535042,1.66141632899e-05,1793238934135999488
+86,1.433333333,BASELINE,766.09942495,745,715,679,664,636,880,788,803.09942495,652,631.90057505,653,0.400981130231,-0.00537170431451,0.0598523371032,0.999999941917,0.000232265723755,-0.000248888219982,1.65111769606e-05,1793238934152666368
+87,1.450000000,BASELINE,766,745,715,679,664,636,879.51880304,788,803.48119696,652.48119696,631.51880304,653,0.400982061894,-0.0053718926843,0.0598531105354,0.999999942161,0.000232178264476,-0.000247976693982,1.66782549407e-05,1793238934169332992
+88,1.466666667,BASELINE,766,745,715,679,663.939631877,636,879,788,803.939631877,652.939631877,631.060368123,653,0.400983563584,-0.00537200951088,0.059854291927,0.9999999426,0.000232177371015,-0.0002461915103,1.68568606234e-05,1793238934185999616
+89,1.483333333,BASELINE,766,745,715,679,663.361823538,636,879,788,803.361823538,652.361823538,631.638176462,653,0.40098278684,-0.00537192873864,0.0598536328029,0.999999942631,0.000232385089113,-0.000245882043265,1.66621980804e-05,1793238934202666240
+90,1.500000000,BASELINE,766,745,715,679.215240605,663.215240605,636,879,788,803,652,632,653,0.400982563637,-0.0053718712487,0.0598531292065,0.999999942539,0.000232558220898,-0.000246097119117,1.65796686191e-05,1793238934219333120
+91,1.516666667,BASELINE,766,745,715,679.791057996,663.791057996,636,879,788,803,652,632,653,0.400983267741,-0.00537185276191,0.0598528861542,0.999999942241,0.000232673412752,-0.000247190923195,1.66849874977e-05,1793238934235999744
+92,1.533333333,BASELINE,766,745,715,680,663.62508293,636,879,788,803,652.37491707,631.62508293,653,0.400983281921,-0.00537154658997,0.0598530346404,0.999999941972,0.000233652553628,-0.000247359035913,1.66394924914e-05,1793238934252666112
+93,1.550000000,BASELINE,766,745,715,680,663.036643921,636,879,788,803,652.963356079,631.036643921,653,0.400982903179,-0.00537107657622,0.0598534061148,0.999999941718,0.000235123728849,-0.00024699995104,1.65081063051e-05,1793238934269332992
+94,1.566666667,BASELINE,766.5435878,745,715,679.4564122,663,636,879,788,803,652.4564122,631.5435878,653,0.400983290796,-0.00537022339807,0.0598540440032,0.999999941883,0.000235742003585,-0.000245734468502,1.65327814035e-05,1793238934285999616
+95,1.583333333,BASELINE,767,745,715,679.122105351,663,636,879,787.877894649,803.122105351,652,632,653,0.400983563108,-0.00536961994341,0.0598543755344,0.999999942026,0.000235911046875,-0.000244993097928,1.65333308414e-05,1793238934302666240
+96,1.600000000,BASELINE,767,745,715,679.696294444,663,636,879,787.303705556,803.696294444,652,632,653,0.400983220084,-0.00537003527581,0.0598535073033,0.99999994198,0.000234626556506,-0.000246415060368,1.64061862358e-05,1793238934319332864
+97,1.616666667,BASELINE,766.729394008,745,715,679.729394008,663,636,879.541211985,787.270605992,803.729394008,652,632,653,0.400982885982,-0.0053703182104,0.0598530208579,0.999999941852,0.000234484449322,-0.000247078094644,1.63140533124e-05,1793238934336000000
+98,1.633333333,BASELINE,766.154945,745,715,679.154945,663,636,880.690110001,787.845055,803.154945,652,632,653,0.400982561898,-0.00537045248549,0.0598529630908,0.999999941631,0.000235625037952,-0.000246888985761,1.62612323684e-05,1793238934352667648
+99,1.650000000,BASELINE,766.433470542,745,715,679.433470542,663.433470542,636.433470542,880.133058917,788,803.433470542,652,631.566529458,653,0.40098179974,-0.00536996388558,0.0598527944188,0.999999941197,0.000236600517435,-0.000247720607886,1.61752708961e-05,1793238934369334016
+100,1.666666667,BASELINE,766.973689514,745,715,679.973689514,663.973689514,636.973689514,879,788,804,652,631.026310486,653,0.400980974938,-0.00536930200435,0.059852606788,0.999999940731,0.000237411001283,-0.000248826398328,1.6087076287e-05,1793238934385999872
+101,1.683333333,BASELINE,766.396228798,745,715,679.396228798,663.396228798,636.396228798,879,788,804,652,631.603771202,653,0.400982227365,-0.00536982953216,0.0598528800994,0.999999941314,0.000236042647192,-0.000247777870877,1.62085162059e-05,1793238934402666496
+102,1.700000000,BASELINE,766,745,715,679,663,636,879,788,804,652.179852902,632,653,0.400983059384,-0.00537018857783,0.0598531437495,0.999999941633,0.000235358605062,-0.000247129666382,1.63545140011e-05,1793238934419333376
+103,1.716666667,BASELINE,766,745,715,679,663,636,879,788,804,652.752919571,632,653,0.400982972262,-0.00537017926966,0.0598533862773,0.999999941382,0.000236170679558,-0.000247356691148,1.65542028524e-05,1793238934436000256
+104,1.733333333,BASELINE,766,745,715,679.334802226,663.334802226,636,879.669604452,788,804,653,631.665197774,653,0.400982910947,-0.00537054443563,0.0598534688039,0.999999941493,0.000236088415757,-0.000246983898153,1.66086526296e-05,1793238934452667136
+105,1.750000000,BASELINE,766,745,715,679.923366997,663.923366997,636,880.846733994,788,804,653,631.076633003,653,0.400982869191,-0.00537119343338,0.059853430058,0.999999941877,0.000235328290475,-0.000246156474748,1.65530188197e-05,1793238934469333504
+106,1.766666667,BASELINE,766,745,715,679.493148778,664,636,879.986297555,788,803.493148778,653,631,653,0.400983626874,-0.00537020306033,0.0598539138801,0.999999942072,0.000235516106282,-0.000245194990553,1.63860023861e-05,1793238934485999872
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879,788,803,652,632,653,0.400983814583,-0.00537201457726,0.0598549349475,0.999999943094,0.000232800600777,-0.000243587855625,1.67766596569e-05,1793238934529319168
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.589256564,664,636,879,788,803,652,632,653,0.40098240539,-0.00537110032564,0.0598540025595,0.999999942143,0.000234269150921,-0.000246082033455,1.66298919311e-05,1793238934545985536
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663.824528184,636.175471816,879,788,803.175471816,652.175471816,632,653,0.400981682573,-0.0053704065882,0.059853551045,0.999999941549,0.000235494126524,-0.000247334477507,1.64647965432e-05,1793238934562651904
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663.245310614,636.754689386,879,788,803.754689386,652.754689386,632,653,0.400982539047,-0.00537022023499,0.0598542059798,0.999999941791,0.000236158658077,-0.000245729798045,1.62575307312e-05,1793238934579318528
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.333665425,745.333665425,715,679.666334575,663,636.666334575,879.333665425,787.666334575,804,652.666334575,631.666334575,653,0.400982688081,-0.00537070539993,0.0598543838791,0.999999942115,0.000235162941267,-0.000245356012549,1.63651498438e-05,1793238934595985408
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.912463984,745.912463984,715,679.087536016,663,636.087536016,879.912463984,787.087536016,804,652.087536016,631.087536016,653,0.400982317381,-0.00537168390742,0.059854211316,0.999999942498,0.000232947493947,-0.000245886524909,1.67041046805e-05,1793238934612652288
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.511340166,745.511340166,715,679,663,636,879.511340166,787,803.511340166,652,631.488659834,652.511340166,0.400982274094,-0.00537037367109,0.059854281929,0.999999942279,0.000233656499652,-0.000246130308736,1.63455675582e-05,1793238934629318656
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787.065712303,803.065712303,652.065712303,632,652.065712303,0.400982423694,-0.00536893972244,0.0598544448918,0.999999942035,0.000234664450566,-0.000246186563588,1.59338321239e-05,1793238934645985280
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787.653250042,803.653250042,652.653250042,632,652.653250042,0.400983641745,-0.00536976190358,0.059854997119,0.999999942463,0.000233908288109,-0.000245159355759,1.60865859172e-05,1793238934662651904
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.237570251,715,679,663,636.237570251,879,788,804,653,632,653,0.40098909702,-0.0053707784558,0.0598572277335,0.999999943377,0.000233683657295,-0.000241599282934,1.6391909471e-05,1793238934679318272
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.817256958,715,679,663,636.817256958,879,788,804,653,632,653,0.40100065417,-0.00537207491481,0.0598618753337,0.999999944957,0.000234224466326,-0.000234391721522,1.69169432889e-05,1793238934695985152
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,715,679,663.394173191,636.605826809,879,788,804,652.605826809,632,653,0.401033362154,-0.00537249708632,0.0598752675557,0.999999950277,0.000234295114861,-0.000210320706323,1.77776699749e-05,1793238934712652032
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,715,679,663.969814017,636.030185983,879,788,804,652.030185983,632,653,0.401075807463,-0.00537251675749,0.0598926855868,0.999999956482,0.000234149312927,-0.000178486171249,1.87929414262e-05,1793238934729318912
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.545356333,745.454643667,715.545356333,679,664,636,879,788,804,652,632,653,0.40113876532,-0.00537557907347,0.0599107559049,0.999999961696,0.000232731177661,-0.000148524418566,1.96379808932e-05,1793238934745985536
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.87661669,745.12338331,715.87661669,679,664,636,879,788,804,652,632,653,0.401205710786,-0.00537873474038,0.0599277950552,0.999999965778,0.000231177650174,-0.000120767976498,2.04108870161e-05,1793238934762652160
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.289224962,745.710775038,715.289224962,679,664,636,879,788,804,652,632,653,0.401283383405,-0.00538160823532,0.0599408205358,0.999999968381,0.000229379751779,-0.000100915286901,2.09479499455e-05,1793238934779318784
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.705400363,715,679,663.705400363,636,879.294599637,788,804,652,632,653,0.401366502054,-0.00538387281443,0.0599480518791,0.99999996983,0.000228137646282,-8.86639328245e-05,2.07962853887e-05,1793238934795985408
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.125035954,715,679,663.125035954,636,879.874964046,788,804,652,632,653,0.401454903407,-0.00538554673855,0.059949662847,0.999999970427,0.000227434665962,-8.37859560407e-05,1.99765478391e-05,1793238934812652032
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.4518227,663.4518227,636,879.5481773,788,803.5481773,652.4518227,631.5481773,653,0.401563834822,-0.00538863905275,0.0599536868803,0.999999971659,0.000224954761288,-7.55156051514e-05,1.93406300024e-05,1793238934829318656
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.027171943,745,715,680,663.972828057,636,879,788,803.027171943,652.972828057,631.027171943,652.972828057,0.401679224323,-0.00539207075012,0.0599581815865,0.999999972947,0.000222068853163,-6.66489952715e-05,1.87092667362e-05,1793238934845985280
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.591709341,745,715,680,663.408290659,636,879,788,803.591709341,652.408290659,631.591709341,652.408290659,0.401810838588,-0.00539451134323,0.0599588798088,0.999999973401,0.000220803642064,-6.44135860595e-05,1.71696992824e-05,1793238934862652160
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.833480017,745,715,680,663,636,879,788,803.833480017,652,631.833480017,652.166519983,0.401952359804,-0.00539731112112,0.0599590830711,0.999999973962,0.000219084197093,-6.19161716239e-05,1.5605447657e-05,1793238934879319040
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.231824306,745,715,680,663,636,879,788,803.231824306,652,631.231824306,652.768175694,0.402119768996,-0.00540104948941,0.0599579929462,0.999999974811,0.000216177787353,-5.87341079756e-05,1.39766937144e-05,1793238934895985920
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.356349974,715,679.643650026,663.356349974,636,879.356349974,788,803.356349974,652,631.356349974,653,0.402304220963,-0.00540563214187,0.0599566995959,0.999999975457,0.000213400357468,-5.83493772595e-05,1.19108568098e-05,1793238934912652288
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.936073641,715,679.063926359,663.936073641,636,879.936073641,788,803.936073641,652,631.936073641,653,0.402499356004,-0.00541074402407,0.0599552788561,0.999999975973,0.00021070377677,-5.97181207149e-05,9.57103955196e-06,1793238934929318656
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.489435031,715,679,664,636,880,788,804,652,632,653,0.402734348774,-0.0054164544949,0.0599585544768,0.999999977867,0.000204509385131,-4.88092414979e-05,7.6840402448e-06,1793238934945985280
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.086559353,745.086559353,715,679,664,636,880,788,803.913440647,652,632,653,0.402979741713,-0.00542240224403,0.0599624862063,0.999999979763,0.000197709567432,-3.6764724643e-05,5.74362697393e-06,1793238934962651904
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.67502957,745.67502957,715,679,664,636,880,788,803.32497043,652,632,653,0.403256796208,-0.00542929567217,0.0599668473483,0.999999981598,0.000189912888063,-2.6958488007e-05,3.16807961461e-06,1793238934979318528
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.740569898,745.740569898,715,679,664,636,879.740569898,788,803.259430102,652.259430102,632,653,0.403540413506,-0.00543643211103,0.0599652232261,0.999999983072,0.000181913416661,-2.76325201554e-05,2.14290081025e-07,1793238934995985152
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.161188482,745.161188482,715,679,664,636,879.161188482,788,803.838811518,652.838811518,632,653,0.403832124596,-0.00544386825101,0.0599562175659,0.999999984065,0.000173663845297,-4.12317136195e-05,-3.20597978578e-06,1793238935012652288
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.416836793,715,679,664,636,879.416836793,788,803.583163207,652.583163207,632,653,0.404150593631,-0.00545051792427,0.0599456935812,0.99999998483,0.000164162111885,-5.77928603131e-05,-7.15179773141e-06,1793238935029319168
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.994339343,715,679,664,636,879.994339343,788,803.005660657,652.005660657,632,653,0.404479376254,-0.00545686446126,0.0599345843731,0.999999985201,0.000154177744722,-7.54956632298e-05,-1.13001830784e-05,1793238935045985792
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.568717998,746,715.568717998,679,664,636,879.431282002,788,803.568717998,652.568717998,632,653,0.404837411705,-0.00546572419734,0.0599227483341,0.999999984657,0.00014417533063,-9.82863552796e-05,-1.54403688558e-05,1793238935062652416
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745.852836692,715.852836692,679,663.852836692,636,879,788,803.852836692,652.852836692,632,653,0.405217905328,-0.00547451696099,0.0599163956847,0.999999984569,0.000134328272911,-0.000111554337872,-1.93176818688e-05,1793238935079318784
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745.262039041,715.262039041,679,663.262039041,636,879,788,803.262039041,652.262039041,632,653,0.405665227717,-0.00548303283294,0.0599265947981,0.999999987338,0.000124950088698,-9.59635973025e-05,-2.24027900388e-05,1793238935095985408
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.677537068,745,715,679.322462932,663.322462932,636,879.322462932,788,803.322462932,652,632,653,0.406142692724,-0.00549167289068,0.059945924253,0.999999992055,0.000105568581379,-6.41618988982e-05,-2.50551073339e-05,1793238935112652288
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.098053041,745,715,679.901946959,663.901946959,636,879.901946959,788,803.901946959,652,632,653,0.406644183141,-0.00550041193241,0.0599725311049,0.999999996378,7.82138616397e-05,-1.94391534266e-05,-2.7362466242e-05,1793238935129318912
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679.523555402,663.523555402,636,879.523555402,787.523555402,803.523555402,652.476444598,631.523555402,653,0.407171732489,-0.00550752321721,0.0599958487824,0.999999999451,3.57406741688e-07,1.63292443285e-05,-2.8831674579e-05,1793238935145985792
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679.051261913,663.051261913,636,879,787.051261913,803,653,631,653,0.407703141141,-0.00551224696311,0.0600161607637,0.999999995489,-7.73730426757e-05,4.60644157421e-05,-3.02228772304e-05,1793238935162652672
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679.640081757,663.640081757,636,879,787.640081757,803,653,631,653,0.408219364478,-0.00549541033096,0.0600119785025,0.999999997914,-4.59213566475e-05,3.1656757516e-05,-3.25861858447e-05,1793238935179320064
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679.549091355,664,636,879,788,803,652.774545677,631,653,0.408760783906,-0.00548924621194,0.0600039230144,0.999999998851,-3.00670272616e-05,1.14622791517e-05,-3.55203650693e-05,1793238935195986688
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,678.389187098,664,636,879,788,803,652.194593549,631,653,0.409341820904,-0.00549986324249,0.0599897773775,0.999999998316,-3.87375287785e-05,-1.78312256325e-05,-3.9352164488e-05,1793238935212652800
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678.383355595,663.616644405,636,879,788,803,652,631,653,0.409960719163,-0.00551692468717,0.0599888952053,0.999999996905,-6.3467453151e-05,-1.76009370724e-05,-4.30389140271e-05,1793238935229318912
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,678.96029328,663.03970672,636,879,788,803,652,631,653,0.410598736108,-0.00553724035076,0.0599947106511,0.999999994271,-9.63068627073e-05,-2.46209353959e-06,-4.66524179512e-05,1793238935245985536
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.533651965,636,879.533651965,788,803,652,631,653,0.411269127658,-0.00554045915496,0.0600012248009,0.99999999187,-0.000116191171613,1.10490160304e-05,-5.13478472469e-05,1793238935262652160
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745.11029519,715,679,664,636,880,788,803.11029519,652,631.11029519,653,0.411939169352,-0.00554097930627,0.0600034306483,0.999999990097,-0.000128666786041,1.65135318184e-05,-5.45697159741e-05,1793238935279318784
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.702443257,715,679,664,636,880,788,803.702443257,652,631.702443257,653,0.412597228828,-0.00553523018306,0.05998658896,0.999999992239,-0.000112958742719,-1.26499818926e-05,-5.10046075549e-05,1793238935295985408
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.712965551,715,679.287034449,663.712965551,636,880,788,804,652,631.712965551,653,0.413266326737,-0.00552333761717,0.0599599883848,0.999999995466,-5.69279994928e-05,-6.46744525072e-05,-4.05569430003e-05,1793238935312652288
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.136007235,715,679.863992765,663.136007235,636,880,788,804,652,631.136007235,653,0.413946574277,-0.00550523976523,0.0599235306834,0.999999989168,3.98313529089e-05,-0.000139790011763,-2.31574384843e-05,1793238935329319168
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,879.560154109,787.560154109,804,652,631.439845891,653,0.414724425234,-0.00550379780308,0.0599399975481,0.999999992368,5.24621700168e-05,-0.000109546680057,-2.26240289933e-05,1793238935345985792
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.984360513,663.015639487,636,879.015639487,787.015639487,804,652,632,653,0.415532211149,-0.00550784538216,0.0599729606591,0.999999997804,3.83850942913e-05,-4.66756725154e-05,-2.71888428515e-05,1793238935362652160
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679.39830376,663.60169624,636,879.60169624,787.60169624,804,652,632,653,0.416333801999,-0.00552473827909,0.0600122029791,0.999999999384,-3.38344610532e-06,2.09629159501e-05,-2.79617337268e-05,1793238935379318784
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879.814405189,788,804,652,631.814405189,652.814405189,0.417133501886,-0.0055369499534,0.0600349911952,0.99999999728,-3.28085836278e-05,5.92588125983e-05,-2.91819568571e-05,1793238935395986432
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,879.235085076,788,804,652,631.235085076,652.235085076,0.417929190188,-0.00553923076826,0.0600228732766,0.999999998236,-3.604812649e-05,3.53064121715e-05,-3.13511616667e-05,1793238935412656384
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.34425642,715,679,663.65574358,636,879.34425642,788,804,652,631.34425642,652.34425642,0.418751162769,-0.00553547324086,0.0600066580556,0.999999998878,-3.15553477706e-05,9.04341326984e-06,-3.41541431326e-05,1793238935429322496
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.923612494,715,679,663.076387506,636,879.923612494,788,804,652,631.923612494,652.923612494,0.419591085383,-0.00552759200762,0.0599876447047,0.999999998887,-2.17820105002e-05,-1.87975389658e-05,-3.73899433598e-05,1793238935445985792
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.501532779,715,679.498467221,663.498467221,636,880,788,804,652,632,653,0.420401766367,-0.00552470162698,0.059964315129,0.999999997678,-2.30352739405e-05,-5.05564194255e-05,-3.94537368557e-05,1793238935462652160
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,636,880,788,804,652,632,653,0.421204037937,-0.00552321368817,0.0599393840191,0.999999994997,-2.58195344277e-05,-8.7379881106e-05,-4.12791615775e-05,1793238935479318784
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,636,880,788,804,652,632,653,0.421978909295,-0.00552617546667,0.0599079211444,0.999999986685,-2.76119637945e-05,-0.000155063430164,-4.26877444722e-05,1793238935495985664
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.247709084,715,679.752290916,664,636,880,788,804,652,632,653,0.422830101069,-0.00553043039381,0.0599106895729,0.999999986927,-3.12540674352e-05,-0.000152639412108,-4.32553666619e-05,1793238935512652032
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.827391416,715,679.172608584,664,636,880,788,804,652,632,653,0.423783575579,-0.00553641836543,0.0599593338958,0.999999996808,-3.73750564433e-05,-5.62590718159e-05,-4.26959553836e-05,1793238935529318656
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,679,664.405210306,636,880,788,804,652,632,653,0.424726755874,-0.0055393365891,0.0600076279013,0.999999997953,-4.44768758288e-05,2.03317859792e-05,-4.12720047133e-05,1793238935545985024
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,679,664.982239021,636,880,788,804,652,632,653,0.425665571129,-0.0055409531693,0.0600557733613,0.99999999395,-5.19945892138e-05,8.85314461304e-05,-3.94814696074e-05,1793238935562651648
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.445153373,715,679,664.445153373,636,880.554846627,788,804,652,631.445153373,652.445153373,0.426532057108,-0.00554291807933,0.0600461500513,0.99999999446,-4.56679097611e-05,8.55511948566e-05,-4.09438697385e-05,1793238935579318272
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.131692116,664,636,881,788,804,652,631,652,0.42738982868,-0.00554515935803,0.0600318146148,0.999999995569,-4.2101571644e-05,7.26679433687e-05,-4.25288502035e-05,1793238935595985152
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.72384627,664,636,881,788,804,652,631,652,0.428225161721,-0.00554832828217,0.0600074178793,0.999999997241,-4.97240664371e-05,3.30626593124e-05,-4.41812258185e-05,1793238935612652288
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.309263213,715,680,664,636,880.690736787,788,804.309263213,652,631.309263213,652.309263213,0.429050257765,-0.00554867844278,0.059981392713,0.999999997175,-5.85095418633e-05,-1.10024363739e-05,-4.58865209632e-05,1793238935629318912
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.888792455,715,680,664,636,880.111207545,788,804.888792455,652,631.888792455,652.888792455,0.429866407623,-0.0055465652775,0.0599539444577,0.999999994794,-6.83113490311e-05,-5.89649724392e-05,-4.76380625161e-05,1793238935645985792
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.536630764,715,680,664,636,880,787.536630764,804.536630764,652,632,653,0.430739530779,-0.00554295914936,0.0599498244987,0.999999995196,-5.98486238726e-05,-5.99902905604e-05,-4.92650847147e-05,1793238935662651904
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.037818428,745,715,680,664.037818428,636,880.037818428,787.037818428,804,652,632,653,0.431626661203,-0.00553958837627,0.0599541837572,0.999999996521,-4.83491090956e-05,-4.53010743876e-05,-5.06861177829e-05,1793238935679318528
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+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745,715,680,664.786477354,636,880.786477354,788,804,652,632,652.786477354,0.433384173605,-0.00555026384565,0.0600295448799,0.999999993529,-6.46710387546e-05,8.00206568183e-05,-4.85486968632e-05,1793238935712651776
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745,715,680,664.207025824,636,880.207025824,788,804,652,632,652.207025824,0.43419494418,-0.0055560432237,0.0600248044001,0.999999994186,-7.58585037678e-05,5.98555268422e-05,-4.78562620936e-05,1793238935729318400
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.629639085,745,715,679.629639085,664,636,880,788,804,652,632,652,0.43498737547,-0.00555899093388,0.0599997254791,0.999999995404,-8.00622555683e-05,1.76865602083e-05,-4.96846695047e-05,1793238935745985280
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+182,3.033333333,POSE1_TO_POSE2_PRESS,766.520818048,745.520818048,715,679.520818048,664,636,880,788,804,652,632,652.520818048,0.436550184621,-0.00555684759415,0.0599483515361,0.99999999348,-7.90888698127e-05,-6.16524666415e-05,-5.4618090366e-05,1793238935779319040
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+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,635.275431074,880,788,804,652,631.275431074,653,0.438762306217,-0.00554938683826,0.0599298392471,0.99999998942,-6.66506607014e-05,-0.000117198292394,-5.46153272301e-05,1793238935829318656
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,635.85318735,880,788,804,652,631.85318735,653,0.439521786192,-0.00555141737744,0.0599484904022,0.999999992968,-6.79395402986e-05,-8.10084906027e-05,-5.37257226927e-05,1793238935845985280
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.57062695,715,680,664,636,880.42937305,788,804,651.57062695,632,652.57062695,0.440265077613,-0.00555578327414,0.0599790340517,0.999999994729,-8.10306179943e-05,-3.64728908539e-05,-5.14422870837e-05,1793238935862651904
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.842391319,715,680,662.842391319,636,880,787.842391319,804.842391319,651.157608681,631,653,0.442229049374,-0.00556523613807,0.0599375547069,0.999999987284,-9.38921437703e-05,-0.000116532484907,-5.51061661349e-05,1793238935912652032
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.247778935,715,680,662.247778935,636,880,787.247778935,804.247778935,651.752221065,631,653,0.442783507762,-0.00555997842902,0.0598801649097,0.999999974365,-9.13953550267e-05,-0.000198290584715,-5.99853329344e-05,1793238935929318400
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.335245559,715,680,662.335245559,635.664754441,880.335245559,787.335245559,804,652,631.335245559,652.664754441,0.443339500148,-0.00555441511478,0.0598466297122,0.999999963346,-8.83951975749e-05,-0.000247993487608,-6.31940691216e-05,1793238935945985024
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.909991595,715,680,662.909991595,635.090008405,880.909991595,787.909991595,804,652,631.909991595,652.090008405,0.443896588395,-0.00554863347555,0.0598301363189,0.999999956502,-8.50354323509e-05,-0.000274796053308,-6.52094443359e-05,1793238935962651648
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680.485137123,663,635,881,788,804,652,631.514862877,652.485137123,0.444452038852,-0.0055481979332,0.0598328388579,0.999999957771,-8.65307931484e-05,-0.000269178730644,-6.71869008741e-05,1793238935979318784
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.350592302,715,680.350592302,662.350592302,635,881,787.350592302,804,651.350592302,631.649407698,653,0.445471006993,-0.00555788235096,0.0598177227435,0.999999945533,-0.000100225457089,-0.000306453580431,-7.05321372004e-05,1793238936012653312
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.187604274,634.187604274,881,787.812395726,804,651.812395726,632,652.187604274,0.44634694838,-0.00557161026157,0.0597594185467,0.99999990897,-0.000118958185461,-0.000402753238025,-7.54836675127e-05,1793238936045986304
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.390177471,715,680.390177471,661,634,881,787.609822529,804,652,631.609822529,652.390177471,0.446770165086,-0.00557448966309,0.0597441485026,0.999999900805,-0.000122051585172,-0.000421328997841,-7.7294591668e-05,1793238936062652672
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+230,3.833333333,POSE1_TO_POSE2_PRESS,765.376446142,745.376446142,715,681,660,633,880.623553858,786,804.376446142,652,631,652.376446142,0.451338754798,-0.00556838559875,0.0596392040477,0.999999832279,-9.98341934571e-05,-0.00056714991452,-6.17758766423e-05,1793238936579318272
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.954329744,745.954329744,715,681,660,633,880.045670256,786,804.954329744,652,631,652.954329744,0.451339448218,-0.00556799203521,0.0596381739115,0.999999831621,-9.88878962581e-05,-0.00056847886693,-6.17323022668e-05,1793238936595985152
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,715,681,660,633,880.528839786,786,805,652,631,653,0.451341571236,-0.00556674543205,0.0596383148894,0.999999832133,-9.88598100736e-05,-0.000567519707207,-6.23048074936e-05,1793238936612651776
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.106634935,746,715,681.106634935,660,633,881,786,804.893365065,652,631,653,0.451343850424,-0.00556596986668,0.0596388269289,0.999999832803,-9.8946208111e-05,-0.000566279285776,-6.26989870609e-05,1793238936629318400
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.700771873,746,715,681.700771873,660,633,881,786,804.299228127,652,631,653,0.451346282731,-0.00556768239337,0.0596405759125,0.999999833741,-9.91957732714e-05,-0.000564650662329,-6.20362250614e-05,1793238936645985280
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.71427335,746,715,681.71427335,660.28572665,633,881,786,804.28572665,651.71427335,631,653,0.451347676277,-0.00556881123212,0.0596410894907,0.99999983392,-0.000100474841028,-0.00056414548462,-6.16779429414e-05,1793238936662651904
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.138635148,746,715,681.138635148,660.861364852,633,881,786,804.861364852,651.138635148,631,653,0.451348015848,-0.00556934783416,0.0596403495692,0.999999833329,-0.000102798490041,-0.000564780207024,-6.16286001915e-05,1793238936679318528
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,715,681,660.563711998,633,881,786,805,651.436288002,631,653,0.4513467468,-0.00556787834669,0.0596384455883,0.999999832219,-0.000101868248905,-0.000566893621248,-6.17755672003e-05,1793238936695984896
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.988757884,746,715,681,660.011242116,633,881,786,805,652,631,652.988757884,0.451345008385,-0.00556581879965,0.059636229171,0.999999830964,-9.99513422241e-05,-0.000569421440977,-6.19722914884e-05,1793238936712651520
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.400571315,746,715,681,660.599428685,633,881,786,805,652,631,652.400571315,0.451345371678,-0.00556613810996,0.0596369303059,0.999999831108,-0.000100374658184,-0.000569142290415,-6.15264827176e-05,1793238936729318400
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.184736505,746,715,681,660.815263495,633,881,786,804.815263495,651.815263495,631,652.184736505,0.451346091944,-0.00556667468417,0.0596377373171,0.999999831553,-0.000100789922378,-0.000568327431782,-6.11434484197e-05,1793238936745985280
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.763897964,746,715,681,660.236102036,633,881,786,804.236102036,651.236102036,631,652.763897964,0.45134757437,-0.0055676751315,0.0596387703811,0.99999983264,-0.000101187995484,-0.000566368800139,-6.08944419014e-05,1793238936762652160
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,681,660.342636064,633,881,786,804,651.342636064,631.342636064,653,0.45134834907,-0.00556685047383,0.0596388882645,0.999999832986,-9.9205053305e-05,-0.000566096808288,-6.09919014919e-05,1793238936779318784
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,715,681,660.921082772,633,881,786,804,651.921082772,631.921082772,653,0.451348636694,-0.00556476973355,0.0596383762979,0.999999832815,-9.55834372818e-05,-0.000566985603888,-6.13278076689e-05,1793238936795985408
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715,681,660.505800547,633,881,786,804,652,631.505800547,653,0.451347598123,-0.00556518861915,0.0596376247455,0.999999831897,-9.71686864451e-05,-0.00056835488243,-6.11380043139e-05,1793238936812652032
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745.931253959,715,681,660,633,881,786,804.068746041,652,631,652.931253959,0.451346577244,-0.00556592084732,0.0596369665606,0.999999831008,-9.93644768091e-05,-0.000569560508415,-6.09141682528e-05,1793238936829318400
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745.339420354,715,681,660,633,881,786,804.660579646,652,631,652.339420354,0.451347285201,-0.00556603251579,0.0596373068119,0.999999831293,-9.99467378609e-05,-0.000568943319571,-6.10633287866e-05,1793238936845985280
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.753182655,745.246817345,715,680.753182655,660,633,881,786,804.753182655,652,631,652.246817345,0.451347965799,-0.00556617868319,0.0596374834326,0.999999831524,-0.000100322064506,-0.000568469377247,-6.107244156e-05,1793238936862651904
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.174469696,745.825530304,715,680.174469696,660,633,881,786,804.174469696,652,631,652.825530304,0.451348609608,-0.00556637124139,0.0596374400191,0.999999831685,-0.000100419126262,-0.000568188058617,-6.0893231944e-05,1793238936879318528
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.401409946,746,715,680.401409946,660,633,881,786,804,652,631,653,0.451349292819,-0.00556671062811,0.0596381659018,0.99999983228,-9.98573459994e-05,-0.000567264222817,-6.0668848283e-05,1793238936895985408
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.976066706,746,715,680.976066706,660,633,881,786,804,652,631,653,0.451349993035,-0.0055671133854,0.0596392238096,0.999999833059,-9.90112123363e-05,-0.000566063079371,-6.04249677082e-05,1793238936912652288
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,715,681,660,633,880.436004287,786,804.563995713,652,631,653,0.451349126649,-0.00556712960551,0.0596377379016,0.999999831746,-9.89727682645e-05,-0.000568412154584,-6.01607707451e-05,1793238936929318656
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680.849825905,660,633,880.150174095,786,804.849825905,652,631,653,0.451348548953,-0.00556661685577,0.0596365575307,0.999999830831,-9.83488304348e-05,-0.000570130479163,-6.01459330041e-05,1793238936945985280
+253,4.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680.270301654,660,633,880.729698346,786,804.270301654,652,631,653,0.451348991273,-0.0055646397988,0.0596365667565,0.999999831321,-9.59506036189e-05,-0.000569604373809,-6.0846541553e-05,1793238936962651648
+254,4.233333333,HOLD_POSE2,767,746,716,682,660,633,881,786,805,652,631,653,0.45134970673,-0.00556592772658,0.0596375656681,0.999999832154,-9.86762122701e-05,-0.000567660942182,-6.09564270141e-05,1793238936999510528
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+256,4.266666667,HOLD_POSE2,766.839800511,746,715,680.839800511,660,633,880.160199489,786,805,652,631,653,0.45134831761,-0.00556498030254,0.0596359382456,0.999999830164,-9.89144981332e-05,-0.000571156689742,-6.05716242825e-05,1793238937032844288
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+261,4.350000000,HOLD_POSE2,766,746,715,681.934148392,660,632.065851608,881,786,804.065851608,652,631,652.065851608,0.451351324368,-0.00556469220057,0.0596378716297,0.999999831937,-9.74387596806e-05,-0.000568270136068,-6.08312130383e-05,1793238937116177408
+262,4.366666667,HOLD_POSE2,766,746,715,681.346766407,660,632.653233593,881,786,804.653233593,652,631,652.653233593,0.451351557819,-0.00556513545056,0.0596383469275,0.99999983215,-9.92643146561e-05,-0.000567571630455,-6.08971384371e-05,1793238937132844032
+263,4.383333333,HOLD_POSE2,766,746,715,681,660,633,881,786,805,652,631,652.762668199,0.451351342249,-0.00556505580068,0.0596382628596,0.999999832068,-9.98311046663e-05,-0.000567617065351,-6.08980953758e-05,1793238937149510656
+264,4.400000000,HOLD_POSE2,766,746,715,681,660,633,881,786,805,652,631,652.183302498,0.451350479567,-0.0055642225666,0.0596373726545,0.999999831562,-9.85838085541e-05,-0.000568734640125,-6.0805422144e-05,1793238937166177280
+265,4.416666667,HOLD_POSE2,766,746,715.394307316,681,660,633,880.605692684,786,805,652,631,652.394307316,0.4513507155,-0.00556402279368,0.0596374099073,0.999999831638,-9.79803764049e-05,-0.000568732652777,-6.05618503686e-05,1793238937182843648
+266,4.433333333,HOLD_POSE2,766,746,715.971104536,681,660,633,880.028895464,786,805,652,631,652.971104536,0.451351459884,-0.00556411619371,0.059637876398,0.999999831982,-9.7674931701e-05,-0.000568212519464,-6.02484410254e-05,1793238937199510528
+267,4.450000000,HOLD_POSE2,766,746,715.456994413,681,660.543005587,633,881.086011174,786,805,652,631,653,0.451351245942,-0.00556335374618,0.0596374769615,0.999999831622,-9.83867155492e-05,-0.000568660977436,-6.08407594099e-05,1793238937216177152
+268,4.466666667,HOLD_POSE2,766,746,715.119200089,680.880799911,660.761599822,633,881.761599822,786,805,651.880799911,631,653,0.451351222678,-0.00556296349186,0.05963730754,0.999999831429,-9.90194667329e-05,-0.000568849518951,-6.1212822673e-05,1793238937232844032
+269,4.483333333,HOLD_POSE2,766,746,715.713537944,680.286462056,659.572924112,633,880.572924112,786,805,651.286462056,631,653,0.451352160929,-0.00556423673346,0.0596382370042,0.999999832059,-9.91233500505e-05,-0.000567798404722,-6.05165374417e-05,1793238937249510912
+270,4.500000000,HOLD_POSE2,766,746,715.70193463,680.29806537,659.29806537,633.29806537,880.29806537,786,805,651.29806537,631,653,0.451351959669,-0.00556424628079,0.0596381962947,0.999999832093,-9.8140077889e-05,-0.000567922473862,-6.03902997718e-05,1793238937266177536
+271,4.516666667,HOLD_POSE2,766,746,715.126535319,680.873464681,659.873464681,633.873464681,880.873464681,786,805,651.873464681,631,653,0.451350698155,-0.0055630800279,0.0596372528903,0.99999983157,-9.61452654954e-05,-0.000569139988547,-6.07944610146e-05,1793238937282844160
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.329843315,746,715.670156685,681,660.670156685,633,881,786,804.670156685,651.329843315,630.670156685,653,0.451351395118,-0.00556350513638,0.0596365346417,0.999999831608,-9.61661846113e-05,-0.000569099375044,-6.05212551124e-05,1793238937382209792
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.415483211,745,715.415483211,679.415483211,663,636,879,787.415483211,804,653,632,653,0.401126857488,-0.00537284742542,0.0598373845161,0.99999993778,0.000223317394812,-0.000272780896099,1.26419248746e-05,1793238939165542912
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.989399705,745,715.989399705,679.989399705,663,636,879,787.989399705,804,653,632,653,0.401078926268,-0.0053686215464,0.0598340781574,0.99999993503,0.000226675997988,-0.000280016542539,1.21877985244e-05,1793238939182209536
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.014173278,715,679,663,636,879,787.014173278,804,652,631.985826722,653,0.400981705323,-0.00536854450348,0.0598489672314,0.999999941802,0.000226392663671,-0.000254814269186,1.45598959128e-05,1793238939498875904
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.60394066,715,679,663,636,879,787.60394066,804,652,631.39605934,653,0.400978968513,-0.00536879699306,0.0598477393705,0.999999940708,0.000228012581359,-0.000257628093806,1.48853874416e-05,1793238939515542528
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.809795694,715,679,663,636,879,788,803.809795694,652,631,653,0.400977671073,-0.00536942955002,0.0598471599878,0.99999994017,0.000228939576889,-0.000258881434545,1.50957111091e-05,1793238939532209408
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745.230695893,715,679,663,636,879,788,803.230695893,652,631,653,0.400979316596,-0.00537083920026,0.0598479064966,0.999999940782,0.000228449809946,-0.000256944178847,1.50705602653e-05,1793238939548876032
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745.345902271,715,679,663,636,879.345902271,788,803.345902271,652,631,653,0.4009803384,-0.00537070187443,0.0598486327942,0.999999940945,0.000229469371305,-0.00025540182122,1.49880856665e-05,1793238939565542912
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.920843951,715,679,663,636,879.920843951,788,803.920843951,652,631,653,0.400980947208,-0.00536954021735,0.0598493457088,0.999999940807,0.00023148833538,-0.000254120945678,1.48676541078e-05,1793238939582209536
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745.504721292,715,679,663,636,880,788,804,652,631.495278708,653,0.400981222371,-0.00537012185097,0.0598498014033,0.999999941653,0.00022879928868,-0.000253229897242,1.47860303159e-05,1793238939598876160
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.928517709,788,804,652.071482291,632,653,0.400981429603,-0.00537089900157,0.0598501866921,0.999999942483,0.000225975475375,-0.000252492339885,1.47537383985e-05,1793238939615542784
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.338906702,788,804,652.661093298,632,653,0.400981530563,-0.00537107589401,0.0598503593246,0.999999942124,0.000227623201032,-0.000252416210473,1.50341107355e-05,1793238939632209408
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+413,6.883333333,POSE2_TO_POSE3_RETREAT,766.828084726,745,715,679.828084726,663.828084726,636.828084726,879.828084726,788,804,652.171915274,632,653,0.40097978094,-0.00537061165533,0.0598490875481,0.999999941632,0.000227028911664,-0.000254902594832,1.48093919359e-05,1793238939665542656
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766.596009622,745.403990378,715,679.596009622,663.596009622,636.596009622,879.596009622,787.596009622,804,652,632,653,0.400980669869,-0.00537056281611,0.0598497148071,0.999999942219,0.000226191769568,-0.000253345394847,1.46504305721e-05,1793238939682209280
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.022257067,745.977742933,715,679.022257067,663.022257067,636.022257067,879.022257067,787.022257067,804,652,632,653,0.400982465316,-0.00537066031132,0.0598510098825,0.999999943132,0.000225457321931,-0.00025038783923,1.45384449997e-05,1793238939698875904
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745.435479146,715,679,663.564520854,636,879,787.564520854,804,652.564520854,631.435479146,653,0.400980998939,-0.00536975405424,0.0598503325517,0.999999942251,0.000226599789749,-0.000252869703285,1.44282624943e-05,1793238939715542784
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766.149749251,745,715,679,663.850250749,636,879,788,804,653,631,653,0.400979772091,-0.00536949805516,0.0598497361784,0.999999941591,0.000227337753654,-0.000254806184412,1.44885739277e-05,1793238939732209408
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766.729025308,745,715,679,663.270974692,636,879,788,804,653,631,653,0.400979609872,-0.00537122338815,0.0598496003383,0.999999941793,0.00022669820786,-0.000254548682614,1.50377055874e-05,1793238939748876032
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c9cdb0d0ae9eaa84b8f061081cd3fc293b6b64d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
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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
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+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
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+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
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+21,0.350000000,pose1_baseline,0.575664395988,9.07468878863e-05,1.05003250671,0.546234847448,0.00876248570651,1.04970062959
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+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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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7146f8759302ea7ff75e3df8ef7f90ec550c805d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..40bf9e789954baa2e998d23ee9575d673a57a09a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
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+60,1.000000000,BASELINE,766,745.19634264,715,678.19634264,666,636,880,788,803.80365736,653,632,653,0.400938029937,-0.00543388726087,0.0499364403263,0.999999973771,7.13974548245e-05,-0.000216152382486,-2.52803884372e-05,1793238942078010880
+61,1.016666667,BASELINE,766,745.388998303,715,678.388998303,666,636.388998303,880,788,804,653,632,653,0.400937828828,-0.00543396390233,0.0499362615852,0.999999973693,7.16666062325e-05,-0.000216425376752,-2.52726324038e-05,1793238942094677504
+62,1.033333333,BASELINE,766,745.979499521,715,678.979499521,666,636.979499521,880,788,804,653,632,653,0.400936830765,-0.00543436175347,0.0499355463093,0.999999973374,7.17796513805e-05,-0.000217872854733,-2.51169402375e-05,1793238942111344128
+63,1.050000000,BASELINE,766.557530545,746,715,679,666,637,880,788,804,653,632,653,0.400937470691,-0.00543297089371,0.0499359381157,0.999999973443,7.1936448749e-05,-0.000217478387282,-2.53272325796e-05,1793238942128011008
+64,1.066666667,BASELINE,766.864347233,745.864347233,715,679,666.135652767,636.864347233,880,788,803.864347233,653,632,653,0.400938016312,-0.00543199500407,0.0499363078931,0.999999973532,7.22608285499e-05,-0.00021694932348,-2.54629105157e-05,1793238942144677888
+65,1.083333333,BASELINE,766.284457638,745.284457638,715,679,666.715542362,636.284457638,880,788,803.284457638,653,632,653,0.400938060182,-0.00543258873794,0.0499364751367,0.999999973635,7.3128855539e-05,-0.000216196428228,-2.53111346045e-05,1793238942161345536
+66,1.100000000,BASELINE,766,745,715,679,666.702797301,636,880,788.297202699,803.297202699,653,632,653,0.400938433061,-0.00543299770162,0.0499365426665,0.999999973721,7.40450095363e-05,-0.000215506265721,-2.51595301729e-05,1793238942178012416
+67,1.116666667,BASELINE,766,745,715,679,666.119432031,636,880,788.880567969,803.880567969,653,632,653,0.400939122728,-0.00543322875872,0.0499365141864,0.999999973788,7.50075027274e-05,-0.000214876505682,-2.50080908601e-05,1793238942194678528
+68,1.133333333,BASELINE,766,745.461145191,715,679,666.461145191,636,880,788.538854809,803.538854809,653,632,653,0.40093890149,-0.00543296119113,0.0499361312929,0.999999973652,7.49560959206e-05,-0.00021549246825,-2.53161938909e-05,1793238942211344896
+69,1.150000000,BASELINE,766,746,715,679,666.9592886,636,880,788,803,653,632,653,0.400938543821,-0.00543262388713,0.0499357804726,0.999999973498,7.46054673551e-05,-0.0002162832795,-2.56896320553e-05,1793238942228011776
+70,1.166666667,BASELINE,766,746,715,679,666.383576986,636,880,788,803,653,632,653,0.400939474865,-0.00543305700928,0.0499370501179,0.999999973812,7.37527134852e-05,-0.000215157534939,-2.53670213536e-05,1793238942244678144
+71,1.183333333,BASELINE,766.192049447,745.807950553,715,679,666,636,880,788,803,653,632,653,0.400939312827,-0.00543329622475,0.0499373754973,0.999999973888,7.27995841339e-05,-0.000215155558565,-2.51637143443e-05,1793238942261344512
+72,1.200000000,BASELINE,766.76750593,745.23249407,715,679,666,636,880,788,803,653,632,653,0.400936968563,-0.00543314832548,0.049935815747,0.999999973485,7.16460652702e-05,-0.000217397069977,-2.51985848686e-05,1793238942278011136
+73,1.216666667,BASELINE,767,745.348122141,715,679,666,636.348122141,880,788,803.348122141,653,632,653,0.400936000399,-0.00543279832358,0.0499351360909,0.999999973286,7.27415262489e-05,-0.000217931035259,-2.53630803001e-05,1793238942294677760
+74,1.233333333,BASELINE,767,745.932236096,715,679,666,636.932236096,880,788,803.932236096,653,632,653,0.400935965092,-0.00543231131643,0.0499350530503,0.999999973221,7.53615695305e-05,-0.000217307455797,-2.56154483847e-05,1793238942311344384
+75,1.250000000,BASELINE,767,746,715,679,666,636.485406888,880,788,804,653,632,653,0.400936252129,-0.00543182162629,0.0499348237657,0.999999972989,7.59103294931e-05,-0.000218195488746,-2.55104780659e-05,1793238942328011520
+76,1.266666667,BASELINE,766.903988013,745.903988013,715,679,666,636,880,788,804,653,632,653,0.400936710778,-0.00543158547699,0.0499347599002,0.999999972861,7.56624345463e-05,-0.000218882276953,-2.53644294542e-05,1793238942344678400
+77,1.283333333,BASELINE,766.326120214,745.326120214,715,679,666,636,880,788,804,653,632,653,0.400937818386,-0.00543262354134,0.0499356225463,0.999999973366,7.27805867832e-05,-0.000217563474005,-2.52475771609e-05,1793238942361345024
+78,1.300000000,BASELINE,766.24984169,745.24984169,715,679,666,636,880,788,803.75015831,653,632,652.75015831,0.40093863751,-0.00543318763053,0.049936344247,0.999999973655,7.21342962086e-05,-0.000216451641472,-2.52190886865e-05,1793238942378011392
+79,1.316666667,BASELINE,766.823334605,745.823334605,715,679,666,636,880,788,803.176665395,653,632,652.176665395,0.400939082922,-0.00543313772025,0.0499368833635,0.99999997367,7.43840030058e-05,-0.000215607923736,-2.53050689399e-05,1793238942394678016
+80,1.333333333,BASELINE,766.591192908,746,715,679,666.408807092,636.408807092,880,788,803.408807092,653,632,652.408807092,0.400939355642,-0.0054323777938,0.0499371058372,0.999999973697,7.55788481361e-05,-0.000215050794912,-2.54453420798e-05,1793238942411344640
+81,1.350000000,BASELINE,766.000387131,746,715,679,666.999612869,636.999612869,880,788,803.999612869,653,632,652.999612869,0.400939551481,-0.00543130177202,0.0499371873432,0.99999997373,7.63040748083e-05,-0.000214621253834,-2.56097861237e-05,1793238942428011264
+82,1.366666667,BASELINE,766,746,715,679,666.421338617,636.421338617,880,788,804,653,632,653,0.400939329622,-0.00543335438617,0.0499370245893,0.999999973968,7.46783653524e-05,-0.000214136509529,-2.51651374802e-05,1793238942444677888
+83,1.383333333,BASELINE,766,745.842849487,715,679,666,636,880,788,803.842849487,653,632,653,0.400939033925,-0.00543463315464,0.0499367005077,0.999999974061,7.31523781394e-05,-0.000214257491541,-2.48895519747e-05,1793238942461344512
+84,1.400000000,BASELINE,766,745.265834163,715,679,666,636,880,788,803.265834163,653,632,653,0.400938541684,-0.00543383893069,0.049935945829,0.999999973774,7.18969405971e-05,-0.000215996911457,-2.50667256089e-05,1793238942478011648
+85,1.416666667,BASELINE,766,745.315832907,715,678.684167093,666.315832907,636,880,788,803,653,632,653,0.400939084377,-0.00543398009983,0.0499361016772,0.999999973935,7.08573893935e-05,-0.000215589057627,-2.51231640835e-05,1793238942494678272
+86,1.433333333,BASELINE,766,745.901473809,715,678.098526191,666.901473809,636,880,788,803,653,632,653,0.400940511186,-0.00543492035148,0.0499370353654,0.999999974477,7.0002264457e-05,-0.000213346842506,-2.50764615804e-05,1793238942511345152
+87,1.450000000,BASELINE,766,745.518064626,715,678.481935374,666.518064626,636,880,788,803.481935374,653,631.518064626,653,0.400940202534,-0.00543489672452,0.0499371600339,0.999999974476,7.01103251239e-05,-0.000213325356348,-2.50102466895e-05,1793238942528011776
+88,1.466666667,BASELINE,766,745.060937667,715,679,666,636,880,788,804,653,631.060937667,653,0.400939412557,-0.00543460920272,0.0499369800754,0.999999974296,7.0679351877e-05,-0.000213982993546,-2.49786986463e-05,1793238942544678144
+89,1.483333333,BASELINE,766,745.636463605,715,679,666,636,880,788,804,653,631.636463605,653,0.400937522235,-0.00543373955003,0.0499356095193,0.999999973526,7.34958616526e-05,-0.000216582426425,-2.5273222544e-05,1793238942561344768
+90,1.500000000,BASELINE,766,745.788143978,715,679,666,636,879.788143978,788,804,653,632,653,0.40093734807,-0.0054332637889,0.0499355064007,0.999999973341,7.45815511163e-05,-0.00021706080185,-2.52897127162e-05,1793238942578011136
+91,1.516666667,BASELINE,766,745.212980593,715,679,666,636,879.212980593,788,804,653,632,653,0.400940116903,-0.00543346350405,0.0499375767839,0.999999974172,7.26990935418e-05,-0.000213901820929,-2.48294087667e-05,1793238942594677760
+92,1.533333333,BASELINE,766,745.372271625,715,679,666,636,879,788,803.627728375,653,632,653,0.400940553475,-0.00543324133311,0.04993778085,0.999999974328,7.22194117859e-05,-0.000213329233271,-2.48678590727e-05,1793238942611344640
+93,1.550000000,BASELINE,766,745.96345661,715,679,666,636,879,788,803.03654339,653,632,653,0.400939618567,-0.00543277107318,0.0499368874334,0.999999974092,7.25646285186e-05,-0.000214277567136,-2.51996004762e-05,1793238942628011520
+94,1.566666667,BASELINE,766.541329786,745.458670214,715,679,666.541329786,636,879.541329786,788.541329786,803,652.458670214,632,653,0.400939212812,-0.00543311880843,0.0499368575649,0.999999974179,7.0820176293e-05,-0.000214437856349,-2.53721765013e-05,1793238942644678144
+95,1.583333333,BASELINE,767,745.118795704,715,679,667,636,880,788.881204296,803.118795704,652.118795704,632,653,0.400938584957,-0.00543365416158,0.0499366008988,0.999999974159,6.96119906446e-05,-0.000214918826192,-2.54265465003e-05,1793238942661344768
+96,1.600000000,BASELINE,767,745.69808293,715,679,667,636,880,788.30191707,803.69808293,652.69808293,632,653,0.400936961026,-0.00543470786983,0.0499352445417,0.999999973654,7.10162484846e-05,-0.000216844125417,-2.50633613105e-05,1793238942678011392
+97,1.616666667,BASELINE,766.719577722,746,715,679,666.719577722,636,879.719577722,788,803.719577722,653,632,653,0.400937157817,-0.00543526844252,0.0499351783946,0.999999973706,7.10566334174e-05,-0.000216623466205,-2.47829006013e-05,1793238942694678016
+98,1.633333333,BASELINE,766.133916179,746,715,679,666.133916179,636,879.133916179,788,803.133916179,653,632,653,0.400939336462,-0.00543529223777,0.0499365166396,0.999999974362,6.96124444761e-05,-0.000214066934059,-2.45924853977e-05,1793238942711344640
+99,1.650000000,BASELINE,766,746,715,679,666.446874973,636,879.446874973,788,803,653,632,653,0.400940063139,-0.00543475563089,0.0499372003907,0.999999974509,7.03060398065e-05,-0.000213138646484,-2.47256021352e-05,1793238942728011520
+100,1.666666667,BASELINE,766.026144135,745.973855865,715,679,666.973855865,636,880,788,803.026144135,653,632,653.026144135,0.400940382739,-0.00543406859263,0.0499376761657,0.99999997451,7.16276038177e-05,-0.000212667916741,-2.49473408761e-05,1793238942744678144
+101,1.683333333,BASELINE,766.603763916,745.396236084,715,679,666.396236084,636,880,788,803.603763916,653,632,653.603763916,0.400941194823,-0.00543371262329,0.0499378575377,0.999999974634,7.28276730393e-05,-0.000211667275729,-2.5015383515e-05,1793238942761344768
+102,1.700000000,BASELINE,766.819873692,745,715,679,666,636,880,788,803.819873692,653,631.819873692,653.819873692,0.400941056538,-0.00543323068418,0.0499376730861,0.999999974525,7.35531380098e-05,-0.000211921414616,-2.50930869708e-05,1793238942778011392
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+105,1.750000000,BASELINE,766,745,715,679,666,636,880,788,803,653,631.928384305,653,0.400939444891,-0.00543337283641,0.0499375047319,0.999999974274,7.21729079282e-05,-0.000213599714758,-2.4879035482e-05,1793238942828011264
+106,1.766666667,BASELINE,766,745.508816228,715,679,666,636.508816228,880,788,803,653,632,653,0.400939237933,-0.00543382368696,0.0499369498184,0.999999974249,7.19903236894e-05,-0.000213750059922,-2.50894874725e-05,1793238942844677888
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+108,1.800000000,POSE1_TO_POSE2_PRESS,766.588145264,745.588145264,715,679,666.588145264,636,880,788,804,653,632,653.411854736,0.400939502068,-0.00543306257153,0.0499370468248,0.999999974136,7.32440822421e-05,-0.000213826877624,-2.53296600962e-05,1793238942904493056
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+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745.247289979,715,679,666.247289979,636.752710021,880,788,803.247289979,652.247289979,632,653,0.400938639371,-0.00543440305173,0.0499361828413,0.99999997395,7.3113365577e-05,-0.000214752737746,-2.5210342832e-05,1793238942937826304
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745.330791426,715,679,666.330791426,636.669208574,880,788,803.330791426,652.330791426,632,653,0.400938618179,-0.00543483352498,0.0499360581119,0.999999973972,7.2426989345e-05,-0.000214910529904,-2.49879056344e-05,1793238942954492928
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+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,714,679,666,636,880,788,803.033730617,653,632,653,0.401089266564,-0.00543666174025,0.0499640312397,0.999999989679,7.05203559056e-05,-0.000122628676523,-2.51124764085e-05,1793238943087826688
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.542724846,714.542724846,679,666,636,880,788,803,653,632,653,0.401145687574,-0.00543792920638,0.0499702687103,0.999999992701,6.93370230367e-05,-9.56001322335e-05,-2.55267636563e-05,1793238943104493312
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.121529474,746,715,679,666.121529474,636,880,788,803,653,632,653,0.401204279135,-0.00543982356794,0.0499758523305,0.999999994766,6.7333704256e-05,-7.25905682574e-05,-2.57738729484e-05,1793238943121159680
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.709733874,746,715,679,666.709733874,636,880,788,803,653,632,653,0.401267320746,-0.00544410960892,0.0499782872831,0.999999995526,6.21920816014e-05,-6.66332024456e-05,-2.52827555983e-05,1793238943137826304
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.706843043,745.706843043,715,679,666.706843043,636,880,788,803,653,632,653,0.401340729427,-0.00544678024781,0.0499803819862,0.999999995883,6.17467695561e-05,-6.17928499665e-05,-2.45482990892e-05,1793238943154492928
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.12807819,745.12807819,715,679,666.12807819,636,880,788,803,653,632,653,0.401424238212,-0.00544787708245,0.0499821452013,0.999999995868,6.58768341043e-05,-5.80407470566e-05,-2.35767696586e-05,1793238943171159552
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.448230818,745,715,679,666,636,879.551769182,788,803.448230818,653,632,653,0.401526273278,-0.0054512553,0.0499819577277,0.999999995924,6.50968286343e-05,-5.82795428605e-05,-2.27791657966e-05,1793238943187826432
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.975665565,745.024334435,715,679,666.024334435,636,879.024334435,788,804,653,631.975665565,653,0.40163450281,-0.00545532650882,0.0499813023668,0.999999996016,6.28260052309e-05,-5.94521889428e-05,-2.20333889286e-05,1793238943204493312
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.388163386,745.611836614,715,679,666.611836614,636,879.611836614,788,804,653,631.388163386,653,0.401764245588,-0.00546043121939,0.0499826481256,0.999999996503,5.83461548169e-05,-5.59892913765e-05,-2.13431553748e-05,1793238943221159936
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666.803347875,636,880,788,804,653,631,653,0.401905998447,-0.00546574792732,0.0499845884108,0.999999996986,5.43548705165e-05,-5.15520567336e-05,-2.03838209944e-05,1793238943237826560
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666.223764058,636,880,788,804,653,631,653,0.40207113797,-0.0054714774474,0.0499876863901,0.999999997482,5.13149492003e-05,-4.52175404467e-05,-1.89004789564e-05,1793238943254493184
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.353027974,746,715,679,666,636,880,788,804,653,631.353027974,653,0.402247627035,-0.00547634125215,0.0499856611026,0.999999997438,4.96723348293e-05,-4.83815673421e-05,-1.77872976665e-05,1793238943271159808
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.928064394,746,715,679,666,636,880,788,804,653,631.928064394,653,0.402431253496,-0.00548066063567,0.0499804139503,0.999999997007,4.89084435673e-05,-5.75189356005e-05,-1.69068989529e-05,1793238943287826176
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.496167138,745.496167138,715,679,666,636,880,788,803.496167138,653,632,653,0.402658159665,-0.00549010310616,0.0499793267659,0.999999997405,4.3940458703e-05,-5.49452207242e-05,-1.54769630016e-05,1793238943304493056
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.081203938,715,679,666,636,880,788,803.081203938,653,632,653,0.402897046082,-0.00550000758016,0.0499803414806,0.999999997995,3.84767837044e-05,-4.83261388435e-05,-1.3908772728e-05,1793238943321159680
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.667899878,715,679,666,636,880,788,803.667899878,653,632,653,0.403171987136,-0.00550822808986,0.0499907377737,0.999999998998,3.36694046578e-05,-2.6948500476e-05,-1.19690816908e-05,1793238943337826560
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,715,679.252907308,666,636,880,788.252907308,803.747092692,653,632,653,0.40346516384,-0.00551736163257,0.0499999318868,0.99999999948,2.96943609535e-05,-8.00814572139e-06,-9.68432644753e-06,1793238943354493184
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,715,679.835712174,666,636,880,788.835712174,803.164287826,653,632,653,0.403782127489,-0.00552768615404,0.050007557851,0.999999999587,2.68050331014e-05,7.75296424197e-06,-6.9494623887e-06,1793238943371159552
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,715,679.17353053,666,636,880,788.586765265,803.413234735,653,631.586765265,653.413234735,0.404125692006,-0.00553803958301,0.0500132162342,0.999999999541,2.36469454877e-05,1.85052745312e-05,-4.07327338883e-06,1793238943387826432
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,715,678.022632547,666,636,880,788.011316273,803.988683727,653,631.011316273,653.988683727,0.404479698619,-0.00554840435931,0.0500181022483,0.999999999419,2.03833569727e-05,2.72913927235e-05,-1.14160770296e-06,1793238943404493056
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.438304436,715,678.561695564,666,636,880,788,803.438304436,653,631.561695564,653.438304436,0.404879401258,-0.00555213473321,0.0500230526795,0.999999998881,2.60886161139e-05,3.94177318713e-05,1.7288193304e-06,1793238943421159424
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.14010171,715,679,666,636,880,788,803.14010171,653,632,653,0.405280518028,-0.00555422527745,0.0500241189584,0.999999998481,3.38053368865e-05,4.32935289998e-05,4.51889776752e-06,1793238943437826048
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.736224975,715,679,666,636,880,788,803.736224975,653,632,653,0.405683254009,-0.00555141146419,0.0500125383789,0.999999998646,4.74836280405e-05,2.00962776567e-05,7.05144483719e-06,1793238943454492672
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,804,653,632,653,0.406102232915,-0.00554608356683,0.049996890353,0.99999999788,6.38697087033e-05,-8.92254399525e-06,8.96873434751e-06,1793238943471159296
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,804,653,632,653,0.406534103401,-0.00553876031406,0.0499780141124,0.999999995645,8.24048842255e-05,-4.25617784332e-05,1.03977121711e-05,1793238943487826176
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880.472198967,788,804,653,631.527801033,653,0.40701748515,-0.00553952703791,0.0499675388703,0.999999993914,9.35826986477e-05,-5.69424548768e-05,1.3072879149e-05,1793238943504493312
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.047473006,745.952526994,715,679,666,636.047473006,881,788,804,653,631.047473006,653,0.407518172835,-0.00554244701648,0.0499607881851,0.999999992548,0.000102735515275,-6.39467155291e-05,1.61435999204e-05,1793238943521159936
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.635945653,745.364054347,715,679,666,636.635945653,881,788,804,653,631.635945653,653,0.408089379184,-0.00555000693471,0.0499758188989,0.999999993485,0.000106908039375,-3.42588909122e-05,2.06568546145e-05,1793238943537826560
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.78641465,745.21358535,715,679,666.21358535,636.78641465,881,788,803.78641465,653,632,653,0.408669579998,-0.00555619479763,0.0499936327711,0.999999993916,0.000107563335365,-3.37612918176e-06,2.42218101571e-05,1793238943554493184
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.226348343,745.773651657,715,679,666.773651657,636.226348343,881,788,803.226348343,653,632,653,0.409264371714,-0.00556015689394,0.0500159615184,0.999999993968,0.000102512937548,2.94450734109e-05,2.62484221064e-05,1793238943571159552
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666.645700472,636.354299528,880.645700472,788,803.354299528,653,631.645700472,653,0.409879837291,-0.00556134322979,0.0500248115653,0.999999993944,9.85984943434e-05,4.06703551436e-05,2.71368401496e-05,1793238943587826176
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666.051092925,636.948907075,880.051092925,788,803.948907075,653,631.051092925,653,0.410509325145,-0.00556064687173,0.0500245195167,0.999999994379,9.54545266033e-05,3.72479362238e-05,2.72532640871e-05,1793238943604493056
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,637,880,788,804,653,631.525608232,653,0.411114853507,-0.00555646887803,0.0499969345762,0.999999994427,0.000100443393736,-1.91685383376e-05,2.62598949078e-05,1793238943621159680
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.103762981,746,715,679,666,636.896237019,880.103762981,788,803.896237019,653,632,653,0.411735729041,-0.00555322519353,0.0499711972479,0.999999991749,0.000105201866579,-6.91793535647e-05,2.54764027038e-05,1793238943637826304
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.696706039,746,715,679,666,636.303293961,880.696706039,788,803.303293961,653,632,653,0.412439575338,-0.0055559291926,0.0499662658534,0.999999991971,0.000105269894577,-6.55056443847e-05,2.61741882533e-05,1793238943654493184
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.718357785,746,715,679,666,636,880.718357785,788,803.281642215,652.718357785,631.718357785,653,0.413175758329,-0.0055605293366,0.0499779532835,0.999999993504,0.00010338096029,-3.89132235233e-05,2.81140201986e-05,1793238943671159808
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.141805611,746,715,679,666,636,880.141805611,788,803.858194389,652.141805611,631.141805611,653,0.413945801434,-0.00556711495043,0.0500070424255,0.999999994496,9.94428739477e-05,1.16775759376e-05,3.13544095287e-05,1793238943687826176
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,714.566428605,679.433571395,666,636,880.433571395,788,804,652.433571395,631,653,0.414674708082,-0.00556843927624,0.0500024277579,0.999999994519,9.94179411318e-05,4.36283765875e-06,3.25364083527e-05,1793238943704492800
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.991421415,714.008578585,679.991421415,666.008578585,636,880.991421415,788,804,653,631.008578585,653,0.415390756853,-0.00556803877489,0.0499867161015,0.999999994154,0.000100593247052,-2.1984179025e-05,3.30070659792e-05,1793238943721159424
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.415518965,714.584481035,679.415518965,666.584481035,636,880.415518965,788,804,653,631.584481035,653,0.416143843402,-0.00556706288452,0.0499641608472,0.99999999317,9.67323341152e-05,-5.78975944385e-05,3.08366889494e-05,1793238943737826048
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.164628498,715,679,666.835371502,636,880,788,804,652.835371502,632,653,0.416917651751,-0.0055668948739,0.0499538005686,0.999999992589,9.31401022256e-05,-7.2593083554e-05,2.96230368393e-05,1793238943754492672
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.755773838,715,679,666.244226162,636,880,788,804,652.244226162,632,653,0.417745145757,-0.00556881990506,0.0499750348367,0.999999994929,9.02439652496e-05,-3.2317511314e-05,3.08880523215e-05,1793238943771159296
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666.338430721,636,880,788,804,652,631.661569279,653,0.418565160709,-0.00556950251328,0.0499897616319,0.99999999548,8.89772987838e-05,-8.67277664268e-06,3.23590304286e-05,1793238943787825920
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666.915111828,636,880,788,804,652,631.084888172,653,0.419379910479,-0.00556931047345,0.0499999072583,0.99999999547,8.88577564252e-05,3.26408464032e-06,3.39750032447e-05,1793238943804492800
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.509043837,715,679,666.509043837,636,880,788,804,652.490956163,631,653,0.42018166081,-0.00556868814062,0.0499835991053,0.999999995036,9.09206903305e-05,-2.24761756546e-05,3.39952637185e-05,1793238943821159680
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.068341222,715,679,666.068341222,636,880,788,804,653,631.068341222,653,0.420994603865,-0.00556839161879,0.0499689205741,0.999999994198,9.2528833204e-05,-4.35010009695e-05,3.39113946678e-05,1793238943837826560
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.658595308,715,679,666.658595308,636,880,788,804,653,631.658595308,653,0.421910159654,-0.00557115048358,0.0500015585398,0.999999995306,8.77868636828e-05,2.11511937877e-05,3.51357649621e-05,1793238943854492928
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715,679,667,636,880,788.242266044,804,653,632,653,0.422793960849,-0.00557333181809,0.0500202569459,0.999999994105,8.39899852726e-05,5.86018909638e-05,3.60825489366e-05,1793238943871159552
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715,679,667,636,880,788.816904948,804,653,632,653,0.42363419699,-0.00557472081996,0.0500198312102,0.999999994283,8.1489708571e-05,5.87339565433e-05,3.66485033241e-05,1793238943887826176
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666.605319632,636,880,788.605319632,804.394680368,653,632,653,0.42447883686,-0.00557680694946,0.0500099625641,0.999999995374,7.86578790333e-05,4.13752975887e-05,3.67749849947e-05,1793238943904492544
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666.026077538,636,880,788.026077538,804.973922462,653,632,653,0.425325535966,-0.00557921907197,0.0499956781933,0.999999996338,7.56710077785e-05,1.58375687086e-05,3.66959589396e-05,1793238943921159424
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.550409543,746,715,679,666.550409543,636,880.550409543,788,804.449590457,653,632,653,0.426193528745,-0.00558207157749,0.050012242029,0.999999995977,7.26346407926e-05,3.51675618988e-05,3.91683551669e-05,1793238943937826304
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.869957889,746,715,679,667,636,881,788,804,652.869957889,632,653,0.427051130309,-0.00558316994632,0.0500217041232,0.999999995773,7.14591409109e-05,4.06862915659e-05,4.11332745204e-05,1793238943954493184
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.278708954,746,715,679,667,636,881,788,804,652.278708954,632,653,0.427868318182,-0.00557797347093,0.0500008215349,0.999999996156,7.68916604008e-05,-1.0279621905e-05,4.08717925866e-05,1793238943971159808
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.305274826,746,715,679.305274826,667,636,881,788,804,652,632,653,0.428696208961,-0.00557394278634,0.049979911135,0.999999994909,8.12317839093e-05,-4.46385097911e-05,3.98947529503e-05,1793238943987826432
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.882779837,746,715,679.882779837,667,636,881,788,804,652,632,653,0.429533644062,-0.00557095170117,0.0499589759352,0.999999993629,8.45977582537e-05,-6.41880059184e-05,3.82796116168e-05,1793238944004493056
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.542897663,746,715,680,667,636,881,788,804,652,632,653,0.430387796348,-0.00557647638577,0.0499684480994,0.999999995259,7.82205603672e-05,-4.27897534437e-05,3.91396208965e-05,1793238944021159424
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666.968427417,636,880.968427417,788,804.031572583,652,632,653,0.431241635789,-0.00558369829857,0.049983653766,0.999999996632,6.97990016675e-05,-1.49255648906e-05,4.05074718652e-05,1793238944037826048
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666.376965204,636,880.376965204,788,804.623034796,652,632,653,0.432014429001,-0.00558255939103,0.0499632098839,0.99999999518,6.91255488894e-05,-5.73243102367e-05,3.97029464974e-05,1793238944054492928
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666.209151425,636,880.209151425,788,804.790848575,652,632,653.209151425,0.432811214644,-0.00558151252146,0.049953781814,0.999999994036,6.90633399415e-05,-7.4940196236e-05,3.92818010064e-05,1793238944071159552
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666.785873619,636,880.785873619,788,804.214126381,652,632,653.785873619,0.433650165636,-0.00558062740276,0.0499637133531,0.999999995563,7.00753544738e-05,-4.90017380276e-05,3.95344220258e-05,1793238944087826176
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715,679.639073402,667,636,881,788,804,652,632,653.639073402,0.434461251167,-0.00558100169222,0.0499820955806,0.99999999646,7.03551876471e-05,-2.09980806272e-05,4.11008832212e-05,1793238944104492800
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,679.065006191,667,636,881,788,804,652,632,653.065006191,0.435255881055,-0.00558211970922,0.0500054682541,0.999999996558,7.02026403395e-05,8.22515234192e-06,4.34432159909e-05,1793238944121159424
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.487622877,715,679.512377123,667,636,881,788,804.512377123,652.512377123,632,653,0.435972662735,-0.00558268374288,0.0499896372267,0.999999995942,7.05304361054e-05,-3.42392143356e-05,4.43654655443e-05,1793238944137826048
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.907429209,667,636,881,788.092570791,804.907429209,652.907429209,632,653,0.436682449326,-0.00558277045671,0.04997174641,0.999999993519,7.13468467733e-05,-7.65180974704e-05,4.49054178791e-05,1793238944154492672
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.314329664,667,636,881,788.685670336,804.314329664,652.314329664,632,653,0.437408164819,-0.00558065881463,0.0499697870218,0.999999993911,7.44735323253e-05,-6.82964928778e-05,4.43588097609e-05,1793238944171159296
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.269922579,715,679.269922579,667,636,881,788.730077421,804.269922579,652,632,653,0.438146561993,-0.0055811479522,0.0499812647963,0.99999999545,7.41883753874e-05,-3.99783517721e-05,4.46980689216e-05,1793238944187825920
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.844198923,715,679.844198923,667,636,881,788.155801077,804.844198923,652,632,653,0.438899258466,-0.0055845696237,0.0500078937713,0.999999996426,7.00561627339e-05,1.09998292556e-05,4.60361960906e-05,1793238944204492800
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715,679.580419086,667,636,881,788,804.580419086,652,632,653,0.439565507368,-0.00558544488516,0.0500038542896,0.999999996672,6.72172789472e-05,7.2686256031e-06,4.56525752644e-05,1793238944221159424
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,715,679.004625408,667,636,881,788,804.004625408,652,632,653,0.440199571326,-0.00558537210151,0.0499883967398,0.999999996759,6.48599097651e-05,-1.6831241528e-05,4.46279363271e-05,1793238944237826304
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.416079757,715,679.583920243,667,636,880.416079757,788,804,652,632,653,0.440782954154,-0.00558550069228,0.0499666654363,0.999999995538,6.51988493747e-05,-5.23969432965e-05,4.38975681967e-05,1793238944254492928
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.830068615,666.830068615,635.830068615,880,787.830068615,804.169931385,652,632,653,0.441371097848,-0.00558638177458,0.0499532596795,0.999999994195,6.50218697302e-05,-7.40146532032e-05,4.36352355353e-05,1793238944271159552
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.250417271,666.250417271,635.250417271,880,787.250417271,804.749582729,652,632,653,0.44197171011,-0.00558907325026,0.049960050063,0.999999995083,6.35483158165e-05,-6.17786240448e-05,4.44956329934e-05,1793238944287826432
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.326215609,666.326215609,635.326215609,880.326215609,787.326215609,804.673784391,652,632,653,0.442547481544,-0.00559026248252,0.049962407287,0.999999995525,6.22265336926e-05,-5.56002745536e-05,4.45710383957e-05,1793238944304493056
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.900552594,666.900552594,635.900552594,880.900552594,787.900552594,804.099447406,652,632,653,0.443104358873,-0.00559030910006,0.0499613926254,0.999999995709,6.10201901151e-05,-5.40294300624e-05,4.4049374502e-05,1793238944321159680
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.476165921,715,680,666.523834079,636,880.523834079,788,804.476165921,652,632,653,0.443576199201,-0.00558933411642,0.0499350614845,0.999999992504,5.94169051608e-05,-9.81617105887e-05,4.27278026395e-05,1793238944337826560
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635.946442914,880.053557086,788,805,652,632,653,0.444026054485,-0.00558807972254,0.049902768754,0.999999985792,5.79650811313e-05,-0.000152844019178,4.11576714397e-05,1793238944354493184
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635.353848365,880.646151635,788,805,652,632,653,0.444433866357,-0.00558616633995,0.0498638330592,0.999999973888,5.88742931267e-05,-0.000217382334726,3.87718020557e-05,1793238944371159808
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635,881,788,804.766941867,652,632,653,0.444851719368,-0.00558884278295,0.0498390833562,0.999999965595,5.4717253997e-05,-0.00025382754047,3.72439236488e-05,1793238944387826176
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635,881,788,804.188465746,652,632,653,0.445284454422,-0.00559832185646,0.0498353588693,0.999999967479,4.30514692769e-05,-0.000248635638509,3.69876833817e-05,1793238944404493056
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.611709058,715,680,666,635,881,787.611709058,804.388290942,652.388290942,632,653,0.445704693696,-0.00560034000707,0.0498404144869,0.999999971539,3.95540926325e-05,-0.000232293406272,3.73726565946e-05,1793238944421159680
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.035783206,715,680,666,635,881,787.035783206,804.964216794,652.964216794,632,653,0.446118894639,-0.005598752796,0.0498497129386,0.999999976307,4.00039574833e-05,-0.000210562968389,3.80674851446e-05,1793238944437826304
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665.115803359,635,881,788,804.115803359,652,632,653,0.446785971823,-0.00557228480393,0.0498391821874,0.999999972059,6.76136465639e-05,-0.000223777978954,3.51296891684e-05,1793238944471160064
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665.706706055,635,881,788,804.706706055,652,632,653,0.447041290494,-0.00557303831759,0.0498107704609,0.999999959732,6.50702810715e-05,-0.000274101732708,3.42038476024e-05,1793238944487826176
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766.594850489,746,715.594850489,681,665.594850489,634.405149511,881,787,804,652,632,652.405149511,0.448196085294,-0.00559569969454,0.0497493104822,0.999999933928,3.74548724695e-05,-0.000360161640792,3.20033582114e-05,1793238944571159808
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+210,3.500000000,POSE1_TO_POSE2_PRESS,766.228835414,746,715.228835414,681,665.228835414,634,881,787,804.771164586,652,632,652.771164586,0.448557560999,-0.00559701431989,0.0497572125359,0.999999938485,3.63337998304e-05,-0.000347341173101,3.26311940953e-05,1793238944604493056
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+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,715,680.069361771,665,634,881,787,805,652,631.069361771,653,0.448841354909,-0.00559654540756,0.0497582748711,0.999999936761,3.77908324664e-05,-0.000352014149733,3.37153218415e-05,1793238944637826048
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.082018185,746,715,680.082018185,665,634,881.917981815,787.082018185,805,652,632,653,0.449058552221,-0.00559291210886,0.0497560571606,0.999999934329,4.21066675151e-05,-0.00035834874033,3.3978472852e-05,1793238944671159808
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+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,634,881,787,805.573842782,652,631.573842782,653,0.449399173675,-0.00558244316877,0.0497441895284,0.999999926546,5.09737456248e-05,-0.000378489240168,3.24850984476e-05,1793238944771159552
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,634,881,787,805.847329192,652.152670808,632,653,0.449430761661,-0.00558310022374,0.0497450561513,0.999999927169,4.95140541971e-05,-0.000377008035202,3.27802896141e-05,1793238944787826688
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+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680.995712833,664,634,881.004287167,787.995712833,805,652,631,653,0.4495004626,-0.00557358305158,0.0497328536695,0.999999918534,5.79411370249e-05,-0.000398313170393,3.03708300679e-05,1793238945071159552
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680.406537799,664,634,881.593462201,787.406537799,805,652,631,653,0.449501618393,-0.00557444981424,0.0497326454919,0.999999918923,5.60127241287e-05,-0.00039761701527,3.02879279481e-05,1793238945087826176
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680.179703385,664.179703385,634,881.820296615,787,805,652,631,653,0.449502777684,-0.00557487465586,0.0497328408169,0.999999919375,5.45634550164e-05,-0.000396684377127,3.02224175088e-05,1793238945104493056
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680.75941399,664.75941399,634,881.24058601,787,805,652,631,653,0.449503944762,-0.00557431581196,0.0497339343106,0.999999919975,5.41807267175e-05,-0.000395225344293,3.01956197441e-05,1793238945121159680
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680.663796773,665,634,881,787.336203227,805,652,631.336203227,653,0.449503033555,-0.00557337303544,0.0497333203483,0.999999919562,5.49738443004e-05,-0.000396179648762,2.99273251199e-05,1793238945137826304
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,715,680.089080075,665,634,881,787.910919925,805,652,631.910919925,653,0.449500647945,-0.00557215788469,0.0497314950614,0.999999918424,5.66011450952e-05,-0.000398846053029,2.94877047938e-05,1793238945154492928
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664.512496985,633.512496985,881,787.512496985,805,652,632,653,0.449502261496,-0.00557388855723,0.0497324388847,0.999999919054,5.5582928808e-05,-0.000397395841104,2.96502484043e-05,1793238945171159808
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664.059806316,633.059806316,881,787,805,652,632,653,0.44950420002,-0.00557586706784,0.0497335791468,0.999999919816,5.43303170928e-05,-0.000395629211705,2.98958702457e-05,1793238945187826688
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.595342436,633.595342436,881,787,805,652,632,653,0.449502888394,-0.0055755187821,0.0497322415983,0.999999919091,5.50732567863e-05,-0.000397352156949,2.99237262377e-05,1793238945204493056
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745.843163051,715,680,664.843163051,634,881,787.156836949,805,652,631.843163051,653,0.449502299205,-0.00557476116129,0.0497315463615,0.999999918658,5.60263004282e-05,-0.000398316825514,2.98228040279e-05,1793238945221159680
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745.201408784,715,680,664.201408784,634,881,787.798591216,805,652,631.201408784,653,0.449503943689,-0.00557273793517,0.04973283706,0.99999991913,5.76289554819e-05,-0.000396937011929,2.93237181223e-05,1793238945237826304
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745.393619189,715,680,664.393619189,634,881,787.606380811,805,652.393619189,631.393619189,653,0.449503462542,-0.00557360790981,0.0497324428246,0.999999918776,5.58753091961e-05,-0.000398062274584,2.95359315806e-05,1793238945254493184
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745.967275076,715,680,664.967275076,634,881,787.032724924,805,652.967275076,631.967275076,653,0.449502009156,-0.00557580119993,0.0497312779207,0.999999918032,5.25865308123e-05,-0.00040033332916,3.00734848714e-05,1793238945271159808
+251,4.183333333,HOLD_POSE2,766,746,716,680,665,634,881,787,805,652,631,653,0.44950183488,-0.00557673095077,0.0497310020919,0.999999918027,5.38704550836e-05,-0.000400157697632,3.02972451857e-05,1793238945301195776
+252,4.200000000,HOLD_POSE2,766,746,715.40317673,680,665,634,881,787,805,652,631.59682327,653,0.449502572279,-0.00557333213176,0.049731719706,0.999999918279,5.42428600075e-05,-0.000399543236169,2.94035613173e-05,1793238945317862400
+253,4.216666667,HOLD_POSE2,766,746,715,680,665,634,881,787,805,652.187757369,631.812242631,653,0.449502984473,-0.00557111764299,0.0497320483311,0.999999918378,5.45678290957e-05,-0.000399297509202,2.87569068604e-05,1793238945334528768
+254,4.233333333,HOLD_POSE2,766,746,715,680,665,634,881,787,805,652.766430182,631.233569818,653,0.449502719582,-0.00557136895818,0.0497315670716,0.999999918161,5.479403568e-05,-0.000399819496383,2.86245735266e-05,1793238945351195392
+255,4.250000000,HOLD_POSE2,766,746,715,680,665,634,881,787,804.658750971,653,631,653,0.449502658313,-0.00557279742815,0.0497317298127,0.999999918302,5.41196375331e-05,-0.000399537459086,2.89199203152e-05,1793238945367862016
+256,4.266666667,HOLD_POSE2,766,746,715,680,665,634,881,787,804.086540567,653,631,653,0.449502734857,-0.00557502261036,0.0497323284209,0.999999918684,5.28356994501e-05,-0.00039871124849,2.95047260714e-05,1793238945384528896
+257,4.283333333,HOLD_POSE2,766,746,715,680,665,634,880.49882728,787,804.50117272,652.49882728,631,653,0.449503578689,-0.00557477649705,0.0497323125523,0.999999918816,5.36940610203e-05,-0.000398242247533,2.98154003489e-05,1793238945401195520
+258,4.300000000,HOLD_POSE2,766,746,715,680.090195942,665,634,880.090195942,787,805,652.090195942,631,653,0.449504244892,-0.00557377471241,0.0497321818576,0.999999918816,5.49587182834e-05,-0.000398060412909,2.99189436279e-05,1793238945417862400
+259,4.316666667,HOLD_POSE2,766,746,715,680.67131348,665,634,880.67131348,787,805,652.67131348,631,653,0.44950320013,-0.0055710567151,0.0497320221323,0.999999918348,5.63570704436e-05,-0.000399095138037,2.91609730502e-05,1793238945434528768
+260,4.333333333,HOLD_POSE2,766,746,715,680.500241257,664.750120629,634,881,787,805,652.750120629,631,653,0.449502781189,-0.00556992258894,0.049731648683,0.999999918051,5.64814060866e-05,-0.000399856547156,2.86924894472e-05,1793238945451195392
+261,4.350000000,HOLD_POSE2,766,746,715,679.349754484,664.174877242,634,881,787,805,652.174877242,631,653,0.44950317712,-0.00557085079678,0.0497309969472,0.999999917977,5.49468646712e-05,-0.0004002620757,2.86009423584e-05,1793238945467862016
+262,4.366666667,HOLD_POSE2,765.591770426,746,715,679.408229574,664,634,881,787,804.591770426,652,631,653,0.44950309379,-0.00557170588727,0.0497309523792,0.999999917686,5.4856067024e-05,-0.000400965124253,2.90722256795e-05,1793238945484528640
+263,4.383333333,HOLD_POSE2,765.005228865,746,715,679.994771135,664,634,881,787,804.005228865,652,631,653,0.449502801121,-0.00557252904066,0.049731173018,0.999999917301,5.53958870008e-05,-0.000401798127618,2.9789349604e-05,1793238945501195264
+264,4.400000000,HOLD_POSE2,765.57424606,746,715,680.57424606,664,634,881,787,804.57424606,652.57424606,631,652.42575394,0.449503802853,-0.00557256828276,0.0497313015247,0.999999917958,5.47379798984e-05,-0.000400273498856,2.9483570159e-05,1793238945517861888
+265,4.416666667,HOLD_POSE2,766,745.846918494,715,680.846918494,664,634,881,787,805,652.846918494,631,652.153081506,0.449504706747,-0.00557261955585,0.0497315654625,0.999999918448,5.42112391598e-05,-0.000399135914722,2.92477403235e-05,1793238945534528768
+266,4.433333333,HOLD_POSE2,766,745.269678662,715,680.269678662,664,634,881,787,805,652.269678662,631,652.730321338,0.449505307289,-0.00557272370198,0.0497322069493,0.999999918458,5.40777852363e-05,-0.000399129513335,2.92312208084e-05,1793238945551195648
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,633,880,787,804,653,632,653,0.449506248764,-0.00557308559413,0.0497322936697,0.999999918568,5.4053968072e-05,-0.000398850811925,2.93200274243e-05,1793238945588032256
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.590969346,664,633,880.590969346,787,804.590969346,652.409030654,631.409030654,653,0.449505357394,-0.0055741203113,0.0497318440647,0.999999918281,5.2830975935e-05,-0.000399729098993,2.93766497139e-05,1793238945604698880
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.821800703,664,633,881,787,804.821800703,652,631,653,0.449504894317,-0.00557460582178,0.0497318300925,0.999999918121,5.21492516303e-05,-0.000400219427168,2.93908275265e-05,1793238945621365504
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.242977465,664,633,881,787,804.242977465,652,631,653,0.449505394121,-0.00557385661739,0.0497327955011,0.999999918248,5.26843941353e-05,-0.000399837554432,2.93095825627e-05,1793238945638032128
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.333171256,664.333171256,633,881,787,804.333171256,652,631.333171256,653,0.449505505126,-0.00557348486529,0.0497326532442,0.99999991821,5.37165125473e-05,-0.00039979653564,2.92732623183e-05,1793238945654699008
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.907384984,664.907384984,633,881,787,804.907384984,652,631.907384984,653,0.449505334844,-0.00557338619211,0.0497317096142,0.999999918052,5.51081826564e-05,-0.000400002117608,2.92694441784e-05,1793238945671365632
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,665,633.479588075,881,787,805,652,632,653,0.449505740664,-0.00557225718237,0.049732569748,0.999999918614,5.56454022011e-05,-0.000398527719836,2.91675535876e-05,1793238945688032512
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,665,634,881,787,805,652.053710004,632,653,0.449505972626,-0.00557110724544,0.0497334968739,0.999999919135,5.58369906204e-05,-0.000397202583259,2.9038975603e-05,1793238945704699136
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,665,634,881,787,805,652.651172492,632,653,0.449503322861,-0.00557175139995,0.0497315904837,0.999999917852,5.41929825409e-05,-0.00040065928724,2.88311548125e-05,1793238945721365760
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,665,634,881,787,805,652.759999071,631.759999071,653,0.44949706713,-0.00557193762138,0.049728321882,0.999999915749,5.32698361915e-05,-0.000406024772267,2.84421640634e-05,1793238945738032640
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,665,634,881,787,805,652.183284002,631.183284002,653,0.449485752337,-0.00557148137631,0.0497231421383,0.999999912464,5.33580374738e-05,-0.000414068219836,2.77989972855e-05,1793238945754699008
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.612800759,664.612800759,634,880.612800759,787,805,652,631.387199241,653,0.449457931547,-0.00557024521948,0.0497122499664,0.999999903604,5.51821255996e-05,-0.000434732335063,2.74645293943e-05,1793238945771365888
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.045220629,664.045220629,634,880.045220629,787,805,652,631.954779371,653,0.44942242126,-0.00556864573242,0.0496986965985,0.999999891569,5.78148950723e-05,-0.000461275923167,2.72738720942e-05,1793238945788032512
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.547423326,634,880.547423326,787,805,652.547423326,632,653,0.449361867222,-0.00556684947128,0.0496778255841,0.999999873461,5.88050245499e-05,-0.00049893152749,2.62160888611e-05,1793238945804699136
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.861451388,715,680,665,634,881,787,804.861451388,653,632,653,0.449295531608,-0.00556497975339,0.0496575886457,0.999999855623,5.92738908897e-05,-0.000533492235549,2.50156833328e-05,1793238945821365760
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.282062022,715,680,665,634,881,787,804.282062022,653,632,653,0.449217698243,-0.00556293050867,0.0496413848997,0.999999843915,5.85366463173e-05,-0.000555144630403,2.36003269891e-05,1793238945838032640
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.702678144,745.297321856,715,680,665,634,881,787,804.297321856,653,631.702678144,653,0.449135066094,-0.00555976330383,0.0496321584855,0.999999836705,6.01448283766e-05,-0.000567858709943,2.25595168782e-05,1793238945854699264
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.123299508,745.876700492,715,680,665,634,881,787,804.876700492,653,631.123299508,653,0.449047881546,-0.00555553553719,0.0496295511745,0.999999834069,6.39780184229e-05,-0.00057209338331,2.18740231692e-05,1793238945871365888
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,715,680,665,634,881.450074288,787,805,652.549925712,631.450074288,653,0.448947285926,-0.00555126721038,0.0496320479822,0.99999983645,6.75251471994e-05,-0.000567524556035,2.13613330089e-05,1793238945888032512
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.022565206,746,715,680.022565206,665,634,881.977434794,787,805,652,631.977434794,653,0.448842126706,-0.00554701289961,0.0496359583955,0.999999840164,7.09262977444e-05,-0.00056053942101,2.09025906702e-05,1793238945904699136
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.613715327,746,715,680.613715327,665,634,881.386284673,787,805,652,631.386284673,653,0.448713333302,-0.00554338805318,0.0496407185624,0.999999844447,7.25978358902e-05,-0.000552639365705,2.0626049329e-05,1793238945921365760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.800061914,664.800061914,634.199938086,881.199938086,787,805,652,631,653,0.448570335113,-0.00553875918543,0.0496428395853,0.999999846604,7.57627423355e-05,-0.000548320177467,1.99443692703e-05,1793238945938032384
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.223130021,664.223130021,634.776869979,881.776869979,787,805,652,631,653,0.44840055307,-0.00553223718296,0.0496399843625,0.999999844824,8.17434732971e-05,-0.000550752903897,1.84987788224e-05,1793238945954699008
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.354119459,634.645880541,881.645880541,787.354119459,805,652,631,653,0.448206009482,-0.0055237493539,0.0496351707071,0.999999840441,8.92680204326e-05,-0.000557550413342,1.69257095036e-05,1793238945971365632
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.931569287,634.068430713,881.068430713,787.931569287,805,652,631,653,0.447995849664,-0.00551402174829,0.0496291219386,0.999999834303,9.77661973085e-05,-0.000567100634142,1.52722437166e-05,1793238945988032512
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,634.518063243,881.518063243,787.481936757,805,652,631,652.481936757,0.44775579351,-0.00550703429988,0.0496251575595,0.99999983045,9.96971248387e-05,-0.000573551844957,1.41249199239e-05,1793238946004699392
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,634.895686828,881.895686828,787.104313172,805,652,631.104313172,652.104313172,0.447506562155,-0.0054999853731,0.0496226115962,0.999999827923,0.000101431712054,-0.000577666270338,1.29532228638e-05,1793238946021366016
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,634.316088438,881.316088438,787.683911562,805,652,631.683911562,652.683911562,0.447233838083,-0.0054909778815,0.0496252516366,0.999999830103,0.000106294389815,-0.000573031789977,1.13604422379e-05,1793238946038032640
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,634,881,788,805,652.261735671,631.738264329,653,0.446945573248,-0.00548019146602,0.0496287392965,0.99999983267,0.00011393638383,-0.000567080658661,9.91460478917e-06,1793238946054699008
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,634,881,788,805,652.837431441,631.162568559,653,0.446638666797,-0.00546727117641,0.0496332437023,0.999999835613,0.00012491225406,-0.000559550163693,8.64503035845e-06,1793238946071365888
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,634.98373848,881,788,804.01626152,652.01626152,631.98373848,653,0.445970733448,-0.00544531771221,0.0496537472752,0.999999852436,0.000138975507512,-0.000525144650409,6.01603289687e-06,1793238946104699136
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745.322741453,715.677258547,680,665.322741453,635,881.322741453,787.322741453,805,652.677258547,632,653,0.44428880414,-0.00543641930804,0.0497223888635,0.999999898242,0.000125509790957,-0.000433317498585,3.73453694986e-07,1793238946171365632
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.529469172,715,680,666,635,881.529469172,788,804.529469172,652,632,653,0.443273350449,-0.00545530141774,0.0497172433351,0.999999897739,8.75476010732e-05,-0.000443680663567,-2.26784970018e-06,1793238946204699392
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.564299879,745.435700121,715,679.435700121,666,635.435700121,881,788,804,652,632,653,0.435342428294,-0.00541125194482,0.0498103343125,0.999999950022,2.04051210429e-05,-0.000313257813914,-3.75487752856e-05,1793238946404699136
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745.766314239,715,680,666.233685761,636,880,788.766314239,804,652,632,653,0.432112020455,-0.00541874568049,0.0498204708189,0.999999956147,1.04067157933e-05,-0.000293593558942,-3.74330382481e-05,1793238946471365888
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,714.376180424,679,666,636,880,788,804.376180424,652,632,653,0.417374940911,-0.00538728130312,0.0497920104683,0.999999934035,5.75655372812e-05,-0.000356019245554,-4.3209492597e-05,1793238946754699264
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..adc383884ad33733ad73cf16c7ae18f7df977820
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_01/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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+376,6.266666667,pose2_to_pose3_retreat,0.57578406113,9.08082022879e-05,1.04003248847,0.546354514408,0.0087625534664,1.03970061868
+377,6.283333333,pose2_to_pose3_retreat,0.575753610758,9.06951344898e-05,1.04003258748,0.546324064101,0.00876244065038,1.03970071852
+378,6.300000000,pose2_to_pose3_retreat,0.575730126424,9.07906120275e-05,1.04003261947,0.546300578533,0.00876253186876,1.03970074876
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+382,6.366666667,pose2_to_pose3_retreat,0.575679347817,9.07735119416e-05,1.0400323518,0.54624979936,0.00876251293966,1.03970048342
+383,6.383333333,pose2_to_pose3_retreat,0.575674223947,9.08637059871e-05,1.04003223829,0.546244674116,0.00876259868965,1.03970037545
+384,6.400000000,pose2_to_pose3_retreat,0.575671250199,9.07523888452e-05,1.04003233518,0.546241701356,0.00876249047066,1.03970046568
+385,6.416666667,pose2_to_pose3_retreat,0.575669581865,9.06899376375e-05,1.04003238955,0.546240033576,0.00876242975758,1.03970051631
+386,6.433333333,pose2_to_pose3_retreat,0.575668723953,9.07164782157e-05,1.04003242743,0.546239175466,0.00876245555768,1.03970055238
+387,6.450000000,pose2_to_pose3_retreat,0.575668209066,9.07337034929e-05,1.04003245038,0.54623866045,0.00876247230243,1.03970057426
+388,6.466666667,pose2_to_pose3_retreat,0.57566778314,9.07479526231e-05,1.04003246937,0.546238234417,0.00876248615406,1.03970059235
+389,6.483333333,pose2_to_pose3_retreat,0.575667410945,9.07604042223e-05,1.04003248596,0.546237862128,0.0087624982583,1.03970060816
+390,6.500000000,pose2_to_pose3_retreat,0.575667057412,9.07722315197e-05,1.04003250172,0.546237508505,0.00876250975565,1.03970062318
+391,6.516666667,pose2_to_pose3_retreat,0.575666708198,9.07839142753e-05,1.04003251729,0.546237159204,0.00876252111249,1.03970063802
+392,6.533333333,pose2_to_pose3_retreat,0.575666417648,9.07936344772e-05,1.04003253024,0.546236868581,0.00876253056153,1.03970065036
+393,6.550000000,pose2_to_pose3_retreat,0.57566625573,9.08051528047e-05,1.04003251813,0.546236706561,0.00876254175146,1.03970063866
+394,6.566666667,pose2_to_pose3_retreat,0.575666221823,9.08077849851e-05,1.0400325149,0.54623667263,0.00876254430847,1.03970063554
+395,6.583333333,pose2_to_pose3_retreat,0.57566610011,9.08172334304e-05,1.04003250329,0.546236550834,0.0087625534871,1.03970062433
+396,6.600000000,pose2_to_pose3_retreat,0.575665859746,9.08358926829e-05,1.04003248037,0.546236310304,0.0087625716135,1.03970060221
+397,6.616666667,pose2_to_pose3_retreat,0.57566557045,9.08583505376e-05,1.04003245279,0.546236020808,0.00876259343003,1.03970057558
+398,6.633333333,pose2_to_pose3_retreat,0.575665316927,9.08780312669e-05,1.04003242861,0.546235767111,0.00876261254874,1.03970055224
+399,6.650000000,pose2_to_pose3_retreat,0.575665212585,9.08861312717e-05,1.04003241866,0.546235662697,0.00876262041743,1.03970054264
+400,6.666666667,pose2_to_pose3_retreat,0.575665197491,9.08873030334e-05,1.04003241722,0.546235647592,0.00876262155573,1.03970054125
+401,6.683333333,pose2_to_pose3_retreat,0.575665139697,9.08917894735e-05,1.04003241171,0.546235589759,0.00876262591405,1.03970053593
+402,6.700000000,pose2_to_pose3_retreat,0.57566507685,9.08966682667e-05,1.04003240572,0.546235526868,0.00876263065352,1.03970053014
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+404,6.733333333,pose2_to_pose3_retreat,0.575664844518,9.08620784499e-05,1.04003239534,0.546235294754,0.00876259683773,1.03970052066
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+406,6.766666667,pose2_to_pose3_retreat,0.575664642487,9.08185470728e-05,1.04003238932,0.546235093009,0.00876255430895,1.03970051546
+407,6.783333333,pose2_to_pose3_retreat,0.575664594305,9.08081653997e-05,1.04003238788,0.546235044896,0.00876254416639,1.03970051422
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..34e0387d7bef437f684d8421d84f43a50d47e46e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5bbfcff49fc91363a94a9621f3987216195628a018ad993cea46bc073dc9839
+size 26324629
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae62a8e95c419e2cc64bda5a6281e0862be0620b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_02/franka_data.csv
@@ -0,0 +1,415 @@
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+25,0.416666667,BASELINE,766,745,715,678.542904565,666,636,880,788,803,653,632,653,0.400993605017,-0.00542691180308,0.0498641870366,0.999999964263,7.84091625702e-05,-0.000253162878529,-3.51315267646e-05,1793238948533003264
+26,0.433333333,BASELINE,766.120483789,745.120483789,715,679,666,636,880,788,803,653,632,653,0.400992642102,-0.00542678472963,0.0498631420897,0.999999963861,7.71546548481e-05,-0.000255078407055,-3.54916753679e-05,1793238948549669888
+27,0.450000000,BASELINE,766.694828052,745.694828052,715,679,666,636,880,788,803,653,632,653,0.400992855689,-0.00542655565618,0.0498635097354,0.999999963749,7.9883365971e-05,-0.000254721866428,-3.51897396425e-05,1793238948566336512
+28,0.466666667,BASELINE,767,746,715,679,666,636,880,788.276022424,803,653,631.723977576,653.276022424,0.400992992424,-0.00542644867667,0.0498637442002,0.999999963748,8.06711736232e-05,-0.000254502157524,-3.49962108624e-05,1793238948583003136
+29,0.483333333,BASELINE,767,746,715,679,666,636,880,788.864983017,803,653,631.135016983,653.864983017,0.400993042028,-0.00542648012018,0.0498638276723,0.99999996388,7.92584976512e-05,-0.000254437580489,-3.49255875891e-05,1793238948599670272
+30,0.500000000,BASELINE,767,746,715,679,666,636,880,788.553799108,803,653,631,653.553799108,0.400993277216,-0.00542595263768,0.0498638944048,0.999999964041,7.8955359121e-05,-0.000253865369115,-3.51512019979e-05,1793238948616336896
+31,0.516666667,BASELINE,767,746,715,678.974953834,666,636,879.974953834,788,803.025046166,653,631.025046166,653,0.400993530331,-0.0054253313691,0.0498639314311,0.999999964195,7.8935556233e-05,-0.000253222905427,-3.54475532036e-05,1793238948633003520
+32,0.533333333,BASELINE,767,746,715,678.397644676,666,636,879.397644676,788,803.602355324,653,631.602355324,653,0.400992961641,-0.00542630773944,0.0498634232227,0.999999963992,7.78865703179e-05,-0.00025436060943,-3.53608217099e-05,1793238948649670144
+33,0.550000000,BASELINE,766.821641682,745.821641682,715,678.178358318,666,636,879.178358318,788,804,652.821641682,632,653,0.400992738514,-0.00542739563715,0.0498632264466,0.999999963923,7.74542147942e-05,-0.000254788471589,-3.51784142926e-05,1793238948666336512
+34,0.566666667,BASELINE,766.24852965,745.24852965,715,678.75147035,666,636,879.75147035,788,804,652.24852965,632,653,0.40099328021,-0.00542873037404,0.0498637189519,0.999999964155,7.8386624115e-05,-0.000253645267513,-3.47842509864e-05,1793238948683003392
+35,0.583333333,BASELINE,766.333172803,745.333172803,715,679,666,636,880.333172803,788,804,652.333172803,632,653,0.400992763079,-0.00542802130458,0.0498636473851,0.999999964036,7.96649080083e-05,-0.000253733651377,-3.46522868678e-05,1793238948699670016
+36,0.600000000,BASELINE,766.921452922,745.921452922,715,679,666,636,880.921452922,788,804,652.921452922,632,653,0.400991435213,-0.00542574731175,0.0498631439136,0.999999963647,8.12080249419e-05,-0.000254765050543,-3.47210861856e-05,1793238948716336384
+37,0.616666667,BASELINE,766.497813849,746,715,679,666,636,880.497813849,788,804,653,632,653,0.400992581572,-0.0054269546323,0.0498639358981,0.999999964134,7.88202420111e-05,-0.000253593207697,-3.4796810257e-05,1793238948733003264
+38,0.633333333,BASELINE,766.081675645,745.918324355,715,679,666,636,880,788,803.918324355,653,632,653,0.40099361298,-0.00542839756867,0.0498645712433,0.999999964566,7.64960717747e-05,-0.000252589477511,-3.48519059277e-05,1793238948749670144
+39,0.650000000,BASELINE,766.660673403,745.339326597,715,679,666,636,880,788,803.339326597,653,632,653,0.400991622934,-0.0054280087214,0.0498630373134,0.999999963904,7.82475218296e-05,-0.000254676640672,-3.4774898169e-05,1793238948766337024
+40,0.666666667,BASELINE,766.759363405,745,715,679,666,636,880,788,803,653,632,653,0.40099045188,-0.00542717883927,0.0498620217269,0.999999963408,8.0017669947e-05,-0.00025608060167,-3.47049013803e-05,1793238948783003648
+41,0.683333333,BASELINE,766.178033384,745,715,679,666,636,880,788,803,653,632,653,0.400990440355,-0.00542572453978,0.0498617400116,0.999999963153,8.18142906871e-05,-0.000256517284545,-3.46448307319e-05,1793238948799670016
+42,0.700000000,BASELINE,766,745,715,679,666,636,880,788.40315816,803,653,632,653,0.400991925562,-0.00542528565475,0.0498629140439,0.99999996365,8.17557879284e-05,-0.000254585027736,-3.46887540628e-05,1793238948816336640
+43,0.716666667,BASELINE,766,745,715,679,666,636,880,788.984288559,803,653,632,653,0.400994071492,-0.0054252950196,0.049864730709,0.999999964472,8.08783497387e-05,-0.000251607013839,-3.47785850393e-05,1793238948833003264
+44,0.733333333,BASELINE,766,745.563710871,715,679.563710871,666,636,880,788.436289129,803.563710871,653,631.436289129,653,0.400994824617,-0.00542563424423,0.0498650807007,0.999999964724,7.98384780646e-05,-0.000250922828449,-3.48658416709e-05,1793238948849669888
+45,0.750000000,BASELINE,766,746,715,679.858006953,666,636,880,788,803.858006953,653,631.141993047,653,0.400995560684,-0.00542596426352,0.0498654027402,0.999999964933,7.93379486756e-05,-0.000250241807003,-3.49180982749e-05,1793238948866336512
+46,0.766666667,BASELINE,766,746,715,679.283056606,666,636,880,788,803.283056606,653,631.716943394,653,0.400996362747,-0.00542623826615,0.0498657638166,0.999999965058,8.04957145419e-05,-0.000249376082973,-3.48638528424e-05,1793238948883003392
+47,0.783333333,BASELINE,766,745.701393352,715,679.298606648,666,636,880,788,803.298606648,653,631.701393352,653,0.40099554467,-0.0054261074052,0.0498652896869,0.999999964786,8.09731692079e-05,-0.000250318668759,-3.48237147387e-05,1793238948899670016
+48,0.800000000,BASELINE,766,745.113220358,715,679.886779642,666,636,880,788,803.886779642,653,631.113220358,653,0.400993155504,-0.00542558393794,0.0498640056368,0.999999964123,8.07909091976e-05,-0.00025301481777,-3.47972568585e-05,1793238948916336896
+49,0.816666667,BASELINE,766,745.467987653,715,679.532012347,666,636,879.532012347,788,803.532012347,653,631.467987653,653,0.400992612502,-0.00542648093253,0.0498641914811,0.999999964126,8.07190890091e-05,-0.000253049484348,-3.46251123693e-05,1793238948933003264
+50,0.833333333,BASELINE,766,746,715,679,666,636,879.047236035,788,803.047236035,653,632,653.047236035,0.40099251919,-0.00542749908244,0.0498646347873,0.999999964253,8.07686145213e-05,-0.000252550557806,-3.44735025291e-05,1793238948949669888
+51,0.850000000,BASELINE,766,746,715,679,666,636,879.623135102,788,803.623135102,653,632,653.623135102,0.400992533296,-0.00542608345766,0.0498640379695,0.999999963987,8.18815849017e-05,-0.000253180422248,-3.49404015824e-05,1793238948966336512
+52,0.866666667,BASELINE,766.198325699,745.801674301,715,679,666,636,880.198325699,788,803.801674301,652.801674301,632,653.801674301,0.400992461133,-0.00542536986146,0.049863644015,0.999999963776,8.27763288826e-05,-0.000253683677052,-3.52189261995e-05,1793238948983003136
+53,0.883333333,BASELINE,766.772174795,745.227825205,715,679,666,636,880.772174795,788,803.227825205,652.227825205,632,653.227825205,0.400992225622,-0.00542598553409,0.0498636341758,0.999999963672,8.3257868056e-05,-0.000253947200497,-3.51407697898e-05,1793238948999669760
+54,0.900000000,BASELINE,767,745,715,679,666,636,880.642933961,788,803,652.357066039,632,653,0.400991504999,-0.00542646316476,0.0498635489754,0.999999963645,8.22029257152e-05,-0.00025442602074,-3.49165750384e-05,1793238949016336384
+55,0.916666667,BASELINE,767,745,715,679,666,636,880.050772492,788,803,652.949227508,632,653,0.400990464972,-0.00542684990734,0.0498634141566,0.999999963666,8.01363503757e-05,-0.000255046594283,-3.45962273578e-05,1793238949033003264
+56,0.933333333,BASELINE,767,745.529166668,715,679,666,636,880,788,803.529166668,653,632,653,0.400993535641,-0.00542792257703,0.0498650679788,0.999999964555,7.99692342619e-05,-0.000251655259451,-3.41361464597e-05,1793238949049670144
+57,0.950000000,BASELINE,766.892658999,746,715,679.107341001,666,636,880,788,803.892658999,653,632,653,0.400995903363,-0.0054287588635,0.0498662080736,0.999999965211,7.97664584815e-05,-0.000249142002182,-3.38241910207e-05,1793238949066336768
+58,0.966666667,BASELINE,766.317182647,746,715,679.682817353,666,636,880,788,803.317182647,653,632,653,0.400993524115,-0.00542828369049,0.049864376144,0.999999964546,7.86312822235e-05,-0.000252099092486,-3.4215391257e-05,1793238949083003392
+59,0.983333333,BASELINE,766.263984089,746,715,679.736015911,666,636,880,788,803,653,632,653,0.400992766559,-0.00542715153549,0.0498634964301,0.999999964277,7.90200378956e-05,-0.000252989643722,-3.46177396225e-05,1793238949099670016
+60,1.000000000,BASELINE,766.852138652,746,715,679.147861348,666,636,880,788,803,653,632,653,0.400994000425,-0.00542521261147,0.0498637860296,0.999999964497,8.12801703513e-05,-0.000251342500942,-3.50337778588e-05,1793238949116336384
+61,1.016666667,BASELINE,766.569239281,746,715,679,666,636,880,788,803.430760719,653,632,653,0.400995196936,-0.00542540525644,0.0498650328058,0.999999964921,8.04019667376e-05,-0.000249913747951,-3.51719615148e-05,1793238949133003264
+62,1.033333333,BASELINE,766.006229104,746,715,679,666,636,880,788,804,653,631.993770896,653,0.400996342572,-0.00542631077215,0.0498665631284,0.999999965398,7.84852407919e-05,-0.000248605801832,-3.52135497205e-05,1793238949149669632
+63,1.050000000,BASELINE,766.586080906,746,715,679,666,636,880,788,804,653,631.413919094,653,0.400993958517,-0.00542694345292,0.0498646036073,0.99999996468,7.79874363526e-05,-0.000251668890611,-3.49526296532e-05,1793238949166336512
+64,1.066666667,BASELINE,767,746,715,678.835640769,666,636.164359231,880,788,803.835640769,653,631.164359231,653,0.400992388426,-0.00542706688044,0.0498634243694,0.999999964184,7.81826190703e-05,-0.000253592965921,-3.47909221117e-05,1793238949183003392
+65,1.083333333,BASELINE,767,746,715,678.261287515,666,636.738712485,880,788,803.261287515,653,631.738712485,653,0.400992848769,-0.00542591997593,0.0498641915482,0.999999964261,8.01064579484e-05,-0.000252675772505,-3.48767001846e-05,1793238949199670016
+66,1.100000000,BASELINE,766.67766004,746,715,678.32233996,666,637,880.32233996,788,803.32233996,653,632,653,0.400993414073,-0.00542599869841,0.049864696362,0.999999964448,8.0558535907e-05,-0.000251801498601,-3.47950495737e-05,1793238949216336640
+67,1.116666667,BASELINE,766.086292245,746,715,678.913707755,666,637,880.913707755,788,803.913707755,653,632,653,0.40099406698,-0.00542710034029,0.0498649822036,0.999999964729,7.97822688446e-05,-0.000250963045756,-3.45736614704e-05,1793238949233003264
+68,1.133333333,BASELINE,766.49467846,745.50532154,715,679,666,636.50532154,880.50532154,788,803.50532154,653,632,653,0.400994000509,-0.00542693626263,0.0498649823123,0.999999964881,7.91735147053e-05,-0.000250557810328,-3.45020162447e-05,1793238949249670144
+69,1.150000000,BASELINE,766.926840965,745,715,679,666,636,879.926840965,788,803.073159035,653,631.926840965,653,0.400993816354,-0.00542666509569,0.0498649475198,0.999999964961,7.85574038732e-05,-0.000250433015711,-3.4487658104e-05,1793238949266336768
+70,1.166666667,BASELINE,766.353243265,745,715,679,666,636,879.353243265,788,803.646756735,653,631.353243265,653,0.400993667925,-0.00542714062334,0.04986500792,0.999999964698,7.76952002203e-05,-0.000251720259033,-3.46901652214e-05,1793238949283003392
+71,1.183333333,BASELINE,766,745.220647939,715,679,666,636,879.220647939,788,804,653,631.220647939,653,0.400993463958,-0.00542735118638,0.0498648913534,0.999999964529,7.73185156092e-05,-0.000252493104667,-3.47891677367e-05,1793238949299670272
+72,1.200000000,BASELINE,766,745.795009738,715,679,666,636,879.795009738,788,804,653,631.795009738,653,0.400993170961,-0.00542713699297,0.0498644910969,0.999999964514,7.77201513671e-05,-0.000252441335538,-3.47222452696e-05,1793238949316336896
+73,1.216666667,BASELINE,766,746,715,679,666,636,880,788.380120103,804,653,632,653,0.400992474736,-0.00542799002667,0.0498642009659,0.999999964333,7.848212844e-05,-0.000252946019749,-3.45298943561e-05,1793238949333003520
+74,1.233333333,BASELINE,766,746,715,679,666,636,880,788.971195567,804,653,632,653,0.400991554731,-0.00542943533971,0.0498639719513,0.99999996406,7.94440842112e-05,-0.000253759519033,-3.42679343858e-05,1793238949349670144
+75,1.250000000,BASELINE,766.550797323,745.449202677,715,679,666,636,880,788.449202677,803.449202677,653,632,653,0.40099072995,-0.00542873873592,0.0498632932975,0.999999963945,7.8041528815e-05,-0.000254635884801,-3.4340295649e-05,1793238949366336768
+76,1.266666667,BASELINE,767,745,715,679,666,636,880,788.128656709,803,653,632,653,0.400990482597,-0.00542807310501,0.0498629337734,0.999999963933,7.68504448974e-05,-0.000255027603713,-3.44731922581e-05,1793238949383003392
+77,1.283333333,BASELINE,767,745,715,679,666,636,880,788.702520703,803,653,632,653,0.400992216509,-0.00542789435831,0.0498637582841,0.999999964256,7.68103076987e-05,-0.000253731092457,-3.47563008296e-05,1793238949399670272
+78,1.300000000,BASELINE,766.716238996,745,714.716238996,679,666.283761004,636,880,788.716238996,803.283761004,652.716238996,631.716238996,653,0.400992571264,-0.0054273078279,0.0498643779573,0.99999996433,7.77175941758e-05,-0.000253153181654,-3.48467242062e-05,1793238949416337152
+79,1.316666667,BASELINE,766.127059443,745,714.127059443,679,666.872940557,636,880,788.127059443,803.872940557,652.127059443,631.127059443,653,0.400991441599,-0.00542628239043,0.049864777159,0.999999964133,7.96446147271e-05,-0.000253348717266,-3.4729756021e-05,1793238949433003264
+80,1.333333333,BASELINE,766,745.454358519,714.454358519,679,666.545641481,636,880,788,804,652.454358519,631.454358519,653,0.400992904072,-0.00542586214103,0.0498651139433,0.999999964386,8.04516765055e-05,-0.000252098022607,-3.46735182777e-05,1793238949449669888
+81,1.350000000,BASELINE,766,746,715,679,666,636,880,788,803.966497373,653,632,653,0.400994895399,-0.00542568160224,0.0498654184183,0.999999964751,8.08139988801e-05,-0.000250536620572,-3.46215792402e-05,1793238949466336256
+82,1.366666667,BASELINE,766,746,715,679,666,636,880,788,803.389621573,653,632,653,0.400993904865,-0.00542669014308,0.0498654772161,0.999999964946,7.89574574459e-05,-0.00025038515743,-3.43685420003e-05,1793238949483003136
+83,1.383333333,BASELINE,766.186028652,745.813971348,715,679,666,636,880,788,803.186028652,653,632,653,0.4009927241,-0.00542702638625,0.0498651432355,0.999999964832,7.8424728828e-05,-0.000251014294905,-3.43200574427e-05,1793238949499670272
+84,1.400000000,BASELINE,766.75912892,745.24087108,715,679,666,636,880,788,803.75912892,653,632,653,0.400991147515,-0.00542596377335,0.0498639919969,0.999999964074,8.0646469985e-05,-0.000253267635599,-3.46971875813e-05,1793238949516336896
+85,1.416666667,BASELINE,767,745,715,679,666,636,880,788,804,653,632,653,0.40099139741,-0.00542638362411,0.0498641013901,0.999999964059,8.01939708912e-05,-0.000253489141706,-3.45582015704e-05,1793238949533003520
+86,1.433333333,BASELINE,767,745,715,679,666,636,880,788,804,653,632,653,0.40099297153,-0.00542787828288,0.04986512476,0.999999964582,7.78026081577e-05,-0.000252237537723,-3.40450237393e-05,1793238949549670144
+87,1.450000000,BASELINE,766.484339308,745,715,679,666,636,880,788,804,653,632,653,0.40099301813,-0.00542819580877,0.0498648875965,0.999999964586,7.78607680237e-05,-0.00025220004003,-3.40850544919e-05,1793238949566336768
+88,1.466666667,BASELINE,766,745,715,679,666,636,880,788,803.905924591,653,632,653,0.400993017275,-0.00542846439916,0.0498646157449,0.999999964582,7.79724719989e-05,-0.000252164625425,-3.41931723639e-05,1793238949583003648
+89,1.483333333,BASELINE,766,745,715,679,666,636,880,788,803.330178764,653,632,653,0.400993733143,-0.00542922199074,0.0498649582395,0.999999964866,7.68193711479e-05,-0.000251377093954,-3.43023369623e-05,1793238949599670016
+90,1.500000000,BASELINE,766,745.250569589,715,679,666.250569589,636,880,788,803,652.749430411,632,653,0.400994075115,-0.00542927556107,0.0498650167076,0.999999964969,7.66751195168e-05,-0.000251015465028,-3.42524735537e-05,1793238949616336896
+91,1.516666667,BASELINE,766,745.838044074,715,679,666.838044074,636,880,788,803,652.161955926,632,653,0.400993914365,-0.00542838253518,0.0498646932862,0.999999964832,7.78873224602e-05,-0.000251226486077,-3.39887880421e-05,1793238949633003520
+92,1.533333333,BASELINE,766,746,715,679,666.580347377,636,880.419652623,788,803,652.419652623,632,653.419652623,0.400993346494,-0.00542726990761,0.049864767073,0.999999964768,7.90508231193e-05,-0.00025106707282,-3.43642443481e-05,1793238949649670144
+93,1.550000000,BASELINE,766,746,715,679,666.000971405,636,880.999028595,788,803,652.999028595,632,653.999028595,0.40099262367,-0.0054260736977,0.0498649920406,0.99999996473,8.0195787376e-05,-0.00025076666914,-3.49829634324e-05,1793238949666336768
+94,1.566666667,BASELINE,766.575244467,746,715,679,666,636,880.424755533,788,803.575244467,653,632,653.424755533,0.400992922246,-0.0054262722928,0.0498648550855,0.999999964606,7.96840110286e-05,-0.000251461841068,-3.47197834086e-05,1793238949683003392
+95,1.583333333,BASELINE,766.849338139,746,715,679,666,636,880,788.150661861,803.849338139,653,632,653,0.400993067903,-0.00542673287946,0.0498648650404,0.999999964573,7.86772650034e-05,-0.000251941820778,-3.44738240187e-05,1793238949699669760
+96,1.600000000,BASELINE,766.276145058,746,715,679,666,636,880,788.723854942,803.276145058,653,632,653,0.400992779891,-0.00542792165196,0.049865288709,0.999999964797,7.62901796022e-05,-0.000251813604836,-3.42803136153e-05,1793238949716336384
+97,1.616666667,BASELINE,766,745.693176316,715,679,666,636,880,788.693176316,803.306823684,653,632,653,0.400992542265,-0.00542797135251,0.049864897436,0.999999964657,7.6803356305e-05,-0.000252212695734,-3.42936303124e-05,1793238949733003520
+98,1.633333333,BASELINE,766,745.10111985,715,679,666,636,880,788.10111985,803.89888015,653,632,653,0.400992351478,-0.00542696213652,0.049863748568,0.999999964174,8.00127064545e-05,-0.000253101987378,-3.44992198869e-05,1793238949749670400
+99,1.650000000,BASELINE,766.480226699,745.480226699,715,679,666.480226699,636.480226699,879.519773301,788,804,653,632,653,0.400992846608,-0.00542791279781,0.0498639152699,0.999999964338,7.89599476775e-05,-0.000252783690302,-3.44811418254e-05,1793238949766337024
+100,1.666666667,BASELINE,767,745.94113017,715,679,666.94113017,637,879.05886983,788,804,653,632,653,0.400993318614,-0.00542907815927,0.0498642972204,0.999999964583,7.73192353182e-05,-0.000252333093295,-3.44163191572e-05,1793238949783003648
+101,1.683333333,BASELINE,767,745.366842384,715,679,666.366842384,637,879.633157616,788,804,653,632,653,0.400992351216,-0.00542858894044,0.0498641912992,0.999999964372,7.82168974489e-05,-0.000252901875807,-3.43455863782e-05,1793238949799670272
+102,1.700000000,BASELINE,767,745,715,679,666,637,880,788,803.787163205,653,632,653,0.400991809029,-0.00542793015433,0.0498642623633,0.999999964251,7.88772921624e-05,-0.000253163775886,-3.44041927952e-05,1793238949816336896
+103,1.716666667,BASELINE,767,745,715,679,666,637,880,788,803.197950054,653,632,653,0.400992018779,-0.00542697150889,0.0498646464049,0.999999964294,7.91181078005e-05,-0.00025288299112,-3.46915200805e-05,1793238949833003264
+104,1.733333333,BASELINE,766.615407371,745.384592629,715,679,666,636.615407371,880,788,803.384592629,653,632,653,0.400992649021,-0.00542745873755,0.049864833482,0.999999964471,7.89652568307e-05,-0.000252255916446,-3.44976072347e-05,1793238949849670144
+105,1.750000000,BASELINE,766.036239397,745.963760603,715,679,666,636.036239397,880,788,803.963760603,653,632,653,0.400993492002,-0.00542867747118,0.0498649209096,0.999999964715,7.86132397759e-05,-0.000251453644738,-3.40602226006e-05,1793238949866336768
+106,1.766666667,BASELINE,766.540284225,745.459715775,715,679,666,636,880,788,804,653,631.459715775,653.540284225,0.400992950617,-0.00542780394786,0.0498643589969,0.999999964494,7.84902309167e-05,-0.000252342700448,-3.4283528142e-05,1793238949883003136
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,804,653,632,653,0.400992446278,-0.00542724718157,0.0498638866877,0.999999964162,8.01206478955e-05,-0.000253127658736,-3.43949636515e-05,1793238949925391104
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.410644711,788,803.410644711,653,631.410644711,653,0.400991610493,-0.00542786664881,0.0498638076908,0.99999996426,7.83021530012e-05,-0.000253314918786,-3.43457406068e-05,1793238949942057728
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636.17632193,879.17632193,788,803.17632193,653,631,653,0.40099164873,-0.00542788084843,0.0498641237776,0.999999964374,7.82326067821e-05,-0.000252895889978,-3.42775489605e-05,1793238949958724352
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636.757800002,879.757800002,788,803.757800002,653,631,653,0.400993695314,-0.00542650425183,0.0498653476958,0.999999964518,8.21818303054e-05,-0.000251083718244,-3.41657708627e-05,1793238949975390208
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.335535714,745.335535714,715,679,666,636.664464286,880,788,804,653,631.335535714,653,0.400993280136,-0.0054261781082,0.0498651227208,0.999999964333,8.2789836621e-05,-0.000251610916959,-3.42236938116e-05,1793238949992056576
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.910599838,745.910599838,715,679,666,636.089400162,880,788,804,653,631.910599838,653,0.400991107584,-0.00542660185004,0.0498638634263,0.999999963917,8.1012652657e-05,-0.000253808118885,-3.44027610157e-05,1793238950008723200
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.536712398,745.536712398,715,679,666,636,879.536712398,788,803.536712398,653,631.536712398,653,0.400991708242,-0.00542612284075,0.0498642441496,0.999999964105,8.08842668292e-05,-0.000253073921419,-3.46469135289e-05,1793238950025389824
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.013418233,745,715,679,665.986581767,636,879.013418233,788.013418233,803,653,631.013418233,653,0.400992821827,-0.0054255096808,0.049864931185,0.999999964407,8.1034322783e-05,-0.000251797092397,-3.48899598849e-05,1793238950042056448
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.634251555,745,715,679,665.365748445,636,879.634251555,788.634251555,803,653,631.634251555,653,0.400994045802,-0.0054263462782,0.0498658183301,0.999999964854,8.00496911017e-05,-0.000250383339116,-3.4540587928e-05,1793238950058723072
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.761939738,745.238060262,714.761939738,678.761939738,665.238060262,636,880,789,803,653,632,653,0.400998519376,-0.00542733053699,0.0498675654149,0.999999965859,7.83136915448e-05,-0.000246917389154,-3.43736667089e-05,1793238950075389952
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.182541489,745.817458511,714.182541489,678.182541489,665.817458511,636,880,789,803,653,632,653,0.401007652324,-0.00542852651707,0.0498705455068,0.999999967634,7.55003581412e-05,-0.000240508937788,-3.44683488914e-05,1793238950092056576
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.605840697,714.394159303,678.788318607,666,636,880,788.605840697,803,653,631.605840697,653,0.401031432716,-0.00542927838634,0.0498795324796,0.999999971759,7.59779358128e-05,-0.000222636439379,-3.37971483948e-05,1793238950108723968
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.030380598,714.969619402,679.939238804,666,636,880,788.030380598,803,653,631.030380598,653,0.401061950469,-0.00542982597882,0.0498912824275,0.999999976525,7.79692280636e-05,-0.000199490841781,-3.27736661176e-05,1793238950125391616
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.55621808,745.55621808,715,678.88756384,666,636,880,788.55621808,803.55621808,653,631.55621808,653,0.401121415307,-0.00543288774536,0.0499101062048,0.999999984249,7.45239004378e-05,-0.000157924417545,-3.17380166236e-05,1793238950142057472
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.858583651,745.858583651,715,678.141416349,666,636,880,788.858583651,804,652.858583651,632,653,0.401186119104,-0.00543572889716,0.0499284195058,0.999999989937,7.19605039085e-05,-0.000118368633099,-3.06051307991e-05,1793238950158723584
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.279638729,745.279638729,715,678.720361271,666,636,880,788.279638729,804,652.279638729,632,653,0.401262040058,-0.00543745393956,0.0499439336208,0.999999993015,7.30632187788e-05,-8.82100906408e-05,-2.91735031465e-05,1793238950175389952
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.298230005,715,679,666,636,880,788,803.701769995,652.298230005,632,653,0.401339443387,-0.00544017668258,0.0499541578024,0.999999994493,7.24099738475e-05,-7.06259911062e-05,-2.79613367732e-05,1793238950192056832
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.875093231,715,679,666,636,880,788,803.124906769,652.875093231,632,653,0.401418231679,-0.00544383156692,0.0499594396529,0.99999999508,7.0116153737e-05,-6.4790065941e-05,-2.69542109161e-05,1793238950208723712
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,803,653,632,653,0.401510828973,-0.00544623031831,0.0499590280082,0.999999994964,7.05110481427e-05,-6.64047238783e-05,-2.62807088776e-05,1793238950225390592
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,803,653,632,653,0.401608192433,-0.00544837278911,0.0499569912242,0.999999994654,7.14710158124e-05,-7.0171815609e-05,-2.56964521491e-05,1793238950242057472
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,803,653,632,653,0.401728234777,-0.00545268517924,0.0499537215391,0.999999994461,6.81806207433e-05,-7.61672729396e-05,-2.50415648758e-05,1793238950258723584
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.20383652,745.79616348,715,679,666,636,880,788,803,653,632,653,0.401861270274,-0.00545713630334,0.0499530899814,0.999999994511,6.53657354856e-05,-7.82489457055e-05,-2.41337571374e-05,1793238950275389952
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.783057029,745.216942971,715,679,666,636,880,788,803,653,632,653,0.402018233861,-0.0054618429185,0.049957316782,0.999999995056,6.34265463203e-05,-7.31230180269e-05,-2.27601728157e-05,1793238950292056576
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.639612414,745,715,678.639612414,666,636,880,788.360387586,803.360387586,653,632,653,0.402189366463,-0.00546822229802,0.0499575703419,0.999999995215,6.02309103196e-05,-7.40578174132e-05,-2.13818555713e-05,1793238950308723456
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.063413563,745,715,678.063413563,666,636,880,788.936586437,803.936586437,653,632,653,0.402368983925,-0.00547560338117,0.0499554446025,0.999999995125,5.62828747944e-05,-7.86219676641e-05,-2.00007039739e-05,1793238950325390080
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.522216957,715,678.522216957,666,636,880.522216957,788.477783043,804,652.477783043,632,653,0.402581951414,-0.00548295714643,0.0499587021985,0.999999995959,5.28368383162e-05,-7.03689324379e-05,-1.83931519191e-05,1793238950342056448
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,715,678.892521298,666.107478702,636,880.892521298,788,803.892521298,652.107478702,632,653,0.402807927978,-0.00549080651494,0.0499624509903,0.999999996772,4.90856972332e-05,-6.1389151864e-05,-1.66748487034e-05,1793238950358723072
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,715,678.313987547,666.686012453,636,880.313987547,788,803.313987547,652.686012453,632,653,0.403072844897,-0.00550084280985,0.0499654348395,0.99999999736,4.37252686861e-05,-5.61710658204e-05,-1.45938555406e-05,1793238950375389696
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,715,678.263551935,666.736448065,636,880,788,803,653,632,653,0.40335740502,-0.00551036325373,0.0499710464509,0.999999998142,3.93758153336e-05,-4.48151965757e-05,-1.25539787545e-05,1793238950392056576
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,715,678.839911294,666.160088706,636,880,788,803,653,632,653,0.403665279468,-0.00551927143805,0.0499797769294,0.999999998945,3.62262796682e-05,-2.61744479086e-05,-1.05629027487e-05,1793238950408723200
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.584303467,715,679,666.415696533,636,880,788,803.415696533,652.584303467,632,653,0.404000710994,-0.00552896097325,0.0499887914396,0.999999999348,3.38053794573e-05,-1.01570072915e-05,-7.59862770718e-06,1793238950425389824
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.008739036,715,679,666.991260964,636,880,788,803.991260964,652.008739036,632,653,0.404346740369,-0.00553895099889,0.0499979151822,0.999999999478,3.16646967564e-05,4.8515653411e-06,-4.26008140423e-06,1793238950442056448
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666.418070418,636,880,788,803.418070418,652.581929582,632,653,0.40471855153,-0.00554863734862,0.0500009070503,0.999999999535,2.81720692472e-05,1.15764501291e-05,-1.42475486408e-06,1793238950458723072
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.168987999,715,679,666,636,880,788,803.168987999,653,632,653,0.40510300725,-0.00555477322237,0.0500002939344,0.999999999491,2.99524859388e-05,1.0926464817e-05,1.52852814995e-06,1793238950475389952
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.746750123,715,679,666,636,880,788,803.746750123,653,632,653,0.405517088002,-0.00555233198353,0.0499911892129,0.99999999897,4.45385719956e-05,-7.25405597874e-06,4.78590918003e-06,1793238950492057600
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,803.67709601,653,632,653,0.40593540564,-0.00554164562423,0.0499769052979,0.999999997026,6.85074821047e-05,-3.48512322691e-05,6.39814305271e-06,1793238950508724480
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,803.102197167,653,632,653,0.406357029795,-0.00552452475789,0.0499585795299,0.999999992562,9.97987663946e-05,-6.97971852905e-05,6.72650147248e-06,1793238950525390848
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.469858388,745.530141612,715,678.530141612,666,636,880,788,803,653,632,653,0.406828552919,-0.00552183841787,0.0499467278597,0.999999989981,0.000113097005535,-8.47517937557e-05,8.03486626891e-06,1793238950542057216
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+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.637341751,715,678.637341751,666,636,880,788,803,652.362658249,632,653,0.407865410329,-0.00553249482661,0.0499519993801,0.999999989874,0.000123951836628,-6.83926840913e-05,1.45342652685e-05,1793238950575390208
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.77436486,745.77436486,715,679,666,636,880,788,803.22563514,652.22563514,631.77436486,653,0.408442433102,-0.00553974536598,0.0499699313645,0.999999990787,0.000128371853779,-3.95007303042e-05,1.96665649815e-05,1793238950592056832
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.195604087,745.195604087,715,679,666,636,880,788,803.804395913,652.804395913,631.195604087,653,0.409062251917,-0.00554337787432,0.0499940807896,0.99999999034,0.000136605456861,-3.66595587609e-06,2.54033959676e-05,1793238950608723712
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.380648134,715,679,666,636,880,788,804,653,631.380648134,653,0.409679430112,-0.00554267700743,0.0500063943082,0.999999988605,0.000147329588531,1.47192428069e-05,2.9441079322e-05,1793238950625390080
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.955619705,715,679,666,636,880,788,804,653,631.955619705,653,0.410295260234,-0.00553976392317,0.050012665516,0.999999986483,0.00015932515161,2.41963144144e-05,3.26113361945e-05,1793238950642056960
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,715,679.542527335,666,636,880,788,803.457472665,653,631.457472665,653,0.410879496194,-0.00553524724574,0.0499903052594,0.999999984711,0.000170352880217,-2.15275403452e-05,3.30951786891e-05,1793238950658723840
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.128533024,746,715,679.871466976,666.128533024,636,880.128533024,788,803.128533024,653,631.128533024,653,0.411481587023,-0.00553295989062,0.0499673558198,0.999999983489,0.00016645669745,-6.62237614468e-05,3.04700566246e-05,1793238950675390464
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.707873572,746,715,679.292126428,666.707873572,636,880.707873572,788,803.707873572,653,631.707873572,653,0.412155569191,-0.00553896193812,0.0499507393628,0.999999989586,0.000110501382827,-9.11217693203e-05,1.77288717686e-05,1793238950692057088
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.71407761,746,715,679,667,636,881,788,803.71407761,653,632,653,0.412887534225,-0.00554124607058,0.0499579661238,0.999999993205,9.06019294318e-05,-7.21770386978e-05,1.30998260565e-05,1793238950708723456
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.137342544,746,715,679,667,636,881,788,803.137342544,653,632,653,0.413678473919,-0.0055397486992,0.0499894439044,0.999999994058,0.000107375013553,-8.63970634556e-06,1.67216642884e-05,1793238950725389824
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.437378631,746,715,679,667,636,880.562621369,788,803.437378631,652.562621369,632,653,0.414419466408,-0.00553381967746,0.0499938876827,0.999999992196,0.000123461826042,-1.7592698831e-06,1.90181198319e-05,1793238950742057216
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.988188513,746,715,679,666.988188513,636,880,788,804,652,631.988188513,653,0.415144773681,-0.0055265693154,0.0499893991463,0.999999990019,0.00013910428989,-1.33052300234e-05,2.08326037054e-05,1793238950758725120
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.397019444,746,715,679,666.397019444,636,880,788,804,652,631.397019444,653,0.41586650087,-0.0055224521216,0.0499612586722,0.99999998772,0.000143473154828,-6.00174484395e-05,1.93267809314e-05,1793238950775391488
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,804,652.190209492,631.190209492,653,0.416619431176,-0.00552108753381,0.0499470426852,0.999999986326,0.000141967586646,-8.28318287882e-05,1.82049091637e-05,1793238950792057856
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,804,652.769381155,631.769381155,653,0.417436169151,-0.00552535179054,0.0499613010871,0.999999989979,0.000128449304467,-5.67771679655e-05,1.78681845763e-05,1793238950808724480
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666.33407599,636,880,788,803.66592401,653,632,653,0.418261521279,-0.00552963716023,0.0499783590998,0.999999991971,0.000122570547817,-2.57766808553e-05,1.92489917941e-05,1793238950825390848
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666.889192256,636,880,788,803.110807744,653,632,653,0.4190925729,-0.00553393649907,0.0499972694652,0.999999992316,0.000121746458485,8.49619486993e-06,2.17661982641e-05,1793238950842057216
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666.521993463,636,880.478006537,788,803.478006537,653,632,653,0.419905391604,-0.00553182013753,0.0499843861423,0.999999991691,0.000125536421794,-1.92963282448e-05,2.20524980185e-05,1793238950858723840
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880.925619668,788,804,652.925619668,631.925619668,653,0.420721951836,-0.00552880366096,0.0499686840333,0.999999990074,0.000129523006814,-5.09281281599e-05,2.19633713066e-05,1793238950875389952
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880.335106656,788,804,652.335106656,631.335106656,653,0.421596027788,-0.00553064400357,0.0499884432374,0.99999999168,0.000126889035716,-1.79263377021e-06,2.31298586985e-05,1793238950892056576
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666.250011974,635.749988026,880.250011974,788,804,652,631,653,0.422466746763,-0.0055324383244,0.0500037551889,0.999999991585,0.00012315156033,3.30529397361e-05,2.38870026166e-05,1793238950908723456
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666.828052969,635.171947031,880.828052969,788,804,652,631,653,0.423333061324,-0.00553417226246,0.0500132321109,0.999999991544,0.000117966228489,4.91493830412e-05,2.41070663179e-05,1793238950925390080
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666.595613146,635.404386854,881,788,804.404386854,652,631,653,0.424197491628,-0.00553595786091,0.0500038487712,0.999999992567,0.000114786133941,3.34269905028e-05,2.39291709282e-05,1793238950942056704
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666.020002116,635.979997884,881,788,804.979997884,652,631,653,0.425061124055,-0.00553776533313,0.0499864796798,0.99999999339,0.000112455090733,4.23196819701e-06,2.3582772956e-05,1793238950958723584
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.569548044,746,715,679.569548044,666.569548044,636,881,788,804.430451956,652.569548044,631.569548044,653,0.425930235129,-0.00553855579014,0.0500062551792,0.999999992658,0.000114214155375,3.11857846188e-05,2.58152473277e-05,1793238950975390208
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.843663426,746,715,679.843663426,667,636,881,788,804,653,632,653,0.426785461129,-0.00553850565644,0.0500187355712,0.999999992001,0.000116132633706,4.16686603443e-05,2.78342250972e-05,1793238950992056832
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.265676649,746,715,679.265676649,667,636,881,788,804,653,632,653,0.427602706157,-0.00553628714074,0.0500079340016,0.999999992604,0.000118083930948,2.27651398958e-06,2.90269916177e-05,1793238951008723200
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,679.311186067,666.688813933,636,880.688813933,788,804,653,632.311186067,653,0.428425102741,-0.00553430032987,0.0499854232822,0.999999991571,0.00012017154474,-3.99983347928e-05,2.85871616567e-05,1793238951025390080
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,679.887092537,666.112907463,636,880.112907463,788,804,653,632.887092537,653,0.429251881618,-0.00553251062626,0.0499529517997,0.999999988565,0.000122375120405,-8.47254447413e-05,2.67585110928e-05,1793238951042056704
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.538815702,715,680,666.461184298,636,880,788.461184298,804,652.538815702,632.538815702,653,0.430139599496,-0.00553660174375,0.0499633298505,0.999999991401,0.00011645638633,-5.38778047976e-05,2.70831627725e-05,1793238951058723584
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,667,636,880.03599435,788.96400565,804,652.03599435,632,653.03599435,0.431035275304,-0.00554164052232,0.0499819756194,0.999999993615,0.000109095741418,-9.68489437266e-06,2.78360976493e-05,1793238951075390208
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,667,636,880.628759736,788.371240264,804,652.628759736,632,653.628759736,0.431824176713,-0.00553915485865,0.0499668754689,0.999999992601,0.000110069498364,-4.41401572983e-05,2.70913378501e-05,1793238951092057088
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.784442107,666.784442107,636,881,788.215557893,804.215557893,652.784442107,632,653.784442107,0.432622041289,-0.00553844419119,0.0499578153039,0.999999991594,0.000110143462396,-6.28995993867e-05,2.69074546629e-05,1793238951108723712
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.207643969,666.207643969,636,881,788.792356031,804.792356031,652.207643969,632,653.207643969,0.433434926813,-0.00554070813057,0.0499588771775,0.999999992176,0.000108709519029,-5.53553840554e-05,2.76635100968e-05,1793238951125390336
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.36925455,715,679,666.36925455,636,881.36925455,788.63074545,804.63074545,652,632,653,0.434251366943,-0.00554247792287,0.0499744556425,0.999999993152,0.000108136911187,-3.38357434792e-05,2.9294902236e-05,1793238951142056960
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.946209496,715,679,666.946209496,636,881.946209496,788.053790504,804.053790504,652,632,653,0.435069806441,-0.00554396976438,0.0499981994821,0.999999993659,0.000108048792258,-4.45512676135e-06,3.14186586716e-05,1793238951158723840
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.468934014,715,679,667,636,881.468934014,788,804,652,632,653,0.435808071645,-0.0055429912603,0.0499890946978,0.999999992984,0.000109762651871,-3.12572926569e-05,3.17231682791e-05,1793238951175390464
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.115463051,715,679.115463051,666.884536949,636,881,788,804,652,632,653,0.436540187408,-0.00554164887766,0.0499767903705,0.999999991513,0.000111377074747,-5.97383322082e-05,3.16458267744e-05,1793238951192056832
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.694750987,715,679.694750987,666.305249013,636,881,788,804,652,632,653,0.437280714467,-0.00553986508331,0.0499652005748,0.999999990697,0.00011184778636,-7.17585441853e-05,3.07859550162e-05,1793238951208723968
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666.273515437,636,881,788,804.273515437,652,632,653,0.438029005559,-0.00554131571849,0.0499729441119,0.999999992372,0.000108155180644,-5.0926771819e-05,3.10600195635e-05,1793238951225390848
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666.851696741,636,881,788,804.851696741,652,632,653,0.438785944873,-0.00554636914964,0.0500022228388,0.999999994465,9.98251007898e-05,6.49846922701e-06,3.25971634021e-05,1793238951242057472
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.565155113,715,680,667,636,880.565155113,788,804.565155113,652,632,653,0.439470885702,-0.00554879669364,0.0500004352481,0.999999994672,9.77575516419e-05,3.86020459876e-06,3.29365093252e-05,1793238951258724096
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,666.980466272,636,880.019533728,788,804,652.019533728,632,653,0.440129605323,-0.00555018483572,0.0499875906225,0.999999994459,9.80249234787e-05,-1.98656647336e-05,3.28434489576e-05,1793238951275390976
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680,666.400734761,636,880.599265239,788,804,652.599265239,632,653,0.440748675017,-0.0055477444146,0.0499650098914,0.999999992683,0.000103294278004,-5.40977678766e-05,3.2200363372e-05,1793238951292057088
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.822461023,666,636,880.822461023,788,804.177538977,653,632,653,0.441364999222,-0.00554596359631,0.0499516904234,0.999999990971,0.000107481988477,-7.39673577789e-05,3.21695962175e-05,1793238951308723712
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.24745081,666,636,880.24745081,788,804.75254919,653,632,653,0.441975176996,-0.00554565948513,0.0499591049092,0.999999991569,0.000109248133923,-6.16824045271e-05,3.35096770784e-05,1793238951325390336
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.67059854,745.32940146,715,679.32940146,666,636,880,788,804.67059854,652.67059854,632,653,0.442558756193,-0.00554602154975,0.0499617985017,0.999999991747,0.000110933511949,-5.48494588609e-05,3.45129016517e-05,1793238951342056960
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.092354744,745.907645256,715,679.907645256,666,636,880,788,804.092354744,652.092354744,632,653,0.443122241783,-0.00554688686883,0.0499609257522,0.999999991685,0.000112557875109,-5.21351669008e-05,3.52616521528e-05,1793238951358723584
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.489657884,746,715,680,666,635.510342116,880.489657884,788,804,652,632,653,0.443610585688,-0.00554565414967,0.0499325777939,0.999999987545,0.000115837206656,-0.000101325528809,3.50095174786e-05,1793238951375390464
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635,881,788,804,652,632,653,0.444081049004,-0.00554408579169,0.0498982131888,0.999999979402,0.000119060097493,-0.000160753613994,3.43363596067e-05,1793238951392057344
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635,881,788,804,652,632,653,0.444526144787,-0.00554296260568,0.0498582483835,0.999999967506,0.000119667317778,-0.000222804464039,3.20361478567e-05,1793238951408723968
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635,881,788,804.239721509,652,632,653,0.44497354055,-0.00554597348474,0.0498340165952,0.999999960046,0.000115899103615,-0.000255957491259,3.09968733773e-05,1793238951425390336
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635,881,788,804.815660099,652,632,653,0.445424162071,-0.00555478252232,0.0498318508694,0.999999962983,0.0001059942032,-0.000248580393815,3.17261040591e-05,1793238951442056704
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635,881.387473397,788,805,652,632,653,0.445852445574,-0.0055546134003,0.0498366665571,0.99999996941,8.03713787398e-05,-0.000232649777659,2.43778624816e-05,1793238951458723328
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635,881.957344817,788,805,652,632,653,0.446270213789,-0.00555021792807,0.0498447686535,0.999999976172,4.73495465263e-05,-0.000212692703699,1.32272567195e-05,1793238951475389952
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745.451191964,715,680,665.451191964,635,881.451191964,788,804.451191964,652,632,653,0.446632791407,-0.005544603347,0.04983880712,0.999999973828,5.38271188742e-05,-0.000222005824404,1.26329405551e-05,1793238951492056832
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745.138564198,715.138564198,680,665.138564198,635,881,787.861435802,804,652.138564198,631.861435802,653,0.446972097502,-0.0055409834107,0.0498252645021,0.999999968328,6.16469638615e-05,-0.000243669895884,1.29752556042e-05,1793238951508723200
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745.717347235,715.717347235,680,665.717347235,635,881,787.282652765,804,652.717347235,631.282652765,653,0.447251656185,-0.00554401382458,0.0497912516715,0.999999953768,6.35782902977e-05,-0.000297049365289,1.35798625459e-05,1793238951525390080
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715.70428388,680,665.70428388,635,881,787,804,652.70428388,631.29571612,653,0.447520988822,-0.00554789130598,0.04976251842,0.999999939914,6.21117293147e-05,-0.000340774822174,1.36607461759e-05,1793238951542056960
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715.126310333,680,665.126310333,635,881,787,804,652.126310333,631.873689667,653,0.447780560806,-0.00555257730281,0.0497388244646,0.999999927845,5.74019262159e-05,-0.000375285639056,1.32417422755e-05,1793238951558723840
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.446875718,745.553124282,715,680.446875718,665.446875718,634.553124282,881,787.446875718,804.446875718,652,632,653,0.448033121021,-0.00555741921217,0.0497366766827,0.999999927048,5.49819901619e-05,-0.000377739980002,1.38941084511e-05,1793238951575390208
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.980595682,745.019404318,715,681,665.980595682,634,881,788,804.980595682,652.019404318,632,653,0.448283162964,-0.00556216129432,0.0497407845983,0.999999929706,5.3292378223e-05,-0.000370847652884,1.48530750449e-05,1793238951592056832
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.387936377,745.612063623,715,681,665.387936377,634,881,788,804.387936377,652.612063623,632,653,0.448516738286,-0.00556266610291,0.0497516926615,0.99999993621,5.42600980608e-05,-0.000352673517331,1.60184073674e-05,1793238951608723200
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,715,680.800695656,665,634,880.800695656,788,804.199304344,652.800695656,632,653,0.4487314294,-0.0055624275631,0.0497601017365,0.999999940046,5.59678588611e-05,-0.000341298003951,1.70730641028e-05,1793238951625389824
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680.223722859,665,634,880.223722859,788,804.776277141,652.223722859,632,653,0.448910336172,-0.00556078042752,0.049763775394,0.999999939337,5.90779478982e-05,-0.000342805428875,1.79179978498e-05,1793238951642056448
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,715,680.353531589,665,634,880.353531589,787.646468411,805,652,631.646468411,653,0.449067447479,-0.00555407845045,0.0497620859389,0.999999936908,6.79482512678e-05,-0.000348175364226,1.84799031162e-05,1793238951658723328
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,715,680.93096447,665,634,880.93096447,787.06903553,805,652,631.06903553,653,0.449210755135,-0.00554417510288,0.0497569998773,0.99999993322,8.04666573317e-05,-0.000355991533911,1.88625587292e-05,1793238951675390208
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,746,715,681,665,634,881,787,805,652,631,653,0.449326721819,-0.00553606154815,0.0497519201107,0.999999929268,8.97692374725e-05,-0.000364788199172,1.83232064388e-05,1793238951692057088
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,715,680.896844482,665,634,881,787,805,652,631.103155518,653,0.449436632614,-0.00553086362529,0.049747492227,0.99999992583,9.58065504091e-05,-0.000372608585275,1.80181093211e-05,1793238951708723968
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746,715,680.317751327,665,634,881,787,805,652,631.682248673,653,0.449535732217,-0.00553799648519,0.0497460680471,0.999999925441,8.87933596923e-05,-0.0003753103412,1.93714613609e-05,1793238951725390336
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,634,881,787.26053928,804.73946072,652,631.73946072,653,0.449624132332,-0.005542000187,0.04974448894,0.999999924682,8.47721671815e-05,-0.000378230320471,1.97628105827e-05,1793238951742056704
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,634,881,787.837854078,804.162145922,652,631.162145922,653,0.449699523515,-0.00554219931555,0.0497427214656,0.99999992352,8.4388782713e-05,-0.00038141562548,1.8984512907e-05,1793238951758723072
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,634,881,787.58716331,804,652,631.41283669,653,0.449764047939,-0.00554121746742,0.0497429593366,0.999999923911,8.41099436489e-05,-0.000380469119956,1.86366314358e-05,1793238951775389952
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,634,881,787.013091557,804,652,631.986908443,653,0.449824328302,-0.00553977438399,0.0497439804037,0.999999924905,8.38719352305e-05,-0.000377908918791,1.84568507985e-05,1793238951792056576
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,633.422432432,881,787.577567568,804,652,631.422432432,653,0.449864678894,-0.00554222331147,0.0497437378641,0.999999924594,8.31593331572e-05,-0.000378881101678,1.86139198987e-05,1793238951808723456
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,633,881,787.834942171,804.165057829,652.165057829,631,653,0.449900487924,-0.0055438880168,0.0497430937952,0.999999923978,8.20753292012e-05,-0.000380736266402,1.86659403851e-05,1793238951825390336
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,633,881,787.256360842,804.743639158,652.743639158,631,653,0.449926084089,-0.00554336043776,0.0497415176437,0.999999922666,8.0088590821e-05,-0.000384597060921,1.84350854723e-05,1793238951842057216
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,633.319835396,881,787,805,652.680164604,631,653,0.449948904538,-0.00554257604725,0.049741670256,0.999999922794,8.00151455082e-05,-0.000384282808245,1.83640111975e-05,1793238951858723840
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,633.894134101,881,787,805,652.105865899,631,653,0.449969516611,-0.00554158733567,0.0497431982848,0.999999924066,8.14639295118e-05,-0.000380646858833,1.84200595062e-05,1793238951875390208
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.51958183,633.51958183,881,787,805,652,631,653,0.449981791923,-0.00554314353677,0.0497432462041,0.999999924318,8.06833495373e-05,-0.000380145083821,1.85594980804e-05,1793238951892056832
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664,633,881,787,805,652.068179936,631.068179936,653,0.449991393983,-0.00554470458038,0.0497428129271,0.999999924166,7.99131763387e-05,-0.000380702604007,1.86496175814e-05,1793238951908723200
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,633,881,787,805,652.646727242,631.646727242,653,0.449995088849,-0.00554199652878,0.0497412815788,0.999999922705,8.29924205014e-05,-0.000383887352551,1.82294794366e-05,1793238951925389824
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,715,680.22476251,664,633.22476251,881,787,805,653,631.77523749,653,0.44999786741,-0.00554070717703,0.0497397568852,0.999999921538,8.40816689088e-05,-0.000386688781257,1.80718344519e-05,1793238951942056448
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680.801994769,664,633.801994769,881,787,805,653,631.198005231,653,0.449999209032,-0.00554164261277,0.0497382426278,0.999999920849,8.20502307441e-05,-0.000388889092416,1.83258279746e-05,1793238951958723328
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680.623788695,664.376211305,633.623788695,881,787.376211305,805,653,631.376211305,653,0.450001166834,-0.00554078293992,0.0497384745604,0.999999920772,8.22183260375e-05,-0.000389047806816,1.83619025241e-05,1793238951975390208
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680.051146772,664.948853228,633.051146772,881,787.948853228,805,653,631.948853228,653,0.450003446363,-0.00553898598981,0.0497396182285,0.999999921017,8.35348603429e-05,-0.000388140545439,1.82841953745e-05,1793238951992056832
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680.540178896,664.459821104,633.540178896,881,787.459821104,805,653,632,653,0.45000414259,-0.00553958734021,0.0497388507316,0.99999992083,8.33231135786e-05,-0.000388660204758,1.84652560557e-05,1793238952008723456
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680.869951762,664.130048238,634,881.130048238,787,805.130048238,653,632,653,0.450004942792,-0.00553993638184,0.049738363926,0.999999920775,8.34824157409e-05,-0.000388762657726,1.85326202962e-05,1793238952025390080
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680.291424096,664.708575904,634,881.708575904,787,805.708575904,653,632,653,0.450006637072,-0.00553860415507,0.049739491506,0.999999921323,8.54382064861e-05,-0.000386943727935,1.81203734399e-05,1793238952042056704
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,715,680.285265588,664.714734412,634,881.429468824,787,805.714734412,653,632,653,0.450006324728,-0.00553739012774,0.049738818769,0.999999920856,8.61490214872e-05,-0.000388008182299,1.77923819122e-05,1793238952058723328
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680.860089699,664.139910301,634,880.279820601,787,805.139910301,653,632,653,0.450003975565,-0.00553629607846,0.0497363186225,0.999999919351,8.55961254541e-05,-0.000391999412383,1.75499136138e-05,1793238952075389952
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680.568624541,664,633.568624541,880.431375459,787,805,652.568624541,632,653,0.450005316376,-0.00553766360179,0.0497371180762,0.999999919716,8.56888591979e-05,-0.000391029334536,1.79407084334e-05,1793238952092056576
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664,633.001589927,881,787,804.998410073,652,632,653,0.450007832403,-0.00553981352664,0.0497389687823,0.999999920674,8.59867708335e-05,-0.000388478360943,1.85320356409e-05,1793238952108723712
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,633.596827396,881,787,804.403172604,652,632,653,0.450005928905,-0.00553842458385,0.0497370043129,0.99999991953,8.53441359424e-05,-0.000391580391128,1.79337067101e-05,1793238952125390848
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745.813308497,715,680,664.186691503,633.813308497,880.813308497,787.186691503,804.186691503,652.186691503,631.813308497,653,0.450005144332,-0.00553824224365,0.049736226612,0.999999919072,8.38799995576e-05,-0.000393074001419,1.77004478983e-05,1793238952142057728
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745.234723908,715,680,664.765276092,633.234723908,880.234723908,787.765276092,804.765276092,652.765276092,631.234723908,653,0.450006708548,-0.0055405927409,0.049737940114,0.999999920063,8.06914100393e-05,-0.000391191300214,1.82335253125e-05,1793238952158724096
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.342134893,715,680,664.657865107,633.342134893,880,788,805,653,631,653,0.450007345347,-0.00553999982381,0.0497381791078,0.999999920197,8.09718633592e-05,-0.000390790458716,1.82094963991e-05,1793238952175390208
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.917815625,715,680,664.082184375,633.917815625,880,788,805,653,631,653,0.45000734908,-0.00553739769275,0.0497374115827,0.999999919748,8.36203316978e-05,-0.000391401154484,1.78051792577e-05,1793238952192056576
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715.504188192,680,664,633.495811808,880.504188192,788,804.495811808,652.495811808,631,653,0.450008716878,-0.00553710975423,0.0497382776338,0.999999920124,8.41978559502e-05,-0.000390319247118,1.77208307861e-05,1793238952208723456
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,715.909189948,680,664.090810052,633.090810052,881,788,804.090810052,652,631,653,0.450009979236,-0.00553669304168,0.0497391257574,0.999999920472,8.51362392841e-05,-0.000389227001304,1.75834588122e-05,1793238952225390336
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,746,715.330790214,680,664.669209786,633.669209786,881,788,804.669209786,652,631,653,0.450009455724,-0.0055335155889,0.0497384169078,0.999999919929,8.98639969741e-05,-0.000389592740546,1.68752756463e-05,1793238952242056960
+247,4.116666667,POSE1_TO_POSE2_PRESS,766.246728903,745.753271097,715,680,664.753271097,633.753271097,881,787.753271097,805,652,631,653,0.45000877265,-0.00553299846103,0.0497376926212,0.999999919585,9.06285711098e-05,-0.000390305695544,1.66880089426e-05,1793238952258723584
+248,4.133333333,POSE1_TO_POSE2_PRESS,766.823071655,745.176928345,715,680,664.176928345,633.176928345,881,787.176928345,805,652,631,653,0.450007876411,-0.00553603535461,0.0497369477116,0.999999919516,8.60985891587e-05,-0.00039148250838,1.71966528223e-05,1793238952275390720
+249,4.150000000,POSE1_TO_POSE2_PRESS,766.602840593,745.397159407,715,680,664.397159407,633.397159407,881,787,804.602840593,652,631.397159407,653.397159407,0.45000806649,-0.00553760521383,0.0497369484712,0.99999991975,8.37829587727e-05,-0.000391379724094,1.73630120739e-05,1793238952292057344
+250,4.166666667,POSE1_TO_POSE2_PRESS,766.02975177,745.97024823,715,680,664.97024823,633.97024823,881,787,804.02975177,652,631.97024823,653.97024823,0.450008737773,-0.0055385252217,0.0497372795395,0.999999920123,8.24482183722e-05,-0.000390710117527,1.73777497208e-05,1793238952308723712
+251,4.183333333,HOLD_POSE2,766,746,715,680,665,634,881,787,805,652,631,653,0.450010099272,-0.00553660525904,0.0497397298469,0.999999920666,8.22573559284e-05,-0.000389359791446,1.73545234102e-05,1793238952337678848
+252,4.200000000,HOLD_POSE2,766,746,715,680,665,634,881,787,805,652.578146627,631.578146627,653,0.450010246512,-0.00553526195005,0.0497386264697,0.999999920189,8.40677290289e-05,-0.000390207202973,1.71224847425e-05,1793238952354345472
+253,4.216666667,HOLD_POSE2,766,746,715,680,664.844604115,634,881,787,805,652.844604115,632,652.844604115,0.450010532231,-0.00553433306159,0.0497380397501,0.999999919905,8.56028759236e-05,-0.000390604273222,1.70280668695e-05,1793238952371012096
+254,4.233333333,HOLD_POSE2,766,746,715,680,664.269776832,634,881,787,805,652.269776832,632,652.269776832,0.45001119172,-0.00553452274157,0.0497388475488,0.999999920152,8.63951559769e-05,-0.000389785820658,1.73051033275e-05,1793238952387678720
+255,4.250000000,HOLD_POSE2,766,746,715,680.312730874,664,633.687269126,881,787,805,652,631.687269126,652.312730874,0.450010970399,-0.00553512484889,0.0497385186763,0.999999920071,8.56399956369e-05,-0.000390159067723,1.73093488857e-05,1793238952404345600
+256,4.266666667,HOLD_POSE2,766,746,715,680.902030865,664,633.097969135,881,787,805,652,631.097969135,652.902030865,0.450009970117,-0.00553609169366,0.0497371845682,0.999999919697,8.35163287922e-05,-0.000391586215615,1.7072346939e-05,1793238952421012480
+257,4.283333333,HOLD_POSE2,766,746,715,680.517720544,664.482279456,633.482279456,881,787,804.517720544,652,631,653,0.450010102012,-0.00553594481629,0.0497372444338,0.999999919617,8.46069688695e-05,-0.000391554943608,1.71013046567e-05,1793238952437679360
+258,4.300000000,HOLD_POSE2,766.060604076,746,715.060604076,680,665,634,881,787,804.060604076,652,631,653,0.450010318979,-0.00553555461877,0.0497374655061,0.999999919523,8.61201777621e-05,-0.000391461331311,1.71770520439e-05,1793238952454345984
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+261,4.350000000,HOLD_POSE2,766.213368852,746,715.213368852,680,665,634,881.786631148,787,805,652,631,653,0.450009402364,-0.00553323310527,0.049735721364,0.999999918709,8.80107212198e-05,-0.000393142985847,1.65786628873e-05,1793238952504345600
+262,4.366666667,HOLD_POSE2,766,746,715.371728211,680,665,633.628271789,881.628271789,787,805,652,631,653,0.450010653082,-0.00553348192853,0.0497365701593,0.999999919349,8.73057364076e-05,-0.000391661748435,1.67373867893e-05,1793238952521012224
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+265,4.416666667,HOLD_POSE2,765.121139326,746,715.121139326,680.121139326,664,633,881,787,805,652.878860674,631,653,0.450010727567,-0.00553652558555,0.0497384956978,0.999999919808,8.38097159858e-05,-0.000391245006186,1.69685647653e-05,1793238952571012608
+266,4.433333333,HOLD_POSE2,765.696065953,746,715.696065953,680.696065953,664,633,881,787,805,652.303934047,631,653,0.450010326801,-0.0055355072491,0.0497375358808,0.999999919629,8.32907642083e-05,-0.000391819032608,1.67890919253e-05,1793238952587679232
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+268,4.466666667,HOLD_POSE2,766,746,715.152854873,680.152854873,664.847145127,633.847145127,881,787,805,652.847145127,631,653,0.450011602256,-0.00553493165513,0.0497367257075,0.999999919713,8.41926187022e-05,-0.000391395679158,1.71779466169e-05,1793238952621012224
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,633,880,787,805,652,631,653,0.450011643094,-0.00553442218497,0.049737748549,0.999999920023,8.51928077213e-05,-0.000390387422707,1.71133231064e-05,1793238952653639424
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.577861622,664.577861622,633.577861622,880.577861622,787,805,652,631,653,0.450011815013,-0.00553425256986,0.0497374954918,0.99999991977,8.60456133558e-05,-0.000390857951065,1.69134130342e-05,1793238952670306048
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.845352562,664.845352562,633.845352562,881,787,805,652.154647438,631,653,0.45001195886,-0.00553423889079,0.0497373137481,0.999999919595,8.65850063633e-05,-0.000391189011039,1.68769244304e-05,1793238952686972928
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,715.694973105,680,665,634,880.305026895,787.694973105,805.305026895,652,631.305026895,653,0.449669079346,-0.00552326954082,0.0496346649278,0.999999836049,9.09025942818e-05,-0.000565267563866,1.05845183234e-05,1793238952903639552
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.510894727,746,714.489105273,679,666.510894727,635.510894727,881,788,804.489105273,652.489105273,632,653,0.429545412771,-0.00537007917501,0.0497852139167,0.999999935852,6.61770269626e-05,-0.000348649142948,-4.85902407509e-05,1793238953586972928
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.066946915,666,635.066946915,880.933053085,788,804.933053085,652.933053085,632,653,0.428656422991,-0.00536479491769,0.0497713738778,0.999999921465,0.000126407724179,-0.0003740363208,-3.44529682674e-05,1793238953603639808
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.779843406,666.220156594,636,880.220156594,788,804,652.220156594,632,653,0.426877923076,-0.00536026377663,0.0497944244824,0.999999934786,0.000101673548129,-0.00034398036097,-4.20540780447e-05,1793238953636972800
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745.150960278,715,679,666,636,880,788.150960278,803,653,632,653,0.400999680799,-0.00539601276,0.0498630714868,0.999999959957,0.000118055040656,-0.000253769402521,-4.18442397145e-05,1793238954803639808
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.990419304,666,636.990419304,880.990419304,788,803.009580696,653,631.009580696,653.009580696,0.401001412689,-0.00539531208307,0.0498643252341,0.999999960533,0.000117440219517,-0.000251744313784,-4.20264923568e-05,1793238954836972544
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.414956483,666,636.414956483,880.414956483,788,803.585043517,653,631.585043517,653.585043517,0.400998816303,-0.00539519538047,0.0498634741253,0.999999959866,0.000118457137307,-0.000253916395159,-4.19704556773e-05,1793238954853639168
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.160303692,666,636,880,788,804,653,631.839696308,653.839696308,0.400997495387,-0.00539546769541,0.0498630867132,0.999999959618,0.000118953839758,-0.000254686736062,-4.18189694012e-05,1793238954870305792
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.735039937,666,636,880,788,804,653,631.264960063,653.264960063,0.400999471937,-0.00539674573598,0.0498638980941,0.999999960458,0.000118105631333,-0.000251833162306,-4.14207176346e-05,1793238954886973184
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.317506873,745.317506873,715,679,666,636,880,788,804,653,631.317506873,653,0.400999903384,-0.0053968795047,0.0498640657197,0.999999960652,0.000118219607867,-0.000251020633894,-4.13426173758e-05,1793238954903640064
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.906586052,745.906586052,715,679,666,636,880,788,804,653,631.906586052,653,0.400999013263,-0.00539603454636,0.0498636827237,0.999999960298,0.000119156567539,-0.000251953867492,-4.1538351472e-05,1793238954920306176
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,745.510793501,715,679,666,636,880,788.489206499,804,653,632,653,0.400998500912,-0.00539665180588,0.0498635942193,0.999999960471,0.000116881464205,-0.000252303243796,-4.17207632901e-05,1793238954936972544
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.930257469,745.069742531,715,679,666,636,879.930257469,788.930257469,804,653,632,653,0.400998391948,-0.00539718569577,0.0498636995259,0.999999960714,0.000114908846246,-0.000252218089203,-4.18826098254e-05,1793238954953639168
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.355995016,745.644004984,715,679,666,636,879.355995016,788.355995016,804,653,632,653,0.401000686065,-0.00539512298752,0.0498648053765,0.999999960785,0.000119503550618,-0.000249785518179,-4.1913849072e-05,1793238954970305792
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.222933518,666,636,879.222933518,788,804,653,632,653,0.401001386049,-0.00539442227645,0.0498652871855,0.999999960769,0.000121633086632,-0.000248834187907,-4.18239270916e-05,1793238954986972416
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.809472539,666,636,879.809472539,788,804,653,632,653,0.400999485994,-0.00539594298815,0.0498647511801,0.999999960644,0.00011974192344,-0.000250298767138,-4.1536390648e-05,1793238955003639040
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,636,880.391118001,788,804,653,631.608881999,653,0.400999186257,-0.0053961011434,0.049864648133,0.999999960528,0.000119822797693,-0.000250733907283,-4.14498141852e-05,1793238955020305920
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,636,880.970409059,788,804,653,631.029590941,653,0.400999656457,-0.00539560375111,0.0498647533891,0.999999960419,0.000120852450463,-0.000250673767913,-4.14599227653e-05,1793238955036972800
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766.549110022,746,715,679.450889978,666,636,880.450889978,788,804,653,631.549110022,653,0.400999283891,-0.00539589533125,0.0498649023241,0.999999960626,0.000119091933161,-0.00025073201718,-4.12256026343e-05,1793238955053639424
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d081f251195469a6e47ae59ff679053e489463db
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
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+16,0.266666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+17,0.283333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
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+398,6.633333333,pose2_to_pose3_retreat,0.575665809624,9.07281282388e-05,1.04003227078,0.546236261616,0.00876246921591,1.03970040578
+399,6.650000000,pose2_to_pose3_retreat,0.575665717695,9.07325853176e-05,1.04003228839,0.546236169665,0.00876247356663,1.03970042249
+400,6.666666667,pose2_to_pose3_retreat,0.575665509028,9.0742702288e-05,1.04003232835,0.546235960951,0.00876248344218,1.03970046043
+401,6.683333333,pose2_to_pose3_retreat,0.575665485668,9.07438348975e-05,1.04003233283,0.546235937585,0.00876248454776,1.03970046467
+402,6.700000000,pose2_to_pose3_retreat,0.575665419821,9.07470273985e-05,1.04003234544,0.546235871723,0.00876248766408,1.03970047664
+403,6.716666667,pose2_to_pose3_retreat,0.575665162198,9.07645968053e-05,1.0400323575,0.546235613846,0.00876250432737,1.03970048751
+404,6.733333333,pose2_to_pose3_retreat,0.575665130437,9.07677977973e-05,1.04003235139,0.546235582014,0.00876250729274,1.03970048152
+405,6.750000000,pose2_to_pose3_retreat,0.575665040149,9.07768972472e-05,1.04003233402,0.546235491525,0.0087625157224,1.0397004645
+406,6.766666667,pose2_to_pose3_retreat,0.575664917881,9.0789219774e-05,1.04003231051,0.546235368984,0.00876252713789,1.03970044145
+407,6.783333333,pose2_to_pose3_retreat,0.575664768569,9.08042677584e-05,1.04003228179,0.54623521934,0.00876254107822,1.0397004133
+408,6.800000000,pose2_to_pose3_retreat,0.575664720963,9.08090656383e-05,1.04003227263,0.546235171628,0.00876254552293,1.03970040432
+409,6.816666667,pose2_to_pose3_retreat,0.575664651946,9.08160213976e-05,1.04003225935,0.546235102457,0.00876255196669,1.03970039131
+410,6.833333333,pose2_to_pose3_retreat,0.575664532868,9.08225613612e-05,1.04003224741,0.546234983292,0.00876255822347,1.0397003797
+411,6.850000000,pose2_to_pose3_retreat,0.575664446834,9.0794777962e-05,1.04003230401,0.546234898255,0.00876253380826,1.03970043587
+412,6.866666667,pose2_to_pose3_retreat,0.575664341041,9.07809686085e-05,1.04003236941,0.546234793294,0.00876252278172,1.03970050022
+413,6.883333333,pose2_to_pose3_retreat,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787087,0.0087625261323,1.03970050298
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0e5358187e95e41d16ffcfd1a3163c78296744cc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7efc05cf3afcb30ee63ce808b5e9bd7ba7e24343007c3d750c5342dc18d56bff
+size 26247706
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc9dc5479417663b34492316ac7900a19df2c526
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_03/franka_data.csv
@@ -0,0 +1,414 @@
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+49,0.816666667,BASELINE,767,746,715,679.434653606,666,636,880,788.565346394,803.434653606,653,632,653,0.401000846869,-0.00539817173308,0.049867580742,0.999999962802,0.000113359513324,-0.00024466822934,-4.1026164496e-05,1793238955998373888
+50,0.833333333,BASELINE,767,745.990093617,715,680,666,636,880,788.009906383,804,653,632,653,0.401001555157,-0.00539713567463,0.0498688780407,0.999999962764,0.000115828958097,-0.000243703613895,-4.07839144213e-05,1793238956015041280
+51,0.850000000,BASELINE,767,745.400871968,715,680,666,636,880,788.599128032,804,653,632,653,0.401001941578,-0.00539815295445,0.0498686995912,0.999999962951,0.000115420674405,-0.000243165101106,-4.05732522845e-05,1793238956031707136
+52,0.866666667,BASELINE,767,745,715,679.629658897,666,636.185170551,880,788.814829449,804,653,632,653,0.401001922249,-0.00539869413564,0.0498683848929,0.999999962982,0.000115353949805,-0.000243084539303,-4.04885821056e-05,1793238956048373248
+53,0.883333333,BASELINE,767,745,715,678.47110646,666,636.76444677,880,788.23555323,804,653,632,653,0.401001039343,-0.00539822201756,0.0498677802111,0.99999996268,0.000116014178691,-0.00024397865238,-4.06720655101e-05,1793238956065040128
+54,0.900000000,BASELINE,767,745.342442225,715,678.684884449,666,636.657557775,880,788,804,653,632,653.342442225,0.401001010158,-0.00539780582725,0.0498675696382,0.999999962561,0.000116453910762,-0.000244244201933,-4.07663752089e-05,1793238956081707264
+55,0.916666667,BASELINE,767,745.919559948,715,679.839119896,666,636.080440052,880,788,804,653,632,653.919559948,0.401001566027,-0.00539742796424,0.0498676291481,0.999999962566,0.000116742536442,-0.000244078997155,-4.07995742007e-05,1793238956098373888
+56,0.933333333,BASELINE,767,746,715,679.506736724,666,636,880,788,804,653,632,653.506736724,0.401002005597,-0.00539738552952,0.0498681800547,0.999999962655,0.000117965633858,-0.000243118946006,-4.08210876568e-05,1793238956115040256
+57,0.950000000,BASELINE,767,746,715,679,666,636,880,788,804,653,632,653,0.4010022621,-0.00539751464516,0.0498687258288,0.999999962771,0.000118783733961,-0.000242242191761,-4.0830603562e-05,1793238956131706624
+58,0.966666667,BASELINE,767,746,715,679,666,636,880,788,804,653,632,653,0.401001265506,-0.00539853819325,0.0498686252093,0.999999962995,0.000115356948621,-0.000242983207464,-4.07630181917e-05,1793238956148373248
+59,0.983333333,BASELINE,767,746,715,679,666,636,880,788,804,653,632,653,0.401000776962,-0.00539904778548,0.0498682350201,0.999999962985,0.000113868372921,-0.000243731384335,-4.0733610206e-05,1793238956165040384
+60,1.000000000,BASELINE,767,746,715,679,666,636,880,788,804,653,632,653,0.401000971228,-0.00539886662968,0.0498674556539,0.999999962671,0.00011498471843,-0.000244489185803,-4.07555119849e-05,1793238956181707776
+61,1.016666667,BASELINE,767,746,715,679,666,636,880,788,804,653,632,653,0.401000909434,-0.00539809077187,0.0498668477809,0.999999962464,0.000115812077186,-0.000244907254385,-4.09793626966e-05,1793238956198374144
+62,1.033333333,BASELINE,767,746,715,679,666,636,880,788,804,653,632,653,0.401000735701,-0.00539705493183,0.0498663148785,0.999999962304,0.000116513101305,-0.000245176803972,-4.12914981875e-05,1793238956215040000
+63,1.050000000,BASELINE,767,745.469293557,715,679,666,636,880,788,803.469293557,653,632,653,0.401000994791,-0.00539689665784,0.0498668220679,0.999999962262,0.000117940574475,-0.000244713375373,-4.10052803363e-05,1793238956231706624
+64,1.066666667,BASELINE,767,745,715,679,666,636,880,788,803.095240727,653,632,653,0.401001224276,-0.00539694110347,0.0498673800987,0.999999962305,0.000118699492301,-0.000244215632119,-4.07418445379e-05,1793238956248372992
+65,1.083333333,BASELINE,767,745,715,679,666,636,880,788,803.712252231,653,632,653,0.401001183217,-0.00539787646409,0.0498679563056,0.999999962788,0.000115613923589,-0.000243713377392,-4.07529989102e-05,1793238956265039616
+66,1.100000000,BASELINE,766.692337391,745.307662609,715,679,666.307662609,636.307662609,880,788,803.692337391,653,632,653,0.401001789666,-0.00539788742111,0.0498688498252,0.99999996309,0.000115118869784,-0.000242696880149,-4.08080207396e-05,1793238956281706240
+67,1.116666667,BASELINE,766.115804542,745.884195458,715,679,666.884195458,636.884195458,880,788,803.115804542,653,632,653,0.401002961979,-0.0053970905301,0.0498700206483,0.999999963236,0.000116887699835,-0.000241230979902,-4.09013788932e-05,1793238956298372864
+68,1.133333333,BASELINE,766.45964337,746,715,679,666.54035663,637,879.54035663,788,803.45964337,653,632,653,0.401001574397,-0.0053971711058,0.0498688115254,0.999999962666,0.000118359311444,-0.000242892633271,-4.07594898989e-05,1793238956315039488
+69,1.150000000,BASELINE,767,746,715,679,666,636.964490024,879.035509976,788,804,653,632,653,0.400999649973,-0.00539734707085,0.049867124548,0.999999961946,0.000119765487556,-0.000245182947729,-4.06109339385e-05,1793238956331706368
+70,1.166666667,BASELINE,767,746,715,679,666,636.377894212,879.622105788,788,804,653,632,653,0.400999379763,-0.00539558061056,0.049867305265,0.99999996177,0.000121315535279,-0.000245029720682,-4.12765557288e-05,1793238956348372992
+71,1.183333333,BASELINE,767,745.792802747,715,679,666,636,879.792802747,788,803.792802747,653,632,653,0.400999492277,-0.00539549677299,0.0498674383458,0.999999961821,0.000121216853392,-0.0002448406239,-4.14365037988e-05,1793238956365039872
+72,1.200000000,BASELINE,767,745.210435089,715,679,666,636,879.210435089,788,803.210435089,653,632,653,0.401000297789,-0.00539845964656,0.0498674851721,0.999999962284,0.000118132830295,-0.000244586578053,-4.06808326341e-05,1793238956381706496
+73,1.216666667,BASELINE,766.632928726,745.367071274,715,679,666,636,879,788,803,653,631.632928726,653,0.401000629208,-0.00539873283273,0.0498675205063,0.999999962414,0.000117388636603,-0.000244427017041,-4.05991778646e-05,1793238956398373120
+74,1.233333333,BASELINE,766.05817286,745.94182714,715,679,666,636,879,788,803,653,631.05817286,653,0.40100069239,-0.00539748422536,0.0498675493383,0.999999962359,0.000117968290943,-0.000244320914448,-4.08988736571e-05,1793238956415039744
+75,1.250000000,BASELINE,766.517534037,745.482465963,715,679,666,636,879.517534037,788,803,653,631,653,0.401000113305,-0.00539836688984,0.0498675457905,0.999999962571,0.00011637751466,-0.000244219014608,-4.08773694083e-05,1793238956431706368
+76,1.266666667,BASELINE,767,745.095919375,715,678.904080625,666,636,880,788,803.095919375,653,631.095919375,653,0.400999813563,-0.00539939600282,0.049867645123,0.999999962801,0.000114923459283,-0.000243988510868,-4.07500217546e-05,1793238956448372992
+77,1.283333333,BASELINE,767,745.687594611,715,678.312405389,666,636,880,788,803.687594611,653,631.687594611,653,0.401001331414,-0.0053999415756,0.0498682950341,0.99999996298,0.000115439286448,-0.00024309087637,-4.02625727809e-05,1793238956465039872
+78,1.300000000,BASELINE,766.728259243,745.728259243,715,678.271740757,666,636,880,788,804,653,631.728259243,653,0.40100162486,-0.00539956579419,0.0498681837632,0.999999962783,0.000117140083582,-0.000243104516003,-4.015281166e-05,1793238956481706496
+79,1.316666667,BASELINE,766.152535558,745.152535558,715,678.847464442,666,636,880,788,804,653,631.152535558,653,0.401000548626,-0.00539815933944,0.0498672209956,0.99999996216,0.000120166447909,-0.000244137552941,-4.0465551271e-05,1793238956498373120
+80,1.333333333,BASELINE,766,745.423248022,715,679.423248022,666.423248022,636,880,788,803.576751978,653,631.423248022,653,0.401001180722,-0.00539817593841,0.0498678401327,0.999999962323,0.000120262392546,-0.000243445199063,-4.03238225714e-05,1793238956515039744
+81,1.350000000,BASELINE,766,745.999053238,715,679.999053238,666.999053238,636,880,788,803.000946762,653,631.999053238,653,0.401002428575,-0.00539870546838,0.0498690294576,0.999999962769,0.000119302085348,-0.00024213093857,-4.00182835395e-05,1793238956531706368
+82,1.366666667,BASELINE,766.584715993,746,715,679.415284007,666.415284007,636,880,788,803,653,632,653,0.401001444238,-0.00539866873844,0.04986817344,0.99999996256,0.000118649975647,-0.000243300842571,-4.00897360683e-05,1793238956548373760
+83,1.383333333,BASELINE,767,746,715,679,666,636,880.169780837,788.169780837,803.169780837,653,631.830219163,653,0.401001093476,-0.00539832037821,0.049867908676,0.999999962511,0.000118190331757,-0.000243695933153,-4.02551000894e-05,1793238956565040896
+84,1.400000000,BASELINE,767,746,715,679,666,636,880.753349019,788.753349019,803.753349019,653,631.246650981,653,0.401002295813,-0.00539721479016,0.0498690931161,0.99999996286,0.000118198525485,-0.000242192688949,-4.06478306115e-05,1793238956581707008
+85,1.416666667,BASELINE,767,745.668083192,715,679,666,636,880.668083192,789,804,653,631.331916808,653,0.401002054279,-0.00539675910838,0.0498689267617,0.999999962726,0.000118711127369,-0.000242482148729,-4.07105362132e-05,1793238956598373376
+86,1.433333333,BASELINE,767,745.093176134,715,679,666,636,880.093176134,789,804,653,631.906823866,653,0.401000755716,-0.00539677921122,0.0498677715152,0.999999962239,0.000119592997275,-0.000244084014531,-4.0531636558e-05,1793238956615040000
+87,1.450000000,BASELINE,766.51883548,745,715,679,666.48116452,636,880,788.51883548,804,653,632,653,0.401000405215,-0.0053975946494,0.0498682567718,0.999999962473,0.000118508064162,-0.000243689727171,-4.03016324723e-05,1793238956631706368
+88,1.466666667,BASELINE,766,745,715,679,666.943056883,636,880.056943117,788,804,653,632,653,0.401000373751,-0.00539841835935,0.0498689682367,0.999999962818,0.000117194619218,-0.000242938899061,-4.01189410416e-05,1793238956648373248
+89,1.483333333,BASELINE,766,745,715,679,666.352784395,636,880.647215605,788,804,653,632,653,0.401001612908,-0.00539787873941,0.049868826488,0.999999962906,0.000117303927466,-0.000242464874792,-4.04719591461e-05,1793238956665039616
+90,1.500000000,BASELINE,766.233305558,745.233305558,715,679.233305558,666,636,880.766694442,788,804,653,632,653.233305558,0.40100253097,-0.00539752194134,0.0498690266198,0.999999963057,0.000117084081982,-0.000241896897679,-4.07758703383e-05,1793238956681706496
+91,1.516666667,BASELINE,766.813182377,745.813182377,715,679.813182377,666,636,880.186817623,788,804,653,632,653.813182377,0.401002972052,-0.00539743672195,0.049869734609,0.999999963301,0.000116375284472,-0.000241189355328,-4.10068340536e-05,1793238956698373120
+92,1.533333333,BASELINE,767,746,715,679.610564821,666.389435179,636,880,788.389435179,803.610564821,653,632,653.610564821,0.401003219751,-0.00539737451797,0.0498700585162,0.999999963295,0.000117314859073,-0.000240819291324,-4.06648894384e-05,1793238956715039744
+93,1.550000000,BASELINE,767,746,715,679.03603443,666.96396557,636,880,788.96396557,803.03603443,653,632,653.03603443,0.401003375536,-0.00539732325302,0.0498701998726,0.999999963166,0.000119037890782,-0.00024060962783,-4.00506464121e-05,1793238956731706368
+94,1.566666667,BASELINE,766.449040658,746,715,679,666.449040658,636,880,788.449040658,803.550959342,653,632,653,0.401003226419,-0.0053987133974,0.0498700147955,0.999999963308,0.000117614318562,-0.000240707735277,-4.01360107219e-05,1793238956748373248
+95,1.583333333,BASELINE,766.136831482,746,715,679,666.136831482,636.136831482,880,788,804,653.136831482,632,653,0.401002819507,-0.0053994786868,0.049869591889,0.999999963288,0.000116776985387,-0.000241174979479,-4.0258998134e-05,1793238956765039616
+96,1.600000000,BASELINE,766.716376363,746,715,679,666.716376363,636.716376363,880,788,804,653.716376363,632,653,0.401001644521,-0.0053979102053,0.0498684701688,0.999999962694,0.000118517669012,-0.000242769918011,-4.03522439378e-05,1793238956781706496
+97,1.616666667,BASELINE,767,745.707242265,715,679.292757735,666.707242265,636.707242265,880,788.292757735,803.707242265,653.707242265,632,653.292757735,0.401000821356,-0.0053979127698,0.0498678993917,0.99999996255,0.000117755221052,-0.000243743765701,-4.02705581407e-05,1793238956798373632
+98,1.633333333,BASELINE,767,745.13389297,715,679.86610703,666.13389297,636.13389297,880,788.86610703,803.13389297,653.13389297,632,653.86610703,0.401000335394,-0.00539942109219,0.0498678566621,0.999999962835,0.000114593664394,-0.000244122333211,-4.00212103941e-05,1793238956815041024
+99,1.650000000,BASELINE,767,745,715,679.556634487,666,636,880,788.556634487,803,653,632,653.556634487,0.401000289341,-0.00539856863524,0.0498674418572,0.999999962433,0.000117279571128,-0.000244462350687,-4.02171252041e-05,1793238956831707648
+100,1.666666667,BASELINE,767,745,715,679,666,636,880,788,803.022253679,653,632,653,0.401000395487,-0.00539715362621,0.0498669656806,0.999999961862,0.000121390193577,-0.000244738668552,-4.05361005051e-05,1793238956848373504
+101,1.683333333,BASELINE,767,745,715,679,666,636,880,788,803.612334382,653,632,653,0.401000965216,-0.00539973767893,0.0498678161332,0.999999962712,0.000116394590489,-0.000243689317303,-4.05335344983e-05,1793238956865040384
+102,1.700000000,BASELINE,767,745.197798091,715,679,666,636,880,788,804,653,632,653.197798091,0.401001606357,-0.00540106156454,0.0498685535928,0.999999963241,0.00011389975679,-0.000242707025605,-4.04846298059e-05,1793238956881706752
+103,1.716666667,BASELINE,767,745.774419263,715,679,666,636,880,788,804,653,632,653.774419263,0.401002384263,-0.0053999719767,0.049869074648,0.999999963189,0.000116194399428,-0.000241853166547,-4.03469772236e-05,1793238956898373376
+104,1.733333333,BASELINE,767,746,715,679,666,636,880,788.351054526,804,653,632,653.648945474,0.401001723153,-0.00539853722207,0.0498688501432,0.999999962879,0.000118346433443,-0.000242113553279,-4.02260328644e-05,1793238956915040000
+105,1.750000000,BASELINE,767,746,715,679,666,636,880,788.9276989,804,653,632,653.0723011,0.401000137322,-0.00539688066098,0.0498681465369,0.9999999624,0.000120406826485,-0.000243089961286,-4.01158253012e-05,1793238956931706624
+106,1.766666667,BASELINE,767,746,715,679,666,636,880,788.496081406,804,653,631.496081406,653,0.401000662992,-0.00539690378977,0.0498686334426,0.99999996245,0.000120737630831,-0.000242721872831,-4.01000537366e-05,1793238956948373504
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,715,679,666,636,880,788,804,653,632,654,0.401002568624,-0.00539980717179,0.0498692039962,0.999999963681,0.000115316655541,-0.000240293468193,-3.99865382282e-05,1793238956991040512
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.42324282,745,715,679,666,636,880,788,803.42324282,653,631.42324282,654,0.401001597145,-0.00539916905505,0.0498690799294,0.99999996313,0.000117214780282,-0.000241663703954,-3.99848190268e-05,1793238957007708160
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.152601133,745.152601133,715,679,666,636,880,788.152601133,803,653,631.152601133,653.847398867,0.401001097588,-0.00539885642708,0.0498691187752,0.999999962802,0.000118304503714,-0.000242484472949,-4.00073107199e-05,1793238957024375808
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.725927425,745.725927425,715,679,666,636,880,788.725927425,803,653,631.725927425,653.274072575,0.401001899132,-0.00539944117969,0.0498696067751,0.999999963101,0.000117165444844,-0.000241790348559,-4.00965524578e-05,1793238957041043200
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.691142545,746,715.308857455,679,666,636,880,788.691142545,803.308857455,653,632,653,0.401002046041,-0.00539878083951,0.0498692406656,0.999999962909,0.00011837009298,-0.000241967600183,-4.02834869338e-05,1793238957057709824
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.099416936,746,715.900583064,679,666,636,880,788.099416936,803.900583064,653,632,653,0.401001593401,-0.00539698017682,0.0498680923169,0.999999962259,0.000121721233249,-0.000242942904547,-4.05598936321e-05,1793238957074375936
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,715.51807515,679,666.48192485,636,880,788,804,652.51807515,632,653,0.401001608557,-0.00539763433286,0.0498680267682,0.999999962437,0.000120042113317,-0.000243058845242,-4.04698795327e-05,1793238957091042304
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.939126545,715,679,667,636.060873455,880.060873455,788,804,652.060873455,632,653,0.401001792031,-0.005398493807,0.0498682365287,0.999999962741,0.000117856635294,-0.000242900640802,-4.03311675588e-05,1793238957107708928
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.36268715,715,679,667,636.63731285,880.63731285,788,804,652.63731285,632,653,0.401002600993,-0.00539689367405,0.0498689260704,0.99999996273,0.000119985962064,-0.000241890365103,-4.04067097491e-05,1793238957124375296
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.214055226,745.214055226,715,679,666.785944774,636.785944774,880.785944774,788.214055226,804,653,632,653,0.401007119241,-0.00539659400261,0.0498710791736,0.999999963549,0.000120582480674,-0.000238207433992,-4.02501159084e-05,1793238957141041664
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.791311631,745.791311631,715,679,666.208688369,636.208688369,880.208688369,788.791311631,804,653,632,653,0.401017931275,-0.00539850090747,0.049875715595,0.999999965734,0.000118578185515,-0.000229989637753,-3.96996420214e-05,1793238957157708288
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.623915721,715,679,666,636.376084279,880,788.623915721,804,653,632,653,0.40104442038,-0.00539899880949,0.0498851537484,0.999999969972,0.000119103771028,-0.000210559424349,-3.91782546158e-05,1793238957174374656
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.034887215,715,679,666,636.965112785,880,788.034887215,804,653,632,653,0.401079786063,-0.00539869891441,0.0498973107107,0.999999974852,0.000121061810429,-0.00018478058123,-3.86733363142e-05,1793238957191041024
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,715,679,666,637,880,788,803.454997209,653,632,653,0.401142076042,-0.00540140057285,0.0499167171378,0.999999981901,0.000120166008396,-0.000142755005784,-3.71292205433e-05,1793238957207707648
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.123175383,715,679,666,636.876824617,880,788,803.123175383,653,632,653,0.401208469761,-0.00540398448831,0.0499348977593,0.99999998679,0.000119104374581,-0.000104675340459,-3.57385497272e-05,1793238957224374528
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.697168172,715,679,666,636.302831828,880,788,803.697168172,653,632,653,0.401283679103,-0.00540544584783,0.0499469215518,0.999999988815,0.000118093388603,-8.47811434273e-05,-3.51489347907e-05,1793238957241040640
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745.721716378,715,678.721716378,666,636,880.278283622,788,803.721716378,653,632,653,0.401361366264,-0.00540763572215,0.0499547978292,0.999999990023,0.000116461623057,-7.21086752676e-05,-3.4506165943e-05,1793238957257706752
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745.132646395,715,678.132646395,666,636,880.867353605,788,803.132646395,653,632,653,0.401441820641,-0.00541063919967,0.049958042173,0.999999990637,0.000114136572744,-6.75014146738e-05,-3.38040350045e-05,1793238957274373376
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,715,678.449157348,666,636,880.550842652,788,803.449157348,653,632,653,0.401535298343,-0.00541422107814,0.0499556700054,0.999999990448,0.00011256608206,-7.30106762785e-05,-3.31929393309e-05,1793238957291040256
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745.027579437,715,679,666,636.027579437,880,788,804,653,632,653,0.401634175815,-0.00541801221942,0.0499519103673,0.999999990013,0.000111148445576,-8.09893941311e-05,-3.25812698558e-05,1793238957307706880
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.58175393,715,679,666,636.58175393,880,788,804,653,632,653,0.401763888104,-0.00542258939824,0.0499528250139,0.999999990425,0.000108462279524,-7.99822083761e-05,-3.14534848597e-05,1793238957324373248
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.853226894,715,679,666,636.853226894,880,788,803.853226894,653,632,653.146773106,0.401903492822,-0.00542739595324,0.0499549550944,0.999999990943,0.000106080765839,-7.71172013577e-05,-3.02151825931e-05,1793238957341040128
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.254839194,715,679,666,636.254839194,880,788,803.254839194,653,632,653.745160806,0.402073536101,-0.00543290828811,0.0499608250129,0.999999991767,0.000104636655004,-6.85357576764e-05,-2.86368236028e-05,1793238957357706752
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.662453702,745.337546298,715,679,666,636,880,788,803.337546298,653,632,653.662453702,0.402250537343,-0.00543907266062,0.0499613061672,0.999999992136,0.000101676311522,-6.81918518615e-05,-2.71891885529e-05,1793238957374373376
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.074520497,745.925479503,715,679,666,636,880,788,803.925479503,653,632,653.074520497,0.402432699918,-0.00544572070571,0.0499577900155,0.999999992169,9.7591248686e-05,-7.39584302614e-05,-2.58385224449e-05,1793238957391040000
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.507534148,746,715,679,666,636,880,788,804,653,632,653,0.402648792594,-0.00545223895331,0.0499567553528,0.999999992479,9.51808524504e-05,-7.31711529401e-05,-2.50810946841e-05,1793238957407706624
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.912668752,745.912668752,715,679,666,636,880,788,804,653,632,653.087331248,0.40287776798,-0.0054594308818,0.0499573400407,0.999999993003,9.24884510368e-05,-6.97103908117e-05,-2.40879478423e-05,1793238957424373248
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.340664969,745.340664969,715,679,666,636,880,788,804,653,632,653.659335031,0.403150908051,-0.0054704661765,0.0499649128864,0.999999994392,8.68819580351e-05,-5.66916759706e-05,-2.13087246678e-05,1793238957441039872
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.238256699,745.238256699,715,679,666,636,880,788,804,653,631.761743301,653.761743301,0.403441565922,-0.00548032527661,0.0499733583522,0.999999995544,8.30124089241e-05,-4.09202166573e-05,-1.86061191825e-05,1793238957457706752
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.827365473,745.827365473,715,679,666,636,880,788,804,653,631.172634527,653.172634527,0.403758020141,-0.00548845233529,0.0499830888203,0.999999996312,8.17006491538e-05,-2.10951213971e-05,-1.60163395476e-05,1793238957474373376
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.590359873,745.590359873,715,679,666,636,880,788.409640127,803.590359873,652.590359873,631.409640127,653,0.404100660414,-0.00549902491747,0.0499914340322,0.999999996819,7.83222339074e-05,-7.93173207653e-06,-1.28292624767e-05,1793238957491040000
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.010918074,745.010918074,715,679,666,636,880,788.989081926,803.010918074,652.010918074,631.989081926,653,0.404454155172,-0.00551061120381,0.0499992050354,0.999999997208,7.4087160534e-05,2.470284663e-06,-9.3945971674e-06,1793238957507706624
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.567094053,715,679,666,636,879.432905947,788.432905947,803.567094053,652.567094053,632,653,0.404841483937,-0.00551672061922,0.0500040365219,0.999999997023,7.55912428744e-05,1.38983934891e-05,-6.84980039746e-06,1793238957524373248
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.144228906,746,715,679,666,636,879.144228906,788,803.855771094,653,632,653,0.405233459871,-0.00551981065782,0.0500042440983,0.99999999658,8.09757627267e-05,1.62954052083e-05,-4.12738279157e-06,1793238957541040128
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.71882785,746,715,679,666,636,879.71882785,788,803.28117215,653,632,653,0.405637363767,-0.0055142049119,0.049990822662,0.999999995201,9.7610386947e-05,-8.31461380979e-06,-8.23962888884e-07,1793238957557708288
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,715,679,666,636,880,788,803,653,632,653,0.406055748061,-0.00550172949755,0.0499745145952,0.999999991848,0.000121670855766,-3.87385283888e-05,4.6506516176e-07,1793238957574374912
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,715,679,666,636,880,788,803,653,632,653,0.406488008047,-0.00548267131659,0.0499554404523,0.999999985526,0.000152847040571,-7.47335318282e-05,-1.76169879893e-07,1793238957591040256
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.52835864,746,715,679,666,636,880,788,803.47164136,652.52835864,632,653,0.406971775803,-0.00548663705996,0.0499448816137,0.999999983015,0.000161355758093,-8.90367875871e-05,2.66983909455e-06,1793238957607706880
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666.05026849,636,880,788,804,652,632,653,0.407473359012,-0.00549596095235,0.0499384886617,0.999999982021,0.000164162107518,-9.47040029671e-05,6.34136034936e-06,1793238957624373504
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666.625447596,636,880,788,804,652,632,653,0.408038592766,-0.00550653108893,0.0499553643118,0.999999985035,0.000161280903335,-6.17315652822e-05,1.03473889167e-05,1793238957641040128
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.799230221,715,679,666.799230221,636,880,788,804,652,631.799230221,653,0.408619883152,-0.00551404744484,0.0499745471628,0.999999986163,0.000163149168262,-2.88704999301e-05,1.49134490689e-05,1793238957657707008
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.223640958,715,679,666.223640958,636,880,788,804,652,631.223640958,653,0.409231149823,-0.00551586266076,0.0499980373534,0.999999984664,0.000173884273757,3.78264104718e-06,2.05250386006e-05,1793238957674374144
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,804,652.359742787,631.359742787,653,0.409846656272,-0.00551340686233,0.0500081141839,0.999999981656,0.000189221110245,1.64207555594e-05,2.47882245425e-05,1793238957691041280
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,804,652.948079412,631.948079412,653,0.41046485681,-0.00550823710376,0.0500096676695,0.999999977945,0.000207482055989,1.63405827036e-05,2.81945848949e-05,1793238957707708416
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.528346278,715,679,666,636,880.528346278,788.528346278,804,653,632,653,0.411073081579,-0.0055025156887,0.0499841097335,0.999999973597,0.000225059508307,-3.53014756955e-05,3.01283541117e-05,1793238957724375296
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880.892744968,789,803.892744968,652.892744968,632,653,0.411695479889,-0.00549896266835,0.0499601551267,0.999999967514,0.00023950722844,-8.11191617142e-05,3.20550848232e-05,1793238957741041664
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880.31636028,789,803.31636028,652.31636028,632,653,0.41238409596,-0.0055051276812,0.0499546914099,0.999999967298,0.000240554976387,-7.96318338157e-05,3.45744700807e-05,1793238957757707776
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666.258648109,636,880,788.741351891,803.258648109,652.258648109,632,653,0.413109928933,-0.00551483429496,0.049966259999,0.99999997833,0.00019863874205,-5.54239766283e-05,2.84725289516e-05,1793238957774373888
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666.831982094,636,880,788.168017906,803.831982094,652.831982094,632,653,0.413881042177,-0.00552884982089,0.049998551051,0.999999994468,0.000104450102319,-3.57304148818e-06,1.18813960307e-05,1793238957791040256
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,715,679,667,636,880,788,804,653,632,653,0.414625424667,-0.00553421166467,0.0499964866229,0.999999996224,8.61511710357e-05,-5.98461836074e-06,9.72667634297e-06,1793238957807707136
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.011255991,745.988744009,715,679,666.988744009,636,880,788.011255991,804,653,631.988744009,653.011255991,0.415359135211,-0.00553582146747,0.0499800525327,0.999999994489,9.93624682603e-05,-3.10985894446e-05,1.34987772821e-05,1793238957824373760
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.5899964,745.4100036,715,679,666.4100036,636,880,788.5899964,804,653,631.4100036,653.5899964,0.416113463219,-0.00552912356787,0.0499571602927,0.99999999104,0.000115157619356,-6.67323014392e-05,1.4367660062e-05,1793238957841040640
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.832479986,745.167520014,715,679,666,636,880.167520014,788.832479986,804,653,631,653.832479986,0.416884879711,-0.00552468306061,0.0499467630071,0.999999988537,0.000126796707763,-8.12693881142e-05,1.56316362962e-05,1793238957857707520
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.257913028,745.742086972,715,679,666,636,880.742086972,788.257913028,804,653,631,653.257913028,0.417697818452,-0.00552572765752,0.0499667264714,0.999999990613,0.000128337225263,-4.4545034255e-05,1.78556266607e-05,1793238957874373888
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880.675525761,788,804,652.675525761,631.324474239,653,0.41852260774,-0.0055260070059,0.0499834188752,0.999999991217,0.000129881158345,-1.75459832007e-05,1.97106419446e-05,1793238957891040512
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880.086768921,788,804,652.086768921,631.913231079,653,0.419357049196,-0.00552566306323,0.049997447016,0.999999991136,0.00013142787339,1.53185682353e-06,2.12651288199e-05,1793238957907706880
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666.49354795,636,880,788,804,652.49354795,631.50645205,653,0.420169847802,-0.00552622854987,0.0499811292439,0.999999990796,0.000131782148462,-2.38027120306e-05,2.18108181061e-05,1793238957924373760
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.072044627,746,715,679,667,636,880.072044627,788,804,652.927955373,631.072044627,653,0.420991004518,-0.00552711860165,0.0499659670442,0.999999990112,0.000131340701534,-4.50907568233e-05,2.22112693467e-05,1793238957941040384
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.64801359,746,715,679,667,636,880.64801359,788,804,652.35198641,631.64801359,653,0.4218967893,-0.00552917933961,0.0499955765533,0.999999991582,0.000126775174768,1.56207237058e-05,2.28154962449e-05,1793238957957707264
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.771584749,746,715,679,667,636,881,788,804,652,632,653,0.422771871755,-0.00553139929813,0.0500125777696,0.999999991062,0.000121832101996,4.98617328955e-05,2.33878732747e-05,1793238957974373888
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.184217054,746,715,679,667,636,881,788,804,652,632,653,0.423598705931,-0.00553386947062,0.0500097651753,0.999999992048,0.000116295719066,4.25046518649e-05,2.39101987317e-05,1793238957991040512
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.397335783,746,715,679.397335783,667,636,881,788,804.397335783,652.397335783,631.602664217,653,0.424463161055,-0.00553636191267,0.0500016641908,0.999999992772,0.000113979923276,2.94596980574e-05,2.44475099477e-05,1793238958007707136
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.976231524,746,715,679.976231524,667,636,881,788,804.976231524,652.976231524,631.023768476,653,0.425344806773,-0.00553886453051,0.0499911467115,0.999999993192,0.000113135753795,1.38157088323e-05,2.49916687715e-05,1793238958024373760
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.444030822,746,715,680,667,636,881,788,804.444030822,652.444030822,631.555969178,653,0.426231253949,-0.00553988246373,0.0500098656345,0.999999992621,0.00011332931588,3.43681226063e-05,2.70820469902e-05,1793238958041040384
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,679.866102387,667,636,880.866102387,788.133897613,804,652.133897613,632,653,0.427098211343,-0.00554015808142,0.0500191380101,0.999999992371,0.000114106007546,3.76220146431e-05,2.86610566616e-05,1793238958057707264
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,679.294210064,667,636,880.294210064,788.705789936,804,652.705789936,632,653,0.427900742861,-0.00553821343884,0.0499934148639,0.999999992579,0.000116644842437,-2.07791366684e-05,2.83507611801e-05,1793238958074373888
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,679.287380481,666.712619519,636,880.287380481,788.712619519,804,653,632,653,0.428723682505,-0.00553662059998,0.0499729862685,0.999999991006,0.00011831640004,-5.67600243956e-05,2.76950838436e-05,1793238958091040256
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,679.879246453,666.120753547,636,880.879246453,788.120753547,804,653,632,653,0.429568244925,-0.0055354005045,0.0499581673594,0.999999990176,0.00011906905979,-6.89861812413e-05,2.66734674708e-05,1793238958107706880
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.460902604,746,715,680,666.921805209,636,881,788,804,652.539097396,632,653,0.430456748617,-0.00553735211679,0.0499685182293,0.999999992015,0.000115341491658,-4.39651575645e-05,2.70953656214e-05,1793238958124373760
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.960427865,746,715,679.960427865,667.960427865,636,881,788,804,652.039572135,632,653,0.431349298635,-0.00553993374501,0.0499826914078,0.999999993366,0.000110813114063,-1.46981800227e-05,2.78081042552e-05,1793238958141040640
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.386748545,746,715,679.386748545,667.386748545,636,881,788,804,652.613251455,632,653,0.432144446057,-0.00554004618153,0.0499613794284,0.999999991842,0.000110975557484,-5.69802762455e-05,2.74524824055e-05,1793238958157707264
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.18709922,746,715,679.18709922,667,636,881,788,804.18709922,653,632,653,0.432950782815,-0.00554046470181,0.049950798667,0.999999990551,0.000110344829533,-7.72618380196e-05,2.74307638923e-05,1793238958174373888
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.761295594,746,715,679.761295594,667,636,881,788,804.761295594,653,632,653,0.43378026979,-0.00554151649117,0.0499624201534,0.999999992412,0.000108073077535,-5.20256111228e-05,2.80998715208e-05,1793238958191041024
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.654062907,745.654062907,715,680,667,636,881,788,804.654062907,652.654062907,632,653,0.434594272834,-0.0055417474853,0.0499796272006,0.99999999352,0.000107071228694,-2.51056530007e-05,2.94240559505e-05,1793238958207707648
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.061989679,745.061989679,715,680,667,636,881,788,804.061989679,652.061989679,632,653,0.435397258927,-0.00554139447908,0.0500008084044,0.999999993787,0.000106972923008,3.01228759836e-06,3.12143310624e-05,1793238958224374016
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.518346932,715,680,667,636,881,788,804.518346932,652.518346932,632,653,0.436143366267,-0.00554024411033,0.0499800416186,0.999999992399,0.000108627612735,-4.9286523842e-05,3.11798413621e-05,1793238958241040640
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715,679.903528791,667,636,881,788,805,652.903528791,632,653,0.436887045309,-0.00553933214168,0.0499600365022,0.999999988889,0.000109934883142,-9.57724978209e-05,3.10458984766e-05,1793238958257707264
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,715,679.329561299,667,636,881,788,805,652.329561299,632,653,0.437651628014,-0.00554006169743,0.0499680819128,0.999999991377,0.000108507882223,-6.69398744502e-05,3.14759197573e-05,1793238958274373888
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,679.250784787,667,636,881,788,805,652,632,653,0.438401709607,-0.00554211602093,0.0499821422593,0.999999993305,0.000105886199965,-3.39118148685e-05,3.20581390938e-05,1793238958291040512
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,679.839731825,667,636,881,788,805,652,632,653,0.439132237604,-0.00554595668256,0.0500043132417,0.999999994282,0.000101653590215,4.77343623118e-06,3.28455847023e-05,1793238958307707136
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.578315372,715,680,667,636,881,788,805,652,632,653,0.439811687637,-0.00554546143966,0.0499945143585,0.999999993939,0.000104841250008,-7.13881172874e-06,3.28528965404e-05,1793238958324373760
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.001012763,715,679.998987237,667,635.998987237,881,788,805,652,632,653,0.440472010045,-0.00554335068215,0.0499727775607,0.999999992612,0.000110792376789,-3.79542208038e-05,3.25696840158e-05,1793238958341040384
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.574790022,715,679.425209978,667,635.425209978,881,788,805,652,632,653,0.441114575432,-0.00554436743273,0.0499592482138,0.999999991463,0.000110683580743,-6.1138490775e-05,3.29315713558e-05,1793238958357707008
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,715,679.149203479,667,635.149203479,881,788,805,652,632,653,0.441750867825,-0.00554550584354,0.0499515523035,0.999999990584,0.000111024352484,-7.32693389238e-05,3.37221608555e-05,1793238958374373632
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715,679.72543791,667,635.72543791,881,788,805,652,632,653,0.44236920661,-0.0055469924548,0.0499605521,0.999999991571,0.000112651819254,-5.37645144243e-05,3.57397264958e-05,1793238958391040256
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.308126303,746,715,680,667,635.691873697,881,788,804.691873697,652,632,653,0.442944513025,-0.00554802728372,0.0499598742256,0.999999991294,0.000115349074251,-5.22850902244e-05,3.70440031593e-05,1793238958407707392
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.896688627,746,715,680,667,635.103311373,881,788,804.103311373,652,632,653,0.44348065421,-0.00554865093038,0.0499503883795,0.999999989948,0.000119019979094,-6.72111850111e-05,3.76990916244e-05,1793238958424374784
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.519823262,745.519823262,715,680,666.519823262,635.480176738,880.519823262,788,804,652,632,653,0.443958993859,-0.00554576366608,0.0499067356471,0.999999981513,0.000123211283828,-0.000143024229715,3.65696923067e-05,1793238958441041408
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,680,665.93820291,635.93820291,880,788,804,652,632,653,0.444426083969,-0.00554313088355,0.049858596612,0.999999965873,0.000126792641668,-0.000225687956993,3.52583141499e-05,1793238958457708288
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665.363122992,635.363122992,880,788,804,652,632,653,0.444901949989,-0.00554882036198,0.0498336139424,0.999999958456,0.000124387571281,-0.000257583055536,3.559104803e-05,1793238958474374400
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.210928957,715,680,665.210928957,635,880.210928957,787.789071043,804,652,632,653,0.445374221257,-0.00555292994951,0.0498217733019,0.999999956003,0.000122947115217,-0.000267521411108,3.61858102172e-05,1793238958491040512
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.783219736,715,680,665.783219736,635,880.783219736,787.216780264,804,652,632,653,0.445840333975,-0.00555433287983,0.0498324474845,0.99999996296,0.000123159229155,-0.000239843644939,3.7229477229e-05,1793238958507707136
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635,881,787.368211542,804.368211542,652,632,653,0.446275358583,-0.00554877575618,0.0498403918237,0.999999967021,0.000129111428653,-0.000218877470091,3.71547759305e-05,1793238958524373760
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635,881,787.960948131,804.960948131,652,632,653,0.446691426579,-0.0055389745874,0.0498466715822,0.999999969335,0.000138563770985,-0.00020200383229,3.63981251774e-05,1793238958541040384
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635,881,788,805,652,632,653,0.447022488828,-0.00553503988392,0.0498208010827,0.999999964403,8.89819490774e-05,-0.000250840261179,1.88324564694e-05,1793238958557707264
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,715,680.116566463,665.883433537,635,881,787.883433537,805,652,632,653,0.447341628821,-0.00553512378487,0.0497913513607,0.999999953053,4.39686447064e-05,-0.000303222276322,4.10946201438e-06,1793238958574374144
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715,680.692645419,665.307354581,635,881,787.307354581,805,652,632,653,0.447637405372,-0.00554941818588,0.0497567310741,0.999999937719,3.33784125243e-05,-0.000351311394944,5.26600011077e-06,1793238958591040768
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715.27464918,681,665,635,881,787,805,652.27464918,631.72535082,653,0.447926125658,-0.0055582699944,0.0497367590953,0.999999928013,2.75405983675e-05,-0.000378387258618,6.23068812235e-06,1793238958607707136
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715.863429426,681,665,635,881,787,805,652.863429426,631.136570574,653,0.448206775298,-0.00556089681579,0.0497335411774,0.999999926863,2.71383814743e-05,-0.000381429128266,6.97594679704e-06,1793238958624374016
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745.554993609,715.554993609,680.554993609,665,634.554993609,881,787,805,653,631.445006391,652.554993609,0.448477037763,-0.00556256414687,0.0497403032603,0.999999930929,2.98951059581e-05,-0.000370374817738,8.42640095454e-06,1793238958641040384
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.024339959,715.024339959,680,665,634,881,787,805,652.975660041,631.975660041,652.024339959,0.448742329323,-0.0055638850632,0.0497500690531,0.999999936233,3.3640596356e-05,-0.000355386975147,1.01484980088e-05,1793238958657707264
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.602128566,715.602128566,680,665,634,881,787,805,652.397871434,631.397871434,652.602128566,0.448965921183,-0.0055639180438,0.0497596001387,0.999999938716,3.81760815423e-05,-0.000347757593155,1.32046226483e-05,1793238958674373888
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,716,680,665.181948147,634,881,787.181948147,804.818051853,652.181948147,631.181948147,653,0.449175924378,-0.00556123773536,0.0497653618742,0.999999939987,4.52467751505e-05,-0.000343129018613,1.55069848066e-05,1793238958691040512
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,716,680,665.766258974,634,881,787.766258974,804.233741026,652.766258974,631.766258974,653,0.44935587738,-0.00555255722155,0.0497627880148,0.999999938633,5.79238635428e-05,-0.000345136472693,1.61424656603e-05,1793238958707707904
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,715.652379924,680,665.652379924,634,881,787.652379924,804.347620076,652.652379924,631.652379924,653,0.449514359325,-0.00554469799054,0.0497566073678,0.999999934461,6.84591615344e-05,-0.000355146824005,1.62093292898e-05,1793238958724374528
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,715.072985482,680,665.072985482,634,881,787.072985482,804.927014518,652.072985482,631.072985482,653,0.449658525544,-0.00553738634584,0.0497480219084,0.999999928233,7.75664301625e-05,-0.000370493076802,1.58970696045e-05,1793238958741040896
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.507075185,746,715,680,665,634,881,787,805,652.507075185,631,653,0.449785538323,-0.00553924451283,0.0497445707489,0.999999925172,7.62430238968e-05,-0.000378911931626,1.63978178177e-05,1793238958757707264
+214,3.566666667,POSE1_TO_POSE2_PRESS,766.914390705,746,715,680,665,634,881.085609295,787,805,652.914390705,631,653,0.449906813921,-0.0055424007302,0.0497424971327,0.999999923178,7.35099900929e-05,-0.000384643796487,1.70307770012e-05,1793238958774373888
+215,3.583333333,POSE1_TO_POSE2_PRESS,766.345025119,746,715,680,665,634,881.654974881,787,805,652.345025119,631,653,0.450009640083,-0.0055454239536,0.0497440262591,0.999999924783,7.13063105792e-05,-0.000380833881868,1.77487086391e-05,1793238958791040512
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,634,881.771847684,787,805,652.228152316,631.228152316,653,0.45010498782,-0.00554705677487,0.0497463413758,0.999999926549,7.01114219876e-05,-0.000376375794759,1.80926675928e-05,1793238958807707136
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,634,881.192807838,787,805,652.807192162,631.807192162,653,0.450188834086,-0.0055465512229,0.0497498653087,0.999999928566,7.04680065092e-05,-0.000370920849083,1.78614741089e-05,1793238958824373760
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,634,881,787,805,653,631.606083646,653,0.450256325337,-0.00554666464745,0.0497513579409,0.999999929609,7.05441448577e-05,-0.000368084822191,1.78418894879e-05,1793238958841040384
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,634,881,787,805,653,631.01552343,653,0.450315652127,-0.00554708706637,0.0497518365435,0.999999930174,7.04802838833e-05,-0.00036655616517,1.79279404581e-05,1793238958857707264
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746,715,680.563494786,665,634,881,787,804.436505214,652.436505214,631,653,0.450355974642,-0.00554718394274,0.0497498622648,0.999999928783,7.17660252637e-05,-0.000370074139847,1.81550233439e-05,1793238958874374656
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,715,680.858857472,665,634,881,787,804.141142528,652,631,653,0.450393265408,-0.00554727458643,0.0497484451029,0.999999927652,7.27513794931e-05,-0.000372915412489,1.83888102565e-05,1793238958891041536
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,715,680.28446024,665,634,881,787,804.71553976,652,631,653,0.450422824643,-0.00554737307458,0.0497489413424,0.999999927522,7.27028209857e-05,-0.000373261267402,1.86314891981e-05,1793238958907707904
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+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,715.801737343,680,665,633.198262657,881.603474687,787,804.198262657,653,632,653,0.450493293952,-0.00554435464511,0.0497454033128,0.999999924527,7.29521658408e-05,-0.000381188975964,1.78700536377e-05,1793238959007707136
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,715.227289682,680,665,633.772710318,880.454579364,787,804.772710318,653,632,653,0.450494390656,-0.0055453833565,0.049743603429,0.999999923163,7.12251797951e-05,-0.000385071322611,1.79343017205e-05,1793238959024374016
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,633.641536566,880.358463434,787,805,653,632,653,0.450496556655,-0.00554440264284,0.0497434763373,0.999999922877,7.21833632358e-05,-0.00038563229775,1.79774846553e-05,1793238959041040384
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,633.048381619,880.951618381,787,805,653,632,653,0.450499422736,-0.00554210632772,0.0497444444484,0.999999923298,7.48995684323e-05,-0.000384018719819,1.80068759117e-05,1793238959057707008
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,715.528898051,680,664.471101949,633,881,787,805.528898051,652.471101949,631.471101949,653,0.450499165415,-0.00554172159765,0.04974284195,0.999999922584,7.57866819631e-05,-0.000385725900518,1.74326853183e-05,1793238959074373632
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745.89519632,716,680,664,633,881,787,805.89519632,652,631,653,0.450499066402,-0.00554144754305,0.0497414630247,0.999999922001,7.61828764051e-05,-0.000387179804654,1.6924966166e-05,1793238959091040256
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745.319129649,716,680,664,633,881,787,805.319129649,652,631,653,0.450500926565,-0.00554090776734,0.049742115992,0.999999922473,7.51020347801e-05,-0.000386168680285,1.6957183553e-05,1793238959107706880
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745.261668186,715.738331814,680,664.261668186,633,881.261668186,787,805,652,631,653,0.450502373683,-0.00554032324587,0.0497428356448,0.999999922833,7.54532313424e-05,-0.000385156637142,1.71523934241e-05,1793238959124373504
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.848342462,715.151657538,680,664.848342462,633,881.848342462,787,805,652,631,653,0.450503307778,-0.00553968314768,0.0497436381248,0.999999923053,7.75830969233e-05,-0.000384143452691,1.75500488127e-05,1793238959141040128
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680.428876091,665,633.428876091,881.571123909,787,804.571123909,652.428876091,631,653,0.450503658076,-0.0055401901055,0.049743238271,0.999999922901,7.69587282473e-05,-0.000384665883118,1.75488366527e-05,1793238959157707008
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,715,681,664.992749551,633.992749551,881,787,804.007250449,652.992749551,631.007250449,653,0.450503785572,-0.00554107731184,0.0497424159634,0.999999922615,7.5386016882e-05,-0.000385725423896,1.74018924797e-05,1793238959174374144
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681,664.415825347,633.415825347,881,787,804.584174653,652.415825347,631.584174653,653,0.450502398575,-0.00554042112065,0.04974133511,0.999999922212,7.47444519429e-05,-0.000386923035956,1.67303324792e-05,1793238959191041024
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745.83985063,715,680.83985063,664.16014937,633,881,787,805,652,631.83985063,653,0.450502104629,-0.00553986758621,0.0497409670471,0.999999922064,7.47475357217e-05,-0.000387320555435,1.63577776018e-05,1793238959207707648
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745.266326746,715,680.266326746,664.733673254,633,881,787,805,652,631.266326746,653,0.450504632046,-0.00553957902743,0.049742438826,0.999999922576,7.64145745653e-05,-0.000385652891068,1.67570091096e-05,1793238959224374016
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.317731088,715,680.317731088,664.682268912,633,881,787,805,652,631,653,0.450505555389,-0.00553940114281,0.0497430718089,0.999999922762,7.68941825541e-05,-0.000385064135859,1.70062976958e-05,1793238959241040384
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.910921376,715,680.910921376,664.089078624,633,881,787,805,652,631,653,0.450505088069,-0.00553931920796,0.0497429775917,0.999999922668,7.63443389369e-05,-0.000385410748608,1.71255921922e-05,1793238959257707008
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.508304016,746,715,680.508304016,664,633,881,787,805,652,631,653,0.450504427952,-0.00553934879534,0.049742537048,0.999999922496,7.57971497664e-05,-0.000385972102053,1.69741419725e-05,1793238959274373632
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.069826075,746,715,680.069826075,664.069826075,633,881,787,804.930173925,652,631,653,0.450503837237,-0.00553955164213,0.0497420617751,0.999999922351,7.49153428849e-05,-0.000386527852446,1.67877590955e-05,1793238959291040256
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.644696621,746,715,680.644696621,664.644696621,633,881,787,804.355303379,652,631,653,0.450503994907,-0.00554086512097,0.0497417779431,0.999999922502,7.16098898457e-05,-0.000386768620037,1.6694746146e-05,1793238959307707136
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746,715,681,665,633,880.775119728,787,804.224880272,652,631,653,0.450504487127,-0.0055412031698,0.0497417804452,0.999999922529,7.04140497228e-05,-0.000386915952905,1.67512690993e-05,1793238959324374016
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665,633,880.186338324,787,804.813661676,652,631,653,0.450505520718,-0.00553996277854,0.0497422462927,0.999999922366,7.26319835415e-05,-0.000386912089797,1.70497709539e-05,1793238959341040640
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746,715,680.603883479,664.603883479,633,880.396116521,787,805,652,631.396116521,653,0.450505744128,-0.00553884433776,0.0497418929208,0.999999922163,7.49355627675e-05,-0.000387011782354,1.6732047812e-05,1793238959357707264
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,715,680.024357979,664.024357979,633,880.975642021,787,805,652,631.975642021,653,0.45050559241,-0.0055377823623,0.0497411602358,0.999999921938,7.72787972041e-05,-0.000387159423022,1.61290015419e-05,1793238959374373632
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,633,881,787,805,652,631.446085491,653,0.450504682298,-0.0055366604364,0.0497400189632,0.999999921103,7.93290032047e-05,-0.000388887668409,1.63585898171e-05,1793238959391040000
+252,4.200000000,HOLD_POSE2,766,746,715,680,664,633,881,787,804,652,632,653,0.450503703347,-0.00553767113957,0.0497399450057,0.99999992065,7.90779357603e-05,-0.000390089015539,1.66296773653e-05,1793238959433248512
+253,4.216666667,HOLD_POSE2,766,746,715,680,664.596351986,633,881.596351986,787,804.596351986,652,631.403648014,653,0.450505216847,-0.00553694171844,0.0497402514061,0.999999921093,7.84947939894e-05,-0.000389064570105,1.67439336805e-05,1793238959449915392
+254,4.233333333,HOLD_POSE2,766,745.813141122,715,680,665,633,881.626282244,787,805,652,631.186858878,653,0.450505733189,-0.00553661786994,0.0497402209041,0.999999921286,7.77081824538e-05,-0.000388727731984,1.67366112583e-05,1793238959466582016
+255,4.250000000,HOLD_POSE2,766,745.23487757,715,680,665,633,880.46975514,787,805,652,631.76512243,653,0.450504160831,-0.00553714355561,0.0497394847082,0.999999920954,7.64953720767e-05,-0.000389831193002,1.6474623483e-05,1793238959483248640
+256,4.266666667,HOLD_POSE2,766,745.341590724,715,680,665,633,880.341590724,787,805,652,631.658409276,653,0.450504733725,-0.00553643993448,0.0497401992196,0.999999921136,7.69005238918e-05,-0.000389291786829,1.63297707939e-05,1793238959499915008
+257,4.283333333,HOLD_POSE2,766,745.916831019,715,680,665,633,880.916831019,787,805,652,631.083168981,653,0.450506773982,-0.00553489546202,0.0497419060213,0.999999921665,7.8412369096e-05,-0.000387628652144,1.62650390389e-05,1793238959516581376
+258,4.300000000,HOLD_POSE2,766,746,715,680,664.507811217,633,881,787,805,652,631,653,0.450506271857,-0.00553564386691,0.0497414766868,0.999999921529,7.91503414356e-05,-0.000387820237259,1.65324640352e-05,1793238959533248000
+259,4.316666667,HOLD_POSE2,766,746,715,680,664,633,880.93074856,787,804.93074856,652,631,653,0.45050543368,-0.00553680401229,0.0497407232428,0.999999921301,7.93524901912e-05,-0.000388352457551,1.68281703169e-05,1793238959549914880
+260,4.333333333,HOLD_POSE2,766,746,715,680,664,633,880.341021592,787,804.341021592,652,631,653,0.450505299405,-0.00553814605819,0.0497402474009,0.999999921235,7.65105778624e-05,-0.000389088759173,1.69144939684e-05,1793238959566582016
+261,4.350000000,HOLD_POSE2,766.242713958,746,715,680,664.242713958,633.242713958,880.242713958,787,804,652,631,653,0.450505978811,-0.00553821779024,0.0497407222691,0.999999921487,7.62716413975e-05,-0.00038848950894,1.68593843276e-05,1793238959583248640
+262,4.366666667,HOLD_POSE2,766.818234108,746,715,680,664.818234108,633.818234108,880.818234108,787,804,652,631,653,0.450507773924,-0.00553654768453,0.0497425007386,0.999999922173,7.96018714798e-05,-0.000386058967485,1.6610343207e-05,1793238959599915264
+263,4.383333333,HOLD_POSE2,766.605569441,746,715.394430559,680,664.605569441,633.605569441,881,787,804.394430559,652,631.394430559,653,0.450508000753,-0.00553624647712,0.04974265022,0.999999922179,7.97156796162e-05,-0.000386024826213,1.6496380377e-05,1793238959616581888
+264,4.400000000,HOLD_POSE2,766.029060742,746,715.970939258,680,664.029060742,633.029060742,881,787,804.970939258,652,631.970939258,653,0.450507503626,-0.00553657718423,0.0497420477234,0.999999921874,7.83447143421e-05,-0.000387096917688,1.64447727438e-05,1793238959633248512
+265,4.416666667,HOLD_POSE2,766,746,715.439696917,680,664,633,881,787,804.439696917,652,631.439696917,653,0.450505451121,-0.00553589052412,0.049739984402,0.999999920847,7.98739371228e-05,-0.000389440614583,1.61629578282e-05,1793238959649915136
+266,4.433333333,HOLD_POSE2,766,746,715.14771657,680,664,633,881,787,804,652,631,653,0.45050419282,-0.00553532616865,0.049738722998,0.999999920261,8.05078982308e-05,-0.000390823878641,1.59034088647e-05,1793238959666581760
+267,4.450000000,HOLD_POSE2,766,746,715.727430739,680,664,633,881,787,804,652,631,653,0.450505498631,-0.0055352774339,0.0497400335885,0.99999992109,7.80734260186e-05,-0.000389200944623,1.57447150772e-05,1793238959683248384
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,633,881,787,804,653,631,653,0.450507641305,-0.00553241351594,0.0497420490762,0.999999921801,8.11265887605e-05,-0.000386767758301,1.50453589459e-05,1793238959720097536
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.570421766,665,633,881,787,804,652.429578234,631,652.429578234,0.450507486046,-0.00553384458929,0.0497415939271,0.999999921874,7.92977006287e-05,-0.000386935915519,1.56668029786e-05,1793238959736764416
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,715.147585067,680.852414933,664.852414933,633,881,787,804.147585067,652,631,652.147585067,0.450507176138,-0.00553479975098,0.0497411592011,0.99999992182,7.83044078538e-05,-0.000387258941038,1.60655518969e-05,1793238959753431296
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,715.745310459,680.254689541,664.254689541,633,881,787,804.745310459,652,631,652.745310459,0.450506394542,-0.00553430336354,0.0497407867662,0.999999921394,7.98597137129e-05,-0.000388054321078,1.5785072008e-05,1793238959770097920
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,664,633,881,787,805,652,631,653,0.450505986799,-0.00553447667043,0.0497407022212,0.999999921206,8.06249761391e-05,-0.000388369788392,1.60153552291e-05,1793238959786764544
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,664,633,881,787,805,652,631,653,0.450505856624,-0.00553514719686,0.0497408314223,0.999999921198,8.08036648802e-05,-0.000388328940904,1.66248583169e-05,1793238959803431168
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,746,715.518260969,680,664,633,881,787,804.518260969,652,631,653,0.450505781348,-0.00553694525602,0.0497402363492,0.999999921153,7.83625474426e-05,-0.000388942195494,1.66432894559e-05,1793238959820097792
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.94303487,746,715,680.05696513,664,633,881,787,804.05696513,652,631,653,0.450505493971,-0.00553854920091,0.0497395045548,0.999999921022,7.59342258397e-05,-0.000389766377591,1.65249031714e-05,1793238959836764160
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.367605125,746,715,680.632394875,664,633,881,787,804.632394875,652,631,653,0.450503179228,-0.00553639540999,0.0497388073349,0.999999920228,7.8248463933e-05,-0.000391355278626,1.6205006684e-05,1793238959853431040
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.213841877,746,715,680.786158123,664,633,881,787,804.786158123,652,631,653,0.450496596778,-0.00553491115564,0.0497359256445,0.999999918076,7.95014287071e-05,-0.000396571625831,1.60480047558e-05,1793238959870097664
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.805932284,746,715,680.194067716,664,633,881,787,804.194067716,652,631,653,0.45048246551,-0.00553461119351,0.0497291800114,0.999999913443,7.88771880864e-05,-0.000408204284718,1.61791345777e-05,1793238959886764544
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745.612780547,715,680,664,633,881,787,804.387219453,652,631,653,0.450452298459,-0.00553375261573,0.0497161811089,0.999999903695,7.8120612544e-05,-0.000431597008676,1.52245093374e-05,1793238959903431424
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.036760764,715,680,664,633,881,787,804.963239236,652,631,653,0.450414312686,-0.00553262166831,0.0497001332387,0.999999890785,7.72995130773e-05,-0.000460723701938,1.37404920121e-05,1793238959920098048
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.540803291,715.540803291,680,664.540803291,633,881,787,805,652,631.540803291,653,0.45035156753,-0.00553108752578,0.0496787743966,0.999999871521,7.92730499887e-05,-0.000500500354361,1.31607509179e-05,1793238959936764672
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,715.879174057,680,664.879174057,633,881.120825943,787.120825943,805,652,631.879174057,652.879174057,0.450285307846,-0.00552927578414,0.0496585002647,0.999999852782,8.11864159118e-05,-0.000536367370186,1.24186773725e-05,1793238959953431040
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+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,715.872645561,680.872645561,664,633,881.127354439,788,804.127354439,652,631,652.872645561,0.450042415141,-0.00551793424856,0.0496276086231,0.999999830662,8.78504932589e-05,-0.000575233953721,7.98434940184e-06,1793238960003430912
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,715.551638434,680.551638434,664,633,881,787.551638434,804,652,631,653,0.449939892007,-0.00551424007794,0.0496283627051,0.999999830867,9.04151417554e-05,-0.000574485231058,7.65964442522e-06,1793238960020097792
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,633,881,786.976932051,804.023067949,652,631,653,0.449832251613,-0.00551079652656,0.0496310035493,0.999999832512,9.27487821308e-05,-0.000571240667959,7.59980821965e-06,1793238960036764672
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,633,881,786.405618822,804.594381178,652,631,653,0.449696943264,-0.005506098615,0.0496333854553,0.999999834216,9.57822915988e-05,-0.000567753973625,6.97822483908e-06,1793238960053431552
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.425886645,666.574113355,636,879.425886645,788,803.574113355,652.574113355,632,653.425886645,0.410687272937,-0.00535976998933,0.0498205372911,0.999999945776,9.93931924549e-05,-0.000309873978426,-5.04693644659e-05,1793238961053431296
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.996702205,666.003297795,636,879.996702205,788,803.003297795,652.003297795,632,653.996702205,0.409990136913,-0.00535809224829,0.0498024087282,0.999999934406,0.000105257364187,-0.000342755697217,-5.12540391848e-05,1793238961070098176
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.414964403,746,715,679.414964403,666.585035597,636.585035597,880,788,803.585035597,652.585035597,632,653.414964403,0.409386918916,-0.00536106959018,0.049798353682,0.999999933027,0.000100237649968,-0.000348107454803,-5.21458635956e-05,1793238961086765056
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.170630633,746,715,679,666.829369367,636.829369367,880,788,804.170630633,653,632,653,0.408801185584,-0.00536421035816,0.0498023838419,0.999999936327,9.61184623818e-05,-0.000339659855556,-5.23245621406e-05,1793238961103431424
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.749431779,746,715,679,666.250568221,636.250568221,880,788,804.749431779,653,632,653,0.408255972203,-0.00536767735536,0.0498255592304,0.999999949687,9.43047406221e-05,-0.000298585091808,-5.07958821962e-05,1793238961120097792
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,715,679,666,636,880,788,804.67158823,653,632,653,0.407713859699,-0.00536938557546,0.0498385652361,0.999999955371,9.56122183768e-05,-0.000278652305449,-4.96959056008e-05,1793238961136764416
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,666,636,880,788,804.092471748,653,632,653,0.407174114391,-0.00536975117081,0.0498438080833,0.999999956099,9.9302374106e-05,-0.000274858996249,-4.89231949708e-05,1793238961153431296
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.51763108,746,715,679.48236892,666,636,880,788,804,653,631.51763108,653,0.406628048336,-0.00536826362049,0.0498233629712,0.999999943401,0.000104219260439,-0.000316060777241,-4.94230457161e-05,1793238961170097920
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.057985332,746,715,679.942014668,666,636,880,788.057985332,804,653,631.057985332,653,0.406089043605,-0.00536645935473,0.0497992714449,0.999999926962,0.000108804795635,-0.000362917267898,-5.02855859522e-05,1793238961186764288
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.766484727,746,715,679.233515273,666.233515273,636,880,788.766484727,804,653,632,653,0.4051919389,-0.00536553025714,0.0497842062967,0.999999918371,0.000106375162372,-0.000386129545199,-5.33584511233e-05,1793238961220097792
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.188317904,746,715,679.811682096,666.811682096,636,880,788.188317904,804,653,632,653,0.404801152807,-0.00536907543436,0.0497973248494,0.999999927265,0.000102711709925,-0.000363444850605,-5.31735644324e-05,1793238961236764160
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.967955502,745.032044498,715,679.032044498,666.032044498,636,880,788,804,653,632,653.967955502,0.404111485304,-0.00537969083078,0.0498515162793,0.999999956797,8.57791259209e-05,-0.00027633833036,-5.182406955e-05,1793238961270097664
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745.541446685,715,679,666.541446685,636,880,788,803.458553315,653,632,653.458553315,0.403790096075,-0.00538335526919,0.0498644972883,0.999999962826,7.6120124133e-05,-0.000256582505557,-5.21502000856e-05,1793238961286764032
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.881627173,746,715.118372827,679,666.881627173,636,880,788,803.118372827,653,632,653,0.403473511889,-0.00538596724467,0.0498720353901,0.99999996596,6.81558054151e-05,-0.000246291242849,-5.26876234166e-05,1793238961303430656
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.289875519,746,715.710124481,679,666.289875519,636,880,788,803.710124481,653,632,653,0.403172739401,-0.00538483644805,0.0498617573541,0.999999960578,6.70292349886e-05,-0.000267312108095,-5.38127828944e-05,1793238961320097536
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,715.705437555,679,666,636,880,788.294562445,804,653,632,653.294562445,0.402888625748,-0.00538238224036,0.0498485341839,0.999999953802,6.71388857976e-05,-0.000291222307485,-5.5484155488e-05,1793238961336764160
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,715.128022573,679,666,636,880,788.871977427,804,653,632,653.871977427,0.402620508699,-0.00537865723199,0.0498324829597,0.999999945462,6.84356136942e-05,-0.000317906978362,-5.76800271991e-05,1793238961353430784
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.448037356,666,636,880,789,803.551962644,653,632,653.551962644,0.402387295119,-0.00537727258104,0.049821509897,0.999999938948,6.86152008325e-05,-0.000337529538684,-5.89064682561e-05,1793238961370097152
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,636,880,788.975725512,803,653.024274488,632,653,0.402166371067,-0.00537655558306,0.0498126212706,0.99999993324,6.85139845297e-05,-0.00035390477653,-5.98053952702e-05,1793238961386764032
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,636,880,788.386377011,803,653.613622989,632,653,0.402000064265,-0.00537586031967,0.0498185790594,0.999999937511,6.92844738262e-05,-0.000341520028741,-5.95091255362e-05,1793238961403430656
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.199534806,746,715,679.800465194,666,636,880,788,803.199534806,653.800465194,632,653,0.401846561633,-0.00537375076175,0.049826241443,0.999999940969,9.44661805469e-05,-0.000325913574767,-5.40316917438e-05,1793238961420097280
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.778904474,746,715,679.221095526,666,636,880,788,803.778904474,653.221095526,632,653,0.401717433062,-0.00536894894992,0.0498371486962,0.999999939193,0.000166117130226,-0.000304174274514,-3.86913832918e-05,1793238961436764160
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,666,636,880,788,804,653,632,653,0.401603068381,-0.00536645163785,0.0498459134501,0.999999939323,0.000191893333517,-0.000288769448402,-3.38183324763e-05,1793238961453430528
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,666,636,880,788,804,653,632,653,0.401497814676,-0.00536537646174,0.0498533560411,0.999999943004,0.000189359648101,-0.000277273706361,-3.54047595864e-05,1793238961470097152
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.496421109,745.496421109,715,679,666,636,880,788,803.496421109,653,632,653,0.401407726069,-0.00537280135081,0.0498527065172,0.999999945185,0.000177085871292,-0.000277503571003,-3.5528116696e-05,1793238961486764032
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.07642163,745,715,679,666.07642163,636,880,788.07642163,803.07642163,653,632,653,0.40132139463,-0.00538113563702,0.0498509839866,0.99999994691,0.000163658136464,-0.000279520971625,-3.5566946325e-05,1793238961503430656
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.672461582,745,715,679,666.672461582,636,880,788.672461582,803.672461582,653,632,653,0.401247125568,-0.00538809548466,0.049849160732,0.999999947813,0.000151044539202,-0.000283266750862,-3.63319196498e-05,1793238961520097536
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.739477062,745,715,679,666.739477062,636,880,788.739477062,804,653,631.739477062,653,0.401186576763,-0.00539214402529,0.0498490808776,0.999999948967,0.000144188390003,-0.000282693580122,-3.68723927938e-05,1793238961536764416
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.161148632,745,715,679,666.161148632,636,880,788.161148632,804,653,631.161148632,653,0.401142764967,-0.00539264113406,0.0498511277541,0.999999950568,0.000144355610158,-0.000276851828877,-3.71390036759e-05,1793238961553431040
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.413651263,745.413651263,715,679,666,636,880,788,804,653,631.413651263,653,0.401109348253,-0.00539267769584,0.0498536142358,0.999999952319,0.000143000003141,-0.000271121211654,-3.75090945384e-05,1793238961570097408
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.98708814,745.98708814,715,679,666,636,880,788,804,653,631.98708814,653,0.401079946963,-0.00539253635707,0.0498562705286,0.999999954105,0.000141056156952,-0.000265433523518,-3.79191577416e-05,1793238961586764288
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745.438874962,715,679,666,636,879.438874962,788,804,653,632,653,0.401056544654,-0.0053922195041,0.049855560834,0.99999995385,0.000139562961894,-0.000267133906543,-3.82279773568e-05,1793238961603430912
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,715,679.140224108,666.140224108,636,879.140224108,788,804,653,632,653.140224108,0.40103616195,-0.00539172297268,0.0498556563668,0.99999995387,0.000138676758511,-0.000267482683828,-3.8499063515e-05,1793238961620097536
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,715,679.735713533,666.735713533,636,879.735713533,788,804,653,632,653.735713533,0.401025134346,-0.00539065620617,0.0498586179671,0.999999954935,0.000139727570426,-0.000262890661374,-3.86552123479e-05,1793238961636764160
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745.320575204,715,679.679424796,666.679424796,636,880,788,804,653,631.679424796,653.679424796,0.401015697596,-0.00539148502578,0.049858939701,0.999999955347,0.000139117064914,-0.00026164247039,-3.86622113937e-05,1793238961653430784
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745.896956424,715,679.103043576,666.103043576,636,880,788,804,653,631.103043576,653.103043576,0.401007530282,-0.00539382644615,0.0498571549288,0.999999955247,0.000137180895574,-0.000263062520842,-3.85501949741e-05,1793238961670097408
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745.529381106,715,679,666,636,880,788,803.529381106,653,631.470618894,653,0.401004817988,-0.00539449432019,0.0498577568608,0.999999955806,0.000135380684731,-0.000261877319703,-3.84812276496e-05,1793238961686764288
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745.044933309,715,679,666,636,880,788,803.044933309,653,631.955066691,653,0.401003278177,-0.00539465460905,0.0498588428038,0.99999995645,0.000133880126142,-0.00026018800027,-3.84546783331e-05,1793238961703430656
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745.634319235,715,679,666,636,880,788,803.634319235,653,631.365680765,653,0.401001555987,-0.00539307901444,0.0498594978191,0.999999956437,0.000135651792871,-0.000259262454175,-3.88285491027e-05,1793238961720097280
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.219573496,666,636,880,788,804,653,631,653,0.401000446702,-0.00539250368835,0.0498601798805,0.999999956673,0.000136722977405,-0.000257770464183,-3.89377219267e-05,1793238961736764160
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.798073878,666,636,880,788,804,653,631,653,0.401000339309,-0.00539356345616,0.0498609061528,0.999999957316,0.000136649115202,-0.000255352533976,-3.8614204942e-05,1793238961753430784
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.625430521,666,636,880,788,804,653,631.374569479,653,0.40100056844,-0.00539402577708,0.0498612772931,0.999999957746,0.000135498522117,-0.000254272024493,-3.86403098788e-05,1793238961770097408
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.05000994,666,636,880,788,804,653,631.94999006,653,0.401000978022,-0.00539416773587,0.049861458005,0.999999958063,0.000133770565962,-0.000253908664888,-3.88538885851e-05,1793238961786764288
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,715,679.536887478,666,636,880,788,804,653,632,653,0.401000902105,-0.00539567410218,0.0498621131109,0.999999958288,0.000133120964332,-0.00025341624072,-3.85176330464e-05,1793238961803430912
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.8771315,666,636,880,788,804,653,632,653,0.40100040561,-0.00539655944464,0.0498623169799,0.999999958333,0.000132958275984,-0.000253355823583,-3.82895440082e-05,1793238961820097536
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.298600299,666,636,880,788,804,653,632,653,0.400998520766,-0.00539466007519,0.049860679963,0.999999957747,0.000134220678369,-0.000254943080044,-3.86566799074e-05,1793238961836764160
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,715,679,666,636,880,788,804,653,632,653,0.400998437668,-0.00539368390037,0.0498608623294,0.99999995778,0.000134820673809,-0.000254466118901,-3.88708345268e-05,1793238961853431040
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,666,636,880,788,804,653,632,653,0.401000276481,-0.00539369249067,0.0498629854192,0.99999995847,0.000134714084461,-0.000251787271202,-3.89218051106e-05,1793238961870097664
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,666,636,880.403659305,788,804,653,631.403659305,653,0.400999792837,-0.00539547588784,0.049862536198,0.999999958646,0.000133340997141,-0.000251909508704,-3.83321859827e-05,1793238961920097536
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745.179996354,715,679.179996354,666,636.179996354,880,788.179996354,804,653.179996354,631.179996354,653,0.400999850971,-0.00539512992028,0.0498628134401,0.999999958697,0.000134186099469,-0.000251240847841,-3.84343283202e-05,1793238961936763904
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a4a6d65179d0d23a11262d8e9a984e6808c63c66
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,414 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd010e5b400ba9001a3a3da97a6cbe7d6ffaec00
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4d74a6a9a076fd0a73d5927835f52a03c166cf62d225b7b42431eb75f70f4dd
+size 26391371
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e366c221194c7ffab959cf1156c54cb63710b2f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_04/franka_data.csv
@@ -0,0 +1,416 @@
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+14,0.233333333,BASELINE,767,746,715.881428467,679.118571533,666,636.881428467,880,788,804,653.118571533,632,653,0.401002669242,-0.00539857877981,0.0498666354618,0.999999961589,0.000126115354407,-0.00024382508577,-3.83023604914e-05,1793238962509754880
+15,0.250000000,BASELINE,767,746,715.308887794,679.691112206,666,636.308887794,880,788,804,653.691112206,632,653,0.401001986085,-0.0053981274411,0.0498663412002,0.999999961107,0.000128734735181,-0.000244424992266,-3.83283929816e-05,1793238962526421760
+16,0.266666667,BASELINE,767,746,715,679.726586869,666,636,880,788.273413131,804,653.726586869,632,653,0.401002319888,-0.00539795116626,0.0498670478672,0.99999996122,0.000129740067865,-0.000243438268693,-3.82794124702e-05,1793238962543088640
+17,0.283333333,BASELINE,767,746,715,679.132851161,666,636,880,788.867148839,804,653.132851161,632,653,0.401003845128,-0.00539809714799,0.0498689271918,0.999999962028,0.000128854430343,-0.000240592697161,-3.81425489875e-05,1793238962559755264
+18,0.300000000,BASELINE,767,746,715,679,666,636,880,788.549453297,804,653,632,653,0.401002396069,-0.00539784105059,0.0498674306332,0.999999961423,0.000129431546262,-0.000242762996775,-3.83107619403e-05,1793238962576421888
+19,0.316666667,BASELINE,767,746,715,679,666.030597388,636,880,788,803.969402612,653,632,653,0.40100027895,-0.00539738630144,0.0498651917075,0.999999960472,0.000130438118861,-0.000246079533296,-3.85467636821e-05,1793238962593088512
+20,0.333333333,BASELINE,767,746,715,679,666.604131199,636,880,788,803.395868801,653,632,653,0.401001520679,-0.00539546316725,0.0498670471523,0.999999960817,0.000131583351474,-0.000244079792053,-3.84252081214e-05,1793238962609755392
+21,0.350000000,BASELINE,767,746,714.822535233,679,666.822535233,636,880,788,803.177464767,653,632,653,0.401002345121,-0.00539451044714,0.0498681748833,0.999999960977,0.000132759818563,-0.000242810865633,-3.82709984289e-05,1793238962626422016
+22,0.366666667,BASELINE,767,746,714.249647915,679,666.249647915,636,880,788,803.750352085,653,632,653,0.401002239773,-0.00539571997965,0.0498676811406,0.999999960732,0.000134005881374,-0.000243170322768,-3.80440296344e-05,1793238962643088640
+23,0.383333333,BASELINE,767,746,714.335594515,679.335594515,666,636,880,788.335594515,803.664405485,653,632,653,0.401001604359,-0.00539643726424,0.0498672549883,0.999999960765,0.000132575641183,-0.000243803060318,-3.81403308108e-05,1793238962659755264
+24,0.400000000,BASELINE,767,746,714.930379247,679.930379247,666,636,880,788.930379247,803.069620753,653,632,653,0.401000559557,-0.00539677437037,0.0498668810382,0.999999961003,0.000129078407985,-0.000244646860979,-3.84863035476e-05,1793238962676422144
+25,0.416666667,BASELINE,767,745.490569329,715,679.490569329,666,636,879.490569329,788.490569329,803.509430671,653,632,653,0.401001593204,-0.00539649522971,0.0498669878627,0.99999996112,0.000130733167,-0.000243296849248,-3.84171284879e-05,1793238962693088512
+26,0.433333333,BASELINE,767,745,715,679,666,636,879.085949861,788,804,653,632,653,0.401002446589,-0.00539635112131,0.0498669405589,0.999999961131,0.00013247077598,-0.000242323829288,-3.83155018616e-05,1793238962709755392
+27,0.450000000,BASELINE,767,745,715,679,666,636,879.65993413,788,804,653,632,653,0.401000711886,-0.0053974376213,0.0498656561937,0.999999960663,0.000130800671864,-0.000245142802411,-3.83421122719e-05,1793238962726421760
+28,0.466666667,BASELINE,767,745.241071523,715,679,666.241071523,636,880,788,804,653,632,653,0.401000519868,-0.00539738508548,0.0498656684062,0.999999960628,0.000130129737431,-0.000245629773713,-3.84337803892e-05,1793238962743088384
+29,0.483333333,BASELINE,767,745.83260795,715,679,666.83260795,636,880,788,804,653,632,653,0.401002570575,-0.00539567664237,0.0498675655574,0.999999961227,0.000130911375769,-0.000242726527784,-3.86200280832e-05,1793238962759754752
+30,0.500000000,BASELINE,767,746,715,679,667,636.415033772,880,788,804,653,632,653,0.401002402812,-0.00539581581686,0.0498675675422,0.999999961381,0.00012981752097,-0.000242673369611,-3.8665755466e-05,1793238962776421376
+31,0.516666667,BASELINE,767,746,715,679,667,636.993864006,880,788,804,653,632,653,0.401001359511,-0.00539668416875,0.0498668215842,0.999999961357,0.000127983487496,-0.000243745021875,-3.8656025358e-05,1793238962793088000
+32,0.533333333,BASELINE,766.432029424,746,715,679.567970576,666.432029424,637,880,788,803.432029424,653,632,653,0.401000705331,-0.00539652763606,0.0498663224279,0.999999961114,0.00012915601354,-0.000244144180505,-3.85375317881e-05,1793238962809755136
+33,0.550000000,BASELINE,766.145202277,746,715,680,666.145202277,636.854797723,880,788.145202277,803,653,632,653,0.401000452344,-0.00539675850893,0.0498661052474,0.99999996107,0.000129537247679,-0.000244145708084,-3.83905353024e-05,1793238962826422016
+34,0.566666667,BASELINE,766.732094132,746,715,680,666.732094132,636.267905868,880,788.732094132,803,653,632,653,0.401001407057,-0.00539820123014,0.0498667377632,0.99999996164,0.00012741346883,-0.000242959602712,-3.81603808368e-05,1793238962843088640
+35,0.583333333,BASELINE,766.683713613,745.683713613,715,679.683713613,666.683713613,636,880,788.683713613,803.316286387,653,631.683713613,653,0.401000321441,-0.00539846138681,0.0498662355767,0.999999961272,0.000127655794568,-0.00024433664418,-3.82087992955e-05,1793238962859755264
+36,0.600000000,BASELINE,766.101788599,745.101788599,715,679.101788599,666.101788599,636,880,788.101788599,803.898211401,653,631.101788599,653,0.400997522219,-0.00539772834623,0.0498647803908,0.999999960105,0.000129885334179,-0.000247866388992,-3.84911820465e-05,1793238962876421632
+37,0.616666667,BASELINE,766.474885914,745.474885914,715,679,666,636,880,788.474885914,804,653,631.474885914,653,0.400999215992,-0.00539836508127,0.049865965262,0.999999960679,0.000128983160815,-0.000246045658155,-3.82945088175e-05,1793238962893088256
+38,0.633333333,BASELINE,767,746,715,679,666.049997459,636,879.950002541,788.950002541,804,653,632,653.049997459,0.401001647407,-0.00539919294494,0.0498675919174,0.999999961536,0.000127599072197,-0.000243314516254,-3.801068687e-05,1793238962909754880
+39,0.650000000,BASELINE,767,746,715,679,666.620426682,636,879.379573318,788.379573318,804,653,632,653.620426682,0.401001842209,-0.00539898756555,0.0498679912673,0.999999961573,0.000128109510814,-0.00024291384055,-3.78768694078e-05,1793238962926421504
+40,0.666666667,BASELINE,767,746,715,679,666.800643731,636,879.199356269,788,803.800643731,653,632,653.800643731,0.401001723673,-0.00539916231825,0.0498678873552,0.99999996164,0.00012788032405,-0.000242761239243,-3.78588480544e-05,1793238962943088128
+41,0.683333333,BASELINE,767,746,715,679,666.204808696,636,879.795191304,788,803.204808696,653,632,653.204808696,0.40100098197,-0.00540009307579,0.0498667825584,0.999999961765,0.000126180173948,-0.000243102007092,-3.80711214389e-05,1793238962959755264
+42,0.700000000,BASELINE,766.619928331,746,715,679,666,636,880,788.380071669,803.380071669,653,632,653,0.401000642204,-0.00539901599339,0.0498666553896,0.999999961468,0.000127470621103,-0.000243641403178,-3.81309738214e-05,1793238962976421888
+43,0.716666667,BASELINE,766.040785734,746,715,679,666,636,880,788.959214266,803.959214266,653,632,653,0.401000512961,-0.00539688726046,0.049867040275,0.999999960944,0.00013032745965,-0.000244284835175,-3.81109923318e-05,1793238962993088512
+44,0.733333333,BASELINE,766.532488407,746,715,679,666,636,880,789,804,653,631.467511593,653,0.401000545463,-0.00539622019012,0.0498673806041,0.999999960911,0.000131264021291,-0.000243908485484,-3.81626248335e-05,1793238963009755136
+45,0.750000000,BASELINE,766.893783022,746,715,679.106216978,666,636,880,788.893783022,804,653.106216978,631.106216978,653,0.401000630361,-0.00539597149737,0.0498675659042,0.999999960966,0.000131681956947,-0.000243449692804,-3.82024200219e-05,1793238963026421760
+46,0.766666667,BASELINE,766.316063816,746,715,679.683936184,666,636,880,788.316063816,804,653.683936184,631.683936184,653,0.401000893452,-0.00539708844457,0.0498670780075,0.999999961247,0.000130443477492,-0.000242967885249,-3.81655849573e-05,1793238963043088128
+47,0.783333333,BASELINE,766,745.732997955,715,679.732997955,666,636,880,788.267002045,804,653.732997955,632,653.267002045,0.40100102655,-0.00539764624109,0.0498669350641,0.999999961401,0.000129564446365,-0.000242816754416,-3.81019113659e-05,1793238963059754752
+48,0.800000000,BASELINE,766,745.143473582,715,679.143473582,666,636,880,788.856526418,804,653.143473582,632,653.856526418,0.401001002627,-0.00539752861754,0.0498672088033,0.999999961402,0.000129119606924,-0.000243065061009,-3.80058184519e-05,1793238963076421376
+49,0.816666667,BASELINE,766.437177269,745.437177269,715,679,666,636.437177269,880,788.562822731,804,653,632,653.562822731,0.401001628811,-0.00539779823682,0.0498675472383,0.999999961631,0.000128785573597,-0.000242285443384,-3.80752911361e-05,1793238963093088256
+50,0.833333333,BASELINE,767,745.985147966,715,679,666,637,880,788,804,653,632,653,0.401002437778,-0.00539816612903,0.0498679105306,0.999999961925,0.00012850917577,-0.000241196904759,-3.8195930868e-05,1793238963109754880
+51,0.850000000,BASELINE,767,745.412053315,715,679,666,637,880,788,804,653,632,653,0.401002257249,-0.00539754605377,0.0498684259673,0.999999961918,0.000129059478856,-0.000240924523645,-3.82381033964e-05,1793238963126421760
+52,0.866666667,BASELINE,766.833862815,745,715,679.166137185,666,636.833862815,880,788,803.833862815,653,632,653,0.4010023652,-0.0053973945623,0.0498688673782,0.999999962005,0.000129281581459,-0.000240451574413,-3.81953626415e-05,1793238963143088384
+53,0.883333333,BASELINE,766.242633699,745,715,679.757366301,666,636.242633699,880,788,803.242633699,653,632,653,0.40100321128,-0.00539844202696,0.0498691193807,0.999999962331,0.000128663923941,-0.000239465435521,-3.79353559459e-05,1793238963159755008
+54,0.900000000,BASELINE,766.341508373,745.341508373,715,679.658491627,666,636,880,788.341508373,803.341508373,653.341508373,632,653,0.401002282292,-0.00539842228629,0.0498682212802,0.999999961895,0.000129558455371,-0.000240786255186,-3.80311543353e-05,1793238963176421632
+55,0.916666667,BASELINE,766.92071761,745.92071761,715,679.07928239,666,636,880,788.92071761,803.92071761,653.92071761,632,653,0.401000117798,-0.00539765973619,0.0498665226708,0.999999960919,0.000131505519197,-0.000243712792589,-3.8374604571e-05,1793238963193088512
+56,0.933333333,BASELINE,767,745.50353101,715,679,666,636,880,788.50353101,804,653.50353101,632,653,0.401000823652,-0.00539657724592,0.0498669958415,0.999999960984,0.000131478645256,-0.000243444518542,-3.84806767196e-05,1793238963209754880
+57,0.950000000,BASELINE,767,745.071283457,715,679,666,636,879.928716543,788,804,653,632,653,0.401001834321,-0.00539560835779,0.0498677439967,0.999999961199,0.0001312169564,-0.000242691085155,-3.85315788488e-05,1793238963226421504
+58,0.966666667,BASELINE,767,745.643367976,715,679,666,636,879.356632024,788,804,653,632,653,0.401001788447,-0.00539579404458,0.0498680043464,0.99999996131,0.000131504856843,-0.00024208869569,-3.84593613274e-05,1793238963243088384
+59,0.983333333,BASELINE,766.775902727,745.775902727,715,679,666,636,879.224097273,788,804,653,632,653,0.401002111645,-0.00539620151827,0.0498684284591,0.999999961454,0.000131973696845,-0.000241273958314,-3.82222469948e-05,1793238963259755264
+60,1.000000000,BASELINE,766.180863894,745.180863894,715,679,666,636,879.819136106,788,804,653,632,653,0.401003045754,-0.00539697610925,0.0498691236437,0.999999961653,0.000132742040771,-0.000240107727651,-3.77121838566e-05,1793238963276421888
+61,1.016666667,BASELINE,766.403618755,745,715,679,666,636,880,788,804.403618755,653,632,653,0.401002467865,-0.00539830285523,0.0498686919428,0.999999961742,0.000130415987599,-0.000240999706249,-3.7760710043e-05,1793238963293088256
+62,1.033333333,BASELINE,766.983491644,745,715,679,666,636,880,788,804.983491644,653,632,653,0.401001229711,-0.0053998707188,0.0498677681481,0.999999961771,0.000126738658513,-0.000242790473404,-3.80531636707e-05,1793238963309754880
+63,1.050000000,BASELINE,767,745,715,679,666,636,880,788,804.444122582,653,632,653,0.401001944851,-0.00539838204395,0.0498678848044,0.999999961713,0.000129168282917,-0.000241760468131,-3.79664481488e-05,1793238963326421760
+64,1.066666667,BASELINE,767,745.131493362,715,679,666,636,880,788.131493362,804,653,632,653,0.401002480594,-0.00539714388615,0.0498679644902,0.999999961601,0.000131328985046,-0.000241059117724,-3.79535066776e-05,1793238963343088128
+65,1.083333333,BASELINE,767,745.719074164,715,679,666,636,880,788.719074164,804,653,632,653,0.401002195565,-0.00539708531422,0.0498678101931,0.999999961336,0.00013193622248,-0.000241784412889,-3.82349902461e-05,1793238963359754752
+66,1.100000000,BASELINE,767,745.697866526,715,679.302133474,666.302133474,636.302133474,880,788.697866526,803.697866526,653,632,653,0.401001523793,-0.00539751959155,0.0498676739132,0.999999961343,0.000131071753153,-0.000242208022293,-3.83427750895e-05,1793238963376421632
+67,1.116666667,BASELINE,767,745.118949375,715,679.881050625,666.881050625,636.881050625,880,788.118949375,803.118949375,653,632,653,0.401000497727,-0.0053984053668,0.0498675541389,0.999999961597,0.000128859057121,-0.000242355258131,-3.82914349746e-05,1793238963393088512
+68,1.133333333,BASELINE,767,745.460525006,715,679.539474994,666.539474994,636.539474994,880,788.460525006,803.460525006,653,632,653,0.40100104598,-0.00539798402259,0.0498679424119,0.999999961661,0.00012975140567,-0.000241620077441,-3.82395579598e-05,1793238963409755648
+69,1.150000000,BASELINE,766.960076421,746,715,679.039923579,666.039923579,636,880,789,804,653,631.960076421,653,0.401001961861,-0.00539724155949,0.0498684377795,0.999999961665,0.00013139410571,-0.000240722898513,-3.81912341792e-05,1793238963426422784
+70,1.166666667,BASELINE,766.383633722,746,715,679.616366278,666.616366278,636,880,789,804,653,631.383633722,653,0.401002346961,-0.0053967263053,0.0498686067438,0.999999961543,0.000132329600709,-0.000240715331897,-3.81925270173e-05,1793238963443088896
+71,1.183333333,BASELINE,766.196339264,746,715,679.803660736,666.803660736,636,880.392678528,789,804.196339264,653,631.196339264,653,0.40100308519,-0.00539660707758,0.0498688345109,0.999999961657,0.000132269369819,-0.000240275710601,-3.81962286914e-05,1793238963459755008
+72,1.200000000,BASELINE,766.783336599,746,715,679.216663401,666.216663401,636,881.566673199,789,804.783336599,653,631.783336599,653,0.401004526043,-0.00539727582736,0.0498691792787,0.999999962236,0.000130227933973,-0.000238976426065,-3.82047232489e-05,1793238963476421632
+73,1.216666667,BASELINE,767,745.635260919,715,679,666.364739081,636,881.270521838,788.635260919,804.635260919,653,632,653,0.401004380027,-0.00539712445694,0.0498694085634,0.999999962361,0.000129921750669,-0.000238610691609,-3.82560682348e-05,1793238963493088256
+74,1.233333333,BASELINE,767,745.057131734,715,679,666.942868266,636,880.114263469,788.057131734,804.057131734,653,632,653,0.401003305616,-0.00539649327628,0.0498695702849,0.999999962223,0.000130630774629,-0.000238791129439,-3.83324828049e-05,1793238963509754880
+75,1.250000000,BASELINE,766.480169656,745.519830344,715,679,666.480169656,636,880.519830344,788,804,653,632,653,0.401002568339,-0.0053973821317,0.0498689311682,0.999999961983,0.000130263461744,-0.000240008506678,-3.82397247409e-05,1793238963526422016
+76,1.266666667,BASELINE,766.096265844,746,715,679,666.096265844,636.096265844,880.903734156,788,804,653,632,653,0.40100211967,-0.00539797797309,0.0498683968766,0.999999961792,0.000129967913934,-0.000240965197674,-3.82059633199e-05,1793238963543089152
+77,1.283333333,BASELINE,766.670721346,746,715,679,666.670721346,636.670721346,880.329278654,788,804,653,632,653,0.401002920987,-0.00539629031325,0.0498688195204,0.999999961912,0.000130615148415,-0.000240062122277,-3.85574119959e-05,1793238963559755776
+78,1.300000000,BASELINE,766.746977432,746,715,679,666.746977432,636.746977432,880,788.253022568,804,653,632,653,0.401003521042,-0.00539577038879,0.0498692199608,0.999999962037,0.000131094489937,-0.000239270066888,-3.86079567863e-05,1793238963576422400
+79,1.316666667,BASELINE,766.154139261,746,715,679,666.154139261,636.154139261,880,788.845860739,804,653,632,653,0.401003850799,-0.00539681876215,0.0498695905813,0.999999962171,0.000131348346984,-0.000238627114203,-3.82543801433e-05,1793238963593088768
+80,1.333333333,BASELINE,766.427552446,746,715,679.427552446,666,636,880,789,804,653,632,653,0.401004002829,-0.00539752381093,0.0498698024521,0.999999962406,0.000130149515659,-0.000238323650469,-3.80811441796e-05,1793238963609755136
+81,1.350000000,BASELINE,767,746,715,679.994720652,666,636,880,789,804,653,632,653,0.401004073901,-0.00539809681566,0.0498699455002,0.999999962666,0.000128470735661,-0.000238162760548,-3.79731740149e-05,1793238963626421504
+82,1.366666667,BASELINE,767,746,715,679.422202754,666,636,880,789,804,653,632,653,0.401002155845,-0.00539744332382,0.0498686869079,0.999999961896,0.000130064882614,-0.000240504532218,-3.80695772228e-05,1793238963643088384
+83,1.383333333,BASELINE,767,746,715,679,666.15534676,636,880,789,804,653,632,653,0.401001338582,-0.00539706414617,0.0498681033354,0.999999961481,0.000131080648975,-0.000241665624566,-3.81150989501e-05,1793238963659755264
+84,1.400000000,BASELINE,767,746,715,679,666.74702913,636,880,789,804,653,632,653,0.401003613211,-0.00539745545791,0.0498694157479,0.999999962083,0.000130471869102,-0.00023951044337,-3.8017705572e-05,1793238963676422144
+85,1.416666667,BASELINE,767,746,715,679.33103105,666.66896895,636,880.33103105,788.66896895,803.66896895,653,632,653,0.401004175976,-0.0053973507051,0.0498700519202,0.999999962366,0.000129865961132,-0.000238645137801,-3.80934077311e-05,1793238963693088768
+86,1.433333333,BASELINE,767,746,715,679.909296694,666.090703306,636,880.909296694,788.090703306,803.090703306,653,632,653,0.401003460216,-0.0053968754604,0.0498701830342,0.999999962413,0.000129262198112,-0.000238743191778,-3.82983884188e-05,1793238963709755648
+87,1.450000000,BASELINE,767,746,715,679.514518094,666,636,881,788.485481906,803.485481906,653,632,653,0.401002532158,-0.00539777363476,0.0498691059282,0.999999962022,0.000129903863614,-0.000240065462524,-3.80843445279e-05,1793238963726422272
+88,1.466666667,BASELINE,767,746,715,679,666,636,881,788.939027183,804,653,632,653,0.401001562171,-0.00539884944892,0.04986792584,0.999999961599,0.000130548426692,-0.000241512121586,-3.78361552692e-05,1793238963743088896
+89,1.483333333,BASELINE,767,746,715,679,666,636,881,788.36611613,804,653,632,653,0.401000571741,-0.00539927151015,0.0498677683057,0.99999996162,0.000129271989269,-0.000242090969493,-3.79557818386e-05,1793238963759755008
+90,1.500000000,BASELINE,766.786591606,745.786591606,715,679,666.213408394,636,880.786591606,788.213408394,803.786591606,653,632,653,0.401000554877,-0.00539942031082,0.0498680608406,0.999999961788,0.000128394566377,-0.000241857808517,-3.79990041203e-05,1793238963776421632
+91,1.516666667,BASELINE,766.195358449,745.195358449,715,679,666.804641551,636,880.195358449,788.804641551,803.195358449,653,632,653,0.401002261647,-0.00539908532256,0.049869150192,0.999999962216,0.000128223571176,-0.000240187042067,-3.79069578964e-05,1793238963793088256
+92,1.533333333,BASELINE,766.385717513,745.385717513,715,679,666.614282487,636,880,788.614282487,803.385717513,653,632,653,0.401002933532,-0.0053981966374,0.0498695492461,0.999999962325,0.000129424898719,-0.000239071397651,-3.80097349507e-05,1793238963809755136
+93,1.550000000,BASELINE,766.961781097,745.961781097,715,679,666.038218903,636,880,788.038218903,803.961781097,653,632,653,0.401003094717,-0.00539703471073,0.0498696076486,0.999999962273,0.000131303447875,-0.000238229697862,-3.82086544953e-05,1793238963826421760
+94,1.566666667,BASELINE,767,745.461956668,715,679,666,636,879.461956668,788,803.461956668,653,632,653,0.401003054284,-0.00539632442546,0.0498690398146,0.999999961989,0.000131540869128,-0.000239254477135,-3.84230505429e-05,1793238963843088640
+95,1.583333333,BASELINE,766.882886441,745,715,679,666,636.117113559,879,788,803.117113559,653,632,653,0.401003214082,-0.00539608182135,0.0498686870801,0.999999961877,0.000131135183109,-0.000239929845478,-3.85071462065e-05,1793238963859755008
+96,1.600000000,BASELINE,766.292526206,745,715,679,666,636.707473794,879,788,803.707473794,653,632,653,0.401004240891,-0.00539759939311,0.0498693833666,0.999999962528,0.000128601993443,-0.000238657321389,-3.80602643338e-05,1793238963876421632
+97,1.616666667,BASELINE,766.292293179,745.292293179,715,679,666.292293179,636.707706821,879.292293179,788.292293179,804,653,632,653,0.401003931035,-0.00539802663918,0.0498692504641,0.99999996255,0.000127937081493,-0.000238929006792,-3.80043530324e-05,1793238963893088256
+98,1.633333333,BASELINE,766.871670426,745.871670426,715,679,666.871670426,636.128329574,879.871670426,788.871670426,804,653,632,653,0.401002308334,-0.00539738299074,0.0498683031502,0.999999961959,0.000129107151844,-0.000240717381588,-3.83324446354e-05,1793238963909754880
+99,1.650000000,BASELINE,767,745.55279069,715,679,666.55279069,636,880.44720931,788.55279069,804,653,632,653,0.401001910128,-0.00539793294194,0.0498680645925,0.99999996193,0.000128571627881,-0.000241153534593,-3.8148224812e-05,1793238963926421760
+100,1.666666667,BASELINE,766.9782359,745.0217641,715,679,666,636,881,788,803.9782359,653,632,653,0.401001873735,-0.00539873691317,0.0498680464028,0.999999962053,0.000127649086655,-0.000241181860795,-3.78388587466e-05,1793238963943088128
+101,1.683333333,BASELINE,766.400924762,745.599075238,715,679,666,636,881,788,803.400924762,653,632,653,0.401002180103,-0.00539735647735,0.0498685059688,0.999999961976,0.000129234432266,-0.000240620535318,-3.80556760569e-05,1793238963959755008
+102,1.700000000,BASELINE,766.180450215,746,715,679,666,636,881,788.180450215,803.180450215,653,631.819549785,653,0.401002683732,-0.00539717170839,0.0498690454265,0.999999962121,0.000129458663463,-0.000239887013719,-3.81205894725e-05,1793238963976421632
+103,1.716666667,BASELINE,766.771062185,746,715,679,666,636,881,788.771062185,803.771062185,653,631.228937815,653,0.401003635733,-0.00539970467992,0.0498697664771,0.999999962768,0.000126589093328,-0.000238762091921,-3.78402266391e-05,1793238963993088256
+104,1.733333333,BASELINE,767,746,715,679,666.35509368,636,880.64490632,789,803.64490632,653,631.35509368,653,0.401003150322,-0.00539907419291,0.0498694653705,0.999999962519,0.000127773698528,-0.000239186631214,-3.77575696013e-05,1793238964009754880
+105,1.750000000,BASELINE,767,746,715,679,666.934959825,636,880.065040175,789,803.065040175,653,631.934959825,653,0.401001755036,-0.00539644125323,0.0498685172438,0.999999961694,0.0001315245755,-0.000240591971264,-3.78000592832e-05,1793238964026421504
+106,1.766666667,BASELINE,767,746,715,679,666.492657361,636,880,788.492657361,803.507342639,653,632,653,0.40100151188,-0.0053965491753,0.0498678946389,0.999999961578,0.00013090524231,-0.000241372840325,-3.80408579235e-05,1793238964043088384
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636,880,788,803,653,632,653,0.401000900147,-0.00539904081759,0.0498681290857,0.999999962059,0.000127086107875,-0.000241344392175,-3.85156992317e-05,1793238964086361344
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745.408962565,715,679,666.408962565,636,879.408962565,788,803.591037435,653,632,653,0.401002426902,-0.00539860801558,0.0498697272201,0.999999962315,0.000128463897965,-0.000239586346,-3.82863057819e-05,1793238964103027968
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.178122745,715,679,666,636,879.178122745,788.178122745,804,653,632,653,0.40100299541,-0.00539828676019,0.0498703382158,0.999999962367,0.000129506255094,-0.000238829675636,-3.81459109971e-05,1793238964119694592
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745.756331209,715,679,666,636,879.756331209,788.756331209,804,653,632,653,0.401001411576,-0.00539821605224,0.0498687319762,0.999999961969,0.000129795188572,-0.000240322218862,-3.8205418178e-05,1793238964136361216
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745.668534374,715,679,666,636,880,789,803.668534374,653,632,653,0.401001263091,-0.00539815941086,0.0498684626572,0.999999961966,0.000129227177583,-0.000240661675933,-3.80726284532e-05,1793238964153027840
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745.095639037,715,679,666,636,880,789,803.095639037,653,632,653,0.40100216007,-0.00539811301518,0.0498691671117,0.99999996225,0.000128034993691,-0.000240161259224,-3.77997753734e-05,1793238964169694208
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745.493046522,715,679,666,636,880,788.506953478,803.493046522,653,631.506953478,653,0.401003179161,-0.00539851541867,0.0498694523999,0.999999962525,0.000127338586968,-0.000239383366413,-3.78187778745e-05,1793238964186360576
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745.917040113,715,679,666,636.082959887,880,788,804,653,631.082959887,653,0.401004215365,-0.00539902506423,0.0498696494226,0.999999962772,0.000126831322447,-0.000238611681262,-3.78636047668e-05,1793238964203027456
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.33869015,715,679,666,636.66130985,880,788,804,653,631.66130985,653,0.401005207636,-0.00539963804942,0.049869820964,0.99999996287,0.000126860243794,-0.000238209103118,-3.77133951047e-05,1793238964219694336
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.761205039,745.238794961,715,679,666,637,880,788,804,653.238794961,632,653,0.401010808685,-0.00539994323112,0.0498719863744,0.999999963801,0.000126891205293,-0.000234288086475,-3.75029678288e-05,1793238964236361216
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.184942197,745.815057803,715,679,666,637,880,788,804,653.815057803,632,653,0.401022922914,-0.0053998134212,0.0498769695444,0.999999965851,0.000126925049949,-0.000225394770693,-3.72074403147e-05,1793238964253027840
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.398922907,746,715,679,666,636.601077093,879.601077093,788,804,653.601077093,631.601077093,653,0.401052455186,-0.00540001951388,0.0498876701741,0.999999970522,0.000127830876285,-0.000203128557426,-3.67994360998e-05,1793238964269694464
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+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,715,679.564815077,666,636.564815077,879.564815077,788,803.435184923,653,631.564815077,653,0.40115692538,-0.00540187070745,0.0499204384445,0.999999982361,0.000128429560241,-0.000132460569075,-3.51850680634e-05,1793238964303027712
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.857284361,746,715,679.857284361,666,636.857284361,880,788,803.142715639,653,632,653,0.401226407019,-0.00540392573209,0.0499381107205,0.999999986688,0.000127203313953,-9.63864103923e-05,-3.395344052e-05,1793238964319694336
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.280355364,746,715,679.280355364,666,636.280355364,880,788,803.719644636,653,632,653,0.401302243832,-0.00540762997227,0.0499502007683,0.999999988545,0.000124581629964,-7.95644003969e-05,-3.25331864413e-05,1793238964336360960
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666.294283833,636,880,788,803.705716167,653,632,653,0.40138338247,-0.00541067272755,0.0499577188831,0.99999998953,0.000123597332419,-6.83858148594e-05,-3.14120883912e-05,1793238964353027584
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666.866758414,636,880,788,803.133241586,653,632,653,0.401469532995,-0.00541309017141,0.0499609150829,0.999999989869,0.00012416088005,-6.25420407981e-05,-3.05737869361e-05,1793238964369694208
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666.546727987,636,880,788,803,653,632,653,0.401565212324,-0.00541654289613,0.0499592890849,0.999999989792,0.000122832756393,-6.66850839614e-05,-2.96956563209e-05,1793238964386361088
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.04346655,746,715,679,666.04346655,636,880,788,803,653,631.95653345,653.04346655,0.401666770338,-0.00542041805046,0.0499566346545,0.999999989616,0.000120799831882,-7.31178992854e-05,-2.87904134774e-05,1793238964403027968
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.626488806,746,715,679,666.626488806,636,880,788,803,653,631.373511194,653.626488806,0.401805420251,-0.00542563849709,0.0499593722907,0.99999999028,0.000117141268654,-7.03682967228e-05,-2.76986008755e-05,1793238964419694592
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.793195986,745.793195986,715,679,666.793195986,636,880,788,803.206804014,653,631,654,0.401952500834,-0.00543101786043,0.0499613540681,0.999999990831,0.000113726497824,-6.85505662565e-05,-2.65512576385e-05,1793238964436360960
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+134,2.233333333,POSE1_TO_POSE2_PRESS,766.317659351,745,715,679,666,636,879.317659351,788,803.682340649,653,632,653,0.403221994788,-0.00546968476779,0.0499679730416,0.999999993536,9.90672532397e-05,-5.26787709329e-05,-1.83970785887e-05,1793238964536360960
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.258754528,745,715,679,666,636,879.258754528,788,804,653,632,653,0.40351850794,-0.00547931931664,0.0499751822375,0.99999999454,9.55035754459e-05,-3.93633547945e-05,-1.58028042011e-05,1793238964553027840
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.834066643,745,715,679,666,636,879.834066643,788,804,653,632,653,0.403833732808,-0.00549018164528,0.0499827989653,0.99999999554,9.05577404977e-05,-2.33850177538e-05,-1.31592750655e-05,1793238964569694464
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.408345813,715,679,666,636.408345813,880,788,804,653,632,653,0.404178730166,-0.00549953019946,0.0499907039896,0.999999996081,8.74079319509e-05,-9.7302793782e-06,-1.02045326508e-05,1793238964586361088
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.982206286,715,679,666,636.982206286,880,788,804,653,632,653,0.404535795188,-0.00550826517575,0.0499987258688,0.999999996359,8.49861062411e-05,2.98263521292e-06,-7.12364633535e-06,1793238964603027712
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.57728318,746,715,679,666.57728318,636.42271682,880,788,804,653,632,653,0.404926249751,-0.00551576040378,0.0500034002683,0.999999996107,8.69710614819e-05,1.43821783864e-05,-3.92802273741e-06,1793238964619694080
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.664057176,746,715,679,666.832028588,636,880,788.167971412,803.832028588,652.832028588,632,653,0.405324435562,-0.00551730282316,0.050002315968,0.999999995277,9.61770120479e-05,1.39539707091e-05,-1.04673381435e-06,1793238964636360960
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.507440021,746,715,679,666.25372001,636,880,788.74627999,803.25372001,652.25372001,632,653,0.405738897877,-0.00550440004436,0.0499874254215,0.999999992358,0.00012267864123,-1.52655700507e-05,1.05769769678e-06,1793238964653027584
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666.321907368,636,880,788.678092632,803.321907368,652.321907368,632,653,0.406165136529,-0.00549302731032,0.0499697735333,0.999999988217,0.00014609679914,-4.70843060342e-05,2.18684786466e-06,1793238964669694208
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666.895439002,636,880,788.104560998,803.895439002,652.895439002,632,653,0.406600580394,-0.00548285055993,0.0499499631949,0.99999998276,0.000167104713029,-8.09347494463e-05,2.55365331415e-06,1793238964686361344
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,715,679,667,636,880,788,804,653,631.5312033,653,0.407086282219,-0.00548981644019,0.0499419618731,0.999999981311,0.000169332680329,-9.31392467856e-05,5.40482352205e-06,1793238964703028224
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.043861132,746,715,679,666.956138868,636,880,788,804,653,631.043861132,653,0.407589122429,-0.00550046820772,0.049938580555,0.999999981213,0.000167676344756,-9.68441660136e-05,8.90292651741e-06,1793238964719694848
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.640942194,746,715,679,666.359057806,636,880,788,804,653,631.640942194,653,0.408166795207,-0.00550940199128,0.0499602622847,0.999999984015,0.000169839802026,-5.42161616255e-05,1.35743240331e-05,1793238964736361472
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.772062265,746,715,679,666.227937735,636,880.227937735,788,804,653,632,653,0.408761614668,-0.00551500111339,0.049981515894,0.999999984349,0.000175121852171,-1.71311365729e-05,1.84378431308e-05,1793238964753028096
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.200280754,746,715,679,666.799719246,636,880.799719246,788,804,653,632,653,0.409382299842,-0.00551556990251,0.0500021236831,0.999999982522,0.000185108295727,1.15923087405e-05,2.35911771237e-05,1793238964769694720
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,679,667,636,880.625300205,788,804,653,632,653,0.409996287846,-0.00551046573625,0.0500072573922,0.999999978569,0.000204530207799,1.67086963165e-05,2.74073653902e-05,1793238964786361088
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,679,667,636,880.048595034,788,804,653,632,653,0.4106066653,-0.00550230320829,0.0500040488294,0.999999973264,0.000229038899375,9.09822091855e-06,3.0502681388e-05,1793238964803027712
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,715,679.540723432,666.459276568,636,880,788,804,652.459276568,632,653,0.411199960091,-0.00549911267657,0.0499766564697,0.99999996875,0.000243142259482,-4.81143780679e-05,3.26653802004e-05,1793238964819694080
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715,679.871540136,666,636,880,788,804,652.128459864,631.871540136,653,0.411818345844,-0.00549838393539,0.0499536263095,0.999999962833,0.000253789965685,-9.32728576125e-05,3.4989118869e-05,1793238964836360704
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715,679.2934046,666,636,880,788,804,652.7065954,631.2934046,653,0.412530065185,-0.00550467121774,0.0499536558556,0.999999963361,0.000255692727141,-8.02585380158e-05,3.81769818047e-05,1793238964853027584
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.717718725,715,679,666.282281275,636.282281275,880,788,804,653,631.282281275,653,0.413277477091,-0.00551273214683,0.0499678578684,0.999999977686,0.000203283475221,-4.96837273898e-05,2.89009963766e-05,1793238964869694720
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.144557065,715,679,666.855442935,636.855442935,880,788,804,653,631.855442935,653,0.414061668948,-0.00552262075388,0.0499966640826,0.999999995473,9.49077055603e-05,-1.01347978031e-06,6.78147747898e-06,1793238964886361088
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.430993205,715,679,667,636.569006795,880,788,803.569006795,652.569006795,631.569006795,653,0.414799589788,-0.00553082108355,0.0499888799337,0.999999997322,7.18190416783e-05,-1.33595582944e-05,4.35514214526e-06,1793238964903027712
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.007521406,745.992478594,715,679,666.992478594,636,880,788,803.015042811,652.007521406,631.007521406,653,0.415522145023,-0.0055382559663,0.0499687787123,0.999999995872,7.77292739291e-05,-4.62695062328e-05,8.55209382509e-06,1793238964919694336
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.597393948,745.402606052,715,679,666.402606052,636,880,788,804.194787896,652.597393948,631.597393948,653,0.416263316359,-0.0055305126844,0.0499505275041,0.999999991719,0.00010174145196,-7.79923910232e-05,1.13007225521e-05,1793238964936361216
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.815934429,745.184065571,715,679,666.184065571,636,880,788,804.631868858,653,632,653,0.41703665136,-0.00552485176693,0.0499466103382,0.999999989066,0.000121186949722,-8.35136752574e-05,1.43864488482e-05,1793238964953027584
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.236144528,745.763855472,715,679,666.763855472,636,880,788,803.472289057,653,632,653,0.417879135288,-0.00552366774512,0.049973510068,0.999999990743,0.000130814496579,-3.27038861938e-05,1.81969042746e-05,1793238964969694208
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,679,667,636,880,788,803.340704104,653,631.659295896,653,0.418713228654,-0.0055238147312,0.0499862958597,0.999999990665,0.000134327689493,-1.44657792498e-05,2.04342999219e-05,1793238964986360832
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,679,667,636,880,788,803.915531546,653,631.084468454,653,0.419541556201,-0.00552487635267,0.0499893829051,0.999999990664,0.000133639251091,-1.86101196538e-05,2.15907281038e-05,1793238965003027712
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715.505021077,679,666.494978923,636,880,788,804,652.494978923,631.505021077,653,0.420357359306,-0.00552610595444,0.04997708005,0.999999990568,0.000131489978925,-3.36057384965e-05,2.11175779621e-05,1793238965019694336
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715.905329456,679,666.094670544,636,880,788,804,652.094670544,632,653,0.421185579757,-0.00552785026442,0.0499695327864,0.999999990785,0.000128657904146,-3.79643041923e-05,2.08557167135e-05,1793238965036360960
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715.327747714,679,666.672252286,636,880,788,804,652.672252286,632,653,0.422088145398,-0.00553207248123,0.0499997665,0.999999991861,0.000123626488911,2.14712266248e-05,2.31035178244e-05,1793238965053027584
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.248461649,745.751538351,715,679.248461649,667,636,880,788,804,653,632,653,0.422965403056,-0.00553512305698,0.0500129452612,0.999999991445,0.000119671387338,4.6794363262e-05,2.44786427914e-05,1793238965069694208
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.822870719,745.177129281,715,679.822870719,667,636,880,788,804,653,632,653,0.423809460253,-0.00553663660178,0.0500037502808,0.999999992461,0.000117128260584,2.73667511967e-05,2.4708937391e-05,1793238965086360832
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745.397377767,715,679.602622233,667,636,880.397377767,788,804,652.602622233,631.602622233,653,0.424685293273,-0.00553770290702,0.0499989612886,0.999999992833,0.000115569653395,1.89820183565e-05,2.4851207523e-05,1793238965103027456
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745.971928463,715,679.028071537,667,636,880.971928463,788,804,652.028071537,631.028071537,653,0.425575293658,-0.0055385698081,0.0499961367295,0.999999993019,0.000114449999505,1.5520811427e-05,2.49542314802e-05,1793238965119694336
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,715,679,667,636,881,788,804,652.563587072,631.563587072,653,0.426449291011,-0.00553859398867,0.0500128842184,0.999999992224,0.000116852067601,3.39575058293e-05,2.72725969751e-05,1793238965136360960
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.858502318,746,715,679,667,636,881,788,804.141497682,653,632,653,0.427306239669,-0.00553797231991,0.0500174956329,0.99999999196,0.000119544391771,3.08480617182e-05,2.89449659296e-05,1793238965153027840
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.321477852,746,715,679,667,636,881,788,804.678522148,653,632,653,0.428117830112,-0.00553566632106,0.0499853729048,0.999999991451,0.000122542386733,-3.56333307706e-05,2.84934910762e-05,1793238965169694720
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666.751524221,636,881,788,805,652.751524221,632,653,0.428953624849,-0.00553465641154,0.0499650328036,0.999999989582,0.000122950591403,-7.02589651161e-05,2.79714665481e-05,1793238965186361344
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666.132458311,636,881,788,805,652.132458311,632,653,0.4298255191,-0.00553557955953,0.0499622659482,0.999999990841,0.000119496244026,-5.7373204135e-05,2.73442206306e-05,1793238965203027712
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.466299531,746,715,679.466299531,666.466299531,636,881,788,804.533700469,652.466299531,632,653,0.430700373149,-0.00553822576695,0.0499699909341,0.999999992144,0.000115149132082,-4.09900857033e-05,2.78062605972e-05,1793238965219694336
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.941899228,746,715,680,667,636,881,788,804,652.941899228,632,653,0.431569888005,-0.00554097909878,0.0499773340696,0.999999993002,0.000111031451826,-2.92829385679e-05,2.8462376755e-05,1793238965236360960
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.362906157,746,715,680,667,636,881,788,804,652.362906157,632,653,0.432384311491,-0.00554048782773,0.0499556491817,0.999999991111,0.000111149433931,-6.80324611433e-05,2.82001225701e-05,1793238965253027584
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.214449388,746,715,680,667,636,880.785550612,788,804,652,632,653,0.433207891816,-0.00554114253212,0.0499499492223,0.999999990578,0.000109505258294,-7.77800277554e-05,2.83346068588e-05,1793238965269694208
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.789054889,746,715,680,667,636,880.210945111,788,804,652,632,653,0.434046850686,-0.00554372184001,0.0499710950796,0.99999999332,0.000104901634462,-3.88203890501e-05,2.91353918753e-05,1793238965286361344
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,715,680.36420895,667,636,880.36420895,788,804.36420895,652,632,653,0.434865781486,-0.00554435104952,0.0499870129558,0.999999994155,0.000102683973344,-1.57660544181e-05,2.9943272223e-05,1793238965303028224
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,715,680.939681174,667,636,880.939681174,788,804.939681174,652,632,653,0.435673094741,-0.00554384908356,0.0499998982846,0.999999994338,0.000101850315592,-1.93776287872e-06,3.07552682583e-05,1793238965319695104
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.47198951,746,715,680.47198951,667,636,881,788,804.47198951,652,632,653,0.436408840412,-0.00553996682886,0.0499730016852,0.999999991708,0.000108224210901,-6.26867243011e-05,3.06922202002e-05,1793238965336361472
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.115613054,745.884386946,715,680,667,636,881,788,804.115613054,652.115613054,632.115613054,653,0.43715175169,-0.00553723977852,0.0499527026702,0.999999987535,0.000113062390486,-0.000105837961733,3.07462746905e-05,1793238965353027584
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.694275364,745.305724636,715,680,667,636,881,788,804.694275364,652.694275364,632.694275364,653,0.437956924776,-0.00554072473467,0.0499774842334,0.999999992679,0.000108369717325,-4.35336097913e-05,3.16797060049e-05,1793238965369694464
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.728933551,745,715,680,667,636,881.271066449,788,805,652.728933551,632.728933551,653,0.438721938679,-0.00554454643352,0.0499940703572,0.999999994044,0.000103920639098,-6.59329166163e-06,3.26953889977e-05,1793238965386361088
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.154238513,745,715,680,667,636,881.845761487,788,805,652.154238513,632.154238513,653,0.439441969179,-0.00554874532639,0.0500014765541,0.999999994452,9.97444185686e-05,1.93610736563e-06,3.38032042793e-05,1793238965403027712
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.430828076,745.430828076,715,680,667,636,881.569171924,788,805,652.430828076,632.430828076,653,0.440121595347,-0.00554814271346,0.0499850434348,0.999999994034,0.000101500774991,-2.26570637581e-05,3.34103908599e-05,1793238965419694592
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,715,681,667,636,881,788,805,652,632.822680194,653,0.442074668124,-0.00554674172819,0.0499565621873,0.999999990959,0.000112665819898,-6.42279937169e-05,3.55486458561e-05,1793238965469694720
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715,681,667,636,881,788,805,652,632.246348205,653,0.442700434589,-0.00554703688057,0.0499633782853,0.999999991305,0.000118319035504,-4.52402483524e-05,3.66626981178e-05,1793238965486361344
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680.671683947,667,635.671683947,881,788,805,652,632,652.671683947,0.443261212702,-0.00554779203104,0.0499544057495,0.999999990216,0.000121006165819,-5.92991666746e-05,3.75250875662e-05,1793238965503027968
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680.098264762,667,635.098264762,881,788,805,652,632,652.098264762,0.443773473964,-0.00554889059136,0.0499336462673,0.999999987087,0.0001214789757,-9.80289503174e-05,3.81995989712e-05,1793238965519694336
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680.491103127,666.508896873,635,881,788,804.508896873,652,632,652.491103127,0.444273381528,-0.00554889359016,0.0498864840592,0.999999975785,0.000124144296839,-0.000177840841031,3.73071500097e-05,1793238965536361216
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766.656500321,746,715,680.343499679,666,635,881,788,804.656500321,652,632,653,0.445257452132,-0.00555207943351,0.0498278610197,0.999999957984,0.000123975437777,-0.000259495712632,3.63813590504e-05,1793238965569694720
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.767487319,746,715.232512681,680,666,634.767487319,881,788,805,652,632,653,0.445742890324,-0.00555170157271,0.0498256303872,0.999999959873,0.000125268949971,-0.000251413402073,3.67900815055e-05,1793238965586361344
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.190270338,746,715.809729662,680,666,634.190270338,881,788,805,652,632,653,0.446224478838,-0.00554637600277,0.0498375482829,0.999999965517,0.000132177883102,-0.000223777908806,3.76504689607e-05,1793238965603027968
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,715.614535062,680,666,634.385464938,881,788,805,652,632,653,0.446649099556,-0.00554126227196,0.0498365905088,0.999999964496,0.000139056133542,-0.000224168479781,3.76878616304e-05,1793238965619694336
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,715.03952832,680,666,634.96047168,881,788,805,652,632,653,0.447045707967,-0.00553625270673,0.0498293014784,0.999999960254,0.000145919297237,-0.000238340096097,3.73205692842e-05,1793238965636360960
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+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680.279772502,665.279772502,635,881,787.279772502,804.279772502,652,632,653,0.448016195267,-0.00555358962643,0.0497368659269,0.999999927697,2.97411603764e-05,-0.000379066216648,5.46425217516e-06,1793238965686361088
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+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745.868360708,715,680,665,634.131639292,881.868360708,787.868360708,804.868360708,652,632,653,0.448626501885,-0.00556414109742,0.0497346400993,0.999999928559,1.62659323283e-05,-0.000377607271328,5.50083621818e-06,1793238965719694336
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,634,881.545896712,788,805,652,632,653,0.448903933468,-0.00556493747837,0.0497486421501,0.999999935018,2.03050366337e-05,-0.000359840570962,8.16175296006e-06,1793238965736360704
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,715.042846459,680.042846459,665,634,880.957153541,787.957153541,805,652,632,653,0.449170306022,-0.00556458462274,0.0497641894364,0.999999941266,2.56389124825e-05,-0.000341595873363,1.10550645046e-05,1793238965753027584
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,715.621748595,680.621748595,665,634,880.378251405,787.378251405,805,652,632,653,0.449394149226,-0.00555777495938,0.0497624155689,0.999999939647,3.84658190186e-05,-0.000345076543121,1.21521324806e-05,1793238965769694208
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,716,680.799565751,665,634,880.200434249,787.200434249,805,652,632,653,0.449602592725,-0.00555084077507,0.0497580488111,0.999999936072,5.03308476298e-05,-0.000353774279228,1.29004183843e-05,1793238965786360576
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,716,680.221288254,665,634,880.778711746,787.778711746,805,652,632,653,0.449782005858,-0.00554367185423,0.0497487941359,0.999999928786,6.03826164259e-05,-0.000372306827581,1.29912069984e-05,1793238965803027200
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.646559711,746,715.646559711,680.353440289,665,633.646559711,881,787.646559711,805,652,632,653,0.449951234679,-0.00554170073299,0.0497456304085,0.999999926814,6.5079426088e-05,-0.000376760715075,1.37269165592e-05,1793238965819694080
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.074031016,746,715.074031016,680.925968984,665,633.074031016,881,787.074031016,805,652,632,653,0.450114150529,-0.00554295159132,0.0497462422997,0.999999928308,6.64568373946e-05,-0.000372487610178,1.48623957864e-05,1793238965836360704
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.514970564,746,715,681,665,633,881,787,804.485029436,652,631.485029436,653,0.450252163369,-0.00554631004409,0.0497514578475,0.999999931046,6.45400457563e-05,-0.000365355875337,1.60586546478e-05,1793238965853027328
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.895684577,715,681,665,633.104315423,881,787,804,652,631,653,0.45038101834,-0.00554908344133,0.0497559496845,0.999999933041,6.30971527645e-05,-0.000360065740575,1.70265582658e-05,1793238965869694208
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745.315924854,715,681,665,633.684075146,881,787,804,652,631,653,0.450484989981,-0.0055477637434,0.0497540269749,0.999999931026,6.60439024393e-05,-0.000365104073108,1.69125351134e-05,1793238965886360832
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745.262101361,715,681,665,633.737898639,881,787,804.262101361,652,631,653,0.450577088148,-0.00554750079018,0.0497515075522,0.99999992871,6.74255850605e-05,-0.000371137360531,1.70285268781e-05,1793238965903027456
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745.838051779,715,681,665,633.161948221,881,787,804.838051779,652,631,653,0.45065496861,-0.00554850321899,0.0497482736054,0.999999926029,6.69332031476e-05,-0.000378362040373,1.74199463105e-05,1793238965919694080
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665,633,881,787,805,652,631.422143828,653,0.450718596534,-0.00554784098603,0.0497461168798,0.999999924845,6.7974240713e-05,-0.000381302066775,1.72945940023e-05,1793238965936360704
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,715,680.990723823,665,633,881,787,805,652,631.990723823,653,0.450776414906,-0.00554659853274,0.0497443945244,0.999999924248,6.95262839212e-05,-0.000382598696932,1.69804409633e-05,1793238965953027072
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746,715,680.412455409,665,633,881,787,805,652,631.412455409,653,0.450819862551,-0.00554970854029,0.0497434687047,0.999999923235,6.56293882522e-05,-0.00038589881691,1.74850779811e-05,1793238965969693696
+221,3.683333333,POSE1_TO_POSE2_PRESS,766.166296001,746,715.166296001,680,665,633,881,787,805,652,631.166296001,653,0.450859557127,-0.00555146949453,0.0497424820391,0.999999922097,6.36696166188e-05,-0.000389143163246,1.7884628544e-05,1793238965986360576
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745.06621555,716,681,665,633,881,788,804.93378445,652.93378445,631.06621555,653,0.450949732126,-0.00554546872482,0.0497337245752,0.999999915742,6.74215225175e-05,-0.000404568188941,1.71953958981e-05,1793238966069694208
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745.644819396,716,681,665,633,881,788,804.355180604,652.355180604,631.644819396,653,0.450956088155,-0.00554320758241,0.0497326970258,0.999999914825,7.05817542363e-05,-0.000406306595306,1.68006934091e-05,1793238966086360832
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,715.776620744,680.776620744,665,633,881,787.776620744,804.223379256,652,632,653,0.450961468412,-0.00554237464145,0.0497319845836,0.999999914326,7.18041278366e-05,-0.000407327632668,1.65987708233e-05,1793238966103027200
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,715.198130844,680.198130844,665,633,881,787.198130844,804.801869156,652,632,653,0.450965297467,-0.00554381214215,0.0497317730739,0.999999914505,6.99458479357e-05,-0.000407208253525,1.67033144792e-05,1793238966119694080
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.048067414,633,881,787.951932586,805,652,631.048067414,653,0.450967796136,-0.00554487098079,0.0497300914205,0.999999913093,6.92450334532e-05,-0.000410762929612,1.71044256331e-05,1793238966153027328
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+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680.1268903,664.1268903,633,881,787.8731097,805,652,631,653,0.450968912491,-0.00554107896023,0.0497301366161,0.999999912927,7.09232609999e-05,-0.000410925812176,1.60173609841e-05,1793238966186360576
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680.707313418,664.707313418,633,881,787.292686582,805,652,631,653,0.450968737974,-0.00554108667835,0.049728830355,0.999999912304,7.19016183437e-05,-0.000412255793065,1.63306617851e-05,1793238966203027456
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,715.284710231,680.715289769,664.715289769,633,881,787.284710231,805,652,631,653,0.450969185481,-0.00554084032244,0.0497283286175,0.999999912036,7.28762071301e-05,-0.000412725129085,1.65801136332e-05,1793238966219694080
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,715.859028745,680.140971255,664.140971255,633,881,787.859028745,805,652,631,653,0.450970265713,-0.00554033552151,0.0497286452443,0.999999912129,7.38469626447e-05,-0.000412319014171,1.67646181322e-05,1793238966236360704
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+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,716,681,664.189941777,633,881,787.810058223,805,652.189941777,631,653,0.450967896089,-0.00554091769643,0.0497271604866,0.999999910131,7.35339937751e-05,-0.000417191866155,1.67680984268e-05,1793238966303027456
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,716,681,664.765977652,633,881,787.234022348,805,652.765977652,631,653,0.450970773596,-0.00554107662506,0.0497287192534,0.999999911337,7.30177194764e-05,-0.000414375051672,1.69380090192e-05,1793238966319694336
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715.6517072,680.6517072,664.6517072,633,881,787,804.6517072,652.6517072,631,653,0.450971009952,-0.00554092018975,0.0497281533121,0.999999911291,7.20942256641e-05,-0.000414662023015,1.66166271162e-05,1793238966336360960
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+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,715.422837066,680,664,633,881,787,805,652.577162934,632,653,0.45097098366,-0.00554071295847,0.0497259563429,0.999999910607,6.96426063628e-05,-0.000416741994212,1.61558393815e-05,1793238966486360576
+252,4.200000000,HOLD_POSE2,766,746,715,681,665,633,881,788,805,653,631,653,0.4509710048,-0.00554178032817,0.0497258563106,0.999999909857,7.11692390154e-05,-0.0004182684568,1.64814696535e-05,1793238966527487488
+253,4.216666667,HOLD_POSE2,766,746,715,681,664.424121847,633,881,787.424121847,805,652.424121847,631,653,0.450971274818,-0.00554105756779,0.0497259797354,0.999999909868,7.20153242753e-05,-0.000418094222898,1.65555657178e-05,1793238966544153856
+254,4.233333333,HOLD_POSE2,766,746,715,681,664.154964612,633,881,787,805.154964612,652,631,653,0.450971614292,-0.00554028213186,0.0497262392719,0.999999909945,7.27561402612e-05,-0.000417786401376,1.64859549962e-05,1793238966560820224
+255,4.250000000,HOLD_POSE2,766,746,715,681,664.743017635,633,881,787,805.743017635,652,631,653,0.450972147882,-0.00553935948046,0.0497268792079,0.999999910204,7.32027544143e-05,-0.000417105234898,1.60147187662e-05,1793238966577486848
+256,4.266666667,HOLD_POSE2,766,746,715,680.673764518,664.673764518,633,881,787.326235482,805.673764518,652.326235482,631.326235482,653,0.450972925095,-0.00553907082198,0.0497275993536,0.999999910654,7.28384120378e-05,-0.000416095595639,1.58204448717e-05,1793238966594153472
+257,4.283333333,HOLD_POSE2,766,746,715,680.094299848,664.094299848,633,881,787.905700152,805.094299848,652.905700152,631.905700152,653,0.450973891411,-0.00553927427899,0.0497283817594,0.999999911251,7.1844592231e-05,-0.000414830990606,1.58411535914e-05,1793238966610820096
+258,4.300000000,HOLD_POSE2,766,746,715,680,664,633,881,787.517886109,805,652.517886109,631.517886109,653,0.450972924274,-0.0055373122538,0.049727370785,0.99999991064,7.29858540025e-05,-0.00041611450793,1.55213187285e-05,1793238966627486976
+259,4.316666667,HOLD_POSE2,766,746,715,680.058923413,664,633,881,787,805,652,631,653,0.450971743988,-0.0055354184736,0.0497261591037,0.9999999099,7.41938714432e-05,-0.000417689670567,1.52154379139e-05,1793238966644153344
+260,4.333333333,HOLD_POSE2,766,746,715,680.644571826,664,633,881,787,805,652,631,653,0.450972017636,-0.00553789720921,0.0497262692214,0.999999910135,7.22889839436e-05,-0.000417444603047,1.56259791783e-05,1793238966660819968
+261,4.350000000,HOLD_POSE2,766,746,715.228211815,681,664.228211815,633,881,787,805,652,631.228211815,653,0.450972993561,-0.00553950406249,0.0497267572578,0.999999910479,7.09147847898e-05,-0.000416841195214,1.60041575729e-05,1793238966677486848
+262,4.366666667,HOLD_POSE2,766,746,715.808751022,681,664.808751022,633,881,787,805,652,631.808751022,653,0.450975053701,-0.00553976485014,0.0497278287486,0.999999910995,7.03598950152e-05,-0.000415684559661,1.63323721473e-05,1793238966694153472
+263,4.383333333,HOLD_POSE2,766,746,715.611343281,680.611343281,664.611343281,633,881.388656719,787,805,652,631.611343281,653,0.450974306803,-0.00553933038639,0.049727667576,0.999999910968,7.03110567267e-05,-0.000415764253096,1.61147213066e-05,1793238966710820096
+264,4.400000000,HOLD_POSE2,766,746,715.031748761,680.031748761,664.031748761,633,881.968251239,787,805,652,631.031748761,653,0.450972180873,-0.00553855436218,0.0497269008254,0.999999910676,7.05108294464e-05,-0.00041645132545,1.56288998014e-05,1793238966727486720
+265,4.416666667,HOLD_POSE2,766,746,715,680,664,633,881.457673757,787,805,652,631,653,0.450972750462,-0.00553876546951,0.0497268741215,0.999999910653,7.11624421746e-05,-0.000416385780455,1.59077118261e-05,1793238966744154368
+266,4.433333333,HOLD_POSE2,766,746,715.11621495,680,664.11621495,633,881,787,805,652.11621495,631,653,0.450973314177,-0.00553877064292,0.0497267687929,0.999999910628,7.20700355236e-05,-0.000416281469089,1.60881330408e-05,1793238966760821760
+267,4.450000000,HOLD_POSE2,766,746,715.690630454,680,664.690630454,633,881,787,805,652.690630454,631,653,0.450973238842,-0.00553773833394,0.0497261843793,0.999999910538,7.38836438748e-05,-0.000416196277082,1.57059199514e-05,1793238966777488128
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,747,716,680,664,633,882,787,805,652,631,653,0.450974474084,-0.00553574801774,0.0497272675195,0.999999910583,7.69408211313e-05,-0.000415564953743,1.4858418259e-05,1793238966814782976
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766.421603397,746.421603397,715.421603397,680,664,633,881.421603397,787,805,652,631.578396603,653,0.450973411629,-0.00553843926579,0.0497270039059,0.999999910559,7.26139653674e-05,-0.00041638163164,1.53616358344e-05,1793238966831449600
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745.840824922,715,680,664.159175078,633,881.159175078,787,805,652.159175078,631.840824922,652.840824922,0.450972721352,-0.0055397128572,0.0497266839431,0.999999910398,7.04068095663e-05,-0.000417134080235,1.57165060159e-05,1793238966848116224
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.253641669,715,680,664.746358331,633,881.746358331,787,805,652.746358331,631.253641669,652.253641669,0.450973031834,-0.0055371744917,0.0497262124623,0.999999909904,7.38993447964e-05,-0.000417713821931,1.56724828492e-05,1793238966864782592
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.325639294,715.325639294,680.325639294,664.674360706,633,882,787,805,653,631.325639294,652.325639294,0.450972653175,-0.00553672959101,0.0497261923151,0.999999909771,7.38229428015e-05,-0.000418047155,1.56434424486e-05,1793238966881449472
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745.898910927,715.898910927,680.898910927,664.101089073,633,882,787,805,653,631.898910927,652.898910927,0.450971750457,-0.00553787666538,0.0497265153843,0.999999909912,7.10325429613e-05,-0.00041819310664,1.56257956922e-05,1793238966898116352
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,746,715.51854101,680.51854101,664,633,881.51854101,787,805,652.51854101,631.51854101,653,0.450971965083,-0.00553915907122,0.0497260020602,0.999999909745,7.04516953264e-05,-0.000418684535958,1.58023847256e-05,1793238966914782720
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.065205822,664,633,881,787,805,652,631,653,0.450972120711,-0.0055401870053,0.0497253355111,0.99999990951,7.03654308292e-05,-0.000419252674301,1.59682153716e-05,1793238966931449856
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.642767155,664,633,881,787,805,652,631,653,0.450969933158,-0.00553898776911,0.04972487198,0.999999909261,7.04484360347e-05,-0.000419842389935,1.57227671641e-05,1793238966948120576
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.781581697,664.218418303,633,881,787,804.781581697,652.218418303,631,653,0.450962608436,-0.00553801914164,0.0497213652631,0.999999906926,7.11295876744e-05,-0.00042526390208,1.5436577155e-05,1793238966964788224
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.209027708,664.790972292,633,881,787,804.209027708,652.790972292,631,653,0.450946954493,-0.00553742441506,0.0497129244328,0.999999901088,7.27805526964e-05,-0.00043851951749,1.50843298568e-05,1793238966981450752
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.622513193,633,881,787,804.377486807,652.622513193,631,653,0.450918870503,-0.00553640314934,0.0497009688183,0.999999891234,7.32565950936e-05,-0.000460394049582,1.42447100359e-05,1793238966998116096
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.027971316,633,881,787,804.972028684,652.027971316,631,653,0.45088363923,-0.00553513662337,0.0496869922006,0.999999878551,7.3057056611e-05,-0.000487224463364,1.31248507709e-05,1793238967014782720
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.547357491,633,880.452642509,787,805,652,631,653,0.450823213878,-0.00553220961793,0.0496661472913,0.999999859395,7.54008068644e-05,-0.000524765300652,1.20855214155e-05,1793238967031449344
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,633,880.122001739,787,805,652,631,653,0.450759684748,-0.00552937267684,0.0496464712907,0.999999841113,7.75816833679e-05,-0.000558242431328,1.09869637028e-05,1793238967048116224
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,633,880.697627674,787,805,652,631,653,0.450689239949,-0.00552717541558,0.04963240227,0.999999831749,7.86901093467e-05,-0.000574643934764,9.65340172206e-06,1793238967064782848
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.720264552,633,881,787,804.720264552,652,631,653,0.45061512251,-0.00552468884712,0.0496258497113,0.999999827787,8.03046857297e-05,-0.000581292729448,8.67177043002e-06,1793238967081449472
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.130984252,633,881,787,804.130984252,652,631,653,0.450536941069,-0.00552188214219,0.049627614591,0.999999830015,8.24793492943e-05,-0.000577149538127,8.07957264416e-06,1793238967098116096
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.451711415,633,881,787,804.451711415,652,631,653,0.450434621224,-0.00551794819508,0.0496282832175,0.999999831022,8.45360247698e-05,-0.000575111278644,7.46674785567e-06,1793238967114782720
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.967863704,633,881,787,805,652,631,653,0.450324020549,-0.00551369533317,0.0496286019464,0.999999831626,8.65897124701e-05,-0.00057376243598,6.86239914557e-06,1793238967131449344
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.393993723,633,881,787,805,652,631,653,0.450190124568,-0.00550949740828,0.0496283040235,0.999999831327,8.91614962288e-05,-0.00057389388004,6.50031478302e-06,1793238967148115968
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,715.184036803,680,664.184036803,633,881,787,804.815963197,652,631,653,0.45004633548,-0.00550472944896,0.0496273260867,0.999999830015,9.23343729605e-05,-0.000575681645752,5.8634153155e-06,1793238967164782592
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,715.77118034,680,664.77118034,633,881,787,804.22881966,652,631,653,0.44988087695,-0.00549871290995,0.0496248586751,0.999999826465,9.68238589717e-05,-0.000581097351072,4.62457205818e-06,1793238967181449472
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.64648146,715.64648146,680,665,633,880.64648146,787,804.35351854,652,631,653,0.449693069383,-0.00549119085157,0.0496241516236,0.99999982557,0.000101149810506,-0.0005819080898,3.33096038067e-06,1793238967198116096
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.06721181,715.06721181,680,665,633,880.06721181,787,804.93278819,652,631,653,0.449490990075,-0.00548270739276,0.0496245687088,0.999999826375,0.000105371332062,-0.000579778173341,2.00237437146e-06,1793238967214782976
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745.510314475,715,680,665,633,880.510314475,787,805,652,631.510314475,653,0.449247532492,-0.00547568234362,0.0496222442033,0.999999821987,0.000110688510181,-0.000586320505887,1.26801697896e-06,1793238967231449600
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.912643652,715,680,664.912643652,633,881,787,805,652,631.912643652,653,0.448996133297,-0.00546825503408,0.0496205587272,0.999999818272,0.000116578472115,-0.000591493287094,5.20079248305e-07,1793238967248116224
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745.337030062,715,680,664.337030062,633,881,787,805,652,631.337030062,653,0.448730702874,-0.00545750944211,0.0496244562817,0.999999822464,0.000124866059843,-0.000582649018204,-7.39710433101e-07,1793238967264782848
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745.238119692,715,680,664,633.238119692,881,787,805,652,631.238119692,653,0.448446905503,-0.0054465449637,0.0496278136166,0.999999826725,0.000132313874535,-0.00057361788844,-2.4743836104e-06,1793238967281449472
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745.812614183,715,680,664,633.812614183,881,787,805,652,631.812614183,653,0.448137162461,-0.00543527128057,0.0496304078215,0.999999831156,0.000138575400939,-0.000564322794149,-4.87989094392e-06,1793238967298115840
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.599352645,746,715,679.599352645,664.400647355,634,881,787.400647355,804.599352645,652,632,653,0.44779556373,-0.00542598747888,0.0496281040768,0.999999829807,0.000144065969788,-0.000565318734417,-6.79653816417e-06,1793238967314782464
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.004765886,746,715,679.004765886,664.995234114,634,881,787.995234114,804.004765886,652,632,653,0.447438544782,-0.0054176669097,0.0496234294054,0.999999825647,0.000149183344804,-0.000571296205656,-8.47654519305e-06,1793238967331449344
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.570771022,745.429228978,715,679.570771022,665,634,880.429228978,787.429228978,804,652,632,653,0.447033944375,-0.00540815579783,0.0496228136899,0.999999823859,0.000154573334299,-0.000572946617948,-1.10534425727e-05,1793238967348116224
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,665,634,880.14850514,787,804.14850514,652,632,653,0.446625798923,-0.00540075696321,0.0496237949393,0.999999823956,0.000157111653723,-0.000572031068659,-1.359528107e-05,1793238967364782848
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,665,634,880.733144037,787,804.733144037,652,632,653,0.44620837148,-0.00539958977286,0.0496293698772,0.999999829562,0.000151268644217,-0.000563682418494,-1.60128738661e-05,1793238967381449472
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.894448056,715,680,665.894448056,634,880.105551944,787,804.105551944,652,632,652.105551944,0.445334260092,-0.0054122313052,0.0496819734392,0.999999876452,0.000123839332987,-0.000481110435819,-1.70797370145e-05,1793238967414782976
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.053269093,665.946730907,635,880.946730907,788,804,652,632,652.946730907,0.444313107515,-0.00542520984806,0.0497326736241,0.999999907895,9.49622628593e-05,-0.000418182589944,-1.7759311759e-05,1793238967448116224
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.627767797,665.372232203,635,880.372232203,788,804,652,632,652.372232203,0.443720330363,-0.00541527651757,0.0497281263989,0.999999904405,9.55220930889e-05,-0.00042612661217,-2.19261742297e-05,1793238967464782848
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,665.202712757,635,880.202712757,788,804,652,632,652.202712757,0.443126072951,-0.00540504924836,0.0497250625969,0.99999990261,9.68722036406e-05,-0.000429792334733,-2.59599821831e-05,1793238967481449728
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745.636240313,715,680,666,635,880.636240313,788,804.363759687,652,632,653,0.441945374735,-0.00538931210106,0.049752717741,0.999999923895,9.69665240938e-05,-0.00037656269542,-3.1750347851e-05,1793238967514782976
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,666.405773121,635.594226879,881,788,804,652,632,653,0.435315023101,-0.00537766740657,0.0498011366541,0.999999944063,2.39063375429e-05,-0.000328926090211,-5.57710489663e-05,1793238967664782848
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.547812244,745.452187756,715,679,666,636,879,788,803.452187756,653,631.547812244,653,0.402506812346,-0.00537769727699,0.0498234611268,0.999999940451,7.02842152088e-05,-0.000332825788449,-5.81811180385e-05,1793238968464782592
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745.968431875,715,679,666,636,879.031568125,788,804,653,631.031568125,653,0.402269975808,-0.00537560225372,0.0498146570045,0.9999999348,7.13174792434e-05,-0.000348977528124,-5.94020442394e-05,1793238968481449216
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.394162986,715,679,666,636,879.605837014,788,804,653,631.605837014,653,0.402094306542,-0.00537742105659,0.0498203183558,0.999999938744,7.02438078419e-05,-0.000337833258791,-5.86989526657e-05,1793238968498116096
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,636,879.816628205,788,804,653,632,653,0.401930214666,-0.00537805419624,0.0498264687767,0.999999942566,7.15254684705e-05,-0.000326175434899,-5.79783476939e-05,1793238968514782720
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,636,879.231946074,788,804,653,632,653,0.401791460006,-0.00537609250416,0.0498336895288,0.999999946216,7.79617883295e-05,-0.000313393695098,-5.72194146377e-05,1793238968531449600
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.352006139,745,715,679,666,636,879.352006139,788,804,653,632,653,0.401669252475,-0.00537530848646,0.0498427151355,0.999999947807,0.000118277940516,-0.000296867192294,-4.7597827264e-05,1793238968548116224
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.935478444,745,715,679,666,636,879.935478444,788,804,653,632,653,0.401557925708,-0.0053752988635,0.0498529275484,0.999999944518,0.00018087221264,-0.000277878270067,-3.21484872554e-05,1793238968564782592
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.487651133,745.512348867,714.487651133,679,666,636,880,788,803.487651133,653,632,653,0.401457796063,-0.00537388734407,0.0498526198564,0.999999944093,0.000186063872556,-0.000275975774403,-3.21263953277e-05,1793238968581449216
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.087898679,745.912101321,714.087898679,679,666,636,880,788,803.087898679,653,632,653,0.401362989827,-0.00537425557089,0.0498512853506,0.999999944811,0.000181875633762,-0.000275972647965,-3.37504041951e-05,1793238968598116096
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.660691589,745.339308411,714.660691589,679,666,636,880,788,803.660691589,653,632,653,0.401289870413,-0.00538540331311,0.0498515018634,0.999999948024,0.000165313928454,-0.000274728307371,-3.38740261579e-05,1793238968614782720
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.759708977,745.240291023,715,679,666,636,880.240291023,788,804,653,632,653,0.401224553804,-0.00539306261623,0.0498510048917,0.999999949944,0.000153690400438,-0.000274459950233,-3.41120089551e-05,1793238968631449344
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.170218084,745.829781916,715,679,666,636,880.829781916,788,804,653,632,653,0.401170576524,-0.00539565238897,0.0498494710577,0.999999950287,0.000149243216764,-0.000275609928786,-3.45161851821e-05,1793238968648116224
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745.587149552,715,679,666,636,880.587149552,788,804,653,632,653.412850448,0.401129664587,-0.00539408157084,0.0498504271128,0.999999950693,0.000150031895842,-0.00027362255059,-3.5133017228e-05,1793238968664782848
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745.00668841,715,679,666,636,880.00668841,788,804,653,632,653.99331159,0.401094056972,-0.00539082161914,0.0498523940231,0.999999951114,0.000152946251751,-0.000270361455585,-3.58361841325e-05,1793238968681449472
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.860469901,745.139530099,715,679,666,636,880,788,803,653,631.139530099,653,0.401053716108,-0.00539375660095,0.0498574673963,0.999999955216,0.000148337726835,-0.000257482861296,-3.55839378153e-05,1793238968714782720
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.285984425,745.714015575,715,679,666,636,880,788,803,653,631.714015575,653,0.401035421168,-0.0053925336651,0.0498570204224,0.999999954478,0.000150411132227,-0.000259118180843,-3.57466503103e-05,1793238968731449344
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.299019625,746,715,679,666,636,880,788,803,653,631.700980375,653,0.401021889075,-0.00539281116712,0.0498562816882,0.999999954147,0.000149646219143,-0.000260809596442,-3.59298555559e-05,1793238968748115968
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.894450567,746,715,679,666,636,880,788,803,653,631.105549433,653,0.401013078281,-0.00539457601875,0.0498552537386,0.999999954211,0.00014606774611,-0.000262556618966,-3.61333748156e-05,1793238968764782592
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.526570948,745.526570948,715,679,666,636,879.526570948,788,803.473429052,653,631,653,0.401009285603,-0.00539411882267,0.0498562319085,0.999999954996,0.000144482573911,-0.000260406644249,-3.63438829664e-05,1793238968781449216
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.62394385,666,636,879.62394385,788,803.37605615,653,631.62394385,653,0.401006384183,-0.00539249192621,0.0498588423008,0.999999956207,0.000146389066267,-0.000254572858881,-3.67153166919e-05,1793238968814782720
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.207735926,666,636,879.207735926,788,803,653,632,653,0.401004144308,-0.00539270195146,0.0498601067821,0.999999956805,0.000146336091908,-0.000252248453469,-3.6686444989e-05,1793238968848115968
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.374185536,715,679,666,636,879.374185536,788,803,653,632,653,0.401003872708,-0.00539282007122,0.0498604870785,0.99999995696,0.000146778564105,-0.000251377008585,-3.66769996806e-05,1793238968864782336
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.952487391,715,679,666,636,879.952487391,788,803,653,632,653,0.401004258004,-0.00539272934837,0.0498608847453,0.999999957039,0.00014820780981,-0.000250215468278,-3.67174356057e-05,1793238968881448960
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.46899776,715,679,666,636,879.46899776,788,803,653,632,653,0.401004389394,-0.00539234258921,0.0498617787025,0.99999995752,0.000146927676924,-0.000249048331397,-3.67043598263e-05,1793238968898116096
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.108634985,745.108634985,715,679,666,636,879.108634985,788,803,653,631.891365015,653,0.401004516896,-0.0053920269227,0.0498627125652,0.999999958034,0.000145630727134,-0.000247738148919,-3.6747208253e-05,1793238968914782464
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.682409065,745.682409065,715,679,666,636,879.682409065,788,803,653,631.317590935,653,0.401004725066,-0.00539212911206,0.0498636270785,0.999999958544,0.000145300185092,-0.000245817637789,-3.70500148462e-05,1793238968931449344
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745.735857525,715,679,665.735857525,636,879.735857525,788,803.264142475,653,631,653,0.401004493884,-0.00539327815516,0.0498636924766,0.99999995873,0.000144423445239,-0.000245580547427,-3.70401616424e-05,1793238968948115968
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745.144256833,715,679,665.144256833,636,879.144256833,788,803.855743167,653,631,653,0.401003718034,-0.00539572498602,0.049862705224,0.999999958512,0.000142869582277,-0.000247430398581,-3.66427031914e-05,1793238968964782848
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,665.437389409,636,879.437389409,788,803.562610591,653,631,653,0.401002533475,-0.00539483155508,0.0498616218888,0.999999957829,0.000144400557872,-0.000249254562412,-3.69224206502e-05,1793238968981449728
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.984294132,745,715,679,666,636,880,788,803,653,631.015705868,653,0.401001261456,-0.00539295116415,0.0498605501419,0.999999957027,0.000146826866543,-0.000250978360873,-3.73979819552e-05,1793238968998116096
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.410232858,745,715,679,666,636,880,788,803,653,631.589767142,653,0.401001565664,-0.00539427702375,0.0498609918778,0.999999957589,0.000145717742971,-0.000249428583691,-3.70726612259e-05,1793238969014782720
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.164173525,745.164173525,715,679,665.835826475,636,880,788,803.328347049,653,632,653,0.401002112878,-0.00539556827871,0.0498616377829,0.999999958242,0.000143992166198,-0.00024785744345,-3.67148774988e-05,1793238969031449600
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.739444039,745.739444039,715,679,665.260555961,636,880,788,804.478888078,653,632,653,0.401003268587,-0.0053967728822,0.0498627949359,0.999999959125,0.000140722966337,-0.000246232809354,-3.62758051628e-05,1793238969048115968
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,745.674959174,715,679,665.325040826,636,880,788,804.674959174,653,632,653,0.401003706682,-0.0053973266918,0.0498632010802,0.999999959419,0.000139684088996,-0.000245639524185,-3.62093783766e-05,1793238969064782592
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,745.080813171,715,679,665.919186829,636,880,788,804.080813171,653,632,653,0.401003550656,-0.00539734170134,0.0498629854552,0.999999959233,0.00014049172244,-0.000245900105178,-3.64514693084e-05,1793238969081449216
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,666,636,880.495925485,788,804,653,632,653,0.401001542553,-0.00539630151147,0.0498623341091,0.999999958712,0.000142099124609,-0.000247085559338,-3.65159971552e-05,1793238969098115840
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,666,636,880.929621674,788,804,653,631.929621674,653,0.40099985366,-0.00539524386646,0.0498618455244,0.999999958254,0.000143611792298,-0.000248052622082,-3.65831549995e-05,1793238969114782720
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,666,636,880.351891975,788,804,653,631.351891975,653,0.401002567827,-0.00539525792263,0.0498630247688,0.999999958664,0.000143533878346,-0.000246395691517,-3.6870786477e-05,1793238969131449600
+408,6.800000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,666,636,880.229719741,788,804,653,631,653,0.401003968652,-0.00539536494206,0.0498639366622,0.999999958939,0.000143611520921,-0.000245221523066,-3.69407578979e-05,1793238969148116480
+409,6.816666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,666,636,880.817380363,788,804,653,631,653,0.401003323077,-0.00539561681344,0.0498644319791,0.999999959006,0.000143931545966,-0.000244799576598,-3.66715794405e-05,1793238969164783104
+410,6.833333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,666,636,880.600394854,788,803.600394854,653,631.399605146,653,0.401003280327,-0.00539561645572,0.0498643978746,0.999999959252,0.000142504475677,-0.000244624895018,-3.6706693687e-05,1793238969181449472
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,666,636,880.020620947,788,803.020620947,653,631.979379053,653,0.401003509371,-0.00539550237621,0.0498641250714,0.999999959574,0.000140289697791,-0.000244561697036,-3.68790034784e-05,1793238969198116096
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,745.555135189,715,679,666,635.444864811,880,788,803,653,632,653,0.401003841379,-0.0053959860391,0.049864361668,0.999999959707,0.000139503440444,-0.000244467919662,-3.68886780563e-05,1793238969214782720
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,745.866487472,715,679,666.133512528,635.133512528,879.866487472,788,803.133512528,653,632,653,0.401004166456,-0.00539631511562,0.0498645070151,0.999999959771,0.000139160323779,-0.000244398154521,-3.69000126662e-05,1793238969231449344
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,745.278687132,715,679,666.721312868,635.721312868,879.278687132,788,803.721312868,653,632,653,0.401004455025,-0.00539604319188,0.0498642779567,0.999999959628,0.000140145775357,-0.000244413930277,-3.6937403732e-05,1793238969248115968
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d8573952deef5931430a1774fb0a07a193156dfd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,416 @@
+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
+3,0.050000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+4,0.066666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+5,0.083333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+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
+9,0.150000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+10,0.166666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+11,0.183333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+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
+14,0.233333333,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+15,0.250000000,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+16,0.266666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
+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
+19,0.316666667,pose1_baseline,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787088,0.00876252613233,1.03970050298
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+372,6.200000000,pose2_to_pose3_retreat,0.576257818178,9.08069930828e-05,1.04003220081,0.546828268438,0.00876254239193,1.03970034018
+373,6.216666667,pose2_to_pose3_retreat,0.576157403588,9.07986659006e-05,1.04003215975,0.546727853813,0.00876253382498,1.03970029625
+374,6.233333333,pose2_to_pose3_retreat,0.57606871839,9.08129924499e-05,1.04003220961,0.546639169681,0.00876255163195,1.03970034311
+375,6.250000000,pose2_to_pose3_retreat,0.575990202403,9.09060738343e-05,1.04003215124,0.546560653306,0.00876264341231,1.03970028504
+376,6.266666667,pose2_to_pose3_retreat,0.575922100053,9.07977108434e-05,1.04003240006,0.546492550804,0.00876253424841,1.0397005263
+377,6.283333333,pose2_to_pose3_retreat,0.575864601938,9.08031589498e-05,1.04003250282,0.546435052735,0.0087625398004,1.03970062776
+378,6.300000000,pose2_to_pose3_retreat,0.575817563464,9.07305519584e-05,1.04003218713,0.546388014788,0.00876246930138,1.03970032041
+379,6.316666667,pose2_to_pose3_retreat,0.57578003205,9.06566316943e-05,1.04003217877,0.546350485163,0.00876240162233,1.03970031648
+380,6.333333333,pose2_to_pose3_retreat,0.575750622947,9.06747380207e-05,1.04003229263,0.546321075846,0.00876241888688,1.03970042733
+381,6.350000000,pose2_to_pose3_retreat,0.575727513123,9.07208924743e-05,1.04003233931,0.546297964885,0.0087624610246,1.03970047004
+382,6.366666667,pose2_to_pose3_retreat,0.575709208998,9.07059446815e-05,1.04003225281,0.54627966093,0.00876244670169,1.03970038488
+383,6.383333333,pose2_to_pose3_retreat,0.575695734274,9.07282915124e-05,1.04003247515,0.546266186474,0.00876246959655,1.03970059792
+384,6.400000000,pose2_to_pose3_retreat,0.575685197038,9.07482356807e-05,1.04003243344,0.546255649825,0.00876249164856,1.03970055877
+385,6.416666667,pose2_to_pose3_retreat,0.575677634073,9.08118576563e-05,1.04003231596,0.546248086008,0.00876255261415,1.03970044721
+386,6.433333333,pose2_to_pose3_retreat,0.575673034491,9.08947045404e-05,1.040032224,0.546243484647,0.00876262959462,1.03970035988
+387,6.450000000,pose2_to_pose3_retreat,0.575670633965,9.08152442395e-05,1.04003219101,0.546241085363,0.00876255413836,1.03970032136
+388,6.466666667,pose2_to_pose3_retreat,0.575669322757,9.07666015733e-05,1.04003217362,0.546239774926,0.00876250798453,1.03970030063
+389,6.483333333,pose2_to_pose3_retreat,0.575668528325,9.07371300666e-05,1.04003216309,0.546238980962,0.00876248002095,1.03970028807
+390,6.500000000,pose2_to_pose3_retreat,0.575668169079,9.07306329425e-05,1.04003217697,0.546238621719,0.00876247352761,1.03970030177
+391,6.516666667,pose2_to_pose3_retreat,0.575667896635,9.0734913993e-05,1.04003221264,0.546238348997,0.00876247689729,1.03970033829
+392,6.533333333,pose2_to_pose3_retreat,0.575667745958,9.07372816643e-05,1.04003223237,0.546238198165,0.00876247876092,1.03970035849
+393,6.550000000,pose2_to_pose3_retreat,0.575667666639,9.07385280389e-05,1.04003224275,0.546238118766,0.00876247974196,1.03970036912
+394,6.566666667,pose2_to_pose3_retreat,0.5756675818,9.07398611552e-05,1.04003225386,0.54623803384,0.00876248079127,1.03970038049
+395,6.583333333,pose2_to_pose3_retreat,0.575667508052,9.0741019994e-05,1.04003226351,0.546237960017,0.00876248170341,1.03970039038
+396,6.600000000,pose2_to_pose3_retreat,0.575667254575,9.07450030132e-05,1.04003229669,0.546237706281,0.0087624848385,1.03970042436
+397,6.616666667,pose2_to_pose3_retreat,0.575666809955,9.07519895681e-05,1.0400323549,0.546237261206,0.00876249033772,1.03970048396
+398,6.633333333,pose2_to_pose3_retreat,0.575666378451,9.07587700142e-05,1.04003241139,0.546236829261,0.00876249567471,1.03970054181
+399,6.650000000,pose2_to_pose3_retreat,0.575666053258,9.07638799316e-05,1.04003245396,0.546236503737,0.0087624996968,1.0397005854
+400,6.666666667,pose2_to_pose3_retreat,0.575665991874,9.07648444974e-05,1.040032462,0.54623644229,0.00876250045602,1.03970059363
+401,6.683333333,pose2_to_pose3_retreat,0.57566583164,9.07673623368e-05,1.04003248298,0.546236281892,0.00876250243785,1.03970061511
+402,6.700000000,pose2_to_pose3_retreat,0.575665570668,9.07429183414e-05,1.04003237017,0.546236021905,0.00876248132489,1.03970050205
+403,6.716666667,pose2_to_pose3_retreat,0.57566556804,9.07426675757e-05,1.04003236901,0.546236019287,0.00876248110835,1.03970050088
+404,6.733333333,pose2_to_pose3_retreat,0.575665311172,9.07181539561e-05,1.04003225563,0.546235763408,0.00876245994025,1.03970038725
+405,6.750000000,pose2_to_pose3_retreat,0.575665231498,9.07105503675e-05,1.04003222047,0.54623568404,0.00876245337437,1.039700352
+406,6.766666667,pose2_to_pose3_retreat,0.575665201712,9.0707707865e-05,1.04003220732,0.546235654369,0.0087624509198,1.03970033882
+407,6.783333333,pose2_to_pose3_retreat,0.575665175837,9.07052385216e-05,1.0400321959,0.546235628594,0.00876244878746,1.03970032738
+408,6.800000000,pose2_to_pose3_retreat,0.575664978256,9.06863828242e-05,1.04003210869,0.546235431773,0.00876243250512,1.03970023997
+409,6.816666667,pose2_to_pose3_retreat,0.575664615146,9.06950982257e-05,1.04003208782,0.546235068204,0.00876243971971,1.03970022056
+410,6.833333333,pose2_to_pose3_retreat,0.575664511185,9.07188898333e-05,1.0400321503,0.5462349632,0.00876246002229,1.03970028435
+411,6.850000000,pose2_to_pose3_retreat,0.575664495038,9.07225850692e-05,1.04003216,0.546234946892,0.00876246317562,1.03970029426
+412,6.866666667,pose2_to_pose3_retreat,0.575664402636,9.074373133e-05,1.04003221553,0.546234853563,0.0087624812208,1.03970035096
+413,6.883333333,pose2_to_pose3_retreat,0.575664354542,9.07717562884e-05,1.04003232282,0.546234806318,0.00876251200377,1.03970045504
+414,6.900000000,pose2_to_pose3_retreat,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787087,0.00876252613233,1.03970050298
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94e462750d90360866932840a104c56c05c582ac
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feabae597321473ca8a1914329ca9797ea8737ff4e51a9f1801032caa24536a0
+size 26514524
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..17c020661b06c3e836b0fb5e2f57bb7990002583
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_05/franka_data.csv
@@ -0,0 +1,418 @@
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+30,0.500000000,BASELINE,766,745.603310468,715,679,666,636,880,788,804,652.603310468,631,653,0.401003544634,-0.00539703875851,0.0498657371582,0.999999960529,0.000139242099822,-0.000241228717372,-3.6901904558e-05,1793238969871039744
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+33,0.550000000,BASELINE,766.85356953,745.85356953,715,679,666,636,879.14643047,788,803.85356953,653,632,653,0.401003510226,-0.00539723802702,0.0498657564843,0.999999960875,0.00013799456891,-0.000240507026763,-3.69284394394e-05,1793238969921039360
+34,0.566666667,BASELINE,766.280495925,745.280495925,715,679,666,636,879.719504075,788,803.280495925,653,632,653,0.401003060516,-0.00539533361531,0.0498658697965,0.999999960417,0.00014050647286,-0.000240945848237,-3.69908224919e-05,1793238969937706240
+35,0.583333333,BASELINE,766.290628176,745.290628176,715,679,666,636,880,788,803.290628176,653,632,653,0.401002583129,-0.00539509049991,0.0498656783164,0.999999960254,0.000140544215425,-0.000241606957763,-3.69611988607e-05,1793238969954373120
+36,0.600000000,BASELINE,766.859883343,745.859883343,715,679,666,636,880,788,803.859883343,653,632,653,0.401002079207,-0.00539644007912,0.0498651946301,0.999999960372,0.000138209964792,-0.000242481176241,-3.68433678724e-05,1793238969971040000
+37,0.616666667,BASELINE,767,745.548025465,715,679,666,636,880,788,804,653,632,653,0.401003756381,-0.00539615663249,0.0498661952677,0.999999960603,0.000139995205724,-0.000240481888023,-3.69387889088e-05,1793238969987706624
+38,0.633333333,BASELINE,766.950490101,745,714.950490101,678.950490101,666,636,879.950490101,788,803.950490101,653,632,653,0.401005890121,-0.00539534856997,0.0498675571244,0.999999960837,0.000142801694368,-0.000237820150874,-3.70966005164e-05,1793238970004372992
+39,0.650000000,BASELINE,766.374354929,745,714.374354929,678.374354929,666,636,879.374354929,788,803.374354929,653,632,653,0.40100530535,-0.00539463175145,0.0498676061629,0.99999996086,0.000142164058955,-0.000238091719988,-3.71774268012e-05,1793238970021039616
+40,0.666666667,BASELINE,766.201127645,745,714,678,666,636,879.201127645,788,803.201127645,653,632,653,0.401004964412,-0.00539461489338,0.0498674615043,0.999999960966,0.000141058664156,-0.000238305457014,-3.71622208159e-05,1793238970037706240
+41,0.683333333,BASELINE,766.775399443,745,714,678,666,636,879.775399443,788,803.775399443,653,632,653,0.401005075846,-0.00539589664425,0.0498669574871,0.999999961224,0.000139085453931,-0.00023841190044,-3.69688499587e-05,1793238970054372864
+42,0.700000000,BASELINE,767,745,714.360574588,678.360574588,666,636,880,788,803.639425412,653,632,653,0.401004778972,-0.00539710976277,0.0498663310507,0.999999961378,0.000136831078184,-0.000239092406612,-3.68352650694e-05,1793238970071039744
+43,0.716666667,BASELINE,767,745,714.952753142,678.952753142,666,636,880,788,803.047246858,653,632,653,0.401004219834,-0.00539827879738,0.0498656259823,0.99999996146,0.000134396104511,-0.000240141644276,-3.67400818597e-05,1793238970087706624
+44,0.733333333,BASELINE,766.468139896,745,715,679.531860104,666,636,880,788,803,653,632,653,0.401004432059,-0.00539715779312,0.0498659512089,0.99999996111,0.000137381849989,-0.000239888442851,-3.68701117339e-05,1793238970104372992
+45,0.750000000,BASELINE,766,745,715,679.890770334,666,636,880,788,803.109229666,653.109229666,632,653.109229666,0.401004625986,-0.00539618272556,0.0498663579452,0.999999960802,0.000140173607468,-0.000239543010531,-3.69788760177e-05,1793238970121039872
+46,0.766666667,BASELINE,766,745,715,679.315975602,666,636,880,788,803.684024398,653.684024398,632,653.684024398,0.401004456867,-0.00539667595712,0.0498667313542,0.999999960871,0.000140135322059,-0.000239285779934,-3.69137738155e-05,1793238970137706496
+47,0.783333333,BASELINE,766.258624448,745,715,679,666.258624448,636,880,788.258624448,803.741375552,653.741375552,631.741375552,653.741375552,0.401003930292,-0.00539677758085,0.0498665877218,0.99999996082,0.000139406196103,-0.00023993394318,-3.68348900609e-05,1793238970154373120
+48,0.800000000,BASELINE,766.832986901,745,715,679,666.832986901,636,880,788.832986901,803.167013099,653.167013099,631.167013099,653.167013099,0.40100296732,-0.00539640111576,0.0498658128669,0.99999996062,0.000137833667219,-0.000241687443672,-3.67391812836e-05,1793238970171039744
+49,0.816666667,BASELINE,767,745,715,679,666.580271664,636,880,788.580271664,803,653,631.419728336,653,0.401003003328,-0.00539639884519,0.0498655246624,0.999999960671,0.000138617169211,-0.000241040022102,-3.66540391661e-05,1793238970187706368
+50,0.833333333,BASELINE,766.977405736,745,715,679,666,636,880,788,803.011297132,653,632,653,0.401003453567,-0.00539655436771,0.0498654459364,0.999999960825,0.000140303605811,-0.000239431759296,-3.65776284019e-05,1793238970204372992
+51,0.850000000,BASELINE,765.819195924,745,715,679,666,636,880,788,803.590402038,653,632,653,0.4010041375,-0.00539692970595,0.0498658674089,0.999999961128,0.000138821717109,-0.000239006440458,-3.67223178806e-05,1793238970221039616
+52,0.866666667,BASELINE,765.164559526,745,715,678.835440474,666,636,880,788,804,653,632,653,0.401004964793,-0.00539717821756,0.0498664457668,0.999999961434,0.000137603776565,-0.00023841052728,-3.68591878817e-05,1793238970237705984
+53,0.883333333,BASELINE,765.726761998,745,715,678.273238002,666,636,880,788,804,653,632,653,0.401006138503,-0.00539712026424,0.0498674032239,0.999999961749,0.000137023642538,-0.000237402388614,-3.69771628258e-05,1793238970254372608
+54,0.900000000,BASELINE,766,745,715,678.301532899,666,636,880,788.301532899,804,653,632,653,0.40100604631,-0.0053978753601,0.0498676871877,0.999999961933,0.000135841202891,-0.000237316360834,-3.6904224418e-05,1793238970271039488
+55,0.916666667,BASELINE,766,745,715,678.888188176,666,636,880,788.888188176,804,653,632,653,0.401004757107,-0.00539939925606,0.0498673343121,0.999999961992,0.000134089237325,-0.000238102259363,-3.66507628517e-05,1793238970287706112
+56,0.933333333,BASELINE,766,745.481214209,715,679,666,636,880,788.518785791,803.518785791,653,632,653,0.401004401125,-0.00539809705303,0.0498668075454,0.999999961482,0.000135569052549,-0.000239369707923,-3.68541992543e-05,1793238970304372992
+57,0.950000000,BASELINE,766.073279342,745.926720658,715,679,666,636,880,788,803,653,632,653,0.401004207581,-0.00539641834987,0.0498662437096,0.999999960924,0.00013750331278,-0.000240556313979,-3.71150928924e-05,1793238970321039872
+58,0.966666667,BASELINE,766.648487311,745.351512689,715,679,666,636,880,788,803,653,632,653,0.40100362151,-0.00539671891344,0.0498657064306,0.999999960984,0.000137337881872,-0.00024041251209,-3.70326269303e-05,1793238970337706496
+59,0.983333333,BASELINE,767,745,715,679,666,636,879.776615288,788,803,653,632,653.223384712,0.401003688946,-0.00539688431748,0.0498659293387,0.999999961151,0.000137400326465,-0.000239683129333,-3.70256693745e-05,1793238970354373120
+60,1.000000000,BASELINE,767,745,715,679,666,636,879.202205822,788,803,653,632,653.797794178,0.401004783299,-0.00539683733309,0.0498673467977,0.999999961483,0.000137820852573,-0.000238033569976,-3.71373650454e-05,1793238970371039488
+61,1.016666667,BASELINE,766.617139745,745,715,679,666,636,879.382860255,788,803,653,632,653.617139745,0.40100543584,-0.00539675773479,0.0498679321965,0.999999961534,0.000138531124268,-0.000237429529362,-3.69937461754e-05,1793238970387706112
+62,1.033333333,BASELINE,766.026284323,745,715,679,666,636,879.973715677,788,803,653,632,653.026284323,0.401005848359,-0.00539666041846,0.0498680655647,0.999999961432,0.00013939880502,-0.000237393484203,-3.67114234504e-05,1793238970404372992
+63,1.050000000,BASELINE,766.553261666,745,715,679.553261666,666,636,879.446738334,788,803,653,632,653,0.401004766542,-0.00539624805731,0.0498673191328,0.999999961223,0.000139836911231,-0.000238005535591,-3.67880559643e-05,1793238970421039616
+64,1.066666667,BASELINE,766.868667297,745.131332703,715,679.868667297,666,636,879.131332703,788,803,653,631.868667297,653,0.40100415779,-0.00539654092014,0.0498667068216,0.999999961149,0.000139500069955,-0.000238508328736,-3.68047795422e-05,1793238970437706496
+65,1.083333333,BASELINE,766.293799303,745.706200697,715,679.293799303,666,636,879.706200697,788,803,653,631.293799303,653,0.401005381618,-0.00539926499157,0.0498666857915,0.999999961549,0.000136613626638,-0.000238540236402,-3.65627410706e-05,1793238970454373120
+66,1.100000000,BASELINE,766.285941258,746,715,679,666,636,879.714058742,788,803,653,631.285941258,653,0.401005576647,-0.00539972505449,0.0498669295783,0.999999961704,0.000135739892721,-0.000238376684681,-3.66575764005e-05,1793238970471039488
+67,1.116666667,BASELINE,766.870775047,746,715,679,666,636,879.129224953,788,803,653,631.870775047,653,0.401004696277,-0.00539781856393,0.0498674501765,0.999999961607,0.000136970030985,-0.000238008820538,-3.71045437319e-05,1793238970487706112
+68,1.133333333,BASELINE,766.545394954,746,714.545394954,679,666,636,879.454605046,788,803,653,632,653,0.401005138723,-0.0053976195908,0.0498675713137,0.999999961819,0.000136861865667,-0.000237198771612,-3.69690147896e-05,1793238970504372992
+69,1.150000000,BASELINE,766,745.962268649,714.037731351,679,666,636,880,788,803.037731351,653,632,653.037731351,0.401005808504,-0.00539784240543,0.049867520558,0.999999962053,0.000136487299826,-0.000236470181245,-3.67089918782e-05,1793238970521039360
+70,1.166666667,BASELINE,766,745.38513282,714.61486718,679,666,636,880,788,803.61486718,653,632,653.61486718,0.401004364531,-0.0053971714713,0.0498666321602,0.999999961341,0.000137730809144,-0.000238699075674,-3.70311027183e-05,1793238970537706240
+71,1.183333333,BASELINE,766,745,715,679,666,636,880,788,803.817262965,653,632,653.817262965,0.401004037233,-0.00539696238091,0.0498665034413,0.999999961037,0.000138614774999,-0.000239453702831,-3.70616611828e-05,1793238970554373120
+72,1.200000000,BASELINE,766,745,715,679,666,636,880,788,803.267979338,653,632,653.267979338,0.40100594984,-0.00539767968852,0.0498678985388,0.99999996156,0.000138777543923,-0.000237251143074,-3.65074037752e-05,1793238970571039488
+73,1.216666667,BASELINE,766,745,715,679,666,636,879.682763857,788,803,653,632,653,0.401005549751,-0.00539874153333,0.0498675213696,0.999999961661,0.000137498428122,-0.00023760448759,-3.62880609714e-05,1793238970587706112
+74,1.233333333,BASELINE,766,745,715,679,666,636,879.063318595,788,803,653,632,653,0.401002946517,-0.00540013159505,0.0498654558836,0.999999961352,0.000134845727609,-0.000240392666964,-3.63877683768e-05,1793238970604372992
+75,1.250000000,BASELINE,766.517548215,745.517548215,715,679,666,636,879.517548215,788.517548215,803.517548215,653,631.482451785,653,0.401002157567,-0.00539912132074,0.0498650220422,0.999999960961,0.000135864910992,-0.000241428944832,-3.64726124112e-05,1793238970621039616
+76,1.266666667,BASELINE,767,746,715,679.093942234,666.093942234,636,880,788.906057766,804,653,631.187884468,653,0.401001807585,-0.00539789836783,0.0498649642754,0.999999960653,0.000137166109042,-0.000241950658721,-3.6584345106e-05,1793238970637706240
+77,1.283333333,BASELINE,767,746,715,679.669923762,666.669923762,636,880,788.330076238,804,653,632.339847523,653,0.401002650105,-0.00539698644494,0.0498658829897,0.999999960825,0.000137769188166,-0.000240855528219,-3.68427332573e-05,1793238970654372864
+78,1.300000000,BASELINE,767,746,715,679.754063262,666.754063262,636,880,788.245936738,803.754063262,653,632.754063262,653,0.401003697973,-0.0053962126499,0.0498666489614,0.999999960978,0.000138575738154,-0.000239738713071,-3.69696874035e-05,1793238970671039488
+79,1.316666667,BASELINE,767,746,715,679.178008121,666.178008121,636,880,788.821991879,803.178008121,653,632.178008121,653,0.401005021477,-0.00539562426255,0.049867209908,0.999999961103,0.000139655404985,-0.000238592790929,-3.69202189886e-05,1793238970687706112
+80,1.333333333,BASELINE,767,746,715,679,666,636,879.591158043,788.591158043,803.408841957,653,632,653,0.401005053711,-0.00539576938727,0.0498672224349,0.999999961179,0.000139739342833,-0.000238245664142,-3.67892487841e-05,1793238970704372992
+81,1.350000000,BASELINE,767,745.999492927,715,679,666,636,879.000507073,788,804,653,631.999492927,653,0.401004509593,-0.00539624296289,0.0498669904699,0.999999961234,0.000139376487606,-0.000238255329057,-3.66219655622e-05,1793238970721039872
+82,1.366666667,BASELINE,767,745.422105474,715,679,666,636,879.577894526,788,804,653,631.422105474,653,0.401005226001,-0.00539719609105,0.0498676270585,0.999999961635,0.000137307918554,-0.000237772866975,-3.66081571602e-05,1793238970737706496
+83,1.383333333,BASELINE,767,745.151915871,715,679,666,636,880,788,803.848084129,653,631.151915871,653,0.40100552458,-0.00539754499621,0.0498678373118,0.999999961765,0.000136369386821,-0.000237761615535,-3.6653117545e-05,1793238970754373120
+84,1.400000000,BASELINE,767,745.716787202,715,679,666,636,880,788,803.283212798,653,631.716787202,653,0.401004687366,-0.00539625143212,0.0498668886507,0.999999961161,0.000138502654013,-0.000239031263777,-3.68578301049e-05,1793238970771039488
+85,1.416666667,BASELINE,766.700268234,746,715,679,666,636,880,788,803.299731766,653,632,653,0.401003798854,-0.0053963603236,0.0498663517306,0.999999960988,0.000138981430541,-0.000239472964494,-3.68891763804e-05,1793238970787706112
+86,1.433333333,BASELINE,766.09915074,746,715,679,666,636,880,788,803.90084926,653,632,653,0.40100285876,-0.00539787940969,0.0498662288236,0.999999961251,0.000137796586561,-0.000239082148878,-3.67461996993e-05,1793238970804372736
+87,1.450000000,BASELINE,766.483001875,745.516998125,715,679,666,636,880,788.483001875,804,653,632,653,0.401004339566,-0.00539787183149,0.0498669168603,0.999999961454,0.000138140275502,-0.000238064199986,-3.65339510896e-05,1793238970821039360
+88,1.466666667,BASELINE,766.938978975,745,715,678.938978975,666,636,880,788.938978975,803.938978975,653,632,653,0.401005807405,-0.00539756893472,0.0498675415524,0.999999961576,0.000138573503336,-0.000237323651867,-3.6373644658e-05,1793238970837705984
+89,1.483333333,BASELINE,766.364221622,745,715,678.364221622,666,636,880,788.364221622,803.364221622,653,632,653,0.401003140228,-0.00539731853082,0.0498662843779,0.999999961119,0.0001372186706,-0.000239961439769,-3.67658361277e-05,1793238970854372864
+90,1.500000000,BASELINE,766,745.210811979,715,678.210811979,666.210811979,636,880,788,803,653,632,653,0.401002175281,-0.00539710111439,0.04986586234,0.99999996085,0.000137331386206,-0.000240989299314,-3.69276928351e-05,1793238970871039744
+91,1.516666667,BASELINE,766,745.786323424,715,678.786323424,666.786323424,636,880,788,803,653,632,653,0.401004155148,-0.0053969407655,0.0498668850679,0.999999960913,0.000139982923985,-0.000239232022678,-3.66910761079e-05,1793238970887706368
+92,1.533333333,BASELINE,766.37124983,745.62875017,715,678.62875017,666.62875017,636,880,788,803,653,632,653,0.401003651972,-0.00539681155311,0.0498669034306,0.999999960822,0.000140059297006,-0.00023955862546,-3.67488979201e-05,1793238970904372992
+93,1.550000000,BASELINE,766.961736167,745.038263833,715,678.038263833,666.038263833,636,880,788,803,653,632,653,0.401001682468,-0.00539670072794,0.0498663286792,0.999999960641,0.000138614941973,-0.000241115834548,-3.698059636e-05,1793238970921039616
+94,1.566666667,BASELINE,766.460827648,745,715,678.539172352,666,636,880,788,803.539172352,653,632,653,0.401003944572,-0.00539699131219,0.0498670133198,0.999999961147,0.000139251264971,-0.000238637997865,-3.69646699509e-05,1793238970937706240
+95,1.583333333,BASELINE,766,745,715,679,666,636,880,788,804,653,631.884226812,653,0.401005779827,-0.0053975919241,0.0498675426949,0.999999961646,0.000139054108696,-0.000236661024184,-3.693038987e-05,1793238970954372864
+96,1.600000000,BASELINE,766,745,715,679,666,636,880,788,804,653,631.307351372,653,0.401004747224,-0.00539931653899,0.0498671061221,0.999999961939,0.000134963158612,-0.000237792446385,-3.6891347954e-05,1793238970971039744
+97,1.616666667,BASELINE,766.266541957,745.266541957,715,679,666,636,880,788,804,653,631.266541957,653,0.401003683477,-0.00539982627502,0.049866522646,0.99999996172,0.000134139631802,-0.000239192984089,-3.67971486339e-05,1793238970987706368
+98,1.633333333,BASELINE,766.837034604,745.837034604,715,679,666,636,880,788,804,653,631.837034604,653,0.401002584214,-0.0053989506258,0.0498657716491,0.999999960922,0.000137042106096,-0.000240900407157,-3.664005066e-05,1793238971004373248
+99,1.650000000,BASELINE,766.57273866,745.57273866,715,679,666,636,880,788,803.57273866,653,632,653,0.40100314087,-0.00539806588146,0.0498663710219,0.999999961073,0.000137362115961,-0.000240090460107,-3.66255544686e-05,1793238971021039872
+100,1.666666667,BASELINE,766.024478154,745.024478154,715,679,666.024478154,636,880,788,803.024478154,653,632,653,0.401004241102,-0.00539717124933,0.0498674198991,0.999999961551,0.000136759687835,-0.000238430334104,-3.66821622415e-05,1793238971037706496
+101,1.683333333,BASELINE,766.601354439,745.601354439,715,679,666.601354439,636,880,788,803.601354439,653,632,653,0.40100266473,-0.00539613555609,0.049866426632,0.99999996083,0.000138645482055,-0.000240301669634,-3.70564945422e-05,1793238971054373120
+102,1.700000000,BASELINE,767,746,715,679,666.822075728,636,880,788.177924272,803.822075728,653,632,653,0.401001910995,-0.00539600399852,0.049865799892,0.999999960394,0.000140110924117,-0.000241248145548,-3.71486057706e-05,1793238971071039488
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+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,715,679.422965597,666,636,880,788,803.422965597,653,632,653,0.40100412284,-0.00539797540788,0.049867275651,0.999999961688,0.000136918577799,-0.000237747517904,-3.67780138287e-05,1793238971197761280
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,715,679,666,636,880,788,803.1586229,652.8413771,631.8413771,653,0.401006438175,-0.00539742737393,0.049868555194,0.999999962213,0.000136952340976,-0.00023550140361,-3.68383462721e-05,1793238971214427904
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,715,679,666,636,880,788,803.752713903,652.247286097,631.247286097,653,0.401006446004,-0.00539806406355,0.0498684703024,0.999999962029,0.000137105380871,-0.000236243617799,-3.65233047796e-05,1793238971231094272
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+113,1.883333333,POSE1_TO_POSE2_PRESS,766.512352111,745,715,679,666,636,879.487647889,788,803,653,632,653,0.40100466024,-0.0053952161942,0.0498676088464,0.999999961227,0.000139921423249,-0.00023786693482,-3.72522362032e-05,1793238971281094400
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.061989394,745,715,679,666,636,880,788,803.061989394,653,632,653,0.401001950627,-0.00539423117755,0.0498663981731,0.999999960242,0.000143058771747,-0.000240156047858,-3.7080499548e-05,1793238971297761024
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.654576421,745,715,679,666,636,880,788,803.654576421,653,632,653,0.401003563639,-0.00539600145028,0.0498668423092,0.999999960752,0.000141234668194,-0.00023918273397,-3.659951564e-05,1793238971314427904
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,715,679,666,636.241776656,879.758223344,788,803.758223344,653,632,653,0.401007071541,-0.00539725614574,0.0498683253197,0.999999961556,0.000139821729924,-0.000236689476382,-3.62859953291e-05,1793238971331094528
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,715,679,666,636.821448524,879.178551476,788,803.178551476,653,632,653,0.401013227649,-0.00539779029548,0.04987126021,0.999999962758,0.000138983416268,-0.000232072020012,-3.62065139784e-05,1793238971347760896
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.398559349,715,679,665.601440651,636.601440651,879.398559349,788,803,653,631.601440651,653,0.401036460962,-0.00539847073501,0.0498802463456,0.999999966993,0.00013774048615,-0.000213907120787,-3.58619201524e-05,1793238971364427520
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.974530223,715,679,665.025469777,636.025469777,879.974530223,788,803,653,631.025469777,653,0.401067295885,-0.00539921629285,0.0498919260844,0.999999972087,0.00013631744815,-0.000189711820596,-3.53993162534e-05,1793238971381094144
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745.451153638,715,679,666.097692725,636,880,788.548846362,803,653,631.548846362,653,0.401124279025,-0.0054012397313,0.0499094122567,0.99999997863,0.000135381011303,-0.00015242282902,-3.43485421059e-05,1793238971397760768
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.873839197,745,715,679,666.873839197,636,879.873839197,788.873839197,803,653,632,653,0.401185430629,-0.00540313805252,0.0499267004,0.9999999835,0.000134826313367,-0.000117120850567,-3.32211415424e-05,1793238971414427392
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.28525414,745,715,679,666.28525414,636,879.28525414,788.28525414,803,653,632,653,0.401257426852,-0.00540436106791,0.0499422780277,0.999999986129,0.000135588305299,-9.13224441463e-05,-3.19126215861e-05,1793238971431094272
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.300213222,715,679,666,636.300213222,879.300213222,788,803,653,632,653,0.401334116364,-0.00540694848402,0.0499530880094,0.999999987673,0.000134621215866,-7.47753834794e-05,-3.06679986273e-05,1793238971447761152
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.882748651,715,679,666,636.882748651,879.882748651,788,803,653,632,653,0.401415219468,-0.0054108189902,0.0499594144691,0.99999998861,0.000132028088579,-6.69283421087e-05,-2.94834648569e-05,1793238971464427776
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.457653197,746,715,679,666,636.542346803,880,788,803,653,632,653,0.401508033417,-0.00541539566541,0.0499599498323,0.999999988905,0.000129248358327,-6.83337886346e-05,-2.85656723777e-05,1793238971481094400
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745.969318085,715,679,666,636,880,788,803.030681915,653,632,653,0.401605314144,-0.00542004863699,0.0499590308612,0.999999989026,0.000126490326982,-7.19742093018e-05,-2.77248450752e-05,1793238971497761024
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.395454525,715,679,666,636,880,788,803.604545475,653,632,653,0.401729427433,-0.00542290189524,0.0499582007456,0.999999989097,0.000124948938241,-7.39036080222e-05,-2.70565662951e-05,1793238971514427648
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.184199319,715,679.184199319,666,636,880,788.184199319,803.815800681,653,632,653,0.401863439976,-0.00542625769844,0.0499591921396,0.999999989317,0.000124142704706,-7.25830296977e-05,-2.61786136931e-05,1793238971531094016
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.776687603,715,679.776687603,666,636,880,788.776687603,803.223312397,653,632,653,0.4020193948,-0.00543072742264,0.0499642210202,0.999999989832,0.000124965987489,-6.40586798237e-05,-2.48359064319e-05,1793238971547760640
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.638969513,746,715,680,666,636,879.638969513,788.638969513,803,653,632,653,0.402187104244,-0.00543671789703,0.0499633090808,0.999999989949,0.000122762025764,-6.697266499e-05,-2.3383514337e-05,1793238971564427520
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.059553679,746,715,680,666,636,879.059553679,788.059553679,803,653,632,653,0.402361924007,-0.00544362826525,0.0499588035726,0.999999989763,0.000118726900644,-7.68056349689e-05,-2.18647743616e-05,1793238971581094400
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.488174182,714.488174182,679.488174182,666,636,879.511825818,788,803.511825818,653,632,652.488174182,0.402578737258,-0.00545111926942,0.0499620140257,0.99999999108,0.000113430041217,-6.74351632032e-05,-2.06325774086e-05,1793238971597761280
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,714.083207074,679,666,636,880,788,803.916792926,653,632,652.083207074,0.402806208607,-0.00545882254856,0.0499659734601,0.9999999923,0.000108505718161,-5.70606436983e-05,-1.92660005465e-05,1793238971614427904
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,714.660060792,679,666,636,880,788,803.339939208,653,632,652.660060792,0.403068371585,-0.00546739058379,0.0499691323693,0.999999992724,0.000106649077495,-5.3780705748e-05,-1.69074360694e-05,1793238971631094528
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+136,2.266666667,POSE1_TO_POSE2_PRESS,766.838529579,745.838529579,715,679,666,636,880,788,803,653,632,653,0.403643192379,-0.0054863652207,0.0499780918686,0.99999999413,0.000101265906731,-3.65808755098e-05,-1.21412771651e-05,1793238971664427776
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+138,2.300000000,POSE1_TO_POSE2_PRESS,766.008074907,746,715,679,666,636,880.991925093,788,803.991925093,653,632,653,0.404307892606,-0.00550574124049,0.0499928172463,0.999999995833,9.02888677782e-05,-1.16867340663e-05,-6.68035650865e-06,1793238971697761024
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,678.435159057,666,636,879.870318115,788,803.435159057,653,632,653,0.404688270323,-0.00551318888019,0.0499995355419,0.999999995843,9.10872664686e-05,2.20383813794e-06,-3.48953711531e-06,1793238971714427648
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,715,678.142637741,666,636,879,788,803.142637741,653,632,653,0.405075403433,-0.00551752036776,0.050002582752,0.999999995332,9.62337260719e-05,8.70951124368e-06,-2.89464597341e-07,1793238971731094528
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,715,678.735899439,666,636,879,788,803.735899439,653,632,653,0.405481956665,-0.005512106951,0.0499940777662,0.999999993371,0.000114815876971,-8.16890239802e-06,2.92147403065e-06,1793238971747761152
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+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.480043598,715,679.519956402,666,636,880,788.519956402,804,653,631.480043598,653,0.406787119414,-0.00548522443399,0.0499443235967,0.999999979965,0.000176575256293,-9.41222734712e-05,5.64549956533e-06,1793238971797761024
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+156,2.600000000,POSE1_TO_POSE2_PRESS,765.445171754,745,715,679.554828246,666.445171754,636,879.445171754,788,803.554828246,652,631,652.554828246,0.414359739709,-0.00553067835759,0.049990620563,0.999999998032,6.08405697161e-05,-1.52470586551e-05,1.34997920611e-06,1793238971997761024
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.020610323,715,679,666.979389677,636,880,788,803,652,631,652.020610323,0.415093272843,-0.00553554740071,0.0499846451333,0.9999999971,7.16300806608e-05,-2.50047487146e-05,6.56137126568e-06,1793238972014427904
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.608468272,715,679,666.391531728,636,880,788,803,652,631,652.608468272,0.415816650027,-0.00553126095431,0.049957684253,0.999999993142,9.29748138622e-05,-7.05913332503e-05,9.44587880109e-06,1793238972031094528
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.80647509,715,679,666,636,880,788,803,652,631.19352491,653,0.416577816441,-0.00552783272179,0.0499446563074,0.999999989437,0.00011194060802,-9.18390646402e-05,1.27213007613e-05,1793238972047761152
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.227005121,715,679,666,636,880,788,803,652,631.772994879,653,0.417414345548,-0.00552611601806,0.0499594146948,0.999999989818,0.000126162103589,-6.45480284274e-05,1.67763198505e-05,1793238972064427776
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,803.348915174,652.348915174,632,653,0.418246154734,-0.00552680472838,0.0499765983573,0.999999990725,0.000130610692931,-3.32376671491e-05,1.96665630742e-05,1793238972081094400
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,803.922549279,652.922549279,632,653,0.419074924019,-0.00552904264647,0.0499953440184,0.999999991472,0.000128765038259,6.613406875e-07,2.18066318599e-05,1793238972097760768
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.499238228,745.499238228,715,679,666,636,880,788,803.500761772,652.500761772,632,653,0.419876887954,-0.00552937030311,0.0499800976758,0.999999990909,0.000128684797767,-3.37286428064e-05,2.20273974391e-05,1793238972114427648
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.922200118,745.922200118,715,679,666,636,880,788,803.077799882,652,632,653,0.420686317161,-0.00552947381135,0.0499652170771,0.999999989356,0.000128479986966,-6.55467518604e-05,2.19983951346e-05,1793238972131094016
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.334490053,745.334490053,715,679,666,636,880,788,803.665509947,652,632,653,0.421572097631,-0.00553006252097,0.0499875092301,0.9999999918,0.000125652616098,-1.0645216565e-05,2.22959313327e-05,1793238972147760896
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.250799016,745.250799016,715,679,666,636,880,788,804,652.250799016,631.749200984,653,0.422463081317,-0.00553114049439,0.0500030131552,0.999999991791,0.000123300980364,2.61348495304e-05,2.30719472329e-05,1793238972164427520
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.832890158,745.832890158,715,679,666,636,880,788,804,652.832890158,631.167109842,653,0.423360938299,-0.00553286475926,0.0500095501964,0.99999999155,0.000121577765354,3.89774288031e-05,2.44800094127e-05,1793238972181094144
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.591501188,746,715,679,666,636,880,788,803.591501188,652.591501188,631.408498812,653,0.424221783816,-0.0055341796915,0.0500008806216,0.99999999214,0.000120695953959,2.34867390526e-05,2.45264376051e-05,1793238972197761024
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.018503017,746,715,679,666,636,880,788,803.018503017,652.018503017,631.981496983,653,0.425067725045,-0.0055353297885,0.0499860874581,0.999999992487,0.000120152969418,-3.41354297107e-06,2.402454607e-05,1793238972214427904
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.442352922,715,679,666.557647078,636,880,788,803,652,631.442352922,653,0.425963330327,-0.00553951751818,0.0500042875523,0.999999992541,0.000116676332528,2.44453351623e-05,2.65740056227e-05,1793238972231094272
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.137151511,667,636,880,788,803.137151511,652,631.137151511,653,0.426842715288,-0.00554197100632,0.0500165150627,0.999999992277,0.000114907988302,3.75885312581e-05,2.87870803381e-05,1793238972247761152
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.727389675,667,636,880,788,803.727389675,652,631.727389675,653,0.427663040794,-0.00553836048542,0.0500053747909,0.999999992462,0.000119106467517,-3.91870074623e-06,2.95525210597e-05,1793238972264427776
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.309850168,745.309850168,715,680,667,636,880.309850168,788,804,652,632.309850168,653,0.428505561094,-0.00553651325014,0.0499834130656,0.99999999128,0.0001202482235,-4.61244819459e-05,2.91931298892e-05,1793238972281094400
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.885635292,745.885635292,715,680,667,636,880.885635292,788,804,652,632.885635292,653,0.429367130469,-0.00553617938937,0.0499521636171,0.999999988605,0.000118766486825,-8.89298044567e-05,2.78683297354e-05,1793238972297761024
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.538243007,746,715,679.538243007,667,636,880.538243007,788,804,652,632.538243007,653,0.430255078542,-0.00553811334485,0.0499607493502,0.999999990767,0.000116201501458,-6.46940775932e-05,2.78856171966e-05,1793238972314427904
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.038896883,745.961103117,715,679.038896883,666.961103117,636,880.038896883,788,804,652,632,653,0.431143208643,-0.00554048346608,0.0499766510917,0.999999992741,0.00011340504331,-2.93663488311e-05,2.81867265874e-05,1793238972331094784
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.629289679,745.370710321,715,679.629289679,666.370710321,636,880.629289679,788,804,652,632,653,0.431941219469,-0.00554106823035,0.0499562945887,0.99999999082,0.00011113339386,-7.23653415398e-05,2.77956559612e-05,1793238972347761408
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745.215709654,715,679.784290346,666,636,881,788,804,652,631.784290346,653,0.432761969152,-0.00554152249189,0.0499468121339,0.999999989601,0.000109097842484,-9.01535809777e-05,2.7700828151e-05,1793238972364428032
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745.795425658,715,679.204574342,666,636,881,788,804,652,631.204574342,653,0.433621090397,-0.00554175653238,0.0499556794458,0.999999991693,0.000107460702434,-6.53991127742e-05,2.81059050193e-05,1793238972381094656
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745.628072676,715,679,666.371927324,636,880.628072676,788,804,652,631.371927324,653,0.434478140043,-0.00554178939299,0.0499743203087,0.99999999337,0.000105358469758,-3.63710295905e-05,2.89270198223e-05,1793238972397761280
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745.053323906,715,679,666.946676094,636,880.053323906,788,804,652,631.946676094,653,0.435334059942,-0.00554171254508,0.0499982909374,0.999999994233,0.00010300261026,-5.01243673296e-06,2.99750106702e-05,1793238972414427648
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.478041626,745,715,679,667,636,880,788,804,652,632,653,0.436083044941,-0.00554087904308,0.0499807576694,0.99999999265,0.000105076642305,-5.189134414e-05,3.10739022183e-05,1793238972431094272
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.10003109,667,636,880.10003109,788,804.10003109,652.10003109,632,653,0.436827162852,-0.0055400625095,0.0499631179714,0.999999989273,0.000107710772581,-9.3988698157e-05,3.18987717711e-05,1793238972447761152
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.691545998,667,636,880.691545998,788,804.691545998,652.691545998,632,653,0.437601098095,-0.00553970953808,0.0499658095395,0.999999990677,0.000110870982286,-7.32813134593e-05,3.13517107547e-05,1793238972464427776
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.276894787,745,715.276894787,680,667,636,880.723105213,788,805.276894787,653,632,653,0.438378764472,-0.00554170170743,0.0499786126766,0.9999999926,0.000109417153018,-4.24538879608e-05,3.20108206428e-05,1793238972481094656
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.855524265,745,715.855524265,680,667,636,880.144475735,788,805.855524265,653,632,653,0.439160496648,-0.00554624939736,0.0500024344794,0.999999994125,0.000102935364491,-5.98566098317e-07,3.39843056036e-05,1793238972497761280
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.569147767,745.430852233,715.569147767,679.569147767,666.569147767,635.569147767,880,788,805.569147767,652.569147767,632,652.569147767,0.439871935915,-0.00554804637706,0.0499885761427,0.999999993915,0.000103128970602,-1.94337658762e-05,3.40068410756e-05,1793238972514427904
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.994807741,715,679.005192259,666.005192259,635.005192259,880.005192259,788,804.994807741,652,632,652,0.440559628251,-0.00554890055252,0.0499623368386,0.999999992174,0.000105560898292,-5.82594363451e-05,3.33927522818e-05,1793238972531094272
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.408072021,715,679.591927979,666.591927979,635.591927979,880.591927979,788,804.408072021,652,632,652,0.441207534505,-0.00554668191864,0.0499538008637,0.999999990638,0.000109887183894,-7.40292795683e-05,3.41903407103e-05,1793238972547760896
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.82360985,745,715,680,666.82360985,635.82360985,881,788,804,652,632,652.17639015,0.441856032436,-0.00554572176648,0.0499505992356,0.999999989814,0.000113368875627,-7.92489701604e-05,3.52015981493e-05,1793238972564427776
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.244340401,745,715,680,666.244340401,635.244340401,881,788,804,652,632,652.755659599,0.442505881898,-0.00554763601607,0.0499595813807,0.999999990901,0.000114921495758,-6.03718643549e-05,3.67008808569e-05,1793238972581094400
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.331565758,745,715,680,666,635,881,788,804,652,632,653,0.443109461615,-0.00554775131561,0.0499529921615,0.999999990135,0.000117247752104,-6.77457849092e-05,3.73397921184e-05,1793238972597761024
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.905018266,745,715,680,666,635,881,788,804,652,632,653,0.443679286184,-0.00554655422925,0.049935043184,0.999999987642,0.000120138398167,-9.42705848472e-05,3.7351037576e-05,1793238972614427904
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,666,635,880.518110903,787.518110903,804.481889097,652,632,653,0.444196380555,-0.00554475187282,0.0498899305935,0.999999976537,0.000126082236682,-0.000172275409749,3.67516510822e-05,1793238972631094528
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,680,665.93916891,635,880.06083109,787.06083109,805,652,631.93916891,653,0.44469995175,-0.00554326744248,0.0498429083641,0.999999958731,0.000131667479568,-0.000252789555214,3.60426395119e-05,1793238972647761152
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665.348088037,635,880.651911963,787.651911963,805,652,631.348088037,653,0.445176887618,-0.00554560163889,0.0498262434419,0.999999955668,0.000128843779537,-0.0002660972364,3.54346756575e-05,1793238972664427776
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.237739216,715,680,665.237739216,635,881,788,805,652,631.237739216,653,0.445674940804,-0.00554785607489,0.049821785921,0.999999956815,0.000127512375481,-0.000262347655147,3.58453552525e-05,1793238972681094400
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.81604059,715,680,665.81604059,635,881,788,805,652,631.81604059,653,0.446203244572,-0.00554999625366,0.0498348155416,0.99999996364,0.000128318690197,-0.000234163491739,3.77152447621e-05,1793238972697761280
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666,635,881,787.607861202,805,652,631.607861202,653,0.446663720473,-0.00554610085405,0.0498341188175,0.99999996338,0.000132591280201,-0.000232934273946,3.74323196243e-05,1793238972714427648
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+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665,634.276404797,881,787,804,652,631,653,0.448129472455,-0.00555699675008,0.0497352698627,0.999999924407,3.4047418647e-05,-0.000387230921175,8.84575029766e-06,1793238972781094912
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745.698235171,715,680.698235171,665,634,881,787,804.301764829,652,631.301764829,653,0.448462294556,-0.00556365108483,0.0497292215832,0.999999921567,1.22184929306e-05,-0.000395847327966,4.64497343022e-06,1793238972797761536
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745.121798807,715,680.121798807,665,634,881,787,804.878201193,652,631.878201193,653,0.448793048085,-0.00556567441351,0.0497351945096,0.999999926874,1.53901841023e-05,-0.000382072485718,5.94899125968e-06,1793238972814427904
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745.454536618,715,680,665,634,881,787,804.545463382,652,632,653,0.449095648647,-0.00556140499386,0.0497475901779,0.999999933296,2.46334645851e-05,-0.000364335286917,7.85050855472e-06,1793238972831094528
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.969368335,715,680,665,634,881,787,804.030631665,652,632,653,0.449387976604,-0.00555562797275,0.0497608183065,0.999999939152,3.52785328646e-05,-0.000346920601311,9.88173475156e-06,1793238972847761152
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.397045792,715,680,665,634,881,787,804.602954208,652,632,653,0.449632021291,-0.00555300304282,0.0497583392812,0.999999936404,4.1948064517e-05,-0.000353981313738,1.13760207555e-05,1793238972864427776
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+212,3.533333333,POSE1_TO_POSE2_PRESS,766.067543591,745.932456409,715,680,664.067543591,634,880,787,805.864912817,652,631,653,0.450433198942,-0.00555200193532,0.0497517556644,0.99999992935,5.60203206397e-05,-0.00037134528085,1.62829206029e-05,1793238972931094272
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+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746,715,680.322411952,664.677588048,633,881,787,804.322411952,652,631,653,0.450840983025,-0.00555043864819,0.0497453448785,0.999999923266,6.08521943502e-05,-0.000386618220447,1.70461317084e-05,1793238972981094400
+216,3.600000000,POSE1_TO_POSE2_PRESS,766.263730599,746,715,680,665,633,881,787.263730599,804.263730599,652,631,653,0.450946474728,-0.00554990432975,0.0497425694933,0.999999920668,6.19676858408e-05,-0.00039311002226,1.696970839e-05,1793238972997761280
+217,3.616666667,POSE1_TO_POSE2_PRESS,766.841340972,746,715,680,665,633,881,787.841340972,804.841340972,652,631,653,0.451039981645,-0.00554984586597,0.0497398479628,0.999999919294,6.10327986882e-05,-0.000396738116449,1.69149989758e-05,1793238973014427904
+218,3.633333333,POSE1_TO_POSE2_PRESS,766.583431009,746,715,680,664.583431009,633,880.583431009,787.583431009,805,652,631,653,0.451114064117,-0.00554999507064,0.0497348265208,0.999999916329,6.33129494035e-05,-0.000403767983247,1.74562773526e-05,1793238973031094528
+219,3.650000000,POSE1_TO_POSE2_PRESS,766.009105212,746,715,680,664.009105212,633,880.009105212,787.009105212,805,652,631,653,0.45118079045,-0.00555022292042,0.0497289340906,0.999999912695,6.68106514095e-05,-0.00041208611861,1.82232593522e-05,1793238973047761152
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664,633.564999143,880.564999143,787,805,652,631,653,0.451230979536,-0.00554958840606,0.049726636538,0.99999991023,6.53828171863e-05,-0.000418256812179,1.80674847446e-05,1793238973064427776
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664.144124752,633.855875248,881,787,805,652,631,653,0.451278508096,-0.00554902045621,0.0497251242992,0.999999908265,6.46339513343e-05,-0.000423049173987,1.79528765995e-05,1793238973081094400
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.738964147,633.261035853,881,787,805,652,631,653,0.451318549607,-0.00554870411417,0.0497258868358,0.999999907908,6.62565273983e-05,-0.000423639324177,1.80134924717e-05,1793238973097761024
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.67631281,746,715.32368719,680,664.67631281,633,881,787,805,652.32368719,631,653,0.451352312412,-0.00554862363686,0.0497260376976,0.999999907794,6.65806728455e-05,-0.000423856956604,1.79906384125e-05,1793238973114427904
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.099500738,746,715.900499262,680,664.099500738,633,881,787,805,652.900499262,631,653,0.451381165245,-0.00554872760682,0.0497257102269,0.999999907873,6.58894397081e-05,-0.00042378327848,1.79025104866e-05,1793238973131094528
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,716,680,664,633,880.526019437,787,804.526019437,652.526019437,631,653,0.451399739687,-0.00554908766359,0.0497266436319,0.999999908034,6.48998106118e-05,-0.000423549553815,1.80425758828e-05,1793238973147760896
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.048225694,746,716,680.048225694,664.048225694,633,880.048225694,787,804.048225694,652.048225694,631,653,0.451415302742,-0.0055495591113,0.0497275994744,0.99999990807,6.38254295837e-05,-0.000423620287132,1.82112290451e-05,1793238973164427776
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.638872032,746,716,680.638872032,664.638872032,633,880.638872032,787,804.638872032,652.638872032,631,653,0.451421094569,-0.00555068299423,0.0497258513432,0.999999906508,6.24974375927e-05,-0.00042749068181,1.81663858026e-05,1793238973181094400
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,715.774938666,681,664.774938666,633,881,787,805,652.774938666,631,653,0.451426055179,-0.00555047621107,0.0497236807375,0.999999904951,6.25279860184e-05,-0.0004311168114,1.80726947254e-05,1793238973197761280
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,715.195762172,681,664.195762172,633,881,787,805,652.195762172,631,653,0.451429707936,-0.00554817573621,0.0497208454035,0.999999903413,6.46960840908e-05,-0.000434358610102,1.79021456744e-05,1793238973214428160
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745.621140361,715,680.621140361,664,633,881,787,805,652,631.378859639,653,0.4514327962,-0.00554713685603,0.049720017286,0.999999902795,6.58698688188e-05,-0.000435604191827,1.79096385248e-05,1793238973231094784
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745.048844079,715,680.048844079,664,633,881,787,805,652,631.951155921,653,0.451435596249,-0.0055467421159,0.0497202140052,0.99999990265,6.653598094e-05,-0.000435830552953,1.80080353044e-05,1793238973247761408
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745.541220035,715.541220035,680,664,633,881,787,805,652.541220035,631.458779965,653,0.451436831325,-0.00554628337728,0.0497196747731,0.999999902249,6.78685991139e-05,-0.000436547470622,1.79216353915e-05,1793238973264427776
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,715.869740829,680,664.130259171,633,881.130259171,787,805,652.869740829,631,653,0.451437575579,-0.00554586224922,0.0497190029116,0.99999990178,6.84689643747e-05,-0.000437532834433,1.7776869645e-05,1793238973281094400
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,715.289960514,680,664.710039486,633,881.710039486,787,805,652.289960514,631,653,0.451437129964,-0.00554559152293,0.0497181103365,0.999999901161,6.63277175753e-05,-0.000439286632216,1.74901922792e-05,1793238973297761024
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664.712054012,633,882,787,805,652,631,653,0.451438011804,-0.00554589643147,0.0497182684186,0.999999901223,6.57420456825e-05,-0.00043923505811,1.74436340959e-05,1793238973314427648
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664.136022165,633,882,787,805,652,631,653,0.451440221744,-0.00554677725445,0.049719477668,0.99999990197,6.67127040723e-05,-0.000437377235357,1.76373117006e-05,1793238973331094272
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.437102533,633,881.562897467,787,804.562897467,652.437102533,631,653,0.451440531061,-0.00554592911626,0.0497190954381,0.999999901851,6.73706322265e-05,-0.000437557208849,1.74036615939e-05,1793238973347761152
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,633,881,787,804,652.990320002,631,653,0.451440240315,-0.00554454775053,0.0497182196254,0.999999901452,6.79457725711e-05,-0.000438392656552,1.70447346716e-05,1793238973364427776
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,633,881,787,804,652.396532306,631,653,0.451439194391,-0.00554324204688,0.0497172471604,0.99999990031,6.93589340622e-05,-0.000440768095815,1.70976334588e-05,1793238973381094656
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745.808074755,715,680,664.808074755,633,880.808074755,787,804.191925245,652,631,653,0.451439075035,-0.00554187743805,0.0497169064233,0.999999899793,7.06777793141e-05,-0.000441731090977,1.70772402216e-05,1793238973397761280
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745.230332153,715,680,664.230332153,633,880.230332153,787,804.769667847,652,631,653,0.451440818309,-0.00554039441528,0.0497178356159,0.999999900543,7.18070254421e-05,-0.000439854722949,1.69095118296e-05,1793238973414427904
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.346324781,715,680,664,633,880.346324781,787,805,652,631,653,0.451441554241,-0.00553971793252,0.0497182382288,0.999999900787,7.19869616579e-05,-0.000439276478046,1.6716481881e-05,1793238973431094272
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.922261899,715,680,664,633,880.922261899,787,805,652,631,653,0.451441622306,-0.00553957618354,0.0497182917209,0.999999900699,7.15375080813e-05,-0.000439558885127,1.65066770798e-05,1793238973447760896
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.504852136,746,715,680,664,633,880.504852136,787,805,652,631,653,0.451439685974,-0.00554138407345,0.0497172299658,0.9999998999,7.02973207243e-05,-0.000441547763186,1.71298451331e-05,1793238973464427776
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.069771613,746,715,680.069771613,664,633,880.139543227,787,805,652,631,653,0.451438010099,-0.00554322436632,0.0497162229292,0.999999899154,6.92570706857e-05,-0.000443373064479,1.77789464143e-05,1793238973481094400
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.660939152,746,715,680.660939152,664,633,881.321878304,787,805,652,631,653,0.45144061783,-0.00554303341111,0.0497169252421,0.999999899674,7.06329728839e-05,-0.000441986129529,1.7650549422e-05,1793238973497761280
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746,715.247376658,681,664,633,881.752623342,787,805,652,631,653,0.451441766837,-0.00554330212435,0.0497174314605,0.999999900163,7.01562037972e-05,-0.000440959931281,1.75030391798e-05,1793238973514427904
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,715.827452777,681,664,633,881.172547223,787,805,652,631,653,0.451440953991,-0.00554418905049,0.0497176739495,0.999999900608,6.71877578688e-05,-0.000440418891407,1.73298233093e-05,1793238973531094528
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746,715.596099144,681,664,633,881,787,805,652,631,653,0.451440560207,-0.00554389536984,0.0497169871053,0.999999900282,6.70457275071e-05,-0.000441192592412,1.70149643566e-05,1793238973547761152
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,715.021187207,681,664,633,881,787,805,652,631,653,0.451440343852,-0.00554310182181,0.0497159067827,0.999999899629,6.81003978853e-05,-0.000442522952973,1.66401339234e-05,1793238973564427776
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,715,681,664,633,881,787.563894966,804.436105034,652,631,653,0.451440621069,-0.00554176832686,0.0497161803238,0.999999899438,7.08028022397e-05,-0.000442531078419,1.66211010721e-05,1793238973581094400
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680.851800216,664,633,881.148199784,787.851800216,804,652,631,653,0.451441037126,-0.00554080395912,0.049716336734,0.999999899397,7.25818944599e-05,-0.000442336449239,1.66176286733e-05,1793238973597761024
+253,4.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680.270901262,664,633,881.729098738,787.270901262,804,652,631,653,0.451441803416,-0.00554097765398,0.0497159999077,0.999999899759,7.14811109764e-05,-0.000441697552844,1.66198396065e-05,1793238973614427648
+254,4.233333333,HOLD_POSE2,766,746,715,680,664,633,881,787,805,652,630,653,0.451441317276,-0.00554110663273,0.0497157667502,0.999999899126,6.88895649045e-05,-0.000443549093363,1.63409546952e-05,1793238973652212224
+255,4.250000000,HOLD_POSE2,766,746,715,680,664.598682327,633,881,787,805,652,630.598682327,653,0.451441835353,-0.00554116421287,0.0497156815911,0.999999899274,6.89145566056e-05,-0.000443208209077,1.64193900353e-05,1793238973668878848
+256,4.266666667,HOLD_POSE2,766,746,715.194336865,680,664.805663135,633,881,787,805,652,631,653,0.451442102803,-0.00554070667059,0.0497154569365,0.999999899268,6.97293406439e-05,-0.00044309872107,1.6277157774e-05,1793238973685545472
+257,4.283333333,HOLD_POSE2,766,746,715.783834862,680,664.216165138,633,881,787,805,652,631,653,0.451441860632,-0.00553920168752,0.049714948634,0.999999898946,7.21500744058e-05,-0.000443459750082,1.56862239433e-05,1793238973702212096
+258,4.300000000,HOLD_POSE2,766,745.637177126,715.637177126,680,664,632.637177126,880.637177126,787,805,652,631.362822874,653,0.451441087565,-0.00553980944374,0.0497142165227,0.999999898604,7.06081444665e-05,-0.000444477034516,1.57126795014e-05,1793238973718878720
+259,4.316666667,HOLD_POSE2,766,745.064274581,715.064274581,680,664,632.064274581,880.064274581,787,805,652,631.935725419,653,0.4514400071,-0.00554164050654,0.0497133548228,0.999999898239,6.67717750156e-05,-0.000445874300266,1.60966124445e-05,1793238973735545600
+260,4.333333333,HOLD_POSE2,766,745.515986218,715,680.515986218,664,632.515986218,880.515986218,787,805,652,631.484013782,653,0.451441856857,-0.00554196665619,0.0497148922823,0.999999899121,6.76427227977e-05,-0.00044374769386,1.64370337503e-05,1793238973752212224
+261,4.350000000,HOLD_POSE2,766,746,715.095584135,680.904415865,664,633,881,787,805,652,631,653,0.451443521719,-0.0055418406871,0.0497163347676,0.999999899901,6.8992455915e-05,-0.000441768115749,1.6689892387e-05,1793238973768878848
+262,4.366666667,HOLD_POSE2,766,746,715.667249033,680.332750967,664,633,881,787,805,652,631,653,0.451442421357,-0.005540410035,0.0497157941541,0.999999899421,6.97640655818e-05,-0.000442738810388,1.65340098519e-05,1793238973785545472
+263,4.383333333,HOLD_POSE2,765.751027398,746,715.751027398,680,664,633,880.751027398,787,805,652.248972602,631,653,0.45144235749,-0.00553954833804,0.0497154327526,0.999999899316,7.01735670229e-05,-0.000442917916216,1.63646324198e-05,1793238973802212096
+264,4.400000000,HOLD_POSE2,765.155294513,746,715.155294513,680,664,633,880.155294513,787,805,652.844705487,631,653,0.451443737218,-0.0055394790619,0.0497153209514,0.999999899734,7.00787367998e-05,-0.00044199452491,1.61764597827e-05,1793238973818878720
+265,4.416666667,HOLD_POSE2,765.427639038,746,715,680.427639038,664,633,880.427639038,787,805,653,631,653,0.451443950743,-0.00553942427946,0.0497154648381,0.999999899671,7.14938729503e-05,-0.000441908452022,1.62509389464e-05,1793238973835545600
+266,4.433333333,HOLD_POSE2,766,746,715.006012834,681,664,633,881,787,805,652.993987166,631.006012834,653,0.45144375282,-0.0055393854759,0.0497156942425,0.999999899434,7.34061655981e-05,-0.000442124469335,1.64178219169e-05,1793238973852211968
+267,4.450000000,HOLD_POSE2,766,746,715.579959152,681,664,633,881,787,805,652.420040848,631.579959152,653,0.451443530619,-0.00554037324474,0.0497154858126,0.999999899152,7.19895470258e-05,-0.000442988383457,1.6565359581e-05,1793238973868878592
+268,4.466666667,HOLD_POSE2,766,746,715.843791758,680.843791758,664,633,881.156208242,787,804.843791758,652,631.843791758,653,0.451443635686,-0.00554121359666,0.0497155820448,0.999999899093,7.06633910417e-05,-0.000443332375432,1.66672873347e-05,1793238973885545216
+269,4.483333333,HOLD_POSE2,766,746,715.261257781,680.261257781,664,633,881.738742219,787,804.261257781,652,631.261257781,653,0.451444633937,-0.00554165161647,0.049716509765,0.999999899645,6.95841265112e-05,-0.000442257388754,1.66447359117e-05,1793238973902211840
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,633,881,787,805,652,631,653,0.451444098293,-0.00553787921532,0.0497164709989,0.99999989926,7.16061506114e-05,-0.000442832890564,1.58657133438e-05,1793238973938090752
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766.556306376,745,715,680,664,633,880.443693624,787,805,652,631,653,0.451445662132,-0.0055399563437,0.0497179025619,0.999999900729,6.88652111294e-05,-0.000439930833709,1.61265762227e-05,1793238973954757632
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766.758147626,745.120926187,715.120926187,680,664,633,880.120926187,787,805,652,631,653,0.451446786709,-0.00554127583226,0.0497187690722,0.999999901707,6.71069162265e-05,-0.000437972805342,1.62145306044e-05,1793238973971424512
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.563397877,745.718301062,715.718301062,680,664,633,880.718301062,787,805,652,631,653,0.451446180597,-0.00553961022358,0.049717409277,0.999999900799,6.92202361724e-05,-0.000439734244558,1.56212262868e-05,1793238973988091136
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.311400528,746,715.688599472,680,664,633,881,787,805,652.311400528,631,653,0.451445516451,-0.00553893196296,0.0497167381877,0.999999900264,7.08471594191e-05,-0.000440686480737,1.57404692401e-05,1793238974004757504
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.900684725,746,715.099315275,680,664,633,881,787,805,652.900684725,631,653,0.451444800517,-0.00553913477963,0.049716681677,0.999999900065,7.20400379994e-05,-0.000440916610432,1.64955661583e-05,1793238974021424128
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,633,881,787,805,652.519697815,631,653,0.451443466116,-0.00553979706409,0.0497161817002,0.999999899477,7.02200359774e-05,-0.00044254803222,1.63453023706e-05,1793238974038091008
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,633,881,787.057702467,804.942297533,652,631,653,0.451441934121,-0.00554047904758,0.0497155206704,0.999999898794,6.8126108037e-05,-0.00044442565748,1.60500951683e-05,1793238974054757632
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,633,881,787.632791592,804.367208408,652,631,653,0.45143975446,-0.00554050259055,0.0497142215542,0.999999898044,6.90518692823e-05,-0.000445964042733,1.61007292656e-05,1793238974071424512
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.382842336,664,633,881,787,804.617157664,652.617157664,631,652.382842336,0.451391301478,-0.00553610253961,0.049691498388,0.999999879988,7.35543843329e-05,-0.000484145394673,1.4720971414e-05,1793238974121424128
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.960161967,664,633,881,787,804.039838033,652.039838033,631,652.960161967,0.451352974261,-0.00553564093993,0.0496738582035,0.999999865118,7.40575031089e-05,-0.00051388728041,1.41288075176e-05,1793238974138090752
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.02146278,746,715,680,664,633,880.97853722,787,805,652,631,653,0.450782275566,-0.00551288333711,0.0496083144036,0.999999811669,8.65721767501e-05,-0.000607557212438,6.40307023801e-06,1793238974254757888
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.596347767,746,715,680,664,633,880.403652233,787,805,652,631,653,0.450656464129,-0.00551092782465,0.0496149175602,0.999999818451,8.6701696644e-05,-0.000596271629451,6.47508081013e-06,1793238974271424256
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.256271097,715,680,664,633,880.743728903,787,805,652,631,653,0.45036018231,-0.00550044383223,0.0496276327061,0.999999827925,9.60940968997e-05,-0.000578691080996,5.71980743893e-06,1793238974304757504
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,766.100314734,745,715,680,666.100314734,635,881,788,804,652.100314734,632,653,0.440484957625,-0.00539596320373,0.0498460001909,0.99999997256,6.1579824057e-05,-0.000223132337945,-3.60585114992e-05,1793238974688091136
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+321,5.350000000,POSE2_TO_POSE3_RETREAT,766.417351394,745.582648606,715,680,666.582648606,635.417351394,880.417351394,788,804.582648606,652,632,653,0.435767770108,-0.00538095768404,0.0498026950325,0.99999994825,1.61353054381e-05,-0.000316364458818,-5.61597285003e-05,1793238974788091136
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a63768f3fca716c45e8533938f98a2ff4b7fd245
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,418 @@
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+408,6.800000000,pose2_to_pose3_retreat,0.575665860471,9.06311150194e-05,1.04003253458,0.546236315066,0.00876238066105,1.03970065978
+409,6.816666667,pose2_to_pose3_retreat,0.575665378736,9.06579473213e-05,1.04003231154,0.546235832084,0.00876240339907,1.03970044027
+410,6.833333333,pose2_to_pose3_retreat,0.575665112052,9.06728014406e-05,1.04003218806,0.54623556471,0.00876241598663,1.03970031875
+411,6.850000000,pose2_to_pose3_retreat,0.5756650264,9.06775722148e-05,1.04003214841,0.546235478836,0.00876242002944,1.03970027972
+412,6.866666667,pose2_to_pose3_retreat,0.575664877076,9.06863092117e-05,1.04003213277,0.546235329134,0.00876242752017,1.03970026512
+413,6.883333333,pose2_to_pose3_retreat,0.575664654547,9.06998282755e-05,1.04003217303,0.546235106049,0.00876243920913,1.03970030684
+414,6.900000000,pose2_to_pose3_retreat,0.575664380168,9.0732945141e-05,1.04003225836,0.546234831367,0.00876247131532,1.03970039265
+415,6.916666667,pose2_to_pose3_retreat,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787087,0.00876252613236,1.03970050298
+416,6.933333333,pose2_to_pose3_retreat,0.575664334869,9.07844425481e-05,1.04003237233,0.546234787087,0.00876252613234,1.03970050298
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5aa853f05cc3de691a48dc2ac9637d8c243ac058
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b06451abb22fa1519363039ef0cd0fe19935347e126d276693da04c7271c899f
+size 26252826
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0363fd6eebb8ea0c0a766c57a968e795e371538c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_01/franka_data.csv
@@ -0,0 +1,414 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,746,716,680,662,636,879,788,803,653,631,653,0.401039840752,-0.00549355128752,0.0698647476572,0.999999990383,3.71581401271e-05,-0.000132798232008,1.47549483044e-05,1793238978017308416
+1,0.016666667,BASELINE,766,745.426531771,716,679.426531771,662,636,879.573468229,788,803,653,631.573468229,653,0.401040407318,-0.00549442920168,0.0698644342252,0.999999990407,3.58039891478e-05,-0.000132980131895,1.48168534481e-05,1793238978033975040
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+3,0.050000000,BASELINE,766,745,716,679.747685021,662,636,880,788,803.747685021,652.252314979,631.252314979,653,0.401041524984,-0.00549475892025,0.0698657780167,0.999999990484,3.57801651413e-05,-0.000132402787341,1.48832503806e-05,1793238978067308544
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+9,0.150000000,BASELINE,766,745.762537188,716,679,662,636,879.762537188,788,803,652.237462812,632,653,0.401040875775,-0.00549324978152,0.0698657729989,0.999999990476,3.81654580947e-05,-0.000131837560296,1.44983676739e-05,1793238978167308032
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+12,0.200000000,BASELINE,766.961170422,745,716,679.961170422,662,636,879,788,803.961170422,653,631.038829578,653,0.401038943364,-0.00549497951918,0.0698645706018,0.999999990086,3.51770696365e-05,-0.000135574981229,1.44701322745e-05,1793238978217308160
+13,0.216666667,BASELINE,767,745,715.447978994,680,662,636,879.552021006,788,803.447978994,652.447978994,631,653,0.401038938304,-0.00549429186241,0.0698646565738,0.9999999902,3.53500725902e-05,-0.000134705053082,1.42996455743e-05,1793238978233974784
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+20,0.333333333,BASELINE,767,745.611107325,716,679,662.388892675,636,880,788,803.388892675,652.388892675,631.388892675,653,0.401039069482,-0.00549341486331,0.0698652449369,0.999999990168,3.72735886046e-05,-0.000134418058098,1.43417196487e-05,1793238978350641152
+21,0.350000000,BASELINE,767,745.801318243,716,679.198681757,662,636,879.801318243,788,803,652,631.198681757,653,0.401039492876,-0.00549236577499,0.069866031025,0.999999990285,3.835665861e-05,-0.000133267030162,1.41239789054e-05,1793238978367308032
+22,0.366666667,BASELINE,767,745.218531418,716,679.781468582,662,636,879.218531418,788,803,652,631.781468582,653,0.401039881389,-0.00549242158905,0.0698661737218,0.999999990303,3.89420698809e-05,-0.000132964206321,1.40807992125e-05,1793238978383975168
+23,0.383333333,BASELINE,767,745,715.643708231,680,662,636,879,788,803.356291769,652,632,653,0.40104002261,-0.00549341276588,0.069866511733,0.999999990392,3.7611399287e-05,-0.000132661764397,1.41973831096e-05,1793238978400641792
+24,0.400000000,BASELINE,767,745,715.073662696,680,662,636,879,788,803.926337304,652,632,653,0.401040015472,-0.00549496510447,0.0698669669211,0.99999999052,3.51311941492e-05,-0.000132359551572,1.44098156079e-05,1793238978417308160
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+26,0.433333333,BASELINE,766,745.921370884,715.078629116,679.078629116,662,636,880.842741768,788,803.921370884,652,631.078629116,653,0.401042559474,-0.00549534895888,0.069867617083,0.999999990668,3.84088704874e-05,-0.000130253833753,1.49264220476e-05,1793238978450641664
+27,0.450000000,BASELINE,766,745.327704234,715.672295766,679.672295766,662,636,879.655408468,788,803.327704234,652,631.672295766,653,0.401039478606,-0.00549328345629,0.069865571447,0.999999990135,3.91169797971e-05,-0.000134125063131,1.45233815333e-05,1793238978467308288
+28,0.466666667,BASELINE,766,745.257724031,715.742275969,680,662,636,879,788,803,652,631.742275969,653,0.40103874984,-0.0054926066533,0.0698651887139,0.999999990048,3.85622174195e-05,-0.000134965238648,1.41655431391e-05,1793238978483974912
+29,0.483333333,BASELINE,766,745.833001375,715.166998625,680,662,636,879,788,803,652,631.166998625,653,0.401040919205,-0.00549364092937,0.0698668549179,0.999999990518,3.64514142669e-05,-0.000132070716801,1.38634003246e-05,1793238978500641536
+30,0.500000000,BASELINE,766,746,715.409261056,679.590738944,662,636,878.590738944,788,803,652,631.409261056,653,0.401040004527,-0.00549348594408,0.0698663005224,0.99999999035,3.73697309896e-05,-0.000133067755735,1.39937214215e-05,1793238978517307904
+31,0.516666667,BASELINE,766,746,715.985922529,679.014077471,662,636,878.014077471,788,803,652,631.985922529,653,0.40103782838,-0.00549284451413,0.0698648378331,0.999999989915,3.95270513804e-05,-0.000135656563331,1.4300933627e-05,1793238978533974528
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+38,0.633333333,BASELINE,766.963118928,745.036881072,716,680,662.036881072,636,880,788,804,652.963118928,632,653,0.401040711327,-0.00549024165575,0.0698673939399,0.999999990242,4.30860862432e-05,-0.000132102332303,1.44697862764e-05,1793238978650641920
+39,0.650000000,BASELINE,766.364741369,745.635258631,716,680,662.635258631,636,880,788,804,652.364741369,632,653,0.401037945903,-0.00549176172779,0.0698653171046,0.99999998991,4.16813637289e-05,-0.000135035614978,1.43917890468e-05,1793238978667308288
+40,0.666666667,BASELINE,766,746,716,680,662.775259673,636.224740327,880,788,803.775259673,652,631.775259673,653,0.401037044632,-0.0054925828266,0.0698646145252,0.999999989802,4.05845951204e-05,-0.000136172658425,1.43506679857e-05,1793238978683974656
+41,0.683333333,BASELINE,766,746,716,680,662.199665799,636.800334201,880,788,803.199665799,652,631.199665799,653,0.401039053589,-0.0054923127227,0.0698660573666,0.999999990052,3.99685890934e-05,-0.00013450550133,1.43671161907e-05,1793238978700641536
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+48,0.800000000,BASELINE,766.856264368,745,715,679.143735632,662,636.856264368,880,788,803.856264368,653,632,653,0.401040779027,-0.00549141226248,0.0698673399106,0.999999990307,4.28906696829e-05,-0.000131681379729,1.43756531168e-05,1793238978817308160
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+50,0.833333333,BASELINE,766,745.993711145,716,679.006288855,662.993711145,636,880,788,804,652.993711145,631.993711145,653,0.401039188799,-0.00549114298694,0.06986493393,0.999999989982,4.19944613541e-05,-0.000134473364365,1.37958796215e-05,1793238978850641408
+51,0.850000000,BASELINE,766,745.402061688,716,679.597938312,662.402061688,636,880,788,804,652.402061688,631.402061688,653,0.401038668436,-0.00549109773541,0.0698653716022,0.999999989971,4.10214475969e-05,-0.000134881455926,1.35304428285e-05,1793238978867308032
+52,0.866666667,BASELINE,766,745.184807582,715.815192418,679.815192418,662,636,880,788,804,652,631.184807582,653,0.401038369825,-0.00549141243153,0.0698657369522,0.999999989954,4.02607904258e-05,-0.000135233677835,1.3492752207e-05,1793238978883974912
+53,0.883333333,BASELINE,766,745.761539401,715.238460599,679.238460599,662,636,880,788,804,652,631.761539401,653,0.401038541482,-0.00549249047411,0.0698659489275,0.999999989929,3.99504811386e-05,-0.000135467416101,1.39380463543e-05,1793238978900641536
+54,0.900000000,BASELINE,766,745.6619853,715,679.3380147,662,636,880,788,804,652,632,653,0.401038969524,-0.00549148131401,0.0698663661593,0.999999989883,4.21318712361e-05,-0.000135143503798,1.39365192168e-05,1793238978917308416
+55,0.916666667,BASELINE,766,745.085690856,715,679.914309144,662,636,880,788,804,652,632,653,0.401039578302,-0.00548900080331,0.0698669280843,0.999999989811,4.60697574195e-05,-0.000134426481849,1.36200103103e-05,1793238978933975040
+56,0.933333333,BASELINE,766.501477009,745.501477009,715.501477009,680,662,636,880,788,804,652.501477009,632,653,0.401040595139,-0.00549093398385,0.0698672226188,0.999999989989,4.37747159925e-05,-0.000133824321694,1.40622361561e-05,1793238978950641408
+57,0.950000000,BASELINE,767,746,715.910948615,680,662,636,880,788,804,653,632,653,0.401041114403,-0.00549292280641,0.0698672803997,0.999999990129,4.10774151008e-05,-0.000133589157086,1.44492442952e-05,1793238978967308288
+58,0.966666667,BASELINE,767,746,715.331592984,680,662,636,880,788,804,653,632,653,0.401038501681,-0.0054909734444,0.0698662917913,0.999999989868,4.21593885065e-05,-0.000135264158118,1.38025744498e-05,1793238978983974912
+59,0.983333333,BASELINE,766.754125896,745.754125896,715.245874104,680,662,636,880,788.245874104,804,653,632,653,0.401037304868,-0.00549018596439,0.0698656313763,0.999999989767,4.21854300648e-05,-0.00013602919363,1.34755427574e-05,1793238979000641280
+60,1.000000000,BASELINE,766.179186259,745.179186259,715.820813741,680,662,636,880,788.820813741,804,653,632,653,0.401038003036,-0.00549095348853,0.0698654101985,0.999999989885,4.07982657025e-05,-0.000135576377296,1.35762986008e-05,1793238979017307904
+61,1.016666667,BASELINE,766,745,716,680,662,636,880,788.607623435,803.607623435,652.607623435,632,653,0.401038681828,-0.00549181169715,0.0698659748324,0.999999990035,4.02535203579e-05,-0.000134611370202,1.37376338934e-05,1793238979033974784
+62,1.033333333,BASELINE,766,745,716,680,662,636,880,788.037589573,803.037589573,652.037589573,632,653,0.401039351847,-0.00549271096515,0.0698668952602,0.9999999902,4.00901992136e-05,-0.000133414457273,1.3926397885e-05,1793238979050641664
+63,1.050000000,BASELINE,766.557795311,745,716,679.442204689,662,636,880,788,803.557795311,652,632,653.557795311,0.40103925174,-0.00549282271068,0.0698666978855,0.999999990076,4.02453523726e-05,-0.000134285440829,1.3994267905e-05,1793238979067308288
+64,1.066666667,BASELINE,767,745,716,679.150188584,662,636,879.849811416,788,804,652,632,653.849811416,0.401039229551,-0.00549278710504,0.0698666170681,0.999999989993,4.04581613801e-05,-0.000134832480277,1.40642101696e-05,1793238979083975168
+65,1.083333333,BASELINE,767,745,716,679.728938324,662,636,879.271061676,788,804,652,632,653.271061676,0.401039584837,-0.00549248968185,0.0698670940275,0.999999990085,4.07713336673e-05,-0.000134038569916,1.41644197471e-05,1793238979100641536
+66,1.100000000,BASELINE,766.693607333,745.306392667,715.693607333,679.693607333,662,636,879.306392667,788,804,652,631.693607333,653,0.401040093417,-0.00549223300377,0.0698674737056,0.999999990291,3.97249278414e-05,-0.000132848674542,1.38541825527e-05,1793238979117308160
+67,1.116666667,BASELINE,766.117294217,745.882705783,715.117294217,679.117294217,662,636,879.882705783,788,804,652,631.117294217,653,0.401040737043,-0.00549201222063,0.0698677676826,0.99999999059,3.74807846645e-05,-0.000131309931259,1.31823571384e-05,1793238979133975040
+68,1.133333333,BASELINE,766.456259595,745.543740405,715.456259595,679,662,636,880,788,804,652.456259595,631.456259595,653.456259595,0.4010404961,-0.00549265686792,0.0698678010165,0.999999990512,3.73599548021e-05,-0.000131907618826,1.34721071128e-05,1793238979150641664
+69,1.150000000,BASELINE,767,745.030042072,715.969957928,679.030042072,662,636,880,788,804,653,632,653.969957928,0.401039934902,-0.00549345504454,0.069867695997,0.999999990325,3.78491276207e-05,-0.00013312498969,1.39818823147e-05,1793238979167308288
+70,1.166666667,BASELINE,767,745.621266189,715.378733811,679.621266189,662,636,880,788,804,653,632,653.378733811,0.401037613706,-0.0054929901576,0.0698662506836,0.999999989908,3.95978324345e-05,-0.000135720110124,1.40117993919e-05,1793238979183974912
+71,1.183333333,BASELINE,766.791289587,745.791289587,715.208710413,679.791289587,662.208710413,636,880,788,804,653,632,653,0.401037064264,-0.00549237853556,0.069865771534,0.999999989759,4.06370826275e-05,-0.000136506884551,1.40062087579e-05,1793238979200641536
+72,1.200000000,BASELINE,766.210582392,745.210582392,715.789417608,679.210582392,662.789417608,636,880,788,804,653,632,653,0.401039672723,-0.0054915053789,0.0698670144346,0.999999990099,4.04118306232e-05,-0.000134070538495,1.39373306575e-05,1793238979217308160
+73,1.216666667,BASELINE,766,745,716,679.365910223,662.634089777,636,880,788,804,653,632,653,0.401040122171,-0.00549090104976,0.0698668618809,0.999999990156,4.06267160024e-05,-0.000133586592234,1.3851900869e-05,1793238979233975040
+74,1.233333333,BASELINE,766,745,716,679.94000492,662.05999508,636,880,788,804,653,632,653,0.40103934325,-0.00549044966997,0.0698659153838,0.999999990054,4.10920173814e-05,-0.000134213463191,1.37570540083e-05,1793238979250641408
+75,1.250000000,BASELINE,766,745,715.485623575,680,662,636,880,788,803.485623575,652.485623575,631.485623575,653,0.401039254819,-0.00549051736478,0.0698663228581,0.999999989938,4.278513035e-05,-0.000134504754238,1.41856170197e-05,1793238979267308032
+76,1.266666667,BASELINE,766.09169184,745.09169184,715.09169184,679.90830816,662,636,880,788,803.09169184,652,631.09169184,653,0.401039205299,-0.00549076606691,0.0698667985557,0.99999998986,4.39204436624e-05,-0.000134691032439,1.44565336112e-05,1793238979283974656
+77,1.283333333,BASELINE,766.684933589,745.684933589,715.684933589,679.315066411,662,636,880,788,803.684933589,652,631.684933589,653,0.401038927854,-0.00549167352439,0.0698667831379,0.999999990011,4.12208590967e-05,-0.000134517109444,1.35310186585e-05,1793238979300641280
+78,1.300000000,BASELINE,766.728988339,746,715.728988339,679.271011661,662,636,879.728988339,788,803.728988339,652,632,653,0.401039621553,-0.00549174178009,0.0698671378488,0.999999990207,4.05055789139e-05,-0.000133297483585,1.33240670017e-05,1793238979317308416
+79,1.316666667,BASELINE,766.151024016,746,715.151024016,679.848975984,662,636,879.151024016,788,803.151024016,652,632,653,0.401041415187,-0.00549085954077,0.0698679117742,0.999999990453,4.20377575945e-05,-0.000130893475946,1.39309730648e-05,1793238979333975296
+80,1.333333333,BASELINE,766.419040222,746,715.419040222,680,662,636,879,788,803,652,632,653,0.401040224282,-0.00549083674575,0.0698668932205,0.999999990181,4.29398074598e-05,-0.000132646630978,1.41308253838e-05,1793238979350641920
+81,1.350000000,BASELINE,766.986309966,746,715.986309966,680,662,636,879,788,803,652,632,653,0.401037977637,-0.00549111796686,0.069865240603,0.999999989718,4.36189583394e-05,-0.000135870323003,1.41866882771e-05,1793238979367308288
+82,1.366666667,BASELINE,766.416273953,745.416273953,716,680,662,636,879,788,803,652,632,653,0.401037619232,-0.00548933105043,0.0698652248617,0.999999989596,4.52815785255e-05,-0.00013627848215,1.36641963876e-05,1793238979383974656
+83,1.383333333,BASELINE,766.175483698,745,716,680,662,636,879,787.824516302,803,652,631.824516302,653,0.401037615072,-0.00548835843015,0.0698654961337,0.999999989559,4.61988274333e-05,-0.000136267754756,1.33657401187e-05,1793238979400641280
+84,1.400000000,BASELINE,766.752585175,745,716,680,662,636,879,787.247414825,803,652,631.247414825,653,0.401038314776,-0.0054893664868,0.0698663316301,0.999999989704,4.53545330578e-05,-0.000135457703197,1.36127527361e-05,1793238979417307904
+85,1.416666667,BASELINE,766.671067888,745.328932112,716,680,662,636,879.328932112,787.328932112,803.328932112,652.328932112,631.328932112,653.328932112,0.401038869994,-0.0054903925967,0.0698666775933,0.999999989844,4.40831976499e-05,-0.000134835368342,1.36952473707e-05,1793238979433974528
+86,1.433333333,BASELINE,766.095287234,745.904712766,716,680,662,636,879.904712766,787.904712766,803.904712766,652.904712766,631.904712766,653.904712766,0.401039316783,-0.00549143225467,0.0698666561841,0.999999989979,4.24913874819e-05,-0.000134353906356,1.36542787506e-05,1793238979450641152
+87,1.450000000,BASELINE,766,745.508574815,716,680,662,636,880,788.491425185,804,653,632,653.508574815,0.40103966861,-0.00549138447964,0.0698667731226,0.999999990106,4.18122983245e-05,-0.000133623395067,1.35988217669e-05,1793238979467307776
+88,1.466666667,BASELINE,766.079071508,745.079071508,716,679.920928492,662,636,880,788.920928492,804,653,632,653,0.40103988327,-0.00549121574819,0.069866890238,0.999999990202,4.14536293052e-05,-0.000133016356375,1.35707566689e-05,1793238979483974656
+89,1.483333333,BASELINE,766.658903001,745.658903001,716,679.341096999,662,636,880,788.341096999,804,653,632,653,0.401039348519,-0.00549164671229,0.0698668347222,0.999999990113,4.19778904206e-05,-0.000133504052147,1.37343604372e-05,1793238979500641792
+90,1.500000000,BASELINE,767,746,716,679,662.236383521,636.236383521,880,788,804.236383521,653,631.763616479,653,0.401038318921,-0.00549200471012,0.0698664264453,0.999999989922,4.26783280393e-05,-0.000134703031826,1.37924928485e-05,1793238979517308416
+91,1.516666667,BASELINE,767,746,716,679,662.81050499,636.81050499,880,788,804.81050499,653,631.18949501,653,0.4010365823,-0.0054922584558,0.0698655141534,0.999999989581,4.36304815118e-05,-0.000136918273365,1.36999308174e-05,1793238979533975040
+92,1.533333333,BASELINE,767,746,715.612629504,679.387370496,663,636.612629504,880,788,804.225259009,653,631.387370496,653,0.401037360638,-0.00549238058603,0.069865846633,0.999999989697,4.27255613414e-05,-0.000136344802311,1.38129801958e-05,1793238979550641408
+93,1.550000000,BASELINE,767,746,715.034412034,679.965587966,663,636.034412034,880,788,803.068824068,653,631.965587966,653,0.401039378028,-0.0054924378729,0.0698667923777,0.999999990034,4.09057112579e-05,-0.000134397408121,1.40273287507e-05,1793238979567308032
+94,1.566666667,BASELINE,766.445460955,746,715.554539045,680,663,636,879.445460955,788,803.554539045,653,632,653,0.401039335108,-0.00549176139111,0.069866702726,0.999999989961,4.23059696413e-05,-0.000134496542113,1.41142503492e-05,1793238979583974656
+95,1.583333333,BASELINE,766.141481374,745.858518626,715.858518626,680,662.858518626,636,879.141481374,788,804,653,631.858518626,653,0.401038999392,-0.00549142827475,0.0698665724929,0.999999989897,4.29336389347e-05,-0.00013477038886,1.41419710485e-05,1793238979600641536
+96,1.600000000,BASELINE,766.720118425,745.279881575,715.279881575,680,662.279881575,636,879.720118425,788,804,653,631.279881575,653,0.401038161827,-0.00549229957513,0.0698665193162,0.999999989943,4.05445135236e-05,-0.00013518392253,1.40116853303e-05,1793238979617308416
+97,1.616666667,BASELINE,766.704250075,745,715,679.704250075,662,636,880,788,804,652.704250075,631.295749925,653,0.401037778218,-0.00549208282237,0.0698665036918,0.9999999899,4.10270340826e-05,-0.000135366377511,1.38818560797e-05,1793238979633975296
+98,1.633333333,BASELINE,766.131434284,745,715,679.131434284,662,636,880,788,804,652.131434284,631.868565716,653,0.401037819888,-0.00549084675441,0.0698665232473,0.999999989771,4.41997839495e-05,-0.000135332352218,1.37524544671e-05,1793238979650642176
+99,1.650000000,BASELINE,766.442698101,745.442698101,715,679.442698101,662.442698101,636,880,788,804,652.442698101,632,653,0.401036701128,-0.00549060889308,0.0698655910301,0.999999989618,4.34287002851e-05,-0.00013671517409,1.3656376411e-05,1793238979667308544
+100,1.666666667,BASELINE,767,746,715,680,663,636,880,788,803.982231449,653,631.982231449,653,0.401035300461,-0.00549066000183,0.0698644192891,0.999999989459,4.15467956063e-05,-0.000138459247031,1.35717328549e-05,1793238979683975168
+101,1.683333333,BASELINE,767,746,715,680,663,636,880,788,803.389492408,653,631.389492408,653,0.401035959303,-0.00549044333444,0.0698646679221,0.999999989483,4.17219780225e-05,-0.000138240537328,1.35359975755e-05,1793238979700641792
+102,1.700000000,BASELINE,766.801898727,746,715,680,662.801898727,636,880,788,803,653,631,653,0.401037114097,-0.00549071540602,0.0698654314043,0.999999989629,4.18054982038e-05,-0.000137148133614,1.36102700318e-05,1793238979717308160
+103,1.716666667,BASELINE,766.224165443,746,715,680,662.224165443,636,880,788,803,653,631,653,0.401039219311,-0.00549192407415,0.0698671815197,0.999999990004,4.17133611458e-05,-0.0001343814236,1.38953561701e-05,1793238979733974784
+104,1.733333333,BASELINE,766.351784554,746,715.351784554,680,662,636.351784554,880,788,803,653,631.351784554,653,0.401039801167,-0.00549197550743,0.0698678522988,0.999999990152,4.14627168243e-05,-0.000133340657077,1.40130587923e-05,1793238979750641664
+105,1.750000000,BASELINE,766.926603987,746,715.926603987,680,662,636.926603987,880,788,803,653,631.926603987,653,0.4010394172,-0.00549129324252,0.0698678387683,0.99999999016,4.11115773243e-05,-0.000133394155491,1.40246386415e-05,1793238979767308288
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,716,680,663,636,880,788,804,652,632,653,0.401037695858,-0.00549078687224,0.0698660148582,0.999999989623,4.49352821162e-05,-0.00013615620508,1.40393913691e-05,1793238979798534400
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745.403182095,715.403182095,679.403182095,662.403182095,636,879.403182095,788.596817905,804,652,632,653,0.401036846639,-0.0054927024564,0.0698658922295,0.999999989677,4.16695134608e-05,-0.000136784106118,1.41678329524e-05,1793238979815201536
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.186514872,679.186514872,662.186514872,636,879.186514872,788.813485128,804,652,632,653,0.401036907749,-0.00549361808156,0.0698661087889,0.999999989769,4.00239123402e-05,-0.000136599806878,1.41715936992e-05,1793238979831868416
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.761384963,679.761384963,662.761384963,636,879.761384963,788.238615037,804,652,632,653,0.401038864313,-0.00549245162489,0.0698670315943,0.999999989956,4.17517709075e-05,-0.00013472437068,1.39157480763e-05,1793238979848534784
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.336684187,745,715.663315813,679.663315813,662.663315813,636,879.663315813,788,804,652.336684187,632,653,0.401039777382,-0.0054918772842,0.0698674615547,0.999999990064,4.22656590056e-05,-0.000133761793771,1.38749371346e-05,1793238979865201408
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.912287902,745,715.087712098,679.087712098,662.087712098,636,879.087712098,788,804,652.912287902,632,653,0.401039949962,-0.00549172312391,0.06986754178,0.99999999012,4.19180831671e-05,-0.000133447004778,1.39867202007e-05,1793238979881867776
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745.501643637,715.501643637,679,662,636,879.501643637,788,803.498356363,653,631.498356363,653,0.401038784868,-0.00549198903907,0.0698665818508,0.999999989931,4.19632779498e-05,-0.000134852265703,1.38902645339e-05,1793238979898534144
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.908844171,745.908844171,716,679.091155829,662,636,879.908844171,788,803.091155829,652.908844171,631.091155829,653,0.401037786565,-0.00549233201137,0.0698658254911,0.999999989773,4.17876761924e-05,-0.000136083109777,1.37835325058e-05,1793238979915201024
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.331679236,745.331679236,716,679.668320764,662,636,879.331679236,788,803.668320764,652.331679236,631.668320764,653,0.401038959693,-0.00549268317772,0.0698671514859,0.999999990025,4.00583949944e-05,-0.000134735344844,1.38216093847e-05,1793238979931867904
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.244713131,716,679.755286869,662,636,879,788,804,652.244713131,631.755286869,653,0.401040237129,-0.00549322202607,0.0698681577644,0.999999989934,3.97422429562e-05,-0.000135486200012,1.40326517032e-05,1793238979948534784
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.820061626,716,679.179938374,662,636,879,788,804,652.820061626,631.179938374,653,0.401041655498,-0.00549401445421,0.0698687320695,0.99999998937,4.13353897964e-05,-0.000139072530509,1.44773900634e-05,1793238979965201408
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.596936793,716,679.403063207,662,636,879.403063207,788,804,653,631.403063207,653,0.401052663577,-0.00549351503241,0.0698742778765,0.999999989343,4.24859578362e-05,-0.000138874047081,1.48999371084e-05,1793238979981868032
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.010452487,716,679.989547513,662,636,879.989547513,788,804,653,631.989547513,653,0.401068035624,-0.00549242773133,0.0698820860542,0.999999989561,4.34351226423e-05,-0.000136953216923,1.53123856386e-05,1793238979998534656
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.431101038,680,662,636.568898962,879.431101038,788,803.431101038,653,632,653,0.401108749211,-0.00549502328975,0.0698969344964,0.999999991688,4.0364386536e-05,-0.000121377417072,1.62046939847e-05,1793238980015201024
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.148163828,745.148163828,715.148163828,680,662,636.851836172,879.148163828,788,803.148163828,653,632,653,0.401155513934,-0.00549701375837,0.0699115909492,0.99999999358,3.85463895562e-05,-0.000105221690876,1.68255279802e-05,1793238980031867648
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.727553536,745.727553536,715.727553536,680,662,636.272446464,879.727553536,788,803.727553536,653,632,653,0.401218551945,-0.00549704863336,0.0699253168131,0.999999995157,4.05867478862e-05,-8.8099256288e-05,1.66309026057e-05,1793238980048534272
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.695923651,716,680,662,636.304076349,879.695923651,788,804,653,632,653.304076349,0.401288823795,-0.00549724537409,0.0699346357346,0.999999996142,4.18307882155e-05,-7.55793662125e-05,1.592202414e-05,1793238980065200896
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745.121945564,716,680,662,636.878054436,879.121945564,788,804,653,632,653.878054436,0.401365516481,-0.00549758578876,0.0699400430015,0.999999996739,4.23680072191e-05,-6.71447497349e-05,1.47566886058e-05,1793238980081867776
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.536455272,745.463544728,716,680,662.463544728,636.536455272,879,788,804,652.536455272,632,654,0.401450176675,-0.00549998944127,0.0699396961627,0.999999996737,3.96914601498e-05,-6.91708854963e-05,1.29145193455e-05,1793238980098534400
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.051374514,746,716,679.948625486,662.948625486,636,879,788,803.948625486,652.051374514,632,653.948625486,0.401539269779,-0.00550284173479,0.0699376386275,0.999999996516,3.61683740914e-05,-7.44500194378e-05,1.0827596386e-05,1793238980115201024
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.631321517,746,716,679.368678483,662.368678483,636,879,788,803.368678483,652.631321517,632,653.368678483,0.401651856968,-0.00550458324848,0.069933951357,0.999999995886,3.28556282518e-05,-8.41633781847e-05,8.10110071675e-06,1793238980131867648
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.78984035,715.78984035,679.21015965,662,636,879,788,803.21015965,652.78984035,631.78984035,653,0.401778924489,-0.00550550987646,0.069932394946,0.999999995491,3.14670700377e-05,-8.94404309541e-05,5.22876395993e-06,1793238980148534272
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.212937334,715.212937334,679.787062666,662,636,879,788,803.787062666,652.212937334,631.212937334,653,0.401931261195,-0.00550501447138,0.0699345570348,0.999999995656,3.34363548913e-05,-8.69758168251e-05,2.10192453636e-06,1793238980165200896
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,715.361537618,680,662,636,879,788,804,652.361537618,631.361537618,653,0.402101621874,-0.00550572604758,0.0699378874132,0.999999995963,3.41825113039e-05,-8.3084076639e-05,-1.44038984323e-06,1793238980181867520
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,715.934592091,680,662,636,879,788,804,652.934592091,631.934592091,653,0.402282527457,-0.0055071437657,0.0699419012972,0.999999996331,3.42130790758e-05,-7.83573989961e-05,-5.22577730507e-06,1793238980198534400
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.511833929,745.488166071,715.511833929,679.511833929,662.488166071,636,879,788,804,653,632,653,0.402488786744,-0.00550750413916,0.0699429533776,0.999999996404,3.24920171678e-05,-7.77421523045e-05,-9.58148555642e-06,1793238980215201024
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.044279399,746,715,679.044279399,662.955720601,636,879.044279399,788,804,653,632,653,0.402701453024,-0.00550789022923,0.0699439617227,0.999999996475,3.01221072203e-05,-7.71040282513e-05,-1.4041500737e-05,1793238980231867904
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.66627159,746,715,679.66627159,662.33372841,636,879.66627159,788,804,653,632,653,0.402955090742,-0.00551038928682,0.0699493783756,0.999999997176,2.22312495847e-05,-6.92559271892e-05,-1.89036765728e-05,1793238980248534528
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745.732773504,715.267226496,680,662,636,879.732773504,788,804,652.732773504,632,653,0.403229455825,-0.00551170497563,0.069954262581,0.99999999778,1.08672951696e-05,-6.13549904844e-05,-2.35897756738e-05,1793238980265201152
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.156173891,715.843826109,680,662,636,879.156173891,788,804,652.156173891,632,653,0.40352781735,-0.00551165065611,0.0699585303618,0.99999999817,-4.5175279121e-06,-5.33928854325e-05,-2.80720271495e-05,1793238980281867776
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.428376278,716,680,662,636,879.428376278,788,803.571623722,652,632,653.428376278,0.40384600215,-0.00551265701974,0.069964664875,0.999999998591,-1.02866245154e-05,-4.25539470601e-05,-3.0026787034e-05,1793238980298534656
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,715.984314886,680,662.015685114,636,880,788.015685114,803.015685114,652.015685114,631.984314886,653.984314886,0.404172359643,-0.00551400760392,0.0699712521532,0.999999998958,-1.22313481176e-05,-3.11759740624e-05,-3.10391493584e-05,1793238980315201024
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,715.404014048,680,662.595985952,636,880,788.595985952,803.595985952,652.595985952,631.404014048,653.404014048,0.404527839567,-0.00551356600216,0.0699691763241,0.999999998722,-5.08840522944e-06,-3.88623665898e-05,-3.19247965561e-05,1793238980331867648
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745.825873549,715.174126451,680,662.825873549,636,879.825873549,788.825873549,804,653,631.174126451,653,0.404901425896,-0.00551374308336,0.06997014917,0.999999998693,-2.15732540613e-06,-3.92285132359e-05,-3.27078030403e-05,1793238980348534528
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745.252684194,715.747315806,680,662.252684194,636,879.252684194,788.252684194,804,653,631.747315806,653,0.405316508426,-0.00551533806192,0.0699781089678,0.999999999147,-8.87899202014e-06,-2.28181233422e-05,-3.32555774728e-05,1793238980365201152
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,716,680,662,636,879.320527107,788,804,652.679472893,632,653,0.405746513856,-0.00551639789406,0.0699797908433,0.999999999172,-1.29948867373e-05,-1.87418712356e-05,-3.3692082945e-05,1793238980381868032
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,716,680,662,636,879.893755772,788,804,652.106244228,632,653,0.40618828445,-0.00551703582031,0.069976523245,0.99999999901,-1.50564079819e-05,-2.43897741248e-05,-3.40408647318e-05,1793238980398534656
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,716,680.486252739,662,636,880,788,803.513747261,652,632,653,0.406640272635,-0.00551882233938,0.0699605804384,0.999999997921,-1.65236804875e-05,-5.16917327356e-05,-3.48324502646e-05,1793238980415201024
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.080217644,716,680.919782356,662,636,880,788,803.080217644,652,632,653,0.407104608543,-0.00552138198912,0.0699438573682,0.999999996044,-1.88315384323e-05,-7.92307211244e-05,-3.57638114101e-05,1793238980431867904
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.656163658,716,680.343836342,662,636,880,788,803.656163658,652,632,653,0.407630885366,-0.0055271045368,0.0699401334176,0.999999995923,-2.71695377213e-05,-7.77895128387e-05,-3.6936387502e-05,1793238980448534528
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.768609307,746,716,680,662,636.231390693,880,788,804,652,632,653,0.408184915814,-0.0055324165515,0.0699444231847,0.99999999667,-3.29021367443e-05,-6.44150653917e-05,-3.7787409607e-05,1793238980465200896
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.194447367,746,716,680,662,636.805552633,880,788,804,652,632,653,0.408780059139,-0.00553712042167,0.0699605840951,0.999999998111,-3.47752183155e-05,-3.33632809572e-05,-3.81620967257e-05,1793238980481867776
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.388620223,745.611379777,716,680.388620223,662.388620223,636.611379777,880,788,804,652,632,653,0.40938104935,-0.0055403276232,0.0699667713727,0.999999998339,-3.85252126677e-05,-1.7723410187e-05,-3.90326776185e-05,1793238980498534912
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.976248274,745.023751726,716,680.976248274,662.976248274,636.023751726,880,788,804,652,632,653,0.409985033662,-0.00554276839824,0.0699678512702,0.999999998209,-4.32363518447e-05,-9.97579938395e-06,-4.01571998564e-05,1793238980515201792
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,715.443013252,680.443013252,662.443013252,636.556986748,880.556986748,788,804,652,632,653,0.410611569634,-0.00554158643591,0.0699621450219,0.999999997952,-4.38242183108e-05,-2.13624596811e-05,-4.14654227791e-05,1793238980531868672
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.136625329,715.136625329,680,662,636.863374671,880.726749341,788,804,652,632,653,0.411253100376,-0.00554031225434,0.0699604558555,0.999999997801,-4.39779841901e-05,-2.57243946434e-05,-4.24429950946e-05,1793238980548535040
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745.713653819,715.713653819,680,662,636.286346181,879.572692363,788,804,652,632,653,0.411939903662,-0.00553923269937,0.0699726369131,0.999999998155,-4.32923051841e-05,-4.84454697176e-06,-4.23297931291e-05,1793238980565201152
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,716,680,662.289224177,636.289224177,879.578448354,788,804,652,632,653,0.412655850091,-0.00553927026533,0.0699944547212,0.999999997711,-4.34166608996e-05,3.03783662294e-05,-4.20670198389e-05,1793238980581867776
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,716,680,662.863358224,636.863358224,880.726716448,788,804,652,632,653,0.413400505023,-0.00554040828819,0.0700257655315,0.999999994971,-4.43389680414e-05,7.97303943741e-05,-4.16569062767e-05,1793238980598534400
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,716,680,663,636.549369665,880.549369665,788,804.450630335,652,632,653,0.414131797472,-0.0055399855845,0.0700311437721,0.999999994811,-4.14272387327e-05,8.33715828437e-05,-4.13757848891e-05,1793238980615201024
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,715.958910051,680,663,636,880,788,804.958910051,652,631.958910051,653,0.414856915013,-0.00553893381266,0.0700248042899,0.999999996169,-3.81747519129e-05,6.696405752e-05,-4.14859596228e-05,1793238980631867904
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,715.380428488,680,663,636,880,788,804.380428488,652,631.380428488,653,0.415555857906,-0.00553603004318,0.0699711442787,0.999999997559,-4.61268767403e-05,-2.49303721531e-05,-4.61867644437e-05,1793238980648534784
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.80261251,745.80261251,715.19738749,680,663,636,880,788,804,652,631,653,0.416289631291,-0.00553446621803,0.0699356457039,0.999999993949,-5.03990022124e-05,-8.42525453095e-05,-4.96345816699e-05,1793238980665201664
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.226075049,745.226075049,715.773924951,680,663,636,880,788,804,652,631,653,0.417090308467,-0.00553547621297,0.0699350323631,0.999999994302,-4.76024344092e-05,-8.10085894604e-05,-5.06756093726e-05,1793238980681868032
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.348317864,715.651682136,680,663,636,880.348317864,788,804,652,631,653,0.417910759057,-0.00553700660883,0.0699547925408,0.999999996257,-5.02206621618e-05,-4.92631592528e-05,-5.03619863966e-05,1793238980698534656
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.921327357,715.078672643,680,663,636,880.921327357,788,804,652,631,653,0.418743964978,-0.00553887270301,0.0699876951943,0.999999997204,-5.63318466831e-05,8.67899088865e-07,-4.91745101097e-05,1793238980715201024
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.510036906,746,715.510036906,680,662.489963094,636,880.489963094,788,804.510036906,652,631,653,0.419592104346,-0.00553951894079,0.0700070816723,0.999999996712,-5.86597769662e-05,2.707040118e-05,-4.90200171268e-05,1793238980731867648
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,716,679.90096419,662.09903581,636,880,788,805,652,631,653,0.420444320982,-0.00554006535193,0.0700235826761,0.999999995744,-6.06865667123e-05,4.91532185764e-05,-4.91167742632e-05,1793238980748534528
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,716,679.322656996,662.677343004,636,880,788,805,652,631,653,0.42130476737,-0.00554106816852,0.070036529618,0.999999994278,-6.41697957641e-05,6.97285313881e-05,-4.96338458974e-05,1793238980765200896
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.746088609,746,716,679.507822783,663,636,880,788,804.746088609,652,631.253911391,653,0.422136642388,-0.00554070219607,0.0700295147716,0.999999994927,-6.55749520857e-05,5.70701357792e-05,-5.08767163833e-05,1793238980781867520
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.171714695,746,716,680.656570609,663,636,880,788,804.171714695,652,631.828285305,653,0.422932457489,-0.00553860866996,0.0699973060788,0.99999999652,-6.43573653614e-05,2.46735450769e-06,-5.30356203116e-05,1793238980798534144
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,716,681,662.586776177,636,880,788,804.413223823,652,632,653,0.423719462872,-0.00553597208764,0.0699345541919,0.999999991672,-6.54008051367e-05,-9.50682610481e-05,-5.78040459326e-05,1793238980815201024
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715.997376943,681,662.002623057,636,880,788,804.997376943,652,631.997376943,653.002623057,0.424503288767,-0.00553313223946,0.0698592835925,0.99999997363,-6.74609977659e-05,-0.000210087032596,-6.36631057859e-05,1793238980831867904
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1aac31a64365adce57c9581e2d8615e52ff7c2e8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,414 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f900684259a2a7a6411b70125680ceec855acc26
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b90fca59202b8a30a3c5791abf809385de63b7ce9f0bc31bced16bc53d3f826
+size 26254679
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..511dfc2a7032569f71082f13365f6d7078fd9939
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_02/franka_data.csv
@@ -0,0 +1,414 @@
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+7,0.116666667,BASELINE,766,745,715.938052529,679,662.061947471,636,879.061947471,787,803.938052529,652.938052529,631,653,0.400983825783,-0.00536439755195,0.0698399046401,0.999999945198,0.000203326203465,-0.000260823060446,1.5302620479e-05,1793238985199560192
+8,0.133333333,BASELINE,766,745,715.364410364,679,662.635589636,636,879.635589636,787,803.364410364,652.364410364,631,653,0.400983481181,-0.00536390960226,0.069840128779,0.999999944984,0.000204786539746,-0.000260476735633,1.5699621142e-05,1793238985216226560
+9,0.150000000,BASELINE,766,745.214697874,715.214697874,679.214697874,662.785302126,636,879.785302126,787,803.214697874,652,631,653,0.40098352152,-0.00536341962291,0.069840411968,0.999999944852,0.000206046040986,-0.000259980386915,1.5880008387e-05,1793238985232892928
+10,0.166666667,BASELINE,766,745.803326086,715.803326086,679.803326086,662.196673914,636,879.196673914,787,803.803326086,652,631,653,0.400984232294,-0.00536292610868,0.0698407980023,0.999999944863,0.000206955756053,-0.000259222747858,1.56831290306e-05,1793238985249559552
+11,0.183333333,BASELINE,766,746,715.613843871,679.613843871,662,636,879,787.386156129,803.613843871,652,631,653,0.400983265074,-0.00536305421003,0.069840043103,0.999999944735,0.000206120408038,-0.000260378411213,1.57118978819e-05,1793238985266226176
+12,0.200000000,BASELINE,766,746,715.033923168,679.033923168,662,636,879,787.966076832,803.033923168,652,631,653,0.400981455874,-0.00536349422423,0.0698387157086,0.999999944531,0.000204409426182,-0.000262494127183,1.58538919775e-05,1793238985282892800
+13,0.216666667,BASELINE,766,745.457569257,715,679.542430743,662.542430743,636,879,788,803.542430743,652,631,653,0.400983804707,-0.00536367599779,0.0698400455186,0.999999945473,0.000203703900533,-0.000259453572148,1.55712292119e-05,1793238985299560192
+14,0.233333333,BASELINE,766,745,715.118587331,679.881412669,662.881412669,636,879,787.881412669,803.881412669,652,631.118587331,653,0.400985526587,-0.00536372631537,0.0698411643237,0.99999994619,0.00020318429457,-0.000257103057847,1.53301624735e-05,1793238985316227328
+15,0.250000000,BASELINE,766,745,715.6948378,679.3051622,662.3051622,636,879,787.3051622,803.3051622,652,631.6948378,653,0.400983831862,-0.00536333122698,0.0698408316547,0.999999945799,0.000203141118266,-0.000258651983097,1.53514511797e-05,1793238985332893696
+16,0.266666667,BASELINE,766,745,715.724086174,679,662.275913826,636,879,787.275913826,803,652,631.724086174,653,0.400982888495,-0.0053632772082,0.0698404827765,0.999999945377,0.000203862938474,-0.0002597066904,1.54190822564e-05,1793238985349560064
+17,0.283333333,BASELINE,766,745,715.137578087,679,662.862421913,636,879,787.862421913,803,652,631.137578087,653,0.400982790925,-0.0053636071291,0.0698401156519,0.999999944922,0.000205445909902,-0.000260205059931,1.55388806138e-05,1793238985366226432
+18,0.300000000,BASELINE,766,745,715,679,662.554658288,636,879,787.554658288,803,652,631,653,0.400982494917,-0.00536425656166,0.0698401421765,0.999999945372,0.000203460644322,-0.000260041829664,1.54505945461e-05,1793238985382892800
+19,0.316666667,BASELINE,766,745,715,679,662,636,879,787,803,652,631,653,0.400982203339,-0.00536494313232,0.0698402784649,0.999999946044,0.000200593611096,-0.000259691532367,1.53065148366e-05,1793238985399559424
+20,0.333333333,BASELINE,766,745,715,679,662,636,879,787,803,652,631,653,0.400983244069,-0.0053643885713,0.0698401927212,0.999999945758,0.000202050541507,-0.000259661537982,1.53252976667e-05,1793238985416226304
+21,0.350000000,BASELINE,766,745,715,679,662,636,879,787.175428078,803.350856157,652,631.175428078,653,0.400983868352,-0.00536411588061,0.0698401858797,0.999999945629,0.000202692931785,-0.000259658025734,1.53125547282e-05,1793238985432893184
+22,0.366666667,BASELINE,766,745,715,679,662,636,879,787.750283139,804.500566278,652,631.750283139,653,0.400983544439,-0.00536448497217,0.0698403586885,0.999999945861,0.000201480719628,-0.000259714809882,1.5228031701e-05,1793238985449560064
+23,0.383333333,BASELINE,766.334241849,745,715,679,662,636,879.334241849,788,804.331516302,652,631.665758151,653,0.400982920507,-0.00536477746547,0.0698405184151,0.999999945548,0.00020270688687,-0.000259953906443,1.54084039763e-05,1793238985466226688
+24,0.400000000,BASELINE,766.925192525,745,715,679,662,636,879.925192525,788,803.149614951,652,631.074807475,653,0.400982066152,-0.0053650111288,0.0698406680942,0.999999944811,0.000205805810237,-0.000260333024988,1.57922246212e-05,1793238985482893056
+25,0.416666667,BASELINE,766.493925413,745.506074587,715,679,662,636,880,787.493925413,803,652,631,653,0.400981537001,-0.00536473186592,0.0698401581969,0.999999944656,0.000205671631483,-0.000261050920164,1.55101894435e-05,1793238985499559936
+26,0.433333333,BASELINE,766,745.91534227,715,679,662,636,879.91534227,787,803,652,631.08465773,652.91534227,0.400981413618,-0.00536438956786,0.0698399031645,0.999999944717,0.000205154480441,-0.000261238272196,1.52070007404e-05,1793238985516226560
+27,0.450000000,BASELINE,766,745.341609452,715,679,662,636,879.341609452,787,803,652,631.658390548,652.341609452,0.400983362098,-0.00536411258562,0.0698416727755,0.999999945541,0.000205131957595,-0.000258076971123,1.53391305681e-05,1793238985532893184
+28,0.466666667,BASELINE,766,745.237992244,715.237992244,679,662,636,879,787.237992244,803.237992244,652,632,652.237992244,0.40098440023,-0.005363813837,0.069842244724,0.999999945955,0.000204832369088,-0.000256704654986,1.53694990891e-05,1793238985549559808
+29,0.483333333,BASELINE,766,745.826230968,715.826230968,679,662,636,879,787.826230968,803.826230968,652,632,652.826230968,0.400984098627,-0.00536348305544,0.0698410541063,0.999999945777,0.00020412503086,-0.000257965137762,1.52501083546e-05,1793238985566226176
+30,0.500000000,BASELINE,766,745.591396687,716,679,662,636,879.408603313,787.591396687,804,652,632,653,0.400983701335,-0.00536243893158,0.0698406792507,0.999999945191,0.00020564099659,-0.000259032212612,1.52238620422e-05,1793238985582893056
+31,0.516666667,BASELINE,766,745.011483874,716,679,662,636,879.988516126,787.011483874,804,652,632,653,0.400983263924,-0.00536109573451,0.0698406464085,0.999999944429,0.00020808909646,-0.000260018199944,1.52366671158e-05,1793238985599560192
+32,0.533333333,BASELINE,766,745,715.436787366,679,662,636,879.436787366,787.563212634,804.563212634,652,632,653,0.400983554688,-0.00536326561017,0.0698405914156,0.999999945387,0.000204869674428,-0.000258880594556,1.53236238077e-05,1793238985616227072
+33,0.550000000,BASELINE,766,745,715,679.138259887,662,636,879,787.861740113,804.861740113,652,631.861740113,653,0.40098372539,-0.0053649408989,0.0698406397953,0.999999946164,0.000202354251455,-0.000257855450666,1.53671450888e-05,1793238985632893696
+34,0.566666667,BASELINE,766,745,715,679.714752792,662,636,879,787.285247208,804.285247208,652,631.285247208,653,0.40098346891,-0.00536482356694,0.0698410172471,0.999999946286,0.000202433170245,-0.00025732275405,1.5268243728e-05,1793238985649559808
+35,0.583333333,BASELINE,766,745,715,679.701305915,662,636,879,787.298694085,803.701305915,652,631,653,0.400984183436,-0.00536503891743,0.0698417567488,0.999999946535,0.000202219974482,-0.000256517335065,1.53686668052e-05,1793238985666226176
+36,0.600000000,BASELINE,766,745,715,679.110069569,662,636,879,787.889930431,803.110069569,652,631,653,0.400985848968,-0.00536558009851,0.0698428508439,0.999999946906,0.000201720680492,-0.000255444810564,1.56643090743e-05,1793238985682892800
+37,0.616666667,BASELINE,766,745,715,679,662,636,879,787.528835308,803.471164692,652,631,653,0.400984717778,-0.0053640215351,0.0698423562194,0.999999946341,0.000203357070656,-0.000256369869021,1.5416387585e-05,1793238985699559680
+38,0.633333333,BASELINE,766,745.049346871,715,679,662,636.049346871,879,787.049346871,804,652,631.049346871,653,0.400983145451,-0.00536217115984,0.0698415944889,0.999999945626,0.000205321434805,-0.000257612187656,1.50818527408e-05,1793238985716226304
+39,0.650000000,BASELINE,766,745.619466193,715,679,662,636.619466193,879,787.619466193,804,652,631.619466193,653,0.40098366933,-0.00536231025325,0.0698418492785,0.999999945629,0.000205591197428,-0.000257380231986,1.51454923738e-05,1793238985732893440
+40,0.666666667,BASELINE,766,745.807750675,715,679,662,636.807750675,879,787.807750675,803.807750675,652,631.807750675,653,0.400984316169,-0.00536265865692,0.0698421680301,0.999999945677,0.000205687645829,-0.000257114813164,1.51710369269e-05,1793238985749560320
+41,0.683333333,BASELINE,766,745.229620809,715,679,662,636.229620809,879,787.229620809,803.229620809,652,631.229620809,653,0.400985209814,-0.00536342718562,0.0698426151653,0.999999945815,0.000205436219985,-0.000256782227517,1.51201174883e-05,1793238985766226944
+42,0.700000000,BASELINE,766,745.357614417,715,679,662,636,879,787.357614417,803,652.357614417,631,653,0.400984523175,-0.00536346362946,0.0698422866231,0.999999945617,0.000205899452639,-0.000257187682004,1.50162741202e-05,1793238985782893312
+43,0.716666667,BASELINE,766,745.950848833,715,679,662,636,879,787.950848833,803,652.950848833,631,653,0.40098279534,-0.00536301772739,0.0698414470134,0.999999945197,0.000206833549524,-0.000258079406089,1.48775609738e-05,1793238985799559680
+44,0.733333333,BASELINE,766,745.47171538,715,679,662,636,880.05656924,787.47171538,803,652.47171538,631.52828462,653,0.400982920763,-0.00536382316457,0.0698415008172,0.999999945522,0.000205613569102,-0.000257773810049,1.52533649383e-05,1793238985816226560
+45,0.750000000,BASELINE,766,745,715,679.104331748,662,636,880.791336503,787.104331748,803.104331748,652,631.895668252,653,0.400983355227,-0.00536434937399,0.0698417518334,0.999999945852,0.000204642666609,-0.000257242218015,1.55873505048e-05,1793238985832893440
+46,0.766666667,BASELINE,766,745,715,679.68055307,662,636,879.63889386,787.68055307,803.68055307,652,631.31944693,653,0.400984430242,-0.00536310135371,0.0698425297925,0.999999945914,0.000205678480878,-0.000256177670815,1.55219637111e-05,1793238985849559808
+47,0.783333333,BASELINE,766,745,715,680,662,636,879,788,803.475253071,652,631,653,0.400984169141,-0.00536309237119,0.0698423622221,0.999999945921,0.000205254755398,-0.000256502196136,1.53633142318e-05,1793238985866226176
+48,0.800000000,BASELINE,766,745,715,680,662,636,879,788,802.297680778,652,631,653,0.40098224581,-0.00536462484637,0.0698410183408,0.999999945853,0.000203015250834,-0.000258554833904,1.50886388206e-05,1793238985882893056
+49,0.816666667,BASELINE,766,745,715.432732305,680,662.432732305,636,879,787.567267695,802.86546461,652,631,652.567267695,0.400981428923,-0.00536425088615,0.0698406351531,0.999999945395,0.000204432815418,-0.000259204480887,1.51520748855e-05,1793238985899559936
+50,0.833333333,BASELINE,766,745,715.988191181,679.988191181,662.988191181,636,879,787,803.988191181,652,631,652.011808819,0.400981036747,-0.00536325875639,0.0698405923092,0.999999944823,0.000207021133415,-0.000259347203213,1.53239940337e-05,1793238985916226560
+51,0.850000000,BASELINE,766,745,715.411778965,679.411778965,662.411778965,636,879,787,803.411778965,652,631,652.588221035,0.400983053513,-0.00536354830892,0.0698412822466,0.999999945309,0.000206430481316,-0.00025794696634,1.52135737811e-05,1793238985932893184
+52,0.866666667,BASELINE,766,745.167456173,715,679,662.167456173,636,879,787.167456173,803.167456173,652,631.167456173,653,0.400984089693,-0.00536349373822,0.0698416597027,0.999999945653,0.000205709854173,-0.000257194583401,1.51105826085e-05,1793238985949560064
+53,0.883333333,BASELINE,766,745.753751935,715,679,662.753751935,636,879,787.753751935,803.753751935,652,631.753751935,653,0.400982673239,-0.00536257845018,0.0698412555837,0.999999945645,0.000204664134874,-0.000258062605887,1.5026172978e-05,1793238985966226432
+54,0.900000000,BASELINE,766,746,715,679,662.663991593,636,879,788,803.663991593,652,631.663991593,653,0.400982856694,-0.00536264401531,0.0698414544199,0.999999945782,0.000204435002639,-0.000257714254295,1.50420017743e-05,1793238985982893056
+55,0.916666667,BASELINE,766,746,715,679,662.084660228,636,879,788,803.084660228,652,631.084660228,653,0.400984198734,-0.00536341987252,0.0698420898905,0.999999946022,0.00020479720797,-0.000256485056439,1.51304189675e-05,1793238985999559424
+56,0.933333333,BASELINE,766,745.507739348,715,679,662,636,879,788,803,652,631.492260652,653,0.400984868942,-0.00536351949422,0.06984241324,0.999999946091,0.000205028133344,-0.000256024210508,1.52528403306e-05,1793238986016226304
+57,0.950000000,BASELINE,766,745,715,679,662,636,879.068873009,787.931126991,803,652,631.931126991,653,0.400985265196,-0.00536356819813,0.0698425761686,0.99999994612,0.000205159291921,-0.000255801657416,1.53324513276e-05,1793238986032892928
+58,0.966666667,BASELINE,766,745,715,679,662,636,879.64625306,787.35374694,803,652,631.35374694,653,0.400984487705,-0.00536409545655,0.069841949066,0.999999946069,0.000204719732405,-0.000256367589382,1.5053014593e-05,1793238986049559808
+59,0.983333333,BASELINE,766,745,715,679,662,636,879.778174508,787.221825492,803.221825492,652,631.221825492,653,0.400984237666,-0.00536463152891,0.0698418303956,0.999999946224,0.000204082396086,-0.00025627495321,1.50021863633e-05,1793238986066226688
+60,1.000000000,BASELINE,766,745,715,679,662,636,879.205461313,787.794538687,803.794538687,652,631.794538687,653,0.400984821959,-0.0053651815434,0.0698425159727,0.999999946703,0.000203132212661,-0.00025514058176,1.53129752885e-05,1793238986082893312
+61,1.016666667,BASELINE,766,745,715.381975584,679,662,636,879,788,803.618024416,652,631.618024416,653,0.400984900636,-0.00536518780553,0.0698426036051,0.999999946731,0.000203096447851,-0.00025505407305,1.54287730071e-05,1793238986099559936
+62,1.033333333,BASELINE,766,745,715.97764971,679,662,636,879,788,803.02235029,652,631.02235029,653,0.400984696444,-0.00536488986208,0.0698423567135,0.999999946506,0.000203572260102,-0.000255553797532,1.54354817017e-05,1793238986116226304
+63,1.050000000,BASELINE,766,745,716,679,662,636,879,787.447119838,803,652,631,653,0.40098547135,-0.0053646463585,0.0698432957315,0.999999946489,0.000204850849081,-0.00025459420302,1.55096835417e-05,1793238986132892928
+64,1.066666667,BASELINE,766,745.127309948,715.872690052,679,662,636,879,787.127309948,803,652,631.127309948,653,0.400985771857,-0.00536480627418,0.069843796608,0.999999946539,0.000205091432252,-0.000254201959753,1.55220794144e-05,1793238986149559552
+65,1.083333333,BASELINE,766,745.701726724,715.298273276,679,662,636,879,787.701726724,803,652,631.701726724,653,0.400984272251,-0.00536637552692,0.0698425963897,0.999999946798,0.000201576678131,-0.000256002022639,1.53081750771e-05,1793238986166226432
+66,1.100000000,BASELINE,766.283624785,745.716375215,715,679,662,636,879,787.716375215,803,652,631.716375215,653,0.400983908474,-0.00536627731672,0.0698422448275,0.999999946776,0.000201154636661,-0.000256427246081,1.51837875804e-05,1793238986182893056
+67,1.116666667,BASELINE,766.873603631,745.126396369,715,679,662,636,879,787.126396369,803,652,631.126396369,653,0.400984771551,-0.00536437801543,0.0698428099313,0.999999946456,0.000204073153556,-0.000255367452336,1.51560906876e-05,1793238986199559680
+68,1.133333333,BASELINE,766.544672877,745,715.455327123,679,662,636,879,787.455327123,803,652,631,653,0.400984565106,-0.00536406121506,0.0698430108233,0.999999946232,0.000205317976797,-0.000255242767463,1.52413137701e-05,1793238986216226304
+69,1.150000000,BASELINE,766.034580506,745,715.965419494,679,662,636,879,787.965419494,803.034580506,652,631.034580506,653,0.400984058602,-0.00536427020185,0.0698430434549,0.999999946066,0.000205867661533,-0.000255441190343,1.53491499505e-05,1793238986232892928
+70,1.166666667,BASELINE,766.610401159,745,715.389598841,679,662,636,879,787.389598841,803.610401159,652,631.610401159,653,0.400983419772,-0.00536595538757,0.0698419967905,0.999999946394,0.000202679685364,-0.000256706255251,1.53290391727e-05,1793238986249559552
+71,1.183333333,BASELINE,766.813955518,745,715,679,662,636,879.186044482,787,804,652,632,653,0.400983276082,-0.00536671319757,0.0698414828874,0.999999946631,0.000200875271086,-0.000257206465458,1.52593926955e-05,1793238986266226176
+72,1.200000000,BASELINE,766.238683083,745,715,679,662,636,879.761316917,787,804,652,632,653,0.400984168283,-0.00536553082375,0.0698420835863,0.999999946696,0.000201965437962,-0.000256106505738,1.50861114361e-05,1793238986282893056
+73,1.216666667,BASELINE,766,745,715,679,662,636,880,787.345761077,803.654238923,652.345761077,631.654238923,653,0.400984656171,-0.00536430020599,0.0698424892807,0.999999946188,0.00020520718996,-0.000255510034532,1.51409256196e-05,1793238986299559680
+74,1.233333333,BASELINE,766,745,715,679,662,636,880,787.936709077,803.063290923,652.936709077,631.063290923,653,0.400984857353,-0.00536303537745,0.0698427566931,0.999999945256,0.00020997467909,-0.000255270598371,1.53574874004e-05,1793238986316226304
+75,1.250000000,BASELINE,766,745,715,679,662,636,879.483983457,788,803,652.483983457,631.516016543,653,0.400984618353,-0.00536427221089,0.0698425751054,0.999999945811,0.000207062983461,-0.000255475687905,1.53544004646e-05,1793238986332892672
+76,1.266666667,BASELINE,766,745,715.09501343,679,662,636,879.09501343,787.90498657,803.09501343,652,631.90498657,653,0.400984389187,-0.00536557464101,0.0698423962383,0.999999946438,0.000203715629554,-0.000255713821046,1.53111896924e-05,1793238986349559296
+77,1.283333333,BASELINE,766,745,715.67960445,679,662,636,879.67960445,787.32039555,803.67960445,652,631.32039555,653,0.400984482756,-0.00536566891096,0.0698425088962,0.999999946578,0.000202869599068,-0.000255847477896,1.51969867309e-05,1793238986366226176
+78,1.300000000,BASELINE,766,745.261862373,715.738137627,679,662,636,879.738137627,787.261862373,804,652,631.261862373,653,0.400984952829,-0.00536527091847,0.0698427188959,0.999999946715,0.000202755992985,-0.000255402173248,1.51709430005e-05,1793238986382892800
+79,1.316666667,BASELINE,766,745.841290856,715.158709144,679,662,636,879.158709144,787.841290856,804,652,631.841290856,653,0.400985879499,-0.00536427594876,0.0698430469441,0.999999946849,0.000203530613728,-0.000254254749575,1.52518118672e-05,1793238986399559424
+80,1.333333333,BASELINE,766.420668908,745.579331092,715,679,662,636,879,788,804,652,631.579331092,653,0.400984171034,-0.0053641183534,0.0698419849422,0.99999994611,0.000204835060812,-0.000256103654776,1.52681386423e-05,1793238986416226304
+81,1.350000000,BASELINE,766.999972117,745,715,679,662,636,879,787.999972117,804,652,631,653,0.400981468732,-0.0053642766272,0.0698403987227,0.999999945034,0.000206339270436,-0.000259082607898,1.52601122826e-05,1793238986432892672
+82,1.366666667,BASELINE,766.422690439,745,715,679,662,636,879,787.422690439,804,652,631,653,0.400983384923,-0.00536410459584,0.0698420245245,0.999999945827,0.000205659972158,-0.000256556271439,1.51332768008e-05,1793238986449559296
+83,1.383333333,BASELINE,766,745,715,679,662,636,879,787,803.843316227,652,631,653,0.40098512567,-0.00536437137876,0.069843544385,0.999999946481,0.000205213838297,-0.000254356874107,1.51226377754e-05,1793238986466225920
+84,1.400000000,BASELINE,766,745,715,679,662,636,879,787,803.25822038,652,631,653,0.40098638671,-0.00536583798811,0.0698447745764,0.999999946768,0.000205405233296,-0.000253051408407,1.54297084868e-05,1793238986482892800
+85,1.416666667,BASELINE,766,745.323782708,715,679,662,636,879,787,803,652,631,652.676217292,0.400985592165,-0.00536625470798,0.0698441848243,0.999999946619,0.000205069420438,-0.000253913278189,1.53526106597e-05,1793238986499559680
+86,1.433333333,BASELINE,766,745.903342587,715,679,662,636,879,787,803,652,631,652.096657413,0.400983173778,-0.00536584205128,0.0698421573797,0.999999946122,0.000204317131543,-0.00025648726833,1.49720329186e-05,1793238986516226304
+87,1.450000000,BASELINE,766,745.519951054,715,679,662.480048946,636,879,787,803.480048946,652,631.480048946,652.480048946,0.40098350719,-0.00536493158122,0.0698417880246,0.999999946127,0.000204114514037,-0.000256625375443,1.5041166954e-05,1793238986532892672
+88,1.466666667,BASELINE,766.056158092,745,715,679,662.943841908,636,879.056158092,787,804,652,632,652.943841908,0.400984369784,-0.00536413972794,0.0698418824344,0.999999946252,0.000204043113146,-0.000256186463505,1.5184346861e-05,1793238986549559552
+89,1.483333333,BASELINE,766.632026162,745,715,679,662.367973838,636,879.632026162,787,804,652,632,652.367973838,0.400985032335,-0.0053653677304,0.0698431973424,0.999999946551,0.000204167857447,-0.000254919703474,1.51797512894e-05,1793238986566226176
+90,1.500000000,BASELINE,766.787066364,745.212933636,715.212933636,679,662,636,879.787066364,787,803.787066364,652,632,652.212933636,0.400985827958,-0.00536606348897,0.069844219583,0.999999946939,0.000203627187692,-0.000253824586175,1.51916461896e-05,1793238986582892544
+91,1.516666667,BASELINE,766.197239184,745.802760816,715.802760816,679,662,636,879.197239184,787,803.197239184,652,632,652.802760816,0.400986859122,-0.00536581717321,0.0698447238009,0.999999947487,0.000201908731896,-0.000253033277459,1.52327293037e-05,1793238986599559168
+92,1.533333333,BASELINE,766,745.614282866,716,679,662,636.385717134,879,787,803,652,631.614282866,653,0.400986265598,-0.00536431497866,0.0698440718772,0.999999946952,0.000203508621,-0.000253879686751,1.50314014323e-05,1793238986616226048
+93,1.550000000,BASELINE,766,745.034778469,716,679,662,636.965221531,879,787,803,652,631.034778469,653,0.40098485582,-0.0053621818209,0.0698428390992,0.999999945861,0.000206775672021,-0.000255548898127,1.47082844154e-05,1793238986632892928
+94,1.566666667,BASELINE,766,745,716,679,662,636.458385583,879,787,803,652,631,653,0.400983490957,-0.0053642033354,0.0698429748297,0.999999946218,0.000204622691003,-0.000255854107123,1.52466949893e-05,1793238986649559552
+95,1.583333333,BASELINE,766,745,715.882635326,679,662,636,879.117364674,787,803.117364674,652,631,653,0.400982419842,-0.00536586906228,0.0698429821578,0.999999946562,0.000202466443042,-0.000256203749603,1.56091260109e-05,1793238986666226176
+96,1.600000000,BASELINE,766,745,715.308612369,679,662,636,879.691387631,787,803.691387631,652,631,653,0.400982480522,-0.00536511834026,0.0698421499157,0.999999946515,0.000201643926623,-0.000257065125249,1.50728116766e-05,1793238986682892800
+97,1.616666667,BASELINE,766,745.272132248,715.272132248,679.272132248,662,636,879.727867752,787.272132248,804,652,631.272132248,653,0.400983387591,-0.00536361013966,0.0698422418236,0.999999946338,0.000203136479189,-0.000256595786636,1.47405858776e-05,1793238986699559424
+98,1.633333333,BASELINE,766,745.860692598,715.860692598,679.860692598,662,636,879.139307402,787.860692598,804,652,631.860692598,653,0.400985278819,-0.00536122116326,0.0698434083085,0.999999945996,0.000207320932121,-0.000254579129004,1.46456688027e-05,1793238986716226304
+99,1.650000000,BASELINE,766.443341792,746,716,679.556658208,662,636,879,788,804,652,631.556658208,653,0.400984903202,-0.00536246841737,0.0698435161176,0.999999946263,0.00020571015701,-0.000254835225922,1.47287721932e-05,1793238986732892928
+100,1.666666667,BASELINE,766.976125431,745.976125431,715.976125431,679,662,636,879,787.976125431,803.976125431,652,631.023874569,653,0.400983831635,-0.00536468205269,0.0698432637152,0.99999994666,0.000202546932841,-0.00025579920255,1.48644882587e-05,1793238986749559552
+101,1.683333333,BASELINE,766.402123721,745.402123721,715.402123721,679,662,636,879,787.402123721,803.402123721,652,631.597876279,653,0.400982920634,-0.00536318204346,0.0698422755663,0.99999994589,0.000205019290363,-0.000256835268996,1.49405448914e-05,1793238986766226176
+102,1.700000000,BASELINE,766,745,715,679,662,636,879,787.176003528,803,652,632,653,0.400982619718,-0.00536235913512,0.0698419082638,0.999999945487,0.000206694830103,-0.00025705938044,1.4947447753e-05,1793238986782892800
+103,1.716666667,BASELINE,766,745,715,679,662,636,879,787.763782758,803,652,632,653,0.400983746147,-0.00536312036393,0.0698429934863,0.999999945958,0.000206506144356,-0.000255383851738,1.47925592867e-05,1793238986799559424
+104,1.733333333,BASELINE,766,745,715,679.346642811,662,636,879,787.653357189,803.346642811,652,631.653357189,653,0.400984868309,-0.00536374803641,0.0698435861555,0.999999946173,0.000206738926163,-0.000254334012877,1.5081796237e-05,1793238986816226304
+105,1.750000000,BASELINE,766,745,715,679.926197687,662,636,879,787.073802313,803.926197687,652,631.073802313,653,0.400985987602,-0.00536428597138,0.0698438478744,0.999999946217,0.000207254895358,-0.000253704579837,1.56694445764e-05,1793238986832892928
+106,1.766666667,BASELINE,766,745,715,680,662,636,879,787,804,652,631,652.497401738,0.400985241314,-0.00536400936783,0.0698432172887,0.999999946514,0.000204761655538,-0.000254579470553,1.52929123336e-05,1793238986849559808
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,637,879,787,804,652,631,653,0.400984616125,-0.00536556380899,0.0698430764624,0.999999946345,0.000205006374064,-0.000255021703832,1.56811862436e-05,1793238986892891648
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.586998514,745.586998514,715,679,662,636.413001486,879,787.586998514,803.413001486,652,631,653,0.400983017503,-0.0053646271805,0.0698426886523,0.999999946146,0.000204574078266,-0.000256170001089,1.53371283013e-05,1793238986909558272
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.827623026,745.827623026,715,679,662,636,879.172376974,788,803.172376974,652,631,653,0.400981885511,-0.00536430037571,0.0698424166917,0.999999946008,0.000204251621861,-0.000256977342161,1.50781821973e-05,1793238986926224896
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.246089829,745.246089829,715,679,662,636,879.753910171,788,803.753910171,652,631,653,0.400981861117,-0.00536542105619,0.0698424197131,0.999999946022,0.000204189881577,-0.000256975385436,1.50212585888e-05,1793238986942891520
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.332675786,715.332675786,679,662.332675786,636,880,788,803.667324214,652,631.332675786,653,0.400983283509,-0.00536591851976,0.0698429124173,0.999999946422,0.000203704355729,-0.000255798742106,1.5078385966e-05,1793238986959558144
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.909410997,715.909410997,679,662.909410997,636,880,788,803.090589003,652,631.909410997,653,0.400985767299,-0.00536595877546,0.0698437643652,0.999999947101,0.000202907930008,-0.000253760318779,1.52191840531e-05,1793238986976224512
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.482837757,745.517162243,715.517162243,679,662.517162243,636,879.517162243,788,803.482837757,652,632,653,0.400985168865,-0.00536485452188,0.0698431191259,0.999999946656,0.000203898817245,-0.000254729813282,1.50118756276e-05,1793238986992891136
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.942614479,745,715,679.057385521,662,636,879,788,803.942614479,652,631.942614479,653,0.40098469336,-0.00536355494495,0.06984270251,0.99999994619,0.000205194046712,-0.000255532754739,1.47751635977e-05,1793238987009558016
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.351919275,745,715,679.648080725,662,636,879,788,803.351919275,652,631.351919275,653,0.40099069794,-0.00536242214572,0.0698470033505,0.999999947481,0.000206222483758,-0.000249578875381,1.48680246927e-05,1793238987026224640
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.765675419,662,636,879,788,803.234324581,652,631.234324581,653,0.401003309847,-0.00536312001675,0.0698534570871,0.999999950218,0.000205059518867,-0.000239339966242,1.51680482922e-05,1793238987042891264
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.18599222,662,636,879,788,803.81400778,652,631.81400778,653,0.401025659946,-0.00536651601605,0.0698630838632,0.999999954925,0.000200666762337,-0.000222785578633,1.57733977487e-05,1793238987059557888
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787.609923923,803.609923923,652,632,653,0.40106399669,-0.00536713186878,0.0698789220641,0.999999960327,0.000201602881146,-0.000196042726816,1.64203503344e-05,1793238987076224768
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+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.551479015,662,636,879,787,803,652,632,653,0.401169104835,-0.00536814576692,0.0699119992903,0.999999968417,0.000204924167077,-0.000144447390354,1.75173077768e-05,1793238987109558272
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.13717131,715.13717131,680,662,636,879,787,803.13717131,652,631.86282869,652.86282869,0.401232096145,-0.0053700584387,0.0699238750516,0.999999970803,0.000204026129155,-0.000128294138652,1.75243138891e-05,1793238987126224640
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.715824454,715.715824454,680,662,636,879,787,803.715824454,652,631.284175546,652.284175546,0.40130439755,-0.00537210688609,0.0699288830284,0.999999972116,0.000201425590199,-0.000122200813223,1.62189891465e-05,1793238987142891264
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.705917297,715.705917297,679.705917297,662,636,879,787,803.705917297,652,631.294082703,652.294082703,0.401384763956,-0.0053738431114,0.0699304449079,0.999999972909,0.000199388931601,-0.000119252012325,1.43510987608e-05,1793238987159557888
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+126,2.100000000,POSE1_TO_POSE2_PRESS,766.975849901,746,715,679,662.024150099,636,879,788,803.024150099,652,632,653,0.401682020122,-0.00537874622282,0.0699212476109,0.999999972034,0.000193434909824,-0.000135886294507,7.11626768255e-06,1793238987209558016
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.384821409,746,715,679,662.615178591,636,879,788,803.615178591,652,632,653,0.40183060943,-0.005381025356,0.0699251781699,0.999999973132,0.000193131729096,-0.000128133464342,4.30696999414e-06,1793238987226224640
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.79824886,715.20175114,679,662.79824886,636,879,788,804,652,632,653,0.401989518413,-0.00538365488544,0.069929056414,0.999999974494,0.0001912255908,-0.000120183032942,1.0970130351e-06,1793238987242891520
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.219992009,715.780007991,679,662.219992009,636,879,788,804,652,632,653,0.402167685841,-0.00538693832016,0.0699328370283,0.99999997638,0.000186328031132,-0.000111863841207,-2.8606494405e-06,1793238987259558144
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.643898703,745,715.643898703,679,662,636,879.356101297,787.643898703,803.643898703,652,631.643898703,653,0.402363078823,-0.00539169848159,0.0699364938014,0.999999978467,0.000178570850563,-0.000105502252655,-6.87918970182e-06,1793238987276224768
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.069133863,745,715.069133863,679,662,636,879.930866137,787.069133863,803.069133863,652,631.069133863,653,0.40256904915,-0.00539736542547,0.0699400745304,0.999999980616,0.000169057722977,-0.000100342727004,-1.09351122718e-05,1793238987292891392
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.506731943,745.506731943,715.506731943,679,662,636,879.493268057,787,803,652,631,653,0.402806273628,-0.00540177024122,0.0699409470889,0.999999982331,0.000160642499993,-9.63185515014e-05,-1.59522840709e-05,1793238987309558016
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.9148004,716,679,662,636,879,787,803,652,631.0851996,653,0.403055879931,-0.00540621718397,0.0699427498848,0.999999984094,0.000152284878459,-9.04436415734e-05,-2.09945266785e-05,1793238987326224640
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.321720025,716,679,662,636,879,787,803,652,631.678279975,653,0.403353821725,-0.00541194394123,0.0699523051709,0.999999986763,0.000143375778576,-7.26110117061e-05,-2.54027592978e-05,1793238987342891264
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.262956827,715.737043173,679,662,636,879,787.262956827,803.262956827,652,632,653,0.403663312699,-0.00541865541161,0.06996079944,0.999999991467,0.000113439658392,-5.78875464067e-05,-2.90912776905e-05,1793238987359557888
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.837670577,715.162329423,679,662,636,879,787.837670577,803.837670577,652,632,653,0.403986496155,-0.00542653433993,0.0699680357859,0.999999996677,5.85742783598e-05,-4.68502521083e-05,-3.19265154168e-05,1793238987376224768
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.587939802,715.412060198,679,662,636,879.412060198,788,804,652.412060198,632,652.587939802,0.404329444073,-0.00543903063802,0.0699670023258,0.999999996646,5.86940107958e-05,-4.96270149437e-05,-2.82899678553e-05,1793238987392891392
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.013677784,715.986322216,679,662,636,879.986322216,788,804,652.986322216,632,652.013677784,0.404680171993,-0.00545334449991,0.0699627135703,0.999999994846,8.04578764813e-05,-5.78414913135e-05,-2.2105891127e-05,1793238987409558016
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.573696222,745.573696222,715.426303778,679.573696222,662,636,879.426303778,787.426303778,803.426303778,652.426303778,632,652.573696222,0.405075657283,-0.00547008504607,0.0699694607319,0.999999996955,5.92354652554e-05,-4.48882784881e-05,-2.38094993862e-05,1793238987426224896
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.840487899,745.840487899,715,680,662,636,879.159512101,787.159512101,803.159512101,652,632,653,0.405486551473,-0.00548189513896,0.0699750422884,0.999999998263,4.06447187585e-05,-3.40376789097e-05,-2.57397166854e-05,1793238987442891520
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.259632882,745.259632882,715,680,662,636,879.740367118,787.740367118,803.740367118,652,632,653,0.405935262834,-0.00548052529574,0.0699768337036,0.999999998657,3.17758086674e-05,-3.01052637815e-05,-2.77601554271e-05,1793238987459558144
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.319639827,715,679.680360173,662,636,879.680360173,788,804,652,632,653,0.406383384478,-0.00548485583868,0.0699673216857,0.999999998252,2.23195819971e-05,-4.60920248139e-05,-2.95665510575e-05,1793238987476224768
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.897633674,715,679.102366326,662,636,879.102366326,788,804,652,632,653,0.406831029523,-0.00549379381004,0.0699486734868,0.999999996381,1.23886462953e-05,-7.81787791577e-05,-3.11999431036e-05,1793238987492891392
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.469418529,745.530581471,715,679.469418529,662,636,879.469418529,787.530581471,804,652,632,653,0.407332594826,-0.00549953837604,0.0699385398931,0.99999999545,3.14303395461e-06,-8.93851276365e-05,-3.31651883214e-05,1793238987509558784
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.958519367,745,715,679.958519367,662,636,879.958519367,787.041480633,804,652.041480633,632,653,0.407850439635,-0.00550442118117,0.0699318539284,0.999999994983,-5.26870231204e-06,-9.36549253902e-05,-3.51486243634e-05,1793238987526226176
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.364982105,745,715,679.364982105,662,636,879.364982105,787.635017895,804,652.635017895,632,653,0.408430497931,-0.00550698208397,0.0699466627555,0.999999997187,-4.54558934228e-06,-6.54168084197e-05,-3.64236111108e-05,1793238987542892288
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679.221417447,662,636,879.221417447,788,804,652.778582553,632,653,0.409026145754,-0.00551242585461,0.0699580339991,0.999999998414,-8.87073535107e-06,-4.09050735019e-05,-3.7674028943e-05,1793238987559558656
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.796418678,662,636,879.796418678,788,804,652.203581322,632,653,0.409646688616,-0.00552247330624,0.0699639157294,0.999999998768,-2.1257497799e-05,-2.23440379382e-05,-3.88852123712e-05,1793238987576225280
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715.371590526,679.628409474,662.371590526,636,879.628409474,788,803.628409474,652,631.628409474,653,0.410261049017,-0.0055289548671,0.0699608847774,0.999999998409,-2.95201796866e-05,-2.67356848384e-05,-3.99483748009e-05,1793238987592891904
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715.946855872,679.053144128,662.946855872,636,879.053144128,788,803.053144128,652,631.053144128,653,0.410872020691,-0.00553348190481,0.069952968639,0.999999997576,-3.55223854306e-05,-4.37080714865e-05,-4.09304044669e-05,1793238987609558528
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715.462580462,679,663,636,879.537419538,787.462580462,803.537419538,652,631.537419538,653,0.411530143869,-0.00553634744353,0.0699586469328,0.999999997714,-3.94706391814e-05,-3.60087881415e-05,-4.1453015612e-05,1793238987626224896
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.873597096,636,880,787.126402904,803.873597096,652,632,653,0.412212066947,-0.00553625061829,0.0699719091097,0.999999998193,-4.06640499529e-05,-1.54887983973e-05,-4.14876307799e-05,1793238987642891520
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.295817467,636,880,787.704182533,803.295817467,652,632,653,0.412961839741,-0.00552617928078,0.0700073117098,0.99999999779,-3.27666363982e-05,4.18457558225e-05,-3.99466270628e-05,1793238987659558144
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715.280096575,679.280096575,662,636,879.719903425,788,803.280096575,652,631.719903425,653,0.413709526929,-0.00551101196722,0.0700272459385,0.999999996474,-1.29130838356e-05,7.30021504039e-05,-3.94365922923e-05,1793238987676224768
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715.854053428,679.854053428,662,636,879.145946572,788,803.854053428,652,631.145946572,653,0.41445502612,-0.00549049826454,0.0700309516977,0.999999996069,1.94841229586e-05,7.66940203861e-05,-4.00081872744e-05,1793238987692891392
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,716,680,662.42944674,636,879.42944674,788,804,652,631,653,0.415156404139,-0.00549369656563,0.0699937514624,0.999999999,8.63764682377e-06,8.55366101186e-06,-4.30391958412e-05,1793238987709558016
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.005498898,715.994501102,680,662.994501102,636,880,788,803.994501102,652,631,653,0.415843560297,-0.00550495169708,0.0699429360611,0.999999995284,-1.67985758347e-05,-8.33784177634e-05,-4.68902378539e-05,1793238987726224896
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.599649306,715.400350694,680,662.400350694,636,880,788,803.400350694,652,631,653,0.416618816837,-0.00551313570755,0.0699278004617,0.999999993472,-2.55512749908e-05,-0.000100136697784,-4.87504181761e-05,1793238987742891520
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.812094622,715,679.812094622,662.187905378,636,880,787.812094622,803,652,631,653,0.417416126119,-0.00551917218032,0.0699293512578,0.999999993893,-3.23162174645e-05,-9.33096686405e-05,-4.96269760613e-05,1793238987759558144
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.236015084,715,679.236015084,662.763984916,636,880,787.236015084,803,652,631,653,0.418258991823,-0.00552077227804,0.0699653727421,0.999999997501,-3.49748597465e-05,-3.77602031822e-05,-4.84715705582e-05,1793238987776224512
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.339901817,715,679.339901817,663,636,880,787,803.339901817,652,631,653,0.419114718657,-0.00552150878025,0.069991690888,0.999999998119,-3.81432460746e-05,6.54609298324e-07,-4.80211561865e-05,1793238987792891392
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.91570582,715,679.91570582,663,636,880,787,803.91570582,652,631,653,0.419979371472,-0.00552164592089,0.0700112746208,0.999999997608,-4.16654101751e-05,2.71774498471e-05,-4.80600271659e-05,1793238987809558272
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.498788169,715.501211831,680,663,635.498788169,880,787,804,652,631,653,0.42082555774,-0.00551848947552,0.0700289253341,0.999999996547,-3.98653664563e-05,5.4193501047e-05,-4.87889360763e-05,1793238987826224896
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715.912260749,680,662.912260749,635.087739251,880,787.087739251,804,652,631,653,0.421665384099,-0.00551517082123,0.0700400272174,0.999999995556,-3.74363466628e-05,7.08316971805e-05,-4.96990666177e-05,1793238987842891776
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715.329359497,680,662.329359497,635.670640503,880,787.670640503,804,652,631,653,0.422487190868,-0.00551412450799,0.0700160412773,0.999999997627,-3.66088878889e-05,2.84244365501e-05,-5.09640629411e-05,1793238987859558144
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.249795771,635.750204229,880,788,803.750204229,652,631,653,0.423285300215,-0.00551455438342,0.0699690079284,0.999999996644,-3.91912035243e-05,-4.73578489556e-05,-5.41582599032e-05,1793238987876224768
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.824084957,635.175915043,880,788,803.175915043,652,631,653,0.424052625898,-0.00551690187926,0.0698920351888,0.999999983281,-4.62029345577e-05,-0.000166495460945,-5.98585554793e-05,1793238987892891648
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715.399231322,680.399231322,663,635.399231322,880,788,803.399231322,652,631,653,0.424925137283,-0.00552009404509,0.0698831582664,0.99999998141,-5.65901961647e-05,-0.000173367263784,-6.26132547635e-05,1793238987909558272
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715.974756167,680.974756167,663,635.974756167,880,788,803.974756167,652,631,653,0.425844096776,-0.00552365920217,0.0699043512625,0.999999987067,-6.84680323317e-05,-0.000130664455323,-6.4067230396e-05,1793238987926224896
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.563833519,715.436166481,680.436166481,663,636,880,788,804,652,631,653,0.426740731633,-0.00552479353361,0.0699613622985,0.999999995584,-5.77167438439e-05,-4.61281060106e-05,-5.80692769546e-05,1793238987942891520
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.849332666,715,680,663,636,880.150667334,787.849332666,804.150667334,652,631.150667334,653,0.427632183406,-0.0055263372353,0.0700104676979,0.999999996925,-5.15367734419e-05,2.5026209764e-05,-5.35584423532e-05,1793238987959557888
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.27063869,715,680,663,636,880.72936131,787.27063869,804.72936131,652,631.72936131,653,0.428511820074,-0.00552936069901,0.0700324462613,0.999999995261,-6.12924400398e-05,5.27119830744e-05,-5.42434845591e-05,1793238987976224512
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.306771651,715,680,663.306771651,636,881,787.306771651,804.693228349,652,631.693228349,653,0.429382201726,-0.00553176287478,0.0700443289771,0.999999993809,-6.59457480873e-05,7.09337187133e-05,-5.4783021658e-05,1793238987992891392
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.883054239,715,680,663.883054239,636,881,787.883054239,804.116945761,652,631.116945761,653,0.430244452435,-0.00553361922454,0.0700473420933,0.999999993023,-6.61164333849e-05,8.084092434e-05,-5.51947267988e-05,1793238988009558016
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663.542783216,636,880.542783216,788,804,652,631,652.542783216,0.431024508213,-0.00553167207214,0.0699955063458,0.99999999623,-6.46730767245e-05,-6.30275963799e-06,-5.75910837762e-05,1793238988026224896
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.9680995,715,680.0319005,663,636,880.0319005,787.9680995,804,652,631.0319005,652.0319005,0.431784773399,-0.00552894598346,0.0699315914094,0.999999989628,-6.30752059871e-05,-0.000114478806254,-6.0494455094e-05,1793238988042892032
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.374744004,715,680.625255996,663,636,880.625255996,787.374744004,804,652,631.625255996,652.625255996,0.432565031167,-0.0055295537947,0.0699008558352,0.999999983337,-6.59903233084e-05,-0.0001579476078,-6.34282468938e-05,1793238988059558400
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.212488802,745,715,680.787511198,663.212488802,636,881,787.212488802,804,652,632,653,0.433381971805,-0.00553217627711,0.0699056056111,0.999999985306,-6.9564122016e-05,-0.00014298210255,-6.4065924565e-05,1793238988076225024
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.789226184,745,715,680.210773816,663.789226184,636,881,787.789226184,804,652,632,653,0.434261794395,-0.00553825231152,0.0699711844149,0.999999995008,-7.42670332377e-05,-2.78484391986e-05,-6.07676004949e-05,1793238988092891904
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.636672647,745.363327353,715,680,664,636,880.636672647,788,804,652,632,653,0.43509268282,-0.00554136679721,0.0700144023367,0.999999994442,-7.59281313207e-05,4.40384136138e-05,-5.84007071167e-05,1793238988109558272
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.064089817,745.935910183,715,680,664,636,880.064089817,788,804,652,632,653,0.435895387952,-0.00554277560228,0.0700447416839,0.999999991382,-7.58373214874e-05,9.10176056653e-05,-5.65702641823e-05,1793238988126224896
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663.476379657,636,880.523620343,788,804,651.476379657,631.476379657,653,0.436651008391,-0.0055451222014,0.0700369335247,0.99999999205,-8.06316215946e-05,7.8169052744e-05,-5.73370372713e-05,1793238988142891520
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.888640237,715,680.111359763,663,635.888640237,880.888640237,788,804.111359763,651.111359763,631.111359763,652.888640237,0.437391067076,-0.00554689764703,0.070020719443,0.999999993148,-8.50322803741e-05,5.50138619549e-05,-5.87047400291e-05,1793238988159558144
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.308798779,715,680.691201221,663,635.308798779,880.308798779,788,804.691201221,651.691201221,631.691201221,652.308798779,0.438090624618,-0.0055457730439,0.0699893694537,0.999999994293,-8.518666499e-05,2.02222260674e-05,-6.12233714803e-05,1793238988176224768
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+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.654229483,715,682,660,633.654229483,881,786,804.345770517,652,631,653,0.449881509097,-0.00557106135499,0.0696514675316,0.999999843829,-0.000109419037089,-0.000544763728394,-6.0021640736e-05,1793238989142891520
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+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745.508519115,715,681.491480885,659.491480885,633.508519115,881,786,804.491480885,652,631,653,0.44987917723,-0.00557177893638,0.0696502239223,0.999999841736,-0.000110260621393,-0.000548478332529,-5.95211337772e-05,1793238989176224768
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,715,681.087954147,659.087954147,633.912045853,881.087954147,786,804.087954147,651.912045853,631,653,0.449878901825,-0.00557251520489,0.0696501258513,0.999999841095,-0.000111806344816,-0.000549375314437,-5.91302107797e-05,1793238989192891392
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+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746,715,682,660,633,881.755750286,786,805,651.244249714,631,653,0.449880812849,-0.00557031320399,0.0696504923103,0.999999842437,-0.000109242934751,-0.00054734178399,-6.00791200607e-05,1793238989226224896
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1602e4db5b6b2d175fbed0c9721962d931280cd2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_03/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
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+3,0.050000000,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..969698281f86ff9f9137d0d75d169bca31082317
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6a5465af015ad5c22e906289ee3bfeedfe559ad51c9783c34bb0e97f5ab1a37
+size 26388487
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..62231708a45941c201e114e9fafe146a0c9b3911
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_03/franka_data.csv
@@ -0,0 +1,416 @@
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+22,0.366666667,BASELINE,766,745,715,679,662.783628691,636,879,787.783628691,803.216371309,652,632,653,0.400987549112,-0.00535746452244,0.0698438247952,0.999999944755,0.000213490261453,-0.000254402676254,1.38473935902e-05,1793238992516142336
+23,0.383333333,BASELINE,766,745,715.360437363,679,662.639562637,636,879.360437363,788,803.360437363,652,632,653,0.400988048319,-0.0053569476647,0.0698441884679,0.999999944793,0.000213892415344,-0.000253916784264,1.37595683254e-05,1793238992532809216
+24,0.400000000,BASELINE,766,745,715.935535016,679,662.064464984,636,879.935535016,788,803.935535016,652,632,653,0.400988404909,-0.00535664429936,0.069844365478,0.999999944873,0.000213341286002,-0.000254071168508,1.37156662227e-05,1793238992549475840
+25,0.416666667,BASELINE,766,745,715.478834479,679.521165521,661.478834479,636,880,787.478834479,804,652,631.478834479,653,0.400988984817,-0.00535756220638,0.0698447376682,0.999999945562,0.000210674031549,-0.000253596930664,1.34834147982e-05,1793238992566142464
+26,0.433333333,BASELINE,766,745,715,679.893240598,661.106759402,635.893240598,880,787,803.893240598,652,631.106759402,653,0.400989373197,-0.00535857639492,0.0698449033704,0.999999946162,0.000208119660713,-0.000253347166357,1.3329734428e-05,1793238992582809088
+27,0.450000000,BASELINE,766,745,715,679.31369739,661.68630261,635.31369739,880,787,803.31369739,652,631.68630261,653,0.400988788553,-0.00535933418087,0.06984404552,0.999999946061,0.000207248270984,-0.000254442930749,1.36293075361e-05,1793238992599475712
+28,0.466666667,BASELINE,766,745,715,679.265162081,662,635.265162081,879.734837919,787,803,652.265162081,632,653,0.400989096324,-0.00535916116465,0.0698442203577,0.999999945992,0.000207965364798,-0.00025412232864,1.3749072108e-05,1793238992616142336
+29,0.483333333,BASELINE,766,745,715,679.84321471,662,635.84321471,879.15678529,787,803,652.84321471,632,653,0.400990457144,-0.00535788980429,0.0698456137647,0.999999945955,0.000210556865003,-0.000252130417777,1.36566630693e-05,1793238992632808960
+30,0.500000000,BASELINE,766,745.41996832,715,679.16006336,662,636,879.41996832,787,803.41996832,652.58003168,631.58003168,653,0.40098969041,-0.00535795987422,0.0698453350269,0.999999945756,0.000210787498703,-0.000252714218753,1.38492514405e-05,1793238992649476352
+31,0.516666667,BASELINE,766,745.996238454,715,678.007523091,662,636,879.996238454,787,803.996238454,652.003761546,631.003761546,653,0.400988131854,-0.00535852919133,0.0698444339582,0.999999945497,0.000210139476262,-0.000254256635972,1.41479087961e-05,1793238992666144000
+32,0.533333333,BASELINE,766,745.416621014,715,678.583378986,662,636,879.416621014,787,803.416621014,652,631,653,0.400987785739,-0.00535857820153,0.0698440153737,0.999999945375,0.000210723449137,-0.000254264143731,1.3989600101e-05,1793238992682809600
+33,0.550000000,BASELINE,766,745,715,679,662,636,879,787.168248928,803,652,631.168248928,653,0.40098782757,-0.00535881141998,0.0698439216697,0.99999994552,0.000210500497741,-0.000253883081587,1.38648079757e-05,1793238992699475456
+34,0.566666667,BASELINE,766,745,715,679,662,636,879,787.747399072,803,652,631.747399072,653,0.400988797398,-0.00535950286476,0.0698446136541,0.999999946315,0.000208287089422,-0.000252577674827,1.38292032971e-05,1793238992716142336
+35,0.583333333,BASELINE,766,745.324808848,715,679,662,636,879,787.675191152,803,652,632,653,0.400988828359,-0.00536040343163,0.0698448433923,0.999999946524,0.000207369170838,-0.000252504179101,1.38787078855e-05,1793238992732808960
+36,0.600000000,BASELINE,766,745.900872432,715,679,662,636,879,787.099127568,803,652,632,653,0.400988133064,-0.00536146576421,0.0698447155616,0.999999946282,0.000207453373523,-0.000253383623659,1.39940484426e-05,1793238992749475584
+37,0.616666667,BASELINE,766,745.525011925,715,679,662,636,879,787,803.474988075,652,631.525011925,652.525011925,0.400989163985,-0.00535936395701,0.0698452043178,0.999999946068,0.000209737878708,-0.000252360116556,1.37187183675e-05,1793238992766142464
+38,0.633333333,BASELINE,766,745,715,679,662,636,879.050305245,787,803.949694755,652,631,652.050305245,0.400990519955,-0.00535695065343,0.0698458212163,0.999999945883,0.000212229888056,-0.000251023946624,1.34025435934e-05,1793238992782809344
+39,0.650000000,BASELINE,766,745,715,679,662,636,879.642941004,787,803.357058996,652,631,652.642941004,0.400991512254,-0.00535826908003,0.0698464380009,0.999999946035,0.000212028725561,-0.000250580979383,1.35214087392e-05,1793238992799475968
+40,0.666666667,BASELINE,766,745.230140094,715.230140094,679.230140094,662,636,879.769859906,787.230140094,803,652,631.230140094,653,0.400990903984,-0.0053590076859,0.0698462345777,0.999999945805,0.00021219685189,-0.000251340156406,1.37776051459e-05,1793238992816142336
+41,0.683333333,BASELINE,766,745.809098898,715.809098898,679.809098898,662,636,879.190901102,787.809098898,803,652,631.809098898,653,0.400987869763,-0.00535886746906,0.069844787982,0.999999944992,0.000212924701873,-0.000253921399326,1.42419517745e-05,1793238992832808960
+42,0.700000000,BASELINE,766.384235326,746,715.615764674,680,662.384235326,636,879,788,803.384235326,652,632,653,0.400987803093,-0.0053586429914,0.0698445341038,0.999999945272,0.000211757303497,-0.000253807639392,1.40517402533e-05,1793238992849475584
+43,0.716666667,BASELINE,766.957491358,746,715.042508642,680,662.957491358,636,879,788,803.957491358,652,632,653,0.400989196279,-0.00535837706248,0.0698448669711,0.999999946085,0.000209657556729,-0.000252368099829,1.35395254191e-05,1793238992866142208
+44,0.733333333,BASELINE,766.45428257,745.45428257,715.54571743,680,662.45428257,636,879,788,803.45428257,652,632,653,0.400989211642,-0.00535785165808,0.069844886147,0.999999945763,0.000211175446626,-0.000252379052107,1.35249799218e-05,1793238992882808576
+45,0.750000000,BASELINE,766.132932814,745,715.867067186,680,662,636,879,788,803,652,632,653,0.400988905821,-0.00535739219132,0.0698448370721,0.999999945368,0.000212629316602,-0.00025272424499,1.35653133609e-05,1793238992899475456
+46,0.766666667,BASELINE,766.712720248,745,715.287279752,680,662,636,879,788,803,652,632,653,0.400987891288,-0.00535722423315,0.0698446430273,0.999999945037,0.000212894006505,-0.000253802474184,1.36561352318e-05,1793238992916142336
+47,0.783333333,BASELINE,766.708816739,745.291183261,715,680,662,636,879,788,803.291183261,652,632,653,0.400987862555,-0.00535795615778,0.0698448715017,0.999999945181,0.000212004661443,-0.000253969504076,1.38217707855e-05,1793238992932809216
+48,0.800000000,BASELINE,766.131654407,745.868345593,715,680,662,636,879,788,803.868345593,652,632,653,0.400988802005,-0.00535957188198,0.0698455149437,0.999999945789,0.000209981907016,-0.000253241620263,1.40608829199e-05,1793238992949475840
+49,0.816666667,BASELINE,766.44337431,745.55662569,715,680,662.44337431,636,879,788,803.55662569,652.44337431,631.55662569,653,0.400989237192,-0.00535955956066,0.0698460535471,0.999999946117,0.00021003967338,-0.000251910759005,1.37952883755e-05,1793238992966142464
+50,0.833333333,BASELINE,766.981734348,745,715.018265652,679.981734348,662.981734348,636,879.018265652,788,803.018265652,652.981734348,631.018265652,653,0.400989542122,-0.00535904975729,0.0698465485853,0.99999994635,0.00021071519322,-0.000250439011117,1.34012348508e-05,1793238992982808832
+51,0.850000000,BASELINE,766.391396969,745,715.608603031,679.391396969,662.391396969,636,879.608603031,788,803.608603031,652.391396969,631.608603031,653,0.400990434572,-0.00535802726144,0.069846649505,0.99999994626,0.000211482410199,-0.000250135555067,1.36551680687e-05,1793238992999475712
+52,0.866666667,BASELINE,766,745,716,679,662,636,879.804848966,787.804848966,803.804848966,652,632,653,0.400990582387,-0.00535736505921,0.069846625425,0.999999946108,0.000211884691539,-0.000250400923377,1.371379848e-05,1793238993016142336
+53,0.883333333,BASELINE,766,745,716,679,662,636,879.225756248,787.225756248,803.225756248,652,632,653,0.400989265203,-0.00535741170156,0.0698463554197,0.999999945832,0.000211568995577,-0.000251785401237,1.33881885933e-05,1793238993032808704
+54,0.900000000,BASELINE,766.350453874,745,715.649546126,679,662,636,879,787.350453874,803,652,631.649546126,653,0.400989041567,-0.0053580272627,0.069846209441,0.999999945721,0.000211638971113,-0.000252162419986,1.34505526178e-05,1793238993049475584
+55,0.916666667,BASELINE,766.924822206,745,715.075177794,679,662,636,879,787.924822206,803,652,631.075177794,653,0.400989516628,-0.00535900632144,0.0698461427063,0.999999945717,0.00021195536261,-0.000251895745812,1.37608036773e-05,1793238993066142464
+56,0.933333333,BASELINE,766.50089187,745,715,679,662,636,879.49910813,788,803.49910813,652,631.49910813,653,0.400989012506,-0.00535837148768,0.0698453296972,0.999999945539,0.00021249731118,-0.000252138921378,1.38818189623e-05,1793238993082809088
+57,0.950000000,BASELINE,766,745,715.075509843,679.075509843,662,636,879.924490157,788,803.924490157,652,631.924490157,653,0.400988503222,-0.00535752600879,0.0698445526087,0.999999945337,0.00021312126661,-0.00025241057724,1.39504158033e-05,1793238993099475456
+58,0.966666667,BASELINE,766,745,715.666438037,679.666438037,662,636,879.333561963,788,803.333561963,652,631.333561963,653,0.400988965278,-0.00535690172934,0.069844787856,0.999999945149,0.000214073122302,-0.000252352525833,1.38557408174e-05,1793238993116142080
+59,0.983333333,BASELINE,766,745.251964246,715.748035754,680,662,636,879,788,803.251964246,652,631.251964246,653,0.400989059946,-0.00535741473732,0.0698447115005,0.999999945439,0.000212397888248,-0.000252629243363,1.36867794975e-05,1793238993132808704
+60,1.000000000,BASELINE,766,745.830489241,715.169510759,680,662,636,879,788,803.830489241,652,631.830489241,653,0.400988678456,-0.00535940173782,0.0698442312892,0.999999946329,0.000207317788704,-0.000253339841469,1.34215386272e-05,1793238993149475328
+61,1.016666667,BASELINE,766,745.593506221,715,680,662,636,879,788,804,652.406493779,632,653,0.400988974018,-0.00536016651405,0.0698448900465,0.999999946578,0.000206715133341,-0.000252840714715,1.35749436647e-05,1793238993166141952
+62,1.033333333,BASELINE,766,745.018546288,715,680,662,636,879,788,804,652.981453712,632,653,0.400989550176,-0.00536042475492,0.0698460208346,0.999999946566,0.000207968097819,-0.000251840232906,1.39018511658e-05,1793238993182808576
+63,1.050000000,BASELINE,766,745,715.56978415,679.43021585,662,636,879,788,804,652.43021585,632,653,0.400990202827,-0.00535961959364,0.0698460553965,0.99999994665,0.000208995777329,-0.000250656392082,1.38703352859e-05,1793238993199475456
+64,1.066666667,BASELINE,766,745,715.843929018,679.156070982,662,636,879,788,803.843929018,652,632,653,0.400990821153,-0.00535898590626,0.0698461542026,0.999999946713,0.000209823150523,-0.000249714385652,1.38051319739e-05,1793238993216142336
+65,1.083333333,BASELINE,766,745,715.264396264,679.735603736,662,636,879,788,803.264396264,652,632,653,0.400991339426,-0.00535891364488,0.069846526461,0.999999946718,0.000210127414083,-0.000249445122478,1.3680940886e-05,1793238993232809216
+66,1.100000000,BASELINE,766,745,715,679.686253356,662,636,879,787.686253356,803,652,632,653,0.400990805733,-0.00535844081073,0.0698464148689,0.999999946304,0.000211583103395,-0.000249877082652,1.36603446952e-05,1793238993249475840
+67,1.116666667,BASELINE,766,745,715,679.109276544,662,636,879,787.109276544,803,652,632,653,0.400989389451,-0.0053576319002,0.0698458973312,0.999999945532,0.000214004826906,-0.000250897361925,1.37266635502e-05,1793238993266142464
+68,1.133333333,BASELINE,766,745.466466204,715,679.466466204,662,636,879,787,803,652,632,653,0.400988235236,-0.00535823949567,0.0698451556993,0.999999945586,0.000212480620696,-0.000251977703052,1.37058135484e-05,1793238993282809088
+69,1.150000000,BASELINE,766,745.957094322,715,679.957094322,662,636,879,787,803,652,631.957094322,653,0.400987348993,-0.0053590549262,0.0698444983648,0.999999945836,0.00021024897577,-0.000252855816837,1.3662934913e-05,1793238993299475712
+70,1.166666667,BASELINE,766,745.368118292,715,679.368118292,662,636,879,787,803,652,631.368118292,653,0.400989094001,-0.00535830329507,0.0698455802859,0.999999946204,0.000210747502641,-0.000250981531785,1.35989045205e-05,1793238993316142336
+71,1.183333333,BASELINE,766,745,715,679,662,636,879,787,803,652,631,653,0.400989849672,-0.00535802026168,0.0698459631271,0.999999946244,0.000211409413113,-0.000250265864034,1.35783057643e-05,1793238993332808960
+72,1.200000000,BASELINE,766,745,715,679,662,636,879,787,803,652,631,653,0.40098895635,-0.00535851827142,0.069845180765,0.999999945741,0.000212343646059,-0.000251481341054,1.36300974154e-05,1793238993349475840
+73,1.216666667,BASELINE,766,745,715.371203652,679,662,636,879,787,803.371203652,652,631,653,0.40098934242,-0.00535842707534,0.0698457097208,0.99999994572,0.000213202558108,-0.000250832447205,1.36993297501e-05,1793238993366142464
+74,1.233333333,BASELINE,766,745,715.945242134,679,662,636,879,787,803.945242134,652,631,653,0.400990427581,-0.00535801392264,0.0698469552131,0.999999945961,0.000214020312906,-0.000249164815062,1.37780921014e-05,1793238993382809088
+75,1.250000000,BASELINE,766,745,715.466472235,679.533527765,662,636,879,787.533527765,803.466472235,652,631.533527765,653,0.400991874587,-0.00535869690362,0.0698481455434,0.999999946961,0.000211549273263,-0.000247260516444,1.36637986664e-05,1793238993399475456
+76,1.266666667,BASELINE,766,745,715,680,662,636,879,788,803.121110146,652,632,653,0.400992599973,-0.00535940875512,0.0698486214084,0.999999947574,0.000209558248231,-0.00024647936339,1.35958225327e-05,1793238993416142080
+77,1.283333333,BASELINE,766,745,715,680,662,636,879,788,803.70034926,652,632,653,0.400990451311,-0.00535979258118,0.0698464166357,0.999999946449,0.000210694859485,-0.00025004118883,1.37800607631e-05,1793238993432808960
+78,1.300000000,BASELINE,766,745,715,679.722408672,662,636.277591328,879,787.722408672,804,652,632,653,0.40098959566,-0.00535909071682,0.0698453148141,0.999999945723,0.000212120927177,-0.000251736140108,1.37116612072e-05,1793238993449475584
+79,1.316666667,BASELINE,766,745,715,679.14730699,662,636.85269301,879,787.14730699,804,652,632,653,0.400990125805,-0.00535722525649,0.0698453950878,0.999999945435,0.00021385722166,-0.000251430256349,1.33724954102e-05,1793238993466141952
+80,1.333333333,BASELINE,766,745.426655452,715,679.426655452,662,637,879,787,804,652,632,653,0.400990213706,-0.00535850261622,0.0698459548268,0.999999946024,0.0002119371355,-0.000250687829232,1.38002361668e-05,1793238993482809088
+81,1.350000000,BASELINE,766,745.999766199,715,680,662,636.999766199,879,787,803.999766199,652,632,653,0.400990149211,-0.00536086102099,0.0698466792724,0.999999946906,0.000208759760923,-0.000249795538417,1.44916155855e-05,1793238993499475712
+82,1.366666667,BASELINE,766,745.405488403,715,680,662,636.405488403,879,787,803.405488403,652,632,653,0.400989794296,-0.00536028473931,0.0698464055962,0.999999946579,0.000210032306599,-0.000250061563969,1.40693706925e-05,1793238993516142080
+83,1.383333333,BASELINE,766,745,715,679.816436701,662,636,879.183563299,787.183563299,803.367126598,652,632,653,0.400989749993,-0.00535974487332,0.0698462467187,0.999999946395,0.000210918251166,-0.000250068333972,1.37404896809e-05,1793238993532808704
+84,1.400000000,BASELINE,766,745,715,679.238609677,662,636,879.761390323,787.761390323,804.522780645,652,632,653,0.400990372835,-0.00535928322214,0.0698463344099,0.999999946523,0.000210973840492,-0.000249518265819,1.36121388249e-05,1793238993549475328
+85,1.416666667,BASELINE,765.661560227,745,715,679,662,636,879.661560227,787.661560227,804.323120453,652,631.661560227,653,0.400990530193,-0.00536014620689,0.0698463238515,0.99999994671,0.000210116402244,-0.000249490934661,1.36428381058e-05,1793238993566142464
+86,1.433333333,BASELINE,765.085057765,745,715,679,662,636,879.085057765,787.085057765,803.170115529,652,631.085057765,653,0.400990360124,-0.00536194095684,0.0698462441831,0.999999946937,0.000208616729198,-0.000249831303152,1.37854152118e-05,1793238993582809344
+87,1.450000000,BASELINE,765.485963541,745.485963541,715,679,662,636,879.485963541,787.485963541,803.485963541,652,631.485963541,653,0.400989934072,-0.0053610878502,0.0698458050069,0.999999946467,0.00020980090097,-0.000250724311464,1.36799852434e-05,1793238993599475712
+88,1.466666667,BASELINE,766,746,715.058384152,679.058384152,662,636,879.941615848,788,804,652,632,653,0.400989533323,-0.00535983409836,0.0698454248329,0.999999945955,0.000211305427101,-0.000251506466028,1.35653776084e-05,1793238993616142336
+89,1.483333333,BASELINE,766,746,715.652343387,679.652343387,662,636,879.347656613,788,804,652,632,653,0.400989771104,-0.00535910907516,0.0698461566896,0.999999946193,0.000211487554855,-0.000250394307771,1.37603379567e-05,1793238993632809216
+90,1.500000000,BASELINE,766,746,716,679.759731113,662,636,879,788,803.759731113,652,632,653,0.400990060458,-0.00535896576697,0.0698466594933,0.999999946505,0.000211009417515,-0.000249546710982,1.38697552526e-05,1793238993649475584
+91,1.516666667,BASELINE,766,746,716,679.180322289,662,636,879,788,803.180322289,652,632,653,0.400990422608,-0.00535964355056,0.0698468389882,0.999999946919,0.000209599314871,-0.000249072543245,1.38584283699e-05,1793238993666142464
+92,1.533333333,BASELINE,766,745.605812682,716,679.394187318,662,636,879,787.605812682,803.394187318,652,631.605812682,653,0.400989770441,-0.00535966749899,0.069846718454,0.999999946816,0.000209316881091,-0.000249733624541,1.37008607634e-05,1793238993682809088
+93,1.550000000,BASELINE,766,745.033516675,716,679.966483325,662,636,879,787.033516675,803.966483325,652,631.033516675,653,0.400988659968,-0.0053593960201,0.0698464623553,0.999999946478,0.000209543970489,-0.000250907654104,1.34772160843e-05,1793238993699475712
+94,1.566666667,BASELINE,766.556106349,745,715.443893651,680,662,636,879,787.556106349,803.443893651,652,631.556106349,652.443893651,0.400989691773,-0.00535852357828,0.0698468616087,0.999999946349,0.000211453274863,-0.00024981154833,1.35355638309e-05,1793238993716142336
+95,1.583333333,BASELINE,766.856085872,745,715,680,662,636,879.143914128,788,803.143914128,652,632,652.143914128,0.400990484892,-0.00535794302633,0.0698471676055,0.999999946273,0.000212816761377,-0.000248954196415,1.36064950661e-05,1793238993732808960
+96,1.600000000,BASELINE,766.277025774,745,715,680,662,636,879.722974226,788,803.722974226,652,632,652.722974226,0.400990153351,-0.00535835808623,0.0698470683569,0.999999946328,0.00021221346678,-0.000249245757667,1.36624324971e-05,1793238993749475840
+97,1.616666667,BASELINE,766.300900007,745,715,679.699099993,662,636,880,787.699099993,804,652,631.699099993,653,0.400989538628,-0.00535822751943,0.0698468317217,0.999999946127,0.000212400456911,-0.000249895895194,1.35670618259e-05,1793238993766142464
+98,1.633333333,BASELINE,766.877785357,745,715,679.122214643,662,636,880,787.122214643,804,652,631.122214643,653,0.400988664172,-0.00535759650405,0.0698464690756,0.999999945691,0.000213312295854,-0.000250874918693,1.33329114323e-05,1793238993782808832
+99,1.650000000,BASELINE,766.54699428,745.45300572,715.45300572,679,662.45300572,636,879.54699428,787.45300572,803.54699428,652,631.45300572,653,0.400989235899,-0.0053584313119,0.0698467394625,0.999999946162,0.000212035441955,-0.000250065021486,1.36119343623e-05,1793238993799475968
+100,1.666666667,BASELINE,766,746,715.971467276,679.028532724,662.971467276,636,879.028532724,788,803.028532724,652,632,653,0.400990203464,-0.0053595724077,0.069847184546,0.999999946823,0.000210359046732,-0.00024881079488,1.40112580914e-05,1793238993816142592
+101,1.683333333,BASELINE,766,746,715.381089239,679.618910761,662.381089239,636,879.618910761,788,803.618910761,652,632,653,0.400991310972,-0.00535898613523,0.0698477189992,0.999999946524,0.000212399873898,-0.000248275873394,1.40632430706e-05,1793238993832809216
+102,1.700000000,BASELINE,766,745.794496256,715.205503744,680,662.205503744,636,879.794496256,788,803.794496256,652,632,653,0.400991784114,-0.00535860249665,0.069848050217,0.999999946482,0.000213293943316,-0.000247683249262,1.3988645031e-05,1793238993849475840
+103,1.716666667,BASELINE,766,745.214795455,715.785204545,680,662.785204545,636,879.214795455,788,803.214795455,652,632,653,0.400991102153,-0.00535858782955,0.0698480113682,0.999999946912,0.00021209990762,-0.000246985555764,1.36835548686e-05,1793238993866142464
+104,1.733333333,BASELINE,766,745,715.641046234,680,662.641046234,636,879,787.641046234,803.358953766,652,632,653,0.40099048227,-0.00535884790611,0.0698473987136,0.999999946882,0.000211384735649,-0.000247728327874,1.35457722713e-05,1793238993882808832
+105,1.750000000,BASELINE,766,745,715.070800257,680,662.070800257,636,879,787.070800257,803.929199743,652,632,653,0.400989898928,-0.00535926970598,0.0698464482977,0.999999946579,0.000210951438794,-0.000249319006228,1.35064724824e-05,1793238993899475456
+106,1.766666667,BASELINE,766,745,715,679.481152241,662,636,879,787.518847759,804,652,632,653,0.400989663155,-0.00535885808134,0.069846602199,0.999999946544,0.000210780811921,-0.000249594417523,1.36094524552e-05,1793238993916142080
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,716,679,662,636,879,788,804,652,632,653,0.400990798073,-0.00535746159135,0.069847000612,0.999999945934,0.00021442525621,-0.000248947751793,1.33924425536e-05,1793238993958478080
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.575626492,746,715.424373508,679,662,636.575626492,879.575626492,787.424373508,804,652,631.424373508,653,0.400989284213,-0.00535864322821,0.069846275374,0.999999945805,0.000213585031052,-0.000250166857643,1.37335782526e-05,1793238993975145216
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.848535181,745.848535181,715,679,662,636.848535181,879.848535181,787,803.848535181,652,631.151464819,653,0.40098831051,-0.0053597378479,0.0698457383397,0.99999994589,0.000212175021276,-0.000251012347932,1.39636130208e-05,1793238993991812096
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.27210237,745.27210237,715,679,662,636.27210237,879.27210237,787,803.27210237,652,631.72789763,653,0.400988852333,-0.005360588322,0.0698457293523,0.999999946576,0.000209166354772,-0.000250809577556,1.38819296771e-05,1793238994008478464
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.311684428,662.311684428,636,879,787,803.311684428,652,632,653,0.400989766732,-0.00536062323981,0.0698463319741,0.999999946977,0.000208232713859,-0.00024998829505,1.38484502384e-05,1793238994025144832
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.902046405,662.902046405,636,879,787,803.902046405,652,632,653,0.400991014254,-0.0053599289674,0.0698474814365,0.999999947127,0.000209154356846,-0.000248613999866,1.38580699934e-05,1793238994041811456
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.482098512,715,679.517901488,662.517901488,636,879.482098512,787,804,652,631.517901488,653,0.400990918436,-0.00535913098187,0.0698477754368,0.999999947107,0.00020976486764,-0.000248198227359,1.35093525002e-05,1793238994058478080
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.940186768,715,679.059813232,662,636,879.940186768,787.059813232,803.940186768,652,631,653,0.400990735296,-0.005358369395,0.0698478798397,0.999999947014,0.000210485578936,-0.000247980718502,1.31650290937e-05,1793238994075144448
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.364940636,715,679.635059364,662,636,879.364940636,787.635059364,803.364940636,652,631,653,0.400992102455,-0.00535809925731,0.069847816873,0.999999946581,0.000212689282049,-0.000247828590323,1.34728446245e-05,1793238994091810816
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.210644547,745,715,680,662,636,879,787.789355453,803,652.210644547,631.210644547,653,0.400995915102,-0.00535831358909,0.0698492690382,0.999999947008,0.000213467502422,-0.000245411348438,1.37481557471e-05,1793238994108477184
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.78681802,745,715,680,662,636,879,787.21318198,803,652.78681802,631.78681802,653,0.401003971374,-0.0053593686149,0.0698533503934,0.999999948903,0.000211772099646,-0.00023906348222,1.39670623318e-05,1793238994125143808
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,715.373025296,680,662.373025296,636,879,787,803,652.626974704,632,653,0.401025584774,-0.00535981448197,0.0698631746427,0.999999952667,0.0002115920067,-0.000222910738306,1.43047458737e-05,1793238994141810688
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,715.965125399,680,662.965125399,636,879,787,803,652.034874601,632,653,0.401055160168,-0.00535990259503,0.0698763716487,0.999999957155,0.000212301842998,-0.000200999666537,1.4712186199e-05,1793238994158477312
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.457499026,745,715.457499026,679.457499026,662.457499026,636,879,787,803,652,631.457499026,653,0.401107953677,-0.00536145348797,0.0698947950805,0.99999996318,0.000211111463191,-0.000169793547061,1.55437428693e-05,1793238994175144192
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787.118445036,803.118445036,652,631.118445036,653,0.401165180391,-0.00536316219453,0.0699121480787,0.999999967829,0.000209828139469,-0.000141611068609,1.61455468181e-05,1793238994191810816
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787.692427961,803.692427961,652,631.692427961,653,0.401233868432,-0.0053651257514,0.069924126181,0.999999970007,0.000208644747438,-0.000127294829431,1.57616383267e-05,1793238994208477184
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.273034434,787.726965566,803.726965566,652,631.726965566,653,0.401306021732,-0.0053668717919,0.0699312502604,0.999999971464,0.000207402493948,-0.000117621188852,1.48499886165e-05,1793238994225144064
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.861287774,787.138712226,803.138712226,652,631.138712226,653,0.401382175677,-0.00536836670909,0.069932770358,0.999999972255,0.000206092284872,-0.000113307440326,1.33290604343e-05,1793238994241810944
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.442839152,745,715,679.442839152,662.442839152,636,879.557160848,787,803.442839152,652,631,653,0.401469948417,-0.00536971740346,0.0699292366244,0.999999972016,0.000205046886871,-0.000117499417344,1.08508206709e-05,1793238994258477568
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.977802723,745,715.022197277,680,662.977802723,636,879,787,804.022197277,652,631,653,0.401562505879,-0.00537108309593,0.0699243277927,0.999999971452,0.000203976650319,-0.000124191097828,8.09011737305e-06,1793238994275144192
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.401570997,745,715.598429003,680,662.401570997,636,879,787,804.598429003,652,631,653,0.401685004354,-0.00537393388551,0.0699240198161,0.999999971772,0.000200246978356,-0.000127766388681,5.65210027913e-06,1793238994291810816
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715.825257633,680,662,636,879,787,804.825257633,652,631,653,0.401819085201,-0.00537641201694,0.0699245738959,0.999999972353,0.000196800073028,-0.000128670299509,2.75364388107e-06,1793238994308477440
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715.248756652,680,662,636,879,787,804.248756652,652,631,653,0.401979795619,-0.00537803335168,0.0699271099712,0.999999973563,0.000194003290646,-0.000123432311043,-1.20343041703e-06,1793238994325144064
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.335176258,715,679.664823742,662.335176258,636,879,787,804,652,631.335176258,653,0.402155840626,-0.00538086661014,0.0699314103751,0.999999975236,0.000190043631715,-0.000115701283489,-5.02777723614e-06,1793238994341810688
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+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.494661078,715.505338922,679,663,636,879,787.505338922,804,652,631.494661078,652.494661078,0.402555674764,-0.00538793381544,0.0699359201296,0.999999978043,0.000179982472305,-0.000106475380152,-1.35555217176e-05,1793238994375144192
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+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.658849459,715.341150541,679,662.341150541,636,879,787.341150541,803.341150541,652,631.658849459,652.658849459,0.403046715842,-0.00539632617238,0.0699429178629,0.999999982202,0.000165103914464,-8.82406379611e-05,-2.34794600653e-05,1793238994408477440
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+140,2.333333333,POSE1_TO_POSE2_PRESS,766.138221483,745,715,679.138221483,662,636,879.138221483,788,803.861778517,652,631,653,0.405041093852,-0.00542396017462,0.069967487936,0.99999999208,0.000112340717271,-4.84351437512e-05,-2.95600020253e-05,1793238994508477696
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.714809581,745,715,679.714809581,662,636,879.714809581,788,803.285190419,652,631,653,0.405455066583,-0.00543067896108,0.0699704279105,0.999999993529,9.91976191716e-05,-4.41095694316e-05,-3.4010088883e-05,1793238994525144064
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.702927232,745.297072768,715,679.702927232,662,636,879.702927232,787.702927232,803,652,631,653,0.405885139503,-0.00543927837603,0.069970406257,0.999999995005,8.24871536875e-05,-4.28480157073e-05,-3.67429155497e-05,1793238994541810432
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.115109775,745.884890225,715,679.115109775,662,636,879.115109775,787.115109775,803,652,631,653,0.406330969704,-0.00544971836019,0.0699674860628,0.999999996352,6.22853093138e-05,-4.45852140028e-05,-3.77950626654e-05,1793238994558477312
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.466259682,746,715,679,662.466259682,636,879,787.466259682,803.466259682,652,631.466259682,652.533740318,0.406801013978,-0.00546768833113,0.0699537623856,0.999999996387,4.23144816416e-05,-6.45801940264e-05,-3.55743592797e-05,1793238994575143936
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.954310452,746,715.045689548,679,662.954310452,636,879.045689548,787.954310452,803.954310452,652,631.954310452,652.045689548,0.407281586952,-0.00548729885976,0.0699385428362,0.999999995428,2.20862170536e-05,-8.70277842471e-05,-3.29039735479e-05,1793238994591810560
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.379161159,746,715.620838841,679,662.379161159,636,879.620838841,787.379161159,803.379161159,652,631.379161159,652.620838841,0.407815840244,-0.00550467194195,0.0699364747331,0.999999995681,-1.77719037739e-06,-8.63758145699e-05,-3.42581050202e-05,1793238994608477440
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.804646869,715.804646869,679,662,636,880,787.195353131,803.195353131,652,631.195353131,653,0.408375253556,-0.00551536684853,0.0699411221614,0.999999996499,-1.63448141943e-05,-7.38888540431e-05,-3.56980428208e-05,1793238994625144064
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.231361097,715.231361097,679,662,636,880,787.768638903,803.768638903,652,631.768638903,653,0.40898334173,-0.00551314207095,0.069958761542,0.999999998479,-1.29286959016e-05,-3.85057704295e-05,-3.73039825517e-05,1793238994641811200
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.35412301,715.35412301,679.35412301,662,636,879.64587699,788,803.64587699,652,632,652.64587699,0.409590767809,-0.00551989649828,0.0699637146272,0.999999998747,-1.96357019132e-05,-2.55958999295e-05,-3.82842725483e-05,1793238994658477824
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.947861017,715.947861017,679.947861017,662,636,879.052138983,788,803.052138983,652,632,652.052138983,0.41019774586,-0.00553272664544,0.0699600836135,0.999999998306,-3.31924533043e-05,-2.78923821829e-05,-3.88412207341e-05,1793238994675144448
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,716,680,662,636,879.528236923,788,803,652,632,652.528236923,0.410827096591,-0.00553916342069,0.0699522245048,0.999999997252,-4.48599864614e-05,-4.30608406871e-05,-4.03577394211e-05,1793238994691811328
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715.893545772,680,662,636,879.893545772,788,803.106454228,652,632,653,0.41147146898,-0.00554490351649,0.0699486697354,0.999999996354,-5.48291233021e-05,-5.05124307776e-05,-4.16533712351e-05,1793238994708477696
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715.319162694,680,662,636,879.319162694,788,803.680837306,652,632,653,0.412172403042,-0.00555028669574,0.0699658242156,0.999999997273,-5.81322436272e-05,-1.85969797213e-05,-4.15720260506e-05,1793238994725144576
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.738315327,715.261684673,680,662,636,879.261684673,787.738315327,804,652,632,653,0.412899306492,-0.00555082179049,0.0699898774385,0.999999997207,-5.9332185721e-05,2.03435914617e-05,-4.06408727295e-05,1793238994741811200
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.149384043,715.850615957,680,662,636,879.850615957,787.149384043,804,652,632,653,0.413658685741,-0.00554529417239,0.0700225578032,0.99999999526,-5.7902024059e-05,6.80693461427e-05,-3.86470020585e-05,1793238994758477312
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715.567672092,680,662,636,879.567672092,787,803.567672092,652,631.567672092,653,0.414384871073,-0.00551950011915,0.0700199125342,0.999999997381,-2.2978233022e-05,5.60442250606e-05,-3.96102363682e-05,1793238994775143936
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.988528281,662,636,879,787,803.011471719,652,631,652.988528281,0.415099687824,-0.0054875368451,0.0700044465567,0.999999998634,2.20659898399e-05,2.26071874809e-05,-4.1633128177e-05,1793238994791810560
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679.414996784,662,636,879,787,803.585003216,652,631,652.414996784,0.415810227827,-0.00549077693287,0.0699490505212,0.999999996802,5.24520862248e-06,-6.49721196579e-05,-4.63340639963e-05,1793238994808477184
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.162553176,745,715,679.162553176,662,636,879.162553176,787,804,651.837446824,631,652.162553176,0.416548207417,-0.00549693233688,0.0699136010462,0.999999991432,-1.09550775585e-05,-0.000120610487627,-4.969645195e-05,1793238994825144064
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.750622245,745,715,679.750622245,662,636,879.750622245,787,804,651.249377755,631,652.750622245,0.417358015649,-0.00551071917193,0.0699303657405,0.999999994155,-2.55310910932e-05,-9.2636968032e-05,-4.95549200328e-05,1793238994841810688
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.665848034,745.334151966,715,680,662,636,879.665848034,787,804,651.334151966,631,653,0.418200108982,-0.00551927617354,0.0699570715999,0.999999996956,-3.39265021847e-05,-5.10747599281e-05,-4.82623504621e-05,1793238994858477312
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.085660651,745.914339349,715,680,662,636,879.085660651,787,804,651.914339349,631,653,0.419065973735,-0.00552398245876,0.0699910971183,0.999999998223,-3.7771147491e-05,4.92770902659e-07,-4.6122274123e-05,1793238994875143936
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715.493658862,679.506341138,662.493658862,636,879.493658862,787.493658862,804,652.493658862,631,653,0.419921229001,-0.00552697598263,0.070008217877,0.999999997679,-4.34613472538e-05,2.44623043594e-05,-4.64088260137e-05,1793238994891810816
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.928005074,715.928005074,679.071994926,663,636,880,788,803.928005074,652.928005074,631,653,0.420773357748,-0.00552866912496,0.070020866078,0.999999996857,-4.8644212552e-05,4.11405184172e-05,-4.71873374807e-05,1793238994908477696
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.355461589,715.355461589,679.644538411,663,636,880,788,803.355461589,652.355461589,631,653,0.421616525824,-0.00552338397842,0.0700227770361,0.999999996855,-4.80771974631e-05,4.03617990821e-05,-4.84638271183e-05,1793238994925144320
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680.223906161,662.776093839,636,880,788,803.223906161,652,631,653,0.422434685769,-0.00551724965965,0.0700053589018,0.999999997743,-4.33922755824e-05,9.19215227765e-06,-5.04561135633e-05,1793238994941810688
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680.814448424,662.185551576,636,880,788,803.814448424,652,631,653,0.423211896176,-0.00550972485936,0.0699562902628,0.999999995478,-3.19644693085e-05,-7.17412489595e-05,-5.36204845255e-05,1793238994958477312
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.602477389,745.397522611,715,680.602477389,662,636,880,788,804.397522611,651.602477389,631,653,0.424032905271,-0.00551259043952,0.0699046717784,0.999999986651,-3.9988174889e-05,-0.000147292226502,-5.83372506496e-05,1793238994975143936
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.022824829,745.977175171,715,680.022824829,662,636,880,788,804.977175171,651.022824829,631,653,0.424873981235,-0.0055202165027,0.0698518850533,0.999999972064,-5.69238340846e-05,-0.000220377174076,-6.37652656462e-05,1793238994991810560
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.553522706,745.446477294,715,680.553522706,662.553522706,636,880.553522706,788,804.446477294,651.553522706,631,653,0.425794901746,-0.00552569356399,0.0699033783737,0.999999986459,-6.77818979204e-05,-0.000136870836805,-6.12665327649e-05,1793238995008477440
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.128834565,715,680.871165435,663.128834565,636,880.871165435,788,804,652,631,653,0.426711753614,-0.00552992556226,0.0699560663926,0.999999994038,-7.35734229796e-05,-5.58475674223e-05,-5.82407048135e-05,1793238995025144576
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.701048387,715,680.298951613,663.701048387,636,880.298951613,788,804,652,631,653,0.427603339821,-0.00553017587941,0.0699981553016,0.999999996528,-6.27860049413e-05,-5.45976705102e-06,-5.45191141584e-05,1793238995041812480
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680.281674151,663.718325849,636,880.281674151,788,804,652,631,653,0.428488374306,-0.00553144354877,0.0700287360861,0.999999996025,-6.03707232543e-05,3.89259018268e-05,-5.28225025176e-05,1793238995058479104
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680.871502625,663.128497375,636,880.871502625,788,804,652,631,653,0.429366241084,-0.00553382421155,0.0700467268652,0.99999999338,-6.7114642787e-05,7.67451758228e-05,-5.3341238366e-05,1793238995075144448
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.545252386,746,715.454747614,681,663,636,880.545252386,788,804,652,631,653,0.430222734679,-0.00553524550173,0.0700329553136,0.999999994666,-6.8043138276e-05,5.54235716674e-05,-5.44564928278e-05,1793238995091811072
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.035605316,745.964394684,715.964394684,680.964394684,663,636,880,788,803.964394684,652,631,653,0.431065691012,-0.00553602907536,0.0700073260876,0.999999996095,-6.73394857179e-05,1.25016333165e-05,-5.58497018609e-05,1793238995108477952
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.60811519,745.39188481,715.39188481,680.39188481,663,636,880,788,803.39188481,652,631,653,0.431794283791,-0.0055312258041,0.0699362972561,0.999999990252,-6.64497192704e-05,-0.000107739011017,-5.89288187616e-05,1793238995125144576
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,880,787.817564425,803.182435575,652,631,653,0.432566566854,-0.00552857151075,0.069894483535,0.999999980761,-6.65435978998e-05,-0.000174086195984,-6.11851697942e-05,1793238995141811200
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,880,787.23931584,803.76068416,652,631,653,0.433433640682,-0.00553057964824,0.0699160550303,0.999999988108,-6.87715986123e-05,-0.000123505924316,-6.16564464913e-05,1793238995158477824
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,663.33426375,636,880.33426375,787.33426375,804,651.66573625,631,653,0.43428886986,-0.00553556810666,0.0699597549771,0.99999999429,-7.45123670744e-05,-4.75599246128e-05,-6.00575101262e-05,1793238995175144704
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663.90454659,636,880.90454659,787.90454659,804,651.09545341,631,653,0.43513573564,-0.00554266092906,0.0700190795214,0.999999993882,-8.27334525421e-05,4.62964681799e-05,-5.69968240783e-05,1793238995191811072
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.50321992,745.49678008,715,680.49678008,663.50321992,636,881,788,804,651.49678008,631,653,0.435946401379,-0.00554639403978,0.0700341872403,0.999999992649,-8.06903239686e-05,7.1163728583e-05,-5.59195534411e-05,1793238995208477696
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.090083349,746,715,680.909916651,663,636,880.909916651,788,804,652,631,653,0.436738632286,-0.00554885086179,0.0700361664854,0.999999992472,-7.79322406477e-05,7.67284700549e-05,-5.56292878517e-05,1793238995225144320
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.665380888,746,715,680.334619112,663,636,880.334619112,788,804,652,631,653,0.437470764933,-0.00554807108487,0.0700153094635,0.999999993547,-8.24371612614e-05,5.30249219065e-05,-5.74304367549e-05,1793238995241811200
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,635.753048327,880,787.753048327,804,651.753048327,631.246951673,653,0.438171652482,-0.00554701495659,0.0699855998557,0.999999994572,-8.42354573759e-05,1.43759082887e-05,-5.96191731364e-05,1793238995258478080
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663,635.162755796,880,787.162755796,804,651.162755796,631.837244204,653,0.438829099408,-0.00554557461266,0.0699435823578,0.999999993657,-8.22706896641e-05,-4.50520228565e-05,-6.2346778321e-05,1793238995275145216
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.58084201,746,715,680.41915799,663,635.41915799,880,787.41915799,804,651.41915799,632,653,0.439453362099,-0.00554354061052,0.0698932356469,0.9999999863,-8.04805237327e-05,-0.000129825801294,-6.37895642768e-05,1793238995291811328
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.002117818,746,715,680.997882182,663,635.997882182,880,787.997882182,804,651.997882182,632,653,0.440064992179,-0.00554128061284,0.0698397181451,0.999999969659,-7.87568249692e-05,-0.000224248309653,-6.47432415518e-05,1793238995308477696
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.571009863,745.428990137,715,681,663.571009863,636,880,788,804.571009863,652,632,653,0.440739083654,-0.00554225901396,0.0698454931579,0.9999999725,-7.86748177935e-05,-0.000211019265792,-6.54325664135e-05,1793238995325144064
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663.855579274,635.855579274,880,788,805,652,632,653,0.441406607643,-0.00554403116676,0.0698594509192,0.999999976867,-8.09162955609e-05,-0.000188205325155,-6.55509667639e-05,1793238995341810688
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663.281264144,635.281264144,880,788,805,652,632,653,0.442053899593,-0.00554813065958,0.0698971178648,0.999999984372,-9.00560975924e-05,-0.000138037162726,-6.39727973332e-05,1793238995358477312
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.303787177,715,681.303787177,663,635,880.303787177,787.696212823,804.696212823,651.696212823,631.696212823,653,0.442644100112,-0.00555269201311,0.0699057888516,0.999999984793,-9.45090271327e-05,-0.000132246964687,-6.31910126857e-05,1793238995375144192
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.899142831,715,681.899142831,663,635,880.899142831,787.100857169,804.100857169,651.100857169,631.100857169,653,0.443179505449,-0.0055576966505,0.0698866301311,0.999999979254,-9.44635955622e-05,-0.000169049797109,-6.31735813813e-05,1793238995391811328
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,715,681.520561511,662.520561511,635,881,787.479438489,804,651.479438489,631,653,0.443678065157,-0.00556164366049,0.0698508147899,0.9999999682,-9.12111673586e-05,-0.000226759381202,-6.21280073942e-05,1793238995408477952
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.943788994,715,681,662,635,881,787.943788994,804,652,631.056211006,653,0.444167667477,-0.00556498419893,0.0698125782964,0.999999953033,-8.82551430385e-05,-0.000287047758674,-6.12305919599e-05,1793238995425144576
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.371164655,715,681,662,635,881,787.371164655,804,652,631.628835345,653,0.444644018337,-0.0055647348107,0.0697833093455,0.999999938492,-9.40313948422e-05,-0.000331853060123,-6.36208283376e-05,1793238995441811200
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.800791219,715,681,662,634.199208781,881,787,804.800791219,651.199208781,632,653,0.445564055678,-0.00556629878639,0.0697550950863,0.999999925806,-0.000103129198279,-0.000364960754246,-6.74993241621e-05,1793238995475144448
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.061069217,715.061069217,679,662,636,880,787,804,652,632,653,0.401486602362,-0.00535547802343,0.0698131682564,0.999999932533,0.000196383631625,-0.000309904739259,1.80849070444e-05,1793238998466935296
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.528800821,715,679.528800821,662,636,880,787,804,652,631.471199179,653,0.401394757197,-0.00535731098516,0.06981563784,0.999999932223,0.000207051630121,-0.000304140019207,1.35328538143e-05,1793238998483602432
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.882210832,715,679.882210832,662,636,879.882210832,787,804,652,631,653,0.401309460125,-0.00535884553095,0.0698179335183,0.999999931697,0.000216439988156,-0.000299436280646,9.90695698135e-06,1793238998500269312
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745.304190886,715,679.304190886,662,636,879.304190886,787,804,652,631,653,0.401238884639,-0.00535822322534,0.0698180982087,0.999999931855,0.000214733627722,-0.000300102156592,1.08754212762e-05,1793238998516935680
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.272480768,745,715.272480768,679,662,636,879,787.272480768,804,652,631.272480768,653.272480768,0.401176305777,-0.00535711705694,0.0698176697008,0.999999931562,0.000214466145826,-0.000301244807086,1.14964426032e-05,1793238998533602048
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.847654599,745,715.847654599,679,662,636,879,787.847654599,804,652,631.847654599,653.847654599,0.4011226102,-0.00535547337574,0.0698165822216,0.999999930768,0.000215797083455,-0.000302917096197,1.17314969028e-05,1793238998550268672
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.133646315,745,715.566823158,679,662,636,879,787.566823158,803.566823158,652,632,653.566823158,0.401086819292,-0.00535556823956,0.0698189241794,0.999999932239,0.000215462735219,-0.000298232790455,1.24379402934e-05,1793238998566935552
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.022056028,745.022056028,715,679,662,636,879.022056028,787,803.022056028,652,631.977943972,652.977943972,0.401057876286,-0.00535620456356,0.0698224975966,0.99999993446,0.000214599375907,-0.000291292130707,1.32964542132e-05,1793238998583602432
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.601543909,745.601543909,715,679,662,636,879.601543909,787,803.601543909,652,631.398456091,652.398456091,0.401038962704,-0.00535469418885,0.0698259656447,0.999999936007,0.000215530245964,-0.000285209044055,1.37058261843e-05,1793238998600269056
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.333780744,745.666219256,715,679,662,636,879,787.333780744,803.666219256,652.333780744,632,652.666219256,0.400997897272,-0.00535738464167,0.0698299436765,0.999999938135,0.00021376677119,-0.000278966741007,1.45367004269e-05,1793238998650269440
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.917410701,745.082589299,715,679,662,636,879,787.917410701,803.082589299,652.917410701,632,652.082589299,0.400991508202,-0.00535611052039,0.0698311418636,0.999999938174,0.000216780509688,-0.000276498453444,1.44086008643e-05,1793238998666935808
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.501619005,745,715,679,662,636,879,788,803.498380995,652.501619005,631.501619005,652.498380995,0.40099003081,-0.00535495104425,0.0698322493757,0.999999938466,0.000218215963508,-0.000274309663191,1.42481593059e-05,1793238998683602176
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.078936375,715,679.078936375,662,636.078936375,879,787.921063625,804,652.078936375,631,653,0.400989487373,-0.00535410212497,0.0698335175481,0.999999938963,0.000218913071916,-0.000271941214149,1.41132208853e-05,1793238998700268800
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.659641345,715,679.659641345,662,636.659641345,879,787.340358655,804,652.659641345,631,653,0.400989734293,-0.00535510717253,0.0698359019857,0.999999940499,0.000216570520878,-0.000268137884963,1.41742840089e-05,1793238998716935424
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.762146417,662,636.762146417,879,787,804,653,631.237853583,653,0.400988978565,-0.00535543396112,0.0698370255345,0.999999941122,0.000215717585069,-0.000266497878264,1.41774734071e-05,1793238998733602048
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.187464215,662,636.187464215,879,787,804,653,631.812535785,653,0.400986802969,-0.00535480025525,0.0698363635164,0.999999940471,0.000216974119594,-0.000267921390617,1.40987068066e-05,1793238998750268416
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.386390231,662,636,879,787,804,652.613609769,632,653,0.400987026229,-0.00535597417346,0.069836983668,0.999999941188,0.000215299660689,-0.000266589956631,1.41119915773e-05,1793238998766935552
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.959843918,662,636,879,787,804,652.040156082,632,653,0.400988410849,-0.0053580232184,0.0698382245576,0.999999942556,0.000212206217215,-0.000263924767909,1.41698412644e-05,1793238998783602688
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.445401552,715,680,662,636,879,787,804,652,631.445401552,653,0.40098704416,-0.00535749393166,0.069838099342,0.999999942011,0.00021266212347,-0.000265617503943,1.41424013664e-05,1793238998800269056
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,636,879,787.146113252,803.853886748,652,631,653,0.400985853958,-0.00535677224835,0.0698380643126,0.99999994149,0.000213680333029,-0.00026675939349,1.41550257171e-05,1793238998816935424
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,636,879,787.72333671,803.27666329,652,631,653,0.400985795733,-0.00535605571639,0.0698385988838,0.999999941469,0.00021556908018,-0.000265307809615,1.43048090465e-05,1793238998833601792
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.298071808,715,680,662,636,879,787.701928192,803,652,631,653.298071808,0.400986435421,-0.00535603981876,0.0698394298242,0.999999941677,0.000216642378376,-0.000263640259958,1.43209323214e-05,1793238998850268672
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745.870516458,715,680,662,636,879,787.129483542,803,652,631,653.870516458,0.400987717533,-0.00535666884965,0.0698405335702,0.999999942099,0.000216965062207,-0.00026177391527,1.42140225463e-05,1793238998866935296
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.455527193,745.544472807,715,679.544472807,662,636,879,787.455527193,803.455527193,652,631.455527193,653.544472807,0.400987540331,-0.00535638124615,0.0698404960877,0.999999942335,0.000215844820481,-0.000261807658803,1.40638690706e-05,1793238998883601920
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.956347523,745,715,679.043652477,662,636,879.043652477,787.956347523,804,652,632,653,0.400986912352,-0.00535596768847,0.0698401543925,0.999999942512,0.000214351805175,-0.000262365961464,1.39103712378e-05,1793238998900268544
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.375102192,745,715,679.624897808,662,636,879.624897808,787.375102192,804,652,632,653,0.400985986357,-0.0053573027844,0.069840174567,0.999999942656,0.000213462399619,-0.000262544184709,1.3871360676e-05,1793238998916935424
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,636,879.796393079,787.203606921,804,652,631.796393079,653,0.400985769192,-0.00535801756581,0.0698403724468,0.999999942828,0.000212921659932,-0.000262328981919,1.38694231992e-05,1793238998933602048
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,636,879.222298956,787.777701044,804,652,631.222298956,653,0.400986841827,-0.0053576036105,0.0698408936827,0.999999943051,0.000213015359644,-0.000261397893277,1.39349446477e-05,1793238998950268672
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.35202786,635.64797214,879,788,804,652,631,653,0.400986926829,-0.00535760254944,0.069841015269,0.999999943053,0.000213061133932,-0.000261356921384,1.38416116849e-05,1793238998966935296
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.926501693,635.073498307,879,788,804,652,631,653,0.400986387746,-0.00535786239577,0.0698408843174,0.999999942916,0.000213076624198,-0.000261878413204,1.36478988125e-05,1793238998983601920
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.516041648,745.516041648,715,680,662.483958352,635,879,788,804,652,631.516041648,653,0.400985899927,-0.00535839534749,0.0698403229529,0.999999942762,0.000212695383611,-0.00026277951008,1.35399635633e-05,1793238999000268288
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.894666076,745.894666076,715.105333924,679.789332153,662,635.105333924,879.105333924,787.894666076,803.894666076,652,631.894666076,652.894666076,0.400985426055,-0.00535870717865,0.0698398019879,0.999999942544,0.000212697160109,-0.000263607088967,1.35024742941e-05,1793238999016934912
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766.316409927,745.316409927,715.683590073,678.632819855,662,635.683590073,879.683590073,787.316409927,803.316409927,652,631.316409927,652.316409927,0.400984981035,-0.00535784634293,0.0698397459159,0.999999942052,0.000214679908329,-0.000263854547934,1.37247683634e-05,1793238999033601792
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715.739570673,678.260429327,662,636,880,787,803,652.260429327,631,652.260429327,0.400984965196,-0.00535763968826,0.0698400305044,0.999999942147,0.000214767685549,-0.000263422634651,1.37630822512e-05,1793238999050268416
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715.16444349,678.83555651,662,636,880,787,803,652.83555651,631,652.83555651,0.40098546797,-0.00535822353341,0.0698407267404,0.999999942949,0.000212565616049,-0.00026216978087,1.35790780092e-05,1793238999066935552
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,879.580071136,787.419928864,803,652.580071136,631,653,0.40098618185,-0.00535766735606,0.0698413062655,0.999999943093,0.000213007331222,-0.000261256689782,1.36359653561e-05,1793238999083602432
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.007875583,679.007875583,662,636,879,788,803.007875583,652,631.007875583,653,0.40098697519,-0.00535668280827,0.0698418342862,0.999999942978,0.000214488540486,-0.000260476065766,1.37903039616e-05,1793238999100268800
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715.586581348,679.586581348,662,636,879,788,803.586581348,652,631.586581348,653,0.400987401201,-0.00535773573438,0.0698420164406,0.999999943225,0.000214584337446,-0.000259436053564,1.40167546337e-05,1793238999116935168
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2afb4644a6cda25aff49d4ddb84da371c5cd1d13
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,416 @@
+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
+28,0.466666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+376,6.266666667,pose2_to_pose3_retreat,0.576028179198,9.07969163426e-05,1.0600321469,0.546598631655,0.0087625393831,1.05970027703
+377,6.283333333,pose2_to_pose3_retreat,0.575953218184,9.07465480116e-05,1.0600324418,0.546523670372,0.00876248832238,1.05970057755
+378,6.300000000,pose2_to_pose3_retreat,0.575889239871,9.09014235103e-05,1.0600323673,0.546459689629,0.00876263474945,1.05970049778
+379,6.316666667,pose2_to_pose3_retreat,0.575835371543,9.0816999683e-05,1.06003244841,0.546405823481,0.00876255777716,1.05970058017
+380,6.333333333,pose2_to_pose3_retreat,0.575791573655,9.07271527655e-05,1.06003229241,0.546362025861,0.00876246880226,1.05970042328
+381,6.350000000,pose2_to_pose3_retreat,0.575757147567,9.0791129215e-05,1.06003231591,0.54632759789,0.00876252630997,1.05970044487
+382,6.366666667,pose2_to_pose3_retreat,0.575730633932,9.08428095137e-05,1.06003236487,0.546301084693,0.00876257943406,1.05970049269
+383,6.383333333,pose2_to_pose3_retreat,0.575711056567,9.08720180286e-05,1.06003232039,0.546281507688,0.00876260988719,1.05970044895
+384,6.400000000,pose2_to_pose3_retreat,0.575696167367,9.0901857682e-05,1.0600322857,0.546266616924,0.00876263445311,1.05970041529
+385,6.416666667,pose2_to_pose3_retreat,0.575685224219,9.07806730544e-05,1.06003258797,0.546255675459,0.00876251877594,1.059700712
+386,6.433333333,pose2_to_pose3_retreat,0.575677329201,9.07693892326e-05,1.06003237898,0.546247781515,0.00876251160104,1.0597005149
+387,6.450000000,pose2_to_pose3_retreat,0.575672365869,9.07957960188e-05,1.0600323839,0.546242817998,0.00876253737816,1.05970051972
+388,6.466666667,pose2_to_pose3_retreat,0.57566969442,9.08220193634e-05,1.06003246242,0.546240146074,0.00876256183821,1.05970059426
+389,6.483333333,pose2_to_pose3_retreat,0.575668404875,9.07753223821e-05,1.06003241815,0.546238856504,0.00876251506744,1.0597005503
+390,6.500000000,pose2_to_pose3_retreat,0.575667727563,9.07468924619e-05,1.06003238949,0.546238179191,0.00876248664988,1.05970052195
+391,6.516666667,pose2_to_pose3_retreat,0.575667295057,9.07287382072e-05,1.06003237119,0.546237746686,0.00876246850352,1.05970050385
+392,6.533333333,pose2_to_pose3_retreat,0.575667140093,9.07222336428e-05,1.06003236464,0.546237591722,0.00876246200179,1.05970049736
+393,6.550000000,pose2_to_pose3_retreat,0.575666752852,9.07059793432e-05,1.06003234825,0.546237204481,0.00876244575455,1.05970048115
+394,6.566666667,pose2_to_pose3_retreat,0.57566631558,9.06964606022e-05,1.06003233696,0.546236767119,0.00876243593042,1.05970046981
+395,6.583333333,pose2_to_pose3_retreat,0.575666201569,9.07135531862e-05,1.06003235,0.546236652887,0.00876245224912,1.05970048225
+396,6.600000000,pose2_to_pose3_retreat,0.575666134694,9.07235790743e-05,1.06003235764,0.546236585882,0.00876246182107,1.05970048955
+397,6.616666667,pose2_to_pose3_retreat,0.575666056217,9.07353445016e-05,1.06003236661,0.546236507252,0.00876247305381,1.05970049811
+398,6.633333333,pose2_to_pose3_retreat,0.575666000054,9.07437644196e-05,1.06003237303,0.54623645098,0.0087624810925,1.05970050424
+399,6.650000000,pose2_to_pose3_retreat,0.575665880252,9.07617251441e-05,1.06003238673,0.546236330946,0.00876249824004,1.05970051732
+400,6.666666667,pose2_to_pose3_retreat,0.575665858675,9.07649599935e-05,1.06003238919,0.546236309327,0.00876250132843,1.05970051967
+401,6.683333333,pose2_to_pose3_retreat,0.575665783263,9.07762657601e-05,1.06003239782,0.546236233769,0.00876251212231,1.05970052791
+402,6.700000000,pose2_to_pose3_retreat,0.575665684141,9.07911263075e-05,1.06003240915,0.546236134454,0.00876252631003,1.05970053872
+403,6.716666667,pose2_to_pose3_retreat,0.575665614697,9.0801537308e-05,1.06003241709,0.546236064875,0.00876253624966,1.0597005463
+404,6.733333333,pose2_to_pose3_retreat,0.575665555316,9.08104397619e-05,1.06003242387,0.546236005379,0.00876254474905,1.05970055278
+405,6.750000000,pose2_to_pose3_retreat,0.575665545533,9.08119064609e-05,1.06003242499,0.546235995577,0.00876254614934,1.05970055385
+406,6.766666667,pose2_to_pose3_retreat,0.575665506692,9.0817729424e-05,1.06003242943,0.546235956661,0.00876255170866,1.05970055809
+407,6.783333333,pose2_to_pose3_retreat,0.575665296066,9.08493066746e-05,1.06003245351,0.546235745625,0.00876258185622,1.05970058108
+408,6.800000000,pose2_to_pose3_retreat,0.575665074025,9.08825951758e-05,1.06003247889,0.546235523153,0.00876261363755,1.05970060532
+409,6.816666667,pose2_to_pose3_retreat,0.57566497787,9.08884719355e-05,1.06003248773,0.546235426949,0.00876261933365,1.05970061383
+410,6.833333333,pose2_to_pose3_retreat,0.575664955969,9.08810124511e-05,1.06003248753,0.546235405178,0.00876261231937,1.05970061373
+411,6.850000000,pose2_to_pose3_retreat,0.575664835627,9.0840023428e-05,1.06003248642,0.54623528555,0.0087625737767,1.05970061319
+412,6.866666667,pose2_to_pose3_retreat,0.575664647619,9.07759875371e-05,1.06003248469,0.546235098659,0.00876251356266,1.05970061235
+413,6.883333333,pose2_to_pose3_retreat,0.575664418563,9.08309274965e-05,1.06003240541,0.546234868827,0.00876256605867,1.059700538
+414,6.900000000,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266066005,1.05970045625
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0badc5b8f665661891bede057cec06dfb0ecaaa4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67957febef72dd335903a0cbcaebd949a72b666071100248abd62eac9c22ca31
+size 26517182
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2ea59ba3efd07c934154daf6df8b4c9f062d20e9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
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+35,0.583333333,BASELINE,766,745,715,679,661.637669571,636,879,787,803.681165215,652,631.318834785,653,0.400986505091,-0.0053595140528,0.0698436096643,0.999999944019,0.000214053605424,-0.000256820890524,1.365640103e-05,1793238999856021504
+36,0.600000000,BASELINE,766,745,715,679,662.78761422,636,879,787,803.10619289,652,631.89380711,653,0.400985851109,-0.00535956978599,0.0698435156615,0.999999944213,0.000212352550418,-0.000257486355974,1.34790638574e-05,1793238999872688128
+37,0.616666667,BASELINE,766,745,715,679,662.53286787,636,879,787,803.46713213,652,631.53286787,652.53286787,0.400984414124,-0.00535848076805,0.0698423886293,0.999999943312,0.000214553446748,-0.000259154004591,1.34937149592e-05,1793238999889354752
+38,0.633333333,BASELINE,766,745,715,679,662,636,879,787.041292958,803.958707042,652,631.041292958,652.041292958,0.400983019097,-0.00535725956504,0.0698411938352,0.999999942264,0.000217414385509,-0.000260805567803,1.35550476751e-05,1793238999906021376
+39,0.650000000,BASELINE,766,745,715,679,662,636,879,787.631526099,803.368473901,652,631.631526099,652.631526099,0.400984539811,-0.00535772848243,0.0698422091457,0.999999942698,0.000217299258314,-0.000259225270223,1.36587928882e-05,1793238999922688256
+40,0.666666667,BASELINE,766.217862464,745,715,679,662,636,879,787.782137536,803,652,632,653,0.40098521028,-0.00535805476839,0.0698423748633,0.999999943083,0.00021618329595,-0.000258674323833,1.36538586794e-05,1793238999939355392
+41,0.683333333,BASELINE,766.797723935,745,715,679,662,636,879,787.202276065,803,652,632,653,0.400984467988,-0.00535814405877,0.0698411289023,0.999999943382,0.000213404351685,-0.000259833741505,1.34683433674e-05,1793238999956022272
+42,0.700000000,BASELINE,766.625170025,745,715,679.374829975,662,636,879,787,803.374829975,652,631.625170025,653,0.400984329418,-0.00535710536501,0.0698415398255,0.999999943408,0.000213573868283,-0.000259596542663,1.33977022274e-05,1793238999972688640
+43,0.716666667,BASELINE,766.049540114,745,715,679.950459886,662,636,879,787,803.950459886,652,631.049540114,653,0.400984514267,-0.00535546239955,0.0698428383572,0.999999943289,0.00021532290314,-0.000258611163203,1.33886002661e-05,1793238999989354752
+44,0.733333333,BASELINE,766,745.536327216,715,679.463672784,662,636,879.536327216,787.536327216,804,652,631.536327216,653,0.400984816973,-0.00535692089395,0.0698430726493,0.999999943398,0.000214879083673,-0.000258549327256,1.35648543303e-05,1793239000006021376
+45,0.750000000,BASELINE,766,745.878355973,715.121644027,679,662,636,879.878355973,787.878355973,803.878355973,652.121644027,632,653,0.400985131935,-0.00535821331992,0.0698430938687,0.999999943418,0.00021487608792,-0.000258468645457,1.36760770267e-05,1793239000022688000
+46,0.766666667,BASELINE,766,745.298741317,715.701258683,679,662,636,879.298741317,787.298741317,803.298741317,652.701258683,632,653,0.400985451254,-0.00535778098624,0.0698426901995,0.999999943018,0.000217310140751,-0.000257989594915,1.34767538976e-05,1793239000039354624
+47,0.783333333,BASELINE,766,745,715.71976744,679,662,636,879,787,803,652.71976744,632,653,0.400985714354,-0.00535730042166,0.0698428575152,0.999999942947,0.00021803047787,-0.000257661174573,1.34303323622e-05,1793239000056021248
+48,0.800000000,BASELINE,766,745,715.141475036,679,662,636,879,787,803,652.141475036,632,653,0.400985917658,-0.00535676855786,0.0698436321396,0.999999943228,0.000216928079773,-0.00025749296687,1.35465393897e-05,1793239000072688128
+49,0.816666667,BASELINE,766.433247064,745,715.433247064,679,661.566752936,636,879,787,803.433247064,652,632,653,0.400986536212,-0.00535656947065,0.0698442520817,0.999999943616,0.000216231997465,-0.000256578012331,1.33657937235e-05,1793239000089355008
+50,0.833333333,BASELINE,767,745,715.992995035,679.007004965,661.007004965,636,879,787,804,652,632,653,0.400987273428,-0.00535647703852,0.0698448041588,0.999999944026,0.000215699833723,-0.000255441531965,1.30950451698e-05,1793239000106021888
+51,0.850000000,BASELINE,767,745,715.403250253,679.596749747,661.596749747,636,879,787,804,652,632,653,0.400986693906,-0.00535629113715,0.0698438782226,0.999999943413,0.000217856543292,-0.000255996138543,1.33378423025e-05,1793239000122688256
+52,0.866666667,BASELINE,766.816778494,745,715,679.816778494,662,636,879,787,804,652,632,652.816778494,0.400986414976,-0.00535638772718,0.0698432908922,0.999999943141,0.000218711580987,-0.000256322252845,1.34882826178e-05,1793239000139355136
+53,0.883333333,BASELINE,766.237383905,745,715,679.237383905,662,636,879,787,804,652,632,652.237383905,0.400986786008,-0.00535709513793,0.0698434357166,0.999999943611,0.000216752061629,-0.000256154306724,1.343902319e-05,1793239000156021760
+54,0.900000000,BASELINE,766,745,715.340083653,679,662,636,879.340083653,787,804,652,631.659916347,652.340083653,0.400986137526,-0.00535709333609,0.0698435763218,0.999999943698,0.000215846113911,-0.000256591930978,1.32452987847e-05,1793239000172688128
+55,0.916666667,BASELINE,766,745,715.916213667,679,662,636,879.916213667,787,804,652,631.083786333,652.916213667,0.400984781416,-0.00535659928165,0.0698437139985,0.999999943519,0.000215671432685,-0.000257449871484,1.29513036626e-05,1793239000189354752
+56,0.933333333,BASELINE,766,745,715.508454468,679.491545532,662,636,879.508454468,787,804,652,631,653,0.400986350707,-0.00535685210254,0.0698445625203,0.999999943747,0.000216570524282,-0.000255787507414,1.32503394257e-05,1793239000206021376
+57,0.950000000,BASELINE,766,745,715,679.931472157,662,636,879.068527843,787,804,652,631.068527843,653,0.400988174292,-0.00535718585771,0.0698454193731,0.999999944053,0.000217300230386,-0.000253948942397,1.35683202228e-05,1793239000222688000
+58,0.966666667,BASELINE,766,745,715,679.340881868,662,636,879.659118132,787,804,652,631.659118132,653,0.400988142479,-0.00535716789412,0.0698454181084,0.999999944458,0.000215347407415,-0.000254035517312,1.32617861337e-05,1793239000239354624
+59,0.983333333,BASELINE,766,745,715,679,662,636,879.755718484,787,803.755718484,652,632,653,0.40098830985,-0.00535740314691,0.0698453844023,0.999999944626,0.000214677073811,-0.000253940965091,1.32270653165e-05,1793239000256021504
+60,1.000000000,BASELINE,766,745,715,679,662,636,879.17796339,787,803.17796339,652,632,653,0.400988749134,-0.00535798407042,0.0698453064099,0.999999944476,0.000215757491784,-0.00025359915261,1.35634021834e-05,1793239000272688128
+61,1.016666667,BASELINE,766,745,715,679.397880731,662,636,879.397880731,787,803,652,631.602119269,653,0.4009883375,-0.00535773495844,0.0698449329937,0.999999943995,0.000217291979468,-0.000254175741009,1.37102074875e-05,1793239000289354752
+62,1.033333333,BASELINE,766,745,715,679.972874166,662,636,879.972874166,787,803,652,631.027125834,653,0.400987547088,-0.00535711636428,0.0698444280726,0.999999943365,0.000219028591764,-0.000255161146572,1.37726446548e-05,1793239000306021632
+63,1.050000000,BASELINE,766,745,715,680,662,636,880,787,803,652,631.561475146,653,0.400988045742,-0.00535880917033,0.0698450454577,0.999999944584,0.000214699412449,-0.000254065667121,1.36557371602e-05,1793239000322688000
+64,1.066666667,BASELINE,766,745,715,679.851727134,662,636,879.851727134,787,803,652,632,653,0.400988399977,-0.00536015251272,0.0698454469404,0.99999994553,0.000211183032706,-0.000253294536439,1.35263012103e-05,1793239000339354624
+65,1.083333333,BASELINE,766,745,715,679.272134906,662,636,879.272134906,787,803,652,632,653,0.400988148442,-0.00536014637561,0.0698450587296,0.999999945471,0.000210904691498,-0.000253766626589,1.33862510554e-05,1793239000356021504
+66,1.100000000,BASELINE,766,745,715,679.304798359,662,636,879.304798359,787,803.304798359,652,632,653,0.400987719342,-0.00535944507435,0.0698448721242,0.999999945124,0.000212044485506,-0.000254186921181,1.33228095641e-05,1793239000372688384
+67,1.116666667,BASELINE,766,745,715,679.879378108,662,636,879.879378108,787,803.879378108,652,632,653,0.400987133076,-0.00535812847334,0.0698448639626,0.999999944518,0.000214439491302,-0.000254561370759,1.33271755048e-05,1793239000389355264
+68,1.133333333,BASELINE,766,745,715.455848764,679.544151236,662,636,879.544151236,787,804,652,632,653,0.400986470635,-0.00535841283495,0.069844601846,0.999999944518,0.000213924132696,-0.000254986541137,1.3527835546e-05,1793239000406021888
+69,1.150000000,BASELINE,766,745,715.96639409,679,662,636,879,787,804,652,631.96639409,653,0.400985871023,-0.00535906905031,0.0698443126776,0.999999944667,0.000212740847071,-0.000255379385619,1.3765329312e-05,1793239000422688256
+70,1.166666667,BASELINE,766,745,715.375638928,679,662,636,879,787,804,652,631.375638928,653,0.400986648644,-0.00535883761895,0.0698446937458,0.99999994464,0.000213304825897,-0.000255012865816,1.37487691706e-05,1793239000439354624
+71,1.183333333,BASELINE,766,745,715,679,662,636,879,787.210555705,804,652,631.210555705,653,0.400987144395,-0.00535880546571,0.0698449364867,0.999999944763,0.00021299657583,-0.000254795195251,1.35976539057e-05,1793239000456021248
+72,1.200000000,BASELINE,766,745,715,679,662,636,879,787.788786777,804,652,631.788786777,653,0.400987147942,-0.00535912129472,0.0698449376789,0.999999945146,0.000211165227359,-0.000254837447283,1.32115765676e-05,1793239000472687872
+73,1.216666667,BASELINE,766,745,715,679,662,636,879,787.637042557,803.637042557,652,632,653,0.400987607568,-0.00535868967585,0.0698449935354,0.99999994493,0.000212270076973,-0.000254776015375,1.3089795574e-05,1793239000489354752
+74,1.233333333,BASELINE,766,745,715,679,662,636,879,787.065208627,803.065208627,652,632,653,0.400988329661,-0.00535782791206,0.0698450808504,0.999999944363,0.000215064664028,-0.000254654914933,1.31201131291e-05,1793239000506021376
+75,1.250000000,BASELINE,766,745,715,679.521124846,662,636,879,787.521124846,803,652,632,653,0.400987435631,-0.00535855964814,0.0698451698198,0.999999944501,0.000214313376109,-0.000254732551875,1.33855577895e-05,1793239000522688256
+76,1.266666667,BASELINE,766,745,715,679.892247677,662,636,879,787.892247677,803,652,632,653,0.400986290818,-0.00535905460619,0.0698450078252,0.999999944517,0.000213796002863,-0.000255094424437,1.35797006801e-05,1793239000539355136
+77,1.283333333,BASELINE,766,745,715,679.312507187,662,636,879,787.312507187,803,652,632,653,0.400984958662,-0.00535761399369,0.0698437455992,0.999999943599,0.000216302400719,-0.000256589288539,1.3328956055e-05,1793239000556021760
+78,1.300000000,BASELINE,766,745.266298447,715.266298447,679,662,636,879,787,803.266298447,652,631.733701553,653,0.400984527712,-0.00535656154587,0.0698431859056,0.999999943139,0.000217683270669,-0.000257219227435,1.32288854683e-05,1793239000572688640
+79,1.316666667,BASELINE,766,745.844010804,715.844010804,679,662,636,879,787,803.844010804,652,631.155989196,653,0.400985150649,-0.0053559630245,0.0698434477656,0.999999943222,0.000217747929063,-0.000256837708056,1.33050156698e-05,1793239000589355520
+80,1.333333333,BASELINE,766,745.580136681,715.580136681,679.419863319,662,636,879,787,803.580136681,652,631,653,0.400985675468,-0.00535738626245,0.0698434745965,0.999999943827,0.000215196643372,-0.000256630463349,1.33265127823e-05,1793239000606021888
+81,1.350000000,BASELINE,766,745.004972045,715.004972045,679.995027955,662,636,879,787,803.004972045,652,631,653,0.400986163994,-0.00535955731963,0.0698434144936,0.999999944614,0.000211677758134,-0.000256487680266,1.33278019183e-05,1793239000622688000
+82,1.366666667,BASELINE,765.416272574,745,715,679.416272574,662,636,879.583727426,787,803.583727426,652,631,653,0.400986733544,-0.00535929218503,0.0698442954936,0.999999944757,0.000212312617196,-0.000255395911482,1.35113698796e-05,1793239000639354624
+83,1.383333333,BASELINE,765.169721743,745,715,678.830278257,662,636,879.830278257,787,803.830278257,652,631,653,0.400987003561,-0.0053588357986,0.0698448590996,0.999999944725,0.000213302291892,-0.000254690734435,1.36092286213e-05,1793239000656021760
+84,1.400000000,BASELINE,765.748905135,745,715,678.251094865,662,636,879.251094865,787,803.251094865,652,631,653,0.400986549231,-0.00535796925894,0.0698446371796,0.999999944287,0.000215060592633,-0.000254938191885,1.34964752497e-05,1793239000672688384
+85,1.416666667,BASELINE,766,745,715,678.653206902,661.673396549,636,879,787.326603451,803,652,631.326603451,653,0.400986414466,-0.00535803579445,0.0698444263857,0.999999944244,0.000215048812123,-0.000255114267612,1.35059294403e-05,1793239000689354752
+86,1.433333333,BASELINE,766,745,715,679.80633033,661.096834835,636,879,787.903165165,803,652,631.903165165,653,0.400986524273,-0.00535881643712,0.0698442241068,0.999999944505,0.000213682341489,-0.000255235713,1.36089123186e-05,1793239000706021632
+87,1.450000000,BASELINE,766,745,715,679.51221746,661.48778254,636,879,787.51221746,803,652,631.51221746,652.51221746,0.400987015222,-0.00535847429383,0.0698446294601,0.999999944821,0.000212910955436,-0.0002546532927,1.34022004683e-05,1793239000722688000
+88,1.466666667,BASELINE,766,745,715.073186298,679,662,636,879.073186298,787,803,652,631,652.073186298,0.400987415002,-0.00535786310156,0.069845044528,0.999999945053,0.000212485458307,-0.000254107123765,1.31635649078e-05,1793239000739354624
+89,1.483333333,BASELINE,766,745,715.652779916,679,662,636,879.652779916,787,803,652,631,652.652779916,0.400986651605,-0.00535695845607,0.0698446781262,0.999999944636,0.000213622151195,-0.000254794893227,1.31365907652e-05,1793239000756021504
+90,1.500000000,BASELINE,766,745.231835585,715.768164415,679.231835585,662,636,879.768164415,787.231835585,803,652,631,653,0.400986731771,-0.00535677161299,0.0698447163504,0.999999944462,0.000214520539788,-0.000254724735014,1.31455197114e-05,1793239000772688128
+91,1.516666667,BASELINE,766,745.81008738,715.18991262,679.81008738,662,636,879.18991262,787.81008738,803,652,631,653,0.400988072417,-0.00535765733352,0.0698453591799,0.99999994465,0.000215062846313,-0.000253522056755,1.32080962141e-05,1793239000789355008
+92,1.533333333,BASELINE,766,745.614643913,715,679.614643913,662,636,879,788,803.385356087,652.385356087,631,653,0.400988718958,-0.00535854426392,0.0698459735081,0.999999944848,0.000215157893895,-0.000252646512103,1.34536620724e-05,1793239000806021888
+93,1.550000000,BASELINE,766,745.040834,715,679.040834,662,636,879,788,803.959166,652.959166,631,653,0.400989026055,-0.00535943178607,0.0698465738981,0.99999994505,0.000215034214838,-0.000251930948158,1.37887167118e-05,1793239000822688768
+94,1.566666667,BASELINE,766,745.532544937,715,679,662,636,879,787.467455063,804,653,631.532544937,653,0.400989283834,-0.00535955026606,0.0698464159639,0.999999945254,0.000213879768244,-0.000252119977268,1.35572670048e-05,1793239000839355392
+95,1.583333333,BASELINE,766,746,715,679,662,636,879,787.110207828,803.889792172,652.889792172,631.889792172,653,0.400989239527,-0.00535925368984,0.0698461144154,0.99999994532,0.000213232288019,-0.000252418031649,1.32825195764e-05,1793239000856021760
+96,1.600000000,BASELINE,766,746,715,679,662,636,879,787.706928188,803.293071812,652.293071812,631.293071812,653,0.400987878335,-0.00535738495111,0.0698454353597,0.999999944789,0.000215171434296,-0.000252891429154,1.30082358565e-05,1793239000872688128
+97,1.616666667,BASELINE,766,745.70715732,715,679,662,636,879,787.70715732,803,652,631.29284268,653,0.400987500987,-0.00535714549251,0.0698453660187,0.999999944749,0.000215266834119,-0.000252970261074,1.30049262484e-05,1793239000889354496
+98,1.633333333,BASELINE,766,745.131672339,715,679,662,636,879,787.131672339,803,652,631.868327661,653,0.400988073214,-0.00535847856262,0.0698458851547,0.999999945183,0.000213582709276,-0.000252668271,1.32631521211e-05,1793239000906021376
+99,1.650000000,BASELINE,766,745,715,679,662,636,879,787.443708909,803,652,632,653,0.400988329829,-0.0053585274692,0.0698462602315,0.999999945142,0.000214080084014,-0.000252405875527,1.3274970028e-05,1793239000922688000
+100,1.666666667,BASELINE,766,745,715,679,662,636,879,788,803,652,631.980421794,653,0.400988502783,-0.00535821948472,0.0698465839673,0.999999944966,0.000215199639297,-0.000252153582119,1.32205058101e-05,1793239000939354880
+101,1.683333333,BASELINE,766,745,715,679,662,636,879,788,803,652,631.389409126,653,0.400988966889,-0.00535861492445,0.0698466566721,0.999999944956,0.000215588445025,-0.00025185327437,1.33651951848e-05,1793239000956021504
+102,1.700000000,BASELINE,766,745.197214774,715,679.197214774,662,636,879,787.802785226,803.197214774,652,631.197214774,653,0.4009886951,-0.00535892649513,0.0698463192889,0.999999944948,0.000215054565981,-0.00025233946592,1.3420547866e-05,1793239000972688384
+103,1.716666667,BASELINE,766,745.775361441,715,679.775361441,662,636,879,787.224638559,803.775361441,652,631.775361441,653,0.400987001889,-0.00535907606774,0.069845189797,0.999999944937,0.000212738467176,-0.000254344826993,1.33033414712e-05,1793239000989354752
+104,1.733333333,BASELINE,766,745.648451023,715.351548977,679.648451023,662,636,879.351548977,787,803.648451023,652,631.648451023,653,0.40098676148,-0.00535911684,0.0698447093632,0.999999944733,0.000213055548427,-0.000254885770213,1.3222086596e-05,1793239001006021376
+105,1.750000000,BASELINE,766,745.073508371,715.926491629,679.073508371,662,636,879.926491629,787,803.073508371,652,631.073508371,653,0.400987444261,-0.00535908847451,0.0698446413766,0.999999944407,0.000215045897787,-0.000254496141481,1.31636772945e-05,1793239001022688000
+106,1.766666667,BASELINE,766,745,715.508344505,679.491655495,662,636,879.508344505,787,803,652,631.491655495,653,0.40098701054,-0.00535765671824,0.0698441579076,0.999999943513,0.000218254074504,-0.000255264667338,1.33590264038e-05,1793239001039354624
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,787,803,652,632,653,0.400986118594,-0.00535850592112,0.0698444718826,0.99999994381,0.000216714012711,-0.000255397460884,1.37077838061e-05,1793239001081916928
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.576985201,745.576985201,715.576985201,679,662,636,880,787.576985201,803.576985201,652,632,653,0.400984672583,-0.00535908187225,0.0698435498768,0.999999943935,0.000214289415258,-0.000256971423178,1.32924996986e-05,1793239001098583552
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.847012792,745.847012792,715.847012792,679.152987208,662,636,880,787.847012792,803.847012792,652,632,653,0.400984519372,-0.00535903159214,0.069843578389,0.999999944143,0.000213184988458,-0.000257092724723,1.29857294166e-05,1793239001115249920
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.273711861,745.273711861,715.273711861,679.726288139,662,636,880,787.273711861,803.273711861,652,632,653,0.400987917971,-0.00535726081807,0.0698462183332,0.99999994459,0.000215707569214,-0.000253223018115,1.29770875622e-05,1793239001131916288
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.691969208,662,636,879.691969208,787,803.308030792,652,631.691969208,653,0.400989333931,-0.00535752517188,0.0698471112139,0.999999944976,0.000215835786749,-0.000251576264938,1.3118829515e-05,1793239001148582656
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.102514029,662,636,879.102514029,787,803.897485971,652,631.102514029,653,0.400988938504,-0.00535964886788,0.0698464079349,0.999999945318,0.000213776455939,-0.000251960456057,1.33979657547e-05,1793239001165248768
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.47876824,715,679,662,636,879,787,803.52123176,652,631.47876824,653,0.400988370212,-0.0053593663,0.0698459426119,0.999999944919,0.000214900380897,-0.00025257723139,1.35654781737e-05,1793239001181915136
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.941994266,715.058005734,679.058005734,662.058005734,636,879,787,803,652,631.941994266,653,0.400988002003,-0.00535876140756,0.0698456425782,0.999999944514,0.000216122590952,-0.0002531321637,1.36515492548e-05,1793239001198582016
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.365653423,715.634346577,679.634346577,662.634346577,636,879,787,803,652,631.365653423,653,0.400989746922,-0.0053598030299,0.0698463719034,0.999999945463,0.000212234569696,-0.000252696922146,1.32198586699e-05,1793239001215249152
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715.78578774,680,662.78578774,636,879.21421226,787.21421226,803.21421226,652,631.21421226,653,0.400996891629,-0.00536039478178,0.0698498524159,0.999999947148,0.00021041100565,-0.000247501284454,1.32099304466e-05,1793239001231916288
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715.199804671,680,662.199804671,636,879.800195329,787.800195329,803.800195329,652,631.800195329,653,0.401013407806,-0.00536020577194,0.0698581076838,0.999999950007,0.000212170359836,-0.000234043858543,1.3931981543e-05,1793239001248582912
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.382180697,745,715.382180697,679.617819303,662,636.382180697,879.617819303,787.617819303,804,652.382180697,631.617819303,653,0.401046273948,-0.00535908372388,0.0698713286849,0.999999954899,0.000213613844686,-0.00021064660694,1.4083740157e-05,1793239001265249280
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.962097747,745,715.962097747,679.037902253,662,636.962097747,879.037902253,787.037902253,804,652.962097747,631.037902253,653,0.401087599395,-0.00535747893144,0.0698871189059,0.999999960232,0.000214893902026,-0.000182106590595,1.39404353743e-05,1793239001281915648
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.46030385,745,715.46030385,679.53969615,662,636.46030385,879.53969615,787,804,652.46030385,631.53969615,653,0.401148584022,-0.00536179671692,0.0699051501796,0.99999996532,0.000212558055033,-0.00015476630872,1.50681957958e-05,1793239001298582272
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.883142817,662,636,879.883142817,787.116857183,804,652,632,653,0.401212331278,-0.00536564526111,0.069921253976,0.999999969155,0.000210534838903,-0.000130822841687,1.58356085301e-05,1793239001315248896
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.307063205,662,636,879.307063205,787.692936795,804,652,632,653,0.401281532662,-0.00536602225156,0.0699291673777,0.999999970498,0.000210733853013,-0.000119898394188,1.48376437381e-05,1793239001331915520
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.273356936,715,679,662,636,879,788,803.726643064,652,632,653,0.401356480795,-0.00536700938182,0.0699326367437,0.999999971386,0.0002097333212,-0.000114271689441,1.3459351319e-05,1793239001348581888
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.858731447,715,679,662,636,879,788,803.141268553,652,632,653,0.401437988433,-0.00536869294342,0.0699310335573,0.999999971855,0.00020736359271,-0.000114691983381,1.16469419205e-05,1793239001365248512
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.560233152,715,679,662,636,879,787.560233152,803,652,632,653,0.401535946071,-0.00537079449355,0.0699270603916,0.999999971329,0.000204906106793,-0.000123588489531,9.00620669975e-06,1793239001381915392
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.019411207,787.019411207,803.019411207,652.019411207,632,653,0.401640413813,-0.00537298195672,0.0699226463623,0.999999970441,0.000202486063454,-0.000134464755014,6.10400496706e-06,1793239001398582272
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.598744712,787.598744712,803.598744712,652.598744712,632,653,0.401781729123,-0.00537381231703,0.069927261446,0.999999971831,0.000201951288837,-0.000124673530169,3.26009930992e-06,1793239001415248896
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.823421884,787.823421884,804,652.823421884,632,653,0.401930499483,-0.00537515987912,0.0699308570924,0.999999973066,0.000200315475381,-0.000117222123733,1.0136137398e-07,1793239001431915776
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.248968664,787.248968664,804,652.248968664,632,653,0.402096067935,-0.0053776728274,0.0699321556885,0.999999974128,0.00019619874337,-0.000115042920638,-3.76677283849e-06,1793239001448582144
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.333491368,787.333491368,803.666508632,652.333491368,632,652.666508632,0.402280409639,-0.00538019985852,0.0699347643218,0.999999975569,0.000191855138187,-0.000109499090774,-7.94339682008e-06,1793239001465248512
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.92207601,787.92207601,803.07792399,652.92207601,632,652.07792399,0.402479111344,-0.00538273766211,0.069938375025,0.999999977237,0.000187337993371,-0.000101381599891,-1.23559903313e-05,1793239001481915136
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.502825202,745.502825202,715,679,662,636,879.497174798,787.497174798,803,652.497174798,631.497174798,652,0.402714669583,-0.00538839432033,0.0699400047863,0.999999979225,0.000178018436759,-9.77751495121e-05,-1.73048727317e-05,1793239001498581760
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.918139375,745.918139375,715.081860625,679,662,636,879.081860625,787.081860625,803,652,631,652.081860625,0.402960867166,-0.00539422537826,0.0699419281633,0.999999981216,0.000168289082587,-9.35265445921e-05,-2.23671682882e-05,1793239001515248640
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.342230696,745.342230696,715.657769304,679,662,636,879.657769304,787.657769304,803,652,631,652.657769304,0.403237332997,-0.00539823669343,0.0699474479159,0.999999983436,0.000160509249272,-8.12479725679e-05,-2.76200492492e-05,1793239001531915776
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715.762134475,679.237865525,662,636,879.762134475,787.762134475,803.237865525,652,631,653,0.403528318679,-0.00540252825266,0.0699549811695,0.999999985629,0.00015240655804,-6.66840419508e-05,-3.26718146356e-05,1793239001548582656
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715.175905466,679.824094534,662,636,879.175905466,787.175905466,803.824094534,652,631,653,0.40384056924,-0.00540723024016,0.0699654632749,0.999999987766,0.000143831029067,-4.87731138864e-05,-3.74290379801e-05,1793239001565249536
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.405631358,745,715,680,662,636,879.405631358,787.405631358,804,652,631.405631358,653,0.404177067649,-0.00541282806948,0.0699692351828,0.999999993894,9.21706881831e-05,-4.51294835914e-05,-4.09860294323e-05,1793239001581916160
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.985156631,745,715,680,662,636,879.985156631,787.985156631,804,652,631.985156631,653,0.404523961087,-0.00541880994553,0.0699701304329,0.999999997655,2.20399146891e-05,-4.76022353803e-05,-4.40284819188e-05,1793239001598582528
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.437247161,745.562752839,715,680,662,636,880,788,804,652,632,653,0.404924743279,-0.00542006080944,0.0699727529292,0.999999995845,7.31203315629e-05,-4.05529572217e-05,-3.6327152865e-05,1793239001615248896
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+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.288379969,715.711620031,679.288379969,662,636,879.288379969,787.288379969,804,652,631.288379969,653,0.405750784507,-0.005429976883,0.0699747620485,0.999999993986,9.74358975769e-05,-3.53275021944e-05,-3.58505886891e-05,1793239001648582144
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.293644999,715.706355001,679.293644999,662,636,879.293644999,787.293644999,804,652,631.293644999,653,0.406181545698,-0.00543768671946,0.0699703438342,0.999999995028,8.18995119211e-05,-4.17846515326e-05,-3.86173953141e-05,1793239001665248768
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+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,880.992493401,788,804,652,631,653,0.415531775109,-0.00548753524061,0.0699692312726,0.999999998131,1.50421925942e-05,-3.92666526481e-05,-4.43746842099e-05,1793239001915248384
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,880.416053254,788,804,652,631,653,0.416299250453,-0.00549054515433,0.0699375283175,0.999999995437,6.93518279727e-06,-8.27258332179e-05,-4.72591883655e-05,1793239001931915776
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679.840300789,663,636.159699211,880,787.840300789,804,652,631.159699211,653,0.417090980156,-0.00549627884594,0.0699236501909,0.999999993739,-4.05168785768e-06,-0.00010050613098,-4.9031901752e-05,1793239001948582912
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679.26633225,663,636.73366775,880,787.26633225,804,652,631.73366775,653,0.417945627074,-0.00550907818058,0.0699560107401,0.999999997263,-2.25090897678e-05,-5.16738643817e-05,-4.79205631601e-05,1793239001965249280
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.682733095,636.682733095,880,787.317266905,804,652,632,653,0.418790300837,-0.00551898786431,0.0699855429035,0.999999998177,-3.67162970981e-05,-9.3932827912e-06,-4.70050231196e-05,1793239001981915648
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.090796388,636.090796388,880,787.909203612,804,652,632,653,0.419626340423,-0.00552639586872,0.070012626426,0.999999997444,-4.72439513793e-05,2.72152579414e-05,-4.62589932814e-05,1793239001998582272
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.490505542,715,679.490505542,662.490505542,636,880,788,804,652,631.509494458,653,0.420492959438,-0.00552931830234,0.070032579205,0.99999999562,-5.09421950813e-05,6.32244330728e-05,-4.65501926638e-05,1793239002015248896
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.930720977,715,679.930720977,662.930720977,636,880,788,803.930720977,652,631,652.930720977,0.42136031831,-0.0055303589209,0.0700471562787,0.99999999336,-5.25453589745e-05,9.1075356685e-05,-4.71710668652e-05,1793239002031915264
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+166,2.766666667,POSE1_TO_POSE2_PRESS,765.781478762,745.218521238,715.218521238,679,662.218521238,636,880,788,803.218521238,651.781478762,631,652,0.423005650591,-0.00551674396167,0.069992657844,0.99999999778,-4.1441842144e-05,-8.38039717285e-06,-5.149380409e-05,1793239002065248512
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.205856783,745.794143217,715.794143217,679,662.794143217,636,880,788,803.794143217,651.205856783,631,652,0.423786947464,-0.00550970930918,0.0699139669292,0.999999988305,-3.20431051147e-05,-0.000138734588474,-5.58192472588e-05,1793239002081915136
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.619595665,715.619595665,679.380404335,662.619595665,636,880,787.619595665,804,651.380404335,631,652.380404335,0.424621912523,-0.00551273950505,0.0698812794465,0.999999981065,-4.11954362027e-05,-0.000180541239257,-5.98179957403e-05,1793239002098582016
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.02741153,715.02741153,679.97258847,662.02741153,636,880,787.02741153,804,651.97258847,631,652.97258847,0.425486755842,-0.00552137303282,0.0698742031323,0.999999981161,-6.06755722826e-05,-0.000173051440689,-6.36348659011e-05,1793239002115248896
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+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.699326713,715,680,663,636,880.699326713,787.300673287,803.300673287,652,631,652.300673287,0.428237202603,-0.00553366144656,0.0700310988234,0.999999995206,-6.85686651034e-05,4.61535745942e-05,-5.24903158709e-05,1793239002165249280
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+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.130595496,715,680,663,636,880.130595496,787.869404504,803.869404504,652,631.869404504,652.869404504,0.430015256291,-0.00553447366993,0.0700570167052,0.999999991797,-6.52428435473e-05,9.65019956789e-05,-5.32530330001e-05,1793239002198582016
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.549285807,636,880,788,803.549285807,652,631.549285807,653,0.430819357246,-0.00553364619436,0.0700174416625,0.999999995879,-6.54957604976e-05,3.03025898381e-05,-5.50763637729e-05,1793239002215248640
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680.029715721,662.029715721,636,880.029715721,788,803.029715721,652,631,653,0.431600638213,-0.00553256725174,0.0699653710018,0.999999994419,-6.61984339543e-05,-5.93151070273e-05,-5.71031706655e-05,1793239002231915008
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680.607042432,662.607042432,636,880.607042432,788,803.607042432,652,631,653,0.432381279693,-0.00552986686145,0.0699215068673,0.999999987518,-6.41028486652e-05,-0.000131422323259,-5.98512457903e-05,1793239002248582144
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.183659712,745,715,681,663,636,880.816340288,788,804,652,631,653,0.433199279843,-0.00552958090153,0.0699089875283,0.99999998514,-6.54938841451e-05,-0.000147178302764,-6.13894093201e-05,1793239002265249280
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+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,681,663.973022296,636,880,787.486511148,804,651.513488852,632,653,0.436572762241,-0.00554957170266,0.0700378051107,0.999999991662,-8.62852915129e-05,7.87039607615e-05,-5.51118557048e-05,1793239002331915520
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715.091751489,681,663.091751489,636,880.091751489,787.091751489,804,651.908248511,632,653,0.43733808324,-0.00555006220529,0.0700240644886,0.999999992922,-8.60418637608e-05,5.99028031522e-05,-5.62504289465e-05,1793239002348581888
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+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.570670888,715,681,663,635,880.429329112,787,804,651.570670888,632,653,0.441363190243,-0.00554445363209,0.0698641461698,0.999999977443,-8.29280007002e-05,-0.000184434789114,-6.49712049383e-05,1793239002448582656
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+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715,681.719073085,662.280926915,635,880.719073085,787,804.719073085,652,632,653,0.442640181631,-0.00555264058662,0.0699095563618,0.999999985583,-9.34436178149e-05,-0.000127096033947,-6.28417714716e-05,1793239002481915392
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,681.696785355,662,635,881,787,804.696785355,652,631.696785355,653,0.443208448026,-0.00555645120502,0.0698957865446,0.999999981987,-9.21677331558e-05,-0.000153872899116,-6.20864041222e-05,1793239002498582016
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715,681.103210756,662,635,881,787,804.103210756,652,631.103210756,653,0.443738072251,-0.00555923400364,0.069855360779,0.999999970315,-8.48518260125e-05,-0.000219947136496,-6.15973738572e-05,1793239002515248896
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.405466087,745.594533913,715,680,662,635.594533913,880,788,804.594533913,652,632,653,0.410779870438,-0.00536266309347,0.0698834894149,0.999999959113,0.000209809230131,-0.00019173717113,3.14672629866e-05,1793239005201673984
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.998990494,745,715,680,662,635.001009506,879.998990494,788,804.001009506,652,632,653,0.41008839714,-0.00535866554525,0.069871614493,0.99999995328,0.00021473111406,-0.000215207385526,3.18866185601e-05,1793239005218340608
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.047707451,745.047707451,715.952292549,680,662,636,880,787,803.047707451,652.952292549,632,653,0.400988354956,-0.00535685175049,0.0698346655582,0.999999939739,0.000215214732422,-0.000272062597124,1.36761849421e-05,1793239005851673344
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.62415968,745.62415968,715.37584032,680,662,636,880,787,803.62415968,652.37584032,632,653,0.400987767383,-0.00535806123024,0.0698357297834,0.999999940198,0.000214976200678,-0.000270547678784,1.38945856483e-05,1793239005868341248
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.799002343,746,715,679.799002343,662.200997657,636,879.799002343,787.200997657,804,652,631.799002343,653,0.400987446296,-0.00535839640363,0.0698366303684,0.999999940573,0.000215197498914,-0.000268977212147,1.39579203099e-05,1793239005885008128
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.221441711,746,715,679.221441711,662.778558289,636,879.221441711,787.778558289,804,652,631.221441711,653,0.400987624464,-0.00535709359068,0.0698372243784,0.999999940792,0.000216280274592,-0.000267302677564,1.37307434588e-05,1793239005901673984
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,715,679,662.637963146,636,879,787.637963146,803.637963146,652,631.362036854,653,0.400987364812,-0.00535757129286,0.0698373901199,0.999999940979,0.000216065771672,-0.000266770792934,1.37957729076e-05,1793239005918340608
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,715,679,662.050804716,636,879,787.050804716,803.050804716,652,631.949195284,653,0.400986832916,-0.00535915615413,0.0698372895557,0.999999941148,0.000215044595583,-0.000266949430386,1.404250194e-05,1793239005935007232
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745.469550553,715,679.530449447,662,636,879,787.530449447,803,652,632,653,0.400987136421,-0.00535925825145,0.0698382007037,0.999999941589,0.000214101607015,-0.00026606215898,1.38811483693e-05,1793239005951673856
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.734592272,745.734592272,715.734592272,680,662,636,879.734592272,788,804,652.265407728,631,653,0.400986182087,-0.00536024603976,0.0698394545701,0.999999941798,0.000214302972393,-0.000265088152286,1.43384119305e-05,1793239006001673472
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.148212232,745.148212232,715.148212232,680,662,636,879.148212232,788,804,652.851787768,631,653,0.400986840233,-0.00535752867095,0.0698402531624,0.999999941709,0.000217172211047,-0.000263097165375,1.40674375285e-05,1793239006018340096
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.432746183,715,679.567253817,662,636,879,788,804,652.567253817,631.432746183,653,0.400987037164,-0.00535788551426,0.0698402646729,0.999999942318,0.000215219346102,-0.000262405910178,1.37239256529e-05,1793239006035006976
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.988169981,715,679.011830019,662,636,879,787.988169981,804,652.011830019,632,653,0.400987063009,-0.00535923663928,0.0698400056347,0.999999943121,0.000211741628654,-0.000262193174373,1.33637398344e-05,1793239006051673600
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.411028855,715,679.588971145,662,636,879,787.411028855,804,652.588971145,632,653,0.400986368386,-0.00535840946679,0.0698395404074,0.999999942348,0.000213340975138,-0.000263838329841,1.33792564625e-05,1793239006068340480
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.165711299,745,715.165711299,680,662,636,879,787,803.834288701,652.834288701,632,653,0.400986302886,-0.00535798584911,0.0698396943261,0.999999942051,0.000214402625468,-0.000264099381191,1.34586586879e-05,1793239006085007616
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.741459254,745,715.741459254,680,662,636,879,787,803.258540746,652.258540746,632,653,0.400987794089,-0.00535856078899,0.0698413802621,0.999999942936,0.00021413379834,-0.000260935600061,1.36961396719e-05,1793239006101674240
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.675357591,745.324642409,715.675357591,679.675357591,662,636,879.324642409,787.324642409,803,652,632,653,0.400988142524,-0.00535817799059,0.0698415564317,0.99999994283,0.00021579930557,-0.000259969572845,1.3669604182e-05,1793239006118340352
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.086114382,745.913885618,715.086114382,679.086114382,662,636,879.913885618,787.913885618,803,652,632,653,0.400987559541,-0.0053570145846,0.0698405020616,0.999999941913,0.000219041398028,-0.00026079483192,1.34278812352e-05,1793239006135006720
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,715.494565024,679,662,636,880,788,803,652,632,653,0.400986563858,-0.00535873804589,0.0698406306184,0.999999942072,0.000217395982542,-0.000261547926829,1.37050732736e-05,1793239006151673600
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745.926524014,715.926524014,679.073475986,662,636,879.926524014,787.926524014,803,652,631.926524014,653,0.400985773766,-0.00536060004333,0.0698410171861,0.999999942439,0.000215149242603,-0.000261985298011,1.39958187961e-05,1793239006168340480
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745.349686907,715.349686907,679.650313093,662,636,879.349686907,787.349686907,803,652,631.349686907,653,0.400986876017,-0.00536002611646,0.0698417842669,0.999999943007,0.000214513856081,-0.000260344359791,1.37709619814e-05,1793239006185007360
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745.226033118,715,679.773966882,662,636,879,787,803.226033118,652,631.226033118,653,0.40098684978,-0.00535920003298,0.0698418917033,0.999999942899,0.000215105344731,-0.000260272060253,1.3808385477e-05,1793239006201674240
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745.800033538,715,679.199966462,662,636,879,787,803.800033538,652,631.800033538,653,0.400985086288,-0.00535798576622,0.0698409836483,0.999999941744,0.00021758554962,-0.000262614605568,1.42495770788e-05,1793239006218340608
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745.614765389,715,679.385234611,662,636,879,787,803.614765389,652,631.614765389,653,0.40098557191,-0.00535770423996,0.0698413319467,0.999999941899,0.000217478725859,-0.000262131101011,1.38653427285e-05,1793239006235008000
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745.023576246,715,679.976423754,662,636,879,787,803.023576246,652,631.023576246,653,0.400987259956,-0.00535792137647,0.069842351918,0.999999942754,0.000215988821972,-0.000260136730555,1.30398182604e-05,1793239006251675904
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.444591478,662,636,879,787,803,652,631,653,0.400986492029,-0.00535849513268,0.0698416776392,0.99999994254,0.000215859248336,-0.000261047353414,1.33608586744e-05,1793239006268341248
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c5c440faa2e215d75a0ee5bac504e480f6354886
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+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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+29,0.483333333,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+31,0.516666667,pose1_baseline,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065997,1.05970045625
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+402,6.700000000,pose2_to_pose3_retreat,0.575665479745,9.0751330285e-05,1.06003225741,0.546235931004,0.00876248971187,1.05970038669
+403,6.716666667,pose2_to_pose3_retreat,0.575665464939,9.07533920084e-05,1.06003225662,0.546235916152,0.00876249161581,1.05970038587
+404,6.733333333,pose2_to_pose3_retreat,0.575665348027,9.07696718382e-05,1.0600322504,0.546235798876,0.00876250664977,1.05970037936
+405,6.750000000,pose2_to_pose3_retreat,0.575665215737,9.07877081842e-05,1.06003225,0.546235666237,0.00876252348963,1.05970037861
+406,6.766666667,pose2_to_pose3_retreat,0.575665165086,9.07935294181e-05,1.06003226859,0.546235615632,0.00876252945347,1.05970039694
+407,6.783333333,pose2_to_pose3_retreat,0.575665145147,9.07958210897e-05,1.06003227591,0.546235595709,0.00876253180128,1.05970040416
+408,6.800000000,pose2_to_pose3_retreat,0.575665091172,9.08020243783e-05,1.06003229571,0.546235541783,0.00876253815653,1.0597004237
+409,6.816666667,pose2_to_pose3_retreat,0.575664997521,9.08127876561e-05,1.06003233008,0.546235448215,0.00876254918348,1.0597004576
+410,6.833333333,pose2_to_pose3_retreat,0.575664865651,9.08279435076e-05,1.06003237847,0.546235316461,0.0087625647106,1.05970050533
+411,6.850000000,pose2_to_pose3_retreat,0.575664613359,9.08569393916e-05,1.06003247106,0.546235064392,0.00876259441681,1.05970059666
+412,6.866666667,pose2_to_pose3_retreat,0.575664514846,9.08723225316e-05,1.06003247549,0.546234965667,0.00876260911888,1.05970060218
+413,6.883333333,pose2_to_pose3_retreat,0.575664375384,9.09067856256e-05,1.06003238272,0.546234824966,0.0087626396241,1.05970051581
+414,6.900000000,pose2_to_pose3_retreat,0.57566433935,9.09156898805e-05,1.06003235875,0.546234788613,0.00876264750576,1.0597004935
+415,6.916666667,pose2_to_pose3_retreat,0.575664305779,9.09239857285e-05,1.06003233642,0.546234754744,0.00876265484888,1.05970047271
+416,6.933333333,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266065998,1.05970045625
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..faac1f65ee3dcc695944967a7c641a233902fffe
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:032ece669116207f6fef22efcd507ad33a1b680deea4bb4f5dc87fa4ae709ef0
+size 26775810
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fa6626981440a29d1bdc37c141c0e6143c0f1341
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_05/franka_data.csv
@@ -0,0 +1,422 @@
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+21,0.350000000,BASELINE,765.201512225,745.201512225,715.201512225,679.798487775,662,636,879.201512225,787,804,652,632,653,0.400984728365,-0.00536075596896,0.0698429665814,0.999999943527,0.000213457087723,-0.000259211262215,1.38164648155e-05,1793239006775207680
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+27,0.450000000,BASELINE,766,745,715,680,662.314782068,636,880,788,803,652.685217932,631.314782068,653,0.400984336568,-0.00535949486129,0.0698412666653,0.999999942768,0.000215917019626,-0.000260106512436,1.37535221206e-05,1793239006875207424
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+47,0.783333333,BASELINE,766.283080839,745.716919161,715.716919161,679,662.716919161,636,879,787.716919161,803.716919161,652.716919161,632,653,0.400985884632,-0.00535941483513,0.0698426619801,0.999999943242,0.00021638067248,-0.000257912999832,1.32868881809e-05,1793239007208541184
+48,0.800000000,BASELINE,766.858604785,745.141395215,715.141395215,679,662.141395215,636,879,787.141395215,803.141395215,652.141395215,632,653,0.400987546468,-0.00535747896146,0.0698437033285,0.999999942911,0.000220320661723,-0.000255858020969,1.31511622592e-05,1793239007225207808
+49,0.816666667,BASELINE,766.556090478,745.443909522,715.443909522,679.443909522,662.443909522,636,879,787.443909522,803.443909522,652,632,653,0.400986968502,-0.00535845696915,0.0698433629156,0.99999994314,0.000218015139891,-0.000256920526469,1.34285297311e-05,1793239007241874176
+50,0.833333333,BASELINE,766,746,715.96808731,680,662.96808731,636,879.03191269,788,804,652.03191269,631.96808731,653,0.400985737609,-0.0053602435857,0.0698426343942,0.999999943502,0.000214033788666,-0.000258834748917,1.38102312294e-05,1793239007258540544
+51,0.850000000,BASELINE,766,746,715.388444856,680,662.388444856,636,879.611555144,788,804,652.611555144,631.388444856,653,0.400985820973,-0.00535961979804,0.0698429687915,0.999999943268,0.000216202522946,-0.000257940288302,1.36734272668e-05,1793239007275207424
+52,0.866666667,BASELINE,766.190976052,746,715,680,662,636,880,788,804,653,631,653,0.400986237779,-0.00535899680119,0.0698434718827,0.999999943165,0.000217677206842,-0.00025710460582,1.35257254751e-05,1793239007291874304
+53,0.883333333,BASELINE,766.769946823,746,715,680,662,636,880,788,804,653,631,653,0.400987332019,-0.00535837541102,0.0698443176992,0.999999943338,0.00021774182961,-0.000256388339441,1.33558832183e-05,1793239007308541184
+54,0.900000000,BASELINE,766.654031408,745.654031408,715.345968592,680,662,636,879.654031408,788,803.654031408,652.654031408,631,653,0.400987186215,-0.00535912930448,0.0698441572356,0.999999943567,0.000216175470295,-0.000256826832573,1.321590295e-05,1793239007325207808
+55,0.916666667,BASELINE,766.079954038,745.079954038,715.920045962,680,662,636,879.079954038,788,803.079954038,652.079954038,631,653,0.400986222809,-0.0053607899689,0.0698433332975,0.999999943827,0.000213533749405,-0.000258026697675,1.30956117056e-05,1793239007341874176
+56,0.933333333,BASELINE,766,745,716,680,662,636,879,787.492666287,803.507333713,652,631.507333713,653,0.400985669856,-0.00535961174821,0.0698430543218,0.99999994341,0.000215929878468,-0.000257643431675,1.32031441747e-05,1793239007358540800
+57,0.950000000,BASELINE,766,745.094544561,715.905455439,680,662,636,879,787.094544561,803.905455439,652,632,653,0.400985404805,-0.00535835347205,0.0698430171022,0.999999943088,0.000218216526152,-0.000256957003755,1.33337597241e-05,1793239007375207424
+58,0.966666667,BASELINE,766,745.670479807,715.329520193,680,662,636,879,787.670479807,803.329520193,652,632,653,0.400986267497,-0.0053590264923,0.0698437618415,0.999999943851,0.000215795123491,-0.000256031289178,1.33942065297e-05,1793239007391874304
+59,0.983333333,BASELINE,766,745.752806913,715,679.752806913,662,636,879,788,803,652,631.752806913,653,0.400986405324,-0.00535956064588,0.0698441562498,0.999999944247,0.000214448626376,-0.000255614498979,1.33871127197e-05,1793239007408540928
+60,1.000000000,BASELINE,766,745.175053121,715,679.175053121,662,636,879,788,803,652,631.175053121,653,0.400985573822,-0.00535990909911,0.0698440821754,0.999999944161,0.000214539553967,-0.000255878271376,1.32896997519e-05,1793239007425207552
+61,1.016666667,BASELINE,766,745,715,679,662,636,879,787.600735863,803,652,631,653,0.40098623003,-0.00536133277811,0.069844203646,0.999999944316,0.000213564152013,-0.000256081964267,1.34435737436e-05,1793239007441873920
+62,1.033333333,BASELINE,766,745,715,679,662,636,879,787.027912492,803,652,631,653,0.400987532942,-0.00536322385534,0.0698444101197,0.999999944573,0.000212125218972,-0.000256259540714,1.37066816241e-05,1793239007458540544
+63,1.050000000,BASELINE,766,745,715.566117743,679,662.566117743,636,879,787,803.566117743,652,631.566117743,653,0.400985755384,-0.0053601108553,0.0698434289701,0.99999994321,0.000216375697684,-0.000258034014197,1.33883123818e-05,1793239007475207424
+64,1.066666667,BASELINE,766,745,715.843528487,679.156471513,662.843528487,636,879,787,804,652,632,653,0.400984973695,-0.00535785802161,0.0698430536678,0.999999942542,0.000218874956479,-0.000258528759939,1.31218748272e-05,1793239007491874304
+65,1.083333333,BASELINE,766,745,715.265991371,679.734008629,662.265991371,636,879,787,804,652,632,653,0.400987296518,-0.0053586096816,0.0698444724106,0.999999944009,0.000215877422915,-0.000255359629476,1.30753388025e-05,1793239007508540672
+66,1.100000000,BASELINE,766,745.309972339,715,679.690027661,662,636,879,787.309972339,804,652,631.690027661,653,0.40098753776,-0.00535930320103,0.0698443885678,0.999999944432,0.00021428202015,-0.000255046061256,1.30869293064e-05,1793239007525207552
+67,1.116666667,BASELINE,766,745.884592679,715,679.115407321,662,636,879,787.884592679,804,652,631.115407321,653,0.400986001789,-0.00535994708121,0.0698430218481,0.999999943972,0.000213883727944,-0.000257170513439,1.31481470459e-05,1793239007541874176
+68,1.133333333,BASELINE,766,745.531405434,715,679.468594566,662,636,879,787.531405434,804,652,631.468594566,653,0.400987930211,-0.0053594014917,0.0698446021817,0.999999944048,0.000216302871614,-0.000254838349073,1.3212015557e-05,1793239007558540800
+69,1.150000000,BASELINE,766,745.054296488,715,679.945703512,662.054296488,636,879.054296488,787.054296488,804,652,631.945703512,653,0.400990302706,-0.00535878446319,0.0698466284229,0.999999944239,0.000218895106053,-0.000251854719621,1.32772267603e-05,1793239007575207424
+70,1.166666667,BASELINE,766,745.633638123,715,679.366361877,662.633638123,636,879.633638123,787.633638123,804,652,631.366361877,653,0.400988550159,-0.00536036728563,0.0698458046114,0.999999944409,0.000216314154763,-0.000253401969006,1.33489797694e-05,1793239007591874048
+71,1.183333333,BASELINE,766.212708583,745.787291417,715,679,663,636,879.787291417,787.787291417,804,652,631.212708583,653.212708583,0.400987122234,-0.00536146651442,0.0698447491633,0.999999944398,0.000214569327206,-0.000254920726846,1.33774416995e-05,1793239007608540672
+72,1.200000000,BASELINE,766.791312669,745.208687331,715,679,663,636,879.208687331,787.208687331,804,652,631.791312669,653.791312669,0.400986252714,-0.00536173387885,0.0698432952602,0.999999944089,0.000214262776478,-0.00025639047456,1.33314355081e-05,1793239007625207296
+73,1.216666667,BASELINE,766.632807863,745.367192137,715.367192137,679.367192137,662.632807863,636,879.367192137,787.367192137,804,652.367192137,632,653.632807863,0.400986274876,-0.00536099136613,0.0698433398139,0.99999994389,0.000215259900697,-0.000256333875468,1.32879682635e-05,1793239007641873920
+74,1.233333333,BASELINE,766.058465515,745.941534485,715.941534485,679.941534485,662.058465515,636,879.941534485,787.941534485,804,652.941534485,632,653.058465515,0.400986800078,-0.00535967913459,0.069844229717,0.999999943751,0.000216992488777,-0.000255416192863,1.32459333598e-05,1793239007658540544
+75,1.250000000,BASELINE,766,745.470826232,715.470826232,679.470826232,662.529173768,636,879.470826232,788,804.529173768,653,632,653,0.400986842647,-0.00536031614615,0.0698443168754,0.999999944406,0.000214063941179,-0.000255331181169,1.3061560995e-05,1793239007675207168
+76,1.266666667,BASELINE,766,745.116385141,715.116385141,679.116385141,662.883614859,636.116385141,879.116385141,788,804.883614859,653,632,653,0.400986856973,-0.00536084499301,0.0698443469129,0.999999944893,0.00021182272046,-0.000255296665641,1.29589932915e-05,1793239007691874048
+77,1.283333333,BASELINE,766,745.6958971,715.6958971,679.6958971,662.3041029,636.6958971,879.6958971,788,804.3041029,653,632,653,0.40098697657,-0.00536006435697,0.0698445116725,0.99999994439,0.000214418626151,-0.000255087570583,1.32461388468e-05,1793239007708540672
+78,1.300000000,BASELINE,766,746,716,679.726026551,662.273973449,636.726026551,880,788,804,652.726026551,632,653,0.400987024995,-0.00535913201748,0.0698445572056,0.999999944029,0.000216252688576,-0.00025494944269,1.32994721949e-05,1793239007725207296
+79,1.316666667,BASELINE,766,746,716,679.14953542,662.85046458,636.14953542,880,788,804,652.14953542,632,653,0.400986994836,-0.00535803216918,0.0698444710903,0.999999943832,0.000217245534072,-0.000254889675771,1.30946333295e-05,1793239007741874176
+80,1.333333333,BASELINE,766,745.566210381,716,679.433789619,662.566210381,636,879.566210381,788,803.566210381,652,632,653,0.400987032157,-0.0053584405886,0.0698450111957,0.999999944111,0.000216632496142,-0.000254309510497,1.3192378248e-05,1793239007758540800
+81,1.350000000,BASELINE,766,745.019309939,715.980690061,679.980690061,662,636,879,787.980690061,803.019309939,652,632,653,0.400987090498,-0.00535932808573,0.0698457105698,0.999999944532,0.000215495261958,-0.000253609448603,1.33815444919e-05,1793239007775207168
+82,1.366666667,BASELINE,766,745.599076217,715.400923783,679.400923783,662,636,879,787.400923783,803.599076217,652,632,653,0.400987072949,-0.00535878838589,0.0698446668475,0.999999944259,0.000215467991129,-0.000254719508949,1.31482762823e-05,1793239007791874048
+83,1.383333333,BASELINE,766,745.821890061,715,679,662,636,879.178109939,787.178109939,804,652.178109939,631.821890061,653,0.400987060351,-0.00535856657913,0.0698439496076,0.999999944018,0.000215861270219,-0.000255339484934,1.30520145542e-05,1793239007808540672
+84,1.400000000,BASELINE,766,745.244498448,715,679,662,636,879.755501552,787.755501552,804,652.755501552,631.244498448,653,0.400987058849,-0.00535905741571,0.0698439642663,0.999999943848,0.000217197325863,-0.000254860804287,1.32628899213e-05,1793239007825207296
+85,1.416666667,BASELINE,766,745,715,679,662,636,879.668742018,788,803.668742018,652.668742018,631.331257982,653,0.400987098371,-0.00535872557119,0.0698442954269,0.999999943698,0.000218058251743,-0.000254715107509,1.32316043412e-05,1793239007841874176
+86,1.433333333,BASELINE,766,745,715,679,662,636,879.094186608,788,803.094186608,652.094186608,631.905813392,653,0.400987168021,-0.00535778949608,0.0698448590471,0.999999943564,0.000218570211309,-0.000254813975789,1.30224599825e-05,1793239007858540800
+87,1.450000000,BASELINE,766,745.480698257,715.480698257,679.480698257,662,636,879.480698257,788,803.480698257,652,632,653,0.400986833409,-0.00535711108418,0.0698443317499,0.999999943019,0.000220297617695,-0.000255456679873,1.31200495381e-05,1793239007875207424
+88,1.466666667,BASELINE,766,745.942420913,715.942420913,680,662,636,880,788,804.057579087,652,631.942420913,653,0.400986588512,-0.00535677844068,0.0698437777189,0.999999942592,0.000221632372978,-0.000255965836535,1.32876593056e-05,1793239007891874304
+89,1.483333333,BASELINE,766,745.347516625,715.347516625,680,662,636,880,788,804.652483375,652,631.347516625,653,0.400987920529,-0.00535920103698,0.0698449702927,0.999999944029,0.000217078989185,-0.000254233663066,1.35474542755e-05,1793239007908540928
+90,1.500000000,BASELINE,766,745.239652097,715.239652097,679.760347903,662.239652097,636,879.760347903,787.760347903,804.760347903,652,631.239652097,653,0.400988723847,-0.00536036839562,0.0698459510389,0.999999944784,0.000215096909694,-0.000252939009739,1.36629530692e-05,1793239007925207296
+91,1.516666667,BASELINE,766,745.815954273,715.815954273,679.184045727,662.815954273,636,879.184045727,787.184045727,804.184045727,652,631.815954273,653,0.400988784478,-0.00535977246526,0.0698466342215,0.999999944605,0.000216726857389,-0.000252258960784,1.35757525128e-05,1793239007941874176
+92,1.533333333,BASELINE,766.389572006,745.610427994,715.610427994,679.389572006,662.610427994,636,879,787.389572006,804,652,631.610427994,653,0.400988819561,-0.0053589214097,0.0698466259076,0.999999944444,0.000217475615102,-0.000252255509386,1.3526306861e-05,1793239007958540800
+93,1.550000000,BASELINE,766.961930256,745.038069744,715.038069744,679.961930256,662.038069744,636,879,787.961930256,804,652,631.038069744,653,0.400988842656,-0.00535795064995,0.0698462931453,0.999999944292,0.000217810920749,-0.000252569515866,1.34945757115e-05,1793239007975207424
+94,1.566666667,BASELINE,766.448785387,745,715,680,662,636,879,788,804,652,631,653,0.400989048295,-0.00535982226145,0.0698460784494,0.999999944802,0.000216198482977,-0.000251922762394,1.37682685973e-05,1793239007991874048
+95,1.583333333,BASELINE,766,745.139376903,715,680,662.139376903,636,879,787.860623097,804,652,631.139376903,653,0.400989239237,-0.00536135768291,0.0698460903254,0.999999945192,0.000215008862302,-0.000251381990818,1.39466711926e-05,1793239008008540928
+96,1.600000000,BASELINE,766,745.720166135,715,680,662.720166135,636,879,787.279833865,804,652,631.720166135,653,0.400989342439,-0.00536118696313,0.0698467931205,0.999999945065,0.000215597851178,-0.000251393674728,1.37543631346e-05,1793239008025207552
+97,1.616666667,BASELINE,766,745.703575061,715.296424939,680,662.703575061,636,879.296424939,787.296424939,804,652,631.703575061,653,0.400987781275,-0.00536109933891,0.0698460681723,0.999999944424,0.000215946822293,-0.000253636418074,1.36772806956e-05,1793239008041874176
+98,1.633333333,BASELINE,766,745.131528767,715.868471233,680,662.131528767,636,879.868471233,787.868471233,804,652,631.131528767,653,0.400984672551,-0.0053610889785,0.0698440156822,0.999999943292,0.000216072620447,-0.000257953641462,1.37073371653e-05,1793239008058540800
+99,1.650000000,BASELINE,766,745,715.546061118,679.546061118,662,636,879.546061118,787.546061118,804,652,631.453938882,653,0.400985251483,-0.00536145669248,0.069843891846,0.999999943537,0.000215701488045,-0.000257311622862,1.38018268105e-05,1793239008075207424
+100,1.666666667,BASELINE,766,745,715.042699562,679.042699562,662,636,879.042699562,787.042699562,804,652,632,653,0.400986801145,-0.00536183960509,0.0698443508554,0.999999944176,0.000215110208502,-0.000255309782686,1.38658572662e-05,1793239008091874048
+101,1.683333333,BASELINE,766,745,715.62247599,679.62247599,662,636,879.62247599,787.62247599,804,652,632,653,0.400986711618,-0.00536099381896,0.0698448978142,0.999999944627,0.000213616143791,-0.000254828604026,1.33047904238e-05,1793239008108540672
+102,1.700000000,BASELINE,766,745,715.798970096,679.798970096,662,636,879.798970096,787.798970096,804,652,632,653,0.400986554217,-0.00536012190042,0.0698450973576,0.999999944699,0.000213439387917,-0.000254709136579,1.29680996237e-05,1793239008125207552
+103,1.716666667,BASELINE,766,745,715.222698188,679.222698188,662,636,879.222698188,787.222698188,804,652,632,653,0.400986270119,-0.00535920120329,0.0698446484161,0.999999944067,0.000215721518168,-0.000255264838593,1.3050228744e-05,1793239008141874176
+104,1.733333333,BASELINE,766,745,715,679.353138025,662,636,879,787.353138025,804,652,632,653,0.400986616434,-0.00535856396652,0.069844743776,0.999999943989,0.000216346774227,-0.00025504911208,1.28855430677e-05,1793239008158540800
+105,1.750000000,BASELINE,766,745,715,679.928699872,662,636,879,787.928699872,804,652,632,653,0.400987359814,-0.00535810526703,0.0698451819638,0.999999944262,0.00021592844906,-0.000254347501722,1.25654012135e-05,1793239008175207424
+106,1.766666667,BASELINE,766,745,715,679.483305735,662,636,879.516694265,787.483305735,804,652.516694265,632,653,0.400988337153,-0.00535852335292,0.0698458634665,0.99999994459,0.000215981089896,-0.000253000004257,1.28093146633e-05,1793239008191874048
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,679,662,636,880,787,804,652,632,653,0.400987280352,-0.00535738943697,0.0698450631792,0.999999943587,0.000218924146542,-0.000254441001479,1.26022366836e-05,1793239008234275072
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.574103986,746,715,679,662,636,879.425896014,787,804,652,632,653,0.400987704448,-0.00535957724776,0.0698455604215,0.999999944326,0.000216467652461,-0.000253603395336,1.32163038691e-05,1793239008250941440
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.85165951,745.85165951,715,679,662,636,879,787.14834049,803.85165951,652,632,653,0.400987991303,-0.00536094005376,0.0698459375884,0.999999944831,0.000214729597998,-0.00025306543149,1.36441572386e-05,1793239008267608064
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.277042063,745.277042063,715,679,662,636,879,787.722957937,803.277042063,652,632,653,0.400987883773,-0.0053599320947,0.0698459697021,0.999999944681,0.000215056078768,-0.000253388531121,1.35368995452e-05,1793239008284274688
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636.307359124,879,788,803.307359124,652,632,653,0.400987878106,-0.00535932831033,0.0698460949177,0.999999944555,0.000215693210098,-0.000253344606704,1.35535897253e-05,1793239008300941312
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636.900868916,879,788,803.900868916,652,632,653,0.400987967274,-0.00535910081177,0.0698463068111,0.99999994445,0.000216619556395,-0.000252958983687,1.36856751094e-05,1793239008317608192
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.480222464,679.480222464,662,636.519777536,879.480222464,788,804,652,632,652.519777536,0.40098977893,-0.00535823150538,0.0698468847297,0.999999944678,0.000217330668519,-0.000251457974979,1.34575330434e-05,1793239008334274816
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715.94331293,679.94331293,662,636.05668707,880,787.94331293,803.94331293,652.05668707,632,652.05668707,0.400991850343,-0.0053574754446,0.069847569129,0.999999944974,0.000217847193442,-0.000249842459631,1.320284426e-05,1793239008350941696
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715.367309844,679.367309844,662,636.632690156,880,787.367309844,803.367309844,652.632690156,632,652.632690156,0.400993137287,-0.00535893580852,0.0698485566384,0.999999945314,0.000216976460081,-0.000249226847171,1.3366678813e-05,1793239008367608320
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.212279636,715,679.212279636,662,636.787720364,879.787720364,787.212279636,803,652.787720364,631.787720364,653,0.401000460522,-0.00536034870549,0.0698523076241,0.999999946904,0.000215829101225,-0.000243768863057,1.36586148666e-05,1793239008384274944
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.798181275,715,679.798181275,662,636.201818725,879.201818725,787.798181275,803,652.201818725,631.201818725,653,0.401018407906,-0.00536167805829,0.0698609224563,0.999999950559,0.000214194868733,-0.000229788080299,1.4176015483e-05,1793239008400941568
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.379713532,745.620286468,715,680,662,636,879,787.620286468,803.379713532,652,631,653,0.401053496677,-0.00536215699806,0.0698747961648,0.999999956149,0.000213556170082,-0.000204658676552,1.45266244318e-05,1793239008417608192
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.958949923,745.041050077,715,680,662,636,879,787.041050077,803.958949923,652,631,653,0.401097592498,-0.00536218908308,0.0698914331838,0.999999962031,0.000213440580635,-0.000173671158465,1.4789591688e-05,1793239008434274816
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,715,679.46314843,662,636,879,787,803.46314843,652,631.53685157,653,0.401157709563,-0.00536435790162,0.069907482948,0.999999966435,0.000211335880079,-0.000149150594255,1.48868497512e-05,1793239008450941696
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.11606289,715,679,662.11606289,636,879.11606289,787.11606289,803.11606289,652,632,653,0.401220824624,-0.00536627752765,0.0699216732586,0.999999969575,0.000210289407451,-0.000128093256242,1.48212862169e-05,1793239008467608576
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.700976232,715,679,662.700976232,636,879.700976232,787.700976232,803.700976232,652,632,653,0.401291113987,-0.00536653213632,0.0699285330263,0.999999969889,0.000214130665912,-0.000119033434587,1.41490432763e-05,1793239008484275200
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.716810403,746,715,679.283189597,662.716810403,636,879.716810403,788,804,652,632,653,0.401368224094,-0.00536736547368,0.069931429804,0.999999970299,0.000214473432677,-0.000115053954379,1.28509960545e-05,1793239008500941568
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.137421092,746,715,679.862578908,662.137421092,636,879.137421092,788,804,652,632,653,0.401452468294,-0.00536880412731,0.0699301815262,0.999999970874,0.000211156982032,-0.000116388214011,1.08983942872e-05,1793239008517608448
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.557813511,715,679.557813511,662,636,879.442186489,788,804,652,632,653,0.401552014018,-0.00537103636126,0.0699272897761,0.999999970596,0.000208912673576,-0.000122846420674,8.50911292882e-06,1793239008534275072
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.021592371,745,715,679,662,636,879.978407629,787.978407629,804,652,632,653,0.40165758279,-0.00537352971049,0.0699241223815,0.999999970072,0.000206924478035,-0.000130394019785,5.9801067765e-06,1793239008550941440
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.594120461,745,715,679,662,636,879.405879539,787.405879539,804,652,632,653,0.401795437324,-0.00537638965209,0.0699269602623,0.999999971574,0.00020296527537,-0.000125087134201,3.3503627969e-06,1793239008567609088
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.82821633,745,715.17178367,679,662,636,879,787,803.82821633,652.17178367,632,653,0.401944488208,-0.00537845138413,0.0699306407704,0.999999972997,0.000200066072749,-0.000118230628699,3.1549361614e-07,1793239008584275968
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.238046412,745,715.761953588,679,662,636,879,787,803.238046412,652.761953588,632,653,0.402120808252,-0.00537856904329,0.0699363735315,0.999999974255,0.000199748544745,-0.000107599960442,-3.70607439799e-06,1793239008600942080
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715.654406598,679,662,636,879,787,803,653,632,653,0.402311528602,-0.00538180497972,0.069939464388,0.999999975831,0.00019482126765,-0.000101582899988,-8.00927676512e-06,1793239008617608448
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.075181279,679,662,636,879,787,803,653,632,653,0.402511984026,-0.00538714896887,0.0699407692353,0.99999997761,0.00018677765636,-9.86847812336e-05,-1.25028731429e-05,1793239008634275072
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.50308159,715,679.50308159,662,636,879,787.50308159,803,652.49691841,632,652.49691841,0.40274441766,-0.00539229145336,0.0699417211513,0.999999979733,0.000176809388647,-9.46389804873e-05,-1.77617674804e-05,1793239008650941952
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,715.082075455,680,662,636,879.082075455,787.917924545,803,652,632,652.082075455,0.402986767974,-0.00539725868773,0.0699427501102,0.999999981655,0.000167277514868,-9.04224039936e-05,-2.30501705709e-05,1793239008667608576
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,715.666421498,680,662,636,879.666421498,787.333578502,803,652,632,652.666421498,0.403260615651,-0.00540133738932,0.0699445726905,0.999999982747,0.000162172987907,-8.62083232007e-05,-2.78206103677e-05,1793239008684275200
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.751229095,715.751229095,680,662.248770905,636,879.751229095,787.248770905,803,652,632,653,0.403558193631,-0.00540568389681,0.0699517768928,0.999999984763,0.000155278450865,-7.27387595913e-05,-3.27227379489e-05,1793239008700941824
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.171535709,715.171535709,680,662.828464291,636,879.171535709,787.828464291,803,652,632,653,0.403887338351,-0.00541038664746,0.0699661398892,0.999999987525,0.000146002789229,-4.69572767708e-05,-3.78000402486e-05,1793239008717608448
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679.592930654,662.592930654,636,879,787.592930654,803.407069346,652,632,653,0.404231167379,-0.00541691494862,0.0699715696733,0.999999994883,8.22468802873e-05,-4.06823355258e-05,-4.25957718274e-05,1793239008734275072
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679.014783004,662.014783004,636,879,787.014783004,803.985216996,652,632,653,0.404581167748,-0.00542421047048,0.069973245112,0.999999997965,-4.4053446204e-06,-4.26053738722e-05,-4.72731677927e-05,1793239008750941696
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.561682372,715,679.561682372,662,636,879.561682372,787,804,652,631.438317628,653,0.404974731693,-0.00542513355753,0.0699768144949,0.999999996975,6.2275832943e-05,-3.00537653511e-05,-3.56194540403e-05,1793239008767608576
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.140805961,746,715,680,662,636,880,787,803.859194039,652,631.140805961,653,0.405375734822,-0.00542738888466,0.0699788873736,0.999999993083,0.000112039246427,-2.24740374337e-05,-2.78712409241e-05,1793239008784275200
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.728506266,746,715,680,662,636,880,787,803.271493734,652,631.728506266,653,0.405796720478,-0.00543440323287,0.0699760528666,0.999999994373,9.53384385995e-05,-3.18797154615e-05,-3.38785357199e-05,1793239008800941824
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.68828497,746,715,679.68828497,662,636,880,787.31171503,803,652,631.68828497,653,0.406235539018,-0.00544399261333,0.0699695918117,0.999999995566,7.44358127397e-05,-4.39441225604e-05,-3.73624423914e-05,1793239008817608704
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.108932561,746,715,679.108932561,662,636,880,787.891067439,803,652,631.108932561,653,0.406689668853,-0.0054557929078,0.069960017016,0.999999996307,4.99255194845e-05,-5.82913056925e-05,-3.86797779565e-05,1793239008834275584
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,715,679.468518803,662,636,879.531481197,788,803.468518803,652,631.468518803,653,0.407176727656,-0.00547700108386,0.0699444184262,0.999999995828,2.67262521711e-05,-7.91572209605e-05,-3.69324589066e-05,1793239008850942720
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,715.04517156,679.95482844,662,636,879.04517156,787.95482844,804,652,631.95482844,653,0.407677978648,-0.00549962458552,0.0699300949202,0.999999994667,4.03932873897e-06,-9.71799876662e-05,-3.47171698764e-05,1793239008867609856
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715.617641161,679.382358839,662,636,879.617641161,787.382358839,804,652,631.382358839,653,0.408255888221,-0.00551333902212,0.0699469387043,0.999999997171,-1.62107462174e-05,-6.43932165236e-05,-3.53232452921e-05,1793239008884275968
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.810179619,715.810179619,679,662.189820381,636,880,787,804,652.189820381,631,653,0.408842724769,-0.00552197755141,0.0699612085382,0.999999998338,-2.83908031467e-05,-3.47820711228e-05,-3.61748082009e-05,1793239008900942080
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.238584458,715.238584458,679,662.761415542,636,880,787,804,652.761415542,631,653,0.409447515593,-0.0055204072004,0.0699703015336,0.999999998933,-2.43400973336e-05,-1.1557880625e-05,-3.75201059766e-05,1793239008917608704
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715.349133644,679.349133644,662.650866356,636,880,787.349133644,804,652.650866356,631,653,0.410059645306,-0.00552787481814,0.0699681762653,0.999999998639,-3.20856911221e-05,-1.38614835828e-05,-3.87309324741e-05,1793239008934275584
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715.94840295,679.94840295,662.05159705,636,880,787.94840295,804,652.05159705,631,653,0.410677032915,-0.00554181765922,0.069958013708,0.999999997447,-4.82827055293e-05,-3.44543920671e-05,-3.98454173939e-05,1793239008950942720
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,716,680,662.524221493,636,880,788,804,652,631.524221493,653,0.411335097718,-0.00554662670176,0.0699618221706,0.999999997159,-5.45630714725e-05,-3.2613725449e-05,-4.05220515428e-05,1793239008967609856
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745.097749174,715.902250826,680,663,636,879.902250826,787.902250826,804,652,632,653,0.412009004305,-0.005551072518,0.0699714105645,0.999999997121,-6.07398934283e-05,-1.97956933115e-05,-4.09605419806e-05,1793239008984276736
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.670880165,715.329119835,680,663,636,879.329119835,787.329119835,804,652,632,653,0.41274131638,-0.00555793676049,0.0700027071902,0.999999996012,-7.09567335496e-05,3.61298084222e-05,-4.0441485365e-05,1793239009000943104
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.747042481,715.252957519,680,662.747042481,636,879,787,804,652,632,653,0.41348085604,-0.00555980472596,0.0700252801244,0.999999993752,-7.51038324437e-05,7.29337135314e-05,-3.92042281952e-05,1793239009017609472
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.152898278,715.847101722,680,662.152898278,636,879,787,804,652,632,653,0.4142301443,-0.00555493376171,0.0700360866314,0.999999993267,-7.10641240729e-05,8.39465999266e-05,-3.69982690446e-05,1793239009034275584
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.430668568,715.569331432,680,662,636,879,787.430668568,804,652,632,653,0.414939964654,-0.00552367712332,0.0700057814092,0.999999998194,-3.41961615355e-05,2.80693517893e-05,-4.06841576588e-05,1793239009050941952
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662.010454934,636,879.010454934,788,804,652,631.989545066,653,0.415637278903,-0.00548410044856,0.0699614825388,0.999999997574,1.30189803901e-05,-5.035179457e-05,-4.63471192135e-05,1793239009067608576
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662.584034592,636,879.584034592,788,804,652,631.415965408,653,0.416397620072,-0.00548885173445,0.0699307663354,0.999999994336,4.84791732219e-06,-9.4596144935e-05,-4.85338572568e-05,1793239009084274944
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.161784006,746,715,680,663,636,880,788,804,652,631,653,0.417178556194,-0.00549615531765,0.0699189312554,0.999999992672,-6.68546265659e-06,-0.000110225679776,-4.96161380597e-05,1793239009100941568
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.750537942,746,715,680,663,636,880,788,804,652,631,653,0.418013845143,-0.00551019475923,0.0699569260219,0.999999997224,-2.70924523389e-05,-5.03368341233e-05,-4.77836064207e-05,1793239009117608448
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.666213604,746,715,679.666213604,663,636,880,788,804,652,631,653,0.418868991619,-0.00551867939316,0.0699865191875,0.999999998124,-3.844268048e-05,-7.51821683605e-06,-4.70812305963e-05,1793239009134275328
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.087013044,746,715,679.087013044,663,636,880,788,804,652,631,653,0.419738738171,-0.00552307989214,0.0700099351319,0.999999997697,-4.31339857618e-05,2.27496290552e-05,-4.72097942522e-05,1793239009150942208
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715.48940639,679.48940639,663,636,880.48940639,788,804,652,631.48940639,653,0.420607141274,-0.0055281542844,0.070027524951,0.999999996219,-4.99819707425e-05,5.33256020933e-05,-4.71125017653e-05,1793239009167608832
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+165,2.750000000,POSE1_TO_POSE2_PRESS,766.639463757,746,715.360536243,680,663,636,880.360536243,788,804.639463757,652,632,653,0.422304757262,-0.00552612472589,0.0700241039177,0.999999996527,-5.14707952454e-05,4.39523395172e-05,-4.86281443537e-05,1793239009200942080
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.780666628,745.780666628,715,680,663,636,880.219333372,788,804.780666628,651.780666628,631.780666628,653,0.4231072776,-0.00551900873925,0.0699847673785,0.999999997385,-4.47520211803e-05,-2.40999494851e-05,-5.14471672079e-05,1793239009217608704
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.191425251,745.191425251,715,680,663,636,880.808574749,788,804.191425251,651.191425251,631.191425251,653,0.423857727981,-0.00550993985566,0.0699065085712,0.999999986328,-3.41547123088e-05,-0.000151593390596,-5.65405158577e-05,1793239009234275072
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.391928255,745.391928255,715,680,663,636,881,788,804.391928255,651.391928255,631.391928255,653,0.424726761407,-0.00551241513542,0.0698846179172,0.999999981832,-4.41651233457e-05,-0.000175372434404,-6.02471462832e-05,1793239009250941696
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.972448541,745.972448541,715,680,663,636,881,788,804.972448541,651.972448541,631.972448541,653,0.425652855786,-0.00552044535384,0.0698898510701,0.999999984806,-6.40917677399e-05,-0.000149245121173,-6.32865014517e-05,1793239009267608576
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+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,881,788,804,652,631.288212856,653,0.428381342523,-0.00553724884196,0.0700396154334,0.999999994016,-7.33982937158e-05,6.18155480981e-05,-5.25345684391e-05,1793239009317608704
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+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.030295307,715,681,662.030295307,636,880.030295307,788,804,652,632,652.030295307,0.431750519523,-0.00553140446615,0.0699444593954,0.999999991649,-6.21581809893e-05,-9.72317903777e-05,-5.81771775207e-05,1793239009384275456
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+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681,663.77308564,636,881,788,804,652,632,653,0.434288506677,-0.00553505016896,0.0699785964864,0.999999995641,-7.0214032031e-05,-1.53782962845e-05,-5.960081598e-05,1793239009434275072
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+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.512894012,715,680.487105988,663.487105988,636,880.487105988,788,804.487105988,652,632,652.512894012,0.436776958336,-0.00555088421687,0.0700376884836,0.999999991745,-8.29855899547e-05,8.12184100378e-05,-5.5011894662e-05,1793239009484275456
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,715,682,660,633,881,785.957177272,805,652,631,653,0.451260469671,-0.00557075923583,0.0695981072889,0.999999792092,-0.000120198197532,-0.000630190102092,-6.5026256925e-05,1793239010217608448
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,715,682,660,633,881,785.382670429,805,652,631,653,0.451266243047,-0.0055709924047,0.069596287919,0.999999790764,-0.00012027251679,-0.000632280651761,-6.50213505748e-05,1793239010234275072
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+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,715,682,659.21513422,633,881,785,805,652,631,653,0.4512741238,-0.00556963648129,0.0695935292377,0.999999788507,-0.000119670817388,-0.000635942221749,-6.51263318413e-05,1793239010267608576
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+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,715,682,660,633,881,786,804,652,631,653,0.451278914043,-0.00557095978362,0.0695933103658,0.999999787425,-0.000120228204224,-0.000637649404616,-6.40251372386e-05,1793239010317608704
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.459148403,745,715,681,662,635.540851597,880,788,804.459148403,652,631.540851597,653,0.419919018824,-0.00539814150701,0.0697714169334,0.999999917096,0.000151046020508,-0.000377283798291,2.54808152842e-05,1793239012182866944
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.966150825,745.033849175,715.033849175,680.966150825,662.033849175,635.033849175,880,788,804.966150825,652,631.033849175,653,0.419141007117,-0.00540320448513,0.0698534355125,0.999999958976,0.000143633738458,-0.000246127557774,2.89753549752e-05,1793239012199533568
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.377787949,745.622212051,715.622212051,680.377787949,662.622212051,635.622212051,880,788,804.377787949,652,631.622212051,653,0.41835215807,-0.0054022539318,0.0698881116881,0.99999996869,0.000152934114504,-0.000195196019215,3.36105701169e-05,1793239012216200192
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745.213118462,716,680,662.213118462,636,880,788,804,652,632,653,0.416683596163,-0.00539420044751,0.0698561677797,0.999999956322,0.000166127757819,-0.000242356857377,3.19454606237e-05,1793239012249533952
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745.364442497,715.635557503,680,662,636,880,787.635557503,804.364442497,652,632,653,0.415841746582,-0.00539220144938,0.0698235475189,0.999999943662,0.000168119325321,-0.000288966048584,3.01679899217e-05,1793239012266200320
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745.474120237,715,680,662,636,880,787.525879763,804.474120237,652,632,653,0.414186646788,-0.00538692760968,0.0697673684999,0.999999909999,0.000174528208936,-0.000385667248235,2.83190730205e-05,1793239012299533824
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.268280755,662,636,880,788.463438491,804,652.731719245,631.731719245,653,0.412079280198,-0.00537187959261,0.0698382317378,0.999999948952,0.000193662185376,-0.000252426806418,2.95245793357e-05,1793239012349533696
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.587615229,715,680.412384771,662,636,879.587615229,788,804,652,631,653,0.409405973175,-0.00535191899922,0.0698255252375,0.999999933359,0.000220635811587,-0.000289496680312,2.81538180837e-05,1793239012416200192
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.248331897,715,680,662,636,880,787.248331897,804,652,631.751668103,653,0.408171887416,-0.00534841042401,0.0697815367713,0.999999912222,0.000222605721187,-0.000354169166435,2.37983791277e-05,1793239012449533696
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.943617294,715,680,662,636,879,787.056382706,804,652.943617294,631.943617294,653,0.406101492965,-0.00539943648913,0.0698136416578,0.999999937407,0.000153401864595,-0.000317777012033,2.59213843937e-05,1793239012516199936
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.389818386,662,636,879,788,804,652,631.389818386,653,0.40201962211,-0.00536211939254,0.0698137245467,0.999999929666,0.000203474342482,-0.000314109074101,2.4526387832e-05,1793239012732866816
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.196693126,662,636,879.393386253,788,804,652.196693126,631.196693126,653,0.401852389506,-0.00536084408378,0.0698139669351,0.999999929809,0.000203880976479,-0.000313310559281,2.5496604288e-05,1793239012749533440
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.775870943,662,636,880.551741886,788,804,652.775870943,631.775870943,653,0.401707015996,-0.00535638369336,0.0698139198991,0.999999928641,0.000211233057524,-0.000312121951026,2.60357242919e-05,1793239012766200064
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745.906091293,715.093908707,679.906091293,662,636,879,788,804,652,631.906091293,652.906091293,0.401295163251,-0.00536139946636,0.0698134478521,0.999999930032,0.000214440979679,-0.000306445767499,6.54434493488e-06,1793239012832867584
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745.835852691,715.164147309,679.835852691,662,636,879,788,804,652,631.835852691,652.835852691,0.401117372329,-0.00536028253057,0.0698174780248,0.999999931048,0.000216282731208,-0.000301669457249,1.10418291557e-05,1793239012882867200
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.588082219,715.411917781,680,662,636,879,787.588082219,803.588082219,652,632,653,0.40108447599,-0.00536034691129,0.0698206893828,0.999999933147,0.000215699225698,-0.000295019887951,1.19882461909e-05,1793239012899533824
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.013134609,715.986865391,680,662,636,879,787.013134609,803.013134609,652,632,653,0.401057570413,-0.00536108057657,0.0698240480379,0.9999999357,0.000214283623327,-0.000287254663887,1.29132361723e-05,1793239012916200448
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715.261520224,680,662,636,879.738479776,787,803,652,631.261520224,653,0.401009010594,-0.00536189710187,0.0698300017152,0.999999938623,0.00021246484534,-0.000278268540628,1.34177732052e-05,1793239012966200576
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.31645087,715,680,662,636,879.68354913,787.31645087,803.31645087,652,631.31645087,653,0.401000525698,-0.00536129079127,0.069831483359,0.99999993898,0.000213117686388,-0.000276470028743,1.36055013036e-05,1793239012982867200
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715.594401945,679,662,636,879.405598055,787.594401945,803.405598055,652.594401945,631.405598055,653,0.400988813531,-0.00536361172366,0.0698395381694,0.999999942818,0.000212299205932,-0.000262882706863,1.36352433975e-05,1793239013249534464
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,716,679,662,636,879.180861481,788,803.180861481,653,631.180861481,653,0.400989690589,-0.00536386979352,0.0698403441747,0.999999942914,0.000213284269507,-0.00026170083211,1.39400812796e-05,1793239013266201344
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,716,679,662,636,879.763562062,788,803.763562062,653,631.763562062,653,0.400988397306,-0.0053619190406,0.0698398998042,0.999999942335,0.000213826393486,-0.000263476607172,1.37285006264e-05,1793239013282867456
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,716,679.34128367,662,636,880,788,803.65871633,652.65871633,631.65871633,653,0.400987487365,-0.00536217359342,0.0698395858754,0.999999942563,0.000212177791582,-0.000263950041582,1.35942254677e-05,1793239013299533824
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,716,679.915605469,662,636,880,788,803.084394531,652.084394531,631.084394531,653,0.400986839182,-0.00536393399135,0.0698393610159,0.999999943336,0.000209033300143,-0.000263534200934,1.35127366929e-05,1793239013316200192
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715.508686358,679.508686358,662,636,879.508686358,787.508686358,803.491313642,652,631,653,0.400987283357,-0.00536273518763,0.0698396348754,0.999999943264,0.000209973240434,-0.00026306994626,1.33439824885e-05,1793239013332866816
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766.068709371,745,715.068709371,679.068709371,662,636,879,787.068709371,804,652,631.068709371,653,0.400987795627,-0.00536144767922,0.069839937289,0.999999943073,0.00021138734387,-0.000262669180443,1.32256411688e-05,1793239013349533440
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,766.758657473,745,715.758657473,679.758657473,662,636,879,787.758657473,803.758657473,652.241342527,631.758657473,653,0.400986602696,-0.00536352851153,0.0698392678559,0.999999942685,0.000212042139936,-0.000263591981764,1.36605020748e-05,1793239013382866944
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.395404959,662,636,879,787,803,653,631.395404959,653,0.400986217862,-0.00536159963965,0.0698391207482,0.999999942389,0.000213317197151,-0.000263710999414,1.3176770963e-05,1793239013416200704
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.969464497,662,636,879,787,803,653,631.969464497,653,0.400988243959,-0.00536300527717,0.0698410134194,0.999999943909,0.000209861353811,-0.00026070149083,1.32105031343e-05,1793239013432867328
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,636,879.557929407,787,803,652.442070593,632,653,0.400990044421,-0.00536196713906,0.0698420302311,0.999999943749,0.0002124421754,-0.00025921974901,1.32815982567e-05,1793239013449533952
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766,745.144732503,715,680,662,636,879.855267497,787,803,652,632,653,0.400990750134,-0.00536123406777,0.0698422638506,0.999999943425,0.000214408326928,-0.000258845270754,1.3317789052e-05,1793239013466200320
+420,7.000000000,POSE2_TO_POSE3_RETREAT,766,745.724114503,715,680,662,636,879.275885497,787,803,652,632,653,0.400988206255,-0.00536182945675,0.0698402932201,0.999999942918,0.000213510059209,-0.000261538280583,1.32428540859e-05,1793239013482866688
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f2ca55e2094f20483909d096387f55d57cb72643
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,422 @@
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+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
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+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
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+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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+420,7.000000000,pose2_to_pose3_retreat,0.575664279213,9.09305507465e-05,1.06003231875,0.546234727941,0.00876266066003,1.05970045625
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7cf6c40e39ed2479bf967647376dad713faccee9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5f825d62565df4630d446525e703900a675523fb7e7d1e10e66011d747fdfd6
+size 26181209
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1d785948e83f5c33c96c6e001a4e050355f47ac7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_01/franka_data.csv
@@ -0,0 +1,415 @@
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+53,0.883333333,BASELINE,766,745,715,679.739679272,662,636,879.739679272,788,804,652,632,653,0.401049872244,-0.00549759348408,0.0798808202184,0.99999998587,0.000108939442328,-0.000120446827048,4.34216008919e-05,1793239015695438592
+54,0.900000000,BASELINE,766.322446704,745.322446704,715,680,662,636,879.677553296,787.677553296,804,652,631.677553296,653,0.401049547677,-0.00549790395289,0.079880544807,0.999999985763,0.000109150152602,-0.000121120001971,4.34873290399e-05,1793239015712105472
+55,0.916666667,BASELINE,766.914214284,745.914214284,715,680,662,636,879.085785716,787.085785716,804,652,631.085785716,653,0.401048206761,-0.00549837407946,0.079879220699,0.99999998547,0.000108981718487,-0.000123667568568,4.34574131973e-05,1793239015728772352
+56,0.933333333,BASELINE,767,746,715,680,662,636,879,787,804,652,631,653,0.401049450223,-0.00549808120423,0.0798801232562,0.999999985557,0.000110071220415,-0.000121992521136,4.34590968532e-05,1793239015745438720
+57,0.950000000,BASELINE,766.92174178,746,715,680,662,636,879,787.07825822,804,652,631.07825822,653,0.401050796331,-0.00549750643234,0.0798812593109,0.999999985632,0.000111526553872,-0.000120025858735,4.34906813043e-05,1793239015762105344
+58,0.966666667,BASELINE,766.347055362,746,715,680,662,636,879,787.652944638,804,652,631.652944638,653,0.401050014092,-0.00549596406038,0.079881481791,0.999999985263,0.000113949627827,-0.000120750728849,4.36779554154e-05,1793239015778771968
+59,0.983333333,BASELINE,766,745.772729453,715,679.772729453,662,636,879.227270547,788,803.772729453,652.227270547,631.772729453,653,0.401049117595,-0.00549587698209,0.0798812597798,0.999999985205,0.000113726191255,-0.000121401529207,4.37912139017e-05,1793239015795438592
+60,1.000000000,BASELINE,766,745.198953101,715,679.198953101,662,636,879.801046899,788,803.198953101,652.801046899,631.198953101,653,0.401048046895,-0.00549800870274,0.0798803600793,0.999999985615,0.000109467778817,-0.00012193939995,4.37916252225e-05,1793239015812105216
+61,1.016666667,BASELINE,766,745,715.38617401,679.38617401,662,636.38617401,879.61382599,788,803.38617401,652.61382599,631,653,0.40104887293,-0.00549764881129,0.0798804652035,0.999999985712,0.000109500381764,-0.000121133816359,4.37289826305e-05,1793239015828772096
+62,1.033333333,BASELINE,766,745,715.977325975,679.977325975,662,636.977325975,879.022674025,788,803.977325975,652.022674025,631,653,0.401050705736,-0.00549596639272,0.0798811036803,0.999999985643,0.000111810620282,-0.000119615138335,4.36328715455e-05,1793239015845438720
+63,1.050000000,BASELINE,765.446310454,745.553689546,716,680,662,636.446310454,879,787.446310454,804,652.553689546,631,653,0.401048382783,-0.00549602751418,0.0798799404656,0.999999985522,0.000110831666968,-0.000121706116578,4.31285748353e-05,1793239015862105600
+64,1.066666667,BASELINE,765.129809248,746,716,680,662,636,879,787.129809248,804,653,631.129809248,653,0.401047073399,-0.0054963371779,0.0798792238388,0.999999985475,0.000110000450047,-0.000122948769589,4.28294135065e-05,1793239015878772480
+65,1.083333333,BASELINE,765.707121625,746,716,680,662,636,879,787.707121625,804,653,631.707121625,653,0.401049829605,-0.00549726392553,0.0798802945091,0.999999985706,0.000110130804915,-0.000120770583508,4.32935597904e-05,1793239015895439104
+66,1.100000000,BASELINE,766,745.709959547,716,680,662.290040453,636,879,788,804,652.709959547,632,653,0.401050515342,-0.00549769638353,0.0798806627362,0.999999985732,0.000109873807898,-0.000120681857116,4.35792842897e-05,1793239015912105728
+67,1.116666667,BASELINE,766,745.12126786,716,680,662.87873214,636,879,788,804,652.12126786,632,653,0.401049069142,-0.00549761987728,0.0798803076655,0.999999985549,0.000109217959203,-0.000122744622862,4.36812899528e-05,1793239015928772096
+68,1.133333333,BASELINE,766,745,716,679.539828252,662.539828252,636,879,787.539828252,804,652,631.539828252,653,0.401049071289,-0.00549752779855,0.0798808319251,0.99999998557,0.000109665093385,-0.000122051402214,4.40143628286e-05,1793239015945438720
+69,1.150000000,BASELINE,766,745.039597074,715.960402926,679.039597074,662.039597074,636,879.039597074,787,804,652,631.039597074,653,0.401049382317,-0.00549751226448,0.0798814709605,0.999999985645,0.000110244554062,-0.000120787850962,4.43520775632e-05,1793239015962105088
+70,1.166666667,BASELINE,766,745.61721723,715.38278277,679.61721723,662.61721723,636,879.61721723,787,804,652,631.61721723,653,0.401048784669,-0.00549859167169,0.0798805697704,0.999999985743,0.000108733857011,-0.000121490120465,4.39383255493e-05,1793239015978771712
+71,1.183333333,BASELINE,766,745.806980777,715,679.806980777,662.806980777,636,879.806980777,787,804,652,631.806980777,653,0.401048454346,-0.00549884681484,0.079880056936,0.999999985754,0.000108401840699,-0.000121834159404,4.35681220939e-05,1793239015995438592
+72,1.200000000,BASELINE,766,745.234750692,715,679.234750692,662.234750692,636,879.234750692,787,804,652,631.234750692,653,0.401048649214,-0.0054974825864,0.0798803070759,0.999999985593,0.000110385492628,-0.000121474408879,4.3283475257e-05,1793239016012105216
+73,1.216666667,BASELINE,766,745.349157035,715.349157035,679.349157035,662,636,879,787,803.650842965,652,631,653,0.40104838966,-0.00549739491834,0.0798801626717,0.999999985481,0.000110731331867,-0.000122083150857,4.32613882721e-05,1793239016028772096
+74,1.233333333,BASELINE,766,745.941187695,715.941187695,679.941187695,662,636,879,787,803.058812305,652,631,653,0.401047814009,-0.00549819522575,0.0798797438227,0.999999985405,0.000109937908512,-0.000123365576223,4.34219379317e-05,1793239016045438976
+75,1.250000000,BASELINE,766,746,716,680,662.521341593,636,879,787,803.521341593,652,631,653,0.401047235092,-0.00549803161576,0.079879699904,0.999999985293,0.00011033613125,-0.000123943491143,4.33366130826e-05,1793239016062105344
+76,1.266666667,BASELINE,766,746,716,680,662.900237012,636,879.099762988,787,804,652,631.099762988,653,0.401046671416,-0.00549760524489,0.0798795926976,0.999999985197,0.000110794313926,-0.000124336824443,4.32661880028e-05,1793239016078771968
+77,1.283333333,BASELINE,766,746,716,680,662.323834379,636,879.676165621,787,804,652,631.676165621,653,0.401046182275,-0.00549643142919,0.0798789855438,0.999999985192,0.000110911009645,-0.000124219532482,4.33965177269e-05,1793239016095438592
+78,1.300000000,BASELINE,766,745.749134742,716,680,662,636,879.749134742,787.250865258,804,652,632,653,0.401046516322,-0.00549633409298,0.0798789689067,0.999999985302,0.000110534932774,-0.000123630678346,4.3517655625e-05,1793239016112104960
+79,1.316666667,BASELINE,766,745.176618673,716,680,662,636,879.176618673,787.823381327,804,652,632,653,0.401047905831,-0.00549761698185,0.0798797094097,0.999999985555,0.000109527039818,-0.000122437203404,4.36270080697e-05,1793239016128771840
+80,1.333333333,BASELINE,765.589287173,745.410712827,716,680,662,636,879,787.589287173,804,652,632,653,0.401048112533,-0.00549684098033,0.0798798265541,0.99999998547,0.000110498720672,-0.000122350947836,4.33533011651e-05,1793239016145438720
+81,1.350000000,BASELINE,765.004514688,746,715.995485312,679.995485312,662.004514688,636,879.009029375,787.004514688,804,652,632,653,0.401047796755,-0.00549518002814,0.079879670669,0.999999985237,0.000112316544374,-0.000122756261234,4.2916322652e-05,1793239016162105344
+82,1.366666667,BASELINE,765.580692543,746,715.419307457,679.419307457,662.580692543,636,880.161385086,787.580692543,804,652,632,653,0.401048139119,-0.00549776936497,0.0798801560945,0.999999985519,0.000109450658215,-0.000122859405777,4.34441813047e-05,1793239016178772224
+83,1.383333333,BASELINE,766,745.843548049,715.156451951,679,662.843548049,636,880.687096098,788,803.843548049,652,631.843548049,653,0.401048240875,-0.00549943145717,0.0798803484561,0.999999985731,0.000107378424012,-0.000122875055829,4.37013673202e-05,1793239016195439104
+84,1.400000000,BASELINE,766,745.268907006,715.731092994,679,662.268907006,636,879.537814012,788,803.268907006,652,631.268907006,653,0.4010476995,-0.00549861506635,0.0798797574712,0.999999985773,0.00010742758549,-0.000122656837028,4.32350575582e-05,1793239016212105984
+85,1.416666667,BASELINE,766,745,716,679,662,636,879.312821583,788,803.312821583,652.312821583,631.312821583,653,0.401047750114,-0.00549792177562,0.0798797848973,0.999999985705,0.000108486147455,-0.000122286785412,4.32154971358e-05,1793239016228772608
+86,1.433333333,BASELINE,766,745,716,679,662,636,879.900783956,788,803.900783956,652.900783956,631.900783956,653,0.40104832141,-0.00549733675708,0.079880356244,0.999999985537,0.000110432522992,-0.000121783189953,4.3588873076e-05,1793239016245438720
+87,1.450000000,BASELINE,766,745.483618604,716,679.483618604,662,636,879.516381396,788,804,652.516381396,632,653,0.401049249525,-0.0054967364802,0.0798808944047,0.999999985471,0.000111387068045,-0.000121474452136,4.35325738494e-05,1793239016262105344
+88,1.466666667,BASELINE,766,746,715.935500951,680,662,636,879,788,803.935500951,652.064499049,632,653,0.40104978121,-0.00549632118846,0.0798811253492,0.999999985401,0.000111885147099,-0.00012164664969,4.3380335148e-05,1793239016278771968
+89,1.483333333,BASELINE,766,746,715.361830057,680,662,636,879,788,803.361830057,652.638169943,632,653,0.401046611563,-0.00549739066832,0.0798789842339,0.999999985128,0.000110369218048,-0.000125303205397,4.31592984798e-05,1793239016295438848
+90,1.500000000,BASELINE,766,746,715.212874636,680,662,636,879,788,803.212874636,652.787125364,632,653,0.401045006343,-0.00549774899836,0.0798779381547,0.999999984882,0.000110617009985,-0.000127035580245,4.31533582516e-05,1793239016312105984
+91,1.516666667,BASELINE,766,746,715.789345029,680,662,636,879,788,803.789345029,652.210654971,632,653,0.401046073208,-0.00549689266476,0.0798787624278,0.999999984696,0.000113877286235,-0.000125481400673,4.35148087064e-05,1793239016328772864
+92,1.533333333,BASELINE,765.623659016,746,715.623659016,680,662,636,879.376340984,788,804,652,632,653,0.401046766303,-0.00549631423387,0.0798792374611,0.999999984744,0.00011416578399,-0.000124817716996,4.35764409935e-05,1793239016345439232
+93,1.550000000,BASELINE,765.030601856,746,715.030601856,680,662,636,879.969398144,788,804,652,632,653,0.401047244163,-0.00549589583334,0.0798795113846,0.999999984929,0.000112742981659,-0.000124666825758,4.34654228466e-05,1793239016362105600
+94,1.566666667,BASELINE,765.547394831,746,715.547394831,679.452605169,662,636,879.452605169,788,804,652,632,653,0.401046662844,-0.0054960433887,0.0798792082474,0.999999984988,0.000112610216693,-0.000124361821931,4.33149265886e-05,1793239016378772224
+95,1.583333333,BASELINE,766,745.876205615,715.876205615,679,662.123794385,636,879,787.876205615,804,652,631.876205615,653,0.401046582564,-0.00549611297874,0.0798792831049,0.999999985072,0.000112590227407,-0.000123748549291,4.31893095685e-05,1793239016395438592
+96,1.600000000,BASELINE,766,745.302631603,715.302631603,679,662.697368397,636,879,787.302631603,804,652,631.302631603,653,0.401048532078,-0.00549578742192,0.0798808453955,0.999999985267,0.000112724971546,-0.000122045714418,4.31618896944e-05,1793239016412105216
+97,1.616666667,BASELINE,766,745.269404809,715.269404809,679,662.730595191,636,879,787.269404809,804,652.269404809,631.269404809,653,0.401048852845,-0.00549645138648,0.0798808919759,0.999999985466,0.000110750908258,-0.000122249150177,4.31037565101e-05,1793239016428771840
+98,1.633333333,BASELINE,766,745.839723752,715.839723752,679,662.160276248,636,879,787.839723752,804,652.839723752,631.839723752,653,0.401047354367,-0.00549822060589,0.0798792455703,0.999999985652,0.000106421393466,-0.000124581812226,4.30113178177e-05,1793239016445438720
+99,1.650000000,BASELINE,766,746,716,679,662.431830542,636,879,788,804,652.568169458,632,653,0.401047433412,-0.00549809824228,0.0798790176575,0.999999985451,0.000108102625539,-0.000124697811022,4.31465010395e-05,1793239016462105600
+100,1.666666667,BASELINE,766,745.969018317,716,679.030981683,662.969018317,636,879.030981683,788,804,652,631.969018317,653,0.401048100439,-0.00549725822564,0.0798793371594,0.999999985113,0.000111905254648,-0.000123973868853,4.33685041303e-05,1793239016478772480
+101,1.683333333,BASELINE,766,745.395637699,716,679.604362301,662.395637699,636,879.604362301,788,804,652,631.395637699,653,0.40104826615,-0.00549679851896,0.0798795333863,0.999999985159,0.000111715122785,-0.00012371389329,4.35528268725e-05,1793239016495439104
+102,1.700000000,BASELINE,766,745.177957102,715.822042898,679.822042898,662,636.177957102,880,788,804,652,631.177957102,653,0.401048348522,-0.00549694190284,0.0798798173252,0.999999985221,0.000111230069777,-0.000123628417463,4.36203822237e-05,1793239016512105472
+103,1.716666667,BASELINE,766,745.752028579,715.247971421,679.247971421,662,636.752028579,880,788,804,652,631.752028579,653,0.401048245391,-0.00549842770489,0.0798802965022,0.999999985318,0.000110088552378,-0.0001239313603,4.34280252383e-05,1793239016528772096
+104,1.733333333,BASELINE,766,745.66405173,715.33594827,679.33594827,662,636.66405173,879.66405173,788,804,652,631.66405173,653,0.401048086207,-0.00549797949464,0.0798802991993,0.999999985231,0.000110444891526,-0.000124314726233,4.34317969652e-05,1793239016545438464
+105,1.750000000,BASELINE,766,745.072643247,715.927356753,679.927356753,662,636.072643247,879.072643247,788,804,652,631.072643247,653,0.401047884401,-0.00549606063194,0.0798799395741,0.999999985002,0.000111940223632,-0.000124759247154,4.35847079509e-05,1793239016562105344
+106,1.766666667,BASELINE,766,745,715.492237807,679.492237807,663.015524386,636,879,787.492237807,804,652,631,653,0.401047195568,-0.00549654809802,0.0798795363114,0.999999985053,0.00011131972833,-0.000124909029358,4.35865651255e-05,1793239016578772224
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,716,680,663,636,879,787,804,652,631,653,0.401047060627,-0.00549596143617,0.0798799182061,0.999999985139,0.000110221216306,-0.000125400989968,4.29945040127e-05,1793239016622067712
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,716,680,662.421342537,636,879,787.578657463,804,652,631,653,0.401045376838,-0.00549759273849,0.0798789158907,0.999999985048,0.000109952585421,-0.000126160285955,4.35609330336e-05,1793239016638734080
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,716,679.839110023,662,636,879,788,803.839110023,652,631,653,0.401045064055,-0.00549855952201,0.079878611111,0.99999998503,0.000110228434631,-0.000125921609835,4.39644813217e-05,1793239016655400192
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,716,679.247302182,662,636,879,788,803.247302182,652,631,653,0.40104842329,-0.00549774649946,0.0798801745685,0.999999985201,0.000111962585933,-0.000123010026494,4.39317799529e-05,1793239016672066816
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.663359585,716,679.336640415,662,636,879,788,803.336640415,652,631.336640415,653,0.40104926435,-0.00549813409476,0.0798808669041,0.999999985335,0.00011192105534,-0.000121980607407,4.38687561075e-05,1793239016688733696
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.085063062,716,679.914936938,662,636,879,788,803.914936938,652,631.914936938,653,0.401048297746,-0.0054993835493,0.0798809339079,0.999999985446,0.000110604857791,-0.000122302293324,4.37839653838e-05,1793239016705400064
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.511279393,745,715.511279393,679.511279393,662,636,879,787.511279393,804,652,632,653,0.401048519797,-0.00549887757268,0.0798809377504,0.99999998549,0.000110037493765,-0.000122502839663,4.36495667283e-05,1793239016722067200
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.061947464,745.061947464,715.061947464,679.061947464,662,636.061947464,879,787.061947464,804,652,631.938052536,653,0.401048845128,-0.00549800418998,0.0798809080653,0.999999985451,0.00010991210334,-0.000122974134595,4.35366461462e-05,1793239016738733824
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.63700883,745.63700883,715.63700883,679.63700883,662,636.63700883,879,787.63700883,804,652,631.36299117,653,0.40104832793,-0.00549659518916,0.0798806908946,0.999999984811,0.000112377897091,-0.000125861100764,4.36724941833e-05,1793239016755400448
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,715.780473394,680,662,636.780473394,879,788,804,652,631,653,0.401050421209,-0.00549586653264,0.0798816533159,0.999999984357,0.000113537311638,-0.000128402912758,4.36688762034e-05,1793239016772067072
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,715.185192874,680,662,636.185192874,879,788,804,652,631,653,0.401056982726,-0.00549630239129,0.0798846347924,0.999999984237,0.000112460654822,-0.000130353939422,4.34265404395e-05,1793239016788733696
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.603835547,715.396164453,679.603835547,662,636,879.396164453,788,803.603835547,652,631.396164453,653,0.401078284392,-0.00549651503552,0.0798925547409,0.999999984971,0.000111897648619,-0.00012507670702,4.35029661779e-05,1793239016805400064
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.028765794,715.971234206,679.028765794,662,636,879.971234206,788,803.028765794,652,631.971234206,653,0.401106242616,-0.00549662687761,0.0799027048716,0.99999998603,0.000111566603605,-0.000116535239804,4.37233425222e-05,1793239016822066688
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.545435971,715.454564029,679.545435971,662,636,879.454564029,788,803.545435971,652.545435971,631.454564029,653,0.401160967272,-0.00549995184384,0.0799169299698,0.999999988229,0.000109535429337,-9.8137299602e-05,4.37308193595e-05,1793239016838733312
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,715,679.877056793,662,636,879,787.877056793,803.877056793,652.877056793,631,653,0.401219702553,-0.00550280979749,0.0799298036829,0.999999990001,0.000107458429238,-8.10417195291e-05,4.3385706602e-05,1793239016855400192
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,715,679.286811717,662,636,879,787.286811717,803.286811717,652.286811717,631,653,0.401288325018,-0.005503249581,0.0799367252768,0.999999991047,0.000105547511363,-7.08690287342e-05,4.1743025743e-05,1793239016872066816
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.701607446,745.701607446,715,679,662,636,879,787,803,652,631.298392554,653,0.401368518765,-0.00550371255466,0.0799425343339,0.999999991754,0.000104770122146,-6.28455232405e-05,3.95576545794e-05,1793239016888733440
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.121167889,745.121167889,715,679,662,636,879,787,803,652,631.878832111,653,0.40145964993,-0.00550419744812,0.0799472917968,0.999999992185,0.000105064168502,-5.68534741284e-05,3.68593210696e-05,1793239016905400576
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.45409643,745.45409643,715.45409643,679,662,636,879,787.45409643,803,652,631.54590357,653,0.401565422204,-0.00550559696385,0.0799512209573,0.999999992698,0.000102816867949,-5.36819369802e-05,3.39270707782e-05,1793239016922067200
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.971332233,716,679.028667767,662,636.028667767,879,787.971332233,803.028667767,652,631,653,0.401676503579,-0.00550718164697,0.079955062637,0.999999993237,9.9933999466e-05,-5.08572734391e-05,3.08694893388e-05,1793239016938733568
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.383649454,716,679.616350546,662,636.616350546,879,787.383649454,803.616350546,652,631,653,0.401815789342,-0.00550767173197,0.0799614597048,0.99999999406,9.77317876941e-05,-4.0286298498e-05,2.65713747711e-05,1793239016955400192
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.201230255,715.798769745,679.798769745,662,636.798769745,879,787.201230255,804,652,631.201230255,653,0.401965223983,-0.00550851504538,0.0799668620199,0.999999994734,9.52221622617e-05,-3.13554781794e-05,2.19357406033e-05,1793239016972066816
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.780839207,715.219160793,679.219160793,662,636.219160793,879,787.780839207,804,652,631.780839207,653,0.402133741818,-0.0055100225437,0.0799703938736,0.999999995291,9.21344988635e-05,-2.55086862093e-05,1.66654596815e-05,1793239016988733440
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,715.358671109,679,662,636,879,787.641328891,804,652,631.641328891,653,0.40232023633,-0.00551131916564,0.0799721341622,0.999999995866,8.74970282951e-05,-2.24275387643e-05,1.04649568665e-05,1793239017005400320
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,715.935422581,679,662,636,879,787.064577419,804,652,631.064577419,653,0.402517661094,-0.00551248757,0.0799727851379,0.999999996417,8.19172386813e-05,-2.10279668406e-05,3.69885703304e-06,1793239017022067200
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.490924917,715.490924917,679.509075083,662,636,879,787,804,652,631,653,0.402725560707,-0.00551463019562,0.079965314413,0.999999996668,7.13043470078e-05,-3.95227710784e-05,-4.08317752961e-06,1793239017038733824
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787,804,652,631,653,0.402940678727,-0.00551674582246,0.0799575528877,0.999999996572,5.73159356033e-05,-5.85389962394e-05,-1.19879398743e-05,1793239017055400704
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787,804,652,631,653,0.4031909612,-0.00551796808397,0.0799541631301,0.99999999728,2.6985052359e-05,-6.57081840222e-05,-1.9860709771e-05,1793239017072067072
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.263825496,715.263825496,680,662,636,879.263825496,787,804.263825496,652.263825496,631.263825496,653,0.403471666257,-0.00551973080935,0.0799553564724,0.999999997579,1.00847330098e-05,-6.42432454835e-05,-2.47633113126e-05,1793239017088733696
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.843230982,715.843230982,680,662,636,879.843230982,787,804.843230982,652.843230982,631.843230982,653,0.403788761861,-0.005522140021,0.0799620319789,0.999999998241,9.24964525542e-06,-5.24504287423e-05,-2.61130878563e-05,1793239017105400320
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,716,680,662,636,880,787.418958263,804.581041737,652.581041737,631.581041737,653,0.404132992028,-0.00552319117749,0.0799671255569,0.999999998509,1.10759382428e-05,-4.62183760497e-05,-2.68746673335e-05,1793239017122066944
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,716,680,662,636,880,787.99332117,804.00667883,652.00667883,631.00667883,653,0.404487287241,-0.00552373858905,0.0799716323483,0.999999998644,1.3889420109e-05,-4.20489838915e-05,-2.74180662016e-05,1793239017138733568
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,716,679.418784111,662,636,880,788,804,652,631.581215889,653.581215889,0.40487331375,-0.00552504416009,0.0799699302955,0.999999998825,-2.72751248744e-06,-3.72382478499e-05,-3.09075313401e-05,1793239017155400192
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,716,679.166788951,662,636,879.833211049,788,804,652,631.833211049,653.833211049,0.405268297631,-0.00552681814385,0.079967231428,0.999999998672,-1.40833174238e-05,-3.64126215037e-05,-3.36438204247e-05,1793239017172067072
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,716,679.746224122,662,636,879.253775878,788,804,652,631.253775878,653.253775878,0.405684518935,-0.00552972894148,0.0799622471027,0.999999998303,-1.18571933706e-05,-4.54650726427e-05,-3.44309521774e-05,1793239017188733696
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,715.675775859,680,662,636,879.324224141,787.675775859,804,652,631.324224141,653,0.406128679843,-0.00553476973727,0.0799562092026,0.999999997699,-1.10451842879e-05,-5.74377356418e-05,-3.43625790111e-05,1793239017205400320
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,715.098894149,680,662,636,879.901105851,787.098894149,804,652,631.901105851,653,0.406594613243,-0.00554147037323,0.0799493502846,0.999999996801,-1.13351498269e-05,-7.16860279092e-05,-3.36275381269e-05,1793239017222067200
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,715.474019613,680,662,636,880,787.474019613,804,652,631.525980387,653,0.407092620817,-0.00555450214836,0.079945768316,0.99999999591,-3.27269522838e-05,-7.73959939726e-05,-3.34627342186e-05,1793239017238733568
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.952166629,715.952166629,680,662,636,880,787.952166629,804,652,631.047833371,653,0.407598136201,-0.0055677092099,0.0799423690814,0.999999994438,-5.63104316194e-05,-8.26657696355e-05,-3.34681339058e-05,1793239017255400448
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.358722419,715.358722419,680,662,636,880,787.358722419,804,652,631.641277581,653,0.408113595703,-0.00556797440249,0.0799333207047,0.999999992591,-5.50936221927e-05,-0.000103064693098,-3.40692186053e-05,1793239017272067072
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680.228583768,662,636,880,787.228583768,804.228583768,652.228583768,632,653,0.408659653381,-0.00556661000392,0.0799298769503,0.999999991878,-5.00860527785e-05,-0.000111769019812,-3.52683789726e-05,1793239017288733440
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680.806509256,662,636,880,787.806509256,804.806509256,652.806509256,632,653,0.409252473837,-0.00556275512153,0.0799349986707,0.999999993266,-3.92851122831e-05,-0.000102600639095,-3.73815708945e-05,1793239017305400064
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.383000326,715,680.616999674,662,636,879.616999674,788,804.616999674,652.616999674,632,653,0.409902192739,-0.0055623838755,0.0799618152524,0.999999996798,-4.19788917183e-05,-5.64586244369e-05,-3.81449018765e-05,1793239017322066688
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.958769418,715,680.041230582,662,636,879.041230582,788,804.041230582,652.041230582,632,653,0.410580549309,-0.00556376598654,0.079999551124,0.999999997911,-5.14647295634e-05,8.29267407683e-06,-3.82288310767e-05,1793239017338733312
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,715.533013428,680,662,636,880.066026856,788,804,652,631.466986572,653,0.411251773577,-0.00556031449904,0.0800061665993,0.999999998031,-4.68206549988e-05,1.7025215721e-05,-3.81623922202e-05,1793239017355400192
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715.889742833,679.889742833,662,636,880.889742833,788,804,652,631.110257167,653,0.411917172634,-0.00555618834928,0.0800031389385,0.999999998302,-4.19663438839e-05,1.10931290318e-05,-3.88895740443e-05,1793239017372066816
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715.298911714,679.298911714,662,636,880.298911714,788,804,652,631.701088286,653,0.412559579218,-0.00555074661585,0.0799685426705,0.999999997435,-4.09461182832e-05,-3.99238081291e-05,-4.3126435043e-05,1793239017388733440
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715.285310783,679.570621566,662,636,880,787.714689217,804,652,632,653,0.413236220677,-0.00554711203034,0.0799428147563,0.999999995276,-4.29650950347e-05,-7.34657933742e-05,-4.69608056242e-05,1793239017405400064
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715.862766432,680.725532864,662,636,880,787.137233568,804,652,632,653,0.413947917121,-0.00554532787894,0.0799261676165,0.999999993603,-4.80960724679e-05,-8.91142533566e-05,-5.038304548e-05,1793239017422066688
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.559551165,715.559551165,680.559551165,662,636,880,787.440448835,804,652,631.559551165,653,0.414711924625,-0.00554667143498,0.0799414977542,0.99999999573,-4.88182050325e-05,-6.015195067e-05,-5.03742728907e-05,1793239017438733568
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.018479998,715,680,662,636,880,788,804,652,631.018479998,653,0.415491453816,-0.00554884140036,0.0799660319265,0.999999997444,-4.8095929878e-05,-1.90969228437e-05,-4.93273140189e-05,1793239017455399936
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.605060595,715,680,662,636,880,788,804,652,631.605060595,653,0.416246833689,-0.00554644279589,0.0799670652819,0.999999997193,-4.52215419216e-05,-3.38099317155e-05,-4.92452562545e-05,1793239017472066560
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662.189408791,636,880.378817581,788,804,652,631.810591209,653,0.417020481334,-0.00554562003083,0.0799673064028,0.999999996839,-4.724669836e-05,-3.97279785487e-05,-5.01101212053e-05,1793239017488733184
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662.769156359,636,881.538312718,788,804,652,631.230843641,653,0.417831775652,-0.00554804479852,0.0799659148652,0.999999996458,-5.93689690762e-05,-2.7521127978e-05,-5.29264302078e-05,1793239017505400064
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,680.346671722,663,636,881.306656555,788,804,652,631,653,0.418670011483,-0.00555004206418,0.0799824400126,0.999999996339,-6.5982516742e-05,8.0073015654e-06,-5.38905819357e-05,1793239017522067200
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,680.92271018,663,636,880.15457964,788,804,652,631,653,0.419526072464,-0.00555175648364,0.0800108192896,0.999999994446,-6.89513540119e-05,5.896587411e-05,-5.3629299588e-05,1793239017538734080
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.504511203,715,680.504511203,662.504511203,636,880,788,804,652,631,653,0.420339625233,-0.00555083558294,0.0799993850053,0.999999995423,-6.58075078271e-05,4.43800401138e-05,-5.3425473429e-05,1793239017555400960
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.070171602,715,680.070171602,662,636,880,788,804,652,631.070171602,653,0.421152439487,-0.00554999904552,0.0799840700857,0.999999996333,-6.30781386408e-05,2.2323179063e-05,-5.34505982014e-05,1793239017572067328
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.662792526,715,680.662792526,662,636,880,788,804,652,631.662792526,653,0.422008800025,-0.00555283120162,0.0799857987708,0.999999995792,-7.04873789303e-05,2.02661049911e-05,-5.51140419731e-05,1793239017588733696
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662,636,880,788,804,652,632,653,0.422873945748,-0.00555461343455,0.0799972798177,0.999999995324,-7.24244416564e-05,3.29778812097e-05,-5.49429694894e-05,1793239017605400320
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715,681,662,636,880,788,804,652,632,653,0.423750690161,-0.00555500951525,0.0800216363424,0.999999994251,-6.71369068671e-05,6.518811315e-05,-5.23498918406e-05,1793239017622066944
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,681,662.40342743,636,880,788,804,652,632,653,0.424567216472,-0.00555161887994,0.0800032893105,0.999999996471,-6.11519798464e-05,2.43588296218e-05,-5.2205641285e-05,1793239017638733312
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662.977467039,636,880,788,804,652,632,653,0.425358276088,-0.00554662681689,0.0799668826554,0.999999995963,-5.48721210166e-05,-4.73593592437e-05,-5.30970161503e-05,1793239017655399936
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,681,662.44628341,636,880.55371659,788,804,652,632,653,0.426216673651,-0.00554622538819,0.079941515262,0.999999994327,-6.07574581165e-05,-6.68308019769e-05,-5.64698553351e-05,1793239017672066816
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,681,662.134043253,636,881,788,804,652,631.865956747,653,0.427077786115,-0.00554694115773,0.0799232534404,0.999999992834,-6.60497044201e-05,-8.06077027846e-05,-5.89199276248e-05,1793239017688733440
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662.728050499,636,881,788,804,652,631.271949501,653,0.427938773863,-0.00555084694328,0.0799278264038,0.999999992666,-6.76012292683e-05,-8.21689793017e-05,-5.78556625427e-05,1793239017705400064
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,681,663,636,881,788,804,652,631,653,0.428795472228,-0.00555087878891,0.0799388806046,0.99999999364,-6.6519816125e-05,-7.08694885176e-05,-5.71995353549e-05,1793239017722066688
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+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715.462582488,681,663,636.462582488,881,788,804,652,631.462582488,653,0.430519819735,-0.00555061152075,0.0799909201439,0.999999996077,-6.90922460879e-05,3.10026661274e-06,-5.53428878447e-05,1793239017755400192
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,716,681,663,636.960348614,881,788,804.039651386,652,632,653,0.431391943677,-0.00555481439815,0.080028622667,0.999999993937,-7.66812555958e-05,5.80896491139e-05,-5.35882080205e-05,1793239017772067072
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+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.205952404,716,681.794047596,663.794047596,636,881,788,804.205952404,652,632,653,0.433723009508,-0.00554877735817,0.0799397861024,0.999999992643,-6.88882488838e-05,-8.06615473816e-05,-5.8844079207e-05,1793239017822066944
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+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.480694638,715,682,663,636,880.519305362,788,804.519305362,652,631.480694638,653,0.436060145588,-0.00555384462906,0.0799564042282,0.999999993457,-8.64103076259e-05,-4.51036906883e-05,-5.98747291096e-05,1793239017872066816
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.097113069,715,682,663,636,880.902886931,788,804.902886931,652,631,653,0.43682350287,-0.00555711597278,0.0799888413524,0.999999994073,-9.18613111339e-05,-7.40766422598e-06,-5.79660018137e-05,1793239017888733696
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+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.725921787,715,682,662.725921787,636,880.548156426,788,804,652,631,653,0.438261789576,-0.00555819703974,0.0799861766332,0.999999994386,-8.68313812737e-05,-1.7656823431e-05,-5.81165757492e-05,1793239017922066688
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.427402309,715,682.427402309,662,636,881.572597691,788,804.427402309,652,631,653,0.439543148414,-0.00555701236698,0.0799210207841,0.999999988339,-8.82033298666e-05,-0.000108765780106,-6.09240021447e-05,1793239017955400192
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,715,683,662.003295504,635.996704496,881.003295504,788,804.996704496,652,631,653,0.440146488748,-0.00555558233502,0.0798755710266,0.999999978132,-8.46969106462e-05,-0.000180914169399,-6.19143473672e-05,1793239017972067072
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,715,683,662.820300335,635,881.820300335,787.820300335,804,652,631,653,0.441203197389,-0.00555621788498,0.0797476927641,0.999999920655,-9.67745523761e-05,-0.000380120204426,-6.95156597967e-05,1793239018005400064
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715,683,662.241108187,635,881.241108187,787.241108187,804,652,631,653,0.44177324902,-0.00555454393515,0.0797186497088,0.999999904779,-9.64920623735e-05,-0.000419595773453,-7.12140726704e-05,1793239018022066688
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.663197018,746,715,683,662,635,881,787,804.336802982,652,631.336802982,653,0.442353410468,-0.00555622137077,0.0797321238126,0.999999914362,-9.40029063713e-05,-0.000396818254205,-7.05252938922e-05,1793239018038733568
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.086199428,746,715,683,662,635,881,787,804.913800572,652,631.913800572,653,0.442940781806,-0.00556028888247,0.0797759194798,0.999999939302,-8.99400429206e-05,-0.000329644282997,-6.81340638335e-05,1793239018055400448
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715,683,661,635,881,787,805,652,631.183079721,653,0.445188390758,-0.00556688914031,0.079734043541,0.999999906805,-0.000121011192928,-0.000408900031158,-6.74349445633e-05,1793239018138733312
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+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,715,683,661,635,881,787,804.029274598,652,631,653,0.445949642427,-0.00556967481386,0.0797150841304,0.999999896072,-0.0001125417249,-0.000436416510095,-6.87881092046e-05,1793239018172066816
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,715,682.715491806,659,633.284508194,881,785.284508194,805,652,631,653,0.449351439181,-0.0055762055127,0.0796225263107,0.999999831965,-0.00012626025342,-0.000561904769734,-6.62735347671e-05,1793239018755400192
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,715,682.139957526,659,633.860042474,881,785.860042474,805,652,631,653,0.44935245906,-0.00557675377221,0.0796236599856,0.999999832772,-0.000126471088401,-0.000560475614897,-6.57914499337e-05,1793239018772066816
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.186044513,746,715,682.186044513,659.186044513,634,881,786,805,652,631,653,0.448223284016,-0.0055532407973,0.0795229994348,0.999999729189,-0.00010284367182,-0.000727476598578,-4.2704898239e-05,1793239019729343744
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,661.849664326,636,879.150335674,788,804,652,632,653,0.409972481334,-0.0053997165833,0.0798095700843,0.999999925916,0.000218396118125,-0.0003132130286,4.8663410154e-05,1793239020696011264
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,715.581614743,680.418385257,662,636,879.418385257,788,804.581614743,653,631.418385257,653.418385257,0.408176487742,-0.00539740486732,0.0798459019141,0.999999941133,0.000221671310935,-0.000257050444589,5.02145234874e-05,1793239020746011136
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745.279446049,716,680,662,636,879.720553951,787.279446049,803.720553951,652,631.720553951,653,0.402399674885,-0.00538970151868,0.0798429189036,0.999999933499,0.000231083647735,-0.000278316141973,4.62897629615e-05,1793239020996010752
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,746,715.581161299,680,662,636,879.581161299,788,804,652.581161299,631.581161299,653,0.401034249121,-0.00539117218387,0.0798375769389,0.999999931467,0.000233144419928,-0.000284251754294,4.37151148234e-05,1793239021229343744
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,636,879,788,804,652,631,653,0.401007360838,-0.00539139167002,0.0798400865656,0.999999932525,0.000234038065584,-0.000279786487025,4.35312845989e-05,1793239021262677248
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.851208704,662,636,879,787.851208704,804,652,631.148791296,653,0.401000295674,-0.00539221847268,0.0798418019652,0.999999933661,0.000233576932444,-0.000276097080199,4.34776321494e-05,1793239021279343872
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.52121625,715.52121625,680,662,636,879.47878375,787.47878375,804,652,631.47878375,653,0.400985751298,-0.00539342755095,0.0798436350564,0.999999934548,0.00023399676798,-0.000272473979606,4.3665067751e-05,1793239021346010368
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715.05637353,680,662,636,879.94362647,788,804,652,632,653,0.400985620129,-0.00539441271202,0.0798441106418,0.999999934992,0.000232694947991,-0.000271952877346,4.37150617628e-05,1793239021362677248
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.799284163,715.200715837,679.200715837,662.799284163,636,879,788,804,652,632,653,0.400984357594,-0.00539218857466,0.0798440576623,0.999999935226,0.000233248075863,-0.00027079344214,4.2582926342e-05,1793239021412677120
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1ed5fbf8b436927e1b369a13cd5cdff9bdcb9f9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,415 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8f0b7aa9dc6b3d5040161a09f9ee9dd25ef34269
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46e225774acbb0792fc58a059bf621cbf440cb4aaae2f57bfb724e9029671b6c
+size 26268666
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8ada0c5cc8a27d7e23a2232586948b410a6b7288
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_02/franka_data.csv
@@ -0,0 +1,416 @@
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+12,0.200000000,BASELINE,766,746,715.962831804,679,662.962831804,636,879,787.962831804,804,652,632,653,0.400987797237,-0.00539537925024,0.0798523020598,0.999999939444,0.000231143718998,-0.000256799581696,4.169506802e-05,1793239022107142656
+13,0.216666667,BASELINE,766,746,716,679.550743537,663,636,879,788,804,652,631.449256463,653,0.400986153661,-0.00539462386792,0.0798503601966,0.999999938036,0.000233277808092,-0.000260349061765,4.15754843021e-05,1793239022123809024
+14,0.233333333,BASELINE,766,746,716,680,662.862505772,636,879,788,804,652,631,653,0.400984906318,-0.00539389456625,0.0798489186947,0.999999937081,0.000234397281646,-0.000263019160622,4.14257894674e-05,1793239022140475904
+15,0.250000000,BASELINE,766,746,716,680,662.282736207,636,879,788,804,652,631,653,0.40098552986,-0.0053934582798,0.0798496806708,0.999999937989,0.000232002845208,-0.000261726956388,4.11875499645e-05,1793239022157142528
+16,0.266666667,BASELINE,766,745.704760954,716,679.704760954,662,636,879,788,804,652,631,653,0.400986510092,-0.00539341542715,0.0798507022036,0.999999938424,0.0002319362065,-0.00026010431471,4.1271655757e-05,1793239022173809152
+17,0.283333333,BASELINE,766,745.128493684,716,679.128493684,662,636,879,788,804,652,631,653,0.400987829844,-0.00539374707107,0.0798519707998,0.999999938409,0.000234085321148,-0.000258167140699,4.16625913259e-05,1793239022190476032
+18,0.300000000,BASELINE,766,745.455825191,715.544174809,679,662,636,879,788,804,652,631.455825191,653,0.400986690857,-0.00539511531951,0.0798511568438,0.999999938431,0.000232506183459,-0.000259512740913,4.16283173865e-05,1793239022207142656
+19,0.316666667,BASELINE,766,746,715.041947831,679.041947831,662,636,879,788,803.958052169,652,632,653,0.400985003946,-0.00539653542183,0.079849875268,0.999999938424,0.000230224215402,-0.000261587388786,4.14750049302e-05,1793239022223809280
+20,0.333333333,BASELINE,766,746,715.621575353,679.621575353,662,636,879,788,803.378424647,652,632,653,0.40098533762,-0.00539480732109,0.0798502599075,0.99999993804,0.000232646818559,-0.000260932079411,4.13598914775e-05,1793239022240475648
+21,0.350000000,BASELINE,766,746,715.799616073,680,662,636,879,788,803.200383927,652,632,653,0.40098564381,-0.00539389032151,0.0798506298718,0.999999937894,0.000234124937667,-0.000260171241878,4.13404533705e-05,1793239022257142528
+22,0.366666667,BASELINE,766,746,715.222347851,680,662,636,879,788,803.777652149,652,632,653,0.400985898304,-0.0053944988501,0.0798509722347,0.999999938206,0.000233826660515,-0.000259211925901,4.1500962519e-05,1793239022273809152
+23,0.383333333,BASELINE,766,746,715.353380883,680,662,636,879,788,803.646619117,652,631.646619117,653,0.40098555791,-0.00539403070447,0.0798509228916,0.999999938108,0.000233857125321,-0.000259573100775,4.14412215669e-05,1793239022290476032
+24,0.400000000,BASELINE,766,746,715.928145228,680,662,636,879,788,803.071854772,652,631.071854772,653,0.400984844836,-0.00539288805193,0.0798506281553,0.999999937751,0.000234093537947,-0.000260761526965,4.12434999647e-05,1793239022307142656
+25,0.416666667,BASELINE,766,745.483700747,716,680,662,636,879,787.483700747,803.516299253,652,631,653,0.400985325179,-0.00539273205426,0.0798508765462,0.999999937573,0.000235200319802,-0.000260436751985,4.13128688022e-05,1793239022323809280
+26,0.433333333,BASELINE,766,745.104458673,716,680,662,636.104458673,879,787.104458673,804,652,631.104458673,653,0.400985727142,-0.00539281033595,0.0798510245497,0.999999937475,0.00023596195998,-0.000260113239453,4.13875272306e-05,1793239022340476160
+27,0.450000000,BASELINE,766,745.683943042,716,680,662,636.683943042,879,787.683943042,804,652,631.683943042,653,0.400984997271,-0.00539331293559,0.079850363151,0.999999937628,0.000234588557173,-0.000260778652137,4.13127012771e-05,1793239022357142528
+28,0.466666667,BASELINE,766,746,716,679.738855591,662,636.738855591,879,788,804,652,631.738855591,653,0.400985339681,-0.00539349309752,0.0798503854757,0.999999937871,0.000233691017253,-0.000260659103334,4.12818396924e-05,1793239022373809152
+29,0.483333333,BASELINE,766,746,716,679.164393376,662,636.164393376,879,788,804,652,631.164393376,653,0.400986968602,-0.00539328640269,0.0798512281232,0.999999938222,0.000233364411772,-0.000259597767489,4.13037260138e-05,1793239022390475776
+30,0.500000000,BASELINE,766,746,716,679,662,636,879,787.589640747,804,652,631,653,0.400987380152,-0.00539436445099,0.0798516293454,0.999999938467,0.000233051010984,-0.000258907062517,4.14846723652e-05,1793239022407142400
+31,0.516666667,BASELINE,766,746,716,679,662,636,879,787.014771708,804,652,631,653,0.400987303668,-0.00539595754269,0.0798518536037,0.999999938668,0.000232742903862,-0.000258364940562,4.17293846272e-05,1793239022423809024
+32,0.533333333,BASELINE,766,745.423146293,715.423146293,679.576853707,662,636.576853707,879,787.576853707,803.423146293,652,631.576853707,653,0.400986014164,-0.00539523474168,0.07985097149,0.99999993816,0.000232874013629,-0.000260243674358,4.15039804704e-05,1793239022440475648
+33,0.550000000,BASELINE,766,745,715,679.834942353,662,636.834942353,879,787.834942353,803.165057647,652,631.834942353,653,0.400985111721,-0.00539464041729,0.0798504056312,0.999999937796,0.000233303783308,-0.000261276896651,4.13724049875e-05,1793239022457142272
+34,0.566666667,BASELINE,766,745,715,679.256416294,662,636.256416294,879,787.256416294,803.743583706,652,631.256416294,653,0.400985258999,-0.00539452092649,0.0798507050819,0.999999937846,0.000234452677226,-0.000260032182678,4.15069282223e-05,1793239022473808896
+35,0.583333333,BASELINE,766,745,715.31999839,679,662,636,879,787,803.68000161,652,631.31999839,653,0.400985173134,-0.0053939941286,0.0798509478411,0.999999937698,0.000235458465692,-0.000259690048224,4.1515716432e-05,1793239022490475520
+36,0.600000000,BASELINE,766,745,715.89473237,679,662,636,879,787,803.10526763,652,631.89473237,653,0.400984901676,-0.00539314309279,0.0798511454708,0.999999937394,0.000236350334797,-0.000260066414519,4.14244129474e-05,1793239022507142400
+37,0.616666667,BASELINE,766,745,715.518636628,679.481363372,662,636,879,787.481363372,803.481363372,652,631.518636628,653,0.400985144016,-0.00539258288762,0.0798508582666,0.999999937329,0.000236220994932,-0.000260457287052,4.12867700834e-05,1793239022523809024
+38,0.633333333,BASELINE,766,745.069445496,715,680,662,636,879.138890992,788,804,652,631,653,0.400985616525,-0.00539237170805,0.0798506187588,0.999999937451,0.000235551198986,-0.000260613735431,4.11700173914e-05,1793239022540475648
+39,0.650000000,BASELINE,766,745.648599,715,680,662,636,880.297198001,788,804,652,631,653,0.4009869328,-0.00539424362701,0.0798515272489,0.99999993855,0.000232595295613,-0.000259025710893,4.12828556027e-05,1793239022557142272
+40,0.666666667,BASELINE,766,746,715.226640583,679.773359417,662,636,880.546718834,788,803.773359417,652,631.226640583,653,0.400987126356,-0.00539521838762,0.0798516784336,0.99999993883,0.000231533762659,-0.000258873590828,4.14208340002e-05,1793239022573808896
+41,0.683333333,BASELINE,766,746,715.802966539,679.197033461,662,636,879.394066922,788,803.197033461,652,631.802966539,653,0.40098558766,-0.00539480891611,0.0798506611663,0.999999937854,0.000233395067522,-0.000260936938118,4.15976013637e-05,1793239022590475520
+42,0.700000000,BASELINE,765.622364278,745.622364278,715.622364278,679.377635722,662,636,879,787.622364278,803,652,631.622364278,653,0.400985846956,-0.0053944916583,0.079850985735,0.999999938047,0.000233244390956,-0.000260377964212,4.13106751576e-05,1793239022607142144
+43,0.716666667,BASELINE,765.048555767,745.048555767,715.048555767,679.951444233,662,636,879,787.048555767,803,652,631.048555767,653,0.400987040265,-0.00539422230334,0.0798520073557,0.999999938845,0.000232048537762,-0.000258456756658,4.07828711486e-05,1793239022623808768
+44,0.733333333,BASELINE,765.541939879,745.541939879,715.541939879,680,661.458060121,636,879.541939879,787,803,652,631.541939879,652.458060121,0.400985024389,-0.00539366154712,0.0798511803249,0.999999938084,0.000233479679067,-0.00026006239838,4.10714625594e-05,1793239022640475392
+45,0.750000000,BASELINE,765.869229189,746,716,680,661.130770811,636,879.738458379,787,803.130770811,652,632,652.130770811,0.40098348129,-0.00539325268192,0.0798503940017,0.999999937417,0.000234704121777,-0.000261483136173,4.13108824663e-05,1793239022657142272
+46,0.766666667,BASELINE,765.29136394,746,716,680,661.70863606,636,878.582727881,787,803.70863606,652,632,652.70863606,0.400984568855,-0.00539345521792,0.0798503311285,0.999999937583,0.000234391607509,-0.000261157028587,4.1124164213e-05,1793239022673808896
+47,0.783333333,BASELINE,765.285237268,746,715.714762732,680,662,636,878.285237268,787.285237268,804,652,631.714762732,653,0.400985309482,-0.00539408848301,0.0798505345684,0.999999937928,0.000233397763909,-0.000260721770628,4.11639476443e-05,1793239022690475520
+48,0.800000000,BASELINE,765.860553053,746,715.139446947,680,662,636,878.860553053,787.860553053,804,652,631.139446947,653,0.400985697284,-0.00539515978785,0.0798510088415,0.999999938451,0.000231711026936,-0.000260175509675,4.14340770833e-05,1793239022707142144
+49,0.816666667,BASELINE,766,746,715.443597915,680,662,636,879,787.556402085,804,652,631.443597915,653,0.400986105766,-0.0053948491834,0.0798512564992,0.999999938548,0.000232242760619,-0.000259324582712,4.14516805078e-05,1793239022723809024
+50,0.833333333,BASELINE,765.971188368,746,715.971188368,680,662,636,879,787.028811632,804,652,631.971188368,653,0.400986529102,-0.00539414536317,0.0798514663934,0.999999938515,0.00023346101365,-0.000258365216776,4.13958663413e-05,1793239022740475392
+51,0.850000000,BASELINE,765.391781498,746,715.391781498,680,662,636,879,787.608218502,804,652,631.391781498,653,0.400987109855,-0.00539437596558,0.0798523401238,0.999999938632,0.000234235280296,-0.000257196257467,4.1480946172e-05,1793239022757142272
+52,0.866666667,BASELINE,765.187529094,745.812470906,715,680,662,636,879.187529094,788,804,652,631.187529094,653,0.400987193935,-0.00539437074727,0.0798526361647,0.999999938477,0.000235004067112,-0.000257087239923,4.15305891604e-05,1793239022773808896
+53,0.883333333,BASELINE,765.766638613,745.233361387,715,680,662,636,879.766638613,788,804,652,631.766638613,653,0.400986240909,-0.00539387311055,0.0798517259292,0.999999937757,0.00023576141142,-0.000259191492075,4.15062362982e-05,1793239022790475776
+54,0.900000000,BASELINE,766,745,715,680,662,636,879.657694946,788,804,652,631.657694946,653,0.400986263846,-0.00539466083114,0.0798514879014,0.999999938347,0.00023296392806,-0.000259500354213,4.11486184962e-05,1793239022807142144
+55,0.916666667,BASELINE,766,745,715,680,662,636,879.084352421,788,804,652,631.084352421,653,0.400986945505,-0.00539631609868,0.0798517035775,0.999999939802,0.0002277671275,-0.000258597424725,4.05660648143e-05,1793239022823808768
+56,0.933333333,BASELINE,766,745.502457338,715,679.497542662,662,636,879,787.497542662,804,652,631.502457338,653,0.400985428846,-0.0053953673566,0.0798510370829,0.999999938806,0.000230400048601,-0.000260051129839,4.09524700309e-05,1793239022840475904
+57,0.950000000,BASELINE,766,746,715.090072118,679.090072118,662.090072118,636,879,787.090072118,803.909927882,652,632,653,0.40098382221,-0.00539416038683,0.0798502816257,0.999999937604,0.000233671628549,-0.000261683519286,4.13635087958e-05,1793239022857142528
+58,0.966666667,BASELINE,766,746,715.669439833,679.669439833,662.669439833,636,879,787.669439833,803.330560167,652,632,653,0.400983786801,-0.00539399083154,0.079849869569,0.999999937655,0.000233075465938,-0.000262078204642,4.10003676598e-05,1793239022873809408
+59,0.983333333,BASELINE,766,746,716,680,663,636,879.24762455,788,803,652,632,653,0.400983939433,-0.00539424880245,0.0798500197879,0.99999993788,0.000232497309474,-0.000261759531854,4.08381232227e-05,1793239022890476032
+60,1.000000000,BASELINE,766,746,716,680,663,636,879.824237643,788,803,652,632,653,0.400984341891,-0.00539507477526,0.0798509170335,0.999999938335,0.000231943075494,-0.000260493107146,4.09427856793e-05,1793239022907142656
+61,1.016666667,BASELINE,766,746,716,679.601205447,662.601205447,636.398794553,880,788,803.398794553,652,632,653,0.400985628179,-0.00539530712162,0.0798516919393,0.999999938953,0.000231285518709,-0.000258673450796,4.11003108138e-05,1793239022923809280
+62,1.033333333,BASELINE,766,746,716,679.027550152,662.027550152,636.972449848,880,788,803.972449848,652,632,653,0.400987302003,-0.0053952791786,0.0798524132022,0.999999939639,0.000230582657669,-0.000256611217247,4.12810148119e-05,1793239022940475904
+63,1.050000000,BASELINE,766,745.436716484,716,679,662.563283516,636.436716484,879.436716484,788,803.436716484,652,632,653,0.400985351633,-0.0053940039167,0.079851130163,0.999999938198,0.000233619557503,-0.000259471100817,4.12500987696e-05,1793239022957142528
+64,1.066666667,BASELINE,766,745.151720144,716,679.151720144,662.848279856,636.151720144,879,788,803.151720144,652,632,653.151720144,0.400984091877,-0.00539328328289,0.0798501311633,0.999999937112,0.000235814244427,-0.000261660052574,4.12485706462e-05,1793239022973808896
+65,1.083333333,BASELINE,766,745.730960325,716,679.730960325,662.269039675,636.730960325,879,788,803.730960325,652,632,653.730960325,0.400985293349,-0.00539430280335,0.0798502174563,0.99999993738,0.000235104102629,-0.000261258737503,4.13599351551e-05,1793239022990475776
+66,1.100000000,BASELINE,766,746,716,680,662,636.692677849,879,788,804,652,631.692677849,653.692677849,0.400985647235,-0.00539435709427,0.0798505721338,0.999999937745,0.000234596451389,-0.000260314607368,4.13708789152e-05,1793239023007142400
+67,1.116666667,BASELINE,766,746,716,680,662,636.118812476,879,788,804,652,631.118812476,653.118812476,0.400985266002,-0.00539357423303,0.0798511595834,0.999999938193,0.000234264422036,-0.000258899688945,4.12947268651e-05,1793239023023809024
+68,1.133333333,BASELINE,765.5453742,746,715.5453742,680,662,636,879.4546258,788,804,652,631.4546258,653,0.400985624527,-0.00539393399522,0.0798512887179,0.999999938362,0.000233554406704,-0.000258902780485,4.12151068875e-05,1793239023040475648
+69,1.150000000,BASELINE,765.029025801,746,715.029025801,680,662,636,879.970974199,788,803.970974199,652,631.970974199,653,0.400986114096,-0.00539461354599,0.0798512890642,0.999999938464,0.000232735365058,-0.000259253694129,4.11569530045e-05,1793239023057142272
+70,1.166666667,BASELINE,765.624364585,746,715.624364585,680,662,636,879.375635415,788,803.375635415,652,631.375635415,653,0.400985392009,-0.00539571168184,0.0798511113964,0.999999938708,0.000231714668126,-0.00025916728367,4.15352834096e-05,1793239023073808896
+71,1.183333333,BASELINE,766,746,716,680,662,636,879,787.786963022,803.213036978,652,631.213036978,653,0.400985451166,-0.00539635828166,0.0798513077759,0.999999938908,0.00023114223786,-0.000258875217474,4.17286094798e-05,1793239023090475520
+72,1.200000000,BASELINE,766,746,716,680,662,636,879,787.209688323,803.790311677,652,631.790311677,653,0.400986846048,-0.0053962328727,0.0798521436786,0.999999939034,0.000231336226623,-0.000258231533537,4.16056264043e-05,1793239023107142144
+73,1.216666667,BASELINE,766,746,716,680,662.364464882,636.364464882,879.364464882,787.364464882,804,652,632,653,0.400987070487,-0.0053952454955,0.0798521121665,0.999999938974,0.000231880339313,-0.000258014371651,4.13716777624e-05,1793239023123809792
+74,1.233333333,BASELINE,766,746,716,680,662.936837407,636.936837407,879.936837407,787.936837407,804,652,632,653,0.40098662725,-0.00539376641172,0.0798515858407,0.999999938807,0.000232624178891,-0.000258040517728,4.10744292315e-05,1793239023140477440
+75,1.250000000,BASELINE,766,746,715.473206642,680,662.473206642,636.473206642,879.473206642,787.473206642,803.473206642,652,632,653,0.40098575903,-0.00539402014252,0.0798508658356,0.999999938086,0.000233982709472,-0.000259572444895,4.12532259951e-05,1793239023157143296
+76,1.266666667,BASELINE,766,746,715.116093665,680,662,636,879,787.116093665,803.116093665,652,632,653,0.400985096918,-0.00539422606198,0.0798503740176,0.999999937416,0.000235368529676,-0.000260872069698,4.14280681968e-05,1793239023173809152
+77,1.283333333,BASELINE,766,746,715.694107141,680,662,636,879,787.694107141,803.694107141,652,632,653,0.400985464628,-0.00539338653612,0.0798508857113,0.999999937234,0.000236559557517,-0.000260504235986,4.13522290221e-05,1793239023190476288
+78,1.300000000,BASELINE,765.729039434,745.729039434,715.729039434,680,662,636,879.270960566,788,804,652,632,653,0.400986156855,-0.0053936159075,0.079851397635,0.999999937567,0.000236215944049,-0.000259556243979,4.12103208787e-05,1793239023207143168
+79,1.316666667,BASELINE,765.153490069,745.153490069,715.153490069,680,662,636,879.846509931,788,804,652,632,653,0.400987213875,-0.00539504683431,0.0798519098171,0.999999938477,0.000234147228732,-0.000257956091722,4.09941441186e-05,1793239023223810048
+80,1.333333333,BASELINE,765.429213251,745.429213251,715,680,662,636,879.570786749,788,804,652,632,653,0.40098549243,-0.0053947411618,0.0798509084495,0.999999938355,0.000232928263347,-0.000259544428361,4.08742493397e-05,1793239023240476672
+81,1.350000000,BASELINE,766,746,715,680,662,636,879,787.985548646,803.985548646,652,632,653,0.400982872186,-0.00539383146277,0.0798494309007,0.999999937873,0.000232080131774,-0.000262159969178,4.08038462006e-05,1793239023257143040
+82,1.366666667,BASELINE,766,746,715,680,662,636,879,787.402942216,803.402942216,652,632,653,0.400984641245,-0.00539400377819,0.0798508725194,0.999999938159,0.000233661895788,-0.000259572089381,4.13025998339e-05,1793239023273809664
+83,1.383333333,BASELINE,766,745.822387139,715,679.822387139,662,636,879.177612861,787.177612861,803.177612861,652,632,653,0.400985874071,-0.00539435923397,0.0798517459525,0.999999938405,0.000234202090451,-0.00025809550032,4.15438882346e-05,1793239023290476032
+84,1.400000000,BASELINE,766,745.246432627,715,679.246432627,662,636,879.753567373,787.753567373,803.753567373,652,632,653,0.40098590426,-0.00539512542825,0.079851345086,0.999999938575,0.000232406303366,-0.000259111260623,4.12077459902e-05,1793239023307142656
+85,1.416666667,BASELINE,766,745,715,679.327983662,662,636,879.672016338,787.672016338,804,652,632,653.327983662,0.400986380028,-0.00539541940286,0.0798516003738,0.99999993883,0.000231462563099,-0.000259011540407,4.09668677336e-05,1793239023323809280
+86,1.433333333,BASELINE,766,745,715,679.901249557,662,636,879.098750443,787.098750443,804,652,632,653.901249557,0.400987189021,-0.00539536022844,0.079852346366,0.999999939149,0.000231156025253,-0.000258077609209,4.07972325694e-05,1793239023340475904
+87,1.450000000,BASELINE,765.511920082,745.488079918,715,680,662,636,879,787,804,652,631.511920082,653.511920082,0.400986734416,-0.00539407956689,0.0798521526466,0.999999938713,0.000233236463337,-0.000257909213066,4.0720757516e-05,1793239023357142784
+88,1.466666667,BASELINE,765.076846324,746,715,680,662,636,879,787,803.923153676,652,631,653,0.400986259232,-0.00539282875901,0.0798518716339,0.99999993832,0.000235067643563,-0.00025778066298,4.06401653175e-05,1793239023373809664
+89,1.483333333,BASELINE,765.659772434,746,715,680,662,636,879,787,803.340227566,652,631,653,0.400987380303,-0.0053934486252,0.0798523036326,0.999999939285,0.000231985916976,-0.000256865344241,4.04047816535e-05,1793239023390476032
+90,1.500000000,BASELINE,766,746,715,679.761334669,662,636,879,787.238665331,803,652,631.238665331,653,0.40098714602,-0.00539358194813,0.079852004805,0.999999939226,0.00023140948491,-0.000257622096671,4.03525508821e-05,1793239023407142912
+91,1.516666667,BASELINE,766,746,715,679.188095792,662,636,879,787.811904208,803,652,631.811904208,653,0.400985011731,-0.00539303320923,0.0798506814669,0.999999937731,0.000234345106033,-0.00026072284602,4.05570734371e-05,1793239023423809536
+92,1.533333333,BASELINE,766,746,715,679.393742644,662,636,879,787.606257356,803.393742644,652,632,653,0.400985432902,-0.00539323760137,0.0798513842381,0.999999937941,0.000234948102139,-0.000259363426031,4.05942864779e-05,1793239023440475904
+93,1.550000000,BASELINE,766,746,715,679.979780975,662,636,879,787.020219025,803.979780975,652,632,653,0.400987102104,-0.00539380980695,0.0798530765188,0.99999993898,0.000234411893148,-0.000255825752729,4.05497890629e-05,1793239023457142528
+94,1.566666667,BASELINE,766,745.440670377,715.559329623,680,662,636,879,787.559329623,804,652,631.440670377,653,0.400986761759,-0.00539474359236,0.0798529478571,0.999999939109,0.000233428422037,-0.000256185543466,4.07805898741e-05,1793239023473809408
+95,1.583333333,BASELINE,766,745,716,679.861633598,662,636,879,788,804,652,631.138366402,653,0.400986330423,-0.00539517110524,0.0798525575348,0.999999939013,0.000233036683902,-0.000256888944103,4.09387070154e-05,1793239023490476288
+96,1.600000000,BASELINE,766,745,716,679.28348651,662,636,879,788,804,652,631.71651349,653,0.400985838125,-0.00539394842607,0.0798515423721,0.999999938309,0.000234576494816,-0.000258241807119,4.08345406898e-05,1793239023507143168
+97,1.616666667,BASELINE,766,745,716,679,662,636,879,788,803.707229348,652,632,653,0.400985637527,-0.00539363247353,0.0798510046744,0.999999937909,0.000235132734222,-0.000259275595035,4.08782168089e-05,1793239023523810048
+98,1.633333333,BASELINE,766,745,716,679,662,636,879,788,803.132790477,652,632,653,0.400985717568,-0.00539418886286,0.0798509263354,0.999999937804,0.000234742700975,-0.000260002407723,4.10641289057e-05,1793239023540476160
+99,1.650000000,BASELINE,766,745.453484616,715.546515384,679.453484616,662,636,879.453484616,788,803.453484616,652,631.546515384,653,0.400986593639,-0.00539406242907,0.0798517787144,0.999999938537,0.000233475035964,-0.000258310141687,4.11343128741e-05,1793239023557142784
+100,1.666666667,BASELINE,766,745.957480082,715.042519918,680,662,636,880,788,804,652,631.042519918,653,0.400987555188,-0.00539381224398,0.0798528389311,0.999999939427,0.000232033067003,-0.000256150010788,4.1160591419e-05,1793239023573809408
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+102,1.700000000,BASELINE,766,745.199420511,716,680,662,636,880,788,804,652,631.800579489,653,0.400985958296,-0.00539515534147,0.0798528037745,0.999999939163,0.000231004846379,-0.000258143166593,4.09085230455e-05,1793239023607142912
+103,1.716666667,BASELINE,766,745.77543484,716,680,662,636,880,788,804,652,631.22456516,653,0.400986025406,-0.00539531500537,0.0798519769428,0.999999939403,0.000229524745861,-0.000258581119114,4.06038994156e-05,1793239023623809536
+104,1.733333333,BASELINE,766,746,715.649049121,680,662,636,879.649049121,787.649049121,804,652,631.350950879,653,0.40098654287,-0.00539524067426,0.0798520340024,0.999999939571,0.000229700260703,-0.000257782776037,4.05414057256e-05,1793239023640476160
+105,1.750000000,BASELINE,766,746,715.073851415,680,662,636,879.073851415,787.073851415,804,652,631.926148585,653,0.400987348098,-0.00539501682754,0.0798526558413,0.999999939691,0.000230933662731,-0.000256194478111,4.06336255956e-05,1793239023657142784
+106,1.766666667,BASELINE,766,746,715.512726445,679.487273555,662,636,878.487273555,787.512726445,803.487273555,652,632,653,0.400985985678,-0.00539474244068,0.0798518085285,0.999999938837,0.000232232289434,-0.000258341440747,4.06730490651e-05,1793239023673809408
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,716,680,662,636,879,787,804,652,631,653,0.400985083229,-0.00539629195736,0.0798510580351,0.999999938799,0.000232289835505,-0.000258382162222,4.1019362533e-05,1793239023716379648
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.444341285,746,715.444341285,680,662,636,879,787,803.444341285,652,631.555658715,653,0.40098641201,-0.00539501433796,0.0798523067397,0.999999938913,0.000233529701683,-0.000256875777131,4.06654854201e-05,1793239023733046016
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,746,715.122076941,680,662,636,879,787.122076941,803.122076941,652,631.877923059,653,0.400987143686,-0.00539401764724,0.0798530754463,0.999999938908,0.000234469969298,-0.000256067362197,4.04678827274e-05,1793239023749712896
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,746,715.731443651,680,662,636,879,787.731443651,803.731443651,652,631.268556349,653,0.400985491921,-0.00539414232817,0.0798519281634,0.999999938442,0.00023421434138,-0.000258045007095,4.08940744421e-05,1793239023766379264
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.32435051,745.67564949,715.67564949,679.67564949,662,636,879,787.67564949,804,652,631.32435051,653,0.400985191101,-0.00539488819258,0.0798516150987,0.999999938447,0.000233803371572,-0.000258372646141,4.10573710364e-05,1793239023783045888
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.904287079,745.095712921,715.095712921,679.095712921,662,636,879,787.095712921,804,652,631.904287079,653,0.400985954817,-0.00539612354546,0.0798519593925,0.999999938824,0.000233269993396,-0.000257400091353,4.10135079867e-05,1793239023799713024
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.481597991,715,679,662,636,879,787.481597991,804,652,631.518402009,653,0.400985592893,-0.00539526655029,0.0798516049998,0.999999938463,0.000233633332215,-0.000258452153928,4.11393990888e-05,1793239023816379648
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,715.058184494,679.058184494,662,636,879,788,804,652,631.058184494,653,0.400985537635,-0.00539413448973,0.0798514485824,0.999999938115,0.0002341337674,-0.000259322907572,4.12598634834e-05,1793239023833046272
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,715.632947297,679.632947297,662,636,879,788,804,652,631.632947297,653,0.40099018044,-0.00539423219213,0.0798542759731,0.999999939195,0.000234277730073,-0.000255030939507,4.10342457295e-05,1793239023849712896
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,715.786386918,679.786386918,662,636,879,788,804,652,631.786386918,653,0.401000580196,-0.00539453983659,0.0798593587574,0.999999941314,0.000233879394509,-0.000246963181006,4.09975361632e-05,1793239023866379520
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,715.195289805,679.195289805,662,636,879,788,804,652,631.195289805,653,0.401021153284,-0.00539521847789,0.0798684271357,0.99999994515,0.00023252274248,-0.000232223075989,4.1294653661e-05,1793239023883046144
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.612246866,715,679.387753134,662,636,879,788,804,652,631,653,0.401060166043,-0.0053962399292,0.0798826275237,0.99999995146,0.000230674021728,-0.000205322387613,4.13792197586e-05,1793239023899712768
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.033177775,715,679.966822225,662,636,879,788,804,652,631,653,0.401108276869,-0.00539743052177,0.079899360027,0.999999958155,0.000228582515778,-0.000172421711014,4.13589137756e-05,1793239023916379392
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.542263676,715,679.457736324,662,636,879.542263676,788,804,652,631,653,0.401174866449,-0.00539903285037,0.0799161715991,0.999999963345,0.000227533813665,-0.000140965073959,4.08361848833e-05,1793239023933046016
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.883791601,715,679.116208399,662,636,879.883791601,788,803.883791601,652,631,653,0.401243994062,-0.00540035031673,0.0799305725881,0.999999966882,0.000227002954881,-0.000114481906884,3.99919548784e-05,1793239023949712896
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.314819152,715,679.685180848,662,636,879.314819152,788,803.314819152,652,631,653,0.40131863452,-0.005400460423,0.0799355628929,0.999999967502,0.000228242753597,-0.000107034116711,3.80140839243e-05,1793239023966379776
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,788,803.26638837,652,631.26638837,653,0.401402071672,-0.00540153497032,0.0799392177892,0.999999968316,0.000227529274475,-0.000101610502854,3.57010053491e-05,1793239023983046400
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,788,803.862751417,652,631.862751417,653,0.401496405266,-0.0054038041686,0.0799412185176,0.999999969409,0.000224396274417,-9.86942321046e-05,3.29727059662e-05,1793239023999712768
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+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.819862403,715.180137597,679.180137597,662,636,880,787.180137597,804,652,631.819862403,653,0.402043373902,-0.00540864514757,0.0799610187007,0.999999974853,0.000215085802835,-6.14980136079e-05,1.58030518917e-05,1793239024066379264
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+132,2.200000000,POSE1_TO_POSE2_PRESS,765.505361428,745,715,679,662.494638572,636,879,787.494638572,804,652,631.505361428,653,0.402832529923,-0.00541510547539,0.0799569181074,0.999999979781,0.000187552517755,-7.17274043894e-05,-1.08558307569e-05,1793239024133046272
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.080179108,715.080179108,679.080179108,662.080179108,636,879,787,803.919820892,652,631.919820892,653,0.40306405482,-0.00541874181671,0.079951045804,0.999999982104,0.000169483897309,-8.20142435999e-05,-1.84578586142e-05,1793239024149712896
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.657114736,715.657114736,679.657114736,662.657114736,636,879,787,803.342885264,652,631.342885264,653,0.403336600108,-0.00542128326775,0.0799502888445,0.999999989139,0.000120998588004,-8.05267542071e-05,-2.44254790832e-05,1793239024166379520
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.760519722,715.760519722,679.760519722,662.760519722,636,879,787.239480278,803.239480278,652,631,653,0.403633156519,-0.0054230133796,0.0799528190551,0.999999991368,0.000104582424279,-7.50814497325e-05,-2.62606425869e-05,1793239024183045888
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.170199356,715.170199356,679.170199356,662.170199356,636,879,787.829800644,803.829800644,652,631,653,0.403964889356,-0.00542355487436,0.07996016499,0.999999988587,0.000135147760148,-6.38379219604e-05,-2.20417307924e-05,1793239024199712512
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.410892884,715,679,662,636,879,787.589107116,804,652,631.410892884,653,0.404319108629,-0.00542452519805,0.0799645050988,0.999999988303,0.000140448450254,-5.53625832167e-05,-2.45503417269e-05,1793239024216379392
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.988246614,715,679,662,636,879,787.011753386,804,652,631.988246614,653,0.404682437594,-0.00542566924883,0.0799676274877,0.999999989222,0.000135513931236,-4.80086929623e-05,-2.97844054757e-05,1793239024233046272
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715.563047249,679.563047249,662,636,879.563047249,787.563047249,804,652,632,653,0.405082379848,-0.00542903583347,0.0799658812036,0.999999991546,0.00011643387336,-4.87182282999e-05,-3.12712405684e-05,1793239024249712896
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.86183387,715.86183387,680,662.13816613,636,879.86183387,788,804,652,631.86183387,653,0.405489505068,-0.005432498145,0.0799625772409,0.999999992791,0.000102778621983,-5.27074483539e-05,-3.28029201354e-05,1793239024266379520
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.285537692,715.285537692,680,662.714462308,636,879.285537692,788,804,652,631.285537692,653,0.405916995025,-0.00543611755485,0.0799546546434,0.99999999143,0.000107257767274,-6.65653308758e-05,-3.47237279388e-05,1793239024283046144
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.702321199,745.297678801,715,680,663,636,879.297678801,788,804,652,631,653,0.40637282914,-0.00544028145681,0.0799483164321,0.999999990233,0.000111307401664,-7.70149610883e-05,-3.48262634445e-05,1793239024299712768
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.112308581,745.887691419,715,680,663,636,879.887691419,788,804,652,631,653,0.40685649853,-0.00544498007467,0.0799435341574,0.999999989308,0.0001149352378,-8.41175376528e-05,-3.31431749434e-05,1793239024316379392
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.468656854,746,715,680,662.531343146,636,879.531343146,788,804,652,631,653,0.407357853065,-0.00545857561727,0.0799405581223,0.999999991218,9.09195165348e-05,-9.03004282667e-05,-3.3820468271e-05,1793239024333046016
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.952790835,715,680,662,636,879.047209165,787.952790835,804,652,631.047209165,652.952790835,0.407866241786,-0.00547483898111,0.0799374729417,0.999999992804,6.07216273178e-05,-9.7414968999e-05,-3.4869744864e-05,1793239024349712640
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.377439063,715,680,662,636,879.622560937,787.377439063,804,652,631.622560937,652.377439063,0.408406809922,-0.00549754788522,0.0799284160529,0.999999991958,3.40684465956e-05,-0.000117371057642,-3.38723718867e-05,1793239024366379264
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.797789027,745,715,680,662,636,879.797789027,787,804,652,631.797789027,652.202210973,0.408971528808,-0.00551102336355,0.0799283709041,0.999999992093,1.83053973916e-05,-0.000119726459245,-3.38286467421e-05,1793239024383045888
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.209941811,745,715,680,662,636,879.209941811,787,804,652,631.209941811,652.790058189,0.409582305517,-0.00550688978817,0.0799455120316,0.999999995177,2.33109031993e-05,-8.85156161018e-05,-3.56036220357e-05,1793239024399712256
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.372740482,745.372740482,715,680,662,636,879.372740482,787.372740482,804,652,631,653,0.410249665019,-0.00550819403224,0.0799727102081,0.999999998225,2.28446914948e-05,-4.15540588462e-05,-3.6081518049e-05,1793239024416378880
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.952553432,745.952553432,715,680,662,636,879.952553432,787.952553432,804,652,631,653,0.410948458539,-0.00551251920587,0.080005495483,0.999999999071,1.93387183916e-05,1.41576584882e-05,-3.5838833734e-05,1793239024433045760
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.471968122,715.528031878,679.471968122,662,636,879.471968122,787.471968122,804,652,631,653,0.411598144563,-0.00551724515748,0.0799982906989,0.99999999928,8.25518639801e-06,-2.68764485767e-06,-3.69316548826e-05,1793239024449712640
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,716,679.103209013,662,636,879,787.103209013,803.896790987,652,631,653,0.412247671589,-0.00552088678163,0.0799831819112,0.999999998803,-1.03768306328e-06,-2.99686672845e-05,-3.86564983502e-05,1793239024466379008
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,716,679.678774974,662,636,879,787.678774974,803.321225026,652,631,653,0.412916501364,-0.00551940228532,0.0799482105416,0.999999996243,9.55618343758e-07,-7.54153218342e-05,-4.27291755256e-05,1793239024483045632
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715.738610595,680,662,636,879,787.738610595,803,652,631,653,0.413611791459,-0.00552219472556,0.0799287415042,0.999999994187,-5.03597258059e-06,-9.74687091712e-05,-4.58292204708e-05,1793239024499712512
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715.147094078,680,662,636,879,787.147094078,803,652,631,653,0.41434050025,-0.00553038881036,0.0799288514505,0.999999994592,-2.11122468575e-05,-8.99770959532e-05,-4.77008602135e-05,1793239024516379136
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.565191002,745.434808998,715,680,662,636,879.434808998,787,803.434808998,652,631.434808998,653,0.41512784663,-0.00553397917008,0.0799495534847,0.999999997027,-2.95606089465e-05,-5.27845820817e-05,-4.78199342328e-05,1793239024533045760
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.01339953,745.98660047,715,680,662,636,879.98660047,787.01339953,804,652,632,653,0.415933087489,-0.00553610293579,0.0799761531719,0.999999998222,-3.53953044478e-05,-7.64744202319e-06,-4.73798592972e-05,1793239024549712384
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.586531625,745.413468375,715,680,662,636,879.413468375,787.586531625,804,652,632,653,0.416675116963,-0.00554061350719,0.0799644108927,0.999999997301,-3.75124691699e-05,-4.12815354548e-05,-4.78133282508e-05,1793239024566379264
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.164541515,788,804,652,632,653,0.417440827681,-0.00554549381473,0.0799603058689,0.99999999646,-4.27957843543e-05,-5.36028511143e-05,-4.87357405569e-05,1793239024583046144
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.755183003,788,804,652,632,653,0.418267863774,-0.00555133159801,0.0799759784343,0.999999997062,-5.62782255528e-05,-1.07321723337e-05,-5.09243303089e-05,1793239024599712512
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.339225972,715,680,662,636,880,787.660774028,804,652,632,653,0.419111193672,-0.0055557334805,0.0799916792539,0.999999996302,-6.46744404871e-05,2.28510523871e-05,-5.18797251442e-05,1793239024616378880
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.918597675,715,680,662,636,880,787.081402325,804,652,632,653,0.419966058287,-0.00555911885614,0.0800074000748,0.999999994994,-6.94700003754e-05,4.98594766974e-05,-5.19621133625e-05,1793239024633045504
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715,680.493405919,662.493405919,636,880,787.493405919,804,652,631.506594081,653,0.42080302138,-0.00555513149817,0.0799921566619,0.999999996074,-6.6046884379e-05,2.70436755419e-05,-5.25235063354e-05,1793239024649712384
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715,681,662.932361189,636,880,788,804.067638811,652,631,653,0.421640424495,-0.00554798088016,0.0799761884392,0.999999996867,-5.87421687876e-05,2.30341777261e-06,-5.30016960582e-05,1793239024666379264
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715,681,662.356847399,636,880,788,804.643152601,652,631,653,0.422503103925,-0.00552612798619,0.0799927841775,0.999999997815,-3.23797604837e-05,2.42686475867e-05,-5.22672005863e-05,1793239024683045888
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715.225153087,681,662.225153087,636.225153087,880,788,804.774846913,651.774846913,631,653,0.423359136549,-0.00551154032288,0.0800072535158,0.999999997708,-1.30709233057e-05,4.19812464827e-05,-5.14899897316e-05,1793239024699712512
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715.817739476,681,662.817739476,636.817739476,880,788,804.182260524,651.182260524,631,653,0.42420432221,-0.00550880897893,0.080018252728,0.999999997312,-5.27299202082e-06,5.27538675693e-05,-5.06430704681e-05,1793239024716379392
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715.600342124,681,663,636.600342124,880.399657876,788,804,651.399657876,631.399657876,653,0.42502072416,-0.00551717287601,0.0799870702868,0.999999998449,-1.95212832653e-05,-5.78782545473e-06,-5.18340855064e-05,1793239024733046016
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715.023162319,681,663,636.023162319,880.976837681,788,804,651.976837681,631.976837681,653,0.425824340775,-0.00553046511004,0.0799371513983,0.999999993073,-4.35621704987e-05,-9.51178798022e-05,-5.39303195444e-05,1793239024749712640
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.448398473,715,681,662.448398473,636,880.448398473,788,804,652,631.448398473,653,0.426725926995,-0.00553337469979,0.0799320803643,0.999999994024,-4.44546160192e-05,-8.29315501263e-05,-5.56669567722e-05,1793239024766379520
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.871125468,745.128874532,715,681,662,636,880.128874532,788,804,652,631,653,0.427612386805,-0.00553542169354,0.0799302409765,0.999999994766,-4.48171393721e-05,-7.23491241271e-05,-5.67964467185e-05,1793239024783046144
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.284583097,745.715416903,715,681,662,636,880.715416903,788,804,652,631,653,0.428430582998,-0.00553594690104,0.0799332194172,0.999999993944,-4.67346418163e-05,-8.25348355552e-05,-5.58231843596e-05,1793239024799712512
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.298300884,746,715,681,662.298300884,636,880.701699116,788,804,652,631.298300884,653,0.429277624816,-0.00553799119888,0.0799469580071,0.999999994975,-5.11750218503e-05,-6.61284856514e-05,-5.52919636983e-05,1793239024816379136
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.877736962,746,715,681,662.877736962,636,880.122263038,788,804,652,631.877736962,653,0.430151852296,-0.00554146717115,0.0799708375544,0.999999996492,-5.79931006097e-05,-2.46603107794e-05,-5.51773474825e-05,1793239024833045760
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662.543658207,636,880.456341793,788,804,652,631.543658207,653,0.431031576212,-0.00553956306589,0.0800052932711,0.999999996865,-5.33871035718e-05,2.44955313682e-05,-5.31071607475e-05,1793239024849712384
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.96552811,746,715,681,662.03447189,636,880.96552811,788,804,652,631,653,0.431906989979,-0.00553599910813,0.0800384756438,0.999999995277,-4.58417382681e-05,6.90584177153e-05,-5.07498488509e-05,1793239024866379264
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.391350865,746,715,681,662.608649135,636,880.391350865,788,804,652,631,653,0.432691907579,-0.00552897440931,0.0800074392477,0.999999997794,-4.01094501328e-05,9.52363333343e-06,-5.20852330074e-05,1793239024883045888
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.187546055,746,715,681,663,636,880,788,804,652,631,653,0.433464916179,-0.0055246679625,0.0799698993033,0.999999996585,-3.76852596166e-05,-4.95427897391e-05,-5.43577653641e-05,1793239024899712256
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.776545834,746,715,681,663,636,880,788,804,652,631,653,0.434212432988,-0.00552618009792,0.0799184381128,0.999999991595,-4.2342252136e-05,-0.000107606668091,-5.86363208498e-05,1793239024916378880
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715,681,663,636,880,788,804,652,631,653,0.434999895994,-0.0055294356448,0.0799180914287,0.999999991915,-5.04700754334e-05,-9.99791283254e-05,-6.02252699658e-05,1793239024933045504
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,681,663,636,880,788,804,652,631,653,0.43581177764,-0.0055337569204,0.0799489904999,0.999999994984,-6.07195802227e-05,-5.21951224088e-05,-6.01700911325e-05,1793239024949712384
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,681.514165404,663,636,880.514165404,788,804.514165404,652,631.514165404,653,0.436582070409,-0.00553999716506,0.0799759820683,0.999999996066,-6.29215406077e-05,-2.58088212958e-05,-5.693705035e-05,1793239024966379776
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715,682,663,636,881,788,805,652,632,653,0.437339447612,-0.00554622587794,0.0799969993649,0.999999996362,-6.54300036547e-05,-7.4335738232e-06,-5.4215810161e-05,1793239024983046912
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,715,682,663,636,881,788,805,652,632,653,0.438053380036,-0.00555115392492,0.079988031355,0.999999995439,-7.47975957377e-05,-1.88428892637e-05,-5.63293076606e-05,1793239024999713024
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.737592653,746,715,682,662.737592653,635.737592653,881,788,804.737592653,652,632,653,0.438742405968,-0.00555390807245,0.0799689577983,0.999999994063,-8.01530710492e-05,-4.62679658986e-05,-5.7524001104e-05,1793239025016379136
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.157730522,746,715,682,662.157730522,635.157730522,881,788,804.157730522,652,632,653,0.439401300508,-0.00555403228264,0.0799376587686,0.999999990757,-8.06547727124e-05,-9.30685661972e-05,-5.76071448649e-05,1793239025033045760
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.421164503,746,715,682,662.421164503,635,880.578835497,788,804.421164503,652,632,653,0.440005556572,-0.00555352346992,0.0798875807175,0.999999980531,-7.9748100907e-05,-0.000170090981907,-6.03852814629e-05,1793239025049712384
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.999698214,746,715,682,662.999698214,635,880.000301786,788,804.999698214,652,632,653,0.440589396881,-0.00555277812656,0.0798304858338,0.999999961488,-7.83151862507e-05,-0.00025840586002,-6.41704087463e-05,1793239025066379008
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,715,682,662.425474115,635,880.574525885,787.425474115,804.425474115,652,631.425474115,653,0.441132119857,-0.0055530647324,0.0797639162461,0.999999928408,-8.69999347622e-05,-0.000361952447755,-6.78669585791e-05,1793239025083045888
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.847119532,746,715,682.152880468,662,635.152880468,880.847119532,787,804,652,631,653,0.441689262935,-0.00555281372184,0.0797181910734,0.999999900416,-9.15793104701e-05,-0.000431072331916,-7.04150094339e-05,1793239025099712768
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.258711809,746,715,682.741288191,662,635.741288191,880.258711809,787,804,652,631,653,0.442287547392,-0.00555102961055,0.0797318617295,0.999999913166,-8.44482242056e-05,-0.000402094499205,-6.96913403842e-05,1793239025116380160
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.324725188,746,715,683,662,635.675274812,880.324725188,787,804,652,631,653,0.442882786095,-0.00554562712484,0.0797634688949,0.999999933354,-7.76924431233e-05,-0.000350171945555,-6.80914635324e-05,1793239025133046784
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.904261631,746,715,683,662,635.095738369,880.904261631,787,804,652,631,653,0.443475634763,-0.00553738530752,0.0798091508049,0.999999956029,-7.12311634885e-05,-0.000280244712435,-6.58040278564e-05,1793239025149712640
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+251,4.183333333,POSE1_TO_POSE2_PRESS,765.451913331,746,714.451913331,683,659,633,881,785.451913331,804.451913331,651.451913331,631,652.451913331,0.44983489461,-0.00557003908942,0.0796107606921,0.999999820946,-0.000120936498867,-0.000582416886063,-6.53657460696e-05,1793239026116379392
+252,4.200000000,HOLD_POSE2,765,746,714,683,659,633,880,785,805,652,631,653,0.449835097333,-0.00557221039724,0.0796115707338,0.999999821433,-0.000123037015413,-0.00058121741359,-6.46672853622e-05,1793239026157725696
+253,4.216666667,HOLD_POSE2,765.579198347,746,714,683,659,633,880.579198347,785,804.420801653,651.420801653,631,653,0.449836166835,-0.00557277113851,0.0796119775849,0.999999821748,-0.000124386644365,-0.000580379399378,-6.47362995253e-05,1793239026174392576
+254,4.233333333,HOLD_POSE2,766,746,714,682.842849198,659,633,881,785.157150802,804.157150802,651.157150802,631,653,0.449837128499,-0.00557280667656,0.0796124400746,0.999999822151,-0.000125129545118,-0.000579511618648,-6.48627849195e-05,1793239026191058944
+255,4.250000000,HOLD_POSE2,766,746,714,682.268206491,659,633,881,785.731793509,804.731793509,651.731793509,631,653,0.449837803682,-0.00557144694287,0.0796130503757,0.999999822789,-0.000124260592403,-0.00057856475904,-6.51419502612e-05,1793239026207725568
+256,4.266666667,HOLD_POSE2,765.692834778,746,714,682,659,633,880.692834778,786,804.692834778,651.692834778,631,653,0.449837423352,-0.00557026404725,0.0796126800057,0.999999822532,-0.000122917050455,-0.000579273039669,-6.53517422209e-05,1793239026224392192
+257,4.283333333,HOLD_POSE2,765.116825043,746,714,682,659,633,880.116825043,786,804.116825043,651.116825043,631,653,0.449836119193,-0.00556923592819,0.0796114513091,0.999999821485,-0.000121158127188,-0.000581429971894,-6.55008155283e-05,1793239026241058816
+258,4.300000000,HOLD_POSE2,765,746,714,682,659,633,880.471770342,785.528229658,804.471770342,651,631,653,0.44983504272,-0.00556882791769,0.0796107022711,0.999999821196,-0.000119281870656,-0.000582348924757,-6.51926955717e-05,1793239026257725440
+259,4.316666667,HOLD_POSE2,765.061843113,746,714,682.061843113,659,633,881,785,805,651.061843113,631,653,0.449834362134,-0.00556869622699,0.0796103769751,0.999999821271,-0.000117792903898,-0.000582568008803,-6.47937390842e-05,1793239026274392064
+260,4.333333333,HOLD_POSE2,765.637584703,746,714,682.637584703,659,633,881,785,805,651.637584703,631,653,0.449836489887,-0.00556954967562,0.0796125587852,0.999999822779,-0.000119770263023,-0.000579588650838,-6.46065294675e-05,1793239026291059712
+261,4.350000000,HOLD_POSE2,766,746,714,683,659,633,881,785,804.786748525,652,631,653,0.449838096933,-0.00556924799389,0.0796139691225,0.999999823831,-0.000119991381257,-0.000577710917624,-6.47244706447e-05,1793239026307726336
+262,4.366666667,HOLD_POSE2,766,746,714,683,659,633,881,785,804.211208919,652,631,653,0.44983881936,-0.00556698388709,0.0796140688218,0.999999824121,-0.000117228861156,-0.00057770471022,-6.53608256593e-05,1793239026324392192
+263,4.383333333,HOLD_POSE2,766,746,714,683,659,633,881,785,804.371801311,651.628198689,631,653,0.449837745195,-0.00556787895759,0.0796129479885,0.999999823049,-0.000117198698039,-0.000579613787889,-6.49180258028e-05,1793239026341058560
+264,4.400000000,HOLD_POSE2,766,746,714,683,659,633,881,785,804.959142449,651.040857551,631,653,0.449835629515,-0.00557060545911,0.0796111195906,0.99999982118,-0.000118752530556,-0.000582633190347,-6.38496207509e-05,1793239026357725184
+265,4.416666667,HOLD_POSE2,765.461097445,746,714,682.461097445,659,633,881,785,804.461097445,651.538902555,631,653,0.449835545132,-0.00556998801733,0.0796117700351,0.999999821147,-0.000117968729949,-0.000582846040205,-6.38758968356e-05,1793239026374391808
+266,4.433333333,HOLD_POSE2,765.117715831,745.882284169,714,682,659,633,880.882284169,785,804.117715831,652,631,653,0.449835559355,-0.00556936484544,0.0796121878479,0.999999821146,-0.000117352887341,-0.000582956379546,-6.40171747065e-05,1793239026391058688
+267,4.450000000,HOLD_POSE2,765.695045442,745.304954558,714,682,659,633,880.304954558,785,804.695045442,652,631,653,0.449835365618,-0.00556969544079,0.0796109737598,0.999999820735,-0.000118075210915,-0.00058348574235,-6.42879179637e-05,1793239026407725312
+268,4.466666667,HOLD_POSE2,766,745.271824192,714,682.271824192,659,633,880.543648384,785,804.728175808,652,631,653,0.449835406904,-0.00557015265256,0.0796104604248,0.999999820568,-0.000118591965468,-0.000583666601325,-6.42972160932e-05,1793239026424392192
+269,4.483333333,HOLD_POSE2,766,745.847986158,714,682.847986158,659,633,881.695972317,785,804.152013842,652,631,653,0.449835711326,-0.00557075162563,0.0796107316618,0.999999820674,-0.000118878562326,-0.000583457271014,-6.40137969636e-05,1793239026441058816
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,659,633,881,786,805,652,631,653,0.449838269075,-0.00556802386486,0.0796142859844,0.999999823317,-0.000117572545271,-0.00057914448501,-6.43047331028e-05,1793239026473748736
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,659,633,881,786,805,651.421383901,631,653,0.449837428629,-0.00556864071369,0.0796127492616,0.999999822279,-0.000118520463612,-0.000580768688179,-6.40581434065e-05,1793239026490415360
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.156314929,659,633,881,785.843685071,804.843685071,651,631,653,0.449836858899,-0.00556881947339,0.0796116652449,0.999999821585,-0.000119014179437,-0.000581865588683,-6.401626155e-05,1793239026507081984
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.731555596,659,633,881,785.268444404,804.268444404,651,631,653,0.449837014694,-0.00556782414951,0.0796117944849,0.999999821822,-0.000118290627712,-0.000581549312577,-6.45229989115e-05,1793239026523748608
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,683,658.693375827,633,881,785.306624173,804,651.306624173,630.693375827,653,0.449837227041,-0.00556759611769,0.0796117010265,0.999999821912,-0.000118212218136,-0.000581390059288,-6.47100605082e-05,1793239026540415488
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,658.118457862,633,881,785.881542138,804,651.881542138,630.118457862,653,0.449837488872,-0.00556803946059,0.0796114127086,0.999999821873,-0.000118698303019,-0.000581368199775,-6.46174082392e-05,1793239026557082368
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.529241136,658,633,881,786,804,652,630.470758864,653,0.449838221139,-0.00556971660046,0.0796123353098,0.99999982246,-0.000121026171798,-0.000579899780239,-6.44192288166e-05,1793239026573748992
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.0619631,746,714,682,658.0619631,633,881,785.9380369,804.0619631,652,631,653,0.449838792631,-0.0055715256112,0.0796132890021,0.999999822951,-0.000123594506883,-0.000578526410748,-6.42551750865e-05,1793239026590415360
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.638847192,746,714,682,658.638847192,633,881,785.361152808,804.638847192,652,631,653,0.449837013504,-0.00557176968518,0.0796118896024,0.999999821385,-0.000124189165481,-0.000581062562375,-6.46022893508e-05,1793239026607081984
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.785746749,746,714,682.214253251,659,633,881,785,805,652,631,653,0.449829663636,-0.00557133057602,0.0796075955948,0.99999981779,-0.000123416980408,-0.000587366381133,-6.47269543289e-05,1793239026623748608
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.212815101,746,714,682.787184899,659,633,881,785,805,652,631,653,0.449812987865,-0.00556974775942,0.0795984557646,0.999999810692,-0.00012035658123,-0.000599977598871,-6.44792200003e-05,1793239026640415232
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714.36258325,683,659,633,881,785,804.63741675,651.63741675,631.36258325,653,0.449777774922,-0.00556814974116,0.0795818094964,0.999999794292,-0.000118611123533,-0.000626984813928,-6.51006063876e-05,1793239026657081856
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714.939439383,683,659,633,881,785,804.060560617,651.060560617,631.939439383,653,0.449731607214,-0.00556654273916,0.0795607272087,0.999999771434,-0.000117642745735,-0.000662499515404,-6.62356099117e-05,1793239026673748736
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714.468891796,683,659,633,881,785.531108204,804,651.531108204,631.468891796,653,0.44966185423,-0.00556482218794,0.0795366055225,0.999999744186,-0.000117629353542,-0.000702415576789,-6.63534974406e-05,1793239026690415104
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,659,633,881,785.879510711,804,651.879510711,631,653,0.449588757356,-0.00556303022654,0.0795154544367,0.999999719765,-0.000117158612106,-0.000736458985771,-6.61169552173e-05,1793239026707081984
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,659,633,881,785.305287551,804,651.305287551,631,653,0.449513486202,-0.00556101950772,0.0795068324708,0.999999712739,-0.000114543769364,-0.000746443245981,-6.49949935868e-05,1793239026723748608
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.730349032,714,682.730349032,659,633,881,785,804,651.269650968,631,653,0.449430524865,-0.00555909038616,0.0795020547607,0.999999708815,-0.000112097438009,-0.000752190831577,-6.3345847103e-05,1793239026740415232
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.154598492,714,682.154598492,659,633,881,785,804,651.845401508,631,653,0.44933883387,-0.00555725389148,0.0795016409334,0.999999708499,-0.000109842395819,-0.00075312907257,-6.10982564925e-05,1793239026757081856
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.432045594,745,714,682.432045594,659,633,881,785,804,652,631,653,0.449226983816,-0.0055559789459,0.0795023958838,0.999999708982,-0.000108190182055,-0.000752989435238,-5.77694506012e-05,1793239026773748480
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745.022168888,714,683,659,633,880.977831112,785,804,652,631,653,0.449106870924,-0.00555489370351,0.0795037361775,0.99999970991,-0.000106729650575,-0.000752242430683,-5.40423435525e-05,1793239026790415104
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745.599284358,714,683,659,633,880.400715642,785,804,652,631,653,0.448965160892,-0.00555339710061,0.0795089891491,0.999999714869,-0.000104527980164,-0.000746196145278,-5.02801007317e-05,1793239026807081984
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,714.176062435,682.823937565,659,633,880.176062435,785.176062435,804.176062435,652,631,653.176062435,0.448814010286,-0.00555167193215,0.0795153384154,0.999999720787,-0.000101317343568,-0.000738955295803,-4.58898894684e-05,1793239026823748864
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,714.752073996,682.247926004,659,633,880.752073996,785.752073996,804.752073996,652,631,653.752073996,0.448641414185,-0.00554942754702,0.0795241780598,0.999999728886,-9.58147070202e-05,-0.000729000836739,-4.00731652729e-05,1793239026840415744
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.672301888,746,714.672301888,682.327698112,659,633,881,786,804.672301888,652,631,653.672301888,0.448446479723,-0.00554511939542,0.0795264821144,0.999999730875,-8.81163494877e-05,-0.000727517629446,-3.47001982816e-05,1793239026857082624
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.096970494,746,714.096970494,682.903029506,659,633,881,786,804.096970494,652,631,653.096970494,0.4482346647,-0.00553925170679,0.079523847388,0.999999728227,-7.87587398426e-05,-0.000732435934571,-2.96625669181e-05,1793239026873749504
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714,683,659,633,881,786,804.49347244,652,631,653,0.447987269012,-0.00553470180465,0.0795221374295,0.999999727116,-6.99096500567e-05,-0.000735071112141,-2.34757613881e-05,1793239026890415616
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.084566903,746,714,682.915433097,659,633.084566903,881.084566903,786,805,652,631,653,0.447729682521,-0.00553039370994,0.0795219170601,0.999999727879,-6.06637711797e-05,-0.000735035743524,-1.68765529157e-05,1793239026907081984
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.66161633,746,714,682.33838367,659,633.66161633,881.66161633,786,805,652,631,653,0.447454752702,-0.00552593812275,0.0795292797287,0.999999738035,-4.8506834653e-05,-0.00072214350794,-9.2323045047e-06,1793239026923748608
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.763013742,746,714,682.236986258,659,634,881.763013742,786,805,651.763013742,631,653,0.44716264467,-0.00552086339282,0.0795376948899,0.999999747185,-3.38934637808e-05,-0.000710264984433,-2.18048535486e-06,1793239026940415232
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,746,715,682,662,635.684225131,881,787.684225131,804,652,631,653,0.437729922333,-0.00543379442472,0.0797622681295,0.999999925209,9.74509546133e-05,-0.000373576645839,2.29463524385e-05,1793239027240415488
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.879383625,746,715.120616375,680,662,636,879,787.120616375,804,652,631.879383625,653,0.403147010849,-0.00539592797225,0.0798496563536,0.999999940451,0.000212258149962,-0.00026817604419,4.61060853471e-05,1793239028057081856
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.304453368,746,715.695546632,680,662,636,879,787.695546632,804,652,631.304453368,653,0.402882561518,-0.00539492327659,0.0798457915143,0.999999937098,0.000217649114888,-0.000276293045807,4.57768233134e-05,1793239028073748480
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745.730226445,715.730226445,680,662,636,879,787.730226445,804,652,631,653,0.402639318893,-0.00539405541885,0.0798429210133,0.999999934867,0.00022218472139,-0.000280799875287,4.52929430665e-05,1793239028090415104
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745.15679124,715.15679124,680,662,636,879,787.15679124,804,652,631,653,0.402419946907,-0.00539334158824,0.0798411697566,0.999999933972,0.000225757521758,-0.000281243033829,4.46350219813e-05,1793239028107081728
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.431463215,745.431463215,715.431463215,680,662,636,879,787,804,652,631,653,0.402227040579,-0.00539330232397,0.0798446220298,0.999999936209,0.000223361617525,-0.000275093820936,4.48898198948e-05,1793239028123748352
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745.9753908,715.9753908,680,662,636,879,787,803.9753908,652,631,653,0.402045619337,-0.00539348899103,0.0798501146871,0.999999939533,0.000218852397595,-0.000266397080806,4.54989079525e-05,1793239028140415232
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.397646596,715.397646596,680,662,636,879,787,803.397646596,652,631,653,0.401898487284,-0.00539304808192,0.0798574548093,0.99999994249,0.000217328631455,-0.00025620137496,4.63511095507e-05,1793239028157081856
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.179086439,715,680,662,636,879,787,803,652,631,653,0.401758309514,-0.00539335614057,0.0798622731126,0.999999944424,0.000216171678933,-0.0002494650396,4.67856349673e-05,1793239028173748480
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.753586787,715,680,662,636,879,787,803,652,631,653,0.401633486473,-0.00539531788266,0.0798615233646,0.999999944296,0.000215824632795,-0.00025036682282,4.62979521422e-05,1793239028190415104
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.663037581,715.336962419,680,662,636.336962419,879,787,803.336962419,652,631,653,0.401519720719,-0.0053954821575,0.0798589627653,0.999999942444,0.000220660810123,-0.000253842666974,4.4560483702e-05,1793239028207081984
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.072996012,715.927003988,680,662,636.927003988,879,787,803.927003988,652,631,653,0.401414259645,-0.00539429642598,0.0798550421073,0.999999939207,0.000229389901596,-0.000259251786591,4.18843506479e-05,1793239028223748608
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.50731974,716,679.49268026,662,636.49268026,879,787,803.49268026,652,631,653,0.40132496189,-0.00539499478751,0.0798491559361,0.999999936622,0.000229725653699,-0.000268936525533,4.06925630306e-05,1793239028240415232
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.914516502,715.914516502,679.085483498,662,636,879,787,803,651.914516502,631,653,0.401242409339,-0.00539570727273,0.0798435574475,0.999999934351,0.000228997852604,-0.000277961107829,3.99377035419e-05,1793239028257082112
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745.340801202,715.340801202,679.659198798,662,636,879,787,803,651.340801202,631,653,0.401185348403,-0.00539498121942,0.0798411868882,0.999999933834,0.000228963478062,-0.000279767694936,4.04814461121e-05,1793239028273750016
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.766259897,745.233740103,715,680,662,635.766259897,879,787.233740103,803.233740103,651.233740103,631,653,0.401135748296,-0.00539447300279,0.0798400195548,0.999999933478,0.000229572826859,-0.000280463874383,4.09857397816e-05,1793239028290416896
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.190510013,745.809489987,715,680,662,635.190510013,879,787.809489987,803.809489987,651.809489987,631,653,0.401097064918,-0.00539428352601,0.0798406127884,0.999999933363,0.000231124075126,-0.000279535299237,4.1432311574e-05,1793239028307082240
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.394129292,745.605870708,715,679.605870708,662,635.394129292,879,787.605870708,804,652,631,653,0.401065962207,-0.00539505009187,0.0798409466896,0.999999933737,0.000229717926454,-0.000279308933999,4.17351526518e-05,1793239028323749120
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.983164605,745.016835395,715,679.016835395,662,635.983164605,879,787.016835395,804,652,631,653,0.401038608313,-0.00539628944287,0.0798411523451,0.999999934349,0.000226849276777,-0.000279429827774,4.19669155644e-05,1793239028340416256
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,879,787,804,652,631,653,0.401020591451,-0.00539456471256,0.0798402221241,0.999999933379,0.00022884592865,-0.000281280767339,4.18672124289e-05,1793239028357082112
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745.143118845,715,679.143118845,662,636,879,787,803.856881155,652,631,653,0.401005756093,-0.0053939219347,0.0798401444672,0.999999933096,0.000229513862298,-0.000281741046697,4.18756639168e-05,1793239028373748480
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.718063599,715,679.718063599,662,636,879,787,803.281936401,652,631,653,0.400999691256,-0.0053968068169,0.0798427400497,0.999999935028,0.000225740801267,-0.000277851766943,4.22398710732e-05,1793239028390415360
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,746,715.298741463,679.701258537,662,636,879,787.298741463,803.298741463,652,631,653,0.400993940949,-0.00539722697558,0.0798431368986,0.999999935583,0.000224824987995,-0.00027661634467,4.20914576369e-05,1793239028407081984
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746,715.884935867,679.115064133,662,636,879,787.884935867,803.884935867,652,631,653,0.400988493288,-0.0053952755454,0.0798414180976,0.99999993483,0.000226658455436,-0.000277934498312,4.14497940074e-05,1793239028423748608
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.534196912,716,679.465803088,661.534196912,635.534196912,878.534196912,787.534196912,803.534196912,652,631.465803088,653,0.400987195326,-0.00539527061787,0.0798428423968,0.999999935683,0.000226290322223,-0.000275165330509,4.13687360196e-05,1793239028440415488
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715.954890618,679.954890618,661,635.045109382,878.045109382,787,803,652,631.954890618,653,0.400986897095,-0.00539568615148,0.0798449085078,0.999999936825,0.000225476591296,-0.000271656378879,4.1383603705e-05,1793239028457082112
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715.378643676,679.378643676,661,635.621356324,878.621356324,787,803,652,631.378643676,653,0.400986436959,-0.00539545487864,0.0798454930742,0.99999993691,0.000225747275306,-0.000271190675563,4.09158251974e-05,1793239028473748736
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.196895743,636,878.803104257,787,803,652,631.196895743,653,0.400985915871,-0.00539543176372,0.0798458133756,0.999999936807,0.000226409466838,-0.000271032399635,4.08089036311e-05,1793239028490415360
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.771079382,636,878.228920618,787,803,652,631.771079382,653,0.400985277986,-0.00539580751708,0.0798456272974,0.999999936346,0.000227821857662,-0.000271463210276,4.13934493365e-05,1793239028507081984
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.355801436,679.355801436,662,636,878.355801436,787,803,652,632,653,0.400984409454,-0.00539659951582,0.0798455718738,0.999999936346,0.000227342655165,-0.000271850453174,4.14816120404e-05,1793239028523748608
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.947510779,679.947510779,662,636,878.947510779,787,803,652,632,653,0.400983387997,-0.00539766749874,0.0798456030786,0.999999936651,0.00022560926481,-0.000272208809226,4.1240656671e-05,1793239028540415232
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.471828414,680,662,636,879,787,803,652,632,653,0.400984766912,-0.00539564634169,0.079846845646,0.99999993717,0.000226913228872,-0.000269266476291,4.08058922967e-05,1793239028557081856
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.106875275,715.106875275,680,662,636,878.893124725,787.106875275,803.106875275,652,632,653,0.400985773243,-0.00539432043538,0.0798477638111,0.999999937547,0.00022792929548,-0.000267047807907,4.04848546165e-05,1793239028573748480
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745.681718499,715.681718499,680,662,636,878.318281501,787.681718499,803.681718499,652,632,653,0.400984125061,-0.00539735546053,0.0798467452183,0.999999937254,0.000226390155179,-0.00026940465332,4.07443918887e-05,1793239028590415104
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.744030186,715.744030186,679.744030186,662,636,878.255969814,788,804,652,631.744030186,653,0.400982810254,-0.00539869558982,0.0798458461489,0.999999937226,0.000224624380295,-0.000270988400284,4.07187503406e-05,1793239028607081728
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745.170513097,715.170513097,679.170513097,662,636,878.829486903,788,804,652,631.170513097,653,0.400981909021,-0.00539793309048,0.079845095356,0.999999937529,0.000222577450199,-0.000271613068434,4.03393258711e-05,1793239028623748352
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.5823465,745.4176535,715,679,662,636,879,787.5823465,804,652,631,653,0.400982542909,-0.00539793492931,0.0798458525145,0.999999937921,0.000222592224351,-0.000270150987768,4.03581975375e-05,1793239028640415232
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745.988320643,715,679,662,635.988320643,878.988320643,787,803.988320643,652,631,653,0.400983818687,-0.00539826016102,0.0798472278347,0.999999938347,0.000223459639632,-0.000267821070637,4.05433458802e-05,1793239028657081600
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745.410720265,715,679,662,635.410720265,878.410720265,787,803.410720265,652,631,653,0.400984724842,-0.00539858526787,0.0798476408324,0.99999993879,0.00022337362606,-0.000266221742007,4.06197379107e-05,1793239028673748480
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.165186085,745.165186085,715,679,662,635.165186085,878.165186085,787,803,652,631,653,0.400985045359,-0.00539847500703,0.0798477290159,0.999999938953,0.00022346738748,-0.000265538579823,4.05590079805e-05,1793239028690415360
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.73692311,745.73692311,715,679,662,635.73692311,878.73692311,787,803,652,631,653,0.400983924524,-0.00539729323251,0.0798470177767,0.999999938431,0.000224003605619,-0.000267110258573,4.01607976694e-05,1793239028707083264
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.680184938,746,715,679.319815062,662,636,879,787.319815062,803.319815062,652,631,653,0.400984796798,-0.00539662576973,0.0798477434844,0.999999938528,0.000224772734966,-0.000266110305934,4.00747675332e-05,1793239028723750144
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.087785461,746,715,679.912214539,662,636,879,787.912214539,803.912214539,652,631,653,0.400987367836,-0.00539639666462,0.079849693929,0.999999939147,0.000225740378904,-0.000262918503227,4.0254814474e-05,1793239028740416256
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.493767723,745.506232277,715.493767723,680,662,636,879,787.506232277,804,652,631,653,0.400985890263,-0.0053967706162,0.0798488057978,0.999999938814,0.000225249750029,-0.000264586775974,4.03537662514e-05,1793239028757082368
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.072989739,716,680,662,636,879,787,804,652,631,653,0.400984058448,-0.00539716703886,0.079847680233,0.99999993836,0.00022469683523,-0.000266749637676,4.04470276106e-05,1793239028773748992
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745.649148692,716,680,662,636,879,787,804,652,631,653,0.400984639968,-0.00539699514469,0.0798483220808,0.99999993825,0.000225463397527,-0.000266493521582,4.05983155817e-05,1793239028790415616
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,662,636,878.776554903,787.223445097,803.776554903,652,631,653,0.400985069912,-0.00539683880398,0.0798487493055,0.999999938279,0.000225940965555,-0.000265984044985,4.0559297208e-05,1793239028807081984
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,662,636,878.205158788,787.794841212,803.205158788,652,631,653,0.400985263818,-0.00539670668325,0.079848842317,0.999999938526,0.000225968508835,-0.000265080032751,4.02239318485e-05,1793239028823748352
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745.618939387,715.618939387,679.618939387,662,636,878,787.618939387,803.381060613,652,631,653.381060613,0.400985104486,-0.00539651234203,0.0798489123454,0.999999938564,0.000226256239412,-0.000264718096169,4.00516892461e-05,1793239028840415232
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745.024416314,715.024416314,679.024416314,662,636,878,787.024416314,803.975583686,652,631,653.975583686,0.400984747276,-0.00539628314615,0.0798489694989,0.999999938485,0.000226689721658,-0.000264659819471,3.9970824738e-05,1793239028857081856
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.553445145,662,636,878.553445145,787.553445145,804,652,631.553445145,653.446554855,0.40098591014,-0.00539816017406,0.0798501799323,0.999999939429,0.000224555301467,-0.000262837705344,4.04109186439e-05,1793239028873749504
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e92819a49f2731a35d2c81709d05ee2973fd6ea
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,416 @@
+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,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+1,0.016666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+2,0.033333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+3,0.050000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+4,0.066666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+5,0.083333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+6,0.100000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+7,0.116666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+8,0.133333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+9,0.150000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+10,0.166666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+11,0.183333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+12,0.200000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
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+385,6.416666667,pose2_to_pose3_retreat,0.575680415885,9.06699343448e-05,1.07003228488,0.546250867416,0.0087624094101,1.06970041874
+386,6.433333333,pose2_to_pose3_retreat,0.575675107725,9.0722330877e-05,1.07003228766,0.54624555868,0.00876245969356,1.06970041752
+387,6.450000000,pose2_to_pose3_retreat,0.575672212645,9.0730779271e-05,1.07003216857,0.546242663539,0.00876246798778,1.06970029964
+388,6.466666667,pose2_to_pose3_retreat,0.575670192825,9.07340536645e-05,1.07003210923,0.546240643736,0.0087624713529,1.06970024117
+389,6.483333333,pose2_to_pose3_retreat,0.57566906354,9.07192652429e-05,1.07003222666,0.546239514828,0.00876245787308,1.06970035934
+390,6.500000000,pose2_to_pose3_retreat,0.575668611085,9.07133401613e-05,1.07003227371,0.546239062524,0.0087624524723,1.06970040668
+391,6.516666667,pose2_to_pose3_retreat,0.575668219059,9.07082064231e-05,1.07003231447,0.546238670628,0.00876244779283,1.0697004477
+392,6.533333333,pose2_to_pose3_retreat,0.57566772526,9.07017399413e-05,1.07003236582,0.546238176995,0.00876244189856,1.06970049937
+393,6.550000000,pose2_to_pose3_retreat,0.575667490252,9.06986624187e-05,1.07003239026,0.546237942065,0.00876243909336,1.06970052397
+394,6.566666667,pose2_to_pose3_retreat,0.575667470182,9.06983995872e-05,1.07003239234,0.546237922002,0.00876243885379,1.06970052607
+395,6.583333333,pose2_to_pose3_retreat,0.575667307943,9.06962750046e-05,1.07003240921,0.546237759817,0.00876243691721,1.06970054304
+396,6.600000000,pose2_to_pose3_retreat,0.575667082904,9.06933280371e-05,1.07003243262,0.546237534853,0.00876243423101,1.06970056659
+397,6.616666667,pose2_to_pose3_retreat,0.575666874784,9.06906026156e-05,1.07003245426,0.546237326802,0.00876243174676,1.06970058837
+398,6.633333333,pose2_to_pose3_retreat,0.575666609127,9.06930870535e-05,1.07003241888,0.546237060882,0.00876243331073,1.06970055233
+399,6.650000000,pose2_to_pose3_retreat,0.575666376545,9.06953942416e-05,1.07003238651,0.546236828061,0.00876243478486,1.06970051937
+400,6.666666667,pose2_to_pose3_retreat,0.575666305174,9.06961022324e-05,1.07003237658,0.546236756617,0.00876243523721,1.06970050925
+401,6.683333333,pose2_to_pose3_retreat,0.575666039208,9.0698740585e-05,1.07003233957,0.546236490378,0.00876243692292,1.06970047156
+402,6.700000000,pose2_to_pose3_retreat,0.575665799374,9.07011197159e-05,1.07003230619,0.546236250297,0.00876243844301,1.06970043757
+403,6.716666667,pose2_to_pose3_retreat,0.575665531172,9.07037802414e-05,1.07003226887,0.546235981821,0.00876244014289,1.06970039956
+404,6.733333333,pose2_to_pose3_retreat,0.575665126854,9.06988131577e-05,1.07003222936,0.546235577476,0.00876243503401,1.06970035868
+405,6.750000000,pose2_to_pose3_retreat,0.575665008528,9.06898424513e-05,1.07003223184,0.546235459468,0.00876242711563,1.06970036047
+406,6.766666667,pose2_to_pose3_retreat,0.575664908326,9.06822458069e-05,1.07003223393,0.546235359535,0.00876242041012,1.06970036199
+407,6.783333333,pose2_to_pose3_retreat,0.575664835686,9.06767387514e-05,1.07003223545,0.54623528709,0.00876241554908,1.06970036309
+408,6.800000000,pose2_to_pose3_retreat,0.575664807957,9.06746364849e-05,1.07003223603,0.546235259435,0.00876241369343,1.06970036351
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+410,6.833333333,pose2_to_pose3_retreat,0.575664522059,9.06523431226e-05,1.07003222781,0.546234974583,0.00876239490039,1.06970035406
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..92e7a4de00268298b3038bd5652419cffa03c7a1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:779492dd5c269b5853b402cddcd92db38bff83d89e583494e33b2f8976aeb72a
+size 26452025
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7b6142bec37930c5172a57ef8beb2dd045bb735c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_03/franka_data.csv
@@ -0,0 +1,419 @@
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+29,0.483333333,BASELINE,765.838992479,745,715,679.838992479,662,635.838992479,879.838992479,787.161007521,803.161007521,652,631,653,0.400985269096,-0.00539815628825,0.0798503794348,0.999999939323,0.000226065821353,-0.000262061568689,3.96523284974e-05,1793239029514095616
+30,0.500000000,BASELINE,766,745,715.412419185,680,662,636.412419185,879.587580815,787,803.412419185,652,631,653,0.400984404514,-0.00539813692433,0.0798496981668,0.999999939016,0.00022630565518,-0.000263039131935,3.95395515793e-05,1793239029530761984
+31,0.516666667,BASELINE,766,745,715.985942866,680,662,636.985942866,879.014057134,787,803.985942866,652,631,653,0.400983192879,-0.00539724075296,0.079848881054,0.999999938584,0.000226937483327,-0.000264163592989,3.93666550596e-05,1793239029547428864
+32,0.533333333,BASELINE,766,745,716,680,662,636.419522319,879.580477681,787,803.419522319,652,631,653,0.400983654152,-0.0053969325954,0.0798494459777,0.999999939259,0.000225125083797,-0.000263167258747,3.93009821942e-05,1793239029564095488
+33,0.550000000,BASELINE,765.829582671,745,715.829582671,679.829582671,662,636,879.829582671,787.170417329,803,652,631,653,0.400984023206,-0.00539701321932,0.0798499498257,0.999999939617,0.000224417418604,-0.000262404683673,3.93355709266e-05,1793239029580762112
+34,0.566666667,BASELINE,765.251886735,745,715.251886735,679.251886735,662,636,879.251886735,787.748113265,803,652,631,653,0.400984071409,-0.00539798767893,0.0798502247207,0.999999939157,0.000226496718486,-0.000262328117463,3.96033352278e-05,1793239029597428736
+35,0.583333333,BASELINE,765.323144696,745,715,679.323144696,662,636,879,787.676855304,803.323144696,652,631,653,0.400984879062,-0.00539890429903,0.0798510564365,0.999999939513,0.000226305520238,-0.00026109134818,3.9895046763e-05,1793239029614095616
+36,0.600000000,BASELINE,765.896116229,745,715,679.896116229,662,636,879,787.103883771,803.896116229,652,631,653,0.400986273852,-0.00539977620285,0.0798523186369,0.999999940494,0.000224358974305,-0.000258957612708,4.02052722054e-05,1793239029630762496
+37,0.616666667,BASELINE,766,745.480313947,715,680,662,636,879,787.480313947,804,652,631,653,0.400986117791,-0.0053989389466,0.079851627566,0.999999940207,0.000224894761919,-0.000259649956733,3.98880120996e-05,1793239029647429120
+38,0.633333333,BASELINE,765.933649823,745.933649823,715,679.933649823,662,636,879.066350177,788,804,652,631.066350177,653,0.400985658974,-0.00539792789194,0.0798506546645,0.999999939732,0.000225718337426,-0.000260818463984,3.95032188915e-05,1793239029664095744
+39,0.650000000,BASELINE,765.352636782,745.352636782,715,679.352636782,662,636,879.647363218,788,804,652,631.647363218,653,0.400985515815,-0.00539850472979,0.0798508510103,0.999999939996,0.000224510047392,-0.000260825800231,3.96724859181e-05,1793239029680762368
+40,0.666666667,BASELINE,765.227445094,745.227445094,715,679.227445094,662,636,879.772554906,788,803.772554906,652,631.772554906,653,0.400986105282,-0.00539910811472,0.0798512974018,0.999999940309,0.000224115558676,-0.000259936655769,3.98408021176e-05,1793239029697429248
+41,0.683333333,BASELINE,765.806089122,745.806089122,715,679.806089122,662,636,879.193910878,788,803.193910878,652,631.193910878,653,0.400987825999,-0.00539975249106,0.0798521298899,0.999999940697,0.000224977664094,-0.000257663251643,4.00076501307e-05,1793239029714095872
+42,0.700000000,BASELINE,766,745.617883684,715,679.617883684,662,636,879.382116316,787.617883684,803.382116316,652,631.382116316,653,0.400987635417,-0.00539899509841,0.0798520496158,0.999999940412,0.00022575266029,-0.000258104511956,3.99272068336e-05,1793239029730762496
+43,0.716666667,BASELINE,766,745.043175428,715,679.043175428,662,636,879.956824572,787.043175428,803.956824572,652,631.956824572,653,0.400986481513,-0.00539753119466,0.0798515092969,0.999999939786,0.000226483752202,-0.000259914000982,3.97221252707e-05,1793239029747429120
+44,0.733333333,BASELINE,765.45550506,745.54449494,715,679.54449494,662,636,879.45550506,787,804,652,631.45550506,653,0.400985072715,-0.00539717450359,0.0798513556979,0.99999993941,0.000227466512933,-0.000260513729634,3.96538271846e-05,1793239029764095488
+45,0.750000000,BASELINE,765.131112477,745.868887523,715.131112477,679.868887523,662,636,879,787.131112477,803.868887523,652,631.131112477,653,0.400984298893,-0.00539690831884,0.0798512932868,0.99999993927,0.000227835494933,-0.000260733342628,3.96000467555e-05,1793239029780762368
+46,0.766666667,BASELINE,765.710529922,745.289470078,715.710529922,679.289470078,662,636,879,787.710529922,803.289470078,652,631.710529922,653,0.400985766998,-0.00539664408135,0.0798514352616,0.999999939874,0.00022603592208,-0.000259989246051,3.95579156477e-05,1793239029797428992
+47,0.783333333,BASELINE,766,745.287906212,715.712093788,679.287906212,662,636,879.287906212,788,803,652,632,653,0.4009863182,-0.00539753918172,0.0798514122938,0.999999940354,0.000224302217962,-0.00025963942428,3.9586370894e-05,1793239029814095616
+48,0.800000000,BASELINE,766,745.863244776,715.136755224,679.863244776,662,636,879.863244776,788,803,652,632,653,0.400985954007,-0.00539959171179,0.0798512246549,0.999999940712,0.000222634273951,-0.000259683228293,3.96852963121e-05,1793239029830762240
+49,0.816666667,BASELINE,765.552198883,745.552198883,715,679.552198883,662,636,879.552198883,787.552198883,802.552198883,652,631.552198883,653,0.400986134922,-0.00539900033331,0.0798517756995,0.999999940498,0.000224178613978,-0.000259178083909,3.96854947298e-05,1793239029847428864
+50,0.833333333,BASELINE,765,745,715,679,662,636,879,787,802.069493357,652,631.034746679,653,0.400986510693,-0.00539764358188,0.0798524976085,0.99999994013,0.000226550047553,-0.000258539589799,3.96497326644e-05,1793239029864095488
+51,0.850000000,BASELINE,765,745,715,679,662,636,879,787,803.22818295,652,631.614091475,653,0.40098727649,-0.00539721199007,0.0798522874933,0.999999940229,0.000226185963932,-0.000258493840032,3.95328405393e-05,1793239029880762368
+52,0.866666667,BASELINE,765,745,715,679,662,636,879,787,804.192851452,652,631.807148548,653,0.400987360406,-0.00539769278842,0.0798519381935,0.99999994039,0.000225071478337,-0.000258841087916,3.95436589262e-05,1793239029897429248
+53,0.883333333,BASELINE,765,745,715,679,662,636,879,787,804.770444669,652,631.229555331,653,0.400986083959,-0.00539999381992,0.0798513112181,0.999999940671,0.00022245992869,-0.000259972372469,3.9809261857e-05,1793239029914096128
+54,0.900000000,BASELINE,765.345885786,745,715,679.345885786,662,636,879,787,804.654114214,652,631,653,0.400985926268,-0.0053997205111,0.0798512297344,0.999999940468,0.000223191957364,-0.000260125643662,3.97936251105e-05,1793239029930763008
+55,0.916666667,BASELINE,765.919907418,745,715,679.919907418,662,636,879,787,804.080092582,652,631,653,0.400986506475,-0.00539774924485,0.0798515080406,0.999999939944,0.000226129309697,-0.000259633846651,3.95924911325e-05,1793239029947429632
+56,0.933333333,BASELINE,766,745.505588049,715,680,662,636,879,787.505588049,803.494411951,652,631,653,0.40098612752,-0.00539808713103,0.079851321051,0.999999939815,0.000226388520212,-0.000259913141173,3.95504570478e-05,1793239029964095744
+57,0.950000000,BASELINE,766,745.908211481,715,679.908211481,662,636,879,787.908211481,803,652,631,653,0.400985679781,-0.00539859760803,0.0798510578908,0.999999939688,0.000226504322482,-0.000260300278103,3.95521934418e-05,1793239029980762368
+58,0.966666667,BASELINE,766,745.329285844,715,679.329285844,662,636,879,787.329285844,803,652,631,653,0.400985692432,-0.00539803684599,0.0798507909045,0.999999939229,0.000228163784906,-0.000260596167741,3.96493091617e-05,1793239029997428992
+59,0.983333333,BASELINE,766,745,715,679.249621445,662,636,879.249621445,787,803.249621445,652,631.249621445,653,0.400985675146,-0.00539806113442,0.0798507446662,0.999999939182,0.0002282614896,-0.000260679051522,3.97262589642e-05,1793239030014095616
+60,1.000000000,BASELINE,766,745,715,679.828504614,662,636,879.828504614,787,803.828504614,652,631.828504614,653,0.400985618371,-0.0053988571302,0.079850989604,0.999999939678,0.000226299167022,-0.000260480971197,3.97766090437e-05,1793239030030762240
+61,1.016666667,BASELINE,766,745,715,680,662,636,879.595077692,787,803.595077692,652,631.595077692,653,0.400984459106,-0.00539875409989,0.0798507331006,0.999999939518,0.00022612176289,-0.000261269273543,3.9650181887e-05,1793239030047429120
+62,1.033333333,BASELINE,766,745,715,680,662,636,879.019697909,787,803.019697909,652,631.019697909,653,0.400982835733,-0.00539827261244,0.0798502655088,0.99999993908,0.000226695744233,-0.000262472806917,3.94493379788e-05,1793239030064096000
+63,1.050000000,BASELINE,765.431754347,745,715,679.431754347,662,636,879,787.568245653,803,652,631,653,0.40098453475,-0.00539780662844,0.0798508270395,0.999999939842,0.000225065680792,-0.000261012723417,3.91630878251e-05,1793239030080762624
+64,1.066666667,BASELINE,765.154341575,745,715,678.845658425,662,635.845658425,879.154341575,787.845658425,803,652,631.154341575,653,0.400985711328,-0.00539794550619,0.0798513077033,0.999999940489,0.000223498763582,-0.000259890022967,3.9071642508e-05,1793239030097428992
+65,1.083333333,BASELINE,765.734116935,745,715,678.265883065,662,635.265883065,879.734116935,787.265883065,803,652,631.734116935,653,0.400985123195,-0.00539975013616,0.0798514649052,0.999999940717,0.000222321264625,-0.000259957564167,3.95255107906e-05,1793239030114095872
+66,1.100000000,BASELINE,766,745,715,678.621879447,662,635.310939724,880,787,803,652,631.689060276,653,0.400985531078,-0.00539900907106,0.0798520409779,0.999999940561,0.000223790557793,-0.000259261018335,3.97340957178e-05,1793239030130762240
+67,1.116666667,BASELINE,766,745,715,679.770523006,662,635.885261503,880,787,803,652,631.114738497,653,0.400986782636,-0.00539611167026,0.079852971856,0.999999940071,0.000227501821082,-0.000257917251191,3.97349129111e-05,1793239030147428864
+68,1.133333333,BASELINE,766,745,715,679.529434609,662,635.529434609,879.529434609,787,803,652,631,653,0.400984601481,-0.00539658509801,0.079850833201,0.999999939482,0.000226360779214,-0.00026124515672,3.93520459754e-05,1793239030164095488
+69,1.150000000,BASELINE,766,745,715,679,662,635.057768819,879,787,803.057768819,652,631,653,0.400982042524,-0.00539780762236,0.0798483538553,0.99999993895,0.000224337901788,-0.000265054222375,3.89616729737e-05,1793239030180762112
+70,1.166666667,BASELINE,766,745,715,679,662,635.637364004,879,787,803.637364004,652,631,653,0.4009838122,-0.005398194984,0.0798497193381,0.999999939348,0.000225292122962,-0.000262674237819,3.93687672337e-05,1793239030197428992
+71,1.183333333,BASELINE,766,745,715,679,662,636,879.216526932,787.216526932,804,652,631.216526932,653,0.400985270293,-0.0053986728196,0.0798509657531,0.999999939764,0.00022580558154,-0.000260598209255,3.96583979828e-05,1793239030214095616
+72,1.200000000,BASELINE,766,745,715,679,662,636,879.794967456,787.794967456,804,652,631.794967456,653,0.400986207588,-0.00539930187779,0.0798520131527,0.999999940218,0.000225582328336,-0.000259030227065,3.97516946003e-05,1793239030230762240
+73,1.216666667,BASELINE,766,745.369261801,715.369261801,679.369261801,662,636,879.630738199,788,804,652,631.630738199,653,0.400986518421,-0.00539879765113,0.0798522589954,0.999999940499,0.000224967290738,-0.000258520160847,3.94929811419e-05,1793239030247428864
+74,1.233333333,BASELINE,766,745.941279508,715.941279508,679.941279508,662,636,879.058720492,788,804,652,631.058720492,653,0.400986485273,-0.00539767115537,0.0798520647156,0.999999940685,0.000224137130439,-0.000258590979912,3.90409844257e-05,1793239030264095488
+75,1.250000000,BASELINE,766,746,716,679.469154055,662,636,879,787.469154055,804,652.530845945,631.530845945,653,0.400986302656,-0.00539907352004,0.0798518815944,0.999999940804,0.000223123947261,-0.000258959928085,3.93251096841e-05,1793239030280762112
+76,1.266666667,BASELINE,766.119830062,745.880169938,715.880169938,679.119830062,662,636,878.880169938,787.119830062,804,652.880169938,631.880169938,653,0.40098606067,-0.00540007777366,0.0798516007274,0.99999994074,0.000222806909533,-0.000259450387651,3.95382213486e-05,1793239030297428992
+77,1.283333333,BASELINE,766.698888919,745.301111081,715.301111081,679.698888919,662,636,878.301111081,787.698888919,804,652.301111081,631.301111081,653,0.40098565669,-0.00539844764582,0.0798509403741,0.999999939996,0.000225237973283,-0.000260275815537,3.91564592624e-05,1793239030314095616
+78,1.300000000,BASELINE,766.724190022,745.275809978,715,679.724190022,662,636,878.275809978,788,804,652,631.275809978,653,0.400985201697,-0.00539739852204,0.079850653874,0.999999939501,0.000226979832167,-0.000260681008623,3.90396173576e-05,1793239030330762240
+79,1.316666667,BASELINE,766.149584957,745.850415043,715,679.149584957,662,636,878.850415043,788,804,652,631.850415043,653,0.400984691439,-0.00539697882142,0.0798507723831,0.999999939281,0.000227975049927,-0.000260630945851,3.92097732491e-05,1793239030347429120
+80,1.333333333,BASELINE,766,746,715,679,662,636,879.434984222,788,804,652,632,653,0.400985176093,-0.00539796702933,0.0798511040274,0.999999939916,0.00022598541785,-0.000259912644149,3.93033968093e-05,1793239030364096000
+81,1.350000000,BASELINE,766,745.977270056,715,679.022729944,662,636,879.977270056,787.977270056,804,652,632,653,0.400985954159,-0.00539937117713,0.0798514969913,0.999999940796,0.000223089691484,-0.000259017742928,3.93627906906e-05,1793239030380762368
+82,1.366666667,BASELINE,766,745.39761853,715,679.60238147,662,636,879.39761853,787.39761853,804,652,632,653,0.400985341864,-0.00539882570889,0.0798515544513,0.999999940517,0.00022373244103,-0.000259558293665,3.92434623686e-05,1793239030397428992
+83,1.383333333,BASELINE,766,745.180663676,715.180663676,680,662,636,879,787,804,652,631.819336324,653,0.400985153228,-0.00539842641603,0.0798517956629,0.999999940322,0.000224715675512,-0.00025944757982,3.93242879771e-05,1793239030414095616
+84,1.400000000,BASELINE,766,745.755954955,715.755954955,680,662,636,879,787,804,652,631.244045045,653,0.400985890002,-0.00539834641712,0.0798524382472,0.999999940308,0.000226442638776,-0.000257914294666,3.98423141538e-05,1793239030430762496
+85,1.416666667,BASELINE,765.6694486,746,715.6694486,680,662,636,879,787.3305514,803.6694486,652,631,653,0.400985465243,-0.00539869111999,0.0798520276186,0.999999940021,0.000227002072551,-0.000258510058706,4.0004146623e-05,1793239030447429120
+86,1.433333333,BASELINE,765.095364107,746,715.095364107,680,662,636,879,787.904635893,803.095364107,652,631,653,0.400984184728,-0.00539934872107,0.0798508410375,0.999999939532,0.000226701331169,-0.00026067439564,3.99035540489e-05,1793239030464095744
+87,1.450000000,BASELINE,765.493997844,745.506002156,715,680,662,636,879,787.506002156,803.493997844,652,631,653,0.400985614007,-0.00539864982786,0.0798513369909,0.999999939737,0.000227480938972,-0.00025921710239,3.98181580574e-05,1793239030480762624
+88,1.466666667,BASELINE,766,745.084278065,715,679.915721935,662,636,879,787.084278065,804,652,631,653.084278065,0.400987295573,-0.00539804392114,0.0798520549381,0.999999940087,0.000228067021129,-0.000257357173856,3.97353643596e-05,1793239030497429248
+89,1.483333333,BASELINE,766,745.662113107,715,679.337886893,662,636,879,787.662113107,804,652,631,653.662113107,0.400987293332,-0.00539956507051,0.0798521100837,0.999999940499,0.000226259414194,-0.000257364326081,3.96500819672e-05,1793239030514095872
+90,1.500000000,BASELINE,765.761557322,745.761557322,715.238442678,679,662,636,879,788,803.761557322,652,631.238442678,653.761557322,0.400986537849,-0.00539990520474,0.0798516682168,0.999999940463,0.000225205731802,-0.000258454873278,3.94586029294e-05,1793239030530762496
+91,1.516666667,BASELINE,765.187347754,745.187347754,715.812652246,679,662,636,879,788,803.187347754,652,631.812652246,653.187347754,0.400984721677,-0.00539858227337,0.0798505264736,0.999999939795,0.000225213700531,-0.000261071020529,3.9117581385e-05,1793239030547429120
+92,1.533333333,BASELINE,765.386041946,745,715.613958054,679,662,636,879,788,803,652,632,653,0.400985158157,-0.00539850952284,0.0798514647804,0.999999939861,0.000226000302463,-0.00026010917747,3.92995443693e-05,1793239030564095488
+93,1.550000000,BASELINE,765.959034655,745,715.040965345,679,662,636,879,788,803,652,632,653,0.400986685543,-0.00539904220449,0.0798534104049,0.999999940278,0.000227163977592,-0.000257414600608,3.97347760612e-05,1793239030580762112
+94,1.566666667,BASELINE,766,745.550091857,715,679,662,636,879,787.449908143,803.550091857,652,631.449908143,653,0.400986367849,-0.00539820938876,0.0798526281228,0.999999940009,0.000227208125533,-0.000258449628171,3.9517941239e-05,1793239030597428992
+95,1.583333333,BASELINE,766,745.860794233,715,679,662,636,879,787.139205767,804,652,631,653,0.400985887764,-0.00539764003012,0.079851786488,0.999999939827,0.000226649825502,-0.000259667529634,3.93465341649e-05,1793239030614095616
+96,1.600000000,BASELINE,766,745.282204227,715,679,662,636,879,787.717795773,804,652,631,653,0.400985343532,-0.00539823410255,0.0798514204924,0.999999940084,0.00022446206461,-0.000260556221595,3.94769889633e-05,1793239030630762496
+97,1.616666667,BASELINE,765.706030845,745.293969155,715.293969155,679.293969155,662,636,879,787.706030845,803.706030845,652,631,653,0.400985408721,-0.00539832137297,0.0798516942334,0.999999940209,0.000224237527861,-0.000260253880812,3.95979035693e-05,1793239030647429376
+98,1.633333333,BASELINE,765.132158493,745.867841507,715.867841507,679.867841507,662,636,879,787.132158493,803.132158493,652,631,653,0.400986054172,-0.00539792609101,0.0798525771006,0.999999940207,0.000225882278235,-0.000258817496252,3.97097344582e-05,1793239030664095744
+99,1.650000000,BASELINE,765.453909024,746,716,680,662,636,878.546090976,787.453909024,803.453909024,652,631,653,0.400986036807,-0.00539756852113,0.0798524210571,0.999999939932,0.0002270057806,-0.000258903421462,3.96599815877e-05,1793239030680762112
+100,1.666666667,BASELINE,765.957178385,746,715.957178385,680,662,636,878.042821615,788,803.957178385,652,631.042821615,653,0.400985812251,-0.0053972577501,0.0798520042338,0.999999939588,0.000227969551477,-0.000259400091922,3.95697416868e-05,1793239030697428736
+101,1.683333333,BASELINE,765.37832567,746,715.37832567,680,662,636,878.62167433,788,803.37832567,652,631.62167433,653,0.400985476542,-0.0053973915549,0.079852214012,0.999999939395,0.000228886045496,-0.000259336943741,3.9577866288e-05,1793239030714095360
+102,1.700000000,BASELINE,765.19979573,746,715.19979573,679.80020427,662,636,879,788,803.19979573,652,631.80020427,653,0.400985856004,-0.00539752315053,0.0798525583873,0.999999939593,0.000228882951967,-0.00025858909363,3.9482594686e-05,1793239030730762496
+103,1.716666667,BASELINE,765.776537322,746,715.776537322,679.223462678,662,636,879,788,803.776537322,652,631.223462678,653,0.400987584747,-0.00539765057817,0.079853156701,0.999999940526,0.000227144912733,-0.000256549446348,3.91922499893e-05,1793239030747429120
+104,1.733333333,BASELINE,766,746,716,679.352782874,662,636,879,788,804,652,631,653,0.400987003255,-0.00539923618402,0.0798526915243,0.999999941279,0.000223582505869,-0.000256743163905,3.91778419122e-05,1793239030764095744
+105,1.750000000,BASELINE,766,746,716,679.928714717,662,636,879,788,804,652,631,653,0.40098496045,-0.00540174414463,0.0798515536484,0.999999941903,0.000218866114927,-0.000258349571892,3.93379745132e-05,1793239030780762112
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,746,716,680,662,636,879,788,803,652,631,652,0.400986801254,-0.00539970631978,0.0798523355777,0.999999940684,0.000224264940479,-0.000258424349683,3.94295347679e-05,1793239030813048064
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.625050095,746,715.374949905,680,662,636,879,787.374949905,803.625050095,652,631.625050095,652.625050095,0.40098586666,-0.00539961971896,0.079851925593,0.999999940782,0.000223490397361,-0.000258748965557,3.92047749408e-05,1793239030829714944
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.770647541,746,715,679.770647541,662,636,879,787.229352459,804,652,631.770647541,653,0.400985636568,-0.00539947816482,0.0798517588737,0.999999940878,0.000222920674574,-0.000258877749145,3.91525039385e-05,1793239030846381824
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.197450065,746,715,679.197450065,662,636,879,787.802549935,804,652,631.197450065,653,0.400986462662,-0.00539925422469,0.0798519568578,0.999999940971,0.000222658018142,-0.000258712941175,3.93588280078e-05,1793239030863048448
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.377649057,745.622350943,715,679.377649057,662,636,879,787.622350943,803.622350943,652,631,653,0.400986972554,-0.0053990454731,0.0798522843162,0.999999941028,0.000223438995417,-0.00025779480694,3.95055829357e-05,1793239030879715072
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.953747433,745.046252567,715,679.953747433,662,636,879,787.046252567,803.046252567,652,631,653,0.400987316286,-0.00539884470288,0.0798526798116,0.999999941063,0.000224768387682,-0.000256480810255,3.96210350971e-05,1793239030896381952
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.542081876,715,680,661.457918124,636,879,787,803.542081876,652,631,653,0.400986999065,-0.00539820916548,0.0798524235461,0.99999994057,0.000225572306874,-0.000257730005498,3.93987847728e-05,1793239030913048576
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.870662061,746,715,679.870662061,661.129337939,636,879.129337939,787,804,652,631,653,0.400986472032,-0.00539776205436,0.0798521492416,0.999999940203,0.000225802948615,-0.000258981178765,3.9177163122e-05,1793239030929715456
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.29088166,746,715,679.29088166,661.70911834,636,879.70911834,787,804,652,631,653,0.400985415235,-0.00539810334859,0.0798520102608,0.999999940445,0.000224196802683,-0.000259459983548,3.90603986843e-05,1793239030946382080
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.285420464,745.714579536,715,679,662,636,879.429159072,787.285420464,803.714579536,652,631,653,0.40098718273,-0.00539827158252,0.0798530200181,0.999999940626,0.000224828087798,-0.000258182127563,3.92788513877e-05,1793239030963048448
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.858220402,745.141779598,715,679,662,636,878.283559196,787.858220402,803.141779598,652,631,653,0.400991793903,-0.0053982655683,0.0798551863979,0.999999940733,0.000227712160873,-0.000255135553774,3.98348220332e-05,1793239030979715072
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,878.443208195,788,803,652,631,653,0.401010227967,-0.00539852272698,0.0798636378378,0.999999944288,0.000227809215062,-0.00024069155608,3.99381455271e-05,1793239030996381440
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.968147722,745,715,679,662,636,879.063704556,788,803.031852278,652,631,653.031852278,0.401034557484,-0.00539891062262,0.0798744499751,0.999999948877,0.00022686075381,-0.000221784852436,3.99026801773e-05,1793239031013048320
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.385603585,745,715,679,662,636,880.228792831,788,803.614396415,652,631,653.614396415,0.401082202104,-0.00540006215301,0.0798903328223,0.999999956028,0.000223686259101,-0.000190540041483,4.00419139496e-05,1793239031029715200
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.193408162,745.193408162,715,679,662,636,880.613183676,787.806591838,804,652,631.193408162,654,0.401137702544,-0.00540125245535,0.0799062204761,0.999999961825,0.00022213390696,-0.000159433074748,3.98459682451e-05,1793239031046382080
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.765503697,745.765503697,715,679,662,636,879.468992606,787.234496303,804,652,631.765503697,654,0.401208584453,-0.0054025186722,0.0799221175441,0.999999965938,0.000223757660904,-0.000128595997504,3.89937512545e-05,1793239031063048704
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.660792924,715,679.339207076,662,636,879,787.339207076,803.660792924,652,631.660792924,653.660792924,0.401281268193,-0.00540285183973,0.0799313286255,0.999999967926,0.000223487815074,-0.00011310208689,3.75514231858e-05,1793239031079715328
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.085972772,715,679.914027228,662,636,879,787.914027228,803.085972772,652,631.085972772,653.085972772,0.401355203481,-0.00540253691157,0.0799358956228,0.999999968882,0.000221902675733,-0.000108265534532,3.56992043074e-05,1793239031096381952
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.495729151,745,715,680,662,636,878.495729151,787.495729151,803.504270849,652,631,653,0.401443742553,-0.00540454925309,0.0799370284285,0.999999969767,0.000219550044233,-0.000105780230996,3.27772782643e-05,1793239031113048576
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.09490824,745,715.09490824,679.90509176,662,636,878.09490824,787.09490824,803.90509176,652,631.09490824,652.90509176,0.401539736836,-0.00540689727772,0.0799381726009,0.999999970664,0.000217113657748,-0.000103216359628,2.96707316749e-05,1793239031129714944
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.673723162,745,715.673723162,679.326276838,662,636,878.673723162,787.673723162,803.326276838,652,631.673723162,652.326276838,0.401660647684,-0.0054088699889,0.0799424541545,0.999999971731,0.000214938438802,-9.81435401671e-05,2.65820665169e-05,1793239031146381824
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715.748742894,679,662,636,879,788,803.251257106,652,631.748742894,652.251257106,0.401797738131,-0.00541016306903,0.0799479354043,0.999999973157,0.000213001037543,-8.8346545139e-05,2.26014302914e-05,1793239031163048448
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715.172864004,679,662,636,879,788,803.827135996,652,631.172864004,652.827135996,0.401955732456,-0.00541057807218,0.0799549666496,0.999999974884,0.0002113708946,-7.24459607437e-05,1.74683761952e-05,1793239031179715072
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.589318731,745.410681269,715.410681269,679.410681269,662,636,879,788,804,652,631,653,0.402125284587,-0.00541211973975,0.0799610859866,0.999999976277,0.000208244253994,-6.2681771922e-05,1.22893455346e-05,1793239031196381952
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.002485088,745.997514912,715.997514912,679.997514912,662,636,879,788,804,652,631,653,0.40229979419,-0.00541414466441,0.0799668141819,0.999999977527,0.000204475724666,-5.55496488268e-05,7.09059383416e-06,1793239031213048576
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.576536139,746,716,680,662,636,879,787.423463861,804,652,631,653,0.4025000245,-0.00541517938369,0.0799656398762,0.999999979113,0.000196677108251,-5.55995493539e-05,-1.68950428902e-07,1793239031229715456
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.845812759,715.845812759,680,662,636,879,787.154187241,804,652,631.154187241,653,0.402707507283,-0.00541663111101,0.0799630353345,0.999999980601,0.000187847071911,-5.8755363664e-05,-7.68107523009e-06,1793239031246382336
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.271801664,715.271801664,680,662,636,879,787.728198336,804,652,631.728198336,653,0.402934439446,-0.00541922974173,0.0799566164471,0.999999981871,0.000176255330956,-7.02848531547e-05,-1.58570697134e-05,1793239031263048704
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715.302578104,679.697421896,662.302578104,636,879,788,804,652,632,653,0.403189534026,-0.00542150003838,0.0799528910594,0.999999985304,0.000151595457101,-7.68548089852e-05,-2.24327196989e-05,1793239031279715072
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715.877289417,679.122710583,662.877289417,636,879,788,804,652,632,653,0.403469957356,-0.00542347503723,0.0799515881562,0.999999989869,0.000115182344307,-7.8964250275e-05,-2.75690486299e-05,1793239031296381440
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,716,679.467286942,662.532713058,636,879.467286942,787.532713058,803.532713058,652,631.532713058,653,0.403785824504,-0.00542513563148,0.0799573900492,0.999999990109,0.000120299293623,-6.86338908629e-05,-2.44759104361e-05,1793239031313048064
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.059838189,716,680,662,636,879.940161811,787.059838189,803.119676378,652,631.059838189,653,0.404114956472,-0.00542687180806,0.079964593023,0.99999998916,0.000134687285137,-5.59606309935e-05,-2.02067206861e-05,1793239031329714688
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.638548199,716,680,662,636,879.361451801,787.638548199,804.277096399,652,631.638548199,653,0.404475672794,-0.0054300035172,0.079967219732,0.999999989647,0.000131700957663,-5.22560066132e-05,-2.51126665164e-05,1793239031346381568
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,716,680,662,636,879.215510087,788,804.784489913,652,631.784489913,653,0.404852523339,-0.00543365701582,0.0799674294084,0.999999990842,0.000122401782827,-4.99884636996e-05,-2.88797162035e-05,1793239031363048704
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,716,680,662,636,879.78956357,788,804.21043643,652,631.21043643,653,0.405256216301,-0.00543817861352,0.0799636178759,0.999999993008,0.000102599945622,-5.01117886832e-05,-3.07519877632e-05,1793239031379715584
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+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,716,680,662,636,880,788,803.043883117,652,631.956116883,653.956116883,0.406105756442,-0.00544217922508,0.0799499517205,0.999999991393,0.000105001585147,-7.08855002648e-05,-3.41184451659e-05,1793239031413048832
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,715.460890042,680,662,636,879.460890042,787.460890042,803,652,631.460890042,653.460890042,0.406584347126,-0.00544792615212,0.0799455931004,0.999999990677,0.000106304246886,-7.88669168633e-05,-3.35472194689e-05,1793239031429715968
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.879339467,715.120660533,679.879339467,662,636,879,787.120660533,803,652,631.120660533,653,0.407071621361,-0.00545679573545,0.0799422415557,0.999999990749,0.000100381820075,-8.56742196089e-05,-3.29384417941e-05,1793239031446383104
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+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715.158812586,679.841187414,662,636,879.841187414,788,803,652.841187414,631.158812586,653,0.408632432468,-0.0055077026691,0.0799265472707,0.999999991843,2.22125303785e-05,-0.000121287165771,-3.33186438245e-05,1793239031496382464
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.414062395,715,680,662,636,879.585937605,788,803.414062395,652.585937605,631,653,0.409246114058,-0.0055080928175,0.0799383543848,0.999999994063,2.17033296945e-05,-0.000101115889143,-3.43259819702e-05,1793239031513048832
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.988012884,715,680,662,636,879.011987116,788,803.988012884,652.011987116,631,653,0.409889798399,-0.00550303243969,0.0799586243728,0.999999996817,2.87581163367e-05,-6.53562525305e-05,-3.55936793838e-05,1793239031529715200
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.588696646,746,715,679.411303354,662.588696646,636,879.588696646,788,804.588696646,652,631,653,0.410568343936,-0.00550989427037,0.0799894249672,0.999999999085,2.01918251846e-05,-1.07087920373e-05,-3.61626316565e-05,1793239031546381824
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.818419922,746,715,679.181580078,663,636,879.818419922,787.818419922,804.818419922,652,631,653,0.411234562429,-0.00551621435105,0.08000654245,0.999999999115,1.04344080914e-05,1.75071130408e-05,-3.68169371437e-05,1793239031563048192
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.243661504,746,715,679.756338496,663,636,879.243661504,787.243661504,804.243661504,652,631,653,0.411872478715,-0.00552081070898,0.0799935452747,0.999999999212,-1.18066779131e-06,-1.23820610341e-05,-3.76883330203e-05,1793239031579715072
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715.330339203,680,662.669660797,636,879,787,803.669660797,652,631.330339203,653,0.412528436097,-0.00552388402173,0.0799667090908,0.999999997796,-5.03548065801e-06,-5.26287303498e-05,-4.01682857188e-05,1793239031596381696
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715.903782354,680,662.096217646,636,879,787,803.096217646,652,631.903782354,653,0.413197670386,-0.00552583649223,0.0799296884721,0.999999993984,-3.17934502434e-06,-0.000100497713223,-4.38320111054e-05,1793239031613048320
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715.505841558,680,662.494158442,636,879.494158442,787.494158442,803.494158442,652,631.505841558,653,0.413938652288,-0.00553111828167,0.0799265307376,0.999999994015,-1.66887693017e-05,-9.78540559903e-05,-4.59905686279e-05,1793239031629714944
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,715.085512244,680,662.914487756,636,880,788,804,652,631,653,0.41469853513,-0.00553653689282,0.0799335925988,0.999999995153,-3.13095081738e-05,-8.03525492497e-05,-4.75042199378e-05,1793239031646381568
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,715.662853834,680,662.337146166,636,880,788,804,652,631,653,0.415483928038,-0.00553888168717,0.0799601649297,0.999999997651,-3.45037804429e-05,-3.59708021681e-05,-4.70540799445e-05,1793239031663048192
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,716,680,662,636,879.761052901,788,804,652,631.238947099,653,0.416251121527,-0.00554163742306,0.0799696082621,0.999999997864,-3.79092635754e-05,-2.48024690575e-05,-4.71197559283e-05,1793239031679714816
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,716,680,662,636,879.186711859,788,804,652,631.813288141,653,0.416992769673,-0.00554496996977,0.0799550087717,0.999999996171,-4.16112090176e-05,-6.02535699251e-05,-4.79094481319e-05,1793239031696381440
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.613169631,715.613169631,680,662.386830369,636,879.386830369,787.613169631,804,652,631.613169631,653,0.417806432094,-0.00555270077246,0.0799621057749,0.999999996434,-5.40343838691e-05,-4.2206446186e-05,-4.93103337491e-05,1793239031713048320
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.040012189,715.040012189,680,662.959987811,636,879.959987811,787.040012189,804,652,631.040012189,653,0.418654782074,-0.00556255011131,0.0799796534682,0.999999996202,-7.06583692147e-05,1.60951267797e-06,-5.10056167363e-05,1793239031729714944
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.552121884,715,680,662.447878116,636,880,787.552121884,804,652,631,653,0.419512256523,-0.00556446494047,0.0799949571445,0.999999995657,-7.188041183e-05,3.06851640011e-05,-5.07703545448e-05,1793239031746381312
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662,636,879.858294809,788,804.141705191,652,631,653,0.420361816964,-0.00556585896628,0.0800021796549,0.999999995018,-7.33352795596e-05,4.4690855989e-05,-5.08694936113e-05,1793239031763047936
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662,636,879.280932179,788,804.719067821,652,631,653,0.421184941172,-0.00556748257581,0.0799850752468,0.999999995375,-7.90596504778e-05,1.57666130608e-05,-5.24421505036e-05,1793239031779714816
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.294883567,746,715,680,662,636,879.294883567,788,804.705116433,652,631,653,0.422029209027,-0.00555740986954,0.0799864383042,0.999999996202,-6.81861975273e-05,1.55630583549e-05,-5.19974508575e-05,1793239031796381440
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.869233372,746,715,680,662,636,879.869233372,788,804.130766628,652,631,653,0.422893515179,-0.00553625236341,0.0800053032948,0.999999996997,-4.15827015101e-05,4.25785914241e-05,-4.96408678147e-05,1793239031813047808
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.543880466,746,715,680,662,636,880,788,804,652,631,653,0.423762197427,-0.00551884058248,0.0800131937793,0.999999997567,-1.56621644614e-05,4.74913643373e-05,-4.86421037655e-05,1793239031829714688
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,680.045804188,662.045804188,636,880,788,804,652,631,653,0.424627192313,-0.00550486778577,0.0800134199088,0.999999998052,6.16196169794e-06,3.90563917058e-05,-4.83071243976e-05,1793239031846381312
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680.625040801,662.625040801,636,880,788,804,652,631,653,0.425434221174,-0.00551808541599,0.0799620649033,0.999999997349,-1.73756934613e-05,-4.89428404155e-05,-5.10409035378e-05,1793239031863048192
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.797318845,715,680.797318845,663,636,880.202681155,788,804,652,631.202681155,653,0.426270024248,-0.00552840455746,0.0799287785604,0.999999993028,-3.56001007888e-05,-9.89613119499e-05,-5.37031571833e-05,1793239031879714816
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.222608523,715,680.222608523,663,636,880.777391477,788,804,652,631.777391477,653,0.42715864346,-0.00553340340895,0.0799286579557,0.999999994306,-4.40718332483e-05,-7.9264611028e-05,-5.62341234562e-05,1793239031896381440
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.360006057,715,680.360006057,663,636,880.639993943,788,804.360006057,652,631.639993943,653,0.428009117774,-0.00553525757176,0.0799305119047,0.999999994316,-4.66630923781e-05,-7.7811918033e-05,-5.60064705939e-05,1793239031913048064
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.947617907,715,680.947617907,663,636,880.052382093,788,804.947617907,652,631.052382093,653,0.428835475794,-0.00553512357518,0.0799336142212,0.999999993641,-4.55365532087e-05,-8.78935925146e-05,-5.40347422792e-05,1793239031929714688
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,681.527845165,662.472154835,636,880,788,804.472154835,652,631,653,0.429741384178,-0.00553751936746,0.0799607171451,0.99999999647,-4.82321996269e-05,-4.30614269678e-05,-5.36667136519e-05,1793239031946381312
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,682,662.106960312,636,880,788,804.106960312,652,631,653,0.430647931967,-0.00553920045371,0.0799911500276,0.999999997328,-4.98619709176e-05,6.28430377815e-06,-5.30817662825e-05,1793239031963047936
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,682,662.684362627,636,880,788,804.684362627,652,631,653,0.431523049058,-0.00553664910195,0.0800258978708,0.999999996343,-4.51584461375e-05,5.18441256455e-05,-5.08524310398e-05,1793239031979714560
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,682,663,635.7396121,880,788,805,652,631.2603879,653,0.432347161923,-0.00553114965453,0.0800275468866,0.999999997007,-3.81626339078e-05,4.46757935405e-05,-5.03314048756e-05,1793239031996381440
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,682,663,635.165247193,880,788,805,652,631.834752807,653,0.433109773758,-0.00552209537857,0.0799892851786,0.999999997911,-2.84027695473e-05,-2.60723991881e-05,-5.18702657913e-05,1793239032013048064
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.582173572,746,715,681.582173572,663,635.417826428,880,788,804.582173572,652,632,653,0.43387019844,-0.0055210899605,0.0799439415308,0.999999994609,-3.08110095266e-05,-8.22350110117e-05,-5.54010277194e-05,1793239032029714688
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.004384783,746,715,681.004384783,663,636,880,788,804,652,631.995615217,653,0.434630417496,-0.00552338240149,0.0798963724684,0.999999988813,-3.81721475495e-05,-0.000131731510873,-5.96952422301e-05,1793239032046381312
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.58662374,746,715,681.58662374,663,636,880,788,804,652,631.41337626,653,0.435479965846,-0.00553184718597,0.0799324951522,0.999999993877,-5.0549849571e-05,-7.91159929341e-05,-5.85732965592e-05,1793239032063048192
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,682,663.166425449,636,880,787.833574551,804,652,631.166425449,653,0.436304564814,-0.0055392143143,0.0799654031643,0.99999999591,-6.03218763122e-05,-3.59747666417e-05,-5.69760375266e-05,1793239032079714816
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715,682,663.740260735,636,880,787.259739265,804,652,631.740260735,653,0.437068087594,-0.00554389437764,0.0799904416516,0.999999996372,-6.37152042444e-05,-1.60266291026e-05,-5.42152108328e-05,1793239032096381440
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,715,681.683873012,663.683873012,636,880.632253975,787.316126988,804,652,632,653,0.437809316091,-0.00554805415167,0.0799962735748,0.999999996111,-6.87245832484e-05,-1.17586893052e-05,-5.4013380366e-05,1793239032113048064
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,681.106327296,663.106327296,636,881.787345408,787.893672704,804,652,632,653,0.438532108468,-0.00555178367633,0.0799862227795,0.999999995409,-7.50703428287e-05,-2.0457366803e-05,-5.59276918655e-05,1793239032129714688
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,681,663,635.520340054,881.520340054,788,804,652,632,653,0.439187846798,-0.00555315649988,0.0799538546322,0.999999992661,-8.04662799724e-05,-7.04776520231e-05,-5.6891001677e-05,1793239032146381568
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.933290555,715,681.066709445,662.933290555,635,880.933290555,787.933290555,804,652,631.933290555,653,0.439823938909,-0.00555376263716,0.0799129194746,0.999999985631,-8.44570336499e-05,-0.000135038729747,-5.80488794177e-05,1793239032163048192
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.352731146,715,681.647268854,662.352731146,635,880.352731146,787.352731146,804,652,631.352731146,653,0.440425245392,-0.00555255928937,0.0798447838131,0.999999966165,-7.92748029933e-05,-0.000239784140379,-6.23584005742e-05,1793239032179714816
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.225470218,715,682,662,635,880.225470218,787,804,652,631,653,0.441008734075,-0.00555021266088,0.0797795704394,0.999999937253,-7.83115819895e-05,-0.000339043863998,-6.6418999267e-05,1793239032196381440
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.80002087,715,682,662,635,880.80002087,787,804,652,631,653,0.441564636742,-0.00554609596732,0.0797188814377,0.999999901657,-8.38803708216e-05,-0.000429810483631,-7.00942091311e-05,1793239032213048064
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,714.617483718,682.382516282,662.382516282,635,881,787,804,652,631,653,0.442152249047,-0.00554616057849,0.079717671434,0.999999902333,-8.09686993866e-05,-0.00042877029563,-7.02413037708e-05,1793239032229714944
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,714.030746733,682.969253267,662.969253267,635,881,787,804,652,631,653,0.4427567907,-0.00554845753671,0.0797482165342,0.999999923238,-7.35294150142e-05,-0.000378715585287,-6.85047812393e-05,1793239032246381312
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.448059155,746,714.551940845,682.448059155,661.896118311,635,881,787,804.551940845,652,631,653,0.443358470907,-0.00554655293457,0.0797891365437,0.999999944917,-7.83532942205e-05,-0.000315473395236,-6.71072878617e-05,1793239032263048192
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.132839206,746,714.867160794,682,661,635,881,787,804.867160794,652,631,653,0.443934839659,-0.00554404923723,0.0798171008207,0.999999957288,-7.98506537446e-05,-0.000273330395138,-6.5872316955e-05,1793239032279714816
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.708519426,746,714.291480574,682,661,635,881,787,804.291480574,652,631,653,0.444427356067,-0.00554032293499,0.0797999624035,0.999999949373,-6.79977542211e-05,-0.000303956138444,-6.51166403375e-05,1793239032296381696
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.716643286,746,714.283356714,682,661,634.716643286,881,786.716643286,804,652,631,653,0.444885313594,-0.00553940621864,0.0797744852687,0.999999934901,-7.00649940688e-05,-0.000347898992091,-6.52273860308e-05,1793239032313048064
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.142670561,746,714.857329439,682,661,634.142670561,881,786.142670561,804,652,631,653,0.44530782685,-0.00554137106702,0.0797404557883,0.999999911859,-8.6408993026e-05,-0.00040550012373,-6.62267507779e-05,1793239032329714688
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.442415937,746,715,682.442415937,661,634,881,786.442415937,804,652,631,653,0.445723364753,-0.00554610042662,0.0797246302708,0.999999901843,-9.04133823156e-05,-0.000428567976358,-6.68527590487e-05,1793239032346381312
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,714.96927076,683,661,634,881,787,804,652,631,653,0.446135505278,-0.00555144081979,0.0797148397824,0.999999896949,-8.99942077908e-05,-0.000439842573156,-6.73931549356e-05,1793239032363048192
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,714.388997284,683,661,634,881,787,804,652,631,653,0.446528152273,-0.00555135465944,0.0797052877884,0.999999895373,-8.34635314675e-05,-0.000444500582451,-6.86111580314e-05,1793239032379714816
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,714,683,660.233083811,634.766916189,881,787,804.766916189,652,631,653,0.447275099598,-0.00555885397337,0.0796971274282,0.999999894996,-9.74110387302e-05,-0.000442486395042,-6.87306935135e-05,1793239032413048064
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765.514204931,746,714.485795069,682.514204931,660.514204931,633.485795069,881,786,804,652,631,653,0.448126043113,-0.00556183636895,0.0796617284051,0.999999866462,-0.00010716005964,-0.000500575193437,-7.08338531699e-05,1793239032463047936
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.906595472,745.906595472,714,682.906595472,660.906595472,633,881.093404528,786,804.093404528,652,631,653,0.448371650557,-0.00556374973664,0.0796462524189,0.999999853138,-0.000104512727283,-0.000526992247405,-7.12749037964e-05,1793239032479714560
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.247454673,714,682.247454673,660,633.247454673,881.752545327,785.752545327,805,651.752545327,631,653,0.448822941436,-0.00556732087151,0.0796348198523,0.999999843923,-0.000109548661668,-0.000543259069899,-7.08704779215e-05,1793239032513048320
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.82023898,714,682.82023898,660,633.82023898,881.17976102,785.17976102,805,651.17976102,631,653,0.449030398173,-0.00556857050705,0.0796373894499,0.999999845104,-0.000118680556657,-0.000539463045076,-6.84650756925e-05,1793239032529714944
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765,746,714,682.004954001,660,634,881,785.995045999,804.004954001,651.995045999,631,653,0.449388424761,-0.00557327975479,0.0796452219206,0.999999851022,-0.00012341343343,-0.000527672595703,-6.54656893862e-05,1793239032563047936
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,714,682.574953074,659.425046926,634,881,786,804.574953074,652,631,653,0.449528427435,-0.00557203404432,0.0796392660309,0.999999847717,-0.000122091006331,-0.000534028152592,-6.68859124082e-05,1793239032579714560
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765.176315973,746,715,682.823684027,659,633,881,785,804.176315973,652,631,653.823684027,0.450327240795,-0.00557260148495,0.0796140287682,0.999999821108,-0.000119589516055,-0.000582405395742,-6.547088244e-05,1793239032913049856
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.751566984,746,715,682.248433016,659,633,881,785,804.751566984,652,631,653.248433016,0.450326325155,-0.0055714034568,0.0796130791597,0.999999820362,-0.000119308534377,-0.000583751391126,-6.53829999516e-05,1793239032929715456
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714,682.501931692,659,633,881.498068308,785,804.498068308,652,631,653,0.450329071032,-0.00556785225012,0.0796132297307,0.999999821289,-0.000115508564568,-0.000582837642621,-6.61876716081e-05,1793239032979714816
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,714,683,659,633,881,785,804,652,631,653,0.450331191375,-0.00556867936469,0.079614943458,0.999999821989,-0.00011633904472,-0.000581559097602,-6.5391874297e-05,1793239033013048320
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.231457908,746,714,682.768542092,659,633,881,785,804,652,631,653,0.450331172458,-0.00556990218025,0.0796145476792,0.99999982164,-0.000116934114048,-0.000582085314989,-6.49924805016e-05,1793239033029714944
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765.610424148,745.610424148,714,682.389575852,659,633,881,785,804.389575852,652,631,653,0.450329121312,-0.00556958128468,0.0796117788351,0.999999819802,-0.00011652366893,-0.000585299170616,-6.51388415898e-05,1793239033063047936
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+267,4.450000000,HOLD_POSE2,765,746,714,682,659.963090694,633,881,785,804,652,631,653,0.450336637254,-0.00556842247978,0.0796147486446,0.999999821138,-0.000119699923303,-0.000582422311367,-6.46489024625e-05,1793239033510069248
+268,4.466666667,HOLD_POSE2,765,746,714,682,659.458000182,632.458000182,880.458000182,785,804.541999818,652,631,653,0.450336318179,-0.00556716168939,0.079613806173,0.999999820824,-0.000117040726868,-0.00058350320744,-6.4635154862e-05,1793239033526735872
+269,4.483333333,HOLD_POSE2,765,746,714,682,659,632.119854138,880.119854138,785,805.119854138,652,630.880145862,653,0.450335750063,-0.00556611374761,0.0796128998061,0.999999820428,-0.000114778932252,-0.000584631648352,-6.4617610813e-05,1793239033543402752
+270,4.500000000,HOLD_POSE2,765,746,714,682,659,632.693865747,880.693865747,785,805.693865747,652,630.306134253,653,0.450334621806,-0.00556661842603,0.07961254782,0.999999819858,-0.000115573198877,-0.000585443321274,-6.46822887256e-05,1793239033560070144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,659,633,881,786,805,652,631,653,0.45033583408,-0.00556584835481,0.079612785666,0.999999820809,-0.0001132953139,-0.000584249669126,-6.4800964228e-05,1793239033597273856
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.57941249,746,714,682,659,633,881,785.42058751,804.42058751,652,630.42058751,653,0.450336355099,-0.005565900803,0.0796131054336,0.999999820658,-0.000114919972237,-0.000584196238997,-6.47459192669e-05,1793239033613940224
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.848416987,746,714,682,659,633,881,785,804.151583013,652,630.151583013,653,0.450336433788,-0.00556594945774,0.0796132552836,0.999999820471,-0.000115668855935,-0.00058438001044,-6.46469315485e-05,1793239033630606592
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.295423935,746,714,682,659,633,881,785,804.704576065,652,630.704576065,653,0.450335341137,-0.00556598806697,0.0796129551718,0.99999982019,-0.000114098583471,-0.000585191920147,-6.44315781142e-05,1793239033647272960
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714.279230716,682,658.720769284,633,881,785,804.720769284,652,631,653,0.450335257555,-0.00556627607969,0.0796131592523,0.999999820364,-0.000113687229841,-0.000584975748767,-6.44228976679e-05,1793239033663939584
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.471330814,746,714.528669186,682,658,633,881,785,804,652,631,653,0.450336655493,-0.00556706754257,0.079613669298,0.999999821149,-0.000113900239291,-0.000583604766319,-6.42999637898e-05,1793239033697272832
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.206708856,714,682,659,633,880.793291144,785,804,651.793291144,631,653,0.450323615631,-0.00556461643205,0.079605845703,0.999999815442,-0.000111706693859,-0.00059372046652,-6.42904749892e-05,1793239033763939328
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.376731287,714,682.376731287,658.623268713,633,880.623268713,785,804,652,631,653,0.450301425586,-0.00556290777129,0.0795943043434,0.999999804356,-0.000110259250806,-0.000612334837009,-6.46349617678e-05,1793239033780605696
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.963668571,714,682.963668571,658.036331429,633,880.036331429,785,804,652,631,653,0.450271775647,-0.00556082630808,0.0795793134381,0.999999789274,-0.000107800863996,-0.000636871755444,-6.49958278338e-05,1793239033797272320
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.456653211,658.543346789,633,880.543346789,785,804,652,631,653,0.450212689739,-0.00556102306465,0.0795547781103,0.999999761911,-0.00010862393701,-0.000678301142585,-6.54734398368e-05,1793239033813939200
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.698728353,659,633,881,785,804,652,631,653,0.450075080384,-0.00556071618232,0.0795138736798,0.999999715987,-0.000110853541697,-0.000742579004347,-6.56755300523e-05,1793239033847272704
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.725681565,659,633,881,785,804,652,631,653,0.449997074803,-0.00555960459429,0.0795036391026,0.99999970505,-0.000109788316679,-0.000757423146849,-6.44788572343e-05,1793239033863939584
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.151315604,659,633,881,785,804,652,631,653,0.449914540424,-0.00555780125272,0.0795012259895,0.999999703046,-0.000106285065022,-0.000760756448018,-6.21362634847e-05,1793239033880606720
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714.435528254,682,659,633,881,785,804.435528254,652,631,653,0.449818962322,-0.00555564429959,0.0795024093466,0.999999705069,-0.000104186024014,-0.000758574960648,-5.97534898277e-05,1793239033897273088
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,715,682,658.973699061,633,881,785,805,652,631,653,0.449717463843,-0.00555329294592,0.0795047896189,0.999999708463,-0.000102418163416,-0.000754520530912,-5.7306118879e-05,1793239033913939200
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,715,682,658.394163687,633,881,785,805,652,631,653,0.449589568142,-0.00554951287493,0.0795052880955,0.999999710669,-9.70517947994e-05,-0.000752560607209,-5.38022575334e-05,1793239033930605824
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714.816874704,682.183125296,658.183125296,633,881.183125296,785,804.816874704,652,631,653,0.449451623547,-0.00554659124163,0.0795060226065,0.999999711994,-9.25352444342e-05,-0.000751630672857,-4.99966679717e-05,1793239033947272704
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,714.244362391,682.755637609,658.755637609,633,881.755637609,785,804.244362391,652,631,653,0.449292311585,-0.00554549494093,0.0795072590075,0.999999711506,-8.98256990397e-05,-0.000752890848462,-4.5549501468e-05,1793239033963939328
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,714.508348509,683,659.491651491,633,880.491651491,785.508348509,805,652,631,653.491651491,0.448694741491,-0.00553559659237,0.0795145449259,0.999999716969,-7.58511003803e-05,-0.00074794426937,-2.98029486033e-05,1793239034013940224
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.335005524,746,714.335005524,683,659,633,880.664994476,785.335005524,804.335005524,652,631,653,0.448198978604,-0.00552658514785,0.0795188540363,0.999999719736,-5.70266390183e-05,-0.000746324980303,-1.65728770098e-05,1793239034047273216
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.241134797,746,714,682.758865203,659,633,881,785,804,652,631,653,0.447917974502,-0.00552110896677,0.0795177257199,0.999999718946,-4.39036195549e-05,-0.000748386971279,-9.82100403922e-06,1793239034063939584
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,746,714,682.389677185,659,633.389677185,881,785.389677185,804.389677185,652,631,653,0.447291691152,-0.00551078144301,0.0795285463513,0.999999733098,-4.75113752752e-06,-0.000730596808082,3.0895563272e-06,1793239034097272832
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,746,714,682.964013511,659,633.964013511,881,785.964013511,804.964013511,652,631,653,0.446959943433,-0.00550673814706,0.0795435669805,0.999999750536,2.31751853283e-05,-0.000705919198943,8.26645519855e-06,1793239034113939712
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.143849119,746,714,682,660,633.143849119,881,786,804,652,631,653.856150881,0.446212403674,-0.00549258414214,0.079577067499,0.999999778568,2.9112560729e-05,-0.000664815029892,6.14477992213e-06,1793239034147272960
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,746,714,682.295568284,660,634,880.704431716,786,804.295568284,652,631.295568284,653,0.445336003581,-0.00547843083763,0.0795975571041,0.999999794095,3.52516733309e-05,-0.00064065681458,1.12560374185e-05,1793239034180605952
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,682.868775894,660,634,880.131224106,786,804.868775894,652,631.868775894,653,0.444864461192,-0.00547007004157,0.0796089144792,0.99999980516,4.40908768358e-05,-0.000622542505525,1.32639796714e-05,1793239034197272576
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,746,714,683,660,634,880.457122198,786,805,652,631.542877802,653,0.444360020211,-0.00546289906131,0.0796201122221,0.999999813082,6.1737429393e-05,-0.000608116638206,1.48103918977e-05,1793239034213938944
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745.898297932,715,681.101702068,662.796595864,635.898297932,880.898297932,787.898297932,803.898297932,652,631.101702068,653,0.431670280211,-0.00540376645784,0.0797229819459,0.999999875552,0.000163260628868,-0.000470127091283,3.49503247537e-05,1793239034513938944
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745.649931781,715,682,662,635,880,787,804,651.649931781,631.649931781,653,0.429189710406,-0.00542736681548,0.0798374121988,0.999999949704,0.000148297183444,-0.000276938298921,4.36482632884e-05,1793239034563939072
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745.399877929,715,680,662,635.399877929,879,787.600122071,803.600122071,652,631,653,0.401115197105,-0.00539960501685,0.0798389435923,0.999999934647,0.000222005791243,-0.000282605254798,3.94048341547e-05,1793239035447272448
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745.991446557,715,680,662,635.991446557,879,787.008553443,803.008553443,652,631,653,0.401077802152,-0.00539993718174,0.0798396520195,0.999999935398,0.000219872041016,-0.000281535953604,3.99627552164e-05,1793239035463939072
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.532040019,745.532040019,715,679.532040019,662,636,879,787.467959981,803.467959981,652,631,653,0.4009864917,-0.00540067205859,0.0798467782017,0.999999938218,0.000221589270537,-0.000269863174486,4.04499052409e-05,1793239035680605440
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,636,879,787.684753222,803.684753222,652,631,653,0.400987145579,-0.00540045167933,0.0798475803536,0.999999938506,0.000221718075089,-0.000268749635781,4.00386912013e-05,1793239035713939200
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,879,788,803.592212268,652,631.592212268,653,0.400984898013,-0.00540145585758,0.0798473466186,0.999999939011,0.000219307678537,-0.000268901093318,3.96784405764e-05,1793239035797272576
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.168314226,662,636,879,787.831685774,804,652,632,653,0.400983181439,-0.00540256671083,0.0798461916691,0.999999938521,0.00021890549894,-0.00027104332013,3.96756656039e-05,1793239035813938944
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.742254857,662,636,879,787.257745143,804,652,632,653,0.400984592489,-0.00540271105098,0.0798470925708,0.999999939562,0.000217124067463,-0.000268668974332,3.93594445523e-05,1793239035830605568
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.674326251,745.325673749,715,680,661.674326251,636,879,787,804,652,631.674326251,653,0.400986092177,-0.00540219506801,0.0798484058337,0.999999939915,0.000218381215584,-0.000266300474709,3.95442151139e-05,1793239035847272192
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.083181232,745.916818768,715,680,661.083181232,636,879,787,804,652,631.083181232,653,0.400987664119,-0.00540114082606,0.0798500552307,0.999999939696,0.000222115246212,-0.00026393674068,4.01373664093e-05,1793239035863938816
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.497655317,745.502344683,715,679.502344683,661.497655317,636,879,787,804,652,631,653,0.400985137023,-0.00540049132017,0.0798478462951,0.99999993893,0.000221808752457,-0.000267142834552,3.96942840603e-05,1793239035880605696
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745.076103308,715,679.076103308,662,636,879,787.076103308,803.923896692,652,631.076103308,653,0.400982506654,-0.0054001388857,0.0798455691764,0.999999938245,0.00022091778858,-0.000270492378448,3.92246585159e-05,1793239035897272320
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745.649969313,715,679.649969313,662,636,879,787.649969313,803.350030687,652,631.649969313,653,0.400983591101,-0.00540129598804,0.0798469785825,0.999999938765,0.000220531649316,-0.000268814585329,3.96912866381e-05,1793239035913938944
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,715.223983025,679.776016975,662,636,879.223983025,788,803.223983025,652,632,653,0.400984114954,-0.00540140488344,0.0798474608568,0.999999938877,0.000220809063788,-0.000268159162753,3.97573109255e-05,1793239035930605824
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,746,715.798227809,679.201772191,662,636,879.798227809,788,803.798227809,652,632,653,0.400983762157,-0.00539987460657,0.0798464932946,0.999999938354,0.00022212413496,-0.000269102509757,3.9196876187e-05,1793239035947272448
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745.614401353,715.614401353,679,662,636,879.614401353,788,803.614401353,652,632,653,0.400983991374,-0.005400536893,0.0798469080897,0.999999938834,0.000220656115044,-0.000268539232504,3.91169722919e-05,1793239035963939072
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745.019920035,715.019920035,679,662,636,879.019920035,788,803.019920035,652,632,653,0.400984535874,-0.00540238691315,0.0798480717217,0.999999939848,0.000217680466572,-0.000267159801657,3.92973768284e-05,1793239035980605696
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,879,787.441700603,803,652,631.441700603,653,0.400985069806,-0.00540318577589,0.079848815728,0.999999940168,0.000217415032837,-0.000266137710623,3.95749852776e-05,1793239035997272320
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.134072788,662,636,879.134072788,787.134072788,803.134072788,652,631.134072788,653,0.400985455234,-0.00540346609198,0.0798491938621,0.999999940233,0.000217825499306,-0.000265535940209,3.97097772439e-05,1793239036013939200
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.703730989,662,636,879.703730989,787.703730989,803.703730989,652,631.703730989,653,0.40098535938,-0.00540218011672,0.0798484305897,0.99999993955,0.000220126605228,-0.000266259487832,3.93696277404e-05,1793239036030605824
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..604eb24466092a6a2e18c8faeee790b9a16128be
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_04/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,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
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+12,0.200000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
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+15,0.250000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+16,0.266666667,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+17,0.283333333,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+18,0.300000000,pose1_baseline,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
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+390,6.500000000,pose2_to_pose3_retreat,0.575672054917,9.06913048381e-05,1.07003238997,0.546242507443,0.00876243382457,1.06970051497
+391,6.516666667,pose2_to_pose3_retreat,0.575670272409,9.06794073702e-05,1.07003232588,0.54624072522,0.00876242297937,1.0697004532
+392,6.533333333,pose2_to_pose3_retreat,0.5756694419,9.06804267079e-05,1.07003229496,0.546239894822,0.00876242444476,1.06970042404
+393,6.550000000,pose2_to_pose3_retreat,0.575669304013,9.06805959443e-05,1.07003228983,0.546239756954,0.00876242468805,1.06970041919
+394,6.566666667,pose2_to_pose3_retreat,0.575669239283,9.06806753927e-05,1.07003228742,0.546239692232,0.00876242480227,1.06970041692
+395,6.583333333,pose2_to_pose3_retreat,0.575669062845,9.06808919462e-05,1.07003228085,0.546239515818,0.00876242511358,1.06970041073
+396,6.600000000,pose2_to_pose3_retreat,0.575668946844,9.06810343218e-05,1.07003227653,0.546239399832,0.00876242531826,1.06970040665
+397,6.616666667,pose2_to_pose3_retreat,0.575668728983,9.06813017158e-05,1.07003226842,0.546239182001,0.00876242570266,1.069700399
+398,6.633333333,pose2_to_pose3_retreat,0.575668565338,9.06815025675e-05,1.07003226233,0.546239018378,0.0087624259914,1.06970039325
+399,6.650000000,pose2_to_pose3_retreat,0.575668268396,9.06818670234e-05,1.07003225127,0.546238721476,0.00876242651534,1.06970038283
+400,6.666666667,pose2_to_pose3_retreat,0.575667939016,9.0682271293e-05,1.07003223901,0.54623839214,0.00876242709651,1.06970037126
+401,6.683333333,pose2_to_pose3_retreat,0.575667604058,9.06826824081e-05,1.07003222654,0.546238057228,0.00876242768753,1.0697003595
+402,6.700000000,pose2_to_pose3_retreat,0.575666920345,9.06826888751e-05,1.07003221344,0.546237373333,0.0087624271164,1.06970034734
+403,6.716666667,pose2_to_pose3_retreat,0.575666370226,9.0682470436e-05,1.07003220621,0.546236822995,0.00876242617948,1.06970034074
+404,6.733333333,pose2_to_pose3_retreat,0.575666052086,9.06823441102e-05,1.07003220204,0.546236504729,0.00876242563765,1.06970033692
+405,6.750000000,pose2_to_pose3_retreat,0.575666019065,9.06823309985e-05,1.0700322016,0.546236471695,0.00876242558141,1.06970033652
+406,6.766666667,pose2_to_pose3_retreat,0.575665987276,9.0682318376e-05,1.07003220118,0.546236439894,0.00876242552727,1.06970033614
+407,6.783333333,pose2_to_pose3_retreat,0.575665897529,9.06822827394e-05,1.07003220001,0.546236350111,0.00876242537442,1.06970033507
+408,6.800000000,pose2_to_pose3_retreat,0.575665764343,9.06822298544e-05,1.07003219826,0.546236216872,0.00876242514759,1.06970033347
+409,6.816666667,pose2_to_pose3_retreat,0.575665501369,9.06821254338e-05,1.0700321948,0.546235953793,0.00876242469971,1.06970033031
+410,6.833333333,pose2_to_pose3_retreat,0.575665072372,9.06584361293e-05,1.07003219585,0.546235525288,0.00876240264811,1.06970033052
+411,6.850000000,pose2_to_pose3_retreat,0.575664954748,9.06493056306e-05,1.07003219689,0.546235407873,0.00876239421292,1.06970033118
+412,6.866666667,pose2_to_pose3_retreat,0.575664746408,9.06331333209e-05,1.07003219872,0.546235199903,0.00876237927218,1.06970033235
+413,6.883333333,pose2_to_pose3_retreat,0.575664594589,9.062134846e-05,1.07003220006,0.546235048355,0.00876236838477,1.0697003332
+414,6.900000000,pose2_to_pose3_retreat,0.57566449311,9.06260261677e-05,1.07003217029,0.546234947455,0.00876237497466,1.06970030197
+415,6.916666667,pose2_to_pose3_retreat,0.575664381358,9.06355042291e-05,1.07003212692,0.546234836479,0.00876238701072,1.06970025661
+416,6.933333333,pose2_to_pose3_retreat,0.57566432989,9.05705228755e-05,1.07003216926,0.546234785687,0.00876232430799,1.06970029861
+417,6.950000000,pose2_to_pose3_retreat,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571873,1.06970035246
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec109bebe7e49a0f4100b2ec01e7413b91ea10a1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f012363d99b282d0114aad64df3e3621297132baf7f5f5ba4aff4bb141cdb6c
+size 26505228
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..814ead585c5505ac0d190c3f63f8f880bcbc9504
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_04/franka_data.csv
@@ -0,0 +1,420 @@
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+41,0.683333333,BASELINE,766,745,715,680,662,635.18650055,878.81349945,787,804,652,631.81349945,653,0.400986570811,-0.00540230185466,0.0798511605922,0.999999941652,0.000217805859619,-0.000260307227543,3.86907133966e-05,1793239036837786368
+42,0.700000000,BASELINE,766,745.388487438,715,680,662,635.388487438,879,787,804,652,631.611512562,653,0.400985859399,-0.00540179687028,0.0798503214347,0.999999941108,0.000218413945417,-0.000261899239867,3.85890660786e-05,1793239036854452992
+43,0.716666667,BASELINE,766,745.962070136,715,680,662,635.962070136,879,787,804,652,631.037929864,653,0.400984616386,-0.00540118486916,0.0798488472628,0.999999940104,0.000219579863024,-0.000264745318804,3.85456311242e-05,1793239036871119616
+44,0.733333333,BASELINE,766,746,715,680,662,636,879,787,804,652,631.55212937,653,0.400984976423,-0.00540170791369,0.0798495206148,0.999999940267,0.00021977472464,-0.000263958074252,3.86048312515e-05,1793239036887786496
+45,0.750000000,BASELINE,766,746,715,680,662,636,879,787,804,652,632,653.140519601,0.400985382678,-0.00540217067421,0.0798503274575,0.999999940523,0.00021988970244,-0.000262886038689,3.86410937138e-05,1793239036904453120
+46,0.766666667,BASELINE,766,746,715,680,662,636,879,787,804,652,632,653.720050375,0.400985578692,-0.00540219399358,0.0798510762628,0.999999940812,0.000219969930318,-0.000261728045929,3.85829887667e-05,1793239036921119744
+47,0.783333333,BASELINE,766,745.702552214,715.297447786,680,662,636,879.297447786,787.297447786,804,652,632,653.702552214,0.400985952111,-0.00540253328895,0.0798514002966,0.999999941226,0.000218993464831,-0.000260972612828,3.85049065977e-05,1793239036937786368
+48,0.800000000,BASELINE,766,745.127148301,715.872851699,680,662,636,879.872851699,787.872851699,804,652,632,653.127148301,0.40098649131,-0.00540316785452,0.0798513273943,0.999999941757,0.000217029550762,-0.000260593359645,3.84081563007e-05,1793239036954452992
+49,0.816666667,BASELINE,766,745,716,679.551802367,662,636,879.551802367,787.551802367,803.551802367,652,632,653,0.400985686993,-0.0054027360225,0.0798506144306,0.999999941186,0.000218165118055,-0.000261814339377,3.85436693589e-05,1793239036971119616
+50,0.833333333,BASELINE,766,745.024179235,715.975820765,679,662,636,879,787.024179235,803.024179235,652,631.975820765,653,0.400984621427,-0.00540207535858,0.0798497906353,0.999999940362,0.000220073287383,-0.00026332919595,3.87447449343e-05,1793239036987786240
+51,0.850000000,BASELINE,766,745.615456314,715.384543686,679,662,636,879,787.615456314,803.615456314,652,631.384543686,653,0.400986366641,-0.00540314214976,0.0798506255588,0.999999941072,0.000219481976014,-0.000261090692434,3.89383321515e-05,1793239037004452864
+52,0.866666667,BASELINE,765.798153636,746,715,679.201846364,662,636,879,787.798153636,804,652,631,653,0.400987370345,-0.00540335341664,0.0798512654535,0.99999994148,0.0002192340291,-0.000259726046592,3.89783002854e-05,1793239037021119744
+53,0.883333333,BASELINE,765.220853956,746,715,679.779146044,662,636,879,787.220853956,804,652,631,653,0.400986994774,-0.00540197332739,0.0798515425762,0.999999941336,0.000219624772566,-0.000259986858759,3.87325223923e-05,1793239037037786368
+54,0.900000000,BASELINE,765,745.645309118,715,680,662,636,879,787.354690882,804,652,631,653,0.400986333961,-0.00540202887306,0.0798509590738,0.999999941143,0.000219153266411,-0.000261131942105,3.86868861099e-05,1793239037054453248
+55,0.916666667,BASELINE,765,745.070851601,715,680,662,636,879,787.929148399,804,652,631,653,0.400985496413,-0.00540297393884,0.0798498423278,0.999999940916,0.000218147509977,-0.000262824920271,3.87652576709e-05,1793239037071119872
+56,0.933333333,BASELINE,765.517820729,745,715.517820729,680,662.517820729,636,879,788,803.482179271,652,631,652.482179271,0.400985885211,-0.00540367097651,0.0798507370701,0.99999994144,0.000216541970266,-0.000262120027693,3.90144778788e-05,1793239037087786240
+57,0.950000000,BASELINE,766,745.106431301,715.893568699,679.893568699,662.893568699,636,879,788,803,652,631,652.106431301,0.400986349777,-0.00540399728893,0.0798516978856,0.99999994188,0.000215591557188,-0.000261203747818,3.91405707651e-05,1793239037104453120
+58,0.966666667,BASELINE,766,745.685879164,715.314120836,679.314120836,662.314120836,636,879,788,803,652,631,652.685879164,0.400986384281,-0.00540283105719,0.0798516946337,0.999999941488,0.000217927773082,-0.000260847302424,3.86126181675e-05,1793239037121120000
+59,0.983333333,BASELINE,766,745.736559123,715,679.263440877,662,636,879,787.736559123,803.263440877,652,631.263440877,653,0.40098645839,-0.00540199349691,0.0798515930088,0.999999941211,0.000219597994357,-0.000260537694125,3.84139822362e-05,1793239037137786624
+60,1.000000000,BASELINE,766,745.161230351,715,679.838769649,662,636,879,787.161230351,803.838769649,652,631.838769649,653,0.400986579388,-0.00540154505092,0.07985137492,0.999999941075,0.000220479744297,-0.00026028353626,3.86052245403e-05,1793239037154453248
+61,1.016666667,BASELINE,766,745.412856089,715.412856089,679.587143911,662,636,879,787.412856089,804,652,632,653,0.400986510722,-0.0054027151949,0.07985111268,0.999999941298,0.000219169653139,-0.000260506463422,3.88020840679e-05,1793239037171119616
+62,1.033333333,BASELINE,766,745.986458788,715.986458788,679.013541212,662,636,879,787.986458788,804,652,632,653,0.400986368211,-0.00540451554119,0.0798508332496,0.999999941655,0.000217006162795,-0.000260915144917,3.90011306648e-05,1793239037187786496
+63,1.050000000,BASELINE,766,746,715.420793997,679.579206003,662,636,879,788,804,652,631.420793997,653,0.400986550784,-0.00540350004065,0.0798507809515,0.999999941587,0.000217923458968,-0.000260435230837,3.88559950715e-05,1793239037204453120
+64,1.066666667,BASELINE,766,746,715.167646239,680,662,636,879,788,804,652,631.167646239,653,0.400986426246,-0.0054029071639,0.079850726513,0.999999941415,0.000218760793243,-0.000260408152886,3.87452597609e-05,1793239037221119744
+65,1.083333333,BASELINE,766,746,715.744445261,680,662,636,879,788,804,652,631.744445261,653,0.400985533001,-0.00540351188968,0.0798506534479,0.999999941019,0.000219221182516,-0.000261538688887,3.87387904643e-05,1793239037237786624
+66,1.100000000,BASELINE,766,745.679277816,716,679.679277816,662,636,879,787.679277816,804,652,632,653,0.400986153338,-0.00540351005373,0.0798512661478,0.999999941313,0.000218782719725,-0.000260790657497,3.86818347077e-05,1793239037254452992
+67,1.116666667,BASELINE,766,745.103416257,716,679.103416257,662,636,879,787.103416257,804,652,632,653,0.400987977753,-0.00540302568866,0.0798524243843,0.999999942151,0.000217629206427,-0.000258548197128,3.85847162047e-05,1793239037271119616
+68,1.133333333,BASELINE,766,745.481114071,715.518885929,679,662.481114071,636,879,787.481114071,804.481114071,652,632,653,0.40098736492,-0.00540381966155,0.0798519776409,0.999999942211,0.000215828011244,-0.000259849901032,3.83964590212e-05,1793239037287786496
+69,1.150000000,BASELINE,766,745.933267998,715,679.066732002,662.933267998,636,879,788,804.866535997,652,631.933267998,653,0.400986329822,-0.00540474517334,0.0798512531709,0.999999942085,0.000214341350786,-0.000261578633867,3.82736933067e-05,1793239037304453376
+70,1.166666667,BASELINE,766,745.353872811,715,679.646127189,662.353872811,636,879,788,803.707745622,652,631.353872811,653,0.400986149308,-0.00540453150621,0.0798510941009,0.999999941878,0.000216360252289,-0.000260627941601,3.88073238435e-05,1793239037321120000
+71,1.183333333,BASELINE,766,745.225474441,715,680,662,636,879,787.774525559,803.225474441,652,631,653,0.400985639595,-0.00540366119335,0.0798508043116,0.999999941373,0.000218613408817,-0.00026066377384,3.89512757891e-05,1793239037337786624
+72,1.200000000,BASELINE,766,745.804746567,715,680,662,636,879,787.195253433,803.804746567,652,631,653,0.400984613326,-0.00540176052091,0.0798503094073,0.9999999404,0.000221234141179,-0.000262247586646,3.84837732208e-05,1793239037354452992
+73,1.216666667,BASELINE,766,746,715,679.619351725,662,636,879,787.380648275,804,652,631.380648275,653,0.400984626085,-0.00540148579593,0.0798504168034,0.999999940188,0.000221832242437,-0.000262547991223,3.84978487682e-05,1793239037371119872
+74,1.233333333,BASELINE,766,746,715,679.045163734,662,636,879,787.954836266,804,652,631.954836266,653,0.400985167135,-0.00540203778022,0.0798508304379,0.999999940366,0.000221401941529,-0.000262195849824,3.87567815996e-05,1793239037387786496
+75,1.250000000,BASELINE,766,746,715,679.542859836,662,636,879,788,804,651.457140164,632,653,0.400984560004,-0.00540246776414,0.0798509186265,0.999999940451,0.000220233724257,-0.00026285256281,3.878323772e-05,1793239037404453120
+76,1.266666667,BASELINE,766,745.870286227,715,680,662,636,879.129713773,787.870286227,804,651.129713773,632,653,0.400984264745,-0.00540281517332,0.0798509624947,0.999999940717,0.000218817240371,-0.000263034362926,3.8698071772e-05,1793239037421119744
+77,1.283333333,BASELINE,766,745.291569585,715,680,662,636,879.708430415,787.291569585,804,651.708430415,632,653,0.400985388329,-0.00540291280362,0.0798509491216,0.999999941642,0.000216759448476,-0.000261274127019,3.82952272025e-05,1793239037437786624
+78,1.300000000,BASELINE,766,745.285252978,715,680,662,636,879.714747022,787.285252978,803.714747022,652,631.714747022,652.714747022,0.400986446358,-0.00540231574299,0.079851358685,0.999999941834,0.000217477914764,-0.000259950560805,3.82150162622e-05,1793239037454452992
+79,1.316666667,BASELINE,766,745.860152258,715,680,662,636,879.139847742,787.860152258,803.139847742,652,631.139847742,652.139847742,0.400987437823,-0.00540101329215,0.0798521976986,0.999999941278,0.00022101539789,-0.000259070389757,3.84624080164e-05,1793239037471119616
+80,1.333333333,BASELINE,766,746,715.435741822,680,662,636,879,788,803.435741822,652,631.435741822,652.435741822,0.400985852741,-0.00540096523521,0.0798508326411,0.999999940692,0.000221340582695,-0.000261042858879,3.84887151639e-05,1793239037487786496
+81,1.350000000,BASELINE,766,746,715.988112235,680,662,636,879,788,803.988112235,652,632,653,0.400983504408,-0.00540134615211,0.0798488079239,0.999999940119,0.000220600702871,-0.000263856011861,3.84461177867e-05,1793239037504453120
+82,1.366666667,BASELINE,766,746,715.395632355,680,662,636,879,788,803.395632355,652,632,653,0.400984329829,-0.00540298457102,0.0798491685865,0.999999940867,0.000218275096712,-0.000262942696751,3.85091768909e-05,1793239037521119744
+83,1.383333333,BASELINE,766,745.808348006,715.191651994,680,662,636,879,787.808348006,803,652,632,653,0.400984845181,-0.00540372243263,0.0798494448546,0.99999994127,0.000217159274532,-0.000262342681197,3.8435828177e-05,1793239037537786368
+84,1.400000000,BASELINE,766,745.231505748,715.768494252,680,662,636,879,787.231505748,803,652,632,653,0.400984737343,-0.00540265031647,0.0798495515034,0.999999940989,0.000218474926806,-0.000262372348143,3.8088321288e-05,1793239037554452992
+85,1.416666667,BASELINE,765.656124415,745,715.656124415,680,662,636,879,787,803.343875585,652,631.656124415,653,0.400985450104,-0.0054020561539,0.0798504945321,0.999999941076,0.000219319282342,-0.00026133843232,3.8078508687e-05,1793239037571119872
+86,1.433333333,BASELINE,765.081722486,745,715.081722486,680,662,636,879,787,803.918277514,652,631.081722486,653,0.400986712976,-0.00540178240058,0.0798519982508,0.999999941406,0.000219847691222,-0.000259591514884,3.82950786499e-05,1793239037587786496
+87,1.450000000,BASELINE,765.503409577,745.503409577,715,679.496590423,662,636,879.503409577,787.503409577,804,652,631.503409577,653,0.400987220196,-0.00540206602111,0.079852301807,0.999999941688,0.000219434501144,-0.000258820387717,3.8527212372e-05,1793239037604453120
+88,1.466666667,BASELINE,766,746,715,679,662,636,879.910439137,787.910439137,804,652,632,653,0.400987438814,-0.00540230607734,0.079852242294,0.99999994184,0.000219044336668,-0.000258541655988,3.86712669877e-05,1793239037621119744
+89,1.483333333,BASELINE,766,746,715,679,662,636,879.32846978,787.32846978,804,652,632,653,0.400986759828,-0.00540179830291,0.0798512811372,0.999999941324,0.000219639485308,-0.000260080230851,3.8316866043e-05,1793239037637786368
+90,1.500000000,BASELINE,766,746,715.250624445,679,662,636,879,787.250624445,804,652,632,653,0.400987112439,-0.00540189538037,0.0798515420326,0.999999941439,0.000219633630501,-0.000259656718554,3.82381751826e-05,1793239037654453248
+91,1.516666667,BASELINE,766,746,715.825993199,679,662,636,879,787.825993199,804,652,632,653,0.40098880173,-0.00540277618912,0.0798533863908,0.999999942366,0.000218849030984,-0.000256690849824,3.85167331446e-05,1793239037671119872
+92,1.533333333,BASELINE,765.593096058,745.593096058,715.593096058,679.406903942,662.406903942,636,879,788,803.593096058,652,631.593096058,653,0.400986683456,-0.0054040479206,0.0798520460798,0.999999942031,0.000217738341907,-0.000258939941059,3.8453332712e-05,1793239037687787008
+93,1.550000000,BASELINE,765.009782587,745.009782587,715.009782587,679.990217413,662.990217413,636,879,788,803.009782587,652,631.009782587,653,0.400982914448,-0.00540548913317,0.0798493250844,0.999999941133,0.000216486279576,-0.000263449930837,3.82416793285e-05,1793239037704454656
+94,1.566666667,BASELINE,765,745.571474769,715,680,662.428525231,636,879.571474769,788,803.571474769,652,631.571474769,653,0.400985446403,-0.00540358384449,0.079851031707,0.999999941587,0.000217729030628,-0.00026068856717,3.82357700868e-05,1793239037721120512
+95,1.583333333,BASELINE,765.152234404,745.847765596,715.152234404,679.847765596,662,636,879.847765596,788,803.847765596,652,632,653,0.400987377648,-0.00540206766223,0.0798523667438,0.999999941867,0.000219008050387,-0.000258533937078,3.82196469943e-05,1793239037737786624
+96,1.600000000,BASELINE,765.731695806,745.268304194,715.731695806,679.268304194,662,636,879.268304194,788,803.268304194,652,632,653,0.400987321458,-0.00540180364793,0.0798524470314,0.999999941619,0.00022026943304,-0.000258430092087,3.81650114914e-05,1793239037754452992
+97,1.616666667,BASELINE,766,745,715.691996827,679.308003173,662,636,879,788,803.308003173,652,631.691996827,653,0.400987748275,-0.0054031700249,0.0798526901324,0.999999941987,0.000219203376678,-0.000257889236009,3.83328259283e-05,1793239037771119616
+98,1.633333333,BASELINE,766,745,715.11840915,679.88159085,662,636,879,788,803.88159085,652,631.11840915,653,0.400988591578,-0.00540594225318,0.0798530736237,0.999999942878,0.00021613041969,-0.000256971554686,3.86924541617e-05,1793239037787786240
+99,1.650000000,BASELINE,766,745.467025108,715.467025108,680,662.467025108,636,879,788,803.532974892,652,631,653,0.400988440691,-0.00540396731693,0.0798527669979,0.999999942322,0.000218080739372,-0.000257539571157,3.83555466924e-05,1793239037804453120
+100,1.666666667,BASELINE,765.945298886,746,716,680,662.945298886,636,879.054701114,787.945298886,803.054701114,652,631.054701114,653,0.400988047991,-0.00540107832355,0.079852344983,0.999999941475,0.000221025781562,-0.000258381222016,3.79140753244e-05,1793239037821120256
+101,1.683333333,BASELINE,765.365683479,746,716,680,662.365683479,636,879.634316521,787.365683479,803.634316521,652,631.634316521,653,0.400987816622,-0.00540126831561,0.079852538424,0.999999941537,0.00022097664969,-0.000258139942139,3.82079620276e-05,1793239037837786624
+102,1.700000000,BASELINE,765.212644341,746,715.787355659,680,662,636,879.787355659,787.212644341,804,652,632,653,0.400987553424,-0.0054018184206,0.0798527045077,0.999999941672,0.000220503891621,-0.000257990363678,3.83998030518e-05,1793239037854452992
+103,1.716666667,BASELINE,765.788771169,746,715.211228831,680,662,636,879.211228831,787.788771169,804,652,632,653,0.400987235816,-0.00540298408272,0.0798528238285,0.999999941933,0.000219307010338,-0.000257997534574,3.84172128001e-05,1793239037871119616
+104,1.733333333,BASELINE,765.628654155,746,715.371345845,680,662,636,879,787.628654155,804,652,632,653,0.400986387811,-0.00540301388874,0.0798517500078,0.999999941856,0.000217914366761,-0.000259496865245,3.82501181267e-05,1793239037887786496
+105,1.750000000,BASELINE,765.042346952,746,715.957653048,680,662,636,879,787.042346952,804,652,632,653,0.400985232774,-0.00540238618067,0.0798499855119,0.999999941577,0.000216408401944,-0.000261859964012,3.79762191868e-05,1793239037904453120
+106,1.766666667,BASELINE,765.537080172,746,716,680,662,636,879,787.537080172,804,652.537080172,631.462919828,653,0.400985219281,-0.00540229950646,0.0798507203877,0.999999941186,0.00021933740055,-0.000260884664443,3.81872633812e-05,1793239037921119744
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,681,663,636,879,787,803,652,632,653,0.40098846246,-0.00539900929615,0.0798525000388,0.999999941119,0.000223220192782,-0.000257831872774,3.81787507659e-05,1793239037963233280
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,715.576351979,680.423648021,663,636,879,787.576351979,803.576351979,652,631.423648021,653,0.400987274725,-0.00540085909038,0.0798519235894,0.99999994155,0.000219897051717,-0.000259022464539,3.81165422075e-05,1793239037979900672
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.844385227,716,680,662.844385227,636,879.155614773,788,804,652,631,653,0.400986554091,-0.00540249520044,0.0798518058959,0.999999941987,0.000217333733977,-0.000259490804674,3.81576830578e-05,1793239037996567808
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.257046801,716,680,662.257046801,636,879.742953199,788,804,652,631,653,0.400987129336,-0.00540353848475,0.0798529609334,0.999999942471,0.000216878401112,-0.000257955395003,3.84855472145e-05,1793239038013233664
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.325598396,745.325598396,716,679.674401604,662,636,879.674401604,787.674401604,804,652,631.325598396,653,0.400987526117,-0.00540371766482,0.0798532007467,0.999999942672,0.000216501051575,-0.000257493328155,3.84785954829e-05,1793239038029899776
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.90459109,745.90459109,716,679.09540891,662,636,879.09540891,787.09540891,804,652,631.90459109,653,0.400987784009,-0.00540322436274,0.0798527282942,0.999999942655,0.000216184391956,-0.000257866581705,3.82110759948e-05,1793239038046566400
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.039910653,746,715.519955326,679.480044674,662,636,879,787.480044674,804,652,631.519955326,652.519955326,0.400987268453,-0.00540251637914,0.0798522227175,0.999999942187,0.000217531068255,-0.000258581383176,3.79731346041e-05,1793239038063233024
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.055033947,746,715,679.944966053,662.055033947,636,879,788,804,652,631,652.055033947,0.400986516789,-0.00540191372689,0.0798517083188,0.999999941655,0.000218927365156,-0.000259485064693,3.77841451989e-05,1793239038079899648
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.632242937,746,715,679.367757063,662.632242937,636,879,788,804,652,631,652.632242937,0.40098497275,-0.00540271236414,0.0798511722227,0.999999941383,0.000217680732145,-0.000261541511581,3.80042539496e-05,1793239038096566784
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,715,679,662.785736041,636,879,788,804,652,631.214263959,653,0.400987579624,-0.00540301989745,0.0798525300524,0.999999941743,0.000217798116551,-0.000260015683948,3.8329460937e-05,1793239038113233408
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,715,679,662.195266084,636,879,788,804,652,631.804733916,653,0.400997474697,-0.00540246514731,0.0798572132487,0.999999943175,0.000220310451384,-0.0002522000761,3.88392000408e-05,1793239038129900032
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,715,679.387085414,662,636,879,787.612914586,804,652,632,653,0.40102167455,-0.00540313016395,0.0798673747191,0.999999947596,0.000220042948723,-0.000234246730783,3.894401073e-05,1793239038146566656
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,715,679.965425718,662,636,879,787.034574282,804,652,632,653,0.401052942248,-0.00540439785467,0.0798802429485,0.999999953075,0.000218401957299,-0.000211284433657,3.88487505158e-05,1793239038163233024
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.540624174,746,715.540624174,679.459375826,662,636,879,787,804,652,631.459375826,653,0.401106552998,-0.00540544520765,0.0798958026988,0.9999999599,0.000216654827613,-0.000178279972171,3.84190088687e-05,1793239038179899648
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715.885218556,679,662,636,879.114781444,787.114781444,804,652,631.114781444,653,0.401163982139,-0.00540636987917,0.0799105853406,0.999999965182,0.000215260934084,-0.000147864712732,3.78732528411e-05,1793239038196566272
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715.314404111,679,662,636,879.685595889,787.685595889,804,652,631.685595889,653,0.401230937698,-0.00540686279233,0.0799216005638,0.999999967655,0.000215297280061,-0.000130273325893,3.69510615956e-05,1793239038213233152
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.733128917,746,715,679,662,636,879.733128917,788,804,652,632,653.266871083,0.40130606871,-0.00540711096657,0.0799303874612,0.999999969397,0.000215669518526,-0.000115890721478,3.5510653342e-05,1793239038229900032
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.139027044,746,715,679,662,636,879.139027044,788,804,652,632,653.860972956,0.401391224257,-0.00540705904793,0.0799364420394,0.999999970456,0.00021645362018,-0.000105442648618,3.34348201397e-05,1793239038246566656
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,715,679.443124141,662,636,879.443124141,788,803.556875859,652,632,653.556875859,0.401488881808,-0.00540809193991,0.0799388777741,0.999999971464,0.000214031534968,-0.00010169707641,3.0342339593e-05,1793239038263233280
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,715.021498459,680,662,636,879.978501541,788,803.021498459,652,632,653,0.401591383721,-0.00540947273732,0.0799403101519,0.999999972462,0.000210703501168,-9.97711388643e-05,2.69232598534e-05,1793239038279900160
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,715.596631105,680,662,636,879.403368895,788,803.596631105,652,632,653,0.401720280586,-0.0054112782358,0.0799443747497,0.999999973607,0.000209269632331,-9.19735769779e-05,2.30918934079e-05,1793239038296566528
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,715.824166101,679.824166101,662,636,879,787.824166101,804,652,631.824166101,653.175833899,0.401857691248,-0.00541312997518,0.0799491979633,0.99999997497,0.000206947817646,-8.29056839428e-05,1.89746046863e-05,1793239038313232896
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,715.23540508,679.23540508,662,636,879,787.23540508,804,652,631.23540508,653.76459492,0.402015095636,-0.00541509030611,0.0799558027044,0.999999976878,0.000202540757238,-7.08545550635e-05,1.41858585962e-05,1793239038329899776
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,715.347883555,679,662,636,879,787,804,652,631.347883555,653.652116445,0.402196431178,-0.0054171777709,0.0799627732118,0.999999978853,0.000197147729762,-5.78940674306e-05,8.67562812988e-06,1793239038346566400
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,715.927526553,679,662,636,879,787,804,652,631.927526553,653.072473447,0.402393709631,-0.00541934993225,0.0799699873928,0.999999980755,0.000191097852204,-4.43277653021e-05,2.68474549624e-06,1793239038363233024
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,715.4972255,679,662,636,879,787.5027745,803.4972255,652.5027745,632,653,0.402595404424,-0.00542159781879,0.0799656190991,0.999999981845,0.000182685391085,-5.39877398718e-05,-4.67636944292e-06,1793239038379899904
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,715.079199351,679,662,636,879,788,803,652.920800649,632,653,0.402801566286,-0.00542384730573,0.0799595831531,0.999999982564,0.000174066174061,-6.6514395064e-05,-1.2185290675e-05,1793239038396566784
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,715.667220465,679,662,636,879,788,803,652.332779535,632,653,0.403032372789,-0.00542603755548,0.0799534666321,0.999999983088,0.000166287622773,-7.61351926441e-05,-1.93858553335e-05,1793239038413233408
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,716,679.251456817,662,636,879,788,803.251456817,652,632,653,0.403291047219,-0.00542813778856,0.0799511767063,0.999999987043,0.000138178786466,-7.88936760249e-05,-2.44226526119e-05,1793239038429900032
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,716,679.830758626,662,636,879,788,803.830758626,652,632,653,0.403586055352,-0.00543012065933,0.0799538758286,0.999999993511,8.35636808265e-05,-7.27051936175e-05,-2.66383674015e-05,1793239038446566656
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,716,680,662,636,879,787.589873413,804,652,632,653,0.403916214761,-0.00543134435298,0.0799588027025,0.999999993321,9.15148730192e-05,-6.5990773367e-05,-2.50680767337e-05,1793239038463233024
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,716,680,662,636,879,787.010478166,804,652,632,653,0.404260881901,-0.00543225471674,0.0799646490206,0.999999990167,0.000125288614521,-5.9059286632e-05,-2.19352146066e-05,1793239038479899392
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,716,680,663.129099338,636,879,787.564549669,804,652,631.435450331,653,0.404635603932,-0.00543709564163,0.0799661590244,0.99999999096,0.00012035980351,-5.39201544412e-05,-2.62092952152e-05,1793239038496566272
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.142706699,745.857293301,715.857293301,680,663.714586602,636,879.142706699,788,804,652,631.142706699,652.857293301,0.405017569646,-0.00544203358692,0.0799668176593,0.999999992084,0.00011189785535,-4.93582271304e-05,-2.95792674459e-05,1793239038513232896
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.730882724,745.269117276,715.269117276,680,662.538234552,636,879.730882724,788,804,652,631.730882724,652.269117276,0.405420419048,-0.00544704841048,0.0799650679883,0.999999994,9.46320631018e-05,-4.6495041147e-05,-2.97011566455e-05,1793239038529900032
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.685604584,745,715.314395416,680,662,636,880,787.685604584,804,652,631.685604584,652.314395416,0.4058458971,-0.00545616472843,0.0799580219447,0.99999999432,8.49463414976e-05,-5.69667385079e-05,-2.99836271343e-05,1793239038546566656
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.106025221,745,715.893974779,680,662,636,880,787.106025221,804,652,631.106025221,652.893974779,0.406290461844,-0.00546874054546,0.0799465085553,0.999999993108,8.16542005524e-05,-7.86860454796e-05,-3.04015435631e-05,1793239038563233024
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.46967425,716,679.53032575,662.46967425,636,879.53032575,787.46967425,804,652,631,653,0.406775989104,-0.00548723182868,0.0799413644906,0.999999994171,5.54321825155e-05,-8.79228958425e-05,-2.92310844676e-05,1793239038579899648
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,715.955398522,679.044601478,662.955398522,636,879.044601478,788,804,652,631.044601478,653,0.407272560251,-0.00550541712559,0.079937925686,0.999999994816,2.68983535885e-05,-9.41350836329e-05,-2.79666178931e-05,1793239038596566272
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715.379321717,679.620678283,662.379321717,636,879.620678283,788,804,652,631.620678283,653,0.407791446885,-0.00550417426461,0.0799378140431,0.99999999428,3.19919112183e-05,-9.76073608218e-05,-2.9819613309e-05,1793239038613232896
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.799268161,715,680,662.200731839,636,879.799268161,788,804,652,632,653,0.408320156923,-0.00550358942049,0.0799358591181,0.999999993539,3.53652458777e-05,-0.000103304993133,-3.16059044571e-05,1793239038629899520
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.211547913,715,680,662.788452087,636,879.211547913,788,804,652,632,653,0.408867805347,-0.00550427315894,0.0799303505523,0.999999992402,3.5422183813e-05,-0.000113292859634,-3.32635971677e-05,1793239038646566400
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.371682052,715.371682052,680,662.628317948,636,879.371682052,787.628317948,804,652,632,653,0.409485406088,-0.00550994099832,0.0799462128821,0.999999995394,2.31024951288e-05,-8.66083794494e-05,-3.43082361936e-05,1793239038663233280
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.952386799,715.952386799,680,662.047613201,636,879.952386799,787.047613201,804,652,632,653,0.410142345868,-0.00551841174463,0.0799740935547,0.999999998608,3.82256755506e-06,-3.9300484989e-05,-3.50081123226e-05,1793239038679900160
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,716,680,662.527293185,636,879.472706815,787.527293185,804,652,632,653,0.410824874816,-0.00551903700907,0.0799945574414,0.999999999334,9.33435325422e-06,-5.71118542611e-06,-3.48244923459e-05,1793239038696567296
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,716,680,662.898511646,636,879.202976707,788,804,652,631.898511646,653,0.411502123769,-0.00551997513113,0.0800063890123,0.999999999208,1.26297831472e-05,1.36970717267e-05,-3.51721518324e-05,1793239038713234176
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,716,680,662.325215448,636,880.349569104,788,804,652,631.325215448,653,0.412144201373,-0.00552562526576,0.0799811694912,0.999999998886,-4.67230274419e-06,-2.7124552617e-05,-3.83565115582e-05,1793239038729900544
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+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.990154325,715,680,662,636,879.990154325,788,804,652,631.990154325,653.990154325,0.41500223041,-0.00553722593406,0.0799475768639,0.999999997093,-2.85709222111e-05,-5.34956869403e-05,-4.62231869577e-05,1793239038796567040
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.418885867,715,680,662,636,879.418885867,788,804,652,631.418885867,653.418885867,0.415786475297,-0.00554331574421,0.0799633535226,0.999999997578,-3.82877303593e-05,-3.4907679411e-05,-4.64722257279e-05,1793239038813233664
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.158447878,715.158447878,680,662,636,879,787.841552122,804,652,631,653,0.416563509457,-0.00554843491738,0.0799700264204,0.999999997341,-4.71734286215e-05,-2.94531281196e-05,-4.71645852541e-05,1793239038829900288
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.75245451,715.75245451,680,662,636,879,787.24754549,804,652,631,653,0.417320721938,-0.00555088589772,0.0799516739092,0.999999995544,-5.37744810923e-05,-6.01012504784e-05,-4.90755930816e-05,1793239038846566912
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715.662305517,680.337694483,662,636,879,787,804,652,631,653,0.418146124329,-0.00555669887667,0.0799639459745,0.999999996261,-6.28350374538e-05,-3.25451583427e-05,-4.97134324317e-05,1793239038863233536
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715.083329321,680.916670679,662,636,879,787,804,652,631,653,0.419020248179,-0.00556491399361,0.0799980992102,0.999999995396,-7.36529016041e-05,3.6597674965e-05,-4.94415964065e-05,1793239038879900160
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715,680.506543885,662,636,879.493456115,787.493456115,804.493456115,652,631.493456115,653,0.419859480803,-0.00556899654111,0.0800022418043,0.999999994959,-7.4934049575e-05,4.51358881051e-05,-4.92890835017e-05,1793239038896566784
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662,636,880,788,804.930498366,652,631.930498366,653,0.420695038627,-0.00557157874924,0.0799998598463,0.99999999515,-7.48159428961e-05,4.09187083027e-05,-4.92744274967e-05,1793239038913233664
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662,636,880,788,804.357147044,652,631.357147044,653,0.421546481014,-0.00556832106138,0.0799867552602,0.999999995679,-7.61773109978e-05,1.80964916225e-05,-5.01137295067e-05,1793239038929900032
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715,680.222040918,662.222040918,636,880,788,804,652,631,653,0.422403199341,-0.00555555585729,0.0799880921017,0.999999996648,-6.26201670596e-05,1.63303083876e-05,-5.01628117856e-05,1793239038946566656
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680.810870498,662.810870498,636,880,788,804,652,631,653,0.423268633114,-0.00552708521783,0.0800132846881,0.999999997288,-2.44191822129e-05,4.93465140232e-05,-4.89065327658e-05,1793239038963234304
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715.393360694,681,663,636,880.393360694,788,804,652,631,653,0.424108070468,-0.00551315628377,0.0800091680185,0.999999998252,-5.16348117974e-06,3.35088522514e-05,-4.84349827654e-05,1793239038979900928
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715.972851194,681,663,636,880.972851194,788,804,652,631,653,0.424935206825,-0.00550610817314,0.0799911828389,0.999999998804,5.12771738958e-06,-5.44540912241e-06,-4.83347496798e-05,1793239038996567040
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715.450820329,681,663,636,880.450820329,788,804,652,631,653,0.425777108168,-0.0055193856954,0.0799508780884,0.999999996462,-2.02514168078e-05,-6.33913367919e-05,-5.14480720384e-05,1793239039013233408
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,681.127731199,663,636,880.127731199,788,804,652,631.127731199,653,0.426629265456,-0.00553106726189,0.0799191277855,0.999999992003,-4.08387508604e-05,-0.000106727524491,-5.41760987117e-05,1793239039029899776
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,681.714836664,663,636,880.714836664,788,804,652,631.714836664,653,0.427515697296,-0.00553341611459,0.0799220882867,0.999999993339,-3.78872836386e-05,-9.4163849185e-05,-5.49503776369e-05,1793239039046566400
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,681.702171546,663,636,880.702171546,787.702171546,804.297828454,652,632,653,0.428391023404,-0.00553406007543,0.0799298717246,0.999999994366,-3.66791995321e-05,-8.33547594566e-05,-5.45414899648e-05,1793239039063232768
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,681.123064869,663,636,880.123064869,787.123064869,804.876935131,652,632,653,0.429255860873,-0.00553309388458,0.0799422100903,0.999999995153,-3.7117619471e-05,-7.42027542665e-05,-5.30151838416e-05,1793239039079899648
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715.455491211,681,663,636,880.455491211,787,805,652,631.544508789,653,0.430147297127,-0.00553635408393,0.0799731681054,0.999999997352,-4.2650019167e-05,-2.82951168599e-05,-5.17378811756e-05,1793239039096566528
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.966306453,746,715.966306453,681,663,636,880.966306453,787,804.966306453,652,631,653,0.431043584778,-0.00554017242672,0.0800082337698,0.999999997202,-4.88171622263e-05,2.5594390437e-05,-5.05716708663e-05,1793239039113233664
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.391400313,746,715.391400313,681,663,636,880.391400313,787,804.391400313,652,631,653,0.431902502817,-0.00553463633124,0.0800285707028,0.999999996646,-4.30996076684e-05,4.83734418216e-05,-5.01105839475e-05,1793239039129900032
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.188028753,746,715,681,663,636,880,787.188028753,804,652,631,653,0.432727254979,-0.00552912061921,0.0800210622867,0.999999997476,-3.82778679963e-05,3.11218158288e-05,-5.1125237513e-05,1793239039146566656
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.777104892,746,715,681,663,636,880,787.777104892,804,652,631,653,0.433479134746,-0.00552364838211,0.0799541624023,0.999999995289,-3.53668146875e-05,-7.15114213008e-05,-5.52875043292e-05,1793239039163233280
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.639853186,715.360146814,681.360146814,663,636,880.360146814,788,804,652,631.360146814,653,0.434274414408,-0.005523529363,0.0799209043689,0.999999991263,-3.85341845005e-05,-0.0001123839331,-5.79603870635e-05,1793239039179899904
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.060484337,715.939515663,681.939515663,663,636,880.939515663,788,804,652,631.939515663,653,0.435096111621,-0.00552666885793,0.0799081241965,0.999999990497,-4.5401502067e-05,-0.000115662571137,-5.97266789431e-05,1793239039196566784
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.485917695,745.514082305,715.485917695,681.485917695,663,636,881,787.485917695,804,652,631.485917695,653,0.435902479243,-0.00553290191938,0.079943502816,0.99999999455,-5.17360672835e-05,-7.05847554061e-05,-5.69310771419e-05,1793239039213233408
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.090352863,746,715,681,663,635.909647137,881,787.090352863,804.090352863,652,631.090352863,653,0.436702421769,-0.00553880076991,0.0799799894792,0.999999996549,-5.72899011692e-05,-2.63085322317e-05,-5.41152153528e-05,1793239039229899520
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.679110375,746,715,681,663,635.320889625,881,787.679110375,804.679110375,652,631.679110375,653,0.437476779106,-0.0055408668756,0.0799916221298,0.999999996648,-5.88796246546e-05,-1.75473586125e-05,-5.4120903353e-05,1793239039246566144
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,681.263724951,662.736275049,635.263724951,880.736275049,787.736275049,804.736275049,652,632,653,0.438223793705,-0.00554344281814,0.0799897845841,0.999999996317,-6.25528736279e-05,-2.124293608e-05,-5.4792779926e-05,1793239039263233024
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,681.843376498,662.156623502,635.843376498,880.156623502,787.156623502,804.156623502,652,632,653,0.438938053294,-0.00554662951437,0.0799718105543,0.999999995261,-6.8722060417e-05,-3.98609511035e-05,-5.62627102407e-05,1793239039279899904
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.581483708,746,715,681.581483708,662,636,880,787,804.418516292,652,632,653,0.439597766165,-0.00554736313386,0.0799319118733,0.999999990736,-7.06715617134e-05,-0.000100656550463,-5.83187807528e-05,1793239039296566272
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.008014315,746,715,681.008014315,662,636,880,787,804.991985685,652,632,653,0.440237283506,-0.00554718851692,0.0798838957226,0.999999979963,-7.10587503787e-05,-0.000177068143912,-6.05918659254e-05,1793239039313232896
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.570635727,746,715,681.570635727,662,636,880.570635727,787.570635727,805,651.429364273,632,653,0.440796664762,-0.00554588340864,0.0798009494219,0.999999947565,-7.74042231246e-05,-0.00030754705625,-6.55214235905e-05,1793239039329899520
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,715,682,662,636,880.848669429,788,804.848669429,651.151330571,631.848669429,653,0.441368845878,-0.00554618248481,0.0797333967799,0.999999909687,-8.31074280418e-05,-0.000410931774772,-6.96763296287e-05,1793239039346566144
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715,682,662,636,880.262307315,788,804.262307315,651.737692685,631.262307315,653,0.441981088072,-0.00555113918672,0.0797115196162,0.999999899408,-8.67215402339e-05,-0.000434225668173,-7.14961056464e-05,1793239039363233024
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.678346672,746,715,682.321653328,662,635.678346672,880.321653328,787.678346672,804,652,631,653.321653328,0.44261450803,-0.00555511155898,0.0797319869718,0.999999914238,-8.85497348653e-05,-0.000398449492129,-7.01527696525e-05,1793239039379899648
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.096329942,746,715,682.903670058,662,635.096329942,880.903670058,787.096329942,804,652,631,653.903670058,0.443265070364,-0.00555828716188,0.0797867302467,0.999999944283,-8.89323116639e-05,-0.000314858840006,-6.62490411995e-05,1793239039396566016
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.480645826,746,715,683,661.519354174,635,881,787,804,652,631,654,0.443830885922,-0.00555537325659,0.079804964059,0.999999952025,-8.16375282198e-05,-0.000291538040175,-6.55087859345e-05,1793239039413232640
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,683,661,635,881,787,804,651.943780038,631,653.943780038,0.444371474341,-0.00555112292806,0.0798120347228,0.999999954224,-7.45455552959e-05,-0.000285864151008,-6.5390888846e-05,1793239039429899520
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,683,661,635,881,787,804,651.371891501,631,653.371891501,0.444834843908,-0.00554569262458,0.0797831319304,0.999999939157,-8.32806324187e-05,-0.000332409616865,-6.52264193083e-05,1793239039446567168
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715,683,661,635,881,787,804.20705561,651.20705561,631,653,0.44529399074,-0.00554180400336,0.0797563873393,0.999999923318,-8.61682106243e-05,-0.000376368102802,-6.54701212157e-05,1793239039463234304
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715,683,661,635,881,787,804.79912797,651.79912797,631,653,0.445745285409,-0.0055407821174,0.0797336558937,0.999999908408,-7.8182452984e-05,-0.000415516134607,-6.64728118731e-05,1793239039479900160
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.617408616,746,715,683,661,634.617408616,881,787,805,651.617408616,631,653,0.446176762067,-0.00554184838946,0.0797160808536,0.999999899446,-7.43326842767e-05,-0.000437024086252,-6.77733606742e-05,1793239039496566784
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.038365638,746,715,683,661,634.038365638,881,787,805,651.038365638,631,653,0.446598062687,-0.00554398688101,0.0797011535032,0.999999893954,-7.26066470244e-05,-0.00044947427916,-6.92268526811e-05,1793239039513233408
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,746,715,683,660.884829591,634,881,786.115170409,804.884829591,651,631,653,0.447379801736,-0.00555425350989,0.0796988488507,0.999999897977,-8.87968777367e-05,-0.000437544246447,-6.86692940817e-05,1793239039546566912
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,746,715,683,660.29742511,634,881,786.70257489,804.29742511,651,631,653,0.447703418049,-0.00555615737824,0.0796867556364,0.999999888774,-9.86750159832e-05,-0.000455958899868,-6.93975030611e-05,1793239039563233792
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.286172981,746,715,682.713827019,660,634,881,786.713827019,804,651.286172981,631,653,0.448013046723,-0.00555800802,0.0796728695458,0.999999877287,-0.000102731265824,-0.000479511064496,-7.02914503609e-05,1793239039579900672
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.865866912,746,715,682.134133088,660,634,881,786.134133088,804,651.865866912,631,653,0.448308328583,-0.00555980406838,0.0796571445447,0.999999863171,-0.000100816139937,-0.000508332653259,-7.1355391525e-05,1793239039596567552
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.557386661,746,714.557386661,682.442613339,660.442613339,634,881,786,804,652,631,653,0.44857110581,-0.00556026917656,0.0796408066419,0.99999984985,-9.98784891434e-05,-0.000534001265092,-7.18827329612e-05,1793239039613234176
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.018245326,746,714,682.981754674,660.981754674,634,881,786,804,651.981754674,631,653,0.448823590111,-0.00556039532749,0.0796249266798,0.999999836899,-9.94032423613e-05,-0.000557771614555,-7.21949862989e-05,1793239039629900288
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.587024637,746,714,682.412975363,660.412975363,634,881,786,804,651.412975363,631,653,0.449060757458,-0.00556238361448,0.079628431996,0.999999839227,-0.000104001500239,-0.000552904470107,-7.08914736303e-05,1793239039646567936
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.837236794,746,714.162763206,682.162763206,659.837236794,634,881,786,804.162763206,651.162763206,631,653,0.449290295051,-0.00556393403993,0.0796329168264,0.99999984259,-0.000108094476261,-0.000546171937291,-6.95139695568e-05,1793239039663235328
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765.137080758,746,714.137080758,682.862919242,659,633,881.137080758,786,805,652,631,653.862919242,0.450679229472,-0.00556724023495,0.0796186866581,0.99999982822,-0.000112815779797,-0.000570954135113,-6.95982324123e-05,1793239039863234048
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+256,4.266666667,HOLD_POSE2,765,746,714,682,658,633,880,785,805,652,631,653,0.450826383352,-0.00556460418917,0.0796096831612,0.999999818207,-0.000107273049163,-0.000589821757998,-6.47237829221e-05,1793239040462548480
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745.223993213,715,681,661,636,880.223993213,787.776006787,804,652,632,653,0.417392349476,-0.00538850502583,0.0798092474683,0.999999933049,0.000205640302085,-0.00029946714747,4.39770540759e-05,1793239041949471488
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745.333056492,715,680.333056492,661.333056492,636,880,787.666943508,804,652,631,653,0.413465610842,-0.00543028052643,0.0798057596618,0.999999937428,0.000165677302276,-0.000309308335411,4.49753414234e-05,1793239042032804096
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.579564794,662,635.579564794,880,787.579564794,803.420435206,652.579564794,631.579564794,653,0.411305697324,-0.00541667586095,0.0798093420672,0.999999932838,0.000190054390904,-0.000310111469252,4.51100167739e-05,1793239042082804736
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.001398111,662,635.001398111,880,787.001398111,803.998601889,652.001398111,631.001398111,653,0.410602635239,-0.00541727349537,0.079796888043,0.999999925957,0.000184247027896,-0.00033493053171,4.42841576251e-05,1793239042099471360
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.258427447,745.258427447,715,680,662,636,879.741572553,787.258427447,804,652,631,653,0.408811341553,-0.00541094405113,0.0798517627555,0.999999948182,0.000203350511049,-0.000244969806279,4.76832447359e-05,1793239042149470720
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,662,635.096548218,879.096548218,787.903451782,803.096548218,652,631.903451782,653,0.407611427283,-0.00540649657237,0.0798260060765,0.999999934742,0.000202613506187,-0.000295428191019,4.67469959495e-05,1793239042182804992
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.785737443,745,715,680,662,635.214262557,879.785737443,787,803.785737443,652,631,653.785737443,0.405644696107,-0.00540056548448,0.079807236199,0.999999929012,0.000207816043566,-0.000311275935144,4.35348928058e-05,1793239042249471744
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745.963257579,715,679.036742421,662,636,879,787,803.963257579,652,631.963257579,653,0.404436279571,-0.00539970182676,0.0798404594216,0.999999937599,0.000224081657555,-0.000269118735028,4.65244154974e-05,1793239042299471360
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.02242634,745.97757366,715,680,662,636,879.02242634,787.97757366,804,652,632,653,0.402403013125,-0.00539975093468,0.0798434959924,0.999999936357,0.000214703813314,-0.000281554771069,4.37689332542e-05,1793239042416137984
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,636,879.236255112,787,804,652.763744888,632,653,0.401900648193,-0.00539995328588,0.0798583799674,0.999999944508,0.000205645236604,-0.000257884002432,4.67966369622e-05,1793239042466137600
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.346244707,715.346244707,680,662,636.346244707,879,787,804,652.653755293,631.653755293,653,0.401761157108,-0.00540004135586,0.0798589966583,0.999999945154,0.000204731868441,-0.000256066798672,4.69827895755e-05,1793239042482804480
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,635.765070828,879,787.234929172,804,652,631.765070828,653,0.401240757488,-0.00540110714729,0.0798389545325,0.999999933145,0.000224029219549,-0.000286658841013,3.67134841295e-05,1793239042566137344
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c41c867d91abf5fc2b5fb48bc567b99d512ae2ad
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,420 @@
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+411,6.850000000,pose2_to_pose3_retreat,0.575665487112,9.06035581872e-05,1.07003226979,0.546235941053,0.00876235092932,1.06970039617
+412,6.866666667,pose2_to_pose3_retreat,0.575665310139,9.06401870956e-05,1.07003229716,0.546235763809,0.00876238659946,1.06970042249
+413,6.883333333,pose2_to_pose3_retreat,0.575664979712,9.07085770321e-05,1.07003234826,0.546235432877,0.00876245319927,1.06970047163
+414,6.900000000,pose2_to_pose3_retreat,0.575664890571,9.07270270012e-05,1.07003236205,0.546235343599,0.00876247116631,1.06970048489
+415,6.916666667,pose2_to_pose3_retreat,0.575664771546,9.07516621194e-05,1.07003238046,0.546235224392,0.0087624951566,1.06970050259
+416,6.933333333,pose2_to_pose3_retreat,0.575664609882,9.0715321911e-05,1.07003229022,0.546235063596,0.00876246184416,1.06970041452
+417,6.950000000,pose2_to_pose3_retreat,0.575664395673,9.06546108866e-05,1.07003214991,0.546234850738,0.00876240584739,1.06970027765
+418,6.966666667,pose2_to_pose3_retreat,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571872,1.06970035246
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3d40313a6dd19bace05f4f64c47da1c192e62c6b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05f79311c9e04e5df6c316666f919519fae4b00203ed3c790a477b18ba436074
+size 26508442
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2aefd81a141913701fcb127c4fcfdac68e5af625
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
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+52,0.866666667,BASELINE,766,746,715,679.170487644,662,636,879,787.170487644,803.170487644,652,631,653,0.400984956407,-0.00540486744789,0.0798493316725,0.999999941071,0.000216127248179,-0.000264011141289,3.8010390804e-05,1793239044201404416
+53,0.883333333,BASELINE,766,746,715,679.757731295,662,636,879,787.757731295,803.757731295,652,631,653,0.400984032743,-0.00540483470513,0.0798495343947,0.999999941009,0.000215858254702,-0.000264469762776,3.79925982934e-05,1793239044218070784
+54,0.900000000,BASELINE,765.657715842,745.657715842,715.342284158,680,662,636,879,788,803.657715842,652,631,653,0.400983441386,-0.00540494231167,0.0798493656739,0.999999940962,0.000215338417698,-0.000265096489876,3.77988452653e-05,1793239044234737408
+55,0.916666667,BASELINE,765.075052688,745.075052688,715.924947312,680,662,636,879,788,803.075052688,652,631,653,0.400983083402,-0.00540514848259,0.0798489360964,0.999999940926,0.00021464241855,-0.000265841274012,3.74815188515e-05,1793239044251404032
+56,0.933333333,BASELINE,765.5006662,745,716,679.4993338,662,636,879,787.4993338,803,652,631,653,0.400982592298,-0.00540458186267,0.0798484967526,0.999999940592,0.00021585179127,-0.000266110921473,3.75381100505e-05,1793239044268071424
+57,0.950000000,BASELINE,766,745.074862464,716,679,662,636,879,787,803.074862464,652,631.074862464,653,0.400982180936,-0.00540399944478,0.0798481291396,0.999999940335,0.000216826387523,-0.000266274425768,3.76002937505e-05,1793239044284738816
+58,0.966666667,BASELINE,766,745.6457727,716,679,662,636,879,787,803.6457727,652,631.6457727,653,0.400982428369,-0.00540406945451,0.0798482463908,0.999999940893,0.000214378624507,-0.000266200105986,3.7333205253e-05,1793239044301404928
+59,0.983333333,BASELINE,766,745.774744959,715.774744959,679,662,636,879,787,804,652,631.774744959,653,0.400982922637,-0.00540428040412,0.0798484885274,0.999999941091,0.000213899991852,-0.000265845882655,3.72948481965e-05,1793239044318071552
+60,1.000000000,BASELINE,766,745.18124908,715.18124908,679,662,636,879,787,804,652,631.18124908,653,0.400983820422,-0.0054047217584,0.0798489348235,0.999999940704,0.00021664043976,-0.000265034080581,3.76304150585e-05,1793239044334738176
+61,1.016666667,BASELINE,766,745,715,679.401409365,661.598590635,636,879.401409365,787.401409365,803.598590635,652.401409365,631.401409365,653,0.400983986117,-0.00540515837425,0.079848905963,0.999999940726,0.000216552814189,-0.000264992021114,3.78347419596e-05,1793239044351404800
+62,1.033333333,BASELINE,766,745,715,679.979302971,661.020697029,636,879.979302971,787.979302971,803.020697029,652.979302971,631.979302971,653,0.400983829939,-0.00540559290677,0.0798486681944,0.99999994093,0.000215221793437,-0.00026528838788,3.79813676831e-05,1793239044368070912
+63,1.050000000,BASELINE,766,745,715,679.447598664,661.552401336,636,880,788,803,652.447598664,631.447598664,653,0.400983210466,-0.00540515033471,0.0798490817993,0.99999994097,0.000215052392823,-0.000265290688449,3.78564700224e-05,1793239044384737536
+64,1.066666667,BASELINE,765.87071354,745,715,679,662,636,879.87071354,788,803.12928646,652,631,653,0.400982954493,-0.00540468861091,0.079849543842,0.999999941056,0.000215010521093,-0.00026501350052,3.77710980115e-05,1793239044401404160
+65,1.083333333,BASELINE,765.279667484,745,715,679,662,636,879.279667484,788,803.720332516,652,631,653,0.400984058259,-0.00540427484748,0.0798500924695,0.999999941323,0.000215270023105,-0.000263777104147,3.78629179978e-05,1793239044418071040
+66,1.100000000,BASELINE,765.292540594,745.292540594,715,679,662,636,879,788,803.707459406,652,631,653,0.400983962481,-0.00540400261176,0.0798498735316,0.99999994102,0.000216487156436,-0.000263923010042,3.7912819813e-05,1793239044434737664
+67,1.116666667,BASELINE,765.847829141,745.847829141,715,679,662,636,879,788,803.152170859,652,631,653,0.400982789323,-0.00540385749043,0.0798489651977,0.999999940201,0.000218564394894,-0.000265310443161,3.79250724424e-05,1793239044451404288
+68,1.133333333,BASELINE,766,745.56452246,715,679.43547754,662,636,879.43547754,788,803.43547754,652,631,653,0.40098279432,-0.0054046926281,0.0798491280294,0.999999940229,0.0002188078188,-0.000264981491639,3.80909433817e-05,1793239044468070912
+69,1.150000000,BASELINE,766,745,715,679.966136086,662,636,879.966136086,787.966136086,804,652,631,653,0.400983243932,-0.00540576985331,0.0798496413122,0.99999994054,0.00021841534458,-0.000264098316924,3.8303643053e-05,1793239044484737536
+70,1.166666667,BASELINE,766,745,715,679.391349382,662,636,879.391349382,787.391349382,804,652,631,653,0.400983691586,-0.00540480334901,0.0798492936615,0.999999940265,0.000218922802138,-0.000264711632848,3.83380810883e-05,1793239044501404160
+71,1.183333333,BASELINE,766,745,715,679.188537801,662,636,879,787.188537801,804,652,631,653,0.400983484563,-0.00540425448362,0.0798490010804,0.99999994008,0.000218853788381,-0.000265482835185,3.82472910772e-05,1793239044518070784
+72,1.200000000,BASELINE,766,745,715,679.779306573,662,636,879,787.779306573,804,652,631,653,0.400981880838,-0.00540459661874,0.0798488259864,0.999999940082,0.000217554917274,-0.000266590876223,3.78893366168e-05,1793239044534737408
+73,1.216666667,BASELINE,765.637993162,745,715,679.637993162,662,636,879,787.637993162,803.637993162,652,631.362006838,653,0.400982061637,-0.00540474853809,0.0798487441097,0.999999940412,0.000216560239842,-0.000266212251012,3.7535636208e-05,1793239044551404288
+74,1.233333333,BASELINE,765.060104566,745,715,679.060104566,662,636,879,787.060104566,803.060104566,652,631.939895434,653,0.400983306631,-0.00540478702279,0.0798487178229,0.999999940937,0.000215746967528,-0.000264947056499,3.71844727124e-05,1793239044568071168
+75,1.250000000,BASELINE,765.515908927,745.515908927,715,679,662,636,879.515908927,787,803,652,631.484091073,653,0.400983641965,-0.00540511250351,0.0798492473203,0.999999941159,0.000215207342367,-0.000264510096826,3.74459981592e-05,1793239044584737792
+76,1.266666667,BASELINE,765.906247453,745.906247453,715,679,662.093752547,636,879.906247453,787.093752547,803,652,631.093752547,653,0.400983957162,-0.00540546940012,0.0798498776296,0.999999941276,0.000215113579342,-0.000264093155519,3.77940127627e-05,1793239044601404672
+77,1.283333333,BASELINE,765.317593975,745.317593975,715,679,662.682406025,636,879.317593975,787.682406025,803,652,631.682406025,653,0.400984723471,-0.00540581627378,0.0798506995394,0.999999941024,0.000217205751871,-0.000263274373778,3.82231519182e-05,1793239044618071040
+78,1.300000000,BASELINE,765.26661489,745,715,679.26661489,662.73338511,636,879,787.73338511,803.26661489,652,632,653,0.400984591206,-0.00540552201303,0.079850589337,0.999999940734,0.000218315892774,-0.000263454761619,3.82315968866e-05,1793239044634737664
+79,1.316666667,BASELINE,765.845616067,745,715,679.845616067,662.154383933,636,879,787.154383933,803.845616067,652,632,653,0.400983406103,-0.00540447655041,0.0798493870011,0.999999940404,0.000218275410575,-0.00026480585261,3.77471245124e-05,1793239044651404288
+80,1.333333333,BASELINE,766,745.423594248,715,679.576405752,662,636,879,787,803.576405752,652,632,653,0.400983486624,-0.00540442208295,0.0798492556444,0.999999940575,0.000217724336736,-0.000264620467493,3.76981013447e-05,1793239044668070912
+81,1.350000000,BASELINE,765.998806064,745.998806064,715,679,662,636,879.001193936,787,803.001193936,652,631.998806064,653,0.400984024635,-0.00540472909391,0.0798495124926,0.999999940927,0.000216988762941,-0.000263879368456,3.78078738995e-05,1793239044684737536
+82,1.366666667,BASELINE,765.424373277,745.424373277,715,679,662,636,879.575626723,787,803.575626723,652,631.424373277,653,0.400983280348,-0.00540559720746,0.079849200033,0.99999994078,0.000216801939901,-0.000264542106407,3.81449643858e-05,1793239044701404160
+83,1.383333333,BASELINE,765,745,715.154250905,679,662,636,879.845749095,787,804,652,631,652.845749095,0.400982789761,-0.00540603627141,0.0798491060696,0.999999940672,0.000216787758354,-0.000264936565384,3.83233385617e-05,1793239044718070784
+84,1.400000000,BASELINE,765,745,715.744728622,679,662,636,879.255271378,787,804,652,631,652.255271378,0.400983016649,-0.00540526196862,0.0798496300209,0.999999940675,0.000217261812788,-0.000264572322435,3.80528576815e-05,1793239044734737408
+85,1.416666667,BASELINE,765.328433468,745,715.671566532,679,662,636,879,787,804,652,631.328433468,652.328433468,0.400983046865,-0.0054046186125,0.0798495938792,0.999999940614,0.000217644017838,-0.000264507252457,3.79285253585e-05,1793239044751404032
+86,1.433333333,BASELINE,765.906980499,745,715.093019501,679,662,636,879,787,804,652,631.906980499,652.906980499,0.400982927306,-0.00540407497687,0.0798491312069,0.999999940504,0.000217956276347,-0.00026467001317,3.79154902851e-05,1793239044768070656
+87,1.450000000,BASELINE,766,745,715,679,662,635.517749179,879,787.482250821,803.517749179,652,632,653,0.400983709074,-0.00540406197177,0.0798496781739,0.999999940855,0.000217539815785,-0.000263695963934,3.78368634955e-05,1793239044784737280
+88,1.466666667,BASELINE,766,745,715,679,662,635.058275637,879,787.941724363,803,652,631.941724363,653,0.400984588593,-0.00540412289345,0.0798503564942,0.99999994122,0.000217131210748,-0.000262660346454,3.77305841704e-05,1793239044801403904
+89,1.483333333,BASELINE,766,745,715,679,662,635.646879533,879,787.353120467,803,652,631.353120467,653,0.400984786226,-0.00540393142854,0.0798504698867,0.999999940925,0.000218064603459,-0.000263046446413,3.7487015385e-05,1793239044818070784
+90,1.500000000,BASELINE,766,745,715,679.231775115,662,636,878.768224885,787.231775115,803,652,631,653,0.400984609291,-0.00540412304577,0.0798502756126,0.999999940887,0.000217584345365,-0.000263591731308,3.74479291776e-05,1793239044834737408
+91,1.516666667,BASELINE,766,745,715,679.811109823,662,636,878.188890177,787.811109823,803,652,631,653,0.400983870672,-0.00540488911585,0.0798496199758,0.999999941232,0.000214984239695,-0.000264375722773,3.77154759161e-05,1793239044851404032
+92,1.533333333,BASELINE,766,745,715,680,662,636,878.390297025,787.609702975,803,652,631,653,0.400984124722,-0.00540468971659,0.0798496268467,0.999999941357,0.000214846023904,-0.000264009930872,3.77612490812e-05,1793239044868070912
+93,1.550000000,BASELINE,766,745,715,680,662,636,878.969412918,787.030587082,803,652,631,653,0.400984859007,-0.00540402324022,0.0798499542273,0.999999941376,0.000215898827111,-0.000263087893976,3.76997320972e-05,1793239044884737792
+94,1.566666667,BASELINE,766,745,715,679.45436336,662,636,879,787,803.54563664,652,631,653,0.400983998887,-0.00540435468039,0.0798497951013,0.999999940995,0.000217423726017,-0.000263266540145,3.77865066297e-05,1793239044901404160
+95,1.583333333,BASELINE,766,745,715.1238306,679,662,635.8761694,879,787.1238306,803.8761694,652,631,653,0.400983438136,-0.00540466581608,0.0798497446607,0.999999940787,0.000218334603909,-0.000263292280825,3.78532728589e-05,1793239044918070784
+96,1.600000000,BASELINE,766,745,715.709982721,679,662,635.290017279,879,787.709982721,803.290017279,652,631,653,0.400984327014,-0.00540469339133,0.0798502012814,0.999999941314,0.000216854750471,-0.000262518000456,3.78144656722e-05,1793239044934737408
+97,1.616666667,BASELINE,766,745,715.707246114,679,662,635.292753886,879,788,803,652,631,653,0.400983977125,-0.00540447260533,0.0798498608354,0.999999941261,0.000216777687813,-0.000262798086814,3.77224554434e-05,1793239044951404032
+98,1.633333333,BASELINE,766,745,715.127786097,679,662,635.872213903,879,788,803,652,631,653,0.40098241406,-0.00540400858878,0.0798487397887,0.999999940638,0.000218074436952,-0.000264110758673,3.75783412516e-05,1793239044968070400
+99,1.650000000,BASELINE,766,745.449511914,715,679.449511914,662,636,879,788,803.449511914,652,631,653,0.400981997695,-0.00540356378572,0.0798482428385,0.999999940255,0.000218956419025,-0.000264858945185,3.73997160429e-05,1793239044984737280
+100,1.666666667,BASELINE,765.973925375,746,715,679.973925375,662,636,879,788,804,652,631,653,0.400981973045,-0.0054031678349,0.0798479699373,0.999999939963,0.000219671581975,-0.000265390530429,3.723181663e-05,1793239045001404160
+101,1.683333333,BASELINE,765.399960314,746,715,679.399960314,662,636,879,788,804,652,631,653,0.400983362396,-0.00540368416708,0.0798486947393,0.9999999402,0.000219347165355,-0.000264726532727,3.74944515321e-05,1793239045018071552
+102,1.700000000,BASELINE,765,745.820696091,715,679,662,636,879,787.820696091,804,652,631,653,0.400984460957,-0.00540419335982,0.0798494363389,0.999999940638,0.000218479786974,-0.000263755038453,3.77230735204e-05,1793239045034738688
+103,1.716666667,BASELINE,765,745.229251509,715,679,662,636,879,787.229251509,804,652,631,653,0.400984891116,-0.00540468614209,0.0798502165486,0.999999941534,0.000216364378815,-0.000262076745158,3.78735147719e-05,1793239045051405312
+104,1.733333333,BASELINE,765,745,715,679,662,636,879.354780374,787.354780374,803.645219626,652,631.354780374,653,0.400984709351,-0.00540439101872,0.0798505313539,0.9999999415,0.000216644186937,-0.000261958969503,3.79746007976e-05,1793239045068071680
+105,1.750000000,BASELINE,765,745,715,679,662,636,879.934120418,787.934120418,803.065879582,652,631.934120418,653,0.400984140266,-0.00540359718736,0.0798505515797,0.999999940879,0.000218440056669,-0.000262828929624,3.80444472486e-05,1793239045084737792
+106,1.766666667,BASELINE,765,745,715,679.508929388,662,636,879.491070612,787.491070612,803.508929388,652,631.491070612,653,0.400984277074,-0.00540366735364,0.0798502204979,0.999999941097,0.000217469946237,-0.000262825097595,3.78812525976e-05,1793239045101404160
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,746,715,679,662,636,879,787,804,652,631,653,0.400983939204,-0.00540441188094,0.0798501771822,0.99999994068,0.000219778758824,-0.000262455905682,3.81275228386e-05,1793239045144007680
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.579548145,745.420451855,715,679.579548145,662,636,879,787,804,652,631.579548145,653,0.400982665291,-0.00540412876788,0.0798490641071,0.999999940555,0.000219133760949,-0.000263505285789,3.78991636479e-05,1793239045160674560
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.841448475,662,636,879,787,803.841448475,652,631.841448475,653,0.400982616873,-0.00540401620303,0.0798488761299,0.999999940671,0.000218465780522,-0.000263634561117,3.77770021416e-05,1793239045177341184
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.263884646,662,636,879,787,803.263884646,652,631.263884646,653,0.400985807136,-0.00540435435469,0.0798511329563,0.999999941428,0.000217737062779,-0.000261332228264,3.79354946899e-05,1793239045194007808
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.309809246,662,636,878.690190754,787.309809246,803.309809246,652,631,653,0.400985998353,-0.00540490858538,0.0798516243952,0.999999941409,0.000217660878682,-0.000261453830107,3.80577380013e-05,1793239045210674432
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.880247494,662,636,878.119752506,787.880247494,803.880247494,652,631,653,0.400983666602,-0.00540564459392,0.0798506306907,0.999999940735,0.000218133642715,-0.000263614582593,3.81494864019e-05,1793239045227341056
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.469278654,715,680,662,636,878.469278654,787.530721346,803.530721346,652,631,653,0.400983736113,-0.00540574076656,0.0798506278751,0.999999940882,0.000217700796953,-0.000263405212292,3.819939076e-05,1793239045244007424
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680,661.938647905,636,879,787,803,652,631,653,0.400984750615,-0.00540561086523,0.0798509869386,0.999999941275,0.000217024680396,-0.000262468156819,3.82087323895e-05,1793239045260674048
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,715,680,661.362500837,636,879,787,803,652,631,653,0.400988340651,-0.00540501055684,0.079852173239,0.999999941896,0.00021632641523,-0.000260709507695,3.79710121347e-05,1793239045277340672
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.786736282,715,679.786736282,661.213263718,636,879,787.213263718,803,652,631,653,0.400998203205,-0.00540471723264,0.0798565869976,0.999999943756,0.000216304838329,-0.000253505943976,3.78687241199e-05,1793239045294007296
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.211620808,715,679.211620808,661.788379192,636,879,787.788379192,803,652,631,653,0.401018708552,-0.00540494477894,0.0798664768931,0.99999994754,0.00021743142131,-0.000237063809805,3.79962285806e-05,1793239045310674432
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787.635955855,803.364044145,652,631,653,0.401057440579,-0.00540583981577,0.0798802123817,0.999999953695,0.000216526873333,-0.000210441482816,3.79669336101e-05,1793239045327341312
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787.059970948,803.940029052,652,631,653,0.401106783893,-0.00540712345509,0.0798961867148,0.999999960469,0.000214439832881,-0.000177892406365,3.78463524664e-05,1793239045344007936
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,878.467538325,787,804,652,631,653,0.401173406987,-0.00540790464538,0.0799128679713,0.999999965835,0.000214113746985,-0.000145216279357,3.73950341398e-05,1793239045360674560
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,878.122740928,787,803.877259072,652,631,653,0.401242711342,-0.00540861103406,0.079927174994,0.999999969415,0.000214131445857,-0.000118212351346,3.66513080651e-05,1793239045377340928
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,878.698032823,787,803.301967177,652,631,653,0.401314497138,-0.00540925692897,0.0799324252005,0.999999970057,0.000214662113526,-0.000112176492979,3.49711853746e-05,1793239045394007552
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.27328407,662,636,879,787,803,652,631.27328407,653,0.401394797869,-0.00541101511752,0.079935292673,0.999999971092,0.00021202838808,-0.000108614578227,3.25930097076e-05,1793239045410674432
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.848490377,662,636,879,787,803,652,631.848490377,653,0.401484505832,-0.0054140021599,0.0799355277183,0.999999972561,0.000205898664305,-0.000107785858593,2.94436303345e-05,1793239045427341056
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.433567566,715.433567566,679.566432434,662,636,879,787.433567566,803.433567566,652,631.566432434,653,0.40159555016,-0.00541515352384,0.079938188226,0.999999973074,0.000205697897217,-0.000104195348217,2.61636869704e-05,1793239045444007936
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,715.978053619,679,662,636,879,788,803.978053619,652,631,653,0.401715548177,-0.00541566019657,0.079941867083,0.999999973308,0.000207416380843,-9.92104632122e-05,2.278468007e-05,1793239045460674560
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,715.395501209,679,662,636,879,788,803.395501209,652,631,653,0.401869367566,-0.00541646647216,0.0799494038718,0.999999975514,0.000204003417556,-8.38344832289e-05,1.80677816303e-05,1793239045477341184
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.815478009,715,679.184521991,662,636,879,787.815478009,803.184521991,652,631,653,0.402029948886,-0.0054172169302,0.0799569244391,0.999999977517,0.000199916135294,-6.95005953173e-05,1.30450026291e-05,1793239045494007552
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.240802649,715,679.759197351,662,636,879,787.240802649,803.759197351,652,631,653,0.402204827619,-0.0054178493675,0.0799644107065,0.999999979431,0.000194403073226,-5.73701092743e-05,7.37547025253e-06,1793239045510674176
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.665461149,745,715,680,662,636,879,787,803.665461149,652,631,653,0.402393009525,-0.00541980215593,0.0799672828858,0.999999980961,0.000188010310757,-5.22259584012e-05,1.26972128754e-06,1793239045527340800
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.089639143,745,715,680,662,636,879,787,803.089639143,652,631,653,0.402590786244,-0.00542270723589,0.079966827196,0.999999982251,0.000180983071676,-5.21206380428e-05,-5.15064557603e-06,1793239045544007680
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.496786436,745.496786436,715,680,662,636,879,787,803.496786436,652,631.496786436,653,0.402813014611,-0.00542549054875,0.0799605434674,0.99999998342,0.000170172816675,-6.35118114529e-05,-1.29744219522e-05,1793239045560674048
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662,636,879,787,804,652,632,653,0.403046011046,-0.00542799650364,0.07995400407,0.999999984245,0.000159477196227,-7.51441582973e-05,-2.07390807387e-05,1793239045577340928
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662,636,879,787,804,652,632,653,0.403315994146,-0.00542899632626,0.0799523029808,0.999999984989,0.000153580034494,-7.5677454984e-05,-2.6625598378e-05,1793239045594007296
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.763590626,715,679.763590626,662,636,879,787.236409374,804,652,631.763590626,653,0.403605969276,-0.00543039038906,0.0799540237434,0.99999998714,0.000141053706474,-7.13604013614e-05,-2.7065040519e-05,1793239045610674176
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.189672111,715,679.189672111,662,636,879,787.810327889,804,652,631.189672111,653,0.403924485952,-0.00543234728761,0.0799606297029,0.99999999091,0.000119063269153,-6.01187594344e-05,-1.9727981105e-05,1793239045627340800
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,678.604021045,662,636,879,787.604021045,803.604021045,651.604021045,631,653,0.404271588194,-0.00543490537912,0.0799638294519,0.999999991674,0.000114304452853,-5.59639922941e-05,-2.13415418877e-05,1793239045644007168
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,678.012578562,662,636,879,787.012578562,803.012578562,651.012578562,631,653,0.404632800863,-0.00543776023205,0.0799653478237,0.999999991128,0.000118051527204,-5.53074557068e-05,-2.73733169716e-05,1793239045660673792
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.432632992,745,715,678.567367008,662,636,879,787,803,651.567367008,631,652.432632992,0.405037620526,-0.0054460506922,0.0799657544689,0.999999993272,0.000101661975044,-4.76938535794e-05,-2.90864792121e-05,1793239045677340416
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.146502048,715,679,662,636,879,787,803,652,631,652.146502048,0.40544976517,-0.00545649225659,0.0799647510586,0.999999994947,8.51955405036e-05,-4.42283531667e-05,-2.9858697632e-05,1793239045694007040
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.723987489,715,679,662,636,879,787,803,652,631,652.723987489,0.405880670971,-0.00547291452015,0.0799596705784,0.999999995742,6.97901702309e-05,-5.34105747626e-05,-2.81388913937e-05,1793239045710673920
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.299522667,745.700477333,715.299522667,679.299522667,662,636,879,787,803.299522667,651.700477333,631.299522667,653,0.406325914165,-0.00548779042234,0.0799521165131,0.999999995609,5.92700685586e-05,-6.74345381932e-05,-2.68457537569e-05,1793239045727340544
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.873272352,745.126727648,715.873272352,679.873272352,662,636,879,787,803.873272352,651.126727648,631.873272352,653,0.406784283964,-0.00550125056021,0.0799422977642,0.999999994558,5.32226571455e-05,-8.58913439149e-05,-2.59432509933e-05,1793239045744007168
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.458070041,715.541929959,679.541929959,662,636,879,787,804,651.458070041,631.541929959,653,0.407287035471,-0.00550273493894,0.0799418105739,0.999999994882,4.2867764299e-05,-8.72700773783e-05,-2.79633241379e-05,1793239045760673792
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,715,679,662,636,879,787,804,652,631,653,0.407804363761,-0.00550116342829,0.079943088748,0.999999995347,3.21464158494e-05,-8.56280154317e-05,-3.06739515808e-05,1793239045777340672
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715,679,662,636,879,787,804,652,631,653,0.408345194393,-0.0055035875579,0.0799339987081,0.999999993441,3.14942427027e-05,-0.000105436134757,-3.17590677956e-05,1793239045794007296
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.79314598,715,679,662,636,879.20685402,787.20685402,804.20685402,652,631,653,0.40891163595,-0.00550662694186,0.0799329639316,0.999999992965,2.87449862214e-05,-0.000110281387039,-3.2880064944e-05,1793239045810674176
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.219903686,715,679,662,636,879.780096314,787.780096314,804.780096314,652,631,653,0.409523440586,-0.00551075608922,0.0799461969668,0.999999995244,2.22812902826e-05,-8.86237979859e-05,-3.40646158068e-05,1793239045827341312
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.64550789,787.64550789,804.64550789,652,631.35449211,653,0.410173956705,-0.00551494838077,0.0799728609671,0.999999998353,1.57703908118e-05,-4.27703501772e-05,-3.48788683376e-05,1793239045844008192
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.070394222,787.070394222,804.070394222,652,631.929605778,653,0.410848565264,-0.00551917997056,0.0800078838567,0.999999999164,9.23011396653e-06,1.81416212886e-05,-3.54626620142e-05,1793239045860674304
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.518209006,715,679.518209006,662,636,880.036418012,787.518209006,803.481790994,652,631.481790994,653,0.411506436892,-0.00552288920293,0.0800010382677,0.999999999338,1.18450334114e-06,4.30764545655e-06,-3.61099682878e-05,1793239045877340928
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745.893239337,715.106760663,679.893239337,662,636,880.786478673,788,803.106760663,652,631.106760663,653,0.412164401438,-0.00552587953387,0.0799842346647,0.999999998985,-5.8071835981e-06,-2.43572259559e-05,-3.74516935983e-05,1793239045894007808
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.313255932,715.686744068,679.313255932,662,636,879.626511864,788,803.686744068,652,631.686744068,653,0.412833124712,-0.00552600622262,0.0799491754272,0.999999996467,-7.19666733235e-06,-7.25516268674e-05,-4.18322061624e-05,1793239045910674944
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.735931802,745,715.735931802,679.264068198,662,636,879.264068198,787.735931802,804,652,631.735931802,653,0.413533273835,-0.00552839442751,0.0799297150209,0.999999994292,-1.36654216086e-05,-9.58722051367e-05,-4.5152576682e-05,1793239045927341312
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.16173076,745,715.16173076,679.83826924,662,636,879.83826924,787.16173076,804,652,631.16173076,653,0.414270330891,-0.00553343865246,0.0799285745361,0.999999994496,-2.60994859166e-05,-8.99799220514e-05,-4.72278722673e-05,1793239045944007424
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.422645829,745,715,680,662,636,879.577354171,787,804,652,631.422645829,653,0.415031283297,-0.00554060244925,0.0799476485889,0.999999996829,-3.24791242067e-05,-5.60095100126e-05,-4.63707951054e-05,1793239045960673792
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787.010842555,804,652,631.989157445,653,0.415801685538,-0.00554847086079,0.0799739235543,0.999999998268,-3.65200683176e-05,-1.24695404661e-05,-4.44373853963e-05,1793239045977340672
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787.590142869,804,652,631.409857131,653,0.416576305516,-0.00554970839789,0.0799621741384,0.99999999704,-4.24098275835e-05,-4.44240113797e-05,-4.63553144379e-05,1793239045994007296
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,680.1687588,662,635.8312412,879,787.8312412,804,652,631,653,0.417370948282,-0.00555251813427,0.0799579497431,0.99999999607,-4.94336775584e-05,-5.57014604385e-05,-4.81045105819e-05,1793239046010673920
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680.745719279,662,635.254280721,879,787.254280721,804,652,631,653,0.418214023061,-0.0055591307797,0.0799719272203,0.999999996881,-5.92007188672e-05,-1.69643602256e-05,-4.94455676398e-05,1793239046027340800
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.672173838,745,715,680.672173838,662.327826162,635.327826162,879.327826162,787,804,652,631.327826162,653,0.419051031894,-0.00556533724121,0.0799890639285,0.999999996095,-7.04231247676e-05,1.86226184141e-05,-5.00309379439e-05,1793239046044007424
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.086011471,745,715,680.086011471,662.913988529,635.913988529,879.913988529,787,804,652,631.913988529,653,0.419883260552,-0.0055712236181,0.0800086901988,0.999999993984,-8.27923982873e-05,5.17272111071e-05,-5.00208058374e-05,1793239046060674048
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663,636,880,787,804,652,631.505624872,653,0.420711538251,-0.00556844755291,0.0799933273709,0.999999995059,-8.10660865159e-05,2.76670164721e-05,-5.04513523079e-05,1793239046077340672
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.073688706,745,715,680.073688706,663,636,880,787,804,652,631.073688706,653,0.421548783574,-0.00556096389066,0.0799769236441,0.999999996072,-7.25726063611e-05,1.39020799921e-06,-5.08684465082e-05,1793239046094007552
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.652455342,745,715,680.652455342,663,636,880,787,804,652,631.652455342,653,0.422452151588,-0.00553142401118,0.0799946279401,0.999999997755,-3.43103591484e-05,2.73018868655e-05,-5.06738968041e-05,1793239046110674176
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.230014356,715,681,662.769985644,636,879.769985644,787.230014356,804,652,631.769985644,653,0.423340864691,-0.00551239162013,0.0800097288003,0.999999997619,-7.99303469824e-06,4.71302693147e-05,-4.97632838694e-05,1793239046127340800
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.805758308,715,681,662.194241692,636,879.194241692,787.805758308,804,652,631.194241692,653,0.42420755045,-0.0055091528029,0.080020916495,0.999999997187,3.70140797839e-07,5.78149846741e-05,-4.77763719003e-05,1793239046144007424
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,681,662.388964442,636,879.777928885,787.611035558,804,652,631,653,0.425019356679,-0.00551485170119,0.0799909646077,0.999999998736,-1.08881433391e-05,-1.24966497316e-07,-4.90920918596e-05,1793239046160674048
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662.975969909,636,880.951939818,787.024030091,804,652,631,653,0.425803220975,-0.00552510123244,0.0799400665249,0.999999993802,-3.21366828911e-05,-9.30051281862e-05,-5.20893447352e-05,1793239046177341184
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,681,662.445007494,636,880.445007494,787,804,651.445007494,631.554992506,652.445007494,0.426704759077,-0.00552902989814,0.0799330999861,0.999999994515,-3.43478850825e-05,-8.28781773089e-05,-5.40587683593e-05,1793239046194008320
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.866854789,745.866854789,715,681,662.133145211,636,880,787,804,651.133145211,631.866854789,652.133145211,0.427604717342,-0.00553199897453,0.0799299306345,0.999999995077,-3.6561273359e-05,-7.37398113178e-05,-5.54275210803e-05,1793239046210675456
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.290463678,745.290463678,715,681,662.709536322,636,880,787,804,651.709536322,631.290463678,652.709536322,0.428482695111,-0.00553267171497,0.0799331597316,0.999999994225,-4.14870894363e-05,-8.25294972585e-05,-5.49426670249e-05,1793239046227341568
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.285878727,745,715,681,662.714121273,636,880,787,804,651.714121273,631,653,0.429369181598,-0.00553394364277,0.07994873136,0.999999995515,-4.53221005719e-05,-6.31152383203e-05,-5.41544844296e-05,1793239046244007936
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.862171617,745,715,681,662.137828383,636,880,787,804,651.137828383,631,653,0.43026431174,-0.00553582426393,0.0799768413324,0.999999997325,-4.80490008837e-05,-1.50495811718e-05,-5.30581609576e-05,1793239046260674304
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.446748381,715,681,662,636,880,787,804,651.446748381,631,653,0.431138186898,-0.00553478914771,0.0800097403963,0.999999997252,-4.4128732442e-05,3.03972010907e-05,-5.12394275685e-05,1793239046277340672
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.966426179,745.966426179,715,681,662,635.966426179,880,787.033573821,804,652,631,652.966426179,0.432001335117,-0.00553282619998,0.0800401965346,0.999999995683,-3.83534332494e-05,6.87309718426e-05,-4.93782901069e-05,1793239046294007296
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.385395132,745.385395132,715,681,662,635.385395132,880,787.614604868,804,652,631,652.385395132,0.432798514739,-0.00553067917613,0.080006270628,0.999999998051,-3.64013016514e-05,4.50297103718e-06,-5.05285726743e-05,1793239046310673920
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.193156318,880,787.806843682,804,652,631,652.193156318,0.433599076359,-0.00552924317561,0.0799662938161,0.999999996287,-3.69754640899e-05,-5.70609244119e-05,-5.29424826635e-05,1793239046327341056
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.766823158,880,787.233176842,804,652,631,652.766823158,0.434406300529,-0.00552920786338,0.0799143969472,0.999999990996,-4.2526328522e-05,-0.000113376646052,-5.78456905517e-05,1793239046344008192
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.34862715,745,715,681,662.34862715,635.65137285,880,787,804,652,631,653,0.435222233297,-0.00553163542271,0.079915709036,0.999999991655,-4.93155418545e-05,-0.000103732293048,-5.91361450369e-05,1793239046360674816
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.936003648,745,715,681,662.936003648,635.063996352,880,787,804,652,631,653,0.436044129903,-0.00553574962343,0.0799534600687,0.999999995503,-5.69528097945e-05,-4.89166844455e-05,-5.79524874371e-05,1793239046377341440
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.516414128,715,681,663,635.516414128,880,787,804,651.483585872,631.516414128,653,0.43683187505,-0.00553825497528,0.0799768814347,0.999999996235,-5.92343034258e-05,-2.9941408609e-05,-5.5896728246e-05,1793239046394007808
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.905137363,715,681,663,636,880.094862637,787,804,651.094862637,631.905137363,653,0.437609549243,-0.00554059212085,0.0799941883053,0.999999996496,-6.10919258359e-05,-1.78770555434e-05,-5.43651067298e-05,1793239046410674432
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.332282924,715,681,663,636,880.667717076,787,804,651.667717076,631.332282924,653,0.438357519413,-0.00554307295145,0.0799895143408,0.999999996204,-6.41135389516e-05,-1.85534707828e-05,-5.60118155036e-05,1793239046427341824
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.242911455,715,681,663,635.757088545,880.757088545,787,804,651.757088545,631.242911455,653,0.439082228526,-0.00554340518477,0.0799686518313,0.999999994999,-6.72362259046e-05,-4.67827267688e-05,-5.73775746383e-05,1793239046444009216
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.821337767,715,681,663,635.178662233,880.178662233,787,804,651.178662233,631.821337767,653,0.439774808874,-0.00554076972618,0.0799254293337,0.99999998942,-7.04985178964e-05,-0.000113068596319,-5.83552793926e-05,1793239046460675840
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.591849481,715,681.408150519,662.591849481,635,880.408150519,787,804,651,632,653,0.440385713936,-0.00553967886028,0.0798573777037,0.999999971677,-6.84597183594e-05,-0.000219478716372,-6.15557167093e-05,1793239046477342464
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.001288616,715,681.998711384,662.001288616,635,880.998711384,787,804,651,632,653,0.440960116797,-0.00553927830246,0.0797782294514,0.999999936681,-6.40517581679e-05,-0.000343821141573,-6.57495354686e-05,1793239046494009344
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,682,662,635,880.422561153,787,804,651,631.422561153,653,0.441558828119,-0.00554330528077,0.0797286841236,0.999999908886,-7.77330638329e-05,-0.000413917582802,-6.96916413547e-05,1793239046510675456
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.155216089,715,682,662,635,880,787,804,651,631,653,0.442175065666,-0.00554733984802,0.0797044922274,0.999999894407,-8.54912053708e-05,-0.000445791911885,-7.1735315618e-05,1793239046527342080
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.73049192,715,682,662,635,880,787,804,651,631,653,0.442838590532,-0.00555136875148,0.0797487388645,0.999999924528,-7.71124971337e-05,-0.00037454717485,-6.86427745952e-05,1793239046544008448
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.694384343,746,715,682,662,635,880,787,804.305615657,651.305615657,631,653,0.44347281602,-0.00555470262827,0.0797845375689,0.999999943253,-7.77871077477e-05,-0.000320926900223,-6.66958404387e-05,1793239046560674816
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.119394696,746,715,682,662,635,880,787,804.880605304,651.880605304,631,653,0.44408121658,-0.00555742389842,0.0798128901426,0.999999954102,-8.64414430943e-05,-0.000282841082648,-6.57586608104e-05,1793239046577341184
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+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.943498481,714,682,660.943498481,635,880.943498481,786.943498481,804,651,631,653,0.445090119455,-0.00555685601061,0.0797776415817,0.999999933764,-0.000101421419957,-0.000343500864494,-6.47518646727e-05,1793239046610674688
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.364026417,714,682,660.364026417,635,880.364026417,786.364026417,804,651,631,653,0.445553445012,-0.00555009234379,0.0797500115194,0.999999917381,-9.43116812325e-05,-0.000389783135841,-6.64304655714e-05,1793239046627341824
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634.786036332,880.213963668,786,804.213963668,651.213963668,631,653,0.446011475248,-0.00554388109886,0.0797272428626,0.999999904331,-8.41771724195e-05,-0.000423848220964,-6.78635030243e-05,1793239046644008704
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634.210550323,880.789449677,786,804.789449677,651.789449677,631,653,0.446460558235,-0.00553860325075,0.0797126882512,0.999999899649,-6.89318811869e-05,-0.000437270612051,-6.88816257864e-05,1793239046660675584
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.372202729,714.372202729,682,660,633.627797271,881,786,804.627797271,652,631,653,0.446891276386,-0.00553890026089,0.0797040864701,0.999999898279,-6.79041550898e-05,-0.000440469029668,-6.94178612435e-05,1793239046677342208
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.95914857,714.95914857,682,660,633.04085143,881,786,804.04085143,652,631,653,0.447311398952,-0.0055424136962,0.079698919185,0.999999898933,-7.50792803099e-05,-0.000437768706584,-6.96760709566e-05,1793239046694008576
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.118522118,745.881477882,714.881477882,682,660,634,880.881477882,786,804.118522118,651.118522118,631,653,0.448025878744,-0.00555183931835,0.0796756776652,0.999999878961,-0.000100484575034,-0.000476293729717,-7.15838986009e-05,1793239046727341568
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,714,682,658,632.471561738,881,785,804.471561738,652,631,653,0.451293905155,-0.00556103451862,0.0795994578811,0.999999807414,-0.000109287335035,-0.000607111317984,-6.81515150431e-05,1793239047227341312
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,714,682,658,632.107669187,881,785,804.107669187,651.892330813,631,653,0.451294106565,-0.00556086638738,0.0795987390648,0.999999806448,-0.000109846581724,-0.000608586886758,-6.82638921314e-05,1793239047244008448
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,746,714,682,658,632.685321796,881,785,804.685321796,651.314678204,631,653,0.451296558723,-0.00556101564152,0.0796000670366,0.99999980765,-0.00010855770653,-0.000606902866856,-6.77012173621e-05,1793239047260674560
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714,682,658,632.738892417,881,785,804.738892417,651.261107583,631,653,0.451297520618,-0.0055612114281,0.0796003184312,0.99999980778,-0.000109039130182,-0.00060662259467,-6.75286920758e-05,1793239047277340928
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714,682,658,632.165340414,881,785,804.165340414,651.834659586,631,653,0.451296699247,-0.00556146289596,0.0795992815809,0.999999806623,-0.000111638914196,-0.000608022063375,-6.78230241996e-05,1793239047294007552
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714,682,658,632.421137053,881,785,804.421137053,652,631,653,0.451297265227,-0.00556081633697,0.0795990957544,0.999999806695,-0.000110682796428,-0.000608077201284,-6.78323891804e-05,1793239047310674176
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.987431957,714,682,658,633,881,785,804.987431957,652,630.987431957,653,0.451298384667,-0.00555982704295,0.0795992594931,0.999999807255,-0.000108351612484,-0.000607588334543,-6.77242595215e-05,1793239047327340800
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.40869203,714,682,658,633,881,785,804.40869203,652,630.40869203,653,0.451299122636,-0.00555978368512,0.0795996426052,0.999999807486,-0.000108957688392,-0.000607121891675,-6.75227587951e-05,1793239047344007424
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.16860901,714,682,658,633,881,785,804,652,630,653,0.451299386508,-0.00556011189332,0.0795997493844,0.999999807352,-0.000109817637601,-0.000607210181185,-6.73251013154e-05,1793239047360674304
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.742451804,714,682,658,633,881,785,804,652,630,653,0.45129851094,-0.00556133312085,0.0795991920266,0.999999806338,-0.000111287744192,-0.000608631710868,-6.71366806816e-05,1793239047377341184
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,682.314627485,658.314627485,633,881,785,804.314627485,651.685372515,630.314627485,653,0.451299162639,-0.0055612360156,0.0795995228243,0.999999806509,-0.000111117009797,-0.000608382799384,-6.71247616579e-05,1793239047394007808
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,682.522368959,658.522368959,632.522368959,880.522368959,785,804.522368959,651,631,653,0.451302220464,-0.00556070984279,0.0796005446282,0.999999808082,-0.00010907669549,-0.000606175688132,-6.70092492059e-05,1793239047427341056
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714,682.780547335,658,632.780547335,881,785,804.780547335,652,630.780547335,653,0.451301227682,-0.0055592252524,0.0795993515855,0.99999980694,-0.000109044221072,-0.000608058215629,-6.70341640647e-05,1793239047477340672
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714,682.204213452,658,632.204213452,881,785,804.204213452,652,630.204213452,653,0.451299888502,-0.00556098996304,0.0795990152579,0.999999805712,-0.000111320366302,-0.000609695482614,-6.67410233413e-05,1793239047494007296
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+250,4.166666667,POSE1_TO_POSE2_PRESS,765.971475815,746,714,682,658,632.971475815,880.028524185,785,804,652,630.971475815,653,0.45130048467,-0.00556190183516,0.0795985423361,0.999999805901,-0.000112885513164,-0.000609090716681,-6.68036067435e-05,1793239047527341056
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.449931162,746,714,682,658,633,880.550068838,785,804,652,630.449931162,653,0.451301647357,-0.00556069100609,0.0795988775367,0.999999806138,-0.000111923201694,-0.00060888251295,-6.678099084e-05,1793239047544007680
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+256,4.266666667,HOLD_POSE2,766,746,714,682,658,632,881,785,804,652,631,653,0.451300731638,-0.00555887143269,0.0795981820821,0.999999805133,-0.000109012435486,-0.000611062506463,-6.67353509034e-05,1793239047642983424
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714.366621908,682,658,632.366621908,880.633378092,785.633378092,805,652,630.633378092,653,0.450504334319,-0.00554082810969,0.0795010524881,0.999999699703,-8.99682363834e-05,-0.000767882495804,-5.34365201267e-05,1793239048264393216
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.21103007,746,714,682.21103007,658,632.21103007,880.78896993,785.78896993,804.78896993,652,631,653,0.450355933701,-0.00553880908751,0.0795018744559,0.999999700856,-8.72353748596e-05,-0.000766958327298,-4.95317718781e-05,1793239048281059840
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.633920057,746,714,682.633920057,658.366079943,633,880,785,804,652,631,653,0.449996329494,-0.00553140316344,0.0794991071794,0.999999698565,-7.62863489553e-05,-0.000771635612549,-4.0363964085e-05,1793239048314393344
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.049120722,746,714,682.049120722,658.950879278,633,880,785,804,652,631,653,0.449801106202,-0.0055272519247,0.0795007206754,0.999999701899,-6.83216906744e-05,-0.000768315311645,-3.50194739852e-05,1793239048331059968
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,746,714,683,658.884164784,633,881,785,804.884164784,652,631,653,0.449327168568,-0.00551867341657,0.0795071136707,0.999999708018,-5.21989214864e-05,-0.000762056998367,-2.25382171442e-05,1793239048364393216
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.597833602,659,633.597833602,880.597833602,785.597833602,805,652,631,653,0.447350697657,-0.00548300097285,0.0795264027941,0.999999730224,3.67037769096e-05,-0.000733617729393,3.10052897855e-06,1793239048464393216
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.1276719,661.8723281,635.1276719,879,787.8723281,804,652,631.1276719,653,0.41417823454,-0.00538762096958,0.0797860995757,0.999999916286,0.000212374819143,-0.000347069192629,4.32120167389e-05,1793239049197726464
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.707021857,661.292978143,635.707021857,879,787.292978143,804,652,631.707021857,653,0.413464597857,-0.00540373228166,0.0798073698323,0.999999932205,0.00019951481024,-0.000306264125518,4.45613437762e-05,1793239049214393088
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.718317546,661.281682454,635.718317546,879.281682454,787.281682454,804,652,632,653,0.412749013918,-0.00541791679233,0.0798182370521,0.999999940532,0.000184800240177,-0.000287649688528,4.51840541007e-05,1793239049231059968
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.148454523,661.851545477,635.148454523,879.851545477,787.851545477,804,652,632,653,0.412031437848,-0.00543013005134,0.0798184612466,0.999999942286,0.000168188327233,-0.000291737798687,4.50633854109e-05,1793239049247726592
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.438771171,715,680,661.561228829,635,879.561228829,787.561228829,804,652,631.561228829,653.438771171,0.411318201966,-0.0054257037282,0.0798093997968,0.999999935386,0.000175362988462,-0.000310626400312,4.45803541766e-05,1793239049264393216
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.968653568,745.968653568,715,679.968653568,661.031346432,635.031346432,879,787,804,652,631,653.968653568,0.410611001575,-0.00541601337697,0.0797983770553,0.99999992573,0.000190094892364,-0.000332357321894,4.40741763523e-05,1793239049281060096
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.389483299,745.389483299,715,679.389483299,661.610516701,635.610516701,879,787,804,652,631,653.389483299,0.409982560087,-0.00541677033034,0.0798102462099,0.999999931961,0.000190455323403,-0.000312640699703,4.53944116407e-05,1793239049297726976
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.188698003,745,715,679.188698003,662,636,879,787,804,652,631.188698003,653,0.409372063542,-0.00541724975303,0.0798262638706,0.999999939464,0.000191605906136,-0.000286697994384,4.65091255483e-05,1793239049314393600
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.76484877,745,715,679.76484877,662,636,879,787,804,652,631.76484877,653,0.40879841315,-0.00541715932336,0.0798507996425,0.99999994925,0.000194378903805,-0.000247971296789,4.72018435526e-05,1793239049331060224
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745.33966658,715,680,662,636,879.33966658,787,804,652,632,653,0.408212703904,-0.00541288157595,0.0798475170878,0.999999946334,0.000198839997216,-0.000256083663762,4.70718335129e-05,1793239049347726848
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.913565155,715,680,662,636,879.913565155,787,804,652,632,653,0.40761867898,-0.00540571627986,0.0798250511836,0.999999934067,0.000204465190836,-0.000296495965267,4.63744751782e-05,1793239049364393472
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.497092255,715,680,662,635.497092255,880,787,804,652,632,653,0.407059078943,-0.00540812718538,0.0797974603834,0.999999919076,0.000203669295775,-0.000344052107998,4.46700841265e-05,1793239049381059840
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.66892925,715,680,661.33107075,635.66892925,879.33107075,787,804,652,631.33107075,652.33107075,0.406078091633,-0.00540592547849,0.0797909699196,0.999999919844,0.000201495719123,-0.000343373964504,4.24992815077e-05,1793239049414393856
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.755273619,661.244726381,635.755273619,879,787.244726381,804,652,631,652.244726381,0.405645991953,-0.00540400657543,0.0798053475922,0.99999992978,0.000201780551151,-0.000312913160306,4.25471700655e-05,1793239049431060224
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.180355282,661.819644718,635.180355282,879,787.819644718,804,652,631,652.819644718,0.405231178704,-0.00540606951225,0.0798188503248,0.999999936446,0.000203088555104,-0.000289801236274,4.3345586332e-05,1793239049447726336
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.594933866,745.594933866,715,679,662,635.405066134,879.405066134,788,804,652,631,653,0.404832936157,-0.00540694704186,0.0798305397038,0.999999939457,0.000207131932111,-0.000276070726806,4.43573978249e-05,1793239049464393472
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.004711427,745.004711427,715,679,662,635.995288573,879.995288573,788,804,652,631,653,0.404442268064,-0.00540728272032,0.0798414001975,0.999999940859,0.000212425652149,-0.000266628473249,4.54667526513e-05,1793239049481060864
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.574578673,661.425421327,636,879.425421327,788,804,652.574578673,631,653,0.404080698879,-0.00540436406243,0.0798405949458,0.999999939309,0.000209738509046,-0.000274467096882,4.53925394813e-05,1793239049497727232
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.152807286,745,715,680,661.152807286,635.847192714,879,787.847192714,804,652.847192714,631.152807286,653,0.403733239527,-0.00540283313345,0.0798401511634,0.999999938654,0.000204997595047,-0.000280409908615,4.51444133945e-05,1793239049514393344
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.728342878,745,715,680,661.728342878,635.271657122,879,787.271657122,804,652.271657122,631.728342878,653,0.40342416598,-0.00540521368044,0.0798409670398,0.999999940645,0.000194752756597,-0.000280723439756,4.44415188641e-05,1793239049531059968
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.694881312,745,715,680,662,635.305118688,879,787,804,652,631.694881312,653,0.403142454239,-0.00540477236992,0.0798421508806,0.99999993998,0.000197223201526,-0.000281422360537,4.40950109702e-05,1793239049547726592
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.116996822,745,715,680,662,635.883003178,879,787,804,652,631.116996822,653,0.402885203046,-0.00540180841396,0.079843663669,0.999999936862,0.000211060680886,-0.000282465806598,4.40671007299e-05,1793239049564393216
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.468840084,745.468840084,715,680,662,636,879,787,804,652,631.468840084,653,0.402644988585,-0.00540304167423,0.0798454851885,0.999999937803,0.000210046681506,-0.00027995682625,4.35722181675e-05,1793239049581060352
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.944212438,745.944212438,715,680,662,636,879,787,804,652,631.944212438,653,0.402413990237,-0.00540499873128,0.079847503098,0.999999939828,0.000205559377594,-0.000276104790148,4.3076489372e-05,1793239049597726976
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.365773092,745.365773092,715,680,662,636,879,787,804,652,631.365773092,653,0.402228816731,-0.00540375480681,0.0798506266745,0.999999942324,0.000203852292691,-0.000268118681815,4.36834005523e-05,1793239049614393600
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.211481907,745.211481907,715,680,662,635.788518093,879.211481907,787,804,652,631,653,0.402053660792,-0.00540311271067,0.079853621992,0.999999944043,0.000202119773416,-0.000262804432461,4.46770256103e-05,1793239049631060224
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.786699841,745.786699841,715,680,662,635.213300159,879.786699841,787,804,652,631,653,0.401895734476,-0.0054035057228,0.0798563967113,0.999999944513,0.000200343508759,-0.000262085619033,4.63357749795e-05,1793239049647726592
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.630069125,745.630069125,715,679.630069125,662,635.369930875,879.630069125,787,804,652,631,653,0.401757153326,-0.0054044540625,0.0798562250907,0.999999945179,0.000198128186181,-0.000261137901962,4.68447799413e-05,1793239049664393216
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.042115428,745.042115428,715,679.042115428,662,635.957884572,879.042115428,787,804,652,631,653,0.401629973446,-0.00540572969064,0.0798543170127,0.999999945956,0.000195654099829,-0.000260055277947,4.66761705743e-05,1793239049681060096
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635.115217588,879.115217588,787,803.115217588,652,631,653,0.401400864368,-0.00540464166875,0.0798443785706,0.999999934335,0.000224579707502,-0.000281728886733,3.90245156779e-05,1793239049714393344
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635.692977869,879.692977869,787,803.692977869,652,631,653,0.401317417444,-0.00540552242394,0.0798421104741,0.999999934998,0.000220272217922,-0.000283143901141,3.6252368195e-05,1793239049731060480
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.73028735,745,715,679.73028735,662,636,879.73028735,787,804,652,631,653,0.401244647874,-0.00540584775594,0.0798399816961,0.999999935248,0.000217282541969,-0.000284692238284,3.5260693889e-05,1793239049747727104
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.154715539,745,715,679.154715539,662,636,879.154715539,787,804,652,631,653,0.401183986629,-0.00540554322767,0.0798380109083,0.999999935049,0.000215787291429,-0.000286391765805,3.62881094361e-05,1793239049764393472
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745.430530288,715,679.430530288,662,636,879,787,804,652,631,653,0.401136093659,-0.00540647538582,0.07983659602,0.999999935232,0.000213653401918,-0.000287262495491,3.70031791278e-05,1793239049781060096
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745.980996721,715,679.980996721,661.980996721,636,879,787,804,652,631.019003279,653,0.4010933867,-0.00540777673975,0.0798354981362,0.999999935555,0.000211380228454,-0.000287740777956,3.76020983668e-05,1793239049797726720
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745.402220673,715,679.402220673,661.402220673,636,879,787,804,652,631.597779327,653,0.401065176116,-0.00540656143916,0.0798377183697,0.999999936023,0.000211919958122,-0.00028563383229,3.81619701042e-05,1793239049814393344
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.175720109,745,715,679.175720109,661,636,879.175720109,787,803.824279891,652,631.824279891,653,0.401039173408,-0.00540531425664,0.0798388903684,0.999999935914,0.000213353578236,-0.000284892290065,3.85702044437e-05,1793239049831060224
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.751757949,745,715,679.751757949,661,636,879.751757949,787,803.248242051,652,631.248242051,653,0.40101820059,-0.00540399444229,0.0798376743249,0.999999934488,0.000216823619703,-0.000287261349471,3.86329851368e-05,1793239049847726848
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879.674597241,787,803,652,631,653,0.401005775983,-0.00540426970406,0.0798379611773,0.999999934629,0.000216811783781,-0.000286772432457,3.86806140814e-05,1793239049864393472
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879.102764631,787,803,652,631,653,0.400999824997,-0.00540575292833,0.0798393861835,0.999999935956,0.000214163097411,-0.000284119149575,3.87167685043e-05,1793239049881060608
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.488010208,715,680,661.488010208,635.511989792,879,787,803,652,631,653,0.400994895636,-0.00540651601621,0.0798412076591,0.999999937097,0.000212789225794,-0.000281073339969,3.90576287575e-05,1793239049897726976
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.919505873,715,679.919505873,662,635.080494127,879,787.080494127,803.080494127,652,631,653,0.40099054641,-0.00540706710758,0.0798429119306,0.999999938079,0.000211740547778,-0.000278312568087,3.93779703332e-05,1793239049914393600
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.342089915,715,679.342089915,662,635.657910085,879,787.657910085,803.657910085,652,631,653,0.40098839685,-0.00540728343369,0.0798433564374,0.99999993838,0.000210975251914,-0.00027784233024,3.91595328359e-05,1793239049931059968
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.766275666,745,715,679,662,636,879,787.766275666,803.766275666,652,631,653,0.400986654705,-0.0054075795961,0.0798434541688,0.999999938639,0.000210645259699,-0.000277194759632,3.89119888155e-05,1793239049947726592
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.192789831,745,715,679,662,636,879,787.192789831,803.192789831,652,631,653,0.400985504817,-0.00540799181532,0.079843047798,0.999999938837,0.00021094806181,-0.00027628940312,3.86221330993e-05,1793239049964393216
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.390285292,745,715,679,662,636,879.390285292,787.390285292,803.390285292,652,631.390285292,653,0.400983366474,-0.00540758821684,0.0798421753811,0.999999938383,0.000211279041533,-0.000277703963051,3.8414407586e-05,1793239049981060096
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.978216548,745,715,679,662,636,879.978216548,787.978216548,803.978216548,652,631.978216548,653,0.400980727564,-0.0054067714768,0.0798410669518,0.999999937594,0.000211624290788,-0.000280293361334,3.82482739717e-05,1793239049997726720
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.442025903,745,715,679,662,636,879.442025903,787.442025903,804,652,631.442025903,653,0.40098104954,-0.00540629307429,0.0798416861516,0.999999937579,0.000213377565016,-0.000279023311759,3.81811830481e-05,1793239050014393344
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745.137285767,715,679,662,635.862714233,879.137285767,787,804,652,631,652.862714233,0.400981769609,-0.00540614694976,0.0798424845402,0.99999993776,0.000214541135626,-0.000277476566258,3.81861832202e-05,1793239050031060224
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745.708013873,715,679,662.291986127,635.291986127,879.708013873,787,803.708013873,652,631.291986127,652.291986127,0.40098446512,-0.00540713508533,0.0798450188786,0.999999939091,0.000213341257304,-0.000273540394536,3.84721870504e-05,1793239050064393472
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745.135162688,715,679,662.864837312,635.864837312,879.135162688,787,803.135162688,652,631.864837312,652.864837312,0.400984975534,-0.00540649832934,0.0798465965937,0.999999939574,0.0002136408027,-0.000271546076852,3.83765071211e-05,1793239050081059840
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.450976782,745,715,679.450976782,662.549023218,636,879.450976782,787.450976782,803,651.549023218,632,653,0.40098402545,-0.00540683536251,0.0798462629215,0.999999939414,0.000213309236598,-0.000272388691491,3.84092995393e-05,1793239050097726464
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d5b94f61b40ac87fbda4527f8c644b0928d0e561
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a63d944f6e40aacd8eab5ece3dc92c061d37b3f5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f181b2287c2fbd1631822ed1277dc8a716e40a586cae9ca4c0a14f95b42e742
+size 26190283
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9815528417a76499e0a7373ae9740d2fe9e49739
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_01/franka_data.csv
@@ -0,0 +1,414 @@
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+4,0.066666667,BASELINE,766,745,715,679,661,636,879,788,804,652,632,652.684015727,0.400928946944,-0.0154293965867,0.0599370753524,0.999999974065,-0.000101087674017,-0.000199032595208,-4.51394935485e-05,1793239052133075968
+5,0.083333333,BASELINE,766,745,715,679,661,636,879,788,804,652,632,652.09713393,0.400931214405,-0.0154283978528,0.0599377984921,0.999999974754,-9.84954015584e-05,-0.000196877723378,-4.5063327886e-05,1793239052149742848
+6,0.100000000,BASELINE,766,745,715,679,661,636,879,788,803.51648515,652,631.51648515,652.48351485,0.400930733437,-0.0154288667244,0.0599375377424,0.999999974545,-9.97831257748e-05,-0.000197258380912,-4.51933338031e-05,1793239052166409216
+7,0.116666667,BASELINE,766,745,715,679,661,636,879,787.937180345,803,652,631.062819655,653,0.40092980746,-0.0154295379327,0.0599371093012,0.999999974201,-0.000101579861821,-0.000198051015717,-4.53278917219e-05,1793239052183075840
+8,0.133333333,BASELINE,766,745,715,679,661,636,879,787.35875991,803,652,631.64124009,653,0.400929703065,-0.0154294807947,0.0599369061408,0.999999974234,-0.000101238298821,-0.000198097528601,-4.516419283e-05,1793239052199742976
+9,0.150000000,BASELINE,766,745,715.21828238,679,661,636.21828238,879,787.21828238,803.21828238,652,632,653,0.400929559603,-0.0154290864819,0.0599366645568,0.999999974318,-0.000100356470595,-0.000198126091498,-4.5144565547e-05,1793239052216409856
+10,0.166666667,BASELINE,766,745,715.793073762,679,661,636.793073762,879,787.793073762,803.793073762,652,632,653,0.400929352333,-0.0154281414797,0.0599363602178,0.999999974484,-9.85922559442e-05,-0.000198125337628,-4.53602427763e-05,1793239052233076736
+11,0.183333333,BASELINE,766,745,715.623183081,678.623183081,661,636.623183081,879,788,804,652,632,653,0.400928591787,-0.0154284191323,0.059936042739,0.999999974271,-9.89654105596e-05,-0.000199007879006,-4.53788654579e-05,1793239052249743104
+12,0.200000000,BASELINE,766,745,715.034404443,678.034404443,661,636.034404443,879,788,804,652,632,653,0.400927520021,-0.0154293845353,0.0599357178691,0.999999973843,-0.000100540847708,-0.00020038727912,-4.52866438255e-05,1793239052266409216
+13,0.216666667,BASELINE,766,745,715.545047924,678,661,636,879.545047924,788,804,652,631.454952076,652.454952076,0.40092919712,-0.0154302837278,0.0599364626208,0.999999974097,-0.000101908448613,-0.000198440775311,-4.51767974604e-05,1793239052283075840
+14,0.233333333,BASELINE,766,745,716,678.123474325,661,636,879.876525675,788,804,652,631.123474325,652.123474325,0.400930642594,-0.0154309736469,0.0599371058232,0.999999974329,-0.000102582098823,-0.000196955427131,-4.50229450223e-05,1793239052299742464
+15,0.250000000,BASELINE,766,745,716,678.700259169,661,636,879.299740831,788,804,652,631.700259169,652.700259169,0.400930611401,-0.0154309103478,0.0599371325059,0.999999974338,-0.000100755406038,-0.000197920891294,-4.47115489575e-05,1793239052316409088
+16,0.266666667,BASELINE,766,745,715.725360533,679,661,636,879.274639467,788,804,652,631.725360533,653,0.4009306632,-0.0154309273246,0.0599371665551,0.99999997438,-9.99322659049e-05,-0.000198159325494,-4.45648878602e-05,1793239052333075712
+17,0.283333333,BASELINE,766,745,715.153581807,679,661,636,879.846418193,788,804,652,631.153581807,653,0.400930804789,-0.015431031154,0.0599372085744,0.999999974461,-0.000100194894411,-0.000197611167868,-4.45964576331e-05,1793239052349742592
+18,0.300000000,BASELINE,766.434217804,745,715.434217804,679,661.434217804,636,879.565782196,788,804,652,631.434217804,653,0.400930842517,-0.0154310301821,0.0599372192445,0.999999974311,-0.000101486419601,-0.000197697599289,-4.46570416111e-05,1793239052366409216
+19,0.316666667,BASELINE,766.972766641,745,716,679,661.972766641,636.027233359,879.027233359,788,803.972766641,652,632,653,0.400930895737,-0.0154310158487,0.0599372220669,0.999999974097,-0.000103060878823,-0.000197951262372,-4.47248880195e-05,1793239052383075840
+20,0.333333333,BASELINE,766.393290346,745,716,679,661.393290346,636.606709654,879.606709654,788,803.393290346,652,632,653,0.400932036593,-0.015431511035,0.0599372992135,0.999999974346,-0.000102710416519,-0.000196870223263,-4.47239312792e-05,1793239052399742208
+21,0.350000000,BASELINE,766,745,715.815856321,679.184143679,661,636.815856321,879.815856321,788,803.184143679,652,632,653,0.400932129047,-0.0154316887744,0.0599371276565,0.999999974481,-0.000101894952499,-0.000196624404471,-4.46517528301e-05,1793239052416409088
+22,0.366666667,BASELINE,766,745,715.242736367,679.757263633,661,636.242736367,879.242736367,788,803.757263633,652,632,653,0.400930006911,-0.0154311959541,0.0599364307501,0.999999974373,-0.000100097241198,-0.000198142865161,-4.44291290588e-05,1793239052433076736
+23,0.383333333,BASELINE,766,745,715,679.660270152,661,636,879,788,804,652,631.660270152,653,0.400929680213,-0.0154311783447,0.0599363370098,0.999999974412,-9.90561091446e-05,-0.000198481001902,-4.43757163496e-05,1793239052449743360
+24,0.400000000,BASELINE,766,745,715,679.070937078,661,636,879,788,804,652,631.070937078,653,0.400930672641,-0.0154315098779,0.0599366864222,0.999999974562,-9.85708439297e-05,-0.000197951941923,-4.44466248307e-05,1793239052466409728
+25,0.416666667,BASELINE,766,745.508144209,715,679,661,636,879,788,803.491855791,652,631.508144209,652.491855791,0.400931387942,-0.0154316218583,0.059936580878,0.99999997452,-0.000100590237307,-0.000197142473297,-4.44574583512e-05,1793239052483076096
+26,0.433333333,BASELINE,765.914261775,745.914261775,715,679,661,636,879.085738225,788,803.085738225,652,631.914261775,652.085738225,0.400931796537,-0.0154318002873,0.0599364322392,0.999999974436,-0.000102546254622,-0.000196565494277,-4.44393047972e-05,1793239052499742464
+27,0.450000000,BASELINE,765.337151346,745.337151346,715,679,661,636,879.662848654,788,803.662848654,652,631.337151346,652.662848654,0.400930664716,-0.01543253172,0.0599363934157,0.999999974288,-0.000102174812047,-0.000197540837364,-4.43021371975e-05,1793239052516409344
+28,0.466666667,BASELINE,765.239536918,745,715,679,661,636,879.760463082,788,804,652,631.239536918,653,0.400930044942,-0.015432404518,0.0599363596654,0.999999974189,-0.000101711088764,-0.000198274125844,-4.43131709872e-05,1793239052533075968
+29,0.483333333,BASELINE,765.815631988,745,715,679,661,636,879.184368012,788,804,652,631.815631988,653,0.400930144615,-0.0154310709024,0.0599363330431,0.999999974162,-0.000101117707723,-0.000198667318668,-4.45324331715e-05,1793239052549742592
+30,0.500000000,BASELINE,766,745,715,679,661,636,879,788,804,652,631.598515046,653,0.400929578619,-0.015429798474,0.0599360834299,0.999999974315,-9.84145021415e-05,-0.000199239487175,-4.45998689182e-05,1793239052566409472
+31,0.516666667,BASELINE,766,745,715,679,661,636,879,788,804,652,631.008069501,653,0.400928699323,-0.0154285548436,0.0599357288651,0.999999974541,-9.47182987359e-05,-0.000199895891331,-4.45958469033e-05,1793239052583076096
+32,0.533333333,BASELINE,766,745,715,679,661,636,879,787.430457727,804,652,631,653,0.400929250536,-0.0154288902163,0.0599353979811,0.999999974323,-9.65538850523e-05,-0.000200073404037,-4.47520599754e-05,1793239052599742464
+33,0.550000000,BASELINE,766,745,715,679,661,636,879.146528638,787.146528638,803.853471362,652,631,653,0.400929464549,-0.0154293294499,0.0599350501396,0.999999974117,-9.83517790247e-05,-0.000200207164247,-4.48420078849e-05,1793239052616409344
+34,0.566666667,BASELINE,766,745,715,679,661,636,879.72220404,787.72220404,803.27779596,652,631,653,0.400928632935,-0.0154300087885,0.0599346516729,0.999999973972,-9.98147934377e-05,-0.000200232218063,-4.47313786549e-05,1793239052633075712
+35,0.583333333,BASELINE,766,745.295848369,715,679,661,636,879.704151631,788,803.295848369,652,631,653,0.40092962004,-0.0154304095603,0.0599355390022,0.999999974182,-0.00010084556487,-0.00019866846065,-4.46866239207e-05,1793239052649742336
+36,0.600000000,BASELINE,766,745.867598629,715,679,661,636,879.132401371,788,803.867598629,652,631,653,0.400932303241,-0.0154305505468,0.0599376254374,0.999999974718,-0.000101473235869,-0.000195623011716,-4.47033023253e-05,1793239052666409216
+37,0.616666667,BASELINE,766,745.54133548,715,678.54133548,661.45866452,636,879,788,804,652,631.45866452,653,0.400930912429,-0.0154310447347,0.0599370073214,0.999999974443,-0.000101102474967,-0.000197241557859,-4.45946875393e-05,1793239052683076096
+38,0.633333333,BASELINE,766.05367363,745,715,678.05367363,662,636,879,788,804,652,632,653,0.400928633987,-0.0154315499616,0.0599357319197,0.999999973987,-0.000100570202793,-0.000199833141923,-4.44868124348e-05,1793239052699742464
+39,0.650000000,BASELINE,766.630385287,745,715,678.630385287,662,636,879,788,804,652,632,653,0.400929669826,-0.0154311255248,0.0599359937846,0.999999974214,-0.000101396103149,-0.000198210156447,-4.47540901146e-05,1793239052716409088
+40,0.666666667,BASELINE,766.793810498,745,715.206189502,679,661.793810498,636,879,787.793810498,803.793810498,652,632,653,0.400930575825,-0.0154313363774,0.059936304099,0.999999974419,-0.000101871770085,-0.000196914394872,-4.48233850219e-05,1793239052733075968
+41,0.683333333,BASELINE,766.21962587,745,715.78037413,679,661.21962587,636,879,787.21962587,803.21962587,652,632,653,0.400931250092,-0.0154326810578,0.059936700883,0.999999974587,-0.00010172236057,-0.00019620264373,-4.45393316828e-05,1793239052749742592
+42,0.700000000,BASELINE,766.362954802,745,716,679,661,636,879.362954802,787.362954802,803.362954802,652,632,653,0.400931286277,-0.0154323434221,0.0599369106642,0.999999974797,-0.000100088334832,-0.000195993274413,-4.44466902829e-05,1793239052766409216
+43,0.716666667,BASELINE,766.950736251,745,716,679,661,636,879.950736251,787.950736251,803.950736251,652,632,653,0.400930927214,-0.0154309637021,0.0599370046095,0.999999975028,-9.75346869176e-05,-0.000196095097644,-4.447261601e-05,1793239052783075840
+44,0.733333333,BASELINE,766.470081215,745,715.470081215,679,661,636,879.470081215,788,804,652,632,653,0.400930748805,-0.0154320294799,0.0599367486271,0.999999974712,-0.000100196802821,-0.000196402976005,-4.43048406143e-05,1793239052799742464
+45,0.750000000,BASELINE,766,745,715.10820392,678.89179608,661.10820392,636,879,788,804,652,631.89179608,653,0.400930524469,-0.0154328319176,0.059936390005,0.999999974423,-0.000102222375155,-0.000196856194398,-4.41786794629e-05,1793239052816409600
+46,0.766666667,BASELINE,766,745,715.686008167,678.313991833,661.686008167,636,879,788,804,652,631.313991833,653,0.400930029092,-0.015431520558,0.0599357248601,0.999999974503,-9.94146101903e-05,-0.000197858374051,-4.43100256893e-05,1793239052833076480
+47,0.783333333,BASELINE,766,745,715.732822377,678.267177623,661.732822377,636,879,788,803.732822377,652,631,653,0.400929872862,-0.0154305224232,0.0599355608734,0.999999974541,-9.82015441248e-05,-0.000198243939995,-4.44351389731e-05,1793239052849742848
+48,0.800000000,BASELINE,766,745,715.147647543,678.852352457,661.147647543,636,879,788,803.147647543,652,631,653,0.400930120289,-0.0154298970913,0.0599359933697,0.999999974537,-9.88865026793e-05,-0.000197895606883,-4.45528337701e-05,1793239052866409216
+49,0.816666667,BASELINE,766,745,715,679,661.433131259,636,879.433131259,788,803,652,631.433131259,653,0.400931044319,-0.0154299616925,0.0599363319334,0.999999974772,-9.81676779211e-05,-0.000197077836494,-4.44921600884e-05,1793239052883075584
+50,0.833333333,BASELINE,766,745,715.012453807,679,661.987546193,636.012453807,879.987546193,788,803.012453807,652,631.987546193,652.987546193,0.400932137216,-0.0154302534669,0.0599366196343,0.999999975071,-9.70324893185e-05,-0.000196144401653,-4.43771390382e-05,1793239052899742208
+51,0.850000000,BASELINE,766,745,715.593020031,679,661.406979969,636.593020031,879.406979969,788,803.593020031,652,631.406979969,652.406979969,0.400930517712,-0.0154302874592,0.059936033107,0.99999997472,-9.85137174863e-05,-0.000197161179134,-4.45287381375e-05,1793239052916408832
+52,0.866666667,BASELINE,766,745,715.828630753,679,661,636.828630753,879.171369247,788,804,652,631,652.171369247,0.400929467299,-0.0154303570263,0.0599355812058,0.999999974483,-9.93366970537e-05,-0.000197932875608,-4.45921742564e-05,1793239052933075456
+53,0.883333333,BASELINE,766,745,715.255479436,679,661,636.255479436,879.744520564,788,804,652,631,652.744520564,0.400929751141,-0.0154305099999,0.0599354449409,0.999999974522,-9.86163863029e-05,-0.000198129969779,-4.4448908725e-05,1793239052949742592
+54,0.900000000,BASELINE,766,745,715,679,661,636,879.674053775,788,803.674053775,652,631.325946225,653,0.400930423385,-0.0154300271356,0.0599357807166,0.999999974708,-9.77321202746e-05,-0.000197623924984,-4.44573133961e-05,1793239052966409216
+55,0.916666667,BASELINE,766,745,715,679,661,636,879.085973716,788,803.085973716,652,631.914026284,653,0.400931407991,-0.0154290329152,0.0599364961186,0.999999975013,-9.67159974824e-05,-0.000196552398823,-4.45876949186e-05,1793239052983075840
+56,0.933333333,BASELINE,766,745,715,679,661,636.494290842,878.505709158,788,803.494290842,652,632,653.494290842,0.400931359677,-0.0154312398654,0.0599360744826,0.999999974665,-9.9338925017e-05,-0.00019711031585,-4.41543848611e-05,1793239052999742464
+57,0.950000000,BASELINE,765.92690798,745,715,679,661,636.92690798,878.07309202,788,804,652,631.92690798,653.92690798,0.400931170523,-0.0154335418641,0.0599356481059,0.999999974293,-0.000102043710207,-0.000197714305488,-4.37099117234e-05,1793239053016409088
+58,0.966666667,BASELINE,765.348971575,745,715,679,661,636.348971575,878.651028425,788,804,652,631.348971575,653.348971575,0.40093123019,-0.0154327144836,0.0599365337077,0.99999997459,-0.000101010146268,-0.000196709450039,-4.38549876558e-05,1793239053033075712
+59,0.983333333,BASELINE,765,745,715,679,661,636,879.227786456,788,803.772213544,652,631,652.772213544,0.400930862492,-0.0154315514441,0.0599365345433,0.9999999747,-9.95937281478e-05,-0.000196793972264,-4.41956145478e-05,1793239053049742336
+60,1.000000000,BASELINE,765,745,715,679,661,636,879.802748586,788,803.197251414,652,631,652.197251414,0.400929843435,-0.0154298768173,0.0599351868823,0.999999974524,-9.75937911627e-05,-0.000198538845146,-4.4834286117e-05,1793239053066408704
+61,1.016666667,BASELINE,765.386963669,745,715,679,661,636,879.613036331,788,803.386963669,652,631,652,0.400931023865,-0.0154298444795,0.0599357805842,0.99999997491,-9.70083628375e-05,-0.000196912478948,-4.46677018535e-05,1793239053083075840
+62,1.033333333,BASELINE,765.976010875,745,715,679,661,636,879.023989125,788,803.976010875,652,631,652,0.400933352931,-0.0154306697924,0.0599373881216,0.999999975582,-9.71616316658e-05,-0.000193525554805,-4.40805898356e-05,1793239053099743232
+63,1.050000000,BASELINE,766,745,715,679,661,636,879,788,804,652,631,652.557233372,0.400933397249,-0.015430809021,0.059937749595,0.999999975325,-9.9181396363e-05,-0.000193765162852,-4.43677929783e-05,1793239053116410368
+64,1.066666667,BASELINE,766,745,715,679,661,636,879,787.86330643,803.86330643,652,631.13669357,653,0.400933092374,-0.0154308221458,0.0599377889823,0.999999975078,-0.000100355777402,-0.000194367793201,-4.46446963133e-05,1793239053133076992
+65,1.083333333,BASELINE,766,745,715,679,661,636,879,787.288430584,803.288430584,652,631.711569416,653,0.400931979063,-0.0154305244043,0.0599369654739,0.999999975003,-9.85662002721e-05,-0.00019564058399,-4.47695967162e-05,1793239053149743104
+66,1.100000000,BASELINE,766,745,715,678.707878522,661,636,879,787.292121478,803,652,631.707878522,653,0.400931368247,-0.015430499017,0.0599365234244,0.999999974921,-9.79342898567e-05,-0.000196403013686,-4.46389280714e-05,1793239053166409216
+67,1.116666667,BASELINE,766,745,715,678.121610937,661,636,879,787.878389063,803,652,631.121610937,653,0.400931263408,-0.0154307478715,0.0599364654777,0.999999974837,-9.84680697911e-05,-0.000196651545014,-4.42509190799e-05,1793239053183075584
+68,1.133333333,BASELINE,766,745,715,678.459209503,661,636,879,788,803.459209503,652,631,653,0.400931653418,-0.0154318904745,0.0599364457884,0.999999974695,-0.000100419519331,-0.000196396256232,-4.42117134509e-05,1793239053199742464
+69,1.150000000,BASELINE,766,745,715.038432597,679,661,636,879,788,804,652,631,653,0.400932041252,-0.0154330848404,0.059936325406,0.999999974539,-0.000102399309615,-0.000196152547671,-4.42677595136e-05,1793239053216409344
+70,1.166666667,BASELINE,766,745,715.61524972,679,661,636,879,788,804,652,631,653,0.400930584331,-0.0154317275365,0.0599346541962,0.999999974471,-9.95784441945e-05,-0.000197918239766,-4.43793091209e-05,1793239053233076480
+71,1.183333333,BASELINE,766,745,715.807974609,679,661,636,879,788,804,652,631,653,0.400929702593,-0.0154307928184,0.0599339102295,0.999999974414,-9.82782999166e-05,-0.000198822359924,-4.45311621116e-05,1793239053249743104
+72,1.200000000,BASELINE,766,745,715.231281869,679,661,636,879,788,804,652,631,653,0.400929973068,-0.0154307046284,0.0599350237257,0.999999974394,-0.000100024480228,-0.000198000570147,-4.47637512989e-05,1793239053266409472
+73,1.216666667,BASELINE,766,745,715,679,661,636,879,787.647649164,804,652,631,653,0.400930394436,-0.0154307104206,0.0599356237461,0.999999974548,-9.9519129379e-05,-0.000197466923797,-4.4793742007e-05,1793239053283076096
+74,1.233333333,BASELINE,766,745,715,679,661,636,879,787.0593696,804,652,631,653,0.400930916839,-0.015430779142,0.059935879951,0.999999974818,-9.75061876069e-05,-0.000197126213927,-4.46880758593e-05,1793239053299742464
+75,1.250000000,BASELINE,766,745,715,679,661,636,879.520911543,787.520911543,803.479088457,652,631.520911543,653,0.400930595325,-0.0154323441428,0.0599359870683,0.999999974678,-9.90197596234e-05,-0.000197175944059,-4.4274041782e-05,1793239053316409088
+76,1.266666667,BASELINE,766,745,715,679,661,636,879.90032318,788,803,652.09967682,632,653,0.400930349823,-0.0154334913369,0.0599360008248,0.99999997454,-0.000100366503357,-0.000197266668254,-4.39503506263e-05,1793239053333075712
+77,1.283333333,BASELINE,766,745,715,679,661,636,879.32451022,788,803,652.67548978,632,653,0.400930919914,-0.0154318404604,0.0599356485551,0.999999974647,-9.90254576882e-05,-0.000197343862519,-4.42235535052e-05,1793239053349742336
+78,1.300000000,BASELINE,766,745,715,679,661.255982046,636.255982046,879,788,803.255982046,653,632,653,0.400931140221,-0.0154312251581,0.0599354141136,0.999999974622,-9.88199543877e-05,-0.000197524159156,-4.44396220998e-05,1793239053366409216
+79,1.316666667,BASELINE,766,745,715,679,661.842516712,636.842516712,879,788,803.842516712,653,632,653,0.400930908849,-0.0154319471051,0.0599353318253,0.999999974428,-0.000100080790373,-0.000197837593088,-4.45819125016e-05,1793239053383075840
+80,1.333333333,BASELINE,766,745,715,679,661.576379494,636.576379494,879,788,804,653,632,653,0.400932409953,-0.0154323572426,0.0599362350193,0.99999997481,-0.000100608355665,-0.000195671215503,-4.43876881757e-05,1793239053399742720
+81,1.350000000,BASELINE,766,745,715,679,661,636,879.002732378,788,804,652.997267622,632,653,0.400934528756,-0.0154326472263,0.0599374903146,0.999999975391,-0.000100858267314,-0.000192620668482,-4.40719266908e-05,1793239053416409344
+82,1.366666667,BASELINE,766,745,715,679,661,636,879.5821466,788,804,652.4178534,632,653,0.40093280493,-0.0154317333294,0.0599367152714,0.999999975067,-9.93128007757e-05,-0.000195067155376,-4.417417675e-05,1793239053433075968
+83,1.383333333,BASELINE,766,745,715,679,661,636,879.840088584,788,804,652,631.840088584,653,0.400931599852,-0.0154311018656,0.0599361002289,0.999999974813,-9.82004881744e-05,-0.000196908627815,-4.42554997555e-05,1793239053449742336
+84,1.400000000,BASELINE,766,745,715,679,661,636,879.266589591,788,804,652,631.266589591,653,0.400931736438,-0.0154312008737,0.0599358990051,0.999999974756,-9.82084647827e-05,-0.000197185319063,-4.42826980086e-05,1793239053466409216
+85,1.416666667,BASELINE,766.307628283,745,715.307628283,679.307628283,661.307628283,636.307628283,879.307628283,787.692371717,803.692371717,652.307628283,631,653,0.400932128519,-0.0154317325179,0.0599360972155,0.99999997492,-9.77371892942e-05,-0.000196654975909,-4.39904510741e-05,1793239053483075840
+86,1.433333333,BASELINE,766.88247056,745,715.88247056,679.88247056,661.88247056,636.88247056,879.88247056,787.11752944,803.11752944,652.88247056,631,653,0.400932742529,-0.0154326399611,0.0599366423849,0.999999975272,-9.68496228639e-05,-0.00019542362149,-4.34207256694e-05,1793239053499742464
+87,1.450000000,BASELINE,766.528021701,745,715.528021701,679.056043401,661.528021701,636.528021701,879.528021701,787,803.471978299,652.528021701,631,653,0.400932550488,-0.0154318627827,0.0599363867819,0.999999975164,-9.6783423784e-05,-0.000195890825681,-4.39548432704e-05,1793239053516409344
+88,1.466666667,BASELINE,766,745,715,678.063359728,661.063359728,636,879,787.063359728,804.063359728,652,631,653,0.400932267351,-0.0154308209575,0.059936068471,0.999999974968,-9.71373347114e-05,-0.000196553483381,-4.46565559312e-05,1793239053533076224
+89,1.483333333,BASELINE,766,745,715,678.63940478,661.63940478,636,879,787.63940478,804.63940478,652,631,653,0.400932923333,-0.015431140968,0.0599369080005,0.999999975031,-9.91825523183e-05,-0.000195265434647,-4.4418886153e-05,1793239053549742848
+90,1.500000000,BASELINE,766,745,715,679,661.784902461,636,879,788,804.784902461,652,631,653,0.400933140996,-0.0154315010079,0.0599374511228,0.999999975083,-9.99795953158e-05,-0.000194632269057,-4.4219954995e-05,1793239053566409472
+91,1.516666667,BASELINE,766,745,715,679,661.20979939,636,879,788,804.20979939,652,631,653,0.40093262505,-0.0154319280443,0.0599374981529,0.999999975128,-9.8687586942e-05,-0.000195095171717,-4.40858601102e-05,1793239053583075840
+92,1.533333333,BASELINE,766,745,715,679.373602495,661,636,879,787.626397505,804,652,631.373602495,653,0.400932429616,-0.0154320161863,0.0599371595245,0.999999974995,-9.89140948363e-05,-0.000195654205009,-4.41144573799e-05,1793239053599742720
+93,1.550000000,BASELINE,766,745,715,679.96177057,661,636,879,787.03822943,804,652,631.96177057,653,0.400932418256,-0.0154319096961,0.0599365994067,0.99999997476,-0.000100012709535,-0.000196268447625,-4.4236491209e-05,1793239053616409600
+94,1.566666667,BASELINE,766,745,715.544026811,679.455973189,661,636,879,787.544026811,803.455973189,652,631.455973189,652.455973189,0.400932539558,-0.0154316894431,0.0599358928825,0.999999974826,-9.86512590786e-05,-0.000196594790386,-4.433594622e-05,1793239053633075968
+95,1.583333333,BASELINE,766,745,715.875846625,678.875846625,661.124153375,636,879,788,803.124153375,652,631.124153375,652.124153375,0.400932540948,-0.0154316341364,0.0599355079491,0.999999974885,-9.76638421114e-05,-0.000196781570403,-4.43708473897e-05,1793239053649742336
+96,1.600000000,BASELINE,766,745,715.301945961,678.301945961,661.698054039,636,879,788,803.698054039,652,631.698054039,652.698054039,0.400932074547,-0.0154322049983,0.0599363248512,0.999999974845,-9.86508645736e-05,-0.000196535282073,-4.41775872591e-05,1793239053666409216
+97,1.616666667,BASELINE,766,745.278030107,715,678.278030107,661.721969893,636,879.278030107,787.721969893,803.721969893,652,632,653,0.400931630316,-0.0154324461201,0.0599364079126,0.999999974733,-9.9384750597e-05,-0.000196741036602,-4.4146649468e-05,1793239053683075840
+98,1.633333333,BASELINE,766,745.86475154,715,678.86475154,661.13524846,636,879.86475154,787.13524846,803.13524846,652,632,653,0.4009312107,-0.015432321138,0.0599356762054,0.999999974542,-9.9837584183e-05,-0.000197448685384,-4.42959349695e-05,1793239053699742720
+99,1.650000000,BASELINE,766,745.55449585,715,679,661,636,879.55449585,787.44550415,803.44550415,652,631.55449585,653,0.400931589157,-0.0154327777389,0.0599361415147,0.999999974724,-9.96466041307e-05,-0.000196673771584,-4.40736600059e-05,1793239053716409600
+100,1.666666667,BASELINE,766,745,715.024452864,679,661,636,879,788,803.975547136,652,631.024452864,653,0.400932152247,-0.0154334173059,0.0599368937877,0.999999974988,-9.93347094077e-05,-0.000195557032822,-4.37591609733e-05,1793239053733076224
+101,1.683333333,BASELINE,766,745,715.603043558,679,661,636,879,788,803.396956442,652,631.603043558,653,0.400931481468,-0.0154342549441,0.0599360228514,0.999999974615,-0.000100653388466,-0.000196758757243,-4.38771531925e-05,1793239053749743104
+102,1.700000000,BASELINE,766.180524193,745.180524193,716,679,661,636,879,788,803.180524193,652,632,653,0.400931285865,-0.0154341000219,0.0599356289503,0.999999974542,-0.00010063377119,-0.00019710989205,-4.40107033452e-05,1793239053766409728
+103,1.716666667,BASELINE,766.755578748,745.755578748,716,679,661,636,879,788,803.755578748,652,632,653,0.400932128746,-0.0154317758875,0.0599362775959,0.999999975122,-9.76893461127e-05,-0.00019560208789,-4.41782548929e-05,1793239053783076352
+104,1.733333333,BASELINE,766.661856388,746,716,679,661,636.338143612,879,787.661856388,803.661856388,652,631.661856388,653,0.400932730064,-0.0154320526769,0.059936529045,0.999999975112,-9.8569549833e-05,-0.000195214633057,-4.41784265164e-05,1793239053799742976
+105,1.750000000,BASELINE,766.073739453,746,716,679,661,636.926260547,879,787.073739453,803.073739453,652,631.073739453,653,0.400933152807,-0.0154342522041,0.0599364868662,0.999999974659,-0.000102277117523,-0.000195655398486,-4.40548622227e-05,1793239053816410112
+106,1.766666667,BASELINE,766,745.492645746,716,679,661.507354254,636.492645746,879,787.507354254,803,652,631.507354254,653,0.400931766804,-0.0154331040403,0.059935374659,0.999999974486,-0.00010060422452,-0.000197359925348,-4.42264466592e-05,1793239053833076480
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631,652,0.400930773197,-0.0154318405379,0.0599352407647,0.999999974688,-0.000100177134632,-0.000196557194048,-4.41973418871e-05,1793239053876275456
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631,652,0.400931817865,-0.015430979926,0.059935683653,0.999999974931,-9.8297574676e-05,-0.000196212685199,-4.44616146353e-05,1793239053892941824
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.156171779,788,803.843828221,652,631,652.156171779,0.400932514377,-0.0154308475565,0.0599359828084,0.999999975028,-9.7723737957e-05,-0.000195982292841,-4.4558476033e-05,1793239053909608192
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.748123728,788,803.251876272,652,631,652.748123728,0.4009322394,-0.0154327472669,0.0599358808927,0.999999974722,-0.00010079337787,-0.000196070329922,-4.41881945328e-05,1793239053926274816
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.668386627,745,715,679,661,636,879.668386627,788,803,652,631.331613373,653,0.400933517264,-0.0154335402855,0.0599366980333,0.999999974913,-0.000101210649646,-0.000194983100904,-4.373671599e-05,1793239053942941440
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.091164603,745,715,679,661,636,879.091164603,788,803,652,631.908835397,653,0.400935945236,-0.0154335136353,0.0599381958708,0.99999997547,-9.96634511348e-05,-0.000193025413857,-4.32250990746e-05,1793239053959608320
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.484096219,745,715,679,661,636,879,787.515903781,803.484096219,652,632,652.515903781,0.400941977654,-0.0154325453019,0.0599397475196,0.999999976272,-9.93067483296e-05,-0.00018893497658,-4.35572024319e-05,1793239053976275200
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.060545921,804,652,631.939454079,652,0.400950053903,-0.0154316063679,0.059941639979,0.999999977288,-9.89394550252e-05,-0.000183585471841,-4.3952390285e-05,1793239053992941824
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.650610329,804,652,631.349389671,652,0.400970092412,-0.0154324692376,0.0599464248088,0.999999979821,-9.65267176957e-05,-0.000170722942352,-4.35153069586e-05,1793239054009608448
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,678.763689691,661,636,879,788,804,652,631.236310309,652,0.400995753577,-0.0154337332258,0.0599511474189,0.999999982317,-9.62030678017e-05,-0.000155682536263,-4.32824332064e-05,1793239054026275072
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,678.184325642,661,636,879,788,804,652,631.815674358,652,0.401029577199,-0.0154355795209,0.0599557797037,0.999999984718,-9.8912164609e-05,-0.000137480488788,-4.33460123145e-05,1793239054042941696
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,678.393143391,661,636,879,788,804,652,631.606856609,652.393143391,0.401073634223,-0.0154374573473,0.0599616014071,0.999999987353,-9.93535960474e-05,-0.00011640772631,-4.32728644978e-05,1793239054059608320
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,678.969728257,661,636,879,788,804,652,631.030271743,652.969728257,0.401122466174,-0.0154393498863,0.059967978096,0.999999989778,-9.87369305997e-05,-9.39954809645e-05,-4.31359196226e-05,1793239054076274688
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,803.457574345,652,631,652.457574345,0.401179275275,-0.0154420945152,0.0599700048419,0.999999990278,-9.84406039656e-05,-8.86967885124e-05,-4.34362593063e-05,1793239054092941824
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715.118401162,679,661,636.118401162,879,787.881598838,803,652,631,652.118401162,0.401239884164,-0.0154450891711,0.0599717713112,0.999999990633,-9.86702079044e-05,-8.414649932e-05,-4.37975382755e-05,1793239054109608704
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715.708288402,679,661,636.708288402,879,787.291711598,803,652,631,652.708288402,0.401313864051,-0.0154488914464,0.0599734611574,0.999999990821,-0.000100923439967,-7.88002836692e-05,-4.4304996191e-05,1793239054126275072
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715.707828985,679,661,636.707828985,879.292171015,787.292171015,803,652,631,653,0.401399165634,-0.0154538152851,0.0599752556445,0.999999990973,-0.000103452860529,-7.32318113467e-05,-4.45881011312e-05,1793239054142941952
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715.129820861,679,661,636.129820861,879.870179139,787.870179139,803,652,631,653,0.401495543466,-0.0154598363729,0.0599771525038,0.999999991084,-0.000106252482029,-6.7445900922e-05,-4.46517167601e-05,1793239054159608320
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.553788498,788,803,652,631,653,0.401608670615,-0.0154646851186,0.0599766296656,0.999999990937,-0.000108936505361,-6.46689341672e-05,-4.55677358189e-05,1793239054176274688
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.021682895,636,879,787.978317105,803,652,631,653,0.401727909547,-0.0154692489323,0.0599754549084,0.999999990728,-0.000111501493992,-6.26804144105e-05,-4.67229167897e-05,1793239054192941568
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.597443877,636,879,787.402556123,803,652,631,653,0.401879351673,-0.0154752091506,0.0599755313823,0.99999999089,-0.000111880344372,-5.85679602242e-05,-4.76802296481e-05,1793239054209608192
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.821772115,636,879,787,803,652,631,653,0.402039740831,-0.0154828953072,0.0599763506394,0.999999990874,-0.000114415954162,-5.32368899046e-05,-4.82326732885e-05,1793239054226274560
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.229313864,636,879,787,803,652,631,653,0.402220924316,-0.0154945928216,0.0599788962445,0.999999990402,-0.000121964220805,-4.50735596092e-05,-4.78441353951e-05,1793239054242941440
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636.355173613,879,787.355173613,803.355173613,652,631,653,0.402424065337,-0.0155050379254,0.0599800775903,0.999999989672,-0.000129969470527,-3.77700156517e-05,-4.83450093468e-05,1793239054259608320
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636.934627862,879,787.934627862,803.934627862,652,631,653,0.40264107185,-0.0155146921735,0.0599803974509,0.99999998874,-0.000138263291004,-3.10093981289e-05,-4.94075180421e-05,1793239054276275456
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715.509075375,679,661,636.490924625,879,788,803.490924625,652,631.509075375,653,0.402889716794,-0.0155249015859,0.0599823787325,0.999999986784,-0.000153078076475,-2.30407867751e-05,-4.96880465681e-05,1793239054292941824
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715.914888127,679,661,636,879,788,803.085111873,652,631.914888127,653,0.403147052702,-0.0155350901706,0.0599841055757,0.999999984608,-0.000167502916094,-1.55867226725e-05,-4.98384279737e-05,1793239054309608448
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715.325669102,679,661,636,879,788,803.674330898,652,631.325669102,653,0.403432035104,-0.015544737267,0.0599830740799,0.999999983425,-0.000174706767141,-1.20900797697e-05,-4.98069280123e-05,1793239054326275072
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.741014494,745,715,679,661,636,879.258985506,788,804,652,631,653,0.403725823127,-0.015549883234,0.0599760348319,0.999999983011,-0.000176104735404,-2.02523494307e-05,-5.05432008621e-05,1793239054342941440
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.162000176,745,715,679,661,636,879.837999824,788,804,652,631,653,0.40403049225,-0.0155494671476,0.0599615717949,0.999999983213,-0.00017032836438,-4.28215565045e-05,-5.22282118079e-05,1793239054359608064
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636.414763238,879.585236762,788,803.585236762,652,631.414763238,653,0.404360056323,-0.0155447929039,0.0599496327019,0.999999983459,-0.000162238858469,-6.22861348668e-05,-5.36784534249e-05,1793239054376274944
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636.990652216,879.009347784,788,803.009347784,652,631.990652216,653,0.404699291491,-0.0155384644665,0.059938674102,0.999999983499,-0.000153250754289,-8.05446376302e-05,-5.50374926415e-05,1793239054392941824
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.577350435,745,715,679,661,636.422649565,879.577350435,788,803.577350435,652,632,652.422649565,0.405107257731,-0.0155366970148,0.0599405964351,0.999999983727,-0.000152958579404,-7.78657292005e-05,-5.55491436791e-05,1793239054409608448
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715.162053606,678.837946394,661,636,880,788,803.837946394,652,631.837946394,652,0.405534517703,-0.0155381539708,0.0599482617247,0.999999984262,-0.000155326541872,-6.54263943177e-05,-5.5398438897e-05,1793239054426275072
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715.741163302,678.258836698,661,636,880,788,803.258836698,652,631.258836698,652,0.406008512814,-0.0155477154873,0.0599701599408,0.999999984675,-0.000164171293295,-2.87570017147e-05,-5.35790986103e-05,1793239054442941952
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715.681676841,678.318323159,661.318323159,636.318323159,880,788,803.318323159,652,631,652,0.406506395091,-0.015553435694,0.059993405193,0.999999984966,-0.000165096378296,1.09024421074e-05,-5.1896801879e-05,1793239054459608320
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715.106092732,678.893907268,661.893907268,636.893907268,880,788,803.893907268,652,631,652,0.407023582438,-0.0155560514496,0.060017739089,0.999999984591,-0.000159620984489,5.29783757632e-05,-5.03252601532e-05,1793239054476274944
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.470925341,679,662,637,880,788,803.529074659,652.470925341,631.470925341,652.470925341,0.407534925021,-0.0155563015703,0.0600226950377,0.999999983128,-0.000167552391018,5.6164812041e-05,-5.01540435432e-05,1793239054492941568
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.049318378,745,715.950681622,679,662,637,879.950681622,788,803.049318378,652.950681622,632,653,0.408047983205,-0.0155559261512,0.0600220021305,0.99999998203,-0.00017625939844,4.83218513436e-05,-5.03760776098e-05,1793239054509608192
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.639231383,745,715.360768617,679,662,637,879.360768617,788,803.639231383,652.360768617,632,653,0.408594324328,-0.0155545535982,0.0600073889119,0.999999985709,-0.000160259766849,1.59102770259e-05,-5.14400940929e-05,1793239054526275328
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.774796905,745,715.225203095,679,662,637,879.225203095,788,804,652,632,653,0.409162914574,-0.0155536697046,0.0599982282193,0.999999987479,-0.000149316745978,-4.30548830799e-06,-5.22324996005e-05,1793239054542942464
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.19503046,745,715.80496954,679,662,637,879.80496954,788,804,652,632,653,0.409766534161,-0.0155535551644,0.0599976520716,0.999999987896,-0.000146334934992,-5.31997526853e-06,-5.25972764724e-05,1793239054559609600
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715.619094106,679,661.619094106,637,880,788,804,652,631.619094106,653,0.410403316629,-0.0155545276732,0.0600018699094,0.999999987495,-0.000148687942771,5.29122964371e-06,-5.36026318266e-05,1793239054576276224
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715.04509932,679,661.04509932,637,880,788,804,652,631.04509932,653,0.411056910012,-0.0155560512292,0.0600085179152,0.999999986435,-0.000153745277997,2.17957326276e-05,-5.49327093284e-05,1793239054592942336
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.469497125,745.530502875,715.530502875,679,661.530502875,636.469497125,880,788,804,652,631.530502875,653,0.411718953568,-0.015557144163,0.0600037105404,0.999999987202,-0.000149225784793,1.8028802812e-05,-5.48046068617e-05,1793239054609608704
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.108759662,746,716,679,662,636.108759662,880,788,804,652,632,653,0.412379128167,-0.0155574137418,0.0599921695762,0.999999988134,-0.000143890257568,-6.48693259956e-07,-5.5014129185e-05,1793239054626275072
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.698141545,746,716,679,662,636.698141545,880,788,804,652,632,653,0.413027859216,-0.0155542070818,0.0599551886994,0.999999985752,-0.000138557336264,-7.75790798215e-05,-5.72651307175e-05,1793239054642941696
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.717917631,745.717917631,715.717917631,679,662,636.717917631,879.717917631,788,804,652,632,653,0.413725320419,-0.015552143713,0.0599372606427,0.999999982858,-0.00013473503953,-0.000112487172553,-5.89749524886e-05,1793239054659608576
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.139689067,745.139689067,715.139689067,679,662,636.139689067,879.139689067,788,804,652,632,653,0.414473941402,-0.0155512806361,0.059939335321,0.999999984082,-0.000132498682799,-0.000103277869212,-6.01166133587e-05,1793239054676275200
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.436417464,745,715,679,662,636,879,788,804,652,631.563582536,653,0.415286497054,-0.0155564369086,0.059981767072,0.999999988768,-0.000135871571843,-2.79011985743e-05,-5.67863162934e-05,1793239054692941824
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.012122702,715.012122702,679,662.012122702,636.012122702,879.012122702,788,804,652,631,653,0.416117992408,-0.0155634254949,0.0600359724725,0.999999986514,-0.000140844592441,6.64784954202e-05,-5.2109536906e-05,1793239054709608448
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.600893769,715.600893769,679,662.600893769,636.600893769,879.600893769,788,804,652,631,653,0.416881679306,-0.0155663687425,0.0600387389433,0.999999987379,-0.000136941780499,6.22302236254e-05,-5.11421597675e-05,1793239054726275328
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.823256512,715.823256512,678.823256512,662.823256512,636.823256512,880,788,804.176743488,652,631.176743488,652.823256512,0.417651548419,-0.0155679118327,0.0600339513686,0.999999988262,-0.000134907458016,5.12992701364e-05,-5.14143402045e-05,1793239054742941696
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.274596845,715.274596845,678.274596845,662.274596845,636.274596845,880,788,804.725403155,652,631.725403155,652.274596845,0.418434426541,-0.0155665086124,0.0600132680354,0.999999988822,-0.000136804943736,2.6306144176e-05,-5.42948856314e-05,1793239054759608064
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,678.305358892,662,636,879.694641108,787.694641108,804.694641108,652,632,652.305358892,0.419244138479,-0.0155663816345,0.0599913397004,0.999999988529,-0.000140096908154,-5.17532336884e-06,-5.73428584189e-05,1793239054776274432
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,678.916671643,662,636,879.083328357,787.083328357,804.083328357,652,632,652.916671643,0.420080736467,-0.0155675333859,0.0599681639393,0.999999986754,-0.000144786068091,-4.31577729772e-05,-6.05585845756e-05,1793239054792941056
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,678.504795288,662,636,879.495204712,787.495204712,804,652,632,653,0.420866441502,-0.0155659774343,0.0599388649485,0.999999982866,-0.00014388691048,-9.79522503357e-05,-6.30032124998e-05,1793239054809607936
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,678.070711656,662,636,880.070711656,788,804.070711656,652,632,653,0.421651942279,-0.015564711925,0.059912551339,0.999999976966,-0.000141819076129,-0.000147404369896,-6.5010063965e-05,1793239054826274816
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,678.662027334,662,636,880.662027334,788,804.662027334,652,632,653,0.422495074016,-0.0155687309769,0.0599153320699,0.999999978915,-0.000137640395007,-0.000137989377729,-6.46898308782e-05,1793239054842941696
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.248380571,745,715,679,662,636,880.751619429,788.248380571,805,651.751619429,632,653,0.423373423863,-0.0155734922988,0.0599448358774,0.999999984741,-0.000137949875467,-8.73077661618e-05,-6.21697177482e-05,1793239054859608576
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.828113735,745,715,679,662,636,880.171886265,788.828113735,805,651.171886265,632,653,0.424298756617,-0.0155792438479,0.0600099896589,0.999999987818,-0.000144246795148,1.84256633093e-05,-5.67148497235e-05,1793239054876275200
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.596521188,745.403478812,715,679,662,636,880,788.596521188,804.596521188,651.403478812,632,653,0.425202729114,-0.0155833445023,0.0600388858206,0.999999985563,-0.000147012467214,6.58755796952e-05,-5.40573110446e-05,1793239054892941824
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.022997068,745.977002932,715,679,662,636,880,788.022997068,804.022997068,651.977002932,632,653,0.42609769932,-0.0155867493902,0.0600525012798,0.999999983683,-0.000148289902301,8.87620241188e-05,-5.25787014906e-05,1793239054909608192
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,679,662.55291483,636.55291483,880,788,804.55291483,651.44708517,632,653,0.426948209476,-0.0155836598562,0.0600313107569,0.999999984745,-0.000150883798862,6.74660027156e-05,-5.64968256339e-05,1793239054926274816
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.872152241,715,679,663,636.872152241,880,788,804.872152241,651.127847759,632,653,0.427787456233,-0.0155812847165,0.0600090169015,0.999999985611,-0.000152905623148,4.24689427928e-05,-5.9947107385e-05,1793239054942941440
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.300960055,715,679,663,636.300960055,880,788,804.300960055,651.699039945,632,653,0.428594084652,-0.0155823276878,0.0599879388818,0.999999986412,-0.000152752942468,1.10377728888e-05,-6.09932681369e-05,1793239054959608064
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636.282518455,880,788,804.282518455,652,632,653.282518455,0.42939940158,-0.0155813565202,0.0599619481406,0.999999986128,-0.00015057418986,-3.35367367631e-05,-6.28222059386e-05,1793239054976274944
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636.879680319,880,788,804.879680319,652,632,653.879680319,0.430203257836,-0.0155781421877,0.0599304860573,0.999999982874,-0.000146138981998,-9.27491029938e-05,-6.55229295818e-05,1793239054992942080
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+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.081429133,715,680,661,634.081429133,880.081429133,786,805,651,631,653,0.449428126497,-0.0156716981253,0.0596727622154,0.999999823306,-0.000275919476684,-0.000521081082357,-7.57055585517e-05,1793239056142941952
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634,880,786,805,651,631,653,0.449429093305,-0.0156702768393,0.0596724999042,0.999999823146,-0.000276008090829,-0.000521280733614,-7.6113541327e-05,1793239056159608832
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745.066914571,715,680,661.066914571,634,880,786.066914571,805,651,631,653,0.449429688237,-0.0156687616816,0.059671940742,0.999999822705,-0.00027597672019,-0.000522079720336,-7.65541711295e-05,1793239056176275968
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745.639293066,715,680,661.639293066,634,880,786.639293066,805,651,631,653,0.449429183526,-0.0156685464058,0.059672004658,0.999999822784,-0.000274584727993,-0.00052268598426,-7.6388897871e-05,1793239056192942080
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746,715.221189051,680.221189051,662,634.221189051,880.221189051,786.778810949,805,651,631,653,0.449428440425,-0.0156685458518,0.0596717781226,0.999999822582,-0.000273997930864,-0.000523415394042,-7.61426046033e-05,1793239056209608448
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,715.819303769,680.819303769,662,634.819303769,880.819303769,786.180696231,805,651,631,653,0.449427291085,-0.0156689112024,0.0596710566323,0.999999821904,-0.000274783256982,-0.000524354655333,-7.57582460614e-05,1793239056226275328
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745.599193349,716,680.599193349,661.599193349,634.599193349,880.599193349,786,805,651.400806651,631,653,0.449426400679,-0.0156694241041,0.0596699603447,0.999999820954,-0.000275917064264,-0.000525568190466,-7.57627877724e-05,1793239056242941952
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745.024881598,716,680.024881598,661.024881598,634.024881598,880.024881598,786,805,651.975118402,631,653,0.449425622361,-0.0156700008793,0.0596687018112,0.999999819884,-0.000277201725431,-0.000526900455881,-7.59356804486e-05,1793239056259608320
+251,4.183333333,HOLD_POSE2,766,746,715,681,662,635,880,786,805,652,631,653,0.449431044843,-0.0156718603048,0.0596733002552,0.999999824819,-0.000272859219108,-0.000519993755661,-7.42748443614e-05,1793239056288657664
+252,4.200000000,HOLD_POSE2,766,745.421176319,715,680.421176319,661.421176319,635,880,786,805,651.421176319,631,653,0.449429687886,-0.015669379781,0.0596724464868,0.99999982401,-0.000272672209205,-0.000521520041257,-7.51416435888e-05,1793239056305325056
+253,4.216666667,HOLD_POSE2,766,745,715,680,661,634.843059119,880.156940881,786,805,651.156940881,631,653,0.449428798434,-0.0156682140416,0.0596717970174,0.999999823199,-0.000273488041068,-0.000522559658602,-7.5744359355e-05,1793239056321992192
+254,4.233333333,HOLD_POSE2,766,745,715,680,661,634.266829251,880.733170749,786,805,651.733170749,631,653,0.449429157989,-0.0156705609278,0.059671693361,0.999999822381,-0.000276983101576,-0.000522299075615,-7.56415402924e-05,1793239056338658560
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+256,4.266666667,HOLD_POSE2,766,745.884599588,715,680,661.884599588,634,881,786,805,652,631.884599588,653,0.449427422104,-0.0156712059046,0.0596699936807,0.999999820796,-0.000277541250601,-0.000525120164648,-7.50164397522e-05,1793239056371991552
+257,4.283333333,HOLD_POSE2,766,746,715.472235767,680,661.527764233,634.472235767,880.527764233,786,805,652,632,653,0.449428151849,-0.0156698224387,0.0596704424221,0.999999821559,-0.000276335641938,-0.000524265276965,-7.52725692263e-05,1793239056388657920
+258,4.300000000,HOLD_POSE2,766,745.938284617,715.938284617,680,661,634.938284617,880,786,805.061715383,651.938284617,631.938284617,653,0.449429220384,-0.0156683545879,0.0596711502256,0.99999982257,-0.000274966422368,-0.000523002727352,-7.56363387412e-05,1793239056405324288
+259,4.316666667,HOLD_POSE2,766,745.358750129,715.358750129,680,661,634.358750129,880,786,805.641249871,651.358750129,631.358750129,653,0.449428991476,-0.0156684849607,0.0596708261604,0.999999822431,-0.000273309664432,-0.000524146044911,-7.55736845672e-05,1793239056421990912
+260,4.333333333,HOLD_POSE2,766,745,715,680,661,634,880.219116073,786,805.780883927,651,631,653,0.449428537129,-0.0156688140552,0.0596705703185,0.999999822064,-0.000272946577429,-0.000525067378105,-7.53444120173e-05,1793239056438657536
+261,4.350000000,HOLD_POSE2,766,745,715,680,661,634,880.794271439,786,805.205728561,651,631,653,0.449427716467,-0.0156694660504,0.0596704253321,0.999999821331,-0.000274685562243,-0.000525628011237,-7.48444031093e-05,1793239056455324928
+262,4.366666667,HOLD_POSE2,766,745,715,680,661.368468688,634,881,786,805,651,631,653,0.449427477176,-0.015669999806,0.0596704312314,0.999999820912,-0.000276032972166,-0.000525721979594,-7.48191923629e-05,1793239056471991552
+263,4.383333333,HOLD_POSE2,766,745,715,680,661.942132429,634,881,786,805,651,631,653,0.449427561643,-0.0156704677158,0.0596705211569,0.999999820669,-0.00027716231968,-0.000525556068927,-7.50583900177e-05,1793239056488657664
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+265,4.416666667,HOLD_POSE2,766,745,715.123244462,680,661.123244462,634,880.876755538,786,804.123244462,651.123244462,631,652.123244462,0.449429262202,-0.0156700489069,0.0596711076796,0.999999822841,-0.00027525707918,-0.000522473376762,-7.46484046953e-05,1793239056521990912
+266,4.433333333,HOLD_POSE2,766,745,715.699430824,680,661.699430824,634,880.300569176,786,804.699430824,651.699430824,631,652.699430824,0.449429639119,-0.0156699001159,0.059671021137,0.999999822274,-0.00027701121533,-0.000522565695487,-7.51151065911e-05,1793239056538657536
+267,4.450000000,HOLD_POSE2,766,745.274369425,715.725630575,680,661.725630575,634,880.274369425,786.274369425,805.274369425,651.725630575,631.274369425,653,0.449429756847,-0.0156696312719,0.0596709467797,0.999999822216,-0.000276471015206,-0.000522969338463,-7.50641045626e-05,1793239056555324160
+268,4.466666667,HOLD_POSE2,766,745.847947271,715.152052729,680,661.152052729,634,880.847947271,786.847947271,805.847947271,651.152052729,631.847947271,653,0.449429591921,-0.0156692315064,0.059670885711,0.99999982271,-0.000273428769661,-0.000523712490246,-7.44485302188e-05,1793239056571990784
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,880,787,805,651,631,653,0.449429266231,-0.015667556293,0.0596706259561,0.999999822341,-0.0002724394406,-0.000524866777992,-7.48932179516e-05,1793239056604716288
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.416888305,661.583111695,635,880.583111695,787,805,651,631,653,0.449429337461,-0.0156692171187,0.0596707475333,0.999999821869,-0.000274762628577,-0.000524594227848,-7.46250519955e-05,1793239056621382656
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.163528853,679.327057706,662,634.836471147,881,786.836471147,805,651,631,653,0.449429726325,-0.0156694963933,0.0596709828917,0.999999822116,-0.000275181083296,-0.000523916035451,-7.45352395188e-05,1793239056638049024
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715.73718823,680.47437646,662,634.26281177,881,786.26281177,805,651,631,653,0.449430911812,-0.0156663107366,0.0596715036134,0.999999824166,-0.000270822465626,-0.000522220491829,-7.48927376863e-05,1793239056654715392
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.687761696,680.687761696,662,634,880.687761696,786,805,651,631,653,0.449431575152,-0.0156653384234,0.0596719906081,0.999999824981,-0.000269546099316,-0.000521313803146,-7.49298076567e-05,1793239056671381504
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.111535866,680.111535866,662,634,880.111535866,786,805,651,631,653,0.449431797031,-0.0156662374215,0.0596724490877,0.999999824764,-0.000270875678469,-0.000521074066259,-7.46959657881e-05,1793239056688047872
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.475014827,715,680,662,634,880,786,804.524985173,651,631,653,0.449431136571,-0.0156674216148,0.0596714119107,0.999999823444,-0.000273440368642,-0.000522267104635,-7.46952596278e-05,1793239056704714752
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,661.937071508,634,880,786,804.062928492,651,631,653,0.449430078279,-0.0156684340044,0.0596701863144,0.999999822159,-0.000275598834004,-0.000523582474906,-7.47624604909e-05,1793239056721381632
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,661.35829962,634,880,786,804.64170038,651,631,653,0.44942749488,-0.0156674769381,0.0596703589407,0.999999823394,-0.000271997234642,-0.000523081604718,-7.49276132796e-05,1793239056738048768
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,634,880,786,804.780900209,651,631,653,0.449415944148,-0.0156663960544,0.0596654357196,0.999999820432,-0.000269746538305,-0.0005297962728,-7.5420938394e-05,1793239056754715648
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,634,880,786,804.205731325,651,631,653,0.44938982019,-0.0156651139496,0.0596522310037,0.999999810429,-0.000269691256552,-0.000548237242063,-7.64475913313e-05,1793239056771382016
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,634,880.966473552,786.966473552,804.966473552,651.966473552,631.966473552,653,0.449295236084,-0.0156611282056,0.0596134858288,0.999999779207,-0.000274054385665,-0.000600068563236,-7.99809638112e-05,1793239056804714240
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.545864277,745.454135723,715,680,661.545864277,634,881,786.454135723,805,652,631.454135723,653,0.449226752571,-0.0156556121968,0.059596532356,0.999999768046,-0.000269880726556,-0.000620056150537,-8.12616797456e-05,1793239056821381120
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,880.427391694,786,805,651.427391694,631,653,0.44876656982,-0.0156289146309,0.0595815336688,0.999999760271,-0.000254511835109,-0.000638994408198,-7.97949650396e-05,1793239056904713984
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745.003568771,715,679.996431229,661,635,880.996431229,786,805,651.996431229,631,653,0.448639675806,-0.0156227109055,0.0595842105898,0.999999764116,-0.000251118703907,-0.000634442040169,-7.86854456034e-05,1793239056921380864
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.241308999,715,679.758691001,661.758691001,635,880.758691001,786,805,651,631,653,0.448143826074,-0.0155944766126,0.0595940277113,0.999999774555,-0.000236380266681,-0.00062403210319,-7.48183909823e-05,1793239056971380736
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766.305694806,745,715,680,662,635.305694806,880.694305194,787,804.694305194,652,631.305694806,653,0.443731925216,-0.0154863809993,0.0596960143699,0.999999885266,-0.000112886274739,-0.000463896381708,-3.90482195948e-05,1793239057188048384
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.949578968,662,635.050421032,880.949578968,788,804.949578968,651,632,652.949578968,0.442159077558,-0.0154620073238,0.059758448611,0.999999928076,-4.77576473131e-05,-0.000375522463614,-2.34560018417e-05,1793239057238048000
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.406788174,636,880,787.406788174,804.593211826,651,632,653,0.432840611366,-0.0154112498476,0.0597882757082,0.999999944954,9.99665794034e-05,-0.000316222733634,1.00588217921e-05,1793239057454713600
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.374117869,745,715,679,662,636,879,788.374117869,804,652,632,653,0.403651499935,-0.0153778936261,0.0597787012898,0.999999915081,0.00019375497875,-0.00036318141725,1.99017657909e-05,1793239058138047232
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.962855452,745,715,679,662,636,879,788.962855452,804,652,632,653,0.403343858318,-0.0153782676319,0.0597791335837,0.999999918097,0.000188706767292,-0.000357520869553,1.93598827888e-05,1793239058154713600
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.457565415,745,715,679,662,636,879.542434585,788.457565415,804,652,632,653,0.40309322194,-0.0153785906862,0.0597990289159,0.999999928707,0.000192078545833,-0.000324416016301,2.11302437097e-05,1793239058171380480
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,879.879094018,788,804,652,632,653,0.402853206225,-0.0153794229272,0.0598194721205,0.999999938296,0.000195819955219,-0.000290739736512,2.30855994669e-05,1793239058188047360
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,879.302473126,788,804,652,632,653,0.402638752566,-0.0153821873108,0.0598370402921,0.99999994563,0.000198817425228,-0.000261875493687,2.51513441556e-05,1793239058204715008
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.278878233,745,715,679,662,636,879.278878233,788,804,652,632,653,0.402428688551,-0.015382404482,0.0598474551796,0.999999948969,0.000202376355229,-0.000245806882601,2.61871241335e-05,1793239058221381632
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.865448782,745,715,679,662,636,879.865448782,788,804,652,632,653,0.402223467738,-0.0153798112593,0.0598499776948,0.999999948594,0.000206554755999,-0.000243855967442,2.60865219236e-05,1793239058238047488
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.553778519,745,715,679,661.553778519,636,880,788,804,652,632,653,0.402035169996,-0.0153784218614,0.0598435047936,0.999999945588,0.000205687100659,-0.000256691345471,2.50250073882e-05,1793239058254713856
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715.17955125,678.82044875,661.17955125,636,879,788,804,652,631.82044875,653,0.401578440355,-0.0153835786134,0.0598297970735,0.999999939803,0.00019780715624,-0.000284159585247,2.27964712678e-05,1793239058304713984
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715.756550774,678.243449226,661.756550774,636,879,788,804,652,631.243449226,653,0.401474851298,-0.0153857916962,0.0598352712181,0.99999994254,0.000193719871839,-0.000277207767004,2.3438592806e-05,1793239058321380608
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.913617058,745,715,679,662,636.086382942,879,788,804.913617058,652,631.086382942,652.913617058,0.401178158165,-0.015382763239,0.0598398443369,0.999999945049,0.000196743186124,-0.000265832233411,2.29444641884e-05,1793239058388047104
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.337581229,745,715,679,662,636.662418771,879,788,804.337581229,652,631.662418771,652.337581229,0.401131541355,-0.0153849138198,0.0598403612752,0.999999945369,0.000194333232022,-0.000266367324827,2.33669226191e-05,1793239058404714496
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.81438718,745,715,679,661.18561282,636.18561282,879.81438718,788.81438718,804.81438718,652,632,652.81438718,0.401058326775,-0.0153855129955,0.0598405259507,0.999999944985,0.00019595551295,-0.000266641914094,2.31116439322e-05,1793239058438047488
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,662,636,879.287758228,787.143879114,804,652,632,653,0.400992073617,-0.0153844306475,0.0598381133044,0.999999943317,0.000200056068578,-0.000269942270323,2.1789662436e-05,1793239058504713728
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,662,636,880.440083703,787.720041852,804,652,632,653,0.400986994713,-0.0153857545808,0.0598393655441,0.999999944094,0.000198986514373,-0.000267799992598,2.23572647685e-05,1793239058521380864
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,744.13106893,715,678.13106893,661.13106893,636,879.262137859,788,804,652,632,653,0.400980897471,-0.0153849710426,0.0598399998795,0.9999999443,0.000199209315135,-0.000266873753035,2.22164472454e-05,1793239058554714624
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.053657831,745,715,678.053657831,662,636,879,788.053657831,804,652,632,653,0.400980884121,-0.0153865938393,0.0598417350804,0.999999945407,0.000198393166565,-0.000263329622537,2.19863157475e-05,1793239058588047616
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,715,678.795344218,661.795344218,636,879,788.795344218,804,652,632,653,0.400981374179,-0.0153860498314,0.0598430190016,0.999999945917,0.000198304712605,-0.000261479423544,2.1690845121e-05,1793239058621380864
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745,715,678.221542458,661.221542458,636,879,788.221542458,804,652,632,653,0.400981265425,-0.0153861708285,0.0598440174668,0.999999945805,0.000199893375756,-0.00026066548829,2.20685247444e-05,1793239058638047488
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.638406315,745,715.361593685,678.361593685,661,636,879.361593685,787.638406315,804,652,631.638406315,653,0.400979876171,-0.0153867329234,0.0598437297662,0.999999945483,0.000200165720476,-0.000261685445973,2.21196067211e-05,1793239058654714368
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.049399625,745,715.950600375,678.950600375,661,636,879.950600375,787.049399625,804,652,631.049399625,653,0.400977681588,-0.0153875724329,0.059842633172,0.999999945026,0.000199610207951,-0.000263858773117,2.19652853394e-05,1793239058671381248
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.468122556,679,661.531877444,636,880,787.531877444,804.531877444,652,631,653,0.4009784934,-0.0153888055739,0.0598436935289,0.999999945954,0.000196991163404,-0.000262296671853,2.20659181228e-05,1793239058688048128
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.11174827,745,715.11174827,679,662,636,879.88825173,788,804.88825173,652,631.11174827,653,0.400979576335,-0.0153898453188,0.0598448863741,0.999999946883,0.000194638574147,-0.00026049986588,2.2138422099e-05,1793239058704714752
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.688710561,745,715.688710561,679,662,636,879.311289439,788,804.311289439,652,631.688710561,653,0.400980642176,-0.0153899299253,0.0598458087246,0.999999947326,0.000194181699849,-0.000259149606431,2.19966570172e-05,1793239058721381376
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.147011839,745,715.147011839,678.147011839,661.147011839,636,878.147011839,788,804,652,631.147011839,653,0.400978586547,-0.0153886463748,0.0598447737981,0.999999946057,0.000198263283529,-0.000260962467639,2.18444059533e-05,1793239058754716160
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.433155029,745,715,678,661.433155029,636,878.433155029,788,804,652,631,653,0.400978883714,-0.0153891184968,0.0598448499799,0.999999946259,0.000198106683636,-0.000260285720573,2.20878195116e-05,1793239058771382272
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745,715,678.012006665,662,636,879,788,804,652,631.012006665,653.012006665,0.400979883655,-0.015390031214,0.0598453036008,0.999999946864,0.000196945422784,-0.000258808002943,2.2413419996e-05,1793239058788047872
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745,715,678.59045267,662,636,879,788,804,652,631.59045267,653.59045267,0.400980737501,-0.0153897944989,0.0598457018529,0.999999946922,0.000197901398017,-0.00025789703845,2.1930255653e-05,1793239058804715264
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,662,636,879,788,804,652,631.831849785,653.831849785,0.400981315181,-0.015389306563,0.0598461389802,0.999999946901,0.00019908228929,-0.000257085819347,2.17041609679e-05,1793239058821382144
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,662,636,879,788,804,652,631.255967149,653.255967149,0.400981223215,-0.0153882094643,0.0598466703725,0.999999946693,0.000200808559299,-0.000256516463978,2.21014115371e-05,1793239058838048512
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,661.673190721,636,879,788,803.673190721,652,631.326809279,653,0.400980869178,-0.0153881165545,0.0598468120416,0.999999946773,0.000200449333626,-0.000256489069418,2.20774468951e-05,1793239058854714624
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,661.084898538,636,879,788,803.084898538,652,631.915101462,653,0.400980305455,-0.015388827105,0.05984664189,0.999999947081,0.000198421484906,-0.000256895302373,2.17164643344e-05,1793239058871380992
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.505013729,745,715,678.505013729,661.494986271,636.494986271,879,788,803.494986271,652,632,653,0.400980263038,-0.0153887430549,0.0598467308969,0.999999947008,0.000198792013226,-0.000256895446778,2.16917576839e-05,1793239058888047616
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,662,636.9265384,879,788,804,652,632,653,0.40098026886,-0.0153885797157,0.0598468721115,0.999999946882,0.000199447938303,-0.000256872520436,2.17381522077e-05,1793239058904714240
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,678,662,636.348005291,879,788,804,652,632,653,0.400980001869,-0.015388792609,0.0598470717661,0.999999946837,0.00019928504591,-0.000257161850596,2.18834648781e-05,1793239058921380864
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.228603146,662,636,879,787.771396854,804,652,632,653,0.400980078876,-0.0153891715247,0.059847412282,0.999999947111,0.000198385534156,-0.00025678283858,2.19850007271e-05,1793239058938047232
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.802306183,662,636,879,787.197693817,804,652,632,653,0.400980675185,-0.0153898010683,0.0598479654424,0.999999947863,0.000196374019915,-0.00025539489556,2.2020450997e-05,1793239058954713856
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.613281591,661.613281591,636.386718409,879,787.386718409,804,652.386718409,632,653,0.40097995586,-0.0153904718449,0.0598471596054,0.999999947587,0.000196904481495,-0.000256078637985,2.18810785314e-05,1793239058971380480
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.023238846,661.023238846,636.976761154,879,787.976761154,804,652.976761154,632,653,0.400978544817,-0.0153911643005,0.0598456392503,0.999999946767,0.000198771433868,-0.000257851607329,2.16497897858e-05,1793239058988047104
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61e09a04ea35ffba0a829d23020440d096f19fdb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_01/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
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+1,0.016666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+2,0.033333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+3,0.050000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+4,0.066666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
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+6,0.100000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+7,0.116666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
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+376,6.266666667,pose2_to_pose3_retreat,0.575835770279,-0.00990914007589,1.05003219937,0.546406221193,-0.00123740242753,1.04970034016
+377,6.283333333,pose2_to_pose3_retreat,0.5757952027,-0.00990919548235,1.05003222952,0.546365654986,-0.00123745345903,1.04970036292
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+382,6.366666667,pose2_to_pose3_retreat,0.575685792833,-0.00990913656332,1.05003228729,0.546256243943,-0.00123739816705,1.04970043058
+383,6.383333333,pose2_to_pose3_retreat,0.575677851706,-0.00990920621994,1.05003222913,0.546248303796,-0.00123746471576,1.0497003665
+384,6.400000000,pose2_to_pose3_retreat,0.575672834055,-0.0099091831395,1.05003213857,0.54624328436,-0.00123744771207,1.04970027535
+385,6.416666667,pose2_to_pose3_retreat,0.575669705282,-0.00990916674015,1.05003218649,0.546240155262,-0.00123743237137,1.04970032443
+386,6.433333333,pose2_to_pose3_retreat,0.575668206723,-0.0099091641503,1.05003232994,0.546238657678,-0.00123742639849,1.04970046976
+387,6.450000000,pose2_to_pose3_retreat,0.575667431458,-0.00990916281047,1.05003240416,0.546237882918,-0.00123742330848,1.04970054494
+388,6.466666667,pose2_to_pose3_retreat,0.575667174273,-0.00990916236599,1.05003242878,0.5462376259,-0.0012374222834,1.04970056988
+389,6.483333333,pose2_to_pose3_retreat,0.575667124994,-0.00990916228083,1.05003243349,0.546237576654,-0.00123742208699,1.04970057466
+390,6.500000000,pose2_to_pose3_retreat,0.575667030628,-0.00990916690138,1.05003242668,0.546237482363,-0.00123742645099,1.04970056778
+391,6.516666667,pose2_to_pose3_retreat,0.575666602469,-0.00990919328029,1.05003237784,0.546237054568,-0.00123745161657,1.04970051838
+392,6.533333333,pose2_to_pose3_retreat,0.57566623982,-0.00990921562314,1.05003233648,0.546236692227,-0.00123747293174,1.04970047654
+393,6.550000000,pose2_to_pose3_retreat,0.575665999459,-0.00990923043177,1.05003230906,0.546236452071,-0.00123748705924,1.04970044881
+394,6.566666667,pose2_to_pose3_retreat,0.575665916135,-0.00990923556541,1.05003229956,0.546236368817,-0.00123749195674,1.0497004392
+395,6.583333333,pose2_to_pose3_retreat,0.575665847732,-0.0099092397797,1.05003229176,0.546236300473,-0.0012374959772,1.04970043131
+396,6.600000000,pose2_to_pose3_retreat,0.575665726745,-0.00990924723375,1.05003227796,0.546236179588,-0.00123750308839,1.04970041735
+397,6.616666667,pose2_to_pose3_retreat,0.575665674562,-0.00990925044872,1.05003227201,0.54623612745,-0.00123750615549,1.04970041133
+398,6.633333333,pose2_to_pose3_retreat,0.575665633476,-0.00990925298008,1.05003226732,0.546236086398,-0.00123750857041,1.04970040659
+399,6.650000000,pose2_to_pose3_retreat,0.575665620731,-0.00990925376526,1.05003226587,0.546236073665,-0.00123750931948,1.04970040512
+400,6.666666667,pose2_to_pose3_retreat,0.575665496747,-0.00990926140393,1.05003225172,0.546235949786,-0.0012375166068,1.04970039082
+401,6.683333333,pose2_to_pose3_retreat,0.575665144241,-0.00990928312187,1.05003221152,0.546235597579,-0.0012375373258,1.04970035015
+402,6.700000000,pose2_to_pose3_retreat,0.575664971147,-0.00990927086864,1.05003217082,0.546235423995,-0.00123752668859,1.04970031074
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+404,6.733333333,pose2_to_pose3_retreat,0.575664894138,-0.00990926498803,1.05003215233,0.546235346755,-0.00123752156638,1.04970029284
+405,6.750000000,pose2_to_pose3_retreat,0.575664804236,-0.00990925812284,1.05003213074,0.546235256584,-0.00123751558658,1.04970027195
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+407,6.783333333,pose2_to_pose3_retreat,0.57566463139,-0.00990924492389,1.05003208922,0.546235083222,-0.00123750408987,1.04970023178
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+411,6.850000000,pose2_to_pose3_retreat,0.575664440002,-0.00990928825958,1.05003216907,0.546234891781,-0.00123754759945,1.04970031174
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e8277902e26d9efaf0ec99daff2e4ff94007337e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f87ad8ce99ff9d60f85c411e9e0ac790d99a2170e5304435db93710e2dd280ef
+size 26187220
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f98fe8fdf3ed2176e769cd5976a76de6e8d2f760
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_02/franka_data.csv
@@ -0,0 +1,414 @@
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+34,0.566666667,BASELINE,767,745.728639283,716,679,662,636.728639283,879,788,804,652,632,653,0.400980171054,-0.0153924470526,0.0598492047368,0.999999948612,0.000196315911779,-0.000252532994973,2.15225921817e-05,1793239059699162112
+35,0.583333333,BASELINE,766.688094666,745.688094666,715.688094666,679,662,636.688094666,879,788,804,652,632,653,0.400980849761,-0.0153926732845,0.0598492962543,0.999999948666,0.000196328642264,-0.000252312626811,2.15012133858e-05,1793239059715828736
+36,0.600000000,BASELINE,766.10935496,745.10935496,715.10935496,679,662,636.10935496,879,788,804,652,632,653,0.400981877828,-0.0153928189872,0.0598494962956,0.999999949015,0.000195307270203,-0.000251717478523,2.15417804257e-05,1793239059732495616
+37,0.616666667,BASELINE,766.46667791,745,715,679,662,636,879.46667791,788,804,652,632,653,0.400981297781,-0.01539288971,0.0598498131305,0.999999949187,0.000194368054095,-0.000251760954783,2.15197451985e-05,1793239059749162496
+38,0.633333333,BASELINE,766.957004293,745,715,679,662,636,879.957004293,788,804,652,632,652.957004293,0.400980521796,-0.0153927867077,0.059850145249,0.99999994926,0.000193845217072,-0.000251878460334,2.14805216275e-05,1793239059765829120
+39,0.650000000,BASELINE,766.36908235,745,715,679,662,636,879.36908235,788,804,652,632,652.36908235,0.400982010807,-0.0153907033133,0.0598503262134,0.999999948585,0.00019835697126,-0.000251048532002,2.1408300412e-05,1793239059782495744
+40,0.666666667,BASELINE,766,745,715,679,662,636,879.2153928,788,804,652,632,652.2153928,0.40098263453,-0.0153897994594,0.0598503124596,0.999999948101,0.000201173956144,-0.000250731976851,2.14650780022e-05,1793239059799162112
+41,0.683333333,BASELINE,766,745,715,679,662,636,879.794054748,788,804,652,632,652.794054748,0.400981798909,-0.0153908849508,0.0598499703053,0.999999947965,0.000201132639999,-0.000251281247536,2.17394175884e-05,1793239059815828736
+42,0.700000000,BASELINE,766,745,715,679,662,636,879.627300129,788,804,652,632,653,0.400981305797,-0.0153910761294,0.0598498579182,0.999999948162,0.00020006023854,-0.000251367407552,2.16167592013e-05,1793239059832495616
+43,0.716666667,BASELINE,766,745,715,679,662,636,879.048664323,788,804,652,632,653,0.40098100194,-0.0153907731539,0.0598498724894,0.999999948539,0.000198418109173,-0.000251197674974,2.12747389128e-05,1793239059849162240
+44,0.733333333,BASELINE,766,745,715.52606594,679,662,636,879,788.52606594,804,652,632,653,0.400981255876,-0.0153922813929,0.0598505191611,0.999999948931,0.000197063571499,-0.000250662906246,2.17405027167e-05,1793239059865828864
+45,0.750000000,BASELINE,766,745,715.896785209,679,661.896785209,636,879,788.896785209,804,652,632,653,0.400981615732,-0.0153937036428,0.0598511028441,0.999999949282,0.000195893623882,-0.000250145912591,2.20890998984e-05,1793239059882495488
+46,0.766666667,BASELINE,766,745,715.30653173,679,661.30653173,636,879,788.30653173,804,652,632,653,0.400982233704,-0.0153939353539,0.0598511154196,0.999999949446,0.000195470089181,-0.000249870961087,2.153481823e-05,1793239059899162368
+47,0.783333333,BASELINE,766,745,715,679,661.278628082,636,879,788,804,652,632,653,0.4009826159,-0.0153932753854,0.059851135877,0.999999949462,0.000195905524506,-0.00024949050084,2.12643933362e-05,1793239059915828992
+48,0.800000000,BASELINE,766,745,715,679,661.858284789,636,879,788,804,652,632,653,0.400982743367,-0.01539165205,0.05985116485,0.999999949316,0.000197268987434,-0.000248996049347,2.13006460559e-05,1793239059932495616
+49,0.816666667,BASELINE,766,745,715,679,662,636,879,788,804,652.434414017,632,653,0.400981641308,-0.0153926090027,0.0598504825632,0.99999994907,0.000196572881224,-0.000250521435119,2.13939193947e-05,1793239059949162240
+50,0.833333333,BASELINE,766.009603416,745,715,679,662,636,879,788,804,652.990396584,632,653,0.40098021635,-0.0153943595201,0.0598496120789,0.999999948808,0.00019521229349,-0.000252615001069,2.15033969805e-05,1793239059965828864
+51,0.850000000,BASELINE,766.596925222,745,715,679,662,636,879,788,804,652.403074778,632,653,0.400983301394,-0.0153936194688,0.0598512659136,0.999999949815,0.00019397096649,-0.000249569498335,2.1477684073e-05,1793239059982495488
+52,0.866666667,BASELINE,766.818176494,745,715,679,662,636.181823506,879,788,804,652,632,653,0.400984586335,-0.0153929437803,0.0598517942193,0.999999950154,0.000193690796811,-0.000248435185016,2.13651915025e-05,1793239059999162112
+53,0.883333333,BASELINE,766.238580155,745,715,679,662,636.761419845,879,788,804,652,632,653,0.400981933214,-0.0153924088971,0.0598498602202,0.999999949044,0.000195513338132,-0.00025148195522,2.10628522341e-05,1793239060015828736
+54,0.900000000,BASELINE,766.33917414,745,715,679,661.66082586,636.66082586,879,788,804,652,632,653,0.400980913558,-0.0153919536895,0.0598496734883,0.999999948583,0.000197452014811,-0.000251785634478,2.12398899127e-05,1793239060032495360
+55,0.916666667,BASELINE,766.915639688,745,715,679,661.084360312,636.084360312,879,788,804,652,632,653,0.400981036699,-0.015391554224,0.0598507091712,0.999999948576,0.000199471941484,-0.000250170205291,2.17523070371e-05,1793239060049161984
+56,0.933333333,BASELINE,766.509467239,745,715,679,661,636,879,788,804,652,632,653,0.400981577202,-0.0153924796146,0.0598508909327,0.999999949058,0.000197180850125,-0.000250082770964,2.14937339976e-05,1793239060065829632
+57,0.950000000,BASELINE,766.064831234,745,715,679,661.064831234,636.064831234,879,788,804,652,632,653,0.400982199032,-0.0153934842263,0.0598509896675,0.999999949565,0.000194506403759,-0.000250180286958,2.11549247454e-05,1793239060082497024
+58,0.966666667,BASELINE,766.636587888,745,715,679,661.636587888,636.636587888,879,788,804,652,632,653,0.400982897327,-0.0153933324206,0.0598515838149,0.999999949669,0.000194613009615,-0.000249675807459,2.12221848203e-05,1793239060099163392
+59,0.983333333,BASELINE,767,745,715,679,662,636.781739588,879,788.218260412,804,652,632,653,0.40098289986,-0.0153931064082,0.059851645144,0.999999949597,0.00019527485746,-0.000249430974041,2.13953308325e-05,1793239060115830272
+60,1.000000000,BASELINE,767,745,715,679,662,636.182770869,879,788.817229131,804,652,632,653,0.400981688786,-0.0153927509583,0.0598507770866,0.999999949218,0.000196905205456,-0.00024963903724,2.17531720817e-05,1793239060132496896
+61,1.016666667,BASELINE,766.60075458,745,715,679,661.60075458,636,879,788.60075458,804,652,632,653,0.400981298627,-0.0153929302654,0.0598505425687,0.999999949228,0.000196353285879,-0.000250042407807,2.16167771845e-05,1793239060149163776
+62,1.033333333,BASELINE,766.026182888,745,715,679,661.026182888,636,879,788.026182888,804,652,632,653,0.400981268969,-0.015393344408,0.0598505862661,0.999999949409,0.000194843036264,-0.00025053154644,2.12633413756e-05,1793239060165830400
+63,1.050000000,BASELINE,766.546710603,745,715,679,661.546710603,636,879,788,804,652,632,653,0.400981073863,-0.0153923203141,0.059850455332,0.999999948885,0.000196777474385,-0.00025108757205,2.15317128715e-05,1793239060182497024
+64,1.066666667,BASELINE,766.876388405,745,715,679,662,636,879,788,804,652,632,653,0.400980994893,-0.0153914789019,0.0598503793291,0.999999948463,0.000198583860826,-0.000251333876861,2.16688473005e-05,1793239060199163392
+65,1.083333333,BASELINE,766.2839853,745,715,679,662,636,879,788,804,652,632,653,0.400981386325,-0.0153915907254,0.0598505432712,0.99999994857,0.000199280882914,-0.000250393467901,2.11956795142e-05,1793239060215829760
+66,1.100000000,BASELINE,766.301462975,745,715,679,662,636,879,788,804,652,632,653,0.400981115108,-0.0153908875661,0.0598504140819,0.999999948313,0.000200361995894,-0.000250578273319,2.09772427183e-05,1793239060232496128
+67,1.116666667,BASELINE,766.880507342,745,715,679,662,636,879,788,804,652,632,653,0.400980233737,-0.0153894339862,0.0598500149827,0.999999947717,0.000201796772445,-0.000251799154853,2.09933574139e-05,1793239060249163008
+68,1.133333333,BASELINE,766.543792175,745,715.456207825,679,662,636,879.456207825,788,804,652,632,653,0.400981197381,-0.0153911849451,0.059850686245,0.999999948675,0.000198853779098,-0.000250308250159,2.12911681958e-05,1793239060265830144
+69,1.150000000,BASELINE,766,745,715.968282833,679,662,636,880,788,803.968282833,652,632,653,0.400982496739,-0.0153935903668,0.0598515247053,0.999999949903,0.000195027339218,-0.000248375934594,2.16228753169e-05,1793239060282497024
+70,1.166666667,BASELINE,766,745,715.380890028,679,662,636,880,788,803.380890028,652,632,653,0.400981272789,-0.0153928635843,0.0598504164174,0.999999949115,0.000195666003511,-0.000251063708956,2.1265176168e-05,1793239060299163904
+71,1.183333333,BASELINE,766,745,715.203924063,678.796075937,661.796075937,636.203924063,880,788,803.203924063,652,632,653,0.400980889881,-0.0153923228294,0.0598500664273,0.999999948806,0.00019628575166,-0.000251822443405,2.1091639278e-05,1793239060315830784
+72,1.200000000,BASELINE,766,745,715.783981871,678.216018129,661.216018129,636.783981871,880,788,803.783981871,652,632,653,0.400982058258,-0.0153921251983,0.0598511151014,0.999999949389,0.000196870609481,-0.000249023103829,2.12577858297e-05,1793239060332497152
+73,1.216666667,BASELINE,766,745,715.638414774,678.361585226,661.361585226,636.638414774,879.638414774,788,804,652,632,653,0.400982544765,-0.0153924014154,0.0598515405375,0.999999949386,0.000197472826402,-0.000248532622723,2.15505527458e-05,1793239060349163520
+74,1.233333333,BASELINE,766,745,715.062267905,678.937732095,661.937732095,636.062267905,879.062267905,788,804,652,632,653,0.400982626656,-0.01539295881,0.0598515961491,0.999999949038,0.000198085344033,-0.000249412199051,2.19184551149e-05,1793239060365829632
+75,1.250000000,BASELINE,766.513492864,745.513492864,715,679,662,636,879,788.513492864,804,652,632,653,0.400982558874,-0.0153928418576,0.0598518639086,0.999999949368,0.000197113408821,-0.000248850033588,2.20079530368e-05,1793239060382496256
+76,1.266666667,BASELINE,766.911168334,745.911168334,715.088831666,678.911168334,662,636,879,788.911168334,804,652,632,653,0.400982616441,-0.0153927313594,0.0598521711839,0.999999949737,0.000196050483596,-0.000248203979091,2.20403762848e-05,1793239060399163136
+77,1.283333333,BASELINE,766.33787568,745.33787568,715.66212432,678.33787568,662,636,879,788.33787568,804,652,632,653,0.400983456524,-0.0153931016945,0.0598525537722,0.999999949876,0.000195538391659,-0.000248053175706,2.1945511543e-05,1793239060415830528
+78,1.300000000,BASELINE,766.244795058,745.244795058,715.755204942,678.244795058,662,636,879,788,804,652,632,653,0.400983789077,-0.0153932046824,0.0598524670516,0.999999949846,0.000195941287549,-0.0002478711643,2.17897389381e-05,1793239060432497408
+79,1.316666667,BASELINE,766.840925381,745.840925381,715.159074619,678.840925381,662,636,879,788,804,652,632,653,0.400983393209,-0.0153929239677,0.0598517067685,0.99999994957,0.00019765739419,-0.000247644362464,2.15465500334e-05,1793239060449164288
+80,1.333333333,BASELINE,766.578623181,745.578623181,715.421376819,679,662,636,879,788.421376819,804,652,632,653,0.400982868228,-0.0153932144298,0.0598515084698,0.999999949589,0.000197250532433,-0.000247911759346,2.13123243933e-05,1793239060465830912
+81,1.350000000,BASELINE,766.003878321,745.003878321,715.996121679,679,662,636,879,788.996121679,804,652,632,653,0.400982296255,-0.0153937127824,0.0598515147159,0.999999949715,0.000196070976421,-0.000248359029157,2.10813610826e-05,1793239060482497792
+82,1.366666667,BASELINE,766,745,715.428221146,679,661.428221146,636,879.571778854,788.428221146,804,652,632,653,0.400982816978,-0.0153934116117,0.0598514430806,0.999999949499,0.000197001789956,-0.000248473106897,2.13034117739e-05,1793239060499163392
+83,1.383333333,BASELINE,766,745,715,679,661,636,879.848294474,788,804,652,632,653,0.400983090013,-0.0153929505129,0.0598514010717,0.999999949328,0.00019781130846,-0.000248500688138,2.14900521479e-05,1793239060515829248
+84,1.400000000,BASELINE,766,745,715,679,661,636,879.25598563,788,804,652,632,653,0.400982622115,-0.0153920407052,0.0598514466442,0.999999949298,0.000198226905753,-0.000248283629103,2.1564910682e-05,1793239060532495616
+85,1.416666667,BASELINE,766.327386236,745,715,679.327386236,661.327386236,636,879,788,804,652,632,653,0.400982100547,-0.0153916582167,0.059851015482,0.999999949147,0.000198379638329,-0.000248776433935,2.1474313355e-05,1793239060549162496
+86,1.433333333,BASELINE,766.903955869,745,715,679.903955869,661.903955869,636,879,788,804,652,632,653,0.40098153813,-0.0153916770865,0.0598502214628,0.999999948904,0.000198332296731,-0.000249809537267,2.12577826496e-05,1793239060565829632
+87,1.450000000,BASELINE,767,745,715.478791117,679.521208883,662,636.478791117,879,788,804,652,632,653,0.400982031045,-0.0153912212988,0.0598508189374,0.999999949024,0.000197736186182,-0.000249807428376,2.11740164808e-05,1793239060582496768
+88,1.466666667,BASELINE,766.94552889,745,715.94552889,679,661.94552889,636.94552889,879,788,803.94552889,652,632,653,0.400982710968,-0.0153907728025,0.0598516325462,0.999999949235,0.000197056078398,-0.000249506249195,2.11309972135e-05,1793239060599163904
+89,1.483333333,BASELINE,766.358193976,745,715.358193976,679,661.358193976,636.358193976,879,788,803.358193976,652,632,653,0.400983156827,-0.0153913237119,0.0598518397582,0.999999949616,0.000196627253012,-0.000248303522413,2.12269955224e-05,1793239060615830528
+90,1.500000000,BASELINE,766,745,715,679,661.227265411,636,879,788,803.227265411,652,632,653,0.4009831237,-0.0153920547893,0.0598517361455,0.999999949826,0.000196180677795,-0.000247808582223,2.12598123826e-05,1793239060632497152
+91,1.516666667,BASELINE,766,745,715,679,661.809792914,636,879,788,803.809792914,652,632,653,0.400982341816,-0.0153930675058,0.0598511466508,0.999999949769,0.000195706356018,-0.000248420056643,2.11938637705e-05,1793239060649163008
+92,1.533333333,BASELINE,766,745,715.386017523,678.613982477,662,636,879,788,804,652,632,653,0.400981481525,-0.0153925543818,0.059850642046,0.999999949491,0.000195905552487,-0.000249388781849,2.10587811916e-05,1793239060665829376
+93,1.550000000,BASELINE,766,745,715.959186378,678.040813622,662,636,879,788,804,652,632,653,0.40098058322,-0.0153913014906,0.059850178598,0.999999949106,0.000196431288069,-0.00025053071158,2.08901806625e-05,1793239060682495744
+94,1.566666667,BASELINE,766.53570141,745,715.46429859,678.53570141,662,636,879,788,804,652,632,653,0.400981234681,-0.0153923151584,0.0598504802488,0.999999949202,0.000196844173103,-0.000249824912375,2.08850400029e-05,1793239060699162368
+95,1.583333333,BASELINE,767,745,715,679,661.884680932,636,879,788,804,652,632,653,0.400981959811,-0.0153929953001,0.0598507605371,0.999999949238,0.000197593253483,-0.000249079768368,2.09700681372e-05,1793239060715829248
+96,1.600000000,BASELINE,767,745,715,679,661.293314186,636,879,788,804,652,632,653,0.400982498576,-0.0153915812837,0.0598507104977,0.999999948878,0.000199765894664,-0.000248756983391,2.1375588743e-05,1793239060732496384
+97,1.616666667,BASELINE,767,745,715,679,661.290913785,636,879,788,804,652,632,653,0.400983435703,-0.0153917787732,0.0598513546085,0.99999994907,0.000200137687191,-0.000247653879379,2.17292272423e-05,1793239060749163264
+98,1.633333333,BASELINE,767,745,715,679,661.868116438,636,879,788,804,652,632,653,0.400984764858,-0.0153935621492,0.059852681834,0.999999949804,0.000198737260636,-0.000245782861785,2.20318084275e-05,1793239060765830144
+99,1.650000000,BASELINE,767,745,715,679,662,636,879.443455959,788,803.556544041,652,632,653,0.400984142223,-0.015393910702,0.0598524579664,0.999999949982,0.000196686440534,-0.000246725925035,2.18394118641e-05,1793239060782497024
+100,1.666666667,BASELINE,766.981367573,745,715,679,662,636,880,788,803.018632427,652,632,653,0.400982987335,-0.0153938092874,0.0598517993107,0.999999949975,0.000194600990256,-0.000248430026419,2.15057437091e-05,1793239060799163904
+101,1.683333333,BASELINE,766.394332375,745,715,679,662,636,880,788,803.605667625,652,632,653,0.400983229017,-0.0153929440911,0.0598518903807,0.999999949568,0.000197335114435,-0.000247926507971,2.13343263593e-05,1793239060815830528
+102,1.700000000,BASELINE,766,745,715,679,662,636,880,788,804,652,632,653,0.400983504707,-0.0153927229958,0.0598520379948,0.999999949565,0.000197867408846,-0.000247516863759,2.13137642597e-05,1793239060832496896
+103,1.716666667,BASELINE,766,745,715,679,662,636,880,788,804,652,632,653,0.400983849989,-0.0153938199398,0.0598523013164,0.999999950391,0.000193894047078,-0.000247299316653,2.16019008139e-05,1793239060849163520
+104,1.733333333,BASELINE,766,745,715,679,662,636,879.65257679,788,804,652,632,653,0.40098288005,-0.0153942894427,0.0598517127241,0.999999950335,0.000193173368764,-0.000248085912223,2.1614600717e-05,1793239060865830656
+105,1.750000000,BASELINE,766,745,715,679,662,636,879.075141288,788,804,652,632,653,0.400981039366,-0.0153943435471,0.0598505601203,0.9999999497,0.000194606136218,-0.000249537302619,2.14449472141e-05,1793239060882497792
+106,1.766666667,BASELINE,766,745,715,679,661.500921608,636,879.499078392,788,803.500921608,652,632,653,0.400981966298,-0.0153937865342,0.0598508758764,0.999999949888,0.000194633650131,-0.000248760690026,2.14403125768e-05,1793239060899164416
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,715,679,662,637,879,788,804,652,632,653,0.400983155223,-0.0153937670855,0.05985220346,0.999999950485,0.000194499254695,-0.000246429193016,2.17475091643e-05,1793239060941898240
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.420351115,745,715,679,662,637,879,788,804,652,632,653,0.400981539302,-0.0153933095895,0.0598506974202,0.999999949579,0.000195865550724,-0.000249035481517,2.14518422296e-05,1793239060958564864
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.157756244,745,715,679,662,636.842243756,879,788,804,652,631.842243756,653,0.400980887245,-0.0153931937979,0.0598500268828,0.999999949202,0.000196212261504,-0.000250288950483,2.12642680765e-05,1793239060975231488
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.731795986,745,715,679,662,636.268204014,879,788,804,652,631.268204014,653,0.400982778614,-0.0153939796877,0.0598515610491,0.999999950234,0.000193868514809,-0.000247972631378,2.13619265711e-05,1793239060991898112
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.696097716,745,715,679,662,636,879,788,804,652,631.303902284,653,0.400983100591,-0.015393871286,0.0598516607307,0.999999950342,0.000193438714647,-0.000247870796341,2.13883501624e-05,1793239061008564736
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.125686996,745,715,679,662,636,879,788,804,652,631.874313004,653,0.400982046284,-0.0153929786315,0.0598505024348,0.999999949643,0.00019468735841,-0.000249710962936,2.13523039882e-05,1793239061025231360
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.465881484,679,662,636,879,788,804,652,632,652.534118516,0.400982545806,-0.0153922997848,0.0598514414256,0.999999949641,0.00019628482672,-0.000248475165412,2.12409142057e-05,1793239061041898496
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715.938714539,679,661.938714539,636,879.061285461,788,804,652,631.938714539,652.061285461,0.400983642085,-0.0153918146377,0.0598528663051,0.999999949865,0.000197653349228,-0.000246485132367,2.11745129897e-05,1793239061058565376
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715.361364983,679,661.361364983,636,879.638635017,788,804,652,631.361364983,652.638635017,0.400986065602,-0.0153924517436,0.0598533915003,0.999999950379,0.000196263853209,-0.000245464214161,2.16662503293e-05,1793239061075231488
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.215197648,636,879.784802352,788,804,652,631,653,0.400995661473,-0.0153934134265,0.0598575057312,0.999999952188,0.000195340013184,-0.000238696768607,2.21542380482e-05,1793239061091898112
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.790443616,636,879.209556384,788,804,652,631,653,0.401017257446,-0.0153949181611,0.0598676247968,0.999999955981,0.000195195264757,-0.000222314777924,2.26359522037e-05,1793239061108564992
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,788,804,652,631.371957065,653,0.401055144462,-0.0153968859309,0.0598829270325,0.999999961381,0.000196659805829,-0.000194893873625,2.40746242744e-05,1793239061125231360
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,788,804,652,631.957062114,653,0.401102366972,-0.0153991190406,0.0599011994568,0.999999966866,0.000199046541366,-0.000161147177873,2.60616759283e-05,1793239061141897728
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.538215007,679,662,636,879.538215007,788,804,652,632,653,0.401166441405,-0.0154017041956,0.0599179937775,0.999999971134,0.000196437888187,-0.000135599265478,2.75149106226e-05,1793239061158564608
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.118349072,745,715.881650928,679,662,636,879.881650928,788,803.881650928,652,632,653,0.401234897476,-0.0154050101762,0.0599339465075,0.999999974596,0.000193498026135,-0.000111952771413,2.8856418238e-05,1793239061175231488
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.695745566,745,715.304254434,679,662,636,879.304254434,788,803.304254434,652,632,653,0.401315172224,-0.0154110039228,0.0599470889669,0.999999977009,0.000190807993419,-9.31628679329e-05,2.99285446191e-05,1793239061191899392
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.728951325,745,715,679,662,636,879.271048675,788,803.271048675,652,632,653,0.40140158395,-0.0154164173284,0.0599552397574,0.99999997838,0.000189823179738,-7.93143951057e-05,3.02606602793e-05,1793239061208566016
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.155980082,745,715,679,662,636,879.844019918,788,803.844019918,652,632,653,0.401494831686,-0.0154211842886,0.0599578303005,0.999999978848,0.000190737818857,-7.09702094291e-05,2.97684739881e-05,1793239061225231616
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.568919652,788,804,652.431080348,632,653,0.401593677913,-0.0154256725221,0.0599544094792,0.999999978759,0.000189750259337,-7.52989073808e-05,2.84235261699e-05,1793239061241897728
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,678.977095145,662,636,879,788,804,652.977095145,632,653,0.401696262168,-0.0154302184125,0.0599489035061,0.999999978458,0.000187925381307,-8.39783857163e-05,2.67620991304e-05,1793239061258564608
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,678.397570209,662,636,879,788,804,652.397570209,632,653,0.40183879434,-0.0154386991355,0.059947369945,0.999999979471,0.000183043862592,-8.31888352385e-05,2.51615587171e-05,1793239061275231744
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,678.180544721,662,636,879,788,804,652,632,653,0.401991817802,-0.0154470942895,0.0599475977725,0.999999980669,0.000178221479392,-7.96113531427e-05,2.36993944127e-05,1793239061291898368
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,678.755578721,662,636,879,788,804,652,632,653,0.402167764658,-0.0154553024747,0.059951674225,0.999999982244,0.000173528307626,-6.99422550197e-05,2.25395813978e-05,1793239061308564224
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,678.661981574,662,636,879,788,804,652,632,653,0.402360095773,-0.0154647171968,0.0599543156557,0.999999983876,0.000167480656038,-6.12849099942e-05,2.10471174503e-05,1793239061325231104
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678.074066785,662,636,879,788,804,652,632,653,0.402564539757,-0.01547502391,0.059955896178,0.99999998552,0.000160431639668,-5.33755510472e-05,1.93087251966e-05,1793239061341898496
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,879,788,804,652,632,653,0.402807976963,-0.0154871869022,0.0599619843872,0.999999987752,0.00015044079671,-3.93619488941e-05,1.77425346404e-05,1793239061358565120
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.084896092,745,715.084896092,678.084896092,662,636,879.084896092,788,804,652,632,653,0.403060972735,-0.0154991083375,0.0599671505086,0.999999989696,0.000139990015968,-2.75111813959e-05,1.59238539902e-05,1793239061375231488
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.662757113,745,715.662757113,678.662757113,662,636,879.662757113,788,804,652,632,653,0.40333683549,-0.0155080734566,0.0599631894964,0.999999991003,0.000129330778745,-3.33284628795e-05,1.24949120382e-05,1793239061391897856
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,715.761057108,679,662,636.238942892,880,788,804,652,632,653,0.403621386446,-0.015516698251,0.0599557574946,0.999999993575,0.000104250815295,-4.35955999874e-05,9.0048291921e-06,1793239061408563968
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,715.187219333,679,662,636.812780667,880,788,804,652,632,653,0.403918114494,-0.0155248460563,0.0599434606624,0.999999996441,5.89592134509e-05,-6.00995151583e-05,5.42905337192e-06,1793239061425230336
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.602261806,745,715.397738194,679,661.602261806,636.602261806,879.602261806,788,804,652,632,653,0.404234760674,-0.0155207252809,0.0599337045546,0.999999995509,5.42379756095e-05,-7.77072770882e-05,1.47912240743e-06,1793239061441897216
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.011919576,745,715.988080424,679,661.011919576,636.011919576,879.011919576,788,804,652,632,653,0.404561052167,-0.0155106634661,0.0599251787885,0.999999993011,6.91628681506e-05,-9.58495744487e-05,-2.65199243674e-06,1793239061458564096
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.568050365,745,715.431949635,679,661.568050365,636,879.568050365,788,804,652,632,653,0.404952760682,-0.0155042381572,0.0599223735428,0.99999999213,7.43322307616e-05,-0.000100832276136,-6.93466253491e-06,1793239061475230976
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,715,679,662,636.146421525,880,788,804,652,632,653,0.405365242797,-0.0155027074636,0.059925327475,0.999999992916,6.90482224007e-05,-9.63802826074e-05,-1.05764797074e-05,1793239061491898112
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,715,679,662,636.720744948,880,788,804,652,632,653,0.405834494015,-0.0155152617849,0.0599447675141,0.99999999723,3.38028050198e-05,-6.51488550167e-05,-1.23363421693e-05,1793239061508564992
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.704665525,745,715,679,662,636.704665525,879.704665525,788,804,652,631.704665525,653,0.406324647279,-0.0155246727593,0.0599680397257,0.999999999473,1.28551910389e-05,-2.64478640442e-05,-1.3780758709e-05,1793239061525231616
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.129824085,745,715,679,662,636.129824085,879.129824085,788,804,652,631.129824085,653,0.406834582466,-0.015531108846,0.059994938739,0.999999999687,5.439131081e-06,1.93223864476e-05,-1.49266348503e-05,1793239061541898240
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,678.541318483,662,636,879.458681517,788,804,652,631.458681517,653,0.407340434575,-0.015533745765,0.0600064088992,0.999999999151,-1.63557489299e-05,3.33066932509e-05,-1.79121596099e-05,1793239061558564864
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.05000265,745,715.05000265,678.05000265,662,636,880,788,804,652,632,653,0.407847794714,-0.0155348562016,0.0600115980171,0.999999998343,-4.02320875195e-05,3.50378403415e-05,-2.16099678744e-05,1793239061575230976
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.628940474,745,715.628940474,678.628940474,662,636,880,788,804,652,632,653,0.408383707488,-0.0155315433019,0.0599979579204,0.999999998746,-4.17542068508e-05,5.24289392909e-06,-2.71653664452e-05,1793239061591897344
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.794466723,745,715.794466723,679,662,636.205533277,879.794466723,788,803.794466723,652,632,653,0.408940768441,-0.015530104926,0.0599869381414,0.999999998203,-4.68751139858e-05,-1.92970354444e-05,-3.20141887937e-05,1793239061608563712
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.222059777,745,715.222059777,679,662,636.777940223,879.222059777,788,803.222059777,652,632,653,0.40953557853,-0.0155320125458,0.0599805955891,0.999999997066,-5.84198007233e-05,-3.44568402295e-05,-3.56017833903e-05,1793239061625230592
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.360403716,745,715,679,662.360403716,636.639596284,879,788,803.360403716,652,632,653,0.410160404019,-0.0155354641027,0.0599860011889,0.999999997425,-5.81714131605e-05,-2.35521334613e-05,-3.47923039367e-05,1793239061641897728
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.949241306,745,715,679,662.949241306,636.050758694,879,788,803.949241306,652,632,653,0.410804254079,-0.0155398942496,0.0599988530936,0.999999998233,-5.04482474669e-05,3.87298441584e-06,-3.11958368097e-05,1793239061658564864
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.470980615,745,715,679,662.470980615,636,879.529019385,788,804,652,631.470980615,653,0.411469530984,-0.0155390025648,0.0599996546593,0.999999999209,-2.75144373605e-05,1.01228456548e-05,-2.68752797361e-05,1793239061675231488
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715.107649725,679,662,636.107649725,880,788,804.107649725,652,631.107649725,653,0.412132595551,-0.0155367774341,0.0599933347506,0.999999999656,-8.89519113202e-06,9.26376691191e-07,-2.4664458583e-05,1793239061691898368
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715.685000915,679,662,636.685000915,880,788,804.685000915,652,631.685000915,653,0.412777187719,-0.0155309246177,0.0599609020462,0.99999999713,-1.53620986317e-05,-6.69504241476e-05,-3.19569545626e-05,1793239061708564480
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715.749518928,678.749518928,662,636.749518928,880.250481072,788,805,652,632,653,0.413453639385,-0.0155295009249,0.0599373383297,0.999999992764,-2.38784777643e-05,-0.000111873740651,-3.72404879892e-05,1793239061725230592
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715.198291926,678.198291926,662,636.198291926,880.801708074,788,805,652,632,653,0.414168343982,-0.0155333951618,0.0599244233656,0.999999990237,-3.48556036324e-05,-0.000129237431243,-4.01119148669e-05,1793239061741897216
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.39606834,745,715.39606834,678.39606834,662,636.39606834,880.60393166,788,804.60393166,652,632,653,0.414966924811,-0.0155394930692,0.0599546670649,0.999999995567,-4.13352767727e-05,-7.55937249435e-05,-3.79963963628e-05,1793239061758563840
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,715.986307921,678.986307921,662,636.986307921,880,788,804.013692079,652,632,653,0.415811356551,-0.0155467343219,0.0600082851673,0.999999998292,-4.52330382124e-05,1.64110254353e-05,-3.31634755704e-05,1793239061775230464
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,715.408651789,678.408651789,662,636.408651789,880,788,804.591348211,652,632,653,0.416603321888,-0.0155500725988,0.0600259155312,0.999999997372,-4.68622472035e-05,4.52514288208e-05,-3.18088603567e-05,1793239061791897088
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,715,678.168276337,662.168276337,636,880,788,804.831723663,652,632,653,0.417393896722,-0.0155522446045,0.0600316650303,0.999999996763,-4.84184438867e-05,5.57958742358e-05,-3.18831136616e-05,1793239061808563968
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,715,678.743444114,662.743444114,636,880,788,804.256555886,652,632,653,0.418181109275,-0.0155515965715,0.0600086866499,0.999999997889,-4.97980970801e-05,2.21007723802e-05,-3.5412364847e-05,1793239061825230336
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,715,679,662.680772149,636,880,788,804,652,632,653,0.418990059342,-0.0155513217156,0.0599885011963,0.99999999776,-5.33731590346e-05,-1.15362972935e-05,-3.87040072313e-05,1793239061841896704
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,715,679,662.104492451,636,880,788,804,652,632,653,0.41981651307,-0.0155513473531,0.0599705646924,0.999999996384,-5.8716029946e-05,-4.51266360712e-05,-4.18043196954e-05,1793239061858563328
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.514800813,745,715,679,662.485199187,636,880,788,804.485199187,652,632,653,0.420602967683,-0.0155520322556,0.0599429706342,0.999999993288,-6.03238330259e-05,-8.82831780324e-05,-4.46141183263e-05,1793239061875229952
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715.075692698,679,662.924307302,636,880,788.075692698,805,652,632,653,0.421386100374,-0.0155526083262,0.0599154447603,0.999999988411,-6.06758335164e-05,-0.000131373296678,-4.73095131259e-05,1793239061891896576
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715.651847448,679,662.348152552,636,880,788.651847448,805,652,632,653,0.422205843124,-0.0155514994061,0.0599025121169,0.99999998427,-5.81943522366e-05,-0.000160015594899,-4.96739209129e-05,1793239061908563968
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715.772861753,679,662.227138247,636,880,788.772861753,804.772861753,652,632,653,0.423077078855,-0.0155541772092,0.0599208413442,0.999999988332,-6.02477364905e-05,-0.000131542819955,-4.90083821646e-05,1793239061925230848
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715.198890095,679,662.801109905,636,880,788.198890095,804.198890095,652,632,653,0.424026942976,-0.0155626372267,0.0599869065249,0.999999996523,-6.92257259297e-05,-1.58570141965e-05,-4.37162042716e-05,1793239061941896960
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.385011016,745,715.385011016,679.385011016,663,636,880.385011016,788,804,652,632,653,0.424935980489,-0.0155675252789,0.0600283119072,0.999999995053,-7.44947931682e-05,5.17810716633e-05,-4.07879866071e-05,1793239061958563328
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.974177266,745,715.974177266,679.974177266,663,636,880.974177266,788,804,652,632,653,0.425823369302,-0.0155705192668,0.0600566412263,0.999999991796,-7.7797173835e-05,9.3941454956e-05,-3.91132786087e-05,1793239061975229696
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745,715.442644063,680,663,636,880.442644063,788,804,652,632,653,0.426650236162,-0.0155706191813,0.0600376394352,0.999999992655,-8.28568294597e-05,7.77965138653e-05,-4.21021630078e-05,1793239061991896320
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745,715,679.862612539,663,636,880.137387461,788,804,652,632,653,0.42748091819,-0.0155705056454,0.0600155626696,0.9999999937,-8.76229243966e-05,5.3594546402e-05,-4.52672990362e-05,1793239062008563200
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745,715,679.29164689,663,636,880.70835311,788,804,652,632,653,0.428332395506,-0.0155701371431,0.0599906285886,0.999999994597,-9.12083692294e-05,1.24000439185e-05,-4.83140271992e-05,1793239062025229824
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.71238522,745,715,679,663,636,880.71238522,788,804,652,632,653,0.429157879721,-0.0155687017364,0.0599630154448,0.999999993783,-9.27443429514e-05,-3.48110241239e-05,-5.11927937456e-05,1793239062041896448
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.12446141,745,715,679,663,636,880.12446141,788,804,652,632,653,0.429956223544,-0.0155661523361,0.0599326049959,0.999999990404,-9.21403892027e-05,-8.83042040034e-05,-5.38961852395e-05,1793239062058563328
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.457155969,745.457155969,715,679.457155969,663,636,880,788,804.457155969,652,632,653,0.430819507106,-0.0155663695652,0.0599414209312,0.999999992203,-9.08930275006e-05,-6.64111638596e-05,-5.4056344815e-05,1793239062075229952
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745.963005149,715,680,663.036994851,636,880.036994851,788.036994851,804.963005149,651.963005149,632,653,0.431699744149,-0.0155677502849,0.0599623294127,0.999999994253,-9.01404484944e-05,-2.28148077134e-05,-5.33731834944e-05,1793239062091896576
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,745.384410201,715,680,663.615589799,636,880.615589799,788.615589799,804.384410201,651.384410201,632,653,0.432572866871,-0.0155752873762,0.0600060529595,0.999999992929,-9.91609852399e-05,4.21348915572e-05,-5.03426107083e-05,1793239062108563200
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.807247983,745,715,680,663.807247983,636,881,789,804.192752017,651.192752017,632,653,0.433412347243,-0.0155796302499,0.0600295596293,0.999999990402,-0.000105864935313,7.48572153836e-05,-4.88463458617e-05,1793239062125230080
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.232921909,745,715,680,663.232921909,636,881,789,804.767078091,651.767078091,632,653,0.434185228996,-0.0155776498157,0.0600130447504,0.999999991942,-0.000107982946634,4.37818765632e-05,-5.03874140348e-05,1793239062141897216
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.350216182,745,715,680,663,636,881,788.649783818,805,652,632,653,0.434949503793,-0.0155753735397,0.0599860035831,0.999999992848,-0.000106940477406,-1.50784619657e-06,-5.35269858087e-05,1793239062158563840
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.939366209,745,715,680,663,636,881,788.060633791,805,652,632,653,0.435707906475,-0.0155728954266,0.0599517808911,0.999999991355,-0.000103741780325,-5.64952840206e-05,-5.77571312364e-05,1793239062175230208
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.480122895,745,715.519877105,679.480122895,663,636,881,788,805,652,632,653,0.43645276537,-0.0155738530429,0.0599433207281,0.999999989948,-0.000107918008228,-7.07013811232e-05,-5.88111190102e-05,1793239062191896832
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715.901247479,679,663,636,881,788,804.901247479,652,632,653,0.437186544079,-0.0155741922374,0.0599366168933,0.999999988348,-0.000112401282485,-8.44165388079e-05,-5.95368099739e-05,1793239062208563712
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715.325484568,679,663,636,881,788,804.325484568,652,632,653,0.437874306904,-0.0155696402828,0.0599241201675,0.999999984639,-0.000114280804838,-0.000118359714041,-6.04368115632e-05,1793239062225230336
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.250134133,715,679.250134133,663,636,881,788,804.250134133,651.749865867,631.749865867,653,0.43857814845,-0.0155680067485,0.0599269912392,0.999999984492,-0.000114572332224,-0.000119480036151,-6.01121966176e-05,1793239062241897216
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.825565244,715,679.825565244,663,636,881,788,804.825565244,651.174434756,631.174434756,653,0.439302900162,-0.0155701685913,0.0599498479814,0.99999998891,-0.000112798687632,-7.79145582063e-05,-5.81949798487e-05,1793239062258563840
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.409543646,745.590456354,715,680.409543646,663,636,880.590456354,788,805,651.409543646,631.409543646,653,0.44001790565,-0.0155755562316,0.0599831709814,0.999999990964,-0.000119040621612,-2.80415486074e-05,-5.58160036497e-05,1793239062275230464
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.997240201,745.002759799,715,680.997240201,663,636,880.002759799,788,805,651.997240201,631.997240201,653,0.440728671559,-0.0155823471051,0.060021046842,0.999999989968,-0.000128769359694,2.5445269715e-05,-5.32361602187e-05,1793239062291896832
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,745.579622634,715,680.420377366,663,636,880.579622634,788,805,651.420377366,632,653,0.441316475744,-0.0155861552227,0.0599944388748,0.99999998949,-0.000132180718319,-2.33732569742e-05,-5.4783365487e-05,1793239062308563456
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.840788824,745.840788824,715,680,663,635.840788824,881,788,805,651.159211176,632,653,0.441886051816,-0.0155902081246,0.0599607512984,0.999999985606,-0.000138560679713,-7.94339380893e-05,-5.72628875996e-05,1793239062325230080
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.268385913,745.268385913,715,680,663,635.268385913,881,788,805,651.731614087,632,653,0.442409827252,-0.0155949328247,0.0599094799905,0.999999974699,-0.000152722242614,-0.000153037088351,-6.21114648685e-05,1793239062341896704
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.693780807,635.306219193,881,788,805,652,632,653,0.442929573924,-0.0155985630414,0.0598744898621,0.999999963556,-0.000163676024207,-0.000204292183679,-6.60464339536e-05,1793239062358563840
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.117231638,635.882768362,881,788,805,652,632,653,0.443445763976,-0.015601227049,0.0598538727443,0.999999955045,-0.000171797979502,-0.000235818436185,-6.91748706033e-05,1793239062375230720
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.470617214,745,715.470617214,680,662.470617214,635.529382786,880.529382786,788,804.529382786,651.529382786,632,652.529382786,0.443970444461,-0.015608847253,0.0598563230685,0.999999954239,-0.000183651533842,-0.000230097429876,-6.96387743535e-05,1793239062391897088
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.940100058,745,715.940100058,680,662.940100058,635,880.059899942,787.940100058,804.059899942,651,632,652.059899942,0.444488657063,-0.0156172632502,0.0598629282838,0.999999954506,-0.000195785519081,-0.00021865358955,-6.96135250774e-05,1793239062408563712
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.363330398,745,715.363330398,680,662.363330398,635,880.636669602,787.363330398,804.636669602,651,632,652.636669602,0.444932360172,-0.0156216307727,0.0598545829779,0.99999994827,-0.000202121021343,-0.000239859601681,-7.12356667925e-05,1793239062425230080
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,881,787,805,651,632,653,0.44534955251,-0.0156249500736,0.0598363211319,0.999999937145,-0.000210557644062,-0.000275641602368,-7.34651601987e-05,1793239062441896704
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,881,787,805,651,632,653,0.445721616423,-0.0156264850226,0.0598011787006,0.99999991576,-0.000222570931057,-0.000336235806043,-7.67285272624e-05,1793239062458563328
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715.373304026,679.626695974,662,635,881,787.373304026,805,651,632,653,0.446087714739,-0.0156305211162,0.0597779349134,0.999999901199,-0.000234236786688,-0.000369510771881,-7.87251006887e-05,1793239062475230208
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715.962226944,679.037773056,662,635,881,787.962226944,805,651,632,653,0.446450367384,-0.015636001861,0.0597615637315,0.999999891729,-0.000245701968765,-0.000387006262779,-7.99899796411e-05,1793239062491896576
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.600274976,715.399725024,679.399725024,661.399725024,635,881,787,805,651.399725024,631.399725024,653,0.44863467921,-0.0156642356166,0.05972080408,0.9999998636,-0.000257051842584,-0.000449059938735,-7.11970247392e-05,1793239062625230080
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,766.038645338,745,715,679,662,636,880,788,804.038645338,651.038645338,632,653,0.418598668117,-0.015383107238,0.0597261442007,0.999999885092,0.000171284420177,-0.000447512619302,1.44873469677e-05,1793239064820902400
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.255801929,745,715.744198071,679,661.255801929,636,879,788,804,652,632,653,0.408001833487,-0.015378700078,0.0598620447339,0.999999949986,0.00019987635479,-0.000243236326707,3.02393055202e-05,1793239065070902528
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.67123027,679,661,636,879.32876973,788,804.32876973,652,632,653,0.407431765238,-0.0153776931665,0.0598480693092,0.999999943854,0.000199767336394,-0.000267501020287,2.87718610364e-05,1793239065087569152
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.0585468,745,715.9414532,679,661.0585468,636,879.0585468,788,804.9414532,651.0585468,632,653,0.405912708778,-0.0153807586242,0.0598294719013,0.999999940806,0.000193901423136,-0.000283089792321,2.54840858307e-05,1793239065137569280
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.786462679,745.213537321,715,679,662,636,879.786462679,788,804,652,632,653,0.405059633276,-0.0153794260369,0.0598370410764,0.999999946282,0.000192802047821,-0.000263834831417,2.55895245089e-05,1793239065170902528
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.868025158,745,715.131974842,679,662,636,880,789,804,652.868025158,632,653,0.402565412432,-0.0153784636906,0.059841318299,0.999999943789,0.000215332306527,-0.00025559311235,2.69630501101e-05,1793239065304235776
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745,715.647748836,678.352251164,662,636,879.352251164,788,804,652,632,653.647748836,0.401541135656,-0.0153863944471,0.059828728557,0.999999941378,0.000185049043035,-0.000287563676102,1.75256740935e-05,1793239065404235776
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.916054529,745,715,679,662,636.916054529,879.916054529,788,804,652,632,653,0.401273336025,-0.015390317396,0.0598369868682,0.999999943825,0.000193823508996,-0.000272758812123,1.96018254962e-05,1793239065454235904
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd2d9c8e03e519b02ede8a72b5fce416b9ab46d1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,414 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c704183e2928376d0b9d3593b9411746be2f4664
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10c36be465c1314aa2a606fc420e7b2e9d4d139dffad4caf6849614b43001938
+size 26318263
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f749f5528758ae170a18612ca57c28a8850fa9c1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_03/franka_data.csv
@@ -0,0 +1,416 @@
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+8,0.133333333,BASELINE,766.361562114,745.361562114,715.361562114,679,662,636.638437886,879.361562114,788,804,652.361562114,632,653,0.400982224316,-0.0153901175639,0.0598501860819,0.999999949428,0.000193906197977,-0.0002512624903,2.02743956462e-05,1793239066360460032
+9,0.150000000,BASELINE,766,745,715,679,662,636.781619573,879.218380427,788,804,652,631.781619573,653,0.400982638901,-0.0153902387672,0.0598506200356,0.99999994951,0.000194356011582,-0.000250585285552,2.03305717813e-05,1793239066377126400
+10,0.166666667,BASELINE,766,745,715,679,662,636.193740806,879.806259194,788,804,652,631.193740806,653,0.400983985486,-0.0153901936267,0.0598509517475,0.999999949855,0.000194401663712,-0.000249169295362,2.0330285204e-05,1793239066393793024
+11,0.183333333,BASELINE,766.388766574,745,715,679,661.611233426,636,879.611233426,788,804,652,631.388766574,653,0.400983204632,-0.0153905654631,0.0598505074294,0.999999949796,0.000193521130932,-0.00025008297625,2.04056713174e-05,1793239066410459904
+12,0.200000000,BASELINE,766.968633667,745,715,679,661.031366333,636,879.031366333,788,804,652,631.968633667,653,0.400981378022,-0.0153911422669,0.0598496816491,0.999999949534,0.000192185326457,-0.000252141820674,2.05182547915e-05,1793239066427126528
+13,0.216666667,BASELINE,766.454348614,745,715,679,661.545651386,636,879,788,804,652,632,653,0.400981931057,-0.0153904141603,0.0598503386047,0.999999949502,0.000193467670295,-0.000251306128536,2.03003965905e-05,1793239066443792896
+14,0.233333333,BASELINE,766.121906995,745,715,679,661.878093005,636,879,788,804,652,632,653,0.400982334785,-0.0153900889448,0.0598507161299,0.99999994951,0.000194174451771,-0.000250740585077,2.01527818273e-05,1793239066460460032
+15,0.250000000,BASELINE,766.695940588,745,715,679,661.304059412,636,879,788,804,652,632,653,0.400981680075,-0.0153915347213,0.0598497428369,0.999999949625,0.000192191317529,-0.000251790863263,2.03357676804e-05,1793239066477127936
+16,0.266666667,BASELINE,766.723508042,745,715,679,661.276491958,636.276491958,879,788,804,652,632,653,0.40098167313,-0.0153919757274,0.0598496677147,0.999999949632,0.000192206404628,-0.000251730349143,2.0626571575e-05,1793239066493794304
+17,0.283333333,BASELINE,766.135616038,745,715,679,661.864383962,636.864383962,879,788,804,652,632,653,0.400982395735,-0.0153912851071,0.0598506041607,0.999999949514,0.0001944719957,-0.000250418801196,2.10388059092e-05,1793239066510459904
+18,0.300000000,BASELINE,766.445143917,745,715,679,662,636.554856083,879,788.445143917,804.445143917,652,632,653,0.400983179881,-0.0153914065964,0.0598510785311,0.99999994971,0.000194782573327,-0.000249395427542,2.10031973411e-05,1793239066527126528
+19,0.316666667,BASELINE,766.976205062,745,715,679,661.976205062,636.023794938,879.023794938,788.976205062,804.976205062,652,632,653,0.400983962945,-0.0153917237073,0.05985142497,0.999999949973,0.00019462466093,-0.000248477555755,2.08401920135e-05,1793239066543792896
+20,0.333333333,BASELINE,766.396862072,745,715,679,661.396862072,636.603137928,879.603137928,788.396862072,804.396862072,652,632,653,0.400984289941,-0.0153909226826,0.0598520194272,0.999999949583,0.000197215322702,-0.000248005433238,2.08380499873e-05,1793239066560459520
+21,0.350000000,BASELINE,766.180776645,745,715.180776645,678.819223355,661.36155329,636.819223355,879.819223355,788,804,652,632,653,0.400984467407,-0.0153901933511,0.0598524081751,0.999999949404,0.000198364971161,-0.000247812265689,2.07967286763e-05,1793239066577126144
+22,0.366666667,BASELINE,766.754708812,745,715.754708812,678.245291188,662.509417624,636.245291188,879.245291188,788,804,652,632,653,0.400984319671,-0.0153896199394,0.0598523495438,0.999999949696,0.000196380683811,-0.000248225773286,2.06701997212e-05,1793239066593793024
+23,0.383333333,BASELINE,766.662061446,745,716,678.337938554,662.662061446,636.337938554,879,788,804,652,632,653,0.400983438439,-0.0153902123539,0.0598516388224,0.999999949853,0.000194285018525,-0.000249243342784,2.06135437927e-05,1793239066610459904
+24,0.400000000,BASELINE,766.071892113,745,716,678.928107887,662.071892113,636.928107887,879,788,804,652,632,653,0.40098200974,-0.0153916749185,0.0598504413937,0.999999949907,0.000192106222698,-0.000250711772402,2.06090397219e-05,1793239066627126528
+25,0.416666667,BASELINE,766,745,715.490865164,679,662,636.490865164,879,788,804,652,632,653,0.400982781285,-0.0153921385969,0.0598504368123,0.99999995021,0.000191982078693,-0.000249610810164,2.04345686175e-05,1793239066643793152
+26,0.433333333,BASELINE,766,745,715.087994091,679,662,636.087994091,879,788,804,652,632,653,0.400983933249,-0.0153924930828,0.0598507736475,0.999999950573,0.000191991281723,-0.000248152068678,2.03436004213e-05,1793239066660459776
+27,0.450000000,BASELINE,766,745,715.661886476,679,662,636.661886476,879,788,804,652,632,653,0.400985500546,-0.0153930097293,0.0598520820819,0.999999951084,0.000191163020583,-0.000246685763872,2.08439198071e-05,1793239066677126656
+28,0.466666667,BASELINE,766.236078187,745.236078187,716,678.763921813,662,636.763921813,879,788.236078187,804,652,632,653,0.400985852501,-0.0153923455173,0.059852598384,0.999999951,0.000191821394575,-0.000246518029941,2.07947257623e-05,1793239066693793024
+29,0.483333333,BASELINE,766.810699106,745.810699106,716,678.189300894,662,636.189300894,879,788.810699106,804,652,632,653,0.400984461622,-0.015389987921,0.0598519787464,0.999999950059,0.00019461164503,-0.000248212483102,1.99575140389e-05,1793239066710459648
+30,0.500000000,BASELINE,767,745.60178271,715.60178271,678.39821729,662,636,879,788.60178271,804,652,632,653,0.400984035857,-0.0153894335843,0.0598517650017,0.999999949776,0.000195870701453,-0.000248360458523,1.99737321348e-05,1793239066727126272
+31,0.516666667,BASELINE,767,745.007928348,715.007928348,678.992071652,662,636,879,788.007928348,804,652,632,653,0.400984084234,-0.015389765157,0.0598517506649,0.99999994982,0.000196377509395,-0.000247748676881,2.04092251496e-05,1793239066743793152
+32,0.533333333,BASELINE,766.431750192,745,715,678.431750192,662,636,879,788,804,652,632,653,0.400982473692,-0.0153898104314,0.0598510771434,0.999999949474,0.000195720845556,-0.000249685625291,2.00797807817e-05,1793239066760459776
+33,0.550000000,BASELINE,766.143953467,745,715,678.287906934,662,636,879.143953467,788,804,652,632,653,0.400981390846,-0.0153901400759,0.0598505552904,0.999999949266,0.000194991993203,-0.000251098356359,1.98775089033e-05,1793239066777126400
+34,0.566666667,BASELINE,766.718952412,745,715,679.437904824,662,636,879.718952412,788,804,652,632,653,0.400981955317,-0.0153913328214,0.0598505142925,0.999999949502,0.000194094124874,-0.000250838134906,2.00870278542e-05,1793239066793793024
+35,0.583333333,BASELINE,766.699504926,745.300495074,715,679.699504926,662,636,879.699504926,788.300495074,804.300495074,652,632,653,0.400982730896,-0.0153914121227,0.0598507136835,0.999999949637,0.000193999245624,-0.000250368065724,2.01602041476e-05,1793239066810459648
+36,0.600000000,BASELINE,766.111705733,745.888294267,715,679.111705733,662,636,879.111705733,788.888294267,804.888294267,652,632,653,0.400983708316,-0.0153904268574,0.0598511429109,0.999999949675,0.000194672106212,-0.000249697360554,2.01030228971e-05,1793239066827126272
+37,0.616666667,BASELINE,766,745.529760413,715,679,662,636,879,789,804.529760413,652,632,653,0.40098357096,-0.0153902281806,0.0598516201552,0.999999950058,0.000194650952463,-0.000248171084577,2.01437850065e-05,1793239066843793920
+38,0.633333333,BASELINE,766,745,715,678.949740119,662,636,879.050259881,788.949740119,803.949740119,652,632,653,0.400983168143,-0.01539016976,0.0598520529918,0.999999950427,0.00019457937697,-0.000246733782983,2.01864113353e-05,1793239066860461824
+39,0.650000000,BASELINE,766,745,715,678.375469712,662,636,879.624530288,788.375469712,803.375469712,652,632,653,0.400982724643,-0.015389649457,0.0598519053706,0.999999949824,0.000195679839551,-0.000248317073635,2.00088796224e-05,1793239066877127168
+40,0.666666667,BASELINE,766.199050621,745,715.199050621,678.199050621,662,636.199050621,879.800949379,788,803.199050621,652,632,653,0.400981947068,-0.0153896723846,0.0598513607549,0.999999949439,0.000195603595735,-0.000249934468198,1.98737007939e-05,1793239066893793280
+41,0.683333333,BASELINE,766.774042946,745,715.774042946,678.774042946,662,636.774042946,879.225957054,788,803.774042946,652,632,653,0.400980538533,-0.0153907212978,0.0598500663464,0.999999949465,0.000193304937244,-0.000251616273831,1.9818512761e-05,1793239066910459904
+42,0.700000000,BASELINE,766.639079309,745,716,679,662,636.639079309,879,788,804.360920691,652,632,653,0.40098002841,-0.0153912430602,0.059849742607,0.99999994931,0.000193655999514,-0.000251945307769,2.00287210618e-05,1793239066927126784
+43,0.716666667,BASELINE,766.044507249,745,716,679,662,636.044507249,879,788,804.955492751,652,632,653,0.400980099897,-0.0153914235579,0.0598500472555,0.999999949037,0.000195722427312,-0.000251398589811,2.04107405625e-05,1793239066943793664
+44,0.733333333,BASELINE,766,745,715.468537003,679,662,636.531462997,879,788,804.468537003,652,631.468537003,653,0.400981915374,-0.0153908255886,0.0598510824871,0.999999949845,0.000194252483718,-0.000249332047988,2.02582652916e-05,1793239066960460288
+45,0.750000000,BASELINE,766.10617118,745,715,679,662,636.89382882,879.10617118,788,804,652,631.10617118,653,0.400983380622,-0.0153903484946,0.0598518693771,0.999999950473,0.000192943921035,-0.000247837704642,2.00971164187e-05,1793239066977126912
+46,0.766666667,BASELINE,766.681954295,745,715,679,662,636.318045705,879.681954295,788,804,652,631.681954295,653,0.400982672589,-0.0153906846563,0.0598512963439,0.99999994995,0.000193614803595,-0.000249418215907,2.00888931387e-05,1793239066993793280
+47,0.783333333,BASELINE,766.736346272,745,715.263653728,679,662,636.263653728,880,788,804,652,632,653,0.400981462313,-0.0153910250297,0.0598507117568,0.999999949525,0.000193872796486,-0.000250916477829,2.01136394293e-05,1793239067010459904
+48,0.800000000,BASELINE,766.147346076,745,715.852653924,679,662,636.852653924,880,788,804,652,632,653,0.400979632274,-0.0153913706004,0.0598501129124,0.999999949221,0.000193621287111,-0.000252313244968,2.01790698896e-05,1793239067027126272
+49,0.816666667,BASELINE,766,745,715.565521609,679,662,636.565521609,879.565521609,788,804,652,632,653,0.400980317617,-0.015391457702,0.0598503388823,0.999999949557,0.000193235336614,-0.000251272604464,2.01972154228e-05,1793239067043792896
+50,0.833333333,BASELINE,766.013749068,745,715.013749068,679,662,636.013749068,879,788,804,652,632,653,0.400981797041,-0.0153914400249,0.0598508249694,0.99999995008,0.000192841837011,-0.000249485828764,2.01975056221e-05,1793239067060459776
+51,0.850000000,BASELINE,766.586523829,745,715.586523829,679,662,636.586523829,879,788,804,652,632,653,0.400981442413,-0.0153906682239,0.0598506987315,0.99999994963,0.000193965068768,-0.000250424864795,2.01132254344e-05,1793239067077126656
+52,0.866666667,BASELINE,767,745.161188624,716,679,662,636.838811376,879,788,804,652,632,653,0.400981283485,-0.0153903719977,0.0598505594821,0.999999949475,0.00019429209208,-0.000250797211379,2.00188395218e-05,1793239067093793536
+53,0.883333333,BASELINE,767,745.740759165,716,679,662,636.259240835,879,788,804,652,632,653,0.400981632516,-0.0153913101759,0.0598503864599,0.999999950089,0.000192552473099,-0.000249698656235,1.98982231493e-05,1793239067110460160
+54,0.900000000,BASELINE,766.673914553,745.673914553,716,679,662,636,879,788,804,652,632,653,0.400982177067,-0.0153915792568,0.0598508877563,0.999999950133,0.000193595640193,-0.000248701569257,2.00459916822e-05,1793239067127126528
+55,0.916666667,BASELINE,766.083930215,745.083930215,716,679,662,636,879,788,804,652,632,653,0.400982879851,-0.0153913068415,0.0598519347744,0.99999994971,0.000196890898564,-0.000247786599878,2.04109624296e-05,1793239067143792896
+56,0.933333333,BASELINE,766.496671162,745,716,679,661.503328838,636,879,788,804,652,632,653,0.400982468237,-0.0153907620173,0.0598516510753,0.999999949704,0.000195839766927,-0.000248647118857,2.03377773214e-05,1793239067160459776
+57,0.950000000,BASELINE,766.924824858,745,715.924824858,679,661.075175142,636,879,788,804,652,632,653,0.400982141529,-0.0153902730081,0.0598512981868,0.999999949847,0.000194143972406,-0.000249414710135,2.01744860718e-05,1793239067177126400
+58,0.966666667,BASELINE,766.349918876,745,715.349918876,679,661.650081124,636,879,788,804,652,632,653,0.400983607878,-0.0153904553654,0.0598519524903,0.999999950532,0.000192954693581,-0.000247607061998,1.98952814354e-05,1793239067193793024
+59,0.983333333,BASELINE,766,745,715.229974703,679,662,636,879,788,804,652,632,653,0.400984374959,-0.0153906960729,0.0598524041612,0.999999950852,0.000192670161598,-0.000246536857972,1.98665221482e-05,1793239067210459648
+60,1.000000000,BASELINE,766,745,715.817625504,679,662,636,879,788,804,652,632,653,0.400984054481,-0.0153910275314,0.0598525406809,0.999999950608,0.000193792768197,-0.000246613589086,2.02272765945e-05,1793239067227126528
+61,1.016666667,BASELINE,766.399340307,745,716,679,662,636,879.399340307,788,804.399340307,652,632,653.399340307,0.400982943541,-0.0153909577627,0.0598519361971,0.999999950093,0.00019517450684,-0.00024762036407,2.01309383762e-05,1793239067243793664
+62,1.033333333,BASELINE,766.978383874,745,716,679,662,636,879.978383874,788,804.978383874,652,632,653.978383874,0.400981476893,-0.0153907074416,0.0598509982617,0.999999949451,0.000196672854914,-0.000249045659072,1.98289082978e-05,1793239067260460800
+63,1.050000000,BASELINE,766.44316275,745,716,678.44316275,662,636,879.44316275,788,804.44316275,652,632,653.44316275,0.400980614451,-0.0153915798325,0.0598507642813,0.999999949541,0.000195363357085,-0.000249693477241,2.01194942499e-05,1793239067277126912
+64,1.066666667,BASELINE,766,745,715.865605805,678.134394195,662,636,879,788,804,652,632,653,0.400980551116,-0.0153922955544,0.0598509596391,0.999999949797,0.000194143967876,-0.000249596615316,2.03934024774e-05,1793239067293793024
+65,1.083333333,BASELINE,766,745,715.290910782,678.709089218,662,636,879,788,804,652,632,653,0.400983029045,-0.0153923553635,0.059852472156,0.999999950509,0.00019357651519,-0.000247158815138,2.05373822413e-05,1793239067310459648
+66,1.100000000,BASELINE,766,745,715.290648286,679,662,636,879,788,804,652,632,653,0.40098361018,-0.0153924768155,0.0598527986808,0.999999950686,0.000192974680402,-0.00024691492455,2.05219223494e-05,1793239067327126272
+67,1.116666667,BASELINE,766,745,715.879243736,679,662,636,879,788,804,652,632,653,0.400982246886,-0.0153926614584,0.0598519094302,0.999999950316,0.000192337600129,-0.00024892003805,2.03430188796e-05,1793239067343792896
+68,1.133333333,BASELINE,766,745,715.539304477,679,661.539304477,636.460695523,879.460695523,788,804,652,632,653,0.400981317525,-0.015392181992,0.0598512445888,0.999999949792,0.000193471795654,-0.000250150154712,2.02441848126e-05,1793239067360459776
+69,1.150000000,BASELINE,766,745,715,679,661.039930308,636.960069692,880,788,804,652,632,653,0.400980576158,-0.0153915935375,0.0598506845334,0.999999949306,0.000194818092621,-0.000251050553248,2.0162682276e-05,1793239067377126912
+70,1.166666667,BASELINE,766,745,715,679,661.614171828,636.385828172,880,788,804,652,632,653,0.400980851612,-0.0153918404427,0.0598507515516,0.999999949893,0.000192884799188,-0.000250215691867,2.00365461687e-05,1793239067393793792
+71,1.183333333,BASELINE,766.186499864,745.186499864,715,678.813500136,662,636.186499864,880,788,804,652,632,653,0.400981468112,-0.0153921056474,0.0598511702552,0.999999950417,0.000191680996789,-0.000249042140597,2.00475316492e-05,1793239067410460416
+72,1.200000000,BASELINE,766.754909619,745.754909619,715,678.245090381,662,636.754909619,880,788,804,652,632,653,0.400982782998,-0.0153924083254,0.0598523091317,0.999999950819,0.000191971028062,-0.000247175028248,2.03393113639e-05,1793239067427127296
+73,1.216666667,BASELINE,767,745.658731504,715,678.341268496,662,637,879.658731504,788,804,652,632,653,0.400983580757,-0.0153926324698,0.0598523675742,0.999999950818,0.000192649715226,-0.000246648458611,2.03701968223e-05,1793239067443793920
+74,1.233333333,BASELINE,767,745.058766437,715,678.941233563,662,637,879.058766437,788,804,652,632,653,0.400983986511,-0.0153927970822,0.0598516069999,0.999999950512,0.000193623020682,-0.00024713807959,2.02033129098e-05,1793239067460460288
+75,1.250000000,BASELINE,766.48032738,745,715,679,662,636.48032738,879.51967262,788,804.51967262,652,631.48032738,653,0.400982567855,-0.0153907078896,0.0598511802186,0.99999994961,0.000196524730062,-0.000248519787969,1.99166708074e-05,1793239067477127168
+76,1.266666667,BASELINE,766.095861973,745,715,679,662,636,879.904138027,788,805,652,631.095861973,653,0.400981470784,-0.0153890109105,0.0598510164462,0.999999948975,0.000198556165507,-0.000249472950237,1.97343466779e-05,1793239067493794048
+77,1.283333333,BASELINE,766.67249121,745,715,679,662,636,879.32750879,788,805,652,631.67249121,653,0.400982980068,-0.0153905083371,0.0598519899402,0.999999950051,0.000195172831363,-0.000247791054299,2.01404162151e-05,1793239067510460672
+78,1.300000000,BASELINE,767,745,715,679,662,636,879.252979175,788,804.747020825,652,632,653,0.400983943172,-0.0153914518158,0.0598527069369,0.999999950576,0.000193979507652,-0.000246581871815,2.04052356854e-05,1793239067527127040
+79,1.316666667,BASELINE,767,745,715,679,662,636,879.838540011,788,804.161459989,652,632,653,0.400984188233,-0.015391667041,0.0598530867267,0.999999950391,0.000195665303827,-0.000245994147046,2.04843592789e-05,1793239067543793664
+80,1.333333333,BASELINE,767,745,715.422188967,679,662,636.422188967,880,788.422188967,804,652,632,653,0.400983227284,-0.0153928272125,0.0598527145759,0.999999950602,0.000193784713645,-0.000246616677085,2.0588708478e-05,1793239067560460032
+81,1.350000000,BASELINE,766.994959928,745,716,679,662,636.994959928,880.005040072,788.994959928,804,652,632,653,0.400981815393,-0.0153943222082,0.0598520550221,0.999999950944,0.00019059913396,-0.00024770019672,2.06996550003e-05,1793239067577126400
+82,1.366666667,BASELINE,766.420026697,745,716,679,662,636.420026697,880.579973303,788.420026697,804,652,632,653,0.400981330659,-0.0153929985571,0.0598512676143,0.999999950139,0.000193380882519,-0.000248809928172,2.04706651372e-05,1793239067593794048
+83,1.383333333,BASELINE,766.154766505,745,716,678.845233495,662,636.154766505,880.845233495,788,804,652,632,653,0.400981222558,-0.0153916370695,0.0598508976569,0.999999949642,0.000195303742598,-0.000249320073921,2.0293406309e-05,1793239067610461440
+84,1.400000000,BASELINE,766.729180148,745,716,678.270819852,662,636.729180148,880.270819852,788,804,652,632,653,0.400982135689,-0.0153901729882,0.0598516596099,0.99999995,0.000194897739621,-0.000248204451962,2.02564153826e-05,1793239067627127552
+85,1.416666667,BASELINE,767,745.312777841,715.687222159,678.312777841,662,637,880,788,804,652,632,653,0.40098320035,-0.015390740061,0.0598524804594,0.999999950207,0.00019497939832,-0.000247291473454,2.04028967927e-05,1793239067643794176
+86,1.433333333,BASELINE,767,745.9045681,715.0954319,678.9045681,662,637,880,788,804,652,632,653,0.400984400183,-0.0153931190181,0.0598533538472,0.99999995028,0.000195496073998,-0.000246559262419,2.07130440838e-05,1793239067660461568
+87,1.450000000,BASELINE,767,745.515450062,715.484549938,679,662,636.515450062,879.515450062,788.484549938,804,652,632,653,0.400982920352,-0.0153921626852,0.0598526739842,0.999999950061,0.000195524575074,-0.000247449643003,2.04238403586e-05,1793239067677128192
+88,1.466666667,BASELINE,767,745,715.938022865,679,662,636,879,788.938022865,804,652,632,653,0.40098119132,-0.0153907975239,0.059851806835,0.99999994983,0.000195413774859,-0.000248495702812,2.00598243417e-05,1793239067693794304
+89,1.483333333,BASELINE,767,745,715.362949356,679,662,636,879,788.362949356,804,652,632,653,0.400981664455,-0.0153913565877,0.0598518615147,0.999999949988,0.000194926762478,-0.000248247894404,2.00304490416e-05,1793239067710461184
+90,1.500000000,BASELINE,767,745,715,679,662,636,879.211329811,788,803.788670189,652,632,652.788670189,0.40098158022,-0.0153922661013,0.0598516871848,0.999999950131,0.000193846533034,-0.000248501497591,2.01984117037e-05,1793239067727127808
+91,1.516666667,BASELINE,767,745,715,679,662,636,879.78424978,788,803.21575022,652,632,652.21575022,0.400980542315,-0.0153937752425,0.0598511210142,0.999999950248,0.000191751295625,-0.000249613027554,2.07040241528e-05,1793239067743794432
+92,1.533333333,BASELINE,767,745,715,679,662,636,879.628471517,788,803.371528483,652,632,652.371528483,0.400981258813,-0.0153938748345,0.0598514198404,0.999999950435,0.00019188074562,-0.00024876202618,2.06989872855e-05,1793239067760460800
+93,1.550000000,BASELINE,767,745,715,679,662,636,879.032519289,788,803.967480711,652,632,652.967480711,0.400983035067,-0.0153931229812,0.0598522411724,0.999999950663,0.000193354029608,-0.000246725547478,2.03854900463e-05,1793239067777127168
+94,1.566666667,BASELINE,766.457067211,745,715.542932789,678.457067211,662.542932789,636,879,788,804,652,632,653,0.400982873099,-0.0153924414893,0.059851922261,0.999999950401,0.00019418480161,-0.000247162337961,2.00417230411e-05,1793239067793793536
+95,1.583333333,BASELINE,766.117126993,745,715.882873007,678.117126993,662.882873007,636.117126993,879,788,804,652,632,653,0.400982479705,-0.0153918698623,0.0598515377825,0.999999950094,0.000194985201701,-0.000247793055729,1.97970413553e-05,1793239067810460160
+96,1.600000000,BASELINE,766.691030128,745,715.308969872,678.691030128,662.308969872,636.691030128,879,788,804,652,632,653,0.40098162005,-0.0153917108535,0.0598511542538,0.999999949723,0.000195811775902,-0.000248623364316,1.99455893793e-05,1793239067827126784
+97,1.616666667,BASELINE,766.727503342,745,715,679,662,636.727503342,879,788.272496658,804,652,632,653,0.400982067998,-0.0153916379709,0.0598515958625,0.999999949784,0.000196135057754,-0.000248110494182,2.01236967676e-05,1793239067843793664
+98,1.633333333,BASELINE,766.137216282,745,715,679,662,636.137216282,879,788.862783718,804,652,632,653,0.400984040896,-0.0153916655305,0.0598529997611,0.999999950345,0.000195871391157,-0.000246031185322,2.03362767983e-05,1793239067860460288
+99,1.650000000,BASELINE,766,745,715,678.556249075,662,636,879,788.556249075,804.443750925,652,632,653,0.400983498236,-0.0153925771273,0.0598524529315,0.999999950303,0.000195538964874,-0.000246474912748,2.02128819884e-05,1793239067877126656
+100,1.666666667,BASELINE,766.021672563,745,715.021672563,678.021672563,662,636,879.021672563,788,804.978327437,652,631.978327437,653,0.400982277849,-0.0153936621723,0.0598513834546,0.999999950109,0.000195156490205,-0.000247580920968,2.0001622463e-05,1793239067893793280
+101,1.683333333,BASELINE,766.593929845,745,715.593929845,678.593929845,662,636,879.593929845,788,804.406070155,652,631.406070155,653,0.400983194786,-0.0153923518097,0.0598520452319,0.99999995069,0.000194031590327,-0.000246099668181,2.01431852122e-05,1793239067910459904
+102,1.700000000,BASELINE,767,745,716,679,662,636,879.827984283,788.172015717,804,652,631.172015717,653,0.400984002372,-0.0153914867125,0.0598527382147,0.999999951124,0.000193247883517,-0.000244946628154,2.02278314651e-05,1793239067927126528
+103,1.716666667,BASELINE,767,745,716,679,662,636,879.23565662,788.76434338,804,652,631.76434338,653,0.400984542764,-0.0153917095999,0.0598535074465,0.999999951201,0.000193297865356,-0.000244595560087,2.01734050374e-05,1793239067943793152
+104,1.733333333,BASELINE,766.651506331,745.348493669,715.651506331,679,662.348493669,636.348493669,879.348493669,788.651506331,804,652,632,653,0.40098484559,-0.0153918284022,0.0598537558195,0.999999951096,0.000193757465999,-0.000244650175617,2.02918642391e-05,1793239067960460032
+105,1.750000000,BASELINE,766.072758868,745.927241132,715.072758868,679,662.927241132,636.927241132,879.927241132,788.072758868,804,652,632,653,0.400984991453,-0.0153918784343,0.0598536600552,0.999999950871,0.000194487706525,-0.000244972830952,2.05245509685e-05,1793239067977126912
+106,1.766666667,BASELINE,766.506106748,745.493893252,715,679,662.493893252,636.493893252,879.493893252,788,804,652,632,653,0.400983100299,-0.015392821657,0.0598525200175,0.999999950714,0.000193014957322,-0.000246803787882,2.01314463983e-05,1793239067993793792
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,879,788,804,652,631,653,0.400981835005,-0.0153941868856,0.0598516397405,0.999999950761,0.0001920766277,-0.000247300080626,2.06810683919e-05,1793239068037002240
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.588073005,745,716,678.411926995,662,636,879.588073005,788,804,652,631.588073005,653,0.40098238864,-0.0153931985952,0.0598518943531,0.999999951002,0.000190693552824,-0.000247420626077,2.03697227442e-05,1793239068053668864
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.826042663,745,715.826042663,678.173957337,662,636,879.826042663,788,804,652,632,653,0.400982748317,-0.0153926391946,0.0598520604654,0.999999951154,0.000189904983722,-0.000247434471216,2.0124360543e-05,1793239068070335232
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.245276542,745,715.245276542,678.754723458,662,636,879.245276542,788,804,652,632,653,0.400982654411,-0.015393082776,0.0598520196148,0.999999951099,0.000190506698731,-0.000247198791842,2.00333041919e-05,1793239068087001600
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.33189771,678.66810229,662,636,879.33189771,788,804,652,632,653,0.400983355605,-0.0153928757804,0.0598524865527,0.999999951176,0.000191247627259,-0.000246315231847,2.00232628688e-05,1793239068103668224
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715.906445911,678.093554089,662,636,879.906445911,788,804,652,632,653,0.400984638097,-0.0153921931477,0.059853324735,0.999999951347,0.000192090334786,-0.000244958006198,2.00724516565e-05,1793239068120335104
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.482490837,715.517509163,678.482490837,662,636,880,788,804,652,632,653,0.400983518482,-0.0153924355214,0.0598529379959,0.999999950949,0.000193021522877,-0.000245840556188,2.01687403202e-05,1793239068137001984
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.93961484,715,679,662,636,879.93961484,788,804,652,632,653,0.400982521471,-0.0153928211884,0.0598525207316,0.999999950574,0.000193727746038,-0.000246801068314,2.02708366836e-05,1793239068153668352
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.348012041,715,679,662,636,879.348012041,788,804,652,632,653,0.400986713178,-0.0153928846883,0.0598539308473,0.999999951384,0.000192303522229,-0.000244615034663,2.03434335666e-05,1793239068170334976
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.237325134,745,715,679,662,636,879,788.237325134,804,652.237325134,632,653,0.400997709138,-0.0153936412345,0.0598586846519,0.99999995354,0.000191087509361,-0.000236592110395,2.07414013156e-05,1793239068187001344
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.813710719,745,715,679,662,636,879,788.813710719,804,652.813710719,632,653,0.401018426165,-0.0153953879185,0.0598682155006,0.999999957434,0.000190168962313,-0.00022023016745,2.16042182275e-05,1793239068203667968
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.610295339,745,715.389704661,679,662,636,879.389704661,788.610295339,804,652.610295339,632,653,0.401058401004,-0.0153968370046,0.0598838052568,0.999999962925,0.0001912943531,-0.00019240742428,2.31502854882e-05,1793239068220334592
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.034488372,745,715.965511628,679,662,636,879.965511628,788.034488372,804,652.034488372,632,653,0.401107572355,-0.0153981439737,0.059902288427,0.999999968328,0.000193395820091,-0.00015911160835,2.5022636983e-05,1793239068237000960
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.448588332,679,662,636,879.448588332,788,803.448588332,652,631.448588332,653,0.40117261852,-0.0154025849688,0.0599199771979,0.999999972317,0.000193018212151,-0.000131860026144,2.68981501047e-05,1793239068253667840
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,788,803.135888734,652,631.135888734,653,0.401242383752,-0.015407113583,0.0599360592197,0.999999975469,0.000191684940897,-0.000107292160266,2.84080555657e-05,1793239068270334720
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,788,803.713647853,652,631.713647853,653,0.401324205214,-0.0154112778275,0.0599470811462,0.999999977893,0.000187757727552,-9.0198751292e-05,2.87284574607e-05,1793239068287001856
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715.292189745,679,662,636,879,788,804,652,632,653,0.401410777116,-0.0154163668574,0.0599538018248,0.999999979335,0.000185233262694,-7.86990528507e-05,2.87163535355e-05,1793239068303668480
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715.871500797,679,662,636,879,788,804,652,632,653,0.401502017051,-0.0154223646307,0.059956295866,0.999999980011,0.000184087213964,-7.2696035269e-05,2.83775115539e-05,1793239068320334592
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,716,678.553340678,661.553340678,636,879,788,804,652,632,653,0.401604458314,-0.0154264029555,0.059952477291,0.999999979629,0.000184470608038,-7.74408121895e-05,2.6749826206e-05,1793239068337001216
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.020593279,745,715.979406721,678.020593279,661.020593279,636.020593279,879,788,804,652,632,653,0.401711410033,-0.0154299902261,0.0599470219417,0.999999978936,0.000185205226385,-8.49368172253e-05,2.47716113899e-05,1793239068353667840
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.593429801,745,715.406570199,678.593429801,661.593429801,636.593429801,879,788,804,652,632,653,0.401853696394,-0.0154364593843,0.0599459261997,0.99999997933,0.000183667738213,-8.40574877101e-05,2.32450382963e-05,1793239068370334464
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,715.173711658,679,662,636.826288342,879.173711658,788,804,652,631.826288342,653,0.402006185251,-0.0154438588872,0.0599463666883,0.999999980158,0.000180679752396,-8.10003925351e-05,2.18798802445e-05,1793239068387001088
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,715.772199469,679,662,636.227800531,879.772199469,788,804,652,631.227800531,653,0.402183622199,-0.0154535333557,0.0599505637128,0.999999981981,0.000174144872962,-7.26180192145e-05,2.09094297206e-05,1793239068403667712
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.644851029,745,716,679,662,636.355148971,879.644851029,788,804,652,631.355148971,653,0.402381573548,-0.0154644328413,0.0599536965282,0.99999998389,0.000166796407339,-6.33161806563e-05,1.97484473102e-05,1793239068420334592
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.071450315,745,716,679,662,636.928549685,879.071450315,788,804,652,631.928549685,653,0.402592131747,-0.0154760851447,0.0599561753496,0.999999985769,0.000158947963263,-5.34492970106e-05,1.84703761461e-05,1793239068437001472
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.515179975,745,715.484820025,679.515179975,662,636.484820025,879,788,804,652,632,653,0.402838150108,-0.0154878251909,0.0599618053788,0.99999998781,0.000150090276841,-3.97345957255e-05,1.65607668918e-05,1793239068453668352
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,715.102082218,679.795835564,661.897917782,636,879,788,803.897917782,652,632,653,0.403092798273,-0.0154992330023,0.059966077398,0.999999989492,0.000141336061614,-2.88617609994e-05,1.4384191048e-05,1793239068470334976
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,715.681451403,678.637097194,661.318548597,636,879,788,803.318548597,652,632,653,0.403364195221,-0.015509029052,0.0599619027744,0.99999999042,0.000133737313709,-3.38369805263e-05,1.13797207416e-05,1793239068487001344
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.739982894,745,715.739982894,678,661.260017106,636.260017106,879,788,803.260017106,652,632,653,0.403649453506,-0.015516557501,0.0599547169845,0.999999993136,0.000108619535456,-4.31934702846e-05,8.06875800543e-06,1793239068503667968
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.162398543,745,715.162398543,678,661.837601457,636.837601457,879,788,803.837601457,652,632,653,0.403951641071,-0.0155213164558,0.0599438535606,0.999999996386,6.21052029886e-05,-5.7900945738e-05,4.38346638565e-06,1793239068520334592
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715.412388027,678.412388027,662,636.587611973,879,788,804,652,632,653,0.404270484592,-0.0155137234473,0.0599318399325,0.999999995233,5.49742780226e-05,-8.06919768822e-05,-1.87645715892e-07,1793239068537001216
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715.986080242,678.986080242,662,636.013919758,879,788,804,652,632,653,0.404595843025,-0.0155012990097,0.0599193764062,0.9999999923,6.32480413267e-05,-0.000106644863248,-5.10524342702e-06,1793239068553667840
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,879.576602891,788,804,652,632,653,0.404996343544,-0.0154986725543,0.059919884151,0.999999991952,6.92618483208e-05,-0.00010592162876,-8.92967965207e-06,1793239068570334464
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,716,678.835851614,662,636,880,788,804,652,632,653,0.405415458239,-0.0155002808179,0.0599263091276,0.99999999323,6.50064057949e-05,-9.57612845243e-05,-1.20225215974e-05,1793239068587001344
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,716,678.256887344,662,636,880,788,804,652,632,653,0.405876890401,-0.0155119748409,0.0599468722943,0.999999997289,3.4941777566e-05,-6.3428959792e-05,-1.33352613536e-05,1793239068603667968
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.320873852,715.679126148,678.320873852,662,636.320873852,880,788,804,652,632,653,0.406368265062,-0.0155207913464,0.0599710527925,0.999999999491,1.59168896029e-05,-2.33629049748e-05,-1.48032324408e-05,1793239068620334336
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.897675543,715.102324457,678.897675543,662,636.897675543,880,788,804,652,632,653,0.406883521804,-0.0155273127554,0.0599981184637,0.999999999588,5.69725586234e-06,2.28715488597e-05,-1.63950156159e-05,1793239068637000960
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.469262095,745.530737905,715.469262095,679,662,636.530737905,880,788,803.530737905,652,632,653,0.407390582341,-0.0155294079639,0.0600070937744,0.999999999196,-1.36493900755e-05,3.24759719663e-05,-1.91716856033e-05,1793239068653667840
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,715.958740726,679,662,636.041259274,880,788,803.041259274,652,632,653,0.407898399345,-0.0155303337211,0.0600109334932,0.99999999866,-3.39121745368e-05,3.20522888631e-05,-2.2401394032e-05,1793239068670334464
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,715.366230283,679,662,636.633769717,880,788,803.633769717,652,632,653,0.408439939595,-0.0155283881504,0.0599982824945,0.999999998791,-4.01173197483e-05,3.18944595058e-06,-2.82699559591e-05,1793239068687001088
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.779187644,745,715,679,662,636.779187644,879.779187644,788,804.220812356,652.220812356,632,653,0.409000687057,-0.0155273867141,0.0599889670254,0.999999998102,-4.82891263584e-05,-1.83251271531e-05,-3.35788137358e-05,1793239068703667712
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.20099458,745,715,679,662,636.20099458,879.20099458,788,804.79900542,652.79900542,632,653,0.409592521005,-0.015527913342,0.0599850500499,0.999999997109,-5.96439376749e-05,-2.79466599741e-05,-3.79818003914e-05,1793239068720334336
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.376263532,788,805,652.623736468,632,653,0.410227755229,-0.0155313047008,0.0599913030023,0.999999996123,-7.61578133566e-05,-1.36242448113e-05,-4.20568611816e-05,1793239068737000960
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.953023427,788,805,652.046976573,632,653,0.410886115773,-0.0155362225647,0.0600029751183,0.999999994301,-9.54207555471e-05,1.34569794477e-05,-4.59571827171e-05,1793239068753667840
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,652,632,653,0.411537868235,-0.0155385654902,0.0599998997732,0.999999997658,-5.73115863775e-05,1.19315533143e-05,-3.54569297137e-05,1793239068770334720
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804.874402845,652,631.874402845,653,0.412190554714,-0.0155377667806,0.0599890013543,0.999999999481,-1.7391850537e-05,-6.82551656782e-06,-2.62354570199e-05,1793239068787001344
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804.294972508,652,631.294972508,653,0.41284873328,-0.0155264410994,0.0599545601775,0.999999996503,1.06878622478e-05,-7.86817466069e-05,-2.62487546267e-05,1793239068803667712
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.282677813,745,715,679,662,636,880,788,804,652,631.282677813,653,0.413539019991,-0.0155217957413,0.0599324391443,0.999999992183,1.53368334353e-05,-0.000120624144594,-2.91469606937e-05,1793239068820334080
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.858482392,745,715,679,662,636,880,788,804,652,631.858482392,653,0.414262601779,-0.0155240776376,0.0599230936545,0.999999990725,-4.31103155445e-06,-0.000131546979517,-3.5036713601e-05,1793239068837000960
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745,715,679,662,636,880,788,804,652,632,653,0.415072149211,-0.0155339612118,0.0599620592157,0.999999997365,-2.19822079368e-05,-5.99978364692e-05,-3.44393473965e-05,1793239068853667840
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.991331543,745,715.008668457,679,662,636,880,788,804,652,631.991331543,653,0.415908821625,-0.0155461853436,0.0600161554502,0.999999998051,-3.87924274873e-05,3.72231352927e-05,-3.17519093224e-05,1793239068870334976
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.400084061,745,715.599915939,679,662,636,880,788,804,652,631.400084061,653,0.41668582094,-0.0155492331009,0.0600291172726,0.999999997251,-4.10303383701e-05,5.36180847772e-05,-3.06662550569e-05,1793239068887001600
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.187244705,745,715.812755295,679,662.187244705,636,880.187244705,788,804.187244705,652,631.187244705,653,0.417473809065,-0.0155501228864,0.0600304624334,0.999999997202,-4.19716367986e-05,5.34935798361e-05,-3.11996286275e-05,1793239068903667968
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.766371993,745,715.233628007,679,662.766371993,636,880.766371993,788,804.766371993,652,631.766371993,653,0.418284795514,-0.0155464962738,0.0600074951976,0.999999998399,-4.01992677476e-05,1.87956717504e-05,-3.51214495355e-05,1793239068920334592
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.657826277,745,715.342173723,679,663,636,880.657826277,788.342173723,805,652,631.657826277,653,0.419089090177,-0.0155461599833,0.0599857984234,0.999999998242,-4.24967658421e-05,-1.56658566643e-05,-3.8280889856e-05,1793239068937000960
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.084273326,745,715.915726674,679,663,636,880.084273326,788.915726674,805,652,631.084273326,653,0.419888859795,-0.015548048622,0.0599649607412,0.999999996784,-4.75463242933e-05,-4.9967542786e-05,-4.09248052255e-05,1793239068953667584
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715.510817897,679,662.510817897,636,880,789,804.510817897,652,631.489182103,653,0.42067636038,-0.0155469482105,0.0599359772876,0.999999992947,-4.90392389888e-05,-9.87491862995e-05,-4.41670449783e-05,1793239068970334464
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.065140741,745,715.065140741,679,662,636.065140741,880,788.934859259,804,652,631.934859259,653,0.421467218886,-0.0155455879545,0.0599082489084,0.999999987002,-4.9453919531e-05,-0.000145983827228,-4.7313418012e-05,1793239068987001344
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.661655561,745,715.661655561,679,662,636.661655561,880,788.338344439,804,652,631.338344439,653,0.422302706748,-0.0155463077205,0.0599022035173,0.999999984905,-4.60702305198e-05,-0.000160254496551,-4.88371199204e-05,1793239069003667968
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.750954623,745,715.750954623,679.249045377,662,636.750954623,880,788,804,652,631.249045377,653,0.423197265697,-0.0155505566248,0.0599284120618,0.999999990823,-4.69612246968e-05,-0.000118003699689,-4.71609945348e-05,1793239069020334592
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.175523473,745,715.175523473,679.824476527,662,636.175523473,880,788,804,652,631.824476527,653,0.42416924022,-0.0155594306321,0.0599968909169,0.999999997717,-5.34543929504e-05,-1.67884231947e-06,-4.12913435271e-05,1793239069037001216
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.399596114,745,715.399596114,679.600403886,662.399596114,636,880.399596114,788,804,652,632,653,0.425076097601,-0.0155619219606,0.0600330358497,0.999999995822,-5.816915996e-05,5.87943440428e-05,-3.89296437625e-05,1793239069053667840
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.974578917,745,715.974578917,679.025421083,662.974578917,636,880.974578917,788,804,652,632,653,0.425954374365,-0.0155616118676,0.0600549890999,0.999999992856,-6.21033688264e-05,9.47536723303e-05,-3.81076189801e-05,1793239069070334464
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745,715.438241344,679,662.438241344,636,881,788,804.561758656,651.438241344,632,653,0.426794341186,-0.015563498378,0.0600379198934,0.999999993758,-6.72746832005e-05,7.94335639678e-05,-4.05960374482e-05,1793239069087000832
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745,715,679,662.147749246,636,880.704501509,788,804.852250754,651.147749246,631.852250754,653,0.427633465504,-0.0155652160244,0.0600176006664,0.999999994816,-7.31479237422e-05,5.60133734812e-05,-4.33507351274e-05,1793239069103667456
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745,715,679,662.728600179,636,879.542799643,788,804.271399821,651.728600179,631.271399821,653,0.428475314741,-0.0155661408276,0.0599930457921,0.999999995524,-8.09109959657e-05,1.58023874e-05,-4.64371066924e-05,1793239069120334080
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.693826048,745,715,679,662.693826048,636,879.612347905,788,804,652,631.306173952,652.693826048,0.429301419267,-0.0155644210979,0.0599649453163,0.999999994779,-8.30122366191e-05,-3.29217847376e-05,-4.96688174418e-05,1793239069137000960
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.119126492,745,715,679,662.119126492,636,880.761747017,788,804,652,631.880873508,652.119126492,0.430113715067,-0.0155603820175,0.0599337352213,0.999999991412,-8.01478461732e-05,-8.91123260455e-05,-5.30279956696e-05,1793239069153668096
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.466139315,662.466139315,636,881,788,804.466139315,651.533860685,631.533860685,652,0.430971699157,-0.0155620390031,0.0599444106203,0.9999999935,-7.95751939955e-05,-6.19352091028e-05,-5.32063260323e-05,1793239069170334976
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.053382248,745,715,679.946617752,663,636,881,788,804.946617752,651,631.053382248,652.053382248,0.431841158448,-0.0155655169113,0.0599675338583,0.999999995336,-8.02056866225e-05,-1.26237573077e-05,-5.23110737292e-05,1793239069187001344
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.632880056,745,715,679.367119944,663,636,881,788,804.367119944,651,631.632880056,652.632880056,0.432705968187,-0.0155722617093,0.0600053944115,0.999999994232,-8.67878436182e-05,3.99869808349e-05,-4.90324174755e-05,1793239069203667968
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745,715.211715209,679,663,636,881,788,804.211715209,651.211715209,632,652.788284791,0.433545179823,-0.0155759215781,0.060023213382,0.99999999262,-9.29503724207e-05,6.20419713576e-05,-4.76517250471e-05,1793239069220334592
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745,715.789404978,679,663,636,881,788,804.789404978,651.789404978,632,652.210595022,0.434340142278,-0.0155742487859,0.0600063881331,0.999999993443,-9.83875260566e-05,3.12777783244e-05,-4.95518852453e-05,1793239069237001216
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.635235139,745,715.635235139,679.364764861,663,636,881,788,805,652,632,652.364764861,0.435123149839,-0.0155725331086,0.0599807870378,0.999999993764,-9.76486439054e-05,-1.23290432017e-05,-5.27695011523e-05,1793239069253667840
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.0612119,745,715.0612119,679.9387881,663,636,881,788,805,652,632,652.9387881,0.435899299067,-0.0155707928291,0.0599501514144,0.999999992028,-9.3366691824e-05,-6.33034245116e-05,-5.67429151035e-05,1793239069270334208
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.524578847,745,715,679.475421153,663,636.524578847,881,788.524578847,805,652,632,653,0.436631221217,-0.0155699624198,0.0599410323745,0.999999990423,-9.84764264719e-05,-7.79541253546e-05,-5.8139569286e-05,1793239069287001600
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.889247589,745,715,679.110752411,663,636.889247589,881,789,804.889247589,651.889247589,632,653,0.437352910768,-0.0155684760808,0.0599333109899,0.999999988637,-0.000102915992538,-9.30132879388e-05,-5.90188632661e-05,1793239069303668736
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.307420243,745,715,679.692579757,663,636.307420243,881,789,804.307420243,651.307420243,632,653,0.438053531397,-0.0155637378575,0.0599206102329,0.999999985061,-9.97368134787e-05,-0.000128251671244,-5.90058590227e-05,1793239069320335104
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715.27196646,680,663,636,881,788.72803354,804,651,632,653,0.438779801945,-0.015562306621,0.0599281488842,0.999999986121,-9.77278746919e-05,-0.000121836297867,-5.8001127002e-05,1793239069337001728
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715.848618854,680,663,636,881,788.151381146,804,651,632,653,0.439534808232,-0.0155645802255,0.0599583618879,0.999999991367,-9.70299644183e-05,-6.87559258026e-05,-5.58853553289e-05,1793239069353668096
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715.577471407,680,662.577471407,636,880.577471407,788,804.422528593,651,632,653,0.440261425289,-0.0155713173029,0.0599924826253,0.999999993077,-0.000103316547201,-1.8060309065e-05,-5.3350546551e-05,1793239069370334464
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715.004537908,680,662.004537908,636,880.004537908,788,804.995462092,651,632,653,0.440977936868,-0.0155796432156,0.0600279943772,0.999999991929,-0.000112089356826,3.1786425307e-05,-5.06665754538e-05,1793239069387000832
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766.671870372,745,715,680,663,635.328129628,880.328129628,788,804.328129628,651.328129628,631.671870372,653,0.443183195621,-0.0155940094947,0.0598646441064,0.999999961452,-0.000162658174575,-0.000214313549392,-6.86128609182e-05,1793239069453668352
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679.811272419,663,635,881,787.188727581,804.188727581,651,631.188727581,653,0.446015220532,-0.0156255876145,0.059780693633,0.999999901158,-0.000240333947488,-0.000364625289026,-8.34946154227e-05,1793239069553667584
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+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745.752632843,715,679.752632843,661.247367157,634,881,786,804.247367157,651.247367157,631,653,0.450415362897,-0.0156694405791,0.0596667622822,0.999999825941,-0.000261126308659,-0.000524394866271,-7.02917704889e-05,1793239070370334208
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745.177029173,715,679.177029173,661.822970827,634,881,786,804.822970827,651.822970827,631,653,0.450416845902,-0.0156655840874,0.0596673510938,0.999999827523,-0.000257259940303,-0.0005231597808,-7.12386738289e-05,1793239070387000832
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745.406719762,715,679.406719762,661.593280238,634.406719762,880.593280238,786,805,651.593280238,631,653,0.45041671074,-0.015664950719,0.059667114791,0.999999827561,-0.000256719242868,-0.000523304786226,-7.15873156873e-05,1793239070403667712
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745.994086427,715,679.994086427,661.005913573,634.994086427,880.005913573,786,805,651.005913573,631,653,0.450415856859,-0.0156657489195,0.0596665120089,0.999999826918,-0.000257655661394,-0.000524062766979,-7.16702362363e-05,1793239070420334080
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,745.42621614,715,680,661,634.42621614,880,786,805,651,631,653,0.450416518877,-0.0156663902638,0.0596672959845,0.999999826661,-0.000258569883872,-0.000524170863499,-7.11636159275e-05,1793239070437000960
+252,4.200000000,HOLD_POSE2,765,745,715,680,661,634,881,786,805,651,631,653,0.450418248018,-0.0156666009769,0.059668216523,0.999999827501,-0.000258036336764,-0.00052285763081,-7.09531822582e-05,1793239070478150400
+253,4.216666667,HOLD_POSE2,765.575910967,745,715,680,661.575910967,634,880.424089033,786,805,651,631,653,0.45041697605,-0.0156671106335,0.0596667597087,0.999999826109,-0.000259418904069,-0.000524832827514,-7.09544223797e-05,1793239070494817024
+254,4.233333333,HOLD_POSE2,766,745,715,680.151517949,661.848482051,634,880.151517949,786,805,651,631,653,0.450415769578,-0.0156669602093,0.059665625357,0.999999825114,-0.000259930654917,-0.000526459573895,-7.1058521368e-05,1793239070511483648
+255,4.250000000,HOLD_POSE2,766,745,715,680.726275931,661.273724069,634,880.726275931,786,805,651,631,653,0.450414746062,-0.0156649659602,0.0596653917501,0.999999825239,-0.000258009926055,-0.00052711298307,-7.14499393872e-05,1793239070528150272
+256,4.266666667,HOLD_POSE2,766,745.311426853,715.311426853,680.688573147,661.311426853,634,881,786,805,651.311426853,631,653,0.450415015609,-0.0156651331346,0.059665683319,0.999999825416,-0.000258103850467,-0.000526740253634,-7.13811278432e-05,1793239070544817152
+257,4.283333333,HOLD_POSE2,766,745.906027831,715.906027831,680.093972169,661.906027831,634,881,786,805,651.906027831,631,653,0.450416460911,-0.0156672656477,0.0596664524197,0.999999825639,-0.000260029658379,-0.000525434477122,-7.08938388627e-05,1793239070561483776
+258,4.300000000,HOLD_POSE2,766,745.517147085,715.517147085,680.482852915,661.517147085,634,881,786,805,652,631,653,0.450417079821,-0.015666753473,0.0596670491428,0.999999826594,-0.00025824992501,-0.000524548742521,-7.04816665517e-05,1793239070578150144
+259,4.316666667,HOLD_POSE2,765.943433418,745.056566582,715,680.943433418,661.056566582,634,880.943433418,786,805,651.943433418,631,653,0.450417349138,-0.0156658339861,0.0596674075652,0.999999827412,-0.000256149972424,-0.000524057249773,-7.01996272628e-05,1793239070594817024
+260,4.333333333,HOLD_POSE2,765.367652068,745.632347932,715,680.367652068,661.632347932,634,880.367652068,786,805,651.367652068,631,653,0.450415833426,-0.0156657324928,0.0596658756635,0.999999825748,-0.000257495214146,-0.000526460726465,-7.0982634608e-05,1793239070611483648
+261,4.350000000,HOLD_POSE2,765,746,715,680,662,634.213017376,880.213017376,786,804.786982624,651,631,652.786982624,0.450415514739,-0.0156657719003,0.059665379161,0.999999825091,-0.000258472219935,-0.000527184502571,-7.13232370928e-05,1793239070628150528
+262,4.366666667,HOLD_POSE2,765,746,715,680,662,634.802321382,880.802321382,786,804.197678618,651,631,652.197678618,0.450417310552,-0.0156660602033,0.0596667116494,0.999999826218,-0.000258798751616,-0.000524941154891,-7.08823491006e-05,1793239070644817152
+263,4.383333333,HOLD_POSE2,765.385213568,746,715.385213568,680,661.614786432,634.614786432,881,786,804.385213568,651,631,652.385213568,0.450417365968,-0.0156654520753,0.059666205827,0.999999826143,-0.000258449737593,-0.000525231626953,-7.10574213367e-05,1793239070661484032
+264,4.400000000,HOLD_POSE2,765.964869348,746,715.964869348,680,661.035130652,634.035130652,881,786,804.964869348,651,631,652.964869348,0.450416542893,-0.0156643914606,0.0596647720902,0.999999825461,-0.000257759731975,-0.000526801081579,-7.15434085141e-05,1793239070678150400
+265,4.416666667,HOLD_POSE2,766,745.459624716,715.459624716,680,661,634,880.459624716,786,805,651,630.459624716,653,0.450417543902,-0.0156639829949,0.059665878505,0.999999826482,-0.000256239107818,-0.000525622566965,-7.1398440145e-05,1793239070694817280
+266,4.433333333,HOLD_POSE2,766,745,715,680,661.23593297,634,880.117966485,786,805,651.117966485,630.117966485,653,0.45041842963,-0.0156637137174,0.0596668818782,0.999999827273,-0.0002553627106,-0.000524566243516,-7.1239687649e-05,1793239070711483904
+267,4.450000000,HOLD_POSE2,766,745,715,680,662.409824528,634,880.704912264,786,805,651.704912264,630.704912264,653,0.450418389205,-0.0156638305197,0.0596668240944,0.999999826719,-0.000257260498256,-0.000524700509383,-7.11879670231e-05,1793239070728150528
+268,4.466666667,HOLD_POSE2,766,745,715,680,662.423109207,634,881,786,805,651.711554604,631,653,0.450418428399,-0.015664456947,0.0596668121092,0.99999982656,-0.00025815656113,-0.000524579551269,-7.10666230673e-05,1793239070744817152
+269,4.483333333,HOLD_POSE2,766,745,715,680,661.262943835,634,881,786,805,651.131471918,631,653,0.450418548095,-0.0156655986386,0.0596668464292,0.999999826803,-0.000258039814173,-0.000524200544897,-7.08748853433e-05,1793239070761483776
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,662,634,881,786,805,651,631,653,0.45041756322,-0.0156654408222,0.0596656453673,0.999999825175,-0.000260489217413,-0.000526077029325,-7.09821471992e-05,1793239070794144768
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.42592971,680,661.42592971,634,880.42592971,786,805,651,631,653,0.450417684451,-0.0156637795245,0.0596658402371,0.999999826221,-0.000257187898641,-0.000525746803114,-7.07359327862e-05,1793239070810811392
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.84829827,745.15170173,715,680,661,634,880.15170173,786,805.15170173,651.15170173,631,653,0.450418094066,-0.0156629581031,0.0596662292904,0.999999827184,-0.000254921367837,-0.000525050683234,-7.04939546227e-05,1793239070827477760
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.260427776,745.739572224,715,680,661,634,880.739572224,786,805.739572224,651.739572224,631,653,0.450419332834,-0.015664551471,0.0596671766553,0.999999827935,-0.000255630031012,-0.000523302555583,-7.02641563548e-05,1793239070844144384
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.322644428,746,715,680,661,634,881,786,805.677355572,651.677355572,630.677355572,653,0.450419004166,-0.0156647970493,0.0596669902538,0.999999827324,-0.000257051969615,-0.000523727787542,-7.06011682624e-05,1793239070860811264
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.901900332,746,715,680,661,634,881,786,805.098099668,651.098099668,630.098099668,653,0.450417428855,-0.0156639706787,0.0596659021244,0.999999825625,-0.000259041203452,-0.000525881575778,-7.13889860346e-05,1793239070877477888
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,634,881,786,805,651,630.479246053,653,0.450417599696,-0.0156626450031,0.0596662975304,0.999999826323,-0.000257289050247,-0.000525469363977,-7.09828845774e-05,1793239070894144512
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.944085878,715,680,661,634,880.944085878,786,805,651,631,653,0.450417407146,-0.0156614158335,0.0596666052042,0.999999827116,-0.000255136089443,-0.00052508315688,-7.0430208858e-05,1793239070910811392
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.370088122,715,680,661,634,880.370088122,786,805,651,631,653,0.450410548829,-0.0156620241084,0.0596632974002,0.999999824305,-0.000256337297319,-0.00052978538616,-7.07748774614e-05,1793239070927478016
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.789956457,745,715,680,661.210043543,634,880,786,805,651.210043543,631,653,0.450397723792,-0.0156620936332,0.0596569279192,0.999999819063,-0.000257611520991,-0.000538901336102,-7.1384512798e-05,1793239070944144640
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.198692047,745,715,680,661.801307953,634,880,786,805,651.801307953,631,653,0.450374069389,-0.0156611853476,0.0596450016138,0.999999809245,-0.000259018265321,-0.000556028016854,-7.24750524053e-05,1793239070960811008
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.384156306,745.384156306,715,680,661.615843694,634,880,786,805,652,631,653,0.450332440239,-0.0156585940444,0.0596284964252,0.999999795385,-0.000257964430644,-0.000580689211329,-7.40501304831e-05,1793239070977477888
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.962745108,745.962745108,715,680,661.037254892,634,880,786,805,652,631,653,0.450281713553,-0.0156551509179,0.0596096737317,0.999999778899,-0.000255665226528,-0.000609163839914,-7.58704473953e-05,1793239070994144512
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,634,880.538798691,786,805,652,631,653,0.450219277398,-0.0156529388416,0.059595402314,0.999999768782,-0.000255657776964,-0.000625493423152,-7.63704618278e-05,1793239071010811136
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.883043225,745.883043225,715,680,661.116956775,634,881,786.116956775,805,652,631,653,0.450152174891,-0.0156500535607,0.0595828178622,0.999999759812,-0.000254889197838,-0.000639927022784,-7.68153868415e-05,1793239071027477760
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.295719577,745.295719577,715,680,661.704280423,634,881,786.704280423,805,652,631,653,0.45006954653,-0.0156441201155,0.059575758216,0.999999754335,-0.000250425268244,-0.000650096985619,-7.74041869374e-05,1793239071044144384
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.711846894,634,880.711846894,786.711846894,805,651.711846894,631,653,0.449979379782,-0.0156384717638,0.0595717887609,0.999999751376,-0.000246735031212,-0.000656023786869,-7.74764164015e-05,1793239071060811008
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.131473916,634,880.131473916,786.131473916,805,651.131473916,631,653,0.449881568261,-0.0156331125297,0.0595709531098,0.999999751057,-0.000243829406318,-0.000657647541333,-7.70247847331e-05,1793239071077477632
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.444874307,745,715,680,661,634,880,786,805,651,631,653,0.449761606875,-0.0156266878221,0.0595700936268,0.999999750168,-0.000240695999666,-0.00066023430399,-7.62938770289e-05,1793239071094144512
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745.020088778,715,680,661,634.020088778,880.020088778,786,804.979911222,651,631,653,0.449634073112,-0.0156198734221,0.0595690746954,0.999999749007,-0.000237415410997,-0.000663265796015,-7.54937246568e-05,1793239071110811136
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745.596550403,715,680,661,634.596550403,880.596550403,786,804.403449597,651,631,653,0.449476486532,-0.0156109088435,0.0595638330414,0.999999745306,-0.000231906172266,-0.000670802903134,-7.50411508508e-05,1793239071127478016
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.822734041,715.177265959,680,661,635,880.822734041,786,804.354531918,651,631,653,0.449310479,-0.0156019421107,0.0595606271554,0.999999743486,-0.000227579064153,-0.000675055922654,-7.43964455046e-05,1793239071144144640
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.232098754,715.767901246,680,661,635,880.232098754,786,805.535802491,651,631,653,0.449124834537,-0.0155929703557,0.0595621685099,0.999999746216,-0.000226008586152,-0.000671650724797,-7.33037056202e-05,1793239071160811264
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.648539311,680,661,635,880.351460689,786.351460689,805.648539311,651,631,653,0.44892081985,-0.0155813955887,0.0595665465976,0.999999751251,-0.000219684746459,-0.000666392598851,-7.18174324272e-05,1793239071177477888
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715.069560359,680,661,635,880.930439641,786.930439641,805.069560359,651,631,653,0.44870491317,-0.0155681357595,0.0595727610462,0.999999757678,-0.000210283815394,-0.000659934978528,-7.00764051247e-05,1793239071194144512
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.505022004,634.494977996,880.494977996,786.494977996,805,651,631,653,0.448456872827,-0.0155561024632,0.0595776845504,0.999999763598,-0.000201478864053,-0.000653942389414,-6.75977786937e-05,1793239071210810880
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.919348137,634,880,786,805,651,631,653,0.448201539059,-0.0155441997284,0.0595831563352,0.999999770169,-0.000192844244987,-0.00064671544821,-6.50490470223e-05,1793239071227477760
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.534458846,788,803.534458846,652,632,652.465541154,0.403413813481,-0.0153712762181,0.0597829141011,0.999999911425,0.000227772981677,-0.000353095054681,2.43615702623e-05,1793239072360811264
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715.111285492,678.888714508,661.111285492,636,879.888714508,788,804,652,631.888714508,652.111285492,0.403142768203,-0.015371242162,0.0597945903613,0.999999917922,0.000235973691641,-0.000328279656697,2.6540476236e-05,1793239072377477888
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715.701646438,678.298353562,661.701646438,636,879.298353562,788,804,652,631.298353562,652.701646438,0.402908173276,-0.0153704786884,0.0598178498964,0.999999927093,0.00024555288011,-0.000290918373724,2.97470082107e-05,1793239072394144768
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715.713293485,678.286706515,661.713293485,636,879.286706515,788,804,652,631,653,0.402684567871,-0.0153698925696,0.0598359348614,0.999999934161,0.000249678553829,-0.000261314340002,3.24412315202e-05,1793239072410811648
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715.133649513,678.866350487,661.133649513,636,879.866350487,788,804,652,631,653,0.402472190838,-0.0153694876601,0.0598487327966,0.999999939879,0.000248232192165,-0.000239636144909,3.46120120838e-05,1793239072427478272
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.443371253,744.556628747,715,678.556628747,661.443371253,636,880,788,804,652,631.443371253,653,0.40226698684,-0.0153676518841,0.0598479309483,0.999999940916,0.000239146320583,-0.00024476646952,3.26410590248e-05,1793239072444144896
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.980054564,744.019945436,715.019945436,678.019945436,661.980054564,636,880,788,804,652,632,653,0.402065137158,-0.0153655749731,0.0598429031566,0.999999940664,0.000226442001238,-0.000257969034477,2.91053978733e-05,1793239072460811520
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.393841349,744.606158651,715.606158651,678.606158651,661.393841349,636,880,788,804,652,632,653,0.401897492618,-0.0153688255325,0.0598336012217,0.999999947312,0.000176002156573,-0.000272268350912,1.63833079775e-05,1793239072477478144
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715.809870857,678.809870857,661.190129143,636,879.809870857,788,804,652,631.809870857,653,0.401741689598,-0.015374071886,0.0598280840022,0.99999995003,0.000144184378169,-0.000281210984568,8.42686690016e-06,1793239072494144512
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.348649055,745,715,678,662,636,879,788,804,652,631.348649055,653,0.401498021856,-0.0153892878169,0.0598334478009,0.999999948151,0.000165186061544,-0.000276164173247,1.2021047499e-05,1793239072527478016
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.499120374,745,715,678.500879626,662,636,879,788,804,652,632,653,0.401321305533,-0.0153904118589,0.0598382438177,0.999999945541,0.000188114410591,-0.000270787510602,1.43248987789e-05,1793239072560811776
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,879,788,804,652,632,653,0.401249746021,-0.0153871499692,0.0598391829188,0.999999945917,0.000188861073567,-0.000268848082143,1.47397334811e-05,1793239072577478400
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,879,788,804,652,632,653,0.401147907607,-0.015383261228,0.0598430875929,0.999999946963,0.000194490797238,-0.000260718209981,1.65315568868e-05,1793239072610811136
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,879.558283976,788,804,652,632,653,0.401022905811,-0.015381827415,0.0598389737464,0.99999994523,0.000194234377309,-0.000267450223885,1.68359412863e-05,1793239072677478400
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,879.864596696,788,803.864596696,652,631.864596696,653,0.40100805778,-0.0153810898431,0.059838670601,0.999999944958,0.000195563101925,-0.000267484048708,1.70919023853e-05,1793239072694145792
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,879.277456882,788,803.277456882,652,631.277456882,653,0.401001411063,-0.0153815247361,0.0598414224378,0.99999994579,0.000197783305266,-0.000262677451361,1.73949757127e-05,1793239072710812416
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715.306857483,679,662,636,879,788,803.306857483,652,631.306857483,653,0.400996602559,-0.0153828803147,0.0598433982255,0.999999946792,0.00019684846257,-0.000259519339562,1.77684447823e-05,1793239072727479040
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,716,678.534965427,662,636,879,788,804,652,632,653,0.400989620674,-0.0153860405612,0.0598444291356,0.999999948275,0.000190546078279,-0.000258494235873,1.79822468615e-05,1793239072760812032
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715.959022767,678.040977233,662,636,879,788,804,652,632,653,0.400985888144,-0.0153867069079,0.0598438955494,0.999999948392,0.000188526929414,-0.000259542923025,1.76458679061e-05,1793239072777478656
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715.372097989,678.627902011,662,636,879,788,804,652,632,653,0.400985402606,-0.0153869839612,0.0598444038708,0.999999948466,0.000189607886614,-0.000258451182634,1.78747055093e-05,1793239072794145280
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.788001755,636,879,788,804.211998245,652,632,653,0.40098532784,-0.0153868737497,0.0598448943677,0.99999994837,0.000191369542816,-0.000257516188682,1.79820043646e-05,1793239072810811904
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.208804832,636,879,788,804.791195168,652,632,653,0.400985964568,-0.0153860927632,0.0598453539907,0.999999947975,0.00019431022651,-0.000256852692724,1.7878787938e-05,1793239072827478784
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.369373622,636,879,788,804.630626378,652,631.630626378,653,0.400984823121,-0.0153859371751,0.0598454465174,0.999999947721,0.000194994037566,-0.000257322392932,1.7877949147e-05,1793239072844145408
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.946977903,636,879,788,804.053022097,652,631.053022097,653,0.400982679245,-0.0153861341491,0.0598453320973,0.999999947549,0.000194405559299,-0.000258430921092,1.79348247206e-05,1793239072860812032
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.522105324,662,636,879.522105324,788,804,652,631.522105324,653,0.400983088407,-0.0153878844773,0.0598453652724,0.999999948474,0.000191090117291,-0.000257315395439,1.80360814461e-05,1793239072877478656
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.900412036,662,636,879.900412036,788,804,652,632,652.900412036,0.400983580768,-0.0153892621244,0.0598454041656,0.999999949203,0.000188501314387,-0.000256384091242,1.80998147602e-05,1793239072894145024
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.310090276,662,636,879.310090276,788,804,652,632,652.310090276,0.400983211534,-0.0153880296677,0.0598453977244,0.999999948482,0.000190851323873,-0.000257468279124,1.79565415994e-05,1793239072910811648
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,879.275249134,788,804.275249134,652,632,652.275249134,0.400983213792,-0.0153874195593,0.0598457576557,0.99999994819,0.00019274566548,-0.000257192561935,1.79409080901e-05,1793239072927478272
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,879.855075397,788,804.855075397,652,632,652.855075397,0.400983627127,-0.0153874981107,0.0598465229969,0.999999948375,0.000194135787762,-0.000255412040944,1.80665143113e-05,1793239072944145152
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.569956072,662,636,879.569956072,788,804.139912143,652,632,653,0.400984868779,-0.0153868715904,0.059847603953,0.999999949019,0.000192893175542,-0.000253834189706,1.79524428791e-05,1793239072960812032
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,662,636,879.003409291,788,803.003409291,652,632,653,0.400986370533,-0.0153860235836,0.0598487781476,0.999999949806,0.000190779067056,-0.000252339629843,1.77596159753e-05,1793239072977478400
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,678,662,636,879.579400348,788,803.579400348,652,632,653,0.400985198226,-0.015387437531,0.0598479478197,0.999999949731,0.000189643048933,-0.000253491008694,1.77538122228e-05,1793239072994144768
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.160050097,662,636,880,788,804,652,632,653,0.40098463654,-0.0153881935422,0.0598476321562,0.999999949759,0.000189156882004,-0.000253748687419,1.76900169269e-05,1793239073010811136
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.753309542,662,636,880,788,804,652,632,653,0.400985727626,-0.0153871687099,0.0598487095403,0.999999950068,0.000190429674479,-0.00025158737817,1.74692552872e-05,1793239073027477760
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.337351257,745,715,679,661.662648743,636,879.662648743,788,804,652,631.662648743,653,0.400984779932,-0.0153865826128,0.0598481774661,0.999999949702,0.000191641970707,-0.000252125185137,1.73579056315e-05,1793239073044144384
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.914831697,745,715,679,661.085168303,636,879.085168303,788,804,652,631.085168303,653,0.40098238102,-0.0153863088108,0.0598464997674,0.999999948855,0.000192811205191,-0.000254584243577,1.73244362645e-05,1793239073060811264
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.510628906,745,715.489371094,678.510628906,661.489371094,636,879,788,804,652,631,653,0.400982268231,-0.0153874180915,0.0598467747377,0.999999949242,0.000190780957641,-0.00025458470931,1.74825348812e-05,1793239073077477632
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,716,678.063237006,662,636,879,788,804,652,631.063237006,653,0.40098270266,-0.0153886110955,0.0598474004307,0.999999949799,0.000188635050398,-0.000253979358025,1.7693415744e-05,1793239073094144512
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,716,678.635776164,662,636,879,788,804,652,631.635776164,653,0.400984359077,-0.0153885513586,0.059848130161,0.999999950052,0.000190015445181,-0.000251920373806,1.80624876065e-05,1793239073110811392
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715.782494915,679,662,636,879,788,804,652,632,653,0.400984596209,-0.0153885912911,0.0598484272681,0.999999950113,0.000190452813644,-0.000251346050014,1.80740896288e-05,1793239073127478016
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715.184698281,679,662,636,879,788,804,652,632,653,0.400982351824,-0.0153888054884,0.0598479679654,0.999999949844,0.000189241370578,-0.000253367544797,1.74606821429e-05,1793239073144144640
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.602967842,662,636,879.397032158,788,804,652,632,653,0.400982077856,-0.0153882094302,0.0598482984124,0.999999949803,0.000189706389388,-0.000253177843952,1.74823590538e-05,1793239073160811264
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.02842071,662,636,879.97157929,788,804,652,632,653,0.40098268487,-0.015387251103,0.0598489819603,0.999999949865,0.000190920962376,-0.000251999506867,1.77879852664e-05,1793239073177477888
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.545707247,662,636,879.454292753,788,804,652,631.454292753,653,0.400984633244,-0.0153880390742,0.0598495878716,0.99999995049,0.000189701023408,-0.000250432309819,1.77940994564e-05,1793239073194144512
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..162ade93b38440505b66bcdd6930e59656238ea9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,416 @@
+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,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+2,0.033333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+3,0.050000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+4,0.066666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
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+6,0.100000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+7,0.116666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+8,0.133333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
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+11,0.183333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+12,0.200000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+13,0.216666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
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+375,6.250000000,pose2_to_pose3_retreat,0.576037581557,-0.00990922420987,1.05003214121,0.546608032232,-0.0012374876415,1.04970027518
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+378,6.300000000,pose2_to_pose3_retreat,0.57585282897,-0.00990903081196,1.05003226171,0.54642327801,-0.00123729968551,1.04970039839
+379,6.316666667,pose2_to_pose3_retreat,0.575809274196,-0.00990919790962,1.0500325069,0.546379725116,-0.00123746083656,1.04970063218
+380,6.333333333,pose2_to_pose3_retreat,0.575773269498,-0.00990916310867,1.05003252581,0.546343720375,-0.00123742633903,1.04970064704
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+382,6.366666667,pose2_to_pose3_retreat,0.575719882146,-0.00990925429112,1.05003231975,0.546290335334,-0.00123750928438,1.04970045147
+383,6.383333333,pose2_to_pose3_retreat,0.575702894779,-0.00990917558902,1.05003238027,0.546273346841,-0.00123743458185,1.04970050742
+384,6.400000000,pose2_to_pose3_retreat,0.575690856719,-0.00990916383597,1.05003238946,0.546261307893,-0.00123742591181,1.04970051485
+385,6.416666667,pose2_to_pose3_retreat,0.575683216132,-0.00990927028693,1.05003237558,0.546253667558,-0.00123753135984,1.04970050432
+386,6.433333333,pose2_to_pose3_retreat,0.575677915944,-0.0099092343103,1.05003238645,0.546248367054,-0.00123749655321,1.04970051253
+387,6.450000000,pose2_to_pose3_retreat,0.575674426401,-0.00990916532004,1.05003240206,0.546244877101,-0.00123742910292,1.04970052434
+388,6.466666667,pose2_to_pose3_retreat,0.575671979085,-0.00990918185845,1.05003236112,0.546242430121,-0.00123744439979,1.04970048616
+389,6.483333333,pose2_to_pose3_retreat,0.575670307024,-0.00990924074866,1.05003229512,0.546240758746,-0.00123750073999,1.04970042602
+390,6.500000000,pose2_to_pose3_retreat,0.57566919826,-0.00990927979952,1.05003225135,0.546239650435,-0.00123753809989,1.04970038614
+391,6.516666667,pose2_to_pose3_retreat,0.575668486774,-0.00990930485814,1.05003222326,0.546238939241,-0.00123756207345,1.04970036055
+392,6.533333333,pose2_to_pose3_retreat,0.575668045091,-0.00990928047699,1.0500322705,0.546238497449,-0.00123753806724,1.04970040766
+393,6.550000000,pose2_to_pose3_retreat,0.575667733092,-0.00990925503231,1.05003231718,0.546238185313,-0.00123751310328,1.0497004539
+394,6.566666667,pose2_to_pose3_retreat,0.575667497553,-0.00990923582321,1.05003235242,0.546237949671,-0.0012374942571,1.04970048882
+395,6.583333333,pose2_to_pose3_retreat,0.575667126391,-0.00990920555352,1.05003240795,0.546237578346,-0.0012374645593,1.04970054384
+396,6.600000000,pose2_to_pose3_retreat,0.575666909423,-0.00990918785891,1.05003244041,0.546237361282,-0.00123744719899,1.049700576
+397,6.616666667,pose2_to_pose3_retreat,0.57566678163,-0.00990917743692,1.05003245953,0.546237233434,-0.0012374369739,1.04970059494
+398,6.633333333,pose2_to_pose3_retreat,0.575666541601,-0.00990915786168,1.05003249545,0.5462369933,-0.00123741776849,1.04970063052
+399,6.650000000,pose2_to_pose3_retreat,0.575666165487,-0.00990912718814,1.05003255172,0.546236617021,-0.00123738767447,1.04970068627
+400,6.666666667,pose2_to_pose3_retreat,0.575665897643,-0.00990910534441,1.05003259179,0.546236349059,-0.00123736624343,1.04970072598
+401,6.683333333,pose2_to_pose3_retreat,0.57566572854,-0.00990909928575,1.05003257197,0.546236179719,-0.0012373610079,1.04970070562
+402,6.700000000,pose2_to_pose3_retreat,0.575665488187,-0.00990909426871,1.05003252281,0.546235938955,-0.00123735742229,1.04970065557
+403,6.716666667,pose2_to_pose3_retreat,0.575665478021,-0.0099090940565,1.05003252073,0.546235928771,-0.00123735727063,1.04970065345
+404,6.733333333,pose2_to_pose3_retreat,0.575665021515,-0.00990908452754,1.05003242736,0.546235471483,-0.00123735046042,1.04970055839
+405,6.750000000,pose2_to_pose3_retreat,0.575664702939,-0.00990908741995,1.05003235487,0.546235152539,-0.00123735461772,1.04970048548
+406,6.766666667,pose2_to_pose3_retreat,0.575664574126,-0.0099091375943,1.0500322879,0.54623502449,-0.00123740205573,1.04970042225
+407,6.783333333,pose2_to_pose3_retreat,0.575664482968,-0.00990917310118,1.05003224051,0.546234933873,-0.00123743562618,1.0497003775
+408,6.800000000,pose2_to_pose3_retreat,0.575664470731,-0.00990917786786,1.05003223415,0.546234921708,-0.0012374401329,1.04970037149
+409,6.816666667,pose2_to_pose3_retreat,0.575664468786,-0.00990917862535,1.05003223313,0.546234919775,-0.00123744084907,1.04970037054
+410,6.833333333,pose2_to_pose3_retreat,0.575664456105,-0.00990918356461,1.05003222654,0.546234907169,-0.00123744551897,1.04970036431
+411,6.850000000,pose2_to_pose3_retreat,0.57566445492,-0.00990918402617,1.05003222593,0.546234905991,-0.00123744595535,1.04970036373
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+414,6.900000000,pose2_to_pose3_retreat,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.0012375826454,1.04970046032
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09a1ff9ad8d70a7071d1d21b698818690417ecd4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c5c2f8037943505578c22644093d0ea248c69437458d937812d8d483f5ab852
+size 26392890
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6763500e4d6e9e09cffd9355535b9cf73c5d133b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_04/franka_data.csv
@@ -0,0 +1,417 @@
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+35,0.583333333,BASELINE,766.705688402,745,715.705688402,678,662,636,879,788.705688402,804,652,632,653,0.400984279555,-0.0153919033341,0.0598509274408,0.999999951379,0.000188402801829,-0.000247829815573,1.8101238202e-05,1793239073933758208
+36,0.600000000,BASELINE,766.11346707,745,715.11346707,678,662,636,879,788.11346707,804,652,632,653,0.400983938077,-0.0153907052923,0.0598504383559,0.999999951103,0.000187802147162,-0.000249443061012,1.74159115281e-05,1793239073950424832
+37,0.616666667,BASELINE,766,745,715.469476544,678.469476544,662,636,879,788,804.469476544,652,631.530523456,653,0.400984107594,-0.0153901921672,0.0598506799496,0.999999951013,0.000189190135973,-0.000248747782777,1.74546514116e-05,1793239073967091456
+38,0.633333333,BASELINE,766,745,715.950414059,679,661.950414059,636,879,788,804.950414059,652,631.049585941,653,0.400984363083,-0.0153899556627,0.0598510859289,0.999999950994,0.000190727834261,-0.000247634558781,1.76534762934e-05,1793239073983758336
+39,0.650000000,BASELINE,766,745,715.377015969,679,661.377015969,636,879,788,804.377015969,652,631.622984031,653,0.400984247386,-0.0153909265079,0.059851399066,0.999999951283,0.000188868149392,-0.000247886013691,1.77305832543e-05,1793239074000424960
+40,0.666666667,BASELINE,766.197410007,745,715,679,661.197410007,636,879.197410007,788,803.802589993,652,631.802589993,653,0.400984307374,-0.0153918703382,0.0598514806977,0.999999951534,0.000187511100993,-0.000247900590105,1.78207030214e-05,1793239074017091328
+41,0.683333333,BASELINE,766.773809292,745,715,679,661.773809292,636,879.773809292,788,803.226190708,652,631.226190708,653,0.400984704639,-0.0153927623052,0.0598511178835,0.999999951714,0.000187119018136,-0.000247460405315,1.79358048717e-05,1793239074033758208
+42,0.700000000,BASELINE,766.640006332,745,715.359993668,678.640006332,661.640006332,636,880,788,803,652,631.359993668,653,0.400985018207,-0.0153909538252,0.059851236803,0.999999951462,0.000189504415326,-0.000246679115183,1.76978815175e-05,1793239074050424832
+43,0.716666667,BASELINE,766.04750204,745,715.95249796,678.04750204,661.04750204,636,880,788,803,652,631.95249796,653,0.400985277715,-0.0153874011959,0.0598516668619,0.999999950916,0.000193683715249,-0.000245677513922,1.72319482848e-05,1793239074067091456
+44,0.733333333,BASELINE,766,745,716,678.529797752,661.529797752,636,879.470202248,788,804.059595505,652,632,653,0.400983843885,-0.0153890024642,0.0598511817551,0.999999950892,0.000191673921816,-0.000247326521948,1.74842369875e-05,1793239074083758336
+45,0.750000000,BASELINE,766,745,715.894356938,679,662,636,879,788,804.894356938,652,632,653,0.400983027884,-0.0153908715958,0.0598509412394,0.999999951062,0.000189353150103,-0.000248407413815,1.77442022153e-05,1793239074100425216
+46,0.766666667,BASELINE,766,745,715.319086449,679,662,636,879,788,804.319086449,652,632,653,0.400985614487,-0.0153919345638,0.0598521426234,0.999999951919,0.000188047974803,-0.000245935788053,1.7760010715e-05,1793239074117091840
+47,0.783333333,BASELINE,766,745,715,679,662,636,879,788,804,652,632,653,0.400985993111,-0.0153922112955,0.0598521346495,0.999999951999,0.000188041794562,-0.000245610267614,1.7807075543e-05,1793239074133758464
+48,0.800000000,BASELINE,766,745,715,679,662,636,879,788,804,652,632,653,0.400983621616,-0.0153915087414,0.0598506203765,0.999999951114,0.000189653559676,-0.000247957798977,1.78930712656e-05,1793239074150426112
+49,0.816666667,BASELINE,766,745,715,678.571034201,662,636,879,788,804,652,632,653,0.400983821091,-0.0153908028012,0.059850827973,0.999999951155,0.000189916211002,-0.000247596431403,1.78278969013e-05,1793239074167092992
+50,0.833333333,BASELINE,766,745,715,678.009416668,662,636,879,788,804,652,631.990583332,653,0.40098490722,-0.0153901356824,0.059851629504,0.999999951526,0.000189653821853,-0.000246305447251,1.77141130194e-05,1793239074183759360
+51,0.850000000,BASELINE,766,745,715,678.585983821,662,636,879,788,804,652,631.414016179,653,0.400984689716,-0.0153918787608,0.0598515645978,0.999999952031,0.000186475701938,-0.000246665436353,1.78892715162e-05,1793239074200425984
+52,0.866666667,BASELINE,766,745,715,679,662,636,879,788,803.837532595,652,631,653,0.400984817706,-0.0153927980487,0.0598517924444,0.999999952418,0.000184762055013,-0.000246376724331,1.80236247086e-05,1793239074217092352
+53,0.883333333,BASELINE,766,745,715,679,662,636,879,788,803.261261897,652,631,653,0.400985825668,-0.0153916191484,0.0598527659305,0.99999995252,0.000186778410284,-0.000244435775263,1.8054047079e-05,1793239074233758720
+54,0.900000000,BASELINE,766,745,715.322171749,679,662,636,879,788,803.322171749,652,631.322171749,653,0.400985836589,-0.0153912635155,0.0598531946263,0.999999952416,0.00018776903935,-0.000244099899321,1.80515619344e-05,1793239074250425344
+55,0.916666667,BASELINE,766,745,715.91154617,679,662,636,879,788,803.91154617,652,631.91154617,653,0.400985020585,-0.0153915906837,0.0598531714843,0.999999952147,0.00018790895194,-0.000245095238358,1.80217839673e-05,1793239074267091968
+56,0.933333333,BASELINE,766,745,715.507489794,678.507489794,662,636,879.492510206,788,804,652,631.507489794,653,0.400986567653,-0.0153912819941,0.0598534123406,0.999999952384,0.00018775781026,-0.000244246753835,1.79739890505e-05,1793239074283758592
+57,0.950000000,BASELINE,766,745,715,678.07133211,662,636,880,788,804,652,631.07133211,653,0.40098792653,-0.0153910025131,0.0598534276785,0.999999952557,0.000187726261956,-0.000243564230681,1.79157487732e-05,1793239074300425472
+58,0.966666667,BASELINE,766,745,715,678.645522153,662,636,880,788,804,652,631.645522153,653,0.400985017143,-0.0153917204708,0.0598515245858,0.999999951656,0.000188900102359,-0.000246346893991,1.78063015609e-05,1793239074317092352
+59,0.983333333,BASELINE,766.225257522,744.774742478,715,679,662,636,879.774742478,788,804,652,632,653.225257522,0.400983985527,-0.0153920917186,0.059850821826,0.999999951396,0.000188832772327,-0.00024745486856,1.77979645211e-05,1793239074333758976
+60,1.000000000,BASELINE,766.813939666,744.186060334,715,679,662,636,879.186060334,788,804,652,632,653.813939666,0.400985983456,-0.0153919035937,0.0598520556517,0.999999952175,0.000186762970422,-0.00024586094436,1.79527559834e-05,1793239074350425344
+61,1.016666667,BASELINE,767,744.396289288,715,678.603710712,662,636,879.396289288,788,804,652,632,653.603710712,0.400987004688,-0.0153911012528,0.0598533095974,0.999999952431,0.000187591101644,-0.000244179522435,1.80135115955e-05,1793239074367091712
+62,1.033333333,BASELINE,767,744.975712479,715,678.024287521,662,636,879.975712479,788,804,652,632,653.024287521,0.400987574568,-0.0153900150691,0.059854572841,0.99999995244,0.000189758430948,-0.000242457666,1.80308111855e-05,1793239074383758336
+63,1.050000000,BASELINE,766.446813739,745,715.553186261,678.553186261,662,636.553186261,880,788,804,652,632,653,0.400985817198,-0.0153918436931,0.0598529633954,0.999999952131,0.000188140990495,-0.00024499003729,1.79126791117e-05,1793239074400424704
+64,1.066666667,BASELINE,766,745,715.870196331,679,662,636.870196331,879.870196331,788,804,652,632,653,0.400984740053,-0.015393085607,0.0598519531717,0.99999995193,0.000187128067217,-0.00024658372749,1.78566465971e-05,1793239074417091328
+65,1.083333333,BASELINE,766,745,715.296217532,679,662,636.296217532,879.296217532,788,804,652,632,653,0.400986338983,-0.0153918834816,0.0598534234958,0.999999952176,0.000188750359692,-0.000244328443888,1.80333880477e-05,1793239074433758208
+66,1.100000000,BASELINE,766,745.285887811,715,679,662,636,879.285887811,788,804,652,632,653,0.400986356097,-0.0153912161845,0.0598532016355,0.999999952116,0.000189073382014,-0.000244325815727,1.80020624705e-05,1793239074450425088
+67,1.116666667,BASELINE,766,745.87665964,715,679,662,636,879.87665964,788,804,652,632,653,0.40098468629,-0.0153911192532,0.0598511751513,0.999999951732,0.000188010802288,-0.000246725523939,1.77488445543e-05,1793239074467091712
+68,1.133333333,BASELINE,766.456374453,745.543625547,715,678.543625547,662.456374453,636,879.543625547,788,804,652,632,653,0.400984235615,-0.0153912913262,0.0598510083538,0.999999951657,0.000187725820768,-0.000247252230326,1.76428360515e-05,1793239074483758592
+69,1.150000000,BASELINE,766.966796371,745,715.033203629,678,662.966796371,636,879,788,804,652,632,653,0.400984177137,-0.015391528681,0.0598513837282,0.999999951683,0.00018768505502,-0.000247180825993,1.75966437156e-05,1793239074500425472
+70,1.166666667,BASELINE,766.389444161,745,715.610555839,678,662.389444161,636,879,788,804,652,632,653,0.400985274138,-0.015391672624,0.0598526024344,0.999999952002,0.00018828395846,-0.00024540693295,1.78941496921e-05,1793239074517092096
+71,1.183333333,BASELINE,766.186487648,745,716,678,662,636,879.186487648,788,804,652,632,653,0.400985831845,-0.0153919035631,0.0598531989458,0.999999952192,0.000188379176208,-0.000244552785835,1.80034085222e-05,1793239074533758464
+72,1.200000000,BASELINE,766.759475748,745,716,678,662,636,879.759475748,788,804,652,632,653,0.400985271852,-0.0153923148036,0.059852505943,0.999999952117,0.000187430492507,-0.000245604835497,1.77225203509e-05,1793239074550425088
+73,1.216666667,BASELINE,766.654904059,744.654904059,715.654904059,678.345095941,662,636,879.654904059,788,804,652,632,653,0.400985016451,-0.0153929385699,0.0598522078103,0.999999952152,0.000186649452887,-0.000246061260226,1.76830886951e-05,1793239074567091712
+74,1.233333333,BASELINE,766.060145087,744.060145087,715.060145087,678.939854913,662,636,879.060145087,788,804,652,632,653,0.400984981411,-0.0153937160898,0.0598521953502,0.999999952266,0.000185989697072,-0.000246086774213,1.78183411311e-05,1793239074583758592
+75,1.250000000,BASELINE,766,744.516889885,715,679,662,636,879,788,804,652,632,653,0.400984310885,-0.0153917203575,0.059851624671,0.999999951553,0.000188874837847,-0.000246802157038,1.75851173849e-05,1793239074600425216
+76,1.266666667,BASELINE,766,745,715,679,662,636,879,788,804,652,631.908394485,653,0.400983887418,-0.0153897986408,0.0598511843974,0.999999950934,0.000191515204928,-0.000247290450751,1.7387243885e-05,1793239074617092096
+77,1.283333333,BASELINE,766,745,715,679,662,636,879,788,804,652,631.335388671,653,0.40098513799,-0.0153899054719,0.0598517594513,0.999999951346,0.000190773458355,-0.000246177498095,1.75929893272e-05,1793239074633758976
+78,1.300000000,BASELINE,766,745,715.245188224,679,662,636,879,788,804,652,631.245188224,653,0.400985374098,-0.0153899624711,0.0598519482335,0.999999951426,0.000190639768419,-0.000245950244969,1.76944105265e-05,1793239074650425600
+79,1.316666667,BASELINE,766,745,715.836451395,679,662,636,879,788,804,652,631.836451395,653,0.400984178324,-0.0153899491342,0.0598515918062,0.999999951036,0.00019136433008,-0.000246973127098,1.76485815409e-05,1793239074667091968
+80,1.333333333,BASELINE,766.418907269,745,715.581092731,679,662,636,879,788,803.581092731,652,632,653,0.400984170657,-0.0153899585675,0.0598514782252,0.999999950823,0.000192255555063,-0.000247136874633,1.77721207218e-05,1793239074683758592
+81,1.350000000,BASELINE,766.997995475,745,715.002004525,679,662,636,879,788,803.002004525,652,632,653,0.400984617297,-0.0153899767077,0.0598514575032,0.999999950676,0.000193210508498,-0.000246972108061,1.79604225652e-05,1793239074700425216
+82,1.366666667,BASELINE,766.425685437,745,715,678.425685437,662,636,879,788,803.574314563,652,632,653,0.400984115792,-0.015390661473,0.0598515408907,0.999999951301,0.000190195055412,-0.00024681176454,1.75665631946e-05,1793239074717091584
+83,1.383333333,BASELINE,766,745,715,678.153356994,662,636,879,788,804,652,632,653,0.400984117235,-0.0153912463114,0.0598519369593,0.99999995188,0.000187899347072,-0.000246239097851,1.73211676085e-05,1793239074733758464
+84,1.400000000,BASELINE,766,745,715,678.740123306,662,636,879,788,804,652,632,653,0.400985549391,-0.0153915421981,0.0598532156882,0.999999952345,0.000187676718531,-0.000244501102066,1.75010672507e-05,1793239074750425344
+85,1.416666667,BASELINE,766.322687607,745,715,678.677312393,662,636,879,788,804.322687607,652,631.677312393,653,0.400984612839,-0.0153913554438,0.0598526052635,0.999999951952,0.000188249407163,-0.0002456638043,1.75355792199e-05,1793239074767092224
+86,1.433333333,BASELINE,766.901911282,745,715,678.098088718,662,636,879,788,804.901911282,652,631.098088718,653,0.400981793168,-0.0153907849906,0.0598504929649,0.999999950868,0.000189454371529,-0.000249132556343,1.74545082395e-05,1793239074783759104
+87,1.450000000,BASELINE,767,745,715,678.481234686,661.518765314,636,879,788,804.037530628,652,631.481234686,653,0.400982859718,-0.0153902701933,0.0598512315414,0.999999951374,0.00018836672753,-0.000247924046075,1.74235999944e-05,1793239074800425472
+88,1.466666667,BASELINE,766.939980095,745,715,678.939980095,661.12003981,636,879,788,803.060019905,652,631.939980095,653,0.400984611943,-0.0153898409048,0.0598524258529,0.999999952096,0.000187109217358,-0.000245958980749,1.74030965641e-05,1793239074817091584
+89,1.483333333,BASELINE,766.365977733,745,715,678.365977733,662.268044534,636,879,788,803.634022267,652,631.365977733,653,0.400985451238,-0.0153900467087,0.0598525456877,0.999999951922,0.000188399586329,-0.000245680895704,1.73841188605e-05,1793239074833758208
+90,1.500000000,BASELINE,766.213319242,745,715,678,662.786680758,636,879,788,804,652,631.213319242,653,0.400985712736,-0.0153903242033,0.0598525008121,0.999999951815,0.00018896053269,-0.000245681166108,1.74300580845e-05,1793239074850424832
+91,1.516666667,BASELINE,766.801930969,745,715,678,662.198069031,636,879,788,804,652,631.801930969,653,0.400984957716,-0.0153907278233,0.0598521661616,0.999999951828,0.00018823820592,-0.00024617114721,1.7590205643e-05,1793239074867091456
+92,1.533333333,BASELINE,767,745,715,678.3835354,662,636,879,788,804,652,631.6164646,653,0.400986092061,-0.015391002379,0.0598531386649,0.999999952249,0.000188693055349,-0.000244104026944,1.76055724483e-05,1793239074883758080
+93,1.550000000,BASELINE,767,745,715,678.961586039,662,636,879,788,804,652,631.038413961,653,0.400988184624,-0.015391211478,0.0598547741093,0.999999952867,0.000189744925765,-0.000240740037689,1.75475117233e-05,1793239074900424960
+94,1.566666667,BASELINE,766.460891278,745,715,679,662,636,879,788,804,652,631,653,0.400986922281,-0.0153913158919,0.0598539060343,0.999999952436,0.000189370132963,-0.000242824350479,1.74296630046e-05,1793239074917091840
+95,1.583333333,BASELINE,766.115828802,745,715,679,662,636,879,788,804,652,631.115828802,653,0.400985520074,-0.0153914380373,0.0598530016155,0.999999951992,0.000189027523246,-0.000244911001631,1.73900053391e-05,1793239074933758464
+96,1.600000000,BASELINE,766.689524947,745,715,679,662,636,879,788,804,652,631.689524947,653,0.400984509029,-0.0153916597326,0.059852657999,0.999999951814,0.000189213582729,-0.000245473791924,1.76762580551e-05,1793239074950425344
+97,1.616666667,BASELINE,766.460988102,745,715.269505949,678.730494051,662,636,879,788,804,652,632,653,0.40098383646,-0.0153916773003,0.0598520884492,0.999999951725,0.000188597530993,-0.000246308149001,1.77095469495e-05,1793239074967091968
+98,1.633333333,BASELINE,765.286199913,745,715.856900044,678.143099956,662,636,879,788,804,652,632,653,0.400983563132,-0.015391454095,0.0598512524063,0.999999951738,0.000187035371567,-0.000247462824987,1.74444594809e-05,1793239074983758592
+99,1.650000000,BASELINE,765.44099409,745,715.55900591,678.44099409,661.55900591,636,879.44099409,788,804,652,632,653,0.40098334464,-0.015391028088,0.0598511751224,0.999999951479,0.000188392163782,-0.000247476789915,1.74611115832e-05,1793239075000425216
+100,1.666666667,BASELINE,766,745,715,679,661.023641141,636,879.976358859,788,804,652,631.976358859,653,0.400983227878,-0.0153905906917,0.0598513806007,0.999999951173,0.00019056533833,-0.000247044420622,1.75726012239e-05,1793239075017091840
+101,1.683333333,BASELINE,766,745,715,679,661.597351352,636,879.402648648,788,804,652,631.402648648,653,0.400985067177,-0.015391408104,0.05985247904,0.999999951861,0.00018985882294,-0.000244775559872,1.77793427079e-05,1793239075033758464
+102,1.700000000,BASELINE,766.169168001,744.830831999,715,678.830831999,662,636,879,788,804,652,631.169168001,653,0.400985825421,-0.0153919829401,0.0598531106126,0.999999952255,0.000189207359887,-0.000243655157436,1.7990754542e-05,1793239075050425088
+103,1.716666667,BASELINE,766.736527463,744.263472537,715,678.263472537,662,636,879,788,804,652,631.736527463,653,0.400984039054,-0.0153919867944,0.0598526432634,0.999999951962,0.000188685480369,-0.000245238022421,1.82131595227e-05,1793239075067091968
+104,1.733333333,BASELINE,766.677139065,744.322860935,715,678.322860935,662,636,879,788,804,651.677139065,632,653,0.400983723773,-0.0153914056652,0.0598526527277,0.999999951705,0.00018951064578,-0.0002456463152,1.82442414681e-05,1793239075083758848
+105,1.750000000,BASELINE,766.074354896,744.925645104,715,678.925645104,662,636,879,788,804,651.074354896,632,653,0.400984683937,-0.0153903173502,0.0598530755934,0.999999951478,0.000191503710776,-0.000245036243856,1.81094447059e-05,1793239075100425472
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,803,652,632,653,0.400984270462,-0.0153886828133,0.0598513174967,0.999999951564,0.000189933220914,-0.000245985412041,1.70022218478e-05,1793239075131481344
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.42288949,636,879,788,803.57711051,652,632,653,0.400984444846,-0.0153918100917,0.0598517193913,0.999999951908,0.000188104250062,-0.000245937538858,1.77537973863e-05,1793239075148148480
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.156430236,745,715.156430236,679,662,636,879,788,804,652,631.843569764,653,0.400984400399,-0.0153938733233,0.0598518712434,0.999999952053,0.000186953590785,-0.000246193697275,1.82184100224e-05,1793239075164815872
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.74180799,745,715.74180799,679,662,636,879,788,804,652,631.25819201,653,0.400983755893,-0.0153930188319,0.0598513374536,0.999999951657,0.000187662929986,-0.000247283541059,1.7896141549e-05,1793239075181482240
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.673819687,745,715.673819687,679,662,636,879,788,803.673819687,652,631.326180313,653,0.400984221753,-0.0153925797573,0.0598514715767,0.999999951774,0.000187965338197,-0.000246584717534,1.77842709864e-05,1793239075198148864
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.090240812,745,715.090240812,679,662,636,879,788,803.090240812,652,631.909759188,653,0.400985563834,-0.0153924685007,0.0598521327696,0.999999952295,0.000187946625048,-0.000244474403513,1.78384316754e-05,1793239075214815488
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678.514845889,662,636,879,788,803.485154111,652,632,653,0.400984435373,-0.015392481536,0.059852013756,0.99999995216,0.000187043815604,-0.000245719555395,1.77732390862e-05,1793239075231482112
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678.058838896,662.058838896,636,879,788,804,652,631.941161104,653,0.400983126822,-0.015392528659,0.0598518692939,0.999999951953,0.000186137075496,-0.00024725306141,1.77134819988e-05,1793239075248148480
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,678.630665449,662.630665449,636,879,788,804,652,631.369334551,653,0.400984188135,-0.0153926747593,0.0598527472167,0.999999952184,0.000186606004898,-0.000245949356825,1.78914566174e-05,1793239075264814848
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.788578843,636,879,788,804,652,631.211421157,652.788578843,0.40098686357,-0.0153918283923,0.0598539712477,0.999999952348,0.000188464514014,-0.000243850477876,1.79184922464e-05,1793239075281481728
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.191536902,636,879,788,804,652,631.808463098,652.191536902,0.40099248308,-0.0153891718185,0.0598558265613,0.999999952375,0.000192857541518,-0.000240301243923,1.76702232806e-05,1793239075298148608
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,678.608568788,662,636,879.391431212,788,804,652,632,652.391431212,0.401012555746,-0.0153908455171,0.05986500999,0.999999955909,0.00019246995319,-0.0002253628768,1.86593476502e-05,1793239075314814976
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,678.032248279,662,636,879.967751721,788,804,652,632,652.967751721,0.401039455241,-0.0153945645837,0.0598776547934,0.999999960757,0.000189824280796,-0.00020504494634,2.02329445088e-05,1793239075331481856
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,678.539598295,662,636.539598295,879.460401705,788,804,652,632,653,0.401092307715,-0.0153974886937,0.0598966069017,0.999999967195,0.000189665024876,-0.000170709061892,2.22512833316e-05,1793239075348148480
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,678.885011148,662,636.885011148,879,788,804,652,632,653,0.401149505408,-0.0154006542002,0.0599153915359,0.999999972409,0.000188670870251,-0.00013786572527,2.40661793453e-05,1793239075364815104
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,678.29384644,662,636.29384644,879,788,804,652,632,653,0.401218326801,-0.0154050144667,0.0599319345329,0.999999976262,0.000183609060967,-0.000114643805676,2.49294454323e-05,1793239075381481728
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,879,788,804,652,631.70858072,653,0.401295759925,-0.0154089929902,0.0599455337475,0.999999978673,0.000182195709447,-9.37667993491e-05,2.57996766634e-05,1793239075398148096
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,879,788,804,652,631.12914514,653,0.401381704216,-0.0154125942282,0.0599562235539,0.999999979817,0.000184388212029,-7.52073255397e-05,2.66767916566e-05,1793239075414814720
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.551375715,715,678.448624285,662,636,879.448624285,788,804,652,631.448624285,653,0.401474880029,-0.015417891025,0.0599588624346,0.999999980333,0.000183660756096,-7.00389546211e-05,2.64122890359e-05,1793239075431481344
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.026265251,715,678.973734749,662,636,879.973734749,788,804,651.973734749,632,653,0.401570685897,-0.0154236900836,0.0599589307442,0.999999980726,0.000181950100953,-6.91303532749e-05,2.57685488704e-05,1793239075448147968
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.611340092,715,678.388659908,662,636,879.388659908,788,804,651.388659908,632,653,0.401678321556,-0.0154298288852,0.0599534347834,0.999999981047,0.00017713866845,-7.71393540672e-05,2.40223707298e-05,1793239075464814592
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,678.194581672,661.805418328,636,879,788,803.805418328,651.194581672,632,653,0.401799365004,-0.0154360971319,0.0599498254303,0.999999981439,0.000173393269285,-8.09773889162e-05,2.23355736968e-05,1793239075481481216
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,678.774195582,661.225804418,636,879,788,803.225804418,651.774195582,632,653,0.401946939359,-0.0154426215197,0.059949949239,0.999999982103,0.000171757304751,-7.65620434698e-05,2.07662783872e-05,1793239075498148352
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.353695322,636,879,788,803.353695322,652,632,653,0.402117666592,-0.0154510736455,0.0599518871802,0.999999983212,0.000168255656647,-6.99133504232e-05,1.94573409105e-05,1793239075514814976
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.933122255,636,879,788,803.933122255,652,632,653,0.40230317022,-0.015460756072,0.0599549829173,0.999999984544,0.000163563311947,-6.1839313944e-05,1.83145660439e-05,1793239075531481600
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.50772505,745,715,679,661.49227495,636.50772505,879,788,804,652,632,653,0.402520076149,-0.0154706259818,0.0599567130951,0.999999986238,0.000155915526586,-5.43340890952e-05,1.61978871804e-05,1793239075548148224
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.918361703,745,715,678.918361703,661.081638297,636.918361703,879,788,804,652,631.918361703,653,0.402745361309,-0.015480739567,0.0599585338039,0.999999987843,0.000148097613348,-4.67456175581e-05,1.40184815732e-05,1793239075564814848
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.344810292,745,715,678.344810292,661.655189708,636.344810292,879,788,804,652,631.344810292,653,0.40299644686,-0.0154921740259,0.0599619736309,0.999999989173,0.000141578195581,-3.82083309856e-05,1.22268103789e-05,1793239075581481216
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715.237182522,678.237182522,662.237182522,636,879,788,804,652,631.237182522,653,0.40325887417,-0.0155029900068,0.059963580557,0.999999990244,0.000135576083722,-3.20920735287e-05,1.00482822421e-05,1793239075598147840
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715.831900088,678.831900088,662.831900088,636,879,788,804,652,631.831900088,653,0.403538398325,-0.0155128736774,0.0599624245207,0.999999991039,0.00013035377252,-2.96253382594e-05,7.28659609089e-06,1793239075614814720
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715.588156375,679,662.588156375,636,879,788,804,652,632,653,0.403834936556,-0.0155167775234,0.0599532724804,0.999999992333,0.000115440589599,-4.45943374195e-05,4.39328625472e-06,1793239075631481600
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715.014034254,679,662.014034254,636,879,788,804,652,632,653,0.404138178825,-0.0155183251425,0.0599409697794,0.999999993116,9.67089183512e-05,-6.64335285837e-05,1.44811287906e-06,1793239075648148480
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,788,804.562676392,652,632,653,0.404487466561,-0.0155013938872,0.0599283368956,0.999999993315,7.3235469675e-05,-8.93457255696e-05,-4.97987916122e-06,1793239075664815360
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.141837686,745,715,679,662,636,879,788,804.858162314,652,632,653,0.404849030573,-0.0154893470132,0.0599193530474,0.999999992722,5.64241445283e-05,-0.000106112503084,-1.05963468088e-05,1793239075681482496
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.728480739,745,715,679,662,636,879,788,804.271519261,652,632,653,0.405245474879,-0.0154940697128,0.0599218385844,0.999999992699,6.08779639144e-05,-0.000103522821043,-1.33941794931e-05,1793239075698148864
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,715,678.686923083,662,636,879,788,804.313076917,652,632,653,0.405685678755,-0.0155037274289,0.059936896016,0.999999995584,4.75592314727e-05,-7.96407872781e-05,-1.50508241685e-05,1793239075714815488
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,715,678.104090485,662,636,879,788,804.895909515,652,632,653,0.406163587124,-0.0155176372914,0.059962785738,0.999999998997,1.89271799934e-05,-3.7412677229e-05,-1.57241901537e-05,1793239075731482368
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.527892768,745,715,678.472107232,661.527892768,636,879,788,804.527892768,652,632,653,0.406675995827,-0.0155247330777,0.0599873094751,0.999999999825,4.92071280509e-06,5.10678458579e-06,-1.73044245383e-05,1793239075748148736
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.046635621,636,879,788,804,652,631.953364379,653,0.407195733501,-0.0155297386314,0.0600093901723,0.999999998861,-6.66473427811e-06,4.31601617284e-05,-1.92531928651e-05,1793239075764815104
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.618610273,636,879,788,804,652,631.381389727,653,0.407713531055,-0.0155278875302,0.0600072962557,0.999999998918,-2.67995439686e-05,3.0190612035e-05,-2.31322706748e-05,1793239075781481472
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.197983558,788,804,652,631.197983558,652.802016442,0.408237605996,-0.0155259961314,0.0600016606641,0.9999999987,-4.10374898418e-05,1.225058233e-05,-2.7678312909e-05,1793239075798148096
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.792162612,788,804,652,631.792162612,652.207837388,0.40877424292,-0.0155240240908,0.0599889376375,0.99999999837,-4.34749047078e-05,-1.56361401682e-05,-3.35590531275e-05,1793239075814814464
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804,651.624307184,632,652.375692816,0.409355794429,-0.0155269139458,0.0599862641769,0.999999997243,-5.96819954168e-05,-2.18954898364e-05,-3.83706487936e-05,1793239075831481088
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804,651.046505682,632,652.953494318,0.409961508288,-0.015532419319,0.0599889970076,0.999999995487,-8.32966567435e-05,-1.65201207341e-05,-4.2607084471e-05,1793239075848147712
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.530394693,745,715,678.469605307,662,636,880,788,804.530394693,651.530394693,632,653,0.410620197824,-0.0155367010308,0.0599974768345,0.999999994049,-9.86347264423e-05,2.05229288342e-06,-4.65808815952e-05,1793239075864814336
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.890802163,745,715,678.109197837,662,636,879.890802163,788,804.890802163,652,631.890802163,653,0.411284405496,-0.0155398964377,0.0600032439406,0.999999992216,-0.000112874204532,1.60049094584e-05,-5.07149838793e-05,1793239075881480960
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.303319602,745,715,678.696680398,662,636,879.303319602,788,804.303319602,652,631.303319602,653,0.411952471922,-0.0155388029875,0.0599949260238,0.999999990569,-0.000125475037571,4.66325545265e-06,-5.56519123819e-05,1793239075898147840
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715.280308343,679,662,636,879,788,804,652,631.280308343,652.719691657,0.412609108363,-0.0155322804014,0.0599720669451,0.999999995087,-7.79215224598e-05,-3.85119046805e-05,-4.76513011082e-05,1793239075914814464
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715.859821889,679,662,636,879,788,804,652,631.859821889,652.140178111,0.413253544356,-0.0155199626767,0.0599336864177,0.999999992404,3.3841618477e-05,-0.000115666613288,-2.58409716303e-05,1793239075931481088
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715.563804142,678.563804142,662,636,879.436195858,788,804,652,632,652.436195858,0.413977555657,-0.0155179604949,0.0599290343586,0.99999999098,4.57502253327e-05,-0.000123880667213,-2.45247935052e-05,1793239075948147712
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.011802425,745,715,678.011802425,662,636,880,788,804,652,632,653,0.414728880033,-0.0155195055902,0.0599361198303,0.999999993357,2.55804539054e-05,-0.000108416143337,-2.96291618936e-05,1793239075964814336
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.598831786,745,715,678.598831786,662,636,880,788,804,652,632,653,0.415573934608,-0.0155335233348,0.0599907657423,0.999999999507,-5.21130010961e-06,-1.09846927611e-05,-2.89584646807e-05,1793239075981480960
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.816508601,745,715,679,662,636,880,788,804,651.816508601,631.816508601,653,0.416399773097,-0.0155442932511,0.0600281221489,0.999999997795,-2.81032368942e-05,5.27549026117e-05,-2.89353354355e-05,1793239075998147584
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.236963957,745,715,679,662,636,880,788,804,651.236963957,631.236963957,653,0.417184134971,-0.0155480529585,0.060028160374,0.999999998007,-3.39439735254e-05,4.37729983807e-05,-3.03099365707e-05,1793239076014814208
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804,651.341263701,631.341263701,653,0.417979279703,-0.015547329049,0.0600170596762,0.999999998442,-3.57161407942e-05,2.75303299264e-05,-3.28941182403e-05,1793239076031481344
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804,651.918580373,631.918580373,653,0.418781882933,-0.0155435038101,0.0599982541569,0.99999999872,-3.467406803e-05,6.26537274886e-06,-3.63149697758e-05,1793239076048148992
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.494441817,745,715,679,662,636.494441817,880,788.494441817,804,652,632,653,0.41957929152,-0.0155412444569,0.0599725751609,0.99999999795,-3.65931092439e-05,-3.36295993393e-05,-4.03656326323e-05,1793239076064815360
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,715,679.071278992,662.071278992,636.928721008,880,788.928721008,804,651.928721008,632,653,0.420375517972,-0.0155398992728,0.0599454405041,0.99999999515,-3.95600573205e-05,-7.85724651265e-05,-4.42924363113e-05,1793239076081481728
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745,715,679.656880401,662.656880401,636.343119599,880,788.343119599,804,651.343119599,632,653,0.421169368315,-0.0155432952716,0.0599159454266,0.999999988327,-4.65802498104e-05,-0.000137867876951,-4.65793741992e-05,1793239076098148352
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.758570283,745,715,679.758570283,662.758570283,636,880,788,804,651,632,653,0.422001659081,-0.015545436657,0.0599026418893,0.999999984465,-4.78553374456e-05,-0.000162666898341,-4.81649179021e-05,1793239076114814976
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.175509627,745,715,679.175509627,662.175509627,636,880,788,804,651,632,653,0.422888344416,-0.015545802724,0.0599122499065,0.999999988359,-4.10009151478e-05,-0.000138652409033,-4.87579664095e-05,1793239076131481344
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.401582862,715,679,662,636.401582862,880,788.401582862,804,651,632,653.401582862,0.423813548763,-0.0155519794655,0.0599622971213,0.999999996265,-4.78738828557e-05,-5.60438350848e-05,-4.51320887808e-05,1793239076148147968
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.976105157,715,679,662,636.976105157,880,788.976105157,804,651,632,653.976105157,0.424755341056,-0.0155606585417,0.0600297592518,0.999999996031,-6.06584749211e-05,5.17979557707e-05,-3.96893535147e-05,1793239076164814336
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.552070159,745.447929841,715,679,662,636.447929841,880,788.447929841,804,651,631.447929841,653.447929841,0.425631546914,-0.0155610463406,0.0600419506128,0.999999994708,-6.02878253074e-05,7.35524490903e-05,-3.92472583224e-05,1793239076181480960
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.86927627,745,715.13072373,679,662,636,880.13072373,788,804,651.13072373,631,653,0.426504869964,-0.015561091778,0.0600447136487,0.999999993945,-6.06875482264e-05,8.2717259088e-05,-3.9817507499e-05,1793239076198147584
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.281440313,745,715.718559687,679,662,636,880.718559687,788,804,651.718559687,631,653,0.427378064844,-0.0155611982135,0.0600228949673,0.999999995049,-6.57773387474e-05,6.0922032286e-05,-4.31688803148e-05,1793239076214814720
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715.697912286,679,662,636,881.302087714,788,804,651.697912286,631.302087714,652.697912286,0.428224096099,-0.0155603635476,0.0599974125734,0.999999996184,-6.89378729563e-05,2.67151315764e-05,-4.65486235501e-05,1793239076231481856
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715.118341347,679,662,636,881.881658653,788,804,651.118341347,631.881658653,652.118341347,0.429045176107,-0.0155586644315,0.0599685648709,0.999999996101,-7.03262848716e-05,-1.88925338215e-05,-4.99544262443e-05,1793239076248148736
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.457539255,745,715,679.457539255,662.457539255,636,881.08492149,788,804.457539255,651.457539255,632,652.457539255,0.429856419074,-0.0155576387025,0.0599423816673,0.999999993855,-7.03817282513e-05,-6.80249422905e-05,-5.20496703985e-05,1793239076264815104
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.967627637,745,715,679.967627637,663,636,880,788,805,652,632,653,0.430670859735,-0.0155571547436,0.0599207672579,0.999999989981,-7.04618118602e-05,-0.000110462749743,-5.35868646627e-05,1793239076281481728
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.394476365,745,715,679.394476365,663,636,880,788,805,652,632,653,0.431580879508,-0.015562834812,0.0599640540187,0.999999995402,-7.6666779669e-05,-2.59599926484e-05,-5.14190749406e-05,1793239076298148096
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715.185272753,679.185272753,663,636.185272753,880,788.185272753,804.814727247,652,632,653,0.432477248054,-0.0155676669097,0.0600015573819,0.999999994608,-8.11965936788e-05,4.18352119743e-05,-4.94018789821e-05,1793239076314814720
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715.77958863,679.77958863,663,636.77958863,880,788.77958863,804.22041137,652,632,653,0.433343477748,-0.015570626868,0.0600262922329,0.999999992851,-8.20280239274e-05,7.27436839409e-05,-4.77171624989e-05,1793239076331481088
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715.635194602,679.635194602,663,636.635194602,880.364805398,788.635194602,804,651.635194602,632,653,0.434160862283,-0.0155707617512,0.0600175268972,0.999999993681,-8.52061662326e-05,5.4664084888e-05,-4.8889115608e-05,1793239076348147968
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715.055341665,679.055341665,663,636.055341665,880.944658335,788.055341665,804,651.055341665,632,653,0.434949453246,-0.0155692312931,0.0599890136813,0.999999994602,-8.97676613969e-05,7.70672007361e-06,-5.17450344178e-05,1793239076364814592
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,881,788,804.5176769,651,632,653,0.435705911548,-0.0155677502486,0.0599621536762,0.999999993699,-8.836380679e-05,-4.19442982073e-05,-5.50828183553e-05,1793239076381481472
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.909683746,788,804.909683746,651,632,653,0.43645525013,-0.0155662845615,0.0599383007883,0.999999990697,-8.78795042882e-05,-8.67254444321e-05,-5.79806415042e-05,1793239076398148352
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.33521165,788,804.33521165,651,632,653,0.437184596755,-0.0155648732516,0.0599296329998,0.999999988329,-9.56986784433e-05,-0.000103877245897,-5.82474320977e-05,1793239076414815232
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.247630612,788,804.247630612,651.247630612,632,653,0.437918425817,-0.0155622565596,0.0599223982814,0.999999986461,-9.56822623662e-05,-0.0001205362503,-5.82499125208e-05,1793239076431481856
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.842199702,788,804.842199702,651.842199702,632,653,0.43865853486,-0.0155579510885,0.059917171341,0.999999985422,-8.46879309416e-05,-0.000136504828689,-5.78820858533e-05,1793239076448147968
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,881,788,805,651.594323713,632,653,0.43941861491,-0.0155608897746,0.0599501623823,0.999999991208,-8.72315946555e-05,-8.3043566996e-05,-5.54788422528e-05,1793239076464814592
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,881,788,805,651.042080501,632,653,0.440185910354,-0.0155664457045,0.059996961211,0.999999994139,-9.46664039185e-05,-4.49797539175e-06,-5.23402218437e-05,1793239076481481216
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.446640987,788,805,651,632,653,0.440858836726,-0.0155744157446,0.0600079306536,0.999999992994,-0.000106185429333,4.72982112503e-06,-5.20900429674e-05,1793239076498147840
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.150081014,745.150081014,715,679,663,636,880,788,805,651,632,652.849918986,0.441496805779,-0.0155815599304,0.0599999614735,0.99999999136,-0.000119253337044,-1.3734973541e-05,-5.35680626209e-05,1793239076514814720
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.740117862,745.740117862,715,679,663,636,880,788,805,651,632,652.259882138,0.442055117563,-0.0155856994319,0.0599451380932,0.999999984337,-0.00013587416503,-9.66183569361e-05,-5.9413795411e-05,1793239076531482112
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.675431664,745.675431664,715,679,663,635.675431664,880.324568336,788,805,651.324568336,632,652.324568336,0.44262189524,-0.0155895412665,0.0598988908836,0.999999973141,-0.00014988776628,-0.000164354380983,-6.51068417666e-05,1793239076548149504
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.095378554,745.095378554,715,679,663,635.095378554,880.904621446,788,805,651.904621446,632,652.904621446,0.443195336834,-0.0155931487918,0.0598593944314,0.999999960168,-0.000161849081708,-0.000220167118526,-7.06797003476e-05,1793239076564816128
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.479875551,662.520124449,635.479875551,881,788,805,651.520124449,632,653,0.443750140581,-0.0155988439346,0.0598524567498,0.999999954778,-0.000176865523588,-0.000232238905475,-7.23045780678e-05,1793239076581482752
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.944564632,881,788,805,651.055435368,632,653,0.444296804566,-0.0156049696876,0.0598522462105,0.99999995135,-0.000191520838155,-0.000235094641513,-7.31509070061e-05,1793239076598149376
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.357005041,881,788,805,651.642994959,632,653,0.444800541455,-0.0156112854066,0.0598551067669,0.999999950933,-0.00019693862869,-0.000232111121746,-7.39815883452e-05,1793239076614816256
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.771259291,662,635,880.771259291,787.771259291,805,651.771259291,632,652.771259291,0.445275803545,-0.0156162516273,0.059843555673,0.999999943435,-0.000204599901128,-0.000255879334618,-7.61244441517e-05,1793239076631482624
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679.188322258,662,635,880.188322258,787.188322258,805,651.188322258,632,652.188322258,0.445706973443,-0.0156191282005,0.0598096886841,0.999999921962,-0.000215735119187,-0.000321071591564,-8.02991521072e-05,1793239076648148480
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679.388650404,662,635,880.388650404,787,805.388650404,651.388650404,631.611349596,652.388650404,0.446131730281,-0.0156237328068,0.0597823468608,0.999999903621,-0.000233052954552,-0.000362533882345,-8.37468628816e-05,1793239076664815104
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+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,881,787,804.92189005,651.460945025,631,652.460945025,0.446960478577,-0.0156336613234,0.0597614113293,0.999999888526,-0.000260721127349,-0.00038370888404,-8.7975593607e-05,1793239076698149120
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.82909537,715,680,661,634,881,786,805.82909537,651,631,653,0.449871215894,-0.0156106344073,0.0595710965053,0.999999749507,-0.000238381073139,-0.000662535121394,-7.21583407595e-05,1793239078267601664
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745.530885622,715,680,661.469114378,635,881,787,805,651.469114378,631,653,0.444401681479,-0.0154803606758,0.0596562074719,0.999999850506,-6.68336531207e-05,-0.000541760227672,-3.18844650761e-05,1793239078534268416
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b19435ce060ac9cbcb4f4705ebc671c74c1f50c8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,417 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4acc388ddce82ad9b068b7c29fafc19380e45048
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 26568818
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e521f78eef3753bd883916447fbab451dfeeb5ed
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_05/franka_data.csv
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+3,0.050000000,BASELINE,766.273982976,745,715,679,662,636,879.273982976,788.273982976,804,652,631.273982976,653,0.400985099018,-0.0153902023454,0.0598516717836,0.999999953025,0.000180928481061,-0.000246935594297,1.54299561707e-05,1793239080523809792
+4,0.066666667,BASELINE,766,745,715,679,662,636,879,788,804,652,631.310185812,653,0.400985410199,-0.0153896306634,0.0598519791866,0.999999952967,0.000182100650043,-0.000246321069743,1.52387289418e-05,1793239080540475904
+5,0.083333333,BASELINE,766,745,715,679,662,636,879,788,804,652,631.901491385,653,0.400985286059,-0.0153888558911,0.0598520615671,0.999999952562,0.000184848545591,-0.000245935004128,1.49121902062e-05,1793239080557142016
+6,0.100000000,BASELINE,766,745,715,679,662,636,879,788,804,652,632,653,0.400985731972,-0.0153889967787,0.0598528071544,0.999999953051,0.000183486661894,-0.00024496957628,1.48651432857e-05,1793239080573808640
+7,0.116666667,BASELINE,766,745,715,679,662,636,879.058284296,788.058284296,804,652,631.941715704,653,0.400986189683,-0.0153894724029,0.0598535513911,0.999999953667,0.000181304059344,-0.00024407412772,1.48966937032e-05,1793239080590475520
+8,0.133333333,BASELINE,766,745,715,679,662,636,879.635354228,788.635354228,804,652,631.364645772,653,0.400985738124,-0.0153912982923,0.0598531035806,0.999999953871,0.000179128697919,-0.000244832404864,1.51305429045e-05,1793239080607142144
+9,0.150000000,BASELINE,766,745,715,678.784057773,662,636,879.784057773,788.784057773,804,652,631.215942227,653,0.400985474108,-0.0153919623254,0.0598528214452,0.999999953758,0.000179104454062,-0.000245301447471,1.52519435874e-05,1793239080623809024
+10,0.166666667,BASELINE,766,745,715,678.197430743,662,636,879.197430743,788.197430743,804,652,631.802569257,653,0.40098553203,-0.0153906319246,0.0598528237066,0.999999953102,0.000182772802657,-0.00024527399217,1.51803159659e-05,1793239080640475904
+11,0.183333333,BASELINE,766,745,715,678,662,636,879.384855933,788,804,652,631.615144067,652.615144067,0.400984768524,-0.0153902598844,0.0598522645399,0.999999952675,0.000183691589008,-0.000246330935523,1.50990576873e-05,1793239080657142528
+12,0.200000000,BASELINE,766,745,715,678,662,636,879.964940895,788,804,652,631.035059105,652.035059105,0.400983588327,-0.0153903739995,0.059851420573,0.999999952367,0.00018321558268,-0.000247937970682,1.50129139796e-05,1793239080673809152
+13,0.216666667,BASELINE,766,745,715,678.54077949,662,636,879.45922051,788,804,652,631.54077949,652.54077949,0.400984262647,-0.0153909321066,0.0598522668824,0.999999952741,0.000182976191859,-0.000246591174678,1.52101577027e-05,1793239080690475520
+14,0.233333333,BASELINE,766,745.116512005,715,678.883487995,662,636,879,788,804,652,632,653,0.400985054409,-0.0153911381666,0.0598529761009,0.999999953043,0.000183030280701,-0.000245311846044,1.53828286563e-05,1793239080707141888
+15,0.250000000,BASELINE,766,745.692904128,715,678.307095872,662,636,879,788,804,652,632,653,0.400985838862,-0.015389841947,0.0598527150569,0.999999952896,0.000184182675947,-0.00024504878389,1.53865581921e-05,1793239080723808768
+16,0.266666667,BASELINE,766.275815328,745.724184672,715,678.275815328,661.724184672,636,879,788,804,652,632,653,0.400986008868,-0.015390333072,0.0598528902829,0.999999953188,0.000183017416232,-0.000244718290117,1.55639511129e-05,1793239080740475392
+17,0.283333333,BASELINE,766.866160618,745.133839382,715,678.866160618,661.133839382,636,879,788,804,652,632,653,0.400985478179,-0.0153928624213,0.0598535630158,0.999999953971,0.000179209185405,-0.000244310899742,1.59393835624e-05,1793239080757142272
+18,0.300000000,BASELINE,766.552318276,745,715,678.552318276,661.447681724,636,879,788,804,652,632,653,0.400986145583,-0.0153922374898,0.0598543305286,0.999999954314,0.000178547647185,-0.000243414504211,1.55508463746e-05,1793239080773809152
+19,0.316666667,BASELINE,766,745,715,678.026378132,662,636,879,788,804,652,631.973621868,653,0.400987079886,-0.0153907778816,0.0598550314695,0.999999954495,0.000178846220593,-0.000242486211142,1.49714921989e-05,1793239080790476032
+20,0.333333333,BASELINE,766,745,715,678.600144059,662,636,879,788,804,652,631.399855941,653,0.400986263549,-0.0153911880325,0.0598537742964,0.999999953963,0.000179924172102,-0.000243871096751,1.50803694429e-05,1793239080807142656
+21,0.350000000,BASELINE,766.177582852,745,715,679,661.822417148,636,879,788,804,652,631.177582852,653,0.400985602697,-0.0153916045906,0.0598529754945,0.999999953714,0.000180047728561,-0.000244796218611,1.5153503741e-05,1793239080823809280
+22,0.366666667,BASELINE,766.763466263,745,715,679,661.236533737,636,879,788,804,652,631.763466263,653,0.400985299338,-0.0153920358804,0.0598532305853,0.999999954117,0.000177976928676,-0.000244664246124,1.51444574272e-05,1793239080840475648
+23,0.383333333,BASELINE,766.652498538,744.652498538,715,679,661,636,879,787.652498538,804,652,632,653,0.400985681717,-0.0153916942689,0.0598534940039,0.999999954038,0.000178849368162,-0.000244350085927,1.51567349876e-05,1793239080857142016
+24,0.400000000,BASELINE,766.069714647,744.069714647,715,679,661,636,879,787.069714647,804,652,632,653,0.400986528388,-0.0153908293502,0.059853763061,0.999999953628,0.000181714583246,-0.000243912572088,1.51834502788e-05,1793239080873808640
+25,0.416666667,BASELINE,766.508145864,744.508145864,715,679,661.508145864,636,879.508145864,788.016291727,803.491854136,652,632,653,0.400985219014,-0.0153904790645,0.0598531557896,0.999999953523,0.000180690341702,-0.00024511002961,1.50134561327e-05,1793239080890475264
+26,0.433333333,BASELINE,767,745,715,679,662.084726825,636,879.915273175,788.915273175,803.084726825,652,632,653,0.400983992354,-0.0153902783545,0.0598525862225,0.999999953466,0.000179556662819,-0.000246184209851,1.4857021645e-05,1793239080907142144
+27,0.450000000,BASELINE,767,745,715,679,662.657788904,636,879.342211096,788.342211096,803.657788904,652,632,653,0.400984930941,-0.0153905367108,0.0598529202668,0.999999953459,0.000180838255124,-0.000245267435771,1.49327932026e-05,1793239080923809024
+28,0.466666667,BASELINE,767,745,715,679,662.763169638,636,879,788,804,652,632,653,0.400985896961,-0.0153910728876,0.0598534282736,0.999999953564,0.00018152405253,-0.000244321686839,1.51086073613e-05,1793239080940475648
+29,0.483333333,BASELINE,767,745,715,679,662.175264445,636,879,788,804,652,632,653,0.40098690365,-0.0153920209024,0.0598541941606,0.999999953836,0.000181326649782,-0.00024333298595,1.54327236127e-05,1793239080957142528
+30,0.500000000,BASELINE,766.593029084,745,715,678.593029084,662,636,879,788,803.593029084,652,631.593029084,653,0.400987132442,-0.0153920814112,0.0598543339323,0.999999953794,0.000181702986031,-0.000243232237331,1.53204900053e-05,1793239080973808896
+31,0.516666667,BASELINE,766.013201933,745,715,678.013201933,662,636,879,788,803.013201933,652,631.013201933,653,0.400987030831,-0.0153917649619,0.0598542077688,0.999999953618,0.000182323011353,-0.000243508636292,1.50229217857e-05,1793239080990475520
+32,0.533333333,BASELINE,766,745,715,678.563912442,662,636,879.563912442,788,803.563912442,652,631.563912442,653,0.400986894792,-0.0153907388327,0.0598537579635,0.99999995364,0.00018302655744,-0.000242884947703,1.51128869883e-05,1793239081007142144
+33,0.550000000,BASELINE,766,745,715.14007349,679,662,636,879.85992651,788,804,652,632,653,0.400986950914,-0.0153901538892,0.0598534187047,0.999999953731,0.000183012691847,-0.000242517723792,1.51525012002e-05,1793239081023809024
+34,0.566666667,BASELINE,766,745,715.713480734,679,662,636,879.286519266,788,804,652,632,653,0.400987603993,-0.0153909849588,0.0598534447623,0.999999954021,0.000180773408941,-0.000243008780868,1.5008415717e-05,1793239081040475392
+35,0.583333333,BASELINE,766.295929812,745,716,679,662.295929812,636,879,788,804,652,632,653,0.400987044422,-0.0153916582078,0.0598534019931,0.999999954106,0.000179228033079,-0.000243802678104,1.50224134716e-05,1793239081057142016
+36,0.600000000,BASELINE,766.887409173,745,716,679,662.887409173,636,879,788,804,652,632,653,0.400985273757,-0.0153921738392,0.0598532904856,0.999999953988,0.00017837567234,-0.000244899026419,1.51942913136e-05,1793239081073808896
+37,0.616666667,BASELINE,766.531879686,745,715.531879686,679,662.531879686,636,879,788,803.531879686,652,632,653,0.400985202498,-0.01539202009,0.0598537015764,0.999999953656,0.000180480691352,-0.000244696533597,1.54154985143e-05,1793239081090475776
+38,0.633333333,BASELINE,766,745,715,678.953901338,662,636.046098662,879,787.953901338,803.046098662,652,632,653,0.400985552453,-0.0153918255705,0.0598542377307,0.999999953353,0.000182848643439,-0.000244164985731,1.56313501868e-05,1793239081107142400
+39,0.650000000,BASELINE,766,745,715,678.378232636,662,636.621767364,879,787.378232636,803.621767364,652,632,653,0.400986151354,-0.0153929706022,0.059854799114,0.99999995402,0.000180249610102,-0.000243361335312,1.56524468744e-05,1793239081123809024
+40,0.666666667,BASELINE,766,745,715,678,662,636.798403234,879,787.201596766,804,652,632,653,0.400986773279,-0.0153934258053,0.0598550713181,0.999999954481,0.000178697729858,-0.000242615755478,1.55836251218e-05,1793239081140475392
+41,0.683333333,BASELINE,766,745,715,678,662,636.210603122,879,787.789396878,804,652,632,653,0.400987439312,-0.0153925594884,0.0598547895352,0.999999954557,0.000179151903916,-0.000241981422786,1.53425446407e-05,1793239081157142016
+42,0.700000000,BASELINE,766,745,715,678.3721936,661.6278064,636,878.6278064,788,804,652,632,652.6278064,0.400987970308,-0.0153917765131,0.0598548170911,0.999999954406,0.000180446864745,-0.00024164528127,1.53012244673e-05,1793239081173808640
+43,0.716666667,BASELINE,766,745,715,678.952196724,661.047803276,636,878.047803276,788,804,652,632,652.047803276,0.40098842591,-0.0153910400706,0.0598550173624,0.999999954126,0.000182211268073,-0.000241475630993,1.53714379084e-05,1793239081190475264
+44,0.733333333,BASELINE,766,745,715,679,662.055874066,636,879.055874066,788,804,652,632,652.527937033,0.400986955341,-0.0153923651116,0.0598547298736,0.999999954056,0.00018103822477,-0.000242631614251,1.55998800758e-05,1793239081207142400
+45,0.750000000,BASELINE,766,745,715,679,662.793373567,636,879.896686783,788,804,652,632,653,0.400985565771,-0.0153933742613,0.059854367973,0.999999953952,0.000180053225973,-0.000243782181388,1.57219994488e-05,1793239081223809280
+46,0.766666667,BASELINE,766,745,715,679,661.642449992,636,879.321224996,788,804,652,632,653,0.400985337048,-0.0153920935408,0.0598538662273,0.999999953622,0.000181133405222,-0.000244363832855,1.52932644202e-05,1793239081240476160
+47,0.783333333,BASELINE,766.259768206,745,715,678.740231794,661.259768206,636,879.259768206,788,804,652,632,653,0.400984231905,-0.0153919709638,0.0598528484609,0.999999953336,0.000180870322078,-0.000245736563632,1.51075553342e-05,1793239081257142528
+48,0.800000000,BASELINE,766.847750362,745,715,678.152249638,661.847750362,636,879.847750362,788,804,652,632,653,0.400982019417,-0.0153933116871,0.0598511787087,0.999999953101,0.000178910043488,-0.000248108813513,1.52289064936e-05,1793239081273809152
+49,0.816666667,BASELINE,766.569583007,744.569583007,715,678.430416993,662,636,879.569583007,788,804,652,632,653,0.400983824612,-0.0153933007019,0.0598524830364,0.999999953867,0.000177653533546,-0.000245910957939,1.5271109642e-05,1793239081290475776
+50,0.833333333,BASELINE,766.011117036,744.011117036,715,679,662,636,879,788,804,652,632,653,0.400986945272,-0.0153928128408,0.059854770118,0.999999954933,0.000176721529639,-0.000242216881303,1.52866494492e-05,1793239081307141888
+51,0.850000000,BASELINE,766.58627397,744.58627397,715,679,662,636,879,788,804,652,632,653,0.400985583052,-0.0153920928826,0.0598541945719,0.999999954045,0.00017977749999,-0.000243628058066,1.53525111856e-05,1793239081323808768
+52,0.866666667,BASELINE,766.841921174,745,715,678.841921174,662,636,879,788,804,652,632,653,0.400984905762,-0.0153918566884,0.0598538777046,0.999999953504,0.000181736505046,-0.000244390240049,1.54254490184e-05,1793239081340475392
+53,0.883333333,BASELINE,766.278707283,745,715,678.278707283,662,636,879,788,804,652,632,653,0.400985983859,-0.0153928603175,0.0598542237964,0.999999953877,0.000180884133367,-0.000243489134413,1.55165219444e-05,1793239081357142016
+54,0.900000000,BASELINE,766,745,715,678.305251743,662,636,879,788,803.694748257,652,631.694748257,653,0.400986041921,-0.015393007313,0.0598543243816,0.999999953917,0.000180456220111,-0.00024363997212,1.55589354038e-05,1793239081373809152
+55,0.916666667,BASELINE,766,745,715,678.909533006,662,636,879,788,803.090466994,652,631.090466994,653,0.400985100738,-0.0153923151364,0.0598541844646,0.99999995363,0.000180444113206,-0.000244821310508,1.55536812613e-05,1793239081390476544
+56,0.933333333,BASELINE,766,745,715,679,662,636,879,788,803.491651396,652,631,653,0.400986806977,-0.0153917896167,0.0598551065314,0.999999954091,0.000181425282416,-0.000242195328623,1.56246388048e-05,1793239081407142912
+57,0.950000000,BASELINE,766,745,715.068812036,678.931187964,662,636,879,788,804,652,631.068812036,653,0.400988614742,-0.015391489866,0.0598560525273,0.999999954609,0.000182202522097,-0.00023945170425,1.57048970529e-05,1793239081423809024
+58,0.966666667,BASELINE,766,745,715.638292345,678.361707655,662,636,879,788,804,652,631.638292345,653,0.400987769688,-0.0153926192871,0.0598558121617,0.99999995466,0.000180223547058,-0.0002407295366,1.57551943044e-05,1793239081440475648
+59,0.983333333,BASELINE,766,745,715.78297707,678.21702293,662,636,879,788,804,652,631.78297707,652.78297707,0.400987106609,-0.0153933454351,0.0598554649227,0.999999954389,0.000180228846146,-0.000241838273608,1.59073268886e-05,1793239081457142272
+60,1.000000000,BASELINE,766,745,715.188142749,678.811857251,662,636,879,788,804,652,631.188142749,652.188142749,0.400986760326,-0.015393369532,0.0598549316296,0.999999953557,0.00018368853273,-0.000242652635726,1.62367428151e-05,1793239081473808640
+61,1.016666667,BASELINE,766,745,715,678.60355504,662,636,879.39644496,788,804,652,631.39644496,652.39644496,0.400986418472,-0.0153930038233,0.0598544627531,0.999999953467,0.000183349267474,-0.000243299008515,1.5928111852e-05,1793239081490475264
+62,1.033333333,BASELINE,766,745,715,678.023707631,662,636,879.976292369,788,804,652,631.976292369,652.976292369,0.400986078668,-0.0153924577836,0.059854023677,0.999999953721,0.000181252539707,-0.000243867666421,1.53243090944e-05,1793239081507141888
+63,1.050000000,BASELINE,766.552100001,745,715,678.552100001,662,636,879.447899999,788,804,652,632,653,0.400984839059,-0.0153924422227,0.0598533669123,0.999999953611,0.000180735880809,-0.000244710820887,1.51365568838e-05,1793239081523809280
+64,1.066666667,BASELINE,766.869631111,745,715,679,662,636.130368889,879.130368889,788,804,652,631.869631111,653,0.400984465046,-0.0153924546743,0.0598533408508,0.99999995371,0.000180280107726,-0.000244644875672,1.50961653878e-05,1793239081540476160
+65,1.083333333,BASELINE,766.282128083,745,715,679,662,636.717871917,879.717871917,788,804,652,631.282128083,653,0.400987260714,-0.0153924860567,0.0598555588687,0.99999995459,0.000179801645043,-0.000241350172,1.55102993869e-05,1793239081557142528
+66,1.100000000,BASELINE,766,745,715,679,662,637,880,788,804,652,631.30116328,653,0.400987456598,-0.0153917098633,0.0598556675448,0.999999954373,0.000181013388565,-0.00024135035651,1.54526544194e-05,1793239081573808896
+67,1.116666667,BASELINE,766,745,715,679,662,637,880,788,804,652,631.880563564,653,0.400985250608,-0.0153901875715,0.0598538274542,0.999999953135,0.000183786670121,-0.00024439460358,1.49591449853e-05,1793239081590475520
+68,1.133333333,BASELINE,766.457378153,745,715,679,662,636.542621847,879.542621847,788,804,652,632,653,0.400984926873,-0.0153910852523,0.0598540059375,0.999999953308,0.000182945676201,-0.000244295507524,1.53340275288e-05,1793239081607142144
+69,1.150000000,BASELINE,766.966502366,745,715.033497634,678.966502366,662,636,879,788,804,652,632,653,0.400985157095,-0.0153925240133,0.0598546852413,0.999999953857,0.000181151178035,-0.000243347307895,1.58806684545e-05,1793239081623808768
+70,1.166666667,BASELINE,766.390767125,745,715.609232875,678.390767125,662,636,879,788,804,652,632,653,0.400986442734,-0.0153925495938,0.0598549868586,0.999999954588,0.00017911380717,-0.000241866741813,1.555752275e-05,1793239081640475648
+71,1.183333333,BASELINE,766.188475244,744.811524756,716,678.188475244,662,636,879,788,804,652,632,653,0.400986579592,-0.0153926413718,0.0598547398566,0.999999954874,0.000177529461619,-0.000241872181725,1.52939286995e-05,1793239081657142272
+72,1.200000000,BASELINE,766.775126949,744.224873051,716,678.775126949,662,636,879,788,804,652,632,653,0.40098428951,-0.015392873,0.0598533338308,0.999999954221,0.00017690218577,-0.000245016986496,1.51561445692e-05,1793239081673808896
+73,1.216666667,BASELINE,767,744.359252013,716,679,662,636,879,788,804,652,632,653,0.400984548004,-0.0153929605907,0.0598534755328,0.999999954193,0.000177353630533,-0.00024479566743,1.53098258545e-05,1793239081690475520
+74,1.233333333,BASELINE,767,744.94180654,716,679,662,636,879,788,804,652,632,653,0.400986390632,-0.015392958651,0.0598545792656,0.999999954552,0.000178475582435,-0.000242482045578,1.56446751253e-05,1793239081707142144
+75,1.250000000,BASELINE,766.482820965,745,715.482820965,678.482820965,662,636,879,788,804,652,632,653,0.400985735434,-0.0153925609457,0.0598547489521,0.9999999542,0.000179975075495,-0.00024282735204,1.56362687769e-05,1793239081723808512
+76,1.266666667,BASELINE,766,745,715,678.091422354,662,636.091422354,879.091422354,788.091422354,804,652,632,652.908577646,0.400985099945,-0.0153922071384,0.0598547486754,0.999999953883,0.000181071933817,-0.00024331859947,1.55679069627e-05,1793239081740475136
+77,1.283333333,BASELINE,766,745,715,678.663918035,662,636.663918035,879.663918035,788.663918035,804,652,632,652.336081965,0.400986026867,-0.0153923154483,0.0598543995063,0.999999954182,0.000179829610068,-0.000243025024915,1.53845102119e-05,1793239081757142272
+78,1.300000000,BASELINE,766,745,715,678.755358326,662,636.755358326,879.755358326,788.755358326,803.755358326,652,632,652.244641674,0.400986832834,-0.015392498465,0.0598545418166,0.999999954444,0.000179577998593,-0.000242130967449,1.53461392341e-05,1793239081773809408
+79,1.316666667,BASELINE,766,745,715,678.162938003,662,636.162938003,879.162938003,788.162938003,803.162938003,652,632,652.837061997,0.400987466854,-0.0153927876836,0.0598553828062,0.999999954655,0.000180734767777,-0.000240383273208,1.55139345667e-05,1793239081790476032
+80,1.333333333,BASELINE,766,745,715,678,662,636,879,788,803.419631938,652,632,653,0.400986228982,-0.0153930930623,0.0598548306881,0.999999954339,0.000180489894432,-0.000241885625469,1.54135765154e-05,1793239081807142656
+81,1.350000000,BASELINE,766,745,715,678,662,636,879,788,803.998464866,652,632,653,0.400984280947,-0.0153934045718,0.0598537500494,0.999999953816,0.000179713262614,-0.000244620988166,1.5211485792e-05,1793239081823809280
+82,1.366666667,BASELINE,766,745,715,678.57437868,662,636,879.57437868,788,804,652,632,653,0.400985172106,-0.0153921063303,0.0598538082753,0.999999953607,0.000181419996719,-0.00024420112064,1.5454982822e-05,1793239081840475904
+83,1.383333333,BASELINE,766,745,715,679,662,636,879.846668819,788,803.846668819,652,632,653,0.400985575046,-0.0153914555124,0.0598538276307,0.999999953439,0.00018251778803,-0.000244064279555,1.55561681712e-05,1793239081857142784
+84,1.400000000,BASELINE,766,745,715,679,662,636,879.259088333,788,803.259088333,652,632,653,0.40098457392,-0.015392650386,0.059853728324,0.999999953393,0.000181872290247,-0.000244752759855,1.52509568632e-05,1793239081873808896
+85,1.416666667,BASELINE,766,745,715,678.676190019,662,636.323809981,879.323809981,788,803.323809981,652,631.676190019,652.676190019,0.400984565138,-0.0153931578647,0.0598540451928,0.999999953546,0.000181242263303,-0.00024460349975,1.51261086277e-05,1793239081890475264
+86,1.433333333,BASELINE,766,745,715,678.096984663,662,636.903015337,879.903015337,788,803.903015337,652,631.096984663,652.096984663,0.400985339037,-0.0153931231813,0.0598546903076,0.999999953855,0.000180624438558,-0.000243793497072,1.51435163555e-05,1793239081907141888
+87,1.450000000,BASELINE,766,744.520476181,715,678,662,636.520476181,879.520476181,788,804,652,631.479523819,652.479523819,0.400985153861,-0.0153923734388,0.0598543798236,0.999999953882,0.000181215109349,-0.000243236915645,1.52425240709e-05,1793239081923808768
+88,1.466666667,BASELINE,766,744.055488609,715.055488609,678.055488609,662,636,879,788,804.055488609,652,631.944511391,653,0.400984860074,-0.0153916764034,0.0598539561474,0.999999953883,0.000181802698697,-0.000242789479623,1.5342147128e-05,1793239081940475392
+89,1.483333333,BASELINE,766,744.631441295,715.631441295,678.631441295,662,636,879,788,804.631441295,652,631.368558705,653,0.400985356785,-0.0153928226617,0.0598542734506,0.999999954171,0.000180081624881,-0.000242887724717,1.52936079994e-05,1793239081957142272
+90,1.500000000,BASELINE,766.211501556,745,715.788498444,678.788498444,662,636,879,788,804.788498444,652,631.211501556,653,0.400985678367,-0.015393615505,0.0598544983508,0.999999954321,0.000179174649553,-0.000242939662383,1.53330298517e-05,1793239081973808896
+91,1.516666667,BASELINE,766.798861302,745,715.201138698,678.201138698,662,636,879,788,804.201138698,652,631.798861302,653,0.400985688729,-0.0153937802966,0.0598545590418,0.999999954228,0.000179714404112,-0.000242909307375,1.55287666585e-05,1793239081990475776
+92,1.533333333,BASELINE,766.617616518,745,715,678,662,636,879.382383482,788,804,652.382383482,632,653,0.400986051639,-0.0153940608517,0.0598547377918,0.999999954614,0.000178731126217,-0.000242053070952,1.54203247629e-05,1793239082007142400
+93,1.550000000,BASELINE,766.036092836,745,715,678,662,636,879.963907164,788,804,652.963907164,632,653,0.40098659815,-0.015394401695,0.0598549780253,0.999999955244,0.000176954673457,-0.00024076672654,1.51534706887e-05,1793239082023808768
+94,1.566666667,BASELINE,766,745,715.538341928,678.538341928,662,636,879.461658072,788,804,652.461658072,632,653,0.400985776607,-0.0153942488503,0.059854472501,0.999999954804,0.000176924344056,-0.000242621554435,1.49763117151e-05,1793239082040475392
+95,1.583333333,BASELINE,766,745,715.88818532,679,662,636,879.11181468,788,804,652,632,653,0.400985050617,-0.0153938437425,0.0598540868918,0.999999954298,0.00017772189285,-0.000244120488387,1.49404328624e-05,1793239082057142016
+96,1.600000000,BASELINE,766,745,715.316738601,679,662,636,879.683261399,788,804,652,632,653,0.400985089548,-0.0153925359574,0.0598543970697,0.999999953821,0.000181447595074,-0.000243302018417,1.54609099712e-05,1793239082073808640
+97,1.616666667,BASELINE,766,744.734715442,715,679,662,636,879.734715442,788,804,652,632,653,0.400985204934,-0.0153926846898,0.0598543964655,0.999999953829,0.000181928975294,-0.000242895973264,1.56513381378e-05,1793239082090475520
+98,1.633333333,BASELINE,766,744.139540141,715,679,662,636,879.139540141,788,804,652,632,653,0.400985415395,-0.0153946446533,0.0598540093926,0.999999954447,0.000178375925963,-0.000243002793027,1.54313387231e-05,1793239082107142144
+99,1.650000000,BASELINE,766,744.443184482,715.443184482,679,662,636,879,788,804,652,632,653,0.400984810908,-0.0153929676432,0.0598537391325,0.999999953692,0.000181174187711,-0.000244051009112,1.5201881802e-05,1793239082123808768
+100,1.666666667,BASELINE,766,745,715.978060776,678.978060776,662,636,879,788,804,652,631.978060776,653,0.400984088943,-0.0153903458119,0.0598535665962,0.999999952598,0.000185615093448,-0.000245207821038,1.4974085793e-05,1793239082140475648
+101,1.683333333,BASELINE,766,745,715.403257377,678.403257377,662,636,879,788,804,652,631.403257377,653,0.400986695907,-0.0153919831699,0.0598549551703,0.999999954006,0.000182433787317,-0.000241835960054,1.48611330821e-05,1793239082157142272
+102,1.700000000,BASELINE,766,745,715,678.175375157,662,636,879,788,803.824624843,652,631.175375157,653,0.400987848247,-0.0153928953011,0.0598554874247,0.999999954669,0.000180656096526,-0.000240427578581,1.4810986455e-05,1793239082173808896
+103,1.716666667,BASELINE,766,745,715,678.763008843,662,636,879,788,803.236991157,652,631.763008843,653,0.400985581167,-0.0153921026247,0.0598540067082,0.999999953616,0.000182177917975,-0.000243634795332,1.49084795913e-05,1793239082190475520
+104,1.733333333,BASELINE,766,745,715,679,662,636,879,788,803.34615585,652,632,653,0.400984699173,-0.0153920673945,0.059853630367,0.999999953265,0.00018293219633,-0.000244496084537,1.51106853856e-05,1793239082207142400
+105,1.750000000,BASELINE,766,745,715,679,662,636,879,788,803.926270473,652,632,653,0.400984753326,-0.0153925441049,0.0598540004476,0.999999953394,0.000183167710127,-0.000243771815631,1.5383664065e-05,1793239082223809280
+106,1.766666667,BASELINE,766,745,715,679,662,636,879,788,804,652,632,653,0.400985427915,-0.0153928770831,0.0598544451756,0.999999953626,0.000183087363634,-0.000242873105998,1.54541704251e-05,1793239082240475648
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804,652,632,653,0.400986436573,-0.0153915850273,0.059853626299,0.999999953672,0.000184068612908,-0.000241950316341,1.53104102392e-05,1793239082284034304
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.595339145,715,679,662,636,879.404660855,788,804,652,632,653,0.400986670072,-0.0153914541826,0.0598547250584,0.999999953567,0.00018447688467,-0.000242065235097,1.54810660825e-05,1793239082300700416
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.814328925,715,679,662,636,879,788,804,652,632,653,0.400986436089,-0.0153917727534,0.0598553290705,0.999999953718,0.000183588067633,-0.000242109452398,1.55585847625e-05,1793239082317366528
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.234623285,715,679,662,636,879,788,804,652,632,653,0.400985210007,-0.0153930450823,0.0598548831212,0.999999954408,0.000179946545003,-0.000242003625793,1.54384460759e-05,1793239082334032896
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,678.659423748,662,636,879.340576252,788.340576252,804,652,632,653,0.400985931402,-0.0153933937926,0.0598554092563,0.999999954766,0.000179707082463,-0.000240694988933,1.54957942674e-05,1793239082350699520
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678.087287967,662,636,879.912712033,788.912712033,804,652,632,653,0.400987976895,-0.0153931145298,0.0598565963165,0.999999954898,0.000181780698123,-0.00023856855526,1.56738166982e-05,1793239082367366144
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.500594149,745,715,678.500594149,662.500594149,636,879.499405851,788.499405851,804,652,631.499405851,653,0.400987492978,-0.0153941454975,0.059856525656,0.999999954828,0.000180661279254,-0.000239703681925,1.57215295162e-05,1793239082384033024
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.91043822,745,715.08956178,679,662.91043822,636,879,788,804,652,631.08956178,653,0.400986865409,-0.0153952603187,0.0598562478524,0.999999954726,0.000179261604959,-0.000241172316875,1.57637469234e-05,1793239082400699648
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.331038132,745,715.668961868,679,662.331038132,636,879,788,804,652,631.668961868,653,0.400987942738,-0.0153955436486,0.0598560755315,0.999999954667,0.000179473136056,-0.000241253527656,1.59042168983e-05,1793239082417366272
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715.753479685,679,662,636,879,788,804,652,632,653,0.400995624567,-0.0153954404284,0.0598589294532,0.999999955833,0.000179819544321,-0.000236085867662,1.61772921163e-05,1793239082434033152
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715.178375979,679,662,636,879,788,804,652,632,653,0.401012109438,-0.015394821981,0.0598658170101,0.999999958529,0.000180345728392,-0.00022392206309,1.66271149473e-05,1793239082450699264
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636.396703148,879,788,804,652,631.603296852,653,0.401049004858,-0.0153969512341,0.0598808274938,0.999999964267,0.00017950640049,-0.000197290116477,1.7917721453e-05,1793239082467365888
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636.971771275,879,788,804,652,631.028228725,653,0.401095077234,-0.0154003159034,0.0598994901944,0.999999970484,0.000178053113361,-0.000164153027816,1.95863596729e-05,1793239082484032768
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+121,2.016666667,POSE1_TO_POSE2_PRESS,766.855368609,745,715.144631391,678.144631391,661.144631391,636,879,788,804,652,632,653,0.40122946763,-0.0154067842764,0.059934541728,0.999999978072,0.000176277335409,-0.000110727660581,2.28621164351e-05,1793239082517366016
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.274853121,745,715.725146879,678.725146879,661.725146879,636,879,788,804,652,632,653,0.401305848124,-0.0154110909836,0.059944350479,0.999999979801,0.0001747544866,-9.65212170772e-05,2.32920443327e-05,1793239082534032896
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715.696854784,679,662,636,879,788,804,652,632,653,0.401390631921,-0.0154151528846,0.0599511677145,0.999999980901,0.000174376115544,-8.51098042725e-05,2.34135451396e-05,1793239082550699520
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715.121119917,679,662,636,879,788,804,652,632,653,0.401482972004,-0.0154189946544,0.0599552949643,0.999999981508,0.000175026864555,-7.62116975256e-05,2.32577067824e-05,1793239082567366144
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.463765478,745,715.463765478,679,662,636,879,788,804,652,632,653,0.401582471148,-0.015424301038,0.0599534599753,0.999999981793,0.000173046389908,-7.73654223029e-05,2.19680876363e-05,1793239082584032768
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.949598339,745,715.949598339,679,662,636,879,788,804,652,632,653,0.401687438527,-0.0154301103934,0.0599503814105,0.999999982016,0.00017050276282,-8.04957698091e-05,2.04039361858e-05,1793239082600699392
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.370174221,745,715.370174221,679,662,636,879,788,804,652,632,653,0.401829781544,-0.0154371033434,0.0599509229855,0.99999998256,0.000169406198012,-7.62639504652e-05,1.91287752735e-05,1793239082617366016
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.20863264,745,715.20863264,679,662,636,879,788,804,652,632,653,0.401981917442,-0.0154447155631,0.0599516555486,0.999999983429,0.000166246241428,-7.20326974837e-05,1.77362415728e-05,1793239082634032640
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.78634748,745,715.78634748,679,662,636,879,788,804,652,632,653,0.402151377452,-0.0154534233034,0.0599527259797,0.999999984861,0.000159436035529,-6.78024468747e-05,1.61360693229e-05,1793239082650699264
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.636957869,745,716,679,662,636,879,788,804,652,632,653,0.402344211727,-0.0154634238648,0.0599542319711,0.99999998637,0.000152849062481,-6.06883461562e-05,1.46252051993e-05,1793239082667365888
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.060861868,745,716,679,662,636,879,788,804,652,632,653,0.402550763373,-0.0154741831285,0.0599559935742,0.999999987852,0.000146393094568,-5.18818369803e-05,1.31667520346e-05,1793239082684032768
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.525552359,745,715.474447641,679,662,636,879,788,804.525552359,652,632,653,0.402782788591,-0.0154844316094,0.0599592367285,0.999999989305,0.000139336811794,-4.30021213358e-05,1.1204184562e-05,1793239082700699648
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,715,678.888223188,662,636,879,788,805,652,632,653,0.403025957534,-0.0154944555563,0.0599620217937,0.999999990535,0.000132585602112,-3.56309291003e-05,9.03834410549e-06,1793239082717366272
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,715,678.307903141,662,636,879,788,805,652,632,653,0.403303225237,-0.0155037912249,0.0599621530607,0.999999991264,0.000127410435156,-3.46193730427e-05,6.27004167645e-06,1793239082734032896
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,715.269805365,678,662,636,879,788,804.46038927,652,632,653,0.403588680591,-0.0155122608712,0.0599579460274,0.999999991704,0.00012235233275,-4.01342686472e-05,3.36364354274e-06,1793239082750699520
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,715.844562103,678,662,636,879,788,803.310875793,652,632,653,0.403883390135,-0.0155197516831,0.059948835568,0.9999999917,0.000117426544524,-5.30257796538e-05,3.01160929142e-07,1793239082767366144
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.571314378,745,716,678.428685622,662.428685622,636,879.428685622,788,803.428685622,652,632,653,0.404194855115,-0.0155124044831,0.0599376161342,0.999999994839,7.10214049409e-05,-7.25504697374e-05,-3.68470022741e-06,1793239082784032512
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.016057225,745,715.983942775,679,662.983942775,636,880,788,804,652,631.983942775,653,0.404514321723,-0.0154997120978,0.0599258187406,0.999999995462,1.16234555361e-05,-9.42138074404e-05,-8.02912181169e-06,1793239082800699392
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.595565517,745,715.404434483,679,662.404434483,636,880,788,804,652,631.404434483,653,0.404896618684,-0.0154924635359,0.0599211733821,0.999999993799,3.58534565419e-05,-0.000104640766938,-1.29445319023e-05,1793239082817366016
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745.174021558,715.174021558,679,662,636,880,788,804,652,631,653,0.405302777959,-0.0154917791777,0.0599229436301,0.999999993318,4.8341371673e-05,-0.000103666798257,-1.67157065249e-05,1793239082834032896
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745.750046736,715.750046736,679,662,636,880,788,804,652,631,653,0.405764061025,-0.0155062586525,0.059939534439,0.999999996358,3.37041324186e-05,-7.63557785401e-05,-1.78436056566e-05,1793239082850700032
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.674225826,745.674225826,716,679,662,636,879.674225826,788,804,652,631.325774174,653,0.406250079707,-0.0155179071637,0.0599618217596,0.999999998961,1.5584740631e-05,-3.83917691876e-05,-1.90111919769e-05,1793239082867366912
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.098726563,745.098726563,716,679,662,636,879.098726563,788,804,652,631.901273437,653,0.406755059747,-0.0155273855762,0.0599884757935,0.999999999752,-5.20392772039e-06,7.73838705305e-06,-2.02092009561e-05,1793239082884033280
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.488816492,745,715.511183508,679,662,636,879,788,804,652,631.511183508,653,0.407260112653,-0.0155289936898,0.0600010091416,0.999999999294,-1.89802096368e-05,2.32113320479e-05,-2.26634746448e-05,1793239082900699648
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.922506209,745,715.077493791,679,662,636,879,788,803.922506209,652,631,653,0.407768493421,-0.0155286161167,0.0600080248106,0.999999998783,-3.17941744594e-05,2.75559594086e-05,-2.57675115119e-05,1793239082917366784
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.342643151,745,715.657356849,679,662,636,879,788,803.342643151,652,631,653,0.408298350149,-0.0155259309387,0.0599982264788,0.999999998365,-4.77830877316e-05,9.12949208553e-07,-3.13973740817e-05,1793239082934033664
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715.765866058,679,662,636,879.234133942,788,803.234133942,651.765866058,631.234133942,653,0.408850501002,-0.015524241833,0.0599882745678,0.999999997272,-5.96236018481e-05,-2.33171354045e-05,-3.6833962394e-05,1793239082950700288
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715.193546404,679,662,636,879.806453596,788,803.806453596,651.193546404,631.806453596,653,0.409434853708,-0.0155239914653,0.059978100826,0.999999996004,-6.54721204327e-05,-4.40619614365e-05,-4.19913828718e-05,1793239082967367168
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.37993747,745,715,679,662,636.37993747,880,788,804,651.37993747,632,653,0.410063816052,-0.0155280331931,0.0599826817632,0.999999995077,-8.19992443995e-05,-3.1313568195e-05,-4.62879792883e-05,1793239082984034048
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.954016224,745,715,679,662,636.954016224,880,788,804,651.954016224,632,653,0.410715573108,-0.0155342681053,0.0599948020788,0.999999993335,-0.000103982945336,-1.45073554775e-06,-5.01447097319e-05,1793239083000700928
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.454928666,745,715,679,662,637,880,788.545071334,804,652,632,653,0.411370749349,-0.0155364453651,0.0599972723923,0.99999999125,-0.00012025718954,4.96900098475e-06,-5.48871559495e-05,1793239083017367296
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715.134585094,678.865414906,662,636.865414906,880,788.865414906,804,652,632,653,0.412026494398,-0.0155354930839,0.0599917085951,0.999999993275,-0.000103522458483,-4.03333316221e-06,-5.21165016626e-05,1793239083034033664
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715.714115889,678.285884111,662,636.285884111,880,788.285884111,804,652,632,653,0.412683135516,-0.0155253624614,0.0599623615735,0.999999997852,2.06981547231e-05,-5.72732186218e-05,-2.42521487903e-05,1793239083050699776
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,716,678.291230206,662,636,880.291230206,788,804.291230206,652,632,653,0.413368045125,-0.0155190280541,0.0599371813324,0.999999991834,7.15708661281e-05,-0.000104834539934,-1.48076088419e-05,1793239083067366400
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,716,678.865991993,662,636,880.865991993,788,804.865991993,652,632,653,0.41408047603,-0.0155163895085,0.0599160577204,0.999999987641,5.10346309782e-05,-0.000146867416135,-2.32959539518e-05,1793239083084032768
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,880.549003541,788.450996459,804.549003541,652,632,653,0.414872622443,-0.0155229372112,0.0599484046303,0.999999995391,2.51609783209e-05,-8.86905001682e-05,-2.68313021888e-05,1793239083100699392
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715.961461694,679,662,636,880,788.961461694,804,652,632,653,0.415687812977,-0.0155321740002,0.0599950992984,0.999999999576,-1.62122979275e-06,-3.86156244808e-06,-2.88054711659e-05,1793239083117365760
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715.382015483,679,662,636,880,788.382015483,804,652,632,653,0.416486262521,-0.015539952131,0.0600149920907,0.999999999005,-1.83785699202e-05,2.74070338561e-05,-3.0004089808e-05,1793239083134032896
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.195703046,745,715,679,662.195703046,636,880,788,804.195703046,652,632,653,0.417283594853,-0.0155448491572,0.0600232451123,0.999999998193,-3.02618497478e-05,4.11646656068e-05,-3.16763671429e-05,1793239083150699520
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.770078587,745,715,679,662.770078587,636,880,788,804.770078587,652,632,653,0.418078765408,-0.0155441714356,0.0600089759434,0.999999998657,-3.27141431538e-05,2.10397332046e-05,-3.42651428113e-05,1793239083167365888
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.655627892,745,715,679,662.655627892,636,880,788,805,652,631.655627892,653,0.418891430135,-0.0155429862773,0.0599902869962,0.999999998629,-3.55461255792e-05,-9.80298105277e-06,-3.71857603882e-05,1793239083184032512
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.081389142,745,715,679,662.081389142,636,880,788,805,652,631.081389142,653,0.419715772102,-0.0155414624078,0.0599686478701,0.999999997298,-3.86315483727e-05,-4.77997597033e-05,-4.03278806216e-05,1793239083200698880
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.49382726,636,880,788,805,652,631.49382726,653,0.420513759199,-0.0155418924998,0.0599394392025,0.99999999402,-3.90850384934e-05,-9.23370189903e-05,-4.36510796228e-05,1793239083217365504
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.928438972,636,880,788,805,652,632,653,0.421309512695,-0.0155424211039,0.0599102378826,0.99999998866,-3.86466623945e-05,-0.000137792023981,-4.68964514682e-05,1793239083234032384
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.333474102,636,880,788,805,652,632,653,0.422120761711,-0.0155413101437,0.0598902331781,0.999999981602,-3.48640718004e-05,-0.000182059573545,-4.93538715438e-05,1793239083250699008
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.252853974,636,880,788,804.747146026,652,632,653,0.422998288093,-0.0155441682947,0.0599088498876,0.999999986305,-3.74576778324e-05,-0.000153779333322,-4.83606111851e-05,1793239083267365888
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.828167792,636,880,788,804.171832208,652,632,653,0.423960336847,-0.0155520881771,0.0599767197464,0.999999997372,-4.81827248713e-05,-3.2980286312e-05,-4.29667638547e-05,1793239083284032512
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.4025781,715.4025781,679.4025781,663,636,880,788,804.4025781,652,632,653,0.424892126462,-0.0155578221427,0.0600204335199,0.999999996943,-5.50666908861e-05,3.85166197525e-05,-3.99852637453e-05,1793239083300699136
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.976603593,715.976603593,679.976603593,663,636,880,788,804.976603593,652,632,653,0.425811029451,-0.0155626251834,0.0600538598498,0.999999993496,-6.03148412778e-05,8.90170374047e-05,-3.80311190771e-05,1793239083317365760
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.428150434,715.428150434,679.428150434,663,636,880,788,804.428150434,652,631.428150434,653,0.426672715469,-0.0155609821458,0.0600318879573,0.999999994493,-6.47086885964e-05,7.14789866498e-05,-4.14441562134e-05,1793239083334032384
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.161828372,745,715,679,663,636,880.161828372,788,804,652,631.161828372,653,0.427524503317,-0.0155595832201,0.0600072015245,0.999999995662,-6.85274337474e-05,4.42925016627e-05,-4.49216116747e-05,1793239083350699008
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.736085527,745,715,679,663,636,880.736085527,788,804,652,631.736085527,653,0.428357261037,-0.0155595044672,0.0599815959509,0.99999999633,-7.09730097655e-05,-1.15746591225e-07,-4.79820339403e-05,1793239083367365632
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.689727541,745,715,679,663,636,880.689727541,788,804,652,632,653,0.429175219104,-0.015558215262,0.0599539779959,0.999999994926,-7.13400632408e-05,-4.96014784383e-05,-5.0967173944e-05,1793239083384032256
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.115600357,745,715,679,663,636,880.115600357,788,804,652,632,653,0.42998059155,-0.015555896692,0.0599246487195,0.999999990756,-6.99395474753e-05,-0.000103405084054,-5.38882939401e-05,1793239083400698880
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.5285723,636,880,788,804,651.5285723,632,653,0.430864140451,-0.0155579810394,0.0599332450159,0.999999992686,-7.20853343918e-05,-8.09561007268e-05,-5.36545156926e-05,1793239083417366016
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.060785288,745,715,679,662.060785288,636,880.060785288,788,804,651,632,653,0.431767324983,-0.0155612712047,0.0599545104589,0.999999995155,-7.49747210276e-05,-3.63806554575e-05,-5.24034811845e-05,1793239083434032896
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.642236908,745,715,679,662.642236908,636,880.642236908,788,804,651,632,653,0.432669878218,-0.0155653818503,0.0600023948428,0.999999995309,-7.65752512332e-05,3.30542806522e-05,-4.92520104979e-05,1793239083450699264
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.779486305,745,715,679,662.779486305,636,881,788,804,651,632,653,0.433529984356,-0.0155683002716,0.060023212542,0.999999993735,-8.09345808962e-05,6.05237607999e-05,-4.8132387514e-05,1793239083467365632
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.206287192,745,715,679,662.206287192,636,881,788,804,651,632,653,0.434322201554,-0.0155693118725,0.0600007403068,0.999999994495,-8.97062826738e-05,2.0874498408e-05,-5.02624629303e-05,1793239083484032256
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.367847766,745,715,679.367847766,662.367847766,636,881,788,804.367847766,651.367847766,632,653,0.435107224928,-0.0155691987369,0.0599740265342,0.999999994089,-9.15614882124e-05,-2.39242530858e-05,-5.35416849933e-05,1793239083500698880
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.942508846,745,715,679.942508846,662.942508846,636,881,788,804.942508846,651.942508846,632,653,0.435888203705,-0.0155684532458,0.0599449280635,0.999999991777,-8.95280640848e-05,-7.16181751069e-05,-5.74669861543e-05,1793239083517365760
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.463813257,745,715,679.463813257,663,636,881,788,805,651.463813257,632,653,0.436663695817,-0.0155667243189,0.0599361353502,0.999999989998,-9.411275373e-05,-8.7903444497e-05,-5.84850601184e-05,1793239083534032640
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.126960237,715.126960237,679,663,636,881,788,805,651,632,653,0.437425733599,-0.0155639697553,0.0599275684651,0.999999988086,-9.54795671152e-05,-0.000106060715279,-5.88459870689e-05,1793239083550699520
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.700097501,715.700097501,679,663,636,881,788,805,651,632,653,0.438142632193,-0.0155579949875,0.0599118624101,0.999999984641,-8.2952299061e-05,-0.00014306710855,-5.8033257826e-05,1793239083567365888
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.725526329,715.725526329,679.274473671,663,636,881,788,805,651.274473671,632,653,0.43888688703,-0.0155569750357,0.0599195371027,0.999999986339,-7.94419690948e-05,-0.000133454972393,-5.65720696771e-05,1793239083584032512
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.436630459,715,679.563369541,663,636,881,788,805,651.563369541,632,653,0.440404245385,-0.0155695611512,0.0599863375932,0.999999993586,-9.69859347203e-05,-2.55323747225e-05,-5.26344277618e-05,1793239083617365760
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+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745.249741774,715,679.249741774,661,634,880,785,805,651,631,653,0.451395170127,-0.0156747221309,0.059657922809,0.99999982046,-0.000266935565306,-0.000531911189966,-6.9975570069e-05,1793239084617365760
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745.825169686,715,679.825169686,661,634,880,785,805,651,631,653,0.451395983784,-0.0156736398737,0.0596590232791,0.999999820944,-0.000267032324344,-0.000530947622966,-7.0001426903e-05,1793239084634032640
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745.593330145,715.406669855,680,661.406669855,634,880.406669855,785,805,651,630.593330145,653,0.451395094894,-0.0156740851847,0.0596581892132,0.99999982002,-0.000268319938228,-0.000532028652233,-7.00674475839e-05,1793239084650699520
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745.009179933,715.990820067,680,661.990820067,634,880.990820067,785,805,651,630.009179933,653,0.451393462973,-0.0156751971628,0.0596565108698,0.999999818476,-0.000270127269364,-0.00053400199179,-7.01509967168e-05,1793239084667366144
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,745,715.424976378,680,661.424976378,634,881,785,805,651,630,653,0.451395514185,-0.0156745424668,0.0596579178225,0.999999820288,-0.000267971969888,-0.000531721472719,-6.99048553415e-05,1793239084684032512
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,745.157047167,715,680,661,634,880.842952833,785,804.842952833,651,630.157047167,653,0.451396466573,-0.0156741216342,0.0596585722265,0.999999821039,-0.000266965334244,-0.000530844904468,-6.96822127254e-05,1793239084700699136
+253,4.216666667,POSE1_TO_POSE2_PRESS,766,745.733250007,715,680,661,634,880.266749993,785,804.266749993,651,630.733250007,653,0.451394329271,-0.0156744002612,0.0596570866205,0.999999818827,-0.000269193317475,-0.000533896720865,-6.95363368435e-05,1793239084717365760
+254,4.233333333,HOLD_POSE2,766,746,715,680,661,634,881,786,805,651,631,653,0.451392144199,-0.0156749841447,0.0596552307238,0.999999817134,-0.000268084730962,-0.000537600258468,-6.96315053804e-05,1793239084754243328
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+256,4.266666667,HOLD_POSE2,766,745.815358077,715,679.184641923,661,633.184641923,880.184641923,785.184641923,805,651,630.184641923,653,0.451396463404,-0.0156738766442,0.0596580213407,0.99999981947,-0.000268651397617,-0.000532907274208,-6.99790082002e-05,1793239084787576832
+257,4.283333333,HOLD_POSE2,766,745.236637341,715,679.763362659,661,633.763362659,880.763362659,785.763362659,805,651,630.763362659,653,0.451395620899,-0.0156755032785,0.0596576056171,0.999999818509,-0.000271092071047,-0.000533493330653,-6.98315750058e-05,1793239084804243456
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+259,4.316666667,HOLD_POSE2,765.088790089,745.911209911,715,680,661,634,881,786,805,651,631,653,0.451394239608,-0.0156748944504,0.0596563226169,0.999999817556,-0.000270941016595,-0.000535393831562,-6.95100447503e-05,1793239084837576704
+260,4.333333333,HOLD_POSE2,765.499290702,746,715.499290702,680,661,634,881,786,805,651,631,653,0.451393927307,-0.0156737380384,0.0596560996978,0.999999817799,-0.000269254352997,-0.000535760247771,-6.97499572475e-05,1793239084854243328
+261,4.350000000,HOLD_POSE2,766,746,715.911761177,680,661,634,881,786,805,651,631,653,0.451393764489,-0.01567297543,0.0596560047147,0.99999981801,-0.000268044664185,-0.000535947360399,-6.99529624787e-05,1793239084870909952
+262,4.366666667,HOLD_POSE2,766,746,715.333674624,680,661,634,881,786,805,651,631,653,0.451394085878,-0.015674761337,0.0596561344787,0.99999981745,-0.000270465297748,-0.000535829127719,-6.95394554827e-05,1793239084887576576
+263,4.383333333,HOLD_POSE2,766,746,715,680,661.244967294,634,881.244967294,785.755032706,805,651.244967294,631,653,0.451394768833,-0.0156748693891,0.0596562934966,0.999999817819,-0.00027077693886,-0.000535005684297,-6.93534393795e-05,1793239084904243200
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+265,4.416666667,HOLD_POSE2,766,746,715,680,661.601746127,634,881.601746127,785.398253873,805,651.601746127,631,653,0.45139621089,-0.0156716569435,0.059656577252,0.99999981998,-0.000265819824767,-0.000533444944175,-6.93929170877e-05,1793239084937576448
+266,4.433333333,HOLD_POSE2,766,746,715,680,661.030257868,634,881.030257868,785.969742132,805,651.030257868,631,653,0.451396080073,-0.0156711284894,0.0596566123953,0.999999820017,-0.000263507747094,-0.000534545458411,-6.92166479455e-05,1793239084954243328
+267,4.450000000,HOLD_POSE2,766,746,715,680,661.561237067,634,881,786,805,651,631,653,0.451395845003,-0.0156716103018,0.0596568148125,0.999999819357,-0.000265611436683,-0.0005346857946,-6.96283584417e-05,1793239084970909952
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+269,4.483333333,HOLD_POSE2,766,746,715.729804672,680,661.270195328,634,881.729804672,786,805,651,631,653,0.451397970927,-0.0156744064428,0.0596590281061,0.999999819889,-0.000269638544923,-0.000531743218858,-6.90363790096e-05,1793239085004242944
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+271,4.516666667,HOLD_POSE2,766,746,715.118827592,680,661,634.881172408,881.118827592,786,805,651,631,653,0.451398186399,-0.0156724059225,0.0596592178742,0.999999820703,-0.000267647402547,-0.000531192071724,-6.92347470315e-05,1793239085037576960
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.159753496,715,680,661,634,881,785.159753496,805.840246504,651.159753496,630,653,0.451398405544,-0.0156708912444,0.05965658993,0.999999819881,-0.000266659212836,-0.000533187021871,-6.95842977196e-05,1793239085102728192
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.737265971,715,680,661,634,881,785.737265971,805.262734029,651.737265971,630,653,0.451397450377,-0.0156715776517,0.0596571108012,0.99999982038,-0.000264822059073,-0.000533238284662,-6.90415390748e-05,1793239085119394816
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.687589642,715,680,661,634,880.687589642,785.687589642,804.687589642,651.687589642,630.312410358,653,0.451398036864,-0.015672654909,0.0596582291204,0.999999820842,-0.000265626431431,-0.000531988964307,-6.88896537552e-05,1793239085136061952
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.114421847,715,680,661,634,880.114421847,785.114421847,804.114421847,651.114421847,630.885578153,653,0.451399910113,-0.0156740583942,0.0596598461075,0.999999821266,-0.00026863558861,-0.000529654095019,-6.90640160577e-05,1793239085152729856
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715.460922935,680,661,634,880.460922935,785.460922935,804.460922935,651,631,653,0.451398364614,-0.0156736471795,0.0596584437823,0.999999820614,-0.000268409681462,-0.000530992178641,-6.91097650301e-05,1793239085169396480
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745.037986705,716,680,661.037986705,634,881,785.962013295,805,651.037986705,631,653,0.451395621476,-0.0156728125629,0.0596562015804,0.999999819508,-0.000267510370423,-0.000533517555435,-6.91397408851e-05,1793239085186062336
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.632272539,716,680,661.632272539,634,881,785.367727461,805,651.632272539,631,653,0.451387827057,-0.0156724059527,0.0596526883693,0.99999981572,-0.000268566050708,-0.000540014157387,-6.9408511486e-05,1793239085202729216
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.780849688,715.780849688,679.780849688,661.780849688,634,881,785.219150312,805,652,631,653,0.451373541821,-0.015671727837,0.0596463474269,0.999999809869,-0.000268853493787,-0.000550543647928,-6.98730961368e-05,1793239085219395840
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.205996016,715.205996016,679.205996016,661.205996016,634,881,785.794003984,805,652,631,653,0.451348721329,-0.01567060904,0.0596354167878,0.999999800525,-0.000267894009197,-0.000567618928251,-7.06555069741e-05,1793239085236062208
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.94630952,715.94630952,679.94630952,661.94630952,634,881,785.05369048,805,651.05369048,631,653,0.451258559243,-0.0156606264702,0.059603919241,0.999999773167,-0.000260814336069,-0.000616602509291,-7.37797537839e-05,1793239085269395200
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,662,634,880.466531553,785.533468447,805,651,630.466531553,653,0.45119362836,-0.0156591750588,0.0595886734539,0.999999761997,-0.000260287538509,-0.000634611322354,-7.43279048115e-05,1793239085286061568
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.880087953,716,680,662,634.119912047,880.119912047,785.880087953,805,651,630.119912047,653,0.451123326948,-0.0156571347213,0.059575559695,0.999999751925,-0.000259775059533,-0.000650439636367,-7.47958953211e-05,1793239085302728448
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.300606505,716,680,662,634.699393495,880.699393495,785.300606505,805,651,630.699393495,653,0.451038515418,-0.0156511111297,0.0595700050582,0.99999974537,-0.000257909702118,-0.000661100266332,-7.5422798722e-05,1793239085319395328
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.723493309,745,716,680,661.723493309,634.723493309,880.723493309,785,805,651,631,653,0.450948642337,-0.0156454616077,0.0595681854327,0.999999743006,-0.00025583940824,-0.000665449620894,-7.55670615323e-05,1793239085336061696
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745.182079736,715,680,662,634,880.182079736,785.182079736,805,651.182079736,631,653,0.450296202598,-0.0156121139751,0.0595651667157,0.999999745454,-0.000241422239144,-0.000667593402922,-7.15986755106e-05,1793239085419395072
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.760165602,715,680,662,634,880.760165602,785.760165602,805,651.760165602,631,653,0.450103016042,-0.0156008513038,0.0595644504063,0.999999744178,-0.000233728492039,-0.000672349790471,-7.04334770808e-05,1793239085436061696
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,746,715.335773277,680,661.664226723,634,880.664226723,785.664226723,805,651.664226723,631,653,0.449892379003,-0.0155891599692,0.0595629965594,0.999999742912,-0.000226731684346,-0.000676743119856,-6.91932440676e-05,1793239085452728320
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,715.90962387,680,661.09037613,634,880.09037613,785.09037613,805,651.09037613,631,653,0.449669368821,-0.015577164693,0.0595610197673,0.999999741646,-0.000220229035094,-0.000680879026282,-6.78998082719e-05,1793239085469394688
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.961574659,745,715,678.038425341,662,636,879,788,804,652,631.961574659,653,0.404062266346,-0.0153661594219,0.0597979174766,0.999999917581,0.000234052028637,-0.000330921254959,2.34330685137e-05,1793239086619395328
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,879.777681586,788,804,652,632,653,0.400990057323,-0.0153836905169,0.0598488485199,0.999999951998,0.000181534827573,-0.000250820226217,1.17235268255e-05,1793239087102728192
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,880,788,803.647023696,652,632,653,0.400989610367,-0.0153828157697,0.0598489171745,0.99999995197,0.000182055693634,-0.000250556780028,1.1716110294e-05,1793239087119394816
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,880,788,803.071521531,652,632,653,0.400989406436,-0.0153814347328,0.0598491729817,0.999999951881,0.000183143712469,-0.000250112022063,1.18640866168e-05,1793239087136061440
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715.520953575,679,662,636,880,788,803.520953575,652,632,653,0.400987075423,-0.0153840443052,0.0598482785563,0.99999995182,0.000180749115372,-0.000252083836201,1.19410770353e-05,1793239087152728064
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715.888272284,679,662,636,880,788,804,652,632,653,0.400985442912,-0.0153862642046,0.0598476133543,0.999999951782,0.000178981984673,-0.000253493830708,1.19342628394e-05,1793239087169394688
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715.314493799,679,662,636,880,788,804,652,632,653,0.400987947408,-0.0153845305859,0.0598485711593,0.999999951856,0.000181853635603,-0.00025116216974,1.16225344834e-05,1793239087186061568
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.26008731,745,715,679,662,636,879.73991269,788,804,652.26008731,632,653,0.40098835949,-0.0153843513876,0.0598490209334,0.999999952029,0.000181776831642,-0.000250527733178,1.16354711308e-05,1793239087202728192
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.409644377,745,715,679,662,636.409644377,879.409644377,788.590355623,804,652,632,653,0.400987597844,-0.0153822202554,0.05984990845,0.99999995225,0.000182670549439,-0.000249003619281,1.13612922944e-05,1793239087269394944
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715.168834567,679,662,636,879,788.831165433,803.831165433,652,632,653,0.400987740572,-0.0153835140566,0.0598505341428,0.999999952465,0.000182169844189,-0.000248486870756,1.17860060024e-05,1793239087286061568
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715.744996294,679,662,636,879,788.255003706,803.255003706,652,632,653,0.400987665816,-0.0153846661023,0.0598505250604,0.999999952227,0.000183413380194,-0.000248526008866,1.18492285039e-05,1793239087302728192
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,716,679,662,636,879.326732822,788,803.326732822,652,632,653,0.400986833405,-0.015385282539,0.0598503816154,0.999999952053,0.000184022053441,-0.000248772129264,1.19482120415e-05,1793239087319394816
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,716,679,662,636,879.912895787,788,803.912895787,652,632,653,0.400985399408,-0.0153854736952,0.0598501314846,0.99999995193,0.000184126637281,-0.000249182596308,1.20755903073e-05,1793239087336061440
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,716,679,662,636.493514092,879.506485908,788,804,652,632,653,0.400986225494,-0.0153854276798,0.0598502489569,0.999999952319,0.000182933146138,-0.000248501718148,1.20503836582e-05,1793239087352728064
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+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,716,678.226058073,661.226058073,636,879,788,804,652,631.773941927,653,0.400987002166,-0.0153853620842,0.059850515562,0.999999952658,0.000181440706691,-0.000248233182163,1.19546297089e-05,1793239087402728192
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,716,678.799967611,661.799967611,636,879,788,804,652,631.200032389,653,0.400988171404,-0.0153862408363,0.0598514820753,0.999999953246,0.000180372949222,-0.000246628849851,1.21707725088e-05,1793239087419394816
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766.385155589,745,715.614844411,679,662,636,879,788,804,652,631.385155589,653,0.400987714998,-0.0153858121421,0.0598514404053,0.999999953198,0.000180233337387,-0.000246931820256,1.20528139442e-05,1793239087436061440
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.976377742,745,715.023622258,679,662,636,879,788,804,652,631.976377742,653,0.400986388838,-0.015384683936,0.0598508593354,0.999999952809,0.000180590303591,-0.00024825523893,1.1756103916e-05,1793239087452728064
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766.443924388,745,715,679,662,636.556075612,879,788,804,652,632,653,0.40098646986,-0.0153864701359,0.0598509174781,0.999999952926,0.000180056081177,-0.000248153467479,1.21122781068e-05,1793239087469394944
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+418,6.966666667,POSE2_TO_POSE3_RETREAT,766.710087663,745,715,678.289912337,662,636.289912337,879,788.710087663,804,652,632,653,0.400987942722,-0.0153855183895,0.0598520985641,0.999999952943,0.000183111848952,-0.000245837225221,1.21971683665e-05,1793239087502728192
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00dee5238e06a00b1336c03ba3b616d8c8a9124a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+1,0.016666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+2,0.033333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+3,0.050000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
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+395,6.583333333,pose2_to_pose3_retreat,0.575667910593,-0.00990909413959,1.05003253195,0.546238360251,-0.00123736118228,1.04970066152
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+397,6.616666667,pose2_to_pose3_retreat,0.575666810247,-0.00990905478331,1.05003249929,0.546237259016,-0.00123732490609,1.04970062722
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+405,6.750000000,pose2_to_pose3_retreat,0.575665502514,-0.00990920345346,1.05003238464,0.546235952872,-0.00123746805803,1.04970051586
+406,6.766666667,pose2_to_pose3_retreat,0.575665245059,-0.00990923445,1.0500323614,0.546235695753,-0.00123749788705,1.04970049332
+407,6.783333333,pose2_to_pose3_retreat,0.575665077024,-0.00990925620146,1.05003233224,0.546235527983,-0.0012375186894,1.04970046536
+408,6.800000000,pose2_to_pose3_retreat,0.575665027935,-0.00990926429539,1.05003230771,0.546235479026,-0.00123752629203,1.04970044205
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f86922ff0d479e3a73947297eaae63d998f79ece
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47af4ae8c423eb09acc02489127e5910367e578f45c7a7d1a11587d8e3ad43fd
+size 26167432
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..26fa43fc48accecca386ed636794c679d9f1564c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
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+27,0.450000000,BASELINE,766,745.343927402,715,678.343927402,664.343927402,636,879.656072598,788,803.687854803,652,632,653,0.400943148832,-0.0154225889895,0.0499398373618,0.999999974044,8.55010280869e-05,-0.000208650998952,-3.26677007152e-05,1793239089282303488
+28,0.466666667,BASELINE,766.237690078,745,715,678,664,636,880,788,803.237690078,652,632,653,0.400942936068,-0.0154223394589,0.0499394122529,0.999999973995,8.47297331668e-05,-0.000209191926936,-3.27131795467e-05,1793239089298970368
+29,0.483333333,BASELINE,766.831696033,745,715,678,664,636,880,788,803.831696033,652,632,653,0.400942285164,-0.0154225993702,0.0499393181926,0.999999973987,8.32313589416e-05,-0.000209769907271,-3.30805538194e-05,1793239089315637248
+30,0.500000000,BASELINE,766.587851069,745,715,678,664.412148931,636,879.587851069,788,804,652,631.587851069,653,0.400942361995,-0.0154221910071,0.0499391610187,0.999999973809,8.48712772396e-05,-0.000209931786644,-3.32696445449e-05,1793239089332303872
+31,0.516666667,BASELINE,766.012756472,745,715,678,664.987243528,636,879.012756472,788,804,652,631.012756472,653,0.40094272654,-0.0154215184374,0.0499389788925,0.999999973557,8.77519392198e-05,-0.000209929157875,-3.33882497422e-05,1793239089348970496
+32,0.533333333,BASELINE,766,745,715,678,665,636,879,788,803.43750052,652,631.56249948,653,0.400942412691,-0.0154213983411,0.0499388045063,0.999999973448,8.80525734248e-05,-0.000210352166349,-3.31927303759e-05,1793239089365636864
+33,0.550000000,BASELINE,766.140798984,745,715,678,664.859201016,636,879,788,803.140798984,652,632,653,0.400942487402,-0.0154214535627,0.049938817232,0.999999973498,8.79383107483e-05,-0.000210199155181,-3.29837798607e-05,1793239089382303488
+34,0.566666667,BASELINE,766.728752578,745,715,678,664.271247422,636,879,788,803.728752578,652,632,653,0.400943844992,-0.0154220257633,0.0499394236374,0.999999974035,8.66922759099e-05,-0.000208186135355,-3.27548046937e-05,1793239089398970112
+35,0.583333333,BASELINE,766.687673121,744.687673121,715,678.312326879,664.312326879,636,879,788,804,652,632,653,0.400944557948,-0.0154212272839,0.0499399108582,0.99999997409,8.82326914639e-05,-0.000207250551786,-3.29109776108e-05,1793239089415636736
+36,0.600000000,BASELINE,766.10784946,744.10784946,715,678.89215054,664.89215054,636,879,788,804,652,632,653,0.4009447188,-0.0154192548664,0.0499402960019,0.999999973722,9.21596018036e-05,-0.000207237753542,-3.33970160366e-05,1793239089432303616
+37,0.616666667,BASELINE,766,744.46903317,715,678.53096683,664.53096683,636,879,788,803.53096683,652,632,653,0.400944257685,-0.0154211531386,0.0499404007542,0.999999974033,8.981584038e-05,-0.000206775769812,-3.33163478091e-05,1793239089448971264
+38,0.633333333,BASELINE,766,745,715,678,664.04581431,636,879,788,803.04581431,652,632,653,0.400943742865,-0.0154236629365,0.049940454955,0.999999974444,8.63802323848e-05,-0.000206286827885,-3.31097706996e-05,1793239089465638656
+39,0.650000000,BASELINE,766,745,715,678,664.629291762,636,879,788,803.629291762,652,632,653,0.400944265686,-0.0154229694246,0.0499406678205,0.999999974318,8.69470420215e-05,-0.000206686089097,-3.29452966411e-05,1793239089482304768
+40,0.666666667,BASELINE,766,745,715,678.212692743,665,636,879,788,804,652,632,653,0.400944347785,-0.0154226200268,0.0499404813702,0.999999974222,8.69213245444e-05,-0.000207146243728,-3.30244557352e-05,1793239089498970880
+41,0.683333333,BASELINE,766,745,715,678.795960453,665,636,879,788,804,652,632,653,0.400943662012,-0.0154228701799,0.0499395991913,0.999999974179,8.58632459294e-05,-0.000207712493056,-3.35280973389e-05,1793239089515637248
+42,0.700000000,BASELINE,766,745,715,678.623412088,665,636,879.376587912,788,804,652.376587912,632,653,0.400943150042,-0.0154228091604,0.0499387608336,0.999999973983,8.6605223153e-05,-0.00020837905103,-3.33463697596e-05,1793239089532303616
+43,0.716666667,BASELINE,766,745,715,678.044205207,665,636,879.955794793,788,804,652.955794793,632,653,0.400942731585,-0.0154225807179,0.0499379460533,0.999999973701,8.83157005878e-05,-0.000209099578945,-3.27958868394e-05,1793239089548970240
+44,0.733333333,BASELINE,766,745,715,678.530387404,665,636,878.939225192,788,804,652.469612596,632,653,0.400943258839,-0.0154215111476,0.0499386842099,0.999999973782,8.91659905195e-05,-0.000208310049791,-3.30374952307e-05,1793239089565637120
+45,0.750000000,BASELINE,766,745,715,678.892733488,665,636,878.107266512,788,804,652,632,653,0.400943644297,-0.0154206948761,0.0499394465507,0.999999973882,8.94349214378e-05,-0.000207683517578,-3.32489270475e-05,1793239089582303744
+46,0.766666667,BASELINE,766,745,715,678.303877237,665,636,878.696122763,788,804,652,632,653,0.400943042317,-0.0154213278574,0.0499397413868,0.999999973929,8.74128484404e-05,-0.000208348962104,-3.30310392511e-05,1793239089598970624
+47,0.783333333,BASELINE,766,745,715,678.280496177,665,636,879.280496177,788,804,652,632,653,0.400942965409,-0.0154213769993,0.049939721562,0.999999973943,8.69387884968e-05,-0.000208492116918,-3.29646941783e-05,1793239089615637248
+48,0.800000000,BASELINE,766,745,715,678.860089548,665,636,879.860089548,788,804,652,632,653,0.400943448394,-0.0154208035846,0.0499393662095,0.999999973923,8.81153973637e-05,-0.000208078346622,-3.3059941311e-05,1793239089632304128
+49,0.816666667,BASELINE,766,745,715,678.563123149,665,636,880,788,804,652.436876851,631.563123149,653,0.400943638832,-0.0154218143306,0.0499392271225,0.999999974095,8.55676907843e-05,-0.000208313901567,-3.30695238485e-05,1793239089648970496
+50,0.833333333,BASELINE,766,745,715,678.012744041,665,636,880,788,804,652.987255959,631,653,0.400943748259,-0.0154232963444,0.0499391809469,0.999999974317,8.19551303106e-05,-0.000208703069181,-3.30469742046e-05,1793239089665637120
+51,0.850000000,BASELINE,766,745,715,678.587413457,665,636,880,788,804,652.412586543,631,653,0.400944390291,-0.0154233310358,0.0499401971562,0.99999997459,8.36448374489e-05,-0.000206754965608,-3.28095560113e-05,1793239089682303488
+52,0.866666667,BASELINE,766,745,715,678.833974272,665,636,879.833974272,788,804,652,631.166025728,653,0.400944917064,-0.0154233430968,0.0499407742205,0.999999974711,8.4926049622e-05,-0.000205669168627,-3.26530009142e-05,1793239089698970112
+53,0.883333333,BASELINE,766,745,715,678.245325389,665,636,879.245325389,788,804,652,631.754674611,653,0.400945150437,-0.0154232975515,0.0499402334288,0.99999997446,8.51674262852e-05,-0.000206778397419,-3.27022851149e-05,1793239089715636736
+54,0.900000000,BASELINE,766.338123024,745,715,678.338123024,665,636,879.676246048,788,804,652,632,653,0.400944979951,-0.015423155221,0.0499400672497,0.999999974402,8.56094662286e-05,-0.000206895334822,-3.25926096797e-05,1793239089732303616
+55,0.916666667,BASELINE,766.917855361,745,715,678.917855361,665,636,880.835710723,788,804,652,632,653,0.400944520882,-0.0154229437317,0.0499401687541,0.999999974481,8.61948921899e-05,-0.000206303220075,-3.23693479861e-05,1793239089748970496
+56,0.933333333,BASELINE,767,745,715,679,664.506995804,636,880.506995804,788,804,652,631.506995804,653,0.400944339339,-0.0154225912302,0.0499401752674,0.999999974294,8.80839305316e-05,-0.000206408730395,-3.2371720971e-05,1793239089765637632
+57,0.950000000,BASELINE,766.931008011,745,715,679,664,636,880,788,803.931008011,652,631.068991989,653,0.400944195067,-0.0154222607181,0.0499401415594,0.99999997409,8.97930593105e-05,-0.000206655157242,-3.24148358845e-05,1793239089782304256
+58,0.966666667,BASELINE,766.343017247,745,715,679,664,636,880,788,803.343017247,652,631.656982753,653,0.400943986513,-0.0154222707429,0.0499399232503,0.999999974109,8.85298789719e-05,-0.000207095280041,-3.24842261368e-05,1793239089798970624
+59,0.983333333,BASELINE,766,745,715,679,664.241397173,636,880,788,803.241397173,652.241397173,632,653,0.400943699632,-0.0154220631859,0.04993943349,0.99999997411,8.73068272965e-05,-0.000207584757545,-3.26620918633e-05,1793239089815637248
+60,1.000000000,BASELINE,766,745,715,679,664.820804003,636,880,788,803.820804003,652.820804003,632,653,0.400943303078,-0.0154215509661,0.0499385636379,0.999999974084,8.61399644806e-05,-0.000208143342661,-3.29918473561e-05,1793239089832303872
+61,1.016666667,BASELINE,766,745,715,678.600610937,664.600610937,636,879.600610937,788,804,653,632,653,0.400943571494,-0.0154220789613,0.0499389542233,0.99999997424,8.56264917052e-05,-0.000207621262071,-3.28988124121e-05,1793239089848970496
+62,1.033333333,BASELINE,766,745,715,678.022393862,664.022393862,636,879.022393862,788,804,653,632,653,0.400944137653,-0.0154230727168,0.0499399091746,0.999999974476,8.54055769413e-05,-0.000206615309162,-3.26164713799e-05,1793239089865637120
+63,1.050000000,BASELINE,766,745,715,678.551282054,664.551282054,636,879,788,803.448717946,652.448717946,632,653.551282054,0.400943703511,-0.015421675949,0.0499392019295,0.999999974051,8.81434340401e-05,-0.000207490000944,-3.28087627268e-05,1793239089882304000
+64,1.066666667,BASELINE,766,745,715,678.871435969,665,636.128564031,879.128564031,788,803.257128062,652,632,653.871435969,0.400943409214,-0.0154207294355,0.0499385615879,0.999999973755,8.97976004606e-05,-0.000208177430046,-3.29940198636e-05,1793239089898970880
+65,1.083333333,BASELINE,766,745,715,678.280527882,665,636.719472118,879.719472118,788,804.438944236,652,632,653.280527882,0.400943762757,-0.0154217484972,0.0499384026812,0.999999974042,8.71258845612e-05,-0.000207918935582,-3.308521101e-05,1793239089915637504
+66,1.100000000,BASELINE,766,745,715,678.304023394,664.695976606,636.695976606,880,788,804.695976606,652,632,653,0.400943383618,-0.0154222290177,0.049938612323,0.999999974197,8.53745948738e-05,-0.000207917665227,-3.29698603619e-05,1793239089932303872
+67,1.116666667,BASELINE,766,745,715,678.882829224,664.117170776,636.117170776,880,788,804.117170776,652,632,653,0.400942342265,-0.015422222794,0.0499391550664,0.999999974237,8.4455204989e-05,-0.000208148879192,-3.26678330957e-05,1793239089948970240
+68,1.133333333,BASELINE,766.459260812,745,715,679,664.459260812,636,880.459260812,788,803.540739188,652,632,653,0.400942900676,-0.0154228110729,0.0499393492185,0.999999974344,8.39761479605e-05,-0.000207844692761,-3.25596014816e-05,1793239089965636864
+69,1.150000000,BASELINE,766.965007884,745,715,678.965007884,664.965007884,636,880.965007884,788,803.034992116,652,631.965007884,653,0.400943791066,-0.0154234262566,0.049939451176,0.999999974449,8.37550924626e-05,-0.000207437668468,-3.25220670611e-05,1793239089982303488
+70,1.166666667,BASELINE,766.390782231,745,715,678.390782231,664.390782231,636,880.390782231,788,803.609217769,652,631.390782231,653,0.40094354007,-0.0154221307362,0.0499394958676,0.999999974245,8.57875800034e-05,-0.000207540039334,-3.28159830629e-05,1793239089998970112
+71,1.183333333,BASELINE,766,745,715,678,664.188268625,636,880,788,804,652.188268625,631.188268625,653,0.400943705573,-0.0154215545153,0.0499396733804,0.999999974248,8.63478900065e-05,-0.000207262445795,-3.30141759376e-05,1793239090015636992
+72,1.200000000,BASELINE,766,745,715,678,664.777598531,636,880,788,804,652.777598531,631.777598531,653,0.400944758328,-0.0154225105897,0.0499401338371,0.999999974692,8.37720782088e-05,-0.000206175428976,-3.30084536373e-05,1793239090032303872
+73,1.216666667,BASELINE,766,745,715,678,665,636,880,788,804,652.639319682,632,653.360680318,0.400944714249,-0.0154228105495,0.049939791216,0.999999974627,8.36624792388e-05,-0.000206531743629,-3.30449502697e-05,1793239090048970752
+74,1.233333333,BASELINE,766,745,715,678,665,636,880,788,804,652.060025021,632,653.939974979,0.40094400536,-0.0154227128273,0.049938961836,0.999999974253,8.50476930683e-05,-0.000207762885576,-3.31070365003e-05,1793239090065637632
+75,1.250000000,BASELINE,766,745,715,678.517630512,665,636.517630512,879.482369488,788,804,652,632,653.482369488,0.400943664167,-0.0154220313628,0.0499389224299,0.999999974049,8.6966866316e-05,-0.000207988646864,-3.28582486892e-05,1793239090082304000
+76,1.266666667,BASELINE,766,745,715,678.90368286,665,636.90368286,879,788,804,652,632,653,0.400943472416,-0.0154215817132,0.049938944776,0.999999973928,8.83130607159e-05,-0.00020804491176,-3.25930727045e-05,1793239090098970112
+77,1.283333333,BASELINE,766,745,715,678.318805002,665,636.318805002,879,788,804,652,632,653,0.400943823104,-0.0154226502002,0.0499388171565,0.999999974141,8.6439782044e-05,-0.000207830921688,-3.24270489855e-05,1793239090115636992
+78,1.300000000,BASELINE,766,745,715,678.263616252,665,636,879,788,803.736383748,652.263616252,632,653,0.400944036652,-0.0154230571948,0.0499390306483,0.999999974272,8.58418621084e-05,-0.000207453757856,-3.24003243195e-05,1793239090132303616
+79,1.316666667,BASELINE,766,745,715,678.843093992,665,636,879,788,803.156906008,652.843093992,632,653,0.400944085881,-0.0154226715977,0.0499396528551,0.999999974306,8.67720601923e-05,-0.000206881081406,-3.25405059393e-05,1793239090148970496
+80,1.333333333,BASELINE,766,745,715,678.57749426,664.57749426,636,879.42250574,788,803.42250574,652.57749426,632,653,0.400944453371,-0.0154232364028,0.0499398172611,0.99999997452,8.53799204177e-05,-0.000206441555606,-3.24512348645e-05,1793239090165637120
+81,1.350000000,BASELINE,766,745,715,678.001878433,664.001878433,636,879.998121567,788,804,652,632,653,0.400944936946,-0.0154241495268,0.0499398132975,0.999999974794,8.31374437379e-05,-0.000206052018386,-3.22774206166e-05,1793239090182304000
+82,1.366666667,BASELINE,766,745,715,678.576797584,664.576797584,636,879.423202416,788,804,652,632,653,0.400944783018,-0.0154236663981,0.049940302762,0.999999974721,8.45482450562e-05,-0.000205829706061,-3.2303547426e-05,1793239090198970624
+83,1.383333333,BASELINE,766,745,715,678.844754321,664.844754321,636,879,788,804,652,632,653,0.400944514135,-0.0154231454076,0.0499404103594,0.999999974593,8.57680033691e-05,-0.000205936635572,-3.23853810376e-05,1793239090215637504
+84,1.400000000,BASELINE,766,745,715,678.256462366,664.256462366,636,879,788,804,652,632,653,0.400943924594,-0.0154225188044,0.0499394527673,0.999999974314,8.64548617454e-05,-0.000206961960651,-3.26226046368e-05,1793239090232303872
+85,1.416666667,BASELINE,766,745,715,678.326971778,664.326971778,636,879,788.326971778,804,652.326971778,632,653,0.400943701773,-0.0154229343378,0.04993888554,0.999999974178,8.63466010211e-05,-0.000207673004588,-3.25688717015e-05,1793239090248969984
+86,1.433333333,BASELINE,766,745,715,678.906651414,664.906651414,636,879,788.906651414,804,652.906651414,632,653,0.400943762381,-0.015424155311,0.0499386200155,0.999999974152,8.5623813688e-05,-0.000208141148865,-3.22902661255e-05,1793239090265636608
+87,1.450000000,BASELINE,766,745,715,679,665,636,879.964500308,788.517749846,803.517749846,652.517749846,632,653.482250154,0.400944131449,-0.0154225058993,0.0499389846601,0.999999974079,8.74608397989e-05,-0.000207677993747,-3.25939866633e-05,1793239090282303744
+88,1.466666667,BASELINE,766.057218978,745,715,678.942781022,664.942781022,636,881,788,803,652.057218978,632,653.942781022,0.40094436119,-0.0154205969488,0.0499393222912,0.999999973976,8.94846153853e-05,-0.00020725296901,-3.29507779445e-05,1793239090298970368
+89,1.483333333,BASELINE,766.633579513,745,715,678.366420487,664.366420487,636,881,788,803,652.633579513,632,653.366420487,0.400942789653,-0.0154213319819,0.0499383173969,0.999999973727,8.87448544956e-05,-0.000208795747331,-3.27749581406e-05,1793239090315636992
+90,1.500000000,BASELINE,766.784532064,745,715,678,664.215467936,636.215467936,880.569064127,788,803.430935873,653,632,653,0.400942292876,-0.015421751517,0.0499380773261,0.999999973782,8.79514674022e-05,-0.000208882118973,-3.27000267347e-05,1793239090332303360
+91,1.516666667,BASELINE,766.19299556,745,715,678,664.80700444,636.80700444,879.385991119,788,804.614008881,653,632,653,0.400943671937,-0.0154216203953,0.0499391721457,0.999999974366,8.70644834921e-05,-0.000206426540203,-3.28011816643e-05,1793239090348969984
+92,1.533333333,BASELINE,766,745,715,678,665,636.61133976,879.38866024,788,804.222679519,652.61133976,632,653,0.4009436615,-0.0154217629976,0.0499390088185,0.999999974285,8.67059900945e-05,-0.000206930016525,-3.30426940759e-05,1793239090365637120
+93,1.550000000,BASELINE,766,745,715,678,665,636.034468692,879.965531308,788,803.068937383,652.034468692,632,653,0.400942978191,-0.0154220381522,0.0499382362269,0.999999973881,8.66034210127e-05,-0.00020886643109,-3.33521753678e-05,1793239090382304512
+94,1.566666667,BASELINE,766,745,715.540128197,678.540128197,664.459871803,636,880,788,803,652,632,653,0.40094357205,-0.0154227886165,0.0499390228586,0.999999974113,8.69489436217e-05,-0.000207660302788,-3.30366244773e-05,1793239090398970880
+95,1.583333333,BASELINE,766,745,715.88554848,679,664.11445152,636,880,788,803.22890304,652,632,653,0.400944050441,-0.0154233157335,0.049939586319,0.99999997433,8.70346091496e-05,-0.000206616270438,-3.27932879815e-05,1793239090415636992
+96,1.600000000,BASELINE,766,745,715.311742912,679,664.688257088,636,880,788,804.376514175,652,632,653,0.400943739658,-0.015422825212,0.0499388563923,0.999999974331,8.59630450723e-05,-0.000207024326542,-3.29992015427e-05,1793239090432303616
+97,1.616666667,BASELINE,766,745,715,678.727837666,664.727837666,636,880,788,804.727837666,652,632,653,0.400943262324,-0.0154227598729,0.0499381986985,0.99999997422,8.51597685179e-05,-0.000207882349799,-3.30538103687e-05,1793239090448970240
+98,1.633333333,BASELINE,766,745,715,678.131918139,664.131918139,636,880,788,804.131918139,652,632,653,0.400942586867,-0.0154232003195,0.0499376269309,0.999999973975,8.4675639846e-05,-0.000209275642183,-3.29284310282e-05,1793239090465636864
+99,1.650000000,BASELINE,766,745,715,678,664,636,880,788.447230339,804.447230339,652,632.447230339,653,0.400942944179,-0.0154228076124,0.0499377175986,0.999999973986,8.49357771308e-05,-0.000209097482769,-3.30349337781e-05,1793239090482304000
+100,1.666666667,BASELINE,766,745,715,678.021597765,664,636.021597765,880,788.978402235,804.956804469,652,632.978402235,653,0.400943597212,-0.0154222287648,0.0499380198156,0.999999974074,8.54282703755e-05,-0.000208451805032,-3.31829341347e-05,1793239090498970880
+101,1.683333333,BASELINE,766,745,715,678.595634191,664,636.595634191,880,788.404365809,803.808731618,652,632.404365809,653,0.400944303948,-0.0154229475078,0.0499389158507,0.999999974247,8.64516986558e-05,-0.000207275476352,-3.27061092838e-05,1793239090515637504
+102,1.700000000,BASELINE,766,745.17486809,715,678.82513191,664.17486809,636.82513191,880,788,803.349736181,652.17486809,632,653,0.400944447474,-0.0154235803827,0.0499393981873,0.999999974315,8.69593509856e-05,-0.000206777416041,-3.24197158953e-05,1793239090532303872
+103,1.716666667,BASELINE,766,745.766488733,715,678.233511267,664.766488733,636.233511267,880,788,804.532977466,652.766488733,632,653,0.400943248738,-0.0154240086131,0.049938894581,0.99999997414,8.62377855166e-05,-0.00020789583191,-3.25871663711e-05,1793239090548970240
+104,1.733333333,BASELINE,766.350507315,746,715,678,664.649492685,636,880,788,804.649492685,652.649492685,632,653,0.400943133832,-0.0154232863911,0.0499390094393,0.999999974064,8.67633722876e-05,-0.000208017681542,-3.27576225712e-05,1793239090565636864
+105,1.750000000,BASELINE,766.929568903,746,715,678,664.070431097,636,880,788,804.070431097,652.070431097,632,653,0.400943725656,-0.0154218139972,0.049939527578,0.999999974051,8.8102185873e-05,-0.000207489703277,-3.29300387216e-05,1793239090582303488
+106,1.766666667,BASELINE,766.494107833,745.494107833,715,678,664.505892167,636,879.494107833,788,803.494107833,652,632,653,0.400944535161,-0.0154234459747,0.049939401466,0.999999974285,8.63112959196e-05,-0.000207155251488,-3.26667879436e-05,1793239090598970368
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,679,665,637,879,788,804,652,632,653,0.400942113683,-0.0154234103815,0.0499383960615,0.999999974133,8.35928044891e-05,-0.000208948025845,-3.29794276853e-05,1793239090641656320
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.420129577,679,664.420129577,636.420129577,879,788,804,652.579870423,632,653,0.400942547203,-0.0154227997275,0.0499384021947,0.99999997428,8.41266376014e-05,-0.000208011501665,-3.30800738073e-05,1793239090658323200
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,678.841226018,664.158773982,636,879,788,803.841226018,652.841226018,632,653,0.400943237755,-0.0154225587166,0.049938620332,0.99999997442,8.45816863568e-05,-0.000207151816662,-3.30827968166e-05,1793239090674989824
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,678.264865249,664.735134751,636,879,788,803.264865249,652.264865249,632,653,0.400944604318,-0.0154232898929,0.0499393960554,0.999999974543,8.48295268063e-05,-0.00020649422392,-3.28279751461e-05,1793239090691655680
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,678.311331344,665,636,879,788,803.311331344,652,632,653,0.400945365482,-0.0154236795851,0.0499395290402,0.999999974541,8.52300807367e-05,-0.000206367576212,-3.26481586305e-05,1793239090708321536
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678.887388303,665,636,879,788,803.887388303,652,632,653,0.400945611874,-0.0154237789126,0.0499391155031,0.999999974433,8.57604872064e-05,-0.000206692392083,-3.25321191514e-05,1793239090724988160
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678.528076105,665,636,879.471923895,788,804,652,632,653,0.400953683022,-0.0154230764043,0.0499419975314,0.999999975674,8.68545448646e-05,-0.000200168086824,-3.22634225042e-05,1793239090741654784
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.05780559,745,715,678,665,636,879.94219441,788,803.94219441,652,631.94219441,653,0.400964480999,-0.0154224787677,0.0499457174754,0.999999977298,8.77078839636e-05,-0.000191549010976,-3.19439681713e-05,1793239090758321152
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.637243305,745,715,678,665,636,879.362756695,788,803.362756695,652,631.362756695,653,0.400982728277,-0.0154245856711,0.0499497724995,0.99999997985,8.51530829524e-05,-0.000179045004227,-3.15012129483e-05,1793239090774987776
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,715,678.215581887,665,636.215581887,879,788,803.215581887,652.215581887,631,653,0.401006060236,-0.0154268775514,0.0499547471807,0.999999982715,8.26194544043e-05,-0.000163639332239,-3.10873015825e-05,1793239090791654656
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,715,678.792080296,665,636.792080296,879,788,803.792080296,652.792080296,631,653,0.401037904713,-0.0154294791107,0.0499612615057,0.99999998604,8.01212719968e-05,-0.000143375837214,-3.07216792174e-05,1793239090808321024
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.631832069,745.368167931,715,679,665,637,879,788.368167931,804,653,631.368167931,653,0.401077017979,-0.0154303163456,0.0499661617064,0.999999988723,8.14586933756e-05,-0.000122423259488,-3.05049555216e-05,1793239090824987904
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.055976101,745.944023899,715,679,665,637,879,788.944023899,804,653,631.944023899,653,0.401120231661,-0.0154301583037,0.0499701513604,0.999999990821,8.4959825545e-05,-0.000101081959847,-3.03722273467e-05,1793239090841654528
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.532666265,745.467333735,715,679,665,636.467333735,879.532666265,788.467333735,804,652.467333735,632,653,0.40117552817,-0.0154317760956,0.0499730235381,0.999999992477,8.4637913868e-05,-8.34531739229e-05,-3.02977940015e-05,1793239090858321152
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,880,788.120455225,804,652.120455225,632,653,0.401234737949,-0.0154346288578,0.0499755149615,0.999999993646,8.31683146051e-05,-6.99220407624e-05,-3.00428176694e-05,1793239090874987776
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,880,788.699749317,804,652.699749317,632,653,0.401303898526,-0.0154414575332,0.0499770143379,0.999999993982,7.88949264969e-05,-7.04770519855e-05,-2.90762066075e-05,1793239090891654400
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.723746952,745,715,678.723746952,664.723746952,636,880.276253048,788.723746952,804,653,632,653,0.401382691756,-0.0154471117029,0.0499776769558,0.999999994307,7.62197096058e-05,-6.9076013881e-05,-2.83860425924e-05,1793239090908321280
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.150245685,745,715,678.150245685,664.150245685,636,880.849754315,788.150245685,804,653,632,653,0.401471849716,-0.0154515021044,0.0499774392215,0.999999994626,7.52641248506e-05,-6.5570267096e-05,-2.79933355971e-05,1793239090924988160
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.435167014,745,715,678.435167014,664.435167014,636,880.564832986,788,803.564832986,652.564832986,632,653,0.401583053452,-0.0154592865407,0.0499808925234,0.99999999522,7.18998724348e-05,-6.07848174125e-05,-2.63705177638e-05,1793239090941654784
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.97561467,745,715,678.97561467,665,636,879.97561467,788.02438533,803,652.02438533,632,653,0.40170308594,-0.0154681838796,0.0499854776729,0.999999995862,6.77276166537e-05,-5.56414320965e-05,-2.43709261387e-05,1793239090958321152
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.396019257,745,715,678.396019257,665,636,879.396019257,788.603980743,803,652.603980743,632,653,0.401845955537,-0.0154749888456,0.0499860013732,0.999999996242,6.46258396874e-05,-5.26912715917e-05,-2.37348381774e-05,1793239090974988032
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.182425764,745,715,677.817574236,664.817574236,636,879.182425764,788.817574236,803.182425764,652.817574236,632,653,0.401995353354,-0.0154828564379,0.0499848631855,0.999999996538,6.02248087579e-05,-5.25454702537e-05,-2.31668230383e-05,1793239090991654656
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.758389034,745,715,677.241610966,664.241610966,636,879.758389034,788.241610966,803.758389034,652.241610966,632,653,0.402158834139,-0.015493016377,0.0499801398942,0.999999996628,5.3020965997e-05,-5.84493658128e-05,-2.27456578994e-05,1793239091008321280
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,715,677.333920794,664.333920794,636,880,788.333920794,804,652,632,653,0.402346233567,-0.0155025659149,0.0499785799526,0.999999996966,4.74806650098e-05,-5.77072519862e-05,-2.20039545981e-05,1793239091024988672
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,715,677.909140793,664.909140793,636,880,788.909140793,804,652,632,653,0.402550917199,-0.0155116743632,0.049979305923,0.999999997488,4.31424786152e-05,-5.2162572379e-05,-2.103062266e-05,1793239091041656320
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.502390986,745,715,678.497609014,664.502390986,636,879.502390986,788.502390986,804,652,632,653,0.402796744423,-0.0155245234603,0.0499846771111,0.999999998345,3.66579419739e-05,-4.03390280332e-05,-1.8387827496e-05,1793239091058322944
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,678.914043028,664,636.085956972,879,788,804,652,632,653,0.403055749263,-0.0155367835426,0.0499911173075,0.999999999034,3.14377355594e-05,-2.65366025102e-05,-1.54751469714e-05,1793239091074989568
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,678.340474819,664,636.659525181,879,788,804,652,632,653,0.403345725426,-0.015541721788,0.049998678617,0.999999999248,3.56737229052e-05,-8.18999625655e-06,-1.28079939831e-05,1793239091091655936
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,678.235124681,664.235124681,636.764875319,879.235124681,788,804,652,632,653,0.403649251671,-0.0155416876201,0.050004622771,0.999999998888,4.5639277143e-05,5.906014317e-06,-1.03514149608e-05,1793239091108322048
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,678.813691213,664.813691213,636.186308787,879.813691213,788,804,652,632,653,0.403972570228,-0.0155343903487,0.0500082047786,0.999999997825,6.39738932631e-05,1.37932649019e-05,-8.20241722134e-06,1793239091124988416
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.400025121,745,715,679,665,636,880,788,804,652,632,653,0.404327782675,-0.0155317325248,0.0500135227834,0.999999996948,7.38940907411e-05,2.46788883564e-05,-5.95676915508e-06,1793239091141655040
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.990048245,745,715,679,665,636,880,788,804,652,632,653,0.404698143601,-0.0155312782773,0.0500196653263,0.999999996124,7.9817731825e-05,3.69886342957e-05,-3.6652156101e-06,1793239091158321664
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,715,678.430550837,665,636,880,788.569449163,804,652,632,653,0.405092838868,-0.0155344717813,0.0500165382306,0.999999996281,8.08105492252e-05,3.01103883489e-05,-8.16675818526e-07,1793239091174988288
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.853058872,745.146941128,715,678,664.853058872,636.146941128,880.146941128,788.853058872,804,652,632,653,0.405489010816,-0.0155368447502,0.0500084060951,0.999999996331,8.45259878369e-05,1.38596659708e-05,1.44749485876e-06,1793239091191654912
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.28056768,745.71943232,715,678,664.28056768,636.71943232,880.71943232,788.28056768,804,652,632,653,0.405888250196,-0.0155366601619,0.0499862396357,0.999999994946,9.63712838813e-05,-2.85809368357e-05,1.99162416859e-06,1793239091208322048
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.705194832,715,678.294805168,664.294805168,636.705194832,880.410389664,788,804,652.294805168,631.705194832,653,0.406319160589,-0.0155366725646,0.0499690827267,0.999999992391,0.000109281734816,-5.71535522511e-05,3.02689342575e-06,1793239091224989184
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.127052357,715,678.872947643,664.872947643,636.127052357,879.254104713,788,804,652.872947643,631.127052357,653,0.406780510044,-0.0155368742953,0.049956740495,0.999999989778,0.000123215907834,-7.23976471673e-05,4.5341974533e-06,1793239091241655552
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665,636.45873989,879.45873989,788,804,653,631.45873989,653,0.407302670612,-0.0155390910302,0.0499599865818,0.999999988638,0.00013661326537,-6.31723607729e-05,8.39485154008e-06,1793239091258321920
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+146,2.433333333,POSE1_TO_POSE2_PRESS,765.375067942,745,715,678.375067942,665,637,879.375067942,788,804,652.375067942,632,653,0.408431726027,-0.0155424508491,0.0499909542325,0.999999986368,0.000163782759329,-1.04256078397e-05,1.81621037462e-05,1793239091291655168
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.202394525,745,715,678,665,636.797605475,879.202394525,788,804,652,632,653.202394525,0.409022720678,-0.0155435106559,0.050007719628,0.999999984621,0.000173410208092,1.44048361801e-05,2.18844986616e-05,1793239091308322304
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.777103935,745,715,678,665,636.222896065,879.777103935,788,804,652,632,653.777103935,0.409622804613,-0.0155451623869,0.050014531093,0.999999984179,0.000175226798069,2.03061460624e-05,2.29057328372e-05,1793239091324989440
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+151,2.516666667,POSE1_TO_POSE2_PRESS,766.490570168,745,715.509429832,678.509429832,664.490570168,636,879.509429832,788,804,653,631.490570168,653,0.411446602839,-0.0155495531395,0.049967125162,0.999999984438,0.000162163219574,-6.71155669442e-05,1.79633380173e-05,1793239091374989312
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715.892592691,679,664.107407309,636,880,788,804,652.892592691,631.107407309,653,0.412123321592,-0.0155480348401,0.0499517270924,0.999999981448,0.000166810000582,-9.47447526715e-05,1.73600522615e-05,1793239091391655680
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+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.006338917,715,678.006338917,665,636,880.993661083,788,804,652.006338917,632,653,0.41575641412,-0.0155581633378,0.0499481091556,0.999999980662,0.000174534404655,-8.80065673432e-05,2.16555659482e-05,1793239091474988032
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.586456125,715,678.586456125,665,636,880.413543875,788,804,652.586456125,632,653,0.416570521094,-0.0155593247529,0.0499522845922,0.999999981805,0.000173089564765,-7.72855105738e-05,2.13809241471e-05,1793239091491655168
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.834394575,715,679,665,636,880,788,804,652.834394575,631.834394575,653,0.417389557916,-0.01556130236,0.0499629785106,0.999999983512,0.000171382018054,-5.58512694526e-05,2.20238585009e-05,1793239091508322304
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.257648288,715,679,665,636,880,788,804,652.257648288,631.257648288,653,0.418220833792,-0.0155653062891,0.0499898555594,0.999999985374,0.00016902226125,-7.81990579707e-06,2.49448163652e-05,1793239091524988672
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+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665,636,880,788,804,652,631.895710176,653,0.419803032843,-0.0155593418867,0.0499726201516,0.999999982271,0.000178270029397,-5.54829418789e-05,2.45025068804e-05,1793239091558321920
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,678.517032606,664.517032606,636,880,788,804,652,632,653,0.420640673477,-0.0155590867208,0.0499761620127,0.99999998298,0.000179080532496,-3.7016511924e-05,2.44980435159e-05,1793239091574988288
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.071282186,715,678.071282186,664.071282186,636,880,788,804,652,632,653,0.421497105013,-0.0155601464679,0.0499858615,0.999999983613,0.000179238927342,-4.41138417562e-06,2.50620903037e-05,1793239091591654912
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+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.771904126,715,679,665,636,880,788,804,652.228095874,632,653,0.423267029647,-0.0155641430675,0.050009422294,0.999999981311,0.000187256201468,3.82394111527e-05,2.91734156983e-05,1793239091624987904
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.196621445,715,679,665,636,880,788,804,652.803378555,632,653,0.424095508028,-0.0155621787632,0.0499944855871,0.9999999818,0.000188588479557,7.11576417499e-06,2.80072219882e-05,1793239091641654784
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+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664.288995017,636.288995017,881,789,804,652,632,653,0.428316819983,-0.0155639973904,0.0499710553309,0.99999997958,0.000191283173853,-5.82789634022e-05,2.92345101248e-05,1793239091724988160
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+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715.806270406,679,665,636.193729594,881,789,805,652,632.193729594,653.193729594,0.433280559424,-0.0155557213369,0.0499525825839,0.999999975295,0.000208293534691,-7.17201053649e-05,2.96496017463e-05,1793239091824988160
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+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.5074222,715.4925778,679,665,636,880.4925778,788.5074222,805,652,632,653,0.436354183004,-0.0155477037916,0.0499686318362,0.999999971771,0.000223452303648,-7.39894317762e-05,3.24401169943e-05,1793239091891654656
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+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745.434457274,715.434457274,680,662.565542726,635,881.434457274,787.565542726,805,652,631.434457274,653,0.44791472393,-0.0156150728596,0.0497560554619,0.999999931043,0.000120272222022,-0.000350869096513,1.84454131687e-05,1793239092291654912
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.976656427,716,680,662.023343573,635,881.953312854,787.023343573,805.023343573,652,632,652.976656427,0.448141954389,-0.0156188746589,0.0497643571355,0.999999934743,0.00011782351621,-0.000340941844443,1.97736199429e-05,1793239092308321536
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.397207289,716,680,662.602792711,635,880.794414578,787.602792711,805.602792711,652,632,652.397207289,0.44833915204,-0.0156180044291,0.0497696719011,0.999999937992,0.000116673030159,-0.000331672616822,1.99265015525e-05,1793239092324988160
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.180925933,716,679.819074067,663,635,880,787.819074067,805.819074067,652,632,652.180925933,0.448520873949,-0.0156190448823,0.049772173145,0.999999939299,0.00011430786809,-0.000328518536012,2.02893552415e-05,1793239092341654784
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.756190962,716,679.243809038,663,635,880,787.243809038,805.243809038,652,632,652.756190962,0.448668865508,-0.0156242497855,0.0497685421466,0.999999936448,0.000109295245795,-0.000338692791511,2.11098558526e-05,1793239092358321408
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.330553089,745.669446911,715.669446911,679,662.669446911,634.669446911,880.330553089,787.330553089,805,652,631.669446911,653,0.448803349593,-0.0156277229363,0.0497654989941,0.999999934824,0.000104816557744,-0.000344841135787,2.12118461131e-05,1793239092374988032
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.90425113,745.09574887,715.09574887,679,662.09574887,634.09574887,880.90425113,787.90425113,805,652,631.09574887,653,0.448927897998,-0.0156299222623,0.0497628882431,0.999999934149,0.000100730615217,-0.000348028141433,2.07853217685e-05,1793239092391654656
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.505560057,745.494439943,715,679,662.494439943,634.494439943,881,787.505560057,805,652,631,653,0.44902772911,-0.0156294178905,0.0497604640261,0.999999931783,0.000102311206491,-0.00035429407566,2.10141209077e-05,1793239092408321280
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.914891851,715,679.085108149,663,635,881,787,805.085108149,652,631,653,0.449119593338,-0.0156288271082,0.0497580110607,0.999999929279,0.000104068574341,-0.000360775634927,2.12701231072e-05,1793239092424988160
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745.340461202,715,679.659538798,663,635,881,787,805.659538798,652,631,653,0.449194121943,-0.0156308536272,0.0497551779587,0.999999928155,0.000100315608818,-0.000364950614932,2.09277275788e-05,1793239092441654784
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715.235039389,680,663,635,881.235039389,787.235039389,805.764960611,652,631,653,0.449262482478,-0.0156322923035,0.0497531275105,0.999999927281,9.71461378569e-05,-0.000368200970834,2.07046484772e-05,1793239092458321664
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715.812096873,680,663,635,881.812096873,787.812096873,805.187903127,652,631,653,0.449321867525,-0.0156328755791,0.049752215943,0.999999926802,9.4825740547e-05,-0.000370105857655,2.06551929637e-05,1793239092474988544
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715.604092589,679.604092589,662.604092589,635,881.604092589,787.604092589,805.395907411,652,631,653,0.449370344648,-0.0156341337292,0.0497517544745,0.999999926762,9.27302411629e-05,-0.00037074010819,2.07303338068e-05,1793239092491655168
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715.017021355,679.017021355,662.017021355,635,881.017021355,787.017021355,805.982978645,652,631,653,0.44941355488,-0.0156357177424,0.0497515103364,0.999999926933,9.07433337687e-05,-0.000370760832168,2.08656359798e-05,1793239092508321536
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679.566297039,662.566297039,635,880.433702961,787,805.433702961,652,631,653,0.449443859673,-0.0156341104463,0.0497512044866,0.999999926878,9.07897828667e-05,-0.000370911460033,2.06241045211e-05,1793239092524988160
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715.147164391,680,662.852835609,635,880.147164391,787,805,652,631,653,0.449470817136,-0.0156331458987,0.0497506399016,0.999999926847,9.00987057471e-05,-0.000371175062092,2.04232218006e-05,1793239092541654528
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715.721246348,680,662.278753652,635,880.721246348,787,805,652,631,653,0.449489182017,-0.0156343223715,0.049749330082,0.999999926899,8.70919656718e-05,-0.000371755145007,2.03729010236e-05,1793239092558321408
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715.7069663,680,662.2930337,635,881,787,805,652,631.2930337,653,0.449503958034,-0.0156343045823,0.0497488969608,0.999999926724,8.62955331959e-05,-0.000372408369389,2.04192375642e-05,1793239092574988288
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715.137344706,680,662.862655294,635,881,787,805,652,631.862655294,653,0.449515346606,-0.0156331595561,0.0497492913354,0.99999992634,8.75853598082e-05,-0.000373130630419,2.05568067586e-05,1793239092591654656
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679.548277287,663,635,881,787,805,652,631.548277287,653,0.4495228505,-0.0156319940139,0.0497491249996,0.999999926049,8.84206435578e-05,-0.000373728853772,2.0279244145e-05,1793239092608321024
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745.045623674,715.045623674,679,663,635,881,787,805,652,631,653,0.449528734112,-0.0156309157758,0.0497487642595,0.999999925749,8.91407222616e-05,-0.000374377965221,1.99216347958e-05,1793239092624987904
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745.6238261,715.6238261,679,663,635,881,787,805,652,631,653,0.449530111511,-0.0156309327558,0.049748213791,0.99999992501,9.0201826316e-05,-0.00037608115059,2.01692922856e-05,1793239092641654528
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,715.798659706,679.201340294,663,635,881,787,805,652,631,653,0.449530910774,-0.0156312755215,0.0497472860665,0.999999924351,8.95011682502e-05,-0.000377991096481,2.02365040148e-05,1793239092658321664
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,715.222427023,679.777572977,663,635,881,787,805,652,631,653,0.449530633558,-0.0156322248952,0.0497456558975,0.999999923835,8.55201373969e-05,-0.000380286027035,1.99677286256e-05,1793239092674989824
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745.639244465,715.360755535,680,662.639244465,635,881,787,805.360755535,652,631,653,0.449531103277,-0.0156312500366,0.0497451373896,0.99999992361,8.58074471415e-05,-0.000380827353245,1.96625293099e-05,1793239092691656704
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745.051692752,715.948307248,680,662.051692752,635,881,787,805.948307248,652,631,653,0.449532042573,-0.0156290654709,0.0497453177496,0.999999923571,8.87781346858e-05,-0.00038026624094,1.93344313747e-05,1793239092708322816
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715.471032313,679.471032313,662,635,881,787.528967687,805.471032313,651.471032313,631,653,0.449533029993,-0.0156296955702,0.0497448941339,0.999999923314,8.71677282399e-05,-0.000381328368069,1.90305181447e-05,1793239092724988928
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715.108204558,679.108204558,662.108204558,635,881.108204558,787.891795442,805,651.108204558,631,653,0.449533996348,-0.0156302566075,0.04974446951,0.999999923138,8.55341428422e-05,-0.000382167585112,1.88378053104e-05,1793239092741655040
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715.68416114,679.68416114,662.68416114,635,881.68416114,787.31583886,805,651.68416114,631,653,0.449534851571,-0.0156293453481,0.0497442923932,0.999999923424,8.5710733251e-05,-0.000381366283607,1.9115709815e-05,1793239092758321664
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,716,680,662.740853715,635,881.740853715,787,805,651.740853715,631,653,0.449535396302,-0.0156277943326,0.0497441504166,0.999999923325,8.75215213637e-05,-0.000381220770825,1.90098517942e-05,1793239092774988288
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,716,680,662.167048029,635,881.167048029,787,805,651.167048029,631,653,0.449535564028,-0.0156254665151,0.0497440511077,0.999999922748,9.13165774669e-05,-0.000381871526679,1.84380234539e-05,1793239092791655168
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715.582449923,680,662.417550077,635,880.582449923,787,805,651.417550077,631,653,0.449534959571,-0.0156247604697,0.0497434238091,0.999999922385,9.22470107356e-05,-0.00038260029149,1.83796216267e-05,1793239092808321792
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715.006510785,680,662.993489215,635,880,787,805,652,631,653,0.449534046891,-0.0156247398119,0.0497425865744,0.999999922115,9.19783506785e-05,-0.000383362658133,1.85357933791e-05,1793239092824988416
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715.589309735,680,662.410690265,635,880,787,805,652,631,653,0.449533921913,-0.0156264323248,0.0497423600477,0.999999921966,8.9705366871e-05,-0.000384263548073,1.90211077058e-05,1793239092841655040
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745.169179671,715.830820329,679.830820329,662.169179671,635,880.169179671,787,805.169179671,652,631,653,0.449533822699,-0.0156277016559,0.0497422013154,0.999999921856,8.80427023609e-05,-0.000384919256358,1.93298360743e-05,1793239092858321408
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745.742060278,715.257939722,679.257939722,662.742060278,635,880.742060278,787,805.742060278,652,631,653,0.449533784963,-0.0156279611792,0.0497422043559,0.999999921849,8.78363977951e-05,-0.000384989905744,1.92171904003e-05,1793239092874988288
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,679.322346298,662.677653702,634.677653702,880.677653702,787,805.677653702,652,631,653,0.449534041048,-0.0156269617235,0.0497419448911,0.999999921728,8.86200488852e-05,-0.00038514328341,1.88623883417e-05,1793239092891654912
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,715,679.908697396,662.091302604,634.091302604,880.091302604,787,805.091302604,652,631,653,0.449534537777,-0.0156249311517,0.0497414704318,0.99999992151,9.0214483436e-05,-0.00038536441635,1.830925782e-05,1793239092908321536
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745.510708336,715,679.510708336,662,634.489291664,880.489291664,787,805,652,631,653,0.449534473455,-0.0156253260867,0.0497416343588,0.999999921617,8.87444001205e-05,-0.000385417043366,1.85562220497e-05,1793239092924988160
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.068808263,745,715,679,662,635,880.931191737,787,805,652,631,653,0.449534467299,-0.0156261985501,0.0497420708616,0.999999921855,8.67160813895e-05,-0.0003852436986,1.89193432089e-05,1793239092941654784
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.648206371,745,715,679,662,635,880.351793629,787,805,652,631,653,0.449535660587,-0.0156272950238,0.0497436563297,0.999999922644,8.47394000589e-05,-0.000383624148534,1.90494178687e-05,1793239092958321664
+247,4.116666667,POSE1_TO_POSE2_PRESS,766.774431737,745.225568263,715.225568263,679.225568263,662.225568263,635,880.225568263,787,805,652,631,653,0.449536666144,-0.0156278806051,0.0497444993636,0.999999923099,8.35199244904e-05,-0.000382700269804,1.91382824727e-05,1793239092974988288
+248,4.133333333,POSE1_TO_POSE2_PRESS,766.200217005,745.799782995,715.799782995,679.799782995,662.799782995,635,880.799782995,787,805,652,631,653,0.449537381535,-0.0156276765325,0.0497441948644,0.999999923045,8.34708132415e-05,-0.000382851645619,1.91634513433e-05,1793239092991654912
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746,716,680,662.61640971,635,881,787,805,652,631,653,0.449537070538,-0.0156271046941,0.0497435537042,0.99999992271,8.47453281024e-05,-0.000383452088212,1.90626294195e-05,1793239093008321792
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,716,680,662.02746714,635,881,787,805,652,631,653,0.449536210071,-0.0156263359747,0.0497427323151,0.99999992222,8.67284366039e-05,-0.000384292935438,1.88943592361e-05,1793239093024988416
+251,4.183333333,HOLD_POSE2,765,745,715,680,662,634,881,787,805,652,631,653,0.449537697206,-0.0156285341581,0.0497431164306,0.999999923288,8.06475920362e-05,-0.000382872651142,1.81131111767e-05,1793239093054530304
+252,4.200000000,HOLD_POSE2,765.574664304,745,715,679.425335696,662,634,881,787,805,652,631,653,0.449537060638,-0.0156263169873,0.0497438966953,0.99999992301,8.31590411119e-05,-0.000383050977292,1.83341576163e-05,1793239093071196672
+253,4.216666667,HOLD_POSE2,766,745.149720845,715,679,662,634,880.850279155,787.149720845,805,652,631,653,0.449536268248,-0.0156247661738,0.0497441335704,0.999999922634,8.48772561582e-05,-0.000383647596817,1.84898707292e-05,1793239093087863296
+254,4.233333333,HOLD_POSE2,766,745.725894737,715,679,662,634,880.274105263,787.725894737,805,652,631,653,0.44953503203,-0.0156251133596,0.0497428226977,0.999999921993,8.43360865469e-05,-0.000385435650243,1.8459493599e-05,1793239093104529920
+255,4.250000000,HOLD_POSE2,766,746,715,679,662,634,880,787.689954684,805,652,631,653,0.449535205737,-0.0156252986414,0.0497421789679,0.999999921761,8.50933783257e-05,-0.000385870719738,1.8446256064e-05,1793239093121196544
+256,4.266666667,HOLD_POSE2,766,746,715,679,662,634,880,787.098565877,805,652,631,653,0.449536658847,-0.0156253370069,0.0497421406216,0.9999999219,8.70289290537e-05,-0.000385078054983,1.8448571462e-05,1793239093137863424
+257,4.283333333,HOLD_POSE2,766,745.522258544,715,679,662,634,880.477741456,787,805,652,631,653,0.449536728109,-0.0156241522117,0.0497419861191,0.999999921661,8.83129060712e-05,-0.000385410555054,1.83643070699e-05,1793239093154530304
+258,4.300000000,HOLD_POSE2,766,745,715.051505334,679,662.051505334,634.051505334,881,787,805,652,631,653,0.449536485895,-0.0156229785097,0.0497418348017,0.999999921401,8.91502338041e-05,-0.000385896979739,1.82618056704e-05,1793239093171196416
+259,4.316666667,HOLD_POSE2,766,745,715.630108623,679,662.630108623,634.630108623,881,787,805,652,631,653,0.449535888541,-0.0156244218949,0.0497419538296,0.999999921707,8.67502582806e-05,-0.000385655661948,1.81498807048e-05,1793239093187863040
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+261,4.350000000,HOLD_POSE2,765.217975457,745,716,679.782024543,662.217975457,635,881,787,805,651.217975457,631,653,0.449536960068,-0.0156246839921,0.0497430441865,0.999999921702,8.72678573747e-05,-0.000385538886545,1.84380287248e-05,1793239093221196544
+262,4.366666667,HOLD_POSE2,765.36974013,745,715.63025987,680,662.36974013,635,880.63025987,787,805,651.36974013,631,653,0.449538573118,-0.015624436545,0.0497437737232,0.999999922318,8.68742625361e-05,-0.000384021565982,1.85604857375e-05,1793239093237863168
+263,4.383333333,HOLD_POSE2,765.965399326,745,715.034600674,680,662.965399326,635,880.034600674,787,805,651.965399326,631,653,0.449540519133,-0.0156243345564,0.0497444935735,0.999999923393,8.53187969427e-05,-0.00038156029346,1.85962457162e-05,1793239093254529792
+264,4.400000000,HOLD_POSE2,766,745,715,679.45988025,662.45988025,635,880.54011975,787,805,652,631,653,0.449539894803,-0.015624932199,0.0497441732135,0.999999923078,8.61067189671e-05,-0.000382203799803,1.87136771825e-05,1793239093271196672
+265,4.416666667,HOLD_POSE2,766,745,715,679.113578952,662,635,881,787,805,651.886421048,631,653,0.449539341037,-0.015625206224,0.0497439042151,0.999999922743,8.68489233877e-05,-0.000382909959328,1.87566702455e-05,1793239093287863552
+266,4.433333333,HOLD_POSE2,766,745,715,679.687160149,662,635,881,787,805,651.312839851,631,653,0.44953971505,-0.0156239948307,0.0497441030468,0.99999992268,8.68206632487e-05,-0.000383094391182,1.84777838993e-05,1793239093304530176
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,746,716,680,662,635,881,787,805,652,631,653,0.449536487802,-0.0156247845951,0.0497413587803,0.999999921698,8.40293703742e-05,-0.000386284652033,1.80863440091e-05,1793239093341731584
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745.422505714,715.422505714,679.422505714,662,634.422505714,880.422505714,787,805,652,631,653,0.449536599176,-0.0156231637827,0.0497416944199,0.99999992167,8.57188590755e-05,-0.000385992716418,1.7922211465e-05,1793239093358398464
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.154916152,715.154916152,679.154916152,662,634.154916152,880.154916152,787,805,652,631,653,0.449536758354,-0.0156224488495,0.0497420954295,0.999999921626,8.66390243297e-05,-0.000385901962389,1.79373980545e-05,1793239093375064832
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745.73214073,715.73214073,679.73214073,662,634.73214073,880.73214073,787,805,652,631,653,0.449537047847,-0.0156242033838,0.0497426746408,0.999999921541,8.54619795142e-05,-0.000386359638384,1.84414166607e-05,1793239093391731200
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.68486928,715.68486928,680,662,635,881,787,805,652,631,653,0.449536645455,-0.0156250858186,0.0497423040561,0.999999921364,8.47325518198e-05,-0.000386972236289,1.85928428925e-05,1793239093408397568
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.09688743,715.09688743,680,662,635,881,787,805,652,631,653,0.449535644006,-0.0156252131593,0.0497411111052,0.999999921106,8.43906866579e-05,-0.000387718970941,1.84389823607e-05,1793239093425064192
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.937326315,679.062673685,663,634.062673685,881,787,805,652,631,653,0.449538952376,-0.0156250492558,0.0497436395282,0.999999922726,8.43178408807e-05,-0.000383527022365,1.85645004189e-05,1793239093458397952
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.214670104,662.214670104,635,881,787,805,652,631,653,0.449514579945,-0.0156217062683,0.0497309874619,0.999999914678,8.79404319452e-05,-0.000403240655608,1.75368126332e-05,1793239093508398336
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.37038033,715.37038033,679.37038033,662,634.62961967,880.62961967,787,805.37038033,652,631,652.62961967,0.449481924489,-0.0156198576381,0.049717661209,0.999999904637,8.84797581173e-05,-0.000427350724282,1.63685450663e-05,1793239093525064960
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.460342053,715.460342053,679.460342053,662,634,880.539657947,787,805.460342053,651.460342053,631,652.539657947,0.449371066723,-0.0156139119983,0.0496812556414,0.999999874291,9.11163521649e-05,-0.000492908121449,1.25753303803e-05,1793239093558397696
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.116050685,715.116050685,679.116050685,662.116050685,634,881,787,805,651.116050685,631,653,0.449299641748,-0.0156091414216,0.049662327731,0.999999858169,9.36952249554e-05,-0.00052419193772,1.02936759912e-05,1793239093575064576
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.158334894,716,680,662.158334894,634,881,787.841665106,805,652,631,653,0.449050597522,-0.0155929461774,0.0496477306297,0.999999848978,9.72844048755e-05,-0.000540859854054,7.14030767324e-06,1793239093625064448
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.024609817,715,679.024609817,662.975390183,635,880.024609817,787,805,652,631,653,0.448829247871,-0.015580610952,0.0496553035935,0.999999853164,0.000100013142443,-0.000532568445491,6.30076921116e-06,1793239093658397952
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,635,881,787,805,652,631.66130151,653,0.447160874813,-0.0154831712065,0.0496469344607,0.999999844679,0.000142922793979,-0.000538697517383,-4.56958688151e-06,1793239093791731200
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745.762892603,715,679.762892603,663,635.237107397,881,787.237107397,804.762892603,652,631.762892603,653,0.446865829221,-0.0154716429523,0.049651270569,0.999999848892,0.000143512199442,-0.000530637851783,-6.65930861532e-06,1793239093808397824
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745.188889668,715,679.188889668,663,635.811110332,881,787.811110332,804.188889668,652,631.188889668,653,0.446545138823,-0.0154623121033,0.0496543066979,0.999999851758,0.000138232835153,-0.000526580481967,-9.42859616383e-06,1793239093825064448
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.603039312,880.603039312,787.603039312,804.396960688,652,631.396960688,653,0.446199248021,-0.0154609513687,0.0496624550554,0.999999859926,0.000125460835151,-0.000514091386537,-1.08612261617e-05,1793239093841731328
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.721738102,635.721738102,881,787.721738102,805,651.721738102,632,653,0.444615235242,-0.0154431228025,0.0497386322228,0.999999914918,8.89157190801e-05,-0.000402566111697,-1.40557309061e-05,1793239093908397824
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.695680097,745,715,680,664,636,880.695680097,788,805,652,631.695680097,653,0.444149576386,-0.0154316793003,0.0497497628559,0.999999920541,8.58395417926e-05,-0.000388949468935,-1.63698923441e-05,1793239093925064448
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.472033861,745,715,680,663.527966139,635.527966139,880.472033861,788,805,652,631.472033861,653,0.443104064801,-0.0154139613995,0.0497434858106,0.999999916848,6.79029422426e-05,-0.000401433450699,-2.33503391797e-05,1793239093958397696
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9cf76da8b0ee293cc5ccf81d1e8c9e1e8306dce1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,413 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3665f65623f850991cdac572d821b53da5ae55b6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d040da55b6d3e84b6fbbd9069a9ae95a3cd7bddaf1ab6fd76da8cd161db6531
+size 26286399
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..48f77381f8371e408a3e68a9d26d085851dd5e16
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_02/franka_data.csv
@@ -0,0 +1,415 @@
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+56,0.933333333,BASELINE,767,745.490711467,715,678.509288533,664.509288533,636,880,788,804,652,631.509288533,653,0.400988161345,-0.0154052459493,0.0498595586216,0.999999962953,-8.15531882529e-05,-0.000255425769648,-4.69122934161e-05,1793239096802904576
+57,0.950000000,BASELINE,766.931456535,746,715,678,664,636.068543465,879.931456535,788,804,652,631.068543465,653,0.400987063927,-0.0154067268459,0.0498588034818,0.999999962434,-8.37193154862e-05,-0.000256734743786,-4.70187655208e-05,1793239096819570944
+58,0.966666667,BASELINE,766.341823146,746,715,678,664,636.658176854,879.341823146,788,804,652,631.658176854,653,0.400986743392,-0.0154066548002,0.04985869977,0.999999962354,-8.37965366309e-05,-0.000256987090558,-4.71970300008e-05,1793239096836237568
+59,0.983333333,BASELINE,766.243660053,745.756339947,715,678.243660053,664.243660053,636.756339947,879.243660053,788,804.243660053,652.243660053,631.756339947,653,0.400986809935,-0.0154064170911,0.0498585955044,0.999999962427,-8.25609852136e-05,-0.000257110233528,-4.71587410182e-05,1793239096852904448
+60,1.000000000,BASELINE,766.823418667,745.176581333,715,678.823418667,664.823418667,636.176581333,879.823418667,788,804.823418667,652.823418667,631.176581333,653,0.400987410404,-0.01540595087,0.0498584904748,0.999999962704,-7.95146282813e-05,-0.000257055156046,-4.68217436487e-05,1793239096869571072
+61,1.016666667,BASELINE,766.601057566,745,715,678.601057566,665,636,879.601057566,788,804.601057566,653,631.398942434,653,0.400987536549,-0.0154051946703,0.0498586830236,0.999999962793,-7.95774663441e-05,-0.000256681417954,-4.68621531571e-05,1793239096886237440
+62,1.033333333,BASELINE,766.027388587,745,715,678.027388587,665,636,879.027388587,788,804.027388587,653,631.972611413,653,0.400987454953,-0.0154043114676,0.0498590059042,0.999999962801,-8.10020521744e-05,-0.000256168114699,-4.7067857209e-05,1793239096902904320
+63,1.050000000,BASELINE,766.548786204,745,715,678,665,636,879,788,804,652.451213796,632,653,0.400987789528,-0.0154032920976,0.0498594488759,0.999999963076,-7.93482058649e-05,-0.000255607279042,-4.7091722552e-05,1793239096919571200
+64,1.066666667,BASELINE,767,745,715,678.127770369,665,636.127770369,879.127770369,788,804,652.127770369,631.872229631,653,0.400987940828,-0.0154030831687,0.0498596760532,0.999999963211,-7.84312896457e-05,-0.000255367849904,-4.70437667873e-05,1793239096936238080
+65,1.083333333,BASELINE,767,745,715,678.716435324,665,636.716435324,879.716435324,788,804,652.716435324,631.283564676,653,0.400987355749,-0.0154058222968,0.0498591030958,0.999999962804,-8.07293786694e-05,-0.000256296398057,-4.67696232443e-05,1793239096952904704
+66,1.100000000,BASELINE,766.699424856,745,715,679,665,636.699424856,880,788,804,652.699424856,631.300575144,653,0.400987450069,-0.0154058448166,0.0498592131022,0.999999962881,-8.03464072664e-05,-0.000256110126339,-4.6790796258e-05,1793239096969571328
+67,1.116666667,BASELINE,766.119490795,745,715,679,665,636.119490795,880,788,804,652.119490795,631.880509205,653,0.400988175832,-0.0154033424807,0.0498599578652,0.999999963407,-7.74716191144e-05,-0.000254887724738,-4.70864407971e-05,1793239096986237952
+68,1.133333333,BASELINE,766,745,715.456392837,679,665,636,879.543607163,788.456392837,804,652.456392837,632,653,0.400988113839,-0.0154040604167,0.0498599479554,0.999999963309,-7.80741994774e-05,-0.000255092723981,-4.70495981541e-05,1793239097002904576
+69,1.150000000,BASELINE,766.03121104,745,715.96878896,678.96878896,665,636,879.03121104,789,804,652.96878896,631.96878896,653,0.400987930501,-0.0154055955383,0.0498598151354,0.999999963085,-7.95628152482e-05,-0.000255535764802,-4.6910875114e-05,1793239097019570944
+70,1.166666667,BASELINE,766.605779696,745,715.394220304,678.394220304,665,636,879.605779696,789,804,652.394220304,631.394220304,653,0.400989193659,-0.0154068083233,0.0498609520833,0.999999963482,-8.07661753578e-05,-0.000253674063139,-4.65006424855e-05,1793239097036237568
+71,1.183333333,BASELINE,766.813889654,745,715,678.372220691,665,636,880,788.813889654,804,652.186110346,631.372220691,653,0.4009895122,-0.0154074534393,0.0498611929122,0.999999963546,-8.15890489143e-05,-0.000253196020989,-4.62955835194e-05,1793239097052904192
+72,1.200000000,BASELINE,766.220963852,745,715,679.558072296,665,636,880,788.220963852,804,652.779036148,632.558072296,653,0.400987765918,-0.0154068576976,0.04985947493,0.999999962887,-8.15802235804e-05,-0.000255742496406,-4.65390101134e-05,1793239097069571072
+73,1.216666667,BASELINE,766,745,715,679.278285764,665,636,880,788,804,652.639142882,632.639142882,653,0.400987158772,-0.0154059069282,0.0498591537632,0.999999962814,-8.08270739023e-05,-0.000256213579404,-4.6837105462e-05,1793239097086237952
+74,1.233333333,BASELINE,766,745,715,678.127837536,665,636,880,788,804,652.063918768,632.063918768,653,0.400987228327,-0.0154047452547,0.0498596623741,0.999999963089,-7.96317587092e-05,-0.000255451776391,-4.71676767434e-05,1793239097102904576
+75,1.250000000,BASELINE,766.512531137,745.512531137,715,678.512531137,665,636,879.487468863,788,804,652.512531137,632,653,0.400987766245,-0.0154063080152,0.0498602020889,0.999999963192,-8.11206619563e-05,-0.000254655159028,-4.67573596471e-05,1793239097119571200
+76,1.266666667,BASELINE,767,745.908667903,715,679,665,636,879.091332097,788,804,653,632,653,0.400988253666,-0.0154075978368,0.0498606093137,0.99999996325,-8.24005297106e-05,-0.000254081751753,-4.63868845642e-05,1793239097136237824
+77,1.283333333,BASELINE,767,745.31784725,715,679,665,636,879.68215275,788,804,653,632,653,0.400988144715,-0.0154055323455,0.0498602706952,0.999999963202,-8.0702062561e-05,-0.000254752865862,-4.67408299651e-05,1793239097152904448
+78,1.300000000,BASELINE,767,745,715,679,664.732439805,636,880,788,804,652.732439805,632,653,0.400988771209,-0.015405125533,0.0498601665529,0.999999963269,-8.03632131511e-05,-0.000254580301705,-4.6835147469e-05,1793239097169571072
+79,1.316666667,BASELINE,767,745,715,679,664.153335483,636,880,788,804,652.153335483,632,653,0.400990254046,-0.0154066500679,0.0498603354321,0.999999963471,-8.16074877033e-05,-0.00025342536787,-4.66271570991e-05,1793239097186237696
+80,1.333333333,BASELINE,767,745,715,679,664.421886768,636.421886768,880,788,804,652.421886768,632,653,0.400990134981,-0.0154062677963,0.0498605099937,0.999999963547,-8.08601351391e-05,-0.000253338615348,-4.67647158634e-05,1793239097202904576
+81,1.350000000,BASELINE,767,745,715,679,664.995710985,636.995710985,880,788,804,652.995710985,632,653,0.40098943901,-0.0154051988114,0.0498606866018,0.999999963577,-7.93955221097e-05,-0.000253636555393,-4.70267199778e-05,1793239097219571456
+82,1.366666667,BASELINE,767,745,715,679,665,636.430804102,879.430804102,788,804.569195898,653,632,653,0.400988777095,-0.0154063041112,0.0498603542014,0.999999963247,-8.16442742151e-05,-0.000254255978975,-4.68377019037e-05,1793239097236238080
+83,1.383333333,BASELINE,767,745.142913292,715,678.857086708,665,636,879.142913292,788,804.857086708,653,632,653,0.400988386153,-0.0154069306515,0.0498601319221,0.999999963059,-8.27115670128e-05,-0.000254682395647,-4.66656011334e-05,1793239097252904448
+84,1.400000000,BASELINE,767,745.717340497,715,678.282659503,665,636,879.717340497,788,804.282659503,653,632,653,0.400988812617,-0.0154060621807,0.0498602537171,0.999999963316,-8.01271137505e-05,-0.000254518735347,-4.65548361085e-05,1793239097269571328
+85,1.416666667,BASELINE,766.697061346,745.697061346,715,678.302938654,665,636,880,788,804.302938654,652.697061346,632,653,0.400989119102,-0.0154052482209,0.049860412133,0.999999963514,-7.8299085191e-05,-0.000254303628249,-4.65938095121e-05,1793239097286237952
+86,1.433333333,BASELINE,766.100640999,745.100640999,715,678.899359001,665,636,880,788,804.899359001,652.100640999,632,653,0.400989309355,-0.0154044870705,0.0498606060268,0.999999963658,-7.72038678684e-05,-0.000254038680398,-4.67778469048e-05,1793239097302904576
+87,1.450000000,BASELINE,766.478335841,745,715,678.521664159,665,636,880,788,804.521664159,652,632,653,0.400989565538,-0.0154057475885,0.0498609809069,0.999999963676,-7.89579068256e-05,-0.000253447114688,-4.66816979184e-05,1793239097319571200
+88,1.466666667,BASELINE,766.945050533,745.054949467,715,678.054949467,665,636,879.945050533,788,804,652,632,653,0.400989720979,-0.0154072514134,0.0498612893104,0.999999963648,-8.09980810231e-05,-0.000252936139332,-4.65423301422e-05,1793239097336238080
+89,1.483333333,BASELINE,766.357011072,745.642988928,715,678.642988928,665,636,879.357011072,788,804,652,632,653,0.400988769235,-0.0154071342927,0.0498605963689,0.999999963481,-8.02029934175e-05,-0.000253850233796,-4.65354629151e-05,1793239097352904448
+90,1.500000000,BASELINE,766,745.772624741,715,678.772624741,665,636,879,788,804,652.227375259,632,653,0.400989007649,-0.0154066172666,0.0498606305846,0.999999963538,-7.98573686656e-05,-0.00025372606239,-4.65849348991e-05,1793239097369571072
+91,1.516666667,BASELINE,766,745.193883689,715,678.193883689,665,636,879,788,804,652.806116311,632,653,0.400991085229,-0.0154054822618,0.0498617884856,0.999999963941,-8.02063044802e-05,-0.000251997445838,-4.67214685614e-05,1793239097386237952
+92,1.533333333,BASELINE,766,745,715,678.384307533,664.615692467,636,879,788,804,652.615692467,631.615692467,653,0.400990681985,-0.0154056195948,0.0498615159013,0.999999963784,-8.10384775083e-05,-0.000252357610946,-4.66954048201e-05,1793239097402904832
+93,1.550000000,BASELINE,766,745,715,678.962221814,664.037778186,636,879,788,804,652.037778186,631.037778186,653,0.40098902895,-0.0154063979069,0.0498605226663,0.999999963344,-8.21140961861e-05,-0.000253770063943,-4.6587427645e-05,1793239097419571456
+94,1.566666667,BASELINE,766.547605882,745,715,678.452394118,664,636,879.547605882,788,804,652.547605882,631.547605882,653,0.400988857652,-0.015407818066,0.0498607196057,0.999999963213,-8.34226349192e-05,-0.00025390704252,-4.63302477671e-05,1793239097436237824
+95,1.583333333,BASELINE,766.868035598,745,715,678.131964402,664,636,880,788,804,653,632,653,0.400989051818,-0.015408726207,0.0498610387012,0.999999963267,-8.400034471e-05,-0.000253529211523,-4.61801694047e-05,1793239097452904192
+96,1.600000000,BASELINE,766.28892218,745,715,678.71107782,664,636,880,788,804,653,632,653,0.400990133167,-0.01540774731,0.0498614896496,0.999999963878,-8.20465092758e-05,-0.00025170927355,-4.64283542491e-05,1793239097469571072
+97,1.616666667,BASELINE,766,745,715,679,664.289611072,636,879.710388928,788,804.289611072,653,632,653,0.400989495588,-0.0154066743962,0.0498610673753,0.999999963787,-8.08512305641e-05,-0.000252412315435,-4.66669142963e-05,1793239097486237440
+98,1.633333333,BASELINE,766,745,715,679,664.867566661,636,879.132433339,788,804.867566661,653,632,653,0.400987146599,-0.0154055078769,0.0498597756972,0.999999962995,-8.04111912986e-05,-0.000255627303546,-4.6895891623e-05,1793239097502904320
+99,1.650000000,BASELINE,766,745,715,678.558608619,665,636,879.441391381,788,804.558608619,653,632,653,0.400987354392,-0.0154055762189,0.0498598127478,0.999999962992,-8.09272271501e-05,-0.000255491275705,-4.68092266507e-05,1793239097519571200
+100,1.666666667,BASELINE,766,745,715,678.014470819,665,636,879.985529181,788,804,652.985529181,631.985529181,653,0.40098832186,-0.0154059938543,0.0498602352209,0.99999996323,-8.16364600009e-05,-0.000254362902307,-4.6637228467e-05,1793239097536238080
+101,1.683333333,BASELINE,766,745,715,678.606824382,665,636,879.393175618,788,804,652.393175618,631.393175618,653,0.400989275798,-0.0154057016863,0.0498602764112,0.999999963705,-7.8711655658e-05,-0.000253384595348,-4.68043835002e-05,1793239097552904960
+102,1.700000000,BASELINE,766.194895142,745,715,679,665,636,879.194895142,788,804,652,631.194895142,652.805104858,0.400990021677,-0.0154056733212,0.0498605622453,0.999999964024,-7.71580146776e-05,-0.000252600663918,-4.68035693377e-05,1793239097569571328
+103,1.716666667,BASELINE,766.774511612,745,715,679,665,636,879.774511612,788,804,652,631.774511612,652.225488388,0.400990356848,-0.0154061657006,0.0498613310039,0.999999964051,-7.83110386966e-05,-0.000252200428227,-4.64711854125e-05,1793239097586237952
+104,1.733333333,BASELINE,766.648928842,745,715,679,665,636,880,788,804,652,631.648928842,652.351071158,0.400990176384,-0.0154069229372,0.049861508045,0.999999963976,-7.85710354926e-05,-0.000252461880309,-4.62432144719e-05,1793239097602904576
+105,1.750000000,BASELINE,766.074315714,745,715,679,665,636,880,788,804,652,631.074315714,652.925684286,0.400989667594,-0.0154078488196,0.0498613083144,0.999999963835,-7.82624039032e-05,-0.000253144657162,-4.60817276969e-05,1793239097619571200
+106,1.766666667,BASELINE,766.500883104,745,715,678.499116896,665,636,879.499116896,788,804,652,631.500883104,653,0.400989724903,-0.0154065459582,0.0498613762144,0.999999963851,-7.92538462601e-05,-0.000252717849294,-4.63812402383e-05,1793239097636238080
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665,636,880,788,804,653,632,653,0.400987221702,-0.0154078684253,0.0498602357506,0.999999963263,-8.30765286547e-05,-0.000253843284191,-4.62239703872e-05,1793239097678990336
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.580005304,745.580005304,715.580005304,679,664.419994696,636.580005304,880.580005304,788,804,652.419994696,632,653,0.400989204383,-0.0154079490954,0.0498613709993,0.999999963674,-8.30066054049e-05,-0.000252255285008,-4.61485141755e-05,1793239097695656960
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+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,678.307948315,665,636,880,788,803.692051685,653,632,653,0.40098770942,-0.0154078508567,0.0498601203734,0.999999963176,-8.1139358322e-05,-0.000254748738421,-4.65610679957e-05,1793239097745656576
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678.879002565,665,636,880,788,803.120997435,653,632,653,0.400988457798,-0.0154073922273,0.0498607091571,0.999999963259,-8.23173846093e-05,-0.000254056044947,-4.64902049019e-05,1793239097762323456
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678.532737996,665,636,880.467262004,788.467262004,803.467262004,653,632,652.532737996,0.400988462796,-0.0154072892978,0.0498605769109,0.999999963214,-8.19160602874e-05,-0.000254371984284,-4.6443155201e-05,1793239097778990080
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.058707561,745.058707561,715,678,665,636,880.882584878,788.941292439,804,653,632,652.058707561,0.400988359363,-0.0154070655532,0.0498603209497,0.999999963179,-8.09434809899e-05,-0.000254819617935,-4.64373793489e-05,1793239097795656960
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.637403284,745.637403284,715,678,665,636,879.725193431,788.362596716,804,653,632,652.637403284,0.400989065722,-0.0154049247007,0.0498606861794,0.999999963547,-7.86720042297e-05,-0.000254031877642,-4.67404706602e-05,1793239097812323584
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.785170827,745.785170827,715,678.214829173,664.785170827,636,879.214829173,788,804.214829173,652.785170827,632,653,0.400994442162,-0.0154042055629,0.0498630221269,0.999999964674,-7.80780155271e-05,-0.000249749027254,-4.67037528632e-05,1793239097828990208
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.209875675,745.209875675,715,678.790124325,664.209875675,636,879.790124325,788,804.790124325,652.209875675,632,653,0.401007654622,-0.0154058719478,0.0498686647794,0.999999967009,-8.0298716337e-05,-0.000239601664868,-4.60968628321e-05,1793239097845656832
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664.373979446,636,879.626020554,788,804.626020554,652,632,653,0.401036537458,-0.0154086387436,0.0498793294243,0.999999971936,-8.12734648518e-05,-0.000218008954837,-4.46661966657e-05,1793239097862323712
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664.96275097,636,879.03724903,788,804.03724903,652,632,653,0.40107442045,-0.0154120375515,0.0498928784106,0.999999977742,-8.15326108737e-05,-0.000189842700591,-4.27624012345e-05,1793239097878990080
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,678.456951755,664.456951755,636,879.543048245,788,804,652,632,653,0.401135089822,-0.0154138659767,0.0499107980144,0.999999984354,-7.8975755833e-05,-0.000152940303179,-4.07845689975e-05,1793239097895656448
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,678.122286956,664.122286956,636,880,788,803.877713044,652.122286956,632,653,0.401200831177,-0.0154163382567,0.0499281757616,0.999999989199,-7.74939983161e-05,-0.000118719734146,-3.87711156014e-05,1793239097912323328
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,678.699716137,664.699716137,636,880,788,803.300283863,652.699716137,632,653,0.401279722179,-0.0154216016644,0.0499424381115,0.999999991397,-8.07215337421e-05,-9.66767358823e-05,-3.66436935791e-05,1793239097928989952
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665,636.28087965,879.71912035,788,803.28087965,652.71912035,632,653,0.401359427491,-0.0154280979022,0.0499521562135,0.999999992397,-8.49837879118e-05,-8.22281767958e-05,-3.49684845203e-05,1793239097945656576
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,665,636.866089236,879.133910764,788,803.866089236,652.133910764,632,653,0.401440015094,-0.0154359298971,0.049956950673,0.999999992458,-9.03671480154e-05,-7.60081083269e-05,-3.37832432521e-05,1793239097962323456
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,678.553056174,665,636.553056174,879,788,804,652,632,653,0.401537214133,-0.0154399872212,0.0499578658088,0.999999992618,-8.80873186796e-05,-7.68749369768e-05,-3.30869849116e-05,1793239097978990336
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.026411381,745,715,678.026411381,665,636,879.026411381,788,804,652.026411381,632,653,0.401640783229,-0.015443144631,0.0499576566015,0.999999992777,-8.38816445098e-05,-7.96935811742e-05,-3.25277113011e-05,1793239097995656960
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.60390091,745,715,678.60390091,665,636,879.60390091,788,804,652.60390091,632,653,0.401774420356,-0.015450894834,0.049958005367,0.999999992566,-8.69370535916e-05,-7.93609542442e-05,-3.1799267308e-05,1793239098012323328
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,715,678.819302145,664.819302145,636,880.180697855,788,804,652.819302145,632,653,0.40191442949,-0.0154596866172,0.0499571229919,0.999999992131,-9.07995262884e-05,-8.08236982907e-05,-3.09927820815e-05,1793239098028989952
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,715,678.244017657,664.244017657,636,880.755982343,788,804,652.244017657,632,653,0.402068353045,-0.0154707528791,0.0499535521973,0.999999991185,-9.64243687803e-05,-8.62069614588e-05,-3.00158797225e-05,1793239098045656576
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.660724351,745,715,678.339275649,664,636,880.321448702,788,804,652.339275649,632,652.660724351,0.402245256906,-0.0154806764353,0.0499551361079,0.999999991367,-9.86210836968e-05,-8.19564881346e-05,-2.86848845524e-05,1793239098062323200
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.07153153,745,715,678.92846847,664,636,879.143063061,788,804,652.92846847,632,652.07153153,0.402439088533,-0.0154897582528,0.0499605170762,0.999999992309,-9.8292572438e-05,-7.06096140215e-05,-2.70930574918e-05,1793239098078989824
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664.509142248,636,879.509142248,788,804,653,632,652.509142248,0.402669129386,-0.0155016869393,0.0499655390051,0.999999992756,-0.000100902255806,-6.07155094681e-05,-2.48934600262e-05,1793239098095656704
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.088249776,745,715,678.911750224,665,636,879.911750224,788,804,652.911750224,632,653,0.402910191424,-0.0155137854676,0.0499701577659,0.999999993125,-0.000102983527378,-5.13055278578e-05,-2.26095957971e-05,1793239098112323328
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.66520296,745,715,678.33479704,665,636,879.33479704,788,804,652.33479704,632,653,0.403184578044,-0.0155246460707,0.0499728186349,0.99999999386,-9.98902473339e-05,-4.34648031424e-05,-2.03241592666e-05,1793239098128990208
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,715,678,665,636,879,788,804,652,631.758711222,653,0.403476008394,-0.0155302885265,0.0499774704245,0.999999995306,-8.9519389533e-05,-3.27405809706e-05,-1.73980121319e-05,1793239098145656832
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,715,678,665,636,879,788,804,652,631.183824629,653,0.403791002818,-0.015528716545,0.0499848747943,0.999999997359,-6.90867956204e-05,-1.80297318517e-05,-1.3586040017e-05,1793239098162323200
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.598574161,745,715,678,664.598574161,636,879.401425839,788,803.598574161,652,631.401425839,653,0.404125115203,-0.0155196845837,0.0499913138035,0.999999999057,-4.1235408523e-05,-6.84389442639e-06,-1.17654415387e-05,1793239098178990080
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.008452013,745,715,678,664.008452013,636,879.991547987,788,803.008452013,652,631.991547987,653,0.404468214266,-0.0155071459457,0.0499972990301,0.999999999888,-9.89670561601e-06,2.68495732847e-06,-1.08809185684e-05,1793239098195656704
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,678,664,636.568561579,880,788,803.568561579,652,632,653,0.404863259382,-0.0155148982554,0.0500039671699,0.999999999888,1.59986331718e-06,1.33749933667e-05,-6.4718546382e-06,1793239098212323328
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,678.144655578,664.144655578,636.855344422,880,788,804,652.144655578,632,653,0.405259153243,-0.0155214134485,0.0500035788946,0.999999999831,1.43252199971e-05,1.11661799166e-05,-2.96357352794e-06,1793239098228989696
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,678.718585768,664.718585768,636.281414232,880,788,804,652.718585768,632,653,0.405655325802,-0.0155233824625,0.0499822208105,0.999999999068,3.15526822596e-05,-2.93708612645e-05,-2.2804032712e-06,1793239098245656576
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,678.705761884,665,636.294238116,880,788,804.588476232,652.705761884,632,653,0.406076460561,-0.0155246225865,0.0499638828624,0.999999996802,5.12623801561e-05,-6.13728276754e-05,-1.15133791182e-06,1793239098262323456
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,678.128452671,665,636.871547329,880,788,805.743094657,652.128452671,632,653,0.406521610193,-0.0155251614837,0.0499484504266,0.999999993683,7.33601091285e-05,-8.51636499805e-05,4.06699875628e-07,1793239098278990080
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.45920025,745,715,678.45920025,665,636.54079975,880,788,805.0815995,652.45920025,632,653.45920025,0.407000214977,-0.0155248507078,0.0499421489307,0.9999999908,9.59686868062e-05,-9.58223620855e-05,2.70286518116e-06,1793239098295656704
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.951528948,745,715.048471052,678.951528948,665,636.048471052,880,788,804,652.951528948,632,653.951528948,0.407496342657,-0.0155245709127,0.0499407379474,0.999999988088,0.000118990531165,-9.81538329613e-05,5.53831987139e-06,1793239098312323328
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.376829987,745,715.623170013,678.376829987,665,636.623170013,880,788,804,652.376829987,632,653.376829987,0.408078766956,-0.01552726731,0.0499640521067,0.999999988135,0.000144911883202,-5.08804108483e-05,1.19353060703e-05,1793239098328990464
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.198630568,745.198630568,715.801369432,678,665,636.801369432,879.801369432,788,804,652.198630568,632,653,0.408674641992,-0.0155307064939,0.0499857239692,0.999999985516,0.000168839476023,-1.16050816349e-05,1.80891914963e-05,1793239098345657088
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.775541498,745.775541498,715.224458502,678,665,636.224458502,879.224458502,788,804,652.775541498,632,653,0.409296133136,-0.0155355602716,0.0500042681714,0.999999981785,0.000188970069421,1.24383418846e-05,2.37801053059e-05,1793239098362323456
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.639235818,746,715,678.360764182,664.639235818,636,879.360764182,788,804,652.639235818,632,653,0.409898317742,-0.015538387373,0.0500072059097,0.999999977938,0.000207810221868,1.3803241854e-05,2.73582487453e-05,1793239098378989824
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.048719835,746,715,678.951280165,664.048719835,636,879.951280165,788,804,652.048719835,632,653,0.410488207003,-0.0155399237901,0.0500002047083,0.999999974063,0.00022582855934,7.25377780152e-07,2.95908792439e-05,1793239098395656448
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.531264987,745.468735013,715,678.468735013,664,636,880,788,803.468735013,652,631.468735013,653,0.411091233361,-0.0155369468667,0.0499718951127,0.99999998523,0.000158858555326,-5.91220023332e-05,2.84197531984e-05,1793239098412323584
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.890081984,745,715,678.109918016,664.109918016,636,880,788,803.109918016,652,631.109918016,653,0.411718004289,-0.0155358329923,0.0499495737865,0.999999990045,9.11950545872e-05,-0.000104670279976,2.52347568521e-05,1793239098428990464
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.313064343,745,715,678.686935657,664.686935657,636,880,788,803.686935657,652,631.686935657,653,0.412440658177,-0.0155443608776,0.0499608423498,0.999999995921,5.30610969887e-05,-7.15821024332e-05,1.47924404245e-05,1793239098445656832
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679.268020785,665,636,880,788,804,652.268020785,632,652.731979215,0.413176838242,-0.0155522723467,0.0499760556807,0.999999998115,4.57326589007e-05,-3.91041371683e-05,1.22118085376e-05,1793239098462323200
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.853930272,665,636,880,788,804,652.853930272,632,652.146069728,0.413929061257,-0.0155594527103,0.0499959477438,0.999999996985,7.49414066789e-05,-7.34991595823e-06,1.89556039294e-05,1793239098478989824
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.130485249,665,636,880,788,804,652.565242625,631.565242625,652.434757375,0.414657862186,-0.015558840384,0.0499831657194,0.999999994218,0.000102069315281,-2.68442558709e-05,2.06449179862e-05,1793239098495656448
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.013851982,745,715,678.013851982,664.986148018,636,880,788,804,652,631,653,0.415379850845,-0.015555677783,0.0499598311854,0.999999989597,0.000128157783424,-6.28912163548e-05,2.06429072499e-05,1793239098512323072
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.591131941,745,715,678.591131941,664.408868059,636,880,788,804,652,631,653,0.416141139315,-0.0155540469463,0.049948637086,0.999999986791,0.000140075239284,-7.99470151223e-05,2.01225500151e-05,1793239098528989952
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.831930712,745,715,679,664,636,880.168069288,788,804,652,631.168069288,653,0.416923147311,-0.0155541242678,0.0499488062326,0.999999986259,0.0001451684961,-7.74171325995e-05,2.03648514657e-05,1793239098545656832
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.255825188,745,715,679,664,636,880.744174812,788,804,652,631.744174812,653,0.417755457835,-0.0155583486316,0.0499765629076,0.999999990437,0.00013369405827,-2.73374092755e-05,2.24587248881e-05,1793239098562323456
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.327270608,715.327270608,679,664.327270608,636.327270608,881,788.327270608,804,652,632,653,0.418570722483,-0.0155613801864,0.0499886964433,0.99999999155,0.000127085861081,-1.2927229269e-05,2.41161504527e-05,1793239098578990080
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.915949882,715.915949882,679,664.915949882,636.915949882,881,788.915949882,804,652,632,653,0.419372371632,-0.0155634589803,0.0499883509346,0.999999991579,0.00012436459318,-2.70082375785e-05,2.54249615312e-05,1793239098595656704
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715.504459384,679,664.504459384,636.504459384,881,788.504459384,804,652,632,653,0.420200448805,-0.0155632067249,0.0499783262486,0.999999990057,0.000134313938034,-3.48159552814e-05,2.5157938904e-05,1793239098612323328
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.073198529,745.926801471,715.073198529,679,664.073198529,636,880.926801471,788,804,652,632,653,0.421039991387,-0.0155630430986,0.0499720426155,0.999999988582,0.000145276904871,-3.32579490757e-05,2.50090009821e-05,1793239098628989952
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.647984658,745.352015342,715.647984658,679,664.647984658,636,880.352015342,788,804,652,632,653,0.421927936414,-0.0155661472886,0.0500024413964,0.999999988243,0.000148724313163,2.5318121176e-05,2.74677730869e-05,1793239098645656576
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,715.777098003,679,665,636,880,788.222901997,804,652,632,653,0.422794162439,-0.0155673397033,0.0500150265111,0.999999987459,0.000147763259178,4.93249610914e-05,2.85515040485e-05,1793239098662323456
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,715.201973242,679,665,636,880,788.798026758,804,652,632,653,0.423626068915,-0.0155655111909,0.0499994630323,0.999999989671,0.000139836092035,1.87065933577e-05,2.74624384745e-05,1793239098678990080
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745,715,679,664.61516423,636,880,788.61516423,804,652,632,653,0.424488929988,-0.015565540084,0.0499944689968,0.999999989293,0.00014321404403,1.0746680892e-05,2.80816147389e-05,1793239098695656704
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745,715,679,664.022030998,636,880,788.022030998,804,652,632,653,0.425368545597,-0.0155665743224,0.0499951958135,0.999999987788,0.000152711042134,1.50509595483e-05,2.9625399616e-05,1793239098712323584
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745.554831536,715,679.554831536,664.554831536,636,880,788.554831536,804,652,632,653,0.42624407135,-0.0155699670965,0.050012791995,0.999999986512,0.000157702264177,3.25122158298e-05,3.23789617169e-05,1793239098728990208
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.869367613,745.869367613,715,679.869367613,665,636,880.130632387,788.869367613,804.130632387,652,632,653,0.427099067848,-0.0155719622111,0.0500189491114,0.999999985887,0.000161694645524,3.0297777029e-05,3.40882323794e-05,1793239098745656832
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+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,715.798204296,679.798204296,663,634,880.201795704,787,805,651.798204296,631,653,0.450031453406,-0.0156322822464,0.049754274375,0.999999928945,7.83581933043e-05,-0.000368234702392,1.93002128747e-05,1793239099695656704
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,715.222602867,679.222602867,663,634,880.777397133,787,805,651.222602867,631,653,0.450037584369,-0.0156335017187,0.0497575928164,0.999999930671,7.68620569065e-05,-0.000363811174804,1.97868101641e-05,1793239099712323328
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,715.361168016,679,662.638831984,634,881,787,805,651.361168016,631,653,0.450040234504,-0.015633160767,0.0497581579351,0.999999930959,7.74337387588e-05,-0.000362882702142,2.00640784933e-05,1793239099728990208
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,715.95009058,679,662.04990942,634,881,787,805,651.95009058,631,653,0.45004068961,-0.0156318358033,0.049756986793,0.999999930345,7.93093982972e-05,-0.000364158230625,2.02093428039e-05,1793239099745657088
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,716,679.530592093,662.530592093,634.530592093,881,787,805,652,631,653,0.450039215251,-0.0156303839198,0.0497552001815,0.999999929277,7.88688908439e-05,-0.000367205742814,1.96401763188e-05,1793239099762323456
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,715.89074511,680,662.89074511,635,881,787,805,652,631,653,0.450037994132,-0.0156294232512,0.0497536157957,0.999999928374,7.80410003406e-05,-0.00036986059987,1.91160058942e-05,1793239099778989824
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,715.316588634,680,662.316588634,635,881,787,805,652,631,653,0.450038610818,-0.0156306028088,0.0497531344206,0.99999992839,7.64773017194e-05,-0.000370146456318,1.90647932822e-05,1793239099795656448
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.264155335,746,715.264155335,680,662.264155335,635,881,787,805,652,631,653,0.450038833119,-0.0156315157224,0.0497531135777,0.999999928393,7.5392185142e-05,-0.00037035047661,1.92640282205e-05,1793239099812323328
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.852996378,746,715.852996378,680,662.852996378,635,881,787,805,652,631,653,0.45003857066,-0.0156321008916,0.0497536587966,0.999999928382,7.48953159858e-05,-0.000370453908284,1.97710999793e-05,1793239099828989952
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.565290015,746,716,680,662.565290015,635,881,787,805.434709985,652,631,653,0.450039698377,-0.0156308773833,0.0497534371952,0.999999928523,7.62007835539e-05,-0.000369813123726,1.96561992802e-05,1793239099845656832
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.986019896,746,716,680,662,635,881,787,805.986019896,652,631,653,0.450041248527,-0.0156290854725,0.0497529951708,0.999999928706,7.806066943e-05,-0.000368943751679,1.93436390488e-05,1793239099862323456
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.40964958,746,716,680,662,635,881,787,805.40964958,652,631,653,0.450041185935,-0.0156286356479,0.0497539492751,0.999999928741,7.81007822766e-05,-0.000368839532871,1.94042631459e-05,1793239099878990080
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.166356153,746,716,680,662.166356153,635,881,787,805,652,631,653,0.450041516427,-0.0156281632293,0.0497546070654,0.999999928787,7.80840301433e-05,-0.000368715503188,1.94355090514e-05,1793239099895656704
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.741466036,746,716,680,662.741466036,635,881,787,805,652,631,653,0.450042812768,-0.0156276352954,0.0497545367826,0.999999928864,7.7927555057e-05,-0.00036854279621,1.93945697942e-05,1793239099912323328
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.674697938,745.674697938,716,680,662.674697938,635,881,787,805.325302062,652,631,653,0.450042967983,-0.0156290010274,0.0497539917467,0.999999928836,7.61571323854e-05,-0.00036898574537,1.94065813113e-05,1793239099928989952
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.083735675,745.083735675,716,680,662.083735675,635,881,787,805.916264325,652,631,653,0.45004219129,-0.015631913235,0.0497530590003,0.999999928716,7.30686681509e-05,-0.000369931474422,1.94618354499e-05,1793239099945656576
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.495846256,745.495846256,715.504153744,680,662,635,881,787,805.504153744,652,631,653,0.450042084634,-0.0156307835681,0.0497531979489,0.999999928653,7.36446431757e-05,-0.000370001418741,1.92394050053e-05,1793239099962323200
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662.073299672,634.926700328,881,787,805,652,631.073299672,653,0.450042118788,-0.0156291427906,0.0497534945463,0.99999992859,7.48478431281e-05,-0.000369939562513,1.90388984337e-05,1793239099978990080
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662.6490406,634.3509594,881,787,805,652,631.6490406,653,0.450042359932,-0.0156285723194,0.0497536590389,0.999999928473,7.62037614564e-05,-0.000369965299268,1.93028988025e-05,1793239099995656704
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746,715.223070342,680,662.776929658,634.223070342,880.776929658,787,805,652,632,653,0.4500424727,-0.0156286566298,0.0497534096758,0.999999928238,7.66552515418e-05,-0.000370498021941,1.94815734897e-05,1793239100012323584
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,715.794428436,680,662.205571564,634.794428436,880.205571564,787,805,652,632,653,0.450042385031,-0.0156297632741,0.0497525141452,0.999999927819,7.569462548e-05,-0.000371822319975,1.95270261607e-05,1793239100028990464
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746,715.6171389,680,662,635,880.3828611,787,805.3828611,652,631.6171389,653,0.4500413874,-0.0156292881842,0.0497516903667,0.99999992734,7.55802975274e-05,-0.000373147532306,1.92207794444e-05,1793239100045656576
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,715.019110385,680,662,635,880.980889615,787,805.980889615,652,631.019110385,653,0.45003987837,-0.0156279241618,0.049750906913,0.999999926826,7.59415880135e-05,-0.000374473258391,1.87168781503e-05,1793239100062322944
+251,4.183333333,HOLD_POSE2,767,745,716,680,663,634,881,787,805,652,631,653,0.450042877995,-0.0156291807842,0.0497528341852,0.999999927975,7.37466557349e-05,-0.000371815008275,1.91141719929e-05,1793239100091905024
+252,4.200000000,HOLD_POSE2,766.425150788,745.574849212,716,679.425150788,662.425150788,634.574849212,881,787,805,652,631,653,0.450042169,-0.0156286243765,0.0497525172949,0.999999927832,7.46360656063e-05,-0.000372026241813,1.90372329574e-05,1793239100108571648
+253,4.216666667,HOLD_POSE2,766,746,716,679.153637928,662.153637928,635,880.846362072,787,805,652,631,653,0.450041937067,-0.0156284518641,0.049752523712,0.99999992785,7.49561527464e-05,-0.0003719123098,1.90373478997e-05,1793239100125238528
+254,4.233333333,HOLD_POSE2,766,746,716,679.743615166,662.743615166,635,880.256384834,787,805,652,631,653,0.450043060015,-0.0156293696335,0.049753448338,0.999999928328,7.36593353942e-05,-0.000370874891606,1.92562999292e-05,1793239100141905152
+255,4.250000000,HOLD_POSE2,766,746,716,680,662.672722422,635,880.327277578,787,805.327277578,652,631,653,0.450043298324,-0.0156296568173,0.0497533606894,0.999999928328,7.27305430167e-05,-0.000371052517559,1.93630661356e-05,1793239100158571776
+256,4.266666667,HOLD_POSE2,766,746,716,680,662.09391335,635,880.90608665,787,805.90608665,652,631,653,0.450042856739,-0.0156294593599,0.04975249505,0.999999927961,7.20845989107e-05,-0.000372163974335,1.93836111221e-05,1793239100175238400
+257,4.283333333,HOLD_POSE2,766,746,716,679.517013244,662,635,881,787,805.517013244,652,631,653,0.450043233623,-0.0156278462448,0.0497526445144,0.999999927965,7.42616638231e-05,-0.000371742832564,1.90186740344e-05,1793239100191904768
+258,4.300000000,HOLD_POSE2,766.059272932,745.940727068,716,679.059272932,662,635,881,787,805,652,631,653,0.450043715795,-0.015626249965,0.0497529961021,0.999999928047,7.65285527952e-05,-0.000371079661012,1.86941874097e-05,1793239100208571648
+259,4.316666667,HOLD_POSE2,766.63343776,745.36656224,716,679.63343776,662,635,881,787,805,652,631,653,0.450043735566,-0.0156271816831,0.0497533956465,0.999999928232,7.48261924233e-05,-0.000370892525415,1.93696347293e-05,1793239100225238272
+260,4.333333333,HOLD_POSE2,766.785838751,745.214161249,716,680,662.214161249,635,881.214161249,787,805,652,631,653,0.450043696868,-0.0156270088024,0.0497532810318,0.999999928127,7.48748579417e-05,-0.000371153545763,1.95940867543e-05,1793239100241904640
+261,4.350000000,HOLD_POSE2,766.193534748,745.806465252,716,680,662.806465252,635,881.806465252,787,805,652,631,653,0.450043554929,-0.0156248855406,0.0497522585706,0.999999927507,7.80152956261e-05,-0.000372205871391,1.9022220032e-05,1793239100258571264
+262,4.366666667,HOLD_POSE2,766,746,716,680,662.61163758,635,882,787,805,652,631,653,0.450043983732,-0.0156244818014,0.0497525090516,0.999999927583,7.80716620012e-05,-0.000371999430757,1.8826166117e-05,1793239100275238144
+263,4.383333333,HOLD_POSE2,766,746,716,680,662.03479111,635,882,787,805,652,631,653,0.450044689535,-0.0156249125984,0.04975337733,0.999999927999,7.66312354055e-05,-0.000371182072811,1.88125054931e-05,1793239100291905024
+264,4.400000000,HOLD_POSE2,766,746,716,680,662,635,882,787,805,652,631,653,0.45004435468,-0.0156259091555,0.0497528032309,0.999999927949,7.5724957996e-05,-0.00037150603561,1.87250562099e-05,1793239100308571648
+265,4.416666667,HOLD_POSE2,766,746,715.882581707,680,662.117418293,635,881.882581707,787,805.117418293,652,631,653,0.450044131248,-0.0156267035244,0.049752359227,0.999999927918,7.46247122161e-05,-0.000371816591941,1.86410362016e-05,1793239100325238272
+266,4.433333333,HOLD_POSE2,766,746,715.298565022,680,662.701434978,635,881.298565022,787,805.701434978,652,631,653,0.450044616011,-0.0156265501363,0.0497528000813,0.999999928079,7.26174351738e-05,-0.000371782775186,1.85894635554e-05,1793239100341904896
+267,4.450000000,HOLD_POSE2,766,746,715,680,662.715102478,635,881.284897522,787,806,652,631,653,0.450045148076,-0.0156265321656,0.0497531329573,0.999999928159,7.19747511956e-05,-0.000371678810323,1.88944740264e-05,1793239100358571776
+268,4.466666667,HOLD_POSE2,766,746,715,680,662.132219568,635,881.867780432,787,806,652,631,653,0.450045729615,-0.0156266558334,0.0497533528947,0.999999928155,7.27593482495e-05,-0.000371501474835,1.95724486391e-05,1793239100375238144
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,663,635,881,787,805,653,631,653,0.450044104646,-0.0156258609929,0.0497537342236,0.999999927914,7.44029533975e-05,-0.000371840697917,1.92412799798e-05,1793239100407931648
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745.424408238,716,680,662.424408238,635,881,787.575591762,805,652.424408238,631,653,0.450044439608,-0.015625995235,0.0497531509291,0.999999927882,7.42301155353e-05,-0.000371982880941,1.8818927681e-05,1793239100424598784
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,662,634.844810901,881,787.844810901,805.155189099,652,631,653,0.450045005547,-0.0156259302012,0.0497529102138,0.999999927942,7.45248858975e-05,-0.000371777532973,1.85493008765e-05,1793239100441265920
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,662,634.253968828,881,787.253968828,805.746031172,652,631,653,0.450046219898,-0.0156253057523,0.0497536311999,0.999999928256,7.61323445176e-05,-0.000370596582286,1.87084110215e-05,1793239100457932544
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745.329958938,716,680,662,634,881,787,805.670041062,652,631,653,0.450044866449,-0.0156259538452,0.0497528309527,0.999999927792,7.49547446069e-05,-0.000372078214783,1.88737081648e-05,1793239100474599168
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.908673972,716,680,662,634,881,787,805.091326028,652,631,653,0.450041577136,-0.0156275613075,0.0497508838474,0.999999926724,7.16774885359e-05,-0.000375567169224,1.90436696772e-05,1793239100491265792
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,662.485080534,634.485080534,880.514919466,787,805,652,631,653,0.450042107792,-0.0156252558148,0.0497518591867,0.999999927026,7.42362313862e-05,-0.00037427752151,1.88077305396e-05,1793239100507931904
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.93926993,716,680,662.93926993,635,880,787,804.93926993,652,631,653,0.450042382485,-0.0156227386237,0.0497526590994,0.999999927226,7.73611710066e-05,-0.000373124195697,1.85018327571e-05,1793239100524598528
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.366356868,716,680,662.366356868,635,880,787,804.366356868,652,631,653,0.450034461747,-0.0156246196708,0.0497473611595,0.999999924487,7.60386365857e-05,-0.000380672212986,1.82473661513e-05,1793239100541265152
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.21312528,716,680,662,634.78687472,880.21312528,787,804.21312528,652,631,653,0.450021621977,-0.0156257023201,0.0497407783837,0.999999920513,7.42448986868e-05,-0.000391338547433,1.77794472187e-05,1793239100557931776
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745.804258579,716,680,662,634.195741421,880.804258579,787,804.804258579,652,631,653,0.450000057606,-0.0156253688969,0.0497319167692,0.99999991425,7.16154144858e-05,-0.000407535660352,1.69329402283e-05,1793239100574598400
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.613408768,716,679.613408768,662,634,881,787,805,652,631,653,0.449957534642,-0.0156220360365,0.0497148244444,0.999999901119,7.25853320139e-05,-0.000438478877533,1.51246947952e-05,1793239100591265280
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.03543288,716,679.03543288,662,634,881,787,805,652,631,653,0.449904635979,-0.0156172182839,0.049693657449,0.999999883448,7.53371578617e-05,-0.000476722256233,1.28403340231e-05,1793239100607932160
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.54135141,715.45864859,679.54135141,662,634,881,787,805,652,631,652.45864859,0.449837724092,-0.0156129767942,0.0496754930819,0.999999869661,7.58375379116e-05,-0.000504788309697,1.07753814023e-05,1793239100624598784
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,715.120375574,680,662.120375574,634.120375574,881,787,805,652,631,652.120375574,0.449768425751,-0.0156084234115,0.0496600135153,0.999999857629,7.71186353758e-05,-0.000527933915621,8.93904916878e-06,1793239100641265408
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,715.708404032,680,662.708404032,634.708404032,881,787,805,652,631,652.708404032,0.449693411601,-0.0156025121291,0.0496542024224,0.999999853736,8.20040204879e-05,-0.000534546054091,7.93522615112e-06,1793239100657932032
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745.707815749,716,679.707815749,662.707815749,635,881,787,805,652,631,652.707815749,0.449608403325,-0.0155986487656,0.0496518116832,0.999999852991,8.3534715887e-05,-0.000535708758825,7.50656306623e-06,1793239100674598656
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.128214492,716,679.128214492,662.128214492,635,881,787,805,652,631,652.128214492,0.44951356399,-0.0155967999076,0.0496527854919,0.999999855376,8.17654560042e-05,-0.000531510941766,7.64367573311e-06,1793239100691265280
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715.551265293,679,662,635,881,787,805,652,631,652.448734707,0.449392021473,-0.0155885838957,0.0496514274078,0.999999853658,8.64718129217e-05,-0.000534002040645,6.94522634729e-06,1793239100707931648
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745.025063437,715,679.050126873,662.025063437,634.974936563,880.974936563,787,805,652,631,653,0.449261893433,-0.0155785520376,0.0496493403398,0.999999850683,9.29078134358e-05,-0.000538485250915,5.98017721397e-06,1793239100724598528
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745.271122595,715,679,665,636,880,788.271122595,805,652,632,653,0.411152999494,-0.0153631732283,0.0498115210372,0.999999949585,-4.31608919398e-05,-0.000308933999438,-5.9386029483e-05,1793239101707932160
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.574880701,746,715,678.574880701,664.574880701,636,880.425119299,788.574880701,805,652,632.425119299,653,0.409809032594,-0.0153594344331,0.0498117920958,0.99999994553,-5.43369277487e-05,-0.000320068335519,-5.95298457989e-05,1793239101741265408
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.000423501,746,715,678.000423501,664.000423501,636,880.999576499,788.000423501,805,652,632.999576499,653,0.409158540085,-0.0153553867392,0.0497888084679,0.999999929171,-5.52667196818e-05,-0.000367111518682,-6.19021542994e-05,1793239101757932032
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.830327496,745.830327496,715,679,665,636,880,788.830327496,804,652.830327496,632,653,0.408071494458,-0.0153621526045,0.0498160724023,0.999999949718,-6.72345220435e-05,-0.000304157420562,-5.9434449991e-05,1793239101791265280
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.250469763,745.250469763,715,679,665,636,880,788.250469763,804,652.250469763,632,653,0.407542664,-0.0153635324299,0.0498379565261,0.999999959235,-6.89280964071e-05,-0.000271182082698,-5.69069482782e-05,1793239101807931904
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.517261197,745,715,678.517261197,664.517261197,636,880,788.517261197,804,652.517261197,632,653,0.40596222022,-0.0153628578803,0.0498038807517,0.999999937329,-8.20639794585e-05,-0.000339249112124,-5.93055135106e-05,1793239101857931776
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,715,678,665,636,879.882474263,788,804,653,632,653,0.403074921301,-0.0153788139878,0.0498561178725,0.999999960375,-5.17012142632e-05,-0.000270286919018,-5.93519806038e-05,1793239101991265280
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745.874039324,715,678.874039324,665,636,879.874039324,788,804,653,632,653,0.402325217372,-0.0153773932248,0.0498307636104,0.999999945325,-7.4622255865e-05,-0.000315965653373,-6.28318217365e-05,1793239102041265152
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745.551158053,715,679,664.551158053,636,880,788,804,653,632,653,0.402123004937,-0.0153769610746,0.0498263519759,0.99999994472,-4.07520197089e-05,-0.000325474231256,-5.44628865987e-05,1793239102057932032
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745.41435304,715,679,664.41435304,636.58564696,879.58564696,788,804.58564696,653,632,653,0.401054535491,-0.0153954779414,0.0498411882697,0.999999955545,-6.29055972899e-05,-0.000287303673255,-4.90910648619e-05,1793239102257932288
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.571999051,745.428000949,715,678.428000949,665,636,879.571999051,788,804,653,632,653,0.401015746613,-0.01539692221,0.0498436487184,0.999999956398,-6.44755295183e-05,-0.000284069233428,-4.84922263801e-05,1793239102291265536
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.84528484,745,715,678.15471516,664.84528484,636.15471516,879.84528484,788,804,653,632,653,0.401003170269,-0.0153962106906,0.0498446333742,0.99999995681,-6.35973671523e-05,-0.00028283498091,-4.83780209773e-05,1793239102307931904
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.260440955,745,715,678.739559045,664.260440955,636.739559045,879.260440955,788,804,653,632,653,0.401000107571,-0.0153954851539,0.0498474464094,0.999999958453,-6.25591581013e-05,-0.000277244738275,-4.81299292582e-05,1793239102324598528
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,664.317949196,636.682050804,879.317949196,788,804,653,632,653,0.400997349265,-0.0153953873345,0.0498489778296,0.999999959401,-6.17759498222e-05,-0.000273988206074,-4.80766469926e-05,1793239102341265408
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,664.891158147,636.108841853,879.891158147,788,804,653,632,653,0.400994835334,-0.0153957934665,0.0498494803286,0.99999995981,-6.11974641827e-05,-0.000272605250426,-4.81797639424e-05,1793239102357932032
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.954232132,745,715,679,665,637,880,788,804,653,632,653,0.400994516777,-0.0153973476878,0.0498532770342,0.999999961334,-6.356111941e-05,-0.000266486353094,-4.77173056933e-05,1793239102391265280
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,665,636,880,788.105552357,804,652.105552357,632,653,0.400992572271,-0.015401405539,0.0498553491552,0.999999962791,-6.26002738447e-05,-0.000261441184495,-4.63403320454e-05,1793239102507931648
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..74e84d687c86ed0931c995a37fcd7bc501ff116d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
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+381,6.350000000,pose2_to_pose3_retreat,0.575702729141,-0.00990918927901,1.04003228149,0.546273179925,-0.00123745236323,1.03970041491
+382,6.366666667,pose2_to_pose3_retreat,0.575689777404,-0.00990919907486,1.04003232147,0.546260228656,-0.00123746059594,1.03970045446
+383,6.383333333,pose2_to_pose3_retreat,0.575680788261,-0.00990921728248,1.04003241258,0.546251239552,-0.00123747866048,1.03970054562
+384,6.400000000,pose2_to_pose3_retreat,0.575675098753,-0.00990924860582,1.0400324657,0.546245549932,-0.00123751035117,1.03970059868
+385,6.416666667,pose2_to_pose3_retreat,0.575671934904,-0.00990924798565,1.04003240908,0.546242386228,-0.00123750926136,1.03970054162
+386,6.433333333,pose2_to_pose3_retreat,0.57567064707,-0.00990924773321,1.04003238603,0.546241098452,-0.00123750881776,1.0397005184
+387,6.450000000,pose2_to_pose3_retreat,0.575669602219,-0.00990924750848,1.04003236081,0.546240053649,-0.00123750840898,1.03970049379
+388,6.466666667,pose2_to_pose3_retreat,0.575668894973,-0.00990924728055,1.04003231893,0.546239346435,-0.00123750794626,1.03970045515
+389,6.483333333,pose2_to_pose3_retreat,0.575668584917,-0.00990924718063,1.04003230057,0.546239036393,-0.0012375077434,1.03970043821
+390,6.500000000,pose2_to_pose3_retreat,0.575668227137,-0.00990924706533,1.04003227938,0.546238678629,-0.00123750750932,1.03970041867
+391,6.516666667,pose2_to_pose3_retreat,0.575667692177,-0.00990924689292,1.0400322477,0.546238143693,-0.00123750715931,1.03970038944
+392,6.533333333,pose2_to_pose3_retreat,0.575667503853,-0.00990924683223,1.04003223654,0.546237955378,-0.0012375070361,1.03970037915
+393,6.550000000,pose2_to_pose3_retreat,0.575667452789,-0.00990924681577,1.04003223352,0.546237904317,-0.00123750700269,1.03970037636
+394,6.566666667,pose2_to_pose3_retreat,0.575667417833,-0.0099092468045,1.04003223145,0.546237869362,-0.00123750697982,1.03970037445
+395,6.583333333,pose2_to_pose3_retreat,0.575667368927,-0.00990924678874,1.04003222855,0.546237820458,-0.00123750694782,1.03970037178
+396,6.600000000,pose2_to_pose3_retreat,0.575667134975,-0.00990924671335,1.0400322147,0.546237586517,-0.00123750679476,1.039700359
+397,6.616666667,pose2_to_pose3_retreat,0.575667048475,-0.00990924668547,1.04003220957,0.546237500021,-0.00123750673817,1.03970035428
+398,6.633333333,pose2_to_pose3_retreat,0.575666589113,-0.00990924653743,1.04003218237,0.54623704068,-0.00123750643762,1.03970032918
+399,6.650000000,pose2_to_pose3_retreat,0.575666130025,-0.00990923048066,1.04003223236,0.54623658118,-0.00123749196163,1.03970037441
+400,6.666666667,pose2_to_pose3_retreat,0.575665726158,-0.00990921342143,1.04003229057,0.546236176871,-0.00123747661266,1.03970042717
+401,6.683333333,pose2_to_pose3_retreat,0.575665680627,-0.00990921149824,1.04003229713,0.54623613129,-0.00123747488227,1.03970043312
+402,6.700000000,pose2_to_pose3_retreat,0.575665555196,-0.00990920620005,1.04003231521,0.546236005721,-0.00123747011524,1.03970044951
+403,6.716666667,pose2_to_pose3_retreat,0.575665454365,-0.00990920194101,1.04003232974,0.54623590478,-0.00123746628319,1.03970046268
+404,6.733333333,pose2_to_pose3_retreat,0.575665174713,-0.00990919012859,1.04003237005,0.546235624822,-0.00123745565501,1.03970049921
+405,6.750000000,pose2_to_pose3_retreat,0.575664833566,-0.00990915953358,1.04003232739,0.546235283818,-0.00123742452412,1.03970045785
+406,6.766666667,pose2_to_pose3_retreat,0.575664727995,-0.00990914730765,1.04003229855,0.546235178379,-0.00123741179487,1.03970043041
+407,6.783333333,pose2_to_pose3_retreat,0.575664646136,-0.00990913782777,1.04003227618,0.546235096623,-0.00123740192472,1.03970040913
+408,6.800000000,pose2_to_pose3_retreat,0.575664519569,-0.0099091231705,1.04003224159,0.546234970215,-0.00123738666403,1.03970037623
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2c4f08371567d98223a37354349ba56389876519
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7726c2f406fd31fbe31935e2d9c97d9c16f63fa86225c534cd3d3cafc3c15814
+size 26288758
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ade9cbae60dd3ddd812755fcd073c0bb5db00ef5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_03/franka_data.csv
@@ -0,0 +1,415 @@
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+16,0.266666667,BASELINE,766.26817196,745,715,679,665,636.73182804,879.26817196,788,804,653,632,653,0.400990474548,-0.0154034443345,0.0498581758957,0.999999963792,-6.48045335624e-05,-0.00025713058251,-4.58346358919e-05,1793239103201950464
+17,0.283333333,BASELINE,766.839863428,745,715,679,665,636.160136572,879.839863428,788,804,653,632,653,0.400989826262,-0.0154032425286,0.049857291197,0.999999963605,-6.32567095057e-05,-0.000258177754126,-4.61723165592e-05,1793239103218617344
+18,0.300000000,BASELINE,766.573901291,745.426098709,715,679,665,636,880,788,804,653,632,653,0.40098914384,-0.015404019526,0.0498570515658,0.99999996344,-6.33118424071e-05,-0.000258855237233,-4.58785374249e-05,1793239103235283968
+19,0.316666667,BASELINE,766,745.982336332,715,678.982336332,665,636,879.982336332,788,804,652.982336332,632,653,0.40098849092,-0.0154050909567,0.049857062667,0.999999963299,-6.38977012951e-05,-0.000259347985317,-4.53577292743e-05,1793239103251950336
+20,0.333333333,BASELINE,766,745.401275542,715,678.401275542,665,636,879.401275542,788,804,652.401275542,632,653,0.400989202621,-0.0154034059406,0.0498570653366,0.999999963655,-6.15176720627e-05,-0.000258536554624,-4.54325067278e-05,1793239103268616960
+21,0.350000000,BASELINE,766.177526171,745,715,678.177526171,665,636.177526171,879.177526171,788.177526171,804,652,632,653,0.400989869027,-0.0154021499972,0.0498571421972,0.999999963897,-6.00730265246e-05,-0.00025791051366,-4.55955336927e-05,1793239103285283584
+22,0.366666667,BASELINE,766.751285614,745,715,678.751285614,665,636.751285614,879.751285614,788.751285614,804,652,632,653,0.400990434337,-0.015401851732,0.0498573846499,0.999999963897,-6.07161306157e-05,-0.000257698257319,-4.59555310014e-05,1793239103301950208
+23,0.383333333,BASELINE,766.67408442,745.32591558,715,678.67408442,665,636.67408442,879.67408442,789,804,652,632,653,0.400990415469,-0.0154026359074,0.049857543221,0.999999963994,-6.15421545906e-05,-0.000257108544274,-4.60374431033e-05,1793239103318617088
+24,0.400000000,BASELINE,766.098788295,745.901211705,715,678.098788295,665,636.098788295,879.098788295,789,804,652,632,653,0.400989949607,-0.0154042483329,0.0498576376085,0.999999964166,-6.25081432839e-05,-0.000256230012989,-4.59065730248e-05,1793239103335283712
+25,0.416666667,BASELINE,766.492571981,745.507428019,715,678,665,636,879.492571981,788.507428019,804,652.492571981,632,653,0.400989711042,-0.0154048148244,0.0498578880944,0.999999964025,-6.20120270823e-05,-0.000256939196983,-4.56784940761e-05,1793239103351950336
+26,0.433333333,BASELINE,766.915400149,745,715,678.084599851,665,636,880.084599851,788,804,653,632,653,0.400989388152,-0.015404924672,0.0498580096091,0.999999963811,-6.13448477588e-05,-0.000257964661032,-4.54782699044e-05,1793239103368616960
+27,0.450000000,BASELINE,766.338855992,745,715,678.661144008,665,636,880.661144008,788,804,653,632,653,0.400988300901,-0.0154036400715,0.0498571929787,0.999999963556,-6.14455704018e-05,-0.000258915224696,-4.55572091259e-05,1793239103385283840
+28,0.466666667,BASELINE,766,745,715,678.762799039,665,636,880.762799039,788.237200961,804,652.762799039,632,653,0.400987692335,-0.015403177194,0.0498567733747,0.999999963415,-6.16124437597e-05,-0.000259402817336,-4.56442779124e-05,1793239103401950720
+29,0.483333333,BASELINE,766,745,715,678.187436696,665,636,880.187436696,788.812563304,804,652.187436696,632,653,0.4009877662,-0.0154038857915,0.0498569197843,0.999999963439,-6.18736237163e-05,-0.000259230383412,-4.57429364655e-05,1793239103418617088
+30,0.500000000,BASELINE,766,745,715,678,665,636,879.601427261,788.601427261,804,652.398572739,632,653,0.40098847899,-0.0154042777115,0.0498574413429,0.999999963599,-6.25247295358e-05,-0.000258465012043,-4.56914182604e-05,1793239103435283712
+31,0.516666667,BASELINE,766,745,715,678,665,636,879.010273414,788.010273414,804,652.989726586,632,653,0.400989500495,-0.0154045166203,0.0498581441647,0.999999963824,-6.3364238484e-05,-0.000257413147051,-4.55673381246e-05,1793239103451950080
+32,0.533333333,BASELINE,766.567716425,745,715,678.567716425,665,636.567716425,879.567716425,788,803.432283575,652.432283575,632,653,0.400990749595,-0.0154040868009,0.0498587782917,0.9999999644,-6.20725850211e-05,-0.000255494690596,-4.54876374335e-05,1793239103468616960
+33,0.550000000,BASELINE,767,745,715,679,665,636.855562619,879.855562619,788,803.144437381,652.144437381,632,653,0.400991601319,-0.0154036530397,0.0498592485269,0.999999964759,-6.14302276661e-05,-0.000254230089398,-4.55536549353e-05,1793239103485283840
+34,0.566666667,BASELINE,767,745,715,679,665,636.281920499,879.281920499,788,803.718079501,652.718079501,632,653,0.400991260253,-0.0154032427101,0.0498592353572,0.999999964465,-6.28292976334e-05,-0.000254954004073,-4.60503508482e-05,1793239103501950464
+35,0.583333333,BASELINE,766.706912628,745,715,679,665,636,879.293087372,788,804,652.706912628,631.706912628,653,0.400991146944,-0.0154028546321,0.0498591013045,0.999999964425,-6.27776538083e-05,-0.00025509654241,-4.6197512707e-05,1793239103518617088
+36,0.600000000,BASELINE,766.130584824,745,715,679,665,636,879.869415176,788,804,652.130584824,631.130584824,653,0.400991253739,-0.0154024880582,0.04985885043,0.999999964631,-6.13240364045e-05,-0.00025467723716,-4.60068839664e-05,1793239103535283456
+37,0.616666667,BASELINE,766,745,715,679,665,636,879.540474739,788,804,652.459525261,631.459525261,653,0.400990946182,-0.0154019774896,0.0498586927149,0.99999996461,-6.10880347687e-05,-0.000254793086972,-4.61289597688e-05,1793239103551950080
+38,0.633333333,BASELINE,766.052043202,745,715,678.947956798,665,636,879,788,804,652.947956798,631.947956798,653,0.400990481558,-0.0154016136052,0.0498585413171,0.999999964515,-6.12373217321e-05,-0.000255104922598,-4.62752481988e-05,1793239103568616960
+39,0.650000000,BASELINE,766.628149837,745,715,678.371850163,665,636,879,788,804,652.371850163,631.371850163,653,0.400989657653,-0.0154031515883,0.0498581787106,0.999999964332,-6.16743626398e-05,-0.00025581156247,-4.57428613302e-05,1793239103585284608
+40,0.666666667,BASELINE,767,745,715,678.203643721,665,636,879.203643721,788,804,652.203643721,631.203643721,653,0.400989223963,-0.0154040392128,0.0498578809074,0.99999996419,-6.2009806886e-05,-0.000256332753659,-4.54762893536e-05,1793239103601951488
+41,0.683333333,BASELINE,767,745,715,678.778022053,665,636,879.778022053,788,804,652.778022053,631.778022053,653,0.400989500665,-0.0154037428555,0.0498577010788,0.999999964124,-6.21602937762e-05,-0.00025651633437,-4.56936350095e-05,1793239103618617600
+42,0.700000000,BASELINE,767,745.360879679,715,678.639120321,665,636,880,788,804.360879679,653,632,653,0.400990570981,-0.0154041188839,0.0498587012959,0.999999964477,-6.18362977924e-05,-0.000255223002112,-4.56373136194e-05,1793239103635283712
+43,0.716666667,BASELINE,767,745.949078413,715,678.050921587,665,636,880,788,804.949078413,653,632,653,0.400992141197,-0.0154049184498,0.0498604448267,0.999999965091,-6.12134237987e-05,-0.000252999358506,-4.54086086325e-05,1793239103651950336
+44,0.733333333,BASELINE,766.470808206,746,715,678.529191794,665,636,880,788.529191794,804.470808206,653,632,653,0.400991831483,-0.0154050409916,0.0498604145303,0.999999965011,-6.22839681055e-05,-0.000253059579075,-4.53932890606e-05,1793239103668617216
+45,0.750000000,BASELINE,766,746,715,678.891920813,665,636,880,788.891920813,804,653,632,653,0.400991405736,-0.0154050592509,0.04986026381,0.99999996494,-6.29326273359e-05,-0.00025317672627,-4.53979439662e-05,1793239103685283840
+46,0.766666667,BASELINE,766,746,715,678.315027541,665,636,880,788.315027541,804,653,632,653,0.400991249536,-0.0154049034989,0.0498603199739,0.999999965202,-6.10550914695e-05,-0.000252601875215,-4.54015162701e-05,1793239103701950464
+47,0.783333333,BASELINE,766,746,715,678.261540147,664.738459853,636,880,788,804,652.738459853,632,653,0.400991338874,-0.0154040513524,0.0498600830283,0.999999965267,-5.99070897001e-05,-0.000252601720549,-4.54834467364e-05,1793239103718617088
+48,0.800000000,BASELINE,766,746,715,678.83771623,664.16228377,636,880,788,804,652.16228377,632,653,0.400991723598,-0.0154023614349,0.0498594934683,0.999999965101,-5.96367259572e-05,-0.000253292932463,-4.56596430129e-05,1793239103735283712
+49,0.816666667,BASELINE,766,745.57691417,715,679,664.42308583,636,880,788.42308583,804,652.42308583,632,653,0.400991535666,-0.0154034089563,0.04985946668,0.999999964979,-6.05255741328e-05,-0.000253585565589,-4.55265790084e-05,1793239103751950336
+50,0.833333333,BASELINE,766.011859555,745.011859555,715,678.988140445,664.988140445,636,879.988140445,788.988140445,804,653,632,653,0.400991140798,-0.0154055030251,0.0498596709259,0.999999964879,-6.18671346074e-05,-0.00025370168556,-4.52725431811e-05,1793239103768616704
+51,0.850000000,BASELINE,766.591040068,745.591040068,715,678.408959932,664.408959932,636,879.408959932,788.408959932,804,653,632,653,0.400991587663,-0.0154063160405,0.0498603715269,0.999999965027,-6.31223464616e-05,-0.000252849894606,-4.50322160412e-05,1793239103785283840
+52,0.866666667,BASELINE,767,745.83101718,715,678,664,636,879,788,804,653,632,653,0.400991784248,-0.0154060875958,0.0498606528513,0.999999965111,-6.32173860761e-05,-0.000252509745593,-4.49405705765e-05,1793239103801950720
+53,0.883333333,BASELINE,767,745.256048222,715,678,664,636,879,788,804,653,632,653,0.400991379527,-0.0154033570127,0.0498599268516,0.999999965041,-6.05250780797e-05,-0.000253398831265,-4.52061371732e-05,1793239103818617600
+54,0.900000000,BASELINE,767,745,715,678.326369295,664,636.326369295,879.326369295,788.326369295,804,653,632,653,0.400991319161,-0.0154024725151,0.0498596668031,0.999999964999,-5.98898649165e-05,-0.00025367015315,-4.54590594112e-05,1793239103835283968
+55,0.916666667,BASELINE,767,745,715,678.914766922,664,636.914766922,879.914766922,788.914766922,804,653,632,653,0.400991535262,-0.0154030701628,0.0498597808475,0.999999964984,-6.09062077709e-05,-0.000253445498142,-4.57018300068e-05,1793239103851950592
+56,0.933333333,BASELINE,766.504475727,745,715,679,664,636.504475727,879.504475727,788.504475727,804,652.504475727,632,653,0.400991026307,-0.0154023254359,0.0498591729915,0.999999964799,-6.0370623716e-05,-0.000254249010948,-4.59797787457e-05,1793239103868617216
+57,0.950000000,BASELINE,766,745,715,679,664,636,879.074710119,788,804,652.074710119,632,653,0.400990573654,-0.0154015600567,0.0498585181168,0.999999964636,-5.95126472903e-05,-0.00025505044901,-4.62084812762e-05,1793239103885283584
+58,0.966666667,BASELINE,766,745,715,679,664,636,879.652030251,788,804,652.652030251,632,653,0.400991326039,-0.0154021855014,0.0498583695989,0.999999964815,-5.82543518837e-05,-0.00025466623581,-4.60657925607e-05,1793239103901950464
+59,0.983333333,BASELINE,766,745,715,679,664.22731725,636,880,788,804,653,632,653,0.40099198849,-0.0154035492677,0.0498588567294,0.999999965013,-5.88784254434e-05,-0.000253803455408,-4.57319499039e-05,1793239103918617088
+60,1.000000000,BASELINE,766,745,715,679,664.799519673,636,880,788,804,653,632,653,0.400992514494,-0.0154060332141,0.0498603082643,0.999999965232,-6.23584243842e-05,-0.000252214593962,-4.51080889348e-05,1793239103935283712
+61,1.016666667,BASELINE,766.742007418,745,715,679,665,636,879.628996291,788,804,653,632,653,0.400992237878,-0.0154053504548,0.0498607194974,0.999999965325,-6.11883134122e-05,-0.000252171235707,-4.48875633286e-05,1793239103951950336
+62,1.033333333,BASELINE,767.884200529,745,715,679,665,636,879.057899736,788,804,653,632,653,0.400991528387,-0.0154029598009,0.0498605696659,0.999999965344,-5.7510265768e-05,-0.000252961411351,-4.48845679861e-05,1793239103968617216
+63,1.050000000,BASELINE,767.46140871,745,715,678.46140871,665,636.53859129,879.53859129,788,804,653,632,653,0.400992025023,-0.0154029493538,0.0498603785682,0.999999965316,-5.85164105013e-05,-0.000252756719674,-4.53530588671e-05,1793239103985284096
+64,1.066666667,BASELINE,766.867718855,745,715,678.132281145,664.867718855,636.867718855,880,788,804.132281145,652.867718855,632,653,0.400992399376,-0.0154032764243,0.0498602452523,0.999999965273,-5.97927428913e-05,-0.000252555831792,-4.57679874227e-05,1793239104001950464
+65,1.083333333,BASELINE,766.29298148,745,715,678.70701852,664.29298148,636.29298148,880,788,804.70701852,652.29298148,632,653,0.40099190956,-0.0154038342157,0.0498603207785,0.999999965198,-6.02051395138e-05,-0.000252743097939,-4.58258360005e-05,1793239104018617088
+66,1.100000000,BASELINE,766,745.281032345,715,679,664,636,880,788,804.718967655,652,632,653,0.400991701994,-0.0154046352163,0.0498600855291,0.999999965118,-6.09364758289e-05,-0.000252935426362,-4.55475725192e-05,1793239104035283712
+67,1.116666667,BASELINE,766,745.854293759,715,679,664,636,880,788,804.145706241,652,632,653,0.400991787922,-0.0154056891157,0.0498595271221,0.999999965031,-6.19994588168e-05,-0.00025313301874,-4.49198057983e-05,1793239104051950336
+68,1.133333333,BASELINE,766.441769496,745.558230504,715.441769496,679,664,636,880,788,804,652.441769496,632,653,0.400991576822,-0.0154057697919,0.0498597427846,0.999999965035,-6.20660774633e-05,-0.000253127250527,-4.47732040111e-05,1793239104068616960
+69,1.150000000,BASELINE,766.966719331,745,715.966719331,678.966719331,664.033280669,636,879.966719331,788.033280669,804,653,632,653.033280669,0.400991298243,-0.0154054796467,0.0498601853352,0.999999965065,-6.18170168729e-05,-0.000253061209341,-4.481477429e-05,1793239104085283840
+70,1.166666667,BASELINE,766.388451043,745,715.388451043,678.388451043,664.611548957,636,879.388451043,788.611548957,804,653,632,653.611548957,0.400991572254,-0.0154045482819,0.0498600235249,0.999999965016,-6.19588578202e-05,-0.000253143041424,-4.52525692931e-05,1793239104101950720
+71,1.183333333,BASELINE,766.189117751,745,715,678,665,636,879.189117751,788.810882249,804.189117751,653,632,653.810882249,0.400991685814,-0.0154039531048,0.0498598833424,0.999999965023,-6.14260902126e-05,-0.000253197755571,-4.55160387795e-05,1793239104118617344
+72,1.200000000,BASELINE,766.765255174,745,715,678,665,636,879.765255174,788.234744826,804.765255174,653,632,653.234744826,0.400991471019,-0.0154040459185,0.0498597874201,0.999999965143,-5.9512771196e-05,-0.00025319697428,-4.54227602132e-05,1793239104135283968
+73,1.216666667,BASELINE,767,745,715,678.348259335,664.651740665,636,880,788,804.651740665,653,632,653,0.400991413143,-0.0154028769427,0.049859772935,0.999999965206,-5.80212626972e-05,-0.000253246838311,-4.56926035608e-05,1793239104151950592
+74,1.233333333,BASELINE,767,745,715,678.935985096,664.064014904,636,880,788,804.064014904,653,632,653,0.400991463166,-0.0154008403485,0.0498598144469,0.99999996523,-5.68197952307e-05,-0.000253331526544,-4.62121329905e-05,1793239104168616960
+75,1.250000000,BASELINE,766.482967131,745,715,679,664.517032869,636,880,788,803.482967131,653,632,653,0.400992115569,-0.0154033607828,0.0498605795834,0.999999965419,-6.03690626215e-05,-0.000251854370149,-4.56862793211e-05,1793239104185283840
+76,1.266666667,BASELINE,766,745,715,678.903540324,664.903540324,636,880,788,803.096459676,653,631.903540324,653,0.400992655098,-0.0154057554797,0.0498611730502,0.99999996553,-6.35515693509e-05,-0.000250725401649,-4.51471066948e-05,1793239104201950464
+77,1.283333333,BASELINE,766,745,715,678.328109248,664.328109248,636,880,788,803.671890752,653,631.328109248,653,0.400992268537,-0.015404759935,0.0498604748851,0.999999965235,-6.20294614765e-05,-0.00025227332581,-4.51762945279e-05,1793239104218617088
+78,1.300000000,BASELINE,766,745,715,678,664,636,880,788.251973338,804,652.748026662,631.251973338,653,0.400992199073,-0.0154042408122,0.0498602522,0.999999965125,-6.13761025114e-05,-0.000252863455736,-4.51913962205e-05,1793239104235283968
+79,1.316666667,BASELINE,766,745,715,678,664,636,880,788.838226797,804,652.161773203,631.838226797,653,0.400992550286,-0.0154043537341,0.0498606603096,0.999999965267,-6.1875268347e-05,-0.000252182928988,-4.51878105498e-05,1793239104251950848
+80,1.333333333,BASELINE,766.419742388,745,715,678.419742388,664,636,879.580257612,788.580257612,804,652.419742388,632,652.580257612,0.400992160486,-0.0154047010404,0.049860126016,0.999999965258,-6.16635515793e-05,-0.000252245621564,-4.53084235398e-05,1793239104268617728
+81,1.350000000,BASELINE,766.999452383,745,715,678.999452383,664,636,879.000547617,788.000547617,804,652.999452383,632,652.000547617,0.400991488278,-0.0154051376726,0.0498592325639,0.999999965193,-6.11809110845e-05,-0.000252591561669,-4.54763697588e-05,1793239104285284352
+82,1.366666667,BASELINE,767,745,715,679,664.578905968,636,879.578905968,788,804,653,632,652.578905968,0.400989885595,-0.0154040629589,0.0498587980515,0.999999964625,-6.15565037919e-05,-0.000254695310735,-4.57227874766e-05,1793239104301950464
+83,1.383333333,BASELINE,766.843141017,745,715,679,665,636,880,788,804,653,632,653,0.400989556708,-0.0154035888568,0.0498589377064,0.99999996442,-6.24238242709e-05,-0.000255267346606,-4.58508422115e-05,1793239104318616832
+84,1.400000000,BASELINE,766.269177404,745,715,679,665,636,880,788,804,653,632,653,0.400992617317,-0.0154047156441,0.0498606029788,0.999999965179,-6.45965431615e-05,-0.000251761975911,-4.56639600097e-05,1793239104335283456
+85,1.416666667,BASELINE,766.312527941,745,715,679,665,636,880,788,804,653,632,653,0.400993039186,-0.0154044216904,0.0498609759503,0.999999965382,-6.39741690047e-05,-0.000251113761026,-4.56579917034e-05,1793239104351950080
+86,1.433333333,BASELINE,766.9010705,745,715,679,665,636,880,788,804,653,632,653,0.400991130602,-0.015402872984,0.0498602076032,0.999999965096,-6.08832585056e-05,-0.000252988894399,-4.58118007378e-05,1793239104368616960
+87,1.450000000,BASELINE,766.518159486,745,715,679,665,636,880,788,804,652.518159486,631.518159486,653,0.400991329804,-0.0154032234979,0.0498602525005,0.999999965153,-6.07288645922e-05,-0.000252828546797,-4.56482286561e-05,1793239104385283840
+88,1.466666667,BASELINE,766.060728138,745,715,678.939271862,664.939271862,636,879.939271862,788,804,652,631,653,0.400991858504,-0.0154038690543,0.0498603347671,0.999999965237,-6.11511609977e-05,-0.000252426113849,-4.54711375934e-05,1793239104401950464
+89,1.483333333,BASELINE,766.636968132,745,715,678.363031868,664.363031868,636,879.363031868,788,804,652,631,653,0.400991568937,-0.0154037615885,0.049859339358,0.999999964947,-6.14321016754e-05,-0.000253459966674,-4.57236665111e-05,1793239104418617344
+90,1.500000000,BASELINE,766.784395376,745,715,678,664,636,879.215604624,788,803.784395376,652,631,653,0.400991322336,-0.0154041188729,0.0498589095096,0.999999964772,-6.18754912823e-05,-0.000254039522895,-4.5732249651e-05,1793239104435283968
+91,1.516666667,BASELINE,766.2016784,745,715,678,664,636,879.7983216,788,803.2016784,652,631,653,0.400991148892,-0.0154052674928,0.0498594426477,0.999999964795,-6.25954844292e-05,-0.000253845543208,-4.53254636209e-05,1793239104451950336
+92,1.533333333,BASELINE,766.381346067,745,715,678.381346067,664.381346067,636,880,788,803.381346067,652,631.381346067,653,0.400991276746,-0.015405052741,0.0498597082412,0.999999964992,-6.15070512548e-05,-0.000253350002203,-4.52447930217e-05,1793239104468616960
+93,1.550000000,BASELINE,766.964533339,745,715,678.964533339,664.964533339,636,880,788,803.964533339,652,631.964533339,653,0.400991564072,-0.0154041163756,0.0498598322271,0.999999965277,-5.94614430843e-05,-0.000252694848941,-4.53367307763e-05,1793239104485283584
+94,1.566666667,BASELINE,766.457668643,745,715.542331357,678.457668643,665,636,880,788.542331357,804,652.542331357,631.457668643,653,0.400991048481,-0.0154043594922,0.0498593128684,0.99999996499,-5.99411157912e-05,-0.0002537373318,-4.52192984182e-05,1793239104501950208
+95,1.583333333,BASELINE,766,745,715.880903492,678,664.880903492,636,880,788.880903492,804,653,631,652.880903492,0.40099076052,-0.0154046866913,0.0498591917412,0.999999964842,-6.06928423005e-05,-0.000254162197037,-4.50986096711e-05,1793239104518617088
+96,1.600000000,BASELINE,766,745,715.306751269,678,664.306751269,636,880,788.306751269,804,653,631,652.306751269,0.400991540968,-0.0154050433391,0.0498607513899,0.99999996537,-6.18592656245e-05,-0.000251807186763,-4.50172799483e-05,1793239104535283712
+97,1.616666667,BASELINE,766.268787378,745.268787378,715,678.268787378,664.268787378,636,880,788.268787378,804,653,631.268787378,652.268787378,0.40099206137,-0.0154050526619,0.0498614564594,0.99999996564,-6.18744804088e-05,-0.000250730278104,-4.50017446679e-05,1793239104551950336
+98,1.633333333,BASELINE,766.845916438,745.845916438,715,678.845916438,664.845916438,636,880,788.845916438,804,653,631.845916438,652.845916438,0.400992283459,-0.0154046635479,0.0498611811913,0.99999996562,-6.05690766495e-05,-0.000251119554512,-4.50616860359e-05,1793239104568617216
+99,1.650000000,BASELINE,767,745.567795149,715,679,665,636,879.567795149,788.567795149,804,652.567795149,632,653,0.40099223697,-0.0154051107171,0.0498606591568,0.999999965558,-6.08472042295e-05,-0.000251267525902,-4.52287380633e-05,1793239104585283840
+100,1.666666667,BASELINE,766.978574929,745,715,679,665,636,879,788,804,652.021425071,632,653,0.400992126805,-0.0154058197069,0.0498600942528,0.999999965492,-6.16737305555e-05,-0.000251293774364,-4.5425112692e-05,1793239104601950208
+101,1.683333333,BASELINE,766.399869319,745,715,679,665,636,879,788,804,652.600130681,632,653,0.400992904813,-0.0154054161129,0.0498607520787,0.999999965703,-6.17625357423e-05,-0.000250439985159,-4.53694509743e-05,1793239104618617088
+102,1.700000000,BASELINE,766.177546177,745,715.177546177,678.822453823,665,636,879,788.177546177,804,653,632,653,0.400993519225,-0.0154047641248,0.0498613246945,0.999999965917,-6.13094201668e-05,-0.000249700192389,-4.53644557527e-05,1793239104635283712
+103,1.716666667,BASELINE,766.752076963,745,715.752076963,678.247923037,665,636,879,788.752076963,804,653,632,653,0.400993767844,-0.0154035567399,0.0498617067848,0.999999966133,-5.96445961307e-05,-0.00024921529021,-4.54727483574e-05,1793239104651950336
+104,1.733333333,BASELINE,767,745.334578899,715.665421101,678,665,636,879.334578899,788.665421101,804,653,632,653,0.400993460694,-0.015403522188,0.0498612252197,0.999999965972,-5.9698353918e-05,-0.000249833161865,-4.55490848662e-05,1793239104668616960
+105,1.750000000,BASELINE,767,745.923131677,715.076868323,678,665,636,879.923131677,788.076868323,804,653,632,653,0.40099273167,-0.015404377916,0.0498600880668,0.999999965523,-6.10566614955e-05,-0.000251288132724,-4.56011639882e-05,1793239104685283840
+106,1.766666667,BASELINE,767,745.496046601,715,678.503953399,665,636,879.496046601,788.503953399,804,653,632,653,0.400992673296,-0.0154036200482,0.0498601213277,0.999999965588,-6.04047219378e-05,-0.00025119237873,-4.55840174177e-05,1793239104701950464
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,715,679,664,636,880,788,804,653,632,653,0.400991357724,-0.0154040221624,0.0498597416056,0.999999965092,-5.99348676973e-05,-0.000253264047329,-4.56204443691e-05,1793239104745177600
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,715,679,664.574901897,636,880,788,804,652.425098103,631.425098103,653,0.400993268118,-0.0154040816589,0.0498607234516,0.999999965702,-5.97022940176e-05,-0.000250956593529,-4.53078633194e-05,1793239104761843968
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,880.154279449,788,804,652.154279449,631.308558897,653,0.400994361599,-0.0154040401124,0.049861340721,0.999999966116,-5.91553197919e-05,-0.000249462089668,-4.51420619979e-05,1793239104778510592
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,880.746357698,788,804,652.746357698,632.492715395,653,0.400993136927,-0.0154037118363,0.0498609234319,0.999999965986,-5.77161710655e-05,-0.000250274493368,-4.53927774488e-05,1793239104795177472
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,880.669376785,788,804,653,632.669376785,653.330623215,0.400992017799,-0.0154039761943,0.0498604972692,0.999999965634,-5.87682978241e-05,-0.000251408354719,-4.55217233788e-05,1793239104811844096
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,880.090966587,788,804,653,632.090966587,653.909033413,0.400990977773,-0.0154046847045,0.0498600644561,0.99999996511,-6.16875217319e-05,-0.000252783133829,-4.55594086056e-05,1793239104828510720
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,715,679,664.51685128,636,880,788,804,652.51685128,632,653.51685128,0.400992048863,-0.0154039831424,0.0498609815579,0.999999965524,-6.02588016867e-05,-0.00025149777495,-4.55020732845e-05,1793239104845177344
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,715,679,664.058138554,636,880,788,804,652,631.941861446,653,0.400993388044,-0.0154032399398,0.049861986426,0.999999966022,-5.84386427919e-05,-0.000249961731911,-4.53954973389e-05,1793239104861843968
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,715,679,664.64847067,636,880,788,804,652,631.35152933,653,0.400993574877,-0.0154045243848,0.0498614886441,0.999999965741,-6.04628697024e-05,-0.000250675256028,-4.5000501582e-05,1793239104878510592
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.765632527,745,715,678.765632527,664.765632527,636,880,788,804,652.234367473,631.234367473,653,0.400997085508,-0.0154054205021,0.0498624665569,0.999999966212,-6.1175072514e-05,-0.000248681654595,-4.46193954397e-05,1793239104895177216
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.186264771,745,715,678.186264771,664.186264771,636,880,788,804,652.813735229,631.813735229,653,0.40100548893,-0.0154057449823,0.0498656167639,0.999999967771,-5.99559120727e-05,-0.000242703033059,-4.42587355175e-05,1793239104911844096
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.390509596,715,678,664.781019193,636,880,788,803.609490404,653,632,653,0.401031429332,-0.0154070553043,0.0498759331829,0.9999999724,-6.04088622706e-05,-0.000222893460721,-4.32258598423e-05,1793239104928510720
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.966055185,715,678,665.93211037,636,880,788,803.033944815,653,632,653,0.401065679318,-0.0154088327499,0.0498896451838,0.999999977911,-6.16541120648e-05,-0.000196530338903,-4.1874466691e-05,1793239104945177344
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.447702541,715,678,665.447702541,636,879.447702541,788,803.552297459,652.447702541,632,653,0.401124277661,-0.0154115175506,0.0499072762451,0.999999984685,-6.13805251213e-05,-0.000158948475479,-3.9972533022e-05,1793239104961843968
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.137475832,745,715,678,664.862524168,636,879,788,803.862524168,652.137475832,632,653,0.401187528095,-0.0154149649401,0.0499241838957,0.999999989628,-6.12164041524e-05,-0.000124715455186,-3.79833819778e-05,1793239104978510592
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.717076761,745,715,678,664.282923239,636,879,788,803.282923239,652.717076761,632,653,0.401260832016,-0.0154206819419,0.0499379751054,0.999999992097,-6.17104709561e-05,-0.000103513668591,-3.5824706873e-05,1793239104995177216
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.704264925,745,715,678.295735075,664.295735075,636,879.295735075,788,803.295735075,652.704264925,632,653,0.401339912597,-0.0154257729574,0.0499476868095,0.999999993485,-6.31542403659e-05,-8.87004272825e-05,-3.42461277445e-05,1793239105011844096
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.12650556,745,715,678.87349444,664.87349444,636,879.87349444,788,803.87349444,652.12650556,632,653,0.401424502018,-0.0154302670079,0.0499535081402,0.999999994104,-6.55036825279e-05,-7.99795486502e-05,-3.32207504872e-05,1793239105028510720
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.449413472,745,715,679,665,636.449413472,880,788.449413472,803.550586528,652,632,653,0.401520027939,-0.015436413991,0.0499549751042,0.999999994022,-6.78420048982e-05,-7.93993374112e-05,-3.24038172318e-05,1793239105045177344
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.975273153,745,715,679,664.975273153,636.975273153,879.975273153,788.975273153,803,652.024726847,632,653,0.401619923446,-0.0154430560183,0.0499553126232,0.999999993767,-7.01655793649e-05,-8.08841715098e-05,-3.1623292268e-05,1793239105061843968
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.401950465,745,715,679,664.401950465,636.401950465,879.401950465,788.401950465,803,652.598049535,632,653,0.401748741453,-0.0154504004013,0.0499576750443,0.999999993924,-7.22311162245e-05,-7.75517373914e-05,-3.03540619479e-05,1793239105078510592
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.178052724,745,715,678.821947276,664,636,879.178052724,788,803.356105448,653,632,653,0.401884960482,-0.0154582587528,0.0499580704283,0.999999993807,-7.44715867578e-05,-7.73409631871e-05,-2.93127346507e-05,1793239105095176960
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.773724821,745,715,678.226275179,664,636,879.773724821,788,804.547449642,653,632,653,0.402038538453,-0.015467322607,0.0499538521629,0.999999993045,-7.71223606976e-05,-8.44519850685e-05,-2.88059498594e-05,1793239105111843584
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,715,678,664.356089053,636.356089053,879.643910947,788,804.643910947,652.643910947,632,653,0.402216264909,-0.0154774506582,0.0499558739186,0.999999993328,-7.90258654457e-05,-7.96944236941e-05,-2.73518707001e-05,1793239105128510720
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+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,715,678.505545825,665,636.494454175,879,788,804,652.505545825,632,653,0.402626747409,-0.0154994056946,0.049964109275,0.999999994228,-8.33082002007e-05,-6.36302839788e-05,-2.35778118931e-05,1793239105161843968
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+136,2.266666667,POSE1_TO_POSE2_PRESS,766.163369016,745,715.836630984,678.836630984,665,636,879,788,803.163369016,652,632,653,0.403729710486,-0.0155241017655,0.0499866328661,0.999999998529,-5.00585782348e-05,-1.69913540949e-05,-1.2179443251e-05,1793239105228510464
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.412577308,745.412577308,716,679,664.587422692,636,879.412577308,788,803.825154615,652,632,653,0.404062046039,-0.0155141456982,0.049991940333,0.999999999696,-2.07010246059e-05,-8.49940715764e-06,-1.03216056129e-05,1793239105245177600
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.987064288,745.987064288,716,679,664.012935712,636,879.987064288,788,804.974128577,652,632,653,0.404402550772,-0.0155012755758,0.0499959219416,0.999999999877,1.24714361423e-05,-2.80435703905e-06,-9.13576655018e-06,1793239105261844480
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745.425629555,716,679,664.574370445,636,880,788,804.425629555,652.574370445,632,653.574370445,0.404780912645,-0.0155074827157,0.0499996195772,0.999999999691,2.36129663387e-05,5.11273818603e-06,-5.83615525461e-06,1793239105278510848
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.84012148,745,715.84012148,678.84012148,664.84012148,636,880,788,804,652.84012148,632,653.84012148,0.405165883442,-0.0155136353003,0.0499973118388,0.999999999378,3.50925078377e-05,1.43470816034e-06,-3.09189730968e-06,1793239105295177472
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.260114481,745,715.260114481,678.260114481,664.260114481,636,880,788,804,652.260114481,632,653.260114481,0.405565929492,-0.0155184897178,0.0499792403789,0.999999998268,4.87938735961e-05,-3.28474790994e-05,-1.93494959543e-06,1793239105311843840
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,678,664.317999314,636,880,788,804,652,632,653,0.405988007182,-0.0155217651767,0.0499633478133,0.999999995993,6.59991714109e-05,-6.04843708487e-05,-4.82336254217e-07,1793239105328510464
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,678,664.894573747,636,880,788,804,652,632,653,0.406427999527,-0.0155237567359,0.0499492269726,0.999999992876,8.6053626719e-05,-8.2717770108e-05,1.21069211818e-06,1793239105345177344
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.470043221,745,715,678.470043221,664.529956779,636,880,788,804,652,632,653,0.406908263341,-0.0155236643051,0.0499424158351,0.999999989675,0.000108672501973,-9.39386308663e-05,3.92409003414e-06,1793239105361844224
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,715,678.953541317,664,636,879.953541317,788,803.953541317,652,632,653,0.407403391733,-0.0155231360411,0.0499393141726,0.999999986359,0.00013224294338,-9.87126910884e-05,7.0579427871e-06,1793239105378511104
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,715,678.363155256,664,636,879.363155256,788,803.363155256,652,632,653,0.407967049011,-0.0155229647461,0.0499604923348,0.999999985468,0.00016023589343,-5.68595854842e-05,1.24412380531e-05,1793239105395177472
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,715,678.22260789,664,636,879.22260789,788,803.22260789,652.22260789,632,653,0.408552975359,-0.015524221307,0.0499820107789,0.99999998216,0.000187032147715,-1.94104487428e-05,1.79618241867e-05,1793239105411844096
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,715,678.800982761,664,636,879.800982761,788,803.800982761,652.800982761,632,653,0.409174491605,-0.0155277598354,0.0500040730527,0.999999977204,0.000211915868105,1.10003602386e-05,2.37018252342e-05,1793239105428510976
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,715.376118593,679,664,636,880.376118593,788,804,653,632,653,0.409779499103,-0.0155331685493,0.0500081409999,0.999999972448,0.00023254164025,1.5507764791e-05,2.80704731053e-05,1793239105445177600
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,715.949555154,679,664,636,880.949555154,788,804,653,632,653,0.410375845821,-0.0155395583929,0.0500027688281,0.999999967992,0.000250933622326,6.42581855049e-06,3.17196864834e-05,1793239105461844224
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,715.473958133,679,664.526041867,636,880.473958133,788,804,652.473958133,632,653,0.410973035465,-0.0155362765902,0.0499716311048,0.999999958465,0.000280589486701,-5.74400748891e-05,3.2245838998e-05,1793239105478510848
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,715.10509449,679,665,636,880.10509449,788,804.10509449,652,632,653,0.411588302876,-0.0155332714575,0.0499453420789,0.99999994975,0.000295706924335,-0.000109379021622,3.30612584414e-05,1793239105495177216
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,715.694618301,679,665,636,880.694618301,788,804.694618301,652,632,653,0.41228652416,-0.0155358416711,0.0499528584053,0.999999967456,0.000238802039703,-8.19839993924e-05,3.65985665942e-05,1793239105511843840
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,715.719934551,679,665,636,880.719934551,788,805,652,632,653,0.413023993176,-0.0155423183811,0.0499689619457,0.999999989053,0.000136450932361,-4.93591991065e-05,2.89779815928e-05,1793239105528510464
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,715.138868722,679,665,636,880.138868722,788,805,652,632,653,0.413803643786,-0.015552993599,0.0499942945966,0.999999999786,-1.47435184096e-05,-1.11136899265e-05,9.36544937749e-06,1793239105545177088
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.563148313,745,715,679,664.563148313,636,880.436851687,788,804.563148313,652.436851687,632,653,0.414533652922,-0.0155600933627,0.049985111458,0.999999999317,-2.67652334808e-05,-2.43242731302e-05,7.55518377452e-06,1793239105561843968
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.011148646,745,715,679,664,636.011148646,880.988851354,788.011148646,804,652.988851354,632,653,0.415248404578,-0.0155659030744,0.0499651298442,0.99999999848,5.05204276993e-06,-5.37327787204e-05,1.12985045547e-05,1793239105578511360
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.59864241,745,715,679,664,636.59864241,880.40135759,788.59864241,804,652.40135759,632,653,0.41598032457,-0.015563068797,0.0499472652675,0.999999995334,4.37360557345e-05,-8.51326324205e-05,1.31247573588e-05,1793239105595178752
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.816171059,745,715.183828941,679,664.183828941,636.816171059,880,788.816171059,804,652.183828941,632,653,0.416745543149,-0.0155606280368,0.0499432167594,0.999999992496,8.02332678359e-05,-9.1217700754e-05,1.58212948556e-05,1793239105611845632
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.235959554,745,715.764040446,679,664.764040446,636.235959554,880,788.235959554,804,652.764040446,632,653,0.417582562019,-0.0155590358014,0.0499689592562,0.999999992606,0.000112015171521,-4.27175670895e-05,2.03943903195e-05,1793239105628511232
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.342555413,745,715.657444587,679,664.657444587,636,880,788,804,652.657444587,631.657444587,653,0.418415104607,-0.0155591925125,0.0499833221239,0.999999991105,0.000129504547598,-2.17845305419e-05,2.33141639152e-05,1793239105645177600
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.919907503,745,715.080092497,679,664.080092497,636,880,788,804,652.080092497,631.080092497,653,0.419244578996,-0.0155605479984,0.0499898850872,0.999999990078,0.000137197440397,-1.974672455e-05,2.51007061584e-05,1793239105661844224
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,715.49387956,679,664,636,880,788.49387956,804,652,631,653,0.420059550716,-0.0155600735031,0.0499753363133,0.999999989096,0.00014070105012,-3.77690527226e-05,2.41794303978e-05,1793239105678510848
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745,715.930583852,679,664.069416148,636,880.069416148,788.930583852,804,652,631,653,0.42088054292,-0.0155597971091,0.0499630203827,0.999999988165,0.000143764308279,-4.95783665405e-05,2.33290180446e-05,1793239105695177472
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745,715.33918924,679,664.66081076,636,880.66081076,788.33918924,804,652,631,653,0.421764371061,-0.0155632267456,0.0499930640935,0.999999988569,0.000148590200795,9.62741586783e-06,2.62910626354e-05,1793239105711844096
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,880.753567154,788.246432846,804,652,631.246432846,653,0.422633421806,-0.0155654463168,0.0500076893643,0.999999988019,0.000147350876525,3.81567697715e-05,2.81874397671e-05,1793239105728510976
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,880.175708416,788.824291584,804,652,631.824291584,653,0.423482598654,-0.0155660384799,0.0500015784823,0.999999989751,0.000137954483872,2.54296080084e-05,2.86506083534e-05,1793239105745177856
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745,715,679,664.599043383,636,880,788.599043383,804,652,632,653,0.42435552011,-0.0155668432464,0.0499946580871,0.99999998974,0.000139636267397,1.43168151754e-05,2.85711628939e-05,1793239105761844480
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745,715,679,664.02289994,636,880,788.02289994,804,652,632,653,0.425238816059,-0.0155677409041,0.0499873839979,0.999999988912,0.000146158351999,3.90937664478e-06,2.82546373108e-05,1793239105778510848
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745,715,679,664.552092384,636,880.552092384,788.552092384,804.552092384,652,632,653,0.426119252494,-0.0155696416336,0.0500073284895,0.99999998742,0.000153175818319,2.68049192947e-05,3.12797688613e-05,1793239105795177216
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,881.131030837,788.868969163,804.868969163,652,632,653,0.426978776015,-0.015570770567,0.0500168015921,0.999999986309,0.000159094707056,3.09794208797e-05,3.33228502692e-05,1793239105811844096
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,881.724050528,788.275949472,804.275949472,652,632,653,0.427764982001,-0.0155690319108,0.0499853823489,0.999999985897,0.000161067931435,-3.57130280268e-05,3.14157333263e-05,1793239105828510720
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,715.307194344,679,665,636,881.692805656,788.307194344,804,652,631.692805656,653,0.428591523825,-0.0155657596029,0.0499624150532,0.999999983876,0.000161583291307,-7.25304522441e-05,2.96367908348e-05,1793239105845177600
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,715.881743054,679,665,636,881.118256946,788.881743054,804,652,631.118256946,653,0.429453170297,-0.0155611525424,0.0499468035751,0.999999983202,0.000160829857184,-8.33473347635e-05,2.79694000594e-05,1793239105861844224
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745,715.542102027,679,665,636.457897973,880.542102027,788.542102027,804,652,631.457897973,653,0.430337340197,-0.015560942844,0.0499552073151,0.999999983466,0.000167430487524,-6.48700722287e-05,2.8744810703e-05,1793239105878510848
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.964822963,745,715,679,664.964822963,636.964822963,880,788,804,652,632,653,0.431221599697,-0.0155616649137,0.0499680025987,0.999999983184,0.000175907461375,-4.22562886901e-05,3.0038847475e-05,1793239105895177728
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.376411895,745,715,679,664.376411895,636.376411895,880,788,804,652,632,653,0.432015461922,-0.0155591173989,0.0499519783552,0.999999979914,0.000183918804488,-7.39897030748e-05,2.95325395618e-05,1793239105911844096
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.208364942,745,715,679,664.208364942,636,880.208364942,788.208364942,804.208364942,652,632,653,0.432824250552,-0.015557115512,0.0499474629213,0.99999997837,0.000188285623385,-8.32450152172e-05,2.964147272e-05,1793239105928510464
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.786689172,745,715,679,664.786689172,636,880.786689172,788.786689172,804.786689172,652,632,653,0.43365954167,-0.0155560824063,0.0499633817814,0.99999998081,0.000186181462748,-5.25896709208e-05,3.08427880008e-05,1793239105945177088
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.635326774,745,715,679,665,636,881,788.635326774,805,652,632,653,0.434479429044,-0.0155556080791,0.0499786924552,0.999999982049,0.000184110896777,-3.04905919947e-05,3.28053357494e-05,1793239105961843712
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.057541552,745,715,679,665,636,881,788.057541552,805,652,632,653,0.435290314547,-0.0155554602975,0.0499936477091,0.999999982717,0.000182059963401,-1.33917251698e-05,3.52127413471e-05,1793239105978510336
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.517068744,745,715,678.482931256,665,636,881,788.517068744,805,652,632,653,0.436030017982,-0.0155508348151,0.0499676462375,0.999999977774,0.000194803342995,-7.32025635822e-05,3.38462945857e-05,1793239105995177216
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.906139768,745.093860232,715,678.093860232,665,636,880.906139768,788.906139768,804.906139768,652,632,653,0.436767513524,-0.0155469528261,0.0499437922514,0.999999970272,0.000207180414516,-0.000124432037643,3.23911687409e-05,1793239106011844096
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+185,3.083333333,POSE1_TO_POSE2_PRESS,766.257938807,745.742061193,715,679,665.257938807,636,880.257938807,788.257938807,804.257938807,652,632,653,0.438289825979,-0.0155528086568,0.0499697589443,0.999999977302,0.00020406870019,-5.12644415383e-05,3.35168445129e-05,1793239106045177856
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.813070623,745.186929377,715,679,665.813070623,636,880.813070623,788.813070623,804.813070623,652,632,653,0.439030177136,-0.0155565941891,0.0499877895895,0.999999980791,0.00019146554464,-2.3093221848e-05,3.5003874843e-05,1793239106061844480
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.17404929,715,679,665,636,880.17404929,788,805,652,632,653,0.441670644912,-0.0155558600843,0.0499601226574,0.999999978273,0.000196652471762,-5.98016722849e-05,3.47197890826e-05,1793239106128510720
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.388435606,715,680,663,635,881,787.388435606,805.611564394,652,631.388435606,653,0.448968865851,-0.0156304907045,0.0497730572299,0.999999944057,5.68068407256e-05,-0.00032939243508,1.26591758827e-05,1793239106428510720
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+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,715.353397081,680,662.353397081,635,881,787,805,652,631,653,0.449511340126,-0.0156268019533,0.0497522788991,0.999999930328,7.64291237204e-05,-0.000365111073892,1.39865372223e-05,1793239106478511104
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766.08512405,745,715.08512405,679.91487595,663,635,881,787,805,652,631,653,0.449924172945,-0.0156293889351,0.0497527228257,0.999999929243,8.17919613767e-05,-0.000366815807344,1.64662737251e-05,1793239106528510720
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+252,4.200000000,HOLD_POSE2,766,745.578900763,715.578900763,680,663,635,880.421099237,786.421099237,805,652,631,652.578900763,0.450522879486,-0.0156298693334,0.049744697437,0.999999923471,6.20311302774e-05,-0.000385905777196,1.69505228075e-05,1793239107174270976
+253,4.216666667,HOLD_POSE2,766,746,715.842008427,679.842008427,662.842008427,634.842008427,880.157991573,786.157991573,805,652,631,653,0.45052175953,-0.0156288581121,0.0497437671975,0.999999922774,6.34189642039e-05,-0.000387488571616,1.67853789901e-05,1793239107190938368
+254,4.233333333,HOLD_POSE2,766,746,715.26241034,679.26241034,662.26241034,634.26241034,880.73758966,786.73758966,805,652,631,653,0.45052239334,-0.0156279665036,0.0497444682666,0.999999922937,6.24583664812e-05,-0.000387227287107,1.67500437733e-05,1793239107207604992
+255,4.250000000,HOLD_POSE2,766,746,715.313569862,679,662.313569862,634.313569862,880.686430138,787,805,652,631,653,0.450522620508,-0.0156280966244,0.0497445587869,0.999999922933,6.15349081012e-05,-0.000387386910818,1.66885619972e-05,1793239107224271616
+256,4.266666667,HOLD_POSE2,766,746,715.886556942,679,662.886556942,634.886556942,880.113443058,787,805,652,631,653,0.450522511261,-0.015629072025,0.0497441441985,0.999999922792,6.064217526e-05,-0.000387894753083,1.66054491022e-05,1793239107240938240
+257,4.283333333,HOLD_POSE2,766,745.526835997,716,679.473164003,663,634.526835997,880.473164003,787,805,652,631,653,0.45052277679,-0.015629521267,0.0497441534367,0.999999922898,6.02965840364e-05,-0.000387664573716,1.68932558704e-05,1793239107257604352
+258,4.300000000,HOLD_POSE2,766,745,715.938162688,680,662.938162688,634,880.938162688,787,805,651.938162688,631,653,0.450523229565,-0.0156297293421,0.0497443646081,0.999999923087,6.03158793865e-05,-0.000387158198012,1.72022979897e-05,1793239107274270720
+259,4.316666667,HOLD_POSE2,766,745,715.360304065,680,662.360304065,634,880.360304065,787,805,651.360304065,631,653,0.450524472824,-0.0156290088097,0.0497453877927,0.999999923472,6.22529745789e-05,-0.000385867339979,1.69244497529e-05,1793239107290937344
+260,4.333333333,HOLD_POSE2,766,745.217559276,715,679.782440724,662,634,880.217559276,787,805,651.217559276,631,653,0.450525410947,-0.0156284152223,0.0497462225409,0.999999923856,6.29210932418e-05,-0.000384772165484,1.67307989517e-05,1793239107307603968
+261,4.350000000,HOLD_POSE2,766,745.795430376,715,679.204569624,662,634,880.795430376,787,805,651.795430376,631,653,0.450525843717,-0.0156280318757,0.0497467452091,0.999999924242,6.14875902411e-05,-0.000384001073333,1.66765921586e-05,1793239107324270848
+262,4.366666667,HOLD_POSE2,766,746,715.37054771,679,662.37054771,634,881,787,805,652,631,653,0.450525459613,-0.0156286599242,0.0497461792449,0.999999924009,6.09496892561e-05,-0.000384687563463,1.6812376266e-05,1793239107340937728
+263,4.383333333,HOLD_POSE2,766,746,715.94415603,679,662.94415603,634,881,787,805,652,631,653,0.450524627862,-0.0156298422185,0.0497450167088,0.999999923435,6.09025791693e-05,-0.000386172810444,1.70522756211e-05,1793239107357604608
+264,4.400000000,HOLD_POSE2,766,746,716,679,662.464613546,634.535386454,881,787,805,652,631,652.464613546,0.45052432478,-0.0156299673582,0.049744750409,0.999999923392,5.95112129472e-05,-0.000386493188368,1.72674479493e-05,1793239107374271232
+265,4.416666667,HOLD_POSE2,766,746,715.874958571,679.125041429,662,634.874958571,881,786.874958571,805,652,631,652.125041429,0.450524561324,-0.0156299473559,0.049744898209,0.999999923524,5.88243594589e-05,-0.00038625006727,1.73998330856e-05,1793239107390937856
+266,4.433333333,HOLD_POSE2,766,746,715.297870142,679.702129858,662,634.297870142,881,786.297870142,805,652,631,652.702129858,0.450526542569,-0.015629814843,0.049746193594,0.999999924087,6.12085946294e-05,-0.000384424001024,1.72425693865e-05,1793239107407604480
+267,4.450000000,HOLD_POSE2,766,746,715.278338119,679.721661881,662.278338119,634,881,786.278338119,805,652,631,653,0.450526887447,-0.0156300849699,0.0497462203101,0.99999992407,6.10504583995e-05,-0.000384505350765,1.70034645959e-05,1793239107424270848
+268,4.466666667,HOLD_POSE2,766,746,715.853607382,679.146392618,662.853607382,634,881,786.853607382,805,652,631,653,0.450525486646,-0.0156307846329,0.0497448936099,0.99999992343,5.81801198584e-05,-0.000386621532257,1.6677051727e-05,1793239107440937472
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,662,634,880,787,805,652,631,653,0.450526401167,-0.0156287153504,0.0497455719222,0.999999924123,5.94801934282e-05,-0.000384606652963,1.71518464111e-05,1793239107473600768
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.579361895,745,715,679.420638105,662,634.579361895,881.158723789,786.420638105,805,652,631,653,0.450524154314,-0.0156285850594,0.0497445229726,0.999999923108,5.92830782726e-05,-0.000387263171213,1.72512329508e-05,1793239107490267648
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.158100137,662,635,881.841899863,786.158100137,805,652,631,653,0.450522687716,-0.0156286035212,0.0497438462004,0.999999922456,5.87622475655e-05,-0.000389021397876,1.72185162861e-05,1793239107506934528
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.735185748,662,635,881.264814252,786.735185748,805,652,631,653,0.450523288893,-0.0156290161964,0.0497441557451,0.999999922785,5.73835294245e-05,-0.000388399038146,1.68357093471e-05,1793239107523600896
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.68940633,662,634.68940633,881,786.68940633,805,652,631,653,0.450523811085,-0.0156298026159,0.0497440567059,0.999999923,5.70669338397e-05,-0.000387888787961,1.68927309162e-05,1793239107540267264
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.115421166,662,634.115421166,881,786.115421166,805,652,631,653,0.450524266295,-0.0156309059801,0.0497436111771,0.99999992312,5.76510458308e-05,-0.000387473609615,1.73227384981e-05,1793239107556933888
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.472483648,662.472483648,634,881,786.472483648,805,651.527516352,631,653,0.450524113595,-0.0156310231684,0.0497438664265,0.999999923239,5.71027974538e-05,-0.00038725707288,1.71401886018e-05,1793239107573600000
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.062494889,715,680,662.937505111,634.062494889,881,787,805,651.062494889,631,653,0.450523198746,-0.0156307326685,0.0497438539934,0.999999923106,5.65060997536e-05,-0.000387701851991,1.68183687116e-05,1793239107590266624
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.640970634,715,680,662.359029366,634.640970634,881,787,805,651.640970634,631,653,0.450517254639,-0.0156291255542,0.0497401751594,0.999999920887,5.78625887336e-05,-0.000393193893761,1.66196639317e-05,1793239107606933504
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,662.218127813,634.781872187,881.218127813,787,805.218127813,652,631,653,0.45050668276,-0.0156273901886,0.0497349619236,0.999999917334,5.88187007603e-05,-0.000402015742591,1.59917849856e-05,1793239107623600128
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,662.793127671,634.206872329,881.793127671,787,805.793127671,652,631,653,0.450488539532,-0.0156254449954,0.0497272383015,0.999999911498,5.91197685254e-05,-0.000416285383284,1.46617477223e-05,1793239107640267520
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.62320497,715.37679503,680,662.62320497,634.37679503,881.62320497,787,805.62320497,652,631,653,0.450451982779,-0.015623738016,0.0497130292176,0.99999990018,5.84873587302e-05,-0.000442760756761,1.35169710544e-05,1793239107656934656
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.034666782,715.965333218,680,662.034666782,634.965333218,881.034666782,787,805.034666782,652,631,653,0.450405078389,-0.0156221649025,0.0496951755727,0.999999884945,5.73303732919e-05,-0.000476095246139,1.24763030117e-05,1793239107673601024
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.545881466,716,679.454118534,662,635,881,787,805,652,631,653,0.450341082882,-0.0156179227709,0.0496770886666,0.999999870056,6.09892622592e-05,-0.000506020583217,1.05866224117e-05,1793239107690267392
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,716,679.125337642,662,635,881,787,805.125337642,652,631,653,0.45027395016,-0.0156131604445,0.0496611909276,0.999999856965,6.42787442571e-05,-0.000530908784794,8.62612150547e-06,1793239107706933504
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,716,679.702659214,662,635,881,787,805.702659214,652,631,653,0.450199361804,-0.0156071246437,0.0496532402554,0.999999852918,6.51491185317e-05,-0.0005384018979,6.6018613339e-06,1793239107723600128
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745.716149455,716,680,662,635,881,787,805.716149455,652,631,653,0.450119960287,-0.0156034357648,0.0496511234783,0.999999852531,6.63027045901e-05,-0.000538986086157,6.07119108512e-06,1793239107740266752
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.130848457,716,680,662,635,881,787,805.130848457,652,631,653,0.450035447176,-0.015602239327,0.0496552023225,0.999999856043,6.7757062683e-05,-0.000532232967197,7.12671963477e-06,1793239107756933376
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715.55030339,680,662,634.55030339,881,787,805,652,631,653,0.449924041454,-0.0155946332453,0.0496566609525,0.999999856776,7.12870363335e-05,-0.000530400284257,6.40752775556e-06,1793239107773600512
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745.02878313,715.02878313,680,662.02878313,634.02878313,881,787,805,652,631.02878313,653,0.449803402068,-0.0155851727324,0.049657250355,0.999999856579,7.53948510079e-05,-0.000530216783686,5.19097184117e-06,1793239107790267648
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745.606169788,715.606169788,680,662.606169788,634.606169788,881,787,805,652,631.606169788,653,0.449654352051,-0.0155755419842,0.0496556516578,0.999999854035,7.91256327105e-05,-0.00053446401499,4.23407160891e-06,1793239107806934272
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745.817245783,715.817245783,680,662.817245783,634.817245783,881,787,805,652,631.817245783,653,0.4494953371,-0.015565484878,0.0496537088378,0.999999851901,8.34031229022e-05,-0.000537802621173,3.09855646755e-06,1793239107823600896
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.242382653,715.242382653,680,662.242382653,634.242382653,881,787,805,652,631.242382653,653,0.44931494187,-0.0155545129992,0.0496510276842,0.999999850687,8.88536048223e-05,-0.000539191723199,1.57981364111e-06,1793239107840267264
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.339673699,715.339673699,680,662.339673699,634.339673699,881,787,805.339673699,652,631.339673699,653,0.4491150744,-0.0155414864957,0.0496488483646,0.999999848097,9.4382266901e-05,-0.000543045714302,-8.61281517381e-08,1793239107856933888
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745.926974064,715.926974064,680,662.926974064,634.926974064,881,787,805.926974064,652,631.926974064,653,0.448901011387,-0.0155269621421,0.0496470348884,0.999999844467,9.99679239228e-05,-0.000548696642612,-1.8593801161e-06,1793239107873600256
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.492632954,715.492632954,680,662.492632954,635,881,787,805.492632954,652,631.492632954,653,0.448651839461,-0.015514033047,0.0496469115033,0.999999844456,0.000104665046203,-0.00054783412065,-3.38557960394e-06,1793239107890266880
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,881,787,805,652,631.086535935,652.913464065,0.448393314237,-0.0155014026528,0.0496475094074,0.999999845513,0.000108943144334,-0.000545050957827,-4.90513448061e-06,1793239107906933504
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,881,787,805,652,631.664324117,652.335675883,0.448109992943,-0.0154891819941,0.0496508395815,0.999999849778,0.000111558753626,-0.000536615096665,-6.58611905369e-06,1793239107923600384
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745.240873213,715,680,662.240873213,635,881.240873213,787.240873213,805,652,631.759126787,652.240873213,0.447806494681,-0.0154785474493,0.0496519164425,0.999999852075,0.000111443895525,-0.000532310193116,-8.67416916113e-06,1793239107940267264
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745.815704348,715,680,662.815704348,635,881.815704348,787.815704348,805,652,631.184295652,652.815704348,0.447475022144,-0.015470111968,0.0496498692044,0.999999851718,0.000107543389193,-0.000533732643531,-1.13265939201e-05,1793239107956933888
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,746,715.400266569,680,663,635,881.599733431,787.599733431,805,652,631.400266569,653,0.447120653675,-0.0154674600012,0.0496481790349,0.999999851564,9.70860114639e-05,-0.000535962029033,-1.38148789301e-05,1793239107973600256
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,746,715.989420921,680,663,635,881.010579079,787.010579079,805,652,631.989420921,653,0.44675548051,-0.0154675373039,0.0496466573678,0.999999851349,8.35344136282e-05,-0.00053857221109,-1.62257054996e-05,1793239107990266624
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,746,715.431155281,680,663,635,881.568844719,787.568844719,805.568844719,652,632,653,0.446337715919,-0.0154646217157,0.0496511983931,0.999999855782,7.12371406338e-05,-0.000532006170913,-1.8194758373e-05,1793239108006933504
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766.147176542,745.852823458,715,679.852823458,663,635,881.852823458,787.852823458,805.852823458,652,632,653,0.445918370449,-0.0154598109341,0.0496607645692,0.999999864762,6.13213657156e-05,-0.000516055644948,-2.00631683384e-05,1793239108023600128
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766.695776196,745,715.304223804,679.304223804,663.304223804,635.304223804,881,787,805,652,631.695776196,652.695776196,0.445056381879,-0.0154394509327,0.0497128093891,0.999999904521,5.61020926461e-05,-0.000432790506688,-2.24420694323e-05,1793239108056933376
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.949007228,663.050992772,636,881,787.050992772,805,652,632,653,0.443519788144,-0.0154137874365,0.0497635963062,0.999999931345,3.85543746891e-05,-0.000367568461425,-2.67932180653e-05,1793239108106933760
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.370415072,663.629584928,636,881,787.629584928,805,652,632,653,0.442898055078,-0.015403531219,0.049747290844,0.999999920762,2.84716634026e-05,-0.000395764630499,-3.2183099787e-05,1793239108123600384
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746,715,679,664,636,881,788,805,651.218023632,632,653,0.441720077457,-0.0153935074959,0.0497769047967,0.999999942232,1.76868237457e-06,-0.000337924897065,-3.65881116557e-05,1793239108156933632
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,745.047981643,715,679,664.952018357,635.047981643,881,788,805,651.952018357,632,653,0.440529334383,-0.015393135982,0.0498549641471,0.99999997632,-3.27115167848e-05,-0.000212246091913,-3.52456676628e-05,1793239108190267136
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,745,715.533271808,679,664.466728192,635.533271808,881,788.533271808,805,652,632,653,0.439815489536,-0.0153925211944,0.0498530733906,0.999999975255,2.47586990614e-05,-0.000217784286643,-3.80364225087e-05,1793239108206933504
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,766.159439537,745,715.159439537,679,664,636,881,788,804.159439537,652,632,652.159439537,0.43671121027,-0.0153785344222,0.0497807723219,0.999999936386,-9.85914401024e-06,-0.000352060312764,-5.64283969797e-05,1793239108273600000
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,665,636,881,788,804.404723891,652,632,653.595276109,0.434335367529,-0.015370430948,0.0498036601138,0.999999945223,-6.65009866979e-05,-0.000317962822619,-6.34949185939e-05,1793239108323599872
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.226540727,636,880.773459273,788.773459273,804,652,632,653,0.427401248857,-0.0153505974832,0.0497830915309,0.999999936904,3.46169531105e-05,-0.000350595265556,-4.5572430466e-05,1793239108456933376
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.024764738,636,880,788,804.975235262,652,632,653,0.424757621611,-0.0153616983156,0.0497855752352,0.99999994496,-2.07503129764e-05,-0.000326367399683,-5.59809085879e-05,1793239108506933248
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.477697564,745,715,678.522302436,665,636,880,789,804,652.522302436,631.477697564,653,0.41386126859,-0.015363492882,0.0498139934407,0.999999952351,-4.59160215801e-05,-0.000299595821265,-5.85832601823e-05,1793239108723600128
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745.590035817,715,679,664.590035817,636,880.409964183,788,804,652,632,653,0.410331873108,-0.0153589125259,0.0498188801166,0.999999949644,-4.7266696148e-05,-0.000308343871697,-5.83343330081e-05,1793239108806933248
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ff9ddbe5e2d69745672a37322e99de8b31d0507
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,415 @@
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+385,6.416666667,pose2_to_pose3_retreat,0.575679716758,-0.00990915541865,1.0400323619,0.546250167672,-0.00123741811516,1.03970049367
+386,6.433333333,pose2_to_pose3_retreat,0.575675935557,-0.00990914229362,1.04003235856,0.546246386695,-0.00123740419251,1.03970049116
+387,6.450000000,pose2_to_pose3_retreat,0.575673315645,-0.00990917747789,1.04003237524,0.546243768132,-0.00123743489588,1.03970050542
+388,6.466666667,pose2_to_pose3_retreat,0.575671466164,-0.00990920231562,1.04003238702,0.546241919603,-0.0012374565704,1.03970051549
+389,6.483333333,pose2_to_pose3_retreat,0.575670136845,-0.00990923054878,1.04003238831,0.546240590352,-0.00123748459797,1.03970051609
+390,6.500000000,pose2_to_pose3_retreat,0.575669310743,-0.00990925456819,1.04003238464,0.546239763909,-0.0012375097793,1.03970051233
+391,6.516666667,pose2_to_pose3_retreat,0.575669027759,-0.00990926279614,1.04003238339,0.546239480807,-0.00123751840526,1.03970051104
+392,6.533333333,pose2_to_pose3_retreat,0.575668780296,-0.00990926999127,1.04003238229,0.546239233242,-0.00123752594845,1.03970050991
+393,6.550000000,pose2_to_pose3_retreat,0.575668573244,-0.00990927601143,1.04003238137,0.546239026104,-0.00123753225983,1.03970050897
+394,6.566666667,pose2_to_pose3_retreat,0.575668424651,-0.00990928033188,1.04003238071,0.546238877449,-0.00123753678928,1.0397005083
+395,6.583333333,pose2_to_pose3_retreat,0.57566817862,-0.00990928748537,1.04003237962,0.546238631317,-0.00123754428881,1.03970050718
+396,6.600000000,pose2_to_pose3_retreat,0.575668015304,-0.00990929223389,1.04003237889,0.546238467933,-0.00123754926704,1.03970050643
+397,6.616666667,pose2_to_pose3_retreat,0.575667666608,-0.00990930237243,1.04003237734,0.546238119093,-0.00123755989602,1.03970050485
+398,6.633333333,pose2_to_pose3_retreat,0.575667254493,-0.00990931435492,1.04003237551,0.546237706808,-0.00123757245814,1.03970050297
+399,6.650000000,pose2_to_pose3_retreat,0.575667063345,-0.00990931847105,1.04003237348,0.546237515562,-0.00123757690169,1.039700501
+400,6.666666667,pose2_to_pose3_retreat,0.575667041331,-0.00990931671393,1.04003237143,0.546237493509,-0.00123757527292,1.03970049908
+401,6.683333333,pose2_to_pose3_retreat,0.575667001651,-0.00990931354665,1.04003236772,0.546237453758,-0.00123757233699,1.03970049562
+402,6.700000000,pose2_to_pose3_retreat,0.575666983786,-0.00990931212068,1.04003236605,0.546237435861,-0.00123757101517,1.03970049407
+403,6.716666667,pose2_to_pose3_retreat,0.575666900513,-0.00990930547377,1.04003235827,0.546237352439,-0.00123756485376,1.0397004868
+404,6.733333333,pose2_to_pose3_retreat,0.575666664804,-0.00990928665944,1.04003233626,0.546237116309,-0.00123754741368,1.03970046624
+405,6.750000000,pose2_to_pose3_retreat,0.575666308909,-0.00990925825175,1.04003230302,0.546236759778,-0.00123752108095,1.0397004352
+406,6.766666667,pose2_to_pose3_retreat,0.575666157818,-0.00990924619165,1.0400322889,0.546236608417,-0.00123750990175,1.03970042202
+407,6.783333333,pose2_to_pose3_retreat,0.575666127906,-0.00990924380404,1.04003228611,0.546236578451,-0.00123750768853,1.03970041941
+408,6.800000000,pose2_to_pose3_retreat,0.575665907385,-0.00990922620204,1.04003226551,0.546236357537,-0.00123749137222,1.03970040018
+409,6.816666667,pose2_to_pose3_retreat,0.575665419531,-0.00990918726138,1.04003221995,0.546235868811,-0.00123745527588,1.03970035763
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b1f23a92c93e6364f31f179d6310f057bb4dbba
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa69db6ac02957433213e7f30b0b879fe7169d1022376cda7f539afc046eb7c3
+size 26285408
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3875e749b0214e7928c0d2f05a29f6a5281577d4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_04/franka_data.csv
@@ -0,0 +1,415 @@
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+39,0.650000000,BASELINE,766,745,715,678.363027085,664,636,879.363027085,788.363027085,804,652.636972915,632,653,0.400988386901,-0.0154011668055,0.0498571906417,0.999999965245,-3.33630805049e-05,-0.000258041681029,-4.25551748995e-05,1793239110680375552
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+41,0.683333333,BASELINE,766.80235271,745,715,678.80235271,664.80235271,636,879.80235271,788.80235271,804,653,632,653,0.40099065861,-0.0154015926637,0.0498580017304,0.999999965783,-3.54330706598e-05,-0.00025560565616,-4.29472434856e-05,1793239110713709824
+42,0.700000000,BASELINE,767,745.37918955,715,679,665,636,880,788.62081045,804,653,632,653,0.400991113599,-0.0154011430666,0.0498584314493,0.999999965906,-3.53794563622e-05,-0.000255114339937,-4.30489898862e-05,1793239110730376704
+43,0.716666667,BASELINE,767,745.955323348,715,679,665,636,880,788.044676652,804,653,632,653,0.40099077101,-0.0154000744309,0.049858618526,0.999999965889,-3.39249281834e-05,-0.000255374519243,-4.30633395618e-05,1793239110747043072
+44,0.733333333,BASELINE,767,745.457634673,715.542365327,679,665,636,879.457634673,788,804,653,631.457634673,653.542365327,0.400989779378,-0.0154008708646,0.0498581940773,0.999999965621,-3.60181717028e-05,-0.000256095402194,-4.33121394933e-05,1793239110763709184
+45,0.750000000,BASELINE,767,745,715.871661058,679,665,636,879.128338942,788.128338942,804,652.871661058,631.128338942,653.871661058,0.400989403422,-0.0154018487262,0.0498581388547,0.9999999655,-3.78132922444e-05,-0.000256295363611,-4.3390720255e-05,1793239110780375808
+46,0.766666667,BASELINE,767,745,715.292659157,679,665,636,879.707340843,788.707340843,804,652.292659157,631.707340843,653.292659157,0.400991381005,-0.0154029131179,0.0498595606893,0.999999965988,-3.75142749266e-05,-0.00025453010938,-4.28023672964e-05,1793239110797042176
+47,0.783333333,BASELINE,767,745,715,679,665,636,879.714454907,788.714454907,804,652,632,653,0.40099228972,-0.0154029449799,0.0498599573677,0.99999996621,-3.70361250055e-05,-0.000253764671865,-4.25768953558e-05,1793239110813708800
+48,0.800000000,BASELINE,767,745,715,679,665,636,879.137065835,788.137065835,804,652,632,653,0.40099210599,-0.0154019215358,0.049859306276,0.999999966162,-3.63748909283e-05,-0.000254021105976,-4.27223092157e-05,1793239110830375680
+49,0.816666667,BASELINE,767,745,715,679,665,636,879.436129916,788.436129916,804,652.436129916,632,653,0.400991868087,-0.0154020360749,0.0498589535443,0.999999966096,-3.69350203054e-05,-0.000254197326111,-4.27520134269e-05,1793239110847042560
+50,0.833333333,BASELINE,767,745,715,679,664.991684996,636,879.991684996,788.991684996,804,653,632,653,0.400991607743,-0.0154025176992,0.0498587050096,0.999999966022,-3.78754740932e-05,-0.000254352245313,-4.27401728014e-05,1793239110863709696
+51,0.850000000,BASELINE,767,745,715,679,664.398781869,636,879.398781869,788.398781869,804,653,632,653,0.400990955239,-0.0154039026421,0.0498592524786,0.999999965897,-3.882526833e-05,-0.000254765075743,-4.23398109677e-05,1793239110880376064
+52,0.866666667,BASELINE,767,745,715,679,664.189719789,636,879.379439577,788.189719789,803.810280211,653,632,653,0.400990677511,-0.0154047313788,0.0498595737881,0.999999965846,-3.94422559968e-05,-0.000254903613418,-4.21457356794e-05,1793239110897042432
+53,0.883333333,BASELINE,767,745,715,679,664.769179503,636,880.538359006,788.769179503,803.230820497,653,632,653,0.400991169684,-0.0154044175051,0.0498594305,0.999999965947,-3.9375561588e-05,-0.000254478673535,-4.23754333048e-05,1793239110913709056
+54,0.900000000,BASELINE,766.656031402,745,715,678.656031402,664.656031402,636,880.312062804,788.656031402,803.343968598,653,632,653,0.400990987049,-0.0154050561684,0.049858861036,0.999999965787,-4.08546237563e-05,-0.000254859902203,-4.24551355814e-05,1793239110930375936
+55,0.916666667,BASELINE,766.084334566,745,715,678.084334566,664.084334566,636,879.168669132,788.084334566,803.915665434,653,632,653,0.400990357651,-0.0154063254695,0.0498580094175,0.999999965449,-4.33570712709e-05,-0.000255774863747,-4.24355317586e-05,1793239110947042560
+56,0.933333333,BASELINE,766.503583587,745,715,678.503583587,664.503583587,636,879,788,804,653,632,653,0.400989647772,-0.0154048028027,0.0498581646304,0.999999965491,-4.10063335164e-05,-0.00025598177903,-4.2535352741e-05,1793239110963708928
+57,0.950000000,BASELINE,766.907522579,745,715,679,665,636,879,788.092477421,804,653,632,653,0.400988866678,-0.0154029917149,0.0498583140603,0.999999965527,-3.80531604734e-05,-0.00025627523647,-4.26752207985e-05,1793239110980375808
+58,0.966666667,BASELINE,766.328268451,745,715,679,665,636,879,788.671731549,804,653,632,653,0.400987784025,-0.0154022055247,0.0498575159759,0.999999965222,-3.63494616656e-05,-0.000257669154234,-4.29171077167e-05,1793239110997042688
+59,0.983333333,BASELINE,766.249982752,745,715,679,665,636,879.249982752,788.750017248,804.249982752,653,632.249982752,653,0.400988220883,-0.0154009035469,0.0498576205019,0.999999965367,-3.45188264383e-05,-0.000257330675469,-4.30744967373e-05,1793239111013709312
+60,1.000000000,BASELINE,766.826922295,745,715,679,665,636,879.826922295,788.173077705,804.826922295,653,632.826922295,653,0.400990645137,-0.0153989269615,0.0498589055676,0.999999966099,-3.25221686244e-05,-0.000254726365343,-4.31213695213e-05,1793239111030375936
+61,1.016666667,BASELINE,767,745,715,679,665,636,880,788,804.590232549,653,632.590232549,653,0.400991413793,-0.015399457638,0.0498592084651,0.999999966328,-3.28897968539e-05,-0.000253785398045,-4.30683872688e-05,1793239111047042560
+62,1.033333333,BASELINE,767,745,715,679,665,636,880,788,804.004856537,653,632.004856537,653,0.400991472933,-0.0154010628184,0.0498590904478,0.999999966344,-3.42706556788e-05,-0.000253557267512,-4.2972611475e-05,1793239111063709184
+63,1.050000000,BASELINE,766.442809861,745.557190139,715,679,665,636,880,788,804,652.442809861,632,653,0.400990936603,-0.0154004367952,0.0498590430882,0.999999966212,-3.37613329902e-05,-0.000254157485768,-4.28858343562e-05,1793239111080375552
+64,1.066666667,BASELINE,766,745.873396247,715.126603753,679,665,636,880,788,804,652,632,653,0.400990399525,-0.015400345848,0.0498588957522,0.99999996606,-3.36812292688e-05,-0.000254782317818,-4.27923400468e-05,1793239111097042176
+65,1.083333333,BASELINE,766,745.275853217,715.724146783,679,665,636,880,788,804,652,632,653,0.400989878192,-0.0154023147036,0.0498583743259,0.999999965835,-3.52565505778e-05,-0.00025547293041,-4.26735791777e-05,1793239111113708800
+66,1.100000000,BASELINE,766.308774254,745,715.691225746,678.691225746,665,636,880,788,804,652.308774254,632,653,0.400989797938,-0.0154029748583,0.0498583468593,0.999999965788,-3.61254123918e-05,-0.000255527228553,-4.27065244156e-05,1793239111130375680
+67,1.116666667,BASELINE,766.882326435,745,715.117673565,678.117673565,665,636,880,788,804,652.882326435,632,653,0.400990095916,-0.015402512785,0.0498587429695,0.999999965897,-3.63884759457e-05,-0.000255035878769,-4.28695596141e-05,1793239111147042560
+68,1.133333333,BASELINE,766.531318541,745,715,678.468681459,665,636,880,788,804,652.531318541,632,653,0.400989474332,-0.0154018130074,0.0498582942066,0.999999965707,-3.64202408057e-05,-0.000255757707195,-4.29930685492e-05,1793239111163709440
+69,1.150000000,BASELINE,766.0573355,745,715,679,665,636,880,788,804,652,632,653,0.400988808923,-0.0154013099005,0.0498577423552,0.999999965491,-3.64524411595e-05,-0.000256589642282,-4.30295452101e-05,1793239111180376064
+70,1.166666667,BASELINE,766.636830024,745,715,679,665,636,880,788,804,652,632,653,0.400989906067,-0.0154031566757,0.0498582377663,0.999999965758,-3.70323360531e-05,-0.000255572432259,-4.23663287333e-05,1793239111197042432
+71,1.183333333,BASELINE,766.784500024,745,715,679,665,636,880,788,804,652,632,653,0.400990403715,-0.0154040559173,0.0498585200142,0.999999965893,-3.69340303677e-05,-0.000255112590356,-4.20451482798e-05,1793239111213709056
+72,1.200000000,BASELINE,766.207214287,745,715,679,665,636,880,788,804,652,632,653,0.400989894915,-0.0154033644207,0.0498584443993,0.999999965806,-3.56971477939e-05,-0.000255588469273,-4.22981847808e-05,1793239111230375936
+73,1.216666667,BASELINE,766,745,715,679,665,636,880,788,804,652.368521771,631.631478229,653,0.400989251684,-0.0154034986281,0.0498586047964,0.999999965698,-3.64597963413e-05,-0.000255859780342,-4.25560583273e-05,1793239111247042560
+74,1.233333333,BASELINE,766,745,715,679,665,636,880,788,804,652.943390082,631.056609918,653,0.40098853318,-0.0154040951722,0.0498588973438,0.999999965576,-3.83420432052e-05,-0.000256016547629,-4.28166402676e-05,1793239111263709184
+75,1.250000000,BASELINE,766.528306032,745,715,679,664.471693968,636,880,788.528306032,804.528306032,652.471693968,631.528306032,653,0.400990089605,-0.0154025627275,0.0498593473385,0.999999965995,-3.61674365448e-05,-0.000254672884451,-4.29397350159e-05,1793239111280376064
+76,1.266666667,BASELINE,766.886245995,745,715,679,664.113754005,636,880,788.886245995,804.886245995,652.113754005,632,653,0.400991640244,-0.0154012169515,0.0498597312933,0.999999966382,-3.4262580997e-05,-0.000253403259598,-4.29953506133e-05,1793239111297042944
+77,1.283333333,BASELINE,766.303131315,745,715,679,664.696868685,636,880,788.303131315,804.303131315,652.696868685,632,653,0.400992141704,-0.0154016009216,0.0498597717994,0.999999966426,-3.52991643607e-05,-0.000253115366383,-4.28345056017e-05,1793239111313709568
+78,1.300000000,BASELINE,766.274987922,745,715,678.725012078,665,636,880,788,804,653,632,653,0.40099132762,-0.0154021726073,0.0498592089068,0.999999966137,-3.65078550901e-05,-0.000254082601457,-4.28356599997e-05,1793239111330375936
+79,1.316666667,BASELINE,766.847698677,745,715,678.152301323,665,636,880,788,804,653,632,653,0.400989089228,-0.0154029475281,0.0498579927286,0.999999965484,-3.79028822714e-05,-0.000256408733859,-4.30122072856e-05,1793239111347042560
+80,1.333333333,BASELINE,766.577637493,745.422362507,715.422362507,678.422362507,665,636,880,788,804,652.577637493,632,653,0.400988100982,-0.0154032622215,0.0498576208172,0.999999965252,-3.83385854659e-05,-0.000257255162055,-4.2959178923e-05,1793239111363708928
+81,1.350000000,BASELINE,766.002266077,745.997733923,715.997733923,678.997733923,665,636,880,788,804,652.002266077,632,653,0.400987565624,-0.0154034101888,0.0498575547576,0.999999965175,-3.84267552839e-05,-0.000257565539245,-4.28229823986e-05,1793239111380375552
+82,1.366666667,BASELINE,766.588179152,746,715.411820848,679,664.411820848,636,880,788.588179152,803.411820848,652.588179152,632,653,0.400988706762,-0.0154045349323,0.0498583552712,0.99999996555,-3.95232666764e-05,-0.000255994038047,-4.2478554151e-05,1793239111397042176
+83,1.383333333,BASELINE,767,745.824566922,715,679,664,636,880,788.824566922,803.175433078,653,632,653,0.400989709914,-0.0154052312395,0.0498590966949,0.999999965877,-4.00393692782e-05,-0.000254674237714,-4.22244207084e-05,1793239111413709056
+84,1.400000000,BASELINE,767,745.244805383,715,679,664,636,880,788.244805383,803.755194617,653,632,653,0.400990379765,-0.0154049312092,0.0498596940344,0.999999966096,-3.9208588953e-05,-0.000253951692934,-4.21802912954e-05,1793239111430375936
+85,1.416666667,BASELINE,767,745,715,679,664.331103736,636,880,788,804.331103736,653,632,653,0.400990812794,-0.0154043196629,0.0498596517348,0.99999996617,-3.8523508161e-05,-0.000253749116683,-4.2282490894e-05,1793239111447042816
+86,1.433333333,BASELINE,767,745,715,679,664.904197249,636,880,788,804.904197249,653,632,653,0.40099107274,-0.0154034804428,0.0498591419499,0.999999966138,-3.79449130723e-05,-0.000253926563576,-4.24916362076e-05,1793239111463709696
+87,1.450000000,BASELINE,766.509504848,745,715.490495152,679,665,636,879.509504848,788,804.509504848,653,632,653,0.400992316637,-0.0154022857414,0.0498600836921,0.999999966529,-3.61679116936e-05,-0.000252604943465,-4.27093075363e-05,1793239111480376064
+88,1.466666667,BASELINE,766.078134048,745,715.921865952,679,665,636,879,788.078134048,804.078134048,653,632,653,0.400993218091,-0.0154013952582,0.0498609533027,0.999999966842,-3.45677416696e-05,-0.0002515635324,-4.28688419253e-05,1793239111497042432
+89,1.483333333,BASELINE,766.657375095,745,715.342624905,679,665,636,879,788.657375095,804.657375095,653,632,653,0.400990656649,-0.0154029134725,0.0498594917294,0.999999966134,-3.56443939015e-05,-0.000254248994138,-4.2644543638e-05,1793239111513709056
+90,1.500000000,BASELINE,767,745,715,679,665,636.235500074,879.235500074,788.764499926,804.764499926,652.764499926,632,653,0.400989259956,-0.0154035854093,0.0498584735391,0.999999965723,-3.61913241374e-05,-0.00025580638607,-4.25115468063e-05,1793239111530375424
+91,1.516666667,BASELINE,767,745,715,679,665,636.812008912,879.812008912,788.187991088,804.187991088,652.187991088,632,653,0.400989549841,-0.0154030319194,0.0498580973766,0.99999996575,-3.59712063531e-05,-0.000255730310375,-4.25107563078e-05,1793239111547042048
+92,1.533333333,BASELINE,767,745.38702682,715,679,665,636.61297318,880,788.38702682,804,652,632,653,0.40098956684,-0.0154035186716,0.0498583506288,0.999999965768,-3.72202052505e-05,-0.000255489958358,-4.24693796496e-05,1793239111563708928
+93,1.550000000,BASELINE,767,745.961323368,715,679,665,636.038676632,880,788.961323368,804,652,632,653,0.400989451799,-0.0154045087632,0.0498589084345,0.999999965777,-3.91800620472e-05,-0.000255170118349,-4.24083646646e-05,1793239111580376064
+94,1.566666667,BASELINE,767,745.448645465,715,679,665,636,880,789,804,652.551354535,632,653,0.400990634682,-0.0154034168283,0.0498594507636,0.99999996615,-3.70251150664e-05,-0.000253989660364,-4.26519198275e-05,1793239111597042944
+95,1.583333333,BASELINE,766.860265475,745,715,679,665,636,880,788.860265475,804,653,632,653,0.400991370744,-0.0154025641122,0.0498598198243,0.999999966402,-3.51436820834e-05,-0.000253231357627,-4.2827300219e-05,1793239111613709312
+96,1.600000000,BASELINE,766.280659688,745,715,679,665,636,880,788.280659688,804,653,632,653,0.400990405228,-0.0154029376948,0.0498596469703,0.999999966216,-3.5058570894e-05,-0.000253997584896,-4.27188417669e-05,1793239111630375936
+97,1.616666667,BASELINE,766.2961013,745,715,679,665,636,880,788.2961013,804,653,632,653,0.400989478901,-0.0154029650566,0.0498593830006,0.999999966033,-3.50020077816e-05,-0.000254726723472,-4.27090961732e-05,1793239111647042816
+98,1.633333333,BASELINE,766.870191468,745,715,679,665,636,880,788.870191468,804,653,632,653,0.400988589365,-0.0154026673757,0.0498590334886,0.999999965853,-3.49722464736e-05,-0.000255421042014,-4.27920252076e-05,1793239111663709696
+99,1.650000000,BASELINE,767,745,715.442362768,679,665,636,880,788.557637232,804,653,632,653,0.400988302219,-0.0154038730205,0.049858716788,0.999999965678,-3.68464789855e-05,-0.000255881723217,-4.25547783869e-05,1793239111680376320
+100,1.666666667,BASELINE,767,745,715.985407373,679,665,636,880,788,804.014592627,653,632,653,0.400988202677,-0.0154054187136,0.0498584139782,0.999999965504,-3.91561307213e-05,-0.000256269932217,-4.22418286405e-05,1793239111697042688
+101,1.683333333,BASELINE,767,745,715.388466486,679,665,636,880,788,804.611533514,653,632,653,0.400988566022,-0.0154030061213,0.04985828293,0.999999965526,-3.66417232396e-05,-0.000256490175772,-4.26410134038e-05,1793239111713709312
+102,1.700000000,BASELINE,766.79920944,745,715,679,665,636,880,788.20079056,805,653,632,653,0.400988957019,-0.0154015364446,0.0498583544913,0.999999965606,-3.53507630748e-05,-0.000256321781827,-4.28687552517e-05,1793239111730376192
+103,1.716666667,BASELINE,766.224270358,745,715,679,665,636,880,788.775729642,805,653,632,653,0.400989399541,-0.0154018237758,0.0498588035901,0.999999965803,-3.63395468545e-05,-0.000255429209659,-4.27770342594e-05,1793239111747042816
+104,1.733333333,BASELINE,766.35225596,745.35225596,715.35225596,678.64774404,664.64774404,636,880,789,804.64774404,653,632,653,0.400989203486,-0.0154028518872,0.0498588990887,0.999999965825,-3.6900691143e-05,-0.000255289684739,-4.26038913221e-05,1793239111763709440
+105,1.750000000,BASELINE,766.929797453,745.929797453,715.929797453,678.070202547,664.070202547,636,880,789,804.070202547,653,632,653,0.400988599028,-0.0154043537652,0.0498587684421,0.999999965737,-3.71883384086e-05,-0.000255631771599,-4.23786749168e-05,1793239111780375808
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,745,715,678,665,636,880,789,804,653,632,653,0.400991059217,-0.0154035692459,0.0498601076706,0.999999966363,-3.69497651187e-05,-0.000253217926844,-4.23085059689e-05,1793239111810817792
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,715,678,665,636.580721319,879.419278681,788.419278681,804,653,632,653,0.400991429021,-0.0154035179881,0.0498599920896,0.999999966411,-3.64827824602e-05,-0.000253062832757,-4.25094621429e-05,1793239111827485184
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.840522399,745.159477601,715,678,665,636.840522399,879.159477601,788,804,653,632,653,0.400991339465,-0.0154034271671,0.0498597543659,0.999999966349,-3.62737490057e-05,-0.000253303461051,-4.26949470818e-05,1793239111844152320
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.266869341,745.733130659,715,678,665,636.266869341,879.733130659,788,804,653,632,653,0.400990056917,-0.0154032335975,0.0498591994278,0.999999966004,-3.67346291508e-05,-0.000254571810431,-4.28402520903e-05,1793239111860818432
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.309066562,745.690933438,715,678.309066562,665,636.309066562,880.309066562,788.309066562,804,653,632,653,0.400990144291,-0.0154030429549,0.0498595288712,0.999999966091,-3.68452823828e-05,-0.000254226334397,-4.2770924941e-05,1793239111877485056
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.886988262,745.113011738,715,678.886988262,665,636.886988262,880.886988262,788.886988262,804,653,632,653,0.400991423353,-0.0154028548586,0.0498606276328,0.999999966552,-3.66512753075e-05,-0.00025247700129,-4.25148905632e-05,1793239111894151424
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636.525882606,880.525882606,788.525882606,804,653,632,653,0.400991448274,-0.0154028649872,0.0498602875144,0.999999966516,-3.73055528325e-05,-0.000252499211422,-4.2663745627e-05,1793239111910817792
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,715.062387407,679,664.937612593,636,879.937612593,788,804,653,632,653,0.400991177507,-0.0154030059525,0.0498596688244,0.999999966365,-3.8092962845e-05,-0.00025294718881,-4.28461685197e-05,1793239111927484160
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,715.641567946,679,664.358432054,636,879.358432054,788,804,653,632,653,0.400990982716,-0.0154038315706,0.0498596398935,0.99999996627,-3.82750799436e-05,-0.000253354867276,-4.24913665218e-05,1793239111944150784
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,715.781119626,679,664.218880374,636,879,788,804,652.781119626,632,653,0.400993280092,-0.0154039297314,0.0498608074261,0.999999966709,-3.73358079364e-05,-0.000251802213369,-4.22312031036e-05,1793239111960817664
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,715.206840532,679,664.793159468,636,879,788,804,652.206840532,632,653,0.400999624027,-0.0154028467107,0.0498639176714,0.999999967994,-3.45757228014e-05,-0.000247066543939,-4.21247055302e-05,1793239111977484288
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636.376303342,879.752606684,788,804,652,632,653,0.401016714438,-0.0154039356744,0.0498709611447,0.999999971232,-3.47383655367e-05,-0.000233745429691,-4.11469224258e-05,1793239111994151168
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636.964437482,880.928874964,788,804,652,632,653,0.401039854317,-0.0154062473037,0.0498802187333,0.999999975305,-3.65462864478e-05,-0.000215591347958,-3.96786703394e-05,1793239112010817792
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.544397951,715,679,665,636.455602049,879.911204098,788,804,652.544397951,632,653,0.401090340403,-0.0154091527605,0.0498968984249,0.999999982213,-3.79831981318e-05,-0.000180744703068,-3.82418182608e-05,1793239112027484416
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745.87630179,715,678.87630179,665,636,879.12369821,788.12369821,804,653,632,653,0.40114701767,-0.0154121714197,0.0499139902266,0.999999987932,-3.90135961996e-05,-0.000145854941585,-3.66102484473e-05,1793239112044151040
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.297494995,715,678.297494995,665,636,879.702505005,788.702505005,804,653,632,653,0.401219998254,-0.015415465962,0.0499308408139,0.999999992082,-3.86362057352e-05,-0.000114759097624,-3.42548407421e-05,1793239112060817408
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,715,678,664.7207743,636,879.7207743,789,804,653,632,653,0.40129671842,-0.0154201081883,0.0499435935239,0.999999994347,-3.95678736756e-05,-9.32568754187e-05,-3.23075156245e-05,1793239112077484288
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,715,678,664.146259748,636,879.146259748,789,804,653,632,653,0.401377393294,-0.015426175627,0.049952012615,0.999999995295,-4.18839069047e-05,-8.19001738244e-05,-3.0791749223e-05,1793239112094150656
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.561457028,745,715,678.438542972,664.438542972,636,879.438542972,788.561457028,804,652.561457028,632,653,0.401465446648,-0.015432078694,0.0499546195245,0.999999995428,-4.41413190316e-05,-7.93871280037e-05,-2.9903224259e-05,1793239112110817280
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.026431704,745,715,678.973568296,665,636,880,788.026431704,804,652.026431704,632,653,0.401557295136,-0.015437975548,0.0499552577307,0.999999995313,-4.62998177685e-05,-7.98588706079e-05,-2.92069013418e-05,1793239112127484160
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.605381096,745,715,678.394618904,665,636,880,788.605381096,804,652.605381096,632,653,0.401675799896,-0.0154449159951,0.0499562367151,0.999999995344,-4.68091737041e-05,-7.95876649192e-05,-2.80503515336e-05,1793239112144150784
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,715,678.183644568,664.816355432,636,880,788.816355432,804.183644568,653,632,653,0.401804066279,-0.0154524850681,0.0499568221392,0.999999995295,-4.85785252084e-05,-7.94908223823e-05,-2.70489489897e-05,1793239112160817664
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,715,678.760439533,664.239560467,636,880,788.239560467,804.760439533,653,632,653,0.401953230545,-0.0154613999168,0.0499565650205,0.999999995064,-5.30453033178e-05,-7.97672604119e-05,-2.63796893249e-05,1793239112177484288
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.665293652,745,715,679,664,636,879.665293652,788,804.665293652,653,632,653,0.40211714848,-0.0154711174951,0.0499558668184,0.999999994888,-5.59656011655e-05,-8.03100275035e-05,-2.5337009461e-05,1793239112194150912
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.092822695,745,715,679,664,636,879.092822695,788,804.092822695,653,632,653,0.402291546961,-0.0154814053076,0.0499548552848,0.999999994758,-5.77873296992e-05,-8.10419862125e-05,-2.40290638457e-05,1793239112210817536
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.497286398,745,715.497286398,678.502713602,664.497286398,636,879,788.497286398,804,652.502713602,632,653,0.402495707916,-0.0154911617558,0.0499581219345,0.999999995249,-5.83036974162e-05,-7.48871951538e-05,-2.2246348026e-05,1793239112227484160
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.911911232,745,715.911911232,678.088088768,665,636,879.088088768,788.911911232,804,652,632,653,0.402713124819,-0.015501218513,0.0499628015142,0.999999995912,-5.8347200093e-05,-6.60476207726e-05,-2.02375492696e-05,1793239112244151040
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.336166962,745,715.336166962,678.663833038,665,636,879.663833038,788.336166962,804,652,632,653,0.402972040666,-0.0155135070383,0.0499707196596,0.999999996977,-5.71714172539e-05,-4.97231945873e-05,-1.74858009899e-05,1793239112260817664
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.239381357,745,715,678.760618643,665,636,880.239381357,788,804.239381357,652,632,653.239381357,0.403248567524,-0.0155228103534,0.0499780271316,0.999999997958,-5.16772112502e-05,-3.47674979893e-05,-1.43347720093e-05,1793239112277484288
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.814654691,745,715,678.185345309,665,636,880.814654691,788,804.814654691,652,632,653.814654691,0.403549805551,-0.0155279249201,0.0499844777264,0.999999998902,-4.0123537238e-05,-2.17323583143e-05,-1.06234857653e-05,1793239112294150912
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.609170822,745,715,678.390829178,665,636,880.609170822,788.390829178,804.609170822,652,632,653.609170822,0.403870721373,-0.0155187138046,0.0499891055823,0.999999999775,-1.37630456053e-05,-1.3469951509e-05,-8.86324473268e-06,1793239112310817792
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.032568003,745,715,678.967431997,665,636,880.032568003,788.967431997,804.032568003,652,632,653.032568003,0.404200990674,-0.0155026932328,0.0499928670319,0.999999999747,1.9635600902e-05,-7.4761780334e-06,-8.03039814684e-06,1793239112327484416
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.560502341,745,715,678.439497659,665,636,880,788.439497659,804,652,632,653,0.404566370791,-0.0155020868441,0.0499977486973,0.999999999139,4.10545382107e-05,3.399114474e-06,-4.89619627487e-06,1793239112344151040
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,715,678.149578959,665,636,880,788,804,652,632,653,0.40494003916,-0.0155052444326,0.0499989009664,0.999999998317,5.76225272354e-05,6.57873987713e-06,-1.74815572937e-06,1793239112360817664
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,715,678.724495829,665,636,880,788,804,652,632,653,0.405331298865,-0.0155164812383,0.0499892577522,0.999999997966,6.2435780195e-05,-1.29557533856e-05,1.04748300529e-06,1793239112377484288
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745.29982624,715,679,665,636,880,788,804.29982624,652.29982624,632,653,0.40573920111,-0.0155225854809,0.0499741954025,0.999999996353,7.42016029583e-05,-4.22036096043e-05,2.81182004528e-06,1793239112394150912
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745.875537238,715,679,665,636,880,788,804.875537238,652.875537238,632,653,0.406162417015,-0.015523967003,0.0499541466407,0.999999992497,9.23648250188e-05,-8.03892073823e-05,3.62720637878e-06,1793239112410817536
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,715,679,665,636,880,788,804.539281006,653,632,653,0.406621524701,-0.0155234223069,0.049944494796,0.9999999891,0.000114626001794,-9.29088932103e-05,5.4471423841e-06,1793239112427484416
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.952208947,715,678.952208947,665,636,880,788,804,653,632,653,0.407097087819,-0.0155224702188,0.0499394140725,0.99999998585,0.000138124615389,-9.57165496889e-05,7.7316565925e-06,1793239112444151040
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.373161382,715,678.373161382,665,636,880,788,804,653,632,653,0.407645527097,-0.0155228953772,0.0499532693547,0.999999984274,0.000162814280894,-6.92564182791e-05,1.21005159936e-05,1793239112460817920
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.795771626,745,715,678.204228374,664.795771626,636,880,788,804,653,631.795771626,653,0.408209599478,-0.0155239676771,0.0499702538023,0.999999981214,0.000188870503987,-4.00944284621e-05,1.70798815287e-05,1793239112477484800
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.221386622,745,715,678.778613378,664.221386622,636,880,788,804,653,631.221386622,653,0.408802006267,-0.0155262128979,0.0499929097496,0.999999976081,0.000217403562463,-6.03541850198e-06,2.31657673531e-05,1793239112494152448
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.36155876,745,715,679,664.36155876,636,880,788,804,652.63844124,631.36155876,653,0.409402633026,-0.0155302253186,0.0500034480162,0.99999997059,0.000240763090605,8.05295041361e-06,2.80929019056e-05,1793239112510818816
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.949872852,745,715,679,664.949872852,636,880,788,804,652.050127148,631.949872852,653,0.410008415004,-0.015535346057,0.0500063865525,0.999999965404,0.000260877984517,9.6165231266e-06,3.2293313348e-05,1793239112527484416
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.467584714,745.532415286,715.532415286,679,665,636,880,788.532415286,804,652.532415286,632,653,0.410608504231,-0.0155351527733,0.0499846579758,0.999999957361,0.000288080359149,-3.38610545494e-05,3.37778370481e-05,1793239112544150784
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.112799647,745.887200353,716,679,664.887200353,636,880,788.887200353,804.112799647,653,631.887200353,653,0.411219280367,-0.015534309323,0.0499627002906,0.999999946843,0.00031517986912,-7.57330562623e-05,3.52062225643e-05,1793239112560817408
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.686561598,745.313438402,716,679,664.313438402,636,880,788.313438402,804.686561598,653,631.313438402,653,0.411875895822,-0.0155328315804,0.0499491952708,0.999999937375,0.000339161338484,-9.3899970221e-05,3.74389314002e-05,1793239112577484288
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,715.740167891,679,664.259832109,636,880,788,804.740167891,652.740167891,631.259832109,653,0.412580802279,-0.0155342177529,0.0499561191636,0.999999953577,0.000292296518243,-7.55366625742e-05,4.12558533688e-05,1793239112594151168
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,715.167489016,679,664.832510984,636,880,788,804.167489016,652.167489016,631.832510984,653,0.413343852844,-0.015539052177,0.049987640166,0.999999985989,0.000160130334891,-1.31897168161e-05,4.6980221971e-05,1793239112610818048
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.580188259,745,715,679,665,636,880,788,804,652,632,653,0.414083244168,-0.0155495408743,0.0499920251032,0.999999997996,5.42524175334e-05,-1.00920027807e-05,3.10347946042e-05,1793239112627484672
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.012852142,745,715,679,665.012852142,636,880,788.012852142,804.012852142,652,631.987147858,653,0.414813191811,-0.0155621282429,0.0499847424131,0.999999998753,-3.78644016857e-05,-3.18677966266e-05,6.71934652211e-06,1793239112644151552
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.592468289,745,715,679,665.592468289,636,880,788.592468289,804.592468289,652,631.407531711,653,0.415557962509,-0.0155641947575,0.0499575852079,0.999999997478,-2.33320497074e-06,-7.05019215576e-05,8.30711390348e-06,1793239112660817920
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,715,678.829705151,665.659410303,636,880,789,804.829705151,652,631.170294849,653,0.416320480886,-0.0155651176126,0.0499441820889,0.999999995492,3.51426313382e-05,-8.74945035989e-05,1.1195321559e-05,1793239112677484288
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,715,678.256116744,664.512233488,636,880,789,804.256116744,652,631.743883256,653,0.41712502941,-0.0155633320443,0.049963351503,0.999999995454,7.72237757832e-05,-5.32354167036e-05,1.71632417177e-05,1793239112694150912
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.325764045,715.325764045,678.325764045,664.325764045,636,880,788.674235955,804,652.325764045,632,653,0.417946375256,-0.0155625524283,0.0499819017621,0.999999993618,0.000108832347338,-2.07838835042e-05,2.20962518899e-05,1793239112710817792
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.914334594,715.914334594,678.914334594,664.914334594,636,880,788.085665406,804,652.914334594,632,653,0.418781272113,-0.0155625843531,0.0499999525237,0.999999990894,0.000131992285741,1.02094242471e-05,2.61943597145e-05,1793239112727484416
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,715.504920407,679,664.504920407,636,880,788,804,652.504920407,632,653,0.41957661002,-0.0155614949559,0.0499815921821,0.999999989587,0.000139148602658,-2.86687024626e-05,2.53343121617e-05,1793239112744151040
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.925895384,715,679,664.074104616,636,880.074104616,788,804.074104616,652.074104616,631.925895384,653,0.420379784856,-0.0155610511823,0.0499633216642,0.999999987296,0.000143292254853,-6.55063664514e-05,2.41763352459e-05,1793239112760818176
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.349493554,715,679,664.650506446,636,880.650506446,788,804.650506446,652.650506446,631.349493554,653,0.421281754846,-0.0155662782753,0.0499877005869,0.999999989028,0.000145493333612,-7.83912427198e-06,2.67236598341e-05,1793239112777485056
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745,715,679.226038672,665,636,880.773961328,788,805,652.773961328,631.226038672,653,0.422164412797,-0.0155701715858,0.0500047501787,0.999999988685,0.000144104612244,3.22521862104e-05,2.86953113907e-05,1793239112794151680
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,715,679.800231583,665,636,880.199768417,788,805,652.199768417,631.800231583,653,0.423017325675,-0.0155720105493,0.0500105108316,0.999999989122,0.000137186731126,4.52723185606e-05,2.97802877029e-05,1793239112810818048
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,715,679.614259174,665,636,880.385740826,788.385740826,804.614259174,652,632,653,0.423876133229,-0.0155702020166,0.0500011743993,0.999999989909,0.000135904236778,2.91498651357e-05,2.93799713953e-05,1793239112827484416
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745,715,679.022712313,665,636,880.977287687,788.977287687,804.022712313,652,632,653,0.424738085746,-0.0155664474189,0.0499837831509,0.999999990129,0.00013762841595,-2.52116373423e-06,2.81872001598e-05,1793239112844150784
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,881,789,804,652,632,653,0.42563147029,-0.0155690969699,0.0500009325598,0.999999987958,0.000150328906985,2.31358033447e-05,3.08365453022e-05,1793239112860817408
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,881,788.864012216,804.135987784,652,632,653,0.426510934978,-0.0155713494031,0.0500124111516,0.999999985827,0.000161377865873,3.4878417533e-05,3.2979730959e-05,1793239112877484288
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,881,788.288423768,804.711576232,652,632,653,0.427341344613,-0.015571491494,0.0500010997355,0.999999985716,0.00016567126152,-5.75864712694e-06,3.29907692756e-05,1793239112894151168
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,881,788.286502577,804.713497423,652,632,653,0.428173816974,-0.0155708056777,0.0499818185528,0.999999985679,0.000160329023832,-4.39000456053e-05,3.17856041583e-05,1793239112910818560
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,881,788.860763883,804.139236117,652,632,653,0.429008361055,-0.0155692883243,0.0499545326612,0.999999985849,0.000145308905811,-7.9534833358e-05,2.93589032519e-05,1793239112927485440
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,880.554089595,789,804.445910405,652,632,652.554089595,0.42989432864,-0.0155687830508,0.049960629547,0.999999986157,0.000152850353242,-5.83404839745e-05,3.03044416927e-05,1793239112944151552
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,880,788.965932621,805,652,632,652.034067379,0.430791685447,-0.0155683115412,0.0499753511809,0.999999985169,0.000167553531612,-2.3573136635e-05,3.21336628398e-05,1793239112960817664
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636,880,788.385372383,805,652,632,652.614627617,0.431607716707,-0.01556318531,0.0499570289479,0.999999981114,0.000181303424745,-6.28533973693e-05,3.08243346836e-05,1793239112977484288
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,745,715,679,664.806912708,636,880.193087292,788,805,652,632,653,0.432432098234,-0.0155602069875,0.0499472637173,0.99999997819,0.00018949135569,-8.24219005096e-05,3.03180042209e-05,1793239112994150656
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745,715,679,664.23260021,636,880.76739979,788,805,652,632,653,0.433272966397,-0.0155614694243,0.0499543931477,0.99999998009,0.000186697934171,-6.30721643092e-05,3.13970858658e-05,1793239113010817536
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.651700493,745.348299507,715,679,664.348299507,636.348299507,881,788.348299507,805,652,632,653,0.434098731022,-0.0155625830758,0.0499719898045,0.999999982708,0.000179181049202,-3.69062497202e-05,3.34134366156e-05,1793239113027484160
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.066316956,745.933683044,715,679,664.933683044,636.933683044,881,788.933683044,805,652,632,653,0.434914214767,-0.0155635954505,0.0499967113984,0.999999985143,0.000168448949425,-6.10063104948e-06,3.60677770886e-05,1793239113044151040
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.517867084,745.482132916,715,679,665,636.482132916,881,788.482132916,805,652,632,653,0.435689251594,-0.015556990288,0.0499810060003,0.999999981309,0.000184047503685,-4.78614811937e-05,3.49090266395e-05,1793239113060817920
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.899845154,745.100154846,715,679,664.899845154,636,880.899845154,788,805,652,632,653,0.436459937312,-0.0155505947464,0.04996370074,0.999999975337,0.000201286356532,-8.76670289881e-05,3.35342177e-05,1793239113077484800
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.325804596,745.674195404,715,679,664.325804596,636,880.325804596,788,805,652,632,653,0.437234486157,-0.0155497959064,0.0499632641858,0.999999974549,0.000210369202211,-7.43538804478e-05,3.34421717135e-05,1793239113094151168
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.249179652,745.750820348,715,679,664.249179652,636,880.249179652,788,805,652,632,653,0.438009256018,-0.015552125025,0.0499737913021,0.999999976422,0.000209132132675,-4.72106334897e-05,3.45128939283e-05,1793239113110817536
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.825402428,745.174597572,715,679,664.825402428,636,880.825402428,788,805,652,632,653,0.438784315898,-0.0155585595244,0.0499987080084,0.999999980424,0.000194350387479,-1.91567020366e-06,3.71097252491e-05,1793239113127484416
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.589969069,745,715,679,665,636,881,788,805,652,632,653,0.439482917981,-0.015557971844,0.0499928316763,0.999999982447,0.000183573327228,-7.99105452054e-06,3.66399981509e-05,1793239113144151040
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.001686312,745,715,679,665,636,881,788,805,652,632,653,0.440148281804,-0.0155543314276,0.049973568758,0.999999983499,0.000174537213366,-3.63985505996e-05,3.48371532285e-05,1793239113160817664
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665,636,881,788.578695167,804.421304833,652,632,653,0.440825762083,-0.0155539144235,0.0499611996779,0.999999979914,0.000188908312207,-5.72278209536e-05,3.47984050545e-05,1793239113177484544
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665,636,881,788.842476753,804.157523247,652,632,653,0.441495571646,-0.0155556910175,0.0499560104329,0.999999977118,0.000200647942363,-6.50621488887e-05,3.56492810264e-05,1793239113194151680
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,665,636,881,788.267703053,804.732296947,652,632,653,0.442144970762,-0.0155632535084,0.0499697867692,0.999999977442,0.000205239055495,-3.85329463912e-05,3.88431766969e-05,1793239113210818560
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.313649319,664.686350681,636,881,788,805,652,632,653,0.44275092026,-0.0155681627231,0.0499734598519,0.999999976834,0.000209112864801,-3.08189336622e-05,4.06717799024e-05,1793239113227485184
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.900736916,664.099263084,636,881,788,805,652,632,653,0.443318990508,-0.0155707588213,0.0499683249558,0.999999975818,0.000212361331179,-3.95079331426e-05,4.13101261741e-05,1793239113244151296
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.481480641,715,679.518519359,664,636,881,788,805,652,632,653,0.443822779415,-0.0155717654273,0.0499246746449,0.999999969305,0.00021583275602,-0.000115288864011,3.89075341088e-05,1793239113260817664
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.939204515,715,679,663.939204515,636,881,788,805,652,632,653,0.444315571695,-0.0155726752211,0.0498760854012,0.99999995569,0.000219199036433,-0.000198167368955,3.60717314091e-05,1793239113277484032
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.36106416,715,679,663.36106416,636,881,788,805,652,632,653,0.444826093002,-0.0155755134543,0.0498521588921,0.999999949537,0.000221284531371,-0.000225270875621,3.48149960701e-05,1793239113294150912
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.215927922,715,679.215927922,663.215927922,636,881,787.784072078,805,652,631.784072078,653,0.445332571154,-0.015580113151,0.0498416905485,0.999999948043,0.000221721496338,-0.000231376711418,3.49068576537e-05,1793239113310817536
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.791010018,715,679.791010018,663.791010018,636,881,787.208989982,805,652,631.208989982,653,0.445832324252,-0.0155876427001,0.0498536072523,0.99999995472,0.00021941645166,-0.000202556995991,3.72418485163e-05,1793239113327484416
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715.374393402,679.625606598,663.625606598,635.625606598,881,787.374393402,805,652,631.374393402,653,0.446283257577,-0.0155919913267,0.0498550143305,0.999999957598,0.000213243525838,-0.000194644896486,3.80174914649e-05,1793239113344151552
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,715.962515774,679.037484226,663.037484226,635.037484226,881,787.962515774,805,652,631.962515774,653,0.446706321333,-0.0155945240691,0.0498504218075,0.999999958563,0.000204862552778,-0.000198668269703,3.79029538252e-05,1793239113360818432
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.457314153,716,679,663,635,881,788,805,652,632,653,0.447060089709,-0.0155990808823,0.0498170901106,0.999999954558,0.000160058474441,-0.000252938677864,3.58657902482e-05,1793239113377484544
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766.697678415,745,715.302321585,679.697678415,663,635,881,788,805,652,632,653,0.447737152465,-0.0156076401981,0.0497565312405,0.99999993775,4.96145038414e-05,-0.00034922570163,8.88480812957e-06,1793239113410817792
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+204,3.400000000,POSE1_TO_POSE2_PRESS,766.154285492,745,715.845714508,679.154285492,663,635,881,787.154285492,805,652,632,653,0.448382098675,-0.0156202895738,0.0497459168157,0.999999934154,2.51629970806e-05,-0.000362016920068,1.76449438273e-06,1793239113444151040
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+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.396894095,715,679,663,635,880.396894095,787.396894095,805,652,631,653,0.449208530862,-0.0156318738805,0.0497719859751,0.999999945441,4.11747067119e-05,-0.000327610079338,9.69569814248e-06,1793239113494151424
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.17984356,715,679.17984356,662.82015644,635,880.17984356,787,805,652,631,653,0.449437591748,-0.0156332096665,0.0497701585725,0.999999943439,4.74041221123e-05,-0.000332789403475,1.12146812125e-05,1793239113510818560
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.75568375,715,679.75568375,662.24431625,635,880.75568375,787,805,652,631,653,0.449638049672,-0.0156333458019,0.0497605112777,0.999999936335,5.25512802319e-05,-0.000352734782073,1.21424707138e-05,1793239113527484672
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,716,679.984945271,663,634.015054729,881,787,805,652,631,653,0.450744136696,-0.0156429037446,0.0497505905619,0.999999925854,6.18780267938e-05,-0.000379698548528,1.70767359328e-05,1793239113677485312
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,716,680,663,634.566503035,880.433496965,787,805,652,631,653,0.450795221214,-0.0156433762993,0.0497476935118,0.999999924227,6.02330343503e-05,-0.000384200049284,1.75406616084e-05,1793239113694151680
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.146191453,746,716,680,663,635,880.146191453,787,805,652,631,653,0.450841738325,-0.015643118945,0.049744990177,0.999999922496,5.94677269126e-05,-0.00038879030015,1.77208208033e-05,1793239113710818048
+221,3.683333333,POSE1_TO_POSE2_PRESS,766.720922837,746,716,680,663,635,880.720922837,787,805,652,631,653,0.450875929521,-0.0156408044442,0.0497427804346,0.99999992041,6.12232843687e-05,-0.000393880379104,1.70202156911e-05,1793239113727484416
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746,716,680,663,634.705183912,881,787.294816088,805.294816088,652,631,653,0.450904964524,-0.0156399442839,0.0497406036132,0.999999918889,6.15015822242e-05,-0.000397697766809,1.6619546822e-05,1793239113744151040
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746,716,680,663,634.132081733,881,787.867918267,805.867918267,652,631,653,0.450929132439,-0.0156404569206,0.0497384578666,0.999999917915,6.0385448923e-05,-0.000400313822191,1.65019970362e-05,1793239113760817920
+224,3.733333333,POSE1_TO_POSE2_PRESS,766.544155299,746,715.544155299,680,663,634.455844701,881.455844701,787.544155299,805.544155299,652,631,653,0.450946366457,-0.0156413074438,0.0497367088974,0.999999917225,5.93107946838e-05,-0.000402188235135,1.66226153906e-05,1793239113777484800
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,746,715.047173779,679.952826221,663,634.952826221,881.952826221,787,805,652,631,653,0.450960931736,-0.0156419259063,0.0497351509576,0.999999916602,5.84391327578e-05,-0.000403855748615,1.67544256843e-05,1793239113794151936
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,715.626797667,679.373202333,663,634.373202333,881.373202333,787,805,652,631,653,0.450968814012,-0.0156387829268,0.0497344079156,0.999999915791,5.97184289079e-05,-0.000405695005117,1.62074666371e-05,1793239113810818304
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,715.795980177,679.204019823,662.795980177,634,881,787,805,652,631,653,0.450974916318,-0.0156365177944,0.049733658662,0.99999991492,6.08150590205e-05,-0.000407687542652,1.59153903726e-05,1793239113827484672
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,715.223100298,679.776899702,662.223100298,634,881,787,805,652,631,653,0.450977800506,-0.0156358397761,0.049732898178,0.999999913942,6.1581435829e-05,-0.000409957206335,1.60841324891e-05,1793239113844151296
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662.359761138,634,881,787,805,652,631,653,0.450979829652,-0.0156359901624,0.0497320221991,0.999999913232,6.05515956798e-05,-0.000411837154718,1.6123894707e-05,1793239113860817920
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662.948989099,634,881,787,805,652,631,653,0.450981313427,-0.0156366689308,0.0497310725539,0.999999912689,5.83760725592e-05,-0.000413468530496,1.60813895346e-05,1793239113877484544
+231,3.850000000,POSE1_TO_POSE2_PRESS,766.529980864,746,715.529980864,680,662.470019136,634,881.529980864,787,805,652,630.470019136,653,0.450983489904,-0.0156364200178,0.0497310020332,0.999999913028,5.88922796202e-05,-0.000412575856174,1.60200435061e-05,1793239113894151424
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746,716,680,662,634,881.890645032,786.890645032,805,652,630.109354968,653,0.450985222123,-0.0156361893472,0.0497309066562,0.999999913261,5.90788458405e-05,-0.000411987269931,1.59286376323e-05,1793239113910817792
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,716,680,662,634,881.314841507,786.314841507,805,652,630.685158493,653,0.450984779344,-0.0156364115224,0.049730349853,0.999999912684,5.67711601838e-05,-0.000413716153631,1.57166296768e-05,1793239113927484672
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.734184153,745.734184153,716,679.734184153,662.265815847,634.265815847,881,786.265815847,805,652,631,653,0.450984751548,-0.0156367549411,0.0497298177982,0.999999912384,5.54798587742e-05,-0.000414614481107,1.5752941494e-05,1793239113944151296
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.147670747,745.147670747,716,679.147670747,662.852329253,634.852329253,881,786.852329253,805,652,631,653,0.450985224416,-0.0156372446357,0.0497293156013,0.999999912426,5.54147892465e-05,-0.000414510771665,1.60888424384e-05,1793239113960817664
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.433591816,716,679.433591816,662.566408184,635,881,787,805,651.566408184,631,653,0.450985349622,-0.0156369374807,0.0497286338142,0.999999911928,5.57296295326e-05,-0.000415667381553,1.60952582717e-05,1793239113977484288
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.013048587,745.986951413,716,680,662,634.986951413,881.013048587,787,805,651.013048587,631,653,0.450985391796,-0.0156363341512,0.049727931618,0.999999911283,5.61682865609e-05,-0.000417162709143,1.59758408033e-05,1793239113994150912
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.59082415,745.40917585,716,680,662,634.40917585,881.59082415,787,805,651.59082415,631,653,0.450986903546,-0.0156345175379,0.0497289615667,0.999999912195,5.64328309068e-05,-0.000414962885167,1.52089111134e-05,1793239114010817536
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.831867889,745.168132111,715.831867889,680,662,634,881.831867889,787,805,652,630.831867889,652.831867889,0.45098760232,-0.0156336570058,0.0497295607712,0.999999912615,5.63797913973e-05,-0.000413966852015,1.49232802029e-05,1793239114027484416
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.255694789,745.744305211,715.255694789,680,662,634,881.255694789,787,805,652,630.255694789,652.255694789,0.450986328077,-0.0156351167941,0.0497291145997,0.999999911849,5.55560054063e-05,-0.000415892307313,1.5805716691e-05,1793239114044151040
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.672974436,746,715.327025564,679.672974436,662,634,881,787,805,652,630.327025564,652.327025564,0.450985526159,-0.0156355030099,0.0497282158106,0.99999991127,5.51066838113e-05,-0.000417335612315,1.59161828839e-05,1793239114060817664
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.085030363,746,715.914969637,679.085030363,662,634,881,787,805,652,630.914969637,652.914969637,0.450985101087,-0.0156350326721,0.0497269558988,0.999999910844,5.49561300061e-05,-0.000418394231895,1.54107297883e-05,1793239114077484288
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.49579423,745.50420577,715.50420577,679.49579423,662,634,881,787,805.49579423,652,631,653,0.45098787292,-0.0156345492669,0.0497290175672,0.999999912145,5.3616405802e-05,-0.000415467797146,1.49027145893e-05,1793239114094150912
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.074968934,745.074968934,715.074968934,680,662.074968934,634.074968934,881,787,805.925031066,652,631,653,0.450990642371,-0.0156342753695,0.0497311602703,0.999999913441,5.2117611819e-05,-0.000412540760899,1.45290551805e-05,1793239114110817536
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.651160454,745.651160454,715.651160454,680,662.651160454,634.651160454,881,787,805.348839546,652,631,653,0.450989782128,-0.0156354169582,0.0497300900541,0.999999912846,5.08995509605e-05,-0.000414114386569,1.50565596943e-05,1793239114127484160
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.77310728,746,716,680,662.77310728,634.77310728,881,786.77310728,805,652,631,653,0.450988860536,-0.0156351053744,0.0497292331117,0.999999912263,5.12907342933e-05,-0.000415462094893,1.5310744003e-05,1793239114144150784
+247,4.116666667,POSE1_TO_POSE2_PRESS,766.198079589,746,716,680,662.198079589,634.198079589,881,786.198079589,805,652,631,653,0.450987844814,-0.0156325641021,0.0497287034078,0.999999911698,5.41510763501e-05,-0.000416463165053,1.51455569731e-05,1793239114160817664
+248,4.133333333,POSE1_TO_POSE2_PRESS,766.387584861,745.612415139,716,680,662,634,881,786.387584861,805,652,631,653,0.450988369955,-0.0156323329075,0.0497291751131,0.999999911882,5.41401040081e-05,-0.000416026117239,1.50649145927e-05,1793239114177484288
+249,4.150000000,POSE1_TO_POSE2_PRESS,766.978838705,745.021161295,716,680,662,634,881,786.978838705,805,652,631,653,0.450989704793,-0.015633315618,0.0497301730412,0.999999912459,5.2620306606e-05,-0.000414833363825,1.50286989388e-05,1793239114194150656
+250,4.166666667,POSE1_TO_POSE2_PRESS,766.443773495,745,715.443773495,679.443773495,662,634,881,787,805,652,631,653,0.450991228623,-0.0156335036557,0.0497307118575,0.999999913112,5.1480104515e-05,-0.000413396194285,1.51275678612e-05,1793239114210817792
+251,4.183333333,HOLD_POSE2,766,745,715,680,663,635,881,787,805,652,631,652,0.450990475207,-0.0156344184917,0.0497293723098,0.999999912504,5.30455710378e-05,-0.000414641159464,1.58667113904e-05,1793239114252756992
+252,4.200000000,HOLD_POSE2,766,745,715,679.410169209,662.410169209,634.410169209,881,787,805,652,631,652.589830791,0.450989542704,-0.0156335163406,0.0497295639744,0.999999912183,5.24136652358e-05,-0.000415510409371,1.54001539695e-05,1793239114269423360
+253,4.216666667,HOLD_POSE2,766.176557784,745,715.176557784,679.176557784,662.176557784,634,881,787,805,652,631,653,0.450989555919,-0.0156331895693,0.049729905237,0.999999912164,5.20497519731e-05,-0.000415609836936,1.52211795348e-05,1793239114286090240
+254,4.233333333,HOLD_POSE2,766.756198888,745,715.756198888,679.756198888,662.756198888,634,881,787,805,652,631,653,0.450991728217,-0.0156341763961,0.0497305880335,0.999999912831,5.22976684353e-05,-0.000413951751992,1.56987600585e-05,1793239114302756608
+255,4.250000000,HOLD_POSE2,766.667030501,745,716,680,662.667030501,634,881,787,805.332969499,652,631,653,0.450991187222,-0.0156338992031,0.0497297142529,0.999999912194,5.26354923614e-05,-0.000415440908891,1.58332855614e-05,1793239114319423488
+256,4.266666667,HOLD_POSE2,766.092343741,745,716,680,662.092343741,634,881,787,805.907656259,652,631,653,0.450988676527,-0.0156327044022,0.0497277104841,0.999999910599,5.30385840696e-05,-0.000419214787695,1.57187722497e-05,1793239114336090112
+257,4.283333333,HOLD_POSE2,766.482070563,745,716,680,662,634.482070563,881,787,805.517929437,652,631,653,0.45099000433,-0.015632558728,0.0497285176178,0.999999911407,5.09192502065e-05,-0.000417558388579,1.54389486908e-05,1793239114352756992
+258,4.300000000,HOLD_POSE2,767,745.058308029,716,680,662,634.941691971,881,787,805,652,631,653,0.450991767349,-0.0156325365024,0.0497296450026,0.999999912489,4.87266441281e-05,-0.000415232782156,1.51347322741e-05,1793239114369423872
+259,4.316666667,HOLD_POSE2,767,745.651756916,716,680,662,634.348243084,881,787,805,652,631,653,0.45099078015,-0.0156318038693,0.0497287726192,0.999999911969,5.02936586792e-05,-0.000416306734173,1.48971055904e-05,1793239114386090240
+260,4.333333333,HOLD_POSE2,766.760869946,746,716,680,662,634.239130054,881,787,805,652,631,653,0.450990352587,-0.0156310517517,0.0497285008514,0.999999911622,5.2064460821e-05,-0.000416931363443,1.45927623112e-05,1793239114402756864
+261,4.350000000,HOLD_POSE2,766.182125678,746,716,680,662,634.817874322,881,787,805,652,631,653,0.450990719821,-0.0156302719621,0.0497290820822,0.999999911524,5.41246834231e-05,-0.000416917861246,1.41936676665e-05,1793239114419423488
+262,4.366666667,HOLD_POSE2,766,746,716,680,662,634.607639334,881,787,805,652,631,653,0.450990985888,-0.0156306455985,0.0497291717283,0.99999991155,5.29261811243e-05,-0.000416996871739,1.45581552702e-05,1793239114436090112
+263,4.383333333,HOLD_POSE2,766,746,716,680,662,634.03510816,881,787,805,652,631,653,0.450991205499,-0.0156315488836,0.0497290356405,0.999999911628,5.02312850812e-05,-0.000417118363701,1.52732768667e-05,1793239114452756736
+264,4.400000000,HOLD_POSE2,766.555018948,745.444981052,716,679.444981052,662,634,881,786.444981052,805,652,631,653,0.450991004574,-0.0156314873776,0.0497287776106,0.99999991179,4.98085685833e-05,-0.00041677913043,1.52763936379e-05,1793239114469423616
+265,4.416666667,HOLD_POSE2,766.856866279,745.143133721,715.856866279,679.143133721,662.143133721,634,881,786.143133721,805.143133721,652,631,653,0.450990952824,-0.0156316415085,0.0497287379585,0.999999911923,4.9604185447e-05,-0.000416486650665,1.52310201704e-05,1793239114486089984
+266,4.433333333,HOLD_POSE2,766.278368553,745.721631447,715.278368553,679.721631447,662.721631447,634,881,786.721631447,805.721631447,652,631,653,0.450991438375,-0.015632643239,0.0497293867679,0.999999911948,4.96124111709e-05,-0.000416427926094,1.51796327363e-05,1793239114502756864
+267,4.450000000,HOLD_POSE2,766,746,715.298387171,679.701612829,662.701612829,634,881,787,805.701612829,652,631,653,0.450991473043,-0.0156335806919,0.0497291997627,0.999999911932,4.8286239583e-05,-0.000416620399071,1.52382478313e-05,1793239114519423488
+268,4.466666667,HOLD_POSE2,766,746,715.87352716,679.12647284,662.12647284,634,881,787,805.12647284,652,631,653,0.450991089518,-0.0156344585277,0.0497282375431,0.999999911873,4.572242022e-05,-0.000417045856699,1.53988898028e-05,1793239114536090112
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,663,634,881,787,805,652,631,653,0.450989966336,-0.0156311008986,0.049727668323,0.999999910819,5.04732275531e-05,-0.000419045718526,1.46558573703e-05,1793239114570027520
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745.620103182,716,680,662.379896818,634.620103182,881,787,805,652,631,653,0.450993181866,-0.0156313226783,0.0497302771022,0.999999912661,4.84449295122e-05,-0.000414867113749,1.47269711041e-05,1793239114586694144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,715.793584264,680,662.206415736,634.793584264,881,787,805,652,631,653,0.450994590199,-0.0156314956546,0.0497313661659,0.999999913399,4.74256767364e-05,-0.000413198410642,1.4852031456e-05,1793239114603361024
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,715.260712975,680,662.739287025,634.260712975,881,787,805,652,631,653,0.450993140374,-0.0156315914462,0.0497300517332,0.999999912415,4.80022730549e-05,-0.000415499226631,1.5062410765e-05,1793239114620027392
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766.302084406,746,715.302084406,680,662.697915594,634.302084406,881,787,804.697915594,652,631,653,0.450991834661,-0.0156314606127,0.0497289559158,0.99999991172,4.86517022424e-05,-0.000417096039992,1.49790404194e-05,1793239114636694016
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.893549333,746,715.893549333,680,662.106450667,634.893549333,881,787,804.106450667,652,631,653,0.450990667002,-0.0156311126846,0.0497280695203,0.999999911305,4.93709013438e-05,-0.000418018456782,1.46142737825e-05,1793239114653360640
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.501888024,746,716,679.501888024,662,634.501888024,881,786.501888024,804.498111976,652,631,653,0.45098996195,-0.015630231817,0.0497278137536,0.999999911153,5.08760712624e-05,-0.000418202861874,1.45532193903e-05,1793239114670027264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,716,679.103209993,662.103209993,634,881,786.103209993,805,652,631,653,0.450988517224,-0.0156297188049,0.0497272472095,0.999999910782,5.18112085881e-05,-0.000418972642012,1.45896512739e-05,1793239114686693888
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,716,679.697184596,662.697184596,634,881,786.697184596,805,652,631,653,0.450983072555,-0.0156315111391,0.0497245447739,0.99999990909,4.92155744325e-05,-0.000423296095721,1.47726690876e-05,1793239114703360512
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.717236485,715.717236485,679.717236485,662.717236485,634,881,787,805,652,631,653,0.450970281152,-0.0156314286639,0.0497181728639,0.999999904807,4.71779679676e-05,-0.00043355162854,1.39259296848e-05,1793239114720026880
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.435392756,715.435392756,679,662,634,881,787,805,652,631,653,0.450908155702,-0.0156272502665,0.0496914073477,0.999999883124,4.76639282604e-05,-0.000480997322642,1.10686061092e-05,1793239114753360384
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,716,679,662,634,881,787,805,652,631,653,0.450859332103,-0.0156250440981,0.0496727853063,0.999999865234,5.06416573934e-05,-0.000516583641306,1.04127737597e-05,1793239114770027264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,716,679,662,634,881,787,805,652,631,653,0.450795305486,-0.0156216113277,0.0496546966601,0.999999849935,5.05315449441e-05,-0.00054544514641,8.1490447322e-06,1793239114786693888
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,716,679.187621382,662.187621382,634.187621382,881,787,805.187621382,652,631,653,0.450727475524,-0.0156180615116,0.0496391002681,0.999999837249,5.08050089478e-05,-0.000568226448222,6.21642120359e-06,1793239114803360512
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,716,679.76607586,662.76607586,634.76607586,881,787,805.76607586,652,631,653,0.450651722821,-0.0156142678778,0.0496286954742,0.999999831402,5.18774990546e-05,-0.000578342117246,4.97352135772e-06,1793239114820027136
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,663,634.086822891,881,787,805.086822891,652,631,653,0.450484043832,-0.0156018770424,0.0496323431468,0.999999835835,5.80863173572e-05,-0.00057003252497,4.29518588323e-06,1793239114853360384
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.490783735,745.509216265,716,680,662.509216265,634,881,787,805,652,631,653,0.450379674989,-0.0155946459229,0.0496416647425,0.999999843136,6.1742117603e-05,-0.000556683303011,4.37006290887e-06,1793239114870026752
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.928994799,745,716,680,662.071005201,634.071005201,881,787,805,652,631.071005201,653,0.450268158183,-0.0155870129366,0.0496509921347,0.999999850216,6.57049462068e-05,-0.000543351913285,4.36558870897e-06,1793239114886693632
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766.336529423,745,716,680,662.663470577,634.663470577,881,787,805,652,631.663470577,653,0.450128417904,-0.0155769894456,0.0496545852095,0.99999985297,7.18747554611e-05,-0.000537477075482,3.535386446e-06,1793239114903360256
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766.825976624,745,716,680,663,635,881,787,805,652,631.174023376,652.174023376,0.449782915268,-0.0155570469771,0.0496474349422,0.999999846322,7.9476235532e-05,-0.000548671155862,5.48895828841e-07,1793239114936693760
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.598287717,745.401712283,715.598287717,680,663,635,881,787,805,652.401712283,631,652.401712283,0.449578113324,-0.0155444450121,0.0496451673789,0.999999843566,8.60530529434e-05,-0.000552687211871,-8.13173416921e-07,1793239114953360128
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766.02301423,745.97698577,715.02301423,680,663,635,881,787,805,652.97698577,631,652.97698577,0.449365121196,-0.0155306974741,0.0496446932405,0.99999984207,9.42352948654e-05,-0.000554054152661,-2.00493566904e-06,1793239114970027008
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766.552380748,746,715.552380748,679.447619252,663,635,880.447619252,787,805,652.447619252,631,652.447619252,0.449103275068,-0.0155162233899,0.0496415906552,0.999999838971,9.73596039207e-05,-0.000559073267091,-4.05233748806e-06,1793239114986693632
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766.868747695,745.868747695,716,679.131252305,663,635,880.131252305,787,805,652,631.131252305,652.131252305,0.448837047011,-0.0155026112754,0.0496401147705,0.999999837804,9.95281137425e-05,-0.000560758442832,-5.98517829604e-06,1793239115003360000
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.277715164,745.277715164,716,679.722284836,663,635,880.722284836,787,805,652,631.722284836,652.722284836,0.44856260063,-0.0154921247209,0.0496447209629,0.999999843686,9.90867977506e-05,-0.000550231597906,-7.39180222921e-06,1793239115020026880
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745.307339421,715.692660579,679.692660579,662.692660579,635,881,787,805,652,632,653,0.448260185789,-0.0154822825994,0.0496488663332,0.999999848382,9.8059903788e-05,-0.000541783488538,-9.53462276579e-06,1793239115036693760
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745.887095298,715.112904702,679.112904702,662.112904702,635,881,787,805,652,632,653,0.447932980557,-0.0154730116846,0.0496526032442,0.999999852059,9.65139710834e-05,-0.000535177908748,-1.2329985834e-05,1793239115053360128
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,746,715,679,662,635,881.462254765,787.462254765,805.462254765,652,631.537745235,653,0.447568574503,-0.0154715746792,0.0496513162614,0.999999853728,8.49926182155e-05,-0.000533947067185,-1.48479974957e-05,1793239115070026752
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.631453857,715,680,663,635,881,788,805,651.368546143,632,653,0.445445679304,-0.0154423224777,0.0496793798408,0.999999878291,4.36185762337e-05,-0.00049077084729,-2.56879895817e-05,1793239115153360128
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,766.5203251,745,715.5203251,680,663.5203251,635.5203251,881,788,805.5203251,652,632,653,0.444468607106,-0.0154231397142,0.0497395665364,0.999999916837,3.48821752209e-05,-0.000405448494096,-2.68336682612e-05,1793239115186693632
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,745,715.311965719,679.311965719,664,636,881,788,805.311965719,652,632,653,0.443329823081,-0.0154069544483,0.0497535296617,0.999999922609,1.28845567811e-05,-0.000391916295979,-3.19083720416e-05,1793239115220026880
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,745.272467201,715.272467201,679,664,635.727532799,881.272467201,788,805,652,631.727532799,653,0.442723826023,-0.0154007524279,0.0497503494113,0.999999921739,-1.42072700039e-06,-0.000394030234218,-3.54850038695e-05,1793239115236693504
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,745.849886205,715.849886205,679,664,635.150113795,881.849886205,788,805,652,631.150113795,653,0.442117308843,-0.0153952194863,0.0497524973379,0.999999926131,-1.49680430689e-05,-0.000382109090413,-3.8817631937e-05,1793239115253360384
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746,715.574305296,679.425694704,664.425694704,635.425694704,881.574305296,788,805,652,631.425694704,653,0.441509779107,-0.0153933693843,0.0497841949939,0.999999945151,-3.21176048729e-05,-0.000327299002358,-3.92634517343e-05,1793239115270027008
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,746,715,680,665.000961293,636,881,788,804.999038707,652,632,653,0.440901752931,-0.0153928161892,0.0498262394493,0.999999964827,-5.05158210835e-05,-0.000257482056742,-3.86969434655e-05,1793239115286693632
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,746,715,680,665.590856515,636,881,788,804.409143485,652,632,653,0.440207504016,-0.0153941698289,0.0498473793836,0.999999972305,-5.86053663021e-05,-0.000224532201946,-3.92441138193e-05,1793239115303360512
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,745.242694693,715.757305307,679.242694693,664.485389386,636,881.757305307,788,804.757305307,652,632,653,0.438699727649,-0.0153861007508,0.0498139371316,0.999999957572,3.19211289095e-05,-0.000285536597806,-4.80121002884e-05,1793239115336693760
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.665949022,745,715.665949022,679,664,636,881.665949022,788,805,652,632,653,0.437905751313,-0.0153800365613,0.0497857165872,0.999999941165,4.77017345483e-05,-0.000335429702334,-5.36736329259e-05,1793239115353360384
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745.648997268,715,679,664.351002732,636,881,788.648997268,804.351002732,652,632,653,0.434708109353,-0.0153682542405,0.0498033601086,0.999999941886,-5.87993782e-05,-0.000329583058324,-6.43813310341e-05,1793239115420026880
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.645185845,636,880,788.645185845,804.645185845,652,632,653.645185845,0.421572489109,-0.015364660136,0.0498245336698,0.999999962508,-1.03673419012e-05,-0.000268526472632,-5.2629017903e-05,1793239115670026752
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.068591624,636,880,788.068591624,804.068591624,652,632,653.068591624,0.420659634733,-0.0153591173461,0.0497939391322,0.99999994454,-1.29008542664e-05,-0.000327988620784,-5.63672721466e-05,1793239115686693376
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,715,679.502112298,664.502112298,636,880.502112298,788,804.502112298,652.502112298,632,653,0.419821129685,-0.0153586512808,0.0498106528522,0.99999995121,-2.33552474554e-05,-0.000306533878013,-5.54166846351e-05,1793239115703360512
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745,715,679.924852814,664.924852814,636,881,788,804.924852814,652.924852814,632,653,0.418986356968,-0.015358676114,0.0498276306407,0.999999957375,-3.31863090815e-05,-0.000284966530876,-5.42490223739e-05,1793239115720027392
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745,715,679.330205871,664.330205871,636,881,788,804.330205871,652.330205871,632,653,0.418107987339,-0.0153573558526,0.0498022754059,0.999999940771,-3.13146938981e-05,-0.000338150317681,-5.59573678573e-05,1793239115736694016
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766.743294039,745,715,678.743294039,664,636,880.743294039,788.256705961,804,652,632,653,0.417260114888,-0.0153585444492,0.0497909549558,0.99999993389,-2.89232156618e-05,-0.000357887902661,-5.74368562426e-05,1793239115753360640
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766.166040913,745,715,678.166040913,664,636,880.166040913,788.833959087,804,652,632,653,0.416450323956,-0.0153628658412,0.049797159652,0.999999941545,-2.5882587429e-05,-0.000335861427734,-5.86305725323e-05,1793239115770027264
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.406651263,745,715,678.406651263,664,636,880,789,804,652,632,653,0.41568782487,-0.0153638715906,0.0498164869173,0.999999954483,-2.8225086016e-05,-0.000294838743807,-5.75182127033e-05,1793239115786693888
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.977501765,745,715,678.977501765,664,636,880,789,804,652,632,653,0.41494442152,-0.0153635385365,0.0498411128645,0.999999967631,-3.27412047615e-05,-0.000246145696966,-5.54746962451e-05,1793239115803360512
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.427686602,745,715.572313398,679,664.572313398,636,880.572313398,789,804.572313398,652.572313398,632.572313398,653,0.414159561867,-0.0153629572896,0.0498199789537,0.999999956301,-3.9957423284e-05,-0.000287210546352,-5.75402756873e-05,1793239115820027136
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.162869006,745,715.837130994,679,664.837130994,636,880.837130994,788.837130994,805,652.837130994,632.837130994,653,0.413383437543,-0.0153623318855,0.0497997174695,0.999999944398,-4.51741984807e-05,-0.000324978432201,-5.95966632849e-05,1793239115836693760
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.740095648,745,715.259904352,679,664.259904352,636,880.259904352,788.259904352,805,652.259904352,632.259904352,653,0.412633864242,-0.0153616200477,0.0497864520475,0.999999937605,-4.50223159042e-05,-0.000344989348417,-6.12007501293e-05,1793239115853360384
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745.316624086,715,679,664.316624086,636,880,788.316624086,804.683375914,652.316624086,632,653,0.41191804785,-0.0153617562652,0.0497947374394,0.99999994099,-4.49179728068e-05,-0.000335177338034,-6.04882120761e-05,1793239115870027008
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745.892580628,715,679,664.892580628,636,880,788.892580628,804.107419372,652.892580628,632,653,0.411229880249,-0.0153625870865,0.0498206741281,0.999999952037,-4.48525671222e-05,-0.00030093871716,-5.7878231309e-05,1793239115886693632
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745.530705973,715.469294027,679,664.530705973,636,880,788.530705973,804,652.530705973,632,653,0.410554013238,-0.0153601602119,0.0498195507076,0.999999950642,-4.64477705222e-05,-0.00030526831118,-5.80425995922e-05,1793239115903360256
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745,715.952646719,679,664,636,880,788.047353281,804,652,632,653,0.409885661653,-0.0153572510221,0.0498115652054,0.999999946033,-4.85526482291e-05,-0.000319544109063,-5.88904271131e-05,1793239115920027136
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,715.361115631,679,664,636,880,788.638884369,804,652,632,653,0.409271268737,-0.0153573821457,0.0497960165136,0.999999936791,-5.21394477491e-05,-0.000346505149764,-6.02829333915e-05,1793239115936693760
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745.224098525,715,679,664.224098525,636,880,788.775901475,804.224098525,652,632,653,0.408683061153,-0.0153583875076,0.0497948088712,0.999999936455,-5.6363374952e-05,-0.000346811359672,-6.02927829737e-05,1793239115953360384
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745.799412641,715,679,664.799412641,636,880,788.200587359,804.799412641,652,632,653,0.408135892107,-0.0153607630084,0.0498160770559,0.999999949797,-6.15858330294e-05,-0.000305343125647,-5.8135681453e-05,1793239115970026752
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.625522544,746,715,679,665,636,880,788.374477456,804.625522544,652.374477456,632,653,0.407595085697,-0.0153614132964,0.0498301314412,0.999999955898,-6.58264646463e-05,-0.0002839284163,-5.70523245817e-05,1793239115986693632
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.050591211,746,715,679,665,636,880,788.949408789,804.050591211,652.949408789,632,653,0.407057685174,-0.015361140096,0.0498403243536,0.999999958651,-6.95415345203e-05,-0.00027324815217,-5.65437321802e-05,1793239116003360768
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.520773066,745.479226934,715,679,664.479226934,636,879.479226934,788.479226934,804,652.479226934,632,653,0.406532109711,-0.0153619158561,0.049818596329,0.999999945756,-7.5440034925e-05,-0.000315298174628,-5.81756361238e-05,1793239116020027392
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,664,636,879.096311914,788,804,652,632,653,0.406016263171,-0.0153624758682,0.0497953048248,0.999999930387,-8.12308258236e-05,-0.000359181535972,-6.01297656425e-05,1793239116036694272
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,664,636,879.695441848,788,804,652,632,653,0.405545252102,-0.0153613811324,0.0497799301724,0.999999919865,-8.53594488012e-05,-0.000386074736442,-6.26879270195e-05,1793239116053360640
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.28121665,636,880,788,804,652,632,653,0.405111762098,-0.015361797891,0.0497770007713,0.999999916925,-9.1325052729e-05,-0.000392086393857,-6.38540659213e-05,1793239116070027264
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.570656683,745.429343317,715,678.570656683,664.570656683,636,879.570656683,788.429343317,804.429343317,652.429343317,631.570656683,653,0.404362968329,-0.0153664737843,0.0498067499132,0.999999933834,-0.000108444106815,-0.000341527551472,-6.27008965911e-05,1793239116103360512
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.007108919,745.992891081,715,678.007108919,664.007108919,636,879,789,804.992891081,652.992891081,631.007108919,653,0.40402332255,-0.0153694441107,0.0498299007219,0.999999946102,-0.000118168804607,-0.000300063189571,-6.16030113793e-05,1793239116120027136
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.597832338,745.402167662,715,678.597832338,664.597832338,636,879,789,804.402167662,652.402167662,631.597832338,653,0.403719041807,-0.0153745784836,0.0498472870638,0.999999951922,-0.000127132267883,-0.000276428420389,-5.98344330133e-05,1793239116136694016
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,665,636.18534191,879.18534191,788.81465809,804,652,632,653.18534191,0.403419128788,-0.0153781257405,0.0498587234108,0.99999995631,-0.0001233170034,-0.000262081320167,-5.90441255148e-05,1793239116153360896
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,665,636.765996828,879.765996828,788.234003172,804,652,632,653.765996828,0.403128531569,-0.015378287862,0.049857469105,0.999999958135,-9.22461820788e-05,-0.000267543746786,-6.03403571131e-05,1793239116170027520
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745.343011215,715,679,665,636.656988785,880,788.343011215,804,652.343011215,631.656988785,653.656988785,0.402852272223,-0.0153777897604,0.0498495957106,0.999999955371,-6.83697506465e-05,-0.000284195197979,-6.17825189801e-05,1793239116186694144
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745.917568072,715,679,665,636.082431928,880,788.917568072,804,652.917568072,631.082431928,653.082431928,0.402585691507,-0.015376845983,0.0498372541791,0.999999949222,-4.9349808384e-05,-0.000308399666708,-6.33231892435e-05,1793239116203360768
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.509305852,745.509305852,715,679,664.509305852,636,880,788.509305852,803.509305852,652.509305852,631.490694148,653,0.402356495032,-0.0153783493804,0.0498283299109,0.999999943641,-5.69126120896e-05,-0.000324412163394,-6.50798755966e-05,1793239116220027648
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.06590493,745.06590493,715,679,664,636,880,788,803.06590493,652.06590493,631.93409507,653,0.4021392386,-0.0153801986654,0.0498206578811,0.999999938405,-6.83204445718e-05,-0.00033774218629,-6.67272707877e-05,1793239116236694016
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.659734819,745.659734819,715,679,664,636,880,788,803.659734819,652.659734819,631.340265181,653,0.40196746608,-0.0153815351306,0.049818431642,0.999999936943,-7.4860874292e-05,-0.000340576166589,-6.72093585866e-05,1793239116253360384
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745.753135031,715,678.753135031,664,636,880,788.246864969,804,652.753135031,631,653,0.401810255026,-0.0153827714423,0.0498181646925,0.999999936812,-7.94108894364e-05,-0.00033993487498,-6.71905838486e-05,1793239116270027264
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745.174995484,715,678.174995484,664,636,880,788.825004516,804,652.174995484,631,653,0.4016725844,-0.0153838733552,0.0498205269654,0.999999938496,-8.12899145184e-05,-0.000334630024602,-6.64996884955e-05,1793239116286694144
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745.401246868,715.401246868,678,664.401246868,636,880,789,804,652.401246868,631,653,0.401559442045,-0.0153800474311,0.0498256003428,0.999999946009,-3.17472250319e-05,-0.000322390137736,-5.51192968769e-05,1793239116303361024
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745.976665741,715.976665741,678,664.976665741,636,880,789,804,652.976665741,631,653,0.401456946835,-0.0153740824466,0.0498318505484,0.999999951264,4.01164439094e-05,-0.000307139909593,-3.90988413229e-05,1793239116320027904
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,745.435354541,715.435354541,678.564645459,664.435354541,636,880.564645459,788.435354541,804.564645459,653,631.564645459,653,0.401374831678,-0.0153731894435,0.0498374319757,0.999999954345,3.76581429389e-05,-0.000297249552946,-3.91686031501e-05,1793239116336694016
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.150771546,636,880.849228454,788,804.849228454,652.849228454,632,653,0.401296697936,-0.0153750588043,0.0498416071064,0.999999956616,2.98796987622e-05,-0.000290340103273,-3.97163562444e-05,1793239116353360640
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.730119625,636,880.269880375,788,804.269880375,652.269880375,632,653,0.401227433057,-0.0153841709771,0.0498418651108,0.99999995667,1.59076910896e-05,-0.00029126009636,-3.9689704272e-05,1793239116370027008
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.692342726,636,880.307657274,788,804,652,632,653,0.401169030026,-0.0153896710004,0.049840634149,0.99999995609,5.7669312979e-06,-0.00029356387038,-4.00927848723e-05,1793239116386693376
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.116383949,636,880.883616051,788,804,652,632,653,0.40112009939,-0.0153920209428,0.0498381046908,0.999999955038,-1.0326761544e-06,-0.000297074410906,-4.08706263059e-05,1793239116403360256
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.458981762,636,880.541018238,788.458981762,804,652.458981762,632,653,0.401085048031,-0.0153918151958,0.0498381585863,0.99999995528,-3.95138152267e-06,-0.000296137708605,-4.15545010205e-05,1793239116420027392
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,665,636,880,788.964879451,804,652.964879451,632,653,0.401054352933,-0.0153909933067,0.0498389963223,0.999999955941,-5.76754427435e-06,-0.000293778785636,-4.21683196954e-05,1793239116436694528
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,665,636,880,788.374134041,804,652.374134041,632,653,0.401036969773,-0.015390662918,0.0498418847955,0.999999957991,-5.68947578261e-06,-0.000286737164877,-4.20502872666e-05,1793239116453361152
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,665,636,880,788,804,652.212391975,632,653,0.401021661397,-0.015391259427,0.0498443353979,0.999999959525,-6.9877861757e-06,-0.000281342422983,-4.18104166008e-05,1793239116470027776
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,665,636,880,788,804,652.791630138,632,653,0.401009936617,-0.0153934568858,0.0498460297041,0.999999960225,-1.06633961228e-05,-0.00027879219247,-4.13601053592e-05,1793239116486694400
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,715,678.632623653,665,636,880,788,804,653,632,653,0.401003175042,-0.015394468617,0.0498480595419,0.999999961188,-1.2535229766e-05,-0.000275264030824,-4.11822190509e-05,1793239116503360768
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,715,678.058839321,665,636,880,788,804,653,632,653,0.400999202009,-0.0153948141551,0.049850277896,0.999999962292,-1.33936239018e-05,-0.000271186424763,-4.11573928573e-05,1793239116520027136
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745,715,678.510857907,665.510857907,636,880,788,804,652.489142093,632,653,0.400996802609,-0.0153953434164,0.0498513169936,0.999999962735,-1.29177765744e-05,-0.000269577893211,-4.11142548585e-05,1793239116536693760
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,665.831447206,636,879.915723603,788,804,652,632,653,0.40099471231,-0.0153956420244,0.0498521188148,0.999999963067,-1.2256483585e-05,-0.000268377946289,-4.10984057515e-05,1793239116553360384
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.633449621,636,879.31672481,788,804,652,632,653,0.400993411682,-0.0153944036903,0.0498522944245,0.999999963185,-1.13936972354e-05,-0.000267950359734,-4.12620041643e-05,1793239116570027264
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,715,678.727950925,664.272049075,636,879.272049075,788.272049075,804,652.272049075,632,653,0.400991762822,-0.0153946467128,0.04985221733,0.999999963162,-1.20493716817e-05,-0.000268015666863,-4.12176950883e-05,1793239116586694144
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7ab0126cd961253f4758bafec6cc04846ec76780
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,415 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dcf82b39606a127137c1247a2dacba6cb18d76c1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09fc63f8f311585fed38ddfa51b8f998ce84d3eb4c0134e329adfbd2021643be
+size 26353921
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..183d5413b74e087939705c1273dcf6bd15b2b5fd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_05/franka_data.csv
@@ -0,0 +1,416 @@
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+6,0.100000000,BASELINE,767,745,715,678.479577351,664.520422649,636,879,788.520422649,804,653,632,653,0.400991515207,-0.0154019815509,0.0498584111582,0.999999965996,-2.27003281377e-05,-0.00025658384698,-4.07022122823e-05,1793239117224910592
+7,0.116666667,BASELINE,766.946540105,745,715,678.946540105,664.053459895,636,879.053459895,788,804,652.946540105,632,653,0.400989944157,-0.0154023009906,0.0498572960173,0.999999965419,-2.3407966366e-05,-0.000258737825511,-4.08388339696e-05,1793239117241577472
+8,0.133333333,BASELINE,766.351589778,745,715,678.351589778,664.648410222,636,879.648410222,788,804,652.351589778,632,653,0.400991646984,-0.0154011786789,0.049858627237,0.999999966068,-2.17447061724e-05,-0.000256367311649,-4.08179928088e-05,1793239117258243840
+9,0.150000000,BASELINE,766.236717006,745,715,678.236717006,665.236717006,636,880,788.236717006,804,652,632,653,0.40099259023,-0.0154005819523,0.0498593949673,0.999999966379,-2.06709481166e-05,-0.000255248318775,-4.07807943043e-05,1793239117274910464
+10,0.166666667,BASELINE,766.815425624,745,715,678.815425624,665.815425624,636,880,788.815425624,804,652,632,653,0.400992436088,-0.015400744553,0.0498593486088,0.99999996621,-2.04488602669e-05,-0.000255937433137,-4.07199638946e-05,1793239117291577344
+11,0.183333333,BASELINE,766.607194102,745,715,679,665.607194102,636,879.607194102,788.607194102,804,652,632,653,0.400992183026,-0.015400114907,0.0498595368197,0.999999966279,-1.98459246143e-05,-0.00025569400889,-4.08378083641e-05,1793239117308244224
+12,0.200000000,BASELINE,766.030435844,745,715,679,665.030435844,636,879.030435844,788.030435844,804,652,632,653,0.400991883639,-0.0153991142492,0.0498598348804,0.99999996646,-1.90646366004e-05,-0.00025501387365,-4.10393268916e-05,1793239117324910848
+13,0.216666667,BASELINE,766.54258672,745.54258672,715.54258672,679,665,636,879.54258672,788.54258672,803.45741328,652,632,653,0.4009927243,-0.0153993039561,0.0498598979715,0.999999966621,-1.93112517232e-05,-0.00025437616962,-4.09624027616e-05,1793239117341577216
+14,0.233333333,BASELINE,767,745.881142889,715.881142889,679,664.881142889,636,880.118857111,788.881142889,803.118857111,652.118857111,631.881142889,653,0.400993076958,-0.0153996452409,0.0498597725347,0.999999966647,-1.96700776518e-05,-0.000254255064507,-4.0917548808e-05,1793239117358244096
+15,0.250000000,BASELINE,767,745.291174068,715.291174068,679,664.291174068,636,880.708825932,788.291174068,803.708825932,652.708825932,631.291174068,653,0.400991243583,-0.015400324478,0.0498589517187,0.99999996614,-2.02466917225e-05,-0.000256172223106,-4.10612960215e-05,1793239117374910464
+16,0.266666667,BASELINE,767,745,715,679,664.293979375,636,880.706020625,788,804,652.706020625,631.293979375,652.706020625,0.40099093119,-0.0154012977631,0.0498588562856,0.999999966067,-2.13675150577e-05,-0.000256397323058,-4.08723068972e-05,1793239117391576832
+17,0.283333333,BASELINE,767,745,715,679,664.87444022,636,880.12555978,788,804,652.12555978,631.87444022,652.12555978,0.400992100989,-0.0154025575963,0.0498594677348,0.999999966415,-2.30186676362e-05,-0.000254973519986,-4.03590678238e-05,1793239117408243456
+18,0.300000000,BASELINE,767,745,715,679,664.544326443,636,880,788.455673557,804,652.455673557,632,652.455673557,0.400993427949,-0.0154026771057,0.0498605520892,0.999999966809,-2.35492553751e-05,-0.000253394918273,-4.02406558202e-05,1793239117424910336
+19,0.316666667,BASELINE,766.963797864,745,715,678.963797864,664,636,880,788.963797864,804,652.963797864,632,653,0.400994616146,-0.0154024552382,0.0498616111281,0.999999967161,-2.36746791707e-05,-0.000251984980851,-4.02551016172e-05,1793239117441577472
+20,0.333333333,BASELINE,766.39673035,745,715,678.39673035,664,636,880,788.39673035,804,652.39673035,632,653,0.400993133425,-0.0154018428731,0.0498603848728,0.999999966749,-2.23942639356e-05,-0.000253674866587,-4.06197128066e-05,1793239117458244096
+21,0.350000000,BASELINE,766,745,715.178174286,678.178174286,664.178174286,636,880,788.178174286,804,652,632,653,0.400992144131,-0.015401232984,0.0498598157316,0.999999966552,-2.10522307622e-05,-0.00025453420519,-4.0797831548e-05,1793239117474910720
+22,0.366666667,BASELINE,766,745,715.771332188,678.771332188,664.771332188,636,880,788.771332188,804,652,632,653,0.400992304072,-0.0154006288619,0.0498607770673,0.999999966866,-1.95666841578e-05,-0.000253459126075,-4.05415928883e-05,1793239117491577088
+23,0.383333333,BASELINE,766.355269597,745,715.644730403,679,664.644730403,636,880,788.644730403,804,652.355269597,631.644730403,653,0.400991710027,-0.0154007090936,0.0498603292149,0.999999966635,-2.06078037833e-05,-0.000254256176025,-4.07288306617e-05,1793239117508243968
+24,0.400000000,BASELINE,766.933422461,745,715.066577539,679,664.066577539,636,880,788.066577539,804,652.933422461,631.066577539,653,0.400990642959,-0.0154012186639,0.049858997289,0.999999966055,-2.32340620642e-05,-0.00025622773178,-4.1194289448e-05,1793239117524910592
+25,0.416666667,BASELINE,767,745,715,678.492619969,664,636,880.507380031,788,804,653,631.507380031,653,0.400991109284,-0.0154010537904,0.0498590868172,0.999999966197,-2.21018570894e-05,-0.000255835345099,-4.08193810596e-05,1793239117541577216
+26,0.433333333,BASELINE,767,745,715,678.083244185,664.083244185,636,880.916755815,788.083244185,804,653,632,653,0.400991558091,-0.0154008384368,0.0498593569703,0.999999966369,-2.0861169573e-05,-0.000255326239805,-4.04325948399e-05,1793239117558243840
+27,0.450000000,BASELINE,767,745,715,678.674062925,664.674062925,636,880.325937075,788.674062925,804,653,632,653,0.400990683284,-0.0154008504777,0.0498596005005,0.99999996617,-2.1941476405e-05,-0.000255981314521,-4.06402420102e-05,1793239117574910464
+28,0.466666667,BASELINE,767,745,715,679,665.259752444,636,880,789,804,653,632,653,0.400990387112,-0.0154012749974,0.0498595468554,0.999999966113,-2.23834536184e-05,-0.000256164858958,-4.06476989161e-05,1793239117591576832
+29,0.483333333,BASELINE,767,745,715,679,665.839130416,636,880,789,804,653,632,653,0.400990802949,-0.0154022070724,0.0498591275359,0.999999966232,-2.20399658129e-05,-0.000255768185082,-4.04088215766e-05,1793239117608243456
+30,0.500000000,BASELINE,767,745,715,679,665.58378771,636,879.58378771,788.58378771,804,653,632,653,0.40099115953,-0.0154029747415,0.0498597228087,0.999999966422,-2.25869121382e-05,-0.000254995241841,-4.02979982971e-05,1793239117624910848
+31,0.516666667,BASELINE,767,745,715,679,665.007588441,636,879.007588441,788.007588441,804,653,632,653,0.400991493333,-0.0154036792151,0.0498607080784,0.999999966637,-2.34761305995e-05,-0.000254077665208,-4.02363974573e-05,1793239117641578240
+32,0.533333333,BASELINE,767,745,715,679,664.433932959,636,879,788,804,652.433932959,632,653,0.40099201159,-0.0154021501963,0.0498604179803,0.999999966991,-1.92982931848e-05,-0.000253025762459,-4.0294063305e-05,1793239117658244608
+33,0.550000000,BASELINE,766.855745969,745,715,679,664.144254031,636,879.144254031,788,804,652.144254031,631.855745969,653,0.400992060324,-0.0154009666019,0.0498600498931,0.999999967099,-1.69588049666e-05,-0.000252743474398,-4.04421474573e-05,1793239117674910720
+34,0.566666667,BASELINE,766.263376812,745,715,679,664.736623188,636,879.736623188,788,804,652.736623188,631.263376812,653,0.400990642865,-0.0154009486383,0.0498594924108,0.999999966478,-2.05400871593e-05,-0.000254857509897,-4.08661653309e-05,1793239117691577344
+35,0.583333333,BASELINE,766.320730945,745,715,679,664.679269055,636,880,788,804,653,631.320730945,653,0.4009898099,-0.0154016422765,0.0498589652495,0.999999966061,-2.31733283e-05,-0.000256248008562,-4.09551132847e-05,1793239117708243968
+36,0.600000000,BASELINE,766.898225051,745,715,679,664.101774949,636,880,788,804,653,631.898225051,653,0.400989444854,-0.0154029055919,0.0498584623618,0.999999965815,-2.50476096457e-05,-0.000257059275528,-4.07758189688e-05,1793239117724910848
+37,0.616666667,BASELINE,767,745,715,679,664.473151071,636.473151071,880,788.473151071,804,653,632,653,0.400991005753,-0.0154039059522,0.0498595778577,0.999999966287,-2.48887638486e-05,-0.000255319261242,-4.02300132822e-05,1793239117741577728
+38,0.633333333,BASELINE,767,745,715,679,665,636.952550248,880,789,804,653,632,653,0.400992705692,-0.0154047764103,0.0498608967745,0.999999966833,-2.44174170228e-05,-0.000253304657744,-3.96916993131e-05,1793239117758244096
+39,0.650000000,BASELINE,767,745,715,679,665,636.37911495,880,789,804,653,632,653,0.400991379458,-0.015404830497,0.0498606325767,0.999999966542,-2.53036012406e-05,-0.000254296662837,-4.01056270878e-05,1793239117774910720
+40,0.666666667,BASELINE,767,745,715.20102784,678.79897216,665,636,880,788.79897216,804,652.79897216,632,653,0.400990430592,-0.0154042614874,0.049860372858,0.99999996636,-2.54327810582e-05,-0.000254942622076,-4.04688843436e-05,1793239117791577600
+41,0.683333333,BASELINE,767,745,715.794256773,678.205743227,665,636,880,788.205743227,804,652.205743227,632,653,0.400990217962,-0.0154024768301,0.0498601218779,0.99999996639,-2.40850611472e-05,-0.000254913453062,-4.07332844567e-05,1793239117808243968
+42,0.700000000,BASELINE,767,745,715.621344619,678.378655381,665,636,879.621344619,788,804,652.378655381,632,653,0.400990765466,-0.0154004546501,0.0498602125054,0.999999966499,-2.12784960064e-05,-0.000254717125631,-4.08425775637e-05,1793239117824910592
+43,0.716666667,BASELINE,767,745,715.041634664,678.958365336,665,636,879.041634664,788,804,652.958365336,632,653,0.400991716577,-0.0153983063527,0.0498604845161,0.99999996664,-1.76973281429e-05,-0.000254432042126,-4.08695135254e-05,1793239117841577216
+44,0.733333333,BASELINE,767,745,715,678.466730695,665,636,879,788.533269305,804,652.466730695,632,653,0.400991792743,-0.0154008638379,0.0498603875405,0.999999966784,-2.09021247818e-05,-0.00025367938093,-4.05112554906e-05,1793239117858243840
+45,0.750000000,BASELINE,767,745,715,678.110249769,665,636,879,788.889750231,804,652,632,653,0.400991957251,-0.0154030116016,0.0498603445602,0.99999996692,-2.38877498189e-05,-0.00025290632238,-4.03364464617e-05,1793239117874910720
+46,0.766666667,BASELINE,767,745,715,678.697830379,665,636,879,788.302169621,804,652,632,653,0.400992797354,-0.0154018089889,0.0498606589679,0.999999967074,-2.36511161958e-05,-0.000252201594673,-4.10849301139e-05,1793239117891577600
+47,0.783333333,BASELINE,767,745,715,679,665,636,879.281471235,788,804,652.281471235,632,653,0.400992673702,-0.0154013475051,0.0498604281536,0.99999996697,-2.32780383948e-05,-0.000252621323687,-4.12424592839e-05,1793239117908244480
+48,0.800000000,BASELINE,767,745,715,679,665,636,879.860941078,788,804,652.860941078,632,653,0.400991529707,-0.0154016706675,0.0498596201032,0.999999966593,-2.27605046847e-05,-0.000254231534961,-4.07743345165e-05,1793239117924911104
+49,0.816666667,BASELINE,767,745,715,679,665,636,879.561590355,788.438409645,804,652.561590355,632,653,0.400990954156,-0.0154012653536,0.0498593487028,0.999999966498,-2.19572344176e-05,-0.000254678800904,-4.07567963318e-05,1793239117941577728
+50,0.833333333,BASELINE,767.015208011,745.015208011,715,679,665,636,879.015208011,789,804,652,632,653,0.400990568898,-0.0154006669516,0.0498592565895,0.999999966494,-2.10735735499e-05,-0.000254750953852,-4.08736643358e-05,1793239117958244096
+51,0.850000000,BASELINE,767.590596887,745.590596887,715,679,665,636,879.590596887,789,804,652,632,653,0.400990581739,-0.0154014287376,0.0498595269634,0.999999966567,-2.0552001344e-05,-0.000254531554251,-4.07008035493e-05,1793239117974910720
+52,0.866666667,BASELINE,767.659262571,745.829631286,715,678.829631286,665,636,879.829631286,789,804,652,632,653,0.400990668789,-0.0154018479082,0.0498598548608,0.999999966626,-1.99346318869e-05,-0.000254370246119,-4.05839923251e-05,1793239117991577088
+53,0.883333333,BASELINE,766.478097929,745.239048964,715,678.239048964,665,636,879.239048964,789,804,652,632,653,0.400990938877,-0.0154014220195,0.0498603246397,0.999999966646,-1.9080979006e-05,-0.000254352220323,-4.06054270842e-05,1793239118008243712
+54,0.900000000,BASELINE,766.344118621,745,715,678.344118621,664.655881379,636,879.344118621,788.655881379,804,652.344118621,632,653,0.400991722475,-0.0154014458586,0.0498608042043,0.9999999669,-1.93773153396e-05,-0.000253322579435,-4.06389656419e-05,1793239118024910592
+55,0.916666667,BASELINE,766.92224403,745,715,678.92224403,664.07775597,636,879.92224403,788.07775597,804,652.92224403,632,653,0.400992855269,-0.0154017755207,0.0498612904234,0.999999967311,-2.04556648453e-05,-0.000251605022275,-4.06807349973e-05,1793239118041577472
+56,0.933333333,BASELINE,767,745,715,678.50395867,664.49604133,636,880,788.49604133,804,653,632,653,0.40099278022,-0.0154024002454,0.0498617358334,0.999999967356,-2.1417540965e-05,-0.000251403445196,-4.03135902024e-05,1793239118058244352
+57,0.950000000,BASELINE,767,745,715,678.071352899,665,636,880,788.928647101,804,653,632,653,0.400992598271,-0.0154030930229,0.049862111074,0.999999967351,-2.24724466857e-05,-0.000251388903462,-3.99562338745e-05,1793239118074911488
+58,0.966666667,BASELINE,767,745,715,678.66259799,665,636,880,788.33740201,804,653,632,653,0.400993005023,-0.0154039475602,0.049862021251,0.999999967393,-2.43370628163e-05,-0.000251020662905,-4.01331940981e-05,1793239118091577600
+59,0.983333333,BASELINE,766.75137348,745,715,678.75137348,665,636,880,788.24862652,804,653,632,653,0.400993128771,-0.0154043140463,0.049861661331,0.999999967333,-2.53039619104e-05,-0.000251141367011,-4.02711066483e-05,1793239118108243968
+60,1.000000000,BASELINE,766.172278594,745,715,678.172278594,665,636,880,788.827721406,804,653,632,653,0.400992876356,-0.0154040318268,0.0498609424045,0.999999967141,-2.50776374623e-05,-0.000251911964503,-4.0357117999e-05,1793239118124910592
+61,1.016666667,BASELINE,766.40499384,745,715.40499384,678,665,636,879.59500616,788.59500616,804,652.59500616,632,653,0.400991148414,-0.0154040379151,0.0498601041621,0.999999966753,-2.41787516036e-05,-0.000253522661462,-4.04417860463e-05,1793239118141577216
+62,1.033333333,BASELINE,766.981494467,745,715.981494467,678,665,636,879.018505533,788.018505533,804,652.018505533,632,653,0.400988795617,-0.0154041660959,0.0498592153918,0.999999966277,-2.29950494587e-05,-0.000255489123689,-4.05258852263e-05,1793239118158243840
+63,1.050000000,BASELINE,767,745,715.445100726,678.554899274,665,636,879.554899274,788,804,652.554899274,632,653,0.400989836901,-0.0154036903631,0.049859859111,0.999999966416,-2.32060936763e-05,-0.000254945335331,-4.04015727222e-05,1793239118174910464
+64,1.066666667,BASELINE,767,745,715.132523177,679,665,636,880,788,804.132523177,652.867476823,632,653,0.400991129694,-0.0154036185144,0.0498606992751,0.999999966706,-2.38236050853e-05,-0.000253769850694,-4.02691273342e-05,1793239118191577600
+65,1.083333333,BASELINE,767,745,715.725151735,679,665,636,880,788,804.725151735,652.274848265,632,653,0.400992904895,-0.0154050184419,0.0498620450184,0.999999967442,-2.56917293286e-05,-0.000250690225743,-4.01324426053e-05,1793239118208244480
+66,1.100000000,BASELINE,767,745.309139261,715.690860739,679,665,636,880,788,804.690860739,652,632,653,0.400993265917,-0.0154053128806,0.0498623171596,0.999999967598,-2.63216817653e-05,-0.000250011255402,-4.00583494346e-05,1793239118224911104
+67,1.116666667,BASELINE,767,745.885653124,715.114346876,679,665,636,880,788,804.114346876,652,632,653,0.400992403814,-0.0154046511819,0.0498616607422,0.99999996726,-2.58807390857e-05,-0.000251408611828,-4.00383917211e-05,1793239118241577472
+68,1.133333333,BASELINE,767,745.53855785,715,679,665,636.46144215,880,788,803.53855785,652,632,653,0.400993290615,-0.0154040973859,0.0498619886817,0.999999967433,-2.61170331332e-05,-0.000250642613859,-4.03876806458e-05,1793239118258244096
+69,1.150000000,BASELINE,767,745,715,679,665,636.962982562,880.037017438,788,803.037017438,652.037017438,632,653,0.400994515397,-0.0154034830404,0.0498625557096,0.999999967721,-2.6175563683e-05,-0.000249417473602,-4.07800396967e-05,1793239118274910720
+70,1.166666667,BASELINE,767,745,715,679,665,636.387907927,880.612092073,788,803.612092073,652.612092073,632,653,0.400994363328,-0.0154016005513,0.0498630579687,0.999999967881,-2.12147603877e-05,-0.00024929851338,-4.04705368574e-05,1793239118291577344
+71,1.183333333,BASELINE,767,745,715,678.807503425,665,636,880.807503425,788.192496575,804,653,632,653,0.400993778903,-0.0154006099795,0.0498629019507,0.999999967836,-1.79105137835e-05,-0.000249775575178,-4.0252482048e-05,1793239118308243968
+72,1.200000000,BASELINE,767,745,715,678.216052526,665,636,880.216052526,788.783947474,804,653,632,653,0.400992298409,-0.0154014679301,0.0498613816357,0.999999967405,-1.8039524524e-05,-0.000251487908615,-4.02239556824e-05,1793239118324910592
+73,1.216666667,BASELINE,767,745.366601536,715.366601536,678.366601536,665,636.366601536,880,788.633398464,804,652.633398464,632,653,0.400992428636,-0.0154016602714,0.0498611120565,0.999999967352,-1.86170789445e-05,-0.000251613227846,-4.0491450447e-05,1793239118341577728
+74,1.233333333,BASELINE,767,745.944192732,715.944192732,678.944192732,665,636.944192732,880,788.055807268,804,652.055807268,632,653,0.400993485879,-0.0154014695356,0.0498615623117,0.999999967517,-1.94527830618e-05,-0.000250825174949,-4.0929313832e-05,1793239118358244608
+75,1.250000000,BASELINE,767,746,715.480215092,679,665,636.480215092,879.480215092,788,804,652,632,653,0.400992817261,-0.0154030034583,0.049861599768,0.999999967418,-2.28326826568e-05,-0.000250984162076,-4.061208504e-05,1793239118374910976
+76,1.266666667,BASELINE,767,745.902505543,715,679,665,636,879.097494457,788,804,652.097494457,632,653,0.400992219905,-0.0154042329314,0.0498616319878,0.999999967323,-2.55070526041e-05,-0.000251162382685,-4.0271188322e-05,1793239118391577344
+77,1.283333333,BASELINE,767,745.313032372,715,679,665,636,879.686967628,788,804,652.686967628,632,653,0.400992913633,-0.0154029952557,0.0498618605774,0.999999967439,-2.32480162671e-05,-0.000250926525712,-4.02183944162e-05,1793239118408243968
+78,1.300000000,BASELINE,767,745,715,679,665,636,880,788.271731672,804,652.728268328,632,653,0.40099262442,-0.0154026250754,0.0498616983995,0.999999967359,-2.26400777901e-05,-0.000251305015022,-4.0184486323e-05,1793239118424910592
+79,1.316666667,BASELINE,767,745,715,679,665,636,880,788.851163218,804,652.148836782,632,653,0.400991222155,-0.0154032372181,0.0498610937295,0.99999996706,-2.39017875567e-05,-0.000252379169571,-4.01719638969e-05,1793239118441577216
+80,1.333333333,BASELINE,767,745,715,679,665,636.427660795,880,788.572339205,804.427660795,652.427660795,631.572339205,653,0.400991379078,-0.0154031728178,0.0498616070316,0.999999967185,-2.46494261469e-05,-0.000251808499337,-4.01966560306e-05,1793239118458243840
+81,1.350000000,BASELINE,767,745,715,678.996870644,665,636.996870644,879.996870644,788,804.996870644,653,631.003129356,653,0.400992076372,-0.0154028696815,0.0498625026104,0.999999967455,-2.52070670573e-05,-0.000250672301477,-4.02363474342e-05,1793239118474910720
+82,1.366666667,BASELINE,767,745,715,678.424118657,665,636.424118657,879.424118657,788,804.424118657,653,631.575881343,653,0.400993034152,-0.0154016771245,0.0498626419008,0.999999967625,-2.35245217657e-05,-0.00025008448312,-4.06648283776e-05,1793239118491577600
+83,1.383333333,BASELINE,767,745,715,678.153447883,665,636,879.153447883,788,804,653,632,653,0.400993318243,-0.0154009698882,0.0498624712541,0.999999967655,-2.19311373254e-05,-0.000250070254482,-4.09097695569e-05,1793239118508244480
+84,1.400000000,BASELINE,767,745,715,678.744752673,665,636,879.744752673,788,804,653,632,653,0.40099167999,-0.0154016474933,0.0498614162151,0.999999967288,-2.05921691361e-05,-0.000251692739199,-4.06309880437e-05,1793239118524910848
+85,1.416666667,BASELINE,767,745,715,679,664.66859235,636,880,788,804,653,631.66859235,653,0.400991180973,-0.0154021942716,0.0498609009425,0.999999967115,-2.10857287676e-05,-0.000252327834177,-4.06874445825e-05,1793239118541577216
+86,1.433333333,BASELINE,767,745,715,679,664.085469101,636,880,788,804,653,631.085469101,653,0.400991547246,-0.0154026416822,0.0498607956414,0.99999996709,-2.29711568814e-05,-0.000252212972323,-4.09985260591e-05,1793239118558243840
+87,1.450000000,BASELINE,767,745,715,679,664.494696051,636.494696051,880,788,804,653,631.494696051,653.494696051,0.400992183356,-0.0154026294618,0.0498612647332,0.999999967217,-2.32970046496e-05,-0.000251713200701,-4.0789425207e-05,1793239118574910464
+88,1.466666667,BASELINE,767,745,715.07432982,679,665,636.92567018,880.07432982,788,804,653,632,653.92567018,0.400992646191,-0.0154025781762,0.0498617019968,0.99999996732,-2.33746323671e-05,-0.000251337531926,-4.05333573094e-05,1793239118591577088
+89,1.483333333,BASELINE,767,745,715.653804926,679,665,636.346195074,880.653804926,788,804,653,632,653.346195074,0.4009916165,-0.0154027978725,0.0498612525411,0.999999967083,-2.35856551626e-05,-0.0002522545216,-4.05652435465e-05,1793239118608243712
+90,1.500000000,BASELINE,767,745.233309903,715.766690097,679,665,636,881,788,804,652.766690097,631.766690097,653,0.400991273414,-0.0154031808882,0.0498608693401,0.99999996694,-2.41113269506e-05,-0.000252766066993,-4.06057192547e-05,1793239118624910592
+91,1.516666667,BASELINE,767,745.812859157,715.187140843,679,665,636,881,788,804,652.187140843,631.187140843,653,0.400991949272,-0.0154038062752,0.049860584463,0.999999966936,-2.51039478766e-05,-0.000252675920039,-4.06589420099e-05,1793239118641577472
+92,1.533333333,BASELINE,767,745.609571099,715,679,665,636.390428901,880.609571099,788.390428901,804,652.390428901,631.390428901,653.390428901,0.400991847797,-0.0154031539396,0.0498605681107,0.999999966948,-2.38067441265e-05,-0.000252738072026,-4.0744680602e-05,1793239118658244096
+93,1.550000000,BASELINE,767,745.032945339,715,679,665,636.967054661,880.032945339,788.967054661,804,652.967054661,631.967054661,653.967054661,0.400991375611,-0.0154018922538,0.0498606798186,0.999999966964,-2.14175153521e-05,-0.000252872855882,-4.08459261111e-05,1793239118674910720
+94,1.566666667,BASELINE,767,745,715.541720493,678.458279507,665,636.458279507,879.458279507,789,804,653,632,653.458279507,0.400992597458,-0.0154020442463,0.0498616415785,0.999999967346,-2.23373586492e-05,-0.000251280146276,-4.08207376651e-05,1793239118691577344
+95,1.583333333,BASELINE,766.880304598,745,715.880304598,678.119695402,665,636,879.119695402,788.880304598,804,653,632,653,0.400993395642,-0.0154019389009,0.0498623452766,0.999999967619,-2.29062336354e-05,-0.000250141863942,-4.08229190539e-05,1793239118708243968
+96,1.600000000,BASELINE,766.288818351,745,715.288818351,678.711181649,665,636,879.711181649,788.288818351,804,653,632,653,0.400992119303,-0.0154004815782,0.0498618287662,0.999999967382,-2.13013673215e-05,-0.000251207358592,-4.09631797949e-05,1793239118724910336
+97,1.616666667,BASELINE,766.295775745,745.295775745,715,679,665,636,880,788,804,653,632,653,0.400992281313,-0.0154006575464,0.0498617614865,0.999999967402,-2.14295088659e-05,-0.000251114765007,-4.0955130084e-05,1793239118741577216
+98,1.633333333,BASELINE,766.87379303,745.87379303,715,679,665,636,880,788,804,653,632,653,0.400993815854,-0.0154023920691,0.0498621228814,0.999999967669,-2.32113588094e-05,-0.000249917075313,-4.08055563522e-05,1793239118758244096
+99,1.650000000,BASELINE,767,745.550748871,715,679,665,636,880,788.449251129,804,652.550748871,632,653,0.400993044052,-0.0154026597937,0.0498616082592,0.999999967479,-2.26621406162e-05,-0.000250746254174,-4.06664151382e-05,1793239118774910976
+100,1.666666667,BASELINE,767,745,715,679,665,636,880,788.975407163,804,652,631.975407163,653,0.40099165208,-0.0154025185179,0.0498608451067,0.999999967158,-2.15340655723e-05,-0.000252144357717,-4.05334751505e-05,1793239118791578112
+101,1.683333333,BASELINE,767,745,715,679,665,636,880,788.386328145,804,652,631.386328145,653,0.40099081271,-0.0154023939828,0.0498599941119,0.99999996678,-2.20653933268e-05,-0.000253605513275,-4.04759836127e-05,1793239118808244224
+102,1.700000000,BASELINE,767,745,715,679,665,636,880,788,804,652.199488847,631.199488847,653,0.400991211444,-0.0154023116392,0.0498602661652,0.999999966833,-2.26967814343e-05,-0.000253350398016,-4.04152888883e-05,1793239118824910848
+103,1.716666667,BASELINE,767,745,715,679,665,636,880,788,804,652.7790902,631.7790902,653,0.400993969298,-0.0154023096887,0.049862678111,0.999999967703,-2.35188277156e-05,-0.000249825044631,-4.0348490715e-05,1793239118841577472
+104,1.733333333,BASELINE,767,745,715,679,665,636,880,788.356329158,804.356329158,653,632,653,0.400993692241,-0.0154021951801,0.0498624825755,0.999999967659,-2.28624097543e-05,-0.000250050348947,-4.04340415652e-05,1793239118858243840
+105,1.750000000,BASELINE,767,745,715,679,665,636,880,788.932113228,804.932113228,653,632,653,0.400991546054,-0.0154020113493,0.0498606811527,0.999999967049,-2.12954398377e-05,-0.000252585596511,-4.06134206594e-05,1793239118874910208
+106,1.766666667,BASELINE,767,745,715,679,665,636,880,788.492801085,804.492801085,653,632,653,0.40099174979,-0.0154038561058,0.0498612178236,0.99999996715,-2.42323825665e-05,-0.000251962431673,-4.03526881242e-05,1793239118891576832
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,679,665,637,880,788,804,652,632,653,0.400991618989,-0.0154028949551,0.0498611169435,0.999999967106,-2.35273939509e-05,-0.00025211824405,-4.0887481619e-05,1793239118934223360
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745.41704427,715,678.41704427,665,636.41704427,880,788,804,652.58295573,632,653,0.400992837359,-0.0154035692829,0.049861961181,0.999999967441,-2.43484060637e-05,-0.000250771188294,-4.04745455177e-05,1793239118950889472
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,715,678.163166225,665,636,880,788.163166225,804,653,632,653,0.400993258784,-0.0154039015284,0.0498623715895,0.999999967561,-2.48351597095e-05,-0.000250272293119,-4.03193549055e-05,1793239118967555328
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,715,678.736476267,665,636,880,788.736476267,804,653,632,653,0.400991676963,-0.0154033738967,0.049861691501,0.999999967139,-2.44817026097e-05,-0.00025190538189,-4.08120477922e-05,1793239118984221696
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636.317266996,880,788.682733004,804,652.682733004,632,653,0.400991119588,-0.0154025538563,0.0498613430813,0.999999967015,-2.34100072418e-05,-0.000252474093649,-4.09723708471e-05,1793239119000888064
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636.904421233,880,788.095578767,804,652.095578767,632,653,0.400991433673,-0.0154014850748,0.0498612767998,0.999999967143,-2.17273332974e-05,-0.000252137379349,-4.08499592107e-05,1793239119017554432
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,715,679,665,636.51508496,880,788.48491504,804,652,632,653,0.400992566108,-0.0154013800702,0.0498623131385,0.999999967545,-2.1090561527e-05,-0.000250612596124,-4.07278575187e-05,1793239119034221568
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,715,679,664.936103093,636.063896907,880,788.936103093,804,652.063896907,632,653,0.400993760186,-0.0154017857522,0.0498634235473,0.999999967929,-2.09448812125e-05,-0.00024911714725,-4.05501533388e-05,1793239119050888192
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,715,679,664.358863996,636.641136004,880,788.358863996,804,652.641136004,632,653,0.400994171181,-0.0154047887665,0.0498634066685,0.999999967758,-2.31108225653e-05,-0.000249713205589,-3.99252594567e-05,1793239119067554816
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.782389375,745,715,679,664.217610625,636.782389375,880.217610625,788.217610625,804,653,632,653,0.40100164132,-0.0154062802339,0.0498660364605,0.99999996898,-2.40841234217e-05,-0.000244760594359,-3.93888288844e-05,1793239119084221184
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.207171103,745,715,679,664.792828897,636.207171103,880.792828897,788.792828897,804,653,632,653,0.401020712015,-0.0154052877195,0.0498730156252,0.999999972364,-2.30975134961e-05,-0.000230689647592,-3.8997773422e-05,1793239119100887808
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,665,636,880.622272862,788.622272862,804,653,632.377727138,653.377727138,0.401058428506,-0.0154068507405,0.0498865868703,0.999999978427,-2.36939526678e-05,-0.000202913778062,-3.75617669217e-05,1793239119117554432
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665,636,880.031925781,788.031925781,804,653,632.968074219,653.968074219,0.401106640586,-0.0154098522544,0.0499038687516,0.999999985036,-2.51814789043e-05,-0.000167423502581,-3.55375647738e-05,1793239119134221312
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.547692633,745.547692633,715,678.452307367,665,636,880,788,804,653,632.452307367,653.452307367,0.40117595321,-0.0154134503098,0.0499220373992,0.999999990739,-2.46182393879e-05,-0.00012955307605,-3.36319386379e-05,1793239119150887936
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,715,678.125804719,665,636,880,788,804,653,632,653,0.401247595449,-0.0154173359,0.0499382722438,0.999999994407,-2.46848918442e-05,-9.77900009142e-05,-3.18372906617e-05,1793239119167554560
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,715,678.700729144,665,636,880,788,804,653,632,653,0.401323247733,-0.0154221262282,0.049947422475,0.999999995262,-2.74188057947e-05,-8.83157987415e-05,-3.04146301093e-05,1793239119184221184
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745.724553965,715,678.724553965,664.724553965,636,880,788.275446035,804.275446035,653,632,653,0.401405173024,-0.0154282152902,0.0499531109321,0.999999995744,-2.99898589306e-05,-8.23272916282e-05,-2.88897469572e-05,1793239119200887808
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745.150062424,715,678.150062424,664.150062424,636,880,788.849937576,804.849937576,653,632,653,0.40149390877,-0.0154357143575,0.0499550410193,0.999999995894,-3.23840976164e-05,-8.01231250574e-05,-2.72538831377e-05,1793239119217554688
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,715,678,664.435756905,636,880,788.564243095,804.564243095,653,632,653,0.401603118893,-0.0154416960381,0.0499569984086,0.999999996116,-3.41682232044e-05,-7.68259759728e-05,-2.6434982073e-05,1793239119234221312
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,715,678.025178229,665,636,880,788,804,653,632,653,0.401720430217,-0.0154472439436,0.0499588273017,0.999999996329,-3.56963056462e-05,-7.347093255e-05,-2.58851138036e-05,1793239119250887680
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,715,678.605708848,665,636,880,788,804,653,632,653,0.401856759453,-0.0154550574573,0.0499576090557,0.999999996037,-3.63348417834e-05,-7.73625288948e-05,-2.48981890266e-05,1793239119267554304
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.184957366,715.184957366,679,665,636,880,788,804,653,632,653,0.40200222601,-0.0154633551185,0.0499557537935,0.999999995644,-3.77160269844e-05,-8.19229628592e-05,-2.40499545335e-05,1793239119284221184
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.761491451,715.761491451,679,665,636,880,788,804,653,632,653,0.402167037342,-0.0154726777767,0.0499525498927,0.999999995034,-4.0669488412e-05,-8.78994050394e-05,-2.34953439761e-05,1793239119300888064
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.656887327,715.656887327,679,665,636,880,788,804,653,631.656887327,653,0.402354142035,-0.0154827588043,0.0499544068074,0.99999999533,-4.33338283064e-05,-8.35272531844e-05,-2.20122201545e-05,1793239119317554688
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.071676597,715.071676597,679,665,636,880,788,804,653,631.071676597,653,0.402556976796,-0.0154933749333,0.0499598346002,0.999999996173,-4.57941662361e-05,-7.18532016668e-05,-1.98739433878e-05,1793239119334221312
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,715,678.491826745,664.491826745,636,880,788.508173255,804,652.491826745,631,653,0.402807066963,-0.0155051962388,0.0499678922308,0.999999997186,-4.67306699077e-05,-5.61670738166e-05,-1.70332629226e-05,1793239119350887936
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.913112388,745.086887612,715,678.086887612,664.086887612,636,880,788.913112388,804,652.086887612,631.086887612,653,0.403067609928,-0.0155165368762,0.0499757922881,0.999999998014,-4.59941906126e-05,-4.06953122527e-05,-1.41272001379e-05,1793239119367554304
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.336580098,745.663419902,715,678.663419902,664.663419902,636,880,788.336580098,804,652.663419902,631.663419902,653,0.403349889319,-0.0155242208292,0.0499807358404,0.999999998812,-3.70284028622e-05,-2.95873139996e-05,-1.14051638821e-05,1793239119384222208
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.240234864,745.759765136,715,679,664.759765136,636,879.759765136,788.240234864,804,653,632,653,0.40365037147,-0.0155240881944,0.049986432407,0.999999999609,-1.92608730039e-05,-1.83161469862e-05,-8.70049030579e-06,1793239119400889344
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.817446292,745.182553708,715,679,664.182553708,636,879.182553708,788.817446292,804,653,632,653,0.403976386549,-0.0155129912599,0.0499931852235,0.9999999999,1.08528278084e-05,-6.81610440592e-06,-6.02017145547e-06,1793239119417555456
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,715,679,664.402370369,636,879.402370369,788.597629631,803.597629631,652.597629631,632,653,0.404322633643,-0.0155062887323,0.0499996899403,0.999999999307,3.6675685644e-05,5.2689474006e-06,-3.55765184288e-06,1793239119434221568
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,715,679,664.990862008,636,879.990862008,788.009137992,803.009137992,652.009137992,632,653,0.40467823929,-0.0155016188909,0.0500060798953,0.999999998013,6.05137614275e-05,1.76246019619e-05,-1.1958779699e-06,1793239119450887936
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745.569021432,715.569021432,678.430978568,665,636,880,788,803.569021432,652.569021432,632,653,0.405071842757,-0.0155105770143,0.0499970913297,0.999999997658,6.84269544753e-05,6.76907551209e-08,1.28814051254e-06,1793239119467554560
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745.853545616,715.853545616,678,664.853545616,636,880,788,803.853545616,652.853545616,632,653,0.405467895679,-0.0155183339176,0.0499854562495,0.999999996675,7.8302763619e-05,-2.25429845815e-05,3.31890052094e-06,1793239119484221440
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745.277764669,715.277764669,678,664.277764669,636,880,788,803.277764669,652.277764669,632,653,0.405869372117,-0.0155219393591,0.0499667740551,0.999999993795,9.46682441791e-05,-5.85855361507e-05,4.01529441598e-06,1793239119500888064
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,715,678.304272499,664.304272499,636,880,788,803.304272499,652,632,653,0.406298500948,-0.0155237883892,0.0499527487751,0.999999990326,0.000113348090568,-8.04324147292e-05,5.6135903859e-06,1793239119517554944
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,715,678.892140816,664.892140816,636,880,788,803.892140816,652,632,653,0.406753403116,-0.0155240003644,0.0499430639491,0.999999987,0.000134185033214,-8.90482841589e-05,8.05250022459e-06,1793239119534222080
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,715,678.526596833,664.526596833,636,879.526596833,788,804,652,632,653,0.407268265196,-0.015522171733,0.0499453439003,0.999999983256,0.00016232189535,-8.37296974299e-05,1.13329928976e-05,1793239119550888448
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.947126651,745,715,678.052873349,664.052873349,636,879.052873349,788,804,652.052873349,632,653,0.407803392964,-0.0155203575542,0.04995218069,0.999999978896,0.000191747548778,-7.22062923548e-05,1.50692184501e-05,1793239119567554816
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.370703849,745,715,678.629296151,664.629296151,636,879.629296151,788,804,652.629296151,632,653,0.408405780638,-0.0155232268176,0.0499775175489,0.999999975618,0.00021769250934,-3.02471166063e-05,2.14455768515e-05,1793239119584221440
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.20461737,745.20461737,715,679,665,636,880,788.20461737,804,653,632,653,0.409008354518,-0.0155269159435,0.0499973396571,0.999999970368,0.000241902310981,1.61677715788e-06,2.72837823441e-05,1793239119600888064
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.777953509,745.777953509,715,679,665,636,880,788.777953509,804,653,632,653,0.409611263905,-0.0155320824546,0.0500072242295,0.999999964786,0.000262985370071,1.52890555437e-05,3.21522405326e-05,1793239119617554688
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.6368848,715,678.6368848,665,636,880,788.6368848,804,652.6368848,631.6368848,653,0.410207991866,-0.0155361129048,0.050003335516,0.999999958467,0.000285947116438,6.13239781489e-06,3.55390614936e-05,1793239119634221312
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.044248324,715,678.044248324,665,636,880,788.044248324,804,652.044248324,631.044248324,653,0.41080081259,-0.0155394252627,0.0499907408538,0.999999951046,0.000310096360166,-1.74541893495e-05,3.79893550357e-05,1793239119650887936
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,715,678,665,636,880,788,804,652.536219596,631.536219596,653,0.41143062749,-0.0155361253381,0.0499631468447,0.999999939345,0.00033896963277,-6.98818152132e-05,3.90677995358e-05,1793239119667554816
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,715.114293191,678.114293191,665.114293191,636,880,788,804,652.885706809,632,653,0.412089227152,-0.0155337053134,0.0499452842661,0.99999993874,0.00033224938833,-0.000102234246304,4.09583160089e-05,1793239119684221440
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,715.686705066,678.686705066,665.686705066,636,880,788,804,652.313294934,632,653,0.412851239286,-0.0155369507129,0.0499712790402,0.999999981473,0.000181332640467,-4.47919761167e-05,4.65475239247e-05,1793239119700888064
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,715.738610296,679,665.738610296,636,880,788,804,652.261389704,632,653,0.413600687487,-0.0155437838734,0.0499886821948,0.999999997624,5.6274363014e-05,-1.15612752232e-05,3.81048800339e-05,1793239119717554944
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,715.161177615,679,665.161177615,636,880,788,804,652.838822385,632,653,0.414334944898,-0.0155549549507,0.0499956973343,0.999999999187,-3.75187824229e-05,-7.60446906592e-06,1.26965035303e-05,1793239119734221824
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745,715,679,664.575308125,636,880,788,804,652.575308125,632,653,0.415047892644,-0.0155636092899,0.0499743162811,0.999999998042,-4.37001075826e-05,-4.42456714561e-05,6.93159484335e-06,1793239119750888192
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,715,679,664,636,880,788.013614249,804,652.013614249,631.986385751,653,0.41575494219,-0.0155710303434,0.0499428442432,0.999999995321,-1.56154385885e-05,-9.50580002412e-05,8.83996775493e-06,1793239119767554560
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,715,679,664,636,880,788.593638042,804,652.593638042,631.406361958,653,0.416559891836,-0.0155676849762,0.0499489935402,0.999999996236,2.66949556857e-05,-8.14348081128e-05,1.35424189119e-05,1793239119784221440
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,715,679,664.172450958,636,880,788.827549042,804,652.827549042,631.172450958,653,0.417381751893,-0.0155646904655,0.049961784608,0.999999995972,6.73460134357e-05,-5.63674654242e-05,1.85285892882e-05,1793239119800888064
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,715,679,664.748430436,636,880,788.251569564,804,652.251569564,631.748430436,653,0.418243181605,-0.0155625169454,0.0499901171603,0.999999994278,0.000104114285838,-4.5212574647e-06,2.41786513075e-05,1793239119817555200
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.328789154,715.328789154,679,665,636,880.328789154,788,804,652,632,652.671210846,0.419050899627,-0.0155608595846,0.0499936159544,0.999999991191,0.000130064538773,-3.96108187125e-06,2.61671630281e-05,1793239119834221824
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745.912543806,715.912543806,679,665,636,880.912543806,788,804,652,632,652.087456194,0.419816965905,-0.0155596024888,0.0499778569599,0.999999987851,0.000147625761128,-4.31715904897e-05,2.53162590713e-05,1793239119850888192
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.50577384,715.50577384,679,664.50577384,636,880.50577384,788.49422616,804,652,632,652.49422616,0.42068300029,-0.0155625929816,0.049984654322,0.999999988083,0.000151017025975,-1.86463597784e-05,2.60953139687e-05,1793239119867554560
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745,715,679,664.075025479,636,880,788.924974521,804,652,632,653,0.421566232829,-0.0155663914153,0.0499958457118,0.999999988166,0.000150563253481,1.59204359428e-05,2.72921207438e-05,1793239119884221184
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745,715,679,664.652357369,636,880,788.347642631,804,652,632,653,0.422446666923,-0.015570587833,0.0500098438049,0.999999988713,0.000141084086384,4.25216552103e-05,2.93628143814e-05,1793239119900888064
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,715,679,664.770820008,636,880.229179992,788,804,652,632,653,0.423321368355,-0.015572161341,0.0500106950357,0.999999989529,0.000134298532359,4.46988573462e-05,3.01193192334e-05,1793239119917554944
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,715,679,664.194768092,636,880.805231908,788,804,652,632,653,0.424187393334,-0.0155697649843,0.0499916480334,0.999999990876,0.000131589854407,9.90946035958e-06,2.88867537647e-05,1793239119934221568
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.610444122,745,715,679,664.389555878,636,880.610444122,788,804,652,632,653,0.425056590524,-0.0155704171259,0.0499935232976,0.999999989705,0.000139944344769,1.13448611146e-05,2.96076835079e-05,1793239119950888192
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.021894642,745,715,679,664.978105358,636,880.021894642,788,804,652,632,653,0.425927408095,-0.0155726265068,0.0500060861111,0.99999998717,0.000153950141882,3.12846772291e-05,3.1326501095e-05,1793239119967554816
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665,636,880.55701739,788,804,652,632,653,0.426786406196,-0.0155723186339,0.0500101880503,0.999999985979,0.000162873967529,2.09399375046e-05,3.27869126506e-05,1793239119984221696
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.134745513,745,715,679,664.865254487,636,881,788,804,652,632,653,0.427636500463,-0.0155714072902,0.0500039381174,0.999999985806,0.000165155256825,-2.98794467365e-06,3.32177783115e-05,1793239120000888064
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.709821622,745,715,679,664.290178378,636,881,788,804,652,632,653,0.42845899052,-0.0155688417252,0.0499649279437,0.999999986551,0.000146371287437,-6.74798607566e-05,3.03168510945e-05,1793239120017554688
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745.284624804,715,679,664.569249608,636,880.715375196,788,804,652,632,653,0.429334865434,-0.0155678058921,0.0499542002624,0.999999986209,0.000144107861636,-7.70735438739e-05,2.95762671473e-05,1793239120034221312
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745.859149966,715,679,665.718299931,636,880.140850034,788,804,652,632,653,0.430265114648,-0.0155683281448,0.0499722792954,0.999999986457,0.000158671191028,-3.07514450098e-05,3.10360689147e-05,1793239120050888192
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,715,679.448216104,665.551783896,636,880,788,804,652,632,653,0.431112566083,-0.0155663835744,0.0499686962907,0.999999983703,0.000173521007301,-3.89806723728e-05,3.1071907319e-05,1793239120067554816
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745.959210645,715,680,664.959210645,636,880.040789355,788,804,652,631.959210645,653,0.431934520739,-0.0155637951754,0.0499586358607,0.999999980039,0.00018713301129,-6.2940905796e-05,3.06749522015e-05,1793239120084221696
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,745.382605552,715,680,664.382605552,636,880.617394448,788,804,652,631.382605552,653,0.432774792645,-0.0155632737818,0.0499559057182,0.999999980888,0.000183262626433,-6.08087093042e-05,3.06679403854e-05,1793239120100888576
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745,715,679.806632833,664.193367167,636,880.806632833,788.193367167,804.193367167,652,631.193367167,653,0.433614537813,-0.0155624991227,0.0499609617555,0.9999999822,0.000178897021695,-5.09081831267e-05,3.16862748394e-05,1793239120117555200
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745,715,679.231907177,664.768092823,636,880.231907177,788.768092823,804.768092823,652,631.768092823,653,0.434453244298,-0.0155612249735,0.0499813736864,0.999999984006,0.00017355474415,-2.56869663184e-05,3.47267959286e-05,1793239120134221824
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.647652005,745.352347995,715,679,665,636,880.352347995,789,805,652,632,653,0.43525062267,-0.0155587236457,0.0499815748961,0.999999982356,0.000180700675456,-3.70489540274e-05,3.55206148163e-05,1793239120150888448
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.056950417,745.943049583,715,679,665,636,880.943049583,789,805,652,632,653,0.436020043675,-0.0155553921659,0.0499681041152,0.999999977453,0.000196294532002,-7.31584610483e-05,3.4794602093e-05,1793239120167554816
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.52309279,745.47690721,715,679,664.47690721,636,881,789,805,652,632,653,0.436798562747,-0.015553569567,0.0499566127943,0.999999974511,0.000204401373107,-8.98887544759e-05,3.34479858757e-05,1793239120184221184
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,745,715.101280383,679.101280383,664.101280383,636,881,788.898719617,805,652,632,653,0.437582070612,-0.0155531658169,0.0499527535817,0.999999973788,0.000207768420702,-9.04670791403e-05,3.27337603985e-05,1793239120200887808
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745,715.676109079,679.676109079,664.676109079,636,881,788.323890921,805,652,632,653,0.438384365295,-0.015558643309,0.0499835916721,0.999999980492,0.00019270913719,-2.51929006371e-05,3.52859593509e-05,1793239120217554432
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,745,715.74852088,680,665,636,881,788,805,652,632,653,0.439142946172,-0.0155610410296,0.0499955452027,0.999999982774,0.000181956519462,1.89528991728e-06,3.66116648027e-05,1793239120234221312
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,745,715.172452159,680,665,636,881,788,805,652,632,653,0.439845104622,-0.015559463621,0.0499831240162,0.999999983511,0.000176762611432,-2.03040146366e-05,3.63543082138e-05,1793239120250887936
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,745,715,679.584996609,664.584996609,636,881,788,805,652,632,653,0.440531049676,-0.0155576163949,0.0499682877192,0.999999981229,0.00018507291103,-4.4781184288e-05,3.58367054767e-05,1793239120267554304
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664.839892702,636,881,788,804.839892702,652,632,653,0.442526922035,-0.0155676119097,0.0499717887755,0.999999977389,0.000206001521131,-3.43226821011e-05,4.00884819139e-05,1793239120317554688
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.267158153,636,881,788,804.267158153,652,632,653,0.443133457975,-0.0155726821179,0.0499728725316,0.99999997698,0.000208205321168,-3.12916278749e-05,4.13588041531e-05,1793239120334222080
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.692924366,664,635.692924366,881,788,804.307075634,652,631.692924366,653,0.443684091207,-0.0155759733135,0.0499452262547,0.999999973673,0.000211137716675,-8.01534908065e-05,4.0629053029e-05,1793239120350888704
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.117379865,664,635.117379865,881,788,804.882620135,652,631.117379865,653,0.444185850005,-0.0155777091607,0.0498924619984,0.999999961018,0.000214707104172,-0.000174384087245,3.81506853431e-05,1793239120367554560
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715.471771654,679.471771654,663.528228346,635.471771654,881,788,805,652,631.471771654,653,0.444702196343,-0.0155788495063,0.0498605863608,0.999999952191,0.000217832595847,-0.000216498924552,3.59868263931e-05,1793239120384221184
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715.359155652,679.359155652,663.640844348,635.359155652,881,788,805,651.359155652,631.359155652,653,0.445740145655,-0.0155864228726,0.0498448040426,0.999999951967,0.000216740731758,-0.000218707516707,3.54598986932e-05,1793239120417554688
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.216750243,745,715.216750243,679.216750243,663.783249757,635,881,787.783249757,805,651.216750243,631.216750243,653,0.446233650768,-0.0155916190938,0.0498489427776,0.999999955539,0.000213284595121,-0.000205200029454,3.63820511438e-05,1793239120434221312
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.789181287,745,715.789181287,679.789181287,663.210818713,635,881,787.210818713,805,651.789181287,631.789181287,653,0.446686824028,-0.0155954358806,0.0498482408101,0.999999956475,0.000209746384148,-0.000204203704004,3.6848973451e-05,1793239120450887936
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.625790417,745.374209583,716,679.625790417,663,635,881,787,805,651.625790417,632,653,0.447086463511,-0.015599729633,0.0498217652886,0.999999950309,0.000195922483164,-0.000244496994287,3.48928516988e-05,1793239120467554816
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.033417912,745.966582088,716,679.033417912,663,635,881,787,805,651.033417912,632,653,0.447454893024,-0.015604301455,0.0497802638719,0.999999936299,0.000176102058581,-0.000308861990079,3.15241033596e-05,1793239120484221696
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.124817263,635,881,787,805,652,631,653,0.448147041553,-0.0156112564912,0.0497380780487,0.999999927623,1.50368232893e-06,-0.000380457501826,-2.08869860548e-06,1793239120517554688
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+204,3.400000000,POSE1_TO_POSE2_PRESS,766.273386342,745,715,679.273386342,662.726613658,635,881,787,804.726613658,652,631,653,0.448821838557,-0.0156257837882,0.0497533537384,0.999999938071,1.46486614237e-05,-0.000351598643619,4.58547516475e-06,1793239120550888448
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+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.970204839,716,679.029795161,663,635,880.970204839,787,805,652,631,653,0.449661089505,-0.0156379643828,0.0497656226228,0.999999940323,3.46243818966e-05,-0.000343548076492,1.14193911888e-05,1793239120600888320
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.394036778,716,679.605963222,663,635,880.394036778,787,805,652,631,653,0.449879469491,-0.0156390397254,0.0497593190534,0.999999936835,3.87961351241e-05,-0.000353091252607,1.22768529138e-05,1793239120617554688
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.181919536,716,680,662.818080464,635,880.181919536,787,805,652,631,653,0.450089319124,-0.015639368634,0.0497551620667,0.999999934113,4.41103077517e-05,-0.000360079361154,1.3098501585e-05,1793239120634221312
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.757417667,716,680,662.242582333,635,880.757417667,787,805,652,631,653,0.450280713514,-0.01563808265,0.0497556491615,0.999999933202,5.18960770694e-05,-0.000361539640545,1.38426694563e-05,1793239120650887936
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+243,4.050000000,POSE1_TO_POSE2_PRESS,766.913665647,746,716,679.086334353,662,634,880.086334353,787,805,652,630.913665647,653,0.451462072124,-0.0156403638502,0.0497214405172,0.999999902228,4.68754935219e-05,-0.00043942293294,1.59301925774e-05,1793239121200888064
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.505241293,746,716,679.494758707,662.494758707,634,880.494758707,787,805,652,631,653,0.451462645794,-0.0156413328516,0.0497219747141,0.999999902363,4.72710286279e-05,-0.000439048965175,1.66028034891e-05,1793239121217554944
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,716,680,662.925614206,634,881,787,805.074385794,652,631,653,0.451463401063,-0.0156423452061,0.0497225406444,0.999999902642,4.76095620064e-05,-0.000438351593787,1.72255044309e-05,1793239121234221568
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,746,716,680,662.347128166,634,881,787,805.652871834,652,631,653,0.451463767435,-0.015640533469,0.04972164519,0.999999902576,4.80055085429e-05,-0.000438487021254,1.64843905699e-05,1793239121250888192
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745.771085264,716,680,662,634,881,787,806,652,631,653,0.451463636306,-0.0156399557248,0.0497209147574,0.999999902394,4.72522527042e-05,-0.000439002383881,1.60219280742e-05,1793239121267554560
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745.198707948,716,680,662,634,881,787,806,652,631,653,0.451462758727,-0.0156412294573,0.0497204319226,0.999999902031,4.47747391537e-05,-0.000440087799433,1.59775526486e-05,1793239121284221696
+249,4.150000000,POSE1_TO_POSE2_PRESS,766.385636469,745.385636469,716,679.614363531,662,634,881,787,805.614363531,652,631,653,0.451463773947,-0.0156412812153,0.049721269561,0.999999902553,4.45778679659e-05,-0.000438913649546,1.61840789158e-05,1793239121300888320
+250,4.166666667,POSE1_TO_POSE2_PRESS,766.976344653,745.976344653,716,679.023655347,662,634,881,787,805.023655347,652,631,653,0.451465795709,-0.0156406831582,0.0497228093936,0.999999903541,4.55937848149e-05,-0.000436537919879,1.65240283559e-05,1793239121317554944
+251,4.183333333,POSE1_TO_POSE2_PRESS,766.443660037,745.443660037,715.443660037,679,662,634,881,787,805,652,630.443660037,653,0.451464446891,-0.0156409179189,0.0497215246159,0.999999902711,4.5116829485e-05,-0.000438499634579,1.61576071358e-05,1793239121334221824
+252,4.200000000,HOLD_POSE2,767,746,715,679,662,634,881,787,805,652,631,653,0.451461948783,-0.0156409403098,0.0497202890465,0.999999901806,4.32907461548e-05,-0.000440753861137,1.57792682043e-05,1793239121376011008
+253,4.216666667,HOLD_POSE2,766.411869866,745.411869866,715.588130134,679,662.588130134,634,881,786.411869866,805,652,631,653,0.451464839221,-0.0156403687043,0.0497218999862,0.999999902934,4.29646321742e-05,-0.000438216940442,1.58484067641e-05,1793239121392677632
+254,4.233333333,HOLD_POSE2,766,745.173633514,716,679.173633514,662.826366486,634,881,786.173633514,805,652,631,653,0.451466349854,-0.0156402721975,0.0497227172151,0.999999903551,4.25986333226e-05,-0.000436840439265,1.5944728435e-05,1793239121409344512
+255,4.250000000,HOLD_POSE2,766,745.752999033,716,679.752999033,662.247000967,634,881,786.752999033,805,652,631,653,0.451464636277,-0.0156412858607,0.0497216797685,0.999999902984,4.21394348363e-05,-0.00043817550708,1.61045692985e-05,1793239121426011392
+256,4.266666667,HOLD_POSE2,766.330919588,746,716,680,662,634,881.330919588,787,805,652,630.669080412,653,0.451464319806,-0.0156413617553,0.0497212453286,0.99999990255,4.25273630132e-05,-0.000439119077288,1.6310017937e-05,1793239121442677760
+257,4.283333333,HOLD_POSE2,766.907766262,746,716,680,662,634,881.907766262,787,805,652,630.092233738,653,0.451465041612,-0.0156407407352,0.049721259021,0.999999902215,4.35448441385e-05,-0.000439771701007,1.65493605622e-05,1793239121459344128
+258,4.300000000,HOLD_POSE2,766.519018836,746,716,680,662,634,881.519018836,787,805,652,630.480981164,653.480981164,0.451464828626,-0.0156404677861,0.0497206903917,0.999999902265,4.26100492756e-05,-0.000439765013831,1.61872242368e-05,1793239121476010752
+259,4.316666667,HOLD_POSE2,766,746,716,680,662,634,881.055412695,787,805.055412695,652,631,653.88917461,0.45146454323,-0.0156401320665,0.0497201548534,0.999999902367,4.17087300215e-05,-0.000439634544753,1.5764558022e-05,1793239121492677376
+260,4.333333333,HOLD_POSE2,766,746,716,680,662,634,881.648351118,787,805.648351118,652,631,652.703297764,0.451465281264,-0.01563854483,0.0497210154089,0.999999902284,4.47364798188e-05,-0.000439520577468,1.5865193068e-05,1793239121509343744
+261,4.350000000,HOLD_POSE2,766,746,716,680,662,634,881.764365989,787,805.764365989,652,631,652.235634011,0.451465766814,-0.015638042315,0.0497218476147,0.999999902374,4.61317331323e-05,-0.000439166041355,1.60213366569e-05,1793239121526010368
+262,4.366666667,HOLD_POSE2,766,746,716,680,662,634,881.185325364,787,805.185325364,652,631,652.814674636,0.451465884401,-0.0156391206438,0.0497226385042,0.999999902725,4.5147830107e-05,-0.000438460906776,1.6258376881e-05,1793239121542676992
+263,4.383333333,HOLD_POSE2,766.390786449,746,715.609213551,680,662,634,881,787,805,652,630.609213551,653,0.451466669824,-0.0156394488283,0.0497227293923,0.99999990321,4.47385783673e-05,-0.000437398506097,1.61602450267e-05,1793239121559343872
+264,4.400000000,HOLD_POSE2,766.965519696,746,715.034480304,680,662,634,881,787,805,652,630.034480304,653,0.451467769605,-0.015639423913,0.0497224907834,0.999999903758,4.45998202178e-05,-0.000436167936896,1.59043445953e-05,1793239121576010752
+265,4.416666667,HOLD_POSE2,766.446655996,745.446655996,715.553344004,680,662,634,881,787,805,652,630.553344004,653,0.451469257977,-0.0156403666451,0.0497231181493,0.999999904203,4.24560024542e-05,-0.00043533739435,1.65269744718e-05,1793239121592677376
+266,4.433333333,HOLD_POSE2,766,745.134913002,715.865086998,679.865086998,662.134913002,634,881,786.865086998,805,652,631,653,0.451469570158,-0.0156409911197,0.0497232102848,0.999999904136,4.08919119293e-05,-0.000435623588216,1.6960888679e-05,1793239121609344000
+267,4.450000000,HOLD_POSE2,766,745.694178831,715.305821169,679.305821169,662.694178831,634,881,786.305821169,805,652,631,653,0.45146610476,-0.0156404203022,0.0497214450761,0.999999902488,4.15537920435e-05,-0.000439342039848,1.66248587418e-05,1793239121626010368
+268,4.466666667,HOLD_POSE2,766.270735742,746,715,679.270735742,663,634.270735742,881,786.270735742,805.270735742,652,631,653,0.451464673702,-0.0156403051207,0.0497204054419,0.999999901748,4.15122916109e-05,-0.000441028139858,1.65517726548e-05,1793239121642677248
+269,4.483333333,HOLD_POSE2,766.868157046,746,715,679.868157046,663,634.868157046,881,786.868157046,805.868157046,652,631,653,0.451465697397,-0.0156407397365,0.0497202413285,0.999999902119,4.06220510769e-05,-0.000440261885448,1.67959700002e-05,1793239121659343872
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,716,679,662,634,881,787,805,652,631,653,0.45146549288,-0.0156394426325,0.0497200099324,0.999999901846,3.98032041517e-05,-0.000440971048353,1.63687921702e-05,1793239121692157184
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,715.406109346,679.593890654,662,634,881,787,805,652,631,653,0.451465305863,-0.0156401206729,0.0497202767601,0.999999901645,3.85891318422e-05,-0.000441539836115,1.62605486009e-05,1793239121708823808
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,715.182204005,680,662,634,881,787,805,652,631,653,0.451464988219,-0.0156409915457,0.0497203865634,0.999999901502,3.80433665905e-05,-0.000441908583922,1.62853967785e-05,1793239121725490176
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,746,715.75845559,680,662,634,881,787,805,652,631,653,0.451464388069,-0.0156422794516,0.0497201567741,0.999999901491,3.89429303588e-05,-0.000441844710945,1.65980787877e-05,1793239121742157056
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.333597634,746,716,680,662.333597634,634,881,786.666402366,805,652,631,653,0.451464884679,-0.0156406709857,0.0497207578827,0.999999901887,4.12101655846e-05,-0.000440749003387,1.63822150864e-05,1793239121758823936
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.907938933,746,716,680,662.907938933,634,881,786.092061067,805,652,631,653,0.451466172775,-0.0156369723275,0.049721958616,0.999999902566,4.44643928881e-05,-0.000438908663329,1.57849217068e-05,1793239121775490560
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766.518151954,746,716,680,662.518151954,634,881,786.481848046,805,652,631,653,0.451465292197,-0.0156391605629,0.0497213102764,0.999999902306,4.12342441164e-05,-0.000439800642578,1.62269388826e-05,1793239121792156928
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766.057862525,746,716,680,662,634,881,786.942137475,805,652,631,653,0.451463250405,-0.0156420587711,0.0497200264251,0.999999901593,3.71269965823e-05,-0.00044176328793,1.67648758046e-05,1793239121808823552
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766.654239015,746,716,680,662,634,881,786.345760985,805,652,631,653,0.451454254199,-0.0156411062135,0.0497161129642,0.999999898478,3.63765647583e-05,-0.000448836303225,1.6349135391e-05,1793239121825490176
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766.758183103,745.758183103,716,680,662,634,881,786.241816897,805,652,631,653,0.451437368406,-0.0156399117119,0.0497080912941,0.999999892134,3.70266988256e-05,-0.000462730194738,1.55291279811e-05,1793239121842156800
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766.182744244,745.182744244,716,680,662,634,881,786.817255756,805,652,631,653,0.451409597766,-0.0156383834133,0.0496944017457,0.999999881001,3.9609119504e-05,-0.000486034487073,1.41513748424e-05,1793239121858823424
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.389644264,716,680,662,634,880.610355736,787,805,652,631,653,0.45136589059,-0.0156356099328,0.0496758003541,0.999999864931,4.08886632971e-05,-0.000517987345114,1.24555433662e-05,1793239121875490048
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.960613311,716,680,662,634,880.039386689,787,805,652,631,653,0.451314767186,-0.0156322569946,0.0496549131869,0.999999845641,4.15619007296e-05,-0.000553964899687,1.06116908801e-05,1793239121892156672
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,716,680,662.552761742,634,880.552761742,786.447238258,805,652,631,653,0.45124912666,-0.015627249572,0.0496373663844,0.999999830805,4.17114647913e-05,-0.000580162384817,7.87034240023e-06,1793239121908823296
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.857197347,715.857197347,679.857197347,662.857197347,634,881,786.142802653,805,652,631,653,0.451180218347,-0.0156223525501,0.0496229541129,0.999999818916,4.26594534735e-05,-0.000600263762076,5.6493395404e-06,1793239121925490176
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745.278382391,715.278382391,679.278382391,662.278382391,634,881,786.721617609,805,652,631,653,0.451104616784,-0.0156181668943,0.0496173566705,0.999999816534,4.61637010117e-05,-0.000603964700891,5.22011804313e-06,1793239121942156544
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.298117035,715.298117035,679.298117035,662,634,881,787,805,652,631,653,0.45102039122,-0.0156126043279,0.0496157962382,0.999999816617,4.9751014378e-05,-0.00060354697951,4.70438430968e-06,1793239121958822912
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.872470843,715.872470843,679.872470843,662,634,881,787,805,652,631,653,0.450928174617,-0.0156057659094,0.0496179765206,0.999999818977,5.34152967557e-05,-0.000599312886247,4.10848792034e-06,1793239121975489536
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745.553445296,715.553445296,680,662,634,880.553445296,787,805,652,630.553445296,653,0.450819777713,-0.0155993185734,0.0496223936003,0.999999823514,5.61469538802e-05,-0.000591442580486,4.01174786046e-06,1793239121992156416
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715.021293445,680,662,634,880.021293445,787,805,652,630,653,0.450705765961,-0.0155928711077,0.0496274368876,0.999999828591,5.86475075262e-05,-0.000582547289073,4.02669421903e-06,1793239122008823296
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715.615733375,680,662,634,880.615733375,787,805,652,630,653,0.450564923881,-0.0155834157279,0.0496321517605,0.999999833331,6.20922697313e-05,-0.000573997424985,3.21318005411e-06,1793239122025490176
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.203836428,715.796163572,679.796163572,662.203836428,634,881,786.796163572,805,652,630,653,0.450410078441,-0.0155732826013,0.0496368163288,0.999999837614,6.6528632751e-05,-0.000565985931398,2.4133724166e-06,1793239122042156800
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.780353502,715.219646498,679.219646498,662.780353502,634,881,786.219646498,805,652,630,653,0.450229630229,-0.0155619103297,0.0496413889229,0.999999841133,7.27779708076e-05,-0.000558958758756,1.63862494998e-06,1793239122058823424
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745.643912514,715.356087486,679.356087486,663,634,881,786.356087486,805,652,630.356087486,653,0.450028673832,-0.0155499498869,0.0496435391693,0.999999842786,7.78808734983e-05,-0.000555304157581,7.15275665414e-07,1793239122075490048
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.068660451,715.931339549,679.931339549,663,634,881,786.931339549,805,652,630.931339549,653,0.449815095049,-0.0155376274356,0.0496441985106,0.999999843309,8.22781692352e-05,-0.000553725304619,-2.99535079186e-07,1793239122092156672
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,716,680,663,634,881,787,805,652,631,652.479699815,0.449571441523,-0.015524324929,0.0496457221136,0.999999843721,8.66641651442e-05,-0.000552306277229,-2.20686592667e-06,1793239122108823040
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.108009388,745.108009388,715.891990612,679.891990612,662.891990612,634,881,787,805,652,631,652,0.449314213071,-0.0155111522043,0.0496470538085,0.999999844064,9.07316207201e-05,-0.000551019199172,-4.13539341652e-06,1793239122125489920
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766.682295448,745.682295448,715.317704552,679.317704552,662.317704552,634,881,787,805,652,631,652,0.449015978326,-0.0154991131751,0.049647051356,0.999999844255,9.34305502048e-05,-0.000550208232057,-5.63321308337e-06,1793239122142156544
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746,715,679.258809766,662,634.258809766,881,787,805.258809766,652,631,652.258809766,0.4486980647,-0.0154895993453,0.0496472395881,0.999999845729,9.19678619047e-05,-0.000547745883191,-7.6564877237e-06,1793239122158823168
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746,715,679.838083126,662,634.838083126,881,787,805.838083126,652,631,652.838083126,0.448355784297,-0.0154832122702,0.0496476639299,0.99999984875,8.53521724182e-05,-0.000543238759386,-1.03303914653e-05,1793239122175490048
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766.583775509,745.583775509,715,680,662.416224491,634.583775509,881,787,805.583775509,652,631,653,0.447992300428,-0.0154807763464,0.0496502763792,0.999999853674,7.46665601154e-05,-0.000535647498525,-1.26232177584e-05,1793239122192156928
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745.811951038,715,678.811951038,664,636.811951038,880,788,803.811951038,652.188048962,632,653,0.404840196531,-0.0153633783567,0.0497879664686,0.999999924928,-9.14382542815e-05,-0.000371282005058,-6.27144739911e-05,1793239123208824064
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745.612427134,715.387572866,679,664,636.612427134,880,788,804,652.387572866,632,653,0.404478159852,-0.0153667031495,0.0498032035898,0.999999933299,-0.000100864150244,-0.000345484637979,-6.21924796784e-05,1793239123225490432
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.858603592,745,715,679,664.141396408,636,880,788,804,652.858603592,632,653,0.403528008195,-0.0153797984741,0.0498642525741,0.999999957967,-0.000132307981519,-0.000251440205457,-5.7775532868e-05,1793239123275489792
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.277450437,745,715,679,664.722549563,636,880,788,804,652.277450437,632,653,0.403223316481,-0.0153795981672,0.0498624119122,0.999999955064,-0.000142142174833,-0.000257210407921,-5.92561659246e-05,1793239123292156416
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.869342358,745,715,678.130657642,665,636,880,788,804,652,632,653,0.40267344587,-0.0153794289355,0.0498444740978,0.999999943457,-0.000151950234114,-0.000293665217158,-6.12946007592e-05,1793239123325489920
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745.217353761,715,678.217353761,664,636,879.217353761,788.217353761,804,652.217353761,631.782646239,653,0.401724062274,-0.0153824098057,0.0498249161279,0.999999930454,-0.000170288740827,-0.000325731300775,-6.31817814099e-05,1793239123408823296
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745,715,678,664.738408974,636,879,788,804,653,631.261591026,653,0.401192468173,-0.0153880072524,0.0498431218984,0.999999956414,4.64881765045e-05,-0.000288852028445,-3.96810650071e-05,1793239123508823552
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745,715,678,664.163303675,636,879,788,804,653,631.836696325,653,0.401139526607,-0.015390863266,0.0498418145093,0.999999955974,3.89289006737e-05,-0.000291359044576,-4.05686160505e-05,1793239123525490176
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745,715,678.413650397,664,636,879.413650397,788,804,653,632,653,0.401101271873,-0.0153924368345,0.0498428291403,0.99999995679,3.4078547858e-05,-0.000289089574876,-4.10512757377e-05,1793239123542156800
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,715,678.991337604,664,636,879.991337604,788,804,653,632,653,0.401068841336,-0.0153935018377,0.0498447645893,0.999999958094,3.03024431639e-05,-0.000284925946423,-4.13733720711e-05,1793239123558823168
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.416825624,745,715,678.416825624,664,636,880,788,804,653,632,653,0.40104689631,-0.0153925468591,0.0498453968427,0.999999958646,3.11869981993e-05,-0.000282853566343,-4.15809102469e-05,1793239123575490048
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.170879918,745,715,678.170879918,664.170879918,636,879.829120082,788,804,653,632,653,0.401027751868,-0.0153922102911,0.0498465209438,0.999999959381,3.07727315582e-05,-0.000280278615531,-4.16560410372e-05,1793239123592156416
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745.323702853,715,678.676297147,664.676297147,636,879.323702853,788,804,653,632,653,0.401006444534,-0.015394379402,0.0498504963825,0.999999961586,2.46427598678e-05,-0.000272975796536,-4.12973666475e-05,1793239123625490176
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745.897684394,715,678.102315606,664.102315606,636,879.897684394,788,804,653,632,653,0.401001414495,-0.0153951505303,0.0498515837844,0.99999996248,2.31251082642e-05,-0.00026982035517,-4.12615205241e-05,1793239123642156800
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745.514771587,715,678.485228413,664,636,880,788,804,653,632,653,0.400997782676,-0.0153959391085,0.0498521416597,0.999999962663,2.39844364507e-05,-0.000269119780196,-4.09003078476e-05,1793239123658823424
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,664,636,880,788,804,652.925931455,632,652.925931455,0.400994943674,-0.0153968964873,0.0498527945496,0.999999962809,2.47376657233e-05,-0.000268573988882,-4.04624042835e-05,1793239123675490048
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,664,636,880,788,804,652.348281369,632,652.348281369,0.400995432775,-0.0153989757825,0.0498548743949,0.99999996374,2.12638918333e-05,-0.000265460027465,-3.99829519331e-05,1793239123692156672
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.228722974,636,879.771277026,788,804,652.228722974,632,652.228722974,0.400995513861,-0.0153996473956,0.0498563438856,0.999999964442,1.87168054659e-05,-0.000262981380439,-4.0082351673e-05,1793239123708823296
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.804746763,636,879.195253237,788,804,652.804746763,632,652.804746763,0.400994975401,-0.0153981815359,0.0498568865927,0.99999996482,1.75768334603e-05,-0.000261467416792,-4.10607003319e-05,1793239123725489920
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.619323535,636,879.380676465,788,804,652.619323535,632,653,0.400995698098,-0.0153987593286,0.0498577411336,0.999999965276,1.65827915936e-05,-0.000259797873728,-4.0956937838e-05,1793239123742156544
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.043442099,636,879.956557901,788,804,652.043442099,632,653,0.400997067495,-0.0154003850746,0.0498587555781,0.999999965771,1.56635804679e-05,-0.000258048552005,-4.02982855411e-05,1793239123758823424
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.453402163,745,715,678.453402163,664,636,881.093195675,788,804,652,632,653,0.400995761355,-0.0154010152526,0.0498587215311,0.999999965599,1.54828453571e-05,-0.00025874011128,-4.02050505515e-05,1793239123775490048
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.135056165,745,715,678,664,636,881.72988767,788,804,652.135056165,631.864943835,653,0.400994121144,-0.0154010646789,0.0498583849162,0.999999965338,1.58252782781e-05,-0.000259717039719,-4.02660547694e-05,1793239123792156672
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.714509004,745,715,678,664,636,880.570981992,788,804,652.714509004,631.285490996,653,0.400992099987,-0.0153994704465,0.0498573342035,0.999999964961,1.7690914556e-05,-0.000260977658026,-4.06827786368e-05,1793239123808823552
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.709151538,745,715,678.290848462,664.290848462,636,880,788.290848462,804,653,631.290848462,653,0.400992271701,-0.0153994328056,0.0498574827415,0.999999965244,1.87465353295e-05,-0.000259814682198,-4.07128075395e-05,1793239123825490176
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.135835678,745,715,678.864164322,664.864164322,636,880,788.864164322,804,653,631.864164322,653,0.400994573095,-0.0154009069013,0.0498587959727,0.99999996616,1.90154821542e-05,-0.000256297950456,-4.0367284494e-05,1793239123842156544
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.437334422,745,715,679,665,636,880,788.562665578,804,653,632,653,0.400994778471,-0.0154000610615,0.0498591005925,0.999999966227,1.89902022775e-05,-0.000256011083674,-4.05414860363e-05,1793239123858823168
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.989132485,636,880,788.010867515,804,653,632,653,0.40099436887,-0.0153985541057,0.0498591210631,0.999999966047,1.88315007892e-05,-0.000256674393143,-4.08645096114e-05,1793239123875489792
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.393635252,636,880,788.606364748,804,653,632,653,0.400995886757,-0.0154002326125,0.0498607027095,0.999999966659,1.64098391934e-05,-0.000254503584471,-4.05123841548e-05,1793239123892156672
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.195329734,636,880,788.804670266,804,653,632,653,0.400996413698,-0.0154010579829,0.0498614551174,0.999999966929,1.57226531397e-05,-0.000253515749284,-4.03009461327e-05,1793239123908823296
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,664.771556659,636,880,788.228443341,804,653,632,653,0.400995008275,-0.0154002197188,0.0498605904922,0.999999966545,1.84177319318e-05,-0.000254834738033,-4.03638516626e-05,1793239123925490176
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,745.346659615,715,679,665,636,880,788,804,653,632,653,0.400994542338,-0.0153997830228,0.0498607334202,0.999999966474,1.87660504421e-05,-0.000255089568873,-4.03634867463e-05,1793239123942156800
+406,6.766666667,POSE2_TO_POSE3_RETREAT,767,745.921024265,715,679,665,636,880,788,804,653,632,653,0.400994693506,-0.0153996100986,0.0498615381642,0.999999966611,1.7572888077e-05,-0.000254645402424,-4.0321562331e-05,1793239123958823680
+407,6.783333333,POSE2_TO_POSE3_RETREAT,767,745.493123073,715,679,665,636.506876927,880,788,804,653,631.493123073,653,0.400995099881,-0.0154003505463,0.0498613073349,0.999999966764,1.77863560317e-05,-0.000254030737818,-4.03106803542e-05,1793239123975490304
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.906508086,745.093491914,715,679,664.906508086,636.906508086,879.906508086,788,804,652.906508086,631,653,0.400995689839,-0.0154012100656,0.0498611652154,0.999999966976,1.76635845515e-05,-0.000253210641863,-4.02657515598e-05,1793239123992156672
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766.325468592,745.674531408,715,679,664.325468592,636.325468592,879.325468592,788,804,652.325468592,631,653,0.40099702499,-0.0154019311844,0.0498623466424,0.999999967476,1.4617950642e-05,-0.000251460995412,-4.00174657428e-05,1793239124008823296
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766.252216408,745.747783592,715,678.747783592,664.252216408,636,879,788,804.252216408,652.252216408,631.252216408,653,0.400996594969,-0.0154021808341,0.0498622397222,0.999999967407,1.37648228723e-05,-0.000251811157164,-3.98539430126e-05,1793239124025489920
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766.825629551,745.174370449,715,678.174370449,664.825629551,636,879,788,804.825629551,652.825629551,631.825629551,653,0.400993917007,-0.01540183007,0.0498604920965,0.999999966614,1.57038437725e-05,-0.000254835417259,-3.97983657502e-05,1793239124042156544
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,745,715,678.399151127,664.600848873,636,879.399151127,788,804.600848873,653,632,653,0.4009929919,-0.0154017594818,0.0498606711106,0.999999966521,1.65115093957e-05,-0.000255171575397,-3.96683902025e-05,1793239124058823168
+413,6.883333333,POSE2_TO_POSE3_RETREAT,767,745,715,678.972720051,664.027279949,636,879.972720051,788,804.027279949,653,632,653,0.40099283274,-0.0154018113227,0.0498616920122,0.999999966735,1.68248045207e-05,-0.00025433310853,-3.95059047036e-05,1793239124075490304
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,745,715,678.435019689,664.564980311,636,880,788,804,652.435019689,632,653,0.400992938165,-0.0154006040171,0.0498611670269,0.999999966594,1.72956496113e-05,-0.000254768325621,-4.00697026871e-05,1793239124092156928
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d291de19be8fe00564909dd59df023bb142e6d84
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,416 @@
+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,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
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+384,6.400000000,pose2_to_pose3_retreat,0.575700353354,-0.00990909520967,1.04003247106,0.546270803306,-0.00123736149619,1.03970059478
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+386,6.433333333,pose2_to_pose3_retreat,0.575680812758,-0.00990917642852,1.04003235988,0.546251264465,-0.00123743641216,1.03970049195
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+389,6.483333333,pose2_to_pose3_retreat,0.575670900579,-0.00990911782624,1.04003223584,0.5462413514,-0.00123738083261,1.03970036777
+390,6.500000000,pose2_to_pose3_retreat,0.575669955469,-0.00990913285439,1.04003229209,0.546240406405,-0.00123739552178,1.03970042272
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+392,6.533333333,pose2_to_pose3_retreat,0.575669337774,-0.00990914267634,1.04003232885,0.546239788784,-0.00123740512219,1.03970045863
+393,6.550000000,pose2_to_pose3_retreat,0.575669289546,-0.00990914344321,1.04003233172,0.546239740562,-0.00123740587176,1.03970046143
+394,6.566666667,pose2_to_pose3_retreat,0.575669085127,-0.00990914669367,1.04003234388,0.546239536168,-0.0012374090489,1.03970047331
+395,6.583333333,pose2_to_pose3_retreat,0.575668663083,-0.00990915340457,1.040032369,0.546239114175,-0.00123741560843,1.03970049785
+396,6.600000000,pose2_to_pose3_retreat,0.575668184453,-0.00990916634493,1.04003237773,0.546238635607,-0.0012374283746,1.03970050556
+397,6.616666667,pose2_to_pose3_retreat,0.575667857049,-0.00990918004764,1.04003236571,0.54623830825,-0.00123744195588,1.03970049252
+398,6.633333333,pose2_to_pose3_retreat,0.575667728039,-0.00990918544701,1.04003236098,0.54623817926,-0.00123744730739,1.03970048739
+399,6.650000000,pose2_to_pose3_retreat,0.575667695524,-0.00990918680787,1.04003235978,0.546238146749,-0.00123744865619,1.03970048609
+400,6.666666667,pose2_to_pose3_retreat,0.575667198489,-0.00990920761008,1.04003234154,0.546237649785,-0.00123746927404,1.0397004663
+401,6.683333333,pose2_to_pose3_retreat,0.575666654828,-0.0099092303637,1.04003232159,0.546237106203,-0.001237491826,1.03970044465
+402,6.700000000,pose2_to_pose3_retreat,0.575666597708,-0.00990923275432,1.0400323195,0.546237049092,-0.00123749419543,1.03970044237
+403,6.716666667,pose2_to_pose3_retreat,0.575666566714,-0.00990923405149,1.04003231836,0.546237018102,-0.0012374954811,1.03970044114
+404,6.733333333,pose2_to_pose3_retreat,0.575666524104,-0.00990923583484,1.04003231679,0.546236975498,-0.00123749724865,1.03970043944
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+407,6.783333333,pose2_to_pose3_retreat,0.575666061106,-0.00990925521251,1.0400322998,0.546236512567,-0.00123751645458,1.03970042101
+408,6.800000000,pose2_to_pose3_retreat,0.575665797851,-0.00990924535533,1.04003233768,0.546236249233,-0.00123750686648,1.03970045886
+409,6.816666667,pose2_to_pose3_retreat,0.575665698865,-0.00990923956542,1.04003235667,0.546236150205,-0.00123750121434,1.03970047792
+410,6.833333333,pose2_to_pose3_retreat,0.575665430143,-0.00990922384739,1.04003240821,0.546235881371,-0.00123748587034,1.03970052966
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..702af492ebb1cbc4bb49f0a0e3eccee008b65f03
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45872f0fb53655f2e36207da4bed763c84d0af0cdefd5ec1304ad4cc4e22646f
+size 26215010
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b9b5da97acbb57cc15740df537951f9082498e4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_01/franka_data.csv
@@ -0,0 +1,414 @@
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+29,0.483333333,BASELINE,767,745,716,679,662,636,879.186014023,788.186014023,804,652.186014023,631.186014023,653,0.401012812181,-0.0154918809762,0.0698450285324,0.999999984399,5.49001625374e-05,-0.000167726697801,7.4273484488e-06,1793239126224898560
+30,0.500000000,BASELINE,767,745.39850834,716,679,662,636,879.39850834,788.39850834,803.60149166,652,631.39850834,653,0.401013832878,-0.01549277345,0.0698456039545,0.999999984661,5.52469392174e-05,-0.000166034513426,7.5743748678e-06,1793239126241565440
+31,0.516666667,BASELINE,767,745.986427774,716,679,662,636,879.986427774,788.986427774,803.013572226,652,631.986427774,653,0.401014412886,-0.0154941885946,0.0698455943598,0.999999984828,5.55852609452e-05,-0.000164910911441,7.67902317732e-06,1793239126258232064
+32,0.533333333,BASELINE,767,745.430726547,715.430726547,678.430726547,662,636,880,788.430726547,803.569273453,652,632,653.569273453,0.401013913476,-0.0154928021227,0.0698448637562,0.999999984548,5.72831161025e-05,-0.000166021291869,7.78180160933e-06,1793239126274898688
+33,0.550000000,BASELINE,767,745.149136632,715.149136632,678.149136632,662,636,880,788.149136632,803.850863368,652.149136632,631.850863368,653.850863368,0.40101320598,-0.015491714379,0.0698442919917,0.999999984288,5.83387896869e-05,-0.000167217166658,7.7358370338e-06,1793239126291565056
+34,0.566666667,BASELINE,767,745.720887833,715.720887833,678.720887833,662,636,880,788.720887833,803.279112167,652.720887833,631.279112167,653.279112167,0.401011981104,-0.0154916607593,0.069844218617,0.999999984124,5.74836479966e-05,-0.000168505715333,7.26849851548e-06,1793239126308231424
+35,0.583333333,BASELINE,766.705860374,745.705860374,716,679,662,636,880,789,803.294139626,652.705860374,631.294139626,653,0.401012117993,-0.0154913737037,0.0698444810554,0.999999984198,5.79657914463e-05,-0.000167910927982,7.05127918339e-06,1793239126324898048
+36,0.600000000,BASELINE,766.131177286,745.131177286,716,679,662,636,880,789,803.868822714,652.131177286,631.868822714,653,0.401013553702,-0.0154908640024,0.0698450637846,0.999999984493,5.97234059378e-05,-0.000165519859134,7.07261759885e-06,1793239126341564672
+37,0.616666667,BASELINE,766,745,716,679,662,636,880,789,804,652.459717345,632,653,0.401013228635,-0.015491451082,0.0698446967153,0.999999984421,5.85388481908e-05,-0.000166365270629,7.36745856075e-06,1793239126358231296
+38,0.633333333,BASELINE,766,745,716,679,662.05352098,636,880,788.94647902,804,652.94647902,632,653,0.401012479261,-0.0154922545198,0.0698441739926,0.999999984256,5.66530261164e-05,-0.000167985121261,7.69929411499e-06,1793239126374898176
+39,0.650000000,BASELINE,766,745,716,679,662.628934847,636,880,788.371065153,804,652.371065153,632,653,0.401012670719,-0.0154920044349,0.0698448728169,0.999999984298,5.64146885179e-05,-0.000167822201858,7.60305075852e-06,1793239126391565056
+40,0.666666667,BASELINE,766.204449771,745,716,679.204449771,662.795550229,636,880,788.204449771,804,652.204449771,632,653,0.401013050922,-0.0154920745913,0.0698455137334,0.999999984386,5.60472967798e-05,-0.000167418371255,7.55213021442e-06,1793239126408231936
+41,0.683333333,BASELINE,766.780148166,745,716,679.780148166,662.219851834,636,880,788.780148166,804,652.780148166,632,653,0.401013773855,-0.0154927262559,0.0698460494983,0.99999998456,5.54455630396e-05,-0.000166577083823,7.58350877399e-06,1793239126424898560
+42,0.700000000,BASELINE,766.63681483,745,715.63681483,679.63681483,662,636,880,789,804,652.63681483,632,653,0.401013940909,-0.0154929839422,0.0698460873121,0.99999998455,5.59667290979e-05,-0.000166464754746,7.57209564285e-06,1793239126441564928
+43,0.716666667,BASELINE,766.049243853,745,715.049243853,679.049243853,662,636,880,789,804,652.049243853,632,653,0.401013764527,-0.0154929982179,0.0698458174779,0.999999984425,5.7181653621e-05,-0.000166802796262,7.53424462469e-06,1793239126458231552
+44,0.733333333,BASELINE,766,745,715.533067632,679,662,636,879.466932368,788.466932368,804,652,631.466932368,653,0.40101353537,-0.0154948359331,0.0698454744841,0.999999984509,5.4476452497e-05,-0.000167201636445,7.58052505871e-06,1793239126474898432
+45,0.750000000,BASELINE,766.113370641,745,716,679,662,636,879.113370641,788.113370641,804,652.113370641,631.113370641,653,0.401013186371,-0.0154959883879,0.0698451123057,0.999999984542,5.24652845231e-05,-0.000167649930459,7.60346422209e-06,1793239126491565056
+46,0.766666667,BASELINE,766.68746648,745,716,679,662,636,879.68746648,788.68746648,804,652.68746648,631.68746648,653,0.40101236997,-0.0154936781652,0.0698446993601,0.999999984316,5.47318817294e-05,-0.000168276597329,7.5002715526e-06,1793239126508231680
+47,0.783333333,BASELINE,766.737348774,745,716,678.737348774,662.262651226,636,880,789,804,652.737348774,632,653.262651226,0.401012336304,-0.015492636394,0.0698445111107,0.999999984255,5.61288080936e-05,-0.000168177436771,7.46057916966e-06,1793239126524898560
+48,0.800000000,BASELINE,766.160862849,745,716,678.160862849,662.839137151,636,880,789,804,652.160862849,632,653.839137151,0.401013237904,-0.0154931102601,0.0698445913447,0.999999984397,5.64865890696e-05,-0.000167211005131,7.49676151303e-06,1793239126541565440
+49,0.816666667,BASELINE,766,745,715.57522072,678.42477928,662.57522072,636.42477928,880,789,804,652,632,653.57522072,0.40101309532,-0.0154933018684,0.0698448803767,0.999999984357,5.67075513658e-05,-0.000167366456911,7.6346649928e-06,1793239126558232064
+50,0.833333333,BASELINE,766.013734309,745,715.013734309,679,662,636.986265691,879.986265691,788.986265691,804.013734309,652,631.986265691,653,0.401012552164,-0.0154933803647,0.0698452395675,0.999999984251,5.68554872962e-05,-0.000167944622142,7.80526798913e-06,1793239126574898432
+51,0.850000000,BASELINE,766.593179433,745,715.593179433,679,662,636.406820567,879.406820567,788.406820567,804.593179433,652,631.406820567,653,0.401012156023,-0.0154932995898,0.0698451599074,0.999999984272,5.61766644687e-05,-0.000168049085423,7.70110978009e-06,1793239126591565056
+52,0.866666667,BASELINE,767,745.171349441,716,679,662,636,879.171349441,788.171349441,804.828650559,652.171349441,631,653,0.401012466226,-0.0154930329233,0.0698455857675,0.999999984392,5.60131307391e-05,-0.000167390942933,7.64433525945e-06,1793239126608231424
+53,0.883333333,BASELINE,767,745.74651438,716,679,662,636,879.74651438,788.74651438,804.25348562,652.74651438,631,653,0.401014441056,-0.0154923281705,0.0698472029757,0.99999998474,5.70639676476e-05,-0.000164935584021,7.69922885168e-06,1793239126624898048
+54,0.900000000,BASELINE,767,745.671718827,716,679,662,636,880,789,804,653,631,653.328281173,0.401014831654,-0.0154924901977,0.0698470895403,0.999999984669,5.76853260077e-05,-0.000165155048731,7.67998059021e-06,1793239126641564928
+55,0.916666667,BASELINE,767,745.084749751,716,679,662,636,880,789,804,653,631,653.915250249,0.401013973867,-0.0154933352536,0.0698456123453,0.999999984266,5.79682521636e-05,-0.000167482293618,7.60230801742e-06,1793239126658231552
+56,0.933333333,BASELINE,767,745,716,679,662,636,880.49571349,789,804,652.50428651,631.49571349,653.50428651,0.401014294175,-0.0154927517922,0.0698461352591,0.999999984538,5.65304166435e-05,-0.000166345216538,7.55901248667e-06,1793239126674898688
+57,0.950000000,BASELINE,767,745,716,679,662.075030719,636,880.849938561,789,804,652.075030719,631.924969281,653,0.401014612339,-0.0154919414471,0.0698467719918,0.99999998482,5.53696679925e-05,-0.00016503827372,7.49963199977e-06,1793239126691565824
+58,0.966666667,BASELINE,767,745,716,679,662.654024273,636,879.691951454,789,804,652.654024273,631.345975727,653,0.401013580789,-0.0154912263423,0.0698459061846,0.999999984426,5.80204508207e-05,-0.000166517039689,7.29324800605e-06,1793239126708232192
+59,0.983333333,BASELINE,767,745,715.769406947,678.769406947,663,636,879.230593053,789,804,652.769406947,631,653.230593053,0.401012725188,-0.0154917639414,0.0698453478358,0.999999984252,5.81572687426e-05,-0.000167512130849,7.35354262648e-06,1793239126724898560
+60,1.000000000,BASELINE,767,745,715.196438289,678.196438289,663,636,879.803561711,789,804,652.196438289,631,653.803561711,0.401012130829,-0.0154941615067,0.0698452459893,0.999999984404,5.45614496745e-05,-0.000167789080671,7.80979125775e-06,1793239126741564928
+61,1.016666667,BASELINE,766.612169302,745,715,678.387830698,662.612169302,636,880,789,804,652,631,654,0.40101228311,-0.0154933697835,0.0698453379863,0.99999998428,5.66972727974e-05,-0.000167828554699,7.7217748139e-06,1793239126758231552
+62,1.033333333,BASELINE,766.022004895,745,715,678.977995105,662.022004895,636,880,789,804,652,631,654,0.401012824918,-0.0154909141885,0.0698455311126,0.999999983993,6.18233298235e-05,-0.000167744136094,7.34981183841e-06,1793239126774898176
+63,1.050000000,BASELINE,766,745,715,679,662,636,880,789,804,652,631,653.442392007,0.401012189463,-0.0154912868452,0.0698448939842,0.99999998399,5.9801385135e-05,-0.00016849888242,7.26054877707e-06,1793239126791565056
+64,1.066666667,BASELINE,766,745,715.135706554,679,662,636,880,788.864293446,804,652,631.135706554,653,0.401011534993,-0.0154917554014,0.0698441701344,0.999999983972,5.79409113778e-05,-0.000169256518795,7.15629867747e-06,1793239126808231424
+65,1.083333333,BASELINE,766,745,715.710229839,679,662,636,880,788.289770161,804,652,631.710229839,653,0.401010966468,-0.015492179855,0.0698432698428,0.999999983887,5.74977570457e-05,-0.000169918406122,6.96818255051e-06,1793239126824898304
+66,1.100000000,BASELINE,766,745,715.714440855,679,662,636,879.714440855,788,804,652,632,653,0.401011936622,-0.015492575312,0.0698438856998,0.999999984063,5.76387815124e-05,-0.000168820488716,7.11966505958e-06,1793239126841565184
+67,1.116666667,BASELINE,766,745,715.138291362,679,662,636,879.138291362,788,804,652,632,653,0.401014472562,-0.0154929412616,0.0698460444183,0.999999984501,5.83742773192e-05,-0.000165931760931,7.61672952803e-06,1793239126858232064
+68,1.133333333,BASELINE,766,745,715,679,662,636,879.449837708,788.449837708,804,652,632,653,0.401014626912,-0.0154926283232,0.0698466572387,0.999999984599,5.70357363353e-05,-0.000165812784648,7.47547466249e-06,1793239126874898688
+69,1.150000000,BASELINE,766,745.040681049,715.040681049,679,662,636,880,789,804,652,632,653,0.401014067319,-0.0154920847697,0.0698467260566,0.999999984578,5.53127252912e-05,-0.000166534871441,7.17375472116e-06,1793239126891565056
+70,1.166666667,BASELINE,766,745.61743302,715.61743302,679,662,636,880,789,804,652,632,653,0.401014011742,-0.0154913277708,0.0698460602037,0.999999984426,5.7155331862e-05,-0.00016681256018,7.41414266598e-06,1793239126908231680
+71,1.183333333,BASELINE,766.193345455,745.806654545,716,679,662.193345455,636,880,789,804,652,631.806654545,653,0.401013593566,-0.0154913657927,0.0698454062615,0.9999999843,5.75608009701e-05,-0.000167424909302,7.52100372365e-06,1793239126924898560
+72,1.200000000,BASELINE,766.767604011,745.232395989,716,679,662.767604011,636,880,789,804,652,631.232395989,653,0.401012461026,-0.0154929700983,0.0698447757847,0.999999984224,5.5134941967e-05,-0.000168696578465,7.36480128098e-06,1793239126941564928
+73,1.216666667,BASELINE,767,745,716,679,662.659009504,636,879.659009504,789,804,652.340990496,631.340990496,653.340990496,0.401012746771,-0.0154935171815,0.0698450595017,0.999999984334,5.50678183515e-05,-0.000168058905121,7.52239013602e-06,1793239126958231808
+74,1.233333333,BASELINE,767,745,716,679,662.08621588,636,879.08621588,789,804,652.91378412,631.91378412,653.91378412,0.401013996658,-0.0154933455715,0.0698459646817,0.999999984568,5.66041479001e-05,-0.000166123273048,7.8932922895e-06,1793239126974898944
+75,1.250000000,BASELINE,766.493067794,745.506932206,715.493067794,679,662,636,879.506932206,789,804,652.493067794,631.493067794,653.493067794,0.401014154602,-0.0154940498221,0.0698461881729,0.999999984665,5.56135614941e-05,-0.000165871562848,7.97268273583e-06,1793239126991565312
+76,1.266666667,BASELINE,766,745.900020394,715.099979606,679,662,636,879.900020394,789,803.900020394,652,631,653.099979606,0.401014113131,-0.0154947398389,0.0698463789309,0.999999984719,5.47130211567e-05,-0.000165843213923,8.01906895698e-06,1793239127008231936
+77,1.283333333,BASELINE,766,745.324602331,715.675397669,679,662,636,879.324602331,789,803.324602331,652,631,653.675397669,0.401014043431,-0.0154946241752,0.0698469884171,0.99999998469,5.63698438192e-05,-0.000165458166011,8.15413415243e-06,1793239127024898304
+78,1.300000000,BASELINE,766.250685614,745,716,678.749314386,662.250685614,636,879,789,803.250685614,652,631.250685614,653.749314386,0.401013820034,-0.0154939794245,0.0698470591466,0.999999984641,5.67091951836e-05,-0.00016564850181,7.92493497332e-06,1793239127041564928
+79,1.316666667,BASELINE,766.825805117,745,716,678.174194883,662.825805117,636,879,789,803.825805117,652,631.825805117,653.174194883,0.401013397727,-0.0154926499365,0.0698464326246,0.999999984567,5.53434931115e-05,-0.000166583491355,7.22430981966e-06,1793239127058231552
+80,1.333333333,BASELINE,767,745,716,678.411064265,662.588935735,636,879.411064265,789,803.588935735,652,631.588935735,653,0.401013101357,-0.0154926008421,0.0698455048751,0.999999984371,5.60044816499e-05,-0.000167541090801,7.18218876409e-06,1793239127074898432
+81,1.350000000,BASELINE,767,745,716,679,662,636,880,789,803,652,631.000716021,653,0.401012860507,-0.0154931070317,0.0698444490781,0.99999998412,5.75439349986e-05,-0.000168505691039,7.42592875092e-06,1793239127091565056
+82,1.366666667,BASELINE,767,745,716,679,662,636,880,789,803,652,631.579908208,653,0.401013268073,-0.0154927850748,0.069845680321,0.999999984349,5.73886523029e-05,-0.000167189651208,7.46952250623e-06,1793239127108231936
+83,1.383333333,BASELINE,766.8419269,745,716,679,662,636,879.8419269,789,803,652,631.8419269,653,0.401013425222,-0.0154926280727,0.0698464250147,0.999999984496,5.70380450327e-05,-0.00016642681907,7.49404344698e-06,1793239127124898816
+84,1.400000000,BASELINE,766.266474371,745,716,679,662,636,879.266474371,789,803,652,631.266474371,653,0.401012921166,-0.0154929066206,0.0698458850142,0.999999984429,5.61716987518e-05,-0.000167124687479,7.46820414991e-06,1793239127141565440
+85,1.416666667,BASELINE,766.315289052,745,716,679,662,636,879,789,803.315289052,652,631,653.315289052,0.401012716568,-0.0154919750092,0.0698459791079,0.999999984313,5.77900672021e-05,-0.00016726733178,7.51842031317e-06,1793239127158232064
+86,1.433333333,BASELINE,766.902495192,745,716,679,662,636,879,789,803.902495192,652,631,653.902495192,0.401012770235,-0.0154899997109,0.0698466200682,0.999999984144,6.15513467617e-05,-0.00016693112997,7.63422955583e-06,1793239127174898432
+87,1.450000000,BASELINE,766.516903188,745,716,679,662,636,879.483096812,789,804,652,631.483096812,653.516903188,0.401012601762,-0.0154900273949,0.0698461368153,0.999999984155,6.10601060089e-05,-0.000167042029811,7.62146662515e-06,1793239127191565056
+88,1.466666667,BASELINE,766.062124665,745,716,679,662,636,879.937875335,789,803.937875335,652,632,653,0.401012540676,-0.0154905237542,0.0698455992231,0.999999984224,5.97434328166e-05,-0.000167105208978,7.60075934703e-06,1793239127208231680
+89,1.483333333,BASELINE,766.639008677,745,716,679,662,636,879.360991323,789,803.360991323,652,632,653,0.401013735872,-0.0154915989663,0.0698464661235,0.999999984469,5.86031677997e-05,-0.000166035344494,7.72634606915e-06,1793239127224898304
+90,1.500000000,BASELINE,766.784452113,745,715.784452113,679,662,636,879.215547887,788.784452113,803.215547887,652,631.784452113,653,0.40101459606,-0.0154923412312,0.0698471920176,0.999999984647,5.79451453683e-05,-0.000165192928433,7.76799968258e-06,1793239127241565184
+91,1.516666667,BASELINE,766.2084895,745,715.2084895,679,662,636,879.7915105,788.2084895,803.7915105,652,631.2084895,653,0.401014896085,-0.0154925267792,0.069847682137,0.999999984715,5.80934744006e-05,-0.000164730825926,7.66930985988e-06,1793239127258231808
+92,1.533333333,BASELINE,766.375985054,745,715,679,662,636,880,788.375985054,803.624014946,652,631.375985054,653,0.40101335688,-0.0154937444932,0.0698464885661,0.999999984509,5.54912152508e-05,-0.000166872250626,7.52597693923e-06,1793239127274898176
+93,1.550000000,BASELINE,766.965288997,745,715,679,662,636,880,788.965288997,803.034711003,652,631.965288997,653,0.40101077417,-0.0154955478169,0.0698443397367,0.999999984122,5.132838234e-05,-0.000170490812532,7.35731530004e-06,1793239127291564544
+94,1.566666667,BASELINE,766.454687776,745,715.545312224,679,662,636,880,788.454687776,803.545312224,652,632,653,0.401012381888,-0.0154943245256,0.0698453142976,0.999999984291,5.42644191272e-05,-0.000168553239724,7.8994569032e-06,1793239127308231424
+95,1.583333333,BASELINE,766.124157327,745,716,679,662,636,880,788.124157327,804,652,632,653,0.401014077015,-0.0154929486018,0.0698463965345,0.999999984472,5.72627647086e-05,-0.000166454959057,8.29368858705e-06,1793239127324898048
+96,1.600000000,BASELINE,766.700825783,745,716,679,662,636,880,788.700825783,804,652,632,653,0.401015134824,-0.015491706794,0.0698471587286,0.999999984617,5.88688621851e-05,-0.000165038378098,7.98669585695e-06,1793239127341564928
+97,1.616666667,BASELINE,767,745.276016822,716,679,662,636.276016822,880,789,804,652,631.723983178,653,0.40101505533,-0.0154920223739,0.0698472727842,0.999999984667,5.84404906168e-05,-0.000164889214199,7.82903023994e-06,1793239127358231296
+98,1.633333333,BASELINE,767,745.849614981,716,679,662,636.849614981,880,789,804,652,631.150385019,653,0.401013749678,-0.0154940170165,0.0698466880636,0.999999984616,5.58187018447e-05,-0.00016610648762,7.8323583145e-06,1793239127374897920
+99,1.650000000,BASELINE,767,745.56327394,716,679,662.43672606,636.56327394,880,789,804,652,631,653,0.401013928814,-0.0154936194314,0.0698467684117,0.999999984685,5.51433003085e-05,-0.000165917266954,7.73024850502e-06,1793239127391564544
+100,1.666666667,BASELINE,766.972042527,745,715.972042527,679,662.972042527,636,879.972042527,789,804,652,631,653,0.401014634348,-0.0154924018191,0.0698470846435,0.999999984793,5.5290986798e-05,-0.000165222331535,7.58409297309e-06,1793239127408231424
+101,1.683333333,BASELINE,766.394212052,745,715.394212052,679,662.394212052,636,879.394212052,789,804,652,631,653,0.401015316083,-0.015491774837,0.0698473921716,0.999999984774,5.80241883362e-05,-0.00016441077118,7.30853425546e-06,1793239127424898048
+102,1.700000000,BASELINE,766.182363721,745,715.182363721,679,662,636,879.182363721,789,804,652.182363721,631.182363721,653.182363721,0.401015348462,-0.0154921624776,0.0698472693766,0.999999984742,5.85320600797e-05,-0.000164426573057,7.31486486747e-06,1793239127441564672
+103,1.716666667,BASELINE,766.756245692,745,715.756245692,679,662,636,879.756245692,789,804,652.756245692,631.756245692,653.756245692,0.401013986731,-0.0154947284206,0.0698462227175,0.999999984682,5.42623516991e-05,-0.000166218646169,7.92638615342e-06,1793239127458231296
+104,1.733333333,BASELINE,767,745,716,679,662.337515876,636,880,789,804,652.662484124,632,653.662484124,0.401013194412,-0.0154945712911,0.0698454171054,0.999999984467,5.41153882171e-05,-0.000167562403257,7.76054514988e-06,1793239127474897920
+105,1.750000000,BASELINE,767,745,716,679,662.924241309,636,880,789,804,652.075758691,632,653.075758691,0.401012822527,-0.0154924035433,0.0698447894738,0.999999984141,5.70125105266e-05,-0.000168575140138,7.02072791419e-06,1793239127491564800
+106,1.766666667,BASELINE,767,745,716,679,662.492464639,636,880,789,804,652.507535361,632,653.507535361,0.40101281911,-0.015491678075,0.0698449504987,0.999999984218,5.70193775719e-05,-0.000168117419337,6.98362337492e-06,1793239127508231424
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,716,679,662,636,880,789,804,652,632,654,0.401013307453,-0.0154921238687,0.0698460253892,0.999999984392,5.80535612427e-05,-0.000166699729408,7.48752573331e-06,1793239127551351040
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.426900009,716,679,662,636,880,789,804,652,632,653.426900009,0.401013732257,-0.015493196171,0.0698464974535,0.99999998447,5.71035071164e-05,-0.000166550957347,7.74545594824e-06,1793239127568018944
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.301859429,745,716,679,662,636,880,789,804,652,632,653,0.401014179112,-0.0154939512703,0.0698469915722,0.999999984579,5.62713486611e-05,-0.000166171946275,7.88309889367e-06,1793239127584686080
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.485140534,745,716,679,662,636,880,789,804,652,632,653,0.401014690354,-0.0154937801457,0.0698475500888,0.999999984782,5.57834422721e-05,-0.00016512064325,7.66950620409e-06,1793239127601351936
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.344011866,745,716,679,662,636,879.672005933,788.672005933,804,652,631.672005933,653,0.401014149287,-0.0154926642896,0.0698472295336,0.999999984653,5.70854436762e-05,-0.000165466283639,7.46615420119e-06,1793239127618018304
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.182741386,745,716,679,662,636,879.091370693,788.091370693,804,652,631.091370693,653,0.401012797665,-0.0154908207433,0.0698462318632,0.999999984262,5.97661420147e-05,-0.000166887935702,7.27069021685e-06,1793239127634684672
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.483987428,745,716,679,662,636,879.483987428,788,804,652.483987428,631,653,0.401013136997,-0.015491610183,0.0698459513887,0.999999984186,5.87201739996e-05,-0.000167707602423,7.40708608987e-06,1793239127651351296
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,715.940414824,679,662,636,879.940414824,788.059585176,804,652.940414824,631.059585176,653,0.401013811508,-0.0154927817753,0.0698459767962,0.999999984155,5.74433404105e-05,-0.000168324121376,7.6162056313e-06,1793239127668018176
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,715.353984558,679,662,636,879.353984558,788.646015442,804,652.353984558,631.646015442,653,0.401014657471,-0.0154929846475,0.0698475225196,0.999999984017,6.02788082797e-05,-0.000168138448758,7.92036192509e-06,1793239127684685056
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,715,678.770281127,662,636,879.459437747,789,804,652.229718873,631.770281127,653.229718873,0.401016734573,-0.0154931977821,0.0698490139496,0.999999983617,6.08038527857e-05,-0.00017031085162,7.94604390497e-06,1793239127701351936
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,715,678.190730362,662,636,880.618539277,789,804,652.809269638,631.190730362,653.809269638,0.40102068654,-0.0154934265448,0.0698504226975,0.999999982799,5.7810423504e-05,-0.000176074295985,7.54764578686e-06,1793239127718018816
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.61205049,745,715.38794951,678.38794951,662.38794951,636,880.61205049,789,804,652.61205049,631.38794951,653.61205049,0.40104026173,-0.0154949734181,0.0698598889108,0.999999983854,5.71777487999e-05,-0.000170158277219,8.28582610262e-06,1793239127734685184
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.033797772,745,715.966202228,678.966202228,662.966202228,636,880.033797772,789,804,652.033797772,631.966202228,653.033797772,0.401067500675,-0.0154971668722,0.069873307601,0.999999985726,5.77031089786e-05,-0.000158513061585,9.58153904397e-06,1793239127751351296
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.539646901,745,716,679,662.460353099,636,880,789,804,652.539646901,632,653,0.401120177476,-0.0154986003826,0.0698910438909,0.999999989001,5.7788476211e-05,-0.000136155308901,1.09676727127e-05,1793239127768017920
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,716,679.116322186,662,636,879.883677814,789,804,652.883677814,632,653,0.401177979821,-0.0155004087677,0.0699084397457,0.999999991802,5.75096511038e-05,-0.000113757174588,1.21466364267e-05,1793239127784684544
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,716,679.707401208,662,636,879.292598792,789,804,652.292598792,632,653,0.401250256666,-0.0155039397024,0.0699233522571,0.999999993953,5.58558889404e-05,-9.39083281453e-05,1.24571492542e-05,1793239127801351424
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,716,679.707294739,662,636,879.292705261,789,804,652,632,653.292705261,0.401327285954,-0.0155068704952,0.0699325505831,0.999999994929,5.60387136759e-05,-8.28151894558e-05,1.1938325868e-05,1793239127818018304
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,716,679.127651897,662,636,879.872348103,789,804,652,632,653.872348103,0.401408974035,-0.0155092129714,0.0699361473193,0.999999995036,5.80219359747e-05,-8.03052308715e-05,1.06065080999e-05,1793239127834685696
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,716,679,662,636,880,789,804,652,632,654,0.40150707963,-0.0155131606413,0.0699374725348,0.999999995111,5.69784944979e-05,-8.03387953651e-05,8.83582762591e-06,1793239127851352064
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.975750427,745,715.975750427,679,662,636,880,789,804,652,632,653.975750427,0.401610983052,-0.0155174815386,0.069938194029,0.999999995167,5.52684623827e-05,-8.10187956972e-05,6.9111559985e-06,1793239127868018688
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.388393759,745,715.388393759,679,662,636,880,789,804,652,632,653.388393759,0.401741850404,-0.015519942091,0.0699397934017,0.999999995111,5.79287715222e-05,-8.00289650684e-05,4.28875384824e-06,1793239127884685056
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.196165375,745,715.196165375,679,662.196165375,636,880,789,804,652,632,653,0.401882272891,-0.0155222416585,0.0699411959961,0.999999995113,5.96093039387e-05,-7.88644745689e-05,1.438948102e-06,1793239127901351424
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.7752634,745,715.7752634,679,662.7752634,636,880,789,804,652,632,653,0.402041347856,-0.0155242269682,0.0699422144613,0.999999995243,5.93772227891e-05,-7.73590322369e-05,-1.85476983427e-06,1793239127918018048
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,716,679,662.6461106,636,880,789,804,652,632,653,0.402220113022,-0.0155259425399,0.0699428118488,0.999999995371,5.70318462277e-05,-7.72642955747e-05,-5.9489386775e-06,1793239127934684672
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,716,679,662.067783901,636,880,789,804,652,632,653,0.402411365766,-0.0155274870435,0.0699431421882,0.999999995474,5.33462138666e-05,-7.80642308527e-05,-1.05507552578e-05,1793239127951351296
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,716,679.5065998,662,636,880,789,804,652.5065998,632,653.5065998,0.402635981122,-0.0155287278019,0.0699474892138,0.9999999967,3.64862521522e-05,-7.11817390536e-05,-1.4221896103e-05,1793239127968018176
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,715.917219087,679.917219087,662,636,880,789,804,652.917219087,632,653.917219087,0.402871104389,-0.0155293311833,0.0699523616039,0.999999997644,1.9749738673e-05,-6.32654534134e-05,-1.78901632814e-05,1793239127984684800
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,715.326805293,679.326805293,662,636,880,789,804,652.326805293,632,653.326805293,0.403143502067,-0.0155262733118,0.0699571854035,0.999999998119,1.44963474421e-05,-5.52644719349e-05,-2.22985362281e-05,1793239128001351424
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,715.258387405,679,662,636,880,789,804,652.258387405,632,653.258387405,0.4034318879,-0.015524786071,0.0699631306666,0.999999998578,1.15553494908e-05,-4.52144182221e-05,-2.57936846509e-05,1793239128018018048
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,715.837107282,679,662,636,880,789,804,652.837107282,632,653.837107282,0.403740094826,-0.0155252459996,0.0699704662495,0.999999999006,1.14811117704e-05,-3.26240539626e-05,-2.81566744156e-05,1793239128034684672
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,715.587452409,679,662.412547591,636,880,789,804,652.587452409,631.587452409,653.587452409,0.4040687214,-0.0155288101409,0.0699728890378,0.999999999084,3.98467177629e-06,-3.15201578949e-05,-2.86636464829e-05,1793239128051351552
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,715.013296823,679,662.986703177,636,880,789,804,652.013296823,631.013296823,653.013296823,0.404405346992,-0.0155335903009,0.0699733873283,0.999999998965,-6.41928058139e-06,-3.49158765307e-05,-2.84435574123e-05,1793239128068018176
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.43871836,745,715.56128164,679,663,636,880,789,804,652,631,653.56128164,0.404785031745,-0.0155343353286,0.0699766318111,0.999999999128,-1.11631981683e-05,-2.70615220678e-05,-2.97776479541e-05,1793239128084684800
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.13972929,745,716,679,662.86027071,636,880,788.86027071,804,652,631.13972929,653.86027071,0.405175780342,-0.0155345472414,0.0699793615815,0.999999999215,-1.34399016128e-05,-2.03119533671e-05,-3.12584324757e-05,1793239128101351424
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.730637873,745,716,679,662.269362127,636,880,788.269362127,804,652,631.730637873,653.269362127,0.405598957226,-0.0155333466485,0.069980219143,0.999999999257,-8.18337245608e-06,-1.79909021483e-05,-3.30939092483e-05,1793239128118017792
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,715.684677479,678.684677479,662.315322521,636,880,788,804,652,631.684677479,653,0.406029423822,-0.0155320713292,0.0699729879648,0.999999998876,-8.9812111875e-06,-3.05902244976e-05,-3.5102644916e-05,1793239128134684672
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,715.105206608,678.105206608,662.894793392,636,880,788,804,652,631.105206608,653,0.406465997116,-0.0155307334109,0.0699589807807,0.999999997645,-1.48508446326e-05,-5.56884699821e-05,-3.7256521214e-05,1793239128151351552
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,715,678,662.529481531,636,880,788.470518469,804.470518469,652,631.470518469,653,0.406949525046,-0.0155291523343,0.0699474268791,0.999999996788,-1.12026124242e-05,-6.89777722713e-05,-3.92549412939e-05,1793239128168018432
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,715.045402223,678.045402223,662,636,880,789,804.954597777,652,632,653,0.407448720863,-0.0155278077622,0.0699381908483,0.999999996172,-6.13058846351e-06,-7.70149151029e-05,-4.10686742341e-05,1793239128184685056
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,715.620165279,678.620165279,662,636,880,789,804.379834721,652,632,653,0.408009150645,-0.0155298495876,0.0699496345048,0.999999997636,-9.0751598263e-06,-5.43580156794e-05,-4.11311483947e-05,1793239128201351936
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,715.799019401,679.200980599,662,636,880,789,804,652,632,653,0.408586981937,-0.0155311984207,0.0699610590225,0.999999998647,-9.24330691301e-06,-3.02577774222e-05,-4.12906413884e-05,1793239128218019072
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,715.206410755,679.793589245,662,636,880,789,804,652,632,653,0.409198721542,-0.0155311968984,0.069972446246,0.999999999119,-4.00135145186e-06,-3.34507023716e-06,-4.16391839639e-05,1793239128234685952
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,715.377158024,679.622841976,662,636,880.377158024,789,804.377158024,652,632,653,0.409796732161,-0.0155292049853,0.0699685011517,0.99999999901,-3.84441991378e-06,-9.8718462185e-06,-4.32150923658e-05,1793239128251352320
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,715.955895258,679.044104742,662,636,880.955895258,789,804.955895258,652,632,653,0.410387405045,-0.0155261492704,0.0699563614111,0.99999999836,-6.40527535015e-06,-3.42709846385e-05,-4.54469895285e-05,1793239128268018944
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,716,679.530871988,662,636,879.938256023,789,804.469128012,652,632,653,0.411035222913,-0.0155256667924,0.0699590883135,0.999999998375,-7.4368999319e-06,-3.3457288213e-05,-4.55520019796e-05,1793239128284685312
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,716,680,662,636,879.108167366,789,804,652,631.891832634,653,0.411699225394,-0.0155258911762,0.0699679537481,0.99999999872,-8.64535447587e-06,-2.09973428991e-05,-4.521882284e-05,1793239128301351168
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,716,680,662,636,879.697148141,789,804,652,631.302851859,653,0.412414214675,-0.0155283140175,0.0699986539055,0.999999998404,-1.12006015155e-05,3.39856649738e-05,-4.37177710993e-05,1793239128318018048
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745.281327347,715.718672653,679.718672653,662,636,880,788.718672653,804.281327347,652,631,653.281327347,0.41314967387,-0.0155304479224,0.0700243206205,0.99999999619,-1.65122046589e-05,7.43914175211e-05,-4.25829543647e-05,1793239128334684672
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.860424426,715.139575574,679.139575574,662,636,880,788.139575574,804.860424426,652,631,653.860424426,0.413906799444,-0.015532276004,0.0700446597137,0.999999993882,-2.4741261506e-05,9.93679431773e-05,-4.18357774091e-05,1793239128351351296
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.562504487,715.437495513,679,662,636,880,788,804.562504487,652,631.437495513,653.562504487,0.414607601228,-0.0155299783729,0.0700172387723,0.999999997581,-2.01700484741e-05,4.91553911449e-05,-4.48979440866e-05,1793239128368017920
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,716,679,662,636.014170196,880.014170196,788.014170196,804.014170196,652,631.985829804,653,0.415291681394,-0.015526375153,0.0699748939507,0.999999998429,-1.17697302099e-05,-2.41886003782e-05,-4.91784971573e-05,1793239128384684800
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,716,679,662,636.600824317,880.600824317,788.600824317,804.600824317,652,631.399175683,653,0.416022818165,-0.0155229570765,0.0699423630699,0.999999996198,-1.28950884996e-05,-6.7402173201e-05,-5.38098062711e-05,1793239128401351424
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.814761305,745,715.814761305,679.185238695,662.185238695,636.814761305,880.814761305,788.814761305,804.814761305,652,631.185238695,653,0.416788842594,-0.015520620565,0.0699296368436,0.999999994925,-1.41249831594e-05,-8.23438903905e-05,-5.63045842158e-05,1793239128418018048
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.23511578,745,715.23511578,679.76488422,662.76488422,636.23511578,880.23511578,788.23511578,804.23511578,652,631.76488422,653,0.417629149143,-0.015520586902,0.0699590783259,0.999999997719,-1.55774546963e-05,-3.70896892777e-05,-5.42502990592e-05,1793239128434684672
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.342645284,715.342645284,679.657354716,663,636,880.342645284,788.342645284,804,652,631.657354716,653,0.418476550191,-0.0155217471214,0.0699856688602,0.999999998367,-2.11693126816e-05,3.0930101839e-07,-5.30893037778e-05,1793239128451351296
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.919120323,715.919120323,679.080879677,663,636,880.919120323,788.919120323,804,652,631.080879677,653,0.419328792669,-0.0155237220761,0.0700103138348,0.999999997659,-2.95859919614e-05,3.23476961405e-05,-5.25379120502e-05,1793239128468017920
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.506024107,716,679.493975893,663,636,880.506024107,789,804,652,631,653.493975893,0.420178956563,-0.0155276093496,0.0700259838512,0.999999996204,-3.62302833034e-05,5.98969657416e-05,-5.18799510772e-05,1793239128484684544
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.070177116,745,716,680,662.929822884,636,880,789,804,652,631.070177116,653.929822884,0.42102422814,-0.0155313989636,0.0700377919584,0.999999994489,-4.15544666958e-05,8.15509930557e-05,-5.14359810125e-05,1793239128501351168
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.658259396,745,716,680,662.341740604,636,880,789,804,652,631.658259396,653.341740604,0.421835897538,-0.0155321646747,0.0700319086182,0.999999995721,-3.92709320784e-05,6.51049373145e-05,-5.26996093263e-05,1793239128518017792
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,716,679.755907631,662,636,880.244092369,789,804,652,631.755907631,653,0.422628710018,-0.0155310228222,0.0699967356551,0.999999997615,-3.9437754191e-05,3.77449993559e-06,-5.65667414817e-05,1793239128534684416
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,716,679.173194954,662,636,880.826805046,789,804,652,631.173194954,653,0.423395363113,-0.0155272346775,0.0699209302814,0.999999989846,-4.3003864769e-05,-0.000119822381595,-6.40456177608e-05,1793239128551351040
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.598066466,745,716,679.401933534,662.401933534,636,881,788.598066466,804,652,631,653,0.424233502454,-0.0155245935237,0.0698850130492,0.999999982734,-5.01129433745e-05,-0.000164808709785,-6.9698908243e-05,1793239128568017920
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.026145549,745,716,679.973854451,662.973854451,636,881,788.026145549,804,652,631,653,0.425101875006,-0.0155224374603,0.0698659654784,0.99999997991,-5.87204285463e-05,-0.000176548732872,-7.45801142953e-05,1793239128584684544
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.550228294,745.550228294,716,680,662.449771706,636,881,788.550228294,804,652,631,653,0.426018167176,-0.0155256222226,0.0699294208625,0.999999992812,-5.19439423531e-05,-8.47110768235e-05,-6.70957924981e-05,1793239128601351424
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.869957296,745.869957296,715.869957296,680,662.130042704,636,881,788.869957296,804,652,631,653,0.426925779354,-0.0155285817524,0.0699892514966,0.999999997071,-4.70147775686e-05,-4.31038363655e-07,-6.0388378989e-05,1793239128618017792
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.278696949,745.278696949,715.278696949,680,662.721303051,636,881,788.278696949,804,652,631,653,0.42779446474,-0.0155298350301,0.0700222087744,0.999999996195,-5.12512401687e-05,3.94464026595e-05,-5.85373529651e-05,1793239128634684416
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,881,788.306113608,804,651.693886392,631,653,0.428669294031,-0.015531611958,0.0700446419136,0.999999994116,-5.50550414414e-05,7.35853315197e-05,-5.76456556329e-05,1793239128651351296
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,881,788.885173183,804,651.114826817,631,653,0.429549601484,-0.0155338557983,0.0700576912108,0.999999991367,-5.8473060361e-05,0.000102607518207,-5.76093431286e-05,1793239128668018176
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.460358076,745,715.460358076,680.460358076,663,636,881,789,804.460358076,651.460358076,631.460358076,653,0.430359304148,-0.0155305200356,0.0700249123672,0.999999995463,-5.57810863124e-05,4.85647221834e-05,-6.00398936452e-05,1793239128684684800
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.964546443,745,715.964546443,680.964546443,663,636,881,788.964546443,804.964546443,651.964546443,631.964546443,653,0.431147375166,-0.0155256979455,0.0699796572678,0.999999996294,-5.13935492164e-05,-2.76461874239e-05,-6.33005533003e-05,1793239128701351424
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.375892473,745,715.375892473,680.375892473,663,636,881,788.375892473,804.375892473,651.375892473,631.375892473,653,0.431870414023,-0.0155192183548,0.0699166020425,0.999999988234,-4.41307360298e-05,-0.000129168996109,-6.9993001284e-05,1793239128718018048
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.209561782,715.209561782,680,663,636,881,788.209561782,804,651,631,653,0.432647701472,-0.0155164865347,0.0698931518776,0.999999983326,-4.29865183659e-05,-0.000161823724883,-7.28953115301e-05,1793239128734684672
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.789363093,715.789363093,680,663,636,881,788.789363093,804,651,631,653,0.433520831773,-0.0155203760203,0.0699396732346,0.999999993576,-5.2652219156e-05,-7.28070229097e-05,-6.91014654741e-05,1793239128751351040
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.634160057,715.634160057,680,663,636,881,788.634160057,804.365839943,651.365839943,631.365839943,653,0.434362887886,-0.0155243358525,0.0699878071192,0.99999999626,-5.70759091713e-05,4.82590456074e-06,-6.47930438095e-05,1793239128768018432
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.059580105,715.059580105,680,663,636,881,788.059580105,804.940419895,651.940419895,631.940419895,653,0.435187213715,-0.0155283358227,0.0700368610728,0.999999993592,-5.85086255768e-05,7.59635019207e-05,-6.01910170911e-05,1793239128784686336
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,881,788.515653579,805,651.484346421,632,653,0.435965270008,-0.0155302651991,0.0700367952046,0.999999992986,-6.25335498708e-05,8.04163751652e-05,-6.04182036709e-05,1793239128801352192
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.093081625,745,715,680,663,636,881,789,804.906918375,651.093081625,632,653,0.436725377953,-0.0155317574149,0.0700283695211,0.999999993148,-6.70450319494e-05,7.36942192266e-05,-6.14701520309e-05,1793239128818018048
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.681791181,745,715,680,663,636,881,789,804.318208819,651.681791181,632,653,0.437418419419,-0.0155321974015,0.0700056888481,0.999999994146,-7.25504487557e-05,4.85471297557e-05,-6.39388441657e-05,1793239128834684672
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.733823702,745,715,680,663,636,881,789,804.266176298,651.733823702,632,653,0.438089160662,-0.0155309313125,0.0699737340359,0.999999994736,-7.71273647372e-05,6.08906750606e-06,-6.73895613166e-05,1793239128851351552
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.154525764,745,715,680,663,636,881,789,804.845474236,651.154525764,632,653,0.438733668557,-0.0155276582486,0.0699308694121,0.99999999255,-8.06120202357e-05,-5.67330909132e-05,-7.19955022758e-05,1793239128868018944
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.421389681,715,679.578610319,663,635.578610319,881,789,804.578610319,651,631.578610319,653,0.43934608504,-0.0155274702221,0.0698909276115,0.999999986558,-7.70318993039e-05,-0.000124175887283,-7.43613811348e-05,1793239128884685824
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.996074672,715,679.003925328,663,635.003925328,881,789,804.003925328,651,631.003925328,653,0.439946827197,-0.0155284044863,0.0698520490871,0.999999975924,-7.08817176215e-05,-0.000193299607849,-7.59123587898e-05,1793239128901352448
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,715.572055958,679.572055958,662.427944042,635.572055958,881,788.427944042,804,651.572055958,631.572055958,653,0.440607076843,-0.0155345311184,0.069864255656,0.999999979249,-8.43606007985e-05,-0.000169380545676,-7.54737121202e-05,1793239128918018304
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.152272372,746,715.847727628,680,662,635.847727628,881.152272372,788,804.152272372,651.847727628,632,653,0.4412556836,-0.0155421127516,0.0698828145077,0.9999999827,-9.8545315171e-05,-0.000139004948923,-7.46151767413e-05,1793239128934684672
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.744705267,746,715.255294733,680,662,635.255294733,881.744705267,788,804.744705267,651.255294733,632,653,0.441869452421,-0.0155537970081,0.0699187197913,0.999999986609,-0.000114380095192,-9.18156774979e-05,-7.25824588526e-05,1793239128951351040
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.671887543,745.671887543,715,680,662,635.328112457,881.671887543,788,805,651,631.671887543,653,0.442423470548,-0.0155606659691,0.0699228891703,0.999999985107,-0.000124585527893,-9.53028883956e-05,-7.19864448626e-05,1793239128968017920
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.095315018,745.095315018,715,680,662,635.904684982,881.095315018,788,805,651,631.095315018,653,0.442932242987,-0.0155638885922,0.0699030268322,0.999999979448,-0.000130528189411,-0.000137164390888,-7.24783614815e-05,1793239128984684544
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.480852234,715,680,662,635.519147766,881,788,805,651,631.480852234,653,0.443402295794,-0.0155689696055,0.0698658919895,0.999999969112,-0.00013594704309,-0.000194762082238,-7.32239567017e-05,1793239129001351936
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,881,788,805,651.05828903,632,653,0.443862795785,-0.0155744487589,0.0698264896585,0.999999954949,-0.000141819175307,-0.000253927254843,-7.42293290261e-05,1793239129018019072
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,881,788,805,651.648032838,632,653,0.444306116138,-0.0155802021534,0.0697976035572,0.999999940664,-0.000152769992165,-0.000298968073301,-7.71451551984e-05,1793239129034686208
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.766266611,745.766266611,715,680.233733389,662,635,881,788,805,651.766266611,632,653,0.444742856726,-0.0155863767425,0.0697768892333,0.999999929168,-0.000163798611854,-0.00032944056159,-7.9387686694e-05,1793239129051352832
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.186551111,745.186551111,715,680.813448889,662,635,881,788,805,651.186551111,632,653,0.445169857627,-0.0155931748011,0.0697682711248,0.999999924207,-0.000174942398004,-0.000338348384237,-8.06335786791e-05,1793239129068018688
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.777228643,745.388614321,715,681,662,635,881,788,805,651,632,653,0.445563905261,-0.0155996122884,0.0697628500165,0.999999920916,-0.000183338389685,-0.000343524550945,-8.09038106771e-05,1793239129084684800
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.923241719,745.961620859,715,681,662,635,881,788,805,651,632,653,0.445942317057,-0.0156058786902,0.0697589458406,0.999999918431,-0.000190430591201,-0.000346930098387,-8.07111053751e-05,1793239129101351424
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745.116911721,715.116911721,681,662,635,881,787.883088279,805,651.116911721,631,654,0.446596512314,-0.015617978897,0.0697422410653,0.99999989932,-0.000209491692622,-0.000388776328122,-7.95402163942e-05,1793239129134684672
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+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715.705582652,681,662,635,881,787,805,651.705582652,631.294417348,653.705582652,0.447149807838,-0.0156281457553,0.0697091465901,0.999999872492,-0.000215797919298,-0.000449749817745,-7.85622507014e-05,1793239129168018176
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,661.402828208,634,881.402828208,785.597171792,805,651.402828208,631,653,0.449425371663,-0.0156584665838,0.0696665430448,0.99999983496,-0.000240789473873,-0.000517108567385,-6.85438498593e-05,1793239130297395200
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.81354672,661,634,881,786,805,651,631,653,0.449423868879,-0.0156592950256,0.0696652397024,0.999999833673,-0.000242328616594,-0.000518911568654,-6.82740499815e-05,1793239130314061824
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.240619858,661,634,881,786,805,651,631,653,0.449422566345,-0.0156596959083,0.0696650493917,0.999999833261,-0.000242933353414,-0.000519393117761,-6.85014393152e-05,1793239130330728448
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.33678681,661,634,881,786,805,651,631,653,0.449422638618,-0.0156592308214,0.0696649170049,0.999999833272,-0.000242556032219,-0.000519518599863,-6.87270996321e-05,1793239130347395328
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,661.308973537,634,881.308973537,786,805,651,631,653,0.449072680218,-0.015639003115,0.0695646463521,0.999999739179,-0.000234290716006,-0.000679167997826,-7.40323666633e-05,1793239130547395072
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745.430638682,715,681,661,634,882,786.430638682,805,651.430638682,631,653.430638682,0.446264119933,-0.0155092887747,0.0695810120898,0.999999768719,-7.27690555058e-05,-0.000675636602444,-2.79546781873e-05,1793239130780728320
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.82401123,662,635,881,787,805,651,631,653.82401123,0.445168147551,-0.0154950913063,0.0696332780152,0.999999831156,-2.6595310296e-05,-0.000580428537966,-9.12215215696e-06,1793239130830728192
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.245738829,662,635,881,787,805,651,631,653.245738829,0.444738844167,-0.0155013927096,0.069643666955,0.999999839195,-1.76604012333e-05,-0.000566819926228,-3.55445280559e-06,1793239130847394816
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.094325098,715,680.905674902,662,635,881,787,804.094325098,651.905674902,631,653,0.443795095487,-0.015491378046,0.0696563348431,0.999999847425,-3.69026523912e-05,-0.000551071617281,-1.04062479906e-05,1793239130880729344
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,881,787.656886058,804,651.656886058,631.343113942,653,0.442220393754,-0.0154579095243,0.0697123702996,0.99999988954,2.78931766505e-05,-0.000469180252779,3.30208526334e-06,1793239130930729728
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.423892423,662,635.423892423,880.423892423,788,804.423892423,651.576107577,632,653,0.423597427638,-0.0153720557002,0.0698260352584,0.99999994082,0.000183555427433,-0.000290385707558,1.85342285574e-05,1793239131330728192
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715.365412777,679.365412777,661.365412777,636,879.365412777,788,804,652,632,653,0.417635648666,-0.015371485045,0.0698827098752,0.999999957444,0.000200816860478,-0.000209884785395,2.7058811464e-05,1793239131447395072
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.537151635,661.462848365,636,879.462848365,788,804,652,631.537151635,653,0.413530022034,-0.0153544557714,0.069757434341,0.999999894345,0.000221982167919,-0.00040226195403,1.47979746509e-05,1793239131530728960
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715.701677781,678,662,636,879,788,803.701677781,652,631.298322219,653,0.402682243457,-0.0153456961137,0.0698254604767,0.999999930672,0.000238576618462,-0.000285623454636,1.25308763871e-05,1793239131897394688
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.20767376,661.20767376,636,879.20767376,788.79232624,804,652,632,653,0.401717049898,-0.0153462016603,0.0698068279986,0.999999921014,0.00023565098265,-0.000319914501556,9.73856245769e-06,1793239131980728576
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..804e84905fbd7ee44fc6bcc1ab2ca1423e9dfb11
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,414 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5905985e50d7f35bbbd36a86736f52fdcc7c08cb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3729bbe6fe14d049db7a0acf2ccf83799c9b9c4500e668fb73f670c9e0cbb78d
+size 26276809
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..71fd477cf55eebcc566dc20798a24ad5170554e7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_02/franka_data.csv
@@ -0,0 +1,415 @@
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+56,0.933333333,BASELINE,766,745,715,679,662,636,879.502405854,788,804,652,631.502405854,653,0.400964491489,-0.015355693667,0.0698232616312,0.999999932304,0.000232412152753,-0.00028519719348,6.31841147774e-06,1793239133770087680
+57,0.950000000,BASELINE,766,745,715,679,662,636.072067866,879,788.072067866,804,652,631.072067866,653,0.400964824605,-0.0153556520404,0.0698237043731,0.999999932512,0.000232226825652,-0.00028461804111,6.24050056191e-06,1793239133786754304
+58,0.966666667,BASELINE,766,745,715,679,662,636.6616284,879,788.6616284,804,652,631.6616284,653,0.400962703854,-0.0153564524017,0.0698230474023,0.999999932076,0.000231772871537,-0.00028651078869,6.32659425326e-06,1793239133803420928
+59,0.983333333,BASELINE,766,745,715.246815066,679,662,636.753184934,879.246815066,788.753184934,804,652,631.753184934,653,0.400961905492,-0.0153562273673,0.0698228566101,0.999999931836,0.00023193880112,-0.000287216076776,6.33040036291e-06,1793239133820087808
+60,1.000000000,BASELINE,766,745,715.826109863,679,662,636.173890137,879.826109863,788.173890137,804,652,631.173890137,653,0.400962888495,-0.0153546210426,0.069823293798,0.99999993186,0.000232939763803,-0.000286321761756,6.22335849859e-06,1793239133836754432
+61,1.016666667,BASELINE,766,745,715.596113007,678.596113007,662,636,880,788,804,652,631.403886993,653.403886993,0.400962793162,-0.0153544415976,0.0698234342254,0.999999931715,0.000233690393015,-0.000286214776031,6.2469215018e-06,1793239133853421056
+62,1.033333333,BASELINE,766,745,715.018986885,678.018986885,662,636,880,788,804,652,631.981013115,653.981013115,0.400962235299,-0.0153548741839,0.0698234473633,0.999999931498,0.000234333646705,-0.000286445499284,6.32650481888e-06,1793239133870087680
+63,1.050000000,BASELINE,766.554641458,745,715.554641458,678.554641458,662,636,879.445358542,788,804,652,632,653.445358542,0.400963939663,-0.0153549520157,0.0698240098441,0.999999932058,0.000233512685014,-0.000285156951162,6.35743947329e-06,1793239133886754304
+64,1.066666667,BASELINE,767,745,715.867885421,678.867885421,662,636,879.132114579,788,804,652,632,653,0.400965231822,-0.0153550985866,0.0698243203363,0.999999932459,0.000232832804436,-0.00028430854606,6.34322745649e-06,1793239133903421440
+65,1.083333333,BASELINE,767,745,715.276637177,678.276637177,662,636,879.723362823,788,804,652,632,653,0.400964824008,-0.0153555259838,0.0698236901556,0.999999932218,0.000232816321651,-0.000285169368115,6.17786998245e-06,1793239133920088064
+66,1.100000000,BASELINE,766.691758526,745,715,678.308241474,661.691758526,636,880,788.308241474,804,652,631.691758526,653,0.400964245179,-0.0153560264091,0.0698234232429,0.999999932196,0.00023278378433,-0.000285275816978,6.1678461247e-06,1793239133936754432
+67,1.116666667,BASELINE,766.112480682,745,715,678.887519318,661.112480682,636,880,788.887519318,804,652,631.112480682,653,0.400963515977,-0.0153565910479,0.0698234757514,0.999999932364,0.000232737130276,-0.000284718946322,6.29440694423e-06,1793239133953421056
+68,1.133333333,BASELINE,766,745,715,678.536224803,661.463775197,636,879.536224803,788.536224803,804,652,631.463775197,653,0.400964077565,-0.0153558365801,0.069824068279,0.999999932372,0.000233243574654,-0.000284282059239,6.09882030414e-06,1793239133970087936
+69,1.150000000,BASELINE,766,745,715,678.039135513,662,636,879.039135513,788,804,652,632,653,0.400964857276,-0.0153548679422,0.06982471556,0.999999932341,0.000233762689511,-0.000283969547218,5.8637641901e-06,1793239133986754560
+70,1.166666667,BASELINE,766,745,715,678.612211581,662,636,879.612211581,788,804,652,632,653,0.400964369393,-0.0153553139232,0.0698243345228,0.99999993232,0.000232636336254,-0.000284959480139,6.14928548717e-06,1793239134003422720
+71,1.183333333,BASELINE,766,745,715,679,662,636,879.807934893,788,804,652,632,653,0.400964381945,-0.0153556755861,0.0698241991602,0.999999932421,0.000231817118678,-0.000285269911645,6.34783562142e-06,1793239134020089856
+72,1.200000000,BASELINE,766,745,715,679,662,636,879.213896722,788,804,652,632,653,0.400965441857,-0.0153558607798,0.0698245779702,0.999999932778,0.000231640705168,-0.00028415821481,6.36436386087e-06,1793239134036755456
+73,1.216666667,BASELINE,766,745,715.369104784,678.630895216,662,636,879,788,804,652,631.630895216,653,0.400965579966,-0.0153559295348,0.0698243871883,0.99999993278,0.000231950899204,-0.000283902112127,6.2060076932e-06,1793239134053421824
+74,1.233333333,BASELINE,766,745,715.94589618,678.05410382,662,636,879,788,804,652,631.05410382,653,0.400965199399,-0.0153559327724,0.0698238759105,0.999999932582,0.000232534895915,-0.000284127432291,5.94924816639e-06,1793239134070088448
+75,1.250000000,BASELINE,766,745,716,678.520836119,662,636,879,788,804,652,631.520836119,653,0.400965169412,-0.0153563649905,0.0698241702861,0.999999932545,0.000232516537432,-0.00028426850257,6.16833837707e-06,1793239134086755072
+76,1.266666667,BASELINE,765.901750729,745,715.901750729,678.901750729,662,636,879,788,804,652,632,653,0.400965077357,-0.0153565375575,0.0698244288407,0.999999932486,0.000232552230448,-0.000284441015966,6.36894155229e-06,1793239134103421440
+77,1.283333333,BASELINE,765.310978684,745,715.310978684,678.310978684,662,636,879,788,804,652,632,653,0.400964492243,-0.0153551858982,0.0698240897725,0.999999932236,0.00023317144462,-0.000284814870606,6.22995147024e-06,1793239134120088064
+78,1.300000000,BASELINE,765.273643552,745,715.273643552,678.273643552,662,636,879,788,804,652,631.726356448,653.273643552,0.400964659598,-0.0153549244431,0.0698243028286,0.999999932416,0.000232872221138,-0.000284426418321,6.26619976938e-06,1793239134136754944
+79,1.316666667,BASELINE,765.851430492,745,715.851430492,678.851430492,662,636,879,788,804,652,631.148569508,653.851430492,0.400965663289,-0.0153558747046,0.0698251295477,0.999999933072,0.000231552192494,-0.000283190693682,6.49721822449e-06,1793239134153422080
+80,1.333333333,BASELINE,766.42710486,745,716,678.57289514,662,636,879.42710486,788,804,652,631.42710486,653.57289514,0.400966404811,-0.0153563830275,0.0698251119571,0.999999933353,0.000230853928924,-0.000282766804237,6.54211445536e-06,1793239134170088448
+81,1.350000000,BASELINE,767,745,715.997900235,678,662,636,879.997900235,788,804,652,632,653,0.400967056042,-0.015356735807,0.0698248065285,0.999999933506,0.000230371323377,-0.000282619338403,6.52110039025e-06,1793239134186755072
+82,1.366666667,BASELINE,767,745,715.408432803,678,662,636,879.408432803,788,804,652,632,653,0.400967834689,-0.01535636947,0.0698257351843,0.999999933995,0.000230011807549,-0.000281189208379,6.08444449701e-06,1793239134203421696
+83,1.383333333,BASELINE,766.822139056,745,715.177860944,678.177860944,661.822139056,636.177860944,879.177860944,788.177860944,804,652,632,653,0.400967301397,-0.0153560362714,0.069825720263,0.999999933868,0.000230416248778,-0.000281315684737,5.85362533727e-06,1793239134220088320
+84,1.400000000,BASELINE,766.243005354,745,715.756994646,678.756994646,661.243005354,636.756994646,879.756994646,788.756994646,804,652,632,653,0.400963808234,-0.0153557778365,0.0698235765339,0.999999932344,0.000232544256368,-0.000284954026426,6.0871951344e-06,1793239134236754944
+85,1.416666667,BASELINE,766,745,715.665442011,679,661.334557989,636.665442011,879.665442011,788.665442011,803.665442011,652,631.665442011,653,0.400962707758,-0.0153566049693,0.0698228086616,0.999999931996,0.000232092322851,-0.00028653069661,6.39862597323e-06,1793239134253421568
+86,1.433333333,BASELINE,766,745,715.089014,679,661.910986,636.089014,879.089014,788.089014,803.089014,652,631.089014,653,0.400963337085,-0.0153582169177,0.0698230354705,0.999999932504,0.000229775210581,-0.00028661687301,6.76634674614e-06,1793239134270087936
+87,1.450000000,BASELINE,766,745,715,679,662,636,879.485146665,788,803.485146665,652,631.485146665,653,0.400963758429,-0.0153576578675,0.0698241135392,0.999999932796,0.000230535709097,-0.00028498537038,6.72463493964e-06,1793239134286755072
+88,1.466666667,BASELINE,766.06046619,745,715,679,662,636,880,788.06046619,804,652,632,653,0.400964132119,-0.0153566955724,0.0698251661114,0.999999932981,0.000231817238524,-0.000283291697132,6.6082216173e-06,1793239134303421952
+89,1.483333333,BASELINE,766.649536547,745,715,679,662,636,880,788.649536547,804,652,632,653,0.400964421246,-0.0153556741267,0.0698246367256,0.999999932625,0.000232740183935,-0.000283796853018,6.49243005482e-06,1793239134320088320
+90,1.500000000,BASELINE,766.764972938,745,715.235027062,679,662,636,880.235027062,788.764972938,804,652,632,653,0.40096465143,-0.0153550752994,0.069824200767,0.99999993233,0.000233365344162,-0.000284322706859,6.40293025761e-06,1793239134336754688
+91,1.516666667,BASELINE,766.184740512,745,715.815259488,679,662,636,880.815259488,788.184740512,804,652,632,653,0.400964795039,-0.0153550972094,0.0698239020335,0.999999932128,0.000233553120451,-0.000284878961597,6.35204754873e-06,1793239134353421312
+92,1.533333333,BASELINE,766.390682173,745,716,679,661.609317827,636,880.609317827,788,804,652,631.609317827,653,0.400964946902,-0.0153561611177,0.0698243696992,0.999999932677,0.000231837664758,-0.000284350682617,6.49067237449e-06,1793239134370087936
+93,1.550000000,BASELINE,766.963858203,745,716,679,661.036141797,636,880.036141797,788,804,652,631.036141797,653,0.40096510262,-0.0153577117598,0.0698251953622,0.99999993357,0.000229233179151,-0.000283315800734,6.71781917897e-06,1793239134386754560
+94,1.566666667,BASELINE,766.453927034,745,715.453927034,678.453927034,661.546072966,636,879.453927034,788,803.453927034,652,631.546072966,653,0.400965107748,-0.0153579751697,0.0698245838249,0.999999933673,0.000228225664779,-0.000283770944579,6.47080057772e-06,1793239134403421184
+95,1.583333333,BASELINE,766,745,715,678.129510163,662,636,879,788,803.129510163,652,632,653,0.400965194984,-0.015358195389,0.0698240234827,0.999999933671,0.000227743847151,-0.000284168955041,6.25545225039e-06,1793239134420088064
+96,1.600000000,BASELINE,766,745,715,678.715110296,662,636,879,788,803.715110296,652,632,653,0.400965607063,-0.0153585685842,0.0698239840531,0.999999933489,0.000228734863762,-0.000284012620595,6.26401436998e-06,1793239134436754944
+97,1.616666667,BASELINE,766,745,715.29601608,678.70398392,662,636,879,788.29601608,804,652,632,653,0.400965866257,-0.0153577722565,0.0698243435034,0.999999933112,0.000230930222145,-0.000283563138363,6.23451048772e-06,1793239134453421824
+98,1.633333333,BASELINE,766,745,715.872474455,678.127525545,662,636,879,788.872474455,804,652,632,653,0.40096598061,-0.0153558679359,0.0698250808481,0.999999932542,0.00023426656028,-0.000282835931231,6.16894330406e-06,1793239134470088448
+99,1.650000000,BASELINE,766,745,715.552577193,678.447422807,662,636,879,788.552577193,804.447422807,652,632,653,0.400965132378,-0.0153559017465,0.0698242912615,0.999999932561,0.000232686751412,-0.000284073227433,6.0263187626e-06,1793239134486755072
+100,1.666666667,BASELINE,766,745,715,678.977425602,661.977425602,636,879.022574398,788,804.977425602,652,632,653.022574398,0.400964101491,-0.0153564826789,0.0698231415143,0.999999932755,0.00022981513645,-0.00028572980154,5.86288558976e-06,1793239134503421696
+101,1.683333333,BASELINE,766,745,715,678.386353344,661.386353344,636,879.613646656,788,804.386353344,652,632,653.613646656,0.400965356746,-0.0153569772108,0.0698238448887,0.999999933333,0.000229580037729,-0.000283891783241,5.7266647001e-06,1793239134520088064
+102,1.700000000,BASELINE,766,745,715,678.200652108,661.200652108,636,880,788,804,652,632,653.799347892,0.400965847993,-0.0153571327453,0.0698243000342,0.999999933619,0.000229520338483,-0.00028292981373,5.68755824291e-06,1793239134536754688
+103,1.716666667,BASELINE,766,745,715,678.779982466,661.779982466,636,880,788,804,652,632,653.220017534,0.400964897372,-0.015356648511,0.0698242867127,0.99999993336,0.000229791659793,-0.000283621156846,5.83172983217e-06,1793239134553421312
+104,1.733333333,BASELINE,766,745,715,679,662,636,880,788.355907433,804,652,632,653.355907433,0.400964042697,-0.0153570035422,0.069823844656,0.9999999333,0.00022864582297,-0.000284752637143,6.0142801164e-06,1793239134570087936
+105,1.750000000,BASELINE,766,745,715,679,662,636,880,788.929747239,804,652,632,653.929747239,0.400963246771,-0.01535787248,0.0698231400723,0.999999933358,0.000226632219431,-0.000286153626178,6.22033079483e-06,1793239134586754816
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,880,788,804,652,632,654,0.400965552774,-0.0153562190636,0.0698254476791,0.999999933061,0.00023195680319,-0.000282912955492,5.92386808554e-06,1793239134618187008
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,678.60274894,661.39725106,636,880,788,804,652,631.39725106,653.39725106,0.400964861631,-0.0153559888932,0.0698243944513,0.999999932646,0.000231946774693,-0.000284378945725,6.14327955854e-06,1793239134634853632
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744.803528075,715,679,661.196471925,636,880,788,804,652,631.196471925,653.196471925,0.400964905499,-0.0153562572302,0.0698241657222,0.999999932742,0.000231584090264,-0.00028433021273,6.38144444022e-06,1793239134651520256
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744.227253198,715,679,661.772746802,636,880,788,804,652,631.772746802,653.772746802,0.400966370229,-0.0153574892395,0.0698255308442,0.999999933824,0.000230539681138,-0.000281353344835,6.65586186803e-06,1793239134668186880
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.347983722,715,679,662,636,880,788,803.652016278,652,632,653.652016278,0.400965880046,-0.0153579542821,0.0698253031924,0.999999933802,0.000230401441148,-0.000281545234847,6.54504822123e-06,1793239134684853504
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744.922544777,715,679,662,636,880,788,803.077455223,652,632,653.077455223,0.40096411699,-0.0153579199413,0.069824038462,0.999999933063,0.000230853221313,-0.00028380035005,6.18340492309e-06,1793239134701519872
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.488328064,788,803.511671936,652,631.488328064,653,0.400964511264,-0.0153567945399,0.0698241184102,0.999999932957,0.000231061962419,-0.000284007342205,6.03746166353e-06,1793239134718186496
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.100813605,745,715,679,661.899186395,636,879,788,804,652,631.100813605,653.100813605,0.40096527286,-0.0153559869153,0.069824606558,0.999999933098,0.000230918189228,-0.000283628217844,5.96628814702e-06,1793239134734853376
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+117,1.950000000,POSE1_TO_POSE2_PRESS,766.593413984,744.406586016,715,678.593413984,662,636,880,788.593413984,804,652,631.406586016,653.593413984,0.40099486724,-0.0153604239958,0.0698390033676,0.999999939582,0.000229574253765,-0.000260901516777,7.91775426113e-06,1793239134801520128
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.020039407,744.979960593,715,678.020039407,662,636,880,788.020039407,804,652,631.979960593,653.020039407,0.401021494848,-0.0153591896956,0.0698510744116,0.999999943414,0.000234841216011,-0.000240727631458,8.50240421272e-06,1793239134818187008
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,879.427333455,788,803.427333455,652,632,653,0.401072779263,-0.0153625748396,0.0698718856079,0.999999951612,0.000232792556579,-0.000206098966232,1.03547386507e-05,1793239134834853632
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.161706514,745,715,678,662,636,879,788,803.161706514,652,631.838293486,653,0.401128553517,-0.0153660356912,0.0698911175064,0.999999957983,0.000230273749011,-0.000175694114657,1.18270005126e-05,1793239134851520256
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.739511922,745,715,678,662,636,879,788,803.739511922,652,631.260488078,653,0.401193583169,-0.0153692608697,0.0699054711144,0.999999961706,0.000227226905865,-0.000157504890396,1.22031356579e-05,1793239134868187136
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.684893761,745,715,678.315106239,662,636,879.315106239,788,804,652,631.315106239,653,0.401265351413,-0.0153720672561,0.0699161448047,0.999999963801,0.000227580148784,-0.000143044994764,1.19761285608e-05,1793239134884853760
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.111114581,745,715,678.888885419,662,636,879.888885419,788,804,652,631.888885419,653,0.401342651409,-0.015374529853,0.0699237976234,0.999999964654,0.000230724546633,-0.000131646532514,1.12539977048e-05,1793239134901520384
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804,652,632,653,0.401430786203,-0.0153799613559,0.0699264098252,0.99999996619,0.000225954869565,-0.000128332940984,9.76165894274e-06,1793239134918186752
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,678.939587886,662,636,880,788,804,651.939587886,631.939587886,653,0.401524363109,-0.0153859103195,0.0699276744159,0.999999967714,0.000219920996418,-0.000127058599297,7.95187673345e-06,1793239134934853632
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,678.360648328,662,636,880,788,804,651.360648328,631.360648328,653,0.40164231624,-0.0153901807707,0.0699277627263,0.999999967914,0.000219350019788,-0.000126621708337,5.00509417274e-06,1793239134951520000
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,879.782118444,788,804,651.217881556,631,653,0.401774729305,-0.0153953306129,0.0699292879456,0.999999968932,0.000216666071492,-0.000123236815577,1.99287685889e-06,1793239134968186624
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,879.204265456,788,804,651.795734544,631,653,0.401931032236,-0.0154019333341,0.0699331871435,0.999999971236,0.000210491192445,-0.000114981403089,-1.12744771525e-06,1793239134984853248
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715.372489699,678,662,636,879,788,804,652,631.372489699,653,0.402103260618,-0.0154096194922,0.0699376907162,0.99999997359,0.000203529442515,-0.000106664988293,-4.21572416576e-06,1793239135001520384
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715.948644649,678,662,636,879,788,804,652,631.948644649,653,0.402284196535,-0.0154178980388,0.0699425247417,0.999999975906,0.000196137456594,-9.83152186461e-05,-7.286478034e-06,1793239135018187520
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.464933962,678.535066038,662,636,879,788,803.464933962,652,631.464933962,653,0.402488327459,-0.0154259155606,0.0699428666389,0.999999978403,0.00018411554016,-9.56645792507e-05,-1.19544311529e-05,1793239135034854144
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.879137962,715,679,662,636,879.120862038,788,803.120862038,652,631,653,0.402704503216,-0.0154346562443,0.0699435458138,0.999999982358,0.000162742521387,-9.22991559118e-05,-1.67321309832e-05,1793239135051520768
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,744.299528788,715,679,662,636,879.700471212,788,803.700471212,652,631,653,0.402957781426,-0.015446238735,0.0699471736749,0.999999990447,0.000107595898392,-8.41038575475e-05,-2.13331437674e-05,1793239135068187136
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,744.27820156,715.27820156,679,662,636,880,788,804,652,631,653.27820156,0.403237323316,-0.0154584399702,0.0699548173797,0.999999994544,7.38845715653e-05,-6.93465575211e-05,-2.5365505019e-05,1793239135084854016
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744.853922586,715.853922586,679,662,636,880,788,804,652,631,653.853922586,0.403544952581,-0.0154713029139,0.0699667557823,0.999999996463,6.30969797201e-05,-4.75716008005e-05,-2.87897281853e-05,1793239135101520640
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715.571217526,678.571217526,662,636,879.571217526,788,804,652,631.428782474,653.571217526,0.403860137265,-0.0154823837609,0.0699695632782,0.999999997104,5.29304984779e-05,-4.51671968402e-05,-3.08343089466e-05,1793239135118187008
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,678.003450984,662,636,879.006901969,788,804,652,632,653.003450984,0.404178158187,-0.0154928569329,0.0699693024543,0.99999999734,4.29547436934e-05,-4.92547364031e-05,-3.23709588027e-05,1793239135134853376
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,678.595414945,662,636,880.190829891,788,804,652,632,653.595414945,0.404541784794,-0.0155030286224,0.0699752079037,0.999999998497,2.94916704889e-05,-3.73153162198e-05,-2.7281137616e-05,1793239135151520000
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715.182685154,678.817314846,662,636,880.817314846,788,804,652,632,654,0.404918212527,-0.0155092333348,0.0699799392804,0.999999999059,2.24446917423e-05,-2.79658492254e-05,-2.44281944424e-05,1793239135168186624
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715.759820624,678.240179376,662,636,880.240179376,788,804,652,632,654,0.405322280161,-0.0155068726243,0.0699821356207,0.999999998931,2.92512241275e-05,-2.42085615659e-05,-2.6405076492e-05,1793239135184853504
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715.665086596,678,662,636,880,788,804,652,632,653.665086596,0.405744541844,-0.0155023342462,0.0699765807022,0.999999998595,3.09135108401e-05,-3.1930668952e-05,-2.88847395176e-05,1793239135201520384
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715.091449767,678,662,636,880,788,804,652,632,653.091449767,0.406179772133,-0.015496243645,0.0699655007527,0.999999997935,2.89090237105e-05,-4.7835191042e-05,-3.17227807423e-05,1793239135218187008
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,880.466712755,788,804,652,632,653,0.406640797992,-0.0155021386424,0.0699492789492,0.999999996569,2.27738331319e-05,-7.21169415955e-05,-3.378820184e-05,1793239135234853632
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.024342902,745,715.024342902,678.024342902,662,636,880.951314197,788,804,652,632,653,0.407109231903,-0.0155101593355,0.0699329505071,0.999999994579,1.60966433498e-05,-9.6484716525e-05,-3.56735247566e-05,1793239135251520256
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.640367505,745,715.640367505,678.640367505,662,636,879.71926499,788,804,652,632,653,0.407638814959,-0.015514596166,0.0699377330247,0.999999995653,1.52872909709e-05,-8.43260362207e-05,-3.67429919959e-05,1793239135268186880
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.758639597,745,715.758639597,679,662,636,879.241360403,788,803.758639597,652,631.758639597,653,0.408199210241,-0.015516035173,0.0699479650243,0.999999997218,1.61721177236e-05,-6.26983242476e-05,-3.70393755649e-05,1793239135284853760
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.178731197,745,715.178731197,679,662,636,879.821268803,788,803.178731197,652,631.178731197,653,0.408802824748,-0.0155132692352,0.0699658408257,0.999999998768,1.94333117488e-05,-2.77887254706e-05,-3.62513809694e-05,1793239135301520384
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.396277054,745,715,679,662,636,879.603722946,788,803.396277054,652,631.396277054,653.396277054,0.409403685848,-0.0155118183838,0.0699672593445,0.999999998899,1.96380982109e-05,-2.03364093231e-05,-3.74635894181e-05,1793239135318187008
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.969102191,745,715,679,662,636,879.030897809,788,803.969102191,652,631.969102191,653.969102191,0.410003320243,-0.0155109534256,0.069961345867,0.999999998731,1.84812036875e-05,-2.51167747038e-05,-3.95669219516e-05,1793239135334853632
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.443004462,745,715,678.443004462,661.443004462,636,879.556995538,788,803.443004462,652,632,653.443004462,0.410613039732,-0.0155112750359,0.0699554553462,0.999999998269,1.51992903372e-05,-3.93027746585e-05,-4.10664177755e-05,1793239135351520256
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,678.143565358,661.143565358,636,880,788,803.143565358,651.856434642,632,653,0.411246551938,-0.01551298176,0.0699563690062,0.999999998247,9.72756228811e-06,-4.06834380352e-05,-4.1903059487e-05,1793239135368186880
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,678.723500893,661.723500893,636,880,788,803.723500893,651.276499107,632,653,0.411950634815,-0.01551869294,0.0699779601514,0.999999999163,-2.03189652356e-06,-1.5120144409e-06,-4.08295840577e-05,1793239135384853504
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715.301820652,678.698179348,662,636,879.698179348,788,804,651.301820652,631.698179348,653,0.41267590425,-0.0155226993308,0.070003422715,0.999999998384,-5.47154040806e-06,4.04948700519e-05,-3.95364742166e-05,1793239135401520128
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715.87866814,678.12133186,662,636,879.12133186,788,804,651.87866814,631.12133186,653,0.413420479507,-0.0155251522739,0.0700324130183,0.999999995656,-1.32995365263e-06,8.50855047956e-05,-3.80432276425e-05,1793239135418186752
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744.53795232,715.53795232,678.46204768,662.46204768,636,879.46204768,788,804,652,631.46204768,653,0.414134512681,-0.0155250663302,0.0700280903602,0.999999996682,-7.4889851872e-06,7.11087118846e-05,-3.90419578315e-05,1793239135434853376
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,744.046711932,715,679,662.953288068,636,880.046711932,788,804,652,632,653,0.414840213837,-0.015523833705,0.0700113453197,0.999999998377,-1.5178544225e-05,3.63747240272e-05,-4.11322542804e-05,1793239135451520000
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,744.62618522,715,679,662.37381478,636,880.62618522,788,804,652,632,653,0.41554367118,-0.0155172358244,0.0699541220085,0.999999997168,-9.03169827067e-06,-5.71771138021e-05,-4.81017120509e-05,1793239135468186624
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,881,788,804,652,631.79459758,653,0.416287767999,-0.0155141976954,0.0699221432187,0.999999992679,-6.5129430203e-06,-0.000108900481808,-5.23428381778e-05,1793239135484853248
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,881,788,804,652,631.215845891,653,0.417105733031,-0.0155176299415,0.0699360500824,0.999999995033,-1.05887795294e-05,-8.45944166211e-05,-5.16248183526e-05,1793239135501519872
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.638939552,788,804,651.638939552,631.361060448,653,0.417936499686,-0.0155205272047,0.0699616870641,0.999999997666,-1.61343760589e-05,-4.36002103868e-05,-5.00749135227e-05,1793239135518186496
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.063130796,788,804,651.063130796,631.936869204,653,0.418774880345,-0.0155231062755,0.0699943007802,0.999999998565,-2.25541431545e-05,7.31961859263e-06,-4.80302274882e-05,1793239135534853120
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715.523191465,679,662,636,880,788.523191465,804,651,631.476808535,653,0.419625162265,-0.0155272157644,0.0700148798973,0.999999997811,-3.07917485901e-05,3.50799267378e-05,-4.68881130737e-05,1793239135551520256
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.109249474,715.890750526,679.109249474,662,636,880.109249474,788.890750526,804,651.109249474,631.109249474,653,0.420476891036,-0.0155312719892,0.0700311308294,0.999999996594,-3.90682131132e-05,5.61244133547e-05,-4.6205019195e-05,1793239135568186880
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.688599466,715.311400534,679.688599466,662,636,880.688599466,788.311400534,804,651.688599466,631.688599466,653,0.421328539252,-0.0155342880974,0.070035134328,0.999999995979,-4.65486708817e-05,6.05422082477e-05,-4.70188470445e-05,1793239135584853504
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662.266729203,636,880.733270797,788.266729203,804,652,631.733270797,653,0.42214767035,-0.0155346764985,0.0700146069003,0.999999997203,-4.89514206991e-05,2.61510948596e-05,-5.013081497e-05,1793239135601520128
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662.84344088,636,880.15655912,788.84344088,804,652,631.15655912,653,0.422929011406,-0.0155320110794,0.0699655705691,0.999999995981,-4.54530533607e-05,-5.33422464676e-05,-5.59135932427e-05,1793239135618186752
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.581800571,715,679.581800571,662.581800571,636,880.418199429,788.581800571,804,652,631.418199429,653,0.423723270959,-0.0155277782503,0.069907937802,0.999999987024,-5.26633369512e-05,-0.000138468198931,-6.3278891143e-05,1793239135634853376
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.007769839,715,679.007769839,662.007769839,636,880.992230161,788.007769839,804,652,631.992230161,653,0.424522344211,-0.0155229613661,0.0698471017963,0.999999969955,-6.38639248587e-05,-0.000225692994057,-7.12338737514e-05,1793239135651520256
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,881,788,804,651.416436939,632,653,0.425454348001,-0.0155280141683,0.0698997892126,0.999999986291,-5.96905321775e-05,-0.000139222141866,-6.68815008129e-05,1793239135668186880
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.171113291,662.171113291,636,880.828886709,788,804.171113291,651,631.828886709,653,0.426378867563,-0.0155329933658,0.0699525073872,0.999999994768,-5.71358162379e-05,-5.80445948584e-05,-6.18879283038e-05,1793239135684853504
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.749104437,662.749104437,636,880.250895563,788,804.749104437,651,631.250895563,653,0.42728125376,-0.0155374755267,0.0700015947799,0.999999996696,-5.89316403604e-05,4.87922953613e-06,-5.57712459265e-05,1793239135701520128
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.326338709,745,715,679.673661291,663,636,880.326338709,788.326338709,804.673661291,651.326338709,631,653,0.428172318944,-0.0155403869459,0.0700339815148,0.999999995166,-6.31081470141e-05,5.36908392834e-05,-5.29448731255e-05,1793239135718186752
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.9029924,745,715,679.0970076,663,636,880.9029924,788.9029924,804.0970076,651.9029924,631,653,0.42905470041,-0.0155420935425,0.0700535581678,0.999999992024,-6.91107333904e-05,9.16778069755e-05,-5.26423011275e-05,1793239135734853376
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.511916899,745,715,679,662.511916899,636,881.488083101,789,804,652,631.488083101,653,0.429895741997,-0.0155412210235,0.0700409693649,0.999999993926,-6.61109048975e-05,6.96988407128e-05,-5.40364217352e-05,1793239135751520000
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.073935306,662.073935306,636,881.926064694,788.926064694,804.073935306,651.926064694,631.926064694,653,0.430715492583,-0.0155391941333,0.0700147318946,0.999999996235,-6.1426787535e-05,2.40584545967e-05,-5.63795836077e-05,1793239135768186880
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.653327653,662.653327653,636,881.346672347,788.346672347,804.653327653,651.346672347,631.346672347,653,0.431446846559,-0.015532841466,0.0699396597052,0.999999991318,-5.76754010461e-05,-0.000100429828237,-6.28648846892e-05,1793239135784853504
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.46118969,715,681,661,634,881,785.53881031,805,651.53881031,631,653.53881031,0.449875872726,-0.0156548085689,0.0696425385566,0.99999981079,-0.000243352329021,-0.000560115390687,-7.39608800312e-05,1793239136784854016
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+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,715,681,661,634,881,785.627915491,805,651,631,653,0.449877576907,-0.015650499722,0.0696432202768,0.999999812653,-0.000238992969149,-0.000558663459889,-7.39653336576e-05,1793239136818187008
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681,661,634,881,786,805,651,631,653,0.449877845216,-0.0156496359197,0.0696434942085,0.999999812962,-0.000238340186597,-0.000558398023354,-7.39008032454e-05,1793239136834853632
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,715,681,661,634,881,786,805,651,631,653,0.44987713106,-0.0156506790876,0.0696437733519,0.99999981234,-0.000239721143303,-0.000558963052045,-7.35781113925e-05,1793239136851520512
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,681,661,634,881,786,804.643251107,651,631,653,0.449877514716,-0.0156516526329,0.0696438157202,0.999999812043,-0.000240667030954,-0.00055911473913,-7.33772376773e-05,1793239136868186880
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,681,661,634,881,786,804.071290588,651,631,653,0.449878560636,-0.0156525841779,0.069643715252,0.999999811942,-0.000241350459664,-0.000559017074563,-7.32498517407e-05,1793239136884853504
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+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746,715,681,660.841548421,634.841548421,881.158451579,786,805,651.841548421,631,653,0.449877779515,-0.0156491689876,0.0696416023238,0.999999811045,-0.000236891953119,-0.000562470049694,-7.36183871683e-05,1793239136968186880
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+251,4.183333333,POSE1_TO_POSE2_PRESS,766,745.172026286,715,681,661,634,881,785.172026286,805,651,631,653,0.449879758369,-0.0156500768872,0.0696436562945,0.999999812488,-0.000239469765088,-0.000558902148623,-7.28460833361e-05,1793239137034853120
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+253,4.216666667,HOLD_POSE2,765,746,715,681,660,634,881,785,805,651,631,653,0.449880573348,-0.0156496222071,0.0696434294711,0.999999812344,-0.000237781443837,-0.000559904555958,-7.26544183729e-05,1793239137087805952
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,661,634,880.842960191,785.842960191,805.685920381,651,631,653,0.44988353127,-0.0156452155991,0.0696441545529,0.999999814206,-0.000233784167558,-0.000558253528033,-7.27047311465e-05,1793239137408228864
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.25505714,678.74494286,661.74494286,636,880,788,804.25505714,652,632,653,0.407762738906,-0.0153517376591,0.0697803065822,0.999999909883,0.000231166802623,-0.000355853946016,1.27982814635e-05,1793239138774896384
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.482106029,715,679,661.482106029,636,879.482106029,788,804,651.482106029,631.482106029,653,0.406221856214,-0.0153516893646,0.0698123385391,0.999999924695,0.000229993347158,-0.000312238333212,1.48672897707e-05,1793239138824895744
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715.233962405,679,662,636,879.46792481,788,804,651.766037595,632,653,0.404916888295,-0.015351458817,0.0698097211571,0.999999921846,0.00023070657277,-0.000320758256935,1.40507567709e-05,1793239138874895360
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,716,678.035706143,662,636,879.071412285,787.035706143,804,651.964293857,632,653,0.40386308156,-0.015349545315,0.0698509485744,0.999999941332,0.000241181196533,-0.000242701514454,1.62364787304e-05,1793239138924894976
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,716,679,662,636,879.717397572,788,804,652,631.717397572,653,0.402967694913,-0.0153368952389,0.0698327499941,0.999999932728,0.000242295274823,-0.00027510192781,1.24687543318e-05,1793239138974895360
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715.390161443,678,661.390161443,636,879.609838557,788,804,652,631,653,0.401884210052,-0.0153458992208,0.069805297544,0.99999991779,0.000243461959608,-0.00032406349978,1.13824930652e-05,1793239139058228480
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.427593868,745,715.427593868,678.427593868,661.572406132,636,880,788,804,652,632,653,0.401001586534,-0.0153431988474,0.069807207761,0.999999921637,0.000242062133869,-0.000313210215155,5.5455678415e-06,1793239139258228736
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,678,662,636,879.259878701,788,804,652,631.259878701,653.740121299,0.400976193069,-0.0153442722299,0.0698084217153,0.999999922249,0.000241568358015,-0.000311632881324,5.6421911902e-06,1793239139291562240
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715.315972493,678,662,636,879.315972493,788,804,652,631,653.684027507,0.400970099915,-0.0153454206726,0.0698093108705,0.99999992314,0.000240125055872,-0.000309880996061,5.73268968794e-06,1793239139308228608
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715.88861662,678,662,636,879.88861662,788,804,652,631,653.11138338,0.40096785415,-0.0153464249548,0.0698110778466,0.999999924601,0.000238392419067,-0.000306484866163,5.91865496984e-06,1793239139324895232
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.958717506,661.958717506,636,879.958717506,788,804,652,632,653.958717506,0.400964216021,-0.0153467569326,0.0698125925542,0.99999992523,0.000238048400821,-0.000304690503631,6.0646075367e-06,1793239139358228480
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.36912694,661.36912694,636,879.36912694,788,804,652,632,653.36912694,0.40096207966,-0.0153457804156,0.0698123609222,0.999999924295,0.000241427570062,-0.000305103926111,5.88581178602e-06,1793239139374895104
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,744.782863822,715,678,661,636,879.217136178,788,804,652,631.782863822,653,0.400960875059,-0.0153456819886,0.0698126352279,0.999999924169,0.000242323449949,-0.000304809050084,5.76735422995e-06,1793239139391561472
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,880,788,803.471895885,651.528104115,631.471895885,653,0.400964307432,-0.0153484828909,0.0698166223822,0.999999926834,0.000239274593387,-0.000298396476767,6.22867648804e-06,1793239139458228992
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.107514373,679,662,636,880,788,803.107514373,652,631,653,0.400964755621,-0.0153476625212,0.0698176178992,0.999999927031,0.000240423032884,-0.000296807538617,6.24950182229e-06,1793239139474896128
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,716,678.988347675,661.011652325,636,879.011652325,788,804,652,632,653,0.400965091656,-0.0153454015767,0.0698199356777,0.999999928813,0.000238681176407,-0.000292191207282,5.35045909507e-06,1793239139558228224
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09fd097579a826a564983d2c91f92cf652e79519
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
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+350,5.833333333,pose2_to_pose3_retreat,0.583261106533,-0.0099092757056,1.06003239244,0.553831559331,-0.00123753186176,1.059700528
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+352,5.866666667,pose2_to_pose3_retreat,0.582168161295,-0.00990916016769,1.06003212259,0.552738611547,-0.00123742508369,1.0597002539
+353,5.883333333,pose2_to_pose3_retreat,0.581662019876,-0.00990921201848,1.06003221289,0.552232471352,-0.00123747259604,1.05970034898
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+357,5.950000000,pose2_to_pose3_retreat,0.579891155027,-0.00990918547497,1.06003230337,0.55046160746,-0.00123744303045,1.05970043356
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+369,6.150000000,pose2_to_pose3_retreat,0.57663008121,-0.00990927935019,1.06003230885,0.54720053303,-0.00123753894163,1.05970044065
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+374,6.233333333,pose2_to_pose3_retreat,0.576043962465,-0.00990927047816,1.06003223779,0.546614414816,-0.00123752838025,1.05970036792
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+376,6.266666667,pose2_to_pose3_retreat,0.575902611101,-0.00990925853597,1.06003222822,0.54647306436,-0.00123751297851,1.05970036759
+377,6.283333333,pose2_to_pose3_retreat,0.575848612693,-0.00990928927529,1.06003236187,0.546419066071,-0.00123754356335,1.05970049463
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+379,6.316666667,pose2_to_pose3_retreat,0.575768018302,-0.00990918572283,1.0600323913,0.546338469971,-0.00123744624843,1.05970051257
+380,6.333333333,pose2_to_pose3_retreat,0.575740281684,-0.00990931724523,1.0600323299,0.546310733644,-0.00123757624919,1.05970046514
+381,6.350000000,pose2_to_pose3_retreat,0.575719076759,-0.00990921710624,1.06003224891,0.546289526716,-0.00123748292275,1.05970038374
+382,6.366666667,pose2_to_pose3_retreat,0.575702533148,-0.00990915329231,1.06003229181,0.546272982157,-0.00123742251184,1.05970042184
+383,6.383333333,pose2_to_pose3_retreat,0.575690206819,-0.00990918665377,1.06003240426,0.546260656659,-0.00123745321634,1.05970053002
+384,6.400000000,pose2_to_pose3_retreat,0.575682137603,-0.00990928763533,1.0600324823,0.546252589494,-0.0012375472912,1.05970060674
+385,6.416666667,pose2_to_pose3_retreat,0.57567654613,-0.00990926709415,1.06003227443,0.546246996567,-0.00123753155241,1.05970040235
+386,6.433333333,pose2_to_pose3_retreat,0.575672986089,-0.00990924006185,1.06003210286,0.546243435165,-0.00123750903183,1.05970023358
+387,6.450000000,pose2_to_pose3_retreat,0.575670917696,-0.00990925440871,1.06003218527,0.546241367594,-0.00123752085241,1.05970030921
+388,6.466666667,pose2_to_pose3_retreat,0.575669565747,-0.00990926378616,1.06003223914,0.546240016181,-0.00123752857862,1.05970035864
+389,6.483333333,pose2_to_pose3_retreat,0.57566859502,-0.00990927051935,1.06003227782,0.546239045839,-0.00123753412619,1.05970039413
+390,6.500000000,pose2_to_pose3_retreat,0.575668061588,-0.00990927901224,1.06003228751,0.546238512669,-0.00123754173692,1.0597004037
+391,6.516666667,pose2_to_pose3_retreat,0.575667956369,-0.00990928214205,1.06003228591,0.546238407517,-0.00123754462272,1.05970040258
+392,6.533333333,pose2_to_pose3_retreat,0.57566766993,-0.0099092906624,1.06003228156,0.546238121259,-0.00123755247882,1.05970039951
+393,6.550000000,pose2_to_pose3_retreat,0.575667170981,-0.00990930550402,1.06003227398,0.546237622625,-0.00123756616338,1.05970039418
+394,6.566666667,pose2_to_pose3_retreat,0.575666907646,-0.00990931333708,1.06003226998,0.546237359457,-0.00123757338578,1.05970039136
+395,6.583333333,pose2_to_pose3_retreat,0.575666880547,-0.00990931414319,1.06003226957,0.546237332374,-0.00123757412904,1.05970039107
+396,6.600000000,pose2_to_pose3_retreat,0.57566671076,-0.00990931919362,1.06003226699,0.546237162695,-0.00123757878574,1.05970038925
+397,6.616666667,pose2_to_pose3_retreat,0.575666589578,-0.00990932279826,1.06003226514,0.54623704159,-0.00123758210936,1.05970038796
+398,6.633333333,pose2_to_pose3_retreat,0.575666546372,-0.00990932408347,1.06003226449,0.546236998411,-0.00123758329437,1.05970038749
+399,6.650000000,pose2_to_pose3_retreat,0.575666471191,-0.00990932631978,1.06003226335,0.546236923278,-0.00123758535634,1.05970038669
+400,6.666666667,pose2_to_pose3_retreat,0.575666363393,-0.00990932952631,1.06003226171,0.546236815548,-0.00123758831288,1.05970038554
+401,6.683333333,pose2_to_pose3_retreat,0.575666141047,-0.00990933614015,1.06003225833,0.546236593343,-0.00123759441111,1.05970038316
+402,6.700000000,pose2_to_pose3_retreat,0.575666026446,-0.00990933954903,1.06003225659,0.546236478814,-0.00123759755423,1.05970038193
+403,6.716666667,pose2_to_pose3_retreat,0.57566596428,-0.00990934139821,1.06003225565,0.546236416688,-0.00123759925925,1.05970038127
+404,6.733333333,pose2_to_pose3_retreat,0.575665844653,-0.00990934279742,1.06003225388,0.546236297114,-0.00123760045778,1.05970038003
+405,6.750000000,pose2_to_pose3_retreat,0.575665669515,-0.00990931108116,1.06003225211,0.546236121702,-0.00123756964775,1.05970037882
+406,6.766666667,pose2_to_pose3_retreat,0.57566564591,-0.00990930680656,1.06003225187,0.546236098061,-0.00123756549528,1.05970037865
+407,6.783333333,pose2_to_pose3_retreat,0.575665410695,-0.00990926421081,1.06003224949,0.546235862478,-0.00123752411661,1.05970037703
+408,6.800000000,pose2_to_pose3_retreat,0.575664935362,-0.00990917813162,1.06003224468,0.546235386403,-0.00123744049694,1.05970037374
+409,6.816666667,pose2_to_pose3_retreat,0.575664629633,-0.00990921921917,1.06003228958,0.546235080461,-0.00123748225108,1.05970042016
+410,6.833333333,pose2_to_pose3_retreat,0.575664571141,-0.00990924515084,1.06003230716,0.546235021977,-0.00123750813878,1.05970043813
+411,6.850000000,pose2_to_pose3_retreat,0.575664495836,-0.00990927853609,1.06003232979,0.546234946683,-0.00123754146743,1.05970046126
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+413,6.883333333,pose2_to_pose3_retreat,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632641,1.05970060642
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc945746fd59def44c2ed005efea0be0f50ed55d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d93610d4762d094b3b799160ed46ee4f4109bc85ddca01f69c7bb3b596ba65c
+size 26402742
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90db5057f801535f0eac07e765d460c40e37bdd0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_03/franka_data.csv
@@ -0,0 +1,417 @@
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+22,0.366666667,BASELINE,766,745,715,678.768413217,661.768413217,636,878.231586783,788,804,651.231586783,631.231586783,653,0.400965555662,-0.015352648851,0.0698232070169,0.999999931534,0.000233161847936,-0.000287291220728,5.52141665272e-06,1793239140297738752
+23,0.383333333,BASELINE,766,744.648590284,715,679,662,636,878.702819432,788,804,651.351409716,631.351409716,653,0.400964206764,-0.0153524301822,0.0698225167883,0.999999931165,0.000232753734569,-0.000288905639686,5.43282530067e-06,1793239140314405376
+24,0.400000000,BASELINE,766,744.07171071,715,679,662,636,879.85657858,788,804,651.92828929,631.92828929,653,0.400961240195,-0.0153519487795,0.0698208736904,0.99999992995,0.000232839480863,-0.000293013778179,5.39447210634e-06,1793239140331072000
+25,0.416666667,BASELINE,766,744.506535899,715,679,662,636,879.493464101,788,804,652,632,653,0.400963072906,-0.0153516495719,0.0698222420114,0.999999929994,0.000235071261875,-0.000291066264316,5.79451474403e-06,1793239140347738624
+26,0.433333333,BASELINE,766,745,715,679,662,636,879.084303329,788,804,652,632,653,0.400965009055,-0.0153513939663,0.0698235565242,0.999999930119,0.000237133673434,-0.000288949630284,6.12079538102e-06,1793239140364405248
+27,0.450000000,BASELINE,766,745,715,679,662,636,879.658161469,788,804,652,632,653,0.400963589664,-0.0153512413711,0.0698220761502,0.999999929736,0.000236443494013,-0.000290842793253,5.65735027352e-06,1793239140381072128
+28,0.466666667,BASELINE,765.760478847,744.760478847,715,678.760478847,661.760478847,636,879.760478847,788.239521153,804,652,632,653,0.400962666088,-0.0153511474552,0.0698211786325,0.999999929474,0.000236367291267,-0.000291809490093,5.47959612965e-06,1793239140397739264
+29,0.483333333,BASELINE,765.168067045,744.168067045,715,678.168067045,661.168067045,636,879.168067045,788.831932955,804,652,632,653,0.400962473005,-0.0153511399926,0.0698211398472,0.999999929392,0.000237195670997,-0.000291411208286,5.72275544101e-06,1793239140414405888
+30,0.500000000,BASELINE,765.413523769,744.413523769,715,678,661.413523769,636,879,788.586476231,804,652,632,653,0.400962914236,-0.0153515275954,0.0698215723242,0.999999929846,0.000236303368937,-0.000290575021758,5.88746444792e-06,1793239140431072768
+31,0.516666667,BASELINE,765.990828783,744.990828783,715,678,661.990828783,636,879,788.009171217,804,652,632,653,0.400963606694,-0.0153520716688,0.0698221914503,0.999999930509,0.000234729569382,-0.000289565397614,6.02110222786e-06,1793239140447739392
+32,0.533333333,BASELINE,766,745,715.565488442,678.565488442,661.434511558,636,879,788,804,652,632,653,0.40096469508,-0.0153507165225,0.069822582645,0.999999930512,0.000236072361329,-0.000288468138066,5.64644559458e-06,1793239140464406272
+33,0.550000000,BASELINE,766,745,716,679,661.139592651,636,879.139592651,788,804,652,632,653,0.400965567583,-0.0153498146218,0.0698229799921,0.999999930546,0.000237085936561,-0.000287521239168,5.39301578976e-06,1793239140481073152
+34,0.566666667,BASELINE,766,745,716,679,661.712106556,636,879.712106556,788,804,652,632,653,0.400965750745,-0.0153504134619,0.0698234078313,0.999999930719,0.000236932490394,-0.000287045044085,5.54099613604e-06,1793239140497739776
+35,0.583333333,BASELINE,765.704696302,745,715.704696302,678.704696302,661.704696302,636.295303698,880,788,803.704696302,652,632,653,0.400965194861,-0.0153512976959,0.0698232288879,0.999999930691,0.000236416887201,-0.000287562802047,5.72584339764e-06,1793239140514405888
+36,0.600000000,BASELINE,765.110693,745,715.110693,678.110693,661.110693,636.889307,880,788,803.110693,652,632,653,0.400963891434,-0.0153524706058,0.0698224361842,0.999999930459,0.000235534962263,-0.00028908594316,5.94798155098e-06,1793239140531072256
+37,0.616666667,BASELINE,765.471313514,745,715,678,661.471313514,636.528686486,880,788,803.471313514,652,631.528686486,653,0.400964025772,-0.0153522198837,0.0698224450413,0.999999930679,0.00023486525285,-0.000288870861753,5.7929004747e-06,1793239140547738880
+38,0.633333333,BASELINE,766,745,715,678.050119398,662,636,879.949880602,788,804,652,631.050119398,653,0.400964526294,-0.0153517438002,0.069822635879,0.999999931003,0.000234239744317,-0.000288262581695,5.57639046975e-06,1793239140564405248
+39,0.650000000,BASELINE,766,745,715,678.624190044,662,636,879.375809956,788,804,652,631.624190044,653,0.400965412477,-0.0153523203811,0.0698228099724,0.99999993132,0.00023356820576,-0.000287705610193,5.62087572478e-06,1793239140581071872
+40,0.666666667,BASELINE,766,745,715,678.79663177,661.79663177,636,879,788,803.79663177,652,632,653,0.400965721576,-0.0153522839383,0.0698228466866,0.999999931259,0.000233979998036,-0.00028758454718,5.50531789307e-06,1793239140597738752
+41,0.683333333,BASELINE,766,745,715,678.2077721,661.2077721,636,879,788,803.2077721,652,632,653,0.400964936794,-0.0153510854878,0.0698226229937,0.999999930478,0.000236445281016,-0.00028828976366,5.08639291148e-06,1793239140614405632
+42,0.700000000,BASELINE,766,745,715.374928094,678.374928094,661,636,879.374928094,788,803,652,632,653,0.400964206068,-0.0153510934608,0.0698227949022,0.999999930663,0.000235304329183,-0.000288585198071,4.95331338062e-06,1793239140631072256
+43,0.716666667,BASELINE,766,745,715.954270071,678.954270071,661,636,879.954270071,788,803,652,632,653,0.400963504813,-0.015351759186,0.0698231824958,0.999999931368,0.000232197228355,-0.000288657215899,4.97607915674e-06,1793239140647738880
+44,0.733333333,BASELINE,766,745,715.470258737,679,662.059482526,636,879.470258737,788,803.529741263,652,631.470258737,653,0.400963448458,-0.0153525945886,0.0698229607298,0.999999931013,0.000233930866483,-0.00028848367472,5.21880831653e-06,1793239140664405504
+45,0.750000000,BASELINE,766,745,715,679,662.89495372,636,879,787.89495372,804,652,631,653,0.400963506045,-0.0153532971445,0.0698226584325,0.999999930683,0.000235433375815,-0.00028840365637,5.42210213121e-06,1793239140681071872
+46,0.766666667,BASELINE,766,745,715,679,662.318906602,636,879,787.318906602,804,652,631,653,0.400963826719,-0.0153533388508,0.0698222292004,0.999999930885,0.000234039499056,-0.000288837327183,5.36405647269e-06,1793239140697738752
+47,0.783333333,BASELINE,766,745,715,679,662,636,879.264005282,787.264005282,804,651.735994718,631.264005282,653,0.400964240793,-0.0153531254791,0.069822492143,0.99999993114,0.000233363325647,-0.000288500612825,5.37982466803e-06,1793239140714405376
+48,0.800000000,BASELINE,766,745,715,679,662,636,879.855430954,787.855430954,804,651.144569046,631.855430954,653,0.400964770701,-0.0153525957586,0.0698236135234,0.999999931461,0.000233577250566,-0.000287208463809,5.48713708761e-06,1793239140731071744
+49,0.816666667,BASELINE,765.56513307,745,715,678.56513307,661.56513307,636,879.130266139,788,804,651.43486693,632,653,0.400964359799,-0.0153535756928,0.0698241163165,0.999999931967,0.000231662621734,-0.000286998182769,5.54638332165e-06,1793239140747738880
+50,0.833333333,BASELINE,765.010406866,745,715,678,661.010406866,636,878.010406866,788,804,651.989593134,632,653,0.400963663741,-0.0153549956638,0.069824394349,0.999999932503,0.000229142531971,-0.000287151366358,5.58758297851e-06,1793239140764405504
+51,0.850000000,BASELINE,765.585022649,745,715,678,661.585022649,636,878.585022649,788,804,651.414977351,632,653,0.400964009722,-0.0153537930719,0.0698233369393,0.999999931792,0.000231131948553,-0.000288033953519,5.49346248783e-06,1793239140781072128
+52,0.866666667,BASELINE,766,745,715,678,662,636,879.159450719,788,804,651.159450719,632,653.159450719,0.400964020058,-0.015352748484,0.0698224580429,0.99999993119,0.000232669746132,-0.000288887282519,5.37715953026e-06,1793239140797738752
+53,0.883333333,BASELINE,766,745,715,678,662,636,879.733390796,788,804,651.733390796,632,653.733390796,0.400963157887,-0.0153521146247,0.0698220431885,0.999999930881,0.000233033567881,-0.000289664555392,5.20319364301e-06,1793239140814405376
+54,0.900000000,BASELINE,766,745,715,678.317795097,662,636,880,788,804,652,632,653.682204903,0.400962516538,-0.0153518338023,0.0698217394067,0.999999930784,0.000232952466902,-0.000290068403232,5.12288076027e-06,1793239140831072000
+55,0.916666667,BASELINE,766,745,715,678.91127707,662,636,880,788,804,652,632,653.08872293,0.400962066752,-0.015351859239,0.0698215319803,0.999999930869,0.000232485395955,-0.00029014830525,5.12381175856e-06,1793239140847738624
+56,0.933333333,BASELINE,766,745,715.49051423,678.50948577,661.50948577,636,880,788,804,652,632,653,0.400962960839,-0.0153522734414,0.0698227138879,0.999999931251,0.000233276766098,-0.000288189500748,5.24591193048e-06,1793239140864405504
+57,0.950000000,BASELINE,766,745,715.932707038,678,661.067292962,636,879.932707038,788,804,652,631.932707038,653,0.400964042697,-0.0153526420363,0.0698239954372,0.999999931577,0.000234376365828,-0.000286156946847,5.369570401e-06,1793239140881072128
+58,0.966666667,BASELINE,766,745,715.355584478,678,661.644415522,636,879.355584478,788,804,652,631.355584478,653,0.400964757521,-0.0153521473754,0.0698241817178,0.999999931127,0.000236135326391,-0.000286280599169,5.34367361224e-06,1793239140897739008
+59,0.983333333,BASELINE,766,745,715,678.226080033,662,636,879.226080033,788,804,652,631.226080033,653,0.40096536398,-0.0153521142053,0.0698243039423,0.999999931263,0.000235999448936,-0.000285918260906,5.37313626064e-06,1793239140914405632
+60,1.000000000,BASELINE,766,745,715,678.815034792,662,636,879.815034792,788,804,652,631.815034792,653,0.400965796505,-0.015352821761,0.0698243233522,0.999999932333,0.000232822220347,-0.000284775872789,5.4914547865e-06,1793239140931072512
+61,1.016666667,BASELINE,766,745,715,679,662,636,879.602537817,788,804,652,632,653,0.400965095591,-0.015353851701,0.0698235637643,0.999999932208,0.000231696916798,-0.000286133020984,5.41657262711e-06,1793239140947738880
+62,1.033333333,BASELINE,766,745,715,679,662,636,879.023098994,788,804,652,632,653,0.400963875736,-0.0153550292434,0.0698224475149,0.999999931533,0.000231511079988,-0.000288634573018,5.25323421713e-06,1793239140964405248
+63,1.050000000,BASELINE,765.447231176,745,715,678.447231176,662,636,879,788,804,652,632,653,0.400965627729,-0.0153537552946,0.0698237960149,0.999999932289,0.000230927102665,-0.000286476303262,5.03500970671e-06,1793239140981072128
+64,1.066666667,BASELINE,765.256793854,744.871603073,715,678,661.871603073,636,879.128396927,788,804,652,632,653,0.400966783747,-0.0153527122294,0.06982478306,0.999999932773,0.000230687933092,-0.000284980335117,4.85728730044e-06,1793239140997738752
+65,1.083333333,BASELINE,766.407413398,744.296293301,715,678,661.296293301,636,879.703706699,788,804,652,632,653,0.40096543586,-0.015352827088,0.0698241557841,0.999999932114,0.000231706478713,-0.000286463075729,4.82847311826e-06,1793239141014405120
+66,1.100000000,BASELINE,766.713323657,744.286676343,715,678,661.286676343,636,879.713323657,788,804,652,632,653,0.400964553675,-0.0153524992423,0.0698236557973,0.99999993129,0.000234357725695,-0.000287180355812,4.93326944813e-06,1793239141031072000
+67,1.116666667,BASELINE,766.122219878,744.877780122,715,678,661.877780122,636,879.122219878,788,804,652,632,653,0.400964166028,-0.0153517012799,0.0698232909814,0.999999930279,0.000238742771382,-0.000287084777699,5.17994949919e-06,1793239141047739136
+68,1.133333333,BASELINE,766,745,715.458873559,678,662,636,879,788,804,651.541126441,631.541126441,653,0.400963252683,-0.0153525868903,0.0698224863423,0.999999930706,0.000235899602889,-0.000287944232153,5.28291852934e-06,1793239141064406016
+69,1.150000000,BASELINE,766,745,716,678,662,636,879,788,804,651,631,653,0.400962288181,-0.015353715586,0.069821654883,0.999999931409,0.000231596629207,-0.000288991458014,5.31373007587e-06,1793239141081073152
+70,1.166666667,BASELINE,766,745,716,678,662,636,879,788,804,651,631,653,0.400962567518,-0.0153520087411,0.0698220955653,0.999999930937,0.000233439792993,-0.000289152656036,4.84194731834e-06,1793239141097739776
+71,1.183333333,BASELINE,766,745,715.808102642,678.191897358,662,636,879.191897358,788,804,651.191897358,631,653,0.400962877749,-0.015351043912,0.069822465865,0.99999993079,0.000234093156581,-0.000289136654268,4.58571743568e-06,1793239141114406144
+72,1.200000000,BASELINE,766,745,715.219197661,678.780802339,662,636,879.780802339,788,804,651.780802339,631,653,0.400963251895,-0.0153516142052,0.0698226905534,0.999999931321,0.000232284997569,-0.000288754052029,4.77543490112e-06,1793239141131072512
+73,1.216666667,BASELINE,766,745,715.363169941,678.636830059,662,636,880.363169941,788,803.636830059,652,631.363169941,653,0.400963184659,-0.0153522176063,0.0698225766151,0.999999931219,0.000232387613345,-0.000289020363007,4.99949309778e-06,1793239141147738880
+74,1.233333333,BASELINE,766,745,715.941661528,678.058338472,662,636,880.941661528,788,803.058338472,652,631.941661528,653,0.400962855728,-0.0153528406369,0.0698222619067,0.999999930742,0.000233623118071,-0.000289671411418,5.2439117313e-06,1793239141164405248
+75,1.250000000,BASELINE,766,745,715.481681673,678,661.481681673,636,880.481681673,788,803.518318327,652,631.481681673,653,0.400963732127,-0.0153528382478,0.0698233439845,0.999999931354,0.000233185043011,-0.000287901105771,5.36199442377e-06,1793239141181071872
+76,1.266666667,BASELINE,766,745,715,678,661.094156368,636,880,788,804.094156368,652,631.094156368,653,0.400964305609,-0.0153527575988,0.069824066833,0.999999931849,0.00023264340924,-0.000286618493863,5.38606154536e-06,1793239141197738752
+77,1.283333333,BASELINE,766,745,715,678,661.666878837,636,880,788,804.666878837,652,631.666878837,653,0.400962652355,-0.0153526357026,0.0698221675928,0.999999931136,0.000232529451381,-0.000289194973023,5.00429651224e-06,1793239141214405888
+78,1.300000000,BASELINE,766,745,715.248554356,677.751445644,662,636,879.751445644,788,804.502891288,651.751445644,632,653,0.400961667114,-0.0153526077849,0.0698214751328,0.999999930702,0.00023226579599,-0.000290905464476,4.82442791094e-06,1793239141231073024
+79,1.316666667,BASELINE,766,745,715.842677379,677.157322621,662,636,879.157322621,788,803.314645242,651.157322621,632,653,0.400961610622,-0.0153527105267,0.0698224604767,0.999999930663,0.000231794013995,-0.000291411960656,4.92525883074e-06,1793239141247739648
+80,1.333333333,BASELINE,766,745,715.576437556,677.423562444,662,636,879,788.423562444,803,651.423562444,632,653,0.400961618077,-0.0153524891655,0.0698222514036,0.999999930646,0.000232450061301,-0.000290946872408,4.99984199472e-06,1793239141264405760
+81,1.350000000,BASELINE,766,745,715.000320367,677.999679633,662,636,879,788.999679633,803,651.999679633,632,653,0.400961648565,-0.015352151072,0.0698216121368,0.999999930635,0.00023351231954,-0.000290131848043,5.06497149658e-06,1793239141281072128
+82,1.366666667,BASELINE,766,745,715,678.575051761,662,636,879.575051761,788.424948239,803,652,631.424948239,653,0.400962699502,-0.0153527654206,0.0698223929552,0.999999931249,0.000233194340192,-0.000288263652625,5.06754501677e-06,1793239141297738496
+83,1.383333333,BASELINE,766.153435015,745,715,678.846564985,662,636,879.846564985,788,803.153435015,651.846564985,631.153435015,653,0.400963439867,-0.0153532600627,0.0698230496721,0.999999931657,0.000232997274893,-0.000287007806927,5.07723901259e-06,1793239141314405376
+84,1.400000000,BASELINE,766.740326044,745,715,678.259673956,662,636,879.259673956,788,803.740326044,651.259673956,631.740326044,653,0.400963301254,-0.0153534150357,0.0698233535685,0.999999931486,0.000233143962827,-0.000287483512512,5.10714677594e-06,1793239141331072000
+85,1.416666667,BASELINE,766.676896497,745,715.323103503,678.323103503,662,636,879,788,804,651.323103503,632,653.323103503,0.400963816131,-0.0153532748417,0.0698233363261,0.999999931382,0.000233354567384,-0.000287670626292,5.20103849038e-06,1793239141347738880
+86,1.433333333,BASELINE,766.09738353,745,715.90261647,678.90261647,662,636,879,788,804,651.90261647,632,653.90261647,0.400964849605,-0.015352900408,0.0698230642333,0.999999931332,0.000233615895083,-0.000287628718479,5.34570678191e-06,1793239141364405760
+87,1.450000000,BASELINE,766.48121913,745,715.51878087,678.51878087,661.51878087,636,879,788,804,652,631.51878087,653.51878087,0.400965284306,-0.0153527433288,0.0698234567666,0.99999993172,0.000233411404429,-0.000286449769637,5.11025537832e-06,1793239141381072128
+88,1.466666667,BASELINE,766.940682185,745,715,678,661,636,879,788,804,651.940682185,631,653,0.400965398742,-0.0153526889339,0.0698238084158,0.999999932077,0.000233103234541,-0.000285455272042,4.84661043927e-06,1793239141397738752
+89,1.483333333,BASELINE,766.365368024,745,715,678,661,636,879,788,804,651.365368024,631,653,0.400963779329,-0.0153531458709,0.0698226366428,0.99999993142,0.000232711639965,-0.000288063121149,5.00560247484e-06,1793239141414405120
+90,1.500000000,BASELINE,766,745,715,678,661.21470117,636,879.21470117,788,804,651.21470117,631.21470117,653,0.400962860646,-0.015352899288,0.0698220403557,0.999999930946,0.000233270566472,-0.000289252900979,5.06802927854e-06,1793239141431071744
+91,1.516666667,BASELINE,766,745,715,678,661.803045458,636,879.803045458,788,804,651.803045458,631.803045458,653,0.400963161437,-0.0153514283737,0.0698224455834,0.999999930797,0.000235483678979,-0.000287974823351,4.96240419027e-06,1793239141447738368
+92,1.533333333,BASELINE,766,744.61487846,715,678.38512154,662,636,879.61487846,788,804,652,632,653,0.400962717455,-0.0153514168089,0.0698221403539,0.999999930435,0.000236253396501,-0.000288597844767,5.00988573197e-06,1793239141464405248
+93,1.550000000,BASELINE,766,744.035956604,715,678.964043396,662,636,879.035956604,788,804,652,632,653,0.40096189869,-0.0153521396157,0.0698214776092,0.999999929967,0.000236296771039,-0.000290177534439,5.13441336605e-06,1793239141481071872
+94,1.566666667,BASELINE,766,744.540414529,715.540414529,678.459585471,662,636,879,788,803.459585471,652,632,653,0.400963495851,-0.0153524113306,0.0698226536539,0.999999930537,0.000236074283896,-0.000288389593308,5.07442639679e-06,1793239141497738496
+95,1.583333333,BASELINE,766,745,715.883676909,678,662,636,879,788,803.116323091,652,632,653,0.400964939144,-0.0153529012084,0.0698236990077,0.999999931161,0.000235348983157,-0.000286815169003,5.04252244015e-06,1793239141514405120
+96,1.600000000,BASELINE,766,745,715.308925468,678,662,636,879,788,803.691074532,652,632,653,0.400965145533,-0.0153543685917,0.0698237494181,0.999999931736,0.000232711483449,-0.00028696110645,5.16944855364e-06,1793239141531072000
+97,1.616666667,BASELINE,766,745,715,678,661.726755164,636,879,788,804,652,632,653,0.400964555728,-0.0153549487114,0.0698232769585,0.999999931928,0.00023134820501,-0.000287395147771,5.08007584076e-06,1793239141547738880
+98,1.633333333,BASELINE,766,745,715,678,661.135963183,636,879,788,804,652,632,653,0.400963040639,-0.0153544977117,0.0698221968539,0.999999931681,0.000231465742742,-0.000288164004423,4.73933487407e-06,1793239141564405504
+99,1.650000000,BASELINE,766,745,715.445088631,678,661.445088631,636,879,788,804,652,632,653,0.400962712455,-0.0153536361169,0.0698219466312,0.999999931172,0.000232718075587,-0.000288918821307,4.91830381918e-06,1793239141581072128
+100,1.666666667,BASELINE,766,745,715.976878581,678.023121419,661.976878581,635.976878581,879,788,804,652,632,653,0.400962779545,-0.0153527040579,0.0698219780549,0.99999993063,0.000234203715928,-0.000289589805919,5.2275128697e-06,1793239141597738496
+101,1.683333333,BASELINE,766,745,715.401410569,678.598589431,661.401410569,635.401410569,879,788,804,652,632,653,0.400963813413,-0.0153530208241,0.0698228113761,0.999999931231,0.000233159042795,-0.000288358385943,4.9366753887e-06,1793239141614405376
+102,1.700000000,BASELINE,766,745,715,679,661.178071913,635.178071913,879,788,804,652,632,653,0.400964860366,-0.0153528927333,0.0698238266423,0.999999931603,0.000233372575309,-0.000286893885801,4.75095589351e-06,1793239141631072256
+103,1.716666667,BASELINE,766,745,715,679,661.766812469,635.766812469,879,788,804,652,632,653,0.400965937496,-0.0153517387153,0.0698252615091,0.999999931444,0.00023648777615,-0.000284891857402,4.80765906296e-06,1793239141647739136
+104,1.733333333,BASELINE,766,745,715,678.650550042,662,636,879,788,804,652,631.650550042,653,0.400964866393,-0.0153524104988,0.0698244743687,0.999999931314,0.000235543265204,-0.000286123677678,4.86537886987e-06,1793239141664405504
+105,1.750000000,BASELINE,766,745,715,678.07191516,662,636,879,788,804,652,631.07191516,653,0.400962386383,-0.0153542797244,0.0698222299366,0.999999931192,0.000231936213859,-0.000289476400465,4.9237654387e-06,1793239141681072128
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,716,678,662,636,880,788,804,652,632,653,0.400964510667,-0.0153538279369,0.0698245966796,0.999999932113,0.000231843363435,-0.000286348131452,5.17073556562e-06,1793239141712068096
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715.41354989,678,662,636,879.41354989,788,804,652,632,653,0.400964728597,-0.0153530354401,0.0698237304444,0.999999931462,0.000234466270708,-0.000286489203731,5.10389909464e-06,1793239141728734976
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,879,788,804,651.829202411,631.829202411,653,0.400964527991,-0.0153525156994,0.0698230500363,0.999999930973,0.000236015523471,-0.000286924445299,5.05039359151e-06,1793239141745401600
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,879,788,804,651.249883974,631.249883974,653,0.400963326308,-0.0153526483478,0.0698228140969,0.999999930885,0.000234996764827,-0.000288063293354,5.02877364362e-06,1793239141762067968
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661.67195671,636,879,788,804,651.32804329,631.32804329,653,0.400963407992,-0.0153527445176,0.0698231942661,0.999999931008,0.000234615324636,-0.000287949779161,5.04717807709e-06,1793239141778734848
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661.095084718,636,879,788,804,651.904915282,631.904915282,653,0.40096446314,-0.0153528130173,0.0698240417684,0.999999931289,0.000234717305835,-0.000286886318104,5.0959419649e-06,1793239141795401728
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661.481614759,636,879,788,804,652,632,653,0.400963579134,-0.0153526069078,0.0698236693755,0.999999930997,0.000235168492927,-0.000287532582128,5.08052445006e-06,1793239141812068352
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,879,788,804,652,632,653,0.400962521447,-0.0153523336766,0.0698231116866,0.999999930647,0.000235598179183,-0.000288398171158,5.0535136172e-06,1793239141828735232
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,879,788,804,652,632,653,0.400963322991,-0.0153519454785,0.0698230473019,0.999999930789,0.000235223610238,-0.000288213264686,5.0360504927e-06,1793239141845401600
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715.232881001,678.232881001,662,636,879.232881001,788,804,652,632,653,0.400967130334,-0.0153519844912,0.0698249403858,0.999999931834,0.000234623352921,-0.000285058996435,5.08306776192e-06,1793239141862068224
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715.812324754,678.812324754,662,636,879.812324754,788,804,652,632,653,0.400975410766,-0.0153526592596,0.069829746484,0.999999934182,0.000233687236612,-0.0002774858611,5.22604177709e-06,1793239141878734848
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715.60972384,679,662,636,879.60972384,788,804,652,632,653,0.40099461719,-0.0153539953514,0.0698386143063,0.999999938144,0.000233541709202,-0.000262929813287,6.21291652053e-06,1793239141895401216
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715.032487288,679,662,636,879.032487288,788,804,652,632,653,0.401019057672,-0.0153556482478,0.0698494278834,0.999999942626,0.000233774910424,-0.00024502862559,7.60405888862e-06,1793239141912067840
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.463666669,745,715,678.463666669,662,636,879.536333331,788,804,652,632,653,0.401071436156,-0.0153578969683,0.0698701737535,0.999999951028,0.000232917886856,-0.000208834448318,9.01460026922e-06,1793239141928734720
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.109989746,745,715.109989746,678,662,636,880,788,804,652,632,653,0.401127561534,-0.0153603816377,0.0698905652694,0.999999957732,0.000232140464822,-0.000174758520839,1.02853123936e-05,1793239141945401600
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.707295319,745,715.707295319,678,662,636,880,788,804,652,632,653,0.401192905813,-0.0153637542611,0.0699067624376,0.99999996103,0.000232003788266,-0.000154901087335,1.09313778271e-05,1793239141962068224
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715.705033243,678.294966757,662,636,879.705033243,788,803.705033243,652,632,653,0.401264809667,-0.0153676091889,0.0699185097173,0.99999996353,0.000230791464487,-0.000139848003979,1.08557719837e-05,1793239141978734592
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715.126619713,678.873380287,662,636,879.126619713,788,803.126619713,652,632,653,0.401343016906,-0.0153719275845,0.0699259808988,0.999999965459,0.000228545503151,-0.000129411637148,1.00866798414e-05,1793239141995401216
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.550204798,715.449795202,679,662,636,879,788,803.449795202,652,632,653,0.401434595057,-0.0153764987933,0.0699294031492,0.999999966448,0.000226930029659,-0.000124613863094,8.8137063604e-06,1793239142012067840
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.025562387,715.974437613,679,662,636,879.025562387,788,804,652,631.974437613,653.025562387,0.40153104454,-0.01538113731,0.0699316724108,0.999999967193,0.000225448717555,-0.000121383112785,7.33952626532e-06,1793239142028734720
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.599450706,715.400549294,679,662,636,879.599450706,788,804,652,631.400549294,653.599450706,0.40165160445,-0.015385699775,0.069933550511,0.999999968166,0.000223054920033,-0.000117868185626,4.57855492092e-06,1793239142045401344
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.179135777,745,715,679,662,636,880,788,804,652,631.179135777,653.820864223,0.401780843873,-0.0153916297452,0.0699351716169,0.999999969338,0.000219592985679,-0.000114454405835,1.81659553751e-06,1793239142062067968
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.772215814,745,715,679,662,636,880,788,804,652,631.772215814,653.227784186,0.401930139769,-0.0154007197252,0.0699361988641,0.999999970983,0.00021366281713,-0.000111274356349,-9.47646608684e-07,1793239142078734848
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,715,679,661.645022241,636,880,788,804.354977759,652,632,653,0.402099169386,-0.0154078518666,0.0699389771724,0.999999973083,0.000206577463062,-0.000105546133513,-4.47693877617e-06,1793239142095401216
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,715,679,661.068694198,636,880,788,804.931305802,652,632,653,0.402280504196,-0.0154137631769,0.0699428473744,0.999999975384,0.000198771779769,-9.82289688532e-05,-8.48328656373e-06,1793239142112067840
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.492708364,745,715,679,661.507291636,636,879.492708364,788,804.492708364,652,631.492708364,653,0.402489359619,-0.015421811758,0.0699436654474,0.999999977804,0.000188683697845,-9.28473037284e-05,-1.29969161715e-05,1793239142128734464
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.915269779,745,715.084730221,678.915269779,662,636,879.084730221,788.084730221,804,652,631,653,0.402708123788,-0.0154304067695,0.0699447988758,0.999999981505,0.000170606493609,-8.70161935652e-05,-1.76280065315e-05,1793239142145401088
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.328956883,745,715.671043117,678.328956883,662,636,879.671043117,788.671043117,804,652,631,653,0.402963499361,-0.0154405244056,0.0699502441194,0.999999991052,0.000107063962856,-7.69739917491e-05,-2.2548067124e-05,1793239142162067712
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.255578666,745,715.744421334,678.255578666,662,636,879.744421334,788.744421334,804,651.744421334,631,653,0.403239054757,-0.0154516475196,0.0699582204711,0.999999995365,6.81809794534e-05,-6.23954684331e-05,-2.69920140167e-05,1793239142178734592
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.837842343,745,715.162157657,678.837842343,662,636,879.162157657,788.162157657,804,651.162157657,631,653,0.403540404333,-0.0154640558519,0.069969432128,0.999999996793,6.08182544499e-05,-4.20185424621e-05,-3.08273840462e-05,1793239142195401472
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,678.586675752,662,636,879,788,804,651.413324248,631.413324248,653,0.403852205826,-0.0154756320555,0.0699710727047,0.999999997456,4.75813651566e-05,-4.01052103918e-05,-3.48787521134e-05,1793239142212068352
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,678.013811572,662,636,879,788,804,651.986188428,631.986188428,653,0.404168041669,-0.0154868870638,0.0699690189189,0.999999997698,3.20770944727e-05,-4.53186818878e-05,-3.90134936435e-05,1793239142228735232
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,678.563180827,662,636,879,788,804,652,631.436819173,653,0.404536138532,-0.0154980528414,0.0699766957315,0.999999998572,3.12690893512e-05,-3.26990156185e-05,-2.84535441402e-05,1793239142245402112
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,678.856826803,661.856826803,636,879.143173197,788,804,652,631.143173197,653,0.40491345984,-0.0155065334366,0.0699821245901,0.99999999901,3.10843576978e-05,-2.39112344104e-05,-2.10261308958e-05,1793239142262068736
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+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,880,788,803.683977142,652,632,653,0.405734203038,-0.0155050789005,0.0699742954192,0.999999998598,2.82881287745e-05,-3.52672433601e-05,-2.75521501727e-05,1793239142295401472
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,880,788,803.104465914,652,632,653,0.406166837548,-0.0155020761542,0.0699661269828,0.99999999834,2.14918942706e-05,-4.40430092125e-05,-3.02954051542e-05,1793239142312068096
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+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.047601672,679,662,636,880,788,804,652,632,653,0.407096330448,-0.0155114793756,0.0699391117507,0.999999995544,1.59977027046e-05,-8.63228992402e-05,-3.47050795221e-05,1793239142345401600
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.634617015,679,662,636,880,788,804,652,632,653,0.407621380025,-0.0155148236694,0.0699407366202,0.999999996161,1.38029738888e-05,-7.8515924877e-05,-3.63672939094e-05,1793239142362068736
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.21808782,745,715.78191218,678.78191218,662,636,879.78191218,788,804,652,632,653,0.408179350624,-0.015515923828,0.0699482026698,0.999999997421,1.21394206466e-05,-6.02208140559e-05,-3.72025644098e-05,1793239142378735616
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.795715068,745,715.204284932,678.204284932,662,636,879.204284932,788,804,652,632,653,0.408791594766,-0.0155133243065,0.0699652984849,0.99999999896,1.13515632047e-05,-2.46349692371e-05,-3.66745356693e-05,1793239142395402240
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.252487802,745,715,678.373756099,662,636,879,788,803.626243901,652,631.626243901,653,0.409387654686,-0.0155114855932,0.0699679270228,0.999999999063,1.33716750825e-05,-1.71278808822e-05,-3.74442698628e-05,1793239142412068608
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.095952953,745,715,678.952023524,662,636,879,788,803.047976476,652,631.047976476,653,0.409974858926,-0.0155100631779,0.0699626393763,0.999999998787,1.69282476096e-05,-2.49848873316e-05,-3.89241121467e-05,1793239142428735232
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.525525095,745,715,678.474474905,662,636,880.051050191,788,803.525525095,652,631.525525095,653,0.410593269453,-0.0155109200875,0.0699563295372,0.999999998356,1.31470734242e-05,-3.79197919831e-05,-4.09663652484e-05,1793239142445402112
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.101933324,745,715,678.101933324,662,636,880.898066676,788,804,651.898066676,631.898066676,653,0.411226844505,-0.0155126025265,0.069954247331,0.999999998129,8.61722793981e-06,-4.3279441005e-05,-4.23673452996e-05,1793239142462068736
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.694404148,745,715,678.694404148,662,636,880.305595852,788,804,651.305595852,631.305595852,653,0.411919809519,-0.0155172653134,0.0699729549646,0.999999999126,3.67924587575e-06,-9.97357921051e-06,-4.04374393172e-05,1793239142478735104
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.719726337,745,715,679,662,636,880,788,803.719726337,651.280273663,631,653,0.412646795135,-0.0155209552333,0.0699974976306,0.99999999876,-1.14723935567e-06,3.06141529125e-05,-3.92488521689e-05,1793239142495401472
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.140888846,745,715,679,662,636,880,788,803.140888846,651.859111154,631,653,0.41341002156,-0.0155236087989,0.0700282561151,0.999999996111,-5.85495227725e-06,7.89589614589e-05,-3.88499607423e-05,1793239142512068096
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.435559398,788,803.435559398,652,631,653,0.41412699088,-0.01552328453,0.0700244150986,0.999999997075,-6.239877804e-06,6.51936408284e-05,-3.95076195162e-05,1793239142528734976
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,678.988534448,662,636,880.977068895,788,803.988534448,651.988534448,631.011465552,653,0.414828758366,-0.0155218985238,0.0700086631541,0.999999998699,-5.25764047527e-06,3.03951625577e-05,-4.06272800457e-05,1793239142545401856
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,678.401249479,662,636,879.802498959,788,803.401249479,651.401249479,631.598750521,653,0.41551441477,-0.0155153013692,0.0699537277953,0.9999999972,-5.45487737824e-06,-5.7247704198e-05,-4.78793998927e-05,1793239142562068480
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,678.183684141,662,636,879.367368282,787.816315859,803.183684141,651.183684141,631.816315859,653,0.416244743762,-0.0155123924715,0.0699204676395,0.999999992469,-6.6053215494e-06,-0.000110712813198,-5.25377835341e-05,1793239142578734848
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,678.763546237,662,636,880.527092474,787.236453763,803.763546237,651.763546237,631.236453763,653,0.417071424497,-0.0155174385672,0.0699339575089,0.999999994529,-9.81168472996e-06,-9.04618414407e-05,-5.16018842004e-05,1793239142595401472
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.658657763,745,715,679,662,636,881,787.341342237,804,651.658657763,631,653,0.417914915984,-0.0155212858733,0.0699579824241,0.999999997215,-1.68965054127e-05,-5.24587371018e-05,-5.0325064627e-05,1793239142612068096
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.082284397,745,715,679,662,636,881,787.917715603,804,651.082284397,631,653,0.418769982478,-0.0155243077529,0.0699892612424,0.999999998451,-2.66518370658e-05,-2.2324061745e-06,-4.88135044349e-05,1793239142628734720
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.492846253,745,715,679,662,636,880.507153747,788,804,651.492846253,631,653,0.419619317669,-0.0155288288327,0.070009379995,0.999999997836,-3.64991349859e-05,2.69228870478e-05,-4.76546351523e-05,1793239142645401344
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715.069640638,679,662,636,880,788.069640638,804,652,631,653,0.420465855208,-0.0155332077436,0.0700261004173,0.999999996619,-4.54383704498e-05,5.01279409658e-05,-4.67492976369e-05,1793239142662068224
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715.660433974,679,662,636,880,788.660433974,804,652,631,653,0.421298598973,-0.0155346543178,0.0700312981053,0.999999996239,-4.74675393034e-05,5.50649731501e-05,-4.73017042794e-05,1793239142678734848
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,716,679.246028656,662,635.753971344,880,788.753971344,804,652,631,653,0.422115237059,-0.0155340796124,0.0700129271545,0.999999997357,-4.73716152477e-05,2.29255945681e-05,-5.01588357581e-05,1793239142695401728
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,716,679.82459677,662,635.17540323,880,788.17540323,804,652,631,653,0.422910106361,-0.0155307728872,0.0699627001499,0.999999995679,-4.4403354128e-05,-5.93273340439e-05,-5.61310999133e-05,1793239142712068352
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,716,680,662,635.401044939,880.401044939,788,804,652,631.401044939,653,0.423725681815,-0.0155267955628,0.0699061543776,0.999999986306,-5.26557359195e-05,-0.000143504003525,-6.34215855441e-05,1793239142728734976
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,716,680,662,635.976570757,880.976570757,788,804,652,631.976570757,653,0.424550265756,-0.0155225264839,0.0698468595296,0.999999969185,-6.57898340403e-05,-0.000228517620955,-7.12855834248e-05,1793239142745401344
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715.45078978,679.45078978,662,636,880.45078978,788,804,651.45078978,631.45078978,653,0.425466833473,-0.0155257613451,0.0698975656863,0.999999985108,-6.14804786417e-05,-0.000146461885248,-6.74822805435e-05,1793239142762068224
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.125932998,788.125932998,804,651,631,652.874067002,0.426380869164,-0.0155296742792,0.0699514156057,0.999999994397,-5.76472799471e-05,-6.28651595425e-05,-6.26907797859e-05,1793239142778734592
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.718231008,788.718231008,804,651,631,652.281768992,0.427271072251,-0.0155349190205,0.0699996204882,0.999999996727,-5.83187588163e-05,1.82404498452e-07,-5.60732890727e-05,1793239142795401472
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.303666315,715,679.303666315,662,636,881,788.696333685,804,651.303666315,631.303666315,652.303666315,0.428168274819,-0.0155392023817,0.0700339252881,0.999999995292,-6.33002511805e-05,5.14441777435e-05,-5.25599998109e-05,1793239142812068096
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.882874484,715,679.882874484,662,636,881,788.117125516,804,651.882874484,631.882874484,652.882874484,0.429071828554,-0.0155426134019,0.0700556173774,0.999999991816,-7.21925794435e-05,9.20117134418e-05,-5.18634126893e-05,1793239142828734976
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662.458137593,636,880.541862407,788,804,652,632,653,0.429928497669,-0.0155414462323,0.0700418985009,0.999999993768,-6.8997724666e-05,6.9591273338e-05,-5.34775415253e-05,1793239142845401856
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.966817888,715,680,663,636,880,788,804.033182112,651.966817888,631.966817888,653,0.430766315607,-0.0155388688204,0.0700163789593,0.999999996113,-6.27681278109e-05,2.65556352605e-05,-5.59357244885e-05,1793239142862068480
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.378706535,715,680,663,636,880,788,804.621293465,651.378706535,631.378706535,653,0.431487614985,-0.0155321139154,0.0699436158947,0.999999991967,-5.70240884534e-05,-9.4236034486e-05,-6.27144822458e-05,1793239142878735104
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.793619868,663,636,880.206380132,788,804.793619868,651,631.206380132,653,0.432254697119,-0.0155285889577,0.0699010088219,0.999999983192,-5.55432922584e-05,-0.000161442402527,-6.68432946539e-05,1793239142895401728
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.214003216,663,636,880.785996784,788,804.214003216,651,631.785996784,653,0.433104577055,-0.0155309053279,0.069912938563,0.999999987224,-6.17725312694e-05,-0.000131740281273,-6.61797084169e-05,1793239142912068096
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.729628723,663,636,881,788,804,651,632,653,0.433973407201,-0.0155351343392,0.0699572013318,0.999999994135,-6.83492094383e-05,-5.63923027601e-05,-6.22750564861e-05,1793239142928734720
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680.886328368,663,636,881,788,804,651,632,653,0.434853329355,-0.0155404828694,0.0700203894733,0.99999999454,-7.51292519748e-05,4.56733978889e-05,-5.64733229025e-05,1793239142945401344
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680.481791206,663,636,881,788.518208794,804.518208794,651.518208794,631.481791206,653,0.435666799162,-0.0155422121738,0.0700313156644,0.999999993709,-7.0494528697e-05,6.748930762e-05,-5.5299635357e-05,1793239142962068224
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715.09523568,679.90476432,663,636,881,789,804.90476432,651.90476432,631.09523568,653,0.436460469534,-0.0155434763715,0.0700324994997,0.999999993426,-6.73423808725e-05,7.45570450622e-05,-5.52622583182e-05,1793239142978735360
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715.684411865,679.315588135,663,636,881,789,804.315588135,651.315588135,631.684411865,653,0.43718901135,-0.0155443740129,0.0700126949611,0.999999993946,-7.83316760708e-05,5.04934878653e-05,-5.85024175499e-05,1793239142995401984
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,716,679,663,636,881,788.731255766,804.268744234,651,632,653,0.437896569978,-0.0155444934769,0.0699836332842,0.999999994173,-8.74316971586e-05,1.30022051371e-05,-6.19666341751e-05,1793239143012068608
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,716,679,663,636,881,788.152510856,804.847489144,651,632,653,0.438579924122,-0.015543715301,0.069943893355,0.999999992592,-9.43524101176e-05,-3.99781673928e-05,-6.56893041933e-05,1793239143028735232
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715.576748688,679.423251312,663,636,881,788,804.576748688,651,632,653,0.439216099937,-0.0155422301797,0.0698971387427,0.999999986507,-9.03620675718e-05,-0.000118640717689,-6.88898080384e-05,1793239143045401600
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715.00205373,679.99794627,663,636,881,788,804.00205373,651,632,653,0.439835394919,-0.0155404921061,0.0698478742017,0.999999972695,-8.24676378192e-05,-0.000206492617343,-7.19034753689e-05,1793239143062068224
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715.585823549,680,663,636,880.414176451,788,804,651.585823549,632,653,0.440511982516,-0.0155469232368,0.0698553674755,0.999999974636,-9.86788746427e-05,-0.000189068186939,-7.24155103973e-05,1793239143078735360
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.171353709,715.828646291,680,663,635.828646291,880.171353709,788,804.171353709,652,632,653,0.4411860994,-0.0155554765026,0.0698727891413,0.999999978047,-0.000113707812106,-0.000160755931382,-7.16567052387e-05,1793239143095402240
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.75117628,715.24882372,680,663,635.24882372,880.75117628,788,804.75117628,652,632,653,0.441853836991,-0.0155690186242,0.0699133926371,0.999999984027,-0.000125712331422,-0.000107389565296,-6.78898887394e-05,1793239143112069120
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.671108487,715,680,662.671108487,635,880.671108487,788,804.671108487,651.671108487,632,653,0.442454766604,-0.0155779908161,0.069921848855,0.999999982891,-0.000138314790368,-0.000103141039932,-6.66998338661e-05,1793239143128735744
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.094977452,715,680,662.094977452,635,880.094977452,788,804.094977452,651.094977452,632,653,0.443005474228,-0.0155835276274,0.0699061388108,0.999999977047,-0.000151366741291,-0.000135816156868,-6.74468232114e-05,1793239143145402368
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.480413516,715,680,662.480413516,635,880.960827033,788,804.480413516,651,631.519586484,653,0.443510388382,-0.0155869315427,0.0698676245125,0.999999966319,-0.000155194584165,-0.00019650016108,-6.82912220007e-05,1793239143162068992
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.942827449,715,680.057172551,662.942827449,635,881.942827449,788,805,651,631,653,0.44400502555,-0.0155899689806,0.0698259425452,0.999999951125,-0.000158075129218,-0.000260640252587,-6.94938221561e-05,1793239143178735616
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.351933357,715,680.648066643,662.351933357,635,881.351933357,788,805,651,631,653,0.444488109671,-0.0155935156233,0.0697967118105,0.999999936329,-0.00016911002136,-0.000305430799149,-7.38608329868e-05,1793239143195401984
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.23344329,715,681,662,635,881,787.76655671,805,651,631,653,0.444962837359,-0.0155978218954,0.0697747692336,0.999999924502,-0.000178360735105,-0.000336550757903,-7.69206301325e-05,1793239143212068096
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.810693977,715,681,662,635,881,787.189306023,805,651,631,653,0.44542525793,-0.0156032469239,0.069763560412,0.999999919453,-0.000184983770575,-0.000347537133252,-7.80552068886e-05,1793239143228734720
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.613449643,745.613449643,715,681,662,635,881,787,804.613449643,651,631,653,0.445852287919,-0.0156086484968,0.069757419582,0.999999913299,-0.000194743960025,-0.000359672969796,-7.81850357984e-05,1793239143245401856
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.038273594,745.038273594,715,681,662,635,881,787,804.038273594,651,631,653,0.446262048342,-0.0156140386244,0.0697537517883,0.999999906417,-0.000206034992849,-0.000372369711953,-7.78245761338e-05,1793239143262068736
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.535643399,745,715,681,662,635,881,787,804.535643399,651,631,653,0.446624161867,-0.015619744495,0.0697415575561,0.999999896168,-0.000204919944811,-0.000399611698805,-7.73411331762e-05,1793239143278735616
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661.886932989,635,881,787,805,651.113067011,631,653,0.446975900421,-0.0156254265342,0.0697266861076,0.999999883539,-0.000206404100991,-0.000429328076222,-7.74385901267e-05,1793239143295402496
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661.294253964,635,881,787,805,651.705746036,631,653,0.447298037771,-0.0156309120111,0.0697030365898,0.999999863829,-0.000222665055124,-0.000465142187709,-8.00373188509e-05,1793239143312068608
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765.129718079,745.870281921,715,681,661.870281921,635,881,787,805,651.129718079,631,653,0.447920698827,-0.0156345499623,0.0696877282964,0.999999852007,-0.000235814795232,-0.000483035119501,-8.39869952359e-05,1793239143345401856
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+265,4.416666667,HOLD_POSE2,766,745.962912577,715,680.037087423,660.037087423,634,881,785,804.037087423,651.037087423,631,653.037087423,0.450346287134,-0.0156478669505,0.0696248111846,0.999999791375,-0.000246844899023,-0.000592376635329,-7.35393566695e-05,1793239144382137600
+266,4.433333333,HOLD_POSE2,766,746,715.538748911,680.538748911,660.538748911,634,881,785,804,651.538748911,631,653,0.450346980179,-0.0156474195657,0.069625733632,0.999999792573,-0.000244779442961,-0.000591230098683,-7.33734894505e-05,1793239144398803968
+267,4.450000000,HOLD_POSE2,766,746,715.882658907,681,660.882658907,634,881,785,804.117341093,651.882658907,631,653,0.450347254783,-0.0156468338887,0.0696262297118,0.999999793304,-0.000243186908232,-0.000590644547165,-7.34226659808e-05,1793239144415470592
+268,4.466666667,HOLD_POSE2,766,746,715.292752125,681,660.292752125,634,881,785,804.707247875,651.292752125,631,653,0.450345767633,-0.0156461270274,0.0696245809776,0.999999791693,-0.000244336032913,-0.000592788341628,-7.42740347098e-05,1793239144432137216
+269,4.483333333,HOLD_POSE2,766,745.708776022,715,681.291223978,660.291223978,633.708776022,881,785,805,651.291223978,631,653,0.450345735851,-0.01564565517,0.0696240242756,0.999999791363,-0.000244736047567,-0.000593153829732,-7.4475027539e-05,1793239144448804352
+270,4.500000000,HOLD_POSE2,766,745.130642766,715,681.869357234,660.869357234,633.130642766,881,785,805,651.869357234,631,653,0.450347137876,-0.0156454148348,0.0696245434266,0.9999997923,-0.000244398050751,-0.000591767358291,-7.40352802233e-05,1793239144465471488
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,661,634,881,785,805,651,631,653,0.450347408706,-0.0156457937864,0.0696259561829,0.999999792435,-0.000245384303965,-0.000591169706894,-7.37282414054e-05,1793239144498249216
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.576417021,746,715,681,661,634,881,785.576417021,805,651.576417021,631,653,0.450346467807,-0.0156464354957,0.0696254551666,0.999999791708,-0.000246631916575,-0.000591886080747,-7.36769987672e-05,1793239144514915584
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.250527864,746,715,681,661,634,881,785.250527864,805,651.250527864,631,653,0.450347015356,-0.0156460514314,0.0696254501856,0.999999792397,-0.000244225461056,-0.000591710393938,-7.37433952929e-05,1793239144548248576
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,766.18442212,745,715,681,662,635.81557788,881,788,804.81557788,651.18442212,632,653,0.433387551368,-0.015423306867,0.0698477056778,0.999999963002,0.000110096652784,-0.000247401934604,2.58327800481e-05,1793239145364914688
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.082412968,745,715,680.082412968,662,635.917587032,880.082412968,788,804.917587032,652,632,653,0.430774500107,-0.0154056127424,0.0698139360567,0.999999945136,0.000138506121411,-0.00030006501405,2.24565403988e-05,1793239145414914560
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,636,880.115295386,788,805,651.884704614,632,653,0.420102136444,-0.0153570724061,0.0697384204638,0.999999889164,0.00019697598472,-0.000427575868313,7.11383088943e-06,1793239145614915328
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715.537934058,678.462065942,662,636,880,788.462065942,804,652,632,653.462065942,0.403561152687,-0.015341693715,0.069848992407,0.999999938262,0.000248933176388,-0.000247579770164,1.45999782547e-05,1793239146064915200
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9a92a6131b56d95154c92887c5b1f87663939aa2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,417 @@
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+407,6.783333333,pose2_to_pose3_retreat,0.575664959266,-0.00990918257283,1.06003249092,0.54623540889,-0.00123744986591,1.05970061692
+408,6.800000000,pose2_to_pose3_retreat,0.575664873136,-0.00990919759688,1.060032473,0.546235323012,-0.00123746400968,1.05970059963
+409,6.816666667,pose2_to_pose3_retreat,0.575664758048,-0.00990922671274,1.06003243939,0.546235208449,-0.00123749129787,1.05970056724
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+411,6.850000000,pose2_to_pose3_retreat,0.575664440455,-0.00990936506905,1.0600324752,0.546234892319,-0.0012376246487,1.05970060417
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+414,6.900000000,pose2_to_pose3_retreat,0.575664413274,-0.00990943948672,1.06003256163,0.546234865824,-0.0012376967821,1.05970068939
+415,6.916666667,pose2_to_pose3_retreat,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.0012377063264,1.05970060642
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ba10c5ced4b30d7802afbc98a8b358f31a4f578
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f01a9c0c5a24bb35d27935bbf0097834689badba2cf45f45a5c33d9fffbc9e9
+size 26536556
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a02d144f82310109acfec376ba554df8e105479e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_04/franka_data.csv
@@ -0,0 +1,419 @@
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+53,0.883333333,BASELINE,765.246833111,745,715.753166889,678,662,636,879,788,804,652,632,653,0.400966570744,-0.0153474459527,0.0698242286084,0.999999929897,0.000240212568966,-0.000287205954367,4.121294185e-06,1793239147937707776
+54,0.900000000,BASELINE,765.337335493,745,715.662664507,678,662,636,879,788,804,652,632,653,0.400967037149,-0.0153479152183,0.0698246378469,0.999999930396,0.000239227872206,-0.000286286873227,4.19863967354e-06,1793239147954374400
+55,0.916666667,BASELINE,765.918725392,745,715.081274608,678,662,636,879,788,804,652,632,653,0.400968202917,-0.0153476533438,0.0698254877676,0.999999930942,0.000239030251566,-0.000284539625578,4.18514530066e-06,1793239147971041024
+56,0.933333333,BASELINE,766,745,715.494691411,678,662,636,879,788,803.505308589,652,632,653,0.400966624971,-0.0153471349235,0.0698247849117,0.999999930342,0.000239234558654,-0.000286472888795,4.02123726738e-06,1793239147987708928
+57,0.950000000,BASELINE,766,745,716,678.069678325,662,636,879.139356651,788,803,652,632,653,0.40096487763,-0.0153466143694,0.0698238879033,0.999999929606,0.000239592690874,-0.000288737444323,3.82936644186e-06,1793239148004376320
+58,0.966666667,BASELINE,766,745,716,678.643957697,662,636,880.287915393,788,803,652,632,653,0.400965132604,-0.0153463802897,0.0698234123125,0.999999929271,0.000240591779869,-0.00028906962319,3.6120129941e-06,1793239148021042176
+59,0.983333333,BASELINE,766,745,715.775760792,679,662,636,880.775760792,788,803.224239208,652,632,653,0.400965815712,-0.0153464917529,0.0698233507041,0.999999929216,0.000241178941863,-0.000288769627966,3.52119136964e-06,1793239148037708288
+60,1.000000000,BASELINE,766,745,715.18568701,679,662,636,880.18568701,788,803.81431299,652,632,653,0.400967197297,-0.0153471669515,0.0698239644864,0.99999992962,0.000241094066598,-0.000287438273739,3.63679978107e-06,1793239148054375168
+61,1.016666667,BASELINE,766,745,715.397011398,679,662.397011398,636,879.602988602,788,803.602988602,652,632,653,0.400967755262,-0.015346882668,0.0698246708163,0.99999992998,0.000240507818357,-0.000286675653576,3.71641065592e-06,1793239148071041792
+62,1.033333333,BASELINE,766,745,715.976323134,679,662.976323134,636,879.023676866,788,803.023676866,652,632,653,0.400967935037,-0.0153461578078,0.0698254196425,0.999999930319,0.000239691348864,-0.000286174185723,3.77949211648e-06,1793239148087708416
+63,1.050000000,BASELINE,766,745,715.447098796,679,662.447098796,636,879.552901204,788,803.552901204,652,631.447098796,653,0.400967898208,-0.0153456762802,0.0698255660848,0.999999929756,0.000242389209603,-0.000285867576732,3.91390237568e-06,1793239148104375296
+64,1.066666667,BASELINE,766,745,715.131565092,678.868434908,662,636,879.868434908,788,804,652,631.131565092,653,0.400967480178,-0.0153456710483,0.0698252472184,0.999999929288,0.000243967485756,-0.000286162359366,3.9591455731e-06,1793239148121042176
+65,1.083333333,BASELINE,766,745,715.717840478,678.282159522,662,636,879.282159522,788,804,652,631.717840478,653,0.400965776556,-0.0153472761351,0.0698234088855,0.999999929296,0.000241158723112,-0.00028850695119,3.68570799207e-06,1793239148137708544
+66,1.100000000,BASELINE,766,745,715.699633581,678.300366419,661.699633581,636,879,788,804,652,632,653,0.400964744719,-0.0153481810294,0.0698227503475,0.999999929565,0.000239270919265,-0.000289148717203,3.65874297508e-06,1793239148154375168
+67,1.116666667,BASELINE,766,745,715.120586419,678.879413581,661.120586419,636,879,788,804,652,632,653,0.400964336164,-0.0153484362831,0.0698231864263,0.999999930081,0.000238237583543,-0.000288210596872,3.86045585878e-06,1793239148171041536
+68,1.133333333,BASELINE,766,745.456252295,715,679,661.456252295,636,879,788,804,652,632,653,0.40096601346,-0.0153492021879,0.0698246741057,0.999999930802,0.000237132188596,-0.000286611971659,4.19101072403e-06,1793239148187707904
+69,1.150000000,BASELINE,765.967490319,745.967490319,715.032509681,678.967490319,662,636,879.032509681,788,804,652,632,652.967490319,0.400968036607,-0.0153499940559,0.0698262678535,0.999999931476,0.000236175633461,-0.000285040721934,4.5194238888e-06,1793239148204374784
+70,1.166666667,BASELINE,765.391241205,745.391241205,715.608758795,678.391241205,662,636,879.608758795,788,804,652,632,652.391241205,0.400966668185,-0.0153489737091,0.0698250094326,0.999999930526,0.000238025497813,-0.000286833039668,4.24521315625e-06,1793239148221041664
+71,1.183333333,BASELINE,765.189076928,745,715.810923072,678.189076928,662,636,879.810923072,788,804,652,632,652.189076928,0.400966071053,-0.0153479877112,0.0698243420659,0.999999929743,0.000240217183315,-0.000287737602975,4.08410763073e-06,1793239148237708544
+72,1.200000000,BASELINE,765.778000033,745,715.221999967,678.778000033,662,636,879.221999967,788,804,652,632,652.778000033,0.400967104987,-0.0153470743518,0.0698249246175,0.999999929318,0.000243131727751,-0.000286764807921,4.1621887453e-06,1793239148254375168
+73,1.216666667,BASELINE,766,745,715.360844141,678.639155859,662.360844141,636,879.360844141,788,804,652,631.639155859,653,0.400967295994,-0.0153469739726,0.0698251951978,0.999999929538,0.000242417397656,-0.000286604001592,4.10573873229e-06,1793239148271041536
+74,1.233333333,BASELINE,766,745,715.940010229,678.059989771,662.940010229,636,879.940010229,788,804,652,631.059989771,653,0.400966977003,-0.0153473654719,0.0698252770257,0.999999930145,0.000239507485232,-0.0002869344738,3.96789319088e-06,1793239148287707904
+75,1.250000000,BASELINE,766,745,716,678,662.483818137,636,879.483818137,788,804,652,631,653,0.400966733272,-0.0153482246277,0.0698248951404,0.999999930133,0.000239709323748,-0.000286807369305,3.96824274253e-06,1793239148304374784
+76,1.266666667,BASELINE,766,745,715.908046277,678,662,636,879,788,804,652,631.091953723,653,0.400966580396,-0.0153489813929,0.0698246439209,0.999999930124,0.000240029704619,-0.000286570083011,3.99465464422e-06,1793239148321041664
+77,1.283333333,BASELINE,766,745,715.332557183,678,662,636,879,788,804,652,631.667442817,653,0.400966859552,-0.0153489155906,0.0698253615574,0.999999930504,0.000239082721136,-0.000286031435506,4.07414646876e-06,1793239148337708288
+78,1.300000000,BASELINE,766,745,715,678.249271268,661.750728732,636,879,788,804,652,632,653,0.400966570434,-0.0153492810769,0.0698253691357,0.999999930866,0.000237490705502,-0.000286092297421,4.08015418897e-06,1793239148354374912
+79,1.316666667,BASELINE,766,745,715,678.839777815,661.160222185,636,879,788,804,652,632,653,0.400965503391,-0.0153502369677,0.069824404693,0.999999931199,0.000235015685142,-0.000286973846683,3.98556720081e-06,1793239148371041792
+80,1.333333333,BASELINE,766,745,715,678.57825089,661,636,879.42174911,788,804,652,631.57825089,653,0.400966342762,-0.0153494631429,0.0698243180062,0.9999999311,0.000235830418647,-0.000286649370053,3.91057356225e-06,1793239148387708416
+81,1.350000000,BASELINE,766,745,715,678,661,636,880,788,803.999461549,652,631,653,0.400967888826,-0.0153480457619,0.0698245577172,0.999999930839,0.000237869117483,-0.000285877462255,3.84280805745e-06,1793239148404375040
+82,1.366666667,BASELINE,766,745,715,678,661,636,880,788,803.42470874,652,631,653,0.400966037971,-0.0153471903299,0.0698243212193,0.99999993033,0.000238821073325,-0.000286863974885,3.70283681966e-06,1793239148421041664
+83,1.383333333,BASELINE,766,745,715.153585025,678,661.153585025,636,880,788,803.153585025,652,631.153585025,653,0.400964972614,-0.0153468820917,0.0698243008785,0.999999929995,0.000239506381201,-0.000287460141908,3.65979687018e-06,1793239148437708544
+84,1.400000000,BASELINE,766,745,715.741901817,678,661.741901817,636,880,788,803.741901817,652,631.741901817,653,0.400966130658,-0.0153481227187,0.0698248923834,0.999999930157,0.000239436925993,-0.000286951412149,3.89112680211e-06,1793239148454375680
+85,1.416666667,BASELINE,766,745,715.675646688,678.324353312,662,636,880,788,804,652,631.675646688,653,0.400966498403,-0.0153493650588,0.069824907627,0.99999993039,0.000238585419364,-0.000286845798104,4.07161765204e-06,1793239148471042304
+86,1.433333333,BASELINE,766,745,715.09777953,678.90222047,662,636,880,788,804,652,631.09777953,653,0.400966248452,-0.0153506087378,0.0698244724661,0.999999930677,0.000237122663043,-0.000287055258459,4.2123727718e-06,1793239148487708416
+87,1.450000000,BASELINE,766,745,715.479457239,678.520542761,661.520542761,636,879.520542761,788,804,652,631.479457239,653,0.400965179397,-0.0153496411628,0.0698241486767,0.999999930241,0.000238448800064,-0.000287478208217,4.14140211555e-06,1793239148504375040
+88,1.466666667,BASELINE,766,745,716,678,661.056246751,636,879.056246751,788,804,652,631.943753249,653,0.40096412159,-0.0153483943265,0.069823906694,0.999999929698,0.000240194844771,-0.000287912029509,4.03889513589e-06,1793239148521041664
+89,1.483333333,BASELINE,766,745,716,678,661.630101933,636,879.630101933,788,804,652,631.369898067,653,0.400964702524,-0.0153487220785,0.0698242087944,0.999999929568,0.000240577943647,-0.00028804575964,4.04300694217e-06,1793239148537708288
+90,1.500000000,BASELINE,766,745,716,678,661.789708226,636,879.789708226,788,804,652,631.210291774,653,0.400965385809,-0.0153486876073,0.0698246998273,0.999999929603,0.000240900664736,-0.000287653622632,4.09102248767e-06,1793239148554374912
+91,1.516666667,BASELINE,766,745,716,678,661.198029867,636,879.198029867,788,804,652,631.801970133,653,0.40096625472,-0.0153479962056,0.0698255335095,0.999999929937,0.000241113884219,-0.000286307769403,4.21866215148e-06,1793239148571041280
+92,1.533333333,BASELINE,766,745,715.61499372,678.38500628,661.38500628,636,879,788,804,652,632,653.38500628,0.400966730222,-0.0153483933754,0.0698253981627,0.999999930227,0.000240186472464,-0.000286075957465,4.23376809523e-06,1793239148587708160
+93,1.550000000,BASELINE,766,745,715.036305095,678.963694905,661.963694905,636,879,788,804,652,632,653.963694905,0.400967007813,-0.015349338165,0.0698247753335,0.999999930492,0.000238685251557,-0.000286404578162,4.19226251979e-06,1793239148604374784
+94,1.566666667,BASELINE,766,745,715.537765404,679,662,636,879,788.537765404,803.462234596,652,632,653.462234596,0.400967930809,-0.0153495319863,0.0698249149525,0.99999993113,0.000237265900176,-0.000285358561315,3.8580768339e-06,1793239148621041408
+95,1.583333333,BASELINE,766,745,715.885451358,679,662,636,879,788.885451358,803.114548642,652,631.885451358,653,0.400968440623,-0.0153493637613,0.0698250580055,0.999999931451,0.000236717310984,-0.000284693147677,3.6188264667e-06,1793239148637708032
+96,1.600000000,BASELINE,766,745,715.296143519,679,662,636,879,788.296143519,803.703856481,652,631.296143519,653,0.400967058913,-0.0153479033332,0.0698250037692,0.999999930357,0.000239754976547,-0.000285986542604,3.85424223475e-06,1793239148654374912
+97,1.616666667,BASELINE,766,745,715.287974625,678.712025375,662,636,879.287974625,788,804,652,631.287974625,653,0.400966321936,-0.0153477043961,0.0698249634847,0.99999992998,0.000240480166217,-0.00028669382343,4.11499816443e-06,1793239148671041792
+98,1.633333333,BASELINE,766,745,715.8668503,678.1331497,662,636,879.8668503,788,804,652,631.8668503,653,0.400966236243,-0.0153487797695,0.0698249372936,0.999999930331,0.000238869380221,-0.000286809033932,4.40135175073e-06,1793239148687708672
+99,1.650000000,BASELINE,766,745,716,678.444124957,662,636,879.555875043,788,804,652,632,653,0.400967029263,-0.0153481841652,0.0698253056872,0.999999930338,0.000239244772051,-0.000286477064996,4.214163117e-06,1793239148704375040
+100,1.666666667,BASELINE,766,745,716,678.979136615,662,636,879.020863385,788,804,652,631.979136615,653,0.400968024957,-0.0153471491412,0.0698257743672,0.999999930258,0.000240130610856,-0.000286016719941,3.88717809911e-06,1793239148721041408
+101,1.683333333,BASELINE,766,745,716,678.403938031,662,636,879.596061969,788,804,652,631.403938031,653,0.40096743122,-0.0153477014989,0.0698257757905,0.999999930667,0.000238814483024,-0.000285694743858,3.60437146494e-06,1793239148737708288
+102,1.700000000,BASELINE,766,745,715.824273308,678,662,636,880,788,804,652,631.175726692,653.175726692,0.400966736034,-0.0153482729314,0.0698254264828,0.999999930669,0.00023843328428,-0.000286003970264,3.55205779984e-06,1793239148754374912
+103,1.716666667,BASELINE,766,745,715.234074758,678,662,636,880,788,804,652,631.765925242,653.765925242,0.400965801567,-0.0153488893536,0.069824249935,0.999999929715,0.000240257224796,-0.000287801961256,4.04338867001e-06,1793239148771041792
+104,1.733333333,BASELINE,766,745,715,678,662,636,880,788,803.650783511,652,632,653.650783511,0.400965520583,-0.015348738681,0.069823887981,0.999999929915,0.000239465284736,-0.000287769711529,3.91281480844e-06,1793239148787708672
+105,1.750000000,BASELINE,766,745,715,678,662,636,880,788,803.072032269,652,632,653.072032269,0.400965669124,-0.0153480838086,0.0698240614473,0.99999993087,0.000236953965856,-0.000286534472255,3.37347235936e-06,1793239148804375296
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,788,804,652,632,653,0.400963771742,-0.0153485862217,0.0698232139598,0.999999930624,0.000234751242366,-0.000289197420112,3.00559170653e-06,1793239148836558336
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.403520982,636,879,788,804,652,631.403520982,653,0.400964966967,-0.0153492455081,0.0698243954795,0.999999930389,0.000237840777717,-0.000287469236625,3.80744522673e-06,1793239148853225472
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.192194326,679,661.192194326,636,879.192194326,788,804,652,631.192194326,653,0.400965503047,-0.0153495006332,0.0698247757368,0.999999930189,0.00023943261535,-0.000286836789834,4.25655166447e-06,1793239148869892096
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.786312648,679,661.786312648,636,879.786312648,788,804,652,631.786312648,653,0.400964660698,-0.0153489105613,0.0698234803645,0.999999930081,0.000237892411833,-0.00028849578847,3.96798030093e-06,1793239148886558464
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.369525934,745,715.630474066,679,662,636.369525934,880,788,804.369525934,652,632,653,0.400965895328,-0.0153490735108,0.0698241213069,0.999999930462,0.000237927901029,-0.000287141485556,3.89822984081e-06,1793239148903225088
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.946613849,745,715.053386151,679,662,636.946613849,880,788,804.946613849,652,632,653,0.400968296593,-0.0153496594309,0.0698258498734,0.999999931113,0.000238848453769,-0.00028409461707,3.951390663e-06,1793239148919891712
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.477682602,745,715.522317398,679,662,636.477682602,879.477682602,788.522317398,804.477682602,652,632,653.522317398,0.400967171948,-0.0153503426224,0.0698255907213,0.999999931297,0.000237258593354,-0.000284775844356,4.08777718299e-06,1793239148936558592
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.100216434,716,679,662,636,879.100216434,788.899783566,804,652,631.899783566,654,0.400966150388,-0.0153506515539,0.0698253277494,0.999999931344,0.000236115645557,-0.000285558389468,4.1434922097e-06,1793239148953225216
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.6895188,716,679,662,636,879.6895188,788.3104812,804,652,631.3104812,654,0.400967386039,-0.0153490855924,0.0698260350214,0.999999930968,0.000238402687962,-0.000284980677718,3.76410184472e-06,1793239148969891840
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.725931702,716,678.725931702,662,636,879.725931702,788.274068298,804,652,631.274068298,654,0.400969930364,-0.0153484272249,0.0698271644699,0.999999930975,0.000240113350811,-0.00028351665089,3.75361454066e-06,1793239148986558464
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.146674797,716,678.146674797,662,636,879.146674797,788.853325203,804,652,631.853325203,654,0.400973931962,-0.0153487795082,0.069828764033,0.999999931408,0.000241182186354,-0.000281065668414,4.15391907023e-06,1793239149003225088
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715.570385888,678.429614112,662,636,879,788.570385888,804,652,632,653.570385888,0.400992397032,-0.0153487663096,0.0698375965953,0.999999935269,0.000241848799125,-0.000266358450748,4.89948851546e-06,1793239149019891712
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.995136967,745,715.004863033,679,662,636,879.004863033,788,804,652,632,653,0.401015999532,-0.0153486617131,0.0698489554452,0.999999940022,0.000242354416764,-0.000247359541481,5.76898662468e-06,1793239149036558336
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.423811229,745,715.576188771,679,662,636,879.576188771,788,804,652,632,653,0.401066780701,-0.0153523457688,0.0698689116254,0.999999948592,0.000239992889932,-0.000212519872962,7.43759297485e-06,1793239149053224704
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.152829484,745,715.847170516,678.847170516,662,636,879.847170516,788,804,652,632,653,0.401120982552,-0.0153560114739,0.069888203803,0.999999955308,0.000237939805212,-0.000180805790279,8.87977574278e-06,1793239149069891584
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.744740334,745,715.255259666,678.255259666,662,636,879.255259666,788,804,652,632,653,0.401185012085,-0.0153596244585,0.0699055882956,0.999999959429,0.000236772879342,-0.000158071554358,9.67144062235e-06,1793239149086558464
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.331370095,745,715,678.331370095,662,636,879,788,804,652,632,653,0.401256283305,-0.0153626514487,0.0699177186975,0.99999996186,0.000236728975907,-0.000141934108277,9.67620846289e-06,1793239149103224832
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.913995533,745,715,678.913995533,662,636,879,788,804,652,632,653,0.401333045398,-0.0153652341193,0.0699258652798,0.999999963193,0.000237536583903,-0.000130798559394,9.08432590301e-06,1793239149119891712
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.512184728,745,715.487815272,678.512184728,661.512184728,636,879,788,804,652,632,653,0.401426381346,-0.0153692399864,0.0699293806511,0.999999963786,0.000237850379203,-0.000125689669892,7.60423841035e-06,1793239149136558592
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715.939633569,678.060366431,661.060366431,636,879.060366431,788,803.939633569,652,632,653,0.401524602779,-0.0153739204128,0.0699318565035,0.999999964398,0.000237263820098,-0.000121964629827,5.88139519902e-06,1793239149153224960
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715.3648978,678.6351022,661.6351022,636,879.6351022,788,803.3648978,652,632,653,0.401639995612,-0.0153822485123,0.0699323087623,0.999999966268,0.000229734216907,-0.000121137992732,3.40073879097e-06,1793239149169891584
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,678.782605813,661.782605813,636,879.782605813,788,803.217394187,652,632,653,0.401765384863,-0.0153889126058,0.0699330556443,0.999999967926,0.000223354639703,-0.000119416344863,6.47717530039e-07,1793239149186558464
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,678.187173999,661.187173999,636,879.187173999,788,803.812826001,652,632,653,0.401908157371,-0.0153926830754,0.0699343148613,0.999999969278,0.000218974901013,-0.000116138318084,-2.57893233856e-06,1793239149203225088
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,678.394523513,661.394523513,636,879,788,804,652,632,653,0.40207484796,-0.015399055948,0.0699367665475,0.999999970981,0.000213934438446,-0.000110602729069,-6.1136773575e-06,1793239149219891968
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,678.969924307,661.969924307,636,879,788,804,652,632,653,0.402252504289,-0.0154066219452,0.0699397649453,0.999999972786,0.000208591053259,-0.000104032114702,-9.78967511033e-06,1793239149236558848
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.544130864,678.455869136,662,636,879,788,804,652,632,653,0.402469695272,-0.0154153194651,0.0699440193579,0.999999976053,0.000197179429957,-9.38569693345e-05,-1.43078963144e-05,1793239149253225216
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715.877943701,678.122056299,662,636,879,788,804,652,632,653,0.402694685237,-0.0154245848201,0.0699486301842,0.999999980596,0.000177584624903,-8.31814832583e-05,-1.87512875994e-05,1793239149269891840
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715.285430077,678.714569923,662,636,879,788,804,652,632,653,0.402941331649,-0.0154357983202,0.0699543477807,0.999999989038,0.000127738303642,-7.13437137079e-05,-2.2727214652e-05,1793239149286558208
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.300204617,636,879.300204617,788,804,652.300204617,632,653,0.403209988735,-0.0154462179312,0.0699614322813,0.999999993888,9.04708488238e-05,-5.75167168669e-05,-2.70288893784e-05,1793239149303224576
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.879445402,636,879.879445402,788,804,652.879445402,632,653,0.403499104433,-0.0154558996324,0.0699697873006,0.999999996519,6.48952849523e-05,-4.18407607066e-05,-3.16333419888e-05,1793239149319891200
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715.453515197,679,662.546484803,636,880.453515197,788,803.546484803,652.546484803,632,653,0.403810041556,-0.0154671883453,0.0699712437516,0.999999997334,4.82226015846e-05,-4.07103371332e-05,-3.67410523654e-05,1793239149336558336
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.026998288,745,716,679,661.973001712,636.026998288,880.946003423,788,803.026998288,652,632,653,0.404128830592,-0.0154788267764,0.069971128973,0.999999997617,3.49467945272e-05,-4.30060489671e-05,-4.11756763545e-05,1793239149353225216
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.616575805,745,716,679,661.383424195,636.616575805,879.76684839,788,803.616575805,652,632,653,0.404491726152,-0.0154889514433,0.0699760546512,0.999999997944,4.3695668315e-05,-3.70332629376e-05,-2.88286341897e-05,1793239149369891840
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.797389696,745,716,678.797389696,661.202610304,636.797389696,879.202610304,788,804,652,632,653,0.404868134168,-0.015496853161,0.0699802009246,0.999999998066,4.95541021533e-05,-3.11210041333e-05,-2.10913557212e-05,1793239149386558464
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.217944915,745,716,678.217944915,661.782055085,636.217944915,879.782055085,788,804,652,632,653,0.40526967393,-0.0155006204189,0.069982897584,0.999999998187,5.0036611855e-05,-2.53213204687e-05,-2.19277684359e-05,1793239149403225088
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,716,678.359951584,662,636.359951584,880,788,804,652,632,653,0.405684888913,-0.0155020088036,0.0699795945604,0.999999998479,3.99091230803e-05,-2.86022623169e-05,-2.51264981302e-05,1793239149419891712
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,716,678.936914693,662,636.936914693,880,788,804,652,632,653,0.406108348601,-0.0155019629876,0.0699726743828,0.999999998586,2.33849630454e-05,-3.73578298854e-05,-2.97494472555e-05,1793239149436558336
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.511277335,745,716,679,662,636.488722665,880.511277335,788,804,652,632,653.511277335,0.40656210617,-0.0155073252602,0.0699556643178,0.99999999743,1.67259973704e-05,-6.16423924348e-05,-3.25770113556e-05,1793239149453225472
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.912750067,745,715.912750067,679,662,636,880.912750067,788,804,652,632,654,0.407030066629,-0.0155126795708,0.0699398602778,0.999999995808,1.23271537623e-05,-8.36983566874e-05,-3.50332980341e-05,1793239149469892352
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.325726661,745,715.325726661,679,662,636,880.325726661,788,804,652,632,654,0.407558077027,-0.0155141853308,0.0699380595924,0.999999995865,1.39372726552e-05,-8.20688421823e-05,-3.66253916453e-05,1793239149486558464
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804,651.740983665,632,654,0.408117240699,-0.0155136652898,0.0699449136771,0.999999997034,1.45322460125e-05,-6.58187227887e-05,-3.72748735471e-05,1793239149503225088
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804,651.159083412,632,654,0.408715239308,-0.0155106199309,0.0699625566031,0.999999998737,1.38617617489e-05,-3.13428873762e-05,-3.67493168406e-05,1793239149519891968
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788.417983514,804,651.417983514,632,653.582016486,0.40930245396,-0.0155082005531,0.0699646431022,0.999999998817,1.93531921189e-05,-2.32098925572e-05,-3.81044208536e-05,1793239149536559360
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788.993231904,804,651.993231904,632,653.006768096,0.409885611172,-0.0155060166988,0.0699608765483,0.999999998512,2.71630219414e-05,-2.49883027457e-05,-4.01671170897e-05,1793239149553226752
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715.566518785,679,662,636,880.566518785,789,804,652,632,653,0.410505901519,-0.0155091767987,0.0699555773844,0.999999998341,1.62673687127e-05,-3.64356200266e-05,-4.15450928397e-05,1793239149569892608
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,880.855861259,788.855861259,804,652,632,653,0.411145923293,-0.0155125405964,0.0699556514956,0.999999998347,6.61117530101e-06,-3.82985324662e-05,-4.23691197379e-05,1793239149586558720
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,880.26473163,788.26473163,804,652,632,653,0.411845763403,-0.0155163387818,0.0699724453397,0.999999999087,1.48931025006e-06,-1.00821137823e-05,-4.15005672998e-05,1793239149603225088
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,880,788.319905288,804,652,631.680094712,653,0.412570724402,-0.0155198533182,0.069997622698,0.999999998764,-9.99869083827e-07,2.96280838759e-05,-3.99157753966e-05,1793239149619891712
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,880,788.899276226,804,652,631.100723774,653,0.413316060283,-0.015523137796,0.0700295996766,0.999999996193,-1.35375601528e-06,7.86605462844e-05,-3.77500628505e-05,1793239149636558336
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,880,788.527633702,804,652,631,653,0.414028575928,-0.0155239369039,0.0700293834995,0.999999996561,-7.03757931223e-06,7.3090949659e-05,-3.85615084692e-05,1793239149653224960
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.04559498,716,679,662,636,880,788.04559498,804,652,631,653,0.414734181454,-0.0155238035944,0.0700184192865,0.999999997854,-1.33121947201e-05,4.98106561155e-05,-4.0417771618e-05,1793239149669891584
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.636282347,716,679,662,636,880,788.636282347,804,652,631,653,0.415439744305,-0.0155187757441,0.0699599515854,0.999999997651,-1.32409395275e-05,-4.78369460614e-05,-4.72751081418e-05,1793239149686558208
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.777490651,715.777490651,679,662,636,880,788.777490651,804,652,631.222509349,653,0.416186548157,-0.0155151989949,0.0699259617505,0.999999993164,-1.23900082482e-05,-0.000104127096005,-5.17271947872e-05,1793239149703224832
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.198411393,715.198411393,679,662,636,880,788.198411393,804,652,631.801588607,653,0.416999440427,-0.0155139476271,0.0699311975544,0.999999994147,-1.02896508441e-05,-9.41421695011e-05,-5.23248829831e-05,1793239149719891712
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.379102022,715,679,662,636,879.620897978,788,804,652,632,653.379102022,0.417828066304,-0.015514926646,0.0699543734842,0.999999997024,-9.89584988509e-06,-5.69982743174e-05,-5.10506233327e-05,1793239149736558080
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.955799271,715,679,662,636,879.044200729,788,804,652,632,653.955799271,0.418664892814,-0.0155170681854,0.0699869001507,0.999999998739,-1.03915388454e-05,-5.69860514251e-06,-4.88006685155e-05,1793239149753224704
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.469959072,715,679,662,636,880.060081856,788,804.530040928,652,631.469959072,653.469959072,0.419508361916,-0.0155220685352,0.0700080501106,0.999999998327,-2.2863752065e-05,2.42575532025e-05,-4.72722932833e-05,1793239149769891584
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.107333663,636,881,788,804.892666337,652,631,653,0.420356633547,-0.0155271863498,0.0700255823464,0.999999997123,-3.53661854916e-05,4.8562944048e-05,-4.63068047953e-05,1793239149786558208
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.699323501,636,881,788,804.300676499,652,631,653,0.421224100644,-0.015531763056,0.0700310431422,0.999999996388,-4.35161581787e-05,5.53525071506e-05,-4.76125300738e-05,1793239149803224832
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636.284706607,881,788,804.284706607,652,631.284706607,653.284706607,0.422059070505,-0.0155333309555,0.0700135785914,0.999999997337,-4.6974780366e-05,2.40424497879e-05,-5.04027931339e-05,1793239149819891712
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636.863270704,881,788,804.863270704,652,631.863270704,653.863270704,0.422860498728,-0.0155317933415,0.0699724518409,0.999999996378,-4.55912660864e-05,-4.65918042463e-05,-5.47253091449e-05,1793239149836558592
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679.438734624,662.561265376,636.561265376,881,788.438734624,804.561265376,652,631.561265376,654,0.423655032308,-0.0155258052407,0.0699114483047,0.99999998731,-4.91585016392e-05,-0.00013813192355,-6.23178882133e-05,1793239149853225216
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.013129247,636,880.986870753,788.986870753,804,652,631.013129247,653.986870753,0.424450225458,-0.0155187825329,0.069846889358,0.999999969108,-5.41530423813e-05,-0.000232083126117,-7.06367329049e-05,1793239149869891584
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.582865258,636,880.417134742,788.417134742,804,652,631.582865258,653.417134742,0.425363835526,-0.0155262854721,0.0698923699947,0.999999984414,-5.4707061571e-05,-0.000153980996243,-6.68443226925e-05,1793239149886558208
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.839763129,662.839763129,636,880,788,804,652,632,653,0.426284704386,-0.0155324372817,0.0699410454413,0.999999993614,-5.49335583383e-05,-7.67342019551e-05,-6.21718432761e-05,1793239149903225088
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.241519674,662.241519674,636,880,788,804,652,632,653,0.427225415061,-0.0155348957857,0.06999845388,0.999999997008,-5.42647749746e-05,-1.82546916634e-06,-5.50937006223e-05,1793239149919891712
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.344340262,662.344340262,636,880.344340262,788,804,651.655659738,632,653,0.428140069976,-0.0155374863309,0.070032694604,0.999999995694,-5.85156218002e-05,4.96254866087e-05,-5.22030937854e-05,1793239149936558080
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.921815919,662.921815919,636,880.921815919,788,804,651.078184081,632,653,0.429037083815,-0.0155401662742,0.0700512496366,0.999999992827,-6.60973018045e-05,8.51943635892e-05,-5.21476562755e-05,1793239149953224704
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,881,788,804,651.498279952,631.501720048,653,0.429889642521,-0.0155394381595,0.0700415332313,0.999999994146,-6.33099410022e-05,6.91424377664e-05,-5.40321137796e-05,1793239149969891840
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,881,788,804,652,631.076103905,653,0.430719519921,-0.015537574321,0.0700196624263,0.999999996149,-5.89318529037e-05,3.18732200881e-05,-5.6679698555e-05,1793239149986558720
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,881,788,804,652,631.664141035,653,0.431443651649,-0.0155316605929,0.0699458113823,0.999999992158,-5.47754879821e-05,-9.37452686904e-05,-6.24172832741e-05,1793239150003225088
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.751500671,636,880.751500671,788.248499329,804,651.751500671,631.751500671,653,0.432233483513,-0.0155282001765,0.0699051210057,0.999999983968,-5.48183644845e-05,-0.00015708503256,-6.62107619929e-05,1793239150019891968
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.172041888,636,880.172041888,788.827958112,804,651.172041888,631.172041888,653,0.433110817045,-0.0155280071592,0.0699085950694,0.99999998645,-6.0453926986e-05,-0.000137479993391,-6.74150192205e-05,1793239150036558592
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.404824383,636,880.809648765,788.595175617,804.404824383,651.404824383,631,653.404824383,0.433991957761,-0.0155332718563,0.0699552424288,0.999999994146,-6.59897160088e-05,-5.82540232153e-05,-6.29300081277e-05,1793239150053225216
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.980595867,636,881.961191734,788.019404133,804.980595867,651.980595867,631,653.980595867,0.434874706101,-0.0155408412083,0.0700201207793,0.99999999481,-7.14833722679e-05,4.61483581412e-05,-5.60425622075e-05,1793239150069891584
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.432960206,636,881.432960206,788.567039794,804.432960206,652,631.567039794,653.432960206,0.435658618238,-0.0155416458169,0.0700303127187,0.999999993985,-6.91697565497e-05,6.42846773374e-05,-5.58023452915e-05,1793239150086557952
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.151815498,715,680,662.151815498,636,881,789,804.151815498,652,631.848184502,653.151815498,0.436435511664,-0.0155423649753,0.0700320968659,0.999999993522,-6.92685027388e-05,7.06424133537e-05,-5.62727086308e-05,1793239150103224832
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.730849248,715,680,662.730849248,636,881,789,804.730849248,652,631.269150752,653.730849248,0.437202354199,-0.0155435075947,0.0700155881367,0.999999993986,-7.69220268285e-05,5.2321029108e-05,-5.80902995128e-05,1793239150119891456
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,881,788.691043688,804.691043688,652,631.308956312,653.691043688,0.437943270353,-0.015544213645,0.0699868824194,0.999999994392,-8.51580644917e-05,1.523291497e-05,-6.10858053708e-05,1793239150136558592
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,881,788.113741534,804.113741534,652,631.886258466,653.113741534,0.438661667953,-0.0155445405105,0.0699475829363,0.999999992744,-9.3900047217e-05,-3.81551531429e-05,-6.51043960722e-05,1793239150153225472
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.538588572,715,680.461411428,663,636,881.461411428,788.461411428,804,651.538588572,632,653,0.439304981758,-0.0155413202471,0.0698995504838,0.999999986962,-8.48154125657e-05,-0.000119133028681,-6.84838016257e-05,1793239150169891840
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715.037019154,680.962980846,662.962980846,636,881.962980846,788.962980846,804.074038308,651.037019154,632,653,0.439932909567,-0.0155380206675,0.0698530592268,0.999999974694,-7.3528099916e-05,-0.000200231232186,-7.15099175132e-05,1793239150186558208
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715.627304117,680.372695883,662.372695883,636,881.372695883,788.372695883,805.254608234,651.627304117,632,653,0.440606224908,-0.015546543273,0.0698616262593,0.9999999764,-9.46924794863e-05,-0.000181953782229,-7.159992384e-05,1793239150203224832
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.213564257,715.786435743,680,662.213564257,636,881,788,805.786435743,651.786435743,631.786435743,653,0.441282244967,-0.0155563438028,0.069880783114,0.999999979596,-0.000112142230056,-0.000152487697662,-7.05655040856e-05,1793239150219891456
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.792930602,715.207069398,680,662.792930602,636,881,788,805.207069398,651.207069398,631.207069398,653,0.441962897897,-0.0155683332181,0.0699180786753,0.999999984729,-0.000123229406899,-0.000103857233112,-6.7605118714e-05,1793239150236558080
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,635.629861002,881,788,805,651.370138998,631.370138998,653.370138998,0.442579572891,-0.0155761910655,0.0699191846363,0.999999982392,-0.000136129493692,-0.000110433607572,-6.69992020509e-05,1793239150253224960
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663,635.053852879,881,788,805,651.946147121,631.946147121,653.946147121,0.443160663694,-0.0155817509585,0.0699001621532,0.999999975543,-0.000150037909569,-0.00014771570265,-6.7702827129e-05,1793239150269891584
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662.479438174,635,881,788,804.479438174,651.479438174,632,653.479438174,0.443676213958,-0.0155864187754,0.0698603214038,0.999999962766,-0.0001581487804,-0.000211203952624,-6.96365060749e-05,1793239150286558208
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.902912556,745.902912556,715,680.097087444,662,635,881,787.902912556,804,651,631.902912556,653,0.444179724636,-0.0155906594958,0.0698201470418,0.999999946217,-0.000165003641862,-0.000274180461778,-7.18651625682e-05,1793239150303225088
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.269417864,715,681,662,635,881,787,804,651.269417864,631,653,0.44513849875,-0.0155973392238,0.0697687735412,0.999999921046,-0.000175571880796,-0.000347941328795,-7.75874171491e-05,1793239150336558336
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.849415901,715,681,662,635,881,787,804,651.849415901,631,653,0.445626400567,-0.0156033024048,0.0697606634191,0.999999917345,-0.000186663723164,-0.000352291348778,-7.97291215915e-05,1793239150353224960
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.427536348,745.572463652,715,680.572463652,661.572463652,635,880.572463652,787,804,651.572463652,631,653,0.44607657485,-0.0156096775798,0.0697547892995,0.999999911709,-0.000194014355842,-0.000364317814523,-7.88235972938e-05,1793239150369891584
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.995042243,745,715,680.004957757,661.004957757,635,880.004957757,787,804.004957757,651,631,653,0.446512861252,-0.0156161728902,0.0697495948315,0.99999990513,-0.000200008318043,-0.000379247228944,-7.68709680361e-05,1793239150386558208
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,715,680.235707067,661,634,881,786,805,652,631,653,0.449289232109,-0.015643420543,0.0696968670063,0.999999862155,-0.000209780496901,-0.000476104731199,-7.07610048598e-05,1793239150536558336
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+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.139093277,715,681.139093277,661,634,881,786,805,651.860906723,631,653.860906723,0.450097643217,-0.0156502449978,0.0696448396652,0.999999814553,-0.000231178230876,-0.000558239342414,-7.62904582024e-05,1793239150619891456
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.162019257,715,680.162019257,661,634,881,785.837980743,805,652,631,653.162019257,0.450812280022,-0.0156535051339,0.0696061661734,0.99999977329,-0.000257361882479,-0.000617262039838,-7.85704059191e-05,1793239150936558080
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.741201421,715,680.741201421,661,634,881,785.258798579,805,652,631,653.741201421,0.450815237406,-0.0156545648566,0.0696068271729,0.999999774015,-0.000259274712914,-0.000615306972959,-7.83792333919e-05,1793239150953224704
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.320578663,746,715,681,661,634,881,785,805,652,631,654,0.450816714268,-0.0156539149994,0.069606811674,0.999999773955,-0.000259607337306,-0.000615247200601,-7.85150227191e-05,1793239150969891584
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.900113548,746,715,681,661,634,881,785,805,652,631,654,0.450816995197,-0.0156518841824,0.0696062497149,0.999999773262,-0.000258663507066,-0.000616718404247,-7.89149244452e-05,1793239150986558208
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680.527039022,661.472960978,634,881,785,805,651.527039022,631.472960978,653.527039022,0.450817991758,-0.0156526596439,0.0696070251643,0.999999773708,-0.000259928686132,-0.000615491530395,-7.86817456041e-05,1793239151003224576
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680.046010514,661.953989486,634,881,785,805,651,631.953989486,653,0.45081903293,-0.01565394453,0.0696079494857,0.99999977432,-0.000261382865806,-0.000613924294271,-7.83315981559e-05,1793239151019891200
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680.637984035,661.362015965,634,881,785,805,651,631.362015965,653,0.45081883507,-0.0156543396905,0.0696073354631,0.999999774141,-0.000259621062306,-0.000614985511078,-7.81578983381e-05,1793239151036557824
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681,661,634,881,785,804.7752522,651,630.7752522,653,0.450818510701,-0.0156545186457,0.0696064226265,0.999999773724,-0.00025869538677,-0.000616086666268,-7.78778877649e-05,1793239151053224704
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,715,681,661,634,881,785,804.196690046,651,630.196690046,653,0.450817987174,-0.0156543572346,0.0696050393751,0.99999977294,-0.000259086004867,-0.000617250695307,-7.74305150696e-05,1793239151069891328
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,681.380556848,661,634,881,785,804.380556848,651,630.380556848,653,0.450818303536,-0.0156527378939,0.0696048785879,0.999999773443,-0.000256709891301,-0.000617417602776,-7.75218449866e-05,1793239151086557952
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,681.957126275,661,634,881,785,804.957126275,651,630.957126275,653,0.450819052499,-0.0156503676207,0.0696053474528,0.999999774597,-0.000252908723319,-0.000617070924985,-7.78906432877e-05,1793239151103224576
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765.891962634,746,715,681,660.891962634,634,881,785,805,651.891962634,631,653,0.450819325668,-0.0156518905725,0.069605980784,0.999999773763,-0.000255120773033,-0.000617530109947,-7.77457789557e-05,1793239151136558080
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765.865608812,746,715,681,660,634,881,785,805,651,631,653.865608812,0.450820474343,-0.0156517289246,0.0696047453972,0.999999773249,-0.000255516262925,-0.000618249459111,-7.73388299117e-05,1793239151186558208
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+251,4.183333333,POSE1_TO_POSE2_PRESS,765.182849272,746,715,681,661,634,881,785,805,651.817150728,631,653.182849272,0.450819796591,-0.015652143135,0.0696049702389,0.999999772607,-0.000257169686068,-0.000618579323894,-7.75199079956e-05,1793239151253224704
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+267,4.450000000,HOLD_POSE2,766,746,715,681.962213475,661,634,881,785,805,651,631,653.962213475,0.450823220452,-0.0156476456844,0.0696062407141,0.999999775,-0.000250748938849,-0.000617414476062,-7.6970098773e-05,1793239151534519296
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+269,4.483333333,HOLD_POSE2,765,746,715,681,660.860286114,633.139713886,881,785,805,651,631,653,0.450823112968,-0.0156481016137,0.0696052910221,0.999999774098,-0.00025204388632,-0.000618316547079,-7.7222948188e-05,1793239151567852800
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,661,634,882,785,805,651,631,653,0.450824646594,-0.0156479240791,0.069606860826,0.999999775664,-0.00025186023899,-0.000615939546586,-7.65331670587e-05,1793239151621850624
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.406983734,746,715,681,661,634,881.406983734,785,805,651,631,653.593016266,0.450824142395,-0.015647450387,0.0696066987744,0.999999775253,-0.000251730207176,-0.000616632027129,-7.67551597696e-05,1793239151638517248
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.760818484,746,715,681,661,633.239181516,881,785,805,651.760818484,631,653.239181516,0.450823996793,-0.0156483373342,0.0696064875679,0.999999774736,-0.000252702799388,-0.000617090152924,-7.66082099194e-05,1793239151671850496
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.278912137,661,636,880,788.278912137,804,652,632,653,0.412741695538,-0.0153958870212,0.0697689050099,0.999999907966,0.000187273350705,-0.000385174911322,2.52437809198e-05,1793239152921849856
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715.99342841,679,662,636,879.99342841,788,804.99342841,652,632,653,0.410791128518,-0.0154093190257,0.0698993975518,0.999999971943,0.000171024866514,-0.000160035171922,3.53895057544e-05,1793239152971850240
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.403821846,679,662,636,879.403821846,788,804.403821846,652,632,653,0.410125632159,-0.0154029186315,0.0698738596736,0.999999961742,0.00018006559895,-0.000207409968732,3.27786720262e-05,1793239152988516864
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.970539256,745,715,678.029460744,661.029460744,636,879.029460744,788,804,652,632,653,0.404475111103,-0.0153952029386,0.0698261690216,0.999999940675,0.000182424545175,-0.000291226370266,2.36220186927e-05,1793239153171849728
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.474562898,745,715.525437102,678.525437102,661.525437102,636,879,788,804,652,631.474562898,653,0.404145112448,-0.0153947878778,0.0698428518186,0.999999947227,0.00018988212888,-0.00026246488396,2.45598854181e-05,1793239153188516864
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,678,661.58072824,636,879.58072824,788,803.41927176,651.58072824,632,653,0.401038526966,-0.0153880407369,0.0698039948649,0.999999930314,0.000190595618126,-0.000320817371493,1.10234131975e-05,1793239153505183744
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,678,661.832301954,636,880,788,803.167698046,652,632,653,0.401016628672,-0.0153881664665,0.0698059522709,0.999999931827,0.000190458483272,-0.000316143157792,1.12161873435e-05,1793239153521850368
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+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.323590299,661.323590299,636,879.676409701,788,804,652,631.676409701,653,0.400985614414,-0.0153862073928,0.0698071699085,0.999999932026,0.000193801029601,-0.000313448495582,1.18319565365e-05,1793239153555183360
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.899942298,661.899942298,636,879.100057702,788,804,652,631.100057702,653,0.400976609888,-0.0153863544279,0.0698092380103,0.999999932997,0.000193748312958,-0.000310343460113,1.2408391201e-05,1793239153571849984
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.525616115,662,636,879,788,804,652,631,653,0.400971695382,-0.0153876445476,0.0698102429523,0.999999933797,0.000192747397822,-0.000308383671051,1.23746768112e-05,1793239153588516864
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.049953189,662,636,879.049953189,788,804,652,631.049953189,653.049953189,0.400967922119,-0.015388998256,0.0698110797149,0.999999934538,0.000191708942118,-0.000306629386692,1.22357772584e-05,1793239153605183232
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.642119855,662,636,879.642119855,788,804,652,631.642119855,653.642119855,0.400967210139,-0.0153884356668,0.069812515255,0.999999935052,0.000192425132486,-0.000304494291162,1.23464440636e-05,1793239153621850112
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,880,788,804,652,632,653.194919733,0.400964940023,-0.0153888607699,0.0698141231369,0.999999936345,0.000190183910556,-0.000301658111329,1.19384420627e-05,1793239153655183616
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,880,788,804,652,631.617551678,653,0.400964800934,-0.0153881200878,0.0698149930645,0.999999936473,0.000191334537307,-0.000300507072646,1.18954011038e-05,1793239153671850240
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,880,788,804,652,631.039920592,653,0.400965263637,-0.0153867216177,0.0698160362503,0.9999999363,0.000194050220983,-0.000299333867066,1.20040471299e-05,1793239153688516864
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.453296085,662,636,879.453296085,788,804,651.453296085,631.546703915,653,0.400964667587,-0.0153889854332,0.0698158432183,0.999999936926,0.00019033732852,-0.000299613145326,1.23194143158e-05,1793239153705183488
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.867198502,745,715.132801498,679,661.867198502,636,880,788,804,652,632,653,0.400961515846,-0.0153900963683,0.0698158859027,0.999999936791,0.000188765650906,-0.000301053912974,1.23038105435e-05,1793239153771850240
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dcaaea00f5b1806a9c696fd3870552c192fae27c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,419 @@
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+344,5.733333333,pose2_to_pose3_retreat,0.589916798846,-0.00990915967214,1.06003235237,0.560487250786,-0.00123741886756,1.0597004833
+345,5.750000000,pose2_to_pose3_retreat,0.589159975906,-0.00990914548527,1.0600323027,0.559730427319,-0.00123740602043,1.05970044534
+346,5.766666667,pose2_to_pose3_retreat,0.588412183921,-0.00990921932255,1.06003232836,0.558982636265,-0.00123747671512,1.05970047061
+347,5.783333333,pose2_to_pose3_retreat,0.587689106718,-0.00990921826757,1.06003247101,0.558259558237,-0.001237479065,1.05970059734
+348,5.800000000,pose2_to_pose3_retreat,0.587005464158,-0.0099092120247,1.06003214689,0.557575917474,-0.00123746573902,1.05970029899
+349,5.816666667,pose2_to_pose3_retreat,0.586353312583,-0.00990915389811,1.06003233522,0.556923763288,-0.00123741724977,1.05970046697
+350,5.833333333,pose2_to_pose3_retreat,0.585729964405,-0.00990922474243,1.06003227113,0.556300417144,-0.00123748126675,1.05970040093
+351,5.850000000,pose2_to_pose3_retreat,0.585126694827,-0.00990927152023,1.06003227467,0.555697147233,-0.00123752884397,1.059700413
+352,5.866666667,pose2_to_pose3_retreat,0.584532966182,-0.00990929449519,1.06003225837,0.555103418184,-0.00123755320938,1.05970039708
+353,5.883333333,pose2_to_pose3_retreat,0.583938416468,-0.00990930956614,1.06003223864,0.554508868605,-0.00123756820617,1.0597003681
+354,5.900000000,pose2_to_pose3_retreat,0.583353246701,-0.00990932229966,1.06003229395,0.553923698614,-0.0012375818555,1.05970041943
+355,5.916666667,pose2_to_pose3_retreat,0.582784184896,-0.00990930092248,1.06003236024,0.553354636744,-0.00123756057057,1.05970048874
+356,5.933333333,pose2_to_pose3_retreat,0.582241194528,-0.00990920370617,1.06003238582,0.552811645836,-0.00123746535105,1.05970050879
+357,5.950000000,pose2_to_pose3_retreat,0.581725389804,-0.00990922082889,1.06003236725,0.552295841114,-0.00123748216734,1.05970049816
+358,5.966666667,pose2_to_pose3_retreat,0.581240476199,-0.00990923390578,1.06003245465,0.551810928211,-0.0012374927656,1.05970058803
+359,5.983333333,pose2_to_pose3_retreat,0.580780606163,-0.00990910861411,1.06003245975,0.551351057547,-0.00123736962256,1.05970059253
+360,6.000000000,pose2_to_pose3_retreat,0.580342853757,-0.00990916686071,1.06003246832,0.550913305201,-0.00123742776211,1.05970059873
+361,6.016666667,pose2_to_pose3_retreat,0.579929112014,-0.00990920130421,1.0600324864,0.550499563871,-0.00123746095889,1.05970061294
+362,6.033333333,pose2_to_pose3_retreat,0.579541669573,-0.00990923269329,1.0600323914,0.550112122318,-0.00123748910078,1.05970052437
+363,6.050000000,pose2_to_pose3_retreat,0.579181235317,-0.00990931734024,1.06003238241,0.549751688916,-0.00123757072887,1.05970051869
+364,6.066666667,pose2_to_pose3_retreat,0.578845610834,-0.00990929854708,1.06003237496,0.54941606402,-0.00123755339214,1.05970050978
+365,6.083333333,pose2_to_pose3_retreat,0.578532205592,-0.00990911196534,1.06003221642,0.54910265682,-0.00123737343329,1.05970035153
+366,6.100000000,pose2_to_pose3_retreat,0.578234843957,-0.0099091913094,1.06003225869,0.548805294148,-0.00123745663771,1.05970038481
+367,6.116666667,pose2_to_pose3_retreat,0.577952158449,-0.00990933482717,1.06003235778,0.548522611391,-0.00123759078683,1.05970048474
+368,6.133333333,pose2_to_pose3_retreat,0.577683017798,-0.0099091193748,1.06003234277,0.54825346838,-0.00123738312725,1.05970047541
+369,6.150000000,pose2_to_pose3_retreat,0.577428991101,-0.00990919171372,1.06003236591,0.547999441837,-0.00123745513701,1.05970049354
+370,6.166666667,pose2_to_pose3_retreat,0.577196710887,-0.00990923549462,1.0600322322,0.547767162048,-0.00123749707105,1.05970037056
+371,6.183333333,pose2_to_pose3_retreat,0.576985076471,-0.0099092281701,1.06003227008,0.547555528347,-0.00123748725127,1.05970041023
+372,6.200000000,pose2_to_pose3_retreat,0.576795334195,-0.00990920070158,1.06003220629,0.547365784766,-0.00123746453435,1.05970033803
+373,6.216666667,pose2_to_pose3_retreat,0.57662533032,-0.00990920860798,1.06003235667,0.547195781547,-0.00123747022509,1.05970048808
+374,6.233333333,pose2_to_pose3_retreat,0.576475441815,-0.00990927455912,1.06003251821,0.547045894984,-0.00123752943559,1.05970065355
+375,6.250000000,pose2_to_pose3_retreat,0.576342697918,-0.00990927691688,1.06003232482,0.546913150088,-0.00123753510172,1.05970046239
+376,6.266666667,pose2_to_pose3_retreat,0.576226007611,-0.00990918903866,1.06003208943,0.546796457577,-0.00123745476241,1.0597002255
+377,6.283333333,pose2_to_pose3_retreat,0.576124651162,-0.00990927707605,1.06003219937,0.546695102907,-0.00123753747997,1.05970031699
+378,6.300000000,pose2_to_pose3_retreat,0.576036402774,-0.00990936283126,1.06003239081,0.546606854268,-0.0012376239541,1.05970051312
+379,6.316666667,pose2_to_pose3_retreat,0.575960557294,-0.00990910317987,1.06003225143,0.546531007129,-0.00123736957993,1.05970038219
+380,6.333333333,pose2_to_pose3_retreat,0.575895544183,-0.00990921886328,1.06003244316,0.546465995619,-0.00123747987239,1.05970057253
+381,6.350000000,pose2_to_pose3_retreat,0.575840967582,-0.00990921200106,1.06003247281,0.546411418718,-0.00123747392954,1.05970060477
+382,6.366666667,pose2_to_pose3_retreat,0.575796948887,-0.00990925133745,1.06003221079,0.546367399858,-0.00123751375857,1.05970034453
+383,6.383333333,pose2_to_pose3_retreat,0.57576223536,-0.0099092466179,1.06003216644,0.546332686969,-0.00123750694759,1.05970029816
+384,6.400000000,pose2_to_pose3_retreat,0.575735651276,-0.0099092432021,1.06003221287,0.546306103649,-0.00123750086304,1.0597003466
+385,6.416666667,pose2_to_pose3_retreat,0.575715252526,-0.00990927416419,1.06003220365,0.546285705499,-0.00123752961443,1.05970034189
+386,6.433333333,pose2_to_pose3_retreat,0.575700640528,-0.00990929839396,1.06003221945,0.546271094155,-0.0012375517586,1.05970035423
+387,6.450000000,pose2_to_pose3_retreat,0.575689474862,-0.00990926703556,1.0600322389,0.54625992681,-0.00123752629907,1.05970036849
+388,6.466666667,pose2_to_pose3_retreat,0.575681496768,-0.00990927114819,1.06003227414,0.546251948947,-0.00123752948498,1.05970040744
+389,6.483333333,pose2_to_pose3_retreat,0.575676453585,-0.0099092952632,1.06003231088,0.546246907041,-0.0012375489736,1.05970045185
+390,6.500000000,pose2_to_pose3_retreat,0.575673406377,-0.00990925731743,1.06003222945,0.546243858316,-0.00123751631309,1.05970036692
+391,6.516666667,pose2_to_pose3_retreat,0.575671577669,-0.00990922747894,1.06003216664,0.546242028389,-0.00123749073368,1.05970030092
+392,6.533333333,pose2_to_pose3_retreat,0.575670497285,-0.00990920985063,1.06003212953,0.546240947285,-0.00123747562161,1.05970026192
+393,6.550000000,pose2_to_pose3_retreat,0.575670080692,-0.0099092030532,1.06003211522,0.546240530415,-0.00123746979443,1.05970024689
+394,6.566666667,pose2_to_pose3_retreat,0.575669701125,-0.0099092122794,1.06003212661,0.546240150925,-0.00123747875909,1.05970025821
+395,6.583333333,pose2_to_pose3_retreat,0.575669403444,-0.00990922654573,1.06003214668,0.546239853456,-0.00123749229798,1.05970027849
+396,6.600000000,pose2_to_pose3_retreat,0.575669337104,-0.00990922972509,1.06003215115,0.546239787163,-0.00123749531523,1.05970028301
+397,6.616666667,pose2_to_pose3_retreat,0.575669160428,-0.00990923819228,1.06003216306,0.546239610612,-0.00123750335068,1.05970029505
+398,6.633333333,pose2_to_pose3_retreat,0.57566861592,-0.00990926428783,1.06003219976,0.546239066491,-0.00123752811563,1.05970033216
+399,6.650000000,pose2_to_pose3_retreat,0.575668318361,-0.00990927854831,1.06003221982,0.546238769145,-0.00123754164897,1.05970035244
+400,6.666666667,pose2_to_pose3_retreat,0.575668256465,-0.00990928151467,1.06003222399,0.546238707293,-0.00123754446408,1.05970035666
+401,6.683333333,pose2_to_pose3_retreat,0.57566809072,-0.00990928945803,1.06003223516,0.546238541665,-0.00123755200241,1.05970036795
+402,6.700000000,pose2_to_pose3_retreat,0.575667736795,-0.00990930641987,1.06003225902,0.546238187992,-0.00123756809937,1.05970039207
+403,6.716666667,pose2_to_pose3_retreat,0.575667196719,-0.00990933230297,1.06003229542,0.5462376483,-0.0012375926627,1.05970042888
+404,6.733333333,pose2_to_pose3_retreat,0.575666756064,-0.00990935342139,1.06003232513,0.546237207958,-0.0012376127043,1.05970045891
+405,6.750000000,pose2_to_pose3_retreat,0.575666465603,-0.00990935766065,1.06003233958,0.546236917697,-0.00123761629185,1.05970047267
+406,6.766666667,pose2_to_pose3_retreat,0.575666352715,-0.00990935492059,1.06003234288,0.546236804884,-0.00123761332483,1.05970047529
+407,6.783333333,pose2_to_pose3_retreat,0.57566593732,-0.00990934483787,1.060032355,0.546236389763,-0.00123760240696,1.05970048493
+408,6.800000000,pose2_to_pose3_retreat,0.575665749729,-0.00990934028454,1.06003236047,0.546236202296,-0.00123759747648,1.05970048928
+409,6.816666667,pose2_to_pose3_retreat,0.575665575664,-0.00990933605954,1.06003236555,0.546236028346,-0.00123759290152,1.05970049332
+410,6.833333333,pose2_to_pose3_retreat,0.575665227441,-0.00990932760727,1.06003237571,0.546235680354,-0.00123758374916,1.05970050139
+411,6.850000000,pose2_to_pose3_retreat,0.575665215415,-0.00990932731538,1.06003237607,0.546235668336,-0.00123758343309,1.05970050167
+412,6.866666667,pose2_to_pose3_retreat,0.575664894245,-0.00990930910655,1.06003231953,0.546235346977,-0.00123756573174,1.0597004486
+413,6.883333333,pose2_to_pose3_retreat,0.575664708759,-0.00990929562197,1.06003226808,0.546235161268,-0.00123755286898,1.0597004007
+414,6.900000000,pose2_to_pose3_retreat,0.575664572316,-0.00990928570276,1.06003223024,0.546235024662,-0.00123754340719,1.05970036547
+415,6.916666667,pose2_to_pose3_retreat,0.575664461036,-0.00990937051502,1.06003244854,0.546234913117,-0.00123762929039,1.05970057918
+416,6.933333333,pose2_to_pose3_retreat,0.575664408482,-0.00990944255113,1.0600325419,0.546234861276,-0.00123769900237,1.05970067009
+417,6.950000000,pose2_to_pose3_retreat,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632642,1.05970060642
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d30a8ed4821265c603f4a5b191bf94f998cf447
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7013d0a60fd183bbc8d26fc4e7999486c57f2ca9c054014b477406f7eccb4875
+size 26600177
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..628031dc37a0f27c5e77801f2bfa7fb04c8fb6d9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
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+13,0.216666667,BASELINE,766,745,715.542683465,678.542683465,661.457316535,636,879,788,804,651.457316535,632,653,0.400967212776,-0.0153918017759,0.0698240512431,0.999999941003,0.000188992662621,-0.000286580771927,1.21463694919e-05,1793239154423377152
+14,0.233333333,BASELINE,766,745,715.878816114,679,661.121183886,636,879.121183886,787.878816114,804,651.121183886,632,653,0.40096686525,-0.0153918201766,0.0698232806353,0.999999941158,0.00018737895095,-0.000287115276473,1.17285295629e-05,1793239154440043776
+15,0.250000000,BASELINE,766,745,715.289947713,679,661.710052287,636,879.710052287,787.289947713,804,651.710052287,632,653,0.400965138309,-0.0153921997806,0.069822488782,0.999999940276,0.000188793015481,-0.00028923011098,1.22597853289e-05,1793239154456710144
+16,0.266666667,BASELINE,766.293788976,745,715,679,662,636,879.706211024,787.293788976,803.706211024,652,632,653,0.400964555704,-0.0153921896668,0.0698220097661,0.999999939795,0.000189761453967,-0.000290247816829,1.25092587634e-05,1793239154473376768
+17,0.283333333,BASELINE,766.87254796,745,715,679,662,636,879.12745204,787.87254796,803.12745204,652,632,653,0.400965083082,-0.0153918015339,0.0698218341967,0.999999939707,0.000190297643142,-0.000290201327541,1.24854083864e-05,1793239154490043648
+18,0.300000000,BASELINE,766.551337268,745,715,679,662,636,879,788,803.897325464,652,632,653,0.400964284739,-0.0153912087886,0.0698211332234,0.999999939271,0.000191205068411,-0.000291116442906,1.22776328121e-05,1793239154506710528
+19,0.316666667,BASELINE,766,745.024539591,715,679,662,636,879,788,804.975460409,652,632,653,0.400963218226,-0.0153905808667,0.0698203847961,0.999999938779,0.000192167563492,-0.000292178177236,1.20292568663e-05,1793239154523377664
+20,0.333333333,BASELINE,766,745.612090731,715,679,662,636,879,788,804.387909269,652,632,653,0.400964588777,-0.015390471624,0.0698219518534,0.999999939339,0.000191988193402,-0.000290373311953,1.20410843708e-05,1793239154540044288
+21,0.350000000,BASELINE,766,745.803047815,715.196952185,679,661.803047815,636,879,788,803.803047815,652,632,653,0.400965649207,-0.0153904525089,0.0698232061008,0.999999939813,0.000191791589766,-0.000288868597077,1.20171415671e-05,1793239154556710912
+22,0.366666667,BASELINE,766,745.223412557,715.776587443,679,661.223412557,636,879,788,803.223412557,652,632,653,0.400966107061,-0.0153906085143,0.0698238525508,0.999999940124,0.00019156150094,-0.000287947082241,1.19236961495e-05,1793239154573377280
+23,0.383333333,BASELINE,765.644904921,745,716,678.644904921,661,636,879.355095079,788,803.355095079,652,631.644904921,653,0.40096556214,-0.0153915182817,0.0698233287071,0.999999940197,0.00019042264229,-0.000288445335355,1.20499012058e-05,1793239154590043648
+24,0.400000000,BASELINE,765.067104441,745,716,678.067104441,661,636,879.932895559,788,803.932895559,652,631.067104441,653,0.400964388306,-0.015392900787,0.0698220708891,0.999999940116,0.000188713829368,-0.000289834025927,1.23138647016e-05,1793239154606710272
+25,0.416666667,BASELINE,765.507099216,745,716,678,661.507099216,636,880,788,803.492900784,651.492900784,631,653,0.400964482967,-0.0153933541739,0.0698219538,0.999999939981,0.000188820035239,-0.000290222812086,1.24554656506e-05,1793239154623376896
+26,0.433333333,BASELINE,766,745,715.91684967,678,662,636.08315033,880,788,803.08315033,651.08315033,631.08315033,653,0.400964810322,-0.0153936398221,0.0698221147086,0.999999939943,0.000189017929812,-0.00029022245749,1.25605867693e-05,1793239154640043776
+27,0.450000000,BASELINE,766,745,715.326650556,678,662,636.673349444,880,788,803.673349444,651.673349444,631.673349444,653,0.40096554024,-0.015393647071,0.0698230568187,0.99999994053,0.000188320634557,-0.000288650317107,1.25412992401e-05,1793239154656710912
+28,0.466666667,BASELINE,766.25866236,745,715,678,662,636.74133764,879.74133764,788,804,652,632,653,0.400966135006,-0.0153928301554,0.0698235142819,0.99999994065,0.000189048080909,-0.0002877660028,1.2278439364e-05,1793239154673377792
+29,0.483333333,BASELINE,766.83791913,745,715,678,662,636.16208087,879.16208087,788,804,652,632,653,0.400966562261,-0.0153909917437,0.0698233710581,0.999999940192,0.000191541397671,-0.000287734202245,1.17136881232e-05,1793239154690044160
+30,0.500000000,BASELINE,766.587105298,745,715.412894702,678.412894702,661.587105298,636,879,788,804,652,632,653,0.400965595971,-0.0153903014787,0.0698227074961,0.9999999398,0.000191768577017,-0.000288943433239,1.16804975739e-05,1793239154706710528
+31,0.516666667,BASELINE,766.013793066,745,715.986206934,678.986206934,661.013793066,636,879,788,804,652,632,653,0.400964088262,-0.0153900572908,0.0698218417728,0.999999939433,0.000191115318355,-0.000290634828845,1.18538285847e-05,1793239154723376896
+32,0.533333333,BASELINE,766,745,715.438118484,679,661.561881516,636,879,788,804,652,632,653.561881516,0.400964691101,-0.0153913804486,0.069822870206,0.999999939802,0.000191083941552,-0.000289372167128,1.21180577972e-05,1793239154740043520
+33,0.550000000,BASELINE,766.141536226,745,715,679,661.858463774,636,879,788,804,652,632,653.858463774,0.400965216504,-0.0153923503335,0.0698235586397,0.999999940097,0.000191116000231,-0.000288324122667,1.22806378331e-05,1793239154756710400
+34,0.566666667,BASELINE,766.733676825,745,715,679,661.266323175,636,879,788,804,652,632,653.266323175,0.40096532974,-0.0153920725049,0.0698230159695,0.999999940101,0.000191301209501,-0.000288191190825,1.21124666421e-05,1793239154773377280
+35,0.583333333,BASELINE,766.68283906,745,715,678.68283906,661.31716094,636,879.31716094,788,804,652,632,653,0.400966334655,-0.0153922567619,0.0698233902989,0.999999940503,0.000190497135052,-0.000287321940761,1.22685658355e-05,1793239154790043904
+36,0.600000000,BASELINE,766.106430691,745,715,678.106430691,661.893569309,636,879.893569309,788,804,652,632,653,0.400968068429,-0.0153928187277,0.0698245141838,0.999999941225,0.000188884419872,-0.000285850823988,1.26897237007e-05,1793239154806710784
+37,0.616666667,BASELINE,766,744.528928655,715,678,662,636,880,788,804,651.528928655,631.528928655,653.471071345,0.400967213765,-0.0153921907851,0.0698244368423,0.999999940988,0.000189087950866,-0.000286557456037,1.24448890586e-05,1793239154823377152
+38,0.633333333,BASELINE,766,744.049731116,715,678.049731116,661.950268884,636,879.950268884,788,804,651.049731116,631.049731116,653.950268884,0.400965804543,-0.0153914743174,0.0698240195433,0.999999940551,0.000189542671517,-0.000287793484489,1.20780344332e-05,1793239154840043520
+39,0.650000000,BASELINE,766,744.638250975,715,678.638250975,661.361749025,636,879.361749025,788,804,651.638250975,631.638250975,653.361749025,0.400964737877,-0.0153927181655,0.0698228662989,0.999999940324,0.000188262693251,-0.000289421982299,1.20232001748e-05,1793239154856710144
+40,0.666666667,BASELINE,766,745,715,679,661,636,879.223225809,788,804,652,632,653,0.400964106733,-0.0153933013179,0.0698224364045,0.999999940122,0.000188176628623,-0.000290173451184,1.20071676185e-05,1793239154873376768
+41,0.683333333,BASELINE,766,745,715,679,661,636,879.802545519,788,804,652,632,653,0.400964170342,-0.0153928305165,0.069823160411,0.999999939966,0.000189995116994,-0.000289525867353,1.2053032252e-05,1793239154890043392
+42,0.700000000,BASELINE,766,745,715,678.619886651,661.380113349,636,880,788,804.380113349,652,632,653,0.400964492018,-0.0153933161427,0.0698236630147,0.999999940438,0.000189061488556,-0.000288495984043,1.22363206434e-05,1793239154906710016
+43,0.716666667,BASELINE,766,745,715,678.043224699,661.956775301,636,880,788,804.956775301,652,632,653,0.400964947136,-0.0153942963175,0.0698240511357,0.999999941231,0.00018670479846,-0.000287268421749,1.24906679624e-05,1793239154923376640
+44,0.733333333,BASELINE,766.541605781,745,715,678,661.458394219,636,880,788,804.458394219,652,632,653,0.400965008034,-0.0153920204945,0.0698232658943,0.999999940199,0.000189889277202,-0.00028878492238,1.21434105417e-05,1793239154940043264
+45,0.750000000,BASELINE,766.874496449,745,715,678.125503551,661,636,879.874496449,788,804,652,632,653,0.400965109609,-0.0153901248313,0.0698226760148,0.999999939389,0.000192661924188,-0.000289764143107,1.18208411808e-05,1793239154956710144
+46,0.766666667,BASELINE,766.296349962,745,715,678.703650038,661,636,879.296349962,788,804,652,632,653,0.400965473095,-0.0153905518108,0.0698231336412,0.999999939962,0.000192329868267,-0.000288003660883,1.17631287243e-05,1793239154973376768
+47,0.783333333,BASELINE,766,745.281980657,715,679,661.281980657,636,879,788,804,652,632,653,0.400965571888,-0.0153911202236,0.0698232402266,0.999999940223,0.000191601588949,-0.000287579402006,1.1861111376e-05,1793239154990043392
+48,0.800000000,BASELINE,766,745.860504989,715,679,661.860504989,636,879,788,804,652,632,653,0.400965392318,-0.0153918373742,0.0698229776412,0.999999940156,0.000190456623056,-0.000288560376122,1.21228300731e-05,1793239155006710016
+49,0.816666667,BASELINE,766,745.562855568,715,678.562855568,662,636,879.437144432,788.437144432,804,652,632,653,0.4009660302,-0.0153916850507,0.0698233732888,0.999999940199,0.000191598576867,-0.000287649397239,1.22442761432e-05,1793239155023377152
+50,0.833333333,BASELINE,766,745,715,678.013471509,662,636,879.986528491,788.986528491,804,652,631.986528491,653,0.400966886041,-0.0153912774633,0.0698239338134,0.999999940265,0.000193371021995,-0.000286227837508,1.23099493173e-05,1793239155040044800
+51,0.850000000,BASELINE,766,745,715,678.602031811,662,636,879.397968189,788.397968189,804,652,631.397968189,653,0.400965958515,-0.0153917662917,0.0698226046333,0.999999940015,0.000191039186953,-0.000288672169084,1.18973593745e-05,1793239155056710912
+52,0.866666667,BASELINE,766,745,715,678.812849036,661.812849036,636,879,788,804,652,631.187150964,653,0.40096539147,-0.0153920967684,0.0698221613326,0.99999994003,0.000189295095195,-0.000289776962055,1.17157466449e-05,1793239155073377280
+53,0.883333333,BASELINE,766,745,715,678.234915251,661.234915251,636,879,788,804,652,631.765084749,653,0.400965577133,-0.0153920965967,0.0698235678035,0.999999940613,0.000188778248009,-0.000288084715194,1.20164286866e-05,1793239155090043904
+54,0.900000000,BASELINE,766,745,715,678,661.342333968,636,879.342333968,788,804,652,632,653,0.400965355184,-0.0153921253879,0.0698241151703,0.999999940676,0.000189100225786,-0.000287649297193,1.21436237773e-05,1793239155106710528
+55,0.916666667,BASELINE,766,745,715,678,661.919114341,636,879.919114341,788,804,652,632,653,0.400964854082,-0.0153921740143,0.0698240741821,0.999999940383,0.000189996670381,-0.000288074614788,1.21520068304e-05,1793239155123377408
+56,0.933333333,BASELINE,766,745,715,678.494355909,662,636,880,788,803.505644091,652,632,653,0.400966196087,-0.0153919342141,0.069823953152,0.999999940522,0.000191224014738,-0.000286777261817,1.21498193422e-05,1793239155140044288
+57,0.950000000,BASELINE,766,745,715,679,662,636,880,788,803.071195016,652,632,653,0.400967362842,-0.0153917601868,0.0698236694041,0.999999940604,0.000192262326339,-0.000285795380083,1.21856879014e-05,1793239155156711168
+58,0.966666667,BASELINE,766,745,715,679,662,636,880,788,803.66151251,652,632,653,0.400965059688,-0.0153924087808,0.0698222943862,0.999999939773,0.000191528745329,-0.000289162598916,1.25116161406e-05,1793239155173377536
+59,0.983333333,BASELINE,766,745,715.247228147,679,661.752771853,636,879.752771853,788,804,652,632,653,0.4009635807,-0.0153921932114,0.069821851626,0.999999939354,0.000191057003636,-0.000290918622337,1.24612090012e-05,1793239155190043648
+60,1.000000000,BASELINE,766,745,715.826758458,679,661.173241542,636,879.173241542,788,804,652,632,653,0.400963209483,-0.0153908161103,0.0698226619235,0.999999939503,0.000190937203043,-0.00029050902016,1.19049652463e-05,1793239155206710272
+61,1.016666667,BASELINE,766,745,716,679,661.403708712,635.596291288,879,788,803.596291288,652,632,653,0.400964883283,-0.0153910177114,0.0698237710767,0.999999940359,0.000190093901073,-0.000288109024928,1.18216491833e-05,1793239155223377152
+62,1.033333333,BASELINE,766,745,716,679,661.979558795,635.020441205,879,788,803.020441205,652,632,653,0.400967429079,-0.0153918924711,0.0698250076619,0.999999941506,0.000188942098162,-0.000284860326234,1.19399894942e-05,1793239155240044032
+63,1.050000000,BASELINE,766,745,715.446300697,679,661.446300697,635.553699303,879.553699303,788,803.553699303,652,632,653,0.400967107869,-0.0153919777925,0.0698240616354,0.99999994065,0.000190964169153,-0.000286505348562,1.21392434441e-05,1793239155256710912
+64,1.066666667,BASELINE,766,745,715.131666557,678.868333443,661.131666557,636,879.868333443,788,804,652,632,653,0.400966894923,-0.0153922257815,0.0698235777713,0.999999940138,0.000192203575821,-0.000287456760645,1.22792806838e-05,1793239155273378048
+65,1.083333333,BASELINE,766,745,715.723219654,678.276780346,661.723219654,636,879.276780346,788,804,652,632,653,0.400967428671,-0.0153931434194,0.0698249887271,0.999999941104,0.000190301284488,-0.000285356439184,1.22020837007e-05,1793239155290044416
+66,1.100000000,BASELINE,766,745,715.692431996,678.307568004,662,636,879,788,804,652,631.692431996,653,0.400967386237,-0.0153927978073,0.0698254867892,0.999999941247,0.000190651737761,-0.000284620141013,1.22446612888e-05,1793239155306710784
+67,1.116666667,BASELINE,766,745,715.114418826,678.885581174,662,636,879,788,804,652,631.114418826,653,0.400966837166,-0.0153913414168,0.069825182142,0.999999940666,0.000192983034013,-0.000285083231389,1.23925569031e-05,1793239155323377152
+68,1.133333333,BASELINE,766,745,715,679,662,636,879.460331025,788,804,652,631.460331025,653,0.400965045518,-0.0153910014792,0.0698235051899,0.999999940158,0.000192321100275,-0.000287324019897,1.19281561816e-05,1793239155340044032
+69,1.150000000,BASELINE,766,745,715,678.965657415,662,636,879.965657415,788,804,652,632,653,0.400963223609,-0.015390948045,0.069821747524,0.999999939743,0.000190966251943,-0.00028968361771,1.13608314856e-05,1793239155356710656
+70,1.166666667,BASELINE,766,745,715,678.390589665,662,636,879.390589665,788,804,652,632,653,0.400965753894,-0.0153910670793,0.0698240517984,0.999999940634,0.00019033313763,-0.000287005731445,1.15523504937e-05,1793239155373377280
+71,1.183333333,BASELINE,766,745,715,678,662,636,879,788,804,652,631.809377502,653,0.400967396858,-0.0153913128407,0.0698255758306,0.999999941268,0.000189907906322,-0.000285061513012,1.17904059398e-05,1793239155390043904
+72,1.200000000,BASELINE,766,745,715,678,662,636,879,788,804,652,631.215155853,653,0.400967161122,-0.015391826918,0.0698254478801,0.999999941372,0.00018992281919,-0.00028467066641,1.21269915905e-05,1793239155406711040
+73,1.216666667,BASELINE,766,745,715,678,662,636,879,788,804,652,631.366398091,653,0.400967139624,-0.0153919779144,0.0698252579179,0.999999941148,0.000190812321065,-0.000284856788314,1.22650938261e-05,1793239155423377664
+74,1.233333333,BASELINE,766,745,715,678,662,636,879,788,804,652,631.940761875,653,0.400967239724,-0.015391922828,0.0698250327581,0.999999940736,0.000192198235213,-0.000285370394632,1.22905378643e-05,1793239155440044288
+75,1.250000000,BASELINE,766,745,715,678.516117798,662,636,879,788,804,652,632,653.516117798,0.400967032465,-0.0153918616647,0.0698246171991,0.999999940696,0.000191770504454,-0.000285810594219,1.19935482166e-05,1793239155456710656
+76,1.266666667,BASELINE,766,745,715,679,662,636,879,788,804,652,632,653.9057582,0.4009667931,-0.0153918819119,0.0698242578851,0.999999940749,0.00019107331971,-0.000286101780716,1.1759226511e-05,1793239155473377024
+77,1.283333333,BASELINE,766,745,715,679,662,636,879,788,804,652,632,653.313612525,0.400966570857,-0.0153923359643,0.0698243114069,0.999999941069,0.000190054440044,-0.000285650291488,1.20518940172e-05,1793239155490043648
+78,1.300000000,BASELINE,766,745,715.271664999,679,661.728335001,636,879.271664999,788,804,652,632,653,0.400966258238,-0.0153916807665,0.0698243128183,0.99999994079,0.000191030111715,-0.000285977420378,1.20164851588e-05,1793239155506710272
+79,1.316666667,BASELINE,766,745,715.849209334,679,661.150790666,636,879.849209334,788,804,652,632,653,0.40096584386,-0.0153897766159,0.0698242555565,0.999999939829,0.00019425153481,-0.000287181229007,1.16116809544e-05,1793239155523377152
+80,1.333333333,BASELINE,766,745,715.574799702,679,661.425200298,636,879.574799702,788,804,652,632,653,0.400966524784,-0.0153901040764,0.0698248179183,0.999999940474,0.000192106183923,-0.000286378295193,1.15626104491e-05,1793239155540044032
+81,1.350000000,BASELINE,766,745,715.000657116,679,662,636,879.000657116,788,803.999342884,652,631.999342884,653,0.400967590936,-0.0153912192866,0.0698255977867,0.999999941672,0.00018806893953,-0.000284868334279,1.16393622087e-05,1793239155556711168
+82,1.366666667,BASELINE,766,745,715.58924949,679,662,636,879.58924949,788,803.41075051,652,631.41075051,653,0.400967056552,-0.0153916403775,0.0698250951186,0.999999941595,0.000187988077277,-0.000285185904941,1.18288868331e-05,1793239155573377792
+83,1.383333333,BASELINE,765.824867699,745,716,678.824867699,662,636,879.824867699,788,803.175132301,652,631.175132301,653,0.400966573131,-0.0153924510577,0.0698246500238,0.999999941662,0.000187094029961,-0.00028553644731,1.1843129843e-05,1793239155590044416
+84,1.400000000,BASELINE,765.245242883,745,716,678.245242883,662,636,879.245242883,788,803.754757117,652,631.754757117,653,0.400966207414,-0.015394161549,0.0698243379024,0.99999994206,0.000184321818129,-0.000285963142502,1.14525355167e-05,1793239155606710528
+85,1.416666667,BASELINE,765.332627963,745,716,678.332627963,661.667372037,636,879.332627963,788,804,652,632,653,0.400965709441,-0.0153938795703,0.0698238768294,0.999999941592,0.000185295017279,-0.000286971489892,1.13776361906e-05,1793239155623376896
+86,1.433333333,BASELINE,765.909212376,745,716,678.909212376,661.090787624,636,879.909212376,788,804,652,632,653,0.400965114468,-0.0153921362716,0.0698233065123,0.999999940481,0.000189015180969,-0.000288406433393,1.1534274341e-05,1793239155640043520
+87,1.450000000,BASELINE,766,745,715.516644914,678.516644914,661.483355086,636,879.516644914,788,804,652,632,653,0.400965249813,-0.0153922998704,0.0698234314287,0.999999940542,0.000189141390669,-0.000288105454276,1.17146535865e-05,1793239155656710400
+88,1.466666667,BASELINE,766,745,715,678,662,636,879,788,803.941380059,652,632,653,0.400965469096,-0.0153927923655,0.0698236811683,0.9999999408,0.000188663579362,-0.000287514256011,1.18701147177e-05,1793239155673376768
+89,1.483333333,BASELINE,766,745,715,678,662,636,879,788,803.351818517,652,632,653,0.400965212442,-0.0153930360351,0.069823884671,0.999999940857,0.000188798328922,-0.000287232791482,1.17596977147e-05,1793239155690044160
+90,1.500000000,BASELINE,766,744.766277659,715,678.233722341,661.766277659,636,879,788,803.233722341,652,632,653,0.400964970341,-0.0153931512205,0.0698240702179,0.99999994088,0.00018905518224,-0.000286984041718,1.17441737201e-05,1793239155706711040
+91,1.516666667,BASELINE,766,744.186686767,715,678.813313233,661.186686767,636,879,788,803.813313233,652,632,653,0.400964749776,-0.0153930762716,0.0698242291933,0.999999940853,0.000189492727944,-0.000286783704159,1.18690749392e-05,1793239155723377920
+92,1.533333333,BASELINE,766,744.389111701,715,679,661.389111701,636,879,788,804,652,632,653,0.400965876308,-0.0153930398398,0.0698242680932,0.99999994114,0.000189004976599,-0.000286105679387,1.1848321518e-05,1793239155740044544
+93,1.550000000,BASELINE,766,744.963108266,715,679,661.963108266,636,879,788,804,652,632,653,0.400967642908,-0.0153930217092,0.0698242499396,0.999999941575,0.000188077574112,-0.000285200683435,1.17583608899e-05,1793239155756710912
+94,1.566666667,BASELINE,766,745,715,678.45289241,662,636,879,788,804,652,632,653,0.400967524594,-0.015393265088,0.0698243902872,0.999999941369,0.000189467653648,-0.000284980694946,1.22627198538e-05,1793239155773377280
+95,1.583333333,BASELINE,766,745,715.131432159,678.131432159,662,636,879.131432159,788,804,652,631.868567841,653,0.400967217485,-0.0153931785117,0.0698245223563,0.999999941174,0.00019056625066,-0.000284917448974,1.25777966251e-05,1793239155790043648
+96,1.600000000,BASELINE,766,745,715.714513581,678.714513581,662,636,879.714513581,788,804,652,631.285486419,653,0.400966706502,-0.0153918963644,0.0698245885661,0.999999941176,0.000190116208481,-0.000285231144697,1.21021522248e-05,1793239155806710272
+97,1.616666667,BASELINE,766,745,715.705539261,678.705539261,662,636,880,788.294460739,804,652,631.294460739,653,0.400966327733,-0.0153918194892,0.0698244053767,0.999999941225,0.000189285681427,-0.000285626528363,1.17739864477e-05,1793239155823377152
+98,1.633333333,BASELINE,766,745,715.128598875,678.128598875,662,636,880,788.871401125,804,652,631.871401125,653,0.400966075798,-0.0153928988457,0.0698239829357,0.999999941317,0.000188090150786,-0.000286100276213,1.15872986759e-05,1793239155840044288
+99,1.650000000,BASELINE,766,745,715.445942001,678,662,636,880,788.554057999,804,652,632,653,0.400966462722,-0.0153926928255,0.06982391094,0.999999941298,0.000188492514841,-0.000285903348084,1.15745101189e-05,1793239155856710656
+100,1.666666667,BASELINE,766.020302565,745,716,678.020302565,662,636,880,788,804,652,632,653,0.400967019625,-0.0153920927293,0.0698239738949,0.999999941247,0.000189374066052,-0.000285496618881,1.16152369822e-05,1793239155873376768
+101,1.683333333,BASELINE,766.608880956,745,716,678.608880956,662,636,880,788,804,652,632,653,0.400967205229,-0.0153907820043,0.0698250005987,0.999999941222,0.000190839473184,-0.000284602032604,1.17577224796e-05,1793239155890043392
+102,1.700000000,BASELINE,766.804588084,745,715.804588084,678.804588084,662,636,880,788,804,652,632,653,0.400967315963,-0.0153902930348,0.0698252441726,0.999999941105,0.000191710018873,-0.000284426837152,1.1813595734e-05,1793239155906710016
+103,1.716666667,BASELINE,766.222112659,745,715.222112659,678.222112659,662,636,880,788,804,652,632,653,0.4009672784,-0.0153914317633,0.0698239365563,0.999999940809,0.000191402288456,-0.000285676580179,1.16979111693e-05,1793239155923376896
+104,1.733333333,BASELINE,766,745,715.355008066,678,661.644991934,636,879.644991934,788,804,652,631.644991934,653,0.400967643558,-0.015392280676,0.0698243498035,0.999999940985,0.000191454240888,-0.00028502163408,1.17834131334e-05,1793239155940043776
+105,1.750000000,BASELINE,766,745,715.92882843,678,661.07117157,636,879.07117157,788,804,652,631.07117157,653,0.400968256936,-0.0153929509582,0.0698258237198,0.999999941449,0.000191727886933,-0.000283192716447,1.19929181473e-05,1793239155956711168
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,716,679,661,636,879,788,804,652,632,653,0.400963373848,-0.0153917763585,0.0698226215953,0.999999939872,0.000191469342084,-0.000288885767252,1.1831330358e-05,1793239155987794944
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715.410153866,679,661.589846134,636,879.589846134,788,804.589846134,652,632,653,0.400964193113,-0.0153941435202,0.0698230512758,0.99999994092,0.000187158028643,-0.000288079350138,1.18972620298e-05,1793239156004461824
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.176371787,679,662,636,880,788,804.823628213,652,632,653,0.400964853043,-0.0153950919771,0.0698234146798,0.999999941413,0.000185586516979,-0.000287382736786,1.19448615233e-05,1793239156021128448
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.755318438,679,662,636,880,788,804.244681562,652,632,653,0.40096514929,-0.0153928021907,0.0698236268055,0.999999940661,0.000190268699309,-0.00028693675427,1.19506171825e-05,1793239156037794816
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.6672307,679,662,636,880,788,804,652,631.6672307,653,0.400966011464,-0.0153926303862,0.0698245154381,0.99999994092,0.000190713833926,-0.000285734705817,1.20104206898e-05,1793239156054461184
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.090874789,679,662,636,880,788,804,652,631.090874789,653,0.400967287896,-0.0153940089413,0.0698258992726,0.999999941922,0.000188057455916,-0.000283979218303,1.21097871377e-05,1793239156071127808
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804,652,631.484160441,653,0.400968551798,-0.0153941399443,0.0698258833035,0.999999942249,0.000187441840584,-0.000283228415084,1.22182022921e-05,1793239156087794688
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.061007631,679,662,636,879.938992369,788,804,652,632,653,0.400969490946,-0.0153939479305,0.0698255579346,0.999999942352,0.000187300356933,-0.000282954488991,1.22975422256e-05,1793239156104461312
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715.655874017,679,662,636,879.344125983,788,804,652,632,653,0.400967608795,-0.0153929727848,0.06982481798,0.999999941589,0.00018796508726,-0.000285207895365,1.21076322129e-05,1793239156121127936
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715.757078517,678.757078517,661.757078517,636,879,788,804,652,631.757078517,653,0.400968632708,-0.0153926737843,0.0698254587505,0.999999941548,0.000188517035329,-0.00028498547511,1.21592557558e-05,1793239156137794304
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715.180762092,678.180762092,661.180762092,636,879,788,804,652,631.180762092,653,0.400973645016,-0.0153933027521,0.0698279944822,0.999999942494,0.000188914196563,-0.0002813651334,1.25423694099e-05,1793239156154461184
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,678.393690688,661,636,879.393690688,788,804,652,631.393690688,653,0.400989646705,-0.0153944996381,0.0698354620678,0.9999999459,0.000188417913286,-0.000269304255978,1.3184572024e-05,1793239156171127808
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,678.967291862,661,636,879.967291862,788,804,652,631.967291862,653,0.401010670369,-0.0153959560539,0.0698451834338,0.99999995022,0.000187513339835,-0.000253386185382,1.39451742712e-05,1793239156187794688
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.557370835,636,880.557370835,788,804,652,631.442629165,653,0.401063787153,-0.0153982874045,0.0698676971935,0.999999959248,0.000187516543657,-0.000214705650401,1.55911836237e-05,1793239156204461824
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.855027758,788,804,652,631.144972242,653,0.40112212491,-0.0154007404383,0.0698898390952,0.999999966215,0.000188066494047,-0.000178627458738,1.7115949009e-05,1793239156221128704
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.277784768,788,804,652,631.722215232,653,0.401190243652,-0.0154033985434,0.0699085656422,0.999999969848,0.000190083026169,-0.000154413049731,1.81195497131e-05,1793239156237795328
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715.298882162,678.701117838,662,636,879.701117838,788,804,652,632,653.298882162,0.401260636945,-0.015407436921,0.0699202303405,0.999999972541,0.000187730563526,-0.000139092056568,1.81024449542e-05,1793239156254461952
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715.875014691,678.124985309,662,636,879.124985309,788,804,652,632,653.875014691,0.401333140164,-0.0154127556727,0.0699253442949,0.999999974699,0.000181325314965,-0.00013202081386,1.71385089154e-05,1793239156271128320
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715.539895925,678.460104075,661.539895925,636,879,788,804,652,632,653.539895925,0.401419833578,-0.0154165126016,0.0699276271405,0.999999975404,0.000179492342061,-0.000129371229233,1.53908300346e-05,1793239156287794944
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.047002495,715,679,661.047002495,636,879.047002495,788,804,652,632,653,0.401512940777,-0.0154200460628,0.069929072834,0.999999975771,0.000178715202447,-0.000127825616191,1.33991966221e-05,1793239156304461568
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.626286828,715,679,661.626286828,636,879.626286828,788,804,652,632,653,0.401634161736,-0.0154259488224,0.0699299203093,0.999999976728,0.000175550115936,-0.000124909738786,1.11037558588e-05,1793239156321128448
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.795323059,715,679,662,636,879.795323059,788,804,652,631.795323059,653,0.401765339405,-0.0154314682492,0.0699320406157,0.999999977826,0.000172714851104,-0.000120177746145,8.60238805867e-06,1793239156337794816
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.218558634,715,679,662,636,879.218558634,788,804,652,631.218558634,653,0.401914617621,-0.0154362908049,0.0699364748346,0.999999979164,0.000170479177945,-0.000112144191151,5.72666044355e-06,1793239156354461184
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,788,804,652,631,653,0.402082694438,-0.0154431588919,0.0699407090447,0.999999981134,0.000164144336459,-0.00010384496602,2.28779838173e-06,1793239156371127552
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,788,804,652,631,653,0.402262241205,-0.0154512750571,0.0699448212202,0.99999998339,0.000155308393752,-9.53836418938e-05,-1.49465953865e-06,1793239156387794176
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+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715.415114984,678.415114984,662,636,880,789,804,652,632,653,0.403813843521,-0.0155075832835,0.0699726482935,0.999999998837,-7.64350043377e-07,-3.80411686308e-05,-2.96366587256e-05,1793239156487794688
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+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.418010046,715.418010046,679,662,636.581989954,879.418010046,789,804,652,632,653,0.40448805576,-0.0155259290665,0.0699761164407,0.999999998021,-3.82302593424e-05,-3.63133099335e-05,-3.43273175744e-05,1793239156521127680
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.830975117,744.169024883,715,679,661.830975117,636.830975117,879.169024883,789,804,652,632,653,0.404859674551,-0.0155264279462,0.0699785421542,0.999999998253,-3.75046950714e-05,-3.30253419011e-05,-3.15757626042e-05,1793239156537794304
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.253985022,744.746014978,715,679,661.253985022,636.253985022,879.746014978,789,804,652,632,653,0.405271645387,-0.0155087117718,0.0699827142583,0.999999999046,2.59870677258e-05,-2.52657439062e-05,-2.43822988678e-05,1793239156554460928
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.321085077,745,715.321085077,679,661.321085077,636,879.678914923,788.678914923,804,652,632,653,0.405690886034,-0.0154958593279,0.0699810093562,0.999999998147,4.91862069275e-05,-2.60683018351e-05,-2.46384740942e-05,1793239156571127808
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.894645508,745,715.894645508,679,661.894645508,636,879.105354492,788.105354492,804,652,632,653,0.406115843116,-0.0154868313268,0.0699746832519,0.999999998134,4.07024902114e-05,-3.36034464238e-05,-3.07524426132e-05,1793239156587794688
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.469935653,716,678.530064347,662,636,879.469935653,788.469935653,804,652,631.530064347,653,0.406565350948,-0.0154975649129,0.0699574209966,0.999999997267,2.70120882266e-05,-6.01420691814e-05,-3.34528831345e-05,1793239156604461568
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.952959157,716,678.047040843,662,636,879.952959157,788.952959157,804,652,631,653,0.407026028301,-0.0155118468555,0.069939321671,0.999999995427,1.31064329143e-05,-8.78829935245e-05,-3.53640735296e-05,1793239156621128192
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.35928481,716,678.64071519,662,636,879.35928481,788.35928481,804,652,631,653,0.407552305188,-0.0155156896805,0.0699400910053,0.999999996069,1.03138399303e-05,-7.99050106269e-05,-3.70295306407e-05,1793239156637794816
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,879.227423359,788,804,652,631.227423359,653,0.408110512769,-0.0155169993614,0.0699472748259,0.99999999732,8.17789656092e-06,-6.22340756834e-05,-3.76874914499e-05,1793239156654461440
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,879.80345336,788,804,652,631.80345336,653,0.408717665385,-0.0155144261036,0.0699642911128,0.999999998857,7.04850087362e-06,-2.97052677703e-05,-3.68011081167e-05,1793239156671127808
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,880,788,804.378236472,652,632,653,0.409309160371,-0.0155112351342,0.0699673972593,0.999999998997,1.1197476568e-05,-2.0876850218e-05,-3.80160654918e-05,1793239156687794432
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,880,788,804.952373763,652,632,653,0.409892545749,-0.0155077242321,0.0699632988968,0.999999998728,1.8080290385e-05,-2.43236271326e-05,-4.0319374756e-05,1793239156704461056
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,880,788,804.459846282,652,631.459846282,653,0.410497207319,-0.0155060295809,0.06995831463,0.999999998392,1.68410974812e-05,-3.41803928135e-05,-4.20018989722e-05,1793239156721128448
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,880.127540434,788,804,652,631,653,0.411125112314,-0.0155061451688,0.0699576371795,0.999999998322,1.31407085545e-05,-3.64388629576e-05,-4.30705187822e-05,1793239156737795328
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,716,679,662,636,880.709133699,788,804,652,631,653,0.411828913794,-0.0155121204454,0.0699725775846,0.99999999906,3.29382630712e-06,-9.5826560821e-06,-4.21535075981e-05,1793239156754461952
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715.712199135,679,662,636,880.712199135,788,804,652,631.287800865,653,0.412559305537,-0.0155177864351,0.0699958446697,0.999999998782,-3.35150423429e-06,2.76309776842e-05,-4.07587112797e-05,1793239156771128320
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715.1364594,679,662,636,880.1364594,788,804,652,631.8635406,653,0.413316300378,-0.0155231429904,0.0700274424296,0.999999996393,-6.79374905483e-06,7.52070080756e-05,-3.88859005672e-05,1793239156787794688
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.561333047,745,715,679,662,636,880,788,804,652,632,653,0.414038733649,-0.0155218438993,0.0700279023948,0.999999996708,-6.33291357303e-06,7.05506888743e-05,-3.95798879152e-05,1793239156804461056
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715.013986979,679.013986979,662,636,880,788,804,652,631.986013021,653,0.414749693617,-0.015518406969,0.0700175200272,0.999999997996,-4.62419680758e-06,4.78536485653e-05,-4.11916698676e-05,1793239156821127936
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715.60516364,679.60516364,662,636,880,788,804,652,631.39483636,653,0.415430242639,-0.0155120686561,0.0699588729964,0.99999999762,-1.45397630384e-06,-4.97458645858e-05,-4.77734149605e-05,1793239156837794560
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715.808602938,679.808602938,662,636,880,788,803.808602938,652,631,653,0.416156603449,-0.0155084602983,0.0699218388758,0.999999992434,4.20121194874e-08,-0.000111385713588,-5.21964168196e-05,1793239156854460928
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715.232310302,679.232310302,662,636,880,788,803.232310302,652,631,653,0.416975090788,-0.0155103418249,0.0699282678785,0.99999999356,-1.82884612403e-06,-0.000100711408786,-5.22782305804e-05,1793239156871127808
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.343595842,745,715,679,662,636,880.343595842,788,803.343595842,652,631,653,0.417818248822,-0.0155146630408,0.0699526068048,0.999999996724,-7.51080916283e-06,-6.24525386214e-05,-5.09408752645e-05,1793239156887794688
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.919240943,745,715,679,662,636,880.919240943,788,803.919240943,652,631,653,0.418678068307,-0.0155206319135,0.0699890412918,0.999999998677,-1.57666217787e-05,-5.56428739788e-06,-4.86450765122e-05,1793239156904461568
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.492624769,745,715,679,662,636,880.492624769,788,804,652,631,653.507375231,0.419518464787,-0.0155240225613,0.0700077963591,0.999999998238,-2.76082256053e-05,2.13117688834e-05,-4.80295164309e-05,1793239156921127936
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.095790018,745,715,679.095790018,662,636,880,788,804,651.904209982,631.095790018,654,0.420359432642,-0.0155268566638,0.0700226807217,0.99999999721,-3.87121971708e-05,4.226554107e-05,-4.7907010391e-05,1793239156937794560
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.675328671,745,715,679.675328671,662,636,880,788,804,651.324671329,631.675328671,654,0.421219292409,-0.0155290049013,0.0700325874526,0.99999999619,-4.31359630728e-05,5.80445814153e-05,-4.88897713861e-05,1793239156954461184
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679.747245421,662,636,880,788,804,651,632,653.747245421,0.422053786995,-0.0155300088399,0.0700188859116,0.99999999709,-4.53998636416e-05,3.3834657877e-05,-5.11358352474e-05,1793239156971127808
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679.172510827,662,636,880,788,804,651,632,653.172510827,0.4228559694,-0.0155295550746,0.0699751101721,0.999999996626,-4.49123467466e-05,-4.13165650549e-05,-5.49912003627e-05,1793239156987794176
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.411181819,636,880.411181819,788,804.411181819,651.411181819,631.588818181,653,0.423657473672,-0.0155244440315,0.069913875944,0.99999998795,-4.87049521323e-05,-0.000133443652161,-6.26070720371e-05,1793239157004461056
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.998716472,636,880.998716472,788,804.998716472,651.998716472,631.001283528,653,0.42445868705,-0.0155173355167,0.0698451539021,0.999999968834,-5.43332699195e-05,-0.000232851556037,-7.18357964225e-05,1793239157021128192
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.421989957,788,804.421989957,652,631.578010043,653,0.425398322039,-0.0155241775802,0.0698950559546,0.999999984915,-5.63382662407e-05,-0.000149577356507,-6.79835075617e-05,1793239157037794816
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.84323583,636,880,788,804,652,631.84323583,653,0.426330669714,-0.0155306564921,0.0699461392176,0.999999993876,-5.81439834089e-05,-6.98584853276e-05,-6.31371847348e-05,1793239157054461184
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.265880634,636,880,788,804,652,631.265880634,653,0.427242652716,-0.0155360791388,0.0699996948115,0.999999996682,-5.94363278748e-05,-7.5148007018e-07,-5.57007538855e-05,1793239157071127808
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.309703646,788,804,652,631.309703646,653,0.428150459274,-0.0155388969395,0.0700338638653,0.999999995367,-6.32242230343e-05,5.00553634799e-05,-5.25743789513e-05,1793239157087794176
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.88377621,788,804,652,631.88377621,653,0.429054700693,-0.0155394911939,0.0700514841975,0.999999992565,-6.91423677488e-05,8.52408376625e-05,-5.31271501526e-05,1793239157104460800
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.470298515,662,636,881,788,804,651.529701485,632,652.529701485,0.429917130553,-0.0155385777058,0.0700413885182,0.999999993987,-6.50822684246e-05,6.94313717048e-05,-5.44908734995e-05,1793239157121127680
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.058527026,636,881,788,804,651,632,652.058527026,0.430758270316,-0.0155366367434,0.0700183800872,0.999999996221,-5.84332892738e-05,3.07397701617e-05,-5.65623516662e-05,1793239157137794560
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.633913538,636,881,788,804,651,632,652.633913538,0.431505125474,-0.015529002025,0.0699434701735,0.999999992116,-5.12904157237e-05,-9.57084244499e-05,-6.30661402716e-05,1793239157154460928
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,881,788,804,651,632,653,0.432295262833,-0.0155250334063,0.0699003568288,0.999999983111,-4.88471668643e-05,-0.000163923442719,-6.72392649181e-05,1793239157171127296
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,881,788,804,651,632,653,0.433161105179,-0.0155274771583,0.0699128588262,0.999999987754,-5.46240278819e-05,-0.000130282880293,-6.73358295143e-05,1793239157187794176
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,881,788.372265919,804.372265919,651.372265919,632,653,0.434047032265,-0.0155312936318,0.0699567148368,0.999999994444,-6.38438145123e-05,-5.42761780373e-05,-6.39563256116e-05,1793239157204461312
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,881,788.960927713,804.960927713,651.960927713,632,653,0.434944634434,-0.0155359080597,0.0700187967404,0.999999994394,-7.50649516472e-05,4.63576975832e-05,-5.85562040856e-05,1793239157221127936
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.538999191,715,679.461000809,662.461000809,635.461000809,881,789,805,651.461000809,631.461000809,653,0.435762749553,-0.0155394792472,0.0700317871872,0.999999993472,-7.09698058164e-05,6.91395208655e-05,-5.69182162584e-05,1793239157237794560
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.883474208,715,679.116525792,662.116525792,635.116525792,881,788.883474208,804.883474208,651,631.116525792,653,0.436565730661,-0.0155426862614,0.070035354236,0.999999992955,-6.91542754696e-05,7.83384975574e-05,-5.63112241615e-05,1793239157254461184
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.305123161,715,679.694876839,662.694876839,635.694876839,881,788.305123161,804.305123161,651,631.694876839,653,0.437331127905,-0.0155447439,0.0700154058673,0.999999993472,-8.06890998432e-05,5.56406739705e-05,-5.87303298471e-05,1793239157271127808
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,881,788,804,651,631.729170412,653,0.438060929505,-0.0155449251852,0.0699847285557,0.999999994008,-8.9043261268e-05,1.49553900925e-05,-6.18964773146e-05,1793239157287794176
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,881,788,804,651,631.155895964,653,0.438750980152,-0.015543011081,0.0699420698602,0.999999992376,-9.38454643319e-05,-4.58171174041e-05,-6.58968721325e-05,1793239157304461312
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.426577132,715,680.426577132,663,636,881,788,804,651.426577132,631.426577132,653,0.43940746416,-0.0155411654155,0.0698930724416,0.999999985629,-8.84464505542e-05,-0.000126957814097,-6.92911183301e-05,1793239157321128192
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.987539312,715.012460688,681,663,636,881,788,804.012460688,651.987539312,632,653,0.44005296526,-0.0155395196915,0.0698431640286,0.999999971475,-7.9772522141e-05,-0.000213180685522,-7.2391382307e-05,1793239157337794816
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.402822002,715.597177998,681,663,636,881,788,804.597177998,651.402822002,632,653,0.440769860788,-0.0155458823199,0.0698601499315,0.999999975982,-9.56852461506e-05,-0.000183415505858,-7.23881221095e-05,1793239157354461184
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.178648675,716,681,662.821351325,636,881,788,805,651,632,653,0.441473070148,-0.0155545036071,0.0698820995337,0.999999980009,-0.000111548851779,-0.00014973167164,-7.15500043216e-05,1793239157371127808
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.75292953,716,681,662.24707047,636,881,788,805,651,632,653,0.442145970502,-0.0155681268812,0.0699150416597,0.999999983762,-0.000127303683845,-0.000107369649097,-6.88630258033e-05,1793239157387794432
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715.672687006,681.327312994,662,636,881,788,805,651,631.672687006,653,0.442757597841,-0.0155763553944,0.0699159931043,0.999999981797,-0.000136889925788,-0.000114296500634,-6.78492480892e-05,1793239157404461056
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715.098226098,681.901773902,662,636,881,788,805,651,631.098226098,653,0.443322959033,-0.0155805104238,0.0698927889823,0.999999975073,-0.000141818379816,-0.000158440460604,-6.80988731053e-05,1793239157421127680
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715,681.520125913,662,635.520125913,881,788,805,651.479874087,631.479874087,653,0.443858448132,-0.0155849812888,0.0698524298785,0.999999960911,-0.000154131466983,-0.000222278574654,-7.08037210488e-05,1793239157437794304
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680.939974294,662,635,881,787.939974294,805,651.939974294,632,653,0.444385675216,-0.0155894525906,0.069810182348,0.999999942001,-0.000167064027216,-0.000287413441024,-7.40379958767e-05,1793239157454460928
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680.348301369,662,635,881,787.348301369,805,651.348301369,632,653,0.44489429619,-0.0155933507931,0.0697825478299,0.999999928397,-0.00017199298197,-0.000328056278259,-7.74761913262e-05,1793239157471127808
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.763253119,715,680.236746881,662,635,881,787,805.236746881,651,631.763253119,653,0.445393274518,-0.0155982557121,0.0697627380765,0.999999917107,-0.000181140223432,-0.000355760708059,-8.00512164681e-05,1793239157487794432
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.187685825,715,680.812314175,662,635,881,787,805.812314175,651,631.187685825,653,0.445878452723,-0.0156046013934,0.0697541267413,0.999999910822,-0.00019632446779,-0.000364948326962,-8.13909148498e-05,1793239157504460800
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.612634061,745.387365939,715,680.612634061,662,634.612634061,881,787,805.225268123,651,631,653,0.446324059936,-0.0156094371565,0.0697470798714,0.999999904722,-0.00019830672946,-0.000380480259528,-8.04074456933e-05,1793239157521127680
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.037831697,745.962168303,715,680.037831697,662,634.037831697,881,787,804.075663395,651,631,653,0.446750519805,-0.0156135423096,0.0697407900053,0.999999898503,-0.000193900892203,-0.000399082043216,-7.82998555549e-05,1793239157537794304
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.554497492,745.445502508,715.554497492,680.554497492,662,634.554497492,881,787,804.554497492,651,631.554497492,653,0.447137262307,-0.0156182645877,0.0697176275894,0.999999878876,-0.000202996499289,-0.000441174085458,-8.00306065423e-05,1793239157554461440
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.279640105,745.720359895,715.279640105,681,662,635,881,787,805,651,631.279640105,653,0.447876471612,-0.0156310267838,0.0696872157065,0.999999852038,-0.000224857784411,-0.000488117816371,-8.42877825156e-05,1793239157587794432
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.296732841,746,715,681,661.703267159,634.703267159,881,787,805,651.296732841,631,653,0.44822791559,-0.0156358217565,0.0696859765968,0.999999850635,-0.000233007707382,-0.000487020948445,-8.51331235384e-05,1793239157604461056
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+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715,680.542685232,661,634,881,786.542685232,805,651.542685232,631,653,0.448875249905,-0.0156403195549,0.0696984278314,0.999999858296,-0.00024083064375,-0.000467417579953,-8.3246439047e-05,1793239157637794560
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.956407805,746,715,680.043592195,661,634,881,786,805,651,631,653,0.449166918995,-0.0156426420355,0.0697030634706,0.999999859972,-0.000242421374077,-0.000463325694353,-8.13513293853e-05,1793239157654460928
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.796057299,715,681,661,634,881,786,805.203942701,651,631,653,0.449665962405,-0.0156512568134,0.0696898644467,0.999999853426,-0.000227212351598,-0.000485808962309,-7.42379043308e-05,1793239157687794688
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.221271626,715,681,661,634,881,786,805.778728374,651,631,653,0.449867924255,-0.0156481782079,0.0696759206476,0.999999846946,-0.000209464168329,-0.000507010798491,-7.19237153306e-05,1793239157704461056
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.35173651,745.35173651,715,681,661,634,881,785.64826349,805.64826349,651,631,653,0.450044461235,-0.0156468428989,0.0696597183827,0.999999834054,-0.000204181494911,-0.000533831230482,-7.22951382842e-05,1793239157721127424
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.923632106,745.923632106,715,681,661,634,881,785.076367894,805.076367894,651,631,653,0.450205084287,-0.0156465987546,0.0696421024964,0.99999981673,-0.000206701237614,-0.000564168458514,-7.43475405108e-05,1793239157737794304
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.485555092,745.485555092,715,680.485555092,660.485555092,634,881,785,805,651,631,653.514444908,0.450352216073,-0.0156486157108,0.069632697422,0.999999804396,-0.000228493804146,-0.00057731026928,-7.55713887122e-05,1793239157754460928
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.105394018,745.105394018,715,680,660.105394018,634,881,785.105394018,804.894605982,651.105394018,631,653.894605982,0.450494333909,-0.0156510667049,0.0696252857879,0.999999793584,-0.000250294745064,-0.000586770542196,-7.67133673331e-05,1793239157771128064
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.683868794,745.683868794,715,680,660.683868794,634,881,785.683868794,804.316131206,651.683868794,631,653.316131206,0.450623278604,-0.0156539017973,0.069621142081,0.999999788468,-0.000258800908802,-0.000591600835606,-7.8061029012e-05,1793239157787794688
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.738120982,745.738120982,715,680.523758037,661,634,881,785.738120982,804.261879018,651.738120982,631,653,0.450740554423,-0.0156568165033,0.0696177062075,0.999999784423,-0.000263883879675,-0.00059602636882,-7.91911307183e-05,1793239157804461312
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.160670589,745.160670589,715,681.678658822,661,634,881,785.160670589,804.839329411,651.160670589,631,653,0.450843768921,-0.0156598271458,0.0696151232929,0.999999781746,-0.000264841809102,-0.000599964154694,-8.00590666373e-05,1793239157821127680
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.42248663,745.42248663,715,682,661,634,881,785.42248663,805,651,631,653,0.45092778617,-0.0156616945824,0.0696135297717,0.999999779434,-0.000267651935471,-0.00060246759225,-8.07913760932e-05,1793239157837794304
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,715,681.992246115,660.992246115,634,881,785.992246115,805.007753885,651,631,653.007753885,0.451004131554,-0.0156631004831,0.069612279988,0.999999777233,-0.000271110692398,-0.000604479622777,-8.14674052397e-05,1793239157854460672
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,715,681.413602328,660.413602328,634,881,785.413602328,805.586397672,651,631,653.586397672,0.451060507037,-0.0156629731399,0.0696082560866,0.999999773592,-0.000269754284895,-0.000611022696784,-8.18492494964e-05,1793239157871127808
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746,715,681,660.164915741,633.835084259,881,785,805.670168518,651,631,653.835084259,0.451113774701,-0.0156627895033,0.0696053261153,0.999999771208,-0.0002683052518,-0.000615507034741,-8.2139681368e-05,1793239157887794688
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,715,681,660.743118668,633.256881332,881,785,804.513762663,651,631,653.256881332,0.451159254003,-0.0156624647929,0.0696051375887,0.999999772068,-0.000266624094522,-0.000614832075132,-8.22010291307e-05,1793239157904461568
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+223,3.716666667,POSE1_TO_POSE2_PRESS,765.108630699,746,715,681,661,633,881,785,804,651,631,653,0.451228466317,-0.0156642639263,0.0696026125436,0.999999771464,-0.0002671438943,-0.000615618718074,-8.19778379647e-05,1793239157937794560
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.478939525,746,715,681,661,633.478939525,881,785,804.478939525,651,631,653,0.451245969757,-0.0156632634387,0.069598438865,0.999999768722,-0.000265283940497,-0.000620859826394,-8.19365896133e-05,1793239157954460928
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765.35263588,745.35263588,715,681,660.35263588,634,881,785,804.35263588,651,631,653,0.451270128275,-0.0156623800467,0.0695943103936,0.999999763044,-0.000265897358822,-0.000629704127685,-8.17468349434e-05,1793239157987794176
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.224515843,745.224515843,715,681,660,633.775484157,881,785,804.224515843,651,631,653,0.45127886064,-0.015662435912,0.0695941691994,0.999999761678,-0.000266802362982,-0.000631513956555,-8.1545446097e-05,1793239158004460800
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.798988691,745.798988691,715,681,660,633.201011309,881,785,804.798988691,651,631,653,0.451285017512,-0.0156619338689,0.0695936844567,0.999999762092,-0.000265208550227,-0.000631564334568,-8.12783631819e-05,1793239158021127680
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.617136869,746,715,681,660,633,881,785,805,651.382863131,630.617136869,653,0.451290736284,-0.0156621357248,0.0695936050784,0.999999762784,-0.000264135651294,-0.00063095010488,-8.10335908626e-05,1793239158037794304
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,715,681,660,633.551917645,881,785,805,651.448082355,630.551917645,653,0.451298770532,-0.0156622267708,0.069595281983,0.999999764453,-0.00026366609578,-0.000628534931699,-8.07306603867e-05,1793239158071127808
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,715,681,660.705799306,634,881,785,805,651,631,653,0.451298694397,-0.0156592442221,0.0695944803753,0.999999763505,-0.000260531660839,-0.000631374898285,-8.04872047333e-05,1793239158104461312
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.719448669,715,681,660.719448669,634,881,785,804.719448669,651,630.719448669,653,0.451298713642,-0.0156585119879,0.0695935830805,0.999999763344,-0.000259094984032,-0.000632232804486,-8.03916088139e-05,1793239158121127680
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.145183821,715,681,660.145183821,634,881,785,804.145183821,651,630.145183821,653,0.45130040339,-0.0156591994827,0.069593491183,0.999999764383,-0.00025907860791,-0.000630598258326,-8.03627705059e-05,1793239158137794304
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+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745.610645507,715,681,660,634,881.389354493,785,805,651,631,653.610645507,0.451302286446,-0.0156571364406,0.0695931095961,0.999999763846,-0.000258741805075,-0.000631570969561,-8.04858136877e-05,1793239158187794432
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680.812528809,660,633.812528809,881,785,805,651,631,653.812528809,0.451301786766,-0.0156566055626,0.0695923067837,0.999999763244,-0.000258574511953,-0.000632550773622,-8.08099036994e-05,1793239158204461568
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680.235807508,660,633.235807508,881,785,805,651,631,653.235807508,0.45130246088,-0.0156584197839,0.0695919903055,0.999999762526,-0.000261162399383,-0.000632686234931,-8.0316728489e-05,1793239158221127936
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+243,4.050000000,POSE1_TO_POSE2_PRESS,765.516352116,745.516352116,715,681,661,633.516352116,881,785,804.516352116,652,630.516352116,653,0.451304762268,-0.0156563835569,0.0695937485831,0.999999765412,-0.000256972418168,-0.000629886563844,-7.98978679402e-05,1793239158271127808
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+258,4.300000000,HOLD_POSE2,765,746,715,681,660,633.194404507,881.194404507,784.194404507,805,651.194404507,631,653,0.451305238086,-0.0156523662091,0.0695920615037,0.999999764533,-0.000251883907345,-0.000633400542819,-7.93257417085e-05,1793239158549620480
+259,4.316666667,HOLD_POSE2,765,746,715,681,660,633.772420223,881.772420223,784.772420223,805,651.772420223,631,653,0.45130602861,-0.0156499481487,0.0695931757775,0.999999765672,-0.000248639728983,-0.000632881156069,-7.93474519387e-05,1793239158566286592
+260,4.333333333,HOLD_POSE2,765.358462162,746,715,681.358462162,660.358462162,634,881.641537838,785,805,651.641537838,631,653,0.451306618626,-0.0156512420262,0.0695937486579,0.999999765732,-0.000250958268357,-0.000631886101757,-7.92171518613e-05,1793239158582952704
+261,4.350000000,HOLD_POSE2,765.949716446,746,715,681.949716446,660.949716446,634,881.050283554,785,805,651.050283554,631,653,0.451307078428,-0.0156549465068,0.0695939699472,0.999999765067,-0.000256889342264,-0.00063058213993,-7.89881334055e-05,1793239158599618560
+262,4.366666667,HOLD_POSE2,766,746,715,681.47154411,661,634,881,785,805,651,631,653,0.451308198181,-0.0156539222861,0.0695948314612,0.999999766158,-0.000255431095361,-0.000629433206764,-7.90752941733e-05,1793239158616285184
+263,4.383333333,HOLD_POSE2,766,746,715,681,660.894698845,634,881,785,805,651,631,653,0.451309003919,-0.0156526951996,0.0695952713919,0.999999767016,-0.000253214720333,-0.000628965797742,-7.90680698909e-05,1793239158632951808
+264,4.400000000,HOLD_POSE2,766,746,715,681,660.321104121,634,881,785,805,651,631,653,0.451308140366,-0.0156525206279,0.0695935718156,0.999999766123,-0.000250681321989,-0.000631465167838,-7.8510399462e-05,1793239158649618176
+265,4.416666667,HOLD_POSE2,765.74097403,745.74097403,715,681,660,634,881,785,805,651,630.74097403,653.25902597,0.45130741163,-0.0156526572127,0.069592563064,0.999999765377,-0.000249823843607,-0.000633023798065,-7.81987689136e-05,1793239158666284800
+266,4.433333333,HOLD_POSE2,765.152532652,745.152532652,715,681,660,634,881,785,805,651,630.152532652,653.847467348,0.451306854348,-0.0156531895099,0.0695924328665,0.999999764828,-0.000251097711012,-0.000633386045337,-7.82000388016e-05,1793239158682951680
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+268,4.466666667,HOLD_POSE2,765,746,715,681.991693344,660.991693344,633.008306656,880.991693344,785,805,651.008306656,631,653.991693344,0.451307910627,-0.0156526757716,0.0695931884481,0.999999764779,-0.000253243905039,-0.000632587113248,-7.83721186192e-05,1793239158716284928
+269,4.483333333,HOLD_POSE2,765,746,715,681.413748923,660.413748923,633.586251077,880.413748923,785,805,651.586251077,631,653.413748923,0.451307800604,-0.0156533410397,0.0695929924431,0.999999764836,-0.000253288195022,-0.000632483144463,-7.83408811851e-05,1793239158732951296
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+271,4.516666667,HOLD_POSE2,765,746,715,681,660.735711189,634,880.735711189,785,805,651.264288811,631,653.735711189,0.451307239952,-0.0156534456701,0.0695921722172,0.999999763975,-0.000253906300018,-0.000633601566061,-7.82995432408e-05,1793239158766284800
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.807372046,715,681,661,634,881,785,805,651.807372046,631,654,0.451309330539,-0.0156511809429,0.0695938871964,0.999999766549,-0.000250326243147,-0.000630920949558,-7.859638235e-05,1793239158836449536
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.903658029,715,681,661,634,881,785,805,651,631,653.096341971,0.451308369147,-0.0156525945921,0.0695925237831,0.999999765282,-0.000251533320587,-0.000632444550466,-7.86239892878e-05,1793239158886448896
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.691311054,746,715,681,660.308688946,634,881.308688946,785,805,651,631,653,0.450968849691,-0.0156345585039,0.0694939142062,0.999999659414,-0.000244531332473,-0.000783866395978,-8.32489337543e-05,1793239159069782016
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.101683061,746,715,681,660.898316939,634,881.898316939,785,805,651,631,653,0.450889536242,-0.0156302629219,0.0694954414962,0.999999659399,-0.000242679315775,-0.000784576254872,-8.21456606546e-05,1793239159086448640
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,661,633.520705407,881.520705407,784.520705407,805,651,631,653,0.450792978407,-0.0156265605597,0.0694996880328,0.999999664687,-0.000241539938952,-0.000778366388623,-8.01851008923e-05,1793239159103115520
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.058157169,745.941842831,715,681,660.941842831,633,881,784.058157169,805,651,631,653,0.450689214426,-0.0156226654835,0.0695041447223,0.99999967052,-0.0002401613099,-0.00077149090903,-7.80007965178e-05,1793239159119782144
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.634237404,745.365762596,715,681,660.365762596,633,881,784.634237404,805,651,631,653,0.450553278329,-0.0156159532587,0.0695054264651,0.999999671837,-0.000235329458703,-0.000771529640513,-7.54149016987e-05,1793239159136448768
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.960576123,746,715,681.960576123,661,634,881,785.960576123,804.960576123,651.039423877,631,653,0.449881861378,-0.0155792688106,0.0695134515908,0.999999679362,-0.000212073108501,-0.000769525170258,-6.42748101343e-05,1793239159203115264
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.116976173,745.116976173,715,680.116976173,661,634,881,785,805,651.116976173,631,653,0.449439676829,-0.0155613200411,0.0695337166999,0.999999702142,-0.000193940289211,-0.000745085126076,-5.43244485345e-05,1793239159236449024
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.708139087,745,715.291860913,681,662,635.291860913,881,788,804.291860913,652,632,653,0.439129162222,-0.0154342880838,0.0698068784231,0.999999952938,8.28435327181e-05,-0.000294722071825,1.9992114756e-05,1793239159586448896
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.132827294,745,715.867172706,681,662,635.867172706,881,788,804.867172706,652,632,653,0.438315610329,-0.0154235948344,0.0697774596868,0.999999934872,9.53041372943e-05,-0.000347623543801,1.81865745329e-05,1793239159603115520
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745.047123744,715,681,662,635,880.047123744,788,804.047123744,652,631.952876256,653.047123744,0.43675253297,-0.0154179321831,0.0697350892647,0.999999917913,9.24614186029e-05,-0.000394336332877,1.11356020395e-05,1793239159636449024
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745.623839931,715,681,662,635,880.623839931,788,804.623839931,652,631.376160069,653.623839931,0.435973366867,-0.0154242770883,0.0697680316163,0.999999936636,8.71816076285e-05,-0.000344760380271,1.63669099632e-05,1793239159653115648
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745.530014888,715,680,662,636,881,788,804,651,632,653,0.431787665225,-0.0154171336592,0.0698418319966,0.999999959597,0.000128638086434,-0.000252084974617,2.66772287583e-05,1793239159736448768
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,880,788,804.440594397,652,632,653,0.411576897306,-0.015353517691,0.0698579430673,0.999999948049,0.000230877387201,-0.00022386979857,2.18983702495e-05,1793239160136449024
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+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715.054113735,678.945886265,661.054113735,636,879.054113735,788,804,652,631.054113735,653,0.400969622932,-0.015345210021,0.0698244843734,0.999999929624,0.000240499677612,-0.000287921407792,3.71456198406e-06,1793239161069782016
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+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.255790555,662,636,879.255790555,788,804,652,632,653,0.400966598992,-0.0153476345022,0.0698229112024,0.999999928995,0.000239610715162,-0.000290832203064,3.73941368332e-06,1793239161136449024
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+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,745,715.266208354,678.733791646,661,636,879.266208354,788,804,651.266208354,631.733791646,653,0.400967621592,-0.0153484890487,0.0698238326546,0.999999929973,0.000237373342857,-0.000289297071106,3.79734385756e-06,1793239161236449024
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9a28235b3d07fbdb4b89496e197eff59db38db35
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
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+389,6.483333333,pose2_to_pose3_retreat,0.575682660218,-0.00990916955342,1.06003225395,0.546253110959,-0.00123743312479,1.05970037799
+390,6.500000000,pose2_to_pose3_retreat,0.575676631937,-0.00990924038149,1.06003235288,0.546247083314,-0.00123750154494,1.05970048351
+391,6.516666667,pose2_to_pose3_retreat,0.575672645017,-0.00990922769195,1.06003233535,0.546243095085,-0.00123749317715,1.05970046914
+392,6.533333333,pose2_to_pose3_retreat,0.575670241738,-0.00990922790932,1.06003229975,0.546240691538,-0.00123749419149,1.05970043652
+393,6.550000000,pose2_to_pose3_retreat,0.575668622791,-0.00990924226758,1.06003223055,0.546239073351,-0.00123750581999,1.05970037127
+394,6.566666667,pose2_to_pose3_retreat,0.575667590711,-0.00990925142099,1.06003218644,0.546238041756,-0.00123751323317,1.05970032967
+395,6.583333333,pose2_to_pose3_retreat,0.57566700802,-0.0099092719739,1.06003220628,0.546237459463,-0.00123753249886,1.05970034785
+396,6.600000000,pose2_to_pose3_retreat,0.57566681841,-0.00990928919829,1.06003224338,0.546237270068,-0.00123754909569,1.0597003823
+397,6.616666667,pose2_to_pose3_retreat,0.575666811855,-0.00990928979374,1.06003224466,0.546237263521,-0.00123754966945,1.05970038349
+398,6.633333333,pose2_to_pose3_retreat,0.575666749716,-0.00990929543857,1.06003225682,0.546237201452,-0.00123755510861,1.05970039478
+399,6.650000000,pose2_to_pose3_retreat,0.575666573489,-0.00990931144727,1.0600322913,0.546237025424,-0.00123757053406,1.0597004268
+400,6.666666667,pose2_to_pose3_retreat,0.575666546597,-0.00990931389013,1.06003229656,0.546236998563,-0.00123757288791,1.05970043169
+401,6.683333333,pose2_to_pose3_retreat,0.575666423427,-0.00990932507912,1.06003232066,0.546236875532,-0.00123758366924,1.05970045407
+402,6.700000000,pose2_to_pose3_retreat,0.57566632645,-0.00990933388862,1.06003233963,0.546236778665,-0.00123759215777,1.05970047169
+403,6.716666667,pose2_to_pose3_retreat,0.575666219445,-0.00990934360907,1.06003236056,0.546236671781,-0.00123760152407,1.05970049113
+404,6.733333333,pose2_to_pose3_retreat,0.575666104244,-0.00990935407405,1.0600323831,0.546236556711,-0.00123761160777,1.05970051207
+405,6.750000000,pose2_to_pose3_retreat,0.575666064213,-0.0099093577106,1.06003239094,0.546236516724,-0.00123761511182,1.05970051934
+406,6.766666667,pose2_to_pose3_retreat,0.575665929489,-0.00990936994903,1.06003241729,0.546236382154,-0.00123762690436,1.05970054382
+407,6.783333333,pose2_to_pose3_retreat,0.575665899436,-0.00990937267915,1.06003242317,0.546236352134,-0.00123762953501,1.05970054928
+408,6.800000000,pose2_to_pose3_retreat,0.575665712082,-0.00990938969859,1.06003245983,0.546236164993,-0.00123764593436,1.05970058332
+409,6.816666667,pose2_to_pose3_retreat,0.57566545097,-0.00990941341838,1.06003251092,0.546235904176,-0.00123766878994,1.05970063077
+410,6.833333333,pose2_to_pose3_retreat,0.575665158065,-0.00990940822013,1.06003243511,0.54623561157,-0.00123766248948,1.05970055724
+411,6.850000000,pose2_to_pose3_retreat,0.575664852449,-0.00990939699439,1.06003233173,0.546235306261,-0.00123765008946,1.0597004574
+412,6.866666667,pose2_to_pose3_retreat,0.575664727002,-0.00990939238649,1.06003228929,0.546235180939,-0.00123764499954,1.05970041642
+413,6.883333333,pose2_to_pose3_retreat,0.57566465671,-0.00990938980456,1.06003226552,0.546235110717,-0.00123764214752,1.05970039345
+414,6.900000000,pose2_to_pose3_retreat,0.575664524034,-0.00990932400209,1.06003232693,0.546234977134,-0.00123757934296,1.05970045701
+415,6.916666667,pose2_to_pose3_retreat,0.575664398196,-0.00990921961192,1.06003245842,0.546234849718,-0.00123748021293,1.05970059094
+416,6.933333333,pose2_to_pose3_retreat,0.575664393634,-0.00990936344733,1.06003247103,0.546234846432,-0.00123761978802,1.05970060176
+417,6.950000000,pose2_to_pose3_retreat,0.575664393274,-0.00990939697262,1.06003247321,0.546234846373,-0.00123765230851,1.05970060351
+418,6.966666667,pose2_to_pose3_retreat,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632643,1.05970060642
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6fb4ead40f08b6845581c3b2498c3182ced648cc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad84f721c7472dada7d81685fded96cd5f6cbdee61330e852f36053b4086b598
+size 26224866
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..539922bd45c5af58d19c724443184d3eeee69171
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_01/franka_data.csv
@@ -0,0 +1,414 @@
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+41,0.683333333,BASELINE,765.193133378,745,715.806866622,679,662,636,879.806866622,788,804.806866622,652,631.193133378,653,0.401050801704,-0.0154961025988,0.0798764533515,0.999999985715,0.000106638800367,-0.000124925507618,3.9888789736e-05,1793239163277501440
+42,0.700000000,BASELINE,765.381340147,745,715.618659853,679,662,636,879.618659853,788,804.618659853,652,631.381340147,653.381340147,0.401050333201,-0.0154963413278,0.0798765287562,0.999999985577,0.000107354102918,-0.000125351296303,4.01013535376e-05,1793239163294168064
+43,0.716666667,BASELINE,765.956207203,745,715.043792797,679,662,636,879.043792797,788,804.043792797,652,631.956207203,653.956207203,0.401049204693,-0.0154975102702,0.0798759964395,0.9999999854,0.000107476944411,-0.000126493513697,4.05953520329e-05,1793239163310834944
+44,0.733333333,BASELINE,766,745,715.54529793,678.45470207,661.45470207,636,879,788.54529793,804,652,631.45470207,653.45470207,0.401049676622,-0.0154976663734,0.079876230735,0.999999985661,0.000105677189981,-0.000126002414125,4.04087723639e-05,1793239163327501568
+45,0.750000000,BASELINE,766,745.132901662,716,678.132901662,661,636,879.132901662,788.867098338,804.132901662,652,631,653.132901662,0.401050139807,-0.0154973860389,0.0798764894795,0.999999985834,0.000104672000564,-0.000125541148874,4.0185161114e-05,1793239163344168192
+46,0.766666667,BASELINE,766,745.711583436,716,678.711583436,661,636,879.711583436,788.288416564,804.711583436,652,631,653.711583436,0.401050131001,-0.015495921943,0.0798766181927,0.999999985597,0.000106863721956,-0.000125631714757,4.00255798579e-05,1793239163360834816
+47,0.783333333,BASELINE,766,745.711415815,716,678.711415815,661.288584185,636,879.711415815,788,804.711415815,652,631.288584185,654,0.401049567763,-0.0154958626927,0.0798762029464,0.999999985421,0.000107698414685,-0.000126313658644,4.005534827e-05,1793239163377501440
+48,0.800000000,BASELINE,766,745.136085314,716,678.136085314,661.863914686,636,879.136085314,788,804.136085314,652,631.863914686,654,0.401048453622,-0.0154971993409,0.0798752472049,0.999999985306,0.000107184721353,-0.000127583214313,4.02732604437e-05,1793239163394168320
+49,0.816666667,BASELINE,766,745,716,678.448475666,661.551524334,636,879,788.448475666,804,652,631.551524334,654,0.401048582471,-0.0154971811654,0.079875139376,0.999999985399,0.000106119032041,-0.000127768844018,4.02070219061e-05,1793239163410834688
+50,0.833333333,BASELINE,765.964587928,745,716,679,661.035412072,636,879.035412072,789,804,652,631.035412072,654,0.401049044576,-0.0154967701996,0.079875287193,0.999999985547,0.00010495863584,-0.000127620607846,4.00456220161e-05,1793239163427501312
+51,0.850000000,BASELINE,765.385092316,745,716,679,661.614907684,636,879.614907684,789,804,652,631.614907684,654,0.401048710144,-0.015496773398,0.0798753266737,0.999999985571,0.000104970699114,-0.000127502363404,3.97747227967e-05,1793239163444168192
+52,0.866666667,BASELINE,765,745.193460761,716,678.806539239,661.806539239,636,879.806539239,788.806539239,804.193460761,652,632,653.806539239,0.401048009063,-0.0154966496046,0.0798749775147,0.999999985519,0.000105059140541,-0.000127889649886,3.96127637878e-05,1793239163460834560
+53,0.883333333,BASELINE,765,745.770146742,716,678.229853258,661.229853258,636,879.229853258,788.229853258,804.770146742,652,632,653.229853258,0.401046581688,-0.015496274254,0.0798738585019,0.999999985313,0.000105298878972,-0.000129278339438,3.96666037806e-05,1793239163477501184
+54,0.900000000,BASELINE,765.343326512,745.656673488,716,678.343326512,661.686653024,636,879,788,804.656673488,652,632,653,0.401046437524,-0.015496357478,0.0798737940985,0.999999985332,0.000104994454214,-0.000129364031192,3.97222348141e-05,1793239163494167808
+55,0.916666667,BASELINE,765.914182621,745.085817379,716,678.914182621,662.828365241,636,879,788,804.085817379,652,632,653,0.40104714377,-0.0154967446089,0.0798744286066,0.999999985499,0.000104329401221,-0.000128586199234,3.97790528051e-05,1793239163510834688
+56,0.933333333,BASELINE,765.494463792,745,715.494463792,679,661.988927585,636,879.505536208,788,804,652,632,653,0.401048238102,-0.0154961469181,0.0798753267913,0.999999985401,0.000106856484453,-0.000127166482441,4.0116362149e-05,1793239163527501312
+57,0.950000000,BASELINE,765.097787453,745,715.097787453,678.902212547,661.097787453,636,880,788,804.097787453,652,631.902212547,653,0.401049027039,-0.0154955566426,0.0798759737294,0.999999985266,0.000109234576812,-0.000126122684673,4.03642713624e-05,1793239163544168192
+58,0.966666667,BASELINE,765.676614209,745,715.676614209,678.323385791,661.676614209,636,880,788,804.676614209,652,631.323385791,653,0.401047975894,-0.0154958599896,0.0798751552342,0.999999985233,0.000108101456618,-0.000127486788314,3.99282733841e-05,1793239163560834816
+59,0.983333333,BASELINE,765.745450764,745,716,678,661.745450764,636,879.745450764,788,804.745450764,652,631,653,0.401047260201,-0.0154962370762,0.0798746159446,0.99999998516,0.000107656071045,-0.000128523989891,3.96527709316e-05,1793239163577501440
+60,1.000000000,BASELINE,765.168644581,745,716,678,661.168644581,636,879.168644581,788,804.168644581,652,631,653,0.401046969188,-0.0154967075165,0.0798744301263,0.999999985036,0.000108081350907,-0.000129147336705,3.95804542521e-05,1793239163594168064
+61,1.016666667,BASELINE,765.40586384,745,715.59413616,678.40586384,661.40586384,636,879.811727681,788.40586384,804,652,631,653,0.401048725025,-0.015496182196,0.0798759950743,0.999999985414,0.000107497045629,-0.000126659587251,3.96745295389e-05,1793239163610834688
+62,1.033333333,BASELINE,765.979422836,745,715.020577164,678.979422836,661.979422836,636,880.958845672,788.979422836,804,652,631,653,0.401051326581,-0.0154952454461,0.0798782834053,0.999999985985,0.000106495599106,-0.000122886392442,3.98373547989e-05,1793239163627501312
+63,1.050000000,BASELINE,765.428688275,745,715.571311725,679,661.428688275,636,880.428688275,788.428688275,804,652,631.571311725,653,0.40105008399,-0.0154958028876,0.0798773242043,0.999999985654,0.000107244195869,-0.000124771966851,4.02882137119e-05,1793239163644167936
+64,1.066666667,BASELINE,765.159427114,745,716,679,661,635.840572886,880,788,804,652,632,653.159427114,0.401048824841,-0.0154964418419,0.0798762849701,0.999999985457,0.000106902520687,-0.000126559636494,4.05028204763e-05,1793239163660834560
+65,1.083333333,BASELINE,765.735887463,745,716,679,661,635.264112537,880,788,804,652,632,653.735887463,0.401047896566,-0.0154971485778,0.0798753524914,0.999999985704,0.000103538540193,-0.000127540390215,4.00713965634e-05,1793239163677501440
+66,1.100000000,BASELINE,766.311264646,745,716,679,661,635.311264646,879.688735354,788,804,652,631.688735354,653.688735354,0.40104795998,-0.0154962277543,0.0798752957237,0.999999985676,0.000103928980332,-0.000127524380482,3.98000855898e-05,1793239163694168064
+67,1.116666667,BASELINE,766.885725905,745,716,679,661,635.885725905,879.114274095,788,804,652,631.114274095,653.114274095,0.401048861938,-0.0154939307122,0.0798759794325,0.999999985414,0.000107494052921,-0.000126665535614,3.9664161627e-05,1793239163710834688
+68,1.133333333,BASELINE,766.529300718,745.470699282,715.529300718,678.529300718,661,636,879,788,804,652,631.470699282,653,0.401048602882,-0.0154958373546,0.0798759845585,0.999999985628,0.000105526050569,-0.000126638400978,3.96350388334e-05,1793239163727501312
+69,1.150000000,BASELINE,765.942294865,745.942294865,715.057705135,678.11541027,661.057705135,636,879,788.057705135,804,652,632,653.057705135,0.401048145317,-0.0154983216992,0.0798758416886,0.999999985891,0.000102815937021,-0.000126784071128,3.96462773351e-05,1793239163744167936
+70,1.166666667,BASELINE,765.360537672,745.360537672,715.639462328,679.278924656,661.639462328,636,879,788.639462328,804,652,632,653.639462328,0.401048503229,-0.0154965725827,0.0798758850846,0.99999998559,0.000105844157424,-0.000126623454492,3.97832075061e-05,1793239163760834560
+71,1.183333333,BASELINE,765.218173501,745,716,679.563652999,661.781826499,636,879,788.781826499,804,652,632,654,0.401048681505,-0.0154960831267,0.0798757971437,0.999999985559,0.000106096174946,-0.000126647548689,3.98274723556e-05,1793239163777501440
+72,1.200000000,BASELINE,765.791920441,745,716,678.416159119,661.208079559,636,879,788.208079559,804,652,632,654,0.401048567015,-0.0154976466318,0.0798754951534,0.999999985966,0.000101823610423,-0.000126972679722,3.97207137196e-05,1793239163794168064
+73,1.216666667,BASELINE,766,745,716,678.368115481,661.368115481,636,879,788,804,652,632,653.631884519,0.401048147165,-0.0154973212278,0.0798752594476,0.999999985685,0.000103857061943,-0.000127472542842,3.99352019212e-05,1793239163810834688
+74,1.233333333,BASELINE,766,745,716,678.945703554,661.945703554,636,879,788,804,652,632,653.054296446,0.401047553552,-0.015495920958,0.0798750614604,0.999999984993,0.000109478891821,-0.000128071835562,4.03324925682e-05,1793239163827501568
+75,1.250000000,BASELINE,766,745,716,678.464142792,662,636,879.535857208,788,804,652,632,653,0.401046569863,-0.0154969384035,0.0798750168434,0.999999985126,0.000107402846934,-0.000128859974124,4.00928472456e-05,1793239163844168192
+76,1.266666667,BASELINE,765.875678271,745,716,678.124321729,661.875678271,636,879.875678271,788,804,652,632,653.124321729,0.401045858026,-0.015497729604,0.0798748513316,0.999999985262,0.00010532682112,-0.000129594410747,3.98536851584e-05,1793239163860834816
+77,1.283333333,BASELINE,765.298124905,745,716,678.701875095,661.298124905,636,879.298124905,788,804,652,632,653.701875095,0.401046284816,-0.0154967814511,0.0798741870661,0.999999985112,0.000106162732651,-0.000130061635148,3.98572179422e-05,1793239163877501440
+78,1.300000000,BASELINE,765,745,716,679,661,636,879.556015084,788.278007542,804,652,632,654,0.401046548256,-0.0154968909412,0.0798740925652,0.99999998505,0.000106624472268,-0.000130175288116,3.98309519696e-05,1793239163894168064
+79,1.316666667,BASELINE,765,745,716,679,661,636,880.705247918,788.852623959,804,652,632,654,0.401046637417,-0.0154981288407,0.0798746059516,0.999999985079,0.000106687004276,-0.000129911712346,3.9772893422e-05,1793239163910834688
+80,1.333333333,BASELINE,765.437141475,745,716,679,661.437141475,636,880.12571705,788.562858525,804,652,632,653.562858525,0.401047017689,-0.0154973260439,0.0798748700886,0.999999985131,0.000107243163149,-0.000129104227816,3.96004021645e-05,1793239163927501568
+81,1.350000000,BASELINE,766,745,716,679,662,636,879.024767991,788,804,652,632,653.024767991,0.401047480198,-0.0154959024801,0.0798750545139,0.999999985188,0.000107933186951,-0.000128148864445,3.94040857429e-05,1793239163944168192
+82,1.366666667,BASELINE,766,745,716,679,662,636,879.605516141,788,804,652,632,653.605516141,0.401047534598,-0.0154963458538,0.0798753796078,0.999999985204,0.000107805871412,-0.000128085608351,3.95590344209e-05,1793239163960834560
+83,1.383333333,BASELINE,765.816010888,745,715.816010888,678.816010888,662,636.183989112,879.816010888,788.183989112,804,652,632,654,0.401047538245,-0.0154966590012,0.0798755808271,0.999999985237,0.000107509403137,-0.000128025589877,3.97033248085e-05,1793239163977501440
+84,1.400000000,BASELINE,765.242356349,745,715.242356349,678.242356349,662,636.757643651,879.242356349,788.757643651,804,652,632,654,0.401047434403,-0.0154966963457,0.0798755196957,0.99999998531,0.000106854690956,-0.000127972428258,3.98250423281e-05,1793239163994168064
+85,1.416666667,BASELINE,765.333684998,745,715.333684998,678,661.666315002,636.666315002,879.333684998,788.666315002,804,651.666315002,632,654,0.401046832047,-0.0154968784334,0.0798750760585,0.999999985176,0.00010699031073,-0.0001288894751,3.98633048605e-05,1793239164010834688
+86,1.433333333,BASELINE,765.911472344,745,715.911472344,678,661.088527656,636.088527656,879.911472344,788.088527656,804,651.088527656,632,654,0.401045865011,-0.0154971664058,0.0798743526046,0.999999984889,0.000107704086249,-0.000130516263664,3.98405171183e-05,1793239164027501312
+87,1.450000000,BASELINE,766,745,715.503103354,678,661,636,879.503103354,788.496896646,804,651.496896646,632,653.503103354,0.401046346008,-0.0154964284266,0.0798747846121,0.999999984967,0.000107466760628,-0.000130153194988,3.97067426184e-05,1793239164044167936
+88,1.466666667,BASELINE,766,745,715.082925821,678.082925821,661,636,879.165851642,788.917074179,804,652,632,653,0.401046955196,-0.0154955876865,0.0798753147524,0.999999985068,0.000107393436055,-0.000129474503188,3.95953947837e-05,1793239164060834816
+89,1.483333333,BASELINE,766,745,715.66428492,678.66428492,661,636,880.328569839,788.33571508,804,652,632,653,0.401046760051,-0.0154952450858,0.079875178085,0.999999984904,0.000109340242899,-0.000129062836416,3.97395502304e-05,1793239164077501440
+90,1.500000000,BASELINE,766,745,716,679,661.241956487,636,880.516087027,788,804,652,631.758043513,653,0.401046704206,-0.0154948425472,0.0798751412516,0.999999984835,0.000109942442161,-0.000129085593488,3.97492848589e-05,1793239164094168320
+91,1.516666667,BASELINE,766,745,716,679,661.814588355,636,879.370823289,788,804,652,631.185411645,653,0.401046838738,-0.0154943580931,0.0798752408586,0.999999984897,0.000108707002469,-0.000129702065903,3.95753101811e-05,1793239164110835968
+92,1.533333333,BASELINE,765.609453952,745,715.609453952,679,661.609453952,636,879.390546048,788,804.390546048,652,631,653,0.401047266806,-0.015495263755,0.0798754805457,0.99999998513,0.000107611488465,-0.000128814737561,3.95721162377e-05,1793239164127502592
+93,1.550000000,BASELINE,765.031903713,745,715.031903713,679,661.031903713,636,879.968096287,788,804.968096287,652,631,653,0.401047835429,-0.0154968350427,0.0798757873071,0.999999985443,0.000106582974619,-0.000127207348104,3.96506967922e-05,1793239164144169216
+94,1.566666667,BASELINE,765.556402837,745,715.556402837,679,661.556402837,636,879.443597163,788,804.443597163,652,631.556402837,653,0.401046250177,-0.0154980248927,0.0798750045373,0.999999985362,0.000104854853083,-0.000129209290719,3.98256446173e-05,1793239164160835840
+95,1.583333333,BASELINE,766,745,715.856992897,678.856992897,662,636,879,788,804,652,631.856992897,653,0.401045536111,-0.0154984421922,0.0798746489276,0.999999985262,0.000104200959469,-0.000130450844682,4.00008727302e-05,1793239164177502208
+96,1.600000000,BASELINE,766,745,715.277503712,678.277503712,662,636,879,788,804,652,631.277503712,653,0.401047865425,-0.0154965696071,0.0798757915201,0.999999985189,0.000106950643695,-0.000128727445194,4.01597587593e-05,1793239164194168576
+97,1.616666667,BASELINE,766,745,715.298991129,678.298991129,661.701008871,636,879,788,804.298991129,652,631.298991129,653,0.401049087882,-0.0154960606475,0.079876844594,0.999999985237,0.000108140141777,-0.000127356926624,4.01411659828e-05,1793239164210835200
+98,1.633333333,BASELINE,766,745,715.872734341,678.872734341,661.127265659,636,879,788,804.872734341,652,631.872734341,653,0.401049293213,-0.0154968047654,0.0798778154065,0.999999985404,0.000107895936977,-0.000126310681216,3.99594825002e-05,1793239164227502080
+99,1.650000000,BASELINE,766,745,716,679,661,636,879.458231464,788,804.541768536,652,632,653.458231464,0.401048354234,-0.0154972314829,0.0798766428057,0.999999985322,0.000107105472434,-0.000127710244208,3.96819519938e-05,1793239164244168960
+100,1.666666667,BASELINE,765.953672896,745,716,679,661,636,879.953672896,788,804.046327104,652,632,654,0.40104715532,-0.0154974836051,0.0798749799068,0.99999998518,0.000106235567541,-0.000129616068262,3.94173448013e-05,1793239164260835584
+101,1.683333333,BASELINE,765.374229359,745,716,679,661,636,879.374229359,788,804.625770641,652,632,654,0.401046718734,-0.0154967676762,0.0798747056208,0.999999985209,0.000106243323977,-0.000129325064028,3.961585074e-05,1793239164277502208
+102,1.700000000,BASELINE,765.204216738,745,715.795783262,679,661,636,879.204216738,788.204216738,804.795783262,652,632,653.795783262,0.401046802384,-0.0154965798711,0.0798749305225,0.99999998522,0.000106534873074,-0.000128961759188,3.97432581754e-05,1793239164294168832
+103,1.716666667,BASELINE,765.780843835,745,715.219156165,679,661,636,879.780843835,788.780843835,804.219156165,652,632,653.219156165,0.40104783474,-0.0154973551547,0.0798760657446,0.999999985197,0.000107343947464,-0.000128466606739,3.97410101088e-05,1793239164310835456
+104,1.733333333,BASELINE,766,745,715.355941898,678.644058102,661,636,879.644058102,788.644058102,804,651.644058102,632,653,0.401048601794,-0.0154975990415,0.0798764834973,0.99999998527,0.000107575811723,-0.000127666688207,3.98546230472e-05,1793239164327501824
+105,1.750000000,BASELINE,766,745,715.930102607,678.069897393,661,636,879.069897393,788.069897393,804,651.069897393,632,653,0.401049206197,-0.0154975171427,0.0798764613881,0.999999985401,0.000107453803397,-0.000126679925391,4.00392673835e-05,1793239164344168448
+106,1.766666667,BASELINE,765.481222543,745,715.481222543,678.518777457,661.518777457,636,879,788.518777457,804,651.518777457,632,653,0.401048945805,-0.0154966013496,0.0798765444615,0.999999985342,0.000107652192988,-0.000127032517976,3.98796623582e-05,1793239164360835328
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,789,804,652,632,653,0.401047995483,-0.0154963963645,0.0798758659654,0.999999985251,0.000106575921269,-0.000128760930464,3.94997496742e-05,1793239164403192576
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,678.424334937,661.424334937,636,879,789,804,652,632,653,0.401048361448,-0.0154970669341,0.0798763131353,0.999999985443,0.000105662476658,-0.000127936147636,3.9770625492e-05,1793239164419858944
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.15422767,678.15422767,661,636,879,788.84577233,803.84577233,652,632,653,0.401048683851,-0.0154975323268,0.0798767574778,0.999999985571,0.000105202831413,-0.000127255600289,3.99662364766e-05,1793239164436525568
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.740915226,678.740915226,661,636,879,788.259084774,803.259084774,652,632,653,0.401048884103,-0.0154974223964,0.0798771938924,0.99999998552,0.000106015655556,-0.000126979494182,3.99508022482e-05,1793239164453192192
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.678600724,745,715.678600724,679,661.321399276,636,879.642798552,788,803.321399276,651.678600724,632,653.321399276,0.401048667696,-0.0154979908311,0.079876917069,0.999999985534,0.000105368222658,-0.000127435325825,3.98709764042e-05,1793239164469858304
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.103022751,745,715.103022751,679,661.896977249,636,880.793954497,788,803.896977249,651.103022751,632,653.896977249,0.401048121775,-0.0154990957509,0.079876076181,0.999999985595,0.000103565945072,-0.000128470010635,3.97402264361e-05,1793239164486524928
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.477261431,745,715.477261431,678.522738569,661.522738569,636,880.522738569,788,804,651.477261431,632,653.522738569,0.401046696481,-0.0154979058189,0.0798750604988,0.999999985341,0.000103815256335,-0.000130320513353,3.94606042412e-05,1793239164503191808
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715.942139785,678.057860215,661,635.942139785,879.942139785,788.057860215,804,652,632,653,0.401045460626,-0.0154964001367,0.0798742429287,0.999999985027,0.000104549435727,-0.000132209099867,3.92003050798e-05,1793239164519858688
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715.367890129,678.632109871,661,635.367890129,879.367890129,788.632109871,804,652,632,653,0.401047626477,-0.0154965415694,0.0798755335636,0.999999984821,0.000105619159562,-0.000132850231583,3.94021216759e-05,1793239164536525568
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.787669397,745,715.212330603,679,661,635.212330603,879,788.787669397,804,652,632,653.212330603,0.401052455168,-0.0154964977139,0.0798780697131,0.999999984567,0.00010717261193,-0.000133455167663,3.96172562398e-05,1793239164553191936
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.196803717,745,715.803196283,679,661,635.803196283,879,788.196803717,804,652,632,653.803196283,0.401062031069,-0.0154961235333,0.0798828263197,0.999999984224,0.000109588437366,-0.000133995575444,3.9856133558e-05,1793239164569858560
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,716,678.613797881,661.386202119,636,879.386202119,788.386202119,804,652,632,653.613797881,0.401086276828,-0.0154974761333,0.0798921741449,0.999999985119,0.000108958775201,-0.000127557199129,4.02481563465e-05,1793239164586525184
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,716,678.034717381,661.965282619,636,879.965282619,788.965282619,804,652,632,653.034717381,0.401117849058,-0.0154996911279,0.0799038149327,0.999999986548,0.000106808125436,-0.00011763345469,4.07166635863e-05,1793239164603191808
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,716,678,662,636,879.459547255,788.459547255,804,652,632,653,0.401178106302,-0.0155016516855,0.0799184651763,0.999999988721,0.000106316723147,-9.78928092285e-05,4.08802649596e-05,1793239164619858432
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,716,678,661.882341864,636,879,788,804,652,632,653,0.401243433307,-0.0155039665314,0.07993284005,0.999999990519,0.000105926361735,-7.79611633974e-05,4.07941856306e-05,1793239164636524800
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,716,678,661.296036228,636,879,788,804,652,632,653,0.401321667028,-0.0155077571887,0.0799453536071,0.999999991856,0.000105516962851,-5.97625060918e-05,3.97910508272e-05,1793239164653191680
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715.713297258,678,661,636,879.286702742,788,804.286702742,652,632,653.286702742,0.401406380822,-0.0155113926878,0.0799537712651,0.999999992626,0.000104410361807,-4.88421444909e-05,3.82329874434e-05,1793239164669858560
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715.134195847,678,661,636,879.865804153,788,804.865804153,652,632,653.865804153,0.401497703425,-0.0155148699461,0.0799580116503,0.999999993057,0.000102592707333,-4.53446776642e-05,3.61089707783e-05,1793239164686525440
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.444532027,745,715,678.444532027,661,636,879.555467973,788,804.110935945,652,631.555467973,653.555467973,0.401605914065,-0.015517300281,0.0799602810249,0.999999993315,0.000102753419929,-4.15107506908e-05,3.29926307353e-05,1793239164703192320
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.976979392,745,715.023020608,678.976979392,661.023020608,636,879.046041216,788,803.023020608,652,631.023020608,653.023020608,0.401720272934,-0.0155193608434,0.0799619545648,0.999999993497,0.00010351710349,-3.76705499676e-05,2.95198655261e-05,1793239164719858688
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.401529243,745,715.598470757,678.401529243,661.598470757,636,880.196941515,788,803.598470757,652,631.598470757,653.598470757,0.401859932792,-0.0155201257674,0.0799635963506,0.999999993591,0.000104430544972,-3.61151656533e-05,2.46765499609e-05,1793239164736525312
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.177699452,745,715.822300548,678,661.822300548,636,880.644601095,788,804,652,632,654,0.402009834709,-0.0155220509637,0.0799664479007,0.999999993968,0.000103070008334,-3.23793851438e-05,1.98011604701e-05,1793239164753191936
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.765651552,745,715.234348448,678,661.234348448,636,879.468696896,788,804,652,632,654,0.402183382327,-0.015526654867,0.0799720924193,0.999999994959,9.64595648795e-05,-2.36097496543e-05,1.48517229527e-05,1793239164769858304
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661.34813127,636,879.34813127,788.34813127,804,652,632,654,0.402363836946,-0.0155291859651,0.0799701014636,0.999999995981,8.39506241549e-05,-3.02691125196e-05,8.60793518774e-06,1793239164786524928
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661.926984261,636,879.926984261,788.926984261,804,652,632,654,0.40254886915,-0.0155303433257,0.0799630501476,0.999999996607,6.75324922652e-05,-4.71539422026e-05,1.50632476803e-06,1793239164803191808
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678.504400933,661.495599067,636,879.495599067,788.495599067,804,652,632,653.495599067,0.402764652788,-0.0155340963634,0.079955826978,0.999999997464,3.67696521746e-05,-6.06855164537e-05,-6.03882788727e-06,1793239164819858176
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.918915086,745,715.081084914,678.918915086,661,636,879,788,804,652,632,653,0.402993041066,-0.0155378771133,0.0799500513081,0.999999997357,6.43458967917e-06,-7.11591497031e-05,-1.34470218548e-05,1793239164836524800
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.345421264,745,715.654578736,678.345421264,661,636,879,788,804,652,632,653,0.403271018253,-0.0155395508363,0.0799532165912,0.999999997591,-8.72841424637e-06,-6.60020551929e-05,-1.96347021546e-05,1793239164853191424
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.235309732,716,678,661,636,879,788,804,652,632,653,0.403564819753,-0.0155398535693,0.0799567519589,0.999999997687,-1.86084556499e-05,-6.12717274212e-05,-2.29173235627e-05,1793239164869858048
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745.827001562,716,678,661,636,879,788,804,652,632,653,0.403882587527,-0.0155380799056,0.0799608478281,0.999999997917,-2.04873257336e-05,-5.71877481977e-05,-2.18001649076e-05,1793239164886524928
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.4084959,745.5915041,715.5915041,678,661.4084959,636,879,788,804,652,631.5915041,653,0.404226694507,-0.0155376044162,0.0799625156402,0.999999998038,-2.07053918225e-05,-5.40231183078e-05,-2.40130504842e-05,1793239164903191552
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.985776758,745.014223242,715.014223242,678,661.985776758,636,879,788,804,652,631.014223242,653,0.404581684482,-0.0155376653148,0.079963180212,0.999999998102,-2.02372362085e-05,-5.12383511782e-05,-2.76018651415e-05,1793239164919858176
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,879.562138739,788,804,652,631.562138739,653,0.404977960715,-0.0155420048807,0.0799608913671,0.999999998014,-2.73608730334e-05,-4.88861449584e-05,-2.88850065268e-05,1793239164936524800
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.858754684,745,715,678,661.858754684,636,880,788,804,651.858754684,631.858754684,653.141245316,0.405382929529,-0.0155449998205,0.0799575993649,0.999999997709,-3.3205657454e-05,-5.05503454545e-05,-3.03982845982e-05,1793239164953191424
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.270896506,745,715,678,661.270896506,636,880,788,804,651.270896506,631.270896506,653.729103494,0.405812086227,-0.0155434013452,0.0799513713139,0.999999996765,-3.44003695487e-05,-6.48797369506e-05,-3.28234090481e-05,1793239164969858304
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.31274538,745,715,678,661,636,879.68725462,788,804,651.31274538,631,653.68725462,0.406262616159,-0.0155428871413,0.0799463394218,0.999999996352,-2.44068063642e-05,-7.50876496821e-05,-3.25924940999e-05,1793239164986525184
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.892783808,745,715,678,661,636,879.107216192,788,804,651.892783808,631,653.107216192,0.406731413129,-0.015543299628,0.0799423298461,0.999999996192,-4.85099750385e-06,-8.17730735246e-05,-3.00915511078e-05,1793239165003191808
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.469181465,678.469181465,661,636,879,788,804,652,631,653.469181465,0.407228802724,-0.0155399891573,0.079941343707,0.999999995867,-1.22032974339e-05,-8.36798508988e-05,-3.33888844493e-05,1793239165019858688
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.955313483,745,716,679,661.044686517,636,879,788,804,652,631,653.955313483,0.407734917758,-0.0155358681161,0.0799402476417,0.999999995307,-2.38598233869e-05,-8.59621494134e-05,-3.77777689014e-05,1793239165036525568
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.380603047,745,716,679,661.619396953,636,879,788,804,652,631,653.380603047,0.408267623458,-0.0155321460686,0.0799297160291,0.999999993548,-1.41975010359e-05,-0.000105550943473,-3.95186551736e-05,1793239165053191936
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,716,679,662,636,879,788,804.199793602,652,631.199793602,653.199793602,0.408834493537,-0.0155313235225,0.0799305161782,0.999999993479,-1.06419133263e-05,-0.000106250424143,-4.04914443595e-05,1793239165069858304
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,716,679,662,636,879,788,804.791339666,652,631.791339666,653.791339666,0.409468352613,-0.0155361862781,0.0799535354858,0.999999996576,-1.90603248398e-05,-6.99120059293e-05,-3.99581595657e-05,1793239165086524928
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.374581653,745,716,679,662,636.374581653,879.374581653,788,804.625418347,651.625418347,631.625418347,653.625418347,0.410125883757,-0.0155393903027,0.0799815267266,0.99999999862,-2.62882086725e-05,-2.29550772643e-05,-3.92576102777e-05,1793239165103191808
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.953298168,745,716,679,662,636.953298168,879.953298168,788,804.046701832,651.046701832,631.046701832,653.046701832,0.41079631539,-0.0155416903726,0.0800122275093,0.999999998276,-3.28672931754e-05,2.97885943405e-05,-3.84659072073e-05,1793239165119858688
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.471096,745,715.471096,678.471096,662,636.471096,880,788,804,651.528904,631.528904,653,0.411436566425,-0.0155403487234,0.0800002625414,0.999999998612,-3.34984321767e-05,3.83992207231e-06,-4.04937873517e-05,1793239165136525312
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715.103625431,678.103625431,662,636,879.896374569,788,804,652,631.896374569,653,0.41207734284,-0.0155385798601,0.0799808010022,0.999999998008,-3.35237614327e-05,-3.13981073313e-05,-4.32848356983e-05,1793239165153191936
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715.675583772,678.675583772,662,636,879.324416228,788,804,652,631.324416228,653,0.41273246716,-0.0155363250033,0.0799443857974,0.999999995283,-3.31708944657e-05,-7.7399306264e-05,-4.84063833017e-05,1793239165169858560
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.257951104,745,715.742048896,679,662,636,879.515902209,788,804,652,631,653.257951104,0.413433148823,-0.0155344609704,0.0799258574046,0.999999993439,-3.30255189669e-05,-9.66065246248e-05,-5.19493427423e-05,1793239165186524928
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.853960021,745,715.146039979,679,662,636,880.707920043,788,804,652,631,653.853960021,0.414193535751,-0.0155331091314,0.0799307705676,0.999999994767,-3.31520714234e-05,-8.0698899073e-05,-5.34234843213e-05,1793239165203191296
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.564715322,788,804,651.564715322,631.435284678,654,0.414964826439,-0.0155352302537,0.0799523300997,0.999999996975,-3.73671357811e-05,-4.40202935647e-05,-5.21176505442e-05,1793239165219858176
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804,651,632,653.988169264,0.415738945252,-0.0155383531393,0.079978340267,0.999999997835,-4.27175798866e-05,-2.32595091828e-06,-4.99995128479e-05,1793239165236525056
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804,651,632,653.412228902,0.416479176445,-0.0155354964601,0.0799589556906,0.999999996961,-3.89336574188e-05,-4.29111493323e-05,-5.21704797189e-05,1793239165253191936
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.832545335,745,715,679.167454665,662.167454665,636,880,788,804,651.167454665,631.832545335,653,0.417243379073,-0.0155344126604,0.0799501038521,0.999999996025,-3.84940485897e-05,-5.9805246248e-05,-5.37707935345e-05,1793239165269858560
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.243436333,745,715,679.756563667,662.756563667,636,880,788,804,651.756563667,631.243436333,653,0.418067942228,-0.015537793008,0.079967773668,0.99999999732,-4.64754915612e-05,-1.7044653225e-05,-5.39341910501e-05,1793239165286525184
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679.660291208,662.660291208,636,880.339708792,788,804.339708792,652,631,653,0.418916863007,-0.0155387673618,0.0799847375156,0.999999997303,-4.66043589086e-05,1.7956939344e-05,-5.38394325228e-05,1793239165303191808
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679.081346104,662.081346104,636,880.918653896,788,804.918653896,652,631,653,0.41978293735,-0.0155380473198,0.0800012041917,0.999999996589,-4.12031329102e-05,4.74943363912e-05,-5.3562870348e-05,1793239165319858432
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.49113828,745,715,679,662,636,880.50886172,788,804.50886172,651.50886172,631.49113828,653.49113828,0.420595004899,-0.0155347962915,0.0799871413069,0.999999997143,-4.41882082423e-05,2.64339008454e-05,-5.53323462235e-05,1793239165336525056
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715.063288651,679.063288651,662,636,880,788,804.063288651,651,631.936711349,654,0.421405579114,-0.0155320299799,0.0799722974241,0.999999997252,-4.74424288979e-05,3.32077148363e-06,-5.68679802236e-05,1793239165353191424
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715.641312185,679.641312185,662,636,880,788,804.641312185,651,631.358687815,654,0.422275813837,-0.0155365710886,0.0799916931387,0.999999997209,-4.17353688121e-05,3.07867828662e-05,-5.37813720142e-05,1793239165369858304
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.774723458,745,715.774723458,680,662,636,880.225276542,788,804.774723458,651.225276542,631,654,0.423135631451,-0.0155394733063,0.0800069763554,0.999999996688,-3.71695958794e-05,5.05132594477e-05,-5.18727213708e-05,1793239165386524928
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.18104376,745,715.18104376,680,662,636,880.81895624,788,804.18104376,651.81895624,631,654,0.423978413716,-0.0155396953851,0.0800155342535,0.999999996402,-3.44702116599e-05,5.75829896312e-05,-5.18904283659e-05,1793239165403191808
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715.40089255,680,662,636,880.59910745,788,804.40089255,651.59910745,631.40089255,654,0.424801017516,-0.0155352632556,0.0799813551035,0.999999997917,-3.21565614245e-05,-6.29829895849e-06,-5.56045015612e-05,1793239165419858432
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715.977676421,680,662,636,880.022323579,788,804.977676421,651.022323579,631.977676421,654,0.425614767979,-0.0155287890955,0.0799284251034,0.999999992561,-3.00121516155e-05,-0.000101309297023,-6.09403523745e-05,1793239165436524800
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,716,680,662,636,880,788,804.447765268,651.552234732,631.447765268,653.447765268,0.426486819517,-0.015531947598,0.0799233714947,0.999999993393,-3.58266779868e-05,-8.95070925746e-05,-6.26075909324e-05,1793239165453191680
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.129360082,745,715.870639918,680,662,636,880.129360082,788,804,651.870639918,631,653,0.427347401971,-0.0155353319491,0.0799211372171,0.999999993932,-4.1577243879e-05,-7.97039207637e-05,-6.36690714782e-05,1793239165469858048
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.715873886,745,715.284126114,680,662,636,880.715873886,788,804,651.284126114,631,653,0.428159157763,-0.0155381438693,0.0799220543179,0.999999992705,-4.59693481227e-05,-9.21630411364e-05,-6.31118096109e-05,1793239165486524928
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.701181451,745,715,680.298818549,662,636,881,788.298818549,804.298818549,651.298818549,631,653,0.429009949181,-0.0155391101094,0.0799391534801,0.999999994348,-4.82415981442e-05,-7.16990214899e-05,-6.19324858213e-05,1793239165503191808
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.121590418,745,715,680.878409582,662,636,881,788.878409582,804.878409582,651.878409582,631,653,0.429897418766,-0.0155383421325,0.0799714574466,0.999999996807,-4.85220145292e-05,-2.03001348673e-05,-6.01686672023e-05,1793239165519858688
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662,636,881,788.54466399,804.54466399,651.54466399,631,653,0.430785157509,-0.0155399568243,0.0800059370784,0.999999996923,-4.55778190202e-05,2.93384611026e-05,-5.67035328484e-05,1793239165536525056
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680.968472725,662,636,881,788.031527275,804,651,631,653,0.431665861539,-0.0155419363728,0.0800373567138,0.999999995069,-4.20544285712e-05,7.25848289745e-05,-5.3157662388e-05,1793239165553191680
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680.392761409,662,636,881,788.607238591,804,651,631,653,0.432423906665,-0.0155392952805,0.0800059887453,0.999999997401,-4.33101620834e-05,1.35629074709e-05,-5.60143369122e-05,1793239165569858304
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.187593273,745.187593273,715,680.187593273,662,635.812406727,880.812406727,788.812406727,804.187593273,651,631.187593273,653,0.433175273306,-0.0155372100686,0.0799664661832,0.999999996129,-4.39860665828e-05,-4.73276206112e-05,-5.9729206926e-05,1793239165586524672
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.777916559,745.777916559,715,680.777916559,662,635.222083441,880.222083441,788.222083441,804.777916559,651,631.777916559,653,0.433912302548,-0.015536318234,0.079909437126,0.999999990629,-4.34171797817e-05,-0.000112229731886,-6.52864735995e-05,1793239165603191296
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.638411785,745.638411785,715,681,662,635.361588215,880.361588215,788.361588215,804.638411785,651,632,653,0.43470166684,-0.0155377157819,0.0799080791624,0.999999991317,-4.53720216068e-05,-0.000104498814544,-6.62390943224e-05,1793239165619858176
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.058751726,745.058751726,715,681,662,635.941248274,880.941248274,788.941248274,804.058751726,651,632,653,0.435522594066,-0.0155404940436,0.0799402961296,0.99999999533,-4.88489101647e-05,-5.2963317082e-05,-6.4414678283e-05,1793239165636524800
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715.515957151,681,662,636,881,789,804.515957151,651,631.484042849,653,0.436303024767,-0.0155461791743,0.0799711934295,0.999999996327,-5.62099408911e-05,-2.08053573411e-05,-6.12595073371e-05,1793239165653191424
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715.907727269,681,662,635.907727269,881,788.907727269,804.907727269,651,631,653,0.437067070158,-0.0155518153317,0.0799965514843,0.999999996182,-6.45142229583e-05,4.13087680281e-06,-5.87927417376e-05,1793239165669858304
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715.319780971,681,662,635.319780971,881,788.319780971,804.319780971,651,631,653,0.437767632167,-0.0155554272193,0.079992953198,0.999999995295,-7.55321948979e-05,2.01354660089e-06,-6.08302426714e-05,1793239165686525440
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.264237078,881,788,804,651.264237078,631,653,0.438448443993,-0.0155593713391,0.0799807184828,0.999999994804,-7.9770341027e-05,-1.49540214301e-05,-6.16797423822e-05,1793239165703192320
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.843570738,881,788,804,651.843570738,631,653,0.439105704133,-0.0155637116379,0.079958185027,0.999999994019,-7.59237014003e-05,-4.96301532105e-05,-6.11125780168e-05,1793239165719858688
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.579410767,745,715,681,662,636,881,788,804.420589233,651.579410767,631,653,0.439711995735,-0.0155651359079,0.0799125945969,0.999999987002,-8.39618605103e-05,-0.000120807412939,-6.59659422797e-05,1793239165736525312
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.003248587,745,715,681,662,636,881,788,804.996751413,651.003248587,631,653,0.440299434494,-0.0155654815601,0.0798584755551,0.99999997159,-9.63961207595e-05,-0.000205486180683,-7.28243208269e-05,1793239165753191680
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.570418246,745.570418246,715.570418246,681.570418246,662,635.429581754,880.429581754,788,804.429581754,651,631,653,0.440842431211,-0.0155648828454,0.0797869782525,0.999999941744,-0.000105819068926,-0.00031442132519,-8.03298374925e-05,1793239165769858304
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.851356684,715.851356684,681.851356684,661.851356684,635,880.148643316,788,804,651,631,653.148643316,0.441392935158,-0.0155670595037,0.0797354208948,0.999999912972,-0.000116059828942,-0.000391481802401,-8.559924301e-05,1793239165786525184
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.259497817,715.259497817,681.259497817,661.259497817,635,880.740502183,788,804,651,631,653.740502183,0.441966575231,-0.0155775275665,0.0797436130487,0.999999918564,-0.000128790009091,-0.000373090270439,-8.41902119005e-05,1793239165803191808
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.325191322,745,715,681,661,635,881,788,804.325191322,651.325191322,631,654,0.442548647549,-0.0155876994751,0.0797743395262,0.999999934942,-0.000137915041614,-0.000323336906477,-8.09271417731e-05,1793239165819858432
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.904282512,745,715,681,661,635,881,788,804.904282512,651.904282512,631,654,0.443137303484,-0.0155976401545,0.0798226601434,0.99999995567,-0.000144225279066,-0.000249097141764,-7.62164919986e-05,1793239165836525312
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.520096754,745,715,681,661,635,881,788,804.520096754,651.520096754,631,653.520096754,0.44363382297,-0.0156047195644,0.0798279938419,0.999999953876,-0.000158517312369,-0.000247636321975,-7.61291938453e-05,1793239165853191936
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,881,787.943963485,804,651,631,653,0.444106351558,-0.0156111090873,0.0798222070851,0.999999947287,-0.000172935744534,-0.000263817541191,-7.69393626296e-05,1793239165869858816
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,881,787.35645118,804,651,631,653,0.444524381825,-0.015616329182,0.0797916829638,0.999999933681,-0.000173562323669,-0.000310637136347,-7.75783604097e-05,1793239165886525440
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,881,786.772620339,804,651,631,653,0.444931915768,-0.015620774872,0.0797652910611,0.99999991914,-0.000175553252297,-0.000353216888597,-7.83530070608e-05,1793239165903192064
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,881,786.194468839,804,651,631,653,0.445323257305,-0.0156240259101,0.0797452738118,0.999999904956,-0.000179648922557,-0.000389255957527,-7.93369152699e-05,1793239165919858432
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714.615940821,681,661,635,881,786.384059179,804,651,631,653,0.445703738136,-0.0156288228974,0.0797355602372,0.999999898389,-0.000189174406356,-0.000401237012612,-8.02758393496e-05,1793239165936525056
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714.037221915,681,661,635,881,786.962778085,804,651,631,653,0.446078714272,-0.0156344034466,0.0797310690603,0.999999896002,-0.000201451982145,-0.000401024308541,-8.11919634159e-05,1793239165953191936
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714.537311024,681,661.537311024,634.462688976,881,786.462688976,804,651,631,653,0.446417503086,-0.0156404888917,0.0797278354679,0.999999895642,-0.000205228750619,-0.000400171697109,-8.03696231745e-05,1793239165969858560
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.114428371,745,715,681,661.885571629,634,880.885571629,786,804,651,631,653,0.446745089745,-0.0156461610532,0.0797238895694,0.99999989459,-0.000209096410285,-0.000400943367332,-7.96495921792e-05,1793239165986525184
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.703458375,745,715,681,661.296541625,634,880.296541625,786,804,651,631,653,0.447036531628,-0.015649975141,0.0797166307805,0.999999890044,-0.000215764635559,-0.000408634324866,-7.98495346622e-05,1793239166003191808
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.71174374,745,715,681,661,634,880.28825626,786.28825626,804.28825626,651,631,653,0.447305370852,-0.0156533799459,0.0797081290458,0.999999884046,-0.000221293528104,-0.000420090616515,-8.03802598081e-05,1793239166019858432
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.131236658,745,715,681,661,634,880.868763342,786.868763342,804.868763342,651,631,653,0.44755129418,-0.015656369796,0.0796983671413,0.999999876466,-0.000225667298989,-0.000435364420556,-8.12463514753e-05,1793239166036524800
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.446247426,745.446247426,715,681,661,634,881,786.553752574,804.553752574,651,631,653,0.447764569212,-0.0156595754784,0.0796854564751,0.999999865648,-0.000232150561009,-0.00045613588568,-8.21584415508e-05,1793239166053191680
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.976798173,745.976798173,715,681,661,634,881,786,804.023201827,651,631,653,0.447967491073,-0.0156627208979,0.0796719300672,0.99999985373,-0.000239024240423,-0.000478026001778,-8.30531940232e-05,1793239166069858304
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.391279379,745.391279379,715,681,661,634,881,786,804.608720621,651,631,653,0.448150630272,-0.0156628777937,0.0796657724553,0.999999848512,-0.000240425767164,-0.00048810660719,-8.32021068864e-05,1793239166086524928
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.191853919,715,681,661,634,880.808146081,786,805,651,631,653,0.448324497922,-0.0156635580985,0.079661208144,0.999999844412,-0.000241915097618,-0.000495718968996,-8.31620583118e-05,1793239166103191552
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.770181762,715,681,661,634,880.229818238,786,805,651,631,653,0.44847968878,-0.0156652927681,0.0796598534063,0.99999984273,-0.000243581301289,-0.000498359256159,-8.2741362476e-05,1793239166119858432
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,746,715,681,661,634,880.349002554,786,805,651,631,653,0.448620513513,-0.015666600506,0.0796592406543,0.999999842456,-0.000243848736185,-0.000498854769405,-8.22763293127e-05,1793239166136525312
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,715,681,661,634,880.928148472,786,805,651,631,653,0.448751864784,-0.0156676267118,0.0796591171911,0.999999843114,-0.000243193778718,-0.000497935950912,-8.17820586666e-05,1793239166153191936
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.49676149,715,681,660.49676149,634,880.49676149,785.49676149,804.49676149,651,631,653,0.448862324303,-0.0156702462733,0.079662736156,0.999999845077,-0.000244588631562,-0.000493472770083,-8.06607891198e-05,1793239166169858560
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.079655119,634,880.079655119,785,804.079655119,651,631,653,0.448965702471,-0.0156725180915,0.0796657580546,0.9999998464,-0.000246381763684,-0.000490049738541,-7.96700985654e-05,1793239166186525440
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.668217458,634,880.668217458,785,804.668217458,651,631,653,0.449042743726,-0.0156711263915,0.0796615788435,0.999999842581,-0.00024886458165,-0.000496479392336,-8.00810330403e-05,1793239166203191808
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,715,681.252803252,660.747196748,634,881,785.252803252,805,651,631,653,0.44911222146,-0.0156706447111,0.0796581873554,0.999999839627,-0.00025097732203,-0.000501294494217,-8.03721459674e-05,1793239166219858432
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,715,681.83225096,660.16774904,634,881,785.83225096,805,651,631,653,0.449171926442,-0.0156713388574,0.0796558136765,0.999999837833,-0.000252611888872,-0.000504023449985,-8.05084386963e-05,1793239166236525056
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.409335988,715,681.590664012,660.409335988,634,880.590664012,786,804.590664012,651,631,653,0.449218603531,-0.0156726829526,0.0796521846275,0.999999835276,-0.00025323401214,-0.000508815520206,-8.01664585112e-05,1793239166253191936
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.985458316,715,681.014541684,660.985458316,634,880.014541684,786,804.014541684,651,631,653,0.449259972329,-0.0156742918732,0.0796480440708,0.999999832384,-0.000253443609315,-0.00051444821838,-7.96296032293e-05,1793239166269858560
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,715,681,660.441713258,634,880.558286742,785.441713258,804.558286742,651,630.441713258,653,0.449287881744,-0.0156742352318,0.0796471968692,0.999999830409,-0.000254770514622,-0.000517595393068,-7.98035662659e-05,1793239166286525184
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.86440335,715,681.13559665,660.13559665,634,881,785,805,651,630.13559665,653,0.449313328906,-0.0156743211636,0.0796461223109,0.999999828554,-0.000256263770329,-0.000520420926882,-7.98946781862e-05,1793239166303191808
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.271698569,715,681.728301431,660.728301431,634,881,785,805,651,630.728301431,653,0.449331650484,-0.0156750331117,0.0796439938308,0.99999982705,-0.00025822027582,-0.000522379146019,-7.96444432455e-05,1793239166319858432
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681.686446731,660.686446731,634,881,785,805,651,631,653,0.449346250899,-0.0156751710831,0.0796429191419,0.999999826446,-0.000257551299427,-0.000523911643371,-7.93192135117e-05,1793239166336525056
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,681.107502975,660.107502975,634,881,785,805,651,631,653,0.449357701735,-0.0156748232424,0.0796427363782,0.999999826603,-0.000254660123751,-0.000525083811376,-7.89305083957e-05,1793239166353191680
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,634,881,785,805,651,631,653,0.449365434561,-0.0156741755259,0.0796429130295,0.999999827021,-0.000254315125669,-0.000524449364355,-7.89647767274e-05,1793239166369858304
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714.957231143,681,660,634,880.957231143,785,804.957231143,651,631,653,0.449371787826,-0.0156734300654,0.0796429276727,0.99999982729,-0.000254462371631,-0.00052384841987,-7.90658540997e-05,1793239166386524928
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714.38289826,681,660,634,880.38289826,785,804.38289826,651,631,653,0.449371532229,-0.0156723196576,0.0796399101237,0.999999824955,-0.000253511379403,-0.000528784069216,-7.87985194712e-05,1793239166403191808
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.197029789,785,804.197029789,651,631,653,0.449371713752,-0.0156712179912,0.0796378253479,0.999999823313,-0.000252770375286,-0.000532250215425,-7.86802701971e-05,1793239166419858688
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.788148984,785,804.788148984,651,631,653,0.449372769581,-0.015670133809,0.0796376062601,0.999999823099,-0.00025244937925,-0.000532777132617,-7.88602142207e-05,1793239166436525312
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+232,3.866666667,POSE1_TO_POSE2_PRESS,764.475470754,745,714.524529246,681,660,634,880.524529246,785.475470754,804.475470754,651,631,653,0.44937748319,-0.0156728872144,0.079639027254,0.999999823418,-0.000255386504246,-0.00053093511045,-7.77755594919e-05,1793239166486524928
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.099255425,745,715,681,660,633.900744575,880.900744575,785,804.099255425,651,631,653,0.44937693184,-0.0156722959012,0.0796382091777,0.999999822896,-0.00025514791884,-0.000532012049082,-7.79187775264e-05,1793239166503191552
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.689659431,745,715,681,660,633.310340569,880.310340569,785,804.689659431,651,631,653,0.449376108491,-0.0156713877355,0.0796372993648,0.999999822902,-0.000252242160396,-0.000533426022232,-7.76362723159e-05,1793239166519858432
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714.723443686,681.276556314,660,633.276556314,880,785,805,651,631,653,0.449376302618,-0.015670648225,0.0796366981581,0.999999822663,-0.000251006151503,-0.000534450956312,-7.7670951954e-05,1793239166536525312
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714.140432999,681.859567001,660,633.859567001,880,785,805,651,631,653,0.449377624218,-0.0156700956026,0.0796364389204,0.999999822161,-0.000251620405735,-0.000535044793116,-7.80571067497e-05,1793239166553191936
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.008242814,714.008242814,681,660,634,880.008242814,785,804.991757186,651,631,653.008242814,0.449377615781,-0.0156701549352,0.0796367071047,0.999999822467,-0.000249812554222,-0.00053535515312,-7.78086914692e-05,1793239166586525184
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.582531684,714.582531684,681,660,634,880.582531684,785,804.417468316,651,631,653.582531684,0.44937872105,-0.0156700906097,0.0796369994928,0.99999982231,-0.000252226271573,-0.000534485193171,-7.801798128e-05,1793239166603191808
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.243169608,715,681,660,634,881,785,804.756830392,651,631,653.243169608,0.449378073267,-0.0156692882457,0.0796364140691,0.999999821655,-0.000251154867988,-0.000536294960445,-7.74468326245e-05,1793239166636525056
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+247,4.116666667,POSE1_TO_POSE2_PRESS,764.243851288,745,715,681,660.243851288,634,881,785,805,651,631,653,0.449380563704,-0.0156664513518,0.0796369847036,0.999999823915,-0.000246854259036,-0.000534128117349,-7.70742995561e-05,1793239166736525312
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+252,4.200000000,HOLD_POSE2,765,745,714,681,660,633,880,785,804,651,631,653,0.449383951169,-0.0156679217639,0.0796398207723,0.999999824704,-0.000248947317192,-0.00053167690109,-7.7053842983e-05,1793239166844462848
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+256,4.266666667,HOLD_POSE2,765,745.690863674,714.309136326,681,660,634,880.690863674,785,804.690863674,651,631,653,0.449380124635,-0.0156662826339,0.0796355575621,0.999999821688,-0.000248957135186,-0.000537305994559,-7.7119998296e-05,1793239166911127552
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+258,4.300000000,HOLD_POSE2,765,745.481041468,714.518958532,681,660,634,880.481041468,785,804,651,631,653,0.449383296525,-0.0156687155668,0.0796377932635,0.999999823597,-0.000250199410935,-0.000533300317538,-7.61364324095e-05,1793239166944460544
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+260,4.333333333,HOLD_POSE2,765,746,714.636080802,681,660,634,880.363919198,785,804.636080802,651,631,653,0.449383707954,-0.0156679940327,0.0796380396064,0.999999823154,-0.000250795865237,-0.000533852188865,-7.61201990968e-05,1793239166977794048
+261,4.350000000,HOLD_POSE2,765,745.788609711,715,681,660,634,880.211390289,785,805,651,631,653,0.449382780781,-0.0156662785348,0.0796374775456,0.99999982298,-0.000248831920189,-0.000535065886803,-7.63391757654e-05,1793239166994460928
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+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,746,714.377909086,681.622090914,660.377909086,634,881,785,805,651,631,653.377909086,0.449348280526,-0.0156644185581,0.0796179937153,0.999999806826,-0.000249032936857,-0.000564156543763,-7.78341512082e-05,1793239167315001856
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,661,634,881,785,804.456086074,651,631,653.456086074,0.449257926852,-0.0156600181805,0.0795793804932,0.999999768302,-0.000246534920108,-0.00062955367205,-7.92413022649e-05,1793239167348334848
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.877061098,714.877061098,681,660.877061098,634,881,785,804.122938902,651.122938902,631,653.122938902,0.449197305135,-0.0156572392328,0.0795593039042,0.999999746981,-0.00024344306914,-0.000663653827097,-7.9600151188e-05,1793239167365001472
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.298562047,714.298562047,681,660.298562047,634,881,785,804.701437953,651.701437953,631,653.701437953,0.449124322698,-0.0156534743766,0.079543678747,0.999999732836,-0.000243699782222,-0.000684467435067,-8.02721763177e-05,1793239167381668096
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.277934059,745.277934059,714.277934059,681,660,634,881,785.277934059,805,651.722065941,631,653.722065941,0.449046863512,-0.0156509044478,0.0795353835396,0.999999724276,-0.000245002303911,-0.000696485139523,-7.95620047425e-05,1793239167398334720
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.97654162,745.97654162,715,681,660,634,881,785,804.97654162,651,631,653,0.448756845632,-0.0156368405966,0.0795372633516,0.999999726973,-0.000233211970144,-0.00069750285926,-7.18069121007e-05,1793239167448335104
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.396611872,745.396611872,715,681,660,634,881,785,804.396611872,651,631,653,0.44862676486,-0.015631383506,0.0795415882544,0.999999731123,-0.000231185114986,-0.00069261030496,-6.78135161965e-05,1793239167465001728
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.182041177,745.182041177,714.817958823,681,660,634,880.817958823,785,804.182041177,651,631,653,0.448485379721,-0.0156254017295,0.079544291103,0.999999733965,-0.000227649049428,-0.00069005174831,-6.38270676972e-05,1793239167481668608
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.089237694,746,714,681,660,634,880.910762306,785.910762306,805,651,631,653,0.447936820913,-0.0156024043452,0.0795387284782,0.999999730074,-0.000202622826356,-0.000704418191057,-5.08987729169e-05,1793239167531668480
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.497681198,746,714.497681198,681,660,634,881,786,805,651.497681198,631,653.497681198,0.447712306882,-0.0155924863636,0.0795424867542,0.999999735966,-0.000188727618823,-0.000700302583338,-4.50217897877e-05,1793239167548334848
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.91492925,746,714.91492925,681,660,634,881,785.91492925,805.08507075,651.91492925,631,654,0.447478912207,-0.0155820024266,0.0795481634084,0.999999744472,-0.000170891188544,-0.000693072664922,-3.87522360183e-05,1793239167565001472
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.335827824,746,714.335827824,681,660,634,881,785.335827824,805.664172176,651.335827824,631,654,0.447221983653,-0.0155701020713,0.0795580103477,0.999999759636,-0.000134599033669,-0.000679423318055,-3.15466936234e-05,1793239167581668352
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714.241322992,681,660.241322992,634.241322992,881,785.241322992,805.517354017,651,631,653.758677008,0.446947771705,-0.0155581864678,0.0795678190208,0.999999772183,-0.000101231547809,-0.000666933998752,-2.41930031998e-05,1793239167598334976
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,661,634.600716273,880.600716273,786,804,651,631.399283727,653,0.446323973987,-0.0155344718836,0.0795873797854,0.999999789062,-5.04383576266e-05,-0.000647465866781,-1.09085487067e-05,1793239167631668480
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.144933561,745.144933561,715,681,660.144933561,634.144933561,880.855066439,786,805,651,631,653,0.445167178298,-0.015509277203,0.079614579548,0.999999807743,-2.88341551499e-05,-0.000619348180326,-9.47035558685e-06,1793239167681668352
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.722686171,745.722686171,715,681,660.722686171,634.722686171,880.277313829,786,805,651,631,653,0.444735693291,-0.0155106587757,0.0796279051038,0.999999821139,-2.19382023114e-05,-0.000597680314335,-4.37924464896e-06,1793239167698335232
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.128315499,746,715,681,661,635,880.871684501,786.871684501,805,651,631.871684501,653.871684501,0.44381462554,-0.0155182269942,0.0796496254547,0.999999839069,-2.16771402644e-05,-0.000566906975897,2.88570572193e-06,1793239167731668992
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.457302535,745.542697465,715,681.457302535,661,635,881,787,805,651,632,654,0.443318782525,-0.0155122946044,0.0796584415175,0.999999845481,-1.203088508e-05,-0.000555763572757,4.42082851778e-06,1793239167748335360
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.37359873,745,715,682,661,635,881,787.62640127,805,651,631.37359873,653.37359873,0.442257017992,-0.0154911680062,0.0796844898762,0.999999868939,1.62786283364e-05,-0.000511662890595,7.67810284679e-06,1793239167781668608
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.205190957,715,681.794809043,661.205190957,635,881,787.794809043,805,651,631,653.205190957,0.441689362161,-0.0154804031554,0.0797004096727,0.99999988235,2.99761048391e-05,-0.000484045505484,1.00698361968e-05,1793239167798335232
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.780628927,715,681.219371073,661.780628927,635,881,787.219371073,805,651,631,653.780628927,0.441097732825,-0.0154717575738,0.079714508342,0.999999891335,4.10768354977e-05,-0.000464192058537,1.29674789253e-05,1793239167815001600
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.362971276,745.637028724,715,681,661.637028724,635,881,787,805,651,631.362971276,653.637028724,0.440465574401,-0.015463040403,0.0797029881023,0.999999883926,5.35569727628e-05,-0.000478655604473,1.29872296639e-05,1793239167831668224
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.949567356,745.050432644,715,681,661.050432644,635,881,787,805,651,631.949567356,653.050432644,0.439808446229,-0.0154542791268,0.0796756841793,0.999999865467,6.68869551423e-05,-0.000514261679988,1.12339252859e-05,1793239167848335104
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.289051087,745,715,680,661,635.289051087,880.710948913,788,804,651.289051087,632,653,0.421891347433,-0.0153685099081,0.0797952626842,0.999999915,0.000254538262734,-0.000321996023669,3.90910569843e-05,1793239168215001856
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.287109374,745,715,680,661,635,880.712890626,788,804,651.287109374,632,653,0.421080943354,-0.015371820166,0.0798409485114,0.999999940561,0.000248170545927,-0.000235600560477,4.22002962624e-05,1793239168231668224
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.860192832,745,715,680,661,635,880.139807168,788,804,651.860192832,632,653,0.420263832069,-0.0153759741679,0.0798928270485,0.999999958294,0.000242039287555,-0.000150581711533,4.64088940393e-05,1793239168248334848
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.446754686,635.446754686,880.446754686,788,804,652,631.553245314,653,0.419399872271,-0.0153739979506,0.0798773101988,0.999999952357,0.000244375066195,-0.000183004345972,4.55645267281e-05,1793239168265001728
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.96304201,745,715,680,661.96304201,636,880.96304201,788,804,652,631.03695799,653,0.418522575759,-0.0153703523781,0.079841117999,0.99999993663,0.000248819137158,-0.000250954893913,4.30237522566e-05,1793239168281668352
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.383234063,745,715,680,661.383234063,636,880.383234063,788,804,652,631.616765937,653,0.417671426939,-0.0153712412303,0.0798206631228,0.999999929061,0.000244100596261,-0.000284131601673,3.9514367526e-05,1793239168298334976
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715.194710666,679.805289334,661.194710666,636,879.805289334,788,804,652,632,653,0.416835084195,-0.0153699587833,0.0798109003602,0.999999923846,0.000241843958308,-0.000303995140186,3.7503490761e-05,1793239168315001856
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715.769023025,679.230976975,661.769023025,636,879.230976975,788,804,652,632,653,0.416027606756,-0.0153644432409,0.0798219825971,0.999999925026,0.000244386967286,-0.000297903755671,3.84140566991e-05,1793239168331668736
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.344759223,745,715.655240777,679.344759223,662,636,879.344759223,788,804,652,631.655240777,653,0.415215948738,-0.0153610939735,0.0798138286312,0.999999919682,0.000248023426712,-0.000312529489605,3.80217180755e-05,1793239168348335104
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.921453265,745,715.078546735,679.921453265,662,636,879.921453265,788,804,652,631.078546735,653,0.414401478309,-0.0153592020557,0.0797927336179,0.999999909301,0.000252395498435,-0.000341092548076,3.67528576909e-05,1793239168365001472
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.493819784,636,880,788,804.506180216,652,631.506180216,653.506180216,0.413694014521,-0.0153623850561,0.0798059352298,0.999999919196,0.000249522991857,-0.000312926867858,3.77265530759e-05,1793239168381668096
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.908305428,745,715.091694572,679.908305428,661,636,879.908305428,788,804.908305428,652,632,653.908305428,0.413000399789,-0.0153656623879,0.0798231218582,0.999999929665,0.000246763368837,-0.000279741611676,3.9008625696e-05,1793239168398334976
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.32535842,745,715.67464158,679.32535842,661,636,879.32535842,788,804.32535842,652,632,653.32535842,0.412290586661,-0.0153651580296,0.079832685868,0.999999931965,0.000250728422667,-0.000267586006551,4.00484122952e-05,1793239168415001344
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,716,679,661,636,879.253081163,788,804,652,632,653,0.411581249901,-0.0153639402397,0.0798300271912,0.99999992959,0.000252856220052,-0.000274368176093,4.00623489187e-05,1793239168431668224
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,716,679,661,636,879.825827402,788,804,652,632,653,0.41087251489,-0.0153618213193,0.0798119301224,0.999999920795,0.000252663391019,-0.000305070519405,3.87805413908e-05,1793239168448334848
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.400168171,745,715.599831829,679,661,636,879.599831829,788,804,652,632,653,0.410202146487,-0.0153586279448,0.0798077559537,0.999999916987,0.000256925362785,-0.000313892842087,3.85504639385e-05,1793239168465001728
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.975205782,745,715.024794218,679,661,636,879.024794218,788,804,652,632,653,0.409548543841,-0.0153549650444,0.07980966595,0.999999915596,0.000263134037449,-0.000313153819953,3.87799817817e-05,1793239168481668608
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.434828221,745,715,679,661,636,879,788,804,651.434828221,632,653,0.408979529338,-0.0153565229278,0.0798329072983,0.999999927596,0.000259900074565,-0.000274951144386,4.07640284889e-05,1793239168498334976
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804,651.152906375,632,653,0.408412645595,-0.0153570292087,0.0798492218198,0.999999934503,0.000259503818847,-0.000248731559098,4.22432210215e-05,1793239168515001856
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804,651.732536532,632,653,0.407841070972,-0.0153539442011,0.079843522818,0.999999929172,0.000268214336287,-0.000260664950262,4.20928548351e-05,1793239168531668736
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.690252829,661,635.690252829,879,788,804,652,631.690252829,653,0.40727253254,-0.0153505209739,0.0798221515458,0.999999917086,0.000271957754555,-0.000300426210297,4.01409736708e-05,1793239168548335616
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.115115261,661,635.115115261,879,788,804,652,631.115115261,653,0.40670659554,-0.0153468079613,0.0797873523219,0.999999896228,0.000271445376613,-0.000364030298877,3.66455600527e-05,1793239168565002240
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.469227127,745,715,678.469227127,661.469227127,635.469227127,879,788,804,652,631,653,0.406227954787,-0.0153475317609,0.0797853685752,0.999999897005,0.000272430819939,-0.000361178686275,3.63598571793e-05,1793239168581668352
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.944527985,745,715,679,662.055472015,636,879,788,804,652,631.055472015,653,0.405775482327,-0.0153489714995,0.0797927658721,0.999999903931,0.000274267075288,-0.000339933688456,3.68912064315e-05,1793239168598334976
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.362091453,745,715,679,662.637908547,636,879,788,804,652,631.637908547,653,0.405364080755,-0.0153466653189,0.0798112715822,0.999999914337,0.000280625157394,-0.000301934971828,3.75542125218e-05,1793239168615001856
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,662.784635177,635.784635177,879.215364823,788,804,652,632,653,0.404964379926,-0.0153460039383,0.0798271552219,0.999999921818,0.000281349133853,-0.000275198600993,3.83706343342e-05,1793239168631668480
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,662.215362978,635.215362978,879.784637022,788,804,652,632,653,0.40458390688,-0.0153480454454,0.0798387300316,0.999999926372,0.000272814627208,-0.000266969561748,3.94391630428e-05,1793239168648335104
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.633286584,661.633286584,635.366713416,879.633286584,788,804,652,632,653,0.404215485054,-0.0153483892793,0.0798437050599,0.999999924933,0.000279616152178,-0.000265000741019,4.15255091724e-05,1793239168665001472
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.043418447,661.043418447,635.956581553,879.043418447,788,804,652,632,653,0.403854396674,-0.0153477000348,0.0798446639496,0.999999919686,0.000295750053302,-0.000266841426428,4.42312239649e-05,1793239168681668096
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.541750338,661.541750338,636,879,788,804,652,631.458249662,653,0.403525275487,-0.0153451135944,0.0798405742359,0.999999920426,0.000282610538717,-0.000278711233603,3.99868104965e-05,1793239168698334976
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.875775257,636,879,788,804,652,631.124224743,653,0.403212462421,-0.0153433616523,0.0798374241591,0.999999921193,0.000271002308193,-0.000287819385906,3.6494724086e-05,1793239168715001600
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.3017055,636,879,788,804,652,631.6982945,653,0.402949506753,-0.0153451774832,0.079839129326,0.999999921585,0.000273361907626,-0.000284041346975,3.77267091595e-05,1793239168731668224
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.273568571,636,879,788,804,652,632,653,0.402704941069,-0.015345836436,0.0798430152054,0.999999922531,0.000275019700087,-0.000278938893926,3.86673496932e-05,1793239168748334848
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.850176662,636,879,788,804,652,632,653,0.402480746497,-0.0153452138828,0.0798493167206,0.999999924075,0.000275900081288,-0.000272369350722,3.9285259698e-05,1793239168765001472
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.565746799,636,879.434253201,788,804,652,632,653,0.402280925943,-0.0153454278004,0.079851154506,0.999999924765,0.000276879736554,-0.000268844766033,3.91072279865e-05,1793239168781668352
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715.02073814,679,661.02073814,636,879.97926186,788,804,652,632,653,0.402090857269,-0.0153458530364,0.0798513757173,0.99999992507,0.000278085928267,-0.000266518442711,3.86837603402e-05,1793239168798335232
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715.601460759,679,661.601460759,636,879.398539241,788,804,652,632,653,0.401933066097,-0.0153440552609,0.079850258243,0.999999922944,0.000284468152354,-0.00026768422747,3.91778537621e-05,1793239168815001856
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.172587249,745,716,679,661.827412751,636,879.172587249,788,804,652,632,653.172587249,0.40178573997,-0.0153425602461,0.0798501794627,0.999999921605,0.000289402935567,-0.000267339429255,3.95600722205e-05,1793239168831668224
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.722721445,745,716,679,661.277278555,636,879.722721445,788,804,652,632,653.722721445,0.401661306898,-0.0153417275424,0.0798523729002,0.999999922055,0.000291171337573,-0.000263690122651,3.96975561357e-05,1793239168848334848
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715.70489487,679,661,636,879.70489487,788,804,652,632,653.70489487,0.401549175875,-0.0153425145433,0.0798538401444,0.999999923705,0.000288661298286,-0.000260228377359,3.93060013287e-05,1793239168865001472
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715.109900965,679,661,636,879.109900965,788,804,652,632,653.109900965,0.401449546303,-0.0153449475042,0.079854569424,0.999999926544,0.000281803464531,-0.000256957233293,3.83768321161e-05,1793239168881668352
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.51276957,745,715,678.51276957,661.48723043,636,879.48723043,788,804.48723043,652,632,653.48723043,0.401356896332,-0.0153430592148,0.0798507674758,0.999999923382,0.00028590626401,-0.000264772308529,3.7267587225e-05,1793239168898334976
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.082362856,661.917637144,636,879.917637144,788,804.917637144,651.917637144,632,653.917637144,0.401269826121,-0.0153405093654,0.0798460593288,0.999999919175,0.000291548253647,-0.000274483057211,3.61842061231e-05,1793239168915001600
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.66248806,661.33751194,636,879.33751194,788,804.33751194,651.33751194,632,653.33751194,0.401206920838,-0.0153398780177,0.0798420787027,0.999999917556,0.00029148507779,-0.000280471106651,3.55036929225e-05,1793239168931668480
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,803.760676045,651.239323955,632,653.239323955,0.401153466108,-0.0153391722532,0.0798399921009,0.999999916907,0.000291539317119,-0.000282758046049,3.51900990465e-05,1793239168948335360
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,803.18841611,651.81158389,632,653.81158389,0.401113158534,-0.0153383629638,0.0798405403749,0.999999917642,0.000291756898822,-0.000279896178767,3.53869457331e-05,1793239168965001728
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,803.395576417,652,632,653.604423583,0.401080526387,-0.0153394551583,0.0798406745003,0.999999917941,0.000291068039743,-0.000279508562477,3.56731485943e-05,1793239168981668352
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,803.985328064,652,632,653.014671936,0.401051661851,-0.0153414807278,0.0798406053341,0.999999918027,0.000289934239202,-0.000280335473318,3.60032134071e-05,1793239168998334976
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.565225186,745,715,679,661,636,879,787.434774814,804,652,631.434774814,653,0.401031918977,-0.0153407130738,0.0798400563644,0.999999917411,0.000290990222135,-0.000281478881191,3.56760754958e-05,1793239169015001344
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787.144024781,804,652,631.144024781,653,0.401015051339,-0.0153405711234,0.0798395977427,0.99999991724,0.00029104240771,-0.00028207807084,3.53012143379e-05,1793239169031668224
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787.720284993,804,652,631.720284993,653,0.401006114207,-0.0153425208534,0.079839447003,0.99999991846,0.0002879144128,-0.000281019763634,3.48334502684e-05,1793239169048335104
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.704284837,745,715,679,661,636,879.295715163,788,804,652,631.704284837,653,0.400999337514,-0.0153428958533,0.0798393248699,0.999999918485,0.000288535291619,-0.000280288950007,3.48646947809e-05,1793239169065001984
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.129637533,745,715,679,661,636,879.870362467,788,804,652,631.129637533,653,0.400994598645,-0.0153417854958,0.0798392297196,0.999999917377,0.000292692280171,-0.000279867043257,3.53666270807e-05,1793239169081668608
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.542424245,661,636,879.542424245,788,803.542424245,652,631,653,0.400991736413,-0.0153423715829,0.0798396307402,0.999999918132,0.000290734028759,-0.000279228377676,3.52420614394e-05,1793239169098335232
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.9526634,715,678.0473366,661,636,879,788,803.0473366,652,631,653,0.400989651174,-0.0153434435879,0.0798402332325,0.999999919367,0.000287277160284,-0.000278413680198,3.49848663842e-05,1793239169115001600
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.375363846,715,678.624636154,661,636,879,788,803.624636154,652,631,653,0.400990144316,-0.0153444228939,0.0798414730952,0.999999920016,0.000286986830866,-0.000276335140976,3.52860882726e-05,1793239169131668224
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.201285002,744.201285002,715,678.798714998,661,636,879,788,804,652,631,653.201285002,0.400990956577,-0.0153450214298,0.0798426129588,0.999999920827,0.000286310721779,-0.000274089088021,3.53172131612e-05,1793239169148334848
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.776724264,744.776724264,715,678.223275736,661,636,879,788,804,652,631,653.776724264,0.400992362029,-0.0153449121792,0.0798435669409,0.999999921939,0.000284917514538,-0.000271531655922,3.48462740823e-05,1793239169165001472
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.351508381,661,636,879,788,804,652,631,654,0.400991281583,-0.0153437220083,0.0798432447452,0.999999920926,0.000287851821414,-0.000272195017275,3.46291019207e-05,1793239169181668352
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5fd81197b8ae6bf19232a922345475c87443892e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,414 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..652a86ffec4926de7705bccd2f9bcac88ed69144
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5349269f1d78c7a19e0135ccefa074ca7d3e66e1b9b2930f08e849f71247ad51
+size 26290194
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3f58f3f0afb992940b50bb2f766715f121685142
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_02/franka_data.csv
@@ -0,0 +1,415 @@
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+7,0.116666667,BASELINE,766.890658047,745,715,679,661.945329023,636,879,788,804,652,631.945329023,653.945329023,0.400991808947,-0.0153487710796,0.0798486254983,0.999999925053,0.000282144280293,-0.000262978297064,3.36438844339e-05,1793239169805131008
+8,0.133333333,BASELINE,765.709295065,745,715,679,661.354647532,636,879,788,804,652,631.354647532,653.354647532,0.400989514836,-0.0153477895504,0.0798475084595,0.999999924056,0.000283065326251,-0.000265779366754,3.35053547109e-05,1793239169821798144
+9,0.150000000,BASELINE,765,745,715,678.768404424,661.231595576,636,879.231595576,788,803.768404424,652,631.231595576,653,0.400989153239,-0.0153478037947,0.0798474766496,0.999999923909,0.000283199976961,-0.000266171728152,3.36403074887e-05,1793239169838464768
+10,0.166666667,BASELINE,765,745,715,678.18883016,661.81116984,636,879.81116984,788,803.18883016,652,631.81116984,653,0.400991695295,-0.0153493142159,0.0798490754261,0.99999992504,0.000282153047221,-0.000262944939203,3.41861752165e-05,1793239169855131136
+11,0.183333333,BASELINE,765,745,715,678.38876848,662,636,879.61123152,788,803.38876848,651.61123152,632,653,0.400991351465,-0.0153496804798,0.0798485648855,0.999999924914,0.000282369356782,-0.000263202522322,3.41231234806e-05,1793239169871797504
+12,0.200000000,BASELINE,765,745,715,678.965412435,662,636,879.034587565,788,803.965412435,651.034587565,632,653,0.400989613008,-0.0153494938208,0.0798470350008,0.999999924179,0.000283196136741,-0.000265143955808,3.37658065958e-05,1793239169888463616
+13,0.216666667,BASELINE,765,745,715,679,662,635.462172671,879.537827329,788,804,651.537827329,631.462172671,653,0.400989241548,-0.0153486277552,0.0798470888123,0.999999924207,0.00028298512434,-0.000265299479965,3.3488625345e-05,1793239169905130496
+14,0.233333333,BASELINE,765,745,715.113995866,678.886004134,661.886004134,635.113995866,880,788,803.886004134,652,631,653.113995866,0.400989099727,-0.0153479646473,0.0798472381993,0.999999924253,0.000282698895778,-0.000265453949698,3.33166225412e-05,1793239169921797376
+15,0.250000000,BASELINE,765,745,715.707073814,678.292926186,661.292926186,635.707073814,880,788,803.292926186,652,631,653.707073814,0.400989556417,-0.0153483366857,0.0798473645677,0.999999924169,0.000282374857583,-0.000266082900122,3.35651561251e-05,1793239169938464000
+16,0.266666667,BASELINE,765,745,715.706765201,678.293234799,661,636,879.706765201,788,803.293234799,651.706765201,631,653.706765201,0.40098975485,-0.0153485811833,0.0798475779276,0.999999924142,0.000282479377763,-0.000266052012259,3.37435378994e-05,1793239169955130624
+17,0.283333333,BASELINE,765,745,715.1273547,678.8726453,661,636,879.1273547,788,803.8726453,651.1273547,631,653.1273547,0.400989701241,-0.0153487012103,0.079847876185,0.999999924169,0.000283002139571,-0.000265377170487,3.38534566268e-05,1793239169971797248
+18,0.300000000,BASELINE,765.448714555,745,715,678.551285445,661,636,879,788,804,651.448714555,631,653,0.400990173673,-0.0153490424389,0.0798481866764,0.99999992433,0.000282979281964,-0.000264786185526,3.39124822162e-05,1793239169988463872
+19,0.316666667,BASELINE,765.975643196,745,715,678.024356804,661,636,879,788,804,652,631.024356804,653.024356804,0.40099076362,-0.0153494218137,0.0798485097376,0.999999924535,0.000282780981126,-0.00026421909637,3.39479873728e-05,1793239170005130240
+20,0.333333333,BASELINE,765.388109061,745,715,678.611890939,661,636,879,788,804,652,631.611890939,653.611890939,0.400990644133,-0.0153492422988,0.0798490437452,0.999999924887,0.000282080252023,-0.00026365828187,3.37711717027e-05,1793239170021796864
+21,0.350000000,BASELINE,765,745,715.197797443,678.802202557,661.197797443,636,879,788,804,651.802202557,631.802202557,653.802202557,0.400989998158,-0.0153488332523,0.0798488068155,0.999999924898,0.000281779409499,-0.000263963926027,3.35820384798e-05,1793239170038463744
+22,0.366666667,BASELINE,765,745,715.780536281,678.219463719,661.780536281,636,879,788,804,651.219463719,631.219463719,653.219463719,0.400988327564,-0.0153479775051,0.0798470695343,0.999999924243,0.000282256802076,-0.000265955819563,3.33689336027e-05,1793239170055130368
+23,0.383333333,BASELINE,765,745,715.642699252,678.357300748,662,636,879,787.642699252,804,651.357300748,631,653,0.400989238443,-0.0153479013612,0.0798475726421,0.999999924076,0.000283409338551,-0.000265327486665,3.35967701517e-05,1793239170071797248
+24,0.400000000,BASELINE,765,745,715.069543998,678.930456002,662,636,879,787.069543998,804,651.930456002,631,653,0.400991708856,-0.0153482961955,0.0798494292261,0.9999999242,0.000284969746739,-0.000263116208261,3.4090990655e-05,1793239170088463872
+25,0.416666667,BASELINE,765,745,715,678.494595806,661.494595806,636,879,787.505404194,804,652,631.505404194,653,0.400990555401,-0.0153489323845,0.0798486758449,0.999999923944,0.000284467584708,-0.000264646153444,3.39438375522e-05,1793239170105130240
+26,0.433333333,BASELINE,765.083157083,745,715,678.083157083,661,636,879,788.083157083,804,652,632,653.083157083,0.400989340594,-0.0153494366299,0.0798479025346,0.999999923774,0.000283734316072,-0.00026609890358,3.37335281853e-05,1793239170121797120
+27,0.450000000,BASELINE,765.676601737,745,715,678.676601737,661,636,879,788.676601737,804,652,632,653.676601737,0.40099082011,-0.0153489266927,0.0798492185709,0.999999924471,0.000283330665563,-0.000263907701783,3.36791541253e-05,1793239170138463744
+28,0.466666667,BASELINE,765.737041032,745,715.262958968,679,661,636,879,788.737041032,804,652,631.737041032,653.737041032,0.400990591503,-0.0153485909347,0.0798492955215,0.999999924756,0.000282500136677,-0.000263739868376,3.34986086881e-05,1793239170155130624
+29,0.483333333,BASELINE,765.15917149,745,715.84082851,679,661,636,879,788.15917149,804,652,631.15917149,653.15917149,0.400988317307,-0.0153484637676,0.0798478885856,0.999999924548,0.000281158393023,-0.000265995151176,3.3166964772e-05,1793239170171797248
+30,0.500000000,BASELINE,765,745,715.584544208,679,661,636,879.415455792,788,804,652,631.415455792,653,0.400989080845,-0.0153483720456,0.0798481980957,0.999999924439,0.000281991676555,-0.000265505013382,3.33008431939e-05,1793239170188463616
+31,0.516666667,BASELINE,765,745,715.011149511,679,661,636,879.988850489,788,804,652,631.988850489,653,0.400990999203,-0.0153482937984,0.0798491601266,0.999999924366,0.000283651814431,-0.000263971181521,3.36116937347e-05,1793239170205130240
+32,0.533333333,BASELINE,765,745,715.575550857,679,661.575550857,636,879.424449143,788,804,652,631.424449143,653,0.400990093085,-0.0153495851512,0.0798484121179,0.999999924318,0.000282869666642,-0.000264981229489,3.36576673606e-05,1793239170221796864
+33,0.550000000,BASELINE,765.16138501,745,715.83861499,678.83861499,661.83861499,636,879,788,804,652,631,653.16138501,0.40098946738,-0.0153502060271,0.0798478817066,0.999999924309,0.000282325080114,-0.000265597054956,3.36489256314e-05,1793239170238463744
+34,0.566666667,BASELINE,765.744267609,745,715.255732391,678.255732391,661.255732391,636,879,788,804,652,631,653.744267609,0.400989720326,-0.0153490048493,0.0798480081725,0.999999924401,0.000282527435417,-0.000265051516531,3.35109994516e-05,1793239170255130368
+35,0.583333333,BASELINE,766,745,715,678.322173449,661.322173449,636,879,788,804,652,631.322173449,654,0.400990105,-0.0153484857569,0.0798484976664,0.999999924466,0.000283239177093,-0.000264051828689,3.34560772287e-05,1793239170271796992
+36,0.600000000,BASELINE,766,745,715,678.896189031,661.896189031,636,879,788,804,652,631.896189031,654,0.400990592646,-0.0153484998488,0.0798492709384,0.999999924508,0.000284349104775,-0.000262697133389,3.34660389648e-05,1793239170288463616
+37,0.616666667,BASELINE,766,745,715.470772082,679,661.529227918,636,879,788.470772082,804,652,631.529227918,654,0.400991070609,-0.0153485485887,0.0798494092247,0.999999924707,0.000283843004651,-0.000262501688836,3.33584476028e-05,1793239170305130496
+38,0.633333333,BASELINE,765.953413568,745,715.953413568,679,661.046586432,636,879,788.953413568,804,652,631.046586432,654,0.400991465249,-0.0153486925771,0.0798493617465,0.999999924956,0.000282837420624,-0.000262651579338,3.32387646202e-05,1793239170321797120
+39,0.650000000,BASELINE,765.364728742,745,715.364728742,679,661.635271258,636,879,788.364728742,804,652,631.635271258,654,0.400990915179,-0.0153498559028,0.079848783958,0.999999925392,0.000280171320915,-0.000263841736906,3.32803800972e-05,1793239170338464768
+40,0.666666667,BASELINE,765.220429846,745,715,679,661.779570154,636,879,788,804,652,632,654,0.400990902837,-0.0153503407614,0.07984882612,0.999999925643,0.00027922920138,-0.000263879985789,3.33648214051e-05,1793239170355131904
+41,0.683333333,BASELINE,765.799845664,745,715,679,661.200154336,636,879,788,804,652,632,654,0.400991766222,-0.0153497206874,0.0798498779161,0.999999925598,0.000281094708614,-0.000262042267857,3.35190076792e-05,1793239170371798272
+42,0.700000000,BASELINE,765.622425469,745,715,679,661,636,879,788,804,651.622425469,632,653.622425469,0.400991959319,-0.0153495903172,0.0798500563258,0.999999925574,0.000281550198277,-0.000261647933126,3.34866129345e-05,1793239170388464640
+43,0.716666667,BASELINE,765.045586905,745,715,679,661,636,879,788,804,651.045586905,632,653.045586905,0.400991798673,-0.0153497183869,0.0798497738078,0.999999925564,0.000281261554567,-0.000262015340398,3.33557505103e-05,1793239170405131008
+44,0.733333333,BASELINE,765.540554385,745,715,678.459445615,661.540554385,636,879,788,804,651.540554385,632,653,0.400992542768,-0.0153490408671,0.0798506869511,0.999999925588,0.000282548745541,-0.000260530940077,3.33882455213e-05,1793239170421797376
+45,0.750000000,BASELINE,765.874267142,745,715.125732858,678.125732858,661.874267142,636,879,788,804,652,632,653,0.400992837749,-0.0153485610104,0.079851204651,0.999999925612,0.000283281206219,-0.000259634489074,3.34452335396e-05,1793239170438463744
+46,0.766666667,BASELINE,765.29543518,745,715.70456482,678.70456482,661.29543518,636,879,788,804,652,632,653,0.400991234502,-0.0153490425796,0.0798499275685,0.999999925636,0.000281527306105,-0.000261429448762,3.35399708191e-05,1793239170455130368
+47,0.783333333,BASELINE,765,745,716,678.716544471,661,636,879,788,804,652,632,653.283455529,0.40099061575,-0.0153497086988,0.0798493379383,0.999999925418,0.000281223249407,-0.000262583241557,3.3584349544e-05,1793239170471796992
+48,0.800000000,BASELINE,765,745,716,678.137592449,661,636,879,788,804,652,632,653.862407551,0.400991023312,-0.0153505672077,0.0798494649628,0.99999992495,0.000282430624095,-0.000263068631427,3.35762305352e-05,1793239170488463616
+49,0.816666667,BASELINE,765.436689465,745,716,678.436689465,661.436689465,636,879,788,804.436689465,652,632,653.563310535,0.400991199994,-0.0153504451553,0.0798492192766,0.999999924786,0.000283041993559,-0.000263026961639,3.36428946015e-05,1793239170505130240
+50,0.833333333,BASELINE,765.990182806,745,715.990182806,678.990182806,661.990182806,636,879,788,804.990182806,652,631.990182806,653,0.40099130652,-0.0153500244121,0.0798488675657,0.999999924728,0.000283431389599,-0.000262818564532,3.37283597434e-05,1793239170521797120
+51,0.850000000,BASELINE,765.399192128,745,715.399192128,678.399192128,661.399192128,636,879,788,804.399192128,652,631.399192128,653,0.400991520876,-0.0153500178288,0.0798491177215,0.999999925321,0.000281679499019,-0.000262467013983,3.35466984206e-05,1793239170538464000
+52,0.866666667,BASELINE,765,745,715.186783868,678,661.186783868,636,879,788,804,652,631.186783868,653.186783868,0.400991536585,-0.0153503521733,0.0798493137457,0.999999925766,0.000280341729051,-0.000262212326956,3.34967341263e-05,1793239170555130624
+53,0.883333333,BASELINE,765,745,715.762322725,678,661.762322725,636,879,788,804,652,631.762322725,653.762322725,0.400991138849,-0.015351396094,0.0798493971051,0.999999925905,0.00027986587224,-0.000262159242891,3.37208720833e-05,1793239170571796992
+54,0.900000000,BASELINE,765.339548184,745,715.660451816,678.339548184,661.660451816,636,879,788,804,651.660451816,631.660451816,653.660451816,0.400990591444,-0.0153510323078,0.0798490103421,0.999999925699,0.00028008893551,-0.000262713835961,3.36693518294e-05,1793239170588463360
+55,0.916666667,BASELINE,765.917960103,745,715.082039897,678.917960103,661.082039897,636,879,788,804,651.082039897,631.082039897,653.082039897,0.40098993875,-0.0153496782346,0.0798482928597,0.999999925248,0.000280803671756,-0.000263695914842,3.34239128447e-05,1793239170605129984
+56,0.933333333,BASELINE,765.506702532,745,715.493297468,679,661.493297468,636,879,788,804,651.493297468,631,653,0.40098948519,-0.015349802235,0.0798480016569,0.999999924769,0.000282290876865,-0.000263921331997,3.34448036706e-05,1793239170621796864
+57,0.950000000,BASELINE,765.070280395,745,715.929719605,678.929719605,661.929719605,636,879,788,804,652,631.070280395,653,0.400989073633,-0.0153501334698,0.0798477758841,0.999999924381,0.000283504062626,-0.000264090890882,3.34553419179e-05,1793239170638463488
+58,0.966666667,BASELINE,765.663281638,745,715.336718362,678.336718362,661.336718362,636,879,788,804,652,631.663281638,653,0.400988729685,-0.0153501890633,0.0798475127368,0.999999924715,0.000281729601794,-0.000264775150309,3.30614854039e-05,1793239170655130368
+59,0.983333333,BASELINE,765.751523821,745,715,678.248476179,661.248476179,636,879.248476179,788,804,652,631.751523821,653,0.400989109184,-0.015349899172,0.0798476409891,0.999999924895,0.000281285388581,-0.000264597562876,3.28106100297e-05,1793239170671797504
+60,1.000000000,BASELINE,765.176586068,745,715,678.823413932,661.823413932,636,879.823413932,788,804,652,631.176586068,653,0.400990439186,-0.015349155364,0.0798482834835,0.999999924875,0.000282588927091,-0.000263287634068,3.27475910307e-05,1793239170688464128
+61,1.016666667,BASELINE,765,745,715,679,661.599733643,636,880,788,804,652,631.400266357,653,0.400990256565,-0.0153491870358,0.0798484611856,0.999999924739,0.000283115787599,-0.000263240013146,3.27483893534e-05,1793239170705130496
+62,1.033333333,BASELINE,765,745,715,679,661.022032494,636,880,788,804,652,631.977967506,653,0.40098940341,-0.0153495624716,0.079848432849,0.999999924551,0.000283298353045,-0.000263751963031,3.27774773747e-05,1793239170721797120
+63,1.050000000,BASELINE,765,745,715,679,661,636,880,788,804,652,632,653,0.400989624406,-0.0153492280646,0.0798486622848,0.999999924774,0.000282244669835,-0.000264022094306,3.29078994067e-05,1793239170738463744
+64,1.066666667,BASELINE,765.124979814,745,715,678.875020186,661,636,879.875020186,788,803.875020186,651.875020186,632,653,0.400990184623,-0.0153490409344,0.0798490934233,0.999999925187,0.000281072202573,-0.000263684991559,3.30707942959e-05,1793239170755130112
+65,1.083333333,BASELINE,765.72374945,745,715,678.27625055,661,636,879.27625055,788,803.27625055,651.27625055,632,653,0.400991869349,-0.015349518818,0.0798502504572,0.999999926264,0.000279635256244,-0.000261082254899,3.33415598153e-05,1793239170771796736
+66,1.100000000,BASELINE,765.691891572,745,715.308108428,678,661.308108428,636,879,788,803.308108428,651,632,653,0.400991876183,-0.01535023138,0.079850223493,0.999999926482,0.00027904130345,-0.000260890513559,3.32898259313e-05,1793239170788463616
+67,1.116666667,BASELINE,765.119875931,745,715.880124069,678,661.880124069,636,879,788,803.880124069,651,632,653,0.400990445835,-0.0153511449534,0.0798491823869,0.999999925967,0.00027916940847,-0.000262763886444,3.29618583734e-05,1793239170805130496
+68,1.133333333,BASELINE,765.456565377,745,715.543434623,678.456565377,662,636,879.456565377,788,803.543434623,651.456565377,631.543434623,653,0.400990316522,-0.0153497827118,0.0798490552703,0.999999925257,0.000281563558952,-0.00026290836378,3.29644094974e-05,1793239170821797632
+69,1.150000000,BASELINE,766,745,715.034888602,679,662.034888602,636,879.965111398,788,803,652,631.034888602,653.034888602,0.400990502359,-0.0153480142014,0.0798491760175,0.999999924577,0.000284227460498,-0.000262615580523,3.30607189276e-05,1793239170838464768
+70,1.166666667,BASELINE,766,745,715.624476269,679,662.624476269,636,879.375523731,788,803,652,631.624476269,653.624476269,0.400990214521,-0.0153493797148,0.0798493848068,0.999999925295,0.000281628005424,-0.000262658619166,3.32544549427e-05,1793239170855130880
+71,1.183333333,BASELINE,765.790410376,745.209589624,715.790410376,679,662.580820753,636,879,788,803.209589624,652,631.790410376,653.790410376,0.400990216487,-0.0153504290148,0.0798494876423,0.999999925863,0.000279812540254,-0.000262427986114,3.33129608764e-05,1793239170871796992
+72,1.200000000,BASELINE,765.213146034,745.786853966,715.213146034,679,661.426292067,636,879,788,803.786853966,652,631.213146034,653.213146034,0.400990726844,-0.0153509235946,0.0798494046074,0.999999926179,0.000279372396883,-0.000261717261725,3.31342381031e-05,1793239170888463360
+73,1.216666667,BASELINE,765.364267363,745.635732637,715,679,661,636,879,788,804,652,631.364267363,653,0.400990037115,-0.0153505053144,0.0798489663872,0.999999926004,0.000279293013971,-0.000262496601303,3.29227927416e-05,1793239170905130240
+74,1.233333333,BASELINE,765.941767977,745.058232023,715,679,661,636,879,788,804,652,631.941767977,653,0.400988644884,-0.0153495526682,0.07984832025,0.999999925539,0.00027942481148,-0.000264148188118,3.26921923838e-05,1793239170921796864
+75,1.250000000,BASELINE,766,745,715.527820806,679,661.527820806,636,879,788,804,652,631.472179194,653.527820806,0.400989198464,-0.015349735462,0.0798488520626,0.999999925832,0.000279157926582,-0.000263304189865,3.28194654977e-05,1793239170938464000
+76,1.266666667,BASELINE,766,745,716,679,662,636,879,788,804.113345594,651.886654406,631.113345594,654,0.400989702003,-0.0153500189974,0.0798493298826,0.999999925976,0.000279353057121,-0.000262531677601,3.29794437483e-05,1793239170955130880
+77,1.283333333,BASELINE,766,745,716,679,662,636,879,788,804.692755551,651.307244449,631.692755551,654,0.400989102536,-0.0153501931999,0.0798490425181,0.999999925156,0.000281631782509,-0.000263203864278,3.3108880326e-05,1793239170971797504
+78,1.300000000,BASELINE,766,745,716,679,661.728882962,636,879,788,804.728882962,651,632,653.728882962,0.400988980159,-0.0153497597807,0.0798488254579,0.999999924749,0.00028281587446,-0.00026348289676,3.30777588878e-05,1793239170988464128
+79,1.316666667,BASELINE,766,745,716,679,661.151705121,636,879,788,804.151705121,651,632,653.151705121,0.400989396364,-0.0153486404248,0.0798486877635,0.999999924814,0.000282764247574,-0.000263318102099,3.28653854041e-05,1793239171005130496
+80,1.333333333,BASELINE,765.577023007,745,716,679,661.422976993,636,879,788,804,651,631.577023007,653.422976993,0.400989549519,-0.0153489410456,0.0798484876897,0.999999924738,0.000282913454212,-0.000263428746233,3.2993978668e-05,1793239171021796864
+81,1.350000000,BASELINE,765.003230714,745,716,679,661.996769286,636,879,788,804,651,631.003230714,653.996769286,0.40098960888,-0.0153497479685,0.0798482653739,0.999999924613,0.000283134269396,-0.000263637599915,3.32441459076e-05,1793239171038463488
+82,1.366666667,BASELINE,765.587679487,745,716,679,661.412320513,636,879,788,804,651.587679487,631.587679487,654,0.400987846706,-0.0153491184475,0.0798479878522,0.999999924211,0.000283374693154,-0.000264909092279,3.31660192575e-05,1793239171055130368
+83,1.383333333,BASELINE,765.824836308,745,716,679,661.175163692,636,879,788,804,652,632,653.824836308,0.400987239579,-0.0153487790045,0.0798480135582,0.999999924113,0.000283310523547,-0.000265352614159,3.31262670916e-05,1793239171071796992
+84,1.400000000,BASELINE,765.24548116,745,716,679,661.75451884,636,879,788,804,652,632,653.24548116,0.400989321528,-0.0153491276868,0.0798487396857,0.99999992472,0.000282543246449,-0.000263871704232,3.31793537563e-05,1793239171088463872
+85,1.416666667,BASELINE,765.330961709,745,716,679,662,636,879,788,804,652,632,653,0.400990556359,-0.0153495326087,0.0798495660842,0.999999925263,0.000281892228921,-0.000262527567511,3.30066409767e-05,1793239171105130752
+86,1.433333333,BASELINE,765.905263288,745,716,679,662,636,879,788,804,652,632,653,0.400991168347,-0.0153499788808,0.0798504662069,0.999999925759,0.000281326691386,-0.000261283993491,3.2667908966e-05,1793239171121797376
+87,1.450000000,BASELINE,765.519795477,745,716,679,662,636,879,788.480204523,804.480204523,652,632,653.480204523,0.400991353865,-0.0153510833593,0.0798501686086,0.999999925913,0.000280740174949,-0.000261253264883,3.32439383456e-05,1793239171138464000
+88,1.466666667,BASELINE,765,745,715.943035843,679,661.943035843,636,879,788.943035843,804.943035843,652,632,653.943035843,0.400991436468,-0.0153521301174,0.0798496804174,0.99999992598,0.000280229721504,-0.000261461987507,3.39060384996e-05,1793239171155130112
+89,1.483333333,BASELINE,765,745,715.350363766,679,661.350363766,636,879,788.350363766,804.350363766,652,632,653.350363766,0.400991343509,-0.0153514112447,0.0798496249515,0.999999925865,0.000280473561546,-0.000261669365116,3.3678136553e-05,1793239171171796736
+90,1.500000000,BASELINE,765.23589264,745,715,679,661.23589264,636,879,788,804,652,632,653,0.400990979051,-0.0153501558292,0.0798495316288,0.999999925438,0.000281786845011,-0.000261938380274,3.33044116883e-05,1793239171188463360
+91,1.516666667,BASELINE,765.812872308,745,715,679,661.812872308,636,879,788,804,652,632,653,0.400990222021,-0.0153481246041,0.0798493835673,0.999999924553,0.000284646481406,-0.000262296519723,3.27198353903e-05,1793239171205129984
+92,1.533333333,BASELINE,765.610522125,744.610522125,715,679,662,636,879,788,804,652,632,653,0.400989980475,-0.0153487057139,0.0798493750542,0.999999924761,0.000284128231224,-0.000262052065296,3.28373662568e-05,1793239171221797120
+93,1.550000000,BASELINE,765.034096073,744.034096073,715,679,662,636,879,788,804,652,632,653,0.400989986358,-0.0153505407362,0.0798494335238,0.999999925491,0.000281988606175,-0.000261518367702,3.32919063405e-05,1793239171238464512
+94,1.566666667,BASELINE,765,744.53937999,715.53937999,679,661.46062001,636,879.53937999,788,804,652,632,653.53937999,0.400989794347,-0.0153494898407,0.0798493442699,0.999999925099,0.00028286689249,-0.000262096509626,3.3066469225e-05,1793239171255131136
+95,1.583333333,BASELINE,765,745,716,679,661.116946207,636,879.883053793,788,804,652,631.883053793,653.883053793,0.400989569406,-0.0153489630418,0.0798492429911,0.999999924862,0.00028320649313,-0.00026265779205,3.2888709519e-05,1793239171271798016
+96,1.600000000,BASELINE,765,745,716,679,661.7119922,636,879.2880078,788,804,652,631.2880078,653.2880078,0.400989260709,-0.0153513206048,0.0798491305204,0.999999925545,0.000280568163213,-0.000262864380532,3.30806348877e-05,1793239171288463872
+97,1.616666667,BASELINE,765,745,716,679,661.703268327,636,879,788,804,652,631.296731673,653,0.400988865134,-0.0153514657116,0.0798489457938,0.999999925485,0.000280320125599,-0.000263353487149,3.31006103883e-05,1793239171305130240
+98,1.633333333,BASELINE,765,745,716,679,661.128196604,636,879,788,804,652,631.871803396,653,0.400988388065,-0.0153495354914,0.0798486932898,0.99999992473,0.000282314228572,-0.000264107601233,3.29592935741e-05,1793239171321797120
+99,1.650000000,BASELINE,765,745.446837473,715.553162527,679,661.446837473,636,879,788,804,652,632,653,0.400990000712,-0.0153498527491,0.0798493844916,0.999999925042,0.000282398968119,-0.000262825995089,3.30096251861e-05,1793239171338463744
+100,1.666666667,BASELINE,765.022374406,745.977625594,715,679,662,636,879.022374406,788,804.022374406,652,632,653.022374406,0.400992066874,-0.0153507980726,0.0798502722258,0.999999925636,0.000281903734665,-0.000261076821868,3.31136309961e-05,1793239171355130624
+101,1.683333333,BASELINE,765.610909089,745.389090911,715,679,662,636,879.610909089,788,804.610909089,652,632,653.610909089,0.400990439429,-0.0153513214289,0.0798492826192,0.999999925689,0.000280593022876,-0.000262273707766,3.31846241927e-05,1793239171371797248
+102,1.700000000,BASELINE,766,745,715.197371294,679,662,636,879.802628706,788,804.802628706,652,632,653.802628706,0.400989260159,-0.015351119357,0.0798486809349,0.999999925505,0.000280407412058,-0.000263162197654,3.32658944933e-05,1793239171388463872
+103,1.716666667,BASELINE,766,745,715.779790276,679,662,636,879.220209724,788,804.220209724,652,632,653.220209724,0.400988955226,-0.0153495020618,0.0798488360407,0.999999924861,0.000282416738252,-0.000263449043827,3.33672141809e-05,1793239171405130496
+104,1.733333333,BASELINE,765.643122891,745,716,679,662,636,879,788,804,651.643122891,632,653.356877109,0.400989238411,-0.0153491164502,0.0798492436364,0.99999992467,0.000283824455017,-0.000262653777374,3.34090754436e-05,1793239171421796864
+105,1.750000000,BASELINE,765.069277752,745,716,679,662,636,879,788,804,651.069277752,632,653.930722248,0.40098987915,-0.0153494796562,0.0798498047365,0.999999924754,0.00028486641578,-0.000261200626653,3.34147882013e-05,1793239171438463488
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,716,679,661,636,879,788,804,652,632,654,0.400990982816,-0.0153492897896,0.0798493853757,0.999999926007,0.000280184627944,-0.000261565370553,3.26508952787e-05,1793239171468788992
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.578905729,745.578905729,715.421094271,679,661.578905729,636,879.578905729,788,804,652,632,654,0.400989679459,-0.0153506799877,0.0798490906739,0.999999925572,0.000280752446294,-0.00026258438947,3.29226802091e-05,1793239171485455360
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.843085687,745.843085687,715,678.843085687,662,636,879.843085687,788,804,652,631.843085687,653.843085687,0.400988678594,-0.0153517641499,0.0798487644944,0.999999925192,0.000281258156591,-0.000263450490128,3.3217202566e-05,1793239171502121728
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.267470865,745.267470865,715,678.267470865,662,636,879.267470865,788,804,652,631.267470865,653.267470865,0.400988484883,-0.0153520317051,0.0798483543218,0.999999924964,0.000281598141694,-0.000263908553329,3.35723961348e-05,1793239171518787840
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.307066202,745,715.307066202,678.307066202,662,636,879,788,804,652,631.307066202,653,0.400988703457,-0.0153515846436,0.0798486247874,0.999999924945,0.000281922965091,-0.000263636898387,3.35449507312e-05,1793239171535454464
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.880667737,745,715.880667737,678.880667737,662,636,879,788,804,652,631.880667737,653,0.400989279896,-0.0153505172903,0.0798494860512,0.999999925107,0.000282234628014,-0.000262731843629,3.31853723492e-05,1793239171552121088
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.469225955,716,679,662,636,879,788,804,652,632,653.469225955,0.400990135568,-0.0153503925715,0.0798496778058,0.999999925158,0.000282143708715,-0.000262647784329,3.310670096e-05,1793239171568787456
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.939843476,745.939843476,715.939843476,678.939843476,661.939843476,636,879,788,804,652,631.939843476,653.939843476,0.400991214166,-0.0153504485234,0.0798499054961,0.999999925262,0.000282009460677,-0.000262390289545,3.31299938975e-05,1793239171585454080
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.362300917,745.362300917,715.362300917,678.362300917,661.362300917,636,879,788,804,652,631.362300917,653.362300917,0.400993579213,-0.0153499286554,0.0798519548886,0.999999926079,0.000282412116123,-0.000258786248394,3.33955907804e-05,1793239171602120704
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.214777846,745,715.214777846,678,661,636,879,788,803.785222154,652,631.214777846,653.214777846,0.400997434922,-0.0153499349766,0.0798542172828,0.999999927003,0.000282346391402,-0.000255234946169,3.36205808463e-05,1793239171618787584
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.791075878,745,715.791075878,678,661,636,879,788,803.208924122,652,631.791075878,653.791075878,0.401003799758,-0.0153508269946,0.0798568382076,0.999999928116,0.000281492275813,-0.00025177241597,3.3777220335e-05,1793239171635454464
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.633985091,745,716,678.366014909,661,636,879,788,803.366014909,652,632,653.633985091,0.401024059553,-0.0153521394254,0.0798653408683,0.999999931684,0.000281562346184,-0.000237019756817,3.43037281994e-05,1793239171652121088
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.059818864,745,716,678.940181136,661,636,879,788,803.940181136,652,632,653.059818864,0.401052221361,-0.0153536909435,0.0798771884506,0.999999936285,0.000282157997493,-0.000215846442873,3.50405788368e-05,1793239171668787456
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715.468783102,678.468783102,661.531216898,636,879,788,804,652,632,653,0.401106001076,-0.0153552384685,0.0798958914244,0.999999943259,0.000282607885331,-0.000179757090573,3.60816786186e-05,1793239171685454848
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.120745618,745,715.120745618,678,661.879254382,636,879,788,804,652,632,653,0.401165826181,-0.0153571721915,0.0799141889008,0.999999948838,0.000282636848631,-0.000145205105314,3.68226379911e-05,1793239171702121728
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.697182655,745,715.697182655,678,661.302817345,636,879,788,804,652,632,653,0.401237222378,-0.0153605651709,0.0799279471054,0.999999952256,0.000281141230754,-0.000123001984204,3.62973345139e-05,1793239171718788096
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.726712621,745,715.726712621,678.273287379,661.273287379,636,879,788.273287379,804.273287379,652,632,653,0.401312705156,-0.0153634680965,0.0799378402183,0.999999954534,0.000279389462015,-0.000107854266688,3.52224142317e-05,1793239171735454720
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.150975705,745,715.150975705,678.849024295,661.849024295,636,879,788.849024295,804.849024295,652,632,653,0.401392710586,-0.0153658286748,0.0799434557994,0.999999955923,0.000277354209062,-0.00010051482754,3.35392282596e-05,1793239171752121088
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715.432666277,679,661.567333723,636,879,788.567333723,804.567333723,652,632,653,0.401485961457,-0.0153701544108,0.0799469661069,0.99999995742,0.000274649303834,-9.36359477091e-05,3.09755437285e-05,1793239171768787456
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715.981119068,679,661.018880932,636,879,788,804,652,632,653,0.401584815309,-0.0153751756085,0.0799497006227,0.999999958894,0.000271747381137,-8.7043464895e-05,2.80690376903e-05,1793239171785454080
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715.401939434,679,661.598060566,636,879,788,804,652,632,653,0.401710230628,-0.0153801069703,0.0799516190646,0.999999959703,0.000270062191745,-8.40920679729e-05,2.42764221387e-05,1793239171802120704
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,879,788,804,652,631.823085501,653.176914499,0.401847041275,-0.0153851091113,0.0799548683138,0.999999961207,0.000266728131036,-7.77200790433e-05,2.00557146105e-05,1793239171818787840
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,879,788,804,652,631.244970259,653.755029741,0.402009693845,-0.0153902717627,0.0799611355226,0.999999964157,0.000259654815681,-6.35909871471e-05,1.48641950282e-05,1793239171835454720
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715.329574711,679,662,636,879,788,804,652,631,653.670425289,0.402177984243,-0.0153952094596,0.079962128068,0.99999996644,0.000251554657433,-6.12788608358e-05,9.24973815404e-06,1793239171852121600
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715.901494426,679,662,636,879,788,804,652,631,653.098505574,0.4023504203,-0.0153999817419,0.0799592420146,0.999999968254,0.000242699433715,-6.76560604422e-05,3.32428376142e-06,1793239171868788224
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.489938648,745,716,679,662,636,879,788,804,652,631.489938648,653,0.402542575722,-0.0154063964455,0.0799544336345,0.99999997532,0.000208516200471,-7.65781931913e-05,-4.03661308528e-06,1793239171885454592
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.919886888,744.919886888,715.919886888,679,662,636,879.080113112,788,804,652,631.919886888,653,0.402746611476,-0.0154134070993,0.0799501542513,0.99999998194,0.000170072786295,-8.40111867514e-05,-1.17076121927e-05,1793239171902121216
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.340360164,744.340360164,715.340360164,679,662,636,879.659639836,788,804,652,631.340360164,653,0.402999129436,-0.0154220024259,0.0799516660233,0.99999998719,0.000137925181804,-7.88600508661e-05,-1.94498227175e-05,1793239171918787840
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.237080425,715,679,661.762919575,636,880,788,804.237080425,652,631.237080425,653,0.403272641557,-0.0154309930657,0.0799540845084,0.999999990351,0.000115846851184,-7.26323347316e-05,-2.45377184502e-05,1793239171935454464
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.811552184,715,679,661.188447816,636,880,788,804.811552184,652,631.811552184,653,0.403576030649,-0.0154405462789,0.0799577933452,0.999999991719,0.000108098198869,-6.48725277485e-05,-2.58482339597e-05,1793239171952121088
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.392367469,636,879.607632531,788,804.607632531,652,631.607632531,653,0.40388930315,-0.0154491446192,0.0799599723952,0.999999992982,9.74594855913e-05,-6.2100052653e-05,-2.61055148261e-05,1793239171968787712
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.976279497,636,879.023720503,788,804.023720503,652,631.023720503,653,0.404207400489,-0.0154572768127,0.0799614046393,0.999999994111,8.54099128225e-05,-6.17622757715e-05,-2.58486312995e-05,1793239171985454592
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715.560061575,679,662,636,879,788,804,652,631.560061575,653,0.404582722989,-0.0154677587766,0.0799615985108,0.999999995622,6.89649942603e-05,-5.60490218857e-05,-2.93106201466e-05,1793239172002121216
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715.8577154,679,662,636,879,788.1422846,804,652,631.8577154,653.1422846,0.404967720925,-0.0154802730592,0.0799606515124,0.999999996719,5.22725323436e-05,-5.32641718807e-05,-3.15124343179e-05,1793239172018787840
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715.280244125,679,662,636,879,788.719755875,804,652,631.280244125,653.719755875,0.405374900483,-0.0154986989986,0.0799563754719,0.999999997134,3.53921897803e-05,-6.01322170471e-05,-2.9378288748e-05,1793239172035454464
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715.295492969,679,662,636,879.295492969,788.704507031,804,652,631.295492969,654,0.405807090037,-0.0155123576474,0.0799504354312,0.999999996909,1.8655925127e-05,-7.05563014137e-05,-2.92635114545e-05,1793239172052121088
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715.869595037,679,662,636,879.869595037,788.130404963,804,652,631.869595037,654,0.406262860617,-0.0155215214011,0.0799429264674,0.99999999596,2.05550409489e-06,-8.43332408831e-05,-3.10527195655e-05,1793239172068787712
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715.557358829,679,662,636,879.557358829,788,804,652,632,653.557358829,0.406734627738,-0.0155095016682,0.0799401714616,0.999999995152,2.08098034824e-05,-9.05960223403e-05,-3.24787532965e-05,1793239172085454336
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.016025997,745,715,679,662,636,879,788.016025997,804,652,632,653,0.407211899283,-0.0154917832905,0.0799386815264,0.999999993723,4.90839063174e-05,-9.48913721783e-05,-3.37738272704e-05,1793239172102120960
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.612937417,745,715,679,662,636,879,788.612937417,804,652,632,653,0.407718276106,-0.0154931774679,0.0799324018651,0.999999992544,4.57823894372e-05,-0.000107922843851,-3.41909850589e-05,1793239172118787840
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,788.797800739,804,652,631.797800739,653,0.408247957308,-0.0154978039905,0.0799283465436,0.999999991943,3.68422393047e-05,-0.000116241268725,-3.52848858873e-05,1793239172135454976
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,788.222648445,804,652,631.222648445,653,0.408820623003,-0.0155083925179,0.0799283939786,0.999999992426,1.75017279883e-05,-0.000115866559619,-3.76270275082e-05,1793239172152121600
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.63992301,636,879,788,803.63992301,652,631,653,0.409445788923,-0.015512787143,0.0799489233684,0.999999996035,1.18007205919e-05,-7.98325123328e-05,-3.76385678783e-05,1793239172168788224
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.052414252,636,879,788,803.052414252,652,631,653,0.410104115004,-0.0155132695762,0.0799823895671,0.999999999011,1.47146950771e-05,-2.12753196422e-05,-3.61780540901e-05,1793239172185454848
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.471943234,745,715,679,661,636,879.528056766,788,803.528056766,652,631,653,0.41076204548,-0.0155125714435,0.0799956644946,0.999999999254,1.30203704576e-05,-9.54838787904e-07,-3.63476928847e-05,1793239172202121216
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,678.892727394,661,636,879.892727394,788,803.892727394,652,631.107272606,653,0.411415874502,-0.0155114349311,0.0799992932447,0.99999999924,1.06114631676e-05,3.41533659024e-06,-3.73514599465e-05,1793239172218787840
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,678.315987917,661,636,879.315987917,788,803.315987917,652,631.684012083,653,0.412051923359,-0.0155088859852,0.0799693621778,0.999999998081,7.05075713145e-06,-4.56278850673e-05,-4.13068816303e-05,1793239172235454976
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.259724673,745,715,678.259724673,661.519449346,636,879,788,803.259724673,651.740275327,631.740275327,653,0.412717574382,-0.0155083711888,0.0799429118546,0.999999995578,3.71529600517e-06,-8.20759282472e-05,-4.57570593614e-05,1793239172252121344
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.834192922,745,715,678.834192922,662.668385843,636,879,788,803.834192922,651.165807078,631.165807078,653,0.413419098444,-0.0155103214465,0.0799206796162,0.999999993378,6.52794194448e-07,-0.000103260693787,-5.08068006336e-05,1793239172268787968
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.579998308,745,715,678.579998308,662.159996616,636,879.420001692,788,804,651.420001692,631,653.420001692,0.41416916308,-0.0155139153033,0.0799299792328,0.999999995253,-3.59781733759e-06,-8.30447883487e-05,-5.08441252334e-05,1793239172285454848
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,678.010222657,661.010222657,636,879.989777343,788,804,652,631,653.989777343,0.414938900285,-0.015518082533,0.0799518874628,0.999999997691,-8.21083096327e-06,-4.65068720449e-05,-4.88722367738e-05,1793239172302121728
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,678.589915836,661.589915836,636,879.410084164,788,804,652,631,653.410084164,0.415707419306,-0.0155170418445,0.0799634966095,0.999999998152,-6.15841368298e-06,-3.64619856907e-05,-4.82644233012e-05,1793239172318787840
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,879.168294228,788,804,651.831705772,631,653,0.416474205741,-0.0155156333889,0.0799675647026,0.99999999816,-6.99771456215e-06,-3.52178784736e-05,-4.88894701268e-05,1793239172335454208
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,879.743493666,788,804,651.256506334,631,653,0.417236803045,-0.0155133357386,0.0799533998821,0.999999996986,-1.48286705829e-05,-5.52524747701e-05,-5.24953517048e-05,1793239172352120832
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715.306739098,679.306739098,662,636,880.306739098,788,804,651.306739098,631.306739098,653,0.418057781354,-0.0155146333672,0.0799654352681,0.999999998084,-1.64840304452e-05,-2.77364976287e-05,-5.2826870747e-05,1793239172368787456
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715.860363089,679.860363089,662,636,880.860363089,788,804,651.860363089,631.860363089,653,0.418925748707,-0.0155188247255,0.0799985583976,0.999999997913,-1.31688419011e-05,3.80514790453e-05,-5.05229554523e-05,1793239172385454080
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.460490574,745,715.539509426,679.539509426,662,636,880.539509426,788,804,652,632,653,0.41976288285,-0.0155214039041,0.0799993979504,0.999999997605,-1.70302780893e-05,4.39883272414e-05,-5.06476507842e-05,1793239172402120704
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.071504506,636,880,788,804.071504506,652,632,653,0.42059025525,-0.0155232752349,0.0799896322025,0.999999997962,-2.31932970842e-05,2.92516386161e-05,-5.17844130296e-05,1793239172418787584
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.648585921,636,880,788,804.648585921,652,632,653,0.42142213982,-0.0155239865461,0.0799818736308,0.999999998059,-2.85143743036e-05,1.10794735699e-05,-5.42850997171e-05,1793239172435454464
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.774739612,745,715,679.225260388,662.774739612,635.774739612,880,788,804.774739612,651.774739612,631.774739612,653,0.422267879314,-0.0155244512137,0.0799858352087,0.999999998081,-2.75400055368e-05,1.17226684945e-05,-5.4247098706e-05,1793239172452121344
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.198698765,745,715,679.801301235,662.198698765,635.198698765,880,788,804.198698765,651.198698765,631.198698765,653,0.423135194132,-0.0155245318025,0.0800080476618,0.999999997729,-1.67622298689e-05,4.16655552679e-05,-5.02557974385e-05,1793239172468787712
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.375214136,745,715,680,662,635.375214136,880,788,804,651.375214136,631,653,0.423969569935,-0.0155232498898,0.0800011743089,0.999999998403,-1.2121047301e-05,2.2148024754e-05,-5.0563200719e-05,1793239172485454080
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.94800648,745,715,680,662,635.94800648,880,788,804,651.94800648,631,653,0.424786600838,-0.0155212505184,0.0799789851098,0.999999998257,-1.07112390167e-05,-2.34141037776e-05,-5.31341925151e-05,1793239172502120704
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880,788,804,651.458913481,631.541086519,653,0.425637073606,-0.0155219300245,0.0799436676695,0.999999995875,-1.15855769398e-05,-6.99094189418e-05,-5.68259337422e-05,1793239172518787584
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.868434147,745,715,680,662,636,880.131565853,788,804.131565853,651.131565853,631.868434147,653,0.426495260868,-0.0155237058097,0.0799166175912,0.999999992862,-1.4739341095e-05,-0.000102394099554,-5.97897998305e-05,1793239172535454208
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.293543012,745,715,680,662,636,880.706456988,788,804.706456988,651.706456988,631.293543012,653,0.427368193008,-0.0155282744449,0.0799218416449,0.999999994081,-2.48054856024e-05,-8.73545142198e-05,-5.99239902681e-05,1793239172552121088
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880.717901247,788,804.717901247,652,631.282098753,653,0.428227509921,-0.0155300016177,0.0799310322847,0.999999995042,-2.8093053275e-05,-7.4954529245e-05,-5.92393068364e-05,1793239172568787712
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880.141476352,788,804.141476352,652,631.858523648,653,0.429072621409,-0.0155287641665,0.0799443614394,0.999999995907,-2.43082304152e-05,-6.53085573734e-05,-5.77002559744e-05,1793239172585454592
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.433204461,745,715,680,662,636,880.433204461,788,804,651.566795539,632,653.433204461,0.429955805807,-0.01553095137,0.0799779596281,0.999999997926,-2.75759202635e-05,-1.77822322601e-05,-5.54153287069e-05,1793239172602121216
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.992401218,788,804.007598782,651,632,653.992401218,0.430850807505,-0.0155342053097,0.0800178278038,0.999999997194,-3.30102167441e-05,4.15090453168e-05,-5.29012394716e-05,1793239172618787584
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.396261193,788,804.603738807,651,632,653.396261193,0.43170190912,-0.0155338030044,0.080032682486,0.999999996604,-2.85790670956e-05,5.77020932994e-05,-5.14289360664e-05,1793239172635454208
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715.192955884,680,662,636,880.192955884,788,804.807044116,651,631.807044116,653,0.432514611853,-0.0155321340413,0.0800206385955,0.999999997588,-2.81054198223e-05,3.52628482643e-05,-5.28320353395e-05,1793239172652121088
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715.768448271,680,662,636,880.768448271,788,804.231551729,651,631.231551729,653,0.433251188663,-0.0155279539193,0.079955268083,0.999999995542,-3.54775501126e-05,-6.37652085977e-05,-5.99356416861e-05,1793239172668787456
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715.656654206,680.343345794,662,636,881,788,804,651,631.343345794,653,0.434021427926,-0.0155270647508,0.0799215352732,0.999999991525,-4.09095582973e-05,-0.000105923075558,-6.36860517338e-05,1793239172685454080
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715.0821572,680.9178428,662,636,881,788,804,651,631.9178428,653,0.434814329769,-0.0155283911563,0.0799091019662,0.999999990834,-4.50354148547e-05,-0.000109794132417,-6.51789841909e-05,1793239172702120960
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,636,881,788,804.507032769,651.507032769,632,653,0.435627549989,-0.0155369212394,0.0799446061222,0.999999994849,-5.22570579708e-05,-6.11026160511e-05,-6.1941165267e-05,1793239172718787840
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662.096323794,636,881,788,804.903676206,651.903676206,632,653,0.436433271651,-0.0155454584191,0.0799833861255,0.999999996552,-5.80812494719e-05,-1.09093637265e-05,-5.8344028863e-05,1793239172735454720
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662.673870616,636,881,788,804.326129384,651.326129384,632,653,0.43718459254,-0.0155480255719,0.0799985679374,0.9999999969,-5.43430674638e-05,2.96662153587e-06,-5.68956623513e-05,1793239172752121088
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.250550868,715,681,662.749449132,635.749449132,881.250550868,788,804.250550868,651,631.749449132,653,0.437914835322,-0.0155508588866,0.0800024693774,0.99999999676,-5.66457275114e-05,7.00772363061e-06,-5.67653731483e-05,1793239172768787712
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.82610699,715,681,662.17389301,635.17389301,881.82610699,788,804.82610699,651,631.17389301,653,0.438617736308,-0.0155540374563,0.079991738338,0.999999996066,-6.67843432112e-05,-1.70861955401e-06,-5.83448448634e-05,1793239172785454080
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715.000235233,681,662,635,880.000235233,788,804.999764767,651,631,653,0.439876091785,-0.0155635660787,0.0799101089486,0.999999986274,-8.27697921231e-05,-0.000127798415481,-6.53385903995e-05,1793239172818787584
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715.270731059,681,662,635.729268941,880.270731059,788,804.729268941,650.270731059,631,653,0.441579806568,-0.0155699903429,0.0797360416262,0.999999912597,-0.000111054632295,-0.000394505909669,-8.2692808042e-05,1793239172868788224
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.304071235,715,681,662,635.695928765,880,788,805,650.304071235,631.304071235,653,0.442177194336,-0.0155795031229,0.0797471411378,0.999999918653,-0.000124530851117,-0.000374799478904,-8.19237743466e-05,1793239172885455360
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.878475995,715,681,662,635.121524005,880,788,805,650.878475995,631.878475995,653,0.442796114649,-0.0155932846537,0.0797955039688,0.999999942354,-0.000138726026977,-0.000300210188676,-7.69500092381e-05,1793239172902121984
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+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.93015097,715,681,661.139698059,635,880.93015097,787,804.93015097,651,631,653,0.446006400209,-0.0156353923637,0.0797377375312,0.999999896585,-0.000196949383921,-0.000402368894239,-7.83634294682e-05,1793239173018788608
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,746,714.1790344,681.1790344,661.8209656,634,880.1790344,786,804.1790344,652,631,653,0.448534867227,-0.0156467682004,0.0796605900998,0.999999846243,-0.00022296208094,-0.000500726455939,-8.41175385799e-05,1793239173168788480
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+242,4.033333333,POSE1_TO_POSE2_PRESS,765.116463911,745.883536089,715,681.116463911,660,634,881.767072179,785,804.116463911,651,631,653,0.449866012761,-0.0156724557135,0.0796366768258,0.999999815886,-0.000255248021853,-0.000544962459654,-7.80507010752e-05,1793239173735454208
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714.524622324,681,660,634,881.524622324,785,804.475377676,651,630.524622324,653,0.449866725703,-0.0156717439801,0.079637204503,0.99999981578,-0.000256220652604,-0.000544707258623,-7.80092803149e-05,1793239173752121088
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714.069905298,681,660.069905298,634,881,785,805,651,630.069905298,653.069905298,0.449867392192,-0.0156712058423,0.0796378890684,0.999999815637,-0.000257263974324,-0.000544508451869,-7.7790167317e-05,1793239173768787712
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714.647972617,681,660.647972617,634,881,785,805,651,630.647972617,653.647972617,0.449867628761,-0.01567187301,0.0796380328826,0.999999815903,-0.000256625608477,-0.000544350688306,-7.75841352334e-05,1793239173785454336
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.77554793,714.77554793,681,660.77554793,634,881,785,805,651,631,653.77554793,0.449868319057,-0.015671742738,0.0796385465309,0.999999816495,-0.000255965353265,-0.000543594749333,-7.74407321246e-05,1793239173802120960
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.201541284,714.201541284,681,660.201541284,634,881,785,805,651,631,653.201541284,0.449869715974,-0.0156703705587,0.079639636147,0.999999817592,-0.000255271008148,-0.00054190723081,-7.73948653752e-05,1793239173818787584
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745,714.382251703,681,660,634,881,785,805,651,631,653,0.449869246551,-0.0156697961458,0.0796392525143,0.999999817338,-0.000255231860998,-0.000542355059844,-7.76671313748e-05,1793239173835454464
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745,714.97134005,681,660,634,881,785,805,651,631,653,0.449867767251,-0.015669653405,0.0796380717057,0.999999816352,-0.000255547241932,-0.000543958326924,-7.81115392135e-05,1793239173852121088
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745,714.448408326,681,660,634,880.448408326,785,805,651,631,653,0.449868740829,-0.0156702110361,0.0796385582879,0.999999816676,-0.000255705999238,-0.000543368268556,-7.75450203888e-05,1793239173868787712
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.130287246,785,805,651,631,653,0.449869084132,-0.0156705817966,0.07963847779,0.999999816645,-0.000255431964582,-0.000543623082185,-7.70657869597e-05,1793239173885454080
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.705214592,785,805,651,631,653,0.449866848356,-0.0156701925773,0.0796361709748,0.999999815164,-0.00025370824652,-0.00054714404165,-7.7060872089e-05,1793239173902121216
+253,4.216666667,HOLD_POSE2,765,746,715,681,660,633,881,785,805,651,631,654,0.449863975232,-0.01567303908,0.0796350764687,0.999999813945,-0.000254913484392,-0.000548817942553,-7.69944873751e-05,1793239173939672320
+254,4.233333333,HOLD_POSE2,765,745.410550268,714.410550268,681,660,633,881,785,804.410550268,651,631,653.410550268,0.449866131755,-0.0156704772848,0.0796362630689,0.999999815143,-0.000253068027227,-0.000547493107483,-7.69562264726e-05,1793239173956338432
+255,4.250000000,HOLD_POSE2,764.823853654,745.176146346,714.176146346,681,660,633,881,785,804.176146346,651,631,653,0.449867962798,-0.0156687034054,0.0796371621612,0.999999816108,-0.000252179365864,-0.000546136591404,-7.69719106241e-05,1793239173973004800
+256,4.266666667,HOLD_POSE2,764.243474962,745.756525038,714.756525038,681,660,633,881,785,804.756525038,651,631,653,0.449869046904,-0.0156687376873,0.0796374014614,0.999999816546,-0.000253486422763,-0.000544707371385,-7.71113914653e-05,1793239173989671168
+257,4.283333333,HOLD_POSE2,764.334200428,745.665799572,715,681,660,633,880.665799572,785,805,651,631,653,0.449869241494,-0.0156684872386,0.0796371269618,0.999999816637,-0.000253611643119,-0.000544509757986,-7.691380417e-05,1793239174006337536
+258,4.300000000,HOLD_POSE2,764.90992215,745.09007785,715,681,660,633,880.09007785,785,805,651,631,653,0.449868793245,-0.0156680310199,0.0796364811474,0.999999816478,-0.000252882769066,-0.000545202207044,-7.64726231252e-05,1793239174023004160
+259,4.316666667,HOLD_POSE2,765,745,714.506176002,681,660,633.493823998,880,785,805,651,631,653,0.44986807744,-0.0156697077167,0.0796358621872,0.999999815106,-0.000255086081508,-0.000546656087588,-7.6722292962e-05,1793239174039671296
+260,4.333333333,HOLD_POSE2,765.078439045,745.078439045,714.078439045,681,660,634,880.078439045,785,804.921560955,651,631,653,0.44986750369,-0.0156713640774,0.0796354450395,0.999999813813,-0.000257310004331,-0.000547927510468,-7.70781255599e-05,1793239174056338432
+261,4.350000000,HOLD_POSE2,765.65791804,745.65791804,714.65791804,681,660,634,880.65791804,785,804.34208196,651,631,653,0.449868154326,-0.0156703634887,0.0796362851798,0.999999814519,-0.000256191563297,-0.00054713132664,-7.72935761678e-05,1793239174073004800
+262,4.366666667,HOLD_POSE2,765.763336853,746,715,681,660,633.763336853,881,784.763336853,804.236663147,651,631,653,0.449868774294,-0.0156689403289,0.0796367119181,0.999999815038,-0.000254959634468,-0.000546744301603,-7.73953241429e-05,1793239174089671424
+263,4.383333333,HOLD_POSE2,765.185649306,746,715,681,660,633.185649306,881,784.185649306,804.814350694,651,631,653,0.449869350073,-0.0156669082572,0.0796365429568,0.999999815287,-0.000253564173273,-0.000546946862008,-7.7333230063e-05,1793239174106337536
+264,4.400000000,HOLD_POSE2,765,746,714.609941407,681,660,633.390058593,880.609941407,784.390058593,805,651,631,653,0.449870325805,-0.015667910054,0.0796374555187,0.999999815895,-0.000253820737056,-0.000545818282834,-7.65927241767e-05,1793239174123004416
+265,4.416666667,HOLD_POSE2,765,746,714.035170918,681,660,633.964829082,880.035170918,784.964829082,805,651,631,653,0.449871490936,-0.0156703485364,0.0796388802348,0.999999816671,-0.00025485961566,-0.000544059343724,-7.55309569832e-05,1793239174139671040
+266,4.433333333,HOLD_POSE2,765,746,714.553517332,681,660,634,880,785,805,651,631,653,0.449869279388,-0.0156689421632,0.0796364341467,0.999999815376,-0.000253036771897,-0.000547154019096,-7.6432522583e-05,1793239174156337664
+267,4.450000000,HOLD_POSE2,765,746,714.859056552,681.140943448,659.859056552,634,880.140943448,785,804.859056552,651,631,653,0.44986791104,-0.0156680452097,0.0796348208784,0.999999814437,-0.0002520347914,-0.00054922947105,-7.71432377466e-05,1793239174173004288
+268,4.466666667,HOLD_POSE2,765,746,714.278398033,681.721601967,659.278398033,634,880.721601967,785,804.278398033,651,631,653,0.449869859942,-0.0156695193833,0.0796365929563,0.999999815064,-0.000254175661608,-0.000547138183053,-7.68592998159e-05,1793239174189671168
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,634,881,784,804,651,631,653,0.449868379942,-0.0156683671167,0.0796371527102,0.999999815114,-0.000255459026517,-0.000546448023976,-7.6864508786e-05,1793239174226776576
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.425827285,714.574172715,681.574172715,660,633.425827285,880.425827285,784.574172715,804,651,631,653,0.449871067121,-0.0156688779282,0.0796382813188,0.999999816358,-0.000255343977988,-0.000544261416141,-7.65736645754e-05,1793239174243442944
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.846181165,682,660,633,880.153818835,784.846181165,804,651,631,653,0.44987263865,-0.0156689909674,0.0796388849663,0.999999817115,-0.000254647914734,-0.00054321751059,-7.64125240799e-05,1793239174260109568
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.250823433,682,660,633,880.749176567,784.250823433,804,651,631,653,0.449871007687,-0.0156679621963,0.0796379817066,0.999999816481,-0.000252284041396,-0.000545453745779,-7.66236996592e-05,1793239174276776192
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.666811883,660,633,880.666811883,784.333188117,804,651,631,653,0.449870706456,-0.01566771209,0.0796377100298,0.99999981657,-0.000251085323205,-0.000545865193226,-7.64687738027e-05,1793239174293442816
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.091060467,660,633,880.091060467,784.908939533,804,651,631,653,0.44987137328,-0.0156680288571,0.0796378981498,0.99999981719,-0.000250734846317,-0.000544948182205,-7.60473235084e-05,1793239174310109184
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.480855342,681,660,633,880.480855342,785,804,651,631,653,0.449870498875,-0.0156679468659,0.0796366360958,0.999999816431,-0.000250531107406,-0.000546444250004,-7.59653418295e-05,1793239174326775808
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.054133655,715,681,660,633.054133655,880.945866345,785,804.054133655,651,631,653,0.449869571733,-0.0156679732299,0.0796353703249,0.999999815547,-0.000250644228117,-0.00054800969384,-7.59586234995e-05,1793239174343442432
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.648188645,715,681,660,633.648188645,880.351811355,785,804.648188645,651,631,653,0.449871006578,-0.0156698275155,0.0796367848472,0.999999816021,-0.000253642700655,-0.000545745406689,-7.60664676251e-05,1793239174360109056
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.764437851,714.764437851,681,660,633.764437851,880,784.764437851,804.764437851,651,631,653,0.449866984766,-0.0156697907459,0.0796349196849,0.999999814195,-0.000254507723907,-0.000548614836643,-7.65354851276e-05,1793239174376775936
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.186767944,714.186767944,681,660,633.186767944,880,784.186767944,804.186767944,651,631,653,0.449855038232,-0.0156670075897,0.0796282914248,0.999999808966,-0.000252274330798,-0.000558939982614,-7.75290360126e-05,1793239174393442304
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.390501878,880,784.390501878,804,651,631,653,0.449827618169,-0.0156660895861,0.0796137808533,0.999999796083,-0.000251935941283,-0.000581588896379,-7.82110964987e-05,1793239174410109184
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.967580595,880,784.967580595,804,651,631,653,0.449792805049,-0.0156660627283,0.0795955042129,0.999999778894,-0.00025250296007,-0.000610125950492,-7.87443308638e-05,1793239174426776064
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.447431315,880,785,804,651,630.447431315,653,0.44973086228,-0.015662426761,0.07957203589,0.999999754152,-0.000250531825087,-0.000650012541114,-8.00802860784e-05,1793239174443442688
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.136979758,880,785,804,651,630.136979758,653,0.449664508456,-0.0156584718478,0.0795499266839,0.999999730629,-0.000248431784766,-0.000685879564692,-8.11940386359e-05,1793239174460109056
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.717994419,880,785,804,651,630.717994419,653,0.449589090316,-0.0156541794069,0.0795332249241,0.999999716737,-0.000246403616472,-0.000706526861045,-8.14326140384e-05,1793239174476775680
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.297909423,714,681.297909423,660,634,880,785,804,651,631,653,0.449508141578,-0.0156504134867,0.0795249894075,0.999999709588,-0.000245834811837,-0.000716889412617,-8.0362733973e-05,1793239174493442560
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.87678727,714,681.87678727,660,634,880,785,804,651,631,653,0.44942197675,-0.0156471441461,0.0795247386914,0.999999709097,-0.000246642382477,-0.00071755207353,-7.80588054405e-05,1793239174510109440
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,714.450510325,681.549489675,660,634,880,785,804.450510325,651,631,653,0.449321240509,-0.0156417304438,0.0795284807457,0.999999713848,-0.000242884854701,-0.000712503806182,-7.51650477283e-05,1793239174526776064
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,660,634,880,785,804.97643683,651,631,653,0.449215424583,-0.0156358007761,0.0795331100472,0.999999719751,-0.000237965377708,-0.000706167660739,-7.20953369624e-05,1793239174543442432
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,660,634,880,785,804.385973561,651,631,653,0.449082192569,-0.0156314078395,0.07953311031,0.999999720864,-0.000234789249452,-0.000705999403808,-6.86295679729e-05,1793239174560109056
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.799440589,714.799440589,681,660,634,880.200559411,785,804,651,631,653,0.448936862044,-0.0156262634969,0.0795327598362,0.999999721243,-0.000230514441594,-0.000707234394396,-6.47780922726e-05,1793239174576775936
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.220326105,714.220326105,681,660,634,880.779673895,785,804,651,631,653,0.448768695645,-0.0156197008793,0.0795317473485,0.999999720218,-0.000224165880798,-0.000711118008989,-6.01985971126e-05,1793239174593442560
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.357021879,714,681,660,634,880.285956242,785,804,651,630.642978121,653,0.448581015451,-0.0156118068625,0.0795343553613,0.999999722783,-0.000215855677968,-0.000710488346112,-5.5199877039e-05,1793239174610108928
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.933285139,714,681,660,634,879.133429721,785,804,651,630.066714861,653,0.448381352134,-0.0156030952542,0.0795391866651,0.999999727478,-0.000206340861753,-0.000707087152608,-4.99437172555e-05,1793239174626775808
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660.433731266,634,881,786,804.433731266,651,631,653,0.445972061352,-0.0155188149009,0.0795897048087,0.999999790586,-3.8149410135e-05,-0.000645964306852,-1.01502733161e-05,1793239174760109312
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.143747334,681.143747334,660.143747334,634.143747334,880.856252666,786,804.143747334,650.856252666,631,653,0.445561910254,-0.0155128304052,0.0796029160821,0.99999979964,-3.29176421931e-05,-0.000632073001217,-1.09217393995e-05,1793239174776776448
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.730880425,681.730880425,660.730880425,634.730880425,880.269119575,786,804.730880425,650.269119575,631,653,0.44513388783,-0.0155164815832,0.079614699528,0.999999810267,-3.60927835606e-05,-0.000614918751724,-6.21606442132e-06,1793239174793443840
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.683866568,661,635,880,786,805,650.316133432,631,653,0.444677834676,-0.0155211740158,0.0796271180491,0.999999821519,-3.51031066153e-05,-0.000596428810637,-1.7355690365e-06,1793239174810110464
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.100204522,661,635,880,786,805,650.899795478,631,653,0.444198060408,-0.0155267476128,0.0796400740053,0.999999833175,-3.05889433329e-05,-0.000576808535618,2.55436814178e-06,1793239174826776576
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880.474218616,786.474218616,805,651,631,653,0.443688144223,-0.0155192307304,0.0796482725397,0.999999839815,-2.19601846118e-05,-0.000565577632728,3.19797618011e-06,1793239174843443456
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.048124781,715,681,660.951875219,635,880.951875219,787,805,651,631,653,0.443168973991,-0.0155085186514,0.0796559040876,0.999999845798,-1.15009129716e-05,-0.000555212503053,3.33476251591e-06,1793239174860110592
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.637761361,715,681,660.362238639,635,880.362238639,787,805,651,631,653,0.44261597194,-0.0154923832147,0.0796682510914,0.999999856806,9.95963280836e-06,-0.000535023458307,6.27268224813e-06,1793239174876777472
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.776665667,715,681,660.223334333,635,880.223334333,787,804.776665667,651,631.223334333,653,0.442051772991,-0.0154799162264,0.0796850901298,0.999999871059,2.66374295049e-05,-0.000507036381924,9.34140740544e-06,1793239174893444096
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.197565946,715,681,660.802434054,635,880.802434054,787,804.197565946,651,631.802434054,653,0.441469737727,-0.0154732929755,0.0797090848538,0.999999890413,3.56964384964e-05,-0.000466627259001,1.26185017917e-05,1793239174910110464
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.378922941,635,881,787,804,651.378922941,632,653,0.440836918334,-0.015467865166,0.0797097848792,0.999999892301,4.45208036751e-05,-0.000461788868915,1.29062452271e-05,1793239174926776832
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.954059869,635,881,787,804,651.954059869,632,653,0.440177801907,-0.0154630563804,0.0796984224363,0.999999885528,5.32236652596e-05,-0.000475369727356,1.16460419975e-05,1793239174943443712
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,662,635,880.469960768,787.530039232,804,651.469960768,631.469960768,653,0.439468030772,-0.0154568923839,0.0796724781046,0.999999867557,6.76850188314e-05,-0.000510038484042,1.28251180947e-05,1793239174960109824
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.108914828,745,715,681.108914828,662,635.108914828,880,788,804,651,631,653,0.438762734914,-0.0154509028864,0.0796599504919,0.999999858976,8.14952511775e-05,-0.00052458773133,1.4619795257e-05,1793239174976775936
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.700295906,745,715,681.700295906,662,635.700295906,880,788,804,651,631,653,0.43809674302,-0.0154462075283,0.0797124631881,0.999999898127,9.02067313552e-05,-0.000441903035251,1.82034058455e-05,1793239174993442304
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.714357962,745,715,682,662,635.714357962,880,788,804,651,631,653,0.437420070814,-0.0154428981332,0.0797745579191,0.999999933198,0.000102753774229,-0.000349939621915,2.42602740093e-05,1793239175010108928
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.135212789,745,715,682,662,635.135212789,880,788,804,651,631,653,0.436732424282,-0.0154410128433,0.0798464983967,0.999999961489,0.000119241938306,-0.000248442122891,3.28584661265e-05,1793239175026775552
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,662,635.439710343,880.439710343,788,804,651,631.439710343,653,0.435982658818,-0.0154377134336,0.0798715169659,0.9999999696,0.000125845903843,-0.000209015232356,3.57105175631e-05,1793239175043442432
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745.01369956,715,681.98630044,662,635.98630044,881,788,804,651,632,653,0.435211988564,-0.0154336879718,0.0798811232731,0.999999972813,0.000129708848193,-0.000190284879716,3.6626858873e-05,1793239175060109312
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745.602467569,715,681.397532431,662,635.397532431,881,788,804,651,632,653,0.434358007418,-0.015417264966,0.0798436815528,0.999999958621,0.000144884843011,-0.000246739353617,2.97542413949e-05,1793239175076775936
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745.81186279,715,681,662,635,881,788,804,651,631.81186279,653,0.433494831041,-0.0153994647381,0.0798081586957,0.999999939603,0.00016551411803,-0.00030462182817,2.45959225996e-05,1793239175093442560
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.232633942,715,681,662,635,881,788,804,651,631.232633942,653,0.43261254006,-0.0153788016006,0.0797766246923,0.999999913451,0.000197479439731,-0.000365472767041,2.3001215585e-05,1793239175110109184
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.344606839,745,715,681,662,635,880.655393161,788,804,651,631,653,0.431715472062,-0.015366588613,0.0797431115362,0.999999884381,0.000216721170675,-0.000428693838837,2.21771875853e-05,1793239175126776320
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.920513209,745,715,681,662,635,880.079486791,788,804,651,631,653,0.43080848579,-0.0153600473527,0.0797082699775,0.999999852126,0.000227422847292,-0.000493505736833,2.18704380842e-05,1793239175143443712
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.50648406,661.50648406,635,880,788,804.49351594,651.49351594,631,653,0.430018036886,-0.0153702777298,0.0797554380803,0.999999890957,0.000225230466184,-0.000408232695489,2.65254027507e-05,1793239175160110080
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.931748316,745,715,680.068251684,661,635.068251684,880,788,804.931748316,651.931748316,631,653,0.429237056724,-0.0153821414787,0.0798138793574,0.999999928604,0.000220932203777,-0.000304883267532,3.20502763818e-05,1793239175176776192
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.340159593,745,715,680.659840407,661,635.659840407,880,788,804.340159593,651.340159593,631,653,0.428385600791,-0.0153859379338,0.0798580721737,0.999999945322,0.000216317416782,-0.000247197241062,3.81535921721e-05,1793239175193442816
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.246896085,745,715.246896085,681,661,635.753103915,880,788,804.246896085,651,631,653,0.427502797404,-0.0153854479998,0.079866139175,0.999999947035,0.000219208938704,-0.000237197181447,4.01869980554e-05,1793239175210109440
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.827819067,745,715.827819067,681,661,635.172180933,880,788,804.827819067,651,631,653,0.426577583775,-0.0153791589901,0.0798253313944,0.999999929807,0.000232255781598,-0.00029171168727,3.6714204219e-05,1793239175226776320
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,715.596091941,680.596091941,661.403908059,635.403908059,880,788,804.596091941,651,631,653,0.425659806966,-0.0153770545037,0.0797904128988,0.999999913486,0.000235991831191,-0.000340787435836,3.46490713993e-05,1793239175243443200
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.022039283,680.022039283,661.977960717,635.977960717,880,788,804.022039283,651,631,653,0.424745162941,-0.0153767127307,0.0797579752425,0.999999896541,0.000235805746595,-0.000387572126768,3.31769101347e-05,1793239175260109824
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.435042197,745,715,680,661.435042197,635.435042197,879.435042197,788,804,651,631.564957803,653,0.423834682726,-0.0153707740215,0.0797413721485,0.999999878969,0.000246296928885,-0.000424636133161,3.29381661842e-05,1793239175276776192
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.150711491,661,635.150711491,879.150711491,787.849288509,804,651,631.849288509,653,0.422941560747,-0.015366517126,0.0797379674575,0.999999873131,0.000253351626385,-0.000434094659719,3.33669705187e-05,1793239175293442560
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.731442811,661,635.731442811,879.731442811,787.268557189,804,651,631.268557189,653,0.422097492139,-0.0153676964795,0.0797704174771,0.999999901332,0.000249384795239,-0.000365894788743,3.55599594007e-05,1793239175310109184
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.310264092,745,715,680.689735908,661,635.689735908,880,787.310264092,804,651,631.310264092,653,0.421282376816,-0.0153695230656,0.079817698745,0.999999930234,0.000246295020791,-0.000278108412446,3.90788298072e-05,1793239175326776064
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.887442173,745,715,680.112557827,661,635.112557827,880,787.887442173,804,651,631.887442173,653,0.420492169467,-0.0153719064529,0.0798777390372,0.999999954239,0.000243959759521,-0.000173472159558,4.37383292301e-05,1793239175343442432
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.461772549,661,635,880,788,804,651.461772549,631.538227451,653.461772549,0.419636069792,-0.0153704788241,0.0798739375457,0.999999951389,0.000246124148818,-0.000186314115265,4.39476308115e-05,1793239175360109312
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.964530817,661,635.035469183,880,788,804.035469183,652,631,653.964530817,0.418764341369,-0.0153682149111,0.0798535278309,0.999999941914,0.000249017351879,-0.000228760923454,4.27787752899e-05,1793239175376776192
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.389981651,661,635.610018349,880,788,804.610018349,652,631,653.389981651,0.417897692895,-0.0153672727246,0.0798157604788,0.999999927305,0.000246419906347,-0.0002886077955,3.70494074296e-05,1793239175393442816
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.191267078,636,880,787.808732922,804.808732922,652,631.191267078,653,0.417044350502,-0.0153666723548,0.0797957106067,0.999999917137,0.00024388435383,-0.000324157270778,3.41805506134e-05,1793239175410109696
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.78667175,636,880,787.21332825,804.21332825,652,631.78667175,653,0.41621912302,-0.015366794226,0.0798130968605,0.999999922601,0.000241479579152,-0.000308367597426,3.73558070738e-05,1793239175426776064
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.630875037,745,715,680,661.630875037,636,879.630875037,787.369124963,804,652,632,653,0.415409969849,-0.015362986322,0.0798080432268,0.999999917237,0.000247402718447,-0.000320801970927,3.74637700864e-05,1793239175443442432
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.055653167,745,715,680,661.055653167,636,879.055653167,787.944346833,804,652,632,653,0.414609791645,-0.0153569842707,0.0797904605251,0.999999905183,0.000257975657911,-0.000348994934747,3.58591429496e-05,1793239175460109056
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.520032695,661,636,879,788,804,652,631.479967305,653,0.413879886404,-0.0153594623434,0.0797969100875,0.999999912607,0.000254248173501,-0.00032992551732,3.59517134663e-05,1793239175476775680
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.902252989,661,636,879.097747011,788,804,652,631,653,0.413162380041,-0.015362330497,0.0798060979043,0.999999920924,0.000250299034152,-0.00030688639043,3.63732660687e-05,1793239175493442560
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.314621658,661,636,879.685378342,788,804,652,631,653,0.412469289222,-0.0153626012544,0.0798161079426,0.999999925458,0.000252915914336,-0.000289323917883,3.75324902136e-05,1793239175510109952
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.731141475,661,636,879.731141475,788,804,652,631.268858525,653,0.411757692326,-0.0153607402953,0.0798158013262,0.99999992397,0.000254612547207,-0.000292922418049,3.77881373547e-05,1793239175526776832
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.152445194,661,636,879.152445194,788,804,652,631.847554806,653,0.411024768719,-0.0153564227047,0.0798036055972,0.999999915249,0.000255248669051,-0.000320907232884,3.70024848184e-05,1793239175543443200
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.424109166,745,715,679,661,636,879.424109166,788,804,651.575890834,632,653,0.410355610455,-0.0153538732317,0.0798003047625,0.999999912042,0.000257583492114,-0.0003290097388,3.63293035923e-05,1793239175560109568
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.999897533,745,715,679,661,636,879.999897533,788,804,651.000102467,632,653,0.409709257288,-0.0153519561113,0.0798001851137,0.999999910976,0.000260525841978,-0.000330001500639,3.56963467594e-05,1793239175576775936
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.429179612,745,715,679,661,636,879.429179612,788,803.429179612,651.570820388,631.429179612,653,0.409164148036,-0.0153538532151,0.0798257730827,0.999999923901,0.000261360816989,-0.00028700768938,3.89341264406e-05,1793239175593442560
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.1488789,745,715.1488789,678.8511211,661.1488789,636,879.1488789,788,803.1488789,652,631.1488789,653,0.408605302477,-0.0153545507314,0.0798449440705,0.999999931492,0.000264430323509,-0.000255677464837,4.14879292279e-05,1793239175610109184
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.484105399,661,636,879,788,803.031789203,652,631.515894601,653,0.406342332274,-0.015348322022,0.0797838629624,0.999999896932,0.000268671061198,-0.000364320588444,3.49502907831e-05,1793239175676776704
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.608397307,745,715,679,661.608397307,636,879,787.391602693,803.391602693,652,631.391602693,653,0.404302677199,-0.0153434448144,0.0798380864098,0.999999921702,0.000282923418257,-0.000273807225471,3.97479531443e-05,1793239175760109312
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.032584432,745,715,679,661.032584432,636,879,787.967415568,803.967415568,652,631.967415568,653,0.403930921791,-0.0153406882518,0.0798381401736,0.999999918116,0.000291714206377,-0.000277457240122,4.10806717072e-05,1793239175776775680
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804,651.447200319,632,653,0.403609251308,-0.015337154277,0.0798358084237,0.99999991793,0.000285508033472,-0.000284954554993,3.77724154824e-05,1793239175793442560
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879.137370824,788,804,651.137370824,632,653.137370824,0.403301963198,-0.0153340804436,0.0798350921605,0.999999917814,0.000281843591701,-0.000289275249666,3.54488823726e-05,1793239175810109440
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879.717471716,788,804,651.717471716,632,653.717471716,0.403031345396,-0.0153326398788,0.0798400435832,0.999999917534,0.000289270031523,-0.000282614319522,3.71961792922e-05,1793239175826776576
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.296140497,745,715.296140497,679,661,636,879.703859503,788,804,652,632,653.703859503,0.402776971014,-0.0153321523301,0.0798433985643,0.999999917595,0.000291450843987,-0.000280062526283,3.78372374047e-05,1793239175843443456
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.873449535,745,715.873449535,679,661,636,879.126550465,788,804,652,632,653.126550465,0.40253801885,-0.0153325696158,0.0798452378146,0.999999918043,0.000288651231517,-0.000281412124996,3.74279846525e-05,1793239175860110080
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.550796775,745,715.550796775,679,661,636,879,788,804,652,632,653,0.402326910218,-0.0153409797664,0.0798443452328,0.999999919911,0.000281226835202,-0.00028231968734,3.7220793572e-05,1793239175876776448
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.974903204,715,678.974903204,661,635.974903204,879,788,803.974903204,652,631.974903204,653.025096796,0.402125529522,-0.0153514101498,0.0798427451351,0.999999922103,0.000272610029775,-0.000283020756071,3.70970263072e-05,1793239175893442816
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.386058534,715,678.386058534,661,635.386058534,879,788,803.386058534,652,631.386058534,653.613941466,0.401967072405,-0.0153568141431,0.0798424803689,0.999999924091,0.000266374269059,-0.00028187106082,3.75729073552e-05,1793239175910109440
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.199735561,715,678.199735561,661,635.199735561,879,788,803,652,631,653.800264439,0.401819635639,-0.0153579280481,0.079843857516,0.999999925293,0.000265779146141,-0.000278076721993,3.80600609052e-05,1793239175926775808
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,803.356399095,652,631.356399095,653,0.401579766736,-0.0153497637175,0.0798518756274,0.999999926679,0.000275265335365,-0.00026344293927,3.83373608095e-05,1793239175960109056
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,803.931049688,652,631.931049688,653,0.401474342297,-0.0153522919294,0.0798547858328,0.999999929713,0.000267994134589,-0.000259490426494,3.76529305013e-05,1793239175976775680
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715.50761752,679,661,636,879.50761752,788,803.49238248,651.49238248,631.49238248,653,0.40137984998,-0.0153513418173,0.079851276345,0.999999927838,0.000268610736487,-0.000266387408148,3.47848069958e-05,1793239175993442304
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715.91359863,679,661.08640137,636,879.91359863,788,803.08640137,651.08640137,631,653.08640137,0.401290793265,-0.0153497922648,0.0798469546098,0.999999925082,0.000271024633241,-0.000274498603167,3.21416966915e-05,1793239176010108928
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715.323417824,679,661.676582176,636,879.323417824,788,803.676582176,651.676582176,631,653.676582176,0.401224738863,-0.015347512802,0.0798430005169,0.999999921428,0.000277647255091,-0.000281064238036,3.2546585844e-05,1793239176026775552
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.261649256,745,715,678.738350744,661.738350744,636,879,788,804,652,631.261649256,653.738350744,0.401169020731,-0.0153465660026,0.0798410397945,0.999999920075,0.000280418798293,-0.000283065925114,3.29878749892e-05,1793239176043442176
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.840516527,745,715,678.159483473,661.159483473,636,879,788,804,652,631.840516527,653.159483473,0.401125834078,-0.0153472348964,0.0798414957928,0.999999921583,0.000278521374941,-0.000279534378193,3.34732946926e-05,1793239176060109056
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.583478422,745,715,678,661.416521578,636,879,787.583478422,804,652,631.583478422,653,0.401089857224,-0.0153462497707,0.0798408766278,0.999999921292,0.000278846033066,-0.000280217749711,3.37469280672e-05,1793239176076775424
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.00856183,745,715,678,661.99143817,636,879,787.00856183,804,652,631.00856183,653,0.401056622117,-0.0153446356537,0.0798398485992,0.999999920315,0.000280015705383,-0.0002825039724,3.39400232295e-05,1793239176093442048
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,678,662,636,879,787,804,652,631,653.579167052,0.40103685565,-0.015343589573,0.0798409568798,0.999999919479,0.000283416734007,-0.000282019195162,3.43709673695e-05,1793239176110108928
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715.163477153,678,662,636,879,787.163477153,804,652,631.163477153,653.836522847,0.401019798889,-0.0153431375117,0.0798413832521,0.999999918981,0.00028542524304,-0.000281729331458,3.46145545876e-05,1793239176126775552
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715.738688774,678,662,636,879,787.738688774,804,652,631.738688774,653.261311226,0.401009053992,-0.0153441599233,0.0798400108267,0.999999919354,0.000283841585387,-0.00028203588356,3.43772074873e-05,1793239176143442176
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715.683133788,678,661.683133788,636,879,787.683133788,804,651.683133788,632,653,0.401000938393,-0.0153448844428,0.0798393974855,0.999999919951,0.000282279526373,-0.000281519028508,3.41139702838e-05,1793239176160108800
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715.102487346,678,661.102487346,636,879,787.102487346,804,651.102487346,632,653,0.400995011594,-0.0153453609774,0.0798394160556,0.999999920733,0.000280735447308,-0.000280316715336,3.38291804333e-05,1793239176176775424
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.482269696,661.482269696,636,879,787.482269696,804,651,632,653,0.400992337025,-0.0153450453205,0.0798398819876,0.99999992068,0.000282122819102,-0.000279109523288,3.38204123847e-05,1793239176193442048
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.932802051,636,879,788,804,651.067197949,632,653,0.400990457089,-0.0153446774821,0.0798403966515,0.999999920428,0.000283999902336,-0.000278102149582,3.38706386227e-05,1793239176210108672
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.353285362,636,879,788,804,651.646714638,632,653,0.40098932095,-0.0153452063406,0.0798405518101,0.999999920047,0.00028482023656,-0.00027862616764,3.39195879324e-05,1793239176226775296
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.225756673,636,879,788,803.774243327,652,631.774243327,653,0.400988564243,-0.0153458416994,0.0798410777027,0.999999920345,0.000284016258538,-0.000278383826757,3.38693689259e-05,1793239176243442176
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.804057451,636,879,788,803.195942549,652,631.195942549,653,0.400988400063,-0.0153466433702,0.0798421825375,0.999999921695,0.000280675736598,-0.000276944731285,3.36642875829e-05,1793239176260108800
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715.380112689,679,661.619887311,636,879,788,803.380112689,652,631.380112689,653,0.400988446097,-0.0153465845733,0.0798426164817,0.999999921981,0.000280655148212,-0.000275937681214,3.36051782495e-05,1793239176276775680
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715.955017164,679,661.044982836,636,879,788,803.955017164,652,631.955017164,653,0.400988599858,-0.0153460848227,0.0798427066225,0.999999921724,0.000282335886424,-0.000275152036307,3.36208734458e-05,1793239176293442560
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.457857932,715.457857932,679,661.542142068,636,879,788,804,651.457857932,631.457857932,653,0.400988119542,-0.015346902101,0.0798435165633,0.999999922149,0.000281374786821,-0.000274598271841,3.35416934543e-05,1793239176310110208
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744,715,678.871721154,661.871721154,635.871721154,879,788,803.871721154,651.128278846,631.128278846,653,0.400987266283,-0.0153474376492,0.0798438593306,0.999999922294,0.000280783563517,-0.00027469745847,3.33772109833e-05,1793239176326777344
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744,715,678.292701511,661.292701511,635.292701511,879,788,803.292701511,651.707298489,631.707298489,653,0.400985291722,-0.0153465904386,0.0798423458696,0.999999921246,0.000282279972511,-0.000277021794655,3.29412945339e-05,1793239176343442944
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.285520821,744,715,678,661,635.285520821,879,787.714479179,803,651.714479179,631.714479179,653,0.400985337036,-0.0153456261958,0.0798424294066,0.999999920947,0.000283627511739,-0.000276720583106,3.29784964846e-05,1793239176360109056
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.862928137,744,715,678,661,635.862928137,879,787.137071863,803,651.137071863,631.137071863,653,0.400987447259,-0.0153445423114,0.0798441455465,0.999999921411,0.000284822862338,-0.000273735287641,3.34993649346e-05,1793239176376775936
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.564198058,744,715,678.435801942,661,636,879,787.435801942,803.435801942,651,631,653,0.400987502234,-0.0153446523951,0.079844331038,0.999999921911,0.000283519007921,-0.000273296426767,3.32159850868e-05,1793239176393442560
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744,715,678.992459012,661,635.992459012,878.992459012,788,804,651.007540988,631,653,0.400986931591,-0.0153451401375,0.0798440538102,0.999999922413,0.000281479825733,-0.000273631380456,3.26957690723e-05,1793239176410109696
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744,715,678.399244698,661,635.399244698,878.399244698,788,804,651.600755302,631,653,0.400987460559,-0.0153460929993,0.0798448449231,0.999999922345,0.000282752971208,-0.000272501246528,3.32254300675e-05,1793239176426776064
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744.188894994,715,678.188894994,661,635.188894994,878.188894994,787.811105006,804,651.811105006,631,653,0.400987634388,-0.0153468221611,0.0798450723574,0.999999922305,0.000283276624039,-0.000272068455213,3.35227220621e-05,1793239176443442688
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744.766589635,715,678.766589635,661,635.766589635,878.766589635,787.233410365,804,651.233410365,631,653,0.400987077237,-0.0153470908844,0.0798441395808,0.999999922326,0.000282257607671,-0.000273070993488,3.33417325026e-05,1793239176460109568
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.342475748,744.657524252,715,679,661.342475748,635.657524252,879,787.342475748,803.657524252,651.342475748,631.342475748,653,0.400987289614,-0.0153467949563,0.0798443560012,0.99999992229,0.000282800115218,-0.000272649466778,3.32693348821e-05,1793239176476775936
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.917135733,744.082864267,715,679,661.917135733,635.082864267,879,787.917135733,803.082864267,651.917135733,631.917135733,653,0.4009880237,-0.0153461162183,0.0798453515292,0.999999922213,0.000284401270727,-0.000271262483518,3.32705580626e-05,1793239176493442304
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,744.49207957,715,678.50792043,661.50792043,635.49207957,878.50792043,787.50792043,803.49207957,652,631.50792043,653,0.400988509557,-0.0153462798072,0.0798459512163,0.999999922796,0.00028337168495,-0.00027022591431,3.29710179046e-05,1793239176510108928
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.930732039,745,715,678,661,636,878.069267961,787.069267961,804,652,631,653,0.400988806513,-0.0153466404515,0.0798463046771,0.999999923375,0.000282045591364,-0.000269499593607,3.27048256574e-05,1793239176526775808
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.336908484,745,715,678,661,636,878.663091516,787.663091516,804,652,631,653,0.400987989681,-0.015347418579,0.0798452985856,0.999999923106,0.000281830846914,-0.000270675618491,3.30749382551e-05,1793239176543442688
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,636,879,787.749980037,804,651.749980037,631.250019963,653,0.400987717624,-0.0153477607884,0.0798449709418,0.999999923063,0.000281587698833,-0.000271084374212,3.31133205692e-05,1793239176560109312
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,636,879,787.172093489,804,651.172093489,631.827906511,653,0.400988159964,-0.0153475313515,0.0798455329879,0.999999923316,0.00028130730329,-0.000270486962761,3.27166845714e-05,1793239176576775936
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,636,879,787.403188754,803.596811246,651,631.596811246,653,0.40098919945,-0.0153481016775,0.0798461591298,0.999999923648,0.000281175512268,-0.000269381614978,3.28300459918e-05,1793239176593442816
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,636,879,787.977366498,803.022633502,651,631.022633502,653,0.400990492181,-0.0153490111763,0.0798468124542,0.999999924011,0.000281106743204,-0.000268060855664,3.31596930914e-05,1793239176610109184
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,636,879,788,803.565595879,651.565595879,631.565595879,653,0.40098748757,-0.0153485887431,0.0798449838693,0.99999992287,0.000282155107943,-0.000271228439049,3.29106882523e-05,1793239176626775808
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0e5d6acbcb7b40634186ce7b85a04c3730ef7b61
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_02/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,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+1,0.016666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+2,0.033333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+3,0.050000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
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+366,6.100000000,pose2_to_pose3_retreat,0.577247263183,-0.0099092108872,1.07003215511,0.547817715791,-0.00123746752716,1.06970029404
+367,6.116666667,pose2_to_pose3_retreat,0.577039291436,-0.00990923265109,1.07003222273,0.547609743913,-0.00123748987213,1.06970035815
+368,6.133333333,pose2_to_pose3_retreat,0.57685130945,-0.00990928545404,1.07003213327,0.547421760812,-0.00123754656502,1.06970026597
+369,6.150000000,pose2_to_pose3_retreat,0.576682357777,-0.00990933227127,1.07003225759,0.547252809768,-0.00123759140533,1.0697003861
+370,6.166666667,pose2_to_pose3_retreat,0.576533459599,-0.00990920244949,1.07003233685,0.54710390982,-0.00123746752823,1.06970046703
+371,6.183333333,pose2_to_pose3_retreat,0.576401764202,-0.00990915799961,1.07003218684,0.546972214965,-0.00123742082505,1.069700328
+372,6.200000000,pose2_to_pose3_retreat,0.576287299654,-0.00990921522033,1.07003229202,0.546857751149,-0.00123747578117,1.06970042738
+373,6.216666667,pose2_to_pose3_retreat,0.576184239025,-0.00990919755689,1.07003241174,0.54675469021,-0.00123745933231,1.06970054287
+374,6.233333333,pose2_to_pose3_retreat,0.576091497161,-0.00990917088441,1.07003242279,0.546661948548,-0.00123743213897,1.06970055015
+375,6.250000000,pose2_to_pose3_retreat,0.576009537999,-0.00990916288733,1.07003232407,0.546579989376,-0.00123742424156,1.06970045026
+376,6.266666667,pose2_to_pose3_retreat,0.575937964099,-0.00990917848194,1.07003221389,0.546508414623,-0.00123744245254,1.06970034692
+377,6.283333333,pose2_to_pose3_retreat,0.575877258008,-0.00990927670268,1.07003218292,0.546447710558,-0.00123753343722,1.06970032534
+378,6.300000000,pose2_to_pose3_retreat,0.575827177628,-0.00990913880123,1.07003237753,0.546397628796,-0.00123740096186,1.06970050063
+379,6.316666667,pose2_to_pose3_retreat,0.575786737477,-0.00990913222667,1.07003232311,0.546357187502,-0.00123739781463,1.06970045804
+380,6.333333333,pose2_to_pose3_retreat,0.575754705816,-0.00990923177161,1.07003235869,0.546325156478,-0.0012374954878,1.069700486
+381,6.350000000,pose2_to_pose3_retreat,0.575729375295,-0.00990927096259,1.07003232961,0.546299827407,-0.00123752945724,1.06970046486
+382,6.366666667,pose2_to_pose3_retreat,0.575709737987,-0.0099092269013,1.07003235734,0.546280189969,-0.00123748562713,1.06970049799
+383,6.383333333,pose2_to_pose3_retreat,0.575695037584,-0.00990919159558,1.07003243766,0.546265488454,-0.0012374542313,1.06970057487
+384,6.400000000,pose2_to_pose3_retreat,0.575685031886,-0.00990928160161,1.07003241724,0.546255483548,-0.00123754144625,1.06970055723
+385,6.416666667,pose2_to_pose3_retreat,0.575677957039,-0.00990922817722,1.07003262258,0.546248408225,-0.00123748988751,1.06970075611
+386,6.433333333,pose2_to_pose3_retreat,0.575673389122,-0.00990918803495,1.07003255,0.546243840201,-0.001237450164,1.06970068207
+387,6.450000000,pose2_to_pose3_retreat,0.575670401449,-0.00990916367307,1.07003228114,0.546240852726,-0.00123742503356,1.06970041552
+388,6.466666667,pose2_to_pose3_retreat,0.575668594907,-0.00990916038513,1.07003223835,0.546239046234,-0.00123742155981,1.06970037312
+389,6.483333333,pose2_to_pose3_retreat,0.57566766138,-0.00990916430613,1.07003227506,0.546238112699,-0.00123742552177,1.06970040954
+390,6.500000000,pose2_to_pose3_retreat,0.575667111994,-0.00990916661366,1.07003229667,0.546237563308,-0.00123742785341,1.06970043097
+391,6.516666667,pose2_to_pose3_retreat,0.575666849759,-0.00990916771509,1.07003230698,0.546237301071,-0.00123742896635,1.0697004412
+392,6.533333333,pose2_to_pose3_retreat,0.575666680124,-0.00990916842759,1.07003231365,0.546237131434,-0.0012374296863,1.06970044782
+393,6.550000000,pose2_to_pose3_retreat,0.575666496857,-0.00990916919735,1.07003232086,0.546236948165,-0.0012374304641,1.06970045497
+394,6.566666667,pose2_to_pose3_retreat,0.575666119201,-0.00990915050746,1.07003233089,0.546236570535,-0.00123741171442,1.06970046429
+395,6.583333333,pose2_to_pose3_retreat,0.575665768554,-0.0099091227273,1.07003233771,0.546236219926,-0.00123738383946,1.06970047017
+396,6.600000000,pose2_to_pose3_retreat,0.57566563856,-0.00990911242857,1.07003234025,0.546236089947,-0.00123737350558,1.06970047235
+397,6.616666667,pose2_to_pose3_retreat,0.575665568939,-0.00990910691278,1.0700323416,0.546236020333,-0.00123736797098,1.06970047351
+398,6.633333333,pose2_to_pose3_retreat,0.575665531192,-0.00990910392223,1.07003234234,0.54623598259,-0.00123736497022,1.06970047414
+399,6.650000000,pose2_to_pose3_retreat,0.575665286585,-0.00990908454318,1.0700323471,0.54623573801,-0.00123734552505,1.06970047824
+400,6.666666667,pose2_to_pose3_retreat,0.575665027484,-0.00990906401582,1.07003235214,0.546235478937,-0.00123732492764,1.06970048258
+401,6.683333333,pose2_to_pose3_retreat,0.575664986295,-0.00990906286988,1.0700323512,0.546235437753,-0.00123732376978,1.06970048163
+402,6.700000000,pose2_to_pose3_retreat,0.575664964451,-0.00990906945495,1.07003234478,0.546235415908,-0.00123733034586,1.06970047554
+403,6.716666667,pose2_to_pose3_retreat,0.575664852252,-0.00990910327877,1.07003231177,0.546235303702,-0.0012373641235,1.06970044424
+404,6.733333333,pose2_to_pose3_retreat,0.575664744481,-0.00990913576738,1.07003228006,0.546235195927,-0.00123739656776,1.06970041418
+405,6.750000000,pose2_to_pose3_retreat,0.575664624061,-0.00990917206938,1.07003224463,0.5462350755,-0.00123743282019,1.0697003806
+406,6.766666667,pose2_to_pose3_retreat,0.57566453032,-0.00990920032877,1.07003221705,0.546234981754,-0.001237461041,1.06970035445
+407,6.783333333,pose2_to_pose3_retreat,0.575664486348,-0.00990921358471,1.07003220412,0.54623493778,-0.00123747427884,1.06970034219
+408,6.800000000,pose2_to_pose3_retreat,0.575664472348,-0.00990921780496,1.0700322,0.54623492378,-0.00123747849332,1.06970033828
+409,6.816666667,pose2_to_pose3_retreat,0.575664401471,-0.0099092391717,1.07003217914,0.546234852899,-0.0012374998309,1.06970031851
+410,6.833333333,pose2_to_pose3_retreat,0.575664376524,-0.00990916670598,1.07003229147,0.546234826426,-0.0012374327776,1.06970042471
+411,6.850000000,pose2_to_pose3_retreat,0.57566437098,-0.00990914353317,1.07003232701,0.546234820409,-0.00123741128681,1.06970045831
+412,6.866666667,pose2_to_pose3_retreat,0.575664368664,-0.00990913409328,1.07003233771,0.546234817917,-0.00123740247302,1.06970046815
+413,6.883333333,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385433,1.06970035116
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d4396d491aba8b848381a2c6b05fd2f93c1a1635
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c205fe9de3b514fd1a4242da4a3c10f91f62e62becb03b02416ff1a4bacc08a
+size 26413283
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..424e1e1e2b890d9b99b20f0f04916ebd66bbda90
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_03/franka_data.csv
@@ -0,0 +1,417 @@
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+31,0.516666667,BASELINE,765.986846623,745,715,678.013153377,661.013153377,636,879,788,804,652,631,653,0.400989438081,-0.0153502657186,0.0798478753109,0.999999925742,0.000276896354192,-0.00026607355932,3.23826337577e-05,1793239177299391744
+32,0.533333333,BASELINE,765.439782917,745,715.560217083,678.560217083,661,636,879,788,804,652,631,653,0.400989922156,-0.0153504661305,0.0798486536092,0.999999926238,0.000276757813924,-0.000264325764899,3.25858816856e-05,1793239177316058112
+33,0.550000000,BASELINE,765,745,715.865859514,679,661.134140486,636,879,788,804,652,631.134140486,653.134140486,0.400989799908,-0.0153502532193,0.0798488835117,0.999999926311,0.000277095132658,-0.000263685516415,3.266559498e-05,1793239177332724992
+34,0.566666667,BASELINE,765,745,715.289771519,679,661.710228481,636,879,788,804,652,631.710228481,653.710228481,0.400987674892,-0.015348696496,0.0798472865609,0.999999924938,0.000279078390324,-0.00026682217317,3.23367731806e-05,1793239177349391616
+35,0.583333333,BASELINE,765,745,715,678.704745408,661.704745408,636,879,788,803.704745408,651.704745408,632,653.704745408,0.400986890762,-0.0153489634638,0.0798466193566,0.999999924583,0.000279169053181,-0.000268063249726,3.22695666861e-05,1793239177366058240
+36,0.600000000,BASELINE,765,745,715,678.110673252,661.110673252,636,879,788,803.110673252,651.110673252,632,653.110673252,0.400987463698,-0.01535107613,0.0798468931184,0.999999925265,0.000277344282667,-0.000267385871635,3.2467132488e-05,1793239177382724864
+37,0.616666667,BASELINE,765.467553924,744.532446076,715,678.467553924,661.467553924,636,879,788,803,651,632,653,0.400987331072,-0.0153497838439,0.0798468048294,0.999999924497,0.000279910702413,-0.000267626855607,3.21339484719e-05,1793239177399391488
+38,0.633333333,BASELINE,765.957973927,744.042026073,715,679,661.957973927,636,879,788,803.042026073,651.042026073,632,653,0.400986994793,-0.0153478754566,0.0798465757016,0.99999992347,0.000283106863451,-0.000268150195563,3.17081395013e-05,1793239177416058368
+39,0.650000000,BASELINE,765.385109884,744.614890116,715,679,661.385109884,636,879,788,803.614890116,651.614890116,632,653,0.400986126534,-0.0153480317073,0.0798456146237,0.999999923524,0.000281558596492,-0.00026958422663,3.16472342003e-05,1793239177432724992
+40,0.666666667,BASELINE,765.193688141,745,715,679,661.193688141,636,879,788,804,651.806311859,631.806311859,653,0.400986365063,-0.0153484276163,0.0798456011413,0.999999923987,0.000279914367579,-0.000269567293386,3.17481085345e-05,1793239177449391872
+41,0.683333333,BASELINE,765.784657556,745,715,679,661.784657556,636,879,788,804,651.215342444,631.215342444,653,0.400988873771,-0.0153493150975,0.0798475313087,0.999999925289,0.000278073307464,-0.000266574230775,3.21808153686e-05,1793239177466058240
+42,0.700000000,BASELINE,765.632167103,745,715,678.632167103,661.632167103,636,879,788,804,651,631.367832897,653,0.400989433717,-0.0153493854522,0.0798479054033,0.99999992533,0.000278627712033,-0.000265816919034,3.23643177775e-05,1793239177482724864
+43,0.716666667,BASELINE,765.053460032,745,715,678.053460032,661.053460032,636,879,788,804,651,631.946539968,653,0.400988876461,-0.015348987358,0.07984738742,0.99999992465,0.000280555407746,-0.000266341336468,3.2404954273e-05,1793239177499391488
+44,0.733333333,BASELINE,765,745,715,678.524293403,661.524293403,636,879,788,803.475706597,651.524293403,631.475706597,653,0.400988471221,-0.0153486163767,0.0798478166214,0.999999924309,0.000281635098959,-0.000266478058689,3.2438192625e-05,1793239177516058112
+45,0.750000000,BASELINE,765.101329275,745,715,678.898670725,662,636,879.101329275,787.898670725,803,652,631,653,0.400988080298,-0.0153483452918,0.0798481420796,0.999999924079,0.000282250010286,-0.000266692161361,3.24520473438e-05,1793239177532724736
+46,0.766666667,BASELINE,765.675469651,745,715,678.324530349,662,636,879.675469651,787.324530349,803,652,631,653,0.400987683978,-0.0153485274558,0.0798475336286,0.999999924202,0.000281098950766,-0.000267451451145,3.23789698646e-05,1793239177549391360
+47,0.783333333,BASELINE,765.741702908,744.741702908,715.258297092,678,661.741702908,636,879.741702908,787.258297092,803,652,631.258297092,653,0.400988079652,-0.015348905139,0.0798476054725,0.999999924724,0.000279785173879,-0.000266872514553,3.24181956215e-05,1793239177566057984
+48,0.800000000,BASELINE,765.147580902,744.147580902,715.852419098,678,661.147580902,636,879.147580902,787.852419098,803,652,631.852419098,653,0.400989505037,-0.0153495370264,0.0798485618017,0.99999992576,0.000278259839879,-0.000264553683304,3.26034323994e-05,1793239177582724608
+49,0.816666667,BASELINE,765,744.432897562,715.567102438,678,661,636,879,788,803,651.567102438,632,653,0.400989701847,-0.0153502282138,0.0798484202665,0.999999926,0.000277758730872,-0.000264190705878,3.24672115541e-05,1793239177599392000
+50,0.833333333,BASELINE,765,744.991128564,715,678,661,636,879,788,803.008871436,651,632,653,0.400989487098,-0.0153509004979,0.0798479106948,0.999999925958,0.000277638403007,-0.000264502473428,3.22262110117e-05,1793239177616059392
+51,0.850000000,BASELINE,765,744.414859964,715,678,661,636,879,788,803.585140036,651,632,653,0.40098891951,-0.0153491102978,0.0798470688844,0.999999924678,0.000280222011729,-0.000266626765035,3.2078675817e-05,1793239177632725504
+52,0.866666667,BASELINE,765.164916493,744,715,678.164916493,661.164916493,636,879,788,804,651.164916493,631.835083507,653,0.400988378603,-0.0153479010983,0.0798465809287,0.999999923924,0.000281600583564,-0.000268008397338,3.20211644406e-05,1793239177649391872
+53,0.883333333,BASELINE,765.753708969,744,715,678.753708969,661.753708969,636,879,788,804,651.753708969,631.246291031,653,0.400987906273,-0.0153481852136,0.0798470024665,0.999999924542,0.000279881913808,-0.00026748121229,3.21950364481e-05,1793239177666058752
+54,0.900000000,BASELINE,765.663222771,744.336777229,715,678.663222771,661.663222771,635.663222771,879,788,804,652,631,653,0.400987796855,-0.0153484464649,0.0798473664477,0.99999992476,0.000279481436998,-0.000267095814756,3.21044138093e-05,1793239177682725120
+55,0.916666667,BASELINE,765.08427079,744.91572921,715,678.08427079,661.08427079,635.08427079,879,788,804,652,631,653,0.400987948407,-0.015348691275,0.0798476890402,0.999999924691,0.000280028865949,-0.000266812375907,3.18235944399e-05,1793239177699391744
+56,0.933333333,BASELINE,765,745,715,678.492711144,661.492711144,635.492711144,879,788,804,651.507288856,631.492711144,653,0.400988139946,-0.0153493590123,0.0798475993703,0.999999924926,0.000279558232841,-0.000266378804702,3.22018149392e-05,1793239177716058880
+57,0.950000000,BASELINE,765,745,715.070528484,679,661.929471516,636,879,788,804,651,631.929471516,653,0.400988338648,-0.0153500135219,0.0798475377843,0.999999925227,0.000278879879375,-0.000265919714267,3.25530451768e-05,1793239177732726016
+58,0.966666667,BASELINE,765,745,715.656910444,679,661.343089556,636,879,788,804,651,631.343089556,653,0.400988539914,-0.0153500443207,0.0798481952812,0.999999925629,0.000277950727555,-0.000265461036435,3.18857102322e-05,1793239177749392384
+59,0.983333333,BASELINE,765,745,715.759780073,679,661,636,879,787.759780073,804,651.240219927,631.240219927,653,0.40098894198,-0.0153500780485,0.0798486247288,0.999999925942,0.000277387994205,-0.000264896730147,3.16404643869e-05,1793239177766059008
+60,1.000000000,BASELINE,765,745,715.180803293,679,661,636,879,787.180803293,804,651.819196707,631.819196707,653,0.400989627212,-0.0153501159068,0.0798487325824,0.999999926133,0.000277341982083,-0.000264183467113,3.19904462268e-05,1793239177782725376
+61,1.016666667,BASELINE,765,745,715,678.602071535,661.397928465,636,879,787.397928465,804,652,632,653,0.400989421136,-0.0153503601346,0.0798483634185,0.999999925984,0.000277229103165,-0.000264855339808,3.20470014647e-05,1793239177799391744
+62,1.033333333,BASELINE,765,745,715,678.023451072,661.976548928,636,879,787.976548928,804,652,632,653,0.400988810333,-0.015350698071,0.0798477776497,0.999999925681,0.000277085861268,-0.000266156177214,3.19703170568e-05,1793239177816058112
+63,1.050000000,BASELINE,765.549651963,745,715,678.549651963,661.450348037,636,879,787.450348037,803.450348037,652,632,653.549651963,0.400988448215,-0.0153482977482,0.0798477586084,0.999999924576,0.000280820066648,-0.000266374860668,3.21413719589e-05,1793239177832724992
+64,1.066666667,BASELINE,765.874683269,745,715,678.874683269,661,636,879,787.125316731,803,651.874683269,631.874683269,653.874683269,0.400987795715,-0.0153466057431,0.0798475157078,0.999999923817,0.000282983660795,-0.000266931399737,3.21416302101e-05,1793239177849391616
+65,1.083333333,BASELINE,765.288745824,745,715,678.288745824,661,636,879,787.711254176,803,651.288745824,631.288745824,653.288745824,0.400986037257,-0.0153479424214,0.0798463619858,0.999999924495,0.000278772205093,-0.000268897798386,3.14756343085e-05,1793239177866058496
+66,1.100000000,BASELINE,765,745,715,678.296220643,661.296220643,636,878.703779357,787.703779357,803,651.296220643,631,653,0.400986264123,-0.015348843654,0.0798463869919,0.999999924953,0.000277249365581,-0.000268768853878,3.14747604113e-05,1793239177882725120
+67,1.116666667,BASELINE,765,745,715,678.880243693,661.880243693,636,878.119756307,787.119756307,803,651.880243693,631,653,0.400988419894,-0.0153493218155,0.0798475572279,0.999999925209,0.000278338735248,-0.000266604113245,3.21201065857e-05,1793239177899391744
+68,1.133333333,BASELINE,765,745,715,678.542957077,661.542957077,636,878.457042923,787.457042923,803.457042923,651.542957077,631.457042923,653.457042923,0.400989117427,-0.0153501915485,0.0798482308275,0.999999925327,0.000278887658667,-0.00026556351783,3.230845232e-05,1793239177916058368
+69,1.150000000,BASELINE,765,745,715.031898724,678.031898724,661,636,878.968101276,788,804,651.031898724,632,653.968101276,0.400989363889,-0.0153511135577,0.0798487031578,0.999999925395,0.000279237637825,-0.000264931698771,3.23718051175e-05,1793239177932724992
+70,1.166666667,BASELINE,765,745,715.605394401,678.605394401,661,636,878.394605599,788,804,651.605394401,632,653.394605599,0.400988338261,-0.015351208223,0.0798479332763,0.999999925213,0.000278576747854,-0.000266317049135,3.23144235181e-05,1793239177949391616
+71,1.183333333,BASELINE,765,745,716,678.816276261,661.183723739,636,878.183723739,788,804,651.816276261,631.816276261,653,0.400988158593,-0.0153513388721,0.0798477478615,0.999999925268,0.000278118132909,-0.0002665960095,3.22617483715e-05,1793239177966058240
+72,1.200000000,BASELINE,765,745,716,678.227284454,661.772715546,636,878.772715546,788,804,651.227284454,631.227284454,653,0.400989844991,-0.0153515488962,0.0798488516957,0.999999925847,0.000278105707369,-0.000264434433391,3.22194549701e-05,1793239177982725120
+73,1.216666667,BASELINE,765,745,715.643166348,678,661.643166348,636,879,788,804,651.356833652,631.356833652,653,0.400989995958,-0.0153508127317,0.079849013482,0.999999925649,0.000278875440106,-0.000264387841913,3.20996562081e-05,1793239177999391744
+74,1.233333333,BASELINE,765,745,715.062110744,678,661.062110744,636,879,788,804,651.937889256,631.937889256,653,0.400989182113,-0.0153494820149,0.0798485833177,0.999999924962,0.000280136654112,-0.000265670233919,3.19311557548e-05,1793239178016058368
+75,1.250000000,BASELINE,765,745,715,678.51379032,661.51379032,636,879,788,804,652,631.48620968,653,0.400988198311,-0.0153501374234,0.0798474629562,0.999999925175,0.000278319944944,-0.000266773375512,3.19415485939e-05,1793239178032724992
+76,1.266666667,BASELINE,765,745,715,679,661.911028752,636,879.088971248,787.911028752,803.911028752,651.911028752,631.088971248,653,0.400987631205,-0.0153507413965,0.0798466953048,0.999999925449,0.000276784496723,-0.000267333682036,3.20014998224e-05,1793239178049391616
+77,1.283333333,BASELINE,765,745,715,679,661.336411181,636,879.663588819,787.336411181,803.336411181,651.336411181,631.663588819,653,0.40098944965,-0.0153497670663,0.0798483038184,0.999999925492,0.000278795123594,-0.00026504804825,3.22150918456e-05,1793239178066058240
+78,1.300000000,BASELINE,765,745,715,679,661,636,879.755002576,787.244997424,803.244997424,651,631.755002576,653,0.40099059261,-0.015349405431,0.0798494100456,0.999999925836,0.000279244474436,-0.000263258423002,3.23445668242e-05,1793239178082725120
+79,1.316666667,BASELINE,765,745,715,679,661,636,879.164003263,787.835996737,803.835996737,651,631.164003263,653,0.400990781602,-0.015349909085,0.0798498069097,0.99999992661,0.000277488885793,-0.000262169294665,3.23552460208e-05,1793239178099391744
+80,1.333333333,BASELINE,765,745,715,678.581425504,661,636,879,788,804,651.418574496,631.418574496,653,0.400989696295,-0.0153502806347,0.0798491587412,0.999999926277,0.000277198027808,-0.000263753147468,3.22786566699e-05,1793239178116058368
+81,1.350000000,BASELINE,765,745,715,678.002082298,661,636,879,788,804,651.997917702,631.997917702,653,0.400988121546,-0.0153506014451,0.0798481091901,0.999999925513,0.000277469752584,-0.000266363655491,3.21685486706e-05,1793239178132725248
+82,1.366666667,BASELINE,765,745,715,678,661,636,879,788,804,652,631.428286254,653.571713746,0.400988822048,-0.0153505240448,0.0798487168602,0.999999926323,0.000276362596706,-0.000264488992633,3.19962233896e-05,1793239178149391616
+83,1.383333333,BASELINE,765,745,715,678,661,636,879,787.850833736,804,651.850833736,631.149166264,653.850833736,0.400989317318,-0.0153510690789,0.0798490230779,0.999999926909,0.000275297565198,-0.000263378309218,3.20231607907e-05,1793239178166058240
+84,1.400000000,BASELINE,765,745,715,678,661,636,879,787.262558413,804,651.262558413,631.737441587,653.262558413,0.400989184277,-0.0153534506365,0.0798484242958,0.999999926831,0.000274371179252,-0.000264564221101,3.26373394985e-05,1793239178182724864
+85,1.416666667,BASELINE,765,745,715,678.32119579,661.32119579,636,879,787.32119579,804,651.32119579,632,653,0.400988776275,-0.0153538882792,0.0798481369673,0.999999926373,0.000275135676349,-0.000265502330961,3.26169494482e-05,1793239178199391744
+86,1.433333333,BASELINE,765,745,715,678.901305511,661.901305511,636,879,787.901305511,804,651.901305511,632,653,0.400988146629,-0.0153527589442,0.0798481006997,0.999999925606,0.000277263183817,-0.000266240689077,3.20850374263e-05,1793239178216058368
+87,1.450000000,BASELINE,765.478462195,745,715,679,661.521537805,636,879,788,804,652,632,653,0.400987343628,-0.0153514250849,0.0798479848975,0.999999925049,0.00027889320287,-0.000266621694613,3.21396913149e-05,1793239178232724992
+88,1.466666667,BASELINE,765.945198864,745,715,678.945198864,661,636,879,787.945198864,804,651.945198864,632,653,0.400986612221,-0.015350279971,0.0798478513102,0.999999924636,0.000280070063972,-0.000266918735973,3.23031085649e-05,1793239178249391616
+89,1.483333333,BASELINE,765.370872943,745,715,678.370872943,661,636,879,787.370872943,804,651.370872943,632,653,0.400986896442,-0.015351321695,0.0798477036946,0.999999925182,0.000277917785383,-0.00026711430474,3.23576177742e-05,1793239178266058240
+90,1.500000000,BASELINE,765,745,715,678.209239733,661,636,879,787.209239733,804,651.209239733,631.790760267,653,0.400987541792,-0.0153520239571,0.079847817523,0.999999925726,0.000276617836731,-0.00026643465699,3.22930458151e-05,1793239178282724864
+91,1.516666667,BASELINE,765,745,715,678.799900974,661,636,879,787.799900974,804,651.799900974,631.200099026,653,0.400988845442,-0.0153521074166,0.0798484079358,0.999999926269,0.000276871594047,-0.000264159583718,3.20114016983e-05,1793239178299391744
+92,1.533333333,BASELINE,765,745,715.382847835,679,661.382847835,636,879,788,804,652,631,653,0.400988379119,-0.0153519251762,0.0798480024008,0.999999926046,0.000276925223814,-0.000264935780366,3.20886743362e-05,1793239178316058368
+93,1.550000000,BASELINE,765,745,715.961842395,679,661.961842395,636,879,788,804,652,631,653,0.400987005977,-0.0153516068082,0.0798470866059,0.999999925428,0.000276876321059,-0.000267275252196,3.23498329187e-05,1793239178332724992
+94,1.566666667,BASELINE,765,745,715.461677974,679,661.461677974,636,879,788.538322026,804,652,631,653,0.400986795798,-0.0153507998702,0.079846967818,0.999999925365,0.000276621565012,-0.000267813426458,3.20267352188e-05,1793239178349391872
+95,1.583333333,BASELINE,765.116580076,745,715.116580076,678.883419924,661,636,879,788.883419924,804,652,631.116580076,653,0.400986885816,-0.0153500268125,0.0798471835548,0.999999925338,0.000276801901281,-0.0002677571661,3.18078275719e-05,1793239178366058240
+96,1.600000000,BASELINE,765.702715994,745,715.702715994,678.297284006,661,636,879,788.297284006,804,652,631.702715994,653,0.400987854471,-0.0153495290532,0.0798485201895,0.99999992529,0.000278793179442,-0.000265818543639,3.21745995905e-05,1793239178382724864
+97,1.616666667,BASELINE,765.714398005,745,715.714398005,678,661,636,879,788,804,652,632,653,0.400988749609,-0.0153491987777,0.07984908829,0.999999925369,0.000279811662314,-0.000264442452571,3.22253335541e-05,1793239178399391744
+98,1.633333333,BASELINE,765.134856827,745,715.134856827,678,661,636,879,788,804,652,632,653,0.400989569082,-0.0153490408751,0.0798488654213,0.999999925583,0.000279828952301,-0.000263645314225,3.19508037754e-05,1793239178416058368
+99,1.650000000,BASELINE,765,745,715,678.442313401,661,636,878.557686599,787.557686599,804,652,632,653,0.400989591619,-0.0153497238524,0.0798487321989,0.999999926072,0.00027830053833,-0.000263413389651,3.18971613534e-05,1793239178432724992
+100,1.666666667,BASELINE,765,745,715,679,661.018704415,636,878.018704415,787.018704415,803.981295585,652,632,653,0.400989360015,-0.0153506334585,0.0798486317837,0.99999992661,0.00027638172576,-0.000263390942483,3.1911836893e-05,1793239178449391616
+101,1.683333333,BASELINE,765,745,715,679,661.59330689,636,878.59330689,787.59330689,803.40669311,652,632,653,0.400988758155,-0.0153506996122,0.0798486984165,0.999999926202,0.000276791724378,-0.000264499891792,3.1966062317e-05,1793239178466058240
+102,1.700000000,BASELINE,765,745,715,678.833228294,661.833228294,636,879,788,803.166771706,651.833228294,631.833228294,653,0.400988134952,-0.0153507399489,0.0798484913265,0.999999925794,0.000277143736615,-0.000265677973828,3.19150772464e-05,1793239178482725120
+103,1.716666667,BASELINE,765,745,715,678.262519086,661.262519086,636,879,788,803.737480914,651.262519086,631.262519086,653,0.400987460052,-0.0153507177542,0.0798476212532,0.999999925387,0.000277355300061,-0.000267023501978,3.16092619834e-05,1793239178499391744
+104,1.733333333,BASELINE,765.323970817,745,715,678,661.323970817,636,879,788,803.676029183,651,631,653,0.400987610107,-0.0153507484179,0.0798475776208,0.999999925488,0.000277136779496,-0.000266874109746,3.15752979552e-05,1793239178516058368
+105,1.750000000,BASELINE,765.923902922,745,715,678,661.923902922,636,879,788,803.076097078,651,631,653,0.400988462865,-0.015350824107,0.0798482379582,0.999999926023,0.000276551909485,-0.000265451330892,3.17728992461e-05,1793239178532724992
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,678,662,636,879,788,804,652,632,653,0.400987484224,-0.0153497143416,0.0798473104171,0.999999924622,0.000279467700532,-0.000267585415307,3.24427294242e-05,1793239178563836672
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,678.587576736,662,636,879,788,804,651.412423264,632,653,0.400988947105,-0.0153493297175,0.079848270021,0.999999925359,0.000279105210444,-0.000265242991452,3.20651239309e-05,1793239178580503296
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,879.172694072,788,803.827305928,651,632,653,0.40098974125,-0.015349719117,0.0798489437737,0.999999926114,0.000277727242384,-0.000263866584387,3.18449364869e-05,1793239178597169920
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,879.752020523,788,803.247979477,651,632,653,0.400988960762,-0.0153519310632,0.0798489444498,0.999999926911,0.000273958189142,-0.000264764798683,3.19954118116e-05,1793239178613836544
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.329898754,745,715,679,661.670101246,636,879.670101246,788,803.659797507,651.329898754,631.670101246,653,0.400988467411,-0.0153519296701,0.0798486684333,0.999999926376,0.000275137820225,-0.000265546092653,3.21441023939e-05,1793239178630503168
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.906693105,745,715,679,661.093306895,636,879.093306895,788,804.813386209,651.906693105,631.093306895,653,0.400988188952,-0.015350271818,0.0798481853404,0.999999924831,0.000280021037434,-0.000266239883618,3.22914572687e-05,1793239178647169792
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.518626663,745,715,678.518626663,661.481373337,636,879,788,804.518626663,652,631,653,0.400987938393,-0.0153511023756,0.0798480125262,0.999999925252,0.000278283274439,-0.000266524763116,3.19099154831e-05,1793239178663836672
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,678,662,636,879,787.942787244,804,651.942787244,631,653,0.400987941736,-0.0153522860579,0.0798480904318,0.999999926029,0.000275604156178,-0.000266441875466,3.15048918543e-05,1793239178680503296
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,678,662,636,879,787.352341358,804,651.352341358,631,653,0.400990261303,-0.0153522850851,0.0798499469997,0.999999926629,0.000276060432083,-0.000263666831154,3.18323266082e-05,1793239178697169920
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,678.233742283,661.766257717,636,879.233742283,787.233742283,804,651.233742283,631.233742283,653,0.400993915899,-0.0153521828395,0.0798521593135,0.999999927305,0.000276476232262,-0.000260615947317,3.20933171431e-05,1793239178713836288
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,678.813370727,661.186629273,636,879.813370727,787.813370727,804,651.813370727,631.813370727,653,0.400999546039,-0.0153519307329,0.0798548980513,0.999999928097,0.000276832137402,-0.000257156883087,3.22559851058e-05,1793239178730503168
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715.389125991,679,661,636,879.610874009,788,803.610874009,652,631.610874009,653,0.401019352441,-0.0153521677497,0.0798632793584,0.999999931586,0.00027752492109,-0.000242327103444,3.29360075064e-05,1793239178747169792
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715.963041991,679,661,636,879.036958009,788,803.036958009,652,631.036958009,653,0.401045890934,-0.0153526370437,0.0798743402361,0.999999936016,0.00027837768321,-0.00022209754375,3.38617136575e-05,1793239178763836416
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715.44920494,678.44920494,661.55079506,636,878.44920494,788,803,651.44920494,631.55079506,653,0.401097941909,-0.0153563791572,0.0798925920209,0.99999994416,0.000274963589604,-0.00018672232075,3.47926235684e-05,1793239178780503296
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.137236676,744.862763324,715,678.137236676,661.862763324,636,878.137236676,788,803.137236676,651,631.862763324,653,0.401155367438,-0.0153601936459,0.0799103524635,0.999999950692,0.000272020057769,-0.000152857725655,3.54291061133e-05,1793239178797169920
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.716388671,744.283611329,715,678.716388671,661.283611329,636,878.716388671,788,803.716388671,651,631.283611329,653,0.401224445122,-0.0153635158213,0.0799249369899,0.999999954425,0.000271537462008,-0.000127214288941,3.5116351191e-05,1793239178813836800
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.70679288,744.29320712,715.29320712,679,661.29320712,636,879,788,804,651,631.29320712,653,0.401298156425,-0.0153661360355,0.0799355134911,0.99999995644,0.000271569933148,-0.000110445534729,3.42350755189e-05,1793239178830503168
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.132213819,744.867786181,715.867786181,679,661.867786181,636,879,788,804,651,631.867786181,653,0.401376314311,-0.0153680826226,0.0799422437485,0.999999957222,0.000272096680874,-0.000102193241847,3.28082272272e-05,1793239178847169792
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715.555036464,679,662,636,879,788,804.444963536,651.444963536,631.555036464,653,0.401468167854,-0.0153704584138,0.0799442973138,0.999999958282,0.000270463554944,-9.68707907083e-05,3.00105728839e-05,1793239178863836416
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,879,788,804.953277295,652,631.023361353,653,0.401565218697,-0.0153730593557,0.0799450152471,0.999999959414,0.000268158632059,-9.24432136213e-05,2.67691584794e-05,1793239178880503296
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,879,788,803.774980324,652,631.612509838,653,0.401689006111,-0.0153780063938,0.0799472380128,0.999999960658,0.000265217830425,-8.84807588596e-05,2.27029792649e-05,1793239178897169920
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.801695944,715,678.801695944,662,636,879,788,803.198304056,652,631.801695944,653,0.401822805725,-0.0153826387406,0.0799506154847,0.999999961981,0.000262670328638,-8.18385317895e-05,1.85419465555e-05,1793239178913836288
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.22234708,715,678.22234708,662,636,879,788,803.77765292,652,631.22234708,653,0.401975843946,-0.0153866664019,0.0799562117452,0.999999963417,0.000260878559899,-7.00470745031e-05,1.41986516186e-05,1793239178930503168
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.355258758,715,678.355258758,661.644741242,636,879,788,804,651.644741242,631.355258758,653,0.40214206662,-0.0153931607968,0.0799593103102,0.999999965893,0.000252719161666,-6.52955015309e-05,9.12227000056e-06,1793239178947169792
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.931779062,715,678.931779062,661.068220938,636,879,788,804,651.068220938,631.931779062,653,0.402316500822,-0.0154011915182,0.0799608532663,0.999999968943,0.000240593889002,-6.49284940426e-05,3.58930838179e-06,1793239178963836416
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.494912523,715,678.494912523,661.505087477,636,879,788,804,651.505087477,631.494912523,653,0.402510806834,-0.0154075806571,0.0799569777903,0.999999972879,0.00022181204137,-7.09240801143e-05,-3.45878242712e-06,1793239178980503040
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.080660291,715.080660291,678.080660291,661.919339709,636,879,788,804,652,631,653,0.402714025267,-0.0154138705444,0.0799526331277,0.999999977454,0.000197475896887,-7.73176814337e-05,-1.08354801519e-05,1793239178997169664
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.673343995,715.673343995,678.673343995,661.326656005,636,879,788,804,652,631,653,0.402956888597,-0.0154209289871,0.0799499264959,0.99999998625,0.000143552878844,-8.08170597224e-05,-1.90072886565e-05,1793239179013836288
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715.741181153,678.741181153,661,636,879,788,804,651.741181153,631,653,0.403221207247,-0.0154294103376,0.0799507265954,0.999999990698,0.000109012420402,-7.79506810316e-05,-2.53661051314e-05,1793239179030503424
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715.1645581,678.1645581,661,636,879,788,804,651.1645581,631,653,0.403511870914,-0.0154396388788,0.0799558326177,0.999999992474,9.82718511115e-05,-6.72677760136e-05,-2.94987444569e-05,1793239179047171072
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.410959088,745,715.410959088,678.410959088,661.410959088,636,879.410959088,788,804,651.410959088,631,653,0.403827972593,-0.0154485746539,0.0799603829849,0.999999993444,9.34940307338e-05,-6.03281722608e-05,-2.70395598415e-05,1793239179063838208
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.986034636,745,715.986034636,678.986034636,661.986034636,636,879.986034636,788,804,651.986034636,631,653,0.404154232933,-0.0154569941627,0.0799647114512,0.999999994104,9.10974336372e-05,-5.48834556507e-05,-2.19479310722e-05,1793239179080504832
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.423932371,745,715.423932371,679,662,635.423932371,879.423932371,788,803.423932371,652,631,653,0.404512838001,-0.0154653787929,0.0799623626975,0.999999995064,7.78864407566e-05,-5.5347593727e-05,-2.72577886891e-05,1793239179097170944
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,678.836670848,661.836670848,635.163329152,879,788,803.163329152,651.836670848,631.163329152,653,0.404887663721,-0.015474899618,0.0799597131487,0.999999995921,6.32544753343e-05,-5.63400777118e-05,-3.13354880746e-05,1793239179113837312
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,678.25741513,661.25741513,635.74258487,879,788,803.74258487,651.25741513,631.74258487,653,0.405301746128,-0.0154873160342,0.0799567208158,0.999999996757,4.56893522414e-05,-5.83035158181e-05,-3.16161751037e-05,1793239179130503680
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.319845746,745,715,678.319845746,661.319845746,636,879,788,803.680154254,651.319845746,632,653,0.405727921847,-0.015497549188,0.0799513270662,0.999999996699,3.11436550122e-05,-6.80078205874e-05,-3.17235577137e-05,1793239179147170304
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.895511167,745,715,678.895511167,661.895511167,636,879,788,803.104488833,651.895511167,632,653,0.406163770108,-0.0155060361218,0.0799440126102,0.999999995797,1.90129592181e-05,-8.39034412753e-05,-3.1692327657e-05,1793239179163836672
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.529994837,745,715,678.529994837,662.470005163,636,879,788,803.470005163,652,631.529994837,653,0.406630741308,-0.0155048347055,0.0799388543782,0.999999994779,2.89639240851e-05,-9.27426116245e-05,-3.16374329008e-05,1793239179180503808
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.045297971,745,715.045297971,678.045297971,662.909404057,636,879,788.045297971,804,652,631.045297971,653,0.407106711383,-0.0155014053822,0.0799345039892,0.99999999362,4.24645716808e-05,-9.97591649771e-05,-3.16877710537e-05,1793239179197170944
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.633273302,745,715.633273302,678.633273302,661.733453396,636,879,788.633273302,804,652,631.633273302,653,0.407607804303,-0.0154970247837,0.0799341031664,0.999999993285,3.98257898304e-05,-0.000103687621173,-3.30616882443e-05,1793239179213837312
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.780915565,745,715.780915565,679,661.219084435,636,879.219084435,788.780915565,804,651.780915565,632,653,0.408139436586,-0.0154977281335,0.0799333668243,0.999999993123,3.24851126709e-05,-0.000107239221918,-3.46158589756e-05,1793239179230503936
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.198691694,745,715.198691694,679,661.801308306,636,879.801308306,788.198691694,804,651.198691694,632,653,0.408721688806,-0.0155068582899,0.0799320743486,0.999999993116,1.73508942989e-05,-0.00011016617249,-3.64688056099e-05,1793239179247170304
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.377859268,745,715,678.622140732,662,636,880,788.377859268,804,651.377859268,632,653.377859268,0.409340245978,-0.0155115321453,0.0799493084269,0.999999995983,1.31213069671e-05,-8.08318865851e-05,-3.64289790463e-05,1793239179263836672
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.95147132,745,715,678.04852868,662,636,880,788.95147132,804,651.95147132,632,653.95147132,0.40997761118,-0.0155138973808,0.0799761403233,0.999999998662,1.45409447062e-05,-3.47844286999e-05,-3.54085872338e-05,1793239179280503296
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.474734437,745,715,678.525265563,662.525265563,636,879.474734437,788.474734437,804,652,632,653.474734437,0.410635293785,-0.0155133257284,0.0799969096243,0.999999999308,1.32449981657e-05,-1.37710191892e-06,-3.47473859487e-05,1793239179297170176
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.102136284,745,715.102136284,679,662.795727433,636,879,788,804,652,632,653,0.411289779216,-0.0155121018727,0.0800088080727,0.99999999917,1.14236874361e-05,1.7320222237e-05,-3.50590140397e-05,1793239179313837056
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.69366735,745,715.69366735,679,661.6126653,636,879,788,804,652,632,653,0.411919947496,-0.0155090535087,0.0799808858374,0.999999998754,8.28762624466e-06,-2.88691159831e-05,-3.98729730958e-05,1793239179330504192
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.720454942,745,715.720454942,679,661.279545058,636,879.279545058,788,804,652,632,653,0.412589741815,-0.0155084589891,0.0799540002966,0.999999996828,4.09324752204e-06,-6.58819297634e-05,-4.45643639896e-05,1793239179347171072
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.140649456,745,715.140649456,679,661.859350544,636,879.859350544,788,804,652,632,653,0.413302098696,-0.0155105001531,0.0799282282699,0.999999994465,-1.23787453839e-06,-9.30382088896e-05,-4.91241045909e-05,1793239179363837952
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,880,788,804,651.564634813,631.564634813,653,0.414043663429,-0.0155141582095,0.0799334808053,0.999999995632,-9.3250427005e-07,-7.96860787558e-05,-4.88307369812e-05,1793239179380504320
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715.010388686,679.010388686,662,636,880,788,804,651.010388686,631.010388686,653,0.414794577294,-0.0155182586333,0.0799487368354,0.999999997469,1.02110787436e-06,-5.33932876406e-05,-4.70144579342e-05,1793239179397170176
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715.597798012,679.597798012,662,636,880,788,804,651.597798012,631.597798012,653,0.415545197694,-0.015518166768,0.0799677249184,0.999999998463,-5.74387214592e-06,-2.8936400632e-05,-4.69424555389e-05,1793239179413836800
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715.817298694,679.817298694,662,636,879.817298694,788,804,651.817298694,631.817298694,653,0.416299960667,-0.0155174141847,0.079973697609,0.99999999851,-1.09618824689e-05,-2.36291179119e-05,-4.79806665776e-05,1793239179430503168
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715.23783761,679.23783761,662,636,879.23783761,788,804,651.23783761,631.23783761,653,0.417063719734,-0.0155152267659,0.0799514056721,0.999999996801,-1.28204453791e-05,-5.99077067158e-05,-5.14298512968e-05,1793239179447169792
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,679.34084462,662,636,879.68168924,788,804.34084462,651.34084462,631,653,0.417904035393,-0.015515321141,0.0799620781731,0.999999997963,-1.37932346712e-05,-3.467438671e-05,-5.17771063047e-05,1793239179463836672
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679.918984589,662,636,880.837969177,788,804.918984589,651.918984589,631,653,0.418797649568,-0.0155170040967,0.0799957004513,0.999999998094,-1.41493500079e-05,3.33834038212e-05,-4.99648036993e-05,1793239179480503552
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.493512415,745,715,679.01297517,662,636,880.506487585,788,804.506487585,652,631.493512415,653.493512415,0.419624782054,-0.0155194212238,0.0799978113101,0.999999997848,-1.59003209915e-05,3.94203638492e-05,-4.99632191213e-05,1793239179497170688
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.069388653,715,678.069388653,662,636,880,788,804,652,632,653.930611347,0.420440236285,-0.0155218848868,0.0799934404598,0.999999998005,-1.8726653574e-05,3.28595687023e-05,-5.05898576306e-05,1793239179513837312
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.659809892,715,678.659809892,662,636,880,788,804,652,632,653.340190108,0.421249353592,-0.0155237995674,0.0799789599622,0.999999998139,-2.79208696893e-05,7.5990384103e-06,-5.37179658397e-05,1793239179530503680
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.755490179,715,679.244509821,662,636,880,788,804,651.755490179,631.755490179,653,0.422090633666,-0.015525127563,0.0799818354974,0.999999998076,-2.94379450355e-05,8.78902381487e-06,-5.3883498415e-05,1793239179547170048
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.178568311,715,679.821431689,662,636,880,788,804,651.178568311,631.178568311,653,0.422975639259,-0.0155256579582,0.0800083066241,0.999999997483,-2.05179191297e-05,4.59385839521e-05,-5.00213983953e-05,1793239179563836928
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880,788,804,651,631,653,0.423836955615,-0.0155244802343,0.0800064678065,0.999999998143,-1.22221622612e-05,3.33662449806e-05,-4.95140432866e-05,1793239179580503552
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880,788,804,651,631,653,0.424687652843,-0.015522536819,0.0799919386074,0.999999998714,-4.20624438099e-06,-1.49472311836e-06,-5.05105057889e-05,1793239179597170176
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.451356934,745,715,680,662,636,880,788,804,651,631.548643066,653,0.425515131528,-0.0155216177517,0.0799502740514,0.999999996483,-6.67089383682e-06,-6.26448793431e-05,-5.53703796846e-05,1793239179613836800
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662.126688405,636,880,788,804,651,631.873311595,653,0.426351598779,-0.0155222097301,0.0799183037229,0.999999992481,-1.13433754054e-05,-0.000106752309079,-5.92807397307e-05,1793239179630503680
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662.720804552,636,880,788,804,651,631.279195448,653,0.427225140923,-0.0155282043044,0.0799266716576,0.999999994516,-2.23965356345e-05,-8.35510829946e-05,-5.90370489162e-05,1793239179647170560
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715.305551641,680,662.694448359,636,880.305551641,788,804,651,631,653,0.428089121453,-0.0155315241639,0.0799345017759,0.99999999534,-2.61370642129e-05,-7.24014783962e-05,-5.82587805258e-05,1793239179663837184
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715.881992485,680,662.118007515,636,880.881992485,788,804,651,631,653,0.428944625014,-0.0155324727339,0.0799418550882,0.999999995514,-2.33945212528e-05,-7.19363346447e-05,-5.70065782293e-05,1793239179680503552
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715.543109617,680,662,636,880.543109617,788,804,651.456890383,631.456890383,653,0.429850264373,-0.015533440438,0.0799746975988,0.99999999782,-2.83635972144e-05,-2.28634657675e-05,-5.50651275854e-05,1793239179697170176
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.03227386,715.03227386,680,662.03227386,636,880,788,804.06454772,651.96772614,631.96772614,653,0.430764558384,-0.015534339312,0.0800130999534,0.99999999732,-3.47146965348e-05,3.67396993691e-05,-5.29546061487e-05,1793239179713836544
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.622929492,715.622929492,680,662.622929492,636,880,788,805.245858984,651.377070508,631.377070508,653,0.431605302344,-0.015533962113,0.0800341757679,0.999999996306,-3.0632005422e-05,6.20506056756e-05,-5.09885902238e-05,1793239179730503424
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.209420136,746,715.790579864,680,662.790579864,636,880.209420136,788,805.790579864,651,631.209420136,653,0.432412159042,-0.0155323904709,0.0800262690482,0.999999997218,-3.03184719004e-05,4.42554023086e-05,-5.18258661279e-05,1793239179747170048
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.788557863,746,715.211442137,680,662.211442137,636,880.788557863,788,805.211442137,651,631.788557863,653,0.433159190129,-0.0155287101176,0.0799671955583,0.999999996436,-3.66591394492e-05,-4.96408223546e-05,-5.76121703357e-05,1793239179763836672
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.634061938,715,680.365938062,662,636,880.634061938,788,805,651,632,653,0.433943608114,-0.0155293909816,0.0799302745961,0.999999992453,-4.3893602258e-05,-9.65204777211e-05,-6.20561376987e-05,1793239179780503808
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.057692434,715,680.942307566,662,636,880.057692434,788,805,651,632,653,0.434749525262,-0.015532579749,0.0799060923736,0.999999989736,-5.16420387413e-05,-0.000116363408867,-6.57281986456e-05,1793239179797170944
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680.472605779,662,636,880.527394221,788,804.472605779,651,632,653.527394221,0.435560165409,-0.0155393198021,0.0799384913514,0.999999994023,-5.61076467715e-05,-7.00976135299e-05,-6.23818035983e-05,1793239179813837056
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.887824308,745,715,680.112175692,662,636,881.112175692,788,804,651,631.887824308,653.887824308,0.436364274396,-0.0155459345089,0.0799738444216,0.999999996255,-5.91581371989e-05,-2.31981628286e-05,-5.87579348346e-05,1793239179830503680
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.308353311,745,715,680.691646689,662,636,881.691646689,788,804,651,631.308353311,653.308353311,0.43713898778,-0.0155503815459,0.0799952862653,0.999999996681,-5.78347264232e-05,-4.29092065817e-06,-5.72302234546e-05,1793239179847170304
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.269474743,745,715,680.730525257,662,636,881.461050514,788,804,651,631,653,0.437884987505,-0.0155535985233,0.0800025567559,0.999999996433,-6.20566804599e-05,3.24729006238e-06,-5.72098124702e-05,1793239179863836928
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.845434172,745,715,680.154565828,662,636,880.309131657,788,804,651,631,653,0.438598329953,-0.0155554165033,0.0799937095835,0.999999995629,-7.25856056061e-05,-2.14496661042e-06,-5.89037162084e-05,1793239179880503552
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.578024347,745.421975653,715,680.421975653,662,636,880,788,804.421975653,651,631.421975653,653,0.43926506942,-0.0155585466585,0.0799595337781,0.999999993636,-7.72454684912e-05,-5.42248888155e-05,-6.18066539115e-05,1793239179897170432
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.001269322,745.998730678,715,680.998730678,662,636,880,788,804.998730678,651,631.998730678,653,0.439914715115,-0.0155621581156,0.0799160675073,0.99999998708,-7.97525779461e-05,-0.00012342970327,-6.51530614359e-05,1793239179913837312
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.412644983,715,681,662,635.412644983,880,788,805,651,631.412644983,653,0.440478224406,-0.0155627651494,0.0798348989614,0.999999962533,-8.87363527546e-05,-0.00024872162306,-7.20954047229e-05,1793239179930504192
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.173366104,715,681,662,635,880.173366104,787.826633896,804.826633896,651,631,653,0.441049700977,-0.0155641862134,0.0797676678166,0.999999930565,-9.75297893951e-05,-0.000351025323026,-7.83547271241e-05,1793239179947171072
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.75318916,715,681,662,635,880.75318916,787.24681084,804.24681084,651,631,653,0.441640302379,-0.0155675313087,0.0797333078663,0.999999911297,-0.000105843490672,-0.000399143123042,-8.29941149886e-05,1793239179963837184
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.669837703,715,681,661.669837703,635,880.669837703,787,804.330162297,651,631.330162297,653,0.442254649437,-0.0155778650609,0.0797458582228,0.99999991847,-0.000119766671835,-0.000376824185853,-8.19758018857e-05,1793239179980503808
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.094976808,715,681,661.094976808,635,880.094976808,787,804.905023192,651,631.905023192,653,0.442886595465,-0.0155933784311,0.0797931759864,0.99999994186,-0.000137847297922,-0.00030230131023,-7.67643035177e-05,1793239179997170432
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681.480759562,661.480759562,635,880,787,805,651,631.519240438,653,0.443460708254,-0.0156038890745,0.0798200284445,0.999999950415,-0.000153174393538,-0.000264674181878,-7.5205073067e-05,1793239180013837056
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714.942324513,682,661.942324513,635,880.057675487,787,805,651,631,653,0.44401417891,-0.0156128768882,0.0798380233843,0.999999954149,-0.000166704002854,-0.000241593150304,-7.44578101488e-05,1793239180030503680
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714.35618832,682,661.35618832,635,880.64381168,787,805,651,631,653,0.444483389778,-0.0156169836684,0.0798119724809,0.999999942404,-0.000168757218826,-0.000284884872792,-7.45271668657e-05,1793239180047171072
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.228261602,745.228261602,714.228261602,681.543476796,661,635,880.771738398,787,805,651,631,653,0.444939903363,-0.0156211314596,0.0797850835655,0.999999928,-0.000171945040895,-0.000329777780715,-7.53821552256e-05,1793239180063838208
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.810099443,745.810099443,714.810099443,680.379801113,661,635,880.189900557,787,805,651,631,653,0.445376748865,-0.015625342776,0.0797568965755,0.999999910234,-0.000176890362866,-0.000377150914145,-7.74540836708e-05,1793239180080505088
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.612907116,745.612907116,715,680.774185767,661,635,880,787,805,651,631.387092884,653,0.445800052141,-0.0156313689286,0.0797415186445,0.999999900275,-0.000187475484192,-0.000397599063242,-7.88538930721e-05,1793239180097171456
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.038260823,745.038260823,715,681.923478354,661,635,880,787,805,651,631.961739177,653,0.446216794007,-0.015638274402,0.0797323469287,0.999999894634,-0.000200793189481,-0.000405001581387,-7.99280490291e-05,1793239180113837568
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.535426964,745,714.464573036,681.464573036,661,634.464573036,880.535426964,786.464573036,804.464573036,651,631.464573036,653,0.446608828845,-0.0156434500223,0.079729215647,0.999999894671,-0.000208118052523,-0.000401140495398,-8.01971448074e-05,1793239180130503936
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,714.112627146,681,660.887372854,634,880.887372854,786,804,651,631,653,0.446988764573,-0.0156483743293,0.0797250111659,0.999999893978,-0.000214372501004,-0.000399541148256,-8.03386782273e-05,1793239180147170048
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,714.705082743,681,660.294917257,634,880.294917257,786,804,651,631,653,0.447324662546,-0.0156527536507,0.0797143988603,0.999999888587,-0.00021788781661,-0.000411000473087,-8.01814062699e-05,1793239180163836928
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.711185108,745.288814892,715,681.288814892,660.288814892,634,880,786,804,651,631,653,0.447631802047,-0.015655242684,0.079700560409,0.999999878667,-0.000221357296046,-0.000432554587394,-8.10124840902e-05,1793239180180503552
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.136099594,745.863900406,715,681.863900406,660.863900406,634,880,786,804,651,631,653,0.447910436398,-0.0156558580813,0.079683524233,0.999999863606,-0.000224781342742,-0.000464114561714,-8.28232049297e-05,1793239180197170176
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.441289335,745.558710665,715,682,660.558710665,634,880,786,804,651,631,653,0.448168944659,-0.0156544234944,0.0796701745785,0.999999852045,-0.000229362221455,-0.000485995709041,-8.43328466438e-05,1793239180213837056
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.980274127,745,715,681.980274127,660,634,880,786,804,651,631,653,0.448420640832,-0.0156523653217,0.0796582938446,0.999999841804,-0.000233954781256,-0.000504295895153,-8.56868087107e-05,1793239180230503936
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.392229562,745,715,681.392229562,660,634,880,786,804,651,631,653,0.448655846952,-0.0156506521391,0.0796558049061,0.999999842292,-0.000228550747973,-0.000505879558988,-8.52448332896e-05,1793239180247170560
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.806947493,681,660.193052507,634,880.193052507,785.806947493,804,651,631,653,0.448882318283,-0.0156514100254,0.079656712712,0.999999844486,-0.000225389730127,-0.000503227010854,-8.36035223283e-05,1793239180263837440
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714.227198942,681,660.772801058,634,880.772801058,785.227198942,804,651,631,653,0.449091293268,-0.015657117615,0.0796644244064,0.999999850058,-0.000226721610785,-0.000492089069398,-7.95598685698e-05,1793239180280503808
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714.350902226,681,661,634,881,785.350902226,804,651,631,653.350902226,0.449272331423,-0.015662268624,0.0796651437951,0.999999849074,-0.000232670420509,-0.000491591898482,-7.78128000634e-05,1793239180297170432
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714.927941803,681,661,634,881,785.927941803,804,651,631,653.927941803,0.449435365836,-0.0156670609476,0.0796613570248,0.999999843831,-0.000241594589393,-0.000497952122852,-7.75457551242e-05,1793239180313837312
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.500571237,634,881,785.500571237,804,651,631,653.500571237,0.449566155595,-0.0156686306282,0.0796542820538,0.99999983648,-0.000244840560932,-0.000510758111454,-7.88612223759e-05,1793239180330503680
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,634,880.332680392,785,804.667319608,651,631,653,0.449805189206,-0.0156719099244,0.0796497297745,0.999999829106,-0.000253218688548,-0.000520650434139,-8.11833057081e-05,1793239180363836928
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714.746019933,681,660,634,880,785,804.746019933,651,631,653,0.449907457856,-0.0156739523337,0.0796512256742,0.99999982846,-0.000257153503497,-0.000519908188581,-8.15285195921e-05,1793239180380503552
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714.169069441,681,660,634,880,785,804.169069441,651,631,653,0.44999442042,-0.0156759806199,0.0796522853267,0.999999827616,-0.00025902335601,-0.000520653414063,-8.12140028587e-05,1793239180397170688
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.408465331,785,804,651,631,653,0.450068262498,-0.01567813429,0.0796520617561,0.999999826483,-0.000261488241017,-0.000521542396511,-8.15516363595e-05,1793239180413837312
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.986242276,785,804,651,631,653,0.450136666044,-0.0156803399325,0.079651306281,0.999999825226,-0.000264199770926,-0.000522490967163,-8.2159590505e-05,1793239180430503680
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.15757525,714.15757525,681,660,634,880.84242475,785,804.84242475,651,631,653.15757525,0.450230018645,-0.0156804559233,0.0796476628107,0.999999822666,-0.000265778107283,-0.000526662980049,-8.15894387539e-05,1793239180463836672
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.736779173,714.736779173,681,660,634,880.263220827,785,804.263220827,651,631,653.736779173,0.450264363749,-0.0156812492476,0.0796462867047,0.999999821691,-0.000266173255294,-0.000528396483665,-8.10393847393e-05,1793239180480503296
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+223,3.716666667,POSE1_TO_POSE2_PRESS,764.108138631,745.108138631,714.108138631,681,660,634,880,785,804,651,630.108138631,653.108138631,0.450316163836,-0.0156807923167,0.0796445891378,0.999999820347,-0.000267408078699,-0.000530360064823,-8.07329301527e-05,1793239180513837312
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.468013966,745,714,681,660,634,880,785,804.468013966,651,630.468013966,653,0.450331795518,-0.015681043108,0.0796439727844,0.999999820128,-0.000268254096649,-0.000530397044843,-8.03970205291e-05,1793239180530503936
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714.634202839,681,660,633.365797161,880,784.365797161,805,651,631,653.634202839,0.450352219855,-0.015680730797,0.0796434096267,0.999999819889,-0.000266883019932,-0.000531669656132,-7.9516639335e-05,1793239180563836928
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714.780291465,681.219708535,660,633,880,784.219708535,804.780291465,651,631,653.780291465,0.450358207681,-0.0156805353901,0.0796432730777,0.999999819556,-0.000265986216254,-0.000532781950374,-7.92613022409e-05,1793239180580503552
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714.200882817,681.799117183,660,633,880,784.799117183,804.200882817,651,631,653.200882817,0.450362371367,-0.0156811001043,0.0796429286868,0.999999818858,-0.00026694823249,-0.000533596969252,-7.93581170188e-05,1793239180597170176
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.624361923,745,714,681.624361923,660,633,880,785,804.375638077,651,631,653,0.450364461504,-0.0156797816656,0.0796422344372,0.999999818379,-0.000264747399853,-0.000535577633622,-7.94137331768e-05,1793239180613836800
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764.524460489,745.524460489,714,681,660.524460489,633.524460489,880.524460489,785,804.475539511,651,630.475539511,653,0.450365909633,-0.0156767697273,0.0796404429813,0.999999816739,-0.000263928537687,-0.000539010098668,-7.95759183266e-05,1793239180647170304
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,714,681,660.898481354,633.898481354,880.898481354,785,804,651,630.101518646,653,0.450366252455,-0.0156763120304,0.0796396300566,0.999999815658,-0.000266737439301,-0.000539624966478,-7.96214504438e-05,1793239180663837184
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,714,681,660.30528315,633.30528315,880.30528315,785,804,651,630.69471685,653,0.450366277116,-0.0156762606573,0.0796393091215,0.999999815912,-0.000265170573323,-0.000539985895725,-7.92223982519e-05,1793239180680503808
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714,681,660,633.859294743,880,785,804,651,631,653.859294743,0.450366249635,-0.0156780535272,0.0796382996131,0.999999815992,-0.000263248960378,-0.000540902330032,-7.83675498764e-05,1793239180713837056
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714,681,660,633.565905826,880,785,804.434094174,651,631,654,0.450365441424,-0.0156771313575,0.0796370957205,0.99999981525,-0.000262133118421,-0.000542811452731,-7.83739277218e-05,1793239180730503680
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764.402168152,746,714,681,660,633,880,785,805,651,631,653.402168152,0.450366159143,-0.0156761820528,0.0796363292016,0.999999815072,-0.000260180012699,-0.000544108939121,-7.81535573253e-05,1793239180763836672
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.184344868,745.815655132,714.184344868,681,660,633,880.184344868,784.815655132,804.815655132,651,630.815655132,653.184344868,0.450367489297,-0.0156761613318,0.0796368503908,0.999999815667,-0.000259768887602,-0.000543215371586,-7.81266085594e-05,1793239180780503296
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.763577601,745.236422399,714.763577601,681,660,633,880.763577601,784.236422399,804.236422399,651,630.236422399,653.763577601,0.450367942771,-0.0156747408128,0.0796371718155,0.99999981588,-0.000260033866691,-0.000542596157905,-7.88183640634e-05,1793239180797169920
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.340508698,745.340508698,714.659491302,681,660,633,880.659491302,784.340508698,804.340508698,651,630.340508698,653.659491302,0.450368413568,-0.015674587644,0.0796369297191,0.999999815708,-0.000260621501169,-0.000542630636909,-7.88220618613e-05,1793239180813836800
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.915852426,745.915852426,714.084147574,681,660,633,880.084147574,784.915852426,804.915852426,651,630.915852426,653.084147574,0.450368896312,-0.0156753085153,0.0796362989852,0.99999981527,-0.000261431657965,-0.000543115941255,-7.83512341542e-05,1793239180830503680
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,880.177633561,785,804,651,631,653,0.450368316005,-0.0156743414984,0.0796372547091,0.99999981508,-0.000261602911142,-0.000543427504936,-7.80418320056e-05,1793239180913836544
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+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680.028274462,660,633,880,785,804.971725538,651,631,653,0.450371840913,-0.015675747831,0.0796384940716,0.999999816868,-0.000260782634575,-0.000540639425902,-7.72313702185e-05,1793239180947170048
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+256,4.266666667,HOLD_POSE2,764.74484974,745.74484974,714,681,660,634,880,785,804.74484974,651,630,653,0.450370442699,-0.0156724463943,0.0796369173881,0.999999815213,-0.000259918712366,-0.000544044614712,-7.76641842801e-05,1793239181083953920
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+270,4.500000000,HOLD_POSE2,764.13106872,745.13106872,714.13106872,681,660,633.86893128,880,785,805,651,631,653,0.450376272546,-0.0156716455593,0.0796397665381,0.999999818609,-0.000257153870204,-0.000539159750451,-7.720718413e-05,1793239181317286400
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,881,784,804,651,630,653,0.450375177276,-0.0156695202643,0.0796381345934,0.999999818354,-0.000253692926037,-0.000541392275673,-7.63321736715e-05,1793239181350050048
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.572665081,714,680.572665081,659.572665081,633,880.427334919,784.572665081,804,651,630.572665081,653,0.450376321436,-0.0156705894062,0.0796391355228,0.999999818781,-0.000255478704271,-0.000539755661922,-7.6374110201e-05,1793239181366716160
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.849301475,745.849301475,714,681,660,633,880,784.849301475,804,651,630.849301475,653,0.4503767394,-0.0156712058175,0.0796396551383,0.999999818832,-0.000256646787233,-0.000539097576908,-7.64401543484e-05,1793239181383382272
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.255482531,745.255482531,714,681,660,633,880,784.255482531,804,651,630.255482531,653,0.450375022027,-0.0156704910009,0.0796387594779,0.999999817788,-0.000255998572907,-0.000541316799456,-7.6577085582e-05,1793239181400049408
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.330191217,745.330191217,714.330191217,680.669808783,660,633,880,784,804,651,630,653,0.450375039639,-0.0156704868149,0.0796387970781,0.999999817604,-0.00025616319044,-0.000541599292686,-7.64338422965e-05,1793239181416716032
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.909714379,745.909714379,714.909714379,680.090285621,660,633,880,784,804,651,630,653,0.450376367364,-0.0156710192361,0.0796395393965,0.99999981807,-0.000256941588572,-0.000540419334738,-7.60790353557e-05,1793239181433382400
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.515575161,714.515575161,680.484424839,659.515575161,633.484424839,880.484424839,784,804,651,630.484424839,653,0.450376019115,-0.015668963328,0.0796389539743,0.999999817855,-0.000255804778743,-0.000541256989861,-7.67785715611e-05,1793239181450049024
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.059671427,634,881,784.059671427,804,651,631,653,0.450375147835,-0.0156669828471,0.0796380167168,0.999999817411,-0.000254593657833,-0.000542535741978,-7.75604460109e-05,1793239181466715392
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.64752507,634,881,784.64752507,804,651,631,653,0.450372384625,-0.0156698980184,0.0796361340337,0.99999981608,-0.00025585324243,-0.000544423120127,-7.73488805286e-05,1793239181483381760
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.232148009,714,681,660,633.767851991,880.767851991,784.767851991,804,651,631,653,0.45036264091,-0.0156705655988,0.0796304588609,0.999999811556,-0.00025608637715,-0.000552528772528,-7.75868443644e-05,1793239181500048640
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.811932983,714,681,660,633.188067017,880.188067017,784.188067017,804,651,631,653,0.450342444028,-0.0156678674568,0.0796191045116,0.999999802043,-0.0002547824237,-0.000569946164996,-7.84979692955e-05,1793239181516715264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.622539934,714,681,660,633,880,784,804,651,630.622539934,653,0.450301356439,-0.0156661358445,0.0795997749432,0.999999782921,-0.000255051155845,-0.000602319763121,-7.94852820499e-05,1793239181533382144
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.063858133,714,681,660,633,880,784,804,651,630.063858133,653,0.450250239046,-0.015664868271,0.0795766164043,0.999999757971,-0.000256074947072,-0.000641873961513,-8.05091732003e-05,1793239181550048768
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.476819369,660,633,880,784,804,651,630.523180631,653,0.450182195238,-0.0156614781803,0.0795548112689,0.999999734233,-0.000254376237326,-0.000678374331895,-8.14599174614e-05,1793239181566715648
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.70884275,660,633.70884275,880,784.70884275,804.70884275,651,631,653.70884275,0.450025072119,-0.0156523141569,0.0795232539264,0.99999970125,-0.000248527766526,-0.000727338814825,-8.19252708354e-05,1793239181600048640
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.704407902,880.295592098,784.704407902,804.704407902,651,631,653.704407902,0.449939110063,-0.0156481329728,0.0795187255186,0.999999697596,-0.000246496308635,-0.000733214204901,-8.02737544791e-05,1793239181616715264
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.124886754,880.875113246,784.124886754,804.124886754,651,631,653.124886754,0.449851456561,-0.0156449335448,0.0795211995526,0.999999701228,-0.00024589065787,-0.000728773023978,-7.72730276228e-05,1793239181633381888
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.449971025,881,784,804,651,631,653,0.449740123502,-0.0156395828439,0.0795266877209,0.999999707433,-0.000243001685176,-0.0007214858585,-7.44517544024e-05,1793239181650048512
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.976431985,745,714,681,660,634,880.976431985,784,804.023568015,651,630.976431985,653,0.449621088774,-0.0156336675282,0.0795327258853,0.999999714067,-0.00023944809179,-0.000713724746495,-7.16097243925e-05,1793239181666715392
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.402362381,745,714,681,660,634,880.402362381,784,804.597637619,651,630.402362381,653,0.449474095334,-0.0156283673143,0.0795322710449,0.999999715835,-0.000235020937699,-0.000713154093053,-6.71314149963e-05,1793239181683382272
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.177759882,745,714,681,660,634,880.177759882,784.177759882,805,651,630.177759882,653,0.449316002411,-0.0156223303874,0.0795315728903,0.999999717069,-0.000230037384994,-0.000713452972046,-6.2688890487e-05,1793239181700048896
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.772065291,745,714,681,660,634,880.772065291,784.772065291,805,651,630.772065291,653,0.449131900041,-0.0156145671186,0.0795303045759,0.999999717089,-0.000223750021559,-0.000715789430382,-5.83302214949e-05,1793239181716716032
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880.644481066,785,804.644481066,651,631,653,0.448924945273,-0.0156048207577,0.0795264448722,0.999999714529,-0.000213002932044,-0.000722973886944,-5.36700677496e-05,1793239181733382656
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880.067778708,785,804.067778708,651,631,653,0.448703773041,-0.0155938406303,0.0795209729549,0.999999710139,-0.000199481256924,-0.000733174489106,-4.88223471025e-05,1793239181750048768
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.506823345,714,681,660,634,880,785,804,651,631,653,0.448459935273,-0.0155858436124,0.0795268908523,0.999999716454,-0.000184274635367,-0.00072895972363,-4.1859445417e-05,1793239181766715392
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,746,714.083024943,681,660,634,880,785,803.916975057,651,631,653,0.448208301421,-0.0155774155246,0.079533664973,0.999999724319,-0.000164206348766,-0.00072332220202,-3.46788106199e-05,1793239181783382016
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,746,714.670648332,681,660,634,880,785,803.329351668,651,631,653,0.447927631517,-0.0155639529207,0.0795364237126,0.99999973318,-0.000115954287675,-0.000720705827111,-2.78869479082e-05,1793239181800048640
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.74390888,745.74390888,714.74390888,681,660.25609112,634,880,785,803.25609112,651,630.74390888,653,0.447625122603,-0.0155520977099,0.0795403565338,0.999999741365,-8.19146051003e-05,-0.000714218110232,-2.12854745708e-05,1793239181816715520
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764.161246861,745.161246861,714.161246861,681,660.838753139,634,880,785,803.838753139,651,630.161246861,653,0.447294764303,-0.0155422922694,0.0795457865599,0.999999750751,-6.59987451638e-05,-0.000702793606753,-1.49267888321e-05,1793239181833382400
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.416316872,745,714,681,660.583683128,634,880.416316872,785.416316872,804,651,630.416316872,653,0.446948178178,-0.0155341922117,0.079555147874,0.999999762434,-5.54222417609e-05,-0.00068696611212,-1.17120302183e-05,1793239181850049280
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.991929826,745,714,681,660.008070174,634,880.991929826,785.991929826,804,651,630.991929826,653,0.446595382779,-0.015526744688,0.079566013424,0.999999774769,-4.68887464e-05,-0.000669453893091,-9.70023829415e-06,1793239181866716672
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.437151129,660,634,880.437151129,785.437151129,804,651,631,653,0.446191613578,-0.0155212889685,0.0795807933042,0.999999783838,-4.2514505115e-05,-0.000656051551301,-1.06309199986e-05,1793239181883383296
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.138881284,660,634,880.138881284,785.138881284,804,651,631,653,0.445778120548,-0.0155184522707,0.0795960766656,0.999999793926,-4.01222927306e-05,-0.000640651980824,-1.01992403131e-05,1793239181900049920
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.731850543,660,634,880.731850543,785.731850543,804,651,631,653,0.445335204333,-0.0155240861562,0.0796128242264,0.999999807727,-4.40171744867e-05,-0.00061853117194,-5.17636446072e-06,1793239181916716800
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.317417614,681,660.317417614,634,880.682582386,786,804,651,631,653,0.444854375223,-0.0155269358178,0.0796261117055,0.999999819926,-4.27307601036e-05,-0.00059859842634,-1.01810872187e-06,1793239181933383424
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.896873999,681,660.896873999,634,880.103126001,786,804,651,631,653,0.444342247711,-0.0155274870109,0.0796365427743,0.999999830832,-3.71670142858e-05,-0.000580471997172,2.42637497711e-06,1793239181950049536
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.471025163,714.528974837,681,661,634.471025163,880,786,804,651,631,653,0.443815498234,-0.0155182917279,0.0796460080247,0.999999838425,-2.24926241623e-05,-0.000568003393338,4.06354238156e-06,1793239181966716416
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.954743617,714.045256383,681,661,634.954743617,880.045256383,786.045256383,804,651,631.045256383,653,0.443283911583,-0.0155068361039,0.0796553713418,0.999999845237,-5.52459661384e-06,-0.000556296145951,5.41344589921e-06,1793239181983383040
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.365750311,714.634249689,681,661,634.365750311,880.634249689,786.634249689,804,651,631.634249689,653,0.44273224209,-0.0154935756474,0.0796660222398,0.99999985458,1.53022165439e-05,-0.000539019307547,8.01313079635e-06,1793239182000049664
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.80028201,745,714.19971799,681,661,634.80028201,880.19971799,787.80028201,804.80028201,651,631.19971799,653.80028201,0.441557171203,-0.0154736351011,0.079700302913,0.99999988385,3.94381051602e-05,-0.000480187055726,1.28252216839e-05,1793239182033382400
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.046024069,745,714,681,661,635,880.953975931,787.046024069,804.046024069,651,631,653.046024069,0.440208529517,-0.0154585580644,0.0796976136454,0.999999885445,5.88979287688e-05,-0.000474846537334,1.27351097274e-05,1793239182066715904
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.528595523,681,661.528595523,635,881,787,804,651,631.528595523,653,0.439488444862,-0.0154532518634,0.0796712708367,0.99999986578,7.15578645068e-05,-0.000512976139649,1.32400506482e-05,1793239182083382528
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.106166957,635,880.893833043,787.106166957,804,651,631.893833043,653,0.438776681677,-0.0154484826748,0.0796570372581,0.999999854783,8.3297340173e-05,-0.000532250727418,1.42722456788e-05,1793239182100048896
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.697834331,635,880.302165669,787.697834331,804,651,631.302165669,653,0.438115313786,-0.0154453613432,0.0797063377016,0.999999893775,8.97967717412e-05,-0.000451760701822,1.7302134626e-05,1793239182116715776
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.716855718,635,880.283144282,787.716855718,804,651,631.283144282,653.283144282,0.437434710287,-0.0154423945119,0.079768121147,0.999999929806,0.000100759236149,-0.000360146269185,2.30452440126e-05,1793239182133382656
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.075521582,635,880,787.924478418,804,651,631.924478418,653,0.430756582613,-0.0153683334031,0.0797051273771,0.999999852967,0.000215286946867,-0.000497245430176,2.15607906782e-05,1793239182266715136
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.494887537,745,715,680.505112463,661.494887537,635.494887537,880.494887537,788,804,651,632,653,0.42993516487,-0.0153759191383,0.0797580351961,0.999999895344,0.000215476268373,-0.000402690552802,2.68646242087e-05,1793239182283382272
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.933800727,745,715,680.066199273,662,636,880.933800727,788,804,651.066199273,632,653,0.429124951165,-0.015384220353,0.0798213261237,0.999999933737,0.000215456615747,-0.000291559771231,3.31117265372e-05,1793239182300049152
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.343274953,745,715,680.656725047,662,636,880.343274953,788,804,651.656725047,632,653,0.428291735383,-0.0153857177572,0.0798599567007,0.999999945607,0.000221203035017,-0.000241474504889,3.93148832746e-05,1793239182316715520
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.242462293,745,715,680.757537707,661.757537707,636,880,788,804,651.757537707,631.757537707,653,0.42741998837,-0.0153841415353,0.0798644631705,0.999999945319,0.000227810027922,-0.000236174451725,4.10598322536e-05,1793239182333382144
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.821551384,745,715,680.178448616,661.178448616,636,880,788,804,651.178448616,631.178448616,653,0.426494745724,-0.0153782979906,0.0798215928401,0.999999928633,0.000235611814327,-0.000293052731712,3.66151508061e-05,1793239182350048768
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.602009034,745,715,680,661,635.602009034,879.602009034,788,804,651,631,653,0.425570256224,-0.015375995988,0.0797867137743,0.999999912513,0.000238188760985,-0.000342140052779,3.43534954199e-05,1793239182366715392
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.026749599,745,715,680,661,635.026749599,879.026749599,788,804,651,631,653,0.424646102237,-0.0153752714179,0.0797553940864,0.999999895849,0.000238438520147,-0.000387757212593,3.30641781381e-05,1793239182383382016
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787.455546168,804,651.544453832,631,653,0.423698968368,-0.0153721100849,0.0797379063984,0.999999877073,0.000246537790258,-0.000428886823894,3.35956007494e-05,1793239182400048896
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.120568884,879,787,804,651.879431116,631.120568884,653,0.42278089409,-0.0153695176793,0.0797323172299,0.999999868588,0.000252745868825,-0.00044470258249,3.44097565269e-05,1793239182416715264
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.716843174,879,787,804,651.283156826,631.716843174,653,0.421981896328,-0.0153696388474,0.0797710122925,0.999999902764,0.000249981884982,-0.000361505815861,3.5989103013e-05,1793239182433382144
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,636,879.304162694,787.304162694,804,651,631.695837306,653,0.421185473958,-0.0153702182436,0.0798206477046,0.999999932353,0.00024794388201,-0.000268813712016,3.94654658186e-05,1793239182450048768
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,636,879.883384249,787.883384249,804,651,631.116615751,653,0.420391380597,-0.0153712120222,0.0798801766361,0.999999954572,0.000246562393724,-0.00016753483691,4.46573285633e-05,1793239182466715648
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.45742809,745,715,680,661,636,880,788,804.45742809,651,631.45742809,653,0.41952636716,-0.0153692365512,0.0798719541937,0.999999950818,0.000246906078487,-0.000188400766553,4.36723958479e-05,1793239182483382272
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.968934551,745,715,680,661,636,879.968934551,788,804.968934551,651.031065449,631.968934551,653,0.418643821959,-0.0153666718521,0.0798461725683,0.999999939731,0.000247350466542,-0.000240151196839,4.10258232951e-05,1793239182500048896
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.379133441,745,715,680,661,636,879.379133441,788,804.379133441,651.620866559,631.379133441,653,0.417767502608,-0.0153669718147,0.0798117557959,0.999999927008,0.000241784266436,-0.000293586632835,3.649856531e-05,1793239182516715520
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,636,879.207084856,788,804.207084856,652,631,653,0.416914766603,-0.0153668285074,0.0797960319727,0.999999918832,0.000238680045212,-0.000322757143299,3.45793789658e-05,1793239182533381888
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,636,879.786855349,788,804.786855349,652,631,653,0.416104472831,-0.0153658874579,0.0798139493952,0.999999922989,0.000240006588273,-0.000308258660679,3.735387586e-05,1793239182550048512
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.635287632,880,788,804.635287632,651.635287632,631,653,0.415301532623,-0.0153617474013,0.0798062547513,0.999999916775,0.000246203968229,-0.00032323108857,3.68049102432e-05,1793239182566715392
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.058543081,880,788,804.058543081,651.058543081,631,653,0.414502867591,-0.0153557475436,0.0797836700648,0.999999903707,0.000255233097728,-0.000355336968152,3.43237889114e-05,1793239182583382528
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879.481789869,788,804,651.518210131,631,653,0.413776343959,-0.0153590862379,0.079795319246,0.999999913493,0.000252274666891,-0.000328817799153,3.53561541772e-05,1793239182600049152
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.096807213,879.096807213,788,804,651.903192787,631,653,0.413059265332,-0.0153627273959,0.0798101410382,0.999999923839,0.000249083371437,-0.000298213730885,3.67057961315e-05,1793239182616715520
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.684753967,879.684753967,788,804,651.315246033,631,653,0.412348756405,-0.0153625506036,0.0798214372792,0.999999928308,0.000251581429379,-0.000280486825544,3.76513208058e-05,1793239182633382144
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.730829537,661,636,879.730829537,788,803.730829537,651.269170463,631,653,0.411635354127,-0.0153606990777,0.0798203053887,0.99999992644,0.000253410551872,-0.00028544926592,3.77189422972e-05,1793239182650048512
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.150494111,661,636,879.150494111,788,803.150494111,651.849505889,631,653,0.410918607144,-0.0153569115354,0.0798048063971,0.999999916817,0.000254466374999,-0.000316640920292,3.67716948885e-05,1793239182666715136
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.575250505,661,635.575250505,879.424749495,788,803.424749495,652,631.424749495,653,0.410260485348,-0.0153534588379,0.0798012642487,0.999999912756,0.000258723487838,-0.000325927941542,3.63466614241e-05,1793239182683381760
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.001789577,661,635.001789577,879.998210423,788,803.998210423,652,631.998210423,653,0.409622889088,-0.0153501233745,0.0798019083765,0.99999991083,0.000264101422346,-0.000327545811149,3.61044631494e-05,1793239182700048640
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.586014888,661.586014888,635,879.413985112,788,804,652,632,653,0.40904140731,-0.0153523002635,0.0798275651426,0.999999925327,0.000259742519628,-0.000283601627053,3.80794075744e-05,1793239182716716032
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.828700811,715,679,661.828700811,635,879,788,804,652,632,653,0.408461378086,-0.0153531510737,0.0798442879288,0.999999932597,0.00026009167694,-0.000256093532305,3.96740614671e-05,1793239182733383168
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.249524021,715,679,661.249524021,635,879,788,804,652,632,653,0.40788438913,-0.0153508032928,0.0798395517326,0.999999926341,0.000271723692996,-0.000268060734961,4.03466863889e-05,1793239182750050304
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.328203672,715,678.671796328,661,635.328203672,879.328203672,788,804,651.671796328,632,653,0.407315861442,-0.015349367103,0.0798192769512,0.999999915054,0.00027375988654,-0.000305688661269,3.87572998386e-05,1793239182766716928
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744.904834465,715,678.095165535,661,635.904834465,879.904834465,788,804,651.095165535,632,653,0.406753738373,-0.0153486209239,0.0797872405527,0.999999897526,0.000268532715241,-0.000362739951121,3.54557293881e-05,1793239182783383552
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.479866056,745,715,678,661,636,880,788,804,651,632,653,0.406272103048,-0.0153492898965,0.0797794116346,0.99999989551,0.000267100624578,-0.000369398791957,3.43867093437e-05,1793239182800049920
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.056083627,661.056083627,635.943916373,879.943916373,788,804,651,632,653,0.405811098627,-0.0153502995736,0.0797785215129,0.999999898092,0.000266818607597,-0.000362588002961,3.39641654951e-05,1793239182816716032
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.646615225,661.646615225,635.353384775,879.353384775,788,804,651,632,653,0.405395090916,-0.0153518904358,0.079798157806,0.999999910875,0.000270347858871,-0.000322336814565,3.54970180084e-05,1793239182833382656
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.767301232,745,715,678.767301232,661.767301232,635.232698768,879,788,804,651.232698768,632,653,0.404990474329,-0.0153518748163,0.0798147811151,0.999999919365,0.000271123170233,-0.000293977702635,3.65892274733e-05,1793239182850049024
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.187846015,745,715,678.187846015,661.187846015,635.812153985,879,788,804,651.812153985,632,653,0.404602832281,-0.0153494652952,0.0798269146193,0.999999923317,0.000267794693749,-0.000283339591968,3.70248119131e-05,1793239182866715904
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,636,879,788,803.616420104,652,632,653,0.404238078838,-0.0153446551432,0.0798310789778,0.999999920647,0.000277455699426,-0.000283327813858,3.80638706388e-05,1793239182883382528
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,636,879,788,803.048845618,652,632,653,0.403884304506,-0.0153386934628,0.0798314207184,0.999999914607,0.000293347465223,-0.000288413245865,3.93924023463e-05,1793239182900049152
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.53483167,745,715,678.53483167,661,636,879,788,803,651.46516833,632,653,0.403555008306,-0.0153316957055,0.0798282871963,0.999999911316,0.000294484328617,-0.000298806243155,3.68999922282e-05,1793239182916715520
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.879084888,745,715,678.879084888,661,636,879.120915112,787.879084888,803,651.120915112,632,653,0.403241427294,-0.0153260022453,0.0798275479809,0.999999909752,0.000294710689927,-0.000304004386408,3.49567067968e-05,1793239182933382144
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.289552591,745,715,678.289552591,661,636,879.710447409,787.289552591,803,651.710447409,632,653,0.402979818711,-0.0153257418084,0.0798373563783,0.999999914067,0.000296792990935,-0.000287132468707,3.65360205878e-05,1793239182950048768
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.294023462,661.294023462,636,879.705976538,787.294023462,803.294023462,652,631.705976538,653,0.402731991942,-0.0153260669944,0.0798418713879,0.999999916124,0.000295335234898,-0.000281367600387,3.68924250705e-05,1793239182966715392
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.87185027,661.87185027,636,879.12814973,787.87185027,803.87185027,652,631.12814973,653,0.402497467954,-0.0153269574474,0.0798412770047,0.999999916175,0.000290460472439,-0.000286323706762,3.60684279023e-05,1793239182983381760
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,662,636,878.552519093,787.552519093,804,652,631.447480907,653,0.402291869577,-0.0153359665801,0.0798383774753,0.99999991674,0.000284287506394,-0.000290507680269,3.61481280609e-05,1793239183000048896
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.976968931,661.976968931,636,878.023031069,787.023031069,803.976968931,652,631.976968931,653,0.402096186061,-0.0153473406848,0.0798349730266,0.999999917586,0.000277390366459,-0.000294195002349,3.65079641941e-05,1793239183016715776
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.388017079,661.388017079,636,878.611982921,787.611982921,803.388017079,652,631.388017079,653,0.401941576919,-0.0153599752695,0.0798353036524,0.999999922667,0.000261789564145,-0.000291085505285,3.74230993167e-05,1793239183033382400
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.802399833,715,678.197600167,661,636,878.802399833,787.802399833,803.197600167,651.802399833,631,653,0.401796525912,-0.0153656144495,0.0798379486975,0.99999992629,0.000254273102143,-0.000285160743062,3.8066010552e-05,1793239183050049024
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744.223221976,715,678.776778024,661,636,878.223221976,787.223221976,803.776778024,651.223221976,631,653,0.40166993225,-0.015357745085,0.0798450630237,0.999999927369,0.00026236798456,-0.000273799536622,3.81832411553e-05,1793239183066715648
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.356090244,715,678.643909756,661,635.643909756,878.356090244,787.356090244,804,651.356090244,631,653,0.401559126058,-0.0153547849831,0.0798486646257,0.999999928523,0.000263716365812,-0.00026837558406,3.71688421894e-05,1793239183083382016
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.935486781,715,678.064513219,661,635.064513219,878.935486781,787.935486781,804,651.935486781,631,653,0.401458220271,-0.0153549035081,0.0798500633782,0.999999929797,0.0002608339772,-0.00026667491733,3.54447916607e-05,1793239183100048640
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,635.509214026,879,788,804,652,631,653,0.401366278965,-0.0153544984344,0.0798470199561,0.999999927227,0.000264032812888,-0.000273418256633,3.27738923681e-05,1793239183116715264
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715.673996199,678,661,636,879,788,804,652,631.673996199,653,0.401214784202,-0.0153507362203,0.0798403259536,0.999999921374,0.000272620872183,-0.000286265829702,3.13361575981e-05,1793239183150048512
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744.741429336,715.741429336,678,661,636,879,787.741429336,804,652,632,653,0.401160529881,-0.0153494176266,0.0798396542894,0.999999920831,0.000274333641918,-0.00028642283158,3.22651070185e-05,1793239183166715392
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.162842578,715.162842578,678,661,636,879,787.162842578,804,652,632,653,0.401118905608,-0.0153501026846,0.0798420591753,0.999999923077,0.000272542844062,-0.000280100836826,3.33139445576e-05,1793239183183382272
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.412523827,715,678,661,636,879.412523827,787,804,651.587476173,632,653,0.401084703989,-0.0153497299561,0.0798421770029,0.99999992306,0.000273372644458,-0.000279332107583,3.34938322695e-05,1793239183200049152
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744.986628842,715,678,661,636,879.986628842,787,804,651.013371158,632,653,0.401053409747,-0.0153489429038,0.0798413990141,0.999999922162,0.000275228905308,-0.000280738533414,3.33333615697e-05,1793239183216716032
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c67c3553c92a2b43260044ebdb9b0bba779386f0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,417 @@
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+411,6.850000000,pose2_to_pose3_retreat,0.575664409013,-0.00990918591574,1.07003232593,0.546234859918,-0.00123744854048,1.06970046027
+412,6.866666667,pose2_to_pose3_retreat,0.575664407537,-0.00990918401492,1.0700323265,0.546234858381,-0.00123744685276,1.0697004607
+413,6.883333333,pose2_to_pose3_retreat,0.575664387334,-0.00990915798938,1.07003233439,0.54623483734,-0.00123742374483,1.06970046666
+414,6.900000000,pose2_to_pose3_retreat,0.575664373646,-0.00990914035737,1.07003233973,0.546234823085,-0.00123740808947,1.0697004707
+415,6.916666667,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385427,1.06970035116
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..05b8e921711b22591662eec4afccb244f908057d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24b4589941736d8becec124b7637ac9d30ac3c6407767af374cc00c02180f03e
+size 26541773
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5f66e2e7aa7bd34c30f02fb5fa9519c413843a49
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_04/franka_data.csv
@@ -0,0 +1,419 @@
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+22,0.366666667,BASELINE,765,745,715,679,661,636,879,788,803,652,631.746898458,653,0.400990692801,-0.015354164606,0.0798509892576,0.99999992745,0.000272996741019,-0.000263653123144,3.25526933832e-05,1793239184272825088
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+27,0.450000000,BASELINE,765,744.348218665,715,678,661.348218665,635.651781335,878.348218665,788,804,651,631,653,0.400989177562,-0.0153538307914,0.07985020042,0.999999927313,0.000272410392842,-0.000264778669985,3.25266996492e-05,1793239184356158976
+28,0.466666667,BASELINE,765,744.234743811,714.765256189,678.234743811,661,635.765256189,878.234743811,788,803.765256189,651.234743811,631.234743811,653,0.400989814605,-0.0153552699246,0.0798506268453,0.999999927813,0.000270830650898,-0.000264497251858,3.26637588978e-05,1793239184372825856
+29,0.483333333,BASELINE,765,744.827247057,714.172752943,678.827247057,661,635.172752943,878.827247057,788,803.172752943,651.827247057,631.827247057,653,0.400990789796,-0.0153565801334,0.0798508928613,0.999999928032,0.000270594432032,-0.000263861747368,3.30483730886e-05,1793239184389491968
+30,0.500000000,BASELINE,765,744.590232981,714.409767019,679,661,635.409767019,879,788,803.409767019,652,632,653,0.400990621838,-0.0153557108674,0.0798507133134,0.999999927769,0.000271845600038,-0.000263571118648,3.30571317941e-05,1793239184406158336
+31,0.516666667,BASELINE,765,744.011821765,714.988178235,679,661,635.988178235,879,788,803.988178235,652,632,653,0.400989983403,-0.0153539446143,0.0798503503888,0.999999927304,0.000273708918743,-0.00026342242742,3.29112029639e-05,1793239184422824960
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+39,0.650000000,BASELINE,765,744.621903542,715,678.621903542,661.621903542,636,878.621903542,788,803.621903542,651.621903542,631.378096458,653.621903542,0.400993426806,-0.0153517737917,0.0798521869057,0.999999928216,0.00027306997118,-0.000260762621175,3.16850670061e-05,1793239184556158208
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+53,0.883333333,BASELINE,765.243523565,744.756476435,715,678.756476435,661.243523565,635.756476435,879,788,804,652,631.756476435,653,0.400989804689,-0.0153530841552,0.0798510943623,0.999999928373,0.000270629208903,-0.000262609517286,3.24024974422e-05,1793239184789491456
+54,0.900000000,BASELINE,765,745,715,678.659659113,661.340340887,636,879,788,804,651.659659113,632,653,0.400990570723,-0.0153538874255,0.0798516458094,0.999999928593,0.00027061048991,-0.000261780979504,3.24736579538e-05,1793239184806158080
+55,0.916666667,BASELINE,765,745,715,678.08125956,661.91874044,636,879,788,804,651.08125956,632,653,0.400991948657,-0.0153549322777,0.0798518892834,0.999999928459,0.000272018067087,-0.000260823395358,3.25535910887e-05,1793239184822824704
+56,0.933333333,BASELINE,765.493809082,745,715,678.493809082,661.506190918,635.506190918,879,788,804,651.493809082,632,653,0.400991813441,-0.0153541362629,0.0798517454494,0.999999928144,0.000272955866222,-0.000261062589841,3.24558483765e-05,1793239184839491328
+57,0.950000000,BASELINE,765.931712676,745,715,679,661,635.068287324,879,788,804,652,631.931712676,653,0.400991624235,-0.0153532938766,0.0798516835813,0.999999927952,0.000273476984149,-0.000261265646125,3.23520002274e-05,1793239184856157952
+58,0.966666667,BASELINE,765.357575109,745,715,679,661,635.642424891,879,788,804,652,631.357575109,653,0.400992867238,-0.0153543369345,0.0798526978479,0.999999928888,0.000271480277099,-0.000259751925198,3.24180575601e-05,1793239184872824576
+59,0.983333333,BASELINE,765,745,715.222701571,678.777298429,661,636,879,788,804,652,631,653,0.400992961758,-0.0153551343868,0.0798527512963,0.999999929517,0.000269123499934,-0.000259796537788,3.23221827789e-05,1793239184889491456
+60,1.000000000,BASELINE,765,745,715.813114884,678.186885116,661,636,879,788,804,652,631,653,0.400991159973,-0.0153555263098,0.0798512182983,0.999999929635,0.000266172195842,-0.000262414178826,3.19589352213e-05,1793239184906158080
+61,1.016666667,BASELINE,765,744.603381641,715.603381641,678.396618359,661,636,879,787.603381641,804,652,631,653,0.400991244504,-0.0153551179096,0.0798515613613,0.999999929309,0.000267822701453,-0.000261960239351,3.20805772011e-05,1793239184922824960
+62,1.033333333,BASELINE,765,744.023078338,715.023078338,678.976921662,661,636,879,787.023078338,804,652,631,653,0.40099220264,-0.0153543388575,0.0798527732801,0.999999928768,0.000271604432727,-0.000260083765733,3.24267849727e-05,1793239184939491840
+63,1.050000000,BASELINE,765,744,715,678.446381387,661.553618613,636,879,787.553618613,804,652,631.553618613,653.553618613,0.400993067086,-0.0153554333299,0.0798533283144,0.99999992976,0.000269063285914,-0.000258891350792,3.25525981598e-05,1793239184956158464
+64,1.066666667,BASELINE,765,744.132077794,715,678.132077794,662,636,879,788,803.867922206,652,631.867922206,653.867922206,0.400993524267,-0.0153561224578,0.0798534406405,0.999999930264,0.000267622435338,-0.000258433386448,3.25962127394e-05,1793239184972824832
+65,1.083333333,BASELINE,765,744.717092401,715,678.717092401,662,636,879,788,803.282907599,652,631.282907599,653.282907599,0.400992598114,-0.0153551554322,0.0798521280769,0.999999928892,0.00027085289297,-0.000260396929913,3.23892448787e-05,1793239184989491456
+66,1.100000000,BASELINE,765,745,715.299275892,679,661.700724108,636,879,788,803,652,631,653,0.400992050182,-0.0153545193985,0.0798514148889,0.999999928357,0.000272102871592,-0.000261156226391,3.23089841428e-05,1793239185006157824
+67,1.116666667,BASELINE,765,745,715.878808157,679,661.121191843,636,879,788,803,652,631,653,0.400991856434,-0.0153541933217,0.0798512629849,0.999999928616,0.00027149823401,-0.000260787807823,3.23473780792e-05,1793239185022824448
+68,1.133333333,BASELINE,765,745,716,679,661,636.457516173,879,788,803.457516173,652,631.457516173,653,0.400991661638,-0.0153546029786,0.0798513969,0.999999928895,0.000270287534765,-0.000260968310671,3.23974424556e-05,1793239185039491328
+69,1.150000000,BASELINE,765.035655463,745,715.964344537,679,661,636.964344537,879,788,804,652,631.964344537,653,0.400991464402,-0.0153551554499,0.0798516081978,0.999999929151,0.000269045708178,-0.00026126495071,3.24414791964e-05,1793239185056157952
+70,1.166666667,BASELINE,765.60850909,745,715.39149091,679,661,636.39149091,879,788,804,652,631.39149091,653,0.400991234582,-0.0153549286239,0.079851846736,0.999999929001,0.000269749314327,-0.000261124581804,3.23482090433e-05,1793239185072824576
+71,1.183333333,BASELINE,766,745,715,679,661,636,879,788,804,652,631.187068215,653.187068215,0.400990991863,-0.0153548167253,0.0798518865225,0.999999928887,0.000270282746893,-0.000261033833236,3.21774015607e-05,1793239185089491456
+72,1.200000000,BASELINE,766,745,715,679,661,636,879,788,804,652,631.777943384,653.777943384,0.400990721296,-0.0153549529097,0.0798514972823,0.999999928848,0.000270448841528,-0.000261050195497,3.18392213568e-05,1793239185106158336
+73,1.216666667,BASELINE,765.638693065,745,715,679,661.361306935,636,879,788,804,652,632,653.638693065,0.400990581507,-0.0153552744671,0.0798512696544,0.999999928857,0.000270017893576,-0.00026144133656,3.19997483821e-05,1793239185122824704
+74,1.233333333,BASELINE,765.059852111,745,715,679,661.940147889,636,879,788,804,652,632,653.059852111,0.400990520455,-0.0153557076329,0.0798511393294,0.999999928894,0.000269227480955,-0.000262058122721,3.24605347849e-05,1793239185139491328
+75,1.250000000,BASELINE,765.515899502,745,715,679,661.484100498,636,879.515899502,788,804,652,631.484100498,653,0.400991540692,-0.0153547441845,0.0798522218902,0.999999928742,0.000271034343351,-0.000260757715275,3.25699705288e-05,1793239185156158208
+76,1.266666667,BASELINE,765.906867758,745,715.093132242,679,661.093132242,636,880,788,804.093132242,652,631.093132242,653,0.400992355454,-0.0153539281631,0.0798531397291,0.999999928614,0.000272564644314,-0.000259647020907,3.2627039261e-05,1793239185172824832
+77,1.283333333,BASELINE,765.319891999,745,715.680108001,679,661.680108001,636,880,788,804.680108001,652,631.680108001,653,0.400991419444,-0.0153547479469,0.0798524424092,0.99999992875,0.000271040163229,-0.000260714702586,3.26212843959e-05,1793239185189491456
+78,1.300000000,BASELINE,765,745,715.736002454,678.736002454,662,636,879.736002454,788,804.736002454,652,632,653,0.400991798717,-0.0153550051382,0.0798525146555,0.999999928905,0.000270680951714,-0.000260489326498,3.26566651683e-05,1793239185206158080
+79,1.316666667,BASELINE,765,745,715.155809375,678.155809375,662,636,879.155809375,788,804.155809375,652,632,653,0.400993753333,-0.0153545885004,0.0798535086278,0.999999929082,0.000271717408705,-0.00025871522727,3.27413149781e-05,1793239185222824704
+80,1.333333333,BASELINE,765,744.578330008,715.421669992,678.421669992,661.578330008,635.578330008,879,787.578330008,803.578330008,652,631.578330008,653.421669992,0.400993173765,-0.0153545902529,0.0798530156377,0.999999928925,0.000271619537911,-0.000259435710003,3.26351975849e-05,1793239185239491328
+81,1.350000000,BASELINE,765,744.001846913,715.998153087,678.998153087,661.001846913,635.001846913,879,787.001846913,803.001846913,652,631.001846913,653.998153087,0.400991663789,-0.0153547456144,0.0798519767201,0.999999928645,0.000271105206922,-0.000261072060401,3.24590413932e-05,1793239185256158464
+82,1.366666667,BASELINE,765,744.5743237,715.4256763,678.4256763,661,635.5743237,879,787.5743237,803.5743237,652,631.5743237,653.4256763,0.400991797976,-0.0153544941176,0.0798525015957,0.9999999288,0.000271635072631,-0.000259908422173,3.25955213802e-05,1793239185272824832
+83,1.383333333,BASELINE,765.153841785,745,715.153841785,678.153841785,661,636,879,788,804,651.846158215,632,653,0.400991899258,-0.0153544434615,0.079852578654,0.999999928931,0.000271578408286,-0.000259456591844,3.26264338135e-05,1793239185289491712
+84,1.400000000,BASELINE,765.742831303,745,715.742831303,678.742831303,661,636,879,788,804,651.257168697,632,653,0.400991892521,-0.01535496459,0.0798513748268,0.999999928994,0.000269853227118,-0.000261043593721,3.23559019652e-05,1793239185306158336
+85,1.416666667,BASELINE,766,745,715.673428629,678.673428629,661.326571371,636,879.326571371,788,803.673428629,651.326571371,632,653.326571371,0.400992082005,-0.0153552179028,0.0798515282825,0.999999929115,0.000269540679604,-0.000260907745521,3.23197111049e-05,1793239185322824960
+86,1.433333333,BASELINE,766,745,715.093757038,678.093757038,661.906242962,636,879.906242962,788,803.093757038,651.906242962,632,653.906242962,0.400992423566,-0.0153552636523,0.0798527336632,0.999999929282,0.00027032295532,-0.000259436649339,3.2465139842e-05,1793239185339491840
+87,1.450000000,BASELINE,765.517594123,745,715,678.482405877,661.517594123,636,879.517594123,788,803.482405877,652,632,653.517594123,0.400992378365,-0.0153559137259,0.079852617284,0.999999929162,0.000270839885478,-0.00025932803005,3.27203263543e-05,1793239185356158464
+88,1.466666667,BASELINE,765,744.942135321,715,679,661.057864679,636,879,788,804,651.942135321,632,653,0.400992212735,-0.0153565150368,0.0798523054256,0.999999929012,0.000271159115322,-0.000259545506957,3.29348773994e-05,1793239185372824832
+89,1.483333333,BASELINE,765,744.366918909,715,679,661.633081091,636,879,788,804,651.366918909,632,653,0.400991637599,-0.0153556378492,0.0798525260221,0.999999929088,0.000270168512393,-0.000260328097729,3.25967742062e-05,1793239185389491456
+90,1.500000000,BASELINE,765,744.214068329,715,678.785931671,662,636,879,788,804,651.214068329,632,653,0.40099107836,-0.0153546748792,0.0798522210136,0.999999928814,0.000270489709978,-0.000261069256046,3.24081525595e-05,1793239185406158080
+91,1.516666667,BASELINE,765,744.805220896,715,678.194779104,662,636,879,788,804,651.805220896,632,653,0.400990547124,-0.0153535608026,0.0798509901444,0.999999927921,0.000273121661902,-0.000261737430455,3.24828447017e-05,1793239185422824704
+92,1.533333333,BASELINE,765,744.612119155,715,678,661.612119155,636,879,788,804,652,631.612119155,653,0.40098971257,-0.0153534197734,0.079850266364,0.999999927413,0.000273981132936,-0.000262791101776,3.23771476953e-05,1793239185439491328
+93,1.550000000,BASELINE,765,744.033632453,715,678,661.033632453,636,879,788,804,652,631.033632453,653,0.400988728964,-0.0153537569027,0.0798497917685,0.999999927095,0.000273969601567,-0.000264034207541,3.2182806905e-05,1793239185456157952
+94,1.566666667,BASELINE,765.539438502,744.539438502,715,678,661,636,879,788,804,652,631.539438502,653,0.400990335271,-0.0153549287509,0.0798512608921,0.999999928131,0.000272087592073,-0.000262005554074,3.25573899023e-05,1793239185472824576
+95,1.583333333,BASELINE,766,745,715,678,661,636,879,788,804,652,632,653,0.400991741334,-0.0153556945373,0.0798526004333,0.999999928944,0.000270840263701,-0.000260159168895,3.27968848329e-05,1793239185489491200
+96,1.600000000,BASELINE,766,745,715,678,661,636,879,788,804,652,632,653,0.400991668873,-0.0153545815926,0.0798529153347,0.99999992853,0.000272672815983,-0.000259890312151,3.23375577357e-05,1793239185506158080
+97,1.616666667,BASELINE,765.726878524,745,715,678,661.273121476,636,879,788,804,652,632,653,0.400991765378,-0.0153543154175,0.0798529921583,0.999999928555,0.00027268035228,-0.000259814144881,3.21283676647e-05,1793239185522824704
+98,1.633333333,BASELINE,765.132357127,745,715,678,661.867642873,636,879,788,804,652,632,653,0.400992060717,-0.0153550456919,0.0798527888203,0.999999929094,0.000270540272682,-0.000259964727943,3.22135302356e-05,1793239185539491328
+99,1.650000000,BASELINE,765,745,715.447272524,678.447272524,662,636,879,788,804,652,632,653,0.40099136567,-0.0153547715156,0.079852112101,0.999999928571,0.0002714826011,-0.000260990568762,3.22297743638e-05,1793239185556158208
+100,1.666666667,BASELINE,765.022520666,744.977479334,715.977479334,679,661.977479334,636,879,788,804,651.977479334,632,653,0.400990425713,-0.0153542268592,0.0798513235122,0.999999927786,0.000273195104792,-0.000262208082747,3.22305261394e-05,1793239185572824576
+101,1.683333333,BASELINE,765.594918903,744.405081097,715.405081097,679,661.405081097,636,879,788,804,651.405081097,632,653,0.400990431215,-0.0153541016786,0.0798511135958,0.999999928124,0.000272158752809,-0.000261985313924,3.23349235232e-05,1793239185589491200
+102,1.700000000,BASELINE,765.827214222,744.172785778,715.172785778,679,661.172785778,636,879,788,804,651.172785778,632,653,0.400990512159,-0.0153538208895,0.0798512632872,0.999999928468,0.000271304011806,-0.00026156805801,3.22399796852e-05,1793239185606158080
+103,1.716666667,BASELINE,765.236107654,744.763892346,715.763892346,679,661.763892346,636,879,788,804,651.763892346,632,653,0.400990775751,-0.0153531633667,0.0798522836026,0.999999928831,0.000270888957887,-0.000260679941655,3.16624233269e-05,1793239185622824704
+104,1.733333333,BASELINE,765,745,716,678.651987778,662,636,879,788,804,652,632,653,0.400991302763,-0.0153536826391,0.0798527322563,0.999999929137,0.000270136914245,-0.000260290553409,3.16440388673e-05,1793239185639492096
+105,1.750000000,BASELINE,765,745,716,678.072514651,662,636,879,788,804,652,632,653,0.400992004974,-0.0153549845911,0.0798528007012,0.999999929404,0.000269160740655,-0.000260232866238,3.19975563283e-05,1793239185656160000
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,716,678,662,636,879,788,804,652,631,653,0.400992458379,-0.0153548703496,0.0798529051812,0.999999929588,0.000270159841492,-0.000258479440039,3.20315969967e-05,1793239185687216640
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715.413078259,678,662,636,879.586921741,788,804,652,631.586921741,653,0.400992274517,-0.0153552518409,0.0798521316505,0.999999929389,0.00026976700138,-0.000259655215692,3.20592151091e-05,1793239185703883264
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.171591657,745,715,678.171591657,661.828408343,636,879.828408343,788,804,651.828408343,632,653,0.400992396292,-0.0153553353769,0.0798519180989,0.999999929241,0.000269849005564,-0.000260125626326,3.21603586248e-05,1793239185720550144
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.75091102,745,715,678.75091102,661.24908898,636,879.24908898,788,804,651.24908898,632,653,0.400993244304,-0.0153547109262,0.079853035142,0.999999929218,0.000271059311462,-0.000258919983335,3.24362096138e-05,1793239185737216768
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.670591598,745,715,679,661,636,879,788,804,651.329408402,632,653,0.400993176989,-0.0153549115515,0.0798532474435,0.999999929116,0.000271523555995,-0.000258835831466,3.23502644757e-05,1793239185753883136
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.092714262,745,715,679,661,636,879,788,804,651.907285738,632,653,0.400992419255,-0.0153557345221,0.0798527773089,0.999999928957,0.000271425055027,-0.000259597607405,3.19914207017e-05,1793239185770549248
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,678.516083278,661.483916722,636,879,788,804,651.516083278,632,653,0.400990417015,-0.0153566384793,0.0798514581388,0.999999929022,0.000269416013942,-0.00026141096072,3.2191295585e-05,1793239185787216128
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.061512749,745.061512749,715,678.061512749,661.938487251,636,879,788,804,651.061512749,632,653,0.400988653935,-0.0153572595121,0.0798502900421,0.99999992907,0.000267646128457,-0.000263006076656,3.24527986495e-05,1793239185803883008
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.649405043,745.649405043,715,678.649405043,661.350594957,636,879,788,804,651.649405043,632,653,0.400990972526,-0.0153553270559,0.0798518031286,0.99999992868,0.000271047027535,-0.00026101405673,3.23280064494e-05,1793239185820549376
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.765950206,745.765950206,715,679,661,636,879,788,804,651.765950206,632,653,0.400995255205,-0.0153544531091,0.0798544424816,0.999999929296,0.00027233548219,-0.000257288456463,3.23048298121e-05,1793239185837216000
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.186103589,745.186103589,715,679,661,636,879,788,804,651.186103589,632,653,0.401002439725,-0.0153551430571,0.0798587458368,0.999999931387,0.000270502905938,-0.000251001578427,3.24317850792e-05,1793239185853882624
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,678.609777318,661,636,879,788,804,651.390222682,632,653,0.40102161539,-0.0153568079965,0.0798666888985,0.999999934934,0.000269633422615,-0.000237343916623,3.31318174657e-05,1793239185870549248
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,678.035114896,661,636,879,788,804,651.964885104,632,653,0.401046458699,-0.0153589337682,0.079876352277,0.999999938934,0.000269219147381,-0.000220202434583,3.41027162081e-05,1793239185887215616
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715.549847352,678,661.549847352,636,879,788,804,652,632,653,0.40109534061,-0.0153604561509,0.0798933073161,0.999999945795,0.000268544559813,-0.000187299869934,3.48248548134e-05,1793239185903882496
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715.865480682,678.134519318,662.134519318,636,879,788,804,652,632,653,0.401149826816,-0.0153623355553,0.0799102457728,0.999999951416,0.000268058211943,-0.000155117714825,3.53874854199e-05,1793239185920548864
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715.284000358,678.715999642,662.715999642,636,879,788,804,652,632,653,0.401217735933,-0.0153655316992,0.0799255523489,0.999999955104,0.000268253611154,-0.000128737482212,3.54739197969e-05,1793239185937216000
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,678.705030158,662.410060316,636,879,788,804,651.705030158,631.705030158,653,0.401292501203,-0.0153683621931,0.07993667992,0.999999957433,0.0002676373912,-0.000110907602598,3.46979138757e-05,1793239185953882880
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,678.128456377,661.256912754,636,879,788,804,651.128456377,631.128456377,653,0.401373811952,-0.0153708436054,0.0799438178475,0.999999958884,0.000266246328903,-0.000101240637363,3.30985472328e-05,1793239185970549504
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,678.447415708,661.447415708,636,879,788,804,651.447415708,631,653,0.401468410343,-0.0153734404978,0.0799463935626,0.999999959513,0.000266788906188,-9.4236193952e-05,3.02958565929e-05,1793239185987216128
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.976359085,636,878.976359085,788,804,652,631,653,0.401567487453,-0.0153761860084,0.0799475801552,0.999999959916,0.000267652424768,-8.82891793985e-05,2.71122798484e-05,1793239186003882496
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.38686715,636,878.38686715,788,804,652,631,653,0.401682594326,-0.0153816963961,0.0799468201298,0.999999961173,0.000262930614662,-8.93838162593e-05,2.3068377964e-05,1793239186020549120
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.199148965,745,715,678.800851035,661.199148965,636,878.199148965,788,804,652,631,653,0.401810604972,-0.0153863186151,0.07994869856,0.999999962599,0.000258980835363,-8.58849822542e-05,1.88539698998e-05,1793239186037215488
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.778528704,745,715,678.221471296,661.778528704,636,878.778528704,788,804,652,631,653,0.401963252499,-0.0153892450722,0.0799556145358,0.99999996429,0.000256505078159,-7.36159344387e-05,1.43140185698e-05,1793239186053882112
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.645196126,715,678,661.645196126,636,879,788,804,651.645196126,631,653.354803874,0.402130346308,-0.0153953509567,0.0799601877898,0.999999966987,0.000248387841478,-6.51365429317e-05,9.34626632068e-06,1793239186070548992
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744.070841987,715,678,661.070841987,636,879,788,804,651.070841987,631,653.929158013,0.402306379396,-0.01540342425,0.0799633113838,0.999999970219,0.000236779694744,-5.9002164221e-05,4.1137932808e-06,1793239186087215872
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.484723813,744.515276187,715,678.515276187,661,636,879,788,803.484723813,651.515276187,631,653.484723813,0.402500245675,-0.0154094256617,0.0799586157457,0.99999997357,0.000219526582905,-6.82451923444e-05,-3.25920959609e-06,1793239186103882496
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,803.101703863,652,631.101703863,653.101703863,0.402703808292,-0.0154158301251,0.0799533379363,0.999999977973,0.000194489855201,-7.81601540843e-05,-1.09196525846e-05,1793239186120549120
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,803.68180209,652,631.68180209,653.68180209,0.40294117851,-0.0154255016433,0.0799504965081,0.999999987217,0.000136576429961,-8.10589301094e-05,-1.85155470476e-05,1793239186137215744
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.259187438,745,715.259187438,678.740812562,661.259187438,636,879.259187438,788,804,652,632,653.740812562,0.403199584753,-0.0154342324604,0.0799505432135,0.999999991466,0.000100788871273,-7.92569733961e-05,-2.50567600782e-05,1793239186153882368
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.833276717,745,715.833276717,678.166723283,661.833276717,636,879.833276717,788,804,652,632,653.166723283,0.403483548866,-0.0154418203648,0.0799540988801,0.999999992746,9.18833140837e-05,-7.17438241164e-05,-3.03165791153e-05,1793239186170548992
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.589600392,745,715.589600392,678.410399608,661.589600392,636,879.589600392,788,804,652,632,653,0.403799748713,-0.0154504092027,0.0799597820013,0.999999993566,9.04259002731e-05,-6.30424178686e-05,-2.6773912565e-05,1793239186187215616
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.011235944,745,715.011235944,678.988764056,661.011235944,636,879.011235944,788,804,652,632,653,0.404129141718,-0.015459407694,0.0799663358288,0.999999994124,9.20167990733e-05,-5.38546921551e-05,-1.96286398924e-05,1793239186203882496
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.558305078,745,715,679,661.558305078,636,879,788,804,651.441694922,631.441694922,653,0.404501395212,-0.0154683842189,0.0799662030838,0.9999999956,7.51854474081e-05,-5.02067332873e-05,-2.5038425457e-05,1793239186220549120
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.865789634,745,715.134210366,678.865789634,662,636,878.865789634,788,804,651.134210366,631,653,0.404880015947,-0.0154784873809,0.0799651143679,0.999999996718,5.83612954842e-05,-4.78873049612e-05,-2.94060832619e-05,1793239186237215744
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.267261718,745,715.732738282,678.267261718,662,636,878.267261718,788,804,651.732738282,631,653,0.405277727122,-0.0154924897881,0.0799611766623,0.999999997414,4.28247545728e-05,-4.97843880307e-05,-2.93078190503e-05,1793239186253882368
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715.680819886,678,661.680819886,636,878.638360229,788,804,652,631,653,0.405694530097,-0.0155082437607,0.0799550902278,0.999999997435,2.35953814807e-05,-6.10052831572e-05,-2.91910007048e-05,1793239186270548992
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715.104128902,678,661.104128902,636,879.791742196,788,804,652,631,653,0.406126736163,-0.0155254108777,0.0799472702231,0.999999996397,1.38667188157e-06,-7.97485234951e-05,-2.90592130706e-05,1793239186287216384
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,678.470516738,661,636,879.529483262,788,804,652,631,653,0.406592706432,-0.0155170384188,0.0799416319156,0.99999999549,1.83783234202e-05,-8.83544240157e-05,-2.95980237361e-05,1793239186303882752
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.045859042,636,879,788,804,651.954140958,631,653,0.407069238968,-0.0155034654019,0.079936901057,0.999999994184,4.23199109317e-05,-9.44456105536e-05,-3.03397414033e-05,1793239186320549120
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.634788974,636,879,788,804,651.365211026,631,653,0.407582747102,-0.0154949499239,0.0799372234003,0.999999993701,4.62736889828e-05,-9.72096904979e-05,-3.17344478577e-05,1793239186337216000
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,678.779925669,662,636,879,788,804,651.220074331,631,653,0.408114864906,-0.0154940127849,0.0799362838742,0.999999993414,4.28161589007e-05,-0.00010119399843,-3.31407258004e-05,1793239186353883136
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,678.200589949,662,636,879,788,804,651.799410051,631,653,0.408677362121,-0.0155054469419,0.0799332844036,0.999999993288,2.72600033578e-05,-0.000107170273164,-3.45658935849e-05,1793239186370550784
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,678.377565478,661.622434522,636,879,788,804,652,631.377565478,653,0.409288421018,-0.0155126740689,0.0799506142747,0.999999996127,1.66716547659e-05,-7.89975028979e-05,-3.50445147417e-05,1793239186387217920
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,678.955095784,661.044904216,636,879,788,804,652,631.955095784,653,0.409925198955,-0.015517673084,0.0799787108964,0.999999998813,8.71433813778e-06,-3.27388417019e-05,-3.50218292772e-05,1793239186403884544
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.528327779,636,879.528327779,788,804,652,631.471672221,653,0.410585671772,-0.0155180927792,0.0799997947751,0.999999999396,6.15799209093e-06,2.11771668045e-06,-3.4147531004e-05,1793239186420550400
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,879.895493105,788,804,651.895493105,631,653.104506895,0.411244787364,-0.0155169876777,0.0800117305772,0.999999999163,4.72050865849e-06,2.18897697873e-05,-3.42365566712e-05,1793239186437216256
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,879.303888884,788,804,651.303888884,631,653.696111116,0.411888265993,-0.015510575071,0.0799837836489,0.999999998921,6.375642266e-06,-2.41652845332e-05,-3.91501896232e-05,1793239186453882880
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,879,788,803.718310196,651,631,653.718310196,0.412556120115,-0.0155077181362,0.0799573753494,0.999999997135,6.68363774928e-06,-6.15352392891e-05,-4.35859250691e-05,1793239186470549504
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,879,788,803.139095686,651,631,653.139095686,0.413249720052,-0.0155086167508,0.0799325921676,0.99999999483,5.56876733907e-06,-8.97318762673e-05,-4.75168991425e-05,1793239186487215872
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.436489246,745,715,679,662,636,879.872978493,788,803.436489246,651,631,653,0.413986352067,-0.0155133452603,0.079938392824,0.999999996175,1.61882306196e-06,-7.33555589776e-05,-4.76000203052e-05,1793239186503882496
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.98881391,745,715,679.01118609,662,636,880.97762782,788,804,651.01118609,631,653.01118609,0.414737154688,-0.0155191619962,0.0799539171367,0.999999997991,-3.15952368645e-06,-4.29856387146e-05,-4.64752959919e-05,1793239186520548864
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.40075819,745,715,679.59924181,662,636,879.801516379,788,804,651.59924181,631,653.59924181,0.415517390644,-0.0155186779915,0.0799724275685,0.999999998791,-4.45185405255e-06,-1.74264825511e-05,-4.57752309779e-05,1793239186537216000
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715.184462437,679.815537563,662,636,879.184462437,788,804,652,631,653.815537563,0.416289162856,-0.0155176661968,0.0799772606685,0.999999998812,-6.51525743176e-06,-1.35746861718e-05,-4.63514903283e-05,1793239186553882880
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715.763616812,679.236383188,662,636,879.763616812,788,804,652,631,653.236383188,0.417042825257,-0.0155155250968,0.0799528285536,0.999999997137,-1.02285158911e-05,-5.61698540989e-05,-4.96586847945e-05,1793239186570549248
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715.658678449,679.341321551,662,636,880,788,804,651.658678449,631,653,0.41786594822,-0.0155159548017,0.079961685768,0.999999998021,-1.29536871344e-05,-3.54431870536e-05,-5.0336029252e-05,1793239186587215616
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715.081973437,679.918026563,662,636,880,788,804,651.081973437,631,653,0.418736972808,-0.0155181573949,0.0799935000967,0.999999998258,-1.49974497443e-05,2.89517254956e-05,-4.91997663279e-05,1793239186603882240
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679.50547782,662,636,880.49452218,788,804,651.49452218,631,653.49452218,0.419564468399,-0.0155219709904,0.0799976675687,0.99999999787,-1.78629642663e-05,3.88217968723e-05,-4.93233261965e-05,1793239186620548864
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.072420526,745,715,679,662,636,880.927579474,788,804,652,631.072420526,653.927579474,0.420387573077,-0.015525454934,0.0799959547191,0.99999999785,-2.09672350161e-05,3.70469298784e-05,-4.988179129e-05,1793239186637215488
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.660554624,745,715,679,662,636,880.339445376,788,804,652,631.660554624,653.339445376,0.421230769713,-0.0155246905481,0.079984988448,0.999999998199,-2.48021137289e-05,1.66819599977e-05,-5.20507755455e-05,1793239186653882368
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.754526466,636,879.754526466,788,803.754526466,652,631.754526466,653,0.422093169968,-0.015525699963,0.079989642815,0.999999998127,-2.46568736561e-05,2.10415093155e-05,-5.19184595975e-05,1793239186670549248
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.173996014,636,879.173996014,788,803.173996014,652,631.173996014,653,0.422981782153,-0.0155291305112,0.0800156184314,0.999999996886,-1.90790063915e-05,5.91485682116e-05,-4.8645004691e-05,1793239186687215872
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.401882632,636,879.401882632,788,803.401882632,651.598117368,631,653,0.423826981402,-0.0155290576134,0.0800131638426,0.999999997718,-1.44517370002e-05,4.48030518362e-05,-4.84457889047e-05,1793239186703882496
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.975770279,636,879.975770279,788,803.975770279,651.024229721,631,653,0.424653599941,-0.0155274852471,0.0799985411775,0.999999998687,-1.02313220475e-05,8.0079289074e-06,-4.95623418794e-05,1793239186720548864
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.56056918,788,804,651,631,653,0.425461516254,-0.0155255140179,0.0799540881502,0.999999996674,-1.20515909638e-05,-5.9462728162e-05,-5.45127706704e-05,1793239186737215744
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.854373163,745,715,679.145626837,662.145626837,636,880.854373163,788,804,651.145626837,631.145626837,653,0.426288719049,-0.015524670268,0.0799207875768,0.999999992523,-1.49185179211e-05,-0.000106419876547,-5.83583382897e-05,1793239186753882112
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.269985091,745,715,679.730014909,662.730014909,636,880.269985091,788,804,651.730014909,631.730014909,653,0.427176514237,-0.0155272764918,0.079925050278,0.999999994266,-2.01366509439e-05,-8.74974404767e-05,-5.83658627553e-05,1793239186770548736
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.309003202,745,715,680,662.690996798,635.690996798,880,788,804,651.690996798,631.690996798,653,0.428063643655,-0.0155293443225,0.0799313114596,0.999999995027,-2.22668787352e-05,-7.83321421187e-05,-5.75619146339e-05,1793239186787215616
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.88335455,745,715,680,662.11664545,635.11664545,880,788,804,651.11664545,631.11664545,653,0.428950201315,-0.0155309498224,0.0799392887819,0.999999995185,-2.1745451117e-05,-7.75455230121e-05,-5.60611363777e-05,1793239186803882240
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.54511215,745,715,680,662,635.45488785,880.45488785,788,804,651.45488785,631,653,0.429847420401,-0.0155333515446,0.079973519845,0.999999997868,-2.56475749619e-05,-2.6497327113e-05,-5.38811680931e-05,1793239186820549120
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.026739384,745,715,680,662.026739384,635.973260616,880.973260616,788.026739384,804.026739384,652,631,653.026739384,0.430745289795,-0.0155359382409,0.0800136258339,0.999999997565,-3.06061234095e-05,3.57000094599e-05,-5.15586810126e-05,1793239186837216256
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.620570261,745,715,680,662.620570261,635.379429739,880.379429739,788.620570261,804.620570261,652,631,653.620570261,0.43159932623,-0.0155381444278,0.0800364304341,0.99999999621,-3.40608249422e-05,6.2693421856e-05,-4.98845640749e-05,1793239186853882880
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715.209226839,679.790773161,663,635.209226839,880,788.790773161,804.790773161,651.790773161,631.209226839,653.790773161,0.432424844585,-0.0155375101752,0.0800265740788,0.999999997105,-3.69422691272e-05,4.23131808688e-05,-5.13338121999e-05,1793239186870549504
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715.788726461,679.211273539,663,635.788726461,880,788.211273539,804.211273539,651.211273539,631.788726461,653.211273539,0.433199894084,-0.0155318491424,0.0799589170029,0.999999995631,-3.88092090415e-05,-6.19051265188e-05,-5.83105392796e-05,1793239186887215872
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.633837851,745,715.633837851,679.732324299,662.633837851,636,880,788,804,651,631.633837851,653,0.433997633415,-0.0155322570468,0.0799221667966,0.999999991103,-4.65532249784e-05,-0.000108272965412,-6.24798740997e-05,1793239186903882496
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.0575864,745,715.0575864,680.8848272,662.0575864,636,880,788,804,651,631.0575864,653,0.434808391224,-0.0155361470667,0.0799031497291,0.999999988847,-5.76692738081e-05,-0.000121448496828,-6.50384385467e-05,1793239186920549120
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.473111055,662.526888945,636,880,788,804.526888945,651,631,653,0.435608552381,-0.0155410252688,0.0799389209502,0.999999993635,-5.91809431321e-05,-7.36119112121e-05,-6.17243574152e-05,1793239186937215744
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.111200315,745.111200315,715,680,662.888799685,636,880,788,804.888799685,651,631.111200315,653,0.436406269046,-0.0155461682014,0.0799771438044,0.999999996257,-5.93281717232e-05,-2.44368007651e-05,-5.80513237358e-05,1793239186953882368
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.690973193,745.690973193,715,680,662.309026807,636,880,788,804.309026807,651,631.690973193,653,0.437198642772,-0.0155519643288,0.0800000647426,0.999999996757,-5.82193408063e-05,1.83421139876e-06,-5.5613246511e-05,1793239186970549248
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.730270251,745.730270251,715,680.269729749,662.269729749,635.730270251,880.269729749,788,804,651,632,653,0.437970241507,-0.0155558365059,0.080006586775,0.999999996464,-6.21611804387e-05,1.15270264402e-05,-5.54582734573e-05,1793239186987216128
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.152673757,745.152673757,715,680.847326243,662.847326243,635.152673757,880.847326243,788,804,651,632,653,0.438718127827,-0.0155575127055,0.0799943912644,0.999999995738,-7.18678033191e-05,2.29765689445e-06,-5.79092120923e-05,1793239187003882752
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.423767518,745,715,680.576232482,662.576232482,635.423767518,881,788,804,651.423767518,631.576232482,653,0.439391946153,-0.0155601052309,0.079956919212,0.999999993524,-7.7831674885e-05,-5.57819670928e-05,-6.15092033359e-05,1793239187020549376
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.999793771,745,715,680.000206229,662.000206229,635.999793771,881,788,804,651.999793771,631.000206229,653,0.440039152073,-0.0155630269904,0.0799103653529,0.99999998582,-8.24507845565e-05,-0.000131413380337,-6.5522046545e-05,1793239187037216000
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.411953744,745,715,680.588046256,662,635.411953744,880.411953744,788,804.588046256,651.411953744,631,653.588046256,0.440590667683,-0.0155638600159,0.0798269238189,0.999999958932,-9.29043511429e-05,-0.000261059837907,-7.31636115346e-05,1793239187053882368
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681.173556507,662,635,880.173556507,788,805,651,631.173556507,653.826443493,0.44116175986,-0.0155660780384,0.079760402438,0.999999926011,-0.000102413675043,-0.000362209281758,-7.93306400653e-05,1793239187070548992
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681.752649079,662,635,880.752649079,788,805,651,631.752649079,653.247350921,0.441778675275,-0.0155715340239,0.0797334479231,0.99999991192,-0.000109711782639,-0.000396726789706,-8.20492005303e-05,1793239187087215872
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681.670200398,662,635,881,787.670200398,804.670200398,651,631.670200398,653,0.442427445071,-0.0155817447592,0.079754685032,0.999999923959,-0.000124007055956,-0.000360886588104,-8.0408519591e-05,1793239187103883264
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681.094497926,662,635,881,787.094497926,804.094497926,651,631.094497926,653,0.443099965869,-0.0155955006972,0.0798118544433,0.999999949698,-0.000143519505822,-0.000272586759736,-7.55175309803e-05,1793239187120550656
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.482034875,745.482034875,715,681.482034875,662,635,881,787,804,651,631,653,0.443671187512,-0.0156059020601,0.0798285325336,0.999999952886,-0.00015798354255,-0.000252367413419,-7.47016642513e-05,1793239187137217024
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.939964684,745.939964684,715,681.939964684,661.939964684,635,881,787,804.060035316,651,631,653,0.444213722768,-0.0156152205533,0.0798332356129,0.999999951112,-0.000170211067009,-0.00025145900348,-7.46512761142e-05,1793239187153883648
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.350458695,745.350458695,715,681.350458695,661.350458695,635,881,787,804.649541305,651,631,653,0.444678705575,-0.0156207987256,0.079802454939,0.999999936652,-0.000171457517447,-0.000302950017864,-7.42941057298e-05,1793239187170549760
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,880.765131876,787,804.765131876,651.234868124,631,653,0.445142431582,-0.0156258354887,0.079775689958,0.999999921692,-0.000175889424093,-0.000346517358208,-7.4857472961e-05,1793239187187216640
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,880.18593204,787,804.18593204,651.81406796,631,653,0.445604314997,-0.0156300785109,0.0797548122425,0.999999908323,-0.000184991413851,-0.000378468081067,-7.67704075004e-05,1793239187203883776
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,880.389628396,786.610371604,804.389628396,651.610371604,631.389628396,653,0.44605043548,-0.0156358131137,0.0797387855836,0.999999899079,-0.00019296588195,-0.000398043445749,-7.85386740038e-05,1793239187220550656
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,880.963468221,786.036531779,804.963468221,651.036531779,631.963468221,653,0.446489103488,-0.0156422529174,0.0797250524418,0.999999891923,-0.000200407272751,-0.000411767898863,-8.02385434503e-05,1793239187237217024
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.551617591,745.551617591,715,681.551617591,661,634.448382409,880.448382409,786.551617591,805,651,631.448382409,653.551617591,0.446889054372,-0.0156481806884,0.0797236900327,0.999999892748,-0.000210794309954,-0.000404603930339,-7.9780724064e-05,1793239187253883648
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.282477478,745.282477478,715,682,661,634.717522522,880,786.282477478,805,651,631,653.282477478,0.447609227558,-0.0156560512287,0.0797070127299,0.999999881364,-0.000223987605022,-0.000424898042742,-8.10123580556e-05,1793239187287216640
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.295147039,714.704852961,681.704852961,661,634.704852961,880,786,805.295147039,651,631,653,0.44792226904,-0.0156576002043,0.0796901996867,0.999999867681,-0.000228869080114,-0.000453285009473,-8.23943314373e-05,1793239187303883264
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.871307531,714.128692469,681.128692469,661,634.128692469,880,786,805.871307531,651,631,653,0.448212295885,-0.015658022247,0.0796698905768,0.999999849894,-0.000234451735511,-0.000488082163901,-8.37919721274e-05,1793239187320549376
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,746,714.446158538,681.446158538,660.553841462,634,880.446158538,785.553841462,805.107682924,651,631,653,0.448491202054,-0.0156571043582,0.0796572099338,0.999999839786,-0.000236108909747,-0.000507416331195,-8.49054816166e-05,1793239187337215744
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,715,682,660.021238965,634,881,785,804.021238965,651,631,653,0.448765997096,-0.0156558811512,0.0796474019818,0.999999832481,-0.000236498664206,-0.000521291355913,-8.58024406766e-05,1793239187353882368
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,715,682,660.612587043,634,881,785,804.612587043,651,631,653,0.449016290199,-0.0156568066424,0.0796558129722,0.999999840331,-0.00023317217945,-0.000508002624621,-8.30801078815e-05,1793239187370549248
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,746,715,681.800138206,660.800138206,634,880.800138206,785.199861794,805,651,631,653.199861794,0.449253721159,-0.0156590233069,0.0796613603109,0.999999845262,-0.000231707364832,-0.000499244560464,-8.08874645716e-05,1793239187387215872
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,746,715,681.220601567,660.220601567,634,880.220601567,785.779398433,805,651,631,653.779398433,0.449466718049,-0.0156636927963,0.0796614676066,0.99999984495,-0.00023377914114,-0.00049909334723,-7.97010658028e-05,1793239187403883008
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.64490846,714.64490846,681,660,634,880,785.64490846,805,651,631,653.64490846,0.449654600988,-0.0156673140138,0.0796608938058,0.999999842454,-0.000239089414487,-0.000501691634253,-7.89601111841e-05,1793239187420549632
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.071577533,714.071577533,681,660,634,880,785.071577533,805,651,631,653.071577533,0.449827048905,-0.0156702909634,0.0796599014029,0.999999838558,-0.000246390069465,-0.000505979765078,-7.84929265808e-05,1793239187437216256
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.510854799,634,880,785,804.489145201,651,631,653,0.44997553278,-0.015675142556,0.079657720692,0.99999983388,-0.000255930643648,-0.000510422522052,-7.87950087178e-05,1793239187453882880
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.094735521,681,660.905264479,634,880.094735521,785,804.094735521,651,631,653.094735521,0.45011650674,-0.0156794876734,0.0796552435605,0.999999829271,-0.00026431792295,-0.00051507700993,-7.93019163651e-05,1793239187470549504
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714.679392342,681,660.320607658,634,880.679392342,785,804.679392342,651,631,653.679392342,0.450236322592,-0.0156798305868,0.0796521101551,0.999999826069,-0.000265088518647,-0.000520712385389,-8.03005575458e-05,1793239187487216128
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.875330985,880.124669015,784,804.124669015,651,631,653,0.450853028062,-0.0156852050658,0.0796362932644,0.999999810285,-0.000270412018115,-0.000547929228533,-7.79791567403e-05,1793239187787215872
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.296285593,880.703714407,784,804.703714407,651,631,653,0.450853608495,-0.0156852697123,0.0796356837374,0.99999980963,-0.00027138897592,-0.000548632762524,-7.8033035555e-05,1793239187803882496
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.718269092,633,880.718269092,784,804.718269092,651,631,653,0.450854539644,-0.0156854363031,0.0796356615874,0.999999809141,-0.000272765340524,-0.0005488535327,-7.79507445127e-05,1793239187820549376
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.141330628,633,880.141330628,784,804.141330628,651,631,653,0.450855838284,-0.0156857097147,0.0796362549118,0.999999808824,-0.000274560217742,-0.000548568446054,-7.77257699105e-05,1793239187837215744
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.43365512,714,681,659.43365512,633.43365512,880.86731024,784,804.43365512,651.43365512,630.56634488,653,0.450855771087,-0.0156851950015,0.0796360280617,0.999999808916,-0.000273942258552,-0.000548707379301,-7.7740177715e-05,1793239187853883136
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.400629439,714.599370561,681,660,633.400629439,880.801258879,784,805,651.400629439,630.599370561,653,0.450857004534,-0.0156852014084,0.0796361239353,0.999999810347,-0.000270168767424,-0.000548051060138,-7.71624771878e-05,1793239187887216896
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.186729982,714.813270018,681,660,633,880,784,805,651,631,653,0.450857601118,-0.015685212811,0.079636063756,0.999999810644,-0.000268776173571,-0.000548230523098,-7.69059775948e-05,1793239187903883008
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.766160989,714.233839011,681,660,633,880,784,805,651,631,653,0.450855850277,-0.0156836592429,0.0796346699743,0.999999809061,-0.000269416680822,-0.000550714201952,-7.74965831273e-05,1793239187920549376
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714,681,660,633.342275191,880,784,805,651,630.657724809,653,0.45085653515,-0.0156835067738,0.0796353243241,0.999999809319,-0.000269683564086,-0.000550148874702,-7.72592320971e-05,1793239187937215744
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,681,660,633.916145108,880,784,805,651,630.083854892,653,0.450858868107,-0.0156843023346,0.0796373645074,0.999999810819,-0.000269697640961,-0.000547520488868,-7.64616582188e-05,1793239187953882368
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745,714.177280146,680.822719854,659.177280146,633,880.822719854,784.822719854,804.177280146,651,630.177280146,653,0.450858188536,-0.0156804031519,0.07963549644,0.999999809961,-0.000268619100163,-0.000549525836174,-7.70894153746e-05,1793239188037216256
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+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745,714.976998056,681,659.976998056,633,881,784.023001944,804,651,630.976998056,653,0.45085941984,-0.015682632171,0.079635678903,0.999999809633,-0.000270116747524,-0.000549417762231,-7.68809467156e-05,1793239188070548992
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+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.150832773,633.849167227,880,784,804.849167227,651,631,653,0.45085863192,-0.0156803021501,0.0796345497947,0.999999809062,-0.000266902775301,-0.000551978615586,-7.71932575686e-05,1793239188103882240
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.730238823,633.269761177,880,784,804.269761177,651,631,653,0.450857898854,-0.015679751879,0.0796343344151,0.999999809428,-0.000266177147476,-0.000551701284681,-7.69389937352e-05,1793239188120548864
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+267,4.450000000,HOLD_POSE2,765,745.943527958,714,681.056472042,660,633.943527958,881,784,804.943527958,651,631,653,0.45085933799,-0.0156795039625,0.0796338910596,0.999999808424,-0.000265225170235,-0.000554079084141,-7.61805949193e-05,1793239188385674240
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+269,4.483333333,HOLD_POSE2,765,745.117846202,714.117846202,681,660,633,880.117846202,784,804.117846202,651,631,653,0.450863830721,-0.0156754177683,0.0796366750578,0.999999812861,-0.000258870655419,-0.000549024884002,-7.63946829932e-05,1793239188419007744
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,715,682,660,633,880,784,804,651,631,653,0.450862499491,-0.0156779237781,0.07963531185,0.999999810925,-0.000263068640189,-0.000550618425647,-7.59212188556e-05,1793239188473398784
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.25296066,714,681,660,633.25296066,880.25296066,784,805,651,631,653,0.450861813706,-0.0156773733367,0.0796346869722,0.999999809965,-0.000264805094216,-0.000551458934289,-7.64331213303e-05,1793239188523398656
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,659.973904932,633.026095068,880,784,804.973904932,651,631,653,0.450207107952,-0.0156463763252,0.0795258535405,0.999999704936,-0.000248660175499,-0.000723244397837,-7.21992104619e-05,1793239188790065152
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,659.386756611,633.613243389,880,784,804.386756611,651,631,653,0.450069299555,-0.015639553473,0.0795260896457,0.999999703997,-0.000245845978185,-0.000725760129479,-6.95505761614e-05,1793239188806731776
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.801246225,714,681,659.198753775,634,880,784,804.198753775,651,631,653,0.4499208192,-0.0156323034124,0.0795261784474,0.999999704236,-0.000241512316158,-0.000727195385488,-6.62276752075e-05,1793239188823398400
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.218897125,714,681,659.781102875,634,880,784,804.781102875,651,631,653,0.449751741953,-0.0156242288393,0.0795259829528,0.999999706733,-0.000234246083447,-0.000726545320301,-6.16034380939e-05,1793239188840065280
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.642515709,633.642515709,880.357484291,784.357484291,804.642515709,651,631,653,0.44956419492,-0.0156164753794,0.0795261476467,0.999999709132,-0.00022482114054,-0.000726639880391,-5.64412571913e-05,1793239188856732160
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.069728409,633.069728409,880.930271591,784.930271591,804.069728409,651,631,653,0.449365524024,-0.0156089153162,0.0795265292722,0.999999711386,-0.000214096064818,-0.00072718290779,-5.09550870112e-05,1793239188873398784
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.506623916,681,659.506623916,633.506623916,881,785,804,651,631,653,0.44913680142,-0.0155993582081,0.079527205219,0.999999715217,-0.000202984887024,-0.000725498337067,-4.48919286316e-05,1793239188890065664
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.914309994,681,660,634,880.914309994,785,804.085690006,651,630.914309994,653,0.448897248239,-0.0155892565257,0.0795280013042,0.999999719346,-0.000188418817499,-0.000724091385762,-3.86908175706e-05,1793239188906732288
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.322123951,681,660,634,880.322123951,785,804.677876049,651,630.322123951,653,0.448618298655,-0.0155775721283,0.0795292663691,0.999999724017,-0.000153747916316,-0.000726150430408,-3.21470137248e-05,1793239188923398656
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.736879294,880,784.736879294,805,651,630.263120706,653,0.448323315727,-0.0155662082465,0.0795306169971,0.999999728301,-0.000119983482632,-0.000726876984976,-2.55442842459e-05,1793239188940065024
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633.159914202,880,784.159914202,805,651,630.840085798,653,0.448009208609,-0.0155552266692,0.079532069683,0.999999732463,-8.73002648863e-05,-0.000726014175843,-1.887127002e-05,1793239188956731648
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.41510034,714,681.41510034,660,633.41510034,880,784.41510034,805,651,631,653,0.447674864289,-0.0155458113892,0.0795356871097,0.999999738639,-6.93140338563e-05,-0.000719527753723,-1.4045499174e-05,1793239188973398528
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.989366949,714,681.989366949,660,633.989366949,880,784.989366949,805,651,631,653,0.447332760215,-0.0155369966912,0.0795401345855,0.99999974565,-5.69632230325e-05,-0.000710885010878,-9.92803634686e-06,1793239188990065152
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.435840214,714,681.435840214,660.564159786,634,880,785.564159786,805,651,631,653,0.446956342136,-0.0155317302909,0.0795510247273,0.999999758465,-5.55262322868e-05,-0.000692708318978,-1.18948363902e-05,1793239189006731776
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.143068497,745,714,681,661,634,880.143068497,786,805,651,631,653,0.44656669735,-0.0155289459302,0.0795643177732,0.999999771636,-5.53798377647e-05,-0.000673429030012,-1.24515403734e-05,1793239189023398400
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.734854925,745,714,681,661,634,880.734854925,786,805,651,631,653,0.446137598895,-0.015533736256,0.0795847660475,0.99999978618,-5.86354962987e-05,-0.00065125568511,-8.22564275545e-06,1793239189040065280
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.681374938,745.318625062,714.318625062,681,660.681374938,634,881,786,805,651,631,653,0.445684704439,-0.0155371269076,0.0796036883956,0.999999801708,-5.94674413148e-05,-0.00062691916473,-4.55563447615e-06,1793239189056732416
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.104111815,745.895888185,714.895888185,681,660.104111815,634,881,786,805,651,631,653,0.445212493968,-0.0155393813998,0.0796213721033,0.999999817801,-5.83319815902e-05,-0.0006008267237,-1.3368587317e-06,1793239189073399040
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.528445194,715,681,660.471554806,634,881,786,805,651,631,653,0.44470210112,-0.0155321186909,0.0796325541309,0.999999828352,-4.40285606872e-05,-0.000584256119761,1.68442827841e-06,1793239189090065920
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,634,880.95199224,786,804.95199224,651,631,653,0.444179966347,-0.015522504574,0.0796424748168,0.999999837359,-2.70274096922e-05,-0.000569676557608,4.55258709766e-06,1793239189106732544
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,634,880.362712488,786,804.362712488,651,631,653,0.443620170311,-0.0155099900278,0.0796543041166,0.99999984649,-1.22782162487e-05,-0.000553922895971,6.1842211783e-06,1793239189123399424
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714.777232689,680.777232689,661.222767311,634.222767311,880.222767311,786.222767311,804.222767311,651,631,653,0.443048200568,-0.0154984367538,0.0796651197053,0.999999855545,3.02790083182e-06,-0.000537436025553,7.947775174e-06,1793239189140065792
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714.197836288,680.197836288,661.802163712,634.802163712,880.802163712,786.802163712,804.802163712,651,631,653,0.442456741925,-0.0154884223851,0.0796743124392,0.999999864683,1.92255983301e-05,-0.000519775359284,9.92252019944e-06,1793239189156731648
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714.378820656,680,662,635,880.621179344,787,805,651.378820656,631,653,0.441845719752,-0.0154795632619,0.0796913654374,0.999999878712,3.11210977169e-05,-0.000491371350127,1.27017617211e-05,1793239189173398528
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714.954057193,680,662,635,880.045942807,787,805,651.954057193,631,653,0.441224554043,-0.015471303126,0.0797124939278,0.999999894436,4.07859367163e-05,-0.000457396992395,1.58981290193e-05,1793239189190065920
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.539804894,661.460195106,635,880,787,804.460195106,652,631,653,0.44054376818,-0.01546438471,0.07970297816,0.999999888658,4.82057000977e-05,-0.000469199134441,1.45592453028e-05,1793239189206732544
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.125071486,745,715,681,661.125071486,635,880,787,804.250142972,651.874928514,631,653,0.439841683739,-0.0154569232901,0.0796880929768,0.999999879022,5.90482442002e-05,-0.000488148721683,1.33997444832e-05,1793239189223399168
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.705267191,745,715,681,661.705267191,635,880,787,805.410534381,651.294732809,631,653,0.439080927317,-0.0154470621344,0.0796633482082,0.99999986195,8.30551127829e-05,-0.000518648342903,1.43254998381e-05,1793239189240065536
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,635,880,787.284192184,805.715807816,651,631.284192184,653,0.438358443974,-0.0154406218015,0.0796833397594,0.99999987638,9.89528863941e-05,-0.000486978232246,1.73247983807e-05,1793239189256731904
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,635,880,787.861805274,805.138194726,651,631.861805274,653,0.437675476479,-0.0154377133762,0.0797495203733,0.999999917592,0.000106478236537,-0.000391119520503,2.24649753754e-05,1793239189273398272
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.561255923,635,880,788,805,651,631.561255923,653.438744077,0.436965785248,-0.0154252728013,0.079816355381,0.999999948798,0.000127827558907,-0.00029218655603,2.63062539522e-05,1793239189290064896
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.984248355,745,715,681,661.015751645,635,880,788,804.984248355,651,631,653.984248355,0.436245498708,-0.0154097920794,0.0798815218552,0.999999968755,0.000153520443654,-0.00019504275946,2.96513296776e-05,1793239189306731520
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.397051676,745,715,681,661.602948324,635,880,788,804.397051676,651,631,653.397051676,0.435445730419,-0.0153927754088,0.079878690468,0.999999963944,0.000179068199543,-0.00019788232869,2.98145748797e-05,1793239189323398656
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,662,635,880,787.812245154,804,651,631,653,0.434616392971,-0.0153815440119,0.0798646380403,0.999999957105,0.000195826048361,-0.000215850002471,2.91693716311e-05,1793239189340065280
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,662,635,880,787.232429677,804,651,631,653,0.433725310677,-0.0153823931465,0.0798271543763,0.999999945557,0.000194229234784,-0.000265407455562,2.68360052268e-05,1793239189356732160
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.344730995,661.655269005,635.344730995,880.344730995,787.344730995,804.344730995,651,631.344730995,653,0.432812144612,-0.0153830278046,0.0797860633655,0.9999999236,0.000190959983455,-0.000340181368009,2.47013566625e-05,1793239189373398784
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.920115362,661.079884638,635.920115362,880.920115362,787.920115362,804.920115362,651,631.920115362,653,0.431884202724,-0.0153835189603,0.0797425587445,0.999999889101,0.000186571732799,-0.000431827160583,2.26996666226e-05,1793239189390065152
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.505600248,681.505600248,661.494399752,635.505600248,880.505600248,788,804.505600248,651,632,653,0.430998513209,-0.0153802317249,0.0797269153346,0.999999876619,0.000194009148619,-0.000456690196369,2.35932577264e-05,1793239189406731520
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.07064777,681,662,635.07064777,880,788,804.07064777,651,631.92935223,653,0.43013209053,-0.0153770717782,0.0797264302694,0.999999876156,0.000203628486563,-0.00045340018503,2.55438412708e-05,1793239189423398400
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.662696448,681,662,635.662696448,880,788,804.662696448,651,631.337303552,653,0.429357589012,-0.0153793469891,0.0798046674274,0.999999924544,0.000215280230991,-0.000321794194812,3.18503748451e-05,1793239189440064768
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,662,635.751442389,880,788,804.751442389,651,631.248557611,653,0.42852996146,-0.0153805947968,0.0798576391667,0.999999946579,0.000223303078883,-0.000235820576757,3.69728794395e-05,1793239189456731648
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,662,635.173773924,880,788,804.173773924,651,631.826226076,653,0.427631990535,-0.0153804822379,0.0798771574107,0.999999951417,0.00022652097279,-0.000210267984297,4.05276330973e-05,1793239189473398784
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.597976956,715,680.597976956,661.597976956,635,880,788,804.402023044,651,632,653.402023044,0.426705279414,-0.0153787329082,0.0798444502394,0.999999939826,0.000229646893147,-0.000257142957053,3.85702375864e-05,1793239189490065664
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744.022985226,715,680.022985226,661.022985226,635,880,788,804.977014774,651,632,653.977014774,0.425766203001,-0.015376279365,0.0797892733065,0.999999916159,0.000232733240937,-0.000335179578465,3.4241263198e-05,1793239189506732288
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.566443138,715,680,661,635.566443138,880,788,804.433556862,651,631.433556862,653.433556862,0.4248616078,-0.0153763046772,0.0797685361525,0.999999903452,0.000235948337976,-0.000369179557065,3.36275018098e-05,1793239189523398656
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,636,880,788,804.153503742,651.153503742,631,653,0.42395177914,-0.0153744462092,0.0797505336198,0.999999890191,0.00024059180392,-0.000400788696235,3.3194097793e-05,1793239189540065024
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,636,880,788,804.732338062,651.732338062,631,653,0.423023471297,-0.0153670821348,0.079736134725,0.999999875599,0.000249178162552,-0.000430853992498,3.28317876789e-05,1793239189556731392
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.690403708,715,680,661,636,880,788,804.690403708,651.690403708,631,653,0.422158488341,-0.0153656725155,0.0797599052627,0.999999893765,0.000251403922037,-0.000384783988401,3.47563336681e-05,1793239189573398016
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744.114501219,715,680,661,636,880,788,804.114501219,651.114501219,631,653,0.421347975754,-0.0153693847546,0.079816508095,0.999999931136,0.000248158466724,-0.000273224492026,3.86479699652e-05,1793239189590064640
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,744.460863394,715,680,661,635.539136606,880,788.460863394,804.460863394,651.460863394,631.460863394,653,0.420531644242,-0.0153709118713,0.0798594301951,0.999999948136,0.000247235837235,-0.00020198517535,4.24863402536e-05,1793239189606731776
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879.96290091,788.96290091,804.96290091,652,631.96290091,653,0.41970994334,-0.0153717203256,0.0798938961422,0.999999957363,0.000246835649464,-0.000149159896568,4.57936802968e-05,1793239189623398400
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879.371660937,788.371660937,804.371660937,652,631.371660937,653,0.418829611005,-0.015369893888,0.0798527648286,0.999999944352,0.000245629028006,-0.000221926001024,4.13665772213e-05,1793239189640065536
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.214087954,879.214087954,788,804,652,631,653,0.417960150529,-0.0153692785279,0.0798214986116,0.999999931694,0.000242239250009,-0.000276604060928,3.77164333718e-05,1793239189656732160
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.790542695,879.790542695,788,804,652,631,653,0.417109091698,-0.015370713046,0.0798069301207,0.999999926525,0.000235154247295,-0.000300666181836,3.53813757789e-05,1793239189673398784
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,636,879.633567655,788,804,651.633567655,631.366432345,653,0.416267883112,-0.0153662677866,0.0798046094972,0.999999921453,0.000239517213561,-0.00031377903081,3.5623299409e-05,1793239189690065152
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,636,879.058000555,788,804,651.058000555,631.941999445,653,0.415432296431,-0.0153584667486,0.0798092791276,0.999999916544,0.000250413905293,-0.000320642775838,3.73359894575e-05,1793239189706731776
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.515019383,745,715,680,661,636,879.515019383,788,804.515019383,651.515019383,631.484980617,653,0.414663175741,-0.0153584800464,0.079798775467,0.999999912725,0.000249928760858,-0.000332855014363,3.59529784312e-05,1793239189723398144
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.909029423,745,715,679.909029423,661,635.909029423,879.909029423,788,804.909029423,652,631.090970577,653,0.413911335499,-0.01535982367,0.0797910374278,0.999999911536,0.000247618115408,-0.000338241527963,3.47182930063e-05,1793239189740064768
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.315300821,745,715,679.315300821,661,635.315300821,879.315300821,788,804.315300821,652,631.684699179,653,0.413213832846,-0.0153636797991,0.0798079811878,0.999999924216,0.000242267798857,-0.000302592490667,3.62206128578e-05,1793239189756731648
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.271791588,745,715,679.271791588,661,635.271791588,879.271791588,788,804,652,631.728208412,653,0.412504092015,-0.015364536621,0.0798174046997,0.999999928897,0.000243020118063,-0.000285949131075,3.71525025399e-05,1793239189773398528
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.851368916,745,715,679.851368916,661,635.851368916,879.851368916,788,804,652,631.148631084,653,0.411780492313,-0.0153619969284,0.0798183120339,0.999999925588,0.000250683263454,-0.000290828429121,3.74384182623e-05,1793239189790065152
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.574846792,745,715,679.574846792,661.425153208,635.574846792,880,788,804,652,631.425153208,653,0.411070480707,-0.0153599566237,0.0798081754079,0.999999919585,0.000251174524466,-0.000310510350926,3.64077703193e-05,1793239189806732032
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.003060441,745,715,679.003060441,661.996939559,635.003060441,880,788,804,652,631.996939559,653,0.410365155506,-0.0153580885552,0.0797942297772,0.99999991213,0.000249192240128,-0.000335297621354,3.49230463799e-05,1793239189823398656
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.412346507,635.587653493,879.412346507,788,804,651.412346507,631.412346507,653,0.409759705631,-0.0153561909889,0.0798076163994,0.999999916713,0.000258292440983,-0.000313865050695,3.66998866402e-05,1793239189840065280
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636.174992166,879,787.825007834,804,651.174992166,631.174992166,653,0.409165996335,-0.0153544479349,0.0798236561213,0.999999922948,0.000264774183506,-0.000287242197932,3.86018201088e-05,1793239189856731648
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636.754297212,879,787.245702788,804,651.754297212,631.754297212,653,0.408598171329,-0.015353062242,0.0798454859089,0.999999932988,0.000265068287669,-0.000249202044068,4.0752225735e-05,1793239189873398016
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.667163356,661,636.667163356,879.332836644,787.332836644,804,652,631.667163356,653,0.408020587534,-0.0153515532415,0.0798449900733,0.999999931495,0.00026634889159,-0.000253777155601,4.08045169586e-05,1793239189890064896
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.089187844,661,636.089187844,879.910812156,787.910812156,804,652,631.089187844,653,0.407435816287,-0.0153499534233,0.0798280511012,0.999999921245,0.00026835606636,-0.00028973901138,3.93115172907e-05,1793239189906731520
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.489968178,745,715,678.489968178,661.489968178,636,880,788,804,651.510031822,631.489968178,653,0.40689302228,-0.0153494760198,0.0797993802321,0.999999906016,0.000269202786716,-0.00033789580388,3.64012142468e-05,1793239189923398656
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.930035822,745,715,679,661.930035822,636,880,788,804,651.069964178,632,653,0.406367785218,-0.0153494728966,0.0797734880824,0.999999891278,0.000269099938471,-0.000379340017597,3.36117034451e-05,1793239189940065792
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.345445725,745,715,679,661.345445725,636,880,788,804,651.654554275,632,653,0.405915349566,-0.0153514519214,0.079783780954,0.999999901673,0.000263569987505,-0.000355041996219,3.36129230506e-05,1793239189956732416
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.763854401,715,678.763854401,661,636,879.763854401,788,804,651.763854401,631.763854401,653,0.405486717227,-0.0153519102358,0.0797989070069,0.999999912262,0.000263767978165,-0.0003235996539,3.44219507236e-05,1793239189973398784
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.186594877,715,678.186594877,661,636,879.186594877,788,804,651.186594877,631.186594877,653,0.405092468974,-0.0153501718734,0.0798210146221,0.999999922564,0.000272240019853,-0.00028183729324,3.63978626337e-05,1793239189990065152
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.389176734,744.389176734,715,678.389176734,661,636,879,787.610823266,804,651.389176734,631.389176734,653,0.404704475217,-0.0153487919508,0.0798306486668,0.999999925446,0.000272574257661,-0.000270925212809,3.75593189063e-05,1793239190006731520
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.964237717,744.964237717,715,678.964237717,661,636,879,787.035762283,804,651.964237717,631.964237717,653,0.404319468788,-0.0153475832312,0.0798343249053,0.999999925336,0.000269021600168,-0.000274748288192,3.83317632318e-05,1793239190023398400
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.446976086,745,715,679,661.553023914,635.446976086,879,787.553023914,804,652,632,653,0.403967507566,-0.0153414971756,0.0798371523384,0.999999921819,0.000279926235104,-0.000276584306099,3.87869645773e-05,1793239190040065024
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.140193437,745,715,678.859806563,662,635.140193437,879,788,804,652,631.859806563,653,0.403627786037,-0.0153352944998,0.0798392135565,0.999999918279,0.0002899188501,-0.00027907107052,3.88343217051e-05,1793239190056731648
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.719449497,745,715,678.280550503,662,635.719449497,879,788,804,652,631.280550503,653,0.403319534283,-0.0153297395119,0.0798390513962,0.999999915727,0.00029405268249,-0.000284008537813,3.76702634401e-05,1793239190073398528
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.703242278,744.703242278,715,678,661.703242278,636,879,788,803.703242278,652,631,653,0.403041349163,-0.0153269467317,0.0798409329724,0.999999915488,0.00029585270595,-0.000283025941874,3.73126433893e-05,1793239190090065152
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.127763537,744.127763537,715,678,661.127763537,636,879,788,803.127763537,652,631,653,0.402791403267,-0.0153267482747,0.0798447340682,0.999999917419,0.000295460767306,-0.000276483099205,3.77124469406e-05,1793239190106731520
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.44656968,715,678.44656968,661,636,878.55343032,787.55343032,803.44656968,652,631,653,0.402559642653,-0.0153311872204,0.0798434535224,0.999999918405,0.000288670485659,-0.000280173506248,3.69019286045e-05,1793239190123398400
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.021242408,745,715,678.978757592,661,636,878.021242408,787.021242408,804,651.978757592,631,653,0.402334415291,-0.0153372542676,0.0798407019857,0.999999919067,0.000279969931077,-0.000286704644003,3.58169527074e-05,1793239190140065280
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.613839676,745,715,678.386160324,661,636,878.613839676,787.613839676,804,651.386160324,631,653,0.402145330681,-0.0153515177606,0.0798373895535,0.99999992078,0.000268999507386,-0.00029109721241,3.66397578234e-05,1793239190156731904
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.79857663,744.79857663,715,678,661,635.79857663,879,788,804,651.20142337,631,653,0.401971896245,-0.0153614421669,0.0798365191654,0.99999992282,0.000261258265079,-0.000291019215333,3.75856423032e-05,1793239190173398528
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.220371376,744.220371376,715,678,661,635.220371376,879,788,804,651.779628624,631,653,0.401827736991,-0.0153632498903,0.079840216857,0.999999925638,0.000259557519969,-0.000282578592933,3.87617585438e-05,1793239190190065152
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.355289182,744.355289182,715,678.355289182,661,635.355289182,879,788,804,652,631,653,0.401703377507,-0.0153603848018,0.0798479435456,0.999999928062,0.000263080358091,-0.000270337940605,3.97831647021e-05,1793239190206731776
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.929382647,744.929382647,715,678.929382647,661,635.929382647,879,788,804,652,631,653,0.401591211666,-0.0153546419697,0.0798581514859,0.999999930064,0.000269820131526,-0.000255757044952,4.07092930065e-05,1793239190223398656
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.482845037,745,715,679,661,636,879,787.482845037,804,652,631,653,0.401488560104,-0.0153558267854,0.0798588962361,0.999999933857,0.00025748742015,-0.000254426986036,3.54046631404e-05,1793239190240065536
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.894958818,661,636,879,787.105041182,804,651.894958818,631,653,0.401390401255,-0.0153571798229,0.0798573447184,0.999999935903,0.000247690067785,-0.000256752045143,3.03531147882e-05,1793239190256731904
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.315227932,661,636,879,787.684772068,804,651.315227932,631,653,0.401306514734,-0.0153549020178,0.0798514143697,0.999999929666,0.000261439196591,-0.000267195911379,3.03945927377e-05,1793239190273398528
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.262212132,661,636,879,788,804.262212132,651.262212132,631.262212132,653,0.40123506974,-0.0153528661941,0.0798474354527,0.999999925575,0.000269671823964,-0.000274186024039,3.07956946406e-05,1793239190290065152
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.836922017,661,636,879,788,804.836922017,651.836922017,631.836922017,653,0.401178452246,-0.0153511187579,0.0798457822028,0.999999924309,0.000271330024375,-0.000277060040408,3.16253872367e-05,1793239190306731776
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,787.588166009,804.176332018,652,632,653.411833991,0.401135745863,-0.0153514075227,0.079847234827,0.999999925137,0.000271505218024,-0.000273784650321,3.2462200733e-05,1793239190323398400
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,787.013173987,803.026347974,652,632,653.986826013,0.401098550706,-0.0153525029779,0.0798499179186,0.999999926768,0.000271092882506,-0.000268073023542,3.33018353263e-05,1793239190340065024
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.4249002,661.5750998,636,879,787.5750998,803,651.4249002,631.4249002,653.4249002,0.401068041034,-0.015351694723,0.0798480917517,0.999999925513,0.000271973642144,-0.00027181541458,3.34761998988e-05,1793239190356731904
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.838456649,715,678,662,636,879.161543351,787.838456649,803.161543351,651.161543351,631.161543351,653,0.401041078726,-0.0153508755755,0.079846141275,0.999999924325,0.000272799758782,-0.000275326472739,3.35619456495e-05,1793239190373398784
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744.257572642,715,678,662,636,879.742427358,787.257572642,803.742427358,651.742427358,631.742427358,653,0.401022917869,-0.0153501440305,0.0798441425863,0.999999923517,0.00027340532081,-0.000277661566242,3.34581457391e-05,1793239190390065664
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.320419814,715,678,661.679580186,636,879.679580186,787.320419814,803.679580186,651.679580186,631.679580186,653,0.401010889683,-0.0153494958115,0.0798435258252,0.999999923255,0.0002737649966,-0.000278274285802,3.32553199326e-05,1793239190406732032
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.896108718,715,678,661.103891282,636,879.103891282,787.896108718,803.103891282,651.103891282,631.103891282,653,0.401003747217,-0.0153489139757,0.0798440100052,0.999999923431,0.000273928782084,-0.000277514840689,3.29736030809e-05,1793239190423398912
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.479802945,661,636,879,788,803,651.479802945,631.479802945,653,0.401000400638,-0.0153491263921,0.0798450596993,0.999999924011,0.000274029314512,-0.000275283397861,3.32466598347e-05,1793239190440065280
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.935484411,661,635.935484411,879,787.935484411,803.064515589,652,631.935484411,653,0.40099785617,-0.015349540358,0.0798461381509,0.999999924598,0.000274044418913,-0.000273084720991,3.36030309406e-05,1793239190456731648
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.356705012,661,635.356705012,879,787.356705012,803.643294988,652,631.356705012,653,0.40099504262,-0.0153501667772,0.0798464532026,0.999999924571,0.000273489589647,-0.00027373098303,3.36497348552e-05,1793239190473398272
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.222606958,745,715,678.222606958,661,635.222606958,879.222606958,787.222606958,804,651.777393042,631,653,0.400993429477,-0.0153507412646,0.0798468863171,0.999999924873,0.000272593774731,-0.000273528130013,3.36133547426e-05,1793239190490064896
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.802774333,745,715,678.802774333,661,635.802774333,879.802774333,787.802774333,804,651.197225667,631,653,0.400993744477,-0.0153512323371,0.0798475090691,0.999999925698,0.000271150254726,-0.000271961393567,3.34435216586e-05,1793239190506731776
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.621304731,744.621304731,715,679,661.378695269,636,879.621304731,788,804,651.378695269,631.378695269,653,0.400993781933,-0.015351506956,0.0798481003677,0.999999926103,0.000271197633423,-0.00027043800923,3.33037136944e-05,1793239190523398656
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.047570846,744.047570846,715,679,661.952429154,636,879.047570846,788,804,651.952429154,631.952429154,653,0.400993676446,-0.0153516700952,0.0798486754671,0.999999926291,0.000272012866537,-0.000268936952486,3.31793695089e-05,1793239190540065280
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.534871983,715,678.465128017,662,636,879,788,803.465128017,651.465128017,632,653,0.400992672786,-0.0153515734401,0.0798487518658,0.999999925904,0.000273163178413,-0.000269195933893,3.32826778187e-05,1793239190556731904
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.118274829,661.881725171,636,879,788,803.118274829,651.118274829,632,653,0.400991892334,-0.0153517954184,0.0798488825946,0.999999925829,0.000273387985912,-0.000269232290131,3.33969808187e-05,1793239190573398272
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.702357418,661.297642582,636,879,788,803.702357418,651.702357418,632,653,0.400992310764,-0.0153533647922,0.0798494048664,0.999999927182,0.000269848520919,-0.000267765174143,3.34735245946e-05,1793239190590064896
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715.283886939,678.716113061,661.283886939,636,879,788,804,652,631.716113061,653,0.40099282944,-0.015354138975,0.0798499886607,0.999999927835,0.000268805338156,-0.000266369676336,3.34819278811e-05,1793239190606731776
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715.862763614,678.137236386,661.862763614,636,879,788,804,652,631.137236386,653,0.400993452283,-0.0153540868672,0.0798506363838,0.99999992777,0.000270356066602,-0.000265048597513,3.34195257186e-05,1793239190623398400
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715.562412014,678,661.562412014,636,879,788,803.562412014,651.562412014,631.437587986,653,0.400993008651,-0.0153533836105,0.0798506052042,0.999999927118,0.000272461671796,-0.000265341385802,3.35186708517e-05,1793239190640065024
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.011462061,745,715,678.011462061,661,636,879,788,803.011462061,651,631.988537939,653.011462061,0.400992200696,-0.0153525005469,0.0798503443213,0.999999926291,0.00027466329656,-0.000266169479031,3.36565341472e-05,1793239190656731904
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba56fdf18c6e3a523d2cf302cacdcadb1b1bf468
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,419 @@
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+358,5.966666667,pose2_to_pose3_retreat,0.5810414671,-0.00990915860514,1.07003240175,0.55161191681,-0.00123742553581,1.0697005285
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+365,6.083333333,pose2_to_pose3_retreat,0.5783683448,-0.00990931525891,1.07003243513,0.54893879627,-0.00123757594049,1.06970056918
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+367,6.116666667,pose2_to_pose3_retreat,0.577788668334,-0.00990920190757,1.07003221372,0.548359119398,-0.00123746396286,1.06970034801
+368,6.133333333,pose2_to_pose3_retreat,0.577533138427,-0.0099090624648,1.07003220603,0.548103587711,-0.00123733056284,1.06970034034
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+371,6.183333333,pose2_to_pose3_retreat,0.576891829781,-0.0099091485791,1.07003229929,0.547462281266,-0.00123740943597,1.06970042774
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+374,6.233333333,pose2_to_pose3_retreat,0.576428263988,-0.00990926109253,1.07003232969,0.546998716294,-0.00123751892193,1.06970046446
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+378,6.300000000,pose2_to_pose3_retreat,0.576027298415,-0.00990910492317,1.07003221193,0.54659774842,-0.0012373706081,1.0697003466
+379,6.316666667,pose2_to_pose3_retreat,0.575953341843,-0.0099092768074,1.0700322963,0.546523794445,-0.00123753373146,1.06970042928
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+382,6.366666667,pose2_to_pose3_retreat,0.57579634778,-0.00990912354622,1.07003232862,0.546366799137,-0.00123738453915,1.06970046551
+383,6.383333333,pose2_to_pose3_retreat,0.575762303096,-0.00990915083682,1.07003230746,0.546332753654,-0.00123741451218,1.06970044506
+384,6.400000000,pose2_to_pose3_retreat,0.575735176306,-0.00990918778314,1.0700324297,0.546305626869,-0.00123745169374,1.06970056064
+385,6.416666667,pose2_to_pose3_retreat,0.575713524929,-0.00990922235576,1.07003239575,0.54628397686,-0.00123748165498,1.06970052605
+386,6.433333333,pose2_to_pose3_retreat,0.575697350073,-0.00990926367686,1.07003226886,0.546267801912,-0.00123752309553,1.06970040417
+387,6.450000000,pose2_to_pose3_retreat,0.575686089283,-0.00990930298508,1.07003226261,0.546256540472,-0.0012375645211,1.06970040025
+388,6.466666667,pose2_to_pose3_retreat,0.575679062598,-0.00990932587024,1.07003244041,0.54624951468,-0.00123758455053,1.06970057368
+389,6.483333333,pose2_to_pose3_retreat,0.57567460962,-0.00990931414293,1.07003241322,0.546245061906,-0.00123757234961,1.06970054071
+390,6.500000000,pose2_to_pose3_retreat,0.575671827953,-0.00990930425829,1.0700323826,0.546242280332,-0.00123756229945,1.06970050617
+391,6.516666667,pose2_to_pose3_retreat,0.575670325754,-0.00990924162717,1.07003241402,0.546240777486,-0.00123750185848,1.06970053774
+392,6.533333333,pose2_to_pose3_retreat,0.575669344671,-0.00990919213955,1.07003244173,0.546239795875,-0.00123745414275,1.06970056588
+393,6.550000000,pose2_to_pose3_retreat,0.575668725116,-0.00990916088803,1.07003245923,0.546239175987,-0.00123742401018,1.06970058366
+394,6.566666667,pose2_to_pose3_retreat,0.575668373838,-0.00990914316893,1.07003246915,0.54623882452,-0.00123740692551,1.06970059373
+395,6.583333333,pose2_to_pose3_retreat,0.575668145989,-0.00990913167582,1.07003247558,0.546238596549,-0.0012373958439,1.06970060027
+396,6.600000000,pose2_to_pose3_retreat,0.575667933471,-0.00990912095604,1.07003248158,0.546238383917,-0.00123738550794,1.06970060636
+397,6.616666667,pose2_to_pose3_retreat,0.575667792284,-0.00990911383431,1.07003248557,0.546238242654,-0.0012373786412,1.06970061041
+398,6.633333333,pose2_to_pose3_retreat,0.575667759057,-0.00990911215826,1.07003248651,0.546238209409,-0.00123737702516,1.06970061137
+399,6.650000000,pose2_to_pose3_retreat,0.575667709272,-0.00990910964702,1.07003248792,0.546238159597,-0.00123737460383,1.0697006128
+400,6.666666667,pose2_to_pose3_retreat,0.575667663564,-0.00990910734141,1.07003248921,0.546238113864,-0.00123737238078,1.06970061411
+401,6.683333333,pose2_to_pose3_retreat,0.575667311135,-0.00990912184484,1.07003249449,0.546237761546,-0.00123738653331,1.06970061877
+402,6.700000000,pose2_to_pose3_retreat,0.575666753054,-0.00990916698071,1.07003249964,0.546237203846,-0.0012374304354,1.06970062241
+403,6.716666667,pose2_to_pose3_retreat,0.575666336778,-0.00990920064783,1.07003250348,0.546236787854,-0.00123746318225,1.06970062512
+404,6.733333333,pose2_to_pose3_retreat,0.575666076577,-0.00990922169212,1.07003250588,0.54623652783,-0.0012374836513,1.06970062682
+405,6.750000000,pose2_to_pose3_retreat,0.575665934785,-0.00990923315983,1.07003250719,0.546236386134,-0.00123749480555,1.06970062774
+406,6.766666667,pose2_to_pose3_retreat,0.575665768084,-0.00990924664206,1.07003250872,0.546236219547,-0.00123750791925,1.06970062883
+407,6.783333333,pose2_to_pose3_retreat,0.575665501328,-0.00990926669899,1.07003250915,0.546235953026,-0.00123752718843,1.06970062906
+408,6.800000000,pose2_to_pose3_retreat,0.575665295994,-0.00990927199376,1.07003249585,0.546235748222,-0.00123753055314,1.06970061914
+409,6.816666667,pose2_to_pose3_retreat,0.575664976148,-0.00990928024135,1.07003247513,0.546235429202,-0.0012375357943,1.06970060369
+410,6.833333333,pose2_to_pose3_retreat,0.575664939382,-0.00990928118938,1.07003247275,0.546235392532,-0.00123753639676,1.06970060192
+411,6.850000000,pose2_to_pose3_retreat,0.575664879551,-0.0099092827322,1.07003246887,0.546235332855,-0.00123753737718,1.06970059903
+412,6.866666667,pose2_to_pose3_retreat,0.575664682175,-0.00990928782176,1.07003245609,0.546235135989,-0.00123754061148,1.06970058949
+413,6.883333333,pose2_to_pose3_retreat,0.575664480383,-0.00990929282915,1.07003244309,0.546234934713,-0.00123754374119,1.0697005798
+414,6.900000000,pose2_to_pose3_retreat,0.575664376109,-0.00990919489243,1.07003247601,0.546234827956,-0.00123745461575,1.06970060273
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+416,6.933333333,pose2_to_pose3_retreat,0.575664352074,-0.00990917231734,1.0700324836,0.546234803347,-0.00123743407172,1.06970060802
+417,6.950000000,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385425,1.06970035116
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..027090e552ecd536c6f495a8e1b5bdbf445f45c7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8b08d6cf1383bce2da694970821324262d1c0523fe4315ae1cf557ddecbe5d5
+size 26618819
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..184e2d98f4d3399865d6f1608e40db3af5c18bea
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
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+8,0.133333333,BASELINE,766,745,715,679,661,636,879.259965706,788,804,652,631,653,0.400991377308,-0.0153554341059,0.0798517005256,0.999999928572,0.000269127390442,-0.000263309744244,3.30709915612e-05,1793239191162731776
+9,0.150000000,BASELINE,765.789482381,745,715,678.789482381,661,636,879.789482381,788,804,651.789482381,631.210517619,653,0.400990663448,-0.0153556437014,0.0798508457831,0.999999928512,0.000268270781549,-0.000264437844168,3.28522422758e-05,1793239191179398400
+10,0.166666667,BASELINE,765.19859324,745,715,678.19859324,661,636,879.19859324,788,804,651.19859324,631.80140676,653,0.400989789535,-0.0153571287828,0.0798502929576,0.99999992819,0.000268607530427,-0.000265318347311,3.28151897424e-05,1793239191196065024
+11,0.183333333,BASELINE,765.384395784,745,715,678,661,636,879,788,803.615604216,651.384395784,632,653,0.400989728104,-0.0153570359185,0.0798504379669,0.999999928394,0.000267977702164,-0.000265199386158,3.27013689265e-05,1793239191212732160
+12,0.200000000,BASELINE,765.963385556,745,715,678,661,636,879,788,803.036614444,651.963385556,632,653,0.400990077979,-0.0153561442456,0.0798509362434,0.999999928864,0.000266858560286,-0.000264574462862,3.25486854376e-05,1793239191229399552
+13,0.216666667,BASELINE,765.460919929,745,715.539080071,678.539080071,661,636,879.539080071,788,803,652,631.460919929,653,0.400991320763,-0.0153553320649,0.0798520643838,0.999999929145,0.000267559575909,-0.000262809865074,3.24573933428e-05,1793239191246066176
+14,0.233333333,BASELINE,765,745,715.883105092,678.883105092,661.116894908,636,879.883105092,788,803.116894908,652,631.116894908,653,0.400992173239,-0.0153544871598,0.079852976067,0.999999929151,0.000268856914927,-0.000261464076121,3.24266547398e-05,1793239191262732288
+15,0.250000000,BASELINE,765,745,715.295863516,678.295863516,661.704136484,636,879.295863516,788,803.704136484,652,631.704136484,653,0.400991212708,-0.0153534889898,0.0798528457092,0.999999928108,0.000272059257158,-0.000262113003468,3.2622887809e-05,1793239191279398656
+16,0.266666667,BASELINE,765,745,715,678,661.71262601,635.71262601,878.71262601,787.71262601,803.71262601,652,631.71262601,653,0.400991549469,-0.0153530072194,0.0798531765315,0.999999928034,0.000272623174176,-0.000261810013809,3.26320842675e-05,1793239191296065280
+17,0.283333333,BASELINE,765,745,715,678,661.133454246,635.133454246,878.133454246,787.133454246,803.133454246,652,631.133454246,653,0.400993203495,-0.0153530497978,0.0798539756331,0.999999928945,0.000270508050347,-0.000260540453465,3.24513648956e-05,1793239191312731904
+18,0.300000000,BASELINE,765,745,715,678,661.443764581,635.443764581,878.443764581,787.443764581,803.443764581,652,631.443764581,653,0.400993409747,-0.0153534962256,0.0798538296165,0.999999929026,0.000270207078128,-0.000260532543685,3.25531634082e-05,1793239191329398528
+19,0.316666667,BASELINE,765.020390448,745,715,678.020390448,662,636,879,788,804,652,632,653,0.400993196499,-0.0153540694046,0.0798534305048,0.999999928872,0.000270419838138,-0.000260877288139,3.27449431906e-05,1793239191346065152
+20,0.333333333,BASELINE,765.596792323,745,715,678.596792323,662,636,879,788,804,652,632,653,0.400993364583,-0.0153548016353,0.079853846357,0.999999929109,0.000269829524339,-0.000260537542357,3.30837354981e-05,1793239191362732032
+21,0.350000000,BASELINE,765.823064076,745,715,678.823064076,661.823064076,636,879.176935924,788,803.823064076,652,632,653,0.400993585358,-0.0153553622668,0.0798542709416,0.999999929346,0.000269367677411,-0.000260081419194,3.32692188507e-05,1793239191379398656
+22,0.366666667,BASELINE,765.234209572,745,715,678.234209572,661.234209572,636,879.765790428,788,803.234209572,652,632,653,0.400993928804,-0.0153555234043,0.0798547158558,0.999999929584,0.000269204909972,-0.000259354361809,3.30977887289e-05,1793239191396065536
+23,0.383333333,BASELINE,765,745,715,678,661,636,879.30211399,787.651056995,803,652,631.651056995,653,0.400992670818,-0.0153564183959,0.0798538458658,0.999999929743,0.000267589552028,-0.000260428670438,3.29547231461e-05,1793239191412731904
+24,0.400000000,BASELINE,765,745,715,678,661,636,878.14333989,787.071669945,803,652,631.071669945,653,0.400990355238,-0.0153577980291,0.0798521075051,0.999999929841,0.000265014894618,-0.000262692611869,3.28303896568e-05,1793239191429398528
+25,0.416666667,BASELINE,765,745,715,678,661,636,878.503785339,787.503785339,803.503785339,652,631,653,0.400991173002,-0.0153570539187,0.0798524396725,0.999999929396,0.000267188561767,-0.000262205856214,3.26519464681e-05,1793239191446064896
+26,0.433333333,BASELINE,765.080355727,745,715,678.080355727,661,636,879,788,804,652,631.080355727,653,0.400992172807,-0.015355789234,0.0798529230049,0.999999928839,0.00027003460504,-0.000261437322129,3.24768675455e-05,1793239191462731776
+27,0.450000000,BASELINE,765.667458621,745,715,678.667458621,661,636,879,788,804,652,631.667458621,653,0.4009915313,-0.0153531322177,0.0798525164359,0.999999928091,0.000272893874083,-0.000261340491748,3.23711733036e-05,1793239191479398400
+28,0.466666667,BASELINE,765.748747936,745,715.251252064,679,661.251252064,636,879,788,803.748747936,651.748747936,631.748747936,653,0.40099137702,-0.0153526529067,0.0798524365813,0.999999928023,0.000273421368456,-0.000261043479538,3.2416787342e-05,1793239191496065280
+29,0.483333333,BASELINE,765.169277765,745,715.830722235,679,661.830722235,636,879,788,803.169277765,651.169277765,631.169277765,653,0.400991859218,-0.0153550183974,0.0798527835235,0.999999928846,0.000270902795477,-0.000260484963809,3.26600599314e-05,1793239191512731904
+30,0.500000000,BASELINE,765.409869753,745,715.590130247,679,661.590130247,636,879,788,803.409869753,651.409869753,631.409869753,653,0.400992016572,-0.0153554239408,0.0798526687415,0.999999928956,0.000270041060344,-0.00026096124423,3.26387207819e-05,1793239191529398784
+31,0.516666667,BASELINE,765.988884106,745,715.011115894,679,661.011115894,636,879,788,803.988884106,651.988884106,631.988884106,653,0.40099203987,-0.0153550206553,0.0798523634157,0.999999928772,0.000269863067296,-0.000261864563203,3.25081819448e-05,1793239191546065664
+32,0.533333333,BASELINE,765.438386459,745,715,678.438386459,661,636,879,788,803.438386459,652,631.438386459,653,0.400991882794,-0.0153548339499,0.0798533381651,0.99999992895,0.000269788140029,-0.000261245740659,3.26439507269e-05,1793239191562732032
+33,0.550000000,BASELINE,765,745,715,678,661,636,879,787.861600262,803.138399738,651.861600262,631,653,0.400991876724,-0.0153550876312,0.0798541997632,0.999999929132,0.000269750887285,-0.000260565931572,3.28044465642e-05,1793239191579398400
+34,0.566666667,BASELINE,765,745,715,678,661,636,879,787.271162269,803.728837731,651.271162269,631,653,0.400992375393,-0.015356765848,0.0798546099521,0.999999929306,0.000269830097143,-0.000259784242184,3.3028679955e-05,1793239191596065024
+35,0.583333333,BASELINE,765,745,715.31307216,678.31307216,661.31307216,636,879,787.31307216,803.68692784,651,631.31307216,653,0.4009922216,-0.0153564207246,0.0798542827091,0.999999929223,0.000269649038856,-0.000260310743798,3.28771649561e-05,1793239191612731648
+36,0.600000000,BASELINE,765,745,715.892037938,678.892037938,661.892037938,636,879,787.892037938,803.107962062,651,631.892037938,653,0.400991513667,-0.0153543571695,0.0798533291619,0.999999928919,0.000269246933651,-0.000261948297927,3.24065251559e-05,1793239191629398272
+37,0.616666667,BASELINE,765,745.466675368,715.533324632,679,662,636,879,788,803.466675368,651.466675368,631.533324632,653.466675368,0.40099147916,-0.0153540982516,0.0798528787624,0.999999928677,0.00027031899265,-0.000261776560244,3.23568364676e-05,1793239191646064896
+38,0.633333333,BASELINE,765,745.958625728,715.041374272,679,661.958625728,636,879,788,803.958625728,652,631.041374272,653.958625728,0.400991639936,-0.0153543239653,0.0798526317821,0.999999928489,0.000271560178323,-0.000261201838914,3.24142422005e-05,1793239191662731776
+39,0.650000000,BASELINE,765,745.369990198,715.630009802,679,661.369990198,636,879,788,803.369990198,652,631.630009802,653.369990198,0.40099234198,-0.0153554885129,0.0798535499672,0.999999928861,0.000270568938685,-0.000260782360874,3.26119248018e-05,1793239191679398656
+40,0.666666667,BASELINE,765,744.784807282,716,678.784807282,661,636,879,788,803.215192718,651.784807282,631.784807282,653,0.400992062629,-0.0153559572765,0.0798537379727,0.99999992894,0.000269906068512,-0.000261157084033,3.26643598509e-05,1793239191696065280
+41,0.683333333,BASELINE,765,744.20546689,716,678.20546689,661,636,879,788,803.79453311,651.20546689,631.20546689,653,0.400990122567,-0.0153552486391,0.0798526903732,0.999999928525,0.000269798863007,-0.000262875749157,3.24710079549e-05,1793239191712731904
+42,0.700000000,BASELINE,765,744,715.627225325,678.372774675,661,636,879,787.627225325,804,651,631,653,0.400990251017,-0.015354901841,0.0798529417429,0.999999928525,0.000270057712597,-0.000262611057043,3.24666897309e-05,1793239191729398272
+43,0.716666667,BASELINE,765,744,715.049587652,678.950412348,661,636,879,787.049587652,804,651,631,653,0.400991516244,-0.0153547538961,0.0798539069775,0.999999928752,0.000270517732359,-0.000261256386029,3.25662573385e-05,1793239191746064896
+44,0.733333333,BASELINE,765,744.526082489,715.526082489,679,661,635.473917511,879,787.526082489,804,651.526082489,631.526082489,653,0.400992741551,-0.0153551631042,0.0798539425726,0.999999929269,0.000270266535662,-0.000259526411367,3.26230251715e-05,1793239191762731776
+45,0.750000000,BASELINE,765,745,715.896119573,679,661.103880427,635.103880427,879,788,804,652,632,653,0.400993791419,-0.0153556116207,0.0798540489898,0.999999929682,0.000270114383731,-0.000258082283425,3.26716356057e-05,1793239191779398144
+46,0.766666667,BASELINE,765,745,715.307531357,679,661.692468643,635.692468643,879,788,804,652,632,653,0.400994040174,-0.0153559994214,0.0798548932057,0.999999929499,0.000270736011654,-0.00025813636915,3.27009371354e-05,1793239191796064768
+47,0.783333333,BASELINE,765,745,715.276476457,679,662,636,879,788,803.723523543,651.723523543,632,653,0.40099339869,-0.0153568196493,0.0798546680464,0.999999929903,0.000268537198857,-0.000258879853215,3.26117011368e-05,1793239191812731648
+48,0.800000000,BASELINE,765,745,715.855472485,679,662,636,879,788,803.144527515,651.144527515,632,653,0.400991783109,-0.0153581130374,0.0798532727805,0.999999930926,0.000263252269781,-0.000260377674531,3.23927617932e-05,1793239191829398528
+49,0.816666667,BASELINE,765.431739501,745,715.568260499,679,661.568260499,636,879,788,803.431739501,651.431739501,632,653,0.400991257793,-0.0153568644244,0.079853032902,0.999999930214,0.000265795240243,-0.000260524425324,3.24235277772e-05,1793239191846065152
+50,0.833333333,BASELINE,765.992915925,745,715,679,661,636,879,788,804,652,631.992915925,653,0.400991092288,-0.0153548039972,0.0798531737012,0.999999928924,0.000270868936806,-0.000260236503599,3.25386147689e-05,1793239191862731520
+51,0.850000000,BASELINE,765.418739372,745,715,679,661,636,879,788,804,652,631.418739372,653,0.400990696993,-0.0153554486373,0.0798530210307,0.999999928898,0.000270078640538,-0.00026113062109,3.27542178239e-05,1793239191879398144
+52,0.866666667,BASELINE,765.160270692,745,715,679,661,636,879.160270692,788,803.839729308,652,631.160270692,653.160270692,0.400990619779,-0.0153560905607,0.0798530136638,0.999999929094,0.000268943795018,-0.000261535235095,3.28716735466e-05,1793239191896065024
+53,0.883333333,BASELINE,765.752301942,745,715,679,661,636,879.752301942,788,803.247698058,652,631.752301942,653.752301942,0.400991399457,-0.0153567251659,0.0798533977373,0.99999992989,0.000266880752538,-0.000260621153189,3.27247256631e-05,1793239191912731648
+54,0.900000000,BASELINE,765.663787864,745,715,679,661.336212136,636,879.663787864,788,803.336212136,652,632,653.663787864,0.400991445284,-0.015356866291,0.0798532728961,0.999999930047,0.00026606444609,-0.000260877160592,3.25459553415e-05,1793239191929398528
+55,0.916666667,BASELINE,765.085719622,745,715,679,661.914280378,636,879.085719622,788,803.914280378,652,632,653.085719622,0.400990963211,-0.0153566524284,0.0798527819643,0.999999929745,0.000266144986362,-0.000261974878411,3.23442933751e-05,1793239191946065408
+56,0.933333333,BASELINE,765,744.51185298,715,678.51185298,661.51185298,636,878.51185298,788,804,652,631.51185298,653,0.400991110673,-0.0153568989671,0.0798535519029,0.999999929689,0.000267019049974,-0.000261296748561,3.23485993433e-05,1793239191962732032
+57,0.950000000,BASELINE,765,744.063114052,715,678,661,636,878.063114052,788,803.936885948,651.936885948,631,653,0.400991344779,-0.0153572072906,0.0798543715143,0.999999929639,0.000268021563212,-0.000260455205813,3.24025248389e-05,1793239191979398656
+58,0.966666667,BASELINE,765,744.653381517,715,678,661,636,878.653381517,788,803.346618483,651.346618483,631,653,0.400991387111,-0.0153573621578,0.0798537724778,0.999999929288,0.000268943011107,-0.00026083117881,3.25713774716e-05,1793239191996065280
+59,0.983333333,BASELINE,765,745,715,678,661,636,878.760921329,788,803.239078671,651.239078671,631,653,0.400991455842,-0.0153572065122,0.079853561139,0.99999992944,0.000268564134572,-0.00026064735791,3.25104044521e-05,1793239192012731648
+60,1.000000000,BASELINE,765,745,715,678,661,636,878.181725881,788,803.818274119,651.818274119,631,653,0.400991562126,-0.0153566091267,0.0798539013445,0.999999930303,0.00026633539781,-0.00025966716616,3.21224781572e-05,1793239192029398272
+61,1.016666667,BASELINE,765,745,715.395844017,678,661,636,878.395844017,788,804,652,631,653,0.400991689174,-0.0153559003651,0.0798540294177,0.999999930057,0.000267826280974,-0.000259078335142,3.21526948161e-05,1793239192046064896
+62,1.033333333,BASELINE,765,745,715.972670667,678,661,636,878.972670667,788,804,652,631,653,0.400991825715,-0.0153551406816,0.0798540605024,0.999999929296,0.000271017800334,-0.000258668437026,3.23740893606e-05,1793239192062731520
+63,1.050000000,BASELINE,765,745,715.451545431,678.548454569,661.548454569,636,879,788,804,652,631.548454569,653,0.400992645715,-0.0153560369955,0.0798547934426,0.999999929895,0.000268981200794,-0.000258468427205,3.24539743209e-05,1793239192079398144
+64,1.066666667,BASELINE,765,745,715.127121386,678.872878614,662,636,878.872878614,787.872878614,803.872878614,652,632,653.127121386,0.400993232814,-0.0153568981831,0.0798553320675,0.999999930332,0.000267479539069,-0.000258316194013,3.2602864601e-05,1793239192096064768
+65,1.083333333,BASELINE,765,745,715.716459092,678.283540908,662,636,878.283540908,787.283540908,803.283540908,652,632,653.716459092,0.400992849483,-0.015357332183,0.0798550372352,0.99999992995,0.000268868367266,-0.000258299721954,3.30282501623e-05,1793239192112731904
+66,1.100000000,BASELINE,765,745,715.699426368,678.300573632,662,636,878.300573632,787.300573632,803,652,631.699426368,653.699426368,0.400992170472,-0.0153565774863,0.0798543742765,0.999999929299,0.000270670487008,-0.000258942400775,3.29945595237e-05,1793239192129398784
+67,1.116666667,BASELINE,765,745,715.120154887,678.879845113,662,636,878.879845113,787.879845113,803,652,631.120154887,653.120154887,0.400991217301,-0.0153547206062,0.0798533699838,0.999999928395,0.000272855818814,-0.000260196257406,3.25352042772e-05,1793239192146065664
+68,1.133333333,BASELINE,765,745,715,679,662,636,879,788,803.455742798,651.544257202,631.455742798,653,0.400991536802,-0.015356549878,0.0798534670413,0.999999929476,0.000269252788168,-0.000259785952253,3.25765411246e-05,1793239192162732032
+69,1.150000000,BASELINE,765,745,715,678.968556087,661.968556087,635.968556087,879,788,804,651,631.968556087,653,0.400992114021,-0.0153591390293,0.0798538089627,0.999999930942,0.000264470925325,-0.000259034174337,3.27415993079e-05,1793239192179398144
+70,1.166666667,BASELINE,765,745,715,678.380710163,661.380710163,635.380710163,879,788,804,651,631.380710163,653,0.40099135788,-0.015358103888,0.0798533834611,0.999999930396,0.000265635205285,-0.00025994667388,3.27772315583e-05,1793239192196065024
+71,1.183333333,BASELINE,765,745,715,678.2040393,661,635.2040393,879,788,804,651.2040393,631.2040393,653,0.400991115479,-0.0153570994183,0.0798531251528,0.999999929938,0.000267007554102,-0.000260304471811,3.2762787458e-05,1793239192212731392
+72,1.200000000,BASELINE,765,745,715,678.783097648,661,635.783097648,879,788,804,651.783097648,631.783097648,653,0.400991817318,-0.0153561513218,0.0798531741415,0.999999929643,0.000268762328388,-0.000259642742434,3.2656304304e-05,1793239192229398016
+73,1.216666667,BASELINE,765,745,715,678.639440033,661,636,878.639440033,788,804,652,631.639440033,653,0.400992049095,-0.015356387111,0.079853369806,0.999999929543,0.000269344050554,-0.000259432589795,3.26110253956e-05,1793239192246065152
+74,1.233333333,BASELINE,765,745,715,678.062933642,661,636,878.062933642,788,804,652,631.062933642,653,0.400991999343,-0.0153573319524,0.0798536533175,0.99999992956,0.000269223208736,-0.000259492895346,3.26024029146e-05,1793239192262732288
+75,1.250000000,BASELINE,765.512311628,745,715,678,661,636,878.512311628,787.487688372,804,652,631,653,0.400990847194,-0.0153557787802,0.079852838621,0.999999929106,0.00026981555007,-0.000260672711445,3.21967750176e-05,1793239192279398912
+76,1.266666667,BASELINE,765.910250727,745,715,678,661,636,879.089749273,787.089749273,804,652,631,653,0.400990081262,-0.0153542881626,0.0798522463638,0.999999928759,0.000270391403606,-0.000261445896627,3.18841732326e-05,1793239192296065280
+77,1.283333333,BASELINE,765.319717769,745,715,678,661,636,879.680282231,787.680282231,804,652,631,653,0.400992224117,-0.0153548546162,0.0798536461805,0.999999929333,0.000270387616281,-0.000259184689239,3.2362093466e-05,1793239192312731904
+78,1.300000000,BASELINE,765,745,715,678,661,636,879.734437833,788,803.734437833,651.734437833,631,653,0.400992837404,-0.0153551664773,0.0798542643885,0.999999929629,0.000269979999986,-0.00025846214136,3.24158004301e-05,1793239192329398272
+79,1.316666667,BASELINE,765,745,715,678,661,636,879.155359526,788,803.155359526,651.155359526,631,653,0.400991644919,-0.0153551777728,0.0798539598487,0.999999929598,0.000269095633178,-0.000259556097073,3.19686916474e-05,1793239192346064896
+80,1.333333333,BASELINE,765.420428009,745,715,678,661,636,879.420428009,788,803,651.420428009,631,653,0.400991143013,-0.0153555241441,0.0798535527853,0.999999929702,0.000268161192267,-0.000260134841815,3.18642955145e-05,1793239192362731776
+81,1.350000000,BASELINE,765.995009006,745,715,678,661,636,879.995009006,788,803,651.995009006,631,653,0.400990894313,-0.0153559933735,0.0798531081309,0.999999929855,0.000267208391249,-0.000260524680798,3.18855574314e-05,1793239192379398400
+82,1.366666667,BASELINE,765.429567662,744.429567662,715,678.570432338,661,636,879.429567662,788,803.570432338,652,631.570432338,653,0.40099245156,-0.0153550948071,0.0798538662759,0.999999929609,0.000269459054737,-0.000259150475059,3.18547375289e-05,1793239192396065280
+83,1.383333333,BASELINE,765,744.150009253,715,678.849990747,661.150009253,636,879.150009253,788,804,651.849990747,632,653,0.400993332645,-0.0153545325938,0.0798543764367,0.999999929444,0.000270921559758,-0.000258253883047,3.19145979232e-05,1793239192412732160
+84,1.400000000,BASELINE,765,744.7417969,715,678.2582031,661.7417969,636,879.7417969,788,804,651.2582031,632,653,0.400992175824,-0.0153549962398,0.0798541252438,0.999999929544,0.00026998026585,-0.000258809388709,3.22428564696e-05,1793239192429399040
+85,1.416666667,BASELINE,765,745,715,678,662,635.674005037,879.674005037,787.674005037,804,651.325994963,632,653,0.40099164141,-0.015355487974,0.0798543500598,0.999999929674,0.000269561117475,-0.000258732621853,3.23347292162e-05,1793239192446065920
+86,1.433333333,BASELINE,765,745,715,678,662,635.095681544,879.095681544,787.095681544,804,651.904318456,632,653,0.400991588755,-0.0153560014492,0.0798549433189,0.999999929828,0.000269546123301,-0.000258166459689,3.22436332227e-05,1793239192462732544
+87,1.450000000,BASELINE,765,744.521798486,715,678,661.521798486,635.478201514,879,787.478201514,804,652,632,653,0.400991176048,-0.0153565504451,0.0798540934387,0.999999929983,0.000267800243427,-0.000259408262304,3.20070660983e-05,1793239192479399168
+88,1.466666667,BASELINE,765,744,715,678.052746564,661,635.947253436,879,788,804,651.947253436,631.947253436,653,0.400990675836,-0.0153571088522,0.0798530038835,0.999999930088,0.000265965439223,-0.000260915867371,3.17846551717e-05,1793239192496065792
+89,1.483333333,BASELINE,765,744,715,678.64300837,661,635.35699163,879,788,804,651.35699163,631.35699163,653,0.400990011288,-0.0153576914041,0.0798523873804,0.999999929732,0.000266721227525,-0.000261479643969,3.20003877289e-05,1793239192512732160
+90,1.500000000,BASELINE,765,744.227933632,715,679,661,635.227933632,879,788,804,651.227933632,631.227933632,653,0.400990361747,-0.0153579198076,0.0798527589618,0.999999929564,0.000267873673758,-0.000260905166859,3.23236297684e-05,1793239192529398528
+91,1.516666667,BASELINE,765,744.80469191,715,679,661,635.80469191,879,788,804,651.80469191,631.80469191,653,0.40099226555,-0.0153576062301,0.0798546426865,0.999999929677,0.00026963315654,-0.000258588731123,3.2811401948e-05,1793239192546065408
+92,1.533333333,BASELINE,765,745,715.38145241,679,661,636,879,788,804,652,631.61854759,653,0.400992258273,-0.0153570653081,0.0798545482109,0.999999929635,0.00026980151058,-0.000258592805685,3.26563815789e-05,1793239192562732032
+93,1.550000000,BASELINE,765,745,715.958214101,679,661,636,879,788,804,652,631.041785899,653,0.400991272497,-0.0153564079823,0.0798534408677,0.999999929516,0.000269155183312,-0.000259785015659,3.21722419548e-05,1793239192579398912
+94,1.566666667,BASELINE,765,745,715.463772757,679,661,636,879,788,804,652,631.536227243,653,0.40099271644,-0.0153567435327,0.0798550180715,0.999999930115,0.000269111956699,-0.000257482543758,3.24279190604e-05,1793239192596065280
+95,1.583333333,BASELINE,765,745,715,678.884198049,661,636,879,788,804,652,631.884198049,653.115801951,0.400993768254,-0.0153571375805,0.0798562107615,0.999999930627,0.000268799658148,-0.000255786614602,3.26444940887e-05,1793239192612731648
+96,1.600000000,BASELINE,765,745,715,678.298685699,661,636,879,788,804,652,631.298685699,653.701314301,0.400992459749,-0.0153574543414,0.0798549932926,0.99999993058,0.000267204889553,-0.000257658092981,3.24680779198e-05,1793239192629398528
+97,1.616666667,BASELINE,765,745,715,678,661,636,879,788,804,651.714642816,631.285357184,653.714642816,0.400991740704,-0.0153576834774,0.0798546632237,0.999999930441,0.000266967095034,-0.000258429855691,3.25672525018e-05,1793239192646065152
+98,1.633333333,BASELINE,765,745,715,678,661,636,879,788,804,651.132130191,631.867869809,653.132130191,0.40099163549,-0.0153578213655,0.0798552572451,0.99999993021,0.000268142379567,-0.000258056434242,3.29534123044e-05,1793239192662732032
+99,1.650000000,BASELINE,765,745,715,678,661,635.559016644,879,788,803.559016644,651.440983356,631.559016644,653,0.400990621407,-0.0153563338263,0.079854278504,0.999999929403,0.000269819568476,-0.000259482444384,3.25717171638e-05,1793239192679398912
+100,1.666666667,BASELINE,765,745,715.011517828,678.011517828,661,635.011517828,879,788,803,651.988482172,631,653,0.400989378808,-0.015354447225,0.0798528750296,0.999999928463,0.000271532340362,-0.000261383990189,3.19764286553e-05,1793239192696065536
+101,1.683333333,BASELINE,765,745,715.590845775,678.590845775,661,635.590845775,879,788,803,651.409154225,631,653,0.400990015585,-0.0153563957803,0.0798532794786,0.999999929664,0.00026774034081,-0.000260703803816,3.19566876215e-05,1793239192712732416
+102,1.700000000,BASELINE,765,745,715.82592335,679,661,636,879.17407665,788,803,651.17407665,631,653,0.400990732457,-0.0153578819451,0.0798537120401,0.999999930548,0.000265226362909,-0.000259876674261,3.19937447865e-05,1793239192729399040
+103,1.716666667,BASELINE,765,745,715.233308621,679,661,636,879.766691379,788,803,651.766691379,631,653,0.400991641904,-0.0153582563692,0.079854212193,0.9999999307,0.000265785174049,-0.0002586962446,3.21673636881e-05,1793239192746065408
+104,1.733333333,BASELINE,765,745,715,678.65236482,661,636,879.65236482,788,803,652,631,653.34763518,0.400992054919,-0.0153579813468,0.0798544586027,0.999999930665,0.000266504076672,-0.000258079898415,3.22600091387e-05,1793239192762731776
+105,1.750000000,BASELINE,765,745,715,678.078999257,661,636,879.078999257,788,803,652,631,653.921000743,0.400992145587,-0.0153572846184,0.0798545402489,0.999999930508,0.000267326931752,-0.000257829829137,3.23000760153e-05,1793239192779398400
+106,1.766666667,BASELINE,765,745,715.494814356,678,661.494814356,636,879.494814356,787.505185644,803,652,631,653.505185644,0.40099279887,-0.0153558980795,0.0798551580603,0.999999929978,0.00026977255902,-0.000257341291499,3.22838309336e-05,1793239192796065024
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,678,661,636,878,788,804,652,632,653,0.400993450219,-0.015356192041,0.0798557341406,0.999999930451,0.000269211639146,-0.000256098451943,3.2206391325e-05,1793239192838941696
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,678.581987031,661,636,878.581987031,788,804,652,631.418012969,653.581987031,0.40099172765,-0.0153561509641,0.0798542272866,0.999999930254,0.000267694084815,-0.000258468169911,3.20194379547e-05,1793239192855608832
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715.161334405,678.838665595,661,636,879,788,803.838665595,651.838665595,631,653.838665595,0.40099058866,-0.0153563050445,0.0798532264026,0.999999930054,0.000266810363923,-0.000260164654839,3.19059017336e-05,1793239192872275712
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715.733952719,678.266047281,661,636,879,788,803.266047281,651.266047281,631,653.266047281,0.400990937367,-0.0153569566323,0.0798535153691,0.999999929861,0.000267542451162,-0.000260144891869,3.19795251312e-05,1793239192888941824
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715.690943632,678.309056368,661.309056368,636,878.690943632,788,803.309056368,651,631.309056368,653,0.400991509204,-0.0153576773915,0.07985430113,0.999999929961,0.000268069487532,-0.000259165511108,3.24012607153e-05,1793239192905608192
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715.113683203,678.886316797,661.886316797,636,878.113683203,788,803.886316797,651,631.886316797,653,0.400992274676,-0.0153584581787,0.0798555180171,0.999999930312,0.000268418577433,-0.000257353358674,3.31250936204e-05,1793239192922274816
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715.475865676,678.524134324,661.524134324,636,878.951731352,788,804,651.475865676,631.524134324,653,0.400992666369,-0.0153583178202,0.0798554539538,0.999999930382,0.000268307091728,-0.000257243508244,3.27582046615e-05,1793239192938941184
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715.933386934,678.066613066,661.066613066,636,879.933386934,788,803.933386934,652,631.066613066,653.066613066,0.400993144122,-0.0153579846806,0.0798552650877,0.999999930395,0.000268190067416,-0.00025737898176,3.22498385205e-05,1793239192955607808
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715.356541676,678.643458324,661.643458324,636,879.356541676,788,803.356541676,652,631.643458324,653.643458324,0.400994983166,-0.0153579051642,0.0798565263831,0.999999930494,0.000268895753731,-0.000256195984692,3.27065941636e-05,1793239192972274432
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.780392509,636,878.780392509,788,803.219607491,651.780392509,631.780392509,653.780392509,0.401001192874,-0.0153581712648,0.0798596287966,0.999999931668,0.000268843887937,-0.000251578187145,3.30828539588e-05,1793239192988941312
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.205369956,636,878.205369956,788,803.794630044,651.205369956,631.205369956,653.205369956,0.401014476107,-0.0153589967154,0.0798657108947,0.999999934511,0.000267565991797,-0.000241401472662,3.33288383855e-05,1793239193005608192
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,678.630525085,661,636,878.369474915,788,803.630525085,651.369474915,631,653,0.401043915136,-0.0153602434375,0.0798774608104,0.99999993985,0.000265791520658,-0.000220242564386,3.38717226642e-05,1793239193022274816
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,678.055778877,661,636,878.944221123,788,803.055778877,651.944221123,631,653,0.401082329932,-0.0153617242079,0.0798923596284,0.999999946001,0.000263741164234,-0.000192982214742,3.45795572973e-05,1793239193038941440
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.537394958,745,715,678.537394958,661.537394958,636,879,788,803,651.462605042,631,653,0.40114365906,-0.0153631736503,0.0799102960335,0.999999951905,0.000265181055322,-0.00015697479599,3.50312487927e-05,1793239193055607808
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.872201337,745,715,679,662,636,879,788,803.127798663,651,631,653,0.401209333736,-0.0153650661386,0.0799270134984,0.999999956136,0.000266326971697,-0.000124729123544,3.52336510101e-05,1793239193072274432
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.298377831,745,715,679,662,636,879,788,803.701622169,651,631,653,0.401281579177,-0.015368516635,0.0799383373566,0.999999958321,0.000265137662206,-0.000108893299416,3.46621019492e-05,1793239193088941312
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.723739142,715,678.723739142,661.723739142,636,879,787.723739142,804,651.276260858,631.276260858,653,0.401359676893,-0.0153718317387,0.0799450127095,0.999999959719,0.000264315538685,-9.7955363619e-05,3.3213888699e-05,1793239193105607936
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.148217437,715,678.148217437,661.148217437,636,879,787.148217437,804,651.851782563,631.851782563,653,0.401444114108,-0.0153750001774,0.079946652547,0.999999960444,0.000263891171178,-9.2323088893e-05,3.08160249671e-05,1793239193122274816
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.437045978,715,678,661,636,879,787.437045978,803.562954022,652,631.562954022,653,0.401543924357,-0.0153783874741,0.0799486864824,0.999999961772,0.000260776331507,-8.77009881275e-05,2.75722878412e-05,1793239193138941440
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715.025371495,678.025371495,661,636,879,788,803.025371495,652,631,653,0.401650389546,-0.0153819468224,0.0799508483889,0.999999963285,0.000256680546195,-8.34825773068e-05,2.40009230933e-05,1793239193155608064
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715.606750995,678.606750995,661,636,879,788,803.606750995,652,631,653,0.401785838121,-0.015387612988,0.0799528190204,0.999999964936,0.000251539175372,-8.04321001184e-05,1.96795782867e-05,1793239193172274944
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.814169616,716,678.814169616,661,636,879,788,803.814169616,652,631,653,0.401929732678,-0.0153930011134,0.0799554276247,0.999999966451,0.000247166220624,-7.59972877263e-05,1.52308592739e-05,1793239193188941568
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.239898219,716,678.239898219,661,636,879,788,803.239898219,652,631,653,0.40209128184,-0.0153978080508,0.0799593697825,0.999999967721,0.000244399485663,-6.86688016271e-05,1.05158906651e-05,1793239193205607936
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.333612998,744.333612998,715.666387002,678.333612998,661,636,879,788,803.667225996,651.666387002,631,653,0.402262732539,-0.0154035286928,0.0799582741413,0.999999969784,0.000235442636445,-7.05603346926e-05,4.49224126928e-06,1793239193222274304
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.906578878,744.906578878,715.093421122,678.906578878,661,636,879,788,804.813157756,651.093421122,631,653,0.402441287177,-0.015409904879,0.0799535640977,0.999999972219,0.000222044647927,-7.90668315466e-05,-2.47033041694e-06,1793239193238940928
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.007519452,651,631.496240274,653,0.402646064831,-0.0154156532817,0.0799490004716,0.999999981218,0.00017335237025,-8.60973615869e-05,-1.00524375465e-05,1793239193255607808
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.91352267,745,715,679,661.08647733,636,879,788,803.08647733,651.08647733,631.91352267,653.08647733,0.402864342834,-0.0154220717756,0.0799453740691,0.999999988138,0.000122926626707,-9.11116923246e-05,-1.76617648391e-05,1793239193272274432
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.338410629,745,715,679,661.661589371,636,879,788,803.661589371,651.661589371,631.338410629,653.661589371,0.403130038194,-0.0154329676269,0.0799468822157,0.999999990808,0.000101557042789,-8.63583249212e-05,-2.4742932958e-05,1793239193288941056
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.762898386,636,879,788,804,652,631,653.762898386,0.403414714113,-0.0154429891404,0.0799515760112,0.999999992181,9.48301197783e-05,-7.70473200796e-05,-2.66298440295e-05,1793239193305607680
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.186814009,636,879,788,804,652,631,653.186814009,0.403726526411,-0.0154517606175,0.0799608243099,0.999999991959,0.00010903772297,-6.12202885078e-05,-2.10905563883e-05,1793239193322274304
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.398944511,636,879,788,804,652,631,653,0.404049994408,-0.0154594933663,0.0799630860473,0.999999993393,9.73594278497e-05,-5.72619823362e-05,-2.13578128023e-05,1793239193338940928
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.989345715,636,879,788,804,652,631,653,0.40437905606,-0.0154667276206,0.0799619948773,0.999999995278,7.32582807174e-05,-5.89995737342e-05,-2.44116767359e-05,1793239193355607552
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.43130294,636,879,788,804,652,631.56869706,653,0.404770807907,-0.0154788272498,0.0799640579957,0.99999999671,5.71886307089e-05,-5.04595448804e-05,-2.76351585899e-05,1793239193372274176
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.852894905,715,679,661.147105095,636,879,788,804,652,631.852894905,653,0.405170165519,-0.0154899357215,0.0799634684786,0.999999997451,4.35593926751e-05,-4.78731811349e-05,-3.01462406039e-05,1793239193388940800
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.276646448,715,679,661.723353552,636,879,788,804,652,631.276646448,653,0.405588350096,-0.015497891888,0.0799549714342,0.999999996865,3.66188831423e-05,-6.32061918875e-05,-3.05699751447e-05,1793239193405607424
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.297987173,744.297987173,715,679,662,636,879,788.297987173,804,652,631,653,0.406023726235,-0.0155058045177,0.0799474041135,0.999999996153,3.07531434221e-05,-7.65235737316e-05,-2.98778715165e-05,1793239193422274048
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.871129753,744.871129753,715,679,662,636,879,788.871129753,804,652,631,653,0.406474976767,-0.0155136769471,0.0799406952801,0.999999995399,2.58798238984e-05,-8.79797658432e-05,-2.81554252445e-05,1793239193438940928
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.540667642,745,715,679,661.540667642,636,879,788.540667642,804,651.540667642,631.459332358,653,0.406951078813,-0.0155073039728,0.0799396840832,0.999999994884,3.19223178992e-05,-9.12756504917e-05,-2.96939773106e-05,1793239193455607808
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,651,631.949495708,653,0.407437912385,-0.0154979284762,0.0799397890334,0.999999994323,4.01376478595e-05,-9.33606026691e-05,-3.20360194222e-05,1793239193472274688
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,651,631.372897916,653,0.407961443023,-0.0155003202927,0.0799343046535,0.99999999296,3.80036952537e-05,-0.00010748875052,-3.28944077477e-05,1793239193488941312
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,678.796608,661.203392,636,879,788,803.796608,651,631,653,0.408515883902,-0.0155042296264,0.0799342877193,0.999999992801,3.25501703473e-05,-0.000110440745779,-3.37937678808e-05,1793239193505607936
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,678.220881724,661.779118276,636,879,788,803.220881724,651,631,653,0.409126909779,-0.0155109169631,0.0799442796229,0.999999994856,2.10197568419e-05,-9.29334070124e-05,-3.47681319372e-05,1793239193522274816
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,678.362911457,661.637088543,635.637088543,879,788,803.362911457,651,631,653,0.409764312606,-0.0155152021066,0.0799686369546,0.999999998008,1.44906790799e-05,-5.06521370237e-05,-3.47649234517e-05,1793239193538941440
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,678.951726059,661.048273941,635.048273941,879,788,803.951726059,651,631,653,0.410418134391,-0.0155179919457,0.0800019363993,0.999999999331,1.10748059253e-05,7.05027411977e-06,-3.41532008149e-05,1793239193555608064
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.467824944,715,679,661.532175056,635.532175056,879.532175056,788,804,651.532175056,631,653,0.411061704893,-0.0155161405773,0.0800036716179,0.999999999282,1.39939568577e-05,7.70362822401e-06,-3.43579258737e-05,1793239193572274944
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.223443666,715,679,662,636,879.888278167,788,804,651.888278167,631.111721833,653,0.411707099186,-0.01551353266,0.0799961296568,0.999999999218,1.62206604784e-05,-5.84732331772e-06,-3.56007387753e-05,1793239193588941568
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.381239642,715,679,662,636,879.309380179,788,804,651.309380179,631.690619821,653,0.412363947967,-0.0155094943952,0.0799615817425,0.999999997425,1.31860396081e-05,-5.74903134691e-05,-4.08795223775e-05,1793239193605608192
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.733802975,715,679,662,636,879,788,804,651.266197025,631.733802975,653.266197025,0.413059076161,-0.015508769523,0.079939672472,0.999999995413,8.28012275262e-06,-8.40464278212e-05,-4.51824230794e-05,1793239193622274560
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.162037632,715,679,662,636,879,788,804,651.837962368,631.162037632,653.837962368,0.413798145487,-0.0155118481031,0.0799322711321,0.999999995484,1.22613958915e-06,-8.18052534043e-05,-4.83651058221e-05,1793239193638941184
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,879,788,804,651.576231644,631,653.576231644,0.414549472348,-0.0155152584122,0.0799461140309,0.99999999731,-2.09990816367e-06,-5.59565703797e-05,-4.73657287631e-05,1793239193655607552
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,679,662.014845988,636,879.014845988,788,804.014845988,651.014845988,631.014845988,653,0.41530548291,-0.0155186984568,0.0799676972178,0.999999998739,-4.00536107508e-06,-2.23081556086e-05,-4.48249657714e-05,1793239193672274176
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,679,662.595217182,636,879.595217182,788,804.595217182,651.595217182,631.595217182,653,0.41605525317,-0.0155182737862,0.0799640894397,0.999999997771,-7.9569942473e-06,-4.71884929743e-05,-4.65703975465e-05,1793239193688941056
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.173995259,745,715,679,662.826004741,636,880,788,804.826004741,651.826004741,631.826004741,653.173995259,0.416825546696,-0.0155171287914,0.079961608322,0.999999997094,-1.02634322429e-05,-5.80798194679e-05,-4.83007566864e-05,1793239193705607936
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.749100696,745,715,679,662.250899304,636,880,788,804.250899304,651.250899304,631.250899304,653.749100696,0.417643152334,-0.0155143232381,0.0799617244874,0.999999998037,-8.77721187954e-06,-3.67223654247e-05,-4.99963689143e-05,1793239193722274560
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.675927262,788,804,651,631,653.675927262,0.418495852262,-0.015517037803,0.0799760215005,0.999999998677,-1.11855869051e-05,-3.11634301226e-06,-5.01032243057e-05,1793239193738941184
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.101058481,788,804,651,631,653.101058481,0.419375711204,-0.015524024322,0.080001292903,0.999999997864,-1.6607943114e-05,3.99687000387e-05,-4.89805595063e-05,1793239193755607808
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.513662435,745,715,679,662,636,879,788,804,651,631.486337565,653.486337565,0.42019091504,-0.0155257259394,0.0799916371243,0.999999998037,-2.54023707646e-05,2.70818764419e-05,-5.04725279267e-05,1793239193772274432
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.075202428,745,715.075202428,679.075202428,662,636,879.075202428,788,804,651.075202428,632,653.924797572,0.421000820529,-0.0155263578526,0.0799780426758,0.999999998078,-3.27683456448e-05,6.98528406096e-06,-5.21737293425e-05,1793239193788941056
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.655978688,745,715.655978688,679.655978688,662,636,879.655978688,788,804,651.655978688,632,653.344021312,0.421867815108,-0.0155273763742,0.0799880515221,0.999999998168,-2.56958207605e-05,1.86770398905e-05,-5.15324287434e-05,1793239193805607680
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.765991496,745,715.765991496,679.765991496,662,636,880.234008504,788,804,652,631.765991496,653,0.422742661417,-0.0155277160928,0.080004257243,0.999999997841,-1.84013488985e-05,3.86207032243e-05,-4.98862329085e-05,1793239193822274304
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.191952367,745,715.191952367,679.191952367,662,636,880.808047633,788,804,652,631.191952367,653,0.423628916964,-0.0155270694635,0.0800294674552,0.999999996359,-1.07843715973e-05,7.05549635255e-05,-4.67798543148e-05,1793239193838940928
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.39029829,745,715.39029829,679.780596581,662,636,880.60970171,788,804,652,631,653,0.424460182886,-0.0155256090827,0.0800064671166,0.999999998537,-8.26819976989e-06,2.23763403802e-05,-4.8550498219e-05,1793239193855607808
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.976674211,745,715.976674211,680.953348422,662,636,880.023325789,788,804,652,631,653,0.425263823127,-0.0155237398903,0.0799592468125,0.999999996392,-8.31456545229e-06,-6.60493080375e-05,-5.27712552663e-05,1793239193872274688
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715.443938348,680.443938348,662,636,880,788,804,651.443938348,631.556061652,653,0.426148486374,-0.0155277120084,0.0799394896798,0.999999995456,-1.92108439039e-05,-7.44017588485e-05,-5.64261910483e-05,1793239193888941824
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.865226009,745,715,680,662,636,880,788,804,651,631.865226009,653,0.427029641072,-0.0155313325038,0.0799256536676,0.999999994569,-2.87902421788e-05,-8.08835593799e-05,-5.90877615458e-05,1793239193905608704
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.287780177,745,715,680,662,636,880,788,804,651,631.287780177,653,0.427888246852,-0.0155330032449,0.079927528933,0.999999993512,-3.25679250168e-05,-9.21167438513e-05,-5.85635662229e-05,1793239193922274816
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.713256592,715,680,662,636,880,788,804,651.286743408,631,653,0.428760364569,-0.0155345931159,0.0799395184613,0.999999994514,-3.5113827569e-05,-8.04544372187e-05,-5.71452830993e-05,1793239193938940928
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.141636265,715,680,662,636,880,788,804,651.858363735,631,653,0.429645906219,-0.015536102643,0.079961556416,0.999999996772,-3.64359675676e-05,-4.60456715715e-05,-5.48387320154e-05,1793239193955607808
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.446185459,744.446185459,715,679.553814541,662,636,880,788,804,651.553814541,631.446185459,653,0.430556830685,-0.0155393970811,0.0799999601487,0.999999998001,-3.45634347074e-05,1.09514195211e-05,-5.18070350924e-05,1793239193972274432
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.961602044,745.038397956,715,679.038397956,662,636,880,788,804,651,631.961602044,653,0.431468991451,-0.0155427361705,0.0800395810934,0.999999995968,-3.16197277581e-05,6.8371600412e-05,-4.88917889445e-05,1793239193988941056
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.382705625,745.617294375,715,679.617294375,662,636,880,788,804,651,631.382705625,653,0.432280861283,-0.0155384276905,0.0800204526327,0.999999997932,-2.84106541361e-05,2.70120579218e-05,-5.09780163454e-05,1793239194005607936
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.194377933,745.805622067,715,680,662,636,880,788,804,651,631,653,0.433078186404,-0.0155349621611,0.0799870465405,0.999999997802,-2.76139256754e-05,-2.59462840412e-05,-5.44036499226e-05,1793239194022274560
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.767925278,745.232074722,715,680,662,636,880,788,804,651,631,653,0.433847139574,-0.0155331409589,0.0799257893351,0.999999992522,-3.15229133851e-05,-0.000101530195304,-6.04420384844e-05,1793239194038941440
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.649171324,745,715,680,662,635.649171324,880.350828676,787.649171324,804,651.350828676,631,653,0.43466729037,-0.0155360676645,0.0799150005028,0.999999991435,-3.72507215937e-05,-0.000108938023213,-6.22452145908e-05,1793239194055608064
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.059909316,745,715,680,662,635.059909316,880.940090684,787.059909316,804,651.940090684,631,653,0.435522236509,-0.0155422211859,0.0799385114424,0.999999994701,-4.42146527124e-05,-7.0011405584e-05,-6.11700173562e-05,1793239194072274432
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.52038706,745,715,680.52038706,662,635.52038706,880.47961294,787.52038706,804,651.47961294,631.52038706,653,0.436333618299,-0.0155465338568,0.0799695077182,0.999999996036,-5.62599601465e-05,-3.59799449161e-05,-5.88953598385e-05,1793239194088941312
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680.900612777,662,636,880,788,804.099387223,651,632,653,0.437134358581,-0.0155507504566,0.0799969561304,0.999999996054,-6.78050981701e-05,-6.22377835508e-06,-5.70660234609e-05,1793239194105607936
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680.322967371,662,636,880,788,804.677032629,651,632,653,0.437907616509,-0.0155555072901,0.0800032554301,0.999999995549,-7.41760468407e-05,5.62530027709e-06,-5.80328347729e-05,1793239194122274560
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.746654942,745,715,680.253345058,662,635.746654942,880,787.746654942,804.746654942,651,632,653,0.438645358809,-0.0155589722712,0.0799943060462,0.999999995348,-7.5874018239e-05,-7.97026048868e-06,-5.90268798574e-05,1793239194138941440
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.172032958,745,715,680.827967042,662,635.172032958,880,787.172032958,804.172032958,651,632,653,0.439338062274,-0.0155607990025,0.079966019201,0.999999994181,-7.16460010689e-05,-5.38331794434e-05,-6.00554610174e-05,1793239194155608064
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635,880,787.413062314,804.413062314,651,631.586937686,653,0.439980401654,-0.0155634796079,0.0799063883327,0.999999984191,-7.928882394e-05,-0.000145363635692,-6.48126271249e-05,1793239194172274432
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680.997412106,662,635,880,787.997412106,804.997412106,651,631,653,0.440601096727,-0.0155665203205,0.0798333900884,0.999999960377,-9.19948552822e-05,-0.00025635651928,-7.1166480375e-05,1793239194188941312
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661.682466496,635,880.317533504,787,804,651,631,653,0.443107531437,-0.015599802812,0.079794460935,0.999999940833,-0.000153760808403,-0.000298023464782,-7.66390932414e-05,1793239194255607808
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.095289071,635,880.904710929,787,804,651,631,653,0.443717057643,-0.0156103364349,0.0798323132132,0.99999995459,-0.000160260472943,-0.000244375670624,-7.35986895044e-05,1793239194272274432
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+198,3.300000000,POSE1_TO_POSE2_PRESS,765.209609832,745,715,681.790390168,661,634.209609832,880.209609832,786.209609832,804,651,631,653,0.446201932712,-0.0156367860212,0.0797353211076,0.999999896101,-0.000196784331933,-0.00040341037744,-7.95805945007e-05,1793239194355607808
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714.623700226,681.623700226,661,634,880,786,804.376299774,651,631,653,0.446642860833,-0.0156448340047,0.0797268172129,0.999999893101,-0.000207084205602,-0.000405643579263,-7.97991763128e-05,1793239194372274688
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.392944263,714.392944263,681.392944263,660,633.392944263,880.392944263,785,804,651,630.392944263,653,0.449573329006,-0.0156703975034,0.0796597328028,0.999999839858,-0.00025053530136,-0.000500895887159,-8.13550119306e-05,1793239194522274304
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+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.803447285,714,681,660,633.196552715,880.196552715,784,804.196552715,651,631,653,0.451309431197,-0.0156945558148,0.0796053433552,0.999999779703,-0.000284792907236,-0.000594523189572,-7.76522306176e-05,1793239195188942592
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714.388885349,681,660,633.388885349,880,784,804.388885349,651,631,653,0.451309928265,-0.0156954547894,0.0796055005692,0.99999977963,-0.000285774801884,-0.000594229924562,-7.72300898547e-05,1793239195205608960
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714.980232357,681,660,633.980232357,880,784,804.980232357,651,631,653,0.451310341939,-0.0156969649363,0.0796057155199,0.999999779659,-0.000286986055835,-0.000593666954213,-7.66798043266e-05,1793239195222275072
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.439733341,714.439733341,681,660,633.439733341,880,784,805,651,630.439733341,653,0.451311199657,-0.0156959917357,0.079606579222,0.99999977999,-0.000287051220818,-0.000593029211052,-7.70537452569e-05,1793239195238941184
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.138374839,714.138374839,681,660,633,880.138374839,784,804.861625161,650.861625161,630,653,0.451311773206,-0.0156953896954,0.0796072110663,0.999999780213,-0.000286923844532,-0.000592683305003,-7.72941829415e-05,1793239195255607552
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.711658896,714.711658896,681,660,633,880.711658896,784,804.288341104,650.288341104,630,653,0.451311405354,-0.015696224138,0.0796070436684,0.999999780066,-0.000286315892156,-0.00059326276453,-7.70145615344e-05,1793239195272274176
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745.71360252,714.71360252,681,660,633,880.71360252,784,804,650.28639748,630.28639748,653,0.451311369161,-0.0156957238089,0.0796065648127,0.999999780022,-0.000285875726441,-0.000593529511841,-7.71608013346e-05,1793239195288940800
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,745.137392095,714.137392095,681,660,633,880.137392095,784,804,650.862607905,630.862607905,653,0.451311668583,-0.01569387279,0.0796057707849,0.999999780084,-0.000285605348381,-0.000593479817615,-7.7737981013e-05,1793239195305607424
+256,4.266666667,HOLD_POSE2,765,746,714,681,659,633,880,784,804,651,630,653,0.451309785272,-0.0156933982424,0.0796051330244,0.999999780468,-0.000280092964164,-0.000595558396548,-7.69554734007e-05,1793239195337887232
+257,4.283333333,HOLD_POSE2,765,746,714.579965402,681,659.579965402,633,880.579965402,784,804.579965402,651,630,653.579965402,0.451310287831,-0.015692139691,0.0796050073733,0.999999780201,-0.000281359456548,-0.000595352672334,-7.73965575483e-05,1793239195354554112
+258,4.300000000,HOLD_POSE2,765,746,714.841815172,681,660,633,881,784,805,651,630.158184828,653.841815172,0.451310797716,-0.015691365165,0.0796048888495,0.999999779948,-0.000282608268143,-0.000595152538446,-7.76470707117e-05,1793239195371220992
+259,4.316666667,HOLD_POSE2,765,746,714.268181166,681,660,633,881,784,805,651,630.731818834,653.268181166,0.451311326843,-0.0156918618602,0.0796047890443,0.999999779738,-0.000283810644021,-0.000594967086686,-7.7397077321e-05,1793239195387887104
+260,4.333333333,HOLD_POSE2,765,745.686486601,714,681,660,633,880.686486601,784,805,651.313513399,630.686486601,653,0.451311366553,-0.0156928100835,0.0796046780854,0.999999779573,-0.000284595227935,-0.000594882882855,-7.72888069641e-05,1793239195404553216
+261,4.350000000,HOLD_POSE2,765,745.097715071,714,681,660,633,880.097715071,784,805,651.902284929,630.097715071,653,0.451310976565,-0.0156941547388,0.0796045573336,0.99999977945,-0.00028501299927,-0.000594887572578,-7.73049664478e-05,1793239195421219584
+262,4.366666667,HOLD_POSE2,765,745,714,681,659.516880582,633,880,784,804.516880582,651.516880582,630.483119418,653,0.451311611413,-0.0156941173368,0.0796052206165,0.999999779762,-0.00028436353345,-0.000594739215931,-7.68022064541e-05,1793239195437886208
+263,4.383333333,HOLD_POSE2,765,745.061995143,714.061995143,681,659,633,880,784,804,651,630.938004857,653,0.451312409058,-0.0156938782977,0.0796060164489,0.999999780147,-0.000283704910991,-0.000594472705233,-7.62926194062e-05,1793239195454553088
+264,4.400000000,HOLD_POSE2,765,745.637727107,714.637727107,681,659,633,880,784,804,651,630.362272893,653,0.451312865819,-0.0156942473206,0.0796066178335,0.999999780423,-0.000284730253593,-0.000593479453291,-7.65821418346e-05,1793239195471219968
+265,4.416666667,HOLD_POSE2,765,746,714.786647679,680.786647679,659.213352321,633,880,784,804.213352321,651,630.213352321,653,0.451313093109,-0.0156939941901,0.0796067063901,0.999999780631,-0.000284720241848,-0.000593102080585,-7.68303691799e-05,1793239195487886848
+266,4.433333333,HOLD_POSE2,765,746,714.211203694,680.211203694,659.788796306,633,880,784,804.788796306,651,630.788796306,653,0.451312930949,-0.0156926851698,0.0796059245987,0.999999780722,-0.000282953074619,-0.000593769949651,-7.70085123957e-05,1793239195504553216
+267,4.450000000,HOLD_POSE2,765,745.626021383,714,680.373978617,660,633,880.373978617,784,805,651,631,653,0.451312529949,-0.0156932015021,0.0796052276997,0.999999780005,-0.000283817194321,-0.000594605818368,-7.66932210254e-05,1793239195521219840
+268,4.466666667,HOLD_POSE2,765,745.035192274,714,680.964807726,660,633,880.964807726,784,805,651,631,653,0.451311990458,-0.0156947762602,0.0796045800253,0.999999778814,-0.000286207058471,-0.000595539101292,-7.60918129602e-05,1793239195537886208
+269,4.483333333,HOLD_POSE2,765,745.543426824,714.543426824,681,660,633.543426824,881,784,805,651,631,653,0.451313417706,-0.0156931088973,0.0796051459846,0.999999780081,-0.000283978712684,-0.000594433181002,-7.64357442504e-05,1793239195554553088
+270,4.500000000,HOLD_POSE2,765,745.879221028,715,681,660,633.879221028,880.879221028,784,804.879221028,651,631,653,0.451314396935,-0.015691530155,0.0796056605995,0.999999781178,-0.000281701977227,-0.000593630411529,-7.67513235952e-05,1793239195571220224
+271,4.516666667,HOLD_POSE2,765,745.30372707,715,681,660,633.30372707,880.30372707,784,804.30372707,651,631,653,0.451313220466,-0.0156910581518,0.0796056925154,0.999999781071,-0.000280344290794,-0.000594455215501,-7.67347424119e-05,1793239195587886592
+272,4.533333333,HOLD_POSE2,764.722295329,745.277704671,714.722295329,681,660,633,880.277704671,784,804.277704671,651,631,653,0.451312354995,-0.0156914434318,0.079605404214,0.999999780531,-0.000280716807728,-0.000595172470914,-7.68451202558e-05,1793239195604552960
+273,4.550000000,HOLD_POSE2,764.134227547,745.865772453,714.134227547,681,660,633,880.865772453,784,804.865772453,651,631,653,0.451311837096,-0.0156927868125,0.0796047580373,0.999999779506,-0.000283023002332,-0.00059576952986,-7.70973876785e-05,1793239195621219584
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,633,881,784,805,651,631,653,0.451312326373,-0.015691142681,0.0796049087167,0.999999780319,-0.00028107653643,-0.000595412111291,-7.64336072178e-05,1793239195653792256
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.422274266,714,681,660,633,881,783.422274266,805,651,630.422274266,653,0.451312968606,-0.0156907316271,0.0796049825244,0.999999780628,-0.000279869611089,-0.000595439988171,-7.66057476033e-05,1793239195670458624
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.845835244,633,880.845835244,783.154164756,805,650.845835244,630.154164756,653,0.451313322299,-0.0156905369515,0.079604932121,0.999999780679,-0.000279518139461,-0.000595499257131,-7.67541854638e-05,1793239195687125248
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.272891365,633,880.272891365,783.727108635,805,650.272891365,630.727108635,653,0.451312892188,-0.015690930054,0.0796045443057,0.999999780034,-0.000281490455207,-0.00059564380076,-7.68382369043e-05,1793239195703791616
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,880,783.690190512,804.690190512,650.309809488,631,653,0.451312152942,-0.0156909834413,0.0796039079118,0.999999779416,-0.000282325561979,-0.000596247481378,-7.7124930946e-05,1793239195720458240
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,880,783.098615936,804.098615936,650.901384064,631,653,0.451311132544,-0.0156907278649,0.0796030454412,0.999999778827,-0.000282126401445,-0.000597268737237,-7.75959240853e-05,1793239195737124864
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.482820615,714.482820615,681,659.482820615,633.482820615,880,783.482820615,804,651,631,653,0.451311766061,-0.0156913439245,0.0796042416773,0.999999779946,-0.00028163136466,-0.000595704563165,-7.69976475231e-05,1793239195753791488
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.938338581,714.938338581,681,659.938338581,633.938338581,880,783.938338581,804.061661419,651,631,653,0.451312258716,-0.0156919818135,0.079605445657,0.999999781038,-0.000281170547667,-0.000594179527671,-7.62683723595e-05,1793239195770458112
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.364215387,714.364215387,681,659.364215387,633.364215387,880,783.364215387,804.635784613,651,631,653,0.451308830894,-0.0156913519538,0.0796032912116,0.999999779107,-0.000281486048118,-0.000597278272973,-7.62281358341e-05,1793239195787124992
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.215407126,714,681,659.215407126,633,880,783.215407126,805,651,631,653,0.451297812005,-0.0156899099748,0.0795970913715,0.999999773331,-0.000281233438088,-0.000606927934286,-7.67056501906e-05,1793239195803791616
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.804571558,714,681,659.804571558,633,880,783.804571558,805,651,631,653,0.451273621703,-0.0156870588708,0.0795838722846,0.999999760596,-0.000279995087838,-0.000627944223366,-7.80815246667e-05,1793239195820457984
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.612989767,745.612989767,714,681,660,633,880,784,805,651,630.612989767,653,0.451230568619,-0.015685260994,0.07956506304,0.999999740256,-0.000279417110893,-0.000659658803459,-7.91429297699e-05,1793239195837124608
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.033889328,745.033889328,714,681,660,633,880,784,805,651,630.033889328,653,0.451178153103,-0.0156839858799,0.079543479153,0.999999715145,-0.000279166905886,-0.000696683417309,-8.00482499319e-05,1793239195853791232
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.543705564,745,714.543705564,681.543705564,660,633,880.543705564,784,804.456294436,651,630.543705564,653,0.45110872448,-0.0156815519759,0.0795253458785,0.999999694675,-0.000279297818153,-0.000725393459675,-8.02872709875e-05,1793239195870457856
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.879956376,681.879956376,659.879956376,633,880.879956376,784,804,651,630.879956376,653,0.451037389317,-0.0156787413432,0.0795110900551,0.999999678148,-0.000279034617122,-0.000747944679891,-8.01401881877e-05,1793239195887124480
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.307997309,681.307997309,659.307997309,633,880.307997309,784,804,651,630.307997309,653,0.450962857858,-0.0156747836363,0.0795106238095,0.999999677792,-0.000277198558929,-0.000749256060273,-7.86954957571e-05,1793239195903791616
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.271845407,633,880.271845407,784,804,651,630.271845407,653,0.450882269314,-0.015671023336,0.0795133453896,0.999999681634,-0.000274444714053,-0.000745362590215,-7.64641036387e-05,1793239195920458752
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.86088693,633,880.86088693,784,804,651,630.86088693,653,0.450794613212,-0.015667493375,0.0795197866057,0.999999690291,-0.000270619972481,-0.000735395968501,-7.331477045e-05,1793239195937125376
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.555552852,633,880.555552852,784,804,651,630.555552852,653,0.450680959299,-0.0156623335507,0.0795253116822,0.999999696221,-0.000267680296044,-0.000728712670657,-6.98781455339e-05,1793239195953791744
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.02603892,714,681,659.02603892,633,880.02603892,784,804,651,630,653,0.450557639678,-0.0156567034037,0.0795303049608,0.999999701106,-0.00026497169587,-0.000723309565395,-6.63375648926e-05,1793239195970458368
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.601852397,714,681,659.601852397,633,880.601852397,784,804,651,630,653,0.450399958489,-0.015651782957,0.0795300507311,0.999999702165,-0.000261364154651,-0.000723502059709,-6.24775729554e-05,1793239195987124736
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.822829986,714,681,659.822829986,633,881,784,804,651,630.177170014,653,0.450231255024,-0.0156452214722,0.0795284265827,0.999999701925,-0.000256221587724,-0.000725998081815,-5.85496828938e-05,1793239196003791360
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.248623662,714,681,659.248623662,633,881,784,804,651,630.751376338,653,0.450037850763,-0.0156349824369,0.0795237324597,0.999999698728,-0.000247639043314,-0.000733656287655,-5.44696343009e-05,1793239196020457984
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.665657022,659,633.334342978,880.665657022,784,804,651,631,653,0.44982948903,-0.0156244380686,0.0795209909749,0.999999699282,-0.000236838532648,-0.000736792582989,-4.98027431618e-05,1793239196037124864
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.340684596,714.659315404,681.659315404,659.659315404,633.340684596,880,784,804.659315404,651,630.340684596,653,0.448783752761,-0.0155790492983,0.0795274613015,0.999999722754,-0.000133833703238,-0.000732128773892,-2.38181456029e-05,1793239196103791616
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.239383036,714.760616964,681.760616964,660,633,880,784.239383036,804.760616964,651,630.239383036,653,0.448465754189,-0.0155661491253,0.0795291354601,0.999999727409,-9.85899439848e-05,-0.000731541855102,-1.75492401126e-05,1793239196120458240
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.435534059,660,634,881,785,805,651,631,653,0.446990827245,-0.0155351454636,0.0795434082591,0.999999748397,-6.37704490069e-05,-0.000706395944881,-1.19898549308e-05,1793239196187124736
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880.859191522,785,804.859191522,651,631,653,0.446576133126,-0.0155353959315,0.0795601579028,0.999999765818,-6.4601720558e-05,-0.000681224983552,-1.11367621424e-05,1793239196203791616
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880.284430468,785,804.284430468,651,631,653,0.446124541753,-0.0155430900269,0.0795868966578,0.999999789147,-6.37712094725e-05,-0.000646231512086,-4.8593700706e-06,1793239196220458752
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880,785.297991531,804.297991531,651,631,653,0.445650926281,-0.0155445227808,0.0796073759673,0.999999805726,-6.22442607311e-05,-0.000620220191014,-1.00953013143e-06,1793239196237125376
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880,785.88791886,804.88791886,651,631,653,0.445155734226,-0.0155398214359,0.0796217230378,0.999999816388,-6.00350271683e-05,-0.000603008482879,4.62090723356e-07,1793239196253792256
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764.530652418,745,714,681,660.469347582,634,880.469347582,786,804.530652418,651.469347582,631,653,0.444620182945,-0.015530026815,0.0796347148387,0.999999828545,-4.27718426518e-05,-0.000584010648572,3.52041352834e-06,1793239196270458624
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764.048432258,745,714.048432258,681,660.951567742,634,881,786.048432258,804.048432258,651.951567742,631,653,0.44407184772,-0.0155191107793,0.0796470237034,0.999999839873,-2.26426316267e-05,-0.000565415415035,6.82868687051e-06,1793239196287124992
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764.623702966,745,714.623702966,681,660.376297034,634,881,786.623702966,804.623702966,651.376297034,631,653,0.44348742496,-0.0155089914051,0.07965536161,0.999999845481,-9.74663443261e-06,-0.000555756811924,8.8074935315e-06,1793239196303791872
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.202866784,634.202866784,881,787,805,651,631,653,0.442893264279,-0.0154981292682,0.079663691054,0.999999852304,4.58870816915e-06,-0.000543380582455,1.04179851786e-05,1793239196320459008
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.789393179,634.789393179,881,787,805,651,631,653,0.442280687374,-0.0154858624264,0.0796720044928,0.999999861435,2.16461254784e-05,-0.000525864806082,1.13319230759e-05,1793239196337125888
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.62843111,745,715,681,661,634.62843111,881,787,805,651,631,653,0.441645817827,-0.0154775596871,0.0796912670351,0.999999877425,3.44997408257e-05,-0.000493737459451,1.35004854914e-05,1793239196353792512
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764.048692864,745,715,681,661,634.048692864,881,787,805,651,631,653,0.440998458974,-0.0154714778141,0.07971666375,0.999999896057,4.49981994365e-05,-0.000453424063749,1.63719441051e-05,1793239196370459136
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764.529722396,745,715,681,661.529722396,634.529722396,881,787,804.470277604,651,631,653,0.440268063506,-0.0154613969051,0.0796941596626,0.999999880945,5.87485871643e-05,-0.000484184365329,1.49956028409e-05,1793239196387125504
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.10736376,662,635,881,787,804.10736376,651,631,653,0.439529746481,-0.0154498737531,0.0796715034625,0.99999986482,7.43408242567e-05,-0.000514445287926,1.33839288545e-05,1793239196403791872
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.682163745,662,635,881,787,804.682163745,651,631,653,0.438790089915,-0.0154336678655,0.0796673073509,0.999999863072,9.66538374258e-05,-0.000514158895905,1.24434250264e-05,1793239196420458240
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,662,635,881,787,804.736997428,651.263002572,631,653.263002572,0.438070790572,-0.0154169467305,0.0797000413706,0.999999885133,0.000122255566169,-0.00046323646538,1.41440452845e-05,1793239196437124864
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,662,635,881,787,804.14868913,651.85131087,631,653.85131087,0.437376670815,-0.0153995882882,0.0797784539665,0.999999927138,0.000151925082146,-0.000349682729185,1.91114500269e-05,1793239196453791488
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.433949526,745,715,681.566050474,661.566050474,635,881,787.433949526,804,651.566050474,631,653.566050474,0.436638010268,-0.0153931086522,0.0798401095004,0.999999952309,0.000167770847608,-0.000258083728737,2.50509056972e-05,1793239196470458112
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.985501374,661.014498626,635.014498626,880.985501374,788,804.014498626,651,631,653,0.435881964402,-0.0153904243889,0.0798941404081,0.99999996791,0.000178636458663,-0.000176916017554,3.11420241927e-05,1793239196487124736
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.411585671,661.588414329,635.588414329,880.411585671,788,804.588414329,651,631,653,0.435036377642,-0.0153922125883,0.0798726619095,0.999999961328,0.000177747465674,-0.000211720571997,3.03996485298e-05,1793239196503791616
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.837133454,745,715,680.162866546,662,635.837133454,880.162866546,787.837133454,804.837133454,651,631.162866546,653,0.434178988056,-0.0153935667527,0.0798468112002,0.999999951908,0.000179106302112,-0.000251493167077,2.92600247069e-05,1793239196520458496
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.261320952,745,715,680.738679048,662,635.261320952,880.738679048,787.261320952,804.261320952,651,631.738679048,653,0.433291672615,-0.0153938204271,0.0798098748102,0.999999936138,0.000186164480313,-0.000303862161034,2.71131835394e-05,1793239196537125376
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.322642106,661.677357894,635.322642106,880.677357894,787.322642106,804,651.322642106,631.677357894,653,0.43236275188,-0.0153884349296,0.0797652833041,0.999999907528,0.000193634149513,-0.000383178665988,2.49895205018e-05,1793239196553791744
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.91337769,661.08662231,635.91337769,880.08662231,787.91337769,804,651.91337769,631.08662231,653,0.431399260041,-0.0153783636667,0.0797143309229,0.99999986189,0.000201445737946,-0.000484886700627,2.28851168496e-05,1793239196570458112
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.505592862,661,635.505592862,880,788,804,651.505592862,631,653,0.430537914956,-0.0153773113658,0.0797280535293,0.999999873512,0.000209477375887,-0.000456571087111,2.52588596009e-05,1793239196587124480
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,788,804.073147593,651,631.073147593,653,0.429699986539,-0.0153786771979,0.079759581813,0.99999989732,0.000216590751561,-0.00039699346238,2.90457374276e-05,1793239196603791360
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,788,804.647630376,651,631.647630376,653,0.428902253601,-0.0153859947929,0.0798369788411,0.999999937563,0.000217151435564,-0.000276281029089,3.72440323464e-05,1793239196620457984
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,788,804.772969868,651,631.772969868,653,0.428055571366,-0.0153897504942,0.0798780149283,0.99999995333,0.000216547191212,-0.000211391956109,4.19591397237e-05,1793239196637124864
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,788,804.185769527,651,631.185769527,653,0.427131233771,-0.015387855458,0.0798613664922,0.999999948608,0.000214094859293,-0.000235063410139,4.11483729681e-05,1793239196653791488
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.603890577,661,635,880.396109423,787.603890577,804,651,631.396109423,653,0.426192627846,-0.0153856710892,0.0798205704557,0.999999933047,0.000215826593158,-0.000293105160188,3.76006669278e-05,1793239196670458368
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.024474234,661,635,880.975525766,787.024474234,804,651,631.975525766,653,0.425247419045,-0.0153833528265,0.0797685996739,0.99999990801,0.000219494579587,-0.000367052394026,3.27863917853e-05,1793239196687124992
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.552366826,745,715,680,661,635.552366826,880.447633174,787.552366826,804,651.552366826,631.447633174,653,0.424304958091,-0.0153776316237,0.0797498845611,0.999999890966,0.000232753258842,-0.000403451448857,3.34797038799e-05,1793239196703791616
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.871444909,745,715,680,661,636,880,787.871444909,804,652,631,653,0.423380955741,-0.0153724289707,0.0797384813289,0.999999878353,0.000244760303589,-0.000426858144289,3.43306101922e-05,1793239196720457984
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.29712641,745,715,680,661,636,880,787.29712641,804,652,631,653,0.422520538234,-0.0153695447762,0.0797473463654,0.999999883458,0.000250960668914,-0.000410956001303,3.48857287895e-05,1793239196737124608
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.714944906,880,787,804,651.714944906,631,653,0.421690131813,-0.0153715425808,0.0797843929639,0.999999909714,0.000248160263557,-0.000342894586846,3.75860887116e-05,1793239196753791232
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.124334966,880,787,804,651.124334966,631,653,0.420891894783,-0.0153787734742,0.0798516478022,0.99999994735,0.000235711793405,-0.000218922861109,4.25859646499e-05,1793239196770458112
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880,787,804,651,631,653,0.420053860542,-0.0153785122751,0.0798743469818,0.999999953749,0.000237983793093,-0.00018396861926,4.4948786837e-05,1793239196787124736
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.031558881,880,787.031558881,804,651.031558881,631.031558881,653,0.419201991084,-0.015376125729,0.0798818439401,0.999999953402,0.000243667967154,-0.000178027548289,4.61407359085e-05,1793239196803791104
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.610098235,880,787.610098235,804,651.610098235,631.610098235,653,0.41829426051,-0.0153715287169,0.0798317777661,0.999999935596,0.000240458599349,-0.000263532780203,3.92266972137e-05,1793239196820458240
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.187035054,745,715,680,661,636,880,788,804,652,631.812964946,653,0.417418918494,-0.0153685161117,0.079800950146,0.999999920345,0.00023826941171,-0.000318280720693,3.51449729576e-05,1793239196837124864
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.760659643,745,715,680,661,636,880,788,804,652,631.239340357,653,0.416610521396,-0.0153687783737,0.0798098873812,0.99999992307,0.000238188873901,-0.000309455319709,3.69174613088e-05,1793239196853791488
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,880,788,804,652,631.345307076,653,0.415786649998,-0.015366687037,0.0798060453247,0.999999918872,0.00024082503703,-0.000320705240433,3.75056120898e-05,1793239196870458112
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,880,788,804,652,631.937846596,653,0.41495169938,-0.0153629105742,0.0797930535695,0.999999909222,0.000245406299516,-0.000346328660303,3.7245802506e-05,1793239196887124992
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,880,787.482066256,804.517933744,651.482066256,631.482066256,653,0.414203506672,-0.0153637075151,0.0797931556474,0.999999911673,0.000245079556185,-0.000339516179269,3.63226639081e-05,1793239196903791616
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.330334693,745,715,680,661,636,880,787.669665307,805,651.669665307,631,653,0.41277139667,-0.0153642972217,0.0798191967882,0.999999926951,0.000249359768706,-0.000287192334173,3.79169225501e-05,1793239196937125120
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.250098278,745,715,679.749901722,661,636,880,788,804.749901722,652,631,653,0.412067125932,-0.015363568632,0.0798255462366,0.999999928848,0.000250881747082,-0.000279072859074,3.8482584512e-05,1793239196953791744
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.839400304,745,715,679.160599696,661,636,880,788,804.160599696,652,631,653,0.411357562516,-0.0153624571312,0.0798118240154,0.999999920211,0.000248619663216,-0.00031048030761,3.69932234806e-05,1793239196970458624
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.421558307,636,879.578441693,788,804,651.578441693,631,653,0.410662100588,-0.0153600253587,0.0798027214272,0.999999914476,0.000248874369623,-0.000328343512981,3.60548176854e-05,1793239196987125248
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.94336546,744.05663454,715.05663454,679.05663454,661,636,879.05663454,788,803.94336546,652,632,653,0.406071723069,-0.0153554945378,0.0797787711287,0.999999897553,0.000263366179684,-0.000366507395495,3.4698453894e-05,1793239197120459264
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715.784077337,679.784077337,661.215922663,636,879.784077337,787.784077337,803.215922663,652,631.784077337,653,0.405243101248,-0.0153540109783,0.0798140301692,0.999999920727,0.000262580277537,-0.000297143045933,3.61147874681e-05,1793239197153791232
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715.196164269,679.196164269,661.803835731,636,879.196164269,787.196164269,803.803835731,652,631.196164269,653,0.404859383826,-0.0153537963508,0.0798276276106,0.999999925843,0.000262786247184,-0.000279071776057,3.70964159823e-05,1793239197170458112
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.613948644,661.613948644,636,879,787.386051356,803.613948644,652,631.386051356,653.386051356,0.404483210846,-0.0153506883831,0.0798329549193,0.999999924758,0.00026956364545,-0.00027634617221,3.81186022117e-05,1793239197187124736
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.034585904,661.034585904,636,879,787.965414096,803.034585904,652,631.965414096,653.965414096,0.404110815638,-0.0153461316041,0.0798341410423,0.99999992057,0.000279631621397,-0.000281304756693,3.91610974029e-05,1793239197203791360
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.540894152,661,636,879,788,803.540894152,651.459105848,632,653.459105848,0.403762852421,-0.0153401374583,0.0798370611055,0.999999919271,0.000282664840837,-0.000282969111596,3.85747170243e-05,1793239197220457984
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804,651.11847177,631.88152823,653.11847177,0.403431147547,-0.0153350237631,0.079840201221,0.999999918441,0.000285321719574,-0.000283298156643,3.81079722857e-05,1793239197237124864
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804,651.705316695,631.294683305,653.705316695,0.403157587044,-0.0153337516562,0.0798437761022,0.999999918743,0.000288256410366,-0.000279174931782,3.85230344158e-05,1793239197253791488
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.288350431,636,879,788,804,652,631.288350431,653.711649569,0.402895998047,-0.0153315646477,0.0798437525087,0.999999917679,0.000290671227358,-0.000280505794886,3.83113772104e-05,1793239197270458368
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.867540048,636,879,788,804,652,631.867540048,653.132459952,0.402646483898,-0.0153284548414,0.0798400993818,0.99999991522,0.000292561683335,-0.000287337820471,3.74675914247e-05,1793239197287124992
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.445384252,745,715,678.554615748,661.554615748,636,879,787.554615748,803.554615748,652,631.554615748,653,0.402428752351,-0.0153340351239,0.0798398405676,0.99999991586,0.000289022237327,-0.000288779711988,3.67879593695e-05,1793239197303791360
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.977226414,745,715,678.022773586,661,636,879,787.022773586,803.022773586,652,631.022773586,653.022773586,0.402221815403,-0.0153425033719,0.0798406015046,0.999999917608,0.000283286870109,-0.000288475502639,3.62567738283e-05,1793239197320457984
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.401195915,745,715,678.598804085,661,636,879,787.598804085,803.598804085,652,631.598804085,653.598804085,0.402048178611,-0.0153585334191,0.0798416856077,0.999999924112,0.000263317781716,-0.000284578956293,3.81494591124e-05,1793239197337124608
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.178534865,745,715,678.821465135,661,636,879,788.178534865,804,651.821465135,631.821465135,653.821465135,0.401888100118,-0.0153690147891,0.0798443010928,0.999999928953,0.000250724973288,-0.000278650452334,3.98038123857e-05,1793239197353791232
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.766756662,745,715,678.233243338,661,636,879,788.766756662,804,651.233243338,631.233243338,653.233243338,0.401759134107,-0.0153667635144,0.0798504306655,0.999999930708,0.000255058640506,-0.000268059182088,4.09112609845e-05,1793239197370457856
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.650399594,745,715,678.349600406,661.349600406,636,878.650399594,788.650399594,804,651,631,653,0.401641428913,-0.015362794117,0.0798561353206,0.999999931213,0.000261336903775,-0.000259949987998,4.12617074438e-05,1793239197387124736
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.071089514,745,715,678.928910486,661.928910486,636,878.071089514,788.071089514,804,651,631,653,0.401531122779,-0.0153576958038,0.0798615607783,0.999999930879,0.000268892890594,-0.000253471674546,4.11147555221e-05,1793239197403791616
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.494051203,636,878.505948797,787.494051203,804,651,631,653,0.401433414266,-0.0153602914769,0.0798592761975,0.999999932922,0.00025876346583,-0.000256811464968,3.52757930559e-05,1793239197420458240
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.91759836,661,636,879,787.08240164,804,651,631,653.08240164,0.401340561932,-0.0153629980205,0.0798558513534,0.999999934262,0.000249112119757,-0.000261790367156,2.97488699134e-05,1793239197437124608
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.342745084,661,636,879,787.657254916,804,651,631,653.657254916,0.401266200231,-0.0153599353552,0.0798520572423,0.999999930466,0.000257102024544,-0.000268357532303,3.08450089001e-05,1793239197453791232
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,636,879,787.761562067,804,651,631.238437933,653.761562067,0.401201656611,-0.0153579806177,0.0798493276255,0.99999992763,0.000262965561722,-0.000273082013107,3.18533195331e-05,1793239197470457856
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,636,879,787.171032206,804,651,631.828967794,653.171032206,0.401151610969,-0.015357661914,0.0798481699058,0.999999926333,0.000265689174934,-0.000275085473968,3.27319374243e-05,1793239197487124480
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.410484119,745,715,678,661,636,879,787.410484119,804,651,631.589515881,653,0.401111987819,-0.0153570765185,0.0798467578605,0.999999926131,0.000265226386738,-0.000276242662196,3.29192237894e-05,1793239197503791104
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.988325546,745,715,678,661,636,879,787.988325546,804,651,631.011674454,653,0.401076613995,-0.015356382391,0.079845242125,0.999999926375,0.00026346447985,-0.000277054818978,3.28246493297e-05,1793239197520457728
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.441645119,745,715,678,661,636,879.558354881,788,804,651.558354881,631,653,0.401053744572,-0.015354707949,0.0798456718931,0.999999925318,0.000268428882839,-0.000276022864202,3.34850370839e-05,1793239197537124608
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.866208293,715,678,661,636,879.866208293,788,803.866208293,651.866208293,631.133791707,653,0.401032562154,-0.0153538736751,0.0798454333875,0.999999924584,0.000271126965595,-0.000275994633489,3.39061107838e-05,1793239197553791232
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.271591476,715,678,661,636,879.271591476,788,803.271591476,651.271591476,631.728408524,653,0.401016302271,-0.0153560028577,0.0798427549399,0.999999925109,0.00026554133053,-0.000279554551661,3.3449283937e-05,1793239197570458112
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.314769786,744.314769786,715,678.314769786,661,636,879,788,803,651.314769786,632,653,0.401005731694,-0.0153559222757,0.0798421167619,0.999999925083,0.000264999471374,-0.000280182975993,3.32829243463e-05,1793239197587124736
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.894190051,744.894190051,715,678.894190051,661,636,879,788,803,651.894190051,632,653,0.400999944541,-0.0153539837798,0.0798431939907,0.999999924606,0.000268698290881,-0.00027834667481,3.33607822315e-05,1793239197603791360
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.470745051,636,879,788,803.470745051,652,632,653,0.400996355621,-0.015354531258,0.0798442511111,0.999999925174,0.000268573420551,-0.000276415257123,3.3384899052e-05,1793239197620457984
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.953311295,745,715,679,661.953311295,636,879,788,804,652,631.953311295,653,0.40099336667,-0.0153554848977,0.0798451823685,0.999999925871,0.000267745657084,-0.000274690967999,3.33919618191e-05,1793239197637124608
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.377040702,745,715,679,661.377040702,636,879,788,804,652,631.377040702,653,0.40099161249,-0.0153547458091,0.0798447369408,0.999999925396,0.000268634774948,-0.000275557137159,3.33417695666e-05,1793239197653791232
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.796429325,661.203570675,636,879,788,804,652,631,653,0.400990683462,-0.0153542667735,0.0798447310458,0.999999925156,0.00026928009085,-0.000275802886673,3.32958570257e-05,1793239197670458112
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.207603087,661.792396913,636,879,788,804,652,631,653,0.400991316023,-0.0153542798855,0.0798455569621,0.999999925364,0.000269464013806,-0.000274874497873,3.32580438015e-05,1793239197687125504
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.375203106,745,715,678.375203106,661.624796894,636,879,788,803.624796894,652,631,653,0.400990911787,-0.0153549112578,0.0798461654204,0.999999926103,0.000267900647188,-0.000273709350955,3.3252084113e-05,1793239197703792128
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.954730938,745,715,678.954730938,661.045269062,636,879,788,803.045269062,652,631,653,0.400989942941,-0.0153558793167,0.0798466554572,0.999999927127,0.00026538575735,-0.000272415272463,3.32634709368e-05,1793239197720458496
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.468259775,744.468259775,715,679,661,636,879,788,803.531740225,652,631.531740225,653,0.400989389802,-0.0153556628814,0.0798464330667,0.999999926527,0.000267012143025,-0.000273032332013,3.32361233611e-05,1793239197737124608
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.110167454,715,679,661,636,879,788,804,652,631.889832546,653,0.40098930389,-0.0153553086361,0.079846365279,0.999999926098,0.000268444461293,-0.00027320108427,3.32018323056e-05,1793239197753791232
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.695632663,715,679,661,636,879,788,804,652,631.304367337,653,0.400991081783,-0.0153547928424,0.0798472249349,0.999999927016,0.000267525612647,-0.000270737053335,3.3151744724e-05,1793239197770457856
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.721925107,661,636,879,788,804,652,631,653,0.400992099437,-0.0153547633521,0.0798480911384,0.999999927416,0.000267593289074,-0.000269193064807,3.31288338238e-05,1793239197787124480
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.142756025,661,636,879,788,804,652,631,653,0.400992293919,-0.015355260422,0.0798489644316,0.999999927258,0.00026872915591,-0.000268645280334,3.31353493098e-05,1793239197803791104
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.435087257,661.435087257,636,879,788,804,651.564912743,631.435087257,653,0.400993213054,-0.0153553587014,0.0798498050503,0.999999927599,0.000268878287838,-0.000267224915119,3.31355374546e-05,1793239197820457984
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.01242949,744.98757051,715,679,661.98757051,636,879,787.98757051,804,651.01242949,632,653,0.400994293591,-0.0153553429693,0.0798505932956,0.999999928082,0.000268698539671,-0.000265590689201,3.31345673579e-05,1793239197837125120
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.586728254,744.413271746,715,679,661.413271746,636,879,787.413271746,804,651.586728254,632,653,0.400991954816,-0.0153560702999,0.0798494971792,0.999999927777,0.000268242722844,-0.000267191795746,3.31748015833e-05,1793239197853791744
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.839437519,744.160562481,715,678.839437519,661,636,879,787.160562481,804,652,632,653,0.4009903602,-0.0153566078127,0.0798488845984,0.999999927605,0.000267629744691,-0.00026843719987,3.32443940296e-05,1793239197870458368
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.266795552,744.733204448,715,678.266795552,661,636,879,787.733204448,804,652,632,653,0.400990675446,-0.0153566581631,0.0798495129994,0.999999927783,0.000266613416053,-0.000268769702767,3.3389333594e-05,1793239197887124736
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.319329033,661,636,879,788,804,652,631.680670967,653,0.400990861329,-0.0153568603263,0.0798498672085,0.999999927999,0.000266258927023,-0.000268320101945,3.3341912134e-05,1793239197903791360
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.917214728,661,636,879,788,804,652,631.082785272,653,0.400990934365,-0.0153571949186,0.0798499822348,0.99999992825,0.00026648177306,-0.000267188257468,3.3126690563e-05,1793239197920457984
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.505797498,661.494202502,636,879,788,804,652,631.494202502,653,0.400990949968,-0.0153572142815,0.0798499436503,0.999999928229,0.000266793848859,-0.000266997099336,3.27830029811e-05,1793239197937124608
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.068040896,745,715,678.068040896,662,636,879,788,803.931959104,652,632,653.068040896,0.400990908428,-0.0153572937994,0.0798498582325,0.999999928272,0.000266697179856,-0.000266969479015,3.24847224764e-05,1793239197953791488
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.643439406,745,715,678.643439406,662,636,879,788,803.356560594,652,632,653.643439406,0.400990509628,-0.0153581996454,0.0798496076831,0.999999929111,0.000263445707107,-0.000267033976371,3.26789820793e-05,1793239197970458112
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.775758581,745,715,679,661.775758581,636,879,788,803.224241419,652,631.775758581,653.775758581,0.400990492843,-0.0153583339757,0.0798494662351,0.999999929223,0.000262849365329,-0.000267193709508,3.27408209057e-05,1793239197987124992
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.18615235,745,715,679,661.18615235,636,879,788,803.81384765,652,631.18615235,653.18615235,0.400991098489,-0.0153572112468,0.0798495025501,0.999999928156,0.000266579125821,-0.000267508613832,3.25869017098e-05,1793239198003792128
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.603558383,879,788,804,651.603558383,631.396441617,653,0.400991548173,-0.0153566755479,0.0798500419341,0.999999927715,0.000268960511633,-0.000266746055875,3.28065116741e-05,1793239198020458496
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.024199886,879,788,804,651.024199886,631.975800114,653,0.400991925896,-0.0153564107028,0.0798508134325,0.999999927563,0.000270719761506,-0.000265486360287,3.31984667936e-05,1793239198037124864
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.552544304,879,788,804,651.552544304,631.447455696,653,0.400991109713,-0.015356443623,0.0798503342679,0.999999927758,0.000269291349994,-0.000266246799853,3.28329562374e-05,1793239198053791488
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8adaf885dcbf9b02e037afa44dedb98eacc1afbb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+1,0.016666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+2,0.033333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+3,0.050000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
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+365,6.083333333,pose2_to_pose3_retreat,0.579217109639,-0.00990925928555,1.07003226549,0.54978756187,-0.00123751732347,1.06970040114
+366,6.100000000,pose2_to_pose3_retreat,0.578869382696,-0.00990922616115,1.07003209139,0.54943983371,-0.00123748805309,1.06970023455
+367,6.116666667,pose2_to_pose3_retreat,0.578535789009,-0.00990921224112,1.07003220517,0.54910623887,-0.00123747823583,1.06970034358
+368,6.133333333,pose2_to_pose3_retreat,0.578222608868,-0.00990923526217,1.0700322842,0.54879306005,-0.00123749702657,1.06970041579
+369,6.150000000,pose2_to_pose3_retreat,0.577930538886,-0.00990916759732,1.07003220039,0.548500990187,-0.00123742881284,1.0697003356
+370,6.166666667,pose2_to_pose3_retreat,0.577661246442,-0.00990913373599,1.07003223243,0.548231696322,-0.00123739974616,1.06970036843
+371,6.183333333,pose2_to_pose3_retreat,0.577416189361,-0.00990924997692,1.07003236361,0.547986640626,-0.00123751170485,1.06970048862
+372,6.200000000,pose2_to_pose3_retreat,0.57719406605,-0.00990918156794,1.07003237011,0.54776451621,-0.00123744721477,1.06970049078
+373,6.216666667,pose2_to_pose3_retreat,0.576990262061,-0.00990920163277,1.07003221344,0.547560712515,-0.00123746580331,1.06970034656
+374,6.233333333,pose2_to_pose3_retreat,0.576805484899,-0.00990917916365,1.07003222337,0.547375934872,-0.00123744505565,1.06970035431
+375,6.250000000,pose2_to_pose3_retreat,0.576642869308,-0.00990910739409,1.07003255209,0.547213320824,-0.00123736839313,1.06970067405
+376,6.266666667,pose2_to_pose3_retreat,0.576498772831,-0.00990924281652,1.07003239853,0.54706922586,-0.0012374982303,1.06970053238
+377,6.283333333,pose2_to_pose3_retreat,0.576372429818,-0.00990931326783,1.0700323067,0.546942883006,-0.00123756793266,1.06970044603
+378,6.300000000,pose2_to_pose3_retreat,0.576260140707,-0.00990930582779,1.07003236616,0.546830592695,-0.00123756472239,1.06970050129
+379,6.316666667,pose2_to_pose3_retreat,0.576160352928,-0.00990926161863,1.07003242234,0.546730803685,-0.00123752489123,1.06970055283
+380,6.333333333,pose2_to_pose3_retreat,0.576070640449,-0.00990920314351,1.07003230807,0.546641092036,-0.00123746345288,1.06970044371
+381,6.350000000,pose2_to_pose3_retreat,0.57599062222,-0.00990936657748,1.07003217535,0.546561076516,-0.00123761733259,1.06970031936
+382,6.366666667,pose2_to_pose3_retreat,0.57592207116,-0.00990942530858,1.0700323289,0.546492524956,-0.00123767827064,1.06970045941
+383,6.383333333,pose2_to_pose3_retreat,0.575864059437,-0.00990921391277,1.07003223848,0.54643451089,-0.00123747484658,1.06970036842
+384,6.400000000,pose2_to_pose3_retreat,0.575816618649,-0.00990911273195,1.07003218471,0.546387069314,-0.0012373760241,1.06970032282
+385,6.416666667,pose2_to_pose3_retreat,0.575778655082,-0.00990920944505,1.07003233436,0.546349106785,-0.00123746925874,1.06970047139
+386,6.433333333,pose2_to_pose3_retreat,0.57574864669,-0.00990925271092,1.07003239848,0.546319098403,-0.00123751261897,1.06970053207
+387,6.450000000,pose2_to_pose3_retreat,0.575724820088,-0.00990919905314,1.07003229998,0.546295271099,-0.00123746136947,1.06970043302
+388,6.466666667,pose2_to_pose3_retreat,0.575706280937,-0.00990919693162,1.0700321932,0.546276732701,-0.00123745669695,1.06970032611
+389,6.483333333,pose2_to_pose3_retreat,0.575693099766,-0.00990926517379,1.07003210727,0.546263551612,-0.00123752471503,1.06970023887
+390,6.500000000,pose2_to_pose3_retreat,0.575683533043,-0.0099092264764,1.07003228343,0.546253984478,-0.00123748753482,1.0697004118
+391,6.516666667,pose2_to_pose3_retreat,0.575677053831,-0.00990925104439,1.0700324041,0.54624750592,-0.00123750989365,1.06970053231
+392,6.533333333,pose2_to_pose3_retreat,0.575672982351,-0.00990931199976,1.07003245675,0.546243435569,-0.00123756695886,1.06970058656
+393,6.550000000,pose2_to_pose3_retreat,0.575670669724,-0.00990928939085,1.07003235961,0.546241122362,-0.0012375462526,1.06970049104
+394,6.566666667,pose2_to_pose3_retreat,0.575669368927,-0.00990926749678,1.0700322846,0.546239821042,-0.00123752608812,1.06970041706
+395,6.583333333,pose2_to_pose3_retreat,0.575668548238,-0.00990925368355,1.07003223727,0.546239000024,-0.00123751336612,1.06970037038
+396,6.600000000,pose2_to_pose3_retreat,0.575668038547,-0.00990924398917,1.07003221421,0.54623849013,-0.0012375043485,1.06970034755
+397,6.616666667,pose2_to_pose3_retreat,0.575667740512,-0.00990923257023,1.07003223335,0.546238191989,-0.00123749332046,1.06970036596
+398,6.633333333,pose2_to_pose3_retreat,0.575667555529,-0.00990922548276,1.07003224522,0.546238006939,-0.0012374864756,1.06970037738
+399,6.650000000,pose2_to_pose3_retreat,0.57566752412,-0.00990922427936,1.07003224724,0.546237975519,-0.0012374853134,1.06970037932
+400,6.666666667,pose2_to_pose3_retreat,0.575667364871,-0.00990921817788,1.07003225747,0.546237816213,-0.00123747942078,1.06970038915
+401,6.683333333,pose2_to_pose3_retreat,0.575667049634,-0.00990920609986,1.07003227771,0.546237500863,-0.00123746775621,1.06970040862
+402,6.700000000,pose2_to_pose3_retreat,0.575666536983,-0.00990918645811,1.07003231062,0.546236988029,-0.00123744878684,1.06970044027
+403,6.716666667,pose2_to_pose3_retreat,0.575665867926,-0.0099091608238,1.07003235358,0.546236318732,-0.00123742403004,1.06970048158
+404,6.733333333,pose2_to_pose3_retreat,0.575665754104,-0.00990915883904,1.07003235569,0.546236204973,-0.00123742182388,1.06970048386
+405,6.750000000,pose2_to_pose3_retreat,0.575665530788,-0.00990915753875,1.07003235416,0.546235981896,-0.00123741968459,1.06970048312
+406,6.766666667,pose2_to_pose3_retreat,0.575665322979,-0.00990915632875,1.07003235273,0.546235774308,-0.00123741769384,1.06970048243
+407,6.783333333,pose2_to_pose3_retreat,0.575665021021,-0.00990915457056,1.07003235066,0.546235472672,-0.00123741480118,1.06970048143
+408,6.800000000,pose2_to_pose3_retreat,0.575664609259,-0.00990917586619,1.07003231773,0.546235061331,-0.00123743458377,1.06970045075
+409,6.816666667,pose2_to_pose3_retreat,0.575664504663,-0.00990920484676,1.07003227942,0.546234956822,-0.00123746321379,1.06970041379
+410,6.833333333,pose2_to_pose3_retreat,0.575664447597,-0.00990922065807,1.07003225852,0.546234899804,-0.00123747883384,1.06970039363
+411,6.850000000,pose2_to_pose3_retreat,0.575664430336,-0.00990922544039,1.07003225219,0.546234882558,-0.00123748355831,1.06970038753
+412,6.866666667,pose2_to_pose3_retreat,0.57566439198,-0.0099092360678,1.07003223815,0.546234844234,-0.00123749405717,1.06970037398
+413,6.883333333,pose2_to_pose3_retreat,0.575664374896,-0.00990924080126,1.07003223189,0.546234827164,-0.00123749873338,1.06970036794
+414,6.900000000,pose2_to_pose3_retreat,0.575664312627,-0.00990925805395,1.07003220908,0.546234764948,-0.00123751577737,1.06970034594
+415,6.916666667,pose2_to_pose3_retreat,0.575664315161,-0.00990921136464,1.07003220697,0.546234766422,-0.00123747280864,1.06970034061
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+417,6.950000000,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385426,1.06970035116
+418,6.966666667,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385426,1.06970035116
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..551dbb3c315f219065fa35bb2a063779dd4db487
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f20dade39db124afcbe684a2cc8f574eee615e0f302e38bd2b581b204a9d483
+size 26155956
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5de5fc9e83a9ab9a604c2af9c01f03eae8f34bfc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
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+27,0.450000000,BASELINE,766,746,714,679.651951739,666,636,879,787,803,653,631.651951739,653,0.400929442102,0.00441543932468,0.0599415118753,0.999999972853,-0.000119442939336,-0.000196824238256,-3.58725387457e-05,1793239200354899200
+28,0.466666667,BASELINE,765.766294926,746,714,679.766294926,666,635.766294926,879,787,803,653,632,653,0.400929344088,0.00441554558173,0.0599417144502,0.999999972964,-0.000118847820374,-0.000196620584046,-3.58917972187e-05,1793239200371565824
+29,0.483333333,BASELINE,765.173123422,746,714,679.173123422,666,635.173123422,879,787,803,653,632,653,0.400926907364,0.00441659954091,0.0599403390619,0.999999972732,-0.000116586194413,-0.000199193484809,-3.55721727974e-05,1793239200388232448
+30,0.500000000,BASELINE,765,746,714,679,666,635.407926251,879,787.407926251,803,653,631.592073749,653,0.400927294854,0.00441551783633,0.0599403538561,0.999999972511,-0.00011818243217,-0.000199400306307,-3.53751584258e-05,1793239200404898816
+31,0.516666667,BASELINE,765,746,714,679,666,635.98397988,879,787.98397988,803,653,631.01602012,653,0.400928846347,0.00441355591491,0.0599409416161,0.999999972287,-0.000121368693931,-0.000198631944848,-3.5228677966e-05,1793239200421565440
+32,0.533333333,BASELINE,765.556647509,746,714,679.556647509,666,636,879,787.443352491,802.443352491,653,631,653,0.400929034563,0.00441609956741,0.0599408330318,0.999999973067,-0.000115621744143,-0.000198092008851,-3.54567395314e-05,1793239200438232320
+33,0.550000000,BASELINE,765.866156691,745.866156691,714,680,666,636,879,787.133843309,802.133843309,653,631.133843309,653,0.400928925204,0.00441779754273,0.0599407668409,0.999999973481,-0.000112292005586,-0.000197886592633,-3.56325773768e-05,1793239200454898944
+34,0.566666667,BASELINE,765.273092376,745.273092376,714,680,666,636,879,787.726907624,802.726907624,653,631.726907624,653,0.400927928654,0.00441615176154,0.0599409144473,0.999999972627,-0.000118132570844,-0.000198806506165,-3.55924736335e-05,1793239200471565824
+35,0.583333333,BASELINE,765,745.312335883,714,679.687664117,666.312335883,636,879.312335883,787.687664117,803.312335883,652.687664117,631.687664117,653,0.400927765713,0.00441539495206,0.0599405856819,0.999999972229,-0.000120896382368,-0.000199147480957,-3.5576900127e-05,1793239200488232704
+36,0.600000000,BASELINE,765,745.891246921,714,679.108753079,666.891246921,636,879.891246921,787.108753079,803.891246921,652.108753079,631.108753079,653,0.400928314245,0.00441539686974,0.0599398503384,0.999999972243,-0.000121034219924,-0.000198994338168,-3.55822628976e-05,1793239200504899328
+37,0.616666667,BASELINE,765.466957634,745.533042366,714,679.466957634,666.533042366,636,879.533042366,787,803.533042366,652.466957634,631.466957634,653,0.400927383243,0.00441589082542,0.0599391834738,0.999999972167,-0.000120171426456,-0.000199924794319,-3.54206116406e-05,1793239200521565952
+38,0.633333333,BASELINE,765.958203024,745.041796976,714,679.958203024,666.041796976,636,879,787,803,653,631.958203024,653,0.400926272668,0.00441642439618,0.059938666458,0.999999972106,-0.000119119623805,-0.000200885807238,-3.52502155364e-05,1793239200538232576
+39,0.650000000,BASELINE,765.385029892,745.614970108,714,679.385029892,666.614970108,636,879,787,803,653,631.385029892,653,0.400927230043,0.00441601465411,0.0599398531332,0.999999972527,-0.000118607480297,-0.000199048726981,-3.5459786636e-05,1793239200554898944
+40,0.666666667,BASELINE,765,746,714.195772372,679.195772372,667,636,879,787,803,653,631.195772372,653,0.400928045351,0.00441587646389,0.0599404709776,0.999999972798,-0.000118207177343,-0.000197899924926,-3.55833382198e-05,1793239200571565824
+41,0.683333333,BASELINE,765,746,714.792187404,679.792187404,667,636,879,787,803,653,631.792187404,653,0.400928569927,0.0044162939969,0.0599399247257,0.999999972769,-0.000118035752976,-0.000198159664997,-3.55308532681e-05,1793239200588232448
+42,0.700000000,BASELINE,765,745.625801019,714.625801019,679.625801019,666.625801019,636,879.374198981,787,802.625801019,653,632,653,0.400929078619,0.00441702793347,0.0599399401623,0.999999972808,-0.000117692982501,-0.000198145714878,-3.56380740296e-05,1793239200604899328
+43,0.716666667,BASELINE,765,745.051491984,714.051491984,679.051491984,666.051491984,636,879.948508016,787,802.051491984,653,632,653,0.400929578819,0.00441793107287,0.0599402559727,0.999999972884,-0.000117258581426,-0.000197985403692,-3.58307004739e-05,1793239200621566208
+44,0.733333333,BASELINE,765.526107027,745.526107027,714,679,666,635.473892973,879.473892973,787,802.526107027,653,631.473892973,653,0.400928640407,0.00441676410693,0.0599394762234,0.999999972401,-0.000118269712849,-0.000199868538255,-3.55481985234e-05,1793239200638232832
+45,0.750000000,BASELINE,765.89414496,745.89414496,714,679,666.10585504,635,879,787,803,653,631.10585504,652.89414496,0.40092798701,0.00441575519121,0.0599389861622,0.999999972047,-0.000119189729545,-0.000201124043297,-3.53456333159e-05,1793239200654899456
+46,0.766666667,BASELINE,765.306083741,745.306083741,714,679,666.693916259,635,879,787,803,653,631.693916259,652.306083741,0.400929277388,0.00441639500924,0.0599403072565,0.999999972554,-0.000119046143615,-0.000198603679782,-3.57203756607e-05,1793239200671565824
+47,0.783333333,BASELINE,765.278779464,745.278779464,714,679,666.721220536,635.278779464,879,787,803,652.721220536,632,652.278779464,0.400929557779,0.00441695245029,0.0599405916665,0.999999972854,-0.000118209076291,-0.000197543705139,-3.5989117726e-05,1793239200688232448
+48,0.800000000,BASELINE,765.860171329,745.860171329,714,679,666.139828671,635.860171329,879,787,803,652.139828671,632,652.860171329,0.40092874184,0.00441742047203,0.0599397507659,0.999999972931,-0.000116619241627,-0.000198068968128,-3.61427975639e-05,1793239200704898816
+49,0.816666667,BASELINE,766,746,714,679,666,636,879,787,803,652.436451279,631.563548721,653,0.400927798052,0.00441716761081,0.0599391150102,0.999999972756,-0.000115624003297,-0.00019957395624,-3.58954437402e-05,1793239200721565696
+50,0.833333333,BASELINE,766,746,714,679.01107016,666,636,879,787,803,653,631.01107016,653,0.400926837835,0.00441668846953,0.0599385591194,0.999999972503,-0.000114856385423,-0.000201344227888,-3.55274756639e-05,1793239200738232576
+51,0.850000000,BASELINE,766,746,714,679.583545994,666,636,879,787,803,653,631.583545994,653,0.400927097615,0.00441631075704,0.0599387589676,0.999999972466,-0.000116083383647,-0.00020083425338,-3.54830599012e-05,1793239200754899456
+52,0.866666667,BASELINE,766,745.838377268,714.161622732,679.838377268,666.161622732,636,879.161622732,787,803,653,631.838377268,653,0.400927247682,0.00441586175021,0.0599389921581,0.999999972346,-0.000117627197637,-0.000200536313094,-3.54613149957e-05,1793239200771566080
+53,0.883333333,BASELINE,766,745.245350615,714.754649385,679.245350615,666.754649385,636,879.754649385,787,803,653,631.245350615,653,0.400927104905,0.00441522244435,0.0599393143462,0.999999972007,-0.000120016657234,-0.000200804335273,-3.55000832192e-05,1793239200788232704
+54,0.900000000,BASELINE,766,745,714.660496426,679.339503574,666.660496426,636,879.660496426,787.339503574,803,653,631.339503574,653,0.400926567367,0.00441574949416,0.0599390780755,0.999999971972,-0.000119899343253,-0.00020101978568,-3.56412053336e-05,1793239200804899328
+55,0.916666667,BASELINE,766,745,714.081409468,679.918590532,666.081409468,636,879.081409468,787.918590532,803,653,631.918590532,653,0.400925751249,0.00441709962645,0.0599384477073,0.999999972153,-0.000118013030722,-0.00020119813684,-3.58545572941e-05,1793239200821565696
+56,0.933333333,BASELINE,766,745.495259574,714,679.504740426,666,635.504740426,879,787.504740426,803,653,631.504740426,653,0.400927239151,0.00441734577297,0.0599389913858,0.99999997254,-0.00011698233443,-0.000199888927954,-3.57688294048e-05,1793239200838232320
+57,0.950000000,BASELINE,765.927174785,746,714,679,666,635.072825215,879,787,803,653,631.072825215,653,0.400928711097,0.00441749460424,0.0599395352151,0.999999972891,-0.00011598400496,-0.000198734183019,-3.56495389757e-05,1793239200854898944
+58,0.966666667,BASELINE,765.340492187,746,714,679,666,635.659507813,879,787,803,653,631.659507813,653,0.400927411126,0.0044182310154,0.0599387250014,0.999999972764,-0.00011422648998,-0.000200386310354,-3.5638633371e-05,1793239200871565824
+59,0.983333333,BASELINE,765.242916328,746,714,679.242916328,666.242916328,635.757083672,879,787,803,653,631.757083672,653,0.400926978643,0.00441809901402,0.0599383179649,0.999999972623,-0.000114243988497,-0.000201081931801,-3.56177586801e-05,1793239200888232704
+60,1.000000000,BASELINE,765.821796722,746,714,679.821796722,666.821796722,635.178203278,879,787,803,653,631.178203278,653,0.400927745934,0.00441676595963,0.0599384685402,0.999999972465,-0.00011671640924,-0.000200454663371,-3.55830962992e-05,1793239200904900352
+61,1.016666667,BASELINE,765.600581906,745.600581906,714.399418094,680,667,635.399418094,879.399418094,787,803,653,631.399418094,653,0.400929414949,0.00441652693264,0.0599392849344,0.99999997267,-0.000118078991588,-0.000198630227911,-3.55410741033e-05,1793239200921566976
+62,1.033333333,BASELINE,765.023520527,745.023520527,714.976479473,680,667,635.976479473,879.976479473,787,803,653,631.976479473,653,0.400931485011,0.00441677448014,0.0599403974548,0.999999973034,-0.000118947967354,-0.000196273346189,-3.54957785931e-05,1793239200938233600
+63,1.050000000,BASELINE,765,745.550566127,714.449433873,679.449433873,667,636,879.449433873,787,803.550566127,653,631.449433873,653,0.400928247528,0.00441643008454,0.0599388662299,0.99999997253,-0.000117705235533,-0.000199533576313,-3.56562787421e-05,1793239200954900224
+64,1.066666667,BASELINE,765,746,714.128468477,679.128468477,666.871531523,636,879.128468477,787,803.871531523,653,631,653,0.400925780614,0.00441639877194,0.0599377925741,0.999999972154,-0.000116766632268,-0.000201933323327,-3.57895585111e-05,1793239200971566592
+65,1.083333333,BASELINE,765,746,714.720598395,679.720598395,666.279401605,636,879.720598395,787,803.279401605,653,631,653,0.400926908739,0.00441758819972,0.0599387757871,0.999999972412,-0.000117249517096,-0.000200366041535,-3.57930358861e-05,1793239200988232704
+66,1.100000000,BASELINE,765,746,714.694007632,679.694007632,666,636,880,787,803,653,631.305992368,653,0.400926978564,0.00441922688452,0.0599389852461,0.999999972696,-0.000115049105273,-0.000200209555773,-3.58922467699e-05,1793239201004899072
+67,1.116666667,BASELINE,765,746,714.1146318,679.1146318,666,636,880,787,803,653,631.8853682,653,0.40092610287,0.00442126694998,0.0599385034084,0.999999972986,-0.000110451349543,-0.000201313520823,-3.60769890616e-05,1793239201021565952
+68,1.133333333,BASELINE,765,745.539822982,714,679,666,636,879.539822982,787,803,653,631.539822982,653,0.400927244338,0.00441949830087,0.0599392370778,0.999999973085,-0.000112113929849,-0.000199989035091,-3.55545775187e-05,1793239201038232576
+69,1.150000000,BASELINE,765,745,714,679.033804361,666,636,879,787,803,653,631,653,0.400928694756,0.00441698063632,0.0599401296959,0.999999973106,-0.000115114478403,-0.000198282889668,-3.49338769175e-05,1793239201054899456
+70,1.166666667,BASELINE,765,745,714,679.606554222,666,636,879,787,803,653,631,653,0.400927138381,0.00441749895148,0.0599387765198,0.999999972768,-0.000114827882765,-0.000200041682856,-3.55269956213e-05,1793239201071566336
+71,1.183333333,BASELINE,765,745.186621251,714,679.813378749,666,635.813378749,879,787,803,653,631,653,0.400926717989,0.00441759671745,0.0599383501699,0.99999997266,-0.000115079137043,-0.000200382513365,-3.58296310881e-05,1793239201088232960
+72,1.200000000,BASELINE,765,745.78274441,714,679.21725559,666,635.21725559,879,787,803,653,631,653,0.400928790276,0.00441677167493,0.0599399575491,0.999999973057,-0.000116510592149,-0.000197611917094,-3.54948610198e-05,1793239201104899328
+73,1.216666667,BASELINE,765.365649423,745.634350577,714.365649423,679.365649423,666.365649423,635.365649423,879,787,803,653,631.365649423,653,0.400928955819,0.00441665394074,0.0599398729576,0.999999972969,-0.000117083245897,-0.000197769813365,-3.52346552906e-05,1793239201121565952
+74,1.233333333,BASELINE,765.940974665,745.059025335,714.940974665,679.940974665,666.940974665,635.940974665,879,787,803,653,631.940974665,653,0.40092802797,0.00441694180125,0.0599388181325,0.999999972602,-0.00011716343364,-0.000199607007071,-3.50172073104e-05,1793239201138232576
+75,1.250000000,BASELINE,765.483271143,745.516728857,715,680,667,636,879,787,803.516728857,653,631.483271143,653,0.400927274443,0.0044192037514,0.059939009056,0.999999972761,-0.000115216583941,-0.000199830289472,-3.56426276858e-05,1793239201154899200
+76,1.266666667,BASELINE,765.094894799,745.905105201,714.905105201,680,666.905105201,635.905105201,879,787,803.905105201,653,631.094894799,652.905105201,0.400926540606,0.00442077981355,0.0599391238531,0.999999972818,-0.000114051025498,-0.000200121684047,-3.6173514698e-05,1793239201171565824
+77,1.283333333,BASELINE,765.685400557,745.314599443,714.314599443,680,666.314599443,635.314599443,879,787,803.314599443,653,631.685400557,652.314599443,0.400925805521,0.00441759496435,0.0599380972465,0.999999972032,-0.00011817625915,-0.000201732450292,-3.57074158259e-05,1793239201188232704
+78,1.300000000,BASELINE,766,745.268551145,714.268551145,679.731448855,666,635.268551145,879,787.268551145,803.268551145,653,631.731448855,652.268551145,0.400925839911,0.00441627634595,0.0599378230312,0.999999971848,-0.000119239161454,-0.000202069658025,-3.54211354173e-05,1793239201204899328
+79,1.316666667,BASELINE,766,745.843315033,714.843315033,679.156684967,666,635.843315033,879,787.843315033,803.843315033,653,631.156684967,652.843315033,0.400926751689,0.00441708567865,0.0599384067227,0.999999972362,-0.000116810270942,-0.00020095470336,-3.53398912365e-05,1793239201221566208
+80,1.333333333,BASELINE,765.579532237,745.579532237,714.579532237,679,666,636,879,787.579532237,803.579532237,653,631,653,0.400927694909,0.00441631015682,0.0599389820763,0.999999972425,-0.000118351585801,-0.000199734068845,-3.5341949808e-05,1793239201238232832
+81,1.350000000,BASELINE,765.001484185,745.001484185,714.001484185,679,666,636,879,787.001484185,803.001484185,653,631,653,0.400928649912,0.00441494067314,0.0599395543053,0.999999972312,-0.000121380829296,-0.000198473828203,-3.53752280591e-05,1793239201254899456
+82,1.366666667,BASELINE,765,745,714,679,666,635.427809738,879,787,803,652.427809738,631,653,0.400929031366,0.00441696017625,0.0599399258243,0.999999972893,-0.000117245927556,-0.000198030590169,-3.53802652188e-05,1793239201271566080
+83,1.383333333,BASELINE,765,745.151228975,714,679,666.151228975,635.151228975,879,787,802.848771025,652.151228975,631,653,0.400928978254,0.00441828495676,0.0599399722802,0.999999973176,-0.00011463008394,-0.000198123733776,-3.54179915307e-05,1793239201288232704
+84,1.400000000,BASELINE,765,745.746035041,714,679,666.746035041,635.746035041,879,787,802.253964959,652.746035041,631,653,0.400927654825,0.0044175464245,0.059939066793,0.999999972622,-0.00011652395563,-0.000199783995705,-3.5551813227e-05,1793239201304899328
+85,1.416666667,BASELINE,765,746,714,679,666.668534004,636,879,787,802.331465996,653,631,653,0.400926678853,0.00441732244696,0.0599385488108,0.999999972357,-0.000116923036438,-0.000200887254872,-3.54925365738e-05,1793239201321565952
+86,1.433333333,BASELINE,765,746,714,679,666.090088596,636,879,787,802.909911404,653,631,653,0.400925961777,0.00441748187056,0.0599383195635,0.999999972309,-0.000116208329962,-0.000201575484292,-3.52893799442e-05,1793239201338232832
+87,1.450000000,BASELINE,765.483923218,745.516076782,714,679,666,636,879.483923218,787,803,653,631.483923218,653,0.400927063202,0.00441765765187,0.0599386378164,0.999999972373,-0.000117202636811,-0.000200672497169,-3.53267758222e-05,1793239201354899456
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+146,2.433333333,POSE1_TO_POSE2_PRESS,765.369936248,746,715,679.369936248,667,636,879,787,803,652.630063752,631,653,0.408609223953,0.00443293676107,0.0600166801653,0.999999992706,-0.000104224561488,2.73097358123e-05,-5.45814433972e-05,1793239202364334592
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.206948606,746,714.793051394,679,667,636,879.206948606,787,803.413897213,652.793051394,631.206948606,653,0.409170257466,0.00443264573957,0.0600041866347,0.999999992734,-0.000107669422231,-1.91523127878e-06,-5.41873636933e-05,1793239202381001728
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.781766736,746,714.218233264,679,667,636,879.781766736,787,804.563533472,652.218233264,631.781766736,653,0.409775307877,0.00443294253554,0.059994054912,0.999999992057,-0.000111839381978,-1.87714621177e-05,-5.50120219629e-05,1793239202397668608
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.634408435,745.634408435,714,679,667,636,880,787,804.634408435,652.365591565,631.634408435,653,0.410412016798,0.0044351977556,0.0599980352108,0.999999992216,-0.00011110021593,-5.99720044523e-06,-5.64751190807e-05,1793239202414335232
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.045071443,745.045071443,714,679,667,636,880,787,804.045071443,652.954928557,631.045071443,653,0.411068100998,0.00443865154935,0.0600106521979,0.999999992226,-0.000107356619167,2.49111979095e-05,-5.83289466235e-05,1793239202431001600
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.535190928,679,667,635.464809072,879.464809072,787,803.464809072,652.464809072,631,653,0.41173579027,0.00443815327651,0.0600086885917,0.999999992286,-0.00010649400951,2.48471034715e-05,-5.89113838548e-05,1793239202447667968
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,679,666.886080617,635.113919383,879,787,803,652.113919383,631.113919383,653,0.412401327276,0.00443776464731,0.0599999656584,0.999999992765,-0.000104300672511,1.01371964052e-05,-5.90664905483e-05,1793239202464334848
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,679,666.310522983,635.689477017,879,787,803,652.689477017,631.689477017,653,0.413054248003,0.00443914656044,0.0599687446835,0.999999992306,-9.57479982785e-05,-5.35285696549e-05,-5.79165670635e-05,1793239202481001216
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.270217467,714.729782533,679,666,636,879,787,803,652.729782533,631.729782533,653,0.413736973005,0.00444041032585,0.0599449669067,0.999999989266,-9.02128509502e-05,-0.000100083562809,-5.75524497473e-05,1793239202497667584
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.857030345,714.142969655,679,666,636,879,787,803,652.142969655,631.142969655,653,0.414454617731,0.0044415356658,0.0599299098145,0.999999986408,-8.82131336782e-05,-0.000126591036584,-5.81090080635e-05,1793239202514333952
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.436780991,746,714,679.436780991,666.436780991,636,879.436780991,787,803.436780991,652.436780991,631,653,0.415267440813,0.00444104711008,0.0599669225283,0.999999992552,-8.90441843504e-05,-5.95976416418e-05,-5.84341745426e-05,1793239202531000576
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.985680582,745.985680582,714.014319418,680,666.985680582,636,880,787,804,653,631,653,0.416109701763,0.00444008042449,0.0600197839623,0.999999993528,-9.07127193626e-05,3.56923053204e-05,-5.86591916148e-05,1793239202547667200
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.40566571,745.40566571,714.59433429,680,666.40566571,636,880,787,804,653,631,653,0.416903738776,0.00444076246299,0.0600361474459,0.999999992584,-8.94438389005e-05,5.9014908138e-05,-5.78723323859e-05,1793239202564333824
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.172852703,745.172852703,714.827147297,679.827147297,666.172852703,636,880,787,804,652.827147297,631,653,0.417697450339,0.00444162233088,0.0600415746618,0.999999992209,-8.80558026379e-05,6.70458881636e-05,-5.77299550106e-05,1793239202581000704
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.747889208,745.747889208,714.252110792,679.252110792,666.747889208,636,880,787,804,652.252110792,631,653,0.418490404615,0.004442895962,0.0600215559937,0.999999993743,-8.63905215881e-05,3.94971917134e-05,-5.90871213072e-05,1793239202597667840
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,714.330566875,679,666.669433125,636,880,787,804,652,631,653,0.419289047892,0.00444318608106,0.0599999281141,0.999999994351,-8.75699395904e-05,2.96242273365e-06,-6.01657072933e-05,1793239202614334464
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,714.919210035,679,666.080789965,636,880,787,804,652,631,653,0.420092132581,0.00444270836411,0.059977043911,0.999999993176,-9.09702375732e-05,-4.05878458408e-05,-6.10268032074e-05,1793239202631000576
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,787,803.499805268,652,631.500194732,653,0.420885793127,0.00444483800861,0.0599457291998,0.999999990143,-8.84001143744e-05,-8.97345030408e-05,-6.20323430603e-05,1793239202647666944
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,714.920748996,679.079251004,666.079251004,635.920748996,880,787,803.079251004,652,632,653,0.421683222257,0.00444688580092,0.0599169108085,0.999999985324,-8.55401282607e-05,-0.000134479033256,-6.28491982183e-05,1793239202664333568
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,714.346131569,679.653868431,666.653868431,635.346131569,880,787,803.653868431,652,632,653,0.422513577888,0.00444582932644,0.0599120788415,0.99999998361,-8.68050394658e-05,-0.000146142811146,-6.23430325066e-05,1793239202681000448
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.770752211,746,714.229247789,680,667,635.229247789,880,787,804.229247789,652.229247789,632,653,0.423390445813,0.00444420500548,0.0599354453622,0.999999988257,-8.86838343736e-05,-0.000108471626048,-6.20814796662e-05,1793239202697667328
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.194218525,746,714.805781475,680,667,635.805781475,880,787,804.805781475,652.805781475,632,653,0.424337775017,0.00444172045761,0.0600015295775,0.999999993873,-9.149259691e-05,3.93675462891e-06,-6.21904885675e-05,1793239202714333952
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,746,715,680,667,636,880,787,804.607846254,652.607846254,631.607846254,653,0.425239198767,0.0044414010456,0.06003772905,0.999999991971,-9.1618874795e-05,6.17522890251e-05,-6.20463448453e-05,1793239202731000320
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,746,715,680,667,636,880,787,804.016475956,652.016475956,631.016475956,653,0.426117302202,0.00444218153628,0.0600587468824,0.999999989791,-9.03824338802e-05,9.18343099006e-05,-6.1773598223e-05,1793239202747666944
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,746,714.438982145,680,667,635.438982145,880,787,804,652,631,653,0.426973486984,0.00444095436148,0.0600411360157,0.999999990592,-9.16780754861e-05,8.02080957017e-05,-6.306253817e-05,1793239202764333824
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,746,714,679.862351242,667,635,880,787,804.137648758,652.137648758,631.137648758,653,0.427819303009,0.0044398930918,0.0600215839618,0.999999991685,-9.34162038734e-05,6.14221833422e-05,-6.42649136958e-05,1793239202781000448
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,746,714,679.287199026,667,635,880,787,804.712800974,652.712800974,631.712800974,653,0.428634159453,0.00443954201453,0.0599993807266,0.999999992964,-9.6330086237e-05,2.3679065963e-05,-6.5049897977e-05,1793239202797667328
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.293396232,745.706603768,714,679,667,635.293396232,880.293396232,787,804.706603768,652.706603768,632,653,0.429433612789,0.00443992360924,0.0599723519641,0.999999993006,-9.56343074699e-05,-2.36643037086e-05,-6.54353951526e-05,1793239202814333952
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.879420241,745.120579759,714,679,667,635.879420241,880.879420241,787,804.120579759,652.120579759,632,653,0.430217703312,0.00444103595695,0.0599405103143,0.999999990442,-9.13383215659e-05,-8.05827787202e-05,-6.54224514087e-05,1793239202831000320
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.460269002,714,679.460269002,667,636,881,787.460269002,804,652,632,653,0.431065648427,0.00443879529011,0.0599460085185,0.999999991304,-9.40817977894e-05,-6.46640474994e-05,-6.60240555025e-05,1793239202847667200
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667.039710034,636,881,788,804,652.039710034,632,653,0.43193020663,0.00443571253875,0.0599633219773,0.99999999254,-9.85939687207e-05,-2.74252782989e-05,-6.66913255183e-05,1793239202864333824
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667.618241234,636,881,788,804,652.618241234,632,653,0.432795722929,0.00443299018295,0.0600096979545,0.99999999165,-0.000102360183758,4.30647608931e-05,-6.60893448999e-05,1793239202881000448
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746.195311418,714,680,667.804688582,636,881,787.804688582,804,652.804688582,632,653,0.433625180594,0.00443115684362,0.0600348716916,0.999999989266,-0.00010442797102,7.91082490708e-05,-6.56161416523e-05,1793239202897667072
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746.76954718,714,680,667.23045282,636,881,787.23045282,804,652.23045282,632,653,0.434384680936,0.00443104828769,0.0600189108993,0.999999991369,-0.000103200634215,4.8321879555e-05,-6.53927802004e-05,1793239202914333696
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746.647260871,714,680,667,636,881,787,804,652.352739129,632,653,0.435139736417,0.00442916982986,0.0599946430022,0.999999992366,-0.000104448757776,7.65564700005e-06,-6.55667060176e-05,1793239202931000320
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746.058065233,714,680,667,636,881,787,804,652.941934767,632,653,0.435891812268,0.00442610492915,0.0599648064894,0.999999991273,-0.000107356290932,-3.96334892587e-05,-6.6006950842e-05,1793239202947666944
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667.522665966,636,881,787,804,652.477334034,631.477334034,653,0.436619883873,0.00442722176538,0.0599548718981,0.999999990332,-0.000107993356475,-5.69459268885e-05,-6.65652606882e-05,1793239202964333824
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,714.101680218,680,667.898319782,636,881,787,804.101680218,652,631,653,0.437336552938,0.00442846126863,0.0599470032865,0.999999989209,-0.000108167847336,-7.36217406738e-05,-6.67910572314e-05,1793239202981000704
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,714.677007109,680,667.322992891,636,881,787,804.677007109,652,631,653,0.438012330904,0.00442814261991,0.0599386233193,0.999999986836,-0.000107343814237,-0.000102597737272,-6.54078157669e-05,1793239202997667328
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.742629835,746,715,679.742629835,667.257370165,636,880.742629835,787,805,652,631.257370165,653,0.438693513431,0.00442666489005,0.0599403266815,0.999999986295,-0.000109206632844,-0.000106224892996,-6.4804536998e-05,1793239203014333952
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.155820428,746,715,679.155820428,667.844179572,636,880.155820428,787,805,652,631.844179572,653,0.439381613857,0.00442370351189,0.0599549369189,0.999999988323,-0.000114508678433,-7.74049951876e-05,-6.51996270619e-05,1793239203031000576
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.425641144,746,715,679.851282288,667.574358856,635.574358856,880.425641144,787,805,652,632,653,0.440085835467,0.00442234863749,0.0599868565903,0.999999990903,-0.000115061302942,-2.85343765035e-05,-6.43428428634e-05,1793239203047667200
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,714.994834972,680.994834972,667,635,880.994834972,787,804.994834972,652,632,653,0.440794612144,0.00442161487609,0.060024482118,0.999999991176,-0.000113847303782,2.67071617469e-05,-6.30427331381e-05,1793239203064333824
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,714.415785556,680.415785556,667,635,880.415785556,787,804.415785556,652,632,653,0.441361894041,0.00442535830014,0.0600007499506,0.999999992169,-0.000107132246413,-1.56337818008e-05,-6.27736448005e-05,1793239203081000448
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,787.161524836,804,652,631.838475164,653,0.441909390844,0.00442913460098,0.0599681788038,0.9999999905,-0.000100743104323,-6.98433771491e-05,-6.3034065523e-05,1793239203097667328
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,787.734406561,804,652,631.265593439,653,0.442406500878,0.00443299463028,0.059913097336,0.99999998148,-9.51839724134e-05,-0.00015427899386,-6.46429920919e-05,1793239203114335232
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.683612414,745.683612414,714.316387586,680,666.683612414,635,880,788,804.316387586,652,631.316387586,653,0.442900907042,0.00443582295839,0.0598748517013,0.999999971748,-9.07590316256e-05,-0.000209642435535,-6.57006341809e-05,1793239203131002112
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.093766774,745.093766774,714.906233226,680,666.093766774,635,880,788,804.906233226,652,631.906233226,653,0.443392976187,0.00443775957304,0.0598511575074,0.999999965221,-8.73143881954e-05,-0.000239878400307,-6.62817938193e-05,1793239203147668480
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.487082334,714.512917666,680,666,635,880.974164667,787.512917666,805,652,632,653,0.443901334058,0.0044437519715,0.0598535973883,0.999999967042,-7.71465616354e-05,-0.000235742247608,-6.62571086252e-05,1793239203164334592
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.065895964,746,714,680,666,635,881.934104036,787,804.934104036,652,631.934104036,653,0.444404377666,0.00445031131099,0.0598602951225,0.99999996997,-6.62379116536e-05,-0.000226482698427,-6.61671866295e-05,1793239203181000704
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.642115319,746,714,680,666,635,881.357884681,787,804.357884681,652,631.357884681,653,0.444842422004,0.00445532435789,0.0598617119525,0.999999970065,-5.94335104774e-05,-0.000227859891856,-6.64588882291e-05,1793239203197667584
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.777819895,714,680,665.777819895,635,881,787.222180105,804.222180105,652,631,653,0.445247354382,0.00446192854332,0.0598522138606,0.999999965621,-5.19292554349e-05,-0.000248026472306,-6.74040186823e-05,1793239203214334208
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.191451902,714,680,665.191451902,635,881,787.808548098,804.808548098,652,631,653,0.445598011044,0.00447114085277,0.0598248245071,0.999999951956,-4.32778311909e-05,-0.000298991791617,-6.9420220916e-05,1793239203231000832
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.39023385,714,680,665,634.60976615,881,787.60976615,804.60976615,652,631,653,0.445940559473,0.0044822517904,0.0597993110718,0.999999938979,-3.19816448389e-05,-0.000340331243232,-7.20623809123e-05,1793239203247667456
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.969649744,714,680,665,634.030350256,881,787.030350256,804.030350256,652,631,653,0.446279177131,0.0044942831676,0.0597747070632,0.999999925933,-1.94032995878e-05,-0.000377004160642,-7.50080000441e-05,1793239203264334336
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.451597754,746,714,680,665,634.548402246,881,787,804.548402246,652,631,653,0.446616343968,0.00450166703631,0.0597740365925,0.999999927011,-9.31882174377e-06,-0.000374451547378,-7.53429749626e-05,1793239203281001216
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,746,714,680,665,634.873954087,881,787,805,652,631.126045913,653,0.446943894054,0.00450794303058,0.0597763150607,0.999999929289,-8.30542542596e-07,-0.000368408615666,-7.5472746687e-05,1793239203297667840
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,746,714,680,665,634.300119221,881,787,805,652,631.699880779,653,0.447237564795,0.00451119585462,0.0597843699776,0.999999933192,2.47683559886e-06,-0.000357668877572,-7.53861775934e-05,1793239203314334464
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.281079509,746,714,680.281079509,665,634,881,787,805,652,631.718920491,653,0.447508946451,0.00451436369436,0.0597883871827,0.999999935127,6.26137304721e-06,-0.000352114361838,-7.56409231069e-05,1793239203331001088
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.870352413,746,714,680.870352413,665,634,881,787,805,652,631.129647587,653,0.447755888924,0.00451743835174,0.059787977184,0.999999934997,1.05690980134e-05,-0.000352245253322,-7.62699076069e-05,1793239203347667712
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.547820614,746,714,680.547820614,664.547820614,634,881,787,805,652,631.452179386,653,0.447974153661,0.00451771821213,0.0597809028936,0.999999931404,1.22257529862e-05,-0.000362346666393,-7.58053051528e-05,1793239203364334336
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.968326316,714,680.031673684,664,634,881,787,805,652,632,653,0.448182317598,0.00451738257487,0.0597718556938,0.999999926642,1.32547524543e-05,-0.00037536710475,-7.50976292942e-05,1793239203381000704
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.392821841,714,680.607178159,664,634,881,787,805,652,632,653,0.448355942736,0.00452001451873,0.0597612100344,0.99999992088,1.63464974748e-05,-0.000390218138967,-7.55128105842e-05,1793239203397667328
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.182839736,745.182839736,714,681,664,634,881,787,805,652.182839736,631.817160264,653,0.448516100474,0.00452262470627,0.0597497972359,0.999999914349,2.0198209229e-05,-0.000406387492645,-7.57843716749e-05,1793239203414334208
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.758839055,745.758839055,714,681,664,634,881,787,805,652.758839055,631.241160945,653,0.44864729929,0.00452518811096,0.0597367348628,0.999999906322,2.56840741307e-05,-0.000425391621731,-7.57471067616e-05,1793239203431001088
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.668600233,746,714,681,664,634,881,787,805,653,631.331399767,653,0.448762040136,0.00452674715768,0.0597239332875,0.999999897407,2.90869993335e-05,-0.000445666898308,-7.56429944464e-05,1793239203447667456
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.098516052,746,714,681,664,634,881,787,805,653,631.901483948,653,0.448864927454,0.00452758283483,0.0597113195457,0.999999887692,3.09897271816e-05,-0.000466857696712,-7.5490736539e-05,1793239203464334080
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.497097624,746,714,681,664,634,881,787,805,652.502902376,632,653,0.448959958911,0.00452684565863,0.0597063787684,0.999999884167,2.98544374262e-05,-0.000474468119933,-7.51936507393e-05,1793239203481000704
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,714,681,664,634,881,787,804.906218036,652,631.906218036,653,0.449051284462,0.00452647147291,0.0597038749092,0.999999882522,2.89609211596e-05,-0.000478017932928,-7.49414748325e-05,1793239203497667584
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746,714,681,664,634,881,787,804.331398445,652,631.331398445,653,0.449132019419,0.00452964461,0.0597056486283,0.9999998837,3.25629991268e-05,-0.000475291962242,-7.50748498093e-05,1793239203514334208
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,714,681,664,633.758770441,881,787,804,652,631,653,0.449200537219,0.00453158496934,0.0597060274721,0.999999883877,3.50354813214e-05,-0.000474766110441,-7.49425676006e-05,1793239203531000832
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,714,681,664,633.189126142,881,787,804,652,631,653,0.449252422333,0.00453184700024,0.0597045073044,0.999999882705,3.59701090583e-05,-0.000477235544599,-7.44486143878e-05,1793239203547667456
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,714,681,664,633.396770938,881.396770938,787,804.396770938,652,631,653,0.449295405035,0.00453272563439,0.0597033068293,0.999999881899,3.75652798853e-05,-0.000478817302983,-7.43246765916e-05,1793239203564334336
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,714,681,664,633.990745999,881.990745999,787,804.990745999,652,631,653,0.449333963037,0.00453391073428,0.0597022652487,0.999999881274,3.94887555295e-05,-0.000479957866371,-7.43846448351e-05,1793239203581001216
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746,714.569134417,681,664,634,881.430865583,787,805,652.569134417,631.569134417,653,0.449359423936,0.00453186581461,0.0596987925832,0.999999879476,3.58040679316e-05,-0.000484021186143,-7.40904721056e-05,1793239203597667840
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,714.853461888,681,664,633.853461888,881,787,805,652.853461888,631.853461888,653,0.449382491613,0.00453078556547,0.0596961821565,0.999999877854,3.36946973724e-05,-0.000487559958617,-7.37710596235e-05,1793239203614334464
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,714.278217489,681,664,633.278217489,881,787,805,652.278217489,631.278217489,653,0.449399164177,0.00453267707289,0.0596962068251,0.999999876872,3.64536780474e-05,-0.000489428808461,-7.33942038157e-05,1793239203631001088
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.695637849,746,714,681,664,633.304362151,880.695637849,787,805,652,631,652.695637849,0.449411728213,0.00453429901678,0.0596952592106,0.999999876015,3.93277383249e-05,-0.000490976547753,-7.32550490156e-05,1793239203647667456
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.106187408,746,714,681,664,633.893812592,880.106187408,787,805,652,631,652.106187408,0.449420443897,0.0045356684676,0.0596934008834,0.999999875274,4.23095910612e-05,-0.000492223511172,-7.33385426628e-05,1793239203664334080
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,714,681,664,634,880.474909458,787,805,652,631.474909458,652.474909458,0.449425774083,0.00453546890591,0.0596926825777,0.999999874852,4.14992839058e-05,-0.000493203746752,-7.29618095802e-05,1793239203681000960
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,681,664,634,881,787,805,652.053779893,631.946220107,653,0.44943022403,0.00453506351448,0.0596922826715,0.999999874541,4.00324754984e-05,-0.000494014669266,-7.25600910054e-05,1793239203697667328
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714,681,664,634,881,787,805,652.628861612,631.371138388,653,0.449433352363,0.00453600480033,0.0596925409613,0.999999874636,4.02789496404e-05,-0.000493752501916,-7.28964174422e-05,1793239203714334464
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714,681.203870383,663.796129617,633.796129617,881,787,805,653,631.203870383,653,0.449435532828,0.00453649206356,0.0596922951156,0.999999874525,4.14301658948e-05,-0.000493870518711,-7.29817972545e-05,1793239203731001088
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,714,681.778746367,663.221253633,633.221253633,881,787,805,653,631.778746367,653,0.449435988353,0.00453615309132,0.0596911318386,0.999999874031,4.42278419473e-05,-0.000494680398879,-7.26105015728e-05,1793239203747667456
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,714,681.635427768,663.364572232,633,881,787,805,652.635427768,631.635427768,653,0.449435473397,0.00453555472516,0.0596893664003,0.999999872906,4.44393275634e-05,-0.000496977227782,-7.22928952488e-05,1793239203764334080
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714,681.04275083,663.95724917,633,881,787,805,652.04275083,631.04275083,653,0.449434351234,0.00453479406202,0.0596872242032,0.999999871379,4.30326914524e-05,-0.000500204407278,-7.20088811706e-05,1793239203781000960
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,714,681,663.463601858,633,880.463601858,787,805,652,631.536398142,653,0.449436782913,0.00453457986668,0.0596885294714,0.999999872572,4.14594391918e-05,-0.00049792989782,-7.21291336124e-05,1793239203797667328
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,714,681,663,633.113882802,880.227765604,787,805,652,632,653,0.449439152377,0.00453480474288,0.0596899314174,0.999999873759,4.08769816936e-05,-0.000495583744841,-7.21703047148e-05,1793239203814333952
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,746,714,681,663,633.688886607,881.377773215,787,805,652,632,653,0.449440151277,0.0045366354435,0.0596906396514,0.999999874087,4.43587817964e-05,-0.000494679283106,-7.17640167749e-05,1793239203831000576
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.264168059,746,714,680.735831941,663.264168059,633.735831941,881.735831941,787,805,652,632,653,0.44943956537,0.0045375373771,0.0596903130752,0.999999873518,4.58971593757e-05,-0.000495716327691,-7.15675250437e-05,1793239203847667456
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.839776917,746,714,680.160223083,663.839776917,633.160223083,881.160223083,787,805,652,632,653,0.449437111056,0.00453734434153,0.0596887665098,0.999999871895,4.51443404138e-05,-0.00049904231005,-7.16183723935e-05,1793239203864334336
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,714.425702744,680.425702744,663.574297256,633.425702744,881,787,804.574297256,652,632,653,0.449436992991,0.00453821507477,0.0596877583122,0.999999871381,4.47969636045e-05,-0.000500046340104,-7.20056644091e-05,1793239203881001216
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.984692032,745.984692032,715,680.984692032,663.015307968,633.984692032,881,787,804,652,631.984692032,653,0.44943780797,0.00453940492682,0.0596870213324,0.999999871332,4.46161679557e-05,-0.000500091138519,-7.24898211163e-05,1793239203897667840
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.406126791,745.406126791,715,680.406126791,663.593873209,633.406126791,881,787,804,652,631.406126791,653,0.449439796883,0.00453723909964,0.0596886229713,0.999999872521,4.48104437025e-05,-0.000497795570153,-7.17630861244e-05,1793239203914334208
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.171723762,745.171723762,714.828276238,680.171723762,663.828276238,633,881,787,804.171723762,652,631,652.828276238,0.44944085901,0.00453641313832,0.0596895387784,0.999999873114,4.55549878281e-05,-0.000496606036887,-7.12694333451e-05,1793239203931000832
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.747891046,745.747891046,714.252108954,680.747891046,663.252108954,633,881,787,804.747891046,652,631,652.252108954,0.449439738376,0.00453874282697,0.0596888393155,0.999999872311,4.75955231234e-05,-0.000498021435813,-7.1324735454e-05,1793239203947667456
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.669436268,746,714.330563732,681,663,633,881,787,804.669436268,652.330563732,631,652.330563732,0.4494394524,0.00453885692486,0.0596882408795,0.999999871949,4.76369683191e-05,-0.000498739093955,-7.13616570708e-05,1793239203964334080
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.081702575,746,714.918297425,681,663,633,881,787,804.081702575,652.918297425,631,652.918297425,0.449439815765,0.00453724735084,0.0596877210399,0.999999871931,4.61231734743e-05,-0.000498913927906,-7.13842791416e-05,1793239203981000960
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714.501155251,681,663.498844749,633,880.501155251,787,804.498844749,652.501155251,631,652.501155251,0.449440601587,0.00453629228966,0.0596882452327,0.999999872373,4.49456176424e-05,-0.000498157057122,-7.12342133592e-05,1793239203997667840
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714,681,664,633,880,787,805,652,631.077783578,652.077783578,0.449441421303,0.00453567046548,0.0596888826312,0.999999872882,4.40412128644e-05,-0.000497239827171,-7.10617937492e-05,1793239204014334464
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714,681,664,633,880,787,805,652,631.653850965,652.653850965,0.449442021202,0.00453650640342,0.0596891653834,0.999999873356,4.45388492971e-05,-0.000496258996376,-7.09247863653e-05,1793239204031001088
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714,681,664,633,880.234219454,787,804.765780546,652,632,653,0.449442068346,0.00453713159851,0.0596892816193,0.999999873468,4.48671278245e-05,-0.000495997256265,-7.09814517399e-05,1793239204047667968
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714,681,664,633,880.82106347,787,804.17893653,652,632,653,0.4494412833,0.00453743951391,0.05968914716,0.999999873032,4.49404329125e-05,-0.000496818129062,-7.1329697365e-05,1793239204064334336
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714.402941953,681,663.597058047,633,881,787,804.402941953,652,631.597058047,653,0.449440833813,0.004537383727,0.0596891240972,0.999999872556,4.45451814915e-05,-0.000497822135855,-7.12572199202e-05,1793239204081000704
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714.982642175,681,663.017357825,633,881,787,804.982642175,652,631.017357825,653,0.449440531525,0.00453716839503,0.0596891499005,0.99999987206,4.39443887059e-05,-0.000498906477865,-7.1000184156e-05,1793239204097667328
+251,4.183333333,HOLD_POSE2,765,745,714,681,663,634,881,787,805,652,632,653,0.449440975302,0.00453819222935,0.0596887537253,0.999999871981,4.52592151006e-05,-0.00049897805779,-7.07860408184e-05,1793239204127067904
+252,4.200000000,HOLD_POSE2,765.575405423,745.575405423,714,681,663,633.424594577,881,787,805,652,631.424594577,653,0.44944129208,0.00453803739979,0.0596885256696,0.999999871896,4.6145307896e-05,-0.000499076592162,-7.07170277277e-05,1793239204143735040
+253,4.216666667,HOLD_POSE2,765.846364682,746,714.153635318,681,663,633,881,787,804.846364682,652,631,653,0.449441997238,0.00453802354555,0.0596887291603,0.999999872086,4.70528918692e-05,-0.00049861405115,-7.06944529338e-05,1793239204160401920
+254,4.233333333,HOLD_POSE2,765.260182607,746,714.739817393,681,663,633,881,787,804.260182607,652,631,653,0.449443795845,0.00453840659488,0.059690147632,0.999999873049,4.80209825713e-05,-0.000496571851649,-7.08026210747e-05,1793239204177068288
+255,4.250000000,HOLD_POSE2,765,746,714.677718213,681,663,633,881,787,804.322281787,652,631.322281787,653,0.449444084775,0.00453793470606,0.0596901538457,0.999999873192,4.68490588108e-05,-0.000496389173744,-7.08497141229e-05,1793239204193734912
+256,4.266666667,HOLD_POSE2,765,746,714.098220963,681,663,633,881,787,804.901779037,652,631.901779037,653,0.449443168819,0.00453678048477,0.0596890329259,0.999999872676,4.39691737242e-05,-0.00049769059381,-7.0848062684e-05,1793239204210401536
+257,4.283333333,HOLD_POSE2,765,746,714,681,663,633,881.480922827,786.519077173,805,652,632,653,0.44944284729,0.00453728175172,0.0596881649627,0.999999872232,4.50659402165e-05,-0.000498495457721,-7.07576630489e-05,1793239204227068160
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+260,4.333333333,HOLD_POSE2,766,746,714,681,663,633.225991516,881,787,805,652,632,652.225991516,0.449441815363,0.00453470316206,0.0596879927656,0.999999871856,4.33222327696e-05,-0.000499372105347,-7.09789238689e-05,1793239204277068032
+261,4.350000000,HOLD_POSE2,766,746,714,681,663,633.805276307,881,787,805,652,632,652.805276307,0.449443915697,0.00453625855902,0.0596886460891,0.999999872564,4.50422595744e-05,-0.000497799356695,-7.09903698089e-05,1793239204293734656
+262,4.366666667,HOLD_POSE2,766,745.615778261,714.384221739,680.615778261,663.384221739,633.615778261,880.615778261,787,805,652,632,653,0.449444240931,0.00453683764901,0.0596889212471,0.999999872857,4.509499519e-05,-0.000497208891466,-7.09691814747e-05,1793239204310401536
+263,4.383333333,HOLD_POSE2,766,745.03700461,714.96299539,680.03700461,663.96299539,633.03700461,880.03700461,787,805,652,632,653,0.449443667338,0.00453692238298,0.05968900492,0.999999872941,4.43034927152e-05,-0.000497115808459,-7.09314686721e-05,1793239204327068160
+264,4.400000000,HOLD_POSE2,765.460842427,745.539157573,714.460842427,680.539157573,663.460842427,633,880.539157573,787,805,652,631.460842427,652.460842427,0.44944379251,0.00453812676027,0.0596891319805,0.999999872893,4.42787083549e-05,-0.000497213173833,-7.09409666847e-05,1793239204343734784
+265,4.416666667,HOLD_POSE2,765.114925904,746,714,681,663,633,881,787,805,652,631.114925904,652.114925904,0.44944397513,0.00453911781077,0.0596893639682,0.999999872907,4.44747646967e-05,-0.000497171581129,-7.09060268505e-05,1793239204360401152
+266,4.433333333,HOLD_POSE2,765.689831966,746,714,681,663,633,881,787,805,652,631.689831966,652.689831966,0.449444196653,0.00453894895585,0.0596900040552,0.999999873207,4.53451117489e-05,-0.000496521757472,-7.06803223281e-05,1793239204377067520
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,746,715,680,663,633,881,786,804,652,631,653,0.449444490727,0.00453796818365,0.0596886350228,0.999999872455,4.55741664859e-05,-0.00049805787909,-7.03714425462e-05,1793239204414208768
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,746,714.424836119,680.575163881,663.575163881,633,881,786.575163881,804.575163881,652.575163881,631.575163881,653,0.449444997224,0.00453740945743,0.059689226003,0.999999873029,4.35302792391e-05,-0.000497052507202,-7.06057787785e-05,1793239204430875904
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,663.849115817,633,881,787,805,653,632,653,0.449444771496,0.00453712306923,0.059689475104,0.999999873161,4.28272566656e-05,-0.000496833532892,-7.07149388899e-05,1793239204447543040
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,663.271822901,633,881,787,805,653,632,653,0.44944247645,0.00453760632627,0.0596887580318,0.999999872044,4.59136063378e-05,-0.000498836970196,-7.04703430154e-05,1793239204464209408
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,663,633.310333522,881,787,805,652.689666478,631.689666478,653,0.449443033565,0.00453770370055,0.0596889488192,0.999999872285,4.66386226031e-05,-0.000498289240221,-7.04523101331e-05,1793239204480876032
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,663,633.89681771,881,787,805,652.10318229,631.10318229,653,0.449446128677,0.00453745769657,0.0596899474663,0.999999873735,4.52624032553e-05,-0.000495471350793,-7.06358846221e-05,1793239204497542400
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.480616962,746,714,681,663,633.519383038,880.519383038,787,805,652,631,653,0.449444836302,0.0045377545012,0.0596890489334,0.999999873035,4.66846599866e-05,-0.000496834889573,-7.0036242431e-05,1793239204514208768
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.937232908,746,714,681,663,633.062767092,880.062767092,787,804.937232908,652,631,653,0.449442929226,0.00453803863265,0.0596879874361,0.999999872092,4.82740153137e-05,-0.000498669918596,-6.93803847465e-05,1793239204530875648
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.363835562,746,714,681,663,633.636164438,880.636164438,787,804.363835562,652,631,653,0.449443641748,0.00453727688892,0.0596888952808,0.999999872958,4.63622502561e-05,-0.000497078175887,-6.96275225126e-05,1793239204547542528
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.210622907,746,714,681,663,634,881,787,804.210622907,652,631.210622907,653,0.449438974437,0.00453700638995,0.0596867814713,0.999999871578,4.50366114097e-05,-0.000499920232752,-6.99644953133e-05,1793239204564209408
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.786923608,746,714,681,663,634,881,787,804.786923608,652,631.786923608,653,0.449424966808,0.00453758877693,0.0596794215471,0.999999866233,4.47285892357e-05,-0.00051046013266,-7.04574372411e-05,1793239204580876032
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.628892591,746,714,681,663,633.628892591,881,787,805,652,631.628892591,653,0.449396626026,0.00453815081116,0.0596655461758,0.999999855212,4.52674538722e-05,-0.000531520118837,-7.07970372076e-05,1793239204597542656
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.040084312,746,714,681,663,633.040084312,881,787,805,652,631.040084312,653,0.449359877057,0.00453870090602,0.0596478486798,0.999999840303,4.63031233963e-05,-0.000558751450921,-7.10466829591e-05,1793239204614209280
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,746,714.539737151,681,663,633,881,787,805,652,631.539737151,653,0.449301136684,0.00453769936054,0.0596271860168,0.999999826717,4.57868102746e-05,-0.000582560984182,-7.13651079378e-05,1793239204630875648
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714.8818224,681,663.1181776,633,880.8818224,787,804.8818224,652,631.8818224,653,0.449238272484,0.00453718098577,0.059608300412,0.999999813597,4.63306256822e-05,-0.000604592429797,-7.1611272818e-05,1793239204647542272
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714.306186385,681,663.693813615,633,880.306186385,787,804.306186385,652,631.306186385,653,0.449165663736,0.00453897169659,0.0595971321545,0.999999803478,5.14169928755e-05,-0.000620708602492,-7.15582745232e-05,1793239204664209152
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.274645506,746,714,681,663.725354494,633,880,787,804,652,631,653,0.449086811845,0.00454037553661,0.0595898412707,0.999999796644,5.4716654165e-05,-0.000631365249699,-7.13813327285e-05,1793239204680875776
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.861381645,746,714,681,663.138618355,633,880,787,804,652,631,653,0.449000865626,0.00454133975982,0.0595869564017,0.999999793775,5.59860100478e-05,-0.000635818019727,-7.10635490161e-05,1793239204697542400
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.557206463,746,714,681,663.442793537,633,880.442793537,786.557206463,804,652.442793537,631,653,0.448898315213,0.00454150688863,0.0595877632332,0.99999979454,5.68707287157e-05,-0.000634615263533,-7.03542008769e-05,1793239204714209024
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.022536529,746,714,680.977463471,663.977463471,633,881,786.022536529,804,652.977463471,631,653,0.448789588767,0.00454141621282,0.059589848249,0.999999796555,5.76842684682e-05,-0.000631451104138,-6.9506075957e-05,1793239204730875392
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.601738203,746,714,680.398261797,663.398261797,633,881,786.601738203,804,652.398261797,631,653,0.448655179091,0.0045410480087,0.0595952978117,0.999999801795,5.96785625104e-05,-0.000623051583004,-6.82219278676e-05,1793239204747542272
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,714,680.175563047,663.175563047,633,881,787,804,652,631,653,0.448513311318,0.00454138372231,0.0595998114739,0.999999805807,6.2560705133e-05,-0.000616437478945,-6.69042213478e-05,1793239204764209152
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,714,680.737553024,663.737553024,633,881,787,804,652,631,653,0.448355027758,0.00454326880969,0.0596022651507,0.999999807236,6.73970662748e-05,-0.000613753207855,-6.55126504791e-05,1793239204780875776
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.679045248,746,714,681,664,633,881,787,804.320954752,652,631,652.679045248,0.448179998997,0.00454430990359,0.0596085088586,0.999999812185,7.2048898445e-05,-0.000605266265628,-6.39720460388e-05,1793239204797542144
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.076883376,746,714,681,664,633,881,787,804.923116624,652,631,652.076883376,0.447990298774,0.00454461152596,0.0596180732334,0.999999820079,7.65390545884e-05,-0.000591695265449,-6.23008644555e-05,1793239204814208768
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.495682405,664,633,881,787,804.495682405,652,631,652.504317595,0.447764562791,0.00454442386344,0.0596278343302,0.999999827902,7.98049322836e-05,-0.000578118971866,-6.00448472682e-05,1793239204830875392
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.082319885,664,633.082319885,881,787,804.082319885,652.082319885,631,653,0.447525978148,0.00454448576381,0.059636682758,0.999999834707,8.3437819435e-05,-0.000565944428021,-5.77176836021e-05,1793239204847542016
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.659536666,664,633.659536666,881,787,804.659536666,652.659536666,631,653,0.447241858155,0.00454647854605,0.0596398712337,0.999999836344,9.03544140248e-05,-0.000562201681705,-5.54774151658e-05,1793239204864208896
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714.240564622,681,664,634,881,787,805,652.759435378,631.240564622,653,0.44694451202,0.00454787510503,0.0596422581987,0.999999836584,9.77063548298e-05,-0.000560784231558,-5.29675697443e-05,1793239204880875520
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714.827073204,681,664,634,881,787,805,652.172926796,631.827073204,653,0.446628146051,0.00454841426503,0.0596434925508,0.99999983484,0.000105684344857,-0.00056271067386,-5.00700592684e-05,1793239204897542400
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.591070663,714.591070663,681,664.408929337,634,881,787,805,652,631.591070663,653,0.446281091726,0.00455050210641,0.0596436351734,0.99999983318,0.000114681107185,-0.000564151515859,-4.7124499961e-05,1793239204914209280
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.011159827,714.011159827,681,664.988840173,634,881,787,805,652,631.011159827,653,0.445921205997,0.0045532374823,0.0596433213222,0.999999831492,0.00012410383829,-0.000565389318615,-4.41588505501e-05,1793239204930875648
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.565933207,745.565933207,714,681,664.434066793,634,881,787,804.434066793,652,631.565933207,653,0.445511211913,0.00455236550799,0.0596379815019,0.999999827729,0.000128777378322,-0.000571206699875,-4.10113191804e-05,1793239204947542016
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.857592468,746,714,681,664.142407532,634.142407532,881,787,804,652,632,653,0.445094152308,0.00455204765617,0.0596361558191,0.999999827793,0.000134687401868,-0.000569945809633,-3.78737937631e-05,1793239204964208640
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.282828818,746,714,681,664.717171182,634.717171182,881,787,804,652,632,653,0.444658626582,0.00455362704496,0.0596452986358,0.999999839374,0.000144634367939,-0.00054692212949,-3.47774825909e-05,1793239204980875520
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.298027483,746,714,681,665,634.701972517,881,787,804.298027483,652,632,653,0.444220944615,0.00455453633231,0.0596650072404,0.999999855453,0.000154403269425,-0.000514100368326,-3.09054065594e-05,1793239204997542144
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.884786462,746,714,681,665,634.115213538,881,787,804.884786462,652,632,653,0.443781173611,0.00455479642003,0.0596949520688,0.999999874916,0.000163999661489,-0.000471786141833,-2.62817627061e-05,1793239205014208768
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746,714,681,665,634.467794814,881,787.467794814,804.532205186,652,631.532205186,653,0.443292578269,0.00455543731092,0.0597214654201,0.999999892668,0.000174788304673,-0.000428549263313,-2.1395963484e-05,1793239205030875648
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.228042424,746,714,680.771957576,666,635,881,787.771957576,805,652,632,653,0.440968560556,0.00456301069214,0.0597422975926,0.999999891032,0.000224004681563,-0.000409576888219,-2.14295124821e-06,1793239205097542400
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,666.355821695,635,881,787.644178305,804.644178305,652,632,653,0.440341848796,0.00456414964102,0.0597543194749,0.999999894381,0.000236231629446,-0.00039423582873,3.23460369687e-06,1793239205114209024
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,666.946427051,635,881,787.053572949,804.053572949,652,632,653,0.439721438505,0.00456494722556,0.0597760072753,0.999999903608,0.000247463550241,-0.000362592065492,8.56576441487e-06,1793239205130875648
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.527149022,746,714.527149022,680.472850978,666.472850978,635,881,787,804,652,631.472850978,653,0.439085332984,0.00456586256506,0.0598178874947,0.999999922275,0.000261431079711,-0.000294771106602,1.45890177174e-05,1793239205147542016
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,746,714.835226709,680,666.835226709,635,881,787.835226709,804,652.835226709,632,653,0.432936177404,0.0045757831951,0.0597964351761,0.999999922343,0.000251787994313,-0.000302525442558,1.98790486962e-05,1793239205280875264
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,746,714.260478553,680,666.260478553,635,881,787.260478553,804,652.260478553,632,653,0.432096031096,0.00457956340589,0.059801348728,0.999999919825,0.000263278188698,-0.000300775257079,2.38389609989e-05,1793239205297541888
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.677642069,745.677642069,714,680.322357931,666,635.322357931,881,787,804.322357931,652,632,653,0.431263970149,0.00458184774918,0.0598144928928,0.999999924235,0.00026883450294,-0.000280254612929,2.67542074159e-05,1793239205314208512
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.088101701,745.088101701,714,680.911898299,666,635.911898299,881,787,804.911898299,652,632,653,0.430438610697,0.00458289226074,0.0598344589003,0.999999933466,0.000269472592234,-0.000244176303046,2.88035950433e-05,1793239205330875136
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.492882022,745,714.492882022,680.507117978,666.492882022,635.507117978,881.492882022,787,804.507117978,652,632,653,0.429538539989,0.00458347314914,0.0598219598613,0.999999926387,0.000264076821115,-0.000276806986744,2.94520405272e-05,1793239205347542016
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.928289775,745.071710225,714.928289775,680,666.928289775,635,881.85657955,787,804,652,632,653,0.428629602822,0.00458395785878,0.0598019989096,0.999999914936,0.000257581678293,-0.000320782508035,2.96377488763e-05,1793239205364208640
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.354032051,745.645967949,714.354032051,680,666.354032051,635,880.708064101,787,804,652,632,653,0.427750521359,0.0045843394018,0.0597697187341,0.999999903468,0.000250811578936,-0.000359661871104,2.8305555624e-05,1793239205380876288
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.225485597,745.774514403,714.225485597,680,666,635,880,787,804.225485597,652,632,653,0.426879849712,0.00458403834855,0.0597605303192,0.999999902863,0.000243398944448,-0.000366418660602,2.77040279453e-05,1793239205397543168
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.813459123,745.186540877,714.813459123,680,666,635,880,787,804.813459123,652,632,653,0.426022697445,0.00458263996182,0.0597884639355,0.999999920306,0.000234953377316,-0.000321535593994,2.8277109251e-05,1793239205414209024
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.604391031,745.395608969,714.604391031,680,666,635.395608969,880.395608969,787.395608969,804.604391031,652.395608969,631.604391031,653,0.425153835986,0.00458313353807,0.0598152651363,0.999999930569,0.000231470355533,-0.000290477394533,3.01095499292e-05,1793239205430875392
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.024947413,745.975052587,714.024947413,680,666,635.975052587,880.975052587,787.975052587,804.024947413,652.975052587,631.024947413,653,0.424279533459,0.00458450628646,0.0598415401157,0.999999937617,0.000230293368406,-0.000265843444468,3.25271994717e-05,1793239205447542272
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.448154986,714,679.448154986,666,636,881,787.448154986,804,652.448154986,631,653,0.423416352695,0.0045854608567,0.0598474868131,0.999999942312,0.000226944679787,-0.000250573844446,3.29508566172e-05,1793239205464208896
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.12797071,714,679,666.12797071,636,880.87202929,787,804,652.12797071,631.12797071,653,0.422551432424,0.00458592787458,0.0598501298486,0.999999945206,0.000223186630764,-0.000242188687731,3.34583814908e-05,1793239205480875776
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.702187366,714,679,666.702187366,636,880.297812634,787,804,652.702187366,631.702187366,653,0.4216787015,0.00458476035857,0.0598444419731,0.99999994271,0.000218341818285,-0.000256341078352,3.45711951866e-05,1793239205497542400
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.284843243,746,714.284843243,679.284843243,666.715156757,635.715156757,880,787.284843243,804,653,632,653,0.420769646502,0.00458422619232,0.0598137512597,0.999999927585,0.000213483433606,-0.000313080385856,3.51591711061e-05,1793239205514209024
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.876591956,746,714.876591956,679.876591956,666.123408044,635.123408044,880,787.876591956,804,653,632,653,0.419821454042,0.00458437443134,0.0597561211409,0.999999891217,0.000208610424184,-0.000415705130778,3.51816581654e-05,1793239205530875648
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.541937857,746,714.541937857,680,666,635.458062143,880,788,804,652.541937857,631.541937857,653,0.418977097901,0.00458405881792,0.0597446712523,0.999999893428,0.000198193577906,-0.000415635226326,3.33240001948e-05,1793239205547542016
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.036631712,746,714,680.036631712,666.036631712,635.963368288,879.963368288,788,803.963368288,652,631.036631712,653,0.418162406971,0.00458368743285,0.0597482401312,0.999999907394,0.000186916890275,-0.000386390253856,3.12493664765e-05,1793239205564208640
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.612371746,746,714,680.612371746,666.612371746,635.387628254,879.387628254,788,803.387628254,652,631.612371746,653,0.417381629009,0.00458429404708,0.0597937560842,0.999999929285,0.000184484574626,-0.000326019366932,3.32725845409e-05,1793239205580875520
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.812813092,745.812813092,714,680.812813092,666.812813092,635,879.187186908,788,803.187186908,652,632,652.812813092,0.416601951074,0.00458309548007,0.0598298006755,0.999999943642,0.000180603818077,-0.000280797335034,3.53784809136e-05,1793239205597542144
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.23990364,745.23990364,714,680.23990364,666.23990364,635,879.76009636,788,803.76009636,652,632,652.23990364,0.415824539743,0.00457817710656,0.059846328324,0.99999994861,0.000173738364639,-0.000266791445699,3.76547470824e-05,1793239205614209024
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.343336969,745.343336969,714.343336969,680,666,635,880,788,804,652,632,652.343336969,0.41504694962,0.00457714506436,0.0598514497362,0.999999948969,0.000178334367863,-0.000262323705651,3.80062813305e-05,1793239205630876160
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.094792569,745.905207431,714.905207431,679.905207431,666,635,879.094792569,787,803,653,631.905207431,653,0.412722659211,0.00457784625119,0.0598193837295,0.999999911523,0.000268623509196,-0.000321478487636,3.8030620012e-05,1793239205680875776
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.669463695,745.330536305,714.330536305,679.330536305,666,635,879.669463695,787,803,653,631.330536305,653,0.411965349301,0.00457797914607,0.0597764517385,0.999999890935,0.000257409126197,-0.000388022487739,3.61941880169e-05,1793239205697542400
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.18081846,745.81918154,714.81918154,679.81918154,666.81918154,635,879.18081846,787.81918154,803.81918154,653,631,653,0.410624900278,0.00457533330629,0.0597720923324,0.999999901168,0.000232132269834,-0.000377643394384,3.41051150943e-05,1793239205730875648
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,746,714.594531776,680,666.594531776,635,879,788,804,653,631.405468224,653,0.410013004732,0.00457258377366,0.0598075233963,0.999999923594,0.00022151399258,-0.000320191818426,3.49530699004e-05,1793239205747542272
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,746,714.003036818,680,666.003036818,635,879,788,804,653,631.996963182,653,0.409411741352,0.00456944934494,0.0598526624906,0.999999945079,0.000212086290663,-0.000252048221959,3.65226253747e-05,1793239205764208896
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,666,635,879,788,804,653,631.423868039,653,0.408819134355,0.00456803884093,0.0598643605372,0.999999949771,0.000206399170824,-0.000237615025869,3.73619206386e-05,1793239205780876032
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.153661288,745.846338712,714.153661288,680,666,635.153661288,879,787.846338712,804,653,631,653,0.408231863151,0.00456651631236,0.0598678125471,0.999999951713,0.000200199655885,-0.000234661995735,3.77952332251e-05,1793239205797542656
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.726887982,745.273112018,714.726887982,680,666,635.726887982,879,787.273112018,804,653,631,653,0.40765903899,0.00456466361373,0.0598492203322,0.999999946373,0.000192548359222,-0.000262298224608,3.71303181257e-05,1793239205814209280
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.308771536,715,680,666,636,879,787,804,653,631,653,0.407119623875,0.00456362610361,0.059836275216,0.99999994231,0.000188075578812,-0.000280509471111,3.63727619676e-05,1793239205830875648
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.898533019,715,680,666,636,879,787,804,653,631,653,0.406610611877,0.00456333043586,0.0598284691043,0.999999939887,0.000186495329551,-0.000290143742522,3.55309001487e-05,1793239205847542272
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.520088357,745.520088357,715,680,666,636,879.479911643,787.479911643,804,653,631.479911643,653,0.406131487448,0.00456044935894,0.0598329940385,0.99999994423,0.000182410146547,-0.000277535091028,3.52239316645e-05,1793239205864208896
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.059090057,745.059090057,715,680,666.059090057,636,880,788,804,653,632,653,0.405663088912,0.00455727346387,0.0598390757315,0.999999949087,0.000178389532433,-0.000262255846748,3.50015275852e-05,1793239205880875264
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.634266091,745.634266091,715,680,666.634266091,636,880,788,804,653,632,653,0.405234126421,0.00455621489575,0.0598363744779,0.999999948443,0.000179479037841,-0.000264020423732,3.45469265547e-05,1793239205897542144
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.786111401,666.786111401,636,879.786111401,787.786111401,804,653,631.786111401,653,0.404811812706,0.0045555485306,0.05982602175,0.999999943323,0.000181106983526,-0.000281791391166,3.38937775462e-05,1793239205914208768
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.198724393,666.198724393,636,879.198724393,787.198724393,804,653,631.198724393,653,0.404401109322,0.00455556704163,0.0598023077982,0.999999928958,0.000183675168703,-0.000327513176431,3.28939183592e-05,1793239205930875392
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,714.616659888,679.383340112,666,636,879.383340112,787.383340112,804,653,631.383340112,653,0.40402960228,0.00455408460169,0.0597879796889,0.999999921659,0.0001821934527,-0.00034997826119,3.16552680979e-05,1793239205947542016
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,746,714.037316743,679.962683257,666,636,879.962683257,787.962683257,804,653,631.962683257,653,0.403678136416,0.00455183472069,0.0597784505889,0.999999918586,0.000178641009537,-0.000360552124501,3.02945231211e-05,1793239205964208640
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.460091103,746,714,680,666.539908897,635.460091103,880,788,803.460091103,653,632,653,0.403403296047,0.00454976506106,0.0597935379192,0.999999928355,0.000175686939554,-0.000333907669336,3.04769899747e-05,1793239205980875264
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.116592907,746,714,680,666.883407093,635.116592907,880,787.883407093,803,653,632,653,0.4031393703,0.00454758168762,0.0598115342461,0.999999938774,0.000172350033057,-0.000302993676528,3.07051070971e-05,1793239205997541888
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.691720309,746,714,680,666.308279691,635.691720309,880,787.308279691,803,653,632,653,0.402897622251,0.00454490230529,0.0598343059032,0.999999950317,0.000167345498466,-0.000265365715533,3.06949181792e-05,1793239206014208768
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.726424316,746,714,680,666,636,880,787,803.273575684,653,632,653,0.402665499509,0.00454416545351,0.059848307155,0.999999955795,0.00016648780526,-0.000244413710561,3.08673508334e-05,1793239206030875392
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.136796386,746,714,680,666,636,880,787,803.863203614,653,632,653,0.402444496557,0.00454567273827,0.0598521762684,0.999999955532,0.000170420810753,-0.000242726846348,3.12507597266e-05,1793239206047542016
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,666,636,880,787,804,653,632,653,0.402234212724,0.00454392688511,0.0598470645413,0.999999952994,0.000169474044309,-0.000253590966041,3.13346372673e-05,1793239206064208640
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.023742737,746,714,679.976257263,666,636,880,787,804,653,632,653,0.40202903966,0.00454124904032,0.0598394899428,0.99999994971,0.000166988472194,-0.000267795913393,3.13164225191e-05,1793239206080875520
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.600745961,746,714,679.399254039,666,636,880,787,804,653,632,653,0.401867502832,0.0045397538429,0.059837744663,0.999999949379,0.000162995941564,-0.000271498214549,3.10277490366e-05,1793239206097542144
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,746,714.180371281,679.180371281,666,636,880,787.180371281,803.819628719,653,631.819628719,653,0.401717955357,0.00453852322723,0.059836769977,0.999999949089,0.000160159497258,-0.000274266363386,3.08130293602e-05,1793239206114209024
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,714.765886181,679.765886181,666,636,880,787.765886181,803.234113819,653,631.234113819,653,0.401595337968,0.00453788690597,0.0598375261717,0.999999948945,0.000159919813887,-0.000274936251691,3.07644221597e-05,1793239206130875392
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,666.347903637,636,879.652096363,787.652096363,803.347903637,653,631,653,0.401488924242,0.00453689406667,0.0598405439717,0.999999950773,0.000157526980593,-0.000269659720327,3.03771823856e-05,1793239206147542016
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,666.92759105,636,879.07240895,787.07240895,803.92759105,653,631,653,0.401393305869,0.00453566370435,0.0598450685205,0.999999953836,0.000153699654587,-0.000260421506934,2.97643354874e-05,1793239206164208640
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.17266757,746,715,679,666,636,880,788,803,653,631,653,0.401074007162,0.0045348344459,0.0598338249661,0.999999948578,0.000149021517075,-0.000282522045414,2.85983519566e-05,1793239206247542016
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745.837520446,714.837520446,679.837520446,666,636,879,787.162479554,803,653,631.162479554,653,0.400972365217,0.00452946064206,0.0598462718102,0.999999955095,0.000145172173472,-0.000260754002656,2.72375797584e-05,1793239206630875392
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.262431657,714.262431657,679.262431657,666,636,879,787.737568343,803,653,631.737568343,653,0.400971985965,0.00452939136224,0.0598463700039,0.999999955457,0.000142483615247,-0.000260839272063,2.73308718299e-05,1793239206647542016
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.492383936,745.492383936,714.492383936,679.492383936,667.492383936,635.492383936,879.492383936,788,804,653,631,653,0.400970728583,0.00452921944314,0.0598461590067,0.999999954972,0.000144525282746,-0.000261537153589,2.76948248152e-05,1793239206697542144
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,746,714.354709784,680,666.709419569,636,879.354709784,788,804,653,631,653,0.400971362344,0.00452982350366,0.0598464594427,0.99999995535,0.00014445249377,-0.000260172134745,2.72853185293e-05,1793239206730875136
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.781267339,666,636,879,788,804,653,631,653,0.400971432554,0.00452955488886,0.0598461638764,0.999999955445,0.000143606299674,-0.000260291548905,2.71301379852e-05,1793239206747542016
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.209329941,666,636,879,788,804,653,631,653,0.400971398204,0.00452779567713,0.059846189524,0.999999955529,0.000141963290456,-0.000260848159974,2.73124923181e-05,1793239206764208640
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,714.377612384,679.377612384,666.377612384,636,879,787.622387616,804,653,631,653,0.40097242498,0.00452735497557,0.0598472495581,0.999999955908,0.000141657620292,-0.000259546926163,2.74385610246e-05,1793239206780875264
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,714.97321688,679.97321688,666.97321688,636,879,787.02678312,804,653,631,653,0.400974064333,0.00452767543774,0.0598489067339,0.999999956452,0.000142123983607,-0.000257173175772,2.75321365521e-05,1793239206797541888
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745.448238342,715,680,667,636,879,787.551761658,804,653,631.551761658,653,0.400972760445,0.00452850882259,0.0598483356042,0.99999995584,0.000144020991417,-0.000258493829069,2.75418134675e-05,1793239206814208512
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ba6c0d9071ee23e159b1de7559b57dd0a3825d7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,413 @@
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+286,4.766666667,pose2_to_pose3_retreat,0.617611088628,0.0100907563254,1.05003209506,0.588181538722,0.0187624923171,1.04970022929
+287,4.783333333,pose2_to_pose3_retreat,0.617498843768,0.0100906251865,1.05003209742,0.588069296186,0.0187623690562,1.04970023242
+288,4.800000000,pose2_to_pose3_retreat,0.617373878054,0.0100907340991,1.05003218495,0.58794432884,0.0187624723141,1.04970031962
+289,4.816666667,pose2_to_pose3_retreat,0.61723466619,0.0100907879673,1.05003216258,0.587805117105,0.0187625264753,1.04970029585
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+291,4.850000000,pose2_to_pose3_retreat,0.616906977166,0.0100908241665,1.05003221912,0.587477427867,0.0187625618455,1.04970035416
+292,4.866666667,pose2_to_pose3_retreat,0.616712645652,0.0100907170529,1.05003227524,0.587283098312,0.0187624609734,1.049700402
+293,4.883333333,pose2_to_pose3_retreat,0.616496707792,0.0100907315929,1.0500323965,0.587067158811,0.0187624696838,1.04970051902
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+296,4.933333333,pose2_to_pose3_retreat,0.61571783533,0.0100907850727,1.05003220345,0.586288285977,0.0187625220198,1.04970033913
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+298,4.966666667,pose2_to_pose3_retreat,0.615090373862,0.0100908494109,1.05003237959,0.58566082452,0.018762585832,1.04970050594
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+402,6.700000000,pose2_to_pose3_retreat,0.575665297544,0.0100907544515,1.0500324268,0.546235750354,0.0187624983912,1.04970056376
+403,6.716666667,pose2_to_pose3_retreat,0.575665160235,0.010090752044,1.05003243871,0.546235613094,0.0187624961429,1.04970057551
+404,6.733333333,pose2_to_pose3_retreat,0.57566508498,0.0100907507245,1.05003244523,0.546235537865,0.0187624949107,1.04970058195
+405,6.750000000,pose2_to_pose3_retreat,0.575665070751,0.010090750475,1.05003244646,0.546235523641,0.0187624946777,1.04970058317
+406,6.766666667,pose2_to_pose3_retreat,0.575664950071,0.0100907483591,1.05003245693,0.546235403004,0.0187624927017,1.04970059349
+407,6.783333333,pose2_to_pose3_retreat,0.575664800348,0.0100907633526,1.05003247412,0.546235253116,0.018762506997,1.0497006071
+408,6.800000000,pose2_to_pose3_retreat,0.575664560282,0.0100907919147,1.05003250277,0.546235012729,0.0187625342157,1.04970062913
+409,6.816666667,pose2_to_pose3_retreat,0.575664452599,0.0100908032006,1.05003250413,0.546234904926,0.018762545006,1.04970062814
+410,6.833333333,pose2_to_pose3_retreat,0.5756644337,0.0100907920272,1.05003240533,0.546234886217,0.0187625346663,1.04970053436
+411,6.850000000,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e19259218ee620061c6c9ae20e544d93870831bb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f5363bb41ac5c682c01599260937e7161d0dd42b5d49ac2f21d2806ef688ac0
+size 26149882
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..93c2bea7d495843ce4eef80402d85cfec8f0426b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_02/franka_data.csv
@@ -0,0 +1,413 @@
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+27,0.450000000,BASELINE,766,746,715,680,666.334913476,636,879.665086524,787.334913476,804,653,632,653,0.400972913804,0.00452768970949,0.0598491918335,0.999999956875,0.000141575186603,-0.00025588475063,2.70035000667e-05,1793239207420555776
+28,0.466666667,BASELINE,766,746,714.75725013,680,666,636,879.75725013,787.24274987,804,653,631.75725013,653,0.400972323763,0.00452797204548,0.0598491285243,0.999999956683,0.000142367147621,-0.000256191159604,2.70343474104e-05,1793239207437221888
+29,0.483333333,BASELINE,766,746,714.182838659,680,666,636,879.182838659,787.817161341,804,653,631.182838659,653,0.400970103941,0.00452785891845,0.059847850906,0.999999956322,0.000140633740375,-0.000258557634464,2.69389702235e-05,1793239207453888512
+30,0.500000000,BASELINE,766,745.599336584,714.400663416,680,666,636,879.400663416,788,803.599336584,653,631.400663416,653,0.400970753452,0.00452907137038,0.0598480705909,0.99999995631,0.000141801569255,-0.000257998251496,2.6634353729e-05,1793239207470555136
+31,0.516666667,BASELINE,766,745.011589814,714.988410186,680,666,636,879.988410186,788,803.011589814,653,631.988410186,653,0.400972742751,0.00453090278016,0.0598489894176,0.999999956455,0.000144324083855,-0.000256072686079,2.62320362986e-05,1793239207487222016
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+40,0.666666667,BASELINE,766,746,714,679.208358,666.208358,636,879.791642,788,804,652.791642,631,653.208358,0.400969398397,0.00452640174933,0.0598475450319,0.999999956509,0.000138290227583,-0.000259093785451,2.70028356064e-05,1793239207637221888
+41,0.683333333,BASELINE,766,746,714,679.782801385,666.782801385,636,879.217198615,788,804,652.217198615,631,653.782801385,0.400972065435,0.00452903221777,0.059848711182,0.999999956613,0.000142545806551,-0.000256411463534,2.66009632932e-05,1793239207653888768
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+51,0.850000000,BASELINE,766,746,714,680,666.588106299,636,880,787,803,653,631,653,0.400972360979,0.00452800081583,0.0598495580813,0.9999999569,0.000142236100624,-0.000255436393059,2.68469405949e-05,1793239207820555520
+52,0.866666667,BASELINE,765.834616711,746,714,679.834616711,666.834616711,636,879.834616711,787.165383289,803.165383289,653,631,653,0.400972256782,0.00452752149667,0.0598493651342,0.999999956933,0.000141852145816,-0.000255506530093,2.69985282568e-05,1793239207837222400
+53,0.883333333,BASELINE,765.257028818,746,714,679.257028818,666.257028818,636,879.257028818,787.742971182,803.742971182,653,631,653,0.40097279246,0.00452856307181,0.0598499040169,0.999999956899,0.000143169618378,-0.000254918403831,2.68548979501e-05,1793239207853889024
+54,0.900000000,BASELINE,765.311933157,745.688066843,714,679,666,636,879,787.688066843,803.688066843,653,631,653,0.400973109516,0.00452870479458,0.0598502729397,0.999999956931,0.000143719662049,-0.000254491834523,2.67535843572e-05,1793239207870555392
+55,0.916666667,BASELINE,765.87397872,745.12602128,714,679,666,636,879,787.12602128,803.12602128,653,631,653,0.40097325128,0.00452812500298,0.0598505055862,0.999999957018,0.000143654370344,-0.000254194803889,2.66862009096e-05,1793239207887222016
+56,0.933333333,BASELINE,766,745.470299307,714.470299307,679,666,636,879,787.470299307,803.470299307,653,631.470299307,653,0.400973533423,0.00452808574818,0.0598504276844,0.999999957212,0.000143687194862,-0.00025340737372,2.6716732073e-05,1793239207903888640
+57,0.950000000,BASELINE,766,746,714.927204691,679.072795309,666,636,879,788,803.927204691,653,632,653,0.400973775149,0.00452825629022,0.0598502888283,0.999999957347,0.000143791885116,-0.000252810562248,2.67691071622e-05,1793239207920555264
+58,0.966666667,BASELINE,766,746,714.350533441,679.649466559,666,636,879,788,803.350533441,653,632,653,0.400973456263,0.00452879762691,0.0598503493311,0.999999956856,0.000144197728718,-0.000254514257228,2.67767970247e-05,1793239207937221888
+59,0.983333333,BASELINE,766,746,714.225717882,680,666.225717882,636,879,787.774282118,803,653,632,653,0.400972723972,0.00452907856543,0.0598499701198,0.999999956512,0.000143962842329,-0.000256006820648,2.66601796853e-05,1793239207953888512
+60,1.000000000,BASELINE,766,746,714.801318371,680,666.801318371,636,879,787.198681629,803,653,632,653,0.400971350865,0.00452895586393,0.0598489093129,0.999999956397,0.000142734768059,-0.000257172111803,2.63508752308e-05,1793239207970555392
+61,1.016666667,BASELINE,766,746,714.613929739,679.613929739,667,636,879.386070261,787,803.386070261,653,632,653,0.400970586151,0.00452899724127,0.059848544714,0.999999956353,0.000142400656996,-0.000257532182813,2.63350806206e-05,1793239207987222016
+62,1.033333333,BASELINE,766,746,714.024353995,679.024353995,667,636,879.975646005,787,803.975646005,653,632,653,0.400970142133,0.0045291251079,0.0598485471006,0.999999956346,0.000142537772186,-0.000257467805847,2.64740010349e-05,1793239208003888384
+63,1.050000000,BASELINE,766,746,714.555119459,679.555119459,666.444880541,636,880,787.555119459,803.444880541,653,632,653,0.40097178436,0.00452906807197,0.059849626465,0.99999995676,0.000142586553505,-0.000255827070136,2.64951787841e-05,1793239208020555008
+64,1.066666667,BASELINE,766,746,715,680,666.133559521,636,880,788,803.133559521,653,632,653,0.400972986968,0.00452938073216,0.0598503090061,0.999999957007,0.000142919897888,-0.000254676280044,2.64450236106e-05,1793239208037221632
+65,1.083333333,BASELINE,766,746,715,680,666.710016162,636,880,788,803.710016162,653,632,653,0.40097243367,0.00453094576211,0.0598495217582,0.999999956651,0.000144209504051,-0.000255375434389,2.61751445004e-05,1793239208053888256
+66,1.100000000,BASELINE,765.714857013,746,714.714857013,680,666.714857013,635.714857013,879.714857013,788,804,653,631.714857013,653,0.400971780795,0.00453081697284,0.0598490881633,0.999999956495,0.000144428995824,-0.000255855200239,2.62182538975e-05,1793239208070555136
+67,1.116666667,BASELINE,765.141076336,746,714.141076336,680,666.141076336,635.141076336,879.141076336,788,804,653,631.141076336,653,0.400971027125,0.00452897360486,0.0598490125558,0.999999956544,0.000143565257843,-0.000256112888733,2.6578187795e-05,1793239208087221760
+68,1.133333333,BASELINE,765.446952146,746,714.446952146,680,666.446952146,635.446952146,879.446952146,787.553047854,804,653,631,653,0.400971131948,0.00452787988787,0.059849112933,0.999999956676,0.00014229483092,-0.000256281939286,2.68127924005e-05,1793239208103888384
+69,1.150000000,BASELINE,766,746,714.961387422,679.961387422,667,636,879.961387422,787.038612578,803.961387422,653,631,653,0.400971513611,0.00452714383426,0.059849310659,0.99999995683,0.000141059140694,-0.000256345269933,2.69896896383e-05,1793239208120555008
+70,1.166666667,BASELINE,766,746,714.383870244,679.383870244,667,636,879.383870244,787.616129756,803.383870244,653,631,653,0.400971852601,0.00452798840226,0.0598500662589,0.999999956934,0.00014215884425,-0.000255336433009,2.69314753281e-05,1793239208137222400
+71,1.183333333,BASELINE,766.193091829,746,714,679,666.806908171,636,879,787.806908171,803.193091829,653,631,653,0.400971990831,0.00452876576116,0.059850331497,0.999999956849,0.000143501891311,-0.000254926146604,2.68714493435e-05,1793239208153889536
+72,1.200000000,BASELINE,766.768953606,746,714,679,666.231046394,636,879,787.231046394,803.768953606,653,631,653,0.400971731088,0.00452940989019,0.0598496246808,0.999999956389,0.000145327323457,-0.000255702379164,2.6807832029e-05,1793239208170555904
+73,1.216666667,BASELINE,766.656658008,746,714,679,666.343341992,636,879,787,804,653,631.343341992,653,0.400972366369,0.00452894854237,0.0598500255262,0.999999956584,0.00014515669335,-0.000255038181948,2.67873317057e-05,1793239208187222272
+74,1.233333333,BASELINE,766.083256913,746,714,679,666.916743087,636,879,787,804,653,631.916743087,653,0.400973601368,0.00452774646073,0.0598511685693,0.999999957216,0.000143648585347,-0.000253408812964,2.67957222777e-05,1793239208203888896
+75,1.250000000,BASELINE,765.492702045,746,714.507297955,679.507297955,666.492702045,636,879.507297955,787.507297955,803.492702045,653,631.492702045,653,0.400972097948,0.00452778795901,0.0598502914058,0.99999995692,0.000142914757333,-0.000254994983425,2.67129136602e-05,1793239208220555520
+76,1.266666667,BASELINE,765,746,714.901835172,680,666,636,879.901835172,788,803,653,631,653.098164828,0.400970536858,0.00452826660832,0.0598493758031,0.999999956527,0.000142677045521,-0.000256673364344,2.66211139807e-05,1793239208237221888
+77,1.283333333,BASELINE,765,746,714.323689763,680,666,636,879.323689763,788,803,653,631,653.676310237,0.400970968174,0.00452984987228,0.0598499501262,0.999999956445,0.000144222036445,-0.000256131955094,2.6561097383e-05,1793239208253888512
+78,1.300000000,BASELINE,765.252870449,746,714,680,666,636,879.252870449,787.747129551,803.252870449,653,631,653.747129551,0.400971854151,0.00453046022445,0.0598505426848,0.999999956532,0.000145307704564,-0.000255178407984,2.65536534936e-05,1793239208270555392
+79,1.316666667,BASELINE,765.827414109,746,714,680,666,636,879.827414109,787.172585891,803.827414109,653,631,653.172585891,0.400973318497,0.00452983294808,0.0598511584402,0.999999956834,0.000145809073995,-0.000253700585698,2.66130866679e-05,1793239208287222016
+80,1.333333333,BASELINE,765.588328948,746,714.411671052,679.588328948,666,636,879.588328948,787,803.588328948,653,631.411671052,653,0.400973242936,0.00452907845973,0.0598503568919,0.999999956763,0.000144914678437,-0.000254479125091,2.67145044901e-05,1793239208303888640
+81,1.350000000,BASELINE,765,745.999902882,715,679.000097118,666,636,879,787,803,653,631.999902882,653,0.400972506071,0.00452826972333,0.0598489470068,0.999999956529,0.000143421447879,-0.000256226279541,2.68339204057e-05,1793239208320555264
+82,1.366666667,BASELINE,765,745.420165261,715,679.579834739,666,636,879,787,803,653,631.420165261,653,0.400971025219,0.00452968229868,0.0598487402988,0.999999956187,0.000144645711413,-0.00025687607739,2.67827496784e-05,1793239208337221888
+83,1.383333333,BASELINE,765,745,714.841588602,680,666,636,879,787,803,653,631.158411398,653,0.400970309147,0.00453041070557,0.059848856451,0.999999956088,0.000145150636424,-0.000256980816741,2.67525173093e-05,1793239208353888768
+84,1.400000000,BASELINE,765,745,714.266068711,680,666,636,879,787,803,653,631.733931289,653,0.400971606791,0.00452933764846,0.0598498227171,0.999999956629,0.000143761492137,-0.000255650378385,2.67774171173e-05,1793239208370555904
+85,1.416666667,BASELINE,765.315349253,745.315349253,714,679.684650747,666,636,879,787,803.315349253,653,632,653,0.400972098262,0.00452913971402,0.0598501567765,0.999999956868,0.000143261247745,-0.000255003440729,2.66923877585e-05,1793239208387223040
+86,1.433333333,BASELINE,765.901838394,745.901838394,714,679.098161606,666,636,879,787,803.901838394,653,632,653,0.400971896578,0.00452969421734,0.0598499472591,0.999999956851,0.000143525286893,-0.000254944182691,2.65128403944e-05,1793239208403889664
+87,1.450000000,BASELINE,766,745.517610195,714.482389805,679.482389805,666,636,879,787,803.517610195,653,632,653,0.400973049012,0.00452870699364,0.0598506004005,0.999999957328,0.00014173203723,-0.000254088696338,2.63731951486e-05,1793239208420556032
+88,1.466666667,BASELINE,766,745.061761054,714.938238946,680,666.061761054,636,879.061761054,787.061761054,803.061761054,653,631.938238946,653,0.400974171925,0.00452768577013,0.0598512534341,0.999999957772,0.000140022283811,-0.000253299535176,2.6259709953e-05,1793239208437222656
+89,1.483333333,BASELINE,766,745.641244784,714.358755216,680,666.641244784,636,879.641244784,787.641244784,803.641244784,653,631.358755216,653,0.400972765619,0.0045289774253,0.0598504519398,0.999999957142,0.000142479087598,-0.000254408041275,2.62982787941e-05,1793239208453889024
+90,1.500000000,BASELINE,766,746,714,679.781491798,667,636,879.781491798,787.781491798,803.781491798,653,631,653,0.400971568293,0.00452916932626,0.059849801493,0.999999956687,0.000143603332413,-0.000255549431668,2.64269265856e-05,1793239208470555392
+91,1.516666667,BASELINE,766,746,714,679.207837159,667,636,879.207837159,787.207837159,803.207837159,653,631,653,0.400970710625,0.00452757377113,0.0598493965471,0.999999956523,0.000142561738073,-0.000256744269554,2.67019817752e-05,1793239208487222016
+92,1.533333333,BASELINE,766,746,714,679.373828391,666.626171609,636,879.373828391,787,803.373828391,653,631.373828391,653,0.400971498279,0.00452845050659,0.0598498600458,0.999999956583,0.000143672091184,-0.000255894903871,2.66487107342e-05,1793239208503888640
+93,1.550000000,BASELINE,766,746,714,679.960045352,666.039954648,636,879.960045352,787,803.960045352,653,631.960045352,653,0.400973220714,0.00453073186037,0.0598508169466,0.999999956764,0.000146005061452,-0.000253884135144,2.64089029545e-05,1793239208520555264
+94,1.566666667,BASELINE,766,746,714,680,666,636,880,787,803.457164053,653,632,653,0.400972303357,0.004529560987,0.0598502589307,0.999999956769,0.000144081017626,-0.000254976546056,2.62594095193e-05,1793239208537222400
+95,1.583333333,BASELINE,766,746,714,679.876402428,666,636,880,787,803.123597572,653,631.876402428,653.123597572,0.400971443905,0.00452833716041,0.0598497381056,0.999999956791,0.000142110417202,-0.000256003564879,2.61577098335e-05,1793239208553889280
+96,1.600000000,BASELINE,766,746,714,679.302125154,666,636,880,787,803.697874846,653,631.302125154,653.697874846,0.40097149963,0.00452784095892,0.0598497569196,0.999999956942,0.000141105403189,-0.000255964521669,2.62061958314e-05,1793239208570556160
+97,1.616666667,BASELINE,766,746,714,679.273708141,666,636,879.726291859,787,804,653,631.273708141,653.726291859,0.400971846061,0.00452795650717,0.0598499127414,0.999999957021,0.00014102782378,-0.000255692505411,2.62597271241e-05,1793239208587223296
+98,1.633333333,BASELINE,766,746,714,679.851268793,666,636,879.148731207,787,804,653,631.851268793,653.148731207,0.400972515212,0.00452875117918,0.0598502206601,0.999999957021,0.000141979820435,-0.000255161858024,2.63188593632e-05,1793239208603890176
+99,1.650000000,BASELINE,766,746,714,680,666,636,879,787.436046636,803.563953364,653,631.563953364,653,0.400972506901,0.0045297526412,0.0598500221926,0.999999956729,0.0001436072252,-0.000255407312595,2.61851231625e-05,1793239208620556288
+100,1.666666667,BASELINE,766,746,714,679.97698807,666,636,879.02301193,787.97698807,803.02301193,653,631.02301193,653,0.400972298516,0.00453071472874,0.0598496739161,0.999999956369,0.000145324073055,-0.000255866478825,2.60008204281e-05,1793239208637222400
+101,1.683333333,BASELINE,766,746,714,679.397654484,666,636,879.602345516,787.397654484,803.602345516,653,631.602345516,653,0.400972933625,0.00452899104041,0.0598499498785,0.999999956846,0.000143540108436,-0.000254984775739,2.62112083309e-05,1793239208653888768
+102,1.700000000,BASELINE,766,746,714,679.179905463,666.179905463,636,879.820094537,787,804,653,632,653,0.400973225744,0.00452824629895,0.0598501601035,0.999999957089,0.000142699707312,-0.000254487463176,2.63661676791e-05,1793239208670555648
+103,1.716666667,BASELINE,766,746,714,679.753583243,666.753583243,636,879.246416757,787,804,653,632,653,0.400972767138,0.00452964425071,0.0598502264442,0.999999956825,0.000143924553228,-0.000254831494535,2.63998064466e-05,1793239208687222272
+104,1.733333333,BASELINE,766,746,714,679.670419026,666.670419026,636,879.329580974,787,803.670419026,653,631.670419026,653,0.400971450265,0.00452931593479,0.0598498061226,0.999999956639,0.000143291611051,-0.000255904962686,2.64886587706e-05,1793239208703888896
+105,1.750000000,BASELINE,766,746,714,679.092674386,666.092674386,636,879.907325614,787,803.092674386,653,631.092674386,653,0.400969487146,0.00452768779608,0.0598490193602,0.999999956508,0.000141259815496,-0.000257527672851,2.66190850952e-05,1793239208720556032
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,715,680,667,636,879,787,804,653,631,653,0.400970924334,0.00452848169499,0.0598490307295,0.999999956652,0.00014147746089,-0.000256892692762,2.61908142698e-05,1793239208751439616
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714.423014879,679.423014879,666.423014879,636,879.576985121,787,803.423014879,653,631.576985121,653,0.400972685367,0.00452826962916,0.0598500937867,0.9999999572,0.000140895037997,-0.00025507003084,2.6229388474e-05,1793239208768106240
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.154205826,636,880,787,803,653,631.845794174,653,0.400973873816,0.0045284861765,0.0598508293365,0.999999957548,0.000140833940485,-0.000253737495911,2.62169951688e-05,1793239208784772608
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666.7320739,636,880,787,803,653,631.2679261,653,0.40097348916,0.00452988028774,0.0598506650984,0.999999957354,0.000142205122601,-0.000253751526456,2.60645746752e-05,1793239208801439232
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,714,679.315293391,667,636,880,787.315293391,803.315293391,653,631,653,0.400972960316,0.00453028804149,0.0598505971402,0.999999957277,0.000142905158751,-0.00025366681795,2.60210019102e-05,1793239208818106112
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,714,679.903138823,667,636,880,787.903138823,803.903138823,653,631,653,0.40097230683,0.00452984314884,0.05985061241,0.999999957302,0.000143025029781,-0.000253496755516,2.60715214238e-05,1793239208834772992
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.515716698,746,714,680,667,636,879.515716698,787.515716698,803.515716698,653,631,653,0.400972358892,0.00452875002149,0.0598507918056,0.999999957403,0.000141772690202,-0.000253774723802,2.63257754629e-05,1793239208851439872
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.063482032,746,714.063482032,679.936517968,666.936517968,635.936517968,879,787,803.063482032,653,631.063482032,653,0.400972668972,0.00452782739301,0.059851065721,0.999999957501,0.000140733478615,-0.000253939716183,2.65705678236e-05,1793239208868106752
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.637662545,746,714.637662545,679.362337455,666.362337455,635.362337455,879,787,803.637662545,653,631.637662545,653,0.400973934994,0.00452930518249,0.059851839548,0.999999957468,0.000143586626617,-0.000252484787301,2.64159023105e-05,1793239208884773120
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714.789247882,679.210752118,666,635.210752118,879.210752118,787,803.789247882,653,632,652.789247882,0.400976799559,0.00453007188617,0.0598531886371,0.99999995786,0.000144888630854,-0.000250181867503,2.63913753183e-05,1793239208901439744
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,714.218024319,679.781975681,666,635.781975681,879.781975681,787,803.218024319,653,632,652.218024319,0.400982398279,0.00452962234512,0.0598555216571,0.999999958981,0.000143537550985,-0.000246428540078,2.6589437899e-05,1793239208918106112
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.630474348,714.369525652,679.630474348,666,635.630474348,879.630474348,787,803,653,632,652.369525652,0.401003013418,0.004529274394,0.0598646225289,0.999999962826,0.000142756985252,-0.000230767644462,2.67433472751e-05,1793239208934772736
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.032846283,714.967153717,679.032846283,666,635.032846283,879.032846283,787,803,653,632,652.967153717,0.401032897959,0.0045289891527,0.0598779010903,0.999999967929,0.000142328588791,-0.000207756392571,2.68700015754e-05,1793239208951439360
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.544308253,714.455691747,679,666,635.544308253,879.544308253,787,803.544308253,653,631.455691747,653,0.401088172013,0.0045271277661,0.059897588776,0.999999975136,0.000140396918405,-0.00017113731507,2.69986299749e-05,1793239208968106240
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.879944211,714,679.120055789,666.120055789,636,880,787,804,653.120055789,631.120055789,653,0.401147880527,0.00452579019178,0.0599167221969,0.999999980601,0.000138895486204,-0.000137004851999,2.71090134652e-05,1793239208984773120
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.305016077,714,679.694983923,666.694983923,636,880,787,804,653.694983923,631.694983923,653,0.401218795959,0.00452678456132,0.0599323433547,0.999999983275,0.000139355403853,-0.000115292243591,2.71498350493e-05,1793239209001439744
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.275925598,714,680,666.724074402,636,880.275925598,787,803.724074402,653.724074402,631.724074402,653,0.401294651237,0.00452664348537,0.0599431572346,0.999999985293,0.000137750037697,-9.85552648025e-05,2.69443790486e-05,1793239209018106368
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.863662882,714,680,666.136337118,636,880.863662882,787,803.136337118,653.136337118,631.136337118,653,0.40137608882,0.0045252192911,0.0599485386148,0.999999986874,0.000133810782891,-8.74410330196e-05,2.64606153159e-05,1793239209034772992
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,714.445139874,680,666,636,880.554860126,787.445139874,803,653,631.445139874,652.554860126,0.401472130056,0.0045253784807,0.0599508509587,0.999999987513,0.000132343021962,-8.2554892892e-05,2.53944500547e-05,1793239209051439616
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666,636,879.975368184,787.975368184,803.024631816,653,631.975368184,652.024631816,0.401573659324,0.00452598743739,0.05995231595,0.999999987906,0.000131543753783,-7.93747254991e-05,2.41719132859e-05,1793239209068105984
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666,636,879.397990907,787.397990907,803.602009093,653,631.397990907,652.602009093,0.401699362816,0.0045259576336,0.0599555670391,0.999999988796,0.000128994668513,-7.22650847612e-05,2.33876837455e-05,1793239209084772608
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,715,679.821852383,666.178147617,636,879.178147617,787.178147617,803.821852383,653,631.178147617,653,0.401833131143,0.00452568091165,0.0599581184344,0.999999989606,0.000126272339017,-6.59161495356e-05,2.23440579191e-05,1793239209101439232
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,715,679.248462262,666.751537738,636,879.751537738,787.751537738,803.248462262,653,631.751537738,653,0.401984792288,0.00452485637127,0.0599591174719,0.999999990324,0.000123165646149,-6.12549344544e-05,2.07249294809e-05,1793239209118106112
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,714.664683675,679.335316325,666.664683675,636,879.664683675,788,803,653,631.664683675,653,0.402153629092,0.00452498277596,0.0599591147319,0.999999990914,0.000119998733205,-5.83995810714e-05,1.89951325252e-05,1793239209134772992
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,714.072961286,679.927038714,666.072961286,636,879.072961286,788,803,653,631.072961286,653,0.40233559961,0.00452583633897,0.0599583459635,0.999999991413,0.000116785771494,-5.69251140004e-05,1.71807105925e-05,1793239209151439872
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.493162859,746,714,680,666,636,879,787.493162859,803.506837141,653,631,653,0.402552051509,0.00452571062323,0.0599580517254,0.999999991953,0.000114653288326,-5.21581112184e-05,1.51142782067e-05,1793239209168106496
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.084730058,746,714.084730058,679.915269942,666,636,879.084730058,787,803.915269942,653,631.084730058,653,0.402778273235,0.00452543575156,0.0599579626902,0.999999992511,0.000112292908026,-4.69202343927e-05,1.29183502925e-05,1793239209184772864
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.661297052,746,714.661297052,679.338702948,666,636,879.661297052,787,803.338702948,653,631.661297052,653,0.403033055499,0.00452509456036,0.0599586773947,0.999999993279,0.000107727526422,-4.16371101465e-05,1.01764761964e-05,1793239209201439488
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.764035224,715,679,666.235964776,636,879.764035224,787.235964776,803,653,632,653,0.403303122782,0.00452428031287,0.0599606336025,0.999999994157,0.00010169858692,-3.58593225484e-05,7.51827780041e-06,1793239209218106368
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.192071971,715,679,666.807928029,636,879.192071971,787.807928029,803,653,632,653,0.403594954922,0.00452279246406,0.0599643576299,0.999999995177,9.35856365485e-05,-2.93771668639e-05,4.97922831719e-06,1793239209234772736
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.395197731,715,679.395197731,666.604802269,636,879,787.604802269,803,653,632,653,0.403903924097,0.00452180314736,0.0599579793054,0.999999995604,8.55326868665e-05,-3.83773338954e-05,1.91538293999e-06,1793239209251439104
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.990206314,715,679.990206314,666.009793686,636,879,787.009793686,803,653,632,653,0.4042215577,0.00452106588712,0.0599464932605,0.999999995471,7.75100735874e-05,-5.52053195507e-05,-1.41379767566e-06,1793239209268105984
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666,636,879,787.565472579,803,653,631.434527421,652.434527421,0.404564748372,0.00452191644058,0.0599342109728,0.999999994313,7.13205361221e-05,-7.91368272975e-05,-4.93231847723e-06,1793239209284772864
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,714.858903849,680,666,636,879,787.858903849,803.141096151,653,631,652.141096151,0.404921906553,0.00452268544599,0.0599236994549,0.999999992893,6.52776364324e-05,-9.93948155379e-05,-8.54038129966e-06,1793239209301439488
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,714.28115214,680,666,636,879,787.28115214,803.71884786,653,631,652.71884786,0.405320966815,0.00452311984688,0.0599187092452,0.999999992324,5.95936065473e-05,-0.000107916321739,-1.24157463953e-05,1793239209318106112
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.706250545,746,714,679.706250545,666,636,879,787,804,653,631,653,0.405759737372,0.00452205124495,0.0599267068266,0.999999994002,5.15603095045e-05,-9.52783424707e-05,-1.60988201521e-05,1793239209334772736
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.134050559,746,714,679.134050559,666,636,879,787,804,653,631,653,0.406236150099,0.00451955791895,0.0599470157744,0.999999996997,4.13000980337e-05,-6.25828971082e-05,-1.95996178386e-05,1793239209351439360
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.45709674,746,714.45709674,679.45709674,666,636,879,787,803.54290326,653,631,653,0.406761729418,0.00451726661125,0.0599753907492,0.999999999195,2.93142605241e-05,-1.47677716546e-05,-2.30811139289e-05,1793239209368106240
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.948344453,746,714.948344453,679.948344453,666,636,879.051655547,787.051655547,803,653,631,653,0.407300879621,0.00451530894362,0.060003976611,0.999999998942,1.73476500311e-05,3.32989359556e-05,-2.65854591916e-05,1793239209384772864
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.377749017,746,714.377749017,679.377749017,666,636,879.622250983,787.622250983,803,653,631,653,0.407825247306,0.00451608215365,0.0600098894078,0.999999998779,1.08780629831e-05,3.74213583086e-05,-3.03786789783e-05,1793239209401439488
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.192413907,746,714.192413907,679.192413907,666.192413907,636,880,787.807586093,803,653,631.192413907,653,0.40835267287,0.00451610712514,0.0600096762517,0.999999998989,3.85395192701e-06,2.92916809064e-05,-3.38969833347e-05,1793239209418106112
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.761729592,746,714.761729592,679.761729592,666.761729592,636,880,787.238270408,803,653,631.761729592,653,0.408886088198,0.00451466644145,0.0599974635335,0.999999999307,-4.25636445582e-06,-2.83749999393e-06,-3.68767810735e-05,1793239209434773248
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.651101508,746,715,679.651101508,667,636,880,787.348898492,803.348898492,653,631.651101508,652.651101508,0.409472433273,0.00451354503149,0.0599912003196,0.999999998946,-1.1883692081e-05,-1.86207278657e-05,-4.02397042438e-05,1793239209451439872
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.051082752,746,715,679.051082752,667,636,880,787.948917248,803.948917248,653,631.051082752,652.051082752,0.410096874598,0.00451265341941,0.0599892192718,0.999999998597,-1.91633874038e-05,-2.26389276936e-05,-4.38783824657e-05,1793239209468106240
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,746,715,679.527350286,667,636,879.472649714,787.472649714,803.472649714,653,631,652.527350286,0.41076136494,0.00451227328852,0.0599987094535,0.999999998927,-1.24551692726e-05,7.7034385599e-07,-4.46198735172e-05,1793239209484772864
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,746,715,680,667,636,879,787,803.103362098,653,631,653,0.411429755069,0.00451242788838,0.0600062118037,0.999999998833,7.51349676315e-07,2.0625742695e-05,-4.36721931256e-05,1793239209501439488
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,746,715,680,667,636,879,787,803.677494938,653,631,653,0.412098932554,0.00451480117571,0.0599997984651,0.999999998555,3.76262640175e-05,1.26699163645e-05,-3.62589898364e-05,1793239209518106112
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,746,714.740556699,680,667,636,879.259443301,787,803.740556699,653,631,653,0.412754745246,0.00451534024895,0.0599807648222,0.999999997655,5.48394595629e-05,-2.35445697316e-05,-3.35770333868e-05,1793239209534772992
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,746,714.148591293,680,667,636,879.851408707,787,803.148591293,653,631,653,0.413393428701,0.00451352845538,0.0599455560445,0.999999993614,4.68527181729e-05,-9.59774866991e-05,-3.69589986621e-05,1793239209551439872
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,746,714.432743726,679.567256274,666.567256274,636,880,787.432743726,803.432743726,653,631,653,0.414124882225,0.00451169689257,0.0599333809324,0.999999991436,4.377362283e-05,-0.00011679990971,-3.96237398145e-05,1793239209568106496
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.010498712,746,714.989501288,679,666,635.989501288,880,787.989501288,804,652.989501288,631,653,0.414888866238,0.00450982111681,0.0599300057092,0.999999991203,4.23755146545e-05,-0.000118466717366,-4.19895779679e-05,1793239209584773120
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.587317411,746,714.412682589,679,666,635.412682589,880,787.412682589,804,652.412682589,631,653,0.415730516093,0.00450591779433,0.059984911611,0.999999998033,4.29328407601e-05,-1.98554451381e-05,-4.1197973039e-05,1793239209601439488
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.836706384,714,679,666,635.163293616,880,787,804,652.163293616,631,653,0.416555331882,0.00450121520264,0.0600255802923,0.999999997003,4.29053793307e-05,5.04395752242e-05,-4.01086203049e-05,1793239209618106368
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.262848475,714,679,666,635.737151525,880,787,804,652.737151525,631,653,0.417337822228,0.00449450303232,0.0600304527495,0.999999997183,4.14076048214e-05,4.95398774295e-05,-3.82706500101e-05,1793239209634772736
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.678297401,745.321702599,714.321702599,679.321702599,666.321702599,635.678297401,880,787,804,653,631.321702599,653,0.418125043503,0.00448907109046,0.0600226452499,0.999999997853,3.91606629314e-05,3.62558590078e-05,-3.80341182699e-05,1793239209651439360
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.084709066,745.915290934,714.915290934,679.915290934,666.915290934,635.084709066,880,787,804,653,631.915290934,653,0.418916263067,0.00448472112917,0.0600041213326,0.999999998497,3.62805651218e-05,1.25052788798e-05,-3.91510363432e-05,1793239209668105984
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.496545693,746,715,680,667,635,880,787.496545693,804,652.503454307,631.503454307,653,0.419741058437,0.0044844504303,0.0599818631821,0.999999998441,3.00226401968e-05,-2.25611584595e-05,-4.13184944365e-05,1793239209684772608
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,714.925270005,680,667,635,880,787.925270005,804,652,631.074729995,653,0.42056399206,0.0044849152456,0.059957603768,0.999999996953,1.6507497378e-05,-6.27952770445e-05,-4.33274385252e-05,1793239209701439232
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,714.353848011,680,667,635,880,787.353848011,804,652,631.646151989,653,0.421337403365,0.00448575540078,0.0599241745004,0.999999990414,-4.15054655777e-05,-0.000124856583166,-4.31205157077e-05,1793239209718106368
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.782894258,745.782894258,714.217105742,679.782894258,666.782894258,635.217105742,880.217105742,787,804.217105742,652,631.782894258,653,0.422142651523,0.00448581430522,0.0599055688347,0.999999983798,-7.51723218427e-05,-0.00015764827827,-4.35815188338e-05,1793239209734772992
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.21270193,745.21270193,714.78729807,679.21270193,666.21270193,635.78729807,880.78729807,787,804.78729807,652,631.21270193,653,0.422999677181,0.00448460263465,0.0599110713009,0.999999986383,-6.92442714208e-05,-0.000142837802551,-4.5128793418e-05,1793239209751439616
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.37643765,745.37643765,714.62356235,679,666.37643765,636,880.62356235,787,804.62356235,652.37643765,631,653,0.423909630638,0.00448386636126,0.0599555934141,0.999999994596,-6.32266256096e-05,-6.89613775415e-05,-4.5337402049e-05,1793239209768106496
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.976850551,745.976850551,714.023149449,679,666.976850551,636,880.023149449,787,804.023149449,652.976850551,631,653,0.42485107536,0.00448341294275,0.0600233316832,0.999999996563,-5.71556715146e-05,4.00584790668e-05,-4.47495222232e-05,1793239209784773376
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,714,679.549975987,667,635.450024013,880,787,804,652.450024013,631,653,0.425739590561,0.00448228650422,0.0600393654094,0.999999995437,-5.16704930541e-05,6.64499725202e-05,-4.51796646684e-05,1793239209801439744
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.876542608,746,714,680,667,635.123457392,880.123457392,787,804,652,631.123457392,653,0.426618977913,0.0044810282581,0.0600453910354,0.999999994699,-4.66556864756e-05,7.93975825368e-05,-4.60534828519e-05,1793239209818106112
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.297711967,746,714,680,667,635.702288033,880.702288033,787,804,652,631.702288033,653,0.427472526252,0.00447938338987,0.0600221496915,0.99999999638,-4.32892034482e-05,5.49794645173e-05,-4.84132189452e-05,1793239209834772736
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,746,714.28636785,680,667,636,881,787.28636785,804.28636785,652.28636785,632,652.71363215,0.428303338673,0.00447880289601,0.0600014514265,0.999999997618,-3.81229252767e-05,2.84775205626e-05,-4.99951638039e-05,1793239209851439360
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,746,714.876006642,680,667,636,881,787.876006642,804.876006642,652.876006642,632,652.123993358,0.429110073115,0.00447934960217,0.0599834463493,0.99999999823,-3.10506178163e-05,-2.31247273409e-07,-5.0753407517e-05,1793239209868106240
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.457444208,746,715,680,667,636,881,788,804.542555792,652.542555792,632,652.457444208,0.429905591382,0.00447962819069,0.0599535735962,0.999999996954,-2.43441035517e-05,-5.37263154691e-05,-5.11117618467e-05,1793239209884772864
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,714.963772302,680,667,636,880.963772302,787.963772302,804,652,631.963772302,653,0.43070534629,0.00447955844737,0.0599247055088,0.999999992901,-1.8621564227e-05,-0.000105852208035,-5.1451517805e-05,1793239209901439488
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,714.391941516,680,667,636,880.391941516,787.391941516,804,652,631.391941516,653,0.431611892351,0.0044753943733,0.0599574116785,0.999999997446,-2.60064049878e-05,-4.01564906121e-05,-5.30906027177e-05,1793239209918105856
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667.181606915,635.818393085,880,787.181606915,804,652,631,653,0.432497826603,0.00447264136816,0.0599900587167,0.999999997925,-2.94334026597e-05,1.90094665717e-05,-5.40502486873e-05,1793239209934772736
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667.758897851,635.241102149,880,787.758897851,804,652,631,653,0.433338852145,0.00447296279048,0.060022576926,0.999999996229,-2.42370779401e-05,6.39484348947e-05,-5.35295379694e-05,1793239209951439360
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,714.345674257,680,667.654325743,635.345674257,880.345674257,787.654325743,804.345674257,652,631,653,0.43413047322,0.00447125566366,0.0600223119285,0.999999996551,-2.34367689044e-05,5.90627123915e-05,-5.34804713816e-05,1793239209968105984
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,714.939253254,680,667.060746746,635.939253254,880.939253254,787.060746746,804.939253254,652,631,653,0.434886663195,0.00446809373671,0.0599985360307,0.999999998052,-2.5789119376e-05,1.8444569173e-05,-5.37696504661e-05,1793239209984772864
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680.518566754,667,635.481433246,880.481433246,787,804.481433246,652,631.518566754,653,0.435639267085,0.00446406243154,0.0599732505493,0.999999997681,-2.97985621341e-05,-2.77372319044e-05,-5.45977260343e-05,1793239210001439488
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680.904290031,667,635,880.095709969,787,804.095709969,652,632,653,0.436389411871,0.00446084642713,0.0599510672677,0.9999999956,-3.2504625725e-05,-6.83051100275e-05,-5.54858083334e-05,1793239210018106368
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715,680.329867336,667,635,880.670132664,787,804.670132664,652,632,653,0.437129301827,0.00446220405996,0.0599452610752,0.999999995014,-2.77466512017e-05,-7.76212519267e-05,-5.63667317528e-05,1793239210034772992
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.748934979,745.748934979,714.748934979,680.251065021,667,635,881,787,805,652,632,653,0.437839544196,0.00446214928023,0.0599366763757,0.999999993447,-2.4429263958e-05,-9.66479234624e-05,-5.62856080919e-05,1793239210051439616
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.159222144,745.159222144,714.159222144,680.840777856,667,635,881,787,805,652,632,653,0.438509796505,0.00446018937469,0.0599243439011,0.999999989936,-2.30550061183e-05,-0.000128772594108,-5.49068318741e-05,1793239210068106240
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.422816705,745.422816705,714,680.577183295,667,635.422816705,881,787.422816705,805,652,632,653,0.439219974765,0.00445763791516,0.0599412928962,0.999999992206,-4.77004232106e-05,-0.000101340720449,-5.51541895866e-05,1793239210084772864
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.998000324,746,714.001999676,680,667,635.998000324,881,787.998000324,805,652,632,653,0.439944753919,0.0044548753661,0.0599690801996,0.999999993728,-8.19386944074e-05,-5.19140024014e-05,-5.59988824831e-05,1793239210101439232
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.423855953,746,714.576144047,680,667,635.423855953,881,787.423855953,805,652,632,653,0.440621963964,0.00445431708051,0.0599992146777,0.999999992617,-0.000107353830023,-1.18897075383e-05,-5.56676678704e-05,1793239210118105856
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,746,714.846021685,680.153978315,666.846021685,635,881,787.153978315,804.846021685,652,632,653,0.441268632577,0.00445412496884,0.0600109506657,0.999999990755,-0.00012412677637,7.57047639128e-07,-5.55208471782e-05,1793239210134772736
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714.257780725,680.742219275,666.257780725,635,881,787.742219275,804.257780725,652,632,653,0.441829165818,0.0044549655716,0.0599707976854,0.999999989613,-0.000116526296991,-6.38086369568e-05,-5.58940698711e-05,1793239210151439616
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.325713517,746,714.325713517,681,666.325713517,635,881,788,804.325713517,652,632,653,0.442365233641,0.00445689210143,0.0599238568671,0.999999983519,-0.000107406058568,-0.000134996212662,-5.65820953462e-05,1793239210168106240
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.90550497,746,714.90550497,681,666.90550497,635,881,788,804.90550497,652,632,653,0.442882216798,0.00445966572565,0.0598716210919,0.999999971297,-9.71003084883e-05,-0.000211349294138,-5.7515687518e-05,1793239210184772864
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.516663154,746,714.516663154,681,666.516663154,635,881,787.516663154,804.516663154,652,632,653,0.443396973153,0.00445981329079,0.0598538261141,0.999999965836,-9.07638803019e-05,-0.000238262123292,-5.76299544866e-05,1793239210201439488
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,746,714,681,666,635,881,787,804,652,632,653,0.443910252026,0.0044600257954,0.0598449338855,0.999999962948,-8.5392043868e-05,-0.000251917536594,-5.78820494639e-05,1793239210218106112
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,746,714,681,666,635,881,787,804,652,632,653,0.444414658341,0.00446513637915,0.0598547115106,0.999999967281,-8.16495768551e-05,-0.000234714481888,-6.06616012937e-05,1793239210234772736
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.212048249,746,714,681,665.787951751,635,881,787,804,652,631.787951751,653,0.444891699812,0.00447196302394,0.0598572847358,0.999999968147,-7.48791446934e-05,-0.00023250284033,-6.35661755567e-05,1793239210251439360
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.80031917,746,714,681,665.19968083,635,881,787,804,652,631.19968083,653,0.44532018966,0.00448183435766,0.0598470756871,0.999999962812,-6.27364019583e-05,-0.000256889437145,-6.66925682518e-05,1793239210268105984
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,714,681,665,635,881,787,804.385053393,652,631.385053393,653,0.445705992885,0.0044944597116,0.0598204894725,0.999999950026,-4.95264936772e-05,-0.000304115674375,-7.07660580682e-05,1793239210284772864
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,714,681,665,635,881,787,804.967970302,652,631.967970302,653,0.446069861202,0.00450850024712,0.0597854876873,0.99999993061,-3.57682105227e-05,-0.000363078289396,-7.53262232473e-05,1793239210301439744
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.455057464,746,714,680.455057464,665,634.455057464,881,787,805,652.544942536,632,653,0.446426491817,0.00451430813848,0.0597714248337,0.999999925467,-2.70463155214e-05,-0.000377403418563,-7.68253459561e-05,1793239210318106368
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.120934793,746,714,680.120934793,665,634,881,787,805,652.879065207,632,653,0.446779277612,0.00451831733836,0.0597626421212,0.99999992276,-1.91900856417e-05,-0.000384859896843,-7.74274849803e-05,1793239210334772992
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.694552747,746,714,680.694552747,665,634,881,787,805,652.305447253,632,653,0.447119246773,0.00451738540713,0.0597690669401,0.999999926263,-1.34781057171e-05,-0.000376320421555,-7.53382315878e-05,1793239210351439360
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,714,681,665,634,881,787.267016319,804.732983681,652,631.732983681,653,0.447445204915,0.00451867732873,0.0597770691128,0.999999931235,4.29599630834e-06,-0.000364044330241,-7.05991159758e-05,1793239210368106240
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,714,681,665,634,881,787.838165012,804.161834988,652,631.161834988,653,0.447755204443,0.00452250222532,0.0597868678955,0.999999937002,3.58088905366e-05,-0.000347512222476,-6.28417995653e-05,1793239210384772864
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.570879887,746,714.429120113,681,665,634,881,787.570879887,804.429120113,652,631.429120113,653,0.448018915991,0.0045240204579,0.0597849191829,0.999999935652,4.12424585007e-05,-0.000350993168511,-6.16378508225e-05,1793239210401439488
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714.973216107,681,664.973216107,634,881,787,805,652,632,653,0.448262162167,0.00452471098978,0.0597779394139,0.99999993151,3.66383703112e-05,-0.000362852738611,-6.3051653856e-05,1793239210418105856
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,714.398513177,681,664.398513177,634,881,787,805,652,632,653,0.448461140066,0.00452712627791,0.059763056755,0.999999923358,3.7631775183e-05,-0.000384241948326,-6.50111012209e-05,1793239210434772992
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,746.175987927,714.175987927,681,664,634,881,787,804.824012073,652,632,653,0.448648772785,0.004528761607,0.0597474216525,0.999999913977,3.7372353117e-05,-0.000407669429919,-6.67456047276e-05,1793239210451439616
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,746.750032454,714.750032454,681,664,634,881,787,804.249967546,652,632,653,0.448810744489,0.00452863279291,0.0597300846446,0.999999902182,3.42792363685e-05,-0.000435707154393,-6.79713208896e-05,1793239210468106496
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.335436132,746.664563868,714.664563868,681,664,634,881,787,804,652,631.664563868,653,0.44895888627,0.00452859836625,0.0597150661161,0.999999891265,3.29299615522e-05,-0.000460051325159,-6.88307910436e-05,1793239210484773120
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.929601431,746.070398569,714.070398569,681,664,634,881,787,804,652,631.070398569,653,0.449096360748,0.00452863674267,0.0597018358792,0.999999881106,3.29257495335e-05,-0.000481546580811,-6.94077678397e-05,1793239210501439488
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,714,681,664,634,880.491713468,787,804.508286532,652,631.508286532,653,0.449225280848,0.00453007070866,0.0596999957726,0.999999880348,3.42370989572e-05,-0.000483002548656,-6.95778482544e-05,1793239210518106368
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.91542428,746,714,681,664,634,880.08457572,787,805,652,632,653,0.449349166679,0.00453160508919,0.0596998424731,0.999999880881,3.57369547074e-05,-0.000481772600303,-6.96827177446e-05,1793239210534772992
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.340960863,746,714,681,664,634,880.659039137,787,805,652,632,653,0.449450552441,0.00453263458942,0.0597005920753,0.999999881392,3.7304488356e-05,-0.000480586263764,-6.97266482798e-05,1793239210551439360
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.238741463,746,714,681,664,633.761258537,881,787,805,652,632,652.761258537,0.449542803471,0.00453289347678,0.0597002068706,0.999999881495,3.71197077058e-05,-0.000480356861479,-6.99274659821e-05,1793239210568105984
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.826093619,746,714,681,664,633.173906381,881,787,805,652,632,652.173906381,0.449621715944,0.00453202711382,0.0596981646187,0.999999881001,3.43761946279e-05,-0.0004815247763,-7.03573705912e-05,1793239210584772864
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+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,714,681,663.530072509,633,881,787,804.530072509,652.530072509,632,653,0.449888798847,0.00453658559601,0.0596749600133,0.999999862697,4.06531944114e-05,-0.000517690485081,-7.03595171039e-05,1793239210718105856
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,714,681,663.047475424,633,880.952524576,787,804.047475424,652,632,653,0.449895759832,0.00453981486712,0.0596726320171,0.999999860092,4.09576669411e-05,-0.000522559835943,-7.12060250114e-05,1793239210734772736
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,681,663.623102154,633,880.376897846,787,804.623102154,652,632,653,0.449902494411,0.00453765902574,0.0596726852327,0.999999860596,3.92228323401e-05,-0.000521812287972,-7.05750866674e-05,1793239210751439616
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714,681,663.796659123,633,880.203340877,787,805,652,632,653,0.449907982897,0.00453685135219,0.0596726593032,0.999999860946,3.98037254445e-05,-0.000521163618574,-7.00913518044e-05,1793239210768106496
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714,681,663.207673596,633,880.792326404,787,805,652,632,653,0.449911108116,0.00453860053661,0.0596724832715,0.99999986099,4.47764950696e-05,-0.000520702476652,-6.98867946625e-05,1793239210784773120
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.375106034,746,714,681,663,633,881,787,805,652,631.624893966,653,0.449913275192,0.00453913385571,0.0596730558658,0.999999861353,4.38116539864e-05,-0.000520051414358,-7.014768205e-05,1793239210801439488
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.954505734,746,714,681,663,633,881,787,805,652,631.045494266,653,0.449914920435,0.00453900497911,0.0596740361838,0.999999861884,3.96130171235e-05,-0.000519296915913,-7.06620640824e-05,1793239210818105856
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.469916915,745.469916915,714.530083085,681,663,633,881,787,805.530083085,652,631,653,0.44991592368,0.00453822624675,0.0596727434331,0.999999861513,3.96044701436e-05,-0.00052010008928,-7.00127771778e-05,1793239210834772480
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.105482068,745.105482068,714.894517932,681.105482068,663,633,881,787,805.894517932,652,631,653,0.449916869931,0.00453769511312,0.0596716913291,0.999999861279,3.97733974241e-05,-0.000520613988555,-6.94374520926e-05,1793239210851439360
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.681538165,745.681538165,714.318461835,681.681538165,663,633,881,787,805.318461835,652,631,653,0.44991780597,0.00453851559617,0.0596725768732,0.999999862002,3.91412547304e-05,-0.000519245254277,-6.9634439043e-05,1793239210868106240
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,714,681.736244201,663.263755799,633,880.736244201,787,805,652,631,653,0.449918056197,0.00453909599374,0.0596724612677,0.999999861822,3.93834583884e-05,-0.000519539959052,-6.98760476867e-05,1793239210884772864
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,714,681.146409026,663.853590974,633,880.146409026,787,805,652,631,653,0.44991745856,0.00453937957549,0.0596711079484,0.999999860524,4.0706609993e-05,-0.000521891161236,-7.01728218317e-05,1793239210901440256
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.566412555,746,714,681,663.566412555,633,880.433587445,787,805,652,631.433587445,653,0.449917365577,0.00453900225534,0.05967065815,0.999999860252,4.06584921298e-05,-0.000522435191712,-7.00351148215e-05,1793239210918106880
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.009923367,746,714,681,663,633,881,786.990076633,805,652.009923367,632,653,0.449917419443,0.0045384335798,0.0596704867439,0.999999860307,4.01674493237e-05,-0.000522403106247,-6.976299672e-05,1793239210934772992
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.563680221,746,714,681,663,633,881,786.436319779,805,652.563680221,632,653,0.449916389544,0.00453933686955,0.0596692231393,0.999999859717,4.02154732507e-05,-0.000523498337174,-6.99865466038e-05,1793239210951439360
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.869577203,746,714,681,663,633,881,786.130422797,805,652.869577203,632,653,0.449915863342,0.00454018677587,0.0596684609782,0.999999859238,4.08843042265e-05,-0.000524358516676,-6.99979377676e-05,1793239210968105984
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.254588166,746,714,681,663,633,881,786.745411834,805,652.254588166,632,653,0.449917208554,0.00454083834407,0.059669561855,0.999999859173,4.38596502057e-05,-0.000524345397975,-6.92210851761e-05,1793239210984772608
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.339386269,746,714,681,663,633,881,787,805,652,631.660613731,653,0.449917896637,0.00454038094792,0.0596700478897,0.999999859494,4.2540111177e-05,-0.000523846030082,-6.91896018495e-05,1793239211001439488
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.918515906,746,714,681,663,633,881,787,805,652,631.081484094,653,0.449918120524,0.00453914017636,0.0596700995983,0.999999860077,3.81866537625e-05,-0.000523003174456,-6.96846493978e-05,1793239211018106368
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.503393405,746,714,681,663,633,881,787,804.503393405,652,631,653,0.449918593021,0.00453901009951,0.0596703012312,0.999999860229,3.93109310829e-05,-0.000522656079167,-6.94823645672e-05,1793239211034773248
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,681.074005041,663,633,881,787,804.074005041,652,631,652.925994959,0.449919031741,0.00453914811131,0.0596704080553,0.999999860234,4.09554736063e-05,-0.000522552856862,-6.92371588386e-05,1793239211051439872
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714,681.647876519,663,633,881,787,804.647876519,652,631,652.352123481,0.449918967366,0.00453986852483,0.0596697086815,0.999999859733,4.00559032912e-05,-0.000523548574079,-6.94732767437e-05,1793239211068106496
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714,682,663,633,881,787,805,652,631,652.226946928,0.449919110586,0.00453994792967,0.0596694352751,0.999999859669,3.87165215931e-05,-0.000523764855028,-6.95166360093e-05,1793239211084772864
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714,682,663,633,881,787,805,652,631,652.814273039,0.449919583454,0.00453900944824,0.0596698382813,0.999999860299,3.66787435774e-05,-0.0005227434344,-6.92539052417e-05,1793239211101439232
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714,681.601362494,663,633,881,787,804.601362494,652.398637506,631,652.601362494,0.449919236411,0.00453936149006,0.0596697135717,0.999999859995,3.69303890223e-05,-0.000523316549453,-6.91870820399e-05,1793239211118105856
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714,681.018367729,663,633,881,787,804.018367729,652.981632271,631,652.018367729,0.449918510185,0.00454031035819,0.0596693448102,0.999999859257,3.82408206462e-05,-0.000524627086967,-6.92108599168e-05,1793239211134772480
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714,681,663,633,881,787,804.556899732,653,631,652.556899732,0.449920150121,0.00453984698538,0.0596698631714,0.999999859937,3.76006672585e-05,-0.000523389965374,-6.90986803739e-05,1793239211151439360
+251,4.183333333,HOLD_POSE2,766,746,714,681,663,633,881,787,805,652,632,653,0.449920146446,0.00453947501459,0.0596701934628,0.999999860442,3.70120563908e-05,-0.000522470017077,-6.90695126234e-05,1793239211194547712
+252,4.200000000,HOLD_POSE2,765.383385931,746,714.616614069,681,663,633,881.616614069,787,805,652.616614069,632,653,0.44991980252,0.00453905750919,0.0596694303389,0.999999860092,3.73327518586e-05,-0.000523132997352,-6.89435301225e-05,1793239211211214336
+253,4.216666667,HOLD_POSE2,765.219159863,746,714.780840137,681,663,633,881.780840137,787,805,652.780840137,631.780840137,653,0.449919416153,0.00453898670485,0.0596687317259,0.999999859659,3.75962337713e-05,-0.000523934077766,-6.90034792846e-05,1793239211227880960
+254,4.233333333,HOLD_POSE2,765.798579987,746,714.201420013,681,663,633,881.201420013,787,805,652.201420013,631.201420013,653,0.449918960023,0.00453948581602,0.0596681391573,0.999999859088,3.77656667149e-05,-0.000524962170616,-6.93690673716e-05,1793239211244547328
+255,4.250000000,HOLD_POSE2,766,746,714,681,663,633,880.625571761,787,805,652,631.374428239,653,0.449919271233,0.00453935210136,0.0596679304523,0.999999858972,3.70042520403e-05,-0.000525264398618,-6.91702427711e-05,1793239211261213952
+256,4.266666667,HOLD_POSE2,766,746,714,681,663,633,880.051626841,787,805,652,631.948373159,653,0.449919991325,0.00453888118104,0.0596679262918,0.999999859096,3.57468287538e-05,-0.000525179844447,-6.86706669381e-05,1793239211277880576
+257,4.283333333,HOLD_POSE2,765.464163198,745.464163198,714,681,663,633,880.535836802,787,805,652.535836802,632,653,0.449920046142,0.00453864099771,0.0596682674298,0.999999859218,3.63202639446e-05,-0.000524911246814,-6.86554188938e-05,1793239211294547456
+258,4.300000000,HOLD_POSE2,765,745.12248047,714,681,663,633,881,787,804.87751953,653,631.87751953,653,0.44992028661,0.00453851129064,0.0596686902315,0.999999859414,3.70268285109e-05,-0.000524487818776,-6.86530042743e-05,1793239211311213824
+259,4.316666667,HOLD_POSE2,765,745.701094184,714,681,663,633,881,787,804.298905816,653,631.298905816,653,0.44992146335,0.00453870807738,0.0596692900553,0.999999859892,3.75552458832e-05,-0.000523555528459,-6.85201021227e-05,1793239211327880448
+260,4.333333333,HOLD_POSE2,765.278774995,746,714,681,663,633,881,787,804,652.721225005,631.278774995,653,0.449921970325,0.00453908361916,0.0596694050538,0.999999860074,3.71669899394e-05,-0.000523216978688,-6.86681541936e-05,1793239211344547328
+261,4.350000000,HOLD_POSE2,765.855458835,746,714,681,663,633,881,787,804,652.144541165,631.855458835,653,0.449921761562,0.00453965018489,0.0596690019506,0.999999859938,3.57991443494e-05,-0.000523512921179,-6.91164439179e-05,1793239211361214208
+262,4.366666667,HOLD_POSE2,766,746,714,681,663,633,881,787,804.431007172,652,631.568992828,653,0.449920508641,0.00453928317291,0.0596679664865,0.999999859187,3.66205473661e-05,-0.000524926457186,-6.88288695535e-05,1793239211377880832
+263,4.383333333,HOLD_POSE2,765.993645788,746,714,681,663,633,881,787,805,652,631.006354212,653,0.449918946153,0.00453861024749,0.0596667481733,0.99999985825,3.81354896285e-05,-0.000526669725312,-6.83025178756e-05,1793239211394547456
+264,4.400000000,HOLD_POSE2,765.401857175,746,714,681,663,633,881,787,805,652,631.598142825,653,0.449921039349,0.00453852195743,0.059668170432,0.999999859533,3.60838564632e-05,-0.000524352150524,-6.84534643107e-05,1793239211411214080
+265,4.416666667,HOLD_POSE2,765,746,714,681,663,632.814764396,880.814764396,786.814764396,804.814764396,652,632,653,0.449922378642,0.00453845333395,0.0596692220058,0.999999860273,3.45377267748e-05,-0.00052302466998,-6.86050446532e-05,1793239211427880704
+266,4.433333333,HOLD_POSE2,765,746,714,681,663,632.237606961,880.237606961,786.237606961,804.237606961,652,632,653,0.449922122824,0.00453842632104,0.0596694892841,0.999999859877,3.40611418826e-05,-0.000523792032221,-6.87579662476e-05,1793239211444547328
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,663,633,881,787,805,652,632,653,0.449922453774,0.00453926646455,0.0596688584058,0.999999859935,3.7766816704e-05,-0.00052346908308,-6.84313607796e-05,1793239211481870848
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.605763089,746,714,681,663,633,881,787,805,652,631.394236911,653,0.449923472344,0.00453972486626,0.0596691729559,0.999999860692,3.85103966563e-05,-0.000521940370361,-6.86347723978e-05,1793239211498538496
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.792520179,746,714,681,663,633,881,787,805,652,631.207479821,653,0.449923442254,0.00454008648786,0.0596691378427,0.999999860744,3.85083965753e-05,-0.000521824338666,-6.87589838816e-05,1793239211515205888
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.198344839,746,714,681,663,633,881,787,805,652,631.801655161,653,0.4499214577,0.0045402677333,0.059668451036,0.999999859482,3.71168038622e-05,-0.000524341225016,-6.87355842408e-05,1793239211531871744
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,663,633,881,787,805,652,631.617098285,653,0.44992049823,0.00453966468664,0.0596683334018,0.999999859191,3.63318577761e-05,-0.000524996479877,-6.83839441505e-05,1793239211548537856
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,663,633,881,787,805,652,631.042330189,653,0.449920052415,0.00453866864281,0.0596685009715,0.999999859389,3.58508934167e-05,-0.000524718898608,-6.78678276322e-05,1793239211565204224
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.526497747,746,714,681,663,633,881,787,805,652.526497747,631,653,0.449920686242,0.00453936513606,0.0596688938055,0.999999859654,3.51166952563e-05,-0.000524199806239,-6.83624863056e-05,1793239211581870848
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.900547175,714,681,663,633,881,787,804.900547175,652.900547175,631,653,0.449921261824,0.00454005373915,0.0596691568942,0.999999859835,3.44302672351e-05,-0.000523834622184,-6.88546399948e-05,1793239211598537216
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.304632208,714,681,663,633,881,787,804.304632208,652.304632208,631,653,0.449921118167,0.00454003123474,0.0596686829021,0.99999985958,3.40828060794e-05,-0.00052433358756,-6.89331407602e-05,1793239211615204352
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.715504017,745.284495983,714.284495983,681,663,633,881,787,804,652,631,653,0.449917013264,0.00454000724526,0.0596663776083,0.999999857949,3.45241584133e-05,-0.000527414757321,-6.88784956275e-05,1793239211631871488
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.133473675,745.866526325,714.866526325,681,663,633,881,787,804,652,631,653,0.449908765572,0.00453998170265,0.0596621570847,0.999999854851,3.57904753715e-05,-0.000533196473163,-6.86846025487e-05,1793239211648538624
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.442823664,746,714.557176336,681,663,633,881,787,804.442823664,652,631.442823664,653,0.44988643851,0.00453971012862,0.0596516838614,0.999999846336,3.56549586845e-05,-0.000548939252453,-6.87163795182e-05,1793239211665204992
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,714,681,663,633,881,787,804.982592312,652,632,653,0.449859095518,0.00453942107535,0.0596391396749,0.999999835775,3.51637950165e-05,-0.000567868445143,-6.88356284905e-05,1793239211681871104
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,746,714,681,663,633,881,787,804.40824607,652,632,653,0.449805311737,0.00454091505524,0.059619864216,0.99999982054,3.66398132584e-05,-0.000593912183923,-6.96050257969e-05,1793239211698537728
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.828925245,746,714,681,663,633,881,787,804.171074755,652.171074755,632,653,0.449747358442,0.00454201267601,0.0596021212659,0.999999806353,3.82933276677e-05,-0.000617172213447,-7.01794455556e-05,1793239211715204608
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.237377613,746,714,681,663,633,881,787,804.762622387,652.762622387,632,653,0.449679157171,0.00454213611328,0.0595881449593,0.999999795997,4.03830980523e-05,-0.000633590361571,-7.02746436551e-05,1793239211731871232
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.653485137,714,681,663,633.346514863,881,787,804.653485137,653,632,653,0.449601915637,0.00454315180068,0.0595803175599,0.999999789187,4.33017946114e-05,-0.000644089497368,-6.99922517199e-05,1793239211748537600
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.07472346,714,681,663,633.92527654,881,787,804.07472346,653,632,653,0.449518614995,0.00454476550643,0.0595766113815,0.99999978484,4.67760674014e-05,-0.000650621495732,-6.94567852638e-05,1793239211765204480
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.498051727,745.498051727,714,681,663,633.501948273,881,787,804,652.501948273,632,653,0.449424510015,0.00454507910885,0.0595784341607,0.999999787107,4.86591324826e-05,-0.000647080676831,-6.85988899491e-05,1793239211781871360
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,714.072332731,681.072332731,663,633,881,787,804.072332731,652,632,653,0.449324677668,0.00454521238329,0.059581036681,0.999999790095,5.00946982119e-05,-0.000642429100365,-6.77219957876e-05,1793239211798537984
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,714.66379029,681.66379029,663,633,881,787,804.66379029,652,632,653,0.449195236083,0.00454543473601,0.0595833526672,0.999999791367,5.00116069466e-05,-0.000640522928821,-6.70518042672e-05,1793239211815204352
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,714.750515393,681.750515393,663,633,881,787,804.750515393,652,631.750515393,653,0.449054732111,0.00454590395246,0.0595859317908,0.999999792802,5.19204198412e-05,-0.000638226798568,-6.60881193685e-05,1793239211831870976
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,714.172412403,681.172412403,663,633,881,787,804.172412403,652,631.172412403,653,0.448899656893,0.00454669833509,0.0595888575159,0.999999794434,5.64529470184e-05,-0.000635417019124,-6.4737848268e-05,1793239211848537600
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.595020208,746,714,681,663.404979792,633,880.595020208,787,804,652,631.404979792,653,0.448720550776,0.00454673256803,0.0595898756618,0.999999795227,6.0256120603e-05,-0.000633983262477,-6.30826468486e-05,1793239211865204224
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.017930041,746,714,681,663.982069959,633,880.017930041,787,804,652,631.982069959,653,0.448531231871,0.00454644374874,0.0595900831152,0.99999979566,6.37493301685e-05,-0.000633134294768,-6.12978544728e-05,1793239211881870848
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,664,633,880,787,804,652,632,653,0.448317711421,0.00454848381575,0.0595952791006,0.999999798748,7.04799667654e-05,-0.000627710569603,-5.92899342719e-05,1793239211898537728
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,663.868291239,633,880.131708761,787,804,652,631.868291239,653,0.448095039953,0.00455061567095,0.0596022619642,0.999999803853,7.74840050232e-05,-0.00061887743754,-5.72774200238e-05,1793239211915204352
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,663.27779963,633,880.72220037,787,804,652,631.27779963,653,0.447843195784,0.00455280712643,0.0596149118864,0.999999815645,8.5078781061e-05,-0.00059867925445,-5.5273825212e-05,1793239211931871232
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,663,633.292820809,881,787,804.292820809,652,631.292820809,653,0.447568979391,0.00455284389473,0.0596270902204,0.999999826715,8.97578287656e-05,-0.000579421994997,-5.27601866813e-05,1793239211948538112
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,663,633.845787408,881,787,804.845787408,652,631.845787408,653,0.447274887241,0.00455096641097,0.0596388495886,0.999999837182,9.18465052925e-05,-0.000561000665495,-4.97934188435e-05,1793239211965204224
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.039545364,746,714.960454636,681,664.960454636,634,881,787,804.960454636,652,632,653,0.446592237208,0.00455162526339,0.0596546195628,0.999999845,0.000104328379486,-0.00054517900273,-4.35288913134e-05,1793239211998538240
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.626532203,746,714.373467797,681,664.373467797,634,881,787,804.373467797,652,632,653,0.446205564968,0.00455268567797,0.0596496844737,0.999999838178,0.000113973987879,-0.000555901583624,-4.03341644859e-05,1793239212015204608
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,746,714,681,664.790415085,634,881,787,804,652,632,653,0.44534113457,0.00455513517788,0.0596373067458,0.999999824462,0.000130675222929,-0.00057695658081,-3.34760707378e-05,1793239212048537600
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.631676641,745.631676641,714.368323359,681,665,634.368323359,881,787,804.368323359,652,632,653,0.44488890141,0.00455694523268,0.0596410682084,0.999999830379,0.000140524619057,-0.000564428516625,-3.02654769435e-05,1793239212065204736
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.508302536,745.508302536,714.491697464,681,665,635,881,787,804.491697464,652,632,653,0.443980981167,0.00456002377982,0.0596833563217,0.999999867946,0.000162168653055,-0.000487153436805,-2.21616137058e-05,1793239212098538752
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,746,714,680.924629238,665.075370762,635,881,787.075370762,804.075370762,652,632,653,0.443514090069,0.00456082609889,0.0597170730195,0.999999890396,0.000172655123755,-0.000434869824133,-1.69113242427e-05,1793239212115205120
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,746,714,680.318808304,665.681191696,635,881,787.681191696,804.681191696,652,632,653,0.442976822134,0.00456119953154,0.0597421018924,0.999999904018,0.000182640736356,-0.000398075323977,-1.19697146193e-05,1793239212131871488
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.99839056,746,714,681,666,635,880.99839056,787.00160944,804,652,631.00160944,653,0.440489433564,0.00456563023493,0.0597506506252,0.999999892265,0.000229358974197,-0.000403478441976,8.28761104995e-06,1793239212198537984
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.154712232,745.845287768,714,681,666,635,880.154712232,787.845287768,804,652,632,653,0.439198782173,0.00456832504748,0.0598122760155,0.999999921001,0.00025301084805,-0.000305976228737,1.90118756723e-05,1793239212231871488
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.513311535,746,714.513311535,680,666.513311535,635,881,787,804.513311535,652,632,653,0.436143610125,0.00458180894149,0.059769693002,0.999999882198,0.000307976506515,-0.000373498049458,3.54001910626e-05,1793239212298537728
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,666.062147867,635,880.937852133,787,804,652,632,653,0.435357494986,0.00458296374676,0.0597436596655,0.999999869024,0.000316677967639,-0.00040024743337,3.83236573113e-05,1793239212315204352
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,666.650713822,635,880.349286178,787,804,652,632,653,0.434602873053,0.00458694471555,0.0597629046555,0.9999998835,0.000325990267986,-0.000353621904911,4.10066492334e-05,1793239212331870976
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.235814495,746,714,680,666.764185505,635,880.235814495,787.235814495,804.235814495,652,632,653,0.43381798015,0.00458911162524,0.0597820570148,0.999999903849,0.000299477616932,-0.000318541936972,3.38528613865e-05,1793239212348537600
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.815856724,746,714,680,666.184143276,635,880.815856724,787.815856724,804.815856724,652,632,653,0.432988899561,0.00458863048097,0.0598010741561,0.999999930482,0.000220669867977,-0.000300315481876,1.23399373164e-05,1793239212365204736
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.392831058,881,788,804.607168942,652.392831058,632,652.607168942,0.432137323348,0.00458435210865,0.0598103198904,0.999999938636,0.000200795833821,-0.000286887728778,1.02260247119e-05,1793239212381871360
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.968378416,881,788,804.031621584,652.968378416,632,652.031621584,0.431275283839,0.00457830754335,0.0598150206797,0.999999940149,0.000208333459354,-0.000275691982233,1.71351151276e-05,1793239212398537728
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.445477299,881,787.445477299,804.554522701,652.445477299,632,652.554522701,0.430452159622,0.0045819929114,0.05983501806,0.999999944605,0.000222102521983,-0.000246937926818,2.19764181693e-05,1793239212415204096
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.139496868,881,787,804.860503132,652.139496868,632,653,0.429602783819,0.00458599507591,0.0598406042683,0.99999994235,0.000233889260959,-0.000244778879815,2.60522812816e-05,1793239212431870720
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.718838946,881,787,804.281161054,652.718838946,632,653,0.428663501297,0.00458921255879,0.0597979468751,0.999999916867,0.000238283298663,-0.00032969467241,2.80936879336e-05,1793239212448537344
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.702564856,746,714.297435144,680,666,635.702564856,881,787,804,652.702564856,632,653,0.427758678817,0.00459029095224,0.0597706584964,0.999999904651,0.000235145450119,-0.000366929962832,2.76793015164e-05,1793239212465204224
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.124671897,746,714.875328103,680,666,635.124671897,881,787,804,652.124671897,632,653,0.426886349321,0.00458935235392,0.0597578618778,0.999999909883,0.000224905630239,-0.000359206322402,2.49492968439e-05,1793239212481871104
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,746,714.551131222,680,666,635,880.551131222,787,804.448868778,652,632,653,0.42600797242,0.00459275264456,0.0597826430364,0.99999992095,0.000224558415176,-0.000327113478672,2.58866367016e-05,1793239212498537728
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.797855342,746,714,680,666,635,880,787,803.797855342,653,632,653,0.423407147506,0.00459153700073,0.0598505252126,0.999999943751,0.000217929115265,-0.00025278900945,3.31923229208e-05,1793239212548537344
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,666.357307057,635,880,787.357307057,803.357307057,652.642692943,631.642692943,653,0.421660292642,0.00459327517434,0.0598431952125,0.999999944874,0.000207532430535,-0.000257120054354,3.27289209559e-05,1793239212581870592
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.010505285,746,714,679.989494715,666,635.010505285,880,787.010505285,803.989494715,653,631.010505285,653,0.41500184728,0.00458655892032,0.0598452878441,0.999999947279,0.000160020197243,-0.000280135953303,3.6865316577e-05,1793239212715204096
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.837551734,714.837551734,680,666.837551734,635.162448266,879.162448266,787.162448266,803,653,631.162448266,653,0.413482017379,0.00458943707658,0.0598382557504,0.999999934496,0.000229977102747,-0.000277191954577,3.58150321935e-05,1793239212748537344
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.257914758,714.257914758,680,666.257914758,635.742085242,879.742085242,787.742085242,803,653,631.742085242,653,0.412694005897,0.00458845528706,0.0598108043259,0.999999907569,0.00027220449352,-0.000330812167491,3.64558393089e-05,1793239212765203968
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.894042289,714,680,666,636,880,788,803,653.894042289,631.105957711,653,0.411234343519,0.00458372137724,0.059747904356,0.999999873617,0.000267716211425,-0.0004241861072,3.40690006698e-05,1793239212798537216
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.470659053,746,714.470659053,680,666,635.529340947,880,788,803,653.529340947,631.470659053,653,0.410599870311,0.00458284542885,0.0597715783948,0.999999894594,0.000255913554329,-0.000379723957363,3.36080847509e-05,1793239212815204608
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745.951250914,714.951250914,680,666,635,880,787.951250914,803.048749086,653,631.951250914,653,0.409985494651,0.00458202763506,0.059808243258,0.999999919722,0.000244452916561,-0.000315705055662,3.36102872999e-05,1793239212831872000
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745.361025967,714.361025967,680,666,635,880,787.361025967,803.638974033,653,631.361025967,653,0.409396823472,0.00457711936395,0.0598479944628,0.999999939841,0.000228844593537,-0.000258226389942,3.56011523392e-05,1793239212848538112
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.775002381,745,714,680,666,635.224997619,880,787,804,653,631,653,0.40880476745,0.00457380596308,0.0598696821946,0.99999994989,0.000216469426197,-0.000228028334601,3.69435086494e-05,1793239212865204224
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.195596539,745,714,680,666,635.804403461,880,787,804,653,631,653,0.408207379653,0.00457300474416,0.059862916994,0.999999948433,0.000209187008957,-0.000240801715937,3.72643576036e-05,1793239212881870848
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.381148666,745.381148666,714,680,666,636,880,787,803.618851334,653,631,653,0.407637571097,0.00457169966654,0.0598484533561,0.999999944311,0.000199965589182,-0.000264661524568,3.66878875404e-05,1793239212898537472
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.956537925,745.956537925,714,680,666,636,880,787,803.043462075,653,631,653,0.407081817483,0.00457013781299,0.059830066449,0.999999938092,0.000189756017211,-0.00029417118596,3.56541266324e-05,1793239212915204096
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745.45652695,714,679.45652695,666,635.45652695,879.45652695,787.54347305,803,653,631.54347305,653,0.406583689948,0.00456892679831,0.0598295372992,0.999999941358,0.00018248529475,-0.000287697892591,3.48160567389e-05,1793239212931870976
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745.129459875,714,679.129459875,666,635.129459875,879.129459875,788,803,653,632,653,0.406100679986,0.00456752769379,0.0598318443901,0.999999945687,0.000175046820262,-0.000277174509348,3.40544205165e-05,1793239212948537600
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.708871948,714,679.708871948,666,635.708871948,879.708871948,788,803,653,632,653,0.405653848131,0.00456537523052,0.0598389378847,0.999999951099,0.0001661907275,-0.000262793068482,3.35028655054e-05,1793239212965204224
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,714.28752781,680,666,635.71247219,879.71247219,788,803.28752781,653,632,653,0.405216352126,0.00456371440303,0.0598366494524,0.999999951869,0.000159111709682,-0.000264272832509,3.32591742813e-05,1793239212981870592
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,714.865419968,680,666,635.134580032,879.134580032,788,803.865419968,653,632,653,0.404788284096,0.00456255006156,0.0598248865375,0.999999947916,0.000153827298654,-0.000281770277242,3.33263840339e-05,1793239212998537216
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,714.560150934,679.560150934,666,635.439849066,879,788,804,653,632,653,0.404381448388,0.00456195720421,0.0598025587899,0.999999935707,0.000152483910066,-0.000322816036152,3.35267553036e-05,1793239213015204096
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,746,714.013551659,679,666,635.986448341,879.013551659,788,803.986448341,652.986448341,631.986448341,653,0.40398344929,0.00456151331802,0.0597777671337,0.999999919587,0.000152247184412,-0.000369470035533,3.37539257982e-05,1793239213031870976
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,746,714.601007715,679,666,635.398992285,879.601007715,788,803.398992285,652.398992285,631.398992285,653,0.403686706114,0.00456003106347,0.05978445587,0.999999926899,0.000148209752183,-0.000350883768823,3.34040562172e-05,1793239213048537600
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,746,714.813343875,679.186656125,666,635.186656125,880,788,803,652,631,653,0.403397561593,0.00455846812701,0.0597954396503,0.999999935046,0.000146067034333,-0.000327789029038,3.35681202952e-05,1793239213065203968
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,746,714.231522283,679.768477717,666,635.768477717,880,788,803,652,631,653,0.403124503961,0.00455673438042,0.0598155163725,0.999999944895,0.000147935572767,-0.000295149499188,3.48202216537e-05,1793239213081870848
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.345292675,636,880,787.654707325,803.345292675,652.345292675,631,653,0.402880543619,0.00455554449578,0.059833585365,0.999999946411,0.000188766013484,-0.000265087069449,3.56979482639e-05,1793239213098537472
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.91879858,636,880,787.08120142,803.91879858,652.91879858,631,653,0.402655814477,0.00455471406427,0.0598503273939,0.999999938719,0.000255347424062,-0.00023672791556,3.63282403123e-05,1793239213115203840
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.506160741,746,714.493839259,679.506160741,666.506160741,636,879.506160741,787.493839259,803.506160741,653,631,653,0.402438121989,0.00455128155751,0.0598513628598,0.999999945868,0.000223314142923,-0.000240040874291,2.78423471584e-05,1793239213131870720
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745.929015998,715,679,666,635.929015998,879.070984002,788,803,653,631.070984002,653,0.402224504071,0.00454738570697,0.0598491813485,0.99999995249,0.000180366393603,-0.000249228978996,1.93032412797e-05,1793239213148537600
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745.338319685,715,679,666,635.338319685,879.661680315,788,803,653,631.661680315,653,0.402032220651,0.00454323979869,0.0598424142553,0.999999949545,0.000176597552949,-0.000263184153625,2.13834760548e-05,1793239213165204224
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.246567278,745.246567278,714.753432722,679.246567278,666,635,879.753432722,787.753432722,803,653,631.753432722,653,0.401860863909,0.00454217119257,0.0598380767095,0.999999947301,0.00017603183365,-0.000271841486076,2.26575251177e-05,1793239213181870848
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.823666557,745.823666557,714.176333443,679.823666557,666,635,879.176333443,787.176333443,803,653,631.176333443,653,0.401717560123,0.00454522781721,0.0598369960569,0.999999946209,0.000179760010137,-0.000273396875988,2.28508540663e-05,1793239213198537472
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746,714.399589933,680,666,635.399589933,879,787,803,653,631.399589933,653,0.401593776937,0.00454430219287,0.05983787291,0.999999946491,0.000180105463541,-0.000272052326251,2.38406452685e-05,1793239213215204096
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,746,714.974995973,680,666,635.974995973,879,787,803,653,631.974995973,653,0.401478582634,0.00454162441377,0.0598396110487,0.999999947372,0.000178962548444,-0.000269431828349,2.51808729727e-05,1793239213231870720
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.435551759,715,679.435551759,666,636,879,787,803.564448241,653,632,653,0.401391928103,0.00454310942822,0.0598426554644,0.999999948559,0.000181503730229,-0.000263238979778,2.53681013129e-05,1793239213248537344
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.151791019,714.848208981,679.151791019,666,636,879,787,804,653,632,653,0.401310166309,0.0045441115634,0.0598445115074,0.999999949317,0.00018325848262,-0.000259095486864,2.55275226408e-05,1793239213265203968
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.731390114,714.268609886,679.731390114,666,636,879,787,804,653,632,653,0.401238540074,0.0045432197628,0.0598428509881,0.999999948938,0.000182325063797,-0.00026118529044,2.57561983539e-05,1793239213281870592
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.69166452,746,714.30833548,680,666,636,879.30833548,787.30833548,803.69166452,653,632,653,0.401176025056,0.0045413738833,0.0598404373051,0.999999948125,0.000179086161042,-0.000266453790593,2.60988962835e-05,1793239213298537472
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.117011287,746,714.882988713,680,666,636,879.882988713,787.882988713,803.117011287,653,632,653,0.40112137965,0.00453870393993,0.0598373730944,0.999999946869,0.000173855949052,-0.000274467817425,2.6540078292e-05,1793239213315204352
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.45810552,746,715,680,666,636,880,787.54189448,803,653,631.54189448,653,0.401080332064,0.00453922121589,0.0598349977113,0.99999994579,0.000174566482939,-0.000277920496581,2.65687476142e-05,1793239213331870720
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,746,714.96564709,679.96564709,666,636,879.96564709,787.03435291,803,653,631,653,0.401043752321,0.00454036367754,0.0598329940147,0.999999944891,0.000176366156196,-0.00028001989766,2.65076514395e-05,1793239213348537344
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,746,714.37295048,679.37295048,666,636,879.37295048,787.62704952,803,653,631,653,0.401023281282,0.00453842238861,0.0598341688664,0.999999946049,0.000171180077043,-0.000279079650616,2.67018438465e-05,1793239213365203968
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.785323614,746,714,679.214676386,666,635.785323614,879.429352771,788,803,653,631.214676386,653,0.401006472191,0.00453750970266,0.0598356603851,0.999999947095,0.000168466083087,-0.000276968943467,2.67963052123e-05,1793239213381870592
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.206301115,746,714,679.793698885,666,635.206301115,880.58739777,788,803,653,631.793698885,653,0.400995878116,0.00453834274919,0.0598376893469,0.999999947972,0.000169947682163,-0.000272871745974,2.67215042661e-05,1793239213398537216
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.36946264,745.63053736,714.36946264,680,666,635.36946264,880.261074721,788,803.36946264,653,631.63053736,653,0.400987291882,0.00453821560142,0.0598386210714,0.999999948393,0.000170151352333,-0.000271209389429,2.66190341159e-05,1793239213415204096
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.943422734,745.056577266,714.943422734,680,666,635.943422734,879.113154531,788,803.943422734,653,631.056577266,653,0.400979816986,0.00453755698648,0.0598389454755,0.999999948567,0.000169647689396,-0.000270894716203,2.65012490632e-05,1793239213431870720
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.515349845,715,679.484650155,666.515349845,636,879.515349845,787.484650155,803.484650155,653,631.515349845,653,0.400977938807,0.00453657758912,0.0598409067848,0.999999949604,0.000167479244839,-0.000268371959703,2.68268879866e-05,1793239213448537344
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.090304586,666.909695414,636,879.909695414,787,803.090304586,653,632,653,0.40097702062,0.00453591711003,0.0598428533292,0.999999950611,0.000165877501399,-0.000265572072146,2.70977631711e-05,1793239213465204224
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.683352631,666.316647369,636,879.316647369,787,803.683352631,653,632,653,0.400978039685,0.00453722740024,0.0598437211453,0.999999950982,0.000168444194211,-0.000262573596309,2.67938064646e-05,1793239213481870848
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.731492528,666,636,879,787.268507472,803.731492528,653,632,653,0.400977295762,0.00453795236945,0.0598438375735,0.999999951096,0.000169028832646,-0.000261791775485,2.65065080879e-05,1793239213498537472
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.155380252,666,636,879,787.844619748,803.155380252,653,632,653,0.400974532142,0.00453800678909,0.0598430932041,0.999999950925,0.000167342809927,-0.000263549376651,2.62382936766e-05,1793239213515204096
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,714.578776604,679,666,636,879,788,803.421223396,653,631.578776604,653,0.400973124361,0.00453748364376,0.0598427331715,0.999999950942,0.000165726273769,-0.000264515751415,2.61344215246e-05,1793239213531870720
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,714.0019915,679,666,636,879,788,803.9980085,653,631.0019915,653,0.400972217303,0.00453674719833,0.059842515078,0.999999951027,0.000164135399679,-0.00026518991889,2.60912424996e-05,1793239213548537600
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,714.587506225,679.587506225,666,636,879,788,803.412493775,653,631,653,0.400973172301,0.00453780226039,0.059843786467,0.999999951382,0.000165415330662,-0.000263041285676,2.61295170563e-05,1793239213565203968
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,636,879,788,803,653,631.174108621,653,0.400974166004,0.00453837473819,0.059844916042,0.999999951713,0.000166516424159,-0.000261077703931,2.61809162615e-05,1793239213581870592
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,636,879,788,803,653,631.753862658,653,0.400975234852,0.00453780840975,0.0598457031893,0.999999951993,0.00016717768069,-0.000259568049365,2.6262236293e-05,1793239213598537472
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.669550516,714.669550516,679.669550516,666,635.669550516,879.330449484,788,803,653,632,653,0.400974210834,0.00453763430434,0.0598452288838,0.999999951679,0.000167687266041,-0.000260445388106,2.62968280226e-05,1793239213615204352
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.095300351,714.095300351,679.095300351,666,635.095300351,879.904699649,788,803,653,632,653,0.400971642729,0.00453774957515,0.0598438238975,0.999999950921,0.000168084950732,-0.000263083814618,2.6296944319e-05,1793239213631870976
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d3e19e80ee5de6d88dcfdaf19398523f39890cd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,413 @@
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+335,5.583333333,pose2_to_pose3_retreat,0.592448191543,0.0100907914585,1.05003230443,0.563018642496,0.0187625287462,1.04970043327
+336,5.600000000,pose2_to_pose3_retreat,0.591683906063,0.0100907375951,1.05003231136,0.562254358562,0.018762479967,1.04970043523
+337,5.616666667,pose2_to_pose3_retreat,0.590944402324,0.0100907793822,1.05003220199,0.561514853092,0.018762515954,1.04970032765
+338,5.633333333,pose2_to_pose3_retreat,0.590227325397,0.0100909008386,1.0500323291,0.5607977741,0.0187626306389,1.04970046092
+339,5.650000000,pose2_to_pose3_retreat,0.589528373329,0.0100906991951,1.05003212203,0.56009882553,0.0187624409588,1.04970025627
+340,5.666666667,pose2_to_pose3_retreat,0.588833345112,0.0100907271207,1.05003212583,0.559403796382,0.0187624655774,1.04970025611
+341,5.683333333,pose2_to_pose3_retreat,0.588140885113,0.0100907743856,1.05003219321,0.558711336258,0.0187625124824,1.04970032565
+342,5.700000000,pose2_to_pose3_retreat,0.587447157419,0.0100907676036,1.05003214568,0.558017608238,0.0187625046963,1.04970028
+343,5.716666667,pose2_to_pose3_retreat,0.586761484874,0.0100907653142,1.0500321726,0.557331936894,0.0187625065558,1.04970030823
+344,5.733333333,pose2_to_pose3_retreat,0.586090541776,0.0100907266867,1.05003223837,0.556660994896,0.0187624715254,1.04970037119
+345,5.750000000,pose2_to_pose3_retreat,0.585441202835,0.0100907156587,1.05003233241,0.556011655396,0.0187624585453,1.04970046396
+346,5.766666667,pose2_to_pose3_retreat,0.584818647865,0.010090768801,1.05003247039,0.555389099568,0.0187625088554,1.04970060327
+347,5.783333333,pose2_to_pose3_retreat,0.584231718175,0.0100907378965,1.05003247368,0.554802170064,0.0187624783519,1.0497006012
+348,5.800000000,pose2_to_pose3_retreat,0.583672098305,0.0100906935916,1.05003235501,0.554242551416,0.0187624383675,1.04970048597
+349,5.816666667,pose2_to_pose3_retreat,0.583133263082,0.0100907293783,1.0500323996,0.553703715888,0.0187624727685,1.04970052149
+350,5.833333333,pose2_to_pose3_retreat,0.582606080687,0.0100907025676,1.05003246253,0.553176534213,0.0187624486729,1.04970059149
+351,5.850000000,pose2_to_pose3_retreat,0.582089359674,0.0100907461906,1.05003239915,0.552659812868,0.0187624912631,1.04970053067
+352,5.866666667,pose2_to_pose3_retreat,0.581588757092,0.0100907774016,1.05003229417,0.552159210014,0.0187625215177,1.04970042482
+353,5.883333333,pose2_to_pose3_retreat,0.581107614667,0.010090772403,1.05003224491,0.55167806696,0.01876251433,1.04970037407
+354,5.900000000,pose2_to_pose3_retreat,0.580653377419,0.0100907520377,1.05003223298,0.551223829131,0.0187624920706,1.04970036462
+355,5.916666667,pose2_to_pose3_retreat,0.580222786009,0.010090768976,1.05003230127,0.550793237434,0.0187625080694,1.04970043408
+356,5.933333333,pose2_to_pose3_retreat,0.579814962933,0.0100908481169,1.05003249189,0.550385413657,0.01876258452,1.04970061598
+357,5.950000000,pose2_to_pose3_retreat,0.5794234831,0.0100908366613,1.05003236307,0.549993934857,0.0187625768562,1.04970049441
+358,5.966666667,pose2_to_pose3_retreat,0.579047159833,0.010090962733,1.05003233256,0.549617608885,0.0187626939833,1.04970047072
+359,5.983333333,pose2_to_pose3_retreat,0.578697716882,0.0100908892334,1.05003247461,0.549268167962,0.0187626270846,1.0497006048
+360,6.000000000,pose2_to_pose3_retreat,0.578374655842,0.0100908389719,1.0500323423,0.548945106858,0.0187625769596,1.04970048175
+361,6.016666667,pose2_to_pose3_retreat,0.578079350776,0.0100907514749,1.05003229136,0.548649802185,0.0187624903253,1.04970041861
+362,6.033333333,pose2_to_pose3_retreat,0.577813020619,0.0100907894842,1.0500323774,0.54838347233,0.0187625295952,1.04970051079
+363,6.050000000,pose2_to_pose3_retreat,0.577577557199,0.01009090157,1.05003232838,0.548148007294,0.0187626365253,1.04970047055
+364,6.066666667,pose2_to_pose3_retreat,0.577356247506,0.0100909244199,1.05003223075,0.547926696526,0.0187626556672,1.04970037134
+365,6.083333333,pose2_to_pose3_retreat,0.577148399159,0.0100907362437,1.05003234526,0.547718851593,0.0187624787247,1.04970047671
+366,6.100000000,pose2_to_pose3_retreat,0.576954938292,0.0100907348939,1.0500322191,0.547525391912,0.0187624816608,1.04970035734
+367,6.116666667,pose2_to_pose3_retreat,0.576774621635,0.0100906662093,1.0500323409,0.547345074193,0.0187624091416,1.04970047307
+368,6.133333333,pose2_to_pose3_retreat,0.57660880785,0.0100906570001,1.05003229594,0.547179260085,0.0187623985538,1.0497004208
+369,6.150000000,pose2_to_pose3_retreat,0.576459697336,0.0100907178967,1.05003230888,0.547030149853,0.0187624607796,1.04970044363
+370,6.166666667,pose2_to_pose3_retreat,0.576328170796,0.0100908050306,1.05003234516,0.546898621609,0.018762542118,1.04970047956
+371,6.183333333,pose2_to_pose3_retreat,0.576215482994,0.0100907795307,1.05003236426,0.546785934369,0.0187625184028,1.0497004954
+372,6.200000000,pose2_to_pose3_retreat,0.576118715586,0.0100906750624,1.05003236751,0.546689169376,0.0187624220882,1.04970049792
+373,6.216666667,pose2_to_pose3_retreat,0.576034684956,0.010090639638,1.0500323394,0.546605139239,0.0187623882722,1.04970046879
+374,6.233333333,pose2_to_pose3_retreat,0.575961643975,0.0100907695355,1.05003223472,0.54653209597,0.0187625105286,1.04970036719
+375,6.250000000,pose2_to_pose3_retreat,0.575899401966,0.0100907341348,1.05003223152,0.546469854936,0.0187624784532,1.04970036432
+376,6.266666667,pose2_to_pose3_retreat,0.57584515785,0.0100908675912,1.05003244272,0.546415607495,0.0187626005032,1.04970057233
+377,6.283333333,pose2_to_pose3_retreat,0.57579915151,0.0100908617847,1.05003225989,0.546369600862,0.0187625940789,1.04970039933
+378,6.300000000,pose2_to_pose3_retreat,0.575762238744,0.0100907342173,1.05003221501,0.546332690113,0.0187624731575,1.04970034928
+379,6.316666667,pose2_to_pose3_retreat,0.575733398397,0.0100907218764,1.05003229495,0.54630385124,0.0187624658247,1.04970042947
+380,6.333333333,pose2_to_pose3_retreat,0.57571223539,0.0100907811247,1.05003240663,0.546282687681,0.0187625231746,1.0497005406
+381,6.350000000,pose2_to_pose3_retreat,0.575696715425,0.010090836532,1.05003245348,0.546267166155,0.0187625730894,1.04970058256
+382,6.366666667,pose2_to_pose3_retreat,0.575686204791,0.0100908864324,1.0500323785,0.546256654379,0.0187626190339,1.04970050566
+383,6.383333333,pose2_to_pose3_retreat,0.575679005465,0.0100908283276,1.05003237966,0.54624945524,0.0187625615476,1.04970050572
+384,6.400000000,pose2_to_pose3_retreat,0.57567438587,0.0100907697917,1.05003231907,0.54624483708,0.018762508073,1.04970045007
+385,6.416666667,pose2_to_pose3_retreat,0.575671629594,0.0100907190053,1.05003223715,0.546242082639,0.0187624637876,1.04970037531
+386,6.433333333,pose2_to_pose3_retreat,0.575670099981,0.0100906976252,1.0500321969,0.546240553863,0.0187624453679,1.04970033821
+387,6.450000000,pose2_to_pose3_retreat,0.575669387271,0.0100907318582,1.05003221207,0.546239840365,0.0187624767755,1.04970034947
+388,6.466666667,pose2_to_pose3_retreat,0.575668737998,0.0100907630442,1.05003222589,0.546239190374,0.0187625053875,1.04970035972
+389,6.483333333,pose2_to_pose3_retreat,0.575668090227,0.0100907941581,1.05003223968,0.546238541886,0.0187625339334,1.04970036995
+390,6.500000000,pose2_to_pose3_retreat,0.575667433816,0.0100908256871,1.05003225365,0.546237884748,0.01876256286,1.04970038032
+391,6.516666667,pose2_to_pose3_retreat,0.575667011739,0.0100908459604,1.05003226264,0.546237462205,0.01876258146,1.04970038699
+392,6.533333333,pose2_to_pose3_retreat,0.575666916972,0.0100908505122,1.05003226465,0.546237367333,0.0187625856362,1.04970038848
+393,6.550000000,pose2_to_pose3_retreat,0.575666768525,0.0100908417944,1.05003227844,0.546237219111,0.018762577718,1.04970040322
+394,6.566666667,pose2_to_pose3_retreat,0.575666689894,0.0100908361536,1.05003228644,0.546237140624,0.0187625725904,1.04970041182
+395,6.583333333,pose2_to_pose3_retreat,0.575666683965,0.0100908357282,1.05003228704,0.546237134706,0.0187625722038,1.04970041247
+396,6.600000000,pose2_to_pose3_retreat,0.57566653656,0.0100908251537,1.05003230202,0.546236987572,0.0187625625912,1.0497004286
+397,6.616666667,pose2_to_pose3_retreat,0.575666397109,0.0100908151497,1.05003231619,0.546236848376,0.0187625534974,1.04970044386
+398,6.633333333,pose2_to_pose3_retreat,0.575666380946,0.0100908139902,1.05003231783,0.546236832244,0.0187625524435,1.04970044563
+399,6.650000000,pose2_to_pose3_retreat,0.575665882651,0.0100907782435,1.05003236848,0.546236334862,0.0187625199489,1.04970050015
+400,6.666666667,pose2_to_pose3_retreat,0.575665611524,0.0100907587934,1.05003239603,0.546236064233,0.0187625022683,1.04970052982
+401,6.683333333,pose2_to_pose3_retreat,0.575665511741,0.0100907516351,1.05003240617,0.546235964633,0.0187624957613,1.04970054073
+402,6.700000000,pose2_to_pose3_retreat,0.575665451278,0.0100907472976,1.05003241232,0.546235904281,0.0187624918185,1.04970054735
+403,6.716666667,pose2_to_pose3_retreat,0.57566539903,0.0100907435494,1.05003241763,0.546235852129,0.0187624884113,1.04970055307
+404,6.733333333,pose2_to_pose3_retreat,0.575665054645,0.0100907188439,1.05003245263,0.546235508376,0.0187624659535,1.04970059075
+405,6.750000000,pose2_to_pose3_retreat,0.575664819426,0.0100907593529,1.05003236422,0.546235272453,0.018762504003,1.04970050045
+406,6.766666667,pose2_to_pose3_retreat,0.575664731573,0.0100907751623,1.05003232987,0.546235184324,0.0187625188466,1.04970046535
+407,6.783333333,pose2_to_pose3_retreat,0.575664706489,0.0100907796763,1.05003232006,0.546235159162,0.0187625230848,1.04970045533
+408,6.800000000,pose2_to_pose3_retreat,0.575664647872,0.0100907902248,1.05003229715,0.54623510036,0.0187625329888,1.04970043191
+409,6.816666667,pose2_to_pose3_retreat,0.575664482761,0.0100908190316,1.05003223547,0.546234934747,0.0187625600371,1.0497003688
+410,6.833333333,pose2_to_pose3_retreat,0.575664432197,0.0100907908421,1.05003233426,0.546234884723,0.0187625336261,1.04970046626
+411,6.850000000,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c82f1b3479ad3ba860c9bd71321466faf52a636
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1543aa5bddf4cb2181996c50981f94a618015ea1a00d1522cc23f6a9a47a724
+size 26339135
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7cfed62a5cf6f0f962473f121c351917f3b6886d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_03/franka_data.csv
@@ -0,0 +1,416 @@
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+15,0.250000000,BASELINE,766,745,715,679.282691006,666.717308994,636,879.282691006,787,804,653,631.717308994,653,0.400975959968,0.00453393510724,0.0598504193238,0.999999954933,0.000160101829434,-0.00025262387358,2.61294570002e-05,1793239214286856448
+16,0.266666667,BASELINE,766,745.302830255,715,679.302830255,667,636,879,787,803.697169745,653,632,653,0.400975759065,0.00453338756712,0.0598501276124,0.999999954954,0.000159346911155,-0.000253013640433,2.61505405194e-05,1793239214303523072
+17,0.283333333,BASELINE,766,745.882236566,715,679.882236566,667,636,879,787,803.117763434,653,632,653,0.400973457168,0.00453383057838,0.0598484379117,0.99999995388,0.000161398541841,-0.000255950130809,2.60828013969e-05,1793239214320189696
+18,0.300000000,BASELINE,766,746,714.541818788,679.541818788,666.541818788,635.541818788,879.916362425,787.458181212,803,653,631.541818788,653,0.400973319509,0.0045351924453,0.0598490556792,0.999999953799,0.00016265030426,-0.000255498716119,2.58200771721e-05,1793239214336856320
+19,0.316666667,BASELINE,766,746,714.033355518,679,666.033355518,635,880.966644482,788,803,653,631,653,0.400973739256,0.00453666648219,0.0598502011778,0.999999953987,0.000163531951377,-0.000254229541525,2.55226275081e-05,1793239214353523200
+20,0.333333333,BASELINE,766,746,714.610367112,679,666.610367112,635,880.389632888,788,803,653,631,653,0.400974245638,0.0045361483652,0.0598503541456,0.999999954415,0.000161706822015,-0.000253717976618,2.54698975704e-05,1793239214370189824
+21,0.350000000,BASELINE,766,746,715,679.191801351,667,635.191801351,879.808198649,788,803.191801351,653,631.191801351,653,0.400974864759,0.00453563565252,0.0598504186582,0.999999954793,0.000160097408559,-0.000253255499856,2.53830879425e-05,1793239214386856448
+22,0.366666667,BASELINE,766,746,715,679.782431907,667,635.782431907,879.217568093,788,803.782431907,653,631.782431907,653,0.400975718305,0.00453513417758,0.0598502992382,0.999999955073,0.000158936552148,-0.0002528950964,2.52254134617e-05,1793239214403523072
+23,0.383333333,BASELINE,765.635849724,746,714.635849724,680,666.635849724,636,879,788,804,653,631.635849724,653,0.40097574005,0.00453454864677,0.0598503011787,0.999999954988,0.000159281037369,-0.000252987715498,2.54966007545e-05,1793239214420189696
+24,0.400000000,BASELINE,765.05932884,746,714.05932884,680,666.05932884,636,879,788,804,653,631.05932884,653,0.400975276692,0.00453391409494,0.0598503738959,0.999999954689,0.000160503430134,-0.000253344535032,2.60178980579e-05,1793239214436856320
+25,0.416666667,BASELINE,765,746,714.515313555,679.484686445,666,636,879.515313555,788,804,653,631.515313555,653,0.400974944084,0.00453437112022,0.0598499639033,0.999999954663,0.00016001747005,-0.000253778558805,2.57667211222e-05,1793239214453522944
+26,0.433333333,BASELINE,765.091855826,746,715,679.091855826,666,636,879.908144174,787.908144174,803.908144174,653,631.908144174,653,0.400974352879,0.00453479021777,0.0598495144232,0.99999995461,0.000159471274386,-0.000254354749054,2.55369369649e-05,1793239214470189824
+27,0.450000000,BASELINE,765.679823357,746,715,679.679823357,666,636,879.320176643,787.320176643,803.320176643,653,631.320176643,653,0.400972283985,0.00453432816571,0.0598491507417,0.99999995424,0.000159658182595,-0.000255650945086,2.59012926129e-05,1793239214486856448
+28,0.466666667,BASELINE,766,746,714.736078904,679.736078904,666.263921096,636,879.263921096,787,803,653,631.263921096,653,0.400972153284,0.0045349855263,0.0598493244625,0.999999953971,0.000161639356593,-0.000255454870253,2.59517396194e-05,1793239214503523072
+29,0.483333333,BASELINE,766,746,714.156608008,679.156608008,666.843391992,636,879.843391992,787,803,653,631.843391992,653,0.400974339927,0.004536981281,0.059850140713,0.999999953808,0.000165765793753,-0.000253474603857,2.56268706082e-05,1793239214520189696
+30,0.500000000,BASELINE,766,746,714,679.418071317,666.581928683,636,879.581928683,787.418071317,803.418071317,653,631.581928683,653,0.400974225901,0.00453672795497,0.0598500690418,0.99999995399,0.00016432436441,-0.000253687228654,2.56803900075e-05,1793239214536856576
+31,0.516666667,BASELINE,766,746,714,679.990976063,666.009023937,636,879.009023937,787.990976063,803.990976063,653,631.009023937,653,0.400973259817,0.004535641678,0.0598496685273,0.999999954294,0.000160820866081,-0.000254711994501,2.58740462097e-05,1793239214553523456
+32,0.533333333,BASELINE,766,746,714.567533577,679.432466423,666,636,879.567533577,788,803.432466423,653,631.567533577,653,0.400974136633,0.00453554851744,0.0598500121302,0.999999954684,0.000160286027471,-0.000253550770174,2.55367678808e-05,1793239214570189824
+33,0.550000000,BASELINE,765.851655148,746,714.851655148,679,666,636,880,787.851655148,803,653,631.851655148,653,0.400974721512,0.00453581954081,0.0598503363593,0.999999954878,0.000160717772263,-0.000252529542587,2.53593232145e-05,1793239214586856704
+34,0.566666667,BASELINE,765.258257549,746,714.258257549,679,666,636,880,787.258257549,803,653,631.258257549,653,0.400974342061,0.00453713547936,0.0598505667384,0.999999954477,0.000163906855273,-0.000252033275873,2.56868903105e-05,1793239214603523328
+35,0.583333333,BASELINE,765.326883221,746,714.326883221,679,666,636,879.673116779,787,803.326883221,653,631,653,0.400974632777,0.00453680301906,0.0598510655235,0.999999954575,0.000163804248305,-0.000251695207889,2.58474026e-05,1793239214620189952
+36,0.600000000,BASELINE,765.905661374,746,714.905661374,679,666,636,879.094338626,787,803.905661374,653,631,653,0.400975439921,0.00453520030919,0.0598517711412,0.999999955057,0.000161165078261,-0.000251479047177,2.58791831445e-05,1793239214636856832
+37,0.616666667,BASELINE,766,746,714.520046417,679,666.479953583,636,879,787.479953583,803.520046417,653,631,653,0.400975475013,0.00453616229719,0.0598510143762,0.999999954785,0.000162152423603,-0.000251972361305,2.54127295699e-05,1793239214653523456
+38,0.633333333,BASELINE,766,746,714.053481222,679.053481222,666.946518778,636,879.053481222,787.946518778,803.053481222,653,631.053481222,653,0.400975315368,0.00453734672864,0.059850039451,0.999999954414,0.000163493838416,-0.000252624596152,2.49484994458e-05,1793239214670190080
+39,0.650000000,BASELINE,766,746,714.62807141,679.62807141,666.37192859,636,879.62807141,787.37192859,803.62807141,653,631.62807141,653,0.400974723198,0.00453583213697,0.0598497136634,0.999999954525,0.000161403987082,-0.000253479104778,2.54513230238e-05,1793239214686856704
+40,0.666666667,BASELINE,766,746,714.791456204,680,666,635.791456204,880,787.208543796,804,653,631.791456204,653,0.400974475084,0.00453470427706,0.0598497126632,0.999999954599,0.000160075564396,-0.000253987728784,2.58337317922e-05,1793239214703523328
+41,0.683333333,BASELINE,766,746,714.200188725,680,666,635.200188725,880,787.799811275,804,653,631.200188725,653,0.400974858386,0.00453428615494,0.0598503077193,0.999999954616,0.000160144530687,-0.000253861578472,2.59951529009e-05,1793239214720189952
+42,0.700000000,BASELINE,766,746,714,680,666.381957113,635.381957113,879.618042887,788,803.618042887,653,631,653,0.400974729981,0.00453505797343,0.0598505929276,0.999999954729,0.00016039168687,-0.000253283743475,2.57461038707e-05,1793239214736856832
+43,0.716666667,BASELINE,766,746,714,680,666.95943367,635.95943367,879.04056633,788,803.04056633,653,631,653,0.400974339639,0.00453643890883,0.0598507195285,0.999999954891,0.000160730056405,-0.000252474696294,2.52869399008e-05,1793239214753523456
+44,0.733333333,BASELINE,766,746,714.538128427,680,667,636,879.538128427,788,803.538128427,653,631,653,0.400975076436,0.00453493642904,0.059851158876,0.999999955157,0.00016032747843,-0.00025162637462,2.57753213995e-05,1793239214770189824
+45,0.750000000,BASELINE,765.881501856,746,714.881501856,679.881501856,666.881501856,636,880,788,803.881501856,653,631.118498144,653,0.400975799821,0.00453374347525,0.0598516071467,0.99999995539,0.000160104627959,-0.000250800123868,2.61719782723e-05,1793239214786856448
+46,0.766666667,BASELINE,765.294878997,746,714.294878997,679.294878997,666.294878997,636,880,788,803.294878997,653,631.705121003,653,0.400976133795,0.00453463393804,0.05985199732,0.999999955465,0.000160812945187,-0.000250072786724,2.59234559629e-05,1793239214803523072
+47,0.783333333,BASELINE,765.288230857,746,714.288230857,679,666.288230857,636,879.711769143,787.711769143,803.288230857,653,631.711769143,653.288230857,0.400975246645,0.00453499626058,0.0598513950698,0.999999955138,0.000160941710594,-0.000251333091117,2.55761061393e-05,1793239214820189696
+48,0.800000000,BASELINE,765.867790026,746,714.867790026,679,666.867790026,636,879.132209974,787.132209974,803.867790026,653,631.132209974,653.867790026,0.400973125247,0.00453482476737,0.0598497897311,0.999999954395,0.000160484696149,-0.000254602397017,2.51288667279e-05,1793239214836856320
+49,0.816666667,BASELINE,766,746,714.555617902,679,666.555617902,636,879,787.444382098,803.555617902,653,631,653.555617902,0.400973916352,0.00453516519581,0.0598500807995,0.999999954644,0.000160671052908,-0.000253482206684,2.53619938832e-05,1793239214853523200
+50,0.833333333,BASELINE,766,746,714.020119701,679.020119701,666,636,879.020119701,787.979880299,803,653,631.020119701,653,0.400975505057,0.00453561806142,0.0598508987707,0.999999955161,0.000161031374807,-0.000251162235942,2.57767102667e-05,1793239214870189824
+51,0.850000000,BASELINE,766,746,714.596478377,679.596478377,666,636,879.596478377,787.403521623,803,653,631.596478377,653,0.400975347554,0.00453499667951,0.0598507888437,0.999999955084,0.000160944450529,-0.000251537659356,2.56526830377e-05,1793239214886856448
+52,0.866666667,BASELINE,766,745.822906332,714.822906332,680,666,636,879.822906332,787,803.177093668,653,631.822906332,653.177093668,0.400975326819,0.00453479186372,0.0598506446044,0.999999954971,0.000161290290479,-0.000251777466633,2.55183820159e-05,1793239214903523072
+53,0.883333333,BASELINE,766,745.232353182,714.232353182,680,666,636,879.232353182,787,803.767646818,653,631.232353182,653.767646818,0.400975625395,0.00453555960228,0.0598504202564,0.999999954775,0.000162646502376,-0.000251700651737,2.5360094842e-05,1793239214920189696
+54,0.900000000,BASELINE,766,745.351497286,714,679.648502714,666,636,879,787.351497286,804,653,631.351497286,653.648502714,0.400975097747,0.00453586687582,0.05985021078,0.999999954659,0.000162631449709,-0.000252165592358,2.53991370463e-05,1793239214936856320
+55,0.916666667,BASELINE,766,745.93099991,714,679.06900009,666,636,879,787.93099991,804,653,631.93099991,653.06900009,0.400974034155,0.00453587546,0.0598500109506,0.999999954595,0.000161726900392,-0.000252981952905,2.55661806757e-05,1793239214953523200
+56,0.933333333,BASELINE,765.494175502,746,714,679,666,636,880.011648996,787.494175502,803.494175502,653,632,653,0.400974271621,0.0045353029867,0.059849694944,0.999999954605,0.000161333874295,-0.000253179843196,2.5708256798e-05,1793239214970190080
+57,0.950000000,BASELINE,765.080107507,746,714,679.080107507,666,636,880.839784986,787,803,653,632,653,0.40097489843,0.0045346507714,0.059849648123,0.999999954737,0.000160914105367,-0.00025291173774,2.58371692634e-05,1793239214986856704
+58,0.966666667,BASELINE,765.654950493,746,714,679.654950493,666,636,879.690099014,787,803,653,632,653,0.400976843731,0.00453399111062,0.0598513607416,0.99999995556,0.000159902186425,-0.000250281954161,2.59056257142e-05,1793239215003523328
+59,0.983333333,BASELINE,766,746,714.237654646,680,666,636,879.237654646,787.237654646,803,653,632,653,0.400976971127,0.00453363390235,0.0598516708545,0.999999955788,0.000159134637931,-0.000249859694153,2.58741547972e-05,1793239215020189696
+60,1.000000000,BASELINE,766,746,714.832162931,680,666,636,879.832162931,787.832162931,803,653,632,653,0.400974368823,0.00453373084573,0.0598498750158,0.99999995513,0.000158734027131,-0.000252752171461,2.5692636562e-05,1793239215036856320
+61,1.016666667,BASELINE,766,745.587284561,715,680,666,636,879.587284561,788,803,653,631.587284561,653,0.40097321149,0.004534043311,0.0598491778396,0.999999954914,0.000158232329411,-0.000253951021665,2.53634581663e-05,1793239215053523200
+62,1.033333333,BASELINE,766,745.012221787,715,680,666,636,879.012221787,788,803,653,631.012221787,653,0.400972622556,0.0045344405548,0.0598489128377,0.999999954874,0.000157690867774,-0.00025448366001,2.49761956119e-05,1793239215070189824
+63,1.050000000,BASELINE,766,745.561148439,715,679.438851561,666,635.438851561,879,788,803,653,631,653,0.400975398646,0.0045347737226,0.059851091587,0.999999955475,0.000159398009048,-0.000251007524943,2.52349885738e-05,1793239215086856448
+64,1.066666667,BASELINE,766,746,714.861517297,679.138482703,666.138482703,635.138482703,879,787.861517297,803.138482703,653,631.138482703,653,0.400977534847,0.00453511670226,0.0598525786202,0.999999955859,0.000160852057272,-0.000248520283078,2.54069453816e-05,1793239215103523072
+65,1.083333333,BASELINE,766,746,714.271127381,679.728872619,666.728872619,635.728872619,879,787.271127381,803.728872619,653,631.728872619,653,0.400977344469,0.00453549624114,0.0598516352281,0.999999955533,0.000161320856475,-0.000249544135113,2.52497522187e-05,1793239215120189696
+66,1.100000000,BASELINE,766,746,714.313596447,679.686403553,666.686403553,636,879.313596447,787.313596447,804,653,632,653,0.400977403095,0.00453459543132,0.0598514299805,0.999999955669,0.000160082901036,-0.000249789130977,2.53073226085e-05,1793239215136856320
+67,1.116666667,BASELINE,766,746,714.893508433,679.106491567,666.106491567,636,879.893508433,787.893508433,804,653,632,653,0.400977673182,0.00453260731082,0.0598518515875,0.999999956194,0.000157395518172,-0.000249372698693,2.55472766778e-05,1793239215153523200
+68,1.133333333,BASELINE,766,746,715,679.470898309,666,635.529101691,879.529101691,787.529101691,803.529101691,653,632,653,0.400977109704,0.00453378963318,0.0598515461931,0.999999955844,0.000159123761138,-0.000249683446959,2.54934064219e-05,1793239215170189824
+69,1.150000000,BASELINE,766,746,714.951525526,680,666,635.048474474,879.048474474,787,803.048474474,653,632,653,0.40097628462,0.00453557697194,0.0598510973101,0.99999995531,0.000161627592757,-0.000250223426876,2.53847403443e-05,1793239215186856448
+70,1.166666667,BASELINE,766,746,714.365594185,680,666,635.634405815,879.634405815,787,803.634405815,653,632,653,0.40097463793,0.00453616525397,0.0598508706593,0.999999954977,0.00016171807053,-0.000251491396216,2.54013317977e-05,1793239215203523072
+71,1.183333333,BASELINE,766,746,714,680,666.217936958,636,879.782063042,787,803.782063042,653,631.782063042,653,0.400973985215,0.00453632944666,0.059850641601,0.999999954866,0.000161495123078,-0.000252084128733,2.53031663994e-05,1793239215220189696
+72,1.200000000,BASELINE,766,746,714,680,666.797485667,636,879.202514333,787,803.202514333,653,631.202514333,653,0.400974981755,0.0045357899695,0.0598504085482,0.999999955126,0.000160752125047,-0.000251556475208,2.50145907743e-05,1793239215236856320
+73,1.216666667,BASELINE,766,746,714.376308441,679.623691559,666.623691559,636,879,787,803.376308441,653,631.376308441,653,0.4009751214,0.00453439801894,0.0598500816903,0.999999955415,0.000158546881837,-0.00025180415981,2.50488635672e-05,1793239215253523200
+74,1.233333333,BASELINE,766,746,714.954741262,679.045258738,666.045258738,636,879,787,803.954741262,653,631.954741262,653,0.400974800787,0.0045325481843,0.0598497044475,0.999999955712,0.00015555623136,-0.000252468297333,2.52565460836e-05,1793239215270189824
+75,1.250000000,BASELINE,766,745.470850366,714.470850366,679,666.529149634,636,879,787,804,653,632,653,0.400975917361,0.00453456632606,0.0598509099716,0.999999955746,0.000157829790815,-0.000250940327697,2.50299682215e-05,1793239215286856448
+76,1.266666667,BASELINE,766,745,714,679,666.895823629,636,879.104176371,787,804,653,632,653,0.400976728511,0.00453648773066,0.0598518881668,0.999999955699,0.000160161172302,-0.000249665246558,2.48468739855e-05,1793239215303523072
+77,1.283333333,BASELINE,766,745,714,679,666.31641768,636,879.68358232,787,804,653,632,653,0.400975589863,0.00453647004975,0.0598512164454,0.999999955423,0.000160717871367,-0.00025039263393,2.5030300573e-05,1793239215320189696
+78,1.300000000,BASELINE,766,745,714.266327698,679,666,636,880,787,804,653,632,653,0.400975828436,0.00453668107774,0.0598513125225,0.999999955444,0.000161274775383,-0.000249941928256,2.51375676508e-05,1793239215336856576
+79,1.316666667,BASELINE,766,745,714.853090912,679,666,636,880,787,804,653,632,653,0.400977724029,0.0045371672797,0.0598523323862,0.999999955819,0.000161831925951,-0.000248073785081,2.51532024445e-05,1793239215353523200
+80,1.333333333,BASELINE,766,745.434505094,714.565494906,679,666,636,879.565494906,787,804,653,632,653,0.400976752265,0.00453691429657,0.059852027146,0.999999955569,0.000161703273597,-0.000249160676745,2.51514406358e-05,1793239215370189824
+81,1.350000000,BASELINE,766,746,714.013969389,679.013969389,666,636,879,787.013969389,803.986030611,653,632,653,0.400974886095,0.00453640699032,0.0598513132101,0.999999955128,0.000161341313183,-0.000251158585766,2.5147625161e-05,1793239215386856192
+82,1.366666667,BASELINE,766,746,714.586896271,679.586896271,666,636,879,787.586896271,803.413103729,653,632,653,0.400975551842,0.00453560202926,0.0598519550152,0.999999955471,0.000160809166564,-0.000250117516296,2.52941271421e-05,1793239215403523072
+83,1.383333333,BASELINE,765.835540573,746,715,679.835540573,666,636,879.164459427,787.835540573,803,653,631.835540573,653,0.400975900234,0.00453486691187,0.0598521781422,0.999999955658,0.000160289088897,-0.000249690145757,2.54363209491e-05,1793239215420189696
+84,1.400000000,BASELINE,765.245993657,746,715,679.245993657,666,636,879.754006343,787.245993657,803,653,631.245993657,653,0.400975428341,0.00453431232314,0.0598513190884,0.999999955442,0.000159800206413,-0.000250849036985,2.55673792089e-05,1793239215436856576
+85,1.416666667,BASELINE,765.337677834,746,714.662322166,679.337677834,666.337677834,636,880,787.337677834,803.337677834,653.337677834,631.337677834,653,0.400975262992,0.00453474266502,0.0598508196686,0.999999955257,0.000160166447244,-0.000251367410684,2.54500733158e-05,1793239215453523200
+86,1.433333333,BASELINE,765.917142323,746,714.082857677,679.917142323,666.917142323,636,880,787.917142323,803.917142323,653.917142323,631.917142323,653,0.400975317137,0.00453587824446,0.0598505777565,0.999999955092,0.000161144980019,-0.000251427156071,2.51549318218e-05,1793239215470189824
+87,1.450000000,BASELINE,766,746,714,679.506589783,666.506589783,636,880,788,803.506589783,653.013179565,631.506589783,653,0.400974928064,0.00453589074436,0.0598511030081,0.99999995494,0.000162056751382,-0.000251436768923,2.52605601306e-05,1793239215486856704
+88,1.466666667,BASELINE,766,746,714.066414679,679.066414679,666,636,880,787.933585321,803,652.066414679,631,653,0.40097451978,0.00453566736109,0.0598516400047,0.999999954802,0.0001628140453,-0.000251475352714,2.54325765435e-05,1793239215503523328
+89,1.483333333,BASELINE,766,746,714.619417129,679.619417129,666,636,880,787.380582871,803,652.619417129,631,653,0.400974512542,0.00453508864215,0.0598513252612,0.999999954767,0.000162521168629,-0.000251787474917,2.56010806767e-05,1793239215520189952
+90,1.500000000,BASELINE,766,746,715,680,666.192571602,636,880,787.192571602,803,653,631,653,0.400974772465,0.00453535952243,0.0598511618967,0.999999954768,0.000162669982045,-0.000251690000886,2.5571643449e-05,1793239215536856832
+91,1.516666667,BASELINE,766,746,715,680,666.810207686,636,880,787.810207686,803,653,631,653,0.400975622098,0.00453750572838,0.0598513326721,0.999999954848,0.000163793740744,-0.000250688422527,2.5105289015e-05,1793239215553523456
+92,1.533333333,BASELINE,766,746,715,680,667,636,880,788,803.399601416,653.399601416,631,653,0.400974806045,0.00453696473686,0.0598504270037,0.999999954791,0.000162176283904,-0.000251977892784,2.49661954531e-05,1793239215570189824
+93,1.550000000,BASELINE,766,746,715,680,667,636,880,788,803.976466833,653.976466833,631,653,0.40097325109,0.00453523169926,0.0598490438226,0.999999954663,0.000159342818365,-0.000254283676783,2.49722754397e-05,1793239215586856448
+94,1.566666667,BASELINE,766,746,715,679.449884196,667,636,880,788,803.449884196,653.449884196,631.550115804,653,0.400975289888,0.00453563773532,0.0598506438226,0.999999955053,0.000160953244615,-0.000251720738987,2.50007728121e-05,1793239215603523328
+95,1.583333333,BASELINE,766,746,715,679.126882799,667,636,880,788,803.126882799,653,632,653,0.400977118329,0.00453596758997,0.0598520215819,0.999999955422,0.000162148969664,-0.000249467875937,2.50929485554e-05,1793239215620189952
+96,1.600000000,BASELINE,766,746,715,679.715494297,667,636,880,788,803.715494297,653,632,653,0.400977625081,0.00453568916116,0.0598521289062,0.999999955668,0.000161147822353,-0.0002490968972,2.54133815272e-05,1793239215636856576
+97,1.616666667,BASELINE,766,746,715,680,666.699145512,636,880,787.699145512,804,653,632,653,0.400976917993,0.00453507653263,0.0598518813827,0.999999955759,0.000159930165376,-0.000249496661234,2.56146698594e-05,1793239215653523200
+98,1.633333333,BASELINE,766,746,715,680,666.11682711,636,880,787.11682711,804,653,632,653,0.400975075297,0.00453415124414,0.0598513018821,0.999999955702,0.000158509953206,-0.000250617492402,2.57044926037e-05,1793239215670189824
+99,1.650000000,BASELINE,766,746,714.541201617,680,666.458798383,636,879.541201617,787.458798383,803.541201617,653,632,653,0.400975250266,0.00453560043223,0.0598517078364,0.999999955482,0.000160182796647,-0.000250448776361,2.55438815959e-05,1793239215686856448
+100,1.666666667,BASELINE,766,746,714,680,666.96723923,636,879,787.96723923,803,653,631.96723923,653,0.400975869107,0.00453748326147,0.0598522635213,0.99999995522,0.000162466879695,-0.000250043727321,2.53359949104e-05,1793239215703523072
+101,1.683333333,BASELINE,766,746,714,680,666.393001484,636,879,787.393001484,803,653,631.393001484,653,0.400975454719,0.00453668363972,0.0598512061379,0.999999955031,0.00016202309903,-0.000251081794655,2.53855709009e-05,1793239215720189696
+102,1.700000000,BASELINE,766,745.813363631,714.186636369,679.813363631,666,636,879,787.186636369,803,653,631.186636369,653,0.400975268925,0.00453565917492,0.059850646205,0.999999955055,0.000160988204535,-0.000251646362682,2.54214600605e-05,1793239215736856320
+103,1.716666667,BASELINE,766,745.222016,714.777984,679.222016,666,636,879,787.777984,803,653,631.777984,653,0.400975578824,0.00453414714977,0.0598511649678,0.999999955542,0.000158671510494,-0.000251184171946,2.54276700322e-05,1793239215753523200
+104,1.733333333,BASELINE,766,745.36065693,714.63934307,679,666,636,879,787.63934307,803,653,631.63934307,653,0.400976421409,0.00453365085107,0.0598519867353,0.999999955897,0.000158312239562,-0.000249974192405,2.56309681554e-05,1793239215770189824
+105,1.750000000,BASELINE,766,745.938115301,714.061884699,679,666,636,879,787.061884699,803,653,631.061884699,653,0.400977584206,0.00453376513513,0.0598529906479,0.999999956172,0.000159129632744,-0.000248314695076,2.5952741737e-05,1793239215786856448
+106,1.766666667,BASELINE,766,746,714.5121701,679.5121701,666.5121701,635.4878299,879,787.5121701,803.5121701,653,631,653,0.40097836159,0.00453544235982,0.0598534063186,0.999999956059,0.000161209315908,-0.000247441463604,2.58217645264e-05,1793239215803524096
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,746,714,680,666,636,879,788,804,653,631,653,0.40097311763,0.00453486623524,0.0598510537919,0.999999955494,0.000158173407582,-0.000251720648028,2.50787305568e-05,1793239215845888000
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.579885494,746,714,680,666,636,879,787.420114506,803.420114506,653,631.579885494,653,0.400975383846,0.00453439067317,0.0598515842446,0.999999955819,0.00015807423294,-0.00025047592653,2.52351770922e-05,1793239215862554880
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,714,679.841581075,666.158418925,636,879.158418925,787,803.158418925,653,631.841581075,653,0.40097683568,0.00453438098956,0.0598518834596,0.999999955912,0.000158629030514,-0.000249739480511,2.53665975991e-05,1793239215879221248
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,714,679.266602741,666.733397259,636,879.733397259,787,803.733397259,653,631.266602741,653,0.400976146114,0.00453559632395,0.0598515746393,0.999999955397,0.000160903434995,-0.000250339534481,2.54322126962e-05,1793239215895887872
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,714,679.308336694,667,636,879.691663306,787,803.691663306,653,631,653,0.400975518294,0.00453578918206,0.0598512296851,0.99999995515,0.000161744350852,-0.000250790921576,2.53677735633e-05,1793239215912554240
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,714,679.883242463,667,636,879.116757537,787,803.116757537,653,631,653,0.400974943856,0.00453509806955,0.0598508534916,0.999999955137,0.000161345959854,-0.000251113780338,2.5190897482e-05,1793239215929220608
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,714.472445726,680,666.527554274,636,879.472445726,787,803,653,631.472445726,653,0.40097582226,0.00453413479736,0.0598515148104,0.999999955886,0.000158536253557,-0.000249932966102,2.50569589847e-05,1793239215945886976
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,714.936605652,680,666.063394348,636,879.936605652,787.063394348,803.063394348,652.936605652,632,653,0.400977325281,0.00453334380956,0.0598525680886,0.999999956696,0.000156009184919,-0.000248282510876,2.49912774546e-05,1793239215962553600
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714.360995039,680,666.639004961,636,879.360995039,787.639004961,803.639004961,652.360995039,632,653,0.400980883531,0.00453450526169,0.059854651974,0.999999956519,0.000160730971949,-0.000245933674649,2.53886877211e-05,1793239215979220224
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,714,679.785695183,667,636,879.214304817,787.785695183,803.785695183,652.214304817,632,653,0.400988060211,0.00453483113728,0.0598583033915,0.999999957538,0.000162555741635,-0.000240499954138,2.56844773972e-05,1793239215995886848
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,714,679.210918093,667,636,879.789081907,787.210918093,803.210918093,652.789081907,632,653,0.401001323283,0.00453375152789,0.0598645914821,0.999999960524,0.000159507571262,-0.000229877291947,2.58093357131e-05,1793239216012553984
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,714.372501846,679.372501846,667,636,880,787,803,653,632,653,0.401034203714,0.0045330061311,0.0598775916211,0.999999966056,0.00015712476679,-0.000206228471405,2.58605694934e-05,1793239216029220608
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,714.960931839,679.960931839,667,636,880,787,803,653,632,653,0.401078455741,0.00453245446723,0.0598944825339,0.999999972316,0.000155127654566,-0.000175028776393,2.58691253311e-05,1793239216045887232
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.458830561,746,715,680,667,636,880,787.541169439,803.541169439,653,631.458830561,653,0.401144444361,0.00453343590157,0.0599139384588,0.999999976864,0.000158269551496,-0.000143311933846,2.61616489242e-05,1793239216062553600
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.120689855,745.879310145,714.879310145,679.879310145,666.879310145,636,879.879310145,788,803.879310145,653,631.120689855,653,0.401214175253,0.00453437008718,0.0599317871742,0.999999980184,0.000160593098423,-0.000114673154985,2.63001114924e-05,1793239216079220224
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.699699379,745.300300621,714.300300621,679.300300621,666.300300621,636,879.300300621,788,803.300300621,653,631.699699379,653,0.401292247234,0.00453471081568,0.0599428398077,0.999999982331,0.000158421115987,-9.78629744102e-05,2.57768388763e-05,1793239216095887104
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.275900374,714.275900374,679.275900374,666.275900374,636,879.275900374,788,803.275900374,653,631.724099626,653,0.4013742054,0.00453398932579,0.0599483456303,0.999999983681,0.000155242265979,-8.88835516725e-05,2.52542434421e-05,1793239216112554240
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.849075226,714.849075226,679.849075226,666.849075226,636,879.849075226,788,803.849075226,653,631.150924774,653,0.401460350813,0.00453212332704,0.0599478749279,0.999999984395,0.000150978546164,-8.83415394996e-05,2.47323776883e-05,1793239216129221888
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.434272575,746,715,680,666.565727425,636,880,788,804,653,631.434272575,653,0.40156765223,0.00453178433783,0.0599507478987,0.999999985465,0.000148075170516,-8.11595746967e-05,2.35980614853e-05,1793239216145888512
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.976614955,746,714.976614955,680,666,636,879.976614955,788,803.976614955,653,631.976614955,653,0.401683531987,0.00453202255938,0.0599547454237,0.999999986551,0.000145770679007,-7.17835409199e-05,2.22514269706e-05,1793239216162555136
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.396596808,746,714.396596808,680,666,636,879.396596808,788,803.396596808,653,631.396596808,653,0.401823608753,0.0045330084794,0.0599570630746,0.999999986876,0.000146147745177,-6.66741386934e-05,2.10616473743e-05,1793239216179221504
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666.182185241,636,879.182185241,787.817814759,803.182185241,653,631,653,0.401972549433,0.00453323584158,0.0599583190729,0.999999987426,0.000144318482758,-6.26983562176e-05,1.9724238138e-05,1793239216195887872
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,714,680,666.758294504,636,879.758294504,787.241705496,803.758294504,653,631,653,0.402140655801,0.00453182303702,0.0599572795476,0.999999988482,0.000137718659142,-6.11737062857e-05,1.80676217411e-05,1793239216212553984
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666.666771586,636,879.666771586,787.333228414,804,653,631.333228414,653,0.402328345529,0.0045310764412,0.0599569776628,0.999999989224,0.000133827905752,-5.81090282927e-05,1.63214201247e-05,1793239216229220864
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666.092687158,636,879.092687158,787.907312842,804,653,631.907312842,653,0.40253019004,0.00453081137796,0.059957208941,0.999999989742,0.000131895255587,-5.39312247111e-05,1.4510466539e-05,1793239216245888000
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,714.4963365,680,666,636,879,788,803.5036635,653,631.5036635,653,0.40276117566,0.00453104488891,0.0599578412878,0.999999990758,0.000127099688518,-4.68417026573e-05,1.16780229306e-05,1793239216262554368
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,714.913907374,680,666.086092626,636,879,787.913907374,803,653,631.086092626,653,0.403003653338,0.00453128214775,0.0599588697333,0.999999991769,0.000121789696625,-3.94073626642e-05,8.74265363365e-06,1793239216279220480
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,714.336388615,680,666.663611385,636,879,787.336388615,803,653,631.663611385,653,0.403279702184,0.00453099285372,0.0599617183693,0.99999999262,0.000116689731472,-3.32048173471e-05,6.3424168124e-06,1793239216295887104
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,714,679.759724891,666.759724891,636,879.240275109,787,803.480550217,652.759724891,631.759724891,653,0.403567614079,0.00453064971461,0.0599600601405,0.999999993251,0.000110836400255,-3.46477505459e-05,3.57534702301e-06,1793239216312553984
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,714,679.184254018,666.184254018,636,879.815745982,787,804.631491963,652.184254018,631.184254018,653,0.403872075501,0.00453023145896,0.05995211461,0.999999993506,0.000103932086092,-4.67565080897e-05,2.96527085013e-07,1793239216329221120
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.599482213,746,714,679,666,636,879.599482213,787.400517787,804.198964426,652.400517787,631,653,0.40419159348,0.0045305663681,0.059942762903,0.999999993319,9.76882943397e-05,-6.17298882402e-05,-3.04476936242e-06,1793239216345887744
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.010329902,746,714,679,666,636,879.010329902,787.989670098,803.020659804,652.989670098,631,653,0.404518202737,0.00453125600029,0.0599327489198,0.999999992724,9.17555933911e-05,-7.80524383825e-05,-6.41549069333e-06,1793239216362554112
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.569207734,745.430792266,714.569207734,679.569207734,666,636,879.569207734,787.430792266,803.569207734,653,631,653,0.40488539619,0.00452896123485,0.0599233233807,0.999999991776,8.30880328541e-05,-9.72188355025e-05,-9.66187348858e-06,1793239216379220480
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.147643675,715,680,666.147643675,636,880,787.147643675,804,652.852356325,631.147643675,653,0.405273584972,0.00452721777576,0.0599186534173,0.999999991358,7.47801008041e-05,-0.00010734100312,-1.30540946667e-05,1793239216395887360
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.723382655,715,680,666.723382655,636,880,787.723382655,804,652.276617345,631.723382655,653,0.405720549927,0.00452722726962,0.059927741877,0.99999999342,6.76564371262e-05,-9.10921152551e-05,-1.68756101242e-05,1793239216412553984
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.708840417,746,714.708840417,680,667,636,880,788,803.708840417,652.291159583,631.708840417,653,0.406197144275,0.00452706849722,0.0599467290261,0.999999996184,5.92685337411e-05,-6.08119066964e-05,-2.05189770658e-05,1793239216429220864
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.148426453,746,714.148426453,680,667,636,880,788,803.148426453,652.851573547,631.148426453,653,0.406701138918,0.00452675411796,0.0599748701441,0.999999998322,4.97115040045e-05,-1.75560128091e-05,-2.39975987958e-05,1793239216445887488
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.44617744,746,714,679.55382256,666.55382256,636,880,787.55382256,803,653,631.44617744,653,0.407236093693,0.00452546679716,0.0599996572392,0.999999998615,3.93630585297e-05,2.15493296008e-05,-2.75045393452e-05,1793239216462554112
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,714.050291957,679.050291957,666.050291957,636,880,787,803.050291957,653,632,653,0.407779822534,0.00452394235637,0.0600203950961,0.99999999766,2.90414696499e-05,5.36405975956e-05,-3.09823290723e-05,1793239216479220992
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,714.625130244,679.625130244,666.625130244,636,880,787,803.625130244,653,632,653,0.408298729143,0.00452360068945,0.0600115024529,0.999999998782,2.19738263997e-05,2.81711105603e-05,-3.40496663683e-05,1793239216495887616
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,714.799788615,679.799788615,667,635.799788615,880,787,804,652.799788615,631.799788615,653,0.408835667773,0.00452311012302,0.0600010747635,0.999999999195,1.39771651418e-05,2.26383755379e-06,-3.75480876042e-05,1793239216512553984
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,714.224252243,679.224252243,667,635.224252243,880,787,804,652.224252243,631.224252243,653,0.409406409982,0.00452234042311,0.0599877694101,0.999999998816,4.23892668418e-06,-2.44641265602e-05,-4.18546374109e-05,1793239216529220608
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,714,679.360409546,667,635,880,787,804,652,631,653,0.410029921504,0.00452103586821,0.0599902845632,0.999999998737,-6.74645208891e-06,-1.74761537033e-05,-4.66435757743e-05,1793239216545887232
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,714,679.950896783,667,635,880,787,804,652,631,653,0.410687119796,0.00451938987343,0.0600028991873,0.999999998429,-1.85279779951e-05,1.10353480187e-05,-5.17404604153e-05,1793239216562553856
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.46902653,745.46902653,714.53097347,680,667,635,879.46902653,787.53097347,804,652,631,653,0.411365382405,0.00451864878443,0.0600076292386,0.99999999784,-2.62062346119e-05,2.25837650426e-05,-5.58818091761e-05,1793239216579220736
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.108998342,714.891001658,679.891001658,667,635.108998342,879.108998342,787.891001658,804,652.108998342,631,653,0.412039338328,0.00451813210049,0.0600066909748,0.999999998091,-1.64769064176e-05,2.26606925544e-05,-5.50780711444e-05,1793239216595887616
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.682304993,714.317695007,679.317695007,667,635.682304993,879.682304993,787.317695007,804,652.682304993,631,653,0.412686810163,0.00451822171308,0.0599846532449,0.999999997079,6.58194666226e-05,-1.95744949737e-05,-3.35785592865e-05,1793239216612554240
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,746,714,679.257535467,666.742464533,636,879.742464533,787,803.742464533,653,631,653,0.413347792638,0.00451841338073,0.059956917532,0.999999991297,0.000106688924503,-7.37666598278e-05,-2.41133848775e-05,1793239216629220864
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,746,714,679.835157104,666.164842896,636,879.164842896,787,803.164842896,653,631,653,0.414025567329,0.00451873189078,0.0599220998962,0.999999984748,9.60696307338e-05,-0.000142819941117,-2.9605467951e-05,1793239216645887744
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,746,714,679.579253766,666,636,879.420746234,787,803,652.579253766,631.420746234,653,0.41480788009,0.00450880960817,0.0599390858731,0.999999990562,7.64991819022e-05,-0.000109430203277,-3.23931218678e-05,1793239216662554112
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,746,714.009364226,679,666.009364226,636,880,787,803.009364226,652.009364226,631.990635774,653,0.415631916781,0.00449495527797,0.0599767319655,0.999999997351,5.3717600238e-05,-3.53673625186e-05,-3.40697463615e-05,1793239216679220480
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,746,714.588675212,679,666.588675212,636,880,787,803.588675212,652.588675212,631.411324788,653,0.416454539991,0.00449069344771,0.0600126971119,0.999999997725,5.30603880139e-05,2.42439018655e-05,-3.38585230586e-05,1793239216695887104
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,746,715,679,667,636,880,787,804,652.833318664,631,653,0.417265444065,0.00448834938244,0.0600349792001,0.999999996044,5.59789615623e-05,6.01993707389e-05,-3.39809025062e-05,1793239216712553984
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,746,715,679,667,636,880,787,804,652.258507612,631,653,0.418047653052,0.00449070108545,0.0600237574593,0.999999996371,6.76530715019e-05,3.82321356045e-05,-3.49201294855e-05,1793239216729220608
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.316954929,746,714.683045071,679.316954929,667,636,880,787,804,652.316954929,631,653,0.418848435564,0.00449100639999,0.0600081928798,0.999999996676,7.18564542936e-05,1.25238482248e-05,-3.64336930527e-05,1793239216745887232
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.892949888,746,714.107050112,679.892949888,667,636,880,787,804,652.892949888,631,653,0.419664397756,0.0044896392478,0.0599890789979,0.999999996683,6.99541816691e-05,-1.62419147104e-05,-3.8416648751e-05,1793239216762554112
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.517463268,745.517463268,714.482536732,680,666.517463268,636,880,787,804,652.517463268,631.482536732,653,0.420475868295,0.00448996061239,0.0599625214916,0.999999994975,7.49184493041e-05,-5.31351607894e-05,-4.01730470069e-05,1793239216779220480
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.073252165,745,714.926747835,679.926747835,666.073252165,636,880,787,803.926747835,652,631.926747835,653,0.421284877125,0.00449066493347,0.0599343209925,0.999999992298,6.83750268696e-05,-9.48598635657e-05,-4.15998225285e-05,1793239216795887104
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.650387615,745,714.349612385,679.349612385,666.650387615,636,880,787,803.349612385,652,631.349612385,653,0.422084005185,0.00449135208556,0.059906507286,0.999999986426,-2.81092497782e-05,-0.000157056568373,-4.11149618073e-05,1793239216812553984
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714.226580937,679,667,635.773419063,880,787,803,652,631,653,0.422937018556,0.00449116531268,0.0599109531351,0.999999983472,-8.80387547825e-05,-0.000153584670572,-4.14327036737e-05,1793239216829220608
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714.801326669,679,667,635.198673331,880,787,803,652,631,653,0.423872832345,0.00448963566476,0.0599649690884,0.999999993652,-9.17981270461e-05,-4.92062554436e-05,-4.29837268315e-05,1793239216845887232
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.376616866,714.623383134,679.376616866,667,635.376616866,880,787.376616866,803.376616866,652,631,653,0.424785800087,0.00448779791266,0.0600096209865,0.999999994812,-8.95019030452e-05,2.23570300063e-05,-4.31827565921e-05,1793239216862554112
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.952194659,714.047805341,679.952194659,667,635.952194659,880,787.952194659,803.952194659,652,631,653,0.425686698554,0.00448579739392,0.0600493259942,0.999999992629,-8.40066001058e-05,7.65845781925e-05,-4.26675488966e-05,1793239216879220736
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,714,679.454400729,667,635.454400729,880.545599271,788,804,652,631.545599271,653,0.42656827501,0.00448489027247,0.0600421776459,0.999999993083,-7.64818319496e-05,7.75315522623e-05,-4.44209879355e-05,1793239216895887104
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,714,679.135759189,667,635.135759189,881,788,804,652,631.864240811,653,0.427438629466,0.00448394053542,0.06002829439,0.999999994307,-6.97621608188e-05,6.62549046491e-05,-4.61535551338e-05,1793239216912553728
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,714,679.710216097,667,635.710216097,881,788,804,652,631.289783903,653,0.428278376258,0.00448253304895,0.0600063617577,0.999999996212,-6.62381416703e-05,3.10736890388e-05,-4.7154638428e-05,1793239216929220352
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.71492479,714.28507521,680,667,636,880.71492479,787.71492479,804,652,631.28507521,653,0.429092492265,0.00448217815178,0.0599803747339,0.999999997016,-5.91302029103e-05,-1.33249782399e-05,-4.79050974598e-05,1793239216945887232
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.139656287,714.860343713,680,667,636,880.139656287,787.139656287,804,652,631.860343713,653,0.429880517275,0.00448289474159,0.0599502605295,0.999999995407,-4.83740009601e-05,-6.71065800638e-05,-4.84004325363e-05,1793239216962553856
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.446433945,715,680,667,636,880,787,804,652,631.553566055,653,0.430727648158,0.00448346808837,0.0599428015633,0.999999995187,-4.22947583876e-05,-7.30216592195e-05,-5.00594110059e-05,1793239216979220736
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,714.964621839,680,667,636,880,787.035378161,804,652,631.035378161,653,0.431595925147,0.00448371880487,0.0599457648713,0.9999999962,-3.80194728628e-05,-5.87860173981e-05,-5.19546636555e-05,1793239216995887104
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,714.385143494,680,667,636,880,787.614856506,804,652,631.614856506,653,0.432497988381,0.00447971389313,0.0599973130447,0.999999997492,-3.84277960045e-05,2.93456232545e-05,-5.17461869577e-05,1793239217012553728
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,714.192823583,680,667.192823583,636,880.385647166,788,804,652,631.807176417,653.192823583,0.433363019185,0.00447645561115,0.0600296432521,0.999999994684,-3.78018830582e-05,8.08873944125e-05,-5.15859985518e-05,1793239217029220352
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,714.76779565,680,667.76779565,636,881.535591299,788,804,652,631.23220435,653.76779565,0.434154657224,0.00447467704075,0.0600238862365,0.999999996261,-3.51262641573e-05,5.99133466026e-05,-5.1521511174e-05,1793239217045886976
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.649737932,746,715,680,667.649737932,636,881.299475864,787.649737932,804.350262068,652,631.350262068,653.649737932,0.434921496838,0.00447226439852,0.0600033437676,0.999999997768,-3.37798343174e-05,2.43455789754e-05,-5.2251687042e-05,1793239217062554368
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.06219458,746,715,680,667.06219458,636,880.124389161,787.06219458,804.93780542,652,631.93780542,653.06219458,0.435671536979,0.00446942221123,0.0599727850524,0.999999997789,-3.33338494738e-05,-2.11085465169e-05,-5.3520198938e-05,1793239217079222016
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.518444343,746,714.481555657,680,667,636,880,787.518444343,804.481555657,652,631.481555657,653,0.436431504693,0.00446839680649,0.0599534700646,0.999999996423,-3.0916150738e-05,-5.7215780774e-05,-5.40855092489e-05,1793239217095887872
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.90227195,880.09772805,788,804,652,631.09772805,653,0.437182649164,0.00446740012278,0.0599369392249,0.999999993998,-2.80514070179e-05,-9.093393268e-05,-5.42988504008e-05,1793239217112554240
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.325623859,880.674376141,788,804,652,631.674376141,653,0.437884795383,0.00446549016107,0.0599275290365,0.999999991288,-2.41398141571e-05,-0.000118366997272,-5.31953236605e-05,1793239217129220608
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,714.250604416,680,667,635,880.749395584,787.749395584,804,652,631.749395584,653,0.438599279159,0.00446393591763,0.0599276094653,0.999999990869,-2.15890134374e-05,-0.000122421824212,-5.30004247099e-05,1793239217145887488
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,714.826288071,680,667,635,880.173711929,787.173711929,804,652,631.173711929,653,0.439329766921,0.00446284310525,0.0599400009414,0.999999993704,-2.08034064784e-05,-9.6150847842e-05,-5.39841803903e-05,1793239217162554112
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,714.588058401,680.411941599,667,635,880.411941599,787.411941599,804,652,631.411941599,653,0.4400500739,0.0044613268446,0.0599740708795,0.999999997426,-2.02732902643e-05,-4.30240866223e-05,-5.37270125833e-05,1793239217179220992
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,714.001866043,680.998133957,667,635,881,787.998133957,804.001866043,652,632,653,0.44076567392,0.00445963271203,0.0600173035294,0.999999998174,-1.98361438122e-05,2.13719739779e-05,-5.29353996929e-05,1793239217195887616
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,714.580172093,680.419827907,667,635,881,787.419827907,804.580172093,652,632,653,0.441386315329,0.00445952057823,0.0599970146128,0.999999998348,-1.4011489386e-05,-1.81566801812e-05,-5.27059358174e-05,1793239217212554496
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,714.842507555,680,667,635,881,787.157492445,804.842507555,652,632,653,0.441982628169,0.00445978278848,0.059967034282,0.999999996123,-8.43561815326e-06,-6.99545564768e-05,-5.28106096398e-05,1793239217229221376
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,714.267798308,680,667,635,881,787.732201692,804.267798308,652,632,653,0.442514491781,0.00446103668205,0.0599113802019,0.999999986649,-3.51880283638e-06,-0.000154255115419,-5.38004551057e-05,1793239217245887744
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,714.308246734,680.308246734,667,635.308246734,881,787.691753266,804.308246734,652,632,653,0.443046424295,0.00446335372023,0.0598718558851,0.99999997598,-3.1377847766e-06,-0.000212036905454,-5.54054788468e-05,1793239217262554112
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,714.885457303,680.885457303,667,635.885457303,881,787.114542697,804.885457303,652,632,653,0.443578416896,0.00446659841602,0.0598464057613,0.999999967896,-6.71452324074e-06,-0.000246679468397,-5.75472828108e-05,1793239217279220736
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,714.528164135,680.528164135,666.528164135,635.528164135,881,787,804.528164135,652,632,653,0.444102059512,0.00446798814296,0.0598480008737,0.999999966642,-6.21787492016e-05,-0.000243626932699,-5.91224843123e-05,1793239217295887360
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,714.059215396,680.059215396,666,635,881,787.059215396,804.059215396,652,632,653,0.444619358512,0.00446912053293,0.0598549004436,0.999999963254,-0.000123168097906,-0.000233765319708,-6.06207243374e-05,1793239217312554240
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,714.635515884,680.635515884,666,635,881,787.635515884,804.635515884,652,632,653,0.445099314769,0.00447201594927,0.0598496522655,0.999999960566,-0.000120231406978,-0.000245936109572,-6.26718269497e-05,1793239217329221120
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.789155923,745.789155923,714.789155923,681,665.789155923,635,881,787.789155923,804.789155923,652,632,653,0.445543984061,0.00447472412169,0.0598343981686,0.999999953132,-0.000117132822826,-0.000275362862058,-6.4740485367e-05,1793239217345888000
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.215500871,745.215500871,714.215500871,681,665.215500871,635,881,787.215500871,804.215500871,652,632,653,0.445927933083,0.00447711009296,0.0598019263382,0.999999935357,-0.000113755660161,-0.000334482894829,-6.68393526711e-05,1793239217362554368
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.369682003,745,714,681,665,635,881.369682003,787,804.369682003,652.369682003,632,653,0.446306625195,0.00448429123157,0.0597787844294,0.999999923504,-0.000109307686744,-0.000368818777857,-7.08285091016e-05,1793239217379221248
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.961801207,745,714,681,665,635,881.961801207,787,804.961801207,652.961801207,632,653,0.446682154269,0.00449435761663,0.0597612563197,0.999999916319,-0.000104215407631,-0.000388242074905,-7.59550504223e-05,1793239217395888128
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745.542054425,714.542054425,681,665,634.457945575,881.457945575,787,805.542054425,652.457945575,632,653,0.447057516663,0.00450991235772,0.0597663642144,0.999999920965,-8.76861392788e-05,-0.000379285142662,-8.07681781184e-05,1793239217412554496
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.878878282,746,714.878878282,681,664.878878282,634,881,787,805.878878282,652,631.878878282,653,0.447426145931,0.00452372847267,0.0597734308591,0.999999926235,-7.0708641059e-05,-0.000368046949516,-8.40896341624e-05,1793239217429220608
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.301196602,746,714.301196602,681,664.301196602,634,881,787,805.301196602,652,631.301196602,653,0.44776943858,0.00452956430132,0.0597819968085,0.999999931914,-5.50145313639e-05,-0.00035558693914,-8.18698079405e-05,1793239217445887232
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.273296566,746,714.273296566,681,664.273296566,634,881,787,805,652,631,653,0.44807820511,0.00453198111353,0.0597836952882,0.999999934727,-2.40410957306e-05,-0.000352989413892,-7.32572317399e-05,1793239217462554112
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.844316206,746,714.844316206,681,664.844316206,634,881,787,805,652,631,653,0.448349359649,0.00453067332652,0.0597779125019,0.999999932849,2.35772897922e-05,-0.000361135856225,-5.76805388652e-05,1793239217479221248
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.570376095,746,715,681,664.570376095,634,881,787,805,652,631,653,0.448576206168,0.00453461374827,0.0597605242473,0.999999922563,3.7628876518e-05,-0.00038774789068,-5.57595643471e-05,1793239217495887872
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,714.980107891,681,664,634,881,787,805,652,631.019892109,653,0.448785632969,0.0045402727867,0.0597387618059,0.999999908767,3.88121852517e-05,-0.000421291913344,-5.89307025918e-05,1793239217512554240
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,746,714.400950578,681,664,634,881,787,805,652,631.599049422,653,0.448972248208,0.0045389420882,0.0597163242421,0.999999894037,3.19502617952e-05,-0.000455127693949,-6.13547202208e-05,1793239217529220864
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,746,714,681,664,633.822944195,881,787,805,652,631.822944195,653,0.449155042792,0.00453874549631,0.0596988605396,0.999999881913,2.72622275701e-05,-0.000481020364963,-6.36425605865e-05,1793239217545887488
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,746,714,681,664,633.247527388,881,787,805,652,631.247527388,653,0.449329241195,0.00454110055122,0.0596925876192,0.999999877889,2.74652663337e-05,-0.000489041689091,-6.56240131183e-05,1793239217562554112
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,746,714,681,664,633,881,786.666044503,805,652,631.333955497,653,0.44948823854,0.00454249490535,0.0596923806109,0.999999877539,2.83174705136e-05,-0.000489566841634,-6.66688872152e-05,1793239217579220736
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,714,681,664,633,881,786.079982206,805,652,631.920017794,653,0.449635760451,0.0045431640158,0.0596967528278,0.999999879978,2.96597370657e-05,-0.000484433049907,-6.70067278166e-05,1793239217595887616
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714.501559906,681,663.498440094,633,881,786.501559906,805,652,631.498440094,653,0.449759804733,0.00454289354698,0.0596952127105,0.999999878501,2.70512196401e-05,-0.000487521511097,-6.77447086704e-05,1793239217612553984
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.081807138,746,714.918192862,681,663.081807138,633,880.918192862,787,804.918192862,652,631.081807138,653,0.449876481638,0.00454239122667,0.0596926117809,0.999999876406,2.42815749987e-05,-0.000491848225138,-6.84337387976e-05,1793239217629220608
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.658542644,746,714.341457356,681,663.658542644,633,880.341457356,787,804.341457356,652,631.658542644,653,0.449971034494,0.00454138459541,0.0596892460662,0.999999874451,2.43146543153e-05,-0.00049580460453,-6.84440268299e-05,1793239217645887232
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.765935978,746,714.234064022,680.765935978,663.765935978,633,880.234064022,787,804,652,632,653,0.450054262856,0.0045407435236,0.0596846949365,0.999999871294,2.4846293691e-05,-0.000502091215656,-6.85537483087e-05,1793239217662553856
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.192176688,746,714.807823312,680.192176688,663.192176688,633,880.807823312,787,804,652,632,653,0.450121056061,0.00454063298538,0.0596784234233,0.999999866343,2.61014893452e-05,-0.000511759673456,-6.880777676e-05,1793239217679220736
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714.606167891,680.787664217,663,633,881,787,804.393832109,652,631.606167891,653,0.450178963851,0.00454217285981,0.0596755539104,0.999999864398,2.7667951826e-05,-0.000515409962568,-6.92168645122e-05,1793239217695887360
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,714.013989885,681.972020229,663,633,881,787,804.986010115,652,631.013989885,653,0.450232396671,0.00454454393256,0.0596743977492,0.999999863996,2.93911777655e-05,-0.000516029317548,-6.97040448657e-05,1793239217712553984
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,714,681.435612205,663.564387795,633,881,787.564387795,805,652,631.564387795,653,0.450277376622,0.00454430463744,0.0596768750742,0.999999866941,2.95037255357e-05,-0.000510250049985,-6.9947926927e-05,1793239217729220608
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.141696314,746,714.141696314,681,664,633,881,787.858303686,805,652,632,653,0.45031789629,0.00454445549352,0.0596788286273,0.999999869164,2.99519778043e-05,-0.000505830133979,-7.00732132379e-05,1793239217745887488
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.716756048,746,714.716756048,681,664,633,881,787.283243952,805,652,632,653,0.450345400166,0.00454599275678,0.0596789113959,0.999999869024,3.15461394028e-05,-0.00050604115996,-6.98537911218e-05,1793239217762554112
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.701087741,746,714.701087741,681,663.701087741,633,881,787,805,652,631.701087741,653,0.450365498941,0.00454656855844,0.0596780984388,0.999999867972,3.37426546481e-05,-0.000508035792873,-6.94111939521e-05,1793239217779220480
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.112043435,746,714.112043435,681,663.112043435,633,881,787,805,652,631.112043435,653,0.450378410135,0.00454621114053,0.0596764160672,0.99999986602,3.65238302664e-05,-0.000511761641285,-6.87519772185e-05,1793239217795887104
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.530560895,714,681,663,633,881,787,805,652,631.469439105,653.469439105,0.450387706049,0.004547490629,0.0596737371233,0.999999864395,3.7106980569e-05,-0.000514808640994,-6.9324829993e-05,1793239217812553728
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.048901629,714,681,663,633,881,787,805,652,632,653.951098371,0.450395845074,0.00454907258069,0.0596710332064,0.999999862935,3.72537219581e-05,-0.000517520556141,-7.01028881694e-05,1793239217829220352
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.625732327,714,681,663,633,881,787,805,652,632,653.374267673,0.45040066236,0.00454976893654,0.0596705868188,0.999999862484,3.82629183065e-05,-0.00051833643127,-6.99719760899e-05,1793239217845887232
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.202053163,746,714,681,663,633,881,787,805,652,632,653,0.45040449468,0.00455000389978,0.0596699839321,0.999999861904,3.84404176001e-05,-0.000519468129358,-6.97717877239e-05,1793239217862553856
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.048366429,746,714,681,663,633,881.951633571,787,804.048366429,652,631.048366429,653,0.450410592734,0.00454844402573,0.0596694009938,0.999999862088,3.67107016274e-05,-0.000519338133223,-6.90166569392e-05,1793239217912553984
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.468120727,714.531879273,681,663,633,881.468120727,787,804,652,631,653,0.45040898362,0.00454747311935,0.0596677696539,0.999999860421,3.56633971469e-05,-0.000522599702717,-6.91095736858e-05,1793239217929220608
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.110854315,714.889145685,681,663,633,881.110854315,787,804,652,631.110854315,653,0.450407893876,0.00454704650086,0.059666701872,0.999999859163,3.54998983565e-05,-0.000525009997658,-6.91209379335e-05,1793239217945887232
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714,681,663,633,881.737519261,787,804.262480739,652,632,653,0.450410836425,0.0045492722335,0.0596691385716,0.999999860854,4.04214300693e-05,-0.000521521676813,-6.83593245911e-05,1793239217979220736
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714,681,663,633,881.166556414,787,804.833443586,652,632,653,0.45040895992,0.00454719703169,0.0596675077779,0.999999859716,3.77761786505e-05,-0.000523922615948,-6.8165297788e-05,1793239217995887360
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714,681,663,633,881,787,804.581340314,652,632,653.418659686,0.450410364916,0.0045469996823,0.0596679736366,0.999999860275,3.68495059248e-05,-0.000522896528247,-6.83410611537e-05,1793239218012553984
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.99044743,714,681.00955257,663,633,881,786.99044743,804.00955257,652,631.99044743,653.99044743,0.450413094402,0.00454759183116,0.059669296092,0.999999861517,3.66470146305e-05,-0.000520487499448,-6.86676355576e-05,1793239218029220608
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.411092946,714,681.588907054,663,633,881,786.411092946,804.588907054,652,631.411092946,653.411092946,0.450414212727,0.00454914416451,0.0596702059056,0.999999861841,3.74214486542e-05,-0.000519778082471,-6.89054218305e-05,1793239218045887232
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.166538501,714,681.833461499,663,633,880.833461499,786.166538501,804.833461499,652,631,653,0.450414541918,0.00454980071485,0.0596702638828,0.999999861752,3.80882228732e-05,-0.00051990045993,-6.89139272401e-05,1793239218062553856
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765.223968448,746,714,681,663,633,880.223968448,787,804.223968448,652,632,653,0.450413816789,0.00455094149581,0.0596680907078,0.99999986021,4.09176200944e-05,-0.000522711345216,-6.83949086427e-05,1793239218179220480
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.799590387,746,714,681,663,633,880.799590387,787,804.799590387,652,632,653,0.45041417038,0.00454976761886,0.0596688017704,0.999999860765,3.98754375555e-05,-0.00052176758195,-6.81106104185e-05,1793239218195887360
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746,714,681,663,633,881,787,805,652,632,653,0.450414800652,0.00455070537574,0.0596685645866,0.999999860575,4.03455504059e-05,-0.000522070258729,-6.82946716921e-05,1793239218212554240
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,714,681,663,633,881,787,805,652,632,653,0.450415578706,0.00455277100515,0.0596678209226,0.999999859987,4.1623415248e-05,-0.000523038688009,-6.87288946179e-05,1793239218229221376
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,714.550280323,681,663,633,881,787,805,652,632,653,0.450414788364,0.00455070414133,0.0596678886656,0.999999860231,4.0955780398e-05,-0.000522697299861,-6.81835338413e-05,1793239218245887744
+252,4.200000000,HOLD_POSE2,765,746,714,682,662,633,881,787,805,652,632,653,0.450413547001,0.00454947609713,0.0596676447783,0.999999859753,4.04705469603e-05,-0.000523671058163,-6.80079115736e-05,1793239218288052992
+253,4.216666667,HOLD_POSE2,765.578885119,746,714,682,662.578885119,633,881,787,805,652,631.421114881,653,0.450414725023,0.00454945729801,0.0596682837859,0.999999860452,4.13368803396e-05,-0.000522288029019,-6.78482352478e-05,1793239218304719616
+254,4.233333333,HOLD_POSE2,766,746,714,682,663,633,881,787,805,652,631.161893911,653,0.450415717659,0.00454959529917,0.0596688298847,0.999999860947,4.1621342681e-05,-0.000521321924347,-6.78037875588e-05,1793239218321386496
+255,4.250000000,HOLD_POSE2,766,746,714,682,663,633,881,787,805,652,631.755909598,653,0.450416215467,0.00455015182631,0.0596691279945,0.999999860904,4.03526946349e-05,-0.00052146866013,-6.80669042322e-05,1793239218338053120
+256,4.266666667,HOLD_POSE2,766,746,714,681.661207025,663,633,881,787,805,652,632,653,0.450416861499,0.0045497441383,0.0596694478405,0.999999861239,3.98164882477e-05,-0.000520873981386,-6.80169298174e-05,1793239218354719744
+257,4.283333333,HOLD_POSE2,766,746,714,681.086089026,663,633,881,787,805,652,632,653,0.450417610925,0.00454866386201,0.0596697828485,0.999999861837,3.97911965841e-05,-0.000519762128964,-6.77485587118e-05,1793239218371386368
+258,4.300000000,HOLD_POSE2,766,746,714.489279865,681,663,633,881,786.510720135,804.510720135,652,632,653,0.450416605375,0.004548569022,0.0596692706082,0.999999861382,4.01637963143e-05,-0.000520601155412,-6.7798192162e-05,1793239218388053248
+259,4.316666667,HOLD_POSE2,766,746,714.933445342,681,663,633,881,786.066554658,804.066554658,652,632,653,0.450415631561,0.00454868875523,0.0596687787839,0.999999860914,4.0429846749e-05,-0.000521465234079,-6.79092767909e-05,1793239218404719872
+260,4.333333333,HOLD_POSE2,766,746,714.341473012,681,663,633,881,786.658526988,804.658526988,652,632,653,0.450417347286,0.00454913292439,0.0596696256048,0.999999861807,3.93017676591e-05,-0.000519815837249,-6.80635399092e-05,1793239218421386496
+261,4.350000000,HOLD_POSE2,765.755611203,746,714,681.244388797,663.244388797,633,881,787,804.755611203,652,632,653,0.450417965975,0.00454948709191,0.0596694790524,0.999999861788,3.90013790339e-05,-0.000519872199564,-6.80849804131e-05,1793239218438053120
+262,4.366666667,HOLD_POSE2,765.178079116,746,714,681.821920884,663.821920884,633,881,787,804.178079116,652,632,653,0.450417089217,0.00454971857194,0.0596679783639,0.999999860525,3.98292726847e-05,-0.000522253800415,-6.79253612017e-05,1793239218454719744
+263,4.383333333,HOLD_POSE2,765.398608754,746,714,681.601391246,663.601391246,633,881,787,804.398608754,652,632,653,0.450416521142,0.00454930239702,0.0596677313622,0.999999860313,4.07752625701e-05,-0.000522655449111,-6.73980602554e-05,1793239218471386624
+264,4.400000000,HOLD_POSE2,765.974920316,746,714,681.025079684,663.025079684,633,881,787,804.974920316,652,632,653,0.45041609068,0.00454859749264,0.0596680432635,0.999999860569,4.1773900725e-05,-0.000522174420316,-6.67068439869e-05,1793239218488053504
+265,4.416666667,HOLD_POSE2,766,746,714.562719118,681.562719118,663,633,881,787,805,652,632,653,0.450416804162,0.004548258993,0.0596686898538,0.999999861149,4.14567043827e-05,-0.000521090558068,-6.66875508879e-05,1793239218504720128
+266,4.433333333,HOLD_POSE2,765.85112666,746.14887334,715,681.85112666,663,633,881,787.14887334,805,652,632,653,0.450417279702,0.00454836751292,0.0596690723719,0.999999861406,4.13528945999e-05,-0.00052058714185,-6.68357760099e-05,1793239218521386752
+267,4.450000000,HOLD_POSE2,765.271246675,746.728753325,715,681.271246675,663,633,881,787.728753325,805,652,632,653,0.45041691569,0.00454972194626,0.0596686462828,0.999999860686,4.20401880263e-05,-0.000521843593868,-6.73804806667e-05,1793239218538053376
+268,4.466666667,HOLD_POSE2,765,746.693518447,714.693518447,681.306481553,663,633,881,787.387036893,804.693518447,652.306481553,632,653,0.450417594419,0.00454952734936,0.0596688845142,0.999999860739,4.14429499963e-05,-0.00052178208055,-6.74416382643e-05,1793239218554720000
+269,4.483333333,HOLD_POSE2,765,746.117681355,714.117681355,681.882318645,663,633,881,786.23536271,804.117681355,652.882318645,632,653,0.450419189576,0.0045479713658,0.0596697065929,0.999999861469,3.97167837473e-05,-0.000520562255152,-6.70778238304e-05,1793239218571386624
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,714,682,663,633,881,787,805,653,632,653,0.450413592919,0.00454924591264,0.0596656669232,0.999999858562,3.94323423222e-05,-0.000526050315637,-6.77586841906e-05,1793239218603890176
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,714.590580829,681.409419171,663,633,881,787,805.590580829,652.409419171,632,653,0.450415539362,0.00454876621512,0.0596676538418,0.999999859744,4.08891517366e-05,-0.000523754226485,-6.72360641695e-05,1793239218620556800
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,714.82237259,680.82237259,663,632.82237259,881,787,805.82237259,652,631.82237259,653,0.450416911293,0.00454900417077,0.0596688438244,0.999999860489,4.20876640878e-05,-0.000522260499065,-6.70413009506e-05,1793239218637223424
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,746,714.243313175,680.243313175,663,632.243313175,881,787,805.243313175,652,631.243313175,653,0.450416984846,0.0045508639985,0.0596682327587,0.999999860259,4.27024340023e-05,-0.000522580081875,-6.75874830365e-05,1793239218653890304
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,746,714.335042497,680.335042497,663,632.335042497,881,787,804.664957503,652,631,653,0.450416344568,0.00455070707104,0.0596673573764,0.99999985997,4.22562608078e-05,-0.000523157022795,-6.76878551857e-05,1793239218670556928
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,714.912888137,680.912888137,663,632.912888137,881,787,804.087111863,652,631,653,0.450415186983,0.00454908861395,0.0596662904457,0.999999859636,4.10412289269e-05,-0.000523920469462,-6.74651517074e-05,1793239218687223808
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,714.514005745,681.485994255,663,633,881,787,804.485994255,652.485994255,631,653,0.450415475767,0.00454872737441,0.0596671358084,0.999999860212,4.11765761243e-05,-0.000522814062897,-6.74278839451e-05,1793239218703890432
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.939696102,746,714,682,663,633,881,787,805,652.939696102,631.060303898,653,0.45041547833,0.00454849692858,0.0596678786446,0.999999860663,4.14017972547e-05,-0.000521938023626,-6.73809043475e-05,1793239218720556800
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.34734517,746,714,682,663,633,881,787,805,652.34734517,631.65265483,653,0.450410690381,0.00454745144143,0.0596647219565,0.999999858596,4.0305045822e-05,-0.000526022948872,-6.69578176137e-05,1793239218737223424
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.239613877,746,714.239613877,681.760386123,663,633,881,787,805,652.239613877,632,653,0.450397730745,0.00454715644078,0.0596582457072,0.99999985354,3.97008655373e-05,-0.000535604602724,-6.68659120854e-05,1793239218753890304
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.81892879,746,714.81892879,681.18107121,663,633,881,787,805,652.81892879,632,653,0.450373186095,0.00454792540632,0.0596470633103,0.999999844054,3.97950043619e-05,-0.000552978978393,-6.72435227848e-05,1793239218770556928
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.60545906,746,715,681,663,633,881,787,805,652.60545906,632,653,0.45032820959,0.00454862245137,0.0596301922728,0.999999829308,4.06073298405e-05,-0.00057895804974,-6.73955809532e-05,1793239218787223552
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.031530411,746,715,681,663,633,881,787,805,652.031530411,632,653,0.45027394324,0.00454928679607,0.0596107347546,0.999999811505,4.17461964657e-05,-0.000608849458014,-6.74450861232e-05,1793239218803890432
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714.442765958,681,663,633,881,787,805,652,632,653,0.450209293797,0.00455071872553,0.0595944107251,0.999999799631,4.3580438992e-05,-0.000627851196544,-6.81240498677e-05,1793239218820556800
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.144348145,746,714.144348145,681,663,633,881,787,804.855651855,652,632,653,0.450140534506,0.00455183546506,0.0595808377399,0.999999789179,4.54840698607e-05,-0.000644106328785,-6.85571802392e-05,1793239218837223680
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.723886697,746,714.723886697,681,663,633,881,787,804.276113303,652,632,653,0.450061204278,0.00455186742345,0.0595750096116,0.999999782701,4.74750271671e-05,-0.00065398932306,-6.81388379319e-05,1793239218853890304
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.699340417,746,714.699340417,681,663,633,881,787,804,652.300659583,632,653,0.449973521784,0.00455240563848,0.0595726760117,0.999999780264,4.97079166848e-05,-0.000657605378637,-6.7495046634e-05,1793239218870556928
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.125084291,746,714.125084291,681,663,633,881,787,804,652.874915709,632,653,0.449878238835,0.00455340454084,0.0595735223904,0.999999781566,5.21609614399e-05,-0.000655518596068,-6.66460995404e-05,1793239218887223296
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.450295925,746,714.450295925,681,663,633,881,787,804.450295925,653,632,653,0.449759100765,0.00455349630469,0.0595747784003,0.999999782586,5.54482438326e-05,-0.000653801693891,-6.55459145376e-05,1793239218903889920
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.974065854,746,714.974065854,681,663,633,881,786.974065854,804.974065854,652.974065854,632,653,0.449632060224,0.0045533913866,0.0595760865174,0.999999783445,5.89099871708e-05,-0.00065230019842,-6.43802237328e-05,1793239218920556544
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.399591383,746,714.399591383,681,663,633,881,786.399591383,804.399591383,652.399591383,632,653,0.449478382699,0.00455446958216,0.0595760839745,0.999999782807,6.11480128941e-05,-0.00065317617623,-6.3308831881e-05,1793239218937223680
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,663,633,881,786.181045711,804.181045711,652,632,653,0.449316305091,0.00455543092355,0.0595765349345,0.999999782837,6.38133989257e-05,-0.000652974666529,-6.22676112634e-05,1793239218953890560
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,663,633,881,786.775763737,804.775763737,652,632,653,0.44913503411,0.00455612526404,0.0595780221058,0.999999784394,6.7455262507e-05,-0.000650311199719,-6.12953292068e-05,1793239218970557440
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.359195167,746,714,681,663,633,881,786.640804833,805,652,632,653,0.448929529692,0.00455609372626,0.0595791200685,0.999999784628,7.20180942695e-05,-0.000649628842951,-5.94997315699e-05,1793239218987224064
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.935795372,746,714,681,663,633,881,786.064204628,805,652,632,653,0.448709357823,0.00455562284636,0.0595799824605,0.999999784044,7.71383479224e-05,-0.000650145564705,-5.72058171227e-05,1793239219003890432
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,746,714,681,663,633,881.509709036,786.509709036,805,652,631.490290964,653,0.44845655967,0.00455668560018,0.0595835359561,0.999999785845,8.29648605636e-05,-0.000646855006412,-5.48243336375e-05,1793239219020556800
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,714,681,663.086110443,633,881.913889557,787,804.913889557,652,631.086110443,653,0.448197511926,0.00455793993481,0.0595890797236,0.999999789875,8.88631974198e-05,-0.000640002985702,-5.24416929928e-05,1793239219037223168
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,746,714,681,663.679138715,633,881.320861285,787,804.320861285,652,631.679138715,653,0.44792574013,0.00455919080923,0.0596043548346,0.999999805155,9.4663391124e-05,-0.000614993618286,-5.0116833511e-05,1793239219053889792
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.734233009,746,714,681,664,633,881,787,804,652,632,653,0.447631519206,0.00456071977315,0.0596202939583,0.999999819833,0.000101706553397,-0.000589691879674,-4.7474883107e-05,1793239219070556672
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.155149807,746,714,681,664,633,881,787,804,652,632,653,0.447310832727,0.00456257658037,0.0596370158944,0.999999833864,0.00011021506736,-0.000564045462353,-4.44591101782e-05,1793239219087223552
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,746,714.418426925,681,664,633.418426925,881,787,804,652,632,653,0.446950538993,0.00456370499439,0.0596478776859,0.999999840652,0.000118639702664,-0.000550406286764,-4.09097778036e-05,1793239219103890432
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,714.989988404,681,664,633.989988404,881,787,804,652,632,653,0.446575749929,0.00456456683333,0.0596565947999,0.999999844813,0.000127033640139,-0.000541161483877,-3.71651751085e-05,1793239219120557056
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.581420573,746,714.418579427,681,664,634,881,787,804.581420573,652,632,653,0.44614281783,0.00456534761546,0.059652964391,0.999999839781,0.000134490795026,-0.000548813486633,-3.39792034785e-05,1793239219137223680
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.830506987,746,714,681,664,634,881,786.830506987,804.830506987,652,632,653,0.445694004122,0.00456635406838,0.0596467234329,0.999999832421,0.000142445519006,-0.000560286759574,-3.07519884542e-05,1793239219153890048
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.251410029,746,714,681,664,634,881,786.251410029,804.251410029,652,632,653,0.445209315411,0.00456790937908,0.0596347057071,0.999999819772,0.000151643049671,-0.000580266672659,-2.74010346877e-05,1793239219170556672
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.325789883,746,714,681,664.325789883,634,881,786.651579766,804.325789883,652,632,653,0.444733254212,0.00456860141376,0.059639912915,0.999999826145,0.000160914414314,-0.000566794080939,-2.36945451717e-05,1793239219187223296
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.901534391,746,714,681,664.901534391,634,881,787.803068783,804.901534391,652,632,653,0.444263812218,0.00456863112038,0.059658335547,0.999999846104,0.000170242427154,-0.000527655843201,-1.97152788339e-05,1793239219203890176
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,681,665,634.474733042,881,787.525266958,804.525266958,652.474733042,632,653,0.443766623112,0.00456910780274,0.0596931844959,0.999999872422,0.000181057419587,-0.000471343029174,-1.44683506682e-05,1793239219220556800
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745.952824467,714,680.952824467,665,635,881,787.047175533,804.047175533,652.952824467,632,653,0.443256856293,0.00456971345858,0.0597298886625,0.999999895566,0.000192374831063,-0.000414462793288,-8.94686104991e-06,1793239219237223680
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.80236078,745.19763922,714,680.19763922,665.395278439,635,881,788,805,652,632,653,0.442062180959,0.00457223726388,0.0597587059838,0.999999902932,0.000218501564893,-0.000382609051585,1.98048487413e-06,1793239219270557440
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.199872559,745.800127441,714,680.800127441,666.600254881,635,881,788,805,652,632,653,0.441405540136,0.00457476801234,0.0597460873244,0.999999890692,0.000229414924519,-0.000407361626167,6.41332920609e-06,1793239219287223552
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.957699865,746,714.957699865,681,666.042300135,635,880.042300135,787.042300135,805,652,632,653,0.440085656644,0.00457385625897,0.0597555313426,0.999999888487,0.000246323359805,-0.000402588797867,1.64950645033e-05,1793239219320556800
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745.454992319,714.454992319,681,666.545007681,635,880,787,805,652,632,653,0.439428827137,0.0045766139432,0.0597995171589,0.999999913841,0.000259105564464,-0.000323657897878,2.06947048696e-05,1793239219337223424
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745.131355422,714.131355422,681,667,635,880.131355422,787.131355422,805,652,632,653,0.438752159963,0.00457962854307,0.0598381334323,0.999999929756,0.000271725910384,-0.000256959820583,2.49789201035e-05,1793239219353890048
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.559547862,746,714,680.559547862,666,635,880,787.440452138,805,651.440452138,631.559547862,653,0.435577098421,0.00459174391509,0.0597542885138,0.999999871853,0.000319151839803,-0.000390934113176,4.00793400697e-05,1793239219420557312
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.014905586,746,714,680.014905586,666.014905586,635.014905586,880.014905586,788,804.985094414,652.014905586,631.014905586,653,0.434795383401,0.00459635833085,0.0597483343725,0.999999873827,0.000329183318281,-0.000377149727312,4.17408314322e-05,1793239219437223680
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,746,714,680.226405285,666.226405285,635.226405285,881,788,804,652.226405285,632,653,0.432304047113,0.0045894905897,0.0598020510105,0.999999933623,0.000208079676496,-0.000298756431032,1.41987443848e-05,1793239219487223552
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635,881,787.335081521,804,652.664918479,631,653,0.427904233855,0.00459841926665,0.0597723692099,0.999999906839,0.000232428926635,-0.000362763011558,2.64971334905e-05,1793239219570556928
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745.961965044,714.038034956,680,666.038034956,635,880,788,804,653,632,652.038034956,0.418245451419,0.0045994912846,0.0597430760138,0.999999906436,0.000178033705631,-0.000393223689479,2.83994106054e-05,1793239219753890048
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745.368978232,714.631021768,680,666.631021768,635,880,788,804,653,632,652.631021768,0.417472004805,0.0046019434419,0.0597883937843,0.999999928486,0.000177004303047,-0.000332821777046,3.04362780846e-05,1793239219770556672
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.366811217,745.633188783,715,680,666,635.366811217,880,788,804,653,632,653,0.415100361549,0.00459685946186,0.059850572007,0.999999948545,0.000186989546952,-0.000258403509685,3.42526834059e-05,1793239219820557312
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.941603932,745.058396068,715,680,666,635.941603932,880,788,804,653,632,653,0.414332590397,0.00459575548924,0.0598457943442,0.999999937549,0.000230560216177,-0.000265704039708,3.38308048071e-05,1793239219837223936
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.482194477,745.517805523,715,679.482194477,666.517805523,636,880,788,804,653,632,653,0.413564785677,0.00459537250292,0.0598387180315,0.999999922516,0.000272814375377,-0.000281635816648,3.49619744462e-05,1793239219853890560
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.097070863,746,714.902929137,679.097070863,666.902929137,635.902929137,880,788,804,653,632,653,0.412798232278,0.00459510602932,0.0598248308843,0.99999990512,0.000306231289275,-0.0003077381585,3.57649823053e-05,1793239219870557184
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.691208782,746,714.308791218,679.691208782,666.308791218,635.308791218,880,788,804,653,632,653,0.412038105922,0.00459501868094,0.0597773988226,0.999999883312,0.000295158002494,-0.000380922483099,3.39882710981e-05,1793239219887223552
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.723138667,746,714.276861333,680,666,635,879.723138667,787.723138667,803.723138667,653,632,653,0.411322672961,0.00459405520357,0.0597575457805,0.999999877134,0.000281890098972,-0.000406465884493,3.24975101583e-05,1793239219903889920
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.146668693,746,714.853331307,680,666,635,879.146668693,787.146668693,803.146668693,653,632,653,0.410655605515,0.00459214361323,0.0597675376911,0.999999891693,0.000266247267821,-0.000380454115497,3.13161937988e-05,1793239219920556544
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.002081672,635.002081672,880,788,804,653,632,653,0.409457168012,0.00458381119712,0.05984730738,0.999999936657,0.000240501349072,-0.000259994239749,3.53391823045e-05,1793239219953890560
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.592576586,635.592576586,880,788,804,653,632,653,0.408879268605,0.00458255205991,0.0598635420448,0.999999945024,0.000227433322955,-0.000238648010392,3.56905486882e-05,1793239219970557184
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.821264918,746,714,680,667,636,880,788,804,653,632,653,0.408302147778,0.00458138956884,0.0598701227522,0.999999949341,0.000216651930691,-0.000230441347639,3.57335608908e-05,1793239219987223808
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.554722644,666,636,879.554722644,788,803,653,631.445277356,653,0.403425974176,0.00456469331168,0.0597984815591,0.999999933886,0.000158872880058,-0.000325136153944,3.56817026409e-05,1793239220170556928
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,714.858136441,680.716272883,666,635.858136441,880,788,803.141863559,653,631,653,0.403166973574,0.00456331981018,0.059817270225,0.999999944502,0.000158603324858,-0.000290623975586,3.71384847972e-05,1793239220187223552
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,714.278774406,679.557548812,666,635.278774406,880,788,803.721225594,653,631,653,0.402923288682,0.0045641148785,0.0598350434602,0.999999951139,0.000163637642852,-0.000263490662865,3.89447369114e-05,1793239220203890176
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,714.29842777,679.29842777,666.29842777,635.29842777,880,788,803.70157223,653,631.29842777,653,0.402689470834,0.00456334155475,0.0598465386877,0.999999955098,0.00016426828322,-0.000247391034108,4.02236438424e-05,1793239220220556800
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,714.873626791,679.873626791,666.873626791,635.873626791,880,788,803.126373209,653,631.873626791,653,0.402464804006,0.00456111365508,0.0598522114932,0.999999957061,0.000160814814972,-0.000241524390792,4.10134742635e-05,1793239220237223424
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.550788466,714.550788466,679.550788466,666.550788466,636,880,788,803.449211534,653.449211534,632,653,0.402253042758,0.00455907926307,0.0598490300159,0.999999955511,0.000157303926345,-0.000250042370552,4.1388740818e-05,1793239220253890560
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745.025587611,714,679,666,636,879.974412389,787.974412389,804,653.974412389,632,653,0.402046947396,0.00455706110092,0.0598433895367,0.999999953274,0.000151377056024,-0.000262415433911,4.093013268e-05,1793239220270557184
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.617062865,714,679,666,636,879.382937135,787.382937135,804,653.382937135,632,653,0.40188579414,0.00455419690405,0.0598385020003,0.999999958852,9.23766407982e-05,-0.000270473532052,2.46112933616e-05,1793239220287224064
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,746,714.204122747,679.204122747,666,636,879,787,804,653,632,653,0.40173642429,0.00455028671082,0.0598355283612,0.999999958334,8.4103280941e-05,-0.000275745690614,1.49443811516e-05,1793239220303890688
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,746,714.783074647,679.783074647,666,636,879,787,804,653,632,653,0.401608692244,0.00454445576219,0.0598360691991,0.999999947509,0.000168979660466,-0.000275902047385,1.74923574616e-05,1793239220320556800
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.357900058,746,714.642099942,679.642099942,666,636,879.357900058,787,804,653,632,653,0.401498412318,0.00454339907987,0.0598377591785,0.99999994221,0.00020191876327,-0.00027288362859,1.85059557092e-05,1793239220337223168
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.930252942,746,714.069747058,679.069747058,666,636,879.930252942,787,804,653,632,653,0.401398589646,0.0045452031255,0.0598401377206,0.999999943171,0.000203737187588,-0.000267962892989,1.86001587311e-05,1793239220353889792
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.49423464,746,714,679,666,636,879.49423464,787.50576536,804,653,632,653.50576536,0.401318467539,0.0045444205886,0.0598413240583,0.999999943523,0.000206033879681,-0.000264776572093,1.995053673e-05,1793239220370556672
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,746,714.084079112,679.084079112,666,636,879,787.915920888,803.915920888,653,632,653.915920888,0.401243601999,0.00454355637558,0.0598419803946,0.999999943508,0.00020838129932,-0.000262881362614,2.13201222483e-05,1793239220387223552
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,746,714.676684253,679.676684253,666,636,879,787.323315747,803.323315747,653,632,653.323315747,0.401183994196,0.00454436911966,0.0598404318161,0.999999941845,0.000210634113669,-0.000267339317549,2.17515562728e-05,1793239220403890432
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745.737719722,715,679.737719722,666,635.737719722,879,787.262280278,803,653,631.737719722,653,0.401130110118,0.0045446234297,0.0598381099818,0.999999940229,0.000211587089727,-0.000272542303454,2.22025430419e-05,1793239220420557056
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745.160539057,715,679.160539057,666,635.160539057,879,787.839460943,803,653,631.160539057,653,0.401083098095,0.00454420726955,0.059834859757,0.999999938667,0.000210979446667,-0.000278639792264,2.26770053087e-05,1793239220437223424
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,714.585716956,679.414283044,666,635.414283044,879.414283044,788,803,653,631,653,0.401049292304,0.00454310583621,0.0598334154659,0.99999993828,0.000209311328203,-0.000281246530744,2.29905340379e-05,1793239220453890304
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,714.011803663,679.988196337,666,635.988196337,879.988196337,788,803,653,631,653,0.4010205751,0.00454174035555,0.0598326670317,0.999999938351,0.000207234590684,-0.00028250822407,2.32420523482e-05,1793239220470556928
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745.543251792,714,680,666,636,879.456748208,788,803,653,631,653,0.401006425039,0.00454229725962,0.0598341783392,0.999999938854,0.000208821708138,-0.000279552082544,2.3143195856e-05,1793239220487223552
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,746,714.109111042,680,666,636,879.109111042,788,803.109111042,653,631.109111042,653,0.400993840847,0.00454275866604,0.0598360031757,0.999999939458,0.000210245526936,-0.000276304694835,2.31765299498e-05,1793239220503890176
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,746,714.727216238,680,666,636,879.727216238,788,803.727216238,653,631.727216238,653,0.400987134344,0.00454258627062,0.059839069239,0.999999940528,0.000210548666414,-0.000272111838827,2.38608444374e-05,1793239220520557056
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,636,879.679497331,788,803.679497331,653,632,653,0.40098145114,0.00454269320118,0.0598407473786,0.999999940908,0.000211385433601,-0.000270051352343,2.39456265716e-05,1793239220537223680
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,636,879.105816214,788,803.105816214,653,632,653,0.400976576283,0.004543020783,0.0598413291397,0.999999940751,0.000212643735643,-0.00026967531319,2.35568131247e-05,1793239220553890560
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.518887444,666,636,879.481112556,787.518887444,803.481112556,653,631.518887444,653,0.400975312439,0.00454251014197,0.0598419883801,0.999999941589,0.000211186021693,-0.000267690164804,2.37766737698e-05,1793239220570557184
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.069775924,746,715,679,666,636,879.930224076,787,804,653,631.069775924,653,0.400974917864,0.00454174202677,0.05984273725,0.999999942617,0.000209077792972,-0.000265465836461,2.40704174558e-05,1793239220587224064
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.649224331,746,715,679,666,636,879.350775669,787,804,653,631.649224331,653,0.4009749073,0.0045404779797,0.0598440128144,0.999999943463,0.000206704865555,-0.00026415272981,2.38982874005e-05,1793239220603890176
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.772720272,746,715,679,666,636,879,787.227279728,803.772720272,653,632,653,0.400974349903,0.00453991182727,0.0598446076046,0.999999943901,0.00020544254739,-0.000263490070045,2.37385236192e-05,1793239220620556544
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.196801738,746,715,679,666,636,879,787.803198262,803.196801738,653,632,653,0.400972953685,0.00454041621982,0.0598441581123,0.999999943726,0.000205883863424,-0.000263825172144,2.35977292612e-05,1793239220637223168
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.621367422,715,679.378632578,666,636,879.757265156,787.621367422,803.378632578,652.621367422,631.621367422,653,0.400971814683,0.00454022265286,0.0598438493676,0.999999943659,0.000205594984439,-0.000264294746014,2.36714414564e-05,1793239220653890048
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.046184486,715,679.953815514,666,636,880.907631029,787.046184486,803.953815514,652.046184486,631.046184486,653,0.400970809202,0.00453966677107,0.059843613686,0.999999943649,0.000204927056986,-0.000264834124948,2.38565052471e-05,1793239220670556672
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.543784011,714.456215989,680,666,635.456215989,879.912431978,787,804,652.543784011,631.543784011,653,0.400971711723,0.00454074274466,0.0598447316153,0.999999944058,0.000204941944702,-0.000263297033838,2.36313675796e-05,1793239220687223296
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,714.132338268,679.867661732,666,635.132338268,879,787,804,653,631.867661732,653,0.400972285682,0.00454170803074,0.0598455189433,0.999999944266,0.000205487352955,-0.000262096541656,2.34051321654e-05,1793239220703889920
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,714.711753779,679.288246221,666,635.711753779,879,787,804,653,631.288246221,653,0.400971186912,0.00454181807681,0.0598447901645,0.999999943683,0.000207623622304,-0.000262645620478,2.32961745523e-05,1793239220720556800
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.288959762,666,636,879,787.288959762,804,653,631.288959762,653,0.400971034129,0.0045422582412,0.0598447779027,0.99999994338,0.000209359831259,-0.000262414637377,2.3408124596e-05,1793239220737223424
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.863978466,666,636,879,787.863978466,804,653,631.863978466,653,0.400971817837,0.00454302520993,0.0598454749647,0.999999943353,0.000210699996217,-0.000261411423333,2.37387646275e-05,1793239220753889792
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.448624057,746,714.551375943,679.551375943,666,636,879,788,804,653,632,653,0.400971712992,0.00454075937497,0.0598458532694,0.999999943994,0.000208020791031,-0.000261079611241,2.40147469468e-05,1793239220770556672
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.964252793,746,714.035747207,679,666,636,879,787.964252793,804,653,631.964252793,653,0.400971375066,0.0045379554161,0.0598461455761,0.999999944752,0.000204513382106,-0.000260926427654,2.42232903043e-05,1793239220787223040
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.384814277,746,714.615185723,679,666,636,879,787.384814277,804,653,631.384814277,653,0.400971679503,0.00454125919377,0.0598466320721,0.999999944338,0.000207351033655,-0.000260326047912,2.36637093885e-05,1793239220803889920
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,746,714.805868328,679,666,636,879,787.194131672,804,653,631,653,0.400971502478,0.00454268655891,0.0598467772315,0.99999994416,0.000208398786795,-0.000260204187069,2.33028657015e-05,1793239220820556544
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,746,714.227896324,679,666,636,879,787.772103676,804,653,631,653,0.400970373498,0.0045404038502,0.0598462474943,0.999999944461,0.000205907523215,-0.000261028461694,2.3334968563e-05,1793239220837223424
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.653021676,714.346978324,679.346978324,666,636,879.346978324,788,804,653,631,653,0.400970665568,0.00453916170094,0.0598463774362,0.99999994506,0.000203331589391,-0.000260736440354,2.34899257205e-05,1793239220853890048
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745.080163402,714.919836598,679.919836598,666,636,879.919836598,788,804,653,631,653,0.400971882731,0.00453859694714,0.0598469368236,0.999999945852,0.00020070053605,-0.000259717719767,2.37248599824e-05,1793239220870556928
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745.505638912,715,679.494361088,666.505638912,636,879.494361088,788,804,653,631.505638912,653,0.400971927427,0.00454040072852,0.0598469767499,0.999999945445,0.000203562752046,-0.00025907498936,2.35153090141e-05,1793239220887223296
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,714.907300129,679,667,635.907300129,879.092699871,787.907300129,804,653,632,653,0.400971969244,0.00454221117373,0.0598470867268,0.999999944967,0.000206799473443,-0.000258376507107,2.32855108548e-05,1793239220903889920
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,714.324717567,679,667,635.324717567,879.675282433,787.324717567,804,653,632,653,0.40097300397,0.00454202030351,0.0598480135409,0.999999945203,0.000207292047432,-0.000257060111805,2.3330894675e-05,1793239220920556800
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,714.254581266,679,667,635.254581266,880,787,804,653,631.745418734,653,0.400973332228,0.00454174920617,0.0598484230687,0.9999999453,0.000207162219003,-0.000256783166453,2.33724735203e-05,1793239220937223424
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,714.829745128,679,667,635.829745128,880,787,804,653,631.170254872,653,0.400972770863,0.00454137708243,0.0598481812018,0.999999945222,0.000206248627623,-0.000257815152904,2.34092609401e-05,1793239220953890048
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766.404118665,745.595881335,714.595881335,679.404118665,667,636,879.595881335,787.404118665,803.595881335,653,631,653,0.400972296575,0.0045416031643,0.0598481674014,0.999999945164,0.000206558013373,-0.000257800810918,2.33171450475e-05,1793239220970556928
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766.978159856,745.021840144,714.021840144,679.978159856,667,636,879.021840144,787.978159856,803.021840144,653,631,653,0.4009718589,0.00454208077777,0.0598482494977,0.999999945114,0.000207381632696,-0.00025734651203,2.31708282997e-05,1793239220987223552
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,745.567313338,714.567313338,680.567313338,666.432686662,636,879.567313338,788,803,653,631,653,0.400972152798,0.00454300512764,0.0598481170145,0.999999944842,0.000207673437706,-0.000258158434102,2.32763199264e-05,1793239221003890176
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e8613cd0c92e0b8273bb8454742481232fc9c43d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,416 @@
+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,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+1,0.016666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+2,0.033333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+3,0.050000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+4,0.066666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+5,0.083333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+6,0.100000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+7,0.116666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+8,0.133333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+9,0.150000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+10,0.166666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
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+271,4.516666667,pose2_to_pose3_retreat,0.620184108587,0.010090778634,1.05003231777,0.590754559372,0.0187625183644,1.04970044925
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+275,4.583333333,pose2_to_pose3_retreat,0.620183548836,0.0100907219633,1.05003228001,0.590754000293,0.0187624642538,1.04970041855
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+286,4.766666667,pose2_to_pose3_retreat,0.619790175139,0.0100908274703,1.05003244905,0.590360624915,0.0187625637067,1.04970058476
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+288,4.800000000,pose2_to_pose3_retreat,0.619595931075,0.0100908009281,1.05003227266,0.590166382252,0.018762541977,1.04970041314
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+365,6.083333333,pose2_to_pose3_retreat,0.577630619325,0.0100906579238,1.05003232123,0.548201073688,0.0187624068923,1.04970045091
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+367,6.116666667,pose2_to_pose3_retreat,0.577199085282,0.0100907851099,1.05003251453,0.547769538483,0.0187625298036,1.04970063577
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+371,6.183333333,pose2_to_pose3_retreat,0.576488574527,0.0100908039184,1.05003241321,0.547059026249,0.0187625438243,1.0497005405
+372,6.200000000,pose2_to_pose3_retreat,0.576353825975,0.0100907473656,1.05003246652,0.546924278235,0.0187624893497,1.04970060053
+373,6.216666667,pose2_to_pose3_retreat,0.576238211443,0.0100907705345,1.05003241925,0.546808663288,0.0187625110604,1.04970055208
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+377,6.283333333,pose2_to_pose3_retreat,0.575909288382,0.0100908052247,1.05003226394,0.546479738252,0.0187625387423,1.04970038936
+378,6.300000000,pose2_to_pose3_retreat,0.575853684154,0.0100907641039,1.05003209979,0.546424135763,0.0187625040345,1.04970023853
+379,6.316666667,pose2_to_pose3_retreat,0.575806537907,0.0100908261952,1.05003230889,0.546376987439,0.0187625586416,1.04970043613
+380,6.333333333,pose2_to_pose3_retreat,0.575767687513,0.010090753143,1.05003228477,0.5463381383,0.0187624899752,1.04970041546
+381,6.350000000,pose2_to_pose3_retreat,0.575736945449,0.0100907411908,1.05003232315,0.546307397498,0.0187624823561,1.04970045511
+382,6.366666667,pose2_to_pose3_retreat,0.575713702262,0.0100908527129,1.05003229685,0.546284153984,0.0187625927409,1.04970042825
+383,6.383333333,pose2_to_pose3_retreat,0.575697575213,0.0100907913425,1.05003218499,0.54626802788,0.0187625346003,1.04970031695
+384,6.400000000,pose2_to_pose3_retreat,0.575686290972,0.0100907028946,1.05003217111,0.546256744081,0.0187624476046,1.04970030194
+385,6.416666667,pose2_to_pose3_retreat,0.575679065955,0.0100909050213,1.05003235261,0.546249515647,0.0187626379745,1.04970047949
+386,6.433333333,pose2_to_pose3_retreat,0.575674139835,0.0100909474603,1.05003229801,0.546244589287,0.0187626797052,1.04970042732
+387,6.450000000,pose2_to_pose3_retreat,0.57567117548,0.0100909558535,1.05003223914,0.546241625157,0.0187626889592,1.0497003708
+388,6.466666667,pose2_to_pose3_retreat,0.575669410901,0.0100908796741,1.05003227521,0.546239862225,0.018762618533,1.04970041114
+389,6.483333333,pose2_to_pose3_retreat,0.575668386067,0.0100908354306,1.05003229616,0.546238838348,0.0187625776307,1.04970043458
+390,6.500000000,pose2_to_pose3_retreat,0.575667863261,0.0100908128604,1.05003230685,0.546238316031,0.018762556765,1.04970044653
+391,6.516666667,pose2_to_pose3_retreat,0.575667358473,0.010090791068,1.05003231717,0.546237811714,0.0187625366184,1.04970045807
+392,6.533333333,pose2_to_pose3_retreat,0.575666803603,0.0100908005533,1.05003231905,0.546237256363,0.0187625444764,1.04970045998
+393,6.550000000,pose2_to_pose3_retreat,0.575666372867,0.0100908086894,1.05003232029,0.546236825232,0.0187625512698,1.04970046121
+394,6.566666667,pose2_to_pose3_retreat,0.575666094628,0.010090813945,1.05003232108,0.546236546738,0.0187625556581,1.049700462
+395,6.583333333,pose2_to_pose3_retreat,0.575665856482,0.0100908184432,1.05003232177,0.546236308373,0.0187625594141,1.04970046268
+396,6.600000000,pose2_to_pose3_retreat,0.57566575127,0.0100908204306,1.05003232207,0.546236203065,0.0187625610734,1.04970046298
+397,6.616666667,pose2_to_pose3_retreat,0.575665615315,0.0100908229986,1.05003232246,0.546236066985,0.0187625632177,1.04970046337
+398,6.633333333,pose2_to_pose3_retreat,0.575665615144,0.0100908230018,1.05003232246,0.546236066814,0.0187625632204,1.04970046337
+399,6.650000000,pose2_to_pose3_retreat,0.575665492401,0.0100908253203,1.05003232281,0.546235943958,0.0187625651562,1.04970046372
+400,6.666666667,pose2_to_pose3_retreat,0.575665426004,0.0100908265745,1.05003232301,0.5462358775,0.0187625662034,1.04970046391
+401,6.683333333,pose2_to_pose3_retreat,0.575665362875,0.0100908277669,1.05003232319,0.546235814313,0.0187625671991,1.04970046409
+402,6.700000000,pose2_to_pose3_retreat,0.575665206204,0.0100908379737,1.05003234297,0.546235657412,0.0187625765757,1.04970048253
+403,6.716666667,pose2_to_pose3_retreat,0.575665109497,0.0100908482801,1.05003236587,0.546235560516,0.0187625861807,1.04970050387
+404,6.733333333,pose2_to_pose3_retreat,0.575665062625,0.0100908532754,1.05003237697,0.546235513552,0.0187625908361,1.04970051421
+405,6.750000000,pose2_to_pose3_retreat,0.575665039734,0.0100908557149,1.05003238239,0.546235490617,0.0187625931096,1.04970051925
+406,6.766666667,pose2_to_pose3_retreat,0.575664996638,0.0100908603077,1.0500323926,0.546235447437,0.0187625973899,1.04970052876
+407,6.783333333,pose2_to_pose3_retreat,0.57566475377,0.0100908861909,1.05003245011,0.546235204094,0.0187626215117,1.04970058234
+408,6.800000000,pose2_to_pose3_retreat,0.575664542471,0.0100908756223,1.05003246061,0.546234993009,0.0187626115851,1.04970059055
+409,6.816666667,pose2_to_pose3_retreat,0.575664501908,0.0100908406701,1.0500324233,0.546234953113,0.0187625789198,1.04970055393
+410,6.833333333,pose2_to_pose3_retreat,0.575664485049,0.0100908261424,1.05003240779,0.546234936531,0.0187625653427,1.0497005387
+411,6.850000000,pose2_to_pose3_retreat,0.575664480009,0.0100908217998,1.05003240316,0.546234931574,0.0187625612842,1.04970053415
+412,6.866666667,pose2_to_pose3_retreat,0.575664441135,0.0100907883022,1.0500323674,0.546234893338,0.0187625299784,1.04970049905
+413,6.883333333,pose2_to_pose3_retreat,0.575664341612,0.0100908440606,1.05003225796,0.546234793658,0.0187625852887,1.04970039187
+414,6.900000000,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e2a96f066b8d25af47549dbe0dfd907debc512f0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d14e25bd10a1818cb5a9d9ec86d2673d5855d4555bc2a6524b51ed99bcc8da1b
+size 26415074
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..75bd851fcb0a2fd6862ec57e7cc51bdba6b94bd6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_04/franka_data.csv
@@ -0,0 +1,417 @@
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+37,0.616666667,BASELINE,765.526740742,746,715,679.473259258,666,636,879.526740742,787.526740742,803,653,632,653,0.400972864297,0.00454043245112,0.0598505217082,0.999999947008,0.00020328474391,-0.000253225789807,2.31356196325e-05,1793239221776593408
+38,0.633333333,BASELINE,765,745.952270072,715,679.952270072,666.047729928,636,879,787,803,653,631.952270072,653,0.400971178492,0.00454026839679,0.059848771484,0.999999946208,0.00020367669721,-0.000256062053302,2.30604039581e-05,1793239221793260288
+39,0.650000000,BASELINE,765,745.381518824,715,679.381518824,666.618481176,636,879,787,803,653,631.381518824,653,0.400973232773,0.00454144277401,0.0598502471481,0.999999946725,0.000204601849128,-0.000253310283884,2.28275230178e-05,1793239221809926912
+40,0.666666667,BASELINE,765.197973925,745,714.802026075,679.197973925,666.802026075,636,879,787.197973925,803.197973925,653,631.197973925,653,0.400974108453,0.00454210477184,0.0598509190545,0.999999946913,0.000204998119933,-0.000252255526902,2.27371677275e-05,1793239221826593024
+41,0.683333333,BASELINE,765.795090718,745,714.204909282,679.795090718,666.204909282,636,879,787.795090718,803.795090718,653,631.795090718,653,0.400972607911,0.00454173374174,0.0598499704737,0.999999946446,0.000204328093072,-0.000254622182321,2.29341639119e-05,1793239221843259904
+42,0.700000000,BASELINE,766,745.378632771,714,679.621367229,666,636,879,788,804,653,631.621367229,653,0.400972234868,0.00454147480403,0.0598498885239,0.999999946313,0.000204254266311,-0.000255204803547,2.29061496088e-05,1793239221859926784
+43,0.716666667,BASELINE,766,745.955082668,714,679.044917332,666,636,879,788,804,653,631.044917332,653,0.400972450887,0.00454127442913,0.0598502593466,0.999999946357,0.000204491924997,-0.000254855353994,2.27605783128e-05,1793239221876593408
+44,0.733333333,BASELINE,766,745.470235015,714,679,666,636,879.529764985,788,804,653,631.529764985,653,0.400972917086,0.00454201888038,0.0598505010197,0.999999946404,0.000205642896653,-0.000253743848033,2.27350634168e-05,1793239221893260288
+45,0.750000000,BASELINE,766,745.105924346,714.105924346,679,666,635.894075654,880,788,803.894075654,653,632,653,0.400973258323,0.00454255530132,0.0598506179092,0.999999946501,0.000206214593927,-0.000252898803937,2.27051960642e-05,1793239221909926912
+46,0.766666667,BASELINE,766,745.689416342,714.689416342,679,666,635.310583658,880,788,803.310583658,653,632,653,0.400972940838,0.00454179382495,0.0598502214086,0.999999946829,0.000203826619168,-0.000253545465267,2.26099640471e-05,1793239221926593280
+47,0.783333333,BASELINE,766,745.725420833,714.725420833,679,666,635.274579167,880,788,803.274579167,653,631.725420833,653,0.400973459031,0.00454105746269,0.0598507253029,0.999999947211,0.000202883488145,-0.000252790601032,2.26485178441e-05,1793239221943259904
+48,0.800000000,BASELINE,766,745.138356444,714.138356444,679,666,635.861643556,880,788,803.861643556,653,631.138356444,653,0.400974928266,0.00454034968147,0.0598522538929,0.999999947656,0.000203584663336,-0.000250440728667,2.28393267695e-05,1793239221959926528
+49,0.816666667,BASELINE,766,745.438698805,714,679.438698805,666.438698805,636,879.561301195,788,803.561301195,653,631.438698805,653,0.400974101369,0.00453966633511,0.0598518405296,0.999999947661,0.000202547791387,-0.000251233941318,2.31256989818e-05,1793239221976593152
+50,0.833333333,BASELINE,766,746,714,679.987341967,666.987341967,636,879,788,803.012658033,653,632,653,0.400972595747,0.00453901905174,0.0598508520563,0.999999947527,0.000201027605007,-0.000252952222309,2.34293574439e-05,1793239221993259776
+51,0.850000000,BASELINE,766,746,714,679.413813667,666.413813667,636,879,788,803.586186333,653,632,653,0.400972387247,0.00453963585472,0.059850912819,0.999999947429,0.00020183818526,-0.000252717199612,2.31933223374e-05,1793239222009926656
+52,0.866666667,BASELINE,766,746,714,679.164703706,666,636,879,788,804,653,631.835296294,653,0.400971731517,0.00454049756039,0.0598504887388,0.999999947114,0.000202693855701,-0.000253300231144,2.29458746275e-05,1793239222026593536
+53,0.883333333,BASELINE,766,746,714,679.756147517,666,636,879,788,804,653,631.243852483,653,0.400969917033,0.00454199379817,0.0598488084523,0.999999946234,0.000203666352805,-0.000256002805453,2.26688573743e-05,1793239222043259904
+54,0.900000000,BASELINE,766,746,714.340447905,680,666,636,879.340447905,787.659552095,804.340447905,653,631,653.340447905,0.400969646473,0.00454124614224,0.0598486570667,0.999999946224,0.000202778955589,-0.000256737825169,2.27596844041e-05,1793239222059926528
+55,0.916666667,BASELINE,766,746,714.919736802,680,666,636,879.919736802,787.080263198,804.919736802,653,631,653.919736802,0.400970459052,0.00453892428417,0.0598495782806,0.999999946824,0.000200586750754,-0.000256092508203,2.3108572349e-05,1793239222076593408
+56,0.933333333,BASELINE,766,746,715,679.505086477,666.494913523,636,879.505086477,787,804.505086477,653,631,653.505086477,0.400972073598,0.00453951453726,0.0598505182453,0.999999947202,0.000201621660915,-0.000253793503215,2.30890174146e-05,1793239222093260288
+57,0.950000000,BASELINE,765.928888525,745.928888525,714.928888525,679,666.928888525,636,879,787.071111475,803.928888525,653,631.071111475,653,0.400973419171,0.00454049195955,0.0598511903826,0.999999947441,0.000203105495098,-0.000251669737931,2.29918120753e-05,1793239222109926912
+58,0.966666667,BASELINE,765.34044991,745.34044991,714.34044991,679,666.34044991,636,879,787.65955009,803.34044991,653,631.65955009,653,0.400971869622,0.00454087855808,0.0598498921684,0.999999946974,0.000204079181224,-0.000252755784177,2.27608209197e-05,1793239222126593536
+59,0.983333333,BASELINE,765.244271737,745,714,679.244271737,666,635.755728263,879,787.755728263,803.244271737,653,631.755728263,653,0.400971682235,0.00454156450207,0.0598498458006,0.999999946947,0.000204563687867,-0.000252484870852,2.26162558327e-05,1793239222143260160
+60,1.000000000,BASELINE,765.823890646,745,714,679.823890646,666,635.176109354,879,787.176109354,803.823890646,653,631.176109354,653,0.400973364887,0.00454266140094,0.0598515180234,0.999999947522,0.000204376627161,-0.000250351062847,2.2590340288e-05,1793239222159926784
+61,1.016666667,BASELINE,766,745.401027287,714.401027287,679.598972713,666,635.401027287,879,787,803.598972713,653,631.401027287,653,0.400973073867,0.00454148968216,0.0598514368861,0.999999947252,0.0002046837891,-0.000251156484617,2.28320296874e-05,1793239222176593408
+62,1.033333333,BASELINE,766,745.977080523,714.977080523,679.022919477,666,635.977080523,879,787,803.022919477,653,631.977080523,653,0.400971921451,0.00453932783879,0.0598505905053,0.99999994661,0.000205206651553,-0.000253244715675,2.31905136573e-05,1793239222193260032
+63,1.050000000,BASELINE,766,745.445947513,715,679.554052487,666,636,879.554052487,787.554052487,803,653,631.445947513,653,0.400971636078,0.00454041451074,0.0598501306532,0.999999946751,0.000203984221776,-0.000253701898837,2.28653513344e-05,1793239222209926912
+64,1.066666667,BASELINE,766,745.133857285,715,680,666,636,880,788,803,653,631,653,0.400971783636,0.00454139445919,0.0598501284333,0.999999946989,0.000203057717122,-0.000253530405644,2.2610155949e-05,1793239222226593536
+65,1.083333333,BASELINE,766,745.723171403,715,680,666,636,880,788,803,653,631,653,0.400973282024,0.0045415532758,0.0598516288364,0.999999947447,0.000203384178062,-0.000251449763204,2.26894123546e-05,1793239222243260160
+66,1.100000000,BASELINE,766,745.692859669,714.692859669,679.692859669,666,636,880,787.692859669,803.307140331,653,631,653,0.400974178401,0.00454086254677,0.0598519898803,0.999999947779,0.000202561792926,-0.000250778904226,2.28052607997e-05,1793239222259926528
+67,1.116666667,BASELINE,766,745.113626035,714.113626035,679.113626035,666,636,880,787.113626035,803.886373965,653,631,653,0.40097454146,0.00453941921165,0.0598513415744,0.999999948002,0.000200721653698,-0.000251356961896,2.29535258522e-05,1793239222276593152
+68,1.133333333,BASELINE,766,745.458522811,714.458522811,679,666,636,880,787.458522811,803.541477189,653,631,653,0.400973487037,0.00454025872165,0.0598510250609,0.999999947745,0.000201074672508,-0.000252099739479,2.2907008855e-05,1793239222293260032
+69,1.150000000,BASELINE,766,746,715,679.029250748,666,636,879.970749252,788,803,653,631.029250748,653,0.400972220053,0.00454160321175,0.0598508293685,0.999999947382,0.000202028192748,-0.000252784606729,2.28184307299e-05,1793239222309926400
+70,1.166666667,BASELINE,766,746,715,679.605741041,666,636,879.394258959,788,803,653,631.605741041,653,0.400973448001,0.00454197258531,0.0598513792327,0.99999994723,0.000204203139991,-0.000251634007591,2.28322471686e-05,1793239222326593280
+71,1.183333333,BASELINE,766,746,715,679.812473669,666,636,879.187526331,788,803.187526331,653.187526331,632,653,0.400973387658,0.00454228887955,0.0598512110302,0.999999946918,0.000205561700725,-0.000251768745575,2.28055697834e-05,1793239222343260160
+72,1.200000000,BASELINE,766,746,715,679.219232496,666,636,879.780767504,788,803.780767504,653.780767504,632,653,0.400970540086,0.00454249033626,0.0598494892841,0.999999946266,0.000205154002589,-0.000254684321336,2.26912836622e-05,1793239222359926784
+73,1.216666667,BASELINE,766,746,714.634578839,679.365421161,666,636,880,787.634578839,804,653.634578839,632,653,0.400972006164,0.00454216516467,0.0598506046887,0.999999946759,0.000204870847657,-0.000252964682875,2.27809670133e-05,1793239222376593408
+74,1.233333333,BASELINE,766,746,714.054958957,679.945041043,666,636,880,787.054958957,804,653.054958957,632,653,0.400976000771,0.00454153129964,0.0598533831445,0.99999994791,0.000204660696169,-0.000248528023253,2.29902110449e-05,1793239222393259776
+75,1.250000000,BASELINE,766,746,714.521072697,680.521072697,666.521072697,636,880,787,804,653,632,653,0.400974731544,0.00454097416138,0.0598526858266,0.99999994798,0.000203340169507,-0.000249351169655,2.27131918754e-05,1793239222409926400
+76,1.266666667,BASELINE,766,746,715,680.901396368,666.901396368,636,880,787,803.901396368,653,632,653,0.400973430564,0.00454068659831,0.0598518202487,0.999999947945,0.000202213495505,-0.000250431876697,2.24306421467e-05,1793239222426593280
+77,1.283333333,BASELINE,766,746,715,680.314581087,666.314581087,636,880,787,803.314581087,653,632,653,0.400974702457,0.00454169397614,0.0598519242857,0.999999947957,0.000202622532234,-0.000250059829736,2.23729099821e-05,1793239222443259904
+78,1.300000000,BASELINE,766,746,714.731056145,680,666,636,879.731056145,787.268943855,803.268943855,652.731056145,632,653.268943855,0.400974699255,0.00454177139392,0.059851673064,0.999999947685,0.00020319134822,-0.000250659216475,2.26348302814e-05,1793239222459926528
+79,1.316666667,BASELINE,766,746,714.151333406,680,666,636,879.151333406,787.848666594,803.848666594,652.151333406,632,653.848666594,0.40097322261,0.00454077419347,0.0598510113219,0.999999947084,0.00020394479758,-0.000252381146388,2.32661259555e-05,1793239222476593408
+80,1.333333333,BASELINE,766,746,714.426281214,680,666,635.573718786,879.426281214,788,804,652.426281214,631.573718786,653.573718786,0.400971996535,0.00454063888207,0.0598506523277,0.999999946905,0.000203690825946,-0.000253300979698,2.31974797742e-05,1793239222493260032
+81,1.350000000,BASELINE,766,745.99685668,714.99685668,679.99685668,666,635.00314332,880,787.99685668,803.99685668,653,631,653,0.40097087571,0.00454080972716,0.0598504049528,0.999999946877,0.000203086796622,-0.000253924394936,2.28827122782e-05,1793239222509926400
+82,1.366666667,BASELINE,766,745.421422549,714.421422549,679.421422549,666,635.578577451,880,787.421422549,803.421422549,653,631,653,0.400972801287,0.00454128723979,0.059851007855,0.999999947231,0.000203543352679,-0.00025216850829,2.27757064785e-05,1793239222526593024
+83,1.383333333,BASELINE,766,745,714.157923395,679.157923395,666,636,880,787.157923395,803,653,631.157923395,653,0.400974040211,0.00454146375396,0.0598514470033,0.99999994753,0.000203420238394,-0.000251088105012,2.26991021242e-05,1793239222543259904
+84,1.400000000,BASELINE,766,745,714.747973382,679.747973382,666,636,880,787.747973382,803,653,631.747973382,653,0.400973400238,0.00454081664462,0.059851438071,0.999999947683,0.000201710969288,-0.000251856029943,2.27056853768e-05,1793239222559926528
+85,1.416666667,BASELINE,766,745.331657321,714.668342679,679.668342679,666,636,879.668342679,788,803,653,632,653,0.400972533897,0.00454026978704,0.0598510093218,0.999999947425,0.000201733040712,-0.000252847884821,2.28467169682e-05,1793239222576592896
+86,1.433333333,BASELINE,766,745.910594768,714.089405232,679.089405232,666,636,879.089405232,788,803,653,632,653,0.400971498776,0.00453979767612,0.0598502675617,0.99999994686,0.000203045981089,-0.000254006699409,2.30879917924e-05,1793239222593259520
+87,1.450000000,BASELINE,766,745.51518934,714.48481066,679,666,636,879,787.51518934,803.48481066,653,631.51518934,653,0.400971336749,0.00454022514818,0.0598501515482,0.999999946716,0.000203518351402,-0.00025418243844,2.3224802716e-05,1793239222609926400
+88,1.466666667,BASELINE,765.941713099,745.058286901,714.941713099,679,666,636,879.058286901,787.058286901,803.941713099,653,631.058286901,653,0.400971349042,0.00454073717368,0.0598501950915,0.999999946709,0.000203653597049,-0.000254097306091,2.3284344811e-05,1793239222626593280
+89,1.483333333,BASELINE,765.367150341,745.632849659,714.367150341,679,666,636,879.632849659,787.632849659,803.367150341,653,631.632849659,653,0.400971492987,0.00454054289383,0.0598506396503,0.999999947226,0.000202162536146,-0.000253291808436,2.28284678674e-05,1793239222643259904
+90,1.500000000,BASELINE,765.215162476,746,714.215162476,679.215162476,666.215162476,636,880,788,803,653,632,653,0.400972199452,0.00454018942303,0.059851155128,0.999999947648,0.000201332843985,-0.000252297467957,2.26909420283e-05,1793239222659926528
+91,1.516666667,BASELINE,765.811193965,746,714.811193965,679.811193965,666.811193965,636,880,788,803,653,632,653,0.400973901659,0.00453955416105,0.0598517961423,0.999999947904,0.000201673871267,-0.000250968848174,2.31169441978e-05,1793239222676593152
+92,1.533333333,BASELINE,766,746,715,680,666.607042874,636,879.607042874,787.607042874,803.392957126,653,631.607042874,653,0.400974782152,0.00454067122889,0.0598525637414,0.999999947919,0.00020285665291,-0.000249954188038,2.31018416815e-05,1793239222693259776
+93,1.550000000,BASELINE,766,746,715,680,666.03189503,636,879.03189503,787.03189503,803.96810497,653,631.03189503,653,0.400975281665,0.00454260074721,0.0598533900304,0.999999947821,0.000204429705739,-0.000249085092096,2.2882225341e-05,1793239222709926400
+94,1.566666667,BASELINE,766,745.456782316,715,679.456782316,666,636,879.543217684,787,804,653,631.543217684,653,0.400975017038,0.00454190689266,0.059852235623,0.999999947543,0.000204556820545,-0.000250103119812,2.27722781919e-05,1793239222726593024
+95,1.583333333,BASELINE,766,745.121125487,715,679,666,636,879.878874513,787,803.878874513,653,632,653,0.400974734112,0.00454119874257,0.0598513919675,0.999999947318,0.000204681616971,-0.000250905610817,2.27224111337e-05,1793239222743259904
+96,1.600000000,BASELINE,766,745.709831294,715,679,666,636,879.290168706,787,803.290168706,653,632,653,0.400974553735,0.0045410299755,0.0598521968161,0.999999947338,0.000205125175055,-0.00025044836371,2.28796153016e-05,1793239222759926528
+97,1.616666667,BASELINE,766,746,715,679.294001385,666,636,879.294001385,787,803,652.705998615,632,653,0.400973604717,0.00454024462014,0.0598518959304,0.999999947239,0.000204489067965,-0.000251344111635,2.30911047787e-05,1793239222776593152
+98,1.633333333,BASELINE,766,746,715,679.873762869,666,636,879.873762869,787,803,652.126237131,632,653,0.400971908605,0.00453885996036,0.0598505203055,0.999999947018,0.000202803560262,-0.000253554928199,2.33553578593e-05,1793239222793259776
+99,1.650000000,BASELINE,766,746,714.548717688,680,666.451282312,636,880,787.451282312,803.451282312,652.451282312,632,653.451282312,0.400972444146,0.00453962088079,0.0598507736787,0.999999947494,0.000201498218346,-0.0002527479806,2.29965022093e-05,1793239222809926656
+100,1.666666667,BASELINE,766,746,714.027984681,679.972015319,667,636,880,787.972015319,804,653,631.972015319,654,0.400973582097,0.00454088825319,0.0598514731998,0.999999948135,0.000200381501275,-0.000251139481562,2.24928104515e-05,1793239222826593280
+101,1.683333333,BASELINE,766,746,714.600928644,679.399071356,667,636,880,787.399071356,804,653,631.399071356,654,0.400974354648,0.00454038813872,0.0598520309779,0.99999994825,0.000200877321843,-0.000250279427708,2.25461444044e-05,1793239222843259904
+102,1.700000000,BASELINE,766,745.819963172,715,679,666.819963172,636,879.819963172,787,803.819963172,653,631.180036828,653.819963172,0.400974266205,0.00453951611669,0.0598519742252,0.999999948282,0.000200505807465,-0.000250437635583,2.26709933166e-05,1793239222859926528
+103,1.716666667,BASELINE,766,745.226706986,715,679,666.226706986,636,879.226706986,787,803.226706986,653,631.773293014,653.226706986,0.400972201613,0.00453779049492,0.0598505070051,0.999999948118,0.000198143591484,-0.000252932951288,2.29599828917e-05,1793239222876593152
+104,1.733333333,BASELINE,766,745.356371987,714.643628013,679,666,635.643628013,879,787.356371987,803,653,632,653,0.40097257818,0.00453818939928,0.0598507177857,0.999999948024,0.000199132088155,-0.000252523811222,2.30402471086e-05,1793239222893259776
+105,1.750000000,BASELINE,766,745.933156512,714.066843488,679,666,635.066843488,879,787.933156512,803,653,632,653,0.400974464579,0.00453990230179,0.0598519663928,0.999999947965,0.00020219296712,-0.000250318294321,2.29914167906e-05,1793239222909926656
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679,666,635,879,788,804,653,632,653,0.400973460869,0.00454007999299,0.0598516043541,0.999999947619,0.00020258134343,-0.000251353784184,2.33295480149e-05,1793239222941779968
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745.606446914,714.606446914,679.606446914,666,635.606446914,879.606446914,788,804,653,632,653,0.400974199938,0.00454065105942,0.059851914854,0.999999947945,0.000201986351689,-0.000250575866083,2.28782036766e-05,1793239222958446848
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,714.796533419,680,666,636,880,788,804,653,632,653,0.400974749666,0.00454109112991,0.0598522610521,0.999999948023,0.000202385521591,-0.000249954048246,2.27176629994e-05,1793239222975113728
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,714.216940754,680,666,636,880,788,804,653,632,653,0.400974949377,0.00454128904287,0.0598526732415,0.999999947643,0.000204622487674,-0.000249620795506,2.30946986964e-05,1793239222991780352
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,714,679.638533834,666.361466166,636,879.638533834,788,803.638533834,653,631.638533834,653,0.400974256279,0.00454180488358,0.0598524935522,0.999999947425,0.000205038206852,-0.000250165926126,2.29522992791e-05,1793239223008446720
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,714,679.06083627,666.93916373,636,879.06083627,788,803.06083627,653,631.06083627,653,0.400973029096,0.00454251091072,0.0598519597971,0.999999947305,0.000204364444221,-0.000251236511373,2.24991703947e-05,1793239223025113088
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,714.515051677,679,667,636,879,788,803,653,631,653,0.400972188491,0.00454159069956,0.0598516607609,0.999999947235,0.000203785452307,-0.000251963648209,2.26984613832e-05,1793239223041779968
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,714.907164047,679.092835953,667.092835953,636,879.092835953,788,803.092835953,653,631.092835953,653,0.400971776636,0.00454050779507,0.0598516156115,0.99999994726,0.000203134266457,-0.000252363122523,2.29954393222e-05,1793239223058446592
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,714.318105099,679.681894901,667.681894901,636,879.681894901,788,803.681894901,653,631.681894901,653,0.400973413306,0.00453957840484,0.0598527798563,0.999999947759,0.000202037568185,-0.000251227266421,2.34041043194e-05,1793239223075113216
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.733954439,746,714.266045561,679.733954439,667.467908878,636,879.733954439,787.733954439,804,653,631.733954439,653,0.400976348038,0.00453986314188,0.059853964852,0.99999994827,0.000202101462117,-0.000249126048494,2.3461810823e-05,1793239223091779584
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.155566246,746,714.844433754,679.155566246,666.311132493,636,879.155566246,787.155566246,804,653,631.155566246,653,0.400980806719,0.00454157328785,0.0598551742097,0.99999994879,0.00020352791381,-0.0002458914772,2.31074852417e-05,1793239223108446208
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.420330042,746,715,679,666,636,879.420330042,787.420330042,803.579669958,653,631,653,0.401001027823,0.00454075308836,0.0598641942406,0.999999952578,0.000203164466035,-0.000230273316751,2.32706176595e-05,1793239223125113856
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.995309547,746,715,679,666,636,879.995309547,787.995309547,803.004690453,653,631,653,0.401027048298,0.00453900191448,0.0598760880048,0.999999957219,0.000202142471534,-0.000210098937697,2.36241351983e-05,1793239223141781760
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,714.416579543,679.583420457,666.583420457,636,880,788,803.583420457,653,631.583420457,653,0.40108055985,0.00453923988075,0.0598957402379,0.999999964468,0.000200905665291,-0.000173599382474,2.37358445756e-05,1793239223158447360
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,714.169147061,679.830852939,667,636,880.169147061,788,804,653,632,653,0.401138115327,0.00453975771432,0.05991414074,0.999999969656,0.000200269759858,-0.000141474855682,2.37872502238e-05,1793239223175113472
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,714.748824796,679.251175204,667,636,880.748824796,788,804,653,632,653,0.401204936904,0.00454091509678,0.059929348342,0.999999972264,0.000201096567184,-0.000120294674788,2.3697121908e-05,1793239223191780096
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.673036002,746,714.673036002,679.326963998,666.673036002,636,880.673036002,788,804,653,631.673036002,653,0.401279877421,0.00454058558531,0.0599405777518,0.999999974302,0.00020089991055,-0.000102410653066,2.33739007462e-05,1793239223208446976
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.096073206,746,714.096073206,679.903926794,666.096073206,636,880.096073206,788,804,653,631.096073206,653,0.401361025726,0.00453911918501,0.0599487654091,0.999999975966,0.000199920706688,-8.70468973363e-05,2.28724552874e-05,1793239223225113856
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.478922862,746,714,679.521077138,666.478922862,636,880,788,803.521077138,653,631.478922862,653,0.401452703109,0.00453950568895,0.0599507395005,0.999999976664,0.000198297942214,-8.2825085953e-05,2.21416378947e-05,1793239223241780736
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,714,679.055008831,666.944991169,636,879.944991169,788,803.055008831,653,631.944991169,653,0.401549248869,0.00454016665868,0.0599516551267,0.999999977263,0.000196358705773,-8.03943234041e-05,2.13006143131e-05,1793239223258447104
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,714,679.645530114,666.354469886,636,879.354469886,788,803.645530114,653,631.354469886,653,0.401672710569,0.00453989587355,0.0599543512409,0.99999997854,0.000192590257849,-7.37296620165e-05,1.98328326428e-05,1793239223275113472
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,714,679.769409227,666,636,879.230590773,788,804,653,631.230590773,653,0.401804816747,0.00453959179713,0.0599563975211,0.999999979714,0.000188799979451,-6.7752625492e-05,1.8349274169e-05,1793239223291779840
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,714,679.192548641,666,636,879.807451359,788,804,653,631.807451359,653,0.401949904013,0.00453923772842,0.0599574679689,0.999999980778,0.000184976919369,-6.28081709236e-05,1.6842024374e-05,1793239223308446464
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.631037443,714,679,666,636,879.631037443,788,804,653,632,653,0.402114122874,0.00453820769196,0.0599573471163,0.999999981629,0.000181328890453,-6.0218744677e-05,1.53528953508e-05,1793239223325113088
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.077216573,714,679,666,636,879.077216573,788,804,653,632,653,0.402287927096,0.00453683898085,0.0599566293963,0.999999982374,0.000177768555636,-5.88092387042e-05,1.3872845095e-05,1793239223341779712
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.528521522,714,679,666,636,879,788,804,653,632,653,0.402495536137,0.00453733360167,0.0599591979977,0.99999998336,0.00017433761496,-5.2385920188e-05,1.1895409224e-05,1793239223358446848
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,714,679.134667222,666.134667222,636,879,788,804,653,632,653,0.40271857195,0.00453770657174,0.0599615730448,0.999999984358,0.000170686091083,-4.53418469969e-05,9.71024123056e-06,1793239223375113984
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,714,679.714363546,666.714363546,636,879,788,804,653,632,653,0.402974488889,0.00453667989834,0.0599615489628,0.9999999854,0.000166236336593,-3.89307897356e-05,7.10488979675e-06,1793239223391780864
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,714.292255523,680,666.707744477,636,879.292255523,788,803.707744477,653,632,653,0.403243135825,0.00453660198873,0.0599623882211,0.999999986396,0.000161345862264,-3.40000397856e-05,4.52661709683e-06,1793239223408447232
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,714.868394803,680,666.131605197,636,879.868394803,788,803.131605197,653,632,653,0.403524148086,0.00453744566529,0.0599640660889,0.99999998736,0.000156027292946,-3.05071935947e-05,1.97464760711e-06,1793239223425113600
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,714.556340511,680,666.443659489,636,879.556340511,787.556340511,803.443659489,653,632,653,0.403827601777,0.00453753997709,0.0599575006753,0.999999988106,0.000149168408972,-3.91700330704e-05,-1.48536011727e-06,1793239223441780224
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,714.019071544,679.980928456,667,636,879.019071544,787.019071544,804,653,632,653.019071544,0.40413830955,0.00453743535069,0.0599484518693,0.999999988582,0.000141895932206,-5.17078526814e-05,-5.19164319703e-06,1793239223458446848
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,714.606594019,679.393405981,667,636,879.606594019,787.606594019,804,653,632,653.606594019,0.404467206803,0.00453801366602,0.0599381228064,0.999999988107,0.000135887845546,-7.24801067827e-05,-8.22576275511e-06,1793239223475113472
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,714.807656631,679.192343369,667,636,879.807656631,788,804,653.192343369,632,654,0.404821032444,0.00453751940621,0.0599291584765,0.999999987746,0.000127387199608,-9.02696357801e-05,-1.15053799525e-05,1793239223491780352
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,714.225500854,679.774499146,667,636,879.225500854,788,804,653.774499146,632,654,0.405225379127,0.00453485141347,0.0599229599818,0.999999988201,0.000113835012831,-0.000102014226784,-1.52825342204e-05,1793239223508447232
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.648336134,746,714.351663866,679.648336134,667,636,879.351663866,788,803.648336134,653.648336134,631.648336134,653.648336134,0.405662049344,0.00453438129668,0.0599291968559,0.999999990188,0.000103603952563,-9.23487776134e-05,-1.90115796781e-05,1793239223525113856
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.074327036,746,714.925672964,679.074327036,667,636,879.925672964,788,803.074327036,653.074327036,631.074327036,653.074327036,0.406119156685,0.00453530082264,0.0599432961946,0.999999992794,9.54727275034e-05,-6.91464813926e-05,-2.27102079165e-05,1793239223541780480
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.501902197,746,715,679.501902197,667,636,880,788,803.501902197,653,631,653,0.406633242645,0.00453333492926,0.059971437778,0.999999995828,8.49287098511e-05,-2.14344724198e-05,-2.5920515726e-05,1793239223558447104
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,715,680,667,636,880,787.920140064,804,653,631,653,0.407155632351,0.00453118129261,0.0599994746891,0.999999996508,7.42043159537e-05,2.51091620908e-05,-2.91071703455e-05,1793239223575113472
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,715,680,667,636,880,787.33330547,804,653,631,653,0.407676931985,0.00453056050844,0.0600135870201,0.999999996537,6.46132383053e-05,4.1091088883e-05,-3.26047905987e-05,1793239223591780352
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,714.748689879,680,667,636,879.748689879,787,803.748689879,653,631.251310121,653,0.408211467798,0.00453017493002,0.0600164087435,0.999999997143,5.52378788957e-05,3.66773921213e-05,-3.62886228254e-05,1793239223608446976
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,714.166991563,680,667,636,879.166991563,787,803.166991563,653,631.833008437,653,0.408763404699,0.00453009856799,0.0600043871185,0.999999998112,4.61461168936e-05,5.45031651957e-06,-4.02172608758e-05,1793239223625113344
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.589525074,746,714,680,666.589525074,636,879.820949853,787,803.410474926,653,632,653.410474926,0.409338488022,0.00452949904091,0.0599935564954,0.999999998174,3.69783320012e-05,-1.72044667658e-05,-4.45998272135e-05,1793239223641780224
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.013762645,746,714,680,666.013762645,636,880.97247471,787,803.986237355,653,632,653.986237355,0.40992289179,0.00452868884897,0.0599832054578,0.999999997743,2.77799348982e-05,-3.6407411681e-05,-4.9165178483e-05,1793239223658446848
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.572479277,746,714.572479277,680,666.572479277,636,881,787.572479277,804,652.427520723,632,653.427520723,0.410572182861,0.00452689845008,0.0599981678885,0.999999998413,1.55150177116e-05,-1.16269566295e-06,-5.41461797938e-05,1793239223675113728
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,715,680,667,636,881,788,804,652.15714213,631.84285787,653,0.411231114077,0.00452525389246,0.0600091049003,0.999999997933,3.95662646323e-06,2.49824360363e-05,-5.91149407805e-05,1793239223691780608
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+153,2.550000000,POSE1_TO_POSE2_PRESS,765.684929545,746,715,679.684929545,667,636,880.36985909,787.684929545,804,653,631,653,0.412585422098,0.00452509347121,0.0599901964371,0.999999997383,5.10426540034e-05,-1.03485295789e-05,-5.02189439427e-05,1793239223725113600
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.107994137,746,715,679.107994137,667,636,879.215988274,787.107994137,804,653,631,653,0.413253449694,0.00452796198687,0.0599597126189,0.999999984142,0.000162438955896,-6.99566909642e-05,-2.08615635422e-05,1793239223741780480
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.466664012,746,715,679.466664012,666.533335988,636,879,787,803.533335988,652.533335988,631.466664012,653,0.413958666956,0.00451839341975,0.0599408109171,0.99999998195,0.000158199567161,-0.000103725053759,-1.77442519725e-05,1793239223758446848
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.959353154,746,714.959353154,680,666,636,879.040646846,787,803.040646846,652.040646846,631.959353154,653,0.414681054764,0.00450603490316,0.0599292964745,0.999999984578,0.00012347218426,-0.000123162449417,-2.07066472018e-05,1793239223775113472
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.387342206,746,714.387342206,680,666,636,879.612657794,787,803.612657794,652.612657794,631.387342206,653,0.415515946941,0.00449464676448,0.059979484816,0.999999998428,3.83123282489e-05,-3.30476297374e-05,-2.41499757855e-05,1793239223791780352
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.19352097,746,714.19352097,680,666.19352097,636,880.19352097,787,804.19352097,653,631,653,0.416337505564,0.00448913159574,0.0600187724829,0.999999998632,-2.75328303793e-05,3.476541841e-05,-2.77429779364e-05,1793239223808446976
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.79295163,746,714.79295163,680,666.79295163,636,880.79295163,787,804.79295163,653,631,653,0.417131097042,0.00449593496565,0.0600351960126,0.999999996545,-5.28654593806e-05,5.58005571244e-05,-3.16499204094e-05,1793239223825113856
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715,679.624005186,667,636.375994814,880.624005186,787.375994814,804.624005186,652.624005186,631.375994814,653,0.417939628833,0.00449520228242,0.0600285153183,0.999999996401,-6.07436047055e-05,4.85207829267e-05,-3.3965384955e-05,1793239223841780224
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,679.049609202,667,636.950390798,880.049609202,787.950390798,804.049609202,652.049609202,631.950390798,653,0.418756044153,0.00449049305006,0.0600096432184,0.999999997261,-5.94115423919e-05,2.63000788889e-05,-3.54410742698e-05,1793239223858446848
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,679,667,636.476019123,880,787.476019123,804,652,631.476019123,653.523980877,0.41955667638,0.00449224962097,0.0599877273892,0.999999997835,-5.22456526466e-05,-1.51181495264e-05,-3.7038781007e-05,1793239223875113472
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715,679,667,635.899522447,880,787,804,652,631.100477553,653.899522447,0.420353130468,0.00449448941824,0.059964285573,0.999999996614,-4.35447298305e-05,-5.81787928273e-05,-3.86088069506e-05,1793239223891780096
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715,679,667,635.308462501,880,787,804,652,631.691537499,653.308462501,0.421136469251,0.00449610425544,0.0599347979654,0.999999993709,-3.00416243157e-05,-0.000100397836312,-3.99873633595e-05,1793239223908446720
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715,679.276173888,667,635.276173888,880,787.276173888,804,652,632,653,0.421948639119,0.00449597260521,0.0599148384539,0.999999989892,-2.21605597979e-05,-0.000134331467875,-4.09919825105e-05,1793239223925113600
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715,679.853798869,667,635.853798869,880,787.853798869,804,652,632,653,0.422792278975,0.00449393461804,0.0599052791071,0.999999986251,-2.04160998291e-05,-0.000159221358948,-4.15884394898e-05,1793239223941780224
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.569112099,746,715,679.569112099,667,636,880,788,804,652,632,653,0.423737043639,0.00449362199167,0.0599533123271,0.999999995867,-1.65936183522e-05,-7.89001508372e-05,-4.2019346681e-05,1793239223958447104
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.00794685,746,715,679.00794685,667,636,880.00794685,788,804,652.00794685,632,653.00794685,0.424714631747,0.00449386186926,0.0600202881753,0.999999998379,-1.20960963391e-05,3.60380383804e-05,-4.23852304363e-05,1793239223975113984
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.596071775,746,715,679.596071775,667,636,880.596071775,788,804,652.596071775,632,653.596071775,0.425586671543,0.00449175184915,0.0600453311356,0.999999996234,-9.72749305567e-06,7.52674405904e-05,-4.20997917096e-05,1793239223991780352
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,714.818576094,680,667.181423906,635.818576094,880.818576094,787.818576094,804,652.818576094,631.818576094,653.818576094,0.426459450746,0.00448958950284,0.0600580867221,0.999999994028,-9.429075158e-06,0.000100109884539,-4.28238749373e-05,1793239224008446976
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,714.239304506,680,667.760695494,635.239304506,880.239304506,787.239304506,804,652.239304506,631.239304506,653.239304506,0.427333851355,0.00448731240962,0.0600438971085,0.999999994497,-1.36704034452e-05,9.34029120308e-05,-4.57617567846e-05,1793239224025113344
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.663871002,746,714.336128998,680,667.663871002,635.336128998,880,787.336128998,804,652,631.336128998,653,0.428181501626,0.00448605054571,0.060023008023,0.999999996665,-1.34776058612e-05,6.53051615921e-05,-4.71620524747e-05,1793239224041780224
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.09113917,746,714.90886083,680,667.09113917,635.90886083,880,787.90886083,804,652,631.90886083,653,0.429010322166,0.00448550330673,0.0599974031474,0.999999998576,-1.01636053311e-05,2.21503388066e-05,-4.74800336052e-05,1793239224058446848
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.480414914,746,714.519585086,680,667,635.519585086,880,787.519585086,804,652,632,653,0.429819593234,0.00448565155583,0.0599635483657,0.999999998062,-7.00970936066e-06,-3.89109861645e-05,-4.809556564e-05,1793239224075113472
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.054202659,880,787.054202659,804,652,631.945797341,653,0.430632610625,0.00448579368268,0.0599334334318,0.99999999448,-4.53530967699e-06,-9.29407517041e-05,-4.88047521703e-05,1793239224091780352
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.652656258,880,787.652656258,804,652,631.347343742,653,0.431520392703,0.00448455275559,0.0599565471085,0.999999997822,-8.57952637103e-06,-4.2340033284e-05,-4.98889160546e-05,1793239224108447232
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,636,880,788,804,652,631.242580872,653,0.432403865682,0.00448255938323,0.0599878255264,0.999999998532,-1.3591959008e-05,1.35154890453e-05,-5.06783806374e-05,1793239224125113600
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,636,880,788,804,652,631.820707986,653,0.433281378291,0.00447952520242,0.0600303976995,0.999999995561,-1.99436619556e-05,7.66396448199e-05,-5.10602071171e-05,1793239224141780224
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,714.397156923,680,667,636,880.397156923,788,804,652,632,653,0.434101128213,0.00447753323352,0.0600295379112,0.999999995984,-1.98095844093e-05,7.11174907075e-05,-5.08087086885e-05,1793239224158446848
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,714.972851421,680,667,636,880.972851421,788,804,652,632,653,0.434894911495,0.00447600977984,0.0600091537547,0.999999997993,-1.67598944276e-05,3.47361310779e-05,-5.02725059181e-05,1793239224175113472
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680,667,635.439573557,880.439573557,787.439573557,804,652,632,653,0.435666333968,0.0044736238901,0.0599822293105,0.999999998412,-1.92696710002e-05,-1.195898964e-05,-5.15988373307e-05,1793239224191780096
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680,667,635.14631823,880,787,804.14631823,652,632,653,0.436431985035,0.00447183159481,0.0599600852495,0.999999997131,-2.0453499485e-05,-5.02663412524e-05,-5.28518067918e-05,1793239224208446720
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715,680,667,635.725491,880,787,804.725491,652,632,653,0.437183836361,0.00447192160672,0.0599530406196,0.999999996482,-1.69007892706e-05,-6.22500156222e-05,-5.3615051164e-05,1793239224225113344
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.710964126,746,715,680.289035874,667,635.710964126,880.289035874,787.289035874,804.710964126,652.289035874,632,653,0.437908362171,0.00447067078159,0.0599425857121,0.999999994846,-1.4259265567e-05,-8.50814388114e-05,-5.35297438582e-05,1793239224241780224
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.161500372,746,715,680.838499628,667,635.161500372,880.838499628,787.838499628,804.161500372,652.838499628,632,653,0.438608267033,0.00446821183187,0.0599290580674,0.99999999161,-1.2438741762e-05,-0.000117686929072,-5.2679872161e-05,1793239224258446848
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,715,680.579070985,667,635,881,788,804.420929015,652.579070985,632,653,0.439341191726,0.00446630992885,0.0599462209257,0.99999999445,-1.3094976871e-05,-9.0130601195e-05,-5.29543689264e-05,1793239224275113472
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.017081729,746,715,680.017081729,667,635.017081729,881.017081729,788,805,652,632,653,0.440086783452,0.00446463127308,0.0599761046912,0.999999997731,-1.46626880722e-05,-3.8065310954e-05,-5.36113441821e-05,1793239224291780096
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.613248963,746,715,680.613248963,667,635.613248963,881.613248963,788,805,652,632,653,0.440795815143,0.00446265976274,0.0600041287597,0.999999998598,-1.21777979689e-05,-4.13851680595e-06,-5.136740146e-05,1793239224308446720
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.796183266,746,715,680.796183266,666.796183266,635.796183266,881.592366532,787.796183266,805,652,632,653,0.441460875641,0.00446163262723,0.0600062653179,0.999999998666,-9.52385410411e-06,-7.01098769564e-06,-5.02903581694e-05,1793239224325113344
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.215956516,746,715,680.215956516,666.215956516,635.215956516,880.431913032,787.215956516,805,652,632,653,0.442044729984,0.00446234956874,0.0599605926654,0.999999995629,-6.5577002582e-06,-7.78445652402e-05,-5.1368351571e-05,1793239224341779968
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.334399405,746,715,680,666,635,880.66879881,787,805,652,632,653,0.442593929076,0.00446318680062,0.0599160264265,0.999999987404,-4.6125545267e-05,-0.00014221734451,-5.32869929658e-05,1793239224358446592
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.867046463,746,715,680,666,635,881.734092926,787,805,652,632,653,0.443122582875,0.00446409534625,0.0598721161242,0.999999971742,-0.000110909539917,-0.000202759854655,-5.57040096267e-05,1793239224375113216
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,714.520581338,680,666,635,881.520581338,787.479418662,805,652.479418662,632,653,0.443688823414,0.00446587556184,0.0598556910675,0.999999964531,-0.000123132687827,-0.000229239688399,-5.68010081918e-05,1793239224391780096
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,714,680.107377049,666.107377049,634.892622951,881,787.892622951,805,652.892622951,632,653,0.44425798008,0.00446792700103,0.0598508203777,0.999999962549,-0.000118752578876,-0.000239698755559,-5.78367224578e-05,1793239224408446720
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,714,680.687226758,666.687226758,634.312773242,881,787.312773242,805,652.312773242,632,653,0.444784954155,0.00446989603659,0.0598565615193,0.999999964837,-0.000118246848121,-0.00022952033727,-6.05348255764e-05,1793239224425113344
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.734957175,746,714,681,666.734957175,634.265042825,881,787,805,652,632,653,0.445271283507,0.00447027807408,0.0598488101443,0.999999960555,-0.000119729506311,-0.000246260130848,-6.25291013999e-05,1793239224441780224
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.159522746,746,714,681,666.159522746,634.840477254,881,787,805,652,632,653,0.445710013792,0.00446880157828,0.0598252576852,0.999999946968,-0.000123540766267,-0.00029452383766,-6.3699124919e-05,1793239224458447104
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.412015953,746,714.412015953,681,665.587984047,635,881,787,805,652.412015953,631.587984047,653,0.446120750386,0.00447094358019,0.0597994794,0.999999933847,-0.000122101862279,-0.000336270678502,-6.57236755108e-05,1793239224475113728
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.982060493,746,714.982060493,681,665.017939507,635,881,787,805,652.982060493,631.017939507,653,0.446520750045,0.00447447345562,0.0597728473978,0.999999920137,-0.000118649259798,-0.000375517981205,-6.80759797369e-05,1793239224491780352
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.421066243,746,715,681,665,634.421066243,881,787,804.421066243,653,631.578933757,653,0.446927734963,0.00447806228791,0.0597668522443,0.999999918383,-0.0001159124755,-0.000380580892305,-7.04018956926e-05,1793239224508446720
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.17127923,746,714.82872077,681,664.82872077,634,881,787,804.17127923,652.82872077,632,653,0.447325864186,0.00448143518812,0.0597661179539,0.999999919396,-0.000112444214605,-0.000378584056477,-7.23730258045e-05,1793239224525113088
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.750756487,746,714.249243513,681,664.249243513,634,881,787,804.750756487,652.249243513,632,653,0.447702347398,0.00448428890744,0.0597763234371,0.999999925885,-0.000107177243562,-0.000362409387484,-7.35006630965e-05,1793239224541779712
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,714,681,664.326935815,634,881,787,804.673064185,652,631.673064185,653,0.448047386307,0.00449268318635,0.0597812033746,0.999999930614,-8.90337666567e-05,-0.000354197320304,-7.34105938166e-05,1793239224558446848
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,714,681,664.900626002,634,881,787,804.099373998,652,631.099373998,653,0.448368692649,0.00450525919507,0.059782063863,0.999999933558,-6.11717644054e-05,-0.000351995017028,-7.24014620248e-05,1793239224575113728
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,714,681,664.522821927,634,881,787,804,652,631,653,0.448628481131,0.00453023427974,0.0597628902852,0.999999924966,4.77603725407e-06,-0.000381924201518,-6.46394294157e-05,1793239224591780352
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,714,681.055364182,664,634,881,787,804.055364182,652,631.055364182,653,0.448872531243,0.00455563481728,0.059739299356,0.999999908066,7.19334573966e-05,-0.000418919658042,-5.65731690376e-05,1793239224608446720
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,714,681.643504908,664,634,881,787,804.643504908,652,631.643504908,653,0.449089157756,0.00456013125108,0.0597135912063,0.999999890112,7.39448311489e-05,-0.00045913314135,-5.91940933278e-05,1793239224625113344
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.770920408,746,714,681.770920408,664,633.770920408,881,787,805,652,631.770920408,653,0.449300564836,0.00456128694208,0.059694159457,0.999999876501,7.18135512271e-05,-0.000487941677052,-6.12698501721e-05,1793239224641779968
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.189294833,746,714,681.189294833,664,633.189294833,881,787,805,652,631.189294833,653,0.449503939361,0.00455730133896,0.0596843868846,0.999999871443,6.33068630068e-05,-0.000499198369274,-6.25066120509e-05,1793239224658446848
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.386277509,746,714,681.386277509,664,633,881,787,805,652,631.386277509,653,0.44969155601,0.00455775726688,0.059682803337,0.99999987039,5.97135094772e-05,-0.00050150649272,-6.4384402509e-05,1793239224675113728
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.958929289,746,714,681.958929289,664,633,881,787,805,652,631.958929289,653,0.449871569691,0.00456035617998,0.0596851708949,0.999999871325,5.84907803287e-05,-0.000499497039951,-6.65714816916e-05,1793239224691780352
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,714.545632197,681.454367803,664,633,881,787,805,652,632,653,0.450016735592,0.00456045057039,0.0596837442581,0.9999998701,5.84553021596e-05,-0.000501902658234,-6.69036973336e-05,1793239224708447232
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.868423292,746,714.868423292,681,663.868423292,633,881,787,805,652,632,653,0.450156027179,0.00456053581574,0.0596824987921,0.999999869319,5.80981316013e-05,-0.000503444496231,-6.73084231246e-05,1793239224725113856
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.28875844,746,714.28875844,681,663.28875844,633,881,787,805,652,632,653,0.450284482672,0.00456124889715,0.0596828686208,0.999999870629,5.6333044013e-05,-0.000500883031587,-6.8448128454e-05,1793239224741780480
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.289715015,746,714,681,663.289715015,633,881,787,805,652,631.710284985,653,0.45039808607,0.00456169494425,0.0596837551501,0.999999872442,5.54600252436e-05,-0.000497263519714,-6.90546490625e-05,1793239224758446848
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.867005837,746,714,681,663.867005837,633,881,787,805,652,631.132994163,653,0.450496947029,0.00456187592874,0.0596851545645,0.999999874747,5.54724885061e-05,-0.000492593773214,-6.91319218314e-05,1793239224775113216
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,714.440034073,681,664,633,881,787,805,652,631.440034073,653,0.450572570492,0.0045611359356,0.05968351384,0.999999872741,5.49772203714e-05,-0.00049672329323,-6.899903873e-05,1793239224791780096
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,714.987776862,681.012223138,663.987776862,632.987776862,881,787,805,652,632,653,0.450640832178,0.0045601756595,0.0596809072731,0.999999869401,5.43758571564e-05,-0.000503493447323,-6.88164188684e-05,1793239224808446720
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,714.39483633,681.60516367,663.39483633,632.39483633,881,787,805,652,632,653,0.450689807424,0.00456184737905,0.0596756487951,0.999999865689,5.59545898315e-05,-0.000510581603753,-6.92595272475e-05,1793239224825113600
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746,714.193450544,682,663,632.193450544,880.806549456,787,805,652,632,653,0.450736060988,0.00456368853545,0.0596718999756,0.999999862988,5.77442681847e-05,-0.000515587336961,-6.97047044716e-05,1793239224841780480
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,714.772462261,682,663,632.772462261,880.227537739,787,805,652,632,653,0.450776890031,0.00456586739178,0.0596711600173,0.999999862385,5.99543766175e-05,-0.000516442646597,-7.01540050085e-05,1793239224858447360
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.65046213,746,714.65046213,681.65046213,663,633,880.34953787,787,805,652,632,653,0.450807865409,0.00456629925914,0.0596704018298,0.999999861653,6.05804999905e-05,-0.000517820744372,-6.98930773112e-05,1793239224875113728
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.074639866,746,714.074639866,681.074639866,663,633,880.925360134,787,805,652,632,653,0.450832461711,0.00456560015817,0.0596696318411,0.999999860837,6.01811807566e-05,-0.000519537285668,-6.91723609484e-05,1793239224891780096
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.48836214,714.51163786,681,663,633,881,787,804.48836214,652,632,653,0.450849851624,0.00456518723504,0.059668582766,0.999999860073,6.05293356787e-05,-0.000520946969406,-6.9317771534e-05,1793239224908446720
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.097977166,745.097977166,715,681,663,633,881,787,804.097977166,652,632,653,0.450864754259,0.00456521029246,0.0596674450558,0.999999859171,6.13987106978e-05,-0.000522537185392,-6.95886471494e-05,1793239224925113344
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.67697438,745.67697438,715,681,663,633,881,787,804.67697438,652,632,653,0.450872714612,0.00456716455911,0.0596660762473,0.999999857558,6.4280497727e-05,-0.000525238089518,-6.98422161834e-05,1793239224941779968
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,714.74434163,681,663,633,881,787,805,652,632,653,0.450879314556,0.00456716743794,0.0596649090493,0.999999856511,6.48827884143e-05,-0.000527187676915,-6.95779658648e-05,1793239224958446848
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,714.166052952,681,663,633,881,787,805,652,632,653,0.450884197719,0.00456470774578,0.0596639962757,0.999999856191,6.26084486527e-05,-0.000528189133461,-6.86602488865e-05,1793239224975113728
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,714.408130911,681,663,633,881,787,805,652,632,653,0.450887219179,0.00456475180972,0.0596633063632,0.99999985584,6.23513495548e-05,-0.000528893201057,-6.85906527273e-05,1793239224991780352
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,714.980661298,681,663,633,881,787,805,652,632,653,0.450889490724,0.00456580441332,0.0596627062214,0.999999855477,6.29068165214e-05,-0.000529477477197,-6.8862688683e-05,1793239225008447488
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,714.431362318,681.568637682,663,633,881,787,805,652,631.431362318,653,0.450889165954,0.00456793102359,0.059661121363,0.999999854043,6.48880118934e-05,-0.000531874208976,-6.93814561466e-05,1793239225025113600
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.844659656,746,714.155340344,681.844659656,663,633,881,787,805,652.155340344,631.155340344,653,0.450889228657,0.00456933989991,0.0596600479422,0.999999853097,6.63431597009e-05,-0.000533443087878,-6.95970193791e-05,1793239225041780224
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.262935378,746,714.737064622,681.262935378,663,633,881,787,805,652.737064622,631.737064622,653,0.45089060404,0.00456867565667,0.0596604728236,0.999999853617,6.62175863385e-05,-0.000532565730675,-6.89566611539e-05,1793239225058446848
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.315060718,746,714.684939282,681,663,633,881,787,805,652.684939282,631.684939282,653,0.450891389844,0.00456888716303,0.0596604735319,0.999999853503,6.73789009454e-05,-0.000532674072667,-6.86475651111e-05,1793239225075113216
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.889981891,746,714.110018109,681,663,633,881,787,805,652.110018109,631.110018109,653,0.450891689366,0.00456982098307,0.0596601243844,0.999999852862,6.96016341009e-05,-0.000533595414176,-6.86116923382e-05,1793239225091779840
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,714.448197416,681.448197416,663.448197416,633,881,787.448197416,805,652.448197416,631.448197416,653,0.450891489057,0.00456901050566,0.0596595189272,0.999999852521,6.74301580019e-05,-0.000534520199474,-6.8550253876e-05,1793239225108446720
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.99727497,746,714.99727497,682,663.99727497,633,881,787.99727497,805,652.99727497,632,653,0.450891174211,0.0045677945208,0.0596588553087,0.999999852243,6.42411264944e-05,-0.000535440899258,-6.84824643478e-05,1793239225125113344
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.383189166,746,714.383189166,682,663.383189166,633,881,787.383189166,805,652.383189166,632,653,0.450891699738,0.00456821089797,0.0596587511579,0.99999985223,6.60601878777e-05,-0.000535262190297,-6.8347142095e-05,1793239225141779968
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.217616746,746,714.217616746,682,663,633,881,787,805,652,631.782383254,653,0.45089235949,0.00456870874963,0.0596587454158,0.999999852258,6.83186257016e-05,-0.000534935622292,-6.82708874089e-05,1793239225158447104
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.796383709,746,714.796383709,682,663,633,881,787,805,652,631.203616291,653,0.450893241997,0.00456934181384,0.0596589029901,0.999999852353,7.13062393653e-05,-0.000534363671867,-6.82926594912e-05,1793239225175114752
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,714.627433544,681.627433544,663,633,881,787,805,652.372566456,631.372566456,653,0.450893466316,0.0045695532063,0.0596590929302,0.99999985263,7.0632928353e-05,-0.000533918542405,-6.84185546027e-05,1793239225191781120
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,714.052653422,681.052653422,663,633,881,787,805,652.947346578,631.947346578,653,0.4508933334,0.00456953573273,0.0596593004371,0.999999853003,6.79726187064e-05,-0.000533542246134,-6.86009633881e-05,1793239225208446976
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.465385353,746,714,681,663,633,881,787,805,652.465385353,632,653,0.450894666632,0.00456911791887,0.059660293621,0.999999853771,6.64478845042e-05,-0.000532282086819,-6.86953319604e-05,1793239225225113344
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.121241112,746,714,681.121241112,663,633,881,787,804.878758888,652,632,653,0.450895658947,0.00456887168235,0.0596609544226,0.999999854203,6.56402592467e-05,-0.000531563623998,-6.87387738963e-05,1793239225241779968
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.700683294,746,714,681.700683294,663,633,881,787,804.299316706,652,632,653,0.450894804082,0.00456942645643,0.0596600596329,0.999999853227,6.71099861732e-05,-0.000533229224772,-6.86233045814e-05,1793239225258446592
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.722448314,746,714.277551686,681.722448314,663,632.722448314,881,787,804.277551686,652,631.722448314,653,0.450894423132,0.00456860242157,0.0596595559347,0.999999852758,6.72626967745e-05,-0.000534144620786,-6.81801255165e-05,1793239225275113472
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.14832997,746,714.85167003,681.14832997,663,632.14832997,881,787,804.85167003,652,631.14832997,653,0.450894548563,0.0045663051161,0.0596594701215,0.999999852835,6.60081628934e-05,-0.000534258415974,-6.73867854043e-05,1793239225291780352
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.425851422,746,714.574148578,681,663,632,881,787,804.574148578,652,631.425851422,653,0.450894061038,0.00456678301789,0.0596589940842,0.999999852535,6.62366342239e-05,-0.000534783670575,-6.74399998879e-05,1793239225308446976
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746,714,681,662.999943329,632.000056671,881,787,804.000056671,652,631.999943329,653,0.450893360198,0.00456822759793,0.0596583822466,0.999999852105,6.69816138571e-05,-0.000535452118581,-6.77881090351e-05,1793239225325113600
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,714,681,662.405532493,632.594467507,881,787,804.594467507,652,631.405532493,653,0.45089495909,0.00456853887482,0.0596592400594,0.999999852581,6.64736062014e-05,-0.000534601868804,-6.79714402594e-05,1793239225341779968
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,714,681.183279472,662.183279472,633,881,787,805,652,631,652.816720528,0.450895495947,0.00456878362409,0.0596594822484,0.999999852631,6.66129789857e-05,-0.000534480195816,-6.80583781317e-05,1793239225358446336
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,746,714,681.76007031,662.76007031,633,881,787,805,652,631,652.23992969,0.450893752554,0.00456888553478,0.0596584026583,0.999999851764,6.8142314126e-05,-0.00053592281835,-6.79383540279e-05,1793239225375113216
+253,4.216666667,HOLD_POSE2,766,745,714,681,663,632,881,787,805,652,631,653,0.450895149963,0.00456977533166,0.0596578983964,0.999999851465,6.91033792889e-05,-0.000536298896928,-6.83948862093e-05,1793239225410989056
+254,4.233333333,HOLD_POSE2,766,745.589518785,714,681,663,632,881,787,804.410481215,652,631,653,0.450895716502,0.00456954903203,0.0596592866569,0.999999852436,6.79372880915e-05,-0.000534657091348,-6.82171109508e-05,1793239225427655936
+255,4.250000000,HOLD_POSE2,765.824209872,745.824209872,714.175790128,681,663,632.175790128,880.824209872,787,804.175790128,652,631,653,0.450896129477,0.00456943421814,0.0596600375797,0.999999853032,6.75521651694e-05,-0.000533614283883,-6.80400455816e-05,1793239225444322816
+256,4.266666667,HOLD_POSE2,765.24538386,745.24538386,714.75461614,681,663,632.75461614,880.24538386,787,804.75461614,652,631,653,0.450896190373,0.00456957500876,0.0596593272719,0.999999852771,6.89575762377e-05,-0.000533944805407,-6.7864607748e-05,1793239225460989696
+257,4.283333333,HOLD_POSE2,765,745.332114889,714.667885111,681,663,633,880.332114889,787,804.667885111,652,631.332114889,653,0.450895265128,0.00456908214041,0.0596583194286,0.99999985209,6.9150342377e-05,-0.000535213190905,-6.77086239353e-05,1793239225477656064
+258,4.300000000,HOLD_POSE2,765,745.908636854,714.091363146,681,663,633,880.908636854,787,804.091363146,652,631.908636854,653,0.450893614171,0.00456812295528,0.0596570926255,0.999999851098,6.84507094093e-05,-0.000537171761013,-6.75669565652e-05,1793239225494322432
+259,4.316666667,HOLD_POSE2,765.482801012,745.517198988,714,681.482801012,662.517198988,633,881,787,804.482801012,652,631.517198988,653,0.450895263942,0.00456782422698,0.0596581354577,0.999999852008,6.76866225618e-05,-0.000535635847623,-6.7063344834e-05,1793239225510989056
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+261,4.350000000,HOLD_POSE2,765.353097185,745.646902815,714,681.353097185,663.29380563,632.353097185,881,787,804.353097185,652,631,653,0.450895762265,0.0045673535701,0.0596582998043,0.999999852388,6.6541553387e-05,-0.000535057619309,-6.71564656844e-05,1793239225544322816
+262,4.366666667,HOLD_POSE2,765,746,714,681,663.767454067,632.232545933,880.767454067,787,804.232545933,652,631.232545933,653,0.450895216008,0.00456768751435,0.059657830466,0.999999852074,6.67863506957e-05,-0.00053554557824,-6.76877582446e-05,1793239225560989696
+263,4.383333333,HOLD_POSE2,765,746,714,681,663.186669368,632.813330632,880.186669368,787,804.813330632,652,631.813330632,653,0.450895963691,0.00456894887975,0.0596582410427,0.999999852327,6.80047907844e-05,-0.000534856303845,-6.81850668321e-05,1793239225577656064
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+266,4.433333333,HOLD_POSE2,766,746,715,681.449521577,663,632,881,786.449521577,804.550478423,652.550478423,632,653,0.450895158736,0.00456891268081,0.0596576053899,0.999999851583,6.89253150342e-05,-0.000536174237241,-6.78243415616e-05,1793239225627655936
+267,4.450000000,HOLD_POSE2,765.86518184,746,714.86518184,681,662.86518184,632,881,786.13481816,804.86518184,652.86518184,632,653,0.450895051863,0.00456890730841,0.0596576521728,0.999999851543,6.91008612426e-05,-0.000536246463169,-6.7666064359e-05,1793239225644322560
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+269,4.483333333,HOLD_POSE2,765,746,714,681.287141565,662.287141565,632,881,787,804.287141565,652,632,653,0.450896276636,0.00456611146275,0.0596581587464,0.999999851833,6.71238296539e-05,-0.000536042456844,-6.69831739308e-05,1793239225677655808
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,662,633,881,787,805,652,632,654,0.450895133744,0.00456895835432,0.0596574102563,0.999999851199,6.76995432645e-05,-0.000537018395456,-6.80486953695e-05,1793239225727022080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714.58981643,681,662.58981643,633,881,786.41018357,805,652,631.41018357,652.820367139,0.450896931957,0.00456733624435,0.0596585968386,0.999999852495,6.62658910764e-05,-0.00053488300983,-6.72187521181e-05,1793239225743688448
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714.824705581,681,663,632.824705581,881,786.175294419,805,652,631.175294419,652,0.450898432475,0.00456690034501,0.0596594246343,0.99999985331,6.6437423208e-05,-0.000533395148465,-6.67442724708e-05,1793239225760354816
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714.249134113,681,663,632.249134113,881,786.750865887,805,652,631.750865887,652,0.450899253218,0.0045691731048,0.0596594331572,0.999999853031,7.02743224019e-05,-0.000533385879672,-6.70814780667e-05,1793239225777020928
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714.326659115,681,663,632.326659115,881,787,804.673340885,652,631.673340885,652.326659115,0.450899649763,0.0045695034114,0.0596596720589,0.999999853304,7.05191598272e-05,-0.000532823134586,-6.72221047024e-05,1793239225793687552
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714.520733121,681.479266879,662.520733121,633,880.520733121,787,804,652,631,653,0.450899399415,0.00456848227947,0.0596599403644,0.999999853865,6.77630376648e-05,-0.000532124433108,-6.72374759222e-05,1793239225827021056
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,714.515916656,681.484083344,663,633.515916656,881,787,804.484083344,652.484083344,632,653,0.448964682001,0.00457872818378,0.0595662881488,0.999999767208,0.000110148798545,-0.000671049156356,-5.60739732829e-05,1793239226143687936
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.003162375,746,715,681.003162375,663.996837625,633.003162375,881,787.996837625,805,652,631.996837625,653,0.447121135076,0.00458407458056,0.0596458875494,0.999999836759,0.000151453225629,-0.000549552163897,-3.91834902181e-05,1793239226243688192
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746,714.837830066,681.837830066,663.162169934,634,881,787,805.162169934,652,631,653,0.446264543248,0.00458578661865,0.0596538639286,0.999999834542,0.000169318933711,-0.000548909629944,-3.07522846055e-05,1793239226277021184
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,746,714.531894171,681,664.468105829,634.468105829,881,787,804.531894171,652,632,652.468105829,0.444259423054,0.00458973668635,0.0596531614428,0.999999831109,0.000209030836977,-0.000542079037362,-1.54216160041e-05,1793239226343688192
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745.497923237,714.502076763,680.502076763,666,635,881,787.502076763,804,652.502076763,632,653,0.430358456853,0.00459876161664,0.0598322854458,0.999999941367,0.00022876980661,-0.000254024950977,2.00558259342e-05,1793239226660354304
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745.088510664,715,680.911489336,666,635,881,787.911489336,804.088510664,653,632,653,0.42948017405,0.0046044318649,0.059841177273,0.999999939426,0.000244726027852,-0.000246259137562,2.47562016581e-05,1793239226677020928
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745.668073823,715,680.331926177,666,635,881,787.331926177,804.668073823,653,632,653,0.428517474347,0.00460618845215,0.0597920402205,0.99999991256,0.000246496173932,-0.000336761309858,2.66569476099e-05,1793239226693687552
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,746,714.174695689,680,666.825304311,635.825304311,880.174695689,787.825304311,804.174695689,653,632,653,0.42671822304,0.00460454630136,0.0597520511339,0.99999990406,0.000224547885747,-0.000375426207562,2.26371645878e-05,1793239226727020800
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,746,714.397802239,680,667,635.602197761,880,788,804,652.602197761,632,653,0.425852017417,0.00460476973355,0.0597766147259,0.999999917821,0.000217512451079,-0.000341310044937,2.35349478406e-05,1793239226743688192
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.439115536,746,714.439115536,680,666.439115536,635,880,787.439115536,804,652.560884464,631.439115536,653,0.424093359549,0.00460619859879,0.0598287463784,0.999999936902,0.000212608137742,-0.000283172598503,2.84187964603e-05,1793239226777021952
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.691638147,745.308361853,714,680,666,635.691638147,880,788,803.616723705,652.308361853,631.308361853,653,0.42145023784,0.00460926658704,0.0598379020125,0.999999943356,0.000204006285758,-0.000265987379199,3.03330602299e-05,1793239226827021056
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,746,714.786885418,679.786885418,666,635,880.786885418,787.786885418,804,653,632,653,0.417153224219,0.0046078145713,0.0597978325154,0.999999933501,0.000168079323618,-0.000322243266921,3.01054953633e-05,1793239226910355200
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,746,714.20894743,679.20894743,666,635,880.20894743,787.20894743,804,653,632,653,0.416364730764,0.00460660935424,0.0598340242278,0.999999947886,0.000161595906161,-0.000277588150947,3.25476767177e-05,1793239226927021824
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.367198365,745.632801635,714.367198365,679.367198365,666,635,880,787.367198365,803.632801635,653,632,653,0.415577622591,0.00460313280135,0.0598422415295,0.999999950799,0.000149236846585,-0.000273845916206,3.37379097753e-05,1793239226943688448
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745.527269249,714.472730751,680,666,635.527269249,880,788,803.527269249,653,632,653,0.414035108809,0.00459979737969,0.059839483464,0.999999951455,0.000131556282246,-0.000280401552168,3.40355067707e-05,1793239226977021184
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,746,714.11256981,680,666,636,880,788,804,653,632,653.11256981,0.413273991268,0.00460130384001,0.0598365829747,0.999999947806,0.00015504218595,-0.000281445731874,3.37247187465e-05,1793239226993687808
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,746,714.694813553,680,666,636,880,788,804,653,632,653.694813553,0.412478302894,0.00460026214244,0.0597954724068,0.999999897464,0.000278472230403,-0.000355560213396,3.31928965912e-05,1793239227010354688
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746,714.726596,680,666,635.726596,880,788,803.726596,653,632,653.726596,0.411737351153,0.00459900213322,0.0597670153624,0.999999863414,0.000335667858989,-0.000399335866212,3.20955930691e-05,1793239227027021568
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,746,714.1520298,680,666,635.1520298,880,788,803.1520298,653,632,653.1520298,0.411056693406,0.00459750164765,0.0597524965329,0.999999864445,0.000319904411477,-0.000409692446814,3.03753965093e-05,1793239227043688704
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746,714.422637525,679.577362475,666.422637525,635.422637525,880,788,803.422637525,653,632,653,0.410430907737,0.00459605643448,0.0597774394568,0.999999884631,0.000309109007607,-0.00036638508438,3.08421204563e-05,1793239227060355328
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,714.997341283,679.002658717,666.997341283,635.997341283,880,788,803.997341283,653,632,653,0.409824865149,0.00459463110835,0.059816580835,0.999999908317,0.000300101118199,-0.000303769276109,3.20957046254e-05,1793239227077021440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.412319892,714.412319892,679.587680108,667,636,880,787.412319892,804,653,632,653,0.409227093719,0.00459086389677,0.0598465119892,0.999999923872,0.000286519542898,-0.000262715830281,3.38158089217e-05,1793239227093688064
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745.174717025,714,679.825282975,666.825282975,636,880,787,804,653,631.825282975,653,0.408633591333,0.00458811184537,0.0598651682082,0.999999933758,0.000273532123807,-0.000237612969371,3.46895845317e-05,1793239227110354688
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745.753941198,714,679.246058802,666.246058802,636,880,787,804,653,631.246058802,653,0.408049883574,0.00458773530526,0.0598578196622,0.999999934069,0.000261969516455,-0.000249207082454,3.35989093374e-05,1793239227127021568
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.310028089,666,635.689971911,880,787.310028089,803.689971911,653,631.310028089,653,0.407484777601,0.00458611872944,0.0598453267167,0.999999932149,0.000249721095842,-0.000268815928281,3.28613275066e-05,1793239227143687936
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.849026943,666,635.150973057,880,787.849026943,803.150973057,653,631.849026943,653,0.406933409985,0.00458358632718,0.0598290343835,0.99999992808,0.000236966169477,-0.000294344041727,3.23845222811e-05,1793239227160354560
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.555311561,714.444688439,680,666,635.444688439,879.555311561,787.555311561,803.444688439,653,632,653,0.406446255209,0.0045815491782,0.0598282771311,0.999999931205,0.000227849566148,-0.000290910283518,3.2333048563e-05,1793239227177021440
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.059727671,715,680,666,636,879.059727671,787.059727671,804,653,631.940272329,653,0.40598584749,0.0045797199383,0.0598336826412,0.99999993708,0.000219848462776,-0.000276502449489,3.24384003738e-05,1793239227193688064
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.763659885,746,715,679.763659885,666,635.763659885,880,787.763659885,804,652.763659885,631,653,0.40510428324,0.00457653997457,0.0598369981584,0.999999942858,0.000202060336854,-0.000269053774007,3.26485186458e-05,1793239227227022080
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.186931305,746,715,679.186931305,666,635.186931305,880,787.186931305,804,652.186931305,631,653,0.404678767989,0.004575352943,0.0598200246702,0.999999935449,0.000200065206738,-0.000296619201796,3.30516033803e-05,1793239227243688192
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.387881952,746,714.612118048,679.387881952,666,635,879.612118048,787.387881952,804,652.387881952,631,653,0.404279742892,0.00457385234598,0.0597992945687,0.99999992455,0.000197522018866,-0.000332791217333,3.37016072367e-05,1793239227260354560
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.961776748,746,714.038223252,679.961776748,666,635,879.038223252,787.961776748,804,652.961776748,631,653,0.403893421387,0.00457220137529,0.0597767629425,0.99999991085,0.000194716003773,-0.00037309061403,3.44700237363e-05,1793239227277020928
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,714.549212337,679.450787663,666,635.549212337,879,788,804,653,631,653,0.403600961479,0.00457240668943,0.0597858555327,0.999999918751,0.000195413175,-0.000350813319148,3.52494133826e-05,1793239227293688064
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,714.86447647,679.13552353,666,635.86447647,879,787.86447647,803.86447647,653,631.13552353,653,0.403322778584,0.00457216691646,0.0598001412258,0.999999928513,0.000196321181301,-0.000321121042088,3.62389267637e-05,1793239227310354688
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,714.29382703,680,666,635.29382703,879.29382703,787.29382703,803,653,632,653,0.402829529713,0.00456856507524,0.0598424588756,0.999999947948,0.00019699507277,-0.000252481198207,3.93692370878e-05,1793239227343688192
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,746,714.872064787,680,666,635.872064787,879.872064787,787.872064787,803,653,632,653,0.402602664685,0.0045677351586,0.059855555169,0.99999995283,0.000196031832425,-0.000232943709016,4.0611137868e-05,1793239227360354816
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.553915975,666,636,879.553915975,788,803.446084025,653,631.553915975,653,0.402385071691,0.00456627109209,0.0598537871839,0.999999951012,0.000197223957015,-0.000239464291993,4.1669445015e-05,1793239227377021184
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.019514577,666,636,879.019514577,788,804,653,631.019514577,653.019514577,0.402171374809,0.00456461803988,0.0598478002053,0.99999994722,0.000198904177152,-0.000253335737046,4.26461762631e-05,1793239227393688064
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.610813772,666,636,879.610813772,788,804,653,631.610813772,653.610813772,0.401994650239,0.00456270662404,0.0598419330195,0.999999944402,0.000196943415083,-0.000265669424083,4.27610310867e-05,1793239227410354688
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.801546774,666,636,879.801546774,788,804,653,632,653.801546774,0.401829201329,0.00455979697559,0.0598377064324,0.999999946763,0.000171596171568,-0.000275113398546,3.66266120343e-05,1793239227427021312
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,714.64477627,679.35522373,666,636,879,787.64477627,803.64477627,653,632,653,0.401565135362,0.00455010631312,0.0598378348669,0.999999955552,0.000112082672632,-0.000275982542143,1.29070031084e-05,1793239227460354560
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6f9b665b546bb3b56feeaba2c2115cbbedafa143
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,417 @@
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+298,4.966666667,pose2_to_pose3_retreat,0.618936838366,0.0100907482585,1.05003231524,0.589507290522,0.0187624918464,1.0497004472
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+304,5.066666667,pose2_to_pose3_retreat,0.616954954326,0.0100908027507,1.05003220708,0.587525405504,0.0187625421895,1.04970034562
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+384,6.400000000,pose2_to_pose3_retreat,0.575711818305,0.0100907793356,1.05003221869,0.546282271526,0.0187625246404,1.04970035475
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+412,6.866666667,pose2_to_pose3_retreat,0.575664386556,0.0100909484719,1.05003222625,0.546234836774,0.0187626834585,1.04970035916
+413,6.883333333,pose2_to_pose3_retreat,0.575664377998,0.0100909408662,1.05003222519,0.546234828386,0.018762676439,1.0497003583
+414,6.900000000,pose2_to_pose3_retreat,0.575664366017,0.0100909302198,1.0500322237,0.546234816644,0.0187626666132,1.04970035709
+415,6.916666667,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5054ce86e7ae04240156cb9fff698af351cb695e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:842ac1941b1b322d5fe86d7d443860e2a6f321b561cfc820b84e7d356e7feeba
+size 26537127
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15ec83093f470b4f938fcdcde29c02c548e93a10
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_05/franka_data.csv
@@ -0,0 +1,419 @@
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+1,0.016666667,BASELINE,766,746,714,680,666,636,879.576517553,788,804,653,631.423482447,653,0.40097731795,0.00454595575199,0.0598528558473,0.999999949975,0.000192526615649,-0.000250103217692,2.07876114967e-05,1793239228299778560
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+54,0.900000000,BASELINE,765.663806256,745.663806256,715,679.663806256,666,636,880,788,803.663806256,653,632,653,0.400976214429,0.00454397939567,0.0598532742643,0.999999951,0.000188146682775,-0.000249344418244,2.0706744296e-05,1793239229183111936
+55,0.916666667,BASELINE,765.083949411,745.083949411,715,679.083949411,666,636,880,788,803.083949411,653,632,653,0.400976944417,0.0045446038121,0.059853605547,0.999999950949,0.000189265576612,-0.000248689880609,2.08483172461e-05,1793239229199778560
+56,0.933333333,BASELINE,765.491840297,745,715,679.491840297,666,636,879.508159703,788,803,653,632,653,0.400977633122,0.00454549924534,0.0598539334295,0.999999951063,0.000189665546897,-0.000247951095751,2.05349337706e-05,1793239229216445184
+57,0.950000000,BASELINE,765.931834643,745,714.931834643,679.931834643,666.068165357,636,879,788,803.068165357,653,632,653,0.400978184958,0.00454626107791,0.0598541657278,0.999999951156,0.000190003455307,-0.000247345146964,2.01961874433e-05,1793239229233111808
+58,0.966666667,BASELINE,765.34621949,745,714.34621949,679.34621949,666.65378051,636,879,788,803.65378051,653,632,653,0.400977750859,0.00454566046309,0.0598536768055,0.999999950878,0.000190794101831,-0.000247855832284,2.02495532677e-05,1793239229249778688
+59,0.983333333,BASELINE,765.237607956,745.237607956,714,679,666.762392044,636,879.237607956,788,804,653,632,653,0.400977544085,0.00454565150792,0.0598537077036,0.999999950848,0.00019090010872,-0.000247896257538,2.02163347241e-05,1793239229266445568
+60,1.000000000,BASELINE,765.818850065,745.818850065,714,679,666.181149935,636,879.818850065,788,804,653,632,653,0.400977666078,0.00454649822463,0.0598544903779,0.999999951178,0.000190015973962,-0.000247256581822,2.00578958614e-05,1793239229283112192
+61,1.016666667,BASELINE,766,746,714.399080354,679,666,636,880,787.600919646,804,653,631.600919646,653,0.400977506189,0.00454696771116,0.0598547599579,0.999999951157,0.000190427565584,-0.00024702724579,2.00129188358e-05,1793239229299778560
+62,1.033333333,BASELINE,766,746,714.978852486,679,666,636,880,787.021147514,804,653,631.021147514,653,0.400977218672,0.00454726639897,0.0598547972241,0.999999950977,0.000191425823834,-0.000246983699468,2.00193139831e-05,1793239229316444928
+63,1.050000000,BASELINE,766,746,715,679.551626726,666,636,879.448373274,787.551626726,804,653,631.551626726,653.551626726,0.400978225559,0.0045452163517,0.0598554836332,0.999999951768,0.000188869045522,-0.000245719521143,2.03521163886e-05,1793239229333111552
+64,1.066666667,BASELINE,765.872163325,745.872163325,715,680,666,636,879,788,803.872163325,653,631.872163325,653.872163325,0.400979154706,0.00454393061152,0.0598559677771,0.999999952283,0.000187331394706,-0.000244780987292,2.05523903941e-05,1793239229349778176
+65,1.083333333,BASELINE,765.282586935,745.282586935,715,680,666,636,879,788,803.282586935,653,631.282586935,653.282586935,0.400979626064,0.00454572666593,0.0598556325883,0.999999951695,0.000189960881308,-0.000245185568788,2.02293469553e-05,1793239229366445056
+66,1.100000000,BASELINE,765.301861623,745.301861623,715,680,666,636,879.301861623,788,803,653,631,653,0.40097827047,0.00454621961908,0.0598546314362,0.999999951111,0.000190775619125,-0.000246936002353,2.01503883306e-05,1793239229383111936
+67,1.116666667,BASELINE,765.881589928,745.881589928,715,680,666,636,879.881589928,788,803,653,631,653,0.400975233147,0.00454551305424,0.0598530172582,0.999999950528,0.000189919862163,-0.000249925306354,2.02961122666e-05,1793239229399778560
+68,1.133333333,BASELINE,765.542385129,745.542385129,714.542385129,680,666,636,879.542385129,787.542385129,803,653,631,653,0.400975698539,0.00454502778778,0.0598537012731,0.999999950763,0.000190141976761,-0.000248800234667,2.04691758194e-05,1793239229416444928
+69,1.150000000,BASELINE,765,745.032706201,714,679.967293799,666,636,879,787,803.032706201,652.967293799,631.032706201,653,0.400977018395,0.00454466259796,0.0598549194029,0.999999951172,0.000190677998898,-0.000246719587715,2.06492236191e-05,1793239229433111808
+70,1.166666667,BASELINE,765,745.608078153,714,679.391921847,666,636,879,787,803.608078153,652.391921847,631.608078153,653,0.400977598157,0.00454534726443,0.0598552120256,0.99999995105,0.000191831945098,-0.000246306336181,2.08287199815e-05,1793239229449778432
+71,1.183333333,BASELINE,765.188706005,746,714,679,666,636,879.188706005,787.188706005,804,652.188706005,631.811293995,653,0.400977891818,0.0045458244238,0.0598553583529,0.999999951085,0.000191883808597,-0.000246126924947,2.07994520035e-05,1793239229466445056
+72,1.200000000,BASELINE,765.780562645,746,714,679,666,636,879.780562645,787.780562645,804,652.780562645,631.219437355,653,0.400977574258,0.00454585826611,0.0598551921357,0.999999951455,0.000189581187932,-0.000246447088974,2.03241808888e-05,1793239229483111680
+73,1.216666667,BASELINE,766,746,714,679.363471803,666,636,879.636528197,787.636528197,803.636528197,653,631.363471803,653,0.400977012871,0.00454528193498,0.0598545649148,0.999999951475,0.000188255836886,-0.00024738491807,2.02787752086e-05,1793239229499778304
+74,1.233333333,BASELINE,766,746,714,679.941108881,666,636,879.058891119,787.058891119,803.058891119,653,631.941108881,653,0.400976307817,0.00454434607676,0.0598536660607,0.999999951288,0.000187506313906,-0.000248686688471,2.04866553631e-05,1793239229516444928
+75,1.250000000,BASELINE,766,746,714,680,666,636,879,787,803,653,631.485353336,653,0.400977846128,0.00454512242111,0.0598547073701,0.999999951514,0.000188681875171,-0.000246887293183,2.04345834239e-05,1793239229533111808
+76,1.266666667,BASELINE,766,746,714,679.911887917,666,636,879.088112083,787.088112083,803.088112083,653,631.088112083,653,0.400979249179,0.00454584334644,0.0598556784776,0.999999951687,0.000189897001309,-0.000245250914474,2.04272540732e-05,1793239229549778688
+77,1.283333333,BASELINE,766,746,714,679.33624796,666,636,879.66375204,787.66375204,803.66375204,653,631.66375204,653,0.400978494675,0.00454518212659,0.0598550424539,0.999999951338,0.000190121811845,-0.000246464491356,2.0830774645e-05,1793239229566445312
+78,1.300000000,BASELINE,766,745.752064249,714,679.247935751,666.247935751,636,880,787.752064249,804,653,632,653,0.40097780492,0.00454478221659,0.0598547043555,0.999999951205,0.000189925073709,-0.000247142405132,2.09490936997e-05,1793239229583111680
+79,1.316666667,BASELINE,766,745.155880104,714,679.844119896,666.844119896,636,880,787.155880104,804,653,632,653,0.400977206109,0.00454474934018,0.0598547847203,0.999999951379,0.000189136231965,-0.000247067931077,2.06668211567e-05,1793239229599778304
+80,1.333333333,BASELINE,766,745,714.42380441,680,666.57619559,636,880,787,804,653,631.57619559,653,0.40097757302,0.00454499262699,0.0598550979353,0.999999951392,0.0001896562528,-0.000246627041838,2.05303749455e-05,1793239229616444928
+81,1.350000000,BASELINE,766,745,714.997647633,680,666.002352367,636,880,787,804,653,631.002352367,653,0.400978281823,0.00454533368342,0.059855493586,0.999999951347,0.000190639648145,-0.000246056431199,2.04455553799e-05,1793239229633111552
+82,1.366666667,BASELINE,766,745.57354182,715,679.42645818,666,636,880,787,804,653,631,653,0.400977620079,0.00454542053168,0.0598552295928,0.999999951704,0.000188394416055,-0.000246351018348,2.0245582622e-05,1793239229649778176
+83,1.383333333,BASELINE,766,746,715,679.152877298,666,636,879.847122702,787,804,653,631,653,0.400977215483,0.00454527884788,0.0598550590515,0.999999951952,0.000186957482928,-0.00024645147018,2.01248106137e-05,1793239229666444800
+84,1.400000000,BASELINE,766,746,715,679.742008971,666,636,879.257991029,787,804,653,631,653,0.400977560792,0.00454448800542,0.0598551629347,0.999999951894,0.00018786505454,-0.000245987770143,2.02314003427e-05,1793239229683111680
+85,1.416666667,BASELINE,766,746,715,679.674503619,666.325496381,636,879.325496381,787.325496381,804,653,631.325496381,653,0.400977746572,0.00454444305034,0.0598553618712,0.999999951818,0.000188586958836,-0.000245739427761,2.02564692726e-05,1793239229699778304
+86,1.433333333,BASELINE,766,746,715,679.095413677,666.904586323,636,879.904586323,787.904586323,804,653,631.904586323,653,0.400977808064,0.00454497921463,0.0598556348633,0.99999995173,0.000189164210052,-0.000245658870113,2.02180255095e-05,1793239229716444928
+87,1.450000000,BASELINE,766,746,715,679.479902432,666.520097568,636,880,788,803.520097568,653,631.520097568,653,0.400978500314,0.00454505180637,0.0598561038947,0.99999995175,0.000189541960828,-0.000245282771937,2.02738657885e-05,1793239229733111552
+88,1.466666667,BASELINE,765.944200647,746,715,680,666,636,880,788,803.055799353,653,631,653,0.400979317388,0.00454512399831,0.0598565644036,0.999999951764,0.000190034900831,-0.000244836619477,2.03262650518e-05,1793239229749778176
+89,1.483333333,BASELINE,765.355650565,746,715,680,666,636,880,788,803.644349435,653,631,653,0.400980138247,0.0045460654822,0.0598565743162,0.999999951528,0.000192003369432,-0.000244278247176,2.01682329151e-05,1793239229766445056
+90,1.500000000,BASELINE,765.229404777,745.770595223,714.770595223,680,666,636,879.770595223,787.770595223,803.770595223,653,631,653,0.400979922629,0.0045455731945,0.0598561270305,0.999999951581,0.000191351529108,-0.000244562224449,2.02871088012e-05,1793239229783111424
+91,1.516666667,BASELINE,765.809123403,745.190876597,714.190876597,680,666,636,879.190876597,787.190876597,803.190876597,653,631,653,0.400978124255,0.00454289145777,0.0598549815777,0.999999952064,0.000186698331205,-0.000246132516398,2.0828838646e-05,1793239229799778048
+92,1.533333333,BASELINE,766,745.38666812,714,679.61333188,666.38666812,635.61333188,879,787,803,653,631,653,0.400976795628,0.00454383373763,0.0598542867323,0.999999951535,0.000187953060904,-0.000247330267356,2.07475164494e-05,1793239229816444928
+93,1.550000000,BASELINE,766,745.963145751,714,679.036854249,666.963145751,635.036854249,879,787,803,653,631,653,0.400975697592,0.00454655499197,0.0598538130833,0.999999950502,0.000192107902164,-0.000248345143734,2.03603475119e-05,1793239229833111552
+94,1.566666667,BASELINE,766,746,714.537561656,679.537561656,666.462438344,635.537561656,879,787.537561656,803.537561656,653,631.537561656,653,0.400976794185,0.00454612849608,0.0598549230786,0.999999951153,0.000190518898352,-0.000246938133757,2.04691416126e-05,1793239229849778432
+95,1.583333333,BASELINE,766,746,715,679.885394737,666,636,879.114605263,787.885394737,804,653,632,653,0.400977651902,0.00454556255707,0.0598557196346,0.999999951713,0.00018892658062,-0.000245884277939,2.05565096419e-05,1793239229866445312
+96,1.600000000,BASELINE,766,746,715,679.296903326,666,636,879.703096674,787.296903326,804,653,632,653,0.40097690211,0.00454530895643,0.0598547729148,0.999999951444,0.000188942627105,-0.00024697463687,2.04152216812e-05,1793239229883111680
+97,1.616666667,BASELINE,766,746,714.711763624,679,666,636,880,787.288236376,803.711763624,653,632,653,0.400977189327,0.00454535394987,0.0598546811164,0.999999951373,0.000189313045179,-0.00024698688949,2.02816434989e-05,1793239229899778304
+98,1.633333333,BASELINE,766,746,714.130036762,679,666,636,880,787.869963238,803.130036762,653,632,653,0.400978532454,0.00454570298031,0.0598554598231,0.999999951505,0.000190044294495,-0.000245901383497,2.01559156409e-05,1793239229916444928
+99,1.650000000,BASELINE,766,746,714.44572112,679,666,636,879.55427888,788,803,653,631.55427888,653,0.400978776334,0.00454528032879,0.0598559667815,0.999999951707,0.000189622235797,-0.000245389443693,2.03429816914e-05,1793239229933111552
+100,1.666666667,BASELINE,766.019815914,746,715,679.019815914,666,635.980184086,879,788,803.019815914,653,631.019815914,653,0.400978662951,0.00454468363419,0.0598563490442,0.999999951906,0.000188922329452,-0.000245096168102,2.06031741784e-05,1793239229949778176
+101,1.683333333,BASELINE,766.59546263,746,715,679.59546263,666,635.40453737,879,788,803.59546263,653,631.59546263,653,0.40097740513,0.00454543657793,0.0598554280565,0.999999951458,0.000189742084395,-0.000246304691805,2.03886647644e-05,1793239229966444800
+102,1.700000000,BASELINE,766.824305881,746,715,679.824305881,666.175694119,635.175694119,879.175694119,788,803.824305881,653,632,653,0.400976848828,0.00454563795531,0.0598550223748,0.999999951281,0.000190032617107,-0.000246808374225,2.02668855404e-05,1793239229983111424
+103,1.716666667,BASELINE,766.233235139,746,715,679.233235139,666.766764861,635.766764861,879.766764861,788,803.233235139,653,632,653,0.400977951061,0.00454453531759,0.0598558349812,0.999999951748,0.000189071960742,-0.000245645668365,2.03643393707e-05,1793239229999778048
+104,1.733333333,BASELINE,766,746,715,679,666.650031745,636,880,787.650031745,803.349968255,653,632,653,0.400978274413,0.00454511202831,0.0598557866129,0.999999951539,0.000190435759325,-0.000245446911976,2.03209257058e-05,1793239230016444672
+105,1.750000000,BASELINE,766,746,715,679,666.071956185,636,880,787.071956185,803.928043815,653,632,653,0.400978090094,0.00454678332862,0.0598551770663,0.999999950883,0.000193314624237,-0.000245876452217,2.01856954238e-05,1793239230033111296
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,879,788,803,653,632,653,0.400978573471,0.00454587367847,0.0598562036578,0.999999952162,0.000187359305747,-0.000245286570369,2.01647224495e-05,1793239230064513024
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714.404860558,679.595139442,666,636,879,787.404860558,803,653,631.404860558,653,0.400977857241,0.00454517987393,0.0598552965715,0.999999951763,0.000188116242683,-0.000246316260835,2.03724026034e-05,1793239230081180928
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,714,679.814445282,666.185554718,636,879.185554718,787.185554718,803.185554718,653,631,653,0.400977276162,0.00454491878201,0.0598547326533,0.999999951517,0.000188508137919,-0.000247010797635,2.04036227374e-05,1793239230097848064
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,714,679.234081605,666.765918395,636,879.765918395,787.765918395,803.765918395,653,631,653,0.40097698265,0.00454557838236,0.0598548989013,0.999999951601,0.00018812332584,-0.000246992220615,2.00593849467e-05,1793239230114514176
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,714.343485388,679.343485388,666.656514612,636,879.656514612,788,803.656514612,653,631,653,0.400976806162,0.00454512182286,0.0598548553245,0.999999951561,0.000188407348971,-0.000246937692065,2.00402403362e-05,1793239230131180544
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,714.91916183,679.91916183,666.08083817,636,879.08083817,788,803.08083817,653,631,653,0.400976708782,0.00454391075573,0.0598546699093,0.999999951438,0.000189143494858,-0.000246858860811,2.02408539398e-05,1793239230147846912
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,714.506165399,680,666,636,879,788,803,652.506165399,631.493834601,653,0.400977042666,0.00454525855549,0.0598547628715,0.999999951232,0.000190440969316,-0.000246715069598,1.9989351425e-05,1793239230164513536
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,714,679.929536313,666.070463687,636,879,788,803.070463687,652.070463687,631.929536313,653,0.400977546412,0.00454668283304,0.0598550098085,0.999999951139,0.000191395732833,-0.000246376575541,1.97129429769e-05,1793239230181180160
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,714,679.337204012,666.662795988,636,879,788,803.662795988,652.662795988,631.337204012,653,0.400978786414,0.00454557755128,0.0598560603054,0.999999951985,0.000189133157714,-0.000244674667021,1.97990907374e-05,1793239230197846784
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714.249088347,679,667,636,879,788,803.750911653,653,631.249088347,653,0.400981422454,0.00454450916172,0.0598575301237,0.999999952766,0.000187402859756,-0.000242783128531,2.0091060108e-05,1793239230214513408
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,714.827397648,679,667,636,879,788,803.172602352,653,631.827397648,653,0.400985903645,0.0045434895328,0.0598595541605,0.999999953465,0.000186376074591,-0.000240640955576,2.06550646246e-05,1793239230231180032
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.597829911,746,714.597829911,679.402170089,666.597829911,636,879.402170089,788,803.402170089,653,632,653,0.401004933219,0.00454374559064,0.059867932733,0.99999995686,0.000186955407678,-0.000225604020555,2.07243849652e-05,1793239230247846656
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.024562128,746,714.024562128,679.975437872,666.024562128,636,879.975437872,788,803.975437872,653,632,653,0.401030152203,0.00454454437166,0.0598790147549,0.999999961046,0.000188218041374,-0.000205081187352,2.05832488155e-05,1793239230264513536
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,746,714.550811761,680,666,636,880,788,803.449188239,653,631.449188239,653,0.401081429348,0.00454463877101,0.0598968692992,0.999999967682,0.000187390672303,-0.000170577138363,2.05818306504e-05,1793239230281180160
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.130581532,745.869418468,714.869418468,680,666,636,879.869418468,787.869418468,803,653,631,653,0.401136651114,0.00454468471391,0.0599143343314,0.999999972691,0.000186960269011,-0.000138708611887,2.06053826925e-05,1793239230297846784
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.725652636,745.274347364,714.274347364,680,666,636,879.274347364,787.274347364,803,653,631,653,0.401201755046,0.00454467045079,0.0599293354624,0.999999975048,0.000188274695011,-0.0001184410611,2.06955088688e-05,1793239230314513152
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.30807141,714.30807141,680,666,636,879,787.30807141,803,653,631,653,0.401272696881,0.00454411499544,0.0599392018399,0.999999976887,0.000187286245567,-0.000103536418646,2.07569081577e-05,1793239230331179776
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.879667335,714.879667335,680,666,636,879,787.879667335,803,653,631,653,0.401348632458,0.00454309660384,0.0599446759445,0.999999978451,0.000184327914701,-9.3219213222e-05,2.07937344436e-05,1793239230347846656
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666,636,879,787.543990745,803.456009255,653,631,653,0.401443165392,0.00454367755681,0.0599479222603,0.999999979208,0.000183492425517,-8.67623854583e-05,1.96792704913e-05,1793239230364513280
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,714.965704128,679.965704128,666,636,879.034295872,787.034295872,804,653,631.034295872,653,0.401543655107,0.00454449406144,0.0599504846131,0.99999997979,0.000182931572269,-8.13688524045e-05,1.82858212745e-05,1793239230381179648
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,714.37642739,679.37642739,666,636,879.62357261,787.62357261,804,653,631.62357261,653,0.401660289111,0.00454222098475,0.0599515920824,0.999999981141,0.000177654668325,-7.65238386547e-05,1.73457104108e-05,1793239230397846528
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.79058298,746,714,679,666,636,879.79058298,787.79058298,804,653,631.79058298,653,0.401788584236,0.00454135362996,0.0599535422864,0.999999982256,0.000173917289026,-7.05557176172e-05,1.62004835323e-05,1793239230414513408
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.210808756,746,714,679,666,636,879.210808756,787.210808756,804,653,631.210808756,653,0.401937502219,0.00454297231612,0.0599569828796,0.999999982985,0.00017290258319,-6.26013646701e-05,1.46925059425e-05,1793239230431180032
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.366399866,745.633600134,714.732799733,679,666,636,879,787,804,653,631,653.366399866,0.402101292174,0.00454276873528,0.0599579528429,0.99999998379,0.000169921274939,-5.80922121934e-05,1.31258651261e-05,1793239230447846656
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.942142684,745.057857316,715.884285368,679,666,636,879,787,804,653,631,653.942142684,0.40227357926,0.00454152400041,0.0599575112095,0.999999984643,0.000165816346222,-5.55514779041e-05,1.1525706871e-05,1793239230464513024
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.52814728,715.47185272,679,666.52814728,636,879,787.52814728,804,653,631.52814728,653.47185272,0.402479604275,0.00454133946732,0.0599580544089,0.999999985725,0.000160206050625,-5.28953752808e-05,9.26421622517e-06,1793239230481179904
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,714.886244032,679.113755968,666.886244032,636,879,787.886244032,804,653,631.886244032,653,0.402697218278,0.00454126645382,0.0599586926939,0.999999986792,0.000154691736823,-4.93834076579e-05,6.87144249275e-06,1793239230497846528
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,714.3069471,679.6930529,666.3069471,636,879,787.3069471,804,653,631.3069471,653,0.402946834676,0.00454116510256,0.0599592698445,0.999999987802,0.000150258479191,-4.24215985207e-05,4.24376074827e-06,1793239230514513408
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,714,679.728327289,666,636,879.271672711,787,804,653,631.271672711,653,0.403214521957,0.00454120909578,0.0599623753116,0.999999988772,0.000146157199193,-3.30222683715e-05,1.72055417757e-06,1793239230531180032
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,714,679.15047065,666,636,879.84952935,787,804,653,631.84952935,653,0.40350257569,0.00454141689695,0.059968330273,0.999999989639,0.000142430068976,-2.08757736487e-05,-6.84905336835e-07,1793239230547846912
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,714.424021719,679,666.424021719,636,879.575978281,787.424021719,804,652.575978281,632,653,0.403799741662,0.00454140093601,0.0599612961826,0.999999990109,0.000136810422424,-3.24101403673e-05,-3.70110947079e-06,1793239230564513536
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,714.997329612,679,666.997329612,636,879.002670388,787.997329612,804,652.002670388,632,653,0.404100115792,0.00454130619469,0.0599496890106,0.999999990091,0.0001305244739,-5.22818754904e-05,-6.93233962995e-06,1793239230581180160
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.414263386,714.414263386,679,666.414263386,636,879.585736614,787.414263386,804,652.585736614,631.414263386,653,0.404436296247,0.00454181944987,0.0599361856648,0.9999999896,0.000122954305744,-7.46355321112e-05,-1.05383032597e-05,1793239230597846528
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.82858668,745,714,679,666,636,880,787.17141332,804,652.82858668,631,653,0.404786521318,0.00454165603279,0.0599242603513,0.999999988753,0.000114926831567,-9.53239386826e-05,-1.41148314938e-05,1793239230614513408
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.249570437,745,714,679,666,636,880,787.750429563,804,652.249570437,631,653,0.405169744528,0.00453987679426,0.0599161085349,0.99999998797,0.000105826223223,-0.000112024933733,-1.76171949974e-05,1793239230631180032
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.329185438,745.329185438,714,679,666.329185438,636,879.670814562,787.670814562,803.670814562,652,631.329185438,653,0.405599674729,0.00453930885913,0.059922808121,0.999999989897,9.74436948447e-05,-0.000101261735601,-2.13943846971e-05,1793239230647846656
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.907744132,745.907744132,714,679,666.907744132,636,879.092255868,787.092255868,803.092255868,652,631.907744132,653,0.406064987687,0.0045396585424,0.0599407583334,0.999999993235,8.96051443657e-05,-6.96931374325e-05,-2.53797683585e-05,1793239230664513280
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,714.479459721,679.479459721,666.520540279,636,879.479459721,787,803,652.479459721,631.520540279,653,0.406571985017,0.00453788886785,0.059967327127,0.999999996202,7.85254373946e-05,-2.47676036392e-05,-2.85772726142e-05,1793239230681179904
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,714.948297248,680,666.051702752,636,880,787.051702752,803,653,631.051702752,653,0.40708887538,0.00453584261639,0.0599944396915,0.999999997044,6.71623936107e-05,2.00396991694e-05,-3.16142018085e-05,1793239230697846528
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,714.357000619,680,666.642999381,636,880,787.642999381,803,653,631.642999381,653,0.407626483996,0.00453510596909,0.0600101634971,0.999999996957,5.9259435086e-05,3.71678877256e-05,-3.45352106898e-05,1793239230714513408
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.770357193,745.770357193,714.229642807,679.770357193,666.770357193,636,880,787.770357193,803.229642807,653,631.770357193,653,0.40816290901,0.00453449251966,0.0600152497979,0.999999997346,5.06804090156e-05,3.60791555184e-05,-3.7907615874e-05,1793239230731180288
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.190803964,745.190803964,714.809196036,679.190803964,666.190803964,636,880,787.190803964,803.809196036,653,631.190803964,653,0.40869753052,0.00453406678884,0.0600041275611,0.99999999825,4.10712484622e-05,7.23300833197e-06,-4.19678206509e-05,1793239230747846912
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679,666,636,879.615032481,787,803.615032481,652.615032481,631,653,0.409263305651,0.00453353313265,0.0599945457129,0.999999998338,3.14710692004e-05,-1.33099169207e-05,-4.64392631033e-05,1793239230764513280
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,679,666,636,879.041117153,787,803.041117153,652.041117153,631,653,0.409844371431,0.00453294650509,0.0599857199106,0.999999998011,2.18752983748e-05,-2.9777495944e-05,-5.11125470297e-05,1793239230781179904
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.54957418,714.45042582,679,666,636,880.099148361,787,803,652.54957418,631,653,0.410507210686,0.00453009062676,0.0599944433106,0.99999999838,8.8326693253e-06,-7.24683200972e-06,-5.57670858303e-05,1793239230797846784
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,746,714,679.138578341,666.138578341,635.861421659,880.722843319,787,803.138578341,653,631.138578341,653,0.41117924263,0.00452556411384,0.0600024864623,0.999999998083,-5.93789570563e-06,1.35847536841e-05,-6.01263617933e-05,1793239230814513408
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,746,714,679.718094646,666.718094646,635.281905354,879.563810707,787,803.718094646,653,631.718094646,653,0.411860444767,0.00451627908079,0.0600040559204,0.99999999747,-2.53601409942e-05,1.9434017944e-05,-6.35507524737e-05,1793239230831180032
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.295563078,746,714.295563078,680,666.704436922,635.295563078,879,787,804,652.704436922,631.704436922,653,0.412526125859,0.00450525584391,0.0599900450433,0.999999998694,1.82072391253e-05,-6.69092077439e-06,-4.72822096789e-05,1793239230847846912
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.871091773,746,714.871091773,680,666.128908227,635.871091773,879,787,804,652.128908227,631.128908227,653,0.413177105061,0.00449258613064,0.059961276037,0.999999990559,0.000121440152711,-6.31027185966e-05,-1.23599690631e-05,1793239230864513792
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715,679.553935747,666,636,879.446064253,787,804,652.446064253,631,653,0.413871246773,0.00449725406103,0.05994044819,0.999999984586,0.000142761970424,-0.000101628615672,-1.08678443215e-05,1793239230881180160
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.978498985,746,715,679,666.021501015,635.978498985,880,787,804,652.978498985,631,653,0.414583150138,0.00450628765251,0.0599243737102,0.999999981532,0.000139769209054,-0.000130553807362,-1.88985332846e-05,1793239230897846528
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.386482,746,715,679,666.613518,635.386482,880,787,804,652.386482,631,653,0.415435783503,0.00449837881662,0.0599736084595,0.99999999178,0.00011893074232,-4.17117635018e-05,-2.35823843314e-05,1793239230914513152
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.200757267,746,714.799242733,679.200757267,666.799242733,635.200757267,880,787,803.799242733,652,631,653,0.416272368515,0.00449292731691,0.0600134648564,0.999999993917,0.000103056736055,2.77730778498e-05,-2.78128867638e-05,1793239230931179776
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.779012619,746,714.220987381,679.779012619,666.220987381,635.779012619,880,787,803.220987381,652,631,653,0.417078776626,0.00449209652064,0.0600356864714,0.999999993004,9.65177585532e-05,6.08591967214e-05,-3.11909257462e-05,1793239230947846144
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666,635.645159892,880,787,803.354840108,652,631,653,0.417878498719,0.00449478338909,0.0600328791357,0.999999992472,0.000102281135523,5.89234412746e-05,-3.3493859248e-05,1793239230964513024
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666,635.070834174,880,787,803.929165826,652,631,653,0.41867408516,0.00449964610176,0.0600145901938,0.999999992071,0.000115654108464,3.53249771606e-05,-3.5131788364e-05,1793239230981179648
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.483488327,714.516511673,680,666,635,880,787,804,652.516511673,631,653,0.419466882482,0.00449527616177,0.059991819033,0.999999994478,9.84700792426e-05,-4.9464777748e-06,-3.63699024097e-05,1793239230997846016
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.103988213,714.896011787,679.896011787,666,635.103988213,880,787,804,652.896011787,631.103988213,653,0.420265116031,0.0044914585407,0.0599673886348,0.999999996167,6.27237681097e-05,-4.80955682493e-05,-3.7653628944e-05,1793239231014512896
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.683682885,714.316317115,679.316317115,666,635.683682885,880,787,804,652.316317115,631.683682885,653,0.421090013034,0.00449610956229,0.0599382525518,0.999999994104,-3.82718907103e-05,-9.36782528882e-05,-3.94033296973e-05,1793239231031179520
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.737981449,745.737981449,714.262018551,679.262018551,666,635.737981449,880,787.262018551,804,652,632,653,0.42191898199,0.00449812610064,0.0599162756397,0.999999986352,-9.0454438953e-05,-0.000132171043805,-4.05525676813e-05,1793239231047846144
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.161277874,745.161277874,714.838722126,679.838722126,666,635.161277874,880,787.838722126,804,652,632,653,0.42275284148,0.00449697861774,0.0599028969084,0.999999982485,-8.4012316753e-05,-0.000162148859333,-4.09806488312e-05,1793239231064513024
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.414081564,745.414081564,715,680,666,635.414081564,880,788,804,652,631.585918436,653,0.423679795406,0.00449394727527,0.0599488605502,0.99999999243,-8.09286510491e-05,-8.30927767019e-05,-4.10623399758e-05,1793239231081179648
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.988919143,745.988919143,715,680,666,635.988919143,880,788,804,652,631.011080857,653,0.424642890689,0.00449018457514,0.0600178622708,0.999999995294,-7.91488149978e-05,3.82927828686e-05,-4.10095539943e-05,1793239231097846528
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,714.424322197,680,666.575677803,635.424322197,880,787.424322197,804,652,631.575677803,653,0.42551447168,0.00449333844537,0.0600439284731,0.999999993825,-6.94671048793e-05,7.58100307459e-05,-4.21472350618e-05,1793239231114512896
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.839390388,746,714.160609612,680,667,635,880,787.160609612,804,652,632,653,0.426392549872,0.00449444236398,0.0600568640953,0.999999992385,-6.16738089524e-05,9.76750721256e-05,-4.34299300165e-05,1793239231131179520
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.259835103,746,714.740164897,680,667,635,880,787.740164897,804,652,632,653,0.427292267769,0.00448984442482,0.060037750293,0.999999993788,-5.9211522506e-05,8.30117423542e-05,-4.50298537985e-05,1793239231147846144
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.318165649,746,715,680,667,635,880.318165649,788,804,652,632,653,0.428159511315,0.00448829707218,0.0600175845867,0.999999995796,-5.43270380122e-05,5.7436459298e-05,-4.64602742308e-05,1793239231164513024
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.89490301,746,715,680,667,635,880.89490301,788,804,652,632,653,0.429000363068,0.00448922891694,0.0599965640041,0.999999997469,-4.74740447346e-05,2.29930842546e-05,-4.77529399792e-05,1793239231181179648
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.521010696,745.521010696,715,680,667,635.478989304,881,787.521010696,804,652,632,653,0.429793679415,0.00449012967373,0.0599686019989,0.999999997785,-3.70418453135e-05,-2.7350754662e-05,-4.80648189649e-05,1793239231197846272
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.064031493,715,680,667,636,881,787.064031493,804.064031493,652,632,653,0.430589072985,0.00449034714413,0.0599439068428,0.999999995915,-2.73213216034e-05,-7.13733545551e-05,-4.82700677114e-05,1793239231214513152
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.643584998,715,680,667,636,881,787.643584998,804.643584998,652,632,653,0.431486470532,0.0044851192009,0.0599579665455,0.999999997691,-2.97518064422e-05,-3.59770677889e-05,-4.9376403631e-05,1793239231231179776
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.222805684,746,715,680,667,635.777194316,880.777194316,788,805,652,632,653,0.43238746971,0.00448236563559,0.0599830890838,0.999999998284,-2.89554016947e-05,9.40808386237e-06,-5.00435254908e-05,1793239231247846144
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.801494851,746,715,680,667,635.198505149,880.198505149,788,805,652,632,653,0.433294221849,0.00448356434852,0.060025882091,0.999999995982,-2.30047449876e-05,7.07482740169e-05,-5.00090988075e-05,1793239231264512768
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680,667,635.377644632,880.377644632,788,804.622355368,652.377644632,632,653,0.434128198423,0.0044813221337,0.0600273754794,0.999999996093,-2.24894063135e-05,6.91059719958e-05,-5.03232851037e-05,1793239231281179648
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680,667,635.952468491,880.952468491,788,804.047531509,652.952468491,632,653,0.434924176706,0.00447728331053,0.0600073051353,0.999999997803,-2.48120053473e-05,3.45786786508e-05,-5.08194923766e-05,1793239231297846272
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.459432951,714.459432951,680,667,635.459432951,880.459432951,788,804.540567049,652.459432951,632,653,0.435683320118,0.0044761359343,0.0599782797773,0.999999998261,-2.26442222377e-05,-1.5427394232e-05,-5.22202362675e-05,1793239231314513152
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.127704471,714,680.127704471,667.127704471,635.127704471,880.255408942,788,805,652,632,653,0.436439727765,0.00447540110751,0.0599528805596,0.999999996626,-1.96433533259e-05,-5.911738436e-05,-5.35463377378e-05,1793239231331179776
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.707208068,714,680.707208068,667.707208068,635.707208068,881.414416135,788,805,652,632,653,0.437198203703,0.00447520370429,0.0599431659315,0.999999995558,-1.51271849439e-05,-7.55256738411e-05,-5.43198993163e-05,1793239231347846400
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,714.284164448,680.715835552,667.715835552,636,881.715835552,788,805,652,632,653,0.437945132225,0.00447377121165,0.059932167509,0.999999993493,-1.2249489275e-05,-9.97261072711e-05,-5.40330412981e-05,1793239231364513024
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,714.858519557,680.141480443,667.141480443,636,881.141480443,788,805,652,632,653,0.438680268401,0.00447107743731,0.0599198580676,0.999999989856,-1.10450133267e-05,-0.000131883929905,-5.26632755166e-05,1793239231381179904
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,714.566293813,680,667,635.566293813,881,788,805,652,632,653,0.439443293082,0.00446787460783,0.0599457125095,0.999999994492,-1.23445416422e-05,-9.00040719374e-05,-5.25718527413e-05,1793239231397846272
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,714.009383272,680.009383272,667,635,881,788,804.990616728,652,632,653,0.440214195402,0.00446459595185,0.0599838855167,0.999999998204,-1.42299730782e-05,-2.44037111144e-05,-5.2860537806e-05,1793239231414512896
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,714.598570135,680.598570135,667,635,881,788,804.401429865,652,632,653,0.440908632299,0.00446691267272,0.0600124874438,0.999999998639,-1.74870755413e-06,1.16651064411e-05,-5.08194041942e-05,1793239231431179520
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,714.815098136,681,666.815098136,635,881,788,804.184901864,652,632,653,0.44156983912,0.004468480389,0.0600147966997,0.999999998674,7.09936106995e-06,1.00692811069e-05,-4.99953044954e-05,1793239231447846400
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,714.234870659,681,666.234870659,635,881,788,804.765129341,652,632,653,0.442159999191,0.00446844671192,0.0599608914579,0.99999999603,8.17955038024e-06,-7.20546497974e-05,-5.17732585606e-05,1793239231464513024
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,714.342292669,680.657707331,666.684585337,635,881,788,805,652,632,653,0.442742055725,0.00446822233904,0.0599113670529,0.9999999881,8.97049822336e-06,-0.000144304911128,-5.38048494781e-05,1793239231481179904
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,714.917372091,680.082627909,667.834744181,635,881,788,805,652,632,653,0.443318601161,0.00446786827756,0.0598648219752,0.999999976369,9.56473836116e-06,-0.000209840271921,-5.6008933888e-05,1793239231497846528
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680,667.028711763,635,881,787.514355882,805,652,632,653,0.443870597637,0.00446887062827,0.0598516771748,0.999999971075,9.18930245355e-06,-0.000233407793506,-5.73244619543e-05,1793239231514513152
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746.055782323,714.944217677,680.055782323,666,635,881,787,805,652,631.944217677,653,0.444417722265,0.00447006810239,0.0598457129207,0.999999967764,8.35105627769e-06,-0.000246922443012,-5.85718013631e-05,1793239231531179520
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746.655241443,714.344758557,680.655241443,666,635,881,787,805,652,631.344758557,653,0.444957509788,0.00447094913513,0.0598551124002,0.999999971452,4.587824304e-06,-0.000231089382896,-6.06076366536e-05,1793239231547846400
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746.754309455,714,681,665.754309455,635,881,787.245690545,804.754309455,652,631,653,0.445455959017,0.00447265590918,0.0598464676892,0.999999967097,3.73110162796e-06,-0.000248805715193,-6.23444413201e-05,1793239231564513280
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746.176056215,714,681,665.176056215,635,881,787.823943785,804.176056215,652,631,653,0.445898453368,0.00447548039309,0.0598133986566,0.999999949298,6.80858260829e-06,-0.000311933955999,-6.36764827098e-05,1793239231581180160
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.599518433,746,714.400481567,681,665,635,881,787.599518433,804,652,631.400481567,653,0.446337449287,0.00447779738146,0.059787120654,0.999999935549,7.13050957058e-06,-0.000352913627622,-6.55909697631e-05,1793239231597847040
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.023731518,746,714.976268482,681,665,635,881,787.023731518,804,652,631.976268482,653,0.446774913854,0.00447989222082,0.0597638153293,0.999999923881,6.24623059049e-06,-0.000384198070523,-6.77604145999e-05,1793239231614513664
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.564399682,745.435600318,715,681,665,634.435600318,881,787,804,652,632,653,0.447186824639,0.00448250058583,0.0597651146122,0.999999925534,-2.74865536309e-05,-0.000378654894944,-6.92582266642e-05,1793239231631179776
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681,664.270144917,634,881,787,804,652.729855083,631.270144917,653,0.447985728392,0.00448631791657,0.0597822942738,0.999999929069,-0.00011603914835,-0.000351709633531,-6.85343657884e-05,1793239231664513024
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745.305509053,714.694490947,681,664,634,881,787,804,652.694490947,631.305509053,653,0.448337173577,0.00448967032814,0.0597819484679,0.999999931545,-0.000102601463793,-0.000350728702128,-5.80779494723e-05,1793239231681179648
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745.878026503,714.121973497,681,664,634,881,787,804,652.121973497,631.878026503,653,0.448652492872,0.00449465500934,0.0597705939585,0.999999932411,-3.40360796444e-05,-0.000363922637706,-3.97389012639e-05,1793239231697846272
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.039229804,714.960770196,681.960770196,664,633.960770196,881,787,804.960770196,652,631.960770196,653,0.449179226745,0.00450991175555,0.0597115292388,0.99999989108,-1.54662650001e-05,-0.00046441372044,-4.38149100153e-05,1793239231731179520
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.627876629,714.372123371,681.372123371,664,633.372123371,881,787,804.372123371,652,631.372123371,653,0.449409897443,0.00453249439745,0.0596916666513,0.999999878557,6.51081950473e-07,-0.000490032911054,-5.24636180422e-05,1793239231747846144
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.212254496,746,714,681.212254496,663.787745504,633,881.212254496,787,804.212254496,652,631.212254496,653,0.449637740147,0.00455360762771,0.0596790059594,0.999999869825,1.70995230891e-05,-0.000506434718618,-5.98380893973e-05,1793239231764513024
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.789295552,746,714,681.789295552,663.210704448,633,881.789295552,787,804.789295552,652,631.789295552,653,0.449860722561,0.00457219548339,0.0596787226505,0.999999868782,3.41169903701e-05,-0.000506995269794,-6.50226208609e-05,1793239231781179648
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,714,681.633813323,663.366186677,633,882,787,805,652,631.633813323,653,0.450064293853,0.0045761251157,0.0596801189029,0.999999870381,3.44079021903e-05,-0.000503552932357,-6.69912476827e-05,1793239231797846272
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,714,681.057008377,663.942991623,633,882,787,805,652,631.057008377,653,0.450256700542,0.0045716238324,0.0596824811825,0.999999873527,2.50782631459e-05,-0.000497808268004,-6.71101947421e-05,1793239231814512896
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714,681,663.30409127,633,881,787,805,652,632,653,0.450708998106,0.00457709598626,0.0596866468953,0.999999876226,2.84856688151e-05,-0.000491805734181,-6.97361958405e-05,1793239231864513024
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714,681,663,633,881,787,805,652,632,653,0.450821616888,0.00457723721948,0.0596833304289,0.999999873281,2.83903089111e-05,-0.000497721602077,-7.00377404594e-05,1793239231881179392
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714,681,663,633,881,787,805,652,632,653,0.4509186516,0.00457387312606,0.0596787216574,0.999999870297,2.54246588937e-05,-0.0005039232238,-6.94299678844e-05,1793239231897846272
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,714.999267023,681.999267023,663,633,881,787,805,652,631.000732977,653,0.451067443427,0.00457970288727,0.0596644678881,0.999999858461,3.39185755828e-05,-0.000526200211848,-7.10031416526e-05,1793239231931179520
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,714.411634573,681.411634573,663,633,881,787,805,652,631.588365427,653,0.451124353033,0.00457735806703,0.0596591307483,0.999999855219,3.05013714631e-05,-0.000532574171904,-7.06893086616e-05,1793239231947846144
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765.811925877,746,715,682,663,633,881,787,805.811925877,652,632,653,0.451368134395,0.00457773423611,0.05966126977,0.999999856683,3.49160090801e-05,-0.00052965207037,-6.98789527351e-05,1793239232097846528
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,714.611746556,681.611746556,663,633,881,787,805.611746556,652,632,653,0.451371474426,0.00457753263416,0.0596606357598,0.999999856275,3.38526821652e-05,-0.000530488267197,-6.98953435538e-05,1793239232114512896
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,714.035930896,681.035930896,663,633,881,787,805.035930896,652,632,653,0.451373694521,0.0045770112493,0.0596601145222,0.999999855985,3.20365078426e-05,-0.000531160353734,-6.98066079032e-05,1793239232131179520
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.447417135,746,714,681,663,633,881,787,805,652.552582865,631.447417135,653,0.451375172411,0.0045781433607,0.0596594678158,0.999999855343,3.4860296981e-05,-0.00053218281177,-6.9854043873e-05,1793239232147846400
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.139462691,746,714,681.139462691,663,632.860537309,881,787,805,653,631.139462691,653,0.451376420835,0.00457890958938,0.0596588220405,0.999999854668,3.73791071279e-05,-0.000533289917099,-6.97732340707e-05,1793239232164513024
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.718528201,746,714,681.718528201,663,632.281471799,881,787,805,653,631.718528201,653,0.451377101658,0.00457817563773,0.0596582055214,0.999999853988,3.79632034756e-05,-0.00053459033863,-6.92596120532e-05,1793239232181179648
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.704266785,746,714,681.704266785,662.704266785,632.295733215,881,787,805,652.704266785,632,653,0.451377521956,0.00457782839049,0.0596578775515,0.999999853666,3.92379707963e-05,-0.00053513684068,-6.89686972834e-05,1793239232197846528
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.128821409,746,714,681.128821409,662.128821409,632.871178591,881,787,805,652.128821409,632,653,0.451377695844,0.00457784689825,0.0596578224987,0.999999853683,4.11659927403e-05,-0.000534970266246,-6.88884247559e-05,1793239232214513152
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714,681,662.446668444,633,881,787,804.553331556,652,632,653,0.451377168836,0.00457886555004,0.0596572420795,0.999999853193,4.06668342198e-05,-0.000535926225283,-6.88656551144e-05,1793239232231179776
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.022808587,746,714,681,662.977191413,633,880.977191413,787,804.022808587,652,631.977191413,653,0.451376589409,0.00458007321712,0.0596565921018,0.999999852639,3.95298669949e-05,-0.000537046870698,-6.88466936977e-05,1793239232247846400
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.614858968,746,714,681,662.385141032,633,880.385141032,787,804.614858968,652,631.385141032,653,0.451379747135,0.00457879862967,0.0596579879959,0.999999854172,3.99470409833e-05,-0.000534197050869,-6.85088386272e-05,1793239232264513024
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,714.201969459,681.201969459,662,633,880.201969459,787,805,652,631,653,0.451381606405,0.00457869229641,0.0596586884063,0.999999854861,4.03993924678e-05,-0.000532883740601,-6.84186582637e-05,1793239232281179392
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,714.779884807,681.779884807,662,633,880.779884807,787,805,652,631,653,0.451381048729,0.00458076055123,0.0596580942436,0.999999853989,4.09172233076e-05,-0.000534430488931,-6.87894995436e-05,1793239232297846016
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.645312248,746,714.645312248,681.645312248,662,632.645312248,881,787,805,652,631,653,0.451379775815,0.00458011881537,0.0596573896485,0.999999853115,4.09216135673e-05,-0.000536073753313,-6.87007303671e-05,1793239232314513152
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.072424044,746,714.072424044,681.072424044,662,632.072424044,881,787,805,652,631,653,0.451378062893,0.00457780991958,0.0596566171165,0.999999852239,4.06101401624e-05,-0.000537776393375,-6.83292132992e-05,1793239232331179776
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.514061624,746,714.514061624,681,662.514061624,632,881.514061624,787,804.485938376,652,631,653,0.451378016114,0.00457914155732,0.059656020236,0.999999852008,4.20364117153e-05,-0.000538037809575,-6.87903918866e-05,1793239232347846400
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,714.898779748,681,662.898779748,632,881.898779748,787,804.101220252,652,631.101220252,653,0.451378423909,0.00458065124067,0.0596556716197,0.999999852036,4.32181402649e-05,-0.000537834722384,-6.92443734884e-05,1793239232364513024
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,714.317758788,681,662.317758788,632,881.317758788,787,804.682241212,652,631.682241212,653,0.451379843544,0.00458050760294,0.0596563793258,0.999999852857,4.20486582589e-05,-0.000536418444512,-6.90930382118e-05,1793239232381179648
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.739139559,746,714,681,662.260860441,632.260860441,881.260860441,787,805,652.260860441,632,653,0.451380233553,0.00458014069484,0.0596564050364,0.99999985298,4.14657286946e-05,-0.000536255299136,-6.89274933206e-05,1793239232397846272
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.163419155,746,714,681,662.836580845,632.836580845,881.836580845,787,805,652.836580845,632,653,0.451379380798,0.00457950429818,0.0596556075749,0.999999852263,4.15907709438e-05,-0.000537604691272,-6.87447973278e-05,1793239232414512896
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714,681.411589983,662.588410017,633,881.176820033,787,805,652.588410017,632,653,0.451379570707,0.00457861818005,0.0596555972884,0.999999852241,4.10793110949e-05,-0.000537718820457,-6.84766402137e-05,1793239232431179520
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714,681.98631717,662.01368283,633,880.027365659,787,805,652.01368283,632,653,0.451380173885,0.00457763308273,0.0596558990055,0.999999852494,4.03155681983e-05,-0.000537343342544,-6.81746098654e-05,1793239232447846400
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.576368368,746,714,681.423631632,662,632.423631632,880.576368368,787,805,652,631.423631632,653,0.451381269139,0.00457737623207,0.0596569262626,0.999999853334,3.96185996184e-05,-0.000535816818357,-6.82875596891e-05,1793239232464513024
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,714,681.161900445,662,632,881,787,805,652,631,653,0.451382010762,0.00457750844962,0.0596574631057,0.999999853699,3.96799539951e-05,-0.000535125644102,-6.83281687132e-05,1793239232481179648
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,746,714,681.735005349,662,632,881,787,805,652,631,653,0.451381823731,0.00457858373661,0.0596567094239,0.999999852825,4.16632063578e-05,-0.000536627440428,-6.8159337336e-05,1793239232497846272
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.688289041,746,714,682,662,632,880.688289041,786.688289041,804.688289041,652,631.311710959,653,0.451381945866,0.00457964487564,0.059656667941,0.999999852598,4.26585155645e-05,-0.000536969335041,-6.81738493576e-05,1793239232514512896
+254,4.233333333,POSE1_TO_POSE2_PRESS,765.10848662,746,714,682,662,632,880.10848662,786.10848662,804.10848662,652,631.89151338,653,0.451382333903,0.00458069384647,0.0596572389948,0.999999852932,4.28041300505e-05,-0.000536313639551,-6.83460484964e-05,1793239232531179520
+255,4.250000000,HOLD_POSE2,766,745,714,681,663,632,881,787,804,652,632,653,0.451380583512,0.00457963200008,0.0596564567529,0.999999852319,4.3662196224e-05,-0.000537419006865,-6.80928906951e-05,1793239232562580224
+256,4.266666667,HOLD_POSE2,766,745.579558786,714,681,662.420441214,632,881,787,804,652,631.420441214,653,0.451380142411,0.00458066891115,0.0596558484277,0.999999851734,4.57876488048e-05,-0.000538324020822,-6.81426481907e-05,1793239232579246848
+257,4.283333333,HOLD_POSE2,765.841817542,746,714,681.158182458,662,632.158182458,881,787,804.158182458,652,631,653,0.45138011005,0.00458112153036,0.0596557482824,0.999999851509,4.70312672214e-05,-0.000538634052341,-6.81477605056e-05,1793239232595913472
+258,4.300000000,HOLD_POSE2,765.265664624,746,714,681.734335376,662,632.734335376,881,787,804.734335376,652,631,653,0.451381157719,0.00458003025717,0.0596569909167,0.999999852246,4.59447880858e-05,-0.000537371943338,-6.80349054739e-05,1793239232612580096
+259,4.316666667,HOLD_POSE2,765,746,714,681.690373191,662,632.690373191,881.309626809,787,805,652.309626809,631.309626809,653,0.451381805123,0.00457973832431,0.0596570815865,0.999999852386,4.53114150818e-05,-0.000537173021785,-6.79684509556e-05,1793239232629246720
+260,4.333333333,HOLD_POSE2,765,746,714,681.115818909,662,632.115818909,881.884181091,787,805,652.884181091,631.884181091,653,0.451382110046,0.00458013033494,0.0596561865952,0.999999852017,4.50657355167e-05,-0.000537883800487,-6.79416983384e-05,1793239232645913600
+261,4.350000000,HOLD_POSE2,765,746,714,681.469895741,662,632.469895741,881.530104259,787,804.530104259,652.530104259,632,653,0.451381716769,0.00458066929458,0.0596553828836,0.999999851645,4.54050377213e-05,-0.000538504804112,-6.82711642074e-05,1793239232662580224
+262,4.366666667,HOLD_POSE2,765.057521606,746,714,681.942478394,662,632.942478394,881,787,804,652,632,653,0.451381427802,0.00458097662317,0.059654864102,0.999999851448,4.5565408974e-05,-0.000538815312062,-6.85974070673e-05,1793239232679246592
+263,4.383333333,HOLD_POSE2,765.636923123,746,714,681.363076877,662,632.363076877,881,787,804,652,632,653,0.451383684542,0.00457884581078,0.0596567213331,0.999999852844,4.27623995276e-05,-0.000536514408674,-6.80784400857e-05,1793239232695913216
+264,4.400000000,HOLD_POSE2,765.785024569,746,714,681.214975431,662,632,881,787,804.214975431,652,632,653,0.451384760893,0.00457800732667,0.0596575653568,0.999999853463,4.15933764709e-05,-0.00053549468581,-6.77475861261e-05,1793239232712579840
+265,4.416666667,HOLD_POSE2,765.209236819,746,714,681.790763181,662,632,881,787,804.790763181,652,632,653,0.451383856092,0.00457933787187,0.0596567088243,0.999999852791,4.31668178826e-05,-0.000536625282013,-6.77324589776e-05,1793239232729246720
+266,4.433333333,HOLD_POSE2,765,746,714.373733983,682,662.373733983,632.373733983,881,787,805,652,631.626266017,653,0.451383758231,0.0045797250184,0.059656450534,0.999999852423,4.46250192246e-05,-0.000537192932402,-6.77206509875e-05,1793239232745913344
+267,4.450000000,HOLD_POSE2,765,746,714.960805113,682,662.960805113,632.960805113,881,787,805,652,631.039194887,653,0.451384120992,0.00457957364837,0.0596565337359,0.999999852228,4.60174386641e-05,-0.000537439238677,-6.77107376583e-05,1793239232762579968
+268,4.466666667,HOLD_POSE2,765,746,714.459204056,681.459204056,662.459204056,632.459204056,881,787,805,652,631.540795944,653,0.451384222123,0.00457900526079,0.0596561818599,0.999999852544,4.42142666189e-05,-0.000536980862206,-6.78900209934e-05,1793239232779246592
+269,4.483333333,HOLD_POSE2,765,746,714,681,662,632,880.879909885,787,805,652,631.879909885,653,0.451384208261,0.00457853113836,0.0596557633242,0.999999852748,4.2664238776e-05,-0.000536707364597,-6.80295514896e-05,1793239232795913472
+270,4.500000000,HOLD_POSE2,765,746,714,681,662,632,880.30134145,787,805,652,631.30134145,653,0.451383826837,0.00457853079708,0.059655209126,0.999999852405,4.29534506306e-05,-0.000537332159885,-6.79656402371e-05,1793239232812581120
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,715,682,663,632,881,787,805,652,632,653,0.451384842442,0.0045803259525,0.0596564056183,0.999999852998,4.33179094532e-05,-0.000536161416968,-6.82562899523e-05,1793239232850320896
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714.410103761,682,662.410103761,632.589896239,881,787,804.410103761,652.589896239,632,653.589896239,0.451385202704,0.00457985109197,0.0596569716724,0.999999853355,4.3755613741e-05,-0.000535505833565,-6.78875105427e-05,1793239232866987520
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.176534279,746,714,682,662,633,880.823465721,787,804,652.823465721,632,653.823465721,0.451385273153,0.00457962665803,0.0596571885548,0.999999853404,4.4243223954e-05,-0.000535405054218,-6.76385282216e-05,1793239232883654144
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.755740536,746,714,682,662,633,880.244259464,787,804,652.244259464,632,653.244259464,0.45138468254,0.00457997344319,0.0596566089818,0.999999852752,4.48446689017e-05,-0.000536569774268,-6.76628011461e-05,1793239232900321280
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.667559868,746,714.332440132,682,662,632.667559868,880.332440132,787,804.332440132,652,632,653,0.451385488327,0.0045792722889,0.0596570576104,0.999999853241,4.35342301669e-05,-0.000535755855396,-6.77391289925e-05,1793239232916988160
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.092688285,746,714.907311715,682,662,632.092688285,880.907311715,787,804.907311715,652,632,653,0.451387312437,0.00457780692637,0.0596582560535,0.999999854554,4.08295531888e-05,-0.000533499017088,-6.7853417808e-05,1793239232933654784
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,715,682,662,632.482834273,881,787,804.517165727,652,631.517165727,653,0.451386235684,0.00457973528476,0.0596574206607,0.999999853941,4.37485054699e-05,-0.00053437425985,-6.81793572336e-05,1793239232950320640
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.059834012,746,714.940165988,682,662,632.940165988,881.059834012,786.940165988,804,652,631.059834012,653.059834012,0.451384792272,0.00458183731225,0.0596563703303,0.999999853113,4.71014599495e-05,-0.000535603151191,-6.84496199795e-05,1793239232966987008
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.648790151,746,714.351209849,682,662,632.351209849,881.648790151,786.351209849,804,652,631.648790151,653.648790151,0.451385037583,0.00457970617694,0.0596568765668,0.999999853779,4.47328245174e-05,-0.000534635226723,-6.78677421254e-05,1793239232983653632
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.766111433,746,714.233888567,681.766111433,662,632,881.766111433,786.233888567,804,652,631.766111433,653.766111433,0.451380789518,0.00457884674076,0.0596552087511,0.99999985227,4.3498378651e-05,-0.000537568640359,-6.77317669027e-05,1793239233000320256
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.186711875,746,714.813288125,681.186711875,662,632,881.186711875,786.813288125,804,652,631.186711875,653.186711875,0.451369903633,0.00457986591747,0.0596503293251,0.999999847502,4.39394101874e-05,-0.000546265290837,-6.82544996837e-05,1793239233016987136
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.387935403,746,714.612064597,681.387935403,662,632.387935403,881,787,804.387935403,652,631,653,0.451344328061,0.00457854185824,0.0596402025071,0.999999837919,4.42393358565e-05,-0.000563560366498,-6.78540749381e-05,1793239233033654016
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.960323158,746,714.039676842,681.960323158,662,632.960323158,881,787,804.960323158,652,631,653,0.451311767957,0.00457610365644,0.0596275807017,0.999999825686,4.44721696859e-05,-0.000584943751562,-6.70147148285e-05,1793239233050321152
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.450183104,746,714,681.450183104,662.549816896,632.450183104,881,787,805,652,631,653,0.451257453114,0.00457811859759,0.0596103166474,0.999999811971,4.57323497595e-05,-0.000607764603777,-6.77365079187e-05,1793239233066987520
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.137910408,746,714,681.137910408,662.862089592,632.137910408,881,787,805,652,631.137910408,653,0.45119820346,0.00458004565782,0.0595943476846,0.999999798925,4.73714008578e-05,-0.000628679484613,-6.83163183418e-05,1793239233083654144
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.717440376,746,714,681.717440376,662.282559624,632.717440376,881,787,805,652,631.717440376,653,0.451128340046,0.00458062920944,0.0595836330836,0.999999789615,4.99786541747e-05,-0.000643148188461,-6.80691270004e-05,1793239233100320512
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.94134206,746,714,679.94134206,667,635,880,788,803.05865794,652.94134206,632,653,0.415927085898,0.00460248984658,0.0598535396922,0.99999991403,0.000327578290462,-0.000251953041402,3.3933787921e-05,1793239234083654144
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.471825821,746,714.528174179,679.471825821,666.471825821,635,879.471825821,788,803.528174179,652.471825821,632,653,0.415156702886,0.00460031436807,0.0598503508245,0.999999912138,0.000325765613051,-0.000261628934153,3.39255373743e-05,1793239234100320512
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.11071361,746,714.88928639,679.11071361,666.11071361,635,879.11071361,788,804,652.11071361,632,653,0.414390943877,0.00459892048917,0.0598448487555,0.99999991332,0.000312780171582,-0.000272753701098,3.36812946768e-05,1793239234116987136
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.670795501,746,714.329204499,679.670795501,666.670795501,635,879.670795501,788,804,652.670795501,632,653,0.413626696986,0.00459981688547,0.0598456391557,0.999999916685,0.000305257627391,-0.000268921940074,3.35838449815e-05,1793239234133653760
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745.753223893,714.246776107,679.753223893,666.753223893,635,880,787.753223893,803.753223893,652.753223893,632,653,0.412853653049,0.00459966053302,0.0598266174431,0.999999910245,0.000296298987006,-0.000300984753443,3.3536782148e-05,1793239234150320384
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745.154573608,714.845426392,679.154573608,666.154573608,635,880,787.154573608,803.154573608,652.154573608,632,653,0.412068065607,0.00459800308256,0.0597793459494,0.999999884925,0.000285292638764,-0.000384229076253,3.3561564994e-05,1793239234166987008
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,714.575065099,679.424934901,666,635.424934901,879.575065099,787,803.424934901,652,631.575065099,653,0.41136110282,0.00459752914397,0.059763167095,0.999999881824,0.000273258128622,-0.0004008176794,3.2035659674e-05,1793239234183653632
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,714.002219388,679.997780612,666,635.997780612,879.002219388,787,803.997780612,652,631.002219388,653,0.410681507542,0.00459746716058,0.0597578109239,0.999999887827,0.000260865736663,-0.000394204850059,2.99699927985e-05,1793239234200320256
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.431963066,745.568036934,714,680,666,635.431963066,879.568036934,787.568036934,804,652.568036934,631.568036934,653,0.410087460023,0.00459420358818,0.0598007267991,0.999999914858,0.000248309441978,-0.000328078295906,3.14748078376e-05,1793239234216987392
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,666,635.145577344,879.854422656,788,804,653,632,653.145577344,0.409495997009,0.0045910952966,0.0598395227123,0.999999935181,0.00023610454508,-0.000269839502337,3.28627613451e-05,1793239234233654016
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,666,635.745903083,879.254096917,788,804,653,632,653.745903083,0.40891156785,0.00458851096169,0.0598648623898,0.999999946039,0.000224999320995,-0.000236963214133,3.38422888495e-05,1793239234250320384
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.331613349,746,714,680,666,635.668386651,879.331613349,788,804,652.668386651,632,653.668386651,0.408330315788,0.00458701300607,0.0598680673802,0.999999949141,0.000215176132991,-0.000232983727034,3.37136484556e-05,1793239234266987008
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.906597303,746,714,680,666,635.093402697,879.906597303,788,804,652.093402697,632,653.093402697,0.407751395428,0.00458631234295,0.0598550277508,0.999999946882,0.000206293830338,-0.000250211566614,3.27717250396e-05,1793239234283653632
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,714.479428451,680,666,635,879.520571549,788,803.520571549,652.479428451,631.520571549,653,0.407197895692,0.00458442508243,0.0598400707708,0.999999941957,0.000201861505121,-0.000272547706113,3.24855703741e-05,1793239234300320256
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,714.946302022,680,666,635,879.053697978,787.946302022,803.053697978,653,631,653,0.406657649447,0.00458243131549,0.0598269373043,0.999999937207,0.000198125111256,-0.000292038305428,3.23362278222e-05,1793239234316987136
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,746,714.353396315,680,666,635,879.646603685,787.353396315,803.646603685,653,631,653,0.406200980111,0.00458167901994,0.0598358487614,0.999999943644,0.000192710364389,-0.000273006786987,3.22835422497e-05,1793239234333654016
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.766615347,746,714.233384653,680,666,635,879.766615347,787,803.766615347,653,631.233384653,653,0.405752801602,0.00458065195921,0.0598417870019,0.999999948142,0.000187901211002,-0.000259564438379,3.21772276203e-05,1793239234350320896
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.188871489,746,714.811128511,680,666,635,879.188871489,787,803.188871489,653,631.811128511,653,0.405317151356,0.00457921948236,0.0598433382586,0.999999950211,0.000183985611744,-0.000254368915234,3.19917833014e-05,1793239234366987776
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.385335003,746,714.614664997,680,666,635,879.385335003,787,803,653,632,653,0.404889357429,0.00457695295534,0.059830230471,0.999999944342,0.000183458671887,-0.000276780902556,3.24083835377e-05,1793239234383654144
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.957823481,746,714.042176519,680,666,635,879.957823481,787,803,653,632,653,0.404465379203,0.00457428133811,0.0598100029277,0.999999933557,0.000184577570509,-0.000312601589349,3.31173909277e-05,1793239234400320768
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.451406729,746,714.548593271,680,666,635,879.451406729,787.548593271,803.548593271,652.451406729,631.451406729,653,0.404085715469,0.00457414392288,0.0597928306523,0.999999923347,0.000187089960196,-0.000342284616459,3.38307915803e-05,1793239234416987136
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.137750562,746,714.862249438,679.862249438,666,635,879.137750562,788,804,652.137750562,631.137750562,653,0.403731509919,0.00457367920063,0.0597837516709,0.999999917943,0.000188547253123,-0.000356878862126,3.46473813459e-05,1793239234433653504
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.717078141,746,714.282921859,679.282921859,666,635,879.717078141,788,804,652.717078141,631.717078141,653,0.403447615821,0.00457151916306,0.0597998378364,0.999999929307,0.0001862670312,-0.000324668887016,3.57936371644e-05,1793239234450320384
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.704750566,745.704750566,714,679,666.295249434,635,880,788,804,653,632,653,0.40318513868,0.00457030855329,0.0598174769847,0.999999939029,0.000186270645859,-0.000293063701078,3.68748564423e-05,1793239234466987008
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.127682992,745.127682992,714,679,666.872317008,635,880,788,804,653,632,653,0.402943104226,0.00457000418072,0.0598365984675,0.999999947193,0.000188454202437,-0.000262035793583,3.78939977104e-05,1793239234483653632
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.447318427,745.447318427,714,679.447318427,666.552681573,635.447318427,879.552681573,787.552681573,804,653,632,653,0.402716400822,0.00456878506719,0.0598499033008,0.999999951746,0.000191291501888,-0.000241616049294,3.92099040353e-05,1793239234500320512
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.977611411,746,714,679.977611411,666,636,879.022388589,787.022388589,804,653,631.977611411,653,0.402494322245,0.00456729959419,0.0598608482868,0.999999954917,0.000194140930114,-0.000225451243888,4.05849622483e-05,1793239234516987392
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.385863637,746,714,679.385863637,666,636,879.614136363,787.614136363,804,653,631.385863637,653,0.402279080322,0.0045656499537,0.0598538093681,0.999999951601,0.00019257511329,-0.000240842384019,4.1319991043e-05,1793239234533654016
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.201290716,746,714.201290716,679.201290716,666,635.798709284,880,788,804,653,631,653,0.40207700365,0.00456463117964,0.0598462987184,0.999999948162,0.000190811052426,-0.000256001666479,4.16021461762e-05,1793239234550320640
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.779836115,746,714.779836115,679.779836115,666,635.220163885,880,788,804,653,631,653,0.40189960103,0.00456479476188,0.0598379039616,0.999999944712,0.000188675447114,-0.000270726404659,4.10355352694e-05,1793239234566987008
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.644560826,746,715,680,666,635.355439174,879.644560826,788,804,653,631.355439174,653,0.401748973679,0.00456388802247,0.0598342336992,0.999999949686,0.000151239801943,-0.000277099792179,3.11521115655e-05,1793239234583653376
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.070765274,746,715,680,666,635.929234726,879.070765274,788,804,653,631.929234726,653,0.401614795121,0.00456232375409,0.0598334658272,0.999999956899,9.21183391805e-05,-0.000278342708444,1.55451050342e-05,1793239234600320000
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.514386199,746,715,680,666,635.485613801,879,788,804,653,632,653.514386199,0.401509351314,0.0045527388083,0.0598371648302,0.999999960694,6.67851285371e-05,-0.000271977222101,1.34414423995e-05,1793239234616986624
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,666.099820478,635.099820478,879.099820478,788,804,653,632,653.900179522,0.401411944571,0.00454478556264,0.0598414977604,0.999999963573,5.169421607e-05,-0.000264583872212,1.32696137408e-05,1793239234633653504
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,666.678942146,635.678942146,879.678942146,788,804,653,632,653.321057854,0.401333718946,0.0045500849742,0.0598458572749,0.999999964804,6.29596253854e-05,-0.000257394450102,1.32524507347e-05,1793239234650320640
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,746,714.742156299,679.742156299,666.742156299,636,880.257843701,788,804,653,632,653,0.401260234989,0.00455151936984,0.0598464807229,0.999999964588,6.89257178454e-05,-0.000256676621994,1.37943754415e-05,1793239234666987520
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,746,714.163528624,679.163528624,666.163528624,636,880.836471376,788,804,653,632,653,0.401192650155,0.00454814528948,0.0598424561212,0.999999962704,6.82989166539e-05,-0.000264010120188,1.50318625342e-05,1793239234683653888
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.411162833,666,636,880.588837167,788,804,653,632,653,0.401137078876,0.00454816848882,0.0598383643749,0.9999999602,7.08153059478e-05,-0.000272647076749,1.57461212488e-05,1793239234700320256
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.9843036,666,636,880.0156964,788,804,653,632,653,0.401086240348,0.00454953004937,0.0598342461771,0.999999957383,7.45699577105e-05,-0.000281797531608,1.62542536864e-05,1793239234716986880
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,746,714.574167384,679.425832616,666,635.425832616,880,787.425832616,803.425832616,653,631.425832616,653,0.401054317916,0.00455180415128,0.0598353135575,0.999999957692,7.62248992549e-05,-0.000280276606312,1.58329120789e-05,1793239234733653504
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.83856003,715,679.16143997,666,635.16143997,879.83856003,787,803,653,631,653,0.401027337228,0.00455225055611,0.059836495757,0.999999958227,7.67216193778e-05,-0.000278224218276,1.58496292158e-05,1793239234750320128
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.259214086,715,679.740785914,666,635.740785914,879.259214086,787,803,653,631,653,0.401011770033,0.00454789924113,0.059837597204,0.999999959118,7.43731967649e-05,-0.00027557391141,1.70680610507e-05,1793239234766986752
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,666,636,879,787.318276096,803.318276096,653,631,653,0.401000711163,0.00454671599284,0.0598399197185,0.999999960223,7.44641514042e-05,-0.000271481205383,1.75048567928e-05,1793239234783653376
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,666,636,879,787.89426371,803.89426371,653,631,653,0.40099330273,0.00454809796117,0.0598432309445,0.999999961485,7.6530295324e-05,-0.000266220573224,1.73087536634e-05,1793239234800320512
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,666,636,879,787.520279184,804,653,631.479720816,653,0.400987279902,0.00454675008636,0.059844132033,0.999999961927,7.63681415782e-05,-0.000264559130574,1.79588342962e-05,1793239234816986880
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.933623223,745.066376777,714.933623223,679.933623223,666,636,879,787,804,653,632,653.066376777,0.400981781423,0.00454514704656,0.0598444710756,0.999999962125,7.58607344116e-05,-0.000263908909896,1.86273789102e-05,1793239234833653504
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.354158619,745.645841381,714.354158619,679.354158619,666,636,879,787,804,653,632,653.645841381,0.400977927835,0.00454631628218,0.0598446545544,0.999999961843,7.65575003014e-05,-0.000264819686755,1.79679147308e-05,1793239234850319872
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.224232814,746,714.224232814,679.224232814,666,636,879.224232814,787.224232814,803.775767186,653,632,653.775767186,0.400975528983,0.00454723768044,0.0598448386117,0.999999961757,7.74294553968e-05,-0.000264915661798,1.76065290335e-05,1793239234866986752
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.800937292,746,714.800937292,679.800937292,666,636,879.800937292,787.800937292,803.199062708,653,632,653.199062708,0.40097541683,0.00454776950299,0.0598450235784,0.999999961979,7.85767904442e-05,-0.000263730849431,1.771369308e-05,1793239234883653376
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.62317458,666,635.62317458,880,787.62317458,803.37682542,653,632,653,0.400975879675,0.00454806611614,0.0598461342349,0.999999962503,7.89495820304e-05,-0.000261618507666,1.78066940583e-05,1793239234900320000
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.047716787,666,635.047716787,880,787.047716787,803.952283213,653,632,653,0.400976645614,0.0045482387456,0.0598477328415,0.999999963181,7.89140959044e-05,-0.000259017246249,1.7892229391e-05,1793239234916986624
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,715,679,666,635,880,787.538399602,803.461600398,653,631.461600398,653,0.400976245074,0.00454849762897,0.0598480961399,0.999999963298,7.90231953172e-05,-0.000258537229411,1.7853131933e-05,1793239234933653504
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.124323403,745.875676597,715,679.124323403,666,635.124323403,880,788,803,653,631,653,0.40097588972,0.00454839972475,0.0598482954111,0.999999963345,7.9285946949e-05,-0.00025827006452,1.78969782399e-05,1793239234950320128
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d39100ade64a0ecba5f2800176e4082a2c26321f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,419 @@
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+342,5.700000000,pose2_to_pose3_retreat,0.591693493951,0.0100907680133,1.05003233593,0.562263945558,0.0187625075612,1.04970046481
+343,5.716666667,pose2_to_pose3_retreat,0.59093682327,0.0100907141781,1.05003228159,0.561507275963,0.0187624575411,1.04970041422
+344,5.733333333,pose2_to_pose3_retreat,0.59019602373,0.0100907095312,1.05003227228,0.560766476644,0.0187624537514,1.04970040801
+345,5.750000000,pose2_to_pose3_retreat,0.589467810942,0.010090751977,1.0500323595,0.560038262908,0.0187624927941,1.04970048976
+346,5.766666667,pose2_to_pose3_retreat,0.588744962851,0.0100907505262,1.05003238851,0.559315414993,0.0187624916603,1.04970051139
+347,5.783333333,pose2_to_pose3_retreat,0.588027495601,0.01009086653,1.05003244901,0.558597946771,0.0187626042401,1.04970056848
+348,5.800000000,pose2_to_pose3_retreat,0.587314224178,0.0100908793609,1.05003261841,0.557884674381,0.0187626138676,1.04970073996
+349,5.816666667,pose2_to_pose3_retreat,0.586612762955,0.0100906717233,1.0500323658,0.557183216312,0.0187624172579,1.04970049575
+350,5.833333333,pose2_to_pose3_retreat,0.58592724203,0.0100907749619,1.05003233921,0.556497694948,0.0187625192364,1.04970047568
+351,5.850000000,pose2_to_pose3_retreat,0.585273281044,0.0100908026024,1.05003237119,0.555843732465,0.0187625415436,1.04970049991
+352,5.866666667,pose2_to_pose3_retreat,0.584652779353,0.0100908013131,1.05003229337,0.555223230528,0.0187625392535,1.0497004176
+353,5.883333333,pose2_to_pose3_retreat,0.584069514739,0.0100907388231,1.05003214971,0.554639967602,0.0187624827897,1.0497002827
+354,5.900000000,pose2_to_pose3_retreat,0.583509631228,0.0100907925167,1.05003232337,0.55408008323,0.0187625336018,1.04970045686
+355,5.916666667,pose2_to_pose3_retreat,0.582968394974,0.0100908916347,1.05003236751,0.553538845155,0.0187626265407,1.04970050094
+356,5.933333333,pose2_to_pose3_retreat,0.582434686147,0.0100908849988,1.05003233565,0.55300513608,0.0187626189656,1.04970046666
+357,5.950000000,pose2_to_pose3_retreat,0.581910507021,0.0100907943319,1.05003242926,0.552480958003,0.018762531744,1.04970055658
+358,5.966666667,pose2_to_pose3_retreat,0.581409950601,0.0100907970492,1.0500322341,0.551980401705,0.0187625352958,1.04970037251
+359,5.983333333,pose2_to_pose3_retreat,0.580934178214,0.0100907388705,1.0500324189,0.551504629234,0.0187624763046,1.04970054354
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+361,6.016666667,pose2_to_pose3_retreat,0.580058724984,0.0100907137165,1.05003220021,0.550629177392,0.0187624556723,1.04970031988
+362,6.033333333,pose2_to_pose3_retreat,0.57965412014,0.010090773593,1.05003230179,0.550224571306,0.0187625119363,1.04970043736
+363,6.050000000,pose2_to_pose3_retreat,0.579263971893,0.0100908249174,1.05003232846,0.549834422606,0.0187625617534,1.04970046536
+364,6.066666667,pose2_to_pose3_retreat,0.578891288451,0.0100908774688,1.05003223549,0.549461740272,0.0187626181683,1.0497003747
+365,6.083333333,pose2_to_pose3_retreat,0.578546588987,0.0100908934876,1.05003228664,0.549117038823,0.0187626274736,1.04970042624
+366,6.100000000,pose2_to_pose3_retreat,0.578232514179,0.0100907683333,1.05003242762,0.548802964475,0.018762503626,1.04970056062
+367,6.116666667,pose2_to_pose3_retreat,0.577952180056,0.0100907659373,1.05003248062,0.548522630853,0.018762502843,1.04970061141
+368,6.133333333,pose2_to_pose3_retreat,0.577700075218,0.0100908335483,1.05003234562,0.54827052526,0.018762567992,1.049700479
+369,6.150000000,pose2_to_pose3_retreat,0.577472300276,0.0100907875652,1.05003211,0.548042750624,0.0187625231279,1.04970024546
+370,6.166666667,pose2_to_pose3_retreat,0.577257436532,0.0100907221197,1.05003209196,0.547827889954,0.0187624683064,1.04970023244
+371,6.183333333,pose2_to_pose3_retreat,0.577053767149,0.0100906816513,1.0500323315,0.547624219709,0.0187624245914,1.04970046367
+372,6.200000000,pose2_to_pose3_retreat,0.576862068842,0.0100907763292,1.05003236591,0.547432520901,0.0187625175365,1.04970049736
+373,6.216666667,pose2_to_pose3_retreat,0.576684523913,0.0100908035397,1.05003230482,0.547254973808,0.0187625370752,1.04970042771
+374,6.233333333,pose2_to_pose3_retreat,0.576523290559,0.0100908966162,1.05003226584,0.547093739879,0.0187626282278,1.0497003895
+375,6.250000000,pose2_to_pose3_retreat,0.576382338231,0.0100908746039,1.05003234335,0.546952788614,0.0187626098078,1.04970046666
+376,6.266666667,pose2_to_pose3_retreat,0.576260686119,0.0100907484722,1.05003230198,0.54683113831,0.0187624900404,1.04970043137
+377,6.283333333,pose2_to_pose3_retreat,0.576157344781,0.0100906867299,1.05003212322,0.546727797051,0.0187624287312,1.04970025845
+378,6.300000000,pose2_to_pose3_retreat,0.576068310115,0.0100907241811,1.05003206995,0.546638760908,0.0187624609962,1.04970020188
+379,6.316666667,pose2_to_pose3_retreat,0.575991635776,0.0100907581993,1.05003229451,0.546562086252,0.0187624937075,1.04970041835
+380,6.333333333,pose2_to_pose3_retreat,0.57592419699,0.0100906868209,1.05003239706,0.546494648915,0.0187624272096,1.04970051971
+381,6.350000000,pose2_to_pose3_retreat,0.575865205032,0.0100907864634,1.05003220022,0.546435656546,0.0187625262062,1.04970034242
+382,6.366666667,pose2_to_pose3_retreat,0.575815014847,0.010090758851,1.05003221773,0.546385467048,0.0187625007373,1.04970035485
+383,6.383333333,pose2_to_pose3_retreat,0.57577329951,0.0100907306876,1.05003209986,0.546343752054,0.0187624738585,1.04970024016
+384,6.400000000,pose2_to_pose3_retreat,0.575741303169,0.0100907933346,1.05003233208,0.546311753333,0.0187625279497,1.0497004599
+385,6.416666667,pose2_to_pose3_retreat,0.575717330035,0.0100907068489,1.05003219935,0.54628778285,0.0187624504118,1.04970032591
+386,6.433333333,pose2_to_pose3_retreat,0.575701179812,0.0100907931302,1.05003241548,0.546271631591,0.0187625331817,1.04970054211
+387,6.450000000,pose2_to_pose3_retreat,0.575689706602,0.0100908469068,1.05003252377,0.546260157308,0.0187625833903,1.04970065241
+388,6.466666667,pose2_to_pose3_retreat,0.575682038757,0.0100907905862,1.05003236128,0.546252490152,0.0187625295691,1.04970049414
+389,6.483333333,pose2_to_pose3_retreat,0.575676499089,0.0100907858067,1.05003221174,0.54624695048,0.0187625246918,1.04970034246
+390,6.500000000,pose2_to_pose3_retreat,0.575672461061,0.0100908222489,1.05003219039,0.546242911909,0.018762559163,1.04970031772
+391,6.516666667,pose2_to_pose3_retreat,0.575669730988,0.0100909185662,1.0500323479,0.546240180501,0.0187626507626,1.04970047012
+392,6.533333333,pose2_to_pose3_retreat,0.57566801891,0.0100909071222,1.0500323567,0.546238468962,0.0187626412319,1.04970048119
+393,6.550000000,pose2_to_pose3_retreat,0.575667265081,0.0100908565962,1.0500323036,0.54623771624,0.0187625946328,1.04970043256
+394,6.566666667,pose2_to_pose3_retreat,0.575667018087,0.0100908400413,1.05003228621,0.546237469609,0.0187625793645,1.04970041662
+395,6.583333333,pose2_to_pose3_retreat,0.575666965138,0.0100908364924,1.05003228248,0.546237416738,0.0187625760914,1.0497004132
+396,6.600000000,pose2_to_pose3_retreat,0.575666866539,0.0100908298837,1.05003227553,0.546237318284,0.0187625699964,1.04970040684
+397,6.616666667,pose2_to_pose3_retreat,0.575666826655,0.0100908272104,1.05003227272,0.546237278458,0.0187625675309,1.04970040427
+398,6.633333333,pose2_to_pose3_retreat,0.575666501864,0.0100908054411,1.05003224985,0.546236954145,0.0187625474535,1.04970038332
+399,6.650000000,pose2_to_pose3_retreat,0.575666308769,0.0100907924988,1.05003223625,0.546236761334,0.018762535517,1.04970037086
+400,6.666666667,pose2_to_pose3_retreat,0.57566629655,0.0100907916798,1.05003223539,0.546236749132,0.0187625347617,1.04970037007
+401,6.683333333,pose2_to_pose3_retreat,0.575666261106,0.0100907893041,1.05003223289,0.546236713741,0.0187625325707,1.04970036778
+402,6.700000000,pose2_to_pose3_retreat,0.575666123369,0.0100907800722,1.05003222319,0.546236576206,0.0187625240562,1.0497003589
+403,6.716666667,pose2_to_pose3_retreat,0.575665864007,0.0100907767511,1.0500322295,0.546236316897,0.018762520944,1.04970036596
+404,6.733333333,pose2_to_pose3_retreat,0.57566573158,0.0100907813709,1.05003224376,0.54623618435,0.0187625251574,1.04970038025
+405,6.750000000,pose2_to_pose3_retreat,0.575665678588,0.0100907832195,1.05003224946,0.546236131311,0.0187625268434,1.04970038597
+406,6.766666667,pose2_to_pose3_retreat,0.575665569709,0.0100907870178,1.05003226119,0.546236022333,0.0187625303076,1.04970039771
+407,6.783333333,pose2_to_pose3_retreat,0.575665428857,0.0100907919315,1.05003227635,0.546235881352,0.0187625347891,1.04970041291
+408,6.800000000,pose2_to_pose3_retreat,0.57566528591,0.0100907969182,1.05003229175,0.546235738276,0.0187625393372,1.04970042834
+409,6.816666667,pose2_to_pose3_retreat,0.575665285062,0.0100907969477,1.05003229184,0.546235737428,0.0187625393642,1.04970042843
+410,6.833333333,pose2_to_pose3_retreat,0.575664975564,0.0100908077447,1.05003232516,0.546235427649,0.0187625492114,1.04970046183
+411,6.850000000,pose2_to_pose3_retreat,0.575664804877,0.0100908071936,1.0500323442,0.546235256727,0.0187625477888,1.04970047893
+412,6.866666667,pose2_to_pose3_retreat,0.575664755167,0.0100908040382,1.05003235005,0.546235206911,0.0187625442196,1.04970048331
+413,6.883333333,pose2_to_pose3_retreat,0.57566474561,0.0100908034316,1.05003235118,0.546235197334,0.0187625435334,1.04970048415
+414,6.900000000,pose2_to_pose3_retreat,0.57566470383,0.0100908007796,1.05003235609,0.546235155466,0.0187625405335,1.04970048782
+415,6.916666667,pose2_to_pose3_retreat,0.575664530464,0.0100907897752,1.05003237649,0.546234981732,0.0187625280857,1.04970050307
+416,6.933333333,pose2_to_pose3_retreat,0.575664464168,0.0100907872123,1.05003236335,0.546234916174,0.0187625281291,1.04970049261
+417,6.950000000,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d0f1ea246265cdb63c8885801e9ecdc43e74662f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e81b511bf1f945d389ff0842ac2741649cd58197772301676e4191593eefb69e
+size 26089219
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65c706ea7200aa7dcc794d50991fe47ab8918519
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_01/franka_data.csv
@@ -0,0 +1,412 @@
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+8,0.133333333,BASELINE,766,746,714,679,666.367267922,636,880,788,804,653.367267922,632,653,0.400939828683,0.00456014469022,0.0499387267494,0.999999972264,9.76440144262e-05,-0.000213328831878,-2.0715969336e-05,1793239236745982464
+9,0.150000000,BASELINE,766,746,714,679,666,636,880,788,804,653,632,653.20751817,0.400939724679,0.00455987731246,0.049939241266,0.999999972431,9.71136681734e-05,-0.000212787857549,-2.06996548606e-05,1793239236762648832
+10,0.166666667,BASELINE,766,746,714,679,666,636,880,788,804,653,632,653.783510859,0.400939465113,0.00456113722673,0.049939142123,0.999999972255,9.88349376139e-05,-0.000212778084659,-2.11322581631e-05,1793239236779315456
+11,0.183333333,BASELINE,766,746,714.369253274,678.630746726,666.369253274,636,880,788,804,653,631.630746726,653.630746726,0.400938297731,0.00456103153764,0.0499383167951,0.999999972046,9.82894363822e-05,-0.000214009895272,-2.11308495013e-05,1793239236795982336
+12,0.200000000,BASELINE,766,746,714.960866923,678.039133077,666.960866923,636,880,788,804,653,631.039133077,653.039133077,0.400936583671,0.00456010349691,0.0499370541662,0.999999971812,9.63789102375e-05,-0.000215989374204,-2.08680835133e-05,1793239236812648960
+13,0.216666667,BASELINE,766,746,714.461905887,678.538094113,667,636,879.461905887,788,804,653,631.538094113,653,0.400938221865,0.00456029696222,0.0499381859999,0.999999972179,9.69417297131e-05,-0.000214036904719,-2.07798363076e-05,1793239236829315840
+14,0.233333333,BASELINE,766,746,714,679.114580401,666.885419599,635.885419599,879.114580401,788,803.885419599,653,632,653.114580401,0.400939709304,0.00456070612873,0.0499392267342,0.999999972445,9.79237092941e-05,-0.000212342923396,-2.07546038363e-05,1793239236845982720
+15,0.250000000,BASELINE,766,746,714,679.692190748,666.307809252,635.307809252,879.692190748,788,803.307809252,653,632,653.692190748,0.400939627994,0.00456166594723,0.0499392139442,0.999999972146,9.98915907128e-05,-0.000212818984863,-2.0934065957e-05,1793239236862649088
+16,0.266666667,BASELINE,766,746,714,680,666,635.273025279,879.726974721,788,803,653,632,653.726974721,0.400939736994,0.00456116353134,0.0499389650006,0.999999972188,9.94231421468e-05,-0.000212839166346,-2.09321406389e-05,1793239236879316224
+17,0.283333333,BASELINE,766,746,714,680,666,635.857538165,879.142461835,788,803,653,632,653.142461835,0.400940063114,0.0045589928893,0.0499384466354,0.999999972616,9.6175146448e-05,-0.000212339245904,-2.07232749869e-05,1793239236895983360
+18,0.300000000,BASELINE,766,746,714,679.559309588,666.440690412,636,879.440690412,787.559309588,803.440690412,653,631.559309588,653,0.400938854771,0.00455936145943,0.0499376927388,0.999999972211,9.65598946858e-05,-0.000214066708435,-2.07167270793e-05,1793239236912649728
+19,0.316666667,BASELINE,766,746,714,679,666.976820118,636,879.976820118,787.023179882,804,653,631,653,0.400937286368,0.0045605006931,0.0499369428524,0.999999971588,9.80373962937e-05,-0.000216290700573,-2.07811442507e-05,1793239236929315840
+20,0.333333333,BASELINE,766,746,714,679,666.399690178,636,879.399690178,787.600309822,804,653,631,653,0.400938931226,0.00456050095197,0.049938102785,0.999999972279,9.7651155266e-05,-0.000213226107189,-2.09832898213e-05,1793239236945982464
+21,0.350000000,BASELINE,766,746,714,679.176634484,666.176634484,636,879.176634484,788,804,653,631.176634484,653,0.400939953148,0.00456086898701,0.0499387786341,0.999999972636,9.8072930263e-05,-0.000211323298508,-2.12487762565e-05,1793239236962649088
+22,0.366666667,BASELINE,766,746,714,679.751145149,666.751145149,636,879.751145149,788,804,653,631.751145149,653,0.400939571881,0.00456206545247,0.0499383640657,0.999999972254,0.000100314793458,-0.000212037456374,-2.16569404747e-05,1793239236979315712
+23,0.383333333,BASELINE,765.665009955,746,714,679.665009955,666.665009955,636,880,787.665009955,804,653,632,653,0.40093908605,0.00456219314214,0.0499382020201,0.99999997204,0.000100609958215,-0.00021290704756,-2.16387913584e-05,1793239236995982592
+24,0.400000000,BASELINE,765.074032102,746,714,679.074032102,666.074032102,636,880,787.074032102,804,653,632,653,0.400938520314,0.00456150411044,0.0499382329435,0.999999971956,9.94175235793e-05,-0.000213895415592,-2.12948683774e-05,1793239237012649472
+25,0.416666667,BASELINE,765.50620305,745.49379695,714,679,666.50620305,636,879.49379695,787.50620305,803.49379695,653,632,653,0.400939417298,0.00456007798882,0.0499388736293,0.999999972544,9.6891983119e-05,-0.000212333379278,-2.09321306093e-05,1793239237029316096
+26,0.433333333,BASELINE,766,745,714.084030621,679,666.915969379,636.084030621,879,788,803,653,632,653,0.4009405846,0.00455877974715,0.0499395652216,0.999999973149,9.47112175592e-05,-0.000210492710105,-2.05844502919e-05,1793239237045982464
+27,0.450000000,BASELINE,766,745,714.656803473,679,666.343196527,636.656803473,879,788,803,653,632,653,0.400942105769,0.00455883924219,0.0499400449982,0.999999973346,9.56461509103e-05,-0.000209155796464,-2.034001929e-05,1793239237062649088
+28,0.466666667,BASELINE,766,745.229438699,714.770561301,679,666.229438699,636.770561301,879.229438699,788,803,653.229438699,632,653,0.400942158894,0.00455914905369,0.0499396141516,0.999999973208,9.64671624275e-05,-0.000209427481528,-2.04626487549e-05,1793239237079315456
+29,0.483333333,BASELINE,766,745.801868156,714.198131844,679,666.801868156,636.198131844,879.801868156,788,803,653.801868156,632,653,0.400940017422,0.00455983306636,0.0499378220028,0.999999972567,9.71178707265e-05,-0.000212103880817,-2.11340014774e-05,1793239237095982080
+30,0.500000000,BASELINE,766,746,714,678.608461162,667,636,880,788,803.391538838,653.608461162,632,653.391538838,0.400938943042,0.00456085979736,0.0499372767825,0.999999972222,9.81832582273e-05,-0.000213223171067,-2.12793229156e-05,1793239237112648960
+31,0.516666667,BASELINE,766,746,714,678.009663976,667,636,880,788,803.990336024,653.009663976,632,653.990336024,0.40093843352,0.00456206794388,0.0499373916152,0.999999972034,9.94681532462e-05,-0.000213518216437,-2.11461933466e-05,1793239237129315840
+32,0.533333333,BASELINE,766,745.435936248,714,678.564063752,667,636,880,788,803.435936248,653,631.435936248,653.435936248,0.400939008228,0.00456193490089,0.0499377272256,0.99999997212,9.93237215355e-05,-0.000213194374673,-2.1024417341e-05,1793239237145982208
+33,0.550000000,BASELINE,766,745.138002835,714,679,666.861997165,636,880,788,803.138002835,653.138002835,631.138002835,653,0.400939913516,0.00456160934316,0.0499382131154,0.999999972323,9.91346898953e-05,-0.000212347476783,-2.08460222319e-05,1793239237162648832
+34,0.566666667,BASELINE,766,745.713917404,714,679,666.286082596,636,880,788,803.713917404,653.713917404,631.713917404,653,0.400941811363,0.00456074270825,0.0499391643806,0.999999972878,9.88785333334e-05,-0.000209873027506,-2.04873719593e-05,1793239237179315456
+35,0.583333333,BASELINE,766,746,714,679,666.298828873,636,880,788,804,654,632,653,0.400941851351,0.00456034396438,0.049939111452,0.99999997293,9.87585704849e-05,-0.000209691920279,-2.03959349078e-05,1793239237195982080
+36,0.600000000,BASELINE,766,746,714,679,666.892620927,636,880,788,804,654,632,653,0.400940057513,0.00456040705873,0.0499380673201,0.999999972486,9.87730394978e-05,-0.000211774487807,-2.05682543263e-05,1793239237212648704
+37,0.616666667,BASELINE,766,745.52838869,714,679,666.52838869,636,880.47161131,788,803.52838869,653.52838869,631.52838869,653,0.400939948572,0.00456095009003,0.0499381947357,0.999999972272,0.000101007723398,-0.000211752063903,-2.03760854509e-05,1793239237229315328
+38,0.633333333,BASELINE,766,745.047208849,714,679.047208849,666,635.952791151,880.952791151,788,803,653,631.047208849,653,0.40094013881,0.00456148251073,0.0499384862861,0.99999997211,0.000103327160388,-0.000211416363007,-2.01421469495e-05,1793239237245982208
+39,0.650000000,BASELINE,766,745.621408408,714,679.621408408,666,635.378591592,880.378591592,788,803,653,631.621408408,653,0.400939516672,0.00456071377631,0.0499377230206,0.999999972045,0.000101121413777,-0.000212770897715,-2.03401448497e-05,1793239237262648832
+40,0.666666667,BASELINE,766,746,714,679.804134377,666.195865623,635.195865623,880,788,803.195865623,653,632,653,0.400939362227,0.00456050100479,0.0499373139065,0.99999997205,9.99279164595e-05,-0.000213288212405,-2.05439321242e-05,1793239237279315456
+41,0.683333333,BASELINE,766,746,714,679.22917851,666.77082149,635.77082149,880,788,803.77082149,653,632,653,0.400940112985,0.00456136427771,0.0499375902381,0.999999972204,0.000100693588143,-0.000212185120457,-2.07589244942e-05,1793239237295982080
+42,0.700000000,BASELINE,766,745.642569232,714,679,667,636,880,788,804,653.357430768,632,653,0.400940391183,0.00456083406813,0.0499376825004,0.999999972324,0.00010020861159,-0.000211857297516,-2.06527254451e-05,1793239237312648704
+43,0.716666667,BASELINE,766,745.048236188,714,679,667,636,880,788,804,653.951763812,632,653,0.400940356173,0.00455938026937,0.0499376527629,0.999999972422,9.88947152845e-05,-0.000212043316762,-2.03336432643e-05,1793239237329315328
+44,0.733333333,BASELINE,766,745,714.530044871,679,667,636,880,788,804,654,632,653,0.400939681324,0.00455927496986,0.0499373657603,0.999999972547,9.59207345411e-05,-0.000212799531208,-2.05557761145e-05,1793239237345982208
+45,0.750000000,BASELINE,766,745.10617429,714.89382571,679,666.89382571,635.89382571,880,788,803.89382571,653.89382571,631.89382571,653,0.400939272028,0.0045593629703,0.0499372233442,0.999999972673,9.36032459556e-05,-0.000213219541211,-2.07521176786e-05,1793239237362648832
+46,0.766666667,BASELINE,766,745.679077913,714.320922087,679,666.320922087,635.320922087,880,788,803.320922087,653.320922087,631.320922087,653,0.400940278515,0.00455977709387,0.0499378164046,0.999999972833,9.48162019091e-05,-0.000211940239497,-2.06249388797e-05,1793239237379315456
+47,0.783333333,BASELINE,766,746,714,679,666,635.260773198,880,788,803.260773198,653,631,653,0.400940380679,0.00456043081907,0.0499378859157,0.999999972736,9.61322849744e-05,-0.000211796567735,-2.07192505907e-05,1793239237395982080
+48,0.800000000,BASELINE,766,746,714,679,666,635.853665569,880,788,803.853665569,653,631,653,0.400939331102,0.00456138969951,0.0499372886377,0.999999972311,9.75797102729e-05,-0.000213099227261,-2.10956512624e-05,1793239237412648960
+49,0.816666667,BASELINE,766.435388996,746,714,679.435388996,666,636,880,788,804.435388996,653,631.435388996,653,0.400939070698,0.00456068507145,0.049937113331,0.999999972292,9.70757235024e-05,-0.000213433462766,-2.09601994595e-05,1793239237429315328
+50,0.833333333,BASELINE,766.986609132,746,714,679.986609132,666.013390868,636,880,788,804.986609132,653.013390868,632,653,0.400939119736,0.00455946935438,0.0499371195461,0.999999972418,9.59764521446e-05,-0.000213365628992,-2.06642625336e-05,1793239237445982208
+51,0.850000000,BASELINE,766.411189425,746,714,679.411189425,666.588810575,636,880,788,804.411189425,653.588810575,632,653,0.400941302394,0.00455968203547,0.0499389407662,0.999999973112,9.67315329154e-05,-0.000209741907698,-2.0672444825e-05,1793239237462649088
+52,0.866666667,BASELINE,766,746,714,679.157267093,666.842732907,636,880,788,804,653.842732907,631.842732907,653,0.400942387314,0.0045596470283,0.0499397059284,0.999999973468,9.6628942459e-05,-0.000208082556395,-2.06866813423e-05,1793239237479315968
+53,0.883333333,BASELINE,766,746,714,679.708289585,666.291710415,636,880,788,804,653.291710415,631.291710415,653,0.400940723784,0.0045589918749,0.0499378269997,0.999999972999,9.4378969001e-05,-0.000211341470626,-2.07160760476e-05,1793239237495982592
+54,0.900000000,BASELINE,766,745.709120109,714,679.709120109,666.290879891,636,880,788,803.709120109,653,631,653,0.400940571501,0.00455875160734,0.0499375967559,0.999999972996,9.28576518456e-05,-0.000212023815521,-2.07565176589e-05,1793239237512648960
+55,0.916666667,BASELINE,766,745.091017962,714,679.091017962,666.908982038,636,880,788,803.091017962,653,631,653,0.400942119281,0.00455897806124,0.0499392211828,0.999999973527,9.21560290435e-05,-0.000209807675772,-2.08093863688e-05,1793239237529315840
+56,0.933333333,BASELINE,766,745.493597888,714.493597888,679,667,636,880,788,803.493597888,653.493597888,631.493597888,653,0.400940743781,0.00455913060697,0.0499386375118,0.999999973146,9.42531051357e-05,-0.000210707921274,-2.0647573977e-05,1793239237545982208
+57,0.950000000,BASELINE,766,746,714.928039556,679,666.928039556,636,880,788,804,654,631.928039556,653,0.400939185565,0.0045591966726,0.0499377394413,0.999999972673,9.64041811656e-05,-0.000211990304506,-2.04834248142e-05,1793239237562649088
+58,0.966666667,BASELINE,766,746,714.352968969,679,666.352968969,636,880,788,804,654,631.352968969,653,0.400939879175,0.00455874734364,0.049937309097,0.999999972713,9.5553917327e-05,-0.000212181974109,-2.05621234431e-05,1793239237579315712
+59,0.983333333,BASELINE,766,745.772760033,714,679,666,636,880,788,804,653.772760033,631.227239967,653,0.400940199744,0.00455908517854,0.0499370135834,0.999999972654,9.55253806856e-05,-0.000212453920711,-2.07306551928e-05,1793239237595982336
+60,1.000000000,BASELINE,766,745.184385027,714,679,666,636,880,788,804,653.184385027,631.815614973,653,0.400939927468,0.00456067399247,0.0499369323458,0.99999997244,9.68027518864e-05,-0.000212853445418,-2.104195184e-05,1793239237612648704
+61,1.016666667,BASELINE,766,745.397943686,714,679,666,636,880,787.602056314,804,653,631.602056314,653,0.400940245728,0.00456047404878,0.0499370540201,0.999999972677,9.62158453919e-05,-0.000212015993285,-2.09144868129e-05,1793239237629315328
+62,1.033333333,BASELINE,766,745.977512776,714,679,666,636,880,787.022487224,804,653,631.022487224,653,0.400940833514,0.00455945769846,0.0499372683053,0.999999973118,9.47780641865e-05,-0.00021061397276,-2.05867666334e-05,1793239237645981952
+63,1.050000000,BASELINE,766,746,714,679,666,636,880,787.554091517,804,653,631,653,0.400941817229,0.00455976142751,0.0499387534545,0.999999973048,9.73656316911e-05,-0.000209782945186,-2.03706230566e-05,1793239237662648576
+64,1.066666667,BASELINE,766.13013883,746,714,679,666.13013883,636,880,788,804,653,631,653,0.400942077924,0.00455990715626,0.04993951917,0.999999972933,9.89062711701e-05,-0.000209623184872,-2.02613095778e-05,1793239237679315200
+65,1.083333333,BASELINE,766.704783246,746,714,679,666.704783246,636,880,788,804,653,631,653,0.400939814459,0.00455933120841,0.0499376523478,0.999999972748,9.63159987731e-05,-0.000211677496645,-2.05015041021e-05,1793239237695982080
+66,1.100000000,BASELINE,766.714008452,746,714,679.285991548,667,636,880,788,804,653,631.285991548,653,0.400939586946,0.00455911490949,0.0499371517415,0.999999972786,9.53208924152e-05,-0.000211941984864,-2.05787702501e-05,1793239237712649216
+67,1.116666667,BASELINE,766.125865408,746,714,679.874134592,667,636,880,788,804,653,631.874134592,653,0.400941510425,0.0045592785815,0.0499380945493,0.999999973065,9.60110870896e-05,-0.000210315515453,-2.04839017416e-05,1793239237729315840
+68,1.133333333,BASELINE,766,746,714,679.542929637,667,636,879.542929637,788,804,653,632,653,0.400940677909,0.00455843889907,0.049937741003,0.999999972984,9.41542001218e-05,-0.000211543113876,-2.03846574951e-05,1793239237745982464
+69,1.150000000,BASELINE,766,746,714,679,666.961884968,636,879,788,804,653,631.961884968,653,0.400939231603,0.00455749720898,0.0499370956253,0.999999972789,9.20740646678e-05,-0.000213383695479,-2.02844337077e-05,1793239237762649088
+70,1.166666667,BASELINE,766,746,714,679,666.387500247,636,879,788,804,653,631.387500247,653,0.400939707095,0.00455896395473,0.0499373103313,0.999999972463,9.66102599442e-05,-0.000212915418629,-2.01871907315e-05,1793239237779315712
+71,1.183333333,BASELINE,766,745.813997121,714,679,666.186002879,636,879.186002879,788,803.813997121,653,631,653,0.400940408082,0.00456002725325,0.0499377023055,0.999999972359,9.92227872067e-05,-0.000212192682465,-2.02631381579e-05,1793239237795982336
+72,1.200000000,BASELINE,766,745.242321855,714,679,666.757678145,636,879.757678145,788,803.242321855,653,631,653,0.400941576628,0.00456025401412,0.0499384618412,0.99999997275,9.78466370789e-05,-0.000210942331105,-2.06981915996e-05,1793239237812648960
+73,1.216666667,BASELINE,766,745.342785206,714,679,666.657214794,636,880,788,803.342785206,653,631.342785206,653,0.400941170637,0.00456095205111,0.0499383323585,0.99999997281,9.74301454394e-05,-0.000210832429233,-2.09275669699e-05,1793239237829315584
+74,1.233333333,BASELINE,766,745.937774678,714,679,666.062225322,636,880,788,803.937774678,653,631.937774678,653,0.40093960618,0.00456199682956,0.0499375487804,0.999999972626,9.77197227594e-05,-0.000211561613321,-2.10056146424e-05,1793239237845982208
+75,1.250000000,BASELINE,766,746,714,679,666,636,879.482568319,788,803.482568319,653,632,653,0.400940426418,0.00456058678241,0.0499375796662,0.999999972849,9.69410761741e-05,-0.00021088868911,-2.07396560864e-05,1793239237862649088
+76,1.266666667,BASELINE,765.905122964,746,714,679.094877036,666,635.905122964,879.094877036,788,803.094877036,653,631.905122964,653,0.400941245131,0.00455926413086,0.0499376417281,0.999999973047,9.60223395837e-05,-0.000210394728477,-2.04731770841e-05,1793239237879315968
+77,1.283333333,BASELINE,765.329808763,746,714,679.670191237,666,635.329808763,879.670191237,788,803.670191237,653,631.329808763,653,0.400940645728,0.00455983590396,0.049937379956,0.999999972882,9.50260028936e-05,-0.00021163625853,-2.04075202761e-05,1793239237895982592
+78,1.300000000,BASELINE,765.251061437,745.748938563,714,679.748938563,666,635.251061437,879.748938563,788,804,653,631,653,0.400940635247,0.0045600040447,0.0499372507072,0.999999972793,9.51290961797e-05,-0.000212010135249,-2.04128102898e-05,1793239237912648960
+79,1.316666667,BASELINE,765.839395444,745.160604556,714,679.160604556,666,635.839395444,879.160604556,788,804,653,631,653,0.400941415917,0.00455962995107,0.0499372994884,0.999999972807,9.67091490464e-05,-0.000211218418007,-2.05134093182e-05,1793239237929315584
+80,1.333333333,BASELINE,766,745.421874435,714,679,666,636,879.421874435,788,803.578125565,653,631.421874435,653,0.400941234488,0.00455879208407,0.0499373388956,0.999999972985,9.53752409688e-05,-0.000210968038595,-2.06214239021e-05,1793239237945982208
+81,1.350000000,BASELINE,766,746,714,679,666,636,880,788,803.002139328,653.002139328,631.997860672,653,0.400940689193,0.00455779129118,0.0499373700138,0.999999973218,9.29682282282e-05,-0.0002109269622,-2.07319447632e-05,1793239237962648832
+82,1.366666667,BASELINE,766,746,714,679,666,636,880,788,803.578193893,653.578193893,631.421806107,653,0.400939441863,0.00455979848814,0.0499361216724,0.999999972577,9.62040819239e-05,-0.000212506392353,-2.07678501713e-05,1793239237979315456
+83,1.383333333,BASELINE,766,746,714,679,666.156988219,636,880.156988219,788,803.843011781,653.843011781,631.156988219,653,0.400939071538,0.00456086455672,0.0499357124338,0.999999972274,9.80006880192e-05,-0.000213112757704,-2.07568066076e-05,1793239237995982080
+84,1.400000000,BASELINE,766,746,714,679,666.743274798,636,880.743274798,788,803.256725202,653.256725202,631.743274798,653,0.400941099461,0.00455935702581,0.0499375977969,0.99999997292,9.58615432301e-05,-0.000211058190466,-2.06173768801e-05,1793239238012648960
+85,1.416666667,BASELINE,766,746,714,679,666.673907596,636,880.347815192,788,803.326092404,653,631.673907596,653,0.400940888973,0.00455918074818,0.0499376409307,0.999999973004,9.41844635444e-05,-0.000211407526417,-2.07059154585e-05,1793239238029315840
+86,1.433333333,BASELINE,766,746,714,679,666.093792322,636,879.187584644,788,803.906207678,653,631.093792322,653,0.400938934783,0.00456004150425,0.0499362489852,0.999999972649,9.28673282928e-05,-0.000213629480134,-2.097203918e-05,1793239238045982464
+87,1.450000000,BASELINE,766,746,714,679.483313315,666,636,879.483313315,788,803.516686685,653,631,653,0.400939250345,0.0045602156561,0.0499368163748,0.999999972696,9.51465552578e-05,-0.000212423657753,-2.0770818323e-05,1793239238062648832
+88,1.466666667,BASELINE,766,746,714,679.94011631,666.05988369,636,880,788,803.05988369,653,631.05988369,653,0.400939961892,0.00456025540707,0.0499376437819,0.999999972794,9.76804382832e-05,-0.000210832486539,-2.051645113e-05,1793239238079315456
+89,1.483333333,BASELINE,766,746,714,679.363155811,666.636844189,636,880,788,803.636844189,653,631.636844189,653,0.400940312858,0.0045602780416,0.0499374535039,0.999999972747,9.64242220083e-05,-0.000211622179545,-2.05814447844e-05,1793239238095982080
+90,1.500000000,BASELINE,766,746,714,679,666.783207936,636,879.783207936,788,804,653,632,653,0.400940699514,0.0045598242396,0.0499373882229,0.999999972778,9.54248099462e-05,-0.000211923128066,-2.06542745038e-05,1793239238112648960
+91,1.516666667,BASELINE,766,746,714,679,666.198185943,636,879.198185943,788,804,653,632,653,0.400941146788,0.00455856119121,0.0499375352542,0.999999972942,9.48615901661e-05,-0.000211393924589,-2.07404140843e-05,1793239238129315584
+92,1.533333333,BASELINE,766,745.6170467,714,679,666.3829533,636,879,788,803.6170467,653,632,653,0.400940787829,0.0045597879512,0.0499373908927,0.999999972879,9.58413308255e-05,-0.000211229094966,-2.0941985823e-05,1793239238145982208
+93,1.550000000,BASELINE,766,745.037896637,714,679,666.962103363,636,879,788,803.037896637,653,632,653,0.400940015818,0.00456229030355,0.0499370972432,0.999999972698,9.7611569503e-05,-0.000211250943333,-2.12026964143e-05,1793239238162649088
+94,1.566666667,BASELINE,766,745.538255425,714,679,666.461744575,636,879.538255425,788,803,653,632,653,0.400939680541,0.0045613252261,0.0499372872365,0.999999972838,9.65936350879e-05,-0.000211072095755,-2.10391924704e-05,1793239238179315712
+95,1.583333333,BASELINE,766,746,714,679,666,636,880,787.885792539,803,653,632,653,0.400939642803,0.00456058301877,0.0499374341543,0.999999972955,9.57037560176e-05,-0.000210933348144,-2.09248641828e-05,1793239238195982592
+96,1.600000000,BASELINE,766,746,714,679,666,636,880,787.309800367,803,653,632,653,0.400940684483,0.00456172360193,0.0499372699801,0.999999972894,9.6120994911e-05,-0.000211013557769,-2.11294685176e-05,1793239238212649216
+97,1.616666667,BASELINE,766,746,714,679,666,636,880,787.273105362,803.273105362,653,631.726894638,653,0.400941969713,0.00456167421835,0.0499374865748,0.999999972996,9.66393295723e-05,-0.000210284960788,-2.11819269621e-05,1793239238229315584
+98,1.633333333,BASELINE,766,746,714,679,666,636,880,787.864057217,803.864057217,653,631.135942783,653,0.400943538393,0.0045602399232,0.0499381463174,0.999999973287,9.72753218599e-05,-0.000208615055501,-2.1057314401e-05,1793239238245982208
+99,1.650000000,BASELINE,766.444786617,746,714.444786617,679.444786617,666.444786617,636,880,788,804,653.444786617,631.444786617,653,0.400942590615,0.00455919205583,0.0499377282549,0.999999973182,9.59138473507e-05,-0.000209786504926,-2.06345486191e-05,1793239238262648832
+100,1.666666667,BASELINE,766.977588266,746,714.977588266,680,667,636,879.977588266,788,803.977588266,653.977588266,631.977588266,653,0.400940960062,0.00455836481458,0.0499370296837,0.999999972952,9.41837407341e-05,-0.000211704565088,-2.01574036206e-05,1793239238279315456
+101,1.683333333,BASELINE,766.401201938,746,714.401201938,680,667,636,879.401201938,788,803.401201938,653.401201938,631.401201938,653,0.400941036695,0.0045601372539,0.0499373570724,0.999999972698,9.80930545644e-05,-0.000211093991297,-2.05379711373e-05,1793239238295982592
+102,1.700000000,BASELINE,766,746,714,679.825108333,666.825108333,636,879.174891667,788,803.174891667,653,631,653,0.400941006737,0.00456077274829,0.0499374569338,0.999999972638,9.94273577645e-05,-0.000210730475418,-2.07581202048e-05,1793239238312649216
+103,1.716666667,BASELINE,766,746,714,679.249685189,666.249685189,636,879.750314811,788,803.750314811,653,631,653,0.400940732667,0.0045588044464,0.0499370357195,0.999999973042,9.48644508714e-05,-0.000210932763999,-2.06108838584e-05,1793239238329315840
+104,1.733333333,BASELINE,766,746,714,678.664370257,666,636,880,788,804,653,631,653,0.40094038406,0.00455851561493,0.0499369211645,0.999999973113,9.38089466658e-05,-0.00021106695878,-2.06209719673e-05,1793239238345982208
+105,1.750000000,BASELINE,766,746,714,678.071472993,666,636,880,788,804,653,631,653,0.400939978318,0.00455951413399,0.0499370416704,0.999999972938,9.54419426653e-05,-0.0002111489582,-2.07516526881e-05,1793239238362648832
+106,1.766666667,BASELINE,766,746,714,678.508143985,666.508143985,636,880,788,803.491856015,653,631,653,0.400940249265,0.0045604725022,0.0499372072323,0.999999972958,9.59820086205e-05,-0.000210798739502,-2.08548084612e-05,1793239238379315968
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666,636,880,788,803,653,631,653,0.400943155946,0.00455918359656,0.0499379769423,0.999999973634,9.24044743842e-05,-0.000209164466867,-2.10448395041e-05,1793239238422786048
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.539505966,636,879.460494034,788,803,653,631.539505966,653,0.400942053438,0.00455888019109,0.0499383355502,0.999999973573,9.25315483611e-05,-0.000209411678034,-2.09250272868e-05,1793239238439452416
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.906514027,746,714,679,666.906514027,636,879,788,803.093485973,653,632,653,0.400941142174,0.00455886381093,0.0499385530539,0.999999973475,9.29920824743e-05,-0.000209687130446,-2.08396962863e-05,1793239238456118784
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.268176756,746,714,679,666.268176756,636,879,788,803.731823244,653,632,653,0.40094134551,0.00456052026042,0.0499379481802,0.999999973154,9.53960760015e-05,-0.000210127177486,-2.09553273199e-05,1793239238472785408
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.332517697,746,714,679,666.332517697,635.667482303,879.332517697,787.667482303,804,653,632,653,0.400942241854,0.00456123226509,0.0499377881751,0.999999973165,9.6185940924e-05,-0.00020971182889,-2.09402523861e-05,1793239238489452800
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.905940354,746,714,679,666.905940354,635.094059646,879.905940354,787.094059646,804,653,632,653,0.400943640275,0.00456126003106,0.0499379504719,0.999999973421,9.58063894855e-05,-0.000208676756707,-2.08304825882e-05,1793239238506120704
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.516515317,635.483484683,879.516515317,787.483484683,803.516515317,653,632,653,0.400949236072,0.00456038620092,0.0499396616718,0.999999974439,9.44566905502e-05,-0.00020437367396,-2.07735212998e-05,1793239238522787328
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.063355023,636,879.063355023,788,803.063355023,653,631.936644977,653,0.40095684407,0.00455941547599,0.0499420418532,0.999999975733,9.32231027502e-05,-0.000198527788216,-2.07334012375e-05,1793239238539453440
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666.655898713,636,879.655898713,788,803.655898713,653,631.344101287,653,0.400974380155,0.00455911309291,0.0499474712801,0.999999978174,9.45493949489e-05,-0.000185151392534,-2.07474007027e-05,1793239238556119040
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,714,678.75715712,667,636,880.24284288,788,804,653,631.24284288,653,0.40099742767,0.00455830083868,0.0499529383147,0.999999981009,9.38972814913e-05,-0.000169500881078,-2.0872338357e-05,1793239238572785408
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,714,678.177968535,667,636,880.822031465,788,804,653,631.822031465,653,0.401028108704,0.00455678239547,0.0499584574369,0.999999984325,9.05050083347e-05,-0.000150700642502,-2.11509292e-05,1793239238589452544
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.397897373,746,714,678.397897373,666.602102627,636,880.602102627,788,804,653,632,653.397897373,0.401066546567,0.00455732785761,0.0499628804953,0.999999987198,9.05299922324e-05,-0.000130108468178,-2.19318202525e-05,1793239238606118912
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.972289498,746,714,678.972289498,666.027710502,636,880.027710502,788,804,653,632,653.972289498,0.401108425118,0.00455878880306,0.0499668173746,0.999999989588,9.20707634838e-05,-0.000108721445894,-2.29355158862e-05,1793239238622785792
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.439665386,746,714,679,666,636,880,788,803.439665386,653,631.439665386,653.439665386,0.401165342732,0.00455988820482,0.0499721985607,0.999999992057,9.07435518707e-05,-8.40458637293e-05,-2.4257755309e-05,1793239238639452416
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666,636,880,788.146798894,803.146798894,653,631,653,0.401226254931,0.00456027942687,0.0499769894543,0.999999993564,8.98829604826e-05,-6.45472161761e-05,-2.50152872325e-05,1793239238656119040
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666,636,880,788.726559767,803.726559767,653,631,653,0.401296700268,0.00455863602637,0.0499798234457,0.999999993737,9.0827356543e-05,-6.08088131243e-05,-2.40596750774e-05,1793239238672785408
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.303812273,636,880,788.696187727,803.696187727,653,631,653,0.401375611984,0.00455807774144,0.0499821030878,0.999999993948,9.0871577779e-05,-5.74329476311e-05,-2.33844089725e-05,1793239238689452032
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666.878825626,636,880,788.121174374,803.121174374,653,631,653,0.401462081295,0.00455848809593,0.0499838878841,0.999999994198,9.01122488529e-05,-5.43807051583e-05,-2.29593966447e-05,1793239238706118912
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.5461657,880,788,803.4538343,653,631.4538343,653,0.401565900812,0.00455791759821,0.0499823044868,0.999999994184,8.8914174571e-05,-5.68410974228e-05,-2.22528074607e-05,1793239238722785792
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.970436279,635.029563721,880,787.970436279,803.970436279,653,632,653,0.401675657636,0.00455706219005,0.049979932813,0.999999994109,8.74777329364e-05,-6.05659519861e-05,-2.14733899931e-05,1793239238739452672
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666.381034527,635.618965473,880,787.381034527,803.381034527,653,632,653,0.401810123562,0.00455577077875,0.0499796636083,0.999999994456,8.37457335581e-05,-6.03632789496e-05,-2.07385178738e-05,1793239238756119296
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.205190391,636,880,787.205190391,803,653,632,653,0.40195914848,0.00455427064968,0.0499806547,0.999999994853,8.06902368209e-05,-5.82722873962e-05,-1.97029676064e-05,1793239238772785664
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.785605868,636,880,787.785605868,803,653,632,653,0.402134796944,0.00455238884527,0.0499839504552,0.999999995335,7.88718391751e-05,-5.27281883583e-05,-1.81175769339e-05,1793239238789452032
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,803,653,631.637546979,653,0.402323197861,0.00455087447482,0.0499829999554,0.99999999563,7.57877724498e-05,-5.20394118206e-05,-1.69511429418e-05,1793239238806118400
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,803,653,631.062789889,653,0.402519068446,0.00454957532583,0.0499795622446,0.999999995814,7.19623496264e-05,-5.41946025522e-05,-1.6030109451e-05,1793239238822785024
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.48894183,714,679,667,636,880,788,803.51105817,653,631,653,0.402747446484,0.0045466376013,0.0499790249825,0.999999996272,6.67691080465e-05,-5.27341432821e-05,-1.47583487507e-05,1793239238839451904
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,714,678.912319052,667,636,880,788,804,653,631.087680948,653.087680948,0.402987223098,0.00454327896862,0.0499799370335,0.999999996856,6.12544693723e-05,-4.85727991311e-05,-1.329150254e-05,1793239238856118528
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,714,678.319053637,667,636,880,788,804,653,631.680946363,653.680946363,0.403269737146,0.00453865208504,0.0499871549221,0.999999997943,5.48539014213e-05,-3.13946066913e-05,-1.09477876243e-05,1793239238872785920
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.267258878,714.267258878,678.267258878,667,636,880.267258878,788,804,653,632,653.732741122,0.403576582793,0.00453521802897,0.0499957414003,0.999999998635,4.99734895427e-05,-1.25489469352e-05,-8.69467130574e-06,1793239238889452800
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.845481449,714.845481449,678.845481449,667,636,880.845481449,788,804,653,632,653.154518551,0.403911738967,0.00453317186364,0.0500059202729,0.999999998847,4.68618250826e-05,8.23685985783e-06,-6.5469693042e-06,1793239238906119168
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,714.578886155,679,667,636,880.578886155,788,803.578886155,653,632,653,0.404266540459,0.0045305852269,0.0500137761097,0.999999998867,4.21095798736e-05,2.184761241e-05,-3.98391965899e-06,1793239238922785536
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,714.00419837,679,667,636,880.00419837,788,803.00419837,653,632,653,0.404628506297,0.00452780148835,0.0500207847696,0.999999998784,3.67590393948e-05,3.28417292093e-05,-1.26939896824e-06,1793239238939452160
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,714,679.584831676,667,636,880,788,803.584831676,653,631.415168324,653.584831676,0.405016606422,0.00452199095326,0.0500221623207,0.999999998826,3.03256571566e-05,3.77664259353e-05,1.66357591366e-06,1793239238956118528
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,714,679.829159138,667,636,880,788,804,653,631,654,0.405411112167,0.0045174760939,0.0500180369582,0.999999999177,2.45225068262e-05,3.20453541272e-05,4.31693361446e-06,1793239238972785408
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,714,679.250611129,667,636,880,788,804,653,631,654,0.405820445708,0.00451610648939,0.0500008779363,0.999999999775,2.02424065644e-05,1.02503465608e-06,6.29915533252e-06,1793239238989452032
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.325887497,746,714,679,667,636,880.325887497,788,803.674112503,653,631,653.674112503,0.406258368501,0.00451166770273,0.0499842292111,0.99999999944,1.51788843969e-05,-2.8342215595e-05,9.26218134921e-06,1793239239006118656
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.900820034,746,714,679,667,636,880.900820034,788,803.099179966,653,631,653.099179966,0.406718139403,0.00450488342985,0.0499679704556,0.999999998277,9.51666639346e-06,-5.64461844161e-05,1.29747436801e-05,1793239239022785792
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.523545754,746,714,679,667,636,880.523545754,788,803.476454246,653,631,653,0.407212191725,0.00450013969127,0.0499592472381,0.999999997422,9.46074878453e-06,-6.93287737506e-05,1.61522019232e-05,1793239239039452416
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,803.946194493,653,631.053805507,653,0.407720369383,0.00449563002434,0.049954686085,0.999999996989,1.19354135222e-05,-7.42293171239e-05,1.91994588872e-05,1793239239056119040
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,803.353099091,653,631.646900909,653,0.408298494551,0.00448920278606,0.0499760957296,0.999999998885,2.80597223069e-05,-3.09309996172e-05,2.20598066401e-05,1793239239072785408
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880.233905439,788,803,653,631.766094561,653,0.408893792715,0.00448190513795,0.0499975839857,0.999999999231,3.01886043156e-05,6.72860228139e-06,2.41011237519e-05,1793239239089451776
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880.811948625,788,803,653,631.188051375,653,0.409514356937,0.0044733268835,0.0500191878993,0.999999998969,1.17264522774e-05,3.60921358292e-05,2.49374265952e-05,1793239239106118656
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,714.386682842,679,667,636,880.613317158,788,803,653,631.386682842,653,0.410133584583,0.00446589833481,0.050019800907,0.999999999111,-6.54349962043e-06,3.31194795144e-05,2.52670220773e-05,1793239239122785280
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,714.959821481,679,667,636,880.040178519,788,803,653,631.959821481,653,0.410752167722,0.00445902416656,0.0500102922441,0.999999999267,-2.47207733988e-05,1.45545348611e-05,2.53522867397e-05,1793239239139452160
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,714.465346451,679,667,636,880,788,803.534653549,653,631.465346451,653,0.411360677007,0.00445158765631,0.0499810877986,0.999999997892,-3.58543012066e-05,-4.71361251795e-05,2.66159026884e-05,1793239239156118784
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804,653,631.113411016,653,0.411988905839,0.00444433708077,0.0499580823137,0.999999994307,-4.38054155129e-05,-9.32719938322e-05,2.77085787674e-05,1793239239172785408
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804,653,631.708291027,653,0.412704074898,0.00443805583967,0.0499676971242,0.999999997022,-4.05004034878e-05,-5.95701660233e-05,2.76984294785e-05,1793239239189452800
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.707059196,746,714,679,667,635.707059196,880.292940804,788,804,653,631.707059196,653.292940804,0.413444498699,0.00443253707297,0.0499848571243,0.999999998456,-4.10383533838e-05,-2.39918896758e-05,2.8789258376e-05,1793239239206119424
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.132252808,746,714,679,667,635.132252808,880.867747192,788,804,653,631.132252808,653.867747192,0.414209222519,0.00442775195305,0.0500092770539,0.999999998407,-4.52739738501e-05,1.33918962355e-05,3.0939440743e-05,1793239239222785792
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.44318882,746,714,679,667,635.44318882,880.55681118,788,804,653,631,653.55681118,0.414952958081,0.00443075825939,0.0499942911688,0.999999998439,-4.50096495652e-05,-9.70797414752e-06,3.16571964022e-05,1793239239239452160
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.980733708,746,714,679.019266292,667,635.980733708,880.019266292,787.980733708,804,652.980733708,631,653,0.415690811083,0.00443647708268,0.0499679646403,0.999999997314,-4.28461013677e-05,-5.02055198209e-05,3.18697385227e-05,1793239239256118784
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.391459644,746,714,679.608540356,667,635.391459644,880.608540356,787.391459644,804,652.391459644,631,653,0.416440191327,0.00445356055672,0.049954519665,0.999999996764,-2.42784506188e-05,-7.06654902073e-05,2.97998350792e-05,1793239239272785152
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,746,714,679.805817221,667,635,880.805817221,787.194182779,804,652.194182779,631,653,0.417215885172,0.00446369608853,0.0499549778949,0.999999997238,-1.14135702778e-05,-6.75633198479e-05,2.87879740677e-05,1793239239289451776
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,746,714,679.227361573,667,635,880.227361573,787.772638427,804,652.772638427,631,653,0.418043651578,0.00446008217305,0.0499829495051,0.999999999347,-9.83403754739e-06,-1.7833473716e-05,2.98698982238e-05,1793239239306118656
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,746,714,679,667,635.349849918,880.349849918,788,804.349849918,653,631,653,0.418855527798,0.00445414026463,0.0499925521663,0.999999999348,-1.55548499314e-05,-8.41280059789e-06,3.14927249375e-05,1793239239322785536
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,746,714,679,667,635.926255695,880.926255695,788,804.926255695,653,631,653,0.419657113818,0.00444669079437,0.0499902594597,0.999999998787,-2.60032209166e-05,-2.50955494388e-05,3.34658293886e-05,1793239239339452416
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,746,714,679,667,636,881,788,804.499632755,653,631.500367245,653,0.420503309865,0.00444363060659,0.0499825411743,0.999999998549,-3.34621738359e-05,-2.65963648942e-05,3.27835607804e-05,1793239239356119040
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,746,714,679.076681616,667,636,881,788,804,653,632,653,0.421359913944,0.00444117470469,0.0499789436712,0.999999998534,-3.94818465421e-05,-1.86926041486e-05,3.20027276423e-05,1793239239372785408
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,746,714,679.670108352,667,636,881,788,804,653,632,653,0.422242552446,0.00443845157093,0.0500084794056,0.999999997992,-3.87578944236e-05,3.75776269787e-05,3.31828913943e-05,1793239239389452032
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,746,714.256207839,680,667.256207839,636,881,788,804,653,632,653,0.423101227604,0.00443885054831,0.0500197837998,0.999999997009,-3.78335359349e-05,5.8359013452e-05,3.38274040358e-05,1793239239406118656
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,746,714.833135199,680,667.833135199,636,881,788,804,653,632,653,0.423929905701,0.00444315776633,0.0500082663098,0.999999998154,-3.66583098941e-05,3.47156730874e-05,3.38013919023e-05,1793239239422785024
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.408263432,746,714.591736568,679.591736568,667.591736568,636,880.591736568,788,804,653,631.591736568,653,0.424779604,0.00444526948226,0.05000193752,0.999999998505,-3.51620270587e-05,2.40472602197e-05,3.42811204673e-05,1793239239439451904
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.982659521,746,714.017340479,679.017340479,667.017340479,636,880.017340479,788,804,653,631.017340479,653,0.4256378559,0.00444648779291,0.0499977201436,0.999999998652,-3.35350982157e-05,1.86586730227e-05,3.49666476447e-05,1793239239456119040
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667.572899375,636,880,788,804,653,631.572899375,653,0.426518689123,0.00444346916868,0.0500178850827,0.999999997714,-3.89572844905e-05,4.12998547494e-05,3.67340277422e-05,1793239239472785920
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.839474037,746,714.160525963,679.160525963,667.839474037,636,880.160525963,788,804,653,632,653,0.427376064242,0.00444148170817,0.0500237839998,0.999999997639,-4.12898342248e-05,3.94156862544e-05,3.82492519029e-05,1793239239489452544
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.259955731,746,714.740044269,679.740044269,667.259955731,636,880.740044269,788,804,653,632,653,0.428170376069,0.00444252996185,0.049990465795,0.999999998213,-3.4985314787e-05,-2.87600577501e-05,3.90184176052e-05,1793239239506119168
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.31720654,746,714.68279346,680,667,635.68279346,881,788,804.31720654,653,632,653,0.428997113838,0.00444160291906,0.049972060727,0.999999997188,-3.2798432194e-05,-5.49136401676e-05,3.91570573515e-05,1793239239522785792
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.89245221,746,714.10754779,680,667,635.10754779,881,788,804.89245221,653,632,653,0.429850229213,0.00443906902478,0.0499657871029,0.999999997572,-3.39611386592e-05,-4.68833024362e-05,3.87827809789e-05,1793239239539451904
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.531826631,745.531826631,714.468173369,679.531826631,667,635.468173369,881,788,804.531826631,653,631.531826631,653,0.430697085418,0.00443688038732,0.0499731539718,0.999999997963,-3.80838545043e-05,-3.38636597288e-05,3.84230041278e-05,1793239239556118528
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.044889598,714.955110402,679,667,636,881,788,804,653,631.044889598,653,0.431538362651,0.00443512657955,0.0499812949932,0.999999998104,-4.22307167095e-05,-2.35079708207e-05,3.81440929117e-05,1793239239572785152
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.632310165,714.367689835,679,667,636,881,788,804,653,631.632310165,653,0.432329607535,0.00443766855265,0.0499608831017,0.999999996755,-3.84430396694e-05,-5.92146807709e-05,3.88022190318e-05,1793239239589452032
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,746,714.216469739,679.216469739,667.216469739,635.783530261,881,788,804,653,632,653,0.433132433122,0.00443861238273,0.0499549517771,0.999999996107,-3.8109914355e-05,-6.91574651745e-05,3.93760514303e-05,1793239239606118912
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,746,714.79517257,679.79517257,667.79517257,635.20482743,881,788,804,653,632,653,0.433954637589,0.00443688193511,0.0499732517369,0.999999997611,-4.35575177408e-05,-3.59877793142e-05,3.98088297275e-05,1793239239622785536
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.371964488,746,714.628035512,680,668,635.371964488,881,788,804,653,632,653,0.43474663022,0.0044359403963,0.0499889305027,0.999999997987,-4.67899201106e-05,-1.30258141114e-05,4.08347172319e-05,1793239239639452160
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.947709479,746,714.052290521,680,668,635.947709479,881,788,804,653,632,653,0.435522071266,0.00443543106078,0.050003173248,0.99999999791,-4.88087257241e-05,4.3438559684e-06,4.21855392106e-05,1793239239656118784
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,714.531654133,680,668,635.468345867,879.936691734,788,804,653,632,653,0.436228137824,0.00443639432549,0.0499810811172,0.999999996747,-4.43146744684e-05,-5.11814220834e-05,4.38402163463e-05,1793239239672785408
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715,680,668,635,879.231857376,788,804,652.884071312,632,653,0.436938344012,0.00443684350704,0.0499624912282,0.999999993708,-3.98935579233e-05,-9.46882835386e-05,4.50114855216e-05,1793239239689452032
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,715,680,668,635,880.396470335,788,804,652.301764832,632,653,0.437693083661,0.00443463274554,0.0499725928371,0.999999996457,-3.83832107758e-05,-6.05507400075e-05,4.41159070306e-05,1793239239706118656
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,714.721672149,680,668,635.278327851,881,788,804.278327851,652,632,653,0.438430688927,0.00443288765936,0.0499874327423,0.999999997944,-3.86318942585e-05,-2.63362488418e-05,4.38884107803e-05,1793239239722785280
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,714.143960773,680,668,635.856039227,881,788,804.856039227,652,632,653,0.439149863537,0.00443164347727,0.0500073693985,0.999999998152,-4.07726802186e-05,7.96100887016e-06,4.43795376636e-05,1793239239739452160
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667.572715411,635.572715411,881,788,805,652,632,653,0.439789444604,0.00443093533416,0.0499952790094,0.999999998465,-3.25671752693e-05,-6.93466535235e-06,4.42924903035e-05,1793239239756118784
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667.003616057,635.003616057,881,788,805,652,632,653,0.440402608817,0.00443040510104,0.0499725589199,0.999999998084,-2.09277605112e-05,-3.81573568449e-05,4.401354826e-05,1793239239772785408
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,881,788,804.42574801,652.57425199,632,653,0.441010157043,0.00443098564656,0.0499605494444,0.999999997079,-2.42643829638e-05,-5.75761221071e-05,4.40271639301e-05,1793239239789452032
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,881,788,804.156538539,653,632,653,0.441615832323,0.00443222511254,0.0499550107635,0.999999996424,-2.76734632059e-05,-6.66665802537e-05,4.40614347136e-05,1793239239806118912
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,881,788,804.751030135,653,632,653,0.442216368215,0.00443528818992,0.0499673840185,0.999999997437,-3.10173334297e-05,-4.70723737843e-05,4.41482590294e-05,1793239239822785536
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.665054251,746,714.334945749,680,667,635,881,788,804.665054251,653,632,653,0.442774977202,0.00444008590177,0.0499699470849,0.999999997775,-2.76654237483e-05,-4.16758192666e-05,4.41362354804e-05,1793239239839451904
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.088759323,746,714.911240677,680,667,635,881,788,804.088759323,653,632,653,0.44330337522,0.00444613352513,0.0499654413016,0.999999997758,-1.94887893088e-05,-4.65095544195e-05,4.40529859168e-05,1793239239856118784
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.498373062,746,714.501626938,680,667,635,880.501626938,787.501626938,804,653,632,653,0.44375140752,0.00445262276756,0.0499342774855,0.999999993801,-9.77752596851e-06,-0.000101829917112,4.39585104295e-05,1793239239872785408
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880.086044034,787.086044034,804.086044034,652.913955966,632,653,0.444184484741,0.00445880037596,0.0498983530744,0.999999985471,-3.99131085107e-07,-0.000164765542212,4.36957934104e-05,1793239239889452032
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880.665489465,787.665489465,804.665489465,652.334510535,632,653,0.444615704465,0.00446272994839,0.0498629601714,0.999999975176,5.46839583705e-06,-0.000218662856354,4.24800510921e-05,1793239239906118656
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.755781622,746,714.244218378,680.244218378,667,635,881,788,804.755781622,652.244218378,632,653,0.445045873338,0.00446627142706,0.0498443909951,0.999999969661,1.00142941855e-05,-0.000242591814385,4.15631000329e-05,1793239239922785536
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.178031315,746,714.821968685,680.821968685,667,635,881,788,804.178031315,652.821968685,632,653,0.445474607014,0.00446928288118,0.0498487981845,0.99999997363,1.2755228284e-05,-0.000225592629989,4.10542119577e-05,1793239239939452160
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,746,714.60269109,681,667,634.60269109,881,788,804.39730891,653,632,653,0.445879075486,0.0044724797161,0.0498560949861,0.999999977721,1.66583052422e-05,-0.000206504208381,4.04583679794e-05,1793239239956118784
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714.028424244,681,667,634.028424244,881,788,804.971575756,653,632,653,0.446272736484,0.0044757591183,0.0498646787963,0.999999981596,2.10789907651e-05,-0.000186485257144,3.98237945424e-05,1793239239972785152
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.148288822,746,715,680.851711178,666,634.851711178,881,788,805,653,632,653,0.446901135252,0.00448169396081,0.0498426127541,0.999999975235,2.34905266901e-05,-0.000217880463625,3.87983956738e-05,1793239240006118400
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.727488376,746,715,680.272511624,666,634.272511624,881,788,805,653,632,653,0.447160472167,0.00448635798092,0.0498095927236,0.999999961442,2.96436580454e-05,-0.000273434069067,3.83576744648e-05,1793239240022785280
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715,680,666,634,880.695832575,788,804.695832575,652.695832575,632,653,0.447404791216,0.00449214669992,0.0497806457094,0.999999948275,3.61117476227e-05,-0.000317434365016,3.71563495148e-05,1793239240039451904
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666,634,880.12139319,788,804.12139319,652.12139319,632,653,0.447635765926,0.00449893478461,0.0497553178295,0.999999936799,4.28596971289e-05,-0.000351168813012,3.52791801892e-05,1793239240056118784
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.54773499,746,714.54773499,680,666,634,880.45226501,788,804.45226501,652,632,653,0.447861706291,0.00450152388295,0.0497505605771,0.999999934443,4.64294203522e-05,-0.000357397878242,3.50117559862e-05,1793239240072785664
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,714.026537634,680,666,634,881,788,804.973462366,652.026537634,632,653,0.448084993971,0.00450310385028,0.0497516643623,0.999999934861,4.92450794996e-05,-0.000355834852684,3.51403374055e-05,1793239240089452544
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,746,714.61835706,680,666,634,881,788,804.38164294,652.61835706,632,653,0.448280510583,0.00450715437475,0.0497602057049,0.999999938329,5.41384070196e-05,-0.000345281548812,3.45164843779e-05,1793239240106118656
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,746,714.794333689,680,665.794333689,633.794333689,881,787.794333689,804.205666311,652.794333689,632,653,0.448466446796,0.0045109880075,0.049765846792,0.999999940729,5.86955513357e-05,-0.000337572002515,3.37848847656e-05,1793239240122785280
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,746,714.215214174,680,665.215214174,633.215214174,881,787.215214174,804.784785826,652.215214174,632,653,0.448634986695,0.00451442780327,0.0497662215336,0.999999941377,6.26422466128e-05,-0.000335026212112,3.28576367192e-05,1793239240139451904
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.361615665,745.638384335,714,680,665.361615665,633,881,787,804.638384335,652,632,652.638384335,0.448776951335,0.00452135749632,0.0497657319442,0.999999940153,6.8084819562e-05,-0.000337807277904,3.07438919768e-05,1793239240156118272
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.937091441,745.062908559,714,680,665.937091441,633,881,787,804.062908559,652,632,652.062908559,0.448903199337,0.00453035112079,0.049764731188,0.999999937763,7.44120574465e-05,-0.000343738655116,2.79284510098e-05,1793239240172784896
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.476785742,745.523214258,714,680,666,633.523214258,881,787,804.523214258,652,632,652.523214258,0.449005797359,0.00454464460825,0.049764145854,0.999999935891,8.93425617698e-05,-0.000345897297265,2.43074300429e-05,1793239240189452288
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714,680.109203943,666,633.890796057,881,787.109203943,805,652.109203943,631.890796057,653,0.449101410971,0.00455833728517,0.0497634234861,0.999999933818,0.000104298893571,-0.000347909746657,2.10783540751e-05,1793239240206119168
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714,680.688989138,666,633.311010862,881,787.688989138,805,652.688989138,631.311010862,653,0.449179435361,0.00456663797713,0.0497618909046,0.999999931508,0.000114816450871,-0.000351287538832,1.99642982443e-05,1793239240222785792
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.266536115,745.733463885,714,680.733463885,665.733463885,633,881,788,805,652.733463885,631.266536115,653,0.449249164722,0.00456974446924,0.0497605455789,0.999999929885,0.000119580688894,-0.000354324276051,1.96139277909e-05,1793239240239452160
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.841493112,745.158506888,714,680.158506888,665.158506888,633,881,788,805,652.158506888,631.841493112,653,0.449309295526,0.00456684051945,0.0497594169354,0.999999929159,0.000117687502737,-0.000356966363132,2.014725198e-05,1793239240256118784
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.586516946,745.413483054,714,680,665,633,881,787.586516946,805,652.413483054,631.586516946,653,0.449356294949,0.00456621299413,0.0497569505697,0.999999928476,0.000117102203992,-0.000359086523756,1.97754285864e-05,1793239240272785152
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.01565632,745.98434368,714,680,665,633,881,787.01565632,805,652.98434368,631.01565632,653,0.449398296378,0.00456645190864,0.0497539750478,0.999999927809,0.000117014705971,-0.000361008031635,1.90590930491e-05,1793239240289451520
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.419808556,714,680,665.580191444,633,881.580191444,787,805,653,631,653,0.449430064652,0.00456562620671,0.0497544883655,0.999999928408,0.000114209848316,-0.000360240514824,1.91707872288e-05,1793239240306118400
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.170464519,745.170464519,714,680,665.829535481,633,881.659070961,787,805,653,631.340929039,653,0.44945742728,0.00456550348641,0.0497546724187,0.999999928509,0.000112978200526,-0.000360345576156,1.92325105553e-05,1793239240322785280
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.745822667,745.745822667,714,680,665.254177333,633,880.508354666,787,805,653,632.491645334,653,0.449475010866,0.004567121822,0.0497538407091,0.999999927351,0.000115665307579,-0.000362703327799,1.91200799833e-05,1793239240339451904
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,746,714,680,665,633,880,787,805,653,632.677918313,653,0.44948763868,0.00456794604933,0.0497511455356,0.999999925381,0.00011810243973,-0.000367323930007,1.90394799379e-05,1793239240356118784
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,746,714,680,665,633,880,787,805,653,632.100946295,653,0.449496344578,0.00456814183216,0.0497469756463,0.99999992274,0.000120341745998,-0.000373735316454,1.89840700534e-05,1793239240372785408
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,746,714.471591449,680.471591449,665,633.471591449,880.471591449,787.471591449,805,653,632,653,0.449503413975,0.004566940274,0.0497466598192,0.999999922583,0.000118147183951,-0.000374853904722,1.89782170098e-05,1793239240389451776
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.955042658,746,715,680.955042658,665.044957342,633.955042658,881,787.955042658,805,653,631.955042658,653,0.449509848038,0.00456554924194,0.0497471578251,0.999999922904,0.000115324289725,-0.000374876006632,1.90002490243e-05,1793239240406118400
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.360039195,746,715,680.360039195,665.639960805,633.360039195,881,787.360039195,805,653,631.360039195,653,0.449512754826,0.00456546546593,0.0497476134775,0.999999922657,0.000116317643678,-0.00037521508333,1.92348737762e-05,1793239240422785024
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714.77242078,680,665.77242078,633,881,787,804.77242078,652.77242078,631.22757922,653,0.449513340063,0.00456622637385,0.0497464118379,0.999999921641,0.000117258862526,-0.000377637680159,1.89477631299e-05,1793239240439451648
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,714.196118619,680,665.196118619,633,881,787,804.196118619,652.196118619,631.803881381,653,0.449510367955,0.00456828160323,0.0497426707058,0.999999919423,0.000118120193934,-0.000383252885097,1.78611897468e-05,1793239240456118528
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.379939927,746,714.379939927,680,665,633,881,787,804.379939927,652.379939927,632,653,0.449511840905,0.00456871458126,0.0497418176,0.999999919145,0.000118918301694,-0.000383741000542,1.76621631935e-05,1793239240472785152
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.955872786,746,714.955872786,680,665,633,881,787,804.955872786,652.955872786,632,653,0.449515606848,0.00456831071694,0.0497424542898,0.999999919874,0.000119683795355,-0.00038158429429,1.79209798546e-05,1793239240489451776
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.455707792,746,714.455707792,680,665,633,881,787.544292208,805,652.455707792,632,653,0.449516654781,0.00456856594375,0.049743632652,0.999999920165,0.000119947756621,-0.000380720942638,1.82770266884e-05,1793239240506118656
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,714,680.131565837,665,633,881,787.868434163,804.868434163,652.131565837,632,653,0.449517116658,0.00456900216017,0.0497442433703,0.999999920191,0.000120361598394,-0.000380512953933,1.84503622129e-05,1793239240522785280
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,746,714,680.711405192,665,633,881,787.288594808,804.288594808,652.711405192,632,653,0.449516350148,0.0045698687106,0.0497427668614,0.999999919438,0.000121427907972,-0.000382172275294,1.79736716288e-05,1793239240539451904
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.288395473,746,714,681,665,633,881,787.288395473,804.288395473,653,632,653,0.449516145216,0.00456988717966,0.0497420349468,0.99999991891,0.000122232519773,-0.000383303144527,1.78156541642e-05,1793239240556118528
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.862562669,746,714,681,665,633,881,787.862562669,804.862562669,653,632,653,0.449516496753,0.00456906528308,0.049742040852,0.999999918608,0.000122777814787,-0.000383910369558,1.79734105551e-05,1793239240572785152
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,714,681,665.436495269,633,881.436495269,788,805,653,632,653,0.449518895112,0.00456938500586,0.0497431546386,0.999999919528,0.000122778650136,-0.000381506421645,1.7964536831e-05,1793239240589451776
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.989277589,746,714,680.989277589,665.989277589,633,881.989277589,787.989277589,805,652.989277589,632,653,0.449521835392,0.00457002708145,0.049744574772,0.999999920781,0.000122589871601,-0.000378271489335,1.79109252958e-05,1793239240606118656
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.39500047,746,714,680.39500047,665.39500047,633,881.39500047,787.39500047,805,652.39500047,632,653,0.449519213208,0.00456866033631,0.0497436928086,0.999999919737,0.00012140653138,-0.000381383507284,1.82763820682e-05,1793239240622785280
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.194378653,746,714,680,665,633,881,787,805,652,631.805621347,653,0.449517754341,0.00456845430464,0.0497430632358,0.999999918991,0.000121540808358,-0.000383288464475,1.83133803905e-05,1793239240639452160
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.774049075,746,714,680,665,633,881,787,805,652,631.225950925,653,0.449518601368,0.00457054900589,0.0497429339442,0.999999918852,0.000124286828283,-0.000382800820403,1.76993178084e-05,1793239240656119040
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765.489755093,746,714.510244907,681,665.489755093,632.489755093,881.510244907,788,804.510244907,652.510244907,632,653,0.44951963615,0.00456918135757,0.0497428204234,0.999999919257,0.000121963092608,-0.000382494150097,1.75669461352e-05,1793239240706118656
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.902502405,715,680.902502405,665.097497595,632.097497595,881.805004809,787.902502405,804.902502405,652.902502405,632,653,0.449521865515,0.00456826361351,0.0497440881523,0.999999920113,0.00012079245118,-0.00038060212116,1.8037708216e-05,1793239240722785280
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.323423816,715,680.323423816,665.676576184,632.676576184,880.646847633,787.323423816,804.323423816,652.323423816,632,653,0.449521389178,0.00456977494104,0.0497435785684,0.999999919934,0.000121169668452,-0.000380982124712,1.73860726014e-05,1793239240739451904
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.254661383,714.745338617,680.254661383,665.745338617,633,880.254661383,787,804.254661383,652.254661383,632,653,0.449521040964,0.00457037231111,0.049743413466,0.999999919793,0.000121622071377,-0.000381219389828,1.71131777156e-05,1793239240756118784
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.831489945,714.168510055,680.831489945,665.168510055,633,880.831489945,787,804.831489945,652.831489945,632,653,0.449520854834,0.00456981345153,0.0497436841606,0.999999919702,0.00012216959027,-0.000381276079363,1.73194202943e-05,1793239240772785408
+249,4.150000000,HOLD_POSE2,765,746,714,680,665,633,880,787,805,652,632,653,0.449518897502,0.00456766687636,0.0497419203639,0.999999918692,0.000118787348502,-0.000384930749979,1.82753012553e-05,1793239240806230528
+250,4.166666667,HOLD_POSE2,765,746,714,680.58221097,665,633,880.58221097,787,805,652.58221097,631.41778903,653,0.449520434523,0.00456931138726,0.0497426146487,0.99999991938,0.000120593419736,-0.000382604956986,1.76485940787e-05,1793239240822896896
+251,4.183333333,HOLD_POSE2,765,745.836483258,714,680.836483258,665,633,881,787.163516742,805,653,631.163516742,653,0.449521686876,0.00457032086667,0.0497432011675,0.999999919818,0.000121719143199,-0.000381116474089,1.72627444883e-05,1793239240839563264
+252,4.200000000,HOLD_POSE2,765,745.257477434,714,680.257477434,665,633,881,787.742522566,805,653,631.742522566,653,0.449522215905,0.00456971675846,0.0497435138576,0.999999919644,0.000121116132311,-0.000381755560024,1.74889036409e-05,1793239240856229632
+253,4.216666667,HOLD_POSE2,765,745.318649065,714,680.318649065,665,633,881,788,805,652.681350935,632,653,0.449522153087,0.00457031259842,0.0497433113176,0.999999919362,0.000121549478745,-0.000382363107483,1.73180224611e-05,1793239240872896256
+254,4.233333333,HOLD_POSE2,765,745.89246979,714,680.89246979,665,633,881,788,805,652.10753021,632,653,0.449521616323,0.00457186934745,0.0497426961852,0.999999918993,0.000122812731991,-0.000382945399142,1.68291944988e-05,1793239240889562880
+255,4.250000000,HOLD_POSE2,765.465047454,745.534952546,714,680.534952546,665.465047454,633,881,787.534952546,805,652,631.534952546,653,0.449522138262,0.00457201533292,0.0497428759723,0.999999919208,0.000122760791311,-0.000382403328106,1.67823448422e-05,1793239240906229760
+256,4.266666667,HOLD_POSE2,765.961090335,745.038909665,714,680,666,633,881,787,805,652.038909665,631,653,0.449522888914,0.00457181222933,0.0497432327333,0.999999919544,0.000122403246435,-0.000381634754359,1.68405449878e-05,1793239240922896896
+257,4.283333333,HOLD_POSE2,765.364717174,745.635282826,714,680,666,633,881,787,805,652.635282826,631,653,0.449523418487,0.00457126877015,0.0497434986489,0.999999919704,0.000122012601867,-0.000381335881496,1.69435342575e-05,1793239240939563520
+258,4.300000000,HOLD_POSE2,765.223954812,745.776045188,714,680,666,633,881.223954812,787,804.776045188,653,631,653,0.449523327163,0.00457089061646,0.0497434511882,0.999999919724,0.000121603508221,-0.00038140998901,1.70582830635e-05,1793239240956230144
+259,4.316666667,HOLD_POSE2,765.80050208,745.19949792,714,680,666,633,881.80050208,787,804.19949792,653,631,653,0.449522258303,0.0045707727183,0.0497429103505,0.999999919522,0.000121165368551,-0.000382071313528,1.71915459686e-05,1793239240972897024
+260,4.333333333,HOLD_POSE2,765.624432275,745,714,680,665.624432275,633,881.24886455,787,804,653,631.375567725,653,0.449522188663,0.00457074982902,0.0497433147811,0.999999919521,0.00012148531404,-0.000381971727794,1.72583224281e-05,1793239240989563392
+261,4.350000000,HOLD_POSE2,765.050150509,745,714,680,665.050150509,633,880.100301019,787,804,653,631.949849491,653,0.449522647713,0.00457077720922,0.0497442193559,0.999999919624,0.000122206364683,-0.000381469542161,1.72899207165e-05,1793239241006229504
+262,4.366666667,HOLD_POSE2,765,745,714,680,665,633,880,787.537372748,804,653,632.537372748,653,0.449522730881,0.00456874875127,0.0497436689148,0.9999999197,0.000120634263721,-0.000381755432445,1.75843408462e-05,1793239241022896384
+263,4.383333333,HOLD_POSE2,765.124155693,745.124155693,714,680,665,633,880.124155693,787.875844307,804,653,632.875844307,653,0.449522783509,0.0045677202604,0.0497430550942,0.999999919611,0.000120105363207,-0.000382153030204,1.7657662066e-05,1793239241039562752
+264,4.400000000,HOLD_POSE2,765.703578234,745.703578234,714,680,665,633,880.703578234,787.296421766,804,653,632.296421766,653,0.449522856032,0.00457107986362,0.0497427193747,0.999999918921,0.000124206353433,-0.000382683743679,1.68280213366e-05,1793239241056229632
+265,4.416666667,HOLD_POSE2,766,746,714.281194535,680,665,633,881.281194535,787.281194535,804,653,632,653,0.449523283621,0.00457249429828,0.0497426540023,0.999999918747,0.000125893099369,-0.0003826005002,1.65756359757e-05,1793239241072896512
+266,4.433333333,HOLD_POSE2,766,746,714.856918902,680,665,633,881.856918902,787.856918902,804,653,632,653,0.449524083117,0.00457187131702,0.049742871798,0.999999919124,0.000125051108273,-0.000381874183605,1.69278816422e-05,1793239241089563392
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,665,633,881,788,804,652,631,653,0.449522355747,0.00457099833213,0.0497421104166,0.999999918676,0.00012381997484,-0.000383469561998,1.63550433817e-05,1793239241122098176
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.437739913,714.562260087,680,665,633,881,787.437739913,804,652,631,653,0.449522077864,0.00456908634932,0.0497419401701,0.999999918861,0.000121658202497,-0.000383668447281,1.66277605923e-05,1793239241138764800
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.13221721,745,714.86778279,680,665,633,881,787,804.13221721,652.13221721,631.13221721,653,0.449521921194,0.00456823946568,0.0497418057669,0.999999918854,0.000121039970741,-0.000383866905122,1.69281907267e-05,1793239241155431424
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.729232761,745,714.270767239,680,665,633,881,787,804.729232761,652.729232761,631.729232761,653,0.449522190637,0.00457113684697,0.049741797368,0.999999918179,0.000125847923845,-0.000384063860376,1.73260433576e-05,1793239241172098048
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.314639793,714,680,665,633,881,787,805,653,631.685360207,653,0.449522103656,0.00457163747946,0.0497418116827,0.999999918184,0.000126021887984,-0.000383990881451,1.73640173097e-05,1793239241188764672
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.890412391,714,680,665,633,881,787,805,653,631.109587609,653,0.449521720863,0.0045701489491,0.0497418448482,0.999999918758,0.000122349909373,-0.000383693872782,1.71033127771e-05,1793239241205431552
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.524194912,746,714,680.475805088,665,633,881,787,805,653,631.475805088,653,0.44952226275,0.00457114713364,0.0497421871155,0.999999918917,0.000123109684434,-0.000383035021264,1.71685205448e-05,1793239241222098688
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714.062489109,680.937510891,665,633,881.062489109,787,805,653,632,653,0.449522713937,0.00457246702036,0.0497424598368,0.999999918937,0.000124680827005,-0.000382469473008,1.72551721984e-05,1793239241238765568
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714.641159777,680.358840223,665,633,881.641159777,787,805,653,632,653,0.449520620373,0.00457161561015,0.0497415578762,0.999999918637,0.000124348628371,-0.000383377263094,1.68861058647e-05,1793239241255432192
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.218920105,665,633,881.781079895,787,805,653,632,652.781079895,0.449512458466,0.00457089043168,0.0497378375497,0.999999916313,0.00012405907786,-0.000389494755835,1.66606781332e-05,1793239241272098816
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,715,680.795194384,665,633,881.204805616,787,805,653,632,652.204805616,0.449494390903,0.00457037130764,0.0497295166645,0.999999910538,0.000123839144016,-0.000404116305119,1.66697188683e-05,1793239241288765184
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.629023725,715,681,665.370976275,633,881,787,805,653,632,652.370976275,0.449458957257,0.00457075993366,0.0497156044118,0.999999899845,0.000124259597723,-0.00042964660908,1.65440609939e-05,1793239241305431552
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.053513253,715,681,665.946486747,633,881,787,805,653,632,652.946486747,0.449413948986,0.00457164903888,0.0496986094119,0.999999885701,0.000125033122825,-0.000461191350897,1.63441383272e-05,1793239241322098176
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.536400087,715,681,665.463599913,633,881,787,804.463599913,652.463599913,632,653,0.4493470171,0.00457232414892,0.0496789333379,0.999999870036,0.000127025857034,-0.000493491803495,1.60535026941e-05,1793239241338765056
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.12480147,746,715,681,665,633,881.12480147,787,804.12480147,652.12480147,631.87519853,653,0.449275757658,0.00457290646913,0.0496615376333,0.999999855761,0.000128469387449,-0.000521275248769,1.56563958327e-05,1793239241355431680
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.702361296,746,715,681,665,633,881.702361296,787,804.702361296,652.702361296,631.297638704,653,0.449196952214,0.00457323175121,0.0496534118356,0.999999850045,0.000127467063294,-0.000532390717818,1.49067667757e-05,1793239241372098560
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.722927763,746,714.722927763,681,665,632.722927763,881.722927763,787,805,652.722927763,631.277072237,653,0.44911139652,0.00457415596378,0.0496481042477,0.999999846593,0.000128514636146,-0.000538610769771,1.4005272232e-05,1793239241388764928
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.151246061,746,714.151246061,681,665,632.151246061,881.151246061,787,805,652.151246061,631.848753939,653,0.449018663323,0.00457571701598,0.0496457932481,0.99999984564,0.000131741853875,-0.000539625549621,1.29422999541e-05,1793239241405431808
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.425664898,746,714,680.574335102,665,632.425664898,881.425664898,787,805,652,632,653,0.448911720531,0.00457774087468,0.0496486373159,0.999999847947,0.000134837327773,-0.000534577111056,1.22981903564e-05,1793239241422098432
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.995428542,746,714,680.004571458,665,633,881.995428542,787.004571458,805,652,632,653,0.44879938823,0.00457992468412,0.0496532966728,0.999999851346,0.000137889080661,-0.000527405004076,1.18053150746e-05,1793239241438764800
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.401772818,746,714,680.598227182,665,633,881.401772818,787.598227182,805,652,632,653,0.4486512583,0.00458126604883,0.0496529076217,0.999999850733,0.000141414029101,-0.000527641477132,1.13838414578e-05,1793239241455431424
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.186190229,745.813809771,714,680.813809771,665,633,881,787.813809771,805,652.186190229,632,653,0.448490392319,0.00458249093177,0.0496511214232,0.999999849154,0.000144678324925,-0.000529755431919,1.08828634217e-05,1793239241472098048
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.762233623,745.237766377,714,680.237766377,665,633,881,787.237766377,805,652.762233623,632,653,0.448302859063,0.00458347191998,0.049646409817,0.999999845544,0.000147396854572,-0.000535800539256,1.02154156413e-05,1793239241488764928
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.663138607,745.336861393,714,680,665,633,881,787,804.663138607,653,631.663138607,652.663138607,0.448095269279,0.00458503346407,0.049640359863,0.999999839853,0.000150838215196,-0.000545393719937,9.33871742044e-06,1793239241505431552
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.089505786,745.910494214,714,680,665,633,881,787,804.089505786,653,631.089505786,652.089505786,0.447873582245,0.00458700306643,0.0496333692173,0.999999832593,0.000154787635852,-0.000557480752976,8.31494224161e-06,1793239241522098432
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.497198869,745.502801131,714.497198869,680.497198869,665.497198869,633.497198869,881,787,804,652.502801131,631.497198869,652.497198869,0.447632803261,0.00458970787263,0.0496333827861,0.999999832011,0.000160070772099,-0.000557048289335,7.25209339829e-06,1793239241538764800
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745.084801278,714.915198722,681,666,634,881,787,804,652,631.915198722,653,0.447382339009,0.00459293185086,0.0496350838898,0.999999832784,0.0001660735812,-0.000553908458157,6.04910281596e-06,1793239241555431424
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.663556137,714.336443863,681,666,634,881,787,804,652,631.336443863,653,0.447096019681,0.00459838818113,0.0496390717681,0.999999834293,0.000174832090492,-0.000548480902855,4.0718875242e-06,1793239241572098048
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.759646241,746,714,680.759646241,665.759646241,634,880.759646241,787.240353759,804,652,631.240353759,653,0.446790319613,0.00460224919693,0.0496427796177,0.999999835748,0.000182959354234,-0.00054315929484,2.66735000641e-06,1793239241588764928
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.185566237,746,714,680.185566237,665.185566237,634,880.185566237,787.814433763,804,652,631.814433763,653,0.446457709803,0.00460389515111,0.0496460986529,0.999999837194,0.00019021014601,-0.000537984792812,2.05796390412e-06,1793239241605431808
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,665.398702907,634,880.398702907,787.601297093,804.398702907,652,632,653,0.446121611844,0.00460601303158,0.0496599833357,0.999999848877,0.00019662231425,-0.000513405479516,1.10632168571e-06,1793239241622098432
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,665.987838683,634,880.987838683,787.012161317,804.987838683,652,632,653,0.445783847845,0.00460835631864,0.0496789144994,0.999999864482,0.000202633929492,-0.000479557826427,-8.79264790846e-09,1793239241638764800
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.567787632,746,714,680,666,634,881,787,804.432212368,652,632,653,0.445387894733,0.00461168285102,0.0497013292371,0.999999875303,0.000207556728022,-0.00045421783846,-6.1392987676e-07,1793239241655431424
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.852890932,746,714,680,666,634,880.852890932,787.147109068,804,652.147109068,632,653,0.444975074605,0.00461500930829,0.0497203032378,0.999999883754,0.000213188823269,-0.000432480907177,-1.54809648342e-06,1793239241672098304
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.274840594,746,714,680,666,634,880.274840594,787.725159406,804,652.725159406,632,653,0.44451643721,0.00461827483429,0.0497289828465,0.999999887056,0.00022096596071,-0.000420773467657,-3.47761016812e-06,1793239241688764928
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.301718266,746,714,680,666,634.301718266,880.301718266,788,804.301718266,652.698281734,631.698281734,653,0.444022254911,0.00462266403691,0.0497303259707,0.999999885551,0.00022921589647,-0.000419910575703,-5.75812266765e-06,1793239241705431552
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.876925262,746,714,680,666,634.876925262,880.876925262,788,804.876925262,652.123074738,631.123074738,653,0.443495853327,0.00462807178246,0.0497250190319,0.9999998797,0.000237894395212,-0.00042887758623,-8.35679385111e-06,1793239241722097920
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.537471305,745.537471305,714,680,666,635,880.537471305,788,805,652,631.462528695,653,0.442972663223,0.00463230206033,0.0497262442062,0.999999879636,0.000244240413502,-0.000425391274266,-1.08161754143e-05,1793239241738764544
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.252186749,667,635,880.252186749,788,804,652,632,653,0.431653552108,0.00462742809165,0.0498220518284,0.999999947837,0.000131430716136,-0.000291585152629,-4.50524132126e-05,1793239242005431552
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745.50805847,714.49194153,679.50805847,667,636,880,788,803.49194153,653,632,653.49194153,0.413051199753,0.00463200461358,0.0497949085253,0.999999928443,0.000163625197126,-0.000337593390014,-4.86944738625e-05,1793239242372098048
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.254482995,667,636,880,788,803.745517005,653,631.254482995,653,0.410949720205,0.00463258780201,0.0498256464443,0.999999940339,0.000166141972862,-0.000299053830618,-4.78044722006e-05,1793239242422098432
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.875976069,714,679.875976069,666.124023931,636,879.875976069,788.875976069,804,653.875976069,632,653.124023931,0.40298296026,0.00463035121478,0.0498487660909,0.999999944243,0.000165233324298,-0.000286420877454,-4.66437730158e-05,1793239242705431552
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.299468667,714,679.299468667,666.700531333,636,879.299468667,788.299468667,804,653.299468667,632,653.700531333,0.402705915007,0.00462176505018,0.0498325738016,0.999999937856,0.000153165086325,-0.000314134197678,-4.63381902216e-05,1793239242722098176
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745.275728702,714.275728702,679.275728702,666.724271298,636,879.275728702,788,804,653,632,653.724271298,0.402457501892,0.00461242148437,0.0498222909915,0.999999933745,0.000137821292949,-0.000333834231479,-4.55031183984e-05,1793239242738764800
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745.849509937,714.849509937,679.849509937,666.150490063,636,879.849509937,788,804,653,632,653.150490063,0.402240039075,0.00460225919635,0.0498183961107,0.999999932486,0.000118936746055,-0.000344872197341,-4.40956885452e-05,1793239242755431424
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,714.563553729,679.563553729,666.436446271,636,879.563553729,788.436446271,804,653,632,653,0.402059432059,0.00460131132979,0.0498205791643,0.999999933971,0.000116124919622,-0.000341567538546,-4.3648626324e-05,1793239242772098048
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.972519643,636,879.027480357,788.972519643,804,653,631.972519643,653,0.40189341095,0.00460380765559,0.0498250605975,0.999999936512,0.000119502029309,-0.000332866475919,-4.35320286093e-05,1793239242788764672
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.393118065,636,879.606881935,788.393118065,804,653,631.393118065,653,0.401757170515,0.00460968308439,0.0498323042038,0.999999939676,0.000132413160488,-0.000318195174324,-4.31951273046e-05,1793239242805431296
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666,636,880.185151346,788,803.814848654,653.185151346,631.185151346,653,0.40163004862,0.00461252949706,0.0498395397082,0.999999942979,0.000140986192371,-0.000303883076723,-4.26611601439e-05,1793239242822098176
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666,636,880.76103145,788,803.23896855,653.76103145,631.76103145,653,0.40152216979,0.00460898371292,0.049846758114,0.999999947128,0.000140404441072,-0.000290329016858,-4.17113208549e-05,1793239242838765056
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.664510093,714.335489907,679.335489907,666,636,880.664510093,788,803.335489907,653.664510093,632,653,0.40142537696,0.00460954789031,0.0498497192114,0.999999948713,0.000142550479475,-0.000283742093756,-4.17674582674e-05,1793239242855431680
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.091059937,714.908940063,679.908940063,666,636,880.091059937,788,803.908940063,653.091059937,632,653,0.401336447326,0.00461302722945,0.0498496606355,0.999999948556,0.000146631316762,-0.000282096902422,-4.25371266341e-05,1793239242872098304
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.916411216,745.083588784,714,679,667,636,879.083588784,788,803.916411216,653.083588784,632,653,0.401197582453,0.00460970257586,0.0498480808526,0.999999947249,0.000147785626938,-0.000286270319988,-4.13550436213e-05,1793239242905431552
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.336507886,745.663492114,714,679,667,636,879.663492114,788,803.336507886,653.663492114,632,653,0.401151430502,0.00461107654417,0.0498501218754,0.999999948207,0.000148600883367,-0.000282468838108,-4.14099899371e-05,1793239242922098432
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.241449035,746,714,679.241449035,667,635.758550965,880,788,803,653.758550965,631.758550965,653,0.401111922408,0.00461154038355,0.0498521089054,0.999999949601,0.00014841418869,-0.000277580122376,-4.14894404865e-05,1793239242938765312
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.816714903,746,714,679.816714903,667,635.183285097,880,788,803,653.183285097,631.183285097,653,0.401081599821,0.00461074591855,0.049854021287,0.999999951582,0.000146842240362,-0.000271188245092,-4.16027695096e-05,1793239242955431680
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,746,714.986644038,680,667,635.986644038,880,788,803.986644038,653,631,653.986644038,0.401036481122,0.00461007594776,0.0498553115491,0.999999953295,0.000144095169459,-0.000266245212424,-4.19504422213e-05,1793239242988764928
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.723073537,745.723073537,714,679,666.723073537,636,879.276926463,788,804,653.723073537,632,653,0.401005017495,0.00461106367493,0.0498563545359,0.999999953802,0.00014529571392,-0.000263715137145,-4.17014702696e-05,1793239243038764800
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.701477209,746,714,679,666.701477209,636,879.298522791,788,804,653.701477209,632,653,0.401001061286,0.00461007762326,0.0498571958597,0.999999954518,0.000143724603705,-0.000261892681714,-4.14683608224e-05,1793239243055431680
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.127760013,746,714,679,666.127760013,636,879.872239987,788,804,653.127760013,632,653,0.400998757994,0.00461066627255,0.0498588754374,0.999999955056,0.000144131239871,-0.000259625443303,-4.13319795721e-05,1793239243072098304
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.049403882,746,714,679,666.049403882,636,879,788,803.049403882,653,632,653,0.400994546794,0.00460963576188,0.0498596020937,0.999999955347,0.000142981827675,-0.000259178408703,-4.10870740979e-05,1793239243105431552
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.626240989,746,714,679,666.626240989,636,879,788,803.626240989,653,632,653,0.400992938189,0.00461143518135,0.0498587918813,0.999999954757,0.000146234492181,-0.00025965133003,-4.1016079139e-05,1793239243122098432
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,746,714.203657266,679,667,636,879.203657266,788,803.796342734,653,632,653.203657266,0.400992401503,0.00461198341667,0.049858538562,0.999999954611,0.00014766130605,-0.000259416500059,-4.09629981289e-05,1793239243138765056
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,714.782139457,679,667,636,879.782139457,788,803.217860543,653,632,653.782139457,0.400993837652,0.00461022888601,0.0498593101873,0.999999955293,0.000145727697883,-0.000257879075605,-4.09428871947e-05,1793239243155431680
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.64244253,745.64244253,714.64244253,679,666.64244253,636,880,788,803,653,632,653.64244253,0.40099366695,0.00460957469311,0.0498599117457,0.999999955511,0.000145343103405,-0.00025728276817,-4.07339288852e-05,1793239243172098304
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.068875684,745.068875684,714.068875684,679,666.068875684,636,880,788,803,653,632,653.068875684,0.400992525508,0.00460958524173,0.0498604105623,0.999999955451,0.000145894306764,-0.000257255013033,-4.04108831716e-05,1793239243188764928
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,666,636,880,788,803.521393134,653,632,653,0.400993647178,0.00460883425205,0.0498611067733,0.999999956109,0.000144282069226,-0.000255594261214,-4.04624034838e-05,1793239243205431552
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.111064315,714,679,666,636,880,788,803.888935685,653,632,653,0.400994662872,0.00460818422929,0.0498615780258,0.999999956656,0.000142798151252,-0.000254274194075,-4.05114235185e-05,1793239243222098176
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.688650702,714,679,666,636,880,788,803.311349298,653,632,653,0.400993936104,0.00460839486067,0.0498609911925,0.999999956354,0.000143093410845,-0.00025532126449,-4.03352242747e-05,1793239243238764544
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.735003911,714,679,666.264996089,636,880,788,803.264996089,653,631.735003911,653,0.40099371879,0.00460908389314,0.0498609665646,0.999999956304,0.000143529753706,-0.000255260127966,-4.04072856642e-05,1793239243255431424
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.160109728,714,679,666.839890272,636,880,788,803.839890272,653,631.160109728,653,0.400994097254,0.00461033238894,0.0498615994044,0.999999956549,0.000144131085592,-0.000253903005588,-4.07696739468e-05,1793239243272098560
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745.413593343,714,679,667,636,880.413593343,788,804,653,631.413593343,653,0.400994458114,0.00460984635892,0.0498625408396,0.999999956972,0.000143235460062,-0.000252760320424,-4.06488352913e-05,1793239243288765184
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.986836603,714,679,667,636,880.986836603,788,804,653,631.986836603,653,0.400994812179,0.00460869078976,0.0498636013947,0.999999957462,0.000141761998488,-0.0002517004096,-4.03414676437e-05,1793239243305431808
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.582512543,667,635.417487457,880.417487457,788,803.417487457,653.582512543,631.417487457,653,0.400991133918,0.00460983527287,0.0498608993605,0.999999956208,0.000144040821804,-0.000255330401276,-4.05245753042e-05,1793239243322097920
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.827736566,666.827736566,635.172263434,880,788,803,654,631,653,0.400989369328,0.00461066054119,0.0498596334306,0.999999955621,0.000145287103615,-0.00025689343215,-4.06899360823e-05,1793239243338764544
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.253058506,666.253058506,635.746941494,880,788,803,654,631,653,0.400992296541,0.00461061382974,0.0498619288793,0.999999956714,0.000143915311968,-0.000253370464173,-4.078691066e-05,1793239243355431424
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.320911933,746,714,679,666,636,880,788,803.320911933,654,631.320911933,653,0.400993224708,0.00460975164593,0.0498629343522,0.999999957125,0.000143036779379,-0.000252291512594,-4.04829553971e-05,1793239243372098048
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.894325569,746,714,679,666,636,880,788,803.894325569,654,631.894325569,653,0.400992579975,0.00460824782765,0.049862924839,0.999999957007,0.000142546355677,-0.000253135575694,-3.98635382937e-05,1793239243388764672
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.517859464,745.517859464,714,679,666,636,880,788,804,653.517859464,632,653,0.400991936019,0.00461025352422,0.0498627332245,0.999999956751,0.000143763153073,-0.000253369573454,-4.04271210022e-05,1793239243405431552
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.071920889,714,679,666,636,880,788,804,653.071920889,632,653,0.400991481008,0.00461252773195,0.0498625393176,0.999999956543,0.000145048881346,-0.000253345196207,-4.11188050657e-05,1793239243422098944
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745.652588247,714,679,666,636,880,788,804,653.652588247,632,653,0.400992361292,0.00461109263822,0.0498626202166,0.999999956915,0.000144093841005,-0.000252468117408,-4.0826049422e-05,1793239243438765312
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666,636,880,788,804.230475034,653.769524966,632,653,0.400992592065,0.00461038493622,0.0498626042244,0.999999957179,0.000142915917878,-0.000252099543523,-4.07772857418e-05,1793239243455431424
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666,636,880,788,804.804220513,653.195779487,632,653,0.400991855454,0.00461076061418,0.0498624439222,0.999999957283,0.000141406032088,-0.00025248833877,-4.10919246306e-05,1793239243472098048
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,714.377719652,679.377719652,666.377719652,636,880,788,804.244560697,653,631.622280348,653,0.40099094709,0.00460988263027,0.0498620240287,0.999999956948,0.000141435542591,-0.000253854574097,-4.07162479467e-05,1793239243488764928
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,714.951091156,679.951091156,666.951091156,636,880,788,803.097817687,653,631.048908844,653,0.400989949763,0.00460835527246,0.0498614696717,0.999999956383,0.000142262432237,-0.000255727105437,-3.99830004358e-05,1793239243505431552
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..216d76083fe94f36960f64c2081c873350fa9d53
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,412 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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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
+6,0.100000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
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+12,0.200000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
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+383,6.383333333,pose2_to_pose3_retreat,0.575674303873,0.0100907047365,1.0400321208,0.546244756399,0.0187624475557,1.03970025399
+384,6.400000000,pose2_to_pose3_retreat,0.575671857001,0.0100907677355,1.04003210868,0.546242308915,0.0187625085993,1.03970024509
+385,6.416666667,pose2_to_pose3_retreat,0.575670099541,0.0100908053487,1.04003210294,0.546240550737,0.0187625438357,1.03970024078
+386,6.433333333,pose2_to_pose3_retreat,0.575668868389,0.0100908281788,1.04003210028,0.546239318954,0.0187625645527,1.03970023873
+387,6.450000000,pose2_to_pose3_retreat,0.575668168869,0.0100908411505,1.04003209876,0.546238619076,0.0187625763237,1.03970023757
+388,6.466666667,pose2_to_pose3_retreat,0.575667750596,0.0100908489069,1.04003209786,0.546238200588,0.0187625833621,1.03970023687
+389,6.483333333,pose2_to_pose3_retreat,0.575667463231,0.0100908542357,1.04003209724,0.546237913076,0.0187625881977,1.03970023639
+390,6.500000000,pose2_to_pose3_retreat,0.575667362435,0.0100908561048,1.04003209702,0.546237812228,0.0187625898938,1.03970023622
+391,6.516666667,pose2_to_pose3_retreat,0.575667067401,0.0100908473961,1.04003212823,0.546237517289,0.0187625814537,1.03970026599
+392,6.533333333,pose2_to_pose3_retreat,0.575667055755,0.0100908463522,1.04003213103,0.54623750566,0.0187625804588,1.03970026866
+393,6.550000000,pose2_to_pose3_retreat,0.575667049623,0.0100908458026,1.04003213251,0.546237499536,0.0187625799349,1.03970027007
+394,6.566666667,pose2_to_pose3_retreat,0.575666863703,0.0100908291383,1.04003217727,0.54623731387,0.0187625640507,1.03970031268
+395,6.583333333,pose2_to_pose3_retreat,0.575666767778,0.0100908205404,1.04003220037,0.546237218076,0.0187625558554,1.03970033467
+396,6.600000000,pose2_to_pose3_retreat,0.575666750116,0.0100908189573,1.04003220462,0.546237200439,0.0187625543465,1.03970033872
+397,6.616666667,pose2_to_pose3_retreat,0.575666418648,0.0100907892473,1.04003228443,0.546236869424,0.0187625260275,1.0397004147
+398,6.633333333,pose2_to_pose3_retreat,0.575665904154,0.0100907431324,1.04003240831,0.546236355633,0.0187624820716,1.03970053263
+399,6.650000000,pose2_to_pose3_retreat,0.575665691149,0.0100907240405,1.0400324596,0.546236142919,0.0187624638736,1.03970058145
+400,6.666666667,pose2_to_pose3_retreat,0.57566554525,0.0100907109634,1.04003249473,0.54623599722,0.0187624514087,1.03970061489
+401,6.683333333,pose2_to_pose3_retreat,0.575665283277,0.0100907033567,1.04003251636,0.546235735483,0.0187624445919,1.03970063623
+402,6.700000000,pose2_to_pose3_retreat,0.575665191287,0.0100907172538,1.04003248069,0.546235643448,0.0187624584432,1.03970060332
+403,6.716666667,pose2_to_pose3_retreat,0.575664949106,0.0100907538403,1.0400323868,0.54623540115,0.0187624949092,1.03970051667
+404,6.733333333,pose2_to_pose3_retreat,0.57566494168,0.0100907549622,1.04003238392,0.546235393721,0.0187624960274,1.03970051401
+405,6.750000000,pose2_to_pose3_retreat,0.575664869125,0.0100907659232,1.04003235579,0.54623532113,0.0187625069524,1.03970048805
+406,6.766666667,pose2_to_pose3_retreat,0.575664786032,0.0100907784761,1.04003232357,0.546235237997,0.0187625194639,1.03970045832
+407,6.783333333,pose2_to_pose3_retreat,0.575664672616,0.0100907956101,1.0400322796,0.546235124526,0.0187625365415,1.03970041774
+408,6.800000000,pose2_to_pose3_retreat,0.575664497003,0.0100908221401,1.04003221151,0.546234948828,0.0187625629842,1.03970035491
+409,6.816666667,pose2_to_pose3_retreat,0.575664418,0.0100908451654,1.04003230567,0.546234869679,0.0187625852039,1.03970044101
+410,6.833333333,pose2_to_pose3_retreat,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c782bd715b92d282941128e05bbd5cf96a753b81
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01029304e46eceb87e81abf0305ccd4702773060a895c5d427ee472fbea049bd
+size 26163575
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..62fbfee65131880c2664e7579161f5ff07325512
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_02/franka_data.csv
@@ -0,0 +1,413 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,746,714,679,666,636,881,788,803,653,632,654,0.400992608349,0.00460954457293,0.0498632998393,0.999999957341,0.000142610990006,-0.000251736999491,-4.00957059776e-05,1793239243649835008
+1,0.016666667,BASELINE,766,745.424758718,714,679,666,636,880.424758718,788,803.575241282,653.575241282,632,653.424758718,0.40099397564,0.00460968858106,0.0498646106045,0.999999957773,0.000142751760494,-0.000249931980469,-4.01167045049e-05,1793239243666501376
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+3,0.050000000,BASELINE,766,745.741781773,714,679,666,636,880,788,804,653.258218227,631.258218227,653,0.400994366105,0.00460955336095,0.0498654198221,0.999999958127,0.00014385535954,-0.000247870440393,-4.0152659853e-05,1793239243699835136
+4,0.066666667,BASELINE,766,745.674860398,714,679,666.325139602,636,880,788,804,653,631,653,0.400993799604,0.00461007381192,0.0498647125157,0.999999957752,0.000145569663141,-0.000248393351373,-4.00890800828e-05,1793239243716501760
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+7,0.116666667,BASELINE,766,746,714,679.060663173,666,636,880,788,804,653,631.939336827,653,0.400995603297,0.00460674337333,0.0498663721896,0.999999959244,0.000139695090005,-0.000245808685899,-3.96819248408e-05,1793239243766502656
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+10,0.166666667,BASELINE,766,746,714,679.224107141,666.775892859,636,880,788.775892859,804,653.775892859,631.775892859,653,0.40099454581,0.00461049879359,0.0498655647618,0.999999958381,0.00014325539553,-0.000247188703998,-4.01803161193e-05,1793239243816501760
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+12,0.200000000,BASELINE,766,746,714,679,666.044211059,636,880,788.044211059,804,653.044211059,631.044211059,653,0.400995706292,0.00460674374847,0.0498654463927,0.999999959116,0.000139162817344,-0.000246558710158,-4.01343461877e-05,1793239243849835008
+13,0.216666667,BASELINE,766,746,714,679,666,636,880,787.461695865,803.461695865,653,631.538304135,653,0.400994397628,0.0046090970882,0.0498651432882,0.999999958298,0.000142988881934,-0.000247691610327,-4.009617832e-05,1793239243866501888
+14,0.233333333,BASELINE,766,746,714,679,666.118182183,636,880,787,803.118182183,653,632,653,0.400993397073,0.00461124085083,0.0498649829296,0.999999957668,0.000146023128181,-0.000248452863376,-4.0142567887e-05,1793239243883168768
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+16,0.266666667,BASELINE,766,746,714,679,667,636,879.727178721,787.272821279,803.727178721,653,632,653,0.400995260928,0.00461063893019,0.0498661622852,0.99999995882,0.000142110754382,-0.000245998552761,-4.06168284332e-05,1793239243916501760
+17,0.283333333,BASELINE,766,746,714,679,667,636,879.137544012,787.862455988,803.137544012,653,632,653,0.400996879182,0.00461009512366,0.04986731783,0.999999959455,0.000140695676176,-0.000244256544093,-4.04129271433e-05,1793239243933168384
+18,0.300000000,BASELINE,766,746,714,679,666.555699111,636,879,788,803.444300889,653.444300889,631.555699111,653,0.400995192019,0.00460949093723,0.049866588378,0.999999959104,0.000140888181276,-0.000245639973612,-4.00329823818e-05,1793239243949835008
+19,0.316666667,BASELINE,766,746,714,679,666,636,879.023616306,788,803.976383694,653.976383694,631,653,0.400992609299,0.00460887719815,0.0498653255155,0.999999958476,0.000141507865827,-0.000247897117549,-3.96293965908e-05,1793239243966501632
+20,0.333333333,BASELINE,766,746,714,679,666,636,879.5992037,788,803.4007963,653.4007963,631,653,0.400992599482,0.00460846954135,0.0498649994382,0.999999958468,0.000140680527401,-0.000248350645708,-3.99250774436e-05,1793239243983168256
+21,0.350000000,BASELINE,766,746,714,679,666,636,880.178154233,788,803,653,631,653,0.400992549078,0.00460892370222,0.0498647591847,0.999999958336,0.000140868644484,-0.000248738477333,-4.0152725991e-05,1793239243999835136
+22,0.366666667,BASELINE,766,746,714,679,666,636,880.764816366,788,803,653,631,653,0.400992405611,0.00461135401226,0.0498647157255,0.999999957917,0.000143385202561,-0.00024897566666,-4.02243763272e-05,1793239244016502016
+23,0.383333333,BASELINE,766,746,714,679,666.347178805,636,880.652821195,788,803.347178805,653,631.347178805,653,0.400992355605,0.00461179990941,0.0498647054727,0.999999957633,0.000145184293502,-0.000249058983051,-4.0314514018e-05,1793239244033168896
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+25,0.416666667,BASELINE,766,746,714,679,667,635.495747271,879.495747271,788,804,653,631.495747271,653,0.400993284014,0.0046094998712,0.0498651298005,0.999999958105,0.000143665336915,-0.000248090064278,-4.00149529885e-05,1793239244066501888
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+27,0.450000000,BASELINE,766,746,714,679.656708795,667,635.656708795,879.656708795,788,804,653,631.656708795,653,0.400992475006,0.00460907918565,0.0498642521881,0.999999958232,0.000140669646206,-0.00024932693186,-3.97898491084e-05,1793239244099834880
+28,0.466666667,BASELINE,766,746,714,679.762426312,666.762426312,636,879.762426312,788,804,653,632,653,0.400992185291,0.00460944688422,0.0498641153131,0.99999995816,0.000140745099214,-0.000249558755877,-3.98986403495e-05,1793239244116501760
+29,0.483333333,BASELINE,766,746,714,679.173495875,666.173495875,636,879.173495875,788,804,653,632,653,0.400993680263,0.00460923905722,0.0498654366808,0.99999995868,0.000140985893007,-0.000247324431915,-3.99312674171e-05,1793239244133168640
+30,0.500000000,BASELINE,766,746,714,679.408828865,666,635.591171135,879.408828865,788,804,653,631.591171135,653,0.400993205284,0.00460882354998,0.0498650793261,0.999999958517,0.000140987733373,-0.000247997179121,-3.98291695729e-05,1793239244149835264
+31,0.516666667,BASELINE,766,746,714,679.988394886,666,635.011605114,879.988394886,788,804,653,631.011605114,653,0.400991907605,0.00460832131029,0.0498640208949,0.999999958067,0.000140889780808,-0.000249883991985,-3.96708072361e-05,1793239244166501888
+32,0.533333333,BASELINE,766,746,714,680,666,635.562991529,880,788,804,653,631.562991529,653,0.40099271458,0.00460851233181,0.0498640828628,0.999999958136,0.000142563133075,-0.00024865440006,-3.96714565191e-05,1793239244183168512
+33,0.550000000,BASELINE,765.862976103,745.862976103,714,679.862976103,666,636,880,788,803.862976103,653,631.862976103,653,0.40099341384,0.00460859128605,0.0498643295535,0.999999958231,0.00014366881525,-0.000247636911398,-3.96635546631e-05,1793239244199835136
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+39,0.650000000,BASELINE,766,746,714,679,666.378966809,636,880,788,803.378966809,653,631,653,0.400993010208,0.0046094946089,0.0498656416577,0.999999958705,0.000141721626099,-0.00024678652564,-4.00099495827e-05,1793239244299835136
+40,0.666666667,BASELINE,766,746,714,679,666.200984884,636,880,788,803.200984884,653,631,653,0.400991993085,0.0046102339453,0.049864959162,0.999999958086,0.000143415746668,-0.000248325318963,-3.99425454973e-05,1793239244316502016
+41,0.683333333,BASELINE,766,746,714,679,666.787690661,636,880,788,803.787690661,653,631,653,0.400991369703,0.00461042137653,0.049864199771,0.999999957662,0.000144302835791,-0.000249506605924,-3.99808707849e-05,1793239244333168640
+42,0.700000000,BASELINE,766,746,714,679.37157588,666.62842412,636,880,788,803.62842412,653,631,653,0.400992026507,0.00460932082701,0.0498648229009,0.999999958176,0.000142977986843,-0.000248216108453,-3.99194648591e-05,1793239244349835264
+43,0.716666667,BASELINE,766,746,714,679.953861623,666.046138377,636,880,788,803.046138377,653,631,653,0.400993409268,0.0046074899011,0.0498662300181,0.999999959211,0.00014039881219,-0.000245523933958,-3.98015042644e-05,1793239244366501632
+44,0.733333333,BASELINE,766,746,714,679.471288367,666.528711633,636,880,788,803.528711633,653.528711633,631.528711633,653,0.400994961524,0.00460907728225,0.0498671134096,0.999999959285,0.000141683232158,-0.00024446669822,-3.98974209965e-05,1793239244383168512
+45,0.750000000,BASELINE,766,746,714,679,666.896798015,636,880,788,804,653.896798015,631.896798015,653,0.400995870997,0.00461055325445,0.0498675586002,0.999999959175,0.000143220839117,-0.000244002659017,-4.00073362615e-05,1793239244399835136
+46,0.766666667,BASELINE,766,746,714,679,666.321024646,636,880,788,804,653.321024646,631.321024646,653,0.400993770315,0.00461017207116,0.0498662036052,0.999999958609,0.000144395341028,-0.000245610664823,-4.00970725058e-05,1793239244416501760
+47,0.783333333,BASELINE,766,746,714,679.260582446,666.260582446,636,880,788,804,653,631.260582446,653,0.400992212369,0.0046096952137,0.049865339599,0.999999958389,0.000143576318829,-0.000246995353753,-4.00117278822e-05,1793239244433168128
+48,0.800000000,BASELINE,766,746,714,679.849541056,666.849541056,636,880,788,804,653,631.849541056,653,0.400991338358,0.00460909779118,0.0498650943182,0.999999958601,0.00014024513295,-0.000248098627401,-3.97057529696e-05,1793239244449835264
+49,0.816666667,BASELINE,766,746,714,679.568132619,666.568132619,636,880,788,803.568132619,653.431867381,631.568132619,653,0.400993256869,0.00460864759656,0.0498657479462,0.999999959102,0.000139492036653,-0.000246473054116,-3.98542800045e-05,1793239244466501888
+50,0.833333333,BASELINE,766,745.988213,714,679,666,636,880,788,803.011787,653.988213,631.011787,653,0.40099608005,0.00460824817114,0.049866704669,0.99999995969,0.000139637397387,-0.000243944833618,-4.01444799653e-05,1793239244483168768
+51,0.850000000,BASELINE,766,745.41453751,714,679,666,636,880,788,803.58546249,653.41453751,631.58546249,653,0.400996352595,0.00460786075978,0.0498674067979,0.999999959818,0.000140443343952,-0.000243022165726,-3.97541052196e-05,1793239244499835392
+52,0.866666667,BASELINE,766,745.163316872,714,679,666,636,880.163316872,788,803.836683128,653,632,653,0.400995876322,0.00460783760598,0.049867456531,0.999999959685,0.000141191480469,-0.000243175775438,-3.95017033419e-05,1793239244516501760
+53,0.883333333,BASELINE,766,745.752056789,714,679,666,636,880.752056789,788,803.247943211,653,632,653,0.400993449456,0.00460876330433,0.0498658068429,0.999999958873,0.000141789027928,-0.000246132973658,-3.96087061038e-05,1793239244533168384
+54,0.900000000,BASELINE,766,746,714,679,666.335483412,636,880.329033177,788,803,653,632,653,0.400991983115,0.00460987402142,0.0498647747541,0.999999958279,0.000142985808076,-0.000247810846455,-3.98300388079e-05,1793239244549835008
+55,0.916666667,BASELINE,766,746,714,679,666.915044374,636,879.169911252,788,803,653,632,653,0.400991215593,0.00461111934697,0.0498641919937,0.999999957847,0.000144618553861,-0.000248557958902,-4.01345510963e-05,1793239244566501632
+56,0.933333333,BASELINE,766,746,714,679,666.508433643,636,879,788,803.491566357,653,632,653,0.400993653448,0.00461016545556,0.0498657874026,0.99999995872,0.000143118018125,-0.000245917594306,-4.00112029914e-05,1793239244583168512
+57,0.950000000,BASELINE,766.067543425,746,714,679,666.067543425,636,879,788,804,653,632,653,0.400996113092,0.00460885077472,0.049867467022,0.999999959663,0.000141206832081,-0.000243211680364,-3.97930194391e-05,1793239244599835648
+58,0.966666667,BASELINE,766.643347666,746,714,679,666.643347666,636,879,788,804,653,632,653,0.40099459369,0.00460766370218,0.0498669649941,0.999999959524,0.000140255350086,-0.000244390890678,-3.94142217446e-05,1793239244616502272
+59,0.983333333,BASELINE,766.775254066,745.775254066,714,679,666.775254066,636,879,788,804,653,631.775254066,653,0.400994116442,0.00460725056805,0.049866771535,0.999999959553,0.00013955984101,-0.000244686080434,-3.93216239192e-05,1793239244633168640
+60,1.000000000,BASELINE,766.184751871,745.184751871,714,679,666.184751871,636,879,788,804,653,631.184751871,653,0.400995335217,0.0046080969574,0.0498670802471,0.999999959856,0.000139280907496,-0.000243542596722,-3.96947937219e-05,1793239244649835264
+61,1.016666667,BASELINE,766,745,714,679,666.397974536,635.602025464,879.397974536,788,804,653,631,653,0.400994822012,0.00460823148149,0.0498669434363,0.99999995973,0.000139318346561,-0.000244027445402,-3.97517491599e-05,1793239244666501888
+62,1.033333333,BASELINE,766,745,714,679,666.977160329,635.022839671,879.977160329,788,804,653,631,653,0.400993520179,0.00460804186922,0.0498666037639,0.999999959409,0.000139499840769,-0.00024525372892,-3.96647214887e-05,1793239244683168256
+63,1.050000000,BASELINE,766,745,714,679.551752613,666.448247387,635,879.448247387,788,803.448247387,653,631.551752613,653,0.400992915323,0.00460814457826,0.0498663552028,0.999999959198,0.000139859667403,-0.000245913816592,-3.96267534173e-05,1793239244699835136
+64,1.066666667,BASELINE,766,745.126013239,714,679.873986761,666,635.126013239,879.126013239,788,803.126013239,653,632,653,0.40099280537,0.00460824009356,0.0498661792149,0.999999959106,0.000140116476886,-0.000246140398068,-3.96173563828e-05,1793239244716501760
+65,1.083333333,BASELINE,766,745.699765458,714,679.300234542,666,635.699765458,879.699765458,788,803.699765458,653,632,653,0.4009943522,0.00460826740902,0.0498662477974,0.999999959424,0.000139981242411,-0.000244909272657,-3.97023192875e-05,1793239244733168640
+66,1.100000000,BASELINE,766.281821541,746,714,679,666,636,880,788,804,653,632,653,0.400995073999,0.00460827777302,0.0498665470221,0.999999959621,0.000140193347955,-0.000243974618823,-3.97593636189e-05,1793239244749835520
+67,1.116666667,BASELINE,766.872992561,746,714,679,666,636,880,788,804,653,632,653,0.40099489018,0.00460826952975,0.0498670994179,0.999999959685,0.000140786721217,-0.000243365395579,-3.97857623242e-05,1793239244766501888
+68,1.133333333,BASELINE,766.544151907,746,714,679.455848093,666,636,880,788,804,653.455848093,631.544151907,653,0.400994079828,0.00460921972174,0.049866409505,0.999999959342,0.000142042812702,-0.000244024265134,-3.98923753274e-05,1793239244783168512
+69,1.150000000,BASELINE,766,746,714,679.964031375,666.035968625,636,880,788,803.964031375,654,631.035968625,653,0.400993165183,0.00461029068541,0.0498654621846,0.999999958918,0.000143341751681,-0.000244984610777,-3.99982641906e-05,1793239244799834880
+70,1.166666667,BASELINE,766,746,714,679.390777769,666.609222231,636,880,788,803.390777769,654,631.609222231,653,0.400993253511,0.0046092482523,0.0498657475321,0.999999958968,0.000142571984335,-0.00024526518,-3.97654742438e-05,1793239244816501504
+71,1.183333333,BASELINE,766,745.812646895,714,679.187353105,666.812646895,635.812646895,880,788,803,653.812646895,631.812646895,653,0.40099303576,0.00460849161638,0.0498656494593,0.999999958902,0.000141823267433,-0.000245991973361,-3.96310785019e-05,1793239244833168128
+72,1.200000000,BASELINE,766,745.224071088,714,679.775928912,666.224071088,635.224071088,880,788,803,653.224071088,631.224071088,653,0.400992162529,0.00460834702413,0.0498647302799,0.999999958583,0.000141119630593,-0.000247674370121,-3.97073970716e-05,1793239244849834752
+73,1.216666667,BASELINE,766,745.360018484,714,679.639981516,666,635,880,788,803.360018484,653,631,653,0.400993198792,0.00460945133067,0.0498652584814,0.999999958702,0.000142282546707,-0.000246475864487,-4.00151548062e-05,1793239244866501888
+74,1.233333333,BASELINE,766,745.941350207,714,679.058649793,666,635,880,788,803.941350207,653,631,653,0.400995408873,0.00461132336959,0.0498666764278,0.99999995908,0.000144592884178,-0.000243506388999,-4.04651845407e-05,1793239244883168768
+75,1.250000000,BASELINE,765.483064282,745.483064282,714,679.516935718,666.516935718,635.516935718,880,788,803.483064282,653,631.516935718,653,0.40099527626,0.00460927895553,0.0498668350974,0.999999959557,0.000141543038583,-0.000243422151628,-3.9967638525e-05,1793239244899835392
+76,1.266666667,BASELINE,765.091737946,745,714,679.908262054,667,636,880,788,803.091737946,653.091737946,632,653,0.400994935796,0.00460722703221,0.0498668825436,0.999999959957,0.000138395871667,-0.00024366582342,-3.94999783809e-05,1793239244916502272
+77,1.283333333,BASELINE,765.665811939,745,714,679.334188061,667,636,880,788,803.665811939,653.665811939,632,653,0.400994884619,0.00460744621561,0.0498670881386,0.999999959951,0.000137899358301,-0.000243931359663,-3.97484919463e-05,1793239244933169152
+78,1.300000000,BASELINE,766,745,714,679,666.752995769,635.752995769,880,788,803.752995769,653.752995769,631.752995769,653,0.400994283079,0.00460760090224,0.04986681834,0.999999959741,0.000138346431608,-0.000244529577032,-3.97952466327e-05,1793239244949835520
+79,1.316666667,BASELINE,766,745,714,679,666.161886937,635.161886937,880,788,803.161886937,653.161886937,631.161886937,653,0.40099291482,0.00460766573762,0.0498658862647,0.999999959245,0.000140108027036,-0.000245591256502,-3.95609285478e-05,1793239244966501888
+80,1.333333333,BASELINE,766,745.420307519,714,679,666,635.420307519,879.579692481,788,803,653.420307519,631,653.420307519,0.400992410648,0.00460780719611,0.0498656508811,0.999999959034,0.00014069743162,-0.000246131774106,-3.94334519659e-05,1793239244983168256
+81,1.350000000,BASELINE,766,745.999139844,714,679,666,635.999139844,879.000860156,788,803,653.999139844,631,653.999139844,0.400992232378,0.00460797755408,0.0498656782645,0.999999958932,0.000140844728329,-0.000246475728376,-3.93462721183e-05,1793239244999834880
+82,1.366666667,BASELINE,766,746,714,679,666.574170336,636,879.574170336,788,803.574170336,653.425829664,631.574170336,652.851659328,0.400992261451,0.00460827318406,0.0498650485767,0.999999958807,0.000140687285154,-0.000247033229411,-3.95904990484e-05,1793239245016502016
+83,1.383333333,BASELINE,766,746,714,679.152645168,667,636,879.847354832,788,804,653,632,652.152645168,0.400992359952,0.00460870285365,0.0498648475691,0.999999958715,0.000141036895631,-0.000247169118439,-3.98303723219e-05,1793239245033168896
+84,1.400000000,BASELINE,766,746,714,679.740967047,667,636,879.259032953,788,804,653,632,652.740967047,0.400992655734,0.00460951456426,0.049865872882,0.999999958714,0.000142835022651,-0.000246100744166,-4.00564118247e-05,1793239245049835264
+85,1.416666667,BASELINE,766,745.675939661,714,679.675939661,667,635.675939661,879.324060339,788,804,653,632,653,0.400992964978,0.00460937207568,0.0498661243539,0.999999958834,0.00014297984793,-0.000245532140257,-4.00332940532e-05,1793239245066501888
+86,1.433333333,BASELINE,766,745.096959437,714,679.096959437,667,635.096959437,879.903040563,788,804,653,632,653,0.400993284812,0.00460847897267,0.0498657670889,0.99999995905,0.000141824114415,-0.000245356677405,-3.98141783752e-05,1793239245083168512
+87,1.450000000,BASELINE,766.480814537,745,714,679,666.519185463,635,880,788,803.519185463,653,631.519185463,653,0.400994627282,0.00460877254376,0.0498672179599,0.999999959552,0.000141273596116,-0.000243615065243,-3.98780798259e-05,1793239245099834880
+88,1.466666667,BASELINE,766.943126538,745.056873462,714,679,666.056873462,635,880.056873462,788,803.056873462,653,631,653,0.400995928007,0.00460928774794,0.0498687141656,0.999999959995,0.000140994282711,-0.000241932131817,-3.99942750545e-05,1793239245116501248
+89,1.483333333,BASELINE,766.380169679,745.619830321,714,679,666.619830321,635,880.619830321,788,803.619830321,653,631,653,0.400995026812,0.00460965106734,0.0498673773371,0.999999959445,0.000142044967104,-0.000243574647882,-4.00692201244e-05,1793239245133168128
+90,1.500000000,BASELINE,766,745.80427481,714,679.19572519,666.80427481,635.19572519,880.80427481,788,804,653,631.19572519,653,0.400994544389,0.00460958317686,0.0498665118089,0.999999959187,0.000142038243946,-0.000244643971332,-4.00088236675e-05,1793239245149835008
+91,1.516666667,BASELINE,766,745.201470911,714,679.798529089,666.201470911,635.798529089,880.201470911,788,804,653,631.798529089,653,0.400994932949,0.0046086184352,0.0498666265141,0.999999959541,0.000139832273331,-0.000244521140871,-3.96669373529e-05,1793239245166501888
+92,1.533333333,BASELINE,766,745.383986862,714.383986862,680,666,636,880,788,803.616013138,653,631.616013138,653,0.400994855926,0.0046088139593,0.049866838526,0.999999959463,0.000140789323241,-0.000244281647593,-3.97447933556e-05,1793239245183168512
+93,1.550000000,BASELINE,766,745.960736857,714.960736857,680,666,636,880,788,803.039263143,653,631.039263143,653,0.400994545179,0.00460959194196,0.0498670993862,0.999999959162,0.000143334223488,-0.000243983589042,-4.00333618597e-05,1793239245199835392
+94,1.566666667,BASELINE,766,745.463629339,714.463629339,679.463629339,666.536370661,636,880,788,803.536370661,653,631,653,0.400994202216,0.00460769252686,0.0498671968111,0.999999959425,0.000141512491669,-0.000244092949064,-3.92778976955e-05,1793239245216501760
+95,1.583333333,BASELINE,766,745.111916504,714,679,667,636,880,788,803.888083496,653,631,653,0.400994127354,0.00460638878197,0.0498673680805,0.999999959678,0.000140056467218,-0.000243986972919,-3.87190932384e-05,1793239245233168384
+96,1.600000000,BASELINE,766,745.687435919,714,679,667,636,880,788,803.312564081,653,631,653,0.400995172818,0.00460836272173,0.0498678946989,0.999999959734,0.000141436692068,-0.000242865703373,-3.92908561771e-05,1793239245249834752
+97,1.616666667,BASELINE,766,745.730313595,714,679,666.730313595,635.730313595,880,788.269686405,803,653,631,653,0.400995664614,0.00460939252657,0.0498680700399,0.999999959782,0.000141780866968,-0.000242396831831,-3.97285001657e-05,1793239245266501376
+98,1.633333333,BASELINE,766,745.1400622,714,679,666.1400622,635.1400622,880,788.8599378,803,653,631,653,0.400995498287,0.00460930007746,0.049867827832,0.999999959822,0.00014089353238,-0.000242703438675,-4.00067225133e-05,1793239245283168256
+99,1.650000000,BASELINE,766.442097792,745,714,679,666.442097792,635.442097792,880,788.557902208,803,653.442097792,631,653,0.400995821293,0.00460813796457,0.0498678397011,0.999999960156,0.00013880851674,-0.000242543705246,-3.9918682571e-05,1793239245299834880
+100,1.666666667,BASELINE,766.978443219,745.021556781,714,679,666.978443219,636,880,788,803,653.978443219,631,653,0.400996224732,0.00460675405282,0.049867894329,0.999999960528,0.000136586222945,-0.00024230057616,-3.97313111718e-05,1793239245316502016
+101,1.683333333,BASELINE,766.403695974,745.596304026,714,679,666.403695974,636,880,788,803,653.403695974,631,653,0.400994785451,0.00460821845385,0.0498670177,0.999999959666,0.000140403293884,-0.000243640573722,-3.99191062307e-05,1793239245333168896
+102,1.700000000,BASELINE,766,745.824992608,714,679,666.175007392,636,879.824992608,788,803.175007392,653,631,653,0.400993846168,0.00460904241273,0.0498666417385,0.999999959169,0.000142869785805,-0.000244239530663,-3.99706436631e-05,1793239245349835264
+103,1.716666667,BASELINE,766,745.236952532,714,679,666.763047468,636,879.236952532,788,803.763047468,653,631,653,0.400994086926,0.00460835487214,0.0498674473962,0.999999959563,0.000142148793095,-0.000243089567025,-3.97006012055e-05,1793239245366501888
+104,1.733333333,BASELINE,766,745.346014372,714,679,667,636,879.346014372,788,804,653,631.346014372,653.346014372,0.400994455412,0.00460813323092,0.0498678833013,0.999999959889,0.000140758026653,-0.00024257567826,-3.95658945431e-05,1793239245383168256
+105,1.750000000,BASELINE,766,745.925557398,714,679,667,636,879.925557398,788,804,653,631.925557398,653.925557398,0.400994910103,0.0046082260299,0.0498680696567,0.999999960169,0.000138915222965,-0.000242491082846,-3.95225273722e-05,1793239245399834624
+106,1.766666667,BASELINE,766,746,714,679,666.496466505,636,880,787.496466505,803.496466505,653,632,653.496466505,0.400995258435,0.004608678738,0.0498681963246,0.999999960196,0.000138879993228,-0.000242366825254,-3.97257290457e-05,1793239245416501504
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,879,788,803,653,631,653,0.400993526786,0.00460804863078,0.0498668697737,0.99999995969,0.000140327582599,-0.000243699732167,-3.92177687518e-05,1793239245459811072
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.589282044,745.410717956,714,679.410717956,666,635.589282044,879,788,803.589282044,653,631.589282044,653,0.400994835515,0.00460906940043,0.0498674782818,0.999999959638,0.000141634314645,-0.000243123655915,-3.94264663483e-05,1793239245476477696
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714,679,666,636,879,788,804,653,632,653,0.400995358283,0.0046096754833,0.0498675998104,0.999999959593,0.000141840359042,-0.000243143973198,-3.96912477168e-05,1793239245493144064
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714,679,666,636,879,788,804,653,632,653,0.400994073248,0.00460932773874,0.04986660123,0.999999959565,0.000139514694698,-0.00024453606453,-4.00850282937e-05,1793239245509810688
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.331271982,714,679,666,635.668728018,879.331271982,788,803.668728018,653,631.668728018,653,0.400994054005,0.004609227902,0.0498666190425,0.999999959585,0.000139554665073,-0.000244439974246,-4.00562371597e-05,1793239245526477312
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.906015262,714,679,666,635.093984738,879.906015262,788,803.093984738,653,631.093984738,653,0.400994965069,0.00460931026733,0.0498673838619,0.999999959638,0.000141333279927,-0.000243250131526,-3.97168731534e-05,1793239245543143936
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.491844825,635.491844825,880,788,803,653,631,653,0.400993817602,0.00460966443107,0.0498664684439,0.999999959169,0.000142149844518,-0.000244682187785,-3.98323297e-05,1793239245559810560
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.921347564,635.921347564,879.921347564,788,803.078652436,653,631,653.078652436,0.400993462995,0.0046099354516,0.0498658693715,0.999999958886,0.000142603406529,-0.000245548293246,-3.9976128799e-05,1793239245576477184
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666.342108892,635.342108892,879.342108892,788,803.657891108,653,631,653.657891108,0.401000715846,0.00460933912729,0.0498693742767,0.999999960444,0.000141943627486,-0.000239550166489,-3.97344184255e-05,1793239245593143808
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.236606316,746,714,679.236606316,666,635.236606316,879.236606316,788,804,653,631,653.763393684,0.401013710633,0.00460879150417,0.0498752003746,0.999999962994,0.000141369689632,-0.000229054282492,-3.94958806391e-05,1793239245609810688
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.814566269,746,714,679.814566269,666,635.814566269,879.814566269,788,804,653,631,653.185433731,0.401034989352,0.00460831414267,0.0498843752737,0.999999966813,0.000140919595512,-0.00021206945219,-3.92619199815e-05,1793239245626477312
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.60277067,745.60277067,714,679.60277067,666,636,880,788,803.60277067,653,631.39722933,653,0.401075454,0.00460744596199,0.049897804722,0.999999972566,0.000140567559603,-0.000183244754563,-3.91277904586e-05,1793239245643143936
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.017885757,745.017885757,714,679.017885757,666,636,880,788,803.017885757,653,631.982114243,653,0.401124982298,0.0046063931539,0.0499132440677,0.999999978327,0.000140261847321,-0.000148826769384,-3.90408222254e-05,1793239245659810560
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,714,679,666,636,879.437998434,788,803,653,631.437998434,653,0.401192731648,0.0046058550319,0.0499299484197,0.999999983273,0.000137498958781,-0.000114216972053,-3.87564109839e-05,1793239245676477184
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.141427484,714,679,666,636,879.141427484,788,803,653,631,653,0.401262327749,0.00460545750372,0.0499445608834,0.999999986384,0.00013524113303,-8.64872588108e-05,-3.8237192965e-05,1793239245693144064
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.719914829,714,679,666,636,879.719914829,788,803,653,631,653,0.401335854714,0.00460544428549,0.0499525853754,0.999999987029,0.000134783660429,-8.00380763734e-05,-3.70115882847e-05,1793239245709810688
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,714.297081203,679,666.297081203,636,880,788,803.297081203,653.297081203,631.297081203,653,0.401418857849,0.00460440690626,0.0499572569606,0.999999987561,0.0001339546411,-7.5074877155e-05,-3.6039729936e-05,1793239245726477312
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,714.873007659,679,666.873007659,636,880,788,803.873007659,653.873007659,631.873007659,653,0.401510755466,0.00460240823284,0.0499587814525,0.999999988005,0.000132776881993,-7.15064463545e-05,-3.53060420972e-05,1793239245743143936
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,714.552788071,679,667,636,880,788,804,653.552788071,632,653.447211929,0.401617232039,0.00460153358009,0.0499563400228,0.999999987906,0.00013075751989,-7.67953402862e-05,-3.45368848594e-05,1793239245759810816
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,803.978384672,653.021615328,632,653.978384672,0.401729104698,0.004600901023,0.0499530682691,0.999999987646,0.000128480281352,-8.40375816354e-05,-3.3736748463e-05,1793239245776477184
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,803.385854379,653.614145621,632,653.385854379,0.401874575694,0.00459826476193,0.0499574967363,0.999999988637,0.000125679868772,-7.66956235577e-05,-3.23833822349e-05,1793239245793143808
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,714,679.201611632,667,636,880,788,803.201611632,653.798388368,632,653,0.402027742578,0.00459654934086,0.0499600892104,0.9999999892,0.000123709224342,-7.29814440795e-05,-3.11251057372e-05,1793239245809810688
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,714,679.779622797,667,636,880,788,803.779622797,653.220377203,632,653,0.402195277313,0.00459655308552,0.0499592539705,0.999999989058,0.000123287718757,-7.60401592582e-05,-3.00443574953e-05,1793239245826477312
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,714,679.645585248,666.645585248,636,880,788,804,653.354414752,632,653.354414752,0.402383974281,0.00459385572002,0.0499569060977,0.999999989422,0.000118832464702,-7.88207153201e-05,-2.86863394229e-05,1793239245843144448
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,714,679.072776943,666.072776943,636,880,788,804,653.927223057,632,653.927223057,0.402585711624,0.00458949390619,0.0499536261267,0.999999990056,0.000111891578576,-8.14298675301e-05,-2.71574650853e-05,1793239245859812096
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666,636,880.514220634,788,803.485779366,653.485779366,631.485779366,653.485779366,0.402824721547,0.00458985430468,0.0499565465774,0.999999990713,0.000111015136839,-7.46825785883e-05,-2.5922470609e-05,1793239245876478208
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,714.101463691,679.101463691,666,636,880.898536309,788,803.101463691,653,631.101463691,653,0.403077417262,0.00459010890431,0.0499610540065,0.999999991516,0.000109952740015,-6.53551090126e-05,-2.46206751466e-05,1793239245893144320
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,714.680148258,679.680148258,666,636,880.319851742,788,803.680148258,653,631.680148258,653,0.403368967395,0.00458663330184,0.0499687810768,0.999999993081,0.000103864311367,-5.02970570704e-05,-2.28035142537e-05,1793239245909810944
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,714.741070701,679.741070701,666.258929299,636,880,788,804,653,631.741070701,653,0.403678102771,0.00458307618119,0.04997717113,0.999999994393,9.79704377593e-05,-3.45261572765e-05,-2.05768364551e-05,1793239245926477824
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,714.162170476,679.162170476,666.837829524,636,880,788,804,653,631.162170476,653,0.40400896903,0.00457941832493,0.0499863804613,0.99999999542,9.23169851939e-05,-1.78743592855e-05,-1.78440997604e-05,1793239245943144704
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,879.58860021,788,804,653,631,653,0.404365374206,0.00457567398324,0.0499931047062,0.999999996028,8.76590647167e-05,-5.29592825568e-06,-1.52198634271e-05,1793239245959811072
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,879.017104112,788,804,653,631,653,0.40473171785,0.0045718959858,0.049998861879,0.999999996427,8.33885558714e-05,5.69735084758e-06,-1.26378500936e-05,1793239245976477184
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,879.575450953,788,804,653,631.575450953,653,0.405125336787,0.00456850485095,0.0500020771028,0.999999996805,7.86728091993e-05,1.02929856968e-05,-9.68847300899e-06,1793239245993144064
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.83569349,714.16430651,679,667,636,880,788,804,653,632,653,0.405526921188,0.00456505252622,0.049997801826,0.999999997274,7.3519471875e-05,1.02115895932e-06,-6.8256855047e-06,1793239246009810688
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.257786103,714.742213897,679,667,636,880,788,804,653,632,653,0.405946438347,0.00456141612705,0.0499748684854,0.999999996817,6.72991874904e-05,-4.26617068521e-05,-4.20939655407e-06,1793239246026477568
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.319001789,714.680998211,679.319001789,667,636,880,788,804,653,631.680998211,653,0.406388222806,0.00455741542634,0.0499573732386,0.999999995497,6.21621446572e-05,-7.16909771039e-05,-1.57193692762e-06,1793239246043144448
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.89488824,714.10511176,679.89488824,667,636,880,788,804,653,631.10511176,653,0.406847938645,0.00455312136175,0.0499442571587,0.99999999437,5.7897410235e-05,-8.89200551661e-05,1.0825712277e-06,1793239246059811584
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.519083553,714,679.519083553,667,636,880,788,804,653,631,653,0.407363815387,0.00454775185324,0.0499412545216,0.99999999454,5.16035637483e-05,-9.07666078647e-05,4.28373973373e-06,1793239246076478208
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.931822478,745.068177522,714,679,667,636,880,788,803.931822478,653,631,653,0.407900292827,0.00454185936324,0.0499435373471,0.999999995417,4.5165075718e-05,-8.40623385344e-05,7.72662504471e-06,1793239246093144832
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.352297769,745.647702231,714,679,667,636,880,788,803.352297769,653,631,653,0.408497233109,0.00453384533393,0.0499685263239,0.999999998325,4.10397040948e-05,-3.89846074358e-05,1.20670028299e-05,1793239246109811200
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.225590796,746,714,679,667,636,880,788,803.225590796,653,631.225590796,653,0.409101402647,0.00452644463164,0.049989651023,0.999999998004,6.09889750199e-05,-3.64592209159e-06,1.6066452716e-05,1793239246126477568
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.800942613,746,714,679,667,636,880,788,803.800942613,653,631.800942613,653,0.409716780549,0.00451999484577,0.0500047844579,0.999999992678,0.000118264110986,1.65931259109e-05,1.95373200886e-05,1793239246143144192
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,803.623590967,653,631.623590967,653,0.410325826971,0.00451452537123,0.0500044292917,0.999999991743,0.000125957554013,1.22019520618e-05,2.23368189109e-05,1793239246159810560
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,803.048063942,653,631.048063942,653,0.41093152406,0.00450957447539,0.049995880753,0.99999999391,0.000107422593919,-5.21845370922e-06,2.47811679294e-05,1793239246176477440
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.461310509,880,788,803.538689491,653,631,653,0.411557392405,0.00450012156918,0.0499655368806,0.999999996903,3.49790780323e-05,-6.92873848599e-05,1.30118041473e-05,1793239246193144832
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,714,679.125377667,667,635.125377667,880,788,804,653,631.125377667,653,0.412212109661,0.00449013174463,0.0499447466407,0.999999993476,-2.56181497337e-05,-0.000111259193414,3.61566894404e-06,1793239246209812224
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,714,679.708096131,667,635.708096131,880,788,804,653,631.708096131,653,0.412965354384,0.0044796798227,0.0499660497823,0.999999998025,-2.50849597641e-05,-5.71217217969e-05,7.60086249376e-06,1793239246226478592
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.714103165,746,714.285896835,679.714103165,667,636,880.285896835,788,804,653,632,653.285896835,0.413714702063,0.00447291690704,0.0499833156106,0.999999999506,-2.02237931328e-05,-2.12508925955e-05,1.12992196016e-05,1793239246243144960
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.141238571,746,714.858761429,679.141238571,667,636,880.858761429,788,804,653,632,653.858761429,0.41446013819,0.00446985681484,0.049996529005,0.999999999824,-1.10184379055e-05,-3.71512335901e-06,1.47096663181e-05,1793239246259811072
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.432202926,746,715,679,667,636,881,788,804,653,632,653.567797074,0.415181764457,0.00446919157111,0.0499775743912,0.999999999219,-9.5048259509e-06,-3.44445876185e-05,1.68668670674e-05,1793239246276477440
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.993973899,746,715,679.006026101,667,636,880.993973899,788,804,652.993973899,631.993973899,653,0.415896481863,0.00446957402925,0.0499483716474,0.999999996534,-1.01996382309e-05,-8.05186662979e-05,1.85633232753e-05,1793239246293143808
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.401370485,746,715,679.598629515,667,636,880.401370485,788,804,652.401370485,631.401370485,653,0.41669708661,0.00449565886892,0.0499462317689,0.999999996264,1.91349477658e-05,-8.28926579149e-05,1.53293682438e-05,1793239246309810432
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.187368914,746,715,679.812631086,667,636,880,788,804,652.187368914,631,653,0.417511820335,0.00451410289232,0.0499552459589,0.999999996877,4.11539482663e-05,-6.60929491177e-05,1.35890924335e-05,1793239246326477312
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.767998268,746,715,679.232001732,667,636,880,788,804,652.767998268,631,653,0.418356208706,0.00451650993821,0.0499876709367,0.999999998703,4.781858371e-05,-9.05039680039e-06,1.49838349652e-05,1793239246343143936
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.655494636,746,714.655494636,679.344505364,667,636,880,788,804,653,631.344505364,653,0.419167152795,0.00450942066858,0.0499930522123,0.999999999102,3.83491234564e-05,-6.22531634551e-06,1.69265895394e-05,1793239246359810816
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.081730808,746,714.081730808,679.918269192,667,636,880,788,804,653,631.918269192,653,0.419955840636,0.00449601187255,0.0499804366763,0.999999998871,1.81428838543e-05,-3.94804145788e-05,1.92340303978e-05,1793239246376477440
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.504286018,746,714,679.495713982,667,635.495713982,880,787.495713982,803.495713982,653,632,653.504286018,0.420785838911,0.00449042150601,0.0499783205146,0.999999999269,1.25259302578e-05,-3.08997356443e-05,1.87390727596e-05,1793239246393143808
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,714,679.091003218,667.091003218,635.091003218,880.091003218,787.091003218,803.091003218,653,631.908996782,653.908996782,0.421634071928,0.00448653909803,0.0499814362989,0.999999999725,1.00067588588e-05,-1.1168330589e-05,1.80565091486e-05,1793239246409810432
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,714,679.67055356,667.67055356,635.67055356,880.67055356,787.67055356,803.67055356,653,631.32944644,653.32944644,0.422543358698,0.00448485374397,0.0500032767993,0.999999999276,1.11079680582e-05,3.11183999952e-05,1.88658188848e-05,1793239246426477056
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667.750942337,635.750942337,881,788,804,653,631.249057663,653,0.423420533667,0.00448563476352,0.0500085162597,0.999999998907,1.04660061983e-05,4.12680117818e-05,1.93161415953e-05,1793239246443143680
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667.1738163,635.1738163,881,788,804,653,631.8261837,653,0.424255409856,0.00448966458543,0.049991888192,0.999999999744,7.52787224886e-06,9.08537519517e-06,1.92935928619e-05,1793239246459810304
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.40032194,880.59967806,788,804,653,631.59967806,653,0.425116911016,0.00449439215869,0.0499945561202,0.999999999672,1.11875194299e-05,1.15974196282e-05,1.99054577126e-05,1793239246476476928
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.97317248,880.02682752,788,804,653,631.02682752,653,0.425989886813,0.00449942044484,0.050005540134,0.999999999205,1.76906430805e-05,2.90619933723e-05,2.07907387254e-05,1793239246493143808
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,714.56454414,680,667,636,880.56454414,788,804,652.43545586,631.56454414,653.56454414,0.426841195165,0.00449641642593,0.0500171112682,0.999999998835,1.7678205335e-05,3.88783896445e-05,2.24741363115e-05,1793239246509810432
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,714.847310535,680,667.152689465,636,880.847310535,788,804,652.152689465,631.847310535,653.847310535,0.42768087173,0.00449297745978,0.0500143178017,0.999999999284,1.66156937669e-05,2.42063301181e-05,2.38658646406e-05,1793239246526477312
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,714.270650513,680,667.729349487,636,880.270650513,788,804,652.729349487,631.270650513,653.270650513,0.428491206441,0.00448942659514,0.0499715582645,0.999999997964,1.35263478856e-05,-5.74190514588e-05,2.43388355041e-05,1793239246543143936
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,714,679.693786527,667.693786527,635.693786527,880.306213473,788,804,653,631.306213473,653,0.429342795628,0.00448607403994,0.049957520784,0.999999996838,1.17932803463e-05,-7.47572878844e-05,2.44140306015e-05,1793239246559810560
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,714,679.116742175,667.116742175,635.116742175,880.883257825,788,804,653,631.883257825,653,0.430230872345,0.00448289687995,0.049968886564,0.999999999024,1.1259775046e-05,-3.52366762674e-05,2.41374124889e-05,1793239246576476928
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,714.466898641,679.466898641,667,635,880.533101359,788,804,652.533101359,632,653,0.431050782044,0.00448378375283,0.0499732494067,0.999999999148,1.17150521511e-05,-3.12679705343e-05,2.42777202464e-05,1793239246593143808
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,679.948303034,667,635.051696966,880.051696966,788,804,652.051696966,632,653,0.431854588019,0.00448566897669,0.0499743268907,0.999999998922,1.21329419857e-05,-3.75649071206e-05,2.44664566649e-05,1793239246609810432
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,679.368768431,667,635.631231569,880.631231569,788,804,652.631231569,632,653,0.432670490913,0.0044872236736,0.0499599944012,0.999999998062,9.6086223998e-06,-5.6613817303e-05,2.4070020526e-05,1793239246626477056
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.789912507,746,714.789912507,679,667,635.789912507,880.789912507,788,804,653,632,653,0.433498241767,0.00448802280985,0.0499597265607,0.999999998182,7.94404136807e-06,-5.46140515481e-05,2.4288507382e-05,1793239246643143680
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.212243941,746,714.212243941,679,667,635.212243941,880.212243941,788,804,653,632,653,0.434346722621,0.00448749997429,0.0499840670307,0.999999999518,7.78370757378e-06,-1.57863238015e-05,2.55828985391e-05,1793239246659810560
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,746,714,679.36443885,667.36443885,635,880.36443885,788,804.36443885,652.63556115,631.63556115,653,0.435138367106,0.00448833384161,0.0499943437214,0.99999999954,1.2860237123e-05,-5.61647982547e-06,2.68772612882e-05,1793239246676477184
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,746,714,679.940549054,667.940549054,635,880.940549054,788,804.940549054,652.059450946,631.059450946,653,0.435897000157,0.00448995570163,0.0499964519641,0.99999999931,2.09784126586e-05,-1.20915515659e-05,2.81716074733e-05,1793239246693143552
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.527357339,746,714,680,667.472642661,635,881,788,804.472642661,652,631.527357339,653,0.436591161378,0.00448777759951,0.0499701091695,0.9999999972,1.17942048463e-05,-6.8290533109e-05,2.82410197632e-05,1793239246709810432
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.88627189,714,679.88627189,667.11372811,635,881,788,804,652,632,653,0.437296686392,0.0044849233129,0.0499512428888,0.99999999402,1.7259332086e-06,-0.000105696134134,2.80094284245e-05,1793239246726477312
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.306735085,714,679.306735085,667.693264915,635,881,788,804,652,632,653,0.438079140678,0.00448109041271,0.049976407865,0.999999998714,-3.808740375e-06,-4.2692913418e-05,2.7122291032e-05,1793239246743143936
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.271035958,714,679,667.728964042,635,881,788,804,652,632,653,0.438826953474,0.00447834667981,0.0499925361948,0.999999999571,5.27821942654e-06,-8.17051531925e-06,2.76383815759e-05,1793239246759810304
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.84682156,714,679,667.15317844,635,881,788,804,652,632,653,0.439535815734,0.00447682759404,0.0499985038241,0.999999999067,3.08055722122e-05,-5.67162358492e-06,2.97322452488e-05,1793239246776477184
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.571406699,746,714.428593301,679.428593301,667,635,881,788,804,652,631.571406699,653,0.440168785669,0.0044780600974,0.0499805907543,0.999999998322,3.65855339994e-05,-3.3213823054e-05,3.02447445355e-05,1793239246793143808
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.012495667,746,715,679.987504333,667,635,880.987504333,788,804,652.012495667,631.012495667,653,0.440774611876,0.00448030036922,0.0499546139141,0.999999996419,3.51686706556e-05,-7.07862695767e-05,3.0224255598e-05,1793239246809810688
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.594612772,746,715,679.405387228,667,635,880.405387228,788,804,652.594612772,631.594612772,653,0.441397040276,0.00448301589984,0.0499556257009,0.99999999658,3.19660386313e-05,-6.92250273981e-05,3.20360344661e-05,1793239246826477312
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.824181487,746,714.824181487,679.175818513,667,635,880,788,804.175818513,653,632,653,0.442014154115,0.0044884980341,0.0499593137309,0.999999997026,3.36431019868e-05,-6.0946051088e-05,3.32025613358e-05,1793239246843144448
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.245066137,746,714.245066137,679.754933863,667,635,880,788,804.754933863,653,632,653,0.442619077406,0.00450032627249,0.0499691405935,0.999999997683,4.65133301574e-05,-3.72577704142e-05,3.28889936201e-05,1793239246859811840
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.329510255,746,714.329510255,680,667,635,880.329510255,788,804.670489745,653,632,653,0.443172779663,0.00450845625316,0.0499629940957,0.999999996863,5.59066359827e-05,-4.52620328147e-05,3.31611425758e-05,1793239246876478208
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.900756729,746,714.900756729,680,667,635,880.900756729,788,804.099243271,653,632,653,0.443688904968,0.00451387310712,0.0499451291768,0.999999994531,6.27491916736e-05,-7.65166672605e-05,3.38629866121e-05,1793239246893144320
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,714.511226236,679.511226236,667,635,881,788,804,652.511226236,631.511226236,653,0.444131059404,0.004516588436,0.0499021247061,0.999999985585,6.71507929848e-05,-0.000152077308631,3.45322299016e-05,1793239246909811456
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,714.078644299,679.157288599,667,634.921355701,881,787.921355701,804,652.078644299,631,653,0.444561093487,0.00451808894918,0.0498585605479,0.999999971258,6.84785498354e-05,-0.000227135255901,3.47033743388e-05,1793239246926478848
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,714.657868095,680.315736189,667,634.342131905,881,787.342131905,804,652.657868095,631,653,0.44501297736,0.00451547255007,0.0498450788339,0.999999969337,5.35077487182e-05,-0.000239697624785,3.17476972978e-05,1793239246943145472
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.764506175,746,715,680.764506175,667,634,881,787.235493825,804.235493825,653,631.235493825,653,0.445460355769,0.00451375633012,0.0498407967394,0.999999971048,2.89500491278e-05,-0.000237507764806,2.56274268165e-05,1793239246959812096
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.189186557,746,715,680.189186557,667,634,881,787.810813443,804.810813443,653,631.810813443,653,0.445901232599,0.00451333910027,0.0498497900175,0.999999976939,-9.44187761133e-06,-0.000214029923414,1.4940538005e-05,1793239246976478464
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.394285734,746,714.605714266,680,667,634,881,787.605714266,804.605714266,653,632,653,0.446308663165,0.00451174886823,0.0498555036743,0.999999979723,-2.08864760157e-05,-0.000199869829656,1.30581373694e-05,1793239246993144576
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.981752496,746,714.018247504,680,667,634,881,787.018247504,804.018247504,653,632,653,0.446699706712,0.00450958392156,0.0498596104755,0.999999981595,-1.91281843821e-05,-0.000190274981657,1.54895110925e-05,1793239247009810688
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.438049863,746,714,680,666.438049863,634,881,787,804,652.438049863,632,653,0.44699967271,0.00451213160599,0.0498316627202,0.999999971039,-1.41950982609e-05,-0.000239724902102,1.59072274247e-05,1793239247026477312
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.141461065,745.858538935,714,680,666,634,881,787.141461065,804,652,632,652.858538935,0.447288503689,0.00451597018986,0.0498019588555,0.99999995812,6.67143135518e-06,-0.00028889347798,1.60238745946e-05,1793239247043144192
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.719571735,745.280428265,714,680,666,634,881,787.719571735,804,652,632,652.280428265,0.447551976355,0.00452332709009,0.0497700062086,0.999999942066,7.64057687381e-05,-0.000331351100375,1.54104613653e-05,1793239247059810816
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745.295305522,714,680,666,634,881,788,804.295305522,652.295305522,632,652.295305522,0.447811818167,0.00453480513151,0.0497514401698,0.999999929409,0.000117216506517,-0.000356645596272,1.57119734942e-05,1793239247076477440
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745.868800159,714,680,666,634,881,788,804.868800159,652.868800159,632,652.868800159,0.448068239559,0.00455016544537,0.0497454848306,0.999999924411,0.000130780101618,-0.000365771768451,1.68753804665e-05,1793239247093144576
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,714.453063782,680,666,634,881,788,804.546936218,653,631.546936218,653,0.448311170617,0.00456728838312,0.049750357249,0.999999925628,0.000144366224311,-0.000357296448718,1.55650743993e-05,1793239247109811200
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.960042418,746,714.960042418,680,665.960042418,634,881,787.960042418,804,652.960042418,631.039957582,653,0.448547540099,0.00458314076476,0.0497583882323,0.999999928524,0.000156225116878,-0.000344026060631,1.38723889806e-05,1793239247126477824
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.38076471,746,714.38076471,680,665.38076471,634,881,787.38076471,804,652.38076471,631.61923529,653,0.448749358124,0.00457478691427,0.0497656995383,0.999999932772,0.000144680845358,-0.000336507407668,1.6922781447e-05,1793239247143144192
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,746,714.198082871,680,665.198082871,634,881,787,804.396165741,652,632,653,0.448936272414,0.00456941609247,0.0497699447799,0.999999935131,0.000136590256126,-0.000332757969021,1.88188658073e-05,1793239247159810816
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,746,714.776105362,680,665.776105362,634,881,787,805.552210724,652,632,653,0.44909460006,0.00456976697177,0.0497683090511,0.999999934172,0.000135124121642,-0.000336238201707,1.85008896991e-05,1793239247176477440
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,746,715,680,666,633.647411253,881,787,805.294822506,652,632,653,0.449231801579,0.00457014738123,0.0497646189953,0.99999993192,0.00013470553132,-0.000343031137999,1.85278611138e-05,1793239247193144064
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,715,680,666,633.071900901,881,787,804.143801802,652,632,653,0.449355646277,0.00457054646095,0.0497596301065,0.999999928795,0.000134949242833,-0.00035191850676,1.87729229949e-05,1793239247209810944
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.485029286,714.485029286,680,665.485029286,633,881,787,804,652,631.485029286,653,0.449460621904,0.00456923744223,0.0497561419719,0.999999926734,0.00013170984988,-0.000358906180384,1.92727832017e-05,1793239247226477824
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,665.101920069,633,880.898079931,787,804.101920069,652,631.101920069,653,0.449559777896,0.00456840306757,0.0497533484301,0.999999925058,0.000128934860684,-0.000364523876322,1.95647946013e-05,1793239247243144704
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,665.681630024,633,880.318369976,787,804.681630024,652,631.681630024,653,0.449644281103,0.0045709369927,0.0497528066128,0.999999924679,0.000130668168181,-0.000364990729248,1.87118989284e-05,1793239247259811328
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.259306529,745.259306529,714,680.259306529,666,633,880,787,805,652.259306529,632,653,0.449719747605,0.00457155614529,0.0497523352309,0.999999924024,0.000131551144718,-0.000366474695687,1.85357233347e-05,1793239247276477440
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.834505808,745.834505808,714,680.834505808,666,633,880,787,805,652.834505808,632,653,0.449784205396,0.00456984268094,0.0497519496548,0.99999992303,0.00013139822982,-0.000369197731493,1.91839426406e-05,1793239247293143808
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745.590940173,714,681,665.590940173,633,880.409059827,787,805,653,631.590940173,653,0.449836798502,0.00456931413341,0.0497519004992,0.999999923258,0.000130510026262,-0.000368891710596,1.92141892107e-05,1793239247309810688
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745.016646812,714,681,665.016646812,633,880.983353188,787,805,653,631.016646812,653,0.449884599045,0.00456926421517,0.0497519872355,0.99999992398,0.000129324813964,-0.000367362147954,1.8994815018e-05,1793239247326477312
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.42478069,745.57521931,714.57521931,681,665,633,881.57521931,787,804.42478069,653,631.57521931,653,0.449916317779,0.00457238890015,0.0497508487832,0.999999923048,0.000133583114639,-0.000368393451308,1.8597827342e-05,1793239247343144192
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,746,714.836127118,680.836127118,665,633,881.836127118,787.163872882,804.163872882,653,631.836127118,653,0.449944726174,0.00457428447646,0.0497500270809,0.999999922276,0.000136521569024,-0.000369420749111,1.8411806001e-05,1793239247359811072
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,746,714.256944793,680.256944793,665,633,881.256944793,787.743055207,804.743055207,653,631.256944793,653,0.449965961708,0.00457282490004,0.0497501008218,0.999999922076,0.00013570325661,-0.0003702441534,1.87738822623e-05,1793239247376477952
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.318707178,746,714,680,665,633,881,788,804.681292822,653,631.318707178,653,0.449981995084,0.00457080738747,0.0497499163089,0.99999992191,0.000133845514295,-0.000371345347757,1.91648121006e-05,1793239247393144576
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.891544187,746,714,680,665,633,881,788,804.108455813,653,631.891544187,653,0.449993880379,0.0045683449892,0.0497495258703,0.999999921766,0.000131158954207,-0.00037266804566,1.95787491614e-05,1793239247409810944
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,746,714.476477537,680,665,633,881,788,804.476477537,652.523522463,632,653,0.45000347291,0.00457171807068,0.0497501914858,0.999999921622,0.00013511266083,-0.000371663461605,1.91728510073e-05,1793239247426477312
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.936410077,746,714.936410077,680.063589923,665,633,881,788,805,652.063589923,632,653,0.450011862637,0.00457585692707,0.0497509098737,0.999999921377,0.000140288290551,-0.000370429090089,1.8662296183e-05,1793239247443143936
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.354562709,746,714.354562709,680.645437291,665,633,881,788,805,652.645437291,632,653,0.45001481362,0.00457512945629,0.0497500482388,0.999999920529,0.00014278334773,-0.000371751755047,1.88592836072e-05,1793239247459810816
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.224583144,746,714,681,665.224583144,633,881,787.775416856,804.775416856,652.775416856,632,653,0.450016888985,0.00457470390773,0.0497493910519,0.99999991997,0.000143707401927,-0.000372897973546,1.88263051562e-05,1793239247476477440
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.799514615,746,714,681,665.799514615,633,881,787.200485385,804.200485385,652.200485385,632,653,0.450017598392,0.00457474935603,0.0497490528027,0.999999919871,0.000142180700956,-0.000373768936572,1.8434581338e-05,1793239247493144064
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,714.372339483,680.627660517,665.627660517,633,881,787,804.372339483,652.372339483,632,653,0.450017379005,0.00457556942771,0.0497478965347,0.999999919034,0.000143123312311,-0.000375649720896,1.82903216398e-05,1793239247509810944
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,714.944036417,680.055963583,665.055963583,633,881,787,804.944036417,652.944036417,632,653,0.450016662323,0.00457680424707,0.0497463022842,0.999999917795,0.000145388039246,-0.000378071182206,1.82785588248e-05,1793239247526477824
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,714.464502067,680,665,633,881,787.535497933,805,652.464502067,632,653,0.450017297507,0.00457700468791,0.0497460507366,0.999999917981,0.000143829555759,-0.000378173323911,1.83410702455e-05,1793239247543144448
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.874046612,746,714,680,665,633,880.874046612,787.874046612,805,652.125953388,632,653,0.450018081371,0.00457706371273,0.0497459713291,0.999999918209,0.000142850754304,-0.000377940939075,1.8341996147e-05,1793239247559810816
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.294927399,746,714,680,665,633,880.294927399,787.294927399,805,652.705072601,632,653,0.450018872372,0.00457701777687,0.0497459870491,0.999999918039,0.000145450225181,-0.000377410465653,1.80923465568e-05,1793239247576477440
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.717255321,714,680.282744679,665.282744679,633,880.282744679,787,805,653,631.717255321,653,0.450019698451,0.00457706594544,0.0497456748984,0.999999917883,0.000146180178066,-0.000377557716536,1.77619512663e-05,1793239247593143808
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.141084975,714,680.858915025,665.858915025,633,880.858915025,787,805,653,631.141084975,653,0.450020560934,0.00457721177335,0.0497450224914,0.999999917745,0.0001449699902,-0.000378408293433,1.73477599884e-05,1793239247609810432
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.443236573,745.443236573,714,681,665.556763427,633,880.556763427,787,805,653,631,653,0.450021170206,0.0045771283895,0.0497461415793,0.999999918147,0.000144228639006,-0.000377599267024,1.79432093456e-05,1793239247626477056
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,714.029748607,681,665,633,880.029748607,787,805,653,631.029748607,653,0.450021638569,0.00457718522956,0.0497477068449,0.99999991863,0.000143969801289,-0.000376377554694,1.87650506846e-05,1793239247643143936
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,714.607915751,681,665,633,880.607915751,787,805,653,631.607915751,653,0.450021022948,0.00458119732595,0.0497469075468,0.999999917381,0.000149803468022,-0.000377468948743,1.77248776349e-05,1793239247659811072
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.814044238,746,714.814044238,681,665,633,881.185955762,787,805,652.814044238,631.814044238,653,0.450020592114,0.00458289887569,0.0497462217241,0.99999991669,0.000152277236234,-0.000378338141088,1.70638505435e-05,1793239247676478208
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.236272134,746,714.236272134,681,665,633,881.763727866,787,805,652.236272134,631.236272134,653,0.450020550636,0.00457973200959,0.0497457749985,0.999999917227,0.000147671561518,-0.000378739145373,1.72016994426e-05,1793239247693144576
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.33898577,746,714,680.66101423,665,633,881.32202846,787,805,652.33898577,631.33898577,653,0.450020485745,0.0045786075525,0.0497455373749,0.999999917201,0.000146797917211,-0.000379132353388,1.75262469383e-05,1793239247709810944
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.912504162,746,714,680.087495838,665,633,880.174991676,787,805,652.912504162,631.912504162,653,0.450020404655,0.00457889616825,0.0497454444216,0.999999916794,0.000148506336876,-0.000379520167414,1.79799647811e-05,1793239247726477312
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.498302331,746,714,680,665,633,880.501697669,787.501697669,804.498302331,652.498302331,632,653,0.450020444879,0.0045794717004,0.0497448471392,0.999999916518,0.000147819723677,-0.000380530825286,1.76008828789e-05,1793239247743143936
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714,680,665,633,881,787.908447176,804,652.091552824,632,653,0.450020476476,0.00458012613075,0.049744262595,0.999999916239,0.000147038938958,-0.000381584187148,1.71652227255e-05,1793239247759810560
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714,680,665,633,881,787.330078994,804,652.669921006,632,653,0.450020346066,0.00458092543805,0.0497442285507,0.999999915828,0.000148050050165,-0.000382268404537,1.72259123997e-05,1793239247776477184
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714,680.246832835,665,633,880.753167165,787,804,652.753167165,632,653,0.450020629326,0.00458069491628,0.0497441915691,0.999999915808,0.000148210262066,-0.000382255955677,1.72426342348e-05,1793239247793144064
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714,680.821808651,665,633,880.178191349,787,804,652.178191349,632,653,0.450021462526,0.0045790953256,0.0497441506825,0.999999916311,0.000147239276815,-0.000381317349175,1.72009046255e-05,1793239247809810944
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.406473223,745.593526777,714,680.593526777,665,633,880,787,804,652,632,653,0.450022574479,0.00457882074929,0.0497448276004,0.999999916913,0.000146957125275,-0.00037984805207,1.71067982175e-05,1793239247826478080
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.99548887,745.00451113,714,680.00451113,665,633,880,787,804,652,632,653,0.450023811617,0.0045791412217,0.0497458268759,0.999999917558,0.000146984321044,-0.000378140428011,1.69891699973e-05,1793239247843144960
+251,4.183333333,HOLD_POSE2,766,746,714,681,665,633,881,787,804,652,631,653,0.45002279732,0.00458138996664,0.0497458396828,0.999999916401,0.000152615083887,-0.000378938176813,1.76813348466e-05,1793239247872038144
+252,4.200000000,HOLD_POSE2,765.425337222,746,714,681,665,633,881,787,804,652.574662778,631.574662778,653,0.450021781778,0.00458027126724,0.0497453989437,0.999999916205,0.000149832721922,-0.000380557659358,1.77560012214e-05,1793239247888704768
+253,4.216666667,HOLD_POSE2,765,746,714,681,665,632.850407091,881,787,804.149592909,653,631.850407091,653,0.4500212513,0.00457910675882,0.0497448857667,0.999999916074,0.000148048949051,-0.000381593344474,1.78805110702e-05,1793239247905371392
+254,4.233333333,HOLD_POSE2,765,746,714,681,665,632.274715303,881,787,804.725284697,653,631.274715303,653,0.450022102476,0.00457781176822,0.0497441662584,0.999999916151,0.00014910954627,-0.000380966147483,1.81469945665e-05,1793239247922037504
+255,4.250000000,HOLD_POSE2,765,745.69225556,714,681,665,632,880.69225556,787,805,653,631,653,0.450022759724,0.00457803612136,0.0497440801492,0.999999916351,0.000149477328884,-0.000380312190031,1.78251680414e-05,1793239247938703872
+256,4.266666667,HOLD_POSE2,765,745.103618423,714,681,665,632,880.103618423,787,805,653,631,653,0.450023239965,0.00457964725042,0.0497445721729,0.999999916663,0.000149212747247,-0.000379633807097,1.69663635186e-05,1793239247955370752
+257,4.283333333,HOLD_POSE2,765.476599991,745.476599991,714,681,665,632.476599991,880.476599991,787,804.523400009,652.523400009,631.476599991,652.523400009,0.450023285225,0.0045790639068,0.0497446356593,0.999999916534,0.000148083570681,-0.000380388798467,1.75413506548e-05,1793239247972037376
+258,4.300000000,HOLD_POSE2,765.945085104,746,714,681,664.945085104,633,881,787,804,652,632,652,0.450023197556,0.00457840926398,0.049744529987,0.999999916268,0.000147137324191,-0.000381419888549,1.82479784337e-05,1793239247988704000
+259,4.316666667,HOLD_POSE2,765.367768547,746,714,681,664.367768547,633,881,787,804,652,632,652,0.450022729374,0.00458153623548,0.049743686047,0.999999915622,0.000149688415692,-0.000382164406456,1.72929660407e-05,1793239248005370368
+260,4.333333333,HOLD_POSE2,765.20701468,746,714,681,664.20701468,633,880.79298532,787,804,652,632,652,0.450022715846,0.00458314848445,0.0497435133772,0.999999915281,0.00015176031137,-0.000382260996447,1.68290523347e-05,1793239248022037248
+261,4.350000000,HOLD_POSE2,765.777351709,746,714,681,664.777351709,633,880.222648291,787,804,652,632,652,0.450023500262,0.00458210231027,0.0497445188243,0.999999915484,0.000152991191292,-0.000381220436607,1.72270444111e-05,1793239248038703872
+262,4.366666667,HOLD_POSE2,766,746,714.363299805,680.636700195,665,633,880.363299805,787,804.363299805,652.363299805,631.636700195,652.363299805,0.450023343507,0.0045811422379,0.0497445588969,0.999999915785,0.000150922391803,-0.000381258494216,1.71566221269e-05,1793239248055370240
+263,4.383333333,HOLD_POSE2,766,746,714.959244767,680.040755233,665,633,880.959244767,787,804.959244767,652.959244767,631.040755233,652.959244767,0.450022584056,0.00458023730218,0.049743980776,0.999999916136,0.000146740587083,-0.000381987262588,1.67862428474e-05,1793239248072036864
+264,4.400000000,HOLD_POSE2,765.461906225,746,715,680.538093775,665,633,881,787,805,652.461906225,631,653,0.4500231099,0.00458052436505,0.0497446994188,0.99999991618,0.000147966954282,-0.000381388755762,1.69975347601e-05,1793239248088703744
+265,4.416666667,HOLD_POSE2,765.114923805,746,714.885076195,680.885076195,665,633,881,787,804.885076195,652,631.114923805,653,0.450023240832,0.0045807320181,0.0497450338007,0.99999991603,0.000149223550778,-0.000381281176009,1.72381350728e-05,1793239248105370624
+266,4.433333333,HOLD_POSE2,765.688703573,746,714.311296427,680.311296427,665,633,881,787,804.311296427,652,631.688703573,653,0.450021418287,0.00458027324317,0.0497434538703,0.9999999152,0.000149015736295,-0.000383522736908,1.7425270139e-05,1793239248122037248
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,665,633,881,787,805,652,632,653,0.450020897336,0.00458070525494,0.0497419989292,0.99999991508,0.000146983958164,-0.000384646661447,1.68383309059e-05,1793239248160246528
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.402185955,680,664.402185955,632.402185955,881,787,804.402185955,652,632,653,0.450023965567,0.00458113227636,0.049744539778,0.999999916076,0.000148809646946,-0.000381347448208,1.66823692206e-05,1793239248176913152
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.188932099,714,680.188932099,664.188932099,632,881,787,804,652,631.811067901,653,0.450025803451,0.00458164172801,0.0497460101143,0.999999916584,0.000150637337826,-0.00037928974542,1.6700189199e-05,1793239248193579776
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.766284169,714,680.766284169,664.766284169,632,881,787,804,652,631.233715831,653,0.450025111901,0.00458232064562,0.0497452796154,0.999999916113,0.000152469145099,-0.000379784427032,1.70752817845e-05,1793239248210246400
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,665,632.341116197,880.658883803,787,804.341116197,652.341116197,631.341116197,653,0.450024184133,0.0045810128772,0.0497446016352,0.999999915882,0.000151176618931,-0.000380894113853,1.73364333861e-05,1793239248226913024
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,665,632.914234245,880.085765755,787,804.914234245,652.914234245,631.914234245,653,0.450023095707,0.00457835391276,0.0497439593742,0.999999915807,0.00014775915355,-0.000382422081415,1.7520090787e-05,1793239248243580160
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.495724639,665,633,880.504275361,787,804.495724639,652.495724639,631.495724639,653,0.450022806595,0.00457893839706,0.0497435318901,0.999999915667,0.000148295295491,-0.000382591655798,1.72679907276e-05,1793239248260246784
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.905529707,714,680.094470293,665,632.905529707,881,787.094470293,804,652.094470293,631.094470293,653,0.450022576707,0.00457995557765,0.0497431686793,0.999999915529,0.000149136877519,-0.000382637340901,1.69717779036e-05,1793239248276913408
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.329725123,714,680.670274877,665,632.329725123,881,787.670274877,804,652.670274877,631.670274877,653,0.450021931873,0.00458026914823,0.0497429403674,0.99999991546,0.000147989705287,-0.000383269801254,1.68415282104e-05,1793239248293580032
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,665,632.246373808,881,788,804,653,631.753626192,653,0.450017549614,0.00458046191673,0.0497411356702,0.999999914232,0.0001477916804,-0.00038653101983,1.69454951478e-05,1793239248310246400
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,665,632.822867092,881,788,804,653,631.177132908,653,0.450008159532,0.00458049282093,0.049737218754,0.999999911421,0.000148865430497,-0.000393314545733,1.736329201e-05,1793239248326913024
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.408996777,714,680.591003223,665,633,881,787.591003223,804.408996777,653,631,653,0.449985629888,0.0045811165332,0.0497276991773,0.999999904655,0.000149927338817,-0.000409788108734,1.6887461598e-05,1793239248343579648
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.999400657,714,680.000599343,665,633,881,787.000599343,804.999400657,653,631,653,0.4499572723,0.00458200318055,0.0497156945871,0.999999895783,0.000150983994856,-0.000430559607161,1.60152703061e-05,1793239248360246272
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.578886269,746,714.578886269,680,665,633,881,787,804.421113731,653,631,653,0.449895141987,0.0045819775358,0.0496938204476,0.99999987765,0.000151611657058,-0.000470579057655,1.63915425371e-05,1793239248376913152
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,633,881,787,804,653,631.157125266,653,0.449830358879,0.00458227710308,0.0496735439231,0.999999860648,0.000152354436039,-0.000505196038594,1.64121020624e-05,1793239248393579776
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,633,881,787,804,653,631.732078886,653,0.449758612692,0.00458344394114,0.0496575424498,0.999999850094,0.000153404494068,-0.000525394741717,1.54833749693e-05,1793239248410246656
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.692359809,746,714.692359809,680.307640191,665,633,881,787.307640191,804.307640191,652.692359809,632,653,0.44967854658,0.00458444654341,0.0496466106717,0.999999842157,0.000154641374302,-0.000539960123878,1.46907216671e-05,1793239248426913280
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.116268264,746,714.116268264,680.883731736,665,633,881,787.883731736,804.883731736,652.116268264,632,653,0.449591220382,0.00458530583105,0.0496401027853,0.999999836692,0.000156041278305,-0.000549609786213,1.40168084146e-05,1793239248443579904
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,714.4693661,680.5306339,665,633,881,787.5306339,805,652.4693661,631.5306339,653,0.449489942808,0.00458596214555,0.0496396378972,0.999999837039,0.00015783676115,-0.000548481052967,1.33246339663e-05,1793239248460246528
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,714.94339463,680,665,633,881,787.05660537,805,653,631.05660537,653,0.449382450056,0.00458669324043,0.0496408907097,0.999999838724,0.000159965211928,-0.0005447963278,1.26270399758e-05,1793239248476912896
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,714.363623445,680,665,633,881,787.636376555,805,653,631.636376555,653,0.449250118406,0.0045885898215,0.0496438968192,0.999999839191,0.000164246610764,-0.000542676986208,1.19220324546e-05,1793239248493579520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,665.214397857,633,881,787.785602143,804.785602143,653,631.785602143,653,0.449107789714,0.00459009550307,0.0496461607914,0.999999839124,0.00016781946577,-0.000541718211149,1.14045077477e-05,1793239248510246400
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,665.78947529,633,881,787.21052471,804.21052471,653,631.21052471,653,0.448948643099,0.00459094357776,0.0496471762722,0.999999838185,0.000170200343472,-0.000542711846898,1.12023837555e-05,1793239248526913280
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.627329538,714,680,665.627329538,633,881,787.372670462,804.372670462,653,631.372670462,652.627329538,0.448767141434,0.00459340805824,0.0496481109599,0.999999838898,0.000174302658826,-0.000540105325038,1.046668821e-05,1793239248543579904
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.039446416,714,680,665.039446416,633,881,787.960553584,804.960553584,653,631.960553584,652.039446416,0.448572729985,0.00459680599348,0.0496489989905,0.999999840526,0.000179399083711,-0.000535419756002,9.42286156006e-06,1793239248560246784
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.540252419,745.540252419,714,680.540252419,665,633,881,787.459747581,805,652.459747581,632,652.540252419,0.448341000672,0.00459991041496,0.0496455726208,0.999999837259,0.000185696186583,-0.000539384289738,7.9734030957e-06,1793239248576913408
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746,714,681,665,633,881,787.119053373,804.880946627,652.119053373,632,653,0.44809711716,0.0046029541805,0.0496412466808,0.999999832916,0.000192214327255,-0.000545140213167,6.59013578528e-06,1793239248593580032
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,746,714,681,665,633,881,787.69666346,804.30333654,652.69666346,632,653,0.447816757668,0.00460584563221,0.0496346511073,0.9999998259,0.000199251210844,-0.000555399647383,5.57418949359e-06,1793239248610246656
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.728397967,746,714.271602033,680.728397967,665.271602033,633,881,788,804,653,631.728397967,653,0.447525646099,0.00460951849398,0.0496309084873,0.999999821939,0.00020589708196,-0.000560099597247,4.03378094287e-06,1793239248626913024
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.156414026,746,714.843585974,680.156414026,665.843585974,633,881,788,804,653,631.156414026,653,0.447222643144,0.0046140555665,0.0496303211299,0.999999821457,0.000212110507183,-0.000558650960298,1.9133363872e-06,1793239248643579392
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.414019194,746,715,680,665.585980806,633.414019194,881,788,804.414019194,653,631.414019194,653,0.446892782891,0.00461573884299,0.0496347679846,0.999999824591,0.000215732004925,-0.000551612978566,6.13632566733e-07,1793239248660246272
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.983868734,746,715,680,665.016131266,633.983868734,881,788,804.983868734,653,631.983868734,653,0.446552813978,0.00461634799521,0.049641109638,0.999999829018,0.00021837794157,-0.000542471254924,-3.77157237634e-07,1793239248676913152
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.415333261,746,715,680,665,634,881,787.415333261,804.415333261,652.415333261,632,653,0.446174048836,0.00461818352645,0.04965664273,0.999999840652,0.000225862008535,-0.000517379019653,-1.35560123363e-06,1793239248693580032
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,746,714.821144202,680,665.178855798,634,880.821144202,787.178855798,804.178855798,652,632,653,0.445784986375,0.00462111497562,0.0496761732418,0.999999853654,0.000233619217371,-0.000487964609538,-2.20406902339e-06,1793239248710246912
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,714.243693134,680,665.756306866,634,880.243693134,787.756306866,804.756306866,652,632,653,0.445375494344,0.00462640914829,0.0497040155899,0.999999869565,0.000241671031714,-0.000449953450261,-2.76367525803e-06,1793239248726913536
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.331474276,746,714,680.331474276,666.331474276,634,880.331474276,787.668525724,804.668525724,652,631.668525724,653,0.444934480509,0.00463146325119,0.0497238322385,0.999999878909,0.000249174883451,-0.000424356301615,-4.0105377506e-06,1793239248743579904
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746,714,680.507863721,666.507863721,634.492136279,881,787.492136279,804.492136279,652,631.492136279,653,0.443941514448,0.0046379830181,0.0497373542843,0.999999882208,0.000259367885144,-0.00041019193957,-7.44769108652e-06,1793239248776913152
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745.919541046,714.080458954,680,666.080458954,635,881,788,805,652.080458954,632,653,0.44339717704,0.00463913896219,0.0497342143532,0.999999879183,0.000262178003058,-0.000415704857165,-9.30342553354e-06,1793239248793579776
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745.340832368,714.659167632,680,666.659167632,635,881,788,805,652.659167632,632,653,0.442837294565,0.00464127357501,0.0497320209767,0.999999876831,0.000268196891397,-0.000417442108483,-1.22688342108e-05,1793239248810246912
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745.236686949,715,680,667,635,881,788,805,652.763313051,632,653,0.442281031842,0.00464256923101,0.0497464085188,0.99999988598,0.000273725206142,-0.000391022305394,-1.46807873097e-05,1793239248826914048
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745.812502097,715,680,667,635,881,788,805,652.187497903,632,653,0.441729955581,0.00464266281843,0.049784553421,0.9999999085,0.000278550619328,-0.000324258699968,-1.62997416947e-05,1793239248843581184
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745.016270384,715,680,667,635,881,788,804.016270384,652.983729616,632,653,0.440555934936,0.00465313258285,0.0498572610323,0.999999934532,0.00029594547975,-0.000207084248035,-2.16235101725e-05,1793239248876914688
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745.562924707,715,680.562924707,667,635.562924707,881,788,804,652.437075293,632,653,0.439825810333,0.0046616126128,0.0498396965049,0.999999923829,0.000307056112471,-0.000239603417197,-2.54557269394e-05,1793239248893580544
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,746,714.85857994,680.85857994,667,635.85857994,881,788,804,652,632,653,0.439083002335,0.00466844454673,0.0498155517612,0.999999913995,0.000302904129285,-0.0002817627927,-2.94639862181e-05,1793239248910246656
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,746,714.281509894,680.281509894,667,635.281509894,881,788,804,652,632,653,0.438313066528,0.00467000245163,0.0497758366582,0.999999907999,0.00025158939655,-0.000345765004156,-3.39296608598e-05,1793239248926913024
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,667,635,880.708041217,788,804,652,632,653,0.437565103825,0.00465994413685,0.0497664026434,0.999999915549,0.000182268824192,-0.000366416954004,-3.76652393204e-05,1793239248943579648
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,667,635,880.138002642,788,804,652,632,653,0.436838069588,0.00463882180862,0.0497858102248,0.999999934801,9.57983587556e-05,-0.00034577941238,-4.07054290179e-05,1793239248960246272
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.548596432,745.548596432,714,680,667,635,880.451403568,788,804.451403568,652.451403568,632,653,0.436083071129,0.0046128585768,0.0498072433056,0.999999948979,5.84105145328e-05,-0.00031140330879,-4.07260975784e-05,1793239248976913664
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.045684328,745,714,679.954315672,667,635,881,788,805,652.954315672,632,653,0.435311723779,0.00458820318203,0.0498255198894,0.999999959354,4.01880653247e-05,-0.000279405479528,-4.01192243731e-05,1793239248993581312
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.624651031,745,714,679.375348969,667,635,881,788,805,652.375348969,632,653,0.434453802176,0.00459686469269,0.0497993975816,0.999999943825,6.26727179621e-05,-0.000326396681913,-4.34458193561e-05,1793239249010247424
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.797478903,745.202521097,714,679.202521097,667,635,881,788,804.797478903,652.202521097,632,653,0.43361545089,0.0046033815918,0.0497878956411,0.999999935138,7.99615579637e-05,-0.000348069992127,-4.66563751887e-05,1793239249026913536
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.221630411,745.778369589,714,679.778369589,667,635,881,788,804.221630411,652.778369589,632,653,0.432813175579,0.00460594511339,0.0498033448876,0.999999942736,8.76724357207e-05,-0.000323072297741,-4.96530244092e-05,1793239249043580160
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.361289811,745.638710189,714,680,667,635,880.638710189,788,804,652.638710189,632,653,0.432004510731,0.00460885550752,0.049817086354,0.999999949859,8.37348477453e-05,-0.0003008157623,-5.27210615203e-05,1793239249060246784
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.948634716,745.051365284,714,680,667,635,880.051365284,788,804,652.051365284,632,653,0.431191848048,0.00461198293593,0.0498297592806,0.999999956536,7.25089415103e-05,-0.00028027434101,-5.5833765135e-05,1793239249076913152
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745.527937219,714,680,667,635,880,788,804,652,631.472062781,653,0.430286446923,0.00461022365703,0.0497990710395,0.999999938563,0.000110882241991,-0.000329933203889,-4.15002284889e-05,1793239249093579776
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,667,635,880,787.89367394,804,652,631.10632606,653,0.429376872008,0.00460818212384,0.0497729921971,0.999999919244,0.000150612623584,-0.000371543328994,-2.79902714548e-05,1793239249110246400
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,667,635,880,787.315918967,804,652,631.684081033,653,0.428488197165,0.00460696554648,0.0497857751701,0.999999923885,0.000175284780817,-0.000347638049092,-2.55450089e-05,1793239249126913280
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745.739279384,714.260720616,679.739279384,667,635,880.260720616,787.260720616,804,652.260720616,632,653,0.427588472472,0.00460515724206,0.0497882287859,0.999999923304,0.000178615787306,-0.000347585279301,-2.59430592158e-05,1793239249143579904
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745.163985504,714.836014496,679.163985504,667,635,880.836014496,787.836014496,804,652.836014496,632,653,0.426675415432,0.00460263498734,0.0497782194857,0.999999916553,0.000156197565666,-0.000376311826218,-2.97717171461e-05,1793239249160246528
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.57802046,745.42197954,715,679,667,635,880.57802046,788,804,653,632,653,0.42582503988,0.00460553042056,0.0497818177616,0.999999924074,0.00014818945125,-0.000358779584908,-3.4194942909e-05,1793239249176913152
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.011978873,746,714.988021127,679.011978873,667,635,880,788,804,652.988021127,632,653,0.424999276438,0.00461053692019,0.0497915052,0.999999936714,0.00014602801962,-0.000322093224863,-3.87746486048e-05,1793239249193579776
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.259549765,667,635,880,788,804,652.740450235,632,653,0.422370312025,0.0046140980374,0.049838170068,0.99999995725,0.000148725220517,-0.000248752947149,-3.87606002135e-05,1793239249243579648
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,746,714.096985191,679,667,635.903014809,879,788,803.096985191,653,631,653,0.405968523413,0.00461081332311,0.0497965640119,0.999999922106,0.000140334615557,-0.000366711017888,-4.02101486187e-05,1793239249626913792
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746,714.673959191,679,667,635.326040809,879,788,803.673959191,653,631,653,0.405506963138,0.00461245316634,0.0497860600422,0.999999915975,0.0001404387026,-0.000382920691672,-4.12237113104e-05,1793239249643580160
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5db1aadd9bff661754f3c503214ed67b4627af15
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,413 @@
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+334,5.566666667,pose2_to_pose3_retreat,0.592873715235,0.01009068696,1.04003238049,0.563444167301,0.018762428304,1.0397005144
+335,5.583333333,pose2_to_pose3_retreat,0.592110269181,0.0100906830212,1.04003216838,0.562680721309,0.0187624245172,1.0397003007
+336,5.600000000,pose2_to_pose3_retreat,0.591358304699,0.0100907362559,1.04003206397,0.561928755834,0.0187624745631,1.03970020099
+337,5.616666667,pose2_to_pose3_retreat,0.590623555355,0.0100907355708,1.04003248659,0.56119400658,0.018762473679,1.03970061043
+338,5.633333333,pose2_to_pose3_retreat,0.589903191228,0.0100907034366,1.04003212851,0.560473642549,0.0187624422588,1.0397002624
+339,5.650000000,pose2_to_pose3_retreat,0.589198195088,0.0100908137742,1.04003222932,0.559768645688,0.0187625500111,1.03970035961
+340,5.666666667,pose2_to_pose3_retreat,0.588506633067,0.0100907240288,1.04003237157,0.559077086231,0.0187624686418,1.03970049329
+341,5.683333333,pose2_to_pose3_retreat,0.587825118224,0.0100906881113,1.04003230352,0.558395571727,0.0187624341114,1.03970043269
+342,5.700000000,pose2_to_pose3_retreat,0.587153188326,0.0100907594004,1.04003229651,0.557723639621,0.0187624980065,1.03970042993
+343,5.716666667,pose2_to_pose3_retreat,0.586491097667,0.0100907581969,1.04003233152,0.557061548385,0.0187624946974,1.03970046078
+344,5.733333333,pose2_to_pose3_retreat,0.585840957845,0.0100906647514,1.04003225275,0.556411410695,0.0187624086095,1.03970038326
+345,5.750000000,pose2_to_pose3_retreat,0.585210732826,0.0100907106983,1.04003224632,0.555781186035,0.0187624560492,1.03970038389
+346,5.766666667,pose2_to_pose3_retreat,0.584599725575,0.0100906878753,1.04003234107,0.555170178701,0.0187624328333,1.0397004759
+347,5.783333333,pose2_to_pose3_retreat,0.584012547351,0.0100907497143,1.04003213208,0.554582999176,0.0187624901108,1.03970026443
+348,5.800000000,pose2_to_pose3_retreat,0.583447739309,0.0100907330725,1.04003201461,0.554018189839,0.0187624692021,1.0397001487
+349,5.816666667,pose2_to_pose3_retreat,0.582906136115,0.0100907418597,1.0400323394,0.553476587193,0.0187624799215,1.03970047517
+350,5.833333333,pose2_to_pose3_retreat,0.582387523974,0.0100907602396,1.04003234098,0.552957975236,0.0187624987306,1.03970047172
+351,5.850000000,pose2_to_pose3_retreat,0.581891285074,0.0100907441704,1.04003213845,0.552461736789,0.0187624841813,1.03970026871
+352,5.866666667,pose2_to_pose3_retreat,0.581406928119,0.0100907893727,1.04003203833,0.551977379667,0.0187625290097,1.03970017363
+353,5.883333333,pose2_to_pose3_retreat,0.580934183967,0.0100908852759,1.04003213492,0.551504634586,0.0187626218287,1.03970027193
+354,5.900000000,pose2_to_pose3_retreat,0.580477252323,0.010090836538,1.04003228836,0.551047703158,0.0187625736069,1.03970041999
+355,5.916666667,pose2_to_pose3_retreat,0.580041636461,0.0100908608799,1.04003247943,0.550612086207,0.0187625940452,1.0397006063
+356,5.933333333,pose2_to_pose3_retreat,0.579634811796,0.0100908869665,1.04003236387,0.550205262544,0.0187626237344,1.03970049582
+357,5.950000000,pose2_to_pose3_retreat,0.579260466768,0.0100907932372,1.04003236233,0.549830917565,0.0187625301909,1.03970049487
+358,5.966666667,pose2_to_pose3_retreat,0.578918988209,0.0100907750483,1.040032252,0.54948943947,0.0187625137176,1.03970038783
+359,5.983333333,pose2_to_pose3_retreat,0.57860238918,0.0100908178349,1.04003232647,0.549172840926,0.0187625579662,1.03970045731
+360,6.000000000,pose2_to_pose3_retreat,0.578305498348,0.0100907796692,1.04003240319,0.548875950696,0.018762521561,1.03970052663
+361,6.016666667,pose2_to_pose3_retreat,0.578023028625,0.0100907062565,1.04003235279,0.548593481538,0.0187624501221,1.03970047769
+362,6.033333333,pose2_to_pose3_retreat,0.577752053664,0.0100907039615,1.04003230432,0.548322506628,0.018762448259,1.03970043607
+363,6.050000000,pose2_to_pose3_retreat,0.577492581064,0.0100907584698,1.04003246141,0.548063033327,0.0187625001601,1.03970058727
+364,6.066666667,pose2_to_pose3_retreat,0.577251204865,0.0100907589813,1.04003221212,0.547821657037,0.0187625007269,1.03970034762
+365,6.083333333,pose2_to_pose3_retreat,0.577029666583,0.0100906093156,1.04003214118,0.547600119296,0.0187623526892,1.03970027136
+366,6.100000000,pose2_to_pose3_retreat,0.576832182732,0.010090753127,1.0400322145,0.547402634243,0.0187624928015,1.03970035445
+367,6.116666667,pose2_to_pose3_retreat,0.576658046164,0.0100908365151,1.04003220945,0.54722849738,0.0187625752187,1.03970035013
+368,6.133333333,pose2_to_pose3_retreat,0.576508233919,0.0100907782708,1.04003242256,0.547078685819,0.0187625191937,1.03970056066
+369,6.150000000,pose2_to_pose3_retreat,0.576376710568,0.0100908822826,1.04003248081,0.546947161368,0.0187626193365,1.03970061552
+370,6.166666667,pose2_to_pose3_retreat,0.576262390904,0.0100908778362,1.04003239379,0.546832841646,0.0187626148286,1.03970053201
+371,6.183333333,pose2_to_pose3_retreat,0.576161492496,0.0100907888944,1.0400324478,0.546731944188,0.0187625289235,1.03970058168
+372,6.200000000,pose2_to_pose3_retreat,0.576072671644,0.0100907327124,1.04003258167,0.546643123965,0.0187624745085,1.03970070664
+373,6.216666667,pose2_to_pose3_retreat,0.575994522222,0.0100907600087,1.04003234962,0.54656497398,0.0187625004077,1.03970048749
+374,6.233333333,pose2_to_pose3_retreat,0.575926637666,0.0100907052355,1.04003251218,0.546497091128,0.0187624509194,1.03970063692
+375,6.250000000,pose2_to_pose3_retreat,0.575869598396,0.0100907365132,1.04003242145,0.546440049787,0.0187624751239,1.03970054499
+376,6.266666667,pose2_to_pose3_retreat,0.575822204989,0.0100908036841,1.0400324629,0.546392656506,0.0187625429254,1.03970059169
+377,6.283333333,pose2_to_pose3_retreat,0.575784289016,0.0100907666449,1.04003250509,0.546354741986,0.0187625107864,1.03970063308
+378,6.300000000,pose2_to_pose3_retreat,0.575754377992,0.0100906816491,1.04003243109,0.546324832333,0.0187624304119,1.03970055827
+379,6.316666667,pose2_to_pose3_retreat,0.575730781029,0.0100906360676,1.04003226226,0.546301235864,0.0187623866707,1.03970039367
+380,6.333333333,pose2_to_pose3_retreat,0.575712107624,0.0100907423921,1.04003235297,0.546282561151,0.0187624885394,1.03970048398
+381,6.350000000,pose2_to_pose3_retreat,0.575697266751,0.0100907256919,1.04003230762,0.546267719796,0.0187624700733,1.03970043527
+382,6.366666667,pose2_to_pose3_retreat,0.575685954601,0.0100906269087,1.04003211016,0.546256408403,0.0187623741894,1.03970024655
+383,6.383333333,pose2_to_pose3_retreat,0.575677874459,0.0100905632202,1.04003206313,0.546248329291,0.0187623141824,1.03970020427
+384,6.400000000,pose2_to_pose3_retreat,0.57567285436,0.0100906170134,1.04003237903,0.546243309476,0.0187623683913,1.03970050548
+385,6.416666667,pose2_to_pose3_retreat,0.575669955809,0.0100906683466,1.04003241823,0.546240409445,0.018762414494,1.03970053945
+386,6.433333333,pose2_to_pose3_retreat,0.57566838595,0.0100906983057,1.04003242422,0.546238838609,0.0187624410383,1.03970054295
+387,6.450000000,pose2_to_pose3_retreat,0.575667861279,0.0100907082584,1.04003240445,0.546238313648,0.0187624500147,1.0397005235
+388,6.466666667,pose2_to_pose3_retreat,0.57566745743,0.0100907157454,1.04003232636,0.546237909677,0.0187624572267,1.03970044899
+389,6.483333333,pose2_to_pose3_retreat,0.575666941089,0.010090725318,1.04003222651,0.546237393181,0.0187624664477,1.03970035372
+390,6.500000000,pose2_to_pose3_retreat,0.575666700516,0.0100907297781,1.04003217999,0.546237152536,0.0187624707439,1.03970030933
+391,6.516666667,pose2_to_pose3_retreat,0.575666579195,0.0100907320272,1.04003215653,0.546237031179,0.0187624729105,1.03970028694
+392,6.533333333,pose2_to_pose3_retreat,0.575666374385,0.0100907358243,1.04003211693,0.546236826307,0.018762476568,1.03970024915
+393,6.550000000,pose2_to_pose3_retreat,0.575666217411,0.0100907387345,1.04003208658,0.546236669286,0.0187624793713,1.03970022019
+394,6.566666667,pose2_to_pose3_retreat,0.575666143454,0.0100907401056,1.04003207227,0.546236595307,0.0187624806921,1.03970020654
+395,6.583333333,pose2_to_pose3_retreat,0.575666052981,0.0100907417829,1.04003205478,0.546236504807,0.0187624823078,1.03970018985
+396,6.600000000,pose2_to_pose3_retreat,0.575665771548,0.0100907470004,1.04003200036,0.546236223289,0.0187624873337,1.03970013792
+397,6.616666667,pose2_to_pose3_retreat,0.575665604109,0.0100907512662,1.04003199147,0.546236055842,0.0187624915922,1.03970012951
+398,6.633333333,pose2_to_pose3_retreat,0.575665443844,0.0100907568295,1.04003201288,0.546235895624,0.0187624972849,1.03970015011
+399,6.650000000,pose2_to_pose3_retreat,0.575665147362,0.0100907671214,1.0400320525,0.54623559923,0.0187625078159,1.03970018823
+400,6.666666667,pose2_to_pose3_retreat,0.575664965994,0.0100907734174,1.04003207674,0.546235417915,0.0187625142582,1.03970021154
+401,6.683333333,pose2_to_pose3_retreat,0.575664948392,0.0100907740284,1.04003207909,0.546235400319,0.0187625148834,1.0397002138
+402,6.700000000,pose2_to_pose3_retreat,0.575664878401,0.0100907764581,1.04003208844,0.546235330348,0.0187625173695,1.0397002228
+403,6.716666667,pose2_to_pose3_retreat,0.575664773554,0.0100907800977,1.04003210245,0.546235225532,0.0187625210937,1.03970023628
+404,6.733333333,pose2_to_pose3_retreat,0.5756647414,0.0100907812138,1.04003210675,0.546235193387,0.0187625222358,1.03970024041
+405,6.750000000,pose2_to_pose3_retreat,0.575664730168,0.0100907816037,1.04003210825,0.546235182159,0.0187625226347,1.03970024186
+406,6.766666667,pose2_to_pose3_retreat,0.575664596593,0.0100907931523,1.04003213947,0.546235048655,0.0187625344094,1.03970027271
+407,6.783333333,pose2_to_pose3_retreat,0.575664505539,0.0100908136688,1.04003218522,0.546234957707,0.0187625552966,1.03970031875
+408,6.800000000,pose2_to_pose3_retreat,0.575664423474,0.0100908321603,1.04003222646,0.546234875736,0.0187625741221,1.03970036025
+409,6.816666667,pose2_to_pose3_retreat,0.575664382065,0.0100908296727,1.04003224053,0.54623483448,0.0187625721782,1.03970037504
+410,6.833333333,pose2_to_pose3_retreat,0.575664364395,0.0100908163233,1.04003223953,0.546234816983,0.0187625594509,1.03970037496
+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_0030_17.5/position_10/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e865bdaec9ab48b22bb8c60c021974118c3e6b3b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85e32fa6c33e2bbd65740bb4a1460a9f8f0647ca461e21eb95cb97503a074234
+size 26275075
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6fe0ddee54e780411402fc02209bf1baf33acb27
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_03/franka_data.csv
@@ -0,0 +1,415 @@
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+14,0.233333333,BASELINE,766,746,714,679,667,636,879.856100475,788,803.143899525,653,632,653,0.400998708133,0.00458774812694,0.0498649638276,0.999999962389,0.000117626348421,-0.000245445051758,-3.38146078758e-05,1793239250949593344
+15,0.250000000,BASELINE,766,746,714,679,667,636,879.277863846,788,803.722136154,653,632,653,0.400999566759,0.00458802669076,0.0498656159602,0.999999962535,0.000118537138345,-0.000244431636808,-3.36615341753e-05,1793239250966259968
+16,0.266666667,BASELINE,765.701172898,746,714,679,667,636,879.298827102,788,803.701172898,653,632,653,0.400999245455,0.00458883753255,0.0498653341566,0.99999996225,0.000119703290856,-0.000245036634837,-3.35761958426e-05,1793239250982926592
+17,0.283333333,BASELINE,765.125911835,746,714,679,667,636,879.874088165,788,803.125911835,653,632,653,0.400997832641,0.00459014076509,0.049864188403,0.999999961565,0.000121105669849,-0.000247138767242,-3.35535170163e-05,1793239250999593216
+18,0.300000000,BASELINE,765.89902006,745.55048997,714,679,666.55048997,636,879.55048997,788,803.44951003,653.44951003,632,653,0.400998619762,0.00459033256642,0.0498648346265,0.999999961793,0.000121639819314,-0.000245946247454,-3.35996534659e-05,1793239251016259840
+19,0.316666667,BASELINE,766.974252387,745.025747613,714,679,666.025747613,636,879,788,803.974252387,654,632,653,0.400999938432,0.00459026223745,0.0498659108443,0.999999962249,0.000121923973713,-0.000243932207521,-3.36766511522e-05,1793239251032926464
+20,0.333333333,BASELINE,766.381029346,745.618970654,714,679,666.618970654,636,879,788,803.381029346,654,632,653,0.400999386083,0.00459127854388,0.0498653972273,0.999999962166,0.000122060260753,-0.000244159011257,-3.40088393493e-05,1793239251049593088
+21,0.350000000,BASELINE,766,746,714.207247163,679,667,636,879.207247163,788,803,654,632,653.207247163,0.40099909478,0.00459133876899,0.0498650899951,0.999999962175,0.000121388272525,-0.000244437080185,-3.41381884589e-05,1793239251066259712
+22,0.366666667,BASELINE,766,746,714.786641283,679,667,636,879.786641283,788,803,654,632,653.786641283,0.400999272229,0.00458968218999,0.0498651533615,0.999999962348,0.000119264890804,-0.000244807204318,-3.39033060144e-05,1793239251082926592
+23,0.383333333,BASELINE,766,746,714.637085209,679,666.637085209,636,880,788,803,654,632,653.637085209,0.400999338977,0.0045895784174,0.0498651881972,0.99999996239,0.000118431079629,-0.000245018784491,-3.40650665317e-05,1793239251099593216
+24,0.400000000,BASELINE,766,746,714.062630622,679,666.062630622,636,880,788,803,654,632,653.062630622,0.400999341198,0.00459037976167,0.0498652064026,0.999999962357,0.000118348947422,-0.000245137950841,-3.44580266718e-05,1793239251116259840
+25,0.416666667,BASELINE,766.524287346,746,714.524287346,679,666.524287346,636,880.524287346,788,803.524287346,653.475712654,631.475712654,653,0.400999524666,0.00459099551083,0.0498658453779,0.999999962415,0.000119790352858,-0.00024422525663,-3.42705590389e-05,1793239251132926464
+26,0.433333333,BASELINE,766.889002532,746,714.889002532,679,667,636,880.889002532,788,804,653,631,653,0.400999538117,0.00459124676622,0.0498662937335,0.999999962417,0.000120990743977,-0.000243657210304,-3.40209978733e-05,1793239251149593088
+27,0.450000000,BASELINE,766.309605169,746,714.309605169,679,667,636,880.309605169,788,804,653,631,653,0.400998740518,0.00459005572668,0.049865617137,0.999999962151,0.000120387350531,-0.000245076381141,-3.38091287681e-05,1793239251166259712
+28,0.466666667,BASELINE,766.268430599,746,714.268430599,679.268430599,666.731569401,636,880,788,803.731569401,653,631,653,0.400998383155,0.00458939997083,0.0498654483215,0.99999996208,0.000120279214525,-0.000245433173921,-3.36901876105e-05,1793239251182926336
+29,0.483333333,BASELINE,766.844903808,746,714.844903808,679.844903808,666.155096192,636,880,788,803.155096192,653,631,653,0.400998530993,0.00458935848997,0.0498658622197,0.999999962236,0.000120739420595,-0.000244570814581,-3.36778876897e-05,1793239251199593216
+30,0.500000000,BASELINE,767,746,714.58004238,680,666.41995762,636,879.58004238,788,803.41995762,653.41995762,631.41995762,653,0.400998723669,0.00458977900183,0.0498657838602,0.999999962286,0.000120379514329,-0.000244533920475,-3.37675178156e-05,1793239251216259840
+31,0.516666667,BASELINE,767,746,714.00551102,680,666.99448898,636,879.00551102,788,803.99448898,653.99448898,631.99448898,653,0.400998932848,0.00459036955928,0.0498655243154,0.999999962296,0.000119717749421,-0.000244800855257,-3.38946653195e-05,1793239251232926720
+32,0.533333333,BASELINE,766.41445896,746,714,680,667,636,879.58554104,788,804,653.41445896,631.41445896,653,0.400998540853,0.00458957083347,0.0498657261685,0.999999962266,0.000120328653088,-0.000244668661361,-3.35641636248e-05,1793239251249593088
+33,0.550000000,BASELINE,766,745.827071331,714,679.827071331,667,636,880,788,804,653,631.172928669,653,0.400998187369,0.00458903712765,0.0498656977152,0.999999962191,0.000120810102921,-0.000244766623056,-3.33496601879e-05,1793239251266259968
+34,0.566666667,BASELINE,766,745.248651504,714,679.248651504,667,636,880,788,804,653,631.751348496,653,0.400997937839,0.00458915640384,0.0498651187507,0.999999962012,0.000120959100915,-0.00024541332852,-3.3417548139e-05,1793239251282926592
+35,0.583333333,BASELINE,766,745.327602433,714.327602433,679,667,636,880.327602433,788,803.672397567,653.327602433,631.672397567,653,0.400998865083,0.00458984932195,0.0498654986864,0.999999962317,0.000120484649399,-0.00024436901993,-3.36671864746e-05,1793239251299593216
+36,0.600000000,BASELINE,766,745.902223307,714.902223307,679,667,636,880.902223307,788,803.097776693,653.902223307,631.097776693,653,0.401000679637,0.00459097477696,0.049866601651,0.999999962981,0.000119540105152,-0.000242049654768,-3.40538680512e-05,1793239251316260096
+37,0.616666667,BASELINE,766.477026755,746,714.522973245,679,667,636,880.045946491,788,803,653.522973245,631.477026755,653,0.40100110773,0.00459167010759,0.0498667940059,0.999999962718,0.000122110353138,-0.000241849820456,-3.4078804244e-05,1793239251332926720
+38,0.633333333,BASELINE,766.946724531,746,714.053275469,679,666.946724531,636,879.053275469,788,803,653.053275469,632,653,0.401001189697,0.00459207567211,0.0498667968158,0.999999962316,0.00012487752816,-0.000242107812401,-3.40066508556e-05,1793239251349593088
+39,0.650000000,BASELINE,766.356280492,746,714.643719508,679,666.356280492,636,879.643719508,788,803,653.643719508,632,653,0.401000648211,0.00459044884409,0.0498667711433,0.999999962518,0.000122363514297,-0.000242599901817,-3.37034605559e-05,1793239251366259712
+40,0.666666667,BASELINE,766,746,714.770332876,679,666.229667124,636,880,788,803.229667124,654,632,653,0.401000048675,0.00458977056197,0.0498666404351,0.999999962546,0.000120790688675,-0.000243276255977,-3.36771986377e-05,1793239251382926592
+41,0.683333333,BASELINE,766,746,714.191226616,679,666.808773384,636,880,788,803.808773384,654,632,653,0.400999360815,0.00459053549503,0.0498663499148,0.999999962316,0.000120649883604,-0.000244232969401,-3.40722840026e-05,1793239251399593216
+42,0.700000000,BASELINE,766.385273857,746,714.385273857,679.385273857,667,636,880,788,804,653.614726143,631.614726143,653,0.401000347185,0.00459060292731,0.0498664408596,0.999999962567,0.000120655807431,-0.000243205060241,-3.40463055038e-05,1793239251416260096
+43,0.716666667,BASELINE,766.960489648,746,714.960489648,679.960489648,667,636,880,788,804,653.039510352,631.039510352,653,0.401002158959,0.00459032648819,0.0498667198687,0.999999963052,0.000120734069343,-0.000241198722217,-3.38127404082e-05,1793239251432926720
+44,0.733333333,BASELINE,766.452862305,746,714.452862305,680,667,636,880,788,803.452862305,653,631.547137695,653,0.401000466883,0.00459058107128,0.0498665573921,0.999999962661,0.000121532980047,-0.00024243082039,-3.37044041563e-05,1793239251449593088
+45,0.750000000,BASELINE,766.132791738,746,714,679.867208262,666.867208262,636,879.867208262,788,803,653,631.867208262,653,0.400999165558,0.00459067066288,0.0498665641633,0.999999962386,0.000122192151583,-0.000243246429705,-3.3598001119e-05,1793239251466259968
+46,0.766666667,BASELINE,766.712265792,746,714,679.287734208,666.287734208,636,879.287734208,788,803,653,631.287734208,653,0.401000047911,0.00459007351688,0.0498672497759,0.999999962726,0.00012220248387,-0.0002418576317,-3.34670327546e-05,1793239251482926592
+47,0.783333333,BASELINE,766.708907548,746,714,679.291092452,666.291092452,635.708907548,879.291092452,788,803.291092452,653.291092452,631.291092452,653,0.400999364147,0.00459007321127,0.0498668140517,0.999999962564,0.000121922803275,-0.000242662397717,-3.34979264831e-05,1793239251499593216
+48,0.800000000,BASELINE,766.130719324,746,714,679.869280676,666.869280676,635.130719324,879.869280676,788,803.869280676,653.869280676,631.869280676,653,0.400997135768,0.0045906615514,0.0498652723867,0.999999961902,0.000121357091657,-0.000245630610103,-3.3688459933e-05,1793239251516259840
+49,0.816666667,BASELINE,766,746,714.443765619,679.556234381,666.556234381,635.443765619,879.556234381,788,804,654,631.556234381,653,0.400997660175,0.00459053051564,0.0498658224771,0.999999962071,0.000121344140753,-0.000244950570701,-3.36512932389e-05,1793239251532926464
+50,0.833333333,BASELINE,766,746,714.982328957,679.017671043,666.017671043,636,879.017671043,788,804,653.982328957,631.017671043,653,0.400998933695,0.00459016042195,0.0498669416501,0.999999962475,0.000121437189234,-0.000243266826018,-3.3543094259e-05,1793239251549593088
+51,0.850000000,BASELINE,766,746,714.392148047,679.607851953,666.607851953,636,879.607851953,788,804,653.392148047,631.607851953,653,0.400998423411,0.00458885381599,0.0498667006506,0.999999962609,0.000119732822145,-0.000243593723279,-3.32886456159e-05,1793239251566259712
+52,0.866666667,BASELINE,766,746,714,680,667,636,880,788,804.194450726,653,632,653,0.400998186981,0.00458872856144,0.0498663958784,0.999999962502,0.000119736629887,-0.000244030566693,-3.32949610154e-05,1793239251582926336
+53,0.883333333,BASELINE,766,746,714,680,667,636,880,788,804.773956056,653,632,653,0.40099849284,0.00459094263891,0.0498659648221,0.999999961913,0.000123122994298,-0.000244685127312,-3.38176457792e-05,1793239251599593216
+54,0.900000000,BASELINE,766,746,714.355575923,680,667,636,880,788,804.288848154,653.355575923,632,653,0.400999292709,0.00459044299912,0.0498662357413,0.999999962249,0.000122841975166,-0.000243449976424,-3.38179505018e-05,1793239251616259840
+55,0.916666667,BASELINE,766,746,714.938548047,680,667,636,880,788,803.122903906,653.938548047,632,653,0.401000408505,0.00458820789586,0.0498669555846,0.999999963171,0.000120215608452,-0.000241006326314,-3.34841852377e-05,1793239251632926720
+56,0.933333333,BASELINE,766,746,715,679.48168285,667,636,880,788,803.51831715,653.48168285,632,653,0.401000007791,0.00458769699811,0.0498671036105,0.999999963354,0.000117830166333,-0.000241397036578,-3.37032663522e-05,1793239251649593344
+57,0.950000000,BASELINE,766,745.902270059,714.902270059,679.097729941,666.902270059,636,880,788,803.902270059,653,632,653,0.400999463191,0.00458776698129,0.0498671478122,0.999999963332,0.00011641523882,-0.000242138416534,-3.394616242e-05,1793239251666259968
+58,0.966666667,BASELINE,766,745.322753411,714.322753411,679.677246589,666.322753411,636,880,788,803.322753411,653,632,653,0.400999090194,0.00458969900861,0.0498670123443,0.99999996275,0.000119644781622,-0.000242962075777,-3.39853194282e-05,1793239251682926592
+59,0.983333333,BASELINE,766,745.255539378,714.255539378,680,666.255539378,636,880,788.255539378,803.255539378,653,631.744460622,653,0.40099965567,0.00459073979964,0.0498672648514,0.999999962657,0.000121505328705,-0.000242425079492,-3.39556420218e-05,1793239251699593216
+60,1.000000000,BASELINE,766,745.832293843,714.832293843,680,666.832293843,636,880,788.832293843,803.832293843,653,631.167706157,653,0.401001400814,0.00459066029962,0.049868005046,0.999999963186,0.000121645037409,-0.00024017772819,-3.38394391987e-05,1793239251716259840
+61,1.016666667,BASELINE,766,746,714.592457987,679.592457987,667,636,880,788.592457987,803.592457987,653.407542013,631.407542013,653,0.401000413539,0.00459035088696,0.0498673479155,0.999999962978,0.000121020391536,-0.000241371078616,-3.37363088783e-05,1793239251732926464
+62,1.033333333,BASELINE,766,746,714.01782742,679.01782742,667,636,880,788.01782742,803.01782742,653.98217258,631.98217258,653,0.400998305995,0.0045899472122,0.0498661178944,0.999999962462,0.000120082367163,-0.000243975085898,-3.3638538173e-05,1793239251749593344
+63,1.050000000,BASELINE,766,746,714,679,667,635.427260443,880,788,803,654,632,653,0.400998592019,0.00458988500864,0.0498662296238,0.999999962664,0.000119384990482,-0.000243494867872,-3.36075808087e-05,1793239251766259712
+64,1.066666667,BASELINE,766.160620884,746,714.160620884,679,666.839379116,635.160620884,880,788,803.160620884,653.839379116,632,653,0.400998773839,0.00458973598858,0.0498663045425,0.999999962794,0.000119285727741,-0.000243027182001,-3.34775663352e-05,1793239251782926592
+65,1.083333333,BASELINE,766.740166778,746,714.740166778,679,666.259833222,635.740166778,880,788,803.740166778,653.259833222,632,653,0.400998484,0.00458933202206,0.0498661714081,0.999999962677,0.000120726346372,-0.00024284973537,-3.30836156881e-05,1793239251799593216
+66,1.100000000,BASELINE,766.682846488,746,714.682846488,679,666.317153512,636,880,788,804,653.317153512,631.682846488,653,0.40099835562,0.00458979242767,0.0498659722868,0.999999962557,0.000121012055744,-0.000243173361355,-3.33117124332e-05,1793239251816260096
+67,1.116666667,BASELINE,766.107939634,746,714.107939634,679,666.892060366,636,880,788,804,653.892060366,631.107939634,653,0.400998358458,0.00459095531585,0.0498657195374,0.999999962433,0.000120359160517,-0.000243904213306,-3.40453523784e-05,1793239251832926720
+68,1.133333333,BASELINE,766.477329258,746,714,679.477329258,667,635.522670742,880,788,804,654,631,653,0.40099889936,0.0045901180433,0.0498664241203,0.999999962789,0.000119116252076,-0.000243089706667,-3.37629106201e-05,1793239251849593344
+69,1.150000000,BASELINE,766.935935482,746,714.064064518,679.935935482,667,635.064064518,879.935935482,788,804,653.935935482,631,653,0.400999561869,0.0045888210472,0.0498673106712,0.999999963246,0.000117815921611,-0.00024190404989,-3.33042710881e-05,1793239251866259712
+70,1.166666667,BASELINE,766.35667006,746,714.64332994,679.35667006,667,635.64332994,879.35667006,788,804,653.35667006,631,653,0.401000202128,0.00458754507575,0.0498678810171,0.999999963637,0.000117150578811,-0.00024060628987,-3.33174494362e-05,1793239251882926336
+71,1.183333333,BASELINE,766,746,715,679,667,636,879.222358147,788,803.777641853,653,631,653.222358147,0.401000721913,0.00458700497954,0.0498682598363,0.999999963814,0.00011721409434,-0.000239828000071,-3.34019567994e-05,1793239251899593216
+72,1.200000000,BASELINE,766,746,715,679,667,636,879.801006348,788,803.198993652,653,631,653.801006348,0.401001048661,0.00458764399457,0.0498683317676,0.999999963649,0.000118445477804,-0.00023988207028,-3.36007564412e-05,1793239251916259840
+73,1.216666667,BASELINE,766,746,714.625898558,679,667,636,880,788,803.374101442,653,631.374101442,653.625898558,0.40100061436,0.00458926740962,0.0498679794553,0.999999963349,0.000119631781787,-0.000240504481258,-3.38895451752e-05,1793239251932926464
+74,1.233333333,BASELINE,766,746,714.055714126,679,667,636,880,788,803.944285874,653,631.944285874,653.055714126,0.400999781162,0.0045914067919,0.0498674047785,0.999999962976,0.000120794457561,-0.000241424784582,-3.42255011315e-05,1793239251949593344
+75,1.250000000,BASELINE,766,746,714,679.531945768,667,636,880,788,804,653,632,653,0.400999402795,0.00458865535669,0.0498669205744,0.999999962955,0.000119836419491,-0.000242090735064,-3.34891990241e-05,1793239251966259712
+76,1.266666667,BASELINE,766,746,714,679.879930995,667,636,880,788,804,653.120069005,632,653,0.400999380552,0.00458628919352,0.049866700773,0.999999963022,0.000118975857969,-0.000242327208741,-3.28273598575e-05,1793239251982926592
+77,1.283333333,BASELINE,766,746,714,679.297313358,667,636,880,788,804,653.702686642,632,653,0.401000540474,0.00458744762475,0.0498674618007,0.999999963289,0.000119375546649,-0.000241015297447,-3.28997114006e-05,1793239251999593216
+78,1.300000000,BASELINE,766.281301578,746,714,679.281301578,667,636,880,788,804,654,632,653,0.401000825672,0.00458881176605,0.0498675675859,0.999999963323,0.000119550568838,-0.000240761999625,-3.30888066947e-05,1793239252016259840
+79,1.316666667,BASELINE,766.855745295,746,714,679.855745295,667,636,880,788,804,654,632,653,0.401000199328,0.00459039027611,0.049866990548,0.999999963115,0.000119491467839,-0.00024161187457,-3.33995597191e-05,1793239252032926464
+80,1.333333333,BASELINE,767,745.562204614,714.437795386,679.562204614,667,636,880,788,803.562204614,653.562204614,632,653.437795386,0.400999191241,0.00459006993324,0.0498660577748,0.99999996274,0.000119907688636,-0.000242938822459,-3.35178218705e-05,1793239252049593088
+81,1.350000000,BASELINE,767,745.022196346,714.977803654,679,667,636,880,788,803.022196346,653,632,653.977803654,0.400998091648,0.00458914152107,0.0498650645085,0.999999962326,0.000120464963064,-0.000244355239323,-3.35636941438e-05,1793239252066259712
+82,1.366666667,BASELINE,767,745.601581422,714.398418578,679,667,636,880,788,803.601581422,653,632,653.398418578,0.4009979084,0.00458893281843,0.0498655471639,0.999999962406,0.000120561968114,-0.000244001729111,-3.34127064509e-05,1793239252082926592
+83,1.383333333,BASELINE,766.818866786,746,714,679,667,636,880,788,804,653,632,653.181133214,0.400998012448,0.00458934099596,0.0498660839877,0.999999962504,0.000120848671467,-0.000243458705714,-3.33995623161e-05,1793239252099593472
+84,1.400000000,BASELINE,766.238947838,746,714,679,667,636,880,788,804,653,632,653.761052162,0.400998749012,0.00459110730656,0.0498667400697,0.999999962642,0.000121553017605,-0.000242498447042,-3.36898966982e-05,1793239252116260096
+85,1.416666667,BASELINE,766,746,714,679,666.661463673,636,880,788,803.661463673,653.338536327,632,653.661463673,0.400998257881,0.00459141277823,0.0498661720837,0.999999962495,0.000121469934858,-0.000243133964488,-3.37774346314e-05,1793239252132926464
+86,1.433333333,BASELINE,766,746,714,679,666.085685803,636,880,788,803.085685803,653.914314197,632,653.085685803,0.400996906399,0.00459069451423,0.0498647462878,0.999999962146,0.000120835032874,-0.000244887779663,-3.37228556208e-05,1793239252149593088
+87,1.450000000,BASELINE,766,746,714,679.499298076,666.499298076,636,880,788,803,654,632,653,0.400998136753,0.00458992469405,0.0498661029203,0.999999962678,0.000120620744275,-0.000242843072574,-3.34856081123e-05,1793239252166259712
+88,1.466666667,BASELINE,766,746,714.084823285,679.915176715,667,636,880.084823285,788,803.084823285,653.915176715,632,653,0.400999534816,0.00458907906671,0.0498675876254,0.999999963266,0.000120078592278,-0.000240713732692,-3.32668257157e-05,1793239252182926592
+89,1.483333333,BASELINE,766,746,714.66412137,679.33587863,667,636,880.66412137,788,803.66412137,653.33587863,632,653,0.400999279123,0.00458784406991,0.049866983069,0.999999963304,0.000117196480418,-0.000241962490059,-3.33418612398e-05,1793239252199593216
+90,1.500000000,BASELINE,766,746,714.757481407,679.242518593,667,636,880.757481407,788,804,653,631.757481407,653,0.400999359314,0.00458749937263,0.0498667543745,0.99999996319,0.000117016490406,-0.000242511517723,-3.34035785405e-05,1793239252216260096
+91,1.516666667,BASELINE,766,746,714.18032727,679.81967273,667,636,880.18032727,788,804,653,631.18032727,653,0.400999902969,0.00458838314151,0.0498670443072,0.999999962868,0.000120564981815,-0.000242095034041,-3.34469188901e-05,1793239252232926720
+92,1.533333333,BASELINE,766,746,714,679.604075967,667,636,880,788,803.604075967,653,631.395924033,653,0.401000015681,0.004588876259,0.0498668140892,0.999999962772,0.000121651888783,-0.000241917128305,-3.36691724467e-05,1793239252249593344
+93,1.550000000,BASELINE,766,746,714,679.028234881,667,636,880,788,803.028234881,653,631.971765119,653,0.400999932564,0.00458919185554,0.0498663475027,0.999999962782,0.00012162019507,-0.00024184763788,-3.39727283127e-05,1793239252266259968
+94,1.566666667,BASELINE,766.559912384,746,714,679,667,636,880,788,803.559912384,653.559912384,631.440087616,653,0.40099917466,0.00458912884371,0.0498666113434,0.999999962789,0.000121446956448,-0.000241946585579,-3.36919667748e-05,1793239252282926592
+95,1.583333333,BASELINE,766.853628644,746,714,679,667,636,880,788,803.853628644,654,631.146371356,653,0.400998687584,0.00458908217639,0.0498668236387,0.999999962852,0.00012073364935,-0.000242061692085,-3.35503034601e-05,1793239252299593216
+96,1.600000000,BASELINE,766.274044302,746,714,679,667,636,880,788,803.274044302,654,631.725955698,653,0.40099910505,0.00458914166042,0.0498667719103,0.99999996308,0.00011844351027,-0.000242198919422,-3.39094954486e-05,1793239252316259840
+97,1.616666667,BASELINE,766,746,714,679,667,636,879.696880511,788,803,653.696880511,632,653.303119489,0.400999143065,0.00458919144464,0.0498664767972,0.99999996307,0.000117908269545,-0.000242503707426,-3.39075628182e-05,1793239252332926720
+98,1.633333333,BASELINE,766,746,714,679,667,636,879.12188779,788,803,653.12188779,632,653.87811221,0.400998840744,0.00458923252891,0.0498659633879,0.999999962847,0.000118947028344,-0.000242958783547,-3.35817311057e-05,1793239252349593344
+99,1.650000000,BASELINE,766.462686543,746,714.462686543,679,666.537313457,636,879,788,803,653,631.537313457,653.537313457,0.400998730958,0.00458867919126,0.0498660877004,0.999999962763,0.000118959672838,-0.000243339028529,-3.33071052848e-05,1793239252366259712
+100,1.666666667,BASELINE,766.950922536,746,714.950922536,679.049077464,666.049077464,636,879.049077464,788,803.049077464,653,631,653,0.400998757562,0.00458803702396,0.0498663972748,0.999999962753,0.000118650167808,-0.000243557690082,-3.31025262214e-05,1793239252382926592
+101,1.683333333,BASELINE,766.372735108,746,714.372735108,679.627264892,666.627264892,636,879.627264892,788,803.627264892,653,631,653,0.400999696216,0.00458816110533,0.0498668546688,0.999999963152,0.00011784344864,-0.000242251325499,-3.3504623127e-05,1793239252399593216
+102,1.700000000,BASELINE,766,746,714.205639619,679.794360381,667,636,880,788,803.794360381,653,631.205639619,653,0.401000154503,0.00458869302626,0.04986709252,0.99999996337,0.000117694921504,-0.000241379194561,-3.38242866157e-05,1793239252416259840
+103,1.716666667,BASELINE,766,746,714.784354084,679.215645916,667,636,880,788,803.215645916,653,631.784354084,653,0.4009997413,0.00458996485653,0.0498669320727,0.999999963261,0.000118740497481,-0.000241294857729,-3.39943979729e-05,1793239252432926464
+104,1.733333333,BASELINE,766,746,715,679.361822216,666.638177784,636,880,788,803,653,632,653,0.400999826689,0.00458935488793,0.0498671928463,0.999999963343,0.000118863900806,-0.000240943130815,-3.36356694189e-05,1793239252449593088
+105,1.750000000,BASELINE,766,746,715,679.938550137,666.061449863,636,880,788,803,653,632,653,0.401000208218,0.00458762721773,0.0498677038058,0.999999963539,0.000118439576212,-0.000240432586518,-3.29628343684e-05,1793239252466259712
+106,1.766666667,BASELINE,766,746,714.475082226,679.475082226,666,636,880,788,804.049835549,653.524917774,631.475082226,653,0.401000767967,0.00458750123971,0.0498682909054,0.999999963861,0.000117897209906,-0.000239344415464,-3.30500089786e-05,1793239252482926592
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,714,679,666,636,879,788,803,653,632,653,0.401000216036,0.00459025670042,0.0498677574995,0.999999963414,0.000119471402521,-0.000240375102779,-3.34348777646e-05,1793239252525233408
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.421436888,746,714,679.578563112,666.578563112,636,879.578563112,788.578563112,803,653,632,653.578563112,0.401000844198,0.00459016124405,0.0498680605247,0.99999996359,0.000119064742266,-0.000239813054636,-3.3650256567e-05,1793239252541900032
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.15894917,745.84105083,714,680,667,636,880.15894917,789,803.15894917,653.15894917,632,653.84105083,0.401001181166,0.00458977279575,0.0498683145746,0.999999963725,0.000118495133181,-0.000239514671636,-3.37752205735e-05,1793239252558566656
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.744224778,745.255775222,714,680,667,636,880.744224778,789,803.744224778,653.744224778,632,653.255775222,0.401000737102,0.00458859849743,0.049868437265,0.99999996375,0.000117488469855,-0.000239923479505,-3.36576780585e-05,1793239252575233280
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.673639681,745.326360319,714,680,667,636,880.673639681,789,804,653.673639681,632,653,0.401000059086,0.00458874349071,0.0498678231511,0.999999963556,0.000117199400528,-0.000240854739992,-3.37832016111e-05,1793239252591899904
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.093941657,745.906058343,714,680,667,636,880.093941657,789,804,653.093941657,632,653,0.400999199465,0.00458991258621,0.0498666370917,0.999999963191,0.000117467364719,-0.000242191555109,-3.40974055828e-05,1793239252608566528
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,714,679.514682485,667,636,880.485317515,788.514682485,804,653,632,653,0.40099960772,0.00458917181394,0.0498670510739,0.999999963346,0.000117613854816,-0.000241502188229,-3.39461829499e-05,1793239252625233408
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,714,679.06371177,667,636,881,788,804,653,631.93628823,653,0.401000455402,0.0045880964463,0.0498677251415,0.999999963613,0.000117613118695,-0.000240426748335,-3.37106912971e-05,1793239252641900032
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714,679.635880823,667,636,881,788,804,653,631.364119177,653,0.401002853142,0.00458729847431,0.0498680053631,0.999999963982,0.000116624912436,-0.000239397400005,-3.35210162835e-05,1793239252658566656
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,714,679.789824758,667,636,880.789824758,788,803.789824758,653,631,653.210175242,0.401011247683,0.00458719812732,0.0498710067313,0.999999965458,0.000116092931324,-0.000233436904388,-3.33790789793e-05,1793239252675233536
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,714,679.211810686,667,636,880.211810686,788,803.211810686,653,631,653.788189314,0.401030137539,0.00458831873088,0.0498787705225,0.999999968728,0.000116359414111,-0.000218846146604,-3.33206899853e-05,1793239252691900160
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.372565584,746,714,679,667,636,879.627434416,788,803.372565584,653,631,653.627434416,0.401066702531,0.00458880574905,0.0498914187614,0.999999974043,0.000117094419706,-0.000192635729141,-3.30772716445e-05,1793239252708566784
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.960621782,746,714,679,667,636,879.039378218,788,803.960621782,653,631,653.039378218,0.40111349076,0.00458892630378,0.0499068921483,0.999999979738,0.000118100417165,-0.000159704540157,-3.27268329532e-05,1793239252725233408
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.458920416,746,714,679,667,636,879.541079584,788,804,653,631.541079584,653.541079584,0.401181974393,0.00458893966988,0.0499237603942,0.999999984797,0.000118067506185,-0.00012405096708,-3.28240448517e-05,1793239252741899776
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,714,679.119854175,667,636,880,788,803.880145825,653,632,653.880145825,0.401253615718,0.00458837900604,0.0499395499128,0.999999988285,0.000117160912126,-9.29501608605e-05,-3.26200563159e-05,1793239252758566400
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,714,679.694312979,667,636,880,788,803.305687021,653,632,653.305687021,0.401331328219,0.0045856702362,0.0499508681358,0.999999989916,0.000113223266152,-7.98589898262e-05,-3.11517611521e-05,1793239252775233280
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,714,679.72476658,667,636,880,788,803.27523342,653,632,653,0.401413927398,0.00458430632148,0.0499573664107,0.999999990867,0.000110685390026,-7.14413511037e-05,-3.01713722896e-05,1793239252791899904
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,714,679.136497045,667,636,880,788,803.863502955,653,632,653,0.401502084422,0.00458447197488,0.0499583827277,0.999999991201,0.000109739539266,-6.83391447241e-05,-2.97459026632e-05,1793239252808566528
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804,653,632,653,0.401605622018,0.00458289061085,0.0499559212719,0.999999990963,0.000107608002825,-7.5216742702e-05,-2.89192559089e-05,1793239252825233408
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,714,679.022896407,666.977103593,636,880,788,804,653.022896407,632,653,0.401715220935,0.00458080717341,0.0499526856597,0.999999990507,0.000105171357113,-8.45213581562e-05,-2.79518637699e-05,1793239252841900032
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,714,679.599647485,666.400352515,636,880,788,804,653.599647485,632,653,0.401859030873,0.00457934697171,0.049956141037,0.999999991071,0.000104019900486,-7.95965108723e-05,-2.65119263881e-05,1793239252858566656
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.824405349,714.175594651,680,666,636,880,788,804,653.824405349,632,653,0.402010886715,0.00457820736037,0.0499586755237,0.999999991491,0.0001029625697,-7.60439640972e-05,-2.51698938337e-05,1793239252875233280
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.250282813,714.749717187,680,666,636,880,788,804,653.250282813,632,653,0.402181003442,0.00457779535795,0.0499591199659,0.999999991639,0.000102118866148,-7.56059776804e-05,-2.40500653063e-05,1793239252891899904
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.334198091,714.665801909,679.665801909,666.334198091,636,880,788,803.665801909,653,632,653,0.402367170687,0.00457540377778,0.0499580182481,0.999999992106,9.71204378793e-05,-7.63679512716e-05,-2.28832404297e-05,1793239252908566528
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.926684627,714.073315373,679.073315373,666.926684627,636,880,788,803.073315373,653,632,653,0.402565742758,0.00457148226047,0.0499557215647,0.999999992766,8.8910987622e-05,-7.80573262931e-05,-2.16800938189e-05,1793239252925233408
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.506309935,746,714.506309935,679,667,636,879.493690065,788,803,653,631.493690065,653,0.402807655921,0.00457037622301,0.0499590254902,0.999999993449,8.75798719504e-05,-7.09406635714e-05,-1.99645458386e-05,1793239252941900032
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.916229399,746,714.916229399,679,667,636,879.083770601,788,803.083770601,653,631,653,0.403060595379,0.00456918970438,0.0499630496357,0.999999994135,8.64059098951e-05,-6.27434914306e-05,-1.8101864935e-05,1793239252958566656
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.340813407,746,714.340813407,679,667,636,879.659186593,788,803.659186593,653,631,653,0.403342327011,0.00456519740223,0.0499666589845,0.999999995098,8.04535750949e-05,-5.55032225651e-05,-1.58003411116e-05,1793239252975233280
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.238835317,746,714.238835317,679,666.761164683,636,879.761164683,788,803.761164683,653,631.238835317,653,0.403639331383,0.00456269920688,0.0499714815724,0.999999996061,7.53506782981e-05,-4.48211368359e-05,-1.38544705451e-05,1793239252991899904
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.824633007,746,714.824633007,679,666.175366993,636,879.175366993,788,803.175366993,653,631.824633007,653,0.403958522853,0.00456237154021,0.0499780666648,0.999999996943,7.14817828814e-05,-2.91390332507e-05,-1.24252669983e-05,1793239253008566528
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.591783256,714.591783256,679,666.408216744,636,879.408216744,788,803,653,631.591783256,653,0.40431371609,0.0045587309997,0.049986569097,0.999999997519,6.79659972699e-05,-1.58166958393e-05,-9.64179338626e-06,1793239253025233152
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.009145502,714.009145502,679,666.990854498,636,879.990854498,788,803,653,631.009145502,653,0.404684291991,0.0045536749494,0.0499958907612,0.999999997887,6.46010869179e-05,-3.50262907959e-06,-6.27967340328e-06,1793239253041899776
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.433729149,745.566270851,714.566270851,679,667,636,880,788,803,653,631.566270851,653,0.405097756321,0.004549055225,0.0499979954863,0.999999998378,5.6783827059e-05,2.76734802734e-06,-3.47829387922e-06,1793239253058566400
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.141150596,746,714.858849404,679,667,636,880,788,803,653,632,653,0.405508429799,0.00454488380532,0.0499944695337,0.999999998716,5.06195215349e-05,-2.33350753644e-06,-6.43964172657e-07,1793239253075233280
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.714739057,746,714.285260943,679,667,636,880,788,803,653,632,653,0.405908457598,0.00454206452384,0.0499740456749,0.999999997879,4.97368380918e-05,-4.19754720539e-05,2.31870899919e-06,1793239253091899904
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.703498311,746,714,679,667,636,880,788,803.296501689,653,632,653,0.406332622897,0.00453798320489,0.0499560558104,0.999999996335,4.48102254489e-05,-7.27801647098e-05,4.93437521652e-06,1793239253108566528
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.113648378,746,714,679,667,636,880,788,803.886351622,653,632,653,0.40678066903,0.00453265327055,0.0499404740512,0.999999994833,3.58826927499e-05,-9.48415790763e-05,7.20672542724e-06,1793239253125233152
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804,653,632,653,0.407288200397,0.00452813257554,0.0499357794805,0.999999994343,2.9765645818e-05,-0.000101582661651,1.04319479172e-05,1793239253141899776
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.948864336,880,788,803.948864336,653,632,653,0.407817698136,0.00452354983018,0.0499361458983,0.999999994614,2.4233275765e-05,-9.9959678801e-05,1.39152475844e-05,1793239253158566400
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.374598855,880,788,803.374598855,653,632,653,0.408426683715,0.00451635652859,0.0499617062627,0.999999998426,1.78204621698e-05,-5.01750501083e-05,1.77122949964e-05,1793239253175233024
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,714,679.203665739,667,635.203665739,879.796334261,788,803.203665739,653,631.796334261,653,0.409031719031,0.00450900873011,0.0499833316305,0.999999999315,2.76736304078e-05,-1.17198328586e-05,2.15948746067e-05,1793239253191899904
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,714,679.789433124,667,635.789433124,879.210566876,788,803.789433124,653,631.210566876,653,0.409629343136,0.0045013710771,0.0499975744654,0.999999997341,6.80437551023e-05,5.48003040005e-06,2.5637922818e-05,1793239253208566528
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.629717795,745.629717795,714,679.629717795,667,635.629717795,879.370282205,788,803.629717795,653,631,653,0.410233389282,0.00449604117965,0.0499968527715,0.999999994175,0.00010391039035,2.0848029085e-06,2.91271241409e-05,1793239253225233152
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.051628941,745.051628941,714,679.051628941,667,635.051628941,879.948371059,788,803.051628941,653,631,653,0.410841039531,0.00449200642151,0.0499877328107,0.999999989977,0.000137249613925,-1.28686278331e-05,3.23055000486e-05,1793239253241900032
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.527697735,745.527697735,714.527697735,679,667,635.527697735,880,788,803.527697735,653,631,653,0.411468324809,0.00448391237956,0.0499634535356,0.999999989381,0.000122980100059,-6.91703700727e-05,3.64532396032e-05,1793239253258566912
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.894375595,746,715,679.105624405,667,635.894375595,880,788,803.894375595,653,631.105624405,653,0.412120126647,0.00447570700609,0.0499452973508,0.999999989022,9.25523358045e-05,-0.000109702126998,3.68253442404e-05,1793239253275233536
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.323155459,746,715,679.676844541,667,635.323155459,880,788,803.323155459,653,631.676844541,653,0.412871510101,0.0044687656597,0.049960685131,0.999999997757,1.1479156717e-05,-6.28449143415e-05,2.01352855355e-05,1793239253291900160
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.257403472,746,714.742596528,679.742596528,667,635.257403472,879.742596528,788,803.257403472,653,631.742596528,653,0.413621070644,0.00445817532842,0.0499780772318,0.999999998361,-5.00593018629e-05,-2.57060604964e-05,1.0548014045e-05,1793239253308566528
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.850128194,746,714.149871806,679.149871806,667,635.850128194,879.149871806,788,803.850128194,653,631.149871806,653,0.414368256572,0.00444283143885,0.0499980803769,0.999999996236,-8.61497587484e-05,-1.22737255902e-06,1.02135894603e-05,1793239253325233152
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,879.432128304,788,804,653,631,653,0.415092169867,0.00443905733819,0.0499791310811,0.999999996134,-8.08806564364e-05,-3.19823372962e-05,1.29650229543e-05,1793239253341900032
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.989529288,880,788,804,653,631.010470712,653,0.415809529362,0.00443965387542,0.0499475259377,0.999999994739,-6.12220965783e-05,-8.05908252236e-05,1.67205356017e-05,1793239253358566656
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.412712545,880,788,804,653,631.587287455,653,0.41659840738,0.00446486884251,0.0499444021984,0.999999996112,-2.03383978908e-05,-8.38278395163e-05,1.82991292746e-05,1793239253375233280
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788,804,652.833081071,631.833081071,653,0.417401883687,0.00448732177823,0.0499508013647,0.999999997183,1.46248942201e-05,-7.10856356662e-05,1.91741187351e-05,1793239253391899904
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788,804,652.246370751,631.246370751,653,0.418242073792,0.00450282836425,0.0499811500848,0.999999999066,3.46987057782e-05,-1.81566279792e-05,1.82795844779e-05,1793239253408566528
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,714,679.336346132,667,635.336346132,880,788,804,652.336346132,631,653,0.419058715006,0.00450331254505,0.0499885913347,0.999999999248,3.19195653911e-05,-1.17388231379e-05,1.86553391094e-05,1793239253425233408
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,714,679.916172153,667,635.916172153,880,788,804,652.916172153,631,653,0.419858309216,0.00449292205411,0.0499794499388,0.999999998962,1.25972454235e-05,-3.89903314188e-05,1.99506518527e-05,1793239253441899776
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.505497518,746,714,680,667,636,880,788,803.505497518,653,631,653,0.420700698057,0.00448531216011,0.0499737862168,0.999999999171,6.78851839751e-06,-3.48822319507e-05,1.98638105773e-05,1793239253458566656
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.072014602,746,714,680,667.072014602,635.927985398,880,788,803.072014602,653,631.072014602,653,0.421555499598,0.00447872170496,0.0499724572547,0.999999999585,3.52828407899e-06,-2.08309334576e-05,1.95758130373e-05,1793239253475233280
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.645588437,746,714,680,667.645588437,635.354411563,880,788,803.645588437,653,631.645588437,653,0.422446378152,0.00447595831226,0.0499972250084,0.999999999481,2.11078456614e-06,2.55585390039e-05,1.95137455299e-05,1793239253491899904
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,714.220219149,679.779780851,668,635.220219149,880,788,804,653,632,653,0.423325026852,0.00447534224689,0.0500065637156,0.999999998904,1.78292365665e-07,4.22610470142e-05,2.01605096963e-05,1793239253508566528
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,714.79655905,679.20344095,668,635.79655905,880,788,804,653,632,653,0.424183898552,0.00447819866667,0.0499909518097,0.999999999696,-2.58700493825e-06,1.09561835677e-05,2.19535396475e-05,1793239253525233408
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,714.616084275,679.383915725,667.616084275,636,880,788,804,653,632,653,0.425048789284,0.00448738699748,0.0499900043297,0.999999999701,6.44124112425e-06,7.86180285366e-06,2.22389493396e-05,1793239253541900032
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,714.022717259,679.977282741,667.022717259,636,880,788,804,653,632,653,0.425916963742,0.00450002980222,0.04999705726,0.999999999321,2.19036412817e-05,2.0158098621e-05,2.1701852871e-05,1793239253558566912
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.445304182,714.554695818,680,667,636,880,788,804,653,631.445304182,653,0.426780937157,0.00449350507398,0.0500111809832,0.999999999069,1.68029524391e-05,3.18432508879e-05,2.3781551453e-05,1793239253575233280
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.131034516,715,680,667.131034516,636,880.131034516,788,804,652.868965484,631,653,0.427629834624,0.0044865448975,0.0500128067668,0.999999999354,1.06198708543e-05,2.2871221399e-05,2.56024968404e-05,1793239253591899904
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.705885398,715,680,667.705885398,636,880.705885398,788,804,652.294114602,631,653,0.428428235982,0.00448069431178,0.0499711484007,0.999999998084,3.5433371047e-06,-5.59846676138e-05,2.61942035201e-05,1793239253608566528
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.712979159,714.712979159,680,667.712979159,636,880.712979159,788,804,652.287020841,631.287020841,653,0.429272880655,0.00447700732241,0.049952971822,0.999999996367,-4.86148115804e-07,-8.11417226267e-05,2.61077607587e-05,1793239253625233152
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.125259704,714.125259704,680,667.125259704,636,880.125259704,788,804,652.874740296,631.874740296,653,0.430165972286,0.00447558703439,0.0499593960412,0.999999998427,-1.32337945191e-06,-5.00409597709e-05,2.53108519078e-05,1793239253641899776
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.456308698,714,680,667,635.543691302,880,788,804,652.543691302,632,653.456308698,0.43101589751,0.00447704200029,0.049961410209,0.99999999849,3.10262477803e-06,-4.84551072121e-05,2.5752689105e-05,1793239253658566656
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,714.035895916,679.964104084,667,635.035895916,880,788,804,652,632,653.964104084,0.431851986097,0.00447926956184,0.0499611341425,0.999999998053,8.49317541327e-06,-5.58641476196e-05,2.64599487153e-05,1793239253675233280
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,714.610750798,679.389249202,667,635.610750798,880,788,804,652,632,653.389249202,0.432655870891,0.00448140429678,0.0499444059727,0.99999999657,6.96159996094e-06,-7.82969998268e-05,2.61147124675e-05,1793239253691899904
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.810277315,746,714.810277315,679.189722685,667,635.810277315,880.189722685,788,804.189722685,652.189722685,631.810277315,653,0.433474046287,0.00448205428842,0.0499429322091,0.999999996569,4.91650980405e-06,-7.84252384063e-05,2.62221815418e-05,1793239253708566528
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.222671204,746,714.222671204,679.777328796,667,635.222671204,880.777328796,788,804.777328796,652.777328796,631.222671204,653,0.43432219186,0.00447959050023,0.049973449743,0.999999999121,1.79448440886e-06,-3.17765966668e-05,2.72790570093e-05,1793239253725233152
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.359832368,746,714.359832368,680,667.359832368,635,880.640167632,788,805,653,631.359832368,653,0.43512525186,0.00447805849689,0.0499882125145,0.999999999459,3.82032975618e-06,-1.56988865512e-05,2.86688851735e-05,1793239253741899776
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.939222505,746,714.939222505,680,667.939222505,635,880.060777495,788,805,653,631.939222505,653,0.435900802089,0.0044770950379,0.0499933622509,0.999999999335,8.9872351743e-06,-1.82745471577e-05,3.02618699848e-05,1793239253758566400
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.483375848,746,714.483375848,680,667.483375848,635,880.516624152,788.516624152,804.483375848,653,632,653,0.436629068934,0.00447763004807,0.0499676803247,0.999999996964,2.50462193767e-06,-7.14948954521e-05,3.08980397337e-05,1793239253775233280
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,746,714.093719917,680,667,635.093719917,881,788.906280083,804.093719917,653,632,653,0.437361230593,0.0044775838491,0.0499471554257,0.999999993367,-4.19686783432e-06,-0.000110773354878,3.12815088767e-05,1793239253791899904
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,746,714.67044024,680,667,635.67044024,881,788.32955976,804.67044024,653,632,653,0.438142022515,0.0044736372667,0.0499718294784,0.999999998375,-4.99041355136e-06,-4.76122184107e-05,3.0940533406e-05,1793239253808566528
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.251711465,746,714.748288535,680,667,635.748288535,881,788,805,652.748288535,631.748288535,653,0.438891698931,0.00446965055104,0.0499883061987,0.999999999439,3.17997784443e-06,-1.09405591167e-05,3.15114933804e-05,1793239253825233408
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.83905074,746,714.16094926,680,667,635.16094926,881,788,805,652.16094926,631.16094926,653,0.439599886393,0.00446561032268,0.0499938527327,0.999999999128,2.3302731369e-05,-9.58952571772e-06,3.32984127955e-05,1793239253841900288
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.579084806,746,714.420915194,680,667,635,880.579084806,788,804.579084806,652,631.420915194,653,0.440260924276,0.00446443236577,0.0499767010132,0.999999998559,2.25067253104e-05,-3.47491236942e-05,3.41880513289e-05,1793239253858567168
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.000706552,746,715,680,667.000706552,635,880,788,804.000706552,652,632,653,0.440904146583,0.00446434337305,0.049951014857,0.99999999686,1.38314608164e-05,-6.98722319509e-05,3.47404998576e-05,1793239253875233792
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.575167178,746,715,680,667.575167178,635,880,788,804.575167178,652,632,653,0.441532673182,0.00447119235148,0.0499525044667,0.999999996725,1.89104020411e-05,-6.97123063301e-05,3.65160723507e-05,1793239253891900416
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,714.846790843,680,667.846790843,635.153209157,880.153209157,788,804.846790843,652.153209157,632,653,0.442152087663,0.00448003849677,0.0499555074202,0.999999996816,2.78684384201e-05,-6.44947178018e-05,3.78339652391e-05,1793239253908567040
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,714.258580318,680,667.258580318,635.741419682,880.741419682,788,804.258580318,652.741419682,632,653,0.442745630575,0.00449455512924,0.0499628071577,0.99999999713,4.78402543093e-05,-4.49170849151e-05,3.78523849266e-05,1793239253925233664
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.675268671,881,788,804.324731329,653,632,653,0.443303915674,0.0045036428291,0.0499532022129,0.999999995605,6.04800970193e-05,-6.03874518735e-05,3.85449687813e-05,1793239253941900288
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.095800011,881,788,804.904199989,653,632,653,0.443834542547,0.00450847177116,0.0499303362939,0.999999991599,6.7368330584e-05,-0.000103351421907,3.9766404494e-05,1793239253958566912
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.517388776,714,680,666.517388776,635,880.517388776,787.517388776,804.517388776,652.517388776,631.517388776,653,0.444304606859,0.00450898126218,0.0498893702863,0.99999998176,7.12805842023e-05,-0.000172495668779,4.05521844871e-05,1793239253975233536
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714.060422055,680,666.060422055,634.939577945,880.060422055,787.060422055,804,652.060422055,631.060422055,653,0.444763593549,0.00450865817624,0.0498484477393,0.99999996774,7.41103727151e-05,-0.000239438621646,4.11960118334e-05,1793239253991900160
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714.634906685,680,666.634906685,634.365093315,880.634906685,787.634906685,804,652.634906685,631.634906685,653,0.445230390256,0.00450853055474,0.0498383962813,0.999999966844,7.27456666147e-05,-0.000243535628565,4.13662715729e-05,1793239254008566784
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.214798473,714.785201527,680,666.785201527,634,880.785201527,787.785201527,804.214798473,652.785201527,631.785201527,653,0.445690668707,0.0045094003845,0.0498356919788,0.999999968346,7.26553556097e-05,-0.000237332098366,4.12556443316e-05,1793239254025233408
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.804118085,714.195881915,680,666.195881915,634,880.195881915,787.195881915,804.804118085,652.195881915,631.195881915,653,0.446139581926,0.00451200936342,0.0498457981271,0.999999973657,7.47870712416e-05,-0.000213168621986,4.06552644495e-05,1793239254041900032
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666,634,880,787.386940351,804.613059649,652.386940351,631.386940351,653,0.446553368631,0.0045121875296,0.0498455850416,0.999999976373,5.03687172674e-05,-0.000208894994634,3.28609632015e-05,1793239254058566656
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666,634,880,787.966527816,804.033472184,652.966527816,631.966527816,653,0.446949666836,0.00451115546023,0.0498402342902,0.999999976678,1.27318032616e-05,-0.000214523981705,2.14850033657e-05,1793239254075233280
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.458223552,746,714.541776448,680,666,634,880.541776448,787.458223552,804.541776448,653,632,653,0.447259247262,0.004512770769,0.0498080740225,0.999999963549,-1.15204645986e-05,-0.000269413503653,1.36067734378e-05,1793239254091899904
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,746,715,680.11656527,666,634,881,787,805,653,632,653,0.447558830725,0.00451481174342,0.0497758413157,0.999999947593,-1.61127182806e-05,-0.000323260008698,7.60041291268e-06,1793239254108566272
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,746,715,680.690593387,666,634,881,787,805,653,632,653,0.447840040038,0.00451788645315,0.0497497730577,0.999999933331,5.32316234293e-05,-0.000361164087939,8.09889887581e-06,1793239254125233152
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.2735083,746,714.7264917,680.7264917,666,634,880.7264917,787,805,652.7264917,632,653,0.448120423525,0.00452713626764,0.0497382528709,0.999999924246,9.77708637815e-05,-0.000376650833408,9.08209624955e-06,1793239254141899776
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.866813996,746,714.133186004,680.133186004,666,634,880.133186004,787,805,652.133186004,632,653,0.448399841406,0.00454360627386,0.0497437429017,0.999999926573,0.000113306933692,-0.000365926290119,1.06320385824e-05,1793239254158566400
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.551250952,745.551250952,714,680.448749048,666,633.551250952,880.448749048,787.448749048,804.551250952,652.448749048,631.551250952,653,0.448666385216,0.00456276325063,0.0497548510296,0.999999930167,0.00013086442034,-0.00034990851587,1.02678102759e-05,1793239254175233024
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.027123987,745.027123987,714,680.972876013,665.972876013,633,881,787.972876013,804.027123987,652.972876013,631.027123987,653,0.448926273712,0.00458161177267,0.0497671602495,0.999999933534,0.000147959790937,-0.00033309100905,9.494913633e-06,1793239254191899648
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.600090325,745.600090325,714,680.399909675,665.399909675,633,881,787.399909675,804.600090325,652.399909675,631.600090325,653,0.449127223381,0.00457860116312,0.0497709143823,0.999999934782,0.000143980654981,-0.000331013168481,1.16481729141e-05,1793239254208566528
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.822608352,745.822608352,714.177391648,680,665.177391648,633,881,787,805,652,632,653,0.449315155381,0.00457564646095,0.0497713749436,0.999999934844,0.000139367602014,-0.000332731641484,1.33644486694e-05,1793239254225233408
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.235289568,745.235289568,714.764710432,680,665.764710432,633,881,787,805,652,632,653,0.44947300535,0.00457282095326,0.0497642245242,0.999999932117,0.000133289656578,-0.00034322286123,1.40709166863e-05,1793239254241900032
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.347177779,714.652822221,680,666,633.347177779,881,787,805,652.347177779,632,653,0.449620530156,0.00457285793427,0.0497578712147,0.999999928536,0.000132440885784,-0.000353798809768,1.46340261968e-05,1793239254258566656
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.926402575,714.073597425,680,666,633.926402575,881,787,805,652.926402575,632,653,0.449761153834,0.00457480814794,0.0497520506777,0.999999924357,0.000135087195151,-0.000364431390457,1.51013176811e-05,1793239254275233536
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.496226783,714.503773217,680.503773217,665.496226783,633.496226783,881,787,805,653,631.496226783,653,0.449885159899,0.00457325578929,0.049752498543,0.999999924933,0.00013287001404,-0.000363646116697,1.55451496706e-05,1793239254291899904
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714.919451305,681,665,633,881,787,804.919451305,652.919451305,631,652.919451305,0.450002567057,0.00457183249858,0.0497539393754,0.999999925956,0.000130928586979,-0.000361508317201,1.6015419827e-05,1793239254308566528
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714.344671441,681,665,633,881,787,804.344671441,652.344671441,631,652.344671441,0.450094325964,0.00457432931593,0.0497558745063,0.999999925488,0.000135022751201,-0.000361269050884,1.66688614839e-05,1793239254325233152
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.236540785,714,681,665,633,881,787,804.236540785,652.236540785,631,652.236540785,0.450178203238,0.0045759281315,0.0497580052914,0.999999925733,0.000137511318898,-0.000359628929281,1.71025313017e-05,1793239254341900032
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.827387787,714,681,665,633,881,787,804.827387787,652.827387787,631,652.827387787,0.45025027488,0.00457618186131,0.0497604291402,0.999999927057,0.000137594919156,-0.000355890515281,1.72070124854e-05,1793239254358566656
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.41022893,745.58977107,714.41022893,680.58977107,665,633,881,787,805,652.58977107,631.41022893,653,0.450311304147,0.00457530611797,0.0497631680603,0.999999928874,0.000135586992751,-0.000351530099154,1.71614637301e-05,1793239254375233024
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.98976591,745.01023409,714.98976591,680.01023409,665,633,881,787,805,652.01023409,631.98976591,653,0.450367776046,0.00457396422297,0.0497660370154,0.999999930874,0.00013271585978,-0.000346912972869,1.70539952126e-05,1793239254391899648
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.564109091,715,680,665,633,880.435890909,787,805,652.564109091,632,653,0.450400898192,0.00457760116213,0.0497622289086,0.999999927936,0.000136580795775,-0.000353832587001,1.66227366963e-05,1793239254408566528
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.858261242,746,715,680,665,633,880.141738758,787,804.858261242,653,631.858261242,653,0.450431035255,0.00458017217967,0.0497586611974,0.999999925354,0.000139634035491,-0.000359896324291,1.64270921505e-05,1793239254425233152
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.269983677,746,715,680,665,633,880.730016323,787,804.269983677,653,631.269983677,653,0.45045309039,0.00457910310854,0.0497562289853,0.999999924348,0.000139748587937,-0.000362610305029,1.69920717809e-05,1793239254441899776
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.313411691,745.686588309,714.686588309,680,665,633,881,787,804.313411691,653,631.313411691,653,0.450470810447,0.00457875401202,0.0497545724913,0.999999923274,0.000139936800852,-0.000365474057246,1.73027822544e-05,1793239254458566400
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.892665939,745.107334061,714.107334061,680,665,633,881,787,804.892665939,653,631.892665939,653,0.450484853398,0.00457901561335,0.0497535739777,0.999999922139,0.000140187494178,-0.00036846484916,1.73978162065e-05,1793239254475233024
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.528689855,745,714,680,665,632.528689855,881,787,805,653,632,653,0.45049472065,0.00458030563152,0.0497535241573,0.999999921924,0.000140684723562,-0.000368878911888,1.69468837612e-05,1793239254491899904
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,665,632,881,787,804.950645583,652.950645583,632,653,0.45050339002,0.00458184010221,0.0497537606,0.999999921912,0.00014151455359,-0.000368618618068,1.64267235563e-05,1793239254508566528
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,665,632,881,787,804.377495434,652.377495434,632,653,0.450509425742,0.00458348652173,0.0497547451617,0.999999921812,0.000145279162731,-0.000367421176104,1.64897172885e-05,1793239254525233152
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.201470443,714,680.201470443,665,632.201470443,881,787,804,652,632,653,0.450514356035,0.00458379412235,0.0497556312903,0.999999921953,0.000147200692864,-0.000366259063015,1.67217758877e-05,1793239254541899776
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.791657128,714,680.791657128,665,632.791657128,881,787,804,652,632,653,0.450517153516,0.0045815186112,0.0497563275024,0.999999922583,0.000145566193739,-0.00036516511339,1.72800275396e-05,1793239254558566400
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,714,681,665,633,881,787,804.37529589,652.37529589,632,652.62470411,0.450518197489,0.00458117712532,0.049755463969,0.99999992215,0.00014520422449,-0.000366492897199,1.72833077203e-05,1793239254575233280
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714,681,665,633,881,787,804.955361935,652.955361935,632,652.044638065,0.450518284706,0.00458189088863,0.0497537494022,0.999999921132,0.00014553657715,-0.000369142035053,1.69837825579e-05,1793239254591899904
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.529496177,746,714,680.470503823,665,632.470503823,881,787,804.470503823,652.470503823,631.470503823,652,0.450517021739,0.00458250081856,0.0497524994001,0.99999992032,0.000145357455758,-0.000371425510175,1.65628413045e-05,1793239254608566528
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.897694985,746,714,680,665,632,881,787,804,652,631.102305015,652.102305015,0.450516014978,0.00458310320804,0.04975158872,0.999999919684,0.000145025227366,-0.000373277916315,1.62328108947e-05,1793239254625233152
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.32867675,746,714,680,665,632,881,787,804,652,631.67132325,652.67132325,0.450516690538,0.00458371068858,0.0497520493326,0.999999919793,0.000144189055812,-0.000373302866134,1.63636917232e-05,1793239254641899776
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714.252015426,680,665,632,881,787.252015426,804.252015426,652.252015426,632,653,0.450516988202,0.00458387905189,0.0497519900678,0.999999919914,0.000143520816646,-0.000373235129649,1.64160365278e-05,1793239254658566656
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714.848672277,680,665,632,881,787.848672277,804.848672277,652.848672277,632,653,0.450516769077,0.00458344690447,0.0497512198493,0.99999992005,0.000143082231784,-0.000373040640847,1.63609801192e-05,1793239254675233280
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714.567781038,680,665,632,880.567781038,787.567781038,804.567781038,652.567781038,631.567781038,652.567781038,0.450517897366,0.00458404819875,0.0497513489934,0.999999919621,0.000146114519699,-0.000373010704686,1.64885086339e-05,1793239254691899904
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.011221127,746,714,680,665,632,880.011221127,787,804.011221127,652,631,652,0.450519475568,0.00458496578188,0.0497517764042,0.999999919009,0.000150195806193,-0.000373020882365,1.66630494096e-05,1793239254708566784
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.585730208,746,714,680,665,632,880.585730208,787,804.585730208,652,631,652,0.450520654604,0.00458413213135,0.0497518350191,0.999999919678,0.00014772906072,-0.000372237770029,1.60829963386e-05,1793239254725233408
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.835944434,745.835944434,714,680,665,632.164055566,881,787,804.835944434,652,631,652.164055566,0.450520999468,0.00458349740716,0.0497518100067,0.999999919997,0.000145889640035,-0.000372118958683,1.57743813437e-05,1793239254741899776
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.247752814,745.247752814,714,680,665,632.752247186,881,787,804.247752814,652,631,652.752247186,0.450519187729,0.00458337697118,0.0497515687911,0.999999919427,0.000145672054504,-0.000373717577691,1.61675205333e-05,1793239254758566400
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+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.915233474,714,680,665,632.084766526,880.084766526,787,804,652,631,653,0.45051977126,0.00458618682775,0.0497509566952,0.999999919267,0.000147138418453,-0.000373598433613,1.55144195357e-05,1793239254791899904
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+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745.775204628,714.775204628,680.775204628,665,632,880.775204628,787.224795372,804.224795372,652.224795372,631.224795372,653,0.450520449512,0.00458590014347,0.0497509489586,0.999999919004,0.00014629139809,-0.000374634067966,1.54948712947e-05,1793239254858568448
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745.185685343,714.185685343,680.185685343,665,632,880.185685343,787.814314657,804.814314657,652.814314657,631.814314657,653,0.450521335663,0.00458444006394,0.0497513486895,0.999999919305,0.000146337568661,-0.00037379902799,1.57897591614e-05,1793239254875235072
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745,714.397102923,680,665,632,880.397102923,787.602897077,805,652.602897077,632,653,0.450520511957,0.00458348074579,0.0497509306381,0.999999918957,0.000146272139074,-0.000374742733991,1.60856234746e-05,1793239254891901184
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745,714.976796188,680,665,632,880.976796188,787.023203812,805,652.023203812,632,653,0.450518902048,0.00458275168086,0.0497501365654,0.999999918307,0.00014615539505,-0.000376504318279,1.63819367465e-05,1793239254908567296
+251,4.183333333,HOLD_POSE2,765,746,714,681,665,633,881,787,804,653,631,653,0.450519013029,0.00458503017244,0.0497496744117,0.999999917942,0.000147854878216,-0.000376832550346,1.59085682291e-05,1793239254938278656
+252,4.200000000,HOLD_POSE2,765.588642078,746,714,681,665,632.411357922,881,787,804,653,631,653,0.450520315993,0.00458597351234,0.049750247292,0.999999918452,0.000147663744442,-0.000375577110345,1.52829658163e-05,1793239254954945280
+253,4.216666667,HOLD_POSE2,765.825590688,746,714,680.825590688,665,632,881,787,804,652.825590688,631.174409312,653,0.450521288294,0.00458604011953,0.0497507816939,0.999999918886,0.000147171238955,-0.000374620544426,1.5085044702e-05,1793239254971611904
+254,4.233333333,HOLD_POSE2,765.246493931,746,714,680.246493931,665,632,881,787,804,652.246493931,631.753506069,653,0.450521493345,0.00458407241626,0.0497512268136,0.999999919147,0.000145979451106,-0.00037435746525,1.58794859138e-05,1793239254988278784
+255,4.250000000,HOLD_POSE2,765,745.667436519,714,680,665.332563481,632.332563481,881,787,804,652,631.667436519,653,0.45052148492,0.00458393960988,0.049751142271,0.999999919,0.000146591671306,-0.000374506067571,1.60179458597e-05,1793239255004945408
+256,4.266666667,HOLD_POSE2,765,745.088408302,714,680,665.911591698,632.911591698,881,787,804,652,631.088408302,653,0.450521318287,0.0045851666564,0.0497506651928,0.999999918548,0.000148540852478,-0.000374959769466,1.56702542113e-05,1793239255021612032
+257,4.283333333,HOLD_POSE2,765,745,714.486071134,680,665.027857732,632.513928866,881,787,804,652.486071134,631,653,0.450522289253,0.00458629159975,0.0497511036204,0.999999918897,0.000148741873315,-0.000373948478232,1.56026496916e-05,1793239255038279424
+258,4.300000000,HOLD_POSE2,765,745.061366892,715,680.061366892,664.061366892,632,881,787,804.061366892,653,631.061366892,652.938633108,0.450523348795,0.00458706785019,0.0497516831441,0.999999919375,0.000148480123648,-0.000372774568749,1.55974905255e-05,1793239255054946560
+259,4.316666667,HOLD_POSE2,765,745.650738922,715,680.650738922,664.650738922,632,881,787,804.650738922,653,631.650738922,652.349261078,0.450523406683,0.00458500222572,0.0497520572426,0.999999919712,0.000146947061928,-0.000372472848051,1.56953604426e-05,1793239255071612416
+260,4.333333333,HOLD_POSE2,765,746,714.763743135,680.763743135,665,632,880.763743135,787,804.763743135,652.763743135,631.763743135,652.236256865,0.450523191815,0.00458355692524,0.0497521138799,0.999999919643,0.000146171929909,-0.000372954776233,1.58749367537e-05,1793239255088278528
+261,4.350000000,HOLD_POSE2,765,746,714.183831331,680.183831331,665,632,880.183831331,787,804.183831331,652.183831331,631.183831331,652.816168669,0.450522580199,0.00458301393692,0.0497517087439,0.999999918984,0.000146499268786,-0.000374576585855,1.61733616917e-05,1793239255104945152
+262,4.366666667,HOLD_POSE2,765,745.606715154,714,680.393284846,665,632,880.393284846,787,804,652,631,652.606715154,0.450521501612,0.00458470661435,0.0497506894988,0.999999918376,0.000146782932272,-0.000376107539043,1.56961737022e-05,1793239255121612032
+263,4.383333333,HOLD_POSE2,765,745.03089645,714,680.96910355,665,632,880.96910355,787,804,652,631,652.03089645,0.450520206293,0.0045874369231,0.0497493852295,0.999999917789,0.000147046324887,-0.000377596323507,1.48590033471e-05,1793239255138278912
+264,4.400000000,HOLD_POSE2,765.541758528,745.541758528,714,680.458241472,665,632,881,787,804.541758528,652,631.541758528,652,0.450521934001,0.00458775903127,0.049750814992,0.999999918154,0.00014995748181,-0.000375467074311,1.51629124012e-05,1793239255154945536
+265,4.416666667,HOLD_POSE2,765.881584876,746,714,680.118415124,665,632,881,787,805,652,631.881584876,652.118415124,0.450523197293,0.00458723314607,0.0497517434555,0.999999918376,0.000151855874405,-0.000374089839353,1.56123033011e-05,1793239255171612160
+266,4.433333333,HOLD_POSE2,765.288156344,746,714,680.711843656,665,632,881,787,805,652,631.288156344,652.711843656,0.450521910047,0.00458385332754,0.0497500391592,0.999999917856,0.000149089423961,-0.000376552149273,1.63857532293e-05,1793239255188278528
+267,4.450000000,HOLD_POSE2,765.296819823,746,714.296819823,680.703180177,665,632,881,787,805,652,631,653,0.450521773748,0.00458256844666,0.0497496226606,0.999999918008,0.000147160477397,-0.000376896812383,1.66013679828e-05,1793239255204945152
+268,4.466666667,HOLD_POSE2,765.873817494,746,714.873817494,680.126182506,665,632,881,787,805,652,631,653,0.450522723865,0.00458326104549,0.0497504217561,0.999999918803,0.000146022078047,-0.000375242559914,1.6290423995e-05,1793239255221611776
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,665,632,881,787,805,652,632,653,0.450523449485,0.00458732889748,0.0497514654524,0.999999918439,0.000151327823393,-0.000374152932939,1.52435942673e-05,1793239255254253056
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.412848438,714.587151562,680,665,632,880.412848438,787,804.412848438,652.587151562,631.412848438,653,0.450522382992,0.00458642400646,0.0497505851517,0.999999918194,0.000149324443461,-0.000375588614742,1.57245215373e-05,1793239255270919936
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.172981984,715,680.172981984,664.827018016,632,880.172981984,787,804,652.827018016,631.172981984,652.827018016,0.450521976045,0.00458586744029,0.0497502324824,0.999999918142,0.000148080410418,-0.000376209412999,1.59297111604e-05,1793239255287586816
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.755683313,715,680.755683313,664.244316687,632,880.755683313,787,804,652.244316687,631.755683313,652.244316687,0.450523131278,0.00458613590453,0.049751129543,0.999999918559,0.000148634940639,-0.000374900105612,1.54817979043e-05,1793239255304253696
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.333387781,746,714.666612219,680.666612219,664.333387781,632.333387781,881,787,804.333387781,652.333387781,631.666612219,652.333387781,0.450522974892,0.00458534267498,0.0497510538481,0.999999918474,0.000148883407154,-0.000375028570568,1.54729426595e-05,1793239255320920064
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.907484435,746,714.092515565,680.092515565,664.907484435,632.907484435,881,787,804.907484435,652.907484435,631.092515565,652.907484435,0.450521871506,0.00458378289327,0.0497502758154,0.999999918027,0.000148910892979,-0.000376195119724,1.57810911398e-05,1793239255337586432
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.520215281,745.520215281,714,680,665,632.520215281,881,787.479784719,805,653,631,653,0.450521132024,0.00458403694122,0.0497492093357,0.999999917798,0.000147272048283,-0.00037746283133,1.53927940902e-05,1793239255354252800
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.053658387,714.053658387,680,665,632.053658387,880.946341613,787.946341613,804.946341613,652.946341613,631.053658387,653,0.45051989227,0.00458457627483,0.0497479439146,0.999999917412,0.000145774477693,-0.000379078614603,1.49742523467e-05,1793239255370919424
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.64682132,714.64682132,680,665,632.64682132,880.35317868,787.35317868,804.35317868,652.35317868,631.64682132,653,0.450512919667,0.0045844805156,0.0497452353956,0.999999915063,0.000148915915609,-0.000383998661545,1.55968272088e-05,1793239255387586048
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.234488195,746,715,680.234488195,665,633,880,787,804,652,632,653,0.450498409536,0.00458469796968,0.0497393506069,0.999999910659,0.000150651277447,-0.000394632166548,1.58542529294e-05,1793239255404252672
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.814066611,746,715,680.814066611,665,633,880,787,804,652,632,653,0.450472806619,0.00458537637169,0.0497287913842,0.999999903018,0.000150317353132,-0.00041367401968,1.55742980317e-05,1793239255420919552
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.60938941,745.60938941,714.60938941,681,665,632.60938941,880.39061059,787,804.39061059,652.39061059,631.60938941,653,0.450428456022,0.0045866970409,0.049711445853,0.999999889477,0.000151439975314,-0.000444837278283,1.51927515433e-05,1793239255437586176
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.034278659,745.034278659,714.034278659,681,665,632.034278659,880.965721341,787,804.965721341,652.965721341,631.034278659,653,0.450375250184,0.00458832107726,0.0496908948905,0.999999872118,0.000153250579329,-0.000481725936527,1.47632194623e-05,1793239255454252800
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.552285061,745.552285061,714,681,664.447714939,632,881,787.552285061,804.447714939,653,631.552285061,653,0.450307355292,0.00458899678806,0.0496726629434,0.99999985951,0.000153820773818,-0.000507073292546,1.40148363142e-05,1793239255470919168
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.862234086,746,714,680.862234086,664.137765914,632,881,788,804.137765914,652.862234086,632,653,0.450235633733,0.00458982716008,0.0496567973709,0.99999984849,0.000154471718508,-0.000528192478176,1.30867577082e-05,1793239255487586048
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.282555102,746,714,680.282555102,664.717444898,632,881,788,804.717444898,652.282555102,632,653,0.450154623733,0.00459134644362,0.0496480509604,0.999999843048,0.000155633873081,-0.000538095376879,1.16470933139e-05,1793239255504252672
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,714.295728111,680,665,632.295728111,881,788,805,652.295728111,631.704271889,653,0.450063424151,0.00459187032489,0.0496437696348,0.999999839986,0.00015676482546,-0.00054344230418,1.1093427576e-05,1793239255520919296
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,714.872683956,680,665,632.872683956,881,788,805,652.872683956,631.127316044,653,0.449962534616,0.00459144761116,0.049643734459,0.999999839258,0.000157866105516,-0.000544456651571,1.13823175849e-05,1793239255537585920
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,714.552404734,680,665,632.552404734,880.552404734,787.552404734,804.552404734,652.552404734,631.447595266,653,0.449846898421,0.00459409303736,0.0496466152918,0.999999841086,0.000161540185668,-0.00054002118029,1.04623799406e-05,1793239255554252544
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.022555051,746,714,680,665,632,880.022555051,787,804.022555051,652.022555051,632,653,0.449725678428,0.00459745017713,0.049650071592,0.999999843392,0.000165832219544,-0.000534444036534,9.23983101322e-06,1793239255570919424
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.61332027,746,714,680,665,632,880.61332027,787,804.61332027,652.61332027,632,653,0.44956898117,0.00459685129694,0.0496472247189,0.999999840708,0.000167339573738,-0.000538980282765,9.01664663622e-06,1793239255587585792
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,665,632.200260765,881,787,805,653,632,653,0.449399020779,0.00459749359725,0.049644022036,0.999999837129,0.000170270320789,-0.000544678108329,8.70751171444e-06,1793239255604252672
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,665,632.779954508,881,787,805,653,632,653,0.44920393082,0.00460048755556,0.0496401452026,0.999999831825,0.000175897962347,-0.000552576771386,8.23552678937e-06,1793239255620919296
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.287139706,746,714,680.356430147,665,633,881,787.356430147,805,653,632,653,0.448991722149,0.00460298460127,0.0496403188433,0.99999982995,0.000182330738269,-0.000553892382937,7.68645584117e-06,1793239255637585920
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.138126218,746,714,680.930936891,665,633,881,787.930936891,805,653,632,653,0.448769039624,0.00460517761854,0.0496429707073,0.999999830166,0.000189256124473,-0.000551180251011,7.0902208862e-06,1793239255654252544
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.011336457,746,714.505668228,680.494331772,665,633,881,787.494331772,805,652.494331772,631.494331772,653,0.448515415068,0.00460777463168,0.0496426568717,0.999999830621,0.000193909609739,-0.000548749109711,5.66095434931e-06,1793239255670919424
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,633,881,787,805,652.082507323,631.082507323,653,0.448252666518,0.00461037525736,0.0496417888327,0.999999830805,0.00019847330696,-0.000546792257686,4.1503345894e-06,1793239255687585792
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,633,881,787,805,652.672112531,631.672112531,653,0.447959825841,0.00461265881394,0.0496400051835,0.999999829222,0.000204393088622,-0.000547514457652,2.8392843002e-06,1793239255704252672
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,746,714.74212447,680,665,633,881,787,805,652.74212447,632,653,0.447644873078,0.00461516325192,0.0496385819381,0.999999828129,0.00021033630969,-0.000547265195842,1.22340920744e-06,1793239255720919296
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,746,714.161175138,680,665,633,881,787,805,652.161175138,632,653,0.447302217682,0.00461794441627,0.0496376102168,0.999999827657,0.000216308895961,-0.000545798859031,-7.74358995815e-07,1793239255737585920
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.414375528,633.414375528,881,787,804.585624472,652.414375528,632,653,0.446927757718,0.00462238332787,0.0496390757512,0.999999826362,0.000222533405906,-0.000545662492,-2.52415258041e-06,1793239255754252544
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.987853328,633.987853328,881,787,804.012146672,652.987853328,632,653,0.446541086186,0.00462745874262,0.0496414770863,0.999999824726,0.000228854643494,-0.000546036775831,-4.1787345963e-06,1793239255770919168
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,746,714.565804662,680,666,634,881,787,804.565804662,653,632,653,0.446139228875,0.00462989605908,0.0496558889938,0.999999836544,0.00023615823568,-0.000520685230215,-5.24596732373e-06,1793239255787586048
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,634,881,787,805,652.853422069,631.853422069,653,0.445731425178,0.00463250504551,0.0496745022016,0.999999849883,0.000243652174592,-0.000490743626761,-6.24048319341e-06,1793239255804252672
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,634,881,787,805,652.26442356,631.26442356,653,0.445306665237,0.00463580449235,0.0497050118619,0.999999867676,0.000251656480263,-0.000448627970389,-7.05387740293e-06,1793239255820919296
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746,714.682567333,680,666,634,880.682567333,787.317432667,804.682567333,652,631.317432667,653,0.444837879518,0.00463867258488,0.0497269861145,0.999999878411,0.000257257999169,-0.000420626606247,-8.33738975384e-06,1793239255837585920
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.139442619,635.139442619,880.860557381,788,803,653.860557381,631,653,0.403171070524,0.00461889650485,0.0498597249192,0.999999951446,0.000151693782982,-0.000268509673586,-4.47225492361e-05,1793239256837585920
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.719040485,635.719040485,880.280959515,788,803,653.280959515,631,653,0.40287822808,0.004619972832,0.0498424346178,0.999999942164,0.000153680878782,-0.00029986559163,-4.62035737892e-05,1793239256854252800
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.295792453,667,636,880,788,803,653.295792453,631.295792453,653,0.402610592866,0.00461928700589,0.0498299542747,0.999999935227,0.000149770881286,-0.000323865494208,-4.71877593506e-05,1793239256870919424
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.86986696,667,636,880,788,803,653.86986696,631.86986696,653,0.402366672676,0.00461694334286,0.0498219991497,0.999999930897,0.000140312888095,-0.000340944842872,-4.77045178534e-05,1793239256887585792
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.554879165,667,636,880,788,803.445120835,654,631.554879165,653,0.402171346691,0.00460259156369,0.0498226165169,0.999999937869,8.17981425183e-05,-0.000339464979179,-4.83212102497e-05,1793239256904252416
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.021320916,746,714,679,666.978679084,636,880,788,804,653.978679084,631.021320916,653.021320916,0.401991746021,0.0045847654616,0.0498259550395,0.999999943566,1.10674285164e-05,-0.000332203085791,-4.88507191572e-05,1793239256920919296
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.61360213,746,714,679,666.38639787,636,880,788,804,653.38639787,631.61360213,653.61360213,0.401851801291,0.0045681612692,0.0498348714776,0.999999949067,-1.71037480349e-06,-0.000315789446856,-4.62610499575e-05,1793239256937585920
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,714,679,666.200910262,636,880,788,804,653,631.799089738,653.799089738,0.401718467332,0.00456318280468,0.0498416618061,0.999999953373,1.91775658755e-05,-0.000302032208659,-4.07731583292e-05,1793239256954252544
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,714,679,666.778884946,636,880,788,804,653,631.221115054,653.221115054,0.40159754035,0.0045800232792,0.049844461893,0.999999951224,0.000103248713509,-0.000293260451634,-2.98459400164e-05,1793239256970919168
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,714.35474071,679.35474071,667,636,880.35474071,788,804,653.35474071,631,653,0.401491656297,0.00458523332579,0.0498475603503,0.999999949738,0.000133767840531,-0.000286319746294,-2.55161222935e-05,1793239256987585792
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,714.929283617,679.929283617,667,636,880.929283617,788,804,653.929283617,631,653,0.401395093037,0.00458323700171,0.0498508436823,0.999999951742,0.000131105411392,-0.000280513585676,-2.52741432684e-05,1793239257004252672
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,714,679.834884115,666.165115885,635.834884115,880,788.165115885,803.834884115,653.834884115,632,653,0.40110519908,0.00458106445563,0.0498508082579,0.999999954089,0.00012985033677,-0.000272387976513,-2.76650746358e-05,1793239257087588096
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.574746896,746,714,679.574746896,666.574746896,636,880,788,804,653.574746896,632,653,0.401036113099,0.00458706417797,0.0498549540604,0.999999955492,0.0001332918911,-0.000265296001835,-2.9463267511e-05,1793239257137586176
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.837963602,746,714,679.837963602,666.837963602,636,880,788,804,653.837963602,631.837963602,653,0.401021457274,0.00458518783251,0.0498544086352,0.999999955945,0.000130268637266,-0.000265097105204,-2.93924999376e-05,1793239257154252800
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.893417339,746,714,679,666,636,880.893417339,788.893417339,804,653.893417339,631.893417339,653,0.40100358267,0.00458432040316,0.0498579709547,0.999999957666,0.000126026262301,-0.000260620782984,-2.93643476001e-05,1793239257204253184
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.066215659,746,714.066215659,679,667,636,880,788.066215659,804,654,632,653,0.401000182673,0.00458585305391,0.0498581164531,0.999999958223,0.00012547384395,-0.000258674761514,-2.99586996701e-05,1793239257237585920
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.776789354,746,714.776789354,679,667,636,880,788.776789354,803.776789354,653.776789354,632,653,0.400998201512,0.00458384514274,0.0498590607781,0.999999958762,0.000124872068271,-0.000256937397808,-2.94161550138e-05,1793239257270919680
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.376327093,745.623672907,714.376327093,679,666.623672907,636,880,788,803.376327093,653.376327093,632,653.376327093,0.401000657941,0.00458278138394,0.0498613026329,0.999999960391,0.000121050211201,-0.000252375676308,-2.95114726798e-05,1793239257304252928
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.95126679,745.04873321,714.95126679,679,666.04873321,636,880,788,803.95126679,653.95126679,632,653.95126679,0.400998153271,0.00458510257481,0.0498610305894,0.99999995976,0.000122633728376,-0.00025408333015,-2.9723650771e-05,1793239257320919808
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745.539658033,714.460341967,679.539658033,666,636,880,788.539658033,803.460341967,653.460341967,632,653.460341967,0.400998695975,0.00458497768305,0.0498610769031,0.999999959666,0.000124948251584,-0.000253335483485,-2.96134374777e-05,1793239257337586432
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,714,680,666,636,880,788.872830426,803.127169574,653,632,653,0.400999332585,0.00458447542745,0.0498612151712,0.999999959728,0.000126469330902,-0.000252348451073,-2.94805328609e-05,1793239257354253056
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,714,680,666,636,880,788.292886577,803.707113423,653,632,653,0.400999298712,0.00458343616987,0.0498615758591,0.999999960185,0.000124924394228,-0.000251319491233,-2.9373142425e-05,1793239257370919680
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.141018253,746,714,680,666,636,880,788.858981747,803.141018253,653,632,653.858981747,0.400999433234,0.00458229680837,0.0498618727604,0.999999960502,0.000123203059016,-0.000250926523476,-2.91968960147e-05,1793239257404252672
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.007543316,745.007543316,714.007543316,679,667,636,880,788,804,653.992456684,631.992456684,653,0.400997571709,0.00458710503641,0.0498627764205,0.99999995998,0.00012753506962,-0.000250792942303,-2.96144378761e-05,1793239257437585920
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.597870282,745.597870282,714.597870282,679,667,636,880,788,804,653.402129718,631.402129718,653,0.400999236076,0.00458544376216,0.0498631466453,0.999999960486,0.00012602154235,-0.000249527468639,-2.97001704028e-05,1793239257454252800
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.185364992,746,714.814635008,679,667,636,880,788,803.814635008,653,631.185364992,653,0.401000114824,0.0045844958594,0.0498631148695,0.99999996083,0.000124646129611,-0.000248825103138,-2.98222685413e-05,1793239257470919680
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.766807854,746,714.233192146,679,667,636,880,788,803.233192146,653,631.766807854,653,0.400999314906,0.00458507225026,0.0498622241206,0.999999960833,0.000123565832612,-0.000249325956722,-3.00220707436e-05,1793239257487586560
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,745.656913349,714,679,667,635.656913349,880,788,803,653.343086651,632,653,0.400999746308,0.00458512230479,0.0498625633248,0.999999961098,0.000122913899439,-0.000248587581567,-3.00044513925e-05,1793239257504253440
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,745.084092484,714,679,667,635.084092484,880,788,803,653.915907516,632,653,0.401001002216,0.00458481991928,0.0498637261179,0.999999961536,0.000122548802965,-0.000247019406574,-2.98412444113e-05,1793239257520919808
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.51173921,745.48826079,714,679.48826079,666.51173921,635.48826079,880,788,803.48826079,653.51173921,632,653,0.400999529069,0.00458447249183,0.049863065569,0.999999961058,0.000123443923595,-0.000248515517748,-2.97763461165e-05,1793239257537586432
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.062963278,746,714,680,666.062963278,636,880,788,804,653,632,653,0.400997714115,0.00458416507949,0.0498621926966,0.999999960477,0.000124309925485,-0.000250419026178,-2.97238613389e-05,1793239257554253056
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.65820536,746,714,680,666.65820536,636,880,788,804,653,632,653,0.400996979251,0.00458426146459,0.0498621771052,0.999999960406,0.000123096659906,-0.000251309298389,-2.96333188331e-05,1793239257570919424
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766.753724457,746,714,679.753724457,667,636,880,788,803.753724457,653,632,653,0.40099690871,0.00458416659758,0.0498622018265,0.999999960531,0.000122125386432,-0.000251291694907,-2.96108460639e-05,1793239257587586048
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766.175326088,746,714,679.175326088,667,636,880,788,803.175326088,653,632,653,0.400997734065,0.00458381381137,0.0498622809129,0.999999960918,0.000121480459043,-0.000250049746497,-2.96801709206e-05,1793239257604252928
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.399523486,666.600476514,636,880,788,803.399523486,653.399523486,632,653,0.400997752596,0.0045832362371,0.0498623937873,0.999999961036,0.000121123544323,-0.000249747033015,-2.97142891939e-05,1793239257620919808
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.972829392,666.027170608,636,880,788,803.972829392,653.972829392,632,653,0.400997420179,0.00458256088584,0.0498625213586,0.999999961037,0.00012089190773,-0.000249852862595,-2.97330935067e-05,1793239257637586688
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745.437713171,714,679.437713171,667.124573657,636,880,788,804,653.437713171,632,653,0.400998060723,0.00458321746308,0.04986338953,0.999999961178,0.000122325786056,-0.000248615459022,-2.95066689131e-05,1793239257654253312
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..48e7bb60880f8c7eda417d785b65ce5d262c7ea3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,415 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+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
+6,0.100000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+7,0.116666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
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+382,6.366666667,pose2_to_pose3_retreat,0.575699968778,0.0100906973799,1.04003246207,0.546270422505,0.0187624439619,1.03970058702
+383,6.383333333,pose2_to_pose3_retreat,0.575688212545,0.0100907198482,1.040032191,0.546258665142,0.0187624627975,1.03970032129
+384,6.400000000,pose2_to_pose3_retreat,0.575680184267,0.0100907742522,1.04003202858,0.5462506351,0.0187625113706,1.03970016293
+385,6.416666667,pose2_to_pose3_retreat,0.5756747719,0.0100907881476,1.04003210919,0.546245222303,0.0187625236836,1.03970023997
+386,6.433333333,pose2_to_pose3_retreat,0.5756715574,0.0100907255091,1.04003228546,0.54624200929,0.0187624660452,1.03970041501
+387,6.450000000,pose2_to_pose3_retreat,0.575669500659,0.0100906625826,1.04003243963,0.546239954062,0.0187624082323,1.03970056868
+388,6.466666667,pose2_to_pose3_retreat,0.575668315259,0.0100906432874,1.04003243619,0.54623876896,0.0187623900315,1.03970056744
+389,6.483333333,pose2_to_pose3_retreat,0.575667991859,0.0100906471742,1.04003238549,0.546238445332,0.0187623932179,1.03970051869
+390,6.500000000,pose2_to_pose3_retreat,0.575667835327,0.0100906490555,1.04003236095,0.546238288689,0.0187623947601,1.03970049509
+391,6.516666667,pose2_to_pose3_retreat,0.575667554484,0.0100906524308,1.04003231693,0.546238007648,0.0187623975272,1.03970045275
+392,6.533333333,pose2_to_pose3_retreat,0.575667489339,0.0100906532137,1.04003230671,0.546237942457,0.018762398169,1.03970044293
+393,6.550000000,pose2_to_pose3_retreat,0.575667332813,0.0100906550949,1.04003228218,0.546237785821,0.0187623997112,1.03970041933
+394,6.566666667,pose2_to_pose3_retreat,0.575667063369,0.0100906583332,1.04003223994,0.546237516186,0.018762402366,1.03970037871
+395,6.583333333,pose2_to_pose3_retreat,0.575666879849,0.0100906605388,1.04003221117,0.546237332537,0.0187624041741,1.03970035104
+396,6.600000000,pose2_to_pose3_retreat,0.575666702718,0.0100906626677,1.0400321834,0.546237155282,0.0187624059193,1.03970032434
+397,6.616666667,pose2_to_pose3_retreat,0.575666693822,0.0100906627746,1.040032182,0.546237146379,0.018762406007,1.039700323
+398,6.633333333,pose2_to_pose3_retreat,0.575666450139,0.0100906657033,1.0400321438,0.546236902524,0.0187624084079,1.03970028626
+399,6.650000000,pose2_to_pose3_retreat,0.575666441471,0.0100906658075,1.04003214244,0.54623689385,0.0187624084933,1.03970028495
+400,6.666666667,pose2_to_pose3_retreat,0.575666333112,0.0100906671098,1.04003212546,0.546236785414,0.0187624095609,1.03970026862
+401,6.683333333,pose2_to_pose3_retreat,0.575666316737,0.0100906673066,1.04003212289,0.546236769028,0.0187624097223,1.03970026615
+402,6.700000000,pose2_to_pose3_retreat,0.575666162488,0.0100906691604,1.04003209871,0.54623661467,0.018762411242,1.0397002429
+403,6.716666667,pose2_to_pose3_retreat,0.575665745568,0.0100906901611,1.04003207558,0.546236197644,0.0187624318751,1.0397002195
+404,6.733333333,pose2_to_pose3_retreat,0.575665713248,0.0100906928246,1.04003207652,0.546236165328,0.0187624345448,1.03970022024
+405,6.750000000,pose2_to_pose3_retreat,0.575665448426,0.0100907146486,1.04003208424,0.546235900539,0.0187624564193,1.03970022632
+406,6.766666667,pose2_to_pose3_retreat,0.575665190779,0.0100907358812,1.04003209175,0.546235642925,0.0187624777011,1.03970023223
+407,6.783333333,pose2_to_pose3_retreat,0.575664877764,0.0100907616768,1.04003210088,0.546235329949,0.0187625035565,1.03970023941
+408,6.800000000,pose2_to_pose3_retreat,0.575664584097,0.0100907870847,1.04003216408,0.546235036307,0.0187625290624,1.03970030303
+409,6.816666667,pose2_to_pose3_retreat,0.575664432721,0.0100908003646,1.04003220494,0.546234884941,0.0187625423993,1.03970034444
+410,6.833333333,pose2_to_pose3_retreat,0.575664407674,0.0100908025619,1.0400322117,0.546234859896,0.018762544606,1.03970035129
+411,6.850000000,pose2_to_pose3_retreat,0.575664379105,0.0100908097429,1.04003222723,0.546234831509,0.0187625523273,1.03970036483
+412,6.866666667,pose2_to_pose3_retreat,0.575664363922,0.0100908159658,1.0400322395,0.546234816514,0.0187625591101,1.03970037496
+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_0030_17.5/position_10/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0c7ea4b8a23794306f79b665b4f7d672f70d7386
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:414ba54035fa28574e0e01563a48ff95e80065f151cbca8263419ded51832185
+size 26348924
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9134535d9545998055ad6b7e30213539a9cac543
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_04/franka_data.csv
@@ -0,0 +1,416 @@
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+38,0.633333333,BASELINE,766,745.044905491,714,679.044905491,667,636,880,788,804,654,632,653,0.400999642088,0.00458507503404,0.0498654471602,0.999999962022,0.000123842354625,-0.000244349637343,-3.02144458138e-05,1793239258414829568
+39,0.650000000,BASELINE,766,745.622006409,714,679.622006409,667,636,880,788,804,654,632,653,0.400999815441,0.00458482062178,0.0498653522651,0.999999962223,0.000123303469086,-0.000243827426108,-2.99851404709e-05,1793239258431496192
+40,0.666666667,BASELINE,766,746,714,679.801131385,667,636,880,788,804,653.801131385,631.801131385,653,0.400999987595,0.0045842154479,0.0498653051601,0.999999962463,0.000122359697884,-0.000243350095408,-2.97115172029e-05,1793239258448162816
+41,0.683333333,BASELINE,766,746,714,679.224722392,667,636,880,788,804,653.224722392,631.224722392,653,0.401000157473,0.00458294437371,0.0498653487818,0.999999962777,0.00012064727508,-0.000242957967798,-2.93537589727e-05,1793239258464829952
+42,0.700000000,BASELINE,766,746,714,679.358844005,667,636,879.641155995,788,804,653,631,653,0.401000382158,0.00458290235248,0.0498656505787,0.999999962981,0.000119932254015,-0.000242473141911,-2.93584796545e-05,1793239258481496576
+43,0.716666667,BASELINE,766,746,714,679.946983852,667,636,879.053016148,788,804,653,631,653,0.401000641865,0.0045836456774,0.0498661173455,0.999999963115,0.000119854557505,-0.000241929083255,-2.9594818843e-05,1793239258498163200
+44,0.733333333,BASELINE,766,746,714,679.471362966,666.471362966,635.471362966,879,788,803.471362966,653,631,653,0.40100144924,0.00458328844976,0.0498665069929,0.999999963054,0.000121283146666,-0.00024148749943,-2.94330914544e-05,1793239258514829824
+45,0.750000000,BASELINE,766,746,714,679,666.108068832,635.108068832,879,788,803,653.108068832,631,653,0.401001874072,0.00458292410788,0.0498667567808,0.999999963002,0.000121940432888,-0.000241382469106,-2.93560458153e-05,1793239258531496192
+46,0.766666667,BASELINE,766,746,714,679,666.680713667,635.680713667,879,788,803,653.680713667,631,653,0.401000421136,0.00458299791101,0.0498664381737,0.999999963071,0.000118640441321,-0.000242680601034,-2.98125753364e-05,1793239258548163072
+47,0.783333333,BASELINE,766,746,714,679,666.745793205,635.745793205,879.254206795,788,803.50841359,653.745793205,631,653,0.40099962543,0.00458343627557,0.0498660129905,0.999999963015,0.000117168699365,-0.000243589095483,-3.00902159426e-05,1793239258564829440
+48,0.800000000,BASELINE,766,746,714,679,666.171230966,635.171230966,879.828769034,788,804.657538068,653.171230966,631,653,0.400999657976,0.00458433406624,0.0498654534983,0.999999962814,0.000118000946179,-0.000244006562768,-3.01424179574e-05,1793239258581496064
+49,0.816666667,BASELINE,766,746,714,679,666.417619196,635.417619196,880,788,804.164761609,653,631,653,0.400999545072,0.0045846763532,0.0498654232009,0.999999962787,0.000118945008224,-0.000243690880804,-2.98800173827e-05,1793239258598162944
+50,0.833333333,BASELINE,766,745.987882483,714,679,666.987882483,636,880,788,803.012117517,653,631,653,0.4009993941,0.00458477339371,0.0498656349404,0.999999962834,0.000119929290961,-0.000243062670249,-2.94955265615e-05,1793239258614829568
+51,0.850000000,BASELINE,766,745.412786894,714,679,666.412786894,636,880,788,803.587213106,653,631,653,0.401000343287,0.0045844331586,0.0498666537604,0.999999962918,0.000120576763853,-0.000242375169434,-2.96440076146e-05,1793239258631496704
+52,0.866666667,BASELINE,766,745.16267753,714,679,666.16267753,636,880,788,803.83732247,653,631.16267753,653.16267753,0.401000727987,0.00458386347236,0.0498670825065,0.999999962982,0.000120577918294,-0.00024210398124,-2.97194981239e-05,1793239258648163328
+53,0.883333333,BASELINE,766,745.739079943,714,679,666.739079943,636,880,788,803.260920057,653,631.739079943,653.739079943,0.400999677069,0.00458271024124,0.0498660105645,0.999999962991,0.000118935342136,-0.000242891568021,-2.9609357552e-05,1793239258664829696
+54,0.900000000,BASELINE,766,746,714.322008744,679,666.677991256,636,879.677991256,788,803,653.322008744,631.677991256,653.677991256,0.400999171704,0.00458281902299,0.04986536514,0.999999962835,0.000119509951199,-0.000243246210665,-2.96370438846e-05,1793239258681496320
+55,0.916666667,BASELINE,766,746,714.910335171,679,666.089664829,636,879.089664829,788,803,653.910335171,631.089664829,653.089664829,0.400999117539,0.00458397155392,0.0498650724673,0.999999962541,0.000121918285801,-0.000243242786347,-2.97787201141e-05,1793239258698162944
+56,0.933333333,BASELINE,766,745.507647132,714.507647132,679,666.492352868,636,879,788,803.492352868,653.507647132,631.492352868,653,0.400999861759,0.00458557517843,0.0498655873354,0.999999962508,0.000123245884824,-0.000242708187842,-2.9788834604e-05,1793239258714829568
+57,0.950000000,BASELINE,766,745.072397814,714,679,666.927602186,636,879.072397814,788,804,653,632,653,0.401000557849,0.00458688872711,0.0498661302958,0.999999962538,0.000123952490273,-0.000242226699594,-2.97614557495e-05,1793239258731495936
+58,0.966666667,BASELINE,766,745.646631182,714,679,666.353368818,636,879.646631182,788,804,653,632,653,0.400999925221,0.00458562933762,0.0498658614745,0.999999962685,0.000121701604006,-0.000242775400292,-2.9638163115e-05,1793239258748162816
+59,0.983333333,BASELINE,766,746,714,679.221734373,666.221734373,636,880,788,803.778265627,653.221734373,632,653,0.400999463215,0.00458392133772,0.0498657783338,0.999999962837,0.000120172396755,-0.000242930273437,-2.94982188265e-05,1793239258764829696
+60,1.000000000,BASELINE,766,746,714,679.798229312,666.798229312,636,880,788,803.201770688,653.798229312,632,653,0.400999274191,0.00458149559014,0.0498659922701,0.999999963002,0.000119797828614,-0.000242455048214,-2.93316329562e-05,1793239258781496064
+61,1.016666667,BASELINE,766.383808999,746,714.383808999,680,666.616191001,636,880,788,803.383808999,653.616191001,632,653,0.400999758029,0.0045825316808,0.0498659252074,0.999999963013,0.000120351792229,-0.000242100421196,-2.95961334526e-05,1793239258798162944
+62,1.033333333,BASELINE,766.974280343,746,714.974280343,680,666.025719657,636,880,788,803.974280343,653.025719657,632,653,0.401000604168,0.00458543180193,0.0498657068404,0.999999962941,0.000121405724733,-0.000241810730433,-3.00927528507e-05,1793239258814829312
+63,1.050000000,BASELINE,766.445609857,746,714.445609857,680,666.554390143,635.445609857,880,788,803.445609857,653,632,653.554390143,0.400999894618,0.00458503990569,0.0498656295182,0.999999962848,0.000121066552912,-0.000242407970351,-2.97583868217e-05,1793239258831495936
+64,1.066666667,BASELINE,766,745.867509931,714,679.867509931,667,635.132490069,880,788,803,653,631.867509931,653.867509931,0.400999036041,0.00458484197339,0.0498654061402,0.99999996265,0.000120816723786,-0.00024337392359,-2.95429365113e-05,1793239258848162560
+65,1.083333333,BASELINE,766,745.294523481,714,679.294523481,667,635.705476519,880,788,803,653,631.294523481,653.294523481,0.400997917544,0.004585787381,0.0498646758069,0.999999962107,0.000121074872627,-0.000245431462549,-2.98486742851e-05,1793239258864829952
+66,1.100000000,BASELINE,766,745.286230491,714,679,667,636,880,788,803,653,631,653,0.400997481694,0.00458621330003,0.0498644945164,0.999999961912,0.000121398937582,-0.000246041195848,-3.00276010526e-05,1793239258881496832
+67,1.116666667,BASELINE,766,745.875199943,714,679,667,636,880,788,803,653,631,653,0.400997767864,0.00458608976867,0.0498648939352,0.999999962089,0.000121792720378,-0.000245119620515,-3.00724029126e-05,1793239258898162944
+68,1.133333333,BASELINE,766,745.542906602,714,679.457093398,667,636,880,788,803,653.457093398,631.457093398,653,0.40099803365,0.0045855184125,0.0498650586695,0.999999962375,0.000121418563944,-0.000244138409457,-3.00771105662e-05,1793239258914829824
+69,1.150000000,BASELINE,766,745.036785497,714,679.963214503,666.963214503,636,880,788,803.036785497,653.963214503,631.963214503,653,0.400998315487,0.00458488036611,0.0498651708335,0.99999996267,0.000120884940488,-0.000243192190165,-3.00728604863e-05,1793239258931497216
+70,1.166666667,BASELINE,766,745.612101858,714,679.387898142,666.387898142,636,880,788,803.612101858,653.387898142,631.387898142,653,0.400998912534,0.00458502869981,0.0498654371346,0.999999962699,0.00012103948696,-0.000242992978561,-3.00952883713e-05,1793239258948163328
+71,1.183333333,BASELINE,766,746,714,679.186198364,666.186198364,636,880.186198364,788,804,653,631.186198364,653,0.400999144186,0.00458484539145,0.0498655577396,0.999999962746,0.000120688424332,-0.000242992678589,-2.99413753095e-05,1793239258964829696
+72,1.200000000,BASELINE,766,746,714,679.757770251,666.757770251,636,880.757770251,788,804,653,631.757770251,653,0.400998619582,0.00458397568577,0.0498653767985,0.999999962829,0.000119290905919,-0.000243404064669,-2.94224905587e-05,1793239258981496064
+73,1.216666667,BASELINE,766.341310268,745.658689732,714,680,666.658689732,636,880.317379464,788,803.658689732,653,632,653,0.400998480612,0.00458375302522,0.049865487157,0.999999962926,0.000119381072474,-0.000242961071664,-2.94327833392e-05,1793239258998162944
+74,1.233333333,BASELINE,766.933652758,745.066347242,714,680,666.066347242,636,879.132694485,788,803.066347242,653,632,653,0.400998625274,0.00458400626361,0.0498658117651,0.999999963032,0.000120565424953,-0.00024188968652,-2.98322839303e-05,1793239259014829568
+75,1.250000000,BASELINE,766.485358344,745.514641656,714,679.485358344,666.514641656,635.485358344,879.514641656,788.514641656,803.514641656,653,631.485358344,653,0.40099895188,0.00458293796642,0.0498659774946,0.99999996326,0.000118717243583,-0.000241877754626,-2.9700950264e-05,1793239259031496192
+76,1.266666667,BASELINE,766,746,713.906131703,679.093868297,667,635.093868297,880,788.906131703,803.906131703,653,631,653.093868297,0.400999223281,0.00458204205251,0.0498660910601,0.999999963418,0.000117081311511,-0.000242042521095,-2.95324478422e-05,1793239259048162816
+77,1.283333333,BASELINE,766,746,713.328606194,679.671393806,667,635.671393806,880,788.328606194,803.328606194,653,631,653.671393806,0.400999091983,0.00458289323721,0.0498660391088,0.999999963156,0.000118509899692,-0.000242429167733,-2.95174327984e-05,1793239259064829440
+78,1.300000000,BASELINE,766,746,713.252237658,679.747762342,666.747762342,635.747762342,880,788,803,653,631,653.747762342,0.400998720083,0.0045832229587,0.0498658821715,0.999999962919,0.000119541929042,-0.000242907859062,-2.94679996216e-05,1793239259081496064
+79,1.316666667,BASELINE,766,746,713.837462115,679.162537885,666.162537885,635.162537885,880,788,803,653,631,653.162537885,0.400998030557,0.00458286428031,0.0498655866388,0.999999962714,0.000120050448602,-0.000243508061426,-2.93731299953e-05,1793239259098162688
+80,1.333333333,BASELINE,766,746,714,679,666,635.418270341,879.581729659,788,803,653,631.418270341,653,0.400998247453,0.00458260010774,0.0498652765648,0.999999962766,0.000119045130842,-0.000243781580762,-2.94256349409e-05,1793239259114829568
+81,1.350000000,BASELINE,766,746,714,679,666,635.997380419,879.002619581,788,803,653,631.997380419,653,0.400998812902,0.00458237227596,0.0498649608991,0.999999962915,0.000117457689147,-0.000243929478973,-2.95348106129e-05,1793239259131496192
+82,1.366666667,BASELINE,766,746,714,679,666,636,879.575334581,788,803.575334581,653,632,653,0.400998736972,0.00458315388276,0.0498651640213,0.999999963059,0.000117452075208,-0.000243317503775,-2.97368562944e-05,1793239259148162816
+83,1.383333333,BASELINE,766,746,714,679,666,636,880,788,803.847407874,653,631.847407874,653,0.400998946621,0.00458371605986,0.0498655192887,0.999999963203,0.000117682703827,-0.000242601161937,-2.98353530874e-05,1793239259164829696
+84,1.400000000,BASELINE,766,746,714,679,666,636,880,788,803.272065596,653,631.272065596,653,0.400999955527,0.00458365760842,0.049866289537,0.999999963347,0.000118547919015,-0.000241605242565,-2.96458028879e-05,1793239259181496320
+85,1.416666667,BASELINE,766,746,714.310151243,679,666,636,880,788,803,653,631.310151243,653,0.40100000586,0.00458383925064,0.0498664811437,0.999999963292,0.00011925345364,-0.000241497595509,-2.95602836425e-05,1793239259198163456
+86,1.433333333,BASELINE,766,746,714.898535125,679,666,636,880,788,803,653,631.898535125,653,0.40099919627,0.00458423627777,0.0498661536587,0.999999963058,0.000119815740859,-0.000242186806038,-2.95680892225e-05,1793239259214831360
+87,1.450000000,BASELINE,765.520103654,746,714.520103654,679.479896346,666,635.520103654,879.520103654,788,803,653,632,653,0.400999733988,0.00458359964523,0.0498661892723,0.999999963225,0.000118944714087,-0.000241891702347,-2.98409627136e-05,1793239259231497472
+88,1.466666667,BASELINE,765.059194881,746,714,679.940805119,666.059194881,635.059194881,879.059194881,788,803,653,631.940805119,653,0.401000433302,0.00458295797412,0.049866296017,0.999999963413,0.000118189839926,-0.000241452258812,-3.01013778196e-05,1793239259248163328
+89,1.483333333,BASELINE,765.633280639,746,714,679.366719361,666.633280639,635.633280639,879.633280639,788,803,653,631.366719361,653,0.401000096145,0.00458414603636,0.0498663633415,0.99999996306,0.000121043241768,-0.000241541432563,-2.97729781065e-05,1793239259264829696
+90,1.500000000,BASELINE,766,746,714.212549719,679,667,636,880.212549719,788,803.212549719,653,631,653,0.400999976464,0.00458477418607,0.0498664442712,0.999999962945,0.000122248206307,-0.000241427427602,-2.96369406496e-05,1793239259281496320
+91,1.516666667,BASELINE,766,746,714.800985239,679,667,636,880.800985239,788,803.800985239,653,631,653,0.401000241382,0.0045844121524,0.049866549261,0.999999963261,0.000120537974157,-0.000240954109092,-2.9841088295e-05,1793239259298163200
+92,1.533333333,BASELINE,766,746,714.616864278,679.383135722,667,636,880.616864278,788.383135722,804,653,631.383135722,653,0.400999305254,0.00458316150996,0.049865736626,0.999999963192,0.000118156839246,-0.000242428485684,-2.97134280999e-05,1793239259314829568
+93,1.550000000,BASELINE,766,746,714.037925731,679.962074269,667,636,880.037925731,788.962074269,804,653,631.962074269,653,0.400997755328,0.00458145674092,0.0498644550357,0.999999962917,0.000115432837023,-0.000244898238497,-2.94161963874e-05,1793239259331496192
+94,1.566666667,BASELINE,766,746,714,679.459349754,666.459349754,636,880,788.459349754,803.459349754,653,632,653,0.400997982143,0.00458277592814,0.0498645614366,0.999999962896,0.000116836915074,-0.000244277958429,-2.97663661885e-05,1793239259348163328
+95,1.583333333,BASELINE,766,746,714.117995212,679,666.117995212,636,880,788,803.117995212,653.117995212,631.882004788,653,0.400998433168,0.00458403217042,0.0498649133423,0.999999962923,0.000118240122246,-0.000243453253328,-3.0068873107e-05,1793239259364830208
+96,1.600000000,BASELINE,766,746,714.690694494,679,666.690694494,636,880,788,803.690694494,653.690694494,631.309305506,653,0.400999268235,0.00458422895446,0.0498658363666,0.99999996308,0.000118524809253,-0.000242675524875,-3.00128175416e-05,1793239259381496832
+97,1.616666667,BASELINE,766,746,714.728216321,679,667,636,879.728216321,788,804,653.728216321,631,653,0.400999817798,0.00458438540731,0.0498663799923,0.999999963193,0.000118905081363,-0.000242029001346,-2.99743569078e-05,1793239259398163456
+98,1.633333333,BASELINE,766,746,714.137274838,679,667,636,879.137274838,788,804,653.137274838,631,653,0.401000032092,0.0045844944989,0.049866478087,0.999999963253,0.000119397599827,-0.000241536552878,-2.995655815e-05,1793239259414830080
+99,1.650000000,BASELINE,766.444119359,746,714,679,667,636,879.444119359,788.444119359,803.555880641,653.444119359,631.444119359,653,0.401000813123,0.00458431982452,0.0498673759589,0.99999996356,0.00011990281835,-0.000240018484664,-2.99020194409e-05,1793239259431496448
+100,1.666666667,BASELINE,766.977470718,746,714,679,667,636,879.977470718,788.977470718,803,653.977470718,631.977470718,653,0.401001686613,0.00458406786208,0.0498684243619,0.999999963906,0.000120386405847,-0.000238338691691,-2.98400062793e-05,1793239259448163072
+101,1.683333333,BASELINE,766.401403624,746,714,679,667,636,879.401403624,788.401403624,803,653.401403624,631.401403624,653,0.401000618321,0.00458402662371,0.0498672252934,0.99999996345,0.000120244106536,-0.00024031037811,-2.98674925896e-05,1793239259464829696
+102,1.700000000,BASELINE,766,746,714,679,667,636,879.173490897,788,803,653.173490897,631.173490897,653,0.400999915904,0.00458381436216,0.0498665255029,0.999999963235,0.000119778874762,-0.000241431646143,-2.98888726922e-05,1793239259481496320
+103,1.716666667,BASELINE,766,746,714,679,667,636,879.74569059,788,803,653.74569059,631.74569059,653,0.401000054323,0.00458320906301,0.0498669731304,0.99999996358,0.000118571494488,-0.000240598521518,-2.98962197854e-05,1793239259498163200
+104,1.733333333,BASELINE,766,746,714.329072227,679.329072227,667,636,880,788,803.329072227,653.670927773,632,653,0.400999275635,0.00458276550947,0.0498665883172,0.999999963435,0.000117811777604,-0.000241586791528,-2.97659581661e-05,1793239259514830080
+105,1.750000000,BASELINE,766,746,714.921399384,679.921399384,667,636,880,788,803.921399384,653.078600616,632,653,0.400997763271,0.00458245135096,0.0498655375588,0.999999962896,0.000117410187423,-0.00024403216138,-2.95256107694e-05,1793239259531496704
+106,1.766666667,BASELINE,766,746,714.497487199,679.497487199,667,636,879.497487199,788,804,653,632,653,0.40099840931,0.00458378265586,0.0498654846329,0.999999962677,0.000120050600294,-0.00024363483261,-2.96101952987e-05,1793239259548163072
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,803,654,632,653,0.40099867435,0.00458164858751,0.0498648248835,0.999999963089,0.000117572913365,-0.000243163453951,-2.95125011836e-05,1793239259591547392
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,714.589984715,679,666.410015285,636,880,788,803,653.410015285,632,653,0.400998441775,0.00458109241521,0.0498653203137,0.999999963245,0.000117173095453,-0.000242722433337,-2.94336160958e-05,1793239259608214784
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,714.823669543,679,666.176330457,636,879.823669543,788,803,653,632,653,0.400998572708,0.00458155993112,0.0498657061868,0.999999963314,0.000117593332829,-0.000242227596976,-2.94918409124e-05,1793239259624881920
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,714.245614173,679,666.754385827,636,879.245614173,788,803,653,632,653,0.400999531804,0.00458435966486,0.0498658424617,0.999999963181,0.00011988186131,-0.00024161015479,-2.98624363905e-05,1793239259641548800
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,714,679.332728986,667,636,879,788,803,653.332728986,632,653,0.400999898888,0.00458495204821,0.0498660771163,0.999999963163,0.000120496925777,-0.000241364467087,-2.99563429631e-05,1793239259658214912
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,714,679.911284733,667,636,879,788,803,653.911284733,632,653,0.40099982858,0.00458391359725,0.0498663844558,0.999999963234,0.000119875601763,-0.000241393438993,-2.98458262724e-05,1793239259674881280
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,636,879,788,803,653.514027747,631.514027747,653,0.400998095413,0.00458409272375,0.0498648421702,0.999999962687,0.000119316576051,-0.000243906685824,-3.00009791725e-05,1793239259691547392
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.93817376,714,679.93817376,666.93817376,636,879.06182624,788.06182624,803,653,631,653,0.400996642322,0.00458422314361,0.0498634117626,0.999999962216,0.000118705364132,-0.000246109271046,-3.01092769357e-05,1793239259708214272
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.346313666,714,679.346313666,666.346313666,636,879.653686334,788.653686334,803,653,631,653,0.401000172157,0.00458204552792,0.0498658123069,0.999999963427,0.000117550034306,-0.000241791349594,-2.94033947794e-05,1793239259724880640
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.24036225,714,679,666.24036225,636,880,788.75963775,803,653,631.24036225,653,0.401005247677,0.00458117853883,0.0498683638634,0.999999964573,0.00011713909408,-0.000237247899508,-2.90911036517e-05,1793239259741547264
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.819726461,714,679,666.819726461,636,880,788.180273539,803,653,631.819726461,653,0.401012503199,0.00458216003066,0.0498711284042,0.999999965632,0.00011777802569,-0.000232386368857,-2.93339252523e-05,1793239259758214144
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,714.395124498,679.395124498,667,636,880,788,803.395124498,653,632,653,0.401036551251,0.00458245552171,0.049880029851,0.999999969613,0.000118532388797,-0.000214147991257,-2.93957711063e-05,1793239259774881024
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,714.968731023,679.968731023,667,636,880,788,803.968731023,653,632,653,0.401068184673,0.00458244113883,0.0498917034049,0.999999974423,0.000119338893562,-0.000189867146128,-2.93758682574e-05,1793239259791547904
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,715,679.459496424,666.459496424,636,880,788,803.459496424,653.540503576,631.459496424,653,0.401128572529,0.00458290942517,0.0499103140296,0.999999981154,0.000119050925803,-0.000150469546049,-2.96302519666e-05,1793239259808214528
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,714.883672279,679,666.116327721,635.883672279,880,788,803,653.883672279,631,653,0.401192262858,0.00458295601238,0.0499282448433,0.99999998607,0.000118279705824,-0.000113995318373,-2.95871185363e-05,1793239259824880896
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,714.290817807,679,666.709182193,635.290817807,880,788,803,653.290817807,631,653,0.401262690212,0.0045811611465,0.0499417524584,0.999999988567,0.000115787379662,-9.306674504e-05,-2.82604495995e-05,1793239259841547520
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.703577077,714,679,667,635.296422923,880,788,803.296422923,653,631,653,0.401338558483,0.00457966675772,0.049950822254,0.999999990125,0.000113139857251,-7.87943579941e-05,-2.72354658594e-05,1793239259858213888
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.121741606,714,679,667,635.878258394,880,788,803.878258394,653,631,653,0.401419665569,0.00457846168516,0.0499556190685,0.999999991045,0.0001103429034,-7.09309201769e-05,-2.65009615647e-05,1793239259874880512
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.451932958,714,679,667,636,879.548067042,788,803.548067042,653,631.451932958,653,0.4015128041,0.0045781420586,0.0499556280825,0.999999990962,0.000109897214978,-7.31014153282e-05,-2.55964005835e-05,1793239259891547392
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,714.024215487,679,667,636,879.024215487,788,803.024215487,653,632,653,0.401610298639,0.00457795160681,0.0499544314531,0.999999990634,0.00010991791053,-7.77387181515e-05,-2.46480476659e-05,1793239259908214016
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,714.614434024,679,667,636,879.614434024,788,803.614434024,653,632,653,0.401735197961,0.00457530422239,0.0499546656776,0.999999991029,0.000106297822599,-7.79773970481e-05,-2.37278677657e-05,1793239259924880896
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.201072359,746,714.798927641,679.201072359,667,636,880,788,804,653,631.798927641,653,0.401871397792,0.00457318495635,0.049956249199,0.999999991482,0.000103163281747,-7.66888962808e-05,-2.2624078085e-05,1793239259941547776
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.78096552,746,714.21903448,679.78096552,667,636,880,788,804,653,631.21903448,653,0.402028887794,0.00457206066687,0.0499603747991,0.999999992051,0.000100943513151,-7.25231853811e-05,-2.11743672465e-05,1793239259958214400
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.641419663,745.641419663,714,679.641419663,666.641419663,636,880,788,803.641419663,653.358580337,631,653,0.402200810711,0.00457010356223,0.0499604685348,0.999999992335,9.76290119312e-05,-7.34997936764e-05,-1.98851688926e-05,1793239259974881024
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.065187703,745.065187703,714,679.065187703,666.065187703,636,880,788,803.065187703,653.934812297,631,653,0.402381494156,0.00456764095411,0.0499581150041,0.999999992429,9.36500280682e-05,-7.75976940818e-05,-1.86933985041e-05,1793239259991547392
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.519665773,745,714,679.519665773,666.519665773,636,880,788.519665773,803,653.480334227,631,653,0.402597117962,0.00456747403883,0.049958484197,0.999999992677,9.39586400543e-05,-7.42495752348e-05,-1.74431953461e-05,1793239260008214016
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.895527452,745.104472548,714,679.895527452,666.895527452,636,880,788.895527452,803,653,631.104472548,653,0.402824492653,0.00456703485464,0.0499596084359,0.999999993074,9.35135687034e-05,-6.96387176123e-05,-1.60697564779e-05,1793239260024880640
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.315934283,745.684065717,714,679.315934283,666.315934283,636,880,788.315934283,803,653,631.684065717,653,0.403085038949,0.00456402569517,0.0499625870014,0.999999994079,8.71536252139e-05,-6.36046660787e-05,-1.41697627109e-05,1793239260041547264
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.737644824,714,679,666.262355176,636,880,788.262355176,803.262355176,653,632,653,0.403368644905,0.00456105869552,0.0499687847774,0.999999995284,8.16589277642e-05,-5.11750891125e-05,-1.20755351229e-05,1793239260058214144
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.160917596,714,679,666.839082404,636,880,788.839082404,803.839082404,653,632,653,0.403679882519,0.00455814221485,0.0499788400328,0.999999996489,7.72010281104e-05,-3.10819531685e-05,-9.74856329564e-06,1793239260074881024
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.415192855,714,679,666.584807145,636,880,788.584807145,804,653,631.584807145,653,0.404010522654,0.00455394542643,0.0499855059658,0.999999997235,7.13438615065e-05,-1.98086392767e-05,-6.92049119287e-06,1793239260091547904
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.991064601,714,679,666.008935399,636,880,788.008935399,804,653,631.008935399,653,0.404348671522,0.00454925316128,0.0499908602367,0.999999997812,6.49451812064e-05,-1.19485811715e-05,-3.89849423622e-06,1793239260108214784
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,714,679.580546822,666.580546822,636,879.419453178,788,803.419453178,653,631.580546822,653,0.404737081596,0.00454674392152,0.0499964039302,0.999999998147,6.08391512575e-05,9.15115236331e-07,-1.96117012066e-06,1793239260124881152
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,714,679.832621267,667,636,879.167378733,788,803.167378733,653,632,653,0.405131466185,0.00454352643018,0.0499981733188,0.999999998372,5.67673995579e-05,5.69800251278e-06,3.35764677424e-07,1793239260141547520
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,714,679.25284791,667,636,879.74715209,788,803.74715209,653,632,653,0.405538619217,0.00453847914804,0.0499906360627,0.999999998559,5.26910759181e-05,-9.62324538084e-06,3.56084308322e-06,1793239260158214144
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,803.675387134,653,631.675387134,653,0.40595345754,0.00453407276648,0.0499758792914,0.999999998107,4.75539582472e-05,-3.84902141796e-05,6.61425602018e-06,1793239260174880512
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,803.099714873,653,631.099714873,653,0.4063742398,0.00453016206442,0.0499555388617,0.99999999606,4.15964095524e-05,-7.78336038885e-05,9.53490120767e-06,1793239260191547392
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,714.474467433,679,667,636,880,788,803.474467433,653,631,653,0.406844924388,0.00452738526226,0.0499431998564,0.99999999488,3.8462497351e-05,-9.28665635758e-05,1.16433340217e-05,1793239260208214272
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,714.950165397,679.049834603,667,636,880,788,804,653,631.049834603,653,0.407333270798,0.0045243611055,0.0499345955508,0.999999994305,3.52734054069e-05,-9.97875570926e-05,1.37387467083e-05,1793239260224881152
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,714.358522051,679.641477949,667,636,880,788,804,653,631.641477949,653,0.407899974101,0.00451606492801,0.0499483701345,0.999999996803,2.50528396306e-05,-7.38873182358e-05,1.75426243325e-05,1793239260241548032
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,714.227550271,679.772449729,667,636,880,788,804,653,632,653,0.408482235423,0.00450863539371,0.0499662906239,0.999999998723,1.59709388284e-05,-4.28869019782e-05,2.14496499841e-05,1793239260258214656
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,714.805054768,679.194945232,667,636,880,788,804,653,632,653,0.409088423704,0.00450253868822,0.0499905871858,0.999999999629,8.64021484067e-06,-4.0428199412e-06,2.55153088676e-05,1793239260274881024
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,714.620249127,679.379750873,667,636,880,788.379750873,804,653,631.620249127,653,0.409696166904,0.00449522674078,0.050000969584,0.999999997136,6.89923929656e-05,9.13545550517e-06,2.97575841051e-05,1793239260291547648
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,714.046984144,679.953015856,667,636,880,788.953015856,804,653,631.046984144,653,0.410304702444,0.00448729552841,0.0500042615779,0.999999985955,0.000163834541736,9.23490337753e-06,3.40898594811e-05,1793239260308214016
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.540438973,746,714,679.459561027,667,636,880,788.459561027,804,653,631.540438973,653,0.410900932953,0.00448175735093,0.0499863068689,0.999999985525,0.000163451552567,-2.76464349556e-05,3.83224316354e-05,1793239260324880640
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.872889746,746,714,679,667,636,880,788,803.872889746,653,632,653,0.41151701581,0.00447592000138,0.0499672507179,0.999999985527,0.000151978729373,-6.38121445595e-05,4.21487505126e-05,1793239260341547264
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+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,714.284953687,679,667.284953687,636,880,788,803,653,632,653,0.412936107455,0.00445829091856,0.0499571347801,0.99999999562,5.15153676286e-05,-7.09007548639e-05,3.28415183538e-05,1793239260374881024
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,714.862120795,679,667.862120795,636,880,788,803,653,632,653,0.413703312396,0.0044459614037,0.0499861481302,0.999999995858,-8.88605449338e-05,-1.85380589008e-05,6.63061328852e-06,1793239260391547904
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,715,679,667.562215744,636,880,788,803.437784256,653,631.562215744,653,0.414441832667,0.00443610220678,0.049987822501,0.999999992717,-0.000119531245155,-1.60201476009e-05,4.69241881182e-06,1793239260408214528
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,714.986696109,679.013303891,667,636,880,788,804,652.986696109,631,653,0.41517140745,0.00442745232735,0.0499804852992,0.999999992894,-0.000114979387228,-2.97424228112e-05,1.03752016731e-05,1793239260424880896
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,714.396957942,679.603042058,667,636,880,788,804,652.396957942,631,653,0.415903486924,0.00443760511894,0.0499544869207,0.999999994566,-7.62239411299e-05,-6.92629797658e-05,1.61666062033e-05,1793239260441547520
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.810495932,746,714,680,667,636,880,788,804,652.189504068,631.189504068,653,0.416672251027,0.00445559097914,0.0499435210732,0.999999995766,-3.29644825869e-05,-8.3618551369e-05,1.97126262312e-05,1793239260458214144
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.230779963,746,714,680,667,636,880,788,804,652.769220037,631.769220037,653,0.417516553196,0.00448970607874,0.049963509035,0.99999999857,1.95692822501e-05,-4.61563582621e-05,1.86351264335e-05,1793239260474880768
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.345546467,746,714.345546467,680,667,636,880,788,804,653,631.654453533,653,0.418348143578,0.00450266666998,0.049981585976,0.999999999021,3.68631518821e-05,-1.58638573152e-05,1.8613328795e-05,1793239260491547648
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.919631093,746,714.919631093,680,667,636,880,788,804,653,631.080368907,653,0.419171326581,0.00450163605213,0.0499983990016,0.999999999291,3.08499925939e-05,9.68673786614e-06,1.92897534653e-05,1793239260508214528
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715,679.503233136,667,635.503233136,880,788,804,653,631.496766864,653,0.419975708685,0.0044915737761,0.0499814132842,0.999999999442,1.3295966925e-05,-2.31842398919e-05,2.00201750389e-05,1793239260524881152
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746.076008987,715,679.076008987,667,635.076008987,880,788,804,653,632,653,0.420787841655,0.00448071569135,0.0499648784602,0.999999998381,-3.30826235975e-06,-5.29321349189e-05,2.06312458873e-05,1793239260541547520
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746.666138595,715,679.666138595,667,635.666138595,880,788,804,653,632,653,0.421673101601,0.00447441920756,0.0499886079255,0.999999999788,-7.80919494143e-07,2.77003677508e-06,2.03755809782e-05,1793239260558214144
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746.74880065,715,679.74880065,667,636,880.25119935,788,804,653,631.74880065,653,0.422559039102,0.00447000647311,0.0500039947572,0.999999999092,-2.72799101715e-06,3.71774547383e-05,2.06609706591e-05,1793239260574880768
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746.170343422,715,679.170343422,667,636,880.829656578,788,804,653,631.170343422,653,0.423445859432,0.00446804785165,0.0500085129632,0.999999998749,-1.05042466969e-05,4.38424681926e-05,2.1651236304e-05,1793239260591547392
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,679,667,635.595174422,880.595174422,788,804,653,631.404825578,653,0.424303942266,0.00447398634745,0.0499990584112,0.999999999321,-6.3704754416e-06,2.85375775522e-05,2.2444368108e-05,1793239260608214016
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,679,667,635.021377937,880.021377937,788,804,653,631.978622063,653,0.42515003025,0.00448322103594,0.0499837717434,0.99999999972,2.7344447604e-06,4.0626270272e-06,2.31552177767e-05,1793239260624880640
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,714.446037065,679,667,635,880,788,804,652.446037065,632,653,0.426038768443,0.0044909842115,0.0500038108466,0.999999999137,1.65524762426e-05,2.93701840731e-05,2.42946914356e-05,1793239260641547520
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788,804,652,631.86624651,653,0.426912073838,0.0044948177266,0.050016923194,0.99999999856,2.52250314566e-05,3.97984240299e-05,2.56777815399e-05,1793239260658214400
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788,804,652,631.271319841,653,0.427726477071,0.00448529837741,0.0500014389949,0.999999999462,1.5527449573e-05,-7.71876337156e-06,2.78436533074e-05,1793239260674881024
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,714.312249375,679,667,635.312249375,880,788,804,652.312249375,631.312249375,653,0.428566857006,0.00447758977853,0.0499790655075,0.999999998408,4.44327945554e-06,-4.84761922922e-05,2.85441706055e-05,1793239260691547904
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,714.886296195,679,667,635.886296195,880,788,804,652.886296195,631.886296195,653,0.429429016399,0.00447139935708,0.0499509158745,0.999999996085,-7.80343935185e-06,-8.35660734211e-05,2.80160990938e-05,1793239260708214272
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.540386957,714.540386957,679.459613043,667.459613043,635.540386957,880,788,804,653,632,653,0.430305799018,0.00446951700447,0.0499592098454,0.999999997746,-5.58634656473e-06,-6.08063888915e-05,2.7909499466e-05,1793239260724880896
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714.033783553,680,667.966216447,635.033783553,880,788,804,652.966216447,631.966216447,653,0.431181307539,0.004468946711,0.0499745637599,0.999999999221,1.29998528141e-07,-2.78700352873e-05,2.79486634481e-05,1793239260741547520
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714.62501434,680,667.37498566,635.62501434,880,788,804,652.37498566,631.37498566,653,0.431976193209,0.00447246813873,0.0499578809496,0.999999997607,4.63717176953e-06,-6.27849509799e-05,2.86752556299e-05,1793239260758214144
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.212387379,714.787612621,680,667,636,880,788,804,652.212387379,631.212387379,653,0.432791334697,0.00447576159919,0.0499496405572,0.99999999656,5.85348373059e-06,-7.76029795984e-05,2.87116154185e-05,1793239260774880768
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.793070883,714.206929117,680,667,636,880,788,804,652.793070883,631.793070883,653,0.433641601468,0.00447865974735,0.0499560399671,0.999999997962,1.36318874563e-06,-5.75714592852e-05,2.75510590754e-05,1793239260791547392
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.630964941,880,788,804.369035059,652.630964941,632,653,0.434489296245,0.00447904612824,0.0499749593278,0.999999999164,2.93118961174e-06,-2.96263331454e-05,2.803984668e-05,1793239260808214272
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.057613654,880,788,804.942386346,652.057613654,632,653,0.435335566986,0.00447804186921,0.0500008103576,0.999999999532,7.8533657017e-06,2.70015897231e-06,2.94417934632e-05,1793239260824880896
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667.530443089,635.530443089,880,788,804.469556911,652,632,653,0.436060271886,0.00447721009969,0.0499796218215,0.999999998292,6.56235498456e-06,-4.89123461549e-05,3.13193540408e-05,1793239260841547520
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.881937118,746,714,679.881937118,667.881937118,635.881937118,880,788,804,652,632,653,0.436784600142,0.00447614512827,0.0499589352559,0.999999995033,3.4196637382e-06,-9.41092827227e-05,3.26489839135e-05,1793239260858214144
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.302445551,746,714,679.302445551,667.302445551,635.302445551,880,788,804,652,632,653,0.43756053247,0.00447409341733,0.0499607482244,0.999999996481,-4.24730287437e-06,-7.75839495962e-05,3.16294652234e-05,1793239260874881024
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.275419658,746,714,679.275419658,667.275419658,635,880,788,804,652,632,653,0.438334497905,0.0044697691864,0.0499738786696,0.999999998383,1.93501838281e-06,-4.69637212661e-05,3.20107343405e-05,1793239260891547392
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.851509367,746,714,679.851509367,667.851509367,635,880,788,804,652,632,653,0.439106316074,0.00446296409168,0.0499993641742,0.999999999154,2.32363265731e-05,-9.56382960608e-07,3.39212150863e-05,1793239260908214272
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,714.435011963,680.435011963,667.564988037,635,880.870023926,788,804,652,631.564988037,653,0.43980397863,0.00446134840463,0.0499914706205,0.999999999107,2.18733912915e-05,-9.61738737025e-06,3.48704516479e-05,1793239260924880896
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.979203226,746,715,680.979203226,667,635,881.979203226,787.979203226,804,652.020796774,631.020796774,653,0.440475016446,0.00446167295894,0.0499722067268,0.999999998594,1.3114466674e-05,-3.71280514187e-05,3.55180991433e-05,1793239260941547520
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.401243413,746,715,680.401243413,667,635,881.401243413,787.401243413,804,652.598756587,631.598756587,653,0.441122664039,0.00446569830199,0.0499588656122,0.999999997307,1.70686872305e-05,-6.10272844145e-05,3.70289030827e-05,1793239260958214400
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.177614264,746,715,680,667.177614264,635,880.822385736,787.177614264,804.177614264,653,632,653,0.441768219565,0.00447120684319,0.0499530055064,0.999999996518,2.25081711494e-05,-7.06285375381e-05,3.83246356903e-05,1793239260974881024
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.758510702,746,715,680,667.758510702,635,880.241489298,787.758510702,804.758510702,653,632,653,0.442409025075,0.00448008306164,0.0499641314068,0.999999997603,3.13200214782e-05,-4.77655085776e-05,3.91320382794e-05,1793239260991547648
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.66590641,714.66590641,680,667.66590641,635,880.33409359,787.66590641,804.66590641,652.66590641,632,653,0.443005965053,0.00449057977738,0.0499627408524,0.999999997121,4.44602040751e-05,-4.71510124642e-05,3.94687693843e-05,1793239261008214272
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.094104164,714.094104164,680,667.094104164,635,880.905895836,787.094104164,804.094104164,652.094104164,632,653,0.443571694527,0.00450222948157,0.0499524447998,0.999999995435,6.06800083592e-05,-6.23664198423e-05,3.94706161741e-05,1793239261024880896
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.506622462,745.493377538,714.493377538,680,667,635,881,787.493377538,804,652.493377538,632,653,0.444070185834,0.00450716115782,0.0499118600494,0.999999987806,6.94993035631e-05,-0.000133769728054,4.07874132624e-05,1793239261041547264
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.08238564,746,714.91761436,680,667,635,881,788,804,652.91761436,632,653,0.444555807142,0.0045102691603,0.0498685656667,0.999999974519,7.58824680579e-05,-0.000208404675621,4.20854703764e-05,1793239261058213888
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.661964888,746,714.338035112,680,667,635,881,788,804,652.338035112,632,653,0.445043695113,0.00451035814398,0.0498449276826,0.999999968427,7.63618382452e-05,-0.000235743086649,4.17071470776e-05,1793239261074880768
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666.761217205,635,881,788,804,652.238782795,632,653,0.445530390614,0.00451066287874,0.0498357590615,0.999999967303,7.71061938039e-05,-0.000240278981682,4.14089447091e-05,1793239261091547392
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,714,680,666.188263773,635,881,788,804,652.811736227,632,653,0.446015417243,0.0045112695518,0.0498468399589,0.999999973427,7.822138984e-05,-0.000212903315433,4.12228696514e-05,1793239261108214016
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.612836669,714.387163331,680,666.387163331,634.612836669,881,788,804,652.612836669,632,653,0.446463561221,0.0045134691316,0.049849801245,0.999999975497,8.06839784314e-05,-0.000202095240104,4.06549788753e-05,1793239261124880640
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.036198918,714.963801082,680,666.963801082,634.036198918,881,788,804,652.036198918,632,653,0.44689365519,0.00451644826638,0.0498487888638,0.999999975813,8.38059695198e-05,-0.00019939519951,3.99002307486e-05,1793239261141547264
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.447789763,745.552210237,714.447789763,680,666.447789763,634,881,788,804.552210237,652.552210237,632,653,0.447234388376,0.00451409040808,0.0498166789645,0.999999966148,1.67365691119e-05,-0.000258782200365,2.13310853894e-05,1793239261158214144
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.138901275,746,714,680.138901275,666,634,880.861098725,787.861098725,805,653,632,653,0.447564017385,0.00451242886713,0.0497833264326,0.999999949135,-3.62548737342e-05,-0.000316820401853,6.37329108435e-06,1793239261174880768
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.717655008,746,714,680.717655008,666,634,880.282344992,787.282344992,805,653,632,653,0.447877437197,0.00451410432263,0.0497526348255,0.999999935661,-2.97783867543e-05,-0.000357418503375,6.62990974165e-06,1793239261191547392
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,714.294218433,680.705781567,666,633.705781567,880.294218433,787,805,653,632,652.705781567,0.448188349063,0.00451957007381,0.0497393380245,0.999999929999,-1.87482058969e-05,-0.000373628202614,7.2815319878e-06,1793239261208214016
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,714.868695439,680.131304561,666,633.131304561,880.868695439,787,805,653,632,652.131304561,0.448496871961,0.00452864628141,0.0497426106952,0.99999993276,-3.38039191156e-06,-0.000366606660544,8.3094159729e-06,1793239261224880896
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.556058623,746,715,680.443941377,665.556058623,633.443941377,881,787,804.556058623,653,631.556058623,652.443941377,0.448786357997,0.00454358537258,0.0497516810407,0.999999935279,6.31932642482e-05,-0.000354039286487,1.0236803047e-05,1793239261241547776
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.019976467,746,714.980023533,680.980023533,665.019976467,633.980023533,880.980023533,787,804,652.980023533,631.019976467,653,0.449068537117,0.00456016792723,0.0497622680239,0.999999931918,0.000142561996834,-0.000340131869513,1.23023944666e-05,1793239261258214144
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.612088609,746,714.387911391,680.387911391,665.612088609,633.387911391,880.387911391,787,804,652.387911391,631.612088609,653,0.449302983739,0.00457406943751,0.0497670949473,0.999999932024,0.000153870804237,-0.000334905266775,1.06933192222e-05,1793239261274880768
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.799597242,746,714.200402758,680.200402758,666,633,880.200402758,787,804,652.200402758,632,652.799597242,0.449522864449,0.004582413521,0.04976812753,0.999999930719,0.000160099663389,-0.000335899059789,1.01345321665e-05,1793239261291547136
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.218498047,746,714.781501953,680.781501953,666,633,880.781501953,787,804,652.781501953,632,652.218498047,0.449715074901,0.00458020039994,0.0497619521675,0.99999992686,0.000156678363605,-0.000348709469827,1.15709322758e-05,1793239261308214016
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,746,715,680.641615958,665.641615958,633,880.641615958,787,804,653,631.641615958,652.358384042,0.449890612074,0.00457734306012,0.0497570210303,0.999999924844,0.000151297163322,-0.000356728443509,1.28698805541e-05,1793239261324880640
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,715,680.067274981,665.067274981,633,880.067274981,787,804,653,631.067274981,652.932725019,0.450056102194,0.00457409752337,0.0497528396443,0.999999923955,0.000144734955587,-0.000361860169577,1.40860025251e-05,1793239261341547264
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714.480579816,680.519420184,665,633,880.519420184,787,804,653,631.519420184,653,0.45020123783,0.00457540967807,0.049756525711,0.999999925371,0.000144784423703,-0.000357884010164,1.46244239719e-05,1793239261358214144
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.10601034,746,714.10601034,681,665.10601034,633,881,787,804.10601034,653,632,653,0.450338486341,0.00457727744537,0.0497605858049,0.999999926845,0.000145685069376,-0.000353356283775,1.49763528768e-05,1793239261374880768
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.684822081,746,714.684822081,681,665.684822081,633,881,787,804.684822081,653,632,653,0.450452602917,0.00457892632263,0.0497616586796,0.999999927296,0.000146469638172,-0.000351757951389,1.48975455617e-05,1793239261391547392
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,715,680.737443573,665.737443573,633,881,787,805,653,632,653,0.450553114506,0.004580707769,0.0497620349418,0.999999926631,0.000147590553054,-0.00035316539245,1.51698985485e-05,1793239261408214272
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,715,680.1609973,665.1609973,633,881,787,805,653,632,653,0.450637361136,0.00458264770349,0.0497615783939,0.999999924615,0.000149113574292,-0.000358166277393,1.58620685458e-05,1793239261424880896
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,715,680.41424719,665,633,881,787.41424719,805,652.58575281,632,653,0.450709052456,0.00458228246681,0.0497602133149,0.99999992417,0.000148919586443,-0.000359484620224,1.59464656018e-05,1793239261441547264
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,715,680.989025945,665,633,881,787.989025945,805,652.010974055,632,653,0.450775878266,0.00458102391629,0.0497584961565,0.999999924339,0.000148060212864,-0.000359375882055,1.57953348136e-05,1793239261458213888
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746,715,681,665,633,881,788,805,652.580377881,632,653,0.450823776857,0.00458144352593,0.0497566921396,0.999999922891,0.000146581993331,-0.000363966560256,1.61503916426e-05,1793239261474880768
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.831707139,746,715,681,665,633,881,787.831707139,805,653,632,653,0.450865338081,0.00458143893078,0.0497541477894,0.999999920852,0.000145726048693,-0.000369848406933,1.64723235384e-05,1793239261491547648
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.252961465,746,715,681,665,633,881,787.252961465,805,653,632,653,0.450892341479,0.00458032006868,0.0497498019489,0.999999917451,0.000146417160672,-0.000378656219536,1.66894366654e-05,1793239261508214272
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.677249352,714.677249352,680.677249352,665,632.677249352,881,787,805,652.677249352,632,653,0.450916426392,0.0045811607021,0.0497472557017,0.999999915463,0.000148079805093,-0.000383228277496,1.68144622702e-05,1793239261524880640
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.103892646,714.103892646,680.103892646,665,632.103892646,881,787,805,652.103892646,632,653,0.450938245192,0.00458352282406,0.0497461067835,0.999999914609,0.000150496814975,-0.000384511401806,1.68679847397e-05,1793239261541547520
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.472694099,745.472694099,714,680.472694099,665,632,881.472694099,787,805,652.472694099,632,653,0.450954305194,0.00458180042219,0.0497460429424,0.999999915014,0.000148100171532,-0.000384384245412,1.69260958001e-05,1793239261558214400
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746.051260352,714,680.948739648,665.051260352,632.051260352,881.948739648,787,805,653,632,653,0.450968306317,0.00457975189689,0.049746113855,0.999999915455,0.000145438683919,-0.000384254853874,1.69228339757e-05,1793239261574881024
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746.643165841,714,680.356834159,665.643165841,632.643165841,881.356834159,787,805,653,632,653,0.450974033785,0.00458379728084,0.0497450733794,0.999999913397,0.00015121925665,-0.000387393576453,1.62615596623e-05,1793239261591547648
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.770830807,746.770830807,714,680.229169193,665.770830807,632.770830807,880.770830807,787,804.770830807,652.770830807,631.770830807,653,0.450978737952,0.00458612715657,0.0497435424881,0.999999911813,0.000154144056499,-0.000390336016476,1.58700148027e-05,1793239261608214272
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.193786829,746.193786829,714,680.806213171,665.193786829,632.193786829,880.193786829,787,804.193786829,652.193786829,631.193786829,653,0.450981888764,0.00458585292089,0.0497412671546,0.999999910993,0.000152733843251,-0.000392980502879,1.58879145263e-05,1793239261624880896
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,714.381260764,680.618739236,665,632,880.762521528,787,804,652.381260764,631.381260764,653,0.450983314867,0.00458571109771,0.0497402810297,0.999999910137,0.000153252410234,-0.000394936225131,1.62613714806e-05,1793239261641547520
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714.955298905,680.044701095,665,632,881.910597809,787,804,652.955298905,631.955298905,653,0.450983868904,0.00458563622643,0.0497399467692,0.999999909262,0.000154746228918,-0.000396543686589,1.68146092997e-05,1793239261658214656
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,715,680,665,632,881.458559607,787,804,653,632,653,0.450985174315,0.00458551119696,0.0497396572979,0.999999909385,0.000154435742995,-0.000396355828569,1.67562254692e-05,1793239261674881280
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.127127953,746,715,680.127127953,665,632,880.872872047,787,804,653,631.872872047,652.872872047,0.450986054884,0.00458612393006,0.0497392357869,0.999999909236,0.000154867957773,-0.000396572589389,1.6553245793e-05,1793239261691547904
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.707552365,746,715,680.707552365,665,632,880.292447635,787,804,653,631.292447635,652.292447635,0.450985194357,0.00458938238504,0.0497383299789,0.999999907802,0.000158491695645,-0.000398772679045,1.60188511557e-05,1793239261708214528
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,715,681,665,632,880.284773903,787,804.284773903,653,631,652,0.450985726042,0.00459013396351,0.0497380877654,0.999999907608,0.000158801584167,-0.000399149360697,1.56792069125e-05,1793239261724881152
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665,632,880.858742912,787,804.858742912,653,631,652,0.450987671555,0.00458833974584,0.0497385194485,0.999999908678,0.000155746175244,-0.000397674325641,1.5537336559e-05,1793239261741547520
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,714.567891489,680.567891489,665,632,881,787,805,653,631.432108511,652.432108511,0.450988415723,0.0045873720066,0.0497386981121,0.999999908928,0.000154097097617,-0.000397680366389,1.57603974301e-05,1793239261758214144
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.994522344,746,714,680.010955312,665,632,880.994522344,787,804.994522344,653,632,653,0.450988754927,0.00458669009326,0.0497387868237,0.999999908901,0.00015295164767,-0.000398177251189,1.61027334761e-05,1793239261774880512
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.399569835,746,714,681.20086033,665,632,880.399569835,787,804.399569835,653,632,653,0.450987717904,0.00458773272865,0.0497380840625,0.999999907817,0.000156598950809,-0.000399465399953,1.64606571313e-05,1793239261791547392
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.189461357,746,714,681.621077286,665,632,880.189461357,787,804.189461357,653,632,653,0.450987301463,0.00458860890504,0.0497375014769,0.999999907027,0.000159403136956,-0.000400326829324,1.65580005474e-05,1793239261808214016
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.766383051,746,714,680.467233898,665,632,880.766383051,787,804.766383051,653,632,653,0.450988154151,0.00458914466224,0.0497371646575,0.999999906866,0.00016048309586,-0.000400315590752,1.612244104e-05,1793239261824880896
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,714,680,665,632,880.657728565,787.342271435,805,652.657728565,632,653,0.450988261843,0.00458948571316,0.0497368903615,0.999999907062,0.000159496632537,-0.000400236348735,1.57560077468e-05,1793239261841547776
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,714,680,665,632,880.082543365,787.917456635,805,652.082543365,632,653,0.450987862569,0.00458969426753,0.0497366586123,0.999999907496,0.000157103980598,-0.00040011083076,1.5436614467e-05,1793239261858214400
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.494683511,746,714,680,665,632,880.505316489,787.494683511,805,652,632,653,0.450988427623,0.0045904807963,0.0497367188047,0.999999907125,0.000157564423114,-0.000400848757585,1.55844107218e-05,1793239261874880768
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714.093498399,680,664.906501601,632,881,787,805,652,631.906501601,653,0.450989037838,0.00459097793215,0.049736714427,0.99999990672,0.000158368470963,-0.000401534731831,1.57805964825e-05,1793239261891547136
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714.672328271,680,664.327671729,632,881,787,805,652,631.327671729,653,0.450989043766,0.00458947020448,0.0497361209684,0.999999906837,0.000158474679047,-0.000401200065238,1.58216329779e-05,1793239261908214016
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.249793453,746,714.750206547,680.249793453,664.249793453,632,881,787.249793453,804.750206547,652,631.249793453,653,0.450989609108,0.00458892636515,0.049736234246,0.999999906882,0.000159231963326,-0.000400784504206,1.58909628473e-05,1793239261924880640
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.825478281,746,714.174521719,680.825478281,664.825478281,632,881,787.825478281,804.174521719,652,631.825478281,653,0.450990904284,0.00458964005614,0.0497372695623,0.999999906832,0.000160838669868,-0.000400263404735,1.59972054854e-05,1793239261941547520
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.599970585,746,714.400029415,680.599970585,665,632,881,787.599970585,804.400029415,652,632,653,0.450992244957,0.00458893812329,0.0497381062403,0.999999907635,0.000159847629405,-0.000398642420568,1.62085896504e-05,1793239261958214144
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.025912688,746,714.974087312,680.025912688,665,632,881,787.025912688,804.974087312,652,632,653,0.450993605423,0.00458762033851,0.049738856503,0.999999908802,0.000157726467024,-0.000396542943454,1.64657144965e-05,1793239261974881280
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714.433280626,680.566719374,665,632,881,787,804.433280626,652.566719374,632,653,0.450992443148,0.00458830476141,0.0497376460508,0.999999908299,0.000157234065383,-0.000398029271973,1.58961366011e-05,1793239261991547904
+252,4.200000000,HOLD_POSE2,765,746,714,681,665,632,881,787,805,652,632,653,0.45098829246,0.00458662208247,0.0497356767619,0.999999906622,0.000156160528629,-0.000402645219533,1.56960102516e-05,1793239262032689408
+253,4.216666667,HOLD_POSE2,765,746,714,681,665,632.574874948,881,787,805,652.574874948,631.425125052,653,0.450989864402,0.00459015351036,0.0497360907227,0.999999906543,0.000160093530298,-0.000401301936343,1.55449246594e-05,1793239262049356032
+254,4.233333333,HOLD_POSE2,765,746,714.153021078,681,665,632.846978922,880.846978922,787,805,652.846978922,631.153021078,653,0.450991037797,0.00459246095682,0.0497364890489,0.999999906584,0.000162179168392,-0.000400368031425,1.53436136454e-05,1793239262066022656
+255,4.250000000,HOLD_POSE2,765,746,714.740453903,681,665,632.259546097,880.259546097,787,805,652.259546097,631.740453903,653,0.450991079757,0.00459129364157,0.0497368429899,0.999999907005,0.000159020324443,-0.000400596310737,1.49997175793e-05,1793239262082689280
+256,4.266666667,HOLD_POSE2,765.32437893,746,715,681,664.67562107,632,880.32437893,787,804.67562107,652.32437893,632,653,0.450991112534,0.00459110401418,0.0497366647809,0.99999990703,0.000157979571525,-0.000400950571237,1.48414060282e-05,1793239262099355904
+257,4.283333333,HOLD_POSE2,765.905527247,746,715,681,664.094472753,632,880.905527247,787,804.094472753,652.905527247,632,653,0.450991138043,0.00459168829754,0.0497360653366,0.999999906748,0.000158615441064,-0.000401404554951,1.48299980658e-05,1793239262116022784
+258,4.300000000,HOLD_POSE2,766,745.517940257,714.517940257,681,664.482059743,632,881,787.482059743,804.482059743,652.517940257,632,652.517940257,0.450990508339,0.00459039754718,0.0497359531524,0.999999906502,0.000159253694077,-0.000401743290018,1.5362262207e-05,1793239262132689408
+259,4.316666667,HOLD_POSE2,765.942330805,745.057669195,714,681,665,632,881,787.942330805,804.942330805,652,632,652.057669195,0.450990036151,0.00458896438342,0.0497360225629,0.999999906396,0.000159605055226,-0.000401850087817,1.58655261769e-05,1793239262149356032
+260,4.333333333,HOLD_POSE2,765.366963953,745.633036047,714,681,665,632,881,787.366963953,804.366963953,652,632,652.633036047,0.450992119753,0.00458952021741,0.0497368730522,0.999999907471,0.000157376828206,-0.000400075612602,1.51610484111e-05,1793239262166022656
+261,4.350000000,HOLD_POSE2,765,746,714.214165601,680.785834399,665,632,881,787.214165601,804,652.214165601,632,653,0.450992999077,0.00458969749395,0.0497369314093,0.999999907906,0.000155967571917,-0.000399550775795,1.49048590865e-05,1793239262182689280
+262,4.366666667,HOLD_POSE2,765,746,714.805442281,680.194557719,665,632,881,787.805442281,804,652.805442281,632,653,0.450991757861,0.00458920819185,0.0497355949493,0.999999907221,0.000156000391232,-0.000401226350857,1.54380334754e-05,1793239262199355904
+263,4.383333333,HOLD_POSE2,765.387913245,746,714.612086755,680.387913245,665,632,881,787.612086755,804,652.612086755,631.612086755,653,0.450991729792,0.00458932972809,0.0497357528548,0.999999907183,0.000156811436099,-0.00040100224543,1.55282938678e-05,1793239262216022528
+264,4.400000000,HOLD_POSE2,765.966065788,746,714.033934212,680.966065788,665,632,881,787.033934212,804,652.033934212,631.033934212,653,0.450992296671,0.00458975082986,0.0497366436226,0.99999990746,0.000158004136106,-0.000399846504309,1.54013416993e-05,1793239262232689408
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+267,4.450000000,HOLD_POSE2,765,746,714.291958787,681,665,632.708041213,881,787,804.291958787,652.291958787,631.291958787,653,0.450990788192,0.00459028777148,0.0497350095749,0.999999906327,0.000157241748255,-0.000402996170394,1.46607582701e-05,1793239262282689536
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,665,633,881,787,805,653,632,653,0.450989647677,0.00458632064326,0.0497330015628,0.999999906045,0.000155697206026,-0.000404259880341,1.55465626849e-05,1793239262319732480
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.575918091,746,715,681,665,632.424081909,880.424081909,787,805,653,632,653,0.450990751824,0.00458754451219,0.0497346434683,0.999999906431,0.000156004069306,-0.000403189510019,1.54430448557e-05,1793239262336399616
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.274851771,745.274851771,714.274851771,680.274851771,665,632,880.725148229,787,804.274851771,653,631.274851771,653,0.450992469927,0.00459160718212,0.0497362258345,0.999999906826,0.000158686283832,-0.000401170449561,1.51218367162e-05,1793239262369732864
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.308466786,714,680.308466786,665,632,880.691533214,787,804,653,631.308466786,653,0.450992170886,0.004591352493,0.0497360658492,0.999999906899,0.000157981929886,-0.000401265709922,1.51383754582e-05,1793239262386399232
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.900483715,714,680.900483715,665,632,880.099516285,787,804,653,631.900483715,653,0.450990938586,0.00458856391042,0.0497354872218,0.999999906954,0.000154843338649,-0.000402343931263,1.53483268041e-05,1793239262403066112
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.517086542,665,632,880.482913458,787,804.482913458,653,631.517086542,653,0.450990664119,0.0045890191735,0.0497355442571,0.999999906553,0.000156645442934,-0.000402637854222,1.54851125893e-05,1793239262419732992
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.062910198,664.937089802,632,880.937089802,787,804.937089802,653,631.062910198,653,0.450990338856,0.00459011551708,0.049735511663,0.999999905964,0.000159336280943,-0.000403040152831,1.55452325803e-05,1793239262436399360
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.638863741,664.361136259,632,880.361136259,787,804.361136259,653,631.638863741,653,0.450988020973,0.00459109457694,0.0497337006428,0.999999904641,0.000161133318004,-0.000405618687355,1.5100696627e-05,1793239262453065984
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.786060545,664.213939455,632,880,787,804.213939455,652.786060545,632,653,0.450983311947,0.00459122051824,0.0497312070368,0.999999903151,0.000161079832633,-0.000409300319805,1.49797667081e-05,1793239262469732608
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.212460634,664.787539366,632,880,787,804.787539366,652.212460634,632,653,0.450974583096,0.00458991225457,0.0497275659139,0.999999901368,0.00015791537467,-0.000414836405169,1.54028612822e-05,1793239262486399232
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.370693732,665,632,880.370693732,787.370693732,804.629306268,652.370693732,632,652.629306268,0.450950266385,0.00459079273122,0.0497167342351,0.999999893292,0.00015859758983,-0.000433626036358,1.52316495313e-05,1793239262503066112
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.959469105,665,632,880.959469105,787.959469105,804.040530895,652.959469105,632,652.040530895,0.450916779228,0.00459296085855,0.0497016723031,0.999999880946,0.000161542828516,-0.000460212818834,1.47108033658e-05,1793239262519732992
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714.540207173,680.459792827,665.540207173,632,881,787.459792827,804,653,632,652,0.450860229984,0.00459212356952,0.0496823542439,0.999999864004,0.000160022564291,-0.000496163472296,1.43714187255e-05,1793239262536399616
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.880833941,714.880833941,680,665.761667883,632,881,787,804,653,632,652.119166059,0.450800195646,0.00459163080543,0.0496637348914,0.999999847658,0.000159311223297,-0.000528309494502,1.38723477207e-05,1793239262553065984
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.306402084,714.306402084,680,664.612804169,632,881,787,804,653,632,652.693597916,0.45073336035,0.0045933031213,0.0496489869894,0.999999839068,0.000162951549813,-0.000543275474555,1.27119540406e-05,1793239262569732608
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.274730131,714,680,664.274730131,632,880.725269869,787.274730131,804,652.725269869,632,652.725269869,0.450660373285,0.00459479148374,0.0496401763437,0.999999833562,0.000165945413323,-0.000552446843876,1.18384566747e-05,1793239262586399232
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.86352192,714,680,664.86352192,632,880.13647808,787.86352192,804,652.13647808,632,652.13647808,0.450580353739,0.00459606955711,0.0496381529578,0.999999831781,0.00016820026326,-0.000554994020669,1.12929289864e-05,1793239262603065856
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.445133811,745.554866189,714,680.445133811,665,632,880.445133811,787.554866189,804,652,632,652.445133811,0.45048472238,0.00459723553986,0.0496393949904,0.999999832413,0.000170529019772,-0.000553152468028,1.0801956516e-05,1793239262619732480
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.024487911,714.024487911,680.975512089,665,632,880.975512089,787.024487911,804,652,631.975512089,653,0.450383135645,0.00459829723993,0.0496415933396,0.999999833772,0.000172776577043,-0.000549996664756,1.03421623874e-05,1793239262636399360
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745.601779453,714.601779453,680.398220547,665,632,880.398220547,787.601779453,804,652,631.398220547,653,0.450253448711,0.00459776830962,0.0496431377365,0.999999835397,0.000172687684619,-0.000547066039576,1.02146027312e-05,1793239262653065984
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,632,880.178099216,787.821900784,804,652,631.178099216,652.821900784,0.450113321335,0.00459844359721,0.0496434888818,0.999999835107,0.000174204596939,-0.000547121425328,9.83777014523e-06,1793239262669732608
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,632,880.752257847,787.247742153,804,652,631.752257847,652.247742153,0.44994997638,0.00460179684073,0.0496411864579,0.999999830531,0.00017929251932,-0.000553817142481,8.90660110253e-06,1793239262686399232
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.663790779,745.663790779,714.663790779,680,665,632,881,787,804.336209221,652,632,652.336209221,0.449767514297,0.00460375278424,0.0496399846421,0.999999828473,0.000183060472739,-0.00055630672668,8.07789431442e-06,1793239262703066112
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.072406889,745.072406889,714.072406889,680,665,632,881,787,804.927593111,652,632,652.927593111,0.449570542759,0.0046046482112,0.049639618161,0.99999982836,0.000185826602179,-0.000555603958412,7.32695380162e-06,1793239262719732736
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.508732433,745.508732433,714.508732433,680.508732433,665,632.508732433,881,787,805,652.508732433,632,653,0.449338103888,0.00460994778262,0.0496372325097,0.999999824784,0.000193922205611,-0.000559280169896,5.72999241498e-06,1793239262736399360
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,746,714.912563147,681,665,632.912563147,880.912563147,787.087436853,805,653,632,653,0.44909696112,0.0046150574749,0.0496351759717,0.999999821418,0.000202087559001,-0.000562411249444,4.1963388404e-06,1793239262753065984
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,746,714.339444237,681,665,632.339444237,880.339444237,787.660555763,805,653,632,653,0.448834957459,0.00461569934065,0.0496365123575,0.999999822362,0.000206510128737,-0.000559120695427,3.66998549509e-06,1793239262769732608
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,714,680.765283419,665,632.234716581,880.234716581,787.765283419,805,652.765283419,632,653,0.448556136768,0.0046178474237,0.0496377850416,0.999999823273,0.000212543766466,-0.000555221745159,2.79765449843e-06,1793239262786399232
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,746,714,680.189609125,665,632.810390875,880.810390875,787.189609125,805,652.189609125,632,653,0.448252887073,0.00462218349193,0.0496389651904,0.999999824105,0.000220917699004,-0.00055043901688,1.42274400288e-06,1793239262803065856
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.604402109,746,714,680.395597891,665,633,881,787,805,652,632,653,0.447913425795,0.00462390766127,0.0496370382618,0.999999822416,0.000225929060275,-0.000551473657493,1.0977324619e-07,1793239262819732480
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.014513282,746,714,680.985486718,665,633,881,787,805,652,632,653,0.447556179843,0.00462434904235,0.0496335853467,0.999999819497,0.000229288953654,-0.000555365396507,-1.17277685828e-06,1793239262836399104
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.434537114,714,680.434537114,665,633,881,787,805,652,632,653,0.447165999874,0.00463015197507,0.0496332134118,0.999999816461,0.000238362567537,-0.000557002048841,-3.0305528634e-06,1793239262853065984
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.143751281,665,633,881,787,804.856248719,652,632,652.856248719,0.446767558747,0.00463558533857,0.0496344512837,0.999999815066,0.000246561813832,-0.000555923270757,-4.91354925522e-06,1793239262869732608
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.717736558,665,633,881,787,804.282263442,652,632,652.282263442,0.44634687912,0.0046395078551,0.0496402745629,0.999999818754,0.000251712812459,-0.000546887709357,-6.82860195148e-06,1793239262886399488
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.299180355,714,680.700819645,665.299180355,633.299180355,881.299180355,787,804,652.299180355,632,652.299180355,0.445920308598,0.00464239724201,0.0496574185635,0.999999832089,0.00025720038454,-0.000519230775791,-8.2894524271e-06,1793239262903066112
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.887840916,714,680.112159084,665.887840916,633.887840916,881.887840916,787,804,652.887840916,632,652.887840916,0.44548803813,0.00464428699631,0.049685516241,0.999999853241,0.000263013617773,-0.000473556217991,-9.31082722725e-06,1793239262919732736
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.530607598,714.469392402,680,666,634,881.061215195,787,804.469392402,652.530607598,632,653,0.444992158981,0.00464660259654,0.0497139305124,0.999999868582,0.000268408843907,-0.000436675134955,-1.03603357065e-05,1793239262936399360
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.048812061,714.951187939,680,666,634,880.048812061,787.048812061,804.951187939,652,632,652.951187939,0.444476505864,0.00464898823279,0.0497399403197,0.999999880451,0.000273659951177,-0.000405061736615,-1.15066568865e-05,1793239262953065984
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.623294507,714.376705493,680,666,634,880.623294507,787.623294507,804.376705493,652,632,652.376705493,0.443909141198,0.00465104864143,0.0497392532925,0.999999877963,0.00027841860487,-0.000407887089155,-1.36242659012e-05,1793239262969732352
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.202402773,666.202402773,634.202402773,880.797597227,787.797597227,804,652.202402773,632,652.202402773,0.443333154757,0.00465204982714,0.0497359890738,0.999999873844,0.000282768453521,-0.000414863360137,-1.55548953257e-05,1793239262986399232
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.790321799,666.790321799,634.790321799,880.209678201,787.209678201,804,652.790321799,632,652.790321799,0.442740746467,0.00465103351241,0.0497278160825,0.999999866517,0.000286339651517,-0.000429745878897,-1.71293848831e-05,1793239263003066112
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.372734836,745.627265164,714,680.627265164,667,635,880.372734836,787.372734836,804,652.627265164,632,652.627265164,0.442150223568,0.00465222328132,0.0497500073716,0.999999881687,0.000292133301698,-0.000388450940422,-1.97274639865e-05,1793239263019732736
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.952095602,745.047904398,714,680.047904398,667,635,880.952095602,787.952095602,804,652.047904398,632,652.047904398,0.441560745857,0.00465463599494,0.0497890311303,0.999999905057,0.000299158969116,-0.000316013969834,-2.28929708489e-05,1793239263036399360
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,667,635,880.470024951,788,804,652,632,652.529975049,0.440906201131,0.00465840721416,0.0498278471077,0.999999920782,0.000305312748797,-0.000254059302571,-2.5963288935e-05,1793239263053065984
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745.107042146,714,680,667,635,880.107042146,787.892957854,804,652.107042146,632,653,0.440230037499,0.00465962320482,0.049855351017,0.999999929639,0.000308047301977,-0.000212032483882,-2.95263505679e-05,1793239263069732864
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745.681147121,714,680,667,635,880.681147121,787.318852879,804,652.681147121,632,653,0.439485134216,0.00464915552074,0.0498335780731,0.999999923546,0.000296205476624,-0.000252835222455,-3.52768645279e-05,1793239263086399488
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,667,635,881,787.257188602,804,652.742811398,632,653,0.438729569628,0.00462964878577,0.0498050675224,0.999999931798,0.000209061989924,-0.000302084603619,-3.79730118665e-05,1793239263103066112
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,667,635,881,787.835649183,804,652.164350817,632,653,0.43796068717,0.00459885074895,0.0497681405605,0.999999933453,2.78540087193e-05,-0.000361885265719,-3.68537395262e-05,1793239263119732736
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,667,635,880.576520304,788,804,652,632,653,0.437177929855,0.00459096402081,0.0497734381181,0.99999993438,-1.40463641849e-05,-0.000359982970162,-3.81349637035e-05,1793239263136399360
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,667,635,880.014619035,788,804,652,632,652.985380965,0.436388386108,0.00459243229059,0.0497951071217,0.999999943364,-3.86213784171e-07,-0.000334124708892,-4.04037553463e-05,1793239263153066240
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,667,635,880.590036119,788,804,652,632,652.409963881,0.435549745824,0.00460395173704,0.0498019492369,0.99999994473,2.37264764451e-05,-0.000328695127274,-4.40099742847e-05,1793239263169732864
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,746,714.165462933,680,666.834537067,635,881,788,804.165462933,652.165462933,632,652.165462933,0.434713714943,0.00461272166986,0.0498024331067,0.999999943479,4.46944385098e-05,-0.000329802464971,-4.76925933218e-05,1793239263186399488
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,746,714.740913817,680,666.259086183,635,881,788,804.740913817,652.740913817,632,652.740913817,0.433884149752,0.00461467879234,0.0497871623661,0.999999936754,5.78703176337e-05,-0.000347107135966,-5.156451815e-05,1793239263203065856
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,746,714.676950536,680,666.323049464,635,880.676950536,788,804.353901073,653,632,653,0.433070524948,0.0046157877532,0.0497946663472,0.999999940177,6.71414887744e-05,-0.000334860733419,-5.48224046955e-05,1793239263219732480
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,746,714.089340448,680,666.910659552,635,880.089340448,788,803.178680895,653,632,653,0.432269954528,0.00461620211393,0.0498208216358,0.999999951137,7.32149074728e-05,-0.000298413545143,-5.757742575e-05,1793239263236399360
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,667,635,880,788,803.491155786,652.508844214,632,653,0.431401795954,0.00461356588027,0.0498202926813,0.99999995304,6.25189446978e-05,-0.000293597831316,-6.17466164522e-05,1793239263253065984
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745.930032031,714,680,667,635,880,787.930032031,804,652.069967969,632,653,0.430514564678,0.00460957970778,0.0498121235052,0.999999951299,6.02411320166e-05,-0.000299892787651,-6.19399715822e-05,1793239263269732864
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745.354173915,714,680,667,635,880,787.354173915,804,652.645826085,632,653,0.429577053904,0.00459978786534,0.0497833067393,0.999999929932,0.000140569073686,-0.000345514141103,-3.15534616074e-05,1793239263286399744
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.77439251,745.22560749,714,680,667,635,880,787,804,652.77439251,632,653,0.428669091541,0.00459421847664,0.0497729485353,0.999999915283,0.000190044045448,-0.000364850397102,-1.41915305099e-05,1793239263303066112
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.188342969,745.811657031,714,680,667,635,880,787,804,652.188342969,632,653,0.42780833708,0.00459539509417,0.0497920806681,0.999999923204,0.000190226750823,-0.000342192250045,-1.76383275114e-05,1793239263319732224
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.605859168,714,679.605859168,667,635.394140832,880,787.394140832,803.605859168,652,632,653,0.426904640332,0.0046003754769,0.0497858959202,0.999999919532,0.000180230918711,-0.000357692475998,-2.25546568862e-05,1793239263336398848
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.025064041,714,679.025064041,667,635.974935959,880,787.974935959,803.025064041,652,632,653,0.425980607344,0.00460715721852,0.0497677217904,0.999999909379,0.000165414810007,-0.000391263462656,-2.816691629e-05,1793239263353065728
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.552594502,714,679.552594502,667,636,879.447405498,788,803.552594502,652,632,653,0.425139859119,0.00460690238524,0.0497947115602,0.999999934857,0.0001551578045,-0.000324184967745,-3.34176065716e-05,1793239263369732608
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.129584852,746,714,680,667,636,879.129584852,788,804,652.129584852,631.870415148,653,0.42429043962,0.00460674665125,0.0498223988957,0.999999954413,0.000146793641085,-0.000261186628522,-3.74992000794e-05,1793239263386399232
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.704763943,746,714,680,667,636,879.704763943,788,804,652.704763943,631.295236057,653,0.4233982866,0.00460802295509,0.0498454806247,0.999999962938,0.000144231210679,-0.000227827733879,-3.76167778589e-05,1793239263403065856
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.713286911,745.713286911,714,680,667,635.713286911,880,788,804,653,631.286713089,653,0.422499440147,0.00460865580637,0.049842020205,0.999999959993,0.000142410912877,-0.000241550087916,-3.72505291704e-05,1793239263419732480
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.124197904,745.124197904,714,680,667,635.124197904,880,788,804,653,631.875802096,653,0.421593534662,0.00460861005388,0.049810567666,0.999999942855,0.000141373289451,-0.000304925690254,-3.63740230085e-05,1793239263436399104
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.457727472,745,714,679.542272528,667,635,880,788,804,652.542272528,632,653,0.420720184563,0.00460618317784,0.0498055228048,0.999999939605,0.000142389702568,-0.000314904228384,-3.67411085436e-05,1793239263453065728
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.96253221,745,714,679,667,635,880,788,803.96253221,652.03746779,632,653,0.419854314824,0.00460338571525,0.0498071600775,0.999999940221,0.000143719552708,-0.000312264187519,-3.73407874851e-05,1793239263469732096
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.386690249,745,714,679,667,635,880,788,803.386690249,652.613309751,632,653,0.418970959399,0.00460440382693,0.0498034405214,0.999999933759,0.000141668251363,-0.000333285625131,-3.65087664769e-05,1793239263486398976
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.764948892,679.764948892,666.235051108,635,880,788,803,653,631.235051108,653,0.417261629233,0.00460466145884,0.0497868593124,0.999999925104,0.000135178287755,-0.000360638110287,-3.81908401307e-05,1793239263519732224
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.651064387,680,666.348935613,635,879.651064387,788,803.348935613,652.651064387,631.348935613,653,0.416479127399,0.00460393442649,0.0498012873941,0.999999935706,0.000136681002115,-0.000329217679724,-3.90020724055e-05,1793239263536398848
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.517662256,745,714,680,667,635,879,788,804,652.517662256,632,653,0.414957358033,0.00460544173704,0.0498310298583,0.999999951286,0.000144505947902,-0.000273821226149,-3.96073622299e-05,1793239263569732864
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.904930241,745,714,680,667,635,879.095069759,788,804,653,632,653,0.414173598573,0.00460832200871,0.0498217278959,0.999999946088,0.000145518749979,-0.00029162873101,-4.00222576163e-05,1793239263586400000
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.32987701,745,714,680,667,635,879.67012299,788,804,653,632,653,0.413387344171,0.00461098012356,0.049795067532,0.999999932155,0.000139866076416,-0.000338369689832,-4.04106311139e-05,1793239263603066368
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.244925624,745,714,680,667,635,880,788,804,653,632,653,0.412635975548,0.00461341548688,0.0497885188516,0.999999927347,0.000140770298262,-0.000351920536429,-4.05149116854e-05,1793239263619732736
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.819391041,745,714,680,667,635,880,788,804,653,632,653,0.411931544719,0.00461555114473,0.0498090298167,0.999999936405,0.000150496619218,-0.000320815118134,-4.02369541111e-05,1793239263636399104
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745.408026881,714,680,666.591973119,635,880,788,804,653,632,653,0.411249637365,0.00461342129246,0.0498221580037,0.999999942209,0.000152000227683,-0.000301474383529,-3.98765648289e-05,1793239263653065984
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.996942751,746,714,680,666.003057249,635.003057249,879.996942751,788,803.996942751,653,631.996942751,653,0.41057815163,0.00460931924415,0.0498317372954,0.999999946599,0.000149669232506,-0.000287822213926,-3.94791622886e-05,1793239263669732608
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.421313197,746,714,680,666.578686803,635.578686803,879.421313197,788,803.421313197,653,631.421313197,653,0.409924118845,0.00460218692147,0.049810712736,0.999999935892,0.000135361137286,-0.000329173117308,-3.92291710853e-05,1793239263686399232
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.15431386,745.84568614,714,679.84568614,667,635.84568614,879,788,803,653,631,653,0.409289891272,0.00459647108212,0.0497978141183,0.999999929525,0.000122107083998,-0.000352849913871,-3.91935495049e-05,1793239263703065856
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.729934228,745.270065772,714,679.270065772,667,635.270065772,879,788,803,653,631,653,0.408709735591,0.00459462251303,0.0498071008793,0.999999939087,0.000111730765211,-0.000328273010885,-3.97431983202e-05,1793239263719732736
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.31187168,714,679.31187168,667,635,879.31187168,788,803,653,631.31187168,653,0.408150913557,0.00459339862735,0.0498220650015,0.999999947513,0.000110078786233,-0.000302168174191,-3.93924195706e-05,1793239263736399360
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745.899392476,714,679.899392476,667,635,879.899392476,788,803,653,631.899392476,653,0.407610947391,0.00459272687089,0.0498420470829,0.999999954791,0.000116137852906,-0.000274712868193,-3.82457940296e-05,1793239263753065984
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.519711582,635,880,788.480288418,803,653,631.519711582,653,0.407076914847,0.00459659421688,0.0498376097278,0.999999950857,0.000125631408774,-0.00028464718076,-3.84478379287e-05,1793239263769732608
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.059479291,745.940520709,714,679.940520709,666.059479291,635,880,788.940520709,803,653,631,653,0.40654667753,0.00460131847785,0.0498262725894,0.999999943454,0.000134958919275,-0.000305544001377,-3.90059737092e-05,1793239263786399232
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.635748913,745.364251087,714,679.364251087,666.635748913,635,880,788.364251087,803,653,631,653,0.406038762912,0.00460533923915,0.0497988254067,0.999999926992,0.000136677930313,-0.000354565305619,-4.0236828083e-05,1793239263803065600
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.784941652,745,714,679,667,635,879.784941652,788,803,653,631.215058348,653,0.405557159754,0.00460930579982,0.0497826321012,0.999999915187,0.000140328630666,-0.000385017992879,-4.11612955314e-05,1793239263819732224
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.200409829,745,714,679,667,635,879.200409829,788,803,653,631.799590171,653,0.405120760133,0.00461317924256,0.0497857731286,0.999999914725,0.000147298002565,-0.000383569513319,-4.15593856465e-05,1793239263836399104
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.381559183,714,679.381559183,667,635,879.381559183,788,803.381559183,653,632,653,0.404739543906,0.00461453011808,0.0498036611264,0.999999925568,0.000149190656743,-0.000353335418141,-4.19667365672e-05,1793239263853065728
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.962191141,714,679.962191141,667,635,879.962191141,788,803.962191141,653,632,653,0.404387118747,0.00461456488239,0.0498292431348,0.999999940628,0.000148434610058,-0.000308082859472,-4.23789191402e-05,1793239263869732608
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.460920103,666.460920103,635,880,788,803.460920103,653,632,653,0.404063360515,0.00461646182441,0.0498532699635,0.999999950912,0.000151634099453,-0.000270882658109,-4.25046558567e-05,1793239263886399488
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.115377298,745.884622702,714,679,666,635.115377298,880,788,803,653,631.884622702,653,0.403743608254,0.00461891413429,0.0498712598704,0.999999957163,0.000155640452259,-0.000244160196748,-4.28408981856e-05,1793239263903066112
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.690357795,745.309642205,714,679,666,635.690357795,880,788,803,653,631.309642205,653,0.403431859724,0.00462306206483,0.0498656333224,0.999999952935,0.000161763434437,-0.00025694140263,-4.4095162519e-05,1793239263919732480
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.727510942,745,714,679,666.272489058,635.727510942,879.727510942,788,803,653,631,653,0.403125965241,0.00462374964185,0.0498549183209,0.999999946895,0.000162464372153,-0.000278924167461,-4.49152410731e-05,1793239263936399104
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.137034975,745,714,679,666.862965025,635.137034975,879.137034975,788,803,653,631,653,0.402826902282,0.00462039908537,0.0498382652408,0.999999938117,0.000156837939127,-0.000311644886557,-4.52286371806e-05,1793239263953065728
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745.445127222,714,679.445127222,667,635,879.445127222,788,803,653.445127222,631,653,0.40257650857,0.00462068190913,0.0498299470281,0.999999933716,0.000153254106633,-0.000327028282302,-4.6191164291e-05,1793239263969732352
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.975503643,667,635.024496357,880,788,803,653.975503643,631,653,0.402342929897,0.00462177317314,0.0498244946602,0.999999931331,0.0001477288268,-0.000336563079584,-4.73201292597e-05,1793239263986398976
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.402417087,667,635.597582913,880,788,803,653.402417087,631,653,0.402156528948,0.00461637872992,0.0498268122465,0.99999993999,8.4901064279e-05,-0.000332458031275,-4.77831447553e-05,1793239264003066112
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,667,636,880,788,803.171316326,653,631.171316326,653,0.40198012101,0.00460556714301,0.049829077581,0.999999944416,3.43046898544e-05,-0.000328196408926,-4.77305114411e-05,1793239264019732736
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,667,636,880,788,803.746574862,653,631.746574862,653,0.401827275356,0.00458198261782,0.049831219712,0.999999946495,1.25483897255e-05,-0.000323565607931,-4.64620438083e-05,1793239264036399104
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.330540881,746,714,679,667,636,879.669459119,788,803.669459119,653,631.669459119,653,0.401695555606,0.00456750526581,0.0498376934265,0.999999950499,3.69393211335e-05,-0.000310297396281,-3.67898505776e-05,1793239264053065728
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.921363601,746,714,679,667,636,879.078636399,788,803.078636399,653,631.078636399,653,0.40158047127,0.00456019928378,0.049847578013,0.999999952904,9.76685277991e-05,-0.000290227721481,-2.05002088891e-05,1793239264069732352
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.497768069,746,714,679.502231931,667,636,879.502231931,788,803,653,631.502231931,653,0.401479765275,0.00457114756936,0.0498490072852,0.999999951824,0.000119585994605,-0.000285632385265,-2.15855819814e-05,1793239264086398976
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.919081619,714,680,666.919081619,635.919081619,880,788,803,653,632,653,0.401383974861,0.00458221596293,0.0498487651367,0.999999950604,0.000132435934308,-0.000283973608139,-2.47161569026e-05,1793239264103065856
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.344383152,714,680,666.344383152,635.344383152,880,788,803,653,632,653,0.401304709535,0.0045769153036,0.0498462452255,0.99999995091,0.000126315804006,-0.000285736764946,-2.40487314103e-05,1793239264119732224
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.223436647,714,679.776563353,666,635,880,788,803,653,631.776563353,653,0.401235080211,0.00457510560187,0.0498452295913,0.999999950974,0.000123822677965,-0.000286601642921,-2.40641650867e-05,1793239264136398848
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745.627659669,714,679,666,635.372340331,880,788,803.372340331,653.372340331,631,653,0.401135001569,0.00457880707403,0.0498480667211,0.999999951637,0.000127461281407,-0.000282535592474,-2.55500301803e-05,1793239264169732352
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745.561844785,714,679,666,636,880,788,804,653.438155215,631.561844785,653,0.401072910077,0.00457794317878,0.0498517128226,0.999999954709,0.00012565491221,-0.000272250284444,-2.59462269839e-05,1793239264203065344
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745.862789918,714,679.137210082,666,636,880,788,803.862789918,653,631.862789918,653,0.401050311733,0.0045792512051,0.0498529881685,0.99999995555,0.000125744488175,-0.000269060385623,-2.63710112481e-05,1793239264219732224
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..167845657016521a6547d7984109a0138064fd22
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,416 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9e3fc28c375fa1b690946e5c714d2226d9bcc140
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24c8802bc285e49bd8f65858b95286df3b8517b23692f12306d3e0fb3665255e
+size 26398458
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d620c8447417269d7cfc445d61e75f64b0cf15e7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_05/franka_data.csv
@@ -0,0 +1,417 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,746,715,679,667,636,880,788,803,654,631,653,0.400995958643,0.00457890184463,0.0498614628881,0.999999960799,0.000120205445378,-0.000251371448351,-2.76571920647e-05,1793239264904730112
+1,0.016666667,BASELINE,766,746,714.425119995,679,667,636,880,788.574880005,803,653.425119995,631.574880005,653,0.400995748872,0.0045797467438,0.049860829507,0.999999960391,0.000120880642072,-0.000252671809791,-2.76031655384e-05,1793239264921396736
+2,0.033333333,BASELINE,766,745.84997363,714,679.15002637,666.84997363,635.84997363,880,789,803.15002637,653,632,653,0.400995620853,0.00458048624216,0.0498606056434,0.999999960134,0.000121463514297,-0.000253409013369,-2.76202643603e-05,1793239264938063360
+3,0.050000000,BASELINE,766,745.274071021,714,679.725928979,666.274071021,635.274071021,880,789,803.725928979,653,632,653,0.400995724902,0.00458092654198,0.0498615442671,0.999999960307,0.000121784307436,-0.000252547594603,-2.78392649802e-05,1793239264954729984
+4,0.066666667,BASELINE,766.308187539,745.308187539,714,680,666.308187539,635,880,788.691812461,803.691812461,653,632,653,0.400996542021,0.00458084543698,0.0498621405578,0.999999960716,0.000121037901911,-0.000251285843034,-2.78217159474e-05,1793239264971396608
+5,0.083333333,BASELINE,766.896217435,745.896217435,714,680,666.896217435,635,880,788.103782565,803.103782565,653,632,653,0.400998006625,0.00458029088274,0.0498624260012,0.999999961335,0.000119322452032,-0.000249660578846,-2.75893736215e-05,1793239264988063232
+6,0.100000000,BASELINE,767,745.521958504,714.478041496,679.521958504,666.521958504,635,880,788,803.478041496,653,632,653,0.400996571208,0.00457966767177,0.0498614581754,0.999999960936,0.0001192616637,-0.00025128867968,-2.75414046632e-05,1793239265004730880
+7,0.116666667,BASELINE,766.94201967,745.05798033,714.94201967,679,666.05798033,635.05798033,880,788,803.94201967,653,632,653,0.400994765984,0.00457910956849,0.0498603453056,0.999999960388,0.000119542363192,-0.000253325840064,-2.756696462e-05,1793239265021398528
+8,0.133333333,BASELINE,766.36703157,745.63296843,714.36703157,679,666.63296843,635.63296843,880,788,803.36703157,653,632,653,0.400995205329,0.00457926323412,0.0498603341556,0.999999960494,0.000119705941067,-0.00025279319994,-2.78958303765e-05,1793239265038064384
+9,0.150000000,BASELINE,766.207189338,746,714,679,666.792810662,636,879.792810662,788,803,653.207189338,632,653,0.400995392855,0.00457881843919,0.0498602783137,0.999999960615,0.00011906485199,-0.00025261543234,-2.78985173181e-05,1793239265054730496
+10,0.166666667,BASELINE,766.780056138,746,714,679,666.219943862,636,879.219943862,788,803,653.780056138,632,653,0.400995135935,0.00457731739525,0.0498601435931,0.999999960761,0.000117003571246,-0.000253063994726,-2.73255170695e-05,1793239265071396864
+11,0.183333333,BASELINE,766.6343077,746,714,679,666.3656923,636,879.3656923,788,803,653.6343077,632,653,0.400995102721,0.00457734301083,0.0498605706655,0.999999960799,0.000117868598333,-0.000252543741277,-2.70475838947e-05,1793239265088063488
+12,0.200000000,BASELINE,766.040713531,746,714,679,666.959286469,636,879.959286469,788,803,653.040713531,632,653,0.400995208922,0.00457832005061,0.0498613478511,0.999999960764,0.00012055731969,-0.00025141971541,-2.69535384241e-05,1793239265104730368
+13,0.216666667,BASELINE,766,745.462621838,714,679,667,636,879.462621838,788,803.537378162,653,632,653,0.400994544393,0.00457930708405,0.0498615363569,0.999999960765,0.000119670331608,-0.000251815085956,-2.71712287311e-05,1793239265121396992
+14,0.233333333,BASELINE,766,745.114382707,714,679.114382707,666.885617293,636,879.114382707,787.885617293,803.885617293,653.114382707,631.885617293,653.114382707,0.400994130054,0.00457988604658,0.0498616964873,0.999999960795,0.000118758486517,-0.000252105268546,-2.73681476081e-05,1793239265138063360
+15,0.250000000,BASELINE,766,745.691607704,714,679.691607704,666.308392296,636,879.691607704,787.308392296,803.308392296,653.691607704,631.308392296,653.691607704,0.400994957747,0.00457881079879,0.0498619172099,0.999999960936,0.000118811531356,-0.00025151707259,-2.73881267827e-05,1793239265154729984
+16,0.266666667,BASELINE,766,745.726352337,714,679.726352337,666.273647663,636,880,787.547295326,803,653.726352337,631,653.726352337,0.400994716412,0.00457894425159,0.0498616038545,0.999999960735,0.000119305578035,-0.000252062565781,-2.75822854089e-05,1793239265171396864
+17,0.283333333,BASELINE,766,745.138788914,714,679.138788914,666.861211086,636,880,788.722422172,803,653.138788914,631,653.138788914,0.400993248738,0.00458046426908,0.0498606778298,0.999999960137,0.000120305521328,-0.000253908574001,-2.79762545282e-05,1793239265188063744
+18,0.300000000,BASELINE,766,745.44262417,714.44262417,679,666.55737583,636,880,788.55737583,803,653,631,653,0.400994148868,0.00458035651794,0.0498612572756,0.999999960377,0.000120466192138,-0.000252895814746,-2.79009854239e-05,1793239265204730112
+19,0.316666667,BASELINE,766,745.978034232,714.978034232,679,666.021965768,635.978034232,880,788,803,653,631,653,0.400995723959,0.00457978510976,0.0498622520615,0.999999960859,0.000120323861328,-0.000251073361546,-2.76992563539e-05,1793239265221396992
+20,0.333333333,BASELINE,766,745.402958461,714.402958461,679,666.597041539,635.402958461,880,788,803,653,631,653,0.400995855886,0.00458021462757,0.0498619816578,0.999999960986,0.000119087523691,-0.000251124699614,-2.79673356906e-05,1793239265238063616
+21,0.350000000,BASELINE,766,745,714,679,667,635.172538766,880,788,803.172538766,653,631.172538766,653,0.400996282055,0.00458057313139,0.0498620347821,0.999999961143,0.00011864704877,-0.000250696138411,-2.80728937296e-05,1793239265254729984
+22,0.366666667,BASELINE,766,745,714,679,667,635.749022618,880,788,803.749022618,653,631.749022618,653,0.400997397096,0.00458076537831,0.0498628453454,0.999999961369,0.000120069835496,-0.000249144044463,-2.77979593857e-05,1793239265271396864
+23,0.383333333,BASELINE,766,745.333375076,714,679,666.666624924,636,880,788,803.666624924,653,632,653,0.400997704988,0.00458057978537,0.0498629625136,0.999999961458,0.00011991782257,-0.000248873699498,-2.76576571444e-05,1793239265288063488
+24,0.400000000,BASELINE,766,745.92379458,714,679,666.07620542,636,880,788,803.07620542,653,632,653,0.40099739054,0.00458010286405,0.049862545049,0.999999961443,0.000118551581425,-0.000249591629908,-2.76211611697e-05,1793239265304730112
+25,0.416666667,BASELINE,766.503361185,746,714,679,666.503361185,636,880,788,803.503361185,653.503361185,631.496638815,653,0.400997464901,0.00457961309025,0.0498627696895,0.999999961557,0.000119575504849,-0.000248648245481,-2.76148031696e-05,1793239265321396736
+26,0.433333333,BASELINE,766.918956543,746,714,679,667,636,879.918956543,788,804,653.918956543,631.081043457,653,0.400997274124,0.00457933249797,0.0498628773144,0.999999961549,0.000120865966024,-0.000248052840865,-2.7612354935e-05,1793239265338063872
+27,0.450000000,BASELINE,766.342959375,746,714,679,667,636,879.342959375,788,804,653.342959375,631.657040625,653,0.400995112176,0.00458034106468,0.049861689136,0.999999960701,0.000121620946058,-0.000251086268223,-2.76065072912e-05,1793239265354730496
+28,0.466666667,BASELINE,766.231896046,746,714.231896046,679.231896046,666.768103954,636,879,788,804,653,631.768103954,653.231896046,0.400994062878,0.00458082475704,0.0498610830225,0.999999960347,0.000121210355584,-0.000252686473954,-2.76338625666e-05,1793239265371396864
+29,0.483333333,BASELINE,766.805071135,746,714.805071135,679.805071135,666.194928865,636,879,788,804,653,631.194928865,653.805071135,0.400994651057,0.00458053599711,0.0498613335282,0.999999960729,0.000119084406856,-0.000252177421881,-2.77100822395e-05,1793239265388063232
+30,0.500000000,BASELINE,766.610056286,746,714.610056286,679.610056286,666.389943714,636,879.389943714,788,803.610056286,653,631,653.610056286,0.400995503426,0.00457970962281,0.04986187678,0.999999961013,0.000118650207235,-0.000251273815342,-2.75332558532e-05,1793239265404730112
+31,0.516666667,BASELINE,766.019155433,746,714.019155433,679.019155433,666.980844567,636,879.980844567,788,803.019155433,653,631,653.019155433,0.400996491945,0.00457860618945,0.0498625708982,0.999999961247,0.000119087849046,-0.000250166875533,-2.72260224079e-05,1793239265421396736
+32,0.533333333,BASELINE,766.561053324,746,714,679,667.561053324,636,880,788,803.561053324,653.561053324,631,653,0.400995514561,0.0045796683809,0.0498622826734,0.999999960843,0.000121168311316,-0.00025076307028,-2.73810924124e-05,1793239265438063360
+33,0.550000000,BASELINE,766.860389291,746,714,679,667.860389291,636,880,788,803.860389291,654,631.139610709,653,0.400994983136,0.00458032848225,0.0498621976706,0.999999960709,0.000121998251093,-0.00025088232193,-2.74966924616e-05,1793239265454730240
+34,0.566666667,BASELINE,766.285860466,746,714,679,667.285860466,636,880,788,803.285860466,654,631.714139534,653,0.400996046153,0.00457950995664,0.0498628482767,0.999999961487,0.000118761075264,-0.000249338033497,-2.74410839963e-05,1793239265471397120
+35,0.583333333,BASELINE,766.295602147,746,714,679,666.704397853,636,880,788,803,653.704397853,632,653,0.400996848795,0.00457986922447,0.0498632773647,0.999999961733,0.000118793415313,-0.000248340463063,-2.73716661581e-05,1793239265488063744
+36,0.600000000,BASELINE,766.88393117,746,714,679,666.11606883,636,880,788,803,653.11606883,632,653,0.400997393595,0.00458139482946,0.0498634870892,0.999999961455,0.000122063468851,-0.000247884292618,-2.72885732617e-05,1793239265504730112
+37,0.616666667,BASELINE,766.534761425,746,714,679,666.465238575,636,880,788.465238575,803,653,631.534761425,653,0.400995750281,0.00458084948094,0.0498628133461,0.99999996099,0.000121737865881,-0.000249873356207,-2.76245592313e-05,1793239265521396736
+38,0.633333333,BASELINE,766,746,714,679,667,636,880,788.9553356,803,653,631,653,0.400993798828,0.00457990785886,0.0498619935883,0.999999960513,0.000120740351333,-0.000252210043376,-2.80193533341e-05,1793239265538063616
+39,0.650000000,BASELINE,766,746,714,679,667,636,880,788.377768889,803,653,631,653,0.400994587283,0.00458031101965,0.0498620223547,0.999999960504,0.000122269922104,-0.00025152396052,-2.78869037433e-05,1793239265554730240
+40,0.666666667,BASELINE,766,745.802515334,714,679,667,636,880,788,803.197484666,653.197484666,631.197484666,653,0.400994569256,0.0045804743259,0.0498617114237,0.999999960418,0.000122661340326,-0.000251682658223,-2.78187286158e-05,1793239265571396864
+41,0.683333333,BASELINE,766,745.231635423,714,679,667,636,880,788,803.768364577,653.768364577,631.768364577,653,0.400993026368,0.0045801841258,0.049860758208,0.999999960188,0.000120900790123,-0.000253438629564,-2.78720807993e-05,1793239265588063488
+42,0.700000000,BASELINE,766,745.352688401,714,679,667,636,880,788,803.647311599,653.647311599,632,653,0.400993009481,0.00458002201424,0.0498606228511,0.999999960385,0.000119968924677,-0.000253109274357,-2.78136161411e-05,1793239265604730112
+43,0.716666667,BASELINE,766,745.946191677,714,679,667,636,880,788,803.053808323,653.053808323,632,653,0.400994034544,0.00457994736127,0.0498610459262,0.999999960875,0.000119602883461,-0.000251356062634,-2.76788031835e-05,1793239265621396992
+44,0.733333333,BASELINE,766,746,714,679,666.49313866,635.49313866,879.49313866,788,803,653,631.49313866,653,0.400995874226,0.00457960575298,0.0498620859626,0.999999961316,0.00011839580659,-0.000250167860542,-2.7682794916e-05,1793239265638063616
+45,0.750000000,BASELINE,766,746,714.069115724,679,666,635.069115724,879.069115724,788,803.069115724,653,631,653,0.400997561507,0.00457929476214,0.0498630542276,0.999999961727,0.000117211175826,-0.000249079613431,-2.77004308837e-05,1793239265654730240
+46,0.766666667,BASELINE,766,746,714.668654257,679,666,635.668654257,879.668654257,788,803.668654257,653,631,653,0.400997455893,0.00457942300327,0.0498629996209,0.999999961957,0.00011684232469,-0.000248326146015,-2.77165720065e-05,1793239265671396864
+47,0.783333333,BASELINE,766,745.743686025,714.743686025,679,666.256313975,636,880,788,803.743686025,653.256313975,631,653.256313975,0.40099700803,0.00457941990018,0.0498627532762,0.999999961838,0.000117204730129,-0.00024864031419,-2.76726821791e-05,1793239265688063488
+48,0.800000000,BASELINE,766,745.17070222,714.17070222,679,666.82929778,636,880,788,803.17070222,653.82929778,631,653.82929778,0.400996137328,0.00457925452445,0.0498622700438,0.999999961284,0.000118470585654,-0.000250273520689,-2.75546255404e-05,1793239265704730112
+49,0.816666667,BASELINE,766,745.416713963,714,679,667,636,879.583286037,788,803,654,631,653.583286037,0.400996085275,0.00457917716853,0.0498620952727,0.999999961119,0.000119073934846,-0.00025067446472,-2.73256393781e-05,1793239265721396736
+50,0.833333333,BASELINE,766,746,714,679,667,636,879,788,803,653.990020219,631,653,0.400996362774,0.00457914869836,0.0498620467674,0.999999961118,0.000119375318153,-0.000250563172294,-2.70591226145e-05,1793239265738063360
+51,0.850000000,BASELINE,766,746,714,679,667,636,879,788,803,653.412368272,631,653,0.400995626114,0.00457977641347,0.049861735173,0.999999961091,0.000118491211231,-0.000251058007096,-2.73353009273e-05,1793239265754729984
+52,0.866666667,BASELINE,766.164577177,746,714.164577177,679,667,636,879.164577177,788,803,653.164577177,631,653,0.400995235323,0.0045799286427,0.0498616473938,0.999999961157,0.000117711091957,-0.000251144376727,-2.75062485689e-05,1793239265771396864
+53,0.883333333,BASELINE,766.73975994,746,714.73975994,679,667,636,879.73975994,788,803,653.73975994,631,653,0.400995707442,0.00457889457644,0.0498621180145,0.999999961454,0.00011719041277,-0.000250211661637,-2.74146549223e-05,1793239265788063488
+54,0.900000000,BASELINE,766.678944099,746,714.678944099,679,666.678944099,636,880,788,803.321055901,653.678944099,631.321055901,653,0.400996436765,0.00457837985719,0.049862548358,0.999999961746,0.000117012497868,-0.000249136720023,-2.7342578528e-05,1793239265804730112
+55,0.916666667,BASELINE,766.092596777,746,714.092596777,679,666.092596777,636,880,788,803.907403223,653.092596777,631.907403223,653,0.400997378619,0.00457829427917,0.0498629454202,0.999999962031,0.000117117812248,-0.000247944255382,-2.72866294219e-05,1793239265821396736
+56,0.933333333,BASELINE,766,746,714,679.490308124,666.490308124,636,880,788,803.509691876,653,632,653,0.400996185505,0.00457806828868,0.0498624342632,0.999999961977,0.00011617269168,-0.000248587190332,-2.74555476453e-05,1793239265838063360
+57,0.950000000,BASELINE,766,745.928531522,714,679.928531522,666.928531522,635.928531522,880,788,803,653.071468478,631.928531522,653,0.400994791412,0.00457780862146,0.0498618392962,0.999999961874,0.000115005155327,-0.000249519359614,-2.76638168622e-05,1793239265854729984
+58,0.966666667,BASELINE,766,745.355090245,714,679.355090245,666.355090245,635.355090245,880,788,803,653.644909755,631.355090245,653,0.400994797895,0.00457749737151,0.0498618519852,0.999999961887,0.000113659078842,-0.000250065421541,-2.78522786021e-05,1793239265871396608
+59,0.983333333,BASELINE,766,745.219436822,714,679,666.219436822,635.219436822,880,788,803.219436822,654,631.219436822,653,0.40099496207,0.00457765863931,0.0498621548925,0.999999961856,0.000114163818023,-0.000249947694078,-2.79507021532e-05,1793239265888063232
+60,1.000000000,BASELINE,766,745.795729732,714,679,666.795729732,635.795729732,880,788,803.795729732,654,631.795729732,653,0.400995382692,0.0045785883325,0.0498629297632,0.999999961748,0.000117678420296,-0.000248750488411,-2.7902702378e-05,1793239265904730368
+61,1.016666667,BASELINE,766,746,714,679,666.619580123,636,880,788,804,654,632,653,0.400995198808,0.00458001467669,0.0498626884009,0.999999961302,0.000120074027346,-0.000249412588356,-2.77635428505e-05,1793239265921396992
+62,1.033333333,BASELINE,766,746,714,679,666.030279258,636,880,788,804,654,632,653,0.400994683003,0.00458171372201,0.0498618890451,0.999999960671,0.000121855216163,-0.000251095596103,-2.75743293191e-05,1793239265938063360
+63,1.050000000,BASELINE,766,745.449166413,714,679,666,636,880,788.550833587,803.449166413,653.449166413,631.449166413,653,0.400996314101,0.00458022983927,0.0498633075332,0.999999961608,0.000119482672425,-0.000248498670879,-2.75040664355e-05,1793239265954730240
+64,1.066666667,BASELINE,766,745,714,679.130287386,666,636,880,788.869712614,803.130287386,653.130287386,631.130287386,653.130287386,0.400997662434,0.00457897490921,0.0498643914325,0.999999962391,0.000117512299645,-0.000246282070891,-2.74683741023e-05,1793239265971396864
+65,1.083333333,BASELINE,766,745,714,679.705589294,666,636,880,788.294410706,803.705589294,653.705589294,631.705589294,653.705589294,0.400997647754,0.00457909086303,0.0498639221805,0.9999999624,0.000117684067441,-0.000246156342392,-2.75287555354e-05,1793239265988063232
+66,1.100000000,BASELINE,766,745,714,679.713010451,666,635.713010451,879.713010451,788,803.713010451,653.713010451,631.713010451,653.713010451,0.400997053352,0.00457920331176,0.0498634161348,0.999999962252,0.000117639285818,-0.000246771421392,-2.75781574628e-05,1793239266004729856
+67,1.116666667,BASELINE,766,745,714,679.125218368,666,635.125218368,879.125218368,788,803.125218368,653.125218368,631.125218368,653.125218368,0.400995851327,0.00457931208669,0.0498628715243,0.999999961939,0.000117367532111,-0.00024816296342,-2.76160514301e-05,1793239266021396736
+68,1.133333333,BASELINE,766,745,714.456008646,679,666.456008646,635.456008646,879.456008646,788,803,653,631.456008646,653.456008646,0.400996208752,0.0045797691734,0.0498627709705,0.999999961728,0.000118721497842,-0.000248362609076,-2.76797042085e-05,1793239266038063360
+69,1.150000000,BASELINE,766,745,714.964827006,679,667,636,879.964827006,788,803.035172994,653,631.964827006,653.964827006,0.400996885207,0.00458034102338,0.0498627324197,0.999999961536,0.000120398339807,-0.000248316609149,-2.77626003995e-05,1793239266054730240
+70,1.166666667,BASELINE,766,745,714.390043455,679,667,636,879.390043455,788,803.609956545,653,631.390043455,653.390043455,0.400995979739,0.00458122700018,0.0498618009446,0.999999961261,0.000120277068153,-0.000249451912226,-2.80337461348e-05,1793239266071396864
+71,1.183333333,BASELINE,766,745,714,679.187871226,666.812128774,636,879,788,803.812128774,653,631.187871226,653.187871226,0.400995687155,0.00458108787356,0.0498616038108,0.999999961276,0.000119587830768,-0.000249719496603,-2.80588739498e-05,1793239266088063488
+72,1.200000000,BASELINE,766,745,714,679.772396795,666.227603205,636,879,788,803.227603205,653,631.772396795,653.772396795,0.400996688557,0.00457878443628,0.0498629570991,0.999999961903,0.000117699441794,-0.000248155058266,-2.75645817896e-05,1793239266104729856
+73,1.216666667,BASELINE,766.352234495,745.352234495,714,679.647765505,666,636,879,788,803,653,631.647765505,653.647765505,0.400996216694,0.00457735024892,0.0498626058961,0.999999961868,0.000116852075555,-0.000248728813758,-2.72752606199e-05,1793239266121396736
+74,1.233333333,BASELINE,766.929082787,745.929082787,714,679.070917213,666,636,879,788,803,653,631.070917213,653.070917213,0.400994805357,0.00457647036722,0.0498611677686,0.99999996141,0.000116668551477,-0.00025066605827,-2.71166459071e-05,1793239266138063360
+75,1.250000000,BASELINE,767,746,714,679.511199814,666.511199814,635.488800186,879,788,803,653.511199814,631,653,0.400994536757,0.00457720126131,0.0498611782965,0.999999961268,0.000117472587232,-0.00025084271865,-2.72544690458e-05,1793239266154729984
+76,1.266666667,BASELINE,766.907270157,745.907270157,714,679.907270157,667,635,879,788,803,653.907270157,631.092729843,653,0.400994681938,0.00457812299084,0.0498614500038,0.999999961224,0.000118331543985,-0.000250592513825,-2.74487467577e-05,1793239266171396864
+77,1.283333333,BASELINE,766.332628812,745.332628812,714,679.332628812,667,635,879,788,803,653.332628812,631.667371188,653,0.400996145073,0.00457886308873,0.0498620237514,0.999999961462,0.000118756520168,-0.000249406437886,-2.77204712507e-05,1793239266188063744
+78,1.300000000,BASELINE,766,745.247291441,714,679,667,635.247291441,879,788,803,653.247291441,631.752708559,653,0.400996662986,0.00457917789776,0.0498626732478,0.999999961783,0.000117905106917,-0.000248510084252,-2.78504211646e-05,1793239266204730624
+79,1.316666667,BASELINE,766,745.834467123,714,679,667,635.834467123,879,788,803,653.834467123,631.165532877,653,0.400995881758,0.00457890817788,0.0498634268554,0.999999962212,0.000115299388454,-0.000248011933118,-2.77855121272e-05,1793239266221396992
+80,1.333333333,BASELINE,766.417959721,746,714.417959721,679.417959721,667,636,879,788,803,653.582040279,631.417959721,653,0.400995904514,0.00457947816253,0.0498639634967,0.999999962145,0.000116860330977,-0.000247553085805,-2.77785407829e-05,1793239266238063616
+81,1.350000000,BASELINE,766.999993644,746,715,679.999993644,667,636,879.000006356,788,803,653,632,653,0.4009962429,0.00458037779263,0.0498644149419,0.999999961875,0.000120057021332,-0.000247109686602,-2.77943146605e-05,1793239266254730496
+82,1.366666667,BASELINE,766.424292848,746,715,679.424292848,667,636,879.575707152,788,803,653,632,653,0.400995882676,0.00457996573594,0.0498633113149,0.999999961671,0.000119345833453,-0.000248282954476,-2.77597507357e-05,1793239266271396864
+83,1.383333333,BASELINE,766,745.84880025,714.84880025,679,666.84880025,635.84880025,880,788,803.15119975,653,632,653,0.400995484862,0.00457952276429,0.0498625981168,0.999999961607,0.000118557853595,-0.000248920630946,-2.77316234097e-05,1793239266288063488
+84,1.400000000,BASELINE,766,745.273890956,714.273890956,679,666.273890956,635.273890956,880,788,803.726109044,653,632,653,0.400994981709,0.00457899315901,0.0498629790237,0.99999996194,0.000117554678156,-0.000248057411091,-2.77215334624e-05,1793239266304730112
+85,1.416666667,BASELINE,766,745,714,679,666.307432243,635.307432243,879.692567757,788,804,653.307432243,632,653.307432243,0.400994615756,0.00457924896828,0.0498631460531,0.999999961901,0.000117760383055,-0.000248114012218,-2.77488136523e-05,1793239266321396480
+86,1.433333333,BASELINE,766,745,714,679,666.8945913,635.8945913,879.1054087,788,804,653.8945913,632,653.8945913,0.400994374641,0.00458021941152,0.0498631184792,0.999999961523,0.000119066025485,-0.000249007541198,-2.78100962275e-05,1793239266338063104
+87,1.450000000,BASELINE,766,745.476475454,714.476475454,679,666.523524546,635.523524546,879.476475454,788,804,653.523524546,631.523524546,653.523524546,0.400994622751,0.0045800784744,0.0498624166442,0.999999961368,0.000119198274732,-0.000249564551959,-2.78159420879e-05,1793239266354730240
+88,1.466666667,BASELINE,766,745.943284791,714.943284791,679,666.056715209,635.056715209,880,788,803.943284791,653,631.056715209,653,0.400995207469,0.00457974153183,0.0498618636704,0.999999961349,0.000119115972962,-0.00024968141318,-2.78043752451e-05,1793239266371396608
+89,1.483333333,BASELINE,766,745.367531426,714.367531426,679,666.632468574,635.632468574,880,788,803.367531426,653,631.632468574,653,0.400997893071,0.00457983625956,0.0498640231748,0.999999962117,0.000119419794323,-0.000246444025959,-2.7744460636e-05,1793239266388063232
+90,1.500000000,BASELINE,766,745,714,679.207660704,667,635.792339296,879.792339296,788,803,653.207660704,631.792339296,653,0.400999688572,0.00457922731252,0.049865205774,0.999999962775,0.000118501283182,-0.000244221451632,-2.76161392196e-05,1793239266404729856
+91,1.516666667,BASELINE,766,745,714,679.781862141,667,635.218137859,879.218137859,788,803,653.781862141,631.218137859,653,0.40099991296,0.00457737631311,0.0498646640431,0.999999963247,0.00011542523982,-0.000243790118149,-2.73670733412e-05,1793239266421396480
+92,1.533333333,BASELINE,766,745.367444705,714,679.632555295,667,635.367444705,879,788,803,653.632555295,631.367444705,653,0.400998452384,0.00457745632385,0.049863810408,0.999999962881,0.000114842978378,-0.000245545771551,-2.75035323854e-05,1793239266438063360
+93,1.550000000,BASELINE,766,745.959999828,714,679.040000172,667,635.959999828,879,788,803,653.040000172,631.959999828,653,0.400995959536,0.00457871934371,0.0498627656885,0.999999961997,0.00011578850105,-0.000248641255172,-2.78761784445e-05,1793239266454729984
+94,1.566666667,BASELINE,766,746,714,679.539468644,667,636,879,788,803,653.539468644,631.460531356,653,0.400996064959,0.00458011320713,0.0498630798226,0.99999996191,0.000117593455992,-0.000248129314572,-2.80008182551e-05,1793239266471397120
+95,1.583333333,BASELINE,766,746,714,679.88324376,667,636,879.11675624,788,803,653.88324376,631.11675624,653,0.400996789902,0.00458142718497,0.0498638106919,0.999999961951,0.000119663029847,-0.00024696470168,-2.80437514459e-05,1793239266488063744
+96,1.600000000,BASELINE,766,746,714,679.310772016,667,636,879.689227984,788,803,653.310772016,631.689227984,653,0.400999198766,0.00458239238865,0.0498657841873,0.999999962272,0.000122522612652,-0.000244271908651,-2.78378475386e-05,1793239266504730368
+97,1.616666667,BASELINE,766,746,714,679,667,636,880,788,803.270230019,653,631.729769981,653,0.400999778964,0.00458176509999,0.0498662433043,0.999999962464,0.000122093065022,-0.000243724046398,-2.76499231233e-05,1793239266521396992
+98,1.633333333,BASELINE,766,746,714,679,667,636,880,788,803.861361856,653,631.138638144,653,0.400998187596,0.00457924670498,0.0498649040763,0.999999962499,0.000117757630151,-0.000245723318739,-2.74833496111e-05,1793239266538063616
+99,1.650000000,BASELINE,766,745.556423289,714,679,667,636,880,788,803.556423289,653,631.443576711,653,0.400996332839,0.00457875385263,0.0498634945545,0.999999962185,0.000115967706192,-0.000247825764692,-2.76459859635e-05,1793239266554729984
+100,1.666666667,BASELINE,766.0228721,745.0228721,714,679,666.9771279,635.9771279,879.9771279,788.0228721,803,653.0228721,632,653,0.400994520629,0.00457886470237,0.0498621537397,0.999999961788,0.000115049847987,-0.000249820374951,-2.78848227758e-05,1793239266571396608
+101,1.683333333,BASELINE,766.59764529,745.59764529,714,679,666.40235471,635.40235471,879.40235471,788.59764529,803,653.59764529,632,653,0.400995682329,0.00457856781352,0.0498629905053,0.999999961988,0.00011635566756,-0.000248450152589,-2.75284929328e-05,1793239266588063232
+102,1.700000000,BASELINE,766.823737731,746,714,679,666.176262269,635,879.176262269,788.823737731,803,653.823737731,631.823737731,653,0.40099656658,0.00457823850781,0.0498636828702,0.999999962207,0.000116843656661,-0.000247364284813,-2.72706085328e-05,1793239266604730112
+103,1.716666667,BASELINE,766.236150989,746,714,679,666.763849011,635,879.763849011,788.236150989,803,653.236150989,631.236150989,653,0.400996803379,0.00457783355438,0.0498640382622,0.999999962477,0.000115423161774,-0.000246941985216,-2.72424558207e-05,1793239266621396736
+104,1.733333333,BASELINE,766,746,714,679.346707232,667,635,880,788,803,653.346707232,631,653,0.400996404835,0.00457786926494,0.0498637806941,0.999999962485,0.000114954447682,-0.000247109424132,-2.74439553769e-05,1793239266638063616
+105,1.750000000,BASELINE,766,746,714,679.926388133,667,635,880,788,803,653.926388133,631,653,0.400995579364,0.0045782010844,0.0498631112409,0.999999962316,0.00011512529283,-0.000247673144167,-2.77997722516e-05,1793239266654730496
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666,636,880,788,804,654,632,654,0.400997967938,0.00457869704497,0.0498648429497,0.999999962488,0.000117634456217,-0.000245868960448,-2.70928083397e-05,1793239266687363072
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679.389677153,666.610322847,636,880,788.610322847,803.389677153,654,632,653.389677153,0.400996318779,0.00457928528501,0.0498636840505,0.999999962157,0.000117739293739,-0.000247114436121,-2.75243202696e-05,1793239266704030208
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.788495805,635.788495805,880,788.788495805,803.211504195,653.788495805,631.788495805,653,0.400995584301,0.00457951803666,0.0498629814631,0.99999996195,0.000117721880179,-0.000247933364062,-2.77771520695e-05,1793239266720697088
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666.203458944,635.203458944,880,788.203458944,803.796541056,653.203458944,631.203458944,653,0.400996465218,0.00457912296858,0.0498630847574,0.999999961962,0.000117488561831,-0.000247998976128,-2.77144210975e-05,1793239266737363712
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.377410695,746,714,679,666,635.377410695,880,788,803.622589305,653,631.377410695,653,0.400997098263,0.00457811446628,0.0498636359662,0.999999962319,0.000116732824083,-0.000246928880149,-2.75875678829e-05,1793239266754030336
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.956058319,746,714,679,666,635.956058319,880,788,803.043941681,653,631.956058319,653,0.400997599141,0.00457677887837,0.0498644260048,0.999999962856,0.000115698530185,-0.000245253219984,-2.74265244297e-05,1793239266770696960
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.464524369,746,714,679,666,636,880,788,803.535475631,653.535475631,632,653,0.400996685749,0.00457836040466,0.0498637393475,0.999999962374,0.000116862250249,-0.000246664628926,-2.74105962057e-05,1793239266787363584
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,714.114256864,679,666.114256864,636,879.885743136,788,804,654,632,653,0.400995606228,0.00457960662191,0.0498630063299,0.99999996186,0.000117697344603,-0.000248345969031,-2.7410471461e-05,1793239266804029696
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,714.690212158,679,666.690212158,636,879.309787842,788,804,654,632,653,0.400994325045,0.00457852919089,0.0498625763517,0.999999961568,0.000116474593271,-0.000250092926699,-2.74260173871e-05,1793239266820696320
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714.728221671,679,667,636,879,788,804,654,632,653,0.400995514656,0.00457840238063,0.0498628447615,0.999999961657,0.000116391792401,-0.000249762788614,-2.75225002787e-05,1793239266837363200
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,714.140125135,679,667,636,879,788,804,654,632,653,0.400999579985,0.00457938198191,0.0498639260131,0.999999962189,0.000117635760709,-0.000247015153738,-2.77131843367e-05,1793239266854030080
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.560177619,714,679.439822381,666.560177619,636,879.439822381,788,804,653.560177619,631.560177619,653,0.401015698554,0.00457832833325,0.0498709142318,0.99999996551,0.000116162475558,-0.000233952516181,-2.74398587106e-05,1793239266870696704
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.01725316,714,679.98274684,666,636,879.98274684,788,803.98274684,653.01725316,631,653,0.401036334537,0.00457674890062,0.0498799305967,0.999999969557,0.000114009614644,-0.000217156693837,-2.70438123813e-05,1793239266887363328
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.595732192,714,679.404267808,666,636,879.404267808,788,803.404267808,653.595732192,631,653,0.401081275065,0.00457875464741,0.0498948168141,0.999999975828,0.000117399003743,-0.0001838798586,-2.73771035857e-05,1793239266904029952
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666,636,879.176658356,788,803.176658356,654,631,653,0.401133386715,0.00458006263129,0.049910732863,0.999999981382,0.000119749134266,-0.000148785502708,-2.75562806964e-05,1793239266920696832
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666,636,879.763263356,788,803.763263356,654,631,653,0.401202139407,0.0045797514136,0.0499290387026,0.99999998647,0.0001196876018,-0.000109473471325,-2.73778266191e-05,1793239266937363456
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.345683686,746,714,679,666.345683686,636,880,788.345683686,803.654316314,653.654316314,631.345683686,653,0.401274610819,0.00457798570286,0.0499423803735,0.999999988975,0.000116560583474,-8.81392993408e-05,-2.63461765342e-05,1793239266954030336
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.925272447,746,714,679,666.925272447,636,880,788.925272447,803.074727553,653.074727553,631.925272447,653,0.401349598481,0.00457523581697,0.0499523630643,0.999999990375,0.000111359320115,-7.89697551495e-05,-2.47372158217e-05,1793239266970696704
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.498906142,746,714,679,667,636,880,788.498906142,803.501093858,653,632,653,0.401440581356,0.00457410627667,0.0499550892659,0.999999990891,0.000110539618635,-7.3682289315e-05,-2.38640188697e-05,1793239266987363072
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.076716173,746,714,679,667,636,880,788,803.923283827,653,631.923283827,653,0.401535709951,0.00457299893624,0.0499562035351,0.999999991228,0.000109703683627,-7.05448679989e-05,-2.30859332122e-05,1793239267004030208
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.654681062,746,714,679,667,636,880,788,803.345318938,653,631.345318938,653,0.40164245678,0.00457046959577,0.0499538035583,0.999999991272,0.000104524237098,-7.77010339063e-05,-2.22177232348e-05,1793239267020696832
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.763207278,746,714,679,666.763207278,636,880,788,803,653.236792722,631,653,0.401762052146,0.00456911937525,0.049953816238,0.999999991417,0.000101467980104,-8.00933296531e-05,-2.13247950044e-05,1793239267037363200
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.174940573,746,714,679,666.174940573,636,880,788,803,653.825059427,631,653,0.401900718724,0.00456951933536,0.0499574100499,0.999999991791,0.000101563196647,-7.54145610392e-05,-2.03951772839e-05,1793239267054030080
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666,636,880,788,803.407507741,653.592492259,631.407507741,653,0.402062935767,0.00456932001424,0.0499607106878,0.999999992238,0.000100563089598,-7.09645586e-05,-1.93572866502e-05,1793239267070696704
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666,636,880,788,803.987493466,653.012506534,631.987493466,653,0.402235120576,0.00456886704688,0.0499638872399,0.999999992704,9.90993859523e-05,-6.66113812308e-05,-1.8273569338e-05,1793239267087363584
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.436678198,879.436678198,788,803.436678198,653,631.436678198,653,0.402437164281,0.0045661206702,0.0499613871728,0.999999992836,9.50325003153e-05,-7.08650873088e-05,-1.65995470132e-05,1793239267104030208
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.860304372,714,679,666,635,879.139695628,788,803,653,631,653,0.402646325003,0.00456348209002,0.0499599755685,0.99999999312,9.10047886507e-05,-7.2496045885e-05,-1.49077364578e-05,1793239267120696832
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.281929708,714,679,666,635,879.718070292,788,803,653,631,653,0.402875768528,0.00456134073735,0.0499623748702,0.999999993972,8.72802508428e-05,-6.5295267698e-05,-1.3200919352e-05,1793239267137363456
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.301386251,714,679.301386251,666.301386251,635.301386251,880,788,803.301386251,653,631.301386251,653,0.403135140133,0.004559375222,0.0499666982275,0.999999994936,8.32524981461e-05,-5.53374025147e-05,-1.15711540377e-05,1793239267154030080
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.889401521,714,679.889401521,666.889401521,635.889401521,880,788,803.889401521,653,631.889401521,653,0.403422974392,0.0045575769343,0.0499728514298,0.99999999592,7.89363775466e-05,-4.27574501905e-05,-1.00146678128e-05,1793239267170696704
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,714,679.531532456,666.531532456,636,880,788,803.531532456,653,632,653,0.403739895014,0.00455393077308,0.0499789968849,0.999999996669,7.51111989952e-05,-3.09798509858e-05,-7.79663903278e-06,1793239267187363328
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.954747072,714.045252928,679.045252928,666.045252928,636,880,788,803.045252928,653,631.954747072,653,0.404067330814,0.00454995152355,0.049985225522,0.99999999726,7.12687351776e-05,-1.92842537323e-05,-5.39146803457e-06,1793239267204029952
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.380387247,714.619612753,679.619612753,666.619612753,636,880,788,803.619612753,653,631.380387247,653,0.404438928442,0.00454708292233,0.0499924477247,0.999999997805,6.58943922077e-05,-6.37416931483e-06,-2.59005793417e-06,1793239267220696832
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.198424823,714.801575177,680,667,636,879.801575177,788,803.801575177,653,631.198424823,653,0.404818132418,0.00454331489629,0.0499987191736,0.999999998141,6.07661720122e-05,5.05904107324e-06,3.28055811764e-07,1793239267237363456
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.785967837,714.214032163,680,667,636,879.214032163,788,803.214032163,653,631.785967837,653,0.405212252675,0.00453778306625,0.0500031261592,0.999999998327,5.61206080499e-05,1.35960470251e-05,3.47502925992e-06,1793239267254030080
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,714,679.631571462,667,636,879,788,803,653,631.631571462,653,0.405610039453,0.00453351532988,0.0499919322684,0.99999999864,5.11732151434e-05,-7.74004979786e-06,6.41228329879e-06,1793239267270696704
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,714,679.052023015,667,636,879,788,803,653,631.052023015,653,0.406009927289,0.00452997195418,0.0499717986372,0.99999999783,4.60528652669e-05,-4.6194273485e-05,9.22936251015e-06,1793239267287363328
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.474033262,636,879.525966738,788,803,653,631,653,0.406463159107,0.00452591146781,0.0499546736669,0.999999996548,4.07523361739e-05,-7.1547681261e-05,1.11596769469e-05,1793239267304029952
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.104417107,636,880,788,803.104417107,653,631,653,0.406929104345,0.00452183278552,0.0499397912101,0.999999994932,3.53469615335e-05,-9.33360554578e-05,1.32587268606e-05,1793239267320696320
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666.685673122,636,880,788,803.685673122,653,631,653,0.407429084211,0.00451790388885,0.0499337946194,0.999999993941,2.95439338219e-05,-0.000104744070299,1.65276936852e-05,1793239267337363200
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.732795436,714,679,667,636,880,788,803.732795436,653,631.267204564,653,0.407975691851,0.00451249360333,0.0499428778959,0.999999995793,2.23652447804e-05,-8.66763614941e-05,2.00262724956e-05,1793239267354030080
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.150939693,714,679,667,636,880,788,803.150939693,653,631.849060307,653,0.408577206769,0.00450533888397,0.0499697187211,0.99999999905,1.35666231649e-05,-3.38990232701e-05,2.37952344846e-05,1793239267370696704
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.429396556,714,679,667,636,880,788,803,653,632,653,0.409189058472,0.00449817451399,0.0499908212478,0.999999999592,5.15577830288e-06,-1.38859540025e-06,2.80696133001e-05,1793239267387363584
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.990864602,880,788,803.009135398,653,631.990864602,653,0.409804444272,0.00449102092394,0.0500094488372,0.999999999199,-1.19606423595e-06,2.33331850597e-05,3.25059538261e-05,1793239267404030464
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.415166386,880,788,803.584833614,653,631.415166386,653,0.410414457957,0.00448474552487,0.0499992411777,0.999999993097,0.000111724219652,5.28534523627e-06,3.60074442182e-05,1793239267420696832
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.839668671,746,714,679,667,635.160331329,879.839668671,788,803.839668671,653,631,653,0.411031025608,0.00447881134396,0.0499837994851,0.99999998102,0.000189116631342,-2.502510838e-05,3.96011886654e-05,1793239267437363200
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.264689583,746,714,679,667,635.735310417,879.264689583,788,803.264689583,653,631,653,0.411664542985,0.00447375962005,0.0499548215744,0.999999980021,0.000174627093946,-8.70490450052e-05,4.34335203122e-05,1793239267454030080
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.319841122,746,714,679,667,635.680158878,879.319841122,788,803.319841122,653,631,653,0.412347746372,0.00446677657725,0.04994985226,0.999999982837,0.000153953082441,-9.23235848004e-05,4.58337746165e-05,1793239267470696704
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.91251981,746,714,679,667,635.08748019,879.91251981,788,803.91251981,653,631,653,0.413073334031,0.00445814603983,0.0499653632576,0.999999989493,0.000128003459943,-4.91885736844e-05,4.70124087917e-05,1793239267487363328
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,714.490071399,679,667,635.490071399,880,788,804,653,631.490071399,653,0.413820443723,0.00444511287223,0.0499835082004,0.999999999393,7.57930517973e-06,-2.11575216518e-05,2.66212798091e-05,1793239267504029952
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.935138963,714.935138963,679,667,635.935138963,879.935138963,788,804,652.935138963,631.935138963,653,0.414568603802,0.00443216211225,0.0499971418286,0.999999993502,-0.000113806040283,-3.30321269192e-06,5.75820998125e-06,1793239267520696832
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.361467205,714.361467205,679,667,635.361467205,879.361467205,788,804,652.361467205,631.361467205,653,0.415295769161,0.00442583822959,0.049971807993,0.999999992399,-0.000114399693738,-4.47648015315e-05,1.04927813245e-05,1793239267537363200
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.781777149,745.218222851,714,679,667,635,879.218222851,787.781777149,804,652,631,653,0.416043875085,0.00442932632733,0.049952477425,0.999999992824,-9.2242305513e-05,-7.4891816448e-05,1.53314405062e-05,1793239267554029824
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.191835615,745.808164385,714,679,667,635,879.808164385,787.191835615,804,652,631,653,0.416827650919,0.00444952805746,0.0499433727662,0.999999995629,-3.13310140088e-05,-8.57116257751e-05,2.03474016065e-05,1793239267570696448
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.39096004,745.60903996,714,679,667,635.39096004,880,787.39096004,804,652.39096004,631.39096004,653.39096004,0.417651449035,0.00447658537016,0.0499604968353,0.99999999819,1.25683889555e-05,-5.50039639615e-05,2.09003111771e-05,1793239267587363072
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.970312288,745.029687712,714,679,667,635.970312288,880,787.970312288,804,652.970312288,631.970312288,653.970312288,0.418494532697,0.00450694618697,0.0499902597614,0.99999999864,4.82702586379e-05,-4.28542813057e-06,1.93026065781e-05,1793239267604029696
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.544859478,714.544859478,679.544859478,667.544859478,635.455140522,880,788,803.455140522,652.455140522,631.455140522,653.455140522,0.419294013791,0.00450042770121,0.0499878074917,0.999999999153,3.08342659265e-05,-1.84140547793e-05,2.01002639193e-05,1793239267620696320
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.88142491,746,714.88142491,679.88142491,667.88142491,635.11857509,880.11857509,787.88142491,803,652.11857509,631.11857509,653,0.420101975251,0.00449243701682,0.0499829851758,0.999999999197,1.33843412932e-05,-3.16761001596e-05,2.05976357973e-05,1793239267637363200
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.309894673,746,714.309894673,679.309894673,667.309894673,635.690105327,880.690105327,787.309894673,803,652.690105327,631.690105327,653,0.420951327462,0.00448643148423,0.0499757559489,0.999999999388,6.84459087669e-06,-2.82485647438e-05,1.94537109105e-05,1793239267654030080
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.273156794,746,714,679.273156794,667,635.726843206,880.726843206,787.273156794,803.273156794,653,631.726843206,653,0.421831245718,0.00448079860804,0.0499838998464,0.999999999798,4.53546233481e-06,-2.9406161642e-06,1.93781698172e-05,1793239267670696704
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.86985468,746,714,679.86985468,667,635.13014532,880.13014532,787.86985468,803.86985468,653,631.13014532,653,0.422747368097,0.00447560712464,0.0500102524699,0.999999998597,7.23730116361e-06,4.8283630443e-05,2.05680777822e-05,1793239267687363328
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.549225205,745.549225205,714,679.549225205,667,635.450774795,880.450774795,788,804,652.549225205,631,653,0.423606611943,0.00447629162023,0.0500035397235,0.999999999182,2.65097755526e-06,3.42523703612e-05,2.13638397352e-05,1793239267704029952
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.027239082,714,679.027239082,667,635.972760918,880.972760918,788,803.972760918,652.027239082,631.027239082,653,0.424451731445,0.00447892309133,0.0499887839955,0.999999999743,-3.2591663857e-06,4.24989467086e-06,2.20413097205e-05,1793239267720696320
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.602605374,714,679.602605374,667,635.397394626,880.397394626,788,803.397394626,652.602605374,631.602605374,653,0.425331905574,0.00448774967996,0.0499977860059,0.999999999549,5.10219112265e-06,1.91590081145e-05,2.25508652734e-05,1793239267737362944
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.182917046,745.817082954,714.182917046,680,667,635.182917046,880.182917046,788,803.182917046,653,631.817082954,653,0.426214738478,0.00449380291246,0.0500074155049,0.999999999132,1.4840979773e-05,3.10830066692e-05,2.34410424423e-05,1793239267754029824
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.774271272,745.225728728,714.774271272,680,667,635.774271272,880.774271272,788,803.774271272,653,631.225728728,653,0.427103508132,0.00449366349162,0.050018446129,0.99999999864,2.76554467818e-05,3.63415134283e-05,2.51811131505e-05,1793239267770696704
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.356937485,714.643062515,679.643062515,667,636,880.643062515,788,804,653,631.356937485,653,0.427943038199,0.00448819557495,0.0499984206008,0.99999999937,2.25684582297e-05,-7.55569761895e-06,2.63367307167e-05,1793239267787363328
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.934239899,714.065760101,679.065760101,667,636,880.065760101,788,804,653,631.934239899,653,0.428752168853,0.00447943796847,0.0499592217238,0.999999996266,6.4295254198e-06,-8.18005095076e-05,2.71315202768e-05,1793239267804030208
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.489594602,746,714,679.510405398,667,635.489594602,880,788,804,653,632,653,0.429643195932,0.00447558154267,0.049960991769,0.999999997794,-3.63021788066e-06,-6.09157573209e-05,2.62490340222e-05,1793239267820696832
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.08835715,746,714.08835715,679.91164285,667.176714301,635.08835715,880,788,804,653,632,653,0.430533578899,0.00447317575289,0.0499667890346,0.999999999042,-9.09633421099e-06,-3.43903290619e-05,2.54866188194e-05,1793239267837363200
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.677255722,746,714.677255722,679.322744278,668.354511445,635.677255722,880,788,804,653,632,653,0.431360671745,0.00447541851283,0.0499655648862,0.9999999986,7.03319748571e-06,-4.51885043657e-05,2.6625876695e-05,1793239267854029824
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,714.738236715,679.261763285,668.47647343,636,880.261763285,788,804,653,632,653,0.432201261587,0.00447815759855,0.0499592213726,0.99999999781,1.44865980276e-05,-5.8556952561e-05,2.72331689712e-05,1793239267870696448
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,714.159053706,679.840946294,667.318107412,636,880.840946294,788,804,653,632,653,0.433058218285,0.00448149853974,0.0499466700076,0.999999996749,1.14191396138e-05,-7.50421697486e-05,2.7195388607e-05,1793239267887363072
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667.417397971,636,880.582602029,788,804,652.582602029,632,653,0.433911292379,0.00448138292435,0.0499642451743,0.999999998559,6.54709678055e-06,-4.58754725787e-05,2.71004162062e-05,1793239267904029952
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667.992815577,636,880.007184423,788,804,652.007184423,632,653,0.434762896537,0.00447995871636,0.0499932257244,0.999999999635,9.91869742137e-07,5.74249026358e-07,2.69837918449e-05,1793239267920696832
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.432583082,714.567416918,680,667.432583082,635.432583082,880.567416918,788,804,652.567416918,632,653,0.435539526786,0.00448101530366,0.0499903707754,0.999999999414,6.74859052385e-06,-1.73573695035e-05,2.87385515582e-05,1793239267937363456
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714.854287585,680,667,635.145712415,881,788,804.145712415,653,632,653,0.436304507456,0.00448167141202,0.0499814703808,0.999999998545,9.64865439091e-06,-4.35436527754e-05,3.03332965515e-05,1793239267954030336
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714.264707587,680,667,635.735292413,881,788,804.735292413,653,632,653,0.437036888829,0.00448101203962,0.0499553805379,0.999999995234,3.41112857253e-06,-9.23956023404e-05,3.13685312405e-05,1793239267970696960
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714.319606156,680,667.319606156,635.680393844,881,788,804.680393844,653,632,653.319606156,0.437827821185,0.00447803696083,0.0499615757011,0.999999996675,1.30718384968e-05,-7.39437830124e-05,3.18049319264e-05,1793239267987363328
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,714.899628899,680,667.899628899,635.100371101,881,788,804.100371101,653,632,653.899628899,0.43866646112,0.0044731750337,0.0499940768391,0.999999998859,3.56865053835e-05,-6.52535979701e-07,3.17533997204e-05,1793239268004029952
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.475762967,715,680.475762967,667.524237033,635,881,788.475762967,804.475762967,652.524237033,632,653.524237033,0.439395462052,0.00447030692053,0.0499960541576,0.999999998989,3.04877716376e-05,4.5254357887e-07,3.3048733488e-05,1793239268020696320
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715,680.949091428,667,635,881,788.949091428,804.949091428,652,632,653,0.440097531384,0.00446826971198,0.0499899297163,0.999999999076,2.04400224186e-05,-1.53681410828e-05,3.45539725329e-05,1793239268037363200
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,715,680.375739358,667,635,881,788.375739358,804.375739358,652,632,653,0.440758666333,0.00447047787482,0.0499662114786,0.999999997926,2.03588067404e-05,-4.98684906285e-05,3.53209582382e-05,1793239268054030080
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,715,680,667.204343153,635,881,788,804.204343153,652.204343153,632,653,0.441417097592,0.00447286321556,0.0499534752011,0.999999996787,2.08977037064e-05,-6.82895020591e-05,3.64137126051e-05,1793239268070696704
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,715,680,667.797222975,635,881,788,804.797222975,652.797222975,632,653,0.442070388192,0.00447558544152,0.0499616199432,0.999999997442,2.26156786215e-05,-5.61373764205e-05,3.8125881466e-05,1793239268087363584
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715,680.380055663,667.619944337,635,880.619944337,788,804.619944337,652.619944337,632,653,0.442711436213,0.0044819077027,0.0499653034386,0.999999997597,3.17269713572e-05,-4.73695621272e-05,3.94383551141e-05,1793239268104030208
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680.957665775,667.042334225,635,880.042334225,788,804.042334225,652.042334225,632,653,0.443346120454,0.00449010127639,0.0499666679598,0.999999997365,4.46813400809e-05,-4.03609270948e-05,4.05430654884e-05,1793239268120697088
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.469217637,746,714.469217637,680.469217637,667,635,880.530782363,788,804.530782363,652,632,653,0.443861944576,0.00450400585992,0.049927965222,0.999999991135,6.3223795559e-05,-0.000110046271557,4.02716444158e-05,1793239268137363456
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.10711589,746,714,680,666.89288411,635,881,787.89288411,805,652,632,653,0.444365765825,0.00451582964097,0.0498871377726,0.999999979707,7.91554256273e-05,-0.000180890902795,3.99954993962e-05,1793239268154030080
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.699637736,746,714,680,666.300362264,635,881,787.300362264,805,652,632,653,0.444857794065,0.00451617725249,0.0498510420003,0.999999969556,8.1253092941e-05,-0.000229502012245,4.01911505406e-05,1793239268170696704
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666.285710362,634.714289638,881,787.285710362,805,652.285710362,632,653,0.445363029984,0.00451598965068,0.0498348668218,0.99999996578,8.309695915e-05,-0.00024478664645,4.0180568809e-05,1793239268187363072
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666.865152665,634.134847335,881,787.865152665,805,652.865152665,632,653,0.445881844369,0.00451525180892,0.049839171528,0.999999970121,8.46798985545e-05,-0.000225809131605,3.99579640759e-05,1793239268204029952
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.559047217,714.440952783,680,666.559047217,634.440952783,881,788,805,653,632,653,0.446372862308,0.00451798316304,0.0498443357979,0.999999973542,8.79599756433e-05,-0.000208931237824,3.90629645604e-05,1793239268220696576
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.984311119,745.015688881,714.984311119,680,666,634.984311119,881,787.984311119,805,653,631.984311119,653,0.446852273819,0.00452171803364,0.049848752635,0.999999976247,9.05390702755e-05,-0.00019466134752,3.76312717148e-05,1793239268237363200
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.408123683,745.591876317,714.408123683,680,666,634.408123683,881,787.408123683,805,653,631.408123683,653,0.447218230761,0.00452371291091,0.0498171527396,0.999999967016,4.96851438622e-05,-0.000250813596214,2.43116830665e-05,1793239268254030080
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.171564109,746,714,680,666,634,881,787,804.828435891,652.828435891,631.171564109,653,0.44757450586,0.00452401562281,0.0497860010774,0.999999953603,1.26572785297e-05,-0.000304064881934,1.33588586482e-05,1793239268270696960
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.759752235,746,714,680,666,634,881,787,804.240247765,652.240247765,631.759752235,653,0.447907269775,0.00452020910311,0.0497559378927,0.999999938508,-1.50794385415e-05,-0.000350271521105,8.15345071242e-06,1793239268287363328
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,714.343833703,680,666.343833703,634,881,787.343833703,804.343833703,652,632,653,0.448241561668,0.00452165579506,0.0497402925073,0.999999929933,-2.16669010331e-05,-0.000373658873631,6.56526972736e-06,1793239268304029696
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,714.925079547,680,666.925079547,634,881,787.925079547,804.925079547,652,632,653,0.448576908586,0.00452672975303,0.0497346024033,0.999999927188,-1.36511110217e-05,-0.000381289840291,7.47473135221e-06,1793239268320696576
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.498687189,745.498687189,715,680.501312811,666.498687189,633.498687189,881,788,804.498687189,652.501312811,632,653,0.44890617097,0.00453356634582,0.0497488746886,0.999999935409,-2.92108999348e-06,-0.000359297776765,8.87899349759e-06,1793239268337362944
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.075972023,745.075972023,714.924027977,680.924027977,666,633,881,787.924027977,804.075972023,653,632,653,0.449224481758,0.00454174581542,0.0497642415516,0.99999994339,1.0320438068e-05,-0.00033616460912,1.03524879499e-05,1793239268354029824
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.645226844,745.645226844,714.354773156,680.354773156,666,633,881,787.354773156,804.645226844,653,632,653,0.44947753009,0.00455695105998,0.0497675364773,0.999999943431,3.72613511118e-05,-0.000334082802435,1.18001221512e-05,1793239268370696704
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,714,680,665.775388929,633.224611071,881,787,805,652.775388929,632,653,0.449716800893,0.00457251755119,0.0497665709914,0.999999939045,8.60671969124e-05,-0.000338161383346,1.22329984065e-05,1793239268387363584
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,714,680,665.179249757,633.820750243,881,787,805,652.179249757,632,653,0.449933282323,0.00458868157726,0.0497585583786,0.999999923209,0.000171039720669,-0.000352429830803,1.09873681911e-05,1793239268404030208
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.592293287,746,714.407706713,680.407706713,665,633.592293287,881,787,804.592293287,652.407706713,632,653,0.450134817211,0.00459076295621,0.0497561174184,0.999999918082,0.000191617702161,-0.000356341629549,1.17808415892e-05,1793239268420696832
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.009285047,746,714.990714953,680.990714953,665,633.009285047,881,787,804.009285047,652.990714953,632,653,0.450329925557,0.00458678922525,0.0497560720992,0.999999919591,0.000184507990531,-0.0003558003853,1.34510676332e-05,1793239268437363200
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,714.440818474,681,665.559181526,633,881,787,804.559181526,652.440818474,632,653,0.450497925,0.00458425917403,0.0497599175374,0.999999921145,0.000181343096012,-0.00035301010466,1.44678527221e-05,1793239268454029824
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714,680.867626131,665.867626131,632.867626131,881,787,804.867626131,652.132373869,631.867626131,653,0.450656092256,0.00458249636005,0.0497626196803,0.999999922027,0.000178111260674,-0.000352118754522,1.53304842337e-05,1793239268470696448
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714,680.277269347,665.277269347,632.277269347,881,787,804.277269347,652.722730653,631.277269347,653,0.450781760362,0.00458330717347,0.0497611484347,0.99999992061,0.000174426945181,-0.000357923192028,1.56963680529e-05,1793239268487363072
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.306544694,746,714.306544694,680,665,632.306544694,881,787.306544694,804.306544694,653,631,653,0.450893842171,0.00458321700694,0.0497585769333,0.999999918653,0.000171669190296,-0.000364633732071,1.62892802149e-05,1793239268504029952
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.884564465,746,714.884564465,680,665,632.884564465,881,787.884564465,804.884564465,653,631,653,0.450993891987,0.00458232893519,0.0497550310488,0.999999916203,0.000169731994971,-0.000372146713495,1.70832479855e-05,1793239268520696832
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,633,880.536291375,787.536291375,805,653,631,653,0.451076698198,0.00458183356889,0.0497504141466,0.999999913584,0.000167755968798,-0.000379988689328,1.73036487955e-05,1793239268537363712
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.957379545,746,715,680.042620455,665,632.957379545,880.042620455,787,804.957379545,653,631,653,0.451153635362,0.00458164208552,0.0497454516422,0.999999910779,0.00016601829464,-0.000388044558543,1.73557400488e-05,1793239268554029824
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.384844886,746,715,680.615155114,665,632.384844886,880.615155114,787,804.384844886,653,631,653,0.451211102018,0.00458401044193,0.0497395151713,0.99999990675,0.000167364609182,-0.000397739073638,1.70947743766e-05,1793239268570696448
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,715,681,665,632,880.805931522,787.194068478,804.194068478,653,631.194068478,653,0.451263512529,0.00458605499932,0.0497352901932,0.999999903417,0.000169035887599,-0.000405343583353,1.70243068162e-05,1793239268587363328
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,746,715,681,665,632,880.21393914,787.78606086,804.78606086,653,631.78606086,653,0.451305555761,0.0045874356291,0.049734574513,0.999999901663,0.00017137348168,-0.000408662681402,1.73444424068e-05,1793239268604029952
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.370074554,746,715,680.629925446,665,632,880.370074554,788,804.629925446,653,631.629925446,653,0.451342504733,0.00458839985997,0.0497346742473,0.99999990165,0.000171115787355,-0.000408806109507,1.72362412437e-05,1793239268620696576
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.949573189,746,715,680.050426811,665,632,880.949573189,788,804.050426811,653,631.050426811,653,0.451376570882,0.0045891284521,0.0497352354222,0.999999902624,0.000169389427326,-0.000407152435831,1.68856456267e-05,1793239268637363200
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765.326300517,746,714.673699483,680,665,632.326300517,881,787.326300517,804,652.673699483,631.326300517,653,0.451431771284,0.00458764465318,0.0497351108108,0.999999902042,0.000168136682388,-0.000409057359847,1.7809003763e-05,1793239268687363072
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.581168966,746,714.418831034,680.418831034,665,632,881,787,804,652.418831034,631.418831034,653,0.451452891707,0.00459160922585,0.0497298958177,0.999999897453,0.000172620442751,-0.000418333728274,1.71167032591e-05,1793239268770696960
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,714,680.159916519,665,632,881,787,804.159916519,652.159916519,631.159916519,653,0.451453849423,0.00459115701714,0.0497290981072,0.999999896965,0.000172588484649,-0.000419499698943,1.7430656704e-05,1793239268787363840
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,714,680.749499515,665,632,881,787,804.749499515,652.749499515,631.749499515,653,0.45145526737,0.00459318363439,0.0497299764424,0.999999897002,0.000173303076139,-0.000419148448413,1.66240387607e-05,1793239268804030208
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.666650495,746,714,681,665,632,881,787,804.666650495,653,631.666650495,653,0.451456089745,0.00459327144942,0.0497299478928,0.999999897014,0.000172472325948,-0.000419471969041,1.6392355021e-05,1793239268820697088
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.087035759,746,714,681,665,632,881,787,804.087035759,653,631.087035759,653,0.451456472136,0.0045919269554,0.0497292493733,0.999999897004,0.000170499939433,-0.000420293983477,1.65854095069e-05,1793239268837363968
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.471405973,745.528594027,714.471405973,681,665,632,881,787,804.471405973,653,631.471405973,653,0.451456673905,0.00459306104292,0.0497284827786,0.999999896231,0.000172485937914,-0.000421324316149,1.64940669239e-05,1793239268854030336
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.971259476,745.028740524,715,680.971259476,665,632,881,787.028740524,804.971259476,653,632,653,0.451456867992,0.00459441740065,0.0497277720882,0.999999895401,0.000174917118187,-0.000422294193967,1.6392884475e-05,1793239268870696704
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.360592832,745.639407168,715,680.360592832,665,632,881,787.639407168,804.360592832,653,632,653,0.451457552742,0.00459140675533,0.0497284368708,0.999999896282,0.000172200533317,-0.000421294723737,1.71099348715e-05,1793239268887363328
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,714.762691444,680.237308556,664.762691444,632,881,787.762691444,804.237308556,652.762691444,631.762691444,653,0.45145789567,0.00459053380285,0.0497287639132,0.999999896605,0.000171464879889,-0.000420822625229,1.72584585863e-05,1793239268904029952
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714.183196894,680.816803106,664.183196894,632,881,787.183196894,804.816803106,652.183196894,631.183196894,653,0.451457745707,0.00459274328701,0.0497286039527,0.999999896129,0.000173585621713,-0.000421110968045,1.65871977939e-05,1793239268920696576
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.395062354,746,714,680.604937646,664.395062354,632,881,787,805,652,631.395062354,653,0.451457757794,0.00459348913884,0.0497279005655,0.999999895785,0.000174415893791,-0.000421588643569,1.65132567069e-05,1793239268937363456
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.972750541,746,714,680.027249459,664.972750541,632,881,787,805,652,631.972750541,653,0.451457844793,0.00459355839594,0.049726945968,0.999999895502,0.000174649619186,-0.000422153842087,1.67154391626e-05,1793239268954030592
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.451177377,746,714,680,664.451177377,632,881,787,805,652,632,653,0.451457021265,0.00459200933354,0.049726698903,0.999999895101,0.00017286002075,-0.000423822261713,1.70675770217e-05,1793239268970697216
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.873248563,714,680.126751437,664.126751437,632,881,787.126751437,805,652.126751437,631.873248563,653,0.451456615795,0.0045911092472,0.049726741943,0.999999894867,0.000171631776294,-0.000424866177264,1.72646152957e-05,1793239268987364096
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.288319004,714,680.711680996,664.711680996,632,881,787.711680996,805,652.711680996,631.288319004,653,0.451457884454,0.00459284466213,0.0497277070349,0.999999895271,0.000172794774152,-0.00042345522895,1.68741687089e-05,1793239269004030464
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.295788766,745.295788766,714.295788766,680.704211234,665,632,881,787.704211234,805,653,631.295788766,652.704211234,0.451458376547,0.00459428724625,0.049728091756,0.999999895323,0.000173880731123,-0.000422896495369,1.66793653115e-05,1793239269020696832
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.879097787,745.879097787,714.879097787,680.120902213,665,632,881,787.120902213,805,653,631.879097787,652.120902213,0.451458113785,0.00459544518559,0.04972791233,0.999999895033,0.000174891800951,-0.000423166153453,1.66747360267e-05,1793239269037363456
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,715,680.455046606,665,632,881,787,805,653,632,652.455046606,0.451458191728,0.00459436845532,0.0497273798352,0.999999894813,0.000175205226997,-0.000423556219709,1.66759396488e-05,1793239269054030080
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745.970919856,715,680.970919856,665,632,881,787,805,653,632,653,0.451458355818,0.00459285699308,0.0497268021662,0.999999894634,0.000175292395015,-0.000423941242333,1.66670190188e-05,1793239269070696960
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745.396714343,715,680.396714343,665,632,881,787,805,653,632,653,0.451458464893,0.00459414895869,0.0497271081677,0.999999894894,0.000174557566213,-0.000423641564738,1.64397242597e-05,1793239269087363584
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,745.182635725,715,680.182635725,665,632,880.817364275,787,805,653,631.817364275,653,0.451458202342,0.00459506737321,0.0497271487074,0.999999894822,0.000174725018729,-0.000423747333036,1.625937847e-05,1793239269104030208
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,745.773484466,715,680.773484466,665,632,880.226515534,787,805,653,631.226515534,653,0.45145710916,0.00459515085563,0.0497265959082,0.99999989401,0.000176909179552,-0.00042475932214,1.61839693391e-05,1793239269120697088
+253,4.216666667,HOLD_POSE2,765,746,714,681,665,632,881,788,805,653,631,653,0.451458350231,0.00459528905848,0.0497266204816,0.999999893927,0.000177189379052,-0.000424836876704,1.62266562633e-05,1793239269155793408
+254,4.233333333,HOLD_POSE2,765,746,714,680.426562314,665,632,881,787.426562314,805,652.426562314,631.573437686,653,0.451458851001,0.00459625301616,0.0497264155765,0.999999894132,0.000176861405068,-0.00042448896579,1.62757903995e-05,1793239269172459264
+255,4.250000000,HOLD_POSE2,765.150576992,746,714.150576992,680.150576992,665,632,881,787,805,652,631.849423008,653,0.451459077126,0.00459665302672,0.0497262222436,0.999999894338,0.000176025523478,-0.000424349883986,1.62975156355e-05,1793239269189125376
+256,4.266666667,HOLD_POSE2,765.738466853,746,714.738466853,680.738466853,665,632,881,787,805,652,631.261533147,653,0.451458505612,0.00459541519539,0.0497260625192,0.999999894545,0.000173714552356,-0.000424817293548,1.62396386494e-05,1793239269205792000
+257,4.283333333,HOLD_POSE2,765.678081023,746,715,681,665,632,881,787,805,652.321918977,631.321918977,653,0.451458468161,0.00459493239914,0.0497258770256,0.999999894717,0.000172401613995,-0.000424955648556,1.60142017405e-05,1793239269222458624
+258,4.300000000,HOLD_POSE2,765.098185214,746,715,681,665,632,881,787,805,652.901814786,631.901814786,653,0.451458858693,0.00459505466688,0.0497256708812,0.999999894864,0.000171888471212,-0.000424830308454,1.56544870163e-05,1793239269239125248
+259,4.316666667,HOLD_POSE2,765,746,714.519922473,680.519922473,665,632,880.519922473,787,805,652.519922473,632,653,0.451459299632,0.00459468479375,0.0497269567719,0.999999895273,0.000172240861867,-0.000423706348962,1.61047985771e-05,1793239269255792128
+260,4.333333333,HOLD_POSE2,765,746,714,680,665,632,880.05772602,787,805,652.05772602,632,653,0.45145965381,0.00459419456969,0.0497281864511,0.999999895593,0.000172664821839,-0.000422756936824,1.6632787572e-05,1793239269272459008
+261,4.350000000,HOLD_POSE2,765,746,714,680,665,632,880.632852474,787,805,652.632852474,632,653,0.451459138263,0.00459352472852,0.0497261865028,0.999999894652,0.000172149016172,-0.000425196377944,1.63771642818e-05,1793239269289125632
+262,4.366666667,HOLD_POSE2,765,746,714.212840688,680.212840688,665,632,881,787,804.787159312,653,631.787159312,653,0.451458947917,0.00459322544326,0.0497253857025,0.999999894116,0.000172663771045,-0.000426246511447,1.63790827043e-05,1793239269305792256
+263,4.383333333,HOLD_POSE2,765,746,714.801411362,680.801411362,665,632,881,787,804.198588638,653,631.198588638,653,0.451459331651,0.00459358030447,0.0497267017716,0.9999998943,0.000174997785718,-0.000424844084826,1.6835642344e-05,1793239269322458368
+264,4.400000000,HOLD_POSE2,765,745.615902585,715,680.615902585,664.615902585,632,881,787,804.384097415,653,631.384097415,653,0.451460733175,0.00459347898003,0.0497281621923,0.999999895113,0.000174760384115,-0.000423021169909,1.69167095677e-05,1793239269339125248
+265,4.416666667,HOLD_POSE2,765,745.036213075,715,680.036213075,664.036213075,632,881,787,804.963786925,653,631.963786925,653,0.451462652984,0.00459314535437,0.0497296961208,0.999999896243,0.00017321355268,-0.000420984131614,1.6806566621e-05,1793239269355791872
+266,4.433333333,HOLD_POSE2,765.54040563,745,715,680,664.54040563,632,881,787,805,653,631.45959437,653,0.451462025347,0.00459472903876,0.0497285077644,0.999999895483,0.000174866153829,-0.000422119532177,1.64748743794e-05,1793239269372458496
+267,4.450000000,HOLD_POSE2,766,745.116363847,715,680,665,632.116363847,881,787,805,652.883636153,631.116363847,653,0.451461070003,0.00459561926615,0.0497272461969,0.999999894728,0.00017581425366,-0.000423519470171,1.62805671062e-05,1793239269389125120
+268,4.466666667,HOLD_POSE2,766,745.690528729,715,680,665,632.690528729,881,787,805,652.309471271,631.690528729,653,0.451459493191,0.00459327866592,0.0497264102372,0.999999894503,0.000173151971748,-0.000425128514697,1.66848407755e-05,1793239269405791744
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,664,632,881,787,805,653,632,653,0.451457183355,0.00459612904979,0.049724589268,0.999999892751,0.000176012355228,-0.000428110992456,1.54251558647e-05,1793239269443126016
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,714.581236615,680,664.581236615,632,881,787,805,652.418763385,632,653,0.451458866296,0.00459757942954,0.0497254638176,0.999999893015,0.000177694692018,-0.000426796289028,1.54526799073e-05,1793239269459792640
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.159620856,665,632,881,787,805,652,632,653,0.451460202333,0.00459762404483,0.0497261737542,0.999999893528,0.000177671350656,-0.000425597150597,1.56132229142e-05,1793239269476459264
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.730653423,665,632,881,787,805,652,632,653,0.451460644248,0.00459404539981,0.0497264594121,0.999999894679,0.000173251742241,-0.000424695872669,1.6116613103e-05,1793239269493125888
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745.69418832,714.69418832,681,665,632,881,787,805,652,632,653,0.451460857215,0.00459300535167,0.0497267209999,0.999999895146,0.000171490069759,-0.00042430499601,1.62762970541e-05,1793239269509792512
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.115346662,714.115346662,681,665,632,881,787,805,652,632,653,0.451460865777,0.0045942317739,0.0497269610979,0.999999895016,0.00017210141412,-0.00042436980785,1.61291185748e-05,1793239269526459136
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.52661817,745.47338183,714,680.52661817,665,632,881,787,804.52661817,652,632,653,0.451460350461,0.00459503146277,0.0497265129976,0.99999989446,0.000173140614207,-0.000425265271927,1.58849349448e-05,1793239269543125760
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,664.936880517,632,881,787,804.063119483,652.063119483,632,653,0.451459737455,0.00459556025073,0.0497260393575,0.999999893934,0.000174065248192,-0.000426132360889,1.56648259749e-05,1793239269559792384
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,664.358979196,632,881,787,804.641020804,652.641020804,632,653,0.451459391009,0.00459474577628,0.0497267542209,0.99999989453,0.000173187124024,-0.000425082103842,1.58379479115e-05,1793239269576459008
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714.217437956,680.217437956,664,632,881,787,805,652.782562044,631.782562044,653,0.451455782779,0.00459452997546,0.0497252335374,0.999999893619,0.000173280046857,-0.000427180484432,1.58910533648e-05,1793239269593125632
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,746,714.791421375,680.791421375,664,632,881,787,805,652.208578625,631.208578625,653,0.451446826015,0.00459529585415,0.0497200470993,0.9999998902,0.000174965251122,-0.000434441866491,1.57473609026e-05,1793239269609792256
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,746,714.624440304,681,664.375559696,632,881,787,804.624440304,652.375559696,631.375559696,653,0.451423065414,0.00459521202556,0.0497091245935,0.999999881889,0.00017441184817,-0.000453384525368,1.56557111439e-05,1793239269626458880
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714.034505354,681,664.965494646,632,881,787,804.034505354,652.965494646,631.965494646,653,0.451390854556,0.00459464317106,0.0496949278514,0.999999870268,0.00017258061384,-0.000478995037252,1.55937681396e-05,1793239269643125760
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714.545804903,681,665,632,881,787.545804903,804.545804903,653,632,653,0.451335151697,0.00459498775836,0.0496751615428,0.999999852095,0.000174486640673,-0.000514912663815,1.51587789693e-05,1793239269659792384
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,715,680.875610451,665,632,881,787.875610451,805,653,632,653,0.451274321111,0.00459563643264,0.0496557325151,0.999999834032,0.000176411814745,-0.00054826979045,1.46476503882e-05,1793239269676459008
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,715,680.301106281,665,632,881,787.301106281,805,653,632,653,0.451200216378,0.00459718013089,0.0496387760019,0.999999821663,0.000177566139013,-0.000570044491567,1.39448653764e-05,1793239269693125888
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.27376048,745.72623952,714.72623952,680,665,632,881,787,804.72623952,652.72623952,632,653,0.451120701892,0.00459855948852,0.0496262978281,0.999999812619,0.000179075928002,-0.00058525680841,1.29947759274e-05,1793239269709792512
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.849026546,745.150973454,714.150973454,680,665,632,881,787,804.150973454,652.150973454,632,653,0.451035229391,0.00459975784984,0.0496187518657,0.999999807586,0.000180977207381,-0.00059324165465,1.17723182514e-05,1793239269726459136
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.563354528,745.436645472,714.436645472,680,665,632,881,787.436645472,804,652.436645472,632,653,0.450939637388,0.00460153246035,0.0496166678342,0.999999806416,0.000183563317555,-0.000594428398663,1.13175644554e-05,1793239269743125760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.027968865,746,714.972031135,680,665,632,881.027968865,787.972031135,804.027968865,653,632,653,0.450839583711,0.00460350488198,0.0496170275208,0.999999807075,0.000186378517217,-0.000592443517466,1.11022740118e-05,1793239269759792384
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.605710225,746,714.394289775,680,665,632,881.605710225,787.394289775,804.605710225,653,632,653,0.450722607362,0.00460533514547,0.0496272200757,0.999999816411,0.000188906934468,-0.000575663161186,1.02244770383e-05,1793239269776459008
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.663589922,746,714,680.336410078,665,632,881,787,804.336410078,653,632,653,0.44933152863,0.00461657671122,0.0496352543633,0.999999818153,0.000218752377493,-0.000561972446525,5.28097537889e-06,1793239269893126144
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746,714.697208138,680,666,633.302791862,881,787.697208138,804.697208138,652.302791862,632,653,0.446389497387,0.00464664577427,0.0496394918138,0.999999813706,0.000271697086158,-0.0005465375688,-8.04963836459e-06,1793239270026459648
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745.765674703,714,679.234325297,667,635,880,788,804,652.765674703,632,653,0.429154560596,0.00459600390852,0.0497743333882,0.999999925144,0.000109293155063,-0.000369604559394,-3.40551129354e-05,1793239270426458880
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745.573689288,714.573689288,679.573689288,667,635.573689288,880,788,803.573689288,653,631.573689288,653,0.411601844696,0.00461831016758,0.0498157267611,0.999999939253,0.000159764150602,-0.000307021321593,-4.13196655515e-05,1793239270776460032
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745.005297376,714,679.005297376,667,635,880,788,803.005297376,653,631.005297376,653,0.410920380817,0.00461442400603,0.0498378293738,0.999999947745,0.000162708530009,-0.000276417632649,-4.03623021748e-05,1793239270793125888
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.842514077,714,679.842514077,667,635.157485923,880,788,804,653,632,653,0.409556897703,0.00460193023336,0.0497990704237,0.999999928531,0.00013137304705,-0.000352331243023,-3.92590714456e-05,1793239270826459136
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.273628828,714,679.273628828,667,635.726371172,880,788,804,653,632,653,0.408974949837,0.004599593322,0.0498019852278,0.999999934823,0.000117517012868,-0.000339004355739,-4.02379350961e-05,1793239270843126016
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.35919419,635,879,788,803.64080581,653,632,653,0.40626709929,0.00460682324653,0.0498066060798,0.999999929632,0.000143145937174,-0.000344379139313,-4.05907662527e-05,1793239270926459648
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.965981491,714,679.965981491,667,635.965981491,879.965981491,788,804,653,632,653,0.404561036004,0.00462177000658,0.0498176210929,0.999999933729,0.000157900895614,-0.000325012864742,-4.44474695876e-05,1793239270993125888
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.877513269,746,714.877513269,679,667,635.122486731,880,788,804,653.122486731,631,653,0.403895545091,0.00462139263724,0.0498618478868,0.999999952514,0.000161382079381,-0.000258854602497,-4.38365859587e-05,1793239271026459648
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.300202276,746,714.300202276,679,667,635.699797724,880,788,804,653.699797724,631,653,0.403569795574,0.00462521610769,0.0498641865302,0.999999951737,0.000166498437461,-0.000258482197955,-4.46127610219e-05,1793239271043126016
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,714.868342002,679.868342002,667,636,880,788,804,653.131657998,631.868342002,653,0.402973094535,0.00462763896949,0.049852095307,0.99999994341,0.000168572115007,-0.000287553583857,-4.55628084887e-05,1793239271076459264
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.550613315,667,636,880,788,804,653,632,653,0.402709971794,0.00462777684836,0.0498407663029,0.999999937315,0.000165989751927,-0.000309290525958,-4.64371349989e-05,1793239271093125632
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.028694271,746,714.971305729,679,667,635.971305729,879.971305729,788,803.971305729,653,632,653,0.402456713187,0.00462787109853,0.0498291410023,0.999999931373,0.000159890205343,-0.000330817713465,-4.7431380957e-05,1793239271109792256
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.606171574,746,714.393828426,679,667,635.393828426,879.393828426,788,803.393828426,653,632,653,0.402250449427,0.00462799306379,0.0498247834244,0.999999937046,9.86188797844e-05,-0.000337470031828,-4.79241671714e-05,1793239271126458880
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.813855099,746,714,679,667,635,879,788,803,653,631.813855099,653.186144901,0.402059466671,0.00462657148558,0.0498236144833,0.999999939884,5.7920774477e-05,-0.000338490110596,-4.79833146327e-05,1793239271143125760
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.228529214,746,714,679,667,635,879,788,803,653,631.228529214,653.771470786,0.401901253503,0.00462183983444,0.0498292834585,0.999999943403,6.13412017891e-05,-0.000327432057412,-4.71125397884e-05,1793239271159792640
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.646711218,635.353288782,879.353288782,788,803.353288782,653.353288782,631,653.646711218,0.401760402515,0.00460671930775,0.049834155168,0.999999945257,8.66735832986e-05,-0.0003171253538,-3.74842833459e-05,1793239271176459008
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.511163562,746,714,679,666.511163562,635.488836438,880,788,804,654,631.511163562,653,0.401524354463,0.00457942877311,0.0498412373128,0.999999946474,0.000129240163796,-0.000299870345388,-2.06571155155e-05,1793239271209792256
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.910219402,746,714,679,666.910219402,635.089780598,880,788,803.910219402,653.910219402,632,653,0.401424576827,0.00457771294517,0.0498435344926,0.999999948461,0.00012908654594,-0.000293197515448,-2.12064880412e-05,1793239271226458880
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,746,714.814661677,679,666.814661677,636,880,788,803,653,632,653,0.401201710361,0.00458600668501,0.0498435542037,0.999999948421,0.000136912105846,-0.000289442213009,-2.52235503138e-05,1793239271276459008
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,746,714.007881902,679,666.007881902,635.007881902,880,788,803,653,632,653,0.401111466393,0.00458980238918,0.0498470066873,0.999999950295,0.000139516763439,-0.000281426050353,-2.72915674662e-05,1793239271309792512
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.57029678,635.57029678,880,788,803.57029678,653,632,653,0.401083949551,0.00458805277706,0.0498484320244,0.999999951599,0.000136509314495,-0.000278302142378,-2.67310207459e-05,1793239271326458880
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.14724771,746,714,679,667,636,880,788,804,653,631.85275229,653,0.4010591541,0.00458691354219,0.0498500891504,0.999999952935,0.000134395902497,-0.000274530238615,-2.64855367107e-05,1793239271343125504
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.721209623,746,714,679,667,636,880,788,804,653,631.278790377,653,0.401041725668,0.00458771772964,0.0498524523562,0.999999954381,0.000135071811528,-0.000268800059301,-2.72224401473e-05,1793239271359792128
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.697168377,746,714,679,666.697168377,635.697168377,880,788,803.697168377,653,631.302831623,653,0.401027342684,0.00458798765443,0.0498535994184,0.999999955037,0.000135521670979,-0.000266067720518,-2.77191112289e-05,1793239271376459008
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.108311335,746,714,679,666.108311335,635.108311335,880,788,803.108311335,653,631.891688665,653,0.401015836133,0.00458775296654,0.0498535978292,0.999999954971,0.000135758025973,-0.000266166850876,-2.7988882183e-05,1793239271393125632
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.473478612,746,714,679,666,635.473478612,880,788,803.473478612,653,631.526521388,653,0.401010341488,0.00458656960227,0.0498542061288,0.999999955587,0.000135012841712,-0.000264243912673,-2.78118591453e-05,1793239271409792256
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.946793524,746,714,679,666,636,880,788,803.946793524,653,631.053206476,653.053206476,0.401006256423,0.00458552727438,0.0498548946618,0.999999956234,0.000134383970862,-0.000262130415536,-2.75710661497e-05,1793239271426458880
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.371667948,746,714,679,666,636,880,788,803.371667948,653,631.628332052,653.628332052,0.401002706391,0.00458796588689,0.0498550218006,0.999999955739,0.000137066183425,-0.000262618346189,-2.76925702107e-05,1793239271443125504
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666,636,879.797149451,788,803,653,631.797149451,653.797149451,0.401000264814,0.0045896574156,0.0498553010374,0.999999955536,0.000138794720772,-0.000262463896452,-2.78584308366e-05,1793239271459792384
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666,636,879.223739972,788,803,653,631.223739972,653.223739972,0.400999848118,0.00458998420263,0.0498558581207,0.999999955879,0.000138781123822,-0.000261135972965,-2.81053201791e-05,1793239271476459008
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.362773551,746,714.362773551,679.362773551,666.362773551,636,879.362773551,788,803.362773551,653.362773551,631.362773551,653.362773551,0.400999004089,0.00458899697651,0.0498561171287,0.999999956189,0.000137048176896,-0.000260876151728,-2.80002291233e-05,1793239271493125888
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.465357676,746,714.465357676,679.465357676,666.465357676,636,880,788,804,653.465357676,632,653.465357676,0.400998850469,0.00458825403073,0.0498575929513,0.999999956918,0.000135698916822,-0.000258808253569,-2.77125317901e-05,1793239271526459136
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666,636,880,788,803.889953052,653,631.889953052,653,0.400999337199,0.00458937369649,0.049858583019,0.999999957166,0.000137253399901,-0.000257019286645,-2.77751028986e-05,1793239271543125760
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,746,714.01579957,679.98420043,667,636,879.01579957,788.01579957,803,653,631.01579957,653.01579957,0.400996751104,0.00458759412512,0.0498574405519,0.999999957413,0.000134329196271,-0.000257583677033,-2.79258163381e-05,1793239271626459392
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f2c402ffe0da8bf507512930a5987a167f4bce28
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,417 @@
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+341,5.683333333,pose2_to_pose3_retreat,0.590898045224,0.0100908264769,1.0400322363,0.561468495449,0.0187625617502,1.03970037509
+342,5.700000000,pose2_to_pose3_retreat,0.590157009932,0.0100908647705,1.04003254611,0.560727460618,0.0187626006999,1.03970066436
+343,5.716666667,pose2_to_pose3_retreat,0.589426929917,0.0100907681235,1.04003243105,0.559997381884,0.0187625086381,1.03970055227
+344,5.733333333,pose2_to_pose3_retreat,0.588708028961,0.0100906882988,1.04003239216,0.559278481042,0.0187624294026,1.0397005187
+345,5.750000000,pose2_to_pose3_retreat,0.58799721504,0.0100905986009,1.04003236276,0.558567669232,0.0187623471136,1.03970049577
+346,5.766666667,pose2_to_pose3_retreat,0.587297447403,0.0100907467224,1.0400322875,0.557867899014,0.0187624864738,1.03970042044
+347,5.783333333,pose2_to_pose3_retreat,0.586617763395,0.0100908201116,1.04003224724,0.557188214055,0.0187625565688,1.03970037859
+348,5.800000000,pose2_to_pose3_retreat,0.585959467073,0.0100908193936,1.04003235958,0.556529918283,0.0187625576361,1.03970048868
+349,5.816666667,pose2_to_pose3_retreat,0.585318643057,0.0100908615718,1.04003246631,0.555889093598,0.0187625974621,1.03970059316
+350,5.833333333,pose2_to_pose3_retreat,0.584693160008,0.0100908009905,1.04003240974,0.555263611498,0.0187625401334,1.03970053738
+351,5.850000000,pose2_to_pose3_retreat,0.584088298403,0.01009070083,1.04003249182,0.554658750756,0.0187624428279,1.03970061756
+352,5.866666667,pose2_to_pose3_retreat,0.583507015052,0.0100907638805,1.04003239176,0.554077466129,0.0187625016704,1.0397005206
+353,5.883333333,pose2_to_pose3_retreat,0.582953331857,0.0100908638415,1.04003257442,0.553523784215,0.0187626063294,1.03970071253
+354,5.900000000,pose2_to_pose3_retreat,0.582428618845,0.0100908597305,1.04003237782,0.552999070935,0.0187626012771,1.0397005149
+355,5.916666667,pose2_to_pose3_retreat,0.58192695442,0.0100907093042,1.04003226819,0.552497406506,0.0187624507473,1.03970040302
+356,5.933333333,pose2_to_pose3_retreat,0.58143266107,0.0100908462526,1.04003225355,0.552003112115,0.0187625840277,1.0397003849
+357,5.950000000,pose2_to_pose3_retreat,0.580947825077,0.010090835583,1.040032308,0.551518277355,0.0187625776562,1.03970044227
+358,5.966666667,pose2_to_pose3_retreat,0.580479143549,0.0100907752752,1.04003234275,0.551049596406,0.0187625194319,1.03970048008
+359,5.983333333,pose2_to_pose3_retreat,0.580036959501,0.0100907892562,1.04003235106,0.550607411952,0.0187625319204,1.03970048548
+360,6.000000000,pose2_to_pose3_retreat,0.579627016467,0.0100907957844,1.04003225505,0.550197468299,0.0187625363832,1.03970039031
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+362,6.033333333,pose2_to_pose3_retreat,0.578914667845,0.0100906912725,1.04003247206,0.549485121103,0.018762436467,1.03970060166
+363,6.050000000,pose2_to_pose3_retreat,0.578595773412,0.0100906302364,1.04003226233,0.549166226496,0.018762374873,1.03970039266
+364,6.066666667,pose2_to_pose3_retreat,0.578292701911,0.010090804588,1.04003246106,0.548863153,0.0187625425299,1.03970059343
+365,6.083333333,pose2_to_pose3_retreat,0.578003518674,0.010090927132,1.04003239851,0.548573968612,0.0187626611747,1.03970053073
+366,6.100000000,pose2_to_pose3_retreat,0.577727366443,0.01009074967,1.04003235945,0.548297819204,0.0187624933565,1.03970049327
+367,6.116666667,pose2_to_pose3_retreat,0.577465568376,0.0100908511484,1.04003243516,0.548036019771,0.0187625902344,1.03970056981
+368,6.133333333,pose2_to_pose3_retreat,0.577225791769,0.010090742324,1.04003240601,0.547796244523,0.0187624860163,1.03970054061
+369,6.150000000,pose2_to_pose3_retreat,0.577007334492,0.0100906858391,1.04003228868,0.547577787444,0.0187624301734,1.03970042258
+370,6.166666667,pose2_to_pose3_retreat,0.576812808417,0.0100907982772,1.04003229944,0.547383260221,0.0187625387054,1.03970043318
+371,6.183333333,pose2_to_pose3_retreat,0.576640603041,0.0100908177036,1.04003215828,0.547211055196,0.0187625596093,1.03970029958
+372,6.200000000,pose2_to_pose3_retreat,0.576490874115,0.0100907127378,1.04003204001,0.547061327223,0.0187624579712,1.03970018367
+373,6.216666667,pose2_to_pose3_retreat,0.576359509339,0.0100906414187,1.04003230362,0.546929962672,0.018762386953,1.03970043529
+374,6.233333333,pose2_to_pose3_retreat,0.576244772299,0.0100907486869,1.04003245645,0.546815224049,0.0187624887336,1.03970058504
+375,6.250000000,pose2_to_pose3_retreat,0.576144152866,0.0100908545043,1.04003212133,0.546714602817,0.0187625885647,1.03970025317
+376,6.266666667,pose2_to_pose3_retreat,0.576055692666,0.0100907425621,1.04003232381,0.546626144795,0.0187624840267,1.03970045746
+377,6.283333333,pose2_to_pose3_retreat,0.575978614731,0.0100907502219,1.04003223765,0.546549066335,0.018762490187,1.0397003781
+378,6.300000000,pose2_to_pose3_retreat,0.575911939149,0.0100907164209,1.04003221535,0.546482391853,0.0187624600951,1.03970035477
+379,6.316666667,pose2_to_pose3_retreat,0.575856105149,0.0100907502778,1.0400323029,0.546426557516,0.0187624926288,1.03970043754
+380,6.333333333,pose2_to_pose3_retreat,0.575810013597,0.0100907285256,1.04003243778,0.546380466304,0.0187624717889,1.0397005661
+381,6.350000000,pose2_to_pose3_retreat,0.575772978354,0.0100906649716,1.04003250906,0.546343432027,0.018762411452,1.03970063566
+382,6.366666667,pose2_to_pose3_retreat,0.57574487402,0.0100907005648,1.04003246781,0.546315327078,0.0187624451349,1.03970059904
+383,6.383333333,pose2_to_pose3_retreat,0.575723132462,0.0100907721419,1.04003239952,0.546293585977,0.0187625180821,1.03970052608
+384,6.400000000,pose2_to_pose3_retreat,0.575706648371,0.0100908804024,1.04003229712,0.546277098835,0.0187626160276,1.03970042479
+385,6.416666667,pose2_to_pose3_retreat,0.57569415415,0.0100908209992,1.0400322619,0.546264604276,0.0187625554782,1.03970038954
+386,6.433333333,pose2_to_pose3_retreat,0.575685298419,0.0100906924609,1.04003225151,0.546255749818,0.0187624312562,1.03970037907
+387,6.450000000,pose2_to_pose3_retreat,0.575678830829,0.0100906336628,1.04003215898,0.546249283454,0.0187623767782,1.03970029071
+388,6.466666667,pose2_to_pose3_retreat,0.575674467935,0.0100906533317,1.04003220344,0.546244920829,0.0187623974432,1.03970033738
+389,6.483333333,pose2_to_pose3_retreat,0.575671974534,0.0100907048146,1.04003230135,0.546242427203,0.0187624481944,1.03970043613
+390,6.500000000,pose2_to_pose3_retreat,0.575670217209,0.0100907370963,1.04003235053,0.546240669686,0.0187624798569,1.0397004862
+391,6.516666667,pose2_to_pose3_retreat,0.575668991114,0.0100907330299,1.04003225322,0.546239443232,0.0187624746698,1.0397003914
+392,6.533333333,pose2_to_pose3_retreat,0.575668426258,0.0100907311565,1.04003220838,0.546238878212,0.0187624722802,1.03970034772
+393,6.550000000,pose2_to_pose3_retreat,0.575668290372,0.0100907307058,1.0400321976,0.546238742285,0.0187624717053,1.03970033721
+394,6.566666667,pose2_to_pose3_retreat,0.575667893196,0.0100907293886,1.04003216607,0.546238344994,0.0187624700251,1.0397003065
+395,6.583333333,pose2_to_pose3_retreat,0.575667553291,0.0100907282613,1.04003213909,0.546238004989,0.0187624685871,1.03970028022
+396,6.600000000,pose2_to_pose3_retreat,0.57566748449,0.0100907280331,1.04003213363,0.546237936168,0.018762468296,1.0397002749
+397,6.616666667,pose2_to_pose3_retreat,0.575667344033,0.0100907275672,1.04003212249,0.54623779567,0.0187624677018,1.03970026404
+398,6.633333333,pose2_to_pose3_retreat,0.575666965195,0.0100907263108,1.04003209242,0.546237416722,0.0187624660991,1.03970023475
+399,6.650000000,pose2_to_pose3_retreat,0.575666878154,0.0100907270526,1.04003208893,0.546237329658,0.0187624667651,1.03970023129
+400,6.666666667,pose2_to_pose3_retreat,0.575666845357,0.0100907286627,1.04003209204,0.546237296856,0.0187624683512,1.03970023421
+401,6.683333333,pose2_to_pose3_retreat,0.575666627464,0.0100907393595,1.0400321127,0.546237078931,0.0187624788892,1.0397002536
+402,6.700000000,pose2_to_pose3_retreat,0.575666353712,0.0100907527985,1.04003213865,0.546236805137,0.0187624921288,1.03970027797
+403,6.716666667,pose2_to_pose3_retreat,0.575665996771,0.0100907703213,1.04003217249,0.546236448144,0.0187625093916,1.03970030974
+404,6.733333333,pose2_to_pose3_retreat,0.575665948521,0.01009077269,1.04003217707,0.546236399886,0.0187625117251,1.03970031403
+405,6.750000000,pose2_to_pose3_retreat,0.57566566957,0.0100907863842,1.04003220352,0.546236120894,0.018762525216,1.03970033886
+406,6.766666667,pose2_to_pose3_retreat,0.575665401052,0.0100907995663,1.04003222897,0.546235852335,0.0187625382024,1.03970036276
+407,6.783333333,pose2_to_pose3_retreat,0.575665051539,0.0100908085148,1.04003224837,0.546235503002,0.0187625477244,1.03970038119
+408,6.800000000,pose2_to_pose3_retreat,0.575664579044,0.0100908056487,1.04003224957,0.546235031174,0.0187625471432,1.03970038302
+409,6.816666667,pose2_to_pose3_retreat,0.575664456385,0.0100908207818,1.04003228921,0.546234908442,0.018762561986,1.03970042148
+410,6.833333333,pose2_to_pose3_retreat,0.575664419554,0.0100908418556,1.04003234205,0.546234871334,0.0187625820528,1.03970047257
+411,6.850000000,pose2_to_pose3_retreat,0.575664409849,0.010090847408,1.04003235598,0.546234861557,0.0187625873399,1.03970048603
+412,6.866666667,pose2_to_pose3_retreat,0.575664402937,0.010090851363,1.0400323659,0.546234854592,0.018762591106,1.03970049562
+413,6.883333333,pose2_to_pose3_retreat,0.57566437353,0.0100908280799,1.04003228136,0.54623482582,0.0187625701236,1.03970041496
+414,6.900000000,pose2_to_pose3_retreat,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+415,6.916666667,pose2_to_pose3_retreat,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b772856770587ed7ef21c5d69f4c291c6fe11229
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8405eb2e5ea42c65d5cd649fdc562b539234da35dedf7f63aae7367a83c19c8
+size 26152955
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d816a80afe4ade74b197f7860bf70164af937a9d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_01/franka_data.csv
@@ -0,0 +1,414 @@
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+16,0.266666667,BASELINE,766,746,715,680,665,636,879,788,803.292988324,653,631.292988324,653,0.401035873952,0.0044903061002,0.069863525579,0.999999990457,2.27198571647e-05,-0.000135175626991,1.72255937109e-05,1793239273788654848
+17,0.283333333,BASELINE,766,746,715,680,665,636,879,788,803.872844267,653,631.872844267,653,0.401035447596,0.00448963314668,0.0698624399397,0.999999990298,2.05720972533e-05,-0.000136725556982,1.69474548253e-05,1793239273805321728
+18,0.300000000,BASELINE,766,746,715,680,665,636,879.448427535,788,803.551572465,653,631.551572465,653,0.401035811267,0.0044901769366,0.0698629914671,0.999999990333,2.20927865479e-05,-0.000136208265587,1.70948866286e-05,1793239273821988352
+19,0.316666667,BASELINE,766,746,715,680,665,636,879.976652965,788,803,653,631,653,0.401036365527,0.00449105994587,0.0698639296142,0.999999990415,2.45412016673e-05,-0.000135159424712,1.7337537484e-05,1793239273838654976
+20,0.333333333,BASELINE,766,746,715,680,665,636,879.38876401,788,803,653,631,653,0.401036162547,0.00449188146373,0.06986309697,0.999999990403,2.45067997466e-05,-0.000135297785596,1.69922052841e-05,1793239273855321600
+21,0.350000000,BASELINE,766,745.803646885,715,680,665.196353115,636,879.196353115,788,803,653,631.196353115,653,0.401036114755,0.00449183096796,0.0698626399768,0.99999999041,2.31260096089e-05,-0.000135519775753,1.67148838617e-05,1793239273871988224
+22,0.366666667,BASELINE,766,745.223941447,715,680,665.776058553,636,879.776058553,788,803,653,631.776058553,653,0.401036369947,0.00449007798595,0.06986291639,0.999999990445,1.91165825355e-05,-0.000135905040495,1.65703441244e-05,1793239273888654848
+23,0.383333333,BASELINE,766,745.354675144,715,680,665.645324856,636,880,788,803.354675144,653,631.645324856,653,0.401037086447,0.00448920942436,0.0698635918676,0.999999990561,1.75984112289e-05,-0.000135229002556,1.67879826715e-05,1793239273905321472
+24,0.400000000,BASELINE,766,745.932606398,715,680,665.067393602,636,880,788,803.932606398,653,631.067393602,653,0.401038093325,0.0044888975756,0.0698645185427,0.999999990733,1.76484015023e-05,-0.000133884910205,1.72336002907e-05,1793239273921988352
+25,0.416666667,BASELINE,766,746,715,680,665,636,879.483523852,788,804,653,631.516476148,653.516476148,0.401037319257,0.00448961658043,0.0698642100515,0.999999990642,1.91006362673e-05,-0.00013441991855,1.68157533423e-05,1793239273938654976
+26,0.433333333,BASELINE,766,746,715,680,664.899740673,636,879.100259327,788,804,653,631.899740673,653.899740673,0.401036386758,0.00449026575056,0.0698637424277,0.999999990502,2.06844336083e-05,-0.000135261792743,1.64797341263e-05,1793239273955321600
+27,0.450000000,BASELINE,766,746,715,680,664.320119264,636,879.679880736,788,804,653,631.320119264,653.320119264,0.401035820809,0.00448993040672,0.0698632935253,0.999999990311,2.20122404681e-05,-0.000136384874133,1.70799234139e-05,1793239273971988224
+28,0.466666667,BASELINE,766,746,715,680.259449171,664.259449171,636,880,788,803.740550829,653,631.259449171,653,0.40103558721,0.0044897436235,0.0698632403221,0.999999990262,2.22215467483e-05,-0.00013670260439,1.71734346463e-05,1793239273988654848
+29,0.483333333,BASELINE,766,746,715,680.838952224,664.838952224,636,880,788,803.161047776,653,631.838952224,653,0.401035763596,0.0044897401032,0.0698636752494,0.999999990388,2.1051081914e-05,-0.000136026861544,1.6641912904e-05,1793239274005321472
+30,0.500000000,BASELINE,766,746,715,680.585106349,665,636,879.585106349,787.585106349,803.414893651,653,632,653,0.401035725975,0.00449011790195,0.069863317082,0.999999990397,2.01429221745e-05,-0.000136132926289,1.64027658498e-05,1793239274021988096
+31,0.516666667,BASELINE,766,746,715,680.010535672,665,636,879.010535672,787.010535672,803.989464328,653,632,653,0.40103560599,0.00449064245612,0.069862653682,0.999999990359,1.93357138681e-05,-0.00013653987951,1.62761428741e-05,1793239274038654976
+32,0.533333333,BASELINE,766,746,715,679.423023441,665,636,879.576976559,787.576976559,803.423023441,653,632,653,0.401036828943,0.0044905549939,0.069863231353,0.999999990498,2.0133137488e-05,-0.000135387703948,1.63843104251e-05,1793239274055321344
+33,0.550000000,BASELINE,766,745.83741693,715,679.32516614,665,636,880,788,803.16258307,653,631.83741693,653,0.401037898277,0.00449068299825,0.0698639114844,0.999999990636,2.11348788349e-05,-0.00013420099523,1.64656439113e-05,1793239274071988224
+34,0.566666667,BASELINE,766,745.257325124,715,680.485349753,665,636,880,788,803.742674876,653,631.257325124,653,0.401038508707,0.00449139367153,0.0698647951998,0.999999990765,2.25843321412e-05,-0.000133000393929,1.64668059603e-05,1793239274088655104
+35,0.583333333,BASELINE,766,745.320377766,715,680.679622234,665.640755532,636,879.679622234,788,803.679622234,653,631,653,0.401038285137,0.00449152574602,0.0698648013952,0.999999990749,2.26609015752e-05,-0.000133100499075,1.65297944119e-05,1793239274105321728
+36,0.600000000,BASELINE,766,745.896176159,715,680.103823841,666.792352317,636,879.103823841,788,803.103823841,653,631,653,0.401037396661,0.00449119653369,0.0698641079895,0.999999990617,2.16429418449e-05,-0.000134237590081,1.66420738577e-05,1793239274121988352
+37,0.616666667,BASELINE,766,746,715,680,666.058566671,636,879.470716664,788,803,653,631,653,0.401036986067,0.00449015191815,0.0698644290177,0.999999990623,2.08116606606e-05,-0.000134278162059,1.70310504845e-05,1793239274138654976
+38,0.633333333,BASELINE,766.046113757,746,715,680,665,636,880,788,803.046113757,653,631.046113757,653,0.401036675329,0.00448915642666,0.0698649139425,0.999999990654,2.00674854808e-05,-0.000134111286768,1.73969268083e-05,1793239274155321600
+39,0.650000000,BASELINE,766.634846722,746,715,680,665,636,880,788,803.634846722,653,631.634846722,653,0.40103630262,0.0044905907754,0.0698647016027,0.999999990638,1.9865071615e-05,-0.000134341692298,1.67747604859e-05,1793239274171988224
+40,0.666666667,BASELINE,766.779751306,746,715,680,665,635.779751306,879.779751306,788,803.779751306,653,631.779751306,653,0.40103620167,0.00449105726915,0.069864514613,0.999999990638,1.92124119059e-05,-0.00013448347837,1.64307200142e-05,1793239274188654848
+41,0.683333333,BASELINE,766.199789592,746,715,680,665,635.199789592,879.199789592,788,803.199789592,653,631.199789592,653,0.40103654456,0.00448994304953,0.0698643690256,0.999999990662,1.78244048628e-05,-0.000134480529977,1.65409183237e-05,1793239274205321728
+42,0.700000000,BASELINE,766,746,715,680,665,635.377700059,879.377700059,788,803,653,631,653.377700059,0.401035869476,0.00449128396151,0.0698637233776,0.999999990492,2.02819438702e-05,-0.00013538515818,1.66043350561e-05,1793239274221988352
+43,0.716666667,BASELINE,766,746,715,680,665,635.953890563,879.953890563,788,803,653,631,653.953890563,0.401034659422,0.00449391510409,0.0698628149357,0.999999990202,2.47604096608e-05,-0.000136766739661,1.66431669432e-05,1793239274238654976
+44,0.733333333,BASELINE,766.524479584,745.475520416,715,679.475520416,664.475520416,636,880,788,803.524479584,653,631.524479584,653.475520416,0.401034408793,0.00449233772872,0.0698633445654,0.999999990323,2.26653545182e-05,-0.000136253336737,1.6609008856e-05,1793239274255321856
+45,0.750000000,BASELINE,766.901032467,745.098967533,715,679.098967533,664.098967533,636,879.901032467,788,803.901032467,653,632,653,0.401034408738,0.0044907232208,0.0698639326471,0.999999990449,2.06961003887e-05,-0.000135642050991,1.65792443322e-05,1793239274271988736
+46,0.766666667,BASELINE,766.304492625,745.695507375,715,679.695507375,664.695507375,636,879.304492625,788,803.304492625,653,632,653,0.401035248889,0.00449076254315,0.0698641856892,0.999999990453,2.22341375561e-05,-0.000135367383496,1.6603489872e-05,1793239274288656128
+47,0.783333333,BASELINE,766.282208827,745.717791173,715,679.717791173,665,636,879.282208827,788,803,653,632,653,0.401036297533,0.00449054963931,0.0698645419168,0.999999990572,2.18460132904e-05,-0.00013454775814,1.6605089808e-05,1793239274305322752
+48,0.800000000,BASELINE,766.858652702,745.141347298,715,679.141347298,665,636,879.858652702,788,803,653,632,653,0.401037563555,0.00449007376077,0.069865005727,0.999999990808,1.9449645145e-05,-0.000133159951717,1.65830791091e-05,1793239274321988608
+49,0.816666667,BASELINE,766.565862648,745.434137352,715,679.434137352,665,636,880,788,803,653,632,653.434137352,0.401038111668,0.00448956343679,0.069864901129,0.999999990839,1.89862269878e-05,-0.000132981507697,1.66432140505e-05,1793239274338655232
+50,0.833333333,BASELINE,766,746,715,680,665,636,879.990535555,788,803,653,632,653.990535555,0.40103840434,0.00448906315234,0.0698646132109,0.999999990804,1.91746602873e-05,-0.000133205370437,1.67236307078e-05,1793239274355321856
+51,0.850000000,BASELINE,766,746,715,680,665,636,879.4058428,788,803,653,632,653.4058428,0.401037346632,0.0044898531561,0.0698644064527,0.99999999067,2.08160013427e-05,-0.000134002260529,1.64147985119e-05,1793239274371988736
+52,0.866666667,BASELINE,766,746,715,680.178140152,665,635.821859848,879.178140152,788,803.178140152,653,632,653,0.401036593275,0.00449017659623,0.0698642731339,0.999999990586,2.13825349598e-05,-0.000134554472485,1.62793424047e-05,1793239274388655360
+53,0.883333333,BASELINE,766,746,715,680.760512393,665,635.239487607,879.760512393,788,803.760512393,653,632,653,0.401036530544,0.00448944131938,0.0698643064622,0.999999990621,1.95101368102e-05,-0.000134551465633,1.65373078887e-05,1793239274405321984
+54,0.900000000,BASELINE,766,745.660073138,715,680.660073138,665,635.339926862,880,788,804,653,632,653,0.40103747954,0.0044902044226,0.0698650039336,0.999999990718,2.17565981985e-05,-0.000133458153417,1.67220829555e-05,1793239274421988864
+55,0.916666667,BASELINE,766,745.082724548,715,680.082724548,665,635.917275452,880,788,804,653,632,653,0.401039135177,0.00449201406858,0.0698661652753,0.999999990837,2.68798748222e-05,-0.000131603318026,1.68557382049e-05,1793239274438655488
+56,0.933333333,BASELINE,766,745.48972726,715,680.48972726,665,636,880,788,804,653,631.51027274,653,0.401038929712,0.00449149493586,0.0698661231645,0.999999990881,2.51982712913e-05,-0.000131624432234,1.66934403784e-05,1793239274455321856
+57,0.950000000,BASELINE,766,746,715,680.936449932,665,636,880,788,803.936449932,653,631.063550068,653,0.401038308182,0.00449075027456,0.0698658639516,0.999999990879,2.2677195391e-05,-0.000132120627626,1.65149370437e-05,1793239274471988224
+58,0.966666667,BASELINE,766,746,715,680.344415577,665,636,880,788,803.344415577,653,631.655584423,653,0.401036815124,0.00449136905557,0.069865473114,0.999999990633,2.26395009784e-05,-0.000133958478183,1.66132898846e-05,1793239274488654848
+59,0.983333333,BASELINE,766,746,715,680,665,636,880,788,803,653,631.757224263,653,0.401036074061,0.00449196524631,0.0698650651529,0.9999999905,2.31082357251e-05,-0.000134878683501,1.65588124246e-05,1793239274505321728
+60,1.000000000,BASELINE,766,746,715,680,665,636,880,788,803,653,631.176769105,653,0.401036378957,0.00449253001607,0.0698646333743,0.999999990524,2.42813683115e-05,-0.000134522526303,1.6291761645e-05,1793239274521988352
+61,1.016666667,BASELINE,766,746,715,680,665,636,880,788,803,653,631.403374416,653,0.401036972639,0.00449211285205,0.069864948725,0.999999990595,2.33033296211e-05,-0.00013416645489,1.63358496763e-05,1793239274538655232
+62,1.033333333,BASELINE,766,746,715,680,665,636,880,788,803,653,631.983381441,653,0.401037692775,0.00449126571147,0.0698655912343,0.999999990682,2.13833198792e-05,-0.000133810421062,1.6516181515e-05,1793239274555322368
+63,1.050000000,BASELINE,766,746,715,680,665,635.433782192,880,787.433782192,803,653,631.433782192,653,0.40103767604,0.00449186430904,0.0698653002855,0.999999990703,2.29858883784e-05,-0.000133389561499,1.64960700859e-05,1793239274571988736
+64,1.066666667,BASELINE,766,745.851670221,715,680,665,635.148329779,880,787.148329779,803.148329779,653,631,653,0.401037464876,0.00449239466977,0.0698651617727,0.999999990703,2.44450025464e-05,-0.00013313303325,1.64649794487e-05,1793239274588655616
+65,1.083333333,BASELINE,766,745.271908012,715,680,665,635.728091988,880,787.728091988,803.728091988,653,631,653,0.401036751412,0.00449260251727,0.0698655467232,0.999999990656,2.51846398493e-05,-0.0001333600414,1.64191519983e-05,1793239274605322240
+66,1.100000000,BASELINE,766.305880705,745.305880705,715,680,665,635.694119295,880,787.694119295,804,653,631,653,0.401036116289,0.00449209755297,0.0698652017582,0.99999999057,2.49969878145e-05,-0.000134027648985,1.64937372093e-05,1793239274621988608
+67,1.116666667,BASELINE,766.881926329,745.881926329,715,680,665,635.118073671,880,787.118073671,804,653,631,653,0.40103555036,0.00449096300746,0.0698642121055,0.999999990449,2.39903202018e-05,-0.000135084409944,1.66746752478e-05,1793239274638655232
+68,1.133333333,BASELINE,766.542795642,746,715,680,665,635.457204358,880,787.457204358,803.542795642,653,631.457204358,653,0.401035280202,0.0044908306388,0.0698641589041,0.999999990365,2.37961458824e-05,-0.000135751708771,1.65899644174e-05,1793239274655322112
+69,1.150000000,BASELINE,766.033190255,746,715,680,664.966809745,635.966809745,880,788,803,653,632,653.033190255,0.401035038995,0.00449091942955,0.0698642553696,0.999999990287,2.36730090382e-05,-0.000136368276189,1.64361999607e-05,1793239274671988992
+70,1.166666667,BASELINE,766.624404012,746,715,680,664.375595988,635.375595988,880,788,803,653,632,653.624404012,0.401034002476,0.00449038243869,0.0698628089565,0.999999990145,2.12223254673e-05,-0.000137820092224,1.627294623e-05,1793239274688655872
+71,1.183333333,BASELINE,766.789224819,746,715,680,664.210775181,635,879.789224819,788,803,653,632,653.789224819,0.401033742674,0.00449090308059,0.0698623267838,0.999999990118,2.07988689901e-05,-0.000138097030221,1.6117265092e-05,1793239274705322752
+72,1.200000000,BASELINE,766.211289116,746,715,680,664.788710884,635,879.211289116,788,803,653,632,653.211289116,0.401034835879,0.00449326606927,0.0698635242725,0.999999990294,2.39067470349e-05,-0.000136327385788,1.59747750304e-05,1793239274721989120
+73,1.216666667,BASELINE,766,745.634570958,715,680,665,635.365429042,879.365429042,788,803,653,631.634570958,653,0.401035824022,0.0044926942591,0.0698643946274,0.999999990477,2.40370856716e-05,-0.000134938014312,1.61204327164e-05,1793239274738655744
+74,1.233333333,BASELINE,766,745.058554474,715,680,665,635.941445526,879.941445526,788,803,653,631.058554474,653,0.40103675162,0.00449043119903,0.0698650764634,0.999999990666,2.2451544065e-05,-0.000133767784554,1.64321426123e-05,1793239274755321856
+75,1.250000000,BASELINE,766,745.514406966,715,680,665,636,880,787.485593034,803.514406966,653,631.514406966,653,0.401036257235,0.00448960910612,0.0698648724397,0.999999990638,1.98304152379e-05,-0.000134387298059,1.64773324784e-05,1793239274771988480
+76,1.266666667,BASELINE,766,745.909566264,715,680,665,635.909566264,880,787.090433736,803.909566264,653,631.909566264,653,0.401035624903,0.00448923811063,0.069864493067,0.999999990542,1.80202360962e-05,-0.000135347142109,1.65124045544e-05,1793239274788655104
+77,1.283333333,BASELINE,766,745.314505712,715,680,665,635.314505712,880,787.685494288,803.314505712,653,631.314505712,653,0.401035120686,0.00449047440948,0.0698636945882,0.999999990238,2.13891103709e-05,-0.00013707596746,1.66593059188e-05,1793239274805321984
+78,1.300000000,BASELINE,766,745,715,680,665,635.272022492,880,787.727977508,803,652.727977508,631,653,0.401035229215,0.00449108671684,0.0698635827663,0.999999990193,2.2657491614e-05,-0.000137208594918,1.65815179995e-05,1793239274821989120
+79,1.316666667,BASELINE,766,745,715,680,665,635.848985782,880,787.151014218,803,652.151014218,631,653,0.401036024643,0.00449099952143,0.0698642406957,0.999999990448,2.15711922702e-05,-0.000135551863397,1.62518504231e-05,1793239274838656256
+80,1.333333333,BASELINE,766,745,715,680,665,636,880,787,803,652.424881672,631,653,0.401036440206,0.00449117483882,0.0698647967559,0.999999990562,2.12946336203e-05,-0.00013474032651,1.63793687988e-05,1793239274855322624
+81,1.350000000,BASELINE,766,745.000406853,715,680,664.999593147,635.999593147,879.999593147,787.000406853,803,653,631.000406853,653,0.401036720553,0.0044914426209,0.0698653158993,0.999999990625,2.1305010719e-05,-0.000134229409772,1.66687940388e-05,1793239274871988736
+82,1.366666667,BASELINE,766,745.586988193,715,680,664.413011807,635.413011807,879.413011807,787.586988193,803,653,631.586988193,653,0.401036222237,0.004490837975,0.0698646818111,0.99999999051,2.11045161226e-05,-0.000135113702408,1.66960426993e-05,1793239274888655104
+83,1.383333333,BASELINE,766,745.828639446,715,680,664.171360554,635.171360554,879,787.828639446,803,652.828639446,631.828639446,653,0.40103615478,0.00449073801127,0.0698644747132,0.99999999047,2.13821729836e-05,-0.000135372063926,1.66766182292e-05,1793239274905321728
+84,1.400000000,BASELINE,766,745.249523272,715,680,664.750476728,635.750476728,879,787.249523272,803,652.249523272,631.249523272,653,0.401037112559,0.00449183894804,0.0698652836467,0.999999990606,2.27976000791e-05,-0.000134141010905,1.65461341831e-05,1793239274921988352
+85,1.416666667,BASELINE,766,745,715,680,665,635.671082704,879.328917296,787,803,652.328917296,631,653,0.401036084481,0.00449274797001,0.0698647682021,0.999999990413,2.40618076616e-05,-0.000135356156547,1.65703755221e-05,1793239274938655232
+86,1.433333333,BASELINE,766,745,715,680,665,635.093153649,879.906846351,787,803,652.906846351,631,653,0.401033552981,0.00449351169996,0.0698632501173,0.999999989962,2.52115321651e-05,-0.000138423233545,1.67117540355e-05,1793239274955322112
+87,1.450000000,BASELINE,766,745,715,680,665,635.47946639,879.52053361,787,803,653,631,653,0.401033507863,0.00449170626226,0.069863482373,0.999999990058,2.21676056016e-05,-0.000138258205861,1.6643832247e-05,1793239274971988736
+88,1.466666667,BASELINE,766,745,715,679.947015347,665,635.947015347,879,787,803,653,631,653,0.401034046189,0.00448949048217,0.0698640592703,0.999999990252,1.87500725144e-05,-0.000137366131246,1.66076700508e-05,1793239274988655616
+89,1.483333333,BASELINE,766,745,715,679.353942268,665,635.353942268,879,787,803,653,631,653,0.401035661587,0.00448812425888,0.0698647207605,0.99999999049,1.97384766647e-05,-0.000135393862631,1.73052051826e-05,1793239275005321984
+90,1.500000000,BASELINE,766,745.233513657,715,679,665,635.233513657,879,787.233513657,803,653,631,653,0.401036765427,0.00448783646112,0.069865418477,0.999999990667,2.02003001321e-05,-0.000133991622656,1.74381053334e-05,1793239275021988352
+91,1.516666667,BASELINE,766,745.812655469,715,679,665,635.812655469,879,787.812655469,803,653,631,653,0.401037112103,0.00448914486231,0.0698661698127,0.99999999076,1.98827210913e-05,-0.000133433093457,1.67352780869e-05,1793239275038654976
+92,1.533333333,BASELINE,766,745.611579188,715,679.388420812,664.611579188,635.611579188,879,788,803,653,631,653,0.401037139906,0.00449060224835,0.0698663018368,0.99999999075,2.088318421e-05,-0.000133384707672,1.64905116664e-05,1793239275055321856
+93,1.550000000,BASELINE,766,745.037428309,715,679.962571691,664.037428309,635.037428309,879,788,803,653,631,653,0.401037015234,0.00449213087416,0.0698661377267,0.999999990689,2.25138917397e-05,-0.000133580255651,1.64647748149e-05,1793239275071988480
+94,1.566666667,BASELINE,766.53702932,745.53702932,715,680,664.53702932,635.53702932,879.53702932,788,803.53702932,653,631.53702932,653,0.401036438671,0.00449084873544,0.069865960054,0.999999990646,2.02815696605e-05,-0.000134232731792,1.66984978648e-05,1793239275088655360
+95,1.583333333,BASELINE,767,745.884656088,715,680,665,636,880,787.884656088,803.884656088,653,631.884656088,653,0.40103604771,0.00448976907911,0.069865743892,0.999999990602,1.82682478402e-05,-0.000134835775502,1.680390811e-05,1793239275105321984
+96,1.600000000,BASELINE,767,745.290416431,715,680,665,636,880,787.290416431,803.290416431,653,631.290416431,653,0.401036558192,0.00449034391433,0.0698653718535,0.999999990574,1.82826621116e-05,-0.00013510128584,1.63014552549e-05,1793239275121989120
+97,1.616666667,BASELINE,766.705694555,745,715,679.705694555,665,635.705694555,880,787.294305445,803.294305445,653,631.294305445,653,0.401035956168,0.00449032382932,0.0698644821889,0.999999990422,1.82074356291e-05,-0.000136257305575,1.60518950173e-05,1793239275138656000
+98,1.633333333,BASELINE,766.130070503,745,715,679.130070503,665,635.130070503,880,787.869929497,803.869929497,653,631.869929497,653,0.40103429073,0.00448973507615,0.0698630977396,0.99999999015,1.8046523976e-05,-0.000138264539116,1.60440680155e-05,1793239275155322368
+99,1.650000000,BASELINE,766,745.44484117,715,679,665.44484117,635,880,788,804,652.55515883,632,653,0.401034248006,0.00448961933202,0.0698632196582,0.999999990158,1.91441294591e-05,-0.00013804309822,1.61759801777e-05,1793239275171988736
+100,1.666666667,BASELINE,766,745.979983414,715,679.040033173,665.979983414,635,880,788,803.979983414,652.020016586,631.979983414,653,0.401034639135,0.00448965308604,0.0698637592009,0.999999990238,2.06154177018e-05,-0.000137228848054,1.6354860768e-05,1793239275188655360
+101,1.683333333,BASELINE,766,745.39140918,715,680.217181641,665.39140918,635,880,788,803.39140918,652.60859082,631.39140918,653,0.401033897892,0.0044900110065,0.0698636701536,0.999999990083,2.22651907505e-05,-0.000138056592896,1.67091198654e-05,1793239275205322240
+102,1.700000000,BASELINE,766.194139573,745.194139573,715,680.805860427,665,635,880,788,803.194139573,653,631,653,0.401033807922,0.00449035393286,0.0698638841653,0.999999990062,2.32371769819e-05,-0.000138025919625,1.68522505165e-05,1793239275221988608
+103,1.716666667,BASELINE,766.773682116,745.773682116,715,680.226317884,665,635,880,788,803.773682116,653,631,653,0.401035010848,0.00449066709308,0.0698646998053,0.999999990314,2.28636307911e-05,-0.00013629112749,1.65762520998e-05,1793239275238654976
+104,1.733333333,BASELINE,767,746,715,680,665,635,879.64993093,788,804,653,631.35006907,653,0.401035707955,0.00449069606181,0.0698650622665,0.999999990399,2.34028981298e-05,-0.000135556584621,1.66700335504e-05,1793239275255321856
+105,1.750000000,BASELINE,767,746,715,680,665,635,879.075565765,788,804,653,631.924434235,653,0.401036080972,0.00449054294352,0.0698651343674,0.99999999038,2.4527022897e-05,-0.000135462920831,1.70007401606e-05,1793239275271988736
+106,1.766666667,BASELINE,766.489143058,746,715,680,665.510856942,635.510856942,880.021713884,788,804,653,632,653,0.401035813752,0.00449095268255,0.0698652948857,0.999999990383,2.38931482634e-05,-0.000135572355717,1.68490040647e-05,1793239275288655360
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,680,665,636,879,788,804,653,632,653,0.401035540714,0.00448880829794,0.0698645255907,0.999999990471,2.16406625673e-05,-0.0001352885901,1.69335125529e-05,1793239275331269120
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.422683628,746,715,680,665,636,879,788,804,653,631.422683628,653,0.40103557524,0.00449081281435,0.0698644320094,0.999999990364,2.19645935077e-05,-0.000136090960763,1.64194276398e-05,1793239275347935488
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879.156867284,788,804,653,631.156867284,653,0.401035362457,0.00449212424004,0.0698644886576,0.999999990296,2.18662090222e-05,-0.000136645937031,1.60295075254e-05,1793239275364602112
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879.742526372,788,804,653,631.742526372,653,0.401034473664,0.00449154112439,0.0698649559535,0.99999999034,2.06134386322e-05,-0.000136524668652,1.59789878807e-05,1793239275381268736
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.324219908,746,715.324219908,680,665,636,880,788,804,653,631.675780092,653,0.401034567528,0.00449176324745,0.0698651481562,0.999999990372,2.04551096691e-05,-0.000136310179832,1.60179017676e-05,1793239275397935360
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.902802287,746,715.902802287,680,665,636,880,788,804,653,631.097197713,653,0.401035432324,0.00449261711,0.0698651245382,0.999999990395,2.11554104283e-05,-0.000136022556148,1.61269795604e-05,1793239275414602240
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.517176081,746,715.517176081,680,665,635.517176081,880,788,803.517176081,653,631.482823919,653,0.401034952671,0.00449206523278,0.0698647239684,0.999999990243,2.27216239556e-05,-0.00013687736213,1.62021648131e-05,1793239275431269120
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.062688176,746,715,680,665.062688176,635.062688176,880,788,803.062688176,653,631.937311824,653,0.401034216402,0.00449144442765,0.0698642805264,0.999999990021,2.42645214172e-05,-0.000138219390624,1.62613834006e-05,1793239275447935744
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.638882869,746,715,680,665.638882869,635.638882869,880,788,803.638882869,653,631.361117131,653,0.401033601728,0.00449258403614,0.0698641093617,0.999999989541,2.41842445931e-05,-0.000141662944662,1.62458687792e-05,1793239275464602112
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.782037144,746,715,680,665.782037144,636,879.782037144,788,804,653,631.217962856,653.217962856,0.401036893803,0.00449319713238,0.0698658766389,0.999999989229,2.45465242122e-05,-0.000143757564534,1.65131298302e-05,1793239275481268992
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.19811278,746,715,680,665.19811278,636,879.19811278,788,804,653,631.80188722,653.80188722,0.401046745343,0.00449292620991,0.069870898577,0.999999989213,2.56518599102e-05,-0.000143587312005,1.72551736663e-05,1793239275497935616
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879.769000885,787.615499557,803.615499557,653,632,653.615499557,0.401072255178,0.00449155671611,0.0698825194019,0.999999990637,2.35631531039e-05,-0.000133595376664,1.79555079581e-05,1793239275514602240
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880.932880903,787.033559549,803.033559549,653,632,653.033559549,0.401105805491,0.00448962310994,0.0698975287316,0.999999992601,1.98343172868e-05,-0.000118560043194,1.86344246157e-05,1793239275531268608
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.54316893,745.45683107,715,680,665,635.45683107,879.913662141,787.54316893,803.54316893,653,631.45683107,653,0.401156563613,0.00448988385936,0.0699112140868,0.999999994444,1.9738517201e-05,-0.000101894345327,1.84142138766e-05,1793239275547935488
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.880505692,745.119494308,715,680,665,635.119494308,879.119494308,788,804,653,631,653,0.401212439647,0.00449016883548,0.0699240935179,0.999999995972,1.95528680318e-05,-8.57133794634e-05,1.8053261482e-05,1793239275564602368
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.304501696,745.695498304,715,680,665,635.695498304,879.695498304,788,804,653,631,653,0.401283844776,0.00449003333475,0.0699342035831,0.999999997109,1.81745753463e-05,-7.17654257051e-05,1.73648394106e-05,1793239275581268992
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.270815953,746,715,680,665,636,880,788,803.729184047,653,631,653,0.401361748411,0.0044897730887,0.0699412201475,0.99999999777,1.64122792124e-05,-6.26747419885e-05,1.61779265721e-05,1793239275597935872
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.845363797,746,715,680,665,636,880,788,803.154636203,653,631,653,0.401446940398,0.00448937293537,0.0699447672154,0.999999998052,1.42193065635e-05,-5.90316991305e-05,1.44319346602e-05,1793239275614602240
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,715,680,665,636,880.433979208,788,803,653,631.433979208,653,0.401542108529,0.00448993631646,0.0699404515828,0.999999997545,1.19936161708e-05,-6.79603943368e-05,1.21269252228e-05,1793239275631268864
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.973083892,746,715,680,665.026916108,636,880.973083892,788,803,653,632,653.026916108,0.401642405873,0.00449080314975,0.0699335230689,0.999999996616,9.72416779096e-06,-8.11275816784e-05,9.6180029756e-06,1793239275647935488
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.397652398,746,715,680,665.602347602,636,880.397652398,788,803,653,632,653.602347602,0.401772362591,0.00449062296759,0.0699323541497,0.999999996225,6.80852239837e-06,-8.63233917357e-05,7.14882589123e-06,1793239275664602112
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.177170174,745.822829826,715,680,665.822829826,635.822829826,880,788,803.177170174,653,632,653.822829826,0.401913496596,0.00449044045062,0.0699325668509,0.999999996049,3.43861243915e-06,-8.87196031993e-05,4.39244519267e-06,1793239275681268736
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.750630649,745.249369351,715,680,665.249369351,635.249369351,880,788,803.750630649,653,632,653.249369351,0.402079631689,0.00449025271121,0.0699358699303,0.999999996399,-9.47385995024e-07,-8.48537341795e-05,9.93654177399e-07,1793239275697935616
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.666567348,745.333432652,715,680,665,635.333432652,880,788,804,653,632,653,0.402262584526,0.00449077747579,0.069939787296,0.999999996778,-5.17339662712e-06,-8.00674975059e-05,-2.63035947903e-06,1793239275714602496
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.076577516,745.923422484,715,680,665,635.923422484,880,788,804,653,632,653,0.402458477664,0.00449185047103,0.0699441773198,0.999999997156,-9.27630634593e-06,-7.45730906366e-05,-6.42766931817e-06,1793239275731269376
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.49517315,879.49517315,788,803.49517315,653,632,653,0.402691690772,0.0044899504645,0.0699455792805,0.999999997054,-1.85478980072e-05,-7.36367526278e-05,-1.12010812517e-05,1793239275747935744
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.915878497,715,680,664.915878497,635,879.084121503,788,803.084121503,653,632,653,0.402935087512,0.00448819226972,0.0699468418226,0.999999996866,-2.73508098464e-05,-7.25338917655e-05,-1.60785632735e-05,1793239275764602112
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.341416723,715,680,664.341416723,635,879.658583277,788,803.658583277,653,632,653,0.40320539784,0.00448984545086,0.0699498895582,0.999999997156,-2.89281001955e-05,-6.64975381408e-05,-2.07140322668e-05,1793239275781268736
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.231442913,745.231442913,715,680.231442913,664.231442913,635.231442913,879.768557087,788,804,653,632,653,0.403494174556,0.00449070565965,0.0699556451999,0.999999997674,-2.97776509435e-05,-5.6256399849e-05,-2.45081534173e-05,1793239275797935360
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.801955342,745.801955342,715,680.801955342,664.801955342,635.801955342,879.198044658,788,804,653,632,653,0.403810004964,0.00449040414449,0.0699653679901,0.999999998402,-2.95610453153e-05,-3.98551497439e-05,-2.70696791616e-05,1793239275814601984
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.609645561,746,715,680.609645561,665,636,879.390354439,787.609645561,804,653,631.609645561,653,0.404143567839,0.00448966580129,0.0699690766568,0.99999999875,-2.24045283579e-05,-3.52832470901e-05,-2.74429820605e-05,1793239275831268608
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.011735972,746,715,680.011735972,665,636,879.988264028,787.011735972,804,653,631.011735972,653,0.404486559223,0.00448869519249,0.0699695875569,0.999999998893,-1.15579948749e-05,-3.70011209522e-05,-2.66527860816e-05,1793239275847935232
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879.434418806,787,804,653,631,653,0.404887291864,0.00448459529455,0.0699738492573,0.99999999919,-9.69389247925e-06,-2.87137047877e-05,-2.64815098738e-05,1793239275864602368
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.85787012,746,715.14212988,680,665,636,879,787.14212988,804,653,631,653,0.405294150646,0.00448226330571,0.0699777754493,0.999999999372,-9.59869340432e-06,-2.12786912498e-05,-2.66553212245e-05,1793239275881269248
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.282407518,746,715.717592482,680,665,636,879,787.717592482,804,653,631,653,0.405716162396,0.00448551242592,0.0699804497694,0.999999999364,-1.43483102531e-05,-1.70532704108e-05,-2.78434727898e-05,1793239275897935872
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.299822032,746,715.700177968,680,665,636,879.299822032,787.700177968,804,653,631,653,0.406145871585,0.00449049570625,0.0699770007339,0.999999999245,-1.16228235049e-05,-2.27591438504e-05,-2.92665120689e-05,1793239275914602240
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.888572738,746,715.111427262,680,665,636,879.888572738,787.111427262,804,653,631,653,0.406582998593,0.00449715014028,0.0699676508215,0.999999998797,-1.69382480552e-06,-3.80354798091e-05,-3.09159050781e-05,1793239275931268864
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.529598384,745.529598384,715,680,665,636,879.529598384,787,803.529598384,653,631,653,0.407066086928,0.00450249553081,0.0699510675335,0.999999997624,9.73191209093e-06,-6.01401244653e-05,-3.22575601409e-05,1793239275947935488
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.050198181,745.050198181,715,680,665,636,879.050198181,787.050198181,803.050198181,652.949801819,631,653,0.407567787466,0.00450765984166,0.0699353136394,0.999999996017,2.12419810846e-05,-7.99311685307e-05,-3.35525564004e-05,1793239275964602112
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.625637477,745.625637477,715,680,665,636,879.625637477,787.625637477,803.625637477,652.374362523,631,653,0.408151969953,0.00451412690414,0.0699459060953,0.999999997203,2.99785463397e-05,-5.88355031525e-05,-3.51110219912e-05,1793239275981268992
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.798962999,879.798962999,788,804,652.201037001,631.201037001,653,0.408743658029,0.00452101013008,0.0699565324193,0.999999998043,3.55362295762e-05,-3.60404918038e-05,-3.6775530781e-05,1793239275997935872
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.223637557,879.223637557,788,804,652.776362443,631.776362443,653,0.409349319891,0.00452866816412,0.0699672217982,0.999999998584,3.51755053068e-05,-1.00816584231e-05,-3.86374695309e-05,1793239276014602496
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,680.361778001,665,635.361778001,879.361778001,787.638221999,804,653,632,653,0.409941803157,0.00453439378967,0.0699653664634,0.999999998349,3.99762146469e-05,-1.15536212854e-05,-3.9640159405e-05,1793239276031269120
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680.95360982,665,635.95360982,879.95360982,787.04639018,804,653,632,653,0.41052590616,0.00453889060071,0.069955533973,0.999999997577,4.80590680351e-05,-3.04687668427e-05,-4.00964547764e-05,1793239276047935744
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,715,680.473711305,665,636,880,787.526288695,804,653,632,653,0.411173662621,0.00454695167879,0.0699561130093,0.999999996646,6.33175927132e-05,-3.31556816163e-05,-4.00064621285e-05,1793239276064602368
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,787.901076098,804,652.901076098,632,653,0.411844619862,0.00455474234027,0.0699627324425,0.999999995958,7.65277366907e-05,-2.48019961878e-05,-4.01621169224e-05,1793239276081268992
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,787.320725982,804,652.320725982,632,653,0.412602139728,0.00455974169412,0.0699944388246,0.999999995713,7.67990763187e-05,3.05651941592e-05,-4.17393616491e-05,1793239276097935616
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,787.255802292,804,652,631.744197708,653,0.413348789564,0.00456567918746,0.0700200562837,0.999999993035,8.30486903308e-05,7.21370423126e-05,-4.27753144649e-05,1793239276114602496
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,787.827609339,804,652,631.172390661,653,0.414082011235,0.00457277560984,0.0700381518105,0.999999989723,9.66835516634e-05,9.66668546631e-05,-4.31425839115e-05,1793239276131269120
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.417066014,745.582933986,715,680,665,635.582933986,880,788,803.582933986,652.417066014,631.417066014,653,0.41478346744,0.00457918650023,0.0700199384458,0.999999991861,0.0001038570638,5.97446217794e-05,-4.38339778036e-05,1793239276147935744
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.986341144,745.013658856,715,680,665,635,880.013658856,787.986341144,803,653,632,653,0.415472717939,0.00458534586712,0.0699859175594,0.999999993129,0.000108310458581,-3.56028182034e-06,-4.47050657356e-05,1793239276164602624
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.409597596,745.590402404,715,680,665,635,880.590402404,787.409597596,803,653,632,653,0.416223991836,0.00459333384069,0.0699462746411,0.999999990339,0.000115593643753,-6.10763711344e-05,-4.72169059422e-05,1793239276181269248
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715,679.833666328,665.166333672,635.166333672,880.833666328,787,803.166333672,652.833666328,631.833666328,653,0.417003836755,0.00459919894723,0.069926495403,0.999999987547,0.000121123697236,-8.85773329467e-05,-4.88871365403e-05,1793239276197936128
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715,679.259725618,665.740274382,635.740274382,880.259725618,787,803.740274382,652.259725618,631.259725618,653,0.417853696015,0.0045998618863,0.0699553928766,0.999999990434,0.000122357634539,-4.25250713136e-05,-4.84949706537e-05,1793239276214602752
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,679.322241262,666,636,880,787.322241262,804,652,631,653,0.418685609416,0.00459938134116,0.0699819382408,0.999999991746,0.000118752808039,-4.65099361122e-06,-4.88182663324e-05,1793239276231269376
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,679.910842429,666,636,880,787.910842429,804,652,631,653,0.419502688991,0.00459795560868,0.0700065393845,0.999999992236,0.000111148330299,2.64631148103e-05,-4.97329520967e-05,1793239276247936000
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.508126016,715,680,665.508126016,636,880,788,804.491873984,652,631,653,0.420356607103,0.00458876722076,0.0700244619992,0.999999991857,0.000101096756084,5.92020536953e-05,-5.06032129366e-05,1793239276264602624
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665.071074125,636,880.071074125,788,804.928925875,652,631.071074125,653,0.421214689242,0.00457949910467,0.0700386464422,0.999999990722,9.20694432188e-05,8.62741548046e-05,-5.13434617515e-05,1793239276281268992
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,665.646864421,636,880.646864421,788,804.353135579,652,631.646864421,653,0.422055641566,0.00457950533711,0.0700347513262,0.999999991801,9.34178070637e-05,7.1044769974e-05,-5.12167769682e-05,1793239276297935872
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.441710095,715,680.220855047,666,636,880.779144953,787.779144953,804,652.220855047,631.779144953,653,0.422868901109,0.00458177703907,0.0700037067551,0.999999993774,9.7594609795e-05,1.5251204767e-05,-5.19094244123e-05,1793239276314602496
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746.583982887,715,680.791991443,666,636,880.208008557,787.208008557,804,652.791991443,631.208008557,653,0.423638239375,0.00458764182944,0.069929602503,0.999999987402,0.000106257383039,-0.000104878116522,-5.39015517021e-05,1793239276331269376
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746.62036353,715,680.62036353,665.62036353,636,880,787.37963647,804,652.62036353,631.37963647,653,0.424457178571,0.00459214427264,0.0698897184156,0.999999980551,0.000105651562806,-0.000156301385037,-5.750304767e-05,1793239276347935744
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746.02326199,715,680.02326199,665.02326199,636,880,787.97673801,804,652.02326199,631.97673801,653,0.425304530347,0.00459586632965,0.0698694364813,0.999999978929,9.97364652502e-05,-0.000168368136976,-6.20264296244e-05,1793239276364602112
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680.553692809,665.553692809,635.446307191,880.553692809,788,804,652,631.446307191,653,0.426211196311,0.00459745803311,0.0699290799758,0.999999989602,0.000101730883926,-8.33374378061e-05,-5.91827571903e-05,1793239276381268992
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,681,666,635.129776474,880.870223526,788,804,652.129776474,631,653,0.427115999877,0.00459917103536,0.0699855331211,0.999999992806,0.000105661935866,-4.56876154839e-06,-5.65908691708e-05,1793239276397935360
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,681,666,635.705672979,880.294327021,788,804,652.705672979,631,653,0.428006135681,0.00460159788297,0.0700198813668,0.999999991042,0.000115148162581,3.91428669131e-05,-5.58911288187e-05,1793239276414601984
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,681,666,635.719578103,880.280421897,788,804.280421897,652.719578103,631,653,0.428894782978,0.00460213288096,0.0700441174811,0.99999998858,0.000118515858628,7.51419410676e-05,-5.60983722868e-05,1793239276431268864
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,681,666,635.146028803,880.853971197,788,804.853971197,652.146028803,631,653,0.429781874272,0.00460069031224,0.070057783296,0.99999998638,0.00011548780188,0.000103079013692,-5.72536937807e-05,1793239276447935744
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,680.556023412,666,635.443976588,881,788,805,652,631,653,0.430584330642,0.00460036940317,0.0700321422556,0.999999989699,0.000116993047521,6.02042768301e-05,-5.73585798364e-05,1793239276464602112
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680.038194971,666,636,881,788,805,652,631,653,0.431354615864,0.00460047392777,0.0699913563557,0.999999991162,0.000119652985782,-9.30868802724e-06,-5.72071941558e-05,1793239276481268992
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680.61264528,666,636,881,788,805,652,631,653,0.432079098086,0.00460117243669,0.0699264392117,0.999999985059,0.000116784638981,-0.000113232560997,-5.84952854587e-05,1793239276497935360
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,681.187741428,666,636,880.812258572,787.812258572,804.812258572,652,631,653,0.432850338118,0.00460033429727,0.0698962032572,0.99999997961,0.000111703012169,-0.000157285360424,-5.96920474807e-05,1793239276514601984
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681.764174796,666,636,880.235825204,787.235825204,804.235825204,652,631,653,0.433718383684,0.00459631474601,0.0699377697641,0.999999989958,0.000102039104843,-7.7383632554e-05,-6.06997262887e-05,1793239276531268864
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715,681.652960655,666.347039345,636,880,787,804.347039345,652,631.347039345,653,0.434561267046,0.0045934404492,0.0699860940459,0.999999993554,9.60935514723e-05,2.37754717759e-06,-6.04364486688e-05,1793239276547935488
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,681.065643417,666.934356583,636,880,787,804.934356583,652,631.934356583,653,0.435386728927,0.0045913590867,0.0700390971718,0.999999990578,9.27224566178e-05,8.20414113749e-05,-5.92932051366e-05,1793239276564602368
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,681,666.483070002,636,880.516929998,787.516929998,805,652,632,653,0.436156883869,0.00459122386173,0.0700428137464,0.999999989299,9.59709809523e-05,9.2962326929e-05,-5.95839014491e-05,1793239276581269248
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715,681,666,636,881,788,805,652,632,653,0.436909202101,0.00459068458365,0.0700372153631,0.999999989171,9.9086446331e-05,9.08390426439e-05,-5.98994833481e-05,1793239276597936128
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,715,681,666,636,881,788,805,652,632,653,0.437608394346,0.00458697581201,0.0700164121759,0.999999991219,9.74837609374e-05,6.72544172536e-05,-5.9455340289e-05,1793239276614602752
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,681,666,635.754049365,881,787.754049365,804.754049365,652,631.754049365,653,0.438284644725,0.00458603030981,0.0699875386789,0.999999993271,9.48420472382e-05,2.91340936544e-05,-6.01220689704e-05,1793239276631269120
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,681,666,635.179847314,881,787.179847314,804.179847314,652,631.179847314,653,0.438930276301,0.00458877273133,0.0699478943613,0.999999993535,9.0813622249e-05,-2.83859076933e-05,-6.227139274e-05,1793239276647935744
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715,681.409022068,665.590977932,635.409022068,881,787.409022068,804,652,631.409022068,653,0.439537440647,0.00459186087318,0.0699022415219,0.999999988038,9.41938965403e-05,-0.00010598233393,-6.17971373986e-05,1793239276664602112
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,715,681.99557688,665,635.99557688,881,787.99557688,804.00442312,652,632,653,0.440127405363,0.00459513745322,0.069854291598,0.999999974678,0.000100977615577,-0.000191914627188,-6.01435228094e-05,1793239276681268736
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,715,681.420494447,665,635.420494447,881,787.420494447,804.579505553,652,632,653,0.440761684603,0.00460238396899,0.0698635136644,0.999999977204,0.000110944563474,-0.000172041454528,-6.07008395582e-05,1793239276697935360
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,715,681.153778804,665,635.153778804,881.153778804,787,805,652,632,653,0.44138892334,0.00460843370349,0.0698793796104,0.999999980468,0.00011883153351,-0.000145606662316,-6.1166639295e-05,1793239276714602240
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715,681.725851129,665,635.725851129,881.725851129,787,805,652,632,653,0.441997011356,0.00461122807651,0.0699133175664,0.999999985655,0.000121060760747,-0.000101323613072,-6.13835038483e-05,1793239276731269120
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,681.692384103,664.692384103,636,881.692384103,787,805.307615897,652,632,653,0.442559134931,0.00461544487105,0.0699216365672,0.999999985429,0.000127131783676,-9.62399322469e-05,-6.09728620705e-05,1793239276747935744
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715,681.101700393,664.101700393,636,881.101700393,787,805.898299607,652,632,653,0.443078962041,0.00462097057615,0.0699063810311,0.999999980759,0.000136738022744,-0.000127227470261,-5.99847896704e-05,1793239276764602368
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,714.524518006,681.475481994,664,635.524518006,881,787,805.524518006,652,632,653,0.443540966401,0.00462570839149,0.069872380609,0.999999970543,0.000148832758456,-0.000182681023212,-5.82309424743e-05,1793239276781269248
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+253,4.216666667,HOLD_POSE2,766,746,714.408794317,682.408794317,659.408794317,633,881.591205683,787,804.408794317,652,632,653,0.4494395961,0.0047252948369,0.0696855791347,0.999999843763,0.000265609179831,-0.000487619945912,-6.44366389382e-05,1793239277789910272
+254,4.233333333,HOLD_POSE2,766.178895811,746,714,682.178895811,659,633,881.642208378,787,804,652,632,653,0.449440156163,0.00472607454673,0.0696857051654,0.999999843703,0.000266409580148,-0.00048728983758,-6.45689404185e-05,1793239277806576384
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+256,4.266666667,HOLD_POSE2,766.330926038,745.665463019,714,682.665463019,659,633,880.334536981,787,804,652,632,653,0.449439618408,0.00472516671495,0.0696849513294,0.99999984381,0.00026410447889,-0.000488380924433,-6.41393407328e-05,1793239277839909120
+257,4.283333333,HOLD_POSE2,765.184944037,745.092472019,714,682.092472019,659,633,880.907527981,787,804,652,632,653,0.449439825505,0.00472339380592,0.0696852917339,0.999999844193,0.000263484186536,-0.000488012994834,-6.35110237627e-05,1793239277856575744
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+263,4.383333333,HOLD_POSE2,765,746,714,682.392857582,659,633.392857582,881,787,804.607142418,652,631.607142418,652.392857582,0.44944014819,0.00472433753867,0.0696849491789,0.99999984412,0.000263410223296,-0.000488048874055,-6.46760471038e-05,1793239277956576000
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+266,4.433333333,HOLD_POSE2,766,745.138907407,714,682.861092593,659,633,881,787,805,652.861092593,632,653,0.449439956128,0.00472486289715,0.0696849883305,0.999999843567,0.000264997430708,-0.000488372672799,-6.43066521273e-05,1793239278006576128
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,714,682,659,633,881,787,805,652,632,653,0.449439278978,0.00471940713955,0.0696833902451,0.999999844997,0.000257266029011,-0.000489623001171,-6.39426336435e-05,1793239278060140544
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,714.571782369,682,659,633,881,786.428217631,805,652,632,653,0.44943943577,0.00472097447267,0.0696833947393,0.99999984391,0.000259729724464,-0.000490560327947,-6.3809216897e-05,1793239278076807936
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,714.259701529,682,659,633,881,786.740298471,805,652,631.259701529,653,0.449441738652,0.0047238167014,0.069685828415,0.999999844343,0.000264350896709,-0.00048719357824,-6.38401654964e-05,1793239278110141184
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,714,682,659,633.32554936,881.32554936,787,804.67445064,652,631.32554936,653,0.449441851232,0.00472365374547,0.0696860401827,0.999999844802,0.000263728041991,-0.000486579197601,-6.39059871323e-05,1793239278126807296
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,746,714,682,659,633.51866591,881.51866591,787,804.48133409,652,632,653,0.449440695011,0.00472302719896,0.0696853051105,0.999999844745,0.000261872167949,-0.000487692599544,-6.39468053968e-05,1793239278160140288
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,682,659,633,881,787,804.405340937,652,632,653,0.448620065922,0.00472020477168,0.0695698687487,0.999999732348,0.000274681193645,-0.00067605034624,-5.30132642126e-05,1793239278393474304
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,746,715,681.583675387,664.416324613,635,881,787.416324613,804.583675387,652,632,653,0.433780582071,0.00457917748022,0.0698363968938,0.999999954263,0.000135162270864,-0.000269210970387,2.70172394912e-05,1793239278910140416
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,746,715,681.836808452,664,635,880.836808452,787.163191548,804.836808452,652,632,653,0.432949735618,0.00457380847354,0.0698326238432,0.999999952893,0.000132736281705,-0.000275367777817,2.77156074185e-05,1793239278926807040
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,681.821173816,664.821173816,635.821173816,880.821173816,788,804.178826184,652,631.821173816,653,0.426098867189,0.0045311500715,0.0698736837803,0.999999971285,9.01811276272e-05,-0.000219413820488,3.3986844896e-05,1793239279060140032
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,746,715,681.202678923,664.601339461,636,881,788,804.398660539,652,632,653,0.425215945177,0.00452377491578,0.069862843654,0.999999967995,8.4576007106e-05,-0.000235985489191,3.41614928678e-05,1793239279076806656
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.050709776,664.025354888,636,881,788,804.974645112,652,632,653,0.424322136801,0.00451503027857,0.0698355619288,0.999999958182,7.69444539306e-05,-0.00027672373234,3.37697778095e-05,1793239279093473280
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.547653863,664.547653863,635.452346137,880.452346137,787.452346137,805,652,632,653,0.42339104622,0.00450953484462,0.0697970205597,0.999999938257,6.99836599854e-05,-0.000342695095368,3.38758320842e-05,1793239279110140160
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,664.303761343,635.303761343,880,788,804,652,632,652.303761343,0.420663418301,0.00448942439596,0.069720747959,0.999999887992,4.13678724483e-05,-0.00047024513052,3.4252259073e-05,1793239279160140032
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.09135715,636,880,787.90864285,804,653,631.90864285,653,0.412713475069,0.00446011042655,0.0697805481971,0.999999935,3.51677979535e-06,-0.000358814505462,3.52127533862e-05,1793239279326806528
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,880,787.258319357,804,653,631.258319357,653,0.407616359195,0.00446763154711,0.0697886158382,0.999999940611,9.75343905011e-06,-0.000343087932975,3.12161380499e-05,1793239279460143872
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,880,787.325552102,804,653,631,653,0.407092784138,0.00447345098789,0.0698031651411,0.999999947999,1.42741094819e-05,-0.000320657572535,3.12659608681e-05,1793239279476810496
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.019412025,635.019412025,879.019412025,787.980587975,804,653,631.019412025,653,0.401991666899,0.00448806194253,0.0698082849684,0.99999994797,2.0245650133e-05,-0.000320935432164,2.55246021283e-05,1793239279726806784
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.606437381,635.606437381,879.606437381,787.393562619,804,653,631.606437381,653,0.401840911315,0.00449395739469,0.069810737652,0.999999949118,2.89654142295e-05,-0.00031671248089,2.48598120737e-05,1793239279743473408
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.191996627,665,636,879.808003373,787.191996627,804,653,632,653,0.401697097924,0.00449860026611,0.0698117195155,0.999999949554,3.68668376249e-05,-0.000314547330174,2.4362024566e-05,1793239279760140032
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.774573284,665,636,879.225426716,787.774573284,804,653,632,653,0.401567407101,0.00450069500338,0.0698097092792,0.99999994867,4.3103503972e-05,-0.000316568377517,2.42039715459e-05,1793239279776806656
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.647980078,664.647980078,635.647980078,879,787.647980078,804,652.647980078,632,653,0.401455677758,0.00449958909019,0.0698088651457,0.999999948931,4.13306162349e-05,-0.000316034263676,2.34919613682e-05,1793239279793473536
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.07377136,664.07377136,635.07377136,879,787.07377136,804,652.07377136,632,653,0.401355285375,0.00449646298283,0.0698087570357,0.999999949891,3.45022391658e-05,-0.000313887377137,2.24303031405e-05,1793239279810140160
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.501109723,635,879,787.501109723,804,652,631.498890277,653,0.40127732793,0.00449552918505,0.0698093137525,0.999999950244,3.06719701287e-05,-0.000313184752492,2.20637149192e-05,1793239279826806784
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.921925982,635.078074018,879.078074018,787.921925982,803.921925982,652.078074018,631,653,0.401205675777,0.00449496837309,0.0698102752331,0.99999995067,2.80170733904e-05,-0.000312083309705,2.18709250179e-05,1793239279843473408
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.331952524,635.668047476,879.668047476,787.331952524,803.331952524,652.668047476,631,653,0.401153680725,0.00449473413926,0.0698132480079,0.999999952184,3.01708440422e-05,-0.000306971053888,2.21458522453e-05,1793239279860140032
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.253415151,636,880,787,803.253415151,653,631,653,0.401109203471,0.00449442579784,0.0698159944967,0.999999953539,3.02775127845e-05,-0.000302511402181,2.21943600586e-05,1793239279876806656
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.832857298,636,880,787,803.832857298,653,631,653,0.401074398117,0.00449402211456,0.0698184498608,0.999999954706,2.77505168991e-05,-0.000298891347616,2.19515717705e-05,1793239279893473280
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745.591038844,715,680,665.408961156,636,880,787.408961156,804,653,631.408961156,653,0.401046729223,0.00449319622598,0.0698202905668,0.999999955716,2.60955037421e-05,-0.000295655379845,2.17886207288e-05,1793239279910140160
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745.016288315,715,680,665.983711685,636,880,787.983711685,804,653,631.983711685,653,0.40102195339,0.00449219917899,0.0698218820956,0.999999956658,2.47939850256e-05,-0.000292575117681,2.16580350334e-05,1793239279926806784
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.138586443,665,635.861413557,880,787.138586443,803.861413557,652.861413557,631.138586443,653,0.40099243137,0.00449450715378,0.069823727988,0.999999956909,2.98808483539e-05,-0.000291178401386,2.24479978765e-05,1793239279960140032
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745.685603487,715,680,665,635.314396513,879.685603487,787.685603487,803.314396513,652.314396513,632,653,0.400981271646,0.00449645603755,0.0698262476982,0.999999958301,3.18020619615e-05,-0.000286206548026,2.17319783667e-05,1793239279993473280
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.109086453,715,680,665,635.890913547,879.109086453,787.109086453,803.890913547,652.890913547,632,653,0.400980230529,0.00449599377875,0.0698282059256,0.999999959476,3.14063927241e-05,-0.000282114587057,2.17674762507e-05,1793239280010140160
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.466898375,715,680,665,636,879.466898375,787.466898375,803.533101625,653,631.533101625,653,0.400979977607,0.00449466972392,0.0698303479633,0.999999960421,2.95140744127e-05,-0.000278948387182,2.17754964585e-05,1793239280026806784
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,880,788,803.79879786,653,631.20120214,653,0.400978389971,0.00449718373138,0.0698323997603,0.999999961407,3.29083451786e-05,-0.000275038174677,2.13786800326e-05,1793239280093473536
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.37500497,665,636,880,788,804,653,631,653,0.400978372501,0.00449691224676,0.0698328747698,0.999999961551,3.2348388282e-05,-0.000274573750015,2.14548629913e-05,1793239280110140160
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.94921988,665,636,880,788,804,653,631,653,0.400978456335,0.0044959311305,0.0698334054759,0.999999961765,3.0758759085e-05,-0.000273955884293,2.17273749178e-05,1793239280126807040
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.474630392,715,680.474630392,665,635.474630392,879.474630392,787.474630392,803.474630392,653,631,653,0.400976858515,0.00449688917537,0.0698336919121,0.999999961715,3.07148729508e-05,-0.000274179762707,2.12594534185e-05,1793239280143473664
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.104436255,715,680,665,635,879,787,803,653,631.104436255,653,0.400975556512,0.00449768714132,0.0698339739781,0.999999961716,3.08298740905e-05,-0.000274197855658,2.08195496956e-05,1793239280160140288
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.69623899,715,680,665,635,879,787,803,653,631.69623899,653,0.400976396301,0.00449686016737,0.0698343462375,0.999999962072,3.09865468312e-05,-0.000272874542181,2.08456085523e-05,1793239280176806912
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.718821348,715,680,664.718821348,635,879,787,803,652.718821348,631.718821348,653,0.400976756069,0.00449643985772,0.0698340860566,0.999999962124,3.18319982312e-05,-0.000272583633278,2.08803494877e-05,1793239280193473536
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745.141119223,715,680,664.141119223,635,879,787,803,652.141119223,631.141119223,653,0.40097660962,0.00449644840524,0.069833158921,0.999999961854,3.34038171671e-05,-0.00027338147041,2.09242463136e-05,1793239280210140160
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.433840003,745,715,680,664,635,879,787,803,652.433840003,631.433840003,653,0.400976844377,0.00449490841591,0.069833872368,0.999999962103,3.07030208592e-05,-0.000272782365095,2.0989936708e-05,1793239280226806784
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.991910954,745.008089046,715,680,664,635,879,787.008089046,803.008089046,653,632,653,0.400977183658,0.00449294165254,0.069835094779,0.999999962497,2.67391922638e-05,-0.000271750244475,2.10524906385e-05,1793239280243473408
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.405036314,745.594963686,715,680,664,635,879,787.594963686,803.594963686,653,632,653,0.400976185246,0.00449625314951,0.0698347909228,0.999999962301,3.12205966621e-05,-0.000272043724015,2.03865815912e-05,1793239280260140032
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.819489936,715,679.819489936,664,635.180510064,879,787.819489936,803.819489936,653,632,653,0.400976099223,0.00449837367424,0.0698349544505,0.999999962362,3.44492725994e-05,-0.000271453082664,2.00568400613e-05,1793239280276806912
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.236902237,715,679.236902237,664,635.763097763,879,787.236902237,803.236902237,653,632,653,0.400978045505,0.00449784136436,0.0698361590537,0.99999996303,3.4887554826e-05,-0.000268893103803,2.04758958304e-05,1793239280293473536
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,664.340338724,635.659661276,879,787,803,653,631.659661276,653,0.40097822796,0.00449660693723,0.0698364013319,0.999999963094,3.39425050247e-05,-0.000268744945445,2.08931827515e-05,1793239280310140160
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,664.91391548,635.08608452,879,787,803,653,631.08608452,653,0.400977201645,0.0044948913411,0.0698359841178,0.999999962742,3.20494419006e-05,-0.000270249635444,2.13092574435e-05,1793239280326806784
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.489166761,745.489166761,715,679.489166761,664.510833239,635.489166761,879,787,803,652.510833239,631,653,0.400976240509,0.00449531048545,0.0698355384254,0.999999962734,3.06607698512e-05,-0.00027047649756,2.08204992683e-05,1793239280343473408
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.933631097,745.933631097,715,679.933631097,664.066368903,636,879,787.066368903,803,652.066368903,631,653,0.400975604101,0.00449611599396,0.0698353051939,0.999999962838,2.98105374809e-05,-0.000270229644245,2.02557364878e-05,1793239280360139776
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.343363862,745.343363862,715,679.343363862,664.656636138,636,879,787.656636138,803,652.656636138,631,653,0.400977440155,0.00449699568671,0.0698367887694,0.999999963346,3.25075204988e-05,-0.000268024605858,2.03522841959e-05,1793239280376806400
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.242365787,715,679,665,635.757634213,879.242365787,787.757634213,803.242365787,653,631,653,0.40097878066,0.00449712876005,0.0698377035213,0.999999963712,3.3689276958e-05,-0.000266500924107,2.0475263363e-05,1793239280393473280
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745.821785186,715,679,665,635.178214814,879.821785186,787.178214814,803.821785186,653,631,653,0.400979432014,0.00449622352374,0.069837827221,0.999999963892,3.2763836295e-05,-0.0002659247921,2.06350002848e-05,1793239280410139904
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.398349719,665,635.398349719,879.601650281,787.398349719,803.601650281,653,631.398349719,653,0.400978891835,0.00449596061474,0.0698379452525,0.999999963768,3.18249363586e-05,-0.000266501351847,2.06932158368e-05,1793239280426806528
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.973646087,665,635.973646087,879.026353913,787.973646087,803.026353913,653,631.973646087,653,0.400977822379,0.00449598302711,0.0698380607662,0.999999963507,3.08800578784e-05,-0.000267589936452,2.07063356624e-05,1793239280443473408
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,665,636,879,787.440096176,803,652.440096176,632,653,0.400976927959,0.00449534709621,0.0698369485052,0.999999963234,3.04149424836e-05,-0.000268634057711,2.10389372802e-05,1793239280460140288
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..333456f5166eeaa20df261a5224f625039226227
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,414 @@
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+1,0.016666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
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+3,0.050000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
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+271,4.516666667,pose2_to_pose3_retreat,0.6185653026,0.0100906080104,1.06003232353,0.589135754717,0.0187623513831,1.05970045936
+272,4.533333333,pose2_to_pose3_retreat,0.618565164754,0.0100906167375,1.06003232427,0.589135616911,0.0187623602435,1.05970045997
+273,4.550000000,pose2_to_pose3_retreat,0.618565078406,0.0100906298151,1.06003232551,0.589135530576,0.018762373362,1.0597004611
+274,4.566666667,pose2_to_pose3_retreat,0.618564751569,0.0100906793155,1.06003233022,0.589135203787,0.0187624230167,1.05970046535
+275,4.583333333,pose2_to_pose3_retreat,0.618563741402,0.0100907885146,1.06003236583,0.589134193565,0.0187625320358,1.05970050075
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+277,4.616666667,pose2_to_pose3_retreat,0.618554284541,0.0100906746661,1.06003230405,0.589124736549,0.0187624175712,1.05970043649
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+387,6.450000000,pose2_to_pose3_retreat,0.575668305684,0.0100906699048,1.06003229373,0.546238756583,0.0187624069079,1.05970041875
+388,6.466666667,pose2_to_pose3_retreat,0.575668036608,0.0100906693881,1.06003227847,0.546238487275,0.0187624055873,1.05970040315
+389,6.483333333,pose2_to_pose3_retreat,0.575667801954,0.0100906689375,1.06003226517,0.546238252417,0.0187624044356,1.05970038954
+390,6.500000000,pose2_to_pose3_retreat,0.575667596804,0.0100906685436,1.06003225353,0.546238047089,0.0187624034288,1.05970037765
+391,6.516666667,pose2_to_pose3_retreat,0.575667290568,0.0100906809632,1.06003225632,0.546237740827,0.0187624157643,1.05970038056
+392,6.533333333,pose2_to_pose3_retreat,0.575666902873,0.0100907087992,1.06003227862,0.546237353322,0.0187624442674,1.0597004035
+393,6.550000000,pose2_to_pose3_retreat,0.575666648754,0.0100907270445,1.06003229324,0.546237099328,0.0187624629501,1.05970041853
+394,6.566666667,pose2_to_pose3_retreat,0.575666442719,0.0100907418376,1.06003230509,0.546236893394,0.0187624780977,1.05970043072
+395,6.583333333,pose2_to_pose3_retreat,0.575666207332,0.0100907587381,1.06003231863,0.546236658121,0.0187624954032,1.05970044465
+396,6.600000000,pose2_to_pose3_retreat,0.57566620553,0.0100907588675,1.06003231874,0.54623665632,0.0187624955357,1.05970044475
+397,6.616666667,pose2_to_pose3_retreat,0.575665998129,0.0100907737586,1.06003233067,0.546236449021,0.0187625107837,1.05970045702
+398,6.633333333,pose2_to_pose3_retreat,0.575665971228,0.0100907756901,1.06003233221,0.546236422132,0.0187625127615,1.05970045861
+399,6.650000000,pose2_to_pose3_retreat,0.575665887504,0.0100907817013,1.06003233703,0.54623633845,0.0187625189168,1.05970046357
+400,6.666666667,pose2_to_pose3_retreat,0.575665704482,0.0100907948421,1.06003234756,0.546236155518,0.0187625323725,1.05970047439
+401,6.683333333,pose2_to_pose3_retreat,0.575665528127,0.0100908075041,1.0600323577,0.546235979249,0.018762545338,1.05970048483
+402,6.700000000,pose2_to_pose3_retreat,0.575665525834,0.0100908076687,1.06003235784,0.546235976957,0.0187625455066,1.05970048496
+403,6.716666667,pose2_to_pose3_retreat,0.57566551879,0.0100908081745,1.06003235824,0.546235969916,0.0187625460244,1.05970048538
+404,6.733333333,pose2_to_pose3_retreat,0.575665455681,0.0100908127057,1.06003236187,0.546235906838,0.0187625506642,1.05970048911
+405,6.750000000,pose2_to_pose3_retreat,0.575665391828,0.0100908206249,1.06003236303,0.546235842818,0.0187625580176,1.05970049033
+406,6.766666667,pose2_to_pose3_retreat,0.575665336838,0.0100908284469,1.06003236328,0.546235787624,0.0187625651493,1.0597004906
+407,6.783333333,pose2_to_pose3_retreat,0.575665114929,0.0100908600117,1.06003236427,0.546235564893,0.0187625939285,1.0597004917
+408,6.800000000,pose2_to_pose3_retreat,0.575664851137,0.010090897534,1.06003236544,0.546235300124,0.0187626281394,1.05970049301
+409,6.816666667,pose2_to_pose3_retreat,0.575664632169,0.0100909232852,1.06003236341,0.546235080472,0.0187626515746,1.05970049112
+410,6.833333333,pose2_to_pose3_retreat,0.575664591901,0.0100908958175,1.06003234505,0.546235040836,0.0187626262636,1.05970047298
+411,6.850000000,pose2_to_pose3_retreat,0.575664446242,0.010090796462,1.06003227865,0.546234897467,0.0187625347093,1.05970040736
+412,6.866666667,pose2_to_pose3_retreat,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1dbb3f3f227888943a030dc2db40b4d356ad50b4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f2ba6bd55c263741c3423b281a4b2559a5f3ecbacfa81b0152f6bd56f35d224
+size 26144095
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..28450f954e9178fdc73b1c5806a8b56455c9026d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_02/franka_data.csv
@@ -0,0 +1,414 @@
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+21,0.350000000,BASELINE,766,745.179514759,715,680,664.820485241,635.820485241,879.179514759,787,803.179514759,653,631,653,0.40098101836,0.00449739600842,0.0698412900165,0.999999965284,3.5358808383e-05,-0.000260324887631,2.03329854258e-05,1793239280937482240
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+42,0.700000000,BASELINE,766,746,715,679.641725399,665,636,879.641725399,787.641725399,803.358274601,652.641725399,631.358274601,653,0.400980909941,0.00449588286735,0.0698418255964,0.999999965551,3.03936998636e-05,-0.000259969890834,1.97403320633e-05,1793239281287482624
+43,0.716666667,BASELINE,766,746,715,679.052117374,665,636,879.052117374,787.052117374,803.947882626,652.052117374,631.947882626,653,0.40098129566,0.0044964510177,0.0698416979349,0.999999965559,3.18400399308e-05,-0.000259784153415,1.95148066489e-05,1793239281304148992
+44,0.733333333,BASELINE,766,746,715,679.52808987,665,635.47191013,879.52808987,787,804,652,632,653,0.400980865141,0.0044974314309,0.0698413800443,0.99999996545,3.33116976165e-05,-0.0002600084703,1.9638308384e-05,1793239281320815360
+45,0.750000000,BASELINE,766,745.893143322,715,680,665,635.106856678,879.893143322,787.106856678,803.893143322,652,631.893143322,653,0.400980055488,0.0044979635627,0.0698408579998,0.999999965229,3.43493104106e-05,-0.000260709053393,1.98171448101e-05,1793239281337481472
+46,0.766666667,BASELINE,766,745.316700942,715,680,665,635.683299058,879.316700942,787.683299058,803.316700942,652,631.316700942,653,0.400977927524,0.00449635003407,0.0698395198532,0.999999964567,3.34687079677e-05,-0.000263327876739,2.00904265624e-05,1793239281354148096
+47,0.783333333,BASELINE,766,745.259878907,715,680,665,636,879,788,803,652,631.259878907,653,0.400977154441,0.00449599709714,0.0698393100605,0.999999964448,3.3810334816e-05,-0.00026373059276,2.0198858002e-05,1793239281370814976
+48,0.800000000,BASELINE,766,745.836626446,715,680,665,636,879,788,803,652,631.836626446,653,0.400978033354,0.0044971811911,0.069840476062,0.99999996499,3.5642217644e-05,-0.000261431224113,2.01062885809e-05,1793239281387481600
+49,0.816666667,BASELINE,766,746,715,680,665,636,879,787.577799802,803,652.422200198,632,653,0.400978470983,0.00449722259405,0.0698403569667,0.999999964828,3.55474169892e-05,-0.000262066394205,2.00592912971e-05,1793239281404148480
+50,0.833333333,BASELINE,766,746,715,680,665,635.988914909,879.011085091,787,803.011085091,652.988914909,632,653,0.400978729313,0.00449682463082,0.0698397513753,0.9999999644,3.46987796319e-05,-0.000263808208661,2.00273876338e-05,1793239281420815104
+51,0.850000000,BASELINE,766,746,715,680,665,635.409116785,879.590883215,787,803.590883215,652.409116785,632,653,0.40097873643,0.00449705503412,0.069840243665,0.999999964679,3.424141793e-05,-0.000262823551401,1.98458093002e-05,1793239281437481728
+52,0.866666667,BASELINE,766,745.83113968,715,680,665,635,879.83113968,787,804,652.16886032,631.83113968,653,0.400978846632,0.00449720047448,0.0698406969632,0.999999964982,3.36168374508e-05,-0.000261758139639,1.97283799994e-05,1793239281454148096
+53,0.883333333,BASELINE,766,745.257527524,715,680,665,635,879.257527524,787,804,652.742472476,631.257527524,653,0.400979203921,0.00449714226187,0.0698410568002,0.999999965344,3.25914398804e-05,-0.000260499162436,1.97647135276e-05,1793239281470814720
+54,0.900000000,BASELINE,766.315986941,745.315986941,715,680,665,635.315986941,879,787.315986941,804,652.684013059,631,653,0.400979424028,0.00449718254904,0.069841292329,0.999999965385,3.31031106665e-05,-0.000260263281365,1.99459691986e-05,1793239281487481600
+55,0.916666667,BASELINE,766.889421786,745.889421786,715,680,665,635.889421786,879,787.889421786,804,652.110578214,631,653,0.400979532367,0.00449730308814,0.0698414265787,0.999999965163,3.48670959955e-05,-0.000260860959974,2.02452990567e-05,1793239281504148224
+56,0.933333333,BASELINE,766.51925597,746,715,680,665,636,879,787.51925597,803.51925597,652.48074403,631,653,0.400978699597,0.004497677665,0.0698409528329,0.999999964916,3.56679062122e-05,-0.000261714984512,2.0027632826e-05,1793239281520814592
+57,0.950000000,BASELINE,766,745.926132975,715,679.926132975,665,636,879.073867025,787,803.073867025,653,631.073867025,653,0.400977824326,0.00449781896874,0.0698403704389,0.999999964688,3.59276961038e-05,-0.000262570263216,1.97717848987e-05,1793239281537481216
+58,0.966666667,BASELINE,766,745.349828807,715,679.349828807,665,636,879.650171193,787,803.650171193,653,631.650171193,653,0.400978189268,0.00449596075647,0.0698400370239,0.999999964628,3.40726746409e-05,-0.000263017509245,2.00963488184e-05,1793239281554147840
+59,0.983333333,BASELINE,766,745.226177409,715,679.226177409,665,635.773822591,879.773822591,787.226177409,803.773822591,653,631.773822591,653,0.400978123047,0.00449536406911,0.06983972736,0.99999996456,3.25954497905e-05,-0.000263463047431,2.00969749492e-05,1793239281570814720
+60,1.000000000,BASELINE,766,745.801723475,715,679.801723475,665,635.198276525,879.198276525,787.801723475,803.198276525,653,631.198276525,653,0.400977390821,0.00449671601669,0.0698394543835,0.999999964482,3.17017944105e-05,-0.000263905947643,1.95972252942e-05,1793239281587481344
+61,1.016666667,BASELINE,766,745.615074107,715,680,665,635.384925893,879.384925893,788,803,653,631.384925893,653,0.400977755815,0.0044981686064,0.0698400211229,0.999999964635,3.43966764329e-05,-0.000262987439406,1.95904758555e-05,1793239281604147968
+62,1.033333333,BASELINE,766,745.027847878,715,680,665,635.972152122,879.972152122,788,803,653,631.972152122,653,0.400978697458,0.00449967408916,0.0698410291804,0.999999964891,3.89775379621e-05,-0.000261353433968,1.98428259554e-05,1793239281620814592
+63,1.050000000,BASELINE,766,745.554883679,715,679.445116321,665,636,879.445116321,788,803.554883679,653,631.445116321,653,0.400979206698,0.00449716539741,0.069841280881,0.99999996508,3.53731578368e-05,-0.000261113443224,2.0206755644e-05,1793239281637481216
+64,1.066666667,BASELINE,766,746,714.864933988,679.135066012,665,636,879.135066012,787.864933988,803.864933988,653,631,653,0.40097976697,0.00449527260262,0.0698416151764,0.999999965263,3.24667644037e-05,-0.000260771447264,2.04348681546e-05,1793239281654148096
+65,1.083333333,BASELINE,766,746,714.292285647,679.707714353,665,636,879.707714353,787.292285647,803.292285647,653,631,653,0.400980562319,0.00449602260558,0.06984233905,0.999999965479,3.31418604993e-05,-0.000259874141388,2.02049683439e-05,1793239281670814464
+66,1.100000000,BASELINE,766,745.713253818,714.286746182,680,665,636,879.713253818,787,803.286746182,652.713253818,631.286746182,653,0.400980512183,0.00449682353688,0.0698422700958,0.999999965441,3.3741545744e-05,-0.000259958809921,2.0023031455e-05,1793239281687481088
+67,1.116666667,BASELINE,766,745.127567069,714.872432931,680,665,636,879.127567069,787,803.872432931,652.127567069,631.872432931,653,0.400979580605,0.0044976775623,0.0698413745973,0.999999965137,3.42626131166e-05,-0.000261067213104,1.98910972098e-05,1793239281704147712
+68,1.133333333,BASELINE,766.45457691,745.45457691,714.54542309,679.54542309,665,636,879,787,803.54542309,652.45457691,632,653,0.400978907725,0.00449727424413,0.0698408529629,0.999999965,3.32358751075e-05,-0.000261726465844,1.98874406465e-05,1793239281720814592
+69,1.150000000,BASELINE,766.964371121,745.964371121,714.035628879,679.035628879,665.035628879,636,879.035628879,787,803,653,632,653,0.400978391478,0.00449662512898,0.0698404483055,0.999999964913,3.19532847656e-05,-0.00026221592059,1.99013418185e-05,1793239281737481216
+70,1.166666667,BASELINE,766.384930067,745.384930067,714.615069933,679.615069933,665.615069933,636,879.615069933,787,803,653,632,653,0.400979166442,0.00449756828116,0.069840240113,0.999999964923,3.33439976949e-05,-0.000262022673132,1.96380288297e-05,1793239281754147840
+71,1.183333333,BASELINE,766.192359598,745.192359598,715,680,665.615280803,636,880,787,803.192359598,653,632,653,0.400979421828,0.0044979254301,0.0698400589694,0.999999964925,3.41934683851e-05,-0.000261914744384,1.95383241537e-05,1793239281770814464
+72,1.200000000,BASELINE,766.765391846,745.765391846,715,680,664.469216307,636,880,787,803.765391846,653,632,653,0.400978648989,0.00449712290014,0.0698399313544,0.999999964912,3.39718406172e-05,-0.000261975658224,1.97623943312e-05,1793239281787481088
+73,1.216666667,BASELINE,766.651634132,746,715,680,664.348365868,636,879.651634132,787,803.651634132,653,632,653,0.40097788497,0.00449773448831,0.0698398444355,0.999999964811,3.4335960833e-05,-0.00026231667941,1.97077251913e-05,1793239281804147712
+74,1.233333333,BASELINE,766.061768138,746,715,680,664.938231862,636,879.061768138,787,803.061768138,653,632,653,0.400977127067,0.00449932639563,0.0698397857286,0.999999964649,3.51061432636e-05,-0.000262851881381,1.94598236174e-05,1793239281820814592
+75,1.250000000,BASELINE,765.483396826,745.483396826,715,680,665,635.483396826,879,787,803,652.483396826,632,653,0.400977801904,0.00449801362191,0.0698401633288,0.999999964779,3.49894667138e-05,-0.000262335777331,1.99322239486e-05,1793239281837481472
+76,1.266666667,BASELINE,765.093778916,745.093778916,715,679.906221084,665,635,879,787.093778916,803.093778916,652,631.906221084,653,0.400978551438,0.00449676954826,0.0698405390731,0.999999964926,3.47401388551e-05,-0.000261779136113,2.03150896854e-05,1793239281854148096
+77,1.283333333,BASELINE,765.671723322,745.671723322,715,679.328276678,665,635,879,787.671723322,803.671723322,652,631.328276678,653,0.400978821442,0.00449763419268,0.0698406417659,0.999999964984,3.43414952952e-05,-0.00026164805329,1.9800738688e-05,1793239281870814720
+78,1.300000000,BASELINE,766,745.751274601,715,679,665,635,879,787.751274601,804,652.248725399,631,652.751274601,0.400979192669,0.00449819369847,0.0698407405034,0.999999965121,3.43199276612e-05,-0.000261153534882,1.94603065541e-05,1793239281887481600
+79,1.316666667,BASELINE,766,745.175511595,715,679,665,635,879,787.175511595,804,652.824488405,631,652.175511595,0.400979696987,0.00449835199141,0.0698408340404,0.99999996536,3.47941598797e-05,-0.000260181151718,1.93485523884e-05,1793239281904148224
+80,1.333333333,BASELINE,766,745,715,679.411051732,665,635.411051732,879,787,803.588948268,652.588948268,631.411051732,652.411051732,0.400979700236,0.00449864762854,0.0698409428571,0.999999965316,3.55198544678e-05,-0.000260249010282,1.93868420625e-05,1793239281920816640
+81,1.350000000,BASELINE,766,745.002299556,714.997700444,679.997700444,665,635.997700444,879,787.002299556,803,652,631.997700444,653,0.400979491034,0.00449900151969,0.0698410631624,0.99999996515,3.63512604867e-05,-0.000260764563726,1.94903564079e-05,1793239281937486592
+82,1.366666667,BASELINE,766,745.580638235,714.419361765,679.419361765,665,635.419361765,879,787.580638235,803,652,631.419361765,653,0.400981103025,0.00449886145155,0.0698423829609,0.999999965579,3.60414527817e-05,-0.00025916221863,1.94510685397e-05,1793239281954150144
+83,1.383333333,BASELINE,766,746,714.157494403,679.157494403,665,635.157494403,879,787.842505597,803.157494403,652.157494403,631,653,0.400981951516,0.00449868915843,0.0698428610499,0.999999965748,3.55977506709e-05,-0.000258576187647,1.93935861236e-05,1793239281970814464
+84,1.400000000,BASELINE,766,746,714.730440015,679.730440015,665,635.730440015,879,787.269559985,803.730440015,652.730440015,631,653,0.400980785983,0.00449843185968,0.0698411188115,0.999999965234,3.4800851227e-05,-0.000260671070156,1.92881086793e-05,1793239281987481344
+85,1.416666667,BASELINE,766,746,715,680,665,636,879,787.310785367,803.689214633,653,631,653,0.40097996913,0.00449874574387,0.0698406306484,0.999999965088,3.56634876959e-05,-0.000261108194297,1.93401486933e-05,1793239282004147968
+86,1.433333333,BASELINE,766,746,715,680,665,636,879,787.897705398,803.102294602,653,631,653,0.400979462079,0.00449956712754,0.0698412567389,0.999999965268,3.8000631829e-05,-0.000260072390055,1.95321439204e-05,1793239282020814592
+87,1.450000000,BASELINE,765.521099753,746,715,680,665,636,879.478900247,788,803.957800494,653,631,653,0.400979310995,0.00449846905379,0.0698413174279,0.99999996536,3.55132701658e-05,-0.000260079710038,1.94347267781e-05,1793239282037481216
+88,1.466666667,BASELINE,765.058605066,745.941394934,715,680,665,636,879.941394934,787.941394934,804.941394934,653,631,653,0.400979286972,0.00449707849744,0.0698412706952,0.999999965422,3.2378617007e-05,-0.000260259776171,1.93107597635e-05,1793239282054148096
+89,1.483333333,BASELINE,765.635818334,745.364181666,715,680,665,636,879.364181666,787.364181666,804.364181666,653,631,653,0.400979722442,0.00449668503345,0.0698413294721,0.999999965476,3.25275835213e-05,-0.000260020069518,1.94924372732e-05,1793239282070814720
+90,1.500000000,BASELINE,766,745.212593445,715,680,665,635.787406555,879,787,803.787406555,653,631,653,0.400980171352,0.00449679116593,0.0698415128477,0.999999965502,3.31466512729e-05,-0.000259836907157,1.95612212399e-05,1793239282087481344
+91,1.516666667,BASELINE,766,745.788619459,715,680,665,635.211380541,879,787,803.211380541,653,631,653,0.40098064324,0.00449775136817,0.0698419092274,0.999999965478,3.45693660886e-05,-0.000259750408371,1.9437011512e-05,1793239282104148224
+92,1.533333333,BASELINE,766,746,715,680,665,635,879,787.373085215,803,653,631,653,0.400980328797,0.00449804513323,0.0698416657212,0.999999965365,3.47454884902e-05,-0.000260167444875,1.93650882091e-05,1793239282120814848
+93,1.550000000,BASELINE,766,746,715,680,665,635,879,787.962443442,803,653,631,653,0.400979558528,0.00449795257276,0.0698410512808,0.9999999652,3.41989763952e-05,-0.000260876374723,1.93234747062e-05,1793239282137481472
+94,1.566666667,BASELINE,766,745.457569851,715,680,665,635.542430149,879,787.457569851,803,653,631.542430149,653,0.400979655648,0.00449799811379,0.0698413435195,0.999999965245,3.43510747305e-05,-0.000260697000236,1.91789989503e-05,1793239282154148096
+95,1.583333333,BASELINE,766,745,715,679.879336902,665,635.879336902,879,787,803,652.879336902,632,653,0.400979540166,0.00449821946874,0.0698413893884,0.9999999652,3.46576799473e-05,-0.000260833502758,1.91040241764e-05,1793239282170814720
+96,1.600000000,BASELINE,766,745,715,679.305296706,665,635.305296706,879,787,803,652.305296706,632,653,0.400978404034,0.00449906610621,0.0698402776837,0.999999964765,3.53661680783e-05,-0.00026238404445,1.93164962927e-05,1793239282187481344
+97,1.616666667,BASELINE,766.275671313,745,715,679,665,635.275671313,879,787,803,652,631.724328687,653,0.400978209999,0.00449931441883,0.0698400836914,0.999999964684,3.51275911122e-05,-0.000262716506941,1.94422109902e-05,1793239282204147968
+98,1.633333333,BASELINE,766.864509409,745,715,679,665,635.864509409,879,787,803,652,631.135490591,653,0.400979086199,0.00449888302533,0.0698409322343,0.999999965004,3.38131338278e-05,-0.000261665212945,1.9469367935e-05,1793239282220814592
+99,1.650000000,BASELINE,766.553966652,745.446033348,715,679,665,636,879.446033348,787.446033348,803,652,631,653,0.400979251953,0.00449813071838,0.0698407577864,0.999999965161,3.3035915314e-05,-0.000261168097608,1.94230371161e-05,1793239282237481216
+100,1.666666667,BASELINE,766,745.974709558,715,679.025290442,665,636,880,788,803.025290442,652,631,653,0.400979229381,0.00449736290238,0.0698403482791,0.999999965279,3.25386872158e-05,-0.000260785491601,1.93630158426e-05,1793239282254148096
+101,1.683333333,BASELINE,766,745.397218368,715,679.602781632,665,636,880,788,803.602781632,652,631,653,0.400979730917,0.00449835059912,0.0698414819979,0.999999965595,3.46490824563e-05,-0.000259286792138,1.94836217341e-05,1793239282270814720
+102,1.700000000,BASELINE,766,745.179050247,715,680,665,636,879.820949753,787.820949753,804,652.179050247,631.179050247,653,0.400979956529,0.00449898921938,0.0698420669392,0.999999965687,3.60673951652e-05,-0.000258736116149,1.95222105423e-05,1793239282287481344
+103,1.716666667,BASELINE,766,745.75262493,715,680,665,636,879.24737507,787.24737507,804,652.75262493,631.75262493,653,0.40097957416,0.00449885867438,0.0698414426882,0.999999965294,3.59607531492e-05,-0.000260274342405,1.93800805473e-05,1793239282304148224
+104,1.733333333,BASELINE,766,746,715,680,665,636,879,787.336152491,804,653,632,653,0.400979316703,0.0044985020137,0.0698410528986,0.999999965089,3.4751451722e-05,-0.000261224277488,1.94157579439e-05,1793239282320814848
+105,1.750000000,BASELINE,766,746,715,680,665,636,879,787.927227928,804,653,632,653,0.400979153973,0.00449797387702,0.0698408409139,0.999999965023,3.27059429284e-05,-0.000261728079141,1.95862764623e-05,1793239282337481472
+106,1.766666667,BASELINE,766,746,715,680,665,636,879.508246756,788,803.491753244,653,631.491753244,653,0.400978720648,0.00449846715573,0.0698406380104,0.99999996488,3.46950668693e-05,-0.000261995913338,1.98631524001e-05,1793239282354147840
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665,636,879,788,804,653,631,653,0.400979409656,0.00449586157499,0.0698410133858,0.999999965137,3.31351439648e-05,-0.000261233705898,1.96408792508e-05,1793239282397355264
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,715.574176335,680.425823665,665,636,879,788,803.425823665,653,631,653,0.400978815227,0.00449635544609,0.0698407038288,0.999999964996,3.32269713265e-05,-0.000261771371122,1.94960390654e-05,1793239282414021888
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,715.84629745,680,665,636,879,788,803,653,631,653,0.400978613437,0.00449680121224,0.0698405715138,0.999999964965,3.37781343262e-05,-0.000261817518046,1.95098246526e-05,1793239282430688512
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,715.251415082,680,665,636,879,788,803,653,631,653,0.400979538652,0.00449710890059,0.069840947945,0.999999965247,3.56477505069e-05,-0.000260452836493,1.99789213855e-05,1793239282447355136
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,788,803,653,631,653,0.400980637995,0.00449751676031,0.0698418006145,0.999999965558,3.57297586647e-05,-0.000259246113201,1.99514356021e-05,1793239282464021760
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,788,803,653,631,653,0.400981864799,0.00449799794459,0.0698430018863,0.999999965891,3.45032532832e-05,-0.000258155014058,1.95604557348e-05,1793239282480688384
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.48253231,746,715,679.51746769,665,636,879,788,803,653,631.48253231,653,0.400979910904,0.00449753746083,0.0698416436519,0.999999965123,3.40262642967e-05,-0.000261170324438,1.96642617557e-05,1793239282497355264
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.94057555,745.94057555,715,679.05942445,665,635.94057555,879,787.94057555,803,652.94057555,631.94057555,653,0.400977968326,0.00449697280642,0.069840166791,0.999999964335,3.38270273162e-05,-0.0002641813819,1.98294753251e-05,1793239282514021632
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.35388611,745.35388611,715,679.64611389,665,635.35388611,879,787.35388611,803,652.35388611,631.35388611,653,0.40098158041,0.00449709862886,0.0698420264059,0.999999965371,3.48069779311e-05,-0.000260113048708,1.96910927163e-05,1793239282530688512
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.769615101,665,635.230384899,879,787,803.230384899,652.230384899,631,653,0.400989387585,0.00449763312519,0.0698458616696,0.999999967114,3.5855816575e-05,-0.000253186779521,1.95455601578e-05,1793239282547355392
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.189020421,665,635.810979579,879,787,803.810979579,652.810979579,631,653,0.401003571747,0.0044987888497,0.0698527001312,0.999999969865,3.70093723268e-05,-0.000241916141156,1.93891589196e-05,1793239282564022016
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.389120192,715,679.389120192,665,635.610879808,879,787.389120192,804,652.610879808,631.389120192,653,0.401035270259,0.00449797123806,0.0698669729851,0.99999997537,3.64113673281e-05,-0.000218067180568,1.95127062848e-05,1793239282580688640
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.966076232,715,679.966076232,665,635.033923768,879,787.966076232,804,652.033923768,631.966076232,653,0.401075423288,0.00449620105897,0.0698848345647,0.999999981494,3.49678501371e-05,-0.000188146419279,1.97713902304e-05,1793239282597355264
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.450583581,715,680,665,635.549416419,879,787.450583581,804,652.549416419,632,653,0.401131533577,0.00449762687829,0.0699023004005,0.999999986491,3.4181926927e-05,-0.000159593322718,1.94784849382e-05,1793239282614021888
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.867363947,665,636,879,787.132636053,803.867363947,653,631.867363947,653,0.40119154842,0.00449855343852,0.0699177988116,0.999999990188,3.31162936856e-05,-0.000134777656314,1.90128571378e-05,1793239282630688512
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.285901678,665,636,879,787.714098322,803.285901678,653,631.285901678,653,0.401261402582,0.00449711494114,0.0699267233307,0.999999991876,3.0965139299e-05,-0.000122319928912,1.80793581049e-05,1793239282647355392
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.294265575,715,679.294265575,665,636,879,787.705734425,803,653,631.294265575,653,0.4013368516,0.00449716507907,0.0699311052179,0.999999992709,2.97008911117e-05,-0.000115857291783,1.66291833007e-05,1793239282664022016
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.873180097,715,679.873180097,665,636,879,787.126819903,803,653,631.873180097,653,0.401417712629,0.00449865520367,0.0699310929262,0.999999992828,2.9294565076e-05,-0.000115193825557,1.46792177969e-05,1793239282680688640
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,787.44859074,803,652.55140926,631.55140926,653,0.401511678558,0.00450014728707,0.0699271720256,0.999999992173,2.73617726308e-05,-0.000121473850596,1.22406487926e-05,1793239282697355264
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.977000073,715,680,665,636,879.022999927,787.977000073,803.022999927,652.022999927,631,653,0.401610850834,0.00450156618937,0.0699224046393,0.999999991286,2.49294210692e-05,-0.000129277563269,9.66035788202e-06,1793239282714022144
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.403035348,715,680,665,636,879.596964652,787.403035348,803.596964652,652.596964652,631,653,0.40174667938,0.00450121887142,0.0699236246484,0.999999991705,2.07876248547e-05,-0.000126922539827,6.96841951276e-06,1793239282730688768
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665,636,879.832872522,787,804,652.832872522,631,653,0.401890402664,0.00450119432343,0.0699256679579,0.999999992215,1.70870660703e-05,-0.000123540204372,4.08143061366e-06,1793239282747355392
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680,665,636,879.271674294,787,804,652.271674294,631,653,0.402052740973,0.00450193083648,0.0699296525312,0.999999992965,1.44269039066e-05,-0.000117735564908,7.34531435613e-07,1793239282764022016
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.315420411,745.315420411,715,680,665.315420411,636,879,787.315420411,804,652.315420411,631.315420411,653,0.402236481674,0.00450320036142,0.0699343143338,0.999999993933,1.16841403989e-05,-0.000109482426889,-3.20951027035e-06,1793239282780688640
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.926815103,745.926815103,715,680,665.926815103,636,879,787.926815103,804,652.926815103,631.926815103,653,0.402440305296,0.00450497003738,0.0699396116138,0.999999995037,8.86386773063e-06,-9.89317431481e-05,-7.71388018377e-06,1793239282797355264
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.497276413,746,714.497276413,680,664.994552827,636,879.502723587,787.497276413,803.497276413,653,631.497276413,653,0.402663921861,0.00450554665427,0.0699398663104,0.999999995183,2.88490513269e-06,-9.73061450504e-05,-1.25452051728e-05,1793239282814021888
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,714.071865134,680,664.071865134,636,880,787,803.071865134,652.928134866,631.071865134,653,0.402896065589,0.00450627179616,0.0699399445397,0.999999995247,-3.19923409885e-06,-9.58604880877e-05,-1.74920130681e-05,1793239282830688512
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,714.627925456,680,664.627925456,636,880,787,803.627925456,652.372074544,631.627925456,653,0.403167528105,0.0045090906684,0.0699434536323,0.999999995888,-7.09813901679e-06,-8.745037306e-05,-2.29173517966e-05,1793239282847355136
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.795411626,715,680,665,635.795411626,879.795411626,787,804,652.204588374,632,653,0.403457970327,0.00451041910704,0.069950384155,0.999999996834,-1.08025111934e-05,-7.37385146088e-05,-2.78819344849e-05,1793239282864022016
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.177084101,715,680,665,635.177084101,879.177084101,787,804,652.822915899,632,653,0.403786795202,0.00450873344104,0.0699642338367,0.999999998176,-1.41134794913e-05,-4.93049387616e-05,-3.19147297139e-05,1793239282880688896
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.411708285,715,680,665.411708285,635.411708285,879.411708285,787,804,652.588291715,632,653,0.404121848809,0.00450958468664,0.0699688213787,0.999999998594,4.83382789151e-06,-4.36377003342e-05,-2.97283773114e-05,1793239282897355264
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.988647328,715,680,665.988647328,635.988647328,879.988647328,787,804,652.011352672,632,653,0.404459402184,0.00451145407021,0.0699696917487,0.999999998116,3.27140421848e-05,-4.5501950815e-05,-2.50460962175e-05,1793239282914021888
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665.435116246,636,879.435116246,787,804,652.564883754,631.435116246,653,0.404848908819,0.00449571032865,0.0699723884808,0.999999998706,2.27550002612e-05,-3.87083278798e-05,-2.38956591716e-05,1793239282930688512
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.855673173,715,680,665,635.855673173,879.144326827,787,803.855673173,653,631,653,0.405246814487,0.00448325963058,0.069974611726,0.999999999048,1.47841300977e-05,-3.36612731109e-05,-2.34882035006e-05,1793239282947355136
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.266298668,715,680,665,635.266298668,879.733701332,787,803.266298668,653,631,653,0.405667403756,0.00448205357002,0.0699752618786,0.99999999897,1.52860858846e-05,-3.4535837924e-05,-2.51532079701e-05,1793239282964022016
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665,635.308872077,880,787,803,652.691127923,631.308872077,652.691127923,0.406099794479,0.00448752585712,0.0699722040556,0.999999998868,-8.28638355206e-07,-3.93542063209e-05,-2.67225786703e-05,1793239282980688640
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665,635.872335287,880,787,803,652.127664713,631.872335287,652.127664713,0.406541912723,0.00449850284397,0.0699660898941,0.999999998008,-3.06398397812e-05,-4.74232973084e-05,-2.82131223701e-05,1793239282997355264
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.454142318,715,680.454142318,665,636,880,787,803,652,631.545857682,652.454142318,0.407021575443,0.00450196885251,0.0699503795936,0.999999996884,-2.36184523194e-05,-6.9138306517e-05,-2.98989348098e-05,1793239283014021888
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,715,680.958346439,665.041653561,636,880,787,803,652,631,653,0.407518189146,0.00450390684897,0.0699337031049,0.999999995274,-5.30089066825e-06,-9.17656018396e-05,-3.16751493495e-05,1793239283030688768
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715,680.366469033,665.633530967,636,880,787,803,652,631,653,0.408093433525,0.00451472543548,0.0699413974724,0.99999999652,1.97043375917e-05,-7.36387713393e-05,-3.38899116657e-05,1793239283047355392
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665.780183101,636,879.780183101,787,803.219816899,652,631.219816899,653.219816899,0.40868176586,0.00452369765728,0.0699511126553,0.999999997337,3.75573062592e-05,-5.11983502451e-05,-3.59685870237e-05,1793239283064022016
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665.202987824,636,879.202987824,787,803.797012176,652,631.797012176,653.797012176,0.409291376562,0.00452966805815,0.0699641132799,0.99999999809,4.37821277485e-05,-2.17448934754e-05,-3.78260120545e-05,1793239283080688896
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,787,804,652.376211665,631.623788335,653.623788335,0.409896263864,0.00453444158777,0.0699629722229,0.999999998012,4.46636584777e-05,-2.2009700741e-05,-3.86791826885e-05,1793239283097355520
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,787,804,652.956498313,631.043501687,653.043501687,0.41049858895,0.00453856587767,0.069954160049,0.999999997594,4.26467356155e-05,-3.83950996517e-05,-3.89875982274e-05,1793239283114021888
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879.540671998,787.540671998,804,652.459328002,631.540671998,653,0.411126158653,0.00454840174151,0.0699535274983,0.999999996497,5.9204311805e-05,-4.41048253411e-05,-3.94468386915e-05,1793239283130688512
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.875715416,880,788,804,652,631.875715416,653,0.411782639327,0.00455750318477,0.0699597614008,0.999999995782,7.40533975459e-05,-3.66186484105e-05,-4.01428049741e-05,1793239283147355136
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.295318211,880,788,804,652,631.295318211,653,0.412537712285,0.0045622106729,0.0699887618047,0.999999996029,7.71081755824e-05,1.61201508526e-05,-4.16626750388e-05,1793239283164022016
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.717422176,715,680,665,635.282577824,880,788,804,652,631,653,0.413283051859,0.00456757953326,0.0700126522507,0.999999994028,8.46121556411e-05,5.47461547072e-05,-4.22808157464e-05,1793239283180688896
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.142117075,715,680,665,635.857882925,880,788,804,652,631,653,0.414018308543,0.00457363352118,0.070031249206,0.999999991341,9.6725141849e-05,7.87524751561e-05,-4.19648396056e-05,1793239283197355264
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.43319924,715,680.43319924,665,636,880,788,804,652.43319924,631.43319924,653,0.41472611069,0.00458345109205,0.070011589771,0.999999992516,0.000107662495148,3.89759200229e-05,-4.31062789692e-05,1793239283214022144
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,715,681,665,636,880,788,804,652.991292761,631.991292761,653,0.415425317018,0.00459441897234,0.0699792606936,0.99999999179,0.000118100851473,-2.16794926093e-05,-4.47367397306e-05,1793239283230688512
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665,636,880,788,804,652.403274074,631.403274074,653,0.416151888134,0.00459977034422,0.0699390292443,0.999999988431,0.000121000902864,-7.92381045291e-05,-4.70913161513e-05,1793239283247355136
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715,680.81778851,665.18221149,636,880,788,804,652.18221149,631,653,0.416920149724,0.00460504264536,0.0699196707878,0.999999985316,0.000125543802159,-0.000106019112223,-4.8641174303e-05,1793239283264021760
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715,680.237832467,665.762167533,636,880,788,804,652.762167533,631,653,0.417779416283,0.00461014234477,0.0699458754275,0.99999998774,0.000133672830319,-6.56165136647e-05,-4.84344347164e-05,1793239283280688384
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+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665.081223841,636,880,788,804,652.081223841,631,653,0.419467201177,0.00461837880348,0.0700028026777,0.99999998961,0.000134668093303,1.45902008321e-05,-4.93134633507e-05,1793239283314021888
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665.49385859,635.50614141,880,788,804,652,631.49385859,653,0.420320748039,0.00461378800565,0.0700190247356,0.999999989442,0.000129178424101,4.26083498357e-05,-5.11237335961e-05,1793239283330688512
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665.929721004,635.070278996,880,787.929721004,804,652,631.929721004,653,0.421172713121,0.00460604635766,0.0700311672206,0.999999989234,0.000121101439318,6.39146146016e-05,-5.27356523313e-05,1793239283347355392
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665.340033061,635.659966939,880,787.340033061,804,652,631.340033061,653,0.421996525209,0.0045852383049,0.0700286593666,0.999999992544,9.87600801622e-05,5.01294539551e-05,-5.14262814245e-05,1793239283364022016
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715,680.245328645,665,636,880,787,804,652.245328645,631,653,0.422806461062,0.00457354839221,0.0699974220084,0.999999994917,8.66996482806e-05,-6.19085727399e-06,-5.11051027176e-05,1793239283380688384
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680.824798045,665,636,880,787,804,652.824798045,631,653,0.42359749742,0.00457427750007,0.0699270546973,0.999999987459,8.8641967023e-05,-0.000120444590129,-5.2129853814e-05,1793239283397355008
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+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680.033910556,665,636,881,787,805,652.033910556,631.033910556,653,0.431365366663,0.00460157242323,0.0699911604061,0.999999991287,0.000118663188184,-1.43807164318e-05,-5.60211561438e-05,1793239283547355392
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680.620703973,665,636,881,787,805,652.620703973,631.620703973,653,0.432077988537,0.00460448858141,0.0699235761107,0.999999982842,0.000123532234493,-0.000125698552494,-5.70592299947e-05,1793239283564022016
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,681,665.20613092,636,881,787.20613092,804.79386908,652.79386908,632,653,0.432853084647,0.00460372554152,0.0698947074901,0.999999976796,0.00012105026479,-0.000168418967062,-5.82203193325e-05,1793239283580688896
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665.789060124,636,881,787.789060124,804.210939876,652.210939876,632,653,0.433742381044,0.00459623708942,0.0699366094136,0.999999989021,0.000105130962727,-8.57463239162e-05,-5.96062765517e-05,1793239283597355520
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+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,681,666,635.056760183,881.943239817,787.056760183,804,652,632,653,0.435456017739,0.00458065733133,0.0700366148338,0.999999992217,8.57839249997e-05,7.04653455077e-05,-5.69379870195e-05,1793239283630688512
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,681,666,635.516696094,881.483303906,787.516696094,804.516696094,652,631.483303906,653,0.436224452127,0.00457989980794,0.0700398069723,0.999999991421,8.63624112332e-05,7.99977251736e-05,-5.74431517842e-05,1793239283647355392
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715,681.092552849,666,636,881,787.907447151,805,652,631.092552849,653,0.436974658978,0.00457996145346,0.0700346837857,0.999999991436,8.76263040548e-05,7.78607931926e-05,-5.81942264221e-05,1793239283664022016
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,715,681.682693058,666,636,881,787.317306942,805,652,631.682693058,653,0.437674615229,0.00458025350474,0.0700134285414,0.999999993064,8.73588451554e-05,5.27097317386e-05,-5.88327314042e-05,1793239283680688896
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715,682,666,635,880,787.42372212,805,652.42372212,631.42372212,653,0.439643395093,0.00459078236643,0.0698954090819,0.999999985788,9.62893156003e-05,-0.000124390556197,-6.06611518454e-05,1793239283730688768
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+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,715,682,666,635.573313315,880.573313315,788,804.426686685,652.426686685,632,653,0.440905338999,0.00460246336143,0.0698642360039,0.999999976501,0.000108969975296,-0.000177614254042,-5.98087660186e-05,1793239283764022016
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,715,682.152185043,665.847814957,636,881,788,804.152185043,652,632,653,0.441546015028,0.0046091340716,0.0698861769144,0.999999981582,0.000111918810202,-0.000143845291008,-6.01498331835e-05,1793239283780688640
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715,682.745450352,665.254549648,636,881,788,804.745450352,652,632,653,0.442162761704,0.00461566501672,0.0699197248947,0.999999986088,0.000119298687397,-9.96446799687e-05,-6.05253301198e-05,1793239283797355264
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,683,664.67126229,635.67126229,880.67126229,787.67126229,804.67126229,652,632,653,0.442725527831,0.00462107549489,0.0699231376587,0.999999984541,0.000129418692008,-0.00010282868057,-5.99581616169e-05,1793239283814021888
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715,683,664.09547354,635.09547354,880.09547354,787.09547354,804.09547354,652,632,653,0.443247726776,0.00462564392589,0.0699039033792,0.999999978225,0.000141597940664,-0.000141622889886,-5.86825666635e-05,1793239283830688512
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.212519179,746,714,682,658,633.212519179,881,787,804.787480821,652,632,653,0.449903313183,0.0047439125348,0.0696622223226,0.999999821342,0.000277900255758,-0.000525357094806,-6.39284969813e-05,1793239285292355840
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.46940842,745.53059158,714,682,659,633.46940842,881,787,804.46940842,652.46940842,631.46940842,653,0.449794721768,0.00474598817294,0.0696167593188,0.999999776189,0.000283347544365,-0.000602708441051,-6.38592546957e-05,1793239285342355712
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,714,682.767507534,659,633.232492466,881,787,804.767507534,652,631.232492466,652.767507534,0.447444265819,0.0047070573136,0.0695641595303,0.999999709443,0.00029107102491,-0.000704139607236,-2.40415532412e-05,1793239285592357120
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.717732815,746,715,681,663.717732815,635.282267185,880,787.717732815,803.282267185,652.717732815,632,653,0.42136729322,0.00449119612836,0.0697095538686,0.999999876325,4.68641413521e-05,-0.000493944616689,3.42445309505e-05,1793239286225689600
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.144270289,746,715,681,663.144270289,635.855729711,880,787.144270289,803.855729711,652.144270289,632,653,0.420540180603,0.00448212946255,0.069722371403,0.999999895146,2.5979222402e-05,-0.000456123427662,3.1368388398e-05,1793239286242356480
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.443721496,746,714.556278504,681,663.887442991,635.556278504,880,787.443721496,804,652.443721496,631.556278504,653,0.419776859273,0.00447309482621,0.0697868191814,0.999999937943,1.30611320944e-05,-0.000350571266227,3.22916715955e-05,1793239286259023104
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,746,714.035737197,681,665,635.035737197,880,787.964262803,804,653,631.035737197,653,0.419029854478,0.00446410436127,0.0698647808149,0.999999973267,3.47445665185e-06,-0.000228613107212,3.44828002561e-05,1793239286275689728
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,746,714.614680128,681,665,635.614680128,880,787.385319872,804,653,631.614680128,653,0.418204927637,0.00445562166198,0.0698843541159,0.99999997865,3.81971361649e-06,-0.000203347689536,3.65324548482e-05,1793239286292356352
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745.80802481,715,681,664.80802481,635.80802481,880,787.19197519,804,652.80802481,632,653,0.417365313567,0.00444827280931,0.069882291271,0.999999977861,-1.93631953782e-07,-0.000207116690798,3.71477144604e-05,1793239286309022976
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745.23400899,715,681,664.23400899,635.23400899,880,787.76599101,804,652.23400899,632,653,0.416496471001,0.00444318036898,0.0698371713722,0.999999963217,-1.28808235852e-05,-0.000268665693549,3.49084536416e-05,1793239286325689600
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745.349197508,714.650802492,681,664,635.349197508,880,788,804,652.349197508,632,653,0.415664783555,0.004437737125,0.0698064102819,0.999999950126,-2.04173812497e-05,-0.000313281078642,3.44315594156e-05,1793239286342356224
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745.938729437,714.061270563,681,664,635.938729437,880,788,804,652.938729437,632,653,0.414858668091,0.00443205244148,0.0697855316129,0.999999939142,-2.44090256235e-05,-0.000346241935066,3.51676103061e-05,1793239286359022848
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,746,714.518934355,680.481065645,664,636,880,787.481065645,804,652.481065645,632,652.481065645,0.414057071752,0.00442699075579,0.0697637605418,0.999999921607,-3.10961444883e-05,-0.00039308629616,3.60761610082e-05,1793239286375689472
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,879.902406984,787,804,652,632,652.097593016,0.413280780183,0.00442614037821,0.0697535986149,0.999999911739,-3.37210293477e-05,-0.000417188886437,3.65815912653e-05,1793239286392356352
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,879.326026955,787,804,652,632,652.673973045,0.412626061252,0.00444559599426,0.0698008984296,0.999999947492,-1.48829983298e-05,-0.000321821381308,3.50111749658e-05,1793239286409023232
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.254755742,636,879,787.254755742,804,652.254755742,632,653,0.411976030681,0.0044658962285,0.0698460791987,0.999999970664,1.10560572102e-05,-0.000239521909395,3.43298027258e-05,1793239286425689856
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.841271852,636,879,787.841271852,804,652.841271852,632,653,0.411332105665,0.00448729638087,0.0698885003979,0.999999983145,4.62425514089e-05,-0.000174240534321,3.48062048447e-05,1793239286442356480
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.422396572,664.577603428,636,879.422396572,787.577603428,804,652.577603428,632,653,0.410654159042,0.004482057658,0.0698843948038,0.999999980952,3.98836271345e-05,-0.000187757169939,3.53977567374e-05,1793239286459023104
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.998484794,664,636,879.998484794,787,804,652,632,652.998484794,0.409963672867,0.00446696839933,0.0698629707098,0.999999972602,1.81542760672e-05,-0.000230582534378,3.60256561218e-05,1793239286475689472
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.421527377,664,636,879.421527377,787,804,652,632,652.421527377,0.409305095093,0.00446466237556,0.0698206544032,0.99999995419,1.34209153594e-05,-0.000300447365089,3.42312662928e-05,1793239286492356096
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.844689475,746,715,680,664,635.844689475,879,787.155310525,804,652.155310525,632,652.155310525,0.408667339335,0.00446287286364,0.0697880526227,0.999999937409,9.81066145085e-06,-0.000352155059148,3.27437309406e-05,1793239286509022976
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.268175572,746,715,680,664,635.268175572,879,787.731824428,804,652.731824428,632,652.731824428,0.408086052909,0.00446248413547,0.0697817967046,0.999999936565,9.24628121297e-06,-0.000354620473243,3.2088387364e-05,1793239286525689600
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.314708676,746,715,680.314708676,664.314708676,635.314708676,879,787.685291324,803.685291324,653,631.685291324,653,0.40753795818,0.0044644275661,0.0697903229164,0.999999942024,8.32021661435e-06,-0.000338939564802,3.16725336682e-05,1793239286542356480
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.903133461,746,715,680.903133461,664.903133461,635.903133461,879,787.096866539,803.096866539,653,631.096866539,653,0.407018731779,0.00446839937881,0.0698117058033,0.999999952209,7.07957909557e-06,-0.000307475993532,3.14649749707e-05,1793239286559024128
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,746,714.518339444,680.518339444,664.518339444,635.518339444,879.481660556,787.481660556,803.481660556,653,631.481660556,652.518339444,0.406512122421,0.00447798039274,0.0698121266867,0.999999950238,1.95090912105e-05,-0.000313277302503,3.16446684743e-05,1793239286575691008
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.941921948,714.058078052,680,664.058078052,635.058078052,880,788,804,652.941921948,632,652.058078052,0.406014040512,0.00448742439115,0.0698087369255,0.999999945996,3.30941801694e-05,-0.000325418632519,3.18695044252e-05,1793239286592357888
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745.366921014,714.633078986,680,664.633078986,635.633078986,880,788,804,652.366921014,632,652.633078986,0.405569727601,0.00448581073329,0.0698081964839,0.999999944951,3.29879655891e-05,-0.000328629201649,3.18169165153e-05,1793239286609023488
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,664.791101921,636,879.791101921,788,803.791101921,652,631.791101921,653,0.405148392264,0.00448293717929,0.0698134043407,0.999999947753,3.13156041047e-05,-0.000320187049341,3.1517322989e-05,1793239286625689600
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,664.213840178,636,879.213840178,788,803.213840178,652,631.213840178,653,0.404767574837,0.0044778419681,0.069828748549,0.999999956767,2.68815531935e-05,-0.000291196889533,3.07821682674e-05,1793239286642355968
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.37112244,715,680,664,636,879,788,803.37112244,652,631,653,0.404410156038,0.0044756627278,0.0698424013987,0.999999964324,2.40120564287e-05,-0.000264345695575,2.99457771157e-05,1793239286659022592
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.960616371,715,680,664,636,879,788,803.960616371,652,631,653,0.404066505148,0.00447519926822,0.0698550590407,0.999999970833,2.20631557421e-05,-0.000238753083875,2.90498175416e-05,1793239286675689216
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,879,788,804,652.539220215,631,653,0.40373462097,0.00447263453058,0.069851215079,0.999999969465,1.291906522e-05,-0.000245145262488,2.84083734613e-05,1793239286692356352
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.883539899,715,680,664,635.883539899,879,788,803.883539899,653,631.116460101,653,0.403411374975,0.00446987828356,0.0698456471271,0.999999967043,2.97969793404e-06,-0.000255213975832,2.77705623696e-05,1793239286709022976
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745.308600162,715,680,664,635.308600162,879,788,803.308600162,653,631.691399838,653,0.403118819264,0.00446696033517,0.0698379430552,0.99999996295,-8.06259312259e-06,-0.000270741736049,2.70753197621e-05,1793239286725689600
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,664.265326979,635.265326979,878.734673021,788,803,653,632,653,0.40284499672,0.00446654070056,0.069830748609,0.999999959067,-1.49739979688e-05,-0.000284488235626,2.66060308702e-05,1793239286742356224
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,664.838080821,635.838080821,878.161919179,788,803,653,632,653,0.402592879782,0.00446901579162,0.0698241446522,0.999999955647,-1.70990611985e-05,-0.000296170838034,2.6398548202e-05,1793239286759022592
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745.428089333,715,680,665,636,878.428089333,788,803.428089333,653,632,653,0.402364945014,0.00447079997094,0.0698164274129,0.999999951888,-1.4771593289e-05,-0.000308709048165,2.65285296623e-05,1793239286775689216
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745.97600537,715,680,664.97600537,636,879,787.97600537,804,653,632,653,0.402148491851,0.0044726859182,0.0698086845693,0.999999948084,-8.68692088205e-06,-0.000320994463611,2.68019157177e-05,1793239286792355584
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.400856925,715,680,664.400856925,636,879,787.400856925,804,653,632,653,0.401976849822,0.00448316425108,0.0698104320827,0.999999947573,4.33917678752e-05,-0.000319727450536,2.73142436987e-05,1793239286809022464
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745.173792212,715,680,664,636,879.173792212,787,804,653,631.826207788,653,0.401815526996,0.00449450246677,0.0698118680471,0.999999945755,8.27342071351e-05,-0.000317634085903,2.74355778717e-05,1793239286825689344
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.747292902,715,680,664,636,879.747292902,787,804,653,631.252707098,653,0.401677937552,0.00450781834412,0.069812587473,0.999999946155,9.27842629387e-05,-0.00031364017924,2.66576569762e-05,1793239286842356224
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,879.667929361,787.332070639,804,653,631.332070639,653,0.401554520286,0.00451137835842,0.0698127726196,0.999999947615,8.53627249231e-05,-0.000311251768865,2.46233931325e-05,1793239286859023104
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,879.074267997,787.925732003,804,653,631.925732003,653,0.401442267228,0.00450725313198,0.0698125368845,0.999999949618,6.41778305868e-05,-0.000310128097719,2.15994371784e-05,1793239286875689728
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,879.504860012,787.495139988,803.495139988,653,632,653,0.401350697926,0.00450289421311,0.0698104491612,0.999999949855,4.74254265722e-05,-0.000312493662718,1.97058079393e-05,1793239286892356096
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,879.918321006,787.081678994,803,652.918321006,632,653,0.401265397988,0.00449935687334,0.0698084715884,0.999999949669,3.39858190561e-05,-0.000314917589606,1.82967673318e-05,1793239286909022464
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,879.342897584,787.657102416,803,652.342897584,632,653,0.401200117612,0.00450098792167,0.0698087606615,0.999999949636,3.6740563974e-05,-0.00031467833869,1.88400193202e-05,1793239286925689088
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.232071145,636,879,787.767928855,803,652.232071145,632,653,0.4011453378,0.00450129799223,0.0698112086125,0.999999950764,3.75711805548e-05,-0.000310939435385,1.9438820223e-05,1793239286942355968
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.806369321,636,879,787.193630679,803,652.806369321,632,653,0.401106042795,0.00449966006395,0.0698168401838,0.999999953551,3.5564353626e-05,-0.000302039719683,2.01195370928e-05,1793239286959022848
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745.605571711,715,680,665,636,879,787,803,653,631.605571711,653.394428289,0.401074105416,0.00450047552295,0.0698196523355,0.999999955124,3.69939707982e-05,-0.000296589073396,2.04365953592e-05,1793239286975689472
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745.010513184,715,680,665,636,879,787,803,653,631.010513184,653.989486816,0.401045910576,0.00450253892412,0.0698210303587,0.999999956088,4.01715726948e-05,-0.000292892834051,2.05686747017e-05,1793239286992356352
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745.567593624,715,680,664.432406376,636,879,787.567593624,803.567593624,653,631,653.432406376,0.401027219776,0.00450009390838,0.0698235046849,0.999999957374,3.65985002446e-05,-0.000288934298502,2.07068123521e-05,1793239287009022976
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.855444201,879,788,803.855444201,653,631,653,0.401010219127,0.00449803852345,0.0698255683093,0.999999958314,3.38487291415e-05,-0.000285990587835,2.08683677887e-05,1793239287025689344
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.280979556,879,788,803.280979556,653,631,653,0.400997736634,0.00449738304727,0.0698263518668,0.999999958282,3.39085369085e-05,-0.000286078996127,2.10992436343e-05,1793239287042355968
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745.708230094,715,680.291769906,664.291769906,635.291769906,879.291769906,787.708230094,803,653,631.291769906,653.291769906,0.400989931317,0.00449824370183,0.0698275953621,0.999999958601,3.63812383828e-05,-0.000284652866559,2.11555856369e-05,1793239287059022592
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.137122663,715,680.862877337,664.862877337,635.862877337,879.862877337,787.137122663,803,653,631.862877337,653.862877337,0.400986603881,0.00450055588437,0.0698292791975,0.999999959232,4.11640196352e-05,-0.000281776733925,2.10448307491e-05,1793239287075689216
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.455150668,715,680.544849332,664.544849332,636,880,787.455150668,803.455150668,653,631.544849332,653.544849332,0.400985548246,0.00449978118414,0.0698312471094,0.999999960495,4.01803184595e-05,-0.00027739418576,2.11487277262e-05,1793239287092355840
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.051854061,746,715,680,664.051854061,636,879.948145939,788,804,653,631.051854061,653,0.400985060484,0.00449806279456,0.0698331002177,0.999999961791,3.74777486757e-05,-0.00027305679415,2.1300807057e-05,1793239287109022720
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.625826529,746,715,680,664.625826529,636,879.374173471,788,804,653,631.625826529,653,0.400983063086,0.00449666306816,0.0698328936031,0.999999961604,3.58134949162e-05,-0.000273966620862,2.12551368019e-05,1793239287125689344
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..33a8efaf5f4b136ada41d8f28c5c31e83cc43071
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,414 @@
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+269,4.483333333,pose2_to_pose3_retreat,0.619565681662,0.0100908278204,1.06003244218,0.5901361321,0.0187625659926,1.05970057665
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+271,4.516666667,pose2_to_pose3_retreat,0.619565472899,0.0100907952393,1.06003229446,0.590135923317,0.0187625332214,1.05970042549
+272,4.533333333,pose2_to_pose3_retreat,0.619565453293,0.0100907921795,1.06003228058,0.59013590371,0.0187625301438,1.0597004113
+273,4.550000000,pose2_to_pose3_retreat,0.619565295066,0.0100907825878,1.06003224861,0.590135745469,0.0187625204591,1.05970037808
+274,4.566666667,pose2_to_pose3_retreat,0.619565130806,0.0100907823844,1.06003226708,0.590135581195,0.0187625201922,1.05970039614
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+276,4.600000000,pose2_to_pose3_retreat,0.619563389404,0.0100908036102,1.06003232227,0.590133839275,0.0187625396789,1.05970045178
+277,4.616666667,pose2_to_pose3_retreat,0.619558744443,0.010090828229,1.0600322946,0.590129193716,0.0187625623627,1.05970042669
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+288,4.800000000,pose2_to_pose3_retreat,0.618893138923,0.010090705277,1.06003232345,0.589463591296,0.0187624496183,1.05970045933
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e47663ee71ab52cad0f88090d20294806e35b7ac
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d839116714ba5b42556aed5dcbdc3c533df4e9f6e90da985d7621e5109c379d
+size 26282149
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..03f39ca8cfdfe352f5d92e7024616a7af231aa47
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_03/franka_data.csv
@@ -0,0 +1,416 @@
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+7,0.116666667,BASELINE,766,745.91896952,715,680,664.91896952,635.08103048,880,787,803.91896952,653,632,653,0.400982380693,0.00449949475234,0.0698389146902,0.999999964218,3.87380602696e-05,-0.000263938592502,1.99731262459e-05,1793239287799222272
+8,0.133333333,BASELINE,766,745.339754843,715,680,664.339754843,635.660245157,880,787,803.339754843,653,632,653,0.400983347945,0.0045000344641,0.0698404718817,0.999999964638,4.01441547782e-05,-0.00026213719047,1.98999262343e-05,1793239287815888896
+9,0.150000000,BASELINE,766,745.238417098,715,680.238417098,664,635.761582902,879.761582902,787.238417098,803.238417098,653,632,653,0.400983945292,0.00449983114015,0.0698412411344,0.999999964938,3.96102271082e-05,-0.000261075425715,1.98538582669e-05,1793239287832555520
+10,0.166666667,BASELINE,766,745.815109519,715,680.815109519,664,635.184890481,879.184890481,787.815109519,803.815109519,653,632,653,0.400984017804,0.00449857356858,0.0698408924291,0.999999965066,3.63237214552e-05,-0.000261063086843,1.98462862903e-05,1793239287849222144
+11,0.183333333,BASELINE,766.389874886,746,715,680.610125114,664.389874886,635.389874886,879.389874886,788,803.610125114,653,632,653,0.400982749546,0.00449885545597,0.069840016186,0.999999964705,3.64138956732e-05,-0.000262442937906,1.9689167465e-05,1793239287865888768
+12,0.200000000,BASELINE,766.963730933,746,715,680.036269067,664.963730933,635.963730933,879.963730933,788,803.036269067,653,632,653,0.40098084858,0.00449986381078,0.069838890999,0.99999996411,3.80975179127e-05,-0.000264479760546,1.94614777875e-05,1793239287882555392
+13,0.216666667,BASELINE,766.445344593,745.445344593,715,680,665,636,880,787.445344593,803.554655407,653,632,653,0.400982969159,0.00450006194654,0.0698403544802,0.999999964631,3.94584897627e-05,-0.000262296339434,1.95288235238e-05,1793239287899222272
+14,0.233333333,BASELINE,765.856539387,745.143460613,715,680,664.856539387,635.856539387,880,787,804,653,631.856539387,653,0.40098452862,0.00450007513793,0.0698414961222,0.999999965067,3.9975316199e-05,-0.000260546131288,1.95967211336e-05,1793239287915888896
+15,0.250000000,BASELINE,765.277661284,745.722338716,715,680,664.277661284,635.277661284,880,787,804,653,631.277661284,653,0.400983561555,0.00449969291092,0.0698411308747,0.999999965032,3.79961444315e-05,-0.00026097493614,1.96058801203e-05,1793239287932555520
+16,0.266666667,BASELINE,765.299283591,746,715,680,664.299283591,635.299283591,879.700716409,787,804,653,631.299283591,653,0.400982735734,0.00449833089486,0.0698407242049,0.999999964811,3.63914729966e-05,-0.000262031138023,1.98335611662e-05,1793239287949222144
+17,0.283333333,BASELINE,765.874446386,746,715,680,664.874446386,635.874446386,879.125553614,787,804,653,631.874446386,653,0.400982040113,0.00449606571062,0.0698402793519,0.999999964418,3.51320155734e-05,-0.000263665673604,2.02626755461e-05,1793239287965888768
+18,0.300000000,BASELINE,766,746,715,680,665,636,879,787,804,653,631.549601691,653,0.400983211818,0.0044962188671,0.0698404778216,0.999999964616,3.57547905268e-05,-0.000262839176293,2.01367208074e-05,1793239287982555392
+19,0.316666667,BASELINE,766,745.972714509,715,680.027285491,664.972714509,635.972714509,879,787,803.972714509,653,631,653,0.400984764979,0.00449709503337,0.0698408232281,0.999999964953,3.68690535115e-05,-0.000261418652075,1.98559570235e-05,1793239287999222016
+20,0.333333333,BASELINE,766,745.381039883,715,680.618960117,664.381039883,635.381039883,879,787,803.381039883,653,631,653,0.400983422377,0.00449895758168,0.0698404920105,0.999999964811,3.72774260972e-05,-0.000261926301335,1.95792125017e-05,1793239288015888896
+21,0.350000000,BASELINE,766,745,715,680.795137482,664.204862518,635.204862518,879,787,803.204862518,652.795137482,631.204862518,653,0.40098319163,0.00450025405357,0.069840822428,0.999999964984,3.7687275618e-05,-0.000261213587351,1.94781233763e-05,1793239288032555520
+22,0.366666667,BASELINE,766,745,715,680.219677145,664.780322855,635.780322855,879,787,803.780322855,652.219677145,631.780322855,653,0.400984972238,0.0045005264888,0.0698423497481,0.999999965723,3.80997968811e-05,-0.000258293227122,1.96947961997e-05,1793239288049222400
+23,0.383333333,BASELINE,765.643817116,745.356182884,715,680,664.643817116,636,879,787,803.643817116,652.356182884,631.643817116,653,0.400985021012,0.00449972988774,0.0698423628539,0.999999965718,3.68876401725e-05,-0.000258483588916,1.97165165841e-05,1793239288065889024
+24,0.400000000,BASELINE,765.067710243,745.932289757,715,680,664.067710243,636,879,787,803.067710243,652.932289757,631.067710243,653,0.400984000472,0.00449827321364,0.0698414410131,0.999999965252,3.46723312523e-05,-0.000260594655856,1.96178642255e-05,1793239288082555648
+25,0.416666667,BASELINE,765.504684828,746,715,680,664.504684828,636,879,787,803.504684828,653,631.504684828,653,0.400983959078,0.00449956417795,0.0698413892886,0.99999996514,3.76312791594e-05,-0.000260624832426,1.94677357094e-05,1793239288099223296
+26,0.433333333,BASELINE,766.079659067,746,715,680,665,636,879,787.079659067,803.920340933,653,632,653,0.400984211826,0.00450080044154,0.0698415707489,0.999999965158,4.04605667096e-05,-0.000260138434776,1.93458200778e-05,1793239288115890688
+27,0.450000000,BASELINE,766.674511497,746,715,680,665,636,879,787.674511497,803.325488503,653,632,653,0.400985523523,0.00449931621303,0.0698425108405,0.99999996578,3.79943612965e-05,-0.000258103508182,1.9450710335e-05,1793239288132556288
+28,0.466666667,BASELINE,767,745.73845568,715.26154432,680,665,636,879.26154432,787.73845568,803,653,631.73845568,653,0.400985357665,0.00449898493994,0.0698424464129,0.999999965891,3.72942365362e-05,-0.000257776101999,1.94676747729e-05,1793239288149222400
+29,0.483333333,BASELINE,767,745.16087179,715.83912821,680,665,636,879.83912821,787.16087179,803,653,631.16087179,653,0.40098340639,0.00450004685162,0.0698411681649,0.999999965389,3.87281723023e-05,-0.000259511994494,1.93783932037e-05,1793239288165889280
+30,0.500000000,BASELINE,766.587682864,745.412317136,715.587682864,680,665,636,880,787.412317136,803,652.587682864,631,653,0.40098329553,0.00450058547376,0.0698410318092,0.999999965228,3.95448248903e-05,-0.000260012576288,1.93117569832e-05,1793239288182556160
+31,0.516666667,BASELINE,766.016190626,745.983809374,715.016190626,680,665,636,880,787.983809374,803,652.016190626,631,653,0.400983895161,0.00450092207986,0.0698413362814,0.9999999652,4.01231751693e-05,-0.000260036266139,1.92538630054e-05,1793239288199222784
+32,0.533333333,BASELINE,766,746,715,680,665,636,879.423315527,787.423315527,803.576684473,652.576684473,631.576684473,653,0.40098465004,0.00449980967483,0.0698419722827,0.999999965332,3.90496850968e-05,-0.000259667368814,1.95917389547e-05,1793239288215889152
+33,0.550000000,BASELINE,766,746,715,680,665,636,879,787.166091509,803.833908491,653,632,653,0.400984816181,0.00449900739418,0.0698421439621,0.999999965328,3.85211086665e-05,-0.000259747095215,1.98080809253e-05,1793239288232555520
+34,0.566666667,BASELINE,766,746,715,680,665,636,879,787.745321177,803.254678823,653,632,653,0.40098350663,0.00449908160939,0.0698411366373,0.999999964974,3.94677559233e-05,-0.000260971206157,1.96934147839e-05,1793239288249222144
+35,0.583333333,BASELINE,766,746,715,680,665,636,879.322715893,788,803.322715893,653,631.677284107,653,0.400983660611,0.00449967374489,0.0698411496558,0.999999965125,4.01647013197e-05,-0.000260295221617,1.95530829577e-05,1793239288265888768
+36,0.600000000,BASELINE,766,746,715,680,665,636,879.898670764,788,803.898670764,653,631.101329236,653,0.400984963042,0.00450067229858,0.0698419633497,0.99999996567,4.06657028153e-05,-0.000258128209818,1.93926109527e-05,1793239288282555648
+37,0.616666667,BASELINE,766.470541724,746,714.529458276,680,665,636,880,788,804,653,631.470541724,653,0.400984598307,0.00449856870895,0.069841756505,0.999999965528,3.72238925847e-05,-0.000259176372094,1.9642267593e-05,1793239288299222272
+38,0.633333333,BASELINE,766.956644361,746,714.043355639,680,665,636,879.956644361,788,804,653,632,653,0.400983950098,0.00449610967085,0.0698413705271,0.99999996525,3.34674166909e-05,-0.000260735552543,1.99409487949e-05,1793239288315889152
+39,0.650000000,BASELINE,766.36069891,746,714.63930109,680,665,636,879.36069891,788,804,653,632,653,0.400984225358,0.0044975614293,0.069841478368,0.999999965326,3.64290573759e-05,-0.000260059185864,1.97484817125e-05,1793239288332556032
+40,0.666666667,BASELINE,766,746,715,680.227085751,665,636,879.227085751,788,804,653,631.772914249,653,0.400984038556,0.00449844654412,0.0698410783491,0.999999965273,3.82119607335e-05,-0.000260013225264,1.96575798764e-05,1793239288349222912
+41,0.683333333,BASELINE,766,746,715,680.802357595,665,636,879.802357595,788,804,653,631.197642405,653,0.400983143284,0.00449846283539,0.0698398996386,0.999999965033,3.81875292665e-05,-0.000260933853889,1.97224060373e-05,1793239288365889280
+42,0.700000000,BASELINE,766,746,715,680.622557307,665,636,879.622557307,787.622557307,804,653,631.377442693,653,0.40098346498,0.00449908642018,0.0698401859712,0.99999996518,3.75551457375e-05,-0.000260478091282,1.95173451662e-05,1793239288382555392
+43,0.716666667,BASELINE,766,746,715,680.047569967,665,636,879.047569967,787.047569967,804,653,631.952430033,653,0.400984423608,0.00450002784816,0.069841239073,0.999999965528,3.66045743671e-05,-0.000259301957773,1.91710317541e-05,1793239288399222016
+44,0.733333333,BASELINE,766,746,715,680,665,636,879.543186226,787.543186226,804,653,631.456813774,653,0.400983971902,0.00449928169957,0.0698416457655,0.999999965608,3.64150267458e-05,-0.000258995053693,1.9456321097e-05,1793239288415888640
+45,0.750000000,BASELINE,766,745.86753669,715,680,665,635.86753669,880,788,804,653,631,653,0.400984118083,0.00449847595339,0.0698421745988,0.999999965788,3.64583464483e-05,-0.000258272819129,1.97436567121e-05,1793239288432555520
+46,0.766666667,BASELINE,766,745.288050951,715,680,665,635.288050951,880,788,804,653,631,653,0.400986711218,0.00449798274389,0.069843312371,0.999999966378,3.7055882612e-05,-0.000255884399911,1.98456523004e-05,1793239288449222400
+47,0.783333333,BASELINE,766,745.288159731,715,680,665,635.288159731,879.711840269,788,804,652.711840269,631,653,0.400987739607,0.00449830944264,0.0698439776203,0.999999966623,3.75051467244e-05,-0.000254866039982,1.97607346061e-05,1793239288465889280
+48,0.800000000,BASELINE,766,745.86113345,715,680,665,635.86113345,879.13886655,788,804,652.13886655,631,653,0.400987221419,0.00449944652985,0.0698441758332,0.999999966531,3.78078604025e-05,-0.000255201831677,1.94910738391e-05,1793239288482556160
+49,0.816666667,BASELINE,766,745.564856073,715,680,664.564856073,636,879.435143927,788,804,652.435143927,631,653,0.400985269274,0.0044999536648,0.0698428900022,0.999999966,3.73082638284e-05,-0.000257360893072,1.93499266962e-05,1793239288499222784
+50,0.833333333,BASELINE,766,745.009834187,715,680,664.009834187,636,879.990165813,788,804,653,631.009834187,653,0.400982932462,0.00450023068665,0.0698411843213,0.999999965343,3.65568973602e-05,-0.000260013442055,1.92538902977e-05,1793239288515888896
+51,0.850000000,BASELINE,766,745.605256599,715,680,664.605256599,636,879.394743401,788,804,653,631.605256599,653,0.400985004509,0.00449880482857,0.0698427465812,0.999999966053,3.60961816987e-05,-0.000257321244349,1.93960691585e-05,1793239288532555776
+52,0.866666667,BASELINE,766,746,715,680.192956996,665,636,879,787.807043004,803.807043004,652.807043004,632,653,0.400986136312,0.00449829577432,0.0698434911626,0.999999966372,3.65377862987e-05,-0.000256016442778,1.94257043354e-05,1793239288549222400
+53,0.883333333,BASELINE,766,746,715,680.765467859,665,636,879,787.234532141,803.234532141,652.234532141,632,653,0.40098541862,0.0044995901087,0.0698426273383,0.999999965926,3.875428974e-05,-0.000257440703165,1.92339617292e-05,1793239288565889024
+54,0.900000000,BASELINE,766,745.65940012,715,681,665,636,879.34059988,787.34059988,803.34059988,652,632,653,0.400984672404,0.00450047192688,0.0698420524095,0.999999965743,3.98214537307e-05,-0.000257999448593,1.9100431552e-05,1793239288582555648
+55,0.916666667,BASELINE,766,745.082449234,715,681,665,636,879.917550766,787.917550766,803.917550766,652,632,653,0.400983906395,0.0045010674894,0.0698416779526,0.999999965745,4.00910614569e-05,-0.000257957590898,1.90072964829e-05,1793239288599222528
+56,0.933333333,BASELINE,766,745.505229001,715,680.494770999,665,636,879.494770999,787.494770999,804,652.505229001,632,653,0.400983406494,0.00449985486653,0.0698413876195,0.999999965604,3.75199445331e-05,-0.000258874735961,1.91662322337e-05,1793239288615889152
+57,0.950000000,BASELINE,766,746,715,680,665,636,879.092710012,787.092710012,804,653,631.907289988,653,0.400983310172,0.00449854385112,0.0698413442398,0.999999965544,3.51545490455e-05,-0.000259422565561,1.93809956919e-05,1793239288632556288
+58,0.966666667,BASELINE,766,746,715,680,665,636,879.669815226,787.669815226,804,653,631.330184774,653,0.400985090666,0.0044982939483,0.0698425178688,0.999999966069,3.63387091063e-05,-0.000257205346092,1.96678589947e-05,1793239288649222656
+59,0.983333333,BASELINE,766,746,715,680.248068478,665,636,879.751931522,788,804,653,631.248068478,653,0.40098619293,0.00449769651938,0.0698433352487,0.999999966422,3.63047346532e-05,-0.000255814789323,1.98997585912e-05,1793239288665889024
+60,1.000000000,BASELINE,766,746,715,680.827856982,665,636,879.172143018,788,804,653,631.827856982,653,0.400986388256,0.00449663437449,0.0698436762482,0.999999966551,3.46418568675e-05,-0.000255529655124,2.0058160127e-05,1793239288682555648
+61,1.016666667,BASELINE,766,746,715,680.589609308,665,635.589609308,879.410390692,787.589609308,804,653,632,653.410390692,0.400985826613,0.00449763804295,0.0698433986437,0.999999966345,3.56943961148e-05,-0.000256208624557,1.98482389353e-05,1793239288699222272
+62,1.033333333,BASELINE,766,746,715,680.00591637,665,635.00591637,879.99408363,787.00591637,804,653,632,653.99408363,0.400984945312,0.00449951407553,0.0698428598115,0.999999965992,3.78936180728e-05,-0.000257294721474,1.94827802008e-05,1793239288715889152
+63,1.050000000,BASELINE,766.574641553,746,715,680,665,635.574641553,879.425358447,787.574641553,803.425358447,653,632,653.425358447,0.400985305723,0.00449966360588,0.069843338154,0.99999996615,3.89524257188e-05,-0.000256536952402,1.93002429888e-05,1793239288732556032
+64,1.066666667,BASELINE,766.845152267,746,715,680,665,636,879,788,803.154847733,653,631.845152267,653.154847733,0.400985511606,0.00449944004129,0.0698436225925,0.999999966242,3.93061701266e-05,-0.000256125145298,1.92498502758e-05,1793239288749222912
+65,1.083333333,BASELINE,766.265822347,746,715,680,665,636,879,788,803.734177653,653,631.265822347,653.734177653,0.40098525903,0.00449824217992,0.0698433469318,0.999999966145,3.77591452829e-05,-0.000256713477755,1.95565689653e-05,1793239288765889792
+66,1.100000000,BASELINE,766,745.689154242,715,680,665,636,879,788,804,653,631.310845758,653.689154242,0.400985146228,0.00449856154763,0.0698432674429,0.999999966063,3.81479214993e-05,-0.000256974972805,1.9539905589e-05,1793239288782556416
+67,1.116666667,BASELINE,766,745.114743113,715,680,665,636,879,788,804,653,631.885256887,653.114743113,0.400985151941,0.0045001673703,0.0698433542876,0.999999965994,4.01780588542e-05,-0.00025695934317,1.92490473218e-05,1793239288799222528
+68,1.133333333,BASELINE,766.470883907,745.470883907,715,680,665,636,879,788,804,652.529116093,632,653,0.400984527175,0.0045014069139,0.0698427939222,0.999999965758,4.26911813819e-05,-0.000257471403472,1.92585479723e-05,1793239288815889152
+69,1.150000000,BASELINE,766.941550993,746,715,680,665,636,879,787.941550993,803.941550993,652.058449007,631.941550993,653,0.400983852566,0.00450221848578,0.0698421454112,0.999999965519,4.45024352316e-05,-0.000258084780401,1.93235185147e-05,1793239288832555520
+70,1.166666667,BASELINE,766.361673146,746,715,680,665,636,879,787.361673146,803.361673146,652.638326854,631.361673146,653,0.400984137312,0.00450002774878,0.0698421518163,0.999999965664,3.89766952573e-05,-0.000258426900161,1.92144723286e-05,1793239288849222400
+71,1.183333333,BASELINE,766,746,715,679.783544484,664.783544484,636,879,787.216455516,803.216455516,652.783544484,631.216455516,653,0.400984414373,0.00449842972578,0.069842244675,0.9999999658,3.53245716597e-05,-0.000258430876088,1.91112574293e-05,1793239288865889024
+72,1.200000000,BASELINE,766,746,715,679.208314995,664.208314995,636,879,787.791685005,803.791685005,652.208314995,631.791685005,653,0.400984678695,0.00449781412304,0.0698424808303,0.999999965965,3.47779572821e-05,-0.000257874380312,1.90177078431e-05,1793239288882555904
+73,1.216666667,BASELINE,766,746,715,679.366800101,664.366800101,636,879.366800101,787.633199899,804,652.366800101,632,653,0.400984739033,0.00449820133344,0.0698431733753,0.99999996611,3.56249492275e-05,-0.000257192828487,1.90234674211e-05,1793239288899222528
+74,1.233333333,BASELINE,766,746,715,679.941850217,664.941850217,636,879.941850217,787.058149783,804,652.941850217,632,653,0.400984683559,0.004499157889,0.0698441250347,0.999999966243,3.72631583716e-05,-0.000256440276372,1.90856095815e-05,1793239288915889664
+75,1.250000000,BASELINE,766,746,715,680,664.470998741,636,879.470998741,787.529001259,804,653,631.470998741,653,0.400984982459,0.00449945740682,0.0698432777781,0.999999966016,3.85355606613e-05,-0.000257117782075,1.93501113183e-05,1793239288932556032
+76,1.266666667,BASELINE,766,745.884326609,715,680,664.115673391,636,879,788,804,653,631.115673391,653,0.400985167067,0.00449949747645,0.0698423832336,0.99999996581,3.90837460618e-05,-0.000257823841711,1.9472685987e-05,1793239288949222400
+77,1.283333333,BASELINE,766,745.305030195,715,680,664.694969805,636,879,788,804,653,631.694969805,653,0.400984733803,0.0044987939218,0.0698421102749,0.999999965858,3.6894184136e-05,-0.000257999544439,1.89351695891e-05,1793239288965889024
+78,1.300000000,BASELINE,766,745,715,680,665,636,879.27199784,787.72800216,804,653,631.72800216,653,0.400984377923,0.0044985408249,0.0698421664369,0.999999965883,3.60039276795e-05,-0.000258025892523,1.89604631849e-05,1793239288982555392
+79,1.316666667,BASELINE,766,745,715,680,665,636,879.84650302,787.15349698,804,653,631.15349698,653,0.400984108107,0.00449878871282,0.0698425886366,0.999999965887,3.6558717551e-05,-0.000257886133115,1.96116961754e-05,1793239288999222016
+80,1.333333333,BASELINE,766,745.4215699,715.4215699,680,665,636,879.5784301,787,803.5784301,652.5784301,631,653,0.40098470095,0.00449906159325,0.0698432698604,0.999999966076,3.68275533321e-05,-0.000257120090483,1.95261062721e-05,1793239289015888896
+81,1.350000000,BASELINE,766,745.99684162,715.99684162,680,665,636,879.00315838,787,803.00315838,652.00315838,631,653,0.400985608313,0.00449934358583,0.0698440455229,0.999999966332,3.69921320374e-05,-0.000256125708788,1.91718752793e-05,1793239289032555776
+82,1.366666667,BASELINE,766,746,715.410327258,680,665,636,879.589672742,787,803,652.589672742,631.589672742,653,0.400985681234,0.00449991081417,0.0698435846503,0.9999999662,3.74113858432e-05,-0.000256584808758,1.91051721293e-05,1793239289049222144
+83,1.383333333,BASELINE,766,746,715,680,665,636,880,787.177863292,803.177863292,653,631.822136708,653,0.400985734301,0.00450015409575,0.0698433136892,0.999999966111,3.83303695419e-05,-0.000256792244847,1.91641449228e-05,1793239289065889024
+84,1.400000000,BASELINE,766,746,715,680,665,636,880,787.755408168,803.755408168,653,631.244591832,653,0.400985753106,0.00449966588912,0.0698434848231,0.99999996612,4.03691510139e-05,-0.00025641612908,1.95019607424e-05,1793239289082555648
+85,1.416666667,BASELINE,766,746,715,680,665,636,879.669181838,788,804,653,631.330818162,653,0.400986203484,0.00450003597869,0.0698436992544,0.999999966376,4.00595749726e-05,-0.000255482641082,1.92950069649e-05,1793239289099222272
+86,1.433333333,BASELINE,766,746,715,680,665,636,879.09534019,788,804,653,631.90465981,653,0.400986970901,0.00450103658424,0.0698439454925,0.999999966809,3.80248636955e-05,-0.000254139699941,1.8687858071e-05,1793239289115888896
+87,1.450000000,BASELINE,766,746,715,680,665,636,879.492866601,788,804,653,632,653,0.400985858409,0.00450060179441,0.0698441334005,0.999999966656,3.79812044892e-05,-0.000254728181014,1.89206412853e-05,1793239289132555776
+88,1.466666667,BASELINE,766,745.917907385,715,680,665,636,879.917907385,787.917907385,804,653,632,653,0.400984709892,0.00449983678703,0.0698442824555,0.999999966442,3.81973107917e-05,-0.000255509618831,1.92954894198e-05,1793239289149222144
+89,1.483333333,BASELINE,766,745.339816622,715,680,665,636,879.339816622,787.339816622,804,653,632,653,0.400985606817,0.00449880461325,0.0698442669833,0.999999966557,3.75859953014e-05,-0.000255131765536,1.95175406709e-05,1793239289165888768
+90,1.500000000,BASELINE,766,745.237268705,715,680,665,635.762731295,879.237268705,787,803.762731295,652.762731295,632,653,0.400986186839,0.00449827309443,0.0698441839567,0.999999966583,3.71998169883e-05,-0.000255083394354,1.95776883698e-05,1793239289182555392
+91,1.516666667,BASELINE,766,745.812920069,715,680,665,635.187079931,879.812920069,787,803.187079931,652.187079931,632,653,0.400986314907,0.00449845558879,0.0698440045868,0.999999966481,3.71347199113e-05,-0.000255504916759,1.94069360047e-05,1793239289199222272
+92,1.533333333,BASELINE,766,746,715,680,664.602830586,635.397169414,879.602830586,787.397169414,803.397169414,652.397169414,631.602830586,653,0.400986269229,0.00449894880875,0.0698440884393,0.999999966472,3.85210664359e-05,-0.000255327591418,1.94869727901e-05,1793239289215888896
+93,1.550000000,BASELINE,766,746,715,680,664.014441642,635.985558358,879.014441642,787.985558358,803.985558358,652.985558358,631.014441642,653,0.400986139898,0.00449959162939,0.0698442990219,0.999999966504,4.0606218942e-05,-0.000254861947373,1.96877534593e-05,1793239289232555520
+94,1.566666667,BASELINE,766,746,715,680,664.565122113,635.434877887,879,787.434877887,803.434877887,653,631,653,0.400985654035,0.00450056613031,0.0698437585535,0.99999996625,4.08787350322e-05,-0.000255821883897,1.95923337501e-05,1793239289249222144
+95,1.583333333,BASELINE,766,746,715,680,665,635.144040718,879,787,803,653,631,653,0.400984974223,0.00450116932924,0.0698431626925,0.999999966005,4.05905305642e-05,-0.000256831799754,1.94849506752e-05,1793239289265888768
+96,1.600000000,BASELINE,766,746,715,680,665,635.721685838,879,787,803,653,631,653,0.400983737574,0.00450062967851,0.0698424569718,0.99999996581,3.87516922117e-05,-0.000257884187823,1.93639900144e-05,1793239289282555392
+97,1.616666667,BASELINE,766,746,715,680,665.297576448,636,879,787.297576448,803.297576448,653,631.297576448,653.297576448,0.400983158437,0.00450060845182,0.069841915865,0.999999965612,3.85678938785e-05,-0.00025869696493,1.91060698594e-05,1793239289299222272
+98,1.633333333,BASELINE,766,746,715,680,665.871835701,636,879,787.871835701,803.871835701,653,631.871835701,653.871835701,0.400983190647,0.00450106924925,0.0698415278143,0.999999965413,3.99229308636e-05,-0.000259286954744,1.8720806512e-05,1793239289315888896
+99,1.650000000,BASELINE,766,746,715,680,665.541831681,635.541831681,879.458168319,787.541831681,803.541831681,652.541831681,631.541831681,653.541831681,0.400984272036,0.00450092050188,0.0698424505595,0.999999965717,4.06811517997e-05,-0.000257980771075,1.89193750814e-05,1793239289332555520
+100,1.666666667,BASELINE,766,745.952873169,715,680,665,635.047126831,879.952873169,787,803,652,631.047126831,653,0.400985554247,0.00450062796732,0.0698436563369,0.99999996612,4.1144253249e-05,-0.000256313897534,1.92676069826e-05,1793239289349222144
+101,1.683333333,BASELINE,766,745.373434446,715,680,665,635.626565554,879.373434446,787,803,652,631.626565554,653,0.40098570003,0.00450068939029,0.0698438052927,0.999999966049,4.02106609898e-05,-0.000256726330589,1.94116969443e-05,1793239289365888768
+102,1.700000000,BASELINE,766,745.204208987,715,679.795791013,665,636,879.204208987,787.204208987,803.204208987,652.204208987,631.795791013,653,0.400985564448,0.00450057578975,0.0698436614455,0.999999965975,3.97955569301e-05,-0.000257071712534,1.94860919516e-05,1793239289382555392
+103,1.716666667,BASELINE,766,745.778597944,715,679.221402056,665,636,879.778597944,787.778597944,803.778597944,652.778597944,631.221402056,653,0.40098491882,0.00450014491526,0.0698429868195,0.999999965898,4.03203427862e-05,-0.000257295547493,1.94341473704e-05,1793239289399222016
+104,1.733333333,BASELINE,766,746,715,679.353323711,665,636,879.646676289,788,804.353323711,653,631,653,0.400985243174,0.00450013342878,0.0698428466656,0.999999966067,3.99914563028e-05,-0.000256697599565,1.93029383857e-05,1793239289415888896
+105,1.750000000,BASELINE,766,746,715,679.92826079,665,636,879.07173921,788,804.92826079,653,631,653,0.400986175924,0.0045003849928,0.0698430417458,0.99999996639,3.91271254719e-05,-0.000255584209116,1.91220128021e-05,1793239289432555520
+106,1.766666667,BASELINE,766.518739135,746,715,680,665,636,879,788,804.481260865,653,631,653,0.400984977231,0.00449959433341,0.0698432522593,0.999999966216,3.82193294096e-05,-0.000256400001053,1.91591484074e-05,1793239289449222144
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,787,803,653,632,653,0.400987050556,0.00450008897942,0.0698448156513,0.999999966753,3.88815911657e-05,-0.000254211429292,1.89585114771e-05,1793239289491695104
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.422261169,636,879.422261169,787.577738831,803.577738831,653,631.422261169,653,0.400985109533,0.004500144115,0.0698434085104,0.99999996612,3.8641170742e-05,-0.000256717172602,1.90755674611e-05,1793239289508361728
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.154536537,746,715,680,664.154536537,636,879.154536537,787.845463463,803.845463463,653,631.154536537,653,0.400984069688,0.00450014543429,0.0698425748017,0.999999965769,3.807266809e-05,-0.000258160612761,1.91260567802e-05,1793239289525028352
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.728778374,746,715,680,664.728778374,636,879.728778374,787.271221626,803.271221626,653,631.728778374,653,0.400985477348,0.00450000059409,0.0698432984749,0.999999966197,3.66131278867e-05,-0.000256718947672,1.89957579285e-05,1793239289541694976
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.688567838,746,715,680,665,636,880,787,803.311432162,653,632,653,0.400984974337,0.00449982584652,0.0698429528364,0.999999966127,3.62912969981e-05,-0.000257046115892,1.88817874978e-05,1793239289558361600
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.098384873,746,715,680,665,636,880,787,803.901615127,653,632,653,0.400982761158,0.00449962433003,0.0698416500985,0.99999996561,3.69877855081e-05,-0.000258956498024,1.8782432009e-05,1793239289575028224
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,787.481944804,803.518055196,653,632,653,0.400983605495,0.00449999239238,0.069842410184,0.999999965865,3.80448963306e-05,-0.000257794560096,1.9068712874e-05,1793239289591694848
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,788,803,653,632,653,0.400985273696,0.00450037196923,0.0698436452646,0.999999966299,3.89347895448e-05,-0.000255950541414,1.93841919747e-05,1793239289608361472
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,788,803,653,632,653,0.400988764894,0.0044998715835,0.0698454157649,0.999999966963,3.77683780262e-05,-0.000253526994499,1.92877510421e-05,1793239289625028096
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879.786564885,787.786564885,803,653,631.786564885,653,0.400998683867,0.00449983874281,0.0698500324713,0.999999968789,3.75444334998e-05,-0.000246264113635,1.9139088413e-05,1793239289641694720
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879.196967811,787.196967811,803,653,631.196967811,653,0.40101993127,0.00450062991212,0.0698596653833,0.999999972503,3.89815101907e-05,-0.000230472302143,1.88983893163e-05,1793239289658361344
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,787,803.385810492,653,631,653,0.401059612509,0.00450116068504,0.0698757072022,0.999999978562,3.99471522365e-05,-0.000202311979915,1.8709012337e-05,1793239289675028224
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,787,803.965168116,653,631,653,0.401108541337,0.00450156082661,0.0698949641382,0.999999984898,4.06762927094e-05,-0.000167946822749,1.85453817641e-05,1793239289691694848
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,787,804,652.459536933,631.540463067,653,0.401169952038,0.00449992495216,0.0699103790269,0.999999988473,3.67923580092e-05,-0.000146161628354,1.83838441952e-05,1793239289708362240
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680.115336788,665,636,879,787.115336788,804,652.115336788,631.884663212,653,0.40123394889,0.00449857835577,0.0699232499232,0.999999991055,3.3393874974e-05,-0.00012826381112,1.80012800783e-05,1793239289725029376
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680.689568712,665,636,879,787.689568712,804,652.689568712,631.310431288,653,0.401305058628,0.00449890090673,0.0699269767763,0.999999991793,3.31009487398e-05,-0.000122631131183,1.67387759979e-05,1793239289741696256
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.727723081,715,680.727723081,665,636,879,787.727723081,803.727723081,652.727723081,631.272276919,653,0.401383041884,0.00450015203361,0.0699281717557,0.999999992032,3.30083090535e-05,-0.000120895658114,1.52140347122e-05,1793239289758362880
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.135040319,715,680.135040319,665,636,879,787.135040319,803.135040319,652.135040319,631.864959681,653,0.401469113647,0.00450249587575,0.0699263873152,0.999999991704,3.31513595078e-05,-0.000123746280515,1.33807020395e-05,1793239289775030016
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.446830661,745,715,679.553169339,665,636,879,787,803.446830661,652.446830661,632,653,0.401574091706,0.00450217975332,0.0699228495282,0.999999991039,2.89258296556e-05,-0.000130264217656,1.07933860424e-05,1793239289791696384
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.974649048,745,715,679.025350952,664.974649048,635.974649048,878.974649048,787,803.974649048,652.974649048,632,653,0.40168632533,0.00450120380192,0.0699191989118,0.999999990292,2.35836800641e-05,-0.000137098183167,7.96496067448e-06,1793239289808362752
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.399605877,745,715,679.600394123,664.399605877,635.399605877,878.399605877,787,803.399605877,652.399605877,632,653,0.401834915974,0.0045029397504,0.0699243201651,0.999999991642,2.19808822007e-05,-0.000127320222933,4.73267626438e-06,1793239289825029120
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.179500992,715,680,664.179500992,635.179500992,878.179500992,787.179500992,803,652,631.820499008,653,0.40199096779,0.00450431859077,0.0699292676812,0.999999992853,1.95207050509e-05,-0.000117944303548,1.33833820227e-06,1793239289841695488
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.767863952,715,680,664.767863952,635.767863952,878.767863952,787.767863952,803,652,631.232136048,653,0.402164014418,0.00450488402078,0.0699338194636,0.99999999389,1.51076153442e-05,-0.000109484142087,-2.42512035695e-06,1793239289858361856
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.649321804,746,715,680,665.350678196,636,879,788,803.350678196,652.350678196,631.350678196,653,0.402360417872,0.00450556524931,0.0699379159267,0.999999994722,1.08060075142e-05,-0.00010195469138,-6.73647525035e-06,1793239289875028480
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.070123337,746,715,680,665.929876663,636,879,788,803.929876663,652.929876663,631.929876663,653,0.402572041873,0.00450632193828,0.0699417156803,0.999999995398,6.57704667362e-06,-9.50317396873e-05,-1.14048684525e-05,1793239289891695104
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.507750586,745.492249414,715,680,665.492249414,636,879,788,804,652.492249414,631.492249414,653,0.402816719608,0.0045058676647,0.0699421482673,0.999999995746,3.25617132042e-08,-9.07782075663e-05,-1.6377545043e-05,1793239289908361984
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.084734922,715,680,665,636,879,788,804,652.084734922,631,653,0.403071606971,0.00450536299644,0.0699431620973,0.999999996101,-6.65738335289e-06,-8.54275936298e-05,-2.13404693873e-05,1793239289925029120
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.657645536,715,680,665,636,879,788,804,652.657645536,631,653,0.403359083247,0.00450552899745,0.0699501967289,0.99999999702,-1.23477881682e-05,-7.16380432285e-05,-2.60057357643e-05,1793239289941695744
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.762142544,715,680,665,636,879,788,803.762142544,653,631.237857456,653,0.403660094848,0.00449968950498,0.0699586682376,0.999999997651,-2.41434000654e-05,-5.70966326304e-05,-2.9232844688e-05,1793239289958362368
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.171088901,715,680,665,636,879,788,803.171088901,653,631.828911099,653,0.403981205129,0.00448493241351,0.0699692733747,0.999999997669,-4.50046760307e-05,-4.14387804201e-05,-3.03244233312e-05,1793239289975028992
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.411681418,715.411681418,680,665,636,879,788,803,652.588318582,632,653,0.404327960601,0.00447381821657,0.0699707618428,0.999999998428,-3.04515828719e-05,-4.07211673162e-05,-2.36363635328e-05,1793239289991695360
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.991077189,715.991077189,680,665,636,879,788,803,652.008922811,632,653,0.404685163626,0.004464188094,0.0699685362828,0.999999998842,-1.471075773e-06,-4.60900389926e-05,-1.37789669868e-05,1793239290008361728
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715.434356524,680,665,635.434356524,879,787.434356524,803.565643476,652.565643476,631.434356524,653,0.405095432187,0.00448093071249,0.069972790816,0.9999999989,2.12497217824e-05,-3.68703111481e-05,-1.97371147335e-05,1793239290025028352
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.143351408,746,715,680,665,635.143351408,879,787.143351408,803.856648592,653,631.143351408,653,0.405509854425,0.0044931201499,0.0699762424063,0.999999998519,3.84942108868e-05,-2.93807121146e-05,-2.48557947068e-05,1793239290041695232
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.731031136,746,715,680,665,635.731031136,879,787.731031136,803.268968864,653,631.731031136,653,0.405934578561,0.0044899180935,0.0699768910554,0.999999998492,3.90679466031e-05,-2.79610425773e-05,-2.66057327073e-05,1793239290058362368
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.685755438,746,715,680,665,636,879,788,803,653,632,653,0.406372518495,0.00449321618445,0.0699685797691,0.999999997929,3.90879960624e-05,-4.24223982079e-05,-2.8537928314e-05,1793239290075029248
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.10631118,746,715,680,665,636,879,788,803,653,632,653,0.406821611652,0.00450199992952,0.0699527069452,0.999999996314,3.86407743859e-05,-7.02861908932e-05,-3.06239363424e-05,1793239290091696128
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.529133364,879,787.529133364,803,653,631.529133364,653,0.407326560797,0.00451013915789,0.0699407801056,0.999999995939,1.43902001395e-05,-8.30252257112e-05,-3.19658460288e-05,1793239290108363008
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.952593164,715,680,665,635.047406836,879,787,803.047406836,653,631.047406836,653,0.407851019009,0.00451763474848,0.0699319512094,0.999999995414,-1.12637528963e-05,-8.91099859774e-05,-3.32301778094e-05,1793239290125029888
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.377481321,715,680,665,635.622518679,879,787,803.622518679,653,631.622518679,653,0.408452934872,0.0045195778037,0.0699477371509,0.999999997608,6.99728164452e-06,-5.89531071725e-05,-3.54920869308e-05,1793239290141696256
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.202980244,715,680,665,636,879,787.202980244,804,653,631.797019756,653,0.409051857865,0.0045249947696,0.069959936353,0.999999998357,2.70071825779e-05,-3.39364869726e-05,-3.74822970014e-05,1793239290158362368
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.793659935,715,680,665,636,879,787.793659935,804,653,631.206340065,653,0.409645064335,0.00453704702772,0.0699652847552,0.999999997798,5.03574791068e-05,-1.87379444692e-05,-3.89535521877e-05,1793239290175028480
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,787.623373211,804,653,631,653,0.410248880991,0.004543210501,0.0699606122512,0.999999997279,5.60430087429e-05,-2.65645838795e-05,-3.9938421545e-05,1793239290191695360
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,787.044547158,804,653,631,653,0.410858393908,0.00454621246763,0.0699505598326,0.999999996716,5.22448711465e-05,-4.67527311275e-05,-4.06621653581e-05,1793239290208362752
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879.530226867,787,803.469773133,652.469773133,631,653,0.411533094123,0.0045544025339,0.0699590112642,0.999999996587,6.24876886896e-05,-3.46482011126e-05,-4.14909478351e-05,1793239290225029632
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879.895388184,787.104611816,803.209223632,652,631,653,0.412227958255,0.00456283160851,0.0699733827866,0.999999996268,7.43730357224e-05,-1.20528870586e-05,-4.22764018398e-05,1793239290241696256
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879.32123333,787.67876667,804.35753334,652,631,653,0.412988931071,0.00457039187481,0.0700074014078,0.999999994141,8.83761174749e-05,4.55444823637e-05,-4.28280693107e-05,1793239290258362368
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715,680.260547179,665,636,879.260547179,788,804.739452821,652,631.260547179,653,0.413731673405,0.00457724770907,0.0700282546732,0.99999999107,9.91290603275e-05,7.85388606803e-05,-4.31818446732e-05,1793239290275028736
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715,680.852013043,665,636,879.852013043,788,804.147986957,652,631.852013043,653,0.41445126147,0.00458320885141,0.0700323867402,0.999999990248,0.000105754032499,8.02852038895e-05,-4.32842792282e-05,1793239290291695104
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,715,680.565563168,665,636,880,787.565563168,803.565563168,652,631.565563168,653,0.415146777153,0.00459250442178,0.0699939521686,0.999999992608,0.000112417259626,1.1206658832e-05,-4.49438627229e-05,1793239290308361728
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.013713016,746,715,680,664.986286984,636,880,787.013713016,803.013713016,652,631.013713016,653,0.415836650249,0.00460277571671,0.0699422198131,0.999999988617,0.000119117170806,-7.97323564009e-05,-4.71092416831e-05,1793239290325028352
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.587667201,746,715,680,664.412332799,636,880,787.587667201,803.587667201,652,631.587667201,653,0.416624178405,0.00460745160354,0.0699275227524,0.999999985952,0.000126794317874,-9.82164928237e-05,-4.87100984593e-05,1793239290341695232
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.834392367,746,715,680,664.165607633,636,880,787.834392367,804,652,631.834392367,653,0.417426968098,0.00461237117844,0.0699265424444,0.999999985154,0.000133691446254,-9.66581908452e-05,-4.97497521388e-05,1793239290358361856
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.246282149,746,715,680,664.753717851,636,880,787.246282149,804,652,631.246282149,653,0.418268693379,0.00461791245657,0.0699605566803,0.999999988211,0.000138598569686,-4.39670873458e-05,-4.93576494546e-05,1793239290375028480
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,787,804,652,631,653,0.419116789139,0.00462321726791,0.0699874795562,0.999999988636,0.00014230742121,-5.02963452348e-06,-4.95198890124e-05,1793239290391695360
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,787,804,652,631,653,0.419969474699,0.00462835170815,0.0700092932094,0.999999987923,0.000145152935242,2.39985118189e-05,-5.00815241026e-05,1793239290408361984
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,787.493974378,804,652,631,653,0.420831740158,0.00462229097894,0.0700274280733,0.999999987509,0.000139916942947,5.23328666114e-05,-5.16341200523e-05,1793239290425028608
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.929440103,745.929440103,715,680,665,636,880,788,804,652,631,653,0.421690267586,0.00461242302234,0.0700398530545,0.99999998748,0.000130639158526,7.18076018567e-05,-5.30773599492e-05,1793239290441695232
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.356767112,745.356767112,715,680,665,636,880,788,804,652,631,653,0.422510717525,0.00458887422379,0.0700160529898,0.999999992966,0.000102281157475,2.90673222523e-05,-5.25552322273e-05,1793239290458361600
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,665,636,879.776832665,787.776832665,804,652,631,653,0.42331350133,0.00457399813511,0.069970489633,0.999999994001,8.51204373329e-05,-4.43336072993e-05,-5.28003835857e-05,1793239290475028480
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,665,636,879.184899154,787.184899154,804,652,631,653,0.424087093392,0.00457345300228,0.0698889641723,0.999999980608,8.64623235118e-05,-0.000168398815967,-5.43134018209e-05,1793239290491695360
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.397325933,745.397325933,715,680.397325933,665,636,879,787.397325933,804,652,631.397325933,653,0.424951081779,0.0045798198198,0.0698782403847,0.999999978829,8.66730669508e-05,-0.000177805584888,-5.67072219627e-05,1793239290508362496
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.975140842,745.975140842,715,680.975140842,665,636,879,787.975140842,804,652,631.975140842,653,0.425856133486,0.00458932645466,0.0698996789163,0.99999998537,8.63699785329e-05,-0.000135127691324,-5.95011545832e-05,1793239290525029376
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680.448632524,665,636,879.551367476,788,804,652,631.448632524,653,0.426764516008,0.00459359047532,0.0699574318629,0.999999992046,0.000100227445381,-5.26138035283e-05,-5.56178923941e-05,1793239290541695744
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.869643994,746,715,680,665,636,880,788,804,652,631,653,0.427672118508,0.00459740761159,0.0700092112812,0.999999992088,0.000112305546317,2.08650080659e-05,-5.26958510601e-05,1793239290558362112
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.280687771,746,715,680,665,636,880,788,804,652,631,653,0.428576449993,0.00460048175854,0.0700342319445,0.999999990234,0.000115884086308,5.62573780375e-05,-5.42115149539e-05,1793239290575028480
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.303436148,746,715,680,665.303436148,635.696563852,880,788,804,652,631.303436148,653,0.429460210785,0.00460186481861,0.0700470001276,0.999999988666,0.000117667393649,7.6135713621e-05,-5.50074930865e-05,1793239290591694848
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.883160076,746,715,680,665.883160076,635.116839924,880,788,804,652,631.883160076,653,0.430325241288,0.00460170809281,0.070048612056,0.999999988186,0.000117816087321,8.18880502463e-05,-5.51481755499e-05,1793239290608361472
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,680.459616967,665.540383033,635.459616967,880,788,804,652,632,652.540383033,0.431096793658,0.00460091604178,0.0699966461295,0.999999991505,0.000117774695397,-6.38094064581e-06,-5.54835749135e-05,1793239290625028352
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665.035021745,636,880,788,804,652,632,652.035021745,0.43184731234,0.00459985382169,0.06993353331,0.999999985081,0.000117246821311,-0.000113835429229,-5.59642525531e-05,1793239290641694976
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,681,665.606938869,636,880,788,804,652,632,652.606938869,0.432637103569,0.00459710830034,0.0699068620726,0.999999980785,0.000109996591723,-0.000151581024063,-5.79186198286e-05,1793239290658362112
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,681,666,636,880.372024781,788,804,652,632,653,0.43346471712,0.0045925273662,0.0699087173486,0.999999983253,0.000100332085933,-0.000141172797767,-5.91403074258e-05,1793239290675028992
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681,666,636,881.561626426,788,804,652,632,653,0.434375450701,0.00458391285335,0.0699732636513,0.99999999432,8.53618660468e-05,-2.49397721023e-05,-5.87518282172e-05,1793239290691695360
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715,681,666,636,881.268120747,788,804,652,631.634060373,653,0.435220373236,0.00457852429157,0.0700131143714,0.999999994212,8.10561701594e-05,4.13192858684e-05,-5.74260307727e-05,1793239290708361984
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,681,666,636,880.109158847,788,804,652,631.054579424,653,0.436026892175,0.00457501820984,0.0700385541657,0.99999999194,8.29736784695e-05,7.84164030643e-05,-5.55532685858e-05,1793239290725028608
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665.481243963,636,880.518756037,787.481243963,804,652,631.518756037,653,0.43678528055,0.0045772824354,0.0700302610342,0.999999992327,8.55219299746e-05,6.91384563385e-05,-5.70330065878e-05,1793239290741695232
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+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,714,682.612286327,661.612286327,634,880.612286327,787,804.387713673,652.387713673,632,653,0.446447922737,0.00466050027727,0.0697585795555,0.999999909584,0.000222266835108,-0.000357564369717,-5.98146126563e-05,1793239291025028352
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765.246107046,746,714,683,658,633,881,786.246107046,804.753892954,652,631.246107046,653,0.450363249013,0.00476031942641,0.0696445964437,0.999999797265,0.000297045813258,-0.000559362467835,-6.59278409415e-05,1793239291725028352
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.335851945,746,714,683,658,633,881,786.335851945,805,652,631,653,0.450363738255,0.0047605170135,0.0696445796979,0.999999797614,0.000296229774388,-0.000559162597701,-6.60087565978e-05,1793239291741695232
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.911263646,746,714,683,658,633,881,786.911263646,805,652,631,653,0.450363517885,0.00476055560017,0.0696450795482,0.9999997982,0.000295005220135,-0.000558741323409,-6.61749039857e-05,1793239291758361856
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.510895848,746,714,683,658,633,881,787,805,652,631.489104152,653,0.450364193692,0.00475930406645,0.0696452257086,0.999999798794,0.000293674859672,-0.000558403838142,-6.59684930746e-05,1793239291775028224
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.068591875,746,714,683,658,633.068591875,881,787,805,652,631.931408125,653,0.450364876664,0.00475817021126,0.0696452646025,0.999999799244,0.00029266330557,-0.000558156534973,-6.57355185873e-05,1793239291791695104
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.657210149,746,714,683,658,633.657210149,881,787,805,652,631.342789851,653,0.450364375128,0.00475971191699,0.0696449791788,0.999999798605,0.000294215029355,-0.000558477118814,-6.581615595e-05,1793239291808361984
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.758012446,746,714,683,658,634,881,787,804.758012446,652,631,653,0.450363919634,0.00475998978297,0.0696447351124,0.999999798317,0.000294442811556,-0.000558869515824,-6.58359801536e-05,1793239291825028608
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.17859077,746,714,683,658,634,881,787,804.17859077,652,631,653,0.45036352834,0.00475850531615,0.0696445487156,0.999999798521,0.000292824453316,-0.000559362051149,-6.57710048225e-05,1793239291841695488
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.601109981,714,682.601109981,658,633.601109981,881,787,804,652,631,653,0.450363696641,0.00475838988658,0.0696440782035,0.999999798082,0.0002936493466,-0.000559688608131,-6.599007957e-05,1793239291858362112
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.024493991,714,682.024493991,658,633.024493991,881,787,804,652,631,653,0.45036411427,0.00475888443344,0.0696434811034,0.999999797354,0.000295562833905,-0.000559941213216,-6.63357132065e-05,1793239291875028480
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.549491026,714.549491026,682.549491026,658,633,881,786.450508974,804.549491026,652,631.549491026,653,0.450365574348,0.00475936337091,0.0696453453992,0.999999798511,0.000295455395332,-0.000558018564214,-6.55766240792e-05,1793239291891694848
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.127250256,745.872749744,714.872749744,683,658,633,881,786.127250256,805,652.127250256,631.872749744,652.872749744,0.450366895929,0.00475970831871,0.069647006031,0.999999799627,0.000295173572318,-0.000556223785586,-6.50669449139e-05,1793239291908361728
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.719219158,745.280780842,714.280780842,683,658,633,881,786.719219158,805,652.719219158,631.280780842,652.280780842,0.450367542829,0.00475956646441,0.0696475240971,0.999999800305,0.000294582317209,-0.00055524841476,-6.56470943172e-05,1793239291925028608
+254,4.233333333,HOLD_POSE2,765,746,714,683,658,633,881,787,804,652,632,653,0.450363711759,0.00475581806907,0.0696443340276,0.99999979902,0.000289094241416,-0.000560407458415,-6.57903878013e-05,1793239291961790464
+255,4.250000000,HOLD_POSE2,765,746,714,683,658,633,881.575503675,787,804.575503675,652,632,653,0.450364237034,0.00475743028908,0.0696442194774,0.999999798353,0.000292453827296,-0.000559870230691,-6.56437671998e-05,1793239291978457088
+256,4.266666667,HOLD_POSE2,765,746,714,682.845437268,658,633,881.845437268,787,805,652,631.845437268,653,0.450364421242,0.00475870850037,0.069644142645,0.999999797723,0.000294831110594,-0.000559764206564,-6.55155499998e-05,1793239291995123456
+257,4.283333333,HOLD_POSE2,765,746,714,682.256383551,658,633,881.256383551,787,805,652,631.256383551,653,0.450363646674,0.00475904778079,0.0696441718411,0.999999797222,0.00029444704586,-0.000560870337889,-6.54390665323e-05,1793239292011789824
+258,4.300000000,HOLD_POSE2,765,746,714,682,658,633,881,786.672579641,805,652,631.327420359,653,0.450363671528,0.0047583413356,0.069643967271,0.999999797541,0.000293123200107,-0.000561021141466,-6.52074814959e-05,1793239292028455936
+259,4.316666667,HOLD_POSE2,765,746,714,682,658,633,881,786.092821707,805,652,631.907178293,653,0.450364312483,0.00475682896658,0.069643582541,0.99999979849,0.000291075080343,-0.00056043568933,-6.4856362193e-05,1793239292045122560
+260,4.333333333,HOLD_POSE2,765,746,714,682,658,633,881,786.485447697,805,652.485447697,631.514552303,653,0.450364145968,0.00475709099805,0.0696434978637,0.999999798362,0.000290622231347,-0.000560875013804,-6.50696369935e-05,1793239292061789440
+261,4.350000000,HOLD_POSE2,765,746,714,682,658,633,881,787,805,652.93708737,631.06291263,653,0.450363767958,0.0047576719147,0.0696433851263,0.999999797961,0.000290622554414,-0.000561557100416,-6.53439148618e-05,1793239292078455808
+262,4.366666667,HOLD_POSE2,765,746,714,682,658,633,881,787,805,652.363846357,631.636153643,653,0.450362922947,0.00475809580457,0.069642580807,0.999999797016,0.00029183213115,-0.000562623804707,-6.52403175864e-05,1793239292095122688
+263,4.383333333,HOLD_POSE2,765.214699715,746,714,682.214699715,658.214699715,633,881,787,804.785300285,652,632,653,0.450362919107,0.00475797215917,0.069642353545,0.99999979671,0.000292529670621,-0.000562815733186,-6.51477326198e-05,1793239292111789568
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+265,4.416666667,HOLD_POSE2,766,746,714,683,658.615263829,633,881,787,804.384736171,652,631.615263829,653,0.450365174339,0.00475644965055,0.069643993057,0.999999798265,0.000291691385964,-0.000560488933225,-6.51084805297e-05,1793239292145123072
+266,4.433333333,HOLD_POSE2,766,746,714,683,658.03577146,633,881,787,804.96422854,652,631.03577146,653,0.450365637512,0.0047563198797,0.0696449019976,0.99999979898,0.000290815505117,-0.000559656959766,-6.51971702824e-05,1793239292161789696
+267,4.450000000,HOLD_POSE2,766,745.457762888,714.542237112,682.457762888,658.542237112,633,880.457762888,787,805,652,631,653,0.45036586435,0.00475694423955,0.0696448114979,0.999999798866,0.000291007419387,-0.000559776167462,-6.50658628886e-05,1793239292178456320
+268,4.466666667,HOLD_POSE2,766,745.11878827,714.88121173,682,658.88121173,633,880.11878827,787,805,652,631.11878827,653,0.450366096184,0.00475728886943,0.0696446592374,0.999999798848,0.000290931731009,-0.000559853842004,-6.50071867331e-05,1793239292195122944
+269,4.483333333,HOLD_POSE2,766,745.690158782,714.309841218,682,658.309841218,633,880.690158782,787,805,652,631.690158782,653,0.450366406289,0.00475637870064,0.0696445221889,0.999999799405,0.000289568825768,-0.000559534852829,-6.52803793298e-05,1793239292211789568
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,715,682,658,633,882,787,804,652,631,653,0.450367191784,0.00475849533895,0.0696452737845,0.999999798462,0.000294183255084,-0.00055887018991,-6.47829652626e-05,1793239292249075456
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,714.422695526,682,658,633,881.422695526,787,804.577304474,652,631,653,0.450366091756,0.00475717025429,0.0696443580808,0.999999798215,0.000292746779436,-0.000560066430798,-6.47707814852e-05,1793239292265742080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.845562714,746,714,682,658,633,881,787,804.845562714,652,631.154437286,653,0.450365445983,0.00475631468636,0.0696437621219,0.999999798135,0.00029154646047,-0.000560831791134,-6.4791824191e-05,1793239292282408448
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.268899086,746,714,682,658,633,881,787,804.268899086,652,631.731100914,653,0.45036604213,0.00475674276108,0.0696440403342,0.999999798521,0.000290991785609,-0.000560419138827,-6.4903706981e-05,1793239292299075072
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.306988421,658,633,881.306988421,787,804.306988421,652,632,653,0.450366928445,0.00475685796155,0.069644552728,0.999999799361,0.000289919184541,-0.000559459839521,-6.50389836278e-05,1793239292315741696
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.882197785,658,633,881.882197785,787,804.882197785,652,632,653,0.450368068286,0.0047566997985,0.0696452697301,0.999999800594,0.000288394062673,-0.000558022925571,-6.51946998737e-05,1793239292332408320
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.471606121,746,714,683,658,633,881.528393879,787,805,652.471606121,632,653,0.450367342233,0.00475665619101,0.0696450341831,0.999999799659,0.000289076640704,-0.000559389713889,-6.48000760516e-05,1793239292349074944
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,714,683,658,633,881,787,805,652.937190359,632,653,0.450366250314,0.00475657296005,0.0696445676125,0.999999798445,0.000290066387618,-0.000561097832292,-6.4355661873e-05,1793239292365741056
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,714,683,658,633,881,787,805,652.361197485,632,653,0.450366095408,0.00475592493414,0.0696442178731,0.999999799543,0.000288920298346,-0.000559695091047,-6.46624891629e-05,1793239292382407936
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,714,682.785692841,658.214307159,633,881,787,805,652,631.785692841,653,0.450361025912,0.00475555246111,0.0696415882758,0.999999797901,0.000288601464112,-0.000562770076405,-6.47889405313e-05,1793239292399074560
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,746,714,682.211009257,658.788990743,633,881,787,805,652,631.211009257,653,0.450347692097,0.00475564335468,0.0696351248962,0.999999791578,0.000289673732416,-0.000573374754818,-6.46120738131e-05,1793239292415741184
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,714.374782837,682.374782837,658.625217163,633,881,787,805,652,631,653,0.450319101954,0.00475643640928,0.0696222626341,0.99999977868,0.000290763788876,-0.000594906264478,-6.4679700421e-05,1793239292432407552
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,714.967020309,682.967020309,658.032979691,633,881,787,805,652,631,653,0.450281659859,0.00475763686828,0.0696056876437,0.999999761376,0.00029186416622,-0.000622777686532,-6.48891856768e-05,1793239292449074432
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.454676934,746,714.454676934,683,658,633,881,787,804.454676934,652,631,653,0.450217896236,0.00475753518066,0.0695827749177,0.999999736665,0.000292166560783,-0.000661171790505,-6.4505986906e-05,1793239292465741056
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.122383018,746,714,682.877616982,658,633,881.122383018,787,804.122383018,652,631.122383018,653,0.450150329784,0.00475795760472,0.069561636099,0.999999713124,0.00029346089853,-0.000695361340586,-6.40735986249e-05,1793239292482407936
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.697884149,746,714,682.302115851,658,633,881.697884149,787,804.697884149,652,631.697884149,653,0.450074430422,0.00476060483585,0.0695484488465,0.999999700148,0.000298602094867,-0.000711686238679,-6.35884924724e-05,1793239292499074816
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,714,682,658.28001089,633,881.71998911,787,805,652,631.71998911,653,0.449995306843,0.00475994903755,0.0695418005057,0.999999693713,0.000300041341428,-0.00072016765618,-6.25145892785e-05,1793239292515741440
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,714,682,658.869459503,633,881.130540497,787,805,652,631.130540497,653,0.449912620211,0.00475564308854,0.0695423782629,0.999999694745,0.000297389593625,-0.000719981307244,-6.0790011381e-05,1793239292532408064
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,714,682,659,633,881,787,804.548876036,652,631.451123964,653,0.449815605987,0.00475472166777,0.0695470472736,0.999999700299,0.00029929079102,-0.000711612338515,-5.86100345072e-05,1793239292549074688
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,714,682,659,633,881,787,804,652,632,653,0.449712890828,0.00475478820365,0.0695528493882,0.999999706875,0.000302437829758,-0.000701148107239,-5.63236165634e-05,1793239292565741568
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,714,682,659,633,881,787,804,652,632,653,0.449580997334,0.00475530709209,0.069558100558,0.999999710684,0.000304700101161,-0.000694855206369,-5.44519180807e-05,1793239292582408192
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,714,682.176754787,658.823245213,633,881,787,804.176754787,652,631.823245213,653,0.449434914336,0.00475509172161,0.0695622608397,0.999999713206,0.000306815131794,-0.00069046233702,-5.21062512764e-05,1793239292599074816
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,714,682.754258678,658.245741322,633,881,787,804.754258678,652,631.245741322,653,0.449256660062,0.00475321159499,0.0695639477936,0.999999712889,0.000308596328995,-0.000690377334525,-4.86859751964e-05,1793239292615741440
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,714,682.08555711,659,633.08555711,881,787,805,652,632,653,0.448370942121,0.00474698226543,0.0695607126346,0.999999699077,0.000325473084068,-0.000703499274975,-3.16477664379e-05,1793239292682407936
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.792039236,746,714.792039236,682.792039236,662.207960764,635,881,787,804.792039236,652,632,653,0.442439926246,0.00463583197196,0.0696956602786,0.999999863164,0.000179797346585,-0.000491055973608,1.44817313463e-05,1793239292915741696
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745.116540284,715,681,663.116540284,635,880.116540284,787.116540284,804,652,632,653,0.420578952663,0.00448064774712,0.0697157007118,0.999999889499,3.00243061081e-05,-0.000468019155163,3.25270614864e-05,1793239293365741824
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745.956359783,715,680.956359783,664.043640217,635,879.956359783,787.956359783,804,653,632,653,0.419005933331,0.00446279575078,0.0698642790778,0.999999972901,4.70452077639e-06,-0.000230113728587,3.49776384014e-05,1793239293399075328
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+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.734826485,745.734826485,715,680.734826485,664.734826485,635.265173515,879.265173515,787.734826485,803.734826485,652,632,653,0.408069833584,0.00446705772652,0.069781532766,0.999999935941,1.6140166778e-05,-0.000356119773631,3.21762930806e-05,1793239293649074688
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.096837257,746,715,680.096837257,664.096837257,635.903162743,879.903162743,788,804,652.903162743,632,653,0.407035888253,0.00446732536421,0.0698124722218,0.999999952251,1.11715161473e-05,-0.000307201532352,3.16165074151e-05,1793239293682408448
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.483911958,664.483911958,635.516088042,880,787.516088042,804,653,632,653,0.406531561739,0.00447529922337,0.0698159046796,0.999999951828,1.93072081399e-05,-0.000308128072182,3.20576402474e-05,1793239293699075840
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.936898627,664.936898627,635,880,787,804,653,631.936898627,653,0.406031344262,0.00448452400134,0.0698155302711,0.999999949336,3.01404378915e-05,-0.000315221805589,3.24734492408e-05,1793239293715742976
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.360571037,664.360571037,635,880,787,804,653,631.360571037,653,0.40557049061,0.00449114054159,0.0698128206317,0.999999946889,4.42100373378e-05,-0.000321331574168,3.18436814232e-05,1793239293732409344
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879.784340471,787,804,653,631.215659529,653,0.40514140182,0.00449196166064,0.0698168146694,0.999999948934,4.86468839695e-05,-0.000314307114218,3.12597266958e-05,1793239293749075712
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879.208272109,787,804,653,631.791727891,653,0.404765398311,0.00448309750796,0.0698320118498,0.999999958136,3.6985533879e-05,-0.000285332814287,3.07523345661e-05,1793239293765742336
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.623251393,715,680,664,635.376748607,879,787,803.623251393,652.623251393,632,653,0.40441344907,0.00447770394693,0.069844245129,0.999999965028,2.58683894265e-05,-0.000261488952483,2.99842165862e-05,1793239293782408448
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.03316117,715,680,664,635.96683883,879,787,803.03316117,652.03316117,632,653,0.404075121015,0.00447427567869,0.06985480004,0.999999970532,1.50594114689e-05,-0.000240550303624,2.90684572027e-05,1793239293799074816
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.453014888,745,715,680,664.546985112,635.453014888,879,787,803.546985112,652,631.453014888,653,0.403742476476,0.00447357533825,0.0698515724935,0.999999969626,8.68586405612e-06,-0.000244725577246,2.79764074003e-05,1793239293815741184
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745.125434486,715,680,664.874565514,635.125434486,879,787.125434486,803.874565514,652,631,653,0.403416434294,0.00447242057725,0.0698464360153,0.999999967491,1.25308204066e-06,-0.000253532764348,2.7169835382e-05,1793239293832408064
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745.699928734,715,680,664.300071266,635.699928734,879,787.699928734,803.300071266,652,631,653,0.40311281716,0.00446905747448,0.0698374034415,0.999999962144,-1.09172791684e-05,-0.000273568937347,2.74228623742e-05,1793239293849074688
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.280818685,746,715,680,664,636,879,787.719181315,803.280818685,652.280818685,631.280818685,653,0.402835455217,0.00446697212653,0.0698286119169,0.999999957089,-2.01848732844e-05,-0.000290987959788,2.72228293956e-05,1793239293865741568
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.868702062,746,715,680,664,636,879,787.131297938,803.868702062,652.868702062,631.868702062,653,0.402586802358,0.00446628395573,0.0698200839711,0.999999952624,-2.62783998028e-05,-0.000305545225192,2.65273923354e-05,1793239293882408448
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.450169193,636,879,787,803.549830807,653,632,653,0.402367018484,0.00446735232953,0.0698146433419,0.999999950123,-2.62061240682e-05,-0.000313605345916,2.67997842151e-05,1793239293899075328
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.970405402,665,636,879,787,803.029594598,653,631.970405402,653,0.402157426689,0.00446908302123,0.0698103028117,0.999999948279,-2.39079301828e-05,-0.000319561576841,2.73984782249e-05,1793239293915741952
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.394609053,665,636,879,787,803.605390947,653,631.394609053,653,0.401982723795,0.00447371496844,0.0698098804281,0.99999994792,-1.32518779112e-05,-0.000321170667811,2.88828546875e-05,1793239293932408320
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.180228599,665,636,879,787,803.819771401,652.819771401,631,653,0.401817957159,0.00448360732514,0.0698099413865,0.999999947716,1.7527342302e-05,-0.000321535379221,2.95904057688e-05,1793239293949074944
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.752978224,665,636,879,787,803.247021776,652.247021776,631,653,0.401674830786,0.00450495636097,0.0698110550189,0.999999944405,9.21329383242e-05,-0.000319189947047,2.8606103548e-05,1793239293965741568
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.663015751,636,879,787.336984249,803.336984249,652,631.336984249,653,0.401552121578,0.00451381488681,0.0698116336917,0.999999942876,0.000116524248803,-0.000316129427475,2.70529206828e-05,1793239293982408704
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.070473163,636,879,787.929526837,803.929526837,652,631.929526837,653,0.401444896094,0.00451320100185,0.0698118066681,0.999999945562,0.000102834620121,-0.000312526608596,2.50683164646e-05,1793239293999075328
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.488324184,715,680,664,635.488324184,879,787.488324184,804,652.511675816,631.488324184,653,0.401354230144,0.00450565864643,0.0698105459966,0.999999948003,7.00870889839e-05,-0.000314077953201,2.09214653146e-05,1793239294015741952
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.091583784,715,680,664,635.091583784,879.091583784,787,803.908416216,653,631.091583784,653,0.401269432051,0.00449911831891,0.0698094063146,0.999999949093,4.13857754599e-05,-0.00031591269123,1.73164715858e-05,1793239294032408576
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745.667064289,715,680,664,635.667064289,879.667064289,787,803.332935711,653,631.667064289,653,0.401203826878,0.00450281394643,0.0698099284192,0.999999948909,4.76559168697e-05,-0.000315568679784,1.81166409699e-05,1793239294049075200
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745.753626508,715,680,664.246373492,636,880,787,803.246373492,653,631.753626508,653,0.401147871099,0.00450333097025,0.0698116291051,0.999999949564,4.93837692903e-05,-0.000313170309679,1.89347173073e-05,1793239294065741568
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745.169061775,715,680,664.830938225,636,880,787,803.830938225,653,631.169061775,653,0.401105160828,0.00449948479742,0.0698149476024,0.99999995138,4.48765254122e-05,-0.000307951968581,1.97773740603e-05,1793239294082408448
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745.414507521,715,680,664.585492479,636,879.585492479,787,804,653,631,653,0.401071153165,0.0044994620382,0.069816501,0.999999952844,4.43338126469e-05,-0.000303225644714,2.00299595855e-05,1793239294099075072
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745.997671775,715,680,664.002328225,636,879.002328225,787,804,653,631,653,0.401040686459,0.00450099496723,0.0698173362055,0.999999954158,4.54042066957e-05,-0.000298699515213,2.0042454187e-05,1793239294115741440
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.428901101,879,787,803.428901101,653,631.571098899,653,0.401024821397,0.0045009215677,0.0698217340299,0.999999955858,4.47739985845e-05,-0.000293020046575,2.04429269697e-05,1793239294132408064
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879,787,803.144579674,653,632,653,0.401009972874,0.00450002585605,0.0698252937012,0.99999995726,4.32937097806e-05,-0.000288392837059,2.08531502378e-05,1793239294149074944
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879,787,803.718335463,653,632,653,0.400997968154,0.00449670827331,0.0698263229736,0.999999957844,3.93102423664e-05,-0.000286902920083,2.12877007299e-05,1793239294165741568
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879,787.301621059,804,653,631.698378941,653,0.400991405531,0.00449636148742,0.0698280153653,0.999999958857,3.90169046377e-05,-0.000283387555184,2.13335952282e-05,1793239294182408192
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879,787.894096348,804,653,631.105903652,653,0.400990090739,0.0044988794508,0.0698303472053,0.999999960266,4.22819712638e-05,-0.000277919043664,2.10047074577e-05,1793239294199074816
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.475990049,879,787.524009951,803.524009951,653,631.475990049,653.475990049,0.400986637823,0.00449778712927,0.0698310442623,0.999999960456,4.22388566377e-05,-0.000277224474632,2.12021443596e-05,1793239294215741696
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.055123223,636,879,787.055123223,803,653,632,653.944876777,0.400982974387,0.00449599954428,0.069831396799,0.999999960426,4.11234813674e-05,-0.00027748368749,2.14590938236e-05,1793239294232408064
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.629944282,636,879,787.629944282,803,653,632,653.370055718,0.400981713645,0.00449506542113,0.0698318558213,0.999999960755,3.66873446949e-05,-0.00027693888865,2.11970977621e-05,1793239294249074688
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,714.790740742,680,664.790740742,636,879,788,803,653,631.790740742,653,0.400980899727,0.00449532095082,0.0698323124375,0.999999960973,3.5538689807e-05,-0.000276320152772,2.09344213924e-05,1793239294265741568
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,714.203304309,680,664.203304309,636,879,788,803,653,631.203304309,653,0.40098089332,0.00449772644305,0.0698327647052,0.999999961004,4.03312326558e-05,-0.000275567796557,2.06705155727e-05,1793239294282407936
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.621169293,714.378830707,680,664.378830707,636,879,787.621169293,803.378830707,653,631,653,0.400980952772,0.00449851125688,0.0698333721391,0.999999961267,4.17715455831e-05,-0.000274390810748,2.07411142475e-05,1793239294299074816
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.041840103,714.958159897,680,664.958159897,636,879,787.041840103,803.958159897,653,631,653,0.400981047081,0.00449843831661,0.0698340616956,0.99999996166,4.14376700463e-05,-0.00027298908714,2.09887514928e-05,1793239294315741696
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,714.464866481,680,665,636,879,787,804,652.464866481,631.535133519,653,0.400982047769,0.00449777482532,0.0698356781573,0.999999962351,3.96454701837e-05,-0.000270723844617,2.08752558041e-05,1793239294332408576
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.111554029,745.111554029,714.111554029,680,664.888445971,636,879,787,804,652.111554029,632,653,0.400982723333,0.00449692803271,0.0698370430449,0.999999962895,3.80820385392e-05,-0.000268932124033,2.08572129317e-05,1793239294349075200
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.686438674,745.686438674,714.686438674,680,664.313561326,636,879,787,804,652.686438674,632,653,0.40098175547,0.00449551084847,0.0698370633549,0.999999962768,3.79402790207e-05,-0.000269386329595,2.13523861285e-05,1793239294365741824
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.732837392,746,715,680,664,636,879,787,803.732837392,653,632,653,0.400981051866,0.0044954532817,0.0698367690732,0.999999962601,3.83747488785e-05,-0.000269934134515,2.14556841046e-05,1793239294382408448
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.145106829,746,715,680,664,636,879,787,803.145106829,653,632,653,0.400980665346,0.00449702711742,0.0698360973134,0.999999962387,3.95006353581e-05,-0.000270594249204,2.10887717408e-05,1793239294399075072
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.436626264,636,879,787,803.436626264,653,631.563373736,653,0.400981258615,0.0044983487062,0.0698364671171,0.999999962515,4.14677446951e-05,-0.000269842862248,2.08691292667e-05,1793239294415741696
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.98370704,636,879.01629296,787,803.98370704,653,631,653.01629296,0.400982107877,0.00449951542896,0.0698371402973,0.999999962737,4.35585927639e-05,-0.000268701961123,2.06947126658e-05,1793239294432408320
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.407483566,636,879.592516434,787,803.407483566,653,631,653.592516434,0.400980715918,0.00449820189419,0.0698365047114,0.999999962504,4.04243017454e-05,-0.000270077474647,2.04153368912e-05,1793239294449075200
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.831381998,715,679.831381998,664,636,879.831381998,787,803.168618002,653,631.168618002,653.831381998,0.400979851125,0.00449713316207,0.069836151638,0.99999996242,3.84047796858e-05,-0.00027068490482,2.0375013983e-05,1793239294465742336
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.255574847,715,679.255574847,664,636,879.255574847,787,803.744425153,653,631.744425153,653.255574847,0.400980259362,0.00449665559454,0.0698364807933,0.99999996272,3.90772706299e-05,-0.000269437519884,2.09119706927e-05,1793239294482408704
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.328285141,664,636,879,787.328285141,803.671714859,653,632,653,0.400981335968,0.00449696052371,0.0698373119581,0.999999963114,3.9891135576e-05,-0.000267835822152,2.10843530337e-05,1793239294499075328
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.918572006,664,636,879,787.918572006,803.081427994,653,632,653,0.400982945993,0.00449788995721,0.0698385437727,0.999999963582,4.08178299411e-05,-0.000265951350294,2.09657714851e-05,1793239294515741696
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.500926205,745.499073795,715,680,664.499073795,635.500926205,879,787.500926205,803.499073795,653,631.500926205,653,0.400982275205,0.00449755208936,0.0698379478814,0.999999963347,4.027749187e-05,-0.000266944360028,2.06248920831e-05,1793239294532408064
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.154880428,746,715,680,664.922559786,635.077440214,879.077440214,787,803.922559786,653,631,653,0.4009813987,0.00449704625042,0.06983729698,0.99999996308,3.9571395537e-05,-0.000268068277793,2.03155969834e-05,1793239294549074944
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3dacdefdc732ca8fee12d02abf097f242ba99896
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,416 @@
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+234,3.900000000,pose1_to_pose2_press,0.620561630079,0.0100908333987,1.06003209656,0.591132080722,0.0187625729823,1.05970023071
+235,3.916666667,pose1_to_pose2_press,0.6205616818,0.0100908346447,1.06003209637,0.59113213245,0.0187625742487,1.05970023052
+236,3.933333333,pose1_to_pose2_press,0.62056173316,0.010090835882,1.06003209617,0.591132183815,0.0187625755062,1.05970023033
+237,3.950000000,pose1_to_pose2_press,0.620561840346,0.0100908384642,1.06003209577,0.591132291013,0.0187625781305,1.05970022994
+238,3.966666667,pose1_to_pose2_press,0.620561858744,0.0100908389075,1.0600320957,0.591132309414,0.018762578581,1.05970022987
+239,3.983333333,pose1_to_pose2_press,0.620562154994,0.0100908460444,1.06003209459,0.591132605698,0.0187625858344,1.05970022879
+240,4.000000000,pose1_to_pose2_press,0.620562583746,0.0100908563734,1.06003209297,0.5911330345,0.0187625963319,1.05970022721
+241,4.016666667,pose1_to_pose2_press,0.620563025747,0.0100908670217,1.06003209131,0.591133476553,0.0187626071539,1.05970022559
+242,4.033333333,pose1_to_pose2_press,0.620563463836,0.0100908712729,1.06003208881,0.591133914484,0.0187626108816,1.05970022357
+243,4.050000000,pose1_to_pose2_press,0.620563846434,0.0100908664573,1.06003208547,0.591134296661,0.0187626046674,1.05970022125
+244,4.066666667,pose1_to_pose2_press,0.620563984893,0.0100908647145,1.06003208426,0.591134434969,0.0187626024185,1.05970022041
+245,4.083333333,pose1_to_pose2_press,0.620564007194,0.0100908644338,1.06003208407,0.591134457245,0.0187626020563,1.05970022028
+246,4.100000000,pose1_to_pose2_press,0.62056400848,0.0100908644177,1.06003208406,0.59113445853,0.0187626020354,1.05970022027
+247,4.116666667,pose1_to_pose2_press,0.620564069594,0.0100908636484,1.06003208353,0.591134519576,0.0187626010428,1.0597002199
+248,4.133333333,pose1_to_pose2_press,0.620564163333,0.0100908624686,1.06003208271,0.591134613212,0.0187625995203,1.05970021933
+249,4.150000000,pose1_to_pose2_press,0.620564310781,0.0100908606127,1.06003208142,0.591134760498,0.0187625971254,1.05970021844
+250,4.166666667,pose1_to_pose2_press,0.620564676726,0.0100908560067,1.06003207823,0.591135126041,0.0187625911817,1.05970021622
+251,4.183333333,pose1_to_pose2_press,0.620565171663,0.0100908369107,1.06003214281,0.591135621094,0.0187625724134,1.05970027937
+252,4.200000000,pose1_to_pose2_press,0.620565613597,0.010090813721,1.06003221152,0.591136063572,0.0187625510426,1.05970034745
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+254,4.233333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246682,0.0187626046195,1.05970047784
+255,4.250000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246682,0.0187626046196,1.05970047784
+256,4.266666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246682,0.0187626046204,1.05970047784
+257,4.283333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246682,0.0187626046193,1.05970047784
+258,4.300000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246682,0.0187626046191,1.05970047784
+259,4.316666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246682,0.0187626046196,1.05970047784
+260,4.333333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246682,0.0187626046204,1.05970047784
+261,4.350000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246682,0.0187626046203,1.05970047784
+262,4.366666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246683,0.0187626046182,1.05970047784
+263,4.383333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246683,0.0187626046182,1.05970047784
+264,4.400000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246683,0.0187626046181,1.05970047784
+265,4.416666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246683,0.0187626046186,1.05970047784
+266,4.433333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246683,0.0187626046184,1.05970047784
+267,4.450000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246683,0.0187626046178,1.05970047784
+268,4.466666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246683,0.0187626046179,1.05970047784
+269,4.483333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246683,0.0187626046179,1.05970047784
+270,4.500000000,pose2_to_pose3_retreat,0.620565795788,0.0100908643801,1.06003234701,0.591136246683,0.0187626046177,1.05970047784
+271,4.516666667,pose2_to_pose3_retreat,0.620565695783,0.0100909140704,1.06003224855,0.591136146245,0.0187626530455,1.0597003847
+272,4.533333333,pose2_to_pose3_retreat,0.620565672876,0.0100909254524,1.06003222599,0.591136123239,0.0187626641384,1.05970036337
+273,4.550000000,pose2_to_pose3_retreat,0.620565605254,0.0100909330853,1.06003219926,0.591136055293,0.0187626707263,1.05970033799
+274,4.566666667,pose2_to_pose3_retreat,0.620565515056,0.0100909219461,1.06003219632,0.591135964639,0.0187626580362,1.05970033501
+275,4.583333333,pose2_to_pose3_retreat,0.62056545704,0.0100909147811,1.06003219443,0.591135906329,0.0187626498737,1.0597003331
+276,4.600000000,pose2_to_pose3_retreat,0.620565453197,0.0100909143065,1.06003219431,0.591135902467,0.018762649333,1.05970033297
+277,4.616666667,pose2_to_pose3_retreat,0.620564862137,0.010090892501,1.06003220376,0.591135311278,0.0187626269888,1.05970034005
+278,4.633333333,pose2_to_pose3_retreat,0.620562211602,0.0100907739285,1.06003224791,0.591132662327,0.0187625134168,1.05970037394
+279,4.650000000,pose2_to_pose3_retreat,0.620554817899,0.0100907296478,1.06003223236,0.591125268839,0.0187624700051,1.05970036328
+280,4.666666667,pose2_to_pose3_retreat,0.620541043645,0.0100907801069,1.06003253682,0.591111493953,0.018762518028,1.05970066146
+281,4.683333333,pose2_to_pose3_retreat,0.62051593322,0.0100909041436,1.06003246672,0.591086381149,0.0187626340602,1.05970059532
+282,4.700000000,pose2_to_pose3_retreat,0.620479434946,0.0100907781716,1.06003235507,0.591049884939,0.0187625152748,1.05970048604
+283,4.716666667,pose2_to_pose3_retreat,0.620431442108,0.0100907940425,1.06003226059,0.591001893716,0.018762536734,1.05970039233
+284,4.733333333,pose2_to_pose3_retreat,0.620374233716,0.0100908228041,1.06003232399,0.590944683811,0.0187625603428,1.05970045734
+285,4.750000000,pose2_to_pose3_retreat,0.620308600452,0.0100909649059,1.06003257696,0.590879049746,0.0187626996077,1.05970070694
+286,4.766666667,pose2_to_pose3_retreat,0.620236789555,0.010090802112,1.06003228524,0.590807239588,0.0187625396845,1.05970041888
+287,4.783333333,pose2_to_pose3_retreat,0.62015845932,0.0100907393449,1.06003217556,0.590728910577,0.0187624803695,1.05970029968
+288,4.800000000,pose2_to_pose3_retreat,0.620069784847,0.0100907541145,1.06003235066,0.590640236466,0.0187624960621,1.05970047212
+289,4.816666667,pose2_to_pose3_retreat,0.619968908862,0.0100907795025,1.06003250372,0.590539360504,0.0187625215471,1.05970062745
+290,4.833333333,pose2_to_pose3_retreat,0.619850755105,0.010090769974,1.06003240469,0.590421206732,0.0187625121686,1.05970053498
+291,4.850000000,pose2_to_pose3_retreat,0.619714834331,0.0100907578536,1.06003220639,0.590285285397,0.0187624985513,1.05970034808
+292,4.866666667,pose2_to_pose3_retreat,0.619559870394,0.010090848785,1.06003232712,0.590130320761,0.0187625867587,1.05970046222
+293,4.883333333,pose2_to_pose3_retreat,0.619385787483,0.0100907549776,1.06003236162,0.589956238344,0.0187624943358,1.05970049187
+294,4.900000000,pose2_to_pose3_retreat,0.619193190902,0.0100908839466,1.06003245014,0.589763642365,0.0187626252967,1.05970058309
+295,4.916666667,pose2_to_pose3_retreat,0.618981858142,0.0100908722056,1.06003226988,0.589552309203,0.018762611994,1.05970040102
+296,4.933333333,pose2_to_pose3_retreat,0.61875125756,0.0100908617755,1.06003220174,0.58932170774,0.0187625986153,1.05970033845
+297,4.950000000,pose2_to_pose3_retreat,0.618498554621,0.0100908862486,1.06003229466,0.589069003869,0.0187626196706,1.05970042905
+298,4.966666667,pose2_to_pose3_retreat,0.618224747984,0.0100908231634,1.06003226347,0.588795198939,0.018762562144,1.05970039871
+299,4.983333333,pose2_to_pose3_retreat,0.617929967242,0.0100906683552,1.06003220523,0.588500419993,0.0187624133341,1.05970034176
+300,5.000000000,pose2_to_pose3_retreat,0.617616699588,0.0100906834377,1.06003225357,0.588187152399,0.0187624284997,1.05970038951
+301,5.016666667,pose2_to_pose3_retreat,0.617287099962,0.0100907859834,1.06003234285,0.587857552508,0.0187625298215,1.05970047538
+302,5.033333333,pose2_to_pose3_retreat,0.616942251622,0.01009062578,1.06003235179,0.587512704543,0.0187623704799,1.05970047741
+303,5.050000000,pose2_to_pose3_retreat,0.616580165635,0.0100906929241,1.06003220498,0.587150617922,0.0187624356569,1.05970033988
+304,5.066666667,pose2_to_pose3_retreat,0.616197435902,0.0100907438254,1.060032125,0.586767888212,0.018762486366,1.05970025793
+305,5.083333333,pose2_to_pose3_retreat,0.615788991005,0.0100906574803,1.06003209083,0.58635944369,0.0187624011913,1.05970022583
+306,5.100000000,pose2_to_pose3_retreat,0.615353683167,0.0100907803356,1.06003225331,0.58592413367,0.0187625163681,1.05970038672
+307,5.116666667,pose2_to_pose3_retreat,0.614890127529,0.0100907663684,1.06003233885,0.585460578291,0.0187625031875,1.05970047244
+308,5.133333333,pose2_to_pose3_retreat,0.614402961049,0.0100907554342,1.06003233982,0.584973411832,0.0187624923171,1.05970047297
+309,5.150000000,pose2_to_pose3_retreat,0.613895490587,0.0100908272198,1.06003230027,0.584465940323,0.0187625605399,1.05970043296
+310,5.166666667,pose2_to_pose3_retreat,0.613374307705,0.0100907839586,1.06003223015,0.583944758707,0.0187625217007,1.05970036667
+311,5.183333333,pose2_to_pose3_retreat,0.612840512853,0.0100907839542,1.06003229111,0.583410964124,0.0187625227426,1.05970043094
+312,5.200000000,pose2_to_pose3_retreat,0.612286949983,0.0100909847131,1.06003203881,0.582857398045,0.0187627130791,1.05970018986
+313,5.216666667,pose2_to_pose3_retreat,0.611710643267,0.0100906827269,1.06003220327,0.582281096086,0.0187624266838,1.05970033889
+314,5.233333333,pose2_to_pose3_retreat,0.61110136622,0.0100906598953,1.06003234582,0.581671818539,0.0187624016694,1.05970047224
+315,5.250000000,pose2_to_pose3_retreat,0.610462459199,0.010090786434,1.06003243482,0.58103291049,0.0187625248459,1.05970056443
+316,5.266666667,pose2_to_pose3_retreat,0.609796955576,0.010090819113,1.06003243338,0.580367406725,0.01876255739,1.05970057179
+317,5.283333333,pose2_to_pose3_retreat,0.609116529682,0.010090828753,1.06003230299,0.579686980419,0.0187625657607,1.05970044376
+318,5.300000000,pose2_to_pose3_retreat,0.608424546369,0.0100908787938,1.06003226644,0.578994996624,0.0187626139569,1.05970040147
+319,5.316666667,pose2_to_pose3_retreat,0.607725158058,0.0100909316973,1.06003236428,0.578295608231,0.0187626663582,1.05970049471
+320,5.333333333,pose2_to_pose3_retreat,0.607015683779,0.010090961805,1.06003240186,0.577586133894,0.0187626963727,1.05970053457
+321,5.350000000,pose2_to_pose3_retreat,0.606291590586,0.0100908597664,1.06003253894,0.576862041652,0.0187625976523,1.0597006738
+322,5.366666667,pose2_to_pose3_retreat,0.605549107718,0.0100906147964,1.06003221511,0.576119560132,0.0187623571888,1.05970034828
+323,5.383333333,pose2_to_pose3_retreat,0.604784643912,0.0100906705153,1.06003220343,0.575355095812,0.018762411261,1.05970033927
+324,5.400000000,pose2_to_pose3_retreat,0.603996747773,0.0100907345999,1.06003212363,0.574567199335,0.0187624739757,1.05970025394
+325,5.416666667,pose2_to_pose3_retreat,0.603187236186,0.0100909240469,1.06003216701,0.57375768552,0.0187626561684,1.05970030598
+326,5.433333333,pose2_to_pose3_retreat,0.602375921293,0.0100908432356,1.06003219791,0.572946372115,0.018762580379,1.05970033509
+327,5.450000000,pose2_to_pose3_retreat,0.601569259553,0.010090673628,1.06003220217,0.572139712524,0.0187624180905,1.05970033851
+328,5.466666667,pose2_to_pose3_retreat,0.600772880169,0.0100907206985,1.06003235327,0.571343332327,0.0187624622776,1.05970048662
+329,5.483333333,pose2_to_pose3_retreat,0.599987241502,0.0100907924391,1.06003247448,0.570557693112,0.0187625319478,1.05970060387
+330,5.500000000,pose2_to_pose3_retreat,0.599206216761,0.0100908249145,1.06003239114,0.56977666821,0.0187625638569,1.05970052115
+331,5.516666667,pose2_to_pose3_retreat,0.598412909556,0.0100909018555,1.06003222613,0.568983359246,0.0187626349243,1.05970035808
+332,5.533333333,pose2_to_pose3_retreat,0.597603616946,0.0100908214983,1.06003226522,0.56817406704,0.0187625556967,1.05970038923
+333,5.550000000,pose2_to_pose3_retreat,0.596767594279,0.0100907790684,1.06003220214,0.567338044634,0.0187625144997,1.05970033689
+334,5.566666667,pose2_to_pose3_retreat,0.59592718363,0.0100907526219,1.06003208012,0.566497636477,0.0187624968622,1.05970022053
+335,5.583333333,pose2_to_pose3_retreat,0.595100016066,0.0100907768744,1.06003255347,0.565670468971,0.0187625209994,1.05970068729
+336,5.600000000,pose2_to_pose3_retreat,0.594294275457,0.0100906987669,1.06003239198,0.564864729503,0.0187624465573,1.05970052047
+337,5.616666667,pose2_to_pose3_retreat,0.593514179174,0.0100907403569,1.06003255443,0.564084631156,0.018762481097,1.05970068068
+338,5.633333333,pose2_to_pose3_retreat,0.592762395792,0.0100908441518,1.06003242596,0.563332846192,0.0187625797604,1.05970055973
+339,5.650000000,pose2_to_pose3_retreat,0.592024771798,0.0100908703601,1.06003218108,0.562595222281,0.0187626065753,1.05970032353
+340,5.666666667,pose2_to_pose3_retreat,0.591284480259,0.0100908734845,1.06003220311,0.561854930816,0.0187626099113,1.05970034368
+341,5.683333333,pose2_to_pose3_retreat,0.590537660036,0.0100908856689,1.06003239923,0.561108110195,0.0187626203876,1.05970053045
+342,5.700000000,pose2_to_pose3_retreat,0.589785699124,0.0100908014302,1.06003221742,0.560356150275,0.0187625396311,1.05970035164
+343,5.716666667,pose2_to_pose3_retreat,0.589032169103,0.0100907929345,1.06003219575,0.559602619865,0.0187625300681,1.05970033646
+344,5.733333333,pose2_to_pose3_retreat,0.588284632494,0.0100907946511,1.06003221708,0.558855085863,0.0187625405599,1.05970035594
+345,5.750000000,pose2_to_pose3_retreat,0.587573865551,0.0100908463859,1.06003230104,0.558144317362,0.018762587076,1.05970044226
+346,5.766666667,pose2_to_pose3_retreat,0.586897496268,0.0100909372571,1.06003234945,0.557467945152,0.0187626676725,1.05970048057
+347,5.783333333,pose2_to_pose3_retreat,0.586254566518,0.0100908552526,1.06003225839,0.556825016467,0.0187625892725,1.05970038895
+348,5.800000000,pose2_to_pose3_retreat,0.585637860156,0.0100908557701,1.06003238079,0.55620831073,0.0187625919571,1.05970051356
+349,5.816666667,pose2_to_pose3_retreat,0.585038634033,0.0100908555038,1.06003238842,0.555609085046,0.0187625933548,1.05970052541
+350,5.833333333,pose2_to_pose3_retreat,0.584433886853,0.0100908256578,1.06003226884,0.55500433788,0.0187625636409,1.05970040758
+351,5.850000000,pose2_to_pose3_retreat,0.58382728539,0.0100907849557,1.06003213239,0.554397736669,0.0187625236192,1.059700267
+352,5.866666667,pose2_to_pose3_retreat,0.583230688594,0.0100907789533,1.06003208061,0.553801141281,0.0187625223353,1.05970021269
+353,5.883333333,pose2_to_pose3_retreat,0.582660699565,0.0100908216312,1.06003234226,0.5532311521,0.0187625645831,1.05970047664
+354,5.900000000,pose2_to_pose3_retreat,0.582126882643,0.0100906646923,1.06003235573,0.552697335102,0.0187624071051,1.05970048274
+355,5.916666667,pose2_to_pose3_retreat,0.581624754383,0.0100906800221,1.0600321931,0.552195207768,0.0187624261594,1.05970033537
+356,5.933333333,pose2_to_pose3_retreat,0.581150097205,0.0100907050371,1.06003222479,0.55172054971,0.0187624477888,1.05970035659
+357,5.950000000,pose2_to_pose3_retreat,0.580695450634,0.0100909039609,1.06003217699,0.551265899676,0.0187626346022,1.05970029965
+358,5.966666667,pose2_to_pose3_retreat,0.580259951016,0.0100908079539,1.06003220091,0.550830400601,0.0187625407392,1.05970033209
+359,5.983333333,pose2_to_pose3_retreat,0.57984710332,0.0100906812496,1.06003237622,0.550417556045,0.0187624247707,1.05970050908
+360,6.000000000,pose2_to_pose3_retreat,0.579462043769,0.0100907414707,1.06003239628,0.550032496515,0.018762485136,1.05970053065
+361,6.016666667,pose2_to_pose3_retreat,0.579106573376,0.0100907929266,1.06003236594,0.549677025131,0.0187625330065,1.05970049454
+362,6.033333333,pose2_to_pose3_retreat,0.578774494485,0.0100907479379,1.06003239022,0.549344946139,0.0187624873887,1.05970051147
+363,6.050000000,pose2_to_pose3_retreat,0.578461139677,0.0100908099689,1.06003231851,0.549031589712,0.0187625443496,1.05970045087
+364,6.066666667,pose2_to_pose3_retreat,0.578161081674,0.0100909832136,1.06003224469,0.54873153095,0.0187627148194,1.05970037184
+365,6.083333333,pose2_to_pose3_retreat,0.577874798035,0.0100908793079,1.06003209532,0.548445246985,0.0187626101336,1.059700231
+366,6.100000000,pose2_to_pose3_retreat,0.577604762199,0.0100907188207,1.06003255045,0.548175212613,0.0187624542711,1.05970067722
+367,6.116666667,pose2_to_pose3_retreat,0.577355379703,0.0100907591636,1.06003215888,0.54792583148,0.0187624996441,1.05970029632
+368,6.133333333,pose2_to_pose3_retreat,0.577127406304,0.0100908325749,1.06003229931,0.547697855983,0.0187625656977,1.05970043057
+369,6.150000000,pose2_to_pose3_retreat,0.576922808814,0.0100907703767,1.06003236089,0.547493260956,0.0187625118355,1.0597004915
+370,6.166666667,pose2_to_pose3_retreat,0.576738759279,0.0100908091877,1.06003219557,0.547309209755,0.0187625450236,1.05970032705
+371,6.183333333,pose2_to_pose3_retreat,0.576573933176,0.0100907363121,1.0600322324,0.547144385048,0.0187624770071,1.0597003671
+372,6.200000000,pose2_to_pose3_retreat,0.576426829045,0.0100906902216,1.06003238865,0.546997281905,0.0187624343259,1.05970052485
+373,6.216666667,pose2_to_pose3_retreat,0.576298436305,0.0100907700529,1.06003246351,0.546868888522,0.0187625118225,1.05970059583
+374,6.233333333,pose2_to_pose3_retreat,0.576185387866,0.0100908280891,1.06003247857,0.546755840164,0.0187625700138,1.05970060771
+375,6.250000000,pose2_to_pose3_retreat,0.576086880191,0.0100908234265,1.06003243609,0.54665733118,0.018762561006,1.05970056808
+376,6.266666667,pose2_to_pose3_retreat,0.576002427746,0.0100907917255,1.06003232219,0.546572879469,0.0187625318603,1.05970045656
+377,6.283333333,pose2_to_pose3_retreat,0.575930085009,0.0100907143746,1.06003223353,0.54650053678,0.0187624546465,1.05970036697
+378,6.300000000,pose2_to_pose3_retreat,0.575869703467,0.0100908492783,1.06003231655,0.546440153707,0.0187625845017,1.05970045376
+379,6.316666667,pose2_to_pose3_retreat,0.575819514567,0.0100908018117,1.06003245033,0.546389966154,0.0187625414626,1.05970058387
+380,6.333333333,pose2_to_pose3_retreat,0.575779239755,0.0100907886357,1.06003259982,0.546349691528,0.0187625285882,1.05970072479
+381,6.350000000,pose2_to_pose3_retreat,0.57574793623,0.0100907860376,1.06003232502,0.546318387167,0.018762523337,1.05970045491
+382,6.366666667,pose2_to_pose3_retreat,0.575724031071,0.0100907526773,1.06003236118,0.546294482499,0.0187624917481,1.05970049389
+383,6.383333333,pose2_to_pose3_retreat,0.575705611008,0.0100907683535,1.06003239596,0.546276062627,0.0187625081965,1.05970053211
+384,6.400000000,pose2_to_pose3_retreat,0.575692081117,0.0100907990037,1.0600323561,0.54626253287,0.0187625393563,1.05970049351
+385,6.416666667,pose2_to_pose3_retreat,0.575683689873,0.0100907505854,1.06003247002,0.546254143199,0.0187624960198,1.05970060023
+386,6.433333333,pose2_to_pose3_retreat,0.575677499049,0.0100907009991,1.06003238767,0.546247952678,0.0187624475957,1.05970052142
+387,6.450000000,pose2_to_pose3_retreat,0.575673179789,0.01009067288,1.06003232856,0.546243633162,0.0187624186454,1.05970046332
+388,6.466666667,pose2_to_pose3_retreat,0.57567066051,0.0100906780244,1.06003236033,0.546241112966,0.018762420418,1.05970048835
+389,6.483333333,pose2_to_pose3_retreat,0.57566903222,0.0100906813494,1.06003238085,0.546239484083,0.0187624215637,1.05970050453
+390,6.500000000,pose2_to_pose3_retreat,0.575667772337,0.0100907119721,1.06003231667,0.546238223953,0.018762451461,1.05970044328
+391,6.516666667,pose2_to_pose3_retreat,0.575667009901,0.0100907336302,1.0600322689,0.54623746139,0.0187624727871,1.05970039799
+392,6.533333333,pose2_to_pose3_retreat,0.575666751425,0.0100907409725,1.06003225271,0.546237202872,0.0187624800169,1.05970038264
+393,6.550000000,pose2_to_pose3_retreat,0.575666706615,0.0100907422454,1.0600322499,0.546237158054,0.0187624812703,1.05970037998
+394,6.566666667,pose2_to_pose3_retreat,0.575666462047,0.0100907491927,1.06003223458,0.546236913445,0.0187624881111,1.05970036545
+395,6.583333333,pose2_to_pose3_retreat,0.575666346421,0.0100907524772,1.06003222733,0.546236797801,0.0187624913453,1.05970035858
+396,6.600000000,pose2_to_pose3_retreat,0.575666333132,0.0100907528547,1.0600322265,0.546236784509,0.018762491717,1.05970035779
+397,6.616666667,pose2_to_pose3_retreat,0.575666281936,0.010090754309,1.06003222329,0.546236733305,0.018762493149,1.05970035475
+398,6.633333333,pose2_to_pose3_retreat,0.57566617619,0.0100907570627,1.06003221711,0.546236627554,0.0187624959008,1.05970034891
+399,6.650000000,pose2_to_pose3_retreat,0.575666094671,0.0100907565041,1.06003221709,0.546236546172,0.0187624958126,1.05970034912
+400,6.666666667,pose2_to_pose3_retreat,0.57566595698,0.0100907555605,1.06003221706,0.546236408711,0.0187624956637,1.05970034949
+401,6.683333333,pose2_to_pose3_retreat,0.575665797939,0.0100907544705,1.06003221703,0.546236249935,0.0187624954918,1.05970034991
+402,6.700000000,pose2_to_pose3_retreat,0.575665744166,0.010090754102,1.06003221702,0.546236196251,0.0187624954336,1.05970035005
+403,6.716666667,pose2_to_pose3_retreat,0.57566573392,0.0100907540318,1.06003221701,0.546236186023,0.0187624954226,1.05970035007
+404,6.733333333,pose2_to_pose3_retreat,0.57566562291,0.010090753271,1.06003221699,0.546236075198,0.0187624953025,1.05970035037
+405,6.750000000,pose2_to_pose3_retreat,0.575665416378,0.0100907518557,1.06003221694,0.546235869011,0.0187624950792,1.05970035091
+406,6.766666667,pose2_to_pose3_retreat,0.575665211399,0.0100907504509,1.0600322169,0.546235664373,0.0187624948576,1.05970035145
+407,6.783333333,pose2_to_pose3_retreat,0.575665041131,0.010090749284,1.06003221686,0.54623549439,0.0187624946735,1.0597003519
+408,6.800000000,pose2_to_pose3_retreat,0.575665024596,0.0100907491707,1.06003221686,0.546235477882,0.0187624946556,1.05970035195
+409,6.816666667,pose2_to_pose3_retreat,0.575664711638,0.0100907518799,1.06003218971,0.546235164798,0.018762496981,1.05970032605
+410,6.833333333,pose2_to_pose3_retreat,0.575664527686,0.0100907637704,1.06003211629,0.546234979392,0.0187625039994,1.05970025415
+411,6.850000000,pose2_to_pose3_retreat,0.575664391276,0.010090773168,1.06003207987,0.546234841782,0.0187625093011,1.05970021714
+412,6.866666667,pose2_to_pose3_retreat,0.575664317851,0.0100907791724,1.06003208965,0.54623476751,0.0187625123133,1.05970022382
+413,6.883333333,pose2_to_pose3_retreat,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.018762513915,1.05970022736
+414,6.900000000,pose2_to_pose3_retreat,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7dbda51e18f23c333dec00b1b502e3c99d2e3c68
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae4b09c813df9060df50a9e01a16f1795c0b89f0c9f4c893d1748237272d86c9
+size 26466669
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78f977f3c4de8e46ff1451c63617ebc6631637e4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_04/franka_data.csv
@@ -0,0 +1,419 @@
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+23,0.383333333,BASELINE,766,745.642464536,715,680,665,636,879,787.357535464,803.642464536,653,631.357535464,653,0.400984486393,0.00449707886936,0.0698419080317,0.999999965052,4.00881472311e-05,-0.000260496597631,2.07387286335e-05,1793239295189220352
+24,0.400000000,BASELINE,766,745.069311253,715,680,665,636,879,787.930688747,803.069311253,653,631.930688747,653,0.400983679485,0.00449761189198,0.069841269115,0.999999964775,4.09842366235e-05,-0.000261451347438,2.03192379048e-05,1793239295205887488
+25,0.416666667,BASELINE,766,745,715,680,665,636,879,788,803.518333309,653,632,653,0.400982521458,0.00449737159116,0.0698406750104,0.999999964513,4.11560907534e-05,-0.000262409691508,2.05066689845e-05,1793239295222553856
+26,0.433333333,BASELINE,766,745,715,680.106152845,664.893847155,636,879,788,804,653,632,653,0.400981425652,0.00449670152436,0.0698400917869,0.999999964255,4.06695437709e-05,-0.000263455568692,2.06843097638e-05,1793239295239220224
+27,0.450000000,BASELINE,766,745,715,680.685860017,664.314139983,636,879,788,804,653,632,653,0.400980822897,0.00449458882439,0.0698395296036,0.999999963997,3.76902836041e-05,-0.000264889731006,2.04458149606e-05,1793239295255886592
+28,0.466666667,BASELINE,766,745,715,680.735842952,664.264157048,636,879,787.735842952,803.735842952,652.735842952,631.735842952,653,0.40098073334,0.00449434734234,0.069839459319,0.999999963993,3.71316513027e-05,-0.000264986420567,2.04506392667e-05,1793239295272553216
+29,0.483333333,BASELINE,766,745,715,680.159214014,664.840785986,636,879,787.159214014,803.159214014,652.159214014,631.159214014,653,0.400981250848,0.00449631932777,0.0698399709025,0.999999964291,3.94363846194e-05,-0.00026350101091,2.0743286238e-05,1793239295289219840
+30,0.500000000,BASELINE,766,745.413342444,715,680,665,636,879,787,803.413342444,652.413342444,631.413342444,653,0.400981940086,0.00449765546691,0.0698399609151,0.999999964328,4.12522088317e-05,-0.000263102914446,2.04923647213e-05,1793239295305886464
+31,0.516666667,BASELINE,766,745.984345528,715,680,665,636,879,787,803.984345528,652.984345528,631.984345528,653,0.400982694826,0.00449874907603,0.0698397519855,0.999999964264,4.28815490633e-05,-0.000263119550396,2.0034110616e-05,1793239295322553344
+32,0.533333333,BASELINE,766,746,715,679.421251986,665,636,879,787.578748014,803.421251986,653,632,653,0.400982529378,0.00449672871649,0.069840490147,0.9999999646,4.07859359651e-05,-0.000262132727875,2.05772340515e-05,1793239295339220480
+33,0.550000000,BASELINE,766,745.83124977,715,679.16875023,665,636,879,788,803,653,632,653,0.400982604778,0.00449512730188,0.0698411826824,0.99999996491,3.87259194761e-05,-0.000261231954297,2.09153060885e-05,1793239295355887360
+34,0.566666667,BASELINE,766,745.253510899,715,679.746489101,665,636,879,788,803,653,632,653,0.400983326774,0.00449475399871,0.0698416999325,0.999999965143,3.70066604099e-05,-0.000260608286915,2.06879958728e-05,1793239295372553728
+35,0.583333333,BASELINE,766,745.322394071,715,680,665,636,879,787.677605929,803.322394071,652.677605929,632,653,0.400983526016,0.00449523381093,0.0698417871534,0.999999965141,3.76316375709e-05,-0.000260536114379,2.05675994085e-05,1793239295389220864
+36,0.600000000,BASELINE,766,745.89686519,715,680,665,636,879,787.10313481,803.89686519,652.10313481,632,653,0.400983316521,0.00449638066642,0.0698415381383,0.999999964953,4.00895519512e-05,-0.000260895150678,2.0530797829e-05,1793239295405888000
+37,0.616666667,BASELINE,766,746,715,680,665,636,879.484466566,787,804,652.484466566,632,653,0.400983146494,0.00449726282102,0.069840749246,0.999999964773,3.94367946225e-05,-0.000261708461101,2.02031109782e-05,1793239295422554112
+38,0.633333333,BASELINE,766,746,715,680,665,636,879.926478394,787,803.926478394,652.926478394,632,653,0.400982758856,0.00449788388748,0.0698398740732,0.999999964549,3.85569155699e-05,-0.000262713263242,1.99240278584e-05,1793239295439219968
+39,0.650000000,BASELINE,766,746,715,680,665,636,879.347187503,787,803.347187503,652.347187503,632,653,0.400980814814,0.0044971073227,0.0698392180173,0.999999964018,4.07969949602e-05,-0.000264351573048,2.04171572675e-05,1793239295455886592
+40,0.666666667,BASELINE,766,745.769836793,715,680,665.230163207,636,879,787,803,652.230163207,632,653,0.400981048415,0.00449659234754,0.0698396988411,0.999999964148,4.1579104819e-05,-0.00026371905136,2.06938380254e-05,1793239295472553472
+41,0.683333333,BASELINE,766,745.1953883,715,680,665.8046117,636,879,787,803,652.8046117,632,653,0.400984539402,0.00449646866634,0.069841880245,0.99999996526,4.0180338356e-05,-0.000259689749171,2.06467481267e-05,1793239295489220352
+42,0.700000000,BASELINE,766,745.380480302,715,680,665.619519698,636,879.380480302,787.380480302,803.380480302,653,632,653,0.400985315775,0.00449596124393,0.0698425495828,0.999999965555,3.90009193976e-05,-0.000258734623144,2.0610687715e-05,1793239295505886976
+43,0.716666667,BASELINE,766,745.957080886,715,680,665.042919114,636,879.957080886,787.957080886,803.957080886,653,632,653,0.400984692887,0.00449525602041,0.0698424395192,0.999999965434,3.79345641407e-05,-0.000259364095175,2.05803125035e-05,1793239295522553856
+44,0.733333333,BASELINE,766,745.451804483,715,680,665,636,879.451804483,787.451804483,804,653,632,653,0.400982754499,0.0044963027824,0.0698409685196,0.999999964761,3.8573812727e-05,-0.00026187185573,2.03342706482e-05,1793239295539220224
+45,0.750000000,BASELINE,766,745.136635698,715,680,665,636,879,787.136635698,804,653,632,653,0.400981647719,0.00449716272321,0.0698401048925,0.999999964358,3.92103365469e-05,-0.000263323352589,2.01755584199e-05,1793239295555886592
+46,0.766666667,BASELINE,766,745.712720109,715,680,665,636,879,787.712720109,804,653,632,653,0.400983555812,0.00449696865694,0.0698415467082,0.999999964985,3.93969422002e-05,-0.00026089186651,2.03534986174e-05,1793239295572553472
+47,0.783333333,BASELINE,766,745.711097971,715,680,665,636,879,788,804,652.711097971,631.711097971,653,0.400983466688,0.0044966582042,0.0698414382983,0.999999964986,3.95421564995e-05,-0.000260858558151,2.04173928187e-05,1793239295589220096
+48,0.800000000,BASELINE,766,745.13481899,715,680,665,636,879,788,804,652.13481899,631.13481899,653,0.400981390889,0.00449623197937,0.0698397878466,0.999999964367,3.96461979669e-05,-0.000263210767552,2.03678430791e-05,1793239295605886720
+49,0.816666667,BASELINE,766,745.449222147,715,680.449222147,665,636,879.449222147,788,803.550777853,652.449222147,631.449222147,653,0.40098103204,0.00449608617316,0.0698396884474,0.999999964285,3.8749561797e-05,-0.000263647941684,2.0438390975e-05,1793239295622553600
+50,0.833333333,BASELINE,766.03522799,746,715,680.96477201,664.96477201,636,879.96477201,787.96477201,803.03522799,653,632,653,0.400981235929,0.0044960290267,0.0698400813404,0.999999964391,3.75935340222e-05,-0.00026340701571,2.05257008206e-05,1793239295639220224
+51,0.850000000,BASELINE,766.614962021,746,715,680.385037979,664.385037979,636,879.385037979,787.385037979,803.614962021,653,632,653,0.400982033246,0.00449601858612,0.0698407618946,0.999999964854,3.71517372857e-05,-0.000261724590574,2.03051907073e-05,1793239295655886848
+52,0.866666667,BASELINE,766.805961391,746,715,680,664.194038609,636,879.194038609,787.194038609,803.805961391,653,631.805961391,653,0.400982420735,0.00449588075851,0.0698411150337,0.999999965062,3.70623196765e-05,-0.000260941499072,2.02891459041e-05,1793239295672553472
+53,0.883333333,BASELINE,766.228185021,746,715,680,664.771814979,636,879.771814979,787.771814979,803.228185021,653,631.228185021,653,0.400981997732,0.00449549100569,0.0698408206651,0.999999964771,3.76697797788e-05,-0.000261936962337,2.06774590943e-05,1793239295689220352
+54,0.900000000,BASELINE,766,746,715,680,664.652761433,636,879.652761433,787.652761433,803.347238567,653,631.347238567,653,0.400982052636,0.0044958683643,0.0698412874259,0.999999964836,3.83243331977e-05,-0.0002615974366,2.06357508595e-05,1793239295705886976
+55,0.916666667,BASELINE,766,746,715,680,664.078873573,636,879.078873573,787.078873573,803.921126427,653,631.921126427,653,0.400982419478,0.00449674643129,0.0698422509905,0.999999965132,3.90096253063e-05,-0.000260386537822,2.03133593532e-05,1793239295722553600
+56,0.933333333,BASELINE,766,746,715,680,664.509723271,636,879,787.509723271,804,653,631.490276729,653,0.400982385443,0.00449679771722,0.0698419749361,0.999999965007,4.00688795023e-05,-0.000260700224243,2.03945944227e-05,1793239295739219968
+57,0.950000000,BASELINE,766,745.901473358,715,680,665,636,879,787.901473358,804,652.901473358,631,653,0.400982300385,0.00449676185073,0.0698415331516,0.999999964842,4.08506877838e-05,-0.000261200483195,2.05132037067e-05,1793239295755887104
+58,0.966666667,BASELINE,766,745.323079003,715,680,665,636,879,787.323079003,804,652.323079003,631,653,0.40098227792,0.00449694312548,0.0698412461778,0.999999964818,3.9991005213e-05,-0.00026142629919,2.05006130815e-05,1793239295772554496
+59,0.983333333,BASELINE,766,745.253485916,715,680,664.746514084,636,879,787.253485916,804,652.253485916,631.253485916,653,0.400982741497,0.00449669538544,0.0698413379723,0.99999996489,3.98940520451e-05,-0.000261162271387,2.05813782152e-05,1793239295789221120
+60,1.000000000,BASELINE,766,745.827735923,715,680,664.172264077,636,879,787.827735923,804,652.827735923,631.827735923,653,0.400983820119,0.00449590476503,0.0698419090649,0.999999965081,4.07622656164e-05,-0.000260278389445,2.07802768345e-05,1793239295805887232
+61,1.016666667,BASELINE,766,745.597067649,715,680,664,636,879,788,804,653,632,653,0.400982517835,0.00449547884934,0.0698411566155,0.999999964716,3.99159188699e-05,-0.000261820848885,2.06244521414e-05,1793239295822553600
+62,1.033333333,BASELINE,766,745.021465683,715,680,664,636,879,788,804,653,632,653,0.400980195256,0.00449520922152,0.0698398369852,0.999999964104,3.83348272253e-05,-0.000264403074553,2.03166169629e-05,1793239295839219968
+63,1.050000000,BASELINE,766,745.568007756,715,680,664.568007756,636,879,788,803.431992244,653,631.431992244,653,0.400981612548,0.00449520073191,0.0698407857488,0.999999964632,3.92480252825e-05,-0.000262255117155,2.04224396224e-05,1793239295855886592
+64,1.066666667,BASELINE,766,746,715,680,665,636,879,787.84457153,803.15542847,653,631.15542847,653,0.40098278905,0.00449541150413,0.0698416427505,0.999999965066,3.97023135772e-05,-0.000260524022084,2.0485541982e-05,1793239295872553216
+65,1.083333333,BASELINE,766,746,715,680,665,636,879,787.264231593,803.735768407,653,631.735768407,653,0.400982911223,0.00449619404133,0.0698420086698,0.999999965133,3.86378857123e-05,-0.000260433474802,2.03880489032e-05,1793239295889219840
+66,1.100000000,BASELINE,766,745.687538102,715,679.687538102,665,636,879,787,803.687538102,653,631.687538102,653,0.400982817562,0.00449688274137,0.0698418241285,0.99999996498,3.90388313213e-05,-0.000260962084374,2.03516937196e-05,1793239295905886720
+67,1.116666667,BASELINE,766,745.113892664,715,679.113892664,665,636,879,787,803.113892664,653,631.113892664,653,0.400982543486,0.00449749300389,0.0698411794629,0.999999964642,4.06646669027e-05,-0.000262008240501,2.03664430495e-05,1793239295922553856
+68,1.133333333,BASELINE,766,745.471764819,715,679.471764819,665,636,879,787,803,653,631.471764819,653,0.400982720591,0.0044967665344,0.0698412260674,0.999999964766,3.94226853695e-05,-0.000261721270289,2.03944089883e-05,1793239295939220224
+69,1.150000000,BASELINE,766,746,715,680,665,636,879,787.059460342,803,653,632,653,0.400983102402,0.00449582261997,0.0698415264758,0.999999965019,3.76425918866e-05,-0.000261013633245,2.04045247275e-05,1793239295955887104
+70,1.166666667,BASELINE,766,746,715,680,665,636,879,787.638954846,803,653,632,653,0.400984297027,0.00449587309912,0.0698425489319,0.999999965423,3.7369598235e-05,-0.000259515219289,2.0229889483e-05,1793239295972553472
+71,1.183333333,BASELINE,766,746,715,680,665.217353227,636,879.217353227,788,803.217353227,653,631.782646773,653,0.400984623873,0.00449593399173,0.0698428792134,0.999999965567,3.79605248656e-05,-0.000258875924644,2.01881837628e-05,1793239295989220096
+72,1.200000000,BASELINE,766,746,715,680,665.793940068,636,879.793940068,788,803.793940068,653,631.206059932,653,0.400983516486,0.00449601209535,0.0698420654939,0.999999965283,3.99793078927e-05,-0.000259656551326,2.03661791626e-05,1793239296005886976
+73,1.216666667,BASELINE,766,745.631934591,715,680,665.631934591,636,880,788,804,653,631,653,0.400982442334,0.0044964336199,0.0698413015298,0.999999964884,3.96699314303e-05,-0.00026123636933,2.03653975179e-05,1793239296022553600
+74,1.233333333,BASELINE,766,745.05917819,715,680,665.05917819,636,880,788,804,653,631,653,0.400981386665,0.00449704613001,0.0698405652359,0.999999964417,3.80658032514e-05,-0.000263260638898,2.02651931792e-05,1793239296039220224
+75,1.250000000,BASELINE,766,745,715,680,665,635.46821935,879.46821935,788,804,653,631,653,0.400981714349,0.00449579464012,0.06984075811,0.999999964579,3.78579069819e-05,-0.00026267058494,2.03357724697e-05,1793239296055886848
+76,1.266666667,BASELINE,766.121665548,745.121665548,715,680,665,635.121665548,879.121665548,787.878334452,804,653,631,653,0.400982300444,0.00449454202343,0.0698411834442,0.999999964852,3.73354808285e-05,-0.000261699946757,2.03815318894e-05,1793239296072553472
+77,1.283333333,BASELINE,766.699655772,745.699655772,715,680,665,635.699655772,879.699655772,787.300344228,804,653,631,653,0.400983257892,0.00449409075811,0.0698420790894,0.999999965269,3.50299447109e-05,-0.000260431720953,2.02603919819e-05,1793239296089220352
+78,1.300000000,BASELINE,766.723410266,745.723410266,715,680,665,636,880.276589734,787.276589734,804,653,631.276589734,653,0.400983757877,0.00449487677301,0.0698426160009,0.999999965438,3.52170218916e-05,-0.000259763518807,2.01773074495e-05,1793239296105887232
+79,1.316666667,BASELINE,766.147618955,745.147618955,715,680,665,636,880.852381045,787.852381045,804,653,631.852381045,653,0.400983763,0.00449700121865,0.0698427648512,0.999999965338,3.81004893511e-05,-0.000259744393709,2.01353894138e-05,1793239296122553600
+80,1.333333333,BASELINE,766,745.437777522,715,680,665,636,880.562222478,788,804,653,632,653,0.400984042684,0.00449644890371,0.0698429985439,0.999999965464,3.7557083889e-05,-0.000259321681507,2.03559643202e-05,1793239296139219968
+81,1.350000000,BASELINE,766,745.973965521,715,679.973965521,665,636,879.973965521,788,803.973965521,653,632,653,0.400984374957,0.00449508944727,0.0698432422348,0.999999965653,3.59929516978e-05,-0.000258789348653,2.06349237845e-05,1793239296155886592
+82,1.366666667,BASELINE,766,745.395284189,715,679.395284189,665,636,879.395284189,788,803.395284189,653,632,653,0.400983814186,0.00449618628194,0.0698430772441,0.999999965569,3.78409308252e-05,-0.000258883698419,2.02321851736e-05,1793239296172553216
+83,1.383333333,BASELINE,766,745.182287803,715,679.182287803,665,636,879.182287803,787.817712197,803,653,631.817712197,653,0.40098351397,0.00449704937113,0.0698430584374,0.999999965494,3.92136711893e-05,-0.000258985209917,2.00438503679e-05,1793239296189219840
+84,1.400000000,BASELINE,766,745.757468893,715,679.757468893,665,636,879.757468893,787.242531107,803,653,631.242531107,653,0.40098377534,0.00449740865819,0.0698433547078,0.999999965444,3.95621079309e-05,-0.000259102157446,2.03176298725e-05,1793239296205886976
+85,1.416666667,BASELINE,766,745.667039157,715,680,665,636,879.667039157,787.332960843,803.332960843,653,631.332960843,653,0.40098264602,0.00449678536939,0.0698426160121,0.999999965107,3.86842041634e-05,-0.000260530233669,2.03361544197e-05,1793239296222554112
+86,1.433333333,BASELINE,766,745.091320597,715,680,665,636,879.091320597,787.908679403,803.908679403,653,631.908679403,653,0.400980502765,0.00449544569643,0.0698411227352,0.999999964553,3.69121903694e-05,-0.000262914237925,2.01685756536e-05,1793239296239221248
+87,1.450000000,BASELINE,766,745,715,680,665,636,879,788,803.503597424,653,631.503597424,653,0.400982047984,0.00449509015652,0.0698415389024,0.99999996487,3.64449787985e-05,-0.000261788062109,1.99499131658e-05,1793239296255887616
+88,1.466666667,BASELINE,766,745,715,680,665,636,879.084632989,787.915367011,803,653,631,653,0.400983745473,0.00449499958427,0.0698421453408,0.999999965236,3.63958837006e-05,-0.000260407731469,1.97893307383e-05,1793239296272553728
+89,1.483333333,BASELINE,766,745,715,680,665,636,879.662627422,787.337372578,803,653,631,653,0.400982277022,0.00449537207252,0.0698417624984,0.999999964936,3.73502074369e-05,-0.000261403461985,2.0023461788e-05,1793239296289220096
+90,1.500000000,BASELINE,766,745,715,680,665,636,880,787.239694751,803,653,631.239694751,653,0.400981525683,0.00449554193534,0.0698413426192,0.999999964766,3.76398297496e-05,-0.000262004188927,2.01350072356e-05,1793239296305886464
+91,1.516666667,BASELINE,766,745,715,680,665,636,880,787.815462153,803,653,631.815462153,653,0.400981779797,0.00449542769986,0.0698408708114,0.999999964779,3.69974834344e-05,-0.000262051086814,2.00746771093e-05,1793239296322553344
+92,1.533333333,BASELINE,766,745,715,680,665,636,880,788,803.400003476,653,632,653.400003476,0.400982625573,0.00449576139897,0.0698414678998,0.999999964962,3.77029646336e-05,-0.000261249114913,2.00694199099e-05,1793239296339219968
+93,1.550000000,BASELINE,766,745,715,680,665,636,880,788,803.988683394,653,632,653.988683394,0.400983750427,0.00449630638301,0.0698425691727,0.999999965224,3.90441985049e-05,-0.000260046742163,2.00901398893e-05,1793239296355886848
+94,1.566666667,BASELINE,766,745.568176599,715,680,665,636,880,787.431823401,804,652.431823401,632,653.431823401,0.400982868305,0.00449678752727,0.0698426261534,0.999999965159,3.98012973172e-05,-0.000260183409263,2.0064095149e-05,1793239296372553728
+95,1.583333333,BASELINE,766,746,715,680,665.146586115,636,879.853413885,787.146586115,804,652.146586115,632,653,0.40098210634,0.00449701840891,0.0698424215944,0.999999965087,4.02072389364e-05,-0.000260399371381,2.00615386415e-05,1793239296389220352
+96,1.600000000,BASELINE,766,746,715,680,665.722350115,636,879.277649885,787.722350115,804,652.722350115,632,653,0.400981811344,0.00449652023008,0.0698415112227,0.999999965012,3.9618576975e-05,-0.000260770652024,2.0130435141e-05,1793239296405886976
+97,1.616666667,BASELINE,766,746,715,680,665.702220636,636,879.297779364,787.702220636,804,653,632,653,0.400982534563,0.00449578132993,0.0698416348354,0.999999965254,3.89341092963e-05,-0.000259934386096,2.02379861844e-05,1793239296422553600
+98,1.633333333,BASELINE,766,746,715,680,665.127103192,636,879.872896808,787.127103192,804,653,632,653,0.400984206101,0.00449481823298,0.0698427214539,0.999999965789,3.81604125896e-05,-0.000257973466501,2.03815382977e-05,1793239296439220224
+99,1.650000000,BASELINE,766,745.541642033,715,680.458357967,665.458357967,636,880,787.458357967,804,653,632,653,0.40098437255,0.00449490489348,0.0698428453592,0.999999965799,3.76643559667e-05,-0.000258001688244,2.04461985373e-05,1793239296455886848
+100,1.666666667,BASELINE,766.04584041,745.04584041,715,681,665.95415959,635.95415959,880,788,804,653,631.95415959,653,0.400984124751,0.00449534699332,0.0698426829216,0.999999965664,3.74531221888e-05,-0.000258553941315,2.04698840065e-05,1793239296472553472
+101,1.683333333,BASELINE,766.622742773,745.622742773,715,681,665.377257227,635.377257227,880,788,804,653,631.377257227,653,0.400984024665,0.00449645661649,0.0698423673552,0.999999965562,3.96290437155e-05,-0.000258639376841,2.02781707198e-05,1793239296489220352
+102,1.700000000,BASELINE,766.799618542,746,715,680.799618542,665,635.200381458,879.799618542,788,803.799618542,652.799618542,631,653,0.400983575532,0.00449719452676,0.0698421974169,0.999999965412,4.07442142136e-05,-0.000259059545117,2.01244920416e-05,1793239296505886976
+103,1.716666667,BASELINE,766.220588539,746,715,680.220588539,665,635.779411461,879.220588539,788,803.220588539,652.220588539,631,653,0.400982466828,0.00449723003386,0.0698423026631,0.999999965176,3.98549483399e-05,-0.000260112237322,2.00426850508e-05,1793239296522553600
+104,1.733333333,BASELINE,766,746,715,680,665,636,879,787.639927826,803.360072174,652.360072174,631,653,0.400982261348,0.00449658025482,0.069842049826,0.99999996513,3.93298862843e-05,-0.000260357414414,2.01851216945e-05,1793239296539219968
+105,1.750000000,BASELINE,766,746,715,680,665,636,879,787.0582635,803.9417365,652.9417365,631,653,0.400982611722,0.00449550874358,0.0698415766208,0.999999965201,3.90289589508e-05,-0.000260105638431,2.04655601893e-05,1793239296555886592
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,787,804,653,632,653,0.400984004165,0.00449441934119,0.0698430168942,0.999999965957,3.65470163042e-05,-0.000257601424708,1.9812528746e-05,1793239296586129408
+107,1.783333333,POSE1_TO_POSE2_PRESS,766.578768706,746,715,680,665,636,880,787,803.421231294,652.421231294,632,653,0.4009816803,0.00449546638772,0.0698411614193,0.999999965019,3.87778165298e-05,-0.000260855289665,2.03095763381e-05,1793239296602796544
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.843521983,746,715,680,665,636,880,787,803,652.156478017,631.843521983,653,0.400980697239,0.00449596873425,0.069840300564,0.999999964563,4.02195552329e-05,-0.000262356981288,2.06308363266e-05,1793239296619463424
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.268645211,746,715,680,665,636,880,787,803,652.731354789,631.268645211,653,0.400983299288,0.00449501463489,0.0698420991719,0.999999965423,3.95514622197e-05,-0.000259173624845,2.04820667289e-05,1793239296636130560
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.686119487,715,680,665,636,879.686119487,787,803.313880513,653,631.313880513,653,0.400984166317,0.00449480853855,0.0698427542613,0.999999965735,3.8780679292e-05,-0.000258089183923,2.04184743019e-05,1793239296652796928
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.096883666,715,680,665,636,879.096883666,787,803.903116334,653,631.903116334,653,0.400983511281,0.00449525863655,0.0698424061858,0.999999965572,3.79198104904e-05,-0.000258846041092,2.04296045411e-05,1793239296669462784
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.483881348,715,680,665,636,879,787,803.516118652,653,632,653,0.400983415025,0.00449598016281,0.0698423348793,0.999999965572,3.94321798317e-05,-0.000258623802631,2.0360104822e-05,1793239296686129408
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,787.060263613,803,652.939736387,631.939736387,653,0.400983287931,0.00449664280729,0.0698422051559,0.99999996553,4.10000070773e-05,-0.000258552545736,2.02569855429e-05,1793239296702795520
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,787.614389133,803,652.385610867,631.385610867,653,0.400982007031,0.00449638521031,0.0698411503894,0.999999964894,3.91952434116e-05,-0.000261297470651,2.00083764741e-05,1793239296719462144
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664.817474674,636,879.182525326,788,803,652.182525326,631,653,0.400982742674,0.00449605523878,0.069841539921,0.999999964811,3.80745155522e-05,-0.000261779350793,1.99750943851e-05,1793239296736129024
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664.217278043,636,879.782721957,788,803,652.782721957,631,653,0.400988092755,0.00449555965312,0.0698452344286,0.999999966004,3.85190618399e-05,-0.00025708272253,2.04345434095e-05,1793239296752795648
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.376403827,745.623596173,715,680,664.376403827,635.623596173,879.623596173,787.623596173,803.376403827,653,631.376403827,653,0.401005143461,0.00449626851013,0.0698537039703,0.999999969361,4.01291580114e-05,-0.000243405066935,2.05325160809e-05,1793239296769462272
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.966389106,745.033610894,715,680,664.966389106,635.033610894,879.033610894,787.033610894,803.966389106,653,631.966389106,653,0.40102883341,0.00449766079959,0.0698648829925,0.999999973663,4.24006179348e-05,-0.000224631339233,2.04253775803e-05,1793239296786128896
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.545590655,715,680.545590655,665,635.545590655,879,787.545590655,803.454409345,653,632,653,0.40107699437,0.00449740660574,0.0698823575911,0.999999980528,3.9767116255e-05,-0.000192256698298,1.99868017218e-05,1793239296802795520
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.876536112,745.876536112,715.123463888,680.876536112,665,635.876536112,879,788,803,653,632,653,0.40112955292,0.0044968645649,0.0698996121641,0.999999986057,3.7247740207e-05,-0.000161600129689,1.95827488815e-05,1793239296819462400
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.301140343,745.301140343,715.698859657,680.301140343,665,635.301140343,879,788,803,653,632,653,0.401192797335,0.00449563296339,0.0699146692169,0.999999989322,3.62307431756e-05,-0.000140240007533,1.93783557948e-05,1793239296836129024
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.278304779,715.721695221,680.278304779,665,635.278304779,879.278304779,788,803,652.721695221,632,653,0.401261094098,0.00449495885811,0.06992441137,0.999999991229,3.50745639326e-05,-0.000126328311919,1.87747265351e-05,1793239296852795648
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.862196172,715.137803828,680.862196172,665,635.862196172,879.862196172,788,803,652.137803828,632,653,0.401334938481,0.00449489689971,0.0699283176104,0.999999992001,3.37655587107e-05,-0.00012059520322,1.77327245469e-05,1793239296869462272
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,715,680.553981761,665,635.553981761,879.553981761,788,803.446018239,652,631.553981761,653,0.401421411528,0.00449571829772,0.0699281806479,0.999999992208,3.18220460761e-05,-0.000119704635653,1.55655257785e-05,1793239296886128896
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664.97056662,635.02943338,879.02943338,787.97056662,804,652.02943338,631.02943338,653,0.401512874613,0.00449672226739,0.0699267197045,0.999999992208,2.96184010547e-05,-0.000120567728268,1.30677709047e-05,1793239296902795520
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.394313376,635.605686624,879.605686624,787.394313376,804,652.605686624,631.605686624,653,0.401624566356,0.00449604840606,0.0699238659768,0.999999991631,2.62234724534e-05,-0.000126218784083,1.08865100435e-05,1793239296919462144
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,715,680.181361582,664.181361582,636,879.818638418,787,803.818638418,653,632,653,0.401746693989,0.00449605556744,0.0699227049738,0.99999999137,2.33924505972e-05,-0.0001290075489,8.37767435036e-06,1793239296936128768
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,715,680.755783164,664.755783164,636,879.244216836,787,803.244216836,653,632,653,0.401891439027,0.00449753869084,0.069925212567,0.999999991863,2.17835688565e-05,-0.000125592947961,5.15889496439e-06,1793239296952795648
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,715,680.661657826,665,635.661657826,879.338342174,787.338342174,803.338342174,653,632,653,0.402057801606,0.00449871675144,0.0699284609152,0.999999992656,1.77740112974e-05,-0.000119871357089,1.46452122482e-06,1793239296969462272
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,715,680.073080376,665,635.073080376,879.926919624,787.926919624,803.926919624,653,632,653,0.402240152368,0.00449966919009,0.0699322571204,0.999999993603,1.1988932162e-05,-0.000112443533805,-2.58159878398e-06,1793239296986128640
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,715,680.507709114,665,635.507709114,879.492290886,787.492290886,804,653,632,653,0.402448213542,0.00450052917257,0.069936155299,0.999999994457,8.21493350995e-06,-0.000104733356242,-7.03052714107e-06,1793239297002795520
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680.912857279,665,636,879.087142721,787.087142721,804,653,631.912857279,653,0.402665566203,0.004500943339,0.0699396066284,0.999999995206,4.0485385259e-06,-9.71511540034e-05,-1.15852356752e-05,1793239297019462144
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680.334841884,665,636,879.665158116,787.665158116,804,653,631.334841884,653,0.40291472612,0.00449892006814,0.0699404594365,0.999999995761,-3.93420219175e-06,-9.05153096861e-05,-1.64141328257e-05,1793239297036128768
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.75903479,715,680,664.75903479,636,879.75903479,787.75903479,803.75903479,653,631,653,0.40318102479,0.00449447336287,0.0699451709543,0.999999996484,-1.54022088494e-05,-7.98303343831e-05,-2.05209754122e-05,1793239297052795904
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.186268489,715,680,664.186268489,636,879.186268489,787.186268489,803.186268489,653,631,653,0.403470922937,0.00448668966904,0.0699551957873,0.999999997199,-3.1669310484e-05,-6.35698405565e-05,-2.36335725477e-05,1793239297069463808
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.398554575,745,715,680.398554575,664.398554575,636,879,787,803,653,631.398554575,653,0.403788710702,0.00447744962475,0.0699632624388,0.999999997128,-4.93183654108e-05,-5.08164770633e-05,-2.70006136801e-05,1793239297086130688
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.98918825,745,715,680.98918825,664.98918825,636,879,787,803,653,631.98918825,653,0.404119939561,0.00446750770823,0.0699703853654,0.999999996458,-6.76334374093e-05,-3.97533378477e-05,-3.04902812693e-05,1793239297102797056
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.43157745,745.56842255,715,680.43157745,664.43157745,636,879,787,803,653,632,653,0.404477535495,0.00447386211065,0.0699701231372,0.999999997392,-4.86336282109e-05,-4.29357529257e-05,-3.17233415387e-05,1793239297119463424
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680.146253074,664.146253074,635.853746926,879,787,803,653,632,653,0.404846585905,0.00448069919876,0.0699704605242,0.999999998283,-2.26307195483e-05,-4.42426009981e-05,-3.10625102856e-05,1793239297136129792
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,715,680.720596744,664.720596744,635.279403256,879,787,803,653,632,653,0.405247725009,0.0044880596825,0.0699729560976,0.999999998678,2.18339941692e-05,-3.92820435057e-05,-2.49813219296e-05,1793239297152796416
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,715,680.705480808,665,635.294519192,879,787,803,653,632,653,0.405664677633,0.00449261665104,0.0699745769462,0.999999998013,4.64609505714e-05,-3.52661277168e-05,-2.38971570793e-05,1793239297169462784
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,715,680.131957324,665,635.868042676,879,787,803,653,632,653,0.406096610788,0.00449451779089,0.0699753691497,0.999999997737,5.22951829386e-05,-3.21450905714e-05,-2.75467781598e-05,1793239297186129408
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.541179504,715,680,665,636,879,787,803,652.541179504,631.541179504,653,0.406552769572,0.00449887887794,0.0699610720227,0.999999996149,6.11674944813e-05,-5.56994795259e-05,-2.93074942091e-05,1793239297202796032
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.947112531,745,715,680,665,636,879,787,803.052887469,652,631.052887469,653,0.407021179502,0.00450425412744,0.0699431964805,0.999999993829,6.48588029814e-05,-8.48629481277e-05,-3.05558655677e-05,1793239297219462912
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.371499299,745,715,680,665,636,879,787,803.628500701,652,631.628500701,653,0.407539122831,0.00451238727406,0.0699345213978,0.999999995332,8.36903556306e-06,-9.06752608072e-05,-3.23195203117e-05,1793239297236130048
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745.202810222,715,680,665,636,879.202810222,787,803.797189778,652.202810222,631.797189778,653,0.408081970855,0.00452012778568,0.0699348749754,0.999999995863,-1.80588828266e-05,-8.23157056602e-05,-3.42340698744e-05,1793239297252797184
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.774746879,715,680,665,636,879.774746879,787,803.225253121,652.774746879,631.225253121,653,0.408670146847,0.00452715367822,0.0699516612416,0.999999998125,1.02275210039e-05,-4.81625243709e-05,-3.64232568152e-05,1793239297269463808
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.358273835,746,715,680,665,636,879.641726165,787,803,652.641726165,631.358273835,653,0.409262701288,0.00453351017656,0.0699610860483,0.999999998333,3.3658528009e-05,-2.71852841246e-05,-3.82301941735e-05,1793239297286130176
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.949331413,746,715,680,665,636,879.050668587,787,803,652.050668587,631.949331413,653,0.409858100544,0.00453943174449,0.0699657278422,0.999999997645,5.39348032651e-05,-1.4768940773e-05,-3.97887697904e-05,1793239297302796288
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.470492871,879.529507129,787,803.529507129,652,631.470492871,653,0.410485277489,0.00454546692734,0.0699555825419,0.999999996822,5.81398911028e-05,-3.65018394503e-05,-4.05351061304e-05,1793239297319462912
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.891642526,745.891642526,715,680,665,635.108357474,879.891642526,787,803.891642526,652,631,653,0.411125867851,0.00455185320898,0.0699483233193,0.999999995829,6.18124858984e-05,-5.31689925671e-05,-4.11584356225e-05,1793239297336129536
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.31411318,745.31411318,715,680,665,635.68588682,879.31411318,787,803.31411318,652,631,653,0.411811635023,0.00455971356941,0.0699595636655,0.999999996127,6.97040557793e-05,-3.4038274663e-05,-4.15789169832e-05,1793239297352795904
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.266747161,745,715,680,665,636,879.266747161,787.266747161,803.266747161,652,631,653,0.412514191397,0.0045666729882,0.0699814398331,0.999999995881,8.0568898432e-05,2.23462735776e-07,-4.18015693005e-05,1793239297369463040
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.851579657,745,715,680,665,636,879.851579657,787.851579657,803.851579657,652,631,653,0.413236768311,0.00457255807113,0.0700159987945,0.999999993237,9.49792510134e-05,5.25283390793e-05,-4.17883183674e-05,1793239297386130432
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665,636,880,787.56718328,804,652.43281672,631,653,0.413974439278,0.00457968893444,0.0700276158342,0.999999990975,0.000105335110685,7.17491896701e-05,-4.25143943563e-05,1793239297402797056
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.012780366,715,680.012780366,665,635.987219634,879.987219634,787.012780366,804,653,631,653,0.414716584216,0.00458722565332,0.0700301372593,0.99999998955,0.000114081861793,7.74034760518e-05,-4.35111423802e-05,1793239297419464192
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.590507081,715,680.590507081,665,635.409492919,879.409492919,787.590507081,804,653,631,653,0.415429582957,0.00459397447216,0.0699754916803,0.99999999244,0.000112652492318,-1.92726887177e-05,-4.53580613862e-05,1793239297436130304
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,715,680.838336293,664.838336293,635,879.161663707,787.838336293,803.838336293,652.838336293,631.161663707,653,0.416167690412,0.00460082995952,0.0699344556857,0.999999988059,0.000116057616952,-9.0511273057e-05,-4.71280396353e-05,1793239297452796416
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715,680.283171762,664.283171762,635,879.716828238,787.283171762,803.283171762,652.283171762,631.716828238,653,0.416966914197,0.00460794508512,0.0699265463794,0.99999998522,0.000131230242262,-9.98329935261e-05,-4.87107394372e-05,1793239297469462528
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715.299618484,680,664.299618484,635.299618484,880,787,803,652,631.700381516,653,0.417772626193,0.00461278017193,0.0699389160752,0.999999986064,0.000138610239864,-7.90915897604e-05,-4.90237741156e-05,1793239297486128896
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715.911169832,680,664.911169832,635.911169832,880,787,803,652,631.088830168,653,0.418585093017,0.00461524150945,0.0699723982448,0.999999988976,0.000137877329965,-2.70514604519e-05,-4.80149599876e-05,1793239297502795520
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715.504575173,680,665,636,880,787.495424827,803.495424827,652,631,653,0.419439505924,0.00461903156025,0.0699957577371,0.999999989163,0.000138753930808,5.64879094753e-06,-4.88721514897e-05,1793239297519462656
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.925486737,715,680,665,635.925486737,880,788,803.925486737,652,631,653,0.420304105105,0.00462070051959,0.0700164842727,0.999999988643,0.000138057876269,3.39052349857e-05,-5.00419482538e-05,1793239297536129792
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.349947986,715,680,665,635.349947986,880,788,803.349947986,652,631,653,0.421189266083,0.00460658904011,0.0700310736249,0.999999989406,0.000124948200579,5.43804897197e-05,-5.11814872751e-05,1793239297552796160
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.230173792,715,680.230173792,665,635.230173792,880,787.769826208,803.230173792,652,631,653,0.422040088897,0.00458975581371,0.0700282686241,0.999999991915,0.000106168786544,4.73158711332e-05,-5.1563958924e-05,1793239297569462528
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.817405084,715,680.817405084,665,635.817405084,880,787.182594916,803.817405084,652,631,653,0.422837644706,0.00456870047044,0.0699984806046,0.99999999562,7.85941787261e-05,-2.4700214872e-06,-5.07720285713e-05,1793239297586129152
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680.600716224,665,636,880.399283776,787,804,652,631.399283776,653,0.423617710881,0.00456760091878,0.0699356468546,0.999999990287,7.82669543494e-05,-0.000103062281959,-5.17563672652e-05,1793239297602795776
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,680.021252963,665,636,880.978747037,787,804,652,631.978747037,653,0.424389884692,0.00457550655329,0.0698579009986,0.999999968826,9.02352953269e-05,-0.00022658125266,-5.35422587112e-05,1793239297619462400
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680.558150271,665,636,881,787.558150271,804,652,631.441849729,653,0.425299733487,0.00458169513316,0.069883903798,0.999999980004,8.62767841741e-05,-0.000171487543858,-5.60370025263e-05,1793239297636129024
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680.864031485,665.135968515,636,881,787.864031485,804,652.135968515,631.135968515,652.864031485,0.42622215374,0.00458739994736,0.0699203811,0.999999989098,8.62212028704e-05,-0.000105328387476,-5.72298248855e-05,1793239297652795648
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680.291297325,665.708702675,636,881,787.291297325,804,652.708702675,631.708702675,652.291297325,0.427168118829,0.00459176078055,0.0699778165658,0.999999993144,0.000100650708949,-2.54687852924e-05,-5.41538490394e-05,1793239297669462528
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.710111775,745.710111775,715,680,666,636,880.710111775,787.289888225,804.289888225,652.710111775,632,652.289888225,0.428082428327,0.00459637696334,0.0700190586845,0.999999991828,0.000111557103669,3.27696177616e-05,-5.31445544043e-05,1793239297686129408
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.120178767,745.120178767,715,680,666,636,880.120178767,787.879821233,804.879821233,652.120178767,632,652.879821233,0.428963973084,0.00460125744191,0.0700435401006,0.999999989113,0.000118816950421,6.86292938007e-05,-5.42743498788e-05,1793239297702796032
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.460685891,745,715,680.460685891,666,635.539314109,880,788,804.539314109,652,632,653,0.429827894032,0.00460099399158,0.0700458713395,0.99999998892,0.000117118441832,7.3993480239e-05,-5.4487605017e-05,1793239297719462656
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.038939567,715,681,666,635.038939567,880.038939567,787.961060433,804,652,631.961060433,653,0.43067990845,0.00459922037469,0.0700380527157,0.999999990077,0.000113311614382,6.35453244579e-05,-5.44927600197e-05,1793239297736129536
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.613192226,715,681,666,635.613192226,880.613192226,787.386807774,804,652,631.386807774,653,0.431430222735,0.00459477733501,0.0699686035269,0.999999990594,0.000112027780378,-5.70265258736e-05,-5.48605866998e-05,1793239297752796160
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,681,665.812525242,636,881,787,804,652,631,653,0.432209331317,0.00458865600457,0.0699161954962,0.999999982583,0.000105722227418,-0.000143448093817,-5.54938771922e-05,1793239297769463040
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,681,665.23818096,636,881,787,804,652,631,653,0.433047859427,0.00457907138277,0.069898953279,0.999999981725,8.90539484164e-05,-0.000159397779323,-5.66749754411e-05,1793239297786129408
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681.345882923,665.345882923,636,880.654117077,787,804,652,631,653,0.433910088582,0.0045732613499,0.0699299011679,0.999999990279,7.682542349e-05,-0.000101469010068,-5.69627923525e-05,1793239297802796288
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715,681.936833375,665.936833375,636,880.063166625,787,804,652,631,653,0.434789110527,0.00457012571727,0.0699949930685,0.999999996064,6.77425862457e-05,8.80467071995e-06,-5.66176943509e-05,1793239297819463168
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,681.48162295,666,636,880,787.51837705,804,652,631.51837705,653,0.435604363934,0.00457318422428,0.0700188847918,0.999999994551,7.44577141807e-05,4.71416743412e-05,-5.59684429984e-05,1793239297836129792
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,681,666,636,880.097778474,788,804.097778474,652,631.902221526,653,0.436404877216,0.00457634402805,0.0700324085336,0.999999992683,8.19819343025e-05,6.94710744057e-05,-5.55593099822e-05,1793239297852796928
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715,681,666,636,880.672224849,788,804.672224849,652,631.327775151,653,0.437170738493,0.00457638367542,0.0700194268711,0.999999993303,8.42331251675e-05,5.57352730032e-05,-5.64982070756e-05,1793239297869463552
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,715,681,666,635.747434576,880.747434576,788,804.747434576,652.252565424,631.252565424,653,0.437911604825,0.00457775120263,0.0699972304654,0.999999994232,8.59981090033e-05,2.84800221847e-05,-5.77032565127e-05,1793239297886129664
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,681,666,635.159261872,880.159261872,788,804.159261872,652.840738128,631.840738128,653,0.43861925798,0.00458088320786,0.0699627895706,0.999999994309,8.71170238385e-05,-1.67397833349e-05,-5.92619672918e-05,1793239297902796032
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,681,666,635,880.422312821,787.577687179,804,652.577687179,632,653,0.439268369595,0.00458211343776,0.069913716662,0.999999990136,8.13839341873e-05,-9.81145490987e-05,-5.89815063855e-05,1793239297919462656
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715,681.001435128,665.998564872,635,880.998564872,787,804.001435128,652,632,652.998564872,0.439895834922,0.00458266037416,0.0698593237371,0.999999977073,7.31724646543e-05,-0.000192701673076,-5.80226505373e-05,1793239297936129280
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,715,681.579560818,665.420439182,635,880.420439182,787,804.579560818,652,632,652.420439182,0.440559918617,0.00459239654049,0.0698503801959,0.999999973713,9.14369650549e-05,-0.000201858054773,-5.8880604844e-05,1793239297952796160
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,715,682,665,635,879.843502437,787,805,652,632,652.156497563,0.441229197323,0.00460095890419,0.0698556134045,0.999999974027,0.000107411350469,-0.000192069162922,-5.93194746606e-05,1793239297969462528
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,715,682,665,635,879.269735646,787,805,652,632,652.730264354,0.441912327627,0.00460639156177,0.0698986460588,0.999999982722,0.000117279609429,-0.000131766516977,-5.86409402042e-05,1793239297986128896
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,715,682.313071955,664.686928045,635,879.626143909,787.313071955,804.686928045,652,632,653,0.442543449495,0.00461273331541,0.0699166784039,0.999999983852,0.000127507099602,-0.000112402886642,-5.83429565791e-05,1793239298002795520
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,682.903900504,664.096099496,635,880.807801007,787.903900504,804.096099496,652,632,653,0.443128429579,0.00461988161631,0.0699125305393,0.999999980399,0.000138053298402,-0.000129360244523,-5.83825967914e-05,1793239298019462144
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,714.517576561,682.517576561,664,635,881,787.517576561,804.482423439,652,631.517576561,653,0.443652094806,0.0046269731153,0.0698787785472,0.999999969479,0.000155648833955,-0.000183275391729,-5.67954687256e-05,1793239298036129024
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,714.058726205,682,663.941273795,635,881,787,805,652,631.058726205,653,0.444161242395,0.00463388063487,0.069839907581,0.999999953761,0.000173690930722,-0.000243444574867,-5.516839929e-05,1793239298052795392
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,714.636533001,682,663.363466999,635,881,787,805,652,631.636533001,653,0.444647342977,0.00463925948748,0.0698066187083,0.999999937941,0.000183576856765,-0.000295438637993,-5.59813626431e-05,1793239298069462016
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,682,662.786293434,634.786293434,880.786293434,787,805,652,632,653,0.445130349886,0.00464555272001,0.0697812218676,0.999999924459,0.000194060845703,-0.000331846098465,-5.74578443391e-05,1793239298086129152
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715,682,662.210193729,634.210193729,880.210193729,787,805,652,632,653,0.445608110646,0.0046533965127,0.0697692079519,0.999999918648,0.000205559000113,-0.000341822556619,-6.00594881004e-05,1793239298102797056
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715,682.375256369,661.624743631,634,880,787,805,652,632,653,0.446057037351,0.00465845426988,0.0697612855783,0.999999912998,0.000211309497977,-0.000354436952389,-6.10532671291e-05,1793239298119464192
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+260,4.333333333,HOLD_POSE2,765.054654448,746,714,682.054654448,658,633,880.054654448,787,804,652,631.945345552,653,0.45083525417,0.00475784703384,0.069623273489,0.999999780124,0.000294022105246,-0.000590691643416,-6.62231159335e-05,1793239299169632768
+261,4.350000000,HOLD_POSE2,765.523273307,746,714,682.523273307,658,633,880.523273307,786.476726693,804.523273307,652,631.476726693,653,0.45083406455,0.00475904119315,0.0696221344287,0.999999778978,0.000294863938524,-0.000592249026982,-6.58877846233e-05,1793239299186299136
+262,4.366666667,HOLD_POSE2,765.898995019,745.898995019,714,682.898995019,658,633,880.898995019,786,804.898995019,652,631,653,0.450833196159,0.00476011886636,0.0696211627218,0.999999778023,0.000295739673398,-0.00059345078418,-6.56326136823e-05,1793239299202965504
+263,4.383333333,HOLD_POSE2,765.321429724,745.321429724,714,682.321429724,658,633,880.321429724,786,804.321429724,652,631,653,0.450834744246,0.00475965663416,0.0696222917959,0.999999778958,0.000295797148502,-0.000591803383677,-6.59993129901e-05,1793239299219632128
+264,4.400000000,HOLD_POSE2,765.260299668,745.260299668,714,682,658,633,880.260299668,786,804.260299668,652,631,653,0.450835494954,0.00475954578633,0.0696225983824,0.999999779427,0.000295490350392,-0.00059114031213,-6.62091838847e-05,1793239299236299008
+265,4.416666667,HOLD_POSE2,765.847254625,745.847254625,714,682,658,633,880.847254625,786,804.847254625,652,631,653,0.450835245014,0.00475987589785,0.0696218728128,0.999999779314,0.0002947264185,-0.000591712494916,-6.62222476217e-05,1793239299252965376
+266,4.433333333,HOLD_POSE2,765.571207886,745.571207886,714,682,658,633,881,786.428792114,805,652,631.428792114,653,0.450834968408,0.00476069446282,0.0696212931917,0.999999778901,0.000294657153353,-0.000592399545673,-6.66225181566e-05,1793239299269632000
+267,4.450000000,HOLD_POSE2,765,745,714,682,657.991643747,633,880.991643747,786.991643747,805,652,631.991643747,653,0.450834715635,0.00476166430217,0.0696207980659,0.999999778403,0.00029483980112,-0.00059309005246,-6.71456805249e-05,1793239299286298624
+268,4.466666667,HOLD_POSE2,765,745,714,682,657.41666692,633,880.41666692,786.41666692,805,652,631.41666692,653,0.450836715043,0.00476124049355,0.0696225510345,0.999999779298,0.000295534021169,-0.000591274915422,-6.67657058065e-05,1793239299302965504
+269,4.483333333,HOLD_POSE2,765,745,714,682,657.15829396,633,880.15829396,786.15829396,804.84170604,652,631,653,0.450837753082,0.00476055195161,0.0696235019756,0.999999779821,0.000295989603886,-0.000590211290582,-6.6316022518e-05,1793239299319632384
+270,4.500000000,HOLD_POSE2,765,745,714,682,657.733212991,633,880.733212991,786.733212991,804.266787009,652,631,653,0.450836260827,0.00475916663919,0.0696223420039,0.999999779374,0.000295817100287,-0.000591125623472,-6.56828682304e-05,1793239299336299264
+271,4.516666667,HOLD_POSE2,765.317297654,745.317297654,714,682.317297654,658,632.682702346,881,786.682702346,804.317297654,652,631,653,0.450835726353,0.00475854272897,0.0696218593378,0.999999779471,0.000295015758498,-0.000591361959494,-6.56909774158e-05,1793239299352965632
+272,4.533333333,HOLD_POSE2,765.909318074,745.909318074,714,682.909318074,658,632.090681926,881,786.090681926,804.909318074,652,631,653,0.450836021145,0.00475857805636,0.0696219630968,0.999999780037,0.00029366995582,-0.00059101127198,-6.62543056011e-05,1793239299369632256
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,746,714,682,658,633,880,786,804,652,631,653,0.450835780488,0.00475850397781,0.0696215576747,0.999999779372,0.000294754972241,-0.000591668513624,-6.56054720953e-05,1793239299401242624
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.419933652,746,714,682.580066348,658,633,880.580066348,786.580066348,804.580066348,652,631,653,0.450835981824,0.00475960146386,0.0696217249261,0.999999779003,0.000296024009928,-0.000591591066886,-6.62121059416e-05,1793239299417909504
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,658,633,881,787,805,652,631,653,0.450835944628,0.00476010661777,0.0696217095827,0.999999778626,0.000296485145194,-0.000591954534036,-6.65916735926e-05,1793239299434575872
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,658,633,881,787,805,652,631,653,0.450835281898,0.00475905843348,0.0696212154006,0.99999977823,0.000294827628352,-0.000593474258696,-6.63757804334e-05,1793239299451242496
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.314369969,745.685630031,714,683,658,633,881,787,805,652,631,653,0.450836070986,0.00475860362631,0.0696217691152,0.999999778715,0.000294697859311,-0.000592754930339,-6.60623659205e-05,1793239299467908864
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.906473634,745.093526366,714,683,658,633,881,787,805,652,631,653,0.4508381427,0.00475867304493,0.0696232486061,0.999999779977,0.000295917796397,-0.000590057485242,-6.56627950802e-05,1793239299484575232
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,714,682.512648829,657.512648829,633,881,786.512648829,805,652,631.487351171,653,0.450835439033,0.00475936959081,0.0696217663359,0.999999778433,0.000296325912764,-0.000592460945442,-6.56956920887e-05,1793239299501241600
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.934709083,745.065290917,714.065290917,682,657.130581833,633,881,786,805,652.065290917,632,653,0.450831900666,0.0047598686674,0.0696197321668,0.999999776529,0.000296316106348,-0.000595662186478,-6.57740464159e-05,1793239299517907968
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.363219193,745.636780807,714.636780807,682,658.273561615,633,881,786,805,652.636780807,632,653,0.450828835973,0.00475792470432,0.0696177265866,0.999999775978,0.00029424682875,-0.000597630083385,-6.55758690606e-05,1793239299534574592
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714.784271944,682,658.568543888,633,881,786.215728056,805,652.784271944,631.784271944,653,0.450818778565,0.00475724684497,0.0696127430939,0.99999977203,0.000293020218051,-0.000604794265403,-6.55899362937e-05,1793239299551241216
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714.192319301,682,657.384638602,633,881,786.807680699,805,652.192319301,631.192319301,653,0.450796526029,0.00475877704053,0.0696025661928,0.999999761989,0.00029326319851,-0.000621020644485,-6.59741530391e-05,1793239299567908096
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.391657219,657,633,880.608342781,787,804.608342781,652,631,653,0.450750730267,0.00475853059912,0.0695834763938,0.999999741001,0.000294110225717,-0.000653603353979,-6.55721829907e-05,1793239299584574976
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.971795366,657,633,880.028204634,787,804.028204634,652,631,653,0.450693604574,0.00475742916995,0.0695600973554,0.999999713457,0.000295247943726,-0.000694057376499,-6.47918687449e-05,1793239299601241600
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.547038087,746,714,683,657.547038087,633,881.094076175,786.452961913,804.547038087,652,631,653,0.450624387479,0.00475971982213,0.0695428456035,0.999999695437,0.000297955369819,-0.000718433748181,-6.48225931632e-05,1793239299617907968
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.875377224,746,714,683,658,633,881.875377224,786.124622776,804.875377224,652,631,653,0.450552159585,0.00476167973643,0.0695284378727,0.999999679463,0.000300510857323,-0.000739317443944,-6.46237248038e-05,1793239299634574592
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.288170718,746,714,683,658,633,881.288170718,786.711829282,804.288170718,652,631,653,0.450471049498,0.00476176857738,0.0695234245403,0.99999967086,0.000302204623843,-0.00075028642783,-6.34187980573e-05,1793239299651241216
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.704764354,714,683,658,632.704764354,881,787,804.295235646,652,631.295235646,653,0.45038253488,0.00476154907812,0.0695230260199,0.999999669133,0.00030483423333,-0.000751662884309,-6.17439632164e-05,1793239299667907840
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.125020092,714,683,658,632.125020092,881,787,804.874979908,652,631.874979908,653,0.450286884772,0.00476103244182,0.0695270746383,0.999999674062,0.000308365682963,-0.000743795345674,-5.96162939002e-05,1793239299684574464
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.452109989,714,682.547890011,658,632,881,786.547890011,804.547890011,652,631.547890011,653,0.450172037158,0.00475850969039,0.069531790907,0.999999678868,0.00030840651163,-0.000737481304268,-5.71976717167e-05,1793239299701240832
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.028431245,746,714,682.028431245,658,632.028431245,881,786.028431245,804,652,631,653,0.45005053875,0.00475556468561,0.0695366439166,0.999999683577,0.00030768766047,-0.000731560831787,-5.47059887959e-05,1793239299717907456
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.603021973,746,714,682.603021973,658,632.603021973,881,786.603021973,804,652,631,653,0.44990267084,0.00475510351382,0.0695405975189,0.999999687518,0.000310811120071,-0.000724995991963,-5.23474814873e-05,1793239299734574592
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.817370482,714.182629518,682.817370482,658,633,881,786.817370482,804,652,631,653,0.44974636035,0.00475436316196,0.0695448642132,0.999999691302,0.000314550957853,-0.000718339426574,-4.94200784231e-05,1793239299751241984
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745.226550045,714.773449955,682.226550045,658,633,881,786.226550045,804,652,631,653,0.449571180068,0.00475299882137,0.0695498306912,0.999999694783,0.000319668447538,-0.000711477848462,-4.52211502195e-05,1793239299767908608
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745.357093154,714.642906846,682.357093154,658,633,880.642906846,786.357093154,804,652,631.357093154,653,0.449365231495,0.00475218649328,0.0695559799579,0.999999698194,0.000323997693035,-0.00070493682396,-4.12402514337e-05,1793239299784575232
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745.936272681,714.063727319,682.936272681,658,633,880.063727319,786.936272681,804,652,631.936272681,653,0.449140147231,0.00475171747729,0.069562864835,0.999999701545,0.00032783670758,-0.000698595160171,-3.73949509255e-05,1793239299801241600
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.488280282,746,714.511719718,683,658.511719718,633,880,787,804.511719718,652,631.488280282,653,0.448884204992,0.00475155632895,0.0695649313511,0.999999701938,0.000334600925451,-0.000695041998067,-3.28940229204e-05,1793239299817907968
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.911375639,714.911375639,682.911375639,658.911375639,633.088624361,880.088624361,787,805,652,631,653,0.448618723669,0.00475065767795,0.0695658791896,0.999999701477,0.000340445568425,-0.000693072068647,-2.81819500167e-05,1793239299834574592
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.260428199,682.260428199,658.260428199,634,881.260428199,787,805,652,631,653,0.448001491823,0.00474205089517,0.0695628866201,0.999999695075,0.000341705801541,-0.000701989951472,-1.72515770857e-05,1793239299867908096
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.840082169,682.840082169,658.840082169,634,881.840082169,787,805,652,631,653,0.447655254625,0.00474107083735,0.0695631193977,0.99999969074,0.000349241446364,-0.000704565656715,-1.17155433326e-05,1793239299884574976
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.582209711,682.582209711,659,634,881.164419422,787,804.582209711,651.582209711,631.417790289,653,0.447275514233,0.00473661897224,0.0695637352597,0.999999690199,0.000352905607873,-0.000703583083761,-5.44753954226e-06,1793239299901241600
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.005242966,682.005242966,659,634,880.010485932,787,804.005242966,651.005242966,631.994757034,653,0.446883009264,0.00473084436224,0.0695644970753,0.999999691081,0.000355094749298,-0.000701244820747,1.09934182473e-06,1793239299917908224
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.85063545,714,682,659.2987291,634,880.14936455,787,804,652,631.85063545,653,0.446053018311,0.00470485134087,0.0695804647456,0.999999721805,0.00033021140643,-0.000668781537875,9.00510359776e-06,1793239299951241728
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.265194468,714,682,660.469611065,634,880.734805532,787,804,652,631.265194468,653,0.445636341793,0.00467620457066,0.0696043499895,0.999999760612,0.000295948792355,-0.000625325817766,1.25688023609e-05,1793239299967908096
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.318996828,745.318996828,714,682,661,634,880.681003172,786.681003172,804,652,631.318996828,653,0.445177611134,0.00465651769798,0.0696267420846,0.999999796824,0.000247873230588,-0.000587227745179,8.62855945575e-06,1793239299984574720
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.535022234,746,714.535022234,682,663.535022234,635,880,787.464977766,804.464977766,652,632,653,0.43983960196,0.00460864048534,0.0698035608117,0.999999951902,8.58594971318e-05,-0.000297363614844,1.9955696885e-05,1793239300134574592
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,746,714.887674482,682,663.887674482,635,880.112325518,787.112325518,804,652,632,653,0.439108169466,0.00460347035621,0.0698045991831,0.999999951556,7.03263303656e-05,-0.000302385987115,2.24660789366e-05,1793239300151240960
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,746,714.299912083,682,663.299912083,635,880.700087917,787.700087917,804,652,632,653,0.43833819293,0.00460081918314,0.0697658280372,0.999999933062,5.05659549258e-05,-0.000361802840115,2.04166030284e-05,1793239300167907840
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,746,714.283967458,682,663.283967458,635,880.716032542,787.716032542,804,652,632,653,0.437572322309,0.00459685510875,0.0697459271199,0.999999919118,0.000103164142967,-0.000388257516776,1.94031200508e-05,1793239300184574464
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,746,714.863801507,682,663.863801507,635,880.136198493,787.136198493,804,652,632,653,0.436810729562,0.004591523118,0.0697456871486,0.999999900754,0.000231152943775,-0.000380368801409,1.94690409543e-05,1793239300201240832
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,746,715,681.55829822,664,635,880,787.44170178,804,652,632,653,0.436038461871,0.00458763082879,0.0697767200835,0.999999915171,0.000242523481174,-0.000332210359785,2.18511001254e-05,1793239300217907712
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.98118228,745.98118228,715,681,664,635,880.01881772,788,804,652,631.98118228,652.98118228,0.435260952164,0.00458416615625,0.0698165912152,0.999999938595,0.000218023533045,-0.000273233249587,2.49045113442e-05,1793239300234574336
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.409665017,745.409665017,715,681,664,635,880.590334983,788,804,652,631.409665017,652.409665017,0.434425733862,0.00458027913622,0.0698340594264,0.9999999476,0.000191524714617,-0.000259615579032,2.67914560354e-05,1793239300251240960
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.168179931,745,714.831820069,681,664,635,880.831820069,788,803.831820069,652,631.168179931,652.168179931,0.433590002827,0.00457575649149,0.069845054738,0.999999954624,0.000164004077788,-0.000251115259297,2.81944471818e-05,1793239300267907328
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.762040882,745,714.237959118,681,664,635,880.237959118,788,803.237959118,652,631.762040882,652.762040882,0.432752974061,0.00456962501434,0.0698396664617,0.999999957976,0.000133897113438,-0.000255567491572,2.83725011458e-05,1793239300284574208
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745.347314159,714,681.347314159,664.347314159,635,880,788,803.347314159,652,632,653,0.431879215179,0.00456357471513,0.0698268465703,0.999999954964,0.000119944398415,-0.000273567466442,2.90856327948e-05,1793239300301240832
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745.926845618,714,681.926845618,664.926845618,635,880,788,803.926845618,652,632,653,0.430980898252,0.00455757869243,0.0698090578359,0.999999947537,0.000116792557741,-0.000300625580918,3.01565220776e-05,1793239300317907456
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745.497907706,714,681.497907706,664.497907706,635,880,787.497907706,804,652,631.497907706,653,0.4300454243,0.00455383766059,0.0697576775789,0.999999918408,0.000123908447067,-0.000383307376265,3.01108242266e-05,1793239300334574336
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,714.076867639,681,664,635,880,787,804,652.076867639,631,653,0.429116219947,0.00454976332119,0.0697157575892,0.999999889417,0.000128360871997,-0.000451426590931,3.00614850964e-05,1793239300351241216
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,714.652601129,681,664,635,880,787,804,652.652601129,631,653,0.428262542838,0.00454141161389,0.0697667287374,0.99999992439,0.000105900813472,-0.000372884168232,3.10354011337e-05,1793239300367907840
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.766356277,745.233643723,715,681,664.233643723,635,880,787,804,652.766356277,631.233643723,653,0.427419239119,0.004534233886,0.0698174706072,0.999999951969,9.06317921822e-05,-0.000294614707238,3.24039010639e-05,1793239300384574208
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.177236078,745.822763922,715,681,664.822763922,635,880,787,804,652.177236078,631.822763922,653,0.426591717834,0.00452884230399,0.06986786365,0.999999972193,8.63035479507e-05,-0.00021676053265,3.43727396295e-05,1793239300401241088
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.405367117,745.594632883,714.594632883,681,664.594632883,635,880,787.405367117,804,652,632,653,0.425710413741,0.00452151757542,0.0698714292148,0.999999972931,8.44178632708e-05,-0.000213925329866,3.53134073108e-05,1793239300417907712
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.985165973,745.014834027,714.014834027,681,664.014834027,635,880,787.985165973,804,652,632,653,0.424805966655,0.00451336100338,0.0698548446508,0.999999966251,8.35832259774e-05,-0.000243371215324,3.58116472222e-05,1793239300434574336
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.440836985,745.559163015,714.559163015,681,664,635,880,788,804,652,632,653,0.423884407421,0.00450763558343,0.0698242383131,0.999999954023,7.06690216121e-05,-0.000292869672308,3.44431494116e-05,1793239300451240704
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.136583686,746,715,681,664.136583686,635,879.863416314,787.863416314,804.136583686,652,631.863416314,652.863416314,0.422948799516,0.00450181462152,0.069785855954,0.999999933589,5.94028934733e-05,-0.000357990076351,3.37060273083e-05,1793239300467907584
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.725856403,746,715,681,664.725856403,635,879.274143597,787.274143597,804.725856403,652,631.274143597,652.274143597,0.421968118317,0.00449546543001,0.0697229212059,0.999999885954,5.46503140303e-05,-0.000473142354159,3.52239695976e-05,1793239300484574464
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.689932906,745.689932906,714.689932906,680.689932906,664.379865813,635,879.310067094,787,805,652,631.310067094,652.310067094,0.421076428688,0.00448676728899,0.0697132656992,0.999999881022,4.16727387509e-05,-0.000484807596605,3.43603576788e-05,1793239300501241088
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.110125907,745.110125907,714.110125907,680.110125907,663.220251814,635,879.889874093,787,805,652,631.889874093,652.889874093,0.420262156478,0.00447602570213,0.069749959963,0.999999916675,2.15399073968e-05,-0.000406445277048,3.14249354759e-05,1793239300517907712
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.462708303,680,663.925416607,635,880.462708303,787.462708303,804.537291697,652.462708303,631.537291697,653,0.419493630932,0.00446969170216,0.0698155032812,0.99999995415,1.27220095173e-05,-0.000300734593929,3.31217570712e-05,1793239300534574592
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.034086437,664.965913563,635,880.965913563,788,804,653,631,653,0.4187310938,0.00446407990082,0.0698836340821,0.999999980194,6.95238791206e-06,-0.000195647751413,3.5858920876e-05,1793239300551241216
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.608297588,664.391702412,635,880.391702412,788,804,653,631,653,0.417893483858,0.00445353617997,0.0698855812491,0.999999978842,7.44610579301e-06,-0.000202054842674,3.78707032222e-05,1793239300567907840
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.188652895,745.188652895,715,681,664,635.188652895,880,788,804,653,631.188652895,653,0.417051656591,0.00444363786288,0.0698739435936,0.999999974728,1.24503751398e-06,-0.000221525174336,3.83173422656e-05,1793239300584574464
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.782194977,745.782194977,715,681,664,635.782194977,880,788,804,653,631.782194977,653,0.416200777887,0.00443512471735,0.0698331500239,0.999999962997,-1.93244638693e-05,-0.000269031995614,3.54048516322e-05,1793239300601241600
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,664,635.631633946,879.631633946,787.631633946,804,653,632,653.368366054,0.41535459716,0.00442940991552,0.0698002650343,0.99999994763,-2.88659848171e-05,-0.000320442809379,3.49857786576e-05,1793239300617908224
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,664,635.049735684,879.049735684,787.049735684,804,653,632,653.950264316,0.41451113978,0.00442531724116,0.0697719644452,0.999999928857,-3.20148714528e-05,-0.000374116662617,3.60120750884e-05,1793239300634575104
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.474426822,746,715,680.474426822,663.474426822,635.525573178,879.525573178,787,804,652.474426822,632,653.474426822,0.413743514574,0.00442428968872,0.0697644164353,0.99999992317,-3.26121583522e-05,-0.000388866450579,3.7131939241e-05,1793239300651241984
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.100236588,746,714.899763412,680,663.100236588,635.899763412,880,787,804,652.100236588,631.899763412,653,0.41300403598,0.00442884402229,0.0697690529824,0.999999926443,-2.69265237696e-05,-0.000380764385122,3.75145063768e-05,1793239300667908352
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.674759873,746,714.325240127,680,663.674759873,635.325240127,880,787,804,652.674759873,631.325240127,653,0.412364203446,0.00445845455366,0.0698221656555,0.999999959691,7.35946891394e-06,-0.000281747833991,3.43670477223e-05,1793239300684574976
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746,714.256441994,680,664.256441994,635,879.743558006,787,804,653,631.256441994,653,0.411715318731,0.00447952719399,0.069865765913,0.999999977369,3.37404687623e-05,-0.000207408170236,3.32617261379e-05,1793239300701241088
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,714.847464213,680,664.847464213,635,879.152535787,787,804,653,631.847464213,653,0.411054623673,0.00448946043373,0.0698969553047,0.999999984497,4.98078109461e-05,-0.000165264485974,3.48207841918e-05,1793239300717907456
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.573975924,715,680,664.573975924,635,879,787,804,652.573975924,632,653,0.410376878078,0.00448271206324,0.0698804716281,0.999999979556,3.83013999172e-05,-0.000195443327168,3.49641744921e-05,1793239300734574336
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635.000250904,879,787.000250904,803.999749096,652.000250904,632,653,0.40969321649,0.00447016565024,0.0698474013862,0.999999967806,1.7212912402e-05,-0.00025078487047,3.46146895366e-05,1793239300751240960
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635.579517775,879,787.579517775,803.420482225,652.579517775,632,653,0.409045123951,0.00446909247696,0.0698083645804,0.999999949579,1.91465447357e-05,-0.000315223011918,3.33227944284e-05,1793239300767907840
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.838569458,745,715,680,664,635.838569458,879,787.838569458,803.161430542,653,632,653,0.408420019829,0.00446812620276,0.0697815395374,0.999999935054,2.00742230886e-05,-0.00035840036986,3.22210329375e-05,1793239300784574464
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.24964989,745,715,680,664,635.24964989,879,787.24964989,803.75035011,653,632,653,0.407855791873,0.00446744301098,0.0697870528185,0.999999939724,1.83380053401e-05,-0.0003452764307,3.16227699725e-05,1793239300801241088
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.334085351,715,680,664,635.334085351,879,787.334085351,804,653,632,653,0.407320828724,0.00446912426211,0.0697991865208,0.99999994594,1.67323225734e-05,-0.000326872372839,3.15234920535e-05,1793239300817907712
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.914005696,715,680,664,635.914005696,879,787.914005696,804,653,632,653,0.406807399968,0.00447254537649,0.0698161918259,0.999999952993,1.52226934036e-05,-0.000304582967364,3.17913897515e-05,1793239300834574336
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.067045757,745.932954243,715,680,664,635.067045757,879,787.067045757,804,652,631.067045757,653,0.405828233539,0.00448862710172,0.0698145147618,0.999999947814,4.05909244626e-05,-0.00031888298526,3.22278333194e-05,1793239300867907584
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.654123573,745.345876427,715,680,664,635.654123573,879,787.654123573,804,652,631.654123573,653,0.405403453711,0.00449050457475,0.0698143661542,0.999999947327,4.96310428517e-05,-0.000319201324258,3.15191632404e-05,1793239300884574208
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.238181632,715,680.238181632,664,636,879.238181632,787.761818368,803.761818368,652,632,653,0.404999927128,0.00448910474584,0.0698221922725,0.999999952203,4.82768933595e-05,-0.000303834168117,3.08041490208e-05,1793239300901240832
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.87997703,714.87997703,680,664,635.12002297,879.87997703,787,804,653,631.87997703,653,0.402489330913,0.00446620519338,0.0698184059794,0.999999951731,-3.15561937387e-05,-0.000307910074187,2.7091337528e-05,1793239301034574336
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.455231482,635,879.544768518,787,804,653,632,653,0.402279283191,0.00446727353524,0.0698146783254,0.999999950118,-2.99527616991e-05,-0.000313160458765,2.82272049272e-05,1793239301051240960
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.970995034,635,879,787,804,653,631.970995034,653,0.402083074152,0.00446917274292,0.0698130329559,0.999999949655,-2.58754702901e-05,-0.00031487730896,2.95498885225e-05,1793239301067907584
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.387518577,635,879,787,804,653,631.387518577,653,0.40192308595,0.00447673208049,0.0698158801204,0.999999950426,-8.11750073144e-06,-0.000313181624681,3.16016491162e-05,1793239301084574208
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.804597255,746,715,680,664,635.195402745,879,787,804,653,631,653,0.401770890442,0.00448730611124,0.0698171709661,0.999999950318,2.95799427638e-05,-0.000312076118629,3.31142512055e-05,1793239301101240832
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.222773814,746,715,680,664,635.777226186,879,787,804,653,631,653,0.401634105474,0.00450384187839,0.0698153840976,0.999999945028,0.000106708894482,-0.000312137724679,3.35606345306e-05,1793239301117907456
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.356965885,745.643034115,715,680,664,636,879,787,803.643034115,653,631.356965885,653,0.401514271092,0.00450773857759,0.0698133120097,0.999999943213,0.00012244520177,-0.000312390224301,3.15182583221e-05,1793239301134574336
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.935412774,745.064587226,715,680,664,636,879,787,803.064587226,653,631.935412774,653,0.40140495376,0.00450379331483,0.0698110629563,0.999999945691,0.000100090188998,-0.000312761165327,2.79317207721e-05,1793239301151240960
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745.511826764,715.511826764,680,664,636,879,787,803.511826764,653,632,653,0.401318334022,0.00449858859772,0.0698091258351,0.999999947597,6.58099307097e-05,-0.000316213504476,2.20121091667e-05,1793239301167907584
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,746,715.322942999,680,664,636,879.677057001,787,803.322942999,653,631.322942999,653,0.40118237851,0.00449246851888,0.0698119220282,0.999999950599,3.5959736229e-05,-0.000311721737204,1.84204025362e-05,1793239301201241088
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745.739176533,715,680,664,636,879.739176533,787,803,653,631,653,0.401134367866,0.00449139748348,0.069815704393,0.99999995269,3.63864423386e-05,-0.00030481392733,1.95881999444e-05,1793239301217907712
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745.159800293,715,680,664,636,879.159800293,787,803,653,631,653,0.401096569367,0.00449068823046,0.0698194398134,0.999999954808,3.68414953366e-05,-0.000297675514748,2.04103224061e-05,1793239301234574336
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635.581671954,879,787,803,653,631.418328046,653,0.401066042236,0.00449056801458,0.0698215368677,0.999999955989,3.67568073522e-05,-0.000293639974631,2.11322570216e-05,1793239301251241216
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635.004018905,879,787,803,653,631.995981095,653,0.401038284489,0.00449067214024,0.0698230099315,0.999999956819,3.64665528547e-05,-0.000290786199011,2.18160339355e-05,1793239301267907840
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.571691548,715,680,664,635.571691548,879,787,803.571691548,653,631.428308452,653,0.401022725508,0.00448927385406,0.0698264516181,0.999999958197,3.58453894411e-05,-0.000286051803164,2.22471316948e-05,1793239301284574464
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.150633897,636,879,787,803.849366103,653,631.150633897,653,0.401008893803,0.00448805062981,0.0698294318982,0.9999999594,3.47928783783e-05,-0.000281916325528,2.2635763664e-05,1793239301301241088
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.097854859,715,680,665,636,879,787.902145141,803.902145141,653,631.097854859,653,0.400990113149,0.0044904363295,0.0698333730599,0.999999961399,3.76936395411e-05,-0.000274367239412,2.2456133587e-05,1793239301351240960
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.522375119,665,635.522375119,879,788,804,652.522375119,631.477624881,653,0.400990357006,0.0044891413303,0.069836035394,0.999999962688,3.58112351153e-05,-0.000269879273859,2.25176719496e-05,1793239301367907584
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.052384021,664.947615979,635.052384021,879.052384021,787.947615979,803.947615979,652,632,653,0.400990961686,0.00448734600914,0.0698386624711,0.999999963915,3.29152626896e-05,-0.000265657891912,2.26586101005e-05,1793239301384574464
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.628365543,664.371634457,635.628365543,879.628365543,787.371634457,803.371634457,652,632,653,0.400987241579,0.0044875786008,0.0698376613366,0.999999963376,3.18232444648e-05,-0.000267803275175,2.2724821449e-05,1793239301401241088
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.209912191,715,680,664,635.790087809,879.790087809,787,803,652.209912191,631.790087809,653,0.400985253697,0.00448771083847,0.0698374689416,0.999999963261,3.16257951825e-05,-0.000268255202373,2.27235956874e-05,1793239301417907712
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.801579781,715,680,664,635.198420219,879.198420219,787,803,652.801579781,631.198420219,653,0.400986416115,0.00448766056799,0.0698387473554,0.999999963919,3.30552477764e-05,-0.000265627336919,2.25997258739e-05,1793239301434574336
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.383600767,879.383600767,787.383600767,803,653,631.383600767,653,0.4009865882,0.00448847578663,0.0698396036622,0.999999964082,3.4678582286e-05,-0.00026480283302,2.26294152284e-05,1793239301451240960
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.960754364,879.960754364,787.960754364,803,653,631.960754364,653,0.400986260595,0.00448972770372,0.0698402469869,0.999999963996,3.63997434425e-05,-0.000264888248475,2.27365856922e-05,1793239301467907584
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.465065014,715,680,664,635.465065014,879.465065014,787.465065014,803.534934986,653,631.465065014,653,0.400985640867,0.00448861571993,0.0698398434922,0.999999963998,3.42301318892e-05,-0.000265149718426,2.29856952447e-05,1793239301484574464
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,664.111559739,635.111559739,879,787,804,653,631.111559739,653,0.400985232183,0.00448764691294,0.0698395559319,0.999999964067,3.24189136645e-05,-0.000265101948821,2.31445934245e-05,1793239301501241088
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,664.699548615,635.699548615,879,787,804,653,631.699548615,653,0.400985815801,0.00448802611203,0.069840089655,0.999999964419,3.33505574063e-05,-0.000263678679182,2.28740072782e-05,1793239301517907968
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,714.715545707,680,664.715545707,636,879,787,804,653,632,653,0.400986238994,0.00448789913635,0.0698406581842,0.999999964602,3.36797736887e-05,-0.000262940683484,2.28895256264e-05,1793239301534574592
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,714.133861628,680,664.133861628,636,879,787,804,653,632,653,0.400986494556,0.00448724325249,0.0698412630827,0.999999964611,3.33795062322e-05,-0.000262918738772,2.32039980427e-05,1793239301551241216
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,714.442077216,680,664,636,879,787,804,653,632,653,0.400986233209,0.00448657332781,0.0698410007732,0.999999964484,3.18260102669e-05,-0.000263606122194,2.30259372657e-05,1793239301567907840
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.016385702,715,679.983614298,664,635.983614298,879,787,804,653,631.983614298,653,0.400985839653,0.00448595829876,0.0698405159524,0.999999964335,3.00118717027e-05,-0.000264410782468,2.27024800878e-05,1793239301584574464
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.593673099,715,679.406326901,664,635.406326901,879,787,804,653,631.406326901,653,0.400986209587,0.00448736607938,0.0698412878144,0.999999964918,3.20989998117e-05,-0.00026197193196,2.2441665837e-05,1793239301601241088
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.348403576,664,635.174201788,879,787.174201788,803.825798212,653,631,653,0.400986389907,0.00448833561283,0.0698418720238,0.999999965299,3.28900612196e-05,-0.000260430713027,2.22860052182e-05,1793239301617907712
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.524868234,664,635.762434117,879,787.762434117,803.237565883,653,631,653,0.400986119567,0.00448826355123,0.0698420102335,0.999999965215,3.06007224396e-05,-0.000261022921756,2.23802663632e-05,1793239301634574592
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.654724541,664,635.654724541,879,788,803,653,631.345275459,653,0.400986468636,0.00448752706919,0.0698418831013,0.999999965214,2.94526499448e-05,-0.000261153128113,2.24502500365e-05,1793239301651241216
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.075535453,664,635.075535453,879,788,803,653,631.924464547,653,0.400987237337,0.00448634046252,0.069841576208,0.999999965271,2.90777507618e-05,-0.000260970341884,2.25037864566e-05,1793239301667907840
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.499989202,879,787.500010798,803.499989202,653,631.500010798,653,0.400987396112,0.00448693530907,0.0698424128561,0.999999965573,3.15763387571e-05,-0.000259516181971,2.25269234595e-05,1793239301684574464
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745.923311449,715,679.923311449,664,635.923311449,878.923311449,787,804,653,631.076688551,653,0.400987405946,0.00448761573824,0.0698432701525,0.99999996584,3.39324113657e-05,-0.000258186499372,2.25275177489e-05,1793239301701241088
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745.335111532,715,679.335111532,664,635.335111532,878.335111532,787,804,653,631.664888468,653,0.400987032465,0.00448708495923,0.0698431212527,0.999999965692,3.24634697384e-05,-0.000258958873367,2.24081619773e-05,1793239301717907968
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766.24931754,745.24931754,715,679.24931754,664.24931754,635.24931754,878.24931754,787.24931754,803.75068246,652.75068246,631.75068246,653,0.400986697498,0.00448731847925,0.0698428349261,0.999999965509,3.25386918272e-05,-0.000259665788899,2.23115680916e-05,1793239301734574592
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766.828753759,745.828753759,715,679.828753759,664.828753759,635.828753759,878.828753759,787.828753759,803.171246241,652.171246241,631.171246241,653,0.400986413525,0.00448856399933,0.0698423666341,0.999999965278,3.4658524316e-05,-0.000260286031691,2.22451129579e-05,1793239301751241216
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.18820605,746,715,680,665,636,879.405896975,787.594103025,803.405896975,652,631.405896975,653,0.400986434177,0.00448859850411,0.0698423400302,0.999999965278,3.49650851333e-05,-0.000260230409469,2.23766164928e-05,1793239301767907584
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765.035843635,746,715,680,665,636,879.982078182,787.017921818,803.982078182,652,631.982078182,653,0.400986582627,0.0044881249567,0.0698424987259,0.999999965378,3.45109316695e-05,-0.000259891244436,2.25911687902e-05,1793239301784574208
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765.568146612,746,715,680,665,636,879.431853388,787,804,652.568146612,632,653,0.400986221641,0.00448765399881,0.0698426081167,0.999999965433,3.22305858829e-05,-0.000259981395955,2.24767850933e-05,1793239301801241088
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..980b7afd597c2bbdf35e264d2122f1ff97844b71
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,419 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
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+3,0.050000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
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+274,4.566666667,pose2_to_pose3_retreat,0.62156578108,0.0100909093016,1.06003244657,0.592136230767,0.01876264625,1.05970058209
+275,4.583333333,pose2_to_pose3_retreat,0.621565797033,0.0100909118439,1.06003244876,0.592136246584,0.0187626483155,1.05970058375
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+277,4.616666667,pose2_to_pose3_retreat,0.621565647687,0.0100908746385,1.06003243941,0.592136097855,0.0187626133005,1.0597005765
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+384,6.400000000,pose2_to_pose3_retreat,0.57573746183,0.0100907999206,1.06003245789,0.546307913327,0.018762538997,1.05970058405
+385,6.416666667,pose2_to_pose3_retreat,0.575715437428,0.0100907602697,1.06003235799,0.54628588966,0.0187625019393,1.0597004867
+386,6.433333333,pose2_to_pose3_retreat,0.575698647907,0.0100907489334,1.06003234191,0.546269100395,0.0187624916976,1.05970047659
+387,6.450000000,pose2_to_pose3_retreat,0.575686471872,0.0100907251924,1.06003236113,0.546256924043,0.0187624666713,1.05970049036
+388,6.466666667,pose2_to_pose3_retreat,0.575678501306,0.0100907310109,1.0600322637,0.546248953325,0.0187624720882,1.05970039592
+389,6.483333333,pose2_to_pose3_retreat,0.575673298991,0.0100907338048,1.06003223967,0.546243751159,0.0187624751953,1.059700367
+390,6.500000000,pose2_to_pose3_retreat,0.575670517667,0.0100907304177,1.06003228032,0.546240970106,0.0187624723608,1.05970039806
+391,6.516666667,pose2_to_pose3_retreat,0.57566862595,0.0100907874354,1.06003227784,0.546239077511,0.0187625264496,1.05970039701
+392,6.533333333,pose2_to_pose3_retreat,0.575667371899,0.0100908515242,1.06003226285,0.546237822405,0.0187625871322,1.05970038648
+393,6.550000000,pose2_to_pose3_retreat,0.575666827881,0.0100908793264,1.06003225634,0.546237277931,0.0187626134568,1.05970038191
+394,6.566666667,pose2_to_pose3_retreat,0.575666311731,0.0100908576432,1.06003227329,0.546236762158,0.0187625931073,1.05970040022
+395,6.583333333,pose2_to_pose3_retreat,0.57566570844,0.0100907778238,1.06003231929,0.546236160228,0.0187625179475,1.05970044727
+396,6.600000000,pose2_to_pose3_retreat,0.575665503021,0.0100907506454,1.06003233495,0.546235955271,0.0187624923557,1.05970046329
+397,6.616666667,pose2_to_pose3_retreat,0.57566550026,0.0100907502802,1.06003233516,0.546235952517,0.0187624920118,1.05970046351
+398,6.633333333,pose2_to_pose3_retreat,0.575665423222,0.0100907400875,1.06003234104,0.546235875652,0.0187624824141,1.05970046952
+399,6.650000000,pose2_to_pose3_retreat,0.575665378408,0.0100907341583,1.06003234446,0.54623583094,0.0187624768311,1.05970047301
+400,6.666666667,pose2_to_pose3_retreat,0.575665348384,0.0100907301859,1.06003234675,0.546235800983,0.0187624730906,1.05970047535
+401,6.683333333,pose2_to_pose3_retreat,0.575665272369,0.0100907201286,1.06003235254,0.546235725139,0.0187624636204,1.05970048128
+402,6.700000000,pose2_to_pose3_retreat,0.575665194412,0.0100907098144,1.06003235849,0.546235647358,0.0187624539083,1.05970048736
+403,6.716666667,pose2_to_pose3_retreat,0.575665143877,0.0100907031284,1.06003236234,0.546235596938,0.0187624476126,1.05970049131
+404,6.733333333,pose2_to_pose3_retreat,0.575665124511,0.010090700566,1.06003236382,0.546235577615,0.0187624451998,1.05970049282
+405,6.750000000,pose2_to_pose3_retreat,0.575665076388,0.0100906941991,1.06003236749,0.546235529601,0.0187624392046,1.05970049657
+406,6.766666667,pose2_to_pose3_retreat,0.575665046532,0.0100906916921,1.06003236836,0.546235499789,0.0187624368526,1.05970049753
+407,6.783333333,pose2_to_pose3_retreat,0.575664888621,0.0100907577467,1.06003229573,0.546235340868,0.0187624995792,1.05970042754
+408,6.800000000,pose2_to_pose3_retreat,0.575664754566,0.010090813822,1.06003223407,0.546235205956,0.0187625528292,1.05970036812
+409,6.816666667,pose2_to_pose3_retreat,0.575664639774,0.0100908618401,1.06003218127,0.546235090429,0.018762598428,1.05970031724
+410,6.833333333,pose2_to_pose3_retreat,0.575664536634,0.0100909049838,1.06003213384,0.546234986629,0.0187626393979,1.05970027152
+411,6.850000000,pose2_to_pose3_retreat,0.575664510777,0.0100909157998,1.06003212194,0.546234960607,0.018762649669,1.05970026006
+412,6.866666667,pose2_to_pose3_retreat,0.575664417702,0.0100909547332,1.06003207914,0.546234866937,0.0187626866408,1.0597002188
+413,6.883333333,pose2_to_pose3_retreat,0.575664368058,0.0100909031153,1.06003207731,0.546234817144,0.0187626344443,1.05970021498
+414,6.900000000,pose2_to_pose3_retreat,0.575664336986,0.0100908401581,1.06003208506,0.546234786051,0.018762571323,1.05970022029
+415,6.916666667,pose2_to_pose3_retreat,0.575664306181,0.0100907829275,1.06003209234,0.546234755241,0.0187625139894,1.0597002253
+416,6.933333333,pose2_to_pose3_retreat,0.575664286675,0.0100907825266,1.06003209413,0.546234735842,0.0187625139363,1.05970022677
+417,6.950000000,pose2_to_pose3_retreat,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..574fbcce68c19af95979a20c6c918460a7a7e384
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:188a3acd51aaec70fb3dec8de95ec32b82307f10610584c788017cbcd4beafe6
+size 26527686
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5980a73a907a451c4023089260aa8af1702da86a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
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+0,0.000000000,BASELINE,766,746,715,680,664,636,879,788,803,652,632,653,0.400986286911,0.00448973406849,0.0698428985509,0.999999965665,3.6578259367e-05,-0.000258562470371,2.18352828138e-05,1793239301957179392
+1,0.016666667,BASELINE,766,746,715,680,664.576229151,635.423770849,879,787.423770849,803,652.576229151,632,653,0.400986682653,0.00448754059781,0.06984331501,0.999999965915,3.35208701352e-05,-0.000258001865494,2.19578291212e-05,1793239301973846016
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+9,0.150000000,BASELINE,766,746,715,680,664.798536755,636,879,788,803,653,632,653,0.40098574084,0.00449029044693,0.0698424148344,0.999999965573,3.44987510358e-05,-0.00025920228684,2.18698734976e-05,1793239302107179264
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+12,0.200000000,BASELINE,766,746,715,680,664.95979414,636,879,788,803.95979414,653,632,653,0.400987349334,0.00449179203174,0.0698447534792,0.999999966309,3.49432418463e-05,-0.000256299520301,2.16979168856e-05,1793239302157179136
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+22,0.366666667,BASELINE,766,746,715,680,665,636,879,787.749875816,803.749875816,653,631.749875816,653,0.400985148529,0.00448802791515,0.0698430516229,0.999999965731,3.41116180939e-05,-0.000258609865338,2.22569089274e-05,1793239302323846400
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+30,0.500000000,BASELINE,766,746,715,680,664.592798785,636,879,788,804,653,631.592798785,653,0.400985603171,0.00448966098995,0.0698440504719,0.999999965918,3.46569663285e-05,-0.000257856630945,2.17601544207e-05,1793239302457179392
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+38,0.633333333,BASELINE,766,746,715,680.048245874,664,636,879,787.951754126,803,652.951754126,631.951754126,653.951754126,0.400984852635,0.00448869624784,0.0698430126368,0.999999965692,3.25628147201e-05,-0.000258983337013,2.19807275817e-05,1793239302590512896
+39,0.650000000,BASELINE,766,746,715,680.621247605,664,636,879,787.378752395,803,652.378752395,631.378752395,653.378752395,0.400986760375,0.00448801987962,0.0698446152412,0.999999966543,3.27611812781e-05,-0.000255634866984,2.21908031623e-05,1793239302607179520
+40,0.666666667,BASELINE,766,745.805171428,715,680.805171428,664.194828572,636,879,787.194828572,803.194828572,652.194828572,631.194828572,653,0.400987367573,0.00448764552232,0.0698452081395,0.999999966895,3.30565598834e-05,-0.000254208976836,2.22505007951e-05,1793239302623846144
+41,0.683333333,BASELINE,766,745.230461086,715,680.230461086,664.769538914,636,879,787.769538914,803.769538914,652.769538914,631.769538914,653,0.40098543894,0.00448786003372,0.0698438322864,0.999999966291,3.35410950667e-05,-0.000256531782674,2.20169876188e-05,1793239302640512768
+42,0.700000000,BASELINE,766,745.355052592,715,680,664.644947408,636,879.355052592,787.644947408,803.644947408,652.644947408,631.644947408,653,0.400984822704,0.0044887729197,0.069843737149,0.999999966059,3.46894156806e-05,-0.000257298599845,2.18370711815e-05,1793239302657179648
+43,0.716666667,BASELINE,766,745.947798646,715,680,664.052201354,636,879.947798646,787.052201354,803.052201354,652.052201354,631.052201354,653,0.400985085065,0.00449015333945,0.0698444993994,0.999999966076,3.62821139854e-05,-0.000257023744945,2.16930356197e-05,1793239302673846528
+44,0.733333333,BASELINE,766,745.473910936,715,680,664,636,879.473910936,787,803,652,631.526089064,653,0.40098643794,0.0044901951657,0.0698448932626,0.999999966416,3.68956192811e-05,-0.000255590359045,2.19372598934e-05,1793239302690512896
+45,0.750000000,BASELINE,766,745.10295648,715,680,664,636,879,787.10295648,803,652.10295648,631.89704352,653,0.400987642391,0.00449002319748,0.0698450916592,0.9999999667,3.71244478328e-05,-0.000254424394519,2.21340495817e-05,1793239302707179520
+46,0.766666667,BASELINE,766,745.67969949,715,680,664,636,879,787.67969949,803,652.67969949,631.32030051,653,0.400987679188,0.00448946226499,0.0698445542674,0.999999966597,3.60182240716e-05,-0.000255003911027,2.19400093596e-05,1793239302723846144
+47,0.783333333,BASELINE,766,746,715,680,664.254144167,636,879.254144167,788,803,653,631.254144167,653,0.400987988195,0.00448936353327,0.0698446329368,0.999999966698,3.51331035074e-05,-0.00025474575707,2.17709079233e-05,1793239302740512768
+48,0.800000000,BASELINE,766,746,715,680,664.825718269,636,879.825718269,788,803,653,631.825718269,653,0.400988637196,0.00448984209728,0.0698454810761,0.999999967054,3.45241440553e-05,-0.000253441340017,2.16329553841e-05,1793239302757179136
+49,0.816666667,BASELINE,766,745.584780814,714.584780814,680,665,636,879.584780814,787.584780814,803.415219186,653,632,653,0.400988037875,0.00449110640615,0.0698456283928,0.999999966964,3.5775342484e-05,-0.000253650190314,2.13043915519e-05,1793239302773846272
+50,0.833333333,BASELINE,766,745.012121137,714.012121137,680,665,636,879,787,803.987878863,653,631.987878863,653,0.400986948411,0.00449264092242,0.0698454774351,0.999999966689,3.77397389791e-05,-0.000254479374528,2.09107771461e-05,1793239302790513152
+51,0.850000000,BASELINE,766,745.587509795,714.587509795,680,665,636,879,787,803.412490205,653,631.412490205,653,0.400988529213,0.00449071445025,0.0698457520462,0.999999967084,3.49268377849e-05,-0.000253287274313,2.13799021544e-05,1793239302807180544
+52,0.866666667,BASELINE,766,746,715,680,665,636,879,787,803.16250268,652.83749732,631,653,0.40098899222,0.00448945566864,0.0698456894175,0.999999967121,3.3588159219e-05,-0.000253287990634,2.17752166271e-05,1793239302823847680
+53,0.883333333,BASELINE,766,746,715,680,665,636,879,787,803.736493359,652.263506641,631,653,0.400986624754,0.0044898876079,0.0698447728324,0.999999966264,3.59824956896e-05,-0.000256309147624,2.19836286186e-05,1793239302840513536
+54,0.900000000,BASELINE,766,746,715,679.681094053,665,636,879,787,804,652.318905947,631.318905947,653,0.400986015438,0.00448983457295,0.0698445267702,0.999999966117,3.57995353792e-05,-0.000256915600981,2.18755508601e-05,1793239302857179904
+55,0.916666667,BASELINE,766,746,715,679.091533853,665,636,879,787,804,652.908466147,631.908466147,653,0.400986898256,0.00448936994223,0.0698448497782,0.999999966577,3.34292330542e-05,-0.000255472704473,2.1498869454e-05,1793239302873846528
+56,0.933333333,BASELINE,765.508557686,745.508557686,715,679.491442314,665,636,879,787,803.508557686,653,631.508557686,653,0.400986357169,0.00448915498348,0.0698443770102,0.999999966172,3.33660300023e-05,-0.000257040098476,2.17617981204e-05,1793239302890512896
+57,0.950000000,BASELINE,765.072248853,745,715,680,665,636,879,787,803.072248853,653,631.072248853,653,0.400985913259,0.00448877901891,0.069843983883,0.999999965792,3.35004689058e-05,-0.000258463387432,2.2136103025e-05,1793239302907179520
+58,0.966666667,BASELINE,765.646389545,745,715,680,665,636,879,787,803.646389545,653,631.646389545,653,0.400987962394,0.00448696582299,0.0698451600115,0.99999996671,3.20622614409e-05,-0.000255042206702,2.24674788799e-05,1793239302923846144
+59,0.983333333,BASELINE,766,745,715,680,665,636,879,787,803.774900545,653,632,653,0.400989205891,0.00448633739758,0.0698460250069,0.999999967194,3.15528828768e-05,-0.000253202301134,2.24557103579e-05,1793239302940512768
+60,1.000000000,BASELINE,766,745,715,680,665,636,879,787,803.188864007,653,632,653,0.400989157585,0.00448760869933,0.0698463911143,0.999999966999,3.25328404151e-05,-0.000253897900265,2.18937249586e-05,1793239302957179648
+61,1.016666667,BASELINE,765.607175036,745.392824964,715,680,665,635.607175036,879,787,803,653,631.607175036,653,0.400988252934,0.00448811494329,0.0698455192983,0.999999966601,3.31119301328e-05,-0.000255380130173,2.19806434711e-05,1793239302973846272
+62,1.033333333,BASELINE,765.02755346,745.97244654,715,680,665,635.02755346,879,787,803,653,631.02755346,653,0.400986941071,0.00448825738595,0.0698440588234,0.999999966103,3.35003986307e-05,-0.000257236419676,2.23761296064e-05,1793239302990513152
+63,1.050000000,BASELINE,765.550426426,746,715,680,665,635.550426426,879.550426426,787,803,653,631,653,0.400986305625,0.0044875893639,0.0698443120941,0.99999996621,3.40716388924e-05,-0.000256749008504,2.23550986606e-05,1793239303007179776
+64,1.066666667,BASELINE,766,746,715,680,664.872575329,636,880,787.127424671,803,653,631.127424671,653,0.400985693184,0.00448682409855,0.0698444074197,0.999999966315,3.38165359353e-05,-0.00025638038594,2.22809006493e-05,1793239303023846400
+65,1.083333333,BASELINE,766,746,715,680,664.298729157,636,880,787.701270843,803,653,631.701270843,653,0.400985043066,0.00448585986246,0.0698436497434,0.999999966304,3.06344513971e-05,-0.000256837734158,2.20932659383e-05,1793239303040512768
+66,1.100000000,BASELINE,766,745.716872882,715,680,664.283127118,636,879.716872882,787.716872882,803,652.716872882,632,653,0.400985835919,0.00448674614175,0.0698438744111,0.999999966393,3.14405645014e-05,-0.000256402761978,2.20018746085e-05,1793239303057179392
+67,1.116666667,BASELINE,766,745.126319068,715,680,664.873680932,636,879.126319068,787.126319068,803,652.126319068,632,653,0.400988195584,0.0044896417582,0.0698451657333,0.999999966577,3.65771652135e-05,-0.000254998885367,2.2014986825e-05,1793239303073846016
+68,1.133333333,BASELINE,766,745,715,680,665,636,879,787.455050294,803,652.455050294,632,653,0.400988788957,0.00449002940015,0.0698458619868,0.999999966866,3.65364580673e-05,-0.000253877453126,2.1896801481e-05,1793239303090512896
+69,1.150000000,BASELINE,766,745.033780424,715,679.966219576,664.966219576,635.966219576,879,787.966219576,803.033780424,653,631.966219576,653,0.400988819838,0.00448965830696,0.069846329378,0.99999996715,3.50640290735e-05,-0.000252976802199,2.17479030615e-05,1793239303107179520
+70,1.166666667,BASELINE,766,745.610258654,715,679.389741346,664.389741346,635.389741346,879,787.389741346,803.610258654,653,631.389741346,653,0.400987535269,0.00448806124375,0.0698457212964,0.999999966856,3.32226182357e-05,-0.000254388416466,2.16795444021e-05,1793239303123846400
+71,1.183333333,BASELINE,766,745.809816592,715,679.380366816,664.190183408,635.190183408,879,787,803.809816592,653,631,653,0.400986894056,0.00448743758093,0.0698453266487,0.999999966629,3.23676243111e-05,-0.000255391038697,2.16571503574e-05,1793239303140513536
+72,1.200000000,BASELINE,766,745.222698434,715,680.554603132,664.777301566,635.777301566,879,787,803.222698434,653,631,653,0.400987595602,0.00448884551693,0.0698453774624,0.99999996655,3.35713961329e-05,-0.000255540047548,2.17306897628e-05,1793239303157180160
+73,1.216666667,BASELINE,766,745,715,680.28044603,664.640223015,636,879,787.359776985,803.359776985,653,631,653,0.400988216554,0.0044893488694,0.0698457290924,0.999999966756,3.49351895741e-05,-0.000254541779871,2.18308250275e-05,1793239303173846528
+74,1.233333333,BASELINE,766,745,715,679.121169658,664.060584829,636,879,787.939415171,803.939415171,653,631,653,0.400988788254,0.00448929942703,0.0698462645525,0.999999967132,3.63967728157e-05,-0.000252842406759,2.19472131271e-05,1793239303190513152
+75,1.250000000,BASELINE,766,745.517131036,715,679.517131036,664.517131036,636,879,788,803.482868964,653,631.517131036,653,0.4009872158,0.00448910800619,0.0698456411186,0.999999966784,3.58722956405e-05,-0.000254288135937,2.19619282977e-05,1793239303207179520
+76,1.266666667,BASELINE,766,746,715,680,665,636,879,788,803,652.905676313,631.905676313,653,0.400985745461,0.00448888012743,0.0698450474498,0.999999966411,3.51031778074e-05,-0.000255858436295,2.19743787216e-05,1793239303223846144
+77,1.283333333,BASELINE,766,746,715,680,665,636,879,788,803,652.33000868,631.33000868,653,0.400986073372,0.00448855076858,0.0698452959629,0.999999966353,3.42686169136e-05,-0.000256191076074,2.20358327498e-05,1793239303240513024
+78,1.300000000,BASELINE,766,746,715,680,665,636,879,788,803.248714967,652.248714967,631.248714967,653,0.400987729703,0.00448862391059,0.0698462452235,0.999999966772,3.44195610588e-05,-0.000254532586713,2.20039968516e-05,1793239303257179648
+79,1.316666667,BASELINE,766,746,715,680,665,636,879,788,803.831543897,652.831543897,631.831543897,653,0.40099117058,0.00448923775656,0.0698481358408,0.999999967817,3.58943942092e-05,-0.000250199292284,2.18468389086e-05,1793239303273846272
+80,1.333333333,BASELINE,766,746,715,680,665,636,879,787.583481807,804,653,631.583481807,653,0.400989545979,0.00448940500904,0.0698467733582,0.999999967355,3.47989620201e-05,-0.000252209204251,2.16693296338e-05,1793239303290512896
+81,1.350000000,BASELINE,766,746,715,680,665,636,879,787,804,653,631.002315151,653,0.400985882098,0.0044893880576,0.0698441034722,0.999999966269,3.2673439537e-05,-0.000256771995479,2.14849101196e-05,1793239303307179520
+82,1.366666667,BASELINE,766,746,715,680,665,636,879,787,804,653,631.575886321,653,0.400987153883,0.00448871745922,0.0698451565869,0.999999966679,3.42014439346e-05,-0.000254958374241,2.16368702037e-05,1793239303323846144
+83,1.383333333,BASELINE,766,746,715,680,664.849935235,636,879,787.150064765,803.849935235,652.849935235,631.849935235,653,0.400987740671,0.00448821158562,0.0698456567914,0.99999996686,3.49136477331e-05,-0.000254149954129,2.16745339512e-05,1793239303340512768
+84,1.400000000,BASELINE,766,746,715,680,664.274033402,636,879,787.725966598,803.274033402,652.274033402,631.274033402,653,0.400986383649,0.00448817314947,0.0698445880096,0.999999966399,3.3310863846e-05,-0.000256193981344,2.13878603255e-05,1793239303357179392
+85,1.416666667,BASELINE,766,746,715,679.691178919,664,636,879,788,803,652.308821081,631.308821081,653,0.4009869693,0.00448814036371,0.0698447398489,0.99999996653,3.31909451326e-05,-0.000255692619584,2.14435022331e-05,1793239303373846016
+86,1.433333333,BASELINE,766,746,715,679.102012919,664,636,879,788,803,652.897987081,631.897987081,653,0.400989318493,0.0044881127073,0.0698459997569,0.999999967196,3.44171577979e-05,-0.000252880577145,2.18098950313e-05,1793239303390512896
+87,1.450000000,BASELINE,766,746,715,679.479089027,664.479089027,636,879,788,803.479089027,652.520910973,632,653,0.400988332198,0.00448931672189,0.0698454379905,0.9999999669,3.53926356984e-05,-0.000253915775488,2.17927243378e-05,1793239303407179776
+88,1.466666667,BASELINE,766,746,715,680,665,636,879.05758166,788,804,652.05758166,632,653,0.400986882405,0.0044905245742,0.0698446479063,0.999999966475,3.62524658365e-05,-0.000255468566628,2.17252394882e-05,1793239303423846400
+89,1.483333333,BASELINE,766,746,715,680,665,636,879.627876755,788,804,652.627876755,632,653,0.400987524834,0.00448947005313,0.0698452215064,0.999999966718,3.65500698095e-05,-0.000254456585851,2.19249353747e-05,1793239303440513024
+90,1.500000000,BASELINE,766,746,715,680,665,636,880,788,803.794126534,653,632,653,0.400987954564,0.00448786878965,0.0698457090475,0.999999966994,3.47758404205e-05,-0.000253610942616,2.20181501198e-05,1793239303457179392
+91,1.516666667,BASELINE,766,746,715,680,665,636,880,788,803.201667946,653,632,653,0.400987984894,0.00448524086417,0.0698460349886,0.999999967312,2.9111163299e-05,-0.000253077644835,2.19114166606e-05,1793239303473846272
+92,1.533333333,BASELINE,766,745.617052936,715,680,664.617052936,635.617052936,879.617052936,787.617052936,803.382947064,653,631.617052936,653,0.400987744584,0.00448546595496,0.0698456791664,0.999999967195,2.91775520876e-05,-0.000253543204591,2.17651776509e-05,1793239303490513152
+93,1.550000000,BASELINE,766,745.036485559,715,680,664.036485559,635.036485559,879.036485559,787.036485559,803.963514441,653,631.036485559,653,0.400987364608,0.00448716334814,0.0698449715194,0.999999966857,3.22014641047e-05,-0.000254524225982,2.15985517427e-05,1793239303507180032
+94,1.566666667,BASELINE,766,745.537410027,715,680,664.537410027,635.537410027,879,787,803.462589973,652.462589973,631,653,0.400986020158,0.00448794015115,0.0698448484019,0.999999966412,3.51271456385e-05,-0.000255863454945,2.18354340928e-05,1793239303523846400
+95,1.583333333,BASELINE,766,745.888215075,715,680,664.888215075,636,879.22356985,787.111784925,803,652,631.111784925,653,0.400985293228,0.00448836548944,0.0698448886917,0.999999966165,3.69768124451e-05,-0.000256548526328,2.2024269178e-05,1793239303540513024
+96,1.600000000,BASELINE,766,745.30997299,715,680,664.30997299,636,880.380054021,787.69002701,803,652,631.69002701,653,0.400987412972,0.00448758183622,0.0698454472833,0.999999966809,3.43639633064e-05,-0.000254403688245,2.1899700892e-05,1793239303557179904
+97,1.616666667,BASELINE,766,745,715,680,664.272406859,636,880.455186282,788,803,652,632,653,0.400988357444,0.00448847418964,0.0698455804036,0.999999967065,3.4831914917e-05,-0.000253341470278,2.17956267146e-05,1793239303573846528
+98,1.633333333,BASELINE,766,745,715,680,664.859567674,636,879.280864653,788,803,652,632,653,0.400987943943,0.00449130309391,0.0698452219109,0.99999996687,3.88595943123e-05,-0.000253530171617,2.17152325718e-05,1793239303590513408
+99,1.650000000,BASELINE,766,745,715,680,665,636,879,788,803,652.442001728,631.557998272,653,0.400987686912,0.00448994001986,0.0698450326493,0.999999966787,3.72592722191e-05,-0.000254092115388,2.17822132977e-05,1793239303607179776
+100,1.666666667,BASELINE,766,745,715,680,665,636,879,787.977282809,803,652.977282809,631.022717191,653,0.400987515233,0.00448739313371,0.0698449519747,0.999999966751,3.40108550531e-05,-0.000254678908333,2.18900982742e-05,1793239303623846400
+101,1.683333333,BASELINE,766,745,715,680,665,636,879,787.402224936,803,652.402224936,631.597775064,653,0.400988222855,0.00448810347907,0.0698462179887,0.999999967184,3.37070253576e-05,-0.000253017108171,2.18661028605e-05,1793239303640513024
+102,1.700000000,BASELINE,766,745.172246566,715,680,665,636,879.172246566,787,803,652.172246566,632,653,0.400988821706,0.00448881742279,0.0698469762553,0.999999967459,3.40331821068e-05,-0.000251889717798,2.17986027193e-05,1793239303657179648
+103,1.716666667,BASELINE,766,745.745353356,715,680,665,636,879.745353356,787,803,652.745353356,632,653,0.400989167418,0.00448953974065,0.0698465528687,0.999999967371,3.58254726697e-05,-0.000252006030987,2.16298563551e-05,1793239303673846272
+104,1.733333333,BASELINE,766,746,715,680,665,636,879.668958641,787,803,653,631.668958641,653,0.400988539081,0.00448952442963,0.0698461468628,0.999999967225,3.50980783649e-05,-0.000252693040451,2.15525380859e-05,1793239303690512896
+105,1.750000000,BASELINE,766,746,715,680,665,636,879.073210403,787,803,653,631.073210403,653,0.400987131875,0.0044889192968,0.0698457547547,0.999999967028,3.23558969781e-05,-0.00025383638937,2.15483274177e-05,1793239303707179776
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,665,636,880,787,804,653,631,653,0.400988357884,0.00448965436195,0.0698459140042,0.999999967108,3.51527858535e-05,-0.000253167427068,2.13127550924e-05,1793239303738171136
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745.572992866,715,679.572992866,665,636,879.427007134,787.572992866,803.427007134,653,631,653,0.400988880025,0.00448977472839,0.0698464718171,0.999999967242,3.67190197327e-05,-0.000252392944715,2.15899317054e-05,1793239303754838272
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.849639929,879,788,803.150360071,653,631,653,0.400989213731,0.00448931588889,0.0698468711547,0.999999967307,3.70836122937e-05,-0.000252056530734,2.18920827701e-05,1793239303771505408
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.259477681,879,788,803.740522319,653,631,653,0.400988996267,0.00448716287599,0.0698468069532,0.999999967171,3.39334126022e-05,-0.000253001463557,2.22672840003e-05,1793239303788171776
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.324744639,879,788,803.675255361,653,631.324744639,653,0.400988661022,0.00448660122009,0.0698467185964,0.999999967209,3.28472012912e-05,-0.000252988374686,2.23467337954e-05,1793239303804838144
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.90430605,879,788,803.09569395,653,631.90430605,653,0.400988233358,0.00448728825144,0.0698466112856,0.999999967388,3.33805361004e-05,-0.000252223556652,2.21941168385e-05,1793239303821504512
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664.520314472,636,879.479685528,787.520314472,803,653,631.520314472,653,0.400987189372,0.00448814945208,0.0698456133907,0.999999966925,3.52547352249e-05,-0.000253815422821,2.20232875387e-05,1793239303838171392
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.945749748,715,680,664.054250252,636,879.945749748,787,803,652.945749748,631,653,0.400986269631,0.00448900680045,0.0698446169508,0.999999966422,3.70977222335e-05,-0.000255541529437,2.18677536646e-05,1793239303854838528
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.371066971,715,680,664.628933029,636,879.371066971,787,803,652.371066971,631,653,0.40098771112,0.00448949675353,0.0698453241152,0.999999966829,3.60973534394e-05,-0.000254084249475,2.18935046442e-05,1793239303871504640
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665,636,879.210220427,787,803.210220427,652,631,653,0.400990172084,0.00448977958957,0.0698468006372,0.999999967371,3.57361055275e-05,-0.000251991733356,2.19498657927e-05,1793239303888171008
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665,636,879.803543943,787,803.803543943,652,631,653,0.400994490926,0.00448968497803,0.0698496792265,0.999999968153,3.65395836639e-05,-0.00024874157093,2.20620105289e-05,1793239303904837632
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.387451962,715,680,665,635.612548038,879.612548038,787,803.612548038,652.387451962,631,653,0.401011491144,0.00448981938273,0.0698574311984,0.999999971273,3.62421975971e-05,-0.000235911449474,2.2039478407e-05,1793239303921504000
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.966699204,715,680,665,635.033300796,879.033300796,787,803.033300796,652.966699204,631,653,0.401034768858,0.00449006715433,0.0698675955774,0.999999975297,3.53998651759e-05,-0.000218339085765,2.19502789647e-05,1793239303938170880
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.540290972,879,787,803,653,631,653,0.40108466245,0.00448854617315,0.0698843563462,0.999999981512,3.3215098163e-05,-0.000188161268776,2.1622098382e-05,1793239303954837504
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680.114420078,665,636,879.114420078,787,803.114420078,652.885579922,631.114420078,653,0.401138356105,0.00448733251108,0.0699007792265,0.999999986527,3.12088017564e-05,-0.000159760645158,2.11952197381e-05,1793239303971504384
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680.692121762,665,636,879.692121762,787,803.692121762,652.307878238,631.692121762,653,0.401200862687,0.00448780000142,0.069914204895,0.999999989299,3.02566674993e-05,-0.000141668978133,2.04277387792e-05,1793239303988171264
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680.446932074,665,636,880,787,804,652.276533963,631.723466037,653,0.401269387187,0.00448883102468,0.0699227393831,0.999999990973,3.01748158075e-05,-0.000129496684786,1.9336577154e-05,1793239304004837632
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,715,679.262793862,665,636,880,787,804,652.868603069,631.131396931,653,0.401344778344,0.00449050505912,0.0699256928584,0.999999991659,3.10859877176e-05,-0.000124078609662,1.78760843619e-05,1793239304021504256
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,715,679,665,636,879.552601614,787,803.552601614,653,631,653,0.401431222005,0.00448971728115,0.0699234610578,0.999999991354,2.78763650751e-05,-0.000127509247129,1.60349296149e-05,1793239304038170624
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,715,679.022403855,665,635.977596145,879,787.022403855,803.022403855,652.977596145,631,653,0.401522037067,0.00448836959061,0.0699198898471,0.999999990743,2.3636780511e-05,-0.000133260661366,1.40566489866e-05,1793239304054837248
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,715,679.597316267,665,635.402683733,879,787.597316267,803.597316267,652.402683733,631,653,0.401642912057,0.00449053039106,0.0699197608473,0.999999990693,2.29831224681e-05,-0.000134002621576,1.13742830784e-05,1793239304071503872
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.176263493,879.176263493,787.823736507,803.823736507,652,631,653,0.401771570626,0.00449227689417,0.0699206159672,0.999999990946,2.1350344402e-05,-0.000132587819684,8.47085038547e-06,1793239304088170752
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.764644337,879.764644337,787.235355663,803.235355663,652,631,653,0.401918427773,0.00449305473853,0.0699237720333,0.999999991881,1.74283099183e-05,-0.00012613034512,5.05054724201e-06,1793239304104837376
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.652375055,746,715,680.347624945,664.652375055,636,879.652375055,787,803,652,631,653,0.402087418347,0.00449407311268,0.0699285237729,0.999999992962,1.42250774691e-05,-0.000117781517722,1.23864479597e-06,1793239304121504000
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.072994632,746,715,680.927005368,664.072994632,636,879.072994632,787,803,652,631,653,0.402271164905,0.00449525184392,0.0699343393206,0.999999994079,1.15010573883e-05,-0.000108171757772,-2.8343304073e-06,1793239304138170880
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.50475556,745.49524444,715,680.49524444,664.50475556,636,879,787.50475556,803.50475556,652.50475556,631,652.49524444,0.402481303665,0.00449618530256,0.0699364762144,0.99999999459,6.68324515427e-06,-0.0001035638836,-7.05267290528e-06,1793239304154837760
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,665,636,879,787.916648014,804,652.916648014,631.083351986,652.083351986,0.402700666168,0.0044970762382,0.0699383830613,0.99999999505,1.29568657175e-06,-9.88205381385e-05,-1.15040761888e-05,1793239304171504384
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665,636,879,787.331542677,804,652.331542677,631.668457323,652.668457323,0.40295265161,0.00449792402875,0.0699420971693,0.999999995882,-5.70472953901e-06,-8.8921417922e-05,-1.72322962752e-05,1793239304188170752
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.251077072,715,680,665,636,879.251077072,787.251077072,803.748922928,652.251077072,632,653,0.403223120849,0.00449852733103,0.0699469358465,0.999999996633,-1.20104544459e-05,-7.79484928366e-05,-2.2649172175e-05,1793239304204837376
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.830446786,715,680,665,636,879.830446786,787.830446786,803.169553214,652.830446786,632,653,0.403517758331,0.00449881095571,0.0699532449396,0.999999997316,-1.7407844253e-05,-6.55715284018e-05,-2.76589535859e-05,1793239304221504000
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,715,679.59084129,665,636,879.59084129,787.59084129,803,653,632,653,0.403836823265,0.00449963800287,0.0699597719394,0.999999997757,-2.26591952424e-05,-5.39386168808e-05,-3.26052293006e-05,1793239304238170624
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,715,679.012401528,665,636,879.012401528,787.012401528,803,653,632,653,0.404165994552,0.00450068987997,0.0699663890935,0.999999998,-2.78501255199e-05,-4.26135423456e-05,-3.7525230704e-05,1793239304254837504
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,715,679.562789008,665,636,879,787.562789008,803,652.437210992,631.437210992,653,0.404524698186,0.0044985097824,0.0699665931808,0.999999997594,-3.09504215402e-05,-4.70469531516e-05,-4.05021377075e-05,1793239304271504128
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,787.85895394,803,652,631,653,0.404897121093,0.004496651359,0.0699682165923,0.999999997914,-1.95866846798e-05,-4.72501316852e-05,-3.94513105672e-05,1793239304288170496
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,787.270749539,803,652,631,653,0.405310986847,0.0044960372301,0.0699747851342,0.999999998423,3.74871643115e-05,-3.29476313713e-05,-2.57663224988e-05,1793239304304837120
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,787,803.312893586,652,631.312893586,653,0.405736273348,0.00449582558778,0.069975964651,0.99999999747,6.09288032936e-05,-2.91416904426e-05,-2.23277882988e-05,1793239304321503744
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879,787,803.892646573,652,631.892646573,653,0.406171300376,0.00449595721647,0.069972547999,0.99999999748,5.56863469609e-05,-3.42880106437e-05,-2.76282063115e-05,1793239304338170368
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879.470011383,787,804,652.470011383,632,653,0.406622632602,0.00450134663785,0.069957890143,0.999999996681,4.73799801622e-05,-5.91673208957e-05,-2.98839580644e-05,1793239304354837248
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,714.953566847,680,665,636,880,787,804,652.953566847,632,653,0.407083345068,0.00450787379237,0.0699415476549,0.999999995136,3.5864344355e-05,-8.63361556039e-05,-3.14444618513e-05,1793239304371503616
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,714.381674901,680,665,636,880,787,804,652.381674901,632,653,0.407608277205,0.00451375470037,0.0699350498663,0.999999995517,-4.0894564333e-06,-8.86673837085e-05,-3.29671302308e-05,1793239304388170240
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,714.197434559,680,665,636,879.802565441,787.197434559,804.197434559,652.197434559,632,652.802565441,0.408159202931,0.00451979693822,0.0699362261678,0.999999996052,-2.0628490707e-05,-7.92026847706e-05,-3.45954753807e-05,1793239304404836864
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,714.791026092,680,665,636,879.208973908,787.791026092,804.791026092,652.791026092,632,652.208973908,0.408762285359,0.00452616288778,0.0699528007077,0.999999998227,9.81474387726e-06,-4.60691874523e-05,-3.64358633474e-05,1793239304421503488
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.626671827,715,680,665,636,879,787.626671827,804.626671827,653,631.626671827,652.373328173,0.409364501726,0.00453345640734,0.0699602456679,0.999999998227,3.49943977582e-05,-2.94564206406e-05,-3.81205834969e-05,1793239304438170112
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.050503652,715,680,665,636,879,787.050503652,804.050503652,653,631.050503652,652.949496348,0.409966247518,0.00454125390233,0.0699627302626,0.999999997331,5.73141949021e-05,-2.18198459782e-05,-3.97207247656e-05,1793239304454836992
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.519383744,715,680.519383744,665,636,879.519383744,787.519383744,804,653,631.519383744,653,0.410574391031,0.00454827064377,0.0699549121049,0.999999996269,6.72154912985e-05,-3.59061768522e-05,-4.06723207285e-05,1793239304471503872
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,715,680.907034765,665,636,880,787.907034765,804,653,631.907034765,653,0.411199034376,0.00455535365626,0.0699497322944,0.999999995332,7.41529808903e-05,-4.59155348645e-05,-4.15778723167e-05,1793239304488170240
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715,680.310159086,665,636,880,787.310159086,804,653,631.310159086,653,0.411909781747,0.00456320247693,0.0699642188082,0.999999996285,7.1492592087e-05,-2.25133277053e-05,-4.2571587543e-05,1793239304504836864
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879.721884337,787,803.721884337,653,631.278115663,653,0.412638277028,0.0045700261399,0.0699874123181,0.999999995855,7.88568929173e-05,1.42487097851e-05,-4.32285926095e-05,1793239304521503744
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879.142913672,787,803.142913672,653,631.857086328,653,0.413385971415,0.00457574082702,0.0700200247286,0.999999992199,9.7065523247e-05,6.54629091694e-05,-4.35213574142e-05,1793239304538170368
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.565600989,715,680,665,636,879,787,803.434399011,652.565600989,631.565600989,653,0.414118379823,0.0045831387728,0.0700266246001,0.999999990535,0.000108392293333,7.25571303333e-05,-4.37800483231e-05,1793239304554836992
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.011353168,715,680,665,636,879,787,804,652,631,653,0.414844881913,0.00459105022262,0.070023702159,0.999999990138,0.000117239000363,6.35447911531e-05,-4.40560118242e-05,1793239304571503872
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.597671138,715,680,665,636,879,787,804,652,631,653,0.415525985383,0.0045970287075,0.069970291025,0.999999991957,0.000114711361213,-2.88594310435e-05,-4.57722775178e-05,1793239304588170496
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.818127804,746,715,680,665.181872196,636,879,787.181872196,804,652.181872196,631,653,0.416254189443,0.00460358460294,0.0699322706105,0.999999987484,0.000118772459016,-9.31177905016e-05,-4.74707892115e-05,1793239304604837120
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.238555832,746,715,680,665.761444168,636,879,787.761444168,804,652.761444168,631,653,0.41708538828,0.0046114031212,0.0699279050729,0.999999984784,0.000137241144256,-9.58296107333e-05,-4.91304788573e-05,1793239304621503744
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.678554635,746,715,680,666,636,879,788,804,652.660722682,631,653,0.417919472277,0.00461743334209,0.0699458190412,0.999999986045,0.000144462600813,-6.79166724133e-05,-4.92742065643e-05,1793239304638170368
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.831788122,746,715,680,666,636,879,788,804,652.084105939,631,653,0.418755574535,0.00462221256988,0.0699793185052,0.999999988317,0.000143816124552,-1.85803665436e-05,-4.83574519762e-05,1793239304654837248
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.507886677,746,715,680.492113323,665.507886677,636,879.984226645,788,804,652.492113323,631,653,0.4196117865,0.00462533414203,0.0700023043843,0.999999988275,0.000144439647699,1.32891250309e-05,-4.909387186e-05,1793239304671503872
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715,680.930847251,665.069152749,636,880.930847251,787.930847251,804.069152749,652.930847251,631,653,0.420469271997,0.00462629911995,0.0700223087318,0.999999987556,0.00014382440919,4.09311470661e-05,-5.02639309358e-05,1793239304688170496
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715,680.347201127,665.652798873,636,880.347201127,787.347201127,804.652798873,652.347201127,631,653,0.421310682296,0.00461332521477,0.0700334883179,0.999999988098,0.000132379280525,5.93128922188e-05,-5.25598559826e-05,1793239304704837120
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665.764267837,636,880,787.235732163,804.764267837,652.235732163,631,653,0.422151925091,0.00459510190312,0.0700251703627,0.999999991424,0.000110650857155,4.54670089655e-05,-5.33037826352e-05,1793239304721504000
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665.182381202,636,880,787.817618798,804.182381202,652.817618798,631,653,0.422992922046,0.00456917024163,0.0699882217761,0.999999995812,7.3822207811e-05,-1.57026545555e-05,-5.17687197115e-05,1793239304738170624
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680.397615382,665,636,880,787.602384618,803.602384618,653,631,653,0.42380044716,0.00456682396764,0.0699270703693,0.999999989978,7.14592886984e-05,-0.000110107604116,-5.30406980444e-05,1793239304754836992
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,680.97674909,665,636,880,787.02325091,803.02325091,653,631,653,0.424592691747,0.00457524483408,0.0698548699571,0.999999970726,8.48305753998e-05,-0.00021968503409,-5.55941390726e-05,1793239304771503872
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680.451182193,665,636,880,787,803.548817807,652.451182193,631,652.451182193,0.425506301995,0.00458074283293,0.0698895045611,0.999999982335,8.20123795535e-05,-0.000159417659078,-5.64768319001e-05,1793239304788170496
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,787.12477147,804.12477147,652,631.12477147,652.12477147,0.426422382771,0.00458575182863,0.06993183468,0.999999990898,8.25336962894e-05,-9.06848448207e-05,-5.62922571627e-05,1793239304804836864
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,880,787.716365953,804.716365953,652,631.716365953,652.716365953,0.42732871397,0.00458938866285,0.069986238098,0.999999993676,9.80830812583e-05,-1.68586836202e-05,-5.2376041799e-05,1793239304821503488
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665.301667352,636,880.301667352,788,805,652,632,653,0.42824848664,0.00459351873108,0.0700252039968,0.999999991836,0.000109402413373,4.12360992085e-05,-5.15599514528e-05,1793239304838170368
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665.881172736,636,880.881172736,788,805,652,632,653,0.42918063896,0.00459810307157,0.0700499518143,0.99999998814,0.000116825832503,8.48421531694e-05,-5.35991012719e-05,1793239304854836992
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680.457004039,666,636,880.542995961,788,804.542995961,652,632,653,0.430045620912,0.00459617062796,0.0700445463278,0.999999989534,0.000110933469,7.53202884531e-05,-5.43418802884e-05,1793239304871503616
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.96739968,746,715,681,665.96739968,635.96739968,880,787.96739968,804,652,632,653,0.430886391324,0.00459261993448,0.0700279516196,0.999999992196,0.000102291973687,4.63441150471e-05,-5.47380468586e-05,1793239304888170240
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.379668496,746,715,681,665.379668496,635.379668496,880,787.379668496,804,652,632,653,0.431609909596,0.00459013673308,0.0699532648966,0.999999989701,0.000105324125277,-8.05537559017e-05,-5.4926011607e-05,1793239304904836864
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.205136631,746,715,681,665,635,880,787,804,652,632,653,0.432382065294,0.00458579900712,0.0699043186268,0.999999980618,0.000102250196655,-0.00015886277072,-5.54295258648e-05,1793239304921503488
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.784602444,746,715,681,665,635,880,787,804,652,632,653,0.433242973708,0.00457807718176,0.0699023430038,0.999999983501,8.80340191544e-05,-0.000148507845204,-5.65088498477e-05,1793239304938170368
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665.364039716,635.364039716,880,787.364039716,804,652,631.635960284,653,0.434140553083,0.00457286549823,0.0699455874962,0.999999992734,7.68635657916e-05,-7.3931012509e-05,-5.619530978e-05,1793239304954836992
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715,681,665.943460067,635.943460067,880,787.943460067,804,652,631.056539933,653,0.435059828431,0.0045691389167,0.0700155860399,0.99999999546,6.74950861977e-05,3.86421008931e-05,-5.5057694304e-05,1793239304971503616
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,681,665.48244988,636,880.51755012,787.48244988,804.51755012,652,631.51755012,652.48244988,0.435878148677,0.0045723174999,0.0700337312911,0.999999993205,7.54117606318e-05,7.01100242551e-05,-5.46602991839e-05,1793239304988169984
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665.093561846,636,881,787,805,652,631.906438154,652.093561846,0.436675867809,0.00457561997418,0.0700415603334,0.999999991267,8.39742165304e-05,8.61948090977e-05,-5.46360170788e-05,1793239305004836608
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715,681,665.682808042,636,881,787,805,652,631.317191958,652.682808042,0.437422278193,0.00457562302359,0.0700244402144,0.999999992459,8.60557583835e-05,6.72438414576e-05,-5.61644092737e-05,1793239305021503488
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,715,681,665.73250884,636,881,787.26749116,805,652,631,653,0.438151686549,0.00457738075654,0.0699961515931,0.999999994113,8.63971460186e-05,3.11248020776e-05,-5.77931553758e-05,1793239305038170368
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665.153145918,636,881,787.846854082,805,652,631,653,0.438861271946,0.00458118430005,0.0699548414567,0.999999994327,8.47096626992e-05,-2.50107359154e-05,-5.953890531e-05,1793239305054836992
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.575634531,715,681.424365469,665,636,880.575634531,788,805,652,631.424365469,653,0.439523351152,0.00458312735871,0.0699030054814,0.999999988663,8.15827420007e-05,-0.000112152467756,-5.8646412427e-05,1793239305071503616
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.998796966,745.001203034,715,682,665,635.998796966,880.001203034,787.998796966,805,652,632,653,0.440168447254,0.00458441452376,0.0698475139669,0.999999973254,7.79818957778e-05,-0.000210199249958,-5.68123581205e-05,1793239305088170496
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.426037991,745.573962009,715,682,665,635.426037991,880.573962009,787.426037991,805,652,632,653,0.440854640643,0.00459169042267,0.0698521463126,0.999999974571,9.49460290873e-05,-0.000196157045667,-5.80179055837e-05,1793239305104837120
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.303888673,746,715,682,665,635,881,787,804.848055664,652,632,653.151944336,0.441537696636,0.00459920867156,0.0698666732963,0.999999977609,0.000110184880945,-0.000170790367049,-5.89314018551e-05,1793239305121503488
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.490188012,746,715,682,665,635,881,787,804.254905994,652,632,653.745094006,0.442211642636,0.00460743064106,0.069909931639,0.999999984677,0.000120413985085,-0.000112540468697,-5.89968605328e-05,1793239305138170368
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.670449564,746,714.670449564,682,664.670449564,635,881,787,804,652,631.670449564,653.670449564,0.442830215289,0.00461645137485,0.0699176004904,0.999999983201,0.000134322380202,-0.000109880171262,-5.90052769575e-05,1793239305154837248
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.092544536,746,714.092544536,682,664.092544536,635,881,787,804,652,631.092544536,653.092544536,0.443407057642,0.00462607406996,0.0698984485171,0.999999975743,0.000151003548525,-0.000149113108614,-5.89707054316e-05,1793239305171503616
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,714.481948395,682,663.518051605,635,881,787,804.481948395,652,631.481948395,652.518051605,0.443945391554,0.00463082108907,0.0698582558556,0.999999961995,0.000165893897611,-0.000212554989052,-5.75325341565e-05,1793239305188170496
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.942870697,745.942870697,714.942870697,682,662.942870697,635,881,787,804.942870697,652,632,652.057129303,0.444472293188,0.00463505638596,0.0698155963605,0.999999943545,0.000180163325933,-0.000278017644198,-5.6198036884e-05,1793239305204837120
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.355260332,745.355260332,714.355260332,682,662.355260332,635,881,787,804.355260332,652,632,652.644739668,0.444961218456,0.00464317243623,0.069787283438,0.999999928896,0.000191837781628,-0.000319382388117,-5.83113003888e-05,1793239305221503744
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.22914907,745.22914907,714,682,661.77085093,634.77085093,881,787,804.22914907,652,632,653,0.445448448546,0.00465053122789,0.0697668041188,0.999999917759,0.000200426011326,-0.000347340146309,-6.05504528356e-05,1793239305238170112
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.808664187,745.808664187,714,682,661.191335813,634.191335813,881,787,804.808664187,652,632,653,0.445933086688,0.00465673217988,0.0697583022832,0.999999914207,0.000204295439625,-0.00035479878877,-6.29820878283e-05,1793239305254836992
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,714,682.386003172,661,634.386003172,880.613996828,787,804.613996828,652,631.613996828,653,0.446384976735,0.00466190922606,0.069752560702,0.999999908633,0.000211500153244,-0.000366158337742,-6.26914231984e-05,1793239305271503616
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,714,682.96226958,661,634.96226958,880.03773042,787,804.03773042,652,631.03773042,653,0.446820725097,0.00466658158359,0.0697481796656,0.999999901871,0.000220348848953,-0.00037944066711,-6.10589212548e-05,1793239305288170240
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,714,682.465676772,661,634.465676772,880.534323228,787,804,652,631.534323228,653,0.447203686426,0.00467817449216,0.0697312646248,0.999999882885,0.000237418768021,-0.000417329959683,-6.08051030349e-05,1793239305304837120
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.295767469,745.295767469,714,682,660.295767469,634,881,787,804,652,631.295767469,653,0.447923595996,0.00470927661289,0.0696965418823,0.999999849333,0.000267523597578,-0.000474454016345,-6.82579169128e-05,1793239305338170368
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765.553016302,746,714,683,659.553016302,633.446983698,881,787,804.446983698,652,631,653,0.448911991932,0.00472732022135,0.069701825826,0.999999853704,0.000277600705819,-0.000458085721738,-7.54169219002e-05,1793239305388170496
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,714.984114161,683,658,633,881,786.984114161,805,652,632,653.984114161,0.45102549104,0.0047487248348,0.069627158156,0.999999791934,0.00027085760725,-0.000581530383086,-6.77605658431e-05,1793239305604836864
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+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746,714.858210677,682.141789323,658,633,881,787,804,652,632,653,0.451133828847,0.00475575547309,0.0696206897442,0.999999783936,0.000278614165548,-0.000591317157509,-6.96168513905e-05,1793239305638170368
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,714.26871929,682.73128071,658,633,881,787,804,652,632,653,0.451174428736,0.00475745544426,0.0696186266947,0.99999978047,0.000282079758652,-0.000595538494818,-6.9463750182e-05,1793239305654836992
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,683,658,633,881,787,804.618036426,652,631.618036426,653,0.45128652509,0.00475894126454,0.0696138265925,0.999999775292,0.000285022426808,-0.000602922740478,-6.82848769755e-05,1793239305738170368
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+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,714,682.893169061,657.893169061,632.106830939,881,786.106830939,804.106830939,652,631,653.106830939,0.451310175713,0.0047601993322,0.0696090969576,0.999999769836,0.000290026876641,-0.000609597494505,-6.78440220369e-05,1793239305838170368
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,714,682.306869839,657.306869839,632.693130161,881,786.693130161,804.693130161,652,631,653.693130161,0.451310959176,0.00476243872606,0.0696077125077,0.999999769016,0.000291770178668,-0.00061010368602,-6.79095894544e-05,1793239305854836992
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+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,714.855826214,682.855826214,657.855826214,633,881,787,804.144173786,652,631,653.144173786,0.451311804757,0.00476170576994,0.0696080439647,0.999999768892,0.00029190650739,-0.000610361956722,-6.68188720129e-05,1793239305888170240
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,714.566418666,683,657.566418666,633,881,787,804.433581334,652,631.433581334,653,0.451311833518,0.00476140434752,0.0696079083976,0.999999768917,0.000290568343865,-0.000610953306537,-6.68715468206e-05,1793239305904836608
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765.415860604,746,714.584139396,683,657.584139396,633,881,787,804.415860604,652,631.415860604,653,0.451313998311,0.00476001830385,0.0696088604109,0.999999770051,0.000289349237509,-0.000609686189013,-6.67708727988e-05,1793239305938170368
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,714.837453948,682.837453948,658,633,881,787,804.162546052,652,631.162546052,653,0.451315343696,0.00475923389548,0.0696093718526,0.999999770612,0.000289843721896,-0.000608557433174,-6.65112862781e-05,1793239305954836992
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765.817451998,746,714,682.817451998,658,633,881,787,804,652.817451998,631.182548002,653,0.451314298539,0.00476076006705,0.069605957991,0.999999767246,0.000289873137659,-0.000614054880529,-6.64675183647e-05,1793239306088170496
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.600673008,746,714,683,658,633,881.399326992,787,804.399326992,652.600673008,631.399326992,653,0.45131458392,0.00475915912794,0.0696059567876,0.999999768097,0.000287275071368,-0.000613894785745,-6.64310149848e-05,1793239306104836864
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+251,4.183333333,POSE1_TO_POSE2_PRESS,765.87492311,745.12507689,714,683,658,633,881.87492311,787,804.87492311,652,632,653,0.451314164498,0.00475736740664,0.0696047559888,0.999999767768,0.000287869175501,-0.000614203227371,-6.59506859958e-05,1793239306154836992
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.28555975,745.71444025,714,683,658,633,881.28555975,787,804.28555975,652,632,653,0.451314402229,0.0047586074817,0.0696052789672,0.99999976765,0.000289057643502,-0.000613802524623,-6.62658957775e-05,1793239306171503616
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,746,714,683,658,633,881,787,804.597292932,652,631.701353534,653,0.451314938684,0.00475868786063,0.0696054066066,0.999999767985,0.000288385045816,-0.000613562187813,-6.63750353226e-05,1793239306188170496
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+256,4.266666667,HOLD_POSE2,765,746,714,683,658,633,881,787,805,652,632,653,0.451314288943,0.00475781489521,0.0696040959337,0.999999766147,0.000289245427124,-0.000616209619634,-6.57876816009e-05,1793239306266229760
+257,4.283333333,HOLD_POSE2,765.590031104,746,714,683,658,633,881,787,805,652,632,653,0.451314801649,0.00475806397006,0.0696051961739,0.999999766759,0.000289048125371,-0.000615319123687,-6.56895680963e-05,1793239306282896128
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+260,4.333333333,HOLD_POSE2,765,745.332775999,714.667224001,683.667224001,657.332775999,632.667224001,881,786.667224001,805,652,631.667224001,653,0.451315977174,0.00475859109975,0.069606424597,0.999999768956,0.000287392798002,-0.000612489233896,-6.59521262321e-05,1793239306332896256
+261,4.350000000,HOLD_POSE2,765,745.90556415,714.09443585,683.09443585,657.90556415,632.09443585,881,786.09443585,805,652,631.09443585,653,0.451316632705,0.00476024391546,0.0696060712583,0.999999768075,0.000290192409978,-0.000612616412574,-6.58677863354e-05,1793239306349562880
+262,4.366666667,HOLD_POSE2,765.492759053,746,714,682.507240947,657.507240947,632.492759053,881,786.492759053,805,652,631,653,0.451315696915,0.0047603314297,0.0696048018386,0.99999976679,0.000290585777533,-0.000614530949453,-6.58161973651e-05,1793239306366229504
+263,4.383333333,HOLD_POSE2,765.918718258,746,714,682.081281742,657.081281742,633,881,787,805,652.081281742,631,653,0.451314767611,0.00475998439567,0.0696036735384,0.999999765769,0.000290367925524,-0.000616294997744,-6.57870628843e-05,1793239306382896384
+264,4.400000000,HOLD_POSE2,765.339485263,746,714,682.660514737,657.660514737,633,881,787,805,652.660514737,631,653,0.451315802645,0.00475886834749,0.0696045177108,0.999999766882,0.000289315795684,-0.00061497542211,-6.58558797938e-05,1793239306399563008
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+266,4.433333333,HOLD_POSE2,765,745.180606028,714,683,658,633,881,787,805,652.180606028,631,653,0.451316420605,0.00475663842169,0.0696057594039,0.999999767953,0.000287832637592,-0.00061397143195,-6.54694576188e-05,1793239306432896256
+267,4.450000000,HOLD_POSE2,765,745.400306397,714,683,658,633,881,787,805,652,631.400306397,653,0.451316605971,0.00475616399831,0.0696061575651,0.999999768429,0.00028719193587,-0.000613537120018,-6.50746084349e-05,1793239306449562880
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,746,715,682,662.95465116,634.95465116,881.95465116,787,804.04534884,652,632,653,0.441651403067,0.00463083427045,0.0697284128461,0.999999896738,0.000136114869645,-0.000433240262942,1.73094283494e-05,1793239307269988608
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.826281768,746,714.826281768,682,664,635,880,787.826281768,804,652,632,653,0.427895490862,0.00453996887258,0.0697863297574,0.999999935923,0.000101494095005,-0.000341833620728,3.16803057342e-05,1793239307553322240
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,746,715,681.597045248,664.402954752,635,880,787.597045248,804.402954752,652,632,653,0.427043487822,0.00453496766233,0.0698369306492,0.99999996011,9.27745242095e-05,-0.000264704598702,3.3230335694e-05,1793239307569988864
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,746,715,681.021820995,664.978179005,635,880,787.021820995,804.978179005,652,632,653,0.426195473587,0.00453090175831,0.0698844121011,0.999999976731,8.96203564352e-05,-0.000193053018572,3.51571518258e-05,1793239307586655488
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,664.435755874,635.564244126,880,787.564244126,804.435755874,652.564244126,631.435755874,653.564244126,0.42531002292,0.00452035721794,0.0698668252011,0.999999970979,8.61320170395e-05,-0.00022213772403,3.57417072914e-05,1793239307603323392
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,746,714.851059746,681,664,636,880,787.851059746,804,652.851059746,631.148940254,653.851059746,0.424410042507,0.00451136574463,0.0698433916218,0.999999962081,8.08666409407e-05,-0.000260804960861,3.57619127898e-05,1793239307619990784
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,746,714.271556915,681,664,636,880,787.271556915,804,652.271556915,631.728443085,653.271556915,0.423472326242,0.00450760242492,0.0698104731987,0.999999947096,7.0502226059e-05,-0.000315691097648,3.43036731744e-05,1793239307636656640
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,746,714.306651937,681.306651937,664,635.693348063,880,787,804,652,632,653,0.422502073536,0.00450160793392,0.0697608374051,0.999999916987,6.2126935185e-05,-0.000401228142593,3.43789993549e-05,1793239307653322752
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,746,714.883719685,681.883719685,664,635.116280315,880,787,804,652,632,653,0.421503129171,0.00449364592255,0.0696964596835,0.999999865826,5.55057196569e-05,-0.00051379416525,3.58066743428e-05,1793239307669989376
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,681.081755619,663.54087781,635.45912219,879.54087781,787.45912219,804,652,632,653,0.420671273062,0.00448506119895,0.069724592172,0.999999892756,3.82159540016e-05,-0.000460329191127,3.35385822516e-05,1793239307686656000
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.965006904,746,715,680,663.069986192,636,879.034993096,788,804,652,632,653,0.419883616786,0.00447636060761,0.0697772183937,0.999999933052,1.89006091204e-05,-0.000364136085244,3.07201079322e-05,1793239307703323136
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.375043575,746,715,680,664.249912851,636,879.624956425,788,804,652,632,653,0.419128233676,0.00446831461627,0.0698480616365,0.999999966915,1.0157869864e-05,-0.000254779949249,3.39638954283e-05,1793239307719989504
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.211184968,746,715,680.211184968,664.788815032,635.788815032,880,788,804,652.211184968,632,653,0.418337403283,0.00446068217057,0.0698902966093,0.999999980922,5.39967655124e-06,-0.000191844807893,3.63636212804e-05,1793239307736656128
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.790896254,746,715,680.790896254,664.209103746,635.209103746,880,788,804,652.790896254,632,653,0.417484715824,0.00445377137743,0.0698826090043,0.999999977243,7.59467593145e-06,-0.00020991616754,3.7290426509e-05,1793239307753322752
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.632944467,664,635.367055533,880,788,803.632944467,653,632,653,0.416629679551,0.00444640529618,0.0698533518376,0.99999996929,-2.4828090982e-06,-0.000245219350036,3.58052104891e-05,1793239307769989376
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.058789331,664,635.941210669,880,788,803.058789331,653,632,653,0.415773318085,0.00443878233328,0.0698119247209,0.999999957146,-1.94846597092e-05,-0.000290245048059,3.29590868067e-05,1793239307786656000
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.472337202,880,788,803,653,632,653,0.414951143676,0.00443369344311,0.0697848300687,0.999999939594,-2.17788281211e-05,-0.00034524378783,3.38250029259e-05,1793239307803322624
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745.886107719,715,680.113892281,664,635.113892281,880,787.886107719,803.113892281,653,631.886107719,652.886107719,0.414145556131,0.00442997587809,0.0697637005335,0.999999922691,-2.28705905915e-05,-0.000390964820322,3.52275251934e-05,1793239307819989504
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745.30652432,715,680.69347568,664,635.69347568,880,787.30652432,803.69347568,653,631.30652432,652.30652432,0.413391844325,0.00443068352024,0.0697602765146,0.99999992132,-2.59059735502e-05,-0.000394098756929,3.70927552141e-05,1793239307836656128
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.727029622,664.272970378,636,880,787.272970378,804,653,631.272970378,652.272970378,0.41269140197,0.00444568529899,0.069786099519,0.999999939411,-9.49319298513e-06,-0.000346036770947,3.66904334949e-05,1793239307853322496
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.147634535,664.852365465,636,880,787.852365465,804,653,631.852365465,652.852365465,0.412050757642,0.00447673305548,0.0698447539634,0.999999970096,2.87512528593e-05,-0.000240504458991,3.3742656065e-05,1793239307869989376
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.42718445,715,680,665,636,880,788,804,653,632,653,0.411386861586,0.0044852926422,0.0698768785337,0.999999980382,4.21712561007e-05,-0.000190569960911,3.37801065508e-05,1793239307886656000
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.999549159,746,715,680,664.999549159,636,880,787.999549159,803.999549159,652.999549159,631.999549159,653,0.410715014202,0.00448615318671,0.0698998859214,0.99999998553,4.70819364522e-05,-0.000159717378931,3.4837517777e-05,1793239307903322624
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.410491883,746,715,680,664.410491883,636,880,787.410491883,803.410491883,652.410491883,631.410491883,653,0.410042294152,0.00447457893486,0.0698632785722,0.99999997454,2.46416426968e-05,-0.000221582200588,3.48547719121e-05,1793239307919988992
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.175540389,746,715,680,664.175540389,636,879.824459611,787,803,652,631.175540389,653,0.409378867442,0.00446698227405,0.069826224568,0.999999958899,1.26405621986e-05,-0.000284352431547,3.44451381222e-05,1793239307936655872
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.754618796,746,715,680,664.754618796,636,879.245381204,787,803,652,631.754618796,653,0.408736804435,0.00446852942804,0.0697881437709,0.999999938178,2.46374841861e-05,-0.000349204060576,3.30541605311e-05,1793239307953323520
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.668323485,746,715,680,665,636,879,787.331676515,803.331676515,652.331676515,632,653,0.408147713939,0.00446812341309,0.069777815383,0.999999933051,2.42567641239e-05,-0.000363707748339,3.20415108371e-05,1793239307969990656
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.092751694,746,715,680,665,636,879,787.907248306,803.907248306,652.907248306,632,653,0.407597576332,0.00446628115323,0.0697878944761,0.999999941196,1.47742581449e-05,-0.000341188537298,3.13070612259e-05,1793239307986657280
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.492736924,746,715,680.492736924,665,635.507263076,879,787.507263076,804,653,632,653,0.407084257093,0.00447079199357,0.0698051892783,0.999999948748,1.41181422124e-05,-0.000318264491861,3.18111735486e-05,1793239308003323392
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.920975955,664.920975955,635.079024045,879,787.079024045,804,653,631.920975955,653,0.406579290482,0.00447692876837,0.0698204391234,0.999999954066,1.7809836329e-05,-0.000300826913254,3.24512047586e-05,1793239308019989248
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.341693857,664.341693857,635.658306143,879,787.658306143,804,653,631.341693857,653,0.40608242476,0.00448563240418,0.0698139683979,0.999999947983,3.82913166834e-05,-0.000318613480347,3.24454419578e-05,1793239308036655616
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.763239101,879,787.763239101,804,653,631,653,0.405618775731,0.00449007123751,0.0698120054539,0.999999945534,5.05188058265e-05,-0.000324553192025,3.23261818828e-05,1793239308053322496
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.185974259,879,787.185974259,804,653,631,653,0.405202898209,0.00448837653168,0.0698165254955,0.999999949065,5.08755976244e-05,-0.000313455034192,3.2043692728e-05,1793239308069989376
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.391225236,635.391225236,879.391225236,787.391225236,804,653,631.391225236,653,0.404820600476,0.00448500137659,0.0698284302085,0.999999956554,4.04515119891e-05,-0.00029033888898,3.0975384415e-05,1793239308086655744
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.968393723,635.968393723,879.968393723,787.968393723,804,653,631.968393723,653,0.404454262654,0.00448082753003,0.0698438447409,0.99999996506,2.49034435019e-05,-0.000261510780629,2.95335884644e-05,1793239308103322112
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.458462144,636,880,787.458462144,804,653,632,653,0.40410864259,0.00447778022796,0.0698536361647,0.999999969469,1.6674869433e-05,-0.000244760608435,2.95927836532e-05,1793239308119988736
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,879.881169672,787,803.881169672,652.881169672,631.881169672,653,0.403772112048,0.00447435326147,0.0698587900744,0.999999971714,7.46355130923e-06,-0.000235883671188,2.95685721348e-05,1793239308136655616
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,879.286325565,787,803.286325565,652.286325565,631.286325565,653,0.403467184463,0.00446914398536,0.0698466718677,0.999999966854,-7.38311620644e-06,-0.000255742608026,2.88619109592e-05,1793239308153322240
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.701153028,715,680.298846972,664,635.701153028,879,787,803.298846972,652.298846972,631.298846972,653,0.403168820418,0.00446561934898,0.0698373544302,0.99999996225,-1.90477071609e-05,-0.000272650716462,2.82761347234e-05,1793239308169988864
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745.124956383,715,680.875043617,664,635.124956383,879,787,803.875043617,652.875043617,631.875043617,653,0.402876547789,0.00446365816954,0.0698306362917,0.999999958095,-2.77591205893e-05,-0.000286820260649,2.78025477226e-05,1793239308186655488
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,664,635.449768058,879,787,803.550231942,653,631.550231942,653,0.402624403883,0.00446338734525,0.0698222701012,0.999999953857,-3.02690533349e-05,-0.000300942838767,2.83300727575e-05,1793239308203322112
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.024796379,715,680.975203621,664,635.975203621,879,787,803,653,631.024796379,653,0.402385069232,0.00446359560882,0.06981366486,0.99999994959,-3.08815677078e-05,-0.000314668079454,2.9150948843e-05,1793239308219988480
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.616080869,715,680.383919131,664,635.383919131,879,787,803,653,631.616080869,653,0.402184501273,0.00446405514479,0.0698100245101,0.999999948089,-2.73791551408e-05,-0.000319613038098,3.03402214835e-05,1793239308236655104
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.796892614,715,680.203107386,664,635.203107386,879.203107386,787.203107386,803,652.796892614,632,653,0.401999811288,0.00446697793865,0.0698095180719,0.999999948235,-1.27883059333e-05,-0.000319923485636,3.18555011234e-05,1793239308253321984
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.217749434,715,680.782250566,664,635.782250566,879.782250566,787.782250566,803,652.217749434,632,653,0.401844518026,0.00447446124184,0.069814813801,0.99999995061,2.23318263137e-05,-0.000311653535042,3.39743544274e-05,1793239308269988864
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.357364791,715,680.642635209,664,636,880,787.642635209,803,652.357364791,631.642635209,653,0.401704467375,0.00448668956889,0.0698161873944,0.99999994947,6.86870945531e-05,-0.000308431844302,3.47993504695e-05,1793239308286655488
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.930051518,715,680.069948482,664,636,880,787.069948482,803,652.930051518,631.069948482,653,0.401573600795,0.00450177690164,0.0698151977956,0.999999944464,0.00012181183882,-0.000308251865089,3.48447627211e-05,1793239308303322112
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.493797587,879.493797587,787.506202413,803.506202413,653,631.506202413,653,0.401464981674,0.00450300645635,0.0698120930688,0.999999944114,0.000116374724289,-0.00031163029858,3.33854425748e-05,1793239308319988736
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.084680919,879,788,804,652.915319081,631.915319081,653,0.401363151561,0.00450119571608,0.0698092263927,0.999999945109,9.78245433788e-05,-0.000315078976582,3.06320157775e-05,1793239308336655360
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.674161798,879,788,804,652.325838202,631.325838202,653,0.401283339749,0.00449275496892,0.0698095330957,0.99999994861,4.96766218503e-05,-0.000315995008437,2.14122012045e-05,1793239308353322240
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.259139986,746,715,680,664,636,879.259139986,787.740860014,803.740860014,652.259139986,631,653,0.401214109057,0.00448902026691,0.0698109504708,0.999999950258,2.4739495475e-05,-0.000313988252721,1.68491841028e-05,1793239308369988608
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.838553227,746,715,680,664,636,879.838553227,787.161446773,803.161446773,652.838553227,631,653,0.401157955663,0.00449110180554,0.0698137405347,0.999999951886,2.84887859307e-05,-0.000308369200315,1.8041542139e-05,1793239308386655232
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.586444543,746,715,680,664,636,879.586444543,787.413555457,803,653,631.413555457,653,0.401114611199,0.00449036792588,0.0698160782008,0.9999999531,3.0089248821e-05,-0.000304168042498,1.93944475724e-05,1793239308403322112
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.013146156,746,715,680,664,636,879.013146156,787.986853844,803,653,631.986853844,653,0.401076214406,0.00448854654229,0.0698182411204,0.999999954153,3.08596899009e-05,-0.000300514571059,2.08093671803e-05,1793239308419988736
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..965ff75c679d9f7b8c351bef7d861023b2ccb585
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
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+298,4.966666667,pose2_to_pose3_retreat,0.62075650938,0.0100907727712,1.06003240145,0.59132695919,0.0187625090174,1.05970052357
+299,4.983333333,pose2_to_pose3_retreat,0.62050969355,0.0100908701529,1.06003223675,0.591080142185,0.0187626027087,1.05970037081
+300,5.000000000,pose2_to_pose3_retreat,0.620239652008,0.0100907548874,1.06003228694,0.590810104149,0.0187624993579,1.05970042538
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+302,5.033333333,pose2_to_pose3_retreat,0.619626726945,0.0100908414296,1.0600322415,0.5901971767,0.0187625770633,1.05970036975
+303,5.050000000,pose2_to_pose3_retreat,0.619283253081,0.0100907688751,1.06003216905,0.589853703893,0.0187625079316,1.05970029944
+304,5.066666667,pose2_to_pose3_retreat,0.618915352853,0.0100907681762,1.06003209664,0.589485803585,0.0187625068765,1.05970023097
+305,5.083333333,pose2_to_pose3_retreat,0.618529003164,0.0100907469837,1.06003221073,0.589099454379,0.0187624869187,1.05970034034
+306,5.100000000,pose2_to_pose3_retreat,0.618126362014,0.0100907309357,1.06003231295,0.588696814134,0.0187624735843,1.059700437
+307,5.116666667,pose2_to_pose3_retreat,0.617710660577,0.0100908025979,1.06003216343,0.588281111751,0.0187625423361,1.05970029493
+308,5.133333333,pose2_to_pose3_retreat,0.617280689326,0.0100907608664,1.06003243603,0.587851139906,0.0187624983816,1.05970056949
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+310,5.166666667,pose2_to_pose3_retreat,0.616342059084,0.0100907152202,1.06003243141,0.586912511219,0.0187624570841,1.05970056071
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+319,5.316666667,pose2_to_pose3_retreat,0.610971662016,0.0100907697028,1.06003247361,0.581542114555,0.0187625124583,1.05970060223
+320,5.333333333,pose2_to_pose3_retreat,0.610247937342,0.0100908164039,1.06003248703,0.580818387725,0.0187625517665,1.05970061591
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+322,5.366666667,pose2_to_pose3_retreat,0.608788817639,0.0100907849938,1.06003222821,0.57935926921,0.0187625245481,1.05970036186
+323,5.383333333,pose2_to_pose3_retreat,0.608047045398,0.0100907976215,1.06003228058,0.578617495764,0.0187625332481,1.05970041825
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+329,5.483333333,pose2_to_pose3_retreat,0.603254734977,0.0100907143033,1.06003246934,0.573825188002,0.0187624584896,1.05970059556
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+356,5.933333333,pose2_to_pose3_retreat,0.582909417183,0.010090806667,1.06003214033,0.55347986749,0.0187625418371,1.05970026899
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+358,5.966666667,pose2_to_pose3_retreat,0.581835860378,0.0100907615504,1.06003227342,0.552406311876,0.0187625006533,1.0597003994
+359,5.983333333,pose2_to_pose3_retreat,0.581341045848,0.0100908328082,1.06003240269,0.551911497054,0.0187625711478,1.05970053455
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+362,6.033333333,pose2_to_pose3_retreat,0.580001764232,0.0100908108499,1.06003226608,0.55057221569,0.0187625503217,1.05970040522
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+365,6.083333333,pose2_to_pose3_retreat,0.57889459342,0.0100908131736,1.06003222992,0.549465044287,0.0187625505168,1.05970036576
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+367,6.116666667,pose2_to_pose3_retreat,0.578264222427,0.0100908587587,1.0600321266,0.548834672799,0.0187625943431,1.05970026048
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+370,6.166666667,pose2_to_pose3_retreat,0.5774372494,0.0100907169904,1.06003229654,0.548007701117,0.0187624569743,1.05970042622
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+376,6.266666667,pose2_to_pose3_retreat,0.576337401503,0.0100907155311,1.06003239793,0.546907854612,0.0187624601353,1.05970052522
+377,6.283333333,pose2_to_pose3_retreat,0.576219958857,0.0100906884801,1.06003228484,0.54679041171,0.0187624322261,1.05970041236
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+382,6.366666667,pose2_to_pose3_retreat,0.575834119122,0.0100909582444,1.0600323204,0.546404568293,0.0187626898982,1.05970045892
+383,6.383333333,pose2_to_pose3_retreat,0.575792175355,0.0100907360269,1.06003223083,0.546362626197,0.0187624731971,1.05970036523
+384,6.400000000,pose2_to_pose3_retreat,0.575758707494,0.0100907414026,1.06003229818,0.546329159242,0.018762481658,1.0597004329
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+386,6.433333333,pose2_to_pose3_retreat,0.575712324025,0.010090819526,1.06003235035,0.546282775245,0.0187625577359,1.05970047849
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+388,6.466666667,pose2_to_pose3_retreat,0.575687483601,0.0100908581415,1.0600323944,0.54625793547,0.0187625984046,1.05970051868
+389,6.483333333,pose2_to_pose3_retreat,0.575680531062,0.010090769394,1.06003221721,0.546250982508,0.0187625084125,1.05970034651
+390,6.500000000,pose2_to_pose3_retreat,0.575676274347,0.0100907187214,1.06003212251,0.546246725409,0.0187624565511,1.05970025479
+391,6.516666667,pose2_to_pose3_retreat,0.575673914801,0.0100907746006,1.0600322782,0.546244365407,0.0187625107515,1.05970040698
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+393,6.550000000,pose2_to_pose3_retreat,0.575671350864,0.0100908353202,1.06003244739,0.546241800974,0.018762569647,1.05970057236
+394,6.566666667,pose2_to_pose3_retreat,0.575670368979,0.0100908541065,1.06003249751,0.546240818946,0.018762587913,1.0597006214
+395,6.583333333,pose2_to_pose3_retreat,0.575669731312,0.0100908486852,1.06003247216,0.546240181378,0.018762582857,1.0597005969
+396,6.600000000,pose2_to_pose3_retreat,0.575669354632,0.0100908454828,1.06003245719,0.546239804757,0.0187625798704,1.05970058243
+397,6.616666667,pose2_to_pose3_retreat,0.575669062568,0.0100908429998,1.06003244558,0.546239512739,0.0187625775547,1.0597005712
+398,6.633333333,pose2_to_pose3_retreat,0.575669042732,0.0100908428311,1.06003244479,0.546239492905,0.0187625773974,1.05970057044
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+416,6.933333333,pose2_to_pose3_retreat,0.575665032325,0.0100909108822,1.06003241904,0.546235482614,0.0187626458352,1.05970054471
+417,6.950000000,pose2_to_pose3_retreat,0.575664567215,0.0100908954813,1.06003215517,0.546235016942,0.0187626287174,1.05970028589
+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_0030_17.5/position_12/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c406e1589639bd0251ea39043c7dfb057383e36d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:463e519196a284bd2081273937fc0cf9f1fca6706402d88b7c88d574da266c38
+size 26167203
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80906f1fb15042dc605fad07cdae3fcbe9fd7ada
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_01/franka_data.csv
@@ -0,0 +1,415 @@
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+54,0.900000000,BASELINE,766,746,715,680.673584307,663,635.326415693,879,787,803.673584307,652,632,653.673584307,0.40104788423,0.00448371243754,0.0798781239885,0.999999986455,9.99917334913e-05,-0.000121523373837,4.82112806003e-05,1793239311215701504
+55,0.916666667,BASELINE,766,746,715,680.085173427,663,635.914826573,879,787,803.085173427,652,632,653.085173427,0.401048521318,0.00448288597763,0.0798782967789,0.999999986638,9.88554578213e-05,-0.000120989445123,4.81048822699e-05,1793239311232367872
+56,0.933333333,BASELINE,766,745.503669844,715,680,663,636,879,787,803.496330156,652.496330156,632,653.496330156,0.401049017698,0.00448300703548,0.0798784034136,0.999999986632,9.93259245578e-05,-0.000120588381346,4.82640412155e-05,1793239311249034496
+57,0.950000000,BASELINE,766,745.075970234,715,680,663,636,879,787.075970234,804,652.924029766,632,653.924029766,0.40104917653,0.00448318379336,0.079878386172,0.999999986553,0.000100013036617,-0.000120592570977,4.84741911009e-05,1793239311265701376
+58,0.966666667,BASELINE,766,745.651047746,715,680,663,636,879,787.651047746,804,652.348952254,632,653.348952254,0.401047274203,0.00448267290427,0.0798776286527,0.999999986201,0.000100336856999,-0.000123111446223,4.87240559248e-05,1793239311282368256
+59,0.983333333,BASELINE,766,745.773979483,715,680,663.226020517,636,879,787.773979483,803.773979483,652.226020517,632,653,0.401046844274,0.00448270865162,0.0798774613661,0.999999986102,0.000100548287012,-0.000123715439917,4.8797521433e-05,1793239311299034880
+60,1.000000000,BASELINE,766,745.199168257,715,680,663.800831743,636,879,787.199168257,803.199168257,652.800831743,632,653,0.401048686525,0.00448358795822,0.079878204916,0.999999986396,0.000100586278327,-0.00012136442398,4.85987707981e-05,1793239311315701248
+61,1.016666667,BASELINE,766,745.387323027,715,680,663.612676973,635.612676973,879,787.387323027,803.387323027,652.612676973,632,653,0.401048768643,0.00448429075987,0.0798780963862,0.999999986337,0.000101403857511,-0.000121183785308,4.85502698792e-05,1793239311332367872
+62,1.033333333,BASELINE,766,745.980007117,715,680,663.019992883,635.019992883,879,787.980007117,803.980007117,652.019992883,632,653,0.401047917527,0.00448489997744,0.0798775360784,0.999999986092,0.000102634778996,-0.000122153894213,4.85814323e-05,1793239311349034752
+63,1.050000000,BASELINE,766,746,715,680,663,635.557378672,879,787.442621328,803.442621328,652,631.442621328,653,0.401049240744,0.00448471084828,0.0798788952549,0.999999986522,0.00010077848055,-0.000120276948587,4.8306768563e-05,1793239311365701120
+64,1.066666667,BASELINE,766,746,715,680.134326097,663,635.865673903,879,787,803.134326097,652.134326097,631.134326097,653,0.401049907516,0.00448431166145,0.079879792011,0.999999986795,9.9295742545e-05,-0.000119281720927,4.81893564202e-05,1793239311382367744
+65,1.083333333,BASELINE,766,746,715,680.711637695,663,635.288362305,879,787,803.711637695,652.711637695,631.711637695,653,0.401048159111,0.00448331165154,0.0798789427923,0.999999986494,9.94003738562e-05,-0.000121522033046,4.8625743738e-05,1793239311399034624
+66,1.100000000,BASELINE,765.705739593,745.705739593,715,680.705739593,663,635.294260407,878.705739593,787,803.705739593,652.705739593,631.705739593,653,0.401048011791,0.00448282734713,0.079878874895,0.999999986478,9.91232054363e-05,-0.000121848064364,4.86897744336e-05,1793239311415701248
+67,1.116666667,BASELINE,765.117816592,745.117816592,715,680.117816592,663,635.882183408,878.117816592,787,803.117816592,652.117816592,631.117816592,653,0.401049462305,0.00448285770059,0.0798795867318,0.99999998675,9.84650129338e-05,-0.000120263703752,4.83822049506e-05,1793239311432367616
+68,1.133333333,BASELINE,765.462501887,745.462501887,715,680,663,636,878.462501887,787.462501887,803.462501887,652.462501887,631,653,0.401048526073,0.00448415308058,0.0798791466738,0.999999986249,0.000102103264714,-0.00012135774197,4.84701791452e-05,1793239311449034240
+69,1.150000000,BASELINE,766,746,715,680,663,636,879.040706844,787.959293156,803.959293156,653,631.040706844,653,0.401047109588,0.00448566854585,0.0798784733903,0.999999985611,0.00010625416164,-0.000122976268473,4.86200121812e-05,1793239311465701376
+70,1.166666667,BASELINE,766,746,715,680,663,636,879.616182639,787.383817361,803.383817361,653,631.616182639,653,0.40104724203,0.00448591034759,0.0798785286734,0.999999986007,0.000102994215383,-0.000122666748193,4.82802120729e-05,1793239311482368256
+71,1.183333333,BASELINE,765.807766743,745.807766743,715,680,663.192233257,635.807766743,879.807766743,787,803.192233257,653,632,653,0.40104739072,0.00448505954228,0.0798786962845,0.999999986308,0.000100396039639,-0.000122377342633,4.82484383064e-05,1793239311499034624
+72,1.200000000,BASELINE,765.230564875,745.230564875,715,680,663.769435125,635.230564875,879.230564875,787,803.769435125,653,632,653,0.401047571946,0.00448202066913,0.0798790888447,0.999999986437,9.91231328216e-05,-0.000122128218994,4.88335217003e-05,1793239311515700992
+73,1.216666667,BASELINE,765.352644295,745.352644295,715,680,663.647355705,635,879,787,803.647355705,653,631.647355705,653,0.401048272242,0.00448151457313,0.0798793650619,0.999999986571,9.84239483473e-05,-0.000121567512848,4.89036409821e-05,1793239311532367616
+74,1.233333333,BASELINE,765.939849173,745.939849173,715,680,663.060150827,635,879,787,803.060150827,653,631.060150827,653,0.401049317798,0.00448269314852,0.0798795638938,0.999999986709,9.81063741141e-05,-0.000120799558292,4.86312329731e-05,1793239311549034240
+75,1.250000000,BASELINE,766,746,715,680,663,635,879,787,803.520359948,653,631.520359948,653,0.401049179537,0.00448233143089,0.0798797441846,0.999999986796,9.74833794478e-05,-0.000120664011275,4.84324194356e-05,1793239311565701888
+76,1.266666667,BASELINE,766,746,715,680,663.099654475,635.099654475,879.099654475,787,803.900345525,653,632,653,0.401049034268,0.00448183603802,0.0798799278506,0.999999986857,9.70841978481e-05,-0.000120507269368,4.83542865261e-05,1793239311582369280
+77,1.283333333,BASELINE,766,746,715,680,663.676782016,635.676782016,879.676782016,787,803.323217984,653,632,653,0.401049502751,0.00448154242054,0.0798801378263,0.999999986826,9.79243763703e-05,-0.000119903168261,4.88141266107e-05,1793239311599035648
+78,1.300000000,BASELINE,766,746,715,680,664,636,879.742400588,787,803.257599412,653,632,653,0.401049455995,0.00448224916513,0.0798799742109,0.999999986588,0.000100122218557,-0.000119990861622,4.90112370456e-05,1793239311615701760
+79,1.316666667,BASELINE,766,746,715,680,664,636,879.156886182,787,803.843113818,653,632,653,0.401048753358,0.00448422933549,0.0798793350269,0.999999986077,0.000104048318793,-0.000120959185062,4.88739018378e-05,1793239311632368128
+80,1.333333333,BASELINE,765.5756647,745.5756647,715,680,663.5756647,636,879,787.4243353,804,652.5756647,632,653,0.401048564453,0.00448462935365,0.079879161773,0.999999986152,0.000103075929342,-0.000121237732409,4.8704379805e-05,1793239311649034496
+81,1.350000000,BASELINE,765,745,715,680,663,636,879,788,803.996031493,652,631.996031493,653,0.401048559859,0.00448444628158,0.0798791603147,0.999999986437,0.000100328355325,-0.00012126480616,4.85257640276e-05,1793239311665701376
+82,1.366666667,BASELINE,765,745,715,680,663,636,879,788,803.418857869,652,631.418857869,653,0.401048017159,0.00448358086801,0.079879340311,0.999999986425,0.000100145601725,-0.00012143599062,4.87352930978e-05,1793239311682367744
+83,1.383333333,BASELINE,765,745.157933722,715,680,663,635.842066278,879,787.842066278,803.157933722,652.157933722,631.157933722,653,0.401047757478,0.00448316245775,0.0798792545303,0.999999986369,0.000100323166353,-0.000121720857228,4.87914276262e-05,1793239311699034368
+84,1.400000000,BASELINE,765,745.733714689,715,680,663,635.266285311,879,787.266285311,803.733714689,652.733714689,631.733714689,653,0.401048246584,0.00448392668962,0.07987846558,0.999999986201,0.000101454029433,-0.000122306494174,4.84417243217e-05,1793239311715700992
+85,1.416666667,BASELINE,765.314851844,746,715,680,663.314851844,635.314851844,879,787,803.685148156,652.685148156,632,653,0.401047552629,0.00448441474523,0.0798778349992,0.999999986025,0.000102033893351,-0.000123289263255,4.83655009321e-05,1793239311732367616
+86,1.433333333,BASELINE,765.900597344,746,715,680,663.900597344,635.900597344,879,787,803.099402656,652.099402656,632,653,0.401045840786,0.00448466518301,0.0798773406774,0.999999985842,0.000102139686043,-0.000124613718647,4.85245754531e-05,1793239311749034496
+87,1.450000000,BASELINE,766,746,715,680,663.517015665,636,879,787,803.482984335,652.482984335,631.517015665,653,0.401046646579,0.00448326779824,0.0798782754048,0.999999986112,0.000101036289368,-0.000123267105178,4.87198515129e-05,1793239311765701376
+88,1.466666667,BASELINE,766,746,715,680,663,635.935972379,879,787,804,653,631,653,0.40104783274,0.00448201089836,0.0798793218539,0.999999986393,0.00010017555552,-0.000121623245642,4.88551512398e-05,1793239311782368000
+89,1.483333333,BASELINE,766,746,715,680,663,635.360182475,879,787,804,653,631,653,0.40104794622,0.00448456881987,0.0798789267247,0.99999998606,0.000103229765959,-0.000121967111936,4.8451929695e-05,1793239311799034624
+90,1.500000000,BASELINE,766,746,715,680,663,635.215179338,879,787.215179338,804,652.784820662,631.215179338,653,0.40104774104,0.00448552081043,0.079878589154,0.999999985906,0.000104224928838,-0.000122438169366,4.83200464987e-05,1793239311815701248
+91,1.516666667,BASELINE,766,746,715,680,663,635.789825949,879,787.789825949,804,652.210174051,631.789825949,653,0.401047003525,0.00448379001704,0.0798783477376,0.999999986058,0.000101780354978,-0.000123121705573,4.86414469015e-05,1793239311832367872
+92,1.533333333,BASELINE,766,746,715,680,663,635.625903015,879,787.625903015,804,652.374096985,632,653,0.401046744531,0.00448329911976,0.0798778516057,0.999999986045,0.000101524469188,-0.00012339626169,4.87554185967e-05,1793239311849034496
+93,1.550000000,BASELINE,766,746,715,680,663,635.036081971,879,787.036081971,804,652.963918029,632,653,0.401046761478,0.00448352321182,0.0798772085914,0.999999985937,0.000102530696177,-0.000123434978377,4.87497759866e-05,1793239311865700864
+94,1.566666667,BASELINE,766,746,715,680.543653573,663,635.543653573,879.543653573,787,804,653,632,653,0.401047084025,0.00448385109912,0.0798780788613,0.999999985928,0.000103241767755,-0.000122948212354,4.8669757603e-05,1793239311882368000
+95,1.583333333,BASELINE,766,746,715,680.878016529,663,635.878016529,879.878016529,787.121983471,803.878016529,653,631.878016529,653,0.40104756453,0.00448439833053,0.0798788568587,0.999999985952,0.000103768859829,-0.000122378348016,4.84948281059e-05,1793239311899034880
+96,1.600000000,BASELINE,766,746,715,680.302469449,663,635.302469449,879.302469449,787.697530551,803.302469449,653,631.302469449,653,0.401048558321,0.00448573598792,0.0798789251226,0.999999986077,0.000103683383505,-0.000121626819536,4.79850164129e-05,1793239311915701504
+97,1.616666667,BASELINE,766,746,715,680,663,635,879.278931256,787.721068744,803.278931256,652.721068744,631.278931256,653,0.401048941189,0.0044863387701,0.0798790366681,0.999999986087,0.000103861283159,-0.000121446175631,4.78461110514e-05,1793239311932367872
+98,1.633333333,BASELINE,766,746,715,680,663,635,879.866815587,787.133184413,803.866815587,652.133184413,631.866815587,653,0.401048647381,0.00448612758119,0.0798791961536,0.99999998597,0.000104330906379,-0.000121897861568,4.81180332969e-05,1793239311949034240
+99,1.650000000,BASELINE,765.552037455,746,715,680,663,635.447962545,879.552037455,787,804,652.447962545,631.552037455,653.447962545,0.401048827512,0.00448592536,0.0798796353614,0.999999986014,0.000104678919583,-0.000121161654003,4.83221105282e-05,1793239311965700864
+100,1.666666667,BASELINE,765.027124762,745.972875238,715,680,662.972875238,635.972875238,879,787,804,653,631,653.972875238,0.401049107113,0.00448567103185,0.0798801017155,0.999999986107,0.00010483669854,-0.000120179418874,4.85042618916e-05,1793239311982367488
+101,1.683333333,BASELINE,765.606056799,745.393943201,715,680,662.393943201,635.393943201,879,787,804,653,631,653.393943201,0.40104858621,0.00448430324016,0.0798794535416,0.999999986277,0.000101849119551,-0.000121270446302,4.86446353948e-05,1793239311999034112
+102,1.700000000,BASELINE,766,745.18286973,715,680,662.18286973,635.18286973,879,787.18286973,804,653,631.18286973,653,0.401047863935,0.00448350587956,0.0798786566522,0.999999986282,0.000100258375835,-0.000122515552486,4.87246686039e-05,1793239312015700992
+103,1.716666667,BASELINE,766,745.755169844,715,680,662.755169844,635.755169844,879,787.755169844,804,653,631.755169844,653,0.401046712826,0.00448392328115,0.0798775430658,0.999999985951,0.000101642264199,-0.000124088777072,4.86762040729e-05,1793239312032368128
+104,1.733333333,BASELINE,766,746,715,680,663,636,879,787.661919223,803.661919223,653,631.661919223,653,0.401046916574,0.00448416321863,0.0798778126179,0.999999985844,0.000103039183039,-0.000123768017287,4.87483112587e-05,1793239312049034752
+105,1.750000000,BASELINE,766,746,715,680,663,636,879,787.071075139,803.071075139,653,631.071075139,653,0.401048133272,0.00448427047658,0.0798791162619,0.999999985904,0.000104445844152,-0.000122031235861,4.89105628897e-05,1793239312065701376
+106,1.766666667,BASELINE,766,746,715,680.509191362,663,635.490808638,879,787.509191362,803.509191362,652.490808638,631,653,0.401048668163,0.00448468908674,0.0798791519709,0.999999985984,0.000104277517958,-0.00012161111313,4.86680924302e-05,1793239312082368000
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,879,788,804,653,632,653,0.401046666067,0.00448525491928,0.0798777723009,0.999999985538,0.00010600903953,-0.000123878754538,4.83796572414e-05,1793239312125517056
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.411083075,715,680,663.588916925,636,879,787.411083075,804,653,631.411083075,653,0.401047778615,0.0044847224122,0.0798783432221,0.999999986035,0.000102387840248,-0.000123016513278,4.81036138647e-05,1793239312142184192
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.174864487,715,680,663.825135513,636,879,787,804,653,631.174864487,653,0.401048502649,0.00448442662565,0.07987879194,0.999999986345,0.000100199095838,-0.000122341808386,4.79802107716e-05,1793239312158851072
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.753948146,715,680,663.246051854,636,879,787,804,653,631.753948146,653,0.401048328593,0.00448467804544,0.0798789581714,0.999999986251,0.00010132163323,-0.000122100614989,4.82096530185e-05,1793239312175517952
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680.330725936,663,635.669274064,879,787,804,653,632,653,0.401048313222,0.00448519733507,0.0798792562119,0.999999986231,0.000101625387435,-0.000122010847449,4.8203287522e-05,1793239312192184576
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680.90580006,663,635.09419994,879,787,804,653,632,653,0.401048415092,0.0044859145333,0.0798796516362,0.999999986268,0.00010132420508,-0.000122032956947,4.80227016413e-05,1793239312208850944
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,715.481088936,680.518911064,663,635,879,787.481088936,804,653,632,653,0.40104791774,0.00448503035827,0.079879445949,0.999999986199,0.000101193052052,-0.000122642478348,4.81739624696e-05,1793239312225517056
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,715.94188314,680,663,635.05811686,879,787.94188314,803.94188314,653,632,653,0.401047382503,0.00448391445567,0.07987912422,0.999999986095,0.000101149321579,-0.000123439406433,4.83891568086e-05,1793239312242183168
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,715.349247544,680,663,635.650752456,879,787.349247544,803.349247544,653,632,653,0.401047578441,0.00448355246027,0.0798788182356,0.999999985857,0.000101603303324,-0.000124901637919,4.85944826872e-05,1793239312258849792
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,879,787.237427463,803,653,632,653,0.401049369488,0.00448382000367,0.079879422392,0.999999985498,0.000102763987644,-0.000126786177574,4.86763765534e-05,1793239312275516416
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,879,787.815549322,803,653,632,653,0.401053449421,0.00448499089814,0.0798813325467,0.999999984958,0.00010493874841,-0.000129276704405,4.85811527486e-05,1793239312292183296
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,879,787.607825128,803.392174872,653,632,653,0.401071794104,0.00448518549839,0.0798885362926,0.999999985516,0.000104469388142,-0.000125213390966,4.8750621883e-05,1793239312308850176
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,879,787.031900608,803.968099392,653,632,653,0.401096822396,0.00448492266577,0.0798982202982,0.999999986546,0.000102761151371,-0.000118079340875,4.90441102589e-05,1793239312325517056
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.456848259,715,679.456848259,663,636,879,787,804,652.456848259,631.456848259,653,0.401147877262,0.0044851952088,0.0799131562748,0.999999988592,0.000102524394057,-9.98822250433e-05,4.82615927362e-05,1793239312342185216
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.12116863,663,636,878.87883137,787,803.87883137,652.12116863,631,653,0.401204434122,0.00448555626618,0.0799273877351,0.999999990333,0.000102042736386,-8.17729812263e-05,4.72654125522e-05,1793239312358853120
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.710846079,663,636,878.289153921,787,803.289153921,652.710846079,631,653,0.40127636392,0.00448613818626,0.0799377043497,0.999999991716,0.000100280522503,-6.65118229917e-05,4.56870498798e-05,1793239312375517440
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.705141557,745.294858443,715,680,663,636,878.589716887,787,803,653,631.294858443,653,0.40135418959,0.00448708905362,0.0799441523617,0.999999992556,9.87212346405e-05,-5.69308854675e-05,4.36102725287e-05,1793239312392183040
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.126579985,745.873420015,715,680,663,636,879.74684003,787,803,653,631.873420015,653,0.401437688069,0.00448839490992,0.0799468781305,0.999999993023,9.73571956632e-05,-5.28152710213e-05,4.1053937015e-05,1793239312408849664
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.447902449,746,715,680,662.552097551,636,879.552097551,787,803,652.552097551,631.552097551,653,0.401537926047,0.00448937380922,0.0799487795101,0.999999993266,9.58265429847e-05,-5.32929370722e-05,3.80051304953e-05,1793239312425516288
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662.021892249,636,879,787.021892249,803.021892249,652,631,653,0.401643948333,0.00449029320591,0.0799506369706,0.999999993466,9.42085301852e-05,-5.46168163028e-05,3.4783373654e-05,1793239312442182912
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662.612769436,636,879,787.612769436,803.612769436,652,631,653,0.401778464203,0.00449204594228,0.0799573534557,0.999999994351,9.1532739342e-05,-4.45008071533e-05,3.0651150088e-05,1793239312458849536
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.800331264,715,680,663,636,879.199668736,787.800331264,804,652,631,653,0.401924751089,0.00449415233938,0.0799634099382,0.99999999503,8.95512167359e-05,-3.51841379961e-05,2.61136203827e-05,1793239312475516160
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.220995912,715,680,663,636,879.779004088,787.220995912,804,652,631,653,0.402093420344,0.004496931216,0.0799682114364,0.999999995458,8.88898333803e-05,-2.73874010396e-05,2.08054086052e-05,1793239312492182784
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.356068574,715,680,663,636,879.643931426,787,804,652,631.356068574,653,0.402276715987,0.00449903110448,0.0799721868623,0.999999996115,8.43631205095e-05,-2.0836848505e-05,1.48062069181e-05,1793239312508849408
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.931732623,715,680,663,636,879.068267377,787,804,652,631.931732623,653,0.402469032069,0.00450071224601,0.0799756528313,0.999999996852,7.74525721746e-05,-1.50548450926e-05,8.38085574192e-06,1793239312525516288
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,715,679.494393483,663,636,879,787.505606517,803.494393483,652.505606517,632,653,0.402675690163,0.00450418454466,0.0799709983991,0.999999997032,7.16528121478e-05,-2.82934918553e-05,1.29656578661e-06,1793239312542183168
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,715,679.081422759,663,636,879,788,803.081422759,652.918577241,632,653,0.402888740118,0.00450782886566,0.0799651784843,0.99999999689,6.53978107176e-05,-4.367344746e-05,-6.0096218015e-06,1793239312558849792
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,715,679.670860754,663,636,879,788,803.670860754,652.329139246,632,653,0.40312963101,0.00451104288234,0.0799589035522,0.999999996774,5.53699967003e-05,-5.64465792356e-05,-1.41471343372e-05,1793239312575516416
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.743454021,746,715,680,663,636,879,788,803.743454021,652.256545979,632,653,0.403402558707,0.00451466247123,0.079956537466,0.999999996651,5.01464022024e-05,-6.14921303487e-05,-2.00738357817e-05,1793239312592182784
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.162514085,746,715,680,663,636,879,788,803.162514085,652.837485915,632,653,0.403715995876,0.00451879489267,0.0799591139876,0.999999996819,5.09975859722e-05,-5.67664089999e-05,-2.32050387952e-05,1793239312608849664
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.414158911,746,715,680,663,636,879,787.585841089,803.414158911,653,632,653,0.40405063474,0.00452474796532,0.0799642754831,0.999999997066,5.24332917166e-05,-5.01869731023e-05,-2.45048123421e-05,1793239312625516544
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.989174639,746,715,680,663,636,879,787.010825361,803.989174639,653,632,653,0.404393508207,0.00453140816779,0.0799704409667,0.999999997302,5.40960222402e-05,-4.28875657893e-05,-2.50932696827e-05,1793239312642183168
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,879,787,803.425109741,652.425109741,631.425109741,653,0.404766150953,0.00454044643742,0.0799693750722,0.999999996565,6.5884651766e-05,-4.15360894981e-05,-2.83612999113e-05,1793239312658851072
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.839984005,715,680,663.160015995,636,879,787,803.160015995,652,631,653,0.405154529967,0.00454921749539,0.0799679952303,0.999999995724,7.73460400695e-05,-3.99681717913e-05,-3.11867745574e-05,1793239312675518208
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.25696047,715,680,663.74303953,636,879,787,803.74303953,652,631,653,0.405582998289,0.00455716154735,0.0799661522527,0.999999994939,8.74287416976e-05,-3.75263898307e-05,-3.27064235713e-05,1793239312692183808
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.321549554,715,680,664,636,879,787.321549554,804,652,631.321549554,653,0.406032117258,0.00456438734121,0.079960957637,0.999999994175,9.15612198151e-05,-4.57785544779e-05,-3.42202439724e-05,1793239312708850176
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.896502679,715,680,664,636,879,787.896502679,804,652,631.896502679,653,0.406497510427,0.00457104709822,0.0799531216955,0.99999999327,9.10045061206e-05,-6.24582977854e-05,-3.57294711759e-05,1793239312725516800
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,715,679.528828059,663.528828059,636,878.528828059,788,804,652,632,653,0.406980494604,0.00457759698813,0.0799486150311,0.99999999156,0.000102797232992,-7.08820941723e-05,-3.58886153346e-05,1793239312742183168
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,715,679.093897923,663,635.953051038,878.046948962,787.953051038,803.953051038,652,631.953051038,653,0.407469116155,0.00458378084937,0.0799446735356,0.999999989544,0.000116363307474,-7.80872890863e-05,-3.56818589062e-05,1793239312758849792
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715,680.272485722,663,635.363757139,878.636242861,787.363757139,803.363757139,652,631.363757139,653,0.407978250259,0.00458601504166,0.079938817933,0.999999988061,0.000119097396961,-9.21519763985e-05,-3.46720123845e-05,1793239312775516928
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,681,663.221783786,635.221783786,879,787,803.221783786,652.221783786,631,653,0.408518497554,0.00458760436386,0.0799359553283,0.999999987278,0.000119845746238,-9.94612862577e-05,-3.44683914407e-05,1793239312792184064
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715,681,663.801271686,635.801271686,879,787,803.801271686,652.801271686,631,653,0.409108925746,0.00458815360681,0.0799379199822,0.999999987881,0.00011739139306,-9.5875180607e-05,-3.55650919864e-05,1793239312808850688
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,681,663.62113853,636,879.37886147,787,804,653,631,653,0.409757433418,0.00459133231585,0.0799596884668,0.999999990142,0.000122259000426,-5.8322734134e-05,-3.6987339381e-05,1793239312825517568
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,681,663.044539442,636,879.955460558,787,804,653,631,653,0.410436254256,0.00459588341136,0.0799917930836,0.999999990677,0.000130948128507,-3.04237411844e-06,-3.85794979823e-05,1793239312842184192
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,715,680.459135514,663.540864486,636,880,787,803.459135514,652.459135514,631,653,0.411079942016,0.00459483354817,0.0800020464792,0.999999990952,0.000128346569126,1.08211762274e-05,-3.88075706653e-05,1793239312858850816
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663.874383308,636,879.874383308,787,803,652,631,653,0.411723061912,0.00459217024264,0.0800024029187,0.999999991554,0.000123482946564,9.15922797046e-06,-3.94984995565e-05,1793239312875517184
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.294651817,636,879.294651817,787,803,652,631,653,0.412374760878,0.00458536919128,0.0799735937304,0.999999991973,0.000113858606102,-3.60949897357e-05,-4.22754966338e-05,1793239312892183552
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.716481251,746,715,680,663,636,879.283518749,787.283518749,803.283518749,652.283518749,631.283518749,653,0.413057317678,0.00458409379056,0.0799489942769,0.99999999013,0.000114226679445,-6.82609653516e-05,-4.50786436447e-05,1793239312908849920
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.13992395,746,715,680,663,636,879.86007605,787.86007605,803.86007605,652.86007605,631.86007605,653,0.413771768514,0.00458852957625,0.0799287459062,0.999999987274,0.000124922684144,-8.68992362286e-05,-4.79088190291e-05,1793239312925516800
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.436757198,746,715,680,663.436757198,636,880,788,804,653,631.563242802,653,0.414544851905,0.00459467342177,0.0799411374342,0.999999990524,0.000114328863205,-5.91334867054e-05,-4.88336967793e-05,1793239312942183424
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,715,680.013768634,664,636,880,788,804,652.986231366,631,653,0.415335585795,0.00460125297268,0.079963640063,0.999999993847,9.78981008662e-05,-1.75798575755e-05,-4.91315200666e-05,1793239312958850048
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,715,680.60292561,664,636,880,788,804,652.39707439,631,653,0.416078725414,0.00460316624456,0.0799715701083,0.999999991064,0.000122656029953,-2.12760337915e-05,-4.87406135052e-05,1793239312975516672
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715,681,663.811070983,636,879.811070983,787.811070983,804,652.188929017,631.188929017,653,0.416834527424,0.00460611685142,0.0799729495546,0.999999988678,0.000139432981094,-2.76250937827e-05,-4.93827858508e-05,1793239312992183296
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715,681,663.231586689,636,879.231586689,787.231586689,804,652.768413311,631.768413311,653,0.417616505166,0.00461121184369,0.07996078756,0.999999988101,0.000139711602011,-3.94582119485e-05,-5.21605456182e-05,1793239313008849664
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.655214518,715,680.655214518,663.344785482,636,879,787,804,652.655214518,631.655214518,653,0.418453226017,0.00461253116891,0.0799759375579,0.999999989079,0.000137589911828,-4.46931269092e-06,-5.37708719561e-05,1793239313025516288
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.080914032,715,680.080914032,663.919085968,636,879,787,804,652.080914032,631.080914032,653,0.419326387946,0.00461133712756,0.0800092684613,0.999999987646,0.000133870394566,6.16878237313e-05,-5.46040669945e-05,1793239313042182912
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.492213873,715,680.984427747,664,635.507786127,879.492213873,787.492213873,804,652,631,653,0.420159531663,0.00460918172327,0.080003608407,0.99999998806,0.000134161206309,5.39427187138e-05,-5.45119870766e-05,1793239313058849792
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.932664381,745.932664381,715,681.932664381,663.932664381,635,880,788,804,652,631.067335619,653,0.420985640486,0.00460716160255,0.0799921946252,0.9999999889,0.000134235701333,3.47086175937e-05,-5.45566073814e-05,1793239313075516928
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.340503817,745.340503817,715,681.340503817,663.340503817,635,880,788,804,652,631.659496183,653,0.421808069881,0.00460742474081,0.0799857744403,0.999999990048,0.00012749809731,2.03908517799e-05,-5.68493985903e-05,1793239313092183808
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.245782202,715,681,663.491564403,635.245782202,880,787.754217798,804,652,631.754217798,653,0.422652047855,0.00460778152153,0.0799931728212,0.999999990059,0.000126183337895,2.69191555369e-05,-5.68828615388e-05,1793239313108850432
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.824119757,715,681,664.648239514,635.824119757,880,787.175880243,804,652,631.175880243,653,0.423525182225,0.00460826500513,0.0800192683977,0.99999998791,0.000132205951739,6.16532101301e-05,-5.38593430098e-05,1793239313125516800
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.400783708,746,715,681,664.599216292,636,880.400783708,787.400783708,804,652,631,653,0.424356480289,0.00461147820517,0.0800078381242,0.999999989012,0.000134168272802,3.41846079415e-05,-5.29824245832e-05,1793239313142183168
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.976716233,746,715,681,664.023283767,636,880.976716233,787.976716233,804,652,631,653,0.425169495172,0.00461588433443,0.0799800084596,0.999999989358,0.000134356181076,-2.04675408385e-05,-5.30436044054e-05,1793239313158849792
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,681,664.563674033,635.436325967,880.436325967,787.436325967,804,652,631.563674033,653,0.426011360163,0.00461635989034,0.0799475742285,0.999999987632,0.000135149626517,-5.85065526888e-05,-5.52087503537e-05,1793239313175516672
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,681.149171304,664.850828696,635.149171304,880.149171304,787,804.149171304,652,632,653,0.426859768772,0.00461631196448,0.0799237692695,0.999999985454,0.000136207329157,-8.54176790524e-05,-5.69535292171e-05,1793239313192183296
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,681.729109548,664.270890452,635.729109548,880.729109548,787,804.729109548,652,632,653,0.42772356355,0.00461523057108,0.0799254435574,0.999999985467,0.000137954464597,-8.22156543308e-05,-5.72284237515e-05,1793239313208849920
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,682,664,636,880.692695814,787,804.692695814,652,632,653,0.428575330019,0.00461387771456,0.0799338227437,0.999999986046,0.00013839296878,-7.45219610614e-05,-5.65916898835e-05,1793239313225516800
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,682,664,636,880.116029532,787,804.116029532,652,632,653,0.429416553239,0.00461228691186,0.0799480789908,0.999999987023,0.000137684415083,-6.28911746674e-05,-5.51558841089e-05,1793239313242183680
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,682,664,636,880.459036648,787,804,652,632,653,0.430297104882,0.00461172426788,0.0799840588319,0.999999989679,0.000132258393394,-9.61797121739e-06,-5.52869169718e-05,1793239313258850304
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,682,664,636,881,787,804,652,631.965526005,653,0.43118388521,0.00461160220179,0.0800239649541,0.999999989124,0.000126532267738,5.13478558264e-05,-5.57161868781e-05,1793239313275516672
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,682,664,636,881,787,804,652,631.377661316,653,0.432011628039,0.00461439518249,0.0800390594158,0.999999987116,0.000135063528909,6.74204499349e-05,-5.4597476286e-05,1793239313292183296
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.791875065,746,715,681.791875065,664,636,880.791875065,787,804,651.791875065,631,653,0.432805210011,0.00461669702661,0.0800247348001,0.999999988205,0.00013720653547,4.20029051951e-05,-5.47805934226e-05,1793239313308849920
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+181,3.016666667,POSE1_TO_POSE2_PRESS,765,746,714.058487735,681.941512265,664,635.058487735,880,787.941512265,804.941512265,652.88302453,631,653,0.435078927522,0.00461989115624,0.0799133179694,0.999999984839,0.000129449389616,-9.9783520973e-05,-6.00699638829e-05,1793239313358849536
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.525723056,746,714.525723056,682.525723056,664,635.525723056,880.525723056,787.474276944,804.474276944,653,631,653,0.435868187377,0.00461711678971,0.0799479146395,0.999999988844,0.000127052109151,-5.15907511878e-05,-5.92275192154e-05,1793239313375516672
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765.332232199,745.332232199,715,683,662,635,881,787,804.332232199,652,631.332232199,653,0.442231052296,0.00465977654201,0.0797446514992,0.99999991117,0.000174106634403,-0.000379058153888,-6.05052628659e-05,1793239313542184704
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.047407378,746,713.047407378,683.952592622,658,633,881,786,804,652,631.047407378,652.094814756,0.44938217837,0.0047573116642,0.0796433955394,0.999999817758,0.000286426098858,-0.000527261964661,-6.6632026976e-05,1793239314192183040
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.539717006,745.460282994,713.539717006,683.460282994,658,633,881,786.539717006,804,652,631,652.539717006,0.449384274851,0.0047599301411,0.0796441012827,0.999999817982,0.000288661637762,-0.000525571701182,-6.69732003143e-05,1793239314208849920
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.873968764,745,714,683.126031236,658,633,881,786.873968764,804.126031236,652,631,653,0.449385913162,0.00476211126617,0.0796446914405,0.999999818035,0.000290414909619,-0.000524459009471,-6.73155429592e-05,1793239314225516800
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.293954619,745,714,683.706045381,658,633,881,786.293954619,804.706045381,652,631,653,0.449385495145,0.00476185609636,0.0796441150815,0.999999817054,0.000290393668036,-0.00052631813258,-6.74686484655e-05,1793239314242183424
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.283939538,745.283939538,714,684,658,633,881,786,805,652,631,653,0.449385042385,0.00476272298144,0.0796434255811,0.999999815903,0.000291814324665,-0.000527714540315,-6.75035307513e-05,1793239314258850048
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.859655269,745.859655269,714,684,658,633,881,786,805,652,631,653,0.449384553923,0.00476474288977,0.0796426198164,0.999999814571,0.000294716675501,-0.000528635462082,-6.74169269061e-05,1793239314275516672
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,714,684,658.434379217,633.434379217,881,786,805,652.434379217,631,653,0.449385914593,0.00476429347175,0.0796429717351,0.999999815111,0.000294100121642,-0.000527965565769,-6.7346183063e-05,1793239314292183296
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.99094079,745.99094079,714,684,658.99094079,633.99094079,881,786,804.99094079,652.99094079,631.00905921,653,0.449387825879,0.00476306037639,0.0796436743352,0.999999816232,0.000292364381089,-0.000526812858495,-6.72820785165e-05,1793239314308849920
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.398500966,745.398500966,714,684,658.398500966,633.398500966,881,786,804.398500966,652.398500966,631.601499034,653,0.449386809476,0.00476262105216,0.0796429276615,0.999999816041,0.000291604599197,-0.000527592026395,-6.73162889823e-05,1793239314325516288
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,684,658,633,881,786,804.189450124,652,631.810549876,653,0.449386195656,0.0047622285582,0.0796426687648,0.999999816129,0.00029081322984,-0.000527868081781,-6.72705836104e-05,1793239314342183424
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,684,658,633,881,786,804.768177838,652,631.231822162,653,0.449386409056,0.00476193228998,0.0796434121406,0.999999816791,0.000289956955362,-0.000527110353548,-6.70606690824e-05,1793239314358850560
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.343520741,714,684,658,633,881,786.343520741,805,652,631.343520741,653,0.449386492662,0.00476243909588,0.0796431136246,0.999999816765,0.000289222421831,-0.000527559830144,-6.70953086296e-05,1793239314375517184
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.916601696,714,684,658,633,881,786.916601696,805,652,631.916601696,653,0.449386489534,0.00476348256187,0.079642118857,0.999999816276,0.000288569242602,-0.000528816030108,-6.72933732107e-05,1793239314392183552
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.492218623,746,714,683.507781377,658,633,881.492218623,786.507781377,804.507781377,652,631.507781377,653,0.449386307396,0.00476376395984,0.0796418987603,0.999999815528,0.000290022701279,-0.00052944950029,-6.71917888274e-05,1793239314408850176
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.929925112,745.929925112,714,683.070074888,658,633,881.929925112,786,804.070074888,652,631,653,0.449386324323,0.00476383093784,0.0796418484212,0.999999814901,0.000291598157252,-0.00052978285755,-6.7073885103e-05,1793239314425516800
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.338625231,745.338625231,714,683.661374769,658,633,881.338625231,786,804.661374769,652,631,653,0.449388048687,0.00476326841736,0.0796420794122,0.999999815533,0.000291412369969,-0.000528672809588,-6.72141892583e-05,1793239314442183424
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.246945741,745,714,684,658,633,881,786,804.753054259,652,631,653.246945741,0.449388930414,0.00476229966665,0.0796428025508,0.999999816299,0.000290448527806,-0.000527763170989,-6.71463366459e-05,1793239314458849792
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.824839121,745,714,684,658,633,881,786,804.175160879,652,631,653.824839121,0.44938868287,0.00476078650098,0.0796441852476,0.999999817241,0.000288441964956,-0.00052712211352,-6.67995199754e-05,1793239314475516672
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745,714,683.600417796,658,633,881,786,804.399582204,652,631.399582204,653.600417796,0.449388571364,0.00476220035814,0.0796439035165,0.999999816174,0.00029161865009,-0.000527395883313,-6.68200903245e-05,1793239314492183296
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745,714,683.027044911,658,633,881,786,804.972955089,652,631.972955089,653.027044911,0.449388519026,0.00476488726832,0.079642897874,0.999999814209,0.00029704969049,-0.000528067539854,-6.70004486914e-05,1793239314508849920
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,745.562848408,714,683,658,633,881,786,805,652,631.437151592,653,0.449389392306,0.00476632207955,0.0796428744566,0.999999814474,0.000296306774477,-0.00052793532341,-6.73679929125e-05,1793239314525516544
+252,4.200000000,HOLD_POSE2,766,746,714,683,658,633,881,787,804,652,631,653,0.449387094162,0.00476356056509,0.0796420460366,0.999999814466,0.000293328676109,-0.00052968334684,-6.67985047318e-05,1793239314566638592
+253,4.216666667,HOLD_POSE2,765.423581663,745.423581663,714,683,658,633,881,786.423581663,804,652.576418337,631,653,0.449387941708,0.0047658183474,0.0796421706995,0.999999814353,0.000294503140894,-0.000529140155808,-6.76180060102e-05,1793239314583304960
+254,4.233333333,HOLD_POSE2,765,745.151911124,714,683.151911124,658,633,881,786,804.151911124,652.848088876,631.151911124,652.848088876,0.449388697625,0.00476737666387,0.079642442347,0.9999998142,0.000295653111738,-0.000528728251297,-6.80799945448e-05,1793239314599971328
+255,4.250000000,HOLD_POSE2,765,745.724838911,714,683.724838911,658,633,881,786,804.724838911,652.275161089,631.724838911,652.275161089,0.449389199591,0.00476699643435,0.0796431213573,0.999999813941,0.000296735198699,-0.000528680202922,-6.75511484998e-05,1793239314616637952
+256,4.266666667,HOLD_POSE2,765.307159513,745.692840487,714,684,658,633,881,786,804.692840487,652.307159513,631.692840487,652.307159513,0.449389547781,0.00476712649986,0.0796435017892,0.999999814013,0.000296855412834,-0.000528505442786,-6.7332464307e-05,1793239314633304832
+257,4.283333333,HOLD_POSE2,765.898159816,745.101840184,714,684,658,633,881,786,804.101840184,652.898159816,631.101840184,652.898159816,0.449389753867,0.0047677281202,0.07964360631,0.99999981439,0.000296086776872,-0.000528213590507,-6.7400395347e-05,1793239314649971456
+258,4.300000000,HOLD_POSE2,766,745.478836271,714,683.521163729,658,633,881,786.478836271,804,652.521163729,631,653,0.449388997464,0.00476731786618,0.0796429237621,0.999999814201,0.000294662269589,-0.000529337661186,-6.76236699374e-05,1793239314666638080
+259,4.316666667,HOLD_POSE2,766,745.942892637,714,683.057107363,658.057107363,633,881,786.942892637,804,652,631.057107363,653,0.449388154578,0.00476666079016,0.079642184666,0.999999813977,0.000293216690108,-0.000530536772158,-6.78252548126e-05,1793239314683304960
+260,4.333333333,HOLD_POSE2,766,745.366947334,714,683.633052666,658.633052666,633,881,786.366947334,804,652,631.633052666,653,0.449388346509,0.00476567522695,0.079642420557,0.999999814536,0.000292820247756,-0.000529739420432,-6.75359487055e-05,1793239314699971840
+261,4.350000000,HOLD_POSE2,766,745,714,683.786604233,658.786604233,633.213395767,881,786,804.213395767,652,632,653,0.449388593583,0.00476536341333,0.0796424193682,0.999999814721,0.00029300150626,-0.000529303848436,-6.74243724183e-05,1793239314716638464
+262,4.366666667,HOLD_POSE2,766,745,714,683.198539777,658.198539777,633.801460223,881,786,804.801460223,652,632,653,0.449388937471,0.00476623453272,0.0796420019275,0.999999814251,0.000294197060568,-0.00052950346971,-6.76248445194e-05,1793239314733304832
+263,4.383333333,HOLD_POSE2,765.616116013,745,714,683.383883987,658,633.616116013,881,786,805,652,632,653,0.449389147127,0.00476620385503,0.0796423624402,0.999999814424,0.00029362210918,-0.000529503647407,-6.75589352805e-05,1793239314749971456
+264,4.400000000,HOLD_POSE2,765.036567243,745,714,683.963432757,658,633.036567243,881,786,805,652,632,653,0.449389288364,0.00476571353352,0.0796431194739,0.999999814924,0.000292144735229,-0.000529402169187,-6.7357252105e-05,1793239314766638080
+265,4.416666667,HOLD_POSE2,765,745.540053113,714,684,658,633,881,786,804.459946887,652,631.459946887,653,0.449389497195,0.00476568615116,0.0796434053384,0.999999814861,0.000293151646453,-0.000528963937273,-6.73531877719e-05,1793239314783304704
+266,4.433333333,HOLD_POSE2,765.116435748,745.883564252,714,683.883564252,658,633,881,786,804.116435748,652,631.116435748,653,0.449389756047,0.00476573741408,0.079643625712,0.999999814856,0.000293859996767,-0.000528574347509,-6.74071611986e-05,1793239314799971328
+267,4.450000000,HOLD_POSE2,765.692658604,745.307341396,714,683.307341396,658,633,881,786,804.692658604,652,631.692658604,653,0.44939019445,0.00476597612302,0.0796437127729,0.999999815229,0.00029272871409,-0.000528466393112,-6.76377629149e-05,1793239314816638208
+268,4.466666667,HOLD_POSE2,765.72451356,745.27548644,714,683,658,633,880.72451356,786,804.72451356,652,631.72451356,653.27548644,0.449390914282,0.00476603469223,0.079643900255,0.999999815569,0.000292551283209,-0.000527922233273,-6.76345618976e-05,1793239314833305088
+269,4.483333333,HOLD_POSE2,765.134136025,745.865863975,714,683,658,633,880.134136025,786,804.134136025,652,631.134136025,653.865863975,0.449391955798,0.00476588735512,0.079644202522,0.999999815869,0.000293464139953,-0.000526879474636,-6.73641157747e-05,1793239314849971712
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,714,683,658,633,881,787,805,653,631,653,0.449391243683,0.00476522771654,0.0796431027836,0.99999981504,0.000293039558533,-0.00052867792822,-6.74382883898e-05,1793239314882619648
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.425015814,746,714,683.574984186,658,633,881,786.425015814,805,652.425015814,631.574984186,653,0.449393177792,0.00476474505067,0.079644882063,0.999999816801,0.000291699001033,-0.000526081444089,-6.74329988529e-05,1793239314899286528
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.850084669,713.850084669,683.850084669,658,633,880.850084669,786,804.850084669,652,631.850084669,653,0.449394030851,0.00476453085104,0.0796458041848,0.999999817599,0.000291293527024,-0.000524798781688,-6.73568487398e-05,1793239314915953152
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.275303714,713.275303714,683.275303714,658,633,880.275303714,786,804.275303714,652,631.275303714,653,0.44939182018,0.00476507749459,0.0796442970906,0.999999815677,0.0002935381141,-0.000527239538331,-6.70798771181e-05,1793239314932619264
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.308101059,683.308101059,658,633,880.308101059,786,804,652,631,653,0.449390267881,0.00476511275744,0.079642803285,0.999999814574,0.000293452073038,-0.000529364775,-6.71570563217e-05,1793239314949286144
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.899433506,683.899433506,658,633,880.899433506,786,804,652,631,653,0.449389320811,0.00476467791781,0.0796413216953,0.999999814226,0.000291223530134,-0.000531199960068,-6.75597995975e-05,1793239314965953280
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.520444542,658,632.520444542,881,786,804,652,631,653,0.44939014484,0.00476548020975,0.0796418710612,0.999999814037,0.000293497371797,-0.000530312231715,-6.74880527791e-05,1793239314982619904
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,657.942953378,632.057046622,881,786,804,652,631,652.942953378,0.449390669356,0.00476652624245,0.0796423794695,0.999999813667,0.000296272210452,-0.000529482836959,-6.7360383831e-05,1793239314999286016
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657.368487639,632.631512361,881,786,804,652,631,652.368487639,0.449385185449,0.00476748366885,0.0796387416062,0.999999811428,0.000295222909196,-0.000534243405166,-6.76073934688e-05,1793239315015952384
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.211851622,657.211851622,633,880.788148378,786,804.211851622,652,631,652.211851622,0.44937228159,0.00476745614829,0.0796317125843,0.999999806346,0.000293321722194,-0.000544680914051,-6.77731969123e-05,1793239315032619008
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.802698345,657.802698345,633,880.197301655,786,804.802698345,652,631,652.802698345,0.449346103697,0.00476566659214,0.0796186168993,0.999999795914,0.000289896541587,-0.000565274269533,-6.77937252862e-05,1793239315049285632
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.385807051,745,714,683.614192949,658,633,880.385807051,786,804.614192949,652,631,653,0.449296759168,0.00476630563362,0.0795960490859,0.999999773586,0.000291418463657,-0.000602768223916,-6.7625543226e-05,1793239315065952256
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.965036397,745,714,683.034963603,658,633,880.965036397,786,804.034963603,652,631,653,0.449235800169,0.00476816223934,0.0795687324706,0.999999743666,0.000295420588328,-0.000648735203747,-6.7362752094e-05,1793239315082618880
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.45972069,745,714,683,658,633,881,786,804,652,631,653,0.449162994952,0.00476665706241,0.0795509453006,0.999999725249,0.000294871047245,-0.00067690023961,-6.60202398649e-05,1793239315099285504
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,633,880.88472904,786,804.11527096,652,631,653,0.449087933282,0.0047655609425,0.0795362980708,0.999999709579,0.000295008773844,-0.000699740125517,-6.46176989303e-05,1793239315115952128
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,633,880.309717974,786,804.690282026,652,631,653,0.449006907216,0.00476695760714,0.079531732445,0.999999704134,0.000299053746546,-0.000705902550084,-6.32523790182e-05,1793239315132619008
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.273442523,714,683,658,633,880.273442523,786,805,652,631,653,0.448919372488,0.0047669580388,0.0795320685159,0.99999970388,0.00030137880515,-0.000705464474028,-6.1079236681e-05,1793239315149285888
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.866117087,714,683,658,633,880.866117087,786,805,652,631,653,0.448824239189,0.00476532843018,0.0795381271011,0.999999709682,0.000301695939944,-0.000697320605335,-5.79629975078e-05,1793239315165952512
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,658,633,881,786,804.553381894,652,631,653,0.448704652441,0.00476443343709,0.0795437968657,0.999999713169,0.00030347851374,-0.000691779487759,-5.48004725882e-05,1793239315182618880
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.976518992,714,683,658,633,881,786,804,652,631.023481008,653,0.448576550921,0.00476376991702,0.07954894718,0.999999715606,0.000305843883178,-0.000687448759977,-5.15884108553e-05,1793239315199285504
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.401667733,714,683,658,633,881,786,804,652,631.598332267,653,0.448416071727,0.00476350793556,0.0795445643153,0.999999709631,0.00031185256848,-0.000693705022054,-4.75303110392e-05,1793239315215952384
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.176826074,658,633.176826074,881,786,804.176826074,652,631.823173926,653,0.448247952473,0.00476309647896,0.0795409498908,0.999999704112,0.000317300109415,-0.000699442289383,-4.33173311886e-05,1793239315232619264
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.763768029,658,633.763768029,881,786,804.763768029,652,631.236231971,653,0.448062113513,0.00476233834201,0.0795391177239,0.999999699795,0.000321446177375,-0.000703975842121,-3.87451358713e-05,1793239315249285888
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.346307349,714,683.653692651,658,634,881,786,805,652,631,653,0.447854514155,0.00475930501483,0.0795410516111,0.999999700323,0.000324108957214,-0.000702297855313,-3.295470236e-05,1793239315265952512
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.925881189,714,683.074118811,658,634,881,786,805,652,631,653,0.44763225736,0.00475473915976,0.0795455222455,0.999999704078,0.000325772620867,-0.000696435885985,-2.63436847323e-05,1793239315282619392
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.503311271,745.496688729,714,683,658.503311271,633.496688729,881,786,805,652,631.503311271,653,0.447379351467,0.00475399304375,0.0795542986065,0.999999709549,0.000333639897588,-0.000684990975086,-1.93167662177e-05,1793239315299286016
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.919837692,745.080162308,714,683.080162308,658.919837692,633,881,786,804.919837692,652,631.919837692,653,0.447116851192,0.00475335973475,0.0795634797596,0.999999714865,0.000341514275126,-0.000673415425278,-1.22311888116e-05,1793239315315952640
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.344621028,745.655378972,714,683.655378972,658.344621028,633,881,786,804.344621028,652,631.344621028,653,0.44682285459,0.00474996398884,0.0795712615758,0.999999719045,0.000343814618222,-0.000666088911819,-5.15998465926e-06,1793239315332619264
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,746,714,684,658.236627907,633.236627907,881,786,804,652,631,653,0.446512909181,0.00474631272094,0.0795811678107,0.99999972522,0.000344648227711,-0.000656334444473,1.47162131329e-06,1793239315349285632
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,746,714,684,658.826891929,633.826891929,881,786,804,652,631,653,0.446179128588,0.00474227958028,0.0795942489504,0.999999734355,0.000343289830291,-0.000642951444519,7.44625535714e-06,1793239315365952000
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,746,714,683.590308576,659,634,881,786.409691424,804,652,631.409691424,653,0.445804594731,0.00473604037183,0.0796003581382,0.99999974653,0.000320605951796,-0.000635692347489,6.81085089372e-06,1793239315382618880
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,714,683.010606666,659,634,881,786.989393334,804,652,631.989393334,653,0.445413149416,0.00472888570702,0.0796035741605,0.999999759148,0.000289072594698,-0.000630974498757,3.43246511498e-06,1793239315399285760
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.438106271,714,683,659,634,881,787,804.561893729,652,632,653,0.444978032787,0.00472139971349,0.0796136176765,0.999999771208,0.000279997982362,-0.000615729618865,7.91197389133e-06,1793239315415952384
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.135631702,745.135631702,714,683.135631702,659,634,880.864368298,787,805,652,632,653,0.44453674806,0.00471482198577,0.079624325553,0.999999783363,0.000271113778915,-0.000599693615826,1.17887279033e-05,1793239315432619008
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.713845903,745.713845903,714,683.713845903,659,634,880.286154097,787,805,652,632,653,0.444077992147,0.00471122819024,0.0796367860855,0.999999796528,0.000261485024666,-0.000581716312023,1.32207242084e-05,1793239315449285888
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.700755936,746,714,684,659.598488127,634,880.299244064,787,804.700755936,652,632,653,0.443600471358,0.00470462667651,0.0796465627977,0.999999802182,0.000269502384986,-0.00056814305271,1.47292343201e-05,1793239315465952256
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.108319019,746,714,684,660.783361962,634,880.891680981,787,804.108319019,652,632,653,0.443104565096,0.00469507826521,0.0796537099625,0.999999800235,0.000294809025045,-0.000558884778551,1.63127111691e-05,1793239315482618880
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,746,714,684,660.529595364,634,881,787,804,652,631.529595364,653,0.442578059744,0.00468427997988,0.0796686244434,0.999999820309,0.000276510065556,-0.000531606471719,1.78742683516e-05,1793239315499285504
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,746,714,683.95397754,660.04602246,634,880.95397754,787,804,652,631.04602246,653,0.442039383932,0.00467373081348,0.0796850322873,0.999999843068,0.000249729973098,-0.000501121341182,1.93903232198e-05,1793239315515952128
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,746,714,683.37879111,660.62120889,634,880.37879111,787,804,652,631.62120889,653,0.441439491902,0.00466926143487,0.0796986284789,0.999999856302,0.00023761443431,-0.000480122818417,2.04395869494e-05,1793239315532619776
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,746,714,683,661,634.200508391,880.200508391,787,804,652.200508391,632,653,0.440819388598,0.00466287341394,0.0796973992354,0.999999858195,0.000228245813548,-0.000480690094708,2.1212477258e-05,1793239315549287168
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,661,634.787740806,880.787740806,787,804,652.787740806,632,653,0.440160303495,0.00465278487443,0.0796675759162,0.999999837956,0.000224175222099,-0.000522851704396,2.14523212669e-05,1793239315565954048
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.371072862,746,714,683,661.371072862,635,881,787,804.371072862,652.628927138,632,652.628927138,0.439497931846,0.00464150536997,0.0796573603161,0.999999835859,0.000213177535378,-0.000531341381324,2.26784252317e-05,1793239315582620672
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,746,714.529168435,683,662.529168435,635.529168435,881,787,804.470831565,652,632,652.529168435,0.438192415535,0.00462184496587,0.0797268521734,0.999999893305,0.000185295710251,-0.000422292581505,2.6930090314e-05,1793239315615952896
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.737741104,746,715,683.737741104,663,635,880.262258896,787.262258896,804.737741104,652,631.737741104,652.737741104,0.436090061386,0.00459441773229,0.0798726247544,0.999999963725,0.000168878009231,-0.000206666406291,3.63232734889e-05,1793239315665952256
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.148302379,746,715,683.148302379,663,635,880.851697621,787.851697621,804.148302379,652,631.148302379,652.148302379,0.43531316474,0.00458746383271,0.0798599678842,0.999999961934,0.000155415994708,-0.000224962414884,3.70030346643e-05,1793239315682618880
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,662.010857179,635,880,787,804.989142821,652,632,652.989142821,0.433675040353,0.00456804066065,0.0798005963013,0.999999940856,0.000157618934386,-0.000303550528074,3.60873330202e-05,1793239315715952640
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,662.587588733,635,880,787,804.412411267,652,632,652.412411267,0.432782805893,0.00455929238186,0.0797665926635,0.999999917255,0.000142752085697,-0.000378902669295,3.93039125536e-05,1793239315732619520
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.167487053,745.167487053,715,683,662.832512947,635,880.167487053,787,804,652,631.832512947,652,0.431896477185,0.00454996396328,0.079737408778,0.999999893291,0.00013026424402,-0.00044119982076,4.23210318362e-05,1793239315749286144
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.755333294,745.755333294,715,683,662.244666706,635,880.755333294,787,804,652,631.244666706,652,0.431024970793,0.00453917950977,0.0797203215144,0.999999880544,0.000123747239348,-0.000470731544833,4.48375458488e-05,1793239315765952512
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.661757748,746,715,682.661757748,662,635.338242252,881,787,804,652,631.338242252,652.338242252,0.430211984456,0.00452834938757,0.0797551557968,0.999999908551,0.000113212488271,-0.000409826511876,4.60699376452e-05,1793239315782618880
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.082368804,746,715,682.082368804,662,635.917631196,881,787,804,652,631.917631196,652.917631196,0.42944071949,0.00451748670678,0.0798270070667,0.999999953488,9.98133208754e-05,-0.000284445421566,4.63868256978e-05,1793239315799285504
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.493656741,746,715,682.493656741,662.987313482,635.506343259,880.506343259,787,804,652,631.506343259,653,0.428607906017,0.00450695195851,0.0798601624095,0.999999965562,9.90773314927e-05,-0.00023792913471,4.94911950094e-05,1793239315815952128
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,746,715,682.930871725,663.86174345,635.069128275,880,787,804.069128275,652,631.069128275,653,0.427754646142,0.00449623117476,0.0798774062728,0.999999970258,9.77809038653e-05,-0.000217192070649,5.24531492009e-05,1793239315832619008
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,682.355375661,662.710751322,635.644624339,880,787,804.644624339,652,631.644624339,653,0.426826332381,0.0044837495858,0.0798250725449,0.999999953815,7.70068332789e-05,-0.000289551453866,5.09880541047e-05,1793239315849286144
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,746,715,682,662,635.774981671,879.774981671,787,804.774981671,652,632,653,0.425903393392,0.00447285812168,0.0797836678034,0.999999935978,6.24191710938e-05,-0.000348691324007,5.06270617387e-05,1793239315865953024
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,746,715,682,662,635.18668008,879.18668008,787,804.18668008,652,632,653,0.424989131616,0.00446453384973,0.0797599074734,0.999999922287,5.78192196813e-05,-0.00038648882238,5.20485999901e-05,1793239315882619648
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.552044792,746,714.447955208,682,662.447955208,635.447955208,879.447955208,787,804,652.447955208,632,653,0.422356963863,0.00446742820482,0.0797759205031,0.999999933409,6.67055667773e-05,-0.000354717355351,5.3928056947e-05,1793239315932618752
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.872019706,746,714.127980294,681.872019706,662.127980294,635.127980294,879,787,804,652,632,653,0.421563523994,0.00448142435127,0.0798215250013,0.99999996069,7.69075540728e-05,-0.000264583205565,5.19653015903e-05,1793239315949285376
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.297434109,746,714.702565891,681.297434109,662.702565891,635.702565891,879,787,804,652,632,653,0.420760477309,0.00449637085159,0.0798735777556,0.99999997793,9.80488667845e-05,-0.000178373328888,5.20574345136e-05,1793239315965952256
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.059087308,746,715,681,662.059087308,635.940912692,879,787.059087308,804,652.940912692,631,653,0.413393798224,0.00448861160149,0.0798118782168,0.999999951226,9.86075928847e-05,-0.000291787674774,5.1817421086e-05,1793239316115951872
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.093305231,715,680,662.093305231,635,879,787,803.093305231,652,631.906694769,653,0.411958196799,0.00447758851459,0.0798217092994,0.999999955926,7.85867996168e-05,-0.000281538755235,5.20340304676e-05,1793239316149285632
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.667995062,715,680,662.667995062,635,879,787,803.667995062,652,631.332004938,653,0.41125315695,0.00447771096214,0.0798087544611,0.999999949267,6.70954661975e-05,-0.000306882613368,5.27859689204e-05,1793239316165952256
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.74982629,714.74982629,680,662.74982629,635.25017371,879,787,804,652,631,653,0.410569721162,0.00448045867563,0.0798033286711,0.999999944899,7.49749505313e-05,-0.000318996937365,5.31266099223e-05,1793239316182618880
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.157402618,714.157402618,680,662.157402618,635.842597382,879,787,804,652,631,653,0.40991584085,0.00448679788225,0.0798082029912,0.999999943633,0.000109354668822,-0.000313012604793,5.29045756848e-05,1793239316199285504
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.424286074,745.424286074,714.424286074,680.424286074,662.424286074,636,879,787,803.575713926,652,631.424286074,653,0.409316865224,0.00448697990745,0.0798292740299,0.99999995431,0.000105380187472,-0.000278291001982,5.31911787597e-05,1793239316215952128
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,662.997925481,636,879,787,803.002074519,652,631.997925481,653.002074519,0.40873773919,0.00448494500011,0.0798560718364,0.999999967482,8.76076973676e-05,-0.000233410255034,5.36623962823e-05,1793239316232619008
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,662.424565718,636,879,787,803.575434282,652,631.424565718,653.575434282,0.408154099326,0.00448591332784,0.0798460637211,0.999999961985,9.17557243458e-05,-0.000254289963231,5.42920938514e-05,1793239316249285632
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.847412146,746,715,681,662,635.847412146,879,787,804.152587854,652.152587854,631,653.694824293,0.407577032371,0.00448650679122,0.0798289594155,0.999999953063,9.53055730564e-05,-0.000286042575929,5.45009085214e-05,1793239316265952000
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.259433268,746,715,681,662,635.259433268,879,787,804.740566732,652.740566732,631,652.518866537,0.407018720279,0.00448603062465,0.0797916069853,0.999999933012,9.71485931047e-05,-0.000348819713797,5.3508784707e-05,1793239316282618624
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.324025944,746,715,680.675974056,662,635,879,787,804.351948113,652.675974056,631,652.324025944,0.406503867707,0.00448625543854,0.0797802463235,0.999999927608,9.40510015328e-05,-0.000364874575205,5.29686192416e-05,1793239316299285248
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.903916204,746,715,680.096083796,662,635,879,787,803.192167591,652.096083796,631,652.903916204,0.406023332606,0.00448703377569,0.0797894098417,0.999999935638,8.70520982874e-05,-0.000344035587181,5.27853389835e-05,1793239316315952128
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.518861859,746,715,680,662.481138141,635.481138141,879,787,803,652,631,653.481138141,0.405599709605,0.00448976585177,0.0798083869095,0.999999947471,9.17524408196e-05,-0.000306427726824,5.23674174759e-05,1793239316332618752
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,746,715,680.057447988,663,636,878.942552012,787,803.057447988,652,631,653.942552012,0.405188915574,0.00449250169689,0.07982774684,0.999999957527,9.81631321382e-05,-0.000269466375336,5.19442729054e-05,1793239316349285376
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,746,715,680.630329049,663,636,878.369670951,787,803.630329049,652,631,653.369670951,0.40479181528,0.00449179005038,0.0798330554143,0.999999957784,9.90728322969e-05,-0.000268185558331,5.1892366918e-05,1793239316365952000
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,746,715,680.19662872,662.19662872,635.19662872,878,787,803.19662872,652,631.80337128,653,0.40404911322,0.00448885830404,0.0798438064412,0.999999957905,0.000101498574015,-0.000266039979505,5.57742492912e-05,1793239316399285248
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.386396442,745.613603558,715,680,662.772792884,635,878,787,803,652,632,653,0.403708296471,0.00448890558908,0.0798450476757,0.999999957804,9.59047637809e-05,-0.000268826976307,5.40914575633e-05,1793239316415951616
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.964464623,745.035535377,715,680,663.928929247,635,878,787,803,652,632,653,0.403376542154,0.00448988168412,0.0798442222875,0.999999957575,8.68628700499e-05,-0.000273479464955,5.01402448739e-05,1793239316432618240
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.460035279,635,878.539964721,787,803.539964721,652,631.460035279,653,0.40309852252,0.00448717909501,0.0798411063005,0.9999999559,8.95960265403e-05,-0.000278482864511,5.11762880504e-05,1793239316449284864
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.117364009,662.882635991,635,879,787,804,652,631.117364009,653,0.402833717188,0.00448396846121,0.0798387894995,0.999999954611,9.14792099884e-05,-0.000282249114229,5.24007980752e-05,1793239316465951744
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.703012416,662.296987584,635,879,787,804,652,631.703012416,653,0.402607593923,0.00447969211522,0.0798402600934,0.999999955339,8.68936691025e-05,-0.000280987408655,5.30739136487e-05,1793239316482618368
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.714389878,745,715,680.714389878,662,635.285610122,878.714389878,787.285610122,803.714389878,652,632,653,0.402395237626,0.00447376327178,0.0798423281194,0.999999956825,7.87734147184e-05,-0.000277924546838,5.38826971165e-05,1793239316499284992
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.134930909,745,715,680.134930909,662,635.865069091,878.134930909,787.865069091,803.134930909,652,632,653,0.402197045432,0.00446613426312,0.0798450108111,0.999999958984,6.70164845689e-05,-0.000273008572576,5.48310619158e-05,1793239316515951872
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.444049363,745.444049363,715,680,662.444049363,636,878.444049363,788,803,652.444049363,632,653,0.402026721868,0.00446481202915,0.0798506174632,0.99999996104,6.67823014765e-05,-0.000265278623258,5.55687635073e-05,1793239316532618496
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745.977378543,715,680,663,635.977378543,879,787.977378543,803.022621457,652.977378543,632,653,0.401866136571,0.00446561027146,0.0798569517975,0.999999962981,7.021157326e-05,-0.000256807753557,5.6188230421e-05,1793239316549285376
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.405192479,715,680,663,635.405192479,879,787.405192479,803.594807521,652.405192479,632,653,0.40173662548,0.00447141632497,0.0798594027644,0.999999963922,7.76704782458e-05,-0.000251087597528,5.54887666298e-05,1793239316565952768
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,635.172591798,879,787,804,652,631.827408202,653,0.401611252819,0.00447745652737,0.0798596164229,0.999999963465,8.67947511886e-05,-0.000250074165273,5.47767972492e-05,1793239316582619904
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,635.763959467,879,787,804,652,631.236040533,653,0.401495921642,0.0044840648666,0.0798544014874,0.999999959619,9.99598634836e-05,-0.000260481104758,5.4034484471e-05,1793239316599286016
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,636,879,787.348107569,803.651892431,652.348107569,631.348107569,653,0.401393229167,0.00448658090435,0.0798485376613,0.999999956657,0.000106080513263,-0.000269380572835,5.35377450187e-05,1793239316615952384
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,636,879,787.927459837,803.072540163,652.927459837,631.927459837,653,0.401298932456,0.00448637846401,0.0798422427825,0.999999954362,0.000107521591848,-0.000277278642397,5.32041376285e-05,1793239316632619264
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,635.495988086,879,787.495988086,804.008023828,652.495988086,631.495988086,653,0.401229781578,0.00448467678827,0.0798383338345,0.999999953826,0.00010140171566,-0.000281611798861,5.25396714795e-05,1793239316649285632
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,635.0815399,879,787,804.9184601,652,631.0815399,653,0.401167190111,0.0044830487855,0.0798352068973,0.999999953505,9.53925705871e-05,-0.000284938915388,5.19709899968e-05,1793239316665952000
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,635.667586103,879,787,804.332413897,652,631.667586103,653,0.40112291455,0.00448320430712,0.0798348055076,0.999999953282,9.6764374494e-05,-0.00028519844785,5.22879522167e-05,1793239316682618624
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.749245608,745,715,680,663,635.749245608,879,787,804,652,632,653,0.401085177272,0.00448304292965,0.0798352449035,0.999999953469,9.71218571493e-05,-0.00028438654196,5.24657918314e-05,1793239316699285504
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.169849187,745,715,680,663,635.169849187,879,787,804,652,632,653,0.401056009157,0.00448246622005,0.0798367862441,0.999999954191,9.61499568429e-05,-0.000282170394745,5.24612954961e-05,1793239316715952384
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,663,635,879,787,803.590997214,652,632,653,0.401032205455,0.00448274736837,0.0798370487137,0.999999953822,9.61720942322e-05,-0.000283446549751,5.25802611517e-05,1793239316732619008
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,663,635,879,787,803.01237105,652,632,653,0.401010626508,0.0044833842912,0.0798367808045,0.999999952995,9.66064831904e-05,-0.000286171047257,5.27504294895e-05,1793239316749285888
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.562041793,745.562041793,715,680.562041793,663,635.562041793,879,787,803,652,632,652.437958207,0.401001055102,0.00448350852658,0.0798369543445,0.99999995372,9.49569390261e-05,-0.000284280671416,5.2232473419e-05,1793239316765952256
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.86010702,663,636,879.13989298,787,803.13989298,652,632,652.13989298,0.400993123152,0.00448354639941,0.0798374634715,0.999999954483,9.37595297987e-05,-0.000282056618564,5.18294887722e-05,1793239316782619136
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.270917324,663,636,879.729082676,787,803.729082676,652,632,652.729082676,0.400989614143,0.00448334287374,0.0798390194338,0.999999955279,9.41604734927e-05,-0.000279084700809,5.18440434483e-05,1793239316799285504
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.686893078,715,680,663,636,879.686893078,787,803.686893078,652,631.686893078,653,0.400986821789,0.00448351909226,0.0798401878619,0.999999955704,9.50828670625e-05,-0.00027725893464,5.1753270744e-05,1793239316815951872
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745.107265662,715,680,663,636,879.107265662,787,803.107265662,652,631.107265662,653,0.40098463946,0.0044840185537,0.0798410264162,0.999999955818,9.64491252764e-05,-0.000276408786584,5.15728420691e-05,1793239316832618752
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,636,879,787,803.470614509,652,631,653,0.400982806277,0.00448337291034,0.0798401732628,0.999999955663,9.6536487347e-05,-0.000276969031918,5.14065286314e-05,1793239316849285376
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.047900488,715,680,663,635.952099512,879,787.047900488,804,652.047900488,631,653,0.400981149415,0.00448263533956,0.0798391505631,0.999999955487,9.64066949961e-05,-0.000277680765371,5.12398210615e-05,1793239316865952000
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.623013978,715,680,663,635.376986022,879,787.623013978,804,652.623013978,631,653,0.400980560564,0.0044837480273,0.0798404899834,0.999999955749,9.70832557304e-05,-0.000276534733675,5.10334960596e-05,1793239316882618624
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.796859137,715,680.203140863,663,635.203140863,879,788,803.796859137,652.796859137,631,653,0.400980234211,0.0044844686847,0.0798414526489,0.999999956009,9.7413325787e-05,-0.000275495154742,5.09432043818e-05,1793239316899285248
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.207193072,715,680.792806928,663,635.792806928,879,788,803.207193072,652.207193072,631,653,0.400980407323,0.00448444340838,0.0798416984464,0.999999956265,9.70841125043e-05,-0.000274658128306,5.10736945086e-05,1793239316915951872
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.374604689,715,680.625395311,663,636,879,787.625395311,803,652,631,653,0.400980243964,0.00448473816641,0.0798419963492,0.99999995645,9.68942893875e-05,-0.000274033540699,5.11657307458e-05,1793239316932618496
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.952140018,715,680.047859982,663,636,879,787.047859982,803,652,631,653,0.400979898333,0.00448520629327,0.0798423224785,0.999999956597,9.67799766435e-05,-0.000273524035361,5.12369357593e-05,1793239316949285120
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.473554894,715,680,663,636,879.526445106,787,803,652.526445106,631.526445106,653,0.400979919986,0.00448453757502,0.0798425112547,0.999999956765,9.68204502253e-05,-0.000272918056281,5.11006914922e-05,1793239316965952768
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.103251757,715,680.103251757,663,636,879.793496486,787,803.103251757,652.896748243,631.896748243,653,0.400979829896,0.00448412508669,0.0798426520052,0.999999956867,9.68318282129e-05,-0.00027257765668,5.0909744831e-05,1793239316982619904
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745.693226343,715,680.693226343,663,636,878.613547315,787,803.693226343,652.306773657,631.306773657,653,0.400979056618,0.00448540467788,0.0798426248691,0.999999956643,9.66401217539e-05,-0.000273530275525,5.05492949514e-05,1793239316999286016
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f21f70965bc60e27ed133afec6d2080d24a942c4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,415 @@
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+367,6.116666667,pose2_to_pose3_retreat,0.57692333046,0.0100907386042,1.07003215646,0.547493782161,0.0187624788171,1.06970029357
+368,6.133333333,pose2_to_pose3_retreat,0.576751642045,0.0100907982648,1.0700321924,0.54732209194,0.0187625322925,1.06970032803
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+377,6.283333333,pose2_to_pose3_retreat,0.575836230058,0.0100908314568,1.07003230379,0.546406680001,0.0187625653364,1.06970043239
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+383,6.383333333,pose2_to_pose3_retreat,0.57568651927,0.0100907986455,1.07003243866,0.546256971571,0.0187625406951,1.06970057166
+384,6.400000000,pose2_to_pose3_retreat,0.57567920166,0.0100907855863,1.07003244678,0.546249654665,0.0187625301175,1.0697005819
+385,6.416666667,pose2_to_pose3_retreat,0.575675079415,0.010090720863,1.07003226472,0.5462455331,0.018762467792,1.06970040231
+386,6.433333333,pose2_to_pose3_retreat,0.575672268897,0.0100907480687,1.07003223347,0.546242722051,0.0187624931736,1.06970037042
+387,6.450000000,pose2_to_pose3_retreat,0.575670484973,0.0100908178106,1.07003228196,0.54624093706,0.0187625592131,1.06970041679
+388,6.466666667,pose2_to_pose3_retreat,0.575669136112,0.0100908705438,1.07003231863,0.546239587393,0.0187626091469,1.06970045185
+389,6.483333333,pose2_to_pose3_retreat,0.575668203405,0.0100908713952,1.0700323497,0.54623865445,0.0187626091901,1.06970048262
+390,6.500000000,pose2_to_pose3_retreat,0.575667642199,0.0100908426951,1.07003237309,0.546238093368,0.0187625809284,1.06970050649
+391,6.516666667,pose2_to_pose3_retreat,0.575667302421,0.0100908253189,1.07003238726,0.546237753665,0.0187625638177,1.06970052095
+392,6.533333333,pose2_to_pose3_retreat,0.575667136521,0.0100908168347,1.07003239417,0.546237587801,0.0187625554631,1.06970052801
+393,6.550000000,pose2_to_pose3_retreat,0.575667051576,0.0100908124906,1.07003239771,0.546237502875,0.0187625511854,1.06970053162
+394,6.566666667,pose2_to_pose3_retreat,0.575666997962,0.0100908097488,1.07003239995,0.546237449273,0.0187625484855,1.0697005339
+395,6.583333333,pose2_to_pose3_retreat,0.575666818851,0.010090800589,1.07003240741,0.546237270201,0.0187625394657,1.06970054152
+396,6.600000000,pose2_to_pose3_retreat,0.575666613192,0.0100907900716,1.07003241598,0.546237064587,0.0187625291089,1.06970055027
+397,6.616666667,pose2_to_pose3_retreat,0.575666464009,0.0100907824424,1.0700324222,0.546236915437,0.0187625215963,1.06970055662
+398,6.633333333,pose2_to_pose3_retreat,0.575666386864,0.0100907784972,1.07003242541,0.546236838309,0.0187625177114,1.0697005599
+399,6.650000000,pose2_to_pose3_retreat,0.575666007461,0.0100907590945,1.07003244123,0.54623645899,0.0187624986051,1.06970057604
+400,6.666666667,pose2_to_pose3_retreat,0.575665867422,0.0100907594343,1.07003241128,0.546236318784,0.0187624983762,1.06970054601
+401,6.683333333,pose2_to_pose3_retreat,0.575665859389,0.010090759464,1.07003240951,0.546236310741,0.0187624983723,1.06970054424
+402,6.700000000,pose2_to_pose3_retreat,0.575665827853,0.0100907595806,1.07003240258,0.546236279167,0.0187624983573,1.06970053729
+403,6.716666667,pose2_to_pose3_retreat,0.575665670183,0.0100907601638,1.0700323679,0.546236121304,0.018762498282,1.06970050252
+404,6.733333333,pose2_to_pose3_retreat,0.575665246887,0.0100907617294,1.07003227481,0.54623569749,0.0187624980798,1.06970040917
+405,6.750000000,pose2_to_pose3_retreat,0.575665169929,0.010090762014,1.07003225789,0.546235620438,0.018762498043,1.0697003922
+406,6.766666667,pose2_to_pose3_retreat,0.575664964818,0.0100907627727,1.07003221278,0.546235415076,0.0187624979451,1.06970034697
+407,6.783333333,pose2_to_pose3_retreat,0.575664781979,0.0100907496134,1.07003223507,0.546235232104,0.0187624843397,1.06970036945
+408,6.800000000,pose2_to_pose3_retreat,0.575664610861,0.0100907307189,1.07003228566,0.546235060903,0.0187624651788,1.06970042036
+409,6.816666667,pose2_to_pose3_retreat,0.575664479043,0.0100907163657,1.07003230782,0.546234929123,0.018762450968,1.06970044289
+410,6.833333333,pose2_to_pose3_retreat,0.575664444907,0.0100907135284,1.07003224029,0.546234895438,0.0187624496837,1.06970037596
+411,6.850000000,pose2_to_pose3_retreat,0.575664421352,0.0100907115705,1.07003219369,0.546234872194,0.0187624487975,1.06970032977
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+413,6.883333333,pose2_to_pose3_retreat,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1866bf56078aff9c02add791ce321b3c3c204d82
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae4edba9c6092ec9f77c3a2b376c67fe2d33fc4b21a64d266659abf6d3d08699
+size 26249150
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1aefc5447e030bfbe42355843ccd44e729a3c7ce
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_02/franka_data.csv
@@ -0,0 +1,416 @@
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+16,0.266666667,BASELINE,765.704108693,746,715,680,663.295891307,635.295891307,879,787.295891307,803.704108693,652,631,653,0.400979562882,0.00448552319645,0.0798457059741,0.999999958089,9.82677906012e-05,-0.000267737921276,4.98202203912e-05,1793239317677385216
+17,0.283333333,BASELINE,765.128402244,746,715,680,663.871597756,635.871597756,879,787.871597756,803.128402244,652,631,653,0.400981086024,0.00448580423491,0.0798460847281,0.999999958686,9.76942367833e-05,-0.000265757417997,4.9567086818e-05,1793239317694051840
+18,0.300000000,BASELINE,765.447273571,746,715,680,663.552726429,636,879,788,803,652,631,653,0.400981593066,0.0044859726619,0.079846737578,0.999999958756,9.7643449057e-05,-0.000265509136013,4.95883735832e-05,1793239317710718720
+19,0.316666667,BASELINE,766,746,715,680.023635735,663,636,879,787.976364265,803,652,631.023635735,653,0.400981772102,0.00448608352459,0.0798474081078,0.999999958665,9.77682114219e-05,-0.000265787392486,4.96885179746e-05,1793239317727385344
+20,0.333333333,BASELINE,766,746,715,680.616746741,663,636,879,787.383253259,803,652,631.616746741,653,0.400981075894,0.00448558630052,0.0798466088782,0.999999958325,9.85070268757e-05,-0.000266771369294,4.97906640425e-05,1793239317744051968
+21,0.350000000,BASELINE,766,745.796544666,715,680.796544666,663,635.796544666,879.203455334,787,803.203455334,652,632,653,0.40098037225,0.00448562736458,0.0798462979909,0.999999958151,9.85642969392e-05,-0.000267423583714,4.96712461163e-05,1793239317760718592
+22,0.366666667,BASELINE,766,745.221528561,715,680.221528561,663,635.221528561,879.778471439,787,803.778471439,652,632,653,0.400979655028,0.00448665147862,0.0798468789399,0.999999958281,9.73768930855e-05,-0.000267469916204,4.91471964253e-05,1793239317777385216
+23,0.383333333,BASELINE,765.647091444,745,715,680,663,635,879.647091444,787,803.647091444,652,631.647091444,653,0.400979844912,0.00448613263507,0.0798469375675,0.999999958474,9.68258080606e-05,-0.00026692553671,4.92735581942e-05,1793239317794051840
+24,0.400000000,BASELINE,765.07301712,745,715,680,663,635,879.07301712,787,803.07301712,652,631.07301712,653,0.400980603275,0.00448464682894,0.0798466688593,0.999999958706,9.66735002818e-05,-0.000266010961408,4.98075290452e-05,1793239317810718720
+25,0.416666667,BASELINE,765,745,715,680.517469282,663,635.517469282,879,787.517469282,803.517469282,652.517469282,631.517469282,653,0.40098063187,0.00448557368938,0.0798466398009,0.999999958533,9.73997821181e-05,-0.000266441818674,4.95661383336e-05,1793239317827385344
+26,0.433333333,BASELINE,765.107301718,745.107301718,715,681,663,636,879.107301718,787.892698282,803.892698282,652.892698282,631.892698282,653,0.400980683841,0.0044865591328,0.0798466331176,0.999999958382,9.82829768601e-05,-0.000266736134706,4.92746238213e-05,1793239317844051968
+27,0.450000000,BASELINE,765.68381628,745.68381628,715,681,663,636,879.68381628,787.31618372,803.31618372,652.31618372,631.31618372,653,0.400981303057,0.00448626331135,0.0798465715631,0.999999958592,9.92924569969e-05,-0.000265576019826,4.92580146665e-05,1793239317860718592
+28,0.466666667,BASELINE,765.740434808,745.740434808,715,680.740434808,663,636,879.740434808,787.259565192,803,652.259565192,631,653,0.400981394411,0.00448645236895,0.0798466915561,0.999999958607,9.94460361704e-05,-0.000265450201802,4.93289566071e-05,1793239317877384960
+29,0.483333333,BASELINE,765.165615846,745.165615846,715,680.165615846,663,636,879.165615846,787.834384154,803,652.834384154,631,653,0.400980844653,0.0044872303343,0.079847032047,0.999999958385,9.85600845062e-05,-0.000266580584577,4.95062333492e-05,1793239317894051840
+30,0.500000000,BASELINE,765.420506842,745,715,680,663,635.579493158,879,787.579493158,803,652.579493158,631.420506842,653,0.400981015898,0.00448727679265,0.0798473068833,0.999999958577,9.75166660042e-05,-0.000266284159374,4.9281611407e-05,1793239317910718720
+31,0.516666667,BASELINE,765.989006656,745,715,680,663,635.010993344,879,787,803,652,631.989006656,653,0.400981443459,0.00448702998013,0.0798475372219,0.999999958919,9.64625654522e-05,-0.000265453119481,4.89096940858e-05,1793239317927385344
+32,0.533333333,BASELINE,765.409438413,745,715,680,663,635.590561587,879,787,803,652,631.409438413,653,0.400980035257,0.00448692748148,0.0798468404563,0.999999958365,9.81521613411e-05,-0.000266838487128,4.93324095345e-05,1793239317944051968
+33,0.550000000,BASELINE,765.169006485,745,714.830993515,680,663,635.830993515,879,787,803,652,631.169006485,653,0.400979072739,0.00448716404151,0.0798464614174,0.99999995799,9.94343065749e-05,-0.000267713710256,4.96132277938e-05,1793239317960718848
+34,0.566666667,BASELINE,765.744747831,745,714.255252169,680,663,635.255252169,879,787,803,652,631.744747831,653,0.400979182811,0.00448821658795,0.0798468470267,0.999999958058,9.97358715294e-05,-0.000267361207751,4.95525529812e-05,1793239317977385472
+35,0.583333333,BASELINE,766,745,714.319089767,680,663,635.319089767,879,787,803.319089767,652,632,653,0.400979991242,0.00448811528144,0.0798471993151,0.999999958382,9.92689947364e-05,-0.000266367809641,4.92959251605e-05,1793239317994052096
+36,0.600000000,BASELINE,766,745,714.892317209,680,663,635.892317209,879,787,803.892317209,652,632,653,0.400981355877,0.00448709499383,0.0798475250651,0.999999958908,9.81900958418e-05,-0.000264863972935,4.88832314001e-05,1793239318010718720
+37,0.616666667,BASELINE,765.520842766,745.479157234,715,680,663,636,878.520842766,787,804,652,631.520842766,653,0.400981741382,0.00448715596842,0.0798471595236,0.999999958906,9.81614220455e-05,-0.000264893461488,4.88204592077e-05,1793239318027385344
+38,0.633333333,BASELINE,765.135763212,745.932118394,715,680,663,636,878.067881606,787,803.932118394,652,631,652.932118394,0.400981885142,0.00448737173642,0.0798467648373,0.999999958825,9.8308376422e-05,-0.000265136452056,4.88663788611e-05,1793239318044051968
+39,0.650000000,BASELINE,766.294165662,745.352917169,715,680,663,636,878.647082831,787,803.352917169,652,631,652.352917169,0.400981913908,0.00448686959581,0.0798473550606,0.999999959065,9.79484366163e-05,-0.000264316124025,4.91213504504e-05,1793239318060718592
+40,0.666666667,BASELINE,766.776807453,745.223192547,715,680,663,635.776807453,879,787,803,652,631.223192547,652.223192547,0.400981998355,0.00448667112693,0.0798478724368,0.999999959214,9.80458919424e-05,-0.000263678682026,4.93203303979e-05,1793239318077385472
+41,0.683333333,BASELINE,766.205519349,745.794480651,715,680,663,635.205519349,879,787,803,652,631.794480651,652.794480651,0.400982169646,0.00448694627059,0.079848276199,0.999999959221,9.88567098748e-05,-0.000263326472788,4.94319846471e-05,1793239318094052352
+42,0.700000000,BASELINE,766,746,715,680,663,635,879,787,803,652,631.628830096,653,0.400982321342,0.00448734243961,0.0798484180709,0.999999959171,0.00010024040633,-0.000262978668533,4.95175221476e-05,1793239318110718976
+43,0.716666667,BASELINE,766,746,715,680,663,635,879,787,803,652,631.049106046,653,0.400982462027,0.00448780661074,0.0798484127909,0.999999959086,0.000101945993593,-0.000262633339375,4.9588385081e-05,1793239318127385856
+44,0.733333333,BASELINE,766,745.458418501,715,680.541581499,663,635,879,787,803,652,631,653,0.400981219335,0.00448661804978,0.0798478555973,0.999999958971,9.9627402156e-05,-0.000263948300898,4.96355579266e-05,1793239318144052224
+45,0.750000000,BASELINE,766,745,715,680.87008209,663,635,878.87008209,787,803,652.12991791,631,653,0.400980180011,0.00448600779372,0.0798474024072,0.999999958842,9.80579078858e-05,-0.000265023594179,4.96231968591e-05,1793239318160718592
+46,0.766666667,BASELINE,766,745,715,680.293322036,663,635,878.293322036,787,803,652.706677964,631,653,0.400980280483,0.00448791263723,0.0798474826037,0.999999958699,0.000100345773696,-0.000264746095313,4.94136142833e-05,1793239318177385472
+47,0.783333333,BASELINE,766,745,715,680,663,635.282555197,878.282555197,787,803,652.717444803,631.282555197,653,0.400980693806,0.00448934749951,0.0798475543351,0.999999958576,0.000102100328321,-0.000264564568203,4.92879942593e-05,1793239318194052352
+48,0.800000000,BASELINE,766,745,715,680,663,635.857518893,878.857518893,787,803,652.142481107,631.857518893,653,0.40098143089,0.00449029599152,0.0798476173062,0.999999958476,0.000103302974343,-0.000264482359556,4.92492647146e-05,1793239318210718720
+49,0.816666667,BASELINE,765.555917599,745,715,680,663,636,879,787,803,652,631.555917599,653,0.40098200482,0.00448927404136,0.0798481272512,0.999999958894,0.000101542268826,-0.000263603809618,4.91384059196e-05,1793239318227385600
+50,0.833333333,BASELINE,765.033776687,745.033776687,715,680,663,636,879,787,803.033776687,652.033776687,631.033776687,653,0.400982442723,0.00448770305513,0.0798487145391,0.99999995942,9.89826835152e-05,-0.000262598156817,4.90279641506e-05,1793239318244052480
+51,0.850000000,BASELINE,765.61233028,745.61233028,715,680,663,636,879,787,803.61233028,652.61233028,631.61233028,653,0.400981553598,0.004487746959,0.0798481742283,0.999999959067,9.92842520451e-05,-0.000263773941234,4.93075156212e-05,1793239318260718592
+52,0.866666667,BASELINE,766,745.811388484,715,680,663,636,879,787.188611516,803.811388484,652.811388484,631.811388484,652.811388484,0.400980971723,0.00448742394511,0.0798478597645,0.999999958951,9.90627494578e-05,-0.000264279338262,4.94090070027e-05,1793239318277385216
+53,0.883333333,BASELINE,766,745.239722253,715,680,663,636,879,787.760277747,803.239722253,652.239722253,631.239722253,652.239722253,0.400981013849,0.00448635575098,0.0798480039778,0.999999959316,9.7778931776e-05,-0.000263423232727,4.91488727474e-05,1793239318294051840
+54,0.900000000,BASELINE,766,745,715,680,663,635.665975977,879,787.665975977,803,652,631,652,0.400981329181,0.00448577410831,0.0798477742098,0.99999995948,9.65457442068e-05,-0.000263277459147,4.90213009964e-05,1793239318310718720
+55,0.916666667,BASELINE,766,745,715,680,663,635.090727568,879,787.090727568,803,652,631,652,0.400981841814,0.00448554384184,0.079847274361,0.9999999595,9.53491205838e-05,-0.000263644670833,4.89894628167e-05,1793239318327385344
+56,0.933333333,BASELINE,765.498021482,745.501978518,715,680,663,635.501978518,879,787,803.501978518,652,631,652.501978518,0.400981061769,0.00448627638474,0.0798468001816,0.99999995891,9.76603705091e-05,-0.000264985870882,4.92419890585e-05,1793239318344052224
+57,0.950000000,BASELINE,765.094994904,746,715,680,663.094994904,635.905005096,879,787,803.905005096,652,631,653,0.400980354457,0.00448690250868,0.0798466205139,0.999999958438,9.96951916116e-05,-0.000265967500664,4.94642661654e-05,1793239318360718592
+58,0.966666667,BASELINE,765.672968346,746,715,680,663.672968346,635.327031654,879,787,803.327031654,652,631,653,0.40098124762,0.00448607093981,0.0798479137813,0.999999959184,9.69849470975e-05,-0.000264193708103,4.92620230137e-05,1793239318377385472
+59,0.983333333,BASELINE,765.750681356,745.750681356,715,680,663.750681356,635.249318644,879,787,803,652,631,653,0.400981221157,0.00448579343317,0.079848127846,0.999999959389,9.56618313431e-05,-0.000263915881158,4.91852417686e-05,1793239318394052352
+60,1.000000000,BASELINE,765.176446286,745.176446286,715,680,663.176446286,635.823553714,879,787,803,652,631,653,0.400979996221,0.00448623799,0.0798469354751,0.999999958896,9.61464457192e-05,-0.00026558762257,4.92719646511e-05,1793239318410718720
+61,1.016666667,BASELINE,765.409297812,745.409297812,715,680,663,635.590702188,878.590702188,787,803.409297812,652,631,652.590702188,0.400979858518,0.00448702042741,0.0798469320789,0.999999958831,9.67398152042e-05,-0.000265630560808,4.9187806277e-05,1793239318427385344
+62,1.033333333,BASELINE,765.999856166,746,715,680,663,635,878,787,803.999856166,652,631,652.000143834,0.400980203158,0.00448795237738,0.0798474558756,0.999999958957,9.73811169277e-05,-0.000264951224682,4.90278445524e-05,1793239318444051968
+63,1.050000000,BASELINE,765.421371993,746,715,680,663,635,878,787,803.421371993,652,631,652.578628007,0.400980873008,0.00448743551724,0.0798471838926,0.99999995898,9.67840491397e-05,-0.000265117057243,4.88439931177e-05,1793239318460718848
+64,1.066666667,BASELINE,765,745.843759442,715,680,663,635,878.156240558,787.156240558,803.156240558,652,631.156240558,653,0.400981165947,0.00448699981651,0.0798470490763,0.999999958989,9.63448382734e-05,-0.000265271663472,4.86942783804e-05,1793239318477385728
+65,1.083333333,BASELINE,765,745.2684846,715,680,663,635,878.7315154,787.7315154,803.7315154,652,631.7315154,653,0.400980448018,0.00448678178384,0.0798472821386,0.99999995896,9.63289967864e-05,-0.000265396160873,4.86361176444e-05,1793239318494052352
+66,1.100000000,BASELINE,765.306364142,745.306364142,715,680.306364142,663.306364142,635.306364142,879,787.693635858,803.693635858,652,631.693635858,653,0.400980131547,0.00448692787207,0.0798469133892,0.999999958718,9.80029849736e-05,-0.000265664213884,4.88065309669e-05,1793239318510718720
+67,1.116666667,BASELINE,765.880839954,745.880839954,715,680.880839954,663.880839954,635.880839954,879,787.119160046,803.119160046,652,631.119160046,653,0.400980166409,0.00448739261726,0.0798460179701,0.999999958281,0.000101155811562,-0.000266057898215,4.91769787099e-05,1793239318527385344
+68,1.133333333,BASELINE,765.532269198,746,715,680.532269198,663.532269198,636,879,787.467730802,803.467730802,652,631,653,0.400980674953,0.00448783732381,0.0798467080833,0.999999958522,0.000101052745246,-0.000265164787339,4.93187693848e-05,1793239318544051968
+69,1.150000000,BASELINE,765,746,715,680,663,636,879,788,803.943136475,652,631,652.943136475,0.400981338698,0.00448808891528,0.0798477632861,0.999999958955,9.99710235589e-05,-0.000263927160614,4.93796393286e-05,1793239318560718592
+70,1.166666667,BASELINE,765,746,715,680,663,636,879,788,803.363268352,652,631,652.363268352,0.400982289719,0.00448661255708,0.0798483599196,0.999999959528,9.77252595185e-05,-0.000262618249274,4.92466322917e-05,1793239318577385216
+71,1.183333333,BASELINE,765,746,715,680,663,635.78564048,879,787.78564048,803.21435952,652,631,652.21435952,0.400982433939,0.0044859007984,0.0798483085199,0.999999959667,9.66033652532e-05,-0.00026253109346,4.91007124755e-05,1793239318594051840
+72,1.200000000,BASELINE,765,746,715,680,663,635.211769733,879,787.211769733,803.788230267,652,631,652.788230267,0.400981225043,0.004486471381,0.0798471702773,0.999999959084,9.73663591678e-05,-0.000264492994221,4.89331360809e-05,1793239318610718464
+73,1.216666667,BASELINE,765,745.628256531,715,680,663,635.371743469,879,787,803.628256531,652,631,653,0.400979995843,0.00448586296723,0.0798463688473,0.999999958703,9.68117622273e-05,-0.000266093350319,4.91539548739e-05,1793239318627385344
+74,1.233333333,BASELINE,765,745.03910411,715,680,663,635.96089589,879,787,803.03910411,652,631,653,0.40097875477,0.00448456503394,0.0798457643975,0.999999958438,9.54865907127e-05,-0.000267482261973,4.96019211537e-05,1793239318644052224
+75,1.250000000,BASELINE,765,745,715,680.541145203,663,636,879,787,803,652.541145203,631.541145203,653,0.400980208379,0.0044871147576,0.0798470256209,0.99999995874,9.83566595452e-05,-0.000265382159273,4.91772922652e-05,1793239318660718848
+76,1.266666667,BASELINE,765.120301651,745,715,681,663.120301651,636,879,787,803,653,631.879698349,653,0.400981334038,0.00448887472667,0.0798480577214,0.999999959005,0.00010042484122,-0.000263669877727,4.88227181918e-05,1793239318677385472
+77,1.283333333,BASELINE,765.697710513,745,715,681,663.697710513,636,879,787,803,653,631.302289487,653,0.400980485689,0.00448659452842,0.0798477152607,0.999999959022,9.83128641241e-05,-0.000264373667846,4.89700412356e-05,1793239318694052096
+78,1.300000000,BASELINE,766,745,715,680.725373423,664,635.725373423,879,787,803,652.725373423,631,653,0.400979857152,0.00448586837721,0.0798471043021,0.99999995883,9.80737816115e-05,-0.000265173541979,4.90315795552e-05,1793239318710718464
+79,1.316666667,BASELINE,766,745,715,680.148998862,664,635.148998862,879,787,803,652.148998862,631,653,0.400979470135,0.00448684974681,0.0798461983296,0.999999958411,9.98925560314e-05,-0.000266078989089,4.8998861264e-05,1793239318727385088
+80,1.333333333,BASELINE,766,745.425350365,715,680,664,635,879,787,803,652,631,653,0.400979525241,0.00448768259167,0.0798463792503,0.99999995835,0.000100308847638,-0.000266152951004,4.90031954593e-05,1793239318744051968
+81,1.350000000,BASELINE,766,745.998993532,715,680,664,635,879,787,803,652,631,653,0.400979734486,0.00448846365541,0.079846939102,0.999999958414,0.000100236182233,-0.000265937026634,4.90204475134e-05,1793239318760718592
+82,1.366666667,BASELINE,766,745.406276437,715,680,664,635.593723563,879,787,803,652,631,653,0.400979145297,0.00448667477199,0.079845863114,0.999999958224,9.89810652024e-05,-0.000267102997647,4.91034952361e-05,1793239318777385216
+83,1.383333333,BASELINE,766,745,715,680,663.817666955,636,879,787.182333045,803.182333045,652,631.182333045,653,0.400978968826,0.00448587253186,0.0798454261393,0.999999958161,9.87196118895e-05,-0.000267416921639,4.92045638243e-05,1793239318794052352
+84,1.400000000,BASELINE,766,745,715,680,663.242329603,636,879,787.757670397,803.757670397,652,631.757670397,653,0.40097968496,0.00448720665804,0.0798463727036,0.999999958373,0.000100604400645,-0.000265889091452,4.93442257055e-05,1793239318810719232
+85,1.416666667,BASELINE,766,745.33363329,715,680,663,636,879.33363329,788,804,652,632,653,0.400980840623,0.00448776328426,0.0798473835591,0.999999958803,0.000100437393884,-0.000264346721408,4.92694638961e-05,1793239318827385600
+86,1.433333333,BASELINE,766,745.910051353,715,680,663,636,879.910051353,788,804,652,632,653,0.400982316133,0.00448775412409,0.0798484411993,0.999999959389,9.87772964726e-05,-0.000262793770809,4.90386660691e-05,1793239318844051968
+87,1.450000000,BASELINE,766,746,715,680,663,635.504202561,879.504202561,787.504202561,804,652,632,653,0.400982038088,0.00448702972045,0.079848246304,0.999999959329,9.8731557101e-05,-0.000263043152259,4.90162602643e-05,1793239318860718848
+88,1.466666667,BASELINE,766,746,715,680,663,635.082380806,879,787,804,652.082380806,632,653,0.400981578838,0.00448625392467,0.0798478938168,0.999999959197,9.87797514288e-05,-0.000263517321449,4.90538008079e-05,1793239318877385216
+89,1.483333333,BASELINE,766,746,715,680,663,635.663590348,879,787,804,652.663590348,632,653,0.400981985651,0.00448596773099,0.0798479894288,0.999999959354,9.75892870322e-05,-0.000263334717223,4.92210093318e-05,1793239318894051840
+90,1.500000000,BASELINE,765.757923662,746,715,680,663.242076338,636,878.757923662,787.242076338,804,653,632,653,0.400981563573,0.00448592109742,0.0798478502059,0.999999959327,9.67748693695e-05,-0.000263716113373,4.93356084095e-05,1793239318910718720
+91,1.516666667,BASELINE,765.183180486,746,715,680,663.816819514,636,878.183180486,787.816819514,804,653,632,653,0.400980002412,0.00448620367285,0.0798473882677,0.999999959048,9.64772238245e-05,-0.000264872571752,4.93779103694e-05,1793239318927385600
+92,1.533333333,BASELINE,765.399579725,746,715,680,664,636,878.399579725,788,804,652.600420275,631.600420275,653,0.400979776667,0.00448690481997,0.0798466989748,0.999999958703,9.74263717555e-05,-0.000265849816028,4.92450739902e-05,1793239318944052224
+93,1.550000000,BASELINE,765.98609051,746,715,680,664,636,878.98609051,788,804,652.01390949,631.01390949,653,0.400980175656,0.00448780178299,0.0798459033209,0.999999958326,9.89587935625e-05,-0.00026674322061,4.90303045405e-05,1793239318960718848
+94,1.566666667,BASELINE,765.434330646,746,715,680,663.434330646,636,879,787.434330646,803.434330646,652.565669354,631.565669354,653,0.400981313439,0.00448831904775,0.0798472293602,0.999999958792,9.93880151149e-05,-0.00026482227186,4.90608987498e-05,1793239318977385472
+95,1.583333333,BASELINE,765.144931517,746,715,680,663,636,879,787,803.144931517,653,632,653,0.400981766436,0.00448827443782,0.0798480150456,0.999999959107,9.9057560321e-05,-0.000263753764317,4.90764540611e-05,1793239318994052096
+96,1.600000000,BASELINE,765.72374987,746,715,680,663,636,879,787,803.72374987,653,632,653,0.400980115636,0.00448657533586,0.0798470287577,0.999999958909,9.65330626499e-05,-0.000265441909589,4.90291432655e-05,1793239319010718464
+97,1.616666667,BASELINE,765.699101851,745.699101851,715,680.300898149,663,636,878.699101851,787,804,652.699101851,631.699101851,653,0.400979731696,0.00448687541197,0.0798468323956,0.9999999588,9.76729403398e-05,-0.000265457274419,4.89136292654e-05,1793239319027385088
+98,1.633333333,BASELINE,765.123478416,745.123478416,715,680.876521584,663,636,878.123478416,787,804,652.123478416,631.123478416,653,0.400980504422,0.00448900077283,0.0798473572497,0.999999958761,0.00010215845715,-0.000263945361262,4.87358445459e-05,1793239319044051968
+99,1.650000000,BASELINE,765.461672298,745.461672298,715,680.538327702,663,635.538327702,878.461672298,787,803.538327702,652,631,653,0.400980617992,0.00448907384441,0.0798476789155,0.99999995867,0.000103265016826,-0.00026385943064,4.87388360756e-05,1793239319060718848
+100,1.666666667,BASELINE,766,745.951264115,715,680,663,635.048735885,879,787.048735885,803.048735885,652.048735885,631,653,0.400980562702,0.0044885771795,0.079847875748,0.999999958581,0.000103245861978,-0.000264194128606,4.87849201805e-05,1793239319077385472
+101,1.683333333,BASELINE,766,745.371704679,715,680,663,635.628295321,879,787.628295321,803.628295321,652.628295321,631,653,0.40098062887,0.00448797957852,0.0798473173012,0.999999958631,0.000101016325636,-0.000264868655274,4.87626420454e-05,1793239319094052096
+102,1.700000000,BASELINE,766,745.206621136,715,680,663,636,878.793378864,787.793378864,803.793378864,652.793378864,631,652.793378864,0.400980879516,0.00448732026399,0.0798472791279,0.999999958764,9.91222471723e-05,-0.000265060854562,4.88751405631e-05,1793239319110718720
+103,1.716666667,BASELINE,766,745.782740814,715,680,663,636,878.217259186,787.217259186,803.217259186,652.217259186,631,652.217259186,0.400981460066,0.00448655058779,0.0798481713545,0.999999959052,9.78280649663e-05,-0.000264390512479,4.92286588443e-05,1793239319127385344
+104,1.733333333,BASELINE,766,746,715.356275289,680,663,636,878.356275289,787,803.356275289,652,631.356275289,652.356275289,0.400981654318,0.00448655162821,0.0798484844601,0.999999959101,9.8648509625e-05,-0.000263888505368,4.92950374116e-05,1793239319144052224
+105,1.750000000,BASELINE,766,746,715.9282447,680,663,636,878.9282447,787,803.9282447,652,631.9282447,652.9282447,0.400981614701,0.00448701927134,0.0798484469577,0.999999959002,0.000100749179307,-0.000263488410574,4.91875775502e-05,1793239319160718848
+106,1.766666667,BASELINE,765.479907525,745.479907525,715.479907525,680.520092475,663.520092475,636,879,787,804,652,631.479907525,653,0.400981010295,0.00448708339325,0.0798477395043,0.999999958885,0.000101059196949,-0.000263837292419,4.9057091949e-05,1793239319177385216
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,636,879,787,803,652,632,653,0.400983222489,0.00448621054387,0.0798497092934,0.999999960119,9.56385693394e-05,-0.000261298879,4.83516471349e-05,1793239319219769344
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.574028235,715,680,663.425971765,636,879,787,803.574028235,652,632,653,0.400982675112,0.00448549628349,0.0798488887477,0.999999959603,9.7613851104e-05,-0.000262386662182,4.91802094989e-05,1793239319236435456
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,879,787,803.84827757,652.15172243,632,652.84827757,0.400982255361,0.00448526643575,0.0798484146269,0.999999959302,9.87939735083e-05,-0.000263014663759,4.9596693571e-05,1793239319253101312
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,879,787,803.260035946,652.739964054,632,652.260035946,0.400982202802,0.00448643028696,0.0798489372017,0.999999959631,9.76863507567e-05,-0.000262319832207,4.88275912066e-05,1793239319269767424
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,715.325119405,680.325119405,663.325119405,635.674880595,879,787,803,652.674880595,631.674880595,652.325119405,0.400981890521,0.00448697619733,0.0798490108551,0.999999959695,9.72260251177e-05,-0.000262282524776,4.86345331703e-05,1793239319286433792
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,715.907829481,680.907829481,663.907829481,635.092170519,879,787,803,652.092170519,631.092170519,652.907829481,0.400981372463,0.00448703251581,0.0798487288302,0.99999995955,9.72785501914e-05,-0.000262766170846,4.88978725593e-05,1793239319303100160
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,715.515581994,680.515581994,663.515581994,635.484418006,879,787,803,652.484418006,631.484418006,653,0.400981186778,0.00448671355014,0.0798478186301,0.99999995933,9.79941781481e-05,-0.000263330004164,4.8922973745e-05,1793239319319767040
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.940491324,715,680,663,635.940491324,879,787,803,652.940491324,631.940491324,653,0.400981360548,0.00448649682036,0.0798471221927,0.999999959158,9.88207497535e-05,-0.00026368311513,4.88890906941e-05,1793239319336433664
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.368395077,715,680,663,635.368395077,879,787,803,652.368395077,631.368395077,653,0.400984092606,0.0044877681036,0.0798492837189,0.999999959514,9.9529737469e-05,-0.000262091354181,4.8732719805e-05,1793239319353100288
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.210389291,715,679.789610709,663.210389291,635.210389291,879,787,803.210389291,652,631,653,0.40099353735,0.00448857947383,0.0798541830613,0.999999961277,0.000100256082038,-0.000255011704791,4.86248810292e-05,1793239319369767168
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.801269111,715,679.198730889,663.801269111,635.801269111,879,787,803.801269111,652,631,653,0.401015122036,0.00448855908797,0.0798640337637,0.999999965393,0.000101013816503,-0.000238007170241,4.86048129334e-05,1793239319386434048
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,715,679.384958617,664,636,879,787,803.615041383,652.384958617,631,653,0.401053684093,0.00448771314824,0.079878247134,0.999999971571,0.000100307768644,-0.000210863746735,4.83093414161e-05,1793239319403100672
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,715,679.965004313,664,636,879,787,803.034995687,652.965004313,631,653,0.401100849844,0.00448644883916,0.0798946713927,0.999999978022,9.88599137278e-05,-0.000178582194643,4.78743025233e-05,1793239319419767040
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.459462304,715,680,664,636,878.459462304,787,803.540537696,652.459462304,631.540537696,653,0.401167946547,0.00448826550846,0.0799112448599,0.999999983542,9.72349032691e-05,-0.00014605161148,4.61508270986e-05,1793239319436433408
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663.884920469,636,878.115079531,787,804,652.115079531,631.884920469,653,0.401238024718,0.00448991922842,0.0799259513627,0.999999987435,9.57759114311e-05,-0.000118284982277,4.43289785278e-05,1793239319453100032
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663.31316358,636,878.68683642,787,804,652.68683642,631.31316358,653,0.401314856163,0.00449014129139,0.0799332110605,0.999999988591,9.50208798138e-05,-0.000109486894444,4.24450354057e-05,1793239319469766656
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.26923504,715,680,663,635.73076496,879.26923504,787.26923504,803.73076496,652.73076496,631,653,0.401397721881,0.00449156553144,0.0799377668677,0.999999989346,9.46463890547e-05,-0.000103625625919,4.01360973884e-05,1793239319486433024
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.864521053,715,680,663,635.135478947,879.864521053,787.864521053,803.135478947,652.135478947,631,653,0.401487895264,0.00449444564071,0.0799390481892,0.999999989684,9.47327437003e-05,-0.000101320926166,3.73124790835e-05,1793239319503099904
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.553921048,746,715,680,663,635.446078952,879.553921048,788,803,652,631,653,0.401597294491,0.00449567538217,0.079940898667,0.999999990244,9.22348425086e-05,-9.93534873944e-05,3.36575129364e-05,1793239319519767040
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.023396145,746,715,680,663,636,878.976603855,788,803,652,631,653,0.401713879428,0.00449641306358,0.0799431506053,0.999999990903,8.89686239717e-05,-9.69285734949e-05,2.97233700911e-05,1793239319536433920
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.596115997,746,715,680,663,636,878.403884003,788,803,652,631,653,0.401866175117,0.00449701478428,0.0799508911102,0.999999992714,8.55407643286e-05,-8.14293211307e-05,2.49856288798e-05,1793239319553100288
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,715,680.174436654,663,635.825563346,878.174436654,787.825563346,803.174436654,652,631.174436654,653,0.402027025404,0.00449842816578,0.0799584273531,0.999999994144,8.26059515322e-05,-6.69749109341e-05,2.00441539723e-05,1793239319569766912
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,715,680.766155303,663,635.233844697,878.766155303,787.233844697,803.766155303,652,631.766155303,653,0.402208339714,0.0045017831772,0.0799654749657,0.999999995111,8.08505907562e-05,-5.50199422702e-05,1.46153142787e-05,1793239319586433536
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.649621119,745.649621119,715,680.649621119,663,635.350378881,879,787,803.649621119,652,632,653,0.402401072442,0.00450472074537,0.0799680277599,0.999999995809,7.57851911547e-05,-5.07094113878e-05,8.25538100608e-06,1793239319603099904
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.07029497,745.07029497,715,680.07029497,663,635.92970503,879,787,803.07029497,652,632,653,0.402601266299,0.00450738554487,0.079967643516,0.999999996328,6.85569203083e-05,-5.13939667501e-05,1.2870448552e-06,1793239319619766528
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680,663,636,879,787,803,652,631.501465152,653,0.402816646103,0.00451241741443,0.0799605096322,0.999999995824,6.40737052181e-05,-6.48096335933e-05,-6.76200786158e-06,1793239319636433664
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.069176774,745.069176774,715,680,663,636,879,787,803.069176774,652,631.069176774,653,0.403041127334,0.0045174643631,0.0799531667554,0.999999995017,6.01102811581e-05,-7.83285861627e-05,-1.47527338302e-05,1793239319653100800
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.664632435,745.664632435,715,680,663,636,879,787,803.664632435,652,631.664632435,653,0.403318895677,0.00452013919954,0.0799513250503,0.999999994998,5.72173468986e-05,-7.92580700909e-05,-2.11643334491e-05,1793239319669767424
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.746762712,745.746762712,715,680,663,636,879,787,803.746762712,652.253237288,632,653,0.403616515262,0.00452457198323,0.0799528159407,0.999999994408,7.04901165196e-05,-7.54266492281e-05,-2.29326320253e-05,1793239319686433792
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.166991588,745.166991588,715,680,663,636,879,787,803.166991588,652.833008412,632,653,0.403939731778,0.00453127153111,0.0799586040071,0.999999992211,0.000104607562497,-6.54563357013e-05,-1.87136804218e-05,1793239319703100416
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.411470385,745.411470385,715,680,663,635.588529615,879,787.411470385,803.411470385,652.588529615,631.588529615,653,0.404289456105,0.00453805969467,0.0799618552061,0.999999994556,8.26652388838e-05,-6.02123689989e-05,-2.0694258155e-05,1793239319719767040
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.989402721,745.989402721,715,680,663,635.010597279,879,787.989402721,803.989402721,652.010597279,631.010597279,653,0.404649904262,0.00454488370787,0.0799640801053,0.999999997342,3.8043715559e-05,-5.68804645254e-05,-2.51828797715e-05,1793239319736433408
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663.564160723,635.564160723,879,788,804,652,631.564160723,653,0.405055669037,0.00454974993853,0.0799675329237,0.999999996929,5.77141902768e-05,-4.50627663871e-05,-2.79538679416e-05,1793239319753100032
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,879,787.857519625,804,652,632,653,0.405468342977,0.00455601996377,0.0799675197855,0.999999995653,7.84518349916e-05,-4.0182838603e-05,-3.04241013146e-05,1793239319769766656
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,879,787.267834999,804,652,632,653,0.405900045862,0.00456681086995,0.0799565560315,0.999999992951,9.87696944209e-05,-5.75760522135e-05,-3.20510543322e-05,1793239319786433280
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.683763653,746,715,680,664,636,878.683763653,787,804,652,631.683763653,653,0.406353932333,0.00457478391781,0.079948562715,0.999999990446,0.000113879231709,-7.17751989819e-05,-3.14270141277e-05,1793239319803100160
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.104363471,746,715,680,664,636,878.104363471,787,804,652,631.104363471,653,0.406826279466,0.00458041201692,0.0799430413198,0.999999988341,0.000124654538181,-8.33163265769e-05,-2.89297548653e-05,1793239319819767296
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,746,715,680,663.527525262,636,878.472474738,787,804,652,631,653,0.407329667945,0.00458910908124,0.079943337981,0.99999998765,0.00012908261861,-8.37346565127e-05,-3.20378674794e-05,1793239319836433920
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.048371343,746,715,680.048371343,663,636,879,787,804,652.048371343,631,653,0.407841450168,0.00459796990773,0.0799439092431,0.99999998708,0.0001323786872,-8.38355249234e-05,-3.58905277618e-05,1793239319853100544
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.620169896,746,715,680.620169896,663,636,879,787,804,652.620169896,631,653,0.408370266079,0.00460130687097,0.0799336205271,0.999999984094,0.00013851468807,-0.000106943696279,-3.44741361347e-05,1793239319869767680
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.801723627,745.801723627,715,681,663,636,879,787.198276373,804,652.801723627,631,652.801723627,0.408931802245,0.00460131674911,0.0799315091154,0.999999983302,0.000138802510331,-0.000114016313847,-3.36302650729e-05,1793239319886434560
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.211136283,745.211136283,715,681,663,636,879,787.788863717,804,652.211136283,631,652.211136283,0.409558078897,0.00459474363404,0.0799455773741,0.999999987302,0.000127519086603,-8.93608750762e-05,-3.39191871682e-05,1793239319903101440
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.373751851,715,680.626248149,663.373751851,636,879,787.626248149,804,652,631,652.373751851,0.410221907485,0.00459093311782,0.0799722798198,0.999999990657,0.000125047533156,-4.25964421286e-05,-3.51469465086e-05,1793239319919768064
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.955468779,715,680.044531221,663.955468779,636,879,787.044531221,804,652,631,652.955468779,0.410906630909,0.00458865978241,0.0800060122496,0.999999991058,0.000127479129489,1.64699992547e-05,-3.68970987747e-05,1793239319936434432
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.529128413,745.470871587,715,680,663.470871587,635.470871587,879,787,803.470871587,652,631,652.470871587,0.411551706279,0.00458164659518,0.0799975709322,0.999999993002,0.000112312141284,-2.62592411843e-06,-3.70925388548e-05,1793239319953101056
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.895259529,745,715,680,663,635,879,787,803.104740471,652,631,652.104740471,0.412195380523,0.00457549877148,0.079981268401,0.999999993809,9.95996146993e-05,-3.22565821295e-05,-3.77139979162e-05,1793239319969767936
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.307565317,745,715,680,663,635,879,787,803.692434683,652,631,652.692434683,0.412847748945,0.00457515284372,0.079944838469,0.999999990411,0.000104931314831,-8.05859935479e-05,-4.08940783526e-05,1793239319986434304
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.276385812,745,715,680,663,635.276385812,879,787,803.723614188,652,631,653,0.413553116264,0.00458024973218,0.0799264145295,0.999999987827,0.000111077203837,-0.000100525971886,-4.36104630563e-05,1793239320003100672
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.856227326,745,715,680,663,635.856227326,879,787,803.143772674,652,631,653,0.414316673401,0.00459132251927,0.0799277601282,0.999999987988,0.000118117026196,-8.92959942661e-05,-4.58177370327e-05,1793239320019767040
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.43400581,715,680,663.43400581,636,879,787,803.43400581,652,631,653,0.415094560918,0.00459746093991,0.0799491560579,0.999999990331,0.000120100605478,-5.2007629058e-05,-4.7007638077e-05,1793239320036433664
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,715,680.011055411,663.988944589,636,879,787,803.988944589,652,631,652.988944589,0.415876470131,0.00460193592447,0.0799763875073,0.99999999154,0.000120717666082,-7.6525833656e-06,-4.78377877791e-05,1793239320053099776
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,715,680.585624563,663.414375437,636,879,787,803.414375437,652,631,652.414375437,0.416622545808,0.00460454705734,0.0799641103152,0.999999988697,0.000136653468945,-4.10199718123e-05,-4.74282260975e-05,1793239320069766400
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715,681,663,636,879,787,803.164632296,652,631,652.164632296,0.417389879941,0.00460657910291,0.0799584482279,0.999999986702,0.000145583305521,-5.57420892796e-05,-4.79041457017e-05,1793239320086433280
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715,681,663,636,879,787,803.755121338,652,631,652.755121338,0.418212203584,0.0046071132148,0.0799698975285,0.999999989168,0.000136390706905,-2.22342121431e-05,-5.06705527141e-05,1793239320103100160
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.660704914,745.660704914,715,680.660704914,663.339295086,636,879,787,804,652,631,652.660704914,0.419065601832,0.00460578589609,0.0799855479724,0.999999990246,0.000129066271524,1.08188625178e-05,-5.22797619359e-05,1793239320119767040
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.081005827,745.081005827,715,680.081005827,663.918994173,636,879,787,804,652,631,652.081005827,0.419941017632,0.00460313968009,0.0800041750922,0.999999990071,0.000123065504109,4.3549690182e-05,-5.30690505796e-05,1793239320136433664
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.49375503,715,680.49375503,664.49375503,636,879,787,804,652,631,652.49375503,0.420760008079,0.00460499160291,0.0799900418733,0.999999990042,0.000128554844608,2.34978102913e-05,-5.32674240515e-05,1793239320153100288
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.06746939,746,715,681,664.93253061,636,879.06746939,787,804,652,631,653,0.421576497093,0.0046072921493,0.0799749663886,0.999999989447,0.000135118438363,1.32022955689e-06,-5.33569561982e-05,1793239320169766912
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.639356627,746,715,681,664.360643373,636,879.639356627,787,804,652,631,653,0.422442808033,0.00460748411657,0.0799926308849,0.999999988988,0.000135759675069,2.73504065866e-05,-5.3350378958e-05,1793239320186433280
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.780778199,746,715,681,664.219221801,636,879.780778199,787,804,652,631,652.780778199,0.423303555571,0.00460955280368,0.0800085529003,0.999999987936,0.000137655592487,4.84063868428e-05,-5.32525336115e-05,1793239320203099904
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.187292697,746,715,681,664.812707303,636,879.187292697,787,804,652,631,652.187292697,0.424154805203,0.00461482549752,0.0800215000894,0.999999986698,0.000141693548203,6.09702355932e-05,-5.29988719653e-05,1793239320219766784
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.396732088,746,715,681,664.206535825,636,879,787.396732088,804,652,631,652,0.424984277201,0.00461720701917,0.0799898283114,0.999999988393,0.000142947460486,1.83745340199e-06,-5.26901294693e-05,1793239320236433408
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.976394566,746,715,681,663.047210868,636,879,787.976394566,804,652,631,652,0.425803707635,0.00461825544123,0.079937583039,0.999999984335,0.000142917668557,-9.03541446413e-05,-5.23559892198e-05,1793239320253100288
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,681,663.552555778,636,879.552555778,787.447444222,803.447444222,652,631,652.552555778,0.426682771495,0.00461838374891,0.0799311656119,0.999999985033,0.000142747169281,-8.04451950444e-05,-5.55543209223e-05,1793239320269766656
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.868960866,745.868960866,715,681,664,635.868960866,879.868960866,787,803.131039134,651.868960866,631,653,0.427549792962,0.0046180920213,0.0799280102358,0.999999985442,0.000143367357673,-7.23151952042e-05,-5.77299234551e-05,1793239320286433792
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.281878729,745.281878729,715,681,664,635.281878729,879.281878729,787,803.718121271,651.281878729,631,653,0.428366094162,0.00461647442243,0.0799294368698,0.999999984021,0.000146760089037,-8.54606168308e-05,-5.58243323882e-05,1793239320303100416
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.301296773,745.301296773,715,681.301296773,664,635.301296773,879,787,804,651.301296773,631,653,0.429218377788,0.00461638022731,0.0799432207247,0.999999985584,0.000144549416974,-6.97772041433e-05,-5.54013073834e-05,1793239320319766784
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.880864164,745.880864164,715,681.880864164,664,635.880864164,879,787,804,651.880864164,631,653,0.430103893889,0.00461769301218,0.0799684174184,0.999999988628,0.000137163572815,-2.74681567464e-05,-5.63475455878e-05,1793239320336433152
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,682,664.457404551,636,879.457404551,787,804,652,631,653,0.431000560467,0.0046179296015,0.080006351548,0.9999999883,0.000139989913305,2.70969616434e-05,-5.53898480819e-05,1793239320353099776
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.967134963,715,681.967134963,664.967134963,635.967134963,880,787,804,652,631.032865037,653,0.431892009866,0.00461822253563,0.0800435672131,0.999999984905,0.000145444353931,7.82295824353e-05,-5.3995419776e-05,1793239320369766656
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.396529291,715,681.396529291,664.396529291,635.396529291,880,787,804,652,631.603470709,653,0.432650886877,0.00462399363556,0.080015101262,0.999999986991,0.00015066507343,2.13112573715e-05,-5.35157857622e-05,1793239320386433536
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.818029393,745.181970607,714.818029393,681,664,635.181970607,880,787,804,652,631.818029393,653,0.433405974909,0.00462782080758,0.0799772107744,0.999999986308,0.000151372521075,-3.92354513286e-05,-5.41455126224e-05,1793239320403100416
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.221547088,745.778452912,714.221547088,681,664,635.778452912,880,787,804,652,631.221547088,653,0.434152432154,0.00462721989823,0.0799178520851,0.999999982468,0.000141799167092,-0.000108047283158,-5.7302257893e-05,1793239320419767040
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,746,714.363088073,681.363088073,664.363088073,635.636911927,880,787,804,652,631,653,0.43494549437,0.00462337395838,0.0799133964767,0.999999983667,0.000134778014777,-0.000105135176278,-5.87122111878e-05,1793239320436433664
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,746,714.940722788,681.940722788,664.940722788,635.059277212,880,787,804,652,631,653,0.435766095148,0.0046176105488,0.0799413827849,0.999999988109,0.000129264944287,-5.98418046955e-05,-5.90899950301e-05,1793239320453100032
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.516728462,746,714.483271538,682,665,635,880,787,804,652,631,652.483271538,0.436555339508,0.00461300038623,0.079972908472,0.999999990033,0.000126197237971,-2.68834273282e-05,-5.73157763179e-05,1793239320469766656
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,714.094620551,682,664.905379449,635,880,787,804,652,631,652.094620551,0.437329574509,0.00460988792263,0.0800000772139,0.999999990785,0.000123787490452,8.04359894523e-07,-5.57275345157e-05,1793239320486433280
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,714.683335992,682,664.316664008,635,880,787,804,652,631,652.683335992,0.438044157257,0.00461390756622,0.0800023810754,0.999999990767,0.000123353260914,8.33572260238e-06,-5.63955054429e-05,1793239320503099904
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.732353973,714.732353973,682,664,635,880,787,804,652,631,653,0.438734524292,0.00461947923215,0.0799923849747,0.9999999897,0.000131862030284,-4.22055704292e-06,-5.65205906641e-05,1793239320519766784
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.153171809,714.153171809,682,664,635,880,787,804,652,631,653,0.439396704533,0.00462685742955,0.0799680718944,0.999999986258,0.000150780322036,-4.01585648946e-05,-5.60137645955e-05,1793239320536433664
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.575792945,745,714.424207055,682,663.15158589,635,880,787.424207055,804,652,631,653,0.440005674854,0.00463276933251,0.0799183272501,0.999999980576,0.000147431382579,-0.000117969881633,-5.65254110072e-05,1793239320553100800
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.000933557,714.999066443,682.000933557,662,635,880,787.999066443,804,652,631,653,0.440595443916,0.00463816002523,0.0798594151102,0.999999966854,0.000136126525996,-0.000210870514013,-5.74044482631e-05,1793239320569767936
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.575182575,714.424817425,682.575182575,662,635,880,787.424817425,804,652,631,653,0.441142403882,0.00464723221059,0.079786019109,0.999999933484,0.000155685281848,-0.000324517167242,-5.90203740468e-05,1793239320586434304
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.153089736,746,714,683,661.846910264,635,880,787,804.153089736,652,631,653,0.441697445765,0.00465558452273,0.0797338900411,0.999999901906,0.000172215203701,-0.000403640330357,-6.00411283554e-05,1793239320603100672
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.741396725,746,714,683,661.258603275,635,880,787,804.741396725,652,631,653,0.442275463774,0.00466189031672,0.0797422205052,0.999999908048,0.000180134493764,-0.000384617051255,-5.9369878028e-05,1793239320619767040
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,714,683,661.324763585,635,880,787,805,652,631.324763585,653,0.442863172376,0.00466875622707,0.0797733145233,0.99999992449,0.00018993250954,-0.000333957911102,-5.84682244459e-05,1793239320636433664
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,714,683,661.904255616,635,880,787,805,652,631.904255616,653,0.443458481763,0.00467606146454,0.0798222631437,0.999999944705,0.000201204103289,-0.000258485170429,-5.73858537674e-05,1793239320653100032
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.519765212,745.519765212,714,683.480234788,661.519765212,635,880.480234788,787,805,652,632,653,0.443961655077,0.00468556052481,0.0798260127135,0.999999941706,0.000216428381601,-0.000257803964428,-5.73071921933e-05,1793239320669766912
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.055615409,714,684,661,634.944384591,880.944384591,786.944384591,804.944384591,652,631.944384591,653,0.444441105773,0.00469481631668,0.0798181238022,0.999999933652,0.00023099433142,-0.0002757791984,-5.73074934086e-05,1793239320686433792
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.631901569,714,684,661,634.368098431,880.368098431,786.368098431,804.368098431,652,631.368098431,653,0.444869188714,0.00469772960059,0.079785026925,0.999999917098,0.000232072911642,-0.00032983119789,-5.61872254093e-05,1793239320703100672
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.213475147,746,714,683.786524853,660.786524853,634,880.213475147,786,804.213475147,652,631.213475147,653,0.445286943187,0.00470224189873,0.0797581125379,0.999999901435,0.000233086914878,-0.000373724728603,-5.59541927653e-05,1793239320719767808
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.80439739,746,714,683.19560261,660.19560261,634,880.80439739,786,804.80439739,652,631.80439739,653,0.445686435769,0.00470958142628,0.0797421294639,0.999999891121,0.000233986739798,-0.000399656985836,-5.72898883014e-05,1793239320736434432
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.61428267,745.61428267,714,683,660,634,880.61428267,786,805,652,631.61428267,653,0.446072110161,0.00471895379574,0.0797332200836,0.999999884065,0.000245546014971,-0.000410034109897,-5.87284161638e-05,1793239320753100800
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.037713861,745.037713861,714,683,660,634,880.037713861,786,805,652,631.037713861,653,0.446450947401,0.00472933200835,0.079727810739,0.999999878599,0.000262379545974,-0.000412714615088,-6.02178251913e-05,1793239320769766912
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.114111806,745.885888194,714.885888194,683.114111806,659.885888194,634,880.114111806,786,804.885888194,652,631.114111806,653,0.447135376694,0.00477368253002,0.0797212092402,0.99999986281,0.000320839137004,-0.000408297106357,-6.88233270969e-05,1793239320803099904
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.701961628,745.298038372,714.298038372,683.701961628,659.298038372,634,880.701961628,786,804.298038372,652,631.701961628,653,0.447430249143,0.00478130349967,0.079714129571,0.999999855603,0.000330748577356,-0.000417793102868,-6.96351814823e-05,1793239320819766784
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.712894402,745.287105598,714,683.712894402,659.287105598,634,881.287105598,786.287105598,804,652,632,652.712894402,0.447702774379,0.00478112664562,0.0797031432359,0.99999984943,0.000328487329017,-0.000433958227709,-7.01214917243e-05,1793239320836433920
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.130533128,745.869466872,714,683.130533128,659.869466872,634,881.869466872,786.869466872,804,652,632,652.130533128,0.447952318013,0.00477293061033,0.0796881393368,0.999999843908,0.000313709901498,-0.000456981796903,-7.02730165121e-05,1793239320853100544
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.445422904,745.554577096,714,683,659.554577096,634,881.109154192,786.554577096,804.445422904,652,631.554577096,652.445422904,0.448173202546,0.00476723743489,0.0796772348322,0.999999844414,0.000284438163927,-0.000474558365586,-7.11413701525e-05,1793239320869767424
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.019555245,714,683.019555245,659,634,880.019555245,786,805,652,631,653,0.448384920249,0.00476175725135,0.0796675976362,0.99999984546,0.000251763625679,-0.000490407714229,-7.20807564041e-05,1793239320886434560
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.594448422,714,683.594448422,659,634,880.594448422,786,805,652,631,653,0.448571442519,0.00474179148412,0.0796603173254,0.999999842529,0.000241370611782,-0.000501895602759,-6.9156279661e-05,1793239320903100672
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.826060832,745.826060832,714,684,658.826060832,634,880.826060832,786.173939168,804.826060832,652,631.173939168,653,0.448751058108,0.00472964944003,0.0796550939253,0.999999838896,0.000239153327441,-0.000510436545743,-6.68488623154e-05,1793239320919766784
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.235559579,745.235559579,714,684,658.235559579,634,880.235559579,786.764440421,804.235559579,652,631.764440421,653,0.448914133046,0.00473624421625,0.0796547965645,0.99999983389,0.000256515872507,-0.000511919929123,-6.60192238396e-05,1793239320936433664
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.349187494,714,683.650812506,658.349187494,634,880.349187494,786.650812506,804,652,631.650812506,653,0.44906722301,0.0047417811721,0.0796596294501,0.999999834791,0.000266763568949,-0.000504838765098,-6.62805148628e-05,1793239320953100288
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.930115822,714,683.069884178,658.930115822,634,880.930115822,786.069884178,804,652,631.069884178,653,0.449213686387,0.00474661609839,0.0796678670612,0.999999839599,0.000272289445818,-0.000492073676722,-6.72658091394e-05,1793239320969766912
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.500760018,746,714,683,659,634,881,786,804,652,631,653,0.449324514644,0.00474448354974,0.0796668701862,0.999999839565,0.000270494193516,-0.000493073834299,-6.76802030879e-05,1793239320986433536
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.927223184,746,714,683.072776816,659,634,881,786.072776816,804.072776816,652.072776816,631,653,0.449426852381,0.00474248350631,0.0796637998973,0.999999837943,0.00026881357174,-0.000497205434892,-6.81225874266e-05,1793239321003100416
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.335386132,746,714,683.664613868,659,634,881,786.664613868,804.664613868,652.664613868,631,653,0.449503389401,0.00474822400432,0.0796549481025,0.999999829584,0.000275090929739,-0.000510245717842,-6.9321413497e-05,1793239321019767296
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+217,3.616666667,POSE1_TO_POSE2_PRESS,765.830443356,745.169556644,714,683.169556644,658.169556644,633.169556644,881,786.169556644,804.169556644,652.169556644,631,653,0.449630008276,0.00475279140355,0.0796407255326,0.999999816327,0.000280612203243,-0.000532669171609,-6.97624206999e-05,1793239321053100288
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.591536687,745.408463313,714,683,658,633,881,786,804.408463313,652,631.408463313,653,0.449681371065,0.00475305339569,0.0796388401743,0.999999814468,0.000281524684105,-0.000535693571912,-6.95657333642e-05,1793239321069766400
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.014082378,745.985917622,714,683,658,633,881,786,804.985917622,652,631.985917622,653,0.44972995492,0.00475304439908,0.0796388322055,0.999999814313,0.000282247780413,-0.000535629783024,-6.93564716033e-05,1793239321086433024
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,714,683.561141121,658,633.561141121,881,786,805,652,631.438858879,653,0.449764708722,0.00475468575633,0.0796422055979,0.999999815565,0.000286335295297,-0.000531242550764,-6.82938714876e-05,1793239321103099904
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.86036177,714,683.86036177,658,633.86036177,881,786,804.86036177,652,631.13963823,653,0.449795693322,0.00475536769298,0.079644350947,0.99999981638,0.000288424223627,-0.000528689874112,-6.73750620034e-05,1793239321119766784
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.271145558,714,683.271145558,658,633.271145558,881,786,804.271145558,652,631.728854442,653,0.449815655648,0.00475282786889,0.0796422703704,0.999999815762,0.000283807755556,-0.000532391662593,-6.69878754054e-05,1793239321136433408
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,683.313440031,658,633,881,786,804.313440031,652,632,653,0.449830840584,0.00475200283203,0.0796402479908,0.999999814525,0.000282061946387,-0.000535639311724,-6.69442106532e-05,1793239321153100288
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,683.894078219,658,633,881,786,804.894078219,652,632,653,0.449841952941,0.00475263959919,0.0796382752221,0.999999812774,0.0002827632867,-0.000538499821198,-6.71933878551e-05,1793239321169767168
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.46940595,745,714,683.53059405,658,633,881,786,805,652,631.53059405,653,0.449849864733,0.00475357573013,0.0796370419399,0.999999811493,0.000284790619377,-0.000539838946932,-6.69474166407e-05,1793239321186433792
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.956322363,745.043677637,714,683,657.956322363,633,881,786.043677637,804.956322363,652,631,653,0.449856702727,0.00475439164321,0.0796360244574,0.999999810397,0.00028683910174,-0.000540832907014,-6.65557487753e-05,1793239321203100160
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.380480223,745.619519777,714,683,657.380480223,633,881,786.619519777,804.380480223,652,631,653,0.449859158592,0.00475292899686,0.0796356259262,0.999999810322,0.000285540491381,-0.000541757362149,-6.57350126033e-05,1793239321219766784
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.799651118,714,683,657.200348882,633,881,786.799651118,804.200348882,652,631.200348882,653,0.449860645695,0.00475243087847,0.0796350307144,0.999999809689,0.000284949385821,-0.000543289145801,-6.52845873661e-05,1793239321236433664
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.209109602,714,683,657.790890398,633,881,786.209109602,804.790890398,652,631.790890398,653,0.449860246072,0.00475381124188,0.0796340524544,0.999999807969,0.000285736192499,-0.000546003741651,-6.55553670933e-05,1793239321253100800
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.951360536,745,713.048639464,683,658,633,880.048639464,786,804.048639464,652,631.048639464,652.048639464,0.449861684821,0.00475515919791,0.0796328872329,0.999999805851,0.000289051189872,-0.000548142389762,-6.54739853624e-05,1793239321286433792
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.896240645,713.896240645,683.896240645,657.896240645,633,880,786,804.896240645,652,631,652,0.449863958318,0.00475490683652,0.0796332509826,0.99999980736,0.000284432456334,-0.000547764527693,-6.58211313604e-05,1793239321319767296
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765.989800149,746,714,684,657.989800149,633,881,786,804,652,631.010199851,653,0.449866192977,0.00475544264846,0.079632852257,0.999999808129,0.00028244862664,-0.000547505977126,-6.48184104683e-05,1793239321403100160
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.415136677,746,714,684,657.415136677,633,881,786,804,652,631.584863323,653,0.449868195479,0.0047550103214,0.0796344276412,0.999999808719,0.000283438612313,-0.000545923576615,-6.47430333987e-05,1793239321419766784
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714,683.836724962,657,633,881,786,804,652,631.836724962,653,0.449869116342,0.00475469843275,0.0796349786078,0.999999808706,0.000284189497201,-0.000545567242364,-6.4652823388e-05,1793239321436433408
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714,683.248559226,657,633,881,786,804,652,631.248559226,653,0.449867222452,0.00475469996105,0.0796328637319,0.999999807128,0.000284318169959,-0.000548401500935,-6.45240136139e-05,1793239321453100032
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,683.335216376,657,633,880.664783624,786,804.335216376,652,631,653,0.449867867169,0.00475436087177,0.0796332468954,0.999999807537,0.000283892733839,-0.00054788780856,-6.44238175595e-05,1793239321469766912
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+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.973639546,713.026360454,683.973639546,658,633,880.026360454,786,804.026360454,652,631,653,0.449870899121,0.00475269134171,0.0796339826559,0.999999809295,0.000281342818571,-0.000546106922008,-6.34303002001e-05,1793239321603100416
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.549493706,745.450506294,713.549493706,683.450506294,658,633,880.549493706,786,804,652,631,653,0.449869612282,0.00475264438103,0.0796331224031,0.999999808839,0.000280169482331,-0.000547500595405,-6.37931603023e-05,1793239321619766784
+252,4.200000000,HOLD_POSE2,765,746,714,683,658,633,881,786,805,652,631,653,0.449868849521,0.00475346654476,0.079633897643,0.999999808369,0.000280389047796,-0.000548253934323,-6.37365872385e-05,1793239321661152256
+253,4.216666667,HOLD_POSE2,765,745.420596897,714,683.579403103,657.420596897,633,880.420596897,786,805,652,631,653,0.449867604379,0.00475467594032,0.0796320751031,0.999999806295,0.000282648668013,-0.00055080529104,-6.42855303641e-05,1793239321677818880
+254,4.233333333,HOLD_POSE2,765,745.157785971,714,683.842214029,657,633,880,786,804.842214029,652,631,653,0.449866987568,0.00475522000311,0.0796309497335,0.999999805211,0.000284028068288,-0.00055203593932,-6.45124741023e-05,1793239321694485248
+255,4.250000000,HOLD_POSE2,765,745.733466882,714,683.266533118,657,633,880,786,804.266533118,652,631,653,0.44986803489,0.00475400193741,0.0796316708135,0.99999980677,0.00028307621327,-0.000549768701961,-6.38866050455e-05,1793239321711151872
+256,4.266666667,HOLD_POSE2,765,746,713.69298685,683.30701315,657.30701315,633,880.30701315,786,804,652,631,653,0.449869055748,0.00475333213614,0.0796323187381,0.999999807596,0.000282447385904,-0.000548611065709,-6.37012047869e-05,1793239321727818496
+257,4.283333333,HOLD_POSE2,765,746,713.121281008,683.878718992,657.878718992,633,880.878718992,786,804,652,631,653,0.449870053791,0.00475313502345,0.0796329035912,0.999999807792,0.000282097058257,-0.000548410076905,-6.38955566122e-05,1793239321744485120
+258,4.300000000,HOLD_POSE2,765,745.530860664,713.469139336,683.530860664,658,633,881,786,804.469139336,652,631.469139336,653,0.449868410974,0.0047528889681,0.0796315196306,0.999999806488,0.000281937462934,-0.000550864088295,-6.38994465585e-05,1793239321761151488
+259,4.316666667,HOLD_POSE2,765.062924766,745.062924766,714,683,657.937075234,633,881,786,805,652,631.937075234,653,0.449866390357,0.00475259128781,0.0796298570881,0.99999980505,0.000281609286569,-0.000553641578079,-6.38562713274e-05,1793239321777818112
+260,4.333333333,HOLD_POSE2,765.642953914,745.642953914,714,683,657.357046086,633,881,786,805,652,631.357046086,653,0.449867108534,0.00475197765976,0.0796302616496,0.999999805892,0.000279473703785,-0.00055320257491,-6.38477623616e-05,1793239321794484480
+261,4.350000000,HOLD_POSE2,765.779968026,745.779968026,714,683.220031974,657,633,881,786,804.779968026,652,631,653,0.449867833175,0.00475241028643,0.0796307892612,0.999999806454,0.000279277689139,-0.000552283810331,-6.38605531159e-05,1793239321811151104
+262,4.366666667,HOLD_POSE2,765.207615378,745.207615378,714,683.792384622,657,633,881,786,804.207615378,652,631,653,0.449868568167,0.00475451820225,0.0796315139037,0.999999806565,0.000282187359487,-0.000550596839881,-6.39074495131e-05,1793239321827817984
+263,4.383333333,HOLD_POSE2,765.375422664,745,714,684,657,633,881,786,804.750845329,652,631,653,0.449868598944,0.00475344252757,0.0796316205653,0.999999807032,0.000281464990716,-0.00055015311179,-6.36059219343e-05,1793239321844484864
+264,4.400000000,HOLD_POSE2,765.964543093,745,714,684,657,633,881,786,805.929086185,652,631,653,0.44986822887,0.00475055469246,0.0796313754604,0.999999807699,0.000278675196059,-0.000550417060875,-6.3106064766e-05,1793239321861151488
+265,4.416666667,HOLD_POSE2,765.455596194,745.544403806,714,684,657.544403806,633,881,786,805.455596194,652.544403806,631,653,0.449869268549,0.00475220857421,0.0796323497409,0.999999807692,0.00028033644608,-0.000549541365501,-6.34950499597e-05,1793239321877818368
+266,4.433333333,HOLD_POSE2,765,745.876831921,714,683.876831921,657.876831921,633,880.876831921,786,805,652.876831921,631,653,0.449870059919,0.0047538901333,0.0796330332244,0.999999807626,0.000281955816823,-0.000548790096735,-6.38676443712e-05,1793239321894484992
+267,4.450000000,HOLD_POSE2,765,745.299922134,714,683.299922134,657.299922134,633,880.299922134,786,805,652.299922134,631,653,0.449869603943,0.0047546021705,0.0796323577562,0.999999807515,0.000282370815894,-0.000548766071104,-6.39701604951e-05,1793239321911151616
+268,4.466666667,HOLD_POSE2,765,745.275813103,713.724186897,683,657,633,880,786,805,652,631,653,0.449869795025,0.0047542930823,0.0796322370795,0.999999807676,0.000282470878967,-0.000548455629793,-6.36752417684e-05,1793239321927817984
+269,4.483333333,HOLD_POSE2,765,745.850276506,713.149723494,683,657,633,880,786,805,652,631,653,0.449870686739,0.00475287831992,0.0796327171305,0.99999980813,0.000282229929461,-0.000547835057719,-6.29499807647e-05,1793239321944484608
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,657,633,881,786,804,653,631,653,0.449870824892,0.00475335718891,0.0796329656522,0.999999807266,0.000281917513941,-0.000549555623786,-6.30800561386e-05,1793239321977050112
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.579329854,745,713.579329854,683,657,633,881,786,804,652.420670146,631,653,0.449871100803,0.00475259062119,0.0796333686653,0.999999807978,0.000281265794216,-0.000548572814972,-6.32589251333e-05,1793239321993716736
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.843097286,745,714,683,657,633,881,786,804.156902714,652,631,653,0.449870908593,0.00475207848338,0.079633172849,0.999999808205,0.000280652755701,-0.000548455611227,-6.34116581681e-05,1793239322010383104
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.270182792,745,714,683,657,633,881,786,804.729817208,652,631,653,0.449869475208,0.00475224094073,0.0796313892968,0.999999807146,0.000280142276383,-0.000550633472117,-6.34950943706e-05,1793239322027049728
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.302685307,713.697314693,683,657.302685307,633,881,786,805,652,631,653,0.449869844898,0.00475220693332,0.0796311574714,0.999999807094,0.000279971746222,-0.000550816226658,-6.3470278282e-05,1793239322043716352
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.875511965,713.124488035,683,657.875511965,633,881,786,805,652,631,653,0.4498718238,0.00475199758454,0.0796323105352,0.999999807944,0.000280104614777,-0.000549218383496,-6.33488489089e-05,1793239322060382720
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,713.467057424,683,657.532942576,633,881,786,804.532942576,652,631.467057424,653,0.449871932128,0.00475304276991,0.0796328078425,0.999999808422,0.000280446843012,-0.00054816418526,-6.34134204436e-05,1793239322077049088
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,713.938302604,683,657,633,880.938302604,786,804,652,631.938302604,653,0.449870987479,0.00475415655859,0.079632804409,0.99999980855,0.000280580758987,-0.000547852105483,-6.34956568939e-05,1793239322093715712
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,713.361229895,683,657,633,880.361229895,786,804,652,631.361229895,653,0.449865585662,0.00475293362586,0.0796301391202,0.999999806603,0.000278488993694,-0.000552478207609,-6.32940401833e-05,1793239322110382336
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.214676516,746,713.214676516,683.214676516,657,633,880.214676516,786,804.214676516,652,631,653,0.449853612932,0.00475257586262,0.0796235051191,0.999999801093,0.000277830564971,-0.000562694553474,-6.32404564416e-05,1793239322127048960
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.788630977,746,713.788630977,683.788630977,657,633,880.788630977,786,804.788630977,652,631,653,0.449830643269,0.00475366602834,0.0796102291674,0.999999789391,0.00027957093729,-0.000582266609031,-6.3434617461e-05,1793239322143715584
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.630662202,746,714,684,657.369337798,633,881.369337798,786,804.630662202,652,631,653,0.449790878082,0.00475246914217,0.0795921973694,0.999999771517,0.000279935505138,-0.000612078399889,-6.2946936895e-05,1793239322160382464
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.04601904,746,714,684,657.95398096,633,881.95398096,786,804.04601904,652,631,653,0.449741321948,0.00474993901985,0.0795713931508,0.999999749154,0.00027949804808,-0.000647859442818,-6.20617769344e-05,1793239322177049344
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,683.463545844,658,633,881.463545844,786,804,652,631,653,0.449670459935,0.00475026956949,0.0795505717335,0.999999726757,0.000280921719742,-0.000681063538809,-6.09950731493e-05,1793239322193716224
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.117693433,746,714,683.117693433,657.882306567,633,881,786,804.117693433,652.117693433,631,653,0.449596618648,0.0047507084877,0.0795327460423,0.999999707056,0.000282424010421,-0.000708901923109,-5.98574295169e-05,1793239322210382848
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.694839655,746,714,683.694839655,657.305160345,633,881,786,804.694839655,652.694839655,631,653,0.449518253056,0.00475061632437,0.0795266208272,0.999999701275,0.000283612466075,-0.000716653100977,-5.85034011741e-05,1793239322227049216
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.72899613,745.72899613,714,683.72899613,657,633,881,786.27100387,805,652.72899613,631,653,0.449431883713,0.00474916926736,0.0795239201697,0.999999699306,0.000284326629059,-0.00071926793857,-5.65765679036e-05,1793239322243715840
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.153933732,745.153933732,714,683.153933732,657,633,881,786.846066268,805,652.153933732,631,653,0.449336534395,0.00474620205872,0.0795250617672,0.999999701655,0.000284508649282,-0.000716119950064,-5.40070641069e-05,1793239322260382720
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.432453308,745.432453308,714,683,657,633,881,786.567546692,805,652,631,653,0.449219715597,0.00474630394101,0.0795262995337,0.999999701248,0.000287539103669,-0.000715707487389,-5.08649912545e-05,1793239322277049088
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745.977471085,714,683,657.022528915,633.022528915,881,786,804.977471085,652,631.022528915,653,0.449094109936,0.00474743645297,0.0795278026565,0.999999700059,0.000291581898004,-0.000715965296494,-4.74847312239e-05,1793239322293715712
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745.398531165,714,683,657.601468835,633.601468835,881,786,804.398531165,652,631.601468835,653,0.448945308274,0.0047463164243,0.0795349912786,0.999999704882,0.000294912450905,-0.000708081882934,-4.33907583827e-05,1793239322310382592
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.828306988,745,714,683,658,633.828306988,881,786,804.171693012,652,632,653,0.448786528813,0.00474481870866,0.0795413974093,0.999999708891,0.000298365291366,-0.00070119988337,-3.89097620779e-05,1793239322327049472
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.27733636,745,714,683,658,633.27733636,881,786,804.72266364,652,632,653,0.448605707965,0.0047424866656,0.0795460749801,0.999999711231,0.000302088270163,-0.000696530053675,-3.35738140137e-05,1793239322343715840
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,633,881,786.305761704,804.694238296,652,632,653,0.448399864957,0.00473999424289,0.0795441574201,0.999999707514,0.000305582888954,-0.000700580151836,-2.79019833146e-05,1793239322360382464
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,633,881,786.921421943,804.078578057,652,632,653,0.44816866123,0.00473733927036,0.0795355555005,0.999999697549,0.000308846058538,-0.000713468154257,-2.18897249787e-05,1793239322377049088
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.505474853,714,683,658,633,881,787,804,652,631.494525147,652.494525147,0.447915503552,0.0047354876996,0.0795340268186,0.999999694259,0.000313489762849,-0.000716221298602,-1.52881383765e-05,1793239322393715712
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714,683.084417601,658,633,881,787,804,652,631,652.084417601,0.447656258401,0.00473359749121,0.0795357009825,0.999999694363,0.000318394854962,-0.000714020194016,-8.58036352955e-06,1793239322410382336
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,746,714,683.660530808,658,633,881,787,804,652,631,652.660530808,0.447380264678,0.00473079760376,0.0795500027552,0.99999970847,0.000323645974808,-0.000691599331416,-1.75629097715e-06,1793239322427048960
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.234181993,745.765818007,714,683.765818007,658.234181993,633.234181993,880.765818007,786.765818007,804.234181993,652,631,653,0.447085761384,0.00472808425631,0.0795625306219,0.999999719162,0.000327057419985,-0.000674306038077,4.46026269033e-06,1793239322443715584
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.804301339,745.195698661,714,683.195698661,658.804301339,633.804301339,880.195698661,786.195698661,804.804301339,652,631,653,0.446764705868,0.00472549505189,0.079572513795,0.999999725523,0.000327829825907,-0.000664368316514,9.80532158442e-06,1793239322460382464
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745,714,683.391502469,659,634,880.391502469,786,804.608497531,652,631,653,0.446403632603,0.0047210382537,0.0795862627159,0.999999739222,0.000314973491329,-0.000649775473004,1.17945540537e-05,1793239322477049088
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,714,683.987631725,659,634,880.987631725,786,804.012368275,652,631,653,0.446021643252,0.00471560531943,0.0796019798818,0.999999756231,0.000294993816057,-0.000632749534583,1.20297948994e-05,1793239322493715712
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.434554575,745,714,683.434554575,659,634,881,786,804,652,631,653,0.445600327072,0.0047070237398,0.079608519436,0.999999767966,0.000272260419614,-0.000624321047054,1.28914534886e-05,1793239322510382336
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,634,881,786,804,652,631,653,0.445169191142,0.00469935028218,0.0796161012338,0.999999779766,0.000252813352775,-0.00061347326326,1.43060558565e-05,1793239322527049216
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,634,881,786,804,652,631,653,0.444710722016,0.00469464186359,0.0796274445333,0.999999793352,0.000243539397878,-0.000594712943867,1.73621153696e-05,1793239322543715840
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.298068757,745,714,683,659.298068757,634,880.701931243,786,804,652,631,652.701931243,0.444237582368,0.00468791437902,0.0796380580418,0.999999804031,0.000237009272116,-0.000579131446349,1.92757717197e-05,1793239322560382464
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.889046924,745,714,683,659.889046924,634,880.110953076,786,804,652,631,652.110953076,0.443750026079,0.00467920277641,0.0796479543927,0.999999812054,0.000233175480818,-0.000566673745579,2.00667994121e-05,1793239322577049088
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.529832692,745,714,683,660,634,880,786.470167308,804.470167308,652,631,652.470167308,0.443209571509,0.00467163855087,0.0796552767743,0.999999814514,0.000249939971085,-0.000555009082723,2.15904152692e-05,1793239322593716224
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.048899357,714,683,660,634,880,786.951100643,804.951100643,652,631,653,0.442656241501,0.00466419509272,0.0796633242137,0.999999817645,0.000267129010012,-0.000541121016335,2.32264734715e-05,1793239322610383360
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.626444733,714,683,660,634,880,786.373555267,804.373555267,652,631,653,0.442095900013,0.00465519012989,0.0796856421032,0.99999984591,0.000237436153065,-0.000501214283194,2.42475203701e-05,1793239322627049984
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.20281367,746,714,683,660.20281367,634.20281367,880,786.20281367,804,652,631.20281367,652.79718633,0.441510900971,0.00464644549568,0.0797002660571,0.999999865032,0.000212417037902,-0.000473473367293,2.52657421615e-05,1793239322643716608
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.777028229,746,714,683,660.777028229,634.777028229,880,786.777028229,804,652,631.777028229,652.222971771,0.440880748015,0.00463817758669,0.0797008005524,0.999999870938,0.000195956677113,-0.000468011009767,2.62787905225e-05,1793239322660382976
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.649483387,746,714,683,661,635,880,787,804,652,632,652.350516613,0.440206086488,0.00462837796289,0.0796789529534,0.999999855657,0.000193903425643,-0.000500328655201,2.75445781589e-05,1793239322677049344
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.076456005,746,714,683,661,635,880,787,804,652,632,652.923543995,0.439503170587,0.00461760599451,0.0796428970208,0.999999824463,0.000200995923314,-0.000556629349676,2.89708066161e-05,1793239322693715456
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.51810967,745.48189033,714,683,661,635,881.036219339,786.48189033,804.51810967,652,632,653,0.438829553328,0.00460812629985,0.079674894012,0.999999857883,0.000180569079071,-0.000500777956396,2.91540722182e-05,1793239322710382080
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.888582624,745,714.111417376,683,661.222834752,635,881.777165248,786.111417376,804.888582624,652.111417376,631.888582624,652.888582624,0.438162642076,0.00459840300752,0.0797243584636,0.999999898673,0.00015844692609,-0.000420295012383,3.00119169175e-05,1793239322727048704
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.314278616,745,714.685721384,683,662.371442768,635,880.628557232,786.685721384,804.314278616,652.685721384,631.314278616,652.314278616,0.437504850039,0.00458684106398,0.0798028609821,0.99999994081,0.000146884695548,-0.000309219230123,3.44673979591e-05,1793239322743716096
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.257230927,745.257230927,715,683,663,635,880.257230927,787,804,652.742769073,631,652.257230927,0.436809742322,0.0045778748458,0.0798561496955,0.999999962728,0.000140082388958,-0.000231300396137,3.76971766645e-05,1793239322760383232
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.825363025,745.825363025,715,683,663,635,880.825363025,787,804,652.174636975,631,652.825363025,0.436069533064,0.00457204593958,0.0798789638508,0.999999970844,0.000139033146187,-0.000193456568763,3.94455159118e-05,1793239322777049600
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.586960211,746,715,683,663,635,881,787,804,652,631,653,0.43526391287,0.00456345314697,0.0798610450942,0.999999965244,0.000133681064909,-0.000223556221968,4.07869553331e-05,1793239322793715968
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.009112226,746,714.990887774,682.990887774,663,635,880.990887774,787,804,652,631,652.990887774,0.434428694412,0.00455365154888,0.0798252368076,0.999999950955,0.000126462952546,-0.00028343988389,4.19422311217e-05,1793239322810382592
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.58778311,746,714.41221689,682.41221689,663,635,880.41221689,787,804,652,631,652.41221689,0.43355795431,0.00454496464193,0.079801187652,0.999999940384,0.000121970711603,-0.000320198832359,4.27488958426e-05,1793239322827049216
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.834447246,746,714.165552754,682.165552754,663,635,880,787.165552754,804,652,631,652.165552754,0.432674010881,0.00453604190045,0.0797710295249,0.999999923208,0.000116596701115,-0.000371537690826,4.41512817283e-05,1793239322843715840
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.258909523,746,714.741090477,682.741090477,663,635,880,787.741090477,804,652,631,652.741090477,0.43175736998,0.00452653512445,0.0797257427681,0.999999887617,0.000109039022594,-0.000458983127684,4.70289478237e-05,1793239322860382208
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,746,714.676789076,682.676789076,662.353578152,635,880,787.676789076,804,652,631,653,0.430914469211,0.00451525078265,0.0797251218167,0.999999887667,9.7261485007e-05,-0.000461356134988,4.85551118533e-05,1793239322877048832
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,746,714.089285909,682.089285909,661.178571819,635,880,787.089285909,804,652,631,653,0.430131866401,0.00450251291109,0.0797610244655,0.999999917753,8.20333343037e-05,-0.000394164710226,4.89761413809e-05,1793239322893715968
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,746,714.49131259,682,661.98262518,635,880,787,804,652,631,653,0.429329573404,0.00449165819524,0.0798261446398,0.999999953015,7.4531643957e-05,-0.000292860539051,5.14576083991e-05,1793239322910382848
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.070282578,746,715,682,663,635.070282578,880,787.070282578,804.070282578,652,631.070282578,653,0.428509217364,0.00448124717954,0.0798852394051,0.999999975744,6.85814319697e-05,-0.00020221885588,5.40013242471e-05,1793239322927049728
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.646437109,746,715,682,663,635.646437109,880,787.646437109,804.646437109,652,631.646437109,653,0.427584248056,0.00447160069534,0.0798632773539,0.999999969499,6.38318978081e-05,-0.000232324628523,5.43353250342e-05,1793239322943716096
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.777671069,746,715,682,662.555342139,635.777671069,879.777671069,787.777671069,805,652,631.777671069,653,0.426657852684,0.00446074616887,0.0798300231685,0.999999958017,5.29796991421e-05,-0.000279698839852,5.41160014498e-05,1793239322960382208
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.202196446,746,715,682,661.404392892,635.202196446,879.202196446,787.202196446,805,652,631.202196446,653,0.425729192017,0.00444797279512,0.0797788326341,0.999999935233,3.24340706493e-05,-0.000354502120321,5.30177812564e-05,1793239322977048832
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.383109227,746,715,682,661.383109227,635,879,787,805,652,631,653,0.424817980093,0.00443814834127,0.0797538952771,0.99999992046,2.61175256103e-05,-0.000394298736653,5.40942258015e-05,1793239322993715200
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.973740124,746,715,682,661.973740124,635,879,787,805,652,631,653,0.423916219817,0.00442992125191,0.0797431786802,0.999999911866,2.75085570348e-05,-0.000415133024835,5.63486375951e-05,1793239323010381824
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.446601923,746,715,681.446601923,661.446601923,635,879.553398077,787,804.446601923,652,631.553398077,653,0.423038912677,0.00442460935429,0.0797488543591,0.999999915747,1.74040930861e-05,-0.000406152509418,5.6946744935e-05,1793239323027048960
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.13145865,746,715,681.13145865,661.2629173,635.13145865,880,787,803.86854135,652.13145865,631.86854135,653,0.422180597123,0.00442628372121,0.0797689225904,0.999999929681,1.53509866704e-05,-0.000370317850656,5.71569323385e-05,1793239323043715840
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.705857253,746,715,681.705857253,662.411714506,635.705857253,880,787,803.294142747,652.705857253,631.294142747,653,0.421382438621,0.00445104074057,0.0798349154961,0.999999966603,4.22285541143e-05,-0.000248674478449,5.63197236145e-05,1793239323060382976
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745.712960441,715,682,663.287039559,636,879.712960441,787,803.287039559,652.712960441,631,653,0.420567763937,0.00447329060137,0.0798735423797,0.999999979363,7.22079144971e-05,-0.000181607478697,5.54793953494e-05,1793239323077049344
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745.124658332,715,682,663.875341668,636,879.124658332,787,803.875341668,652.124658332,631,653,0.419735754734,0.00449290907075,0.0798834472335,0.999999978187,0.000105442762464,-0.000171821155361,5.46357936621e-05,1793239323093715712
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,662.629076242,635.543025414,879,787,804,652,631.456974586,653,0.418847554648,0.00449406265404,0.0798451215253,0.999999965079,0.000100480776675,-0.000238773885585,5.22742820755e-05,1793239323110382336
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.963393361,745.036606639,715,682,661.036606639,635,879.036606639,787,803.963393361,652,631.963393361,653,0.41794967841,0.00448996892085,0.0797977684554,0.999999943936,8.56643912978e-05,-0.000319870853615,4.97185516445e-05,1793239323127048960
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.386826228,745.613173772,715,682,661.613173772,635,879.613173772,787,803.386826228,652,631.386826228,653,0.417131922633,0.00448170489946,0.0798085351297,0.999999949179,7.6976117638e-05,-0.00030526262745,5.03178755047e-05,1793239323143715584
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.188704965,746,715,681.811295035,662.188704965,635,879.811295035,787,803.188704965,652,631,653,0.416308340428,0.00447699394484,0.0798124032766,0.999999950115,7.26660002804e-05,-0.000303123435151,5.10492565978e-05,1793239323160382464
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.762124283,746,715,681.237875717,662.762124283,635,879.237875717,787,803.762124283,652,631,653,0.415472879689,0.00447952665491,0.0798022073415,0.999999942389,7.72816643185e-05,-0.00032640496129,5.20498639641e-05,1793239323177049344
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.653742916,745.653742916,715,681,662.307485832,635.346257084,879.346257084,787,804,652,631.346257084,653,0.414695996563,0.00448420879308,0.0797967328497,0.999999939358,8.5165272656e-05,-0.000333711239591,5.16416584172e-05,1793239323193715968
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.06201508,745.06201508,715,681,661.12403016,635.93798492,879.93798492,787,804,652,631.93798492,653,0.4139606407,0.00449041471721,0.079794605514,0.999999939842,9.53656123804e-05,-0.000329692243268,5.02347082988e-05,1793239323210382592
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.518163037,745,715,681,661.518163037,635.481836963,879.481836963,787.518163037,804,652,632,653,0.413247556982,0.00448980312265,0.0798100170527,0.999999949045,9.66180582987e-05,-0.000299937548347,5.11135360458e-05,1793239323227049216
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,635,879,787.903409521,804,652,632,653,0.412533488376,0.004487886432,0.0798224085284,0.999999955698,9.40634380978e-05,-0.000277574688915,5.20456861644e-05,1793239323243715840
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,635,879,787.326961892,804,652,632,653,0.411801573119,0.00448345124415,0.0798095956203,0.999999948532,7.77997016845e-05,-0.000306902368458,5.19133001922e-05,1793239323260382464
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.752580039,745,715,680.752580039,661.752580039,635.247419961,879,787.247419961,804,652,631.752580039,653,0.411090485615,0.00448173010563,0.0798009493258,0.999999943011,7.0340485151e-05,-0.00032613771216,5.16109359244e-05,1793239323277049088
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.180905518,745,715,680.180905518,661.180905518,635.819094482,879,787.819094482,804,652,631.180905518,653,0.410406693839,0.00448356584646,0.0797977635593,0.999999940765,7.44199740279e-05,-0.000332146611348,5.10858078181e-05,1793239323293715712
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.808863161,635.595568419,879,787.595568419,804,652,631,653,0.409788335366,0.00448571293902,0.0798112108533,0.999999947185,8.6949340171e-05,-0.000308911295919,5.14217338508e-05,1793239323310382336
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,662.992187574,635.003906213,879,787.003906213,804,652,631,653,0.409200269023,0.00448800417128,0.0798323583822,0.999999956266,0.000103390556876,-0.000272137441904,5.2156282707e-05,1793239323327049216
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.57510475,715,680.57510475,663,635,879,787,804,652.57510475,631,653,0.408622290443,0.00448894474355,0.0798466699907,0.999999961943,9.33294056495e-05,-0.000254232423048,5.26280911749e-05,1793239323343716352
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.847071499,715,680.847071499,662.847071499,635,879,787,804,652.847071499,631,653,0.408039792852,0.00448952389202,0.07984723971,0.999999961355,8.81750539779e-05,-0.000258303782116,5.28546784212e-05,1793239323360383232
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.272290603,715,680.272290603,662.272290603,635,879,787,804,652.272290603,631,653,0.407444644529,0.00448913081671,0.0798100278319,0.999999941866,9.70419433349e-05,-0.000322650929157,5.2409641139e-05,1793239323377049600
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745.3101026,715,680,662,635.3101026,879,787,803.6898974,652,631.3101026,653,0.40689704609,0.00448797762064,0.0797883317327,0.999999930605,9.65895968789e-05,-0.000356017859323,5.20764815972e-05,1793239323393715712
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.899348087,715,680,662,635.899348087,879,787,803.100651913,652,631.899348087,653,0.406392250333,0.00448614019202,0.0797806023656,0.999999929466,8.77484188961e-05,-0.000361497541595,5.18440304269e-05,1793239323410382336
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,746,715,680,662.480795544,636,879,787,803,652,631.519204456,653,0.405944884471,0.00448745599759,0.0797946088699,0.999999940474,8.71809753229e-05,-0.000329925168893,5.10039025089e-05,1793239323427048704
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,746,715,680.060203332,663,635.939796668,879,787,803,652,631,653,0.405512411161,0.00448950155523,0.0798123978349,0.999999951695,8.88914729266e-05,-0.000293587763207,5.01449816131e-05,1793239323443715328
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,746,715,680.635901428,663,635.364098572,879,787,803,652,631,653,0.405106154693,0.00449223361861,0.0798242340943,0.999999954471,9.55128079047e-05,-0.000281806198818,5.01970362318e-05,1793239323460382464
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745.212340017,714.212340017,680.212340017,662.212340017,635.787659983,879,787,803,652,631,653,0.404325482843,0.00449327066948,0.0798374346991,0.999999956085,0.000102985511211,-0.000272744438676,5.32337651852e-05,1793239323493715712
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.372665359,745,714.372665359,680.372665359,662.372665359,636,879.372665359,787,803,652,631,653,0.403966299758,0.00449335760797,0.0798394490557,0.999999955643,0.000100082822655,-0.000275541977438,5.2673983143e-05,1793239323510382592
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.962951117,745,714.962951117,680.962951117,662.962951117,636,879.962951117,787,803,652,631,653,0.403621009031,0.00449379030687,0.0798401994429,0.999999954914,9.40823422004e-05,-0.00028066087325,5.05046619992e-05,1793239323527049216
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.456832126,745,715,680.456832126,662.456832126,635.456832126,879.456832126,787,803,652,631,652.456832126,0.403324917915,0.00449251801249,0.0798411643037,0.999999954997,9.58749352427e-05,-0.000279818953411,5.01515032019e-05,1793239323543715840
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.121381381,745.121381381,715.121381381,680.121381381,662,635,879,787,803.121381381,652.121381381,631,652.121381381,0.403040371501,0.00449021699761,0.0798418847511,0.999999955108,9.53841402569e-05,-0.000279579080619,5.02043194644e-05,1793239323560382464
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.694647547,745.694647547,715.694647547,680.694647547,662,635,879,787,803.694647547,652.694647547,631,652.694647547,0.402786538255,0.00448451128111,0.0798416418141,0.999999955054,8.44497417373e-05,-0.000283066629656,5.13157329008e-05,1793239323577049088
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.732280586,745.732280586,715.732280586,680.732280586,662,635,879,787,804,652.732280586,631.267719414,652.732280586,0.402553907911,0.00447868622987,0.0798418464072,0.999999955916,7.25247419774e-05,-0.000283194487757,5.20390187854e-05,1793239323593715456
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.159430203,745.159430203,715.159430203,680.159430203,662,635,879,787,804,652.159430203,631.840569797,652.159430203,0.402345443414,0.00447272516818,0.0798425610691,0.999999957805,5.9470713376e-05,-0.000279493165939,5.23199394639e-05,1793239323610382080
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.427731456,745,715,680.427731456,662.427731456,635,878.572268544,787,804,652,631.572268544,652.427731456,0.402163930834,0.0044634998647,0.0798486171675,0.999999961118,4.78723484898e-05,-0.000269404726043,5.37805174064e-05,1793239323627048960
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745.019914553,715,681,663,635,878,787,803.980085447,652,631,653,0.40199371563,0.00445346384532,0.0798565493329,0.999999964692,3.77198504934e-05,-0.000257097411231,5.56335820563e-05,1793239323643715840
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.598149542,715,681,663,635,878,787,803.401850458,652,631,653,0.401848836659,0.00445599058325,0.0798593288158,0.999999965415,5.23652591865e-05,-0.000251637426829,5.57362883221e-05,1793239323660383488
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.825157402,745.825157402,715,680.825157402,663,635,878.174842598,787,803,652,631,653,0.401709466115,0.0044603117026,0.0798593727446,0.999999964415,7.05420123282e-05,-0.000251213866324,5.55469181358e-05,1793239323677050368
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.251977351,745.251977351,715,680.251977351,663,635,878.748022649,787,803,652,631,653,0.401582645241,0.00446872089469,0.0798531843609,0.999999959431,9.67640954535e-05,-0.000262264605617,5.46921209084e-05,1793239323693715968
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.33133861,745.33133861,715,680.33133861,662.66866139,635.33133861,879,787,803,652,631.33133861,653,0.401468613718,0.00447884503861,0.0798481880698,0.99999995618,0.000109649583989,-0.000269884845829,5.27184740331e-05,1793239323710382080
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.92260606,745.92260606,715,680.92260606,662.07739394,635.92260606,879,787,803,652,631.92260606,653,0.401364615183,0.00449031453055,0.0798441269519,0.999999954715,0.000112072770447,-0.000274813926024,4.98671108099e-05,1793239323727048704
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.496657107,715,680.496657107,662,636,879,787,803,652,631.496657107,653,0.401284290249,0.00448934553995,0.0798392070647,0.999999953192,0.000107428847484,-0.000282084160625,5.0031901268e-05,1793239323743715584
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.91792332,745,715,680,662.08207668,636,879,787,803,652,631.08207668,653,0.401211145498,0.00448662255253,0.0798348183992,0.999999951917,0.000101754624169,-0.000288542450643,5.05404660874e-05,1793239323760382208
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.341700106,745,715,680,662.658299894,636,879,787,803,652,631.658299894,653,0.401159763352,0.00448461811458,0.0798344066648,0.999999952626,9.62855151438e-05,-0.000287989555676,5.03838491105e-05,1793239323777049088
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.238867059,745,715,680,663,635.761132941,879,787,803,652,631.761132941,653,0.401114378464,0.00448309113313,0.0798339227286,0.999999952939,9.27528115087e-05,-0.000288054594045,5.04285564113e-05,1793239323793715968
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.825763322,745,715,680,663,635.174236678,879,787,803,652,631.174236678,653,0.401077731584,0.00448225980575,0.0798333335944,0.999999952709,9.20414500492e-05,-0.000289019961066,5.07665931113e-05,1793239323810382592
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.592472124,635,879,787,803,652,631,653,0.401049442199,0.00448252707385,0.079834149603,0.999999953008,9.29394575482e-05,-0.000287606530442,5.12619978645e-05,1793239323827049216
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.012874339,635,879,787,803,652,631,653,0.401024681587,0.00448325820037,0.0798355589031,0.999999953524,9.4516986605e-05,-0.000285188703486,5.18238478953e-05,1793239323843715584
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745.565830321,715,680,662.565830321,635.565830321,879,787,803,652,631,653,0.401010428026,0.0044841303845,0.0798357046987,0.999999953324,9.56201686542e-05,-0.000285556635048,5.16361114114e-05,1793239323860382208
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745.856161144,715,680,663,636,879,787,803,652,631.143838856,653,0.40099877811,0.0044843179487,0.0798363347755,0.999999953508,9.56526056252e-05,-0.000284934253203,5.1458278707e-05,1793239323877048832
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.280183144,715,680,663,636,879,787,803,652,631.719816856,653,0.400994233299,0.00448243906256,0.0798385060257,0.999999954881,9.25005467465e-05,-0.000281146517347,5.13613593448e-05,1793239323893715456
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.698631555,635.698631555,879,787,803.301368445,652,631.698631555,653,0.400989481735,0.00448175804793,0.0798395875331,0.999999955398,9.19060596817e-05,-0.00027951102286,5.12947853129e-05,1793239323910382336
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.111800473,635.111800473,879,787,803.888199527,652,631.111800473,653,0.400984534331,0.00448221168259,0.079839636813,0.999999955117,9.37341589614e-05,-0.00027991417698,5.12569550159e-05,1793239323927049472
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.530602695,745.469397305,715,679.530602695,662.469397305,635.469397305,879,787,803.530602695,652,631.469397305,653,0.4009830909,0.00448303962951,0.0798405364482,0.999999955691,9.36800130683e-05,-0.000277926531752,5.09775739298e-05,1793239323943716608
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.048993848,746,715,679.048993848,663.048993848,635.951006152,878.951006152,787,803.048993848,652.048993848,632,653,0.400982485023,0.00448385309448,0.0798416239533,0.999999956405,9.33006144781e-05,-0.000275527636435,5.0682424698e-05,1793239323960383488
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.625624755,746,715,679.625624755,663.625624755,635.374375245,878.374375245,787,803.625624755,652.625624755,632,653,0.400982017842,0.00448356185157,0.0798425793732,0.999999956526,9.41892296132e-05,-0.000274759608624,5.08297044889e-05,1793239323977049856
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,663.798912057,635.201087943,878.201087943,787,804,652.798912057,632,653,0.400981365439,0.00448354476577,0.0798428698183,0.999999956562,9.4539427893e-05,-0.000274526834943,5.07247212274e-05,1793239323993715968
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663.225610351,635.774389649,878.774389649,787,804,652.225610351,632,653,0.40098037019,0.00448403514475,0.0798419293953,0.999999956444,9.38930165756e-05,-0.000275284816651,5.0152799073e-05,1793239324010382336
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.641038658,715,680.358961342,662.641038658,636,879,787,803.641038658,652,631.641038658,653,0.400979774571,0.00448456561345,0.0798419412516,0.999999956445,9.37907876386e-05,-0.000275332729032,5.00551909751e-05,1793239324027049216
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.049154105,715,680.950845895,662.049154105,636,879,787,803.049154105,652,631.049154105,653,0.400979438267,0.00448512209559,0.0798425710239,0.999999956524,9.40416683579e-05,-0.000274919890857,5.02653563e-05,1793239324043715584
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.531220299,715,680.468779701,662,636,879,787,803,652.531220299,631,653,0.400978818512,0.00448414373031,0.0798420703582,0.999999956473,9.29863042942e-05,-0.00027546649072,5.0265841302e-05,1793239324060382464
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.89047225,746,715,680,662.10952775,636,879,787,803,652.89047225,631.10952775,653,0.40097855449,0.00448329376026,0.0798418158773,0.999999956555,9.19679104745e-05,-0.000275522003709,5.01997603182e-05,1793239324077049088
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.316509191,746,715,680,662.683490809,636,879,787,803,652.316509191,631.683490809,653,0.400979907758,0.00448357767345,0.0798430394376,0.999999957258,9.16079340159e-05,-0.00027312667661,4.99319423477e-05,1793239324093716224
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.255296308,746,715,680,663,636,878.744703692,787,803.255296308,652,632,653,0.400981088459,0.00448409492175,0.0798440330819,0.999999957693,9.24928550665e-05,-0.000271267402921,4.97383527983e-05,1793239324110382848
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.824449417,746,715,680,663,636,878.175550583,787,803.824449417,652,632,653,0.400982057011,0.00448489902817,0.0798447440718,0.999999957796,9.4908231217e-05,-0.000270067143568,4.9636018331e-05,1793239324127048960
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,636,878,787,803.584884851,652,632,653,0.400981346978,0.00448510788163,0.07984447063,0.999999957487,9.63642101982e-05,-0.00027069241749,4.96584957797e-05,1793239324143715584
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,635.985219766,878.014780234,787,803.014780234,652,632,653,0.400979926863,0.00448505166677,0.0798437686874,0.999999957009,9.73206720843e-05,-0.00027209876236,4.97308418136e-05,1793239324160382208
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,635.4082054,878.5917946,787,803.5917946,652,632,653,0.400979974408,0.00448501144125,0.0798434686443,0.999999957147,9.55528715118e-05,-0.000272244676991,4.95826058333e-05,1793239324177048832
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.832414695,715,680,663,635.167585305,879.167585305,787,804,652.167585305,632,653,0.400980135755,0.0044847140263,0.0798434146241,0.999999957321,9.41440885518e-05,-0.000272122981559,4.94457225335e-05,1793239324193715968
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.259583016,715,680,663,635.740416984,879.740416984,787,804,652.740416984,632,653,0.400980572291,0.00448379468876,0.0798439555243,0.999999957586,9.36034640674e-05,-0.000271354164901,4.93362917246e-05,1793239324210383616
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.678203221,745.321796779,715,680,663,636,879.678203221,787.321796779,803.678203221,652.678203221,631.678203221,653,0.400980805704,0.00448467145469,0.0798443967172,0.999999957675,9.53616100653e-05,-0.000270421527816,4.92761978137e-05,1793239324227049984
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.089739799,745.910260201,715,680,663,636,879.089739799,787.910260201,803.089739799,652.089739799,631.089739799,653,0.400980870793,0.00448703661618,0.0798447552846,0.999999957608,9.90247018441e-05,-0.000269353136011,4.92569884216e-05,1793239324243715584
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.49148947,746,715,680,663,636,879,787.50851053,803,652.49148947,631.49148947,652.50851053,0.400980117126,0.00448664342435,0.0798445646557,0.999999957677,9.71667463898e-05,-0.00026974190811,4.94430872868e-05,1793239324260381952
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.071022985,663,635.928977015,879,787,803,653,632,652.071022985,0.400979413598,0.00448576000762,0.0798444070146,0.999999957809,9.44432877654e-05,-0.000270188301932,4.96151382542e-05,1793239324277048832
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.647750467,663,635.352249533,879,787,803,653,632,652.647750467,0.400980116077,0.00448492009824,0.079845187897,0.99999995826,9.26308593696e-05,-0.000269178034305,4.94241193089e-05,1793239324293715712
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.777349405,745.777349405,715,680.777349405,663,635.222650595,879,787.222650595,803.222650595,653,632,653,0.400980317933,0.00448433897033,0.0798452534903,0.999999958427,9.13262293694e-05,-0.000269037651425,4.92322354659e-05,1793239324310382336
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.205316664,745.205316664,715,680.205316664,663,635.794683336,879,787.794683336,803.794683336,653,632,653,0.400979734214,0.0044841639208,0.0798441966558,0.999999958153,9.08184336715e-05,-0.000270262286979,4.90389944008e-05,1793239324327048960
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,663,635.619390717,879,787.619390717,803.619390717,653,632,653,0.400980556172,0.00448356247633,0.0798445609548,0.999999958278,9.14811594588e-05,-0.000269539552257,4.92394052954e-05,1793239324343715328
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,663,635.025686291,879,787.025686291,803.025686291,653,632,653,0.400982165139,0.00448272230231,0.0798457209168,0.999999958622,9.27992356741e-05,-0.000267726525737,4.96602136667e-05,1793239324360381952
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.552025853,745,715,680.552025853,663,635.552025853,879,787,803.552025853,652.447974147,631.447974147,653,0.400981831747,0.00448358005618,0.0798460107333,0.999999958681,9.34771042659e-05,-0.000267329114282,4.93413958376e-05,1793239324377048832
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6f23d4a04302e46ea30352fef565dbf4a422b9c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,416 @@
+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,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+1,0.016666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+2,0.033333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+3,0.050000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+4,0.066666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+5,0.083333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+6,0.100000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+7,0.116666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+8,0.133333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+9,0.150000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
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+375,6.250000000,pose2_to_pose3_retreat,0.576017584959,0.0100908120927,1.07003244254,0.546588036329,0.0187625509235,1.06970057382
+376,6.266666667,pose2_to_pose3_retreat,0.575942453995,0.0100908096706,1.07003235555,0.546512905041,0.0187625473731,1.06970048622
+377,6.283333333,pose2_to_pose3_retreat,0.5758796565,0.0100906930495,1.07003248734,0.546450109101,0.0187624358563,1.06970061341
+378,6.300000000,pose2_to_pose3_retreat,0.57582913759,0.0100908232802,1.07003235227,0.546399587457,0.0187625570306,1.06970048423
+379,6.316666667,pose2_to_pose3_retreat,0.575787904045,0.0100907582578,1.07003237829,0.546358355838,0.0187624982119,1.06970050151
+380,6.333333333,pose2_to_pose3_retreat,0.575755402935,0.0100908610057,1.07003242947,0.546325853679,0.0187625975984,1.06970055796
+381,6.350000000,pose2_to_pose3_retreat,0.57572958571,0.0100908459606,1.07003225304,0.546300037059,0.0187625848161,1.06970038714
+382,6.366666667,pose2_to_pose3_retreat,0.575709778312,0.0100907684684,1.07003213691,0.546280230099,0.0187625087693,1.06970027021
+383,6.383333333,pose2_to_pose3_retreat,0.575695635345,0.0100907546285,1.07003223743,0.546266086171,0.018762491538,1.06970036726
+384,6.400000000,pose2_to_pose3_retreat,0.575685721833,0.0100907984318,1.07003232453,0.54625617363,0.0187625387542,1.06970045673
+385,6.416666667,pose2_to_pose3_retreat,0.575679185493,0.0100907836462,1.07003241225,0.54624963824,0.0187625271071,1.06970054229
+386,6.433333333,pose2_to_pose3_retreat,0.575674770699,0.0100907600461,1.0700324516,0.546245224093,0.0187625056459,1.06970058018
+387,6.450000000,pose2_to_pose3_retreat,0.575672281828,0.010090705375,1.07003220432,0.546242734971,0.0187624504025,1.06970034029
+388,6.466666667,pose2_to_pose3_retreat,0.575670415841,0.0100906643862,1.07003201892,0.546240868795,0.0187624089847,1.06970016044
+389,6.483333333,pose2_to_pose3_retreat,0.575669202259,0.0100906440186,1.07003194772,0.546239655158,0.018762388504,1.06970009118
+390,6.500000000,pose2_to_pose3_retreat,0.575668625228,0.0100906455067,1.07003200154,0.54623907822,0.018762390233,1.069700143
+391,6.516666667,pose2_to_pose3_retreat,0.57566816568,0.0100906466918,1.07003204441,0.546238618746,0.01876239161,1.06970018426
+392,6.533333333,pose2_to_pose3_retreat,0.575667743487,0.0100906477806,1.07003208379,0.546238196621,0.018762392875,1.06970022217
+393,6.550000000,pose2_to_pose3_retreat,0.575667300151,0.0100906489238,1.07003212515,0.546237753357,0.0187623942034,1.06970026198
+394,6.566666667,pose2_to_pose3_retreat,0.575666910634,0.0100906499283,1.07003216148,0.546237363903,0.0187623953705,1.06970029696
+395,6.583333333,pose2_to_pose3_retreat,0.575666846554,0.0100906500936,1.07003216746,0.546237299834,0.0187623955625,1.06970030271
+396,6.600000000,pose2_to_pose3_retreat,0.575666664487,0.0100906505631,1.07003218445,0.546237117796,0.0187623961081,1.06970031906
+397,6.616666667,pose2_to_pose3_retreat,0.575666325791,0.0100906636323,1.0700322276,0.546236778926,0.0187624085473,1.06970036118
+398,6.633333333,pose2_to_pose3_retreat,0.575666033005,0.0100906934239,1.07003228243,0.546236485642,0.0187624366244,1.06970041535
+399,6.650000000,pose2_to_pose3_retreat,0.575665874089,0.0100907095938,1.07003231219,0.546236326456,0.0187624518639,1.06970044475
+400,6.666666667,pose2_to_pose3_retreat,0.575665866371,0.0100907103791,1.07003231364,0.546236318725,0.018762452604,1.06970044618
+401,6.683333333,pose2_to_pose3_retreat,0.575665756052,0.0100907216043,1.0700323343,0.546236208219,0.0187624631832,1.06970046659
+402,6.700000000,pose2_to_pose3_retreat,0.575665584127,0.010090739098,1.0700323665,0.546236036002,0.0187624796702,1.0697004984
+403,6.716666667,pose2_to_pose3_retreat,0.575665521449,0.0100907454755,1.07003237824,0.546235973218,0.0187624856808,1.06970050999
+404,6.733333333,pose2_to_pose3_retreat,0.575665412146,0.0100907565974,1.07003239871,0.546235863728,0.0187624961626,1.06970053022
+405,6.750000000,pose2_to_pose3_retreat,0.57566539562,0.0100907582789,1.0700324018,0.546235847174,0.0187624977474,1.06970053327
+406,6.766666667,pose2_to_pose3_retreat,0.575665311997,0.0100907667877,1.07003241746,0.546235763409,0.0187625057665,1.06970054874
+407,6.783333333,pose2_to_pose3_retreat,0.575665259169,0.010090772163,1.07003242736,0.546235710491,0.0187625108325,1.06970055852
+408,6.800000000,pose2_to_pose3_retreat,0.575665202687,0.0100907779102,1.07003243794,0.546235653913,0.018762516249,1.06970056897
+409,6.816666667,pose2_to_pose3_retreat,0.575665071066,0.0100907905501,1.07003245351,0.546235522066,0.0187625281221,1.06970058462
+410,6.833333333,pose2_to_pose3_retreat,0.575665020182,0.0100907920566,1.07003241878,0.546235471081,0.0187625293497,1.06970055161
+411,6.850000000,pose2_to_pose3_retreat,0.575664701287,0.0100908014979,1.07003220113,0.54623515155,0.0187625370434,1.0697003447
+412,6.866666667,pose2_to_pose3_retreat,0.575664502447,0.0100908073849,1.07003206543,0.546234952312,0.0187625418406,1.06970021569
+413,6.883333333,pose2_to_pose3_retreat,0.575664402907,0.0100907710927,1.07003203902,0.546234853322,0.0187625072865,1.06970018595
+414,6.900000000,pose2_to_pose3_retreat,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bfd453f32e7cc0e79871f7fb0ba5e0ec348932cd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d870e6353c54171ec49c87051bbbab816af0329c72d287ba7cb6c80ce474fb87
+size 26370381
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d892f991999c773c86469916197beedc61b6f976
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_03/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,765,745,715,680,663,635,879,787,803,652,631,653,0.400979934132,0.00448553797175,0.0798454658529,0.99999995785,9.72066465571e-05,-0.000269184588454,4.88979837965e-05,1793239324505206784
+1,0.016666667,BASELINE,765,745,715,680,663,635.59266227,879,787,803.59266227,652,631.59266227,653,0.400979519328,0.00448468522262,0.079845408214,0.999999958056,9.48088213971e-05,-0.000269243448536,4.90560577932e-05,1793239324521873408
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+3,0.050000000,BASELINE,765,745.760629323,715,680.760629323,663,636,879,787,803.239370677,652.760629323,632,653,0.400980212781,0.00448554527312,0.0798462089881,0.99999995868,9.44687570749e-05,-0.000267069980998,4.88818757357e-05,1793239324555206400
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+9,0.150000000,BASELINE,765.239351404,746,715,680,663,636,879,787,803,652,631.239351404,653,0.400980531765,0.00448327237616,0.0798465672775,0.9999999591,9.18477347458e-05,-0.000266386467408,4.90212141265e-05,1793239324655206656
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+11,0.183333333,BASELINE,765.600288152,745.600288152,715,680,663,635.600288152,879,787,803,652,631.600288152,653,0.400980084371,0.00448591753142,0.0798462270053,0.999999958338,9.5747122709e-05,-0.000267898008333,4.88547329901e-05,1793239324688539648
+12,0.200000000,BASELINE,765.026028667,745.026028667,715,680,663,635.026028667,879,787,803,652,631.026028667,653,0.400980874218,0.00448536043781,0.07984696661,0.999999958612,9.45435538647e-05,-0.000267294751638,4.88988011891e-05,1793239324705206528
+13,0.216666667,BASELINE,766.100472274,745.550236137,715,680.550236137,663,635.550236137,879,787,803,652,631,653,0.400980889271,0.00448450087502,0.0798468295962,0.999999958674,9.38961098518e-05,-0.000267269994956,4.90226073353e-05,1793239324721873152
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+15,0.250000000,BASELINE,766.282802081,745.282802081,715,681,663,636,879,787,803.717197919,652,631.717197919,653,0.400981205436,0.0044850101492,0.0798462933248,0.999999958746,9.31997027832e-05,-0.000267312079959,4.8637450358e-05,1793239324755206144
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+17,0.283333333,BASELINE,766,745,715,680.120065678,663,635.120065678,879,787,804,652,632,652.120065678,0.400981164734,0.00448461081915,0.0798470503988,0.999999959283,9.28740801604e-05,-0.000265342165466,4.9014791669e-05,1793239324788539648
+18,0.300000000,BASELINE,765.54323956,745,714.54323956,680,663,635,878.54323956,787.45676044,803.54323956,652,631.54323956,652.45676044,0.40098091858,0.00448495205769,0.0798471011851,0.999999959406,9.18200920018e-05,-0.000265309627517,4.86695846961e-05,1793239324805206272
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+25,0.416666667,BASELINE,765.516072985,745.516072985,715,680,663,635.483927015,879,787,803,652,631,653,0.400980415673,0.00448532093339,0.0798466995163,0.999999958744,9.46719916654e-05,-0.000266735955909,4.89915806783e-05,1793239324921873152
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+27,0.450000000,BASELINE,765.336443464,745.336443464,715,680,663,635,879,787,803,652.663556536,631,653,0.400979536113,0.0044845489778,0.0798456988697,0.999999958122,9.59274613644e-05,-0.000268630858166,4.89055497693e-05,1793239324955206656
+28,0.466666667,BASELINE,765.245216786,745,715,680,663,635,879,787,803.245216786,652.754783214,631,653,0.400979478906,0.00448557690982,0.0798457492162,0.999999958024,9.66411102626e-05,-0.000268768713175,4.87413784197e-05,1793239324971873280
+29,0.483333333,BASELINE,765.83911898,745,715,680,663,635,879,787,803.83911898,652.16088102,631,653,0.400980035585,0.00448604359006,0.0798466573619,0.999999958465,9.50274485473e-05,-0.000267665608166,4.89325770864e-05,1793239324988540416
+30,0.500000000,BASELINE,766,745,715,680,663,635.419639946,879,787,803.580360054,652,631.419639946,653,0.400981404385,0.00448586912433,0.079847707593,0.999999959242,9.35738616949e-05,-0.000265286182902,4.88265677057e-05,1793239325005206784
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+36,0.600000000,BASELINE,766,746,715,680,663,635.90289722,879,787,803,652,631.09710278,653,0.400982858411,0.00448529852373,0.0798485385258,0.99999996003,9.17398956263e-05,-0.000263031785167,4.83436595282e-05,1793239325105207040
+37,0.616666667,BASELINE,765.520638748,745.520638748,715,680,663,635.520638748,879,787,803,652,631,653,0.400981972714,0.00448610763456,0.0798479682382,0.999999959512,9.41395788906e-05,-0.000264111230558,4.85628947354e-05,1793239325121873664
+38,0.633333333,BASELINE,765.056268261,745.056268261,715,680.056268261,663,635.056268261,878.943731739,787,803.056268261,652,631.056268261,653,0.400981140316,0.00448708262668,0.0798474620609,0.99999995897,9.69810377972e-05,-0.000265089591294,4.8817250252e-05,1793239325138540032
+39,0.650000000,BASELINE,765.643564342,745.643564342,715,680.643564342,663,635.643564342,878.356435658,787,803.643564342,652,631.643564342,653,0.400981334756,0.00448654561533,0.079847808465,0.999999959254,9.58935840671e-05,-0.000264371023092,4.90320061603e-05,1793239325155206656
+40,0.666666667,BASELINE,766,745.772171225,715,680.772171225,663,635.772171225,878.227828775,787,804,652.227828775,632,653,0.400981289896,0.00448610571138,0.0798477245072,0.9999999593,9.47702027643e-05,-0.00026460374819,4.90167157062e-05,1793239325171873280
+41,0.683333333,BASELINE,766,745.192587523,715,680.192587523,663,635.192587523,878.807412477,787,804,652.807412477,632,653,0.400980875569,0.00448581573589,0.0798469760945,0.999999958978,9.35913513571e-05,-0.00026630521715,4.86462464814e-05,1793239325188539904
+42,0.700000000,BASELINE,766,745.385724165,715,680,663,635,879,787,803.614275835,652.614275835,631.614275835,653,0.400981070441,0.00448568159647,0.0798472680289,0.999999959095,9.39152229099e-05,-0.000265755573297,4.86291015277e-05,1793239325205206528
+43,0.716666667,BASELINE,766,745.963402822,715,680,663,635,879,787,803.036597178,652.036597178,631.036597178,653,0.400981568478,0.00448562500842,0.0798480776889,0.999999959428,9.49869201412e-05,-0.000264085669752,4.87877873652e-05,1793239325221873152
+44,0.733333333,BASELINE,766,745.462875384,715,680,663,635.537124616,879,787,803.537124616,652,631.537124616,653,0.400980251204,0.00448632448152,0.0798466120473,0.999999958788,9.59439799514e-05,-0.000266214278362,4.84647394355e-05,1793239325238540032
+45,0.750000000,BASELINE,765.88600436,745,715,680.11399564,663,635.88600436,879,787,803.88600436,652,631.88600436,653,0.40097939339,0.00448690707304,0.0798455706901,0.99999995831,9.68616246654e-05,-0.000267719696657,4.82039631897e-05,1793239325255206656
+46,0.766666667,BASELINE,765.29483074,745,715,680.70516926,663,635.29483074,879,787,803.29483074,652,631.29483074,653,0.400980972808,0.00448678634673,0.0798469495523,0.999999958808,9.76467368562e-05,-0.000265541031189,4.83402425815e-05,1793239325271873536
+47,0.783333333,BASELINE,765.290602032,745.290602032,715,681,663,635.290602032,878.709397968,787,803,652,631,653,0.400981912789,0.00448633138964,0.079848046252,0.999999959287,9.68409757982e-05,-0.00026398578369,4.85681996737e-05,1793239325288540160
+48,0.800000000,BASELINE,765.870323319,745.870323319,715,681,663,635.870323319,878.129676681,787,803,652,631,653,0.400982216598,0.00448554390715,0.079848862229,0.999999959747,9.44524589033e-05,-0.000263050772956,4.88873667037e-05,1793239325305206784
+49,0.816666667,BASELINE,766,745.553859993,715.446140007,680.553859993,663,636,878.446140007,787,803.446140007,652,631,653,0.400982534282,0.0044860373331,0.0798493985414,0.999999959851,9.5577864199e-05,-0.000262283568305,4.86824576424e-05,1793239325321873408
+50,0.833333333,BASELINE,766,745,715.97869921,680,663,636,879,787.02130079,804,652,631,653,0.400982870622,0.00448683346102,0.079849828236,0.999999959859,9.75500351331e-05,-0.000261589480927,4.8344185724e-05,1793239325338540032
+51,0.850000000,BASELINE,766,745,715.391063306,680,663,636,879,787.608936694,804,652,631,653,0.400983596692,0.00448586467539,0.0798495657343,0.999999960096,9.51155316589e-05,-0.000261553840708,4.84750603781e-05,1793239325355206656
+52,0.866666667,BASELINE,766,745.193972436,715,680,663.193972436,636,878.806027564,787.806027564,803.806027564,652.193972436,631.193972436,652.806027564,0.400983558684,0.0044850989579,0.0798491661204,0.999999960113,9.36121163957e-05,-0.000262013903742,4.85677539186e-05,1793239325371873280
+53,0.883333333,BASELINE,766,745.773835359,715,680,663.773835359,636,878.226164641,787.226164641,803.226164641,652.773835359,631.773835359,652.226164641,0.400982000614,0.00448473722603,0.079848493734,0.9999999597,9.39610164362e-05,-0.000263460123238,4.85844896049e-05,1793239325388539648
+54,0.900000000,BASELINE,766,746,715,680,663.647851471,635.647851471,878.352148529,787,803.352148529,652.647851471,632,652.352148529,0.40098131638,0.00448437615262,0.0798481137065,0.999999959538,9.3415432388e-05,-0.000264274673064,4.85380373704e-05,1793239325405206528
+55,0.916666667,BASELINE,766,746,715,680,663.07052928,635.07052928,878.92947072,787,803.92947072,652.07052928,632,652.92947072,0.400981190901,0.00448401550027,0.0798479206214,0.999999959538,9.22978900702e-05,-0.0002646853155,4.84511810034e-05,1793239325421873664
+56,0.933333333,BASELINE,766,745.496813175,715,680,663.503186825,635.503186825,879,787,804,652,631.496813175,652.496813175,0.400981924293,0.00448588201045,0.0798480152074,0.999999959642,9.35530911161e-05,-0.000263920850691,4.80611378328e-05,1793239325438540032
+57,0.950000000,BASELINE,765.921536492,745,714.921536492,680,663.921536492,636,879,787,804,652.078463508,631,652.078463508,0.400982526711,0.00448736817361,0.0798480200942,0.999999959715,9.46574674805e-05,-0.000263302569059,4.77646936778e-05,1793239325455206400
+58,0.966666667,BASELINE,765.332848714,745,714.332848714,680,663.332848714,636,879,787,804,652.667151286,631,652.667151286,0.400981500185,0.00448436554853,0.0798471813625,0.999999959508,9.26338239121e-05,-0.000264698304704,4.8351269357e-05,1793239325471873024
+59,0.983333333,BASELINE,765.251787203,745,714.251787203,680,663.251787203,636,879,787,803.748212797,652.748212797,631,653,0.400981191217,0.00448333103817,0.0798471548531,0.999999959561,9.15931865105e-05,-0.00026480452764,4.86526834304e-05,1793239325488539904
+60,1.000000000,BASELINE,765.831151696,745,714.831151696,680,663.831151696,636,879,787,803.168848304,652.168848304,631,653,0.400981815797,0.00448485706136,0.0798481850515,0.999999959958,9.18314481995e-05,-0.000263233083787,4.8583099915e-05,1793239325505206528
+61,1.016666667,BASELINE,766,745.408860091,715,680,663.591139909,636,879,787,803,652,631,652.591139909,0.400982481472,0.004485870598,0.0798487296581,0.999999959962,9.40999469684e-05,-0.000262439854906,4.84333736848e-05,1793239325521872896
+62,1.033333333,BASELINE,766,745.985887288,715,680,663.014112712,636,879,787,803,652,631,652.014112712,0.400983164049,0.00448667334513,0.0798490745373,0.999999959798,9.72034968777e-05,-0.000261966711551,4.82506841817e-05,1793239325538539776
+63,1.050000000,BASELINE,766,745.42991439,715,680,663,636,879,787,803.57008561,652.57008561,631,652.57008561,0.400981946318,0.00448739291401,0.0798485170622,0.999999959574,9.65140688778e-05,-0.00026310444306,4.8102449747e-05,1793239325555206656
+64,1.066666667,BASELINE,766,745.153569028,715,680,663,636,879,787,804,652.846430972,631.153569028,653,0.400981152693,0.0044874846288,0.0798479605217,0.999999959416,9.55462176094e-05,-0.000264058095579,4.80826270994e-05,1793239325571873280
+65,1.083333333,BASELINE,766,745.734562246,715,680,663,636,879,787,804,652.265437754,631.734562246,653,0.400981672076,0.00448583465967,0.0798474695477,0.999999959453,9.40681085037e-05,-0.000264387001436,4.84178050024e-05,1793239325588540160
+66,1.100000000,BASELINE,766,745.685697592,715,680,663,635.685697592,879,787,803.685697592,652,632,653,0.400981865304,0.0044851787605,0.079847227562,0.999999959385,9.40414146284e-05,-0.000264656532388,4.84005142007e-05,1793239325605206528
+67,1.116666667,BASELINE,766,745.107011498,715,680,663,635.107011498,879,787,803.107011498,652,632,653,0.400981784178,0.00448535904932,0.0798471950195,0.999999959229,9.52356166827e-05,-0.000264876118567,4.80867351191e-05,1793239325621872896
+68,1.133333333,BASELINE,766,745,715,680,663,635,879,787,803.467381468,652,631.532618532,653,0.400981752678,0.00448520016038,0.0798476677952,0.999999959457,9.46421753272e-05,-0.000264212647313,4.81629790044e-05,1793239325638539520
+69,1.150000000,BASELINE,765.958244524,745.041755476,715,680.041755476,663,635.041755476,879,787.041755476,803.958244524,652.041755476,631,653,0.400981735141,0.00448502481206,0.0798482161414,0.999999959748,9.37595968502e-05,-0.000263395972128,4.83356960506e-05,1793239325655206144
+70,1.166666667,BASELINE,765.371403648,745.628596352,715,680.628596352,663,635.628596352,879,787.628596352,803.371403648,652.628596352,631,653,0.400981752887,0.00448563913763,0.0798482544065,0.999999959727,9.43969973005e-05,-0.000263194678333,4.86126696219e-05,1793239325671873024
+71,1.183333333,BASELINE,765.212844639,746,715,680.787155361,663,635.787155361,878.787155361,787.787155361,803,652.787155361,631,653,0.400981850483,0.00448603227103,0.0798483639482,0.999999959728,9.4772820285e-05,-0.000263048564897,4.86670992782e-05,1793239325688539904
+72,1.200000000,BASELINE,765.792623522,746,715,680.207376478,663,635.207376478,878.207376478,787.207376478,803,652.207376478,631,653,0.400982085738,0.00448604407956,0.0798485963672,0.999999959764,9.46976960066e-05,-0.0002629975798,4.83378736363e-05,1793239325705206528
+73,1.216666667,BASELINE,766,746,715,680,663,635.370512849,878.370512849,787.370512849,803,652,631,653,0.40098254877,0.00448542961851,0.0798488649145,0.999999959889,9.42598282231e-05,-0.00026271053347,4.81791774979e-05,1793239325721873408
+74,1.233333333,BASELINE,766,746,715,680,663,635.947349921,878.947349921,787.947349921,803,652,631,653,0.400983138641,0.00448446641224,0.0798491535801,0.999999960062,9.36199626676e-05,-0.000262292033804,4.81154426399e-05,1793239325738540032
+75,1.250000000,BASELINE,766,745.477448149,715,680,663,636,879,787.477448149,803.522551851,652.522551851,631,652.477448149,0.400982396225,0.00448498072856,0.0798487614191,0.999999959931,9.46970847645e-05,-0.000262371877462,4.82899318607e-05,1793239325755206656
+76,1.266666667,BASELINE,766,745,715,680,663,635.899770022,879,787,803.899770022,652.899770022,631.100229978,652.100229978,0.400981692201,0.00448575903023,0.0798483909526,0.999999959736,9.61536395072e-05,-0.000262561489279,4.84185822074e-05,1793239325771873280
+77,1.283333333,BASELINE,766,745,715,680,663,635.309173826,879,787,803.309173826,652.309173826,631.690826174,652.690826174,0.400981830698,0.00448710280115,0.0798484611829,0.999999959379,9.86228057626e-05,-0.000263043245795,4.82059064903e-05,1793239325788539648
+78,1.300000000,BASELINE,766,745.276208951,715,680,663,635.276208951,879,787,803.276208951,652,632,653,0.400981739232,0.00448717701192,0.0798482948401,0.999999959259,9.86264293683e-05,-0.000263496325948,4.82155511811e-05,1793239325805206528
+79,1.316666667,BASELINE,766,745.855864166,715,680,663,635.855864166,879,787,803.855864166,652,632,653,0.400981395124,0.00448585646952,0.0798478685954,0.999999959399,9.5921379882e-05,-0.000263917901892,4.84694395905e-05,1793239325821873152
+80,1.333333333,BASELINE,765.569453067,745.569453067,715,680,663,635.569453067,879,787,804,652,631.569453067,653,0.40098134376,0.00448625593775,0.0798477663166,0.999999959569,9.41606914431e-05,-0.000263960980394,4.81615586471e-05,1793239325838540032
+81,1.350000000,BASELINE,765.003689034,745.003689034,715,680,663,635.003689034,879,787,804,652,631.003689034,653,0.400981385355,0.00448721279768,0.0798477732346,0.999999959748,9.27369487213e-05,-0.000263878270999,4.76738327718e-05,1793239325855206656
+82,1.366666667,BASELINE,765.593502271,745.593502271,715,680,663,635.593502271,879,787,804,652,631.593502271,653,0.400980803415,0.00448628711072,0.0798480946967,0.999999959538,9.51912243775e-05,-0.000263712377353,4.81510931452e-05,1793239325871873536
+83,1.383333333,BASELINE,766,745.819911197,715,680,663,636,879,787,804,652,631.819911197,653,0.400980356949,0.00448576026544,0.0798480984504,0.999999959357,9.65552994226e-05,-0.000263860275362,4.8390041399e-05,1793239325888539904
+84,1.400000000,BASELINE,766,745.240479691,715,680,663,636,879,787,804,652,631.240479691,653,0.400980210895,0.00448611784207,0.0798473976931,0.999999959249,9.55018806278e-05,-0.000264703998985,4.81005382031e-05,1793239325905206528
+85,1.416666667,BASELINE,766,745,715,680,663,635.66395904,879,787,803.66395904,652,631.33604096,653,0.400980461062,0.00448622854436,0.0798472623273,0.99999995926,9.49138201777e-05,-0.00026489090089,4.80092703804e-05,1793239325921873152
+86,1.433333333,BASELINE,766,745,715,680,663,635.089503617,879,787,803.089503617,652,631.910496383,653,0.400980992339,0.00448616409412,0.0798475280958,0.999999959356,9.46559223989e-05,-0.000264611800635,4.805864668e-05,1793239325938539776
+87,1.450000000,BASELINE,766,745,715,680,663,635,879,787,803,652,631.516343927,652.516343927,0.400981728592,0.00448695412737,0.0798481905618,0.999999959546,9.49605139218e-05,-0.00026380742619,4.79107752302e-05,1793239325955206656
+88,1.466666667,BASELINE,766,745,715,680.058780544,663,635,878.941219456,787.058780544,803.058780544,652,631,652.058780544,0.400982465599,0.0044877530541,0.0798489007764,0.999999959728,9.55670200445e-05,-0.000262915619099,4.78256201991e-05,1793239325971873024
+89,1.483333333,BASELINE,766,745,715,680.654019062,663,635,878.345980938,787.654019062,803.654019062,652,631,652.654019062,0.400982864214,0.00448719385862,0.0798493785712,0.999999959666,9.79814815848e-05,-0.000262110631437,4.86450869642e-05,1793239325988539648
+90,1.500000000,BASELINE,765.758302339,745,714.758302339,680.758302339,663,635,878.241697661,787.758302339,804,652,631,653,0.400981791663,0.00448652582763,0.07984877263,0.999999959324,9.87668467987e-05,-0.000263056006817,4.89753312386e-05,1793239326005206528
+91,1.516666667,BASELINE,765.181117302,745,714.181117302,680.181117302,663,635,878.818882698,787.181117302,804,652,631,653,0.400978677067,0.00448570672801,0.079846662414,0.999999958592,9.72909518132e-05,-0.000266430965995,4.86265123157e-05,1793239326021873152
+92,1.533333333,BASELINE,765.393976699,745,714.393976699,680,663,635.393976699,879,787,803.606023301,652,631.393976699,653,0.400979298731,0.00448600408043,0.0798469794834,0.999999958797,9.70290472694e-05,-0.000265767146325,4.85628345621e-05,1793239326038540032
+93,1.550000000,BASELINE,765.968114544,745,714.968114544,680,663,635.968114544,879,787,803.031885456,652,631.968114544,653,0.400981628944,0.00448681197383,0.0798484065232,0.99999995943,9.73222868681e-05,-0.000263256438486,4.86295486505e-05,1793239326055206400
+94,1.566666667,BASELINE,766,745,715,680,663,636,879,787,803.542074112,652,632,652.457925888,0.400981805899,0.00448672246859,0.0798485081953,0.999999959523,9.71561162056e-05,-0.000263016926304,4.83433142324e-05,1793239326071873280
+95,1.583333333,BASELINE,766,745,715,680,663,636,879,787,803.879650617,652,632,652.120349383,0.40098184796,0.00448630652154,0.0798485254971,0.999999959599,9.66837809577e-05,-0.000262934171751,4.81580295378e-05,1793239326088539904
+96,1.600000000,BASELINE,766,745,715,680,663,636,879,787,803.284300371,652,632,652.715699629,0.40098185735,0.00448481042806,0.0798485173965,0.999999959734,9.51096811221e-05,-0.000262943011963,4.84530911249e-05,1793239326105206272
+97,1.616666667,BASELINE,766,745,715,680,663,636,878.699877283,787.300122717,803,652.300122717,631.699877283,653,0.400982279884,0.00448502360108,0.0798488954078,0.999999959851,9.52484182167e-05,-0.000262429798717,4.85357152825e-05,1793239326121873152
+98,1.633333333,BASELINE,766,745,715,680,663,636,878.125441679,787.874558321,803,652.874558321,631.125441679,653,0.400983080032,0.00448679904791,0.0798496263265,0.999999959952,9.69526924936e-05,-0.00026143942735,4.84241710992e-05,1793239326138540288
+99,1.650000000,BASELINE,766,745,715,680,663,636,878.4520318,788,803,652.5479682,631.4520318,653,0.400982444088,0.00448614002783,0.079849137245,0.99999995986,9.52319829852e-05,-0.000262425333383,4.84068195692e-05,1793239326155206912
+100,1.666666667,BASELINE,766,745.030850901,715,680.030850901,663,636,879.030850901,787.969149099,803.030850901,652,631.969149099,653,0.400981567319,0.0044849236199,0.0798484057674,0.999999959726,9.28687133145e-05,-0.000263780044854,4.84167935994e-05,1793239326171873536
+101,1.683333333,BASELINE,766,745.618640254,715,680.618640254,663,636,879.618640254,787.381359746,803.618640254,652,631.381359746,653,0.400983586097,0.00448592340151,0.0798494516092,0.999999959925,9.61798248407e-05,-0.000261825092349,4.84449943952e-05,1793239326188540160
+102,1.700000000,BASELINE,766,746,715,680.796616969,663.203383031,636,879.593233937,787,803.796616969,652.203383031,631.203383031,653,0.400984275744,0.00448652911442,0.0798497011894,0.999999960003,9.7610605792e-05,-0.000261004799001,4.84053597755e-05,1793239326205206528
+103,1.716666667,BASELINE,766,746,715,680.217502525,663.782497475,636,878.435005049,787,803.217502525,652.782497475,631.782497475,653,0.400982509944,0.00448640682158,0.0798484797497,0.999999959874,9.55676488741e-05,-0.000262280684132,4.82404054726e-05,1793239326221873152
+104,1.733333333,BASELINE,766.360575759,746,715,680,663.639424241,636,878.360575759,787,803,652.639424241,632,653,0.400981196355,0.00448596676306,0.0798477122665,0.999999959508,9.54473501464e-05,-0.000263705470745,4.83048523425e-05,1793239326238539776
+105,1.750000000,BASELINE,766.938030868,746,715,680,663.061969132,636,878.938030868,787,803,652.061969132,632,653,0.400980154762,0.0044853355746,0.0798472178291,0.999999958998,9.64834929615e-05,-0.000265219818845,4.8507279568e-05,1793239326255206656
+106,1.766666667,BASELINE,766.487281154,745.487281154,715,680,663,636,879,787,803,652,631.487281154,653,0.400980444597,0.00448594801078,0.0798470820064,0.999999958949,9.71788210031e-05,-0.000265172967581,4.83831337486e-05,1793239326271873536
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,635,879,787,804,652,631,653,0.400982007166,0.00448549609388,0.079848150502,0.99999995969,9.310393805e-05,-0.00026386574888,4.82291794531e-05,1793239326314218496
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.420339886,745,715,680,663,635.579660114,879,787,804,652.579660114,631,653,0.400982047721,0.00448615959551,0.0798481761854,0.999999959583,9.46065271009e-05,-0.000263753149083,4.81416681383e-05,1793239326330885376
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.157673365,745.157673365,715,680,663,636,879.157673365,787,803.842326635,653,631,653,0.40098176988,0.00448639614761,0.0798480372863,0.999999959469,9.53876936541e-05,-0.000263907707888,4.81235955259e-05,1793239326347552256
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.731341766,745.731341766,715,680,663,636,879.731341766,787,803.268658234,653,631,653,0.400980651999,0.00448550626428,0.0798474641634,0.99999995934,9.42655068648e-05,-0.00026476712036,4.82887254002e-05,1793239326364218624
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.696306014,746,715,680,663.303693986,635.696306014,879.696306014,787,803,652.696306014,631,652.696306014,0.400980287387,0.00448556059821,0.0798472471274,0.999999959151,9.53191724877e-05,-0.000265093565757,4.83482757696e-05,1793239326380884992
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.125113143,746,715,680,663.874886857,635.125113143,879.125113143,787,803,652.125113143,631,652.125113143,0.400980586267,0.004486446615,0.0798473437389,0.999999958903,9.82893664035e-05,-0.000264950564536,4.83148298851e-05,1793239326397551360
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745.535724092,715,680,663.535724092,635,879,787,803,652.464275908,631,652.464275908,0.400980898906,0.00448625190044,0.0798480386436,0.999999959248,9.69160183019e-05,-0.000264163186029,4.82622685854e-05,1793239326414218240
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.057250928,745,715,680,663,635.057250928,879,787,803,653,631.057250928,653,0.400981556085,0.00448586638702,0.0798489834834,0.999999959775,9.46830110458e-05,-0.000262985175177,4.8214659762e-05,1793239326430885120
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.636392162,745,715,680,663,635.636392162,879,787,803,653,631.636392162,653,0.400985318856,0.0044865047343,0.0798506770101,0.999999960482,9.5718810641e-05,-0.000259893729646,4.82610701304e-05,1793239326447552000
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,879,787,803,652.785312452,632,653,0.400990587953,0.00448682777284,0.0798534275802,0.999999961483,9.64868037728e-05,-0.000255720541269,4.82835033992e-05,1793239326464218624
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,879,787,803,652.208444079,632,653,0.400998398241,0.00448661888117,0.0798579613971,0.999999962969,9.68030036403e-05,-0.000249722438256,4.82654869692e-05,1793239326480884736
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.625358772,745,715,680,663,635.625358772,879,787,803.374641228,652,632,653,0.401020657834,0.00448665641328,0.0798671289569,0.999999966998,9.66609783971e-05,-0.000233125660475,4.80971811185e-05,1793239326497551104
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.038756044,745,715,680,663,635.038756044,879,787,803.961243956,652,632,653,0.401051092441,0.00448683336503,0.079878918159,0.999999972061,9.62597022269e-05,-0.000210532449078,4.7843845707e-05,1793239326514217728
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.540902477,745.540902477,715,680,663,635.540902477,878.459097523,787,803.459097523,652,632,653,0.40110734855,0.00448617858758,0.0798957685786,0.999999978881,9.44719338957e-05,-0.000176439346325,4.67039905449e-05,1793239326530886400
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.880797484,745.880797484,715,680,663.119202516,636,878.119202516,787,803,652,632,653,0.401167548581,0.00448634908726,0.0799115904839,0.999999984087,9.33152766591e-05,-0.000145133248337,4.53358230836e-05,1793239326547554304
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.305813218,745.305813218,715,680,663.694186782,636,878.694186782,787,803,652,632,653,0.401235844103,0.00448990008435,0.0799221107641,0.999999986413,9.49467632454e-05,-0.000127594119807,4.33344775501e-05,1793239326564219136
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.274459464,715,680,663.725540536,636,879,787,803,652,632,653,0.401308943529,0.00449120861868,0.0799293687209,0.999999987919,9.50402131179e-05,-0.000115807460869,4.14454252226e-05,1793239326580884736
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.86074044,715,680,663.13925956,636,879,787,803,652,632,653,0.401387500809,0.00448996942459,0.0799329202549,0.999999988741,9.33862539395e-05,-0.000110556353767,3.96839526571e-05,1793239326597551360
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.443369287,745.556630713,715,680,663,636,879,787,803.443369287,652,631.556630713,653,0.401484445322,0.00449183074423,0.0799347174896,0.999999989323,9.1770044347e-05,-0.000107678708787,3.65606753075e-05,1793239326614217984
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.024729839,715,680,663,635.975270161,879,787,803.975270161,652.024729839,631.024729839,653,0.401588450802,0.00449458965672,0.0799361217751,0.99999998985,9.00944734593e-05,-0.00010533450016,3.29771326955e-05,1793239326630884608
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.603167418,715,680,663,635.396832582,879,787,803.396832582,652.603167418,631.603167418,653,0.401722298845,0.00449581924541,0.0799409643904,0.999999990983,8.68264761382e-05,-9.83787265098e-05,2.8586972005e-05,1793239326647551232
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.819969597,715,680,663,635.180030403,879.180030403,787,803.180030403,652.819969597,631.819969597,652.819969597,0.401865601931,0.004497024089,0.079946913979,0.999999992317,8.36065067154e-05,-8.82995349754e-05,2.40614983387e-05,1793239326664217856
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.246547399,715,680,663,635.753452601,879.753452601,787,803.753452601,652.246547399,631.246547399,652.246547399,0.402029565601,0.00449817486091,0.0799552824592,0.999999994027,8.04914854405e-05,-7.13952361883e-05,1.92403473287e-05,1793239326680884480
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.336644263,715.336644263,680,663,636,879.663355737,787.336644263,803.663355737,652,631.336644263,652.336644263,0.402206755934,0.00450098179967,0.0799627341774,0.999999995183,7.82384502323e-05,-5.76596283106e-05,1.37333770605e-05,1793239326697551104
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.927204668,715.927204668,680,663,636,879.072795332,787.927204668,803.072795332,652,631.927204668,652.927204668,0.402393922581,0.00450503791324,0.0799694944225,0.999999995961,7.66355733402e-05,-4.63140245441e-05,7.70912261542e-06,1793239326714217984
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,715.492002604,680,663,636,879,787.492002604,803.507997396,652.507997396,631.492002604,653,0.402599658018,0.00450853647261,0.0799667660937,0.999999996084,6.98073816107e-05,-5.43950239377e-05,5.19565217625e-07,1793239326730884864
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,879,787,804,652.912980331,631,653,0.402813568021,0.00451163751401,0.0799621888247,0.99999999593,6.19168107333e-05,-6.526423194e-05,-6.90396892393e-06,1793239326747551744
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,879,787,804,652.336193171,631,653,0.403058792969,0.00451294242553,0.0799547136222,0.999999995608,5.21817252664e-05,-7.64538015937e-05,-1.47222742302e-05,1793239326764218112
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,879,787,803.761370718,652,631,653,0.403323824987,0.0045159447463,0.079950692056,0.999999995065,5.30351779206e-05,-8.15097497417e-05,-2.03167012196e-05,1793239326780884480
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,879,787,803.189293676,652,631,653,0.403616534327,0.00452131893564,0.0799514964164,0.99999999434,6.86844864477e-05,-7.79949034955e-05,-2.28035994532e-05,1793239326797551104
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.604773988,745.604773988,715,680,663,636,879,787,803,652,631,653,0.403935625229,0.00452851718978,0.0799560946632,0.999999992727,9.59812246124e-05,-6.96820471149e-05,-2.18424266949e-05,1793239326814217728
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.01410119,745.01410119,715,680,663,636,879,787,803,652,631,653,0.404267762307,0.00453661747853,0.0799625690591,0.99999998975,0.00012903783784,-5.89964834523e-05,-1.91761171176e-05,1793239326830884352
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.563722068,745.563722068,715,680,663,636,879,787,803.563722068,652,631,653,0.404646775939,0.00454192977747,0.0799646312301,0.999999996262,6.34043649322e-05,-5.38810069254e-05,-2.35089636815e-05,1793239326847550976
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663.140865637,635.859134363,879,787,803.859134363,652.140865637,631,653,0.405038802876,0.00454786321342,0.0799657107155,0.999999998197,2.09833774303e-05,-4.93028473517e-05,-2.71052492021e-05,1793239326864217856
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.716880244,635.283119756,879,787,803.283119756,652.716880244,631,653,0.4054674877,0.0045559260399,0.0799640879245,0.999999996888,5.77242984017e-05,-4.59636976989e-05,-2.78974311318e-05,1793239326880884736
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.700518812,745.700518812,715,680,663.700518812,635,879,787,803,652.700518812,631.299481188,653,0.40589832251,0.00456470963078,0.079958093303,0.999999994219,8.75164792061e-05,-5.51713982443e-05,-2.9305573878e-05,1793239326897551360
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.111551274,745.111551274,715,680,663.111551274,635,879,787,803,652.111551274,631.888448726,653,0.406331235604,0.00457418993233,0.0799478727557,0.999999990468,0.000110591830338,-7.65072120053e-05,-3.13091205612e-05,1793239326914217728
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680.469627347,663,635.469627347,879,787,803.469627347,652.469627347,632,653,0.406806092677,0.00458194013768,0.0799423287747,0.999999988425,0.000122008935407,-8.50989265735e-05,-3.19579297944e-05,1793239326930884352
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.048706326,745.048706326,715,680.951293674,663,636,879,787,803.951293674,652.951293674,631.951293674,653,0.407294135562,0.00458949026979,0.0799382660303,0.999999986821,0.000130857244879,-9.04755713243e-05,-3.23730860282e-05,1793239326947550976
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.624757246,745.624757246,715,680.375242754,663,636,879,787,803.375242754,652.375242754,631.375242754,653,0.407818831968,0.00459925100921,0.0799384098833,0.999999985087,0.00014138619591,-9.32826214035e-05,-3.36856925781e-05,1793239326964217600
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.799159978,745.799159978,715,680.200840022,663,636,879.200840022,787,803.200840022,652,631.200840022,653,0.408361892988,0.00460559803496,0.0799359395844,0.999999983649,0.00014651581291,-0.000100286282725,-3.43204385292e-05,1793239326980884480
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.22301771,745.22301771,715,680.77698229,663,636,879.77698229,787,803.77698229,652,631.77698229,653,0.408939271246,0.00460556598095,0.0799285843176,0.999999982786,0.000141555895514,-0.000115131994506,-3.36884916281e-05,1793239326997551360
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,681,663,636,879.640366672,787,803.640366672,652,631.640366672,653,0.409555474932,0.00460104505769,0.0799448654333,0.999999986365,0.000135601270612,-8.81019290294e-05,-3.34758958077e-05,1793239327014218240
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,681,663,636,879.053605007,787,803.053605007,652,631.053605007,653,0.410196199002,0.00459368916526,0.0799760742319,0.999999990516,0.000129018432792,-3.46249935682e-05,-3.35281433354e-05,1793239327030885376
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.528356131,745,715,681,663.528356131,636,879,787,803.528356131,652,631,653,0.410864143646,0.00459177532618,0.0799952397978,0.999999991373,0.000126521901146,-2.86636858316e-06,-3.51719035314e-05,1793239327047551744
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.891286291,745.108713709,715,680.891286291,664,636,879,787,804,652,631,653,0.411531108488,0.00458830222063,0.0800052745485,0.999999991834,0.000121636662907,1.32972336432e-05,-3.68691155384e-05,1793239327064218112
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.315742173,745.684257827,715,680.315742173,664,636,879,787,804,652,631,653,0.412182113457,0.00457578385944,0.0799813000017,0.999999993394,0.000104729783099,-2.8129442216e-05,-3.81087313939e-05,1793239327080884736
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.259043844,745.740956156,715,680,663.740956156,636,879,787,804,652,631,653,0.412859392118,0.00457137317183,0.0799542162776,0.999999991786,0.000101771592821,-6.66595877301e-05,-4.03362982507e-05,1793239327097551360
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.832908605,745.167091395,715,680,663.167091395,636,879,787,804,652,631,653,0.413568601783,0.0045768158926,0.0799233539081,0.999999987173,0.000115765508317,-0.00010166953029,-4.37645409637e-05,1793239327114217984
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680.419295217,663.419295217,636,879.419295217,787,804,652,631,653,0.414307765245,0.00458811286892,0.0799270095765,0.999999988466,0.00011350609824,-9.04725468475e-05,-4.47204044708e-05,1793239327130884352
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.989397532,745.010602468,715,680.989397532,664,636,879.989397532,787,803.989397532,652.010602468,631,653,0.4150596631,0.00460159642423,0.0799448685772,0.999999991653,0.000105132596508,-6.0381469359e-05,-4.46740684725e-05,1793239327147551232
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.410050501,745.589949499,715,680.410050501,664,636,879.410050501,787,803.410050501,652.589949499,631,653,0.415834639985,0.00460337576479,0.0799640292441,0.999999990307,0.000126923991206,-3.49276998636e-05,-4.53458148908e-05,1793239327164218368
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.16786754,746,715,680.16786754,663.83213246,636,879.16786754,787.16786754,803.16786754,652.83213246,631,653,0.416608282688,0.00460525654972,0.0799723540895,0.999999988617,0.000141391466865,-2.50227726768e-05,-4.63413832973e-05,1793239327180884992
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.742324409,746,715,680.742324409,663.257675591,636,879.742324409,787.742324409,803.742324409,652.257675591,631,653,0.417378693846,0.00460738304135,0.079954433661,0.999999987911,0.000138119792331,-5.27784534813e-05,-4.81212758898e-05,1793239327197551360
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.675094113,746,715,681.324905887,663.324905887,636,879.675094113,787.675094113,804,652,631.324905887,653,0.418207852672,0.00460619208418,0.079964439436,0.999999989465,0.000133046002951,-2.93919015832e-05,-5.00453520142e-05,1793239327214217984
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.085903958,746,715,681.914096042,663.914096042,636,879.085903958,787.085903958,804,652,631.914096042,653,0.419084797868,0.00460230265463,0.0799971608857,0.999999990008,0.000126506340863,3.55946596437e-05,-5.2086709376e-05,1793239327230884352
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,746,715,682,664,636,879,787,804,652,631.505113731,653,0.419918078263,0.00459961090187,0.0799961377996,0.999999990421,0.000122750807951,3.68442264941e-05,-5.22820137592e-05,1793239327247550976
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,746,715,681.926207412,664,636,879.073792588,787,804,652,631,653,0.420744420941,0.00459805695911,0.079989103087,0.999999991045,0.000120358200892,2.61507013368e-05,-5.23538791516e-05,1793239327264218112
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,746,715,681.350364039,664,636,879.649635961,787,804,652,631,653,0.421574268802,0.00460285332707,0.0799803545445,0.999999990834,0.000124005190336,8.21771793197e-06,-5.37296876725e-05,1793239327280884480
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.224433406,746,715,681,664,636,880,787,804,652,631,653,0.422424748595,0.0046073634739,0.0799855409042,0.999999989997,0.000130218208185,1.16968826254e-05,-5.3958256769e-05,1793239327297551104
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.79760571,746,715,681,664,636,880,787,804,652,631,653,0.423307287721,0.00461142887288,0.0800123801997,0.999999987595,0.000140418484621,4.84476018219e-05,-5.24041724767e-05,1793239327314217984
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.615799775,746,715,681,664,635.615799775,880,787,804,652,631,653,0.424161834946,0.00461491168238,0.0800106524004,0.999999987362,0.000145771353572,3.70186410204e-05,-5.15413884485e-05,1793239327330884608
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.021878596,746,715,681,664,635.021878596,880,787,804,652,631,653,0.425001102356,0.0046180764772,0.0799933308597,0.999999987674,0.000148478198077,-7.09859934447e-07,-5.10559601939e-05,1793239327347551232
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.555821539,745.444178461,715,681.555821539,664,635,880.555821539,787,804,652,631,653,0.425839297994,0.00461446271502,0.0799534514725,0.999999986956,0.000142638680198,-5.51977969426e-05,-5.19263223283e-05,1793239327364217856
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.132600658,715,681.867399342,664,635.132600658,880.867399342,787,804,652,631,653,0.426684597001,0.00461106041602,0.0799227759615,0.999999984523,0.000138101806242,-9.52890951146e-05,-5.29359935151e-05,1793239327380884736
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.708375027,715,681.291624973,664,635.708375027,880.291624973,787,804,652,631,653,0.427553773615,0.00460923133899,0.0799257448358,0.999999985244,0.000139011036854,-8.51221088942e-05,-5.42379540575e-05,1793239327397551360
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,681,664.289146227,636,879.710853773,787,804.289146227,652.289146227,631.289146227,652.710853773,0.428417215799,0.00460933079769,0.0799315828845,0.99999998535,0.000141901723056,-7.89536605902e-05,-5.41354801952e-05,1793239327414217728
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,681,664.875045683,636,879.124954317,787,804.875045683,652.875045683,631.875045683,652.124954317,0.429274772638,0.00461140952912,0.0799403655911,0.999999984882,0.000146825993916,-7.68889463475e-05,-5.25916232959e-05,1793239327430884352
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,681.455992285,664.544007715,635.544007715,879.455992285,787,804.544007715,652.544007715,632,652.455992285,0.430169302773,0.00461387794752,0.0799759712061,0.999999987834,0.000144735105468,-2.38111360107e-05,-5.30819066438e-05,1793239327447551232
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,682,664,635,880,787,804,652,632,652.964512279,0.431070469778,0.00461653624317,0.0800173167114,0.999999987717,0.000141545001027,4.02062561132e-05,-5.39813788299e-05,1793239327464218112
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,682,664,635,880,787,804,652,632,652.3866762,0.43191988913,0.00462048194779,0.0800352591507,0.999999985464,0.000150618872365,6.00688826934e-05,-5.27071682154e-05,1793239327480884736
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.809527939,746,715,682,664,635.190472061,880,787,804.190472061,652,631.809527939,652,0.43273231899,0.00462444578279,0.0800263810783,0.999999985836,0.000154407122625,4.13934923172e-05,-5.2662806144e-05,1793239327497551360
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.23377088,746,715,682,664,635.76622912,880,787,804.76622912,652,631.23377088,652,0.433469927026,0.00462844629242,0.0799632507442,0.999999986077,0.000147503671768,-5.52362134505e-05,-5.51061689985e-05,1793239327514217984
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.349801941,746,715,682.349801941,664,636,880.349801941,787,805,652,631,652,0.434252680401,0.00462662834002,0.0799269663216,0.999999983326,0.00014116346556,-0.000100820483255,-5.70601699869e-05,1793239327530884608
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.938717332,746,715,682.938717332,664,636,880.938717332,787,805,652,631,652,0.435066293647,0.00462083307229,0.0799090329117,0.99999998292,0.000135208276484,-0.00011151171553,-5.86796589088e-05,1793239327547551232
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.481723144,746,715,682.481723144,664.518276856,635.481723144,881,787.518276856,805,652,631,652,0.435870395765,0.00461242977887,0.0799416903378,0.99999998775,0.000128391718067,-6.8597543383e-05,-5.75263517229e-05,1793239327564217856
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,746,715,682,664.807277242,635,880.903638621,787.903638621,804.903638621,652,631,652.096361379,0.436666489546,0.00460550796021,0.0799765435318,0.999999990664,0.000122087228193,-2.48703488544e-05,-5.61126588835e-05,1793239327580884480
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,746,715,682,663.654975458,635,880.327487729,787.327487729,804.327487729,652,631,652.672512271,0.437428209571,0.00460747072307,0.0799930728812,0.999999991394,0.000118830492547,-8.09510601174e-06,-5.50059995429e-05,1793239327597551360
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,746,714.753052407,682,663,635,880,787,804,652,631,653,0.438165389136,0.00461186819383,0.0799996664309,0.999999990881,0.000123326162265,9.15663890753e-08,-5.50347425164e-05,1793239327614217984
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,714.180876523,682,663,635,880,787,804,652,631,653,0.438870249025,0.00461947215808,0.0799931745992,0.99999998887,0.000138031697066,-3.03285103331e-06,-5.65588026624e-05,1793239327630884608
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.406923394,746,714.406923394,682.406923394,663,635,880,787,804,652,631,653,0.439539744802,0.00462637091066,0.0799614972481,0.999999987567,0.000138003570004,-5.05476099785e-05,-5.71502482512e-05,1793239327647551232
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,714.998106525,683,662.998106525,635,880,787,804,652,631,653,0.440192554697,0.00463294428995,0.079918047311,0.999999982691,0.000131237892105,-0.000118785250701,-5.73141555507e-05,1793239327664217856
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,714.4189985,683,662.4189985,635,880,787,804,652,631,653,0.440742014953,0.0046397028125,0.0798347605822,0.999999956495,0.000146733449234,-0.000249096129129,-5.85630533044e-05,1793239327680884480
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,714,683,662,635,880,787,804,652,631.157499111,653,0.44129753279,0.00464735652435,0.0797649361027,0.999999921595,0.000161330229716,-0.000356676156403,-5.97100209617e-05,1793239327697551104
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,714,683,662,635,880,787,804,652,631.727165523,653,0.441868903136,0.00465735290327,0.079730341639,0.999999901181,0.000173574965447,-0.00040477071961,-6.05902451024e-05,1793239327714217984
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.69222458,746,714,683,661.69222458,635,880,786.69222458,804,652,631.69222458,653,0.44246484209,0.00466564744217,0.0797393745338,0.999999905397,0.000185129728062,-0.000389039899507,-5.98452383741e-05,1793239327730884864
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.101555963,746,714,683,661.101555963,635,880,786.101555963,804,652,631.101555963,653,0.443083363359,0.00467237772635,0.0797885077182,0.999999929623,0.000196050297478,-0.00031464368013,-5.76063929884e-05,1793239327747551488
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.519917251,714,683,661,635,880.480082749,786.480082749,804,652,631,652.519917251,0.443662637332,0.00468080548647,0.0798166082326,0.999999939027,0.000209735529791,-0.000273174510364,-5.77371254777e-05,1793239327764218112
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.059694335,745.059694335,714,683,661,635,881,787,804,652,631.059694335,652.059694335,0.444222043551,0.0046895931676,0.0798350183558,0.99999994289,0.000223410988231,-0.000246836506373,-5.81253750643e-05,1793239327780884736
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.637983555,745.637983555,714,683,661,635,881,787,804,652,631.637983555,652.637983555,0.444679643365,0.00469844573496,0.0798071821649,0.999999928695,0.000232014601184,-0.000292556335293,-5.64765295392e-05,1793239327797551360
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,714,683,660.786068772,634.786068772,880.786068772,786.786068772,804,652,631.786068772,653,0.445123653412,0.00470596931697,0.0797800404809,0.999999913238,0.000236945407883,-0.000338053068034,-5.56904526751e-05,1793239327814217728
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,714,683,660.214040645,634.214040645,880.214040645,786.214040645,804,652,631.214040645,653,0.445544915668,0.00471126832559,0.0797540613261,0.999999897216,0.000235728348019,-0.000383176358614,-5.63485541124e-05,1793239327830884352
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.62933109,745.62933109,714,683,660,634,880,786.37066891,804,652.37066891,631,653,0.445956296896,0.00471740982912,0.0797377105974,0.999999885794,0.000245811112947,-0.000405866524073,-5.71050476679e-05,1793239327847550976
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.037039254,745.037039254,714,683,660,634,880,786.962960746,804,652.962960746,631,653,0.446361770298,0.00472405506083,0.0797271167019,0.999999877658,0.000262650042637,-0.000415143929529,-5.79203699598e-05,1793239327864217856
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.881979772,714,683.881979772,660,634,880.118020228,786.881979772,804.118020228,652,631.881979772,653,0.447130570302,0.00476445340372,0.079718719066,0.999999865938,0.000308296783879,-0.000410346220136,-6.8506442086e-05,1793239327897551872
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.306595901,714,683.306595901,660,634,880.693404099,786.306595901,804.693404099,652,631.306595901,653,0.44745381029,0.004780552203,0.0797094037582,0.999999852986,0.000332600652424,-0.000422521779013,-6.9860856337e-05,1793239327914218240
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.666522187,714,683,659,633,881,786.333477813,804.333477813,652,631,653,0.44933008601,0.00473365973236,0.0796620617528,0.999999840126,0.000250619781,-0.00050258054336,-6.59534492753e-05,1793239328047551232
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.075362533,714,683,659,633,881,786.924637467,804.924637467,652,631,653,0.449490008081,0.00474339180935,0.0796636323032,0.999999838062,0.00026498079195,-0.00049909083302,-6.76048394876e-05,1793239328064218112
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.50586625,714,683.50586625,658.49413375,633,881,786.49413375,804.49413375,652,631,653,0.449621139393,0.00474674451654,0.0796571244727,0.999999831046,0.000272363078489,-0.000509003574716,-6.81241341955e-05,1793239328080884736
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.914819316,714,683.914819316,658,633,881,786,804.085180684,652,631,653,0.449744573,0.0047484401963,0.0796502243761,0.999999824184,0.00027741647198,-0.000519607665792,-6.84039521772e-05,1793239328097551360
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.338178054,714,683.338178054,658,633,881,786,804.661821946,652,631,653,0.449847864204,0.0047459532169,0.07964787107,0.999999823168,0.000274916047563,-0.000522902410981,-6.82564284787e-05,1793239328114217984
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.242385929,745.242385929,714,683.242385929,658,633,881,786,804.757614071,652,631,653,0.44993975502,0.00474674946719,0.0796451685735,0.999999820406,0.000275791226049,-0.00052767572661,-6.84478549579e-05,1793239328130884608
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.828512908,745.828512908,714,683.828512908,658,633,881,786,804.171487092,652,631,653,0.4500154783,0.00475220184939,0.0796419708705,0.999999815133,0.000281453536054,-0.000534545885506,-6.91199656584e-05,1793239328147551232
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.589980162,746,714,684,658,633,881,786,804.410019838,652,631.410019838,653,0.450082365795,0.00475302423425,0.0796401186035,0.999999813534,0.000281118435845,-0.000537702261738,-6.91380209378e-05,1793239328164218112
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.01038401,746,714,684,658,633,881,786,804.98961599,652,631.98961599,653,0.450145598977,0.00475193174117,0.079638822783,0.999999813467,0.000278302922047,-0.000539322688763,-6.88855714657e-05,1793239328180884736
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,713.434798578,684,658,633,880.434798578,786,805,652,631.434798578,653,0.450193779544,0.00475264941573,0.0796404283074,0.99999981382,0.000280266063008,-0.000537650533888,-6.88636101352e-05,1793239328197551616
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.858931851,713.141068149,683.858931851,658,632.858931851,880.141068149,786,805,652,631.141068149,652.858931851,0.450237393058,0.00475379914797,0.079641516126,0.999999813572,0.000282334389045,-0.000537048640766,-6.87109409386e-05,1793239328214218496
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.28196996,713.71803004,683.28196996,658,632.28196996,880.71803004,786,805,652,631.71803004,652.28196996,0.450267743096,0.00475618187952,0.0796408407115,0.999999811453,0.000284458362092,-0.000539939405435,-6.8141398321e-05,1793239328230884864
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,683,658,632.300249162,881,786,804.699750838,652,631.699750838,652.300249162,0.450292157708,0.00475767039639,0.0796399419948,0.999999809571,0.000286086672388,-0.000542597832692,-6.78224546352e-05,1793239328247551232
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,683,658,632.88749351,881,786,804.11250649,652,631.11250649,652.88749351,0.450310898907,0.00475830417239,0.079638829833,0.999999807921,0.00028724120035,-0.000545034179006,-6.77430475616e-05,1793239328264217600
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,683,657.531618863,633,881,786,804.468381137,652,631,653,0.45032550263,0.00475800147921,0.0796382114548,0.999999807857,0.000286765811394,-0.00054545838046,-6.72749345116e-05,1793239328280884224
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.047356352,714,683,657,633,880.952643648,786,805,652,631,653,0.450338598098,0.00475750627641,0.0796377548151,0.999999808166,0.000285891525634,-0.000545415355346,-6.67545388622e-05,1793239328297550848
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.621813512,714,683,657,633,880.378186488,786,805,652,631,653,0.450345819687,0.00475733854419,0.0796377959136,0.999999808426,0.000284876678506,-0.00054547945823,-6.66775325266e-05,1793239328314217472
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.803041883,714,683,657.196958117,633,880.196958117,786,804.803041883,652.196958117,631,653,0.450350952789,0.00475725884475,0.0796371259497,0.999999808033,0.000284017199331,-0.000546669735705,-6.64835220246e-05,1793239328330884096
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.226572701,714,683,657.773427299,633,880.773427299,786,804.226572701,652.773427299,631,653,0.450352061665,0.00475734877232,0.0796350858669,0.999999806377,0.000283457092783,-0.000550029995932,-6.60640606726e-05,1793239328347550720
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,713.64043439,683,657.64043439,633,881,785.64043439,804,652.64043439,631,653,0.450354120137,0.00475828574533,0.0796348678227,0.999999805881,0.000284292327264,-0.00055049896756,-6.60782773874e-05,1793239328364217600
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,713.048034934,683,657.048034934,633,881,785.048034934,804,652.048034934,631,653,0.450356793512,0.00475977121587,0.079635829625,0.999999806137,0.000286031103732,-0.000549095708163,-6.63733188951e-05,1793239328380884224
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713,683,657.532113967,633,881,785.532113967,804.532113967,652,631,653,0.450358636503,0.00475709581004,0.0796358912039,0.99999980699,0.000284035358982,-0.000548652265537,-6.57626645903e-05,1793239328397550848
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713.109798887,683.109798887,657.890201113,633,881,786,804.890201113,652,631,653,0.450359906571,0.0047549189402,0.0796358891543,0.999999807671,0.000281958139259,-0.000548542673666,-6.52588562597e-05,1793239328414217728
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713.681663636,683.681663636,657.318336364,633,881,786,804.318336364,652,631,653,0.450359073966,0.00475638516205,0.0796359536285,0.999999807428,0.000280924831851,-0.000549481603954,-6.55410095773e-05,1793239328430884352
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.260210643,745,714,684,657.260210643,633,881,786,804,652,631,653,0.450359642924,0.00475745095813,0.0796361504516,0.999999807188,0.000281694245864,-0.000549527104321,-6.55168537835e-05,1793239328447550976
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.847148134,745,714,684,657.847148134,633,881,786,804,652,631,653,0.450361971716,0.00475801397,0.0796365134554,0.999999806947,0.000284727200839,-0.000548450792355,-6.51080888159e-05,1793239328464217600
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,714,683.570043511,657.570043511,633,881,786,804.429956489,652,631,653,0.45036111547,0.00475731490674,0.0796349534532,0.99999980601,0.000283962120512,-0.000550592067861,-6.47529284305e-05,1793239328480884480
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.988774618,745.011225382,714,683,657,633,881,786,804.988774618,652,631,653,0.450359177056,0.00475622473523,0.079632746513,0.99999980483,0.000281936450389,-0.000553804815101,-6.44344387103e-05,1793239328497551104
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.411812727,745.588187273,714,683,657,633,881,786,804.411812727,652,631,653,0.450359222311,0.00475782069249,0.0796320614828,0.999999804209,0.000283780769571,-0.000553917225585,-6.50127909017e-05,1793239328514217728
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714,683.164458446,657.164458446,633,881,786,804,652,631,653,0.450359750742,0.00475854092346,0.0796318387014,0.999999804109,0.000284869388348,-0.000553522468308,-6.51461364321e-05,1793239328530884096
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714,683.739007221,657.739007221,633,881,786,804,652,631,653,0.450361484012,0.00475707746058,0.0796327685747,0.999999805316,0.000284073607426,-0.000551863047523,-6.41698221148e-05,1793239328547550976
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.677239689,714,684,658,633,880.677239689,786,804.322760311,652,631,653,0.450362327685,0.00475707681903,0.0796334091441,0.999999805875,0.000282883569013,-0.000551468185,-6.41072677125e-05,1793239328564217600
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.085825287,714,684,658,633,880.085825287,786,804.914174713,652,631,653,0.45036243089,0.00475829377749,0.0796338089072,0.999999805895,0.000281365364864,-0.000552125895441,-6.4805294295e-05,1793239328580884224
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713.506116376,684,657.506116376,633,880.493883624,786,804.506116376,652,631,653,0.450362572416,0.00475894681202,0.0796338166638,0.999999805168,0.000282868771915,-0.000552673104833,-6.48149823475e-05,1793239328597551104
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.071438657,713.071438657,683.928561343,657.071438657,632.928561343,881,786,804,652,631,653,0.450362661535,0.00475931484986,0.0796337419839,0.99999980439,0.000284666763105,-0.000553173314417,-6.468121096e-05,1793239328614217728
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.647814196,713.647814196,683.352185804,657.647814196,632.352185804,881,786,804,652,631,653,0.450362334255,0.00475834511257,0.0796335549757,0.999999804172,0.000284921475347,-0.000553473906534,-6.43593436812e-05,1793239328630884352
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.775875376,714,683.224124624,657.775875376,632.224124624,881,786,804.224124624,652,631.224124624,653,0.450362106292,0.00475705423895,0.0796331764148,0.999999804212,0.000284083571548,-0.00055386806123,-6.40581101902e-05,1793239328647550976
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.199667143,714,683.800332857,657.199667143,632.800332857,881,786,804.800332857,652,631.800332857,653,0.450362034346,0.00475525888319,0.0796324969383,0.999999804651,0.000281529246833,-0.000554409196027,-6.3789290841e-05,1793239328664217600
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.386659774,714,683.613340226,657.386659774,633,881,786,805,652,631.613340226,653,0.450363120601,0.00475638553222,0.0796330464276,0.999999805112,0.000282304581955,-0.000553150993933,-6.40591407573e-05,1793239328680884224
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.978352255,714,683.021647745,657.978352255,633,881,786,805,652,631.021647745,653,0.45036482101,0.00475906162249,0.0796342475961,0.999999805577,0.000284845524139,-0.000550938663813,-6.46146289298e-05,1793239328697551104
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.444253518,714,683.555746482,657.444253518,633,881,786,804.444253518,652,631,653,0.4503632576,0.00475888072175,0.0796334853099,0.999999804769,0.000283909518218,-0.000552893731273,-6.45412979862e-05,1793239328714217472
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.132059444,714,684,657,633,881,786,804,652,631,653,0.450362121894,0.00475840936662,0.0796328509802,0.999999804282,0.000282705403549,-0.000554405791201,-6.44028794233e-05,1793239328730884352
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.706568926,714,684,657,633,881,786,804,652,631,653,0.450362834427,0.00475732837982,0.0796328951696,0.999999805046,0.00028104540253,-0.000553903376094,-6.4126398562e-05,1793239328747550976
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745.712656757,714,683.712656757,657,633,880.712656757,786,804.287343243,652,631,653.287343243,0.450363657145,0.00475647390515,0.0796333864157,0.999999805723,0.000280410378875,-0.000553036350828,-6.38304112365e-05,1793239328764217600
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,745.125342319,714,683.125342319,657,633,880.125342319,786,804.874657681,652,631,653.874657681,0.450364594892,0.00475585589727,0.0796343443653,0.999999806311,0.000280845377653,-0.000551788691806,-6.35140602081e-05,1793239328780884480
+256,4.266666667,HOLD_POSE2,765,745,714,684,658,633,881,786,804,653,631,653,0.450364295934,0.00475587130044,0.079633093309,0.999999805946,0.000279634093441,-0.000553005780631,-6.40112501975e-05,1793239328813186560
+257,4.283333333,HOLD_POSE2,765,745.573248381,714,683.426751619,657.426751619,633,881,786,804.573248381,652.426751619,631,653.573248381,0.450364132551,0.00475701232042,0.0796330361045,0.999999805496,0.000280418086501,-0.000553411450083,-6.41026366736e-05,1793239328829853440
+258,4.300000000,HOLD_POSE2,765,746,714,683.147583121,657,633,881,786,805,652.147583121,631,653.852416879,0.45036409862,0.00475777053456,0.0796332705917,0.999999805209,0.000281083604477,-0.000553590976842,-6.41200446952e-05,1793239328846520320
+259,4.316666667,HOLD_POSE2,765,746,714,683.72508261,657,633,881,786,805,652.72508261,631,653.27491739,0.450364441787,0.00475741361814,0.0796343547901,0.999999805397,0.000281403999311,-0.000553111739708,-6.39219501246e-05,1793239328863186688
+260,4.333333333,HOLD_POSE2,765.310243353,746,714,684,657,633,881,786,805,652.689756647,631,653,0.450364509178,0.00475678125427,0.0796341757442,0.999999805533,0.000280458407081,-0.00055336292738,-6.37758468057e-05,1793239328879853312
+261,4.350000000,HOLD_POSE2,765.902364856,746,714,684,657,633,881,786,805,652.097635144,631,653,0.450364326009,0.00475589862684,0.0796328489509,0.999999805618,0.000278362575547,-0.000554277757962,-6.36769812482e-05,1793239328896519936
+262,4.366666667,HOLD_POSE2,765.519397118,746,714,684,657,633,881,786,804.519397118,652,631,653,0.45036589358,0.00475610355413,0.0796332013958,0.999999806367,0.000278213905202,-0.000552964994426,-6.39705954983e-05,1793239328913186560
+263,4.383333333,HOLD_POSE2,765.056069671,745.943930329,714,683.943930329,657,633,881,786,804.056069671,652,631,653,0.450367534262,0.00475632887037,0.0796337956901,0.999999807166,0.000278324541067,-0.000551427821652,-6.42669510993e-05,1793239328929853184
+264,4.400000000,HOLD_POSE2,765.631258945,745.368741055,714,683.368741055,657,633,881,786,804.631258945,652,631,653,0.45036665138,0.00475475483807,0.0796335593876,0.999999807231,0.000277276422552,-0.000551885145147,-6.38712094444e-05,1793239328946520064
+265,4.416666667,HOLD_POSE2,765.789358028,745.210641972,714,683,657,633,881,786,804.789358028,652,631.210641972,653,0.450365900727,0.00475432553271,0.0796332181198,0.999999806847,0.000277447820964,-0.000552530686857,-6.35519930877e-05,1793239328963186432
+266,4.433333333,HOLD_POSE2,765.202484524,745.797515476,714,683,657,633,881,786,804.202484524,652,631.797515476,653,0.450365386249,0.0047559408455,0.0796326893715,0.999999805661,0.000279797421289,-0.000553512408563,-6.33694600274e-05,1793239328979853056
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+269,4.483333333,HOLD_POSE2,765.461973344,745.538026656,713,683,657,633,880,786,804.538026656,652,631,653,0.450365463446,0.00475719444148,0.0796330356638,0.999999804966,0.000281220811225,-0.000554031079461,-6.35000908051e-05,1793239329029853184
+270,4.500000000,HOLD_POSE2,765,746,713.113140147,683.113140147,657,633,880,786,804.886859853,652,631,653,0.450365996365,0.00475654868318,0.0796335526447,0.999999805992,0.000279317666739,-0.000553134924193,-6.35528423326e-05,1793239329046519808
+271,4.516666667,HOLD_POSE2,765,746,713.685809538,683.685809538,657,633,880,786,804.314190462,652,631,653,0.450366886505,0.0047571657386,0.0796338984437,0.999999805874,0.000282178527629,-0.000551901224742,-6.35001927269e-05,1793239329063186688
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+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.576758298,714,683.576758298,657,633,880.423241702,786,804,652,631,653,0.450365812103,0.00475808654364,0.0796326921527,0.999999804849,0.000282564768877,-0.000553550783146,-6.35640499163e-05,1793239329117054208
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,713.846300876,683.846300876,657,633,880.307398248,786,804,652,631,653,0.450366082526,0.00475729418366,0.0796332285249,0.999999805454,0.000280805810123,-0.000553359582422,-6.35027497194e-05,1793239329133720832
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,713.268856691,683.268856691,657,633,881.462286619,786,804,652,631,653,0.450367445832,0.00475739910056,0.079634798744,0.999999806539,0.000281571702275,-0.000550996528865,-6.35774894327e-05,1793239329150387456
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.787429892,714,683,657.787429892,633,881,786,804,652.212570108,631.212570108,653,0.450357944025,0.00475505032881,0.0796291666977,0.999999802555,0.000280124739136,-0.000558966045365,-6.3061390274e-05,1793239329250387456
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.960851335,745,714,683,657,633,881,786,804,652.039148665,632,653,0.450266548799,0.00475436725438,0.0795842176757,0.999999759364,0.000278009291043,-0.000632555107968,-6.21012136796e-05,1793239329300387328
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.729674637,657,632.270325363,881,786,805,652,631,653,0.449966455801,0.00475604206416,0.079518324113,0.999999691055,0.000287547011975,-0.00072925623797,-5.82323884559e-05,1793239329367054080
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.156100501,657,632.843899499,881,786,805,652,631,653,0.449877712923,0.00475519360988,0.0795189283555,0.999999690445,0.000287322020806,-0.00073034918725,-5.6081404252e-05,1793239329383720704
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745.775680776,714.775680776,683,662.775680776,635,879.224319224,787,804,652.775680776,631,653,0.427716080468,0.00446955017954,0.0798707733341,0.999999971066,6.18800391605e-05,-0.000226001025915,5.44263012657e-05,1793239330083720960
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745.203296678,714.203296678,683,662.203296678,635,879.796703322,787,804,652.203296678,631,653,0.426798735467,0.00445939120216,0.079826026468,0.999999955947,4.94841004722e-05,-0.000287654153718,5.39759968311e-05,1793239330100387584
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,714.382148882,682.235702236,662,635,879.617851118,787,803.617851118,652,631.382148882,653,0.425867056984,0.00444944824522,0.0797896027429,0.999999940523,3.77194339199e-05,-0.000338620875063,5.35533812644e-05,1793239330117054208
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,714.974788778,681.050422444,662,635,879.025211222,787,803.025211222,652,631.974788778,653,0.424927483548,0.0044396242749,0.0797577634808,0.999999924628,2.63024784341e-05,-0.00038370142455,5.31460169843e-05,1793239330133720576
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745.552830518,714.447169482,681.552830518,662.552830518,635,879,787,803.552830518,652,631.447169482,652.447169482,0.423992560996,0.00443214455064,0.0797401372183,0.99999990836,2.79246285529e-05,-0.000423502092938,5.60857243385e-05,1793239330150387456
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,746,714,681.86970372,662.73940744,635,879.13029628,787,804,652.13029628,631.13029628,652,0.423085377118,0.00442745556962,0.079735558997,0.999999902978,2.8143653294e-05,-0.000435732447574,5.82151982826e-05,1793239330167053824
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,746,714,681.291988594,661.583977188,635,879.708011406,787,804,652.708011406,631.708011406,652,0.422272734357,0.00443199194516,0.0797736174334,0.999999935448,2.15551886738e-05,-0.000354095817867,5.70517883924e-05,1793239330183720448
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745.709621842,714.290378158,681.290378158,661.290378158,635,880,787,804,652.709621842,632,652.290378158,0.421476947237,0.00444970351978,0.0798217466956,0.999999962878,3.85063476543e-05,-0.000263905263869,5.58172302946e-05,1793239330200387072
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745.122501554,714.877498446,681.877498446,661.877498446,635,880,787,804,652.122501554,632,652.877498446,0.420698385217,0.00448087904293,0.0798801674949,0.999999981745,7.95130285337e-05,-0.000164973320745,5.45099645773e-05,1793239330217053952
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745.4588551,715,682,662.4588551,635,879.5411449,787,804,652,631.5411449,653,0.419813102727,0.00449195043771,0.0798739816632,0.999999977252,9.39933071826e-05,-0.000183975884025,5.30539369292e-05,1793239330233720576
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,681.96143335,662.922866701,635,879.03856665,787.03856665,804,652,631,653,0.418902308426,0.00449688354256,0.0798500528504,0.999999966256,9.99769614761e-05,-0.000234181011988,5.14935976296e-05,1793239330250387200
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,746,715,681.383477105,661.76695421,635,879.616522895,787.616522895,804,652,631,653,0.418028244164,0.00449010165704,0.0798162112415,0.999999954323,8.49445025575e-05,-0.000285895273891,4.90229310307e-05,1793239330267054080
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,661.193465729,635.193465729,879.806534271,787.806534271,804,652,631,653,0.417175822315,0.00448379064566,0.0797990038816,0.999999946076,7.41108909807e-05,-0.000316280749856,4.81889360605e-05,1793239330283720704
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,661.768410404,635.768410404,879.231589596,787.231589596,804,652,631,653,0.416366075181,0.00447840811053,0.0798145962052,0.999999949767,7.15566342507e-05,-0.000304609780973,5.05821572599e-05,1793239330300387328
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,746,715,681.351988533,662,635.648011467,879,787,804,652.351988533,631,653,0.415566349469,0.0044794228732,0.0798083857493,0.999999945181,7.52352007573e-05,-0.000318351291959,5.12940167944e-05,1793239330317053952
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,681.941389805,662,635.058610195,879,787,804,652.941389805,631,653,0.414773383153,0.0044847525495,0.079787469536,0.99999993427,8.3117744211e-05,-0.000349233266569,5.08718145438e-05,1793239330333720576
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,681.478396774,661.478396774,635,879.521603226,787,803.478396774,652.478396774,631,653,0.414026708105,0.00449124602241,0.0798001694776,0.999999943442,9.04168989828e-05,-0.000320084691143,4.98565466925e-05,1793239330350387200
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.900155927,746,715,680.900155927,661.29953222,635,879.900155927,787,803.099844073,652,631,653,0.413290056092,0.00449603585302,0.0798148767362,0.999999952391,9.62335167651e-05,-0.000289042800095,4.90997448768e-05,1793239330367054080
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.32646189,746,715,680.32646189,663.020614331,635,879.32646189,787,803.67353811,652,631,653,0.412576713736,0.0044921304867,0.0798214941609,0.99999995488,9.53198844599e-05,-0.00028047410094,4.98803899665e-05,1793239330383720704
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.751900703,714.751900703,680,663.503801405,635.248099297,879,787,804,652,631,653,0.411860988249,0.00448788369947,0.0798188823979,0.999999953371,8.66700334164e-05,-0.000288411787002,5.06503260226e-05,1793239330400387328
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.176194517,714.176194517,680,662.352389035,635.823805483,879,787,804,652,631,653,0.411142115971,0.00448318607754,0.0798040837983,0.999999945772,6.78047622977e-05,-0.000318145607338,5.1406121052e-05,1793239330417053952
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.409159763,680,662,635.590840237,879,787,804,652.409159763,631,653,0.410480021646,0.00448437559828,0.0798003493251,0.999999942631,8.0191719159e-05,-0.000325174665485,5.06823419776e-05,1793239330433720832
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.998769143,680,662,635.001230857,879,787,804,652.998769143,631,653,0.409842967745,0.00448816149473,0.079801494405,0.999999941225,0.00010636168305,-0.000322190362134,4.93060340323e-05,1793239330450387456
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.578243245,745.578243245,715,680,662.578243245,635,879,787,804,652.421756755,631,653,0.409245599581,0.00449214563918,0.0798331285053,0.999999956538,9.98571111686e-05,-0.000272792246135,5.0360283459e-05,1793239330467054080
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745.843541496,715,680,662.843541496,635.156458504,879,787,804,652,631.156458504,653,0.408651956392,0.0044951961895,0.0798534648276,0.999999964935,9.52472392418e-05,-0.000241706248447,5.13355029933e-05,1793239330483720704
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.268636168,715,680,662.268636168,635.731363832,879,787,804,652,631.731363832,653,0.408068053442,0.00449574874265,0.0798434147714,0.999999960284,9.5887534475e-05,-0.000259855512902,5.20857596152e-05,1793239330500387584
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.68649903,745,715,680,662,635.68649903,879,787,804,652,631.68649903,653,0.407496907483,0.00449436609838,0.079819534505,0.999999948331,9.6655586134e-05,-0.000302181376193,5.17850397893e-05,1793239330517054208
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.09801873,745,715,680,662,635.09801873,879,787,804,652,631.09801873,653,0.406936951024,0.0044912860453,0.0797835234253,0.999999927092,9.75356957467e-05,-0.000365713120774,5.05624827489e-05,1793239330533720832
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.482103654,745.482103654,715,680,662,635,879,787,804,652,631,653,0.406450214936,0.00448957825257,0.0797836436641,0.999999929859,9.20005497261e-05,-0.000359554038388,5.03916785949e-05,1793239330550387456
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.362061517,715,680,662.637938483,635.637938483,879,787.637938483,804,652,631.637938483,653,0.405548641529,0.00449317554879,0.079809402452,0.99999994873,9.25333677229e-05,-0.000302573314067,4.92647538038e-05,1793239330583720448
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.78500639,745.21499361,715,680.21499361,662.78500639,636,879,787.78500639,804,652,632,653,0.405131707409,0.00449653657426,0.0798257816802,0.999999956344,9.75610755485e-05,-0.000274612227246,4.88092733595e-05,1793239330600387328
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.208672309,745.791327691,715,680.791327691,662.208672309,636,879,787.208672309,804,652,632,653,0.404742633303,0.00449812072937,0.0798404990287,0.99999996015,0.000100942065455,-0.000258987697203,4.9356457619e-05,1793239330617053952
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745.624182961,715,681,662,635.624182961,879,787,803.624182961,652,632,653,0.404367840785,0.00450034629758,0.0798449915529,0.999999958969,0.000108393696481,-0.000260199583394,5.10756101074e-05,1793239330633720576
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745.035064907,715,681,662,635.035064907,879,787,803.035064907,652,632,653,0.404001153976,0.00450293591027,0.0798436808148,0.999999954879,0.000118155685765,-0.00027096724738,5.34599320927e-05,1793239330650387200
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.542649574,745,715,681,662,635.542649574,878.457350426,787,803,652,632,653,0.403669715017,0.00450190776848,0.0798404105213,0.999999954301,0.000108357721328,-0.000277668064861,5.05657444131e-05,1793239330667053824
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662.119150872,636,878.119150872,787,803.119150872,652,631.880849128,653,0.403350300089,0.00450005832369,0.0798384114138,0.999999954114,9.8722206632e-05,-0.000282307236887,4.8261533132e-05,1793239330683720704
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662.693773609,636,878.693773609,787,803.693773609,652,631.306226391,653,0.403068321277,0.00449594456116,0.0798417456729,0.999999955102,9.44397715653e-05,-0.000280049348494,4.94896108358e-05,1793239330700387328
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,635.723951708,879.276048292,787.276048292,804,652,631.276048292,653,0.402808995496,0.0044894891259,0.0798439052365,0.999999956313,8.37523201816e-05,-0.000278970097078,5.0353517137e-05,1793239330717053696
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,635.132946584,879.867053416,787.867053416,804,652,631.867053416,653,0.40257551567,0.00448036196337,0.0798447245333,0.999999957561,6.57570764939e-05,-0.000279235609603,5.08019226075e-05,1793239330733720320
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.551054212,745,715,680.551054212,663,635,879.102108424,787.551054212,803.551054212,652,631.551054212,652.551054212,0.402373242764,0.00446796881411,0.079847940958,0.999999960229,4.76785697332e-05,-0.000272989063155,5.240049392e-05,1793239330750387200
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,663,635,878.027983032,787,803.027983032,652,631,652.027983032,0.402181480358,0.00445512727494,0.0798518098132,0.999999962946,3.02598985593e-05,-0.000265036017781,5.43060462677e-05,1793239330767053824
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,663,635,878.602910973,787,803.602910973,652,631,652.602910973,0.402018118134,0.00445204929742,0.0798548321469,0.999999964131,2.62104423656e-05,-0.00026067069069,5.56869512167e-05,1793239330783720448
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.177429252,745.177429252,715,680,662.822570748,635.177429252,879,787,804,652,631.177429252,653,0.401862086879,0.0044518469258,0.0798570887006,0.999999964903,3.18731819172e-05,-0.000256862856487,5.65697760171e-05,1793239330800387328
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.751032736,745.751032736,715,680,662.248967264,635.751032736,879,787,804,652,631.751032736,653,0.401722424657,0.00445806537273,0.0798576353765,0.999999964325,5.92218709454e-05,-0.00025429982493,5.63404586217e-05,1793239330817053952
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.663633192,715,680,662.336366808,636,879,787,804,652,631.663633192,653,0.401595444356,0.00446610471028,0.0798547352333,0.999999961233,8.74385531943e-05,-0.000258611678066,5.48539586508e-05,1793239330833720320
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.069302734,715,680,662.930697266,636,879,787,804,652,631.069302734,653,0.401478189954,0.00447554051086,0.0798491916841,0.999999955897,0.000116320912493,-0.000268195960564,5.24033105746e-05,1793239330850386944
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745.50916847,715,680,663,636,879.50916847,787,803.49083153,652,631.50916847,653,0.40138128739,0.00448656671491,0.079844191454,0.999999953529,0.000119666177338,-0.000275990794512,4.95049081694e-05,1793239330867053824
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.91463247,745.91463247,715,680,663,636,879.91463247,787,803,652,631.91463247,653,0.401291225787,0.00449521813118,0.0798396470134,0.999999951974,0.000118046368764,-0.000282650854539,4.7175891869e-05,1793239330883720704
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,662.764450845,636,879,787,803.235549155,652,631,652.764450845,0.401167316546,0.00448639350511,0.079836298858,0.999999953279,0.000100895148781,-0.000284338914525,4.91281874709e-05,1793239330917053952
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,662.189681639,636,879,787,803.810318361,652,631,652.189681639,0.401121929723,0.00448883521874,0.0798372117594,0.999999953783,0.00010082206857,-0.00028262049169,4.89369121398e-05,1793239330933720576
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.396511201,745.396511201,715,680,662,635.603488799,879,787,803.603488799,652,631,652,0.4010852924,0.00448845710556,0.0798379601181,0.999999953941,0.000101197133154,-0.000281845602503,4.93953571486e-05,1793239330950387200
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.988330937,745.988330937,715,680,662,635.011669063,879,787,803.011669063,652,631,652,0.401052964798,0.00448669003724,0.0798386274284,0.999999953929,0.000101792939303,-0.000281535467382,5.01738332908e-05,1793239330967054080
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1873d27fffa465bac90b0b85288fbf42c41fda05
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,418 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a5f1aa2ac1577f81dd822abfcf4d06084196c827
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7e65c3c0d5405cb40f3889214400ed51401d6932eca549dab82cd7ff31dcb4c
+size 26365908
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c5875502347c5367a6a4de7af0f0c2a5a4e3a42d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
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+57,0.950000000,BASELINE,766,746,715,680.90498502,663.09501498,635.09501498,879.90498502,787,804,652.90498502,631,653,0.400983158493,0.00448790356421,0.0798497083333,0.999999959747,9.83157110961e-05,-0.000261807910839,4.79236101936e-05,1793239332607308288
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+59,0.983333333,BASELINE,766,746,715,680,663.74711984,636,879,787.25288016,804,652.25288016,631,653,0.400981329013,0.00448866820412,0.0798481257347,0.999999959064,9.85503924933e-05,-0.000264419921447,4.73423639233e-05,1793239332640641536
+60,1.000000000,BASELINE,766,746,715,680,663.170800267,636,879,787.829199733,804,652.829199733,631,653,0.400983629329,0.0044892961826,0.0798495761722,0.99999995957,0.00010021653134,-0.000261847120021,4.74662631403e-05,1793239332657308160
+61,1.016666667,BASELINE,766,746,715,680.412568125,663,636,879,787.587431875,803.587431875,652.587431875,631.412568125,653,0.400985288376,0.00448929146582,0.0798506033883,0.999999960087,0.000101103329016,-0.000259526141345,4.74286858056e-05,1793239332673974784
+62,1.033333333,BASELINE,766,746,715,680.998905367,663,636,879,787.001094633,803.001094633,652.001094633,631.998905367,653,0.400986677327,0.00448902026479,0.079851452348,0.999999960608,0.000101661876737,-0.000257311227772,4.73230963316e-05,1793239332690641408
+63,1.050000000,BASELINE,766,746,715,680.421359726,663,636,879,787,803.578640274,652,631.421359726,653,0.40098303956,0.00448933649286,0.0798497487714,0.999999959634,0.000101020666958,-0.000261274024483,4.75736079895e-05,1793239332707308032
+64,1.066666667,BASELINE,766,746,715,680,663,636,879,787,804,652,631,653,0.400980701969,0.00448958471753,0.0798486827636,0.999999958978,0.000100555270335,-0.000263903836656,4.78326643397e-05,1793239332723974912
+65,1.083333333,BASELINE,766,746,715,680,663,636,879,787,804,652,631,653,0.400981848803,0.00448964908057,0.0798493258531,0.999999959213,0.000100563634642,-0.000262956201471,4.81126835679e-05,1793239332740641536
+66,1.100000000,BASELINE,765.689182693,745.689182693,715,680,663,636,879,787.310817307,803.689182693,652,631,653,0.400982799884,0.00448864114688,0.079849695028,0.999999959496,0.000100129856403,-0.000262004727927,4.83264687604e-05,1793239332757308160
+67,1.116666667,BASELINE,765.112855327,745.112855327,715,680,663,636,879,787.887144673,803.112855327,652,631,653,0.400983583747,0.0044867172231,0.0798498302163,0.999999959819,9.9318385898e-05,-0.000261049975583,4.84836747125e-05,1793239332773974784
+68,1.133333333,BASELINE,765.473697548,745.473697548,715,680,663,636,879,787.526302452,803,652,631,652.526302452,0.400983639505,0.00448601802791,0.0798498234664,0.999999959971,9.73951438945e-05,-0.000261225437616,4.83092946636e-05,1793239332790641408
+69,1.150000000,BASELINE,766,745.938296602,715,680.061703398,663.061703398,636,879,787,803.061703398,652,631,652.061703398,0.400983510012,0.00448581059785,0.0798498041627,0.999999960041,9.57233770828e-05,-0.000261618381858,4.80811642296e-05,1793239332807308032
+70,1.166666667,BASELINE,766,745.358989523,715,680.641010477,663.641010477,636,879,787,803.641010477,652,631,652.641010477,0.400983313762,0.00448722672693,0.0798499694769,0.999999959802,9.84320532149e-05,-0.000261527097621,4.80794477195e-05,1793239332823974656
+71,1.183333333,BASELINE,765.782190706,745,715,680.782190706,663.782190706,636,879,787,804,652,631,653,0.400982964274,0.004488338891,0.0798498524049,0.999999959548,0.000100646906761,-0.000261648940504,4.81068757796e-05,1793239332840641536
+72,1.200000000,BASELINE,765.20947881,745,715,680.20947881,663.20947881,636,879,787,804,652,631,653,0.400982365098,0.00448895576894,0.0798492752078,0.999999959278,0.000102057116827,-0.000262118056756,4.81817925566e-05,1793239332857308672
+73,1.216666667,BASELINE,765,745,715,680.36302137,663,636,879,787,803.63697863,652,631.36302137,653,0.400983085715,0.00448875647587,0.0798499580267,0.999999959616,0.000100702225684,-0.000261370088612,4.80879291774e-05,1793239332873975552
+74,1.233333333,BASELINE,765,745,715,680.935399419,663,636,879,787,803.064600581,652,631.935399419,653,0.400984567465,0.00448808649186,0.0798513675048,0.999999960296,9.77526834209e-05,-0.000259920220312,4.78967292297e-05,1793239332890641920
+75,1.250000000,BASELINE,765.528497816,745,715,680.471502184,663,635.471502184,878.471502184,787.528497816,803,652,632,653,0.400983792424,0.00448751873572,0.0798509924554,0.999999960202,9.75310110944e-05,-0.000260355619888,4.79434378744e-05,1793239332907308544
+76,1.266666667,BASELINE,766,745.12131479,715,680,663,635,878.12131479,787.87868521,803,652,631.87868521,653,0.40098298345,0.00448733556644,0.0798504683914,0.999999959988,9.8088243019e-05,-0.000260952048313,4.80236408483e-05,1793239332923974912
+77,1.283333333,BASELINE,766,745.70305883,715,680,663,635,878.70305883,787.29694117,803,652,631.29694117,653,0.400983135376,0.00448856266926,0.0798502404273,0.999999959688,0.000100284519225,-0.000261249332371,4.81160915964e-05,1793239332940641536
+78,1.300000000,BASELINE,766,745.719631113,715,680,663,635,879,787,803,652.280368887,631.280368887,653,0.400983206451,0.00448844674024,0.0798502690787,0.999999959549,0.000101539149753,-0.000261260440372,4.83277848015e-05,1793239332957308160
+79,1.316666667,BASELINE,766,745.146944052,715,680,663,635,879,787,803,652.853055948,631.853055948,653,0.40098319323,0.00448693053944,0.0798505652825,0.99999995958,0.000101812001644,-0.000260973175509,4.86638025566e-05,1793239332973974784
+80,1.333333333,BASELINE,766,745.436604633,715,680,663,635.436604633,879,787,803.436604633,652.563395367,631.563395367,653,0.4009828046,0.00448764831146,0.0798500105444,0.99999995933,0.00010253574208,-0.000261683891165,4.84489818127e-05,1793239332990641408
+81,1.350000000,BASELINE,765.976403838,746,715,680,663,636,879,787,803.976403838,652,631,653,0.400982277119,0.00448901442487,0.0798491924064,0.999999959002,0.000103277796039,-0.000262715867706,4.8055704008e-05,1793239333007308288
+82,1.366666667,BASELINE,765.396626468,746,715,680,663,636,879,787,803.396626468,652,631,653,0.400981530921,0.00448748819877,0.0798490884763,0.999999959135,0.000100783350258,-0.000263201248724,4.7937342154e-05,1793239333023974912
+83,1.383333333,BASELINE,765,745.817668603,715,680,663,636,878.817668603,787,803,652,631,653,0.400981254919,0.0044867008585,0.0798489388788,0.999999959328,9.88723882653e-05,-0.00026321296523,4.78265061245e-05,1793239333040641280
+84,1.400000000,BASELINE,765,745.240485324,715,680,663,636,878.240485324,787,803,652,631,653,0.400981997163,0.00448751362885,0.079848690385,0.999999959663,9.82250023073e-05,-0.000262198926938,4.77319677924e-05,1793239333057308160
+85,1.416666667,BASELINE,765,745.334860549,715,680.334860549,663,636,878.334860549,787,803.334860549,652,631,653,0.400981480097,0.00448713132607,0.0798483690067,0.999999959604,9.72767620356e-05,-0.000262761627922,4.78108450902e-05,1793239333073974784
+86,1.433333333,BASELINE,765,745.908894029,715,680.908894029,663,636,878.908894029,787,803.908894029,652,631,653,0.400980063574,0.0044858954466,0.0798479955709,0.999999959261,9.61136377025e-05,-0.000264450509264,4.80135838771e-05,1793239333090641408
+87,1.450000000,BASELINE,765.497770721,745.502229279,714.502229279,680.502229279,663,636,879,787.497770721,803.502229279,652,631.497770721,653,0.400981352095,0.0044873563076,0.079849205818,0.999999959503,9.79791217473e-05,-0.000262837396199,4.80681785231e-05,1793239333107308032
+88,1.466666667,BASELINE,766,745.087414621,714.087414621,680,663,636,879,787.912585379,803,652.087414621,632,653,0.400982894987,0.00448897277832,0.0798504944903,0.999999959781,0.000100267324535,-0.000260902918853,4.81069843669e-05,1793239333123974912
+89,1.483333333,BASELINE,766,745.665643571,714.665643571,680,663,636,879,787.334356429,803,652.665643571,632,653,0.400983000793,0.00448860644461,0.0798505459895,0.999999959692,0.000101720952014,-0.000260661684235,4.82140610068e-05,1793239333140641536
+90,1.500000000,BASELINE,766,745.757529682,715,680.242470318,663,636,879,787,803.242470318,653,632,653,0.400982956123,0.0044886523919,0.079850388232,0.999999959641,0.000102090235412,-0.000260720196187,4.81768752097e-05,1793239333157308160
+91,1.516666667,BASELINE,766,745.182625445,715,680.817374555,663,636,879,787,803.817374555,653,632,653,0.400982705143,0.00448926358856,0.0798499435777,0.999999959643,0.00010097285115,-0.000261189669497,4.79419013713e-05,1793239333173974784
+92,1.533333333,BASELINE,766,745,715,681,663,636,879,787,803.60832523,652.60832523,631.60832523,653,0.400982263947,0.00448879846194,0.0798494498811,0.999999959548,9.94947924087e-05,-0.000262152255605,4.77515833935e-05,1793239333190641408
+93,1.550000000,BASELINE,766,745,715,681,663,636,879,787,803.034306168,652.034306168,631.034306168,653,0.400981734195,0.00448783225277,0.0798489333527,0.999999959406,9.78488214703e-05,-0.000263344410547,4.75820549424e-05,1793239333207308032
+94,1.566666667,BASELINE,766,745.555945247,715,680.444054753,663,636,879,787,803,652,631,653,0.400982557054,0.00448864940546,0.0798495892104,0.999999959458,0.000100121956176,-0.000262265969489,4.7719273052e-05,1793239333223974912
+95,1.583333333,BASELINE,766,745.855886761,715,680.144113239,663,635.855886761,879,787,803,652,631,653,0.400983176118,0.00448905136855,0.0798500365907,0.999999959501,0.000101659810976,-0.000261479341633,4.78833986021e-05,1793239333240641536
+96,1.600000000,BASELINE,766,745.277114397,715,680.722885603,663,635.277114397,879,787,803,652,631,653,0.400982921207,0.00448785918501,0.0798496304204,0.999999959498,0.000100228644526,-0.000262008155189,4.80698718903e-05,1793239333257308160
+97,1.616666667,BASELINE,765.69960823,745.30039177,715,680.69960823,663,635.30039177,879,787,803.30039177,652,631,653,0.400982975237,0.00448752002201,0.0798496622176,0.999999959695,9.85896868978e-05,-0.000261895798884,4.79691692646e-05,1793239333273974784
+98,1.633333333,BASELINE,765.123265274,745.876734726,715,680.123265274,663,635.876734726,879,787,803.876734726,652,631,653,0.400983313072,0.00448796447587,0.0798500963483,0.999999960074,9.67598445602e-05,-0.00026119443978,4.76046560251e-05,1793239333290641408
+99,1.650000000,BASELINE,765.461874668,745.538125332,715,680,663,635.538125332,879,787,804,652,631.461874668,653,0.400983043455,0.00448847720362,0.079850014243,0.999999959927,9.82495155726e-05,-0.000261158676619,4.78473026624e-05,1793239333307308288
+100,1.666666667,BASELINE,765.951316917,745.048683083,715,680,663,635.048683083,879,787,804,652.048683083,632,653,0.400982609568,0.00448891119532,0.0798497702305,0.999999959634,0.000100463793151,-0.000261369597536,4.82160944169e-05,1793239333323974912
+101,1.683333333,BASELINE,765.372403159,745.627596841,715,680,663,635.627596841,879,787,804,652.627596841,632,653,0.400982186514,0.0044882853287,0.0798492924973,0.999999959367,0.000100733863217,-0.000262295006283,4.81596820369e-05,1793239333340641536
+102,1.700000000,BASELINE,765,745.793558707,715,680,663.206441293,636,879,787,804,653,631.793558707,653,0.400981734718,0.00448782648757,0.0798489963976,0.999999959243,0.000100211309318,-0.000262991296511,4.80353733167e-05,1793239333357308160
+103,1.716666667,BASELINE,765,745.214839298,715,680,663.785160702,636,879,787,804,653,631.214839298,653,0.400981231092,0.0044876688456,0.0798490278402,0.999999959374,9.82594068697e-05,-0.000263274414401,4.77886262992e-05,1793239333373974784
+104,1.733333333,BASELINE,765.360075129,745.360075129,715,680,663.639924871,636,879,787,804,653,631.360075129,653,0.400981549632,0.00448801222033,0.0798493103981,0.999999959525,9.8007245219e-05,-0.000262815895218,4.76752920004e-05,1793239333390641408
+105,1.750000000,BASELINE,765.932743103,745.932743103,715,680,663.067256897,636,879,787,804,653,631.932743103,653,0.400982353589,0.00448865140154,0.0798497412177,0.999999959688,9.87586315381e-05,-0.000261919504289,4.76407262103e-05,1793239333407308032
+106,1.766666667,BASELINE,766,746,715,680,663,635.47816775,879,787,803.47816775,652.47816775,631.47816775,653,0.400982850405,0.00448644123852,0.0798505253732,0.999999960199,9.63937886906e-05,-0.000260802060866,4.78873017524e-05,1793239333423974912
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,879,787,804,653,631,653,0.400979473201,0.00448885308341,0.0798478067254,0.999999958688,9.93534637461e-05,-0.000265521457325,4.74478396407e-05,1793239333466198528
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.574519834,715,680,663,636,879,787,803.425480166,652.425480166,631,653,0.400980630002,0.00448691838185,0.079848943526,0.999999959155,9.91581525885e-05,-0.000263759241363,4.78421990476e-05,1793239333482865408
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,879,787.152658646,803,652.152658646,631.152658646,653,0.400981678346,0.00448580792533,0.0798498830655,0.999999959528,9.91845176444e-05,-0.00026227945672,4.81297399809e-05,1793239333499532032
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,879,787.741129091,803,652.741129091,631.741129091,653,0.400982417063,0.00448705053335,0.0798502594617,0.999999959639,9.98437266644e-05,-0.000261605960112,4.81123343005e-05,1793239333516198656
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.324549257,746,715,680,663,636,879,787.675450743,803.324549257,653,632,653,0.400982544396,0.0044879712366,0.079850267594,0.999999959712,9.93482970686e-05,-0.000261547593171,4.79487474654e-05,1793239333532865280
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.904002847,746,715,680,663,636,879,787.095997153,803.904002847,653,632,653,0.400982191539,0.00448863911245,0.0798499864879,0.999999959752,9.79460023577e-05,-0.000261972355453,4.76703484449e-05,1793239333549531904
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.52062369,746,715,680.47937631,663,636,879,787,803.52062369,652.52062369,632,653,0.400982915451,0.00448849244847,0.0798504386115,0.99999996,9.79906133655e-05,-0.000260993379064,4.77441419302e-05,1793239333566198272
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.945906069,715,680.945906069,663,635.945906069,879,787,803.054093931,652,632,653,0.400983939591,0.00448810950733,0.0798510409109,0.999999960273,9.82579868397e-05,-0.00025982027335,4.78876703349e-05,1793239333582865152
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.369698866,715,680.369698866,663,635.369698866,879,787,803.630301134,652,632,653,0.400985797868,0.00448700712044,0.0798516874417,0.999999960393,9.79024098291e-05,-0.000259463753196,4.80292884979e-05,1793239333599531776
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.211946066,715,680,663,635.211946066,879,787,804,652,631.788053934,653,0.400994057445,0.00448685438813,0.0798554825594,0.999999961866,9.84389755842e-05,-0.000253505773343,4.8099690634e-05,1793239333616198400
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.803325758,715,680,663,635.803325758,879,787,804,652,631.196674242,653,0.401013776866,0.0044884017624,0.0798649143927,0.999999965581,0.000100572688085,-0.000237519854724,4.80425992009e-05,1793239333632865024
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.61348304,745.61348304,714.61348304,680,663,635.61348304,879,787,804,652,631.38651696,653,0.401049188519,0.00448867907176,0.0798782451475,0.999999971259,0.000100070855913,-0.000212637426443,4.74728445567e-05,1793239333649531904
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.034371956,745.034371956,714.034371956,680,663,635.034371956,879,787,804,652,631.965628044,653,0.401092419318,0.00448832353183,0.0798935186623,0.999999977281,9.82557815794e-05,-0.000183322033329,4.66476394519e-05,1793239333666198528
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745.538972704,714.538972704,680,663,635.538972704,879,787,803.461027296,652,632,653,0.401155124773,0.00448977275382,0.079908329577,0.999999982412,9.88396426897e-05,-0.000152921163227,4.49569471339e-05,1793239333682865152
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.114581392,746,715,680,663,635.885418608,879,787,803.114581392,652,631.885418608,653,0.401220870624,0.00449085418839,0.079921601239,0.999999986171,9.8811858433e-05,-0.000126575984914,4.32750426134e-05,1793239333699531776
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.70101192,746,715,680,663,635.29898808,879,787,803.70101192,652,631.29898808,653,0.401294076644,0.00448995211729,0.079928654425,0.999999987681,9.56419656887e-05,-0.000117214290966,4.18542136236e-05,1793239333716198400
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.716002649,745.716002649,715,680,663,635,879,787,804,652.283997351,631,652.716002649,0.401375343497,0.00449010266565,0.0799333167191,0.999999988752,9.31406009174e-05,-0.000110682850322,3.96233816752e-05,1793239333732865024
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.136600729,745.136600729,715,680,663,635,879,787,804,652.863399271,631,652.136600729,0.401464994953,0.00449134811372,0.0799354920866,0.999999989426,9.13346168371e-05,-0.000107095345317,3.65500117595e-05,1793239333749531648
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.44302188,745.44302188,715,680,663,635.44302188,878.55697812,787,803.55697812,652.55697812,631,652.44302188,0.40157310092,0.00449338503958,0.0799369364821,0.999999989833,9.0258896937e-05,-0.000105344941975,3.30244445439e-05,1793239333766198528
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.977495128,714.977495128,680,663,635.977495128,878.022504872,787,803.022504872,652,631.022504872,653,0.401688207518,0.00449567236548,0.0799384533703,0.999999990212,8.93920397988e-05,-0.000103563824336,2.93206238977e-05,1793239333782865152
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.403105255,714.403105255,680,663,635.403105255,878.596894745,787,803.596894745,652,631.596894745,653,0.401835379272,0.00449811259945,0.0799472778877,0.999999992017,8.8122563501e-05,-8.71315928417e-05,2.4666439029e-05,1793239333799531776
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.175504992,714.175504992,680,663,635,879,787,804,652.175504992,631.824495008,653,0.401991025978,0.00450082206757,0.0799554135681,0.999999993444,8.65994417002e-05,-7.22840095244e-05,1.97017328135e-05,1793239333816198400
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.764047482,714.764047482,680,663,635,879,787,804,652.764047482,631.235952518,653,0.402166617814,0.00450416515719,0.0799619281224,0.999999994463,8.4479384938e-05,-6.11657761741e-05,1.40062391611e-05,1793239333832865280
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,635.347186967,879,787,804,652.652813033,631,652.652813033,0.402356694565,0.00450587947937,0.0799659684987,0.999999995333,7.95542920751e-05,-5.42301693051e-05,8.04798079524e-06,1793239333849531648
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,635.926710829,879,787,804,652.073289171,631,652.073289171,0.402556464614,0.00450650383365,0.07996835316,0.999999996097,7.27520738729e-05,-5.00935674601e-05,1.91388018438e-06,1793239333866198528
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.496423008,746,715,680,663,636,878.496423008,787,804,652.503576992,631,652.503576992,0.402772442863,0.00451026612716,0.079962721654,0.999999996066,6.44420493725e-05,-6.06649481336e-05,-5.87292445386e-06,1793239333882865152
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.079704326,746,715,680,663,636,878.159408653,787,804,652.920295674,631.079704326,653,0.402996974935,0.00451433758318,0.0799566091929,0.999999995721,5.68608211898e-05,-7.1674699312e-05,-1.37159713414e-05,1793239333899531776
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.653636434,746,715,680,663,636,879.307272868,787,804,652.346363566,631.653636434,653,0.403259997177,0.00451750914443,0.0799547105847,0.999999995664,5.51522477366e-05,-7.21992736195e-05,-2.0424127637e-05,1793239333916198656
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.234597739,636,879.765402261,787,804,652,631.765402261,652.765402261,0.403545749815,0.00452223492702,0.079954626581,0.999999994531,7.4582082451e-05,-7.01635072297e-05,-2.12715478332e-05,1793239333932865024
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663.826257578,636,879.173742422,787,804,652,631.173742422,652.173742422,0.403866098522,0.00452932626305,0.079957304439,0.999999989889,0.000126184965632,-6.42308547445e-05,-1.31988187645e-05,1793239333949531648
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.591914141,746,715,680.408085859,663.591914141,636,879,787,804,652,631.408085859,652.408085859,0.404209387314,0.00453784751047,0.0799612927796,0.999999987645,0.000144916646067,-5.87856238851e-05,-1.59498380032e-05,1793239333966198272
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.014173187,746,715,680.985826813,663.014173187,636,879,787,804,652,631.985826813,652.985826813,0.404562213068,0.00454696322025,0.0799658259321,0.99999998705,0.000149982654442,-5.35430308717e-05,-2.32006557396e-05,1793239333982865152
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,746,715,681,663.560729138,636,879,787,803.439270862,652,631.439270862,653,0.404957437687,0.00455125059829,0.0799638747465,0.999999995545,7.4983019986e-05,-5.10647796343e-05,-2.60656069134e-05,1793239333999531776
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.138187397,745.861812603,715,681,664,636,879,787,803,652,631.138187397,653,0.405358775261,0.00455674498731,0.079961806521,0.999999998051,2.49633244475e-05,-4.95857583111e-05,-2.85507666538e-05,1793239334016198400
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.724159156,745.275840844,715,681,664,636,879,787,803,652,631.724159156,653,0.405776466034,0.0045665440673,0.0799598874686,0.999999996291,6.24137997857e-05,-5.11193814817e-05,-3.01626635171e-05,1793239334032865024
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.693629345,745.306370655,715,681,664,636,879,787,803.306370655,652.306370655,632,653,0.406226214649,0.00457584250635,0.0799539326539,0.999999992991,9.63066762633e-05,-6.15046931659e-05,-3.099124188e-05,1793239334049531904
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.11476228,745.88523772,715,681,664,636,879,787,803.88523772,652.88523772,632,653,0.40670447664,0.00458469565955,0.0799443882957,0.999999988266,0.000127035308375,-7.97629957568e-05,-3.11231104913e-05,1793239334066199040
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.463559401,746,715,680.536440599,663.536440599,635.536440599,879,787,803.536440599,652.536440599,632,652.536440599,0.407201364163,0.00459249382876,0.0799423233601,0.999999986547,0.00013708979766,-8.38650027145e-05,-3.28429838835e-05,1793239334082866176
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.958407475,746,715,680.041592525,663,635.041592525,879,787,803,652.041592525,631.958407475,652.041592525,0.407704846314,0.00460015931634,0.0799414502418,0.999999985584,0.000142288246355,-8.58713286183e-05,-3.48079843571e-05,1793239334099533312
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.382348869,746,715,680.617651131,663,635.617651131,879,787,803,652.617651131,631.382348869,652.617651131,0.408233887229,0.00460947207483,0.0799321260403,0.999999982414,0.000150778783943,-0.000105929926437,-3.48769687022e-05,1793239334116199424
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,746,715,681,663,636,879,787,803,652.802179819,631,653,0.408784150562,0.00461822082493,0.0799288839738,0.999999980438,0.00015750784068,-0.000114272624385,-3.54441018203e-05,1793239334132865536
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,746,715,681,663,636,879,787,803,652.213897514,631,653,0.409376303172,0.00462585632148,0.0799376469691,0.999999981445,0.000160760044684,-9.94902025626e-05,-3.69944927173e-05,1793239334149532160
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.370408505,746,715,680.629591495,663.370408505,635.629591495,879,787,803,652,631,653,0.410038577634,0.0046260367896,0.0799644912767,0.999999984355,0.000164338287339,-5.39477093561e-05,-3.70495227271e-05,1793239334166199040
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.952442729,746,715,680.047557271,663.952442729,635.047557271,879,787,803,652,631,653,0.410740914837,0.0046219579715,0.0800016659913,0.999999985172,0.000168102805224,9.16895402022e-06,-3.62502071109e-05,1793239334182865920
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.474262635,746,715,680,663.474262635,635.525737365,879,787.525737365,803,652,631,652.474262635,0.411388040272,0.00460948822091,0.0799985456365,0.999999988613,0.000146376501211,2.73810170001e-06,-3.66215522188e-05,1793239334199532800
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,746,715,680,663,635.899026664,879,787.899026664,803.100973336,652,631,652.100973336,0.412031205877,0.00459552643529,0.0799874313054,0.999999991472,0.000124152216969,-1.57034383166e-05,-3.73452708903e-05,1793239334216199680
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,746,715,680,663,635.310666695,879,787.310666695,803.689333305,652,631,652.689333305,0.412678970644,0.00457796660943,0.0799550373768,0.99999999119,0.000110472345609,-6.22490914597e-05,-3.92670668015e-05,1793239334232866048
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.273503176,746,714.726496824,680,663,635,879.273503176,787,803.726496824,652,631,653,0.413367690785,0.00457117691862,0.0799332496481,0.99999998981,0.000103779098512,-8.8713677804e-05,-4.17019195632e-05,1793239334249532160
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.852985491,746,714.147014509,680,663,635,879.852985491,787,803.147014509,652,631,653,0.414102229454,0.00457643621412,0.0799233275029,0.9999999892,0.000104902070879,-9.27127632693e-05,-4.47107502337e-05,1793239334266198784
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,714.430247791,680.430247791,663.430247791,635.430247791,879.569752209,787,803.430247791,652,631,653,0.414886868928,0.00458727596263,0.0799431226242,0.999999990852,0.000113335333152,-5.8833785614e-05,-4.46124553321e-05,1793239334282865408
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.993259186,715,681,664,636,879,787,804.006740814,652,631.006740814,652.993259186,0.415687933444,0.00459991954573,0.0799726036244,0.999999991243,0.000124328500441,-1.29153167025e-05,-4.34791067891e-05,1793239334299532032
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.417994455,715,681,664,636,879,787,804.582005545,652,631.582005545,652.417994455,0.416437858917,0.00460470242586,0.0799669733805,0.99999998829,0.000141632214642,-3.75812613518e-05,-4.413316474e-05,1793239334316198912
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.838592172,745.161407828,715,681,663.838592172,636,879,787,804.838592172,652,631.838592172,652.161407828,0.417203893811,0.00460803240131,0.079963944147,0.999999986433,0.000150632283952,-4.87409188748e-05,-4.54841753206e-05,1793239334332865792
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.248193095,745.751806905,715,681,663.248193095,636,879,787,804.248193095,652,631.248193095,652.751806905,0.41801274443,0.0046075008327,0.0799678279032,0.999999989065,0.000137562846767,-2.40034377171e-05,-4.86875532007e-05,1793239334349532928
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.335425767,746,715,681,663.335425767,636,879,787,804,652,631,652.664574233,0.418857148802,0.00460360474577,0.0799836991094,0.999999990469,0.000127933531387,1.06784917098e-05,-5.08115343611e-05,1793239334366199808
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.914127091,746,715,681,663.914127091,636,879,787,804,652,631,652.085872909,0.419727339349,0.0045972684615,0.0800082645,0.999999989962,0.000120799247039,5.25728689223e-05,-5.21526570511e-05,1793239334382866176
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.510653999,715,680.510653999,663.510653999,635.510653999,879,787,804,652,631,652.489346001,0.420565077126,0.00459609343699,0.0799925808548,0.999999991089,0.000118642303704,3.13743267189e-05,-5.25581298249e-05,1793239334399532288
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.064136105,715,680.064136105,663,635.064136105,879.064136105,787,804,652,631,653,0.421401160118,0.00459663369219,0.0799739713961,0.99999999154,0.000118847538281,4.60328252042e-06,-5.2673641731e-05,1793239334416198656
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.640346968,715,680.640346968,663,635.640346968,879.640346968,787,804,652,631,653,0.422269179002,0.00460368869231,0.079987996375,0.999999989858,0.000130988344933,2.11155530662e-05,-5.17757326619e-05,1793239334432865280
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.778701725,745.778701725,715,681.221298275,663.221298275,635.778701725,880,787,804,652,631.221298275,653,0.42313517364,0.00460946243611,0.0800045413683,0.999999987897,0.000140869318661,4.20148872295e-05,-5.09569981031e-05,1793239334449531904
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.189877533,745.189877533,715,681.810122467,663.810122467,635.189877533,880,787,804,652,631.810122467,653,0.42399780661,0.00461310830679,0.0800252715326,0.999999985468,0.000146997227697,7.02001352436e-05,-5.02697541896e-05,1793239334466198784
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.393799221,745.393799221,715,681.606200779,664,635.393799221,880.393799221,787.393799221,804,652,631.606200779,653,0.424823713583,0.00461402690638,0.0799995080912,0.999999987972,0.000145592893576,1.82479181264e-05,-5.02549598643e-05,1793239334482865664
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.975026031,745.975026031,715,681.024973969,664,635.975026031,880.975026031,787.975026031,804,652,631.024973969,653,0.425632140874,0.00461364746904,0.0799516161528,0.999999986256,0.000140603608995,-7.18454933284e-05,-5.05602156682e-05,1793239334499532544
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.451193236,746,715,681,664,636,880.451193236,787.451193236,804.548806764,652,631,653,0.426533636102,0.0046111878282,0.0799374026789,0.999999986378,0.000138678520928,-7.21503717412e-05,-5.29771317077e-05,1793239334516199424
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.125443524,745.874556476,715,681.125443524,664.125443524,635.874556476,880,787,804.874556476,652,631,653,0.427424289353,0.00460849421382,0.0799285275754,0.999999986551,0.000137310897034,-7.11189723815e-05,-5.46437457581e-05,1793239334532865792
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.713854639,745.286145361,715,681.713854639,664.713854639,635.286145361,880,787,804.286145361,652,631,653,0.42825950748,0.00460528177204,0.0799337740465,0.99999998593,0.000137492944156,-8.00336393938e-05,-5.3191362697e-05,1793239334549532416
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.297558616,715,681.702441384,664.702441384,635.297558616,880,787,804,652,631,653,0.429117569013,0.00460600499603,0.079946826092,0.999999986795,0.00013806497503,-6.76434226666e-05,-5.26590872287e-05,1793239334566199040
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.876806463,715,681.123193537,664.123193537,635.876806463,880,787,804,652,631,653,0.429997255619,0.00461045398918,0.079967267425,0.999999988319,0.000139006190943,-3.50845530068e-05,-5.29978482483e-05,1793239334582865664
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,681.454599657,664,636,880,787,804.454599657,652,631,653,0.430897176605,0.00461508935495,0.080004049637,0.999999988458,0.000140939405149,1.98194469138e-05,-5.31627455052e-05,1793239334599532288
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.968212984,715,681.968212984,664.031787016,635.968212984,880,787,804.968212984,652,631.031787016,653,0.431797110991,0.0046197134345,0.0800416576362,0.99999998552,0.000143303022596,7.47457818813e-05,-5.32595070164e-05,1793239334616198656
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.394654842,715,681.394654842,664.605345158,635.394654842,880,787,804.394654842,652,631.605345158,653,0.432604113039,0.00462328708408,0.0800181063465,0.99999998721,0.000148435162787,2.717522534e-05,-5.29954526575e-05,1793239334632866048
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.18365079,715,681.18365079,664.81634921,635.18365079,880,787.18365079,804,652,631.81634921,653,0.433395907498,0.00462594697063,0.0799836943274,0.999999986977,0.000149851542382,-2.66136169136e-05,-5.36878018768e-05,1793239334649533184
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.772429345,715,681.772429345,664.227570655,635.772429345,880,787.772429345,804,652,631.227570655,653,0.43415415466,0.00462659112588,0.0799253238822,0.999999983741,0.00014307107422,-9.41198074215e-05,-5.64899467873e-05,1793239334666199552
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.644818649,746,715,682,664.355181351,636,880,787.644818649,804.355181351,652,631,652.644818649,0.43495750456,0.0046204559881,0.0799175384319,0.999999984755,0.000133527445612,-9.63492254718e-05,-5.81059292534e-05,1793239334682865920
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.065863566,746,715,682,664.934136434,636,880,787.065863566,804.934136434,652,631,652.065863566,0.435789270344,0.00461004971469,0.0799416228824,0.999999989139,0.000122242952665,-5.74525302339e-05,-5.89745975831e-05,1793239334699532288
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.511661389,746,715,682,664.488338611,636,880,787,804.488338611,652,631.511661389,652,0.436581449772,0.00460710638126,0.0799704586518,0.9999999911,0.000117087373678,-2.91678260439e-05,-5.69265748387e-05,1793239334716198912
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715,682,664,635.911495568,880.088504432,787,804,652.088504432,632,652.088504432,0.437365347798,0.0046065494367,0.0799959066037,0.999999991848,0.000115090729651,-5.32905161762e-06,-5.50404427906e-05,1793239334732865280
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,715,682,664,635.337386771,880.662613229,787,804,652.662613229,632,652.662613229,0.438131688905,0.0046138298104,0.0799994199115,0.999999990473,0.000126109771582,1.59008500948e-06,-5.60968437472e-05,1793239334749532160
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,682.24381017,663.75618983,635,881,787,804,652.75618983,632,653,0.438861135385,0.00462009616318,0.0799910069027,0.99999998902,0.000136773100501,-9.18213936847e-06,-5.62856946857e-05,1793239334766199040
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,682.835109401,663.164890599,635,881,787,804,652.164890599,632,653,0.439537997942,0.00462491728777,0.0799655959788,0.99999998666,0.000146929450417,-4.51688761082e-05,-5.52380747545e-05,1793239334782865664
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715,682.582383487,662.582383487,635,880.582383487,787,804.417616513,652,631.582383487,652.582383487,0.440155819453,0.00463054829838,0.0799091250973,0.999999978781,0.000147433077098,-0.000132498225863,-5.60814212194e-05,1793239334799532800
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+189,3.150000000,POSE1_TO_POSE2_PRESS,765.429205869,746,714.429205869,682.570794131,662,635,880.570794131,787,805,652,631,652.570794131,0.441315650649,0.0046449495131,0.0797699678828,0.999999923895,0.000162585320966,-0.000349830722298,-5.82694738098e-05,1793239334832865792
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714,683,662,635,881,787,804.851241797,652,631.148758203,653,0.441898254982,0.0046532320459,0.079722377309,0.999999893576,0.000176354330205,-0.000422260377955,-5.86874312375e-05,1793239334849532160
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,746,714,683,662,635,881,787,804.261653984,652,631.738346016,653,0.442534008831,0.00466095512756,0.0797432336858,0.999999909491,0.00017609097169,-0.000382862243267,-5.8542192935e-05,1793239334866199040
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,746,714,683,661.677915488,635,880.677915488,787,804,652,631.677915488,653,0.443161333377,0.00466936281305,0.0797792657594,0.999999928197,0.000187229015255,-0.00032422963604,-5.85335848231e-05,1793239334882865664
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,746,714,683,661.098844117,635,880.098844117,787,804,652,631.098844117,653,0.443781932259,0.00467831673419,0.0798274063142,0.999999945448,0.000207464082028,-0.000250250105552,-5.86339918777e-05,1793239334899532032
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,746,714,683.476984122,661,634.523015878,880.476984122,787,804,652,631,653,0.444304074558,0.00468623370205,0.0798252583136,0.999999940358,0.000221326679094,-0.000258859635084,-5.73539834735e-05,1793239334916198912
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,746,714,683.947713291,661,634,881,786.947713291,804,652,631,652.947713291,0.44480134245,0.00469379318744,0.0798110056724,0.999999930396,0.000231644815227,-0.000287077988467,-5.59821359918e-05,1793239334932865536
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,746,714,683.370987659,661,634,881,786.370987659,804,652,631,652.370987659,0.445252378763,0.00469990785633,0.0797791617252,0.999999915995,0.000219567533497,-0.000341471793054,-5.65389567737e-05,1793239334949532416
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,746,714,683,660.789162777,634,881,786.210837223,804,652,631,652.210837223,0.445700392592,0.00470684585813,0.0797534077962,0.999999900904,0.000219475647708,-0.000383097248295,-5.70954322516e-05,1793239334966199040
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,746,714,683,660.198142969,634,881,786.801857031,804,652,631,652.801857031,0.446142956218,0.00471526849669,0.0797386354178,0.999999888618,0.000240995881589,-0.00040169875662,-5.76512852448e-05,1793239334982865664
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.619194865,714.380805135,683,660,634,881,786.619194865,804,652,631,653,0.446560988883,0.00473121936731,0.0797288151115,0.999999879002,0.000265701604195,-0.000409421916131,-6.14180679604e-05,1793239334999532288
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.88636478,746,714,684,659.88636478,634,881.11363522,787,804,652,631.11363522,653,0.447688421636,0.00478861632247,0.0797045469482,0.999999846685,0.00034203773711,-0.000429467275965,-7.20943836051e-05,1793239335049532160
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765.284485761,745.715514239,714,684,659,633.715514239,881.715514239,786.715514239,804.284485761,652,631.715514239,652.715514239,0.448287968751,0.00477973669621,0.0796756567819,0.999999830731,0.000320182267789,-0.000480686112717,-7.0435496331e-05,1793239335082865664
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765.558322021,745,714,683.558322021,659,633,881,786,805,652,631,652.441677979,0.448815946073,0.0047871810063,0.0796515579677,0.99999982094,0.000297619232432,-0.000514369314475,-7.04734536436e-05,1793239335116198656
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.016331617,713.983668383,683.016331617,659,633,881,786,804.983668383,652,631,653,0.449064707817,0.00478921061252,0.0796469044811,0.999999819182,0.000293059429045,-0.000520359699489,-7.05572009323e-05,1793239335132865536
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.592986112,713.407013888,683.592986112,659,633,881,786,804.407013888,652,631,653,0.449291511922,0.00478046550217,0.0796546192045,0.999999824874,0.000290382096109,-0.000510939857689,-6.97938432546e-05,1793239335149532160
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.173549948,746,713.173549948,683.826450052,658.826450052,633,881,786,804,652,631,653,0.449507046627,0.00476898240654,0.0796596898229,0.99999982919,0.000286088924594,-0.000505040006737,-6.86183943852e-05,1793239335166198784
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.763493272,746,713.763493272,683.236506728,658.236506728,633,881,786,804,652,631,653,0.449695542952,0.00475093014325,0.0796584165151,0.999999830351,0.0002779189187,-0.000507585569532,-6.64542271489e-05,1793239335182865408
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+212,3.533333333,POSE1_TO_POSE2_PRESS,765.072889322,746,714,683.927110678,658,633,881,786,804.927110678,652,631,653,0.450013908344,0.00473475895663,0.0796547688921,0.999999830446,0.000261098347951,-0.000516412486223,-6.52196954567e-05,1793239335216198656
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,683,658,633,881,786,805,652,631,653,0.450261782065,0.00474888188107,0.0796491265065,0.99999982021,0.000278666425918,-0.000526708174204,-6.71097387451e-05,1793239335249531904
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765.103983133,745,713.896016867,683.103983133,657,633,880.896016867,786,804,652,631,653,0.450853880717,0.00475178610576,0.0796326699365,0.999999806812,0.000273221504465,-0.000554571796937,-6.46269625168e-05,1793239335566198528
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.691376434,745,713.308623566,683.691376434,657,633,880.308623566,786,804,652,631,653,0.450853854395,0.00475399359424,0.0796318346114,0.999999805529,0.000275576273309,-0.000555732763753,-6.45052500984e-05,1793239335582865152
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.725695199,745.274304801,713.274304801,684,657,633,880.548609601,786,804,652,631,653,0.45085389608,0.00475435449617,0.0796314324623,0.999999804638,0.000276947953873,-0.000556672065887,-6.43407774254e-05,1793239335599532544
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.147709852,745.852290148,713.852290148,684,657,633,881.704580297,786,804,652,631,653,0.450854013056,0.00475267105789,0.0796315098786,0.999999804187,0.000277231265939,-0.000557365965061,-6.41289652175e-05,1793239335616200192
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.429501714,746,714,683.570498286,657,633,881.570498286,786,804,652.429501714,631,653,0.450854627447,0.0047535309868,0.0796309987474,0.999999804042,0.000278016052866,-0.000557230533524,-6.41695163593e-05,1793239335632866304
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.993591347,746,713.993591347,683.006408653,657,633,881,786,804.006408653,652.993591347,631,653,0.450855413946,0.00475524215529,0.0796303083879,0.999999804013,0.000278942432899,-0.000556804198056,-6.42936087601e-05,1793239335649532416
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.420131642,746,713.420131642,683.579868358,657,633,881,786,804.579868358,652.420131642,631,653,0.450856319919,0.00475501766782,0.0796316367419,0.99999980506,0.000277164905278,-0.000555829104747,-6.41440361415e-05,1793239335666199296
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.841300476,713.158699524,683.841300476,657,633,881,786,805,652,631,653,0.450856997737,0.0047547067969,0.0796324575468,0.999999805581,0.000276163306833,-0.000555411074447,-6.39599092443e-05,1793239335682865920
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.247751095,713.752248905,683.247751095,657,633,881,786,805,652,631,653,0.450857050388,0.00475415922818,0.0796318876247,0.999999804671,0.000277287818784,-0.000556519443049,-6.3681100768e-05,1793239335699532544
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,713.663495684,683.336504316,657,633,881,786,804.663495684,652,631,653,0.450857415958,0.00475267844511,0.0796318567095,0.999999805341,0.000275516840933,-0.000556220947224,-6.34504089096e-05,1793239335716199168
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,713.085899069,683.914100931,657,633,881,786,804.085899069,652,631,653,0.450858005723,0.00475052905016,0.079632211972,0.999999807132,0.000271671356817,-0.000554914487512,-6.32541907541e-05,1793239335732865536
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713.489382429,684,657,632.510617571,881,786,804,652,631,653,0.450857311311,0.00475104097712,0.0796315769646,0.999999806451,0.000272327452917,-0.000555787471167,-6.35360487849e-05,1793239335749531904
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.063935776,745,714,684,657,632,881,786,804,652,631,653,0.450856573874,0.00475193566086,0.079630893744,0.999999805406,0.000273891131019,-0.000556864142752,-6.3831845533e-05,1793239335766198528
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.635916612,745,714,684,657,632,881,786,804,652,631,653,0.450857277237,0.00475217737874,0.0796312020966,0.999999804911,0.000276417570738,-0.000556533874133,-6.35747413343e-05,1793239335782865664
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.783147388,745,713.783147388,684,657,632.216852612,881,786,804,652,631.216852612,653,0.450857860369,0.00475244241705,0.0796315904324,0.999999804773,0.000277349113928,-0.000556337589648,-6.34069667059e-05,1793239335799532544
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.186528428,745,713.186528428,684,657,632.813471572,881,786,804,652,631.813471572,653,0.450858232944,0.00475274829567,0.0796321188401,0.999999805267,0.000275487571369,-0.000556375946807,-6.33956317685e-05,1793239335816199168
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.396623845,713.396623845,684,657,633,881,786,804.396623845,652,631.603376155,653,0.450858686472,0.00475164177882,0.0796323590894,0.999999805499,0.000275012958993,-0.000556222670126,-6.3134643063e-05,1793239335832866048
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.973650802,713.973650802,684,657,633,881,786,804.973650802,652,631.026349198,653,0.450859176822,0.00474989283832,0.0796324682707,0.999999805613,0.000275169187568,-0.000555982229393,-6.2760100125e-05,1793239335849532672
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.453811913,714,684,657,633,881,786,804.453811913,652,631,653,0.450859024507,0.00475033273208,0.0796316423734,0.999999805674,0.000273473111708,-0.000556685543908,-6.29771947439e-05,1793239335866199296
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745,714,683.877674034,657,633,881,786,804.122325966,652,631.122325966,653,0.450858709265,0.00475098631926,0.0796307813375,0.999999805449,0.00027253070279,-0.000557531182161,-6.3150827837e-05,1793239335882865408
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745,714,683.286925818,657,633,881,786,804.713074182,652,631.713074182,653,0.450857887878,0.0047520571487,0.0796299570773,0.999999804151,0.000274813698863,-0.000558748898847,-6.30496301106e-05,1793239335899532032
+254,4.233333333,HOLD_POSE2,766,745,714,683,657,633,881,786,804,652,631,653,0.450859977265,0.00475166533018,0.0796319850717,0.999999805662,0.00027407868367,-0.000556405156558,-6.30074266601e-05,1793239335936440064
+255,4.250000000,HOLD_POSE2,765.424441234,745.575558766,714,683.575558766,657,633,881,786.575558766,804.575558766,652,631,653,0.450860404939,0.00475192748505,0.0796322417883,0.999999805928,0.000274519546056,-0.000555703877001,-6.30628277735e-05,1793239335953107456
+256,4.266666667,HOLD_POSE2,765,746,714,684,657,633,881.150898259,786.849101741,804.849101741,652,631,653,0.450861044313,0.00475224358519,0.0796325889978,0.99999980621,0.0002750986154,-0.00055490376479,-6.30996787041e-05,1793239335969774592
+257,4.283333333,HOLD_POSE2,765,746,714,684,657,633,881.725622012,786.274377988,804.274377988,652,631,653,0.450862278287,0.00475271120056,0.0796331903731,0.999999806542,0.000276065864489,-0.000553826062754,-6.3084428049e-05,1793239335986441216
+258,4.300000000,HOLD_POSE2,765,746,714,684,657,633,881.689683664,786,804.310316336,652.310316336,631,653,0.450862193451,0.00475267703121,0.0796331358335,0.999999806545,0.000275717213906,-0.000553989032216,-6.31380077414e-05,1793239336003107584
+259,4.316666667,HOLD_POSE2,765,746,714,684,657,633,881.095880856,786,804.904119144,652.904119144,631,653,0.450860903831,0.00475218446127,0.079632482089,0.999999806245,0.000274166435915,-0.000555285405127,-6.32544667295e-05,1793239336019773440
+260,4.333333333,HOLD_POSE2,765,746,714,684,657,633,881,786.480232749,804.519767251,652.519767251,631,653,0.450861152586,0.00475101527357,0.0796320385687,0.999999806604,0.000272714628975,-0.000555366396193,-6.3134223808e-05,1793239336036440064
+261,4.350000000,HOLD_POSE2,765,746,713.945794801,684,657,633,881,787,804.054205199,652,631,653,0.450861676573,0.0047499235702,0.079631717736,0.999999807052,0.000271439598252,-0.000555201714991,-6.2991553753e-05,1793239336053106432
+262,4.366666667,HOLD_POSE2,765,746,713.359401406,684,657,633,881,787,804.640598594,652,631,653,0.450861994364,0.00475087180968,0.0796322040075,0.999999807127,0.00027171304878,-0.000554922792333,-6.30761972095e-05,1793239336069773056
+263,4.383333333,HOLD_POSE2,765.224348115,745.775651885,713,684,657,633,881,787,805,652,631.224348115,653,0.450861899235,0.0047514056985,0.0796322867967,0.999999806878,0.000272221499207,-0.000555113985854,-6.31441892767e-05,1793239336086439680
+264,4.400000000,HOLD_POSE2,765.803911475,745.196088525,713,684,657,633,881,787,805,652,631.803911475,653,0.45086115032,0.0047512835368,0.0796317307438,0.999999806116,0.000273102030059,-0.000556049524564,-6.31858168293e-05,1793239336103106816
+265,4.416666667,HOLD_POSE2,766,745.383441934,713.383441934,684,656.616558066,633,881,786.616558066,805,652,631.616558066,653,0.450861003159,0.0047506792315,0.0796320701241,0.999999806225,0.00027231288351,-0.000556268397914,-6.29413889723e-05,1793239336119773696
+266,4.433333333,HOLD_POSE2,766,745.96295562,713.96295562,684,656.03704438,633,881,786.03704438,805,652,631.03704438,653,0.450861163702,0.00474982838367,0.0796328673813,0.999999806777,0.000270669953076,-0.000556120806906,-6.255068764e-05,1793239336136440320
+267,4.450000000,HOLD_POSE2,765.453994021,745.453994021,714,684,656.546005979,633,881,786,804.453994021,652,631.546005979,653,0.450860767683,0.00474940004319,0.0796316868184,0.999999806341,0.000270939520767,-0.000556780391526,-6.24855214761e-05,1793239336153106688
+268,4.466666667,HOLD_POSE2,765.126346776,745.126346776,714,683.873653224,656.873653224,632.873653224,881,786,804,652,631.873653224,653,0.45086052707,0.00474942315451,0.0796309739045,0.999999806021,0.000271663356326,-0.000557006347567,-6.24640557409e-05,1793239336169773312
+269,4.483333333,HOLD_POSE2,765.696325834,745.696325834,714,683.303674166,656.303674166,632.303674166,881,786,804,652,631.303674166,653,0.450860965577,0.0047509301085,0.0796323772468,0.999999806339,0.000273523658242,-0.000555516193655,-6.2517976546e-05,1793239336186440192
+270,4.500000000,HOLD_POSE2,765.724794217,745.724794217,714,683.275205783,656.275205783,632.275205783,881,786,804,652,631,653,0.4508610483,0.00475151391522,0.0796324235996,0.999999806337,0.000273497740497,-0.000555525283666,-6.25783252659e-05,1793239336203106816
+271,4.516666667,HOLD_POSE2,765.135764394,745.135764394,714,683.864235606,656.864235606,632.864235606,881,786,804,652,631,653,0.450860725316,0.00475104503389,0.0796309225433,0.99999980597,0.000271320919164,-0.000557243999126,-6.26460038948e-05,1793239336219773184
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,657,632,880,786,804,652,631,653,0.450863811934,0.00474769856203,0.0796330424054,0.99999980893,0.000268046061738,-0.000553534062055,-6.23758159131e-05,1793239336252463360
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,657,632,880.576000632,786,804,652.576000632,631.576000632,653,0.450864560804,0.00474813410487,0.0796333491023,0.999999808108,0.000270565148062,-0.000553810768982,-6.22187341945e-05,1793239336269129728
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.844618418,714,683.155381582,657,632,881,786,804.155381582,652.844618418,631.844618418,653,0.450864781745,0.00474848088703,0.0796333392409,0.999999807503,0.000271846577668,-0.000554286074894,-6.21369037583e-05,1793239336285795840
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.255808122,714,683.744191878,657,632,881,786,804.744191878,652.255808122,631.255808122,653,0.45086353006,0.0047485800761,0.0796324463569,0.999999807511,0.000269675629812,-0.000555315362258,-6.22649827644e-05,1793239336302462208
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.327627486,714,684,657,632.327627486,881,786,805,652,631.327627486,653,0.45086327895,0.0047495227326,0.0796324524574,0.999999807206,0.000270710997124,-0.00055534522317,-6.24058336158e-05,1793239336319128576
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.906934289,714,684,657,632.906934289,881,786,805,652,631.906934289,653,0.450863796468,0.00475111333017,0.0796331491467,0.999999806653,0.000274209415591,-0.000554607337176,-6.25564956304e-05,1793239336335794688
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.516113048,714,683.516113048,656.516113048,633,881,786,805,652,632,653,0.450864165446,0.0047510024653,0.0796330091731,0.999999807281,0.000273186573958,-0.000553962274262,-6.27071949865e-05,1793239336352461312
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.060273266,745,714,683.060273266,656.120546531,632.939726734,881,786,805,652,631.939726734,653,0.450864126017,0.00475061836787,0.0796326645133,0.999999807911,0.000271505965316,-0.000553639979104,-6.28071622648e-05,1793239336369128448
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.635670172,745,714,683.635670172,657.271340344,632.364329828,881,786,805,652,631.364329828,653,0.450860839133,0.00475068231425,0.0796319391049,0.999999806639,0.000271599556024,-0.000555924370674,-6.24734882992e-05,1793239336385795328
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.783492083,745.216507917,714,683.783492083,657.566984165,632,881,786,804.783492083,652,631,653,0.450852777787,0.00475062484356,0.079627692397,0.999999802864,0.000272059786019,-0.000562475048774,-6.22668300997e-05,1793239336402462208
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.193262788,745.806737212,714,683.193262788,656.386525575,632,881,786,804.193262788,652,631,653,0.450836475091,0.0047503577909,0.0796173674591,0.999999794642,0.000273152884002,-0.000576389902894,-6.22794179832e-05,1793239336419128832
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.611617574,713.611617574,683.388382426,656.388382426,632.388382426,880.611617574,786,804.388382426,652,631,653,0.450797597725,0.00474987224828,0.0795978365431,0.999999776065,0.000272123367119,-0.00060822303164,-6.23231508285e-05,1793239336435795456
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.322496401,745.677503599,714,683.677503599,656.677503599,633,881,786.677503599,805,652,631,653,0.450531957546,0.00474799028858,0.0795195385312,0.999999693447,0.000270891937158,-0.000732247985326,-5.94661089761e-05,1793239336502461440
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,713.743418127,684,657,632.743418127,881,787,805,652,631,653,0.45044763823,0.00474652232616,0.0795137984341,0.999999688091,0.000271503342587,-0.000739462412296,-5.74325561542e-05,1793239336519128320
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713.026826824,683.973173176,657,632,881,786,804.026826824,652,631,653,0.45012319415,0.00474604942249,0.0795201409592,0.999999689054,0.000282743433328,-0.000734569832447,-4.85323054232e-05,1793239336569128192
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.601271338,683.398728662,657,632,881,786,804.601271338,652,631,653,0.449983675093,0.00474154464119,0.0795265505765,0.999999696121,0.000282787208932,-0.000725139627111,-4.42829359213e-05,1793239336585795072
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.18001991,657.18001991,632.18001991,881,786,804.81998009,652,631,653,0.449833155494,0.00473911026375,0.0795307750232,0.999999700068,0.000285010018523,-0.000719045832151,-4.00892111186e-05,1793239336602461696
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.76853503,657.76853503,632.76853503,881,786,804.23146497,652,631,653,0.449657673851,0.00474137397875,0.0795300409525,0.999999697091,0.000292177419831,-0.000720522910404,-3.6021754008e-05,1793239336619128320
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.351504973,745,714,684,658,633,880.648495027,786,804,652,631,653,0.449456463143,0.00473975957318,0.0795292082302,0.999999694508,0.000295601558096,-0.000722947991256,-3.08068182236e-05,1793239336635794944
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.930880201,745,714,684,658,633,880.069119799,786,804,652,631,653,0.449238573028,0.00473563109724,0.0795283115551,0.999999692177,0.000296599050608,-0.000725987634228,-2.48480056303e-05,1793239336652461824
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745,714,683.4926702,657.4926702,633,880.5073298,786,804,652,631,653,0.448990789358,0.00473176836673,0.0795260363398,0.999999687399,0.000299606524279,-0.00073151601065,-1.79329924932e-05,1793239336669128448
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.916544345,745.083455655,714,683,657.083455655,633,881,786.083455655,804.083455655,652,631,653,0.448734240087,0.00472827276635,0.0795246143171,0.999999683219,0.000303429614882,-0.000735782230809,-1.07933692941e-05,1793239336685795072
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.339989497,745.660010503,714,683,657.660010503,633,881,786.660010503,804.660010503,652,631,653,0.448449825049,0.00472673366329,0.079529336746,0.999999684914,0.000310463055737,-0.000730599062128,-3.09194944768e-06,1793239336702461696
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,746,714,683.240683735,657.759316265,633,881,786.759316265,804.759316265,652,631,653,0.448152944022,0.00472428609126,0.0795330400429,0.999999686984,0.000314720826258,-0.000725925137129,3.89545455495e-06,1793239336719128320
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,714,683.827275837,657.172724163,633,881,786.172724163,804.172724163,652,631,653,0.447838147012,0.00472053287638,0.0795352786525,0.999999689712,0.000314989429481,-0.000721983092685,9.85668133929e-06,1793239336735794688
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.409651588,746,714,683.590348412,657.409651588,633,881,786,804,652,631.409651588,653,0.44749078556,0.00471533509694,0.0795431613137,0.999999702562,0.000306451750679,-0.000707669738971,1.2944140791e-05,1793239336752461312
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.990267667,746,714,683.009732333,657.990267667,633,881,786,804,652,631.990267667,653,0.447129833632,0.00470953444128,0.0795533994702,0.999999719222,0.000294238847306,-0.000689028010255,1.48322585387e-05,1793239336769127936
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.433506459,746,714,683.566493541,658,633,881,786,804.566493541,652,632,653,0.446741975827,0.00470427225213,0.0795683290167,0.999999740187,0.000270504905907,-0.000668060497674,1.22125210799e-05,1793239336785794816
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,746,714,684,658.141366084,633.141366084,881,786,804.858633916,652,631.858633916,653,0.446339602062,0.00469873953476,0.0795840431569,0.999999758642,0.000251328256539,-0.000647625298565,1.14280876931e-05,1793239336802461440
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,746,714,684,658.712353108,633.712353108,881,786,804.287646892,652,631.287646892,653,0.445894507384,0.00469235676739,0.0796018986682,0.999999771684,0.00024659842552,-0.000628928338786,1.64548158785e-05,1793239336819128064
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,746,714,683.704987675,659,634,881,786.295012325,804.295012325,652,631,653,0.445429098139,0.00468524989306,0.07961762189,0.999999784789,0.000241284800233,-0.000609782346002,1.9216725687e-05,1793239336835794688
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,746,714,683.110478776,659,634,881,786.889521224,804.889521224,652,631,653,0.444943065488,0.00467740790442,0.0796311804133,0.999999797948,0.000235378506308,-0.000590180492556,1.96793920074e-05,1793239336852461312
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.529501583,714,683.470498417,659.470498417,634,881,787,804.529501583,652,631,653,0.444406180309,0.00467001260045,0.0796393195958,0.999999798739,0.000256427522975,-0.000579913820955,2.16052284877e-05,1793239336869127936
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.04799343,745.04799343,714,683.95200657,660,634,881,787,804.04799343,652,631.04799343,653,0.443856306364,0.00466246045035,0.0796461678453,0.999999797451,0.000278993788467,-0.000571571235716,2.37993463499e-05,1793239336885794560
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.621181681,745.621181681,714,683.378818319,660,634,881,787,804.621181681,652,631.621181681,653,0.443291310992,0.00465207622204,0.0796524253838,0.999999810879,0.000250836385913,-0.00056096729123,2.52746835347e-05,1793239336902461440
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.799323924,745.799323924,714,683,659.799323924,634.200676076,881,787,805,652,632,653,0.442721497607,0.00464269498079,0.0796640457591,0.999999827992,0.000224451103821,-0.000541229973138,2.65906209865e-05,1793239336919128064
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.20753917,745.20753917,714,683,659.20753917,634.79246083,881,787,805,652,632,653,0.442142294165,0.004635268517,0.0796861180627,0.999999852461,0.000201519606829,-0.000503692120021,2.75958954184e-05,1793239336935794688
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.374619224,714,683,659.749238449,635,880.625380776,787,805,652,632,653,0.441518449415,0.00462525384156,0.0797006750514,0.999999869103,0.000182046559054,-0.000477303180288,2.88833464472e-05,1793239336952462080
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745.9515782,714,683,660.903156399,635,880.0484218,787,805,652,632,653,0.440870492971,0.00461384121862,0.0797111728593,0.999999881624,0.000164441493476,-0.000456936005292,3.03232069822e-05,1793239336969130240
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.529168525,746,714.529168525,683,661,635,880.529168525,787,804.470831475,652,632,653,0.440119149652,0.00460462038337,0.0796765210149,0.999999853986,0.00018116219816,-0.0005081535036,3.14486758764e-05,1793239336985796096
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.891359398,745.891359398,715,683,661,635,881,787,804,652,631.891359398,653,0.43937473167,0.00459522181911,0.0796502306617,0.999999832525,0.000191391474683,-0.000545216403794,3.25319435592e-05,1793239337002462208
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.303847968,745.303847968,715,683,661,635,881,787,804,652,631.303847968,653,0.438702589762,0.0045841547603,0.07967902896,0.999999866242,0.000159145991406,-0.00049098045782,3.35561536747e-05,1793239337019128576
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.720092529,683.279907471,661.279907471,635,880.720092529,787,804.279907471,652,631,653,0.438022586268,0.00457454215331,0.0797323057014,0.999999906676,0.000131119943524,-0.000410144605609,3.51697642707e-05,1793239337035794944
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.140360273,683.859639727,661.859639727,635,880.140360273,787,804.859639727,652,631,653,0.437334161702,0.00456648749088,0.0798118026967,0.999999948265,0.000107613567716,-0.000300816074113,3.74147151058e-05,1793239337052461568
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745.437686439,714.437686439,683.562313561,662.437686439,635,880,787.437686439,804.562313561,652,631,653,0.436594106956,0.00455813404179,0.079859945586,0.999999966942,0.000116100186398,-0.000225951762336,3.97707659022e-05,1793239337069128192
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.984868026,715,683,662.984868026,635,880,787.984868026,804,652,631.015131974,653,0.435834344174,0.00454967475317,0.0798961428403,0.999999976502,0.000133759327227,-0.000165316709769,4.21234213627e-05,1793239337085794816
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745.409742212,715,683,662.409742212,635,880,787.409742212,804,652,631.590257788,653,0.434955621994,0.00454083093327,0.0798609397587,0.999999967681,0.00011264037556,-0.000223824277392,4.30369824079e-05,1793239337102461440
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745.164777614,714.835222386,683,662.164777614,635,880,787,804,652,632,653,0.43407914049,0.00453116740772,0.0798270683382,0.999999955123,9.72981002168e-05,-0.000279884484025,4.41738537594e-05,1793239337119128064
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.737796056,714.262203944,683,662.737796056,635,880,787,804,652,632,653,0.433208210376,0.00451947304062,0.079796496145,0.999999939904,9.62676928889e-05,-0.000329881288008,4.58639824375e-05,1793239337135795200
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.322981976,746,714,682.677018024,662.677018024,635,880,787,804,652,631.677018024,652.677018024,0.432305419134,0.00450886369931,0.0797569756979,0.999999913974,8.72638297426e-05,-0.000402691585811,4.77189828597e-05,1793239337152461824
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.918432383,746,714,682.081567617,662.081567617,635,880,787,804,652,631.081567617,652.081567617,0.431375749807,0.00449916968915,0.0797099064822,0.999999873818,7.15335382408e-05,-0.000494747401387,4.97130691779e-05,1793239337169128448
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.503818763,746,714.496181237,682,661.503818763,635,880,787,804,652,631,652.496181237,0.430548619032,0.00448939520126,0.0797406680112,0.999999901218,6.92427307311e-05,-0.00043605954887,5.119698733e-05,1793239337185794816
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.070906428,746,714.929093572,682,661.212719285,635,880,787,804.070906428,652,631,653,0.429734169142,0.00447950748906,0.0797863328907,0.999999934329,6.72756788587e-05,-0.000352196778939,5.26632356539e-05,1793239337202461440
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.644115852,746,714.355884148,682,662.932347555,635,880,787,804.644115852,652,631,653,0.428894253566,0.00446890818963,0.0798500579606,0.999999963464,5.24903136426e-05,-0.000259495552889,5.45779616678e-05,1793239337219128320
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.7754615,746,714,682.2245385,663.7754615,635.2245385,880,787,804.7754615,652,631,653,0.428031752898,0.0044582405659,0.0798783162273,0.999999974287,4.11548936181e-05,-0.000215957381366,5.5638844805e-05,1793239337235794944
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.183226637,746,714,682.816773363,663.183226637,635.816773363,880,787,804.183226637,652,631,653,0.427132267545,0.00444746105503,0.0798484953129,0.999999965856,3.54689809029e-05,-0.000252926889566,5.53015057216e-05,1793239337252461568
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.398160988,746,714.398160988,682.203678024,662.203678024,635.601839012,880,787,804,652,631.398160988,652.601839012,0.426201861161,0.00443693309182,0.0798046158168,0.999999948092,2.24084857354e-05,-0.000316725579909,5.47615043471e-05,1793239337269128448
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.974689255,746,714.974689255,681.05062149,661.05062149,635.025310745,880,787,804,652,631.974689255,652.025310745,0.425257602895,0.00442651781703,0.0797544383902,0.999999921472,6.04434165339e-06,-0.000392543144284,5.41307145318e-05,1793239337285795072
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,746,714.446607286,682.106785428,662.106785428,635,880,787,804,652,632,652,0.424318236252,0.00441915662845,0.0797427886523,0.99999991025,9.42568127475e-06,-0.000419674341165,5.73040733026e-05,1793239337302461952
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.865872,746,714.134128,682.731744,662.731744,635,880,787,804,652,632,652,0.423401085458,0.00441497577208,0.0797397997957,0.999999906287,1.21726170074e-05,-0.000428623742384,5.96580944491e-05,1793239337319128320
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.278609913,746,714.721390087,681.557219825,661.557219825,635,880,787,804,652,632,652,0.422558229255,0.00442106548361,0.0797600938964,0.999999924619,9.71323071931e-06,-0.000383700900536,5.86539607081e-05,1793239337335794944
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,746,715,681.304171746,661.608343491,635,880,787,803.695828254,652,631.695828254,652.304171746,0.421741335922,0.00444144514916,0.0798047193269,0.999999952592,2.97873644785e-05,-0.000301016193331,5.76087186309e-05,1793239337352461824
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,746,715,681.88290904,662.765818079,635,880,787,803.11709096,652,631.11709096,652.88290904,0.42094787844,0.00447472387261,0.0798713078249,0.999999978965,7.02017446673e-05,-0.000184245126409,5.65263689084e-05,1793239337369128448
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.458339237,746,715,682,663,635,879.541660763,787.458339237,803.916678475,652,631,653,0.420095044915,0.00448574235398,0.0798795410208,0.999999979028,8.59614108812e-05,-0.000177585915139,5.49264156154e-05,1793239337385794816
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.966850071,746,715,682,662.933700142,635,879.033149929,787.966850071,804.966850071,652,631,653,0.419225367866,0.00449074654597,0.0798707407863,0.999999973732,9.46314228842e-05,-0.000201876258635,5.31681670268e-05,1793239337402461440
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.192605495,746,715,681.807394505,661.385210991,635,880,787.192605495,804,652,631,653,0.417456119988,0.00448671748396,0.0797995703041,0.999999944266,8.32575322635e-05,-0.000319482938582,4.96575559269e-05,1793239337435795200
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745.638805742,715.361194258,681.361194258,663,635.361194258,879.638805742,787.638805742,804,652,631.361194258,652.638805742,0.41583015299,0.00448015715932,0.0798123362042,0.999999948001,7.56061942803e-05,-0.000309370587297,5.07139925876e-05,1793239337469128704
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.481479206,745.518520794,715.481479206,681.481479206,661.962958413,635.481479206,879.518520794,787,804,652.518520794,632,652.518520794,0.414263125305,0.00449187265413,0.0798009636465,0.999999941548,9.13613386629e-05,-0.000325671157373,4.99463746756e-05,1793239337502461440
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.904492755,715,681,661.19101449,635,879.904492755,787,804,652.904492755,631.904492755,653,0.413526327771,0.00449725520078,0.0798062402256,0.999999945873,9.86483460738e-05,-0.000310057984385,4.88610674594e-05,1793239337519128064
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.329866625,715,681,662.34026675,635,879.329866625,787,804,652.329866625,631.329866625,653,0.412820911414,0.00449334581392,0.0798240464391,0.99999995587,9.78663685998e-05,-0.000276016214761,4.99734969123e-05,1793239337535794688
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.497301635,635,879,787,804,652,631,653,0.412104176931,0.0044881556976,0.0798280808542,0.999999958258,8.74939517428e-05,-0.000270654466562,5.0740970142e-05,1793239337552461568
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.317108068,635,879,787,804,652,631,653,0.411372188874,0.00448123952058,0.0798135547792,0.999999950445,6.41963354353e-05,-0.000303945277547,5.10435398695e-05,1793239337569128704
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.42242198,715,680.57757802,661,635.42242198,879,787,804,652.42242198,631.42242198,653,0.410684558275,0.00448071945393,0.0798040042791,0.999999944267,6.91969651322e-05,-0.000322668704675,5.06223423197e-05,1793239337585795328
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.999953214,715,680.000046786,661.000093572,635.999953214,878.999953214,787,804,652.999953214,631.999953214,653,0.410013232298,0.00448254982682,0.0797962848372,0.999999938715,8.45943854057e-05,-0.000336034831399,4.99353731482e-05,1793239337602461952
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.424482386,715,680.575517614,662.151035228,635.424482386,878.424482386,787,804,652.424482386,631.424482386,653,0.409430562641,0.00448968032184,0.0798251250143,0.999999952889,9.59445041904e-05,-0.000287066449187,5.10846463255e-05,1793239337619128576
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.154717258,745.154717258,715,680.845282742,662.845282742,635,878.154717258,787,804,652,631,653,0.408846977882,0.00449502595316,0.0798471630759,0.999999962021,0.000102389632225,-0.000250504965093,5.21739110912e-05,1793239337635794688
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.744400068,745.744400068,715,680.255599932,662.255599932,635,878.744400068,787,804,652,631,653,0.408260820308,0.00449535369585,0.0798500779645,0.999999963117,9.5045079965e-05,-0.000248823700032,5.3094471324e-05,1793239337652461312
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,635.327571511,879,787,804,652,631.327571511,653,0.407674210421,0.00449462213279,0.0798300598797,0.999999952833,9.618253365e-05,-0.000286882313344,5.27312923715e-05,1793239337669127936
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,635.905761205,879,787,804,652,631.905761205,653,0.407087254513,0.00449308011683,0.0797924962513,0.999999930156,0.000103809394618,-0.000355345084168,5.13859508881e-05,1793239337685794816
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,636,879,787,803.51798831,652.48201169,631.51798831,653,0.406587358769,0.00449062551992,0.079784258212,0.999999928428,9.57263408443e-05,-0.000362512173655,5.06512450759e-05,1793239337702461696
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.942130114,715,680,662,636,879,787.057869886,803,653,631.057869886,653,0.406110922896,0.00448852486233,0.0797842851706,0.999999932536,8.58610318647e-05,-0.000353632686732,4.99886631071e-05,1793239337719128576
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.366403182,715,680,662,636,879,787.633596818,803,653,631.633596818,653,0.40569271422,0.00449118170136,0.0798071713012,0.99999994756,8.74222929751e-05,-0.000307968984568,4.89074272484e-05,1793239337735795200
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.215502064,662.215502064,636,879,787.784497936,803.215502064,653,631.784497936,653,0.405275890416,0.00449461590067,0.0798254929353,0.99999995639,9.19935494779e-05,-0.000276433197941,4.84025198944e-05,1793239337752461568
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.808221853,662.808221853,636,879,787.191778147,803.808221853,653,631.191778147,653,0.404861490754,0.00449941080163,0.0798358248104,0.99999995727,0.000101833542673,-0.000269627111226,4.8906425996e-05,1793239337769128192
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.611497936,662.611497936,635.611497936,879,787,804,652.611497936,631.388502064,652.611497936,0.404477172941,0.00450330639717,0.079840865629,0.999999956676,0.000113268682909,-0.000267003236305,5.02651965446e-05,1793239337785795072
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.037167765,662.037167765,635.037167765,879,787,804,652.037167765,631.962832235,652.037167765,0.404107243826,0.00450677183783,0.079843375633,0.999999955296,0.000125466813919,-0.000266379794148,5.20328654551e-05,1793239337802462720
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745.540709804,715,680.540709804,662,635.540709804,879,787,803.459290196,652.540709804,631.459290196,652.540709804,0.403763244604,0.0045047892921,0.0798395960228,0.999999952994,0.000114011754152,-0.00028019881738,5.00153348809e-05,1793239337819128576
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.882784557,662,635.882784557,879,787,803.117215443,653,631,653,0.403435001568,0.00450218878814,0.0798372829154,0.999999951449,0.00010242895356,-0.000290287663636,4.84159435854e-05,1793239337835794688
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.312529955,662,635.312529955,879,787,803.687470045,653,631,653,0.403160721827,0.00449865682759,0.0798423198967,0.999999954315,9.66780257526e-05,-0.000282096970867,4.94449449113e-05,1793239337852461568
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.731254041,746,715,680.268745959,662.268745959,635,878.731254041,787,803.731254041,652.731254041,631,653,0.402898618284,0.00449347325909,0.0798467550642,0.999999956867,8.74566482524e-05,-0.000275884937457,5.00441485406e-05,1793239337869128448
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.136613158,746,715,680.863386842,662.863386842,635,878.136613158,787,803.136613158,652.136613158,631,653,0.402651280227,0.00448628686759,0.0798504604416,0.999999958992,7.402682853e-05,-0.000272072326791,5.01221577129e-05,1793239337885795072
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.446769979,746,715,680.553230021,662.553230021,635.446769979,878.893539957,787,803,652,631,653,0.402434865296,0.0044732315945,0.07984922087,0.999999960102,5.42948996406e-05,-0.000272280694616,5.20782228755e-05,1793239337902461440
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.973545902,746,715,680,662,635.973545902,879.973545902,787,803.026454098,652,631,652.973545902,0.402229557286,0.00445872736981,0.0798467494211,0.999999960603,3.30802602329e-05,-0.000273365832175,5.44997690444e-05,1793239337919128064
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.400906984,746,715,680,662,635.400906984,879.400906984,787,803.599093016,652,631,652.400906984,0.402063140347,0.00445044856353,0.079849295543,0.999999962432,2.00618965492e-05,-0.000267791580667,5.49665998614e-05,1793239337935794688
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.177162322,746,715,680,662,635,879,787,804,652,631.177162322,652.177162322,0.401906187037,0.00444692561307,0.0798527666339,0.999999964169,1.47696510563e-05,-0.0002614583187,5.55255555007e-05,1793239337952461312
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.767908752,746,715,680,662,635,879,787,804,652,631.767908752,652.767908752,0.40177132652,0.00445450517339,0.0798583970577,0.999999965943,2.7513972129e-05,-0.000253353153376,5.62995757925e-05,1793239337969128192
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,635.351746329,879,787,803.648253671,652,632,653,0.401640557297,0.0044620225475,0.0798563135022,0.99999996309,6.68172233384e-05,-0.000257363090182,5.5854165139e-05,1793239337985794816
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,635.931113137,879,787,803.068886863,652,632,653,0.4015124356,0.00446949968071,0.0798492381122,0.999999954668,0.000123307169404,-0.00026921289517,5.46196418254e-05,1793239338002461696
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,636,879,787,803,652,632,653,0.401412970307,0.00448333045788,0.0798456912275,0.999999952981,0.000127672651701,-0.000274294757857,5.0008660995e-05,1793239338019128576
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.045063792,662.045063792,635.954936208,879,787.045063792,803,652,631.954936208,653,0.401319195337,0.00449660820997,0.0798425670417,0.999999952426,0.000124639128303,-0.000278479154362,4.5418248647e-05,1793239338035795456
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.657639047,662.657639047,635.342360953,879,787.657639047,803,652,631.342360953,653,0.401248381741,0.00449212383858,0.0798387696508,0.999999952053,0.0001170082776,-0.000282862981049,4.6824932531e-05,1793239338052461568
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.744580941,662.744580941,635.255419059,879,787.744580941,803.255419059,652,631.255419059,653,0.401185427898,0.00448863963153,0.0798354640166,0.999999951519,0.000111058911434,-0.000286941646094,4.78835028489e-05,1793239338069127936
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.165546507,662.165546507,635.834453493,879,787.165546507,803.834453493,652,631.834453493,653,0.40113243235,0.00448642263075,0.0798327814374,0.99999995084,0.000107239982868,-0.000290633671776,4.85010139776e-05,1793239338085794560
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.587779767,746,715,680,662.412220233,635.587779767,879,787,803.587779767,652,631.587779767,653,0.401093236724,0.00448719570167,0.0798342011887,0.99999995122,0.000107920032456,-0.000288952952421,4.91925826257e-05,1793239338102461184
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.010520583,746,715,680,662.989479417,635.010520583,879,787,803.010520583,652,631.010520583,653,0.401059566119,0.0044891658956,0.0798372633736,0.999999952013,0.000110401319869,-0.000285121168716,4.99138013686e-05,1793239338119128064
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745.434795617,715,680,662.434795617,635.565204383,879,787,803,652,631,653,0.401037027693,0.00448583378631,0.0798381687145,0.999999952781,0.00010573764584,-0.000284104477575,5.04225119288e-05,1793239338135794944
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.143469256,745,715,680.143469256,662,635.856530744,879,787,803,652,631,653,0.401017732216,0.00448395595541,0.0798391543913,0.999999953526,0.000102818919146,-0.000282496350266,5.07174170173e-05,1793239338152461568
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.72965962,745,715,680.72965962,662,635.27034038,879,787,803,652,631,653,0.40100780623,0.00448686950836,0.0798405115224,0.999999954253,0.000105694083879,-0.000278901896339,5.03647287898e-05,1793239338169128704
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.687576862,662,635,878.687576862,787,803,652,631,653,0.400999424628,0.00448707138707,0.0798411593445,0.999999954846,0.000104368530423,-0.000277312829252,5.0123642978e-05,1793239338185795328
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.107746363,662,635,878.107746363,787,803,652,631,653,0.400992364886,0.00448495230597,0.0798412000593,0.99999995532,9.94475234773e-05,-0.000277440200579,4.9978079205e-05,1793239338202461440
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,878,787,803.469050309,652,631,653,0.400987487184,0.00448495698455,0.07984137272,0.999999955321,9.93890394061e-05,-0.000277459752996,4.99572255739e-05,1793239338219128064
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.045141622,715,680,662.045141622,635,878.090283243,787,803.954858378,652,631,653,0.400983399493,0.0044855723454,0.0798415754591,0.999999955228,0.000100497439695,-0.000277399104103,4.99438780014e-05,1793239338235794688
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.621081306,715,680,662.621081306,635,879.242162613,787,803.378918694,652,631,653,0.400982745185,0.00448766886584,0.0798417777709,0.999999955258,0.000102277063191,-0.000276684762114,4.96841047742e-05,1793239338252461568
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.798197037,715,680,663,635,879.798197037,787,803.201802963,652,631,653,0.400982688211,0.00448832082239,0.0798424388946,0.999999955702,0.00010220018029,-0.000275154248759,4.940079524e-05,1793239338269128192
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.208278534,715,680,663,635,879.208278534,787,803.791721466,652,631,653,0.400983780055,0.00448619453568,0.0798439824239,0.999999956933,9.85527898448e-05,-0.000272054041989,4.90722197534e-05,1793239338285794816
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,635,879,787,803.625293303,652,631,653,0.400983526529,0.00448620722717,0.0798447675388,0.999999957154,9.82369505805e-05,-0.000271366667465,4.9006422442e-05,1793239338302461440
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,635,879,787,803.046091897,652,631,653,0.400982538773,0.0044873872577,0.079845138752,0.99999995683,9.97392924198e-05,-0.000271996086776,4.90840352997e-05,1793239338319128320
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.480469234,745,715,680,662.480469234,635,878.480469234,787,803,652.519530766,631,653,0.400982102885,0.00448735356699,0.0798454093189,0.999999956833,0.00010164795671,-0.000271277829116,4.90851116899e-05,1793239338335795200
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745.089257831,715,680.089257831,662,635,878,787,803,652.910742169,631.089257831,653,0.400981713174,0.00448714157854,0.0798455129085,0.999999956846,0.000102922431014,-0.000270749588567,4.90841388147e-05,1793239338352461568
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745.689183845,715,680.689183845,662,635,878,787,803,652.310816155,631.689183845,653,0.40098131467,0.00448650987142,0.0798447109603,0.999999956772,0.000100367543596,-0.000271975120017,4.91093005329e-05,1793239338369128192
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745.720947028,715,680.720947028,662.279052972,635.279052972,878.279052972,787,803.279052972,652,632,653,0.400981473194,0.00448573161203,0.0798448792296,0.999999957028,9.90378340943e-05,-0.000271515365329,4.9142329985e-05,1793239338385794816
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745.141889786,715,680.141889786,662.858110214,635.858110214,878.858110214,787,803.858110214,652,632,653,0.400982230569,0.00448479579714,0.0798460905601,0.999999957641,9.90252885541e-05,-0.000269243793367,4.91838178837e-05,1793239338402461440
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.435787602,745.435787602,715,680,663,636,879,787,803.564212398,652,631.564212398,653,0.400980858252,0.00448506379951,0.0798457803294,0.999999957379,9.96521901696e-05,-0.000269979608336,4.92104401167e-05,1793239338419128320
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d5e160d8d236b9e1f95487cec63588d96957f6d6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
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+275,4.583333333,pose2_to_pose3_retreat,0.621859307291,0.0100908331584,1.070032305,0.592429757532,0.0187625716301,1.06970043089
+276,4.600000000,pose2_to_pose3_retreat,0.621859308072,0.0100908598305,1.07003235098,0.59242975805,0.0187625972772,1.06970047349
+277,4.616666667,pose2_to_pose3_retreat,0.621859282915,0.0100908806916,1.07003237965,0.592429732704,0.0187626174016,1.06970049979
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+381,6.350000000,pose2_to_pose3_retreat,0.575854594814,0.010090800507,1.07003225889,0.546425046007,0.0187625388308,1.06970039322
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+383,6.383333333,pose2_to_pose3_retreat,0.575769869114,0.0100908361121,1.07003236995,0.546340319805,0.0187625726887,1.06970050347
+384,6.400000000,pose2_to_pose3_retreat,0.575739987814,0.0100907711833,1.0700323653,0.546310439972,0.018762512963,1.06970050489
+385,6.416666667,pose2_to_pose3_retreat,0.57571799986,0.0100907339239,1.07003228999,0.546288452722,0.0187624781957,1.06970043181
+386,6.433333333,pose2_to_pose3_retreat,0.575701669506,0.0100907474984,1.07003211298,0.546272120556,0.0187624854352,1.06970024902
+387,6.450000000,pose2_to_pose3_retreat,0.575690044591,0.0100908531892,1.07003231527,0.546260495923,0.0187625919504,1.06970044812
+388,6.466666667,pose2_to_pose3_retreat,0.575681679673,0.010090850325,1.07003250338,0.546252131946,0.018762592148,1.06970063279
+389,6.483333333,pose2_to_pose3_retreat,0.575676041655,0.0100907922018,1.07003256355,0.54624649403,0.0187625342768,1.06970069049
+390,6.500000000,pose2_to_pose3_retreat,0.575672106913,0.0100906879171,1.07003249836,0.546242558408,0.0187624269481,1.06970062363
+391,6.516666667,pose2_to_pose3_retreat,0.575669550017,0.0100907236119,1.07003236545,0.546240001352,0.0187624622148,1.06970049378
+392,6.533333333,pose2_to_pose3_retreat,0.57566825428,0.0100907654265,1.07003227733,0.546238705626,0.018762504168,1.06970040816
+393,6.550000000,pose2_to_pose3_retreat,0.575667656484,0.0100907847179,1.07003223667,0.546238107837,0.0187625235233,1.06970036866
+394,6.566666667,pose2_to_pose3_retreat,0.575667526573,0.0100907889102,1.07003222784,0.546237977927,0.0187625277296,1.06970036008
+395,6.583333333,pose2_to_pose3_retreat,0.575667429629,0.0100907920387,1.07003222125,0.546237880983,0.0187625308684,1.06970035367
+396,6.600000000,pose2_to_pose3_retreat,0.575667288165,0.0100907885786,1.07003221734,0.546237739584,0.0187625276485,1.06970035028
+397,6.616666667,pose2_to_pose3_retreat,0.575666933284,0.0100907757818,1.07003221048,0.546237384899,0.0187625155695,1.06970034484
+398,6.633333333,pose2_to_pose3_retreat,0.575666637716,0.0100907651238,1.07003220477,0.546237089494,0.0187625055093,1.0697003403
+399,6.650000000,pose2_to_pose3_retreat,0.575666593351,0.010090763524,1.07003220391,0.546237045154,0.0187625039992,1.06970033962
+400,6.666666667,pose2_to_pose3_retreat,0.575666414192,0.0100907570636,1.07003220045,0.546236866093,0.0187624979012,1.06970033687
+401,6.683333333,pose2_to_pose3_retreat,0.575666004202,0.0100907422796,1.07003219253,0.546236456329,0.0187624839465,1.06970033058
+402,6.700000000,pose2_to_pose3_retreat,0.57566580283,0.0100907350183,1.07003218864,0.546236255069,0.0187624770924,1.0697003275
+403,6.716666667,pose2_to_pose3_retreat,0.575665733347,0.0100907325128,1.07003218729,0.546236185624,0.0187624747274,1.06970032643
+404,6.733333333,pose2_to_pose3_retreat,0.575665717007,0.0100907319236,1.07003218698,0.546236169293,0.0187624741713,1.06970032618
+405,6.750000000,pose2_to_pose3_retreat,0.575665464297,0.010090722811,1.07003218209,0.546235916722,0.0187624655698,1.0697003223
+406,6.766666667,pose2_to_pose3_retreat,0.57566503133,0.0100907625836,1.07003217329,0.546235483133,0.018762503304,1.06970031549
+407,6.783333333,pose2_to_pose3_retreat,0.575664789186,0.0100908062954,1.0700321682,0.546235240305,0.0187625447463,1.06970031162
+408,6.800000000,pose2_to_pose3_retreat,0.575664683531,0.0100908253683,1.07003216598,0.546235134352,0.0187625628288,1.06970030994
+409,6.816666667,pose2_to_pose3_retreat,0.575664667161,0.0100908283233,1.07003216564,0.546235117937,0.0187625656304,1.06970030967
+410,6.833333333,pose2_to_pose3_retreat,0.575664663107,0.0100908290551,1.07003216555,0.546235113871,0.0187625663242,1.06970030961
+411,6.850000000,pose2_to_pose3_retreat,0.575664635473,0.0100908340436,1.07003216497,0.546235086159,0.0187625710537,1.06970030917
+412,6.866666667,pose2_to_pose3_retreat,0.575664609332,0.0100908387625,1.07003216442,0.546235059945,0.0187625755276,1.06970030875
+413,6.883333333,pose2_to_pose3_retreat,0.575664600602,0.0100908403385,1.07003216424,0.54623505119,0.0187625770218,1.06970030861
+414,6.900000000,pose2_to_pose3_retreat,0.575664497282,0.0100908468674,1.07003213613,0.546234947883,0.0187625835691,1.06970027981
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a8ff48721c468254c4c50a5d6f91d20b398918f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10c04664e5ca9ea22d33a6daab84c93b9a4c876b691066a6378d066d483c58ac
+size 26497488
diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba53305e3989568ae0aecf48e3d8f517940aec51
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
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+14,0.233333333,BASELINE,765.880885453,746,715,680,663,636,879,787,804,652,631,653,0.400982398335,0.00448739167434,0.0798493071193,0.999999958907,0.000100446369209,-0.00026407610838,4.85741286515e-05,1793239339041937920
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+16,0.266666667,BASELINE,765.275381352,745.724618648,715,680.275381352,663,636,879,787,804,652,631.275381352,652.724618648,0.400981712824,0.00448853460315,0.0798491126556,0.999999958534,0.00010265064308,-0.000264668214464,4.84352844042e-05,1793239339075271168
+17,0.283333333,BASELINE,765.864186724,745.135813276,715,680.864186724,663,636,879,787,804,652,631.864186724,652.135813276,0.400982666379,0.004488994937,0.0798498629406,0.99999995863,0.000104753502398,-0.000263455374534,4.85572948734e-05,1793239339091937792
+18,0.300000000,BASELINE,766,745,715,680.554538826,663.445461174,636,878.554538826,787,804,652.445461174,632,652.445461174,0.400983482367,0.00448916653333,0.0798501197938,0.999999958664,0.000106240115026,-0.000262739594141,4.85027878788e-05,1793239339108604416
+19,0.316666667,BASELINE,766,745,715,680,663.975620283,635.975620283,878.024379717,787,803.975620283,652.975620283,631.975620283,653,0.40098422434,0.00448923261679,0.0798502345565,0.999999958694,0.000107417620271,-0.00026216725316,4.83975537718e-05,1793239339125270784
+20,0.333333333,BASELINE,766,745,715,680,663.398922449,635.398922449,878.601077551,787,803.398922449,652.398922449,631.398922449,653,0.400984223896,0.00448886949599,0.0798504817874,0.999999959054,0.000105778041452,-0.000261468364627,4.83420527756e-05,1793239339141937664
+21,0.350000000,BASELINE,766,745.177340379,715,680.177340379,662.822659621,635,879,787,803.177340379,652.177340379,631.177340379,653,0.400983906202,0.00448865251091,0.0798504180824,0.999999959153,0.000104762357332,-0.000261504249411,4.83142684945e-05,1793239339158604800
+22,0.366666667,BASELINE,766,745.752626992,715,680.752626992,662.247373008,635,879,787,803.752626992,652.752626992,631.752626992,653,0.40098287661,0.00448876344984,0.0798496566469,0.999999958669,0.000105146673519,-0.000263188942507,4.83486796583e-05,1793239339175271936
+23,0.383333333,BASELINE,766,745.664827748,715,680.664827748,662.335172252,635.335172252,879,787,803.329655496,652.664827748,631.664827748,653,0.400982447583,0.00448835631291,0.0798493353117,0.999999958541,0.000104388350993,-0.000263952784692,4.84676486232e-05,1793239339191938560
+24,0.400000000,BASELINE,766,745.076806613,715,680.076806613,662.923193387,635.923193387,879,787,802.153613227,652.076806613,631.076806613,653,0.400982471613,0.00448755834738,0.0798493459816,0.999999958682,0.000102768039125,-0.00026402195104,4.86504067195e-05,1793239339208604928
+25,0.416666667,BASELINE,766,745.506783774,715,680.506783774,662.493216226,635.493216226,879,787,802.506783774,652,631.506783774,653,0.400983154509,0.00448790890161,0.0798502216648,0.99999995919,0.000101625211196,-0.000262620958048,4.82017643611e-05,1793239339225271040
+26,0.433333333,BASELINE,766,745.911746134,715,680.911746134,662.088253866,635.088253866,879,787,803.088253866,652,631.911746134,653,0.400983720372,0.00448839903538,0.0798510385296,0.999999959591,0.000101188553031,-0.000261332249335,4.78000235665e-05,1793239339241937664
+27,0.450000000,BASELINE,766,745.338273229,715,680.338273229,662.661726771,635.661726771,879,787,803.661726771,652,631.338273229,653,0.400983098534,0.00448870785668,0.0798508174785,0.999999959117,0.000104239990674,-0.000261875284152,4.81777071544e-05,1793239339258604288
+28,0.466666667,BASELINE,766,745,715,680,663,636,879,787.240382331,803.759617669,652,631,653,0.400982908078,0.00448861235787,0.0798506541507,0.99999995896,0.000104996735056,-0.00026213115674,4.8412782909e-05,1793239339275270912
+29,0.483333333,BASELINE,766,745,715,680,663,636,879,787.826491748,803.173508252,652,631,653,0.400983338052,0.00448793535034,0.0798505738428,0.999999959263,0.000102453163412,-0.000261974021566,4.84427545867e-05,1793239339291937792
+30,0.500000000,BASELINE,766,745,715.407790165,680,663,636,878.592209835,787.592209835,803,652,631,653,0.400982679656,0.00448791948146,0.0798498639379,0.999999959062,0.000101834468242,-0.000262979715495,4.84556165526e-05,1793239339308604416
+31,0.516666667,BASELINE,766,745,715.987065432,680,663,636,878.012934568,787.012934568,803,652,631,653,0.400981563574,0.00448818163653,0.0798488892729,0.999999958648,0.000102025227767,-0.000264474405692,4.84612834922e-05,1793239339325271296
+32,0.533333333,BASELINE,766,745,715.437170809,680,663,635.437170809,878.562829191,787,803.562829191,652,631,653,0.40098160413,0.00448869679912,0.0798490287192,0.999999958676,0.000102190476497,-0.000264322074504,4.83718178369e-05,1793239339341937664
+33,0.550000000,BASELINE,766,745,715,680.138955979,663,635,879,787,803.861044021,652,631.138955979,653,0.400981800601,0.00448897693635,0.0798493306949,0.999999958808,0.000102212354437,-0.000263827236937,4.82873513755e-05,1793239339358604288
+34,0.566666667,BASELINE,766,745,715,680.716481562,663,635,879,787,803.283518438,652,631.716481562,653,0.400982405796,0.00448849705431,0.0798500653335,0.999999959238,0.000101783567721,-0.000262370111752,4.82255207541e-05,1793239339375270912
+35,0.583333333,BASELINE,765.700038086,745,715,680.400076172,663,635.299961914,879,787,803,652,631.700038086,652.700038086,0.400982280396,0.0044880705886,0.0798497666645,0.999999959082,0.000101912012748,-0.000262914718819,4.82293908655e-05,1793239339391938048
+36,0.600000000,BASELINE,765.110815333,745,715,679.221630666,663,635.889184667,879,787,803,652,631.110815333,652.110815333,0.400981450464,0.00448769563353,0.0798484715512,0.999999958357,0.000102577810352,-0.000265389646611,4.82966178429e-05,1793239339408604928
+37,0.616666667,BASELINE,765.470598695,745.470598695,715,679.470598695,663,635.529401305,878.529401305,787,803,652,631,652.470598695,0.400982709152,0.00448864403104,0.0798495410733,0.999999958849,0.000102991000521,-0.000263410461276,4.80588460701e-05,1793239339425271040
+38,0.633333333,BASELINE,765.950051769,745.950051769,715,680,663,635.049948231,878,786.950051769,803,652,631,653,0.400984299723,0.00448976940568,0.0798510653279,0.999999959562,0.000103327400897,-0.0002606071231,4.77849087942e-05,1793239339441937664
+39,0.650000000,BASELINE,765.373398477,745.373398477,715,680,663,635.626601523,878,786.373398477,803,652,631,653,0.400984288382,0.00448952861008,0.0798516089288,0.999999959703,0.000103471066303,-0.00025999261622,4.7874590141e-05,1793239339458604544
+40,0.666666667,BASELINE,765,745,715,680,663,635.79780833,878.20219167,786.20219167,803,652,631,653,0.400983627174,0.00448894298143,0.0798514073734,0.999999959574,0.000102823126034,-0.000260724263742,4.79767352456e-05,1793239339475271424
+41,0.683333333,BASELINE,765,745,715,680,663,635.224171318,878.775828682,786.775828682,803,652,631,653,0.400981772097,0.00448772386164,0.0798498368951,0.999999958942,0.000100720930787,-0.00026392892506,4.81017774537e-05,1793239339491938048
+42,0.700000000,BASELINE,765.358791291,745,715,680,663,635,879,787,803,652,631,652.641208709,0.400982685667,0.00448724528173,0.0798503816553,0.999999959444,9.92905712684e-05,-0.000262567508603,4.80859043632e-05,1793239339508604672
+43,0.716666667,BASELINE,765.947735956,745,715,680,663,635,879,787,803,652,631,652.052264044,0.400985375237,0.00448724173499,0.0798522832748,0.999999960665,9.82911734055e-05,-0.000258277096144,4.79796385172e-05,1793239339525271040
+44,0.733333333,BASELINE,766,745,715,680,662.473261573,635,878.473261573,787,803.526738427,652,631.526738427,652,0.400984079175,0.00448778997528,0.0798515650871,0.999999960196,9.90709645419e-05,-0.000259806641099,4.78953287621e-05,1793239339541937664
+45,0.750000000,BASELINE,766,745,715,680,662.208709322,635.104354661,878,787,803.895645339,652,631.895645339,652.104354661,0.400982669223,0.00448810919744,0.0798508053551,0.999999959688,9.98976203163e-05,-0.000261443601626,4.78694272465e-05,1793239339558604288
+46,0.766666667,BASELINE,766,745,715,680,663.360164967,635.680082483,878,787,803.319917517,652,631.319917517,652.680082483,0.400982498051,0.00448715121422,0.0798510103832,0.999999959766,0.000100153324545,-0.000261005643407,4.80976993648e-05,1793239339575270912
+47,0.783333333,BASELINE,766,745,715,680,663.738747071,635.738747071,878.261252929,787,803,652,631,652.738747071,0.400982312248,0.0044866674644,0.0798509320166,0.999999959811,9.98937699665e-05,-0.000260927228433,4.81187690681e-05,1793239339591937792
+48,0.800000000,BASELINE,766,745,715,680,663.150769977,635.150769977,878.849230023,787,803,652,631,652.150769977,0.40098210815,0.00448677679303,0.0798504992353,0.999999959816,9.89898302892e-05,-0.000261298459906,4.78807104689e-05,1793239339608604928
+49,0.816666667,BASELINE,766,745,715,680,663,635,878.568394947,787,803,652,631.431605053,652.431605053,0.400981702934,0.0044877894516,0.0798500209412,0.999999959285,0.000102054530704,-0.000262118169099,4.80438021078e-05,1793239339625271552
+50,0.833333333,BASELINE,766,745,715,680,663,635.01197428,878,787,803,652,632,653,0.40098125719,0.00448911485922,0.0798495528435,0.999999958573,0.000106412938286,-0.000263049313202,4.83296596673e-05,1793239339641937920
+51,0.850000000,BASELINE,766,745,715,680,663,635.588856749,878,787,803,652,632,653,0.400982171452,0.00449049865509,0.0798503062234,0.999999958797,0.00010723922115,-0.000261941398392,4.78809793477e-05,1793239339658604544
+52,0.866666667,BASELINE,765.835697464,745,715,680,663,635.835697464,878.164302536,787,803,652,631.835697464,653,0.400982985629,0.00449100763027,0.0798508344672,0.999999959076,0.000107094284961,-0.000260987320181,4.7592351013e-05,1793239339675270912
+53,0.883333333,BASELINE,765.263815639,745,715,680,663,635.263815639,878.736184361,787,803,652,631.263815639,653,0.400983551528,0.00448934646971,0.0798508042242,0.99999995949,0.000104540081151,-0.000260414858857,4.7700757809e-05,1793239339691937536
+54,0.900000000,BASELINE,765,745.319468316,715,680,663,635,879,787,803,652,631,653,0.400983107166,0.00448904508017,0.0798504499988,0.999999959518,0.000103300465782,-0.000260807951676,4.76741153813e-05,1793239339708604416
+55,0.916666667,BASELINE,765,745.912516571,715,680,663,635,879,787,803,652,631,653,0.400981797656,0.00448990814446,0.0798498183277,0.999999959217,0.000103186611715,-0.000262027906628,4.75318221731e-05,1793239339725270784
+56,0.933333333,BASELINE,765,745.505752034,715,680,663,635,878.505752034,787,803.494247966,652,631,653,0.400981573066,0.0044891266047,0.0798496407522,0.999999959149,0.00010294451816,-0.000262304776096,4.79556607697e-05,1793239339741937664
+57,0.950000000,BASELINE,765.073338439,745,714.926661561,680,663,635,878.073338439,787,803.926661561,652,631,653,0.400981746474,0.00448819306934,0.0798496987741,0.999999959205,0.00010257668507,-0.000262160267518,4.83700503919e-05,1793239339758604544
+58,0.966666667,BASELINE,765.647764455,745,714.352235545,680,663,635,878.647764455,787,803.352235545,652,631,653,0.400983356509,0.00448816544876,0.0798508296435,0.999999959829,0.000101501350781,-0.000260251696149,4.80505366846e-05,1793239339775271424
+59,0.983333333,BASELINE,766,745,714.21999059,680,663,635.21999059,879,787,803,652,631.21999059,653,0.400983421103,0.00448797349497,0.0798510784195,0.999999959897,0.00010112607795,-0.000260184117955,4.77838843495e-05,1793239339791938304
+60,1.000000000,BASELINE,766,745,714.78872937,680,663,635.78872937,879,787,803,652,631.78872937,653,0.400981035728,0.0044875210259,0.0798499288243,0.999999959086,0.000101860603176,-0.000263035041741,4.76010324031e-05,1793239339808605184
+61,1.016666667,BASELINE,765.623155658,745.376844342,715,680,663,635.623155658,879,787,803.376844342,652,631.623155658,653,0.400980959363,0.00448743796668,0.0798501335878,0.999999959014,0.000102734303015,-0.000262935078748,4.77858980048e-05,1793239339825271296
+62,1.033333333,BASELINE,765.023589015,745.976410985,715,680,663,635.023589015,879,787,803.976410985,652,631.023589015,653,0.400982247668,0.00448757323587,0.0798511388034,0.999999959379,0.0001036902577,-0.000261091084376,4.81880918064e-05,1793239339841937664
+63,1.050000000,BASELINE,765.552941611,746,715,680,663,635.552941611,879,787,803.447058389,652,631.552941611,653,0.400982888693,0.00448800265465,0.0798514296473,0.999999959476,0.000104207029768,-0.000260536360347,4.80678375954e-05,1793239339858604288
+64,1.066666667,BASELINE,766,746,715,680,663,635.871245861,879,787,803,652,631.871245861,652.871245861,0.400983352437,0.00448830815738,0.0798515838482,0.999999959539,0.000104583157702,-0.000260164884431,4.79502028829e-05,1793239339875270912
+65,1.083333333,BASELINE,766,746,715,680,663,635.29464958,879,787,803,652,631.29464958,652.29464958,0.400983291762,0.004488140744,0.0798513645305,0.999999959524,0.000104532649167,-0.000260247136762,4.79161031728e-05,1793239339891937792
+66,1.100000000,BASELINE,765.713031514,746,715,680,663,635.286968486,879,787,803,652.286968486,631,652.286968486,0.400983476512,0.00448770191296,0.0798512915687,0.999999959616,0.000103628618829,-0.00026024299898,4.79831655692e-05,1793239339908604672
+67,1.116666667,BASELINE,765.12616545,746,715,680,663,635.87383455,879,787,803,652.87383455,631,652.87383455,0.400983917747,0.0044869794358,0.0798513715568,0.999999959817,0.000101832612073,-0.000260148578855,4.81559478372e-05,1793239339925271040
+68,1.133333333,BASELINE,765.457323357,745.542676643,715,680,663,635.542676643,879,787,803,652.542676643,631,653,0.400984920471,0.00448826542496,0.0798518171505,0.999999960241,0.000101736660777,-0.00025861663464,4.77954448094e-05,1793239339941937664
+69,1.150000000,BASELINE,765.960683633,745.039316367,715,680,663,635.039316367,878.960683633,787,803,652,631.039316367,653,0.400985857202,0.00448991020086,0.0798522396517,0.999999960643,0.000102029903342,-0.000257026752502,4.73472355754e-05,1793239339958604288
+70,1.166666667,BASELINE,765.386458673,745.613541327,715,680,663,635.613541327,878.386458673,787,803,652,631.613541327,653,0.400983804035,0.00448895306757,0.0798509857753,0.999999959932,0.000101284033443,-0.000260004642755,4.76927152744e-05,1793239339975270912
+71,1.183333333,BASELINE,765.187858082,745.812141918,715,680,663,635.812141918,878.187858082,787,803,652.187858082,631.812141918,652.812141918,0.400982842704,0.00448855198864,0.0798505415752,0.999999959529,0.000101573252115,-0.000261386269335,4.79700082424e-05,1793239339991937536
+72,1.200000000,BASELINE,765.762363876,745.237636124,715,680,663,635.237636124,878.762363876,787,803,652.762363876,631.237636124,652.237636124,0.40098412858,0.00448929537532,0.0798517638429,0.99999995977,0.000103992880065,-0.000259482481808,4.81069599956e-05,1793239340008604160
+73,1.216666667,BASELINE,766,745,715,680,663,635.346065262,878.653934738,787,803,652.653934738,631,652.346065262,0.400984623199,0.00448959390731,0.0798522493255,0.999999959942,0.000105418366592,-0.000258250682813,4.80550590655e-05,1793239340025270784
+74,1.233333333,BASELINE,766,745,715,680,663,635.93625341,878.06374659,787,803,652.06374659,631,652.93625341,0.400984559646,0.0044895786279,0.0798522150619,0.99999996007,0.000106142561342,-0.000257492921052,4.78699368335e-05,1793239340041937408
+75,1.250000000,BASELINE,766,745,715,679.482269787,663,636,878,787,803.517730213,652,631,653,0.400982985386,0.00448933171606,0.0798509511121,0.999999959457,0.000105807265006,-0.000260021141576,4.77487719471e-05,1793239340058604032
+76,1.266666667,BASELINE,765.902969162,745,715,679.097030838,663,636,878,787,803.902969162,652,631.097030838,652.902969162,0.400981508982,0.00448902112221,0.0798498054079,0.999999958866,0.000105474540839,-0.000262427129298,4.77038059002e-05,1793239340075270912
+77,1.283333333,BASELINE,765.329178168,745,715,679.670821832,663,636,878,787,803.329178168,652,631.670821832,652.329178168,0.400981412225,0.00448853544233,0.0798499723312,0.999999958858,0.000105784823187,-0.000262277457746,4.79951893076e-05,1793239340091937536
+78,1.300000000,BASELINE,765.248969839,745,715,680,663,635.751030161,878,787.248969839,803,652,631.751030161,652.248969839,0.400981174064,0.00448806614789,0.0798498548332,0.99999995887,0.000105231694667,-0.000262425471474,4.81492516805e-05,1793239340108604160
+79,1.316666667,BASELINE,765.832981081,745,715,680,663,635.167018919,878,787.832981081,803,652,631.167018919,652.832981081,0.400980745617,0.00448761890355,0.0798493545862,0.999999958907,0.000103516664792,-0.00026297408351,4.81185196296e-05,1793239340125270784
+80,1.333333333,BASELINE,766,745,715,680,663,635,878.416088473,787.583911527,803,652,631.416088473,653,0.400980205237,0.00448866019231,0.0798491278694,0.99999995872,0.000104308469276,-0.000263377375929,4.80745066399e-05,1793239340141937408
+81,1.350000000,BASELINE,766,745,715,680,663,635,878.998833891,787.001166109,803,652,631.998833891,653,0.400979620024,0.00449029768687,0.0798490107102,0.999999958443,0.000106104342192,-0.000263722463167,4.80251742003e-05,1793239340158604032
+82,1.366666667,BASELINE,766,745,715,680.575780049,663,635.575780049,879,787.575780049,803,652.575780049,631.424219951,653,0.400980767167,0.00449017407171,0.0798494182591,0.999999958824,0.000105033033327,-0.00026277470153,4.76496257588e-05,1793239340175270656
+83,1.383333333,BASELINE,765.84751736,745,715,680.84751736,663,636,879.15248264,787.84751736,803,652.84751736,631,653,0.400982028473,0.00449015011306,0.0798500742583,0.999999959263,0.000104349889054,-0.0002614190442,4.73855599134e-05,1793239340191937536
+84,1.400000000,BASELINE,765.271458933,745,715,680.271458933,663,636,879.728541067,787.271458933,803,652.271458933,631,653,0.400983597258,0.00449041279554,0.0798514174961,0.999999959863,0.00010476098202,-0.000258937509489,4.74329942547e-05,1793239340208604160
+85,1.416666667,BASELINE,765.311613879,745,715,680,663,635.688386121,879.688386121,787,803,652,631,653,0.400984083388,0.00449025538993,0.0798519435929,0.999999959976,0.000105039767408,-0.000258372525476,4.75192470589e-05,1793239340225271040
+86,1.433333333,BASELINE,765.900937874,745,715,680,663,635.099062126,879.099062126,787,803,652,631,653,0.400983604656,0.00448972360203,0.079851741454,0.999999959657,0.000105200640334,-0.000259515570523,4.76400948527e-05,1793239340241937664
+87,1.450000000,BASELINE,766,745,715,680,663,635,879,787,803,652,631,652.518124197,0.400983917863,0.00448919829685,0.079851621669,0.999999959812,0.000103964778275,-0.000259402614229,4.77284026767e-05,1793239340258604288
+88,1.466666667,BASELINE,766,745.060765371,715,680,663,635.060765371,878.939234629,787,803,652,631,652.060765371,0.400984302647,0.00448874688762,0.0798515567084,0.999999960024,0.00010264223047,-0.000259092652557,4.78351755281e-05,1793239340275270912
+89,1.483333333,BASELINE,766,745.63665505,715,680,663,635.63665505,878.36334495,787,803,652,631,652.63665505,0.400983937677,0.00448891080979,0.0798518154439,0.999999959929,0.000102977310502,-0.00025926404516,4.81542195161e-05,1793239340291937792
+90,1.500000000,BASELINE,765.783492386,745.783492386,715,680,663,635.783492386,878,787,803,652,631.216507614,653,0.400983835894,0.00448913721911,0.0798520082279,0.999999959819,0.000103795182449,-0.000259353226731,4.82215617052e-05,1793239340308604160
+91,1.516666667,BASELINE,765.196865335,745.196865335,715,680,663,635.196865335,878,787,803,652,631.803134665,653,0.400984184027,0.0044894704501,0.079852088268,0.999999959677,0.000105438386407,-0.000259301868648,4.78586200202e-05,1793239340325270784
+92,1.533333333,BASELINE,765.385131911,745.385131911,715,680.385131911,663,635,878.385131911,787.385131911,803,652.385131911,631.614868089,653,0.400983605423,0.00449005731504,0.0798514170404,0.999999959571,0.000105767104149,-0.000259616952949,4.76562703257e-05,1793239340341937664
+93,1.550000000,BASELINE,765.964790735,745.964790735,715,680.964790735,663,635,878.964790735,787.964790735,803,652.964790735,631.035209265,653,0.400982558731,0.0044907722884,0.0798503663537,0.999999959482,0.000105431886026,-0.000260117124233,4.75350342718e-05,1793239340358604288
+94,1.566666667,BASELINE,766,745.458514168,715,680.458514168,663,635.541485832,879,787.458514168,803,653,631,653,0.400982867641,0.00448919160116,0.07985099789,0.999999959517,0.0001044554301,-0.000260348440646,4.76937027024e-05,1793239340375270912
+95,1.583333333,BASELINE,765.880847127,745.119152873,715,680,663,636,878.880847127,787,803,653,631,653,0.400983045019,0.00448798661146,0.0798514437081,0.999999959539,0.000103483228043,-0.000260622284587,4.78546288166e-05,1793239340391937536
+96,1.600000000,BASELINE,765.29865806,745.70134194,715,680,663,636,878.29865806,787,803,653,631,653,0.400982370581,0.00448881852988,0.0798507450535,0.999999959484,0.000102688705968,-0.000261128959373,4.79539857067e-05,1793239340408604160
+97,1.616666667,BASELINE,765,746,715,680.283908976,663,635.716091024,878.283908976,787,803,652.716091024,631,653,0.400982309985,0.00448844977619,0.0798505205043,0.999999959551,0.000101775931448,-0.000261215740343,4.80152770982e-05,1793239340425270784
+98,1.633333333,BASELINE,765,746,715,680.866874111,663,635.133125889,878.866874111,787,803,652.133125889,631,653,0.40098289598,0.00448681629176,0.0798507953551,0.999999959748,0.000100738595493,-0.000260860225185,4.80364721048e-05,1793239340441937408
+99,1.650000000,BASELINE,765.447308243,745.552691757,715,680.552691757,663,635.447308243,878.552691757,787,803.447308243,652,631,653,0.400983320299,0.00448835664152,0.0798512693558,0.999999959588,0.00010419955846,-0.000260134052691,4.79177495543e-05,1793239340458604032
+100,1.666666667,BASELINE,766,745.026722324,715,680,663,635.973277676,878.026722324,787,804,652.026722324,631,653,0.400983686066,0.00449067930132,0.0798517875542,0.999999959333,0.000108642770418,-0.000259324443682,4.77707989757e-05,1793239340475270912
+101,1.683333333,BASELINE,766,745.600587346,715,680,663,635.399412654,878.600587346,787,804,652.600587346,631,653,0.400983832644,0.00448978823428,0.0798520039711,0.999999959687,0.000105940532527,-0.000259052433194,4.78936964242e-05,1793239340491937536
+102,1.700000000,BASELINE,766,745.825115988,715,680,663,635.174884012,879,787,803.825115988,652.825115988,631.174884012,653,0.400983579676,0.00448874782383,0.0798518361934,0.999999959798,0.000104064189758,-0.000259367524219,4.79949948671e-05,1793239340508604160
+103,1.716666667,BASELINE,766,745.249831142,715,680,663,635.750168858,879,787,803.249831142,652.249831142,631.750168858,653,0.400982411936,0.00448736548847,0.0798507887937,0.999999959362,0.000104078752605,-0.000261026797247,4.804684189e-05,1793239340525271040
+104,1.733333333,BASELINE,766,745.335552325,714.664447675,680,663,636,879,787,803.335552325,652,631.664447675,653,0.4009820037,0.00448733253781,0.0798505732791,0.999999959266,0.000103632491637,-0.000261563468281,4.80938719464e-05,1793239340541937664
+105,1.750000000,BASELINE,766,745.928687957,714.071312043,680,663,636,879,787,803.928687957,652,631.071312043,653,0.400982178488,0.00448833542836,0.0798509963524,0.999999959431,0.000102832483987,-0.000261238385562,4.81372043134e-05,1793239340558604032
+106,1.766666667,BASELINE,765.491487012,746,714.508512988,680,663,636,878.491487012,787,804,652,631.508512988,653,0.400981908449,0.00448740628765,0.079850376002,0.999999959299,0.000102922464343,-0.000261717096974,4.80996269428e-05,1793239340575270656
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,635,878,787,803,652,632,652,0.400983004066,0.00448928084541,0.0798506840646,0.999999959427,0.000104445004329,-0.000260703092037,4.76528468526e-05,1793239340618430976
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,663,635.585955278,878,787,803.585955278,652,632,652.585955278,0.400983006854,0.00448942368827,0.0798507984379,0.999999959544,0.000103263167507,-0.000260735311813,4.75963628835e-05,1793239340635097600
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.829989608,745,715,680,663,636,878,787,803.829989608,652,632,653,0.400983113354,0.00448919557369,0.0798510237961,0.999999959692,0.000102321420867,-0.00026055682762,4.75064568682e-05,1793239340651764480
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.2505109,745,715,680,663,636,878,787,803.2505109,652,632,653,0.400983469641,0.00448807401189,0.0798515164607,0.999999959916,0.00010195792877,-0.000259870865055,4.733605418e-05,1793239340668431104
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,663,636,878.328422649,787,803,652,631.671577351,653,0.400983072635,0.00448789884825,0.0798513934512,0.999999959814,0.000102381628025,-0.000260080000441,4.74159247252e-05,1793239340685098240
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663,636,878.906941023,787,803,652,631.093058977,653,0.400982101992,0.00448844437228,0.0798508016022,0.999999959464,0.000103404778017,-0.000260970758073,4.76863797779e-05,1793239340701765632
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663,636,879,787,803.481934673,652,631.481934673,653,0.400983603245,0.00448905227192,0.0798519216413,0.999999959738,0.000105055494407,-0.000259232175198,4.78098203953e-05,1793239340718432000
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.057674392,663,636,878.942325608,787,803.942325608,652,632,653,0.400985491182,0.00448965458348,0.0798532091535,0.999999960108,0.000106497494665,-0.000257200592894,4.78597304862e-05,1793239340735097856
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.646507744,663,636,878.353492256,787,803.353492256,652,632,653,0.40098657641,0.00449009531235,0.0798530168354,0.999999960316,0.000104909384526,-0.000257112476022,4.74919942359e-05,1793239340751764480
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.23165283,745.23165283,715,680.76834717,663,636,878.23165283,787,803.23165283,652,632,653,0.400993368233,0.00448998220415,0.0798556722412,0.999999961603,0.000104156781745,-0.000252365963345,4.74983717225e-05,1793239340768431616
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.811257932,745.811257932,715,680.188742068,663,636,878.811257932,787,803.811257932,652,632,653,0.401008731603,0.00448903720938,0.0798626050478,0.999999964418,0.000104659146214,-0.000240622344655,4.80666837709e-05,1793239340785098496
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680.388282878,663,636,879,787,804,652,632,653,0.401041083009,0.00448921994189,0.0798746520818,0.999999969649,0.0001040019966,-0.000218244132702,4.74831379071e-05,1793239340801764864
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680.964061955,663,636,879,787,804,652,632,653,0.401081637695,0.00448994723754,0.079889168703,0.999999975455,0.000102784934346,-0.000190730627912,4.63433764979e-05,1793239340818431488
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.461561023,745.461561023,715,680.461561023,663,636,879,787,803.461561023,652,632,653,0.401144693353,0.00448986417826,0.0799067840675,0.999999981737,0.000101260731477,-0.000155646805795,4.5228532464e-05,1793239340835098112
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.11628555,745,715,680.11628555,663,636,879,787,803,652,631.88371445,653,0.401210374265,0.00449011846619,0.0799223498117,0.999999986165,0.000100218064944,-0.000125277733022,4.39452332227e-05,1793239340851764480
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.708721119,745,715,680.708721119,663,636,879,787,803,652,631.291278881,653,0.401280671237,0.00449197496985,0.0799286783788,0.999999987235,0.000101230849738,-0.000116277531984,4.19653745307e-05,1793239340868431104
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.706873728,745,715,681,663,635.706873728,879,787,803.293126272,652,631,653,0.401358392942,0.00449244008368,0.079932563381,0.999999988175,9.91447348254e-05,-0.000110685006997,3.9601009575e-05,1793239340885097728
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.130235633,745,715,681,663,635.130235633,879,787,803.869764367,652,631,653,0.401443295849,0.00449155944472,0.079934084966,0.999999989023,9.40613630791e-05,-0.00010838838791,3.68647501592e-05,1793239340901764864
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.445232909,745,715,680.554767091,663,635.445232909,879,787,803.554767091,652.445232909,631,653,0.40154780913,0.00449466687462,0.0799350699959,0.999999989026,9.52781020795e-05,-0.000108472041308,3.3214254278e-05,1793239340918431488
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680.020784033,663,636,879,787,803.020784033,653,631,653,0.401659151335,0.00449881816804,0.0799361425558,0.999999988857,9.81348680676e-05,-0.000108610421421,2.92995724115e-05,1793239340935098368
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680.607882695,663,636,879,787,803.607882695,653,631,653,0.401800675654,0.00449970969473,0.0799438653593,0.999999990937,9.55966666951e-05,-9.13183716952e-05,2.54540384925e-05,1793239340951764992
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680.807412618,663,635.807412618,879,787,803.807412618,652.807412618,631,653,0.401952540951,0.00450087362921,0.0799518155366,0.999999992692,9.21623313621e-05,-7.53722952393e-05,2.10050995892e-05,1793239340968431616
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680.227522403,663,635.227522403,879,787,803.227522403,652.227522403,631,653,0.402125202454,0.0045025853892,0.0799602229728,0.999999994174,8.69258262689e-05,-6.21330403029e-05,1.53426836325e-05,1793239340985097984
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.64894168,745,715,680,663,635.35105832,879,787,803.35105832,652,631,653,0.402310074465,0.00450551172763,0.0799644107111,0.999999995004,8.24821853056e-05,-5.57098242248e-05,9.27144588324e-06,1793239341001764608
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.071206434,745,715,680,663,635.928793566,879,787,803.928793566,652,631,653,0.402502830768,0.00450922231458,0.0799658738084,0.999999995469,7.85504929687e-05,-5.36876953647e-05,2.93623301002e-06,1793239341018431232
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.502639544,745.502639544,715,680,663,636,878.497360456,787,803.497360456,652,631,652.497360456,0.402718228881,0.00451205405747,0.0799607570233,0.99999999538,7.16024563055e-05,-6.39953037332e-05,-4.22473272144e-06,1793239341035098112
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,878.07828175,787,803,652,631,652.07828175,0.402940824069,0.00451494223241,0.0799548093402,0.999999995025,6.45574781194e-05,-7.51584714672e-05,-1.15346347565e-05,1793239341051764736
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,636,878.669269495,787,803,652,631,652.669269495,0.403189710031,0.00451900917082,0.0799494778562,0.999999994793,5.96547575472e-05,-8.0573012518e-05,-1.90597187156e-05,1793239341068431360
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.744827326,746,715,680,663,636,879,787,803.255172674,652,631.255172674,653,0.403469102635,0.00452341625766,0.0799502306547,0.999999994133,7.36685084628e-05,-7.65407770505e-05,-2.11719606916e-05,1793239341085097984
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.165385561,746,715,680,663,636,879,787,803.834614439,652,631.834614439,653,0.403787262548,0.00452825559907,0.0799587152562,0.999999991794,0.000111720989585,-6.05037383624e-05,-1.64056547312e-05,1793239341101764608
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.411123206,746,715,680,663,635.588876794,879,787,803.588876794,652,631.588876794,652.588876794,0.404122703206,0.00453715066969,0.0799627176037,0.999999988857,0.000137344379217,-5.58218383621e-05,-1.75283112711e-05,1793239341118431232
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.98646044,746,715,680,663,635.01353956,879,787,803.01353956,652,631.01353956,652.01353956,0.404465046265,0.00454766571108,0.0799649296142,0.999999985747,0.000158003243595,-5.56754965183e-05,-2.10031831076e-05,1793239341135097856
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.425663784,746,715,680,663,635.574336216,879,787,803,652,631.574336216,652,0.404857462058,0.00455110606923,0.0799651307328,0.999999996128,6.89959199867e-05,-4.84519149995e-05,-2.52052630743e-05,1793239341151764480
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.840250567,715,680,663,636,879.319498867,787,803.159749433,652,631.840250567,652.159749433,0.405258937366,0.00455609248085,0.0799640570317,0.999999998489,1.42349972044e-05,-4.48423897001e-05,-2.84221271082e-05,1793239341168430848
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.26207897,715,680,663,636,880.47584206,787,803.73792103,652,631.26207897,652.73792103,0.40568098083,0.0045655749655,0.0799597712083,0.999999996698,5.60963013483e-05,-5.11456976718e-05,-2.90125687088e-05,1793239341185097728
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.315302119,745.315302119,715,680.315302119,663,635.684697881,880.369395762,787,803.684697881,652,631,653,0.406126035285,0.00457450259281,0.0799560718712,0.999999993646,9.18893681907e-05,-5.8045353899e-05,-2.99333513276e-05,1793239341201764608
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.892027845,745.892027845,715,680.892027845,663,635.107972155,879.215944309,787,803.107972155,652,631,653,0.406590168683,0.00458297017731,0.0799528588017,0.999999989853,0.00012265113668,-6.54394556906e-05,-3.11280266939e-05,1793239341218431488
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.53317614,746,715,680.53317614,663,635.46682386,878.53317614,787,803,652,631,653,0.407074260584,0.00459126723289,0.0799481458043,0.999999986961,0.000139316140755,-7.49033984905e-05,-3.25445027944e-05,1793239341235098368
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.042403407,745.957596593,715,680,663.042403407,636,878.042403407,787,803,652,631,652.957596593,0.407565625096,0.00459967742038,0.079942818443,0.999999984243,0.000151853578592,-8.54571747531e-05,-3.39222319708e-05,1793239341251764992
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.633884973,745.366115027,715,680,663.633884973,636,878.633884973,787,803,652,631,652.366115027,0.408091633441,0.00461006117654,0.0799340094745,0.999999982312,0.000152989068841,-0.000103949534321,-3.41366803835e-05,1793239341268431360
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.221077323,715,680.221077323,663.778922677,636,879,787,803.221077323,652,631,652.221077323,0.408644905668,0.00461969912222,0.0799301331461,0.999999980716,0.000156999997654,-0.000112646275877,-3.50657690297e-05,1793239341285097984
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.801301675,715,680.801301675,663.198698325,636,879,787,803.801301675,652,631,652.801301675,0.409242468894,0.00462812547485,0.0799342700463,0.999999980027,0.00016568216636,-0.000105429728445,-3.71558130922e-05,1793239341301764352
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.622474591,746,715,680.622474591,663,636,878.622474591,787,803.622474591,652.377525409,631,653,0.409887682952,0.00463447693231,0.0799593693117,0.999999981939,0.000175764311057,-6.10050452468e-05,-3.88279414416e-05,1793239341318430720
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.048334393,746,715,680.048334393,663,636,878.048334393,787,803.048334393,652.951665607,631,653,0.410557713488,0.00463974778656,0.0799953857521,0.99999998178,0.000186575560735,2.79759132169e-06,-4.02824195807e-05,1793239341335097344
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,746,715,680,663.520440993,635.479559007,878.520440993,787,803.520440993,652.479559007,631,653,0.41120823849,0.00463953952856,0.0800026833917,0.99999998246,0.000182698972815,1.09078797032e-05,-3.97699949279e-05,1793239341351764992
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.906773581,715,680,663.906773581,635.093226419,879,787,804,652,631,653,0.411859645644,0.00463322079376,0.0800011833121,0.999999984394,0.000172176952821,5.27167378575e-06,-3.92410060148e-05,1793239341368432384
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.309648088,715,680,663.309648088,635.690351912,879,787,804,652,631,653,0.412525512243,0.00459659661881,0.0799663998588,0.999999989263,0.000133033463678,-4.69944602598e-05,-3.95997640782e-05,1793239341385098496
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.277816473,745,715,680.277816473,663,635.722183527,879,787,803.722183527,652,631,653,0.413219338872,0.00457060552919,0.079941181241,0.99999999082,0.000101912192601,-7.9243534319e-05,-4.11520480365e-05,1793239341401764608
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.854875111,745,715,680.854875111,663,635.145124889,879,787,803.145124889,652,631,653,0.413943281942,0.00455606756242,0.0799262651112,0.999999991834,7.94318225405e-05,-8.99318045179e-05,-4.39899048506e-05,1793239341418430976
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.429356267,715,680.570643733,663.429356267,635,879,787,803.429356267,652,631,653,0.414700222655,0.00456630417203,0.0799409674074,0.99999999353,8.55514397203e-05,-6.09524415296e-05,-4.36622400303e-05,1793239341435097600
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,715,680.003066884,664,635.003066884,879,787,804,652,631,652.996933116,0.415468269995,0.00458481341446,0.0799654969744,0.999999993791,0.000101350818267,-1.89500857511e-05,-4.22797263776e-05,1793239341451764224
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,715,680.595118107,664,635.595118107,879,787,804,652,631,652.404881893,0.416240126596,0.00459346192851,0.0799661770066,0.999999989924,0.000130687146663,-3.54996429359e-05,-4.25739473415e-05,1793239341468430848
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.817582591,746,715,681,663.817582591,635.817582591,879,787,804,652,631.182417409,652,0.417023851455,0.00460043937164,0.0799657339993,0.999999987454,0.000145872905303,-4.34997782864e-05,-4.38186145745e-05,1793239341485097472
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.240562607,746,715,681,663.240562607,635.240562607,879,787,804,652,631.759437393,652,0.417833249502,0.00460380197894,0.0799628616497,0.999999989837,0.000130448364247,-3.30059328834e-05,-4.71192728417e-05,1793239341501764608
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.335001011,745.664998989,715,681,663.335001011,635,879,787,804,652,631.664998989,652.335001011,0.418672201385,0.00460117399893,0.0799760454646,0.999999991319,0.000122208319922,-2.12970384998e-06,-4.92102728806e-05,1793239341518431488
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.909523321,745.090476679,715,681,663.909523321,635,879,787,804,652,631.090476679,652.909523321,0.419532283834,0.00459426282794,0.0800007092254,0.999999990697,0.000119105096375,4.33196599092e-05,-5.04363830452e-05,1793239341535098112
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.485951722,715,681,664,635,879,787,804,652,631,653,0.420364922415,0.00458743861694,0.0799976878386,0.999999991889,0.000109664135806,4.04901149661e-05,-5.05625178412e-05,1793239341551764736
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.935432121,746,715,681,663.935432121,635.064567879,879.064567879,787,804,652,631,653,0.42119722161,0.00458217139922,0.0799904084245,0.999999993154,0.000101329250844,2.94758787331e-05,-5.05597402529e-05,1793239341568431104
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.341809621,746,715,681,663.341809621,635.658190379,879.658190379,787,804,652,631,653,0.422068771422,0.00458952865237,0.0799906411968,0.999999992123,0.000111763937697,2.53402377833e-05,-5.11853632735e-05,1793239341585097728
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.755936112,715,681.244063888,663.244063888,636,879.755936112,787,804,652,631,653,0.422946057233,0.0045966554892,0.0800019698823,0.999999990354,0.000123805127953,3.75101164753e-05,-5.05776844778e-05,1793239341601764352
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.180580963,715,681.819419037,663.819419037,636,879.180580963,787,804,652,631,653,0.423831129185,0.00460346956097,0.0800283601122,0.999999986729,0.000138026980309,7.18130359497e-05,-4.82959272096e-05,1793239341618430976
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.394577098,745,715,681.605422902,663.605422902,635.605422902,879.789154196,787,804,652,631,652.605422902,0.424663042514,0.00460711324368,0.0800079190172,0.999999988445,0.00014178761423,2.71364835601e-05,-4.76410928944e-05,1793239341635097856
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.969644972,745,715,681.030355028,663.030355028,635.030355028,880.939289944,787,804,652,631,652.030355028,0.425470639525,0.00460930669997,0.0799660559419,0.999999987514,0.000140762988037,-5.36675254481e-05,-4.77304592568e-05,1793239341651764480
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.557609451,715,681,663,635,880.442390549,787,804.557609451,652,631,652.557609451,0.426331111432,0.00460683995868,0.0799436252086,0.999999987149,0.000137256952537,-6.55775298871e-05,-5.06243225979e-05,1793239341668431360
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,681.144075356,663.144075356,635.144075356,879.855924644,787,804.855924644,652,631,653,0.427201597304,0.00460390894976,0.079928073236,0.999999987031,0.000133150269574,-7.34880574874e-05,-5.29882693019e-05,1793239341685098240
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,681.723836215,663.723836215,635.723836215,879.276163785,787,804.276163785,652,631,653,0.428093455103,0.00460035931783,0.079930048014,0.999999987161,0.000127645384294,-8.09140049037e-05,-5.32771335855e-05,1793239341701764608
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.710444847,746,714.710444847,681.710444847,664,636,879.289555153,787,804.289555153,652,631,652.710444847,0.428979377484,0.00460019831737,0.0799420035205,0.999999988102,0.000127223660473,-6.94900845479e-05,-5.27425425959e-05,1793239341718431488
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.157499019,746,714.157499019,681.157499019,664,636,879.842500981,787,804.842500981,652,631,652.157499019,0.429859900728,0.00460311974864,0.0799630378874,0.999999989202,0.00013142577905,-4.09195878937e-05,-5.14589044857e-05,1793239341735098112
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,746,714.4302951,681.4302951,664.4302951,635.5697049,880,787,804.5697049,652,631,652.4302951,0.430757167479,0.00460651444467,0.0799983276902,0.999999989606,0.000134585093466,8.65992071926e-06,-5.09871928486e-05,1793239341751764736
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.031349236,745.968650764,715,682,664.968650764,635,880,787,804,652,631,652.968650764,0.431655923114,0.00461005260199,0.0800366733424,0.999999987326,0.000137376689019,6.23807608088e-05,-5.08342858352e-05,1793239341768431360
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.62136434,745.37863566,715,682,664.37863566,635,880,787,804,652,631,652.37863566,0.432462370717,0.00461278826672,0.0800282961817,0.999999987945,0.000141016738093,4.07882709627e-05,-5.05999335204e-05,1793239341785098240
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.792574487,745.207425513,715,682,664,635.207425513,880,787,804,652,631,652,0.433263269455,0.00461490748789,0.0799984935166,0.999999988797,0.000140560786193,-4.68949546091e-06,-5.12527778385e-05,1793239341801765120
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.213595736,745.786404264,715,682,664,635.786404264,880,787,804,652,631,652,0.434054228864,0.00461592249821,0.0799303121793,0.999999985435,0.000132767827355,-9.29520304992e-05,-5.34948226298e-05,1793239341818432256
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.362537843,746,715,682,664,635.637462157,880,787,804,652,631,652.362537843,0.434871597717,0.00461182943833,0.0799168380009,0.999999984879,0.00012715007888,-0.000105058460077,-5.51135630387e-05,1793239341835098880
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.937008156,746,715,682,664,635.062991844,880,787,804,652,631,652.937008156,0.435704404963,0.00460475030131,0.0799353445525,0.999999988232,0.000122803916234,-7.26455278639e-05,-5.63679319909e-05,1793239341851765248
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,714.475401726,682,664.524598274,635,880,787,804,652,631.524598274,652.475401726,0.436500021511,0.00460143930387,0.0799698728583,0.999999991169,0.000116232216859,-3.36429445027e-05,-5.49482123614e-05,1793239341868431616
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,714.111790806,682,664.776418389,635,880,787,804.111790806,651.888209194,631.888209194,652,0.437287021204,0.00460070383781,0.0799999503253,0.999999992212,0.000112608880087,-8.75760372871e-08,-5.38072781778e-05,1793239341885097984
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,714.690572722,682,663.618854556,635,880,787,804.690572722,651.309427278,631.309427278,652,0.438057158586,0.00460878871682,0.0800031923067,0.999999990953,0.000122446904258,7.32260730613e-06,-5.52066697654e-05,1793239341901764608
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,682,663,635,880,787,804.731603557,651.268396443,631,652.268396443,0.438805563444,0.00461625610972,0.0799955305451,0.999999989687,0.000132450007511,-3.30372096378e-06,-5.54227573153e-05,1793239341918431488
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,682,663,635,880,787,804.154880624,651.845119376,631,652.845119376,0.43952900252,0.00462301415094,0.0799753428617,0.999999987753,0.000142642748336,-3.46499007014e-05,-5.42794974358e-05,1793239341935098368
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,714.58126621,682,662.58126621,635,880.41873379,787,804,652,631,653,0.44016085412,0.00462718351586,0.0799158402938,0.999999979983,0.000144722989978,-0.000126664875793,-5.5184246155e-05,1793239341951764736
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,714.00879305,682,662.00879305,635,880.99120695,787,804,652,631,653,0.440759079162,0.00463040244106,0.0798419031463,0.999999959012,0.000143824702391,-0.000240954582686,-5.68409266852e-05,1793239341968431616
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.414722407,745.414722407,714,682.585277593,662,635,881,787,804,652,631.585277593,653,0.441333578555,0.00463853651086,0.0797714724059,0.999999924036,0.000160591613885,-0.00035040264294,-5.79378470998e-05,1793239341985098240
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.173225128,714,683,662,635,880.826774872,787,804.173225128,652,631.826774872,653,0.441928513193,0.0046473544033,0.07972767877,0.999999896965,0.000172085567989,-0.000415947820583,-5.86928073543e-05,1793239342001764608
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.746262735,714,683,662,635,880.253737265,787,804.746262735,652,631.253737265,653,0.442571467755,0.00465757362959,0.079745238678,0.999999911368,0.000170773252944,-0.000380337242375,-5.86786612281e-05,1793239342018431232
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.322081907,746,714.322081907,683,661.677918093,635,880.322081907,787,805,652,631.322081907,653,0.443214802605,0.00466669622399,0.0797781927205,0.999999927959,0.000182851828692,-0.000327444642809,-5.85472038639e-05,1793239342035098112
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.90011146,746,714.90011146,683,661.09988854,635,880.90011146,787,805,652,631.90011146,653,0.443858439618,0.00467494736134,0.0798233799622,0.999999943156,0.000205571694002,-0.000260818603846,-5.83225230261e-05,1793239342051764736
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.513396616,745.513396616,714.513396616,683,661,634.513396616,881,787,805,652,631.513396616,653,0.444397293441,0.00468319873571,0.0798232321612,0.999999938371,0.000223028597624,-0.00026511311304,-5.68528057031e-05,1793239342068431360
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.653446364,745,714,683,661,634,881,787,804.346553636,652,631,653,0.445378917264,0.0047009975598,0.0797811919677,0.999999913995,0.000228602823932,-0.000341477460852,-5.60779513574e-05,1793239342101764608
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.232906788,714,683.232906788,660.767093212,634,881,787,804,652,631,653,0.445841906583,0.00471369225863,0.0797551674834,0.99999989771,0.000232359540741,-0.000383647745022,-5.83442025918e-05,1793239342118431232
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.812047252,714,683.812047252,660.187952748,634,881,787,804,652,631,653,0.44629363396,0.00473128315517,0.0797348256604,0.999999881999,0.000253176016925,-0.000409796677275,-6.30103609515e-05,1793239342135098112
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.611489945,745.611489945,714,683.611489945,660,634,881,786.611489945,804.388510055,652,631,652.611489945,0.446741677571,0.00475408693954,0.0797260037985,0.999999872241,0.000284279621921,-0.00041250822431,-6.73850055709e-05,1793239342151764736
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+203,3.383333333,POSE1_TO_POSE2_PRESS,765,746,714,683,659,634,881,786,804,652,631.708068771,653,0.448230068342,0.00477536017191,0.0796828667928,0.999999837689,0.000317172665514,-0.000467920114208,-7.1236313336e-05,1793239342218431232
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714,683.44440521,658.55559479,634,881,786,804.44440521,652,631,653,0.449099120822,0.00478820789181,0.079645404345,0.99999981024,0.000306613023815,-0.000529795386091,-6.94699949329e-05,1793239342268431616
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.019944483,745.980055517,714,684,658,633.980055517,881,786,805,652,631,653,0.449382602811,0.00478751690359,0.0796508910199,0.999999816536,0.000304728635364,-0.000518873061577,-6.95673779509e-05,1793239342285098240
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.608948661,745.391051339,714,684,658,633.391051339,881,786,805,652,631,653,0.449619254853,0.00479062524782,0.0796544078011,0.999999817725,0.000310726818545,-0.0005129414745,-6.99215351503e-05,1793239342301764864
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.805224145,745,714,684,658,633,881,786,804.805224145,652.194775855,631,653,0.449842957936,0.00479299523976,0.0796571152463,0.999999818119,0.000314683647633,-0.000509779116166,-6.97208068518e-05,1793239342318431488
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.225673078,745,714,684,658,633,881,786,804.225673078,652.774326922,631,653,0.450041080622,0.00479390663344,0.0796582238662,0.999999817053,0.000314607828081,-0.000512087306152,-6.84239150068e-05,1793239342335098112
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.350954059,745,714,683.649045941,658,633,880.649045941,786,804.350954059,652.649045941,631,653,0.450221497917,0.00479222532359,0.0796580574953,0.999999815769,0.000315390079902,-0.000514401506381,-6.61946509552e-05,1793239342351764736
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.925716619,745,714,683.074283381,658,633,880.074283381,786,804.925716619,652.074283381,631,653,0.450390624247,0.00478889060913,0.0796570780444,0.999999814337,0.000316719536294,-0.00051671953965,-6.33707994743e-05,1793239342368431104
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,684,657.901148165,633,881,786,804.098851835,652,632,653,0.45066222059,0.00478575259281,0.0796442605039,0.999999807132,0.000311042180008,-0.0005334748817,-6.62843276947e-05,1793239342401764608
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,684,657.322257818,633,881,786,804.677742182,652,632,653,0.450778653337,0.00476730796113,0.0796460449472,0.999999812436,0.00029499224597,-0.000532636499669,-6.63788233079e-05,1793239342418431488
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+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.835217337,714,684,657.835217337,632.164782663,881,786,805,652.835217337,632,653,0.450964777203,0.00473240114749,0.0796420122401,0.999999819509,0.000253229518279,-0.000540868528031,-6.57081817665e-05,1793239342451764480
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.410050423,745.589949577,713.589949577,684,657.589949577,632,881,786,805,652.589949577,631.589949577,653,0.451035377064,0.00473685014326,0.0796397632256,0.999999815872,0.000256212121775,-0.000546005350612,-6.69981867993e-05,1793239342468431104
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+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745,714,684,656.029188946,632.029188946,881,786,804,652,631,653,0.451327160362,0.00475066281135,0.0796177530262,0.999999791338,0.000271274919008,-0.000582652141846,-6.5198336362e-05,1793239343001764352
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.559855769,713.440144231,684,656.559855769,632.559855769,881,786,804,652,631.559855769,653,0.451328927389,0.00475104229093,0.0796194355089,0.99999979295,0.000271626510364,-0.000579712117253,-6.52098415165e-05,1793239343018430720
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,746,713.146996694,683.853003306,656.853003306,632.853003306,880.853003306,786,804,652,631.853003306,653,0.451329644413,0.00475127826678,0.0796203474664,0.999999793744,0.00027174370915,-0.000578286773919,-6.52044582101e-05,1793239343035097600
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,746,713.726341476,683.273658524,656.273658524,632.273658524,880.273658524,786,804,652,631.273658524,653,0.451327156026,0.00475089034857,0.0796188006814,0.999999791934,0.000271123047464,-0.000581703768446,-6.51500273812e-05,1793239343051764224
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745.696314698,713.696314698,683.303685302,656,632,880,786,804,652,631.303685302,653,0.451327264103,0.00475095154998,0.0796183282066,0.999999791734,0.000270934557049,-0.000582115053062,-6.53292233807e-05,1793239343068430848
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,745.120762213,713.120762213,683.879237787,656,632,880,786,804,652,631.879237787,653,0.451329696603,0.00475141481529,0.079618817483,0.999999792979,0.00027113295792,-0.000579835545793,-6.57175683531e-05,1793239343085097472
+256,4.266666667,HOLD_POSE2,765,746,713,684,656,633,881,786,804,652,631,653,0.451329945178,0.00475029697828,0.079621184386,0.999999794691,0.000269282228466,-0.000577839046159,-6.48562886507e-05,1793239343116968192
+257,4.283333333,HOLD_POSE2,765,745.420484037,713,684,656.579515963,633,881,786,804.579515963,652,631,653,0.451331642959,0.00474919045446,0.0796221163206,0.999999795395,0.000269084187261,-0.000576733904117,-6.46688031265e-05,1793239343133634816
+258,4.300000000,HOLD_POSE2,765,745,713,684,657,632.841594896,881,786,804.841594896,652,631,653,0.451332099101,0.00474842619999,0.0796220515849,0.999999795354,0.000268708043826,-0.000576994920576,-6.45306797903e-05,1793239343150301440
+259,4.316666667,HOLD_POSE2,765,745,713,684,657,632.264362962,881,786,804.264362962,652,631,653,0.451329272322,0.00474856691351,0.0796193516296,0.99999979334,0.000267860993852,-0.000580868092085,-6.45230712015e-05,1793239343166968064
+260,4.333333333,HOLD_POSE2,765.312041388,745,713.312041388,684,656.687958612,632,881,785.687958612,804,652,631,653,0.451329256214,0.00474936329469,0.0796189607408,0.999999792981,0.000268687835982,-0.000581102761487,-6.45263822345e-05,1793239343183635456
+261,4.350000000,HOLD_POSE2,765.887746425,745,713.887746425,684,656.112253575,632,881,785.112253575,804,652,631,653,0.45133161502,0.00475071369123,0.0796205209295,0.999999794022,0.000270929056241,-0.000578263028429,-6.45389199521e-05,1793239343200303104
+262,4.366666667,HOLD_POSE2,765.525904565,745.474095435,714,684,656.474095435,632.474095435,881.474095435,785.474095435,804.474095435,652,631,653,0.451332337206,0.00475173174889,0.0796214397562,0.999999794335,0.000271731041333,-0.000577305034116,-6.48947711966e-05,1793239343216969216
+263,4.383333333,HOLD_POSE2,765,746,714,683.93803418,656.93803418,632.93803418,881.93803418,786,804.93803418,652,631,653,0.451332674475,0.0047523925181,0.0796220545171,0.999999794506,0.000271856466537,-0.000576908859227,-6.52557948458e-05,1793239343233635328
+264,4.400000000,HOLD_POSE2,765,746,714,683.358981822,656.358981822,632.358981822,881.358981822,786,804.358981822,652,631,653,0.451333107651,0.00475074353998,0.0796214282528,0.999999794949,0.000269245165024,-0.000577397552188,-6.49660791449e-05,1793239343250302208
+265,4.416666667,HOLD_POSE2,765,746,714,683,656,632.218324953,881,786,804,652,631,653.218324953,0.451332586637,0.0047497626755,0.0796204794141,0.999999794535,0.000268341484693,-0.000578558707718,-6.47465424488e-05,1793239343266968832
+266,4.433333333,HOLD_POSE2,765,746,714,683,656,632.792784251,881,786,804,652,631,653.792784251,0.451330509139,0.00474987164637,0.0796190043883,0.999999792726,0.000270223297282,-0.000580816792406,-6.46414826364e-05,1793239343283635712
+267,4.450000000,HOLD_POSE2,765,746,713.63300818,683,656,632.63300818,881,786,804.36699182,652,631.36699182,653.63300818,0.451330078473,0.0047497539372,0.0796187767043,0.99999979255,0.000270156016696,-0.000581140804549,-6.4735293557e-05,1793239343300302080
+268,4.466666667,HOLD_POSE2,765,746,713.058942596,683,656,632.058942596,881,786,804.941057404,652,631.941057404,653.058942596,0.451330577026,0.00474950832468,0.0796192528282,0.999999793297,0.000268988967738,-0.000580373523689,-6.49413165368e-05,1793239343316968704
+269,4.483333333,HOLD_POSE2,765,746,713.532798194,683,656.532798194,632.532798194,881,786,805,652,631.467201806,653,0.451330797348,0.00475096842988,0.0796191779018,0.999999793221,0.000269476152794,-0.00058025922851,-6.51141454502e-05,1793239343333635072
+270,4.500000000,HOLD_POSE2,765,746,714,683.123270917,657,633,881,786,804.876729083,652,630.876729083,653,0.45133153478,0.00475198482526,0.0796195538937,0.9999997934,0.000269938336597,-0.000579733783006,-6.51245494658e-05,1793239343350301696
+271,4.516666667,HOLD_POSE2,765,746,714,683.701596773,657,633,881,786,804.298403227,652,630.298403227,653,0.45133429865,0.00475064277388,0.0796218272145,0.999999794868,0.000269609483765,-0.000577414755263,-6.45493826567e-05,1793239343366968576
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,656,632,881,786,804,652,631,653,0.451334533196,0.00475078306025,0.0796221865253,0.999999795028,0.000272180221788,-0.000575931089877,-6.45358901579e-05,1793239343404549632
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,656,632,881,786,804.586686337,652,631,653,0.451333152093,0.00475185393789,0.0796207600195,0.999999794072,0.000270966311306,-0.000578079010299,-6.5253316563e-05,1793239343421217024
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,656,632.171054615,881,786,805,652,631,653,0.451332151437,0.00475222848445,0.0796198271857,0.999999793433,0.000270236324713,-0.00057949230586,-6.55289924706e-05,1793239343437884416
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,656,632.74989685,881,786,805,652,631,653,0.451332057757,0.00475094300475,0.0796200712464,0.999999793565,0.000270659993811,-0.000579154284462,-6.47515523343e-05,1793239343454550528
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.328355172,683.671644828,656,632.671644828,881,786,805,652,631,653,0.451332928716,0.00475003747441,0.079620892735,0.999999794453,0.000270088729505,-0.000577914539633,-6.45117338995e-05,1793239343471216896
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.906521379,683.093478621,656,632.093478621,881,786,805,652,631,653,0.451334533568,0.0047494210078,0.079622153528,0.999999795911,0.000268760524626,-0.000575988767974,-6.46809355151e-05,1793239343487883264
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.481251471,713.518748529,683.481251471,656,632,881,786,804.518748529,652,631,653,0.451334276822,0.00474956802957,0.0796215164734,0.999999795704,0.000268497237985,-0.000576452317866,-6.48387116908e-05,1793239343504549632
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,746,713.056979559,683.943020441,656,632.056979559,881,786,804,652,631.056979559,653,0.451333614089,0.00474977880957,0.0796205570412,0.999999795185,0.000268333303882,-0.000577415724019,-6.49473402629e-05,1793239343521216256
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,746,713.648280747,683.351719253,656,632.648280747,881,786,804,652,631.648280747,653,0.451332511073,0.00474920665956,0.0796200069165,0.999999794748,0.000267175067264,-0.000578745252753,-6.4615754445e-05,1793239343537883136
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.766108197,714,683.233891803,656,632.766108197,880.766108197,786,804.233891803,652,632,653,0.451328652143,0.00474915253907,0.0796179080332,0.999999792871,0.000266764788393,-0.000582180503425,-6.45050578369e-05,1793239343554550016
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.188850612,714,683.811149388,656,632.188850612,880.188850612,786,804.811149388,652,632,653,0.451320747386,0.00474985891388,0.0796135354887,0.999999788852,0.000267452551929,-0.000588707067333,-6.47186385293e-05,1793239343571216640
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,684,656,632.387227371,880.387227371,786,804.612772629,652,631.612772629,653,0.451297861969,0.0047507121916,0.0796012403626,0.999999776729,0.000269283187753,-0.000608150693586,-6.46648903442e-05,1793239343587883520
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,684,656,632.962731861,880.962731861,786,804.037268139,652,631.037268139,653,0.451267692677,0.00475163689629,0.0795850931302,0.99999976012,0.000271669509161,-0.000633874835011,-6.4481161892e-05,1793239343604549888
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.536680409,713.463319591,684,656,633,880.463319591,786,804.536680409,652.536680409,631,653,0.451207949328,0.00474999449051,0.0795602794729,0.999999733165,0.000271187989881,-0.00067532521569,-6.37483798154e-05,1793239343621216512
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.885880224,713.114119776,684,656,633,880.114119776,786,804.885880224,652.885880224,631,653,0.451145066428,0.00474842694786,0.0795369666274,0.999999706983,0.000270632959025,-0.000713321055354,-6.29624936953e-05,1793239343637883136
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.293355057,713.706644943,684,656,633,880.706644943,786,804.293355057,652.293355057,631,653,0.451077606508,0.00474791839209,0.0795224609673,0.999999693348,0.000270602202968,-0.000732270182621,-6.21133614184e-05,1793239343654549760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.70776921,656,632.70776921,881,786,804.29223079,652,631,653,0.451003969096,0.00474773886105,0.0795147797396,0.999999685147,0.000272592954209,-0.000742780551211,-6.06369300975e-05,1793239343671216128
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.128987836,656,632.128987836,881,786,804.871012164,652,631,653,0.450924274269,0.00474788195938,0.0795137902959,0.999999682517,0.000276565919967,-0.000745016187701,-5.85453928613e-05,1793239343687882752
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.445399534,714,683.445399534,656.445399534,632,881,786,805,652,631.445399534,653,0.450830485738,0.00474720903818,0.079517645537,0.999999687876,0.000277062226155,-0.000737775436679,-5.63189059321e-05,1793239343704549632
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714,684,656.980903015,632,881,786,805,652,632,653,0.45073154055,0.00474631707723,0.0795226674465,0.999999695059,0.000276714257028,-0.000728281722542,-5.40016420906e-05,1793239343721216512
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714,684,656.390137712,632,881,786,805,652,632,653,0.45059921811,0.00474587327743,0.079521024401,0.999999690859,0.00028093827768,-0.000732695567737,-5.01254454385e-05,1793239343737882880
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.196853559,746,714,684,656.196853559,632,881,786,804.803146441,652,631.803146441,653,0.450456156986,0.00474457123677,0.0795201671382,0.999999687717,0.000284271146099,-0.000735958962298,-4.60524665511e-05,1793239343754549504
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.776505831,746,714,684,656.776505831,632,881,786,804.223494169,652,631.223494169,653,0.45029221358,0.00474160027282,0.0795208378979,0.9999996867,0.00028587109172,-0.000736985205982,-4.15968281025e-05,1793239343771216128
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.658384392,746,713.658384392,684,657,632.341615608,881,786,804.341615608,652,631,653,0.450107368212,0.00473916227296,0.0795207301795,0.999999685393,0.000287809709554,-0.000738257239495,-3.6807331058e-05,1793239343787882752
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.10240018,746,713.10240018,684,657,632.89759982,881,786,804.89759982,652,631,653,0.44990940655,0.00473705871529,0.0795201339551,0.99999968389,0.000289960849121,-0.000739683509677,-3.18083326076e-05,1793239343804549376
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.485616279,745.514383721,713.485616279,683.514383721,657,633,881,786.485616279,805,652.485616279,631,653,0.449692614115,0.00473725604609,0.0795245703134,0.999999688078,0.000297316116952,-0.000731273958494,-2.6189960095e-05,1793239343821216000
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745.080441191,714,683.080441191,657,633,881,786.919558809,804.919558809,652.919558809,631.080441191,653,0.449464541258,0.0047377229516,0.0795290191107,0.999999691662,0.000305427582041,-0.000723171464997,-2.03103299234e-05,1793239343837882624
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745.672575121,714,683.672575121,657,633,881,786.327424879,804.327424879,652.327424879,631.672575121,653,0.449191754855,0.00473660042077,0.0795263199262,0.999999684297,0.000310875821347,-0.00073114705232,-1.36582773914e-05,1793239343854549504
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.742389644,746,713.742389644,684,657,633,881,786,804,652,631.742389644,653,0.448902778781,0.00473784924154,0.0795260964007,0.99999967892,0.000318840081305,-0.00073514839886,-7.58608482323e-06,1793239343871216128
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.166134985,746,713.166134985,684,657,633,881,786,804,652,631.166134985,653,0.448593777338,0.00474203124289,0.0795289350761,0.999999676025,0.000329916465995,-0.00073423391315,-2.23113506667e-06,1793239343887882752
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.410872386,745.589127614,713,683.589127614,657.410872386,633,881,786,804,652,631,653,0.448259645397,0.00474634619126,0.0795291293305,0.999999673558,0.000339384063603,-0.000733280136829,1.74142547215e-06,1793239343904549120
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.988184658,745.011815342,713,683.011815342,657.988184658,633,881,786,804,652,631,653,0.447915333374,0.00475071499489,0.0795282523589,0.999999671226,0.000348199958966,-0.000732310444307,5.15399520453e-06,1793239343921216000
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.425515412,745.574484588,713.574484588,683,658,633,881,786,804,652,631,653,0.447544077358,0.00474463803089,0.0795402736157,0.999999696383,0.000322679419481,-0.000709296460557,3.31446741868e-06,1793239343937882624
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.841180212,714,683.158819788,658,633.158819788,881,786,804.158819788,652,631,653,0.447161755551,0.00473817740539,0.0795534185733,0.999999719536,0.000298908816275,-0.000686714000487,2.19019000189e-06,1793239343954549248
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.262535085,714,683.737464915,658,633.737464915,881,786,804.737464915,652,631,653,0.446751670551,0.00473127953388,0.0795688215499,0.999999738224,0.000281660435214,-0.000666489758944,3.24668746159e-06,1793239343971215872
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.315583617,745,714,683.684416383,658.315583617,633.684416383,881,786.315583617,804.684416383,652,631,653,0.446311072983,0.00472600417164,0.0795861164982,0.999999754788,0.0002689173225,-0.000646584192383,5.96321312484e-06,1793239343987882496
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.893265177,745,714,683.106734823,658.893265177,633.106734823,881,786.893265177,804.106734823,652,631,653,0.445845134127,0.00472207633216,0.0796049827651,0.999999769642,0.00025991591534,-0.000626943289015,1.00584225658e-05,1793239344004549120
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745.4665991,714,683,659,633.4665991,881,786.5334009,804.4665991,652,631,653,0.445350917177,0.00471408305966,0.0796221289421,0.999999779882,0.000280093227587,-0.000601377192262,1.13503653599e-05,1793239344021216000
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.959595165,746,714,683,659,634,881,786.040404835,804.959595165,652.040404835,631.040404835,653,0.44484562916,0.00470531386616,0.0796381374307,0.999999787537,0.000305185283443,-0.00057588307652,1.20779883527e-05,1793239344037882880
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.365832685,746,714,683,659,634,881,786.634167315,804.365832685,652.634167315,631.634167315,653,0.444276490963,0.00469853684295,0.0796439038883,0.999999790458,0.000307018755165,-0.000569765924329,1.37781081271e-05,1793239344054549504
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.221973834,746,714,682.778026166,659.221973834,634,881,787,804.221973834,652.778026166,631.778026166,653,0.443699183912,0.00469052561099,0.0796498840533,0.999999797505,0.000296916402657,-0.000562662221457,1.55624640658e-05,1793239344071216384
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.80022086,746,714,682.19977914,659.80022086,634,881,787,804.80022086,652.19977914,631.19977914,653,0.443108765696,0.00468053344553,0.0796562072235,0.999999810583,0.000267656773017,-0.000553975081719,1.74820209065e-05,1793239344087884032
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.624268091,745.624268091,714,682.751463819,660,634.375731909,881,787,805,652,631.375731909,653.375731909,0.442511726222,0.00466980912333,0.0796732446904,0.999999834303,0.000240368883157,-0.000522746612519,1.87968746974e-05,1793239344104550656
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.05020128,745.05020128,714,683.899597439,660,634.94979872,881,787,805,652,631.94979872,653.94979872,0.441911191651,0.00465869832313,0.0796959378359,0.999999861863,0.000214121801897,-0.00047961941319,1.9792528144e-05,1793239344121216512
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.521436554,714.521436554,683.478563446,660.521436554,634.478563446,881,787,805,652,631.478563446,653.478563446,0.44125385717,0.0046500175666,0.079704626927,0.999999872235,0.000200703981211,-0.000463444897312,2.15893029645e-05,1793239344137882880
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.097175031,746,714.902824969,683,661,634.097175031,881,787,804.902824969,652.097175031,631,653,0.440572464222,0.00464175172434,0.0797048973671,0.999999874506,0.000194240697907,-0.000461212848251,2.32622034109e-05,1793239344154549760
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.695250386,746,714.304749614,683,661,634.695250386,881,787,804.304749614,652.695250386,631,653,0.439795116125,0.00463442426632,0.0796686903,0.999999842186,0.000217288274863,-0.00051753537515,2.39008561599e-05,1793239344171216640
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.717543615,746,714,683,661,635,880.717543615,787,804.282456385,652.717543615,631.282456385,653,0.439056247486,0.00462396507286,0.0796670219574,0.999999844254,0.000210033896702,-0.0005164990119,2.46074750702e-05,1793239344187883520
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.14163022,746,714,683,661,635,880.14163022,787,804.85836978,652.14163022,631.85836978,653,0.438357356841,0.00461025217362,0.0797012374897,0.999999881098,0.000171297417635,-0.000455869849526,2.53847072247e-05,1793239344204549888
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.432938515,746,714,682.567061485,661.432938515,635,880.432938515,787,804.567061485,652,631.567061485,653,0.43765843507,0.00460062395348,0.0797701197853,0.999999924964,0.000148650946048,-0.000356612648366,2.83270442338e-05,1793239344221216256
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.992735867,746,714.007264133,682.007264133,662.007264133,635,880.992735867,787,804,652,631.007264133,653,0.436958651343,0.00459232214238,0.0798496341377,0.999999960661,0.000131711862672,-0.000245578177387,3.19572662167e-05,1793239344237883136
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.402731519,746,714.597268481,682.597268481,662.597268481,635,880.402731519,787,804,652,631.597268481,653,0.436190531029,0.00458356275818,0.079875110752,0.999999967845,0.000151678637789,-0.000200346436162,3.41268585548e-05,1793239344254549760
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.183716069,746,715,683,662.816283931,635,880,787,804.183716069,652.183716069,631.816283931,653,0.43538228245,0.00457467802968,0.0798810553079,0.999999969401,0.000157095142769,-0.000187746355726,3.56505951611e-05,1793239344271216384
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.762514789,746,715,683,662.237485211,635,880,787,804.762514789,652.762514789,631.237485211,653,0.434487737813,0.00456552374795,0.0798449960383,0.999999960659,0.000131221192325,-0.000245320885957,3.57854145705e-05,1793239344287883264
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.661032087,746,714.661032087,682.661032087,662,635,880,787,804.661032087,652.661032087,631.338967913,653,0.433593028165,0.00455605062264,0.0798103459022,0.999999945065,0.00012458963158,-0.000304895214088,3.72277166658e-05,1793239344304549888
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.086211048,746,714.086211048,682.086211048,662,635,880,787,804.086211048,652.086211048,631.913788952,653,0.432698203742,0.00454635564705,0.0797766762395,0.999999923664,0.000131346884068,-0.00036586099441,3.95797622822e-05,1793239344321216768
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.46802724,661.53197276,635,880,787,804,652,631.53197276,653,0.431777627019,0.00453722415418,0.0797390634762,0.99999989782,0.000120168096723,-0.000433842859349,4.12282362628e-05,1793239344337883392
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,746,714.021043166,683,661.021043166,635,880,787,804,652,631.021043166,653,0.430857081688,0.00452802117132,0.0797041402643,0.999999870053,0.000106021071486,-0.000496817510407,4.27345124872e-05,1793239344354549760
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,746,714.642839829,683,661.642839829,635,880,787,804,652,631.642839829,653,0.430067152892,0.00451393891271,0.0797658621625,0.999999921521,9.74816879049e-05,-0.000381501838868,4.37252429559e-05,1793239344371216384
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.246937935,745.753062065,715,683,662.246937935,635,880,787,804,652,631.753062065,653,0.429257826821,0.00450184603133,0.0798244389099,0.999999954303,8.89285479646e-05,-0.000285320004706,4.55888293407e-05,1793239344387883008
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.827149698,745.172850302,715,683,662.827149698,635,880,787,804,652,631.172850302,653,0.428422321574,0.00449243806294,0.0798787708891,0.999999972485,8.03568419355e-05,-0.000214961680542,4.86304452552e-05,1793239344404549632
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.598813086,662.598813086,635,879.598813086,787,804,652,631,653,0.427496500351,0.00448277884491,0.0798641833315,0.999999968681,7.21861681029e-05,-0.000234541074927,4.91725658278e-05,1793239344421216512
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.027395868,662.027395868,635,879.027395868,787,804,652,631,653,0.426532356602,0.00447301301803,0.0798203520606,0.999999954042,6.41856593365e-05,-0.000292282548458,4.86541085464e-05,1793239344437883392
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.440139715,745.559860285,714.440139715,682,661.440139715,635.559860285,879,787,804,652,631,653,0.425621527882,0.00446237058301,0.0797851524072,0.999999939462,4.84441036896e-05,-0.000341178746403,4.82389281031e-05,1793239344454550272
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.145713339,746,714.145713339,682,661.291426678,636,879.145713339,787,804,652,631.145713339,653,0.424701484397,0.00445292153188,0.0797544403283,0.999999922581,3.80598084463e-05,-0.00038860546799,4.87459261225e-05,1793239344471216896
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.725017807,746,714.725017807,682,662.450035613,636,879.725017807,787,804,652,631.725017807,653,0.423746031957,0.00444715492552,0.07973578825,0.999999903908,4.47767963242e-05,-0.000432984993806,5.19815240827e-05,1793239344487883264
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.696705083,745.696705083,714.696705083,682,662.393410167,635.696705083,879.696705083,787,804,652.303294917,632,652.696705083,0.422850323434,0.00445706013796,0.079745954198,0.999999911781,5.70275623515e-05,-0.000412850797444,5.23488800038e-05,1793239344504549632
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.119356313,745.119356313,714.119356313,682,661.238712627,635.119356313,879.119356313,787,804,652.880643687,632,652.119356313,0.422008598889,0.00448112622876,0.0797821597893,0.999999940066,7.42785871054e-05,-0.000334422728126,5.01245245241e-05,1793239344521216256
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.455861836,745.455861836,714.455861836,682,661.911723672,635,879,787,804,652.544138164,632,652.455861836,0.42120560974,0.00450211780831,0.079838738294,0.999999966326,0.000101406200488,-0.000233543703098,5.022383816e-05,1793239344537882880
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.968606344,745.968606344,715,682,662.968606344,635,879.031393656,787,804,652.031393656,632,653,0.420408487966,0.00452057199958,0.0798960783315,0.999999981295,0.000128614943146,-0.000135195340493,5.08890970832e-05,1793239344554549504
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.377585718,745.377585718,715,682,662.377585718,635,879.622414282,787,804,652.622414282,632,653,0.419536009792,0.0045080773994,0.0798723486156,0.999999975158,0.000111386991391,-0.000186257685675,5.08480833444e-05,1793239344571216128
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.208781399,745,714.791218601,681.791218601,661.791218601,635.208781399,879.791218601,787.208781399,804,652.791218601,632,652.791218601,0.418658075487,0.00449593896028,0.0798442247646,0.999999965685,9.41081020958e-05,-0.000239320333322,5.00034511565e-05,1793239344587883264
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.786916134,745,714.213083866,681.213083866,661.213083866,635.786916134,879.213083866,787.786916134,804,652.213083866,632,652.213083866,0.417770488643,0.00448443060049,0.0798083272838,0.999999952131,7.67390970057e-05,-0.000295921707201,4.77371447323e-05,1793239344604550400
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745.364236009,714.364236009,681.364236009,661.728472018,635.635763991,879,787.635763991,804,652,631.635763991,652.364236009,0.416915110961,0.00448003534644,0.0798051118816,0.999999948075,7.18435868497e-05,-0.000310414340901,4.82871523184e-05,1793239344621217024
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745.941080208,714.941080208,681.941080208,662.882160416,635.058919792,879,787.058919792,804,652,631.058919792,652.941080208,0.416078534142,0.00447979208382,0.0798209733366,0.999999950873,7.42289811974e-05,-0.000300327680101,5.0481070672e-05,1793239344637883136
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.472413288,745.472413288,715,682,662.472413288,635,879.527586712,787,804,652.527586712,631.527586712,653,0.41528612055,0.00448583286337,0.0798040998312,0.999999942571,8.37695135625e-05,-0.000324467115181,5.06076031158e-05,1793239344654549760
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.113561512,715,682,662,635,879.886438488,787,804,652.886438488,631.886438488,653,0.414511998341,0.00449269445786,0.0797908406582,0.999999936527,9.33269976786e-05,-0.000340170406432,5.01964930223e-05,1793239344671216384
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.692847838,715,682,662,635,879.307152162,787,804,652.307152162,631.307152162,653,0.413792286466,0.00449999049464,0.079807676466,0.999999947253,9.96158121176e-05,-0.000305308403515,4.85449955841e-05,1793239344687883008
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.729498951,715,681.458997901,662.270501049,635,879,787,804,652.270501049,631,653,0.413071970791,0.0045007381723,0.0798207380377,0.999999954131,0.000102164903757,-0.000281033353754,4.8179979624e-05,1793239344704549888
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.15368904,715,680.30737808,662.84631096,635,879,787,804,652.84631096,631,653,0.412350973668,0.00449409485386,0.0798295397073,0.999999957635,0.000100493048373,-0.000268707578642,4.9266988487e-05,1793239344721216768
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.421988953,745,715,680,662.156022094,635,879,787,804,652.578011047,631,653,0.41162042803,0.00448645903879,0.0798198073204,0.9999999539,8.16291610416e-05,-0.000288212490601,4.97065389563e-05,1793239344737883648
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.997618964,745,715,680,661.004762072,635,879,787,804,652.002381036,631,653,0.410886405834,0.0044784618672,0.0798033269092,0.99999994618,5.65058632256e-05,-0.000319306568116,4.9910357702e-05,1793239344754550528
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diff --git a/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c6a20f09cb1af03dd60a35ba23a934203d23442f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_17.5/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+367,6.116666667,pose2_to_pose3_retreat,0.578386266912,0.0100908960177,1.0700324191,0.548956717306,0.0187626317461,1.06970055481
+368,6.133333333,pose2_to_pose3_retreat,0.578082166543,0.0100908588428,1.07003224312,0.548652617561,0.0187625967465,1.06970038039
+369,6.150000000,pose2_to_pose3_retreat,0.577801719864,0.0100909153836,1.07003237305,0.548372170473,0.0187626518518,1.06970050912
+370,6.166666667,pose2_to_pose3_retreat,0.577544457662,0.0100908595871,1.07003220783,0.548114908334,0.0187625962558,1.06970034351
+371,6.183333333,pose2_to_pose3_retreat,0.577311255043,0.0100908810904,1.07003228737,0.547881705216,0.018762615977,1.06970042072
+372,6.200000000,pose2_to_pose3_retreat,0.577099069155,0.0100908424531,1.07003239748,0.547669519458,0.0187625776904,1.06970052853
+373,6.216666667,pose2_to_pose3_retreat,0.576907149731,0.0100907025808,1.07003233145,0.547477601528,0.0187624428995,1.06970046286
+374,6.233333333,pose2_to_pose3_retreat,0.576733822846,0.0100906577059,1.07003230714,0.547304275703,0.0187624016826,1.06970044017
+375,6.250000000,pose2_to_pose3_retreat,0.57657987721,0.0100906903937,1.07003223649,0.547150329108,0.0187624311096,1.06970036939
+376,6.266666667,pose2_to_pose3_retreat,0.576441356027,0.0100907045746,1.07003247067,0.547011807299,0.0187624429439,1.06970059773
+377,6.283333333,pose2_to_pose3_retreat,0.576317031049,0.0100906881289,1.070032231,0.546887482505,0.0187624275038,1.06970036829
+378,6.300000000,pose2_to_pose3_retreat,0.576205460235,0.0100908474251,1.0700322452,0.546775909649,0.0187625794588,1.06970037167
+379,6.316666667,pose2_to_pose3_retreat,0.576105529899,0.0100908294778,1.07003231684,0.546675981557,0.018762569141,1.06970044585
+380,6.333333333,pose2_to_pose3_retreat,0.576017795569,0.0100908638868,1.07003240574,0.546588246496,0.0187626012797,1.06970053972
+381,6.350000000,pose2_to_pose3_retreat,0.575942360178,0.010090750107,1.07003239512,0.546512812857,0.0187624933927,1.06970052671
+382,6.366666667,pose2_to_pose3_retreat,0.575879227922,0.0100907431824,1.07003229227,0.546449679996,0.0187624843304,1.06970042153
+383,6.383333333,pose2_to_pose3_retreat,0.575827764673,0.0100908547173,1.0700322477,0.546398213978,0.0187625867641,1.06970038457
+384,6.400000000,pose2_to_pose3_retreat,0.575786454413,0.0100908124901,1.0700322627,0.546356904431,0.0187625470843,1.06970040291
+385,6.416666667,pose2_to_pose3_retreat,0.575753948508,0.0100907553096,1.07003225605,0.546324399063,0.0187624912835,1.06970038468
+386,6.433333333,pose2_to_pose3_retreat,0.575728475397,0.0100908213614,1.07003231042,0.546298925428,0.0187625558177,1.06970044588
+387,6.450000000,pose2_to_pose3_retreat,0.575709818405,0.0100909175377,1.07003224839,0.546280268738,0.0187626527445,1.06970037669
+388,6.466666667,pose2_to_pose3_retreat,0.575695988578,0.0100908276229,1.07003239214,0.546266440498,0.0187625683179,1.06970052314
+389,6.483333333,pose2_to_pose3_retreat,0.575686356182,0.0100907989781,1.07003240734,0.546256808,0.0187625394229,1.0697005409
+390,6.500000000,pose2_to_pose3_retreat,0.575679752816,0.0100908294301,1.07003232239,0.546250203395,0.0187625657115,1.06970045714
+391,6.516666667,pose2_to_pose3_retreat,0.575675307894,0.0100908569494,1.07003233193,0.546245758588,0.0187625935917,1.06970046591
+392,6.533333333,pose2_to_pose3_retreat,0.575672392618,0.0100908752349,1.07003234044,0.54624284342,0.0187626122203,1.06970047386
+393,6.550000000,pose2_to_pose3_retreat,0.575670730442,0.010090833805,1.07003234789,0.546241181542,0.01876257173,1.06970047941
+394,6.566666667,pose2_to_pose3_retreat,0.575669912875,0.0100908083183,1.0700323518,0.546240364146,0.0187625467788,1.06970048224
+395,6.583333333,pose2_to_pose3_retreat,0.57566928802,0.0100907888393,1.0700323548,0.54623973942,0.018762527709,1.06970048441
+396,6.600000000,pose2_to_pose3_retreat,0.575668732532,0.0100907715226,1.07003235746,0.546239184048,0.0187625107561,1.06970048633
+397,6.616666667,pose2_to_pose3_retreat,0.575668322563,0.0100907587424,1.07003235943,0.546238774164,0.0187624982444,1.06970048775
+398,6.633333333,pose2_to_pose3_retreat,0.575667945259,0.0100907536107,1.0700323498,0.546238396857,0.0187624931031,1.06970047813
+399,6.650000000,pose2_to_pose3_retreat,0.575667511452,0.0100907734104,1.07003229443,0.546237962731,0.0187625118966,1.06970042473
+400,6.666666667,pose2_to_pose3_retreat,0.57566744318,0.0100907765265,1.07003228571,0.54623789441,0.0187625148542,1.06970041633
+401,6.683333333,pose2_to_pose3_retreat,0.575666871531,0.0100908026176,1.07003221274,0.546237322339,0.0187625396194,1.06970034595
+402,6.700000000,pose2_to_pose3_retreat,0.575666489997,0.0100908200314,1.07003216403,0.546236940525,0.0187625561483,1.06970029899
+403,6.716666667,pose2_to_pose3_retreat,0.57566628341,0.0100908294604,1.07003213766,0.546236733786,0.0187625650981,1.06970027356
+404,6.733333333,pose2_to_pose3_retreat,0.575666275614,0.0100908298163,1.07003213667,0.546236725984,0.0187625654358,1.0697002726
+405,6.750000000,pose2_to_pose3_retreat,0.575666021359,0.0100908414209,1.07003210421,0.546236471542,0.0187625764507,1.0697002413
+406,6.766666667,pose2_to_pose3_retreat,0.575665614598,0.0100908436153,1.0700321221,0.546236064734,0.0187625784883,1.06970025922
+407,6.783333333,pose2_to_pose3_retreat,0.575665422878,0.0100908268823,1.07003220629,0.546235873266,0.0187625625351,1.06970034147
+408,6.800000000,pose2_to_pose3_retreat,0.575665391955,0.0100908241834,1.07003221987,0.546235842383,0.018762559962,1.06970035473
+409,6.816666667,pose2_to_pose3_retreat,0.575665390653,0.0100908240699,1.07003222044,0.546235841084,0.0187625598537,1.06970035529
+410,6.833333333,pose2_to_pose3_retreat,0.575665330525,0.010090818822,1.07003224684,0.546235781034,0.0187625548504,1.06970038108
+411,6.850000000,pose2_to_pose3_retreat,0.575665175543,0.0100908052955,1.0700323149,0.546235626256,0.0187625419543,1.06970044757
+412,6.866666667,pose2_to_pose3_retreat,0.575664941798,0.0100907848946,1.07003241755,0.546235392817,0.0187625225042,1.06970054784
+413,6.883333333,pose2_to_pose3_retreat,0.575664675891,0.0100907809594,1.07003241004,0.546235126582,0.0187625176393,1.06970054523
+414,6.900000000,pose2_to_pose3_retreat,0.575664602226,0.0100907848537,1.07003237581,0.54623505265,0.0187625207558,1.06970051434
+415,6.916666667,pose2_to_pose3_retreat,0.575664527661,0.0100907887954,1.07003234117,0.546234977815,0.0187625239103,1.06970048306
+416,6.933333333,pose2_to_pose3_retreat,0.575664383408,0.0100907964212,1.07003227414,0.54623483304,0.0187625300131,1.06970042256
+417,6.950000000,pose2_to_pose3_retreat,0.575664365516,0.0100907341912,1.07003213788,0.546234816493,0.0187624720547,1.06970027861
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_01/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6a28a980e41dd019cbbc5460a3855fd0700aa5b3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aba53cb9b7e06c7a7a5c56141dc0479421f83be5f5f913c3a550ae1688dfcdd
+size 24846799
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..990e758985788c0a3d7db84761a4b88ce949dc0d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_01/franka_data.csv
@@ -0,0 +1,392 @@
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+29,0.483333333,BASELINE,763.825466402,742,712,671.174533598,662,633,876.174533598,783,798.174533598,649.825466402,628,650,0.400791640449,-0.00543845102602,0.0598636803016,0.99999993963,7.31814341197e-05,-0.00033757107109,-3.78108985755e-05,1793192167466962176
+30,0.500000000,BASELINE,764,742.407211257,711.592788743,671,662,633,876.407211257,783.407211257,798,649.592788743,628,650.407211257,0.400791104551,-0.0054374150996,0.0598633375249,0.999999939357,7.40681168742e-05,-0.000338178195836,-3.78980687287e-05,1793192167483629056
+31,0.516666667,BASELINE,764,742.984015823,711.015984177,671,662,633,876.984015823,783.984015823,798,649.015984177,628,650.984015823,0.40079024565,-0.00543581855335,0.0598626866758,0.999999938933,7.50323193751e-05,-0.000339180024513,-3.82269910578e-05,1793192167500295680
+32,0.533333333,BASELINE,764,742.437875322,711.562124678,671,662,633,876.437875322,783.437875322,798.562124678,649,628.562124678,650.437875322,0.400791458033,-0.0054369240211,0.0598638086992,0.999999939559,7.46966768175e-05,-0.00033743241845,-3.7972105636e-05,1793192167516962560
+33,0.550000000,BASELINE,764,742,712,671,662,633,876,783,799,649,628.857604982,650,0.400792025242,-0.00543756200743,0.0598645054924,0.999999939912,7.46041766212e-05,-0.000336413518346,-3.78902946109e-05,1793192167533629184
+34,0.566666667,BASELINE,764,742,712,671,662,633,876,783,799,649,628.270703413,650,0.400790394163,-0.00543650028133,0.0598637171333,0.999999939328,7.53863292677e-05,-0.000337913999895,-3.84007024106e-05,1793192167550295552
+35,0.583333333,BASELINE,763.687926688,742,712,671,661.687926688,633,876,783,799,649,628,650,0.400790414981,-0.00543616575412,0.0598636126577,0.99999993935,7.45934233706e-05,-0.000337999237829,-3.86305468046e-05,1793192167566961920
+36,0.600000000,BASELINE,763.108681258,742,712,671,661.108681258,633,876,783,799,649,628,650,0.40079185002,-0.0054364537961,0.0598640936683,0.999999939888,7.24520788702e-05,-0.000336872857949,-3.86201953892e-05,1793192167583628288
+37,0.616666667,BASELINE,763.467784557,742,712,671,661,633,876,783,799.467784557,649,628,650.467784557,0.400790664294,-0.0054359490432,0.0598625958305,0.999999939131,7.37314412328e-05,-0.000338827567811,-3.86930524077e-05,1793192167600295680
+38,0.633333333,BASELINE,764,742,712,671,661,632.956519241,876.086961518,783.043480759,799.956519241,649,628,650.956519241,0.400788976581,-0.00543535227283,0.059860829655,0.99999993815,7.56255594446e-05,-0.000341289673736,-3.8760174968e-05,1793192167616962560
+39,0.650000000,BASELINE,764,742,712,671,661,632.382380289,877.235239422,783.617619711,799.382380289,649,628,650.382380289,0.400788549621,-0.00543586715566,0.0598613664081,0.999999938188,7.53803777133e-05,-0.000341259503619,-3.85227696211e-05,1793192167633629440
+40,0.666666667,BASELINE,764.197391334,741.802608666,711.802608666,671,661,632.197391334,877.605217332,783.802608666,799,649,628,650,0.400788752087,-0.00543650272914,0.0598619583877,0.999999938358,7.49916715002e-05,-0.000340863143637,-3.83765828691e-05,1793192167650295808
+41,0.683333333,BASELINE,764.788394865,741.211605135,711.211605135,671,661,632.788394865,876.42321027,783.211605135,799,649,628,650,0.400790209673,-0.0054373789682,0.0598626604928,0.99999993879,7.43167673944e-05,-0.000339736575319,-3.84122924223e-05,1793192167666962432
+42,0.700000000,BASELINE,764.256854104,741.371572948,711.371572948,671,661.371572948,632.628427052,875.628427052,783,799,649,628,650,0.400790252917,-0.00543688705377,0.0598628744474,0.99999993884,7.48510277146e-05,-0.000339472513256,-3.84046645252e-05,1793192167683629056
+43,0.716666667,BASELINE,763.099227086,741.950386457,711.950386457,671,661.950386457,632.049613543,875.049613543,783,799,649,628,650,0.400789507327,-0.00543563206737,0.0598628161416,0.999999938677,7.60596856828e-05,-0.000339689504225,-3.83728656599e-05,1793192167700295424
+44,0.733333333,BASELINE,764.059740947,742,711.470129527,671,661.470129527,632,875.529870473,783,799,649,628,650.529870473,0.400790255976,-0.00543650145515,0.0598629146351,0.999999938953,7.51501423798e-05,-0.000339091242242,-3.82546175916e-05,1793192167716961792
+45,0.750000000,BASELINE,764.892238047,742,711.107761953,671,661,632.107761953,876,783,799,649,628,650.892238047,0.400790669836,-0.00543733552951,0.0598629222293,0.999999939128,7.41921408167e-05,-0.000338791756879,-3.82011920901e-05,1793192167733628160
+46,0.766666667,BASELINE,764.321459414,742,711.678540586,671,661,632.678540586,876,783,799,649,628,650.321459414,0.40078904331,-0.00543716213213,0.0598624760987,0.999999938696,7.38791858017e-05,-0.00034010441446,-3.84611107921e-05,1793192167750295040
+47,0.783333333,BASELINE,763.741837283,742,712,671,661.258162717,633,876,783,798.741837283,649,628.258162717,650,0.400788321683,-0.00543687328957,0.0598621840802,0.99999993847,7.40079904471e-05,-0.000340725839662,-3.85831825493e-05,1793192167766962176
+48,0.800000000,BASELINE,763.150812717,742,712,671,661.849187283,633,876,783,798.150812717,649,628.849187283,650,0.400788766786,-0.00543643559784,0.0598620907661,0.999999938512,7.470637744e-05,-0.000340456025246,-3.85275215175e-05,1793192167783629056
+49,0.816666667,BASELINE,763.431840493,742.431840493,712,671,662,633,876,783,798.431840493,649,628.568159507,650,0.4007887613,-0.00543657911081,0.059862216229,0.999999938538,7.46451485623e-05,-0.000340408462998,-3.83942015368e-05,1793192167800295424
+50,0.833333333,BASELINE,764,742.988490098,712,671,662,633,876,783,799,649,628,650,0.400788598923,-0.00543689647582,0.0598623982828,0.99999993855,7.43545714558e-05,-0.00034045267664,-3.82434983222e-05,1793192167816961536
+51,0.850000000,BASELINE,764,742.414480505,712,671,662,633,876,783,799,649,628,650,0.400788313213,-0.00543597918755,0.059861683066,0.999999938172,7.55735922545e-05,-0.000341260950694,-3.85434843661e-05,1793192167833628416
+52,0.866666667,BASELINE,764,742,712,671,662,633,876,783,799,649,628,650,0.400788220045,-0.00543553374708,0.0598614503307,0.999999938028,7.64127498642e-05,-0.000341485522076,-3.86337155584e-05,1793192167850295040
+53,0.883333333,BASELINE,764,742,712,671,662,633,876,783,799,649,628,650,0.400788627133,-0.00543631423794,0.0598624711546,0.999999938497,7.62649659207e-05,-0.000340193546412,-3.81789722006e-05,1793192167866961920
+54,0.900000000,BASELINE,763.666556338,742,711.666556338,671,662,633,876,783,799,649,628,650,0.400788755774,-0.00543666935456,0.0598625637073,0.999999938614,7.57899192495e-05,-0.000339979860511,-3.79731168118e-05,1793192167883629056
+55,0.916666667,BASELINE,763.085267441,742,711.085267441,671,662,633,876,783,799,649,628,650,0.40078867745,-0.00543670829486,0.0598619662855,0.999999938469,7.50716215749e-05,-0.000340567656326,-3.79522573037e-05,1793192167900295680
+56,0.933333333,BASELINE,763.490819289,742,711.490819289,671,661.509180711,633,875.509180711,783,799,649,628,650,0.400788549173,-0.00543607601938,0.0598620341597,0.999999938289,7.61954562559e-05,-0.000340798520336,-3.83694290719e-05,1793192167916962304
+57,0.950000000,BASELINE,764,742,711.932517377,671,661.134965245,633,875.067482623,783,799,649,628,650,0.400788643756,-0.00543566170507,0.0598623342483,0.999999938232,7.7088509713e-05,-0.000340726676132,-3.87135256889e-05,1793192167933628928
+58,0.966666667,BASELINE,764,742,711.344508835,671,662.310982329,633,875.655491165,783,799,649,628,650,0.400790523601,-0.00543781864141,0.059863543357,0.999999939171,7.37588265266e-05,-0.000338793178096,-3.79131426222e-05,1793192167950295296
+59,0.983333333,BASELINE,764,742,711.239788791,671,662.760211209,633,876.479577583,783,799.239788791,649.239788791,628,650,0.400791312463,-0.00543898224884,0.059863718059,0.999999939495,7.23583387554e-05,-0.00033817446804,-3.75862350937e-05,1793192167966961664
+60,1.000000000,BASELINE,764,742,711.818836215,671,662.181163785,633,877.637672431,783,799.818836215,649.818836215,628,650,0.400790557779,-0.00543874047228,0.059862429259,0.999999938964,7.36873200312e-05,-0.000339415949631,-3.7929211404e-05,1793192167983628288
+61,1.016666667,BASELINE,764,742,711.601953286,671,661.601953286,633,877.203906571,783,799.601953286,649.601953286,628,650,0.400790426385,-0.00543741650252,0.0598625333128,0.999999938803,7.65000003186e-05,-0.000339264848049,-3.79598093831e-05,1793192168000294912
+62,1.033333333,BASELINE,764,742,711.02266857,671,661.02266857,633,876.045337141,783,799.02266857,649.02266857,628,650,0.400790578788,-0.00543559979028,0.0598632715586,0.9999999388,7.9988236014e-05,-0.000338479677621,-3.78481757332e-05,1793192168016961536
+63,1.050000000,BASELINE,764,742,711.549961558,671,661,632.450038442,876,783,799,649,628,650,0.400789395084,-0.00543632177653,0.0598625162538,0.999999938423,7.737504327e-05,-0.000340160485061,-3.81820236168e-05,1793192168033628416
+64,1.066666667,BASELINE,764,742,712,671,661,632.125839703,876,783,799.125839703,649,628,650.125839703,0.400788950581,-0.00543718109138,0.0598621981467,0.999999938333,7.47747521467e-05,-0.000340976765387,-3.84285721759e-05,1793192168050295296
+65,1.083333333,BASELINE,764,742,712,671,661,632.714664921,876,783,799.714664921,649,628,650.714664921,0.400791425922,-0.00543816527125,0.0598637123527,0.999999939388,7.31361460028e-05,-0.000338242810544,-3.8287182302e-05,1793192168066961920
+66,1.100000000,BASELINE,764.300007537,742,712,671,661,633,876,783,799.699992463,649,628,650.699992463,0.40079247891,-0.00543863382097,0.0598644493887,0.999999939941,7.21055775942e-05,-0.000336838165552,-3.81885992409e-05,1793192168083628544
+67,1.116666667,BASELINE,764.882075849,742,712,671,661,633,876,783,799.117924151,649,628,650.117924151,0.400792194631,-0.00543861758603,0.059864455746,0.999999940029,7.16466735683e-05,-0.00033668330988,-3.81302622529e-05,1793192168100294912
+68,1.133333333,BASELINE,764.54111037,742,712,671,661,632.54111037,876,783,799,649.45888963,628,650,0.400791547718,-0.00543803099334,0.0598638068701,0.999999939615,7.29499143466e-05,-0.000337641289648,-3.80475247338e-05,1793192168116961536
+69,1.150000000,BASELINE,763.965688149,742,712,671,661.034311851,632.034311851,876,783,799,649.965688149,628,650,0.400790793447,-0.00543735095841,0.0598629907358,0.999999939086,7.45418734076e-05,-0.000338864961014,-3.79614885964e-05,1793192168133628160
+70,1.166666667,BASELINE,763.391156987,742,712,671,661.608843013,632.608843013,876,783,799,649.391156987,628,650,0.40078979949,-0.00543748124691,0.0598621622475,0.999999938831,7.36306886975e-05,-0.000339820280179,-3.79211235047e-05,1793192168150295040
+71,1.183333333,BASELINE,763.188610494,742,711.811389506,671.188610494,662,633,876,783,799.188610494,649,628,650.188610494,0.400789289977,-0.00543747238158,0.0598617605911,0.999999938736,7.27073928385e-05,-0.000340289051555,-3.80179385226e-05,1793192168166961920
+72,1.200000000,BASELINE,763.779547717,742,711.220452283,671.779547717,662,633,876,783,799.779547717,649,628,650.779547717,0.400789813839,-0.00543716668599,0.0598622694136,0.999999938983,7.17582624087e-05,-0.000339719963673,-3.84073736509e-05,1793192168183628544
+73,1.216666667,BASELINE,764,742,711.361205598,671.638794402,662,633,876,783,799.638794402,649,628,650.638794402,0.400789686036,-0.00543669926809,0.0598623511811,0.999999938862,7.35647734476e-05,-0.000339671691003,-3.8569438823e-05,1793192168200295424
+74,1.233333333,BASELINE,764,742,711.937341892,671.062658108,662,633,876,783,799.062658108,649,628,650.062658108,0.400789170468,-0.00543613561946,0.0598621788351,0.999999938512,7.70109931685e-05,-0.000339933322685,-3.85962104351e-05,1793192168216962048
+75,1.250000000,BASELINE,764,742,711.486127748,671.513872252,662,633,876,783,799,649,628,650.513872252,0.40078914657,-0.00543549455641,0.0598623737482,0.999999938413,7.79318718997e-05,-0.000340006779268,-3.86780019956e-05,1793192168233628672
+76,1.266666667,BASELINE,764,742,711.092296709,671.907703291,662,633,875.907703291,783,799,649,628,650.907703291,0.400789076088,-0.00543518108663,0.0598624952428,0.999999938337,7.81733888308e-05,-0.000340172066477,-3.8691328827e-05,1793192168250295040
+77,1.283333333,BASELINE,764,742,711.68064254,671.31935746,662,633,875.31935746,783,799,649,628,650.31935746,0.400788432791,-0.00543667903954,0.0598619812877,0.999999938222,7.64198761804e-05,-0.000340954309419,-3.83006076898e-05,1793192168266961920
+78,1.300000000,BASELINE,764,742.264279186,712,671.264279186,662,633,875.264279186,783,799,649,628,650,0.400788638891,-0.00543762119795,0.0598620604334,0.999999938378,7.54916038143e-05,-0.000340714161171,-3.81896127088e-05,1793192168283628544
+79,1.316666667,BASELINE,764,742.842324792,712,671.842324792,662,633,875.842324792,783,799,649,628,650,0.40078985344,-0.00543790348722,0.0598628437399,0.99999993886,7.554310109e-05,-0.000339260175222,-3.84107236482e-05,1793192168300294912
+80,1.333333333,BASELINE,764,742.580919561,711.580919561,671.580919561,661.580919561,633,876,783,799,649.419080439,628,650,0.400789739375,-0.00543730668336,0.0598628818363,0.999999938898,7.54728875747e-05,-0.00033915677274,-3.84782481398e-05,1793192168316961536
+81,1.350000000,BASELINE,764,742.004647713,711.004647713,671.004647713,661.004647713,633,876,783,799,649.995352287,628,650,0.400789126965,-0.00543638014358,0.0598626404145,0.99999993877,7.53570219909e-05,-0.000339559955744,-3.8488164449e-05,1793192168333628160
+82,1.366666667,BASELINE,764,742,711,671,661.570692192,633,875.429307808,783,799,649.429307808,628,650,0.400788194039,-0.00543686135371,0.0598619527144,0.999999938313,7.61725227297e-05,-0.000340730719827,-3.8384098246e-05,1793192168350295040
+83,1.383333333,BASELINE,764,742,711.149874993,671,662,633,875.149874993,783,799,649.149874993,628,650,0.400787923109,-0.0054369001637,0.059861689193,0.999999938104,7.69259567942e-05,-0.000341181672276,-3.83409549043e-05,1793192168366961920
+84,1.400000000,BASELINE,764,742,711.740378214,671,662,633,875.740378214,783,799,649.740378214,628,650,0.400789606088,-0.00543560467898,0.0598626834124,0.999999938629,7.74746533456e-05,-0.000339498050915,-3.84796476674e-05,1793192168383628032
+85,1.416666667,BASELINE,764,742,712,671,662,633,876,783,798.675714683,649.675714683,628,650,0.400790565236,-0.00543680393975,0.0598635803873,0.99999993917,7.55483783606e-05,-0.000338363474032,-3.82526532719e-05,1793192168400294400
+86,1.433333333,BASELINE,764,742,712,671,662,633,876,783,798.096983171,649.096983171,628,650,0.400790956439,-0.00543996066973,0.0598644010606,0.999999939712,7.16801495867e-05,-0.000337659697753,-3.77387272647e-05,1793192168416961280
+87,1.450000000,BASELINE,764,742,711.521573938,671,661.521573938,632.521573938,876,783,798.478426062,649,628,650,0.400790367638,-0.00543968517171,0.0598637589155,0.999999939199,7.26686383954e-05,-0.000338960273559,-3.77781532196e-05,1793192168433628160
+88,1.466666667,BASELINE,763.946613456,742,711.053386544,671,661,632.053386544,876,783,799,649,628,650,0.400789631935,-0.00543869625144,0.0598628713424,0.999999938534,7.45831264769e-05,-0.000340486455931,-3.79259124951e-05,1793192168450295296
+89,1.483333333,BASELINE,763.369493968,742,711.630506032,671,661,632.630506032,876,783,799,649,628,650,0.400789390559,-0.00543748696207,0.0598624650511,0.999999938498,7.59901242959e-05,-0.000340267406982,-3.80436061102e-05,1793192168466965248
+90,1.500000000,BASELINE,763.212479937,742,711.787520063,671,661,632.787520063,876,783,799,649,628.212479937,650.212479937,0.400789104872,-0.00543674114331,0.0598621500506,0.999999938492,7.5647580273e-05,-0.000340339383939,-3.82439507279e-05,1793192168483632896
+91,1.516666667,BASELINE,763.803092787,742,711.196907213,671,661,632.196907213,876,783,799,649,628.803092787,650.803092787,0.400788740331,-0.00543682012484,0.0598619975125,0.999999938533,7.21915216721e-05,-0.000340929275571,-3.85913824632e-05,1793192168500296192
+92,1.533333333,BASELINE,764,742,711,670.615562523,661.384437477,632.384437477,876,783.384437477,798.615562523,649,628.615562523,650.615562523,0.400788885835,-0.00543731174813,0.059862017026,0.999999938661,7.11815219076e-05,-0.000340788398144,-3.83885375994e-05,1793192168516961792
+93,1.550000000,BASELINE,764,742,711,670.038853141,661.961146859,632.961146859,876,783.961146859,798.038853141,649,628.038853141,650.038853141,0.400789286431,-0.00543800974937,0.0598621225889,0.999999938837,7.1394889535e-05,-0.000340282035179,-3.79104783656e-05,1793192168533628416
+94,1.566666667,BASELINE,764,742,711,670.533806954,662,633,876,783.466193046,798.533806954,649,628,649.466193046,0.400789592609,-0.00543784997832,0.0598625892557,0.999999938624,7.48491739582e-05,-0.000340168219142,-3.78706091477e-05,1793192168550295040
+95,1.583333333,BASELINE,764,742,711.110146778,671,661.889853222,632.889853222,876.110146778,783,799.110146778,649,628,649.110146778,0.400789515324,-0.00543747775466,0.0598627246383,0.999999938325,7.76365978515e-05,-0.000340412241485,-3.79658243574e-05,1793192168566961664
+96,1.600000000,BASELINE,764,742,711.70392817,671,661.29607183,632.29607183,876.70392817,783,799.70392817,649,628,649.70392817,0.400787784264,-0.00543644475789,0.059861290877,0.999999937817,7.64680054957e-05,-0.000342102959576,-3.85151858794e-05,1793192168583628288
+97,1.616666667,BASELINE,764.288739498,742,712,671,661.288739498,632,876.711260502,783,799.422521003,649,628,650,0.400787070903,-0.0054362884527,0.0598605860921,0.999999937663,7.52461491227e-05,-0.000342791146422,-3.88013904637e-05,1793192168600294656
+98,1.633333333,BASELINE,764.864630073,742,712,671,661.864630073,632,876.135369927,783,798.270739853,649,628,650,0.400787369642,-0.00543700401629,0.0598606062732,0.999999937863,7.39713218203e-05,-0.000342482317073,-3.88258857639e-05,1793192168616961536
+99,1.650000000,BASELINE,764.558583693,742,711.558583693,671.441416307,661.558583693,632,876,783,798.441416307,649,628,650,0.400788128433,-0.00543610784906,0.0598617499484,0.999999938166,7.565074879e-05,-0.000341249954843,-3.86407783113e-05,1793192168633628416
+100,1.666666667,BASELINE,763.981616916,742,711,671.981616916,661,632,876,783,799.018383084,649,628,650,0.400788990437,-0.00543479023541,0.0598631759695,0.999999938481,7.81096231703e-05,-0.000339796447481,-3.83998796781e-05,1793192168650295040
+101,1.683333333,BASELINE,763.407512272,742,711,671.407512272,661,632,876,783,799.592487728,649,628,650,0.400788698871,-0.00543570453266,0.0598627005648,0.999999938441,7.66875330838e-05,-0.000340236918188,-3.841952652e-05,1793192168666961664
+102,1.700000000,BASELINE,763.172943965,742,711.172943965,671,661.172943965,632.172943965,876,783,799.827056035,649,628,650,0.400788103073,-0.00543619608613,0.0598621632241,0.999999938256,7.60616117332e-05,-0.000340916173877,-3.84558588616e-05,1793192168683628288
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+104,1.733333333,BASELINE,764,742,712,671,662,632.648576826,876,783.351423174,799,649,628,650,0.400786446679,-0.00543606194638,0.0598611513799,0.999999937634,7.65476982886e-05,-0.000342626501936,-3.84688419416e-05,1793192168716961280
+105,1.750000000,BASELINE,764,742,712,671,662,632.074643078,876,783.925356922,799,649,628,650,0.400786778403,-0.00543707246939,0.0598610600262,0.99999993783,7.43462800102e-05,-0.000342556549095,-3.83152023955e-05,1793192168733627904
+106,1.766666667,BASELINE,764,742,711.499417855,671,662,632.500582145,876,783.499417855,799.500582145,649.500582145,628,650,0.400787191618,-0.00543572081378,0.0598614868652,0.999999937918,7.6281961524e-05,-0.000341849744159,-3.85151536755e-05,1793192168750294528
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,662,633,877,783,799,649,629,651,0.400789860979,-0.00543639522124,0.0598639061711,0.999999939187,7.62290574257e-05,-0.000338158067116,-3.8275950162e-05,1793192168792976128
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.577754513,712,671.422245487,661.422245487,633,876.422245487,783,799,649,628.422245487,650.422245487,0.400788130201,-0.00543684215957,0.0598625843365,0.999999938534,7.49974682192e-05,-0.000340372404357,-3.81443694542e-05,1793192168809642752
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.690121425,712,670.845060712,661.154939288,633,876,783,799,649,628.154939288,650,0.400787218788,-0.00543706973438,0.0598618486832,0.999999938178,7.43048077313e-05,-0.000341574385823,-3.80655399371e-05,1793192168826309376
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764,741.30519486,712,670.610389719,662,633,876,783,799,649,628.69480514,650,0.400788587861,-0.00543642263589,0.0598629079015,0.999999938606,7.59816272738e-05,-0.000339933946585,-3.82037204877e-05,1793192168859642624
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,741.878914787,712,671.757829573,662,633,876,783,799,649,628.121085213,650,0.400787537016,-0.00543622189929,0.0598625368433,0.999999938121,7.70069932854e-05,-0.000341118910247,-3.8285746119e-05,1793192168876309504
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.46792168,742.46792168,712,671.53207832,661.53207832,633,876,783,799,649,628,650,0.400788385939,-0.00543629330001,0.0598624521555,0.999999938086,7.60722506532e-05,-0.000341425553811,-3.83230165567e-05,1793192168892975872
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.94060929,743,712,671.05939071,661.05939071,632.94060929,876,783.05939071,799.05939071,649,628,650,0.400790124542,-0.00543642256133,0.0598624875764,0.999999938101,7.49396501057e-05,-0.000341629686694,-3.83514111553e-05,1793192168909642496
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.787388639,712,671.787388639,662,632.212611361,876,783.787388639,799.787388639,649,628,650,0.400803493604,-0.00543672027746,0.0598626366569,0.999999936252,7.74642927793e-05,-0.000346434249795,-3.84408666363e-05,1793192168942976256
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.213717731,712,671.213717731,662,632.786282269,876,783.213717731,799.213717731,649,628,650,0.400817298198,-0.00543752802149,0.0598612154824,0.999999933863,7.67389100628e-05,-0.000353422787024,-3.8438683383e-05,1793192168959642880
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,671,662,633,876,783.361138002,799.361138002,649.361138002,628,650.361138002,0.400842991675,-0.00543826953,0.0598597613867,0.999999932153,7.63341155703e-05,-0.000358302341713,-3.85642081805e-05,1793192168976309504
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+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.530459555,711.469540445,670.469540445,661.469540445,633,876,783.469540445,799.469540445,649.469540445,628,650.469540445,0.400928248233,-0.00544105413704,0.059858885497,0.999999932804,7.15242535205e-05,-0.000357347167492,-3.97448046473e-05,1793192169009642496
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.877752987,711,670.122247013,661.122247013,632.877752987,876,783,799,649,628,650,0.400986757859,-0.00544324898426,0.0598592970148,0.999999934532,6.75365371487e-05,-0.000353149645855,-4.07563215844e-05,1793192169026309120
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.301648583,711,670.698351417,661.698351417,632.301648583,876,783,799,649,628,650,0.401058501394,-0.00544522796908,0.059858066772,0.999999934128,6.78149210948e-05,-0.00035414822599,-4.15307535698e-05,1793192169042975744
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.27260057,671,661.72739943,632.27260057,876.27260057,783,799,649,628,650.27260057,0.40114356962,-0.00544691446214,0.0598585046177,0.999999934755,6.71719335372e-05,-0.000352370205226,-4.25697732894e-05,1793192169059642624
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.84481062,671,661.15518938,632.84481062,876.84481062,783,799,649,628,650.84481062,0.401243282725,-0.00544827948359,0.0598607758239,0.999999936498,6.55162861655e-05,-0.000347540481482,-4.3899595705e-05,1793192169076309248
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661.43272048,633,877,783,799.43272048,649,628,651,0.401371660619,-0.00545279653954,0.0598654328605,0.999999940868,6.30671849096e-05,-0.000335054932082,-4.49956999381e-05,1793192169092975872
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.974227387,671,662,632.974227387,876.974227387,783,799.974227387,649,628,650.974227387,0.401511806794,-0.00545838542599,0.0598708726186,0.999999945979,6.0269165999e-05,-0.000319824463275,-4.60605937705e-05,1793192169109643008
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.396180011,671,662,632.396180011,876.396180011,783,799.396180011,649,628,650.396180011,0.401675546347,-0.00546180653181,0.0598740594128,0.999999950176,5.63216430971e-05,-0.000306824868473,-4.83204642391e-05,1793192169126309376
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661.818575723,632.181424277,876,783,799,649,628,650,0.401846793141,-0.00546578886766,0.0598760079351,0.999999953181,5.28093161461e-05,-0.000297152047441,-5.04894043739e-05,1793192169142975744
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661.241936736,632.758063264,876,783,799,649,628,650,0.402034393692,-0.00547099378677,0.059875259005,0.99999995393,5.02450207492e-05,-0.000294726273414,-5.24602615571e-05,1793192169159642368
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783,799,649.34005158,628,650.34005158,0.402245166494,-0.00547568097531,0.0598730480789,0.999999954202,4.55763329191e-05,-0.000293975236604,-5.5648398993e-05,1793192169176309248
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+132,2.200000000,POSE1_TO_POSE2_PRESS,763.494141278,742,711.505858722,671,661.505858722,633,876,783,799,650,628,650.494141278,0.402740521678,-0.00548394546802,0.0598710427763,0.999999956044,3.51450759236e-05,-0.000287610922727,-6.29072115334e-05,1793192169209642752
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.084755576,742,712,671,662,633,876,783.084755576,799,649.915244424,628,650,0.40301915367,-0.00548781810122,0.0598727993703,0.999999958054,3.04562684502e-05,-0.000280334329817,-6.61631875808e-05,1793192169226309632
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+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661.185789073,633,876.814210927,783.185789073,799,649,628,650.814210927,0.403968542477,-0.00549701211331,0.0598552284013,0.999999950959,1.16439450733e-05,-0.00030244394861,-8.0456231332e-05,1793192169276308992
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.601765614,742.398234386,712,671,661,633,876.601765614,783,799,649,628,651,0.404324808034,-0.00549175703623,0.0598418374875,0.999999943515,-1.45980374716e-05,-0.000324958002978,-8.46152188506e-05,1793192169292975360
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+149,2.483333333,POSE1_TO_POSE2_PRESS,764.636088481,742.636088481,712,672,662,633,876.363911519,783,799.636088481,649,628,650.636088481,0.410775768851,-0.0054866045513,0.0599068350913,0.999999971799,-1.58007415785e-05,-0.000222592891903,-8.12736554182e-05,1793192169492976128
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.047615044,742.047615044,712,672,662,633,876.952384956,783,799.047615044,649,628,650.047615044,0.411456248429,-0.00549211551697,0.0599170118683,0.999999976224,-2.17996342023e-05,-0.000201379706651,-8.07631424221e-05,1793192169509642752
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,712,672,662,633,877,783,799,649,628,650,0.412152493112,-0.00549489543864,0.0599036950381,0.999999971885,-2.48526231905e-05,-0.000221419463604,-8.1148546441e-05,1793192169526309376
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.889230266,742,712,672,662,633,877,783,799,649,628,650,0.412844460334,-0.00549577055379,0.0598849369445,0.999999964147,-2.40047447582e-05,-0.00025404960325,-8.11676170406e-05,1793192169542975744
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.315397692,742,712,672,662,633,877,783,799,649,628,650,0.413512743851,-0.00548968789444,0.0598520784231,0.999999944292,-7.93381409769e-06,-0.000324130502513,-7.93255422795e-05,1793192169559642624
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.258432081,742.258432081,712,671.741567919,661.741567919,633,877,783.258432081,799,649,628,650,0.414246789489,-0.00548622540527,0.0598481417541,0.999999941844,-1.62653191924e-06,-0.000331908847416,-7.83945183386e-05,1793192169576309248
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.832258511,742.832258511,712,671.167741489,661.167741489,633,877,783.832258511,799,649,628,650,0.415061092286,-0.00548596060987,0.0598795017388,0.999999962131,-7.23494921113e-06,-0.000263652239643,-7.85753542215e-05,1793192169592975872
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,711.579824398,671.420175602,661.840351204,633,877,783.579824398,799.420175602,649,628,650,0.415880799524,-0.00549089763471,0.0599204133466,0.999999979242,-1.488979752e-05,-0.000188242337958,-7.65462869744e-05,1793192169609642496
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.986468452,711.013531548,672,662.986468452,633,877,783,799.986468452,649,628.013531548,650,0.41670239364,-0.00549786896177,0.0599640052462,0.999999990727,-2.31732843226e-05,-0.000112186832236,-7.36374659621e-05,1793192169626309376
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.409012983,711.590987017,672,662.409012983,633,877,783,799.409012983,649,628.590987017,650,0.417509589795,-0.00550007215522,0.0599548705044,0.999999988388,-2.24266819971e-05,-0.000132366774379,-7.21077021184e-05,1793192169642976000
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.16821482,712,671.83178518,662,633,877,783.16821482,799,649,628.83178518,650,0.418313482074,-0.00550205166842,0.0599415002128,0.999999984909,-2.20642485115e-05,-0.000156742214725,-7.16023492097e-05,1793192169659642624
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.744889766,712,671.255110234,662,633,877,783.744889766,799,649,628.255110234,650,0.419109351813,-0.00550348803985,0.0599178451374,0.999999978738,-2.26346559074e-05,-0.000191305185068,-7.35844765171e-05,1793192169676309504
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.675437035,712,671,662.324562965,632.675437035,877,783.675437035,799,649,628,650,0.41989114374,-0.00550290155361,0.0598963834929,0.999999973011,-2.4902221343e-05,-0.000218299113462,-7.55168212366e-05,1793192169692976128
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.093385228,712,671,662.906614772,632.093385228,877,783.093385228,799,649,628,650,0.420661767133,-0.00550071025303,0.0598766619863,0.999999967968,-2.85162104236e-05,-0.00023928821517,-7.74096713584e-05,1793192169709642752
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.492297578,712,671.492297578,662.507702422,632.492297578,877,783,799.492297578,649,628,650.492297578,0.421445209866,-0.00549938841936,0.0598473690394,0.999999951525,-2.41774480418e-05,-0.00030055919808,-7.76547220944e-05,1793192169726309376
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,712,672,662,632.922714471,877,783,799.922714471,649,628.077285529,650.922714471,0.422249112523,-0.00549896296564,0.0598262547806,0.999999936041,-1.94916693672e-05,-0.000348666689974,-7.7264543965e-05,1793192169742976000
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,712,672,662,632.346688675,877,783,799.346688675,649,628.653311325,650.346688675,0.423169238037,-0.00550324979949,0.0598697231089,0.99999996259,-2.23740426707e-05,-0.000262150733532,-7.48072029815e-05,1793192169759642624
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.771102011,712,672,662.228897989,632,877,783,799,649,628.771102011,650,0.424071022452,-0.00550815977353,0.0599169839084,0.999999981333,-2.56787262316e-05,-0.000177664338152,-7.14866054112e-05,1793192169776308992
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.196179092,712,672,662.803820908,632,877,783,799,649,628.196179092,650,0.424945080781,-0.0055140117488,0.0599699777903,0.999999992694,-2.96218164379e-05,-9.62460170789e-05,-6.68610234332e-05,1793192169792975616
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,712,672,662.611225928,632.388774072,877,783.388774072,799,649,628,650,0.425770355628,-0.00551822296487,0.0599835750283,0.999999994772,-3.40443871664e-05,-7.04537327969e-05,-6.58323646535e-05,1793192169809642496
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,712,672,662.021077403,632.978922597,877,783.978922597,799,649,628,650,0.426570361898,-0.00552158431168,0.0599767658671,0.999999994329,-3.87153156712e-05,-7.34742360461e-05,-6.66668152281e-05,1793192169826309376
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672.556854422,662,632.443145578,877.556854422,783.443145578,799,649,628.556854422,650.556854422,0.427365112459,-0.00552251493088,0.0599499645156,0.999999991494,-4.00248110041e-05,-0.000103748690472,-6.8161419947e-05,1793192169842976000
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.13439091,712,673,662,632.13439091,877.86560909,783.13439091,799,649,629,650.86560909,0.428158033069,-0.00552282717179,0.0599268515437,0.999999988406,-3.98450513039e-05,-0.000129611766943,-6.92856385883e-05,1793192169859642624
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.712115888,712,673,662,632.712115888,877.287884112,783.712115888,799,649,629,650.287884112,0.42894555908,-0.0055213964761,0.0599183486575,0.999999987528,-3.51631889464e-05,-0.00013759243625,-6.91073532433e-05,1793192169876309248
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,712,672.707159156,661.707159156,633,877,784,799.292840844,649.292840844,628.707159156,650,0.429692230834,-0.00552124489738,0.0599031324827,0.999999983501,-3.44715424694e-05,-0.000164446348125,-6.90408801973e-05,1793192169892975872
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,712,672.123454511,661.123454511,633,877,784,799.876545489,649.876545489,628.123454511,650,0.430398324101,-0.00552236380007,0.0598812483429,0.999999974842,-3.77431731443e-05,-0.000210046083824,-6.90854644839e-05,1793192169909642496
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,712,672.4579769,661.915953801,633,877,783.5420231,799.5420231,650,628.4579769,650,0.43118603406,-0.00552632761932,0.0599047766823,0.999999984053,-4.10685272755e-05,-0.000160055935477,-6.77419576274e-05,1793192169926309120
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,673,663,632.961701419,877.038298581,783.038298581,799,649.961701419,629,650,0.431991268487,-0.0055310115395,0.0599401983786,0.999999993089,-4.45001208577e-05,-8.65583583332e-05,-6.59553483173e-05,1793192169942976000
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,673,663,632.388365068,877.611634932,783.611634932,799,649.388365068,629,650,0.432735482248,-0.00553509472278,0.0599715995343,0.999999995875,-4.92145807131e-05,-4.28589922831e-05,-6.31800775624e-05,1793192169959642624
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.812293914,712,672.812293914,662.812293914,632.187706086,877.812293914,783.812293914,799.187706086,649,628.812293914,650,0.433456940929,-0.00553799864635,0.0599836830395,0.999999996348,-5.18767832417e-05,-2.87471108005e-05,-6.15414333568e-05,1793192169976309248
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.230480669,712,672.230480669,662.230480669,632.769519331,877.230480669,783.230480669,799.769519331,649,628.230480669,650,0.434130623245,-0.00553842660038,0.059955207267,0.999999993853,-5.0230073162e-05,-7.67570187156e-05,-6.22892465867e-05,1793192169992976128
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.353845046,742,712,672.353845046,661.646154954,633,877,783.353845046,800,649,628.353845046,650,0.434766473045,-0.0055380429405,0.0599266319535,0.999999989505,-5.04546949651e-05,-0.000119851688913,-6.38779411267e-05,1793192170009642752
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.939818954,742,712,672.939818954,661.060181046,633,877,783.939818954,800,649,628.939818954,650,0.435377503977,-0.00553712684694,0.0598979913411,0.999999983718,-5.19069450058e-05,-0.000159721869789,-6.60182692196e-05,1793192170026309376
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.477227266,742.522772734,712,672.477227266,662.045545469,633,877,784,799.477227266,649,629,650,0.435990065812,-0.00554104213393,0.0598953257459,0.999999982347,-5.51228871537e-05,-0.000167581457874,-6.46900413636e-05,1793192170042976000
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712,672.103932242,662.896067758,632.896067758,877,783.896067758,799,649.103932242,629,650,0.436597227459,-0.00554509349661,0.0598983670285,0.999999982418,-5.86702659564e-05,-0.00016655267347,-6.31013999331e-05,1793192170059642624
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,672.678531627,662.321468373,632.321468373,877,783.321468373,799,649.678531627,629,650,0.437179140297,-0.00554725682833,0.0599137887532,0.999999986035,-6.28044080079e-05,-0.000141864178132,-6.21313166907e-05,1793192170076309504
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.74658745,712,673,662.25341255,632.25341255,877,783,799,649.74658745,628.74658745,650,0.437735923278,-0.00554817449115,0.059918494058,0.999999986364,-6.54944458611e-05,-0.000138545722385,-6.15494887307e-05,1793192170092976128
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.415237272,712,673,662.584762728,632.584762728,877.415237272,783,799,649,628.415237272,650,0.438771672246,-0.00555033197649,0.0599181085469,0.999999984894,-6.77284005969e-05,-0.000148530675737,-5.96964123251e-05,1793192170126309888
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+191,3.183333333,POSE1_TO_POSE2_PRESS,763.735662954,743,712,673,661.528674093,632.735662954,878,783,800,649,628.264337046,650,0.440594861546,-0.00556289404514,0.0599593305155,0.99999999239,-7.37876062801e-05,-8.34943521497e-05,-5.29607557085e-05,1793192170192975872
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,712,672.681896464,661,632.681896464,878,783,799.681896464,649,628,650,0.440940239712,-0.00556373090067,0.0599325794017,0.999999987494,-7.69221215239e-05,-0.000127306428879,-5.37330949149e-05,1793192170209642240
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,712,672.09317649,661,632.09317649,878,783,799.09317649,649,628,650,0.441242833209,-0.005565446009,0.0598886465017,0.999999975422,-8.38175979642e-05,-0.000197539913795,-5.57498819208e-05,1793192170226309120
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+205,3.416666667,POSE1_TO_POSE2_PRESS,763.132252692,743,712,673,660.132252692,632,877,783.867747308,799.132252692,649,628.132252692,650,0.443698019194,-0.00557746251246,0.0598002987027,0.999999944362,-0.000103361166938,-0.00031171319744,-5.85366816576e-05,1793192170426309376
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.448413915,743,712,673,660,632,877.448413915,783.551586085,799,649,628.448413915,650,0.443788189455,-0.00557751621662,0.0598008352109,0.999999944972,-0.000101548568039,-0.000310471569825,-5.78949464532e-05,1793192170442976000
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.972647369,743,712,673,660,632,877.972647369,783,799.027352631,649,628.972647369,650,0.443870929209,-0.00557675368381,0.0598014955528,0.999999945554,-9.84996026736e-05,-0.000309701411699,-5.72306970023e-05,1793192170459642624
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.394197182,743,712,673,660,632,877.394197182,783,799.605802818,649,628.394197182,650,0.443934475307,-0.00557808052444,0.0598028286261,0.999999945977,-0.000100089082463,-0.000307922377312,-5.66783413001e-05,1793192170476309248
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.183628244,743,711.816371756,673,660,632,877,783,799.816371756,649,628.183628244,650,0.443990791868,-0.00557929147933,0.0598034069713,0.999999946127,-0.000101573357068,-0.00030705693725,-5.60747314129e-05,1793192170492975872
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.760116962,743,711.239883038,673,660,632,877,783,799.239883038,649,628.760116962,650,0.444031641309,-0.00558025450418,0.0598023706254,0.999999945703,-0.000102832551938,-0.000308146072003,-5.5361466661e-05,1793192170509642496
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711.344069182,673,660,632,877,783,799.344069182,649,629,650,0.44406375263,-0.00557880712198,0.0598004952977,0.999999944925,-0.000100363841524,-0.000311550435965,-5.48981611255e-05,1793192170526309376
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711.93334035,673,660,632,877,783,799.93334035,649,629,650,0.444089636708,-0.0055756419557,0.0597980220668,0.999999943854,-9.52384277942e-05,-0.000316604755418,-5.46129897375e-05,1793192170542976512
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.486770643,742.486770643,712,673,660,632,877.513229357,783,800,649,629,650,0.444108187201,-0.00557634293879,0.059797525489,0.999999943606,-9.53858658576e-05,-0.000317350556969,-5.45680546064e-05,1793192170559642880
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.091245839,742.091245839,711.908754161,673.091245839,660,632,877.908754161,783,799.908754161,649.091245839,628.908754161,650,0.444124244519,-0.00557749995862,0.059796978168,0.999999943396,-9.59489242351e-05,-0.000317859084928,-5.44663116205e-05,1793192170576309248
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.665683735,742.665683735,711.334316265,673.665683735,660,632,877.334316265,783,799.334316265,649.665683735,628.334316265,650,0.444132052692,-0.00557846054406,0.0597948270134,0.999999942814,-9.5151371265e-05,-0.000320021303463,-5.39014761408e-05,1793192170592975872
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.759771263,711.240228737,673.759771263,660,632,877,783,799,649.759771263,628,650,0.444138198301,-0.00557793421375,0.0597934144868,0.99999994243,-9.36460948837e-05,-0.000321692436167,-5.37156494773e-05,1793192170609642496
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+218,3.633333333,POSE1_TO_POSE2_PRESS,763.599236143,742.400763857,711.599236143,673,660,632,877.400763857,783,799,649,628.400763857,650,0.444145350639,-0.00557353029005,0.0597931707542,0.999999942312,-9.01853872902e-05,-0.000322986090521,-5.40619396057e-05,1793192170642976000
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+220,3.666666667,POSE1_TO_POSE2_PRESS,763,743,711.570665611,673,660.570665611,632,877.429334389,783,799,649.570665611,629,650,0.444148793697,-0.00557333025065,0.0597921252528,0.999999942139,-8.96505252261e-05,-0.000323763373928,-5.35068793025e-05,1793192170676309504
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.148484445,742.851515555,711.851515555,673,660.851515555,632,877,783,799.148484445,649.851515555,629,650,0.444149099376,-0.00557437336151,0.0597909594106,0.999999941952,-8.91063193722e-05,-0.000324554687943,-5.31108631874e-05,1793192170692976128
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.724073961,742.275926039,711.275926039,673,660.275926039,632,877,783,799.724073961,649.275926039,629,650,0.444149347148,-0.00557476522753,0.0597906409926,0.999999941842,-8.78240556423e-05,-0.000325304111609,-5.27337437736e-05,1793192170709643008
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.693603355,742.306396645,711.306396645,673,660.306396645,632,877,783,800,649,628.693603355,650,0.444149627755,-0.00557406023011,0.0597906246018,0.999999941859,-8.69239597872e-05,-0.000325509425631,-5.26304128039e-05,1793192170726309632
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+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742,711,673,660,631.36806759,877.63193241,783,799,649,628.36806759,650,0.444150792523,-0.00557241371997,0.0597902635472,0.999999941189,-8.86842050753e-05,-0.000327109404572,-5.2504721423e-05,1793192170792975872
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+233,3.883333333,POSE1_TO_POSE2_PRESS,763,742.88510716,712,673,660,631.11489284,877,783,799,649,628.11489284,650,0.444152844542,-0.00557244792324,0.0597901536661,0.999999941157,-8.80118746255e-05,-0.000327494623228,-5.18285669941e-05,1793192170892976128
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+235,3.916666667,POSE1_TO_POSE2_PRESS,763,742.2637802,711.7362198,673,660,632,877,783,799.2637802,649,629,650,0.444153182492,-0.00557060601155,0.0597901451778,0.999999941426,-8.48826618611e-05,-0.00032752753039,-5.16498499062e-05,1793192170926309632
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,742.835333232,711.164666768,673,660,632,877,783,799.835333232,649,629,650,0.44415339408,-0.0055710855937,0.0597909734947,0.99999994167,-8.58916357972e-05,-0.000326529584374,-5.15839642892e-05,1793192170942976768
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.421992955,742.578007045,711,673,660,631.578007045,877,783,800,649,629,650,0.444153695384,-0.00557164981598,0.059791080807,0.999999941713,-8.5431334361e-05,-0.000326560454079,-5.13132577239e-05,1793192170959643648
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742,711.014453883,673,660,631.014453883,877,783,799.985546117,649,628.985546117,650,0.444154013139,-0.00557219895236,0.0597908921998,0.999999941679,-8.43538180976e-05,-0.000326999133071,-5.0973698645e-05,1793192170976310272
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742,711.594685036,673,660,631.594685036,877,783,799.405314964,649,628.405314964,650,0.444153553567,-0.00557081675392,0.0597905419626,0.999999941798,-8.23916749333e-05,-0.000327103049917,-5.11836553455e-05,1793192170992976128
+240,4.000000000,HOLD_POSE2,764,743,712,673,660,632,877,783,799,649,629,650,0.444156158668,-0.00556964218899,0.059792020053,0.999999942556,-8.28992720172e-05,-0.000324537067121,-5.18746417772e-05,1793192171033779712
+241,4.016666667,HOLD_POSE2,764,742.408502418,711.408502418,673,660,631.408502418,876.408502418,782.408502418,799,649,628.408502418,650,0.444156145314,-0.00556975376485,0.0597918466722,0.999999942486,-8.23637836409e-05,-0.000324973305074,-5.13425853268e-05,1793192171050446336
+242,4.033333333,HOLD_POSE2,763.820927464,742.179072536,711.179072536,673,659.820927464,631.179072536,876.179072536,782.179072536,799,649,628.179072536,650,0.444156289467,-0.00557026732197,0.0597917743735,0.99999994241,-8.34007215982e-05,-0.000325001246026,-5.09796323081e-05,1793192171067112704
+243,4.050000000,HOLD_POSE2,763.242108929,742.757891071,711.757891071,673,659.242108929,631.757891071,876.757891071,782.757891071,799,649,628.757891071,650,0.444156785222,-0.00557167822722,0.0597919277214,0.999999942306,-8.7947807617e-05,-0.000324117740249,-5.099417102e-05,1793192171083779840
+244,4.066666667,HOLD_POSE2,763.33605679,743,712,673,659.33605679,632,877,782.66394321,799,649,629,650,0.444155622836,-0.00557144202656,0.0597906603705,0.999999941602,-8.85972660699e-05,-0.000326080693866,-5.11704445273e-05,1793192171100446464
+245,4.083333333,HOLD_POSE2,763.913753073,743,712,673,659.913753073,632,877,782.086246927,799,649,629,650,0.444153268173,-0.00557002148482,0.0597883714749,0.99999994046,-8.64441599976e-05,-0.000330090376013,-5.14630124072e-05,1793192171117112576
+246,4.100000000,HOLD_POSE2,764,742.502246075,712,673,660,632,877,782.497753925,799,649,628.502246075,650,0.444152315551,-0.00556935816966,0.0597883784165,0.99999994048,-8.54276149623e-05,-0.000330305707128,-5.13801234871e-05,1793192171133779200
+247,4.116666667,HOLD_POSE2,763.917978086,742.082021914,712,673,660,632,877,783,799,649,628.082021914,650,0.444151940128,-0.00556904635222,0.059788926833,0.999999940764,-8.46854400439e-05,-0.000329662252343,-5.12077803676e-05,1793192171150446080
+248,4.133333333,HOLD_POSE2,763.338797245,742.661202755,712,673,660,632,877,783,799,649,628.661202755,650,0.444153571889,-0.00557005958337,0.0597903151444,0.999999941401,-8.4397312314e-05,-0.000327849597663,-5.08926126101e-05,1793192171167112448
+249,4.150000000,HOLD_POSE2,763,743,712,673,660,631.760085888,877.239914112,783,799.239914112,649,628.760085888,650,0.444155449427,-0.00557100407827,0.0597911421758,0.999999942073,-8.47439149964e-05,-0.000325749782671,-5.05849129238e-05,1793192171183778816
+250,4.166666667,HOLD_POSE2,763,743,712,673,660,631.182036272,877.817963728,783,799.817963728,649,628.182036272,650,0.444157673365,-0.00557185169605,0.0597911781379,0.999999942795,-8.59851082107e-05,-0.000323245243427,-5.02877387808e-05,1793192171200445184
+251,4.183333333,HOLD_POSE2,763.394765563,743,712,673,660,631.394765563,878,783,799.605234437,649,628,650.394765563,0.444158205392,-0.00557270054927,0.0597916337401,0.999999942865,-8.70560882308e-05,-0.000322779253617,-5.00525844191e-05,1793192171217111808
+252,4.200000000,HOLD_POSE2,763.970993877,743,712,673,660,631.970993877,878,783,799.029006123,649,628,650.970993877,0.444157959697,-0.00557354997045,0.059792282239,0.999999942636,-8.80488260877e-05,-0.000323250328076,-4.98459387999e-05,1793192171233778432
+253,4.216666667,HOLD_POSE2,764,743,711.44184765,673,660,632,877.44184765,783,799.55815235,649,628,650.44184765,0.444155845464,-0.00557026105404,0.0597909322236,0.999999942073,-8.55650744383e-05,-0.00032551714503,-5.06993530923e-05,1793192171250445056
+254,4.233333333,HOLD_POSE2,764,743,711,673.144506958,660,632,877.144506958,783,800,649.144506958,628.144506958,650,0.444154239504,-0.00556770352287,0.0597897250346,0.999999941564,-8.36797406286e-05,-0.00032746584578,-5.13456989518e-05,1793192171267112192
+255,4.250000000,HOLD_POSE2,764,743,711,673.726672415,660,632,877.726672415,783,800,649.726672415,628.726672415,650,0.444154472883,-0.00556802544048,0.0597892712474,0.999999941302,-8.41648959247e-05,-0.000328162808553,-5.11947329699e-05,1793192171283779328
+256,4.266666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,660,632,877,783,800,649,629,650,0.44415582525,-0.00556879128965,0.059791012103,0.999999942244,-8.32262816787e-05,-0.000325522363146,-5.11900664366e-05,1793192171320622848
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+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,711.901258557,673,660,632,877,783,799,649,629,649.098741443,0.444156213523,-0.00556856462211,0.0597909787958,0.999999942438,-8.10310399909e-05,-0.00032559543003,-5.04441503934e-05,1793192171403956224
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.524017663,742.524017663,711.524017663,673,660,631.524017663,877,783,799,649,628.524017663,649.475982337,0.444155149468,-0.00556852390349,0.0597908362242,0.999999942177,-8.15987563659e-05,-0.000326222666201,-5.06530640272e-05,1793192171420622848
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.05243988,742.05243988,711.05243988,673,660,631.05243988,877,783,799.05243988,649,628.05243988,650,0.444153361268,-0.00556831829111,0.0597901668136,0.999999941688,-8.20324369152e-05,-0.000327564119885,-5.09501060999e-05,1793192171437289728
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.64351501,742.64351501,711.64351501,673,660,631.64351501,877,783,799.64351501,649,628.64351501,650,0.444147732877,-0.00556859278823,0.0597861770408,0.999999940009,-8.15568110183e-05,-0.000332768337959,-5.09435614064e-05,1793192171453955840
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.769856484,742.769856484,712,673,660,632,877,783,799.769856484,649,629,650,0.444134971906,-0.00556835928244,0.0597793076751,0.999999936371,-8.15282687227e-05,-0.000343480900386,-5.13056645038e-05,1793192171470622208
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.189985154,742.189985154,712,673,660,632,877,783,799.189985154,649,629,650,0.444111372211,-0.00556735381157,0.0597680624587,0.999999929533,-8.21791180503e-05,-0.000362563983708,-5.22279675416e-05,1793192171487288832
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.385414268,742.385414268,712,673,660,632,877.385414268,783,799.385414268,649,628.614585732,650,0.444066855892,-0.00556530283886,0.0597490189816,0.999999917476,-8.1127053314e-05,-0.000394494377325,-5.32918301453e-05,1793192171503955712
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.958634652,742.958634652,712,673,660,632,877.958634652,783,799.958634652,649,628.041365348,650,0.444012147239,-0.00556274240998,0.0597261755377,0.999999901771,-7.92451861634e-05,-0.000432685057987,-5.44246724511e-05,1793192171520622336
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.466902827,711.466902827,673,660,632,876.933805653,783,799.466902827,649,628.533097173,650,0.443943902115,-0.00555982125887,0.0597074590899,0.999999892443,-7.76522822206e-05,-0.000453871485164,-5.5536352245e-05,1793192171537288704
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.888957283,742.111042717,711.111042717,673,660,632,876.111042717,783,799,649,628.888957283,650,0.4438718031,-0.00555689919153,0.0596916519039,0.999999884229,-7.61816028059e-05,-0.000471759703485,-5.64015877433e-05,1793192171553955584
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.296324748,742.703675252,711.703675252,673,660,632,876.703675252,783,799,649,628.296324748,650,0.443787555825,-0.00555409482519,0.0596870700349,0.999999879879,-7.51435375705e-05,-0.00048107939284,-5.6205138535e-05,1793192171570622720
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.288982689,743,711.711017311,673,660,632,877,783,799,649,628.288982689,650,0.443694607127,-0.00555137298554,0.0596862857833,0.999999879374,-7.28472409545e-05,-0.000482559975642,-5.55095566813e-05,1793192171587289600
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711.443162562,673,660.443162562,632,877.443162562,783,799,649,629,650,0.443462624089,-0.00554355964929,0.0596892156875,0.999999883253,-6.35051341995e-05,-0.000476060981316,-5.31634124649e-05,1793192171620622592
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.981306209,711.981306209,673,660.981306209,632,877.981306209,783,799.018693791,649,628.981306209,650,0.443322450945,-0.00553762788467,0.0596881188221,0.999999882796,-5.7122796447e-05,-0.000477952600544,-5.20201471271e-05,1793192171637289216
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.409719811,711.409719811,673,660.409719811,632,877.409719811,783,799.590280189,649,628.409719811,650,0.443144861201,-0.00553169980119,0.0596844449729,0.999999879732,-5.28933282695e-05,-0.000484938003556,-5.07342360475e-05,1793192171653955840
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.830620725,742.169379275,711,673.169379275,660,632,876.830620725,783,799.830620725,649.169379275,628.169379275,650,0.442956740523,-0.00552593104231,0.0596816959266,0.999999877276,-4.90659081232e-05,-0.00049052594746,-4.92361236999e-05,1793192171670622720
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.23250547,742.76749453,711,673.76749453,660,632,876.23250547,783,799.23250547,649.76749453,628.76749453,650,0.442741963774,-0.00552056556975,0.0596812877592,0.9999998765,-4.62561601036e-05,-0.000492576615808,-4.72008837458e-05,1793192171687289088
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711.503547862,673,660,632,877.503547862,783,799.496452138,649.496452138,629,650,0.441958539125,-0.00549221409005,0.0596796550664,0.999999872812,-1.64328740725e-05,-0.000502503359059,-3.9949570695e-05,1793192171737288960
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.919731516,743,712,673,660,632,877.919731516,783,799,649,629,650,0.441661030459,-0.00548121502551,0.0596830376127,0.999999876241,-6.01825332677e-06,-0.000496046760097,-3.76826171242e-05,1793192171753955840
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.742609644,712,672.742609644,660,632.257390356,877,783,799,649,628.742609644,650,0.440975300361,-0.00546211507326,0.0597139499971,0.999999894762,1.59127308437e-05,-0.000457599933077,-2.87148055482e-05,1793192171787289088
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.412027799,742,712,672.412027799,660.824055599,632.587972201,876.587972201,783,799.412027799,649,628,650,0.440210700893,-0.00544157243666,0.0597570225205,0.999999921803,4.25554574935e-05,-0.00039272211669,-1.8759962264e-05,1793192171820622080
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.989058426,742,712,672.989058426,661.978116853,632.010941574,876.010941574,783,799.989058426,649,628,650,0.439804790162,-0.00543015037857,0.0597814029284,0.999999936295,5.95031209622e-05,-0.000351691051485,-1.35028610881e-05,1793192171837288704
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.423870084,742.576129916,712,673,662,632,876.576129916,783,800,649,628.576129916,650,0.439367362044,-0.00542212290906,0.0598110813895,0.999999951741,6.85383158112e-05,-0.000302916731006,-7.82595149232e-06,1793192171853955840
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,743,711.260880201,673.739119799,662.739119799,632.739119799,877,783,799.260880201,649.739119799,629,650.739119799,0.438348040181,-0.00542344167749,0.0598416167939,0.999999962954,6.79384132044e-05,-0.000263581555987,-8.7718483117e-07,1793192171887289600
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.315141635,743,711.315141635,673.684858365,662.684858365,632.684858365,877,783,799,649.684858365,629,650.684858365,0.437756435719,-0.00543036645769,0.0598242195606,0.999999954759,6.50330935908e-05,-0.000293681302849,1.99726296579e-06,1793192171903956224
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.889343013,743,711.889343013,673.110656987,662.110656987,632.110656987,877,783,799,649.110656987,629,650.110656987,0.437130716136,-0.00543843988212,0.0597867070376,0.999999936282,6.42482156153e-05,-0.000351111771953,5.40466579742e-06,1793192171920622848
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.532146628,743,712,672.532146628,661.532146628,632.467853372,877,783,799,649,628.532146628,650.467853372,0.436486007426,-0.00542900343434,0.0597562136982,0.999999914748,0.00012283721702,-0.000394172013956,6.54606581222e-06,1793192171937289728
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742.951869995,712,672.048130005,661.09626001,632.951869995,877,783.048130005,799,649,628.048130005,650.951869995,0.435839415289,-0.00541613667981,0.0597315776157,0.999999891141,0.000189231774136,-0.000426443442819,7.41226028356e-06,1793192171953956608
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.221689382,742,712,673,663.221689382,632.221689382,876.778310618,783.778310618,799,649,629,650,0.434565512451,-0.00541018679382,0.0597702758965,0.999999928724,0.000165471980446,-0.000339201737709,1.06197317512e-05,1793192171987289088
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763.80094724,742,712,673,663.80094724,632.80094724,876.19905276,783.19905276,799,649,629,650,0.433843577324,-0.00541344281861,0.0597770806332,0.999999939689,0.000124984468954,-0.000324026481993,2.73113526106e-06,1793192172003955968
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.695343886,662.695343886,632.695343886,876.695343886,783.695343886,799,649.695343886,628,650,0.430065335266,-0.00541789591243,0.0598245927815,0.999999955477,0.00015142114098,-0.000256534669294,1.75119590837e-05,1793192172087289344
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.13948445,742.13948445,712,673,662.13948445,633,876.13948445,783.13948445,799,649.13948445,628.86051555,650,0.428298728865,-0.00540909933838,0.0597693400833,0.999999916703,0.000156236493814,-0.00037675284931,1.55584426364e-05,1793192172120622592
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.366082385,671,661,633,876.633917615,783.633917615,799,649.633917615,628.633917615,651,0.400947912402,-0.00538376376358,0.0598353647871,0.999999938084,0.000216458843991,-0.000276865694756,1.79437114125e-05,1793192173320622592
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.620932467,742,711.620932467,671,661,633,876.379067533,783,799.379067533,649.620932467,628,650.620932467,0.400950434716,-0.00538455427346,0.0598379779797,0.999999939684,0.000213687085549,-0.000273228191739,1.7807611517e-05,1793192173370622976
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.044818305,742,711.044818305,671,661,633,876.955181695,783,799.955181695,649.044818305,628,650.044818305,0.400947732914,-0.00538727382771,0.0598365158287,0.999999939572,0.000210454380944,-0.000276136869298,1.77215300523e-05,1793192173387289344
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.540879347,742,711.540879347,671,661,633,876.459120653,783.540879347,799.459120653,649,628,650,0.400947044381,-0.00538651246559,0.0598358579654,0.999999939229,0.000211697249252,-0.000276440948238,1.75388333934e-05,1793192173403955968
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.873802277,742.126197723,712,671,661,633,876,783.873802277,799,649,628.126197723,650,0.400946897691,-0.00538551622739,0.0598356208043,0.999999939022,0.000213189614915,-0.000276050735971,1.73798897623e-05,1793192173420622592
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.292764748,742.707235252,712,671,661,633,876,783.292764748,799,649,628.707235252,650,0.400948091802,-0.00538473177895,0.0598366553982,0.99999993938,0.000214220476341,-0.000273950063918,1.73359310184e-05,1793192173437289216
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.286220145,742.713779855,712,671,661,633,876.286220145,783,799,649,628.713779855,650,0.400948336852,-0.00538466783861,0.059837030417,0.999999939401,0.000214634676191,-0.000273543313183,1.74588559055e-05,1793192173453955840
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.563194341,671,661,633,876.563194341,783.436805659,799,649,628.436805659,650.436805659,0.400948551535,-0.0053859796603,0.0598378595774,0.999999939467,0.00021481334758,-0.000273119414684,1.81072898567e-05,1793192173487289856
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,876,783.400553089,799.599446911,649,629,651,0.400948881525,-0.00538630232441,0.0598384465084,0.999999939942,0.000214180630102,-0.000271877562018,1.80269344274e-05,1793192173520622592
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711.770002062,671,661,633,876,783,799.229997938,649.770002062,629,651,0.400948399855,-0.00538668939156,0.0598379296265,0.999999940093,0.000212378771269,-0.000272740881029,1.79349683567e-05,1793192173553955840
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_01/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8961803a214534a72c704042cca23f90e2ff7496
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,392 @@
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+3,0.050000000,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
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+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
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+16,0.266666667,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_0030_20/position_01/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..11e5883d5a2490b7db05d167e4bec1319fe07a4e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:814ab87e2ba534533c11734fa12dd73859cee530128d31e685818426b615bcc1
+size 24980636
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_01/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf943d31ac85b1fc16b27bdc7e6986b1b1090f3a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_02/franka_data.csv
@@ -0,0 +1,394 @@
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+12,0.200000000,BASELINE,764,742,712,671,661,633,876,784,799,649.039927041,628.960072959,650,0.400950296306,-0.0053876678767,0.0598399327018,0.999999941141,0.000212372429674,-0.000268889578561,1.77457438604e-05,1793192173875617024
+13,0.216666667,BASELINE,764,742,711.462387186,671,661,633,876,783.462387186,799,649,628.462387186,650.537612814,0.400949169051,-0.00538774620042,0.0598388099939,0.999999940485,0.000213363267247,-0.000270539703065,1.77236061026e-05,1793192173892283904
+14,0.233333333,BASELINE,764,742,711.117524115,671,661,633,876,783.117524115,799,649,628,650.882475885,0.400948444536,-0.00538787220147,0.0598381005265,0.999999940079,0.000213764385741,-0.000271719292544,1.77324738205e-05,1793192173908950528
+15,0.250000000,BASELINE,764,742,711.706008772,671,661,633,876,783.706008772,799,649,628,650.293991228,0.400950188859,-0.00538836098736,0.0598395986311,0.999999941053,0.00021153398063,-0.000269862406589,1.79504868409e-05,1793192173925617408
+16,0.266666667,BASELINE,764,742,711.71055435,671,661,633,876,783.71055435,799,649,628.28944565,650,0.400950787653,-0.00538816411528,0.0598400757027,0.999999941241,0.000211196095562,-0.000269434403563,1.78841150429e-05,1793192173942284032
+17,0.283333333,BASELINE,764,742,711.132156678,671,661,633,876,783.132156678,799,649,628.867843322,650,0.400950242871,-0.00538728275455,0.0598395334826,0.999999940649,0.000212747503123,-0.000270432846723,1.75338434102e-05,1793192173958950144
+18,0.300000000,BASELINE,764,742,711.445211157,671,661,633,876,783,799,649,629,650.445211157,0.400948579236,-0.00538626223073,0.0598387919544,0.999999940084,0.000213901286738,-0.000271618314609,1.73563250524e-05,1793192173975617024
+19,0.316666667,BASELINE,764,742,712,671,661,633,876,783,799,649,628.977761072,650.977761072,0.400946736736,-0.00538531174977,0.0598380452944,0.999999939592,0.00021479492369,-0.000272729551594,1.72452092031e-05,1793192173992283648
+20,0.333333333,BASELINE,764,742,712,671,661,633,876,783,799,649,628.401606634,650.401606634,0.400948692386,-0.00538713239299,0.0598386410047,0.999999940729,0.000212142031128,-0.000270612300313,1.75137004819e-05,1793192174008950016
+21,0.350000000,BASELINE,764,742,711.820954477,671,661.179045523,633,876.179045523,783,799.179045523,649.179045523,628,650,0.400949855826,-0.00538827191374,0.0598391606377,0.99999994137,0.000210764111141,-0.000269303333879,1.77004427074e-05,1793192174025616640
+22,0.366666667,BASELINE,764,742,711.229953865,671,661.770046135,633,876.770046135,783,799.770046135,649.770046135,628,650,0.400949196521,-0.00538784428046,0.0598395052289,0.999999940893,0.000212319699341,-0.000269854101797,1.769909341e-05,1793192174042283520
+23,0.383333333,BASELINE,764,742,711.353343565,670.646656435,661.646656435,633,876.646656435,783.353343565,799.646656435,650,628.353343565,650.353343565,0.400948263821,-0.00538672697461,0.0598393221926,0.999999940462,0.000213287956634,-0.000270700640286,1.74639553982e-05,1793192174058950656
+24,0.400000000,BASELINE,764,742,711.931734829,670.068265171,661.068265171,633,876.068265171,783.931734829,799.068265171,650,628.931734829,650.931734829,0.400947156993,-0.00538517041004,0.0598388031058,0.999999940061,0.000213882137734,-0.000271735557771,1.70799152492e-05,1793192174075617536
+25,0.416666667,BASELINE,764,742,712,670.506472303,661,633,876,784,799,649.493527697,628.493527697,651,0.400949029221,-0.00538614466205,0.0598399589165,0.99999994072,0.000213191120043,-0.000269839591852,1.72333297742e-05,1793192174092283904
+26,0.433333333,BASELINE,764,742,712,671,661,633,876.08277918,784,799.08277918,649,628.08277918,650.91722082,0.400950871431,-0.00538709136428,0.0598410841676,0.999999941351,0.000212543800039,-0.000267992794155,1.74105783947e-05,1793192174108950528
+27,0.450000000,BASELINE,764,742,712,671,661,633,876.671671094,784,799.671671094,649,628.671671094,650.328328906,0.400950092719,-0.00538579896904,0.0598406522134,0.999999940981,0.00021321516913,-0.000268844594767,1.72938154275e-05,1793192174125616896
+28,0.466666667,BASELINE,764,742,711.744382738,671,661.255617262,633,876.744382738,783.744382738,799.744382738,649,628.744382738,650.255617262,0.400949376074,-0.00538508882095,0.0598400366546,0.99999994048,0.000214580510746,-0.00026963383666,1.70964429985e-05,1793192174142283520
+29,0.483333333,BASELINE,764,742,711.166668614,671,661.833331386,633,876.166668614,783.166668614,799.166668614,649,628.166668614,650.833331386,0.400948737639,-0.00538511234788,0.0598391897402,0.99999993981,0.000216820309592,-0.000270344249837,1.67974966274e-05,1793192174158949888
+30,0.500000000,BASELINE,764,742,711.410676725,671,661.589323275,633,876.410676725,783.410676725,799,649,628.410676725,651,0.400948744818,-0.00538618993781,0.0598392675123,0.999999940002,0.000215882587931,-0.000270379127837,1.69231764167e-05,1793192174175616768
+31,0.516666667,BASELINE,764,742,711.987872516,671,661.012127484,633,876.987872516,783.987872516,799,649,628.987872516,651,0.400949013778,-0.00538769492374,0.0598397202215,0.999999940539,0.000213656461697,-0.000270140093323,1.72210314242e-05,1793192174192283648
+32,0.533333333,BASELINE,764,742,711.437528929,671,661,633,876.437528929,783.437528929,799,649,628.437528929,650.437528929,0.400949420869,-0.00538754639741,0.0598404413174,0.999999941087,0.000212856099621,-0.000268744928224,1.71378046397e-05,1793192174208950272
+33,0.550000000,BASELINE,764,742,711.140700537,671,661,633,876,783.140700537,799,649,628,650,0.400949782798,-0.00538745356996,0.0598409366565,0.99999994156,0.000211975157585,-0.000267686873934,1.70646197001e-05,1793192174225617152
+34,0.566666667,BASELINE,764,742,711.730702545,671,661,633,876,783.730702545,799,649,628,650,0.400949991046,-0.00538765193005,0.0598406926887,0.999999941795,0.0002107391837,-0.000267784557032,1.70496189811e-05,1793192174242283776
+35,0.583333333,BASELINE,764,742,712,671,661,633,876.31480882,784,799,649,628,650.31480882,0.400950531694,-0.00538739227069,0.0598406428504,0.999999941791,0.000210588162508,-0.000267922809087,1.69754329727e-05,1793192174258950144
+36,0.600000000,BASELINE,764,742,712,671,661,633,876.893964478,784,799,649,628,650.893964478,0.40095135146,-0.0053867480097,0.0598407560238,0.999999941586,0.000211348182406,-0.000268095127148,1.68515487234e-05,1793192174275616512
+37,0.616666667,BASELINE,764,742.470721246,712,671,661,632.529278754,876.529278754,783.529278754,799,649,628.470721246,650.529278754,0.400950196558,-0.00538786991587,0.0598404470482,0.999999941539,0.000210891246728,-0.00026861304461,1.71641704007e-05,1793192174292283136
+38,0.633333333,BASELINE,764,742.953324516,712,671,661,632,876,783,799,649,628.953324516,650.046675484,0.40094872073,-0.00538921803993,0.0598400455421,0.999999941497,0.000210316396422,-0.000269192769345,1.75309711166e-05,1793192174308949760
+39,0.650000000,BASELINE,764,742.380356666,712,671,661,632,876,783,799,649,628.380356666,650.619643334,0.40094861643,-0.00538865366169,0.0598396675052,0.999999941144,0.000211487330141,-0.000269596050595,1.74055879455e-05,1793192174325616384
+40,0.666666667,BASELINE,764,742,712,671.200067618,661,632.200067618,876,783,799,649,628.200067618,651,0.400948684563,-0.00538787625247,0.0598396906686,0.999999940895,0.000212794948948,-0.000269496377372,1.73180711247e-05,1793192174342283008
+41,0.683333333,BASELINE,764,742,712,671.795216375,661,632.795216375,876,783,799,649,628.795216375,651,0.400949093207,-0.00538667816292,0.0598405060974,0.999999940852,0.000214372484928,-0.000268403500796,1.73053304343e-05,1793192174358950144
+42,0.700000000,BASELINE,764.376158723,742,712,671.623841277,661,633,876,783.376158723,799,649.376158723,628.623841277,651,0.400950389653,-0.00538638661387,0.0598412952533,0.999999941285,0.000213852780344,-0.000267209608761,1.71918620062e-05,1793192174375616768
+43,0.716666667,BASELINE,764.949648441,742,712,671.050351559,661,633,876,783.949648441,799,649.949648441,628.050351559,651,0.400952151837,-0.00538657063149,0.0598420706264,0.999999941966,0.000212232873743,-0.000265962724552,1.70255523082e-05,1793192174392283392
+44,0.733333333,BASELINE,765,742,712,671,661,633,876.524684836,783.475315164,799.524684836,649.475315164,628,650.475315164,0.40095148084,-0.00538605403917,0.0598412612821,0.999999941614,0.000213036393654,-0.000266657873667,1.67552885223e-05,1793192174408949760
+45,0.750000000,BASELINE,764.897779243,742,712,670.897779243,661,632.897779243,877,783,799.897779243,649,628.102220757,650,0.400950757758,-0.00538580724174,0.0598405007706,0.999999941283,0.000213774391016,-0.000267316242869,1.66035973122e-05,1793192174425616384
+46,0.766666667,BASELINE,764.309055927,742,712,670.309055927,661,632.309055927,877,783,799.309055927,649,628.690944073,650,0.400950901375,-0.0053871654244,0.0598406986004,0.99999994153,0.000213090418114,-0.000266909954831,1.70638519104e-05,1793192174442283264
+47,0.783333333,BASELINE,764,742,712,670,661,632.276708492,876.723291508,783,799,649,628.723291508,650.276708492,0.400949637968,-0.00538737441032,0.0598401761642,0.999999941255,0.0002128640861,-0.000268112949784,1.71591420229e-05,1793192174458950144
+48,0.800000000,BASELINE,764,742,712,670,661,632.859203156,876.140796844,783,799,649,628.140796844,650.859203156,0.400946819684,-0.0053863134373,0.0598388577732,0.999999940397,0.000213143485694,-0.000271094337819,1.68511157221e-05,1793192174475617024
+49,0.816666667,BASELINE,764,742,711.564045552,670.435954448,661,633,876,783,799,649,628.435954448,650.564045552,0.400947114879,-0.00538590174931,0.0598389449877,0.999999940348,0.000213384867802,-0.000271090008114,1.67944105513e-05,1793192174492283648
+50,0.833333333,BASELINE,764,742,711.011109348,671,661,633,876,783,799,649,628.988890652,650,0.400948410391,-0.00538573544621,0.0598394950421,0.999999940569,0.000213585885541,-0.000270111132416,1.68239427534e-05,1793192174508950272
+51,0.850000000,BASELINE,764,742,711.598422627,671,661,633,876,783,799,649,628.401577373,650,0.400950113328,-0.00538756169875,0.0598408119554,0.999999941414,0.000212321890502,-0.000267949167891,1.71711858665e-05,1793192174525616896
+52,0.866666667,BASELINE,764,742,712,671,661,633,876,783,799.183146577,648.816853423,628,650,0.400950361793,-0.00538812564097,0.0598410147209,0.999999941576,0.000212059644507,-0.000267545161636,1.72894078418e-05,1793192174542283520
+53,0.883333333,BASELINE,764,742,712,671,661,633,876,783,799.762272134,648.237727866,628,650,0.400947465561,-0.00538596035733,0.0598388086009,0.999999940262,0.000213963267983,-0.000270942015647,1.69124659871e-05,1793192174558950144
+54,0.900000000,BASELINE,763.659632553,742,712,671,661,632.659632553,876,783.340367447,799.659632553,648.340367447,628,650,0.400947344827,-0.00538571379549,0.0598385519823,0.999999940241,0.000213651337897,-0.000271272846744,1.68095725527e-05,1793192174575616512
+55,0.916666667,BASELINE,763.082254662,742,712,671,661,632.082254662,876,783.917745338,799.082254662,648.917745338,628,650,0.400949156775,-0.00538680331071,0.0598396528736,0.999999941122,0.00021179663583,-0.000269468692528,1.68975091863e-05,1793192174592283392
+56,0.933333333,BASELINE,763.492853409,742,712,671,661,632.492853409,876.492853409,783.507146591,799.492853409,649,628,650,0.400949105026,-0.00538789600569,0.0598400082093,0.999999941519,0.000210364646632,-0.000269118133269,1.68488397408e-05,1793192174608950528
+57,0.950000000,BASELINE,764,742,712,671,661,633,876.930717425,783.069282575,799.930717425,649.069282575,628,650,0.40094883041,-0.00538870213834,0.0598402778268,0.999999941782,0.000209363042434,-0.000268924326604,1.68062742857e-05,1793192174625617408
+58,0.966666667,BASELINE,764,742,712,671,661,633,876.341545599,783.658454401,799.341545599,649.658454401,628,650,0.40094920674,-0.00538735397242,0.0598408336482,0.999999941644,0.000211064041049,-0.000268094694881,1.69798084256e-05,1793192174642283520
+59,0.983333333,BASELINE,764,742,712,671,661,633,876.243112163,784,799,649.756887837,628,650,0.400948890976,-0.00538649605883,0.0598406098152,0.999999941304,0.000212324823891,-0.000268366050885,1.70268641835e-05,1793192174658950144
+60,1.000000000,BASELINE,764,742,712,671,661,633,876.821543855,784,799,649.178456145,628,650,0.400947620619,-0.00538631433987,0.0598393106213,0.999999940685,0.00021297842655,-0.000270155976145,1.68994709754e-05,1793192174675616512
+61,1.016666667,BASELINE,763.60012901,742,712,671,661,633,876.60012901,783.60012901,799.39987099,649,628,650,0.400947762415,-0.0053866002576,0.0598393594972,0.999999940695,0.000212945983778,-0.000270146286228,1.68685982661e-05,1793192174692282880
+62,1.033333333,BASELINE,763.021848558,742,712,671,661,633,876.021848558,783.021848558,799.978151442,649,628,650,0.400948534269,-0.00538709481965,0.059840009838,0.999999940986,0.000212607449756,-0.000269333666302,1.6880789879e-05,1793192174708949504
+63,1.050000000,BASELINE,763.552792743,742,712,671,661.552792743,633,876,783.552792743,799.447207257,649,628,650,0.400948454288,-0.00538806301498,0.0598397125311,0.999999941672,0.000209325438635,-0.000269367335994,1.67106567413e-05,1793192174725616384
+64,1.066666667,BASELINE,764,742,712,671,661.868919845,633,876,783.868919845,799,649,628,650.131080155,0.400948725132,-0.00538862675273,0.059839738054,0.999999942188,0.00020722630161,-0.000269081557212,1.66299688923e-05,1793192174742283264
+65,1.083333333,BASELINE,764,742,712,671,661.2773207,633,876,783.2773207,799,649,628,650.7226793,0.400950346026,-0.0053877041871,0.059841028491,0.999999942079,0.000209688964306,-0.000267556726532,1.6888677511e-05,1793192174758949888
+66,1.100000000,BASELINE,764,742,712,671,661,633,875.69327478,783,799,649,628,650.69327478,0.400951189358,-0.00538667844937,0.0598417397387,0.999999941807,0.000212055032703,-0.000266704979464,1.69450117666e-05,1793192174775616512
+67,1.116666667,BASELINE,764,742,712,671,661,633,875.115893888,783,799,649,628,650.115893888,0.400951346565,-0.00538556167216,0.0598419399071,0.999999941392,0.000214335865739,-0.000266447164391,1.68227699886e-05,1793192174792282880
+68,1.133333333,BASELINE,763.54156673,742,711.54156673,671,661,633,875.45843327,783,799,649,628,650.45843327,0.400951113843,-0.00538620166695,0.0598413984209,0.999999941383,0.000214016734773,-0.000266718606993,1.70695113366e-05,1793192174808949504
+69,1.150000000,BASELINE,763.032200886,742,711.032200886,670.967799114,661,633,876,783,799,649,628.032200886,650.967799114,0.400950735884,-0.0053872383872,0.0598406768126,0.999999941464,0.000213037656286,-0.00026717927194,1.73902193125e-05,1793192174825616384
+70,1.166666667,BASELINE,763.609477585,742,711.609477585,670.390522415,661,633,876,783,799,649,628.609477585,650.390522415,0.400949557026,-0.0053875225974,0.0598400589808,0.999999941318,0.000211939835987,-0.000268593100663,1.73944423808e-05,1793192174842283008
+71,1.183333333,BASELINE,764,742.192006143,711.807993857,670.384012285,661,633,876,783,799.192006143,649,628.807993857,650,0.400949151569,-0.00538801287557,0.0598398524041,0.999999941453,0.000210693940772,-0.000269075055649,1.73552340548e-05,1793192174858949632
+72,1.200000000,BASELINE,764,742.785516985,711.214483015,671.57103397,661,633,876,783,799.785516985,649,628.214483015,650,0.400950363373,-0.00538893406321,0.0598405058043,0.999999942175,0.000209138405389,-0.000267608366545,1.72252061927e-05,1793192174875616256
+73,1.216666667,BASELINE,764,742.632005067,711.367994933,671.632005067,661,633,876,783,800,649,628.367994933,650,0.400950335162,-0.00538808587514,0.0598405123343,0.999999942132,0.000209424258359,-0.000267573564975,1.67867865533e-05,1793192174892282880
+74,1.233333333,BASELINE,764,742.055770412,711.944229588,671.055770412,661,633,876,783,800,649,628.944229588,650,0.400949605255,-0.0053862364387,0.0598401528157,0.999999941655,0.000210752110009,-0.000268349035146,1.61738552301e-05,1793192174908949504
+75,1.250000000,BASELINE,764,742,711.482272927,671,661,633,876,783,799.482272927,649,629,650,0.400949462104,-0.00538811115912,0.0598406396046,0.999999941829,0.000210303330678,-0.000268018600054,1.67674659136e-05,1793192174925616128
+76,1.266666667,BASELINE,764,742,711.093881093,670.906118907,661,633,876.093881093,783,799,649,629,650,0.400949274234,-0.00538993290882,0.0598410310168,0.999999942005,0.000209746698663,-0.000267758916521,1.73497393755e-05,1793192174942283008
+77,1.283333333,BASELINE,764,742,711.685680178,670.314319822,661,633,876.685680178,783,799,649,629,650,0.40094851572,-0.00538935720572,0.059840435606,0.999999941833,0.00020962774165,-0.000268502986312,1.71861820166e-05,1793192174958949632
+78,1.300000000,BASELINE,764,742,712,670.271436381,661,633,876.728563619,783,799,649,629,650,0.400948604638,-0.00538813896054,0.0598405342694,0.999999941718,0.000210469570356,-0.000268288098975,1.69687351235e-05,1793192174975616256
+79,1.316666667,BASELINE,764,742,712,670.850347359,661,633,876.149652641,783,799,649,629,650,0.400949653499,-0.00538619286393,0.0598414191585,0.999999941663,0.000212399746914,-0.000266986935112,1.66902438721e-05,1793192174992282880
+80,1.333333333,BASELINE,764,742.425054279,711.574945721,671,661.425054279,633,876,783,799,649,629,650,0.400950478973,-0.0053855373734,0.0598415891301,0.999999941492,0.000213601063814,-0.000266671048413,1.66426956479e-05,1793192175008949504
+81,1.350000000,BASELINE,764,742.998295582,711.001704418,671,661.998295582,633,876,783,799,649,629,650,0.400951226567,-0.00538533182776,0.0598415098596,0.999999941281,0.000214548277926,-0.000266698659602,1.66756612594e-05,1793192175025616128
+82,1.366666667,BASELINE,764,742.413588093,711.586411907,671,661.413588093,633,876,783.586411907,799,649.586411907,628.413588093,650.586411907,0.400948374814,-0.00538794275447,0.0598396172542,0.999999941135,0.000211348595282,-0.000269766464468,1.69927390596e-05,1793192175042283008
+83,1.383333333,BASELINE,764,742,711.828072883,671,661,632.828072883,876,783.828072883,799,649.828072883,628,650.828072883,0.400946792141,-0.00538964612079,0.0598386546143,0.999999941193,0.000208913629784,-0.000271427961411,1.72057238818e-05,1793192175058949632
+84,1.400000000,BASELINE,764,742,711.248825077,671,661,632.248825077,876,783.248825077,799,649.248825077,628,650.248825077,0.400948241533,-0.00538917944433,0.0598399080107,0.999999941775,0.00020831968994,-0.000269736228618,1.71700898491e-05,1793192175075616256
+85,1.416666667,BASELINE,764,742,711,671,661,632,876,783.329742889,799,649,628,650,0.400948946218,-0.00538785331225,0.0598406292107,0.999999941766,0.000210193010021,-0.000268321854842,1.70378934681e-05,1793192175092282880
+86,1.433333333,BASELINE,764,742,711,671,661,632,876,783.907798866,799,649,628,650,0.400949090101,-0.0053858799666,0.0598409496398,0.999999941301,0.000213924301761,-0.000267116346547,1.68329807524e-05,1793192175108949504
+87,1.450000000,BASELINE,763.516668241,742,711.483331759,670.516668241,661,632.483331759,876,783.516668241,799,649,628,650.483331759,0.400949468223,-0.00538602408971,0.059841166272,0.999999941443,0.000214125918781,-0.000266419736883,1.68959687508e-05,1793192175125616128
+88,1.466666667,BASELINE,763.059689889,742,711.940310111,670.059689889,661,633,876,783.059689889,799,649,628.059689889,650.940310111,0.400949760668,-0.00538648440683,0.0598412763743,0.999999941607,0.0002137941294,-0.00026606447159,1.69796993802e-05,1793192175142282752
+89,1.483333333,BASELINE,763.647587803,742,711.352412197,670.647587803,661,633,876,783.647587803,799,649,628.647587803,650.352412197,0.400948901571,-0.00538618687764,0.0598406180802,0.999999940939,0.000214669577818,-0.000267875227748,1.67970942577e-05,1793192175158949376
+90,1.500000000,BASELINE,764,742,711,671,661,632.768471611,876,783.768471611,798.768471611,649,628.768471611,650,0.400948225936,-0.00538627576547,0.0598401242115,0.999999940702,0.000214191530701,-0.000269151296527,1.66085212022e-05,1793192175175616256
+91,1.516666667,BASELINE,764,742,711,671,661,632.190453349,876,783.190453349,798.190453349,649,628.190453349,650,0.400947824857,-0.00538694293915,0.0598398764107,0.99999994111,0.000211687932786,-0.000269627187842,1.6411016954e-05,1793192175192282880
+92,1.533333333,BASELINE,764,742,711,671,661,632.383996951,876,783,798.383996951,649,628.383996951,650.383996951,0.400948641895,-0.00538730632471,0.059840655338,0.999999941656,0.000210668941267,-0.000268385346781,1.65982125454e-05,1793192175208950272
+93,1.550000000,BASELINE,764,742,711,671,661,632.95669397,876,783,798.95669397,649,628.95669397,650.95669397,0.400950057528,-0.00538752042572,0.05984193881,0.999999942268,0.000210379500438,-0.000266299394333,1.69744535928e-05,1793192175225618176
+94,1.566666667,BASELINE,764,742,711,671,661,633,876,783,799,649,629,650.465196041,0.400949924313,-0.00538875288997,0.0598416458318,0.999999942521,0.000209820820948,-0.000265769080587,1.73358732578e-05,1793192175242284544
+95,1.583333333,BASELINE,764,742,711.116591457,671,661,633,875.883408543,783,799,649.116591457,629,650,0.400949800782,-0.00538948825559,0.0598413438217,0.999999942568,0.000209801431506,-0.000265590797179,1.75599842556e-05,1793192175258950912
+96,1.600000000,BASELINE,764,742,711.711653808,671,661,633,875.288346192,783,799,649.711653808,629,650,0.400950236949,-0.00538784174421,0.0598415339711,0.999999941894,0.000212085579038,-0.00026633494534,1.72255803147e-05,1793192175275617024
+97,1.616666667,BASELINE,764,742,712,671,661,633,875.296829423,783.296829423,799,650,628.703170577,650.296829423,0.400950569992,-0.00538728414767,0.0598419860873,0.999999941738,0.0002131674688,-0.00026607340405,1.69999090434e-05,1793192175292283392
+98,1.633333333,BASELINE,764,742,712,671,661,633,875.872710407,783.872710407,799,650,628.127289593,650.872710407,0.400950806086,-0.00538775024824,0.0598426844803,0.999999942071,0.000213119106902,-0.000264866406537,1.68764581884e-05,1793192175308950272
+99,1.650000000,BASELINE,764,742,712,671,661,633,876,783.551684369,799,649.551684369,628,651,0.400949857063,-0.00538767667762,0.0598419149496,0.999999942129,0.000211657619249,-0.000265819293258,1.68040353653e-05,1793192175325616640
+100,1.666666667,BASELINE,764,742,712,671,661,633,876.024402665,783,799.024402665,649,628.024402665,650.975597335,0.400948677869,-0.00538745926765,0.0598408045701,0.999999942113,0.00020990445771,-0.000267270902966,1.67562116517e-05,1793192175342283264
+101,1.683333333,BASELINE,764,742,712,671,661,633,876.613448851,783,799.613448851,649,628.613448851,650.386551149,0.400949953932,-0.00538745691906,0.0598414453273,0.999999942264,0.00021068048752,-0.000266081177939,1.69425436713e-05,1793192175358949888
+102,1.700000000,BASELINE,764,742,711.800799505,671,661.199200495,633,876.800799505,783.199200495,799.800799505,649,629,650,0.400950674436,-0.00538729251261,0.0598417453582,0.999999942055,0.000212152727846,-0.000265684962426,1.70845816204e-05,1793192175375616512
+103,1.716666667,BASELINE,764,742,711.221337016,671,661.778662984,633,876.221337016,783.778662984,799.221337016,649,629,650,0.400950334412,-0.00538681874726,0.0598413949626,0.999999941158,0.000214953992897,-0.000266803509908,1.71420647803e-05,1793192175392282880
+104,1.733333333,BASELINE,764,742,711.355373882,671,661.644626118,633,876,783.644626118,799,649.355373882,628.644626118,650,0.400949832184,-0.00538736953912,0.0598411911615,0.99999994116,0.000214053739843,-0.00026752350672,1.7071390162e-05,1793192175408949504
+105,1.750000000,BASELINE,764,742,711.930384234,671,661.069615766,633,876,783.069615766,799,649.930384234,628.069615766,650,0.400949229706,-0.00538855355171,0.0598410779621,0.999999941713,0.000210865788356,-0.000267997182042,1.69215084847e-05,1793192175425616384
+106,1.766666667,BASELINE,764,742,711.493013,671,661,632.493013,876.506987,783,799,649.493013,628,650,0.400949140594,-0.00538792291607,0.0598414601278,0.999999941909,0.000210327323269,-0.000267697635156,1.6817346991e-05,1793192175442283008
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783,799,650,628,650,0.40094929374,-0.00538823009776,0.0598417576358,0.999999941602,0.000212860147078,-0.000266829472069,1.69694814229e-05,1793192175484791808
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.579399941,711.579399941,671,661,633,876,783,798.420600059,649.420600059,628.579399941,650.579399941,0.40095011166,-0.00538801718749,0.0598414652117,0.999999942148,0.000210983817261,-0.000266299451206,1.65358537334e-05,1793192175501458432
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.84256965,742.84256965,712,671,661,633,876,783,798.15743035,649.15743035,629,650.84256965,0.400950643805,-0.00538811694073,0.0598413138761,0.999999942478,0.000209806781096,-0.000266000545467,1.64239842584e-05,1793192175518125312
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.268166479,742.268166479,712,671,661,633,876,783,798.731833521,649.731833521,629,650.268166479,0.400950419044,-0.00538904482007,0.0598415362297,0.99999994224,0.000210481906103,-0.000266313775236,1.71643292093e-05,1793192175534791936
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.313365061,742,712,671,661.313365061,633,876,783,799.313365061,649.686634939,629,650,0.400950726744,-0.00538849899634,0.0598419813527,0.99999994199,0.000211802644259,-0.000266196252805,1.72717687636e-05,1793192175551458560
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.901138763,742,712,671,661.901138763,633,876,783,799.901138763,649.098861237,629,650,0.400951500711,-0.00538666267495,0.0598426215511,0.999999941728,0.000213688735216,-0.000265701527725,1.68249834047e-05,1793192175568125184
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661.519225869,633,875.519225869,783.480774131,800,649,629,650,0.400951937693,-0.00538683806299,0.0598426609669,0.99999994175,0.000214239298125,-0.000265167360533,1.6943119736e-05,1793192175584792064
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,875.058706798,784,799.941293202,649,628.941293202,650.058706798,0.400953125556,-0.0053873073557,0.0598429570044,0.999999942017,0.000214337560328,-0.00026406735492,1.71586197872e-05,1793192175601458432
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,875.636135164,784,799.363864836,649,628.363864836,650.636135164,0.400961550135,-0.00538677929968,0.0598465938906,0.999999943912,0.000212825512281,-0.000258038183177,1.72250857826e-05,1793192175618125056
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876.213412811,783.786587189,799,649,628.213412811,651,0.400977272161,-0.00538717943047,0.059853668336,0.999999947222,0.000211384977129,-0.000246096799975,1.75849217561e-05,1793192175634791936
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876.790433609,783.209566391,799,649,628.790433609,651,0.401005427413,-0.00538916098528,0.0598665996176,0.99999995266,0.000210066284152,-0.000224082323332,1.84445949414e-05,1793192175651458560
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876.251937062,783,799,649,629,650.625968531,0.401049712596,-0.00539104092705,0.0598830073546,0.999999959249,0.000209291578648,-0.000193203551273,1.92810057175e-05,1793192175668125184
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,875.07723918,783,799,649,629,650.03861959,0.401103196997,-0.00539286291711,0.0599013977832,0.999999965627,0.000208827119548,-0.000157269295692,2.01041495504e-05,1793192175684792064
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661.541173693,633,875.541173693,783.541173693,799,649,628.458826307,650.541173693,0.401169982335,-0.0053946163928,0.059914396107,0.999999968,0.000207966882526,-0.000142511298024,2.0998668039e-05,1793192175701458432
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661.880097406,633,876,783.880097406,799,649,628,651,0.401240879005,-0.00539670972596,0.0599256218576,0.999999970027,0.000206845781704,-0.000129205208027,2.16060394923e-05,1793192175718125312
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661.303397463,633,876,783.303397463,799,649,628,651,0.401323872413,-0.00540011619796,0.0599315403565,0.999999972099,0.00020483697792,-0.000115752522929,2.11003188801e-05,1793192175734792960
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.729120303,742,711.729120303,671,661,633,876,783,799,649,628,651,0.401416387478,-0.00540362764509,0.0599351903236,0.999999973661,0.000201819130711,-0.000107383766599,2.03911108066e-05,1793192175751460096
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.157532749,742,711.157532749,671,661,633,876,783,799,649,628,651,0.401519472681,-0.00540725562659,0.0599363219571,0.999999974795,0.000197681128505,-0.000104658761233,1.9456008101e-05,1793192175768125952
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.428497479,742,711.428497479,671,661,633,875.571502521,783,799.428497479,649,628.428497479,651,0.401643666152,-0.00541082008452,0.0599393370651,0.999999976281,0.000194498963448,-9.63690388386e-05,1.79449951101e-05,1793192175784792320
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660.980362194,633,875.019637806,783.019637806,799.980362194,649,629,651,0.401776796046,-0.00541440281012,0.0599429070791,0.999999977774,0.000191691201917,-8.62792358341e-05,1.62234995933e-05,1793192175801458944
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660.40020516,633,875.59979484,783.59979484,799.40020516,649,629,651,0.401935771525,-0.00541919678453,0.0599418620785,0.999999978362,0.000189190056923,-8.52401184486e-05,1.47483373781e-05,1793192175818126080
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660.17840743,633,876,784,799,649.17840743,628.82159257,650.82159257,0.402105512093,-0.00542443501431,0.0599408007608,0.999999979233,0.000185423526461,-8.35724055242e-05,1.29178369189e-05,1793192175834792704
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660.753585166,633,876,784,799,649.753585166,628.246414834,650.246414834,0.402299193725,-0.00543066124794,0.0599397031547,0.999999980714,0.000178842834503,-8.05067238075e-05,1.02970799754e-05,1793192175851458816
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711.664498102,671,661.335501898,633,876,783.664498102,799,649.664498102,628.335501898,650.335501898,0.402511665603,-0.0054364789397,0.0599387056832,0.999999982357,0.00017090039959,-7.7633306412e-05,7.23975802015e-06,1793192175868125440
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.077530288,671,661.922469712,633,876,783.077530288,799,649.077530288,628.922469712,650.922469712,0.402738221195,-0.00544199042115,0.0599377832646,0.999999984075,0.000161937308227,-7.49039949515e-05,3.85522088622e-06,1793192175884792064
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711.505681634,671,661.494318366,633,876.505681634,783,799.505681634,649,628.494318366,651,0.403009061386,-0.00545160367036,0.0599414172343,0.999999986826,0.000148189294716,-6.62279609622e-05,1.34924881847e-06,1793192175901458688
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.913021465,742.086978535,711.913021465,671,661,633,877,783.086978535,799.913021465,649.086978535,628,650.913021465,0.403290678705,-0.00546183062727,0.0599438110174,0.999999989206,0.000134143978173,-5.9924609609e-05,-1.27483214162e-06,1793192175918125312
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.339243158,742.660756842,711.339243158,671,661,633,877,783.660756842,799.339243158,649.660756842,628,650.339243158,0.403594893374,-0.00547199864173,0.0599353827869,0.999999989892,0.000122510335618,-7.19658363257e-05,-5.3082727465e-06,1793192175934791936
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.235957193,742.764042807,711.235957193,671,661.235957193,633,876.764042807,783.764042807,799,649.764042807,628,650.235957193,0.403912628933,-0.00548182158177,0.0599265536756,0.999999990164,0.000110489484536,-8.58676645778e-05,-9.54704774846e-06,1793192175951458560
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.813214423,742.186785577,711.813214423,671,661.813214423,633,876.186785577,783.186785577,799,649.186785577,628,650.813214423,0.404249921749,-0.00549114538866,0.0599171447112,0.999999989859,9.7908556785e-05,-0.000102460757276,-1.40828282344e-05,1793192175968125184
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.398964094,711.601035906,671,661.601035906,632.601035906,876.797928188,783.398964094,799,649,628,650.601035906,0.404600878537,-0.00549965443329,0.0599033333939,0.999999987991,8.60067466479e-05,-0.0001275146832,-1.89707042905e-05,1793192175984791808
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.988776183,711.011223817,671,661.011223817,632.011223817,877.977552366,783.988776183,799,649,628,650.011223817,0.404958371596,-0.00550777372893,0.0598874161726,0.999999984677,7.44297987153e-05,-0.00015661592278,-2.40270082254e-05,1793192176001458432
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.433123183,711,670.433123183,661,632.566876817,876.866246365,783.433123183,799,649,628.566876817,650,0.405405737003,-0.0055200933044,0.0598919107809,0.999999988095,3.22435810661e-06,-0.000151791193574,-2.75682490712e-05,1793192176018125056
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711.144021762,670.144021762,661.144021762,633,876.144021762,783,799.144021762,649,629,650,0.405876580575,-0.00553030445281,0.0599037921993,0.999999988971,-5.82445103441e-05,-0.000133236620008,-3.02141762017e-05,1793192176034791936
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.718986768,670.718986768,661.718986768,633,876.718986768,783,799.718986768,649,629,650,0.40641245903,-0.00553396293994,0.0599365916986,0.999999992892,-8.71183838951e-05,-7.55687066549e-05,-3.02690784987e-05,1793192176051458560
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,671,662,633,876.699467918,783,799.699467918,649.300532082,628.699467918,650,0.406952276916,-0.00553157595821,0.0599662870225,0.999999995215,-8.86040587901e-05,-2.75582175219e-05,-3.09731164084e-05,1793192176068125440
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,712,671,662,633,876.111631863,783,799.111631863,649.888368137,628.111631863,650,0.407495860898,-0.0055234096032,0.0599930148071,0.999999997373,-6.39070474402e-05,1.12199316702e-05,-3.22977178631e-05,1793192176084792064
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.531498317,742,712,671,661.531498317,633,876,783.468501683,799,649.531498317,628.468501683,650.468501683,0.408033453105,-0.00552083090548,0.0599919862425,0.999999999282,-2.66299956388e-05,-2.24497949579e-06,-2.68591497342e-05,1793192176101458944
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.046741789,742,712,671,661,633,876.093483577,783.953258211,799.046741789,649,628.953258211,650.953258211,0.408573337961,-0.00552007445989,0.0599836797345,0.999999999333,9.98336957178e-06,-2.86755933817e-05,-2.03185284933e-05,1793192176118125568
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.623985638,742,712,671,661,633,877.247971277,783.376014362,799.623985638,649,628.376014362,650.376014362,0.409155185542,-0.00552513348036,0.0599666193003,0.999999997798,5.59393240205e-06,-6.32652048842e-05,-1.92639759268e-05,1793192176134792192
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661.200642013,633,877.598715975,783.200642013,799.799357987,649,628,650,0.409769988862,-0.00552952160087,0.0599569751207,0.999999996705,-2.73118404135e-06,-7.86063735796e-05,-2.0113807856e-05,1793192176151458560
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661.776200605,633,876.44759879,783.776200605,799.223799395,649,628,650,0.410446372734,-0.00553265608773,0.0599611888412,0.999999997849,-1.84104499943e-05,-5.7980195992e-05,-2.4522143466e-05,1793192176168125184
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,671,662,633,876.359880887,784,799,649,628,650.359880887,0.411125506996,-0.00553302137556,0.0599681161593,0.999999998485,-2.51206350914e-05,-4.10021838759e-05,-2.67992567767e-05,1793192176184791808
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,671,662,633,876.9487284,784,799,649,628,650.9487284,0.411806391109,-0.00553162481878,0.0599767699465,0.999999998928,-2.61244310093e-05,-2.63452409158e-05,-2.7720424671e-05,1793192176201458688
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.528785877,712,671.528785877,661.471214123,632.471214123,877,783.471214123,799,649,628.528785877,651,0.412477008337,-0.00553137933777,0.0599553839498,0.999999997351,-2.22838384236e-05,-6.29252079439e-05,-2.9030163928e-05,1793192176218125568
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.892270099,712,671.892270099,661,632.107729901,877,783,799,649,628.892270099,651,0.413151359285,-0.00553127865643,0.059930179303,0.999999993505,-1.91505895221e-05,-0.000108111233907,-3.05750105517e-05,1793192176234792192
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.314526461,712,671.314526461,661,632.685473539,877,783,799,649,628.314526461,651,0.413846272034,-0.00553133074252,0.0599008142591,0.999999984864,-2.11192181911e-05,-0.000169524191098,-3.29839149307e-05,1793192176251458816
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.261258266,712,671,661.261258266,633,877,783,799.261258266,649.261258266,628,650.738741734,0.414614030257,-0.00553244733157,0.0599055584493,0.999999985798,-2.3058663952e-05,-0.000163536394162,-3.36002039068e-05,1793192176268125440
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.834702305,712,671,661.834702305,633,877,783,799.834702305,649.834702305,628,650.165297695,0.415468833934,-0.00553483592892,0.0599510608391,0.999999996209,-2.49632383438e-05,-7.70093101015e-05,-3.20744402373e-05,1793192176284792064
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.580688746,712,671,662.419311254,633,877,783,799.580688746,650,628,650,0.416285210458,-0.00553694032293,0.0599848520749,0.999999999045,-2.62266321353e-05,-1.67088022887e-05,-3.06966877034e-05,1793192176301458688
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,712,671.008313326,662.983373349,633,877,783.008313326,799,649.991686674,628,650,0.417085940405,-0.00553887539189,0.0600132904294,0.999999998688,-2.72265451751e-05,3.19072731333e-05,-2.94205385914e-05,1793192176318125312
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,712,671.588470395,661.82305921,633,877,783.588470395,799,649.411529605,628,650,0.417880914234,-0.005537080609,0.059999775464,0.999999999101,-2.79647248575e-05,7.41942758907e-06,-3.1009989961e-05,1793192176334791936
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,712,671.833003204,661.333993591,633,877.166996796,784,799.166996796,649,628.166996796,650.166996796,0.418678706242,-0.00553588311766,0.0599835052112,0.999999998814,-2.92305866656e-05,-2.09621586743e-05,-3.28455854063e-05,1793192176351458560
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,712,671.25845643,662.483087141,633,877.74154357,784,799.74154357,649,628.74154357,650.74154357,0.419483375875,-0.00553614329607,0.059960510774,0.999999997141,-3.1784238654e-05,-5.88462847743e-05,-3.52818869805e-05,1793192176368125184
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,712,671.316831858,662.683168142,633,877.683168142,783.683168142,800,649,628.683168142,650.683168142,0.42029145033,-0.00553742003943,0.0599338613632,0.999999993938,-3.35269006092e-05,-9.78774516866e-05,-3.76713881616e-05,1793192176384792320
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,712,671.892726428,662.107273572,633,877.107273572,783.107273572,800,649,628.107273572,650.107273572,0.421102308755,-0.00553952799362,0.059904223405,0.999999989099,-3.46064432609e-05,-0.000137846513227,-4.00226221066e-05,1793192176401458944
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,712,671.516162812,661.516162812,633,877,783,799.032325625,649,628,650,0.421893470708,-0.00553874822161,0.0598813159021,0.999999981115,-3.48338717712e-05,-0.00018669816638,-4.12459652724e-05,1793192176418125568
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.075874313,711.924125687,671.075874313,661.075874313,633,876.924125687,783,798.075874313,649,628.075874313,650,0.422697456339,-0.00553803757931,0.0598706083905,0.999999974923,-3.53905201366e-05,-0.000217150256468,-4.17931926941e-05,1793192176434792192
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.651084466,711.348915534,671.651084466,661.651084466,633,876.348915534,783,798.651084466,649,628.651084466,650,0.423615508116,-0.0055421322445,0.0599300507277,0.999999992041,-3.93975043579e-05,-0.000113131485179,-3.95900067548e-05,1793192176451458560
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,711.229186078,672,662.229186078,633,876.229186078,783,799,649,628.770813922,650,0.424515201792,-0.00554591770592,0.0599809941289,0.999999998021,-4.29421916393e-05,-2.67559904561e-05,-3.73900947952e-05,1793192176468125440
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,711.811746016,672,662.811746016,633,876.811746016,783,799,649,628.188253984,650,0.425386589902,-0.00554922641766,0.0600188333323,0.999999997808,-4.57740807572e-05,3.24159783425e-05,-3.51952309668e-05,1793192176484792064
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712,672,662.21101786,633,877,783.39449107,799,649,628.39449107,650,0.426228196685,-0.00555137129826,0.0600173695301,0.999999997495,-4.8100292015e-05,3.75461043315e-05,-3.58777358416e-05,1793192176501458688
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,712,672,661.045351061,633,877,783.977324469,799,649,628.977324469,650,0.42705558488,-0.00555296052941,0.059997141246,0.999999997879,-5.018507677e-05,1.68749671378e-05,-3.79339863495e-05,1793192176518125312
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.445269471,712,672,661.554730529,633,877.554730529,784,799.554730529,649.554730529,628.445269471,650,0.427854092118,-0.00555301875765,0.0599728822555,0.999999997595,-5.15167460223e-05,-2.17305253223e-05,-4.10251386091e-05,1793192176534791936
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,712,672.130818064,662.130818064,633,877.869181936,784,799.869181936,649.869181936,628,650,0.428639500725,-0.00555240909841,0.0599499106608,0.999999996022,-5.13512481643e-05,-5.85222007436e-05,-4.35147167605e-05,1793192176551458816
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,712,672.703196623,662.703196623,633,877.296803377,784,799.296803377,649.296803377,628,650,0.429384642671,-0.00554975425826,0.0599318352614,0.999999994209,-4.62351483121e-05,-8.67410516992e-05,-4.38323482682e-05,1793192176568125440
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.284721949,712,672.715278051,662.430556102,633,877.284721949,783.715278051,799,649,628,650,0.430148507804,-0.00554762292393,0.0599174470772,0.999999991976,-4.38262606864e-05,-0.000110105926449,-4.47673099897e-05,1793192176584792320
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.876098599,712,672.123901401,661.247802802,633,877.876098599,783.123901401,799,649,628,650,0.430932538363,-0.0055460554224,0.0599070301437,0.999999989719,-4.43331280932e-05,-0.000128242910842,-4.63671562141e-05,1793192176601458688
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,712,672.456982122,661.913964243,633,877.543017878,783.456982122,799,649,628,650,0.431756592093,-0.00555077004443,0.0599442105052,0.999999995819,-5.18573311685e-05,-5.98743086727e-05,-4.56956033927e-05,1793192176618125312
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,673,663,633,877,784,799.035148909,649.035148909,628.035148909,650,0.432584886187,-0.00555695602135,0.0599915170566,0.999999996832,-6.0669972611e-05,2.61688754078e-05,-4.43865068426e-05,1793192176634791936
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,673,663,633,877,784,799.614311812,649.614311812,628.614311812,650,0.433314626497,-0.00556014428304,0.0600002975501,0.99999999678,-6.06378475278e-05,3.09062661304e-05,-4.25276041556e-05,1793192176651458560
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.808600111,712,672.808600111,662.808600111,633,877,784,800,649.808600111,629,650,0.434020359398,-0.00556287539419,0.0599945180675,0.999999997071,-6.23202108393e-05,1.48366327524e-05,-4.18835460004e-05,1793192176668125184
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.235648058,712,672.235648058,662.235648058,633,877,784,800,649.235648058,629,650,0.434678234102,-0.0055646951847,0.0599597135415,0.999999995862,-6.742037514e-05,-4.27114202622e-05,-4.36612576831e-05,1793192176684791808
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.347242499,712,672.347242499,662.347242499,632.652757501,877.347242499,783.652757501,799.652757501,649.347242499,629,650.347242499,0.43532971612,-0.00556560853335,0.0599306172372,0.999999992381,-6.79498788272e-05,-9.25103488002e-05,-4.5420200313e-05,1793192176701458688
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+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,712,672.481708314,663,632.518291686,878.518291686,783.518291686,799,650,628.481708314,650.481708314,0.436614542688,-0.00556672874161,0.0599111374827,0.999999988557,-7.12948205879e-05,-0.000124547373953,-4.78733246519e-05,1793192176734792704
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712,672.097598209,663,632.902401791,878.902401791,784,799,649.902401791,628.097598209,650,0.43723949434,-0.00556713662741,0.0599185853002,0.999999989654,-7.70320895489e-05,-0.000111554854009,-4.80926268708e-05,1793192176751460352
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,672.672601762,663,632.327398238,878.327398238,784,799,649.327398238,628.672601762,650,0.437806922884,-0.0055651030812,0.0599169765891,0.999999987738,-7.63762276991e-05,-0.000128551309038,-4.65315565546e-05,1793192176768126208
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.880077914,712,673,660,631.880077914,878,783,799.880077914,649,628,650,0.444223239025,-0.00557610609441,0.0598017789566,0.999999946211,-9.44831521774e-05,-0.0003096954153,-5.23475183162e-05,1793192177068125440
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,712,672.601176035,660,632,877,782.398823965,800,649.601176035,628.601176035,650,0.444826936637,-0.00557326258126,0.0597655727966,0.999999925408,-9.44188758835e-05,-0.000370776475685,-5.28527903975e-05,1793192177168125696
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+243,4.050000000,HOLD_POSE2,764,743,711.766124134,673,659.766124134,631.766124134,877.766124134,782.233875866,799.766124134,649,628,650,0.445084813025,-0.00556683968399,0.0597549244726,0.999999917628,-9.06716605432e-05,-0.000392612374163,-4.8768663397e-05,1793192177775960576
+244,4.066666667,HOLD_POSE2,764,743,711.657146455,672.657146455,660,631.657146455,877.657146455,782.342853545,799.657146455,649.342853545,628,650.342853545,0.445085461491,-0.00556696262896,0.0597551612232,0.999999917811,-9.08412326124e-05,-0.000392123885984,-4.86305361452e-05,1793192177792626688
+245,4.083333333,HOLD_POSE2,764,743,711.080581869,672.080581869,660,631.080581869,877.080581869,782.919418131,799.080581869,649.919418131,628,650.919418131,0.44508686114,-0.0055660641964,0.0597563344883,0.999999918527,-8.8163915077e-05,-0.000390967300426,-4.81378586303e-05,1793192177809293568
+246,4.100000000,HOLD_POSE2,764,743,711.505428992,672.505428992,660,631,877.505428992,783,799,649.494571008,628,650.494571008,0.445086766312,-0.00556540806259,0.0597567984778,0.999999918944,-8.67280067955e-05,-0.000390195203554,-4.83515251945e-05,1793192177825960192
+247,4.116666667,HOLD_POSE2,763.908438343,743,712,673,659.908438343,631.091561657,878.091561657,783,799,649,628.091561657,650,0.445086504297,-0.00556499465237,0.0597569991195,0.999999919184,-8.59894361151e-05,-0.000389715588887,-4.85748177532e-05,1793192177842626816
+248,4.133333333,HOLD_POSE2,763.329821616,743,712,673,659.329821616,631.670178384,878.670178384,783,799,649,628.670178384,650,0.445086644523,-0.00556566298654,0.0597564118883,0.999999918745,-8.78874206071e-05,-0.000390459519272,-4.82388630244e-05,1793192177859293696
+249,4.150000000,HOLD_POSE2,763.249437264,743,712,673,659.249437264,632,878.750562736,783,799.249437264,649.249437264,629,650,0.445087181172,-0.00556593960426,0.0597564267974,0.999999918859,-8.78071750886e-05,-0.000390218032302,-4.79840672401e-05,1793192177875960576
+250,4.166666667,HOLD_POSE2,763.829547384,743,712,673,659.829547384,632,878.170452616,783,799.829547384,649.829547384,629,650,0.445088243348,-0.00556569693302,0.0597572399494,0.999999919702,-8.51044384745e-05,-0.000388670201679,-4.78368619021e-05,1793192177892627200
+251,4.183333333,HOLD_POSE2,764,742.597508626,712,673,659.597508626,632,877.597508626,783,799.597508626,650,628.597508626,650,0.445087550991,-0.00556647975472,0.0597567971881,0.999999919158,-8.60459164798e-05,-0.000389883865493,-4.76539954491e-05,1793192177909293568
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+253,4.216666667,HOLD_POSE2,764,742,712,673,659.566053296,631.433946704,877.566053296,783,799.566053296,649.433946704,628,650,0.445085542133,-0.0055660153621,0.0597555128676,0.999999917929,-8.73458105924e-05,-0.000392699219138,-4.79669022159e-05,1793192177942626816
+254,4.233333333,HOLD_POSE2,764,742.15590254,712,673,659.84409746,631.15590254,878,783,800,649,628.15590254,650,0.44508534204,-0.00556460983467,0.059755404464,0.999999917988,-8.58243776876e-05,-0.000392843598394,-4.82867786803e-05,1793192177959293696
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+256,4.266666667,HOLD_POSE2,763.691809061,743,712,672.691809061,659,631.691809061,877.691809061,783,800,649.308190939,628.691809061,650,0.445086873752,-0.00556497999404,0.0597562904315,0.999999918465,-8.47198205403e-05,-0.000391938033626,-4.77233352179e-05,1793192177992627200
+257,4.283333333,HOLD_POSE2,763.116618834,743,712,672.116618834,659,631.116618834,877.116618834,783,800,649.883381166,628.116618834,650,0.445087743807,-0.00556645362704,0.0597569296751,0.999999918387,-8.81423671247e-05,-0.000391411088538,-4.74689551183e-05,1793192178009293824
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,660,631,877,783,800,649,628,650,0.445084463527,-0.00556390296982,0.0597549579926,0.999999918199,-8.14354698189e-05,-0.000393302429099,-4.77850930752e-05,1793192178040961536
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742.579934162,711,673,660,631,877,783,799.420065838,649.579934162,628.579934162,650,0.445084978494,-0.00556559399252,0.0597548648102,0.999999917684,-8.61819489368e-05,-0.000393590686621,-4.78655465085e-05,1793192178057627904
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763.841072312,743,711.158927688,673,659.841072312,631.158927688,877.158927688,783,799,650,629,650,0.44508596474,-0.0055666453695,0.0597552071411,0.999999917613,-8.87071042308e-05,-0.000393214976857,-4.78162637e-05,1793192178074294272
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.264550252,743,711.735449748,673,659.264550252,631.735449748,877.735449748,783,799,650,629,650,0.44508818931,-0.00556601602992,0.0597566938158,0.999999918752,-8.53955663053e-05,-0.000391094643541,-4.74260892459e-05,1793192178090960384
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.309932272,743,712,673,659.309932272,632,878,783,799.309932272,649.690067728,628.690067728,650,0.445087968765,-0.00556577225686,0.059756750396,0.999999918745,-8.52665540743e-05,-0.000391138968475,-4.74429958307e-05,1793192178107626752
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.882685248,743,712,673,659.882685248,632,878,783,799.882685248,649.117314752,628.117314752,650,0.445085674779,-0.00556585544192,0.0597555942648,0.999999917768,-8.78363046966e-05,-0.000393018910718,-4.78051047126e-05,1793192178124293376
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711.63971939,673,659.63971939,631.36028061,877,783,800,649,629,650,0.445072784455,-0.00556763989329,0.0597477169907,0.999999913545,-8.82034352419e-05,-0.000403598024734,-4.73160274138e-05,1793192178174293504
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.20736184,712,673,659.20736184,631.79263816,877,782.20736184,799.20736184,649,628.20736184,650,0.445021915574,-0.00556508316768,0.0597236887221,0.999999897691,-8.69839862751e-05,-0.000441129606035,-4.95678910208e-05,1793192178207626752
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,877,782.367115678,799,649.367115678,628,650,0.444970848312,-0.00556216220361,0.0597030513271,0.999999882911,-8.57646275954e-05,-0.000473535638847,-5.08504607931e-05,1793192178224293376
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711.121173712,673,659.121173712,631,878,783,799.121173712,649,628,650,0.444764170433,-0.00555330961126,0.0596519900485,0.999999851371,-7.88746176878e-05,-0.000536803127922,-5.36636013335e-05,1793192178274293248
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711.701017727,673,659.701017727,631,878,783,799.701017727,649,628,650,0.444675308012,-0.0055511198506,0.0596489720981,0.999999850034,-7.76923849284e-05,-0.000539508282132,-5.31609218692e-05,1793192178290960128
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.723664998,631,877.723664998,783,800,649,628.276335002,650,0.444578863845,-0.00554792166812,0.0596501032798,0.999999852238,-7.52622635477e-05,-0.000535833054566,-5.23739378722e-05,1793192178307626752
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.153166551,631,877.153166551,783,800,649,628.846833449,650,0.444474348782,-0.00554365000312,0.0596556512856,0.999999858124,-7.15037429613e-05,-0.000525365798764,-5.12843067516e-05,1793192178324293632
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.577464942,711.577464942,673,659.422535058,631,877,783,800,649,628.577464942,650,0.444343007358,-0.00553707529832,0.0596607815456,0.999999862706,-6.48078438797e-05,-0.000517557981286,-5.02080523891e-05,1793192178340960000
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.000150761,711.000150761,673,660,631.000150761,877.000150761,783,800,649,628.000150761,650,0.444201811731,-0.0055296563354,0.0596657591022,0.999999866746,-5.70350622839e-05,-0.00051072597486,-4.91363218911e-05,1793192178357626368
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.595433245,711.595433245,673,660,631.595433245,877.595433245,783,800,649,628.595433245,650,0.444026810685,-0.00552614159853,0.0596731653794,0.999999870986,-5.3903212853e-05,-0.000502948390837,-4.65423904234e-05,1793192178374293248
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.81563818,711.81563818,673,660,632,877.81563818,783,799.81563818,649,628.81563818,650,0.443838959512,-0.00552110734292,0.0596806756389,0.999999875865,-4.98444625434e-05,-0.000493809035877,-4.40133350404e-05,1793192178390959872
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.909513456,711.909513456,673,660,632,877,783,799.909513456,649.909513456,628,650,0.443106158215,-0.00549575061689,0.059683820289,0.999999879781,-2.58359642854e-05,-0.000488251717806,-3.71519245036e-05,1793192178440960000
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711.877645665,671,661,633,876,783,798.877645665,649.122354335,628,650.877645665,0.401296345788,-0.00538345502412,0.0598292150586,0.999999932299,0.000229798893898,-0.000286979343534,1.54249197956e-05,1793192179624293376
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,711.300141134,671,661,633,876,783,798.300141134,649.699858866,628,650.300141134,0.401218355813,-0.00538341887123,0.0598303959039,0.999999933569,0.00022672048922,-0.000284951099619,1.6222514971e-05,1793192179640960000
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711.276365706,671,661,633,876,783,798.276365706,649.723634294,628,650,0.401152234812,-0.00538251340377,0.0598302744132,0.999999934014,0.000224832979776,-0.00028486490879,1.65633857248e-05,1793192179657626624
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711.851792888,671,661,633,876,783,798.851792888,649.148207112,628,650,0.401098957497,-0.00538066723166,0.0598287436356,0.999999933575,0.00022423416473,-0.000286880256912,1.64100247789e-05,1793192179674293248
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,661,633,876.439783112,783,799.439783112,649,628.439783112,650.439783112,0.40105803047,-0.00537950127741,0.0598275343552,0.999999933475,0.000224055057665,-0.000287396683203,1.58784045042e-05,1793192179690959872
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,660.968702514,633,876.968702514,783,800,649,628.968702514,651,0.401021982316,-0.00537865629286,0.0598264788942,0.999999933446,0.000224049429493,-0.000287534315021,1.53042901412e-05,1793192179707626496
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,660.391730591,633,876.391730591,783,800,649,628.391730591,651,0.400996298059,-0.00537929320356,0.0598261607408,0.999999932572,0.000224529853283,-0.000290133732394,1.6277156651e-05,1793192179724292864
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.759743473,660.759743473,633,876,783,799.240256527,649,628,650.240256527,0.400966347201,-0.00537953855533,0.0598274296723,0.999999933919,0.00022214906371,-0.000287335982024,1.5825960285e-05,1793192179757626368
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711.068752403,670.137504806,661,633,876,783.931247597,799,649.931247597,628.931247597,650.931247597,0.400954570173,-0.00538444249459,0.0598285081213,0.999999935918,0.000215997080306,-0.000285015622974,1.65886835123e-05,1793192179790959616
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711.511813355,670.511813355,660.488186645,633,876,784,799,649.488186645,628.488186645,650.488186645,0.400950176119,-0.00538318090774,0.0598282875825,0.999999935267,0.000217605460092,-0.000286097814299,1.62046155794e-05,1793192179807626240
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,660.090749852,633,876.090749852,783.909250148,799,649,628,650.090749852,0.400946612842,-0.00538141567255,0.0598282590156,0.999999934656,0.000219574424167,-0.000286753706255,1.57195452217e-05,1793192179824292864
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,660.666632045,633,876.666632045,783.333367955,799,649,628,650.666632045,0.400947103021,-0.00538006791895,0.0598296847137,0.999999935367,0.000219967166951,-0.000283973369125,1.5464037818e-05,1793192179840959744
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711.758039759,671,661,633,876.758039759,783.241960241,799.241960241,649,628,650.758039759,0.400947227539,-0.00538039402404,0.0598308413499,0.999999936159,0.000218972247485,-0.000281942299471,1.55448006056e-05,1793192179857626368
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711.183473137,671,661,633,876.183473137,783.816526863,799.816526863,649,628,650.183473137,0.40094684941,-0.00538302106956,0.059831628125,0.999999937064,0.000216069802549,-0.000280941197313,1.6087811299e-05,1793192179874292992
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,875.599038535,783.599038535,799.599038535,649.400961465,628,650,0.400945818105,-0.00538320974847,0.0598314621145,0.999999936658,0.000216550043909,-0.000281995378807,1.6381820161e-05,1793192179890959872
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,875.009974596,783.009974596,799.009974596,649.990025404,628,650,0.400944480376,-0.00538225451989,0.059830849125,0.999999935634,0.000218617200088,-0.00028401375258,1.65590151381e-05,1793192179907626240
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.430309689,742,711,671,661,633,875.569690311,783,799,649.430309689,628.569690311,650,0.400944809895,-0.00538129668288,0.0598312590061,0.999999935447,0.000220721136444,-0.000283054180306,1.63586209443e-05,1793192179924294144
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.148198781,742,711,671,661,633,876,783,799,649,628.851801219,650.148198781,0.400945491,-0.00538049769576,0.0598318408829,0.999999935388,0.0002225907388,-0.00028180635701,1.617660296e-05,1793192179940961024
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.723838653,742,711,671,661,633,876,783,799,649,628.276161347,650.723838653,0.400947103339,-0.00538015699989,0.05983286802,0.999999935667,0.000223782637677,-0.000279875092593,1.60663450616e-05,1793192179957626880
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711.305071443,671,661,633,876,783,799.305071443,649,628,651,0.400947321383,-0.00538117428125,0.0598332635925,0.999999936329,0.000221867266629,-0.000279035009512,1.60004174475e-05,1793192179974293248
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711.891461758,671,661,633,876,783,799.891461758,649,628,651,0.40094625369,-0.00538344380901,0.0598330767737,0.999999937332,0.000217086554867,-0.000279201149201,1.59753685911e-05,1793192179990960128
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,661,632.52518753,876,783,799.52518753,649,628.47481247,650.52518753,0.400947145191,-0.00538418028128,0.0598339169867,0.999999937928,0.00021588583117,-0.000277991092668,1.60800847578e-05,1793192180007626752
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711.943284042,671,661,632.056715958,876,783.056715958,799,649,629,650.056715958,0.400948219447,-0.00538433066298,0.0598347381824,0.999999938257,0.000215866570282,-0.000276816661023,1.61589838311e-05,1793192180024293120
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711.368295987,671,661,632.631704013,876,783.631704013,799,649,629,650.631704013,0.400946897244,-0.00538230732872,0.0598332538979,0.999999936978,0.000219212958719,-0.000278824190751,1.57326264591e-05,1793192180040959744
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711.20599799,670.79400201,661,633,876.20599799,783.79400201,799,649,628.79400201,651,0.40094625206,-0.00538131430271,0.0598326148641,0.999999936292,0.000221082893078,-0.000279813465308,1.55610664017e-05,1793192180057626368
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711.779055187,670.220944813,661,633,876.779055187,783.220944813,799,649,628.220944813,651,0.400946813226,-0.00538215714004,0.0598334819474,0.999999936686,0.00022032199545,-0.000278988353435,1.58435190516e-05,1793192180074293504
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,670.364440915,661,633,877,783,799,649,628,650.635559085,0.400947220055,-0.00538168354366,0.0598339782719,0.999999936803,0.00022120569447,-0.000277868903793,1.58231786378e-05,1793192180090959872
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,670.957562573,661,633,877,783,799,649,628,650.042437427,0.400947530039,-0.00538038390654,0.0598342419513,0.999999936743,0.000223121351153,-0.000276564762024,1.56128404933e-05,1793192180107626496
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,661,633,877,783,799,649,628,650,0.400947461025,-0.00538233646024,0.0598348660156,0.999999937574,0.000220163603138,-0.000275920881188,1.57190415599e-05,1793192180124293120
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,661,633,876.885730205,783.114269795,799,649,628,650.114269795,0.400947290091,-0.00538375545245,0.0598352846994,0.999999938224,0.000217542889313,-0.000275642926614,1.57392154006e-05,1793192180140960000
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,661,633,876.309150605,783.690849395,799,649,628,650.690849395,0.400946824979,-0.00538200180709,0.0598347600994,0.999999937898,0.000217805170084,-0.000276639571232,1.53126519118e-05,1793192180157626624
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.271857086,661,633,876,783.728142914,799,649,628.271857086,651,0.400947078505,-0.00538070339601,0.059834709612,0.999999937684,0.000218708480352,-0.000276713045266,1.51359308417e-05,1793192180174293248
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.85798377,661,633,876,783.14201623,799,649,628.85798377,651,0.400948162784,-0.00537993124024,0.0598352072035,0.999999937595,0.000220352827371,-0.000275719324702,1.52480301326e-05,1793192180190960128
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.561570391,742,711.561570391,671.561570391,661,633,876,783,799,649,628.561570391,651,0.400948385833,-0.00538109548702,0.0598357563306,0.999999938374,0.000217681263607,-0.000275005722421,1.5461926552e-05,1793192180207627008
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.017088263,742,711.017088263,671,661,633,876.017088263,783,799,649,628.017088263,650.982911737,0.400948322894,-0.00538282443044,0.059836300039,0.999999939365,0.000213831390674,-0.000274409124549,1.56895932528e-05,1793192180224293376
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.596716485,742,711.596716485,671,661,633,876.596716485,783,799,649,628.596716485,650.403283515,0.400947911457,-0.0053827585966,0.0598361228559,0.999999938685,0.000216625326775,-0.000274715481491,1.5298960571e-05,1793192180240960000
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,661,633,877.17502144,783.17502144,799.17502144,649,628.82497856,650,0.400947479871,-0.00538265340512,0.0598357081175,0.999999938169,0.000218572466304,-0.000275060825862,1.51628078114e-05,1793192180257626624
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,661,633,877.750300175,783.750300175,799.750300175,649,628.249699825,650,0.400947002207,-0.00538245820646,0.059834750113,0.99999993804,0.000218583062894,-0.000275495330738,1.56086263191e-05,1793192180274293248
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_01/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4faa3f82893d19243ec156f8fe452d35db94aa5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_01/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,0.57570924408,5.4627573316e-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
+24,0.400000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
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+26,0.433333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+27,0.450000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+28,0.466666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+29,0.483333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+30,0.500000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+31,0.516666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+32,0.533333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+33,0.550000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
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+383,6.383333333,pose2_to_pose3_retreat,0.575709911787,5.44349904238e-05,1.05002928802,0.546280644645,0.00872717321781,1.0496985752
+384,6.400000000,pose2_to_pose3_retreat,0.575709894585,5.44364973458e-05,1.05002928762,0.546280627421,0.00872717465388,1.04969857487
+385,6.416666667,pose2_to_pose3_retreat,0.57570981769,5.4443233463e-05,1.05002928581,0.546280550429,0.00872718107326,1.04969857338
+386,6.433333333,pose2_to_pose3_retreat,0.575709705302,5.44530788431e-05,1.05002928318,0.546280437899,0.00872719045571,1.0496985712
+387,6.450000000,pose2_to_pose3_retreat,0.575709579789,5.44640739234e-05,1.05002928024,0.546280312229,0.0087272009338,1.04969856877
+388,6.466666667,pose2_to_pose3_retreat,0.575709468234,5.44932020372e-05,1.05002926314,0.546280199967,0.00872722766997,1.04969855189
+389,6.483333333,pose2_to_pose3_retreat,0.575709436594,5.45121689605e-05,1.05002925028,0.546280167812,0.00872724488966,1.04969853897
+390,6.500000000,pose2_to_pose3_retreat,0.575709345105,5.45670131052e-05,1.05002921308,0.546280074836,0.00872729468156,1.0496985016
+391,6.516666667,pose2_to_pose3_retreat,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966298,1.04969846034
+392,6.533333333,pose2_to_pose3_retreat,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_01/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc1444e99947f418f03b91bd01d2e5bb90448c0c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d2f32dccef1fc879cc23f063afedf0c9856aabafda34df337943cc6cbdcb3c8
+size 25241565
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..808edb6f795d48f820a3b2ac83d17def25472659
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_03/franka_data.csv
@@ -0,0 +1,398 @@
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+21,0.350000000,BASELINE,764,742,711.207871122,671,661,633,876,783.207871122,799,649,628.792128878,650,0.400946753105,-0.00538328552462,0.0598359065612,0.999999938922,0.000216543728731,-0.000273917557667,1.52668621757e-05,1793192180746673664
+22,0.366666667,BASELINE,764,742,711.783319239,671,661,633,876,783.783319239,799,649,628.216680761,650,0.400947833317,-0.00538261709706,0.0598366518179,0.999999938846,0.000217790940073,-0.00027320027207,1.5370268782e-05,1793192180763340288
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+24,0.400000000,BASELINE,764,742,711.066894283,671,661,632.066894283,876,783.066894283,799,649,628.933105717,650,0.400947838794,-0.00538197139777,0.0598367843415,0.999999938531,0.000220134654065,-0.000272476880457,1.53386611223e-05,1793192180796673792
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+27,0.450000000,BASELINE,764,742,711.311430404,670.311430404,661,633,876,783.311430404,799,649.311430404,628.688569596,650,0.400947616654,-0.00538325038354,0.0598368927843,0.999999939188,0.000217096183841,-0.000272494322559,1.54671902928e-05,1793192180846673664
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+30,0.500000000,BASELINE,764,742,711.582292662,671,661,633,876,783.582292662,799,649,628.582292662,650,0.400948726126,-0.00538439644133,0.0598376120024,0.999999939488,0.000216860765983,-0.000271573538564,1.55870787446e-05,1793192180896673536
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+50,0.833333333,BASELINE,764,742,712,671,661,633,877,783,799,649.01355396,628,650.01355396,0.400950544305,-0.00538494972709,0.0598391615071,0.99999994092,0.000213186797716,-0.000269212223333,1.53801289579e-05,1793192181230007552
+51,0.850000000,BASELINE,764,742,712,671,661,633,877,783,799,649.607275956,628,650.607275956,0.400948813842,-0.00538484838516,0.0598378079971,0.999999939997,0.00021520775624,-0.000271019629534,1.54903771062e-05,1793192181246674432
+52,0.866666667,BASELINE,764,742,711.804117463,671,661,632.804117463,876.804117463,783.195882537,799,650,628.195882537,650.804117463,0.400948096161,-0.00538462412352,0.0598373370269,0.999999939575,0.000216691841539,-0.00027139613777,1.54695989818e-05,1793192181263341056
+53,0.883333333,BASELINE,764,742,711.225505778,671,661,632.225505778,876.225505778,783.774494222,799,650,628.774494222,650.225505778,0.400949357325,-0.00538415969266,0.0598385904256,0.999999940138,0.000217126945855,-0.000268976856291,1.51928124562e-05,1793192181280007680
+54,0.900000000,BASELINE,764,742,711.349149027,671,661,632.349149027,876.349149027,783.650850973,799.349149027,649.650850973,628.650850973,650,0.400949110346,-0.00538367693496,0.0598384567356,0.999999940005,0.000217325215578,-0.000269316236382,1.5117271126e-05,1793192181296674304
+55,0.916666667,BASELINE,764,742,711.921276809,671,661,632.921276809,876.921276809,783.078723191,799.921276809,649.078723191,628.078723191,650,0.400947900214,-0.00538318247311,0.0598374372024,0.999999939426,0.000217372234448,-0.00027141739412,1.51702520117e-05,1793192181313340928
+56,0.933333333,BASELINE,764,742,712,671,661,633,876.491868035,783.508131965,799.491868035,649,628,650.508131965,0.400946799104,-0.00538387633495,0.0598365825599,0.999999939225,0.000216692724892,-0.000272686103777,1.53577580074e-05,1793192181330007552
+57,0.950000000,BASELINE,764.095741502,742,712,671,661,633,876,784,799,649,628,651,0.400945981563,-0.00538461030238,0.0598359385321,0.999999939157,0.0002159840555,-0.000273487573827,1.55081821909e-05,1793192181346673920
+58,0.966666667,BASELINE,764.675288941,742,712,671,661,633,876,784,799,649,628,651,0.400946509063,-0.0053845888456,0.0598362258512,0.999999939461,0.000215713798922,-0.000272599126388,1.53627615046e-05,1793192181363340800
+59,0.983333333,BASELINE,764.746386389,742,711.746386389,671,661.253613611,633,876,783.746386389,799,649,628,650.746386389,0.400947121213,-0.00538381862622,0.0598366650402,0.999999939553,0.00021599447592,-0.000272058490825,1.49773608264e-05,1793192181380007680
+60,1.000000000,BASELINE,764.169619689,742,711.169619689,671,661.830380311,633,876,783.169619689,799,649,628,650.169619689,0.400947841222,-0.00538209433761,0.0598372977409,0.999999939377,0.000216977149462,-0.00027196103515,1.42861789213e-05,1793192181396674304
+61,1.016666667,BASELINE,764,742,711,671,661.5955217,632.5955217,876,783.4044783,799.4044783,649,628.4044783,650,0.400947618774,-0.0053825314724,0.0598370590091,0.999999939106,0.000217504193563,-0.000272519115083,1.45710535166e-05,1793192181413340928
+62,1.033333333,BASELINE,764,742,711,671,661.022535546,632.022535546,876,783.977464454,799.977464454,649,628.977464454,650,0.400947003694,-0.00538386906802,0.0598364572336,0.999999938796,0.000217841419905,-0.000273350294714,1.52625585881e-05,1793192181430007552
+63,1.050000000,BASELINE,764,742,711.568472249,671,661,632.568472249,876,783.431527751,799.431527751,649.568472249,629,650,0.40094726601,-0.00538422917665,0.0598373210993,0.999999939202,0.000217498628572,-0.000272133947526,1.52590573148e-05,1793192181446674176
+64,1.066666667,BASELINE,764,742.157150076,711.842849924,671,661,633,876,783,799,649.842849924,628.842849924,650,0.400947907347,-0.00538422566938,0.0598382624191,0.999999939721,0.000216999004448,-0.000270625758,1.51873530937e-05,1793192181463341056
+65,1.083333333,BASELINE,764,742.737565175,711.262434825,671,661,633,876,783,799,649.262434825,628.262434825,650,0.400949472782,-0.00538335059103,0.0598392507399,0.999999940465,0.000216151953736,-0.000268557301611,1.5008588964e-05,1793192181480007680
+66,1.100000000,BASELINE,764,742.685706314,711.314293686,671,661.314293686,633,876.314293686,783,799,649.314293686,628.314293686,650.314293686,0.40094888788,-0.0053829361553,0.0598388618247,0.999999940249,0.000216214566384,-0.000269313443998,1.49642612837e-05,1793192181496674304
+67,1.116666667,BASELINE,764,742.112020438,711.887979562,671,661.887979562,633,876.887979562,783,799,649.887979562,628.887979562,650.887979562,0.400946528266,-0.00538290189621,0.0598373362519,0.999999939235,0.000217027940481,-0.000272400778279,1.50308864136e-05,1793192181513340928
+68,1.133333333,BASELINE,764,742,712,671,661.527493453,633,876.527493453,783,799,649.527493453,629,650.527493453,0.40094702429,-0.00538399612356,0.059837838923,0.99999993998,0.00021460493808,-0.000271574333919,1.52048801733e-05,1793192181530007296
+69,1.150000000,BASELINE,764,742.059179757,712,671,661,633,876,783,799.059179757,649.059179757,628.940820243,650,0.400948047205,-0.00538522340135,0.0598386746801,0.999999941005,0.000211799149596,-0.000269990714292,1.53654072155e-05,1793192181546673920
+70,1.166666667,BASELINE,764,742.641570797,712,671,661,633,876,783,799.641570797,649.641570797,628.358429203,650,0.400947602399,-0.0053852061213,0.0598381042183,0.999999940816,0.000212551903076,-0.000270108824908,1.51765438009e-05,1793192181563340544
+71,1.183333333,BASELINE,764,742.779254809,712,671,661,633,876,783,799.779254809,650,628,650.220745191,0.400947381637,-0.00538495975266,0.0598377818024,0.999999940489,0.000213611679373,-0.000270482886014,1.51928154336e-05,1793192181580007168
+72,1.200000000,BASELINE,764,742.205228254,712,671,661,633,876,783,799.205228254,650,628,650.794771746,0.400947519433,-0.00538434674985,0.0598378563599,0.999999939939,0.000215162816158,-0.000271266571192,1.55373858734e-05,1793192181596674304
+73,1.216666667,BASELINE,764.370298028,742,712,671,661,633,876,783,799,649.629701972,628,651,0.400947576047,-0.00538441580327,0.0598378173059,0.999999939903,0.000214912907291,-0.000271599919649,1.55154737061e-05,1793192181613341184
+74,1.233333333,BASELINE,764.946658842,742,712,671,661,633,876,783,799,649.053341158,628,651,0.400947587486,-0.00538486440617,0.0598377150294,0.999999940152,0.00021366075566,-0.000271682665488,1.5289621931e-05,1793192181630007296
+75,1.250000000,BASELINE,764.464718966,742,711.464718966,671,661,633,876,783.535281034,799,649.535281034,628,651,0.400947561237,-0.00538409467968,0.059837868665,0.999999939813,0.000215635558311,-0.000271369148258,1.52822382842e-05,1793192181646674176
+76,1.266666667,BASELINE,764,742,711.123007966,671,661,633,876,783.876992034,799,650,628.123007966,650.876992034,0.400947578545,-0.00538362244505,0.0598380237567,0.999999939513,0.000217447408388,-0.000271027881653,1.52990089041e-05,1793192181663340800
+77,1.283333333,BASELINE,764,742,711.702767271,671,661,633,876,783.297232729,799,650,628.702767271,650.297232729,0.400947771859,-0.00538471622959,0.0598380873422,0.999999939596,0.000217432149794,-0.000270733639842,1.5322735721e-05,1793192181680007680
+78,1.300000000,BASELINE,764,742,712,671,661,633,876,783.279188429,799,649.720811571,629,650,0.400948138285,-0.0053851737443,0.0598384046445,0.99999993992,0.000216402261083,-0.000270356650505,1.53888300622e-05,1793192181696674304
+79,1.316666667,BASELINE,764,742,712,671,661,633,876,783.852097645,799,649.147902355,629,650,0.400948686833,-0.00538496186991,0.0598389888702,0.999999940496,0.00021430492858,-0.000269892606472,1.54994972467e-05,1793192181713340672
+80,1.333333333,BASELINE,764.437006827,742.437006827,712,671,661,633,876.437006827,783.562993173,799,649,629,650,0.400948182826,-0.00538582507495,0.0598386431702,0.999999940413,0.000213867625124,-0.000270529670938,1.57336782048e-05,1793192181730007552
+81,1.350000000,BASELINE,765,742.974372085,712,671,661,633,876.974372085,783,799,649,628.974372085,650,0.400947374197,-0.00538692714517,0.0598380137135,0.999999940117,0.000214036658558,-0.000271476486835,1.59703487388e-05,1793192181746674176
+82,1.366666667,BASELINE,765,742.395765607,712,671,661,633,876.395765607,783,799,649,628.395765607,650,0.400947896145,-0.00538511063018,0.0598382442704,0.999999940131,0.000214823811739,-0.000270838795897,1.53332888919e-05,1793192181763340800
+83,1.383333333,BASELINE,764.817749065,742,711.817749065,671,661,633,876.182250935,783.182250935,799,649,628,650,0.40094820597,-0.00538399050035,0.0598384214073,0.999999940089,0.000215650383311,-0.000270356208564,1.49581056487e-05,1793192181780007424
+84,1.400000000,BASELINE,764.241009349,742,711.241009349,671,661,633,876.758990651,783.758990651,799,649,628,650,0.400948056647,-0.00538437772118,0.0598384829147,0.999999939929,0.000216562277573,-0.000270209348506,1.51497637245e-05,1793192181796674304
+85,1.416666667,BASELINE,764.333614889,742.333614889,711.333614889,671,661,633,876.666385111,783.666385111,799,649.333614889,628,650,0.400947608324,-0.00538510959178,0.0598382586284,0.999999940111,0.000215351111573,-0.000270500091125,1.52289568182e-05,1793192181813340928
+86,1.433333333,BASELINE,764.906720462,742.906720462,711.906720462,671,661,633,876.093279538,783.093279538,799,649.906720462,628,650,0.400946945358,-0.0053860888746,0.0598378291806,0.999999940532,0.000212615873383,-0.000271104973701,1.52274151473e-05,1793192181830007552
+87,1.450000000,BASELINE,764.505190369,742.505190369,712,671,661,632.505190369,876,783.494809631,799,649.505190369,628.494809631,650.494809631,0.400945840386,-0.00538631768553,0.0598373162812,0.999999940108,0.000212558424817,-0.000272708333815,1.52421119059e-05,1793192181846674176
+88,1.466666667,BASELINE,764,742,712,671,661,632.084279199,876,783.915720801,799,649.084279199,628.915720801,650.915720801,0.400945048252,-0.00538612812331,0.0598369628148,0.999999939621,0.00021320958107,-0.000273983849022,1.52550765223e-05,1793192181863340800
+89,1.483333333,BASELINE,764,742,712,671,661,632.664726903,876,783.335273097,799,649.664726903,628.335273097,650.335273097,0.400946603734,-0.00538433442099,0.0598376434713,0.999999939736,0.000214967736674,-0.000272186529798,1.52392589779e-05,1793192181880007424
+90,1.500000000,BASELINE,764,742.242694973,711.757305027,671,661,633,876.242694973,783,799,649.757305027,628,650.242694973,0.40094785459,-0.00538365668555,0.0598381780428,0.999999939967,0.000215437619469,-0.000270968493415,1.51449136768e-05,1793192181896674048
+91,1.516666667,BASELINE,764,742.817272127,711.182727873,671,661,633,876.817272127,783,799,649.182727873,628,650.817272127,0.400948688874,-0.00538450502027,0.059838512845,0.999999940362,0.000214145806009,-0.000270542618846,1.49431827029e-05,1793192181913340672
+92,1.533333333,BASELINE,764,742.609271154,711.390728846,671,661,632.609271154,876.609271154,783.390728846,799.390728846,649.390728846,628,651,0.400948117158,-0.00538443013991,0.0598384654252,0.999999940047,0.000215203542287,-0.000270860142107,1.51297064031e-05,1793192181930007296
+93,1.550000000,BASELINE,764,742.036336867,711.963663133,671,661,632.036336867,876.036336867,783.963663133,799.963663133,649.963663133,628,651,0.400946889793,-0.00538392474415,0.059838239767,0.999999939395,0.000217356925084,-0.000271524328064,1.5497281765e-05,1793192181946673920
+94,1.566666667,BASELINE,764,742,712,671,661.557610468,632.557610468,876,783.442389532,799.442389532,649.442389532,628,650.442389532,0.400946254274,-0.00538436190232,0.0598374035048,0.999999939058,0.000217595457142,-0.000272581091861,1.53726433636e-05,1793192181963341056
+95,1.583333333,BASELINE,764,742,712,671,661.851227715,633,876,783.148772285,799,649,628.148772285,650.148772285,0.40094592024,-0.00538459756592,0.0598368788534,0.999999938908,0.000217549685489,-0.000273175639664,1.52376372134e-05,1793192181980008192
+96,1.600000000,BASELINE,764,742,712,671,661.272235791,633,876,783.727764209,799,649,628.727764209,650.727764209,0.400946342142,-0.0053840659725,0.0598373748889,0.999999939239,0.000217056739237,-0.000272356675301,1.51690371042e-05,1793192181996674816
+97,1.616666667,BASELINE,764,742,711.696020999,671,661,633,876,783.696020999,799.303979001,649,629,650.696020999,0.400947473167,-0.00538408574258,0.0598379778547,0.999999939759,0.000216133808885,-0.000271179725461,1.51657456892e-05,1793192182013341184
+98,1.633333333,BASELINE,764,742,711.122270854,671,661,633,876,783.122270854,799.877729146,649,629,650.122270854,0.400949233514,-0.00538459482924,0.0598386757175,0.999999940443,0.000214829282131,-0.000269685075594,1.52204135486e-05,1793192182030007552
+99,1.650000000,BASELINE,764,742,711.462472987,671,661,633,876,783,799.537527013,649,629,650,0.400950464568,-0.00538363410978,0.0598392869547,0.999999940423,0.000216911488074,-0.000268101196624,1.50050868157e-05,1793192182046673920
+100,1.666666667,BASELINE,764,742,711.950488993,671,661,633,876.049511007,783,799.049511007,649,629,650,0.400951334244,-0.00538247489966,0.0598397925958,0.999999940222,0.000219473669864,-0.000266776494488,1.47683202176e-05,1793192182063340544
+101,1.683333333,BASELINE,764,742,711.370766873,671,661,633,876.629233127,783,799.629233127,649,629,650,0.400949869018,-0.00538345283523,0.0598394186476,0.999999940223,0.000217353593644,-0.000268486089829,1.50850009909e-05,1793192182080007168
+102,1.700000000,BASELINE,764,742.207366539,711.207366539,671.207366539,661,633,876.792633461,783,799.792633461,649,628.792633461,650.207366539,0.400948574279,-0.00538389552745,0.0598388068432,0.999999940096,0.000215867110573,-0.000270140766941,1.52448489507e-05,1793192182096674304
+103,1.716666667,BASELINE,764,742.782680914,711.782680914,671.782680914,661,633,876.217319086,783,799.217319086,649,628.217319086,650.782680914,0.400947582049,-0.00538338849243,0.0598377729907,0.999999939755,0.000215504865172,-0.00027169799786,1.51264152678e-05,1793192182113341184
+104,1.733333333,BASELINE,763.641873473,742.641873473,711.641873473,671.641873473,660.641873473,633,876,783,799,649,628.358126527,650.641873473,0.400947390712,-0.00538346832537,0.0598374653995,0.999999939516,0.000216041559349,-0.000272152183864,1.50582757868e-05,1793192182130008064
+105,1.750000000,BASELINE,763.066348136,742.066348136,711.066348136,671.066348136,660.066348136,633,876,783,799,649,628.933651864,650.066348136,0.400947685553,-0.00538390441335,0.0598375986813,0.999999939341,0.000217123949995,-0.000271936772449,1.50206671231e-05,1793192182146674688
+106,1.766666667,BASELINE,763.522094746,742,711,671,660.522094746,633,876,783.522094746,799,649,628.477905254,650.522094746,0.400947535089,-0.00538413043639,0.0598378176164,0.999999939408,0.000217095721726,-0.000271702246343,1.51996950352e-05,1793192182163340800
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783,799,649,628,650,0.400947739775,-0.00538728792279,0.0598381541924,0.999999941233,0.000210915177485,-0.000269836815183,1.54134353465e-05,1793192182205547264
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.573744254,671,661,633,876,783,799.573744254,649.573744254,628.573744254,650,0.400947151799,-0.00538542415338,0.0598381841956,0.999999940263,0.000214104112749,-0.000270922026594,1.53354210105e-05,1793192182222214400
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,670.848463509,661.151536491,633,876,783.151536491,799.848463509,650,629,650,0.400947140747,-0.00538405045558,0.0598384265964,0.999999939617,0.000216679293876,-0.000271259269363,1.532521368e-05,1793192182238881536
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,670.25897208,661.74102792,633,876,783.74102792,799.25897208,650,629,650,0.400948797061,-0.00538409311112,0.0598392828465,0.999999939933,0.000217480667658,-0.00026943481155,1.55109750563e-05,1793192182255548416
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.674997675,670.65000465,661.674997675,633,876,784,799,649.674997675,629,650,0.400947737615,-0.00538402470443,0.0598386330476,0.999999939514,0.000217869097869,-0.000270674693039,1.54748212561e-05,1793192182272215040
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.095346063,671.809307874,661.095346063,633,876,784,799,649.095346063,629,650,0.400944550285,-0.00538386927705,0.059836803213,0.999999938511,0.00021793397408,-0.000274315578441,1.52647900992e-05,1793192182288881408
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671.519552049,661.480447951,633,876,784,799,649,628.519552049,650,0.400947258119,-0.00538216351027,0.0598381691031,0.999999938731,0.000220759915621,-0.00027125400689,1.49798637345e-05,1793192182305548032
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711.055406855,671,661.944593145,633,876.055406855,783.944593145,799,649.055406855,628,650,0.4009510528,-0.00538066096599,0.0598400956953,0.999999939253,0.000223381962964,-0.000267164542268,1.47437703455e-05,1793192182322214400
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711.629657303,671,661.370342697,633,876.629657303,783.370342697,799,649.629657303,628,650,0.400954156939,-0.00538391958478,0.0598413813454,0.999999940578,0.000219004516617,-0.00026580598381,1.51030345838e-05,1793192182338880768
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876.790043664,783,799,649.790043664,628,650,0.400963597351,-0.00538574879559,0.0598453850884,0.999999942831,0.000216276761349,-0.00025946365446,1.54991325809e-05,1793192182355547392
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876.198759097,783,799,649.198759097,628,650,0.400984545871,-0.0053849818776,0.0598543255034,0.999999946642,0.000216545218964,-0.000244069669136,1.59621289805e-05,1793192182372214016
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.384331908,712,671,661.384331908,633,876,783,799,649,628,650.384331908,0.40102218675,-0.00538707636701,0.0598697753996,0.999999953395,0.00021510326257,-0.000215983231903,1.707985103e-05,1793192182388880896
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.963274075,712,671,661.963274075,633,876,783,799,649,628,650.963274075,0.401068279972,-0.00539061975826,0.0598885214367,0.999999960722,0.000212795220968,-0.000181469844633,1.85290999082e-05,1793192182405547776
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.462353581,712,670.462353581,661.462353581,633,876.537646419,783,799,649,628.537646419,650.462353581,0.401135750102,-0.00539097194589,0.0599075410399,0.99999996546,0.000214162506989,-0.000151134225986,1.93280359797e-05,1793192182422214656
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,670.114458827,661,633,876.885541173,783,799,649.114458827,628.885541173,650.114458827,0.401205487005,-0.00539210610568,0.059924209046,0.999999968936,0.000214442446111,-0.000125462554855,2.00285954657e-05,1793192182438881280
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,670.702651706,661,633,876.297348294,783,799,649.702651706,628.297348294,650.702651706,0.40127861308,-0.00539737139594,0.0599310673326,0.999999970956,0.000209191619899,-0.000117923307337,2.05042929245e-05,1793192182455547648
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783,799.285710962,649.714289038,628,650.714289038,0.401362065586,-0.00540099309797,0.0599352195784,0.999999972297,0.000206332316024,-0.000111445438031,2.03235799588e-05,1793192182472214272
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783,799.863521765,649.136478235,628,650.136478235,0.401456075434,-0.00540293445863,0.0599366052724,0.999999972986,0.000205918012432,-0.000106052681225,1.94717783304e-05,1793192182488880896
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,670.558909012,661,633,876,783.441090988,799.558909012,649.441090988,628,650,0.401570494371,-0.0054049579131,0.0599390261481,0.999999973805,0.000205271231991,-9.9672553603e-05,1.78760481695e-05,1793192182505547264
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.018541442,712,670.018541442,661,633,876,784,799,649.981458558,628.018541442,650.018541442,0.401692030801,-0.00540709981857,0.059941667805,0.999999974638,0.000204432190852,-9.31335547073e-05,1.60572388225e-05,1793192182522213888
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.59466712,712,670.59466712,661,633,876,784,799,649.40533288,628.59466712,650.59466712,0.40183781036,-0.00541204038205,0.0599413220838,0.999999975761,0.000199973366087,-9.0999080789e-05,1.44481590978e-05,1793192182538881024
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742.825563916,712,671,661,633,876.174436084,783.825563916,799,649.174436084,629,650.825563916,0.401994625833,-0.00541691835265,0.0599415375315,0.999999977048,0.000195222809887,-8.73661030632e-05,1.26213570791e-05,1793192182555547904
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742.237148631,712,671,661,633,876.762851369,783.237148631,799,649.762851369,629,650.237148631,0.402177632186,-0.00542164777442,0.0599430847691,0.999999978725,0.000189779904759,-8.01768121023e-05,1.02778473992e-05,1793192182572214528
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,877,783,799,650,629,650,0.402384074443,-0.00542828022604,0.0599445449428,0.999999980842,0.000181457985983,-7.29818898591e-05,7.86587014169e-06,1793192182588881152
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,877,783,799,650,629,650,0.402606338868,-0.00543619746003,0.0599459463376,0.999999983168,0.000171192374274,-6.57831650706e-05,5.40766851561e-06,1793192182605547264
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876.498092131,783,799,649.498092131,629,650,0.402857134149,-0.00544332954813,0.0599470409647,0.999999985237,0.00016072751333,-6.0717338161e-05,2.35218496389e-06,1793192182622214144
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.922044545,671,661,633,875.922044545,783,799,649,628.922044545,650,0.403117241056,-0.00545065255225,0.0599477139736,0.999999987092,0.000150279037254,-5.68535292689e-05,-8.66753051987e-07,1793192182638880768
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.344525366,671,661,633,875.344525366,783,799,649,628.344525366,650,0.403410096019,-0.00545993993658,0.0599459746074,0.999999988451,0.000140123583451,-5.86798670035e-05,-4.56951905424e-06,1793192182655547392
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711.236963849,671,661,633,875.236963849,783.236963849,799,649,628,650.236963849,0.403714092392,-0.00546872321809,0.0599397083302,0.99999998934,0.000129136270639,-6.75663431713e-05,-8.84277971791e-06,1793192182672214272
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711.824323477,671,661,633,875.824323477,783.824323477,799,649,628,650.824323477,0.404034563424,-0.00547676108784,0.0599267481608,0.999999989292,0.000116918897847,-8.68925665154e-05,-1.39596241972e-05,1793192182688880896
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.407621801,712,671,661,633,876,783.592378199,799.407621801,649,628,651,0.404378728978,-0.00548505312839,0.0599126168385,0.999999987821,0.000106680110056,-0.000112357221129,-1.8807589579e-05,1793192182705547776
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.989187039,712,671,661,633,876,783.010812961,799.989187039,649,628,651,0.404733005628,-0.00549345363041,0.0598979857534,0.999999985129,9.72856391727e-05,-0.000140441312691,-2.35408167092e-05,1793192182722214656
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,743,712,671,661,633,876,783,799.437504761,649,628,650.437504761,0.405139047501,-0.00550481183421,0.0598924042833,0.999999984279,8.49687519261e-05,-0.000153194762184,-2.74397966019e-05,1793192182738881024
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.860328443,712,671,661,633,876,783,799,649,628.139671557,650,0.405568838331,-0.00551884004496,0.059894042069,0.999999985421,6.97585583983e-05,-0.000152936392293,-3.00447881117e-05,1793192182755547392
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.270171796,712,671,661,633,876,783,799,649,628.729828204,650,0.406072063943,-0.00554129914586,0.0599184112797,0.99999999233,4.53951076396e-05,-0.000111647536453,-2.85272315056e-05,1793192182772214016
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711.685987299,671,661,632.685987299,876,783,799,649,628.685987299,650,0.406604044431,-0.00554905004355,0.0599472489873,0.99999999709,-3.53301243903e-05,-6.12510197378e-05,-2.86237399916e-05,1793192182788880640
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711.106845185,671,661,632.106845185,876,783,799,649,628.106845185,650,0.407160303493,-0.00554438241013,0.0599798595706,0.999999986153,-0.000163643134527,-3.16465319657e-06,-3.00830467084e-05,1793192182805547520
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.468450365,711.468450365,671.468450365,661.936900731,632,876.468450365,783,799,649.468450365,628,650.468450365,0.407702751937,-0.0055316867558,0.059989647343,0.999999986554,-0.000160133621205,5.13798308724e-06,-3.49624617691e-05,1793192182822214656
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.957390176,712,671.957390176,662.914780351,632.042609824,876.957390176,783,799,649.957390176,628.042609824,650.957390176,0.408242747735,-0.00551908827779,0.0599925044052,0.999999990893,-0.000128778978489,-6.76826146731e-07,-4.03753274378e-05,1793192182838882048
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.386526793,712,671.386526793,661.773053587,632.613473207,876.386526793,783,799,649.386526793,628.613473207,650.386526793,0.408791070797,-0.0055302099976,0.0599734473623,0.999999990773,-0.000121926252576,-4.18881315885e-05,-4.28095581439e-05,1793192182855548928
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661.192336808,633,876.192336808,783,798.807663192,649,628.807663192,650,0.409372472396,-0.00553823829133,0.0599609589861,0.999999992978,-8.90295805531e-05,-6.84303970227e-05,-3.78721179619e-05,1793192182872215552
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661.787975659,633,876.787975659,783,798.212024341,649,628.212024341,650,0.410023234796,-0.00553978012417,0.0599622441408,0.999999997784,-1.52257803776e-06,-6.42138368941e-05,-1.7477366148e-05,1793192182888881664
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.37269739,712,671,662,633,877,783,798.37269739,649,628,650,0.410695988425,-0.0055373151684,0.0599658329074,0.999999998559,1.36527304703e-05,-4.97639470766e-05,-1.48343701441e-05,1793192182905547776
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.951385191,712,671,662,633,877,783,798.951385191,649,628,650,0.411380896617,-0.00553263565446,0.0599706948837,0.999999999256,-1.11498006629e-05,-2.96580807296e-05,-2.20027971541e-05,1793192182922214144
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,712,671,662,633,877,783.525964648,799,649,628,650,0.412064266262,-0.00553049467331,0.0599632312998,0.999999998586,-1.56643111015e-05,-4.36834580005e-05,-2.59736391042e-05,1793192182938880768
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.897211415,712,671,661.897211415,633,877,784,799.102788585,649,628,650,0.412741423253,-0.00552892203081,0.0599494797967,0.999999996876,-1.69748280725e-05,-7.15020140975e-05,-2.91052900287e-05,1793192182955547392
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.307982662,712,671,661.307982662,633,877,784,799.692017338,649,628,650,0.413389846831,-0.00552893722039,0.0599113207697,0.999999988272,-1.19282203569e-05,-0.000149781964397,-2.96533643067e-05,1793192182972214016
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711.723691452,671,660.723691452,633,876.723691452,783.723691452,799.723691452,649.276308548,628.276308548,650,0.414119493766,-0.00553119728029,0.0599001125922,0.999999984604,-1.47336069705e-05,-0.000172184028408,-3.04439255429e-05,1793192182988880640
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711.144807097,671,660.144807097,633,876.144807097,783.144807097,799.144807097,649.855192903,628.855192903,650,0.414938085633,-0.00553591561902,0.0599184173407,0.999999990265,-2.61374367942e-05,-0.000133396187951,-3.15000259337e-05,1793192183005547776
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.432640968,711.432640968,671.432640968,661.297922905,632.567359032,876.432640968,783,799,650,628.567359032,650,0.415775910801,-0.00553919943454,0.0599600632682,0.999999997419,-2.95248273396e-05,-5.81607060325e-05,-3.01366809588e-05,1793192183022214144
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,712,671.990478892,662.990478892,632,877,783.009521108,799,649.990478892,628,650,0.416619218114,-0.00554191141104,0.0600086023611,0.999999998775,-3.01278146146e-05,2.75236388516e-05,-2.80128653239e-05,1793192183038880512
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,712,671.418838292,662.418838292,632,877,783.581161708,799,649.418838292,628,650,0.417407383672,-0.00553911588034,0.060004396289,0.999999999221,-2.4228285958e-05,1.22522833215e-05,-2.86432543046e-05,1793192183055547136
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.841390733,742.841390733,711.841390733,671.158609267,662,632,877,783.841390733,799,649,628,650.158609267,0.418198731031,-0.00553734382842,0.0599954338923,0.999999999254,-2.34032515201e-05,-6.91529297308e-06,-2.99298052138e-05,1793192183072213760
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.248026063,742.248026063,711.248026063,671.751973937,662,632,877,783.248026063,799,649,628,650.751973937,0.418998799807,-0.00553837717978,0.0599734341881,0.999999998114,-3.64876429885e-05,-3.67625913526e-05,-3.30149265621e-05,1793192183088880640
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+162,2.700000000,POSE1_TO_POSE2_PRESS,763.912993247,742.912993247,711.912993247,672,662.912993247,632.912993247,877,783.912993247,799,649,628,650.087006753,0.420640358629,-0.00553841824963,0.0599215529181,0.999999993006,-2.84524368819e-05,-0.000108279508437,-3.81355959896e-05,1793192183122214144
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.511584759,712,672,662.023169518,633,877,783.511584759,799,649,628,650,0.42142291857,-0.00553836270152,0.0598903493719,0.999999983516,-3.12153825804e-05,-0.000174508763899,-3.92402773697e-05,1793192183138880512
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.934970615,742.065029385,712,672,661,633,877,783,799,649.065029385,628.065029385,650,0.422209569876,-0.00553830395585,0.0598654157952,0.999999971921,-3.51462653299e-05,-0.000230914527986,-4.00087138407e-05,1793192183155547392
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.346340677,742.653659323,712,672,661,633,877,783,799,649.653659323,628.653659323,650,0.423091616164,-0.0055379456983,0.0598970008725,0.999999984751,-3.23299326265e-05,-0.000166901556665,-3.99522971731e-05,1793192183172214016
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,742.761666058,712,672,661.476667884,633,877,783,799,649.761666058,628.761666058,650,0.423989201728,-0.00553996803633,0.0599397498799,0.999999994501,-3.28846363711e-05,-9.18116556854e-05,-3.85756663061e-05,1793192183188880640
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,742.182645289,712,672,662.634709422,633,877,783,799,649.182645289,628.182645289,650,0.424909000063,-0.00554539332039,0.0599984571892,0.999999998644,-3.82580730156e-05,-8.87810918432e-07,-3.53118531244e-05,1793192183205547008
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.394262541,742.394262541,712,672,662.605737459,633,877,783.394262541,799,649,628.394262541,650,0.425791483218,-0.00554989511564,0.0600139532633,0.999999998111,-4.37584608428e-05,2.57462720816e-05,-3.46478843912e-05,1793192183222213888
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.970196718,742.970196718,712,672,662.029803282,633,877,783.970196718,799,649,628.970196718,650,0.426656771913,-0.00555397137756,0.0600095380947,0.999999997906,-4.93173460902e-05,2.27563683077e-05,-3.51818943021e-05,1793192183238880512
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712,672,662,633,877,783.454372699,799,649,629,650.545627301,0.427479283851,-0.00555536141727,0.0599868167287,0.999999997948,-5.12998278183e-05,-1.62318646704e-06,-3.83252185816e-05,1793192183255547136
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.875933102,712,672,662.124066898,632.875933102,877,783.124066898,799,649,628.875933102,650.875933102,0.428287926778,-0.00555556240118,0.0599642924127,0.999999997452,-5.14860621855e-05,-2.74462682866e-05,-4.11343183712e-05,1793192183272213760
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.286093913,712,672,662.713906087,632.286093913,877,783.713906087,799,649,628.286093913,650.286093913,0.429053266399,-0.00555184976326,0.0599462583122,0.999999996594,-4.5661528841e-05,-5.43064767009e-05,-4.21540930839e-05,1793192183288880896
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.699883453,742,712,672,662.399766906,632.300116547,877,783.699883453,799,649,628.300116547,650,0.429827026231,-0.00554832227035,0.0599267218309,0.999999994212,-4.07439920469e-05,-8.97856764863e-05,-4.30716318605e-05,1793192183305547776
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.117090881,742,712,672,661.234181763,632.882909119,877,783.117090881,799,649,628.882909119,650,0.430608716913,-0.00554496916343,0.0599057702771,0.999999989468,-3.6680744261e-05,-0.000133382994929,-4.3892875789e-05,1793192183322214400
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.458939782,742,712,672,661.458939782,633,877,783,799,649.458939782,628.541060218,650,0.431464935815,-0.00554954002074,0.0599366047339,0.999999995278,-4.63003570335e-05,-7.35435450912e-05,-4.34928222736e-05,1793192183338880768
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+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.608317289,712,672,663.216634577,633,877,783,799.608317289,650,628.608317289,650,0.433097315997,-0.00555956979084,0.0599978928327,0.999999997077,-5.70404358754e-05,2.98541028839e-05,-4.12392381346e-05,1793192183372214016
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,672,663.433880353,633,877,783.188706549,800,649.811293451,629,650.188706549,0.433835647887,-0.00556248548156,0.0600007710718,0.999999997108,-5.8001108918e-05,2.76817560394e-05,-4.06757123836e-05,1793192183388880640
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,672,661.658218434,633,877,783.780593855,800,649.219406145,629,650.780593855,0.434519441052,-0.00556386186119,0.0599694609534,0.999999996751,-6.41713946204e-05,-2.46208139502e-05,-4.21140802336e-05,1793192183405547264
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.636820088,711.636820088,672.363179912,661.726359823,633,877,783.636820088,799.636820088,649,628.636820088,650.636820088,0.435199772915,-0.00556494688459,0.0599401547216,0.999999993904,-6.91560327865e-05,-7.39164863521e-05,-4.41026535117e-05,1793192183422214400
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.059712871,711.059712871,672.940287129,662.880574259,633,877,783.059712871,799.059712871,649,628.059712871,650.059712871,0.435878065891,-0.00556586028758,0.05991202886,0.999999988852,-7.34422773217e-05,-0.000121440974145,-4.64153193881e-05,1793192183438881792
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,711,673,662.484113977,633,877,783.515886023,799,649.515886023,628.515886023,650,0.436556005967,-0.00556875061136,0.0599131070999,0.999999988807,-7.61860132759e-05,-0.000119674119945,-4.75329587047e-05,1793192183455548416
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742,711.093245272,672.906754728,662,633,877.093245272,784,799,650,628.906754728,650,0.43721936733,-0.00557063765977,0.0599163323213,0.999999989012,-7.80055945132e-05,-0.000116554066461,-4.80319175767e-05,1793192183472214784
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,711.680860525,672.319139475,662,633,877.680860525,784,799,650,628.319139475,650,0.437805650854,-0.00556599586605,0.0599130708366,0.999999986759,-7.58693119995e-05,-0.00013642034258,-4.59819635697e-05,1793192183488881152
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,712,672.264355727,662,632.735644273,877.735644273,783.735644273,799,649.735644273,628,650,0.438398515955,-0.00556126238606,0.059914529922,0.999999986618,-7.14333656389e-05,-0.000140390317877,-4.41754016421e-05,1793192183505547520
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,712,672.842953346,662,632.157046654,877.157046654,783.157046654,799,649.157046654,628,650,0.438999204591,-0.00555641991815,0.0599216003896,0.999999989155,-6.4263789549e-05,-0.000125464224338,-4.26581620951e-05,1793192183522214144
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,712,672.578836805,662,632,877,783,799.421163195,649,628,650,0.439589705275,-0.00556157940593,0.0599428707502,0.999999992668,-6.66759516362e-05,-9.17152649894e-05,-4.25052442294e-05,1793192183538880768
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,712,672.000771371,662,632,877,783,799.999228629,649,628,650,0.440176410538,-0.00557046507182,0.0599694312106,0.999999995144,-7.2657741631e-05,-5.09539398546e-05,-4.28605973919e-05,1793192183555547136
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,712,672.573819736,661.426180264,632.573819736,877,783.573819736,800,649,628,650,0.440680648612,-0.00557870541229,0.0599655345275,0.999999993928,-8.09787416562e-05,-6.03284296258e-05,-4.41274557088e-05,1793192183572214784
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.152267149,712,673,660.847732851,632.847732851,877.152267149,784,799.847732851,649,628.152267149,650.152267149,0.441154112565,-0.00558599802654,0.0599493191442,0.999999991035,-8.90140849076e-05,-8.86740166686e-05,-4.62879417052e-05,1793192183588881920
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.741802241,712,673,660.258197759,632.258197759,877.741802241,784,799.258197759,649,628.741802241,650.741802241,0.441539518549,-0.00559057151871,0.0598978448251,0.999999979397,-9.62201288721e-05,-0.000171306823386,-5.10111747851e-05,1793192183605548288
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,712,672.674027456,660.325972544,632,877.674027456,783.674027456,799,649,628.674027456,650.674027456,0.44191572195,-0.00559159860032,0.0598532331359,0.999999964245,-0.00010108559484,-0.000241396034885,-5.49442415259e-05,1793192183622214656
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,712,672.094037748,660.905962252,632,877.094037748,783.094037748,799,649,628.094037748,650.094037748,0.44228475413,-0.00558986210796,0.0598139692183,0.999999947367,-0.000104127143112,-0.000301710527291,-5.82615634993e-05,1793192183638881024
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+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,712,673.941810703,660.941810703,632,878,783,799,649.058189297,628,650.058189297,0.443041861057,-0.00557098670363,0.0598032690321,0.999999943535,-0.000146962149291,-0.000296598133139,-5.79714003216e-05,1793192183672214016
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,712,673.356230831,660.356230831,632,878,783,799,649.643769169,628,650.643769169,0.443376917238,-0.00556179667349,0.0598099401387,0.999999952898,-8.48768203423e-05,-0.000291501046457,-4.50197052606e-05,1793192183688880640
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,712,672.771803459,660,632,877.771803459,783,799,650,628,650.771803459,0.443697145845,-0.00555665687193,0.0598143091899,0.999999956754,-4.7233756684e-05,-0.000287770491688,-3.8068778308e-05,1793192183705547264
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,712,672.189166234,660,632,877.189166234,783,799,650,628,650.189166234,0.443994343852,-0.00555780798949,0.0598151026294,0.999999957107,-4.75550484964e-05,-0.000286162471052,-4.04383987208e-05,1793192183722214400
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.611073541,712,672.388926459,660,632,877,783,799,649.611073541,628,650,0.444250468276,-0.00556419101541,0.0598119823548,0.999999954149,-5.58649188528e-05,-0.000294693965598,-4.16661493672e-05,1793192183738881280
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.035165638,712,672.964834362,660,632,877,783,799,649.035165638,628,650,0.444486846069,-0.00557308934928,0.0598069805115,0.999999949328,-6.80154020422e-05,-0.000308100163443,-4.23449315019e-05,1793192183755547904
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.117953572,711.117953572,673,660,631,878,783,799,649,628,650,0.444877011937,-0.00557842420762,0.0597806073267,0.99999993405,-8.93986975349e-05,-0.000348974863192,-4.60892728536e-05,1793192183788880640
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711.390353066,673,659.390353066,631,877.780706131,782.390353066,800,649,628.609646934,650,0.445648223712,-0.00558167471,0.0597521806915,0.99999991238,-9.84656204015e-05,-0.000404011058892,-4.81702179526e-05,1793192183888881664
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+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742,711.894557192,672.894557192,659,631.105442808,877.105442808,782.894557192,799.105442808,649.894557192,628.894557192,650.105442808,0.446035910366,-0.0055798297722,0.0597368746049,0.999999902717,-9.67254387114e-05,-0.00042797055366,-4.53017875792e-05,1793192184155547648
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.470122937,712,673,659,631,877,783,799.470122937,649.529877063,628.529877063,650,0.446036280867,-0.00557877438859,0.0597371235195,0.999999902715,-9.65609034203e-05,-0.000428000704036,-4.54018420404e-05,1793192184172214272
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.95401467,711.95401467,673,659,631,877,783,799.95401467,649.04598533,628,650,0.446036827465,-0.00557788823987,0.0597376929257,0.999999902831,-9.6659174297e-05,-0.00042768756082,-4.5588112367e-05,1793192184188880896
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.363721282,711.363721282,673,659,631,877,783,799.363721282,649.636278718,628,650,0.446037336513,-0.00557955715142,0.0597376981607,0.999999902993,-9.63671406846e-05,-0.000427416633519,-4.51849546696e-05,1793192184205547520
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.222450826,711,672.777549174,659,631,877.222450826,782.777549174,799.222450826,650,628,650,0.44603769568,-0.00558043811853,0.0597377235797,0.999999903059,-9.63946162075e-05,-0.000427283372333,-4.49249341604e-05,1793192184222214144
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.802006917,711,672.197993083,659,631,877.802006917,782.197993083,799.802006917,650,628,650,0.446037814241,-0.00558005418082,0.0597377814006,0.999999902971,-9.69350068776e-05,-0.000427371109646,-4.48946949906e-05,1793192184238880512
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711.378464499,672.378464499,659,631,877.621535501,782,799.621535501,649.621535501,628.378464499,650,0.446038487692,-0.00557998073627,0.0597378338068,0.999999903132,-9.65472027962e-05,-0.000427070230642,-4.50052424981e-05,1793192184255547136
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711.953314246,672.953314246,659,631,877.046685754,782,799.046685754,649.046685754,628.953314246,650,0.446039449076,-0.00558006840666,0.0597378834034,0.999999903422,-9.56777583926e-05,-0.00042656769861,-4.51888442207e-05,1793192184272213760
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.528337221,631,877,782,799,649,628.471662779,650,0.446038961422,-0.00558181065901,0.0597373859216,0.999999902744,-9.8332719476e-05,-0.000427580916994,-4.49156584982e-05,1793192184288880640
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.893660637,743,711.893660637,673,660,631,877.106339363,782.106339363,799,649,628,650,0.446038544786,-0.00558283901354,0.0597368174243,0.999999902173,-0.000100097859293,-0.000428530495391,-4.46786138748e-05,1793192184305547520
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.302135743,743,711.302135743,673,660,631,877.697864257,782.697864257,799,649,628,650,0.446039036573,-0.00557994283222,0.0597361455481,0.999999902512,-9.63816901812e-05,-0.000428578404947,-4.47906901218e-05,1793192184322214400
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.282050984,743,711,673,660,631,877.717949016,783,799.282050984,649.282050984,628,650,0.44603917127,-0.00557862548293,0.0597355509151,0.999999902484,-9.54104626628e-05,-0.000428843205177,-4.49720108843e-05,1793192184338881280
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.858576394,743,711,673,660,631,877.141423606,783,799.858576394,649.858576394,628,650,0.446038933149,-0.00557895650783,0.0597350369276,0.999999902079,-9.73050821637e-05,-0.00042933444943,-4.52256261752e-05,1793192184355548416
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711.435779166,673,659.564220834,631,877.435779166,783,799.564220834,649.564220834,628,650,0.446039538817,-0.00557929074648,0.0597359600992,0.999999902385,-9.65367565432e-05,-0.000428821763543,-4.49661542943e-05,1793192184372215040
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711.986951345,673,659,631,877.986951345,783,799.026097311,649,628.013048655,650,0.446040390228,-0.00557958765009,0.0597372852543,0.999999902893,-9.49494682833e-05,-0.000428033544183,-4.45572077851e-05,1793192184388881152
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711.416238384,673,659,631,877.416238384,783,800.167523233,649,628.583761616,650,0.446040022801,-0.00557824431264,0.0597358263166,0.999999902248,-9.53532855877e-05,-0.00042941550709,-4.4887487422e-05,1793192184405547520
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.838587783,711.161412217,673,659,631,877,782.838587783,800.838587783,649,628.838587783,650,0.446039482888,-0.00557753302393,0.0597346925625,0.99999990174,-9.52709855525e-05,-0.000430608685556,-4.49450639245e-05,1793192184422214144
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.24224345,711.75775655,673,659,631,877,782.24224345,800.24224345,649,628.24224345,650,0.446038478207,-0.00557852481765,0.0597344350298,0.999999901607,-9.387882155e-05,-0.000431293176202,-4.4267830159e-05,1793192184438880768
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.658612267,742.341387733,712,672.658612267,659,631,877,782,799.658612267,649,628,650,0.446039069282,-0.00557862612446,0.0597349404942,0.999999901904,-9.39157945596e-05,-0.000430588993268,-4.43377891254e-05,1793192184455547392
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.083678282,742.916321718,712,672.083678282,659,631,877,782,799.083678282,649,628,650,0.446040752028,-0.00557811824155,0.0597359679314,0.999999902493,-9.49304524136e-05,-0.000428934806895,-4.49189090238e-05,1793192184472214272
+244,4.066666667,HOLD_POSE2,764,742,711,672,659,631,877,783,800,649,628,650,0.446039367275,-0.00557881212422,0.05973598306,0.999999902335,-9.34579858829e-05,-0.000429714071298,-4.40726636817e-05,1793192184503580672
+245,4.083333333,HOLD_POSE2,764,742.590171736,711.590171736,672.590171736,659,631,877,782.409828264,799.409828264,649.590171736,628,650,0.446042223239,-0.00557837526439,0.0597371304504,0.999999903303,-9.47136108892e-05,-0.000427164832741,-4.41937653263e-05,1793192184520247040
+246,4.100000000,HOLD_POSE2,764,743,712,673,659,631,877,782.177021462,799.177021462,649.822978538,628,650,0.446043754898,-0.00557838774101,0.059737701155,0.999999903763,-9.55640197166e-05,-0.00042589401178,-4.42285122037e-05,1793192184536913408
+247,4.116666667,HOLD_POSE2,764,743,712,673,659,631,877,782.756322078,799.756322078,649.243677922,628,650,0.446042277095,-0.00557942132926,0.0597369613486,0.999999903079,-9.54935798758e-05,-0.000427528379014,-4.40670189309e-05,1793192184553580288
+248,4.133333333,HOLD_POSE2,764,743,712,673,659,631,877.332996175,783,799.667003825,649,628,650,0.446042718517,-0.00557918554017,0.0597370943065,0.999999903151,-9.56469473373e-05,-0.000427321545759,-4.41081508849e-05,1793192184570247168
+249,4.150000000,HOLD_POSE2,764,743,712,673,659,631,877.90776326,783,799.09223674,649,628,650,0.446044553386,-0.00557802812325,0.0597378609324,0.999999903771,-9.59628094475e-05,-0.000425777914118,-4.42963983088e-05,1793192184586914048
+250,4.166666667,HOLD_POSE2,764,743,712,673,659,631,877.517744533,783,799,649,628,650,0.446043919391,-0.00557863350963,0.0597378520917,0.999999903582,-9.61910376368e-05,-0.000426222534171,-4.38006233811e-05,1793192184603580672
+251,4.183333333,HOLD_POSE2,764,742.941577763,712,672.941577763,659,631,877,783,799,649,628,650,0.446042868698,-0.00557945653247,0.0597376020686,0.999999903231,-9.64089560288e-05,-0.000427050368478,-4.3264451058e-05,1793192184620247552
+252,4.200000000,HOLD_POSE2,764,742.349638905,712,672.349638905,659,631,877,783,799,649,628,650,0.446042322381,-0.00557918984901,0.0597365032173,0.999999902825,-9.668569983e-05,-0.00042790701961,-4.35534078011e-05,1793192184636914176
+253,4.216666667,HOLD_POSE2,763.762906962,742.237093038,711.762906962,672.237093038,659,631,877.237093038,782.762906962,799.237093038,649,628.237093038,650,0.446041485963,-0.00557885991932,0.0597354696222,0.999999902384,-9.6751755309e-05,-0.000428898961691,-4.37784979295e-05,1793192184653580800
+254,4.233333333,HOLD_POSE2,763.183688647,742.816311353,711.183688647,672.816311353,659,631,877.816311353,782.183688647,799.816311353,649,628.816311353,650,0.446040230931,-0.00557843872534,0.0597345301921,0.999999901891,-9.65137874954e-05,-0.000430086128552,-4.39114285023e-05,1793192184670247168
+255,4.250000000,HOLD_POSE2,763.393209152,743,711.393209152,673,659,631,877.606790848,782.393209152,800,649,629,650,0.446041775504,-0.00557817106647,0.0597350000607,0.999999902419,-9.6062889321e-05,-0.000428922449609,-4.42577827181e-05,1793192184686913536
+256,4.266666667,HOLD_POSE2,763.969029328,743,711.969029328,673,659,631,877.030970672,782.969029328,800,649,629,650,0.446044620246,-0.00557797471111,0.0597361244243,0.999999903417,-9.55131037243e-05,-0.000426667009921,-4.47032534327e-05,1793192184703579904
+257,4.283333333,HOLD_POSE2,764,742.446133082,712,673,659,631,877,783,799.446133082,649.553866918,629,650,0.446042757148,-0.00557818290463,0.059735495288,0.999999902496,-9.64695740493e-05,-0.000428612148658,-4.46556961223e-05,1793192184720246784
+258,4.300000000,HOLD_POSE2,763.862103714,742.137896286,712,673,659,631,877,783,799,650,629,650,0.446041193782,-0.00557825946583,0.0597350402566,0.999999901816,-9.66894105678e-05,-0.000430165624556,-4.44580968917e-05,1793192184736913664
+259,4.316666667,HOLD_POSE2,763.282306799,742.717693201,712,673,659,631,877,783,799,650,629,650,0.446041448496,-0.00557784050836,0.0597354625722,0.999999902273,-9.42742651098e-05,-0.000429698818215,-4.38694838329e-05,1793192184753580800
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,631,878,783,800,650,629,650,0.446040696502,-0.00557615258153,0.0597351811759,0.999999901695,-9.44829712624e-05,-0.000430975946026,-4.4084494889e-05,1793192184792790272
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,631,878,783,800,650,629,650,0.446043223732,-0.00557701615578,0.0597360280472,0.999999902991,-9.48673428418e-05,-0.000427886175219,-4.39532786596e-05,1793192184809457408
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.768924373,631,878,782.768924373,799.768924373,650,628.768924373,650,0.446044693054,-0.00557673113307,0.0597367864392,0.999999903748,-9.39243452986e-05,-0.000426310939038,-4.40614335925e-05,1793192184826124032
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.178795977,631,878,782.178795977,799.178795977,650,628.178795977,650,0.446044518565,-0.00557466138347,0.0597374073496,0.999999903672,-9.09188388237e-05,-0.000427089035179,-4.45415311449e-05,1793192184842790144
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.597069859,742.597069859,712,673,659.402930141,631,877.597069859,782,799.402930141,649.597069859,628,650,0.446043746417,-0.00557640840508,0.0597368523623,0.999999903085,-9.19968522805e-05,-0.000428272228809,-4.41451417763e-05,1793192184859456768
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.868780387,711,672,659,631,877.131219613,782.131219613,799.868780387,649,628.868780387,650,0.446041256264,-0.00557918903104,0.0597353044858,0.999999902426,-9.55826926584e-05,-0.000429063196511,-4.37827752436e-05,1793192184909456896
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.293667151,711,672,659,631,877.706332849,782.706332849,799.293667151,649,628.293667151,650,0.446035306875,-0.00557982153411,0.0597320272423,0.999999900307,-9.62613830338e-05,-0.000433831300575,-4.37154558393e-05,1793192184926123520
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.708971732,742.291028268,711.291028268,672.291028268,659,631,877.708971732,782.708971732,799,649,628,650,0.446020894934,-0.00557949589677,0.0597249258615,0.999999895359,-9.65864977627e-05,-0.000444984515813,-4.40714632344e-05,1793192184942790144
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,743,712,673,659,631.464863103,877,782,799.464863103,649.464863103,628,650,0.445948743617,-0.00557416166007,0.0596921087343,0.999999870402,-9.29129293522e-05,-0.000498396670081,-4.65150028585e-05,1793192184976123648
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.971912643,742,711,672.971912643,661,632,877,783,799.028087357,649,628.028087357,650,0.439201692777,-0.00543852017496,0.059828519185,0.999999959876,5.78530496785e-05,-0.000277132804789,9.91006899046e-06,1793192185392791808
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_01/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd8c01b2fb0f17554b38421fd7d96f4b49f77baa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,398 @@
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+367,6.116666667,pose2_to_pose3_retreat,0.575721249,5.46096444348e-05,1.05002903275,0.546291978515,0.00872733668499,1.04969832389
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+369,6.150000000,pose2_to_pose3_retreat,0.575716882892,5.45815383278e-05,1.0500290193,0.546287612689,0.00872730964674,1.04969831339
+370,6.166666667,pose2_to_pose3_retreat,0.575715849376,5.45596137901e-05,1.05002902895,0.546286579561,0.00872728896339,1.04969832105
+371,6.183333333,pose2_to_pose3_retreat,0.575715041998,5.45424864415e-05,1.0500290365,0.546285772487,0.00872727280565,1.04969832703
+372,6.200000000,pose2_to_pose3_retreat,0.575714399351,5.45288536312e-05,1.0500290425,0.546285130081,0.00872725994462,1.0496983318
+373,6.216666667,pose2_to_pose3_retreat,0.575713929009,5.45188760074e-05,1.05002904689,0.546284659916,0.00872725053185,1.04969833529
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+376,6.266666667,pose2_to_pose3_retreat,0.575713239049,5.45042395061e-05,1.05002905334,0.546283970215,0.00872723672395,1.0496983404
+377,6.283333333,pose2_to_pose3_retreat,0.575712742993,5.45062912251e-05,1.05002906774,0.546283474296,0.00872723927411,1.04969835565
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+379,6.316666667,pose2_to_pose3_retreat,0.575712411579,5.45096561325e-05,1.0500290789,0.546283142967,0.00872724295659,1.04969836767
+380,6.333333333,pose2_to_pose3_retreat,0.575711992201,5.45139141583e-05,1.05002909303,0.546282723695,0.00872724761649,1.04969838288
+381,6.350000000,pose2_to_pose3_retreat,0.575711697772,5.45169035561e-05,1.05002910296,0.546282429341,0.00872725088803,1.04969839356
+382,6.366666667,pose2_to_pose3_retreat,0.575711680635,5.45170775522e-05,1.05002910353,0.546282412208,0.00872725107844,1.04969839418
+383,6.383333333,pose2_to_pose3_retreat,0.575711489208,5.45190211545e-05,1.05002910998,0.546282220829,0.00872725320548,1.04969840113
+384,6.400000000,pose2_to_pose3_retreat,0.575711185941,5.45221002754e-05,1.0500291202,0.54628191764,0.00872725657521,1.04969841213
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+386,6.433333333,pose2_to_pose3_retreat,0.575710790287,5.45261174334e-05,1.05002913353,0.546281522086,0.00872726097151,1.04969842648
+387,6.450000000,pose2_to_pose3_retreat,0.575710324658,5.45605251487e-05,1.05002914285,0.546281056047,0.00872729395931,1.04969843503
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+389,6.483333333,pose2_to_pose3_retreat,0.575709685344,5.46221970951e-05,1.05002915254,0.546280415914,0.00872735277445,1.04969844272
+390,6.500000000,pose2_to_pose3_retreat,0.575709547193,5.46310008048e-05,1.05002914745,0.546280277118,0.00872735943476,1.04969843879
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+392,6.533333333,pose2_to_pose3_retreat,0.575709358124,5.46386112741e-05,1.05002913345,0.546280086708,0.00872736261448,1.04969842792
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+395,6.583333333,pose2_to_pose3_retreat,0.575709233964,5.46331916778e-05,1.05002915559,0.546279961877,0.00872735479126,1.04969844676
+396,6.600000000,pose2_to_pose3_retreat,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966301,1.04969846034
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_01/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..35c997a9b52135efcb0a77d17a82951b366ce5ed
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a2a7f0ba49b68ca2b973ff3bfa12f47b7383a83768071e0514f8043d5ab42ff
+size 25230182
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..717d9798e83b56494292a9765bc5be8d87060c76
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_04/franka_data.csv
@@ -0,0 +1,398 @@
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+23,0.383333333,BASELINE,764,742,711,671,661,632.354737792,876,783,799.645262208,649,628,650,0.400948463621,-0.00538316290617,0.0598353619124,0.999999938342,0.000219342372518,-0.000273916077876,1.32266795248e-05,1793192187587127552
+24,0.400000000,BASELINE,764,742,711,671,661,632.930892204,876,783,799.069107796,649,628,650,0.400949113874,-0.00538309840976,0.0598365206143,0.999999938874,0.000218802175283,-0.000272401729266,1.32360223652e-05,1793192187603794176
+25,0.416666667,BASELINE,763.473900073,742,711,671,661,633,876,783.526099927,799,649,628.526099927,650,0.400949503332,-0.00538508719158,0.0598365325148,0.999999939384,0.000216876306311,-0.000272050096022,1.36192776881e-05,1793192187620460800
+26,0.433333333,BASELINE,763.119236548,742,711,671,661,633,875.880763452,783.880763452,799,649,628.880763452,650,0.400949395523,-0.005386735002,0.0598362706602,0.999999939682,0.000215196134949,-0.000272274318281,1.3883164529e-05,1793192187637127424
+27,0.450000000,BASELINE,763.694519666,742,711,671,661,633,875.305480334,783.305480334,799,649,628.305480334,650,0.40094752175,-0.00538600834021,0.0598355595844,0.999999939194,0.000215178023956,-0.000274094916043,1.34955836737e-05,1793192187653794048
+28,0.466666667,BASELINE,764,742,711.269230834,671,661,632.730769166,875.538461668,783,799,649,628,650.269230834,0.400946727437,-0.00538591586746,0.0598353776621,0.999999939248,0.000214226014007,-0.000274656582147,1.3229338093e-05,1793192187670460928
+29,0.483333333,BASELINE,764,742,711.843294387,671,661,632.156705613,876.686588774,783,799,649,628,650.843294387,0.400947155326,-0.00538654144614,0.0598357948662,0.999999939915,0.000212216610469,-0.000273792840977,1.31004726456e-05,1793192187687127552
+30,0.500000000,BASELINE,763.571418203,742,711.571418203,671,660.571418203,632,876.571418203,783,799,649.428581797,628,651,0.400948141079,-0.00538582863155,0.0598364121012,0.999999939815,0.000213778940705,-0.000272941708097,1.31128667287e-05,1793192187703794176
+31,0.516666667,BASELINE,763.017899005,741.982100995,711,670.982100995,660.017899005,632.017899005,875.982100995,783,799,649.982100995,628,650.982100995,0.400949239588,-0.00538463535484,0.0598370411553,0.999999939401,0.000216639411012,-0.000272197513999,1.31805242585e-05,1793192187720460544
+32,0.533333333,BASELINE,763.60138878,741.39861122,711,670.39861122,660.60138878,632.60138878,875.39861122,783,799,649.39861122,628,650.39861122,0.400947282317,-0.00538413931397,0.0598356704207,0.999999938393,0.000218142997983,-0.000274682887674,1.33184786789e-05,1793192187737127168
+33,0.550000000,BASELINE,764,741.181668026,711.181668026,670.181668026,661,632.818331974,875.181668026,783,798.818331974,649,628,650,0.400945969337,-0.0053835940009,0.0598346978964,0.999999937813,0.000218752495461,-0.00027630832059,1.32108648494e-05,1793192187753794048
+34,0.566666667,BASELINE,764,741.755025067,711.755025067,670.755025067,661,632.244974933,875.755025067,783,798.244974933,649,628,650,0.400946045496,-0.00538294245359,0.0598345839414,0.999999938172,0.000217434273045,-0.000276079660548,1.25737886182e-05,1793192187770461184
+35,0.583333333,BASELINE,764,742,711.670451775,671,661,632,875.670451775,783,798,649,628,650.329548225,0.400947001201,-0.00538298809467,0.0598351841009,0.99999993863,0.000217125099018,-0.000274671511424,1.23661622753e-05,1793192187787127808
+36,0.600000000,BASELINE,764,742,711.095058628,671,661,632,875.095058628,783,798,649,628,650.904941372,0.400948613051,-0.00538355384235,0.0598363169941,0.999999939158,0.000217568680909,-0.000272383456451,1.2478908019e-05,1793192187803794176
+37,0.616666667,BASELINE,764,742,711,671,661,632.494336242,875.494336242,783,798.988672484,649,628,650.505663758,0.400948599006,-0.00538345909794,0.0598364556782,0.999999939022,0.000218269196554,-0.000272305094039,1.28608682515e-05,1793192187820460800
+38,0.633333333,BASELINE,764,742,711.084070909,671,661,633,876,783,800,649,628.084070909,650,0.400948213119,-0.00538344271858,0.0598363330919,0.999999938831,0.00021859472583,-0.000272726614455,1.32058607177e-05,1793192187837127424
+39,0.650000000,BASELINE,764,742,711.65959404,671,661,633,876,783,800,649,628.65959404,650,0.400947534505,-0.005384648538,0.0598358333686,0.999999939089,0.000216430964381,-0.000273513973921,1.30233061071e-05,1793192187853794304
+40,0.666666667,BASELINE,764,742,711.765134879,671,661,633,876,783.234865121,800,649.234865121,628.765134879,650,0.400947117221,-0.00538506612466,0.0598352666862,0.999999939177,0.00021520315274,-0.000274168238848,1.28983293171e-05,1793192187870461184
+41,0.683333333,BASELINE,764,742,711.190228753,671,661,633,876,783.809771247,800,649.809771247,628.190228753,650,0.400947078293,-0.00538434249682,0.0598346030596,0.999999939023,0.00021533042244,-0.000274629807599,1.28567145113e-05,1793192187887127808
+42,0.700000000,BASELINE,763.604806622,742,711.395193378,671,661,632.604806622,876,783.604806622,799.604806622,649.604806622,628.395193378,650.395193378,0.400947263221,-0.00538401770297,0.059834815459,0.999999938942,0.000215869998503,-0.000274501056621,1.28733262359e-05,1793192187903794432
+43,0.716666667,BASELINE,763.014184187,742,711.985815813,671,661,632.014184187,876,783.014184187,799.014184187,649.014184187,628.985815813,650.985815813,0.400947558848,-0.00538389013855,0.0598354610664,0.999999938896,0.000216613466248,-0.000274080383661,1.29187318549e-05,1793192187920461056
+44,0.733333333,BASELINE,763,742,712,671,661,632.565280801,876,783,799.565280801,649,629,650.434719199,0.400947106918,-0.00538504484196,0.059834714742,0.999999938878,0.000215707707342,-0.000274841051138,1.32790793313e-05,1793192187937127680
+45,0.750000000,BASELINE,763.143693566,742,711.856306434,670.856306434,661,633,876,783,799.856306434,649,628.856306434,650.143693566,0.400947054318,-0.00538577108136,0.0598344006083,0.999999938831,0.000215649510065,-0.000275043767297,1.35575995736e-05,1793192187953794304
+46,0.766666667,BASELINE,763.719766169,742,711.280233831,670.280233831,661,633,876,783,799.280233831,649,628.280233831,650.719766169,0.400948258669,-0.00538511311525,0.059835490013,0.999999938693,0.000218263768249,-0.000273480119018,1.35665797268e-05,1793192187970460928
+47,0.783333333,BASELINE,764,742,711,670,660.69897282,633,876,783,799,649,628,650.69897282,0.400948089975,-0.00538462533062,0.0598355163551,0.99999993869,0.00021832557171,-0.000273459401931,1.3212469443e-05,1793192187987127552
+48,0.800000000,BASELINE,764,742,711,670,660.112797011,633,876,783,799,649,628,650.112797011,0.400946620662,-0.00538429875068,0.0598345357092,0.999999938815,0.000215969557391,-0.000274900229466,1.25144209829e-05,1793192188003794176
+49,0.816666667,BASELINE,763.533168334,742,711.466831666,670,660.466831666,633,876,783,799,649,628.466831666,650,0.400947594445,-0.00538427227651,0.059835208803,0.999999939134,0.000215798942719,-0.000273869909876,1.25905408214e-05,1793192188020460800
+50,0.833333333,BASELINE,763.044945735,742,712,670.044945735,661.044945735,633,876,783,799,649.044945735,628.955054265,650,0.40094902026,-0.00538431473849,0.0598361895989,0.999999939433,0.000216261924292,-0.000272397958001,1.28408082443e-05,1793192188037127424
+51,0.850000000,BASELINE,763.623599903,742,712,670.623599903,661.623599903,633,876,783,799,649.623599903,628.376400097,650,0.40094890109,-0.00538432664425,0.0598361450064,0.999999938964,0.000218065036626,-0.00027267386436,1.29685102081e-05,1793192188053794048
+52,0.866666667,BASELINE,764,742,712,671.200181804,661.799818196,632.799818196,876,783,799.200181804,649.799818196,628,650,0.400948790286,-0.00538369134938,0.0598360373652,0.999999938607,0.000219414447136,-0.00027290628232,1.28992173139e-05,1793192188070460672
+53,0.883333333,BASELINE,764,742,712,671.772907127,661.227092873,632.227092873,876,783,799.772907127,649.227092873,628,650,0.400948695051,-0.00538185159737,0.0598358123889,0.99999993846,0.000219919506694,-0.00027305776723,1.2463311881e-05,1793192188087127296
+54,0.900000000,BASELINE,764,742.356427434,711.643572566,671.643572566,661,632,876,783,799.643572566,649.356427434,628.356427434,650,0.400948562352,-0.00538231001311,0.0598360731336,0.999999938555,0.000219655542901,-0.000272913484363,1.26206923595e-05,1793192188103793920
+55,0.916666667,BASELINE,764,742.947040409,711.052959591,671.052959591,661,632,876,783,799.052959591,649.947040409,628.947040409,650,0.400948405037,-0.00538427840711,0.0598366530143,0.999999938809,0.00021888630331,-0.000272574871507,1.31678828656e-05,1793192188120460288
+56,0.933333333,BASELINE,763.472388708,742.472388708,711.527611292,671,661,632.527611292,876,783,799.527611292,649.472388708,628.472388708,650,0.400947163298,-0.0053847531397,0.0598358034924,0.999999938787,0.000217605948012,-0.000273672873347,1.33205948557e-05,1793192188137127168
+57,0.950000000,BASELINE,763.106013953,742,712,670.893986047,661,633,876,783,799.893986047,649,628,650.106013953,0.400946380594,-0.00538474985234,0.0598352595193,0.999999938719,0.000217098994495,-0.00027431999879,1.33803480776e-05,1793192188153793792
+58,0.966666667,BASELINE,763.679220439,742,712,670.320779561,661,633,876,783,799.320779561,649,628,650.679220439,0.400948091544,-0.00538328835687,0.0598366825513,0.999999938575,0.000220222210908,-0.000272356544828,1.32016789176e-05,1793192188170460928
+59,0.983333333,BASELINE,763.745654404,742,711.745654404,670.254345596,661,633,876,783,798.745654404,649,628,651,0.400949093297,-0.00538264503743,0.0598371188054,0.999999938636,0.000221161202984,-0.000271382829711,1.29066569228e-05,1793192188187127808
+60,1.000000000,BASELINE,763.168090955,742,711.168090955,670.831909045,661,633,876,783,798.168090955,649,628,651,0.400949193818,-0.00538304144133,0.0598363010798,0.999999938969,0.000219324522111,-0.000271666856825,1.2463775794e-05,1793192188203794176
+61,1.016666667,BASELINE,763.420818085,742,711,671,661,633,876,783,798.420818085,649,628,650.579181915,0.400947943838,-0.00538347846178,0.0598359134656,0.999999939065,0.000217335294127,-0.000272910355833,1.24875498604e-05,1793192188220460800
+62,1.033333333,BASELINE,763.986040752,742.013959248,711.013959248,671,661,633,875.986040752,783,799,649,628,650,0.400946204964,-0.0053839179443,0.0598357173399,0.999999939054,0.000215369105971,-0.000274492189201,1.26984294756e-05,1793192188237127680
+63,1.050000000,BASELINE,763.410022999,742.589977001,711.589977001,671,661,633,875.410022999,783,799,649,628,650,0.400947103133,-0.00538378522135,0.059836122167,0.999999938913,0.000216852001656,-0.00027383796407,1.27297611444e-05,1793192188253794048
+64,1.066666667,BASELINE,763.165433945,742.834566055,711.834566055,671,661.165433945,632.834566055,875.165433945,783,799,649,628.165433945,650.165433945,0.400947577901,-0.0053835861988,0.0598362487321,0.999999938668,0.000218325891082,-0.00027355755688,1.27817558317e-05,1793192188270460928
+65,1.083333333,BASELINE,763.739505605,742.260494395,711.260494395,671,661.739505605,632.260494395,875.739505605,783,799,649,628.739505605,650.739505605,0.400947006827,-0.0053832234099,0.0598356879634,0.999999938173,0.000219777534094,-0.000274200515901,1.28847901551e-05,1793192188287127808
+66,1.100000000,BASELINE,764,742,711,671,661.677913878,632.322086122,876,783,799,649,628.677913878,651,0.400947219247,-0.00538373257599,0.0598355780742,0.999999938432,0.00021877751524,-0.000274060022836,1.28098457323e-05,1793192188303794432
+67,1.116666667,BASELINE,764,742,711,671,661.088264927,632.911735073,876,783,799,649,628.088264927,651,0.400948082532,-0.00538496609104,0.0598358427388,0.999999939311,0.000215740855981,-0.000273268701768,1.25870511062e-05,1793192188320460800
+68,1.133333333,BASELINE,764,742,711,671,661,633,876,783,799,649,628,650.50637119,0.400947999977,-0.00538500680962,0.0598356372276,0.999999939338,0.00021567709548,-0.000273217237226,1.26062945618e-05,1793192188337127680
+69,1.150000000,BASELINE,763.926612279,742,711,671,661,633,876,783.073387721,799,649,628,650.073387721,0.400947777317,-0.00538490789012,0.059835459349,0.999999939238,0.000216109145641,-0.00027323812123,1.26909681758e-05,1793192188353794048
+70,1.166666667,BASELINE,763.352108585,742,711,671,661,633,876,783.647891415,799,649,628,650.647891415,0.400947734947,-0.00538528930909,0.0598360353424,0.999999939285,0.000216353101934,-0.000272863660343,1.29314722584e-05,1793192188370460672
+71,1.183333333,BASELINE,763.222922133,742,711.222922133,671.222922133,661.222922133,633,876,784,799,649,628,650.777077867,0.400947975428,-0.00538528229669,0.059836463401,0.999999939361,0.000216678531579,-0.000272323345056,1.29637404634e-05,1793192188387127296
+72,1.200000000,BASELINE,763.798787352,742,711.798787352,671.798787352,661.798787352,633,876,784,799,649,628,650.201212648,0.400948663737,-0.00538466029755,0.0598366572407,0.999999939485,0.000217132954539,-0.000271520439531,1.26663177385e-05,1793192188403793920
+73,1.216666667,BASELINE,764,742,711.615970008,671.615970008,661.615970008,633,876,784,799,649,628,650,0.400948277751,-0.00538465988123,0.0598364565971,0.999999939275,0.000217032144517,-0.000272372980633,1.26221144366e-05,1793192188420460800
+74,1.233333333,BASELINE,764,742,711.025691122,671.025691122,661.025691122,633,876,784,799,649,628,650,0.400947314799,-0.00538499329504,0.0598360440906,0.999999938885,0.000216633138518,-0.000274114603474,1.27139063269e-05,1793192188437127936
+75,1.250000000,BASELINE,764,742,711.55378357,671,661,633,876.55378357,784,799,649.55378357,628,650,0.400948391182,-0.00538587316722,0.0598368652132,0.999999939817,0.000214679290874,-0.000272231143775,1.30326936247e-05,1793192188453794560
+76,1.266666667,BASELINE,764,742,712,670.86796433,661,633,876.86796433,783.86796433,799.13203567,650,628,650.13203567,0.400949472263,-0.00538609609782,0.0598375661013,0.999999940403,0.000213926127796,-0.000270657475209,1.32096785981e-05,1793192188470461184
+77,1.283333333,BASELINE,764,742,712,670.292168936,661,633,876.292168936,783.292168936,799.707831064,650,628,650.707831064,0.400950257245,-0.0053840275354,0.0598376742266,0.999999939642,0.000217446145479,-0.000270679389908,1.28753633561e-05,1793192188487127808
+78,1.300000000,BASELINE,764,742,712,670.282098013,661,633,876,783,800,649.717901987,628.282098013,650.717901987,0.400949575429,-0.00538349312696,0.0598370823179,0.999999939009,0.00021901299375,-0.000271752595955,1.28429659668e-05,1793192188503794432
+79,1.316666667,BASELINE,764,742,712,670.854790446,661,633,876,783,800,649.145209554,628.854790446,650.145209554,0.400947382637,-0.00538453907924,0.0598357692912,0.999999938515,0.000218567845593,-0.000273908756812,1.31215798049e-05,1793192188520461056
+80,1.333333333,BASELINE,764,742,711.554910994,671,661,633,876,783,799.554910994,649,628.554910994,650,0.400947300287,-0.00538528553877,0.0598356558104,0.999999938815,0.000217177986751,-0.000273917581424,1.31276405704e-05,1793192188537127680
+81,1.350000000,BASELINE,764,742,711.039804168,671,661,633,876,783.039804168,799,649,628.039804168,650,0.400947827908,-0.00538579648899,0.059835922649,0.999999939313,0.000215686538557,-0.000273283463511,1.30162971289e-05,1793192188553794304
+82,1.366666667,BASELINE,764,742,711.613540087,671,661,633,876,783.613540087,799,649,628.613540087,650,0.400946921376,-0.00538451297069,0.0598358253207,0.999999938861,0.000217136973039,-0.000273809326452,1.25719923721e-05,1793192188570461184
+83,1.383333333,BASELINE,763.81141947,742,711.81141947,671,661,633,876.18858053,783.81141947,799,649.18858053,628.81141947,650,0.40094639965,-0.00538395205339,0.059835652241,0.99999993867,0.000217514387183,-0.000274221217704,1.2238528064e-05,1793192188587128064
+84,1.400000000,BASELINE,763.233686928,742,711.233686928,671,661,633,876.766313072,783.233686928,799,649.766313072,628.233686928,650,0.400946672006,-0.00538488228471,0.0598353228422,0.999999939021,0.00021567753257,-0.000274397918753,1.21337923974e-05,1793192188603794688
+85,1.416666667,BASELINE,763.350583748,742,711,671,661,633,876.649416252,783.350583748,799.350583748,649.649416252,628.350583748,650.350583748,0.400947328897,-0.00538543226882,0.0598353873164,0.999999939195,0.000215807013792,-0.000273650006122,1.23841096214e-05,1793192188620461312
+86,1.433333333,BASELINE,763.9392953,742,711,671,661,633,876.0607047,783.9392953,799.9392953,649.0607047,628.9392953,650.9392953,0.400948246977,-0.00538572397668,0.0598357193221,0.999999939247,0.000217272093925,-0.000272274066008,1.28755902415e-05,1793192188637127680
+87,1.450000000,BASELINE,764,742,711.519599609,671,661,632.480400391,876,783.480400391,799.480400391,649,628.480400391,651,0.400947630599,-0.00538543853408,0.0598358948381,0.999999939346,0.000216920781368,-0.000272186176565,1.29968453964e-05,1793192188653794304
+88,1.466666667,BASELINE,764,742,712,671,661.098220718,632.098220718,876.098220718,783.098220718,799,649,628,651,0.400946891624,-0.00538513856457,0.059835939566,0.999999939351,0.000216548647874,-0.000272459938348,1.30341981768e-05,1793192188670460928
+89,1.483333333,BASELINE,764,742,712,671,661.673362176,632.673362176,876.673362176,783.673362176,799,649,628,651,0.400946413976,-0.00538509025025,0.0598354365987,0.999999938878,0.000217089410713,-0.000273770685106,1.2870831396e-05,1793192188687127296
+90,1.500000000,BASELINE,763.751890837,742,712,671,661.751890837,633,876.503781673,783.751890837,798.751890837,649,628,650.751890837,0.400946822332,-0.00538483026775,0.0598352567654,0.999999938922,0.000216674630588,-0.000273953098755,1.25928260918e-05,1793192188703794176
+91,1.516666667,BASELINE,763.177662395,742,712,671,661.177662395,633,875.355324789,783.177662395,798.177662395,649,628,650.177662395,0.400948395268,-0.00538429206467,0.0598355016656,0.999999939643,0.000215003867055,-0.000272652410368,1.21641378025e-05,1793192188720461312
+92,1.533333333,BASELINE,763.407647116,742,711.592352884,671,661,632.592352884,875.815294233,783.407647116,798.407647116,649,628,650,0.400947997649,-0.0053844302969,0.0598357224924,0.99999993961,0.000214993838933,-0.00027277143753,1.2369930573e-05,1793192188737127936
+93,1.550000000,BASELINE,763.99792102,742,711.00207898,671,661,632.00207898,876.99584204,783.99792102,798.99792102,649,628,650,0.400946717216,-0.00538487157356,0.0598359325343,0.99999993924,0.000215727823713,-0.000273526500208,1.28599721896e-05,1793192188753794816
+94,1.566666667,BASELINE,764,742,711,671,661,632,876.421143421,784,799,649,628.578856579,650,0.400948071477,-0.00538370704126,0.0598363415115,0.999999938885,0.000218506561486,-0.000272620649591,1.27801565199e-05,1793192188770461184
+95,1.583333333,BASELINE,764,742,711.157750429,671,661,632.157750429,876,783.842249571,799,649,628.842249571,650,0.400948985422,-0.00538302685187,0.0598366623305,0.999999938733,0.000219991601055,-0.000271981078509,1.27815897944e-05,1793192188787127808
+96,1.600000000,BASELINE,764,742,711.731349234,671,661,632.731349234,876,783.268650766,799,649,628.268650766,650,0.400948714091,-0.00538363840806,0.0598367489008,0.999999939135,0.000218047251418,-0.00027205892623,1.30025142384e-05,1793192188803794432
+97,1.616666667,BASELINE,764,742,711.688403408,671.311596592,661.311596592,633,876,783,799,649,628,650,0.400947641787,-0.00538469802424,0.0598365119917,0.999999939235,0.000216548498991,-0.000272881151624,1.31365813109e-05,1793192188820461056
+98,1.633333333,BASELINE,764,742,711.102298897,671.897701103,661.897701103,633,876,783,799,649,628,650,0.400945863849,-0.00538615236874,0.0598359901063,0.999999939069,0.000215442305412,-0.000274359153013,1.31941294447e-05,1793192188837127424
+99,1.650000000,BASELINE,764,742,711,671.518362168,661.036724337,633,876,783,799,649,628,650,0.400946372585,-0.00538575391015,0.0598358314246,0.999999939039,0.000215810262592,-0.000274182732894,1.31377701356e-05,1793192188853794560
+100,1.666666667,BASELINE,764,742,711.064153051,670.935846949,660.128306102,632.935846949,876,783,799,649,628,650,0.400947345146,-0.00538497835527,0.059835851824,0.999999939061,0.000216489076805,-0.000273570915418,1.30462649052e-05,1793192188870461696
+101,1.683333333,BASELINE,764,742,711.639001158,670.360998842,661.278002315,632.360998842,876,783,799,649,628,650,0.400948161007,-0.0053843195981,0.0598366864541,0.99999993927,0.000217161151165,-0.000272277863211,1.28667108259e-05,1793192188887128320
+102,1.700000000,BASELINE,764,742,711.787097036,670.212902964,662,632.212902964,875.787097036,783,799,649.212902964,628,650,0.400948163853,-0.00538393076142,0.0598367740147,0.999999939264,0.00021756355841,-0.000271987439679,1.26728839882e-05,1793192188903794944
+103,1.716666667,BASELINE,764,742,711.214792736,670.785207264,662,632.785207264,875.214792736,783,799,649.785207264,628,650,0.400946794249,-0.00538399757737,0.0598356004476,0.999999938896,0.000217510740732,-0.000273389552999,1.24549633363e-05,1793192188920461312
+104,1.733333333,BASELINE,763.628617501,742,711.371382499,671,661.628617501,633,875.371382499,783,799,650,628,650.371382499,0.400947684474,-0.00538384875759,0.0598360831751,0.999999939084,0.000217865547286,-0.00027241822809,1.24584066706e-05,1793192188937127680
+105,1.750000000,BASELINE,763.034108559,742,711.965891441,671,661.034108559,633,875.965891441,783,799,650,628,650.965891441,0.400949932404,-0.00538357038397,0.0598375610035,0.999999939601,0.000218465254292,-0.000270020942668,1.25948453697e-05,1793192188953794304
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783,799,649,628,650,0.40094862925,-0.00538517362241,0.0598357866803,0.999999938981,0.00021737195045,-0.000273177238599,1.26928158028e-05,1793192188983561472
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711.426142788,671,661,633,876,783,799,649,628,650,0.400950345781,-0.00538427099838,0.0598374234709,0.999999939386,0.000218489598178,-0.00027078236037,1.2916331358e-05,1793192189000228608
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.147793316,671,661,633,876,783.147793316,799.147793316,649,628,650.147793316,0.400950908501,-0.00538345702485,0.0598382508394,0.999999939551,0.000219122499742,-0.000269654893144,1.30013579629e-05,1793192189016895488
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.72195715,671,661,633,876,783.72195715,799.72195715,649,628,650.72195715,0.400948142582,-0.00538289879983,0.0598367430978,0.999999939038,0.000218356952178,-0.000272183792913,1.2686856367e-05,1793192189033562112
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.693962877,671,661,632.693962877,876,783.693962877,799.693962877,649,628.306037123,650.693962877,0.400947376201,-0.00538388243709,0.0598362586338,0.99999993913,0.000216993021103,-0.000272928034968,1.28028446027e-05,1793192189050228736
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.100572179,671,661,632.100572179,876,783.100572179,799.100572179,649,628.899427821,650.100572179,0.400948487285,-0.00538631380605,0.0598367349766,0.999999939793,0.000215067237842,-0.000271996572403,1.33230413108e-05,1793192189066895104
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,632.480653543,876,783,799,649,628.519346457,650,0.400947983962,-0.00538630757466,0.0598367200322,0.999999939572,0.00021571209599,-0.000272305493811,1.32024354226e-05,1793192189083561472
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.941119424,742,711,671,661,633,876.058880576,783,799,649,628.058880576,650,0.400947665432,-0.00538579119674,0.0598368051027,0.999999939283,0.000216775551697,-0.000272532191819,1.29792057614e-05,1793192189100228096
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.367405125,742,711,671,661,633,876.632594875,783,799,649,628.632594875,650,0.400951843383,-0.00538516384335,0.0598386413125,0.999999939987,0.000216912111744,-0.000269826645272,1.3002096457e-05,1793192189116894720
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.211085157,742,711.211085157,671,661,633,877,783.211085157,799,649,629,650.211085157,0.400959314561,-0.00538507602105,0.0598417655403,0.999999941537,0.000216463994911,-0.000264382089072,1.31246788408e-05,1793192189133561600
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.798080673,742,711.798080673,671,661,633,877,783.798080673,799,649,629,650.798080673,0.400972650474,-0.00538594902112,0.0598471835306,0.99999994453,0.000214974658005,-0.000254059776123,1.34247968616e-05,1793192189150228224
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.381703144,712,671,661,633,876.236593713,783.618296856,799,649,628.618296856,651,0.401005070062,-0.0053870326493,0.0598611361567,0.999999950669,0.000213995997079,-0.000229484412321,1.43140391833e-05,1793192189166894848
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.963556971,712,671,661,633,875.072886058,783.036443029,799,649,628.036443029,651,0.401047496407,-0.00538822672296,0.0598795640234,0.999999957644,0.000213285115001,-0.000197435286893,1.55121960103e-05,1793192189183561728
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.459020878,712,671,661,633,875.540979122,783,799,649,628,650.459020878,0.401110099701,-0.00539034769665,0.0599000951416,0.999999964082,0.000213135034296,-0.000161618208984,1.69724554845e-05,1793192189200228352
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.882840944,742,712,671,661,633,876,783,799.117159056,649,628.117159056,650,0.401175016606,-0.00539265550023,0.0599183866026,0.999999968608,0.000212575357448,-0.000131397038309,1.82060583209e-05,1793192189216894976
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.310337914,742,712,671,661,633,876,783,799.689662086,649,628.689662086,650,0.401243685744,-0.00539544872096,0.0599274273483,0.999999970045,0.000210278133257,-0.000123903102383,1.84906850612e-05,1793192189233561856
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742,711.728528571,671,660.728528571,633,876,783,800,649,628.728528571,650,0.401321406309,-0.00539776979435,0.0599337533058,0.999999971183,0.000209359056621,-0.000116041619897,1.83451141468e-05,1793192189250228480
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742,711.135702919,671,660.135702919,633,876,783,800,649,628.135702919,650,0.401409841492,-0.00539953196327,0.0599368656328,0.999999971974,0.000210071361885,-0.000107745054729,1.76902968686e-05,1793192189266895104
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742,711.443735316,671,660.443735316,633,876,783,799.556264684,649,628,650.443735316,0.401519734989,-0.00540247556274,0.0599394757944,0.999999973003,0.000208148596633,-0.000101985496861,1.63477947637e-05,1793192189283561472
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.019260179,742,712,671,661,633,876.019260179,783,799.019260179,649,628.019260179,651,0.401636796868,-0.00540581724624,0.0599419012662,0.999999974109,0.000205331606323,-9.69599233202e-05,1.47949748557e-05,1793192189300228352
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.596548621,742,712,671,661,633,876.596548621,783,799.596548621,649,628.596548621,651,0.401776985146,-0.00541053112244,0.0599432948538,0.999999975885,0.000199270502159,-9.13792279098e-05,1.30634048639e-05,1793192189316895232
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.82339023,671,661.17660977,633,876.82339023,783.17660977,799.82339023,649,628.82339023,650.82339023,0.401925588746,-0.0054150130313,0.0599447587697,0.999999977472,0.000194189861331,-8.49647164232e-05,1.12433246352e-05,1793192189333561856
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.236894099,671,661.763105901,633,876.236894099,783.763105901,799.236894099,649,628.236894099,650.236894099,0.402093723102,-0.005418956576,0.0599463859076,0.999999978709,0.000191384738449,-7.66150362393e-05,9.21782487553e-06,1793192189350228480
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,671.34601834,661.307963321,633,876,784,799,649,628,650,0.402285172738,-0.00542356620522,0.0599465187671,0.999999979988,0.000186549999514,-7.19568288884e-05,6.74834244377e-06,1793192189366894848
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,671.926502489,660.146995023,633,876,784,799,649,628,650,0.402492421078,-0.00542862718098,0.0599456390873,0.999999981295,0.000180339970277,-6.98000030379e-05,3.97801229664e-06,1793192189383561472
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,671.497459078,660.502540922,633,876,784,799,649,628,650.502540922,0.402737406347,-0.00543577068608,0.0599439828075,0.999999983226,0.000170251096727,-6.75419065604e-05,7.12486537105e-07,1793192189400228096
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711.077863484,671,661,633,876.077863484,783.922136516,799,649.077863484,628,651,0.402992584662,-0.00544339367734,0.0599426642215,0.999999985141,0.000159641224973,-6.5013140811e-05,-2.60564813367e-06,1793192189416894720
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.652730679,671,661,633,876.652730679,783.347269321,799,649.652730679,628,651,0.403277905906,-0.00545215018847,0.0599442197594,0.999999986987,0.000149295064399,-6.08503982129e-05,-5.80136277509e-06,1793192189433561856
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.765101661,671.234898339,661.234898339,633,876.765101661,783,799,650,628.234898339,650.765101661,0.403569497903,-0.00546043691057,0.0599409518029,0.999999988138,0.000139294540956,-6.50443767003e-05,-9.50656376086e-06,1793192189450228736
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711.171794973,671.828205027,661.828205027,633,876.171794973,783,799,650,628.828205027,650.171794973,0.403870657809,-0.00546800682711,0.0599303241492,0.999999988114,0.00012982139194,-8.19890569884e-05,-1.39891398254e-05,1793192189466895360
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,671.588398845,661.588398845,633,876,783,799,650,629,650,0.404204437731,-0.00547639141411,0.0599182544937,0.999999987552,0.000118951764144,-0.00010187950934,-1.91340500683e-05,1793192189483561984
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+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.565150217,711.565150217,671,661,633,876,783,799,650,628.434849783,650,0.404951267471,-0.00549231139037,0.0598963208738,0.999999984199,0.000101821004674,-0.000142711950033,-2.94711184236e-05,1793192189516894976
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+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.270537091,711.270537091,671,661,632.270537091,876,783,799,649.270537091,628,650,0.405824265484,-0.005510051279,0.0599052623578,0.999999986486,8.80629821469e-05,-0.000133754795996,-3.71916958775e-05,1793192189550228224
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.312374835,671,661,632.312374835,876,783,799,649,628.312374835,650.312374835,0.406327397446,-0.00551865386237,0.0599299830673,0.999999994499,3.53548192182e-05,-9.05944288373e-05,-3.92916867619e-05,1793192189566894848
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711.891740597,671,661,632.891740597,876,783,799,649,628.891740597,650.891740597,0.406868772739,-0.00552614712411,0.0599648773316,0.999999997258,-5.58582031419e-05,-2.69798622544e-05,-4.043632869e-05,1793192189583561472
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711.529573075,670.529573075,661,632.529573075,876.470426925,783,799,649,628.529573075,650.529573075,0.407419784167,-0.00552140679249,0.0599838001946,0.999999992095,-0.000118887225641,-1.12056330928e-06,-4.09130860712e-05,1793192189600228864
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711.04847107,670.04847107,661.04847107,632.04847107,876.95152893,783,799.04847107,649,628.04847107,650,0.407973370156,-0.00551573662098,0.0599964934482,0.999999984481,-0.000170824690582,1.14862952727e-05,-4.15426129334e-05,1793192189616896256
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711.621257956,670.621257956,661.621257956,632.621257956,876.378742044,783,799.621257956,649,628.621257956,650,0.408530852792,-0.005530417909,0.0599815013522,0.999999983706,-0.000172842153924,-2.5409581369e-05,-4.54848538399e-05,1793192189633563136
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.199735804,712,671.199735804,661.600528391,633,876,783.199735804,799.600528391,649,628.800264196,650,0.409099550348,-0.00554169241951,0.0599684050973,0.999999988999,-0.000131445428335,-5.70051636969e-05,-3.83953411639e-05,1793192189650229504
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.789321392,712,671.789321392,660.421357215,633,876,783.789321392,798.421357215,649,628.210678608,650,0.409690137456,-0.00554631748797,0.0599590091976,0.999999996876,-5.31170441536e-06,-7.82554844844e-05,-9.77375064563e-06,1793192189666895616
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.627810538,711.627810538,671.627810538,660.372189462,632.627810538,876,783.627810538,798.372189462,649,628,650,0.410339886254,-0.00554116915627,0.0599615191007,0.999999997047,4.00770465914e-05,-6.54050363429e-05,-4.67301312094e-06,1793192189683561984
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.048677541,711.048677541,671.048677541,660.951322459,632.048677541,876,783.048677541,798.951322459,649,628,650,0.411022529917,-0.00553058665126,0.0599706488287,0.999999998533,4.05702446762e-05,-3.35939928623e-05,-1.26502623118e-05,1793192189700228608
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.527502097,711.527502097,671,661.527502097,632,876.527502097,783,799,649,628,650,0.411714382822,-0.00552609223096,0.0599694030991,0.999999999085,1.58908500143e-05,-3.46085089832e-05,-1.94967832027e-05,1793192189716895488
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.896621237,712,671,661.896621237,632.103378763,877.103378763,783,799,649,628.103378763,650,0.412404075447,-0.00552339324521,0.0599608391334,0.99999999834,-6.30384685824e-06,-5.12504592737e-05,-2.5585873196e-05,1793192189733562368
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.32089075,712,671,661.32089075,632.67910925,877.67910925,783,799,649,628.67910925,650,0.413080035907,-0.00552634517761,0.0599231874643,0.999999991688,-6.5910099281e-06,-0.000125532886022,-2.86882580463e-05,1793192189750228992
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.739594546,742,712,671,660.739594546,633,877.739594546,783,799.260405454,649,628.739594546,650,0.413782874699,-0.00553004590522,0.059899863717,0.999999985059,-1.11567511057e-05,-0.000169699301095,-3.09915494402e-05,1793192189766895616
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.151289986,742,712,671,660.151289986,633,877.151289986,783,799.848710014,649,628.151289986,650,0.414519558423,-0.00553468950625,0.0598945814944,0.999999983778,-2.11100213457e-05,-0.000175944043214,-3.22886334943e-05,1793192189783562240
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.431037875,742,712,671,661.293113625,632.568962125,876.568962125,783,800,649,628,650,0.41534756355,-0.00553700522964,0.0599361047983,0.999999994074,-2.62268483545e-05,-0.000100954206763,-3.11875492625e-05,1793192189800228608
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,712,671,663,632.0111874,876.0111874,783,799.9888126,649,628,650,0.416206231006,-0.00553843128882,0.0599929258655,0.999999999139,-2.94087312601e-05,4.11743469887e-07,-2.9281664483e-05,1793192189816894720
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,712,671,663,632.585835576,876.585835576,783,799.414164424,649,628,650,0.417016942469,-0.00553563788276,0.0600041242741,0.999999999305,-1.94644992873e-05,1.38159332444e-05,-2.86561255423e-05,1793192189833561600
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,712,671,662.680688241,632.84034412,877,783,799,649,628,650,0.417831262822,-0.00553355277964,0.0600065518954,0.999999999329,-1.60011873428e-05,1.56627216678e-05,-2.89833209495e-05,1793192189850228224
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661.537320718,632.268660359,877,783,799,649,628,650,0.418654896674,-0.0055332956116,0.0599863445284,0.999999998991,-2.92633467685e-05,-1.23169625194e-05,-3.17692615137e-05,1793192189866894848
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661.634672396,632.317336198,877,783.317336198,799.317336198,649,628,650,0.419468702774,-0.0055344337234,0.0599616497187,0.999999997663,-3.25227279797e-05,-4.91372222646e-05,-3.46798529269e-05,1793192189883561984
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,712,671,662.832044877,632.916022438,877,783.916022438,799.916022438,649,628,650,0.420273795551,-0.00553680888932,0.0599329763465,0.999999994528,-2.69136525477e-05,-9.37955283415e-05,-3.77009595113e-05,1793192189900228864
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,712,671.49531194,662.50468806,633,877,783.50468806,799.50468806,649,628.49531194,650,0.421057880124,-0.00553604080128,0.0599015052238,0.999999986985,-2.81963173039e-05,-0.000154010064253,-3.89448027432e-05,1793192189916895488
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.928814616,742,712,671.928814616,661.928814616,633,877,783,799,649,628.928814616,650,0.421850210359,-0.00553480813376,0.059874349859,0.999999977352,-3.01357026986e-05,-0.000206863379445,-3.99301686493e-05,1793192189933561856
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.354717354,742,712,671.354717354,661.354717354,633,877,783,799,649,628.354717354,650,0.422725009717,-0.00553391641316,0.0598809094285,0.999999980732,-2.87708375605e-05,-0.00018977986218,-4.11380273173e-05,1793192189950228480
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.225711222,742,712,671.225711222,661.225711222,633,877.225711222,783,799,649,628,650,0.423625806971,-0.00553515488947,0.0599104164508,0.99999998918,-2.90164834582e-05,-0.000138405428633,-4.0521419039e-05,1793192189966894848
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.816377048,742,712,671.816377048,661.816377048,633,877.816377048,783,799,649,628,650,0.424568640605,-0.00553983770109,0.059977027427,0.999999998311,-3.18661794147e-05,-3.15856851455e-05,-3.69548128232e-05,1793192189983561472
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.601311503,742,712,672,662,633,878,783,799,649.398688497,628,650,0.425460979144,-0.00554349153613,0.0600060745304,0.999999998647,-3.58360618431e-05,1.36694975773e-05,-3.51399327499e-05,1793192190000228096
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.02276887,742,712,672,662,633,878,783,799,649.97723113,628,650,0.42633053856,-0.0055466811847,0.0600181760248,0.99999999812,-4.03112764886e-05,3.11520119246e-05,-3.41152819487e-05,1793192190016894720
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.549423693,742.549423693,712,672,661.450576307,633,877.450576307,783,799.549423693,649.450576307,628,650,0.427165655562,-0.00554965347508,0.0599969466308,0.999999998151,-4.53989140881e-05,1.43270696353e-05,-3.78369276664e-05,1793192190033561600
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.874914934,742.874914934,711.874914934,672,661.125085066,632.874914934,877,783,799.874914934,649,628,650,0.427995375765,-0.00555160807796,0.0599742494485,0.999999997929,-4.88329319109e-05,-7.7675581167e-06,-4.12003624544e-05,1793192190050228224
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.285408549,742.285408549,711.285408549,672,661.714591451,632.285408549,877,783,799.285408549,649,628,650,0.428810297398,-0.00554981722766,0.0599511724707,0.99999999706,-4.60341634249e-05,-4.42092888407e-05,-4.25118693365e-05,1793192190066894848
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.299470262,742,711.299470262,672,661.700529738,632,877,783,799,649,628.299470262,650,0.429604678026,-0.00554718056581,0.0599267071934,0.999999994143,-4.12674940688e-05,-9.01658367255e-05,-4.33763974128e-05,1793192190083561472
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.88000587,742,711.88000587,672,661.11999413,632,877,783,799,649,628.88000587,650,0.430379780016,-0.0055437500746,0.0599009389405,0.999999987919,-3.46538676818e-05,-0.000145052435601,-4.38214170832e-05,1793192190100228096
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.542210386,742,712,672.457789614,661.457789614,632,877,783,799.457789614,649,629,650,0.431231431897,-0.00554589050314,0.0599219521908,0.999999993031,-4.28485878388e-05,-0.000100843386133,-4.39535285556e-05,1793192190116894720
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.034694791,742,712,672.965305209,662.069389582,632.034694791,877,783,800,649,628.965305209,650,0.432099293169,-0.0055495524811,0.0599552664707,0.999999997073,-5.38661147905e-05,-3.20202938021e-05,-4.38982562691e-05,1793192190133561088
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.609086005,742,712,672.390913995,663.21817201,632.609086005,877,783,800,649,628.390913995,650,0.432909042702,-0.00555430405386,0.0599903245508,0.999999997757,-4.87757151698e-05,1.80530092527e-05,-4.21963464812e-05,1793192190150227712
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.188320506,712,672,663.623358988,632.811679494,877,783,799.811679494,649,628,650,0.433696726076,-0.00555873885106,0.060005847314,0.999999997268,-4.83297524617e-05,3.78255698524e-05,-4.11906582632e-05,1793192190166894336
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.777874158,712,672,662.444251684,632.222125842,877,783,799.222125842,649,628,650,0.434437395737,-0.00556249873141,0.0599797483996,0.999999997438,-5.77791639794e-05,-6.96021579381e-06,-4.16683302029e-05,1793192190183560960
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.637205999,711.637205999,672,662,632.362794001,877,783,799,649,628,650,0.435153202913,-0.00556386856558,0.0599497671942,0.999999995122,-6.63046901289e-05,-5.88442697353e-05,-4.35618970432e-05,1793192190200228096
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.055087526,711.055087526,672,662,632.944912474,877,783,799,649,628,650,0.43585397961,-0.00556379351453,0.0599174389797,0.999999989555,-7.42716874217e-05,-0.000115019527272,-4.63114327288e-05,1793192190216894976
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.519741901,711.519741901,672,662,632.480258099,877.519741901,783,799,649,628,650,0.436543857501,-0.00556591659925,0.0599150964092,0.999999989787,-6.96090146029e-05,-0.000115437001947,-4.74857367595e-05,1793192190233561600
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.906671406,712,672,662,632,877.906671406,783,799,649,628.093328594,650,0.4372214898,-0.00556747348088,0.0599150078297,0.999999990192,-6.41766531095e-05,-0.000114825405812,-4.80966931237e-05,1793192190250227968
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.335546454,712,672,662,632,877.335546454,783,799,649,628.664453546,650,0.437842262781,-0.0055649554316,0.0599104128723,0.999999987386,-6.15621624128e-05,-0.000138782173039,-4.66665137779e-05,1793192190266894592
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.246133253,712,672.246133253,662,632,877.246133253,783.246133253,799.492266506,649,628.753866747,650,0.438477457754,-0.00556195220042,0.0599115974661,0.999999986465,-6.47826039897e-05,-0.000144421697893,-4.49001448647e-05,1793192190283561216
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.842846585,712,672.842846585,662,632,877.842846585,783.842846585,800.685693169,649,628.157153415,650,0.439133194647,-0.00555825790026,0.0599210141684,0.999999988494,-7.63140358553e-05,-0.000123971043169,-4.26549242307e-05,1793192190300227840
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.422604893,742.577395107,712,672.577395107,662.422604893,632.422604893,877.577395107,783.577395107,800.154790214,649,628.422604893,650,0.439759451851,-0.0055622545053,0.0599461659867,0.999999992464,-7.77927711551e-05,-8.52806113033e-05,-4.17941570392e-05,1793192190316895232
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.996301413,742.003698587,712,672.003698587,662.996301413,632.996301413,877.003698587,783.003698587,799.007397174,649,628.996301413,650,0.440375169397,-0.00556900079751,0.0599769434962,0.999999995476,-7.56774213877e-05,-4.00690094055e-05,-4.14283656982e-05,1793192190333562880
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.425619443,742.574380557,712,672.574380557,662.425619443,632.425619443,877.574380557,783,799,649,628.425619443,650,0.440890026022,-0.00557658895756,0.0599613796619,0.999999993346,-8.21336454175e-05,-6.79826817534e-05,-4.40597890905e-05,1793192190350229504
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.844948233,712,673,661.844948233,632,877.844948233,783,799,649,628.155051767,650,0.44137973534,-0.00558203374004,0.0599352847865,0.999999988875,-8.76219659749e-05,-0.000111038111629,-4.73680891283e-05,1793192190366895872
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.257121384,712,673,661.257121384,632,877.257121384,783,799,649,628.742878616,650,0.441801081201,-0.00558148075629,0.0598806353318,0.99999997553,-9.0253467595e-05,-0.000195032304075,-5.25113808743e-05,1793192190383562240
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.326447637,712,673,660.673552363,632,877,783,799.326447637,649,628.673552363,650,0.442226402135,-0.00557948043513,0.0598366251348,0.999999959398,-9.90417292246e-05,-0.00026114656372,-5.65451598858e-05,1793192190400228352
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.906706189,712,673,660.093293811,632,877,783,799.906706189,649,628.093293811,650,0.442654813634,-0.00557635481859,0.0598008868949,0.999999942779,-0.000112616831707,-0.000313359287125,-5.97162997379e-05,1793192190416894976
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.513976278,742.513976278,712,673,660,632,877.486023722,783,799.513976278,649,628.486023722,650,0.443057607695,-0.00557779552782,0.0597962119571,0.999999941169,-0.000116328552529,-0.000317179375226,-5.93912932727e-05,1793192190433561600
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.064267265,742.064267265,712,673.064267265,660,631.935732735,877.935732735,783,799,649.064267265,629,650.064267265,0.44345469184,-0.00557975255102,0.0597982094654,0.999999943827,-0.000111990072593,-0.000310755946113,-5.68812166786e-05,1793192190450228224
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.635461448,742.635461448,712,673.635461448,660,631.364538552,877.364538552,783,799,649.635461448,629,650.635461448,0.443845449453,-0.00557888169705,0.0598058961868,0.999999953352,-5.90584322226e-05,-0.000296662849257,-4.24189990985e-05,1793192190466895360
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.78622817,712,673.78622817,659.78622817,631.21377183,877.21377183,783,799.21377183,649.78622817,629,650.78622817,0.444207654945,-0.00557459648788,0.0598104794238,0.999999957037,-2.24800918577e-05,-0.000290251622726,-3.42867116656e-05,1793192190483561984
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+255,4.250000000,HOLD_POSE2,763.377929215,742.377929215,711,672.377929215,659,631,877,783,800,649,628,650,0.447010801264,-0.00558288892163,0.0597182384292,0.99999989071,-0.000102687384914,-0.000453841114057,-4.54296119053e-05,1793192191493218560
+256,4.266666667,HOLD_POSE2,763.965591371,742.965591371,711,672.965591371,659,631,877,783,800,649,628,650,0.447011112739,-0.0055840753008,0.0597184093366,0.999999890346,-0.000106032624089,-0.000453901850932,-4.51359226523e-05,1793192191509886208
+257,4.283333333,HOLD_POSE2,763.456015153,743,711.543984847,673,659,631,877.543984847,783,800,649,628,650,0.447011271891,-0.00558399759058,0.0597191013654,0.999999890818,-0.000105456233127,-0.000453010434731,-4.49867640107e-05,1793192191526552576
+258,4.300000000,HOLD_POSE2,763.121400988,743,711.878599012,673,659,631,878,782.878599012,800,649.121400988,628,650,0.447011390373,-0.00558349174588,0.05971950735,0.999999891198,-0.000104408023358,-0.000452420138986,-4.49330502735e-05,1793192191543218688
+259,4.316666667,HOLD_POSE2,763.697316413,743,711.302683587,673,659,631,878,782.302683587,800,649.697316413,628,650,0.447011392055,-0.00558167734206,0.0597187210702,0.999999891039,-0.000102506501559,-0.000453178915982,-4.52030203142e-05,1793192191559885056
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631,878,783,800,649,628,650,0.447008864029,-0.00557837920357,0.059715901876,0.999999889135,-0.000100098354145,-0.000457826426081,-4.58747528353e-05,1793192191597742592
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.405732756,742.405732756,711.405732756,672.405732756,659,631,877.405732756,782.405732756,799.405732756,649,628,650,0.447008541926,-0.00558008244551,0.0597160646779,0.999999889155,-9.9181446005e-05,-0.000458003640015,-4.56601194668e-05,1793192191614409472
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.183015163,742.183015163,711,672,659,631,877,782,799,649,628,650,0.447008725451,-0.00558106651515,0.0597163552612,0.999999889348,-9.91301019334e-05,-0.000457603151769,-4.55788846807e-05,1793192191631076352
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.759885413,742.759885413,711,672,659,631,877,782,799,649,628,650,0.447009997102,-0.00558050290096,0.0597169208349,0.999999889908,-0.000100941482089,-0.000455959428093,-4.57847283074e-05,1793192191647742976
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.664438104,711,672,659,631,877.335561896,782,798.664438104,649.335561896,628.335561896,650,0.447010240114,-0.00558127327707,0.0597169028272,0.999999889909,-0.000102362418821,-0.00045565241763,-4.56627239877e-05,1793192191664410112
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.089612837,711,672,659,631,877.910387163,782,798.089612837,649.910387163,628.910387163,650,0.447009749681,-0.00558299481908,0.0597164687125,0.999999889513,-0.000103504960279,-0.000456298514611,-4.53069565096e-05,1793192191681077504
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.484984025,711.484984025,672.484984025,659,631,878,782.484984025,798.484984025,650,628.515015975,650,0.447011581554,-0.00558199038407,0.0597177892715,0.999999890665,-0.000101690421005,-0.000454205061098,-4.50207766537e-05,1793192191697743360
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.938415027,743,712,673,659,631,878,782.938415027,799,650,628,650,0.447012910698,-0.00558044641936,0.0597188492527,0.999999891668,-9.95327115378e-05,-0.000452486532852,-4.48602481368e-05,1793192191714409472
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.344113617,743,712,673,659,631,878,782.344113617,799,650,628,650,0.447006181152,-0.00557859040311,0.0597148519963,0.999999888984,-9.91306848257e-05,-0.000458387768334,-4.56754457531e-05,1793192191731076096
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.2428656,743,712,673.2428656,659,631,877.7571344,782,799.2428656,649.7571344,628,650,0.446993180186,-0.00557770977707,0.0597085350259,0.999999884379,-9.92788614747e-05,-0.00046823746788,-4.62581230472e-05,1793192191747742720
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.819773669,743,712,673.819773669,659,631,877.180226331,782,799.819773669,649.180226331,628,650,0.446971553377,-0.00557817072344,0.0596990274723,0.999999877005,-0.000100183799451,-0.000483517967628,-4.65209869126e-05,1793192191764409600
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.605163269,659,631,877,782.394836731,799.605163269,649,628,650,0.446928368985,-0.0055775586352,0.0596804180421,0.999999862358,-0.000100869375099,-0.000512695650104,-4.74575100102e-05,1793192191781075968
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.030938408,659,631,877,782.969061592,799.030938408,649,628,650,0.446875390228,-0.00557645902986,0.0596576733104,0.999999843413,-0.000101455286751,-0.000548187309354,-4.87001000236e-05,1793192191797742592
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.442164002,743,711.442164002,673,659,631,877,782.442164002,799.557835998,649,628.557835998,650,0.446806924356,-0.00557292030569,0.0596381510557,0.999999832079,-9.91353035681e-05,-0.000568748090758,-5.03980548553e-05,1793192191814409472
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,743,711,672.856283719,659,631,877.143716281,782,799.856283719,649,629,650,0.446734146725,-0.00556949489492,0.0596224070987,0.999999822524,-9.61348480967e-05,-0.00058570583413,-5.15571090264e-05,1793192191831076096
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,743,711,672.281567457,659,631,877.718432543,782,799.281567457,649,629,650,0.446651083178,-0.005566825862,0.0596174437777,0.999999817843,-9.15899526431e-05,-0.00059440811571,-5.10222520665e-05,1793192191847742720
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.295405483,743,711.295405483,672,659,631,878,782,799.295405483,649,628.704594517,650,0.446556973108,-0.00556349780073,0.0596163161542,0.999999816713,-8.84766133549e-05,-0.000596840794982,-5.02604801357e-05,1793192191864409344
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.874545912,743,711.874545912,672,659,631,878,782,799.874545912,649,628.125454088,650,0.446452252933,-0.0055595367474,0.0596188726922,0.99999981905,-8.67382742493e-05,-0.000593251563635,-4.92807579625e-05,1793192191881075968
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.548217863,712,672.451782137,659,631,878,782,800,649,628.451782137,650.451782137,0.446325245759,-0.00555620994885,0.0596208960475,0.999999820473,-8.25718008681e-05,-0.000591576806552,-4.76807949617e-05,1793192191897742592
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.377717357,742.622282643,711.377717357,673,659,631,878,782,799.377717357,649,628.377717357,650.377717357,0.446024377263,-0.00554466916668,0.0596222636517,0.999999820353,-7.12593669717e-05,-0.000593478398552,-4.47242512926e-05,1793192191931076096
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.208875145,743,711,673,659,631.208875145,877.791124855,782,799,649,628,650,0.445843067224,-0.00553744448314,0.0596210364219,0.999999819034,-6.55627676912e-05,-0.00059644013995,-4.35045848437e-05,1793192191947742720
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.78424817,743,711,673,659,631.78424817,877.21575183,782,799,649,628,650,0.4456350218,-0.00553183070864,0.0596183508158,0.999999817481,-6.10959523233e-05,-0.00059959866725,-4.22726554475e-05,1793192191964409344
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+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,742,711.523047802,672.523047802,659,631,877,782.476952198,799.523047802,649,628.476952198,649.523047802,0.444877014809,-0.00550782215548,0.0596222026748,0.999999823581,-3.83929128701e-05,-0.000591713690004,-3.52001752364e-05,1793192192014409472
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.691327454,742,711.308672546,673.691327454,659.691327454,631,877,782.691327454,799.308672546,649,628,650,0.444292339719,-0.00549076675167,0.0596473771227,0.999999851577,-1.82327589097e-05,-0.00054379236009,-2.83393192715e-05,1793192192047742976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.268890879,711,673.731109121,660,631,877,782.731109121,799,649,628,650,0.443961573874,-0.00548199123019,0.059665194533,0.999999867591,-6.93383813368e-06,-0.000513988000321,-2.42276538133e-05,1793192192064409600
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.844340095,711,673.155659905,660,631,877,782.155659905,799,649,628,650,0.443603916458,-0.0054729778915,0.0596845282001,0.999999882775,7.15222040528e-06,-0.000483754328519,-1.95154757084e-05,1793192192081075968
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,660,631.428204908,877.428204908,782.428204908,799.428204908,649,628.428204908,650,0.443197054267,-0.00546351707594,0.0596938911666,0.99999988955,1.97882208199e-05,-0.000469345745867,-1.49188374428e-05,1793192192097742848
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.985014112,742.985014112,711.014985888,673,660,632,877.985014112,783,800,649,629,650,0.442770287535,-0.00545391355063,0.059699324461,0.999999893004,3.18089074843e-05,-0.000461381418095,-1.03736967419e-05,1793192192114409728
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.405925921,742.405925921,711.594074079,673,660,632,877.405925921,783,800,649,629,650,0.442281065464,-0.00544518395169,0.0596960063908,0.999999886281,4.09076180309e-05,-0.000475107867768,-6.15433971728e-06,1793192192131076352
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742,711.827560302,673,660,632,877.172439698,783,800,649,629,650,0.44178336065,-0.00544042757827,0.0596959659638,0.999999882974,4.49571474513e-05,-0.000481689928229,-2.36716142059e-06,1793192192147742976
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742,711.250888614,673,660,632,877.749111386,783,800,649,629,650,0.441265770715,-0.00544498521488,0.0597036089664,0.999999888142,3.71704188751e-05,-0.000471524157415,4.06905786709e-07,1793192192164409344
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,711,672.927268175,661.14546365,632,877,783,799.927268175,649,629,650,0.439052956447,-0.00542516159068,0.0598331406909,0.99999996063,7.40051936085e-05,-0.000270153358536,1.67326930655e-05,1793192192231076608
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711.487701071,672,662.487701071,632,876.512298929,783,799,649,628.512298929,650.487701071,0.424351779306,-0.00541013184439,0.0598151977165,0.999999939735,0.000166212468903,-0.000303819618361,2.44377254275e-05,1793192192531076096
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.427115045,660.572884955,633,876.572884955,783,799.572884955,649,628.572884955,650,0.418030612613,-0.00540170963311,0.0597363187957,0.999999900442,0.0001703280569,-0.000412014918834,1.86350685711e-05,1793192192647742464
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.631685993,632.631685993,875.368314007,783,799,649.368314007,628,650,0.400944314178,-0.00539144754736,0.0598302882048,0.999999939064,0.000204629509481,-0.000282603813821,1.15373746532e-05,1793192193647742720
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.077880783,632.077880783,875.922119217,783,799,649.922119217,628,650,0.400944943136,-0.00539078248853,0.0598298594115,0.99999993905,0.00020533455668,-0.000282148264102,1.14172979162e-05,1793192193664409600
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742.531254352,711,671,660.531254352,632.531254352,876,783.531254352,799,649.468745648,628.531254352,650,0.400946135587,-0.00538965873074,0.0598307516642,0.999999939152,0.000206904173341,-0.000280641207763,1.12823742258e-05,1793192193681075968
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742.86056617,711.13943383,671,661,632.86056617,876.13943383,783.86056617,799,649,628.86056617,650,0.40094706483,-0.00538875432831,0.0598317155871,0.999999939264,0.000208192831147,-0.000279286671056,1.12216677282e-05,1793192193697742592
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742.283783921,711.716216079,671,661,632.283783921,876.716216079,783.283783921,799,649,628.283783921,650,0.400946879269,-0.00538877339617,0.059832226248,0.999999939364,0.000208156468958,-0.000278950242147,1.14013716492e-05,1793192193714409216
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.707544505,742,712,671,661,632.292455495,876.707544505,783.292455495,799,649,628.292455495,650.292455495,0.400946565451,-0.00538912397638,0.0598325523124,0.999999939437,0.00020788768628,-0.000278883914057,1.15418904898e-05,1793192193731075584
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.131830783,742,712,671,661,632.868169217,876.131830783,783.868169217,799,649,628.868169217,650.868169217,0.400946127407,-0.00538979564341,0.0598326995856,0.999999939484,0.000207393792372,-0.000279079192501,1.16444565808e-05,1793192193747742464
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,661,632.546272022,876,783.546272022,798.546272022,649,628.546272022,651,0.40094428346,-0.00538998862414,0.0598318279391,0.999999938879,0.000208025529421,-0.000280767446847,1.17413215276e-05,1793192193764409088
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.041506483,742,712,671,661,632.041506483,876,783,798,649,628,650.958493517,0.400942391628,-0.00539001697796,0.0598308536877,0.999999938228,0.000208816238501,-0.000282489269288,1.18003406247e-05,1793192193781075712
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.620172304,742,712,671,661,632.620172304,876,783,798,649,628,650.379827696,0.400945283783,-0.00538975466749,0.0598324678619,0.999999939546,0.000207337848039,-0.000278907149994,1.13914876233e-05,1793192193797742336
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,661,632.802117298,876,783.197882702,798,649,628.197882702,650.197882702,0.400947270962,-0.00538983466637,0.0598336587644,0.999999940515,0.000206117213099,-0.000276332666236,1.12599780723e-05,1793192193814408960
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,661,632.226232016,876,783.773767984,798,649,628.773767984,650.773767984,0.400947529423,-0.00539056855676,0.0598340411179,0.999999940839,0.000205388952018,-0.000275683003961,1.16582598742e-05,1793192193831075584
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,661,632.348254936,876,783.651745064,798.348254936,649.348254936,628.651745064,650.651745064,0.400946828324,-0.00539099538254,0.0598334786229,0.999999940764,0.000204523089131,-0.000276596150632,1.1731135779e-05,1793192193847742464
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,661,632.92183712,876,783.07816288,798.92183712,649.92183712,628.07816288,650.07816288,0.400945506371,-0.00539122353194,0.0598323047936,0.999999940426,0.000203568195413,-0.000278520463009,1.15934681619e-05,1793192193864409344
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_01/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fc5fff3ddf092a07c2a5f8c8edbb43ade4793391
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,398 @@
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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
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+12,0.200000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
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+17,0.283333333,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_0030_20/position_01/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6213e36d0f8def3e3b057c05033b1d62aee024b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e14d71bf06b6984021a72813f2a3b73820481d98d023aafbc17e080c4e22d9c6
+size 25480278
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..243c749a7ed1b55c022ce23f24462a28f6c12e4a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_05/franka_data.csv
@@ -0,0 +1,402 @@
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+56,0.933333333,BASELINE,764,742.497839264,711.497839264,671,661,632.497839264,876,783.497839264,799,649,628,650,0.400948739257,-0.00538978733105,0.0598362491937,0.999999941219,0.00020820291712,-0.000272148288335,1.22283439064e-05,1793192194943112192
+57,0.950000000,BASELINE,764,742.925550522,712,671,661,633,875.925550522,784,799,649,628,650,0.400947646712,-0.00539116501391,0.0598350024564,0.999999941501,0.000205114916597,-0.000273452484773,1.22049968339e-05,1793192194959778560
+58,0.966666667,BASELINE,764,742.350438879,712,671,661,633,875.350438879,784,799,649,628,650,0.400947692249,-0.00539019148846,0.0598349652423,0.999999941024,0.00020759436356,-0.000273333714849,1.20737225497e-05,1793192194976444928
+59,0.983333333,BASELINE,764,742,711.769822339,671,661,633,875,783.769822339,799,649,628,650,0.40094787106,-0.00538954586807,0.0598352792851,0.999999940871,0.000208733128715,-0.000273030996433,1.19648689973e-05,1793192194993111808
+60,1.000000000,BASELINE,764,742,711.180619312,671,661,633,875,783.180619312,799,649,628,650,0.400948257751,-0.00538941170565,0.0598361412094,0.999999941231,0.000207780732261,-0.000272441359738,1.18909867224e-05,1793192195009778688
+61,1.016666667,BASELINE,763.598190252,742,711,671,661,633,875.401809748,783,799.401809748,649,628,650,0.400947741947,-0.00538957817129,0.0598361186751,0.999999941046,0.000208010270828,-0.000272942454716,1.19028447597e-05,1793192195026445568
+62,1.033333333,BASELINE,763.01875574,742,711,671,661,633,875.98124426,783,799.98124426,649,628,650,0.400946827183,-0.00538987753314,0.0598357051552,0.99999994062,0.000208762297845,-0.000273925720603,1.19526053232e-05,1793192195043112448
+63,1.050000000,BASELINE,763.557807359,742,711.557807359,670.442192641,661.557807359,633,876,783,799.442192641,649,628,650.557807359,0.400946903849,-0.00539087100628,0.0598358520158,0.999999941273,0.000205616696027,-0.000273926978713,1.18337231567e-05,1793192195059779072
+64,1.066666667,BASELINE,764,742,711.866998585,670.133001415,661.866998585,633,876,783,799,649,628,650.866998585,0.400947101529,-0.00539146616396,0.0598361025702,0.999999941746,0.000203659424044,-0.000273666816727,1.17552187339e-05,1793192195076445440
+65,1.083333333,BASELINE,764,742,711.295996768,670.704003232,661.295996768,633,876,783,799,649,628,650.295996768,0.400947588517,-0.0053906731228,0.0598366328758,0.999999941533,0.000206044938384,-0.00027265392737,1.18282646474e-05,1793192195093111808
+66,1.100000000,BASELINE,764,742,711,671,661,633,876.286078696,783,799,649.286078696,628.286078696,650.286078696,0.400947422227,-0.0053906948576,0.0598362552732,0.999999941413,0.000206462761099,-0.000272773749556,1.18652988793e-05,1793192195109778432
+67,1.116666667,BASELINE,764,742,711,671,661,633,876.880073043,783,799,649.880073043,628.880073043,650.880073043,0.400946552791,-0.00539159356189,0.0598349004602,0.999999941397,0.000204762694229,-0.000274112745467,1.18635725815e-05,1793192195126445312
+68,1.133333333,BASELINE,764,742,711.462447504,671,661,633,877,783,799,649.537552496,628.537552496,651,0.40094696225,-0.00538992206079,0.0598355149235,0.999999941199,0.000206332065054,-0.000273671032336,1.15282327276e-05,1793192195143111680
+69,1.150000000,BASELINE,764,742,712,671,661,633,876.958474398,783,799,649,628.041525602,650.958474398,0.40094761148,-0.00538784833647,0.0598364891432,0.999999940953,0.000208563098405,-0.000272892881553,1.11564279491e-05,1793192195159778304
+70,1.166666667,BASELINE,764,742,712,671,661,633,876.383976685,783,799,649,628.616023315,650.383976685,0.400947185727,-0.00538895729635,0.0598356867691,0.999999940741,0.000208670976246,-0.000273578363111,1.13998049688e-05,1793192195176445184
+71,1.183333333,BASELINE,763.808891745,742.191108255,712,671,661,633,876,783,799,649.191108255,628.808891745,650,0.400946863882,-0.00538941911484,0.0598352982867,0.999999940563,0.00020896259419,-0.000273994803167,1.16004127961e-05,1793192195193112320
+72,1.200000000,BASELINE,763.232623205,742.767376795,712,671,661,633,876,783,799,649.767376795,628.232623205,650,0.400946751455,-0.00538857668236,0.0598357439633,0.999999940458,0.00020962452264,-0.000273869016109,1.1714823479e-05,1793192195209778944
+73,1.216666667,BASELINE,763.351826836,742.648173164,712,671,661,633,876.351826836,783.351826836,799,650,628,650,0.400946371428,-0.00538941359354,0.0598355554743,0.999999940738,0.000207843378559,-0.000274198241325,1.1839361767e-05,1793192195226445312
+74,1.233333333,BASELINE,763.941815128,742.058184872,712,671,661,633,876.941815128,783.941815128,799,650,628,650,0.400945810255,-0.00539138729963,0.0598349377008,0.99999994127,0.000204408450095,-0.000274835477121,1.19707557081e-05,1793192195243111936
+75,1.250000000,BASELINE,764.520998777,742,711.479001223,671,661,633,876.479001223,784,799,649.479001223,628.520998777,650,0.400945795063,-0.00538966239443,0.0598343271026,0.999999940541,0.000207397166597,-0.000275256743594,1.17368544724e-05,1793192195259778560
+76,1.266666667,BASELINE,764.901056097,742.098943903,711.098943903,671,661,633,876,783.901056097,799.197887806,649.098943903,629,650.098943903,0.400945907981,-0.00538810526222,0.0598340057427,0.999999939958,0.000209995218355,-0.000275414656215,1.1526722697e-05,1793192195276444928
+77,1.283333333,BASELINE,764.323383782,742.676616218,711.676616218,671,661,633,876,783.323383782,800.353232435,649.676616218,629,650.676616218,0.400946351712,-0.00538931781285,0.0598350800303,0.999999940794,0.000207302601364,-0.00027441268989,1.16249728799e-05,1793192195293111552
+78,1.300000000,BASELINE,764.252436127,743,712,671,661,632.747563873,876.252436127,783,800.747563873,649.747563873,629,651,0.400946765428,-0.00539030048584,0.0598358011048,0.999999941267,0.000206362341342,-0.000273393862898,1.16788552807e-05,1793192195309778432
+79,1.316666667,BASELINE,764.825900252,743,712,671,661,632.174099748,876.825900252,783,800.174099748,649.174099748,629,651,0.400947140975,-0.00539099081881,0.0598360729913,0.999999941284,0.000207650588415,-0.000272353593943,1.16763142913e-05,1793192195326445312
+80,1.333333333,BASELINE,764.585967497,742.585967497,712,671,660.585967497,632.414032503,876.585967497,783,799.585967497,649,629,650.585967497,0.400947688269,-0.00539091477963,0.0598359342774,0.999999941239,0.000207847659255,-0.000272362778195,1.18495640297e-05,1793192195343112192
+81,1.350000000,BASELINE,764,742,711.991735351,670.991735351,660.008264649,633,876,783.008264649,799,649,628.991735351,650.008264649,0.400948290887,-0.00539050579334,0.0598356247091,0.999999941167,0.000207573190469,-0.000272824161447,1.2097431352e-05,1793192195359778816
+82,1.366666667,BASELINE,764,742,711.417672199,670.417672199,660.582327801,633,876,783.582327801,799,649,628.417672199,650.582327801,0.400947555304,-0.00539017531863,0.0598358726504,0.999999941137,0.000207582835306,-0.000272922577527,1.22072134697e-05,1793192195376445184
+83,1.383333333,BASELINE,764,742,711.156530716,670.313061431,661,633,876,783.843469284,799,649,628,650.843469284,0.400947228574,-0.0053896842306,0.0598360598174,0.999999941086,0.000208010857002,-0.000272782232582,1.22250856191e-05,1793192195393111552
+84,1.400000000,BASELINE,764,742,711.731107018,671.462214036,661,633,876,783.268892982,799,649,628,650.268892982,0.400947993764,-0.00538876419349,0.0598360846747,0.999999940978,0.000209556235119,-0.00027200423011,1.19974944246e-05,1793192195409778432
+85,1.416666667,BASELINE,764,742.315405868,712,671.684594132,661,633,876,783,799.315405868,649,628,650,0.400947907331,-0.00538824263955,0.0598360782506,0.999999940677,0.000210824333095,-0.000272138049492,1.18439278941e-05,1793192195426445056
+86,1.433333333,BASELINE,764,742.908257078,712,671.091742922,661,633,876,783,799.908257078,649,628,650,0.400947071771,-0.00538807160958,0.0598360443099,0.999999940206,0.00021184852276,-0.000273073948882,1.17554768373e-05,1793192195443111680
+87,1.450000000,BASELINE,764,742.514457845,711.514457845,671,661,632.514457845,876,783,799.514457845,649,628,650,0.400947288682,-0.005389721825,0.0598364165358,0.999999940976,0.000208986957544,-0.000272455406229,1.18868586779e-05,1793192195459778304
+88,1.466666667,BASELINE,763.939686978,742.060313022,711.060313022,671,661,632.060313022,876.060313022,783,799,649,628,650,0.400947603489,-0.00539145450745,0.0598367633014,0.999999941831,0.00020572755411,-0.000271790821529,1.2023548009e-05,1793192195476444928
+89,1.483333333,BASELINE,763.362037147,742.637962853,711.637962853,671,661,632.637962853,876.637962853,783,799,649,628,650,0.400947105225,-0.00539103451583,0.0598362538474,0.999999941573,0.000205157771906,-0.000273172366116,1.18605425037e-05,1793192195493111552
+90,1.500000000,BASELINE,763.219692455,742.780307545,712,670.780307545,661,633,876.780307545,783.219692455,799,649,628,650,0.400946422286,-0.0053904658339,0.0598358799161,0.999999941212,0.000205543637907,-0.000274206401481,1.17487750012e-05,1793192195509778176
+91,1.516666667,BASELINE,763.808272378,742.191727622,712,670.191727622,661,633,876.191727622,783.808272378,799,649,628,650,0.400945429257,-0.00538964748485,0.0598357335423,0.999999940678,0.000207534140991,-0.000274656931022,1.17230416815e-05,1793192195526444800
+92,1.533333333,BASELINE,764,742,712,670.39072856,661,633,876,784,799,649,628,650,0.400946127523,-0.00538963700251,0.059835960967,0.999999940659,0.000208445845709,-0.000274033254902,1.17526102106e-05,1793192195543111680
+93,1.550000000,BASELINE,764,742,712,670.970226288,661,633,876,784,799,649,628,650,0.400947642889,-0.00539001681745,0.0598363689817,0.999999940889,0.000208836360474,-0.000272890607524,1.18088962213e-05,1793192195559778304
+94,1.566666667,BASELINE,764,742,712,671,661,633,876,783.455146478,799,649,628.544853522,650.544853522,0.400948037448,-0.00538914983056,0.0598362285926,0.999999940692,0.000210455393814,-0.000272380603808,1.15812110982e-05,1793192195576444928
+95,1.583333333,BASELINE,764,742.119570317,711.880429683,671.119570317,661,633,876,783,799,649,628.880429683,651,0.400947923758,-0.0053884760948,0.0598359238139,0.999999940474,0.000211423983339,-0.000272437561848,1.13938749751e-05,1793192195593111552
+96,1.600000000,BASELINE,764,742.695636311,711.304363689,671.695636311,661,633,876,783,799,649,628.304363689,651,0.400946101431,-0.00538879796269,0.0598351048252,0.999999940274,0.000209655279332,-0.000274528250951,1.14193018417e-05,1793192195609778432
+97,1.616666667,BASELINE,764,742.721319252,711,671.721319252,661,633,876,783.278680748,799.278680748,649,628,650.721319252,0.400945679271,-0.00538964271919,0.0598352074733,0.999999940531,0.00020790926383,-0.000274915544765,1.15724683886e-05,1793192195626444800
+98,1.633333333,BASELINE,764,742.130457524,711,671.130457524,661,633,876,783.869542476,799.869542476,649,628,650.130457524,0.400946825593,-0.00539107322078,0.0598363425483,0.9999999413,0.000206188664328,-0.000273394677906,1.18687302096e-05,1793192195643111424
+99,1.650000000,BASELINE,763.549167012,742,711.450832988,671,661,633,876,784,799.549167012,649.450832988,628,650.450832988,0.400948717704,-0.00539031419171,0.0598373189652,0.99999994169,0.000207329575011,-0.000271098246917,1.18158631061e-05,1793192195659778304
+100,1.666666667,BASELINE,763.029183153,742,712,671,661,633,876.029183153,784,799,649.970816847,628.029183153,651,0.400950607555,-0.00538898955391,0.0598381544021,0.999999941919,0.000209226189655,-0.000268794230422,1.16833614384e-05,1793192195676444928
+101,1.683333333,BASELINE,763.603270632,742,712,671,661,633,876.603270632,784,799,649.396729368,628.603270632,651,0.400948509397,-0.00538868821428,0.0598371968998,0.999999941287,0.000210093660523,-0.000270451899843,1.19110893665e-05,1793192195693111808
+102,1.700000000,BASELINE,764,742,712,671,661,633,876.821539505,783.821539505,799,649,628.821539505,650.821539505,0.400947205782,-0.00538813971065,0.0598366047194,0.999999940868,0.000210693665331,-0.00027153486494,1.1894339893e-05,1793192195709778432
+103,1.716666667,BASELINE,764,742,712,671,661,633,876.243883813,783.243883813,799,649,628.243883813,650.243883813,0.400947679467,-0.00538703833018,0.0598368297214,0.999999940929,0.000210695379816,-0.000271332283649,1.1330723116e-05,1793192195726446080
+104,1.733333333,BASELINE,764.342231003,742,711.657768997,671,661,633,876,783,799,649,628,650,0.40094816075,-0.00538752691772,0.0598370909536,0.99999994106,0.000210270234208,-0.000271173174061,1.14259918532e-05,1793192195743112704
+105,1.750000000,BASELINE,764.934526881,742,711.065473119,671,661,633,876,783,799,649,628,650,0.400948647583,-0.00538917727933,0.0598373786586,0.999999941243,0.000209533186072,-0.000271045828804,1.20027017855e-05,1793192195759779072
+106,1.766666667,BASELINE,764.487497523,742,711.512502477,671,661,633,876,783,799,649,628,650,0.400948195136,-0.00538934434917,0.0598368660085,0.99999994114,0.000209917888596,-0.000271124995605,1.20510228618e-05,1793192195776445696
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,661,633,876,783,799,649,629,650,0.4009466395,-0.00539004768005,0.0598352709272,0.999999941061,0.000207927304942,-0.000272954757621,1.18538784351e-05,1793192195819583744
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671.409269378,661.590730622,633,876,783,799.590730622,649.590730622,628.409269378,650,0.400946533532,-0.00539082581308,0.0598352492174,0.999999941433,0.000206258919243,-0.000272866120109,1.1600495891e-05,1793192195836249856
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.177628954,671,661.822371046,633,876,783,799.822371046,649.822371046,628,650,0.400946649026,-0.00539112264483,0.0598356476268,0.999999941699,0.000205499082227,-0.00027246743908,1.15670025667e-05,1793192195852916480
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.75588402,671,661.24411598,633,876,783,799.24411598,649.24411598,628,650,0.400947264009,-0.00539033394503,0.0598369935771,0.999999941726,0.000206788394634,-0.000271369482802,1.20294495283e-05,1793192195869582848
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.667338047,671,661,633,876,783,799,649.332661953,628.332661953,650,0.400946848757,-0.00539038699124,0.0598365741249,0.999999941173,0.000208296737153,-0.000272247411505,1.21983727462e-05,1793192195886249472
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.091639313,671,661,633,876,783,799,649.908360687,628.908360687,650,0.400945680832,-0.00539105500185,0.0598348649015,0.999999940189,0.000209965099015,-0.00027456888594,1.21528528219e-05,1793192195902916096
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.482817651,671,661,632.517182349,876,783,799.482817651,649.517182349,629,650,0.400948208126,-0.00539048591257,0.0598362087611,0.999999941108,0.000208932106816,-0.000272009980032,1.19150922384e-05,1793192195919583488
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.941194914,742,711.941194914,671,661,632,876.058805086,783,799.941194914,649,629,650,0.400951961402,-0.00538963295211,0.0598383702172,0.999999942411,0.000207590114743,-0.00026823312738,1.16655006026e-05,1793192195936250624
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.349199014,742,711.349199014,671,661,632,876.650800986,783,799.349199014,649,629,650,0.400960487806,-0.0053883296238,0.0598427041892,0.999999944016,0.000208083344136,-0.000261790355943,1.1638622273e-05,1793192195952916992
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.237438245,742,711.237438245,671,661,632.237438245,876.762561755,783.237438245,799,649.237438245,628.762561755,650,0.400977270871,-0.00538860501823,0.0598505309019,0.99999994732,0.000208190687519,-0.000248733284313,1.21429435142e-05,1793192195969583360
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.816368467,742,711.816368467,671,661,632.816368467,876.183631533,783.816368467,799,649.816368467,628.183631533,650,0.401005928955,-0.00539115098697,0.0598633809958,0.999999952757,0.000207743036061,-0.000226163295606,1.34112545301e-05,1793192195986249472
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.393663014,711.606336986,671,661,633,875.606336986,784,799,649.606336986,628.393663014,650,0.401052145465,-0.00539309692598,0.0598805408653,0.999999959229,0.000208653574778,-0.000194403282744,1.46162539735e-05,1793192196002915840
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.970197777,711.029802223,671,661,633,875.029802223,784,799,649.029802223,628.970197777,650,0.401106518547,-0.00539476412812,0.059899702794,0.999999965243,0.000210195045315,-0.000158374144786,1.57918428315e-05,1793192196019582464
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.445074147,711.554925853,671,661,633,875.554925853,783.445074147,799,649.554925853,629,650,0.401173174373,-0.00539701443885,0.0599139890094,0.999999967992,0.000207560742679,-0.000143716078589,1.67329559065e-05,1793192196036249856
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711.86139973,671,661,633,876,783,799.13860027,649.86139973,629,650.13860027,0.401244138806,-0.00539942384638,0.0599260859871,0.999999970404,0.000204777252443,-0.000130229607407,1.72906812877e-05,1793192196052916736
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711.282491266,671,661,633,876,783,799.717508734,649.282491266,629,650.717508734,0.40132666395,-0.00540223770098,0.0599320724677,0.999999972593,0.00020224292757,-0.000116764304665,1.66710565708e-05,1793192196069583360
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.703988974,742,711.296011026,671,661.296011026,633,876,783.296011026,799.703988974,649,628.703988974,651,0.40141897061,-0.00540523870107,0.0599362578778,0.999999973937,0.000200378104799,-0.000108244998457,1.60374295887e-05,1793192196086250240
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.125873807,742,711.874126193,671,661.874126193,633,876,783.874126193,799.125873807,649,628.125873807,651,0.401520599234,-0.0054084180542,0.0599387268331,0.999999974597,0.000199151330451,-0.000104439321894,1.53904582206e-05,1793192196102916608
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.449052533,742,712,671,661.550947467,633,876,783.550947467,799.449052533,649,628,650.550947467,0.401646024622,-0.00541153238235,0.0599420974024,0.999999975899,0.000197419995715,-9.50083083054e-05,1.41999568099e-05,1793192196119583232
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.023845023,742,712,670.976154977,661,633,876,783,799.976154977,649,628,650.023845023,0.401779013079,-0.00541473794038,0.059945517556,0.999999977277,0.000195341692575,-8.43952732883e-05,1.2824614791e-05,1793192196136249856
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.61662081,742,712,670.38337919,661,633,876,783,799.38337919,649,628,650.61662081,0.401934420919,-0.00542055202496,0.059944133241,0.999999978769,0.000188335624032,-8.2937057737e-05,1.06485916429e-05,1793192196152916224
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.795553137,742,711.795553137,670.204446863,661,633,876,783.204446863,799,649,628.204446863,650.795553137,0.402101648574,-0.00542610836902,0.0599425040531,0.999999980099,0.000181719168789,-8.19381704191e-05,8.13667175338e-06,1793192196169582848
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.216789495,742,711.216789495,670.783210505,661,633,876,783.783210505,799,649,628.783210505,650.216789495,0.402290516823,-0.00543119282161,0.0599404265336,0.999999981188,0.000175816047819,-8.17802561326e-05,5.00976694783e-06,1793192196186249472
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711.359291077,671,661,633,876,784,799,649,629,650,0.402505909795,-0.00543710368755,0.0599406703956,0.999999982879,0.00016825480742,-7.69910594064e-05,2.26269135289e-06,1793192196202916352
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.933764791,671,661,633,876,784,799,649,629,650,0.402737188677,-0.00544350950033,0.0599423045535,0.999999984838,0.000159700503894,-6.94281462173e-05,-2.5690143367e-07,1793192196219583232
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783.489502834,799.510497166,649.510497166,628.489502834,650,0.403005772301,-0.00545083138282,0.0599466913401,0.999999986925,0.000150555803859,-5.89323661224e-05,-3.28573680228e-06,1793192196236249856
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.91050132,742.08949868,712,671,661,633,876,783,799.91050132,649.91050132,628,650,0.403282302984,-0.00545812005919,0.0599492909257,0.999999988606,0.000141531414795,-5.20841344993e-05,-6.60654551525e-06,1793192196252916480
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.32045503,742.67954497,712,671,661,633,876,783,799.32045503,649.32045503,628,650,0.403576089726,-0.00546455532776,0.05993988876,0.999999988715,0.000133610218928,-6.77735619188e-05,-1.1189130327e-05,1793192196269582848
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.263377785,742.736622215,712,671,661,633,876,783,799,649,628.263377785,650,0.403885720764,-0.00547242126934,0.0599295986582,0.999999988582,0.000124227913955,-8.45845625875e-05,-1.57442994998e-05,1793192196286249472
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.839824796,742.160175204,712,671,661,633,876,783,799,649,628.839824796,650,0.404214185419,-0.00548198780837,0.0599182530944,0.999999988121,0.000113108833148,-0.000102728742586,-2.02668802535e-05,1793192196302916096
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.583323282,742,712,671.416676718,661,633,876,783,799,649,629,650,0.404566141752,-0.00548893869006,0.0599049132142,0.999999986104,0.000104949313307,-0.000127045133324,-2.52400924004e-05,1793192196319582720
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.006315569,742,712,671.993684431,661,633,876,783,799,649,629,650,0.404927137323,-0.00549488310553,0.059890805951,0.999999982926,9.79285886463e-05,-0.000153736498333,-3.03867006771e-05,1793192196336249344
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.580521583,742,712,672,660.419478417,633,876,783.580521583,799,649,628.419478417,650.580521583,0.405369125467,-0.0055044584269,0.0598932116513,0.999999983903,8.89569148995e-05,-0.000151854782055,-3.49423412652e-05,1793192196352916736
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,671.834729374,660.330541251,633,876.165270626,784,799,649,628,650.834729374,0.405832761082,-0.00551509986382,0.0599036474261,0.999999986965,7.9000530863e-05,-0.000135371138878,-3.87850772282e-05,1793192196369583872
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,671.255483259,661.489033481,633,876.744516741,784,799,649,628,650.255483259,0.406348374858,-0.005528311094,0.0599337394687,0.999999993492,6.66316920468e-05,-8.31041312353e-05,-4.08584861476e-05,1793192196386250496
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.322305196,742.322305196,712,671.322305196,661.677694804,632.677694804,877,783.677694804,799,649.322305196,628,650.322305196,0.4068865098,-0.00553465655452,0.0599626791931,0.999999998017,-3.2410192489e-05,-3.52518089337e-05,-4.09109544132e-05,1793192196402917120
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.898943465,742.898943465,712,671.898943465,661.101056535,632.101056535,877,783.101056535,799,649.898943465,628,650.898943465,0.407442416391,-0.00553558419409,0.0599907096192,0.999999979214,-0.000199846327997,9.11686368507e-06,-3.93686849252e-05,1793192196419583488
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.050630349,742.525315174,712,671.525315174,661,632.474684826,877,783,799,650,628,650.525315174,0.40797531263,-0.0055305547328,0.0599888044536,0.999999977151,-0.000209390286123,-4.46195027659e-06,-4.28252572775e-05,1793192196436250368
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.051413825,742,712,670.948586175,661.051413825,633,877,783,799,649.948586175,628,650,0.408508011778,-0.00552577431732,0.0599797460609,0.999999980861,-0.000187232652756,-3.13168985118e-05,-4.73397825059e-05,1793192196452917248
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.640463939,742,712,670.359536061,661.640463939,633,877,783,799,649.359536061,628,650,0.409089779775,-0.00553683497441,0.0599624035725,0.999999979326,-0.000184409789514,-6.82404437343e-05,-5.18098376966e-05,1793192196469584128
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.225724723,712,670.451449446,661.774275277,633,877,783,799,649,628,650,0.40970230403,-0.00554257304157,0.0599539121424,0.999999987466,-0.000128874494538,-8.11544914549e-05,-4.32847360647e-05,1793192196486250496
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.805049448,712,671.610098896,661.194950552,633,877,783,799,649,628,650,0.41036300823,-0.0055399732185,0.0599592859833,0.99999999826,9.23534585702e-06,-5.64574215335e-05,-1.44025923647e-05,1793192196502916864
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.619067373,712,671.619067373,661.380932627,632.619067373,877,783,799.380932627,649.380932627,628,650,0.411043352006,-0.00553386117942,0.0599655674791,0.999999998225,4.17089999377e-05,-4.15098268779e-05,-9.29662729214e-06,1793192196519583232
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.044929726,712,671.044929726,661.955070274,632.044929726,877,783,799.955070274,649.955070274,628,650,0.411733656749,-0.00552596778143,0.0599723093277,0.999999999159,2.06050884067e-05,-3.15070645153e-05,-1.624969066e-05,1793192196536249344
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,712,671.541846102,662,632.541846102,877.541846102,783,800,650,628,650.541846102,0.412397722599,-0.00552491068526,0.0599541316105,0.99999999769,3.64614707679e-06,-6.37457300528e-05,-2.33010867858e-05,1793192196552915968
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.871450653,671.871450653,661.742901306,633,877.871450653,783.128549347,799.871450653,649.871450653,628,650.871450653,0.413070753381,-0.00552573959098,0.0599308933673,0.999999993818,-9.57025860113e-06,-0.00010687223872,-2.91604485273e-05,1793192196569582592
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.288794302,671.288794302,660.577588604,633,877.288794302,783.711205698,799.288794302,649.288794302,628,650.288794302,0.413783322477,-0.00553118059483,0.0598972522771,0.999999984017,-1.08090976913e-05,-0.000175791822999,-3.07793962409e-05,1793192196586249216
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.289357696,711.289357696,671,660.289357696,632.710642304,877,783.710642304,799,649.289357696,628,650,0.414557208352,-0.00553621669753,0.0599010160692,0.999999984996,-1.68921197224e-05,-0.000169577031596,-3.1083411884e-05,1793192196602916352
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.863083088,711.863083088,671,660.863083088,632.136916912,877,783.136916912,799,649.863083088,628,650,0.415391353677,-0.00554085488229,0.0599415396892,0.999999995155,-2.77357864408e-05,-8.95235715093e-05,-3.0095171726e-05,1793192196619583744
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.562531293,712,671,661.874937414,632.437468707,877,783.437468707,799,649.562531293,628.437468707,650.437468707,0.41622242352,-0.00554044108607,0.0599785876086,0.99999999885,-2.75491739185e-05,-2.66467329213e-05,-2.8809726555e-05,1793192196636250368
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.987557518,742,712,671.012442482,662.975115035,632.987557518,877.012442482,783.987557518,799,649,628.987557518,650.987557518,0.417051833371,-0.00553842398584,0.060013514416,0.999999998909,-2.39677093862e-05,2.9169366007e-05,-2.75100091301e-05,1793192196652916736
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.394802609,742,712,671.605197391,661.789605218,632.394802609,877.605197391,783.394802609,799,649,628.394802609,650.394802609,0.417848785017,-0.00553548487338,0.0600003251404,0.999999999259,-2.33045306556e-05,6.7824226227e-06,-2.98895097415e-05,1793192196669582848
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.192784614,742.192784614,712,671.807215386,661,632,877.807215386,783,799,649,628,650,0.418659667948,-0.00553419149701,0.0599829260448,0.99999999894,-2.44497665361e-05,-2.20692746678e-05,-3.2169085266e-05,1793192196686249216
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.770065197,742.770065197,712,671.229934803,661,632,877.229934803,783,799,649,628,650,0.41949833584,-0.00553618043095,0.0599571307467,0.999999996951,-2.9201763992e-05,-6.38144882897e-05,-3.4249366758e-05,1793192196702915840
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,712,671.346339606,661.346339606,632.346339606,877,783,799,649,628,650,0.420318032875,-0.00553684178783,0.0599298077004,0.999999993562,-2.8483307133e-05,-0.000103545282207,-3.66424343364e-05,1793192196719582464
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,712,671.921947928,661.921947928,632.921947928,877,783,799,649,628,650,0.421125171613,-0.00553662431967,0.0599014733215,0.999999988865,-2.41435373164e-05,-0.0001419425757,-3.92425588876e-05,1793192196736249088
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.492145726,742.492145726,712,672,661.492145726,633,877,783,799,649,628.507854274,650,0.421920829173,-0.00553578979493,0.0598783215599,0.999999980219,-3.05132152302e-05,-0.00019225203111,-4.08665606496e-05,1793192196752915456
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.094074565,742,711.905925435,672,661.094074565,633,876.905925435,783,799,649,628.905925435,650.094074565,0.4227416306,-0.00553507563547,0.0598690303996,0.999999974401,-3.60382811164e-05,-0.000219448323416,-4.17235684641e-05,1793192196769582336
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.673578761,742,711.326421239,672,661.673578761,633,876.326421239,783,799,649,628.326421239,650.673578761,0.423701468982,-0.00553548205111,0.059927065538,0.999999991885,-2.85362144068e-05,-0.000117737039213,-3.94129814839e-05,1793192196786248960
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.252185522,711.252185522,672,662.252185522,633,876.252185522,783.252185522,799,649.252185522,628,650.747814478,0.424646755668,-0.00553813885983,0.0599767818506,0.999999998391,-2.77248916699e-05,-3.29203055889e-05,-3.69635889381e-05,1793192196802915584
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.829634869,711.829634869,672,662.829634869,633,876.829634869,783.829634869,799,649.829634869,628,650.170365131,0.425573273999,-0.00554369818044,0.0600157687166,0.999999998326,-3.55431554337e-05,3.01061887681e-05,-3.43351677416e-05,1793192196819582208
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712,672,662.189422983,632.594711491,877,783.594711491,799,649.594711491,628,650,0.426447955114,-0.00554717496239,0.0600123665081,0.999999997959,-3.99109168931e-05,3.48425891686e-05,-3.57087371907e-05,1793192196836248832
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,712,672,661.039618782,632.019809391,877,783.019809391,799,649.019809391,628,650,0.427300942254,-0.00554978019977,0.059991224433,0.999999998216,-4.28346397087e-05,1.51845310162e-05,-3.87571433742e-05,1793192196852915712
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712,672,661.566711801,632.566711801,877,783,799,649,628,650,0.428113752644,-0.00555086571983,0.0599697799807,0.999999997907,-4.63272490318e-05,-1.85135390641e-05,-4.11845648323e-05,1793192196869582336
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.847885551,712,672,662,633,876.847885551,783,799,649,628,650,0.428920958019,-0.00555055876568,0.0599465959787,0.999999996396,-4.60053226008e-05,-5.69380195091e-05,-4.30087008168e-05,1793192196886248960
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.266806549,712,672,662,633,876.266806549,783,799,649,628,650,0.429716400403,-0.00554647795707,0.059918536857,0.999999992705,-3.48691089953e-05,-0.000107278090531,-4.31940583875e-05,1793192196902915584
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,712,672,661.687978274,632.687978274,876.624043452,783,799,649,628.312021726,650,0.430556292512,-0.00554611930985,0.0599107977193,0.999999991433,-3.74937490217e-05,-0.000117586433461,-4.36019612763e-05,1793192196919582208
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,712,672,661.111060819,632.111060819,877.777878361,783,799,649,628.888939181,650,0.43143392087,-0.00554892065002,0.0599203095516,0.999999993272,-5.18008817441e-05,-9.39092117539e-05,-4.4198797533e-05,1793192196936248832
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.461959527,712,672,661.923919054,632.461959527,877.538040473,783.461959527,799,649,628.538040473,650,0.432298786421,-0.00555380023605,0.0599606772493,0.999999997325,-5.19629558706e-05,-2.82625650781e-05,-4.302306468e-05,1793192196952915712
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.964601684,712,672,663,632.964601684,877.035398316,783.964601684,799,649.035398316,628,650,0.433154215156,-0.0055589160687,0.0600048205013,0.999999997096,-4.87088023016e-05,4.13689922104e-05,-4.15108665232e-05,1793192196969582592
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.369871307,712,672,663,632.369871307,877.630128693,783.369871307,799,649.630128693,628,650,0.433908608388,-0.00555993609606,0.0599923875109,0.999999998017,-4.47589725327e-05,1.58675456063e-05,-4.13594232817e-05,1793192196986249216
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.218158115,712,672.218158115,662.56368377,632,877.781841885,783,799,649.781841885,628,650,0.434655559586,-0.00556038124221,0.0599710205688,0.999999997679,-4.88931433106e-05,-2.18231886327e-05,-4.21421318034e-05,1793192197002915840
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.795165209,712,672.795165209,661.409669582,632,877.204834791,783,799,649.204834791,628,650,0.43539026948,-0.0055598807646,0.0599349581392,0.999999993647,-6.63247116576e-05,-7.95641249807e-05,-4.44614294466e-05,1793192197019582464
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+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,712,671.93429564,662.46714782,632.53285218,877.53285218,784,799,649,628,650,0.437516984798,-0.0055663695001,0.0599070574538,0.999999987673,-5.73510530005e-05,-0.000138492580924,-4.6736398357e-05,1793192197069582336
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711.562893076,672.437106924,662.562893076,632.562893076,877,783,799,649,629,650,0.440767178527,-0.00557104629969,0.0599618573118,0.999999994173,-7.46565575091e-05,-6.47919056093e-05,-4.33891989194e-05,1793192197152915712
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+199,3.316666667,POSE1_TO_POSE2_PRESS,763.606085185,742.606085185,711.393914815,672.393914815,660,631,877.606085185,783,799.606085185,649,628.393914815,650,0.445699987942,-0.00555790307428,0.0597419624339,0.999999909839,-3.72383185424e-05,-0.000421016993475,-4.09789789288e-05,1793192197352915456
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+232,3.866666667,POSE1_TO_POSE2_PRESS,763.51019327,743,712,673,659,630.48980673,877.48980673,782,799,649.48980673,628,650,0.447988790107,-0.00558821871088,0.0597026342327,0.999999880615,-0.000110635731686,-0.000473526626963,-4.79727039118e-05,1793192197902916096
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.928352113,711.928352113,673,659.071647887,630,877.071647887,782,799,649,628.071647887,650,0.447989059854,-0.00558795604733,0.0597020554218,0.999999880267,-0.000110240683979,-0.000474367957445,-4.78419951338e-05,1793192197919582720
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.3108048,711.3108048,673,659.6891952,630,877.6891952,782,799,649,628.6891952,650,0.447986835913,-0.0055884531385,0.0597013283458,0.999999879271,-0.000110635553949,-0.000476432620751,-4.72193245734e-05,1793192197936249600
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742,711.286853654,673,659.426292691,630,878,782,799.286853654,649,629,650,0.447986357492,-0.00558901357927,0.05970111971,0.999999878851,-0.000111123799478,-0.000477239563707,-4.68271451897e-05,1793192197952915968
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742,711.864359926,673,658.271280147,630,878,782,799.864359926,649,629,650,0.44798764771,-0.00558963820868,0.0597014363804,0.999999879016,-0.000111706657239,-0.00047677212987,-4.66685094309e-05,1793192197969582336
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+238,3.966666667,POSE1_TO_POSE2_PRESS,763.035097069,743,712,673,659,631,877.964902931,782,800.929805862,649.035097069,628,650,0.447990056245,-0.00558726418008,0.0597028136081,0.99999988022,-0.000110866689418,-0.000474349247603,-4.75539128558e-05,1793192198002916608
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.61457219,743,712,673,659,631,877.38542781,782,799.770855619,649.61457219,628,650,0.447990839894,-0.00558757786506,0.0597021663696,0.999999880225,-0.000112219921529,-0.000474025095154,-4.74972142124e-05,1793192198019582976
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659,630.228202293,877,782,799.771797707,649.228202293,628,650.771797707,0.447990239875,-0.00558827761452,0.0597015545056,0.999999879829,-0.000110717660818,-0.000475316466122,-4.64475354779e-05,1793192198052916224
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.652954493,711.652954493,672.652954493,659,630.347045507,877,782,800,649,628,650.652954493,0.447989644512,-0.00558707391204,0.059700987575,0.999999879458,-0.000108774220062,-0.000476542041349,-4.6468234805e-05,1793192198069582848
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+262,4.366666667,HOLD_POSE2,763.86780364,742.13219636,711.13219636,672.86780364,659,631,877,782.86780364,799.86780364,649.86780364,628.13219636,650,0.447994236489,-0.00558506446175,0.0597018078318,0.999999881174,-0.000106535451863,-0.000473416172477,-4.6686434663e-05,1793192198428904448
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631,877.902392487,782.902392487,799,649,628,650,0.447994466439,-0.00558821698987,0.0597023574868,0.999999880881,-0.000110468361076,-0.000473235932846,-4.56292507637e-05,1793192198544894976
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+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.053860133,743,712,673,658.053860133,630.946139867,878,782,799.053860133,650,628,650,0.447986771127,-0.00558639388875,0.0596986483568,0.999999878378,-0.000110690450391,-0.00047838877228,-4.62126199851e-05,1793192198578228736
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.628606921,743,712,673,658.628606921,630.371393079,878,782,799.628606921,650,628,650,0.447971379161,-0.00558490418934,0.0596908930614,0.999999872569,-0.000109710625355,-0.000490520037982,-4.70797750342e-05,1793192198594895616
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742.915398307,711,672.915398307,659,631,877,783,799.915398307,649.084601693,628.084601693,650,0.44522594137,-0.00549096942954,0.0596100567867,0.999999808276,-2.14262313966e-05,-0.000618143197046,-2.98108033186e-05,1793192198894895872
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742.342028464,711,672.342028464,659,631,877,783,799.342028464,649.657971536,628.657971536,650,0.444878208668,-0.00548018853564,0.0596128907107,0.99999981395,-8.36252883265e-06,-0.000609335162654,-2.71984650165e-05,1793192198911561984
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.829622215,742.829622215,711.829622215,672.829622215,659,631,877.829622215,782.170377785,799,649.170377785,628.170377785,650,0.444142880064,-0.0054661411569,0.0596465082269,0.999999851818,1.3935189218e-05,-0.000543912659806,-1.81369042549e-05,1793192198944894976
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,742.297634157,712,673,660,632,876.297634157,783,799,649.702365843,628.297634157,650,0.441167610941,-0.00545073101271,0.0597127080779,0.99999989598,2.78890181921e-05,-0.000455252398935,2.82027863436e-06,1793192199044896000
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_01/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af7e9aca23cb62d1e3da8b67350710ebb83c8580
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,402 @@
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+376,6.266666667,pose2_to_pose3_retreat,0.575712591249,5.4566619423e-05,1.0500291261,0.546283321916,0.00872729776423,1.04969842245
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+379,6.316666667,pose2_to_pose3_retreat,0.575712330118,5.45688138697e-05,1.05002912936,0.546283060853,0.00872730015633,1.04969842487
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+381,6.350000000,pose2_to_pose3_retreat,0.575712074403,5.4570962811e-05,1.05002913255,0.546282805204,0.00872730249883,1.04969842724
+382,6.366666667,pose2_to_pose3_retreat,0.575711952901,5.45719838687e-05,1.05002913406,0.546282683733,0.00872730361185,1.04969842837
+383,6.383333333,pose2_to_pose3_retreat,0.575711837874,5.4572950514e-05,1.0500291355,0.546282568736,0.00872730466556,1.04969842943
+384,6.400000000,pose2_to_pose3_retreat,0.575711714333,5.45739887054e-05,1.05002913704,0.546282445228,0.00872730579727,1.04969843058
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+387,6.450000000,pose2_to_pose3_retreat,0.575710683946,5.46357520596e-05,1.05002918408,0.546281413667,0.00872736374637,1.04969848208
+388,6.466666667,pose2_to_pose3_retreat,0.57571060005,5.46420931327e-05,1.05002918875,0.546281329639,0.00872736966336,1.04969848731
+389,6.483333333,pose2_to_pose3_retreat,0.575710346419,5.4661263047e-05,1.05002920288,0.546281075611,0.00872738755122,1.04969850313
+390,6.500000000,pose2_to_pose3_retreat,0.575710166919,5.46748299278e-05,1.05002921288,0.546280895831,0.00872740021077,1.04969851432
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+395,6.583333333,pose2_to_pose3_retreat,0.575709608964,5.46515313791e-05,1.05002926358,0.546280337831,0.00872737647757,1.0496985576
+396,6.600000000,pose2_to_pose3_retreat,0.575709582281,5.46480623659e-05,1.05002926671,0.546280311175,0.00872737307357,1.04969855997
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_02/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2cb4e1a61a7a35603040de74503a7acf64ce37a8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58a976c2321ba196f62fad793fd7919b9ecd02b8c60e3d166a5e667adab2fef0
+size 24627444
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..74427f0fed8c508c5709600417049e23c35951bd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_01/franka_data.csv
@@ -0,0 +1,389 @@
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+21,0.350000000,BASELINE,764,742,711,671,663,632.173102768,875.826897232,783.826897232,799.173102768,650,628.173102768,651,0.400929808169,-0.00545838055334,0.0499199644183,0.999999973981,-9.31171537446e-06,-0.000224948788245,-3.67434032609e-05,1793192202430541312
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+23,0.383333333,BASELINE,764,742,711,671,663.3568293,633,875,783,799.6431707,650,628.6431707,650.6431707,0.400929457677,-0.00545950841848,0.0499197999544,0.999999974064,-1.09225747065e-05,-0.000224570952704,-3.63437802805e-05,1793192202463875328
+24,0.400000000,BASELINE,764,742,711,671,663.933804554,633,875,783,799.066195446,650,628.066195446,650.066195446,0.400929740137,-0.00546141377957,0.0499199117693,0.999999974197,-1.34298318048e-05,-0.000223898945722,-3.59748088899e-05,1793192202480543232
+25,0.416666667,BASELINE,764,742,711,671,663.491251521,633,875,783.508748479,799,650,628,650.508748479,0.400929390657,-0.00546114496442,0.0499195319562,0.999999973968,-1.18679100493e-05,-0.000224992954511,-3.6073118119e-05,1793192202497209344
+26,0.433333333,BASELINE,764,742,711,671,663.085338626,633,875.085338626,783.914661374,799,650,628,650.914661374,0.400928902744,-0.0054604625802,0.0499191421682,0.999999973719,-9.95466972939e-06,-0.000226156254173,-3.62677566245e-05,1793192202513875456
+27,0.450000000,BASELINE,764,742,711,671,663.673172482,633,875.673172482,783.326827518,799,650,628,650.326827518,0.400928081929,-0.0054590041084,0.0499190688057,0.999999973662,-9.0779616877e-06,-0.000226379912136,-3.6673024918e-05,1793192202530542080
+28,0.466666667,BASELINE,764,742,711,671.258787576,663.741212424,633,876,783.258787576,799.258787576,650,628,650.258787576,0.400927260699,-0.00545882165991,0.0499186002508,0.999999973531,-8.59444717981e-06,-0.00022697863004,-3.66760889481e-05,1793192202547208960
+29,0.483333333,BASELINE,764,742,711,671.841624338,663.158375662,633,876,783.841624338,799.841624338,650,628,650.841624338,0.40092643895,-0.00546023702515,0.049917636843,0.999999973306,-8.60328265374e-06,-0.000228046991301,-3.61755199498e-05,1793192202563875328
+30,0.500000000,BASELINE,764,742,711,671.582285499,663.417714501,633,875.582285499,784,800,650,628.417714501,650.582285499,0.400927531311,-0.00545965184823,0.0499183774332,0.999999973525,-7.90474727186e-06,-0.000227108983684,-3.61752301407e-05,1793192202580541952
+31,0.516666667,BASELINE,764,742,711,671.008712652,663.991287348,633,875.008712652,784,800,650,628.991287348,650.008712652,0.400929337868,-0.00545832022559,0.049919753822,0.999999973907,-6.94227647108e-06,-0.000225422356269,-3.63616053661e-05,1793192202597208832
+32,0.533333333,BASELINE,764,742,711,671,664,633,875.56185994,783.43814006,799.43814006,650,629,650.56185994,0.400931246911,-0.00545994939713,0.049920310911,0.999999974388,-8.44752768582e-06,-0.000223265509129,-3.61235489282e-05,1793192202613875200
+33,0.550000000,BASELINE,764,742,711,670.861531822,663.861531822,633,876,783,799,650,628.861531822,651,0.400932216087,-0.00546080002251,0.0499205566536,0.99999997464,-9.33350611865e-06,-0.000222111006321,-3.60580746251e-05,1793192202630541824
+34,0.566666667,BASELINE,764,742,711,670.264795224,663.264795224,633,876,783,799,650,628.264795224,651,0.40093006948,-0.00545892286133,0.0499198138011,0.999999974144,-8.04399280314e-06,-0.000224297824141,-3.65854373178e-05,1793192202647208448
+35,0.583333333,BASELINE,764,742,711,670.321719371,663,633,875.678280629,783.321719371,799.321719371,650,628,651,0.400929883541,-0.00545863331393,0.0499196930252,0.999999974151,-8.55151854135e-06,-0.000224235284631,-3.66433022502e-05,1793192202663875584
+36,0.600000000,BASELINE,764,742,711,670.900079765,663,633,875.099920235,783.900079765,799.900079765,650,628,651,0.400931261659,-0.00545961023289,0.0499200684904,0.999999974559,-1.0492572808e-05,-0.000222378394694,-3.63266408774e-05,1793192202680542464
+37,0.616666667,BASELINE,763.526222531,742,711,671,663.473777469,633,875.947554939,783.526222531,799.526222531,650,628,651,0.400929455968,-0.00545959901695,0.0499187986187,0.999999973993,-1.0098382158e-05,-0.000224921925523,-3.6367537627e-05,1793192202697209344
+38,0.633333333,BASELINE,763.047880827,742,711,671.047880827,664,633,876.952119173,783,799,650,628.047880827,651,0.40092720796,-0.00545939257888,0.0499173760896,0.999999973288,-9.25106592317e-06,-0.00022805237292,-3.64690959266e-05,1793192202713875968
+39,0.650000000,BASELINE,763.637594705,742,711,671.637594705,664,633,876.362405295,783,799,650,628.637594705,651,0.400927479051,-0.00545931226875,0.0499181145664,0.999999973437,-8.79507284366e-06,-0.000227424764256,-3.64120795092e-05,1793192202730542080
+40,0.666666667,BASELINE,764.223070129,742,711,672,664,632.776929871,876,783,799,650,629,650.776929871,0.40092798763,-0.00545922975186,0.0499187167629,0.999999973596,-8.42950246381e-06,-0.000226745129283,-3.63757405796e-05,1793192202747208704
+41,0.683333333,BASELINE,764.801788016,742,711,672,664,632.198211984,876,783,799,650,629,650.198211984,0.400928874846,-0.00545914371668,0.0499191016834,0.999999973771,-8.20809587995e-06,-0.000225982547158,-3.63723684258e-05,1793192202763875072
+42,0.700000000,BASELINE,764.24210486,742,711,671.62105243,664,632,875.62105243,783,799,650,629,650.37894757,0.400929183151,-0.0054589691384,0.0499190394924,0.999999973845,-8.75446693939e-06,-0.000225636807504,-3.63414078825e-05,1793192202780541696
+43,0.716666667,BASELINE,763.089409312,742,711,671.044704656,664,632,875.044704656,783,799,650,629,650.955295344,0.400929189892,-0.00545874843653,0.0499187443936,0.999999973867,-9.70078637609e-06,-0.000225508208171,-3.62960760801e-05,1793192202797208320
+44,0.733333333,BASELINE,763.52873374,742,711,671,663.47126626,632.52873374,875.52873374,783,799,650,628.47126626,651,0.400929884397,-0.00545951728053,0.0499192941416,0.999999973968,-1.0904486279e-05,-0.000224994261407,-3.63796737076e-05,1793192202813874944
+45,0.750000000,BASELINE,763.894894479,742,711,670.894894479,663,633,875.894894479,783,799,649.894894479,628,650.894894479,0.40093050433,-0.0054601123685,0.0499198541667,0.999999974093,-1.16643064047e-05,-0.000224385080338,-3.64457113163e-05,1793192202830541568
+46,0.766666667,BASELINE,763.303829125,742,711,670.303829125,663,633,875.303829125,783,799,649.303829125,628,650.303829125,0.400930512089,-0.00545951936901,0.049920133246,0.999999974313,-1.02717640004e-05,-0.000223485396162,-3.63804338187e-05,1793192202847208960
+47,0.783333333,BASELINE,763.282034361,742.282034361,711.282034361,670.282034361,663.282034361,633,875,783,799,649.282034361,628,650.282034361,0.400929807491,-0.0054595045511,0.0499195391041,0.999999974117,-9.63354064464e-06,-0.000224411339543,-3.62403145975e-05,1793192202863875584
+48,0.800000000,BASELINE,763.862395552,742.862395552,711.862395552,670.862395552,663.862395552,633,875,783,799,649.862395552,628,650.862395552,0.400928349386,-0.00546010131491,0.049918021297,0.999999973478,-9.79321141917e-06,-0.000227268372618,-3.60210302128e-05,1793192202880541952
+49,0.816666667,BASELINE,764,742.562130249,711.562130249,671,663.562130249,633,875,783,799,650,628,650.562130249,0.400929511021,-0.00546016332615,0.0499186566434,0.999999973749,-9.69141623628e-06,-0.000226069087666,-3.60663931671e-05,1793192202897208320
+50,0.833333333,BASELINE,764,742.011850978,711.011850978,671,663,633,875.011850978,783,799,650,628.011850978,650.011850978,0.400931457617,-0.00546007953898,0.0499199397832,0.999999974294,-9.55074761114e-06,-0.00022363361008,-3.61907374256e-05,1793192202913874688
+51,0.850000000,BASELINE,764,742.587063017,711.587063017,671,663,633,875.587063017,783,799,650,628.587063017,650.587063017,0.400932014708,-0.0054609653867,0.0499202063163,0.999999974559,-1.14250622104e-05,-0.000222361414096,-3.61597075349e-05,1793192202930541568
+52,0.866666667,BASELINE,764,742.832486561,711.832486561,671,663.167513439,633,876,783.167513439,799,650,628.832486561,651,0.400932192371,-0.00546126583104,0.0499202326927,0.999999974696,-1.26169689432e-05,-0.000221666682367,-3.6237148597e-05,1793192202947208448
+53,0.883333333,BASELINE,764,742.238706199,711.238706199,671,663.761293801,633,876,783.761293801,799,650,628.238706199,651,0.400931404511,-0.00546007661516,0.0499196479487,0.999999974518,-1.20723707017e-05,-0.000222441408409,-3.65906127642e-05,1793192202963875584
+54,0.900000000,BASELINE,764,742,711,671,663.654967438,633,875.654967438,783.654967438,799.345032562,649.654967438,628,651,0.400930829423,-0.00545937524055,0.0499196093381,0.999999974428,-1.03497628009e-05,-0.000222961028555,-3.64082889855e-05,1793192202980541952
+55,0.916666667,BASELINE,764,742,711,671,663.07797938,633,875.07797938,783.07797938,799.92202062,649.07797938,628,651,0.400930397376,-0.0054590018277,0.0499199378772,0.999999974393,-7.83521281666e-06,-0.000223309148294,-3.5865770324e-05,1793192202997208576
+56,0.933333333,BASELINE,764,742,711,671,663,633,875.496738022,783,799.503261978,649.496738022,628,651,0.400930965251,-0.00545971043309,0.0499203436889,0.999999974486,-9.94876011086e-06,-0.000222779285763,-3.60442407919e-05,1793192203013875456
+57,0.950000000,BASELINE,764,742,711,671,663.07296055,633,876,783,799,650,628,651,0.400931582481,-0.00546026482421,0.0499206700468,0.999999974579,-1.20422752302e-05,-0.000222218911638,-3.62811086905e-05,1793192203030542080
+58,0.966666667,BASELINE,764,742,711,671,663.662347872,633,876,783,799,650,628,651,0.400931443052,-0.00545853084619,0.049920348547,0.999999974574,-8.87488379535e-06,-0.000222413703357,-3.61338407701e-05,1793192203047208704
+59,0.983333333,BASELINE,764,742,711,671.247018451,663.752981549,633,876,783,799,649.752981549,628.247018451,651,0.400931296471,-0.00545824033467,0.0499201384548,0.999999974529,-7.57886014788e-06,-0.000222667757475,-3.6108780507e-05,1793192203063875328
+60,1.000000000,BASELINE,764,742,711,671.825362549,663.174637451,633,876,783,799,649.174637451,628.825362549,651,0.400931140298,-0.00545988594333,0.0499200777934,0.99999997444,-8.79290013841e-06,-0.000223001300228,-3.62476372543e-05,1793192203080541696
+61,1.016666667,BASELINE,763.597267863,742,711,671.597267863,663,633,875.597267863,783.402732137,799.402732137,649.402732137,628.597267863,650.597267863,0.400930760511,-0.00546044367326,0.049919772964,0.999999974393,-1.069144948e-05,-0.000223096697431,-3.64341082615e-05,1793192203097208576
+62,1.033333333,BASELINE,763.020319867,742,711,671.020319867,663,633,875.020319867,783.979680133,799.979680133,649.979680133,628.020319867,650.020319867,0.400930283991,-0.00546053080313,0.0499193625112,0.999999974361,-1.28861071868e-05,-0.000223089076435,-3.66411764723e-05,1793192203113875712
+63,1.050000000,BASELINE,763.550691966,742,711,671,663,633,875,783.449308034,799.449308034,649.449308034,628,650.550691966,0.400931119061,-0.0054610921992,0.0499200919576,0.999999974583,-1.24981653534e-05,-0.000222170915794,-3.62949023576e-05,1793192203130542080
+64,1.066666667,BASELINE,764,742,711,671,663,633,875,783,799,649.127066279,628,651,0.400932008248,-0.00546183140608,0.0499207038859,0.999999974782,-1.22747954849e-05,-0.000221346902326,-3.59158187031e-05,1793192203147208704
+65,1.083333333,BASELINE,764,742,711,671,663,633,875,783,799,649.724074608,628,651,0.4009329205,-0.00546316419737,0.0499207272861,0.999999974866,-1.30087585482e-05,-0.000220994015932,-3.54900996286e-05,1793192203163875328
+66,1.100000000,BASELINE,764,742,711,671,663,633,875,783,799,650,628,650.690153553,0.400932224704,-0.00546263592115,0.0499202200305,0.999999974665,-1.27057402514e-05,-0.000221911286593,-3.55583712068e-05,1793192203180541696
+67,1.116666667,BASELINE,764,742,711,671,663,633,875,783,799,650,628,650.114037917,0.400930147018,-0.00546050832061,0.0499192567514,0.999999974214,-1.15115831369e-05,-0.000223920077573,-3.60511578892e-05,1793192203197208320
+68,1.133333333,BASELINE,764,742,711,671,663,633,875,783,799,650,628.461783911,650.461783911,0.400929080467,-0.00545996564429,0.0499185574782,0.999999974009,-1.08137937436e-05,-0.000224858533099,-3.60930220205e-05,1793192203213874688
+69,1.150000000,BASELINE,764,742,711,671,663,633,875,783,799,650,628.96160309,651,0.400928381597,-0.00545981650496,0.049917970657,0.999999973883,-1.0180529369e-05,-0.000225462012583,-3.60255520694e-05,1793192203230541568
+70,1.166666667,BASELINE,764,742,711,671,663,633,875,783,799,650,628.372605788,651,0.400929376801,-0.00545970160216,0.0499180620623,0.999999973991,-8.71591460121e-06,-0.000225049897628,-3.59860562071e-05,1793192203247208448
+71,1.183333333,BASELINE,764,742,711,671,663,633,875,783,799.212743344,650,628,651,0.400929814251,-0.00546024608704,0.0499180393505,0.999999974003,-8.78164731124e-06,-0.000225004108184,-3.59170096421e-05,1793192203263875072
+72,1.200000000,BASELINE,764,742,711,671,663,633,875,783,799.791810766,650,628,651,0.400929291302,-0.00546192597563,0.0499178201397,0.999999973848,-1.14824945503e-05,-0.000225589096831,-3.57970795334e-05,1793192203280541696
+73,1.216666667,BASELINE,764,742,711,671,663,633,875,783.368519131,799.631480869,650,628,651,0.400929774151,-0.00546105987716,0.0499184108208,0.999999974002,-1.1893635236e-05,-0.000224873391548,-3.58650545402e-05,1793192203297208320
+74,1.233333333,BASELINE,764,742,711,671,663,633,875,783.943903225,799.056096775,650,628,651,0.400930821597,-0.00545876461121,0.0499194561275,0.99999997433,-1.10194691849e-05,-0.000223427553167,-3.6038508433e-05,1793192203313874944
+75,1.250000000,BASELINE,764,742,711,671,663,633,875.519392626,784,799,649.480607374,628.519392626,650.480607374,0.400931944798,-0.00545887471429,0.0499203104878,0.999999974625,-1.13910905344e-05,-0.000222016979156,-3.64610294293e-05,1793192203330541568
+76,1.266666667,BASELINE,764,742,711,671,663,633,875.902723435,783.902723435,799.097276565,649.097276565,629,650.097276565,0.400932710885,-0.00545928649337,0.0499208695484,0.999999974824,-1.17169872847e-05,-0.000221049300212,-3.67718948103e-05,1793192203347208192
+77,1.283333333,BASELINE,764,742,711,671,663,633,875.312769497,783.312769497,799.687230503,649.687230503,629,650.687230503,0.400931626847,-0.0054599101417,0.0499200374742,0.999999974566,-1.11297039765e-05,-0.00022230546147,-3.63809869026e-05,1793192203363874816
+78,1.300000000,BASELINE,764,742,711,671,663,632.727896842,875.272103158,783,799.727896842,650,629,650.727896842,0.400931383475,-0.00546008607514,0.0499196127696,0.999999974493,-1.02343586694e-05,-0.000222713900313,-3.61727018024e-05,1793192203380541696
+79,1.316666667,BASELINE,764,742,711,671,663,632.148757848,875.851242152,783,799.148757848,650,629,650.148757848,0.400932088695,-0.00545975681591,0.0499196477329,0.999999974627,-8.99140231817e-06,-0.000222165785817,-3.61704847031e-05,1793192203397208320
+80,1.333333333,BASELINE,764,742,711,671,663,632.427330882,876,783,799.427330882,650,628.572669118,650,0.400931984679,-0.00545946280511,0.0499195368486,0.999999974581,-8.78453501699e-06,-0.000222388150349,-3.61180983114e-05,1793192203413874944
+81,1.350000000,BASELINE,764,742.002355907,711,671,663,633,875.997644093,783,799.997644093,650,628.002355907,650.002355907,0.400931597467,-0.00545917702841,0.0499193740396,0.999999974473,-8.92990488595e-06,-0.000222879283725,-3.60499863244e-05,1793192203430541824
+82,1.366666667,BASELINE,764,742.57509264,711,671,663,633,875.42490736,783,799.42490736,650,628.57509264,650.57509264,0.400930365427,-0.00545793511873,0.0499188447533,0.999999974229,-7.65196634506e-06,-0.000223965711117,-3.63728840135e-05,1793192203447208192
+83,1.383333333,BASELINE,764,742.846904054,711,671,663,633,875,783,799,649.846904054,629,651,0.400929666492,-0.00545752798344,0.0499184582532,0.999999974062,-7.35901286581e-06,-0.000224695627395,-3.65145282994e-05,1793192203463874560
+84,1.400000000,BASELINE,764,742.253762849,711,671,663,633,875,783,799,649.253762849,629,651,0.400930499866,-0.00545952024849,0.0499184821647,0.99999997412,-9.89721182154e-06,-0.000224400820352,-3.61351941331e-05,1793192203480541184
+85,1.416666667,BASELINE,764,742,711,671,663.330502021,633,875,783,799.330502021,649.330502021,628.669497979,650.669497979,0.400930401915,-0.00546114367635,0.0499183092987,0.99999997396,-1.13607445562e-05,-0.000225071406287,-3.59801579443e-05,1793192203497208064
+86,1.433333333,BASELINE,764,742,711,671,663.90812977,633,875,783,799.90812977,649.90812977,628.09187023,650.09187023,0.400929607587,-0.00546249131407,0.0499179892967,0.999999973637,-1.20207187517e-05,-0.000226463843925,-3.59928357322e-05,1793192203513874688
+87,1.450000000,BASELINE,764,742,711,671,663.514394388,632.514394388,875,783,799.514394388,650,628,650,0.400929666477,-0.00546195524018,0.0499177688446,0.999999973774,-1.11296028313e-05,-0.000225893324604,-3.60737423388e-05,1793192203530541312
+88,1.466666667,BASELINE,764,742,711,671,663,632.063950363,875.127900725,783,799,650,628,650.063950363,0.400929823464,-0.00546114903903,0.0499176012331,0.999999973969,-1.01525576362e-05,-0.000225058566723,-3.61637872758e-05,1793192203547207936
+89,1.483333333,BASELINE,764,742,711,671,663,632.649618203,876.299236406,783,799,650,628,650.649618203,0.400929464272,-0.00546104554038,0.0499177111058,0.999999973951,-1.08677186966e-05,-0.000225096822694,-3.62231115693e-05,1793192203563874560
+90,1.500000000,BASELINE,764,742,711,670.765937804,663.234062196,633,876.765937804,783,799.234062196,649.765937804,628.234062196,651,0.40092980079,-0.00546044523728,0.0499181521214,0.999999974066,-1.0634494616e-05,-0.000224591464631,-3.62316558192e-05,1793192203580541184
+91,1.516666667,BASELINE,764,742,711,670.183316384,663.816683616,633,876.183316384,783,799.816683616,649.183316384,628.816683616,651,0.400931173341,-0.00545910510616,0.0499190862662,0.999999974379,-8.98896043831e-06,-0.000223276570944,-3.61645797677e-05,1793192203597207808
+92,1.533333333,BASELINE,764,742,711,670.393350986,663.606649014,633,876,783,799.606649014,649.393350986,629,651,0.400931074137,-0.00545864954102,0.0499190521395,0.999999974351,-7.92242262761e-06,-0.00022341932084,-3.6305541454e-05,1793192203613874688
+93,1.550000000,BASELINE,764,742,711,670.967284971,663.032715029,633,876,783,799.032715029,649.967284971,629,651,0.400930299266,-0.00545860007,0.0499185734904,0.999999974167,-7.12169537067e-06,-0.00022423125834,-3.65420109119e-05,1793192203630541312
+94,1.566666667,BASELINE,764,742,711.543468976,671,663.543468976,633,876,783,799,650,629,651,0.400929431078,-0.00545939829095,0.0499188952926,0.999999974128,-8.14757460801e-06,-0.000224386348813,-3.6434751609e-05,1793192203647208192
+95,1.583333333,BASELINE,764,742,711.877311153,671,663.877311153,633,876,783,799,649.877311153,628.877311153,650.877311153,0.400928915766,-0.00546022466286,0.0499191743634,0.999999974145,-9.04193392899e-06,-0.000224304959796,-3.62757251425e-05,1793192203663874816
+96,1.600000000,BASELINE,764,742,711.287039382,671,663.287039382,633,876,783,799,649.287039382,628.287039382,650.287039382,0.400929766809,-0.00546096303829,0.0499191061784,0.999999974341,-9.01425709956e-06,-0.000223473635687,-3.59985924912e-05,1793192203680541440
+97,1.616666667,BASELINE,763.702597806,742,711,671,663,633,875.702597806,783,799,649,628.297402194,650.297402194,0.400930785337,-0.00546134134832,0.0499190761902,0.999999974525,-9.0426045676e-06,-0.000222651340744,-3.59728834992e-05,1793192203697208064
+98,1.633333333,BASELINE,763.123675119,742,711,671,663,633,875.123675119,783,799,649,628.876324881,650.876324881,0.400931962407,-0.0054613788209,0.0499190823589,0.999999974698,-9.12398455713e-06,-0.000221837592843,-3.61851718002e-05,1793192203713874944
+99,1.650000000,BASELINE,763.451698014,742,711,671,663,633,875,783,799.451698014,649.451698014,628.548301986,650.548301986,0.400932077632,-0.00546063082985,0.0499190242116,0.999999974711,-9.4977506091e-06,-0.000221731080337,-3.63710733126e-05,1793192203730541312
+100,1.666666667,BASELINE,763.973307908,742,711,670.973307908,663,633,875.026692092,783,799.973307908,649.973307908,628.026692092,650.026692092,0.400931854685,-0.00545968844851,0.0499189276818,0.999999974671,-9.93624384626e-06,-0.000221862288402,-3.65454996698e-05,1793192203747208192
+101,1.683333333,BASELINE,763.386022395,742,711,670.386022395,663,633,875.613977605,783,799.386022395,649.386022395,628.613977605,650.613977605,0.400930587818,-0.00545914496594,0.0499183919938,0.999999974425,-1.00659191808e-05,-0.000222950967482,-3.66294742751e-05,1793192203763874816
+102,1.700000000,BASELINE,763.397405987,742,711,670.198702993,663,633,876,783,799.198702993,649.198702993,629,651,0.400929569174,-0.00545940813875,0.0499179500197,0.999999974165,-1.05125763974e-05,-0.000224098703737,-3.65914616221e-05,1793192203780541440
+103,1.716666667,BASELINE,764.557036001,742,711,670.778518001,663,633,876,783,799.778518001,649.778518001,629,651,0.400929026623,-0.00546121847529,0.0499176877888,0.99999997388,-1.15672043268e-05,-0.000225359711431,-3.63194775983e-05,1793192203797208064
+104,1.733333333,BASELINE,764.64277527,742,711,671,663,633,875.64277527,783,799.64277527,650,629,651,0.400929280458,-0.00546023967228,0.0499177911998,0.999999974008,-1.02496657706e-05,-0.000224858096879,-3.62905090814e-05,1793192203813874688
+105,1.750000000,BASELINE,764.0647535,742,711,671,663,633,875.0647535,783,799.0647535,650,629,651,0.400930026533,-0.00545753693012,0.0499181206105,0.999999974385,-7.46591488731e-06,-0.000223267023227,-3.64117459972e-05,1793192203830541568
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,711,671,665,633,875,783,799,650,629,650,0.400932140664,-0.00546126120822,0.0499190560278,0.999999974463,-1.03762151923e-05,-0.000222890267898,-3.58782012523e-05,1793192203861781760
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664.401350231,633,875.598649769,783.598649769,799.598649769,650,629,650.598649769,0.400930488548,-0.00546134264805,0.0499186727513,0.999999974191,-1.23207503678e-05,-0.000224018856456,-3.58115022637e-05,1793192203878448384
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.809523045,633,876,783.809523045,799.809523045,650,628.809523045,651,0.4009294397,-0.00546136601267,0.0499184432609,0.999999974019,-1.31576242675e-05,-0.000224739196091,-3.57854024157e-05,1793192203895115264
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.231574375,633,876,783.231574375,799.231574375,650,628.231574375,651,0.400929618031,-0.00546127123965,0.0499185266048,0.99999997406,-1.17412736436e-05,-0.000224629068488,-3.58418900722e-05,1793192203911781888
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632.655343406,875.655343406,783,798.655343406,650,628.344656594,651,0.400930459253,-0.00546001206918,0.0499186869576,0.999999974214,-1.00161026453e-05,-0.000223985206603,-3.60886930833e-05,1793192203928448512
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632.080260868,875.080260868,783,798.080260868,650,628.919739132,651,0.400931743664,-0.00545797442128,0.0499188987959,0.999999974442,-8.08446469326e-06,-0.000222984507721,-3.64627346116e-05,1793192203945115136
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,741.494026052,711,671.505973948,663,632,875.505973948,783,798.505973948,650,629,651,0.400934365873,-0.00545859346094,0.0499203549672,0.999999975046,-8.2894801045e-06,-0.00022024530002,-3.64830822757e-05,1793192203961781760
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,741.092585266,711,671.907414734,663,632.092585266,876.092585266,783,799,650,628.907414734,651,0.400938734394,-0.00545960280479,0.0499221663151,0.999999975889,-8.64546788061e-06,-0.000216384632488,-3.63920206858e-05,1793192203978448640
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,741.671669795,711,671.328330205,663,632.671669795,876.671669795,783,799,650,628.328330205,651,0.400951138888,-0.00546039873383,0.0499247834248,0.999999977664,-7.97367412682e-06,-0.000208112874556,-3.60170024965e-05,1793192203995115264
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.249638029,711,671,663.249638029,633,876.750361971,783,799,650,628,651,0.400969645329,-0.00546147796387,0.0499287672602,0.999999980121,-9.2340978177e-06,-0.00019594110753,-3.57655859446e-05,1793192204011781632
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.826144574,711,671,663.826144574,633,876.173855426,783,799,650,628,651,0.400996141474,-0.00546292813961,0.0499345406448,0.999999983319,-1.3024508884e-05,-0.000178662786683,-3.5676009678e-05,1793192204028448512
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.599190479,711,671,664,633,875.599190479,783,799,650,628,651,0.401033073203,-0.00546427416801,0.0499403750219,0.999999986798,-1.36858969391e-05,-0.000157915477832,-3.57662478575e-05,1793192204045115136
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.02532064,711,671,664,633,875.02532064,783,799,650,628,651,0.401074510779,-0.0054655752281,0.0499462357346,0.999999990067,-1.29962452708e-05,-0.00013567033835,-3.59341257524e-05,1793192204061781760
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875.564228414,783,799,650,628,651,0.401125140659,-0.00546603050483,0.0499487800336,0.999999992439,-1.35893273729e-05,-0.000116525529546,-3.68645874073e-05,1793192204078448640
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.848451089,633,876,783,799,650,628.151548911,651,0.401181348727,-0.00546721204816,0.049951551713,0.999999994096,-1.42995270455e-05,-0.000101065560801,-3.72677954309e-05,1793192204095115264
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.269457435,633,876,783,799,650,628.730542565,651,0.401252093354,-0.00547055214621,0.0499553964933,0.999999994665,-1.51730553608e-05,-9.55950643876e-05,-3.60845984675e-05,1793192204111781632
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.307575671,633,876,783,799,650,628.692424329,651,0.40132917862,-0.00547352857143,0.0499562174062,0.999999994796,-1.60626242041e-05,-9.43704288188e-05,-3.52650777002e-05,1793192204128448512
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.882902046,633,876,783,799,650,628.117097954,651,0.401411783533,-0.00547618841203,0.0499544059827,0.999999994563,-1.69661565921e-05,-9.68418993982e-05,-3.47621443241e-05,1793192204145115136
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876,783,799,650,628,651,0.401519177697,-0.00548069278594,0.0499545387699,0.999999994581,-1.91341858139e-05,-9.66293756419e-05,-3.36720041587e-05,1793192204161781760
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876.033214657,783.033214657,799,650,628.033214657,650.966785343,0.401634594474,-0.00548570438623,0.0499552695786,0.999999994664,-2.16849578234e-05,-9.56630030847e-05,-3.24137011039e-05,1793192204178448384
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876.624399271,783.624399271,799,650,628.624399271,650.375600729,0.401778365257,-0.00549131848411,0.049957700239,0.999999994829,-2.52370631961e-05,-9.35548483463e-05,-3.08512507848e-05,1793192204195115008
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876.788002829,783.788002829,799,650,628.788002829,650,0.401933910422,-0.00549717093602,0.0499585449424,0.999999994757,-2.87687352652e-05,-9.37778724086e-05,-2.93986274852e-05,1793192204211781632
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876.206653936,783.206653936,799,650,628.206653936,650,0.402109969472,-0.00550343865926,0.0499566265147,0.999999994276,-3.22648070737e-05,-9.80623891101e-05,-2.81373502926e-05,1793192204228448256
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.629728414,742,711,671,663.629728414,633,876,783,799,650,628.370271586,650,0.402306108279,-0.00551122698128,0.0499546058475,0.999999993981,-3.71987650709e-05,-9.96823353816e-05,-2.6791943814e-05,1793192204245114880
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.055242443,742,711,671,663.055242443,633,876,783,799,650,628.944757557,650,0.402513321609,-0.00551985395354,0.0499525287922,0.999999993773,-4.29257549289e-05,-9.98327023316e-05,-2.54001377334e-05,1793192204261781504
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.5160946,742,711,671,663,633,875.4839054,783,799,650,629,650.5160946,0.402760634144,-0.00552922225652,0.049954875368,0.999999994219,-4.70298434328e-05,-9.38969087311e-05,-2.30967846665e-05,1793192204278448128
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632.908999422,875,783,799,649.908999422,629,651,0.403019564723,-0.00553874230734,0.0499583084289,0.999999994817,-5.08034948232e-05,-8.57867933136e-05,-2.06261716283e-05,1793192204295115008
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632.312403014,875,783,799,649.312403014,629,651,0.403319342171,-0.00554866726659,0.0499651631521,0.999999996006,-5.37005487934e-05,-6.91937549824e-05,-1.77650830911e-05,1793192204311781632
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.273964432,632.273964432,875.273964432,783.273964432,799.273964432,649.273964432,629,650.726035568,0.403644416687,-0.00555887648448,0.0499719779954,0.999999996867,-5.67295450234e-05,-5.32687095894e-05,-1.45211838455e-05,1793192204328448256
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.849087532,632.849087532,875.849087532,783.849087532,799.849087532,649.849087532,629,650.150912468,0.40399729929,-0.00556939817649,0.0499787489997,0.999999997422,-5.99035801852e-05,-3.80779644002e-05,-1.08564755372e-05,1793192204345114880
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.575489196,633,876,783.575489196,799.575489196,650,628.575489196,650,0.404374150842,-0.00557625345073,0.0499858208712,0.999999998042,-5.7572582359e-05,-2.35391033101e-05,-6.82883635455e-06,1793192204361781760
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,670.999958143,663.000041857,632.999958143,876,783,799,650,628,650,0.404759530833,-0.00558180325485,0.0499929989549,0.999999998534,-5.32817226164e-05,-9.23369185297e-06,-2.67219455023e-06,1793192204378448384
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711,670.410253084,663.589746916,632.410253084,876,783,799,650,628,650,0.405166327669,-0.00557121021395,0.0499886136484,0.999999999454,-2.85283707231e-05,-1.66550415405e-05,-5.8868155906e-08,1793192204395115008
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.176257705,742,711,670.176257705,663.823742295,632.176257705,876,783,799,650,628,650,0.405579239431,-0.0055619835854,0.0499790670077,0.99999999937,-5.59592764697e-06,-3.49610696165e-05,2.41887360998e-06,1793192204411781632
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.755465854,742,711,670.755465854,663.244534146,632.755465854,876,783,799,650,628,650,0.406006130734,-0.00555588077331,0.0499577208158,0.999999996849,1.31736527607e-05,-7.81510358029e-05,4.58664906845e-06,1793192204428448256
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,742,711.331718512,671,663,632.668281488,875.668281488,783,799,650,628,650,0.406471570832,-0.00555574463578,0.0499381010614,0.999999993453,2.5853575769e-05,-0.000111245210155,7.0997900324e-06,1793192204445115136
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,742,711.905811761,671,663,632.094188239,875.094188239,783,799,650,628,650,0.406965177187,-0.00555996813121,0.0499197427504,0.999999989991,3.40840080227e-05,-0.000136962758588,9.86527732434e-06,1793192204461782016
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.517777653,742,712,671,663,632.482222347,875.482222347,783,799,649.517777653,628,650.482222347,0.40751753681,-0.00556331296189,0.0499268065286,0.999999991785,4.40641042396e-05,-0.000119427976999,1.4985512274e-05,1793192204478448640
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711.939345459,671,663.060654541,633,876,783,799.060654541,649.060654541,628,650.939345459,0.408086392778,-0.00556627019828,0.0499405643172,0.999999994228,5.36062070907e-05,-9.08553323962e-05,2.03952053392e-05,1793192204495115264
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711.347183295,671,663.652816705,633,876,783,799.652816705,649.652816705,628,650.347183295,0.408698758242,-0.00556734216075,0.0499692589515,0.999999997322,5.63011001963e-05,-3.99463637312e-05,2.4291599654e-05,1793192204511781888
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876.238120036,783,800,650,628,650,0.40931823607,-0.00556924306398,0.049989298734,0.99999999828,5.17149091852e-05,-7.86425947481e-06,2.65112540059e-05,1793192204528449024
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876.813703017,783,800,650,628,650,0.409947793479,-0.0055723187393,0.0499970728866,0.999999998972,3.6809989276e-05,-2.46352980309e-06,2.63546377323e-05,1793192204545116416
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632.612810976,876.612810976,783,799.612810976,650,628,650,0.410571792553,-0.00557123370376,0.049982924465,0.99999999833,3.55188773925e-05,-3.69890651661e-05,2.66606937276e-05,1793192204561783040
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632.040328515,876.040328515,783,799.040328515,650,628,650,0.411193131608,-0.00556815751557,0.0499582847614,0.999999994694,4.07427988597e-05,-9.06217405019e-05,2.71881664129e-05,1793192204578449408
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.551416143,711,671,663.448583857,632.551416143,876,783,799,650,628,650,0.41185539581,-0.00556504647766,0.0499368601864,0.99999999163,4.27485972831e-05,-0.000119316853466,2.59838657727e-05,1793192204595115776
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.859257317,711,671,663.140742683,632.859257317,876,783,799,650,628,650,0.412547174215,-0.00556299775841,0.0499276557956,0.999999990756,4.36180495032e-05,-0.000126257551007,2.5397221555e-05,1793192204611782400
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.281959282,711,671,663.718040718,632.281959282,876,783,799,650,628,650,0.413320879497,-0.00556425232946,0.0499556001854,0.9999999962,4.17192540454e-05,-7.15823985551e-05,2.71335026847e-05,1793192204628448768
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.294313468,671.294313468,664,632.294313468,876,783,799,650,628,650.294313468,0.414076388313,-0.00555929817967,0.0499657803794,0.999999997297,4.40207906277e-05,-5.26877124101e-05,2.63089558588e-05,1793192204645115392
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711.869607447,671.869607447,664,632.869607447,876,783,799,650,628,650.869607447,0.414814525086,-0.00554841657596,0.0499590011323,0.999999996159,5.03323761385e-05,-6.79525636281e-05,2.30395916728e-05,1793192204661782016
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711.551050828,672,663.551050828,633,876,783.448949172,799.448949172,649.551050828,628,650.551050828,0.415552316224,-0.00553980556098,0.0499369881281,0.999999992972,5.4211120265e-05,-0.000103454526908,2.03580337188e-05,1793192204678448640
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,671.970224706,663.029775294,633,876,783.970224706,800,649.029775294,628.029775294,650,0.416294635407,-0.00553262002567,0.0499126507029,0.999999988295,5.62801668963e-05,-0.000141138936255,1.79561083632e-05,1793192204695115264
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,711,671.383825602,663.616174398,633,876,783.383825602,800,649.616174398,628.616174398,650,0.417123497105,-0.00553964224502,0.0499283246603,0.999999993217,3.7847797682e-05,-0.000108744915781,1.75611328635e-05,1793192204711781888
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.199584023,711,671,664,633,876.199584023,783,799.800415977,650,628.800415977,650,0.417951386774,-0.00554567370159,0.0499471058589,0.99999999673,2.60367340731e-05,-7.4223433581e-05,1.87645923358e-05,1793192204728448768
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.777329309,711,671,664,633,876.777329309,783,799.222670691,650,628.222670691,650,0.418777434647,-0.00554982791277,0.0499717744929,0.999999998741,2.67713716331e-05,-3.56709513985e-05,2.29966819806e-05,1793192204745115392
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.64747027,711,671,664,633,876.64747027,783,799,650,628,650,0.419574209276,-0.00554708150233,0.0499671803185,0.999999998024,3.21801114255e-05,-4.81470676645e-05,2.44471038599e-05,1793192204761782016
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.073865779,711,671,664,633,876.073865779,783,799,650,628,650,0.420352626345,-0.005540007646,0.0499442351565,0.999999994598,4.05200253114e-05,-9.2623706815e-05,2.41531151304e-05,1793192204778448384
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632.500162064,876,783.499837936,799,650,628,650,0.421231891706,-0.00554344228903,0.0499575839358,0.999999997669,3.1663529483e-05,-5.52713091044e-05,2.45718041785e-05,1793192204795115008
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.076518796,711.076518796,671,664,632,876.076518796,783.923481204,799,650,628.076518796,650,0.422117239262,-0.00554808192258,0.0499745139001,0.9999999994,2.11329184633e-05,-1.12760403275e-05,2.50420206001e-05,1793192204811781632
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.673343391,711.673343391,671,664,632,876.673343391,783.326656609,799,650,628.673343391,650,0.422942585258,-0.00555035349843,0.0499793173929,0.999999999538,1.65021888913e-05,-4.35405520192e-06,2.51463264266e-05,1793192204828448512
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.740127724,711.740127724,671.259872276,664,632.259872276,876.740127724,783.259872276,799,649.740127724,628.740127724,650,0.423757179188,-0.00555211049196,0.0499744986722,0.99999999951,1.32722261609e-05,-1.27374242961e-05,2.53244366508e-05,1793192204845115392
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.166047171,711.166047171,671.833952829,664,632.833952829,876.166047171,783.833952829,799,649.166047171,628.166047171,650,0.424558773042,-0.00555324531083,0.0499580458557,0.999999998819,1.17359122484e-05,-3.96263023075e-05,2.55917828389e-05,1793192204861782016
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.409058807,742,711.409058807,672,664,633,876.409058807,783.590941193,799,649,628.409058807,650,0.425393250108,-0.00555474800794,0.0499661963349,0.999999999127,9.66215066652e-06,-3.00479332217e-05,2.73794857938e-05,1793192204878448896
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.984582043,742,711.984582043,672,664,633,876.984582043,783.015417957,799,649,628.984582043,650,0.426241108784,-0.00555640041118,0.0499843590028,0.999999999513,7.36967754343e-06,-5.62939941355e-06,2.97858902759e-05,1793192204895115776
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.422566922,742.577433078,712,672,664.577433078,633,877,783,799,649.577433078,628.422566922,650,0.427040366173,-0.0055561385788,0.0499867967324,0.999999999162,6.84291444545e-06,-2.49955203043e-05,3.16879706021e-05,1793192204911782400
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.833528453,711.833528453,671.833528453,664.833528453,632.833528453,877,783,799,650,628,650,0.427826604348,-0.00555464969043,0.0499782112686,0.999999998033,6.74166324905e-06,-5.34706554311e-05,3.20897526755e-05,1793192204928448768
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.255104966,711.255104966,671.255104966,664.255104966,632.255104966,877,783,799,650,628,650,0.428583935654,-0.00555025471309,0.0499434188699,0.999999994405,7.57311039159e-06,-0.000101504499686,2.88132372011e-05,1793192204945115136
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.321331779,711,671.321331779,664,632.321331779,876.678668221,783,799,649.678668221,628,650,0.429370798594,-0.00555026665078,0.0499367784383,0.999999994446,8.44068436048e-06,-0.000101241605338,2.80561375915e-05,1793192204961781760
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.896200918,711,671.896200918,664,632.896200918,876.103799082,783,799,649.103799082,628,650,0.430180962562,-0.00555375573497,0.0499523504875,0.999999997551,9.33676309723e-06,-6.28715921366e-05,2.92869088948e-05,1793192204978448384
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.51887676,711,672,664.48112324,632.51887676,876.48112324,783,799,649.48112324,628,650,0.430937804154,-0.0055560582704,0.0499528091693,0.999999997172,1.14015817393e-05,-6.82202740709e-05,2.95427551873e-05,1793192204995115520
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664.932684819,632,876.932684819,783,799.067315181,649.932684819,628.067315181,650,0.431678673085,-0.00555764693303,0.0499482328201,0.999999995916,1.52817322636e-05,-8.40751061366e-05,2.9412426805e-05,1793192205011782400
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664.353680886,632,876.353680886,783,799.646319114,649.353680886,628.646319114,650,0.432387439337,-0.00555579657637,0.0499306973307,0.99999999345,3.10033454141e-05,-0.000106564781168,2.79795821466e-05,1793192205028449024
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.225067631,742,711,672,664,632,876.225067631,783.225067631,799.774932369,649.225067631,629,650,0.433100581893,-0.00555508381176,0.0499273310885,0.999999992954,4.16171823683e-05,-0.000107647492448,2.77854679925e-05,1793192205045115648
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.803415321,742,711,672,664,632,876.803415321,783.803415321,799.196584679,649.803415321,629,650,0.433820593875,-0.00555615668163,0.0499462057693,0.999999995764,4.42135406604e-05,-7.5128514334e-05,2.9535741555e-05,1793192205061782272
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.620803883,742,711,672,664.379196117,632.379196117,877.379196117,783.620803883,799.758392234,649.620803883,629,650,0.434508909226,-0.00555548485,0.049965569576,0.999999997439,4.4945307874e-05,-4.61864188153e-05,3.11132672714e-05,1793192205078448384
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.046344916,742,711,672,664.953655084,632.953655084,877.953655084,783.046344916,800.907310169,649.046344916,629,650,0.435180902704,-0.00555391460356,0.0499851852515,0.999999998287,4.4716924349e-05,-1.90862014086e-05,3.26018382804e-05,1793192205095115008
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.540620422,711,672,664.459379578,632.459379578,877.459379578,783,799.918759156,649,628.459379578,650.540620422,0.435765684815,-0.00555319248334,0.0499632790145,0.999999995844,4.44569445396e-05,-7.25051996531e-05,3.28367172633e-05,1793192205111781888
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.872654776,742.872654776,711,672,664,632,877,783,799,649,628,651,0.436345741554,-0.00555234732425,0.0499412230111,0.999999991178,4.41470996366e-05,-0.000120957317455,3.26253237663e-05,1793192205128448768
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.290706593,742.290706593,711,672,664,632,877,783,799,649,628,651,0.436936250443,-0.00555079723962,0.0499316400895,0.999999990564,4.36691427649e-05,-0.000126453875895,3.12135549381e-05,1793192205145115648
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.286962522,742.286962522,711,672.286962522,664.286962522,632.286962522,877,783,799,649.286962522,628,650.713037478,0.43752876329,-0.00555123598384,0.0499419659285,0.999999993813,4.1867939585e-05,-9.82745214049e-05,3.10413716035e-05,1793192205161782272
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.860360396,742.860360396,711,672.860360396,664.860360396,632.860360396,877,783,799,649.860360396,628,650.139639604,0.438123276378,-0.00555365990337,0.0499721639547,0.999999998069,3.87459209019e-05,-3.64811183753e-05,3.21064965527e-05,1793192205178449152
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711,672.554630201,665,632.554630201,876.554630201,783,799,649.554630201,628.445369799,650,0.438641478556,-0.00555625949426,0.0499812957748,0.999999998542,3.55548787109e-05,-2.3377192487e-05,3.32414463016e-05,1793192205195115776
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.966451202,742.966451202,711,672,664.966451202,632,876.033548798,783,799,649,628.966451202,650,0.439131853443,-0.00555860238311,0.0499817514855,0.999999998475,3.26813130132e-05,-2.84732902993e-05,3.4216165844e-05,1793192205211782144
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.387514766,742.387514766,711,672,664.387514766,632,876.612485234,783,799,649,628.387514766,650,0.439569222346,-0.0055558528101,0.0499514128205,0.999999996072,3.53300546618e-05,-7.46243568093e-05,3.22206679767e-05,1793192205228448768
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.191388195,742,711,672.191388195,664,632.191388195,877,783,799,649,628.191388195,650,0.439991288863,-0.00555253014431,0.049925080612,0.999999992072,3.76033036704e-05,-0.000116284259589,3.03248798688e-05,1793192205245115392
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.770223495,742,711,672.770223495,664,632.770223495,877,783,799,649,628.770223495,650,0.440382377241,-0.00554804730645,0.0499068590861,0.999999987747,3.9116404308e-05,-0.00014885223932,2.86309443691e-05,1793192205261782016
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742,711,672.654376001,664.345623999,632.654376001,876.654376001,783,799,649,629,650,0.44077202896,-0.0055472968237,0.0499060182505,0.999999987582,4.04081311397e-05,-0.000149590804604,2.87261607448e-05,1793192205278448640
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,711,672.081236569,664.918763431,632.081236569,876.081236569,783,799,649,629,650,0.441160734939,-0.00554900325503,0.0499166186795,0.999999990317,4.15541331763e-05,-0.00012937687911,2.99991301123e-05,1793192205295115520
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.50492363,711,672,664.49507637,632,876.50492363,783,799,649,628.49507637,650,0.441501481408,-0.00555104613375,0.049924421176,0.999999992138,3.75865034344e-05,-0.000115596725462,3.07891990286e-05,1793192205311782400
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.908188728,711,672,664,632,877,783,799,649,628,650,0.441828914179,-0.00555287282389,0.0499296857497,0.999999993384,3.32319244419e-05,-0.000105625388112,3.11635892014e-05,1793192205328449024
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.328856754,711,672,664,632,877,783,799,649,628,650,0.442127708358,-0.00555325650217,0.0499239274898,0.999999992991,3.13069750161e-05,-0.000110236959555,2.97541865e-05,1793192205345115392
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,711,672.249597929,664,632,877,783,799.249597929,649,628.249597929,650,0.442395584427,-0.00555329467872,0.0499148321948,0.999999991505,2.92040187901e-05,-0.00012370823484,2.88564096226e-05,1793192205361782272
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742,711,672.826900743,664,632,877,783,799.826900743,649,628.826900743,650,0.442622867126,-0.00555287923527,0.0499013556029,0.999999988157,2.68673520375e-05,-0.00014881169049,2.86303623036e-05,1793192205378448896
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742,711,673,664,632,877,783,799.196848791,649.401575605,629,650.401575605,0.442826226448,-0.00555163802991,0.0498894041332,0.999999984967,2.67627210306e-05,-0.000169053793359,2.77586362248e-05,1793192205395115264
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742,711,673,664,632,877,783,798.049749797,649.975125101,629,650.975125101,0.443019340655,-0.00555004319374,0.0498781057927,0.99999998174,2.76139543451e-05,-0.000187214034448,2.66103995786e-05,1793192205411781632
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742,711,673,663.435787668,632,877,783,799.128424665,649.435787668,628.435787668,650.435787668,0.44318431845,-0.00555104636457,0.0498704332161,0.999999980172,2.55728440283e-05,-0.000195793376139,2.58169556735e-05,1793192205428448512
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742,711,672.848635452,663.151364548,632,876.848635452,783,799.848635452,649.151364548,628.151364548,650,0.443340901977,-0.00555128700227,0.049862997951,0.999999978196,2.42411513558e-05,-0.000205893740512,2.5043818218e-05,1793192205445115392
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742,711,672.268951971,663.731048029,632,876.268951971,783,799.268951971,649.731048029,628.731048029,650,0.443477341724,-0.00554903659096,0.0498557690628,0.999999974848,2.52879658184e-05,-0.000221527295921,2.42826260812e-05,1793192205461782272
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.308450678,711.308450678,672,663.691549322,632,876.308450678,783,799,650,629,650,0.443599392306,-0.00554821799894,0.0498508775485,0.999999972533,2.5862210288e-05,-0.000231701708818,2.405158489e-05,1793192205478448896
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.883879132,711.883879132,672,663.116120868,632,876.883879132,783,799,650,629,650,0.443708988418,-0.0055486387103,0.0498480091356,0.999999971246,2.60274243591e-05,-0.000237150990252,2.42794129614e-05,1793192205495115520
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.545547755,711.545547755,672,663,632,877,783,799,649.545547755,629,650,0.443801235736,-0.00555034758583,0.0498468474337,0.999999970962,2.42923560102e-05,-0.000238509028623,2.4491835756e-05,1793192205511782144
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742,711.025052082,672,663,632,877,783,799.025052082,649,629,650,0.443888236523,-0.00555230139397,0.0498462142699,0.99999997095,2.2164378789e-05,-0.00023874322225,2.47044306383e-05,1793192205528448768
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742,711.624404515,672,663,632,877,783,799.624404515,649,629,650,0.443955511996,-0.00555240435604,0.0498478059516,0.999999971377,2.20426230251e-05,-0.000236925510767,2.50102541064e-05,1793192205545115392
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.215485981,712,672,663,632,877,783,800,649,629,650,0.444014671748,-0.00555287552255,0.0498475195345,0.999999971172,2.1188456862e-05,-0.000237864346498,2.50515345742e-05,1793192205561782016
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742.792683851,712,672,663,632,877,783,800,649,629,650,0.444060208554,-0.00555396475208,0.0498440805657,0.999999969885,1.91048763959e-05,-0.000243430285744,2.46487566635e-05,1793192205578448640
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.631147672,742.631147672,711.631147672,672,663,632,876.631147672,782.631147672,800,649,629,650,0.444096032267,-0.00555429997362,0.0498414871048,0.999999969018,1.85018535564e-05,-0.000247032120122,2.44161697478e-05,1793192205595115520
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.055556108,742.055556108,711.055556108,672,663,632,876.055556108,782.055556108,800,649,629,650,0.44412641186,-0.00555421257889,0.0498393675449,0.999999968397,1.87286730585e-05,-0.000249533087529,2.42789736966e-05,1793192205611782400
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.531185825,742,711,672.531185825,663,632,877.062371651,782.531185825,800.531185825,649,629,650,0.44414590523,-0.00555260829506,0.0498386278019,0.999999967967,1.91732071383e-05,-0.000251281291808,2.35609712858e-05,1793192205628449024
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.882655995,742.117344005,711,672.882655995,663.117344005,632,877.882655995,783,800.882655995,649.117344005,629,650,0.444162148001,-0.00555071836775,0.0498374846258,0.999999967402,1.97154875425e-05,-0.000253548944034,2.27895952438e-05,1793192205645115392
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.303483331,742.696516669,711,672.303483331,663.696516669,632,877.303483331,783,800.303483331,649.696516669,629,650,0.444170174614,-0.00554834202068,0.0498341735154,0.999999966218,2.05509274738e-05,-0.000258177481077,2.20523598947e-05,1793192205661782016
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.274161815,743,711,672.274161815,663.725838185,632,876.725838185,783,799.725838185,649.725838185,628.725838185,650,0.444177070955,-0.00554791863216,0.0498321768072,0.999999965449,2.08753043496e-05,-0.000261102521024,2.21664893923e-05,1793192205678448640
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.850125409,743,711,672.850125409,663.149874591,632,876.149874591,783,799.149874591,649.149874591,628.149874591,650,0.444182723073,-0.00554964509226,0.0498316270146,0.999999965156,2.06370946634e-05,-0.000262152323429,2.32178151861e-05,1793192205695115264
+217,3.616666667,POSE1_TO_POSE2_PRESS,763.57707616,743,711,672.57707616,663,632,876.42292384,783,799,649,628.42292384,650,0.444184488793,-0.00554852310353,0.0498304226423,0.999999964555,2.18417784266e-05,-0.000264362966578,2.29193726904e-05,1793192205711782144
+218,3.633333333,POSE1_TO_POSE2_PRESS,763.00539107,743,711,672.00539107,663,632,876.99460893,783,799,649,628.99460893,650,0.444184887492,-0.00554639918778,0.0498289880251,0.999999963838,2.35539924231e-05,-0.000266981929366,2.21461562321e-05,1793192205728448768
+219,3.650000000,POSE1_TO_POSE2_PRESS,763.587652521,742.412347479,711,672.587652521,663,632,876.412347479,783,799,649,629,650,0.444186715353,-0.00554512029234,0.0498286481686,0.999999963682,2.40503749608e-05,-0.000267543710499,2.18815456189e-05,1793192205745115392
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.176575452,711,672.823424548,663,632,876.176575452,783,799,649,628.823424548,650,0.444187860991,-0.00554465013941,0.0498280696729,0.999999963481,2.44953800791e-05,-0.000268259514024,2.17702593667e-05,1793192205761782272
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.755642069,711,672.244357931,663,632,876.755642069,783,799,649,628.244357931,650,0.444187420538,-0.0055460051207,0.0498269234599,0.999999963169,2.48496574635e-05,-0.000269371041318,2.19974283808e-05,1793192205778448896
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711.333340496,672.333340496,663,632,877,783,799.333340496,649,628,650.333340496,0.4441876086,-0.00554623462065,0.0498268398842,0.999999962986,2.55007782542e-05,-0.000270008379319,2.17448974223e-05,1793192205795115520
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711.91004012,672.91004012,663,632,877,783,799.91004012,649,628,650.91004012,0.444188255518,-0.00554564244994,0.0498275320993,0.999999962898,2.63686130825e-05,-0.000270299529996,2.11421559115e-05,1793192205811781888
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.503500057,742.503500057,711.503500057,672.503500057,663,632,877,783,799.503500057,649,628.496499943,650.503500057,0.444188415534,-0.00554580114525,0.0498270030602,0.999999962793,2.55165701306e-05,-0.000270735285405,2.15535032901e-05,1793192205828448512
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.083468475,742.083468475,711,672,663,631.916531525,877,783,799,649,628.916531525,650,0.444188347033,-0.00554595493445,0.0498262664026,0.999999962684,2.44443359549e-05,-0.000271204766654,2.19787302911e-05,1793192205845115136
+226,3.766666667,POSE1_TO_POSE2_PRESS,763.662743803,742.662743803,711,672,663,631.337256197,877,783,799,649,628.337256197,650,0.44418745568,-0.00554525524466,0.049825637231,0.99999996257,2.39523184743e-05,-0.000271715827279,2.13730880118e-05,1793192205861782016
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.76023067,743,711,672,663,631.23976933,877,783,799,649,628,650,0.444187402699,-0.00554455071358,0.0498256045347,0.999999962559,2.42459010828e-05,-0.000271758305124,2.09904498555e-05,1793192205878448896
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.186340295,743,711,672,663,631.813659705,877,783,799,649,628,650,0.444188517999,-0.00554383943618,0.0498264030326,0.999999962692,2.56342255763e-05,-0.000271147807984,2.09185702893e-05,1793192205895115776
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.387101012,742.612898988,711,672,663,632,877,783,799.387101012,649,628.387101012,650,0.444189367218,-0.00554369989671,0.0498266909584,0.999999962815,2.62723407925e-05,-0.000270632514522,2.09360254453e-05,1793192205911782144
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.960326385,742.039673615,711,672,663,632,877,783,799.960326385,649,628.960326385,650,0.444190088501,-0.00554383525799,0.0498267333929,0.999999962933,2.65497433451e-05,-0.000270162996528,2.0996434167e-05,1793192205928448512
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742,711.55257227,672.55257227,663,632,877,783,799.44742773,649,628.44742773,650,0.444189446643,-0.00554475458716,0.0498260648364,0.999999962567,2.50953572585e-05,-0.000271652771215,2.09860130236e-05,1793192205945115136
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742,711.8571274,673,663,632,877,783,799,649,628.1428726,650,0.444188817631,-0.00554574688398,0.0498252812466,0.99999996219,2.3881969129e-05,-0.000273146427737,2.10124747619e-05,1793192205961782016
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742,711.277107402,673,663,632,877,783,799,649,628.722892598,650,0.44418853805,-0.00554678407772,0.0498243074485,0.999999961898,2.37999655137e-05,-0.000274206198735,2.11679017232e-05,1793192205978448384
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.299481019,711,673,663,632,877,783,799,649,629,650,0.444188546177,-0.00554693209997,0.0498239659716,0.999999961959,2.27960068964e-05,-0.000274066057488,2.12004105228e-05,1793192205995115264
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.872930267,711,673,663,632,877,783,799,649,629,650,0.4441888175,-0.00554626669938,0.0498242029485,0.99999996234,2.09486346228e-05,-0.000272828224654,2.11204725778e-05,1793192206011782144
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673,663,632,877,783,799,649.457040305,628.542959695,650,0.444189755668,-0.00554477289935,0.049824652846,0.999999962654,2.21835659525e-05,-0.00027161668888,2.0602325139e-05,1793192206028449280
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,672.956203986,663,632,877,783,799,649.956203986,628,650,0.444190722483,-0.00554326983404,0.0498250324671,0.99999996287,2.39488318208e-05,-0.000270715091127,2.00012833125e-05,1793192206045115904
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,672.37422931,663,632,877,783,799,649.37422931,628,650,0.444189708631,-0.00554455072035,0.0498238036992,0.999999962162,2.14488656619e-05,-0.000273530115273,1.99145015838e-05,1793192206061782528
+239,3.983333333,HOLD_POSE2,764,743,711,672,663,632,877,783,800,649,629,650,0.444191447212,-0.00554559353884,0.0498252975612,0.999999962525,2.25840617789e-05,-0.000272029016331,2.09901338448e-05,1793192206101494784
+240,4.000000000,HOLD_POSE2,763.425485255,742.425485255,711,672,663,632,877,783,800,649,629,650,0.444191793235,-0.00554610523165,0.0498257613876,0.999999962576,2.29956195171e-05,-0.000271783154129,2.12899022646e-05,1793192206118160896
+241,4.016666667,HOLD_POSE2,763,742,711,672.153520206,663,632,876.846479794,783,800,649,628.846479794,650,0.444192340744,-0.00554600035299,0.0498262432644,0.999999962694,2.33936394726e-05,-0.000271313789698,2.13094114271e-05,1793192206134827264
+242,4.033333333,HOLD_POSE2,763,742,711,672.745346981,663,632,876.254653019,783,800,649,628.254653019,650,0.444193463505,-0.00554413513726,0.049826776676,0.999999963001,2.37530085912e-05,-0.000270206317055,2.05287688281e-05,1793192206151494144
+243,4.050000000,HOLD_POSE2,763.329874095,742,711.329874095,672.670125905,663,632,876.329874095,783,800,649,628.329874095,650,0.444192774453,-0.00554380655772,0.0498260572515,0.999999962789,2.41725668679e-05,-0.000270977220078,2.02072499483e-05,1793192206168160512
+244,4.066666667,HOLD_POSE2,763.908888051,742,711.908888051,672.091111949,663,632,876.908888051,783,800,649,628.908888051,650,0.444190717015,-0.00554463853418,0.0498243916131,0.999999962182,2.46375834313e-05,-0.000273166780338,2.02324877138e-05,1793192206184827392
+245,4.083333333,HOLD_POSE2,764,742.483794508,711.516205492,672,663,632,877.483794508,783,800,649,628.516205492,650,0.444190200849,-0.00554290721497,0.0498245088874,0.999999961837,2.644793069e-05,-0.000274261840215,2.01523035287e-05,1793192206201495040
+246,4.100000000,HOLD_POSE2,764.059330289,742.940669711,711,672,663,632,877.940669711,783,800,649,628.059330289,650.059330289,0.44419000812,-0.00554106621567,0.0498248984889,0.999999961603,2.81002880397e-05,-0.000274954571457,2.01058661092e-05,1793192206218162176
+247,4.116666667,HOLD_POSE2,764.647308074,742.352691926,711,672,663,632,877.352691926,783,800,649,628.647308074,650.647308074,0.444190132739,-0.00554251305863,0.0498247479694,0.999999961942,2.61063937565e-05,-0.000273883616542,2.05355343808e-05,1793192206234828032
+248,4.133333333,HOLD_POSE2,764.76814178,742,711,672,663,632,877,783,799.76814178,649,628.76814178,650.76814178,0.444190851025,-0.00554348960781,0.0498249693645,0.999999962287,2.48074210328e-05,-0.000272732678105,2.06995271156e-05,1793192206251494144
+249,4.150000000,HOLD_POSE2,764.188729693,742,711,672,663,632,877,783,799.188729693,649,628.188729693,650.188729693,0.444192459217,-0.00554376118974,0.049825748257,0.999999962643,2.45501310975e-05,-0.000271461845016,2.04652740204e-05,1793192206268160768
+250,4.166666667,HOLD_POSE2,763.610151881,742,711,672.389848119,663,632,877,783,799,649,628.389848119,650,0.44419254249,-0.00554427685541,0.049825553412,0.99999996253,2.43307183851e-05,-0.00027190872616,2.0324108994e-05,1793192206284827648
+251,4.183333333,HOLD_POSE2,763.031977035,742,711,672.968022965,663,632,877,783,799,649,628.968022965,650,0.44419188911,-0.00554491043239,0.0498248881768,0.999999962189,2.41296032715e-05,-0.00027318539572,2.02279126676e-05,1793192206301495296
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+253,4.216666667,HOLD_POSE2,763.220054007,742,711.110027003,672.889972997,662.889972997,632,877,782.110027003,800,649,629,650,0.444191554122,-0.00554643225845,0.0498246884338,0.99999996239,2.14875726776e-05,-0.000272623793227,2.08516574626e-05,1793192206334828032
+254,4.233333333,HOLD_POSE2,764.410069048,742,711.705034524,672.294965476,662.294965476,632,877,782.705034524,800,649,629,650,0.444191299676,-0.00554497771567,0.0498245800056,0.999999962141,2.1616100633e-05,-0.000273563874895,2.03484828253e-05,1793192206351494656
+255,4.250000000,POSE2_TO_POSE3_RETREAT,764,743,711,672,663,632,877,783,800,649,629,650,0.444190071076,-0.00554393491004,0.0498237233119,0.999999961522,2.3845368984e-05,-0.000275641550701,2.02234336156e-05,1793192206388547072
+256,4.266666667,POSE2_TO_POSE3_RETREAT,763.424688306,743,711.575311694,672.575311694,663,632,877,783,799.424688306,649,629,650,0.44419073127,-0.00554229191444,0.049824693885,0.999999961847,2.38253514326e-05,-0.000274485402888,1.99249432607e-05,1793192206405213952
+257,4.283333333,POSE2_TO_POSE3_RETREAT,763,742.850744327,711.850744327,672.850744327,662.850744327,632,877,783,799,649,628.850744327,650,0.444190945807,-0.0055413385646,0.049825095916,0.999999962029,2.38136711565e-05,-0.000273833177206,1.97324326581e-05,1793192206421880832
+258,4.300000000,POSE2_TO_POSE3_RETREAT,763,742.280656539,711.280656539,672.280656539,662.280656539,632,877,783,799,649,628.280656539,650,0.444189903795,-0.00554232969714,0.0498238949212,0.999999961816,2.38254981449e-05,-0.000274601779107,1.98387359795e-05,1793192206438547200
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763,742.304583559,711.304583559,672,662.304583559,632,877,783,799,649,628,650,0.444190101327,-0.00554255027754,0.0498238588022,0.999999961846,2.41608669211e-05,-0.000274459264276,1.99116980957e-05,1793192206455214080
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,742.904516556,711.904516556,672,662.904516556,632,877,783,799,649,628,650,0.444191500825,-0.00554202366672,0.0498249522431,0.99999996211,2.48099686029e-05,-0.00027343325518,1.99523298124e-05,1793192206471880960
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711.058318561,672,663,632,877,783,799.116637122,649.058318561,629,650,0.444192223249,-0.00554184324814,0.0498260503677,0.999999962626,2.58923091131e-05,-0.000271389504725,2.06111211656e-05,1793192206505214720
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,711.634379084,672,663,632,877,783,800.268758167,649.634379084,629,650,0.444182606042,-0.00554175466928,0.0498207334822,0.999999960432,2.48105256892e-05,-0.000279511173329,1.98291322633e-05,1793192206521880832
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,663,632,877,783,800.784561156,649.784561156,629,650,0.444165140294,-0.00554099701222,0.0498123975098,0.999999956378,2.47701962918e-05,-0.000293719867247,1.89320935009e-05,1793192206538546944
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,663,632,877,783,800.194815706,649.194815706,629,650,0.444134038381,-0.00553907688891,0.0497988161323,0.999999948766,2.65393044866e-05,-0.000318504247205,1.78351655008e-05,1793192206555213568
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.387973519,711.612026481,672,663,632,877,783,799.612026481,649,629,650,0.444082492783,-0.00553663048582,0.0497796455566,0.999999937153,2.7512522959e-05,-0.000353078342733,1.65410748116e-05,1793192206571880192
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.457609774,711,672,663,632,877,783,799,649,628.457609774,650,0.443950769959,-0.0055295612664,0.0497445866428,0.999999917806,3.1193099638e-05,-0.000404040247612,1.28763603798e-05,1793192206605213696
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632,877,783,799,649,628.119756979,650,0.443877059226,-0.00552569082874,0.0497341393348,0.999999914143,3.40864556803e-05,-0.000412831495741,1.10189514746e-05,1793192206621880576
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.290449469,711.290449469,672.290449469,663,632,877,783,799.290449469,649,629,650,0.44369357957,-0.00552098591592,0.0497331984714,0.999999912295,3.749628716e-05,-0.000417001228385,1.06663214409e-05,1793192206655213824
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.869712038,711.869712038,672.869712038,663,632,877,783,799.869712038,649,629,650,0.4435842801,-0.00551626381408,0.0497373585188,0.999999914318,3.98174251342e-05,-0.000411920120108,1.00448921178e-05,1793192206671880192
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.973984438,711,672,663,632,877,783,799.026015562,649.973984438,628.026015562,650,0.443303542801,-0.00550356453204,0.0497450029158,0.999999919432,5.02262063511e-05,-0.00039816793489,8.72211320276e-06,1793192206705213696
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.399605809,711,672,663,632,877,783,799.600394191,649.399605809,628.600394191,650,0.443127293234,-0.00549709741407,0.0497451974852,0.999999920015,5.54852061028e-05,-0.000396023081282,7.49879608976e-06,1793192206721880576
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.179186583,742,711,672,663.179186583,632,877,783,799.820813417,649,629,650,0.442941355226,-0.00548996638897,0.049746520498,0.999999920903,6.03692436359e-05,-0.000393078079249,6.29542698139e-06,1793192206738547200
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.768070652,742,711,672,663.768070652,632,877,783,799.231929348,649,629,650,0.442733265306,-0.0054813173879,0.0497504236168,0.999999922524,6.43959557802e-05,-0.00038830359458,5.13766774695e-06,1793192206755213824
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.649049113,742,711,672,663.649049113,632,877,783,799.350950887,649,629,650,0.442498606933,-0.00547167697694,0.0497563533137,0.99999992566,7.14331965226e-05,-0.000378893817514,4.04794797962e-06,1793192206771880704
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.083379812,711,673,664,632,876.916620188,783,799.083379812,649,629,650,0.441656718306,-0.00543978858908,0.0497928480111,0.999999945257,9.69772479555e-05,-0.000316355810119,1.04966931542e-07,1793192206821880320
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.658827016,711,673,664,632,876.341172984,783,799.658827016,649,629,650,0.441305067065,-0.00542670317175,0.0497984122672,0.999999947211,0.000105724844475,-0.000307239705105,-1.84726200348e-06,1793192206838547200
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.171292432,711.828707568,673,664,632.828707568,876,783.828707568,800,649,629,650.828707568,0.440541803638,-0.00540480619487,0.0498041507176,0.999999947925,0.000116731552433,-0.000300793611285,-6.89126956714e-06,1793192206871880448
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.41047343,711.58952657,672.58952657,664,632.58952657,876.41047343,783.58952657,799.58952657,649,629,650.58952657,0.44009849019,-0.00540038207581,0.0498002326304,0.999999946916,0.000112297701382,-0.000305653377591,-1.15693924453e-05,1793192206888547072
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711,672,664.864252698,633,876.135747302,783,799,649,628,650,0.438588842209,-0.00542354591215,0.0497726161929,0.999999938216,6.02988390375e-05,-0.00034569226128,-2.0720856189e-05,1793192206938547712
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.114355733,711.885644267,672.885644267,664,633,876.114355733,783,799.885644267,649,628.885644267,650,0.436934749242,-0.00540732542299,0.0498062077291,0.999999952828,4.82267619346e-05,-0.000301733849075,-3.12084558043e-05,1793192206988547072
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742,711.530571159,672.530571159,664,632.530571159,876.469428841,783.469428841,799.530571159,649,629,650,0.436313525149,-0.00540508456909,0.0498291360892,0.999999960928,4.02179114739e-05,-0.000274637208304,-3.3183769548e-05,1793192207005213696
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.952398545,632.047601455,876.952398545,783.952398545,799.047601455,649,629,650,0.435670936599,-0.00540484433428,0.0498461632983,0.999999965915,2.97177411195e-05,-0.000256982101057,-3.53152446757e-05,1793192207021880320
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.378761242,632.621238758,876.378761242,783.378761242,799.621238758,649,629,650,0.434930370707,-0.0054050048485,0.0498042519509,0.999999946976,1.65852505456e-05,-0.000322458915535,-4.23461788565e-05,1793192207038547200
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.793239378,632.206760622,876.793239378,783,800,649,629,650,0.43351513298,-0.00540413659342,0.0497742567878,0.999999934722,-9.99009593354e-06,-0.000357120651591,-5.40421822474e-05,1793192207071880960
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.27807443,663.556148861,632.27807443,876,783.27807443,799,649,628,650,0.413526520233,-0.0053757031955,0.0497838178932,0.999999931079,8.80179175338e-05,-0.000354955947584,-6.40352285639e-05,1793192207471880704
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.414074329,742,711,671,663.414074329,633,875,783.585925671,799.414074329,650,628.414074329,651,0.400968489458,-0.00544437845433,0.0498432087303,0.999999960797,-2.60772309705e-06,-0.000275596041945,-4.94475335218e-05,1793192208238547456
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.990449827,742,711,671,663.990449827,633,875,783.009550173,799.990449827,650,628.990449827,651,0.400969222118,-0.00544327779489,0.0498435510305,0.999999961314,-9.6808456941e-07,-0.000273685126897,-4.96780750324e-05,1793192208255214592
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875,783.567365318,799.432634682,649.432634682,628.432634682,650.432634682,0.400967620937,-0.00544348245471,0.0498428602297,0.999999960922,-3.98208106366e-07,-0.000275122370238,-4.96346091197e-05,1793192208271880704
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875,783.264779428,799,649.735220572,628.735220572,650,0.400966270623,-0.00544595785101,0.0498436890874,0.999999961003,-3.95152184992e-06,-0.000274883814285,-4.9172943938e-05,1793192208305213696
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.102624929,742,711,671,663.102624929,633,875,783,799,650,628.102624929,650,0.400968029795,-0.00544524787403,0.049843923832,0.999999961496,-3.6927376574e-06,-0.000273057534056,-4.93330414152e-05,1793192208338546688
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.473024448,742,711,671,663,633,875,783,799,650,628,650,0.400966095865,-0.005443513012,0.0498432119037,0.999999960936,-1.99555021946e-06,-0.000275108380442,-4.93898984474e-05,1793192208355213568
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.951046725,742,711,671,663.048953275,632.951046725,875,783,799,650,628,650.048953275,0.400963675522,-0.00544191608726,0.0498423941979,0.999999960245,-5.29804966395e-07,-0.000277608216949,-4.94229173882e-05,1793192208371880448
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.364044469,742,711,671,663.635955531,632.364044469,875,783,799,650,628,650.635955531,0.400963241458,-0.00544358972235,0.049841709884,0.999999960086,-3.04817956594e-06,-0.00027814471523,-4.95380608573e-05,1793192208388547072
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.219856923,742,711,671,664,632.219856923,875,783,799,650,628.219856923,651,0.400963180465,-0.0054444501946,0.0498414355899,0.99999996012,-3.69431230298e-06,-0.000278008170327,-4.95818213505e-05,1793192208405213440
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.798695204,742,711,671,664,632.798695204,875,783,799,650,628.798695204,651,0.40096372862,-0.00544398293822,0.0498418307745,0.999999960472,-1.28345711522e-06,-0.000276772683624,-4.95090280472e-05,1793192208421880064
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.622328638,633,875.377671362,783,799.377671362,650,629,651,0.400964345038,-0.005443816113,0.0498421705878,0.999999960711,-1.43646564756e-07,-0.000275913250204,-4.95040514638e-05,1793192208438546944
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.043278981,633,875.956721019,783,799.956721019,650,629,651,0.400964997856,-0.00544380948081,0.0498424808765,0.999999960891,3.18429696248e-07,-0.000275254332343,-4.95352354629e-05,1793192208455214080
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.533515414,633,875.466484586,783,799.466484586,650,629,651,0.400966277057,-0.00544359165912,0.0498445454113,0.999999961693,6.80209983026e-07,-0.000272382989401,-4.92071300437e-05,1793192208471880448
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875,783.111771892,799,650,628.888228108,650.888228108,0.400967159443,-0.00544357542898,0.0498461092232,0.999999962275,7.05410042454e-07,-0.000270288114204,-4.89279126414e-05,1793192208488546560
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875,783.696993061,799,650,628.303006939,650.303006939,0.400966146643,-0.00544448537325,0.0498449517998,0.999999961743,-6.60776240127e-07,-0.000272239263166,-4.89787149947e-05,1793192208505213440
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875,783.719689613,799,649.719689613,628,650.280310387,0.400965130655,-0.00544412914811,0.0498436935465,0.999999961246,-4.47235250977e-07,-0.000274017949489,-4.9209845555e-05,1793192208521880320
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875,783.138416326,799,649.138416326,628,650.861583674,0.400964111242,-0.00544241346573,0.0498423270344,0.999999960786,1.46242287478e-06,-0.000275611466834,-4.96345904235e-05,1793192208538546944
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.560052604,633,875.439947396,783,799.439947396,649,628.439947396,650.560052604,0.400964547715,-0.0054420237429,0.0498431324925,0.999999961056,1.27604533103e-06,-0.00027464106407,-4.95784504703e-05,1793192208555213312
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.017634237,632.982365763,875.982365763,783,799.982365763,649.017634237,629,650.017634237,0.400965391204,-0.00544209347512,0.0498445621263,0.999999961532,4.82366965082e-07,-0.000272943654882,-4.93683488663e-05,1793192208571879936
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.602805374,632.397194626,875.397194626,783,799.397194626,649.602805374,629,650.602805374,0.400964689053,-0.00544361219516,0.0498442319415,0.999999961358,1.22777049299e-06,-0.000273639263347,-4.90404670801e-05,1793192208588546560
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_02/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d450c230c1cb7a7583c53e1966885424b57a5fb7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,389 @@
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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
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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
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+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_0030_20/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32fab0b408ad0f7dc4fd33ae68801229ca15b520
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8fd68574180522580a9e86abd75491903fd45ee9cf21f0f638589bff69fb3e6
+size 24944939
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3d10b36a9f3781d60c0fff7fcef7aeec0059f53a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_02/franka_data.csv
@@ -0,0 +1,394 @@
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+8,0.133333333,BASELINE,763,742,711.701400033,670.701400033,663.298599967,633,875,783,799,649.701400033,628.298599967,650,0.400967414816,-0.00544341607798,0.0498469329513,0.999999962625,-1.4088894661e-07,-0.000268999698321,-4.88737495294e-05,1793192208849896704
+9,0.150000000,BASELINE,763.279195185,742,711.720804815,671,663,633,875,783.279195185,799,649.720804815,628,650.279195185,0.40096709933,-0.00544412862177,0.0498464593505,0.999999962512,-1.76093797742e-06,-0.000269432062831,-4.87866944612e-05,1793192208866563072
+10,0.166666667,BASELINE,763.854133038,742,711.145866962,671,663,633,875,783.854133038,799,649.145866962,628,650.854133038,0.400966592602,-0.00544557022257,0.0498458784417,0.999999962307,-3.20389617562e-06,-0.000270194452511,-4.86939137624e-05,1793192208883229696
+11,0.183333333,BASELINE,764,742,711,671,663,633,875,783.570571305,799.429428695,649,628,651,0.400966127429,-0.00544547725556,0.0498458799088,0.999999962141,-2.69697967124e-06,-0.00027081372295,-4.86992851764e-05,1793192208899896320
+12,0.200000000,BASELINE,764,742,711,671,663.004992318,633,875,783,799.995007682,649.004992318,628,650.995007682,0.400965691208,-0.00544486445501,0.0498460851854,0.999999961993,-1.5241941764e-06,-0.000271359903781,-4.87384903002e-05,1793192208916562688
+13,0.216666667,BASELINE,764,742,711,671,663.59777885,633,875,783,799.40222115,649.59777885,628,650.40222115,0.400967000408,-0.00544447044607,0.049846976301,0.999999962619,5.61460598533e-10,-0.000269029134097,-4.88325514626e-05,1793192208933229568
+14,0.233333333,BASELINE,763.815269003,742,711,671.184730997,663.815269003,633,875.184730997,783,799,649.815269003,628.184730997,650,0.400967639957,-0.00544446953827,0.0498473706387,0.999999962945,4.6146330677e-07,-0.000267806373346,-4.88808788202e-05,1793192208949896192
+15,0.250000000,BASELINE,763.240631229,742,711,671.759368771,663.240631229,633,875.759368771,783,799,649.240631229,628.759368771,650,0.400966866091,-0.00544529833844,0.0498467164405,0.999999962647,-1.32308232568e-06,-0.000268922257007,-4.88326770762e-05,1793192208966562816
+16,0.266666667,BASELINE,763,742,711,671.664720623,663,633,875.664720623,783,799.335279377,649,628.664720623,650.335279377,0.400966167845,-0.00544610441299,0.0498463103023,0.999999962445,-3.19897345644e-06,-0.000269685568047,-4.86796745816e-05,1793192208983229696
+17,0.283333333,BASELINE,763,742,711,671.087893055,663,633,875.087893055,783,799.912106945,649,628.087893055,650.912106945,0.40096552408,-0.00544689411507,0.0498460828762,0.99999996231,-5.14067329968e-06,-0.000270194872108,-4.84511695878e-05,1793192208999896320
+18,0.300000000,BASELINE,763.497234068,742,711,671,663,633,875,783,799.502765932,649,628.497234068,650.502765932,0.40096578518,-0.00544602874477,0.0498461530696,0.999999962426,-3.39595803017e-06,-0.00026978742314,-4.84921686664e-05,1793192209016562688
+19,0.316666667,BASELINE,764,742,711,671,663.083209174,633,875,783,799,649.083209174,628.916790826,650.083209174,0.400966177145,-0.00544515019463,0.0498462721432,0.999999962571,-1.40701030087e-06,-0.000269255890349,-4.85607461921e-05,1793192209033229312
+20,0.333333333,BASELINE,764,742,711,671,663.665323113,633,875,783,799,649.665323113,628.334676887,650.665323113,0.40096637846,-0.00544597650777,0.0498463635088,0.99999996265,-1.92702504137e-06,-0.000268968480975,-4.85041987108e-05,1793192209049895936
+21,0.350000000,BASELINE,763.755471427,742,711,671,663.755471427,632.755471427,875.244528573,783,799.244528573,650,628,650.755471427,0.400966458932,-0.00544632127512,0.0498461753073,0.999999962611,-1.95804498182e-06,-0.00026912289974,-4.84449220115e-05,1793192209066562816
+22,0.366666667,BASELINE,763.180199945,742,711,671,663.180199945,632.180199945,875.819800055,783,799.819800055,650,628,650.180199945,0.400966375952,-0.00544601471624,0.0498456089706,0.999999962412,-1.32766338952e-06,-0.000269874923637,-4.83819538484e-05,1793192209083229440
+23,0.383333333,BASELINE,763,742,711,671,663,632.395939165,875.604060835,783,799.604060835,649.604060835,628,650,0.400965566944,-0.0054454896466,0.0498452755552,0.999999962169,-1.06336025138e-06,-0.000270737380272,-4.85930955575e-05,1793192209099896320
+24,0.400000000,BASELINE,763,742,711,671,663,632.972474068,875.027525932,783,799.027525932,649.027525932,628,650,0.400964426779,-0.00544486490981,0.0498450483796,0.999999961906,-9.66032731405e-07,-0.000271650207544,-4.89292642325e-05,1793192209116562944
+25,0.416666667,BASELINE,763.561688948,742,711,671,663,633,875,783,799,649,628.561688948,650,0.40096589033,-0.00544535494445,0.04984598507,0.999999962373,-1.14881135003e-06,-0.000269965179906,-4.87032889944e-05,1793192209133229568
+26,0.433333333,BASELINE,763.851558037,742,711,671,663,633,875.148441963,783,799.148441963,649.148441963,629,650.148441963,0.40096682626,-0.0054457977075,0.0498466229754,0.999999962689,-1.36045564001e-06,-0.000268826118894,-4.85084692926e-05,1793192209149896192
+27,0.450000000,BASELINE,763.273764367,742,711,671,663,633,875.726235633,783,799.726235633,649.726235633,629,650.726235633,0.40096585852,-0.00544594208201,0.0498462278985,0.99999996247,-1.61497052003e-06,-0.000269642937898,-4.84852838792e-05,1793192209166562560
+28,0.466666667,BASELINE,763.303338988,742,711,671,663,633,875.696661012,783,799.696661012,650,628.696661012,651,0.400965765408,-0.00544520834801,0.0498457713444,0.999999962346,-7.06375213786e-07,-0.000270096409749,-4.85402673404e-05,1793192209183229184
+29,0.483333333,BASELINE,763.879820712,742,711,671,663,633,875.120179288,783,799.120179288,650,628.120179288,651,0.400966459858,-0.00544368391787,0.0498452594331,0.999999962305,1.24954706146e-06,-0.000270222704236,-4.86656382609e-05,1793192209199896064
+30,0.500000000,BASELINE,764,742,711,671,663.464384618,633,875,783,799,649.535615382,628,651,0.400966047765,-0.00544471931442,0.0498455862863,0.999999962429,-3.87875551965e-07,-0.000269794055432,-4.85157793711e-05,1793192209216562688
+31,0.516666667,BASELINE,764,742,711,671,663.949563706,633,875.050436294,783,799.050436294,649.050436294,628,650.949563706,0.400965502261,-0.00544618477485,0.0498460733284,0.999999962598,-2.63570187241e-06,-0.000269186403833,-4.8338567033e-05,1793192209233229568
+32,0.533333333,BASELINE,764,742,711,671,663.370232558,633,875.629767442,783,799.629767442,649.629767442,628,650.370232558,0.400966613878,-0.00544509014983,0.0498459236175,0.999999962842,-1.36011580025e-06,-0.000268234338795,-4.86346642138e-05,1793192209249896448
+33,0.550000000,BASELINE,763.7919242,742,711,671,663,633,875.7919242,783,799.7919242,649.7919242,628,650,0.400967236668,-0.00544430283413,0.0498461679314,0.999999962988,-5.42009734086e-07,-0.000267660622276,-4.87944512643e-05,1793192209266563328
+34,0.566666667,BASELINE,763.215426868,742,711,671,663,633,875.215426868,783,799.215426868,649.215426868,628,650,0.400966993932,-0.00544405964413,0.0498471099102,0.999999962967,-5.33923440714e-07,-0.000267756814329,-4.87128859159e-05,1793192209283229696
+35,0.583333333,BASELINE,763.360256065,742,711,671,663.360256065,632.639743935,875,783,799,649,628.360256065,650.360256065,0.400967416689,-0.00544474040892,0.0498473936195,0.999999963022,-8.79564584575e-07,-0.000267560568007,-4.86403561419e-05,1793192209299896320
+36,0.600000000,BASELINE,763.935453155,742,711,671,663.935453155,632.064546845,875,783,799,649,628.935453155,650.935453155,0.400968236503,-0.00544597243653,0.0498472845829,0.999999963124,-1.43625155086e-06,-0.000267189843012,-4.8573217291e-05,1793192209316562944
+37,0.616666667,BASELINE,763.476897971,742,711,671,663.476897971,632,875.523102029,783,799,649.523102029,629,651,0.400967853263,-0.00544416626645,0.0498472582501,0.999999962985,1.14141890972e-06,-0.00026770009732,-4.86392786096e-05,1793192209333229312
+38,0.633333333,BASELINE,763.110434362,742,711,671,663,632,875.889565638,783,799,649.889565638,629,651,0.400967087881,-0.00544286394437,0.0498470443473,0.999999962803,2.88761429674e-06,-0.000268365984883,-4.86336979806e-05,1793192209349895936
+39,0.650000000,BASELINE,763.689740535,742,711,671,663,632,875.310259465,783,799,649.310259465,629,651,0.400965345667,-0.00544533129913,0.0498459896935,0.999999962596,-5.78480490527e-07,-0.00026921985697,-4.82524631894e-05,1793192209366562816
+40,0.666666667,BASELINE,763.732314197,742,711,671,663.267685803,632.267685803,875,783,799,649.267685803,629,650.732314197,0.40096458823,-0.00544613891893,0.0498456367145,0.99999996256,-8.25296689946e-07,-0.000269363558665,-4.81906512209e-05,1793192209383229696
+41,0.683333333,BASELINE,763.155938334,742,711,671,663.844061666,632.844061666,875,783,799,649.844061666,629,650.155938334,0.400964966419,-0.00544503256451,0.0498460928932,0.999999962724,2.64029674788e-06,-0.000268688305632,-4.84971914594e-05,1793192209399896576
+42,0.700000000,BASELINE,763.427370253,741.572629747,711,671,663.572629747,632.572629747,875,783,799,650,629,650.427370253,0.400965482996,-0.00544490888608,0.049846593641,0.999999962815,1.88867369207e-06,-0.000268396686359,-4.82608192981e-05,1793192209416563456
+43,0.716666667,BASELINE,764,741.013094732,711,670.986905268,663.013094732,632.013094732,875,783.013094732,799,650,628.986905268,650.986905268,0.400966072269,-0.00544512271272,0.0498471137592,0.999999962886,-3.66555339535e-07,-0.000268213840431,-4.78418095902e-05,1793192209433229568
+44,0.733333333,BASELINE,764,741.592102834,711,670.407897166,663.592102834,632.592102834,875,783.592102834,799,650,628.407897166,650.407897166,0.400967585041,-0.00544417120038,0.0498477566112,0.999999963304,-5.43197648179e-09,-0.000266582596334,-4.82320851988e-05,1793192209449896192
+45,0.750000000,BASELINE,763.829126265,742.170873735,711,670.170873735,664,633,875.170873735,783.829126265,799,649.829126265,628,650.170873735,0.400968325327,-0.00544391428704,0.0498480747119,0.99999996348,3.49440911986e-07,-0.000265884413323,-4.84185976587e-05,1793192209466562816
+46,0.766666667,BASELINE,763.25092089,742.74907911,711,670.74907911,664,633,875.74907911,783.25092089,799,649.25092089,628,650.74907911,0.400967224149,-0.00544531317046,0.0498476186653,0.999999963088,6.89413763983e-07,-0.000267410477015,-4.81193760949e-05,1793192209483229440
+47,0.783333333,BASELINE,763,742.675035221,711,671.324964779,663.675035221,633,875.675035221,783,799,649.324964779,628,651,0.400966862206,-0.00544552760917,0.0498476499169,0.9999999631,5.33761371799e-07,-0.000267365730948,-4.81171148183e-05,1793192209499896320
+48,0.800000000,BASELINE,763,742.100927953,711,671.899072047,663.100927953,633,875.100927953,783,799,649.899072047,628,651,0.400967067016,-0.00544483396344,0.0498480547679,0.999999963422,-1.87464971778e-09,-0.000266116683896,-4.83425256468e-05,1793192209516562944
+49,0.816666667,BASELINE,763,742,711,672,663,633,875,783,799,649.514708652,628.485291348,651,0.400967095347,-0.00544432293108,0.049847853115,0.99999996328,-3.35259083488e-07,-0.000266612338247,-4.85597818749e-05,1793192209533229568
+50,0.833333333,BASELINE,763.072857584,742,711,671.927142416,663.072857584,633,875,783.072857584,799,649,628.927142416,650.927142416,0.400967040031,-0.00544390052915,0.0498475096892,0.999999963045,-4.87629786166e-07,-0.000267459088175,-4.87447956627e-05,1793192209549896448
+51,0.850000000,BASELINE,763.651834302,742,711,671.348165698,663.651834302,633,875,783.651834302,799,649,628.348165698,650.348165698,0.400966665147,-0.00544382323495,0.0498470800749,0.999999962858,3.17767327566e-07,-0.000268159646616,-4.87179140436e-05,1793192209566563072
+52,0.866666667,BASELINE,764,742,711,671,664,633,875,783.770091659,799,649,628.229908341,650.229908341,0.400966644193,-0.00544336842998,0.0498469061072,0.999999962869,6.13968564345e-07,-0.000268108774007,-4.87684405321e-05,1793192209583229696
+53,0.883333333,BASELINE,764,742,711,671,664,633,875,783.193379298,799,649,628.806620702,650.806620702,0.400967157122,-0.00544234417089,0.0498471177682,0.999999963178,1.4207592865e-07,-0.000266924409171,-4.89357328723e-05,1793192209599896064
+54,0.900000000,BASELINE,764,742,711,671,663.619368595,633,875,783,799,649.380631405,629,651,0.400966585977,-0.00544324382772,0.049846650746,0.999999962866,-6.68927054906e-07,-0.000268112744165,-4.88211807243e-05,1793192209616562944
+55,0.916666667,BASELINE,764,742,711,671,663.046720809,633,875,783,799,649.953279191,629,651,0.400965467952,-0.00544511403869,0.0498458413499,0.999999962235,-1.65100035817e-06,-0.000270498030435,-4.85644470332e-05,1793192209633229568
+56,0.933333333,BASELINE,763.455799407,742,711,671,663,633,875,783,799.544200593,649.455799407,628.455799407,651,0.400967988332,-0.00544553546731,0.0498480357037,0.999999963357,-9.65012322022e-07,-0.000266356899735,-4.83738761349e-05,1793192209649896192
+57,0.950000000,BASELINE,763.133694958,742,711,670.866305042,663.133694958,633,875.133694958,783,799.866305042,649,628,651,0.40096991181,-0.00544571799812,0.0498496939765,0.999999964195,-2.86594665952e-07,-0.000263225786502,-4.81840196551e-05,1793192209666563072
+58,0.966666667,BASELINE,763.713021691,742,711,670.286978309,663.713021691,633,875.713021691,783,799.286978309,649,628,651,0.400968768341,-0.00544553322719,0.0498486759589,0.999999963632,-1.27332390379e-07,-0.00026539376852,-4.79769533704e-05,1793192209683230208
+59,0.983333333,BASELINE,764,742,711,670.29056895,663.70943105,633,875.70943105,783,799,649.29056895,628,651,0.400967009198,-0.00544514691859,0.0498474862527,0.999999963012,5.38027899949e-07,-0.00026771012049,-4.80236344939e-05,1793192209699897088
+60,1.000000000,BASELINE,764,742,711,670.866369491,663.133630509,633,875.133630509,783,799,649.866369491,628,651,0.400964645692,-0.00544456277427,0.0498461280115,0.999999962335,1.70018988559e-06,-0.000270172117315,-4.83194020027e-05,1793192209716563712
+61,1.016666667,BASELINE,764,742,711,671,663.45057652,633,875,783,799,649.54942348,628,651,0.400965708466,-0.00544412967425,0.0498469693033,0.999999962734,2.37029279641e-06,-0.000268721377819,-4.81258687937e-05,1793192209733229568
+62,1.033333333,BASELINE,763.963169187,742,711,671,663.963169187,633,875,783.036830813,799,649.036830813,628,651,0.40096761593,-0.00544390034728,0.0498483133715,0.999999963379,2.61012388747e-06,-0.000266363334698,-4.7815646136e-05,1793192209749895680
+63,1.050000000,BASELINE,763.384175955,742,711,671,663.384175955,633,875,783.615824045,799,649.615824045,628,651,0.400966714985,-0.0054459986774,0.0498472733921,0.999999962922,-1.29476614913e-06,-0.000268056105474,-4.79644723892e-05,1793192209766562560
+64,1.066666667,BASELINE,763,741.80548575,711,671,663.19451425,632.80548575,875,783.80548575,799.19451425,650,628.19451425,650.80548575,0.400966177865,-0.00544687562745,0.0498466278251,0.999999962637,-3.09048293761e-06,-0.000269065824406,-4.81755902293e-05,1793192209783229184
+65,1.083333333,BASELINE,763,741.227393141,711,671,663.772606859,632.227393141,875,783.227393141,799.772606859,650,628.772606859,650.227393141,0.400966358201,-0.00544534403937,0.0498467600319,0.999999962716,-7.26950429811e-07,-0.000268728578158,-4.85095458724e-05,1793192209799896064
+66,1.100000000,BASELINE,763.333058607,741.333058607,711,671,663.666941393,632.333058607,875.333058607,783,799.666941393,650,629,650.333058607,0.400966136341,-0.00544497760148,0.0498468404594,0.999999962841,-6.22948769461e-07,-0.000268269681313,-4.84759679685e-05,1793192209816562944
+67,1.116666667,BASELINE,763.88207202,741.88207202,711,671,663.11792798,632.88207202,875.88207202,783,799.11792798,650,629,650.88207202,0.4009656537,-0.00544536664566,0.0498468873134,0.999999962996,-1.98402432422e-06,-0.00026773190638,-4.82040817355e-05,1793192209833229568
+68,1.133333333,BASELINE,764,742,711,671,663.485248906,633,876,783.485248906,799,649.514751094,628.514751094,651,0.400964859955,-0.00544515121498,0.0498466093751,0.999999962668,-5.72930245203e-07,-0.000268946084792,-4.82777893647e-05,1793192209849896192
+69,1.150000000,BASELINE,763.902946939,742,711,671,664,633,876,783.902946939,799,649,628,651,0.400964241953,-0.00544488939907,0.0498463066428,0.999999962298,9.28514558667e-07,-0.000270291386252,-4.84307756608e-05,1793192209866563072
+70,1.166666667,BASELINE,763.32200391,742,711,671,664,633,876,783.32200391,799,649,628,651,0.400964924503,-0.00544522077361,0.0498463232846,0.9999999624,-9.0060317853e-07,-0.000269900908969,-4.85076672268e-05,1793192209883229696
+71,1.183333333,BASELINE,763,742,711,671,663.743163239,633,876,783,799,649,628.256836761,650.743163239,0.400965484529,-0.0054452646977,0.0498465323218,0.999999962507,-1.62911984504e-06,-0.000269508313345,-4.84716427723e-05,1793192209899896320
+72,1.200000000,BASELINE,763,742,711,671,663.166936876,633,876,783,799,649,628.833063124,650.166936876,0.400965892189,-0.00544495116256,0.0498469806127,0.999999962622,-9.88983242189e-07,-0.000269113083404,-4.82952015029e-05,1793192209916562944
+73,1.216666667,BASELINE,763.416908521,742,711,671,663.416908521,633,876,783,799.416908521,649,628.583091479,650,0.400967365754,-0.00544546371057,0.0498477197349,0.999999963064,-6.67339499713e-07,-0.000267485436074,-4.82007351915e-05,1793192209933229568
+74,1.233333333,BASELINE,763.996190765,742,711,671,663.996190765,633,875.996190765,783,799.996190765,649.003809235,628,650.003809235,0.400969248079,-0.00544630143594,0.0498485621935,0.999999963626,-4.64060231044e-07,-0.00026538653448,-4.81416222447e-05,1793192209949895936
+75,1.250000000,BASELINE,763.417175768,742,711,671,663.417175768,633,875.417175768,783,799.417175768,649.582824232,628,650.582824232,0.400967205995,-0.00544536380803,0.0498470965807,0.999999962909,1.48167230504e-06,-0.000268030878619,-4.83721692341e-05,1793192209966562816
+76,1.266666667,BASELINE,763.16122654,742,711,671,663.16122654,633,875,783,799.16122654,650,628,651,0.400965598684,-0.00544440179118,0.0498460568086,0.999999962432,3.04406520054e-06,-0.000269774810998,-4.84586129636e-05,1793192209983229440
+77,1.283333333,BASELINE,763.738049477,742,711,671,663.738049477,633,875,783,799.738049477,650,628,651,0.400965112095,-0.00544337690657,0.0498461147334,0.999999962599,3.61831685841e-06,-0.000269197736498,-4.81735992531e-05,1793192209999896320
+78,1.300000000,BASELINE,764,742,711,671,664,633,875,783,799.685364068,649.685364068,628,651,0.400965113459,-0.00544302646925,0.0498462541209,0.999999962665,3.6955992363e-06,-0.000268948790589,-4.81915869206e-05,1793192210016562944
+79,1.316666667,BASELINE,764,742,711,671,664,633,875,783,799.108974377,649.108974377,628,651,0.400965520762,-0.00544323712212,0.0498464612793,0.999999962647,3.35944000571e-06,-0.000268972823357,-4.84616492747e-05,1793192210033229312
+80,1.333333333,BASELINE,764,742,711,671,664,633,875.477030179,783,799,649,628.477030179,651,0.400965855466,-0.00544425041841,0.0498468562779,0.999999962781,1.71691570995e-06,-0.000268522693219,-4.82698856515e-05,1793192210049895936
+81,1.350000000,BASELINE,763.935761933,742,711,671,663.935761933,632.935761933,875.935761933,783,799,649.064238067,628.935761933,651,0.40096642163,-0.00544543088432,0.0498474033921,0.999999963022,-1.0892945628e-07,-0.000267679467689,-4.80068456156e-05,1793192210066563072
+82,1.366666667,BASELINE,763.356872872,742,711,671,663.356872872,632.356872872,875.356872872,783,799,649.643127128,628.356872872,651,0.400968977767,-0.00544645143219,0.0498488183418,0.999999963847,-9.63377726095e-07,-0.000264572576341,-4.80353874897e-05,1793192210083229696
+83,1.383333333,BASELINE,763,742,711.220769739,671,663.220769739,632.220769739,875.220769739,783,799.220769739,650,628.220769739,651,0.400969153551,-0.00544660065028,0.049848739079,0.999999963957,-1.06060958304e-06,-0.00026413809239,-4.81341782284e-05,1793192210099896320
+84,1.400000000,BASELINE,763,742,711.796408875,671,663.796408875,632.796408875,875.796408875,783,799.796408875,650,628.796408875,651,0.40096550311,-0.0054453492768,0.0498462579916,0.99999996292,5.93222170626e-08,-0.000267999285469,-4.83458883075e-05,1793192210116563200
+85,1.416666667,BASELINE,763,742,711.628770638,671,663.628770638,633,875.628770638,783,800,650,629,651,0.400966257294,-0.00544525236141,0.0498465315129,0.999999963076,-5.98216290135e-07,-0.000267429482168,-4.82685816864e-05,1793192210133230080
+86,1.433333333,BASELINE,763,742,711.054398164,671,663.054398164,633,875.054398164,783,800,650,629,651,0.400969421766,-0.00544578718549,0.0498483124036,0.999999963881,-2.22841727938e-06,-0.000264434960978,-4.8033120128e-05,1793192210149896704
+87,1.450000000,BASELINE,763.535467659,742,711,670.464532341,663.535467659,633,875,783,800,649.464532341,628.464532341,650.464532341,0.400968383217,-0.00544663960521,0.0498480186507,0.999999963675,-3.51230848145e-06,-0.000265200984426,-4.80236736038e-05,1793192210166563072
+88,1.466666667,BASELINE,764,742,711,670.124205838,663.875794162,633,875,783,799.875794162,649.124205838,628.124205838,650,0.400967431921,-0.00544724571181,0.0498477823742,0.999999963496,-4.21168032268e-06,-0.000265871932141,-4.79869290643e-05,1793192210183229696
+89,1.483333333,BASELINE,764,742,711,670.702887055,663.297112945,633,875,783,799.297112945,649.702887055,628.702887055,650,0.400968408797,-0.00544682897108,0.049848550578,0.999999963807,-2.90483353435e-06,-0.000264755460507,-4.77637814087e-05,1793192210199896064
+90,1.500000000,BASELINE,763.720546724,742,711,671,663.279453276,633,875,783,799.279453276,650,629,650.279453276,0.4009683205,-0.00544629370645,0.0498489291213,0.999999963793,-1.56983551697e-06,-0.000264823674266,-4.77505923117e-05,1793192210216562688
+91,1.516666667,BASELINE,763.146212298,742,711,671,663.853787702,633,875,783,799.853787702,650,629,650.853787702,0.400967108224,-0.00544563337456,0.0498488964917,0.999999963434,-2.05132198567e-07,-0.000266141976831,-4.79589530425e-05,1793192210233229312
+92,1.533333333,BASELINE,763.438333234,742,711,671,663.561666766,633,875,782.561666766,799.561666766,649.561666766,628.561666766,651,0.400966464988,-0.00544532546301,0.0498479005667,0.999999963258,-8.44891363006e-07,-0.000266749768538,-4.82434279622e-05,1793192210249895936
+93,1.550000000,BASELINE,764,742,711,671,663,633,875,782.025985267,799,649.025985267,628,651,0.400966068643,-0.00544517761022,0.0498466755055,0.999999963162,-2.05348265343e-06,-0.000267052650812,-4.85260155538e-05,1793192210266562304
+94,1.566666667,BASELINE,764,742,711,671,663,633,875,782.605524324,799,649.605524324,628,651,0.400966791825,-0.00544587547409,0.0498475774826,0.999999963452,-7.96678283695e-07,-0.000266029323699,-4.82146466598e-05,1793192210283228928
+95,1.583333333,BASELINE,764,742,711,671,663,633,875,783,799,649.815393016,628.184606984,650.815393016,0.400967301237,-0.00544638416795,0.049848264855,0.999999963638,-3.9859709063e-07,-0.000265372012581,-4.79817124172e-05,1793192210299895808
+96,1.600000000,BASELINE,764,742,711,671,663,633,875,783,799,649.237283088,628.762716912,650.237283088,0.400967354984,-0.00544648963259,0.0498484947828,0.999999963607,-1.83094531659e-06,-0.00026549489045,-4.7915967166e-05,1793192210316562432
+97,1.616666667,BASELINE,763.661858299,742,711.338141701,671,663,633,875,783,799.338141701,649.338141701,629,650,0.400966304513,-0.00544643560527,0.0498479347439,0.999999963186,-1.13505339539e-06,-0.000267083045682,-4.78981987822e-05,1793192210333228800
+98,1.633333333,BASELINE,763.088302936,742,711.911697064,671,663,633,875,783,799.911697064,649.911697064,629,650,0.400964485287,-0.00544627053992,0.0498468247317,0.999999962485,1.04251569865e-06,-0.000269691324454,-4.79138318139e-05,1793192210349895680
+99,1.650000000,BASELINE,763.498590228,742,711.501409772,671,663.498590228,633,875,783,799.501409772,650,628.501409772,650,0.400966670906,-0.00544635497943,0.049848251197,0.999999963297,-2.21657255884e-06,-0.000266639770128,-4.79989680388e-05,1793192210366562304
+100,1.666666667,BASELINE,763.913553283,742,711,671,663.913553283,633,875.086446717,783,799,650,628.086446717,650.086446717,0.400968974525,-0.00544641332925,0.0498496209024,0.999999964123,-5.2661171848e-06,-0.000263462870576,-4.81007989961e-05,1793192210383228928
+101,1.683333333,BASELINE,763.334045757,742,711,671,663.334045757,633,875.665954243,783,799,650,628.665954243,650.665954243,0.400967794502,-0.00544606390948,0.0498480342364,0.999999963605,-1.47774354139e-06,-0.000265445440594,-4.82257126658e-05,1793192210399895552
+102,1.700000000,BASELINE,763,742,711,671,663,633,875.756122389,783,799.243877611,650,629,651,0.400966963276,-0.00544601435396,0.0498471915117,0.999999963307,1.67177503469e-08,-0.000266545710072,-4.8371625851e-05,1793192210416562432
+103,1.716666667,BASELINE,763,742,711,671,663,633,875.180354927,783,799.819645073,650,629,651,0.400966606722,-0.0054463728798,0.0498473612071,0.999999963324,-1.61057656719e-06,-0.00026644526813,-4.85461169927e-05,1793192210433229056
+104,1.733333333,BASELINE,763,742,711,671,663,632.604612278,875.790775443,783,799.604612278,650,628.604612278,651,0.400966940385,-0.00544571562171,0.0498478165515,0.999999963491,-9.2869800325e-07,-0.000265836690391,-4.84553758678e-05,1793192210449895680
+105,1.750000000,BASELINE,763,742,711,671,663,632.028880896,876.942238207,783,799.028880896,650,628.028880896,651,0.40096758887,-0.00544459504579,0.0498484021858,0.999999963724,8.06436924638e-07,-0.000264996342497,-4.82436574103e-05,1793192210466562304
+106,1.766666667,BASELINE,763,742,711,671,663.559783483,632.559783483,875.880433035,783,799,649.440216517,628,651,0.400966270882,-0.00544483349845,0.0498469583729,0.999999963182,5.99550032747e-07,-0.000267061660227,-4.80913237138e-05,1793192210483228928
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663,633,875,783,799,649,629,651,0.400965937279,-0.00544660306772,0.0498467192971,0.999999963045,-2.84647965532e-06,-0.000267555385347,-4.81265064451e-05,1793192210524465920
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663,633,875,783.575416548,799,649,628.424583452,651,0.40096614176,-0.00544500235606,0.0498467930165,0.999999963077,-8.30137513083e-07,-0.00026738951319,-4.84583634039e-05,1793192210541132544
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.154673788,711.154673788,671,663.154673788,633,875,783.845326212,799,649.154673788,628,650.845326212,0.400966538398,-0.00544386932664,0.0498469818092,0.999999963182,4.16230667723e-07,-0.000266951815882,-4.87021206735e-05,1793192210557799424
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.744742409,711.744742409,671,663.744742409,633,875,783.255257591,799,649.744742409,628,650.255257591,0.400967475944,-0.00544405278643,0.0498474945245,0.999999963503,-5.04818258151e-07,-0.000265748951615,-4.86978841601e-05,1793192210574466048
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.671346859,711.671346859,671,664,633,875,783.328653141,799.328653141,649.671346859,628.328653141,650.328653141,0.400967769764,-0.00544500686119,0.0498479893713,0.999999963663,-1.57458887819e-06,-0.000265192749613,-4.84157855224e-05,1793192210591132672
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.092130894,711.092130894,671,664,633,875,783.907869106,799.907869106,649.092130894,628.907869106,650.907869106,0.40096757281,-0.00544654844733,0.0498484705952,0.999999963701,-2.75774380807e-06,-0.000265129558409,-4.79218467715e-05,1793192210607799040
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.516109516,742,711,671,663.516109516,632.516109516,875,783.516109516,800,649.483890484,628.516109516,651,0.400968574159,-0.00544644462445,0.0498486179953,0.999999963826,-1.98045827262e-06,-0.000264707097006,-4.76906221811e-05,1793192210624466176
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.06046504,742,711,671,663.06046504,632,875,783,799.93953496,649.93953496,628,650.93953496,0.400969972369,-0.00544612901496,0.0498488918401,0.999999964023,-9.41958724572e-07,-0.000263995371324,-4.75307111519e-05,1793192210641133312
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.647111816,742,711,671,663.647111816,632,875,783,799.352888184,649.352888184,628,650.352888184,0.400972851742,-0.00544667874202,0.0498508155151,0.999999964715,-8.57210503108e-07,-0.000261357757878,-4.75589588041e-05,1793192210657799680
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.769318757,742,711,670.769318757,663.769318757,632.230681243,875.230681243,783,799,649,628,650,0.400983239582,-0.00544672667927,0.0498552210192,0.999999966869,-5.41061710461e-07,-0.000252998542738,-4.74719398836e-05,1793192210674466048
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.19039503,742,711,670.19039503,663.19039503,632.80960497,875.80960497,783,799,649,628,650,0.401004962399,-0.00544601710137,0.0498633731577,0.999999971037,1.24415474147e-07,-0.000236001847107,-4.72109114959e-05,1793192210691132672
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,711,670.387388391,663,633,876,783,799,649,628,650,0.401042040359,-0.00544809608231,0.0498767205794,0.99999997716,-1.0844595734e-06,-0.000208681815166,-4.61544317998e-05,1793192210707799296
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,711,670.964613069,663,633,876,783,799,649,628,650,0.401086642974,-0.00545154157201,0.0498926139048,0.999999983454,-3.21184444345e-06,-0.000176302921065,-4.47081481024e-05,1793192210724465920
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742,711,671,663,633,875.458785721,783,799,649.541214279,628,650,0.401156489127,-0.00545424254103,0.0499112105552,0.999999989607,-6.35405841174e-06,-0.000137394383501,-4.32341830117e-05,1793192210741132544
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.119937988,742,711,671,663,633,875,783,799.119937988,650,628,650,0.401227866487,-0.00545693087129,0.049927397665,0.999999993521,-8.85254258274e-06,-0.000105526256269,-4.17699539069e-05,1793192210757799168
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.707088579,742,711,671,663,633,875,783,799.707088579,650,628,650,0.401298786444,-0.00545975938098,0.0499335107836,0.999999993871,-8.58522856705e-06,-0.000102744890372,-4.0350693028e-05,1793192210774465792
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.709918297,742,711,671,663,633,875,783,799.709918297,649.709918297,628,650,0.401378037833,-0.00546264907055,0.0499360607183,0.999999993952,-8.84204984721e-06,-0.000102344290988,-3.92896093731e-05,1793192210791132672
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.131063914,742,711,671,663,633,875,783,799.131063914,649.131063914,628,650,0.401465583054,-0.00546559966375,0.0499350635478,0.999999993769,-9.62064122876e-06,-0.00010431371485,-3.85850867185e-05,1793192210807799296
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.447065418,742,711,671,663,633,875.447065418,783,799,649,628,650,0.401571792086,-0.00546937364199,0.0499335283738,0.999999993227,-1.12686588812e-05,-0.000109572963569,-3.75975211472e-05,1793192210824466176
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.975203187,742,711,670.975203187,663.024796813,632.975203187,875.975203187,783,799,649,628,650,0.401685359706,-0.00547342878265,0.0499319965425,0.999999992589,-1.31927720698e-05,-0.00011539027467,-3.65234521537e-05,1793192210841132800
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.401582148,742,711,670.401582148,663.598417852,632.401582148,875.401582148,783,799,649,628,650,0.401840888394,-0.00547837290443,0.0499340239211,0.999999992953,-1.55954629454e-05,-0.000112247382143,-3.53683873477e-05,1793192210857799424
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.176844119,742,711,670.176844119,663.823155881,632.176844119,875.353688239,783,799,649.176844119,628,650,0.402000804905,-0.00548429322857,0.0499348646815,0.999999992936,-1.85303453151e-05,-0.000112392590973,-3.3961481723e-05,1793192210874466048
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.766486916,742,711,670.766486916,663.233513084,632.766486916,876.532973833,783,799,649.766486916,628,650,0.402170963674,-0.00549249225399,0.0499329355761,0.999999992006,-2.2707496222e-05,-0.000120213056268,-3.1966716412e-05,1793192210891132672
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.648334613,742,711,671,663,633,876.296669227,783,799,649.648334613,628,650,0.402373700501,-0.0055004320603,0.049934958886,0.99999999238,-2.6811150983e-05,-0.000116663269491,-3.01925026508e-05,1793192210907799552
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.06608333,742,711,671,663,633,875.13216666,783,799,649.06608333,628,650,0.402597798675,-0.00550820189826,0.0499395737822,0.999999993534,-3.08666149632e-05,-0.000105658044669,-2.85629036521e-05,1793192210924466176
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.509617115,742,711,671,663,633,875,783,799,649.509617115,628,650,0.402851739169,-0.00551442299334,0.0499428127267,0.999999994141,-3.28822974847e-05,-9.95904853432e-05,-2.68116947579e-05,1793192210941132800
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632.915920144,875,783,799,649.915920144,628,650.084079856,0.403118340124,-0.00552067741883,0.0499466319913,0.999999994839,-3.41697488536e-05,-9.23579020089e-05,-2.50041521318e-05,1793192210957799424
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632.343773409,875,783,799,649.343773409,628,650.656226591,0.403436254724,-0.0055282763027,0.049954842466,0.999999996411,-3.27458683118e-05,-7.46930576571e-05,-2.29599794928e-05,1793192210974466304
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.237248072,632,875,783,799,649.237248072,628,650.762751928,0.403765880685,-0.00553358279516,0.049962700761,0.999999997658,-2.90795669722e-05,-5.83438517863e-05,-2.08302602427e-05,1793192210991132672
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.831628792,632,875,783,799,649.831628792,628,650.168371208,0.404113135893,-0.00553543852016,0.049970028915,0.999999998618,-2.20377201693e-05,-4.39750949215e-05,-1.85717666798e-05,1793192211007799552
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,741.58680901,711,671,663.58680901,632,875.82638198,783,799.41319099,649.58680901,628,650.41319099,0.404491904695,-0.00553585982261,0.0499765837416,0.999999999372,-1.12811827994e-05,-3.01983582145e-05,-1.4693214709e-05,1793192211024466176
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,741.010313074,711,671,663.010313074,632,876.979373852,783,799.989686926,649.010313074,628,650.989686926,0.404883128568,-0.00553571420002,0.0499828329268,0.999999999809,9.43506802679e-07,-1.66556052106e-05,-1.01743691778e-05,1793192211041132800
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,741.56433841,711,671,663.56433841,632.56433841,875.871323179,783,799.43566159,649.56433841,628,650.43566159,0.405294994754,-0.00552146994606,0.0499718451097,0.999999998813,2.86573168964e-05,-3.8338401333e-05,-9.13032433412e-06,1793192211057799424
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875.142728776,783,799,649.857271224,628.142728776,650.142728776,0.405713365138,-0.00551046614912,0.0499581526318,0.999999996456,5.2829180475e-05,-6.51101856894e-05,-7.63994485785e-06,1793192211074466560
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875.732946658,783,799,649.267053342,628.732946658,650.732946658,0.406150948811,-0.00551042712326,0.0499369647759,0.999999992277,6.50116191825e-05,-0.000105825484716,-4.55175757712e-06,1793192211091133952
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.683124965,742,711,671,663.683124965,633,875.683124965,783,799,649.316875035,628.366249931,650.683124965,0.406622489496,-0.00551336157506,0.0499208445358,0.999999988412,7.35750369866e-05,-0.000133271264268,-1.20563349432e-06,1793192211107800576
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.104393981,742,711,671,663.104393981,633,875.104393981,783,799,649.895606019,627.208787963,650.104393981,0.407122091277,-0.00551875321892,0.0499089120178,0.999999985652,7.91478067136e-05,-0.000149751518632,2.35364209877e-06,1793192211124466432
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742,711,671,663,633,875.470760801,783,799,650,627.470760801,650.470760801,0.407687930649,-0.00552309599993,0.0499235587604,0.9999999893,8.69649435196e-05,-0.00011736505785,7.85503819625e-06,1793192211141133312
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.045247984,742,711,670.954752016,663.045247984,632.954752016,876,783,799,649.954752016,628,650.954752016,0.408271873011,-0.00552687058679,0.0499443499753,0.999999992548,9.57502086023e-05,-7.4462450126e-05,1.38019202954e-05,1793192211157800448
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.621136624,742,711,670.378863376,663.621136624,632.378863376,876,783,799,649.378863376,628,650.378863376,0.408897156691,-0.00552668886945,0.0499685984694,0.99999999315,0.000110096362759,-3.43583748226e-05,1.99605610871e-05,1793192211174467072
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,670.202331089,664,632,876,783,799.202331089,649.202331089,628,650,0.409525736679,-0.00552579035029,0.0499862830813,0.999999991991,0.000123724895637,-7.69466769109e-06,2.54988799103e-05,1793192211191133184
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,670.793728184,664,632,876,783,799.793728184,649.793728184,628,650,0.410160655157,-0.00552351348034,0.0499913458873,0.999999990287,0.0001359735014,-6.87568322395e-06,2.98443704063e-05,1793192211207799552
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,671.377188731,664,632.377188731,876,782.622811269,799.622811269,650,628,650,0.410778669107,-0.00552267713964,0.0499698649699,0.99999999355,9.66399112099e-05,-5.60774291315e-05,2.04146480673e-05,1793192211224466176
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,671.95639847,664,632.95639847,876,782.04360153,799.04360153,650,628,650,0.411387629029,-0.00552261234159,0.0499341673237,0.999999990832,2.96790700269e-05,-0.000132070108668,3.60696798924e-06,1793192211241132800
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.530657952,711,671.469342048,663.469342048,632.469342048,876,783.061315904,799,649.469342048,628,650.530657952,0.412080840845,-0.00553078634127,0.0499266246801,0.999999990897,2.96085666155e-05,-0.000131470933136,6.72432229297e-06,1793192211257799680
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.892760634,711,671,663.107239366,632.107239366,876,783.785521268,799.107239366,649.107239366,628,650.892760634,0.412797249911,-0.00553848583214,0.0499276748496,0.999999992459,3.52563204528e-05,-0.000117058458021,1.16368842587e-05,1793192211274466304
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.303942661,711,671,663.696057339,632.696057339,876,782.607885323,799.696057339,649.696057339,628,650.303942661,0.413587030653,-0.00554104261334,0.0499570201185,0.999999996608,4.21300594906e-05,-6.86142410558e-05,1.73272207207e-05,1793192211291133184
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.719791803,742,711,671,664,632.719791803,876,782.280208197,799.719791803,650,628.280208197,650,0.414350226799,-0.00554065274733,0.049964601057,0.999999997226,4.60118142774e-05,-5.51246353714e-05,1.98254177216e-05,1793192211307799808
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.140620366,742,711,671,664,632.140620366,876,782.859379634,799.140620366,650,628.859379634,650,0.415085059074,-0.0055371190079,0.0499489609271,0.999999995616,4.67013246744e-05,-7.89292354074e-05,1.89178180445e-05,1793192211324466176
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742,711,671.437364853,663.562635147,632,876,783,799,650,628.562635147,650.437364853,0.415843076213,-0.00553718822393,0.049929466111,0.999999993186,3.66341828585e-05,-0.000109609457353,1.64975888084e-05,1793192211341132800
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.014884321,742,711,671.970231359,663.014884321,632.014884321,876.014884321,783,799,650,628,650.985115679,0.416610210526,-0.00553855246691,0.0499100572198,0.999999989802,2.33047748233e-05,-0.00014022604771,1.37495813948e-05,1793192211357799424
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.589195552,742,711,670.821608896,663.589195552,632.589195552,876.589195552,783,799,650,628,650.410804448,0.417440602249,-0.00554516913076,0.0499403326535,0.99999999605,1.69972990865e-05,-8.55893233401e-05,1.69115401805e-05,1793192211374466304
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.167685174,711,670.335370347,664,633,876.832314826,783,799,650,628,650,0.41826796419,-0.00554980278956,0.0499645117243,0.999999998701,1.30035055561e-05,-4.50024116041e-05,2.00708656889e-05,1793192211391132928
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.756672803,711,671.513345606,664,633,876.243327197,783,799,650,628,650,0.419087713871,-0.0055494542252,0.0499733739196,0.999999998832,1.48227487839e-05,-3.97151097551e-05,2.32235751118e-05,1793192211407799552
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,711,672,664,633,876,783,799,650,628,650,0.419896378211,-0.00554555141015,0.0499626901954,0.999999997986,1.88616480787e-05,-5.58010860233e-05,2.36169090907e-05,1793192211424465920
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,711,672,664,633,876,783,799,650,628,650,0.420697239007,-0.00553914658538,0.0499382471484,0.999999995679,2.44630710278e-05,-8.69327513371e-05,2.20677844817e-05,1793192211441132544
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.504836953,711.495163047,671.504836953,664.495163047,633,876,783,799,649.504836953,628,650,0.421579053968,-0.00554378666106,0.0499604330153,0.999999998822,1.47369309673e-05,-4.01147301165e-05,2.302526548e-05,1793192211457799424
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711.928381231,671,664.928381231,633,876.071618769,783,799.071618769,649,628,650,0.422463035946,-0.00554987733147,0.049985664971,0.999999999647,3.20492924959e-06,1.01985319179e-05,2.43056610303e-05,1793192211474465792
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711.341150849,671,664.341150849,633,876.658849151,783,799.658849151,649,628,650,0.42326869652,-0.00555359722313,0.0499787285297,0.99999999967,-3.54529689915e-06,-4.76102460817e-06,2.50027077751e-05,1793192211491132672
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.757268376,632.757268376,876.757268376,783,799.757268376,649,628,650,0.424095892015,-0.00555545345483,0.0499710895329,0.999999999479,-8.1633561624e-06,-1.8401324527e-05,2.52424055212e-05,1793192211507799552
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.178027174,632.178027174,876.178027174,783,799.178027174,649,628,650,0.424952942438,-0.00555472601288,0.0499624765514,0.999999999187,-9.82549919144e-06,-3.02126828384e-05,2.48480602389e-05,1793192211524466176
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671.400791874,663.400791874,632.400791874,876.400791874,783,799,649,628.400791874,650,0.425806321403,-0.00555568297901,0.0499733311246,0.999999999359,-1.39035010953e-05,-1.95701601389e-05,2.65793842435e-05,1793192211541132800
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671.979423567,663.979423567,632.979423567,876.979423567,783,799,649,628.979423567,650,0.426658071213,-0.00555738735263,0.0499928238634,0.99999999939,-1.90534705024e-05,1.03562452599e-06,2.9253912621e-05,1793192211557799424
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.446528875,742.553471125,711,671.446528875,664.553471125,633,877,783,799.553471125,649.553471125,628.446528875,650,0.427433327789,-0.00555645514022,0.0499774599722,0.999999998416,-2.11424021342e-05,-4.27288139546e-05,2.99201634535e-05,1793192211574466048
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.130680647,742.869319353,711,671.130680647,664.869319353,632.869319353,877,783,800,650,628.130680647,650,0.428206651087,-0.00555517001339,0.0499591248427,0.999999995694,-2.30860952484e-05,-8.47655373533e-05,2.98863448039e-05,1793192211591132672
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.719569654,742.280430346,711,671.719569654,664.280430346,632.280430346,877,783,800,650,628.719569654,650,0.428983085,-0.00555298832343,0.0499348779999,0.999999992988,-2.49162785138e-05,-0.000112422297284,2.76574957056e-05,1793192211607799552
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,711.30478684,672,664.30478684,632.30478684,877,783,799.69521316,650,628.69521316,650,0.429802437704,-0.00555321430695,0.0499355902421,0.999999994315,-2.81948155402e-05,-9.91887920232e-05,2.71523030814e-05,1793192211624466176
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,711.886665816,672,664.886665816,632.886665816,877,783,799.113334184,650,628.113334184,650,0.430660809305,-0.00555562918886,0.0499589936432,0.999999997875,-3.27901003464e-05,-4.87805470841e-05,2.8214145568e-05,1793192211641132800
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.537884512,742.462115488,711.537884512,672,665,632.537884512,876.537884512,783,799.462115488,650,628,650,0.431409046969,-0.00555594476921,0.0499459192215,0.999999996065,-3.77770333404e-05,-7.52205720766e-05,2.80088911048e-05,1793192211657799424
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.036057116,742.963942884,711,672,664.963942884,632.036057116,876,783,799.963942884,650,628,650,0.43213203123,-0.0055558405638,0.0499255086267,0.999999991902,-4.26192644901e-05,-0.000116711744771,2.75375883777e-05,1793192211674465792
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.610701824,742.389298176,711,672,664.389298176,632.610701824,876,783,799.389298176,650,628,650,0.432875723415,-0.00555705089258,0.0499273137,0.999999993103,-4.38850211339e-05,-0.000105365482578,2.76704029911e-05,1793192211691132672
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711,671.810080426,664.189919574,633,876.189919574,783,799,650,628.189919574,650.189919574,0.433611360749,-0.00555828516254,0.0499359993502,0.999999994837,-4.65001064055e-05,-8.5839436035e-05,2.81865030223e-05,1793192211707799808
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711,671.22125744,664.77874256,633,876.77874256,783,799,650,628.77874256,650.77874256,0.43433007997,-0.00555956971833,0.0499591368319,0.999999997008,-5.19492957091e-05,-4.9132726018e-05,2.95076483587e-05,1793192211724467456
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671.363074374,664.636925626,632.636925626,876.636925626,783,799,649.636925626,629,650.636925626,0.435028984869,-0.0055582588175,0.0499708835669,0.999999997281,-5.5074083969e-05,-3.84528958837e-05,3.04471617289e-05,1793192211741134336
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671.944702676,664.055297324,632.055297324,876.055297324,783,799,649.055297324,629,650.055297324,0.435715962424,-0.00555538557212,0.0499757735995,0.999999996958,-5.67996903513e-05,-4.34400420593e-05,3.11569502997e-05,1793192211757800960
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,711.518501803,672,664.518501803,632,876.518501803,783,799,649,628.481498197,650,0.436315066013,-0.00555287196928,0.0499488810221,0.999999993327,-5.36968099755e-05,-9.74221425217e-05,3.11608491118e-05,1793192211774466816
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.091996459,742.091996459,711.908003541,672,664.908003541,632,876.908003541,783,799,649,628,650,0.436913320326,-0.00555126894871,0.0499265912377,0.99999998851,-5.11173842602e-05,-0.000139256062622,3.12241993521e-05,1793192211791132928
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.668218005,742.668218005,711.331781995,672,664.331781995,632,876.331781995,783,799,649,628,650,0.437555698327,-0.00555425991451,0.0499461039715,0.999999993977,-5.39633028689e-05,-9.00538325488e-05,3.19908274099e-05,1793192211807799808
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.496212429,743,711,672,664.251893786,632,876.251893786,783,799,649.251893786,628,650,0.438172860388,-0.00555653690838,0.0499650539373,0.999999996721,-5.53534521063e-05,-4.88714165765e-05,3.3253099365e-05,1793192211824466688
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+187,3.116666667,POSE1_TO_POSE2_PRESS,763.425241859,742.574758141,711.425241859,671.574758141,664.574758141,632,876.574758141,783,799,649.574758141,628.425241859,650,0.439274821919,-0.00555728598041,0.049971356883,0.999999997193,-5.26865065627e-05,-3.94759226553e-05,3.57625804253e-05,1793192211857799936
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+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,712,671.574367124,664,632,876.574367124,783,799,649,629,650,0.44020853559,-0.00555255512369,0.0499212734129,0.999999990952,-4.29458436617e-05,-0.000122398610916,3.56407716575e-05,1793192211891134208
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.846375789,742,712,672.153624211,664,632,877,783,799,649,628.846375789,650,0.440645854485,-0.00554999684952,0.0499025624936,0.99999998724,-3.64876427834e-05,-0.000151356423703,3.57815390937e-05,1793192211907800832
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+192,3.200000000,POSE1_TO_POSE2_PRESS,763.331004296,742,712,672.668995704,664.331004296,632,877,783,799,649.331004296,628.331004296,650,0.441500293503,-0.00554974747882,0.0499154982162,0.999999991694,9.76912332621e-06,-0.000125010286149,2.98229960392e-05,1793192211941133312
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.909802493,742,712,672.090197507,664.909802493,632,877,783,799,649.909802493,628.909802493,650,0.4419007845,-0.00554885532712,0.0499210911829,0.999999990182,7.93642112729e-05,-0.000114304413196,1.64872185572e-05,1793192211957799680
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,711.515963443,672,664.515963443,632,877,783,799,649.515963443,628.515963443,650,0.442259480307,-0.00555735013386,0.0499184322987,0.999999989754,8.25484163893e-05,-0.000115785171789,1.64567094009e-05,1793192211974466304
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742,711,672.05893161,664,632,877,783,799,649,628,650,0.442602489444,-0.00556653986588,0.0499132299843,0.999999989603,7.47456656616e-05,-0.000121886572565,1.87452880288e-05,1793192211991132928
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,711,672.64733531,664,632,877,783,799,649,628,650,0.442873881914,-0.00556640418819,0.0498988624934,0.999999985589,7.83778727666e-05,-0.000149289766684,1.98019609231e-05,1793192212007800064
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742,711,672.767793912,663.767793912,632,877,783,799,649,628.232206088,650,0.443133179772,-0.00556534328091,0.0498835377748,0.999999980927,8.19358027532e-05,-0.00017608335644,2.06561623012e-05,1793192212024466944
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742,711,672.188208422,663.188208422,632,877,783,799,649,628.811791578,650,0.443374384111,-0.00556289823376,0.0498667810487,0.999999975735,8.53826141679e-05,-0.000201964978047,2.12074669945e-05,1793192212041133568
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742,711.390131148,672,663,632.390131148,877,783,799,649,629,650,0.44359151679,-0.00555506152524,0.0498505645284,0.999999968888,9.46707896929e-05,-0.000229826301537,2.1008152798e-05,1793192212057800192
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742,711.967871622,672,663,632.967871622,877,783,799,649,629,650,0.443797073722,-0.00554463203211,0.0498346077851,0.999999960644,0.000106768006434,-0.000258639641749,2.04478751416e-05,1793192212074466560
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.881320979,711,672.762641958,663,632,876.118679021,783,799,649.118679021,628.881320979,650,0.444175626659,-0.00554315698186,0.0498320078882,0.999999959581,0.000112420926684,-0.000260257932309,2.15748485771e-05,1793192212107799808
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+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,672,662.976905297,632,876.023094703,783,799.023094703,649.976905297,628,650,0.444797350018,-0.0055611754828,0.0498220747581,0.9999999587,8.98890121302e-05,-0.000272035136279,2.2747367147e-05,1793192212191133440
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,672,662.401201255,632,876.598798745,783,799.598798745,649.401201255,628,650,0.444868437301,-0.00555948079085,0.0498187758058,0.999999957081,9.10495251619e-05,-0.000277567672175,2.24434951483e-05,1793192212207800576
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.821014994,742.821014994,711,672,662.178985006,632,876.821014994,782.821014994,799.821014994,649,628.178985006,650,0.444934470696,-0.00555723977986,0.04981591426,0.99999995582,9.26913293467e-05,-0.000281576745515,2.19714876741e-05,1793192212224467200
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.230523699,742.230523699,711,672,662.769476301,632,876.230523699,782.230523699,799.230523699,649,628.769476301,650,0.444988884631,-0.00555374272129,0.0498140583608,0.999999955437,9.54396748762e-05,-0.000282083209493,2.1112918222e-05,1793192212241133312
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+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742,711,672.495274655,663,631,877,783,799,649.504725345,628,650,0.445092790691,-0.00555455768803,0.0498094266979,0.999999954435,9.18242435788e-05,-0.000286830589488,2.06525842189e-05,1793192212291133440
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+235,3.916666667,POSE1_TO_POSE2_PRESS,763.284533084,742,711,672.715466916,662.715466916,632,877,782.715466916,799,649,628.715466916,650,0.445155377841,-0.00554652697774,0.0497988637776,0.999999949013,9.27387111123e-05,-0.00030508321077,1.72699033923e-05,1793192212657799936
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.863772656,742,711,672.136227344,662.136227344,632,877,782.136227344,799,649,628.136227344,650,0.445154971395,-0.00554868610525,0.0497982500558,0.999999949244,8.78767584318e-05,-0.000305772277215,1.71443007035e-05,1793192212674466048
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.560789968,742,711,672,662,631.560789968,877,782.439210032,799,649,628.439210032,650.439210032,0.445156819077,-0.00554912395191,0.0497988065852,0.99999994961,8.81757106938e-05,-0.000304463119491,1.7539054285e-05,1793192212691132928
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.013810153,742.013810153,711,672,662.013810153,631.013810153,876.986189847,783,799,649.013810153,628.986189847,650.986189847,0.445159290541,-0.00554900969206,0.0497997013188,0.999999950005,9.00017996425e-05,-0.000302595195788,1.80704489281e-05,1793192212707799808
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.602222426,742.602222426,711,672,662.602222426,631.602222426,876.397777574,783,799,649.602222426,628.397777574,650.397777574,0.445158875792,-0.00554794643581,0.0497996952199,0.999999949936,8.93375261092e-05,-0.000303044491664,1.76294940166e-05,1793192212724466432
+240,4.000000000,HOLD_POSE2,764,742,712,672,663,632,877,783,800,650,629,650,0.445155375339,-0.0055504036015,0.049797299807,0.999999949129,8.56166082709e-05,-0.000306742894682,1.78800091619e-05,1793192212764495616
+241,4.016666667,HOLD_POSE2,764,742.57733625,711.42266375,672,662.42266375,632,877,783,800,649.42266375,629,650,0.445157309552,-0.00554993309562,0.0497985848332,0.999999949548,8.63622592746e-05,-0.000305175621552,1.77035634247e-05,1793192212781163008
+242,4.033333333,HOLD_POSE2,764,742.846369318,711,672,662,632,877,783,799.846369318,649,629,650.153630682,0.445158900794,-0.00554919871915,0.0497996465289,0.999999949892,8.75053837e-05,-0.000303730541627,1.74964663951e-05,1793192212797829888
+243,4.050000000,HOLD_POSE2,764,742.272921668,711,672,662,632,877,783,799.272921668,649,629,650.727078332,0.445159554822,-0.00554774327991,0.0498000979435,0.999999950037,8.97346590798e-05,-0.000302619371087,1.72056104544e-05,1793192212814495744
+244,4.066666667,HOLD_POSE2,764,742,711.309512183,672.309512183,662,631.690487817,877,783,799,649,628.690487817,650.690487817,0.445159527279,-0.00554683708945,0.0498001610443,0.99999994995,9.04300604873e-05,-0.000302704005987,1.7107994683e-05,1793192212831161856
+245,4.083333333,HOLD_POSE2,764,742,711.900106789,672.900106789,662,631.099893211,877,783,799,649,628.099893211,650.099893211,0.445158880768,-0.00554642969745,0.0497998714992,0.999999949656,8.97324793998e-05,-0.000303874607543,1.71858693232e-05,1793192212847828224
+246,4.100000000,HOLD_POSE2,764,742,711.518643524,672.518643524,662,631,877,783,799,649,628.481356476,650,0.445157913393,-0.00554766381991,0.0497986936803,0.999999949402,8.765924864e-05,-0.000305314314444,1.71893948851e-05,1793192212864495616
+247,4.116666667,HOLD_POSE2,764,742,711,672.060158497,662,631.060158497,877,782.939841503,799,649,628.939841503,650,0.445157040564,-0.00554880979961,0.0497975703963,0.999999949161,8.6007678268e-05,-0.000306570196391,1.71610908243e-05,1793192212881163008
+248,4.133333333,HOLD_POSE2,764,742,711,672.634301588,662,631.634301588,877,782.365698412,799,649,628.365698412,650,0.445157533608,-0.00554634763346,0.0497984580141,0.999999949021,9.0351359444e-05,-0.00030578745534,1.69901540994e-05,1793192212897828864
+249,4.150000000,HOLD_POSE2,763.786402483,742,711,672.786402483,662,631.786402483,877,782.213597517,799,649,628.213597517,650,0.445157701654,-0.00554519087345,0.0497988247534,0.999999948893,9.25287855685e-05,-0.000305553166885,1.69911260057e-05,1793192212914494720
+250,4.166666667,HOLD_POSE2,763.198066398,742,711,672.198066398,662,631.198066398,877,782.801933602,799,649,628.801933602,650,0.445157299517,-0.00554632433707,0.0497982776558,0.999999948814,9.09057021139e-05,-0.000306281091669,1.72936969137e-05,1793192212931161600
+251,4.183333333,HOLD_POSE2,763.383915782,742,711,672.383915782,662,631.383915782,877,783,799,649,628.616084218,650.383915782,0.445157756217,-0.00554678094332,0.0497979620416,0.999999948867,9.0128672449e-05,-0.000306333049585,1.73806467977e-05,1793192212947828480
+252,4.200000000,HOLD_POSE2,763.962673333,742,711,672.962673333,662,631.962673333,877,783,799,649,628.037326667,650.962673333,0.445158648786,-0.00554689403659,0.0497977639079,0.999999948988,8.97810248769e-05,-0.000306041946439,1.73581665057e-05,1793192212964495104
+253,4.216666667,HOLD_POSE2,764,742,711,673,662,632,877,783,799,649,628,650.460333651,0.445159117664,-0.00554659005889,0.0497977283018,0.999999949192,8.91832758478e-05,-0.000305568893653,1.70480514275e-05,1793192212981161984
+254,4.233333333,HOLD_POSE2,764,742.116581871,711.116581871,673,662,632,877,783,799,649,628,650,0.445159592655,-0.00554671238759,0.0497979659044,0.999999949448,8.8350800875e-05,-0.000304983094973,1.6832080852e-05,1793192212997828608
+255,4.250000000,HOLD_POSE2,764,742.693671979,711.693671979,673,662,632,877,783,799,649,628,650,0.445160207172,-0.00554863223999,0.0497992384448,0.999999949891,8.66592465249e-05,-0.000304001489219,1.70663181638e-05,1793192213014495232
+256,4.266666667,HOLD_POSE2,763.724433459,742.724433459,711.724433459,673,662,632,877,783,799,649,628,650.275566541,0.445159774314,-0.00554931019951,0.0497994845834,0.999999949899,8.61599269231e-05,-0.000304110936699,1.7184809284e-05,1793192213031161600
+257,4.283333333,HOLD_POSE2,763.137103389,742.137103389,711.137103389,673,662,632,877,783,799,649,628,650.862896611,0.445158156504,-0.00554858313743,0.0497985694973,0.999999949416,8.70094479344e-05,-0.000305454752557,1.717235038e-05,1793192213047828224
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,662,632,877,783,799,649,628,650,0.4451611569,-0.00554476939174,0.0497999692769,0.99999994984,9.20530983433e-05,-0.000302580216395,1.70698349215e-05,1793192213080548608
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763.423492478,742,711,672.423492478,662,631.423492478,877,783,799.576507522,649,628,650,0.445158540358,-0.00554694856802,0.0497973547456,0.999999948999,8.72095458485e-05,-0.000306778266224,1.68354109372e-05,1793192213097215232
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763.155780587,742.155780587,711,672,662,631.155780587,877,783,799.844219413,649,628.155780587,650.155780587,0.445157257563,-0.00554841938912,0.0497961289013,0.999999948614,8.43335039851e-05,-0.000308839295985,1.66860564564e-05,1793192213113881856
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.742707846,742.742707846,711,672,662,631.742707846,877,783,799.257292154,649,628.742707846,650.742707846,0.445159666116,-0.00554792972908,0.0497987464607,0.999999949575,8.69028485525e-05,-0.00030498579583,1.67721448263e-05,1793192213130548480
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.674676731,711.325323269,672,662.325323269,631.674676731,877,783,799,649,628.674676731,650.674676731,0.445160247939,-0.00554751239007,0.0497995053634,0.999999949756,8.85516758515e-05,-0.000303910450319,1.69031585288e-05,1793192213147214848
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.095426886,711.904573114,672,662.904573114,631.095426886,877,783,799,649,628.095426886,650.095426886,0.445159403934,-0.00554715150027,0.0497988135172,0.999999949337,8.94820059825e-05,-0.000305003555202,1.70692380732e-05,1793192213163881728
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.516904902,742,711.516904902,672,662.516904902,631.483095098,877,782.516904902,799,649,628,650,0.445156573573,-0.00554826803915,0.0497974750978,0.99999994867,8.62504649471e-05,-0.000308099382426,1.71778532378e-05,1793192213180548352
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,742.061089527,711,672,662,632,877,782,799,649,628.061089527,650,0.445152535244,-0.00554929442795,0.0497956073871,0.99999994772,8.30874860443e-05,-0.000312028450121,1.71923984436e-05,1793192213197215232
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742.635855126,711,672,662,632,877,782,799,649,628.635855126,650,0.445141633926,-0.00554711251595,0.0497903614092,0.999999944958,8.74033432766e-05,-0.000319642436701,1.65112518276e-05,1793192213213881856
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.215527128,743,711,672.215527128,662.215527128,631.784472872,876.784472872,782.215527128,799,649,628.784472872,650,0.445120365668,-0.00554570360563,0.0497806603612,0.999999939563,8.88955883782e-05,-0.000335748417991,1.56444368776e-05,1793192213230548480
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.803681815,743,711,672.803681815,662.803681815,631.196318185,876.196318185,782.803681815,799,649,628.196318185,650,0.445081173878,-0.00554563114785,0.0497632568871,0.999999929065,8.55060545035e-05,-0.000366536314631,1.44566176748e-05,1793192213247215360
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.611941626,711.388058374,673,662.611941626,631.388058374,876,783,799,649,628.388058374,650,0.445023032245,-0.00554322753564,0.0497433407562,0.999999914862,8.71488376609e-05,-0.000403114099563,1.34552789081e-05,1793192213263881984
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.029457935,711.970542065,673,662.029457935,631.970542065,876,783,799,649,628.970542065,650,0.444955396342,-0.00553965596657,0.0497221657304,0.999999897808,9.13129159271e-05,-0.000442592741321,1.25473705983e-05,1793192213280548608
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,662.544503947,631.455496053,876.544503947,783,800.089007893,649,628.455496053,650,0.444879515864,-0.00553613640675,0.0497097449783,0.999999891921,9.41105586922e-05,-0.000455179596296,1.06257420284e-05,1793192213297215232
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742,711.881948253,673,662.881948253,631,877.118051747,782.881948253,800.763896505,649.118051747,628,650,0.444800082628,-0.00553260173238,0.0497006261809,0.999999887687,9.65552792953e-05,-0.000463919923114,8.99676758137e-06,1793192213313881856
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742,711.30824648,673,662.30824648,631,877.69175352,782.30824648,799.61649296,649.69175352,628,650,0.444708631679,-0.00552899802575,0.0497024522445,0.999999887825,9.79187445146e-05,-0.000463342482912,8.70578123857e-06,1793192213330548480
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.275062008,711,672.724937992,662.275062008,631.275062008,877.449875985,782.275062008,799,650,628.275062008,650.275062008,0.444606031904,-0.00552457080516,0.0497058665379,0.999999888922,0.000100454685448,-0.000460427562195,8.40297334453e-06,1793192213347215104
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.869525769,711,672.130474231,662.869525769,631.869525769,876.260948462,782.869525769,799,650,628.869525769,650.869525769,0.444490486129,-0.00551918732113,0.049711125082,0.999999891102,0.000104352104031,-0.000454798361246,8.08643829312e-06,1793192213363881728
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.550071616,711,672,662.550071616,632,876.449928384,783.449928384,799,649.550071616,629,651,0.444349056963,-0.0055140068333,0.0497133563534,0.999999892396,0.000108592025717,-0.000450951394865,7.66050679403e-06,1793192213380548352
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.026370441,632,877,783.973629559,799.026370441,649,628.973629559,650.973629559,0.44419866307,-0.00550871182069,0.0497148335526,0.999999893441,0.000113009615273,-0.000447543117826,7.16210786726e-06,1793192213397215232
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.60267599,632,877,783.39732401,799.60267599,649,628.39732401,650.39732401,0.444013102745,-0.00549983806534,0.0497183377685,0.999999894838,0.000119123816652,-0.000442831941808,5.79398213126e-06,1793192213413881856
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.817359915,742,711,672.182640085,663,632,876.817359915,783,800,649,628,650,0.443813413454,-0.00549068067757,0.0497212409728,0.99999989528,0.000125561197771,-0.000440062451671,4.33248501136e-06,1793192213430548224
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.229274232,742,711,672.770725768,663,632,876.229274232,783,800,649,628,650,0.443582359077,-0.00548089365087,0.0497228099818,0.999999893683,0.000132716009871,-0.000441603341235,2.66371147011e-06,1793192213447214848
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742.353278672,711,672.646721328,663,632,876,783,800,649.353278672,628,650,0.443330338395,-0.00547133189772,0.0497243540911,0.999999894138,0.000139533206071,-0.000438466559419,1.10493634866e-06,1793192213463881472
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742.932296283,711,672.067703717,663,632,876,783,800,649.932296283,628,650,0.443064920587,-0.00546191408948,0.0497258822902,0.999999895863,0.000146134672267,-0.000432340826907,-3.83551855791e-07,1793192213480548352
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.509135593,742.490864407,711,672.509135593,663.509135593,632,876.509135593,783,799.490864407,649.490864407,628,650,0.442770192617,-0.0054510250737,0.0497333957982,0.999999900433,0.000155447685372,-0.000418289298172,-1.85570142968e-06,1793192213497215232
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742,711.085414355,672.914585645,663.914585645,632,877,783,799,649,628.085414355,650,0.442466228996,-0.0054400831922,0.049743405223,0.999999906314,0.000164429673301,-0.000400403406204,-3.34188081796e-06,1793192213513882624
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742,711.660134501,672.339865499,663.339865499,632,877,783,799,649,628.660134501,650,0.442131590499,-0.00542995441825,0.0497631727393,0.999999918445,0.000169458552618,-0.000366563902123,-4.92082556819e-06,1793192213530548736
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,663.241230033,632,876.758769967,783,799,649,629,650,0.441772529671,-0.00542132573342,0.0497815099873,0.999999928735,0.000172401697254,-0.000335801034397,-6.78477726289e-06,1793192213547215104
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,663.831551548,632,876.168448452,783,799,649,629,650,0.441378126549,-0.00541486787483,0.0497977774484,0.999999937219,0.00017232651021,-0.000309490465181,-9.06117128014e-06,1793192213563881728
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.412609338,742,711.587390662,672,664.412609338,632,876,783,799,649,629,650,0.440933592431,-0.00541675339067,0.0498043693822,0.999999941195,0.000163342347143,-0.000301333791787,-1.12942819742e-05,1793192213580548608
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.989968228,742,711.010031772,672,664.989968228,632,876,783,799,649,629,650,0.440469041666,-0.00542197030776,0.0498070980032,0.99999994341,0.000150800945612,-0.000300425733972,-1.35101101449e-05,1793192213597215232
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.438062977,742,711,672,664.438062977,632,877.123874047,783,799.561937023,649.561937023,629,650,0.439965593831,-0.00542561569181,0.0498041767794,0.999999945222,0.000136738269139,-0.000300932236701,-1.72957983843e-05,1793192213613881600
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.389509453,742,711,670.389509453,663,632,875,783.610490547,799,649.610490547,628,650,0.401563967177,-0.00538476873501,0.0498210225868,0.999999943855,4.973514955e-05,-0.00032741241994,-5.11709043888e-05,1793192214613881856
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.969004481,742,711,670.969004481,663,632,875,783.030995519,799,649.030995519,628,650,0.401449698504,-0.00538636110201,0.0498291189369,0.999999949262,4.44751415343e-05,-0.000311121408895,-5.19841378832e-05,1793192214630548224
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.454061257,742,711,671,663,632.545938743,875.545938743,783,799,649,628,650.545938743,0.401356949982,-0.005391956496,0.049831485672,0.999999951166,3.53132248926e-05,-0.000306017138487,-5.26746828759e-05,1793192214647215104
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875.877661556,783,799,649.122338444,628.122338444,650.877661556,0.401269912243,-0.00539866928856,0.0498330322494,0.999999952686,2.51255400114e-05,-0.00030192442011,-5.3270740984e-05,1793192214663881472
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.71932346,663,632.71932346,875,783,799,649.71932346,628.71932346,650,0.40113984269,-0.00541570805226,0.0498331350636,0.999999954404,2.42293625001e-06,-0.000297163423399,-5.36715302637e-05,1793192214697214976
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,742,711,670.126577737,663,632.126577737,875,783,799,649.126577737,628.126577737,650,0.401092131613,-0.00541942229548,0.0498342867062,0.999999954814,-3.075182436e-06,-0.000295777658384,-5.36406624684e-05,1793192214713881600
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649,628.974173146,650,0.401029108268,-0.0054105918242,0.0498351140919,0.999999956029,6.21369551437e-06,-0.000291226401591,-5.55916438298e-05,1793192214747215360
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649,628.396924293,650,0.401011221152,-0.00541209463291,0.0498366795774,0.999999957089,3.43623669214e-06,-0.000287653508555,-5.5371737178e-05,1793192214763881728
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763,742,711,670.815725735,663,632.815725735,875.184274265,783,799,649,628.184274265,650.184274265,0.400996032411,-0.00541327270344,0.0498382621421,0.999999957973,1.404465849e-06,-0.000284622141556,-5.51635416805e-05,1793192214780548352
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.225833296,663,632.225833296,875.774166704,783,799,649,628.774166704,650.774166704,0.400986783243,-0.00541373597125,0.0498398823004,0.999999958505,1.01407809742e-06,-0.000282782763522,-5.49811244035e-05,1793192214797214976
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763,742,711,670,663.357375564,632,875.642624436,783,799,649,628.642624436,650.642624436,0.400978662675,-0.00541341786216,0.0498404144628,0.999999958664,4.0949930303e-06,-0.000282231276181,-5.4772423844e-05,1793192214813881600
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763,742,711,670,663.936438519,632,875.063561481,783,799,649,628.063561481,650.063561481,0.400971242199,-0.00541261504899,0.0498402717192,0.999999958572,9.32922817815e-06,-0.000282478693667,-5.45474192064e-05,1793192214830548480
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.510698813,663.489301187,632,875,783,799,649,628,650,0.400969917839,-0.00541371295189,0.0498411790934,0.999999959027,7.45259294114e-06,-0.000281004428438,-5.40952164258e-05,1793192214847215104
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.086504202,742,711,671,663,632,875,783,799,649,628,650.086504202,0.400969611425,-0.00541485051675,0.0498421891188,0.999999959567,5.37610717255e-06,-0.00027920103218,-5.37056897675e-05,1793192214863881984
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.674705281,742,711,671,663,632,875,783,799,649,628,650.674705281,0.400970849427,-0.00541485890214,0.0498430435467,0.999999960237,7.22555184441e-06,-0.000276719959479,-5.38421344643e-05,1793192214880548608
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.162073467,663,632,875,783,799,649,628,650.162073467,0.400971409645,-0.00541705062663,0.0498448361216,0.99999996119,4.1687671934e-06,-0.000273386205008,-5.35023259657e-05,1793192214913881600
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.583455996,742,711,670.416544004,663,632.416544004,875,783,799,649,628,650,0.400969920556,-0.00541611986816,0.0498447440348,0.999999961086,4.13413073379e-06,-0.000273737017646,-5.36487816155e-05,1793192214930548480
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.005022859,742,711,670.994977141,663,632.994977141,875,783,799,649,628,650,0.400967886159,-0.00541423993087,0.0498442616003,0.999999960786,5.18179090462e-06,-0.000274751059844,-5.39636957203e-05,1793192214947215104
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649,628,650.565896181,0.400967704832,-0.00541500196039,0.0498446451687,0.999999960983,4.7202959217e-06,-0.000274048472156,-5.39408673799e-05,1793192214963881728
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763,742,711,670.858240733,663,632.858240733,875,783,799,649,628,650.858240733,0.400967496274,-0.00541580433785,0.0498449863133,0.999999961146,4.53446576558e-06,-0.000273472170492,-5.38508632862e-05,1793192214980548608
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.266474203,663,632.266474203,875,783,799,649,628,650.266474203,0.400967149742,-0.00541666133247,0.0498451687042,0.999999961193,5.26568407002e-06,-0.000273344491505,-5.35570049292e-05,1793192214997215232
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763,742,711,670.318178364,663,632,875,783,799,649,628,650,0.400966858606,-0.00541670993131,0.0498449435172,0.99999996109,5.59132528553e-06,-0.000273723658724,-5.35124665714e-05,1793192215013881856
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763,742,711,670.897003351,663,632,875,783,799,649,628,650,0.400966612849,-0.00541609630535,0.0498443844488,0.999999960864,5.5847243215e-06,-0.000274518026226,-5.3672167134e-05,1793192215030548480
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.474666777,632.474666777,875,783,799,649,628.474666777,650.474666777,0.400967036675,-0.00541666637277,0.0498449592333,0.999999961144,4.93539361249e-06,-0.000273539202668,-5.35083394183e-05,1793192215047215360
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,664,633,875,783,799,649,628.948353451,651,0.400967601834,-0.00541749659216,0.0498457569365,0.999999961517,4.22199926132e-06,-0.00027222844697,-5.3284576896e-05,1793192215063881728
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,664,633,875,783,799,649,628.375733269,651,0.400968130658,-0.005418366481,0.0498463275527,0.999999961738,4.26575706741e-06,-0.000271441104622,-5.31626488264e-05,1793192215080548352
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.796849179,633,875,783,799,649,628,651,0.400968416089,-0.00541860236924,0.0498466066147,0.999999961854,4.09558686312e-06,-0.000271020902113,-5.31390199887e-05,1793192215097214976
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.206011268,633,875,783,799,649,628,651,0.400968237036,-0.00541762834919,0.049846329283,0.999999961771,3.51716269093e-06,-0.00027130133859,-5.33029825407e-05,1793192215113881600
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.378449004,741.621550996,711,671,663,633,875.378449004,783,799.378449004,649.378449004,628,651,0.400967999333,-0.00541745754004,0.0498463288172,0.999999961651,3.75755554889e-06,-0.000271725138167,-5.3381790691e-05,1793192215130548480
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.959495081,741.040504919,711,671,663,633,875.959495081,783,799.959495081,649.959495081,628,651,0.400967730234,-0.00541771671799,0.0498464765674,0.99999996151,4.43629000533e-06,-0.000272225685048,-5.34150126873e-05,1793192215147215360
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,741.534303605,711,671,663,633,875.465696395,783,799.465696395,650,628,650.465696395,0.400968142123,-0.00541786227746,0.0498465040444,0.999999961813,4.87540950184e-06,-0.000271161939402,-5.31133546947e-05,1793192215163881984
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.888593287,742,711,671,663,633,875,783,799,649.888593287,628,650,0.400968498785,-0.00541785043059,0.0498465994431,0.999999962112,5.05810293453e-06,-0.00027010246906,-5.28640977753e-05,1793192215180548352
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.299651306,742,711,671,663,633,875,783,799,649.299651306,628,650,0.400968399988,-0.00541720036899,0.0498470246145,0.999999962257,4.21861193157e-06,-0.000269563772691,-5.29470164746e-05,1793192215197214976
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.284312531,632.715687469,875.284312531,783,799,649,628,650,0.400968437434,-0.00541734859187,0.0498474324529,0.999999962387,3.75151263778e-06,-0.00026909747147,-5.29087113886e-05,1793192215213881600
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.86312001,632.13687999,875.86312001,783,799,649,628,650,0.400968616004,-0.00541832368906,0.0498478223377,0.999999962501,3.67014184845e-06,-0.000268706158102,-5.27448409992e-05,1793192215230548224
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.439059459,742,711,671,664,632.439059459,875.560940541,783,799,649.439059459,628,650.439059459,0.400967930853,-0.00541805658754,0.0498473439364,0.999999962296,5.00105368458e-06,-0.000269425872543,-5.28499158016e-05,1793192215247215104
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.985872498,742,711,671,663.985872498,633,875,783,799,649.985872498,628,651,0.400967010435,-0.00541740915786,0.0498466207482,0.999999962001,6.68998201571e-06,-0.000270442639826,-5.30382297134e-05,1793192215263881984
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.410130376,742,711,671,663.410130376,633,875,783,799,649.410130376,628,651,0.400967372356,-0.00541693755871,0.0498468576379,0.999999962231,5.22188692843e-06,-0.000269588210718,-5.32240645403e-05,1793192215280548352
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.169700002,633,875.169700002,783,799,649.169700002,628,651,0.400967555096,-0.00541688445689,0.0498472498448,0.999999962499,4.23913213482e-06,-0.000268599317585,-5.32713383381e-05,1793192215297214976
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.759654733,633,875.759654733,783,799,649.759654733,628,651,0.4009672941,-0.00541786774568,0.0498480266879,0.999999962868,4.45830172048e-06,-0.000267277430154,-5.29754717165e-05,1793192215313881600
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_02/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa6d77980d871e6a4470a9f209eaaab7c54101ae
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_02/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,0.575709300236,5.46253687599e-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
+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
+19,0.316666667,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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+23,0.383333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+24,0.400000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+375,6.250000000,pose2_to_pose3_retreat,0.575710588632,5.44846483929e-05,1.04002930538,0.546281319269,0.0087272149764,1.03969858298
+376,6.266666667,pose2_to_pose3_retreat,0.575710471697,5.44764827729e-05,1.04002932197,0.546281202294,0.00872720660664,1.03969859784
+377,6.283333333,pose2_to_pose3_retreat,0.575710286031,5.446351753e-05,1.04002934832,0.546281016563,0.00872719331726,1.03969862144
+378,6.300000000,pose2_to_pose3_retreat,0.575710087097,5.44618862489e-05,1.04002935585,0.546280817499,0.00872719121749,1.03969862823
+379,6.316666667,pose2_to_pose3_retreat,0.575709958461,5.44849086978e-05,1.04002932007,0.546280688661,0.00872721369902,1.03969859632
+380,6.333333333,pose2_to_pose3_retreat,0.575709941303,5.44879794483e-05,1.0400293153,0.546280671476,0.00872721669762,1.03969859206
+381,6.350000000,pose2_to_pose3_retreat,0.575709939771,5.44882536395e-05,1.04002931488,0.546280669942,0.00872721696537,1.03969859168
+382,6.366666667,pose2_to_pose3_retreat,0.575709928721,5.44902313558e-05,1.0400293118,0.546280658874,0.00872721889662,1.03969858894
+383,6.383333333,pose2_to_pose3_retreat,0.575709906946,5.44941284346e-05,1.04002930575,0.546280637065,0.00872722270213,1.03969858354
+384,6.400000000,pose2_to_pose3_retreat,0.575709848405,5.45046058398e-05,1.04002928946,0.546280578431,0.00872723293337,1.03969856901
+385,6.416666667,pose2_to_pose3_retreat,0.575709730043,5.45257894737e-05,1.04002925655,0.546280459883,0.00872725361928,1.03969853965
+386,6.433333333,pose2_to_pose3_retreat,0.575709701812,5.45308421017e-05,1.04002924869,0.546280431607,0.0087272585532,1.03969853264
+387,6.450000000,pose2_to_pose3_retreat,0.57570950293,5.45664367385e-05,1.04002919338,0.546280232412,0.00872729331152,1.0396984833
+388,6.466666667,pose2_to_pose3_retreat,0.575709365612,5.45910130733e-05,1.04002915519,0.546280094878,0.00872731731042,1.03969844923
+389,6.483333333,pose2_to_pose3_retreat,0.575709339202,5.46038726867e-05,1.04002911254,0.546280068815,0.00872733136461,1.03969840701
+390,6.500000000,pose2_to_pose3_retreat,0.575709305184,5.46226388615e-05,1.04002904805,0.546280035349,0.00872735202301,1.03969834298
+391,6.516666667,pose2_to_pose3_retreat,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502796,1.03969833366
+392,6.533333333,pose2_to_pose3_retreat,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502783,1.03969833366
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ecf41b38cfb2acba8a75bc347eec1aef51c3caf3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db4090a45fd859a44e9718acf0457d4670d7489d167e90d58702b43feb809012
+size 25065411
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..adbd16fc3141fec737b60dd994b935140ea0cf24
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_02/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,763,741,711,671,663,633,875,783,799,649,628,651,0.400965453374,-0.00541853702922,0.0498461146437,0.999999961768,4.17130280139e-06,-0.000271357580738,-5.30212996418e-05,1793192215435500544
+1,0.016666667,BASELINE,763,741.57799982,711,671,663.57799982,633,875,783,799,649.57799982,628,651,0.400966544748,-0.00541957957184,0.0498468846799,0.999999962159,2.98675409272e-06,-0.000270018817896,-5.25624855801e-05,1793192215452167168
+2,0.033333333,BASELINE,763,742,711,671.154434966,663.845565034,632.845565034,875.154434966,783,799,650,628,650.845565034,0.400967567204,-0.00541996758747,0.0498475677115,0.999999962493,2.5732571694e-06,-0.00026883321376,-5.23098396382e-05,1793192215468834048
+3,0.050000000,BASELINE,763,742,711,671.726637585,663.273362415,632.273362415,875.726637585,783,799,650,628,650.273362415,0.400968403225,-0.00541858501852,0.0498480153841,0.999999962678,4.24556025717e-06,-0.000268061924531,-5.26149064872e-05,1793192215485501184
+4,0.066666667,BASELINE,763,742,711,671.691246973,663,632,875.691246973,783,799.308753027,649.691246973,628,650.308753027,0.400969159457,-0.00541791549443,0.0498485834841,0.999999963003,5.22899807042e-06,-0.000266798549625,-5.27688949305e-05,1793192215502168320
+5,0.083333333,BASELINE,763,742,711,671.100063869,663,632,875.100063869,783,799.899936131,649.100063869,628,650.899936131,0.400969842701,-0.00541789822415,0.0498492617444,0.999999963456,5.58230018573e-06,-0.000265085042183,-5.27846852421e-05,1793192215518834944
+6,0.100000000,BASELINE,763,742,711,671,663,632,875,783,799.519222574,649,628,650.519222574,0.400968618134,-0.00541829873276,0.0498493002048,0.999999963235,5.13312972897e-06,-0.000265940437576,-5.27203143766e-05,1793192215535501568
+7,0.116666667,BASELINE,763,742,711,671,663,632,875,783,799,649,628,650,0.40096724834,-0.00541872867894,0.0498491918294,0.999999962915,4.74787612231e-06,-0.000267163521714,-5.26489790224e-05,1793192215552167936
+8,0.133333333,BASELINE,763,742,711,671,663,632,875,783,799,649,628,650,0.400968002876,-0.00541867280213,0.0498489396821,0.999999962941,6.3467817056e-06,-0.000267028022359,-5.265937759e-05,1793192215568834304
+9,0.150000000,BASELINE,763,742,711,671,663,632.207628091,875,783,799,649.207628091,628,650,0.400968356781,-0.00541841458966,0.0498487187942,0.999999962987,7.05266272108e-06,-0.000266840390416,-5.26589999507e-05,1793192215585500928
+10,0.166666667,BASELINE,763,742,711,671,663,632.783072294,875,783,799,649.783072294,628,650,0.400968000964,-0.0054177979367,0.0498485532828,0.999999963068,6.1765378538e-06,-0.000266560404869,-5.26395321068e-05,1793192215602167296
+11,0.183333333,BASELINE,763.369297338,742,711,671,663,633,875,783,799,650,628,650,0.40096730828,-0.00541848447794,0.0498484757565,0.999999962874,6.29399419331e-06,-0.000267322607792,-5.24481143111e-05,1793192215618833920
+12,0.200000000,BASELINE,763.962045606,742,711,671,663,633,875,783,799,650,628,650,0.400966411769,-0.0054199595435,0.0498484514673,0.999999962511,7.01263713989e-06,-0.000268715408202,-5.2152654668e-05,1793192215635500800
+13,0.216666667,BASELINE,764,742,711,671,663,632.458438565,875,783,799,649.458438565,628,650.541561435,0.400968022027,-0.00541895783668,0.0498492787566,0.999999962919,7.17404752804e-06,-0.000267178093271,-5.22206846146e-05,1793192215652167424
+14,0.233333333,BASELINE,763.88113355,742,711,671,663,632,875,782.88113355,799,649,628,650.88113355,0.400969384121,-0.00541784968315,0.0498498627091,0.99999996328,7.52179891452e-06,-0.000265785459648,-5.23600890264e-05,1793192215668834048
+15,0.250000000,BASELINE,763.30880889,742,711,671,663,632,875,782.30880889,799,649,628,650.30880889,0.400969145291,-0.00541698184035,0.0498492961221,0.999999963274,8.72584107289e-06,-0.000265709467193,-5.26769129003e-05,1793192215685500928
+16,0.266666667,BASELINE,763.271838262,742,711,671,663,632,875,782.543676524,799,649,628.271838262,650,0.400968485454,-0.00541692387598,0.0498486331709,0.999999963105,8.96967613842e-06,-0.000266314890165,-5.27848543432e-05,1793192215702167808
+17,0.283333333,BASELINE,763.862238342,742,711,671,663,632,875,783.724476685,799,649,628.862238342,650,0.400967332247,-0.00541781499198,0.0498478572925,0.999999962745,8.08826366058e-06,-0.000267718850239,-5.26480106275e-05,1793192215718834432
+18,0.300000000,BASELINE,764,742,711,670.555998323,663,632,875,783.555998323,799,649,628.555998323,650,0.400968662459,-0.00541905035449,0.0498490295936,0.999999963381,6.63699915063e-06,-0.000265416225523,-5.24195185791e-05,1793192215735501056
+19,0.316666667,BASELINE,763.976978584,742,711,670.023021416,663,632,875,783,799,649.023021416,628,650.023021416,0.400970649955,-0.00542027653217,0.0498507054445,0.999999964257,5.06043714427e-06,-0.000262177222566,-5.21891237069e-05,1793192215752167680
+20,0.333333333,BASELINE,763.400721734,742,711,670.599278266,663,632,875,783,799,649.599278266,628,650.599278266,0.400970269138,-0.00541876416775,0.0498502332868,0.999999963879,4.64070522767e-06,-0.000263545753805,-5.25833171732e-05,1793192215768834048
+21,0.350000000,BASELINE,763.17502574,742,711,671,663.17502574,632.17502574,875,783,799,649.82497426,628,651,0.400969113488,-0.0054177924697,0.0498494519392,0.9999999634,4.68313871859e-06,-0.000265299795313,-5.28682312482e-05,1793192215785500672
+22,0.366666667,BASELINE,763.749610302,742,711,671,663.749610302,632.749610302,875,783,799,649.250389698,628,651,0.400966189003,-0.00541805503614,0.0498479647554,0.99999996269,5.78063003206e-06,-0.000267933901641,-5.29036759916e-05,1793192215802167296
+23,0.383333333,BASELINE,764,742,711,671,663.666928685,633,875,783,799,649,628,650.666928685,0.400965639493,-0.00541844148123,0.0498474424842,0.999999962511,6.39658673784e-06,-0.000268604720427,-5.28135510138e-05,1793192215818834176
+24,0.400000000,BASELINE,764,742,711,671,663.076611943,633,875,783,799,649,628,650.076611943,0.400966924279,-0.00541892360319,0.0498476654566,0.999999962746,6.64063349232e-06,-0.000267759207354,-5.26264430966e-05,1793192215835501056
+25,0.416666667,BASELINE,763.496633761,742,711,671,663.503366239,633,875,783.503366239,799.503366239,649.503366239,628,650,0.400967498631,-0.00541918229847,0.0498481073258,0.999999962963,5.42527788157e-06,-0.000266981822208,-5.25885068924e-05,1793192215852167936
+26,0.433333333,BASELINE,763.081297438,742,711,671,663.918702562,633,875,783.918702562,799.918702562,650,628.081297438,650.081297438,0.400967857134,-0.00541941478339,0.0498485342357,0.999999963146,4.35050023955e-06,-0.000266323168237,-5.2539932467e-05,1793192215868834304
+27,0.450000000,BASELINE,763.656162175,742,711,671,663.343837825,633,875,783.343837825,799.343837825,650,628.656162175,650.656162175,0.400967548435,-0.00541969043797,0.0498486721315,0.999999963154,5.45056812127e-06,-0.000266323661602,-5.22917082504e-05,1793192215885500672
+28,0.466666667,BASELINE,764,742,711,670.763877137,663,633,875.236122863,783,799,649.763877137,628.763877137,650.763877137,0.400967851606,-0.00541919018829,0.0498491070473,0.999999963317,6.60431963621e-06,-0.000265686169432,-5.22749081419e-05,1793192215902167296
+29,0.483333333,BASELINE,764,742,711,670.17633217,663,633,875.82366783,783,799,649.17633217,628.17633217,650.17633217,0.400969065423,-0.00541753515879,0.0498499840184,0.999999963712,7.83796853822e-06,-0.000264099162184,-5.26025369868e-05,1793192215918833920
+30,0.500000000,BASELINE,764,742,711,670.407612541,663.407612541,632.592387459,875.592387459,783,799,649.407612541,628,650.407612541,0.400968833547,-0.00541807794927,0.0498496433126,0.999999963626,6.49249877067e-06,-0.000264449539275,-5.26568675333e-05,1793192215935500800
+31,0.516666667,BASELINE,764,742,711,670.990013409,663.990013409,632.009986591,875.009986591,783,799,649.990013409,628,650.990013409,0.400967981742,-0.00541956318696,0.0498487804546,0.999999963329,4.04107712879e-06,-0.000265630686159,-5.25940050315e-05,1793192215952167424
+32,0.533333333,BASELINE,763.435245215,742,711,670.435245215,663.435245215,632,875.564754785,783,799,649.435245215,628,651,0.400968186872,-0.00541980170093,0.0498488911882,0.999999963382,4.40795627173e-06,-0.000265475701772,-5.23425744587e-05,1793192215968833792
+33,0.550000000,BASELINE,763.139870771,742,711,670.139870771,663,632.139870771,876,783,799,649,628,650.860129229,0.400968465534,-0.00541975164218,0.0498490076943,0.999999963431,5.46107606953e-06,-0.000265307395239,-5.21594890327e-05,1793192215985500416
+34,0.566666667,BASELINE,763.716573947,742,711,670.716573947,663,632.716573947,876,783,799,649,628,650.283426053,0.400968916257,-0.00541886826833,0.0498490891802,0.999999963444,8.50384240614e-06,-0.000265170284233,-5.22001279115e-05,1793192216002167296
+35,0.583333333,BASELINE,763.699795179,742,711,671,663.300204821,633,876,783,799,649,628,650,0.400968574433,-0.00541860540477,0.0498491005846,0.999999963378,8.14311015895e-06,-0.000265411597929,-5.22836332309e-05,1793192216018834176
+36,0.600000000,BASELINE,763.109469238,742,711,671,663.890530762,633,876,783,799,649,628,650,0.400967466684,-0.00541894220883,0.0498490442616,0.999999963234,4.49320115994e-06,-0.000266018625247,-5.24085651376e-05,1793192216035500800
+37,0.616666667,BASELINE,763.471411376,742,711,671,663.528588624,632.528588624,876,783,799,649.471411376,628,650.471411376,0.400967641463,-0.0054185408592,0.0498489792745,0.999999963268,5.50484706813e-06,-0.000265859766632,-5.24581408281e-05,1793192216052167168
+38,0.633333333,BASELINE,764,742,711,671,663,632.049773462,875.950226538,783,799.049773462,650,628.049773462,651,0.400968113244,-0.00541814674508,0.0498489751055,0.999999963353,7.26479463321e-06,-0.000265495637589,-5.24653049345e-05,1793192216068833792
+39,0.650000000,BASELINE,764,742,711,671,663,632.624253849,875.375746151,783,799.624253849,650,628.624253849,651,0.400968638035,-0.00541960041073,0.0498496328675,0.99999996356,5.72594309807e-06,-0.00026480562677,-5.22062186386e-05,1793192216085500416
+40,0.666666667,BASELINE,763.796551136,742,711,671,663.203448864,633,875.203448864,783,799.796551136,650,628.796551136,650.796551136,0.400968827497,-0.00542035469607,0.0498498371946,0.999999963615,4.50381842483e-06,-0.00026462939123,-5.21615255091e-05,1793192216102167040
+41,0.683333333,BASELINE,763.208442226,742,711,671,663.791557774,633,875.791557774,783,799.208442226,650,628.208442226,650.208442226,0.400968382954,-0.00541978666549,0.0498491842137,0.999999963388,3.88052820078e-06,-0.000265424548835,-5.2522184796e-05,1793192216118833664
+42,0.700000000,BASELINE,763,742,711,670.6261946,663.6261946,633,876,783,799,649.6261946,628,650,0.400967717368,-0.00541861396834,0.0498487394184,0.999999963123,5.34954403862e-06,-0.000266369797569,-5.2654268943e-05,1793192216135500288
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+45,0.750000000,BASELINE,763,742,711,671,663,632.10588191,875,783,799,649.89411809,627.10588191,650.10588191,0.400969532324,-0.00542074349681,0.0498505789828,0.999999964142,4.8923574179e-06,-0.000262671354262,-5.19226766184e-05,1793192216185500416
+46,0.766666667,BASELINE,763,742,711,671,663,632.680609983,875,783,799,649.319390017,627.680609983,650.680609983,0.400969260061,-0.00541917804366,0.0498504730472,0.999999963861,8.03176263633e-06,-0.000263645585763,-5.20001704432e-05,1793192216202167040
+47,0.783333333,BASELINE,763.262177263,741.737822737,711,670.737822737,663.262177263,633,875,783,799.262177263,649,628.262177263,651,0.400968690217,-0.00541905894053,0.0498500840366,0.999999963584,8.16811709882e-06,-0.000264692443771,-5.20002685227e-05,1793192216218833664
+48,0.800000000,BASELINE,763.852299453,741.147700547,711,670.147700547,663.852299453,633,875,783,799.852299453,649,628.852299453,651,0.400967748142,-0.00542074900688,0.0498493409412,0.99999996331,4.54810023415e-06,-0.000265830146915,-5.19035559978e-05,1793192216235500288
+49,0.816666667,BASELINE,764,741.434298647,711,670.434298647,663.565701353,633,875,783,799.565701353,649.434298647,628.565701353,650.565701353,0.400968587402,-0.0054207668899,0.0498496563476,0.999999963517,4.24487535411e-06,-0.000265035966689,-5.20075579217e-05,1793192216252166912
+50,0.833333333,BASELINE,764,742,711,670.986502328,663.013497672,633,875.013497672,783,799,649.986502328,628,650,0.400969987368,-0.00542024050108,0.0498503233265,0.999999963879,5.00774552068e-06,-0.000263616262646,-5.21785455418e-05,1793192216268833792
+51,0.850000000,BASELINE,764,742,711,670.410980311,663.589019689,633,875.589019689,783,799,649.410980311,628,650,0.400969972244,-0.00542029618925,0.0498509152065,0.999999964036,4.05504127902e-06,-0.000263005471054,-5.23486195513e-05,1793192216285500416
+52,0.866666667,BASELINE,764,742,711,670,663.832263581,632.832263581,875.832263581,783,799,649.167736419,628,650.167736419,0.400969726028,-0.00541959577687,0.0498509812505,0.999999964096,4.5234845882e-06,-0.000262731473403,-5.25342039923e-05,1793192216302167040
+53,0.883333333,BASELINE,764,742,711,670,663.245567366,632.245567366,875.245567366,783,799,649.754432634,628,650.754432634,0.400968902609,-0.00541700683168,0.0498497338995,0.999999963909,8.5415666654e-06,-0.000263298695127,-5.27585292477e-05,1793192216318833920
+54,0.900000000,BASELINE,763.663170265,742,711,670.336829735,663,632.336829735,875,783,799,650,628.336829735,650.663170265,0.400967574107,-0.00541774866632,0.049849109228,0.999999963532,7.58791712827e-06,-0.000264823387235,-5.24167494551e-05,1793192216335500544
+55,0.916666667,BASELINE,763.083867977,742,711,670.916132023,663,632.916132023,875,783,799,650,628.916132023,650.083867977,0.400965882011,-0.00542088821897,0.0498489328031,0.999999963006,3.05528276789e-06,-0.000267037330483,-5.16674494087e-05,1793192216352167168
+56,0.933333333,BASELINE,763,742,711,670.504773006,663,633,875,783.495226994,799,649.504773006,628.504773006,650,0.400967263157,-0.00542011587342,0.0498495973666,0.999999963354,5.57808638808e-06,-0.000265652145249,-5.18715445897e-05,1793192216368833792
+57,0.950000000,BASELINE,763,742,711,670.073458338,663,633,875.073458338,783.926541662,799.073458338,649.073458338,628.073458338,650,0.400968811499,-0.00541881756131,0.0498502064425,0.999999963733,8.82789947771e-06,-0.000264069464222,-5.21865182272e-05,1793192216385500416
+58,0.966666667,BASELINE,763,742,711,670.646059595,663,633,875.646059595,783.353940405,799.646059595,649.646059595,628.646059595,650,0.400967960924,-0.00541844503168,0.0498494711334,0.999999963412,8.9021273186e-06,-0.000265284731089,-5.21582539544e-05,1793192216402167040
+59,0.983333333,BASELINE,763,742,711,671,663.225209137,633,876,783,799.774790863,650,628.774790863,650,0.4009684494,-0.0054184372896,0.0498497272929,0.999999963524,8.72310941624e-06,-0.000264896542926,-5.20156043998e-05,1793192216418833664
+60,1.000000000,BASELINE,763,742,711,671,663.814958301,633,876,783,799.185041699,650,628.185041699,650,0.400971105365,-0.00541902001936,0.049851588316,0.999999964332,8.13416938972e-06,-0.000261912885026,-5.16878024334e-05,1793192216435500288
+61,1.016666667,BASELINE,763.397352757,742,711,671,663.602647243,633,876,783,799,650,628.397352757,650.397352757,0.400970175657,-0.00541996592427,0.0498509632283,0.999999964053,6.2612974756e-06,-0.000263018614801,-5.17325127613e-05,1793192216452167168
+62,1.033333333,BASELINE,763.976384435,742,711,671,663.023615565,633,876,783,799,650,628.976384435,650.976384435,0.400967606497,-0.00542107788128,0.0498492014327,0.999999963267,3.80138208198e-06,-0.00026599410789,-5.19475443918e-05,1793192216468833792
+63,1.050000000,BASELINE,763.445578486,742,711,671,663.554421514,632.445578486,875.445578486,783,799,650,628.445578486,650.445578486,0.400967816707,-0.00542023493146,0.0498493929013,0.999999963392,6.27718925828e-06,-0.000265468321929,-5.19878091237e-05,1793192216485500416
+64,1.066666667,BASELINE,763.131793219,742,711,671,663.868206781,632.131793219,875,783.131793219,799,650,628,650.131793219,0.40096811015,-0.00541941155707,0.049849631604,0.999999963514,8.16449306588e-06,-0.000264949273059,-5.20236457269e-05,1793192216502167296
+65,1.083333333,BASELINE,763.70706822,742,711,671,663.29293178,632.70706822,875,783.70706822,799,650,628,650.70706822,0.400968286013,-0.00541893375121,0.0498497497863,0.999999963517,7.3653170054e-06,-0.000264953838567,-5.20695864634e-05,1793192216518833920
+66,1.100000000,BASELINE,764,742,711,671,663,633,875,783.711753184,799,649.711753184,628,650.711753184,0.400969062213,-0.00541921787619,0.0498503472258,0.99999996387,6.20026702519e-06,-0.000263654777493,-5.20314349417e-05,1793192216535500544
+67,1.116666667,BASELINE,764,742,711,671,663,633,875,783.124449632,799,649.124449632,628,650.124449632,0.400970461265,-0.0054202925062,0.0498514418957,0.999999964581,4.65562205875e-06,-0.000261003200829,-5.19060375046e-05,1793192216552166912
+68,1.133333333,BASELINE,763.543501353,742,711,671,663.456498647,633,875,783,798.543501353,649.456498647,628,650.456498647,0.400970147481,-0.00542060102963,0.0498511500419,0.999999964443,5.27036987877e-06,-0.000261547510004,-5.17540952185e-05,1793192216568833792
+69,1.150000000,BASELINE,763.035578601,742,711,671,663.964421399,633,875,783,798.071157203,649.964421399,628,650.964421399,0.400969450638,-0.00542057559785,0.0498505598097,0.999999964107,6.5186274797e-06,-0.000262824880907,-5.1636336934e-05,1793192216585500672
+70,1.166666667,BASELINE,763.612231415,742,711,671,663.387768585,633,875,783,799.22446283,649.387768585,628,650.387768585,0.400969932107,-0.00541860403712,0.0498511013835,0.999999964234,8.57144085682e-06,-0.000262182553743,-5.21469861954e-05,1793192216602167296
+71,1.183333333,BASELINE,763.808486964,742,711,671,663.191513036,633,875,783,799.808486964,649,628,650,0.40096979526,-0.00541736490655,0.0498510683209,0.999999964226,9.09936941796e-06,-0.000262118268862,-5.25278452753e-05,1793192216618833920
+72,1.200000000,BASELINE,763.223808443,742,711,671,663.776191557,633,875,783,799.223808443,649,628,650,0.400968389044,-0.00541762941348,0.0498498555624,0.999999963945,6.49679564606e-06,-0.000263240672139,-5.26422525106e-05,1793192216635500544
+73,1.216666667,BASELINE,763,742,711,671,663.640299963,632.640299963,875,783,799.359700037,649,628,650.359700037,0.400968619297,-0.00541841011796,0.0498498966416,0.999999964009,4.72761106462e-06,-0.000263050639428,-5.25756797527e-05,1793192216652167168
+74,1.233333333,BASELINE,763,742,711,671,663.057517168,632.057517168,875,783,799.942482832,649,628,650.942482832,0.400969864474,-0.00541951096354,0.0498507153399,0.999999964287,3.47528719345e-06,-0.000262046645538,-5.2396864808e-05,1793192216668833792
+75,1.250000000,BASELINE,763.519842965,742,711,671,663.519842965,632,875.519842965,783,799.480157035,649,628,651,0.400970002657,-0.00541985895222,0.0498507898086,0.999999964352,5.89253407127e-06,-0.000261877877759,-5.17826182197e-05,1793192216685500416
+76,1.266666667,BASELINE,764,742,711,671,664,632,876,783,799,649.095790543,628,650.904209457,0.400969826757,-0.00542011933811,0.0498507046846,0.999999964314,8.02652954697e-06,-0.000262057285523,-5.13093479193e-05,1793192216702167040
+77,1.283333333,BASELINE,764,742,711,671,664,632,876,783,799,649.667668757,628,650.332331243,0.400968692296,-0.00542035405776,0.0498502314027,0.999999963917,6.75564780893e-06,-0.000263512601825,-5.17737177004e-05,1793192216718833920
+78,1.300000000,BASELINE,764,742,711,671,664,632,875.751841348,783,799,649.751841348,628,650.248158652,0.400967958223,-0.00542037027949,0.0498499207342,0.999999963704,6.25747408812e-06,-0.000264290726185,-5.19933906051e-05,1793192216735500544
+79,1.316666667,BASELINE,764,742,711,671,664,632,875.159404241,783,799,649.159404241,628,650.840595759,0.400967779624,-0.00542008337202,0.0498498356645,0.999999963749,6.8313030799e-06,-0.000264129360333,-5.18735876494e-05,1793192216752167168
+80,1.333333333,BASELINE,763.576853725,742,711,670.576853725,663.576853725,632,875,783,799,649,628.423146275,651,0.400968377417,-0.00542025675055,0.0498501187809,0.999999963827,7.69108990679e-06,-0.000263868964274,-5.15667069185e-05,1793192216768833792
+81,1.350000000,BASELINE,763.002038443,742,711,670.002038443,663,632.002038443,875,783,799,649.002038443,628.997961557,650.997961557,0.400969263443,-0.00542059500804,0.0498505399415,0.999999963919,8.64574952414e-06,-0.000263564056644,-5.11941062662e-05,1793192216785500416
+82,1.366666667,BASELINE,763.575595026,742,711,670.575595026,663,632.575595026,875,783,799,649.575595026,628.424404974,650.424404974,0.400970831925,-0.00541965547809,0.0498516650475,0.99999996458,6.68692640221e-06,-0.000261000090484,-5.17034178798e-05,1793192216802167040
+83,1.383333333,BASELINE,763.847116292,742,711,671,663,633,875,783,799,649.847116292,628,650,0.400971501378,-0.00541912369919,0.0498519238088,0.999999964874,5.16512687431e-06,-0.000259822240808,-5.21244600524e-05,1793192216818833664
+84,1.400000000,BASELINE,763.259207932,742,711,671,663,633,875,783,799,649.259207932,628,650,0.40096961268,-0.00541975215985,0.0498497174206,0.999999964144,4.88686055241e-06,-0.000262588531149,-5.22943350785e-05,1793192216835500288
+85,1.416666667,BASELINE,763.324051268,742,711,671,663.324051268,633,875.324051268,783,799,649.324051268,628,650.324051268,0.40096900792,-0.0054192897614,0.0498494230466,0.999999963963,5.82405582622e-06,-0.000263239898306,-5.23911940188e-05,1793192216852166912
+86,1.433333333,BASELINE,763.903644181,742,711,671,663.903644181,633,875.903644181,783,799,649.903644181,628,650.903644181,0.400969415653,-0.00541796712887,0.0498506364566,0.999999964215,7.71974468043e-06,-0.000262223470719,-5.24304736322e-05,1793192216868833536
+87,1.450000000,BASELINE,764,742,711,671,663.51721366,633,876,783,799,650,628,650.51721366,0.400969414016,-0.00541826442833,0.0498508242369,0.999999964219,7.04483542726e-06,-0.000262227551309,-5.243114072e-05,1793192216885500416
+88,1.466666667,BASELINE,763.938561137,742,711,671,663.061438863,633,876,783,799,650,628.061438863,650,0.400969446179,-0.00541886681375,0.0498508492259,0.999999964208,6.00745471238e-06,-0.000262300689726,-5.24140528103e-05,1793192216902167040
+89,1.483333333,BASELINE,763.363252119,742,711,671,663.636747881,633,876,783,799,650,628.636747881,650,0.400970443763,-0.00541931929317,0.0498512231214,0.999999964487,6.22547411446e-06,-0.000261249482185,-5.23128589887e-05,1793192216918833920
+90,1.500000000,BASELINE,763.216077642,742,711,671,663.783922358,633,875.783922358,783,799,650,628.783922358,650,0.400971175341,-0.00541977716823,0.0498514593744,0.999999964686,5.72611169605e-06,-0.000260507197289,-5.22695739139e-05,1793192216935500800
+91,1.516666667,BASELINE,763.80229485,742,711,671,663.19770515,633,875.19770515,783,799,650,628.19770515,650,0.400971451256,-0.00542024428592,0.0498514598469,0.999999964747,3.99787895976e-06,-0.000260294094943,-5.2325486148e-05,1793192216952167424
+92,1.533333333,BASELINE,764,742,711,671,663.383649846,633,875,783,799,649.616350154,628,650,0.400971520983,-0.0054198344532,0.0498514460116,0.999999964754,5.88181016332e-06,-0.000260248443525,-5.22367997747e-05,1793192216968834560
+93,1.550000000,BASELINE,764,742,711,671,663.962530623,633,875,783,799,649.037469377,628,650,0.400971485788,-0.00541897835982,0.0498514248955,0.999999964723,9.60389163026e-06,-0.000260288004162,-5.20745303694e-05,1793192216985502208
+94,1.566666667,BASELINE,763.460218808,742,711,671,664,632.460218808,875,783,799,649,628,650.539781192,0.400971077531,-0.00541932588352,0.0498516815375,0.999999964749,7.49094539714e-06,-0.000260258510228,-5.20719102699e-05,1793192217002168576
+95,1.583333333,BASELINE,763,742,711,671,664,632.116717406,875,783,799.116717406,649,628,651,0.400970873161,-0.00541982593483,0.0498519061371,0.999999964804,5.24042593358e-06,-0.000260109414077,-5.20343942158e-05,1793192217018834944
+96,1.600000000,BASELINE,763,742,711,671,664,632.692860505,875,783,799.692860505,649,628,651,0.400971572958,-0.00542059848731,0.0498519289461,0.999999964977,4.037927576e-06,-0.00025950834837,-5.1816029282e-05,1793192217035501056
+97,1.616666667,BASELINE,763,742,711,671,664,633,875,783,799.72549509,649.27450491,628,651,0.400970530894,-0.00542033417043,0.0498509533256,0.999999964605,4.62141620907e-06,-0.000260922947794,-5.18441720173e-05,1793192217052167424
+98,1.633333333,BASELINE,763,742,711,671,664,633,875,783,799.137569511,649.862430489,628,651,0.400967500029,-0.00541888599023,0.0498488377311,0.999999963597,7.24408606773e-06,-0.000264638967343,-5.21537691065e-05,1793192217068834048
+99,1.650000000,BASELINE,763.443964701,742,711.443964701,671,663.556035299,633,875,783,799,650,628.443964701,650.556035299,0.400967677292,-0.00541947476396,0.0498487712079,0.999999963602,6.61779264012e-06,-0.000264624983037,-5.22063225802e-05,1793192217085500672
+100,1.666666667,BASELINE,764,742,711.976585692,671,663.023414308,633,875.023414308,783,799.023414308,650.023414308,628.976585692,650.023414308,0.400968774837,-0.00542054868404,0.049849314189,0.999999963904,5.18478620831e-06,-0.000263518312041,-5.21891675035e-05,1793192217102167296
+101,1.683333333,BASELINE,764,742,711.40025878,671,663.59974122,633,875.59974122,783,799.59974122,650.59974122,628.40025878,650.59974122,0.400968462613,-0.00541838558975,0.0498494693723,0.999999963875,8.13795575158e-06,-0.000263514695987,-5.23800575407e-05,1793192217118833920
+102,1.700000000,BASELINE,764,742,711,671.175882564,663.824117436,633,875.824117436,783,799.824117436,650.824117436,628,650.824117436,0.400968696727,-0.00541726924535,0.0498499569112,0.999999963993,1.01398429553e-05,-0.000262990402904,-5.24131235131e-05,1793192217135500800
+103,1.716666667,BASELINE,764,742,711,671.751601974,663.248398026,633,875.248398026,783,799.248398026,650.248398026,628,650.248398026,0.400970172843,-0.00541853249572,0.0498511999997,0.999999964459,9.97916331808e-06,-0.000261282445816,-5.20874053105e-05,1793192217152167936
+104,1.733333333,BASELINE,764,742,711,671.327138842,663,633,875,783,799,649.663569421,628.336430579,650,0.400970373701,-0.00541958517013,0.0498511910321,0.999999964482,8.21411359309e-06,-0.000261262058379,-5.20623128467e-05,1793192217168834816
+105,1.750000000,BASELINE,764,742,711,670.143655913,663,633,875,783,799,649.071827956,628.928172044,650,0.40096960679,-0.00542047804252,0.0498502319025,0.999999964161,5.23153734444e-06,-0.000262522335862,-5.22653596087e-05,1793192217185501440
+106,1.766666667,BASELINE,764,742.507630684,711,670.507630684,663.507630684,633,875.507630684,783,799,649.507630684,629,650.507630684,0.400970315198,-0.00541907534589,0.0498504566487,0.999999964312,7.47740970023e-06,-0.000261858708879,-5.24386583079e-05,1793192217202167808
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,671,664,633,875,783,799,650,628,651,0.400968669502,-0.00541914118436,0.0498501226776,0.999999964059,7.99875337204e-06,-0.000262838920279,-5.22855314367e-05,1793192217245439488
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.589630636,742,711,671,663.410369364,632.410369364,875,783,799.589630636,649.410369364,628,650.410369364,0.400968199493,-0.00541986260034,0.0498498193569,0.999999963931,6.08609545265e-06,-0.000263341525052,-5.2460009686e-05,1793192217262106112
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671.175925445,663.175925445,632.175925445,875,783,800,649,628,650,0.400968390973,-0.00542015751355,0.0498498985398,0.999999964011,5.5187378629e-06,-0.000263040420166,-5.25103063212e-05,1793192217278772992
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671.754583912,663.754583912,632.754583912,875,783,800,649,628,650,0.400970096753,-0.00541947606588,0.0498508533592,0.999999964567,8.0310757737e-06,-0.000260899442695,-5.2276323268e-05,1793192217295439872
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.668620037,742,711,671.668620037,663.668620037,633,875,783,799.668620037,649.331379963,628,650.331379963,0.400970643385,-0.00541884805357,0.0498509878542,0.999999964582,8.82976172234e-06,-0.000260820180452,-5.22520526565e-05,1793192217312106496
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.093195597,742,711,671.093195597,663.093195597,633,875,783,799.093195597,649.906804403,628,650.906804403,0.400970336364,-0.00541825939373,0.0498505182218,0.999999964203,8.3664300637e-06,-0.000262259266676,-5.23822245999e-05,1793192217328773120
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,742,711,671,663,632.517785972,875,783,799.482214028,649.517785972,628.482214028,650.517785972,0.40097117608,-0.00541973746022,0.049851286226,0.999999964389,5.56940186725e-06,-0.000261676509949,-5.21265826148e-05,1793192217345439488
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742,711,671,663.059135198,632.059135198,875,783,799.940864802,649,628.940864802,650,0.400972780313,-0.00542135633943,0.0498524608588,0.999999964786,2.89525569648e-06,-0.000260259557218,-5.18127958971e-05,1793192217362105856
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742,711,671,663.649665017,632.649665017,875,783,799.350334983,649,628.350334983,650,0.400979263093,-0.00542065138674,0.049855140149,0.999999966176,5.37816268017e-06,-0.000254857680018,-5.16465402787e-05,1793192217378772736
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,711,671,664,633,875.23559145,783,799.23559145,649.23559145,628,650.23559145,0.400993515676,-0.00542045409543,0.0498608350725,0.999999969031,7.51476127787e-06,-0.0002434261664,-5.12411789746e-05,1793192217395439360
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,711,671,664,633,875.814803585,783,799.814803585,649.814803585,628,650.814803585,0.401019100863,-0.00542099725105,0.049870928432,0.999999973775,9.14625335914e-06,-0.00022320015832,-5.04870713162e-05,1793192217412105984
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.391767293,742.391767293,711,671,664,632.608232707,875.608232707,783,799.608232707,650,628.391767293,650.608232707,0.401061634198,-0.00542346488197,0.0498858361638,0.999999980276,7.22712818461e-06,-0.000192232407164,-4.94262259157e-05,1793192217428772608
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.96767424,742.96767424,711,671,664,632.03232576,875.03232576,783,799.03232576,650,628.96767424,650.03232576,0.401112133556,-0.00542683706066,0.0499030067625,0.999999986629,3.63913122757e-06,-0.000156215787295,-4.82212065943e-05,1793192217445439488
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.447212449,711.552787551,671,663.447212449,632,875,783,799,649.447212449,628.447212449,650.552787551,0.40118171681,-0.00542798568028,0.0499179594965,0.999999991005,4.58416926592e-06,-0.000125435258735,-4.72803326441e-05,1793192217462106368
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.862238017,742,711.862238017,671,663.137761983,632.137761983,875,783,799,649,628,651,0.401252571697,-0.0054295699775,0.0499299269496,0.999999993665,4.68989326899e-06,-0.00010252634273,-4.6229778839e-05,1793192217478772736
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.279480516,742,711.279480516,671,663.720519484,632.720519484,875,783,799,649,628,651,0.401323868327,-0.00543298871966,0.0499326774578,0.999999993585,1.21372274701e-06,-0.000104038302963,-4.47741992581e-05,1793192217495439360
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742,711,671,663.700339612,632.700339612,875.299660388,783,799,649,628,650.700339612,0.40140667595,-0.00543713275619,0.0499334067231,0.999999993405,-2.06181237166e-06,-0.000106242420161,-4.35747434589e-05,1793192217512105728
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742,711,671,663.124531566,632.124531566,875.875468434,783,799,649,628,650.124531566,0.401500091356,-0.00544194517695,0.0499322733413,0.999999993129,-5.15245465407e-06,-0.000109084384418,-4.26113148801e-05,1793192217528772352
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,711,670.550599768,663,632,875.550599768,783,799.449400232,649.449400232,628,650,0.401612416571,-0.00544712947954,0.0499324166529,0.999999992928,-8.47090275127e-06,-0.000111199225023,-4.13167407403e-05,1793192217545439232
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.023528554,742,711,670.023528554,663,632,875,783,800,649.976471446,628.023528554,650.023528554,0.401731552914,-0.00545242005549,0.04993297817,0.999999992752,-1.17960650249e-05,-0.000112975588827,-3.99224417385e-05,1793192217562105856
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.614895558,742,711,670.614895558,663,632,875,783,800,649.385104442,628.614895558,650.614895558,0.401889132153,-0.00545779874827,0.0499351300423,0.999999992963,-1.37661094424e-05,-0.000111425704695,-3.83267702837e-05,1793192217578772992
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.797883519,742,711,671,663.202116481,632.202116481,875,783.202116481,799.797883519,649.202116481,628.797883519,651,0.402054629125,-0.00546346922782,0.0499354571125,0.999999992793,-1.57359668333e-05,-0.000113213943989,-3.6718906429e-05,1793192217595439616
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.218403643,742,711,671,663.781596357,632.781596357,875,783.781596357,799.218403643,649.781596357,628.218403643,651,0.402234908953,-0.00546968448992,0.0499323771694,0.999999991879,-1.7705474813e-05,-0.000121234656861,-3.5088278822e-05,1793192217612106240
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742,711,671,663.642766627,633,875.357233373,783.642766627,799,650,628,650.642766627,0.40244186951,-0.00547739564967,0.0499331684141,0.999999992078,-2.02624871278e-05,-0.000119679486805,-3.33258386806e-05,1793192217628772608
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742,711,671,663.069453982,633,875.930546018,783.069453982,799,650,628,650.069453982,0.402664968422,-0.00548601163165,0.0499363012189,0.999999992927,-2.3174862594e-05,-0.000112332166001,-3.14836691096e-05,1793192217645439232
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742,711,671,663,632.482811356,875.482811356,783,799,650,628,650.517188644,0.402920912383,-0.00549659172418,0.0499388595886,0.999999993561,-2.96954184442e-05,-0.00010557860692,-2.91580332578e-05,1793192217662105856
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,741.896056822,711,670.896056822,663,632.103943178,875,782.896056822,799,650,628,650.896056822,0.403194315247,-0.00550695978383,0.0499432224493,0.999999994471,-3.55456872386e-05,-9.5329536198e-05,-2.66035818711e-05,1793192217678772480
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,741.31718632,711,670.31718632,663,632.68281368,875,782.31718632,799,650,628,650.31718632,0.403526803147,-0.00551512200152,0.0499561920142,0.999999996716,-3.60608256402e-05,-6.87351367663e-05,-2.33081463437e-05,1793192217695439104
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.259205473,741.259205473,711.259205473,670.259205473,663.259205473,633,875,782.259205473,799,650,628,650,0.403868040048,-0.00552427742757,0.0499662547103,0.999999997883,-3.6958060873e-05,-4.98351006938e-05,-1.96356864047e-05,1793192217712105984
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.832592798,741.832592798,711.832592798,670.832592798,663.832592798,633,875,782.832592798,799,650,628,650,0.404219881557,-0.00553463671675,0.0499727940022,0.999999998335,-3.83184340413e-05,-4.02613713742e-05,-1.55062369907e-05,1793192217728772864
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.592097763,742,711.592097763,671,664,633,875.407902237,783,799,649.592097763,628,650,0.404603741248,-0.00553428115957,0.0499771323475,0.999999999079,-2.67216882901e-05,-3.16703411155e-05,-1.11375629888e-05,1793192217745439488
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.015995749,742,711.015995749,671,664,633,875.984004251,783,799,649.015995749,628,650,0.40500080373,-0.00552950730134,0.0499805631253,0.999999999654,-9.78203351942e-06,-2.34845301513e-05,-6.67024407006e-06,1793192217762105856
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.575521276,742,711,671,664.575521276,633,876,783,799,649,628.575521276,650,0.405406302731,-0.00551455558907,0.049966382682,0.999999998652,1.73320540687e-05,-4.85575706538e-05,-6.12475572706e-06,1793192217778772736
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.836920232,742,711,671,664.673840465,633,875.836920232,783,799.163079768,649,628.836920232,650,0.405825198497,-0.00550365317911,0.0499495802879,0.999999996063,4.06834599013e-05,-7.87035692361e-05,-4.95329453735e-06,1793192217795439104
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.260510607,742,711,671,663.521021215,633,875.260510607,783,799.739489393,649,628.260510607,650,0.406277437991,-0.00550375052603,0.0499274072304,0.999999991437,5.37618017331e-05,-0.000119299762702,-1.91141907037e-06,1793192217812105728
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742,711,671,663,633,875.31453286,782.68546714,799.68546714,649,628,650,0.406758884303,-0.00550936453086,0.0499139876605,0.999999988013,6.02925591125e-05,-0.000142604013205,1.82762197134e-06,1793192217828772352
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742,711,671,663,633,875.88844977,782.11155023,799.11155023,649,628,650,0.407264416487,-0.00551952792702,0.0499077867777,0.999999986596,6.1423758247e-05,-0.000151648218698,6.14159096792e-06,1793192217845439232
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.465597428,742,711,671,663.465597428,633,876,782.465597428,799.465597428,649.465597428,628,650,0.407841945529,-0.0055238165911,0.0499220252168,0.999999990523,6.84104508802e-05,-0.000118963837247,1.10673050524e-05,1793192217862105856
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.044520077,711,671,664,633,876,782.955479923,799.955479923,650,628,650,0.408438784141,-0.00552640217496,0.0499417463975,0.999999993954,7.7360671104e-05,-7.64453099106e-05,1.62606291827e-05,1793192217878772736
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.635666668,711,671,664,633,876,782.364333332,799.364333332,650,628,650,0.409059438823,-0.00552547930317,0.049968239838,0.999999994729,9.30741718809e-05,-3.67907763397e-05,2.29275984251e-05,1793192217895439616
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.779369334,711,671,664,632.779369334,876,782.220630666,799,649.779369334,628,650,0.409688861096,-0.0055246184148,0.0499847646014,0.999999993643,0.000108121334601,-1.35994064884e-05,2.89671299466e-05,1793192217912106240
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.204336559,711,671,664,632.204336559,876,782.795663441,799,649.204336559,628,650,0.410332366836,-0.00552385709133,0.0499852765384,0.999999991826,0.000122098148494,-1.68530481597e-05,3.3998799175e-05,1793192217928772608
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.627178486,742,711,671,663.627178486,632,876,782.627178486,799.372821514,649,628,650,0.410953560105,-0.00552042752811,0.0499613839657,0.999999987377,0.000137763280084,-6.99899805267e-05,3.6999966995e-05,1793192217945439232
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.048848918,742,711,671,663.048848918,632,876,782.048848918,799.951151082,649,628,650,0.411562454189,-0.00551552716793,0.0499240390488,0.999999975987,0.000154359051193,-0.000150623764571,3.88818739443e-05,1793192217962105856
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.538668584,742,711,671.538668584,663.538668584,632,875.461331416,782,800.538668584,649,628,650,0.412263089826,-0.00552635063948,0.049922865588,0.99999998898,5.17109400425e-05,-0.000138071964328,1.73758669505e-05,1793192217978772480
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.874229794,742,711,671.874229794,664,632,875.251540411,782.125770206,800.748459589,649.125770206,628,650,0.412990146964,-0.00553753034937,0.04993027789,0.999999993113,-3.43130091333e-05,-0.000112231524447,7.28030662327e-07,1793192217995439104
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.291716951,742,711,671.291716951,664,632,876.416566099,782.708283049,799.583433901,649.708283049,628,650,0.413782418098,-0.0055447356223,0.0499567510048,0.999999997349,-2.00135569345e-05,-6.93535813342e-05,9.55888434131e-06,1793192218012106240
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.28644232,742.28644232,711,671,664,632,876.71355768,783,799,649.71355768,628,650,0.414552069776,-0.00554499237514,0.0499582667105,0.999999997637,-5.44803382787e-06,-6.69410454378e-05,1.46425033671e-05,1793192218028773120
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.860234296,742.860234296,711,671,664,632,876.139765704,783,799,649.139765704,628,650,0.415299030444,-0.00553827859856,0.0499347459551,0.999999994303,9.38440469831e-06,-0.000105122090211,1.59670190275e-05,1793192218045440000
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,711,671,663.562953792,632.437046208,876,783,799,649,628,650.437046208,0.416070200094,-0.00553623002004,0.0499196549116,0.999999991944,6.42105596381e-06,-0.000125921403597,1.46610834899e-05,1793192218062106368
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.984866165,742.984866165,711,671.015133835,663.015133835,633,876,783,799,649,628,650.984866165,0.41685041381,-0.00553586095578,0.0499084438435,0.999999990209,-2.26093805944e-06,-0.000139340577843,1.26548502536e-05,1793192218078772736
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.39526686,742.39526686,711,671.60473314,663.60473314,633,876,783,799,649,628,650.39526686,0.417678011971,-0.00554221902943,0.0499414712634,0.999999996194,-1.04883078022e-05,-8.50845020311e-05,1.62196142896e-05,1793192218095439360
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742,711,671.809399503,664,632.809399503,876,783,799,649,628,650,0.41850003807,-0.00554622677664,0.0499635177229,0.999999998344,-1.46090979181e-05,-5.21401459956e-05,1.95031249136e-05,1793192218112105728
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742,711,671.231122864,664,632.231122864,876,783,799,649,628,650,0.419310730698,-0.00554545402446,0.0499632292103,0.999999997744,-1.03772181357e-05,-6.25432426263e-05,2.22145737392e-05,1793192218128772608
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.346190585,742,711,671,663.653809415,632,876.346190585,783,799,649,628,650,0.420148756811,-0.00554322601301,0.0499550558343,0.999999997318,-8.26454762465e-06,-6.92058458895e-05,2.24824298477e-05,1793192218145439232
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.922862752,742,711,671,663.077137248,632,876.922862752,783,799,649,628,650,0.42100498057,-0.00554002914088,0.0499416329922,0.999999997056,-7.56277268903e-06,-7.33781590931e-05,2.11234272913e-05,1793192218162105856
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711,671.508439212,663.508439212,632,876.491560788,783,799,649,628,650,0.421872798509,-0.00554590568865,0.0499614611008,0.999999999012,-2.11848896421e-05,-3.24713498273e-05,2.17438003724e-05,1793192218178772224
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.905869289,742,711,672,664.094130711,632,876.094130711,783,799,649,628,650,0.422735158418,-0.00555237092176,0.0499801890688,0.999999999126,-3.49676560251e-05,3.16715180451e-06,2.26898656044e-05,1793192218195438848
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.326670661,742,711,672,664.673329339,632,876.673329339,783,799,649,628,650,0.423560166157,-0.00555464967009,0.0499667888502,0.999999998696,-3.81802151887e-05,-2.42137668147e-05,2.37392029359e-05,1793192218212105472
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.251390936,742,711,672,664.748609064,632,876.748609064,783.251390936,799.251390936,649.251390936,628,650,0.424398797129,-0.0055556444881,0.049958577172,0.999999998079,-4.02543121973e-05,-4.03204340582e-05,2.43982434606e-05,1793192218228772096
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.827981746,742,711,672,664.172018254,632,876.172018254,783.827981746,799.827981746,649.827981746,628,650,0.425255051258,-0.0055549784113,0.0499570773994,0.999999997989,-4.08556924996e-05,-4.18427084147e-05,2.45523953302e-05,1793192218245438720
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,876,783.596228922,799.596228922,649.596228922,628,650,0.426127803106,-0.00555557356705,0.0499715746018,0.999999998346,-4.33777580886e-05,-2.69914271645e-05,2.64213835806e-05,1793192218262105344
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,876,783.020780402,799.020780402,649.020780402,628,650,0.427007569486,-0.00555670498011,0.0499928734797,0.999999998474,-4.67164703715e-05,-5.17835408197e-06,2.90194946733e-05,1793192218278772224
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711.567692202,672,664,632,876,783,799,649,628.567692202,650,0.427764427074,-0.00555420221048,0.049962239248,0.999999995993,-4.93900011857e-05,-6.91489349281e-05,2.81566054e-05,1793192218295438848
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,712,672,664,632,876,783,799.154047241,649.154047241,628.845952759,650,0.42853680254,-0.00555204679842,0.0499357570423,0.999999991217,-5.15456853607e-05,-0.000119017681127,2.72596009793e-05,1793192218312105728
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,712,672,664,632,876,783,799.73321194,649.73321194,628.26678806,650,0.429364709437,-0.00555122570976,0.0499261023333,0.999999990943,-5.23410637782e-05,-0.000121101090402,2.66262813662e-05,1793192218328772352
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.311047713,711.688952287,671.688952287,664.311047713,632,876,783,799.688952287,649.688952287,628,650,0.430194129367,-0.00555317736845,0.0499309894964,0.999999992601,-5.73538285548e-05,-0.000103831083226,2.69924809808e-05,1793192218345438720
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.887748475,711.112251525,671.112251525,664.887748475,632,876,783,799.112251525,649.112251525,628,650,0.431024841473,-0.00555749711657,0.0499482962744,0.999999994974,-6.59684893273e-05,-7.0032119495e-05,2.82123288321e-05,1793192218362105344
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711.461896308,671.461896308,664.538103692,632,876.461896308,783,799.461896308,649,628,650,0.431803763887,-0.00555826124378,0.0499362000308,0.999999992876,-7.08572361167e-05,-9.208872564e-05,2.73179968255e-05,1793192218378772224
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.963461678,711.963461678,671.963461678,664,632.036538322,876.963461678,783,799.963461678,649,628.036538322,650,0.432569639496,-0.00555811932653,0.0499189710072,0.999999989219,-7.46464631499e-05,-0.000123737209549,2.60695054574e-05,1793192218395438592
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.37194241,711.37194241,671.37194241,664,632.62805759,876.37194241,783,799.37194241,649,628.62805759,650,0.433327465748,-0.00555726814762,0.049931718424,0.999999992175,-7.54128713393e-05,-9.60314174516e-05,2.72028238577e-05,1793192218412105472
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711,671.214632711,664,632.785367289,876.214632711,783,799.214632711,649.214632711,628.785367289,650,0.43408025863,-0.0055575914858,0.0499482663246,0.999999994183,-7.90973587374e-05,-6.76362111784e-05,2.83539975291e-05,1793192218428772096
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711,671.792833011,664,632.207166989,876.792833011,783,799.792833011,649.792833011,628.207166989,650,0.434824525579,-0.00555990434512,0.0499712518886,0.999999994991,-8.77247975017e-05,-3.80731978244e-05,2.95354165415e-05,1793192218445438720
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.367004043,711.367004043,672,664.367004043,632.367004043,876.632995957,783,799.632995957,649.632995957,628.367004043,650,0.435504119315,-0.00555948082585,0.0499677822003,0.99999999395,-8.94588813937e-05,-5.62670064842e-05,3.0525124842e-05,1793192218462105600
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.938925294,711.938925294,672,664.938925294,632.938925294,876.061074706,783,799.061074706,649.061074706,628.938925294,650,0.436147602628,-0.00555752944573,0.0499495411845,0.999999990579,-8.7344050566e-05,-0.000101125903492,3.1407791095e-05,1793192218478772224
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.472215233,712,672,664.472215233,632.472215233,876,783,799,649.527784767,628.472215233,650,0.436797674213,-0.00555368171613,0.0499333901939,0.999999988363,-8.45420872909e-05,-0.000123264462381,3.05333237402e-05,1793192218495438848
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742,711.883644158,672,664.116355842,632.116355842,876.116355842,783,799.232711684,649.883644158,628,650,0.43745371258,-0.0055511250155,0.0499265683442,0.999999988166,-8.26992729683e-05,-0.000126189181447,3.00846847851e-05,1793192218512105472
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,711.304278955,672,664.695721045,632.695721045,876.695721045,783,800.39144209,649.304278955,628,650,0.43813035994,-0.00555460782139,0.0499558751938,0.999999993856,-8.50000537144e-05,-6.34662094943e-05,3.21664690651e-05,1793192218528772096
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.725430279,877,783,800.450860558,649,628.274569721,650,0.438753497982,-0.00555634247239,0.0499693057682,0.999999995116,-8.49220004237e-05,-3.73772666187e-05,3.40566882169e-05,1793192218545438976
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.147152983,877,783,799.294305966,649,628.852847017,650,0.439317448152,-0.0055561434508,0.0499651752454,0.99999999464,-8.22126668809e-05,-5.18100290742e-05,3.57350129543e-05,1793192218562105856
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672.426925068,664.573074932,632,877,782.573074932,799,649,628.573074932,650,0.439837207326,-0.00555626232896,0.0499441610507,0.999999992764,-7.88865526959e-05,-8.32630589599e-05,3.62742477674e-05,1793192218578773248
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672.999569864,664.000430136,632,877,782.000430136,799,649,628.000430136,650,0.440341883102,-0.00555648971388,0.049917384055,0.999999989235,-7.53499162296e-05,-0.000120525513876,3.64246840635e-05,1793192218595440896
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.410616301,742.589383699,711,672.410616301,664,632,877,782.589383699,799,649,628,650,0.440828184638,-0.00555417011966,0.0499086249171,0.99999998758,-7.03319767147e-05,-0.000135927756952,3.76544712082e-05,1793192218612107264
+190,3.166666667,POSE1_TO_POSE2_PRESS,763,742.823398134,711,672,664,632,876.823398134,782.823398134,799,649,628,650,0.441307823334,-0.0055524534982,0.0499051470488,0.999999986918,-6.67636074229e-05,-0.000142143157994,3.876289189e-05,1793192218628773632
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,742.242156755,711,672,664,632,876.242156755,782.242156755,799,649,628,650,0.441772227525,-0.00555212282609,0.0499137388693,0.999999988895,-6.65191202543e-05,-0.0001273468358,3.95913725705e-05,1793192218645439744
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,742,711,672,664,632,876,782.335209259,799,649,628.335209259,650,0.442201258626,-0.00555354801499,0.0499160065696,0.999999988926,-8.01149651552e-05,-0.000120101565334,3.61321575887e-05,1793192218662105856
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,742,711,672,664,632,876,782.909807654,799,649,628.909807654,650,0.442605028066,-0.00555622714912,0.0499137579094,0.999999987204,-0.000103594860181,-0.00011824886675,2.96108918152e-05,1793192218678772480
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.482936483,742,711,671.517063517,664,632,876,783,799,649,628.517063517,650,0.442950287155,-0.00556343516654,0.0499001015665,0.999999979627,-0.000139649376884,-0.000144109586645,2.18237983789e-05,1793192218695439360
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.057980938,711,671.115961876,663.942019062,632,876.057980938,783,799,649,628.057980938,650,0.443280108304,-0.00557027914697,0.049883137106,0.99999996925,-0.000173495560871,-0.00017659663053,1.45867541742e-05,1793192218712106240
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.653314816,711,672.306629631,663.346685184,632,876.653314816,783,799,649,628.653314816,650,0.443567818641,-0.00556593438331,0.0498551986758,0.99999996146,-0.000165176982832,-0.000222673147281,1.46317137541e-05,1793192218728772608
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.759233473,711,672.759233473,663,632,877,783,799.240766527,649,628.759233473,650,0.443844053,-0.0055598317215,0.0498322682121,0.999999954188,-0.000153483240454,-0.0002604799307,1.47408348763e-05,1793192218745439488
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.182771733,711,672.182771733,663,632,877,783,799.817228267,649,628.182771733,650,0.444104286646,-0.00555127806323,0.0498163202427,0.999999949378,-0.000137083585316,-0.000286756412308,1.49394149777e-05,1793192218762106112
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742,711,672.39168795,663,632,877,783,800,649,628,650,0.444358466094,-0.00554956418558,0.0498146237775,0.999999950111,-0.000130263180467,-0.00028731058859,1.61751389525e-05,1793192218778772736
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742,711,672.965218223,663,632,877,783,800,649,628,650,0.444609834886,-0.00555102569617,0.0498195436152,0.999999953595,-0.000127889970314,-0.000275923108669,1.78923601484e-05,1793192218795439360
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763.143470407,742,711,672.856529593,662.143470407,631,876.856529593,783,799.856529593,649,628,650.856529593,0.445027164202,-0.00555313437375,0.0498260094081,0.999999954175,0.000148448113069,-0.000263116104508,1.95745606691e-05,1793192218828772352
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+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742,711,672.580055597,662,631,876.580055597,783,800,650,628,650,0.446125437323,-0.00555259970785,0.049773917988,0.999999939939,0.000118832045399,-0.00032525565176,1.4506147963e-05,1793192219128772608
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.834406217,742,711,672.834406217,662,631.165593783,876.834406217,783,800,649.834406217,628,650,0.446127296224,-0.00555312474337,0.0497732404546,0.999999939672,0.000118472643543,-0.000326210751021,1.43680973856e-05,1793192219145439232
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.254597745,742,711,672.254597745,662,631.745402255,876.254597745,783,800,649.254597745,628,650,0.446128926458,-0.00555383392983,0.0497736253429,0.999999939604,0.000118997840726,-0.000326208711002,1.47911055905e-05,1793192219162105856
+223,3.716666667,POSE1_TO_POSE2_PRESS,763,742,711.322174021,672,662,631.677825979,876.644348041,783,799.677825979,649.322174021,628,650,0.446129936449,-0.00555337162958,0.0497736347831,0.999999939402,0.000119863074656,-0.000326508298287,1.4894700788e-05,1793192219178772480
+224,3.733333333,POSE1_TO_POSE2_PRESS,763,742,711.896568501,672,662,631.103431499,877.793137002,783,799.103431499,649.896568501,628,650,0.44613046087,-0.00555199220729,0.049773350296,0.999999939093,0.000120994513299,-0.000327044020619,1.47482370864e-05,1793192219195439360
+225,3.750000000,POSE1_TO_POSE2_PRESS,763,742,712,672.483956782,662,631,877.516043218,783,799.483956782,650,628,650,0.44613211951,-0.00555145478011,0.049774150546,0.999999939481,0.000121461216189,-0.000325681184524,1.47607004447e-05,1793192219212106240
+226,3.766666667,POSE1_TO_POSE2_PRESS,763.072792195,742.072792195,711.927207805,673,662,631,877,783,800,650,628.072792195,650,0.446133530206,-0.0055510939009,0.049774825159,0.999999939837,0.000121623358494,-0.000324523570699,1.47558177583e-05,1793192219228772864
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.651845655,742.651845655,711.348154345,673,662,631,877,783,800,650,628.651845655,650,0.446131484056,-0.00555067481959,0.0497729691414,0.999999938923,0.0001206826422,-0.000327693132218,1.43875484204e-05,1793192219245439488
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+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.193230632,711,673,662.806769368,631,877,783,799.193230632,649.193230632,628.193230632,650,0.446132873967,-0.00555063347271,0.0497726655963,0.999999939109,0.000119206951753,-0.000327681176215,1.40388788328e-05,1793192219278772736
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.618710204,742.381289796,711.381289796,673,662.618710204,631,876.618710204,782.618710204,799,649,628,650,0.446133024125,-0.00555127456372,0.0497730319676,0.999999939309,0.000118442460408,-0.000327342127552,1.4188740553e-05,1793192219295439360
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.045327007,742.954672993,711.954672993,673,662.045327007,631,876.045327007,782.045327007,799,649,628,650,0.446132306212,-0.00555216277351,0.0497732903153,0.999999939343,0.000117620611915,-0.000327522959251,1.44599345219e-05,1793192219312105984
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.544760062,743,711.455239938,673,662,631,877.089520125,782.544760062,799,649,628.544760062,650,0.446132250659,-0.00555164342526,0.0497722028948,0.999999938924,0.000117830682839,-0.000328731247926,1.42512148439e-05,1793192219328772864
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.866806569,711,673,662,631,877.866806569,783,799,649,629,650,0.446132431075,-0.00555126090778,0.0497713669919,0.99999993863,0.00011820405459,-0.000329497620325,1.4090744136e-05,1793192219345439744
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.288687036,711,673,662,631,877.288687036,783,799,649,629,650,0.446133209809,-0.00555173906423,0.0497717571513,0.999999938885,0.000118827036368,-0.000328493184121,1.42290552391e-05,1793192219362106368
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672.711870069,662,631,877,782.711870069,799,649.288129931,628.711870069,650,0.446133621925,-0.00555126636717,0.0497720797239,0.999999938979,0.000119699779098,-0.000327889919094,1.42065798963e-05,1793192219378772736
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672.136352244,662,631,877,782.136352244,799,649.863647756,628.136352244,650,0.446133668365,-0.00554984526544,0.0497723348837,0.999999938913,0.000120821639629,-0.000327686791966,1.40237322068e-05,1793192219395439360
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672,662,631.448254286,877,782.448254286,799,649.551745714,628,650,0.446134186642,-0.00555038125613,0.0497726542547,0.999999939104,0.000120361164478,-0.000327266323051,1.41808723007e-05,1793192219412105984
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.964825642,742,711,672.035174358,661.964825642,632,877,782.964825642,799,649,628.035174358,650,0.446134701878,-0.00555142281197,0.0497728570861,0.99999993931,0.000119419661746,-0.000326973325273,1.43907204598e-05,1793192219428772608
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.385764939,742,711,672.614235061,661.385764939,632,877,782.385764939,799,649,628.614235061,650,0.446132904897,-0.00555088605043,0.0497709496493,0.999999938518,0.000118636748734,-0.000329694779826,1.37833493848e-05,1793192219445439232
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,742,711,672.807298739,661.192701261,631.807298739,877,782.192701261,799,649,628.807298739,650,0.446132167869,-0.00555038604077,0.0497702428639,0.999999938215,0.000118328764145,-0.000330738756996,1.34302421139e-05,1793192219462106112
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,742,711,672.230019035,661.769980965,631.230019035,877,782.769980965,799,649,628.230019035,650,0.446133546215,-0.00554995937769,0.0497719322467,0.999999938896,0.000118968605446,-0.000328434952896,1.35845751394e-05,1793192219478772480
+242,4.033333333,HOLD_POSE2,764,742,711,672,662,631,877,783,800,649,628,650,0.44613131577,-0.00554990276989,0.0497700697205,0.999999937643,0.000119968052295,-0.000331881592522,1.32854076989e-05,1793192219514438656
+243,4.050000000,HOLD_POSE2,764,742,711,672.589962494,662,631,877,783,800.589962494,649,628,650,0.446132845119,-0.00555105585215,0.0497710351366,0.999999938391,0.000118215594486,-0.000330233481332,1.3778974863e-05,1793192219531105280
+244,4.066666667,HOLD_POSE2,764,742,711.176855946,673,662,631,876.823144054,782.823144054,800.646288109,649,628.176855946,650,0.446134119039,-0.00555125411252,0.0497718738375,0.999999938911,0.000117292142039,-0.000328974292905,1.40061612025e-05,1793192219547771904
+245,4.083333333,HOLD_POSE2,764,742,711.756755361,673,662,631,876.243244639,782.243244639,799.486489278,649,628.756755361,650,0.446134810849,-0.00554927639466,0.0497724237629,0.999999938925,0.000118257939826,-0.000328601434442,1.36262826556e-05,1793192219564439552
+246,4.100000000,HOLD_POSE2,764,742.334368948,711.665631052,673,662,631,876.334368948,782.334368948,799,649,629,650,0.446134787814,-0.00554831919632,0.0497722748198,0.999999938663,0.000119110292427,-0.000329096172653,1.35016244464e-05,1793192219581106432
+247,4.116666667,HOLD_POSE2,764,742.910330909,711.089669091,673,662,631,876.910330909,782.910330909,799,649,629,650,0.44613424828,-0.00554809935839,0.0497716209203,0.9999999382,0.000119880676937,-0.000330217779193,1.3561371693e-05,1793192219597772288
+248,4.133333333,HOLD_POSE2,764,742.530620594,711,672.530620594,662,631,877,783,799.469379406,649,628.530620594,650,0.446135672587,-0.00554952112844,0.0497728166863,0.999999939067,0.000117392202942,-0.000328488875503,1.34304433351e-05,1793192219614438656
+249,4.150000000,HOLD_POSE2,764,742,711,672,661.972175697,631,876.972175697,783,800,649,628.027824303,650,0.44613730032,-0.00555112545739,0.0497742072617,0.999999940075,0.000114562960587,-0.000326417749006,1.32820865174e-05,1793192219631105280
+250,4.166666667,HOLD_POSE2,764,742,711,672,661.360999684,631,876.360999684,783,800,649,628.639000316,650,0.446135600954,-0.00555021093509,0.0497725314954,0.999999939187,0.000117187756573,-0.000328191532617,1.35054660491e-05,1793192219647771648
+251,4.183333333,HOLD_POSE2,763.762914882,742,711,672.237085118,661.237085118,631,876.237085118,783,799.762914882,649,628.762914882,650,0.446134773466,-0.00554972517815,0.0497715253451,0.999999938608,0.000118922138849,-0.000329324073929,1.36961808251e-05,1793192219664438784
+252,4.200000000,HOLD_POSE2,763.1837205,742,711,672.8162795,661.8162795,631,876.8162795,783,799.1837205,649,628.1837205,650,0.446135204079,-0.00554985812146,0.0497714854379,0.999999938484,0.000119371671049,-0.000329531314792,1.38397609678e-05,1793192219681106176
+253,4.216666667,HOLD_POSE2,763,742,711,672.607888688,661.607888688,631,876.607888688,783,799,649,628,650,0.446134851229,-0.00554866127655,0.0497711409472,0.999999938195,0.000120205444211,-0.000330120531487,1.34582284768e-05,1793192219697772800
+254,4.233333333,HOLD_POSE2,763,742,711,672.033618934,661.033618934,631,876.033618934,783,799,649,628,650,0.446134134415,-0.00554684666792,0.0497706549598,0.999999937828,0.000121217719625,-0.000330887198125,1.28327507288e-05,1793192219714438912
+255,4.250000000,HOLD_POSE2,763,742,711,672,661.553394191,631,876,783,799.553394191,649,628.553394191,650,0.446135259646,-0.00554923121911,0.0497718911952,0.999999938612,0.000118641991412,-0.000329421470394,1.34687224627e-05,1793192219731105536
+256,4.266666667,HOLD_POSE2,763.139672607,742,711,672,662,631,876.139672607,783,799.860327393,649,628.860327393,650,0.446135743216,-0.005551130411,0.0497724978113,0.999999939111,0.000116490722056,-0.000328654477518,1.39189146179e-05,1793192219747772160
+257,4.283333333,HOLD_POSE2,763.72112098,742,711,672,662,631,876.72112098,783,799.27887902,649,628.27887902,650,0.44613383496,-0.00555066855628,0.0497707742562,0.999999938508,0.000116387673493,-0.000330536603951,1.35333972327e-05,1793192219764439040
+258,4.300000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,631,877,782,799,649,628,650,0.446135244646,-0.00555215596727,0.0497699513276,0.999999938615,0.000115356535599,-0.000330563275399,1.38396432298e-05,1793192219801405440
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763.575072373,742.575072373,711,672.575072373,662,631,877,782.575072373,799,649.575072373,628.575072373,650,0.446134556524,-0.00555065468475,0.0497700473815,0.999999938139,0.000116423788951,-0.000331645299828,1.33887107843e-05,1793192219818072320
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,662,631,877,783,799,649.846463537,629,650,0.446134201518,-0.0055494745142,0.0497702145253,0.999999937878,0.000117438629769,-0.000332086209539,1.30763379704e-05,1793192219834739200
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,662,631,877,783,799,649.258400347,629,650,0.446134789269,-0.00554920312895,0.0497705828621,0.99999993823,0.000118305137029,-0.000330712687436,1.31561055401e-05,1793192219851405312
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.67411085,711,672.67411085,662,631,877,782.67411085,799,649,629,650,0.446135230964,-0.00554937715515,0.0497707599836,0.999999938501,0.00011771164019,-0.000330102421709,1.32148732852e-05,1793192219868071680
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.092779329,711,672.092779329,662,631,877,782.092779329,799,649,629,650,0.446135558177,-0.00554990030915,0.0497707872244,0.999999938707,0.000115973745248,-0.000330090420895,1.32571806892e-05,1793192219884738048
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.370419852,742.370419852,711,672.370419852,661.629580148,631.629580148,877,782.629580148,799,649.370419852,629,650,0.446131941574,-0.00554828790054,0.0497707417293,0.999999937795,0.000118041779113,-0.000332124929513,1.29690905506e-05,1793192219934738176
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,632,877,783,799.210331844,649.210331844,628.789668156,650,0.446120487519,-0.0055479973735,0.0497655800465,0.999999934829,0.000117362857784,-0.000341183628808,1.27186507915e-05,1793192219951405056
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,632,877,783,799.806722433,649.806722433,628.193277567,650,0.446097228392,-0.00554701689007,0.0497550466206,0.99999992841,0.000117669080658,-0.000359433018907,1.19418298337e-05,1793192219968071680
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,631.611393966,877,782.611393966,799.611393966,649.611393966,628,650,0.44605375256,-0.0055462238848,0.0497367536782,0.999999916543,0.000117336151215,-0.000391185894884,1.09553009934e-05,1793192219984738304
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,631.036465872,877,782.036465872,799.036465872,649.036465872,628,650,0.446000583572,-0.00554552076819,0.049714740337,0.999999900944,0.000116696772033,-0.000429413188542,9.86822498475e-06,1793192220001405440
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.539916745,742,711,672,662,631,877,782.539916745,799,649,628,650,0.445932031415,-0.00554251109134,0.0496978837326,0.999999889668,0.00011749561762,-0.000454741199955,8.27857946677e-06,1793192220018071808
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.880911723,742,711,672,662,631,876.880911723,783,799,649.119088277,628,650,0.445859881984,-0.00553902341832,0.0496837162815,0.999999879732,0.000119471823254,-0.000475623850597,6.73097573639e-06,1793192220034737920
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,631,876.29272396,782.70727604,799.29272396,649.70727604,628.29272396,650,0.445685395242,-0.00552991307201,0.0496764347625,0.999999873765,0.000129618973116,-0.000485436441921,4.52071268289e-06,1793192220068071424
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,631,876.870729137,782.129270863,799.870729137,649.129270863,628.870729137,650,0.445583427137,-0.00552596081214,0.0496765621703,0.999999873835,0.000131238010894,-0.00048486259002,3.8336672363e-06,1793192220084738048
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,631,877,782.445562988,799.554437012,649,628.554437012,650,0.445459320168,-0.00552093874738,0.0496795284909,0.999999875137,0.000133696919999,-0.000481498796172,3.28397858266e-06,1793192220101404672
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_02/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e77d2bf8ef7862b2fd7676b5e54ac1df5d16b2c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,396 @@
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+345,5.750000000,pose2_to_pose3_retreat,0.577699801336,5.45678446286e-05,1.04002901058,0.548270532891,0.00872730197884,1.03969830584
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+347,5.783333333,pose2_to_pose3_retreat,0.577162007,5.44918570326e-05,1.04002918316,0.547732738833,0.00872722664873,1.03969847099
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+349,5.816666667,pose2_to_pose3_retreat,0.57673267721,5.45919264648e-05,1.04002916196,0.547303406604,0.00872731867192,1.03969845577
+350,5.833333333,pose2_to_pose3_retreat,0.576562550628,5.46312322196e-05,1.04002897394,0.547133279019,0.00872735461747,1.03969826886
+351,5.850000000,pose2_to_pose3_retreat,0.576418143064,5.46302453524e-05,1.04002905739,0.546988871934,0.00872735506413,1.03969834725
+352,5.866666667,pose2_to_pose3_retreat,0.57629447652,5.45910579988e-05,1.04002904277,0.546865205721,0.00872731708747,1.03969833492
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+355,5.916666667,pose2_to_pose3_retreat,0.576011824558,5.45456095567e-05,1.04002922549,0.546582554082,0.00872727268541,1.03969851794
+356,5.933333333,pose2_to_pose3_retreat,0.575940458902,5.44457134165e-05,1.04002893481,0.5465111906,0.00872718045661,1.03969823477
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+358,5.966666667,pose2_to_pose3_retreat,0.575835933879,5.45535651861e-05,1.04002903547,0.546406665213,0.00872728689542,1.03969833112
+359,5.983333333,pose2_to_pose3_retreat,0.575799819043,5.46057841588e-05,1.04002916006,0.546370548784,0.00872733366958,1.03969845493
+360,6.000000000,pose2_to_pose3_retreat,0.575772621658,5.4565788079e-05,1.04002917641,0.54634335199,0.00872729550274,1.03969846505
+361,6.016666667,pose2_to_pose3_retreat,0.575753690016,5.45115551774e-05,1.04002906905,0.546324420163,0.00872724080732,1.03969836222
+362,6.033333333,pose2_to_pose3_retreat,0.575739717966,5.45594942163e-05,1.04002895935,0.54631044773,0.00872728754877,1.03969825515
+363,6.050000000,pose2_to_pose3_retreat,0.575729950403,5.46269806057e-05,1.04002903437,0.546300680304,0.00872735558955,1.03969833233
+364,6.066666667,pose2_to_pose3_retreat,0.575723286133,5.46704421065e-05,1.04002932654,0.546294016857,0.00872740195157,1.03969862733
+365,6.083333333,pose2_to_pose3_retreat,0.575718962865,5.46144380395e-05,1.040029424,0.546289692875,0.00872734297155,1.0396987103
+366,6.100000000,pose2_to_pose3_retreat,0.575716568693,5.4574018811e-05,1.04002946769,0.546287298169,0.00872730036169,1.03969874415
+367,6.116666667,pose2_to_pose3_retreat,0.57571522461,5.45879048278e-05,1.04002944804,0.54628595367,0.00872731283446,1.03969872443
+368,6.133333333,pose2_to_pose3_retreat,0.575714559884,5.4611675965e-05,1.0400294179,0.546285288685,0.00872733582189,1.03969869679
+369,6.150000000,pose2_to_pose3_retreat,0.575714012795,5.46312402796e-05,1.0400293931,0.546284741383,0.0087273547412,1.03969867405
+370,6.166666667,pose2_to_pose3_retreat,0.575713493654,5.46498051807e-05,1.04002936957,0.54628422204,0.00872737269404,1.03969865246
+371,6.183333333,pose2_to_pose3_retreat,0.575713031621,5.46663278709e-05,1.04002934862,0.546283759826,0.008727388672,1.03969863325
+372,6.200000000,pose2_to_pose3_retreat,0.575712814098,5.467410664e-05,1.04002933876,0.546283542219,0.00872739619431,1.03969862421
+373,6.216666667,pose2_to_pose3_retreat,0.575712765207,5.46758550262e-05,1.04002933654,0.546283493309,0.00872739788506,1.03969862217
+374,6.233333333,pose2_to_pose3_retreat,0.575712614599,5.46812408799e-05,1.04002932972,0.546283342642,0.00872740309335,1.03969861591
+375,6.250000000,pose2_to_pose3_retreat,0.575712465709,5.46865653204e-05,1.04002932297,0.546283193694,0.00872740824225,1.03969860972
+376,6.266666667,pose2_to_pose3_retreat,0.575712431373,5.46877932145e-05,1.04002932141,0.546283159344,0.00872740942966,1.03969860829
+377,6.283333333,pose2_to_pose3_retreat,0.575712401399,5.46888651098e-05,1.04002932005,0.546283129359,0.00872741046622,1.03969860705
+378,6.300000000,pose2_to_pose3_retreat,0.57571229134,5.46928009081e-05,1.04002931506,0.546283019257,0.00872741427226,1.03969860247
+379,6.316666667,pose2_to_pose3_retreat,0.575712159716,5.46975078825e-05,1.04002930909,0.546282887582,0.00872741882405,1.039698597
+380,6.333333333,pose2_to_pose3_retreat,0.575712076608,5.46933396301e-05,1.0400293058,0.546282804575,0.00872741498878,1.03969859344
+381,6.350000000,pose2_to_pose3_retreat,0.575712047937,5.46908859789e-05,1.04002930473,0.546282775958,0.0087274127113,1.0396985922
+382,6.366666667,pose2_to_pose3_retreat,0.57571201338,5.4687928542e-05,1.04002930345,0.546282741465,0.00872740996621,1.0396985907
+383,6.383333333,pose2_to_pose3_retreat,0.575711778146,5.46677971883e-05,1.04002929468,0.546282506674,0.00872739128032,1.03969858052
+384,6.400000000,pose2_to_pose3_retreat,0.575711507779,5.4644659146e-05,1.04002928461,0.546282236815,0.00872736980363,1.03969856881
+385,6.416666667,pose2_to_pose3_retreat,0.57571142947,5.46379574564e-05,1.04002928169,0.546282158653,0.00872736358313,1.03969856542
+386,6.433333333,pose2_to_pose3_retreat,0.575711309174,5.46276624969e-05,1.04002927721,0.546282038583,0.00872735402737,1.03969856021
+387,6.450000000,pose2_to_pose3_retreat,0.575710975488,5.45991056203e-05,1.04002926478,0.546281705524,0.00872732752092,1.03969854576
+388,6.466666667,pose2_to_pose3_retreat,0.575710422077,5.45517446046e-05,1.04002924416,0.546281153153,0.0087272835605,1.03969852179
+389,6.483333333,pose2_to_pose3_retreat,0.575709945885,5.45266635366e-05,1.04002920127,0.546280676757,0.00872725804942,1.03969848582
+390,6.500000000,pose2_to_pose3_retreat,0.575709819337,5.45212205505e-05,1.04002918791,0.546280550068,0.00872725223039,1.03969847506
+391,6.516666667,pose2_to_pose3_retreat,0.57570971069,5.45165475157e-05,1.04002917644,0.546280441301,0.0087272472345,1.03969846582
+392,6.533333333,pose2_to_pose3_retreat,0.57570943865,5.45088670796e-05,1.04002915234,0.546280168969,0.00872723874514,1.03969844652
+393,6.550000000,pose2_to_pose3_retreat,0.57570937521,5.45312006502e-05,1.04002917436,0.546280105513,0.00872726088674,1.03969846494
+394,6.566666667,pose2_to_pose3_retreat,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502785,1.03969833366
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7ada0762c775420aeabf8c4411e1d5298169d8ed
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:419dd1d337bee03ef81b24362b0927222776f9f988d397af18ce8a3f19bbb3aa
+size 25202259
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6f2be2ee0b5b10121cf362356cefa6457074d02c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_04/franka_data.csv
@@ -0,0 +1,398 @@
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+27,0.450000000,BASELINE,763,742,711,671,663.326858702,632.673141298,875,783,799.326858702,649.673141298,629,650.326858702,0.400972011745,-0.00543214053422,0.0498510149824,0.999999955296,0.000137717153047,-0.000261328920183,-4.63590494371e-05,1793192222635360256
+28,0.466666667,BASELINE,763,742,711,671,663,633,875.258136577,783,799,649.741863423,628.741863423,650,0.400972203826,-0.00543186837858,0.0498511686428,0.999999955322,0.000137794007198,-0.000261171147506,-4.64511516432e-05,1793192222652027136
+29,0.483333333,BASELINE,763,742,711,671,663,633,875.837146449,783,799,649.162853551,628.162853551,650,0.400972323865,-0.00543094337913,0.0498524860238,0.999999955714,0.000137589783714,-0.000259811617608,-4.62593690484e-05,1793192222668693760
+30,0.500000000,BASELINE,763,742,711,671,663.41280429,633,875.17439142,783,799,649,628,650,0.400972792978,-0.00543079694803,0.0498530814068,0.999999955812,0.000138225857788,-0.000259117990706,-4.61338295604e-05,1793192222685360640
+31,0.516666667,BASELINE,763,742,711,671,663.987150374,633,874.025699253,783,799,649,628,650,0.400973398693,-0.00543095519239,0.0498533942519,0.999999955794,0.000139190763662,-0.000258684950188,-4.60342128459e-05,1793192222702028032
+32,0.533333333,BASELINE,763,742,711,671,663.425935549,633,874.574064451,783,799,649,628,650,0.400972798075,-0.00543316913988,0.0498526898875,0.999999956427,0.000134504855261,-0.000258733769269,-4.59472373755e-05,1793192222718694912
+33,0.550000000,BASELINE,763.160053876,742,711,671,663,633,875,783.160053876,799,649.160053876,628,650.160053876,0.400972530269,-0.00543432251986,0.049852275698,0.999999956806,0.000131782439368,-0.000258661709408,-4.598567632e-05,1793192222735361792
+34,0.566666667,BASELINE,763.742841374,742,711,671,663,633,875,783.742841374,799,649.742841374,628,650.742841374,0.400973214401,-0.00543255048075,0.0498526894003,0.999999956524,0.000134587543018,-0.000258241259686,-4.63545952322e-05,1793192222752027904
+35,0.583333333,BASELINE,763.678240132,742,711,670.678240132,663.321759868,633,875.321759868,783.678240132,799.321759868,650,628,650.678240132,0.400973384402,-0.00543196757254,0.0498527657895,0.999999956441,0.000135362952495,-0.000258142887534,-4.64402728166e-05,1793192222768694528
+36,0.600000000,BASELINE,763.102377042,742,711,670.102377042,663.897622958,633,875.897622958,783.102377042,799.897622958,650,628,650.102377042,0.40097314838,-0.00543232375575,0.0498525757926,0.999999956519,0.000134535453139,-0.000258298869456,-4.63022664406e-05,1793192222785360896
+37,0.616666667,BASELINE,763,742,711,670.471357161,663.528642839,632.528642839,875.528642839,783,799.528642839,650,628,650.471357161,0.400972235385,-0.00543255374032,0.0498521494511,0.999999956266,0.000134913325478,-0.000259092568862,-4.6235524124e-05,1793192222802027264
+38,0.633333333,BASELINE,763,742,711,671,663,632.046077872,875,783,799.046077872,649.953922128,628,650.953922128,0.40097128175,-0.00543252811538,0.0498517409246,0.999999955939,0.000135761301791,-0.000259914091986,-4.62069850374e-05,1793192222818693888
+39,0.650000000,BASELINE,763,742,711,671,663,632.637936173,875,783,799.637936173,649.362063827,628,650.362063827,0.400971580526,-0.00542979806559,0.0498521487041,0.999999955596,0.000139090500458,-0.000259431943403,-4.644844122e-05,1793192222835360512
+40,0.666666667,BASELINE,763.224257078,742,711,670.775742922,663,632.775742922,875,783,799.775742922,649,628,650,0.400971961642,-0.005428677209,0.0498522819331,0.999999955487,0.000140526933175,-0.000259056126915,-4.6560163978e-05,1793192222852027392
+41,0.683333333,BASELINE,763.801853238,742,711,670.198146762,663,632.198146762,875,783,799.198146762,649,628,650,0.400972472493,-0.00543009179472,0.049851982581,0.999999955761,0.000138981126795,-0.00025884784713,-4.6467478953e-05,1793192222868694272
+42,0.700000000,BASELINE,764,742,711,670.378756008,663,632.378756008,875.378756008,783,799,649,628,650,0.400972729432,-0.00543036286476,0.0498522573983,0.999999955586,0.00014016510691,-0.000258926914841,-4.62400534199e-05,1793192222885360896
+43,0.716666667,BASELINE,764,742,711,670.955296675,663,632.955296675,875.955296675,783,799,649,628,650,0.40097285378,-0.0054300367961,0.0498528320443,0.999999955171,0.000142774569121,-0.000259156034106,-4.59422670111e-05,1793192222902027776
+44,0.733333333,BASELINE,763.458926063,742,711,671.541073937,663,633,876,783,799,649.541073937,628,650.541073937,0.400972541815,-0.00543041862802,0.0498528057669,0.999999955576,0.000140524547836,-0.000258827607077,-4.59326534271e-05,1793192222918694400
+45,0.750000000,BASELINE,763,742,711,671.873989483,663.126010517,632.873989483,876,783,799.126010517,649.873989483,628,650.873989483,0.400972245575,-0.00543092598775,0.0498527910493,0.999999955909,0.000138519797918,-0.000258617060102,-4.59545869672e-05,1793192222935361024
+46,0.766666667,BASELINE,763,742,711,671.294867694,663.705132306,632.294867694,876,783,799.705132306,649.294867694,628,650.294867694,0.400972137753,-0.00543167076355,0.0498529995245,0.99999995576,0.00013886575499,-0.000258998904363,-4.60028595341e-05,1793192222952027648
+47,0.783333333,BASELINE,763.283551713,742,711,670.716448287,663.716448287,632,875.716448287,783.283551713,799.716448287,649.283551713,628,650,0.400972047072,-0.00543117314303,0.0498528239965,0.999999955636,0.000139719527639,-0.000258991627333,-4.61430989337e-05,1793192222968694016
+48,0.800000000,BASELINE,763.861242584,742,711,670.138757416,663.138757416,632,875.138757416,783.861242584,799.138757416,649.861242584,628,650,0.400971974172,-0.00542938673688,0.0498522501269,0.999999955538,0.000141100077065,-0.000258580699784,-4.63787390911e-05,1793192222985360896
+49,0.816666667,BASELINE,763.564429485,742,710.564429485,670.435570515,663.435570515,632.435570515,875.435570515,783.564429485,799,649.564429485,628,650.435570515,0.400971748582,-0.0054300922947,0.0498523594252,0.999999955697,0.000139853427194,-0.000258667644316,-4.6241283341e-05,1793192223002027520
+50,0.833333333,BASELINE,763,742,710.009104974,671,664,633,875.990895026,783,799,649.009104974,628.009104974,651,0.400971507118,-0.00543158533535,0.049852693229,0.999999955943,0.000137783004717,-0.000258873917821,-4.59840620259e-05,1793192223018694400
+51,0.850000000,BASELINE,763,742,710.599866731,671,664,633,875.400133269,783,799,649.599866731,628.599866731,651,0.40097333521,-0.00543306005516,0.049853572592,0.999999956758,0.000136143675117,-0.000256648766753,-4.5610509289e-05,1793192223035361280
+52,0.866666667,BASELINE,763,742,711,670.812946889,663.812946889,632.812946889,875,783,799.187053111,649.812946889,628.812946889,650.812946889,0.400974483439,-0.00543353856412,0.0498541723965,0.999999957116,0.000135968609234,-0.000255365013309,-4.54824640629e-05,1793192223052028160
+53,0.883333333,BASELINE,763,742,711,670.233265338,663.233265338,632.233265338,875,783,799.766734662,649.233265338,628.233265338,650.233265338,0.40097420462,-0.00543192600537,0.0498541854021,0.999999956523,0.000138867063988,-0.000256057273539,-4.58697443217e-05,1793192223068694528
+54,0.900000000,BASELINE,763.34396213,742,711,670.34396213,663,632,875,783.34396213,799.65603787,649.34396213,628,650.34396213,0.400974315763,-0.0054309770536,0.0498543182492,0.999999956352,0.000139879630147,-0.000256152127557,-4.60079593875e-05,1793192223085360896
+55,0.916666667,BASELINE,763.919537076,742,711,670.919537076,663,632,875,783.919537076,799.080462924,649.919537076,628,650.919537076,0.400974689492,-0.00543047495308,0.0498545317937,0.999999956468,0.000139622300675,-0.000255844707803,-4.59784621071e-05,1793192223102027264
+56,0.933333333,BASELINE,764,741.506264379,711.493735621,671,663,632.493735621,875,783.506264379,799.493735621,650,628,650.506264379,0.400973495975,-0.00543150425532,0.0498534210599,0.99999995642,0.000137092580622,-0.000257381619418,-4.60395126232e-05,1793192223118694144
+57,0.950000000,BASELINE,764,741.06984767,711.93015233,671,663.06984767,633,875,783,799.93015233,649.93015233,628,650,0.400972267166,-0.00543248524141,0.0498523223165,0.999999956352,0.000134721325153,-0.000258879348822,-4.61316327956e-05,1793192223135360768
+58,0.966666667,BASELINE,764,741.66193896,711.33806104,671,663.66193896,633,875,783,799.33806104,649.33806104,628,650,0.400972678853,-0.00543124415803,0.0498529223604,0.999999956396,0.000136296085664,-0.000257843061064,-4.63460324397e-05,1793192223152027648
+59,0.983333333,BASELINE,763.752088637,742,711,671,663.752088637,632.752088637,875,783,799.247911363,649,628,650,0.400972252562,-0.00543118847113,0.0498529896524,0.999999956287,0.000136806885104,-0.000258001744893,-4.63206093867e-05,1793192223168694272
+60,1.000000000,BASELINE,763.17425911,742,711,671,663.17425911,632.17425911,875,783,799.82574089,649,628,650,0.400970711097,-0.00543271029883,0.0498523479632,0.999999955973,0.000135901775148,-0.00025975068579,-4.59760325219e-05,1793192223185360896
+61,1.016666667,BASELINE,763,742,711,671,663.400629572,632,875,783,799.599370428,649.400629572,628,650,0.400971141701,-0.00543234653109,0.0498525088957,0.99999995598,0.000136236044083,-0.00025952482392,-4.61048205488e-05,1793192223202027520
+62,1.033333333,BASELINE,763,742,711,671,663.974248381,632,875,783,799.025751619,649.974248381,628,650,0.400972423832,-0.00543116857544,0.049853016395,0.999999956126,0.000137105468798,-0.000258446254988,-4.64380044699e-05,1793192223218694144
+63,1.050000000,BASELINE,763,742,711,671,663.436869769,632.563130231,875,783,799,649.436869769,628,650,0.400971406657,-0.00543084864195,0.049852627792,0.999999955589,0.000139417986913,-0.000259289710875,-4.64049170304e-05,1793192223235360512
+64,1.066666667,BASELINE,763.149291126,742,711,671,663,633,875,783,799.298582253,649,628,650,0.400971202354,-0.00543054166169,0.0498526477442,0.999999955359,0.000141176822313,-0.000259232551502,-4.63569476132e-05,1793192223252027136
+65,1.083333333,BASELINE,763.725616823,742,711,671,663,633,875,783,800.451233646,649,628,650,0.400973632338,-0.00543015637266,0.0498539568141,0.999999956109,0.000141157872487,-0.000256340843981,-4.6315654467e-05,1793192223268693760
+66,1.100000000,BASELINE,763.696248264,742,711,671,663,632.696248264,875.303751736,783,800.392496529,649,628,650,0.400974574178,-0.0054299965733,0.0498546583884,0.999999956502,0.00014047056018,-0.000255204273972,-4.62015292147e-05,1793192223285360640
+67,1.116666667,BASELINE,763.116469301,742,711,671,663,632.116469301,875.883530699,783,799.232938601,649,628,650,0.400974163703,-0.00543004168238,0.0498548079152,0.999999956574,0.000139175889227,-0.000255662643951,-4.60212195058e-05,1793192223302027520
+68,1.133333333,BASELINE,763,742,711,671,663.45724327,632.45724327,875.54275673,783,798.54275673,649,628.45724327,650,0.400972971823,-0.00542991380457,0.0498538823372,0.999999956229,0.000139278438714,-0.000256931455596,-4.61576716762e-05,1793192223318694400
+69,1.150000000,BASELINE,763,742,711,671,664,633,875,783,798.030454132,649,628.969545868,650.030454132,0.400971659558,-0.00542974736709,0.049852750372,0.99999995579,0.000139739940896,-0.000258347045527,-4.63645009603e-05,1793192223335361280
+70,1.166666667,BASELINE,763,742,711,671,664,633,875,783,798.622535515,649,628.377464485,650.622535515,0.400971749734,-0.00542967178708,0.0498527964388,0.999999955609,0.000140343662002,-0.000258712285078,-4.64007030935e-05,1793192223352027648
+71,1.183333333,BASELINE,763,742,711,671,663.789986702,633,875.210013298,783,799,649,628,650.789986702,0.400972027843,-0.00543066688053,0.0498531374337,0.999999955825,0.000139230591998,-0.000258499575817,-4.62899460844e-05,1793192223368694272
+72,1.200000000,BASELINE,763,742,711,671,663.210605553,633,875.789394447,783,799,649,628,650.210605553,0.400972636483,-0.00543354505642,0.0498539971431,0.999999956726,0.000135098058815,-0.000257270379981,-4.59207198172e-05,1793192223385360640
+73,1.216666667,BASELINE,763.366226375,742,711,671,663,633,875.633773625,783,799.366226375,649.366226375,628,650.366226375,0.400973572332,-0.00543354295201,0.049854711288,0.999999956896,0.000136092106968,-0.000256104338642,-4.57950365162e-05,1793192223402027264
+74,1.233333333,BASELINE,763.941602424,742,711,671,663,633,875.058397576,783,799.941602424,649.941602424,628,650.941602424,0.400974695048,-0.0054318959367,0.0498553423018,0.999999956643,0.00014001391505,-0.000254974364528,-4.58084391564e-05,1793192223418693888
+75,1.250000000,BASELINE,763.483049725,742,711,671,663,633,875,783,799.483049725,649.483049725,628,650.483049725,0.400972582714,-0.00543237271539,0.0498535336955,0.999999956274,0.000137339429853,-0.000257774289835,-4.62930918966e-05,1793192223435360512
+76,1.266666667,BASELINE,763,742,711,671,663,633,875,783,799,649,628,650,0.400970914088,-0.00543283433788,0.0498520523211,0.999999956035,0.000134873043935,-0.0002599124199,-4.6742185675e-05,1793192223452027392
+77,1.283333333,BASELINE,763,742,711,671,663,633,875,783,799,649,628,650,0.400973480293,-0.005431961044,0.0498537259103,0.999999956634,0.000137395545491,-0.00025626350486,-4.67265680575e-05,1793192223468694272
+78,1.300000000,BASELINE,763,742,711,671,663,633,875,783,799,649,628,650.270456224,0.400974203668,-0.00543223403006,0.0498544907204,0.999999956859,0.000138195295335,-0.000255015731865,-4.63795412325e-05,1793192223485360896
+79,1.316666667,BASELINE,763,742,711,671,663,633,875,783,799,649,628,650.849154534,0.400972826746,-0.00543381344469,0.0498542197844,0.999999956672,0.000137031604961,-0.000256504568482,-4.56548035025e-05,1793192223502027520
+80,1.333333333,BASELINE,763.424642073,742,711,671,663.424642073,632.575357927,875,783,799,649.424642073,628,651,0.400972537603,-0.0054330878704,0.0498539427556,0.999999956482,0.000137296726608,-0.000257060264321,-4.58909085037e-05,1793192223518694144
+81,1.350000000,BASELINE,763.998997658,742,711,671,663.998997658,632.001002342,875,783,799,649.998997658,628,651,0.40097263197,-0.00543154964011,0.0498536635787,0.999999956291,0.000138065595854,-0.000257286968431,-4.64657720093e-05,1793192223535360768
+82,1.366666667,BASELINE,763.410622523,742,711,671,663.410622523,632.589377477,875.589377477,783,799,649.410622523,628,650.410622523,0.400972986448,-0.00543232798535,0.0498532446808,0.999999956209,0.000138207651526,-0.000257621266376,-4.59563325532e-05,1793192223552027648
+83,1.383333333,BASELINE,763,742,711,671,663,633,875.824017683,783,799.175982317,649.175982317,628,650.175982317,0.400973154108,-0.00543259127446,0.0498531237068,0.999999956172,0.000138330247634,-0.0002577422736,-4.57083744789e-05,1793192223568694272
+84,1.400000000,BASELINE,763,742,711,671,663,633,875.246098613,783,799.753901387,649.753901387,628,650.753901387,0.400972894045,-0.00543166894586,0.0498536837373,0.999999956239,0.00013841090165,-0.000257375703592,-4.60619590405e-05,1793192223585360896
+85,1.416666667,BASELINE,763.330367904,742,711,671.330367904,663,633,875.330367904,783,799.669632096,649.669632096,628.330367904,651,0.400972871047,-0.00543068097179,0.0498539375416,0.999999956127,0.000139364918453,-0.000257244215213,-4.63615402121e-05,1793192223602027776
+86,1.433333333,BASELINE,763.905757083,742,711,671.905757083,663,633,875.905757083,783,799.094242917,649.094242917,628.905757083,651,0.40097302387,-0.00542964431104,0.0498539642295,0.999999955879,0.000140966675123,-0.000257287077932,-4.66210691077e-05,1793192223618694400
+87,1.450000000,BASELINE,764,742,711,671.5079385,663,633,875.5079385,783,799.4920615,649.4920615,628.5079385,651,0.400973664615,-0.00542902543609,0.0498544689504,0.999999956098,0.000141343866772,-0.000256247189187,-4.65175961861e-05,1793192223635361024
+88,1.466666667,BASELINE,764,742,711,671,663,632.920793799,875,783,800,649.920793799,628,650.920793799,0.400973958907,-0.00542865799768,0.0498547146256,0.999999956283,0.000141280576586,-0.000255586261731,-4.63671347996e-05,1793192223652027648
+89,1.483333333,BASELINE,764,742,711,671,663,632.341836925,875,783,800,649.341836925,628,650.341836925,0.400971464253,-0.00542936067488,0.0498527350774,0.999999955681,0.000139951449855,-0.000258654504929,-4.63688160373e-05,1793192223668694016
+90,1.500000000,BASELINE,764,742,711,671,663.237080543,632.237080543,875,783,799.762919457,649,628.237080543,650,0.400970581575,-0.00543034218362,0.0498519367353,0.999999955552,0.000138581710107,-0.000259896068593,-4.6320297905e-05,1793192223685360384
+91,1.516666667,BASELINE,764,742,711,671,663.815941154,632.815941154,875,783,799.184058846,649,628.815941154,650,0.400972022753,-0.00543172566147,0.0498528412435,0.999999956115,0.000137153421934,-0.000258504254139,-4.61994113546e-05,1793192223702027008
+92,1.533333333,BASELINE,763.609438342,742,711,671,664,633,875.390561658,783,799,649,628.609438342,650.390561658,0.400973239334,-0.00543141847543,0.049853855654,0.999999956459,0.000137745861404,-0.000256864082465,-4.61344061971e-05,1793192223718693632
+93,1.550000000,BASELINE,763.03679455,742,711,671,664,633,875.96320545,783,799,649,628.03679455,650.96320545,0.400974351206,-0.00543032309211,0.0498549213016,0.999999956698,0.000139280375819,-0.000255108125078,-4.60954532615e-05,1793192223735360512
+94,1.566666667,BASELINE,763.551978989,742,711,671,664,632.448021011,875.448021011,783,799,649.551978989,628,650.448021011,0.400972929498,-0.00543028149165,0.0498544720124,0.999999956317,0.000139308551585,-0.000256574494303,-4.61459548928e-05,1793192223752027648
+95,1.583333333,BASELINE,764,742,711,671,663.860740393,632.139259607,875.139259607,783,799,650,628,650.139259607,0.400971827968,-0.00543018101847,0.0498539888975,0.999999956019,0.000139325602673,-0.000257703258862,-4.62564692769e-05,1793192223768694528
+96,1.600000000,BASELINE,764,742,711,671,663.281672448,632.718327552,875.718327552,783,799,650,628,650.718327552,0.400972287056,-0.00542966609083,0.0498537274833,0.999999956127,0.000139634184276,-0.000257067010769,-4.6537116264e-05,1793192223785360896
+97,1.616666667,BASELINE,764,742,711,671,663.296605145,632.703394855,876,783,799,649.703394855,628,651,0.400972065325,-0.00543010116467,0.0498534149396,0.999999956135,0.000139127352108,-0.000257298840902,-4.65975109985e-05,1793192223802027264
+98,1.633333333,BASELINE,764,742,711,671,663.874134135,632.125865865,876,783,799,649.125865865,628,651,0.400971198769,-0.00543143601413,0.0498530539696,0.999999956047,0.000137848216484,-0.000258352854633,-4.64492980402e-05,1793192223818693632
+99,1.650000000,BASELINE,764,742,711,671,664,632.445027073,876,783.445027073,799,649.445027073,628.445027073,651,0.400972858224,-0.00543096101588,0.0498535660497,0.99999995637,0.000137839502025,-0.000257087971176,-4.65482039363e-05,1793192223835360256
+100,1.666666667,BASELINE,764,742,711,671,663.985307471,633,875.985307471,783.985307471,799,650,628.985307471,650.985307471,0.400975131571,-0.00543000374747,0.0498542957395,0.999999956783,0.000138194817883,-0.000255253202569,-4.67094378481e-05,1793192223852027136
+101,1.683333333,BASELINE,764,742,711,671,663.391116809,633,875.391116809,783.391116809,799,650,628.391116809,650.391116809,0.400973853681,-0.00542991749734,0.0498540123773,0.999999956383,0.000138944531672,-0.000256428880915,-4.66128380643e-05,1793192223868694016
+102,1.700000000,BASELINE,763.801963698,742,711,671,663,633,875,783,799.198036302,650,628,650.198036302,0.400973192413,-0.0054299202279,0.0498541693729,0.999999956307,0.000139236236394,-0.000256584715659,-4.65067307152e-05,1793192223885360896
+103,1.716666667,BASELINE,763.222512894,742,711,671,663,633,875,783,799.777487106,650,628,650.777487106,0.400973718748,-0.00543009433376,0.04985517449,0.999999956858,0.000138645823464,-0.000254776349069,-4.63823119707e-05,1793192223902027520
+104,1.733333333,BASELINE,763.354415248,742,711,671,663,633,875,783,800,650,628,651,0.400973264736,-0.00543069914197,0.0498548787171,0.999999956729,0.000138502106122,-0.000255367747875,-4.63346657356e-05,1793192223918694400
+105,1.750000000,BASELINE,763.929770833,742,711,671,663,633,875,783,800,650,628,651,0.400972199581,-0.00543157244747,0.0498537719774,0.999999956175,0.000138636856068,-0.000257455145844,-4.63348790099e-05,1793192223935361024
+106,1.766666667,BASELINE,764,742,711,671,663.514986337,633,875.514986337,783,800,650,628,651,0.400972338445,-0.00543110215182,0.0498539286471,0.999999956295,0.000138283003387,-0.000257172722885,-4.63621306042e-05,1793192223952027392
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,875,783,799,650,629,650,0.400972474972,-0.00543016547524,0.0498535905799,0.999999956155,0.000140322486627,-0.000256640131588,-4.62140893127e-05,1793192223994611200
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.422986414,742,711,670.422986414,663,632.577013586,875,783,799,649.422986414,628.422986414,650.577013586,0.400970820033,-0.00543059021114,0.0498528848999,0.999999955757,0.000139346601915,-0.000258677958073,-4.64221103653e-05,1793192224011277824
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,742,711,670.153837076,663,633,875,783,799,649,628.153837076,651,0.400970265236,-0.00543081796382,0.0498527504887,0.999999955668,0.000138485676223,-0.000259453226696,-4.65797964707e-05,1793192224027945984
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,742,711,670.730138654,663,633,875,783,799,649,628.730138654,651,0.40097273163,-0.00543050476495,0.0498541848847,0.999999956437,0.000137940448622,-0.000256761282974,-4.65992537317e-05,1793192224044618752
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,742,711,671,663,632.685653208,875,783,799,649,628.685653208,651,0.400973578291,-0.00543032240627,0.0498543679028,0.999999956523,0.000138147626945,-0.000256346954777,-4.64371319198e-05,1793192224061284864
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742,711,671,663,632.094482329,875,783,799,649,628.094482329,651,0.400972998562,-0.00543025526975,0.0498534489161,0.999999956008,0.000139017398617,-0.00025793836962,-4.61151056245e-05,1793192224077945600
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,742,711,671,663.486265201,632.486265201,875,783,799,649,628,650.513734799,0.400973383722,-0.0054307439507,0.049853689044,0.999999956166,0.000138678214226,-0.000257498731089,-4.61681593098e-05,1793192224094611200
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.064589014,742,711,671,663.935410986,633,875,783,799,649.064589014,628.064589014,650.064589014,0.400974722625,-0.00543136533662,0.0498545460763,0.999999956662,0.000138046420958,-0.000255893180877,-4.62343950195e-05,1793192224111277568
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.639429428,742,711,671,663.360570572,633,875,783,799,649.639429428,628.639429428,650.639429428,0.400982146063,-0.00543219982326,0.0498585347555,0.999999958792,0.00013691980644,-0.000248129163431,-4.58411100938e-05,1793192224127944448
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711.21337792,671,663,633,875,783,799,650,628.78662208,651,0.400995420614,-0.00543242123732,0.049864258384,0.999999961432,0.000137175772604,-0.000237186566707,-4.54035409591e-05,1793192224144610816
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711.785825439,671,663,633,875,783,799,650,628.214174561,651,0.401018541344,-0.0054316109807,0.0498729015623,0.999999964829,0.00013975832774,-0.000220895098693,-4.4891450966e-05,1793192224161277440
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.628625974,671,663.371374026,633,875.371374026,783,799,650,628,650.628625974,0.401057327642,-0.00543313087279,0.0498864980891,0.99999997067,0.00013913005994,-0.00019333715596,-4.38646387078e-05,1793192224177944320
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711.03524555,671,663.96475445,633,875.96475445,783,799,650,628,650.03524555,0.401105478776,-0.00543604372146,0.0499030557153,0.999999977121,0.000136582370921,-0.000159044143094,-4.25301267719e-05,1793192224194610944
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.543930689,711,671,664,633,876,783,799,649.456069311,628,650,0.401172731746,-0.00543800385684,0.0499177835346,0.999999981527,0.00013753605109,-0.00012766363491,-4.16095655968e-05,1793192224211277824
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.878167474,742.878167474,711,671,663.878167474,633,876,783,799,649.121832526,628.121832526,650.121832526,0.401241823433,-0.00544024159733,0.0499301321745,0.999999984412,0.000137444028418,-0.000103118579831,-4.06292145633e-05,1793192224227944448
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.301673971,742.301673971,711,671,663.301673971,633,876,783,799,649.698326029,628.698326029,650.698326029,0.401313275385,-0.0054437398379,0.0499340332886,0.999999985087,0.000132624458364,-0.000103396050198,-3.93281840193e-05,1793192224244610816
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.280918912,742,711,671,663,633,876,783,799,650,628.719081088,651,0.401390722582,-0.00544694378644,0.0499345345854,0.999999985315,0.000129549595598,-0.000105443948785,-3.83318335435e-05,1793192224261277440
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.870207151,742,711,671,663,633,876,783,799,650,628.129792849,651,0.401474750852,-0.00544982468557,0.0499313038463,0.99999998506,0.000128389927111,-0.000109435275633,-3.76699354857e-05,1793192224277944064
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663,633,876,783,799,650,628.450945061,650.549054939,0.40158406193,-0.00545386671467,0.0499301114043,0.999999984959,0.000126842193898,-0.000112417536753,-3.68149169492e-05,1793192224294610688
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.970931677,742,711,671,663,632.970931677,875.970931677,783,799,650,628.970931677,650,0.401702543846,-0.00545826441885,0.0499297194162,0.999999984916,0.000125247542392,-0.000114869696225,-3.58639370751e-05,1793192224311277568
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.39654996,742,711,671,663,632.39654996,875.39654996,783,799,650,628.39654996,650,0.401859093894,-0.00546318163205,0.0499335427314,0.999999985273,0.000124829080627,-0.000112724364013,-3.41360996551e-05,1793192224327944448
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.182023622,742,711,670.817976378,663,632,875,783,799,649.817976378,628,650,0.402021200257,-0.00546856004141,0.0499360205965,0.999999985558,0.000123715181887,-0.000111896430033,-3.25129991851e-05,1793192224344611072
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.769944632,742,711,670.230055368,663,632,875,783,799,649.230055368,628,650,0.402195696716,-0.00547496687882,0.0499354982202,0.99999998569,0.000121050517158,-0.000114006183753,-3.11234535481e-05,1793192224361277952
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.647489103,742,711,670.352510897,663,632,875,783,799.352510897,649.352510897,628.352510897,650.352510897,0.402394338324,-0.00548176611151,0.0499350036923,0.999999986145,0.000116791281915,-0.000114870974408,-2.95696076495e-05,1793192224377944576
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.068365101,742,711,670.931634899,663,632,875,783,799.931634899,649.931634899,628.931634899,650.931634899,0.402608501758,-0.00548881759779,0.0499345270667,0.999999986789,0.000111506970078,-0.000114935435552,-2.79101405027e-05,1793192224394611200
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.510537969,742,711,671,663,632.510537969,875,783,799.489462031,649.489462031,629,650.489462031,0.402866740546,-0.00549733956879,0.0499385520346,0.999999987907,0.000109654862868,-0.000107237078676,-2.57217386797e-05,1793192224411277824
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,671.088679345,663.088679345,633,875,783,799,649,629,650.088679345,0.403139311001,-0.00550618960334,0.0499439096583,0.999999989217,0.00010810118312,-9.66219611738e-05,-2.33390549549e-05,1793192224427944192
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,671.662813115,663.662813115,633,875,783,799,649,629,650.662813115,0.403458041554,-0.00551575807918,0.0499532641409,0.999999991344,0.00010566629216,-7.57277700179e-05,-2.02803861021e-05,1793192224444610816
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,671.514963395,664,633,875,783,799,649,628.757481698,651,0.403787442813,-0.00552482336198,0.0499621516625,0.999999992731,0.000104517310734,-5.76874179708e-05,-1.69462346678e-05,1793192224461277440
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,670.3396963,664,633,875,783,799,649,628.16984815,651,0.404132028983,-0.00553317257622,0.0499703746756,0.999999993424,0.000105198240803,-4.37082179522e-05,-1.32200584191e-05,1793192224477944320
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.588203489,742,711,670.411796511,664,633,875.411796511,783,799.411796511,649.411796511,628.411796511,651,0.404507682193,-0.00553477182732,0.0499753168898,0.999999992791,0.000114882143902,-3.3853972593e-05,-8.63831394327e-06,1793192224494610944
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.008993589,742,711,670.991006411,664,633,875.991006411,783,799.991006411,649.991006411,628.991006411,651,0.404895965512,-0.00553362692138,0.0499789253148,0.999999991443,0.000128226151397,-2.56767030282e-05,-3.70874344996e-06,1793192224511277568
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742,711,671,664,632.431271459,875.431271459,783,799.431271459,649.431271459,629,651,0.405310454919,-0.00551694341526,0.0499678499393,0.999999986602,0.000157492688559,-4.45431877831e-05,-2.85846798701e-06,1793192224527944448
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+146,2.433333333,POSE1_TO_POSE2_PRESS,763.372046136,742.627953864,711,671,664,633,875,783,800.255907729,650,628.372046136,650,0.408906346447,-0.00552662163105,0.0499623900585,0.999999972203,0.000229783573462,-4.68165047225e-05,2.4526661147e-05,1793192224644611072
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742.799763732,711,671,664,632.799763732,875.200236268,783,800.799763732,650,628.200236268,650,0.409537659094,-0.00552524842995,0.0499814323962,0.999999969344,0.000245076178856,-1.78584095717e-05,3.05153972272e-05,1793192224661277952
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742.229646551,711,671,664,632.229646551,875.770353449,783,800.229646551,650,628.770353449,650,0.41017560467,-0.00552016326531,0.0499844463693,0.999999964344,0.000264132506452,-1.76079923813e-05,3.51483674215e-05,1793192224677944320
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742,711,671,664,632.357284055,876,783,799.642715945,650,628.642715945,650,0.410793238447,-0.00551848534329,0.0499647985604,0.999999960949,0.00026988700148,-6.23764523322e-05,3.70414105939e-05,1793192224694610944
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742,711,671,664,632.955555248,876,783,799.044444752,650,628.044444752,650,0.411397171942,-0.00551910559749,0.0499298654402,0.999999954301,0.000266669444162,-0.000137510023988,3.70863799868e-05,1793192224711277312
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.534724832,742.534724832,711,671,663.465275168,633,876,783,799,650,628,650,0.412095782131,-0.00552668284546,0.0499201729555,0.999999975082,0.000172932173272,-0.00014023526308,1.6240813116e-05,1793192224727944192
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.888184354,711,671,663.223631292,632.888184354,876,783,799.111815646,650,628,650,0.412817885767,-0.00553501467515,0.0499201438551,0.999999987412,9.35764661292e-05,-0.000128137334775,-1.18315720677e-07,1793192224744610816
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.313354037,711,671,664.373291926,632.313354037,876,783,799.686645963,650,628,650,0.413605810964,-0.00554415927658,0.0499517419976,0.999999991468,0.000103853356591,-7.87202888754e-05,9.04240675123e-06,1793192224761277440
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.267602166,711,671,664.732397834,632.267602166,876,783,800,650,628,650,0.414370909254,-0.00554499195424,0.0499601781316,0.999999990877,0.000117363668404,-6.52798793488e-05,1.45195003061e-05,1793192224777944064
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.855899727,711,671,664.144100273,632.855899727,876,783,800,650,628,650,0.415108651802,-0.00553586359381,0.0499408568354,0.999999986292,0.000134748925485,-9.49539935967e-05,1.55821209661e-05,1793192224794610688
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.562960692,711,671.437039308,663.562960692,633,876,783,799.562960692,650,628,650,0.415874331493,-0.00553416292416,0.0499217063136,0.999999983604,0.000131459582784,-0.000123697956044,1.44681105914e-05,1793192224811277568
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.984201357,742,711,671.984201357,663.015798643,632.984201357,876,783,799,650,628,650,0.416650886987,-0.00553504414018,0.0499040063367,0.999999981312,0.000121458779033,-0.00014986756177,1.279619957e-05,1793192224827944448
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.407505405,742,711,671.407505405,663.592494595,632.407505405,876,783,799,650,628,650,0.417491804684,-0.00554204243594,0.0499358379675,0.999999989126,0.000111298316806,-9.53530384557e-05,1.63862217269e-05,1793192224844610816
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.337078631,742.168539315,711,671.168539315,664,632.168539315,876,783,799,650,628,650,0.418325993952,-0.00554680370336,0.0499598688914,0.999999992653,0.000104815911484,-5.75740754467e-05,1.98085732418e-05,1793192224861277440
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.48603094,742.74301547,711,671.74301547,664,632.74301547,876,783,799,650,628,650,0.419143977355,-0.00554617695623,0.0499651113531,0.999999992188,0.000107192323534,-6.01036961404e-05,2.28270800575e-05,1793192224877944320
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.674398498,743,711.325601502,672,664,633,876.325601502,783,799,649.674398498,628,650,0.41996834293,-0.00554403831655,0.0499567746966,0.999999991379,0.000108677794309,-6.99591501768e-05,2.31805205146e-05,1793192224894610944
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.085248187,743,711.914751813,672,664,633,876.914751813,783,799,649.085248187,628,650,0.420797874332,-0.00554067591877,0.0499374468115,0.999999990107,0.000109442118048,-8.57442900662e-05,2.13767991841e-05,1793192224911277568
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.503477647,711.503477647,672,664,632.503477647,877,783,799,649,628,650,0.421696326382,-0.00554570958621,0.0499570072295,0.999999994102,9.70868472965e-05,-4.35573244388e-05,2.17258648102e-05,1793192224927944704
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711.076290119,672,664.076290119,632.076290119,877,783,799,649.076290119,628,650,0.422595977913,-0.00555150264009,0.0499784425107,0.999999996236,8.38123171153e-05,-1.14363084745e-06,2.24189247866e-05,1793192224944611328
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711.651128386,672,664.651128386,632.651128386,877,783,799,649.651128386,628,650,0.423427272393,-0.00555297594719,0.0499691369173,0.999999996385,7.90348757313e-05,-2.1339288374e-05,2.29799425296e-05,1793192224961277952
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,712,672,664.768465999,632.768465999,877,783,799,650,628,650,0.424272061789,-0.00555496040075,0.0499604437377,0.999999996217,7.46940208047e-05,-3.78000159469e-05,2.3628809152e-05,1793192224977944320
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,664.179464826,632.179464826,877,783,799,650,628,650,0.425137686222,-0.00555773401759,0.0499526960673,0.999999996004,7.10272144646e-05,-4.84943587492e-05,2.44133064487e-05,1793192224994610944
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711.597599174,672,664,632,877,783,799.402400826,649.597599174,628,650.402400826,0.426011723039,-0.00555863328487,0.0499671212965,0.999999996837,6.69467233078e-05,-3.39676349027e-05,2.62665372555e-05,1793192225011277824
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711.018860448,672,664,632,877,783,799.981139552,649.018860448,628,650.981139552,0.426889446234,-0.00555871118473,0.0499912630135,0.999999997591,6.26849496254e-05,-8.38867179855e-06,2.85881025848e-05,1793192225027944448
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.558286248,742,711,672,664,632,876.441713752,783,799.441713752,649.558286248,628.558286248,650.441713752,0.427679578981,-0.0055552572883,0.0499641186173,0.99999999526,6.27327633412e-05,-6.87293689413e-05,2.86578853342e-05,1793192225044610816
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.865422383,742,711,671.865422383,663.865422383,632.134577617,876,783,799,649.865422383,628.730844765,650,0.428478064478,-0.00555234455619,0.0499393852195,0.99999999074,6.20021800795e-05,-0.000117796483789,2.82688404282e-05,1793192225061277696
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.291746809,742,711,671.291746809,663.291746809,632.708253191,876,783,799,649.291746809,627.583493618,650,0.429313430453,-0.00555158571605,0.0499281553782,0.999999990672,5.82581774224e-05,-0.000120636668476,2.66302384071e-05,1793192225077944832
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.290012566,711.290012566,671.580025133,663.580025133,633,876.290012566,783.290012566,799.290012566,649.290012566,627.290012566,650,0.430158150179,-0.00555377865972,0.0499294835095,0.999999992557,5.15875743856e-05,-0.00010743016535,2.61597368157e-05,1793192225094611456
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.880137222,711.880137222,672.760274445,664.760274445,633,876.880137222,783.880137222,799.880137222,649.880137222,627.880137222,650,0.431012549344,-0.00555902618143,0.0499438069386,0.999999995749,4.18884539665e-05,-7.76181573571e-05,2.68980141718e-05,1793192225111277824
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.538586027,711.538586027,672.538586027,664.538586027,632.538586027,877,783.538586027,800,649.538586027,628,650,0.431800106567,-0.00555872875726,0.049931772669,0.999999993961,3.70582072075e-05,-0.000100025933113,2.64371800207e-05,1793192225127944448
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711.040132055,672,664,632.040132055,877,783,800,649,628,650,0.432572213161,-0.00555717344615,0.0499153796964,0.999999990526,3.35267031574e-05,-0.000130995315996,2.57875695822e-05,1793192225144610816
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711.614807475,672,664,632.614807475,877,783,800,649,628,650,0.433365449093,-0.00555768850399,0.0499304141461,0.999999994298,3.07642645972e-05,-9.87172740677e-05,2.66944826645e-05,1793192225161277440
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711.806527494,672,664.193472506,632.806527494,876.806527494,783,799.806527494,649.193472506,628,650,0.434145338437,-0.00555801351496,0.0499477231937,0.999999996963,2.6747529542e-05,-6.78230712831e-05,2.75387901036e-05,1793192225177944064
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711.219752031,672,664.780247969,632.219752031,876.219752031,783,799.219752031,649.780247969,628,650,0.434898096153,-0.00555795218694,0.0499696561883,0.999999998607,2.01809819958e-05,-3.97420171449e-05,2.82558290906e-05,1793192225194610944
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664.637895112,632,876,783,799,649.637895112,628,650,0.435606695913,-0.00555715000975,0.0499633767193,0.999999997337,1.87528246155e-05,-6.41688644237e-05,2.92844534533e-05,1793192225211277568
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664.058983164,632,876,783,799,649.058983164,628,650,0.436288856448,-0.00555590425575,0.0499402052888,0.999999992123,2.04012327058e-05,-0.000120034349221,3.04996366635e-05,1793192225227944448
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,876,783,799,649.520512436,628,650,0.436978161087,-0.00555565406099,0.0499320433928,0.999999991619,2.18160994728e-05,-0.000123926269595,3.04793286863e-05,1793192225244611328
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.095501698,711.095501698,672,664.095501698,632.095501698,876.095501698,783,799,649.904498302,628.095501698,650,0.437668334436,-0.00555562356711,0.0499314412582,0.999999992857,2.28221660495e-05,-0.000113238036252,3.06995792561e-05,1793192225261277952
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.648582398,711.648582398,672,664.648582398,632.648582398,876.648582398,783,799,649.351417602,628.648582398,650,0.43835878686,-0.00555610459419,0.0499589019178,0.999999997365,2.19964821364e-05,-6.09418614628e-05,3.27439730064e-05,1793192225277944320
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711.777023531,672.222976469,664.777023531,632.777023531,876.777023531,783,799.222976469,649,628.777023531,650,0.439005489893,-0.00555679545577,0.0499718192618,0.999999998542,2.1496555846e-05,-3.56511012532e-05,3.43851419743e-05,1793192225294610944
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711.1654889,672.8345111,664.1654889,632.1654889,876.1654889,783,799.8345111,649,628.1654889,650,0.43957595529,-0.00555785197428,0.0499593934624,0.999999997495,2.15642940312e-05,-5.74199056764e-05,3.53236524829e-05,1793192225311277568
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.575784237,711.424215763,673,664,632,876.424215763,783,799.575784237,649,628,650,0.440130173488,-0.00555532658858,0.0499343328646,0.999999994255,2.70405995897e-05,-9.76096638666e-05,3.5092514378e-05,1793192225327943936
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.00575031,711.99424969,673,664,632,877,783,799.00575031,649.00575031,628,650,0.440678093536,-0.0055515277297,0.0499049178139,0.999999988428,3.44363582832e-05,-0.000144119291566,3.44553723151e-05,1793192225344610816
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.58026656,711.41973344,673,664,632,877,783,799.58026656,649.58026656,628,650,0.441199281197,-0.0055532145691,0.049908462475,0.999999989017,3.32073332893e-05,-0.000139734227108,3.6582912355e-05,1793192225361277952
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.844792964,742.844792964,711,672.689585928,664,632,876.844792964,783,799.844792964,649.844792964,628,650,0.441712994692,-0.0055542798987,0.0499125230608,0.999999990023,3.21872847719e-05,-0.00013217520607,3.8047881703e-05,1793192225377944832
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.268701962,742.268701962,711,671.537403923,664,632,876.268701962,783,799.268701962,649.268701962,628,650,0.442206440171,-0.00555365984428,0.0499179827102,0.999999992056,3.1733929671e-05,-0.000116009180961,3.77161199525e-05,1793192225394611200
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.315283303,742.315283303,711,671.630566607,664,632,876,783,799,649,628.315283303,650,0.442655434865,-0.00555410101733,0.0499156789599,0.999999992493,2.57177208178e-06,-0.000118915564655,2.94507515801e-05,1793192225411277824
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.906169247,742.906169247,711,672.812338493,664,632,876,783,799,649,628.906169247,650,0.443065573192,-0.00555546985481,0.049906588889,0.999999988972,-5.16859794341e-05,-0.000138493958477,1.42502777816e-05,1793192225427944192
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.513008712,711,673,663.513008712,632,876.486991288,783,799.486991288,649,629,650,0.443432340533,-0.00556094500638,0.0498793246363,0.99999998068,-6.72460557371e-05,-0.000184325490022,1.19104315094e-05,1793192225444611072
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.065380269,711,672.934619731,663,632,877,783,799.934619731,649,628.934619731,650,0.443785741945,-0.00556565051953,0.0498490343409,0.999999969792,-7.28711176546e-05,-0.000234439707589,1.19763044668e-05,1793192225461277440
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.639618846,711,672.360381154,663,632,877,783,799.360381154,649,628.360381154,650,0.444098837689,-0.00555833276048,0.0498218942981,0.999999959238,-5.80273176092e-05,-0.000279314331455,1.18707635969e-05,1793192225477944320
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.781018398,711,672,663,632,877,783,799,649.218981602,628,650,0.444409512163,-0.00555438465633,0.0498046108611,0.999999952016,-4.87754745721e-05,-0.00030567402289,1.23491036099e-05,1793192225494610944
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.193020705,711,672,663,632,877,783,799,649.806979295,628,650,0.444716106411,-0.00555611491523,0.0498039372521,0.999999953456,-4.89469002285e-05,-0.000300833336273,1.38113685215e-05,1793192225511277824
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.388991826,711,672.388991826,662.611008174,632,877,783,799,649.611008174,628.388991826,650,0.445010555407,-0.00555915029128,0.0498098089654,0.999999957755,-4.91231201599e-05,-0.000286075172226,1.54494660715e-05,1793192225527944704
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.968079528,711,672.968079528,662.031920472,632,877,783,799,649.031920472,628.968079528,650,0.445299069183,-0.00556282346338,0.0498188793031,0.999999963134,-4.93016829987e-05,-0.000266470449332,1.71734911562e-05,1793192225544611328
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.875639534,711,673,662,631.875639534,877,782.875639534,799,649.124360466,628,650,0.445764088474,-0.00556408046915,0.0498099824866,0.999999961438,-4.91445291686e-05,-0.000272760191867,1.76503864369e-05,1793192225577944320
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.30106652,711,673,662,631.30106652,877,782.30106652,799,649.69893348,628,650,0.445946843007,-0.00556392299811,0.0497975921662,0.999999956908,-4.81525209805e-05,-0.000289087936335,1.71300903693e-05,1793192225594610688
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.720270428,742.279729572,711,673,662,631,877,782.279729572,799,649.720270428,628,650,0.446113410954,-0.00556317961549,0.049787427828,0.999999952959,-4.67966367695e-05,-0.00030266625571,1.68639884499e-05,1793192225611277312
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.132624221,742.867375779,711,673,662,631,877,782.867375779,799,649.132624221,628,650,0.446262161257,-0.0055617912817,0.0497797137748,0.99999994979,-4.50402104883e-05,-0.00031321810213,1.68776946876e-05,1793192225627943936
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.449455188,742.550544812,711.449455188,673,662,631,877,782.550544812,799,649,628.449455188,650,0.446392686237,-0.00556200875208,0.049772912871,0.999999946572,-4.61865158004e-05,-0.000323205886581,1.6158955188e-05,1793192225644611072
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.970266147,742,711.970266147,673,662,631,877,782.029733853,799.029733853,649,628.970266147,650,0.446516228885,-0.00556278756655,0.0497663143892,0.999999943185,-4.83360404139e-05,-0.000333256944934,1.52623299318e-05,1793192225661278208
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.393267197,742,711.393267197,673,662,631,877,782.606732803,799.606732803,649,628.393267197,650,0.446609030054,-0.00556528368396,0.049758542898,0.999999938085,-5.33782910181e-05,-0.000347498555754,1.50209116255e-05,1793192225677944576
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.187035674,742,711,673,662,631,877,783,799.812964326,649,628.187035674,650,0.446693550721,-0.00556725317146,0.0497507752124,0.999999933053,-5.67555153759e-05,-0.000361186833999,1.46986969662e-05,1793192225694611200
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.774410324,742,711,673,662,631,877,783,799.225589676,649,628.774410324,650,0.446760347446,-0.00556809543797,0.0497430156735,0.999999928477,-5.65688473077e-05,-0.00037369073434,1.42035424504e-05,1793192225711277824
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742,711,672.643572778,662.356427222,631,877,782.643572778,799,649.356427222,628.643572778,650.356427222,0.446818015385,-0.00556859197514,0.0497359304094,0.999999924565,-5.82624514852e-05,-0.000383793942565,1.33574529083e-05,1793192225727944192
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742,711,672.064896631,662.935103369,631,877,782.064896631,799,649.935103369,628.064896631,650.935103369,0.446869991108,-0.00556887293409,0.0497292655863,0.999999921067,-6.11284927149e-05,-0.000392400208978,1.22925390307e-05,1793192225744610560
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.488306954,742,711,672,662.488306954,631,877,782,799,649.488306954,628,650.488306954,0.446908991522,-0.00557038554915,0.0497252411395,0.999999918568,-6.43785387555e-05,-0.000398205965906,1.23443388465e-05,1793192225761277440
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.087916677,742.087916677,711,672.087916677,662,631,877,782,799,649,628,650,0.44694468984,-0.00557181609189,0.049722022911,0.999999916487,-6.71196416173e-05,-0.000402944895137,1.24853409084e-05,1793192225777944064
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.663571898,742.663571898,711,672.663571898,662,631,877,782,799,649,628,650,0.446971161413,-0.00557192824051,0.0497214271325,0.999999916197,-6.67681730433e-05,-0.000403727796091,1.23386799483e-05,1793192225794610944
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711.244807493,673,662,631,877,782,799,649.244807493,628.244807493,650,0.446993100843,-0.00557157525011,0.0497206608534,0.999999915917,-6.67070935123e-05,-0.00040443986898,1.20349276535e-05,1793192225811278080
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711.833890801,673,662,631,877,782,799,649.833890801,628.833890801,650,0.447008666663,-0.00557056812891,0.0497196547975,0.999999915652,-6.70543917181e-05,-0.000405052335429,1.15102558737e-05,1793192225827944960
+218,3.633333333,POSE1_TO_POSE2_PRESS,763.584036121,743,711.584036121,672.584036121,662,631,877,782,799,650,628.584036121,650,0.447017667987,-0.00556966062725,0.0497176812917,0.999999914453,-6.7248660413e-05,-0.000407983226946,1.09970428366e-05,1793192225844611328
+219,3.650000000,POSE1_TO_POSE2_PRESS,763.004716094,743,711.004716094,672.004716094,662,631,877,782,799,650,628.004716094,650,0.447024091321,-0.00556879224791,0.0497153278517,0.999999912875,-6.73828317856e-05,-0.000411824603723,1.04883298566e-05,1793192225861277440
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.570664816,743,711,672,662,631,877,782.570664816,799,649.429335184,628.570664816,650,0.447028818838,-0.00556877967461,0.0497152130492,0.999999912731,-6.73614937931e-05,-0.000412184753921,1.02167211505e-05,1793192225877944064
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.851205618,711.148794382,672,662,631,877,783,799.148794382,649,628.851205618,650,0.447032777472,-0.00556896752179,0.0497151793684,0.99999991251,-6.74931753392e-05,-0.000412702060371,1.01224752336e-05,1793192225894610688
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.264898992,711.735101008,672,662,631,877,783,799.735101008,649,628.264898992,650,0.447034516222,-0.00556972402818,0.0497153301904,0.999999912026,-6.8078545667e-05,-0.000413765479737,1.05440215059e-05,1793192225911277312
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742.317488269,711.682511731,672,662,631,877,783,799.682511731,649,628,650,0.447035435479,-0.00556945487146,0.0497150650023,0.999999911524,-6.86820591433e-05,-0.000414878328567,1.0560127848e-05,1793192225927944192
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742.896645315,711.103354685,672,662,631,877,783,799.103354685,649,628,650,0.447035679323,-0.00556834037959,0.0497144569452,0.999999911005,-6.93005259777e-05,-0.00041603191649,1.02420770989e-05,1793192225944611072
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711.475398534,672,662,631,877,783,799.475398534,649.475398534,628,650,0.447036174802,-0.00556715389974,0.0497146044664,0.999999911332,-6.67658379104e-05,-0.000415669713958,9.84570888926e-06,1793192225961277952
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.946267117,711.946267117,672.053732883,661.946267117,631,877,783,799.946267117,650,628,650,0.447036671376,-0.00556617018941,0.0497148344777,0.999999911747,-6.39966720979e-05,-0.000415115197967,9.47378857885e-06,1793192225977944832
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.37114567,711.37114567,672.62885433,661.37114567,631,877,783,799.37114567,650,628,650,0.447036648187,-0.00556730575504,0.0497142723272,0.999999911321,-6.55984379352e-05,-0.00041588954848,9.50417019106e-06,1793192225994611200
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.208393747,711,672.791606253,661.208393747,631,877.208393747,783,799.208393747,649.791606253,628.208393747,650,0.44703683734,-0.00556768058586,0.049713779784,0.999999911017,-6.66474634678e-05,-0.000416456443988,9.39948742599e-06,1793192226011277568
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.795971877,711,672.204028123,661.795971877,631,877.795971877,783,799.795971877,649.204028123,628.795971877,650,0.447037412861,-0.00556667121596,0.0497134138953,0.999999910938,-6.66907461938e-05,-0.000416645863164,9.04904727216e-06,1793192226027944192
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.621900229,742.621900229,711,672.378099771,661.621900229,631,877.621900229,783,799.621900229,649,628.621900229,650,0.447037051781,-0.00556719407301,0.049712906712,0.999999910459,-6.72346814906e-05,-0.000417700803187,9.33035703128e-06,1793192226044610816
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.042671588,742.042671588,711,672.957328412,661.042671588,631,877.042671588,783,799.042671588,649,628.042671588,650,0.44703619248,-0.00556853199293,0.0497123243676,0.999999909764,-6.80449371955e-05,-0.000419216154039,9.94772399077e-06,1793192226061277184
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.535274357,742,711,672.464725643,661,631,877,782.464725643,799,649,628,650,0.447035486001,-0.00556856724271,0.0497114852454,0.999999909058,-6.96217532611e-05,-0.000420644535265,9.75630080392e-06,1793192226077944064
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.112419026,711,672,661,631,876.887580974,782,799,649,628,650,0.447034856711,-0.00556795922867,0.0497108016061,0.999999908469,-7.03504863437e-05,-0.000421929926277,9.36664571863e-06,1793192226094610944
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.68669074,711,672,661,631,876.31330926,782,799,649,628,650,0.447034494602,-0.00556513410376,0.0497108406362,0.999999908378,-6.73445707483e-05,-0.000422656283605,8.42684627592e-06,1793192226111278336
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.732052063,711.267947937,672,661,631,876,782,799,649,628,650,0.447036337441,-0.00556437853121,0.0497121038979,0.999999909262,-6.68993202399e-05,-0.000420631152502,8.32851681813e-06,1793192226127945216
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.142408077,711.857591923,672,661,631,876,782,799,649,628,650,0.447040827523,-0.00556610764553,0.049714836962,0.999999911302,-6.95283823902e-05,-0.000415302607521,9.24044905244e-06,1793192226144611584
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.561173699,742,712,672,661,631,876.877652602,782.438826301,799,649,628.438826301,650,0.447039696472,-0.00556663800357,0.0497139784645,0.999999910573,-6.97383837906e-05,-0.000417011994348,9.53922155752e-06,1793192226161277696
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.017306371,742,711.982693629,672,661.017306371,631,877.982693629,782.982693629,799,649.017306371,628.982693629,650,0.447036906431,-0.00556676114589,0.0497120759689,0.999999909031,-6.91791396194e-05,-0.000420785102136,9.63976067405e-06,1793192226177944320
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.593316777,742,711.406683223,672,661.593316777,631,877.406683223,782.406683223,799,649.593316777,628.406683223,650,0.447038341625,-0.00556606075049,0.0497133895378,0.999999909886,-6.86530660856e-05,-0.000418834901286,9.64370434623e-06,1793192226194610944
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742,711,672.17247209,661.82752791,631,877,782.17247209,799,649.82752791,628,650,0.447038794601,-0.0055656563474,0.0497135021042,0.999999910056,-6.82299789617e-05,-0.000418500801196,9.48130460575e-06,1793192226211277568
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672.759180676,661.240819324,631,877,782.759180676,799,649.240819324,628,650,0.447036888526,-0.00556596284672,0.0497107301512,0.999999908582,-6.80542404676e-05,-0.000422048186728,8.91938797779e-06,1793192226227944448
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.657553568,742,711,673,661.342446432,631,876.657553568,783,799.342446432,649,628,650,0.447036787628,-0.00556529202227,0.0497107264569,0.999999908467,-6.78855938486e-05,-0.000422354094328,8.60856528356e-06,1793192226244611072
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.076684847,742,711,673,661.923315153,631,876.076684847,783,799.923315153,649,628,650,0.447037943553,-0.00556394075338,0.049712650114,0.999999909302,-6.77218848299e-05,-0.000420403179916,8.47256233725e-06,1793192226261277952
+244,4.066666667,HOLD_POSE2,764,743,712,673,662,631,876,783,799,650,629,650,0.447038595223,-0.00556600522665,0.049712373207,0.999999909066,-7.07145760698e-05,-0.000420453019101,9.28443970472e-06,1793192226292375040
+245,4.083333333,HOLD_POSE2,764,742.425764772,711.425764772,673,662,631,876.574235228,783,799.574235228,649.425764772,629,650.574235228,0.447038206072,-0.00556646610246,0.0497122283842,0.999999909025,-6.99679435356e-05,-0.000420677259395,9.24903688172e-06,1793192226309041408
+246,4.100000000,HOLD_POSE2,764,742,711,672.846939212,662,631,877,783.153060788,799.846939212,649,628.846939212,650.846939212,0.447038174522,-0.00556673834112,0.0497121492261,0.9999999091,-6.90278108311e-05,-0.000420653114594,9.28080645944e-06,1793192226325708032
+247,4.116666667,HOLD_POSE2,764,742,711,672.254949942,662,631,877,783.745050058,799.254949942,649,628.254949942,650.254949942,0.447039168456,-0.00556646962994,0.0497122583731,0.999999909509,-6.75327824965e-05,-0.000419916682304,9.50520459335e-06,1793192226342374400
+248,4.133333333,HOLD_POSE2,764,742.329809074,711,672,661.670190926,631,877,783.340381853,799.329809074,649,628,650,0.44703921971,-0.00556625878865,0.049711704713,0.999999909457,-6.65099290683e-05,-0.000420205728265,9.45362131063e-06,1793192226359041280
+249,4.150000000,HOLD_POSE2,764,742.909098802,711,672,661.090901198,631,877,782.181802396,799.909098802,649,628,650,0.447038557885,-0.00556609172247,0.0497106496792,0.999999909056,-6.58442475434e-05,-0.000421270486665,9.19327473243e-06,1793192226375708160
+250,4.166666667,HOLD_POSE2,764,742.516984929,711,672,661,631,877,782.483015071,799.516984929,649,628,650.483015071,0.447038279638,-0.00556514117504,0.0497107609875,0.999999908991,-6.59276006441e-05,-0.000421413803841,9.01816146555e-06,1793192226392379392
+251,4.183333333,HOLD_POSE2,764,742.056138209,711,672.056138209,661,631,877,783,799.056138209,649.056138209,628,650.943861791,0.447038252594,-0.00556445679281,0.0497112640323,0.999999909061,-6.63769058329e-05,-0.000421180141347,8.95394961594e-06,1793192226409050368
+252,4.200000000,HOLD_POSE2,764,742.631174754,711,672.631174754,661,631,877,783,799.631174754,649.631174754,628,650.368825246,0.447039887573,-0.00556758053273,0.0497133814209,0.999999909777,-6.89201555186e-05,-0.000419047211158,9.76819011412e-06,1793192226425711616
+253,4.216666667,HOLD_POSE2,763.786960383,743,711,673,661,631,877,783,799.786960383,649.786960383,628,650,0.447040940854,-0.00556842774537,0.0497143232637,0.999999910188,-6.95299821589e-05,-0.000417960847541,9.90361647684e-06,1793192226442374656
+254,4.233333333,HOLD_POSE2,763.192882594,743,711,673,661,631,877,783,799.192882594,649.192882594,628,650,0.44704095372,-0.00556520320893,0.0497131625494,0.999999910064,-6.66817288069e-05,-0.000418746351081,8.82493009289e-06,1793192226459041280
+255,4.250000000,HOLD_POSE2,763,743,711.389466499,673,661.389466499,631,877,783,799.389466499,649.389466499,628,650,0.447041173753,-0.00556505117691,0.0497133661585,0.999999910183,-6.68387482595e-05,-0.000418435966579,8.81519850539e-06,1793192226475707648
+256,4.266666667,HOLD_POSE2,763,743,711.966176839,673,661.966176839,631,877,783,799.966176839,649.966176839,628,650,0.447041493386,-0.00556637631281,0.0497142256933,0.99999991042,-6.84406127156e-05,-0.000417598711961,9.31938830865e-06,1793192226492374528
+257,4.283333333,HOLD_POSE2,763.539913684,742.460086316,712,672.460086316,661.460086316,631,877,782.460086316,800,650,628,650,0.447040447554,-0.00556509735296,0.0497127744321,0.99999990999,-6.59701218425e-05,-0.000419026117123,9.26520827862e-06,1793192226509041152
+258,4.300000000,HOLD_POSE2,764,742.116182445,711.883817555,672.116182445,661.116182445,631,877,782,800,650,628,650.116182445,0.44703982075,-0.0055636598333,0.0497116510145,0.999999909726,-6.34192173581e-05,-0.000420050199853,9.16830480451e-06,1793192226525707776
+259,4.316666667,HOLD_POSE2,764,742.703469152,711.296530848,672.703469152,661.703469152,631,877,782,800,650,628,650.703469152,0.447041238003,-0.00556223724133,0.0497124407296,0.999999910339,-6.15710357618e-05,-0.00041886674861,9.03922319663e-06,1793192226542374400
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,661,631,876,782,799,649,628,650,0.447039203461,-0.005563824089,0.0497106784669,0.999999908584,-6.51539109216e-05,-0.000422503917515,8.79717039414e-06,1793192226579388160
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.424427042,742.424427042,711.575572958,673,661,631,876.575572958,782.575572958,799,649.575572958,628,650,0.447040088742,-0.00556383562322,0.0497120715927,0.999999909278,-6.44973576536e-05,-0.000420955657106,8.97694758373e-06,1793192226596054784
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.150612472,742,712,672.849387528,661.150612472,631,877,782.849387528,799,650,628.150612472,650,0.447040470105,-0.00556397691394,0.049712711435,0.999999909559,-6.42845870066e-05,-0.000420316720437,9.1354085123e-06,1793192226612721408
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.724154173,742,712,672.275845827,661.724154173,631,877,782.275845827,799,650,628.724154173,650,0.447039436432,-0.00556448256906,0.0497112360102,0.999999908685,-6.53179855278e-05,-0.000422231221274,9.23401208962e-06,1793192226629388032
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.899757887,711.100242113,672.899757887,661.100242113,631,877.899757887,782.899757887,799.899757887,650,629,650,0.447041304424,-0.00556399931905,0.0497121948137,0.999999909847,-6.7197846619e-05,-0.000419186803099,8.58951357736e-06,1793192226662721280
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.36668766,742,711,673,661.36668766,631,877,783,799.63331234,649,628,650,0.447037473002,-0.00556493724801,0.049710853575,0.999999908482,-6.74159371844e-05,-0.000422391494634,8.76657700382e-06,1793192226712721408
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.791310629,661,631,877,782.791310629,800.208689371,649,628,650,0.447028566947,-0.00556493337051,0.0497069832311,0.999999905614,-6.79421850559e-05,-0.000429045044856,8.71607015125e-06,1793192226729388288
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.369870087,661,631,877,782,800.260259826,649,628,650,0.446973009144,-0.00556188852182,0.0496836743935,0.99999988678,-6.52125099221e-05,-0.000471312210091,7.25896662591e-06,1793192226762721536
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.962089924,661,631,877,782,799.075820151,649,628,650,0.446927080325,-0.00556110516904,0.0496654569811,0.999999870695,-6.36036122313e-05,-0.000504501301722,6.62725291862e-06,1793192226779388160
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.460312635,661,631,877,782.539687365,799,649,628,650,0.44685765255,-0.0055575639366,0.0496465306729,0.999999855716,-6.28249225191e-05,-0.000533479592512,4.42995578293e-06,1793192226796054528
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711,672,662,631,876.137073878,782.862926122,800,649.862926122,628,650,0.446534027334,-0.00554181542358,0.0496298515027,0.999999845411,-5.42592109926e-05,-0.000553384830372,2.020690855e-07,1793192226862721280
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742,711.403132668,673,661,631.596867332,877,783,799.403132668,649,628.403132668,650,0.446153531328,-0.00552560301834,0.0496601451083,0.999999870454,-3.96301376099e-05,-0.000507465213219,-9.84616335712e-08,1793192226912721408
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742.175073904,711.175073904,673,661.175073904,631.824926096,876.824926096,783,799,649,628,650,0.445988312417,-0.00551851244784,0.0496680642889,0.99999987599,-3.4048142398e-05,-0.000496850752216,-7.75091303304e-07,1793192226929388032
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,743,712,672.073822532,662,631,876.926177468,782.073822532,800.852354935,649,628,650,0.445333601378,-0.00549165536127,0.0496757646892,0.999999877605,-1.73292398953e-05,-0.000494440987329,-4.12121325653e-06,1793192226979387904
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742.081400387,712,672,662,631,876.918599613,783,799.918599613,649,628.918599613,650,0.444767866988,-0.00546880597658,0.0496881555279,0.999999881034,4.40383041282e-06,-0.000487725099381,-6.12326783636e-06,1793192227012721664
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.655583092,712,672,662,631,876.344416908,783,799.344416908,649,628.344416908,650,0.444437937979,-0.00545747497963,0.0496960121967,0.999999886095,1.15154903877e-05,-0.000477096315584,-7.52136169551e-06,1793192227029389056
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.764412108,742.764412108,711.764412108,672.235587892,662.235587892,631,876.235587892,783,799.235587892,649,628,650,0.444094583282,-0.00544633712682,0.0497025723137,0.99999989072,1.81076004805e-05,-0.000467056771661,-9.46651627304e-06,1793192227046055936
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.175680072,742.175680072,711.175680072,672.824319928,662.824319928,631,876.824319928,783,799.824319928,649,628,650,0.443731103619,-0.005435488796,0.0497071889105,0.999999894803,2.39209095203e-05,-0.000457900493725,-1.22317098921e-05,1793192227062722048
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742.406047925,711,673,663,631.406047925,877,783,799.593952075,649,628.406047925,650,0.44332930738,-0.00542683454092,0.0497091773803,0.999999896558,2.71611146271e-05,-0.000453791113209,-1.48600518656e-05,1793192227079388416
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742.984796935,711,673,663,631.984796935,877,783,799.015203065,649,628.984796935,650,0.44291121427,-0.00541911347464,0.0497100480499,0.999999897344,2.93069220638e-05,-0.000451828289069,-1.74301877632e-05,1793192227096055040
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.561591167,743,711,672.438408833,663,632,876.438408833,783,799,649,629,650,0.442477361867,-0.00542256715662,0.0497331841642,0.999999915078,1.63746293918e-05,-0.000411324561859,-1.97207549608e-05,1793192227112722176
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.862102319,743,711,672.137897681,663,632,876.137897681,783,799,649,628.862102319,650,0.442031082544,-0.00542731246518,0.0497596693809,0.999999932768,2.96704989393e-06,-0.000366056277259,-2.14162899396e-05,1793192227129388800
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.287174482,743,711,672.712825518,663,632,876.712825518,783,799,649,628.287174482,650,0.441546766862,-0.00543519582193,0.0497948650332,0.999999951982,-1.06576742658e-05,-0.000308983172512,-2.1249930178e-05,1793192227146055680
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.8858973,742.1141027,711,672.1141027,663.8858973,632,876.1141027,783,799,649,628.8858973,650,0.440485789437,-0.00543041343169,0.0498350504771,0.999999968265,-2.30598205978e-05,-0.000249521394137,-2.60336028775e-05,1793192227179388672
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632,876.467610612,783,799,649,629,650,0.439868963532,-0.00542062692421,0.0498248967528,0.999999963653,-2.29323666673e-05,-0.000266788247742,-3.14882221519e-05,1793192227196055296
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.621642268,664,632,877,783,799.621642268,649.621642268,629,650,0.438530980355,-0.00541070948184,0.0497756107987,0.99999993808,-3.48124528593e-05,-0.000347577630114,-4.26336211252e-05,1793192227229388544
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,663.493037211,632,875.986074421,783,799,649,628,650,0.424630702824,-0.00538340369959,0.0498059076174,0.999999954737,1.46714082069e-05,-0.000295241030416,-5.60587632418e-05,1793192227512721408
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.220401622,663.779598378,632,876,783.779598378,799,649,628,650,0.421969518207,-0.00537927662043,0.0498342162293,0.999999967509,3.00515608083e-05,-0.000246742743224,-5.65481948426e-05,1793192227562721536
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.812754526,663.187245474,632,876,783.187245474,799,649,628,650,0.421010458861,-0.00537640398146,0.0497997656865,0.999999949313,3.70974780107e-05,-0.000310731106752,-5.8691556025e-05,1793192227579388672
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.365961437,742,711,671,663,632,875,783,799,649.365961437,628,651,0.402784556039,-0.00542503675707,0.0498409648306,0.99999995056,6.66770662526e-05,-0.000302079253681,-5.64164188447e-05,1793192228062721792
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,632.56445118,875,783,799.56445118,650,628,651,0.400972724499,-0.00543982416622,0.0498477042563,0.999999953682,0.000136932902102,-0.000268517335539,-4.22326220534e-05,1793192228462721280
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875.730588845,783.730588845,799.269411155,649.269411155,628,651,0.400972575621,-0.00544246927325,0.0498481466881,0.999999955036,0.00013078841707,-0.000266537374557,-4.21838395449e-05,1793192228496054784
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875.686364393,784,799,649.313635607,628,651,0.400972034034,-0.00544220991784,0.0498479259183,0.999999954882,0.00013103221823,-0.000267000961167,-4.21614136772e-05,1793192228512721408
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875.107396826,784,799,649.892603174,628,651,0.400971545711,-0.00544032093343,0.049847792767,0.999999954156,0.000135012657936,-0.000267741764852,-4.2126874392e-05,1793192228529388032
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783.530025516,799,649.530025516,628,650.530025516,0.400972184142,-0.00544027211941,0.049848673008,0.999999954363,0.000136442550425,-0.000266249684182,-4.20596316769e-05,1793192228546054656
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.046772341,632.953227659,875.046772341,783,799,649,628,650.046772341,0.400973013494,-0.00544061725266,0.0498496956003,0.999999954781,0.000137012046597,-0.000264387110118,-4.20053564933e-05,1793192228562721280
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,664,632,875.799099516,783,799,649,628.200900484,651,0.400973137009,-0.0054410271008,0.0498496408946,0.99999995553,0.000132420620275,-0.00026384188326,-4.23332623766e-05,1793192228596054784
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,664,632,875.209201517,783,799,649,628.790798483,651,0.400973069505,-0.00544193067465,0.0498493591864,0.999999955673,0.000131529440915,-0.000263729045347,-4.24383190384e-05,1793192228612721664
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.373444352,742,711,671,663.626555648,632,875,782.626555648,799.373444352,649,628.626555648,651,0.400972686642,-0.00544139137518,0.0498493931547,0.999999955536,0.00013299691393,-0.000263517896431,-4.24066034247e-05,1793192228629388032
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.952104989,742,711,671,663.047895011,632,875,782.047895011,799.952104989,649,628.047895011,651,0.400972130481,-0.00544005918352,0.0498496005944,0.999999955239,0.000135760520859,-0.000263252723354,-4.22997282873e-05,1793192228646054656
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,632.529658669,875,782.529658669,800,649,628,651,0.400972531544,-0.00544135887675,0.0498505285866,0.999999955651,0.000134180477223,-0.000262542254004,-4.20117907113e-05,1793192228662721536
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.893744392,742,711,671,663,633,875,783,799.893744392,649,628.106255608,650.893744392,0.400972918531,-0.00544262030031,0.0498512856258,0.999999956055,0.000132482876832,-0.000261896663258,-4.18101775994e-05,1793192228679388160
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.32091014,742,711,671,663,633,875,783,799.32091014,649,628.67908986,650.32091014,0.400972864422,-0.0054426708144,0.0498510064802,0.999999956158,0.000131990210634,-0.000261712406036,-4.20593681809e-05,1793192228696054784
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649,628.738746662,650,0.400972572863,-0.00544272999015,0.0498506530558,0.99999995617,0.000131657750307,-0.000261817617212,-4.21644269008e-05,1793192228712721408
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649,628.144699196,650,0.400971978834,-0.00544280019946,0.0498502050123,0.999999956066,0.000131529366058,-0.000262291563878,-4.20858851789e-05,1793192228729388032
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799.436386031,649.436386031,628.436386031,650,0.400972227861,-0.00544360662581,0.0498505563135,0.999999956318,0.000130446785954,-0.000261893023578,-4.19457122377e-05,1793192228746054912
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,782.986760105,799.986760105,649.986760105,628.986760105,650,0.400972705163,-0.00544459166759,0.0498511326692,0.999999956659,0.000129126441563,-0.000261267689497,-4.18003680965e-05,1793192228762721536
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,782.412331752,799.412331752,649.412331752,628.412331752,650,0.400971351052,-0.00544309876229,0.049850337805,0.99999995599,0.000130752186716,-0.000262938183567,-4.22770530517e-05,1793192228779388160
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.164865176,632.835134824,875,782.164865176,799,649,628.164865176,650.164865176,0.400970573505,-0.00544243472076,0.0498498679975,0.999999955623,0.000131519168035,-0.000263911904356,-4.25059461138e-05,1793192228796054784
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.749104606,632.250895394,875,782.749104606,799,649,628.749104606,650.749104606,0.400971262588,-0.00544387909383,0.0498502250499,0.999999956036,0.000130101676764,-0.000263113214513,-4.210452083e-05,1793192228812721408
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.333661052,742,711,671,663.666338948,632.333661052,875,783,799,649,629,650.666338948,0.400972325377,-0.00544387305615,0.0498510509688,0.999999956448,0.000129655594508,-0.000261792341906,-4.19257202383e-05,1793192228829388032
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.918456078,742,711,671,663.081543922,632.918456078,875,783,799,649,629,650.081543922,0.400973669441,-0.00544277534946,0.0498522297856,0.999999956859,0.000129940654905,-0.000260078442249,-4.19144807961e-05,1793192228846054912
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_02/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9c4574862397875bc47324a241050528e8bce802
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_04/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,0.575709300236,5.46253687599e-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
+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
+19,0.316666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+20,0.333333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+21,0.350000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+22,0.366666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+23,0.383333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+24,0.400000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+25,0.416666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+26,0.433333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+27,0.450000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+28,0.466666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+29,0.483333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+30,0.500000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+32,0.533333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+33,0.550000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+34,0.566666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+36,0.600000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+40,0.666666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+41,0.683333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+42,0.700000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+45,0.750000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
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+51,0.850000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+52,0.866666667,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_0030_20/position_02/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6c280b8337301e4621e78aa2898fc7110963b2cb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfadd894fd5bae717867f862a8d820ba2d6ebd6e0ecc35100ce2d5d6a0f02367
+size 25331124
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6f90b67d336fb11e91593ff05828c0fe29eee5fe
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_05/franka_data.csv
@@ -0,0 +1,400 @@
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+4,0.066666667,BASELINE,763,741.670330661,711,671.670330661,663,632.670330661,875.329669339,783,799,649,628,650,0.400970105133,-0.00544446346064,0.049850247209,0.999999956103,0.000131001359076,-0.000262547650058,-4.1248701147e-05,1793192229058999296
+5,0.083333333,BASELINE,763,741.093332731,711,671.093332731,663,632.093332731,875.906667269,783,799,649,628,650,0.400972069408,-0.00544316713439,0.049852432467,0.999999956471,0.000132706500805,-0.000260258525654,-4.13802507054e-05,1793192229075665920
+6,0.100000000,BASELINE,763,741.480043775,711,671,663,632.480043775,875.519956225,783,799,649.480043775,628,650,0.400972894705,-0.00544478185042,0.0498534076928,0.999999957316,0.000129986410785,-0.000258343709056,-4.16029758181e-05,1793192229092332800
+7,0.116666667,BASELINE,763,742,711,671,663,632.945224431,875.054775569,783,799,650,628.054775569,650,0.400973366081,-0.0054465880463,0.0498539902715,0.99999995808,0.00012691584812,-0.00025687199655,-4.18131307129e-05,1793192229108999680
+8,0.133333333,BASELINE,763,742,711,671,663,632.350234279,875.649765721,783,799,650,628.649765721,650,0.400972514593,-0.00544474258645,0.0498530032856,0.999999957278,0.000128810602303,-0.000259057964953,-4.17257950591e-05,1793192229125666304
+9,0.150000000,BASELINE,763,742,711,671,663,632.236866753,876,783,799,649.763133247,628.763133247,650.236866753,0.400972125761,-0.00544412566073,0.0498524670623,0.999999956925,0.000129998970312,-0.000259856739544,-4.15230072256e-05,1793192229142332672
+10,0.166666667,BASELINE,763,742,711,671,663,632.812678772,876,783,799,649.187321228,628.187321228,650.812678772,0.400972398967,-0.00544526671013,0.0498525758595,0.999999957225,0.000130176532521,-0.000258670504362,-4.11550127199e-05,1793192229158999296
+11,0.183333333,BASELINE,763,742,711,671,663,633,875.611660059,783,799,649,628,650.611660059,0.400971987295,-0.00544580243354,0.0498522162622,0.999999957133,0.000129499726243,-0.000259363525687,-4.11617366737e-05,1793192229175666688
+12,0.200000000,BASELINE,763,742,711,671,663,633,875.036071577,783,799,649,628,650.036071577,0.400971245391,-0.00544604628285,0.0498516308158,0.99999995685,0.000128410963248,-0.00026096268095,-4.13491411732e-05,1793192229192334336
+13,0.216666667,BASELINE,763,742,711,671,663,633,875.552500026,783,799,649,628,650.552500026,0.400972737882,-0.00544499443437,0.0498527262596,0.999999957281,0.000129670996513,-0.000258698835823,-4.12012333558e-05,1793192229209000448
+14,0.233333333,BASELINE,763,742,711,671,663.139363487,633,876,783,799,649,628,650.860636513,0.400973885078,-0.00544417072505,0.0498534931105,0.999999957567,0.000130546058204,-0.000257164803582,-4.11204551957e-05,1793192229225666304
+15,0.250000000,BASELINE,763,742,711,671,663.718105041,633,876,783,799,649,628,650.281894959,0.400973472662,-0.00544433940068,0.0498528696763,0.999999957259,0.00012971229945,-0.000258745968219,-4.13220003333e-05,1793192229242332928
+16,0.266666667,BASELINE,763,742,711,670.704588827,664,632.704588827,875.704588827,783,799,649.295411173,628.295411173,650,0.400973354714,-0.00544499193463,0.0498527230043,0.999999957287,0.000129112280696,-0.000258926200497,-4.13809975635e-05,1793192229258999552
+17,0.283333333,BASELINE,763,742,711,670.128645853,664,632.128645853,875.128645853,783,799,649.871354147,628.871354147,650,0.400973516403,-0.00544610395576,0.0498530290809,0.999999957636,0.000128734228894,-0.000257776062963,-4.13046267766e-05,1793192229275666176
+18,0.300000000,BASELINE,763,742,711,670.447220502,663.552779498,632.447220502,875,783,799.447220502,649.552779498,628.552779498,650.447220502,0.400973424775,-0.00544607273192,0.0498532803255,0.999999957763,0.000128479475652,-0.000257409892374,-4.13140086409e-05,1793192229292332800
+19,0.316666667,BASELINE,763,742,711,671,663,633,875,783,799.976400143,649.023599857,628.023599857,651,0.400973196672,-0.00544570378823,0.0498534664818,0.999999957795,0.000128348219471,-0.000257344058191,-4.13515728505e-05,1793192229308999680
+20,0.333333333,BASELINE,763,742,711,671,663,633,875,783,799.387197693,649.612802307,628.612802307,651,0.400971443875,-0.00544512119833,0.04985247066,0.999999957088,0.000130326853713,-0.000259072390978,-4.14734811286e-05,1793192229325666816
+21,0.350000000,BASELINE,763.19861463,742,711,671,663,633,875.19861463,783,799,650,628.80138537,650.80138537,0.400970792419,-0.00544447386673,0.0498520704047,0.999999956886,0.000131069449454,-0.000259439790062,-4.17019484396e-05,1793192229342333696
+22,0.366666667,BASELINE,763.777928778,742,711,671,663,633,875.777928778,783,799,650,628.222071222,650.222071222,0.400972251986,-0.00544370243996,0.0498528117164,0.999999957659,0.000129442837529,-0.000257198585537,-4.21346654053e-05,1793192229359000064
+23,0.383333333,BASELINE,763.644254153,742,711,671,663.355745847,633,875.644254153,783,799,649.644254153,628,650.355745847,0.400972191638,-0.00544407653016,0.0498525395861,0.999999957674,0.000128519740795,-0.000257601990244,-4.21316326142e-05,1793192229375666432
+24,0.400000000,BASELINE,763.067367651,742,711,671,663.932632349,633,875.067367651,783,799,649.067367651,628,650.932632349,0.400971186475,-0.00544516270273,0.0498516374746,0.999999957219,0.000128033966818,-0.000259649351019,-4.18577267461e-05,1793192229392333056
+25,0.416666667,BASELINE,763,742,711,671,663.494516916,633,875,783.505483084,799,649.505483084,628,650.494516916,0.40097339444,-0.00544611795309,0.0498532163922,0.999999958097,0.000126462420754,-0.000257091350373,-4.14339634698e-05,1793192229408999424
+26,0.433333333,BASELINE,763.080296545,741.919703455,711,671,663,633,875,783.919703455,799,649.919703455,628,650,0.400975485903,-0.00544678476593,0.0498547390394,0.99999995887,0.000125376467506,-0.000254657202748,-4.11222539955e-05,1793192229425666048
+27,0.450000000,BASELINE,763.670977527,741.329022473,711,671,663,633,875,783.329022473,799,649.329022473,628,650,0.4009741365,-0.00544572822836,0.0498538189353,0.99999995791,0.000128289554721,-0.000256880689997,-4.16487274503e-05,1793192229442332928
+28,0.466666667,BASELINE,763.742405053,741.257594947,711,670.742405053,663,633,875,783,799,649,628.257594947,650.257594947,0.400972730902,-0.00544562548168,0.0498529696323,0.999999957426,0.000128727267738,-0.000258522658215,-4.17434793983e-05,1793192229458999808
+29,0.483333333,BASELINE,763.160897395,741.839102605,711,670.160897395,663,633,875,783,799,649,628.839102605,650.839102605,0.400971254641,-0.00544672207922,0.0498522093581,0.99999995755,0.000126052321821,-0.000259433395318,-4.12953631981e-05,1793192229475666944
+30,0.500000000,BASELINE,763.413617593,742,711,670.413617593,663,633,875.413617593,783,799,649,628.586382407,650.586382407,0.400972599207,-0.00544595119888,0.0498532387854,0.999999957905,0.000126885103458,-0.000257646584102,-4.13370148604e-05,1793192229492333568
+31,0.516666667,BASELINE,763.985457639,742,711,670.985457639,663,633,875.985457639,783,799,649,628.014542361,650.014542361,0.400975022832,-0.00544446594628,0.0498549528329,0.999999958339,0.000129059707336,-0.000254827871122,-4.15660189913e-05,1793192229509000192
+32,0.533333333,BASELINE,763.439651448,741.439651448,711,670.439651448,663,633,875.439651448,783,799,649.560348552,628,650.560348552,0.400973840348,-0.0054451483153,0.0498542491338,0.999999958088,0.000128356320672,-0.00025619739606,-4.13663737522e-05,1793192229525666560
+33,0.550000000,BASELINE,763.140142701,741.140142701,711,670.140142701,663.140142701,633,875,783,799,650,628,650.859857299,0.400972773391,-0.00544566215335,0.0498536258435,0.999999957866,0.000127801791375,-0.000257364028867,-4.12110947456e-05,1793192229542332928
+34,0.566666667,BASELINE,763.73560868,741.73560868,711,670.73560868,663.73560868,633,875,783,799,650,628,650.26439132,0.400972387511,-0.00544544466208,0.0498534687796,0.999999957804,0.000127974897523,-0.000257516383572,-4.12363027558e-05,1793192229558999552
+35,0.583333333,BASELINE,763.679878865,742,711,671,664,632.679878865,875,783,799,649.679878865,628,650,0.400971871754,-0.00544550885838,0.0498530965421,0.99999995779,0.000126983395932,-0.000258042347412,-4.13546978651e-05,1793192229575666176
+36,0.600000000,BASELINE,763.104113672,742,711,671,664,632.104113672,875,783,799,649.104113672,628,650,0.400971252278,-0.00544579800625,0.0498525524701,0.999999957811,0.000125061855644,-0.000258866670063,-4.15475108323e-05,1793192229592332800
+37,0.616666667,BASELINE,763,742,711,671,664,632.471229748,875,783,799,649,628,650.471229748,0.400972449147,-0.00544581052524,0.0498532420609,0.999999958001,0.000125820880241,-0.000257777379381,-4.14463638567e-05,1793192229608999936
+38,0.633333333,BASELINE,763,742,711,671,664,633,875.047679502,783,798.952320498,649.047679502,628,650.952320498,0.400973912862,-0.00544556478638,0.0498541296771,0.999999958179,0.000127351683952,-0.000256352032501,-4.1316725179e-05,1793192229625666560
+39,0.650000000,BASELINE,763,742,711,671,664,633,875.637774844,783,798.362225156,649.637774844,628,650.362225156,0.40097385102,-0.00544307571129,0.0498541720722,0.999999957818,0.000130930946087,-0.000255909142525,-4.16011587047e-05,1793192229642333184
+40,0.666666667,BASELINE,763,742,711,671,663.776673055,633,875.776673055,783,798.223326945,649.776673055,628,650,0.400974209948,-0.00544216720613,0.0498544060512,0.999999957863,0.000131729634473,-0.000255306658862,-4.17054922638e-05,1793192229658999808
+41,0.683333333,BASELINE,763,742,711,671,663.19834298,633,875.19834298,783,798.80165702,649.19834298,628,650,0.400975237739,-0.00544377119361,0.0498549445742,0.99999995856,0.000128108289996,-0.000254450483228,-4.15235367864e-05,1793192229675666176
+42,0.700000000,BASELINE,763.378267047,742,711,671,663.378267047,633,875,783,799.378267047,649,628,650,0.400973082428,-0.0054443017312,0.0498535934234,0.999999957894,0.000127465480797,-0.000257357651726,-4.16235046423e-05,1793192229692332800
+43,0.716666667,BASELINE,763.953979238,742,711,671,663.953979238,633,875,783,799.953979238,649,628,650,0.400969265624,-0.00544427195702,0.0498512559139,0.999999956501,0.000128377386372,-0.000262229183856,-4.18706288399e-05,1793192229708999680
+44,0.733333333,BASELINE,764,742,711,671,663.46044336,633,875,783.53955664,799.46044336,649,628,650.53955664,0.400971907954,-0.00544504365494,0.0498531390385,0.99999995745,0.000128389958938,-0.000258614517476,-4.16564399691e-05,1793192229725666304
+45,0.750000000,BASELINE,764,742,711,671,663,633,875,783.874888348,799,649,628.125111652,650.874888348,0.400974082253,-0.00544558581103,0.0498546888734,0.99999995823,0.000128523104729,-0.000255541111079,-4.14775946667e-05,1793192229742332928
+46,0.766666667,BASELINE,764,742,711,671,663,633,875,783.292547672,799,649,628.707452328,650.292547672,0.400972495219,-0.0054450346097,0.0498536805552,0.999999957705,0.000129382447038,-0.000257140288796,-4.15743896071e-05,1793192229759000064
+47,0.783333333,BASELINE,764,742,711,671,663.286246054,633,875,783.286246054,799,649,628.713753946,650,0.400972635796,-0.00544431199353,0.0498533835043,0.999999957609,0.000129711372027,-0.000257337859565,-4.16437335221e-05,1793192229775666944
+48,0.800000000,BASELINE,764,742,711,671,663.861459184,633,875,783.861459184,799,649,628.138540816,650,0.400974520405,-0.00544341633299,0.0498538044818,0.999999957947,0.000129504837713,-0.000256120500062,-4.1685365477e-05,1793192229792333568
+49,0.816666667,BASELINE,764,742.436310072,711,671,663.563689928,633,875,783.127379855,799,649.436310072,628.436310072,650.436310072,0.400973821,-0.0054437308568,0.0498535019934,0.999999957682,0.000130139746401,-0.000256852679401,-4.15466544863e-05,1793192229808999680
+50,0.833333333,BASELINE,763.988633007,742.988633007,711,671,663,633,875.011366993,782.011366993,799,649.988633007,628.988633007,650.988633007,0.400972313202,-0.00544445173376,0.0498529724452,0.999999957236,0.000130967003967,-0.00025819574497,-4.13483885125e-05,1793192229825666304
+51,0.850000000,BASELINE,763.397195372,742.397195372,711,671,663,633,875.602804628,782.602804628,799,649.397195372,628.397195372,650.397195372,0.400971388315,-0.00544631591836,0.049852568973,0.999999957389,0.000127986755094,-0.000259149238167,-4.10307861632e-05,1793192229842332928
+52,0.866666667,BASELINE,763.189791946,742,711,671,663,632.810208054,876,783,799,649,628,650,0.400971443098,-0.00544695443355,0.0498525903012,0.999999957541,0.000127080855252,-0.000259015010015,-4.09807769609e-05,1793192229858999552
+53,0.883333333,BASELINE,763.76767902,742,711,671,663,632.23232098,876,783,799,649,628,650,0.400973501151,-0.00544508664456,0.0498534802804,0.999999957699,0.00013041667802,-0.00025665656015,-4.14779543106e-05,1793192229875666176
+54,0.900000000,BASELINE,764,742,711,671.34333769,663,632.34333769,876,783,799,649.34333769,628.34333769,650,0.400974179243,-0.00544423209801,0.049853609637,0.999999957825,0.000130561339623,-0.000256060417214,-4.16867804141e-05,1793192229892333056
+55,0.916666667,BASELINE,764,742,711,671.9174982,663,632.9174982,876,783,799,649.9174982,628.9174982,650,0.400973929599,-0.00544405874525,0.0498532276341,0.999999957932,0.000128560612326,-0.000256649057369,-4.17017505649e-05,1793192229909000192
+56,0.933333333,BASELINE,763.513019977,742.486980023,711,671.513019977,663.486980023,633,876,783,799,650,629,650,0.400973777057,-0.00544451740968,0.0498535841835,0.999999958048,0.000128161475921,-0.000256420890579,-4.15639033681e-05,1793192229925666816
+57,0.950000000,BASELINE,763,742.941240767,711,671,664,632.941240767,875.941240767,783,799,650,628.941240767,650,0.400973763111,-0.00544519724427,0.0498541099634,0.999999958187,0.000128146504214,-0.000255918331689,-4.13617915907e-05,1793192229942333440
+58,0.966666667,BASELINE,763,742.341059135,711,671,664,632.341059135,875.341059135,783,799,650,628.341059135,650,0.40097487609,-0.00544693778451,0.0498550531411,0.999999958526,0.000129194976754,-0.000254150384771,-4.08038128387e-05,1793192229958999808
+59,0.983333333,BASELINE,763.248375449,742,711,671,663.751624551,632.248375449,875,783,799,650,628,650,0.400974926698,-0.00544780901783,0.0498551447541,0.999999958646,0.000128618806734,-0.000253990172565,-4.06729450084e-05,1793192229975666432
+60,1.000000000,BASELINE,763.823664762,742,711,671,663.176335238,632.823664762,875,783,799,650,628,650,0.400973579003,-0.00544753606226,0.0498541155304,0.999999958475,0.000125904268596,-0.00025594607412,-4.11042441028e-05,1793192229992332800
+61,1.016666667,BASELINE,763.600387848,742,711,671,663,633,875,783,799,649.600387848,628.399612152,650,0.40097305348,-0.00544735981966,0.0498535619559,0.99999995835,0.000124886626665,-0.000256914272172,-4.12081422501e-05,1793192230008999424
+62,1.033333333,BASELINE,763.024149626,742,711,671,663,633,875,783,799,649.024149626,628.975850374,650,0.400972891351,-0.00544722632361,0.0498532186155,0.999999958248,0.000124619002395,-0.000257445911346,-4.11673312035e-05,1793192230025666048
+63,1.050000000,BASELINE,763,742,711,671,663.564117724,633,875,783,799,649.564117724,628.435882276,650.564117724,0.40097288941,-0.00544565729843,0.0498531027378,0.999999957963,0.000126961547948,-0.000257375428639,-4.1372168716e-05,1793192230042333184
+64,1.066666667,BASELINE,763,742,711,671,664,633,875,783,799,649.849642303,628.150357697,651,0.400973014642,-0.00544457411084,0.0498531864515,0.999999957776,0.000128950030993,-0.000257103685186,-4.14394841733e-05,1793192230059000064
+65,1.083333333,BASELINE,763,742,711,671,664,633,875,783,799,649.270681427,628.729318573,651,0.400973482417,-0.00544505482709,0.0498538107494,0.999999957904,0.00012960377669,-0.000256333315057,-4.10841552692e-05,1793192230075666688
+66,1.100000000,BASELINE,763.306687611,742,711,671,663.693312389,633,875,783,799.306687611,649,628.693312389,651,0.400973843293,-0.00544494568838,0.0498541471904,0.999999957927,0.000130242098577,-0.000255907942066,-4.11632959668e-05,1793192230092333056
+67,1.116666667,BASELINE,763.882658922,742,711,671,663.117341078,633,875,783,799.882658922,649,628.117341078,651,0.40097411031,-0.00544431863396,0.0498542308818,0.999999957858,0.000130866877724,-0.000255785490077,-4.16239179625e-05,1793192230108999424
+68,1.133333333,BASELINE,763.542338625,742,711,671.457661375,663.457661375,633,875.457661375,783,800,649.457661375,628,650.542338625,0.400974149343,-0.00544475880608,0.0498540281067,0.999999957924,0.000130561735556,-0.000255679349803,-4.16469754398e-05,1793192230125666304
+69,1.150000000,BASELINE,763.03331708,742,711,671.96668292,664,632.96668292,876,783,799.96668292,649.96668292,628.03331708,650,0.400974097202,-0.00544547150453,0.0498537749426,0.999999958021,0.000129926364381,-0.000255637920211,-4.15507706404e-05,1793192230142333184
+70,1.166666667,BASELINE,763.624048602,742,711,671.375951398,664,632.375951398,876,783,799.375951398,649.375951398,628.624048602,650,0.400973495544,-0.00544617542154,0.0498539049737,0.999999958062,0.000127746633873,-0.000256609315759,-4.13322504997e-05,1793192230158999552
+71,1.183333333,BASELINE,764,742,711,671,663.789306214,632.210693786,875.789306214,783.210693786,799,649,628.789306214,650,0.400972948806,-0.00544638378434,0.0498537738679,0.999999958024,0.000126401350262,-0.000257432328761,-4.12665988272e-05,1793192230175666176
+72,1.200000000,BASELINE,764,742,711,671,663.209813664,632.790186336,875.209813664,783.790186336,799,649,628.209813664,650,0.4009724982,-0.00544572472834,0.0498531856675,0.999999957856,0.000126516683564,-0.000257995612862,-4.14685283472e-05,1793192230192333056
+73,1.216666667,BASELINE,763.633639162,742,711,671,663,632.633639162,875,783.267278324,799,649,628,650,0.400971878957,-0.00544483935108,0.0498526066754,0.999999957478,0.000127968631508,-0.000258741586388,-4.14933414554e-05,1793192230208999936
+74,1.233333333,BASELINE,763.059347873,742,711,671,663,632.059347873,875,782.118695746,799,649,628,650,0.400971164003,-0.00544382552378,0.0498520329095,0.999999956975,0.000130179183682,-0.000259591246436,-4.14176309921e-05,1793192230225667072
+75,1.250000000,BASELINE,763.526854411,742,711,671.526854411,663.526854411,632.526854411,875,782.526854411,799,649.526854411,628,650.526854411,0.400973257704,-0.00544442585559,0.0498541085149,0.999999957861,0.00012953073197,-0.000256523829565,-4.11828601702e-05,1793192230242333440
+76,1.266666667,BASELINE,763.887260736,742,711.112739264,671.887260736,664,632.887260736,875,783,799,649.887260736,628.112739264,651,0.400975033632,-0.0054447984858,0.0498558032262,0.999999958558,0.00012913344945,-0.000254014285729,-4.10572103224e-05,1793192230258999808
+77,1.283333333,BASELINE,763.308364532,742,711.691635468,671.308364532,664,632.308364532,875,783,799,649.308364532,628.691635468,651,0.400974157182,-0.00544346039296,0.0498546604663,0.999999957856,0.000131137147092,-0.00025567810623,-4.14585556225e-05,1793192230275666432
+78,1.300000000,BASELINE,763.270139883,742,711.729860117,671,663.729860117,632.270139883,875,783,799,649,629,651,0.400973532681,-0.00544303759525,0.0498537222921,0.999999957414,0.000132160032202,-0.000256856376188,-4.15896695112e-05,1793192230292333056
+79,1.316666667,BASELINE,763.848197679,742,711.151802321,671,663.151802321,632.848197679,875,783,799,649,629,651,0.400973195361,-0.00544365809329,0.0498530173143,0.999999957274,0.000132064941763,-0.000257481193101,-4.14127611316e-05,1793192230308999680
+80,1.333333333,BASELINE,764,742,711.422875726,671,663,633,875,783,799.422875726,649,628.577124274,651,0.400972604461,-0.00544335991825,0.0498530743697,0.999999957266,0.000131816648756,-0.000257596276678,-4.16744408051e-05,1793192230325666560
+81,1.350000000,BASELINE,764,742,711.996350191,671,663,633,875,783,799.996350191,649,628.003649809,651,0.400971923253,-0.0054427345762,0.0498534028081,0.999999957305,0.00013151379571,-0.000257529828968,-4.20923148337e-05,1793192230342333184
+82,1.366666667,BASELINE,763.41047495,742,711.41047495,671,663,632.41047495,875,783,799.41047495,649,628,650.41047495,0.400973403658,-0.00544502251106,0.0498542946631,0.999999958103,0.00012844867567,-0.000256071150381,-4.14953925232e-05,1793192230359000064
+83,1.383333333,BASELINE,763,742,711,671,663.17782143,632,875,783,799,649.17782143,628,650,0.40097380106,-0.0054462908158,0.0498544619988,0.999999958499,0.000126373204897,-0.000255594906889,-4.12787984662e-05,1793192230375666944
+84,1.400000000,BASELINE,763,742,711,671,663.754881626,632,875,783,799,649.754881626,628,650,0.400971735852,-0.0054452279866,0.0498529945658,0.999999957999,0.000126559384275,-0.000257344414877,-4.19306980441e-05,1793192230392333312
+85,1.416666667,BASELINE,763.330464538,742.330464538,711,671,663.669535462,632.330464538,875,783,799,650,628.330464538,650.330464538,0.400971325382,-0.0054449493637,0.0498524903134,0.999999957737,0.000127260938681,-0.000258013366198,-4.19597702523e-05,1793192230408999680
+86,1.433333333,BASELINE,763.904956534,742.904956534,711,671,663.095043466,632.904956534,875,783,799,650,628.904956534,650.904956534,0.400972136834,-0.00544524982833,0.0498526973099,0.99999995765,0.000128343065403,-0.000257884393686,-4.15289232417e-05,1793192230425666304
+87,1.450000000,BASELINE,764,742.507810609,711,670.507810609,663.492189391,632.507810609,875,783,799,649.507810609,629,650.507810609,0.400973877949,-0.00544573572209,0.0498543477596,0.999999958052,0.000129528055468,-0.000255761363906,-4.12964033874e-05,1793192230442333184
+88,1.466666667,BASELINE,763.919536403,742,711,670.080463597,664,632,874.919536403,783,799,649,628.919536403,650,0.400975584005,-0.00544620353541,0.0498560529176,0.999999958569,0.000130191873946,-0.000253421881236,-4.11055346499e-05,1793192230458999808
+89,1.483333333,BASELINE,763.340460244,742,711,670.659539756,664,632,874.340460244,783,799,649,628.340460244,650,0.400975930786,-0.00544633152539,0.0498563239335,0.999999959234,0.000127499765359,-0.000252190618568,-4.09291398932e-05,1793192230475666432
+90,1.500000000,BASELINE,763,742,711,671,663.762378961,632,874.237621039,783,799,649,628,650,0.400975258723,-0.00544663432688,0.0498558702688,0.999999959259,0.000126478890797,-0.00025261136199,-4.08852225495e-05,1793192230492332800
+91,1.516666667,BASELINE,763,742,711,671,663.185717229,632,874.814282771,783,799,649,628,650,0.40097313296,-0.00544718655164,0.0498543826207,0.999999958375,0.000127842554225,-0.00025538920862,-4.10303256631e-05,1793192230508999168
+92,1.533333333,BASELINE,763.39105102,742,711,671,663,632,875.39105102,783,799,649.39105102,628,650,0.400972410127,-0.00544633750466,0.0498540813051,0.999999957996,0.000129164661693,-0.00025617153699,-4.12357546254e-05,1793192230525666304
+93,1.550000000,BASELINE,763.967869919,742,711,671,663,632,875.967869919,783,799,649.967869919,628,650,0.400972353752,-0.00544482278683,0.0498543435539,0.99999995786,0.000130467028217,-0.000256005899285,-4.14698412551e-05,1793192230542333952
+94,1.566666667,BASELINE,763.444838293,742,711,671,663,632.555161707,876,783,799,649.444838293,628,650,0.400973461023,-0.00544591096624,0.0498548140184,0.999999958348,0.00012907990294,-0.00025485347232,-4.11461463264e-05,1793192230559000320
+95,1.583333333,BASELINE,763.140725144,742,711,671.140725144,663,632.859274856,875.859274856,783,799.140725144,649.140725144,628,650,0.40097366729,-0.00544674419866,0.049854709838,0.999999958535,0.000127687388381,-0.000254858085259,-4.09137091465e-05,1793192230575666176
+96,1.600000000,BASELINE,763.718994134,742,711,671.718994134,663,632.281005866,875.281005866,783,799.718994134,649.718994134,628,650,0.400970858726,-0.00544630736134,0.0498527807784,0.999999957674,0.00012677138562,-0.000258641159399,-4.10673116798e-05,1793192230592333056
+97,1.616666667,BASELINE,764,742,711,671.70408317,663.29591683,632.29591683,875.29591683,783,799.70408317,650,628.29591683,650,0.400970879706,-0.00544534767255,0.0498526764331,0.999999957585,0.000127477485839,-0.00025858347395,-4.13916474844e-05,1793192230608999936
+98,1.633333333,BASELINE,764,742,711,671.128433172,663.871566828,632.871566828,875.871566828,783,799.128433172,650,628.871566828,650,0.400973575483,-0.00544389372701,0.0498542970089,0.999999958224,0.000129716976433,-0.000254895079462,-4.18773791647e-05,1793192230625666560
+99,1.650000000,BASELINE,764,742,711,671,663.543874292,633,875.543874292,783,799,650,628.543874292,650,0.400973031815,-0.00544425886361,0.0498539417041,0.999999958084,0.000129030676955,-0.000255829417775,-4.16520887603e-05,1793192230642333440
+100,1.666666667,BASELINE,764,742.042675284,711.042675284,671.042675284,663,632.957324716,875.042675284,783,799,650,628.042675284,650,0.400971835314,-0.005445080566,0.0498531999332,0.999999957786,0.000127762528373,-0.000257688988603,-4.12482192795e-05,1793192230659000064
+101,1.683333333,BASELINE,764,742.622083831,711.622083831,671.622083831,663,632.377916169,875.622083831,783,799,650,628.622083831,650,0.400974128735,-0.0054450741377,0.0498547342928,0.999999958354,0.000129744172405,-0.000254488285785,-4.11665075688e-05,1793192230675666432
+102,1.700000000,BASELINE,764,742.798848995,711.798848995,671.798848995,663,632.201151005,875.798848995,783,799,649.798848995,629,650,0.400974923584,-0.0054454007658,0.0498551850918,0.999999958515,0.000130304511507,-0.00025357395074,-4.11170379576e-05,1793192230692333056
+103,1.716666667,BASELINE,764,742.220422162,711.220422162,671.220422162,663,632.779577838,875.220422162,783,799,649.220422162,629,650,0.400972907734,-0.00544635206954,0.0498536035806,0.999999957926,0.000128199072027,-0.00025694789341,-4.11280411577e-05,1793192230708999680
+104,1.733333333,BASELINE,764,742,711,671,663.35688037,633,875.35688037,783.35688037,799,649.35688037,628.64311963,650,0.400972995872,-0.00544556607794,0.0498538026761,0.999999957927,0.000128980539824,-0.000256535504796,-4.12361396128e-05,1793192230725666304
+105,1.750000000,BASELINE,764,742,711,671,663.93349073,633,875.93349073,783.93349073,799,649.93349073,628.06650927,650,0.400974379429,-0.00544371043982,0.0498550980846,0.999999958286,0.000131539466079,-0.000253791885645,-4.1404019276e-05,1793192230742332928
+106,1.766666667,BASELINE,764,742,711,671,664,632.484662499,875.484662499,783.484662499,799,650,628,650.515337501,0.400973113854,-0.00544417958628,0.0498539574804,0.999999958008,0.000130276207751,-0.000255506853062,-4.15665041089e-05,1793192230758999808
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663,633,875,783,800,649,628,651,0.400971744083,-0.00544422928385,0.0498535100077,0.999999957655,0.000128025242183,-0.000257985360071,-4.17486922435e-05,1793192230801546752
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.422407428,742,711,671,663,633,875,783,800,649,628.577592572,651,0.400972571158,-0.00544507364097,0.0498539345975,0.999999957812,0.000128827640378,-0.000257039332003,-4.13658715725e-05,1793192230818213120
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,742,711,671.154660893,663,633,875,783,799.845339107,649,628.845339107,650.845339107,0.400972828341,-0.00544523123039,0.0498540232465,0.999999957767,0.000129825179395,-0.000256741297533,-4.11815589415e-05,1793192230834879488
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,742,711,671.730302355,663,633,875,783,799.269697645,649,628.269697645,650.269697645,0.400971534306,-0.00544351946668,0.0498531974786,0.999999957175,0.000131353883855,-0.000258207074694,-4.15375769207e-05,1793192230851545856
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,742,711,672,663,633,875,783,799,649.312444446,628,650,0.400971461486,-0.00544354239719,0.0498530545511,0.999999957191,0.00013102082401,-0.000258292122488,-4.16711931788e-05,1793192230868212224
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742,711,672,663,633,875,783,799,649.900316979,628,650,0.400972465199,-0.00544509450688,0.0498535135657,0.999999957742,0.000129046569338,-0.000257160020544,-4.16087563851e-05,1793192230884878592
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,742,711,671.516105335,663,632.516105335,875,783,799,649.516105335,628,650.483894665,0.400974372896,-0.00544559295572,0.049854551114,0.999999958182,0.000129957551704,-0.00025502326417,-4.13655829982e-05,1793192230901545216
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742,711,671,663,632.06546998,875.06546998,783,799,649,628,650.93453002,0.400977330675,-0.00544582274477,0.0498560802709,0.999999958782,0.000131073736301,-0.000252124231643,-4.10996544881e-05,1793192230918212096
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742,711,671,663,632.638323533,875.638323533,783,799,649,628,650.361676467,0.40098699596,-0.00544563781046,0.0498605038338,0.999999960824,0.000129214499485,-0.000244907465225,-4.0943381423e-05,1793192230934878720
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,711,671,663.212482553,632.787517447,875.787517447,783,799,649,628,650,0.401004958747,-0.00544618612737,0.0498674537449,0.999999964254,0.000127613616791,-0.000231432097469,-4.05615186889e-05,1793192230951545088
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,711,671,663.788877347,632.211122653,875.211122653,783,799,649,628,650,0.401037132405,-0.00544799026079,0.049878730453,0.999999969739,0.000126455209289,-0.000207237819083,-3.97932955682e-05,1793192230968211968
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,711,671,663.624629791,632.375370209,875,783,799.375370209,649.375370209,628,650,0.401087355758,-0.00545018737583,0.0498953734973,0.999999976524,0.000125623480649,-0.000172279185107,-3.86144483668e-05,1793192230984878848
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,711,671,663.032300318,632.967699682,875,783,799.967699682,649.967699682,628,650,0.401148011612,-0.00545261162947,0.0499151182176,0.999999982905,0.00012498056803,-0.000131098886364,-3.71982654888e-05,1793192231001545216
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742,711,671,663,632.454729213,875,783,800,650,628,650.545270787,0.401217279416,-0.00545530534731,0.049928059671,0.99999998533,0.000125660834359,-0.000110845659289,-3.55189666914e-05,1793192231018212608
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742,711,671,663,632.121640803,875,783,799.756718395,650,628,650.878359197,0.401287819022,-0.0054581646959,0.0499377163492,0.999999986901,0.00012549076867,-9.64202069459e-05,-3.39679001632e-05,1793192231034880000
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742,711,671,663,632.696706766,875,783,798.606586467,650,628,650.303293234,0.401361247884,-0.00546158351356,0.0499365914353,0.999999987109,0.000121866554305,-9.92190591011e-05,-3.29513963777e-05,1793192231051546112
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742,711,671,663.278506329,632.721493671,875,783,798.557012658,649.721493671,628,650.278506329,0.401444828596,-0.00546438141765,0.0499338169426,0.999999986724,0.000119744314776,-0.000105695093564,-3.22812950145e-05,1793192231068212736
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742,711,671,663.867820426,632.132179574,875,783,799.735640852,649.132179574,628,650.867820426,0.401539738575,-0.00546648639378,0.0499292015514,0.999999985612,0.000119298250813,-0.000116274793386,-3.19977722265e-05,1793192231084879872
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,711,671,663.550562706,632,875,783,799.550562706,649.449437294,628,650.550562706,0.401663481917,-0.00547152685102,0.0499301491877,0.999999985883,0.000117121821953,-0.000116463889309,-3.08773746416e-05,1793192231101546240
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.028703181,742,711,670.971296819,663,632,875,783,799.028703181,649.971296819,628,650,0.401796931307,-0.00547742552609,0.0499326499728,0.999999986556,0.000114390435206,-0.000113719997766,-2.95118426797e-05,1793192231118212352
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.605575452,742,711,670.394424548,663,632,875,783,799.605575452,649.394424548,628,650,0.40195652447,-0.00548350427814,0.0499340929287,0.999999987177,0.000110615804983,-0.000112340375852,-2.80860828326e-05,1793192231134878976
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.819470218,742,711,670.180529782,663,632.180529782,875,783,799.819470218,649,628,650,0.402123603842,-0.00548982543642,0.0499338054605,0.999999987268,0.000108025904674,-0.000114404616419,-2.65538079103e-05,1793192231151545600
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.248662263,742,711,670.751337737,663,632.751337737,875,783,799.248662263,649,628,650,0.402306867249,-0.00549667063966,0.0499297770759,0.999999986184,0.000107997212317,-0.00012391396865,-2.47912636378e-05,1793192231168212224
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742,711,671,663,633,875.334702037,783,798.665297963,649,628,650,0.402519544885,-0.00550347961091,0.0499292602983,0.999999986302,0.000106110138583,-0.000124918433267,-2.30797894021e-05,1793192231184878848
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742,711,671,663,633,875.927758564,783,798.072241436,649,628,650,0.402754927208,-0.00551026061564,0.0499314541084,0.999999987365,0.00010278859143,-0.000119358027251,-2.14077356339e-05,1793192231201545472
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742,711,671.509564918,663,632.490435082,875.490435082,783.509564918,798.509564918,649.509564918,628,650,0.403033091317,-0.00552111301154,0.0499393777202,0.999999989676,9.75583995626e-05,-0.000103903507902,-1.82667515001e-05,1793192231218212352
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.088631036,742,711,671.911368964,663.088631036,632.088631036,875,783.911368964,799,650,628,650,0.403322885939,-0.00553168581782,0.0499480726581,0.999999991812,9.29695127288e-05,-8.66217433041e-05,-1.51679559966e-05,1793192231234879232
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.661255095,742,711,671.338744905,663.661255095,632.661255095,875,783.338744905,799,650,628,650,0.403643786919,-0.00553764796577,0.0499566395689,0.99999999332,9.33283482184e-05,-6.68561529296e-05,-1.34121880202e-05,1793192231251545856
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.759787909,633,875,783.240212091,799,650,628.240212091,650.240212091,0.403983638942,-0.00554017709026,0.0499647501173,0.999999993787,9.82940773076e-05,-5.13184508772e-05,-1.14500657063e-05,1793192231268212480
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.171658474,633,875,783.828341526,799,650,628.828341526,650.828341526,0.404350939174,-0.00553773390681,0.049972199681,0.999999993037,0.000109932318935,-4.19043205464e-05,-9.18906490343e-06,1793192231284878848
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.587832092,742,711,671,663.412167908,632.587832092,875.412167908,783.587832092,799,649.587832092,629,650.587832092,0.404748914001,-0.0055291142484,0.0499770463125,0.999999990814,0.000131514748375,-3.22666426286e-05,-5.85294236026e-06,1793192231301545472
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.00577933,742,711,671,663.99422067,632.00577933,875.99422067,783.00577933,799,649.00577933,629,650.00577933,0.405159532085,-0.00551794880828,0.0499808200831,0.999999987389,0.000157195912112,-2.25368244441e-05,-2.07368274998e-06,1793192231318212096
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.569372711,742,711,671,663.430627289,632,876,783,799,649.569372711,628.430627289,650.569372711,0.405562899941,-0.00550652029921,0.0499601321658,0.999999981676,0.000180710369899,-6.31657095398e-05,-1.33614896556e-06,1793192231334878720
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,876,783,799,649.855552808,628,651,0.405978834441,-0.00549987310108,0.0499399441928,0.999999975015,0.000199250291856,-0.000101335745602,7.35227281011e-08,1793192231351545344
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,876,783,799,649.280503332,628,651,0.406432447243,-0.0055074870299,0.0499219778875,0.999999970847,0.000203025716324,-0.000130670322765,3.57779767042e-06,1793192231368212224
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,876,783,799.301125293,649,628,650.698874707,0.406921876996,-0.00551418083639,0.0499104660618,0.999999967819,0.000206081017349,-0.000147793820555,7.07233306543e-06,1793192231384879360
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,876,783,799.889019468,649,628,650.110980532,0.407445416147,-0.00551999838907,0.0499051009907,0.99999996647,0.000208450528007,-0.000153288416341,1.05575936676e-05,1793192231401545728
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711.471878271,671,663,632,876,783,799.528121729,649.471878271,628,650,0.408040624092,-0.00552189219113,0.0499249723999,0.999999969723,0.000218437239912,-0.000112191676283,1.58525215333e-05,1793192231418212096
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711.947240112,671,663,632,875.947240112,783,799,649.947240112,628,650.052759888,0.408654016032,-0.00552260730568,0.0499502626166,0.999999971211,0.000230680405353,-6.24163919364e-05,2.16596961204e-05,1793192231434878464
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711.374299128,671,663,632,875.374299128,783,799,649.374299128,628,650.625700872,0.409282259175,-0.00552070368116,0.0499710780039,0.999999968344,0.000247694423864,-3.39721550131e-05,2.83653308208e-05,1793192231451545088
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.198922408,632,875.198922408,783,799,649,628,650.801077592,0.40990625577,-0.00551904470992,0.0499825914119,0.999999964533,0.000263283798946,-2.11803108769e-05,3.41628381809e-05,1793192231468211968
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.772672553,632,875.772672553,783,799,649,628,650.227327447,0.410522250594,-0.0055178467368,0.0499765771814,0.999999960411,0.00027618873033,-3.78821340913e-05,3.82491688467e-05,1793192231484878592
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,671.359865235,664,632,876,783,799,649.359865235,628,650,0.411154441904,-0.00551980202813,0.0499519015887,0.99999997444,0.000205719120721,-9.13092787539e-05,2.14952555205e-05,1793192231501545472
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,671.955879075,664,632,876,783,799,649.955879075,628,650,0.41179726155,-0.0055238265358,0.0499149801489,0.999999982464,8.05379655403e-05,-0.000168836091386,-8.93431830517e-06,1793192231518212352
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,671.466472203,664,632.533527797,876,783,799.533527797,650,628,650,0.412540490001,-0.00553417736185,0.0499250868421,0.999999988118,7.76984065401e-05,-0.000133057399268,-4.68314170849e-06,1793192231534879488
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876.109528359,783,799.890471641,650,628,650,0.413295096045,-0.00554284301146,0.0499397263334,0.999999991987,8.6878655743e-05,-9.20438813922e-05,2.43584218478e-06,1793192231551546112
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876.684763566,783,799.315236434,650,628,650,0.414063947713,-0.0055421929691,0.0499576531884,0.999999992113,0.000105580008667,-6.72869950881e-05,9.95988168679e-06,1793192231568212224
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.733407335,633,876.733407335,783,799,649.733407335,628,650,0.414812031708,-0.00553974451452,0.0499534819334,0.999999989575,0.000120915193901,-7.75842813126e-05,1.44915334807e-05,1793192231584878592
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.143583369,633,876.143583369,783,799,649.143583369,628,650,0.415534935958,-0.00553511556806,0.0499225177426,0.999999982647,0.000132169058529,-0.000130383130281,1.53950542851e-05,1793192231601545472
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.56194235,742,711,671,663,632.56194235,876,783,799,649,628,650,0.416338630623,-0.00553496225681,0.0499149640676,0.999999982884,0.000124297219651,-0.000136328361505,1.40166573956e-05,1793192231618212096
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.016966515,742,711,671.016966515,663.016966515,632,876,783,799,649.016966515,628,650,0.417169077435,-0.00553637087145,0.0499159488698,0.999999985902,0.000110596827024,-0.000125769419089,1.21071318231e-05,1793192231634878464
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.592610363,742,711,671.592610363,663.592610363,632,876,783,799,649.592610363,628,650,0.418024447471,-0.0055417913169,0.0499500547831,0.999999991744,0.000107610436276,-6.81741535265e-05,1.68855311865e-05,1793192231651545344
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,876.171476217,783,799,650,628,650,0.41885647598,-0.0055447325398,0.049970299617,0.999999993354,0.000106746272359,-3.83168417958e-05,2.07005447305e-05,1793192231668212736
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,876.758143395,783,799,650,628,650,0.419631988201,-0.00554167088447,0.0499569829736,0.999999990732,0.000111020602597,-7.56207292442e-05,2.2182936743e-05,1793192231684879616
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711.340370822,671.659629178,663.659629178,632,876.659629178,783,799,650,628,650,0.420470768742,-0.00553994383284,0.0499515201274,0.999999990645,0.000109937777438,-7.83607262027e-05,2.19708588123e-05,1793192231701545984
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711.919484099,671.080515901,663.080515901,632,876.080515901,783,799,650,628,650,0.421353926832,-0.0055391528973,0.0499515660818,0.999999992649,0.00010509734323,-5.68569629315e-05,2.05702479438e-05,1793192231718212096
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,712,671,663.49828962,632,876.49828962,783,799,650,628,650,0.422261151925,-0.0055468246509,0.0499652553937,0.999999995189,9.16673621045e-05,-2.73152960144e-05,2.17612037278e-05,1793192231734878720
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711.923663276,671,664,632.076336724,877,783,799,650,628,650,0.423162579815,-0.00555451768477,0.0499768869898,0.999999996641,7.84712298895e-05,-4.86964332137e-06,2.31526384678e-05,1793192231751545344
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711.350231529,671,664,632.649768471,877,783,799,650,628,650,0.424000948544,-0.00555345019157,0.0499607720706,0.99999999617,7.58303962246e-05,-3.70847521295e-05,2.31243561787e-05,1793192231768211968
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.770945804,742,711,671.229054196,664,633,876.770945804,783,799,649.770945804,628,650,0.42485126003,-0.005553162462,0.0499564747729,0.999999995971,7.27634155767e-05,-4.69796324808e-05,2.35848529814e-05,1793192231784878848
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.1824743,742,711,671.8175257,664,633,876.1824743,783,799,649.1824743,628,650,0.42572031146,-0.00555409828789,0.0499707209345,0.999999997071,6.90277517847e-05,-2.18510317309e-05,2.48123109337e-05,1793192231801545728
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.39982056,742,711,672,664.39982056,632.60017944,876,783,799,649,628,650,0.426586528092,-0.00555503778157,0.0499819015072,0.999999997396,6.45284628909e-05,-1.82678432688e-05,2.66656349604e-05,1793192231818212608
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.97933931,742,711,672,664.97933931,632.02066069,876,783,799,649,628,650,0.427451470579,-0.00555597892369,0.0499917042589,0.999999997507,5.96859651468e-05,-2.43681792861e-05,2.88002526061e-05,1793192231834879232
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.442813727,742,711,672,663.885627454,632,876.557186273,783,799,649.557186273,628,650,0.428274421893,-0.00555283933528,0.0499508249317,0.999999993977,5.80052127315e-05,-8.92575746458e-05,2.67359020276e-05,1793192231851545600
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.133483668,742.133483668,711,672,663.133483668,632.133483668,876.866516332,783,799.133483668,649.866516332,628.133483668,650,0.429108885428,-0.00555069275173,0.0499215080931,0.999999989473,5.57859471052e-05,-0.000131584733783,2.50323251702e-05,1793192231868211968
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.704899985,742.704899985,711,672,663.704899985,632.704899985,876.295100015,783,799.704899985,649.295100015,628.704899985,650,0.42998621124,-0.00555229896342,0.0499362726143,0.999999994063,5.14164445196e-05,-9.27593182062e-05,2.50216635599e-05,1793192231884878592
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.71375898,742.71375898,711.28624102,672,664,633,876.28624102,783,800,649,628.71375898,650,0.430823127407,-0.0055553034215,0.0499418856049,0.999999995386,4.54919916431e-05,-8.06246448856e-05,2.56494219682e-05,1793192231901545472
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.121818594,742.121818594,711.878181406,672,664,633,876.878181406,783,800,649,628.121818594,650,0.431616886871,-0.00555980117712,0.0499377249531,0.999999994214,3.79068850115e-05,-9.69951234315e-05,2.69589995048e-05,1793192231918212096
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.461816374,742,711.538183626,672,664,632.538183626,876.538183626,783,799.538183626,649.461816374,628,650,0.432424552558,-0.00556040488519,0.0499282326964,0.999999993028,3.38711133489e-05,-0.000109898689146,2.68090197115e-05,1793192231934878720
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711,671.957361678,664,632,876.042638322,783,799.042638322,649.957361678,628.042638322,650,0.433237270891,-0.00556000817214,0.0499203281188,0.999999992296,3.08016250202e-05,-0.000117303362699,2.64267002109e-05,1793192231951545600
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711,671.384754972,664,632,876.615245028,783,799.615245028,649.384754972,628.615245028,650,0.43406800171,-0.00555971847334,0.0499493290445,0.999999996931,2.83110367479e-05,-6.75261001089e-05,2.78573665395e-05,1793192231968212480
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711.18945166,671,664.18945166,632,877,783,800,649.18945166,628.81054834,650,0.434867072605,-0.00555899349183,0.0499689932782,0.999999998563,2.4481816812e-05,-3.79749495712e-05,2.88620299799e-05,1793192231984879104
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711.766935341,671,664.766935341,632,877,783,800,649.766935341,628.233064659,650,0.435601298272,-0.0055573769708,0.0499695342458,0.999999998177,1.7910831441e-05,-4.98506065112e-05,2.89941611353e-05,1793192232001545472
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711.647050239,671.352949761,664.647050239,632,876.647050239,783,800,649.647050239,628,650,0.436294906893,-0.00555642657486,0.0499512244525,0.999999995247,1.59341205818e-05,-9.16909940196e-05,2.9080279745e-05,1793192232018212096
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711.055263195,671.944736805,664.055263195,632,876.055263195,783,800,649.055263195,628,650,0.436961030355,-0.00555592693866,0.0499201585534,0.999999987601,1.70663059088e-05,-0.000153808189429,2.91352620679e-05,1793192232034878720
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,711.524290755,672,664,632,876,783,799.475709245,649.524290755,628.524290755,650,0.437699640651,-0.00555706128042,0.0499369551098,0.999999993596,1.5757847469e-05,-0.000107939746149,3.01313500285e-05,1793192232051545344
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.101745621,712,672.101745621,664.101745621,632,876,783,799.101745621,649.898254379,629,650,0.438432654395,-0.00555816151084,0.0499558303952,0.999999997578,1.51374420206e-05,-6.02282873427e-05,3.14192591681e-05,1793192232068211968
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.675309611,712,672.675309611,664.675309611,632,876,783,799.675309611,649.324690389,629,650,0.43910509255,-0.00555832309598,0.0499614839277,0.999999997714,1.88734638383e-05,-5.55492351044e-05,3.3610896786e-05,1793192232084878848
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,712,673,664.744306499,632,876,783,800,649,629,650,0.439731689537,-0.00555776093553,0.0499523153006,0.999999996583,2.18150683174e-05,-7.17906151296e-05,3.47114978948e-05,1793192232101545728
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,712,673,664.155025143,632,876,783,800,649,629,650,0.440298480271,-0.00555625454794,0.0499238090973,0.999999992477,2.37202441907e-05,-0.00011532561893,3.43886893977e-05,1793192232118212864
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711.572945693,672.572945693,664,632,876.427054307,783,799.572945693,649,629,650,0.440865061634,-0.00555532731797,0.0499122340287,0.999999990299,2.53827792758e-05,-0.000132485084757,3.47228174256e-05,1793192232134879488
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.993469114,743,711,672,664,632,876.993469114,783,799.006530886,649,628.993469114,650,0.441431378445,-0.00555463040182,0.0499068687415,0.999999989225,2.68679224952e-05,-0.000139936288491,3.5289135742e-05,1793192232151545600
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.41677819,743,711,672,664,632,876.41677819,783,799.58322181,649,628.41677819,650,0.441981120544,-0.00555599035633,0.0499159550413,0.999999991731,2.04285098559e-05,-0.000121855257091,3.56520780597e-05,1793192232168212224
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.158683762,742.841316238,711.158683762,672.158683762,664,632,876,783,800,649,628,650,0.442511905728,-0.0055573441931,0.0499202982237,0.999999992932,1.28265510792e-05,-0.000112854225683,3.51485106081e-05,1793192232184878848
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.730942788,742.269057212,711.730942788,672.730942788,664,632,876,783,800,649,628,650,0.442993283891,-0.00555868208555,0.0499122794876,0.999999991343,2.19466323217e-06,-0.000127518267052,3.23865709996e-05,1793192232201545472
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,712,672.686456363,663.686456363,632,876.313543637,783,799.686456363,649,628,650,0.443422696685,-0.0055599568729,0.0498894945491,0.99999998525,-2.60152435062e-05,-0.000168020683002,2.43185915144e-05,1793192232218212096
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,712,672.094678354,663.094678354,632,876.905321646,783,799.094678354,649,628,650,0.443805996086,-0.00556117566153,0.0498536062831,0.999999970711,-6.98236451444e-05,-0.000231451720626,1.15421042358e-05,1793192232234878976
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.513603373,742,711.513603373,672,662.513603373,632,877,783,799,649,628.486396627,650,0.444173986713,-0.00556065261501,0.0498215657412,0.999999957723,-7.07966225214e-05,-0.000281863370259,9.73152837701e-06,1793192232251546112
+195,3.250000000,POSE1_TO_POSE2_PRESS,763,742.065033215,711,672,662.065033215,632,876.934966785,783,799.065033215,649,629,650,0.444539961532,-0.00555989797777,0.049794059226,0.999999945844,-6.40477928085e-05,-0.000322658151902,1.00476152478e-05,1793192232268212992
+196,3.266666667,POSE1_TO_POSE2_PRESS,763,742.640531053,711,672,662.640531053,632,876.359468947,783,799.640531053,649,629,650,0.44491300014,-0.00555992954,0.0497963893022,0.999999950842,-6.07266923661e-05,-0.000307431170491,1.06625922891e-05,1793192232284879104
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,742.779804523,711,672,663,632,876,783,799.779804523,649,628.779804523,650,0.445271724607,-0.00556078027488,0.0498010658663,0.999999956072,-5.87625919427e-05,-0.00029029139019,1.15336557645e-05,1793192232301545472
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,742.193207018,711,672,663,632,876,783,799.193207018,649,628.193207018,650,0.445606630518,-0.00556299410093,0.0498096469514,0.999999961732,-5.90565198822e-05,-0.000269968742267,1.28308432301e-05,1793192232318212096
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,742,711,672,662.609409898,632,876.390590102,783,799,649,628.390590102,650,0.445905696122,-0.00556668807537,0.0498109265932,0.999999962721,-6.10973350117e-05,-0.000265737584848,1.44642199011e-05,1793192232334878976
+200,3.333333333,POSE1_TO_POSE2_PRESS,763,742,711,672,662.026988087,632,876.973011913,783,799,649,628.973011913,650,0.446187159397,-0.00557110899979,0.0498086202556,0.999999961529,-6.39961042112e-05,-0.000269409488484,1.62627103201e-05,1793192232351545600
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763.877878944,742,711.122121056,672.877878944,662,631.122121056,877,783,799.122121056,649.122121056,628,650.122121056,0.446612855374,-0.00556603179047,0.0497718918188,0.999999945816,-5.97093700395e-05,-0.000323424846362,1.412672491e-05,1793192232384878848
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.302706409,742,711.697293591,672.302706409,662,631.697293591,877,783,799.697293591,649.697293591,628,650.697293591,0.446781571417,-0.00556458305641,0.0497476266598,0.999999931693,-5.82331977472e-05,-0.000364749292162,1.34266562376e-05,1793192232401545728
+204,3.400000000,POSE1_TO_POSE2_PRESS,763,742,711.719452879,672,662,631.719452879,877,783,799.719452879,650,628,650.719452879,0.446942638846,-0.00556565820034,0.0497281007582,0.999999919874,-6.05527057169e-05,-0.000395509842626,1.25531163964e-05,1793192232418212352
+205,3.416666667,POSE1_TO_POSE2_PRESS,763,742,711.127221503,672,662,631.127221503,877,783,799.127221503,650,628,650.127221503,0.447095208752,-0.00556953734045,0.0497138401122,0.999999911764,-6.70891659598e-05,-0.000414534038727,1.14868523677e-05,1793192232434878976
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.452866657,742.452866657,711,672,662,631,877,782.547133343,799,649.547133343,628,650,0.447234037927,-0.00557294399161,0.049709639886,0.999999908968,-7.1597856094e-05,-0.000420484219557,1.14455483833e-05,1793192232451545600
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.394241318,711.605758682,672.605758682,662,631,877.605758682,782.605758682,799.605758682,649.605758682,628,650,0.447482208398,-0.00557591794506,0.0497129552946,0.99999991106,-7.62275981052e-05,-0.000414651028891,1.1604463152e-05,1793192232484878848
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742,711.8144846,673,662,631,877.8144846,782.8144846,799.8144846,649.8144846,628,650,0.447588398371,-0.00557523616777,0.0497161871752,0.99999991345,-7.63910168936e-05,-0.000408819754562,1.1463930011e-05,1793192232501545216
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742,711.226927625,673,662,631,877.226927625,782.226927625,799.226927625,649.226927625,628,650,0.447677285299,-0.00557335523781,0.0497167581622,0.999999914287,-7.50968102158e-05,-0.000407015493578,1.11588271514e-05,1793192232518211840
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.355612523,711.355612523,673,661.644387477,631,877,782.355612523,799.355612523,649.355612523,628.355612523,650,0.447746015712,-0.00556994686293,0.0497143002336,0.999999912529,-7.24242192158e-05,-0.000411793234196,1.10859424995e-05,1793192232534886656
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+213,3.550000000,POSE1_TO_POSE2_PRESS,763.488084075,743,711.488084075,672.488084075,661,631,876.488084075,782.488084075,800,649.488084075,628.488084075,650,0.44784492064,-0.00555950543914,0.0497078765981,0.999999906765,-6.24383130913e-05,-0.000427145037294,1.09209879073e-05,1793192232568223232
+214,3.566666667,POSE1_TO_POSE2_PRESS,763,742.912383993,711.087616007,672.087616007,661,631,876.087616007,782,799.912383993,649,628,650,0.447885074411,-0.00555351959216,0.0497062445715,0.99999990509,-5.61787089053e-05,-0.000431915169971,1.06454445283e-05,1793192232584878848
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+216,3.600000000,POSE1_TO_POSE2_PRESS,763.238204104,742,711.761795896,673,661,631,877,782,799.238204104,649.238204104,628,650,0.447947404356,-0.00554608653031,0.0497050318201,0.999999907166,-5.01230858125e-05,-0.000427844516748,1.02235641731e-05,1793192232618211840
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+218,3.633333333,POSE1_TO_POSE2_PRESS,763.584805736,742.415194264,711,673,661,631,876.584805736,782.415194264,799.584805736,649.584805736,628,650,0.44797780986,-0.00554328875602,0.049704943404,0.999999906678,-4.56360265903e-05,-0.000429494893481,9.74276596549e-06,1793192232651545344
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+220,3.666666667,POSE1_TO_POSE2_PRESS,763,743,711,672.433368229,661,631,876.566631771,783,799,649,628,650,0.447992649491,-0.00554313029806,0.0497035621973,0.999999905685,-4.67527837801e-05,-0.0004316900104,9.3362611567e-06,1793192232684879360
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+226,3.766666667,POSE1_TO_POSE2_PRESS,763.052054739,742.052054739,711.052054739,672.947945261,661,631,877,782,799,649.052054739,628,650.947945261,0.448002974941,-0.0055400450805,0.0497008633349,0.999999903319,-4.47170787798e-05,-0.000437354754441,9.12679496836e-06,1793192232784878848
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+236,3.933333333,POSE1_TO_POSE2_PRESS,763,743,711,672.143850741,661,631,877,782,799,649,628.143850741,650,0.448005449089,-0.00553960836898,0.0496986252713,0.999999901648,-4.86928418669e-05,-0.000440759936373,7.985250332e-06,1793192232951545344
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.437822384,742.562177616,711,672,661,631,876.562177616,782,799,649.437822384,628,650,0.448006109885,-0.0055382995118,0.0496988584207,0.99999990226,-4.65548499983e-05,-0.000439602406112,7.95801697575e-06,1793192232968212480
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.98257106,742,711,672.01742894,661,631,876.01742894,782,799.01742894,649.98257106,628,650,0.448006987427,-0.00553624254072,0.0496995113912,0.999999903198,-4.30630201937e-05,-0.000437820275834,7.93771681784e-06,1793192232984879616
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.409578981,742,711,672.590421019,661,631,876.590421019,782,799.590421019,649.409578981,628,650,0.448006323608,-0.00553845202235,0.0496992633362,0.99999990248,-4.40920456966e-05,-0.000439342977273,8.60601446762e-06,1793192233001545984
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.164004667,742,711,673,661,631,877,782,800,649,628,650,0.448005741871,-0.00554000329682,0.049698725477,0.999999901788,-4.51488609626e-05,-0.000440803075347,8.89015434505e-06,1793192233018212352
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.739070993,742,711,673,661,631,877,782,800,649,628,650,0.448005365867,-0.00553990483927,0.0496974612521,0.999999901167,-4.62753284904e-05,-0.000442106264117,8.21144029672e-06,1793192233034878976
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742,711,673,661,630.674400803,876.674400803,782.325599197,799.674400803,649,628,650,0.448005394734,-0.00553952691192,0.049697300106,0.99999990111,-4.72006279636e-05,-0.000442140882146,7.93443370426e-06,1793192233051545600
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742,711,673,661,630.078352155,876.078352155,782.921647845,799.078352155,649,628,650,0.448005759895,-0.00553891685117,0.0496980552,0.999999901524,-4.79588330188e-05,-0.000441121798921,7.9910936964e-06,1793192233068212224
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742,711,672.500356669,661,630.499643331,876.499643331,782.500356669,799,649.499643331,628,650,0.448006013906,-0.0055384944207,0.0496982175025,0.999999901647,-4.7337911389e-05,-0.000440910034526,7.94492707369e-06,1793192233084879104
+245,4.083333333,HOLD_POSE2,763,742,711,672,662,630,876,782,799,649,628,650,0.448006546646,-0.00553837588663,0.0496980345394,0.999999901108,-4.43817834098e-05,-0.000442435203863,8.08859358366e-06,1793192233128545024
+246,4.100000000,HOLD_POSE2,763.595288664,742,711,672,661.404711336,630,876.595288664,782,799,649,628,650,0.44800734283,-0.00553950781212,0.0496990579015,0.99999990161,-4.78002535514e-05,-0.000440940907099,8.1352113049e-06,1793192233145211648
+247,4.116666667,HOLD_POSE2,764,742,711,672.185309129,661,630.185309129,876.814690871,782,799,649.185309129,628,650,0.448008295864,-0.00554002908077,0.0497001206337,0.999999902193,-4.90430080061e-05,-0.000439478415614,8.22151291239e-06,1793192233161878272
+248,4.133333333,HOLD_POSE2,764,742,711,672.764142117,661,630.764142117,876.235857883,782,799,649.764142117,628,650,0.448009581988,-0.00553925355413,0.0497012669724,0.999999902964,-4.56653969094e-05,-0.000438083465781,8.39208752792e-06,1793192233178544640
+249,4.150000000,HOLD_POSE2,764,742,711,673,661,631,876.339648624,782.339648624,799,649.660351376,628,650,0.448008970832,-0.00553881266822,0.0497003245716,0.99999990252,-4.458649152e-05,-0.000439205600757,8.43729726649e-06,1793192233195211008
+250,4.166666667,HOLD_POSE2,764,742,711,673,661,631,876.912867535,782.912867535,799,649.087132465,628,650,0.448007054951,-0.00553860190879,0.0496979457817,0.99999990124,-4.50883651567e-05,-0.000442058690042,8.39629580993e-06,1793192233211877632
+251,4.183333333,HOLD_POSE2,763.500572037,742.499427963,711,673,661,631,877,783,799,649.499427963,628,650,0.448007626839,-0.00553801790512,0.0496983218803,0.999999901252,-4.44116895392e-05,-0.000442104635932,8.22621976993e-06,1793192233228544000
+252,4.200000000,HOLD_POSE2,763,742.913091625,711.086908375,672.913091625,661,630.913091625,877,782.913091625,799.086908375,649.913091625,628,650,0.448008272548,-0.00553757592788,0.0496988705198,0.999999901359,-4.37161727052e-05,-0.000441934102292,8.06283405753e-06,1793192233245210624
+253,4.216666667,HOLD_POSE2,763,742.333945722,711.666054278,672.333945722,661,630.333945722,877,782.333945722,799.666054278,649.333945722,628,650,0.44800681063,-0.00553831731141,0.0496975994657,0.999999900698,-4.41104819784e-05,-0.000443387452792,8.06838643146e-06,1793192233261877760
+254,4.233333333,HOLD_POSE2,763.244384375,742,711.755615625,672,661,630,877,782,800,649,628,650,0.448006767349,-0.0055381666816,0.0496976806486,0.99999990069,-4.44482738627e-05,-0.000443372796734,8.08071565724e-06,1793192233278544640
+255,4.250000000,HOLD_POSE2,763.821603355,742,711.178396645,672,661,630,877,782,800,649,628,650,0.448008656153,-0.00553680119131,0.0496996034847,0.999999901569,-4.47090929431e-05,-0.000441358817225,8.10227448576e-06,1793192233295211520
+256,4.266666667,HOLD_POSE2,764,742.391397228,711.391397228,672,661,630.391397228,877,782.391397228,799.608602772,649.391397228,628,650,0.448008133866,-0.00553693119728,0.0496992958889,0.999999901453,-4.56314637055e-05,-0.00044152986266,7.95197186996e-06,1793192233311878144
+257,4.283333333,HOLD_POSE2,764,742.957869836,711.957869836,672,661,630.957869836,877,782.957869836,799.042130164,649.957869836,628,650,0.448006533078,-0.00553773015161,0.0496979906018,0.999999900891,-4.68497523051e-05,-0.000442678288558,7.72479413894e-06,1793192233328544256
+258,4.300000000,HOLD_POSE2,764,743,712,672.553738013,661,630.446261987,876.446261987,782.446261987,799.553738013,649.446261987,628,650,0.448008086018,-0.00553743911666,0.0496990069463,0.999999901452,-4.54703099893e-05,-0.000441548797257,7.91478017852e-06,1793192233345210624
+259,4.316666667,HOLD_POSE2,764,743,712,673,661,630.147021479,876.147021479,782,799.852978521,649.147021479,628,650,0.448009465578,-0.00553700386182,0.0496997949833,0.999999901966,-4.43346481999e-05,-0.000440495822018,8.0888830769e-06,1793192233361877248
+260,4.333333333,HOLD_POSE2,764,743,712,673,661,630.725779132,876.725779132,782,799.274220868,649.725779132,628,650,0.448009591889,-0.00553640227821,0.0496993648,0.999999902085,-4.45277888449e-05,-0.000440205009225,8.11791552148e-06,1793192233378543872
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,661,630,876,782,799,649,628,650,0.448007333857,-0.00553613529287,0.0496969394623,0.999999901067,-4.24437605517e-05,-0.000442725529428,7.66711752674e-06,1793192233415449088
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711.426427469,673,661,630.573572531,876.573572531,782,799,649,628,650,0.448008201554,-0.0055364112506,0.0496974383413,0.999999901299,-4.4274457481e-05,-0.000442021638315,7.63142994983e-06,1793192233432115968
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.84767368,742,711,673,661,631,877,782,799,649,628,650,0.448008933844,-0.00553688543098,0.0496979627071,0.999999901511,-4.61389170911e-05,-0.000441351101327,7.63873835776e-06,1793192233448782592
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.253904431,742,711,673,661,631,877,782,799,649,628,650,0.448009273724,-0.00553793406227,0.049698560934,0.999999901671,-4.81012216565e-05,-0.000440777224703,7.77064947518e-06,1793192233465448448
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.331131277,742.331131277,711,673,661,631,877,782,799,649,628,650,0.44800895217,-0.00553818326339,0.0496987764104,0.999999901619,-4.79300298224e-05,-0.000440910597366,7.90022145148e-06,1793192233482115072
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.909642342,742.909642342,711,673,661,631,877,782,799,649,628,650,0.448008136475,-0.00553783523043,0.0496987059436,0.999999901409,-4.61649567667e-05,-0.000441572338084,8.02804590681e-06,1793192233498781440
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.515096737,711.484903263,673,661,630.515096737,877,782.484903263,799,649,628,650,0.448009164198,-0.00553732787873,0.049698889361,0.999999902095,-4.58925006724e-05,-0.000440048528158,7.83584812731e-06,1793192233515448064
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.939054624,742,711.939054624,672.939054624,661,630,876.939054624,782.939054624,799,649,628,650,0.44800973529,-0.00553675283241,0.0496988574501,0.999999902647,-4.57720381403e-05,-0.000438807979271,7.60006256837e-06,1793192233532114688
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.351054083,742,711.351054083,672.351054083,661,630,876.351054083,782.351054083,799,649,628,650,0.448003406591,-0.00553584739312,0.0496965569757,0.999999900625,-4.45767057761e-05,-0.000443515593442,7.49960632041e-06,1793192233548781568
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.234648966,742.234648966,711.234648966,672.234648966,661,630.234648966,876,782.234648966,799,649.234648966,628,650,0.447989218309,-0.00553463486248,0.0496905362476,0.999999895846,-4.39266451658e-05,-0.000454235349569,6.9387438396e-06,1793192233565448192
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.816948055,742.816948055,711.816948055,672.816948055,661,630.816948055,876,782.816948055,799,649.816948055,628,650,0.447963385464,-0.00553296735295,0.0496790036836,0.999999886739,-4.40844458386e-05,-0.000473862546465,5.69575484238e-06,1793192233582115072
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.605719294,742.605719294,712,673,661,630.605719294,876.394280706,783,799,649.605719294,628,650.394280706,0.447915708079,-0.00553297684827,0.0496615016543,0.999999870313,-4.483426808e-05,-0.000507284908089,5.00451122564e-06,1793192233598781440
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.030663668,742.030663668,712,673,661,630.030663668,876.969336332,783,799,649.030663668,628,650.969336332,0.447858015124,-0.00553375523832,0.0496412626663,0.999999849316,-4.58555279904e-05,-0.000547032256447,4.56623885561e-06,1793192233615447808
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.543468767,742,711.456531233,672.456531233,661,630.543468767,877.543468767,783,799.543468767,649,628.543468767,650.456531233,0.447789717268,-0.00552880377059,0.0496275967624,0.999999840117,-4.20811418344e-05,-0.000563905020537,2.37469237501e-06,1793192233632114432
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.121211704,711,672.121211704,661,631,877.878788296,782.878788296,799.878788296,649,628.878788296,650,0.447716846188,-0.00552424393395,0.0496159664999,0.99999983208,-3.88580283875e-05,-0.000578212947794,4.66403271168e-07,1793192233648781312
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.713179043,711,672.713179043,661,631,877.286820957,782.286820957,799.286820957,649,628.286820957,650,0.447628533742,-0.00552245854258,0.0496108042382,0.999999826631,-3.88250022725e-05,-0.000587563693344,4.17558216286e-08,1793192233665447936
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.707591632,743,711.292408368,673,661,631,876.707591632,782.292408368,799,649,628,650,0.447534095263,-0.00551855494137,0.0496106778813,0.99999982673,-3.50629401167e-05,-0.000587631032479,-3.78712911297e-07,1793192233682114560
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.140335379,743,711.859664621,673,661,631,876.140335379,782.859664621,799,649,628,650,0.447433898654,-0.0055126603388,0.0496152850001,0.999999832009,-2.77957879032e-05,-0.000578972476409,-7.952538535e-07,1793192233698781440
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,742.557741614,711.557741614,673,661,631,876.442258386,782.557741614,799,649.442258386,628,650,0.44730389882,-0.00550693569022,0.0496159406044,0.999999832384,-2.4879067382e-05,-0.000578456119504,-1.50337252204e-06,1793192233715448320
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742.029874849,711.029874849,673,661,631,876.970125151,782,799.029874849,649.970125151,628,650,0.447162399343,-0.00550119769725,0.0496153092293,0.999999831212,-2.30881370992e-05,-0.000580550063001,-2.3108891736e-06,1793192233732114944
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742.617137453,711.617137453,673,661,631,876.382862547,782,799.617137453,649.382862547,628,650,0.446989128672,-0.00549416840641,0.0496149006882,0.999999830854,-1.56204463609e-05,-0.000581409553285,-3.18467637291e-06,1793192233748781824
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.201419356,742.798580644,711.798580644,672.798580644,661,631,876,782.201419356,799.798580644,649,628,650,0.446804270393,-0.0054865835047,0.0496145906946,0.999999830615,-8.43535145614e-06,-0.000581962700499,-4.27080423377e-06,1793192233765448448
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.780118027,742.219881973,711.219881973,672.219881973,661,631,876,782.780118027,799.219881973,649,628,650,0.446597707343,-0.0054779578871,0.0496144652908,0.999999830654,-1.77958865861e-06,-0.000581942035348,-5.75466804977e-06,1793192233782114816
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.641887208,742,711,672,661,631,876,783,799.358112792,649,628,650,0.446373253408,-0.00546877716268,0.0496210325697,0.999999836048,4.36355612948e-06,-0.000572572334066,-6.73154848667e-06,1793192233798781184
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.064323739,742,711,672,661,631,876,783,799.935676261,649,628,650,0.446137835959,-0.00545925626928,0.0496317011088,0.999999844532,1.01925704515e-05,-0.000557473565336,-7.39775084467e-06,1793192233815448064
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.510621791,742,711,672,661.510621791,631,876,783,800,649,628,650,0.445875132865,-0.0054481246066,0.0496508664291,0.999999861026,1.77497606883e-05,-0.000526834523275,-8.8642281393e-06,1793192233832114688
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,631,876,782.912627775,799.912627775,649,628,650,0.445599417261,-0.00543706924419,0.0496702787164,0.999999876453,2.51633027543e-05,-0.000496340832391,-1.03085953438e-05,1793192233848781568
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,631,876,782.323631014,799.323631014,649,628,650,0.445268626853,-0.0054276109518,0.0496849951136,0.999999885297,3.05086342258e-05,-0.000477863511943,-1.10501922484e-05,1793192233865448448
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.261573771,662,631.261573771,876,782,799,649.261573771,628,650,0.444911585947,-0.00542175648603,0.0496960662032,0.99999989041,3.21051401709e-05,-0.000466897671447,-1.252073189e-05,1793192233882115328
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.842153955,662,631.842153955,876,782,799,649.842153955,628,650,0.444522530854,-0.00542029712436,0.0497026915995,0.999999891309,2.91297065646e-05,-0.000465092575956,-1.48802650918e-05,1793192233898781952
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,741.582046787,711,672.582046787,662.417953213,631.582046787,876.417953213,782.417953213,799,649.582046787,628.417953213,650,0.444100892751,-0.00542993728837,0.0497061203967,0.99999989345,1.28542210919e-05,-0.000461161619441,-1.62537162229e-05,1793192233915448320
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,741.008032707,711,672.008032707,662.991967293,631.008032707,876.991967293,782.991967293,799,649.008032707,628.991967293,650,0.443667088384,-0.00544372193929,0.0497083556055,0.999999895649,-8.38741258944e-06,-0.000456436880836,-1.72589710032e-05,1793192233932114944
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,741.577729616,711,672,662.422270384,631,876.422270384,783,800.155459232,649,629,650,0.44319430508,-0.00544133980455,0.0497046075574,0.999999892966,-1.58067170596e-05,-0.000461943231241,-2.06601742355e-05,1793192233948781568
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.837928644,742.162071356,711,672,662.162071356,631.162071356,876,783,800.675857288,649,628.837928644,650,0.442712807427,-0.00543637858285,0.0497093799231,0.9999998971,-1.96214581369e-05,-0.000452587359792,-2.40563097006e-05,1793192233965448448
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,763,742,711,671.761959421,663,633,875,783,799,649,628,651,0.402642902501,-0.00542052726156,0.0498315532816,0.999999944575,7.17280014898e-05,-0.000319841414171,-5.83606756958e-05,1793192234915448320
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.18198302,663,633,875,783,799,649,628,651,0.402376142883,-0.00541892883436,0.0498148429196,0.99999993483,6.98016837025e-05,-0.000349002202718,-6.0534750546e-05,1793192234932114688
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649,628,651,0.402157251084,-0.00541973248544,0.0498079621662,0.9999999314,6.84353314482e-05,-0.000358844851974,-6.12197513027e-05,1793192234948781312
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649,628,651,0.401960246894,-0.00542163449027,0.0498055760146,0.999999931112,6.73250241223e-05,-0.000359854255721,-6.12238709039e-05,1793192234965447936
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649,628,651,0.401806900575,-0.00541948818209,0.04981382687,0.999999936696,7.63297014496e-05,-0.000342258611085,-6.0332963716e-05,1793192234982114816
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649.139744149,628,651,0.401663256712,-0.00541724290642,0.0498225624683,0.999999940976,9.85328367998e-05,-0.000324327307971,-5.61359163819e-05,1793192234998781696
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649.72228568,628,651,0.40154263331,-0.00541540017717,0.0498309523749,0.999999938586,0.000160767672963,-0.000308623617448,-4.16212651391e-05,1793192235015448320
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.300532307,663,633,875,783,799,650,628,651,0.401435080976,-0.00541204090862,0.0498359286822,0.999999936318,0.000191552856532,-0.000298938202232,-3.61537301527e-05,1793192235032114944
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.874866007,663,633,875,783,799,650,628,651,0.401339437109,-0.00540729998984,0.0498377950131,0.999999937051,0.000193685680927,-0.000294735767253,-3.89286145505e-05,1793192235048782080
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.010833044,663,633,875,783,798.005416522,650,628,650.005416522,0.401193529264,-0.00541487105999,0.0498411344577,0.999999943043,0.000181314815052,-0.0002816748674,-4.11977050397e-05,1793192235082115072
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.604443846,742,711,670.604443846,663,633,875,783,798.604443846,650,628.604443846,650.604443846,0.401139191072,-0.00542177983112,0.0498397459039,0.999999944559,0.000168881324788,-0.000283958761889,-4.15712547893e-05,1793192235098781440
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.796249655,742,711,671,663,632.796249655,875,783,799,649.796249655,628.796249655,651,0.401091850824,-0.00542697948379,0.0498391451917,0.999999945921,0.0001595940395,-0.000284475818592,-4.19568518698e-05,1793192235115448064
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.21731153,742,711,671,663,632.21731153,875,783,799,649.21731153,628.21731153,651,0.401057110764,-0.00542899439673,0.0498400499775,0.999999947262,0.000156194611838,-0.000281575195408,-4.23747474289e-05,1793192235132114432
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,632.359174947,875,783,799,649,628,650.640825053,0.401032946358,-0.00542773691307,0.0498415336203,0.999999948182,0.000156961703621,-0.00027774298384,-4.31025387712e-05,1793192235148781312
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,632.934188215,875,783,799,649,628,650.065811785,0.401015137155,-0.00542451295452,0.0498433651149,0.999999948834,0.000160232573728,-0.000273350954344,-4.40165552398e-05,1793192235165448192
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.105491803,742.105491803,712,671,663,632,875.105491803,783,799,649.105491803,628,650.105491803,0.400989240301,-0.00542608170117,0.0498446074978,0.999999949933,0.000155095927547,-0.000272311256426,-4.38896132869e-05,1793192235198781952
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.158806785,742.158806785,711.158806785,671,663,632.841193215,876,783,799,650,628,651,0.40097593563,-0.00542591674447,0.049846226852,0.999999950792,0.000153264530015,-0.000270088157175,-4.44848391829e-05,1793192235248781312
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.416854669,742,711,671,663,632.583145331,876,783,799,650,628.416854669,651,0.400975614695,-0.00542501891117,0.0498469633382,0.999999951123,0.000154881077517,-0.000267905483295,-4.46475133391e-05,1793192235265447936
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.991635287,742,711,671,663,632.008364713,876,783,799,650,628.991635287,651,0.400976645857,-0.00542399615375,0.049848382431,0.999999951715,0.000157177389946,-0.000264324518809,-4.46927211025e-05,1793192235282114560
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.420406595,742.579593405,711,671,663.579593405,632.579593405,876,783,799,649.420406595,629,651,0.400976051871,-0.00542423480818,0.0498492867683,0.999999951691,0.000157442601877,-0.000264295850524,-4.4477933273e-05,1793192235298781184
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763,742.83438614,711,671,664,633,876,783,799,649.16561386,628.83438614,650.83438614,0.400975211209,-0.00542465204787,0.0498495999925,0.999999951649,0.000157379056016,-0.000264515035684,-4.43451859811e-05,1793192235315448064
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763,742.253709678,711,671,664,633,876,783,799,649.746290322,628.253709678,650.253709678,0.400973812476,-0.00542547017282,0.049848450817,0.999999951585,0.000156566748419,-0.000265223918306,-4.4427672022e-05,1793192235332114944
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763,742,711.324049441,671,664,633,875.675950559,783,799,650,628.324049441,650,0.400973646983,-0.00542533070481,0.0498485248971,0.999999951652,0.000156927798507,-0.000264729480823,-4.45797685898e-05,1793192235348781568
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763,742,711.899544909,671,664,633,875.100455091,783,799,650,628.899544909,650,0.400974438422,-0.00542444819303,0.0498495481616,0.99999995182,0.00015819931491,-0.000263301327685,-4.47858794254e-05,1793192235365448192
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763,742,711.525204034,671,663.525204034,632.525204034,875,783,798.525204034,649.525204034,628.525204034,650,0.400974702583,-0.00542507437552,0.0498496382125,0.999999952345,0.000155926722679,-0.000262644183665,-4.48842355436e-05,1793192235382114816
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.051396306,742,711,671,663.051396306,632,875,783,798.051396306,649.051396306,628,650,0.400974677696,-0.00542599721898,0.0498495224435,0.99999995286,0.000153145323481,-0.000262309769543,-4.49434764704e-05,1793192235398781440
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.642714291,742,711,671,663.642714291,632,875,783,798.642714291,649.642714291,628,650,0.400972787665,-0.00542668498889,0.049849317627,0.999999952551,0.000152891998578,-0.000263652881598,-4.48311834954e-05,1793192235415448064
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.770863772,742,711,670.770863772,663.770863772,632.229136228,875,783,799,649.770863772,628,650.229136228,0.400972052326,-0.00542669971731,0.049849668989,0.999999952522,0.000153025987106,-0.000263683068854,-4.48330621097e-05,1793192235432114688
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.191916431,742,711,670.191916431,663.191916431,632.808083569,875,783,799,649.191916431,628,650.808083569,0.4009730798,-0.00542568694603,0.0498508694414,0.999999952922,0.000153751268191,-0.000261708877716,-4.50092409326e-05,1793192235448781568
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763,742,711,670.383347013,663,632.616652987,875.383347013,783,799.383347013,649,628,650.616652987,0.400973688697,-0.00542608014315,0.0498516289911,0.999999953092,0.00015393742115,-0.000260983635662,-4.4795469977e-05,1793192235465448448
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.956783712,663,632.043216288,875.956783712,783,799.956783712,649,628,650.043216288,0.400974090035,-0.00542717051567,0.049852169911,0.99999995315,0.000153856237464,-0.000260877708101,-4.43883352272e-05,1793192235482115328
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.531360577,742,711,671,663,632.531360577,875.468639423,783.531360577,799.468639423,649.531360577,628,650,0.400973851759,-0.00542613934146,0.0498515367871,0.999999953265,0.000153862132899,-0.000260386611321,-4.46764724692e-05,1793192235498781696
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.109687371,632.890312629,875,783.890312629,799.109687371,649.890312629,628,650,0.400973739434,-0.00542527260022,0.0498510456072,0.999999953456,0.000153685404571,-0.000259711362893,-4.49312361252e-05,1793192235515448320
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.704177418,632.295822582,875,783.295822582,799.704177418,649.295822582,628,650,0.40097441421,-0.00542589690899,0.049851604745,0.999999953968,0.000152670135092,-0.0002583609461,-4.47880240634e-05,1793192235532114944
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.710598582,742,711.289401418,671,663.710598582,632.289401418,875.289401418,783,800,649.289401418,628.289401418,650,0.400974898431,-0.00542651823509,0.0498521719348,0.999999954154,0.000152375526565,-0.000257845202768,-4.46003465386e-05,1793192235548781568
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.1345523,742,711.8654477,671,663.1345523,632.8654477,875.8654477,783,800,649.8654477,628.8654477,650,0.400975193913,-0.00542713660701,0.0498527471001,0.99999995402,0.000152794714559,-0.000258156182454,-4.43686270683e-05,1793192235565448448
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763,742,711.552727718,671,663,632.552727718,875.552727718,783,799.552727718,649.552727718,629,650.447272282,0.400975050744,-0.00542762544644,0.0498527626082,0.999999954039,0.000152074525897,-0.000258443770497,-4.47445469843e-05,1793192235582115072
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.03070022,632,875,783,799,649.03070022,628.96929978,651,0.400974718255,-0.00542797949283,0.0498525764303,0.99999995407,0.000151154339273,-0.000258770452649,-4.52715073704e-05,1793192235598781696
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.611304547,632,875,783,799,649.611304547,628.388695453,651,0.400973389222,-0.00542662623482,0.0498518328005,0.999999953514,0.000152871615318,-0.000259925085709,-4.51868203455e-05,1793192235615448320
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.808578513,632.191421487,875,783,799.191421487,650,628.191421487,651,0.400973063387,-0.00542634306353,0.0498514849719,0.999999953415,0.000153255961577,-0.000260104381391,-4.50266988236e-05,1793192235632114944
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.229448769,632.770551231,875,783,799.770551231,650,628.770551231,651,0.400974769446,-0.00542822726372,0.0498519388057,0.999999954247,0.000150940569631,-0.000258308212502,-4.47137910257e-05,1793192235648781824
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783.347491288,799.652508712,649.652508712,628.652508712,650.652508712,0.400975862203,-0.00542782291205,0.0498527127001,0.999999954358,0.000152202803563,-0.000257154777837,-4.46154152884e-05,1793192235665448192
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783.922994526,799.077005474,649.077005474,628.077005474,650.077005474,0.400976552533,-0.00542591689051,0.0498536966074,0.999999953988,0.000155812553851,-0.00025642308355,-4.46578081953e-05,1793192235682114560
+398,6.633333333,POSE2_TO_POSE3_RETREAT,763.507775361,742,711,671,663,633,875,783.492224639,799,649.507775361,628,650.507775361,0.400974354379,-0.00542748010646,0.049852493111,0.99999995402,0.000152909454196,-0.000258031056131,-4.4697556035e-05,1793192235698781184
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_02/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..48025006a8c576acd17958aa3e35f674634e2faf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,400 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+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
+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
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+363,6.050000000,pose2_to_pose3_retreat,0.575828705474,5.44805771249e-05,1.04002902641,0.546399436276,0.00872721182381,1.03969831504
+364,6.066666667,pose2_to_pose3_retreat,0.575795316091,5.45314934e-05,1.04002892042,0.546366045921,0.00872725959621,1.03969821266
+365,6.083333333,pose2_to_pose3_retreat,0.575769714563,5.46195384933e-05,1.04002896106,0.54634044344,0.00872734455626,1.03969825668
+366,6.100000000,pose2_to_pose3_retreat,0.575750858987,5.4649040925e-05,1.04002901723,0.546321587456,0.00872737280167,1.03969831588
+367,6.116666667,pose2_to_pose3_retreat,0.575737691124,5.46008536159e-05,1.04002903468,0.546308420892,0.00872732905056,1.03969833364
+368,6.133333333,pose2_to_pose3_retreat,0.575728327106,5.46461186647e-05,1.04002933326,0.54629905653,0.00872737296863,1.03969862754
+369,6.150000000,pose2_to_pose3_retreat,0.575721564554,5.45748063772e-05,1.04002927315,0.546292293624,0.00872730031084,1.03969856368
+370,6.166666667,pose2_to_pose3_retreat,0.575717246178,5.45322340036e-05,1.04002913226,0.546287975181,0.00872725743252,1.03969842073
+371,6.183333333,pose2_to_pose3_retreat,0.575715189972,5.45650168295e-05,1.04002903078,0.546285919245,0.00872729112039,1.03969831899
+372,6.200000000,pose2_to_pose3_retreat,0.575713844685,5.45864652251e-05,1.04002896439,0.546284574135,0.00872731316092,1.03969825242
+373,6.216666667,pose2_to_pose3_retreat,0.575713122109,5.45874043573e-05,1.04002895425,0.546283851754,0.00872731479113,1.039698243
+374,6.233333333,pose2_to_pose3_retreat,0.575712808484,5.45810528219e-05,1.04002896615,0.546283538278,0.00872730897784,1.03969825574
+375,6.250000000,pose2_to_pose3_retreat,0.57571251782,5.45751663001e-05,1.04002897718,0.546283247753,0.00872730359015,1.03969826754
+376,6.266666667,pose2_to_pose3_retreat,0.575712191745,5.45685626333e-05,1.04002898956,0.546282921833,0.0087272975461,1.03969828078
+377,6.283333333,pose2_to_pose3_retreat,0.575711992433,5.45645261619e-05,1.04002899712,0.546282722616,0.00872729385169,1.03969828887
+378,6.300000000,pose2_to_pose3_retreat,0.575711913624,5.45629301275e-05,1.04002900011,0.546282643845,0.00872729239091,1.03969829207
+379,6.316666667,pose2_to_pose3_retreat,0.575711762243,5.45598643474e-05,1.04002900586,0.546282492535,0.00872728958493,1.03969829822
+380,6.333333333,pose2_to_pose3_retreat,0.575711526685,5.45550938407e-05,1.0400290148,0.54628225709,0.00872728521869,1.03969830778
+381,6.350000000,pose2_to_pose3_retreat,0.575711325994,5.45510294461e-05,1.04002902241,0.546282056495,0.00872728149872,1.03969831593
+382,6.366666667,pose2_to_pose3_retreat,0.575711176227,5.45479963487e-05,1.0400290281,0.546281906798,0.00872727872265,1.03969832201
+383,6.383333333,pose2_to_pose3_retreat,0.575711089419,5.45462383276e-05,1.04002903139,0.546281820032,0.00872727711361,1.03969832553
+384,6.400000000,pose2_to_pose3_retreat,0.575710932235,5.45430550301e-05,1.04002903736,0.546281662923,0.00872727420008,1.03969833192
+385,6.416666667,pose2_to_pose3_retreat,0.57571070017,5.45501470106e-05,1.04002905262,0.54628143069,0.00872728073642,1.03969834758
+386,6.433333333,pose2_to_pose3_retreat,0.575710523379,5.45605412528e-05,1.04002906698,0.546281253652,0.00872729030358,1.03969836215
+387,6.450000000,pose2_to_pose3_retreat,0.575710363106,5.45699643448e-05,1.04002908,0.546281093156,0.00872729897687,1.03969837537
+388,6.466666667,pose2_to_pose3_retreat,0.575710216857,5.45785628829e-05,1.04002909188,0.546280946704,0.00872730689121,1.03969838742
+389,6.483333333,pose2_to_pose3_retreat,0.575710058008,5.45879022467e-05,1.04002910479,0.546280787634,0.00872731548743,1.03969840052
+390,6.500000000,pose2_to_pose3_retreat,0.575709928328,5.45955266669e-05,1.04002911532,0.546280657773,0.00872732250517,1.03969841121
+391,6.516666667,pose2_to_pose3_retreat,0.575709792531,5.46035107e-05,1.04002912636,0.546280521787,0.0087273298539,1.03969842241
+392,6.533333333,pose2_to_pose3_retreat,0.575709577921,5.4586253792e-05,1.04002914088,0.546280307573,0.00872731393812,1.03969843682
+393,6.550000000,pose2_to_pose3_retreat,0.575709541784,5.45673157079e-05,1.04002914176,0.546280271876,0.00872729648438,1.03969843749
+394,6.566666667,pose2_to_pose3_retreat,0.5757094727,5.453111153e-05,1.04002914345,0.546280203634,0.00872726311784,1.03969843876
+395,6.583333333,pose2_to_pose3_retreat,0.57570931654,5.44492731044e-05,1.04002914727,0.546280049374,0.00872718769381,1.03969844164
+396,6.600000000,pose2_to_pose3_retreat,0.575709273482,5.44684378576e-05,1.04002912369,0.54628000621,0.00872720649563,1.03969841797
+397,6.616666667,pose2_to_pose3_retreat,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502776,1.03969833366
+398,6.633333333,pose2_to_pose3_retreat,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502787,1.03969833366
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_03/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52f917b11b8d6268eec9b116df9ddeba07096a90
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a1bf1a3e1777dd7b70d8b998a7f23c4a66b95a2a5c6f87d16d64a4e4b71cb34
+size 24671113
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c8acd1dace1dba19df35396798586be420e3bc05
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_01/franka_data.csv
@@ -0,0 +1,390 @@
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+37,0.616666667,BASELINE,763,742,711,671,660.034063133,632,876,783,799,648.482968434,628,650.517031566,0.400996768305,-0.00550634110775,0.0698396617223,0.999999981139,6.57523717731e-05,-0.000181469715087,2.16235105849e-05,1793192237967058944
+38,0.633333333,BASELINE,763,742,711.072826478,671,659,632,876,783,798.927173522,649,628,650,0.400996587357,-0.00550583435585,0.069839499222,0.999999981213,6.63909280621e-05,-0.00018088446386,2.11545754491e-05,1793192237983725568
+39,0.650000000,BASELINE,763,742,711.652394695,671,659,632,876,783,798.347605305,649,628,650,0.400996083753,-0.00550724269096,0.0698395842648,0.999999981168,6.60183609035e-05,-0.000181198848778,2.17270028784e-05,1793192238000392192
+40,0.666666667,BASELINE,763.230287447,742,712,671,659.230287447,632.230287447,876,783,798.230287447,649,628,650.230287447,0.400995843372,-0.00550758876366,0.0698396587837,0.999999981127,6.53188061526e-05,-0.000181652184855,2.195889862e-05,1793192238017058816
+41,0.683333333,BASELINE,763.805669416,742,712,671,659.805669416,632.805669416,876,783,798.805669416,649,628,650.805669416,0.400995997441,-0.00550634299556,0.069839717532,0.99999998109,6.41292480485e-05,-0.000182313744525,2.16804946086e-05,1793192238033725696
+42,0.700000000,BASELINE,763.619215414,742,711.619215414,671,659.619215414,633,876,783,799,649,628,650.619215414,0.400996115083,-0.00550615127423,0.0698395838922,0.999999980924,6.51306289953e-05,-0.00018284567487,2.18696076933e-05,1793192238050392064
+43,0.716666667,BASELINE,763.044236326,742,711.044236326,671,659.044236326,633,876,783,799,649,628,650.044236326,0.400996214148,-0.0055064971012,0.0698393521373,0.999999980689,6.72493564676e-05,-0.000183311496156,2.22971475861e-05,1793192238067058688
+44,0.733333333,BASELINE,763.54497202,742,711.54497202,671,659.54497202,632.45502798,876,783,799,649,628,650,0.400996827915,-0.00550650613702,0.069840635061,0.999999981175,6.47194156522e-05,-0.000181569987948,2.21994329117e-05,1793192238083725312
+45,0.750000000,BASELINE,763.867553432,742,711.867553432,671,659.867553432,632,876,783,798.867553432,649,628,650,0.400997394801,-0.00550639743275,0.0698416152611,0.999999981577,6.26854907067e-05,-0.000180081954161,2.20566547215e-05,1793192238100391936
+46,0.766666667,BASELINE,763.289893716,742,711.289893716,671,659.289893716,632,876,783,798.289893716,649,628,650,0.400997659894,-0.00550598730939,0.0698411535014,0.999999981525,6.36213205351e-05,-0.000180064391987,2.19095583713e-05,1793192238117058816
+47,0.783333333,BASELINE,763,742,711,671,659,632,875.713769155,783,798.286230845,649,628,650,0.400997466263,-0.00550636809288,0.0698408812658,0.999999981419,6.4225546365e-05,-0.000180435147755,2.19138912065e-05,1793192238133725696
+48,0.800000000,BASELINE,763,742,711,671,659,632,875.139191031,783,798.860808969,649,628,650,0.400996810513,-0.00550754563128,0.0698407999557,0.99999998126,6.44957163775e-05,-0.000181197092745,2.20707729001e-05,1793192238150392832
+49,0.816666667,BASELINE,763,742,711.437038789,671,659,632,875.437038789,783,798.562961211,649,628,650,0.400996593129,-0.00550645821213,0.0698406888905,0.999999981166,6.52847343222e-05,-0.000181462025638,2.18324504932e-05,1793192238167059456
+50,0.833333333,BASELINE,763,742,711.985765562,670.985765562,659,632,875.985765562,783,798.014234438,649,628,650,0.400996517277,-0.00550470842895,0.0698405737581,0.999999981095,6.62131683409e-05,-0.000181559175498,2.14805147625e-05,1793192238183725568
+51,0.850000000,BASELINE,763,742,711.390704741,670.390704741,659,632,875.390704741,783,798.609295259,649,628,650,0.400996498128,-0.00550547754561,0.0698406808211,0.99999998115,6.60620467859e-05,-0.000181293542607,2.16480744662e-05,1793192238200392192
+52,0.866666667,BASELINE,763,742,711,670.197259148,659,632,875.197259148,783,799,649,628,650,0.400996372344,-0.00550573535075,0.0698407221628,0.999999981125,6.65939263094e-05,-0.000181224483867,2.17600448674e-05,1793192238217058816
+53,0.883333333,BASELINE,763,742,711,670.771654505,659,632,875.771654505,783,799,649,628,650,0.400996042688,-0.00550501558857,0.0698406378535,0.999999980945,6.84316232855e-05,-0.000181531251716,2.17657350736e-05,1793192238233725696
+54,0.900000000,BASELINE,763,742,711,670.65466149,659,632,876,783,798.65466149,649,628,650,0.400996549746,-0.00550453600966,0.0698407107595,0.999999981013,6.84623886374e-05,-0.00018115152152,2.16861878442e-05,1793192238250392320
+55,0.916666667,BASELINE,763,742,711,670.081446901,659,632,876,783,798.081446901,649,628,650,0.400997608919,-0.00550421491882,0.0698408874061,0.999999981246,6.73008267356e-05,-0.000180318796709,2.15503955913e-05,1793192238267058944
+56,0.933333333,BASELINE,763,742,711.508872262,671.017744524,659.508872262,632,876,783.508872262,798.508872262,649,628,650,0.400996917928,-0.00550417521141,0.0698407216376,0.999999981128,6.58460069376e-05,-0.000181527002933,2.1375546639e-05,1793192238283725312
+57,0.950000000,BASELINE,763.099377471,742,712,671.900622529,659.900622529,632,876,783.900622529,799,649,628,650.099377471,0.400996339447,-0.00550439123058,0.0698407576919,0.999999981038,6.48877177207e-05,-0.00018237103218,2.13383692191e-05,1793192238300391936
+58,0.966666667,BASELINE,763.677141117,742,712,671.322858883,659.322858883,632,876,783.322858883,799,649,628,650.677141117,0.400997697922,-0.00550561393528,0.0698420382844,0.999999981373,6.6553448062e-05,-0.000179834802675,2.19950578275e-05,1793192238317058560
+59,0.983333333,BASELINE,763.746529684,742,712,671,659,632.253470316,876,783.253470316,799,649,628,650.746529684,0.400998477925,-0.00550615501474,0.0698426431584,0.999999981542,6.75163742641e-05,-0.000178501722324,2.22340353842e-05,1793192238333725440
+60,1.000000000,BASELINE,763.172017256,742,712,671,659,632.827982744,876,783.827982744,799,649,628,650.172017256,0.400998525244,-0.00550583275699,0.0698423921764,0.99999998151,6.75891383749e-05,-0.00017869253425,2.19439458015e-05,1793192238350392064
+61,1.016666667,BASELINE,763,742,712,671.412483346,659,632.587516654,876,783.587516654,799,649,628,650,0.400998874377,-0.00550580949396,0.0698425642305,0.999999981609,6.67085635425e-05,-0.000178468735187,2.19337238818e-05,1793192238367058688
+62,1.033333333,BASELINE,763,742,712,671.998768143,659.001231857,632.001231857,876,783,799,649,628,650,0.400999351272,-0.00550591338009,0.0698429156235,0.999999981762,6.54253733149e-05,-0.000178069249389,2.20427759863e-05,1793192238383725312
+63,1.050000000,BASELINE,763,742,712,671.419762742,659.580237258,632.580237258,876,783,799,649,628,650,0.400999252449,-0.00550571973419,0.0698425836802,0.999999981644,6.64028186527e-05,-0.000178377300098,2.19946926286e-05,1793192238400391936
+64,1.066666667,BASELINE,763,742,712,671,659.841522448,633,876,783,799,649,628,650,0.400999034256,-0.00550560811592,0.0698422422926,0.999999981595,6.63328333792e-05,-0.000178700225345,2.18058874188e-05,1793192238417058816
+65,1.083333333,BASELINE,763,742,712,671,659.265299009,633,876,783,799,649,628,650,0.400998501408,-0.00550571272204,0.0698418760097,0.999999981726,6.35018271634e-05,-0.000179062359762,2.12461402435e-05,1793192238433725696
+66,1.100000000,BASELINE,763.310381307,742.310381307,712,671,659.310381307,633,876,783,799.310381307,649,628,650.310381307,0.400998563267,-0.00550586306093,0.0698421586793,0.999999981666,6.41266085769e-05,-0.000179160689132,2.13772878016e-05,1793192238450392064
+67,1.116666667,BASELINE,763.885598169,742.885598169,712,671,659.885598169,633,876,783,799.885598169,649,628,650.885598169,0.400999132565,-0.00550605242171,0.0698429950732,0.999999981438,6.77000710578e-05,-0.00017903392453,2.2097947343e-05,1793192238467058688
+68,1.133333333,BASELINE,763.525069149,743,712,671,659.525069149,633,876.474930851,783,799.525069149,649,628,650.525069149,0.40099881072,-0.00550576873145,0.0698425099513,0.999999981296,6.7624569335e-05,-0.000179846697491,2.21446157178e-05,1793192238483725312
+69,1.150000000,BASELINE,763.066034625,742.933965375,712,671,659.066034625,632.933965375,876.933965375,783,799,649,628,650.066034625,0.400998247807,-0.00550516663218,0.0698417802556,0.999999981173,6.70053983071e-05,-0.00018077755964,2.20109762297e-05,1793192238500391936
+70,1.166666667,BASELINE,763.643708376,742.356291624,712,671,659.643708376,632.356291624,876.356291624,783,799,649,628,650.643708376,0.400997531225,-0.00550300741299,0.0698416975628,0.999999981022,6.91927371314e-05,-0.000180816155089,2.17767441574e-05,1793192238517058816
+71,1.183333333,BASELINE,763.779156794,742,712,671,659.779156794,632.220843206,876,783,799,649,628,650.779156794,0.400996904227,-0.00550170116074,0.0698415549008,0.999999980925,7.04754059948e-05,-0.000180889403162,2.14795638049e-05,1793192238533725696
+72,1.200000000,BASELINE,763.20288921,742,712,671,659.20288921,632.79711079,876,783,799,649,628,650.20288921,0.400996421402,-0.00550176767053,0.0698413157242,0.999999980923,7.03021021444e-05,-0.000181018421071,2.1081074647e-05,1793192238550392064
+73,1.216666667,BASELINE,763.380072837,742.380072837,712,670.619927163,659.380072837,632.619927163,876.380072837,783,799,649,628,650,0.400997153383,-0.00550328442902,0.0698418356499,0.999999981231,6.87184595374e-05,-0.000179900727811,2.12482550034e-05,1793192238567058944
+74,1.233333333,BASELINE,763.966672536,742.966672536,712,670.033327464,659.966672536,632.033327464,876.966672536,783,799,649,628,650,0.400998545474,-0.00550558923465,0.0698427680623,0.999999981701,6.63684563619e-05,-0.000178105587166,2.17228131776e-05,1793192238583725568
+75,1.250000000,BASELINE,763.453900648,742.453900648,712,671.092198704,659.453900648,632.546099352,877,783.546099352,799,649,628,650.546099352,0.400998887249,-0.00550511152567,0.0698427579007,0.999999981516,6.76478707263e-05,-0.000178666883881,2.16773078488e-05,1793192238600392192
+76,1.266666667,BASELINE,763,742.12505888,712,671.87494112,659.12505888,633,876.87494112,783.87494112,799.12505888,649,628,651,0.400998979027,-0.00550454836962,0.0698426212482,0.999999981297,6.92151363346e-05,-0.000179292037653,2.16874515785e-05,1793192238617058816
+77,1.283333333,BASELINE,763,742.703890607,712,671.296109393,659.703890607,633,876.296109393,783.296109393,799.703890607,649,628,651,0.400998393259,-0.00550428334091,0.0698422316437,0.999999981101,7.1033586559e-05,-0.000179633852318,2.20131858967e-05,1793192238633725184
+78,1.300000000,BASELINE,763,742.721037301,712,670.721037301,660,633,876,783.278962699,799.721037301,649,628,651,0.40099708189,-0.00550485113677,0.0698412901769,0.999999980925,6.96104462459e-05,-0.000181153576258,2.20989252578e-05,1793192238650391808
+79,1.316666667,BASELINE,763,742.149902901,712,670.149902901,660,633,876,783.850097099,799.149902901,649,628,651,0.400995010563,-0.00550629119183,0.0698397707168,0.99999998075,6.47922245946e-05,-0.000183906983952,2.19333057781e-05,1793192238667058688
+80,1.333333333,BASELINE,763,742.435680822,712,670.435680822,660,632.564319178,876,783.564319178,799,649,628,651,0.400995810721,-0.00550602133825,0.0698405472459,0.99999998103,6.45165588288e-05,-0.0001824866607,2.18020988436e-05,1793192238683725568
+81,1.350000000,BASELINE,763.025888481,742.974111519,712,671,660,632.025888481,876.025888481,783,799,649,628.025888481,650.974111519,0.400997574929,-0.00550520541666,0.0698420644575,0.99999998145,6.5843972865e-05,-0.000179704609744,2.16897409882e-05,1793192238700392192
+82,1.366666667,BASELINE,763.605022706,742.394977294,712,671,660,632.605022706,876.605022706,783,799,649,628.605022706,650.394977294,0.400998103495,-0.00550572373493,0.0698419492476,0.999999981406,6.68834949853e-05,-0.000179563307427,2.17184863429e-05,1793192238717059072
+83,1.383333333,BASELINE,763.816821989,742,711.816821989,671,659.816821989,633,876.816821989,783,799,649,628.816821989,650.183178011,0.400998617627,-0.00550559404819,0.0698419318399,0.999999981388,6.78808942621e-05,-0.000179297040357,2.16356330307e-05,1793192238733725696
+84,1.400000000,BASELINE,763.240766151,742,711.240766151,671,659.240766151,633,876.240766151,783,799,649,628.240766151,650.759233849,0.400999100802,-0.00550407452876,0.0698421241971,0.999999981429,6.87879492052e-05,-0.000178762750478,2.13134243466e-05,1793192238750392320
+85,1.416666667,BASELINE,763,742,711.332723809,671,659.332723809,633,876,783,799,649,628,651,0.400998002791,-0.00550355732824,0.0698417586328,0.999999981106,7.00886767896e-05,-0.000180044570246,2.14280144824e-05,1793192238767058688
+86,1.433333333,BASELINE,763,742,711.904371216,671,659.904371216,633,876,783,799,649,628,651,0.400995769355,-0.00550375987685,0.069840992434,0.999999980516,7.1672094292e-05,-0.000182630509087,2.18562628233e-05,1793192238783725568
+87,1.450000000,BASELINE,763.494305689,742.494305689,712,671,660,633,876,783,799,649,628.494305689,650.505694311,0.400996729833,-0.00550334653672,0.0698415424284,0.999999980673,7.25057469795e-05,-0.000181435423511,2.18534681068e-05,1793192238800392448
+88,1.466666667,BASELINE,764,742.913878657,712,671,659.913878657,632.913878657,876.086121343,783,799,649,628.913878657,650,0.400998039544,-0.00550299358002,0.0698422203222,0.99999998096,7.28326110504e-05,-0.000179724593785,2.17690497521e-05,1793192238817059328
+89,1.483333333,BASELINE,764,742.332374083,712,671,659.332374083,632.332374083,876.667625917,783,799,649,628.332374083,650,0.400997667312,-0.00550369965901,0.0698421129634,0.999999981141,7.11107525331e-05,-0.000179416351934,2.17132188622e-05,1793192238833725696
+90,1.500000000,BASELINE,764,742,712,671,659,632,876.754709006,783.245290994,799,649,628,650,0.400998030584,-0.00550433472385,0.0698423324668,0.999999981337,6.97791527787e-05,-0.000178839340667,2.17789962439e-05,1793192238850392064
+91,1.516666667,BASELINE,764,742,712,671,659,632,876.182166386,783.817833614,799,649,628,650,0.40099937512,-0.00550487504611,0.0698429880489,0.999999981555,6.89682115531e-05,-0.000177903754387,2.2007015642e-05,1793192238867058944
+92,1.533333333,BASELINE,763.609267818,742,712,670.609267818,659,632,876,783.609267818,799,649.390732182,628,650,0.400998630752,-0.00550530890429,0.0698426515604,0.999999981345,6.88327549677e-05,-0.00017912469974,2.20388619799e-05,1793192238883725568
+93,1.550000000,BASELINE,763.036203099,742,712,670.036203099,659,632,876,783.036203099,799,649.963796901,628,650,0.400996911612,-0.00550569308177,0.0698418521289,0.999999980933,6.90125086606e-05,-0.000181351975945,2.1979165503e-05,1793192238900392192
+94,1.566666667,BASELINE,763,742,712,670.558914408,659.558914408,632.558914408,876,783,798.441085592,649.441085592,628,650,0.400996847701,-0.00550612704645,0.0698415155673,0.999999981067,6.73145460373e-05,-0.000181256006302,2.19309075248e-05,1793192238917058816
+95,1.583333333,BASELINE,763.150251967,742,712,671,660,633,876,783,798.150251967,649,628,650.150251967,0.400996952397,-0.0055062407055,0.0698413589357,0.999999981222,6.598083103e-05,-0.000180899346326,2.1859165395e-05,1793192238933725440
+96,1.600000000,BASELINE,763.726651106,742,712,671,660,633,876,783,798.726651106,649,628,650.726651106,0.400997218723,-0.00550543638614,0.0698416240966,0.999999981339,6.60393318013e-05,-0.000180247654612,2.17186293857e-05,1793192238950392064
+97,1.616666667,BASELINE,763.698726535,742,712,671,659.698726535,632.698726535,876,783,799,649,628,650.698726535,0.400998279879,-0.00550549102299,0.0698425068884,0.999999981585,6.60828067673e-05,-0.000178873425813,2.16005286494e-05,1793192238967058944
+98,1.633333333,BASELINE,763.125706851,742,712,671,659.125706851,632.125706851,876,783,799,649,628,650.125706851,0.401000057965,-0.00550632043141,0.0698439467783,0.999999981946,6.61127285754e-05,-0.000176847474474,2.15026643556e-05,1793192238983725568
+99,1.650000000,BASELINE,763,742.462055796,712,671,659.462055796,632.462055796,876,783,799,649,628,650.462055796,0.400999853222,-0.00550663657462,0.069843726416,0.999999981853,6.6648248699e-05,-0.00017715991243,2.15889242145e-05,1793192239000392448
+100,1.666666667,BASELINE,763,742.947239964,711.947239964,671,660,633,876.052760036,783,799,649,628,651,0.400999019266,-0.00550676432781,0.0698430154912,0.999999981629,6.7276240609e-05,-0.000178169398801,2.17199216766e-05,1793192239017058816
+101,1.683333333,BASELINE,763,742.368514179,711.368514179,671,660,633,876.631485821,783,799,649,628,651,0.400997467694,-0.00550645196099,0.0698420654377,0.999999981367,6.74096213365e-05,-0.000179576634907,2.17810742119e-05,1793192239033725696
+102,1.700000000,BASELINE,763,742,711.208711915,671,659.791288085,633,876.791288085,783,799,649,628,650.791288085,0.400996961147,-0.00550601597592,0.0698418997376,0.999999981305,6.74622876474e-05,-0.000179892884005,2.1858168648e-05,1793192239050392320
+103,1.716666667,BASELINE,763,742,711.783308898,671,659.216691102,633,876.216691102,783,799,649,628,650.216691102,0.400998286591,-0.00550536328032,0.0698431090582,0.999999981594,6.73734565131e-05,-0.000178296564356,2.19632102291e-05,1793192239067058944
+104,1.733333333,BASELINE,763,742,712,671,659.365838427,633,876,783,799,649,628,650,0.400998346538,-0.00550459005655,0.0698425630678,0.999999981559,6.67442235387e-05,-0.000178765135885,2.16730139503e-05,1793192239083725568
+105,1.750000000,BASELINE,763,742,712,671,659.953170706,633,876,783,799,649,628,650,0.400997640298,-0.00550374385992,0.069840954339,0.999999981325,6.57878087279e-05,-0.000180483878556,2.11435241859e-05,1793192239100392192
+106,1.766666667,BASELINE,763,742,712,671,659.466907251,633,876,783,799,649,628,650.533092749,0.400999014479,-0.00550471476509,0.0698424668141,0.999999981625,6.64005583966e-05,-0.000178554040922,2.14239589154e-05,1793192239117058816
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,712,670,659,632,876,783,799,649,628,650,0.400998612933,-0.00550448887455,0.0698434083191,0.999999981474,6.85333593148e-05,-0.000178510195336,2.21125646912e-05,1793192239159312384
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742,712,670,659.571876562,632,876.571876562,783,799,649,628.571876562,650.571876562,0.400998585605,-0.0055040691955,0.0698431076212,0.99999998148,6.86427194252e-05,-0.000178490528609,2.16474141021e-05,1793192239175978752
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.148540507,741.851459493,712,670,660,632,876.851459493,783,799,649,628.851459493,650.851459493,0.400998518577,-0.00550386374213,0.0698428529596,0.999999981453,6.86795100556e-05,-0.00017866928404,2.13041313402e-05,1793192239192645120
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.73946231,741.26053769,712,670,660,632,876.26053769,783,799,649,628.26053769,650.26053769,0.400998333312,-0.00550429629259,0.0698427354028,0.999999981327,6.85001752849e-05,-0.000179438977617,2.13237935546e-05,1793192239209311744
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.674163238,741.325836762,712,670.325836762,659.674163238,632,876.325836762,783,799,649,628,650.325836762,0.400998233469,-0.00550348319609,0.0698424107292,0.999999981193,6.94050630354e-05,-0.000179823450349,2.1443930226e-05,1793192239225978368
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.091374817,741.908625183,712,670.908625183,659.091374817,632,876.908625183,783,799,649,628,650.908625183,0.400998200988,-0.00550168779464,0.0698419227254,0.999999981051,7.11649579858e-05,-0.000179904141676,2.1643300062e-05,1793192239242644992
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.482758797,742,712,671,659.482758797,632.482758797,876.517241203,783,799,649,628,651,0.400999979281,-0.00550300103154,0.0698429938415,0.99999998151,6.86076442086e-05,-0.000178356978782,2.15083451964e-05,1793192239259311616
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.943064604,742,712,671,660,632.943064604,876,783,799.056935396,649,628,651,0.401002670572,-0.00550484384571,0.0698446403599,0.999999982029,6.53936421788e-05,-0.000176656376937,2.13905950998e-05,1793192239275978496
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.353428852,742,712,671,660,632.353428852,876,783,799.646571148,649,628,651,0.401010753821,-0.00550623333563,0.0698489580349,0.999999982189,6.35462625062e-05,-0.000176352180401,2.20154489049e-05,1793192239292645120
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.231895318,876,783,800,649,628,650.768104682,0.401026035533,-0.0055074247545,0.0698563139339,0.999999982822,6.31235022607e-05,-0.000172787422169,2.27007054602e-05,1793192239309311744
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.810768153,876,783,800,649,628,650.189231847,0.401052088071,-0.00550831980589,0.0698682158293,0.999999984118,6.48323544681e-05,-0.000164343990222,2.3476340653e-05,1793192239325978368
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.387937463,742,711.612062537,671,659.612062537,633,876,783,800,649,628,650.387937463,0.401095218266,-0.00550968558228,0.0698815210873,0.999999986442,6.44846766027e-05,-0.000149566410848,2.42594862486e-05,1793192239342645248
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.964279497,742,711.035720503,671,659.035720503,633,876,783,800,649,628,650.964279497,0.401146642347,-0.00551127996967,0.0698955078992,0.999999989019,6.3138230513e-05,-0.000131712607231,2.50462793875e-05,1793192239359311872
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.45960294,742,711,671,659.54039706,632.45960294,876.54039706,783,799.45960294,649,628.54039706,650.45960294,0.401214741998,-0.00551218147825,0.0699028101631,0.99999999022,6.24109943097e-05,-0.000122849340875,2.39339606868e-05,1793192239375978496
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.119022484,742,711.119022484,671.119022484,659.880977516,632.119022484,876.880977516,783,799,649,628.880977516,650,0.401286563651,-0.00551289362827,0.0699083296495,0.999999991023,6.21354469065e-05,-0.000116571190144,2.2474194341e-05,1793192239392644864
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.707600349,742,711.707600349,671.707600349,659.292399651,632.707600349,876.292399651,783,799,649,628.292399651,650,0.401368722255,-0.00551303934941,0.0699085583308,0.999999990803,6.34804498659e-05,-0.000118148057122,2.0138743781e-05,1793192239409311744
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,671.708810737,659.291189263,633,876,783,799,649,628,650,0.401460277824,-0.00551442008796,0.0699064432686,0.999999990185,6.27072310742e-05,-0.000124052044325,1.75524140555e-05,1793192239425978112
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,671.130147161,659.869852839,633,876,783,799,649,628,650,0.401561110466,-0.00551702008773,0.069902014364,0.999999989093,5.98428144148e-05,-0.00013422794687,1.47184059838e-05,1793192239442644992
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.553820455,742,712,671,659.553820455,633,876,783,799,649,628,650.446179545,0.401691662713,-0.00551881804076,0.0699022522643,0.999999988727,5.69864933705e-05,-0.000138479597874,1.10108309026e-05,1793192239459311616
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742.021712118,712,671,659,632.978287882,876,783,799,649,628,651,0.401832331007,-0.00552044855605,0.06990390736,0.999999988613,5.39970984767e-05,-0.00014074179015,7.03663633966e-06,1793192239475978496
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742.59430083,712,671,659,632.40569917,876,783,799,649,628,651,0.402010860071,-0.00552373570729,0.0699071613028,0.999999989597,4.75717711667e-05,-0.00013614334815,2.72919882439e-06,1793192239492645120
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,742.827022074,712,671,659,632,876,783,799.172977926,649,628,651,0.402198157068,-0.00552661592268,0.0699105740398,0.99999999053,4.13597159848e-05,-0.000131250541873,-1.90353714501e-06,1793192239509311744
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742.233544539,712,671,659,632,876,783,799.766455461,649,628,651,0.402406768392,-0.00552850689938,0.069914372796,0.999999991444,3.56661142926e-05,-0.000125642153288,-7.32705472958e-06,1793192239525978368
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742.351396215,712,671,659.70279243,632,876,783,799.648603785,649,628,650.648603785,0.402640340831,-0.00552916924185,0.0699185198018,0.999999992297,2.80316780481e-05,-0.000120170533527,-1.33566339257e-05,1793192239542644736
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742.930797888,712,671,660.861595776,632,876,783,799.069202112,649,628,650.069202112,0.402890109455,-0.0055290343781,0.0699228927717,0.999999993033,1.91379195593e-05,-0.000114787656444,-1.9779460225e-05,1793192239559311360
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742.494719098,712,671.505280902,659.989438196,632,876,783,799,649,628,650,0.403176053769,-0.00553241047831,0.0699272933866,0.999999993645,-1.73501758943e-05,-0.000108724000053,-2.42702240789e-05,1793192239575978240
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742,712,671.918960783,659,632,876,783,799,649,628,650,0.40347367477,-0.00553639037635,0.0699320790936,0.999999993224,-4.99736038908e-05,-0.000101456951878,-2.76016559149e-05,1793192239592645120
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,712,671.331052921,659,632,876,783,799,649,628,650,0.403813639056,-0.00554116823912,0.06993924995,0.999999995261,-3.50151715909e-05,-8.72407014326e-05,-2.53210026779e-05,1793192239609311744
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659,632.252985305,876,783,799,649,628,650,0.404167254843,-0.00554706274325,0.069945197199,0.999999996292,-2.79803058982e-05,-7.78939741604e-05,-2.38030212846e-05,1793192239625978368
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659,632.832036034,876,783,799,649,628,650,0.404538465633,-0.00555439645379,0.0699495673755,0.999999996445,-3.11578963747e-05,-7.48234350042e-05,-2.3268025664e-05,1793192239642644992
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,876,783,799,649,628,650,0.404942490805,-0.00556184395951,0.0699534463225,0.99999999623,-4.85614800008e-05,-6.79186086402e-05,-2.38579424495e-05,1793192239659311616
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,876,783,799,649,628,650,0.405359923437,-0.00556933796008,0.0699571245604,0.999999995347,-7.1777593254e-05,-5.94471494525e-05,-2.49074817543e-05,1793192239675978240
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.562642628,742.562642628,711.437357372,671,659,633,876,783,799.562642628,649,628,650,0.405808555729,-0.00556469901751,0.0699577861768,0.999999996067,-6.17310049877e-05,-5.8253362223e-05,-2.57376081688e-05,1793192239692644864
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.859820667,742.859820667,711,671,659,632.859820667,876.140179333,783,799.859820667,649,628,650,0.406262782218,-0.00555878998376,0.0699531100951,0.999999996124,-5.09550445719e-05,-6.660493712e-05,-2.68136952436e-05,1793192239709311488
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.26760003,742.26760003,711,671,659,632.26760003,876.73239997,783,799.26760003,649,628,650,0.406733199359,-0.00554950431014,0.0699314001294,0.999999993252,-3.97983916113e-05,-0.000105306466179,-2.86959439314e-05,1793192239725978368
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742,711.317467259,671,659,632,876.682532741,783,799,649,628,650,0.407244136235,-0.00554407901228,0.069916843932,0.999999991079,-3.34210636093e-05,-0.000125546813498,-3.10313090187e-05,1793192239742644992
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742,711.896637769,671,659,632,876.103362231,783,799,649,628,650,0.407788475493,-0.00554183600343,0.0699081849213,0.999999990427,-3.09835576611e-05,-0.000130568741326,-3.37401995833e-05,1793192239759311872
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742,712,671.470226325,659.470226325,632.470226325,876.470226325,783,799,649,628,650,0.408385269233,-0.00554860467566,0.0699215045172,0.999999993439,-3.97324778553e-05,-0.000101709170369,-3.46330792753e-05,1793192239775978752
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742,712,672,659.956122718,633,876.956122718,783.043877282,799,649,628.043877282,650,0.408994881197,-0.00555703679897,0.0699383576632,0.999999995825,-5.07418066466e-05,-6.73693442607e-05,-3.5164294909e-05,1793192239792645376
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742,712,672,659.366616277,633,876.366616277,783.633383723,799,649,628.633383723,650,0.409622192563,-0.00556181042816,0.0699397788909,0.999999995979,-5.96411761659e-05,-5.64078603422e-05,-3.61038526126e-05,1793192239809312000
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742,712,672,659.219070968,633,876.219070968,783.780929032,799,649,629,650,0.410256764082,-0.00556608321585,0.0699401862415,0.999999995719,-6.6781190597e-05,-5.25128691998e-05,-3.66805507342e-05,1793192239825978624
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742,712,672,659.798476252,633,876.798476252,783.201523748,799,649,629,650,0.410903277277,-0.00556953220456,0.0699389259374,0.999999994991,-7.10273659586e-05,-6.02410520888e-05,-3.66604067862e-05,1793192239842645248
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742,712,672,660,632.6247934,876.6247934,783,799,649,628.6247934,650,0.411589933254,-0.00556853631339,0.0699456192673,0.999999995524,-7.24927014993e-05,-4.72295557859e-05,-3.82965682515e-05,1793192239859311872
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742,712,672,660,632.04948961,876.04948961,783,799,649,628.04948961,650,0.412297997302,-0.00556516997348,0.0699565542599,0.999999996273,-7.2475018629e-05,-2.31576154066e-05,-4.08160352122e-05,1793192239875978496
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742,712,671.472138909,660,632.527861091,876,783,799,649,628,650,0.413044591858,-0.00556333714114,0.0699835162468,0.999999996591,-7.08715880662e-05,1.62579788109e-05,-3.91291060584e-05,1793192239892645120
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.107355089,742.107355089,712,671.107355089,660,632.892644911,876.107355089,783,799,649,628,650,0.413792417441,-0.00556181499456,0.0700056858493,0.999999995835,-6.86587937993e-05,4.68612542902e-05,-3.76850984314e-05,1793192239909312000
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.695586437,742.695586437,712,671.695586437,660,632.304413563,876.695586437,783,799,649,628,650,0.414529512795,-0.00556103799031,0.0699996320352,0.999999996666,-6.43850128618e-05,3.15226859213e-05,-3.91025946836e-05,1793192239925978368
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.72040229,743,712,672,660,632,876.72040229,783,799,649,628,650,0.415248991912,-0.00555897391927,0.0699657549588,0.999999996323,-6.86818816156e-05,-2.87390880889e-05,-4.25485066205e-05,1793192239942644736
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.140917255,743,712,672,660,632,876.140917255,783,799,649,628,650,0.415949576524,-0.00555552938254,0.069902035564,0.999999986054,-8.21713467189e-05,-0.000137184019332,-4.81700304384e-05,1793192239959311616
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,743,712,672,660,632.436894295,876,783,799,649,628,650,0.416742892945,-0.00555539212575,0.0698943144151,0.999999984346,-8.10506890442e-05,-0.000149068248088,-5.01657532043e-05,1793192239975978496
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742.985682599,712,672,660.014317401,633,876.014317401,783,799,649,628,650,0.417565709504,-0.00555644931719,0.0699051653809,0.999999987512,-7.56249331088e-05,-0.000129083136191,-5.09343200237e-05,1793192239992645120
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742.402325599,712,672,660.597674401,633,876.597674401,783,799,649,628,650,0.418376773978,-0.00556274398725,0.0699390358618,0.999999992262,-8.56723318014e-05,-7.55856262999e-05,-4.92331068002e-05,1793192240009311744
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742.180187919,712,672.180187919,660.819812081,633,877,783,799,649,628,650,0.419207050662,-0.00556726052678,0.0699691311984,0.999999994237,-9.14378647467e-05,-3.01613333757e-05,-4.74943304745e-05,1793192240025978624
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742.760826841,712,672.760826841,660.239173159,633,877,783,799,649,628,650,0.420080024657,-0.00556782533514,0.0699908366238,0.999999995109,-8.76873464639e-05,-2.67902294437e-06,-4.5672073976e-05,1793192240042645248
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,743,712,672.659631577,660,632.659631577,877,783,799.340368423,649,628,650,0.4209322848,-0.00556843242341,0.0700032802867,0.999999994946,-8.84364298354e-05,1.45474099246e-05,-4.55511824559e-05,1793192240059311616
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,743,712,672.08085863,660,632.08085863,877,783,799.91914137,649,628,650,0.421770036288,-0.00556906912583,0.0700092367252,0.999999994348,-9.23371729483e-05,2.45903091761e-05,-4.66219794478e-05,1793192240075978240
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742.505575315,712,672,660,632.494424685,877,783,799.505575315,649,628.494424685,650.494424685,0.422552795864,-0.00556653440289,0.0699734008303,0.999999994292,-8.93014809329e-05,-3.10835080072e-05,-4.97433523787e-05,1793192240092645120
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742.070618302,712,672.070618302,660,633,877,783,799,649,628.929381698,650.929381698,0.423321847885,-0.00556335412138,0.0699274628756,0.999999989611,-8.62583056515e-05,-0.00010235830076,-5.34801862409e-05,1793192240109311488
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742.65761173,712,672.65761173,660,633,877,783,799,649,628.34238827,650.34238827,0.424055967952,-0.0055592193361,0.0698572834828,0.999999972084,-9.13971702143e-05,-0.000209674389499,-5.92824111458e-05,1793192240125978368
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,743,711.758670218,673,660,632.758670218,877,783,799,649,628,650,0.424862930121,-0.0055587165515,0.0698357779566,0.999999965072,-9.6676963545e-05,-0.000238005308908,-6.21463791319e-05,1793192240142645248
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,743,711.179536817,673,660,632.179536817,877,783,799,649,628,650,0.425771853808,-0.00556329769323,0.0698824041198,0.999999980795,-0.000102154024698,-0.000155776016662,-6.08974958496e-05,1793192240159311872
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,743,711.398519007,673,660,632,877,783,799,649,628,650,0.426644556513,-0.00556657553656,0.0699350912514,0.99999999014,-0.000100153797776,-8.03135638006e-05,-5.69123632291e-05,1793192240175978496
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,743,711.976090647,673,660,632,877,783,799,649,628,650,0.427500985253,-0.00556926781405,0.0699905015435,0.99999999414,-9.47940614627e-05,-7.89142345564e-06,-5.16978471547e-05,1793192240192645120
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632,877,783,799,649,628,650,0.428321532759,-0.00557192842447,0.0700086283909,0.999999993385,-0.000100899899973,1.92914942539e-05,-5.17409783067e-05,1793192240209311744
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742.86937154,712,673,660.13062846,632.13062846,877,783,799,649,628.13062846,650,0.42912861835,-0.00557456797335,0.0700192706084,0.999999992273,-0.00010655203115,3.70993002588e-05,-5.22016801421e-05,1793192240225978112
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742.277482609,712,673,660.722517391,632.722517391,877,783,799,649,628.722517391,650,0.429893640111,-0.00557713798072,0.0700091691658,0.999999992241,-0.000108853737001,2.87011382895e-05,-5.33351404383e-05,1793192240242644736
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,742.306386051,711.693613949,672.693613949,660.693613949,633,877,783,799,649,628.693613949,650,0.43062142545,-0.0055773475391,0.0699766003118,0.999999992217,-0.000109296184911,-2.52788663304e-05,-5.45968737582e-05,1793192240259311616
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,742.883176304,711.116823696,672.116823696,660.116823696,633,877,783,799,649,628.116823696,650,0.431316347356,-0.00557547385846,0.0699242026103,0.999999985452,-0.000108097724482,-0.000119487600825,-5.59718153457e-05,1793192240275978240
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,742.541605678,711.458394322,672,660,632.541605678,877,783,799,649,628.458394322,650,0.431997043775,-0.00557215432354,0.0698807568853,0.999999974673,-0.000104797706505,-0.000190286504842,-5.88470696671e-05,1793192240292645120
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742,712,672.033228171,660,632,877,783,799,649,628.966771829,649.966771829,0.432680247434,-0.00556907898165,0.0698455846018,0.999999962935,-0.000101807497822,-0.000244845972315,-6.17776299639e-05,1793192240309311744
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742,712,672.608308421,660,632,877,783,799,649,628.391691579,649.391691579,0.433463253588,-0.00557597400168,0.0699082510255,0.999999983248,-0.000112573388111,-0.00013154530182,-5.93962128008e-05,1793192240325978368
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,742.189355835,712,673,660.189355835,632.189355835,877,783,799.189355835,649,628,649.189355835,0.434214714478,-0.0055811543849,0.0699633055501,0.99999999065,-0.000118720526384,-3.75921065959e-05,-5.65072510668e-05,1793192240342644992
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,742.783148354,712,673,660.783148354,632.783148354,877,783,799.783148354,649,628,649.783148354,0.434898799394,-0.00558267255307,0.0700021021706,0.999999991894,-0.000115002682597,1.50376973396e-05,-5.25342483371e-05,1793192240359311616
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,743,712,673,661,633,877,783,799.634293209,649.365706791,628.365706791,650,0.435548346816,-0.00558337156607,0.0700069627296,0.999999991806,-0.000114779826429,2.25991322339e-05,-5.19835819221e-05,1793192240375978240
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,743,712,673,661,633,877,783,799.058197701,649.941802299,628.941802299,650,0.436178025003,-0.00558359932439,0.0699923000928,0.999999991771,-0.000116567614018,4.23302707244e-06,-5.34017634086e-05,1793192240392644864
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,743,712,673,660.483592401,633,877,783,799,649.483592401,628.483592401,650,0.436754138977,-0.00558548781199,0.069972918447,0.999999991304,-0.000118172175868,-1.89383123923e-05,-5.53926901366e-05,1793192240409311744
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632.906640373,877,783,799,649,628,650,0.437317369183,-0.00558742324663,0.0699532983666,0.999999990264,-0.000120381858352,-4.1143615819e-05,-5.73402972185e-05,1793192240425978368
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632.316304723,877,783,799,649,628,650,0.437844057438,-0.00558861516247,0.0699352318989,0.999999988817,-0.000125922349076,-5.53320376466e-05,-5.87146937244e-05,1793192240442645248
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.269188529,743,712,673,660,632,877,783,798.730811471,649,628,650,0.43834805699,-0.00558970716408,0.0699138973788,0.999999986548,-0.000128187847087,-8.26060593217e-05,-6.03920437013e-05,1793192240459311872
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.849092323,743,712,673,660,632,877,783,798.150907677,649,628,650,0.438825867701,-0.00559068383796,0.0698887906572,0.999999982218,-0.000126673130638,-0.000124984347702,-6.24190825183e-05,1793192240475978496
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.573715887,742.573715887,712,673,660,632,877.426284113,783,798.426284113,649,628,650,0.439264070265,-0.00559157990328,0.0698605737235,0.999999974019,-0.000128597046673,-0.000177662587624,-6.21301997993e-05,1793192240492645120
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.002563733,742,712,673,660,632,878.002563733,783,799.005127467,649,628.002563733,650,0.439688277233,-0.00559244828267,0.069831377166,0.999999962155,-0.000131692568145,-0.000233712542108,-6.10316897215e-05,1793192240509311488
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.588348385,742,712,673,660,632,878.588348385,783,800.17669677,649,628.588348385,650,0.44009822102,-0.00559346899374,0.0698282180196,0.999999963139,-0.000126143519946,-0.000232549799945,-6.10804166829e-05,1793192240525978368
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.17202275,712,673,660,632,878.82797725,783,800.82797725,649,628.82797725,650,0.440503533787,-0.00559501963599,0.0698306815235,0.999999964861,-0.000125138595635,-0.000225550406552,-6.12032540488e-05,1793192240542645248
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.750708502,712,673,660,632,878.249291498,783,800.249291498,649,628.249291498,650,0.440897898878,-0.0055978230395,0.0698464370121,0.999999968051,-0.000134876011261,-0.000204753127975,-6.15012889293e-05,1793192240559311872
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.671064471,742.671064471,711.671064471,673,660,632,877.671064471,783,799.671064471,648.671064471,628,650,0.441262484759,-0.00560053884828,0.0698572676431,0.999999969528,-0.000142300569818,-0.000192203151543,-6.12564732175e-05,1793192240575978496
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.09318465,742.09318465,711.09318465,673,660,632,877.09318465,783,799.09318465,648.09318465,628,650,0.441604533177,-0.00560318836364,0.0698643710529,0.999999969937,-0.000147974716227,-0.000185894882174,-6.06008184646e-05,1793192240592645120
+194,3.233333333,POSE1_TO_POSE2_PRESS,763,742.482436435,711.482436435,673,660,632,877,783,799,648.482436435,628.482436435,650,0.441898444607,-0.00560352877278,0.0698580549149,0.999999967611,-0.000146988559994,-0.000198658560068,-6.08864386047e-05,1793192240609311744
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.05896363,742.94103637,711.94103637,673,660,632,877.05896363,783,799.117927261,649,628.94103637,650,0.442175923333,-0.00560343202921,0.0698479611662,0.999999964055,-0.000144825362519,-0.000217164096459,-6.12824901126e-05,1793192240625978368
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.647529779,742.352470221,711.352470221,673,660,632,877.647529779,783,800.295059558,649,628.352470221,650,0.442388928838,-0.00560339620505,0.0698271103306,0.999999955491,-0.000143591153244,-0.000254308750312,-6.10450282456e-05,1793192240642644992
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.767521882,742,711,673,660,631.767521882,877.767521882,783,800.535043765,649,628.232478118,650,0.442595022465,-0.0056037140859,0.0698076956125,0.999999946741,-0.000143867395447,-0.000286544311544,-6.09292464861e-05,1793192240659311616
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.187974664,742,711,673,660,631.187974664,877.187974664,783,799.375949329,649,628.812025336,650,0.442790797253,-0.00560456001681,0.0697904248917,0.999999938923,-0.000146398607311,-0.000311451032189,-6.09951223727e-05,1793192240675978240
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.389269369,742.389269369,711.389269369,673,660,631,877,783,799,649,628.610730631,650,0.442972110463,-0.00560476985861,0.069781992623,0.999999934621,-0.000145860177365,-0.0003251880892,-6.11112436926e-05,1793192240692644864
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.965407808,742.965407808,711.965407808,673,660,631,877,783,799,649,628.034592192,650,0.443146481398,-0.0056046743454,0.0697778032587,0.999999932146,-0.000143848163672,-0.000333563142557,-6.12514853868e-05,1793192240709311488
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763,743,711.117291434,673,659.882708566,631.117291434,878,783,799.882708566,649,628,650,0.443439132952,-0.00560615804922,0.0697765014337,0.999999930767,-0.00014558391455,-0.000336999955366,-6.08421595628e-05,1793192240742645248
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+204,3.400000000,POSE1_TO_POSE2_PRESS,763,742.706642355,712,673,659,632,878,782.706642355,799,649,627.706642355,650,0.44364305459,-0.0056044767072,0.0697612889054,0.999999923245,-0.000143629117276,-0.000359308560135,-6.1466605681e-05,1793192240775978496
+205,3.416666667,POSE1_TO_POSE2_PRESS,763,742.127822126,712,673,659,632,878,782.127822126,799,649,627.127822126,650,0.443725158036,-0.00560460491296,0.0697515075742,0.99999991773,-0.000146131802252,-0.000373246099389,-6.22343463805e-05,1793192240792644864
+206,3.433333333,POSE1_TO_POSE2_PRESS,763,742,712,673.447823023,659,631.552176977,878,782,799.447823023,649,627.447823023,650,0.443792833552,-0.00560426031837,0.0697449047778,0.999999914174,-0.000144931704785,-0.000383070643554,-6.24775136203e-05,1793192240809311488
+207,3.450000000,POSE1_TO_POSE2_PRESS,763,742.023092851,711.976907149,673.976907149,659,631,877.976907149,782,799.976907149,649,628,650,0.443855760448,-0.0056038230828,0.0697393075494,0.999999911192,-0.000142839990618,-0.000391534787149,-6.25544779171e-05,1793192240825977856
+208,3.466666667,POSE1_TO_POSE2_PRESS,763,742.6111973,711.3888027,673.3888027,659,631,877.3888027,782,799.3888027,649,628,650,0.443902552644,-0.00560439780886,0.0697362721542,0.999999909504,-0.000144609843001,-0.000395235383861,-6.22025844406e-05,1793192240842644736
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+210,3.500000000,POSE1_TO_POSE2_PRESS,763.77493905,743,711,673.77493905,659,631,877,782,799,649,628,650,0.44397990769,-0.00560394440327,0.0697354579985,0.999999909075,-0.000143785668401,-0.000396722344088,-6.15373955542e-05,1793192240875978240
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+218,3.633333333,POSE1_TO_POSE2_PRESS,763,742.412617412,711.412617412,673.412617412,659,631.587382588,878,782.412617412,799.412617412,649,628,650,0.44406438998,-0.00560162835007,0.0697301812876,0.999999906364,-0.000138128184207,-0.000405713168029,-5.99041449782e-05,1793192241009311488
+219,3.650000000,POSE1_TO_POSE2_PRESS,763,742.98627517,711.98627517,673.98627517,659,631.01372483,878,782.98627517,799.98627517,649,628,650,0.444066263589,-0.00560282507804,0.0697292583252,0.999999905959,-0.000139504814443,-0.000406358091851,-5.91065865663e-05,1793192241025978368
+220,3.666666667,POSE1_TO_POSE2_PRESS,763,742.423889395,711.423889395,673.423889395,659,631.576110605,877.423889395,782.423889395,799.423889395,649,628,650,0.444066161293,-0.00560210675128,0.0697292650888,0.999999905709,-0.000138591244297,-0.000407259387787,-5.92727056472e-05,1793192241042645248
+221,3.683333333,POSE1_TO_POSE2_PRESS,763,742.163244176,711.163244176,673,659,631.836755824,877,782,799,649,628,650,0.44406645516,-0.00560153224645,0.0697293601208,0.999999905646,-0.00013765549282,-0.000407731541642,-5.92788690236e-05,1793192241059311872
+222,3.700000000,POSE1_TO_POSE2_PRESS,763,742.742482017,711.742482017,673,659,631.257517983,877,782,799,649,628,650,0.444067881982,-0.00560144386116,0.0697296220133,0.999999906049,-0.00013680626886,-0.000407094102785,-5.88172248951e-05,1793192241075978240
+223,3.716666667,POSE1_TO_POSE2_PRESS,763,742.679526155,711.679526155,673,659.320473845,631.320473845,877,782,799,649,628.320473845,650,0.444068674626,-0.00560094696226,0.0697297297959,0.999999906211,-0.000136287514743,-0.000406903011964,-5.85898893893e-05,1793192241092644864
+224,3.733333333,POSE1_TO_POSE2_PRESS,763,742.102531626,711.102531626,673,659.897468374,631.897468374,877,782,799,649,628.897468374,650,0.444068959647,-0.00560012307194,0.0697297142225,0.999999906181,-0.000136033282431,-0.00040706919673,-5.8550104266e-05,1793192241109311488
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+226,3.766666667,POSE1_TO_POSE2_PRESS,763,742.954586218,711.045413782,673.954586218,659.954586218,631,877,782.954586218,799,649,628.954586218,650,0.444068373645,-0.0055987893692,0.0697292213892,0.999999905679,-0.000135181047508,-0.000408527031014,-5.89451300345e-05,1793192241142644736
+227,3.783333333,POSE1_TO_POSE2_PRESS,763,742.363480279,711.636519721,673.363480279,659.363480279,631,877,782.363480279,799,649,628.363480279,650,0.444066918167,-0.00559929378922,0.0697274830766,0.9999999047,-0.000135893086978,-0.000410688889058,-5.88831175756e-05,1793192241159311616
+228,3.800000000,POSE1_TO_POSE2_PRESS,763,742.223172637,712,673,659,631.223172637,877,782,799,649,628,650,0.444066385883,-0.00559975018716,0.0697268380321,0.999999904265,-0.000136449617175,-0.000411594688535,-5.86601789179e-05,1793192241175978496
+229,3.816666667,POSE1_TO_POSE2_PRESS,763,742.802714782,712,673,659,631.802714782,877,782,799,649,628,650,0.444067327784,-0.00560012990179,0.0697279387546,0.999999904703,-0.000136757824939,-0.000410494771679,-5.81802679433e-05,1793192241192645120
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.378670536,743,711.621329464,673.378670536,659,632,877.378670536,782,799,649,628,650,0.444066852562,-0.00559996979397,0.0697273660712,0.999999904362,-0.00013716203568,-0.000411149738816,-5.8470052636e-05,1793192241209311488
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.952775313,743,711.047224687,673.952775313,659,632,877.952775313,782,799,649,628,650,0.444065645953,-0.00559953108039,0.0697259297323,0.999999903616,-0.000137615794151,-0.000412710412632,-5.91570821104e-05,1793192241225978112
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711.538936133,673.461063867,659,631.461063867,877.461063867,782,799.538936133,649,628,650,0.444067687127,-0.0056000249309,0.0697272172795,0.999999904269,-0.000138700835308,-0.000410843188586,-5.85767059352e-05,1793192241242644736
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.874778069,743,711.874778069,673,659,631,877,782,799.874778069,649,628,650,0.444069413044,-0.00560032096967,0.069728320425,0.999999904902,-0.000139072287378,-0.000409240300555,-5.81058787488e-05,1793192241259311616
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.291984315,743,711.291984315,673,659,631,877,782,799.291984315,649,628,650,0.444068923276,-0.00559958875479,0.0697278576268,0.99999990502,-0.000136629465691,-0.000409726020684,-5.84504523815e-05,1793192241275978240
+235,3.916666667,POSE1_TO_POSE2_PRESS,763,743,711.286650953,673,659,631,877.286650953,782,799,649,628,650,0.444069097534,-0.00559914432384,0.0697276160962,0.999999905229,-0.000134457775951,-0.000409946133969,-5.83755296074e-05,1793192241292644864
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,743,711.861111004,673,659,631,877.861111004,782,799,649,628,650,0.444069938502,-0.00559898883948,0.0697275967271,0.99999990553,-0.000132558313312,-0.000409899567352,-5.78794155915e-05,1793192241309311744
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+238,3.966666667,POSE1_TO_POSE2_PRESS,763,742.987523264,712,673,659,632,878,782.987523264,799,649,628,650,0.444068089403,-0.0055966634166,0.0697267009096,0.999999905122,-0.000131910648245,-0.000411048756448,-5.82631870393e-05,1793192241342645248
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,742.396656243,712,673,659,632,878,782.396656243,799,649,628,650,0.444069812805,-0.0055970840648,0.0697279176998,0.9999999057,-0.00013272297279,-0.000409351632731,-5.84382049668e-05,1793192241359311616
+240,4.000000000,HOLD_POSE2,763,742,712,673,660,632,878,783,800,649,628,650,0.444070503512,-0.00559762640592,0.0697282011945,0.999999905662,-0.000133121406879,-0.000409273824961,-5.87397906191e-05,1793192241399268864
+241,4.016666667,HOLD_POSE2,763,742,712,673,659.426019408,631.426019408,877.426019408,782.426019408,800.573980592,649,628,650,0.444069540687,-0.00559724283894,0.0697273092253,0.999999904978,-0.000133222384462,-0.000410911225199,-5.87127444169e-05,1793192241415935488
+242,4.033333333,HOLD_POSE2,763,742.148120544,711.851879456,673.148120544,659,631,877,782,800.851879456,649.148120544,628,650,0.444068822203,-0.00559677857299,0.0697266857436,0.999999904602,-0.00013253764024,-0.000412068574535,-5.85596135974e-05,1793192241432602112
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+245,4.083333333,HOLD_POSE2,763,743,711,674,659,631,877.8990434,782,800,649.1009566,628,650,0.444068396624,-0.00559836909907,0.0697260630155,0.999999904265,-0.000135907674233,-0.00041180550172,-5.84397164365e-05,1793192241482602752
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+247,4.116666667,HOLD_POSE2,763,743,711,673,659,631.055397116,877.055397116,782.055397116,799.055397116,649,628,650,0.444070239649,-0.00559878937437,0.0697273952002,0.999999905287,-0.000131603404742,-0.000410879063617,-5.73065596363e-05,1793192241515935488
+248,4.133333333,HOLD_POSE2,763,743,711,673,659,631.632024397,877.632024397,782.632024397,799.632024397,649,628,650,0.444070441263,-0.0055971295337,0.0697277704559,0.999999905499,-0.000130988562581,-0.000410502245183,-5.77177754942e-05,1793192241532602112
+249,4.150000000,HOLD_POSE2,763,742.787419553,711.212580447,673.212580447,659,631.787419553,877.787419553,782.787419553,799.787419553,649,628,650,0.444070493193,-0.00559674198606,0.0697277814976,0.999999905419,-0.000131465299133,-0.000410515417603,-5.79221926705e-05,1793192241549268992
+250,4.166666667,HOLD_POSE2,763,742.199934839,711.800065161,673.800065161,659,631.199934839,877.199934839,782.199934839,799.199934839,649,628,650,0.44407028114,-0.00559859823895,0.0697271502159,0.999999904822,-0.000133867130577,-0.000411216373148,-5.77619021852e-05,1793192241565935616
+251,4.183333333,HOLD_POSE2,763,742,712,673.618163772,659,631,877,782,799.381836228,649,628,650,0.444070830276,-0.00559708094564,0.0697278204304,0.999999905338,-0.000132067131913,-0.000410519435411,-5.79306793587e-05,1793192241582602240
+252,4.200000000,HOLD_POSE2,763,742,712,673.039340293,659,631,877,782,799.960659707,649,628,650,0.444071772105,-0.00559382325819,0.0697291620797,0.999999906416,-0.000128099431963,-0.000409101332125,-5.82692207482e-05,1793192241599269120
+253,4.216666667,HOLD_POSE2,763,742,712,673,659,631,877.537659937,782,799.462340063,649,628,650,0.444070982733,-0.00559564949965,0.0697278575988,0.999999905612,-0.000129706697271,-0.000410576079217,-5.81385272865e-05,1793192241615935744
+254,4.233333333,HOLD_POSE2,763,742,712,673.113737837,659,631,877.886262163,782.113737837,799.113737837,649,628,650,0.444070381689,-0.00559742023365,0.0697267731634,0.9999999049,-0.000131579747072,-0.000411739016503,-5.79396837038e-05,1793192241632602368
+255,4.250000000,HOLD_POSE2,763,742,712,673.686629251,659,631,877.313370749,782.686629251,799.686629251,649,628,650,0.444071050545,-0.00559747026559,0.069727356015,0.999999905137,-0.000132884580476,-0.000410791588896,-5.76038564203e-05,1793192241649268992
+256,4.266666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,659,632,878,783,799,649,628,650,0.444070407811,-0.00559650534925,0.0697280406264,0.999999904965,-0.000132166788271,-0.000411468017324,-5.74062806166e-05,1793192241686557440
+257,4.283333333,POSE2_TO_POSE3_RETREAT,763,743,711.5790806,673.4209194,659,632,878,783,799,649,628.5790806,650,0.444071739632,-0.00559589613957,0.0697286884072,0.999999905849,-0.000130863992916,-0.000409703293854,-5.76208962572e-05,1793192241703223808
+258,4.300000000,POSE2_TO_POSE3_RETREAT,763,742.843371641,712,673,659,631.843371641,878,783,799.156628359,649,628.843371641,650,0.444072384642,-0.00559552040767,0.0697289400527,0.999999906279,-0.000129819980417,-0.000408972493246,-5.77134583103e-05,1793192241719889920
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763,742.269903155,712,673,659,631.269903155,878,783,799.730096845,649,628.269903155,650,0.444071201819,-0.0055957660376,0.069728137451,0.99999990551,-0.000129464674831,-0.00041099330467,-5.74811952447e-05,1793192241736556544
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,742,711.688464525,673,659,631,878,782.688464525,799.688464525,649,628,650.311535475,0.444070558579,-0.0055955381277,0.0697274737796,0.999999905023,-0.000129115370428,-0.000412288280448,-5.74513415514e-05,1793192241753223424
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,742,711.099939589,673,659,631,878,782.099939589,799.099939589,649,628,650.900060411,0.444070395089,-0.00559488918854,0.0697269336327,0.999999904791,-0.000128771401761,-0.000412937908016,-5.76014521692e-05,1793192241769890304
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,742.483877758,711,673,659,631,877.516122242,782,799,649,628,650.516122242,0.444069404422,-0.00559495377481,0.0697271070305,0.999999904806,-0.000129495823206,-0.000412635900327,-5.78880540615e-05,1793192241786556928
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.210243936,743,712,673,659,631,878,782.210243936,799.210243936,649,628,650,0.444000196528,-0.00559353841945,0.0696945718288,0.999999880706,-0.000130629518714,-0.000466946167265,-5.90342712621e-05,1793192241853223424
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,743,711.624600894,673,659,631.375399106,877.624600894,782,799,649,628,649.624600894,0.443947862451,-0.00559143402158,0.069675947046,0.999999863494,-0.00012932375006,-0.000502765601943,-5.9274343294e-05,1793192241869890304
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742,711.69762381,673,659,631,877.30237619,782.30237619,800.30237619,649,628.69762381,650,0.443652472053,-0.00558509242281,0.069633239989,0.999999829119,-0.0001243278449,-0.000568451699022,-5.62732520938e-05,1793192241936557056
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742,711.973556621,673,659,631.973556621,877.026443379,782.026443379,799.973556621,649,628,650,0.443168467769,-0.00557041660683,0.0696586916117,0.999999847631,-0.000106614654387,-0.000539836544069,-4.41450758304e-05,1793192242003223552
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742,711.397314833,673,659,631.397314833,877.602685167,782.602685167,799.397314833,649,628,650,0.442996507782,-0.0055668565482,0.0696691338679,0.999999855841,-9.89926914204e-05,-0.000526336436432,-3.85846480512e-05,1793192242019889920
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742.178979743,711,673,659,631,877.821020257,783,799.178979743,649,628,650,0.442810590304,-0.00556182409662,0.0696779157777,0.999999862837,-9.03968445365e-05,-0.000514822257808,-3.33631358044e-05,1793192242036556800
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742.755391461,711,673,659,631,877.244608539,783,799.755391461,649,628,650,0.442593679658,-0.00555352213564,0.0696830108178,0.999999867523,-7.96384488998e-05,-0.00050771791929,-2.88942003717e-05,1793192242053223424
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.338675437,743,711.338675437,673,659.338675437,631.338675437,877,783,799.661324563,649,628,650,0.442353794911,-0.00554554910154,0.0696889865863,0.99999987209,-6.61768925345e-05,-0.00050089495248,-2.3361828586e-05,1793192242069890304
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.927025768,743,711.927025768,673,659.927025768,631.927025768,877,783,799.072974232,649,628,650,0.442096973407,-0.00553781855475,0.0696956116371,0.999999876412,-5.07225381036e-05,-0.000494279414872,-1.70454804903e-05,1793192242086556928
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.490550199,743,711.490550199,673,659.490550199,631.490550199,877,783,799,649,628.509449801,650,0.441806855732,-0.00552690799805,0.0697049683494,0.999999885605,-3.45407111111e-05,-0.000476938157014,-1.12241090044e-05,1793192242103223552
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,659.08984149,631.08984149,877,783,799,649,628.91015851,650,0.441506316061,-0.00551336585626,0.0697153125655,0.999999895566,-1.50315911618e-05,-0.000456737304226,-5.75443783279e-06,1793192242119890176
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,659.66380364,631.66380364,877,783,799,649,628.33619636,650,0.441175021045,-0.00548806946003,0.0697288938122,0.999999907606,2.18519574642e-05,-0.000429310881418,-1.80227506922e-06,1793192242136556544
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.238068316,743,711.238068316,673,660,632,877.238068316,783,799,649,628.238068316,650,0.440821286512,-0.00546479896073,0.0697429398788,0.999999915972,7.89625098285e-05,-0.000402257485229,3.1042457344e-06,1793192242153223424
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632,877.602320777,783,799.397679223,649,628.602320777,650,0.43999948223,-0.00543848220198,0.0697581032248,0.999999913376,0.000184564164294,-0.000372765515524,1.51440473099e-05,1793192242186556928
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632,877.012460468,783,799.987539532,649,628.012460468,650,0.439538554808,-0.00543957620249,0.069751680101,0.999999912231,0.000172646408895,-0.00038118497471,2.06997250649e-05,1793192242203223552
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.432068429,743,712,673,660,632,877,783,799.432068429,649,628.567931571,650.567931571,0.439023562938,-0.00543248886028,0.0697429717489,0.999999910613,0.00014969629046,-0.000395171387036,1.42716956987e-05,1793192242219890176
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,743,712,673,660.146879929,632,877.146879929,783,799,649,628.853120071,650.853120071,0.438506951189,-0.00542716300684,0.0697377302297,0.999999910113,0.000138977430853,-0.000400437664888,1.03905063492e-05,1793192242236556800
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,743,712,673,660.722212952,632,877.722212952,783,799,649,628.277787048,650.277787048,0.437989017682,-0.00542749048832,0.0697427454218,0.999999914172,0.00016463201089,-0.000379916608712,1.46929050677e-05,1793192242253223424
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742.704968648,711.704968648,673,660.704968648,632,877.704968648,783,799.295031352,649,628,650,0.437446095563,-0.00543151447679,0.0697562498468,0.999999922673,0.000166366683593,-0.000355872707232,1.82012422961e-05,1793192242269890048
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742.134497817,711.134497817,673,660.134497817,632,877.134497817,783,799.865502183,649,628,650,0.43687984417,-0.00543898950177,0.0697776797686,0.999999935187,0.000145769879011,-0.000328539896347,2.09682490344e-05,1793192242286556672
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742,711.456920179,673.456920179,660,632,877,783,799.543079821,649,628,650,0.436259246804,-0.00544141931012,0.0697989085892,0.999999943201,0.000149409121482,-0.000301076032459,2.50512395452e-05,1793192242303223296
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.627964906,742,712,673.372035094,660,632,877,783,799,649,628,650,0.434930984146,-0.00543728566648,0.0698238691272,0.999999947489,0.000156592301401,-0.000282052048463,3.07943645666e-05,1793192242336556544
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742,711.797856728,673,660,632,876.797856728,783,799,649,628,650,0.434235341528,-0.00543359115463,0.069824953442,0.999999945187,0.000157961453536,-0.000289255894651,3.17049797262e-05,1793192242353223168
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,711.225621589,673,660,632,876.225621589,783,799,649,628,650,0.433522785539,-0.0054313956659,0.0698184066039,0.999999940709,0.000166724454186,-0.000299654328425,3.14893723219e-05,1793192242369889792
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.640093368,742.359906632,711,673,660,632,876.359906632,783,799.359906632,649,628,650,0.43278781657,-0.00543076723686,0.0698209673726,0.999999944103,0.000164454177802,-0.00028934099483,3.21112023558e-05,1793192242386556672
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.045912288,742.954087712,711,673,660,632,876.954087712,783,799.954087712,649,628,650,0.432038258322,-0.00543115885592,0.0698294565667,0.999999952176,0.000155001996966,-0.000265545725536,3.32781465232e-05,1793192242403223296
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.111052066,743,712,673,660,632,877.888947934,783,799,648.888947934,628.111052066,650,0.430381275362,-0.00543118736211,0.0697753355761,0.999999922385,0.000166307391501,-0.000355559834925,3.38858953965e-05,1793192242436556800
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.145257836,742.145257836,712,673,660,632,877,783,799,648.854742164,628.145257836,650,0.427964026358,-0.00543106818604,0.069790674401,0.999999930703,0.000163453582239,-0.000332581669884,3.5583682926e-05,1793192242486556928
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763.436127254,742.436127254,712,672.563872746,660,632,876.563872746,783,799,648.563872746,628,650,0.427150423555,-0.00542961664047,0.0698387715512,0.999999951281,0.000172471354104,-0.000257139305245,3.96413633008e-05,1793192242503223808
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.984635456,743,712,672.015364544,660,632,876,783,799,648.015364544,628,650,0.426318868623,-0.00542661420992,0.0698841770316,0.999999965016,0.000183986020254,-0.000184952888172,4.36907224303e-05,1793192242519890432
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.407724571,743,712,672.592275429,660,632,876,783,799,648.592275429,628,650,0.425434560939,-0.00542568737126,0.0698628318781,0.999999957908,0.000179428424221,-0.000223909274583,4.30666507713e-05,1793192242536557056
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742.83093137,712,672.83093137,660,632,876,783,799,649,628.16906863,650,0.424546174521,-0.00542492361251,0.0698396742919,0.999999949117,0.000175597033971,-0.000263029143896,4.17983114434e-05,1793192242553223680
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742,711.670326752,672,660,632.329673248,876.329673248,783,799,649,628.670326752,650,0.422714176237,-0.00542186907044,0.0697609448809,0.999999906595,0.000176400730857,-0.000392887651608,3.65020612813e-05,1793192242586556928
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742,711.080239829,672,660,632.919760171,876.919760171,783,799,649,628.080239829,650,0.421752299056,-0.00541735817311,0.0696910367742,0.999999845663,0.000183208664675,-0.000523384301084,3.42998440008e-05,1793192242603223552
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.500262128,742,711.500262128,672,660,633,876.499737872,783,799,649,628,650,0.420887954543,-0.00541841638853,0.0697046267021,0.999999863079,0.000182671755407,-0.000489183458838,3.4232591164e-05,1793192242619890176
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.921397604,742.078602396,711.921397604,672,660,633,876,783,799,649,628,650,0.420050301505,-0.00542047772691,0.0697387903101,0.999999894705,0.00018227623632,-0.000419656436916,3.53974993245e-05,1793192242636557056
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742.767148014,711.232851986,672,660.232851986,633,876,783,799,649,628.232851986,650,0.418496065013,-0.0054239306284,0.0698725200459,0.999999957617,0.0001950549199,-0.000211086580952,4.65072496426e-05,1793192242669890304
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742.17824012,711.82175988,672,660.82175988,633,876,783,799,649,628.82175988,650,0.41767438802,-0.00542105710734,0.0698818999167,0.999999958425,0.000195781961225,-0.000206434714646,4.6946045639e-05,1793192242686556672
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,659.560589091,632.439410909,876.439410909,783,799,649,628.560589091,650,0.415064098055,-0.00541212438815,0.0697836050818,0.999999922627,0.000192757472613,-0.00034092556058,3.68869255194e-05,1793192242736557056
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632.137242624,876,783,799,648.862757376,628.862757376,650,0.414200713344,-0.00540779173858,0.0697577509593,0.999999905989,0.000192601721903,-0.000386869645055,3.54761054892e-05,1793192242753223680
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632.708926365,876,783,799,648.291073635,628.291073635,650,0.413398232981,-0.00540655728763,0.0697425560656,0.99999989144,0.000194328415778,-0.000421985109192,3.58371397766e-05,1793192242769890304
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711.709701587,671.709701587,660,632.709701587,876,783,799,648.290298413,628,650,0.412675301281,-0.00540784604867,0.0697644260638,0.999999906503,0.000197576318303,-0.000382893232,3.67596682814e-05,1793192242786556928
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,711.118280008,671.118280008,660,632.118280008,876,783,799,648.881719992,628,650,0.412034884534,-0.00541175210825,0.0698247430441,0.999999943186,0.000202402150963,-0.000266826937124,3.82646278509e-05,1793192242803223552
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,711.463218336,671,660,632,876,783,799,649,628,650,0.41136376244,-0.00541343497748,0.0698659311249,0.999999959599,0.000197924626557,-0.000199864116096,4.10144258284e-05,1793192242819890176
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742,712,671.042064711,660,632,876,783,799,649,628,650.042064711,0.410680708641,-0.00541458970755,0.06989709539,0.999999968821,0.000191786927916,-0.000153831814244,4.37312824018e-05,1793192242836556800
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,659.805410178,632,876,783,798.805410178,649,628,650.805410178,0.409228044187,-0.00541521469239,0.0698237210784,0.999999939496,0.000195528263354,-0.000284981539602,3.95203643054e-05,1793192242869890304
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,659.231140523,632,876,783,798.231140523,649,628,650.231140523,0.408554692926,-0.00540967656838,0.0697809905509,0.999999916092,0.000195191423126,-0.000358435664585,3.52154834817e-05,1793192242886557184
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,659.352755221,632.352755221,876.352755221,783,798.352755221,649,628,650,0.407947847212,-0.00540603542986,0.0697680759028,0.999999909553,0.000198719509523,-0.000374508598372,3.38773593095e-05,1793192242903223808
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,711.732830582,671.732830582,659,633,876,783,799,649,628,650,0.403117260091,-0.00538970737485,0.0698283646994,0.999999936247,0.000221466060407,-0.000278014885007,3.41647722907e-05,1793192243086556928
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_03/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..160badf6dba851befdc24ee02814ea50f6420c55
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,390 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709271539,5.45948484089e-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,0.575709239239,5.46249222405e-05,1.06002917653,0.546279969585,0.00872735451836,1.05969846087
+109,1.816666667,pose1_to_pose2_press,0.575709277066,5.46377169955e-05,1.06002916863,0.546280007182,0.00872736660511,1.05969845487
+110,1.833333333,pose1_to_pose2_press,0.57570931813,5.46516069439e-05,1.06002916006,0.546280047997,0.00872737972645,1.05969844835
+111,1.850000000,pose1_to_pose2_press,0.57570944837,5.46770775215e-05,1.06002913818,0.546280177737,0.00872740369741,1.05969843169
+112,1.866666667,pose1_to_pose2_press,0.575709763233,5.45717951043e-05,1.06002913302,0.546280494004,0.0087273032131,1.05969842738
+113,1.883333333,pose1_to_pose2_press,0.575711503131,5.45259027407e-05,1.06002919151,0.546282234965,0.00872726054011,1.05969847569
+114,1.900000000,pose1_to_pose2_press,0.575716013792,5.45762693907e-05,1.06002927116,0.546286744269,0.00872730658603,1.0596985627
+115,1.916666667,pose1_to_pose2_press,0.57572524857,5.45853397738e-05,1.06002907313,0.54629597872,0.00872731479151,1.05969837107
+116,1.933333333,pose1_to_pose2_press,0.575742359983,5.45843290079e-05,1.0600290442,0.546313091389,0.00872731791971,1.05969833894
+117,1.950000000,pose1_to_pose2_press,0.575769054221,5.45742449448e-05,1.06002920404,0.546339784332,0.00872730341257,1.05969849794
+118,1.966666667,pose1_to_pose2_press,0.575807292017,5.46477617495e-05,1.06002914276,0.546378021137,0.00872737347991,1.05969843422
+119,1.983333333,pose1_to_pose2_press,0.575856786826,5.46504296138e-05,1.06002930091,0.546427516963,0.00872737913289,1.05969858017
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+350,5.833333333,pose2_to_pose3_retreat,0.576021724863,5.45565574001e-05,1.06002915761,0.546592454876,0.00872728541084,1.05969845259
+351,5.850000000,pose2_to_pose3_retreat,0.57594720645,5.46796164022e-05,1.06002918642,0.546517935265,0.00872740454744,1.0596984847
+352,5.866666667,pose2_to_pose3_retreat,0.575886313604,5.45828785446e-05,1.06002899353,0.546457043012,0.00872730960322,1.05969828607
+353,5.883333333,pose2_to_pose3_retreat,0.57583750021,5.45404061349e-05,1.06002892773,0.546408230371,0.00872726946314,1.05969821438
+354,5.900000000,pose2_to_pose3_retreat,0.575800380273,5.46297834776e-05,1.06002893082,0.546371110099,0.00872735802913,1.05969822605
+355,5.916666667,pose2_to_pose3_retreat,0.575772705707,5.47330611906e-05,1.0600291557,0.546343433814,0.00872745536963,1.05969844819
+356,5.933333333,pose2_to_pose3_retreat,0.57575264831,5.46802071852e-05,1.06002941423,0.546323375949,0.00872740052778,1.0596986963
+357,5.950000000,pose2_to_pose3_retreat,0.575738502908,5.46211887916e-05,1.06002899737,0.54630923244,0.00872734839976,1.05969829174
+358,5.966666667,pose2_to_pose3_retreat,0.575728432083,5.46228508178e-05,1.06002919563,0.546299161795,0.0087273505185,1.0596984861
+359,5.983333333,pose2_to_pose3_retreat,0.575722079036,5.46352626663e-05,1.06002934754,0.546292808862,0.00872736320389,1.05969863499
+360,6.000000000,pose2_to_pose3_retreat,0.575717587188,5.46374651624e-05,1.06002917186,0.546288317915,0.00872736868249,1.0596984648
+361,6.016666667,pose2_to_pose3_retreat,0.575714909478,5.45748844796e-05,1.06002903911,0.546285641303,0.00872730985706,1.0596983328
+362,6.033333333,pose2_to_pose3_retreat,0.575713759775,5.45312311133e-05,1.06002897475,0.546284492219,0.00872726828948,1.05969826811
+363,6.050000000,pose2_to_pose3_retreat,0.575713174446,5.45090066199e-05,1.06002894199,0.546283907205,0.00872724712689,1.05969823517
+364,6.066666667,pose2_to_pose3_retreat,0.575712589619,5.44868011421e-05,1.06002890925,0.546283322692,0.00872722598241,1.05969820226
+365,6.083333333,pose2_to_pose3_retreat,0.575712217367,5.44833496395e-05,1.06002891035,0.546282950242,0.0087272218891,1.05969820422
+366,6.100000000,pose2_to_pose3_retreat,0.575712116639,5.44840484721e-05,1.06002891399,0.546282849399,0.00872722221295,1.05969820825
+367,6.116666667,pose2_to_pose3_retreat,0.575712066099,5.44843991094e-05,1.06002891582,0.546282798801,0.00872722237544,1.05969821028
+368,6.133333333,pose2_to_pose3_retreat,0.575711887014,5.44856415702e-05,1.06002892231,0.546282619512,0.00872722295122,1.05969821745
+369,6.150000000,pose2_to_pose3_retreat,0.575711646185,5.44873123904e-05,1.06002893103,0.546282378409,0.0087272237255,1.05969822709
+370,6.166666667,pose2_to_pose3_retreat,0.575711608616,5.44875730384e-05,1.06002893239,0.546282340797,0.00872722384629,1.0596982286
+371,6.183333333,pose2_to_pose3_retreat,0.575711311121,5.44896370038e-05,1.06002894317,0.546282042962,0.00872722480276,1.05969824051
+372,6.200000000,pose2_to_pose3_retreat,0.575711067424,5.44913277284e-05,1.06002895199,0.546281798987,0.00872722558626,1.05969825027
+373,6.216666667,pose2_to_pose3_retreat,0.575710930638,5.44922767202e-05,1.06002895695,0.546281662046,0.00872722602604,1.05969825574
+374,6.233333333,pose2_to_pose3_retreat,0.575710707162,5.44938271529e-05,1.06002896504,0.546281438315,0.00872722674453,1.05969826469
+375,6.250000000,pose2_to_pose3_retreat,0.57571060134,5.44945613308e-05,1.06002896887,0.546281332372,0.00872722708476,1.05969826893
+376,6.266666667,pose2_to_pose3_retreat,0.575710280971,5.44969537504e-05,1.06002898065,0.546281011641,0.00872722829582,1.05969828192
+377,6.283333333,pose2_to_pose3_retreat,0.575710193019,5.4510729611e-05,1.06002899761,0.546280923861,0.00872724261985,1.05969829797
+378,6.300000000,pose2_to_pose3_retreat,0.575709959162,5.45473586328e-05,1.06002904271,0.546280690461,0.00872728070642,1.05969834066
+379,6.316666667,pose2_to_pose3_retreat,0.575709887989,5.45585065567e-05,1.06002905643,0.546280619426,0.00872729229794,1.05969835366
+380,6.333333333,pose2_to_pose3_retreat,0.575709870093,5.45613095338e-05,1.06002905988,0.546280601566,0.00872729521245,1.05969835692
+381,6.350000000,pose2_to_pose3_retreat,0.575709832172,5.45672491419e-05,1.0600290672,0.546280563718,0.00872730138841,1.05969836384
+382,6.366666667,pose2_to_pose3_retreat,0.575709751626,5.45798650623e-05,1.06002908273,0.54628048333,0.00872731450634,1.05969837855
+383,6.383333333,pose2_to_pose3_retreat,0.57570953384,5.46139768026e-05,1.06002912472,0.54628026597,0.00872734997546,1.0596984183
+384,6.400000000,pose2_to_pose3_retreat,0.575709426057,5.4626514776e-05,1.06002913305,0.546280158112,0.00872736218341,1.0596984246
+385,6.416666667,pose2_to_pose3_retreat,0.575709414038,5.4625832232e-05,1.06002912802,0.546280145948,0.00872736098427,1.0596984189
+386,6.433333333,pose2_to_pose3_retreat,0.575709337438,5.46214820041e-05,1.06002909593,0.546280068425,0.00872735334146,1.05969838254
+387,6.450000000,pose2_to_pose3_retreat,0.575709271565,5.46076526956e-05,1.06002906836,0.546280001774,0.00872733672807,1.05969835127
+388,6.466666667,pose2_to_pose3_retreat,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_03/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4111e1520b668e6d264c976a6cdf5ce6c8566a25
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd6f9bb8796f56a9deb1689976b5b2385e679367289cf44906f399f28302bc0c
+size 25002711
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dd3ee3c53ae8814de4af4da571a07c8599d08b98
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_02/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
+0,0.000000000,BASELINE,764,742,712,671,659,632,877,783,798,649,629,650,0.400946464722,-0.00538833754643,0.0698156496428,0.999999932876,0.000216974520377,-0.00029435604108,2.29151291806e-05,1793192244041488640
+1,0.016666667,BASELINE,764.578660577,742,711.421339423,671,659,632.578660577,876.421339423,783,798.578660577,649,628.421339423,650,0.400946818619,-0.00538802926776,0.069816476259,0.999999933142,0.00021583531322,-0.000294294437755,2.28338591075e-05,1793192244058155264
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+12,0.200000000,BASELINE,763,742,712,671,659,632,876.959954544,783,799,649,629,650,0.400948471877,-0.00538673369309,0.0698189205149,0.999999934653,0.000214934674525,-0.000289800190623,2.26674420528e-05,1793192244241488896
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+18,0.300000000,BASELINE,764,742,711.569209825,671,659,632,876,783,799.569209825,649,628,650,0.40094651559,-0.00538718410046,0.0698175755299,0.999999933658,0.000216042187007,-0.000292410403647,2.25108180914e-05,1793192244341488896
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+21,0.350000000,BASELINE,763,742.178060329,712,671.178060329,659,632.821939671,876,783,799.178060329,649,628,650,0.400946538935,-0.00538706241888,0.0698167867321,0.99999993362,0.00021538294767,-0.00029302188565,2.25440518368e-05,1793192244391488768
+22,0.366666667,BASELINE,763,742.752068617,712,671.752068617,659,632.247931383,876,783,799.752068617,649,628,650,0.400945770051,-0.00538785103112,0.0698172941753,0.999999933642,0.000215293469789,-0.000293011237289,2.2579523586e-05,1793192244408155392
+23,0.383333333,BASELINE,763,742.664451909,712,672,659,632.335548091,876,783,799.664451909,649.335548091,628.335548091,650,0.400945612243,-0.00538787553213,0.0698172892862,0.999999933652,0.000215436000377,-0.0002928705047,2.25914349221e-05,1793192244424822016
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+27,0.450000000,BASELINE,764,742,711,671,659,633,876,783,799,649,628.338305758,651,0.400944480146,-0.00538842284995,0.0698162984408,0.999999933233,0.000214974265972,-0.000294608212952,2.29549896375e-05,1793192244491488768
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+29,0.483333333,BASELINE,764,742,711,671,659,632.190015315,876,783,799,649,628,650.190015315,0.400945967193,-0.00538816884253,0.0698175468571,0.999999933599,0.000214373976938,-0.000293805115818,2.28811400198e-05,1793192244524822272
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+33,0.550000000,BASELINE,764,742,712,671,660,632.854857225,876.854857225,783,799,649,628,650,0.400948546308,-0.00538682259829,0.0698190193053,0.999999934356,0.000216052587557,-0.000289996179905,2.26250418905e-05,1793192244591488512
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+35,0.583333333,BASELINE,764,742,711.699172886,671,659.699172886,632.300827114,876,783,799,649,628,650,0.400947381515,-0.0053883926778,0.0698187239583,0.999999934378,0.000214634620803,-0.000290951025861,2.2883103738e-05,1793192244624822016
+36,0.600000000,BASELINE,764,742,711.113531578,671,659.113531578,632.886468422,876,783,799,649,628,650,0.400946058267,-0.00538991086124,0.0698184124295,0.999999934465,0.000213180236373,-0.000291732172149,2.27350558742e-05,1793192244641488896
+37,0.616666667,BASELINE,764,742,711,671,659,632.531708762,876,783,799,649,628,650,0.400945567164,-0.00538772674788,0.0698179324393,0.999999933631,0.000216217705814,-0.000292381287338,2.23682927115e-05,1793192244658155520
+38,0.633333333,BASELINE,764,742,711.048911328,671,659,632,876,783,799,649,628,650.048911328,0.400945367214,-0.00538512670235,0.0698174666992,0.999999932687,0.000219817758781,-0.00029295293136,2.20251527228e-05,1793192244674822400
+39,0.650000000,BASELINE,764,742,711.626457304,671,659,632,876,783,799,649,628,650.626457304,0.400946151234,-0.00538765382218,0.0698175928191,0.99999993309,0.000217823534943,-0.000293030425486,2.25057910773e-05,1793192244691489024
+40,0.666666667,BASELINE,764,742,712,671,659.203313166,632,876,783,799,649,628.203313166,651,0.400947031273,-0.0053890734968,0.0698178707016,0.999999933556,0.000216403080164,-0.000292475108892,2.27195666158e-05,1793192244708155392
+41,0.683333333,BASELINE,764,742,712,671,659.778905351,632,876,783,799,649,628.778905351,651,0.40094808713,-0.00538846537037,0.0698184264709,0.999999934142,0.00021603323224,-0.000290761076614,2.24446997564e-05,1793192244724822016
+42,0.700000000,BASELINE,764,742,711.636985396,671,659.636985396,632.363014604,876,783,799,649,629,650.636985396,0.400947501097,-0.00538789827117,0.0698184040147,0.999999933937,0.000216880756442,-0.000290846976574,2.22848465765e-05,1793192244741488640
+43,0.716666667,BASELINE,764,742,711.047564203,671,659.047564203,632.952435797,876,783,799,649,629,650.047564203,0.400945891042,-0.00538735676003,0.069818020928,0.999999933237,0.00021848753681,-0.000292055466477,2.21967256587e-05,1793192244758155264
+44,0.733333333,BASELINE,763.46818163,742,711,671,659,633,876,783,799,649,628.46818163,650,0.400946886731,-0.00538752429527,0.0698184151024,0.999999933606,0.000218013407512,-0.000291128929034,2.2391484913e-05,1793192244774821888
+45,0.750000000,BASELINE,763,742.109123844,711.109123844,671.109123844,659.109123844,633,876.109123844,783,799.109123844,649,628.109123844,650,0.400947618431,-0.00538781501484,0.0698186630046,0.999999933993,0.000217104889048,-0.000290461377835,2.26039930937e-05,1793192244791488512
+46,0.766666667,BASELINE,763,742.681353889,711.681353889,671.681353889,659.681353889,633,876.681353889,783,799.681353889,649,628.681353889,650,0.400946259086,-0.00538836437306,0.069818000598,0.999999934059,0.000215128077179,-0.000291688281035,2.27864449603e-05,1793192244808155392
+47,0.783333333,BASELINE,763.261390178,742.738609822,712,671.738609822,659.738609822,632.738609822,876.738609822,783,800,649,628.738609822,650,0.400945570685,-0.00538834169833,0.0698177948885,0.999999933988,0.000214574439942,-0.000292338513769,2.28194877784e-05,1793192244824822016
+48,0.800000000,BASELINE,763.851235644,742.148764356,712,671.148764356,659.148764356,632.148764356,876.148764356,783,800,649,628.148764356,650,0.400945725373,-0.00538760022373,0.0698181630512,0.999999933747,0.000215809122247,-0.000292264119354,2.26647875611e-05,1793192244841488896
+49,0.816666667,BASELINE,764,742,712,671,659,632.433082327,876,783,799.566917673,649,628,650.433082327,0.400947135851,-0.00538746591505,0.0698190259309,0.999999934246,0.000215973106064,-0.000290446707199,2.24429868007e-05,1793192244858155520
+50,0.833333333,BASELINE,763.987781188,742,711.987781188,671.012218812,659.012218812,633,876.012218812,783,799,649,628,650.987781188,0.400948892674,-0.0053875137416,0.0698200218406,0.999999934959,0.000215807389121,-0.000288126611231,2.22020712244e-05,1793192244874822144
+51,0.850000000,BASELINE,763.40921922,742,711.40921922,671.59078078,659.59078078,633,876.59078078,783,799,649,628,650.40921922,0.400947071397,-0.00538651197465,0.0698194499965,0.999999934211,0.000217097805274,-0.000289754955493,2.21241370132e-05,1793192244891489024
+52,0.866666667,BASELINE,763.168252812,742,711.168252812,672,659.831747188,633,877,783.168252812,799,649,628,650,0.400946254937,-0.00538575470266,0.0698190422268,0.999999933708,0.000218060803155,-0.00029076083532,2.21804410065e-05,1793192244908155648
+53,0.883333333,BASELINE,763.743090965,742,711.743090965,672,659.256909035,633,877,783.743090965,799,649,628,650,0.400947866631,-0.00538558825628,0.0698190309453,0.999999933807,0.000218232589993,-0.000290262520783,2.25611335577e-05,1793192244924822016
+54,0.900000000,BASELINE,763.675369274,742,712,671.675369274,659.324630726,633,877,784,799,649,627.675369274,650,0.400948465687,-0.00538555473831,0.0698190968619,0.999999933806,0.000218691930055,-0.00028991256088,2.26232074431e-05,1793192244941488640
+55,0.916666667,BASELINE,763.088414172,742,712,671.088414172,659.911585828,633,877,784,799,649,627.088414172,650,0.400948246461,-0.00538562863582,0.0698192251601,0.999999933726,0.000219383633264,-0.000289682481944,2.24278151008e-05,1793192244958155520
+56,0.933333333,BASELINE,763,742,711.507843043,671.492156957,659.507843043,633,876.507843043,783.507843043,799,649,627.984313914,650,0.400947958106,-0.0053864698397,0.0698188798146,0.999999933574,0.000219509964867,-0.000290105802912,2.24776310442e-05,1793192244974822144
+57,0.950000000,BASELINE,763.071552441,742,711.071552441,671.928447559,659,633,876,783.071552441,799,649,628.928447559,650,0.400947566967,-0.00538742287947,0.0698184431648,0.999999933482,0.000219202918583,-0.00029065008367,2.2540642179e-05,1793192244991488768
+58,0.966666667,BASELINE,763.650639258,742,711.650639258,671.349360742,659,633,876,783.650639258,799,649,628.349360742,650,0.400946533721,-0.00538820396074,0.0698179546968,0.999999933899,0.000216533051772,-0.000291230411813,2.23887903027e-05,1793192245008155392
+59,0.983333333,BASELINE,764,742,712,671,659,633,876.227005074,784,798.772994926,649,628,650,0.400946009236,-0.0053886625927,0.0698178035995,0.999999934128,0.000214803507941,-0.000291723654372,2.23686743807e-05,1793192245024822016
+60,1.000000000,BASELINE,764,742,712,671,659,633,876.799232958,784,798.200767042,649,628,650,0.40094625846,-0.0053886308531,0.0698181655659,0.999999934083,0.000214503979939,-0.000292084459762,2.25488986989e-05,1793192245041488896
+61,1.016666667,BASELINE,764,742,712,671.384879598,659,633,877.384879598,783.615120402,798.384879598,649,628.384879598,650,0.400945922532,-0.00538725229365,0.0698179297195,0.999999933465,0.000216663586253,-0.000292616489789,2.24132580452e-05,1793192245058155264
+62,1.033333333,BASELINE,764,742,712,671.977778767,659,633,877.977778767,783.022221233,798.977778767,649,628.977778767,650,0.40094527034,-0.00538514580555,0.0698173707674,0.999999932527,0.000220152304514,-0.000293241063217,2.21068988068e-05,1793192245074821888
+63,1.050000000,BASELINE,764,742.555122318,712,672,659,632.444877682,876.889755364,783,799.555122318,649,628.444877682,650.555122318,0.400946852865,-0.00538550135658,0.0698186178837,0.999999933735,0.000218284256301,-0.000290501027291,2.21556704829e-05,1793192245091488768
+64,1.066666667,BASELINE,764,742.868272644,712,671.868272644,659,632.131727356,876.131727356,783,799.868272644,649,628,650.868272644,0.400947977552,-0.0053864117098,0.0698194274623,0.999999934733,0.000216232839029,-0.000288586198805,2.22374709657e-05,1793192245108155648
+65,1.083333333,BASELINE,764,742.292115697,712,671.292115697,659,632.707884303,876.707884303,783,799.292115697,649,628,650.292115697,0.400947263979,-0.00538887044366,0.0698185235828,0.999999934774,0.000214266491598,-0.000289897521181,2.23840516053e-05,1793192245124822272
+66,1.100000000,BASELINE,764,742.289681936,712,671,659,633,876.710318064,783,799,649.289681936,628,650,0.400946772666,-0.00538938719632,0.0698181570118,0.999999934649,0.00021396324703,-0.000290558123805,2.23088631436e-05,1793192245141488896
+67,1.116666667,BASELINE,764,742.877280569,712,671,659,633,876.122719431,783,799,649.877280569,628,650,0.400946509933,-0.00538790676314,0.0698183430236,0.999999934356,0.000215370382309,-0.00029054950865,2.20056013631e-05,1793192245158155264
+68,1.133333333,BASELINE,764,742.541994478,712,671.458005522,659,633,876,783,799,649.541994478,628,650,0.400947091628,-0.00538869383371,0.069818673085,0.999999934965,0.000213701674134,-0.000289680322086,2.20487270996e-05,1793192245174821888
+69,1.150000000,BASELINE,764,742,712,671.963217471,659.036782529,632.963217471,876.036782529,783,799,649,628,650,0.400947790014,-0.00539000698406,0.0698189928042,0.999999935722,0.000211423959106,-0.000288729045018,2.2185866877e-05,1793192245191488768
+70,1.166666667,BASELINE,764,742,712,671.386400029,659.613599971,632.386400029,876.613599971,783,799,649,628,650,0.400946928852,-0.00539025571638,0.0698186023833,0.999999935228,0.000212126048073,-0.000289907872307,2.23608005108e-05,1793192245208155392
+71,1.183333333,BASELINE,764,742,711.810433769,671,659.810433769,632.189566231,877,783.189566231,799,649,628.189566231,650,0.400946445214,-0.00538981750934,0.0698183892508,0.999999934724,0.000213300632868,-0.000290777396473,2.24468001018e-05,1793192245224822016
+72,1.200000000,BASELINE,764,742,711.236194643,671,659.236194643,632.763805357,877,783.763805357,799,649,628.763805357,650,0.400946727657,-0.00538798534653,0.0698185358768,0.999999934198,0.000215434019028,-0.000291019274643,2.23523323737e-05,1793192245241488896
+73,1.216666667,BASELINE,764,742,711.346514008,671,659.346514008,633,877,784,799,649,628.653485992,650,0.40094707156,-0.00538749246431,0.0698186931854,0.999999934305,0.000215562401272,-0.000290569497411,2.22060651878e-05,1793192245258155776
+74,1.233333333,BASELINE,764,742,711.935140355,671,659.935140355,633,877,784,799,649,628.064859645,650,0.400947458404,-0.00538793534916,0.0698188579579,0.999999934853,0.000214289869783,-0.000289636454543,2.20236052778e-05,1793192245274822400
+75,1.250000000,BASELINE,763.482506475,742,712,671.517493525,659.482506475,633,876.482506475,783.482506475,799.517493525,649,628.517493525,650.517493525,0.400947797134,-0.005389073923,0.069819026815,0.999999934671,0.000215077449145,-0.000289655509265,2.23547626532e-05,1793192245291488768
+76,1.266666667,BASELINE,763,742,712,671.803738429,659,632.901869215,876,783,799.901869215,649,629,650.901869215,0.400947936719,-0.00538994006793,0.0698191091501,0.999999934429,0.000215794717791,-0.00028993092334,2.26745877889e-05,1793192245308155392
+77,1.283333333,BASELINE,763,742,712,670.651611291,659,632.325805645,876,783,799.325805645,649,629,650.325805645,0.400947135408,-0.00538905980581,0.069818767628,0.999999934341,0.000214927069207,-0.00029088067931,2.26294518341e-05,1793192245324822016
+78,1.300000000,BASELINE,763,742,711.745154791,670.509690418,659,632,876,783,799,649,629,650,0.40094692931,-0.00538830444705,0.0698189367859,0.999999934126,0.000216011061593,-0.000290818983989,2.26233072091e-05,1793192245341488640
+79,1.316666667,BASELINE,763,742,711.158531891,671.682936218,659,632,876,783,799,649,629,650,0.400947498108,-0.00538771169744,0.0698197707873,0.999999933735,0.000219635854945,-0.000289440501132,2.26679245909e-05,1793192245358155264
+80,1.333333333,BASELINE,763.422386649,742,711,671.577613351,659,632,876,783,799,649,628.577613351,650,0.400947874173,-0.00538770266969,0.069819669676,0.999999934012,0.000218542256165,-0.000289329167427,2.24271365254e-05,1793192245374821888
+81,1.350000000,BASELINE,764,742,711,671.001189505,659,632,876,783.001189505,799,649,628,650,0.400948179647,-0.00538790950526,0.0698192244363,0.999999934533,0.000215707226316,-0.000289684975761,2.2081842297e-05,1793192245391488512
+82,1.366666667,BASELINE,764,742,711,671.578406046,659,632,876,783.578406046,799,649,628,650,0.40094886374,-0.00538796997342,0.0698198276821,0.999999934716,0.000215728192559,-0.000289017887627,2.23108923183e-05,1793192245408155136
+83,1.383333333,BASELINE,763.844851621,742,711.155148379,671.844851621,659,632.155148379,876,783.844851621,798.844851621,649,628.155148379,650.155148379,0.400948830629,-0.00538853703184,0.0698199445198,0.999999934927,0.000214741185464,-0.000289016066309,2.23881764207e-05,1793192245424822016
+84,1.400000000,BASELINE,763.269393828,742,711.730606172,671.269393828,659,632.730606172,876,783.269393828,798.269393828,649,628.730606172,650.730606172,0.400946854557,-0.00539047648401,0.069818743639,0.999999935204,0.000211023497661,-0.000290816506063,2.20543145133e-05,1793192245441488640
+85,1.416666667,BASELINE,763.312880401,742,712,671,659,632.687119599,876,783,798.312880401,649,629,650.687119599,0.400946494771,-0.00539046913975,0.0698185799884,0.999999935183,0.000211028662708,-0.000290880618323,2.21277992833e-05,1793192245458155264
+86,1.433333333,BASELINE,763.901154338,742,712,671,659,632.098845662,876,783,798.901154338,649,629,650.098845662,0.400947557622,-0.00538874824875,0.0698193292954,0.9999999349,0.000214310637937,-0.000289416436058,2.25598256819e-05,1793192245474821888
+87,1.450000000,BASELINE,764,742,712,671,659,632.481599421,876,783,799,649,628.518400579,650,0.400947138092,-0.00538852917914,0.0698189867982,0.999999934442,0.000214363078268,-0.000290948223175,2.26647598235e-05,1793192245491488512
+88,1.466666667,BASELINE,764,742,712,671,659,633,876,783,798.939881095,649,628,650,0.400946522768,-0.00538867063286,0.0698185561901,0.999999934072,0.00021373895992,-0.000292674955817,2.26382409645e-05,1793192245508155136
+89,1.483333333,BASELINE,764,742,712,671,659,633,876,783,798.364315009,649,628,650,0.400946795612,-0.00538930262129,0.0698192606794,0.999999934785,0.000212906352437,-0.000290885361598,2.20510562334e-05,1793192245524821760
+90,1.500000000,BASELINE,763.788702612,742,711.788702612,671,659,632.788702612,876,783.211297388,798.211297388,649,628,650,0.400946921595,-0.00538949435042,0.0698196772475,0.999999935226,0.000212418399666,-0.000289747003344,2.1731247351e-05,1793192245541488640
+91,1.516666667,BASELINE,763.213010406,742,711.213010406,671,659,632.213010406,876,783.786989594,798.786989594,649,628,650,0.400946794308,-0.00538892682635,0.0698195972784,0.999999935205,0.000212524824372,-0.000289731740134,2.18725439619e-05,1793192245558155520
+92,1.533333333,BASELINE,763,742,711,671,659.373511787,632.373511787,876,783.626488213,799,649,628,650,0.400947164188,-0.00538848491795,0.0698192844581,0.999999935038,0.00021302374382,-0.000289939217817,2.19025796744e-05,1793192245574821888
+93,1.550000000,BASELINE,763,742,711,671,659.966394709,632.966394709,876,783.033605291,799,649,628,650,0.400947826065,-0.00538811678615,0.0698188348794,0.999999934785,0.000213753183488,-0.000290277515793,2.18672695923e-05,1793192245591488512
+94,1.566666667,BASELINE,763.545008512,742,711.545008512,671,660,632.454991488,876,783,799.545008512,649,628,650,0.400947301463,-0.0053885010131,0.0698186321332,0.999999934604,0.000214057128486,-0.000290668300742,2.2006121825e-05,1793192245608155392
+95,1.583333333,BASELINE,764,742,712,671,659.878048826,632,876,783,799.878048826,649,628.121951174,650,0.400946958305,-0.00538883609272,0.0698185471214,0.999999934554,0.000214242693266,-0.000290691498868,2.21465164253e-05,1793192245624822016
+96,1.600000000,BASELINE,764,742,712,671,659.304121936,632,876,783,799.304121936,649,628.695878064,650,0.400947551832,-0.00538882147641,0.069818843489,0.999999934977,0.000214084272379,-0.000289340657445,2.22538424193e-05,1793192245641488640
+97,1.616666667,BASELINE,763.723015935,742,712,671,659.276984065,632,876,783,799,649,628.723015935,650.276984065,0.400948158462,-0.00538879497538,0.0698191651103,0.999999935175,0.000213892444467,-0.000288796409127,2.23013953506e-05,1793192245658155264
+98,1.633333333,BASELINE,763.133817734,742,712,671,659.866182266,632,876,783,799,649,628.133817734,650.866182266,0.40094877986,-0.00538875507797,0.0698195151974,0.999999935119,0.000213662960442,-0.000289161345935,2.22815725762e-05,1793192245674821888
+99,1.650000000,BASELINE,763.447439087,742,712,671,659.552560913,632,876,783,799,649,628,650.552560913,0.400947918265,-0.00538954766025,0.0698194600794,0.99999993475,0.000214627826884,-0.000289701135652,2.25302390622e-05,1793192245691488512
+100,1.666666667,BASELINE,764,742,711.97372315,671.02627685,659.02627685,632.02627685,876,783,799,649,628,650.02627685,0.400946693357,-0.00539049091828,0.0698192811225,0.999999934299,0.000215894811384,-0.000290292321065,2.28264975869e-05,1793192245708155392
+101,1.683333333,BASELINE,764,742,711.396675436,671.603324564,659.603324564,632.603324564,876,783,799,649,628,650.603324564,0.400946987624,-0.00538946482856,0.0698190022757,0.999999934083,0.000216137826505,-0.000290883790936,2.24665728595e-05,1793192245724822016
+102,1.700000000,BASELINE,764,742,711,671.820113219,659.820113219,632.820113219,876,783.179886781,799,649,628,650.820113219,0.400947153936,-0.00538910361321,0.0698187836812,0.999999934199,0.000215214532926,-0.000291192921933,2.21552939168e-05,1793192245741488384
+103,1.716666667,BASELINE,764,742,711,671.244618785,659.244618785,632.244618785,876,783.755381215,799,649,628,650.244618785,0.40094703885,-0.00539020459212,0.0698186975938,0.999999935039,0.000211726289034,-0.000290881132187,2.19509970057e-05,1793192245758155008
+104,1.733333333,BASELINE,764,742,711,671.338181001,659,632,876,783.661818999,799,649,628,650,0.400947559155,-0.00538980376494,0.0698191291958,0.999999935203,0.000212055017842,-0.000290070480454,2.20188215789e-05,1793192245774821888
+105,1.750000000,BASELINE,764,742,711,671.926381749,659,632,876,783.073618251,799,649,628,650,0.40094854921,-0.00538829264138,0.0698199435294,0.999999934866,0.000215205662777,-0.000288891016286,2.22878275809e-05,1793192245791488512
+106,1.766666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,876,783,799,649,628,650,0.400947708269,-0.0053873759191,0.0698196721492,0.999999934696,0.000215374173454,-0.000289369559202,2.20838666009e-05,1793192245822385920
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711.423960547,671.576039453,659,633,876,783,799,649,628,650,0.400948956715,-0.00538816478371,0.0698201009008,0.999999935552,0.00021411986514,-0.000287324940092,2.22261647815e-05,1793192245839052800
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.155625706,742,711,671.844374294,659,633,876,783,799,649.155625706,628,650.155625706,0.400949349444,-0.00538898164995,0.0698201097214,0.999999936011,0.000212765298858,-0.000286729027584,2.22690039365e-05,1793192245855719424
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.745099747,742,711,671.254900253,659,633,876,783,799,649.745099747,628,650.745099747,0.400947356629,-0.00538987657845,0.0698189478718,0.999999935369,0.000211131236358,-0.000290171772251,2.2034574453e-05,1793192245872385792
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.671478231,742,711.328521769,671,659.328521769,633,876,783,799,649.671478231,628.328521769,650.671478231,0.400947703884,-0.00538970090374,0.0698192236606,0.999999935078,0.0002125453449,-0.000290145427685,2.20232718533e-05,1793192245889052672
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.092667069,742,711.907332931,671,659.907332931,633,876,783,799,649.092667069,628.907332931,650.092667069,0.400949833957,-0.00538870957337,0.0698205947367,0.999999935044,0.000216281749823,-0.000287476103588,2.21819619375e-05,1793192245905719296
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.484537605,742.484537605,711.515462395,671,659.515462395,633,876,783,799,649,628.515462395,650,0.400950368461,-0.00538978939845,0.0698203066166,0.999999935312,0.000215065356542,-0.000287444476416,2.23485509045e-05,1793192245922385664
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.938970477,711.061029523,671,659,632.938970477,876,783,799,649,628,650,0.400950951574,-0.00539084902096,0.0698200641848,0.999999935671,0.000213366294714,-0.000287448620411,2.24885569941e-05,1793192245939052544
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.365889438,711.634110562,671,659,632.365889438,876,783,799,649,628,650,0.400954494347,-0.00538842670865,0.0698228586657,0.999999936325,0.000215538620422,-0.000283534383528,2.23928939229e-05,1793192245955719424
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711.786264171,671,659,632.213735829,876.213735829,783,799,649,628.213735829,650.213735829,0.400963246092,-0.00538812308027,0.0698273939342,0.99999993823,0.000216071227478,-0.000276299023677,2.262054063e-05,1793192245972386304
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711.195082206,671,659,632.804917794,876.804917794,783,799,649,628.804917794,650.804917794,0.400981196606,-0.00539156093559,0.0698350033411,0.999999942253,0.000213708178124,-0.000263198737218,2.34191352642e-05,1793192245989052928
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711.388229487,671,659,633,876.611770513,783.388229487,799,649,628.611770513,650.611770513,0.401016278098,-0.00539271590321,0.0698500153997,0.999999948735,0.000213072486126,-0.000237811875172,2.39964839976e-05,1793192246005719296
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.967665062,671,659,633,876.032334938,783.967665062,799,649,628.032334938,650.032334938,0.401059796733,-0.00539274653092,0.0698686733235,0.99999995566,0.000213287530888,-0.000206373776301,2.44648674313e-05,1793192246022385920
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.455494318,742,712,671,659,633,876.544505682,783.455494318,799.544505682,649,628.544505682,650,0.401120472392,-0.00539395856763,0.0698854935169,0.999999960979,0.000211578698375,-0.0001807671747,2.4480300766e-05,1793192246039052800
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.122975918,742,712,671,659,633,877,783,799.877024082,649,628.877024082,650.122975918,0.401183090411,-0.00539556025123,0.0698994512189,0.999999964851,0.000209832101803,-0.000160246790712,2.42992136418e-05,1793192246055719680
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.708147527,742,712,671,659,633,877,783,799.291852473,649,628.291852473,650.708147527,0.401249197543,-0.00539836396517,0.0699030586863,0.999999965605,0.00020837092599,-0.000157547203618,2.34801338694e-05,1793192246072386048
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711.709767965,671,659,633,877,783,799,649,628,650.709767965,0.40132518552,-0.00539939068287,0.0699031913387,0.999999965553,0.000207483195568,-0.000159313994607,2.15472306591e-05,1793192246089052672
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.130755156,671,659,633,877,783,799,649,628,650.130755156,0.40141100493,-0.00539864928978,0.0698998665513,0.999999964671,0.000207166043193,-0.000165524830396,1.85060735631e-05,1793192246105719552
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.44821415,671,659.44821415,632.55178585,876.55178585,783,799,649,628.44821415,650,0.401516561455,-0.00540037503954,0.0698973799639,0.999999964516,0.000204829299202,-0.000169665945285,1.50768158814e-05,1793192246122386176
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.973042271,671,659.973042271,632.026957729,876,783,799,649,629,650,0.401629615843,-0.00540288952779,0.069895374503,0.999999964641,0.000201728550015,-0.000172891404019,1.15204908479e-05,1793192246139052800
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.398624921,671,659.398624921,632.601375079,876,783,799,649,629,650,0.401778018832,-0.00540680693386,0.0698981744743,0.99999996653,0.000195075967475,-0.000169782247577,7.68269895e-06,1793192246155719424
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,671,659,632.820193541,876,783,799.179806459,649,628.820193541,650,0.401935770452,-0.00541032908325,0.0699014657726,0.999999968589,0.000188711309172,-0.000164917130103,3.57094219459e-06,1793192246172386048
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,671,659,632.232660075,876,783,799.767339925,649,628.232660075,650,0.402114720899,-0.00541295495273,0.0699058711983,0.999999971076,0.000182999545382,-0.000156070216516,-1.16205352115e-06,1793192246189052416
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,671,659,632,876.35161426,783,799.29677148,649,628.35161426,650.35161426,0.402321281809,-0.00541652023563,0.0699099118056,0.999999973796,0.000174433231052,-0.000148110401688,-6.60474374625e-06,1793192246205719040
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,671,659,632,876.933751921,783,798.132496159,649,628.933751921,650.933751921,0.402545944557,-0.00542070141183,0.0699137132332,0.999999976572,0.000163995431469,-0.000140732180756,-1.25127204374e-05,1793192246222385664
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.508523375,671,659,632,876.491476625,783.508523375,798.508523375,649,629,650.491476625,0.402798045843,-0.0054267833024,0.0699159261225,0.999999979049,0.000153308942611,-0.000134371908537,-1.85068242898e-05,1793192246239052544
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.917542628,742,712,671,659.082457372,632,876,783.917542628,799,649,629,650,0.403060870447,-0.00543299349551,0.069918777549,0.999999981771,0.000140504018605,-0.000126975489449,-2.43604182424e-05,1793192246255719424
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.342960977,742,712,671,659.657039023,632,876,783.342960977,799,649,629,650,0.403366665153,-0.00543851270112,0.0699266573842,0.999999986589,0.000115246387505,-0.000112614941262,-2.93094109753e-05,1793192246272386048
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659.761052706,632,876.238947294,783,799,649,628.761052706,650,0.403685990515,-0.0054443234385,0.0699348829379,0.999999989943,9.83140200116e-05,-9.82967751457e-05,-2.80551780059e-05,1793192246289052928
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659.168295936,632,876.831704064,783,799,649,628.168295936,650,0.404025350715,-0.0054505658469,0.0699436203968,0.999999991923,9.37088795635e-05,-8.40413651495e-05,-1.7615822789e-05,1793192246305719552
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.413899512,632.413899512,876.586100488,783,799,649,628,650,0.404397287261,-0.00546485489061,0.0699472515099,0.99999999354,7.76422614374e-05,-8.12232142848e-05,-1.71520506759e-05,1793192246322385920
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659.99190745,632.99190745,876.00809255,783,799,649,628,650,0.404782140105,-0.00548233437198,0.0699488579903,0.999999994721,5.70312430867e-05,-8.29398615537e-05,-2.06435317187e-05,1793192246339052544
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.56714705,742,712,671,660,633,876,783.56714705,799,648.43285295,628,650,0.405208415027,-0.00550181709364,0.0699549908374,0.99999999702,2.52875331418e-05,-6.98992556386e-05,-2.08487169707e-05,1793192246355719168
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,671.145342021,660,633,876.145342021,783.854657979,799,648.145342021,628,650,0.405637911203,-0.00551583883412,0.0699581823496,0.999999997838,2.27411199177e-06,-6.2076587251e-05,-2.15496470048e-05,1793192246372386048
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,671.732643172,660,633,876.732643172,783.267356828,799,648.732643172,628,650,0.406075414026,-0.00551316820577,0.0699522343454,0.999999997191,6.28863720264e-06,-7.07579314655e-05,-2.38999452261e-05,1793192246389052928
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660,632.684571813,877,783,799,649,628,650,0.406536686426,-0.00551504088937,0.069938445086,0.999999995232,2.88573483172e-06,-9.40932311951e-05,-2.59779577916e-05,1793192246405719552
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660,632.105560578,877,783,799,649,628,650,0.407017821582,-0.00552071012624,0.0699181033932,0.999999991183,-6.71543423773e-06,-0.000129673899865,-2.78284389816e-05,1793192246422386176
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711.528502267,672,660,632,876.528502267,783,799,649,628,650.471497733,0.407573195888,-0.00552853986857,0.0699116304511,0.999999990629,-1.53853173649e-05,-0.000132671317615,-3.00572165412e-05,1793192246439053056
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.952056881,742,711.047943119,672,660,632,876,783,799,649,628,650.952056881,0.408149272999,-0.00553673715583,0.0699101394727,0.999999991303,-2.42603747196e-05,-0.000125545077828,-3.23125446687e-05,1793192246455719424
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.377560553,742,711.622439447,672,660,632,876,783,799,649,628,650.377560553,0.408770934273,-0.00554368062821,0.0699294037775,0.999999994929,-3.76693196064e-05,-8.70199579899e-05,-3.39331257518e-05,1793192246472386048
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742,712,671.797781864,660,632,876.202218136,783,799,649,628,650,0.40938528103,-0.00555066808755,0.0699413262234,0.999999996265,-4.91501984356e-05,-6.16808541893e-05,-3.5350637986e-05,1793192246489052416
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742,712,671.207875994,660,632,876.792124006,783,799,649,628,650,0.409985604532,-0.00555773987724,0.0699391730332,0.999999995819,-5.69346348026e-05,-6.1621664937e-05,-3.63788315106e-05,1793192246505719296
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742,712,671.37527364,660,632,877,783.37527364,799,649,628,650,0.410626182315,-0.00556390082936,0.0699377239877,0.999999995099,-6.47371948723e-05,-6.51421426513e-05,-3.69936363049e-05,1793192246522385920
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742,712,671.954746948,660,632,877,783.954746948,799,649,628,650,0.411288663859,-0.0055695661623,0.0699366580924,0.999999994177,-7.25496164321e-05,-7.06104438371e-05,-3.73835016265e-05,1793192246539052544
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742,712,672,660,632,877,783.470897248,799,649,628,650,0.412022006333,-0.00556059901774,0.0699535013606,0.99999999634,-6.53592646002e-05,-4.05549703118e-05,-3.74519956456e-05,1793192246555719424
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742,711.893971989,671.893971989,660,632,877,783,799,649,628,650,0.412762318186,-0.00554902340626,0.0699731916703,0.999999997814,-5.41348375995e-05,-6.74364608302e-06,-3.73631938458e-05,1793192246572386304
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742,711.303321297,671.303321297,660,632,877,783,799,649,628,650,0.41350704899,-0.00553119063993,0.0699989609251,0.999999998404,-3.02805921307e-05,3.048052793e-05,-3.66798673817e-05,1793192246589052672
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742.279166028,711.279166028,671.279166028,660,632.279166028,877,783,799,649,628,650,0.414231262358,-0.00552520885581,0.0700003087139,0.999999998738,-2.10679981378e-05,2.63788346056e-05,-3.72118374484e-05,1793192246605719552
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742.853035708,711.853035708,671.853035708,660,632.853035708,877,783,799,649,628,650,0.414933816435,-0.00553173764525,0.0699758758071,0.999999998638,-2.73119673285e-05,-2.13488072581e-05,-3.90267440664e-05,1793192246622386176
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,743,712,672,659.566464304,633,877,783,799,649,628,650,0.415662852441,-0.00553582930621,0.0699277085174,0.999999993004,-4.59814857061e-05,-9.97483552019e-05,-4.39123114681e-05,1793192246639052544
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742.983944806,712,672,659.016055194,632.983944806,877.016055194,783,798.983944806,649,628,650,0.416404270914,-0.00553910939959,0.0698736671834,0.999999979316,-6.82126955704e-05,-0.000185060426616,-4.9669228889e-05,1793192246655719424
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742.410554014,712,672,659.589445986,632.410554014,877.589445986,783,798.410554014,649,628,650,0.417259063657,-0.00554334155716,0.0698993504673,0.999999986311,-6.55936144309e-05,-0.000143791476232,-4.89784369412e-05,1793192246672386048
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.167404364,742,712,672,660,632.167404364,877.832595636,783.167404364,798.167404364,649,628,650,0.418104684672,-0.00554678124468,0.0699261473887,0.999999991657,-6.32104744407e-05,-0.0001019623663,-4.78993934577e-05,1793192246689052928
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.756878787,742,712,672,660,632.756878787,877.243121213,783.756878787,798.756878787,649,628,650,0.418927181321,-0.00554822290832,0.0699557520792,0.999999995339,-6.14222039385e-05,-5.87209509314e-05,-4.58414667702e-05,1793192246705719552
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.659500056,742,712,672,660,632.659500056,877,783.659500056,799,649,628,650,0.419770638776,-0.00554695361842,0.0699814042461,0.99999999701,-5.98583249133e-05,-2.00372026425e-05,-4.46702728563e-05,1793192246722386432
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.079987599,742,712,672,660,632.079987599,877,783.079987599,799,649,628,650,0.420628809547,-0.00554378138593,0.0700042819544,0.999999997199,-5.84519566205e-05,1.54473084315e-05,-4.4121517394e-05,1793192246739053056
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742,712,672,660,632.496966053,877,783,799,649,628,650,0.421474235691,-0.00554358739746,0.0700076945081,0.999999996925,-6.07074589715e-05,2.06789157006e-05,-4.51424307789e-05,1793192246755719424
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742,712,672,660,632.926659808,877.073340192,783,799,649,628.073340192,650,0.42230854533,-0.00554392891039,0.0699995593312,0.999999996898,-6.3016971586e-05,7.29868546444e-06,-4.66926247078e-05,1793192246772386048
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742,712,672,660,632.35144775,877.64855225,783,799,649,628.64855225,650,0.423080748657,-0.0055446714476,0.0699337314397,0.999999991811,-6.16835383284e-05,-0.000100293609308,-5.01447360822e-05,1793192246789052928
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742,712,672.228993215,660,632,877.771006785,783,799,649,628.771006785,650,0.423857505244,-0.00554487451338,0.0698758790431,0.999999978705,-6.49623681838e-05,-0.000188128899809,-5.45653163546e-05,1793192246805719552
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,742,712,672.817646873,660,632,877.182353127,783,799,649,628.182353127,650,0.424641413372,-0.00554423027674,0.0698305530773,0.999999965324,-7.54852935761e-05,-0.000244933537972,-6.05069906802e-05,1793192246822386176
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,742,711.600536173,672.600536173,660,632.399463827,877,783,799,649,628.399463827,650,0.425501387351,-0.00554574684353,0.0698581278787,0.99999997525,-7.94232922822e-05,-0.000198841028019,-6.045505553e-05,1793192246839052800
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,742,711.02178766,672.02178766,660,632.97821234,877,783,799,649,628.97821234,650,0.42639550065,-0.00554823320771,0.0699184215183,0.999999989424,-8.04058870436e-05,-0.000106566902608,-5.77131078704e-05,1793192246855719424
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742.552973773,711.552973773,672,660.552973773,632.447026227,876.447026227,783,799,649,628.447026227,650,0.427261193945,-0.00555085361707,0.0699643579969,0.9999999943,-7.8741714123e-05,-4.88168927175e-05,-5.30666395587e-05,1793192246872386048
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742.868841856,711.868841856,672,660.868841856,632.131158144,876.131158144,783,799,649,628,650,0.428120478666,-0.00555416647138,0.0700025951893,0.99999999561,-7.95288480674e-05,1.1273514163e-06,-4.9531324091e-05,1793192246889052928
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742.278117342,711.278117342,672,660.278117342,632.721882658,876.721882658,783,799,649,628,650,0.42896120377,-0.00555988721715,0.0700158226912,0.999999994353,-8.92679316557e-05,2.84530713989e-05,-5.01504397501e-05,1793192246905719552
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742.306271401,711.306271401,672.306271401,660,633,877.306271401,783.306271401,799,648.693728599,628,650,0.429765681183,-0.00556305512814,0.0700113122829,0.999999994055,-9.32062266221e-05,2.41310756159e-05,-5.11907656163e-05,1793192246922385920
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,742.885023366,711.885023366,672.885023366,660,633,877.885023366,783.885023366,799,648.114976634,628,650,0.430537910055,-0.00556395185761,0.0699910209823,0.999999994351,-9.19837318051e-05,-8.34695378241e-06,-5.26058296389e-05,1793192246939052544
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,743,712,672.538528568,660,632.538528568,877.538528568,783.538528568,799,648.461471432,628,650,0.431225402092,-0.00556203469381,0.0699341629147,0.999999988406,-9.28999600898e-05,-0.000107125632302,-5.55139873305e-05,1793192246955719168
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,742.962747317,711.962747317,672.037252683,660,632.037252683,876.962747317,783,799,648.962747317,628,650,0.431897443665,-0.00555960632097,0.0698723560436,0.999999970842,-9.44974771686e-05,-0.000214347792766,-5.86652195516e-05,1793192246972385792
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742.38834581,711.38834581,672.61165419,660,632.61165419,876.38834581,783,799,648.38834581,628,650,0.432649611655,-0.00555986560592,0.0698699071776,0.99999997209,-9.82732715081e-05,-0.000206312339596,-5.99840097509e-05,1793192246989052928
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742.191165857,711.191165857,673,660.191165857,632.808834143,876.191165857,782.808834143,799,648.191165857,628,650,0.433418103222,-0.00556184260665,0.0698909555323,0.999999980078,-9.92719053529e-05,-0.000162718057869,-5.92670658841e-05,1793192247005719808
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,742.781343842,711.781343842,673,660.781343842,632.218656158,876.781343842,782.218656158,799,648.781343842,628,650,0.434220666418,-0.00556740492039,0.0699610486071,0.999999993055,-9.44738934278e-05,-4.49033862521e-05,-5.43010230896e-05,1793192247022386432
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,742.635405339,712,673,661,632,877.364594661,782.364594661,799,649,628,650,0.434949962872,-0.00557030930382,0.0699959108192,0.999999993735,-9.87307400979e-05,9.90888925775e-06,-5.18044610905e-05,1793192247039052800
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,742.056231482,712,673,661,632,877.943768518,782.943768518,799,649,628,650,0.435636138737,-0.00557164938385,0.0700100381917,0.999999992463,-0.000108316750292,2.76416142549e-05,-5.07612923325e-05,1793192247055719424
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.519521147,742,712,673,661,632.519521147,878,783.519521147,799,649,628,650,0.436267321617,-0.00557523286202,0.0699954000677,0.999999993081,-0.000105251091759,6.37028501669e-06,-5.21547204217e-05,1793192247072386048
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.903281719,742,712,673,660.903281719,632.903281719,877.903281719,783.903281719,799,649,628,650.096718281,0.436886733037,-0.00557926137911,0.0699765014573,0.99999999295,-0.000104098717997,-1.92400828211e-05,-5.37920771702e-05,1793192247089052672
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.316909058,742,712,673,660.316909058,632.316909058,877.316909058,783.316909058,799,649,628,650.683090942,0.437476486625,-0.00558432171485,0.0699516928649,0.999999990287,-0.000119520095053,-4.5584391602e-05,-5.53379197615e-05,1793192247105719552
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,742.26751043,712,673,660,632,877,783,799,649,628,650.73248957,0.438045185683,-0.00558762632897,0.0699267930061,0.999999987503,-0.000126808450723,-7.48925220025e-05,-5.74929862751e-05,1793192247122385920
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,742.8496328,712,673,660,632,877,783,799,649,628,650.1503672,0.438589123024,-0.00558886608495,0.069901785813,0.999999984626,-0.000124531773973,-0.000107686322746,-6.03645448223e-05,1793192247139052800
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,742.573444233,712,673,660,632,877,783,799.426555767,649,628,650,0.439073723106,-0.00558616681947,0.0698704621703,0.999999977086,-0.000122863057694,-0.00016445838925,-6.07189197334e-05,1793192247155719424
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,742.001659518,711.998340482,673,660,632,877,783,799.998340482,649,628.001659518,650,0.439537649262,-0.00558210531499,0.0698370061447,0.999999964504,-0.00012138316611,-0.0002294227225,-6.0198848442e-05,1793192247172386304
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,742.573851765,711.426148235,673,660,632,877,783,799.426148235,649,628.573851765,650,0.439998618407,-0.00558134518269,0.0698267380911,0.999999963135,-0.000112027321207,-0.000239847894599,-6.0439450661e-05,1793192247189052928
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,743,711,673.151453071,660,632,877.151453071,783,799,649,628.848546929,650,0.440460795317,-0.00558067375382,0.0698234972628,0.999999963286,-0.000106719408369,-0.000241593970567,-6.05937140272e-05,1793192247205719552
+190,3.166666667,POSE1_TO_POSE2_PRESS,763,743,711,673.744837846,660,632,877.744837846,783,799,649,628.255162154,650,0.44092649653,-0.00558026115652,0.069840761488,0.999999967995,-0.000113223135828,-0.000218014925259,-6.04960454474e-05,1793192247222386176
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,742.670019061,711,674,660,632,877.670019061,783,799.329980939,649,628,650,0.441358334443,-0.00558159700957,0.0698560635141,0.999999971186,-0.000120217029493,-0.00019888266881,-6.01859104686e-05,1793192247239052800
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,742.091093701,711,674,660,632,877.091093701,783,799.908906299,649,628,650,0.441764625157,-0.00558425192964,0.0698698852159,0.999999973315,-0.000127580714268,-0.000183105162975,-5.97154864697e-05,1793192247255719424
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,742.48341573,711.48341573,673.51658427,660,632,877.48341573,783,799.51658427,649,628,650,0.442101526111,-0.00558935641568,0.0698600928511,0.999999970038,-0.00012530311598,-0.000201820340862,-5.90838858929e-05,1793192247272386304
+194,3.233333333,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632,877.942460793,783,799,649,628,650,0.442419623951,-0.00559463098484,0.0698442958069,0.999999964496,-0.000122236880863,-0.000229386115806,-5.87235478105e-05,1793192247289052928
+195,3.250000000,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632,877.364368947,783,799,649,628,650,0.442684834986,-0.00559730611305,0.0698140672802,0.999999951049,-0.000128323394397,-0.000278752392652,-6.10895835382e-05,1793192247305719552
+196,3.266666667,POSE1_TO_POSE2_PRESS,763,743,712,673.219167425,659.780832575,631.780832575,877,783,799.219167425,649,628,650,0.442946406821,-0.00559879332504,0.0697892545458,0.99999993824,-0.000133286184266,-0.000319079443109,-6.27877780152e-05,1793192247322386176
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,743,712,673.811985922,659.188014078,631.188014078,877,783,799.811985922,649,628,650,0.443201774281,-0.0055982552989,0.0697736750143,0.999999929534,-0.000136333175716,-0.000343995820361,-6.3347392647e-05,1793192247339052800
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,743,712,673.607060253,659.392939747,631.392939747,877,782.607060253,799.607060253,649,628.392939747,650,0.443438028545,-0.00560027783981,0.0697686699031,0.999999926507,-0.000140078704908,-0.0003518700595,-5.95866098139e-05,1793192247355719424
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,743,712,673.031617004,659.968382996,631.968382996,877,782.031617004,799.031617004,649,628.968382996,650,0.443665405577,-0.00560348965325,0.0697685761509,0.999999926271,-0.00014414867493,-0.00035182896542,-5.38191894314e-05,1793192247372386304
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+215,3.583333333,POSE1_TO_POSE2_PRESS,763,742.742421082,711,673.257578918,659.742421082,631.257578918,877,782.742421082,799,649,628,650,0.445003723799,-0.00559490400026,0.0697008881896,0.999999886092,-0.000139780004823,-0.000452166885275,-6.18331949497e-05,1793192247639052800
+216,3.600000000,POSE1_TO_POSE2_PRESS,763,742.160241099,711,673.839758901,659.160241099,631.839758901,877,782.160241099,799,649,628,650,0.445013017714,-0.00559257340621,0.0697006157287,0.999999886266,-0.000137703168889,-0.000452334688235,-6.24427238752e-05,1793192247655719424
+217,3.616666667,POSE1_TO_POSE2_PRESS,763,742,711,673.583844458,659,631.583844458,877,782,799,649,628,650,0.445018181877,-0.00559213380674,0.069700723192,0.999999886028,-0.000138660437277,-0.000452572490316,-6.24065230159e-05,1793192247672386048
+218,3.633333333,POSE1_TO_POSE2_PRESS,763,742,711,673.009644187,659,631.009644187,877,782,799,649,628,650,0.44502177767,-0.00559241235642,0.0697009749403,0.999999885632,-0.000140769977263,-0.000452836876183,-6.21250912663e-05,1793192247689052672
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+221,3.683333333,POSE1_TO_POSE2_PRESS,763,743,711.26312132,673,659,631.73687868,878,782,799.26312132,648.26312132,628,650,0.44502666226,-0.00558980746507,0.0696997404389,0.999999885675,-0.000135139477773,-0.000454515066375,-6.16707637325e-05,1793192247739052800
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+226,3.766666667,POSE1_TO_POSE2_PRESS,763,742,711.638181493,673,659,631,877.638181493,782,799.638181493,649,628,650,0.445028868939,-0.00559009206893,0.0696987391803,0.999999885147,-0.000134195758777,-0.000456012290156,-6.12385612772e-05,1793192247822385664
+227,3.783333333,POSE1_TO_POSE2_PRESS,763,742,711.777034598,673,659,631,877.777034598,782,799.777034598,648.777034598,628.222965402,650,0.445028827551,-0.00558968196229,0.0696985674034,0.999999884776,-0.000134899414551,-0.000456615987086,-6.12494928055e-05,1793192247839052544
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+229,3.816666667,POSE1_TO_POSE2_PRESS,763,742.381350228,711,672.618649772,659,631,877,782,799,648.381350228,628.618649772,650,0.44502903496,-0.00558839931273,0.0696978238358,0.999999884447,-0.000133559309136,-0.000457723539745,-6.12871881715e-05,1793192247872386304
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+231,3.850000000,POSE1_TO_POSE2_PRESS,763,743,711,672.532001526,659,631,877,782.532001526,799,649,628,650,0.445031331078,-0.00558824071146,0.0696988540994,0.999999885691,-0.000132723733061,-0.000455297165835,-6.08908688416e-05,1793192247905719296
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+233,3.883333333,POSE1_TO_POSE2_PRESS,763,743,711.701585613,673,659,631,877,782.298414387,799.701585613,649,628,650.701585613,0.445030264528,-0.00558743190728,0.0696992588511,0.999999885268,-0.000131759234941,-0.000456590328123,-6.02314764915e-05,1793192247939052544
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+236,3.933333333,POSE1_TO_POSE2_PRESS,763.560665205,742.439334795,711.439334795,673,659,631,877.439334795,782.439334795,799.560665205,649,628.560665205,649.439334795,0.445029427407,-0.00558786934479,0.0696967753382,0.99999988395,-0.000133029818381,-0.000459005956855,-6.09685675577e-05,1793192247989052928
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+239,3.983333333,POSE1_TO_POSE2_PRESS,763,742.187451576,711,673.812548424,659,631,877.187451576,782,799.374903152,649,628,650,0.445029794193,-0.00558709360721,0.0696969690125,0.99999988413,-0.000131741077774,-0.000458987111092,-6.09546590921e-05,1793192248039052800
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+241,4.016666667,HOLD_POSE2,763,743,712,673,658,631,877,782,799,649,628,651,0.445030405756,-0.00558744987586,0.0696971971545,0.999999884526,-0.000130652212041,-0.000458543159447,-6.01319659979e-05,1793192248091432192
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+248,4.133333333,HOLD_POSE2,762.937986905,742.062013095,711,673,659,631,878,782,799.062013095,649,628,650,0.445031644459,-0.00558775774769,0.0696959218757,0.999999884019,-0.000133128507623,-0.000458866929098,-6.06688583504e-05,1793192248208098816
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+250,4.166666667,HOLD_POSE2,762.216784711,742.783215289,711,673,659,631,877.783215289,782,799.783215289,649,628,650,0.445030687788,-0.00558706877824,0.0696968766926,0.999999883956,-0.000132896111399,-0.000459089194249,-6.05275432536e-05,1793192248241432064
+251,4.183333333,HOLD_POSE2,762.807120376,742.192879624,711,673,659,631,877.192879624,782,799.192879624,649,628,650,0.445031388894,-0.00558681890295,0.06969689327,0.999999884395,-0.000130700402002,-0.000458770698587,-6.0468229864e-05,1793192248258098688
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+254,4.233333333,HOLD_POSE2,763,743,711.544684414,673,659,631,877.544684414,782,799,649,628,650,0.445034110226,-0.0055864948613,0.0696983172827,0.999999885285,-0.000131180960084,-0.000456758379248,-5.9945625879e-05,1793192248308098816
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+256,4.266666667,HOLD_POSE2,763,743,711.291202749,673.708797251,659,631,878,782,799,649,628,650,0.445032856058,-0.00558769521055,0.0696968052399,0.99999988397,-0.000135130566857,-0.000458483924238,-5.99405962628e-05,1793192248341432320
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.711202924,711.711202924,673,659,631,877,782,799,649,628,650,0.444557506878,-0.00557122103024,0.069599509037,0.999999797243,-0.000120391594048,-0.00062259905387,-5.82338161739e-05,1793192248657297664
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.704559719,742.704559719,711.704559719,673,659,631.295440281,877.295440281,782,799,649,628,650,0.44445128648,-0.00556792731911,0.0696050408519,0.999999801824,-0.000116120242564,-0.000616292685706,-5.52446711519e-05,1793192248673964288
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,631.551241357,878,782,799.448758643,649,628.448758643,650,0.444185405304,-0.00556107193118,0.0696197451266,0.999999815739,-0.000105352744508,-0.000595920353983,-4.797901033e-05,1793192248707297536
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742,711.024956077,673,658.975043923,631,877.975043923,782,800,649,628.975043923,650,0.444028541065,-0.00555805495111,0.0696250869175,0.999999819708,-0.00010045589611,-0.000590386427128,-4.40164309557e-05,1793192248723964160
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742,711.223040705,673,658.776959295,631.776959295,877.776959295,782.776959295,799.223040705,649,628,650,0.443386140155,-0.00553333087694,0.0696284760043,0.999999824412,-6.77203036101e-05,-0.000587893271671,-3.11560042519e-05,1793192248773964288
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742.354428648,711,673,659,632,877.645571352,782.645571352,799,649,628,650,0.443126914092,-0.00552554581463,0.0696383020274,0.999999832363,-5.30520496826e-05,-0.000576060512546,-2.47839120508e-05,1793192248790630912
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.506744109,743,711.506744109,673,659,631.493255891,877,782,799,649,628.506744109,650,0.442561184745,-0.00550720898285,0.0696728834162,0.999999861569,-1.64433761029e-05,-0.000525818444531,-1.0347439419e-05,1793192248823964160
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.326792258,743,711.326792258,673.673207742,659,631.673207742,877.673207742,782,799,649,628.326792258,650,0.441910974384,-0.00546529420584,0.0697023660635,0.999999880668,9.44691391184e-05,-0.000479310880985,-3.09035770038e-07,1793192248857297408
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742.742762454,711,673.742762454,659.257237546,632,877.742762454,782.257237546,799,649,628,650,0.441544173501,-0.00544378890281,0.0697149290081,0.999999885431,0.000147768060266,-0.000455281779803,4.50718240135e-06,1793192248873964288
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,742.164363075,711,673.164363075,659.835636925,632,877.164363075,782.835636925,799,649,628,650,0.441149127136,-0.00543004438813,0.0697284084639,0.999999896671,0.000166661387321,-0.000422801453838,1.1027720395e-05,1793192248890631168
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742,711.413203353,673,659.586796647,632,877,783,799,648.586796647,628,650.413203353,0.440711422325,-0.00542981513373,0.0697444209243,0.999999910724,0.000161760779843,-0.00039019536013,1.15477794335e-05,1793192248907297792
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742,711.990439106,673,659.009560894,632,877,783,799,648.009560894,628,650.990439106,0.440256783082,-0.00543495113275,0.0697614389299,0.99999992517,0.000147414517156,-0.000357539339964,9.68578367938e-06,1793192248923964416
+291,4.850000000,POSE2_TO_POSE3_RETREAT,762.425978427,742,711.425978427,672.425978427,659.574021573,632,877,783,799,648.574021573,628,650.425978427,0.439754475578,-0.00543167532281,0.0697624561713,0.999999923481,0.00015216318474,-0.000360193125703,1.20773360989e-05,1793192248940631040
+292,4.866666667,POSE2_TO_POSE3_RETREAT,762.156840808,742.156840808,711,672.156840808,660,632,876.843159192,782.843159192,799.156840808,648.843159192,628.156840808,650,0.439230333559,-0.00542933782097,0.0697580981927,0.999999920006,0.000153540580818,-0.000369070484357,1.41233083066e-05,1793192248957297664
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,742.47204797,711,673,660,632,877,783,799,648.52795203,628,650,0.436849205695,-0.00544238702044,0.0697654054639,0.999999928534,0.000150339669106,-0.00034619251178,2.1908680767e-05,1793192249023964160
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.109943623,742,711.109943623,673,660,632,877,783,799.109943623,649,628,650,0.43093760718,-0.00543937806936,0.069807044547,0.999999942513,0.00015791896486,-0.000297925736896,3.57080698556e-05,1793192249157297408
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.718301639,742,712,672.718301639,660.281698361,632.281698361,876.718301639,783,800,649,628,649.718301639,0.42921819867,-0.00543248265684,0.0697288693574,0.999999897867,0.000159496130167,-0.000421689151983,3.16905642755e-05,1793192249190630912
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742,711.5623894,672,660.5623894,632.5623894,876.4376106,783,799.5623894,649,628,649.4376106,0.427593506184,-0.00542752374119,0.0698008942786,0.999999935756,0.000177733164037,-0.000309012390357,3.75644871898e-05,1793192249223964416
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,660,632.012132611,876.987867389,783,799,649,628,650,0.426784297889,-0.00542472195772,0.0698620999172,0.999999957955,0.000184980036676,-0.000219090515793,4.32587621735e-05,1793192249240631040
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,660,632.601928065,876.398071935,783,799,649,628,650,0.425905740342,-0.00542771679012,0.0698606517599,0.999999957172,0.000181943440248,-0.00022487018151,4.45606356583e-05,1793192249257297664
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742,711.343340463,672.656659537,660,632.656659537,876,783,798.656659537,649,628,650,0.423166663094,-0.00542686775848,0.0697742589067,0.99999991764,0.000171995443859,-0.000365665480335,3.77730144865e-05,1793192249307297536
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742,711.916876736,672.083123264,660,632.083123264,876,783,798.083123264,649,628,650,0.42220048332,-0.00542077697191,0.0697137663814,0.999999869037,0.00017986701809,-0.000477758222481,3.63383778847e-05,1793192249323964416
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742,711.506940576,672,660,632,876.493059424,783,798.493059424,649,628,650,0.421299727982,-0.00541918088011,0.0696941294277,0.999999856068,0.000182397351327,-0.000503375609573,3.47720825219e-05,1793192249340631296
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711.07134877,672,660,632,876.92865123,782.92865123,799.07134877,649,628,650,0.420423877882,-0.00541941941426,0.0696935710783,0.999999859768,0.000183677956002,-0.000495546938917,3.40666324113e-05,1793192249357297664
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742,711.661699093,672,660,632,876.338300907,782.338300907,799.661699093,649,628,650,0.419648528081,-0.00542746159097,0.0697814207716,0.999999920947,0.000182453287259,-0.000351045787851,3.97854263384e-05,1793192249373964288
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,762,742,711,672,660.596234087,632,876.596234087,783,799,649,628.596234087,650,0.417164361525,-0.00543360909762,0.0698661708926,0.999999958887,0.000175418187403,-0.000222122938838,4.60086505299e-05,1793192249423964416
+321,5.350000000,POSE2_TO_POSE3_RETREAT,762,742,711,672,660.019339492,632,876.019339492,783,799,649,628.019339492,650,0.416293355468,-0.00542944909921,0.0698272768412,0.999999943738,0.000179321175849,-0.000280260979586,4.26712060186e-05,1793192249440631040
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.787229922,742,711.787229922,672,659.212770078,632.787229922,876.787229922,783,799,649,629,650,0.408823304257,-0.00541116925446,0.0697909638358,0.999999920307,0.000199889314444,-0.000343558034783,3.73795024359e-05,1793192249607297792
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876.636262381,783.363737619,799,649,628.636262381,650,0.408191294034,-0.00542274774391,0.069770887313,0.999999914309,0.000181722876922,-0.000370274691609,3.54442897081e-05,1793192249623964416
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.483684298,672,659,632.483684298,876.516315702,783.483684298,799,649,628,650,0.407052062375,-0.00542168072598,0.0697829367303,0.999999923681,0.000179397039786,-0.000345259226135,3.53532275825e-05,1793192249657297920
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.848299352,742,712,672,659,632.151700648,877,783,799.151700648,649.151700648,628,650,0.405063352168,-0.00540783255615,0.0698034795091,0.99999992658,0.000193495335487,-0.000328801554932,3.59130206468e-05,1793192249723964416
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,660,632,876.334058024,783,799,649,628.665941976,650.334058024,0.402936605915,-0.00539442475807,0.0698180008145,0.999999930669,0.000221200457598,-0.000297610884436,3.40500978453e-05,1793192249823964416
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.484462376,742,711.484462376,671.515537624,659.515537624,632.484462376,877,783,799,649,628,650.515537624,0.40239705981,-0.0053905925044,0.0697961945658,0.999999917825,0.000223560135897,-0.000336688146192,3.18231991024e-05,1793192249857297664
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.940652734,742,712,671,659,632.940652734,876.940652734,783,798.940652734,649,628.059347266,650,0.402163448901,-0.00538882378838,0.0697870905782,0.999999914428,0.000218034119809,-0.000350285665269,3.00815263404e-05,1793192249873964544
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742,711.764348594,671.235651406,659,632,876,783,798,649,628.764348594,650,0.401800951872,-0.00538586340492,0.0697879269104,0.999999916336,0.000213590222119,-0.00034739314102,3.20192075233e-05,1793192249907297792
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,742,711.186086707,671.813913293,659,632,876,783,798,649,628.186086707,650,0.401643109226,-0.00538422119874,0.0697911217542,0.999999917304,0.000214119201251,-0.000344219531568,3.25159132408e-05,1793192249923964416
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.966623996,742,711,671.033376004,659,632.966623996,876,783,798.966623996,649,628,650,0.401395839667,-0.00538515462969,0.0697960874891,0.999999908095,0.000267863934899,-0.000333465762293,2.93336628383e-05,1793192249957297920
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.552575403,659,633,876.552575403,783,799,649,628,650,0.401303028976,-0.00538732363623,0.0697920288355,0.999999912918,0.000243515408012,-0.000338114956888,2.32967603457e-05,1793192249973964288
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.201599562,742,711,671,659.798400438,632,876,783,799,649,628,650,0.40096466821,-0.00538857916642,0.0698014728737,0.999999925766,0.00021698055291,-0.000317558921598,2.32987323425e-05,1793192250107297792
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.779755735,742,711,671,659.220244265,632,876,783,799,649,628,650,0.400956136766,-0.00538974644752,0.0698037713588,0.999999926475,0.000217106773597,-0.000315204718721,2.3668466912e-05,1793192250123964416
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,659,632.932813408,876,783,799,649,628,650,0.400944294458,-0.00538672358986,0.0698054346,0.999999926439,0.000219785283025,-0.000313527320116,2.27594752708e-05,1793192250157297664
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711.517728353,671,659,632.482271647,876,783,799,649,628.517728353,650,0.400943017701,-0.00538841641068,0.0698045970357,0.999999926843,0.000217554474023,-0.000313791778386,2.27558025688e-05,1793192250173964288
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.259872929,742,712,671.740127071,659,632.259872929,877,783,799,649,628.259872929,650,0.40094412976,-0.00539108341746,0.0698084921341,0.999999929515,0.00021343449926,-0.000308045679768,2.28970811382e-05,1793192250223964672
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.83770753,742,712,671.16229247,659,632.83770753,877,783,799,649,628.83770753,650,0.400940751208,-0.00539248992573,0.0698076643207,0.999999928919,0.000212388799805,-0.000310688175966,2.29379959269e-05,1793192250240631296
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.011052447,742,712,671,659,632.011052447,876.011052447,783,799,649,628.011052447,650.988947553,0.400945509568,-0.00539162671144,0.0698105820509,0.999999931155,0.000213208077198,-0.000302813575969,2.31584518784e-05,1793192250273964288
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.396397061,742,711,671.396397061,659,632,876,783.396397061,799,649,628.603602939,650.603602939,0.400945003767,-0.00539516093654,0.0698134730393,0.999999932963,0.000210398619791,-0.000298803138028,2.2853303335e-05,1793192250607298048
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_03/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..635d742d3cbcef843c2de85016369325390f2ff7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,395 @@
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+368,6.133333333,pose2_to_pose3_retreat,0.575712196222,5.45708995173e-05,1.06002892173,0.546282927229,0.00872730332849,1.05969822158
+369,6.150000000,pose2_to_pose3_retreat,0.575711790913,5.45390182121e-05,1.06002894186,0.54628252262,0.00872727380892,1.05969824124
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+371,6.183333333,pose2_to_pose3_retreat,0.575711597237,5.45237838295e-05,1.06002895147,0.54628232928,0.00872725970308,1.05969825064
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+376,6.266666667,pose2_to_pose3_retreat,0.575710107768,5.45447467741e-05,1.06002915194,0.546280839388,0.0087272789855,1.05969844476
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+380,6.333333333,pose2_to_pose3_retreat,0.575709951929,5.4569100586e-05,1.06002919322,0.546280683022,0.00872730150138,1.05969848463
+381,6.350000000,pose2_to_pose3_retreat,0.575709828728,5.4588353705e-05,1.06002922585,0.546280559406,0.00872731930151,1.05969851614
+382,6.366666667,pose2_to_pose3_retreat,0.575709770114,5.45975135513e-05,1.06002924137,0.546280500594,0.00872732777008,1.05969853114
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+390,6.500000000,pose2_to_pose3_retreat,0.575709287263,5.46319779483e-05,1.06002898671,0.546280017305,0.00872736063341,1.05969827349
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_03/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b1b3464a35396187c90e2293beaf452acc99cef
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:745c493a7478dca603cf4c96b5dac8df3be86e96fde3a825651427cd5fc62c89
+size 25059108
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..46cf67596044415f97fceef75f67658ab8e55df1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_03/franka_data.csv
@@ -0,0 +1,396 @@
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+21,0.350000000,BASELINE,764,742,711.823199261,671,659.823199261,633,876,784,799.823199261,649,628,650,0.400945029739,-0.00539166687556,0.0698156593639,0.999999932893,0.00021374936201,-0.000296744144038,2.16515428761e-05,1793192251112296960
+22,0.366666667,BASELINE,764,742,711.230931251,671,659.230931251,633,876,784,799.230931251,649,628,650,0.400947615384,-0.00539146658146,0.0698168901107,0.999999933059,0.000216163187717,-0.000294405135824,2.19226744588e-05,1793192251128963584
+23,0.383333333,BASELINE,764,742,711,671,659.352902503,633,876,784,799,649,628,650.352902503,0.40094795896,-0.0053917370191,0.0698170475582,0.99999993326,0.000215870507307,-0.000293925882633,2.20879324668e-05,1793192251145630208
+24,0.400000000,BASELINE,764,742,711,671,659.931345959,633,876,784,799,649,628,650.931345959,0.400946869623,-0.00539230830268,0.0698165190575,0.999999933483,0.00021384809169,-0.000294635203724,2.21855264111e-05,1793192251162296832
+25,0.416666667,BASELINE,764,742,711,671,659.494266656,633,876,784,799,649,628,651,0.40094542762,-0.00539352210074,0.0698153221231,0.999999933389,0.000211868986048,-0.000296387099461,2.21036819633e-05,1793192251178963712
+26,0.433333333,BASELINE,764,742,711.08164711,671,659,632.91835289,876,784,799,649,628,650.91835289,0.400944492295,-0.00539466704799,0.0698144227688,0.999999933381,0.000210121721161,-0.000297665200002,2.19734392551e-05,1793192251195630592
+27,0.450000000,BASELINE,764,742,711.67043492,671,659,632.32956508,876,784,799,649,628,650.32956508,0.400946999145,-0.00539484687809,0.0698159309367,0.999999934211,0.000209778276418,-0.000295128274751,2.16926760033e-05,1793192251212297216
+28,0.466666667,BASELINE,764,742,712,671,659,632,876,783.745049004,799,649,628,650,0.400948302899,-0.00539384580759,0.0698169770825,0.999999934464,0.000211174709894,-0.000293272157251,2.16347444246e-05,1793192251228963840
+29,0.483333333,BASELINE,764,742,712,671,659,632,876,783.165963872,799,649,628,650,0.400948077086,-0.00539134338896,0.0698174358324,0.999999933981,0.000214783152499,-0.000292281590679,2.18601118236e-05,1793192251245630208
+30,0.500000000,BASELINE,764,742,712,671,659,632.411716631,876,783,799,649,628,650.411716631,0.400947485117,-0.00539142335062,0.0698173429429,0.999999933825,0.000215161066873,-0.000292514065347,2.21663242831e-05,1793192251262296832
+31,0.516666667,BASELINE,764,742,712,671,659,632.988832836,876,783,799,649,628,650.988832836,0.400946746051,-0.00539254073606,0.0698170284424,0.999999933803,0.000214241175947,-0.00029323787433,2.25050147514e-05,1793192251278963712
+32,0.533333333,BASELINE,764,742,711.435971768,671,659,633,876.564028232,783,799.564028232,649.564028232,628.564028232,650.435971768,0.400945338653,-0.00539472961158,0.0698154902012,0.999999933639,0.000212214155493,-0.000295274399082,2.2376649585e-05,1793192251295630336
+33,0.550000000,BASELINE,763.857465972,742,711,671,659,632.857465972,876.857465972,783,799.857465972,649.857465972,628.857465972,650,0.400944345353,-0.00539598849691,0.0698145677004,0.999999933478,0.000210990892665,-0.000296698674415,2.227631391e-05,1793192251312297216
+34,0.566666667,BASELINE,763.268472396,742,711,671,659,632.268472396,876.268472396,783,799.268472396,649.268472396,628.268472396,650,0.400944690439,-0.00539426814791,0.0698156495191,0.99999993336,0.000212353668457,-0.000296124066157,2.22926418191e-05,1793192251328963584
+35,0.583333333,BASELINE,763.315731007,742,711.315731007,671,659,632.315731007,876,783,799,649,628.315731007,650.315731007,0.400945629612,-0.00539366032529,0.0698161846569,0.999999933727,0.000212128957692,-0.000295047328409,2.22472265446e-05,1793192251345630464
+36,0.600000000,BASELINE,763.895922167,742,711.895922167,671,659,632.895922167,876,783,799,649,628.895922167,650.895922167,0.400947066401,-0.00539398436819,0.0698162618882,0.999999934498,0.000210574548919,-0.000293550000792,2.21500944261e-05,1793192251362297344
+37,0.616666667,BASELINE,763.528699924,742,712,671.471300076,659,633,876,783,799,649,628.528699924,650.528699924,0.400946651131,-0.00539333608829,0.069816254645,0.999999934143,0.000211449254691,-0.000294132009624,2.21237007315e-05,1793192251378963968
+38,0.633333333,BASELINE,763.045779595,742,712,672,659,632.954220405,876.045779595,783,799,649,628,650,0.400945898319,-0.00539258208757,0.0698162025471,0.999999933591,0.000212705370893,-0.000295100020691,2.21230767301e-05,1793192251395630592
+39,0.650000000,BASELINE,763.62204152,742,712,672,659,632.37795848,876.62204152,783,799,649,628,650,0.400945925547,-0.00539306598022,0.0698158446633,0.999999933639,0.000212228062692,-0.000295273827509,2.22418801343e-05,1793192251412297216
+40,0.666666667,BASELINE,763.795962096,742,712,671.795962096,659,632.204037904,877,783,799.204037904,649,628,650,0.400945912424,-0.0053932246282,0.0698155890886,0.99999993362,0.000212262168094,-0.000295315674662,2.22101561191e-05,1793192251428963840
+41,0.683333333,BASELINE,763.203036097,742,712,671.203036097,659,632.796963903,877,783,799.796963903,649,628,650,0.400945822398,-0.00539276337282,0.0698155285111,0.999999933474,0.000213271007419,-0.000295106011952,2.18915328491e-05,1793192251445630208
+42,0.700000000,BASELINE,763.379152922,742,712,671.379152922,659.379152922,633,877,783,799.620847078,649,628,650,0.400945838097,-0.0053920449638,0.0698154570266,0.999999933185,0.000214027778688,-0.000295543212529,2.18363986363e-05,1793192251462297088
+43,0.716666667,BASELINE,763.955750614,742,712,671.955750614,659.955750614,633,877,783,799.044249386,649,628,650,0.400945908853,-0.00539119264142,0.0698153798623,0.99999993282,0.000214653284894,-0.000296317268682,2.19184769763e-05,1793192251478963712
+44,0.733333333,BASELINE,764,742,712,671.472307912,659.472307912,633,877,783,799.527692088,649,628,650.527692088,0.400945544443,-0.00539085190447,0.0698156005085,0.999999932734,0.000215965632688,-0.000295656363756,2.18536989541e-05,1793192251495630336
+45,0.750000000,BASELINE,764,742,712,671.103001905,659,633,876.896998095,783.103001905,799.896998095,649,628,650.896998095,0.400945022496,-0.00539100265949,0.0698158216001,0.999999932818,0.000216268345042,-0.000295157853601,2.17903800372e-05,1793192251512296960
+46,0.766666667,BASELINE,764,742,712,671.696183114,659,633,876.303816886,783.696183114,799.303816886,649,628,650.303816886,0.400943922979,-0.00539329002578,0.0698159270072,0.99999993359,0.000211494575681,-0.000295999794336,2.17920965983e-05,1793192251528963584
+47,0.783333333,BASELINE,764,742,711.717904108,671.717904108,659,633,876,783.717904108,799.282095892,649,628,650,0.400944379787,-0.00539439860653,0.0698161395947,0.999999934088,0.000209453205792,-0.000295755642664,2.19451855859e-05,1793192251545630208
+48,0.800000000,BASELINE,764,742,711.139622719,671.139622719,659,633,876,783.139622719,799.860377281,649,628,650,0.400946470654,-0.0053942695262,0.0698164647159,0.999999934316,0.000210280707646,-0.00029437115255,2.22572074717e-05,1793192251562296832
+49,0.816666667,BASELINE,764,742,711,671,659.437122562,633,876,783,799.562877438,649.437122562,628,650,0.400946312641,-0.00539416530163,0.0698162509459,0.999999934192,0.000210207782026,-0.000294868586664,2.19505178875e-05,1793192251578963712
+50,0.833333333,BASELINE,764,742,711.013316278,671.013316278,659.986683722,633,876.013316278,783,799,649.986683722,628.013316278,650,0.400945461025,-0.0053940664545,0.0698158745857,0.999999933955,0.000209902598522,-0.00029592391202,2.1468632288e-05,1793192251595630592
+51,0.850000000,BASELINE,764,742,711.586876473,671.586876473,659.413123527,633,876.586876473,783,799,649.413123527,628.586876473,650,0.400945543555,-0.00539386099604,0.0698158741852,0.999999933727,0.000211883755099,-0.000295249436112,2.1901247992e-05,1793192251612296960
+52,0.866666667,BASELINE,763.834496646,741.834496646,711.834496646,671.834496646,659,633,877,783,799.165503354,649,628.834496646,650,0.400945399343,-0.0053933848936,0.06981578206,0.999999933488,0.000213256877601,-0.000295055737106,2.2101352333e-05,1793192251628963584
+53,0.883333333,BASELINE,763.242823112,741.242823112,711.242823112,671.242823112,659,633,877,783,799.757176888,649,628.242823112,650,0.400944671275,-0.0053922118845,0.0698154537441,0.999999933229,0.000213064315757,-0.000296100035897,2.17027412305e-05,1793192251645630464
+54,0.900000000,BASELINE,763.341317245,741.341317245,711.341317245,671.341317245,659.341317245,633,877,783,799.658682755,649,628,650.341317245,0.40094536749,-0.00539243768317,0.0698161470454,0.999999933423,0.000213233205711,-0.000295314143107,2.18001912454e-05,1793192251662297088
+55,0.916666667,BASELINE,763.920213987,741.920213987,711.920213987,671.920213987,659.920213987,633,877,783,799.079786013,649,628,650.920213987,0.400947055101,-0.0053936371451,0.0698175514602,0.99999993393,0.000213653690154,-0.000293254315252,2.22429327959e-05,1793192251678963712
+56,0.933333333,BASELINE,764,742,712,671.504679651,659.504679651,633,877,783,799,649,628,650.504679651,0.400946580608,-0.00539444911089,0.069816900078,0.999999933857,0.000212983073447,-0.000293979623778,2.23597330046e-05,1793192251695630336
+57,0.950000000,BASELINE,764,742,712,671.07144108,659.07144108,633,876.92855892,783,799,649,628,650,0.400946075087,-0.00539486059587,0.0698161835283,0.999999933772,0.000212370203841,-0.000294711596378,2.23657831405e-05,1793192251712296960
+58,0.966666667,BASELINE,764,742,712,671.659273278,659.659273278,633,876.340726722,783,799,649,628,650,0.400947843543,-0.00539282506332,0.0698173713571,0.99999993427,0.000213435483112,-0.000292273581796,2.1947925598e-05,1793192251728963584
+59,0.983333333,BASELINE,763.756696021,742.243303979,712,672,659.756696021,633,876,783,799,649,628,650.243303979,0.400948260565,-0.00539194974053,0.0698175584285,0.99999993428,0.000213910542704,-0.000291912157148,2.1662039457e-05,1793192251745630208
+60,1.000000000,BASELINE,763.177907015,742.822092985,712,672,659.177907015,633,876,783,799,649,628,650.822092985,0.400946814134,-0.00539267419813,0.0698163655836,0.999999933621,0.000213571765098,-0.000294414083737,2.15581249187e-05,1793192251762296576
+61,1.016666667,BASELINE,763.399571578,742.600428422,712,671.600428422,659,633,876.399571578,783.399571578,799,649,628,650.600428422,0.400946205209,-0.00539314040287,0.0698160732231,0.999999933521,0.000213130576172,-0.000295065037972,2.16559121407e-05,1793192251778963456
+62,1.033333333,BASELINE,763.976468589,742.023531411,712,671.023531411,659,633,876.976468589,783.976468589,799,649,628,650.023531411,0.40094596796,-0.00539349199781,0.0698161804877,0.999999933671,0.000212643938258,-0.000294894551063,2.18432123727e-05,1793192251795630336
+63,1.050000000,BASELINE,763.448681481,742,711.448681481,671,659,633,876.448681481,783.448681481,799,649,628,650,0.400945699054,-0.00539304100709,0.0698160518655,0.999999933294,0.000213557129303,-0.00029551497203,2.18181729084e-05,1793192251812297216
+64,1.066666667,BASELINE,763,742,711,671,659,633,876.258624456,783,799,649,628.129312228,650,0.400945506451,-0.00539258390889,0.0698159875288,0.999999933011,0.000214544345203,-0.000295760131288,2.1791660804e-05,1793192251828963840
+65,1.083333333,BASELINE,763,742,711,671,659,633,877.437606701,783,799,649,628.71880335,650,0.400945590172,-0.00539222653088,0.0698161876586,0.999999933145,0.000215583155629,-0.000294550172313,2.17920412782e-05,1793192251845630464
+66,1.100000000,BASELINE,763.304399838,742,711,671,659,633,877.391200324,783,799,649,628.695600162,650,0.400946140818,-0.005392054283,0.0698166221009,0.999999933511,0.000214885378127,-0.000293805498499,2.1906958397e-05,1793192251862296832
+67,1.116666667,BASELINE,763.886443981,742,711,671,659,633,876.227112037,783,799,649,628.113556019,650,0.400947117349,-0.00539205089306,0.0698172702606,0.999999934088,0.000212603651798,-0.000293485213199,2.21263448459e-05,1793192251878963456
+68,1.133333333,BASELINE,764,742,711,671.461064324,659,633,876.461064324,783,799,649,628,650,0.400947303066,-0.00539274797118,0.0698172014325,0.999999934061,0.000212771078943,-0.000293452301718,2.21947169372e-05,1793192251895630336
+69,1.150000000,BASELINE,764,742,711.034857302,672,659,633,876.965142698,783,799.034857302,649,628,650,0.400947293244,-0.00539355695968,0.0698169909761,0.999999933937,0.000213363248372,-0.000293444701589,2.21979832501e-05,1793192251912296704
+70,1.166666667,BASELINE,764,742,711.624110199,672,659,633,876.375889801,783,799.624110199,649,628,650,0.400947222101,-0.00539344546386,0.0698172920345,0.9999999346,0.00021126905018,-0.000292731811641,2.17479384349e-05,1793192251928963584
+71,1.183333333,BASELINE,764,742.209580237,712,671.790419763,659,633,876,783,799.790419763,649,628.209580237,650.209580237,0.400947167331,-0.00539327476184,0.0698175816398,0.999999934954,0.00021033035934,-0.000292211375014,2.15924295233e-05,1793192251945630464
+72,1.200000000,BASELINE,764,742.788385967,712,671.211614033,659,633,876,783,799.211614033,649,628.788385967,650.788385967,0.400947141407,-0.00539299975395,0.0698178510679,0.999999934767,0.000211427369503,-0.000292029990623,2.19558156662e-05,1793192251962297088
+73,1.216666667,BASELINE,764,742.633260669,711.633260669,671,659,633,876,783,798.633260669,649,628.633260669,650.633260669,0.40094726051,-0.00539269809612,0.0698174835178,0.999999934395,0.000212780575397,-0.000292312818669,2.20849327583e-05,1793192251978963712
+74,1.233333333,BASELINE,764,742.055168041,711.055168041,671,659,633,876,783,798.055168041,649,628.055168041,650.055168041,0.400947463192,-0.00539238107983,0.0698167488748,0.999999933914,0.000214281427818,-0.00029286317415,2.20790396664e-05,1793192251995630336
+75,1.250000000,BASELINE,764,742,711.518707378,671,659,633,876.518707378,783,798,649,628,650,0.400947906469,-0.00539306981583,0.0698171335727,0.999999934421,0.000212686239037,-0.000292312078648,2.18376303474e-05,1793192252012296960
+76,1.266666667,BASELINE,764,742,711.905192659,671.094807341,659,633,877,783,798.094807341,649,628,650.094807341,0.400948249066,-0.00539376839071,0.069817589941,0.999999934899,0.000211172835479,-0.000291788306967,2.16417094739e-05,1793192252028963584
+77,1.283333333,BASELINE,764,742,711.315148514,671.684851486,659,633,877,783,798.684851486,649,628,650.684851486,0.400947933163,-0.00539396410403,0.069817803835,0.999999934698,0.000211792831492,-0.000292014258674,2.18131923319e-05,1793192252045630208
+78,1.300000000,BASELINE,764,742,711.270318916,671.729681084,659,632.729681084,876.729681084,783,799,649,628,650.729681084,0.400947759386,-0.00539311194501,0.0698181492278,0.999999934452,0.000213267987615,-0.000291774722784,2.19171131275e-05,1793192252062297088
+79,1.316666667,BASELINE,764,742,711.850539424,671.149460576,659,632.149460576,876.149460576,783,799,649,628,650.149460576,0.400947748545,-0.00539105847418,0.0698186453747,0.99999993415,0.000215723524515,-0.00029100153814,2.19435787664e-05,1793192252078963712
+80,1.333333333,BASELINE,764,742,711.573863738,671.426136262,659,632.426136262,876.426136262,783,799.426136262,649,628,650.426136262,0.400947682447,-0.00539183636058,0.0698181157044,0.999999934256,0.000214486305875,-0.000291558435077,2.18348283141e-05,1793192252095630336
+81,1.350000000,BASELINE,764,742,711.000130546,671.999869454,659.000130546,633,877,783.000130546,799.999869454,649,628.000130546,651,0.400947597241,-0.00539359625149,0.0698172303949,0.999999934499,0.000211968727428,-0.00029257643007,2.16792936914e-05,1793192252112296960
+82,1.366666667,BASELINE,764,742,711.581577581,671.418422419,659.581577581,633,877,783.581577581,799.418422419,649,628.581577581,651,0.400947798654,-0.00539361790651,0.0698176285664,0.999999934382,0.000213521544466,-0.000291814045779,2.21102457265e-05,1793192252128963584
+83,1.383333333,BASELINE,764,742,711.835432832,671,659.835432832,632.835432832,876.835432832,784,799,649,629,650.835432832,0.400947429717,-0.00539363149487,0.0698175056637,0.999999934102,0.0002146497825,-0.000291927002213,2.23662762114e-05,1793192252145630208
+84,1.400000000,BASELINE,764,742,711.248483973,671,659.248483973,632.248483973,876.248483973,784,799,649,629,650.248483973,0.400945596904,-0.00539362437921,0.0698160453606,0.999999933406,0.000214688287114,-0.000294286627123,2.21733493151e-05,1793192252162296832
+85,1.416666667,BASELINE,764,742,711,671,659,632,876.332233546,783.667766454,799,649,628.667766454,650,0.400945279592,-0.00539367304324,0.0698156539289,0.999999933398,0.000213950902467,-0.000294864158288,2.19883662186e-05,1793192252178963456
+86,1.433333333,BASELINE,764,742,711,671,659,632,876.908376292,783.091623708,799,649,628.091623708,650,0.400946074887,-0.00539376265792,0.0698160472091,0.999999933896,0.00021264389885,-0.0002941333655,2.18092150729e-05,1793192252195630080
+87,1.450000000,BASELINE,763.517555498,742,711,671,659.482444502,632.482444502,876.517555498,783.482444502,799,649,628,650,0.400947088815,-0.00539379996726,0.0698169765844,0.999999934744,0.000210571125065,-0.000292752443473,2.16465447404e-05,1793192252212296960
+88,1.466666667,BASELINE,763,742,711.057816906,671.057816906,659.942183094,633,876.057816906,783.942183094,799,649,628,650.057816906,0.400948169815,-0.00539381827075,0.0698179399996,0.999999935577,0.000208634835929,-0.000291298374323,2.15059654216e-05,1793192252228963584
+89,1.483333333,BASELINE,763,742,711.648834793,671.648834793,659.351165207,633,876.648834793,783.351165207,799,649,628,650.648834793,0.40094948808,-0.00539375251558,0.069818282418,0.999999935728,0.000209292701998,-0.000290303515777,2.15403729212e-05,1793192252245630208
+90,1.500000000,BASELINE,763.234313475,742.234313475,712,671.765686525,659.234313475,632.765686525,877,783,799.234313475,649,628.234313475,650.765686525,0.400949770628,-0.00539396118325,0.0698183546319,0.999999935639,0.000210142294015,-0.000289990527226,2.16254002246e-05,1793192252262297088
+91,1.516666667,BASELINE,763.811682225,742.811682225,712,671.188317775,659.811682225,632.188317775,877,783,799.811682225,649,628.811682225,650.188317775,0.400948536794,-0.00539457162979,0.0698180312426,0.999999935198,0.000211272589412,-0.000290675855653,2.17845393141e-05,1793192252278963712
+92,1.533333333,BASELINE,764,742.612511653,711.612511653,671,659.612511653,632,876.612511653,783,800,649,628.612511653,650,0.400947551456,-0.00539403035107,0.0698172872756,0.999999934569,0.000212448547216,-0.0002919736706,2.18635671115e-05,1793192252295630336
+93,1.550000000,BASELINE,764,742.03746186,711.03746186,671,659.03746186,632,876.03746186,783,800,649,628.03746186,650,0.400946686401,-0.00539293158659,0.0698163397305,0.999999933847,0.000213646607738,-0.000293567956088,2.19038175252e-05,1793192252312297216
+94,1.566666667,BASELINE,763.463389456,742,711,671,659,632.536610544,876,783,799.463389456,649,628,650,0.400946387107,-0.00539212258573,0.0698164255293,0.999999933612,0.000214261774403,-0.000293940234981,2.16047872418e-05,1793192252328963840
+95,1.583333333,BASELINE,763,742,711,671,659,632.885625307,876,783,799,649,628,650,0.400946441666,-0.00539173658022,0.0698167333282,0.999999933529,0.000214656132364,-0.000293946204457,2.14773579776e-05,1793192252345630464
+96,1.600000000,BASELINE,763,742,711,671,659,632.292110132,876,783,799,649,628,650,0.400947813435,-0.00539303800454,0.0698176694741,0.999999933935,0.000214295636649,-0.00029277435962,2.21678474814e-05,1793192252362297344
+97,1.616666667,BASELINE,763.293016544,742,711.293016544,671,659,632.293016544,876,783.293016544,799,649,628.293016544,650,0.400948179722,-0.00539329641636,0.0698180296404,0.999999934283,0.000213667629719,-0.000292033049545,2.22833395873e-05,1793192252378963968
+98,1.633333333,BASELINE,763.870013375,742,711.870013375,671,659,632.870013375,876,783.870013375,799,649,628.870013375,650,0.400947571537,-0.00539254398077,0.0698178315893,0.999999934577,0.000212780361299,-0.000291708997161,2.18415664382e-05,1793192252395630592
+99,1.650000000,BASELINE,764,742,711.553974436,671,659,632.553974436,876,783.553974436,799,649.446025564,628.553974436,650.446025564,0.400946731451,-0.00539358776223,0.0698176226739,0.999999934898,0.000211031604835,-0.000291874142937,2.1875243685e-05,1793192252412297472
+100,1.666666667,BASELINE,764,742,711,671,659,632,876,783,799,649.977752548,628,651,0.400945887813,-0.00539508004032,0.0698174431771,0.999999935219,0.000209105306012,-0.000292149682417,2.20281190866e-05,1793192252428964352
+101,1.683333333,BASELINE,764,742,711,671,659,632,876,783,799,649.388897476,628,651,0.400946671182,-0.00539469205034,0.0698180933873,0.999999935397,0.000209037457041,-0.000291613777416,2.16956013217e-05,1793192252445630720
+102,1.700000000,BASELINE,764,742,711.196609399,671,659.196609399,632.196609399,876,783,799,649,628.196609399,650.803390601,0.400947477657,-0.00539414984181,0.069818557142,0.999999935637,0.000209005302646,-0.000290835057534,2.14094966648e-05,1793192252462297344
+103,1.716666667,BASELINE,764,742,711.7756043,671,659.7756043,632.7756043,876,783,799,649,628.7756043,650.2243957,0.400948329074,-0.00539330769379,0.0698186582594,0.999999935996,0.000209042570618,-0.0002895840872,2.12136608727e-05,1793192252478963968
+104,1.733333333,BASELINE,764,742,711.64831651,671.35168349,660,633,876,783.35168349,799,649,629,650,0.400947474454,-0.00539276227569,0.0698182188528,0.999999935326,0.000210875447585,-0.000290557698329,2.13407628108e-05,1793192252495630336
+105,1.750000000,BASELINE,764,742,711.07408237,671.92591763,660,633,876,783.92591763,799,649,629,650,0.40094554023,-0.00539240463269,0.0698174373944,0.999999933994,0.000213844613178,-0.00029293905824,2.16722246263e-05,1793192252512296704
+106,1.766666667,BASELINE,763.498177133,742,711.501822867,671.498177133,660,633,876,784,799,649,628.498177133,650,0.400946844294,-0.00539303124957,0.0698183000885,0.999999934543,0.000213197935235,-0.000291516797664,2.18922540413e-05,1793192252528963584
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,876,783,799,649,629,650,0.400946536313,-0.00539477780976,0.0698173241725,0.999999934348,0.00021212871191,-0.000292985495823,2.15462813335e-05,1793192252571438848
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.423378329,742.576621671,712,671.423378329,659,633,876.576621671,783,799,649,628.423378329,650.576621671,0.400945327936,-0.00539362235073,0.0698163825554,0.999999934047,0.000212372950906,-0.000293842575402,2.14563031442e-05,1793192252588105216
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.153011111,742.846988889,711.846988889,671,659,633,877,783.153011111,799,649,628,650.846988889,0.400944878308,-0.00539294027905,0.0698160666404,0.999999934,0.000212313274722,-0.000294044905945,2.14587108625e-05,1793192252604771840
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.72875908,742.27124092,711.27124092,671,659,633,877,783.72875908,799,649,628,650.27124092,0.400946524936,-0.00539356607473,0.0698174794059,0.999999934656,0.000211413946179,-0.00029243830563,2.17163609937e-05,1793192252621438464
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.311168978,671.311168978,659,633,877,784,799,649,628.311168978,650,0.400947199509,-0.00539391035319,0.0698179046875,0.99999993468,0.00021223373545,-0.000291741595555,2.1984062205e-05,1793192252638105088
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.899512982,671.899512982,659,633,877,784,799,649,628.899512982,650,0.40094700822,-0.00539400386902,0.0698174503639,0.999999934139,0.000214584835918,-0.000291855373983,2.2260716441e-05,1793192252654771712
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.519568427,742,712,671.519568427,659,633,876.519568427,784,799,649,628.519568427,650,0.400947740868,-0.00539494838637,0.0698181192545,0.999999934411,0.000213827524108,-0.000291464551017,2.24624300148e-05,1793192252671438592
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.059623605,742,711.940376395,671,659,632.940376395,876.059623605,783.940376395,799,649,628.059623605,650,0.400949476615,-0.00539585854845,0.069819361228,0.999999935025,0.000212511148402,-0.000290304595709,2.26149721429e-05,1793192252688105216
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.63710377,742,711.36289623,671,659,632.36289623,876.63710377,783.36289623,799,649,628.63710377,650,0.400958271796,-0.00539494788433,0.0698235712509,0.999999937148,0.000211899991447,-0.000283367124853,2.24745075343e-05,1793192252704771840
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.786438294,742,711,671.213561706,659.213561706,632.213561706,876.786438294,783,799,649,628.786438294,650,0.400974023946,-0.00539453093038,0.0698307935837,0.999999940573,0.000211852074964,-0.000271038602264,2.25977581292e-05,1793192252721438464
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.21170917,742,711,671.78829083,659.78829083,632.78829083,876.21170917,783,799,649,628.21170917,650,0.401001541455,-0.00539494892035,0.0698431102197,0.999999945951,0.00021275668931,-0.000249592939065,2.3166993835e-05,1793192252738105088
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,711.367253716,672,659.632746284,633,876,783,799,649,628,650,0.401044323457,-0.00539631944923,0.0698606008823,0.999999953273,0.000211614167037,-0.000219333900888,2.37767618556e-05,1793192252754771712
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,711.948685741,672,659.051314259,633,876,783,799,649,628,650,0.401096007546,-0.00539824548831,0.069881108981,0.999999960887,0.000209277777223,-0.00018393499762,2.44101679081e-05,1793192252771438336
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.534540779,742,712,671.465459221,659,633,876.534540779,783,798.465459221,649,628,650,0.401156657658,-0.00540078398124,0.0698944117146,0.999999964012,0.000206512978691,-0.000169518293346,2.43370855553e-05,1793192252788105216
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.881471894,742,712,671,659,632.881471894,876.881471894,783,798.118528106,649,628,650.118528106,0.401221424069,-0.00540305218375,0.0699049914736,0.999999966398,0.000204042263656,-0.000158123755339,2.38292036045e-05,1793192252804771840
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.306328874,742,712,671,659,632.306328874,876.306328874,783,798.693671126,649,628,650.693671126,0.401298704587,-0.00540405074138,0.069907768206,0.999999967851,0.000202864222646,-0.000150547437446,2.19097605475e-05,1793192252821438464
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.274721218,742,712,671.274721218,659.274721218,632,876.274721218,783.274721218,799,649,628.274721218,651,0.401381496414,-0.00540508484406,0.069907465663,0.999999967974,0.000202452473721,-0.000150601235052,1.95863252508e-05,1793192252838105088
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.862502714,742,712,671.862502714,659.862502714,632,876.862502714,783.862502714,799,649,628.862502714,651,0.401470568685,-0.00540615945227,0.0699036541123,0.999999966576,0.000202913957793,-0.00015934997885,1.6802518191e-05,1793192252854771712
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,671.556536657,659.556536657,632.443463343,876.556536657,783.556536657,799,649,629,651,0.4015841794,-0.00540807517114,0.0699017457729,0.999999966267,0.000200365518119,-0.000164736085734,1.35018562886e-05,1793192252871438592
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.977706322,742,712,671.022293678,659,633,876.022293678,783,799,649,629,650.977706322,0.401706766622,-0.00541030890937,0.0699006213709,0.99999996638,0.000196690646313,-0.000168680927568,1.00121190858e-05,1793192252888105216
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.400058934,742,712,671.599941066,659,633,876.599941066,783,799,649,629,650.400058934,0.401866309793,-0.00541406670744,0.0699045483606,0.999999969169,0.000187850967727,-0.000162301198248,5.74391183168e-06,1793192252904771840
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.176747487,742,712,671.823252513,659.176747487,633,876.823252513,783,799,649,628.823252513,650,0.402037463697,-0.00541744751774,0.0699090177188,0.999999971922,0.000180057540051,-0.000154058007082,1.21646132564e-06,1793192252921438208
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.751659359,742,712,671.248340641,659.751659359,633,876.248340641,783,799,649,628.248340641,650,0.402234773429,-0.00541997907581,0.0699147088864,0.999999974718,0.00017462103451,-0.000141616940211,-3.89499367882e-06,1793192252938104832
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.665664266,742,712,671,659.665664266,633,876.334335734,783,799,649,628.334335734,650.334335734,0.402447774837,-0.00542419382415,0.069916909743,0.99999997691,0.000165924736123,-0.00013623990269,-9.40008657432e-06,1793192252954771712
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.077083325,742,712,671,659.077083325,633,876.922916675,783,799,649,628.922916675,650.922916675,0.402672708984,-0.00542968855279,0.0699164563973,0.999999978631,0.000154749531606,-0.000136234696498,-1.52045214713e-05,1793192252971438848
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.503695736,742,712,671.503695736,659.503695736,633,876.496304264,783,799,649,628.496304264,650.496304264,0.402937669663,-0.0054345008765,0.0699193331258,0.999999980611,0.000146159587241,-0.000130218222685,-2.14136406528e-05,1793192252988105728
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.917347955,742,712,671.917347955,660,633,876.082652045,783,799,649,628,650,0.403216335065,-0.00543949624384,0.0699242894483,0.999999983574,0.00013244809015,-0.000120632298013,-2.75279522262e-05,1793192253004772352
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.342246293,742,712,671.342246293,660,633,876.657753707,783,799,649,628,650,0.403540715196,-0.00544619493359,0.0699386461602,0.999999991246,8.5900547824e-05,-9.51766855396e-05,-3.27140290931e-05,1793192253021438720
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.231690106,742,711.768309894,671,660,632.768309894,877,783,799,649,628,650.231690106,0.403872656532,-0.00545279837027,0.0699473041648,0.999999994277,6.28059730975e-05,-8.10941006548e-05,-3.04220744413e-05,1793192253038105088
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.80391379,742,711.19608621,671,660,632.19608621,877,783,799,649,628,650.80391379,0.404215711159,-0.00545926180547,0.0699475863203,0.999999993596,7.41821136981e-05,-8.37273707129e-05,-1.71390553666e-05,1793192253054771712
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.390340302,711,671,660,632.390340302,877,783,799,649,628,650.609659698,0.404599116208,-0.00547374850622,0.0699530960603,0.999999994984,6.46020644181e-05,-7.49727833452e-05,-1.5389668169e-05,1793192253071438592
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.984170946,711,671,660,632.984170946,877,783,799,649,628,650.015829054,0.405003556536,-0.00549241785725,0.0699613310196,0.999999997018,4.40972339499e-05,-6.02815324275e-05,-1.96529392568e-05,1793192253088105216
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.436530338,711.563469662,671.563469662,659.436530338,633,876.436530338,783,798.436530338,649,628,650.563469662,0.405432688963,-0.00550913874057,0.0699606193888,0.999999997842,1.3151310163e-05,-6.08122595767e-05,-2.11108797492e-05,1793192253104771840
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.858372536,742,711.858372536,672,659.141627464,632.858372536,876.283254927,783,798.141627464,649,628.141627464,650.858372536,0.405868735711,-0.00552090118746,0.0699576159232,0.999999997527,-8.38769782495e-06,-6.61133534436e-05,-2.24826494598e-05,1793192253121438464
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.282492831,742,711.282492831,672,659.717507169,632.282492831,877.435014338,783,798.717507169,649,628.717507169,650.282492831,0.406323909403,-0.00551762389104,0.069948336568,0.999999996124,-2.06874414372e-07,-8.47629685678e-05,-2.38257673324e-05,1793192253138105344
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.298935188,742,711,671.701064812,660,632,877.402129624,783,799.298935188,649,628.701064812,650,0.406803173129,-0.00551964827206,0.0699329865565,0.999999993882,-2.35690538488e-06,-0.0001075636284,-2.56861473479e-05,1793192253154772224
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.88570557,742,711,671.11429443,660,632,876.228588861,783,799.88570557,649,628.11429443,650,0.407305632437,-0.00552677746943,0.0699117913018,0.999999990476,-1.44541868246e-05,-0.000134361199442,-2.80445827941e-05,1793192253171438848
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632.4683213,876.4683213,783,799.5316787,648.5316787,628,650,0.407872475021,-0.00553524932532,0.0699122651176,0.999999991074,-2.41901595527e-05,-0.000127854202917,-3.03297351067e-05,1793192253188105472
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.950631759,742,711.049368241,671.049368241,660,633,877,783,799,648.049368241,628,650,0.408459055834,-0.0055438220154,0.0699189090543,0.999999992707,-3.35762876742e-05,-0.000111365764991,-3.24872434567e-05,1793192253204772096
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.375587343,742,711.624412657,671.624412657,660,633,877,783,799,648.624412657,628,650,0.409089971074,-0.00555000994996,0.0699354371472,0.999999995647,-4.53195676315e-05,-7.4380960674e-05,-3.34743567297e-05,1793192253221438720
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742,712,672,660,633,876.800153373,783,799.399693253,649,628,650,0.409713337942,-0.00555663483273,0.0699430878236,0.999999996178,-5.65828683424e-05,-5.68095529704e-05,-3.48588920741e-05,1793192253238105344
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742,712,672,660,633,876.22398589,783,800.55202822,649,628,650,0.410322490823,-0.00556408250973,0.0699340218945,0.999999994203,-6.69423443213e-05,-7.57945117586e-05,-3.69917923957e-05,1793192253254771968
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742,712,671.638508638,660,632.638508638,876.361491362,783,800.277017275,649,628,650.361491362,0.410979895019,-0.0055724398952,0.0699317481953,0.999999992914,-7.76401998747e-05,-8.17855554738e-05,-3.81510712332e-05,1793192253271438592
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742,712,671.047110437,660,632.047110437,876.952889563,783,799.094220873,649,628,650.952889563,0.411667986806,-0.00558137585076,0.0699337943232,0.99999999217,-8.85532628879e-05,-7.95125284445e-05,-3.8691131222e-05,1793192253288105216
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.5322502,742,711.4677498,671.5322502,660,632,877.5322502,783,799,649,628,651,0.412412929382,-0.00558223083513,0.0699624071455,0.999999994657,-9.17780164428e-05,-3.01282509291e-05,-3.68057292319e-05,1793192253304771840
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,672,660,632.10955613,877.89044387,783,799,649,628.10955613,650.89044387,0.413162535534,-0.00557718600462,0.0699901104752,0.999999995435,-8.72665594727e-05,1.66723141745e-05,-3.51514496684e-05,1793192253321438464
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,672,660,632.682577345,877.317422655,783,799,649,628.682577345,650.317422655,0.413911053834,-0.00555014157491,0.0700042386729,0.999999997356,-5.28430585733e-05,3.5292578812e-05,-3.53630119496e-05,1793192253338105088
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.736796922,742,711.263203078,672,660,633,877,783,799,649,628.736796922,650,0.414629990541,-0.00553282629278,0.0699912543987,0.999999998788,-3.18012732561e-05,7.69692960446e-06,-3.67806698854e-05,1793192253354771712
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.146727214,742,711.853272786,672,660,633,877,783,799,649,628.146727214,650,0.41531219056,-0.00552759344048,0.0699445996908,0.99999999585,-2.73779677096e-05,-7.72933347515e-05,-3.96961537447e-05,1793192253371438336
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742,712,672,660,633,877,783,798.565843407,649,628,650,0.416076878941,-0.00553180931588,0.0699065455629,0.999999988696,-4.03216597297e-05,-0.000137950370415,-4.41856294611e-05,1793192253388105216
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.011957759,742,712,672,660,633,877,783,798.011957759,649,628,650,0.41686994171,-0.00553919020057,0.0698728118621,0.999999979343,-5.88359902286e-05,-0.000188271103741,-4.90576276599e-05,1793192253404771840
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.58775635,742,712,672,660,633,877,783,798.58775635,649,628,650,0.417713663079,-0.00554835765574,0.0699085814802,0.999999987923,-6.90002199342e-05,-0.000130939760829,-4.74036675973e-05,1793192253421438976
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,877,783,799.16331503,649,628,650,0.418558358214,-0.00555554327174,0.069941213332,0.999999992789,-7.59038458993e-05,-8.10286126154e-05,-4.57769617731e-05,1793192253438105856
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,877,783,799.738268973,649,628,650,0.419405507694,-0.00555773362058,0.0699659363767,0.999999995,-7.45890525132e-05,-4.98202230223e-05,-4.42189512389e-05,1793192253454772224
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.679086199,742,711.679086199,672,660,633,877,783,800,649,628,650,0.420257028649,-0.00555571066013,0.0699893304333,0.999999996558,-6.96310088317e-05,-1.35531188159e-05,-4.30424020946e-05,1793192253471438592
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.090014848,742,711.090014848,672,660,633,877,783,800,649,628,650,0.421112202392,-0.00555016703237,0.0700116139778,0.999999996848,-6.16286427688e-05,2.69410769327e-05,-4.21846044856e-05,1793192253488105216
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742,711.491582269,672,660,632.508417731,877,783,799.016835461,649,628,650,0.421964477415,-0.00554517813249,0.0700018550192,0.999999997225,-5.96330323162e-05,6.31254466687e-06,-4.41987947523e-05,1793192253504772096
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.07110088,742.07110088,712,672,659.92889912,632.07110088,877,783,798.07110088,649,628,650,0.422802843854,-0.00554112276766,0.0699780018504,0.999999996439,-5.93603683013e-05,-3.7337978591e-05,-4.69581602604e-05,1793192253521438720
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.645449616,742.645449616,712,672,659.354550384,632.645449616,877,783,798.645449616,649,628,650,0.42354646638,-0.00554296671908,0.0698952977149,0.999999982897,-6.36141017759e-05,-0.000165904538641,-5.13253114583e-05,1793192253538105344
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.779759971,742.779759971,712,672,659.220240029,633,877.220240029,783,799,649,628,650,0.424338061591,-0.00554754825423,0.0698455398117,0.999999968034,-7.24519213374e-05,-0.000235874210232,-5.51933395064e-05,1793192253554772224
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.204257011,742.204257011,712,672,659.795742989,633,877.795742989,783,799,649,628,650,0.425207040293,-0.00555654570817,0.0698489265264,0.999999972042,-8.86842018838e-05,-0.000211322930499,-5.82562479613e-05,1793192253571438848
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.382708391,742.382708391,712,672,660.382708391,632.617291609,877.617291609,783,799,649,628,650,0.426088816464,-0.00555930984832,0.0698924146616,0.999999983668,-9.15147614344e-05,-0.000145465512993,-5.59431934959e-05,1793192253588105472
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.975980317,742.975980317,712,672,660.975980317,632.024019683,877.024019683,783,799,649,628,650,0.426977633661,-0.0055586444614,0.0699579663235,0.999999993316,-8.69717843847e-05,-5.68817420892e-05,-5.06723205392e-05,1793192253604772096
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,711.447845817,672.552154183,661,632.552154183,877,783,799.552154183,649,628,650,0.427863175279,-0.00555914729333,0.0699900449253,0.999999994879,-8.72551987502e-05,-1.48198837571e-05,-4.90738733697e-05,1793192253621438464
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.872551287,742.872551287,711.127448713,673,661,632.872551287,877,783,799.872551287,649,628,650,0.42873603925,-0.00556055845166,0.0700150872234,0.999999994738,-8.8508905302e-05,1.97570355943e-05,-4.79553448067e-05,1793192253638105344
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.29781088,742.29781088,711.70218912,673,661,632.29781088,877,783,799.29781088,649,628,650,0.429564895011,-0.00556498445738,0.0700203919721,0.999999993964,-9.24532046533e-05,3.49542523651e-05,-4.79772904433e-05,1793192253654771968
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.284721215,742.284721215,712,673,660.715278785,632.284721215,877,783,799,649,628,650,0.430342055497,-0.00556805780519,0.0700013738732,0.999999994074,-9.69737890307e-05,5.30773297264e-06,-4.91864214728e-05,1793192253671438848
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.87563248,742.87563248,712,673,660.12436752,632.87563248,877,783,799,649,628,650,0.431063622677,-0.00556967650033,0.0699561989105,0.999999990819,-0.000102114111386,-7.25638759237e-05,-5.16722550242e-05,1793192253688105728
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.542797049,743,712,673,660.457202951,633,877.457202951,783,799,649,628,650,0.431771159049,-0.0055687177364,0.0698979217435,0.999999979266,-9.83541342057e-05,-0.000169835852869,-5.43079874148e-05,1793192253704772352
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742.963767659,712,673,661,633,877.963767659,783,799,649,628.036232341,650,0.432483741275,-0.00556717018699,0.0698429967052,0.999999960222,-9.29210695441e-05,-0.000260185012158,-5.67896780075e-05,1793192253721438976
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742.385503164,712,673,661,633,877.385503164,783,799,649,628.614496836,650,0.433327761492,-0.00556709309347,0.0698904694043,0.999999979231,-9.79522265214e-05,-0.00016960287389,-5.63691420108e-05,1793192253738105600
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,742,711.809432762,673,661.381134477,632.809432762,877,783,799,649,628.809432762,650,0.434143571998,-0.00556823266496,0.0699390761347,0.999999989805,-0.000101608006054,-8.42207195729e-05,-5.45306634607e-05,1793192253754771968
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,742,711.237750221,673,662.524499558,632.237750221,877,783,799,649,628.237750221,650,0.434902966074,-0.00557180544405,0.0699899508219,0.99999999346,-0.000102513170956,-9.23799546398e-06,-4.98564429572e-05,1793192253771438848
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,742.345521153,711.345521153,673,661.963436541,632.345521153,877,783.345521153,799,649,628,650,0.435609287779,-0.00557491803646,0.0700065526914,0.999999993302,-0.000103826108,1.67686747242e-05,-4.83209621682e-05,1793192253788105472
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,742.937043408,711.937043408,673,660.188869775,632.937043408,877,783.937043408,799,649,628,650,0.436277823438,-0.00557770298901,0.0699987532997,0.99999999321,-0.000105429367287,7.90580164967e-06,-4.90201740064e-05,1793192253804772096
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.516976274,742.483023726,712,673,660.516976274,633,877.516976274,783.483023726,799.516976274,649,628,650,0.436922441851,-0.00558213327458,0.069976230362,0.999999992523,-0.000109492046646,-1.81609383718e-05,-5.13478630926e-05,1793192253821438720
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.904955217,742,711.904955217,673,660.904955217,633,877.904955217,783,799.904955217,649,628,650,0.43755838433,-0.00558633009378,0.0699516222126,0.999999990982,-0.000113805916514,-4.66774082895e-05,-5.3897959198e-05,1793192253838105856
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.329333789,742,711.329333789,673,660.329333789,633,877.329333789,783,799.329333789,649,628,650,0.438164862668,-0.00558835553126,0.0699253378226,0.999999988466,-0.000117908700537,-7.72194660865e-05,-5.65918659661e-05,1793192253854772480
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,742.24638503,711,672.75361497,660,632.75361497,877,783,799.24638503,649,628.24638503,650.24638503,0.438731866688,-0.00558960008457,0.0698951249823,0.999999983235,-0.000122378199588,-0.000123174605676,-5.81498053421e-05,1793192253871439104
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,742.822234034,711,672.177765966,660,632.177765966,877,783,799.822234034,649,628.822234034,650.822234034,0.439246085933,-0.00558980044604,0.0698596590534,0.999999972199,-0.000127338066274,-0.000189739984876,-5.81887384081e-05,1793192253888105728
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,743,711.410159776,672.410159776,660,632.410159776,877.410159776,783,799.589840224,649,628.589840224,650.589840224,0.43974632847,-0.00558801978994,0.0698340279208,0.999999963996,-0.000117841905023,-0.000233969897994,-5.81378568196e-05,1793192253904772352
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.003372626,743,712,673,660,632.996627374,877.993254748,783,799,649,628,650,0.440240427314,-0.00558537872989,0.069813000499,0.999999957229,-0.000102047372068,-0.000267877758218,-5.80477683011e-05,1793192253921438720
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.578633187,743,712,673,660,632.421366813,876.842733626,783,799,649,628,650,0.440751081664,-0.00558684621887,0.0698279104335,0.999999962472,-0.000112881900999,-0.000242768973099,-5.81103336243e-05,1793192253938105088
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.846397418,742.846397418,712,673.153602582,660,632,876.153602582,783,799.153602582,649,628.153602582,650,0.44125394797,-0.00558878382481,0.0698449664691,0.999999967421,-0.000122409099051,-0.000216363843816,-5.79750267513e-05,1793192253954771968
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.272225118,742.272225118,712,673.727774882,660,632,876.727774882,783,799.727774882,649,628.727774882,650,0.441735490424,-0.00559200862924,0.0698678986143,0.999999972747,-0.000128356777945,-0.000186409269523,-5.7297938354e-05,1793192253971438848
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,742.311717444,711.688282556,674,660,632,877.311717444,783,800,649,629,650,0.442156159032,-0.00559319911496,0.0698696670329,0.999999972389,-0.000127880884268,-0.000188681905738,-5.71656446165e-05,1793192253988105728
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,742.904468501,711.095531499,674,660,632,877.904468501,783,800,649,629,650,0.442521945866,-0.00559255552944,0.0698523549697,0.999999966748,-0.000121613720449,-0.000220009476594,-5.75245188406e-05,1793192254004772608
+194,3.233333333,POSE1_TO_POSE2_PRESS,763,743,711.486058521,674,660,632,878,783,799.513941479,649,628.513941479,650,0.442845635044,-0.00559306585075,0.0698195927233,0.999999953069,-0.000126802809149,-0.000272609065822,-5.88777016776e-05,1793192254021438976
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.064788939,743,712,674,660,632,878,783,799,649,628,650,0.443159084262,-0.00559380252207,0.0697859714999,0.999999936134,-0.000133286055757,-0.000326113407121,-6.01428485867e-05,1793192254038105600
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.637907834,743,712,674,660,632,878,783,799,649,628,650,0.443455651562,-0.00559457566334,0.069768901191,0.99999992656,-0.000132653447029,-0.000354649857081,-5.92184008087e-05,1793192254054772224
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.783185191,743,711.783185191,673.783185191,659.783185191,632,878,783,799,649,628,650,0.443745025953,-0.00559495651924,0.0697549903671,0.999999918407,-0.000130814872532,-0.000377580182567,-5.92233217235e-05,1793192254071438848
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.194346748,743,711.194346748,673.194346748,659.194346748,632,878,783,799,649,628,650,0.444022058298,-0.0055946642687,0.0697465007756,0.9999999137,-0.000126907031062,-0.000390891186535,-6.0822908396e-05,1793192254088105472
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.387987849,743,711.387987849,673,659,632,878,783,799.387987849,649,628,650.387987849,0.444273227178,-0.00559535127939,0.0697407947879,0.999999910327,-0.000124562059828,-0.000400325067784,-5.97514590775e-05,1793192254104772352
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.967118371,743,711.967118371,673,659,632,878,783,799.967118371,649,628,650.967118371,0.444511654415,-0.00559652072427,0.069736460145,0.999999907621,-0.000122987038121,-0.000407848881123,-5.73641208548e-05,1793192254121438976
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.456900257,743,711.456900257,673.543099743,659,632,877.456900257,782.456900257,799.456900257,649,628.543099743,650.456900257,0.444704510728,-0.00559728429509,0.0697265590404,0.999999900058,-0.000132637512315,-0.000423054233608,-5.75856551397e-05,1793192254138105600
+202,3.366666667,POSE1_TO_POSE2_PRESS,763.118666595,743,711.118666595,674,659,631.881333405,877.118666595,782,799.118666595,649.118666595,629,650,0.444889848902,-0.0055979538856,0.069717115904,0.999999893075,-0.000141158363592,-0.000436465650829,-5.84965382943e-05,1793192254154772224
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.693369103,743,711.693369103,674,659,631.306630897,877.693369103,782,799.693369103,649.693369103,629,650,0.445056836866,-0.00559835620101,0.0697107204311,0.999999890593,-0.000142741273219,-0.000441206000954,-6.14530780723e-05,1793192254171438848
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711.724419357,673.724419357,659,631,877.724419357,782,800,649.724419357,628.724419357,650,0.445212395014,-0.00559764351329,0.0697074811543,0.999999889944,-0.000142716787932,-0.000442356938912,-6.37443989487e-05,1793192254188105728
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711.133618725,673.133618725,659,631,877.133618725,782,800,649.133618725,628.133618725,650,0.445354879278,-0.00559565544107,0.0697078520593,0.999999891413,-0.000140853700973,-0.000439402165664,-6.52748160834e-05,1793192254204772096
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,877.447728466,782,799.552271534,649,628,650,0.445474573103,-0.00559288717162,0.0697107070795,0.999999893879,-0.000136586199147,-0.000435090093745,-6.54387494682e-05,1793192254221438720
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.973753027,743,711.026246973,673,659,631,878,782,798.973753027,649,628,650,0.445586134721,-0.0055899366558,0.0697140912545,0.999999896395,-0.000131893443325,-0.000430764228607,-6.52475170985e-05,1793192254238105600
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.396614654,743,711.603385346,673,659,631,878,782,798.396614654,649,628,650,0.445666814885,-0.00558794697832,0.0697133434233,0.999999894591,-0.000133024536026,-0.00043447493799,-6.59842183489e-05,1793192254254772480
+209,3.483333333,POSE1_TO_POSE2_PRESS,763,743,711.816840808,673,659,631,878,782,798.366318385,649,628,650,0.445741981245,-0.00558525876903,0.0697121204056,0.999999893599,-0.000132567025118,-0.000436786353117,-6.66751947374e-05,1793192254271439104
+210,3.500000000,POSE1_TO_POSE2_PRESS,763,743,711.231276844,673,659,631,878,782,799.537446311,649,628,650,0.445805033644,-0.00558103587024,0.0697098533924,0.999999894408,-0.000128619317027,-0.000436023487536,-6.72657125036e-05,1793192254288105728
+211,3.516666667,POSE1_TO_POSE2_PRESS,763,743,711.350592476,673.350592476,659,631,877.649407524,782,799.649407524,649,628,650,0.445854596156,-0.00557815941576,0.0697078469095,0.999999893434,-0.000124185046214,-0.00043950684531,-6.7411446364e-05,1793192254304772352
+212,3.533333333,POSE1_TO_POSE2_PRESS,763,743,711.930050009,673.930050009,659,631,877.069949991,782,799.069949991,649,628,650,0.445895352541,-0.00557616191315,0.0697060104992,0.999999891254,-0.000119433149235,-0.000445762116878,-6.72668275164e-05,1793192254321439232
+213,3.550000000,POSE1_TO_POSE2_PRESS,763,743,711.491868268,674,659,631,877,782,799,649,628,650,0.445923067029,-0.00557728776034,0.0697029639296,0.999999888891,-0.000121103392126,-0.000450676568444,-6.66500947964e-05,1793192254338105600
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.085624409,743,711.085624409,673.914375591,659,631,877.085624409,782,799,649,628,650,0.445947403192,-0.00557824859341,0.0696997546479,0.999999886574,-0.000122807136373,-0.000455412491536,-6.61030983804e-05,1793192254354771968
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.660829281,743,711.660829281,673.339170719,659,631,877.660829281,782,799,649,628,650,0.445962660631,-0.00557581411971,0.0696965649761,0.999999884758,-0.000119661125816,-0.00046018016114,-6.63254418396e-05,1793192254371438592
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.758571907,743,712,673,658.758571907,631,878,782,799,649,628,650,0.445976512652,-0.00557392052175,0.0696947180677,0.999999883681,-0.0001177062491,-0.000462991736109,-6.65026228356e-05,1793192254388105216
+217,3.616666667,POSE1_TO_POSE2_PRESS,763.170222275,743,712,673,658.170222275,631,878,782,799,649,628,650,0.445988345148,-0.00557280413857,0.0696948006515,0.999999883701,-0.000117462979459,-0.000462992488945,-6.66149073497e-05,1793192254404771840
+218,3.633333333,POSE1_TO_POSE2_PRESS,763,743,711.588361691,673,658.411638309,631,878,782,799.411638309,649,628,650.411638309,0.445995412298,-0.00557329036781,0.0696949557112,0.999999884101,-0.000117005320483,-0.000462311413192,-6.61435409018e-05,1793192254421438720
+219,3.650000000,POSE1_TO_POSE2_PRESS,763,743,711.009142853,673,658.990857147,631,878,782,799.990857147,649,628,650.990857147,0.446000539445,-0.0055744290306,0.0696951402764,0.999999884654,-0.000116460382274,-0.000461352760758,-6.54345664952e-05,1793192254438105344
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.567590806,743,711,673,659,631,878,782,800,649.567590806,628,651,0.446001687057,-0.0055723793013,0.0696935176405,0.999999883891,-0.000113439118212,-0.000463735362848,-6.55614629446e-05,1793192254454771968
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711,673.143630818,659,631,877.856369182,782,800,649.856369182,628,650.856369182,0.446003522079,-0.00557087029114,0.0696927566702,0.999999883617,-0.000111388876799,-0.000464815679172,-6.56081084218e-05,1793192254471438592
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,673.717711371,659,631,877.282288629,782,800,649.282288629,628,650.282288629,0.446007608486,-0.00557113502041,0.069694664903,0.999999884905,-0.000112367734065,-0.000461832556357,-6.53740726618e-05,1793192254488105216
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.699731632,743,711,673.699731632,659,631,877,782,799.699731632,649,628,650,0.446009194732,-0.00557123112572,0.069695118654,0.999999885006,-0.000113020138852,-0.000461492088687,-6.51129628101e-05,1793192254504771840
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.108974188,743,711,673.108974188,659,631,877,782,799.108974188,649,628,650,0.446008362246,-0.00557116409896,0.0696941652936,0.999999883961,-0.000113356723344,-0.000463708208479,-6.48256606019e-05,1793192254521438464
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+226,3.766666667,POSE1_TO_POSE2_PRESS,763,742.950579258,711,673,659,631,877.950579258,782,799.098841484,649,628.950579258,650,0.446009336021,-0.00557166586127,0.0696938814386,0.999999884008,-0.000112242682417,-0.000463932396785,-6.44432831928e-05,1793192254554771712
+227,3.783333333,POSE1_TO_POSE2_PRESS,763,742.373757045,711,673,659,631,877.373757045,782,800.25248591,649,628.373757045,650,0.446010860596,-0.00557075254668,0.0696943077008,0.999999884473,-0.000112412903958,-0.000462867324124,-6.45896267534e-05,1793192254571439104
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.206488457,742,711,673.206488457,659,631,877.206488457,782,800.793511543,649,628,650,0.446011151015,-0.00557013295634,0.069694064505,0.999999884303,-0.000112534775296,-0.000463179957328,-6.47588479219e-05,1793192254588106240
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.793034751,742,711,673.793034751,659,631,877.793034751,782,800.206965249,649,628,650,0.446009169876,-0.00557005398806,0.0696925891206,0.999999882962,-0.000112567654368,-0.000466028363854,-6.49701770731e-05,1793192254604772864
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+231,3.850000000,POSE1_TO_POSE2_PRESS,763.040920589,742.959079411,711.959079411,673.040920589,658.040920589,631,877.040920589,782,800,649,628,650,0.446010460112,-0.00557051439785,0.0696926470567,0.999999883858,-0.00011030052652,-0.000464747966283,-6.4239956207e-05,1793192254638105600
+232,3.866666667,POSE1_TO_POSE2_PRESS,763,743,711.464673926,673,658,631,877.535326074,782,800,649,628,650,0.446010828325,-0.00556901157548,0.0696931987044,0.99999988416,-0.000107420538962,-0.000464765743511,-6.42983472106e-05,1793192254654772480
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.110836193,743,711.110836193,673,658.110836193,631,877.889163807,782,799.889163807,649,628,650,0.446010936405,-0.00556784855132,0.0696934527169,0.999999884238,-0.0001054509518,-0.000465045747802,-6.43136709731e-05,1793192254671439104
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.685169254,743,711.685169254,673,658.685169254,631,877.314830746,782,799.314830746,649,628,650,0.446010222032,-0.00556867525699,0.0696923987206,0.999999883579,-0.000107761560816,-0.000465978112399,-6.39759898867e-05,1793192254688105728
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+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,712,673,658.142128491,631,877.857871509,782,799.857871509,649,628,650,0.446010162181,-0.00556977233993,0.0696924723286,0.999999882545,-0.000111201959574,-0.000467403978093,-6.38495307024e-05,1793192254721438976
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.560340217,743,711.560340217,673,658,631,878,782,800,649,628,650,0.446010957224,-0.00556949823871,0.0696928568387,0.999999882786,-0.000111544145454,-0.00046682350275,-6.37382535059e-05,1793192254738105600
+238,3.966666667,POSE1_TO_POSE2_PRESS,763,743,711.018416152,673,658.018416152,631,878,782,800,649,628,650,0.446011938502,-0.00556903316399,0.0696932289128,0.999999883261,-0.000111510226948,-0.000465832269811,-6.3584671484e-05,1793192254754772480
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,743,711.592657237,673,658.592657237,631,878,782,800,649,628,650,0.446013125097,-0.00556966383472,0.0696938388185,0.999999884143,-0.000111166322758,-0.000464015345321,-6.36040825065e-05,1793192254771439104
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,743,712,673,659,631,877.833442915,782,799.833442915,649,628,650.166557085,0.446013796115,-0.00556998599467,0.0696939932211,0.999999884641,-0.000110687237589,-0.000463055754238,-6.36105848526e-05,1793192254788105728
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,743,712,673,659,631,877.260375945,782,799.260375945,649,628,650.739624055,0.446013208782,-0.00556955518342,0.0696930358939,0.999999884206,-0.000109878221092,-0.000464188626076,-6.3585581456e-05,1793192254804772352
+242,4.033333333,POSE1_TO_POSE2_PRESS,763,743,711.675327208,673,658.675327208,631,877,782,799,649,628,650.675327208,0.446013429373,-0.00556868472022,0.0696934941964,0.99999988456,-0.000108096998445,-0.000463826525099,-6.37110327188e-05,1793192254821438720
+243,4.050000000,POSE1_TO_POSE2_PRESS,763,743,711.080301355,673,658.080301355,631,877,782,799,649,628,650.080301355,0.446014322718,-0.00556744816154,0.0696951312852,0.999999885565,-0.000105506225681,-0.00046221956928,-6.39617666631e-05,1793192254838105344
+244,4.066666667,HOLD_POSE2,763,742,712,673,658,631,877,781,800,649,627,650,0.446010661202,-0.00556671826784,0.0696913309803,0.999999882919,-0.000108605773651,-0.000467180032301,-6.41110442803e-05,1793192254869218048
+245,4.083333333,HOLD_POSE2,763,742,711.426740834,673,658.573259166,630.426740834,877.573259166,781.573259166,799.426740834,649,627.573259166,650,0.446011812181,-0.00557051819678,0.0696925015562,0.999999883622,-0.000110614570245,-0.000465320311755,-6.32301985565e-05,1793192254885884416
+246,4.100000000,HOLD_POSE2,763,742.150289672,711,673,659,630.150289672,878,781.849710328,799.150289672,649,628,650,0.446012859713,-0.00557271036341,0.0696933334345,0.999999884072,-0.000111691264357,-0.000464172490291,-6.26560035086e-05,1793192254902550784
+247,4.116666667,HOLD_POSE2,763,742.7383045,711,673,659,630.7383045,878,781.2616955,799.7383045,649,628,650,0.446013605952,-0.00557021985381,0.0696931788416,0.999999883803,-0.000110053170234,-0.000465098105202,-6.29749415835e-05,1793192254919217152
+248,4.133333333,HOLD_POSE2,763,742.677819376,711,673,659.322180624,631,878,781.322180624,799.677819376,649,628.322180624,650,0.44601384167,-0.00556952072221,0.069693032744,0.999999883622,-0.000109929515606,-0.000465535466221,-6.28381630713e-05,1793192254935883520
+249,4.150000000,HOLD_POSE2,763,742.097262368,711,673,659.902737632,631,878,781.902737632,799.097262368,649,628.902737632,650,0.446013667967,-0.00557025820653,0.0696928934594,0.999999883511,-0.000111020382908,-0.00046558126647,-6.2335917484e-05,1793192254952550144
+250,4.166666667,HOLD_POSE2,763,742.481086504,711,673.481086504,659.518913496,631,878,782,799.481086504,649,628.518913496,650,0.446014363682,-0.00556888733079,0.0696934751039,0.9999998839,-0.000110456521668,-0.000464816839658,-6.28061926071e-05,1793192254969216768
+251,4.183333333,HOLD_POSE2,763,743,711,673.941739076,658.941739076,631,878,782,799.941739076,649,628,650,0.446015164959,-0.00556738605512,0.0696941374567,0.999999884343,-0.000109706614899,-0.000463958668911,-6.34021465764e-05,1793192254985883392
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+253,4.216666667,HOLD_POSE2,763.207857481,742.792142519,711,673,658.207857481,631,878,782,799.207857481,649,628,650,0.446015565058,-0.00556828462007,0.0696942963564,0.999999884536,-0.000109799153247,-0.000463517590875,-6.34339921059e-05,1793192255019217408
+254,4.233333333,HOLD_POSE2,763.801728814,742.198271186,711,673,658.801728814,631,878,782,799.801728814,649,628,650,0.446015808942,-0.00556574146098,0.0696942975276,0.999999884815,-0.000107504290795,-0.000463428671541,-6.36199616984e-05,1793192255035883776
+255,4.250000000,HOLD_POSE2,763.614684763,742.385315237,711,673,659,631,878,782,799.614684763,649,628,650,0.446014263776,-0.0055663981581,0.0696935932691,0.999999884099,-0.000107448194128,-0.000464974704243,-6.36825817304e-05,1793192255052550400
+256,4.266666667,HOLD_POSE2,763.036252991,742.963747009,711,673,659,631,878,782,799.036252991,649,628,650,0.446011821954,-0.00556865859416,0.0696925354555,0.999999882881,-0.000108514146549,-0.000467340160205,-6.36833800877e-05,1793192255069217024
+257,4.283333333,HOLD_POSE2,763,743,711,673,658.4601928,631,878.5398072,782,799.5398072,649,628,650,0.446011972071,-0.00556841747441,0.0696920858065,0.999999882902,-0.000108456255919,-0.000467337454461,-6.34781569315e-05,1793192255085883648
+258,4.300000000,HOLD_POSE2,763,743,711,673,658.117893548,631,878.882106452,782,799.882106452,649,628,650,0.446012405198,-0.00556823082365,0.0696918222479,0.999999883031,-0.000108628051146,-0.000467044375355,-6.33051968341e-05,1793192255102550528
+259,4.316666667,HOLD_POSE2,763,743,711,673,658.704669115,631,878.295330885,782,799.295330885,649,628,650,0.44601327461,-0.00556892605515,0.0696921370692,0.999999883261,-0.000110012213512,-0.000466226209773,-6.33153404096e-05,1793192255119217152
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,743,712,673,659,631,878,782,799,649,628,650,0.446014417877,-0.0055678222802,0.0696912587496,0.999999883331,-0.000106769582572,-0.000466841645452,-6.32197211573e-05,1793192255156398848
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,743,711.421119364,673.578880636,658.421119364,631,877.421119364,782,799.578880636,649,628,650,0.446014386881,-0.00556605821404,0.0696919216322,0.999999883597,-0.000105953068605,-0.000466449989665,-6.32738449453e-05,1793192255173065728
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.156542539,742.843457461,711.156542539,673.843457461,658.156542539,631,877,782,799.843457461,649,628,650,0.446014736232,-0.00556523297739,0.0696927787481,0.999999883975,-0.000105477757132,-0.000465757648367,-6.31978820438e-05,1793192255189732096
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.730951352,742.269048648,711.730951352,673.269048648,658.730951352,631,877,782,799.269048648,649,628,650,0.446016100863,-0.00556691380155,0.0696941543401,0.999999884651,-0.000105913233147,-0.000464262673179,-6.27746727091e-05,1793192255206398720
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.68734521,742,712,673,658.68734521,631,877,782,799.31265479,649,628,650,0.446016185768,-0.00556797606006,0.0696941994751,0.999999884741,-0.000106365998177,-0.000464002114428,-6.24991317802e-05,1793192255223065088
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.099214613,742,712,673,658.099214613,631,877,782,799.900785387,649,628,650,0.446015143125,-0.00556849330883,0.0696930723628,0.999999884316,-0.000106833996294,-0.000464829182999,-6.23536994646e-05,1793192255239731456
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742.482061508,711.517938492,673,658.482061508,631,877.482061508,782,800,649,628,650,0.446012692685,-0.00556694439705,0.069691283941,0.999999882931,-0.000107296357438,-0.000467626027627,-6.2863155545e-05,1793192255256398592
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,658.938507729,631,877.938507729,782,799.938507729,649,628.061492271,650,0.446009459433,-0.00556523616945,0.0696891843333,0.99999988124,-0.000107683915079,-0.000471065268753,-6.34206573585e-05,1793192255273065216
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,658.362876163,631,877.362876163,782,799.362876163,649,628.637123837,650,0.446002069653,-0.00556570152319,0.0696856049232,0.999999878683,-0.000107455601897,-0.000476533519481,-6.326873099e-05,1793192255289732096
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.217903836,743,711.217903836,673.217903836,658.217903836,631,877.217903836,782,799.217903836,649,628.782096164,650,0.445986474759,-0.00556548401172,0.0696782023402,0.999999873008,-0.000106790481074,-0.000488414782399,-6.34822380988e-05,1793192255306398720
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.807464954,743,711.807464954,673.807464954,658.807464954,631,877.807464954,782,799.807464954,649,628.192535046,650,0.445956885207,-0.00556410180375,0.0696642789452,0.999999861699,-0.000105380340128,-0.00051123409285,-6.43190293778e-05,1793192255323065344
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.221922862,743,711.610961431,673.610961431,658.610961431,631,878,782,799.610961431,649,628,650,0.445905952145,-0.00556364327922,0.0696447140375,0.999999843445,-0.000105920056841,-0.000545630569024,-6.46456016513e-05,1793192255339731968
+272,4.533333333,POSE2_TO_POSE3_RETREAT,762.066522498,743,711.033261249,673.033261249,658.033261249,631,878,782,799.033261249,649,628,650,0.44584466869,-0.00556363268858,0.0696224133154,0.99999982065,-0.000107405343534,-0.000585641314506,-6.47247466809e-05,1793192255356398592
+273,4.550000000,POSE2_TO_POSE3_RETREAT,762.543585495,742.456414505,711,673,658,631,878,782,799.543585495,649,628,650,0.445776317253,-0.00555995000215,0.0696116657469,0.999999813996,-0.000103216751661,-0.000597644368006,-6.46241655624e-05,1793192255373065216
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742.119975802,711,673,658.119975802,631,878,782,799.880024198,649,628,650,0.445703924666,-0.00555677047036,0.0696037137377,0.999999809119,-9.9561741419e-05,-0.000606423281192,-6.40404022321e-05,1793192255389731840
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742.694833401,711,673,658.694833401,631,878,782,799.305166599,649,628,650,0.445617847406,-0.0055563491877,0.0696036848845,0.99999980745,-9.92440148091e-05,-0.00060946545674,-6.16663094503e-05,1793192255406398464
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,743,711.277232428,673.277232428,659,631,877.722767572,782,799.277232428,649,628,650,0.445521104989,-0.00555462808632,0.0696052590752,0.999999808492,-9.746104853e-05,-0.000608279089084,-5.92838383069e-05,1793192255423065088
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,743,711.86816486,673.86816486,659,631,877.13183514,782,799.86816486,649,628,650,0.445412294509,-0.0055514361861,0.0696086471765,0.999999812574,-9.40201027369e-05,-0.000602307949002,-5.68918868407e-05,1793192255439731968
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742.550069453,711.550069453,673.550069453,658.550069453,631,877,782,799.550069453,649,628,650,0.445273867371,-0.00554742498771,0.0696094677517,0.999999813288,-9.00396160537e-05,-0.000602010496283,-5.38625520017e-05,1793192255456398848
+279,4.650000000,POSE2_TO_POSE3_RETREAT,762.971208834,742.028791166,711.028791166,673,658.028791166,631,877,782,799,649,628,650,0.445124859773,-0.0055430734717,0.0696092872916,0.999999812755,-8.5660845849e-05,-0.000603811569039,-5.06250328699e-05,1793192255473065472
+280,4.666666667,POSE2_TO_POSE3_RETREAT,762.39750982,742.60249018,711.60249018,673,658.60249018,631,877,782,799,649,628,650,0.444936567191,-0.00553673381998,0.0696041152276,0.999999807159,-7.66764164248e-05,-0.000614493958604,-4.69114764132e-05,1793192255489732096
+281,4.683333333,POSE2_TO_POSE3_RETREAT,762.177000103,743,711.822999897,673,659,631,877.177000103,782.177000103,799.177000103,649,628,650,0.444736005738,-0.00553092008446,0.0695992972283,0.999999801251,-6.77615359706e-05,-0.000625351002094,-4.29192789424e-05,1793192255506398464
+282,4.700000000,POSE2_TO_POSE3_RETREAT,762.753339486,743,711.246660514,673,659,631,877.753339486,782.753339486,799.753339486,649,628,650,0.444507763865,-0.00552629289707,0.0695952780539,0.999999794895,-5.90035698561e-05,-0.000636602090234,-3.8298425279e-05,1793192255523065088
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.338521592,659,631,877.661478408,783,799.661478408,649,628,650,0.444262245975,-0.00551908699873,0.0695975169073,0.999999795658,-4.76810403018e-05,-0.000636655313957,-3.28704762973e-05,1793192255539731712
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.930319746,659,631,877.069680254,783,799.069680254,649,628,650,0.444003802417,-0.0055099517487,0.0696044379187,0.999999801647,-3.44397435636e-05,-0.000628330471752,-2.68386707321e-05,1793192255556398336
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,742.491823346,711,674,659,631,877,783,799.508176654,649,628,650,0.443712777154,-0.00550241746119,0.069617690434,0.999999815833,-1.87110086263e-05,-0.000606311768072,-1.92090188048e-05,1793192255573065216
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.084118475,742.084118475,711,673.915881525,659,631.084118475,877.084118475,782.915881525,799.915881525,649,628,650,0.443410981396,-0.00549465740112,0.0696316721047,0.999999829695,-1.60811359877e-06,-0.000583504500446,-1.13651756674e-05,1793192255589731840
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.659741905,742.659741905,711,673.340258095,659,631.659741905,877.659741905,782.340258095,799.340258095,649,628,650,0.44307166032,-0.00548432973263,0.0696449769998,0.999999839148,2.15843374803e-05,-0.000566767975711,-3.51579294385e-06,1793192255606398464
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.758732637,743,711,672.758732637,659,631.758732637,877.758732637,782,799,648.758732637,628,650,0.442717118595,-0.00547069013886,0.0696620735635,0.999999851382,6.71308886338e-05,-0.00054103555329,3.00033631363e-06,1793192255623065088
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.168674893,743,711,672.168674893,659,631.168674893,877.168674893,782,799,648.168674893,628,650,0.442340573023,-0.00545226263052,0.0696846515871,0.999999863308,0.000144993848323,-0.000502298127357,7.58903496681e-06,1793192255639731712
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,743,711.412372249,672.412372249,659,631.412372249,877,782,799,648,628,650,0.441929398455,-0.00543274986666,0.0697008489259,0.999999871049,0.000179087323501,-0.000475075788153,1.15559081685e-05,1793192255656398336
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,743,711.989812533,672.989812533,659,631.989812533,877,782,799,648,628,650,0.441504362293,-0.0054128026875,0.0697144921469,0.999999878381,0.000195660358136,-0.000452462811923,1.52738714432e-05,1793192255673065216
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742.434654657,712,673,659,632,877.565345343,782.565345343,799,648.565345343,628,650,0.441042882842,-0.0054152466925,0.0697344706243,0.999999901434,0.00016447682723,-0.000412234233183,1.19087171283e-05,1793192255689731584
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742,712,673,659,632,877.85962446,783,799.28075108,649,628.14037554,650,0.440565678133,-0.00541950302458,0.0697524644718,0.999999918381,0.000145964630171,-0.000376596455944,1.03371141327e-05,1793192255706398208
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742,712,673,659,632,877.286039749,783,800.427920502,649,628.713960251,650,0.440041964038,-0.0054281113269,0.0697639824788,0.999999922173,0.000169203949077,-0.000356102560239,1.46931150551e-05,1793192255723065344
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742.298010079,712,673,659.298010079,632,877,783,800.105969763,649,628.701989921,650,0.439466646585,-0.00543490716967,0.0697624441309,0.999999921516,0.000166381923645,-0.000359159427502,1.70173902583e-05,1793192255739731968
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,742.892470314,712,673,659.892470314,632,877,783,798.322589059,649,628.107529686,650,0.438839995828,-0.00543990004115,0.0697479177725,0.999999916018,0.00013763497376,-0.000385643779508,1.73205752511e-05,1793192255756398592
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,742.526240431,712,673,660,632,877,783,798.473759569,649,628,650,0.438210293117,-0.00543804633404,0.0697333442787,0.999999910512,0.00014008409576,-0.000398819320789,1.71644941212e-05,1793192255773065216
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.051876974,742,711.948123026,673,660,632.051876974,877,783,799.051876974,649,628,649.948123026,0.437578626751,-0.0054347997444,0.0697226466771,0.999999906824,0.000149087345942,-0.000404756115956,1.72680339299e-05,1793192255789731840
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.206439726,742,711,673,660,632.206439726,877,783,799.206439726,649,628,649.793560274,0.435608051675,-0.00543133431481,0.0698134820907,0.99999994693,0.000166783107024,-0.000278255548251,2.99572753694e-05,1793192255839731712
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.375311401,742,711.375311401,673,660,632,877,783.375311401,799,648.624688599,628,650,0.434864730208,-0.00543153116802,0.069828872948,0.999999952053,0.000162361557361,-0.000261764505962,3.18132485898e-05,1793192255856398592
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763.95433569,742,711.95433569,673,660,632,877,783.95433569,799,648.04566431,628,650,0.434082528777,-0.00543187347209,0.0698350242394,0.999999953504,0.000152155942169,-0.000262322576987,3.20618599312e-05,1793192255873065472
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.468652798,742,712,673,660,632,877,783.468652798,799,648,628,650,0.43329832977,-0.00543153418298,0.0698287513578,0.99999995004,0.000162555409304,-0.0002690768624,3.30725064699e-05,1793192255889732352
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742.98367316,711.01632684,672.98367316,659.01632684,632,876.01632684,783,799,649,628,650,0.428197232433,-0.00542110279355,0.0697493752784,0.999999910093,0.000180007240769,-0.000382551234218,3.26418029154e-05,1793192255989731840
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,742,711.83006673,672,660,632,876.83006673,783,799,649,628,650.16993327,0.426556408376,-0.00542903630582,0.0698637160347,0.999999960255,0.000176281429538,-0.000215474524566,4.4568286843e-05,1793192256023065344
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,711.222898635,672,659.222898635,632,876.777101365,783,799.222898635,649,628,650,0.420169431948,-0.0054180117466,0.0697233076158,0.999999882503,0.00018753040896,-0.000445677962972,3.45964480943e-05,1793192256139731712
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711.816183901,672,659.816183901,632,876.183816099,783,799.816183901,649,628,650,0.419411810631,-0.00542478701657,0.0698106695806,0.999999936716,0.000187364486777,-0.000299727829934,4.03169653102e-05,1793192256156398336
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.992598301,632.992598301,876,783,798.992598301,649,628,650.992598301,0.400946113986,-0.00539085036575,0.0698117460034,0.999999931207,0.000212170805611,-0.000303525603235,2.10018204751e-05,1793192257023065088
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711.436914636,671,659.436914636,632.436914636,876.563085364,783,799,649,628,651,0.400947679502,-0.00539151205756,0.0698128754797,0.999999931185,0.000214926376936,-0.000301615024658,2.15578312033e-05,1793192257039731968
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711.139076302,671.139076302,659,632.139076302,877,783,799,649,628.139076302,651,0.400948979161,-0.0053919586228,0.0698140127466,0.999999931293,0.000216643964528,-0.000299988296315,2.20349620545e-05,1793192257056399104
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711.733355179,671.733355179,659,632.733355179,877,783,799,649,628.733355179,651,0.400949249865,-0.00539163298991,0.0698150792697,0.999999931847,0.000214792906567,-0.000299460772251,2.22037075654e-05,1793192257073065472
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.681108149,659,633,877,783,799,649,628.681108149,651,0.400948454418,-0.00539146448419,0.0698151032218,0.999999932071,0.000213532844624,-0.000299624417295,2.20837294314e-05,1793192257089731840
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.102686254,659,633,877,783,799,649,628.102686254,651,0.400946791284,-0.00539142385633,0.069814278678,0.999999932027,0.000212753764421,-0.000300350570066,2.17287736577e-05,1793192257106398464
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711.947264155,671,659,633,876.947264155,783,799,649,628.052735845,650.947264155,0.400947531556,-0.00538949034599,0.0698143188042,0.999999931296,0.000216263399444,-0.000300305448983,2.13445201302e-05,1793192257139731712
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711.373805595,671,659,633,876.373805595,783,799,649,628.626194405,650.373805595,0.400947163944,-0.00539011288987,0.0698145502252,0.999999931519,0.000216466851241,-0.000299400074118,2.15110825614e-05,1793192257156398592
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711.20549804,671,659,633,876,783,799,649,628.79450196,650,0.400947320542,-0.00539102512025,0.0698150070323,0.999999931931,0.000216183038943,-0.000298219761236,2.1619392406e-05,1793192257173065216
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711.795745234,671,659,633,876,783,799,649,628.204254766,650,0.400948458605,-0.00539247972382,0.0698158858247,0.999999932693,0.00021498693351,-0.000296524688417,2.16186372902e-05,1793192257189732096
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.62089867,742,712,671.37910133,659,632.62089867,876.37910133,783,799,649,628,650.37910133,0.400948768697,-0.00539132640938,0.0698161467952,0.999999932726,0.000215645424435,-0.0002959477629,2.14425787687e-05,1793192257206398976
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.041189138,742,712,671.958810862,659,632.041189138,876.958810862,783,799,649,628,650.958810862,0.400948640654,-0.00538879306875,0.0698160808344,0.999999932372,0.000217285307996,-0.000295962524939,2.11737553368e-05,1793192257223065600
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.535165128,742,712,672,659,632.535165128,876.464834872,783.535165128,799,649,628,650.464834872,0.400947755606,-0.00539072332072,0.0698159167892,0.999999932543,0.000215604689622,-0.000296590222646,2.15358454323e-05,1793192257239731968
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.886224479,742,711.886224479,672,659.113775521,633,876.113775521,783.886224479,799,649,628,650.113775521,0.400946903283,-0.00539252273887,0.0698156278285,0.99999993265,0.000214066832318,-0.000297320250717,2.18271621923e-05,1793192257256398592
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.29711642,742,711.29711642,672,659.70288358,633,876.70288358,783.29711642,799,649,628,650.70288358,0.400946429575,-0.00539234924796,0.0698148483372,0.999999932342,0.000214186447241,-0.000298281936183,2.16211972958e-05,1793192257273065216
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.286948929,742.286948929,711,671.713051071,660,633,876.713051071,783,799,649,628,650.713051071,0.400945956485,-0.00539203711058,0.06981452099,0.999999931982,0.000214290822593,-0.000299420600262,2.15090756659e-05,1793192257289731840
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.865883132,742.865883132,711,671.134116868,660,633,876.134116868,783,799,649,628,650.134116868,0.400945484025,-0.00539158389327,0.0698146537226,0.999999931568,0.000214379690915,-0.000300739349285,2.14924443549e-05,1793192257306398464
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742.55815164,711.44184836,671,659.55815164,633,876,783.44184836,799.44184836,649.44184836,628,650.44184836,0.400945406449,-0.0053917761407,0.0698150382952,0.999999931585,0.000215040187149,-0.000300198680813,2.16407213181e-05,1793192257323065344
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876.016844262,783.983155738,799.983155738,649.983155738,628,650.983155738,0.400945477357,-0.00539214308862,0.0698154989108,0.999999931738,0.000215865245629,-0.000299079999909,2.18270995758e-05,1793192257339732224
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876.589395083,783.410604917,799.410604917,649.410604917,628,650.410604917,0.400946518945,-0.00539185307137,0.0698159631787,0.999999932125,0.000216433330941,-0.000297387952454,2.16301180448e-05,1793192257356399104
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711.832187802,671,659,633,877,783.167812198,799,649,628,650,0.400947313416,-0.00539161496201,0.0698164457716,0.999999932502,0.000216512759842,-0.00029606996339,2.14728010952e-05,1793192257373065984
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.238897059,671,659,633,877,783.761102941,799,649,628,650,0.400947481336,-0.00539150846223,0.0698169748264,0.999999932863,0.000215353227417,-0.000295700378785,2.14160515092e-05,1793192257389732352
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_03/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3867bce922d1043381736cde191c4ce5804ae51e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_03/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
+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
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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
+30,0.500000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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+36,0.600000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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+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
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_03/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2f80e20eaec55903440714d77976a09184e8078
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:086c0079e6c3122ce028028527b33749e252367d228976d0784b1ccc108cdac8
+size 25249176
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01226921f798663e8a205fe095678319e4801901
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_04/franka_data.csv
@@ -0,0 +1,399 @@
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+5,0.083333333,BASELINE,764,742,711.913504544,671,659.086495456,633,876,783,799,648.086495456,628,651,0.400947707549,-0.0053926132111,0.0698177810715,0.999999933588,0.000213668565882,-0.00029447857593,2.12416886048e-05,1793192257623769344
+6,0.100000000,BASELINE,763.515288033,742,711.515288033,671.484711967,659,633,876,783,799.484711967,648.484711967,628,650.515288033,0.400947781784,-0.00539224036318,0.0698178790674,0.999999933625,0.000214539222311,-0.000293723678136,2.1219559827e-05,1793192257640435968
+7,0.116666667,BASELINE,763,742,711.055250449,671.944749551,659.055250449,633,876,783,799.944749551,649,628,650,0.400947619604,-0.00539199044151,0.0698177841621,0.99999993361,0.000215169231688,-0.000293314034389,2.12121221812e-05,1793192257657102592
+8,0.133333333,BASELINE,763,742,711.636505658,671.363494342,659.636505658,633,876,783,799.363494342,649,628,650,0.400946863055,-0.00539252252337,0.0698174338677,0.999999933497,0.000214002209594,-0.000294537989403,2.13620061805e-05,1793192257673768960
+9,0.150000000,BASELINE,763.221649339,742,711.778350661,671,659.778350661,633,876.221649339,783,799,649,628,650,0.4009467663,-0.00539239300974,0.0698175705104,0.999999933345,0.000214295729889,-0.000294835674169,2.14165340568e-05,1793192257690435840
+10,0.166666667,BASELINE,763.813283737,742,711.186716263,671,659.186716263,633,876.813283737,783,799,649,628,650,0.400947770898,-0.00539115913701,0.069818519966,0.999999933126,0.000217027240267,-0.000293587195155,2.13118900426e-05,1793192257707102464
+11,0.183333333,BASELINE,763.604385841,742,711,671,659,633,876.208771681,783.395614159,799,649,628.395614159,650.395614159,0.400948510689,-0.00539127082042,0.0698188485859,0.999999933609,0.000215898253065,-0.000292781210865,2.11932737225e-05,1793192257723769088
+12,0.200000000,BASELINE,763.026345627,742,711,671,659,633,875.052691255,783.973654373,799,649,628.973654373,650.973654373,0.400949128374,-0.0053920029681,0.0698188909254,0.999999934412,0.000212989109037,-0.000292179270139,2.10682144674e-05,1793192257740435712
+13,0.216666667,BASELINE,763,742,711,671,659,633,876.095088575,783.452455713,799,649,628.452455713,650.452455713,0.400947607605,-0.00539096597466,0.0698174922721,0.99999993305,0.000216031006203,-0.000294607104794,2.09317226656e-05,1793192257757102336
+14,0.233333333,BASELINE,763,742,711,671,659,633,876.875292052,783.124707948,799,649,628,650,0.400946542004,-0.00539009575418,0.0698165638828,0.999999932022,0.000218442207981,-0.000296319278271,2.08443070683e-05,1793192257773768704
+15,0.250000000,BASELINE,763,742,711,671,659,633,876.285170865,783.714829135,799,649,628,650,0.400947556212,-0.00539016322914,0.0698176473427,0.999999932681,0.000217439049809,-0.000294820622676,2.09420825786e-05,1793192257790435328
+16,0.266666667,BASELINE,763.299246,742,711.299246,671.299246,659,632.700754,876.299246,783.700754,799,649,628.299246,650,0.4009479273,-0.0053901071407,0.0698183181169,0.999999933009,0.00021705986579,-0.000293988932677,2.09196853951e-05,1793192257807101952
+17,0.283333333,BASELINE,763.878328497,742,711.878328497,671.878328497,659,632.121671503,876.878328497,783.121671503,799,649,628.878328497,650,0.400947696983,-0.00538993550335,0.0698186029729,0.999999933029,0.000217264184169,-0.00029378094807,2.07849100765e-05,1793192257823768832
+18,0.300000000,BASELINE,764,742,711.544669155,671.544669155,659,632.455330845,877.455330845,783,799,649,628.544669155,650.455330845,0.400947272181,-0.0053903439147,0.0698178883207,0.999999932851,0.000216967832555,-0.000294592318779,2.09339312788e-05,1793192257840435456
+19,0.316666667,BASELINE,764,742,711,671,659,632.967727462,877.935454925,783.032272538,799,649,628,650.967727462,0.400946903492,-0.00539098662408,0.0698170414814,0.999999932709,0.000216386867198,-0.000295485361179,2.11437004513e-05,1793192257857102336
+20,0.333333333,BASELINE,764,742,711,671,659,632.382341972,876.764683945,783.617658028,799,649,628,650.382341972,0.400948383135,-0.00539300052157,0.069818485798,0.999999934085,0.000213210480062,-0.000293130989362,2.11008090428e-05,1793192257873768960
+21,0.350000000,BASELINE,763.79930154,742,711,671,659,632.20069846,876,784,799,649,628,650,0.400948776986,-0.00539427762957,0.0698189143296,0.999999934742,0.000210935687386,-0.000292543904374,2.10001424367e-05,1793192257890435584
+22,0.366666667,BASELINE,763.220677044,742,711,671,659,632.779322956,876,784,799,649,628,650,0.400947126235,-0.00539416732297,0.0698174300828,0.999999934062,0.000210358646116,-0.000295284716179,2.07906820193e-05,1793192257907102208
+23,0.383333333,BASELINE,763,742,711,671,659,633,876,783.641912699,799,649,628.358087301,650,0.400947541064,-0.00539371345801,0.0698177431621,0.999999934064,0.000211501162926,-0.000294447195914,2.09576830517e-05,1793192257923769088
+24,0.400000000,BASELINE,763,742,711,671,659,633,876,783.063062081,799,649,628.936937919,650,0.400949229336,-0.00539304778693,0.0698191643053,0.999999934479,0.000213703799227,-0.000291403609238,2.13567751725e-05,1793192257940435712
+25,0.416666667,BASELINE,763.512369525,742,711.512369525,671,659.512369525,633,876,783,799,649,628.487630475,650,0.400947631948,-0.00539265020787,0.0698180334145,0.999999933856,0.000214154920816,-0.000293211887129,2.12509488528e-05,1793192257957102080
+26,0.433333333,BASELINE,764,742,711.910738472,671,659.910738472,633,876,783.089261528,799,649,628,650,0.40094636414,-0.00539224587485,0.0698170983566,0.999999933304,0.000214643193937,-0.000294742066784,2.11404739128e-05,1793192257973768960
+27,0.450000000,BASELINE,764,742,711.323363967,671,659.323363967,633,876,783.676636033,799,649,628,650,0.400949177241,-0.00539162093927,0.0698189973121,0.999999933869,0.000216533803302,-0.00029141004323,2.13485516299e-05,1793192257990435584
+28,0.466666667,BASELINE,764,742,711.26154612,671,659,633,876.26154612,783.73845388,799,649,628,650,0.400949587405,-0.00539187432737,0.0698195239294,0.99999993413,0.000216454427804,-0.000290568004616,2.1378318736e-05,1793192258007102208
+29,0.483333333,BASELINE,764,742,711.843437718,671,659,633,876.843437718,783.156562282,799,649,628,650,0.400947054417,-0.00539320349905,0.0698183696869,0.999999934027,0.000213962186192,-0.00029277573583,2.11896884102e-05,1793192258023768576
+30,0.500000000,BASELINE,764,742,711.5804111,671,659,633,876.5804111,783,799,649,628.4195889,650,0.400947326225,-0.00539282729894,0.0698185937366,0.999999933974,0.00021467244413,-0.000292445089722,2.10387438346e-05,1793192258040435456
+31,0.516666667,BASELINE,764,742,711.00637296,671,659,633,876.00637296,783,799,649,628.99362704,650,0.400948630469,-0.00539182335727,0.0698193251311,0.999999933939,0.00021656153127,-0.000291180075542,2.09016712591e-05,1793192258057102080
+32,0.533333333,BASELINE,764,742,711.569439929,671,659,632.430560071,876,783,799,649,629,650,0.400948905551,-0.00539326665606,0.0698190682695,0.999999934644,0.000213300466191,-0.000291163271673,2.09353210421e-05,1793192258073768960
+33,0.550000000,BASELINE,764,742,711.851452971,671,659,632,876,783,799,649,628.851452971,650,0.400948910444,-0.00539407030411,0.0698186910711,0.999999935042,0.000211033105118,-0.000291451954921,2.09182995545e-05,1793192258090435840
+34,0.566666667,BASELINE,764,742,711.262641635,671,659,632,876,783,799,649,628.262641635,650,0.400948148797,-0.00539289672412,0.0698179901007,0.999999934529,0.000211882252329,-0.000292604509861,2.07454178063e-05,1793192258107102464
+35,0.583333333,BASELINE,763.678288709,742,711,671,659,632.321711291,876.321711291,783,799,649,628,650.321711291,0.40094712319,-0.0053921317854,0.0698175431138,0.999999934074,0.00021262250394,-0.000293628098392,2.0625242429e-05,1793192258123768832
+36,0.600000000,BASELINE,763.097525765,742,711,671,659,632.902474235,876.902474235,783,799,649,628,650.902474235,0.400945885033,-0.00539169589685,0.0698173006419,0.999999933667,0.000213275069619,-0.000294547839397,2.05475077953e-05,1793192258140435712
+37,0.616666667,BASELINE,763,742,711.478276221,671,659,633,877,783,799,649,628,651,0.400947254653,-0.00539184996501,0.0698188033688,0.999999933876,0.000214068409291,-0.000293241936887,2.07775677299e-05,1793192258157102080
+38,0.633333333,BASELINE,763.053088487,742,712,671,659,632.946911513,877,783,799.053088487,649,628,650.946911513,0.400948905733,-0.00539211364195,0.0698203661337,0.999999934163,0.000214767283536,-0.000291729425536,2.1026652034e-05,1793192258173768960
+39,0.650000000,BASELINE,763.628014043,742,712,671,659,632.371985957,877,783,799.628014043,649,628,650.371985957,0.400948150185,-0.00539228438192,0.0698190569575,0.999999934022,0.000214258338963,-0.000292601224823,2.08521410776e-05,1793192258190435584
+40,0.666666667,BASELINE,764,742,712,671.20901611,659,632.20901611,877,783.20901611,799.79098389,649,628,650,0.400947990997,-0.00539241495836,0.0698182755176,0.999999933865,0.000214277809793,-0.00029312206261,2.08498645156e-05,1793192258207101952
+41,0.683333333,BASELINE,764,742,712,671.801156315,659,632.801156315,877,783.801156315,799.198843685,649,628,650,0.40094892493,-0.00539247191547,0.0698184614121,0.999999933682,0.000215265859939,-0.000292999591999,2.11632916042e-05,1793192258223768576
+42,0.700000000,BASELINE,764,742.384162461,712,672,659,632.615837539,877,783.615837539,799,649,628,650,0.40094801202,-0.0053918820252,0.069818290208,0.999999933461,0.000215785432999,-0.000293371682971,2.11500905237e-05,1793192258240435456
+43,0.716666667,BASELINE,764,742.962550574,712,672,659,632.037449426,877,783.037449426,799,649,628,650,0.40094616538,-0.0053909651005,0.0698179384611,0.999999933221,0.000216068152416,-0.000293993815415,2.09717520892e-05,1793192258257102080
+44,0.733333333,BASELINE,763.461730643,742.461730643,712,671.461730643,659,632,877,783,799.538269357,649,628.538269357,650.538269357,0.40094745927,-0.00539196935953,0.0698185869286,0.999999933674,0.000215528519647,-0.000292840865102,2.1065410495e-05,1793192258273768704
+45,0.750000000,BASELINE,763.115642749,742,712,671,659,632,876.884357251,783,799.884357251,649,629,650.884357251,0.400948625991,-0.00539277493729,0.0698191401996,0.999999934,0.000215379579929,-0.000291828504705,2.11729821204e-05,1793192258290435328
+46,0.766666667,BASELINE,763.70047896,742,712,671,659,632,876.29952104,783,799.29952104,649,629,650.29952104,0.400948394619,-0.00539223477752,0.0698190262865,0.999999933621,0.000217046773747,-0.000291885151963,2.12606031512e-05,1793192258307101952
+47,0.783333333,BASELINE,763.715840796,742,712,671.284159204,659,632,876.284159204,783,799,649,629,650,0.400948355472,-0.00539197606185,0.0698191531643,0.999999933685,0.000217236677115,-0.000291524810443,2.12688062084e-05,1793192258323768576
+48,0.800000000,BASELINE,763.133374001,742,712,671.866625999,659,632,876.866625999,783,799,649,629,650,0.400948518122,-0.00539201280341,0.0698195328219,0.999999934213,0.000215875735429,-0.000290726718132,2.11936370542e-05,1793192258340435456
+49,0.816666667,BASELINE,763.443882476,742,712,672,659,632.443882476,876.556117524,783,799,649,628.556117524,650.443882476,0.400947674774,-0.00539352789335,0.0698187844652,0.999999934627,0.000212040346967,-0.00029213717588,2.10176217527e-05,1793192258357101824
+50,0.833333333,BASELINE,764,742,712,672,659,633,876.019607979,783,799,649.019607979,628,650.980392021,0.400946599232,-0.0053953854908,0.0698177540898,0.999999934952,0.000207767118879,-0.000294099860129,2.08281877977e-05,1793192258373768704
+51,0.850000000,BASELINE,764,742,712,672,659,633,876.595800435,783,799,649.595800435,628,650.404199565,0.400947413413,-0.00539450273436,0.0698182277264,0.999999934362,0.000211925401168,-0.000293119510527,2.11080011386e-05,1793192258390435328
+52,0.866666667,BASELINE,764,742,711.824823539,671.824823539,659.175176461,633,877,783,799,650,628,650,0.400948085912,-0.00539338038939,0.069818567552,0.999999934038,0.000214777451344,-0.000292142678001,2.11484000218e-05,1793192258407102208
+53,0.883333333,BASELINE,764,742,711.237965858,671.237965858,659.762034142,633,877,783,799,650,628,650,0.400948425446,-0.00539169498882,0.0698185929092,0.999999934378,0.000214559732517,-0.000291174111006,2.06261523145e-05,1793192258423768832
+54,0.900000000,BASELINE,763.654043827,742,711.345956173,671,659.654043827,633,876.654043827,783.345956173,799,649.654043827,628,650,0.400947926858,-0.00539158190363,0.0698186719181,0.999999934424,0.000214010440671,-0.000291425909271,2.05364473731e-05,1793192258440435456
+55,0.916666667,BASELINE,763.072124117,742,711.927875883,671,659.072124117,633,876.072124117,783.927875883,799,649.072124117,628,650,0.400946856618,-0.005392541235,0.0698187875207,0.999999934269,0.000213234995495,-0.000292510072272,2.07417634113e-05,1793192258457102080
+56,0.933333333,BASELINE,763.502991342,742,712,671,659,633,876.502991342,783.497008658,799,648.497008658,628,650,0.400947868456,-0.00539295112322,0.0698194768191,0.999999934554,0.000213263327683,-0.000291506885044,2.08669745983e-05,1793192258473768704
+57,0.950000000,BASELINE,764,742,712,671,659,632.920919179,877,783.079080821,799,648.079080821,628,650,0.400948888615,-0.00539325314071,0.069820071878,0.999999934807,0.000213428009612,-0.000290507196151,2.09789745605e-05,1793192258490435328
+58,0.966666667,BASELINE,764,742,712,671,659,632.332352829,877,783.667647171,799,648.667647171,628,650,0.400948064615,-0.00539336099492,0.06981953688,0.999999934469,0.000213738513785,-0.000291432615288,2.1078873559e-05,1793192258507101952
+59,0.983333333,BASELINE,763.747860219,742,712,671.252139781,659,632,877,783.747860219,799,649,628,650,0.40094739195,-0.00539344217639,0.0698189955562,0.999999934086,0.000214207656179,-0.000292393827647,2.1205441327e-05,1793192258523768576
+60,1.000000000,BASELINE,763.168651868,742,712,671.831348132,659,632,877,783.168651868,799,649,628,650,0.400946915595,-0.00539348875878,0.0698184460265,0.999999933642,0.000214882579617,-0.000293401470088,2.136660308e-05,1793192258540435200
+61,1.016666667,BASELINE,763,742,711.591580986,671.591580986,659.408419014,632.408419014,876.591580986,783,799,649,628,650,0.400947413283,-0.00539324151858,0.0698187951975,0.999999933972,0.000214847356472,-0.000292319275531,2.11118627721e-05,1793192258557101824
+62,1.033333333,BASELINE,763,742,711.015388186,671.015388186,659.984611814,632.984611814,876.015388186,783,799,649,628,650,0.400948311096,-0.00539287357948,0.0698195135442,0.999999934617,0.00021452041332,-0.000290378600151,2.06862747191e-05,1793192258573768704
+63,1.050000000,BASELINE,763.557883186,742,711,671,659.442116814,632.442116814,876,783,799,649,628,650,0.400947681708,-0.00539306769051,0.0698193004577,0.999999934431,0.000213342805956,-0.000291874509602,2.07880907564e-05,1793192258590435328
+64,1.066666667,BASELINE,764,742,711.135288323,671,659,632,876,783,799,649,628.135288323,650,0.400947254775,-0.00539321920735,0.0698191076513,0.999999934328,0.000212295581351,-0.000292984796835,2.08577828866e-05,1793192258607102208
+65,1.083333333,BASELINE,764,742,711.726907104,671,659,632,876,783,799,649,628.726907104,650,0.400947652073,-0.00539317503308,0.0698190694584,0.99999993459,0.00021176687303,-0.000292476302339,2.07703070389e-05,1793192258623768832
+66,1.100000000,BASELINE,764,742,712,671,659,632.309798385,876.619596771,783,799,649,628.690201615,650.309798385,0.400947195721,-0.00539303195039,0.0698188408501,0.999999934346,0.000212565357944,-0.000292734913442,2.07397943509e-05,1793192258640435456
+67,1.116666667,BASELINE,764,742,712,671,659,632.885206987,877.770413975,783,799,649,628.114793013,650.885206987,0.400946007478,-0.00539280406709,0.0698184489864,0.999999933664,0.000214501731587,-0.00029365121387,2.07581198725e-05,1793192258657102080
+68,1.133333333,BASELINE,763.535582271,742,712,671.464417729,659,633,877.535582271,783,799,649,628,650.535582271,0.400946794085,-0.00539278199544,0.0698189511621,0.999999933974,0.000214303362166,-0.000292726493003,2.0925024485e-05,1793192258673768960
+69,1.150000000,BASELINE,763,742,712,671.954960887,659,633,876.954960887,783.045039113,799,649,628,650,0.400947953012,-0.00539279599478,0.0698195923646,0.999999934484,0.000213598073723,-0.000291484316524,2.11032823614e-05,1793192258690435584
+70,1.166666667,BASELINE,763,742,712,671.368776049,659,633,876.368776049,783.631223951,799,649,628,650,0.400947671999,-0.00539262711752,0.0698192269168,0.99999993444,0.000213194293284,-0.00029194055175,2.09730532873e-05,1793192258707102208
+71,1.183333333,BASELINE,763.21473042,742,711.78526958,671,659.21473042,633,876,783.78526958,799,649,628,650,0.400947453945,-0.00539256509148,0.0698189550844,0.999999934432,0.000212766401754,-0.000292288177897,2.08164112311e-05,1793192258723768832
+72,1.200000000,BASELINE,763.793693845,742,711.206306155,671,659.793693845,633,876,783.206306155,799,649,628,650,0.400947342684,-0.00539268431009,0.0698188420453,0.999999934488,0.000212297612109,-0.000292451577722,2.06149665597e-05,1793192258740435456
+73,1.216666667,BASELINE,763.628386066,742,711.371613934,671,659.628386066,633,876.371613934,783,799,649,628,650.371613934,0.400947776584,-0.00539284794421,0.0698187725356,0.999999934883,0.000210744036862,-0.000292238775606,2.0407764158e-05,1793192258757101824
+74,1.233333333,BASELINE,763.051043611,742,711.948956389,671,659.051043611,633,876.948956389,783,799,649,628,650.948956389,0.400948512292,-0.00539303616712,0.069818727124,0.999999935462,0.000208589915437,-0.000291817704999,2.01973742414e-05,1793192258773768448
+75,1.250000000,BASELINE,763.524427661,742,711.475572339,671,659,633,876.475572339,783,799.524427661,649,628,650.475572339,0.40094906169,-0.00539181815884,0.0698196025556,0.999999934789,0.000213502379666,-0.000290549624411,2.04833956526e-05,1793192258790435584
+76,1.266666667,BASELINE,764,742,711,671,659,632.897936778,876.102063222,783,799.897936778,649,628,650,0.400949411394,-0.0053909820577,0.0698203120082,0.999999934203,0.00021749041954,-0.000289591499803,2.07284881015e-05,1793192258807102464
+77,1.283333333,BASELINE,764,742,711,671,659,632.309113807,876.690886193,783,799.309113807,649,628,650,0.40094889489,-0.00539261779326,0.0698198039425,0.999999934737,0.000213801079517,-0.000290503397386,2.05487694308e-05,1793192258823769088
+78,1.300000000,BASELINE,764,742,711,671,659,632.27521572,876.72478428,783,799,649,628,650.27521572,0.400948780259,-0.0053930765392,0.0698198040061,0.999999935047,0.00021260777066,-0.00029030790767,2.05989013085e-05,1793192258840435456
+79,1.316666667,BASELINE,764,742,711,671,659,632.854579387,876.145420613,783,799,649,628,650.854579387,0.40094910975,-0.00539223456363,0.0698203656167,0.999999935118,0.00021417289008,-0.000288888615802,2.09030469316e-05,1793192258857102080
+80,1.333333333,BASELINE,763.5683482,742,711.4316518,671.4316518,659,633,876.4316518,783,799,649,628,651,0.400948647441,-0.00539209037136,0.0698201500631,0.999999934518,0.000215771591833,-0.000289765547764,2.10187069817e-05,1793192258873768704
+81,1.350000000,BASELINE,763.008083074,742,711.991916926,671.991916926,659,632.991916926,877,783,799,649,628.008083074,651,0.400947946578,-0.00539218028424,0.069819696752,0.999999933716,0.000217331695841,-0.00029136256934,2.10648196293e-05,1793192258890435584
+82,1.366666667,BASELINE,763.593561096,742,711.406438904,671.406438904,659,632.406438904,877,783,799,649,628.593561096,651,0.400949159278,-0.00539228932933,0.0698208636319,0.999999934718,0.000215330756717,-0.000289430217981,2.0654966907e-05,1793192258907102208
+83,1.383333333,BASELINE,764.177007431,742,711.177007431,671,659,632.177007431,876.822992569,783,799,649,629,650.822992569,0.400949493593,-0.00539253528007,0.0698211375953,0.999999935221,0.000213648474178,-0.000288954985981,2.04142487241e-05,1793192258923768832
+84,1.400000000,BASELINE,764.755841726,742,711.755841726,671,659,632.755841726,876.244158274,783,799,649,629,650.244158274,0.400947833877,-0.00539309202211,0.0698193845374,0.9999999346,0.000212689577694,-0.000291787579145,2.05574849706e-05,1793192258940435712
+85,1.416666667,BASELINE,764.666520318,742,711.666520318,671,659,633,876,783.333479682,799,649,628.666520318,650,0.400947375376,-0.0053931146113,0.0698190553942,0.999999934377,0.000213353236605,-0.00029205471728,2.07552043445e-05,1793192258957102592
+86,1.433333333,BASELINE,764.089755169,742,711.089755169,671,659,633,876,783.910244831,799,649,628.089755169,650,0.400947793206,-0.00539274751666,0.0698197650485,0.999999934443,0.000215200608315,-0.000290450263183,2.09926711182e-05,1793192258973768960
+87,1.450000000,BASELINE,763.515729968,742,711.484270032,671,659,633,876,783.515729968,799,649,628,650,0.400948096197,-0.0053920873006,0.0698194184586,0.999999934354,0.000215000134036,-0.000290923699802,2.07316079064e-05,1793192258990435584
+88,1.466666667,BASELINE,763.058250854,742,711.941749146,671,659,633,876.058250854,783,799,649,628,650,0.40094836687,-0.00539158041416,0.0698189683639,0.999999934286,0.000214343410459,-0.000291664740744,2.04283105736e-05,1793192259007102208
+89,1.483333333,BASELINE,763.636342059,742,711.363657941,671,659,633,876.636342059,783,799,649,628,650,0.400948538021,-0.00539292396666,0.0698193317899,0.999999934657,0.00021298315444,-0.00029137640001,2.0568046071e-05,1793192259023768832
+90,1.500000000,BASELINE,763.779226503,742,711,671,659,632.779226503,876.779226503,783,799,648.779226503,628,650,0.400948919346,-0.00539356231936,0.0698199372467,0.99999993493,0.000212448570113,-0.000290827060253,2.06280762775e-05,1793192259040435200
+91,1.516666667,BASELINE,763.184042706,742,711,671,659,632.184042706,876.184042706,783,799,648.184042706,628,650,0.400949657103,-0.0053930047219,0.0698209531642,0.999999935035,0.000213314244509,-0.000289835091667,2.05529340773e-05,1793192259057102080
+92,1.533333333,BASELINE,763,742,711,671,659,632,876,783,799,648.397382734,628,650,0.400948685067,-0.00539253413317,0.0698200154545,0.999999934518,0.000214097984273,-0.00029105249285,2.03758239103e-05,1793192259073768960
+93,1.550000000,BASELINE,763,742,711,671,659,632,876,783,799,648.972649451,628,650,0.400946947662,-0.00539210249289,0.0698182032252,0.999999933717,0.000214845046982,-0.000293258893863,2.01530689051e-05,1793192259090435584
+94,1.566666667,BASELINE,763,742,711,671.547436642,659,632.547436642,876,783,798.452563358,649,628,650,0.400947601249,-0.00539053755809,0.0698190284967,0.999999933854,0.000216076000979,-0.000291879904703,2.02296165091e-05,1793192259107102208
+95,1.583333333,BASELINE,763.125728598,742,711,671.874271402,659.125728598,633,876,783.125728598,798.125728598,649,628,650,0.400948116583,-0.00538948052469,0.0698197407363,0.999999933978,0.000216944180765,-0.000290800366873,2.03375543329e-05,1793192259123769088
+96,1.600000000,BASELINE,763.717089154,742,711,671.282910846,659.717089154,633,876,783.717089154,798.717089154,649,628,650,0.400947677887,-0.00539051399723,0.0698195467776,0.999999933896,0.000216379382099,-0.000291492659548,2.05064135528e-05,1793192259140435456
+97,1.616666667,BASELINE,764,742,711.30211372,671,660,633,876,783.69788628,799,649,628,650,0.400947918876,-0.00539153324368,0.0698195753011,0.999999934209,0.000215099326488,-0.000291356450128,2.0615192384e-05,1793192259157102080
+98,1.633333333,BASELINE,764,742,711.881326867,671,660,633,876,783.118673133,799,649,628,650,0.400948783275,-0.00539253944185,0.0698198078859,0.999999934884,0.000213163235533,-0.000290460336563,2.06688653288e-05,1793192259173768704
+99,1.650000000,BASELINE,764,742,711.543327437,671,659.543327437,633,876,783,799,649,628,650,0.400949252241,-0.00539245441929,0.0698201247929,0.999999934789,0.000214524974024,-0.000289777211919,2.07491297612e-05,1793192259190435584
+100,1.666666667,BASELINE,763.968242987,742,711,671,659,632.968242987,876,783,799,649,628.031757013,650,0.400949556008,-0.00539211882476,0.0698204106317,0.999999934508,0.000216517067362,-0.000289258679758,2.08225545383e-05,1793192259207102208
+101,1.683333333,BASELINE,763.380279536,742,711,671,659,632.380279536,876,783,799,649,628.619720464,650,0.400948751083,-0.00539231946259,0.0698197717677,0.999999934504,0.000214665821053,-0.000290661638798,2.06561747449e-05,1793192259223768832
+102,1.700000000,BASELINE,763.20427341,742,711.20427341,671,659,632,876,783,798.79572659,649,628.79572659,650.20427341,0.400948290637,-0.00539235403478,0.0698195016883,0.99999993451,0.000213832519948,-0.000291262461281,2.05535047108e-05,1793192259240435456
+103,1.716666667,BASELINE,763.782581486,742,711.782581486,671,659,632,876,783,798.217418514,649,628.217418514,650.782581486,0.400948460949,-0.00539208453256,0.0698199068715,0.999999934541,0.000214863126813,-0.000290394532097,2.05674903997e-05,1793192259257102080
+104,1.733333333,BASELINE,764,742,712,671.361075693,659,632,876,783,798.361075693,649,628,650.638924307,0.400948776745,-0.0053924421738,0.0698203381769,0.999999934803,0.000214868010144,-0.000289479307344,2.06923451454e-05,1793192259273768960
+105,1.750000000,BASELINE,764,742,712,671.93968209,659,632,876,783,798.93968209,649,628,650.06031791,0.40094918019,-0.00539317763873,0.0698207852197,0.999999935203,0.000214254944575,-0.000288535589207,2.08839931564e-05,1793192259290435584
+106,1.766666667,BASELINE,764,742,711.486964541,671.486964541,659.513035459,632.513035459,876,783,799,649,628,650,0.400949740758,-0.00539231488887,0.0698205510275,0.999999934639,0.000216078380745,-0.000289126034883,2.09386911542e-05,1793192259307102208
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,659,633,877,783,799,649,628,650,0.400950417928,-0.00539308294388,0.0698220019945,0.999999934555,0.000218277259552,-0.000287738467334,2.12461204181e-05,1793192259349480704
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671,659,633,876.421344707,783,799,649,628,650,0.400949796301,-0.00539185055436,0.0698210839783,0.999999934273,0.000217984472467,-0.000288966049844,2.08639946545e-05,1793192259366147328
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.156604022,671.156604022,659.156604022,633,876.156604022,783,799.156604022,649,628,650,0.400949223212,-0.0053914339444,0.0698203447877,0.999999934194,0.000217132583391,-0.000289896519662,2.06378527726e-05,1793192259382813696
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.732660398,671.732660398,659.732660398,633,876.732660398,783,799.732660398,649,628,650,0.400948780127,-0.00539320233972,0.0698200845681,0.999999934658,0.00021478318069,-0.000290031195255,2.08295021606e-05,1793192259399480064
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.6851343,671.6851343,660,632.6851343,876.6851343,783.3148657,799.3702686,649,628,650.3148657,0.400948291143,-0.00539342007306,0.0698198285997,0.999999934356,0.000215534033262,-0.000290503423539,2.09922412567e-05,1793192259416146432
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.097604245,671.097604245,660,632.097604245,876.097604245,783.902395755,798.19520849,649,628,650.902395755,0.400947762413,-0.00539229497903,0.0698195763127,0.999999933384,0.000218969615059,-0.000291267962428,2.11299448862e-05,1793192259432812544
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.517255319,742,711.482744681,671,659.517255319,632.482744681,876.482744681,783.517255319,798.482744681,649,628.482744681,650.517255319,0.400949842928,-0.00539232266961,0.0698201286268,0.999999934309,0.000216431846902,-0.000290014486778,2.07367999139e-05,1793192259449478912
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.061599763,742,712,671,659,633,877,783,799,649,628.938400237,650,0.400953538833,-0.00539280434016,0.069821483993,0.999999935819,0.000213033055727,-0.000287335455365,2.0402590516e-05,1793192259466145792
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.639924701,742,712,671,659,633,877,783,799,649,628.360075299,650,0.400966424836,-0.00539516769741,0.069828231084,0.999999939107,0.000212394079863,-0.000276070684456,2.14498927857e-05,1793192259482812416
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711.784695535,671.215304465,659,633,876.784695535,783,799.215304465,649,628,650,0.400985783429,-0.00539629347411,0.0698373773353,0.999999943287,0.000212234641433,-0.000260566626865,2.20650922433e-05,1793192259499479040
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711.214174869,671.785825131,659,633,876.214174869,783,799.785825131,649,628,650,0.401015820707,-0.00539537745057,0.0698504817977,0.999999948764,0.00021286635924,-0.000238068459433,2.1967394538e-05,1793192259516145920
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.629973688,742,711.370026312,671.629973688,659,632.629973688,876,783,799.629973688,649,628.370026312,650,0.401061510549,-0.00539626976727,0.0698676533687,0.999999955378,0.000213029652991,-0.000208234089355,2.23911709045e-05,1793192259532812800
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.037550038,742,711.962449962,671.037550038,659,632.037550038,876,783,799.037550038,649,628.962449962,650,0.401116608074,-0.00539824895269,0.0698872693999,0.999999961931,0.000212911409198,-0.00017399043067,2.31283694046e-05,1793192259549479680
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.543078152,742,712,671.543078152,659,632.543078152,876.543078152,783,799,649,629,650,0.401182355576,-0.00539778495014,0.0698975983571,0.999999963456,0.000213944747888,-0.000163696086694,2.28004607575e-05,1793192259566146048
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711.878038965,672,659.121961035,633,876.878038965,783,799,649,628.878038965,650,0.401251520728,-0.00539792250132,0.0699054804659,0.9999999647,0.000213885619924,-0.000156110383568,2.19470584599e-05,1793192259582812416
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711.302676746,672,659.697323254,633,876.302676746,783,799,649,628.302676746,650,0.401330711994,-0.00540091104248,0.0699066026481,0.999999966233,0.000209475432338,-0.000152569102736,1.94080465759e-05,1793192259599479040
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,671.72745357,659.72745357,633,876.27254643,783,799,649,628,650.27254643,0.401417195676,-0.00540366731374,0.0699049043509,0.99999996679,0.00020485800549,-0.000155476817457,1.67335750043e-05,1793192259616145920
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,671.152384763,659.152384763,633,876.847615237,783,799,649,628,650.847615237,0.401511773824,-0.00540616576878,0.0699000753646,0.999999966199,0.000200010546475,-0.000165542818976,1.39087453991e-05,1793192259632812800
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.566274693,742,711,671,659,632.566274693,877,783,799,649,628,651,0.401632590914,-0.00540850865812,0.0698998756085,0.999999966421,0.000197686917222,-0.000167228083974,1.06601593064e-05,1793192259649479424
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742,711.023374108,671.023374108,659,632,877,783,799,649,628,650.976625892,0.401764440372,-0.00541085665636,0.0699013943651,0.999999967039,0.000195958498958,-0.000165744303665,7.19994306184e-06,1793192259666146304
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742,711.602517676,671.602517676,659,632,877,783,799,649,628,650.397482324,0.401933686185,-0.00541465964956,0.0699040923934,0.99999996964,0.000186748069288,-0.000160749882154,2.34023236564e-06,1793192259682812672
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.180465744,742,711.819534256,671.819534256,659,632.180465744,877,783,799,649,628.180465744,650,0.402112894945,-0.00541879672501,0.0699069984239,0.999999972173,0.00017786196804,-0.000154958050833,-2.52631619722e-06,1793192259699479040
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.755797933,742,711.244202067,671.244202067,659,632.755797933,877,783,799,649,628.755797933,650,0.402313903019,-0.00542366478564,0.0699103595713,0.999999974709,0.000169685511911,-0.000147421454848,-7.40782565393e-06,1793192259716145408
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,671,659,633,876.662165652,783,799,649,628.662165652,650,0.402530357516,-0.00542808542096,0.0699126218109,0.999999976663,0.000162349516599,-0.000141962122054,-1.2772791397e-05,1793192259732812032
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,671,659,633,876.075184938,783,799,649,628.075184938,650,0.402758203477,-0.00543217608921,0.0699140736274,0.999999978191,0.000155633344199,-0.000138034730321,-1.84942974068e-05,1793192259749478656
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.49488397,742,711,671,659,633,876,783,798.49488397,649,628,650,0.403034339609,-0.00543892224011,0.0699208219581,0.999999981565,0.000142397201319,-0.000126537922725,-2.41096101806e-05,1793192259766145280
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.084087852,742,711.084087852,671,659,633,876,783,798.168175705,649,628,650,0.403325544592,-0.00544731737479,0.0699289352471,0.999999986729,0.000113645694065,-0.000112977230946,-2.93704455452e-05,1793192259782812160
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.661021064,742,711.661021064,671,659,633,876,783,799.322042128,649,628,650,0.403663490734,-0.00546309091801,0.0699404882771,0.999999995064,-4.28758808573e-07,-9.38373428113e-05,-3.26450978833e-05,1793192259799478784
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711.763216088,671.236783912,659.236783912,633,876.236783912,783.236783912,800,649,628.236783912,650,0.404007442753,-0.00548039683892,0.0699470011513,0.999999995251,-4.35702292256e-05,-8.27791761651e-05,-2.73471544148e-05,1793192259816145152
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711.189120521,671.810879479,659.810879479,633,876.810879479,783.810879479,800,649,628.810879479,650,0.404359950451,-0.00549988571483,0.0699463340466,0.999999996385,1.43362267682e-05,-8.32338668608e-05,-9.837078779e-06,1793192259832811776
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,671.601742178,659.601742178,633,877,783.601742178,799.601742178,648.601742178,628.601742178,650,0.404741174239,-0.00550146471177,0.0699486425713,0.999999996079,3.83339322394e-05,-7.91432777129e-05,-1.04487166e-05,1793192259849478656
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711,671.007838636,659.007838636,633,877,783.007838636,799.007838636,648.007838636,628.007838636,650,0.40513650491,-0.0054942454097,0.0699524128855,0.999999996106,4.5673829085e-05,-7.28198020529e-05,-1.99627178942e-05,1793192259866145280
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711.570246267,671,659.570246267,633,877,783,799,648.570246267,628,650,0.405577844944,-0.0055021806705,0.0699547145743,0.999999997114,2.5565926926e-05,-6.79422182773e-05,-2.24268426637e-05,1793192259882812160
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.852881127,742,712,671.147118873,660,632.852881127,877,782.852881127,799,649,628,650,0.406025825144,-0.00550918139534,0.0699521724086,0.999999997042,9.70064832701e-06,-7.22032722591e-05,-2.46527530081e-05,1793192259899479040
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.278912118,742,712,671.721087882,660,632.278912118,877,782.278912118,799,649,628,650,0.406491285568,-0.00551288256773,0.0699356332935,0.999999994327,7.21005166649e-06,-0.000102923026276,-2.64610878697e-05,1793192259916145664
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.302746017,742,712,671.697253983,659.697253983,632,877,782.302746017,799,649,628,650,0.406978108768,-0.00551602628187,0.0699202233724,0.999999991682,1.36212566646e-06,-0.000125707696908,-2.88265568112e-05,1793192259932812800
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.891672619,742,712,671.108327381,659.108327381,632,877,782.891672619,799,649,628,650,0.407485125885,-0.00551864304078,0.0699058808569,0.999999989528,-7.65942609129e-06,-0.000140991473821,-3.17186752031e-05,1793192259949480960
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.472454199,712,671,659.472454199,632,877,783,799,649,628,650,0.408062990606,-0.00552714941151,0.0699118474933,0.999999991653,-1.56438169746e-05,-0.00012380147664,-3.35157546901e-05,1793192259966147328
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.948728959,742.948728959,711.948728959,671,660,632,877,783,798.948728959,649,628,650,0.408660216485,-0.00553660716701,0.0699226404644,0.999999994214,-2.38970325505e-05,-9.88678074239e-05,-3.50264299763e-05,1793192259982813184
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.371234133,742.371234133,711.371234133,671,660,632,877,783,798.371234133,649,628,650,0.409292257404,-0.00554220441544,0.0699359853606,0.999999996231,-3.73087371977e-05,-6.95817334876e-05,-3.61308569151e-05,1793192259999479552
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.208895478,742,711,671.208895478,660.208895478,632.208895478,877,783,798,649,628,650,0.40992109667,-0.00554841742314,0.0699414698532,0.99999999648,-4.8775827234e-05,-5.70204036221e-05,-3.75328846696e-05,1793192260016146176
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.79376722,742,711,671.79376722,660.79376722,632.79376722,877,783,798,649,628,650,0.410544173468,-0.00555573869223,0.069932806958,0.999999994832,-5.67429415929e-05,-7.45607648872e-05,-3.94705431586e-05,1793192260032812544
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.625058384,742,711,672,660.625058384,632.625058384,877,782.625058384,798.374941616,649,628,650,0.411214718558,-0.00556403959065,0.0699356212456,0.999999994166,-6.81628638911e-05,-7.32129992367e-05,-4.07652655945e-05,1793192260049478912
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.045897835,742,711,672,660.045897835,632.045897835,877,782.045897835,798.954102165,649,628,650,0.411911118117,-0.00557287406218,0.0699446867948,0.999999993916,-8.14634220486e-05,-6.15774630197e-05,-4.17098008705e-05,1793192260066145536
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.532457219,742,711,672,660,632.532457219,877,782,799,649,628,650,0.412656921942,-0.00557758880139,0.069972187543,0.999999995368,-8.62516704662e-05,-1.46955201322e-05,-4.01058489843e-05,1793192260082812416
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.889956792,742.110043208,711,672,660,632.889956792,877,782.110043208,799,649,628,650,0.413407365289,-0.00557640474941,0.069997083776,0.999999995407,-8.34593671357e-05,2.75755369227e-05,-3.82057601795e-05,1793192260099479040
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.31532516,742.68467484,711,672,660,632.31532516,877,782.68467484,799,649,628,650,0.414159443586,-0.00555181376176,0.0700042851615,0.999999997307,-5.17561066391e-05,3.7572311745e-05,-3.59814786554e-05,1793192260116145408
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742.734518153,711,671.734518153,660,632,877,783,798.734518153,649,628,650,0.414886265951,-0.00553356727355,0.0699816395097,0.999999998818,-3.15544585568e-05,-4.71904347691e-06,-3.66863146023e-05,1793192260132812288
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742.146201611,711,671.146201611,660,632,877,783,798.146201611,649,628,650,0.415582376368,-0.00552303590297,0.0699226988752,0.999999992725,-2.53391466779e-05,-0.000110594490932,-4.09530536048e-05,1793192260149479168
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742,711,671.435341596,659.564658404,632,877,783,798.435341596,649,628,650,0.416359133476,-0.00552923786046,0.0698946720473,0.999999986078,-3.99688496333e-05,-0.000155631934437,-4.4999792451e-05,1793192260166145792
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742,711.014601563,672,659.014601563,632,877.014601563,783.014601563,799,649,628.014601563,650,0.417163687585,-0.0055409114148,0.069878301347,0.999999981035,-6.12027106246e-05,-0.000178328981799,-4.88188719184e-05,1793192260182812416
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742,711.592190011,672,659.592190011,632,877.592190011,783.592190011,799,649,628.592190011,650,0.4180117431,-0.00555019852131,0.0699171952396,0.999999989717,-7.12931774402e-05,-0.000115350734744,-4.66652216932e-05,1793192260199479040
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.169015104,742,712,672,660,632,877.830984896,783.830984896,799,649,628.830984896,650,0.41886490689,-0.00555690831208,0.0699520893882,0.999999994123,-7.7407385091e-05,-6.14126556115e-05,-4.462542828e-05,1793192260216145664
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.744006576,742,712,672,660,632,877.255993424,783.255993424,799,649,628.255993424,650,0.419730340766,-0.00555742735807,0.0699773761002,0.99999999592,-7.3970569079e-05,-2.91891761047e-05,-4.28591208223e-05,1793192260232812288
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.673399475,742,712,672,660,632.326600525,877,783,799,649,628,650,0.420603799826,-0.00555581985058,0.0699996671755,0.999999996738,-6.90119241607e-05,3.57640238604e-06,-4.18123478288e-05,1793192260249479168
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.084704627,742,712,672,660,632.915295373,877,783,799,649,628,650,0.421483698992,-0.00555250580082,0.0700195542749,0.999999996495,-6.28320237975e-05,3.67770094373e-05,-4.13429955937e-05,1793192260266146048
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.494668522,742,712,672,660,632.505331478,877,783,799.494668522,649,628,650,0.422305706817,-0.00554681910096,0.0699940296085,0.999999997231,-5.96868182226e-05,-5.37837216009e-06,-4.4128666183e-05,1793192260282812928
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.927429863,742.072570137,711.927429863,672,660,632.072570137,877,783,799.927429863,649,628,650,0.42311121867,-0.00554171062785,0.0699546322976,0.999999994712,-5.85824254739e-05,-6.96863528687e-05,-4.78319049516e-05,1793192260299479552
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.348865123,742.651134877,711.348865123,672,660,632.651134877,877,783,799.348865123,649,628,650,0.423869552235,-0.00554341423432,0.0698717240131,0.999999976184,-6.81513680173e-05,-0.000200146989791,-5.4118471198e-05,1793192260316145920
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.226600292,742.773399708,711.226600292,672.226600292,660,632.773399708,877.226600292,783,799,649,628.226600292,650,0.424686886867,-0.00554713015726,0.0698348156242,0.999999963523,-7.72720907851e-05,-0.000252276733703,-5.77947857456e-05,1793192260332812544
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.797358576,742.202641424,711.797358576,672.797358576,660,632.202641424,877.797358576,783,799,649,628.797358576,650,0.425593831774,-0.0055539023642,0.0698677713504,0.99999997748,-8.57120650229e-05,-0.00018543841568,-5.75066810846e-05,1793192260349479168
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.617367216,742.382632784,712,673,660.382632784,632.382632784,877.617367216,783,799,649,628.617367216,650,0.426504616746,-0.00555838706186,0.0699193945967,0.999999988974,-8.63580401607e-05,-0.000108279543047,-5.356417037e-05,1793192260366145792
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.024102302,742.975897698,712,673,660.975897698,632.975897698,877.024102302,783,799,649,628.024102302,650,0.427417515548,-0.00556161252839,0.0699812939588,0.999999995122,-8.27135649364e-05,-2.54394033852e-05,-4.76099778513e-05,1793192260382812416
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742.44397655,712,673,660.44397655,632.44397655,877,783,799,648.44397655,628.55602345,650,0.428296153636,-0.00555993933095,0.0700041516965,0.999999995256,-8.45340888474e-05,7.05910930569e-06,-4.7872943229e-05,1793192260399479040
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.134104066,742,712,673,660,632,877.134104066,783,799,648,628.865895934,650,0.429160308719,-0.00555937337228,0.0700193125726,0.999999994668,-8.62243997772e-05,2.99588319482e-05,-4.82906132597e-05,1793192260416146176
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.707310045,742,712,673,660,632,877.707310045,783,799,648,628.292689955,650,0.429981792048,-0.00556311212652,0.0700146847691,0.999999994666,-8.67305826874e-05,2.84091581777e-05,-4.83527786624e-05,1793192260432812800
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.711958129,742.288041871,712,672.711958129,660.288041871,632,878,783,799,648.288041871,628,650,0.430755261091,-0.00556644735269,0.0699789800955,0.999999994147,-9.09069808847e-05,-3.08235984328e-05,-4.9926485301e-05,1793192260449479168
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.123373883,742.876626117,712,672.123373883,660.876626117,632,878,783,799,648.876626117,628,650,0.431478632061,-0.00556936153813,0.0699108498713,0.999999982413,-9.89128742023e-05,-0.00015024278095,-5.30773308476e-05,1793192260466145792
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.45984671,743,712,672,660.54015329,632,877.54015329,783,799,649,628.45984671,650,0.43223743754,-0.00556945883403,0.069874982843,0.999999972331,-9.90230552799e-05,-0.000206091556474,-5.53063838052e-05,1793192260482812672
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.958723341,743,712,672.041276659,660,632.041276659,877.041276659,783,799.041276659,649,628.958723341,650,0.433011916947,-0.00556889329482,0.0698544754661,0.999999966414,-9.69836360922e-05,-0.000233504001769,-5.69412626393e-05,1793192260499479296
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.38206971,743,712,672.61793029,660,632.61793029,877.61793029,783,799.61793029,649,628.38206971,650,0.433867807108,-0.00556941992777,0.0699222118868,0.999999987968,-9.42223360825e-05,-0.000110751688726,-5.40401822184e-05,1793192260516145664
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,742.806509332,712,673,660.580472004,632.806509332,877.806509332,783,799.806509332,649,628,650,0.434686134215,-0.00557107008684,0.0699765861134,0.999999993945,-9.60077588156e-05,-1.65116071335e-05,-5.11855797897e-05,1793192260532812288
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,742.233095479,712,673,662.300713563,632.233095479,877.233095479,783,799.233095479,649,628,650,0.435430705591,-0.00557492631424,0.0700047233897,0.999999992897,-0.000106720773447,2.17440998497e-05,-4.84222386756e-05,1793192260549479168
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,742,712,673.351689154,661.944932537,632,877,783,799,649,628,650,0.436154573146,-0.00557936260891,0.0700072083343,0.999999992684,-0.00010784782329,2.57051970637e-05,-4.83702630195e-05,1793192260566146048
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,742,712,673.944261981,660.167214056,632,877,783,799,649,628,650,0.436864259917,-0.00558419621084,0.0699921231366,0.999999993478,-0.000102409124422,6.17676595507e-06,-5.01753924987e-05,1793192260582812672
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.522460426,742.522460426,712,674,660.522460426,632.522460426,877,783,799,649,628,650,0.437514173509,-0.00558541109097,0.0699666339253,0.999999992106,-0.000112168020449,-2.15824181156e-05,-5.23584454801e-05,1793192260599479040
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.900936266,711.900936266,673.801872531,660.900936266,632.900936266,877.099063734,783,799.099063734,649,628.099063734,650,0.438147561635,-0.00558617755373,0.0699386159268,0.999999989702,-0.00012087985072,-5.4818528461e-05,-5.4572846406e-05,1793192260616145664
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.324827455,711.324827455,672.64965491,660.324827455,632.324827455,877.675172545,783,799.675172545,649,628.675172545,650,0.438731256349,-0.00558659394681,0.0699036222944,0.999999985466,-0.000116950951925,-0.000110313739175,-5.67492490811e-05,1793192260632812288
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+197,3.283333333,POSE1_TO_POSE2_PRESS,763,742.780212356,711.219787644,673.219787644,660,631.219787644,877,782,799,649,628,650,0.444521701784,-0.00559337405872,0.0697294253181,0.999999905129,-0.000119383894824,-0.000414576571256,-6.01279108358e-05,1793192260849479168
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+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,711,673.9176068,658.9176068,630.0823932,878,782,799,649,628,650.9176068,0.446947279855,-0.00556156306012,0.0696667469312,0.999999857095,-0.000110947383981,-0.000518760709858,-6.62395419736e-05,1793192261616146176
+244,4.066666667,POSE1_TO_POSE2_PRESS,763.500702314,743,711.499297686,673.500702314,658.500702314,630,878,782,799,649,628,650.500702314,0.446946831151,-0.00556061293489,0.0696666268786,0.999999856796,-0.000109291361897,-0.000519696237008,-6.61686875075e-05,1793192261632812800
+245,4.083333333,HOLD_POSE2,763,742,712,672,658,631,877,782,799,649,628,651,0.446951506001,-0.00556218112925,0.0696690708604,0.999999858988,-0.000109050215161,-0.000515515741937,-6.61475323867e-05,1793192261676219392
+246,4.100000000,HOLD_POSE2,763,742.576371512,711.423628488,672.576371512,658,631,877.576371512,782,799.576371512,649,628,650.423628488,0.446950236978,-0.0055614508848,0.0696685406501,0.999999858229,-0.000109444867339,-0.00051687851892,-6.63343292811e-05,1793192261692886016
+247,4.116666667,HOLD_POSE2,763.156947912,743,711,673,658.156947912,631,878,782,800,649,628,650.156947912,0.44694899957,-0.00556097788019,0.0696678079356,0.999999857427,-0.000109958931419,-0.000518302094076,-6.64694855869e-05,1793192261709552384
+248,4.133333333,HOLD_POSE2,763.749186584,743,711,673,658.749186584,631,878,782,800,649,628,650.749186584,0.446947849845,-0.0055612183231,0.0696665135811,0.999999856508,-0.000110804181243,-0.000519894291617,-6.64614181685e-05,1793192261726219264
+249,4.150000000,HOLD_POSE2,763.667906021,742.667906021,711,672.667906021,658.667906021,631,878,782,799.667906021,649,628,650.667906021,0.446947604622,-0.0055601487762,0.0696662965655,0.999999856528,-0.000109496317267,-0.000520114355652,-6.65967668824e-05,1793192261742886144
+250,4.166666667,HOLD_POSE2,763.091853482,742.091853482,711,672.091853482,658.091853482,631,878,782,799.091853482,649,628,650.091853482,0.446948023852,-0.0055581169016,0.0696668709706,0.999999857234,-0.000106606760784,-0.000519326440722,-6.68374700904e-05,1793192261759552768
+251,4.183333333,HOLD_POSE2,763.483450102,742.483450102,711,672.483450102,658,631,877.516549898,782,799,649,628,650,0.446949124352,-0.00555940596518,0.0696671926502,0.999999857477,-0.000107344588125,-0.000518753780672,-6.64589116741e-05,1793192261776219392
+252,4.200000000,HOLD_POSE2,764,743,711,673,658,631,877.060197923,782.060197923,799.060197923,649,628,650,0.44695025912,-0.00556115629176,0.0696674489781,0.99999985764,-0.000108687753982,-0.000518222538512,-6.59784971209e-05,1793192261792885760
+253,4.216666667,HOLD_POSE2,764,743,711,673,658,631,877.650926122,782.650926122,799.650926122,649,628,650,0.446950556903,-0.0055614196257,0.0696675518781,0.999999857868,-0.000109301344252,-0.000517696439913,-6.56357340893e-05,1793192261809552384
+254,4.233333333,HOLD_POSE2,764,743,711,673,658,631,877.763565612,782.763565612,800,649,628,650,0.446950054333,-0.00556065656357,0.0696671649998,0.999999857652,-0.000108751591555,-0.000518216689661,-6.57263490854e-05,1793192261826219264
+255,4.250000000,HOLD_POSE2,764,743,711,673,658,631,877.185597682,782.185597682,800,649,628,650,0.446948395638,-0.00555841085466,0.0696660706283,0.99999985679,-0.000106521369867,-0.000520248407643,-6.644298613e-05,1793192261842885888
+256,4.266666667,HOLD_POSE2,763.608588124,743,711.391411876,673,658,631,877.391411876,782,799.608588124,649,628,650,0.446947051634,-0.00555830929167,0.0696650999288,0.999999855885,-0.000106190952511,-0.000522085597707,-6.61790700177e-05,1793192261859552768
+257,4.283333333,HOLD_POSE2,763.032031841,743,711.967968159,673,658,631,877.967968159,782,799.032031841,649,628,650,0.446945856483,-0.0055592219456,0.0696641877281,0.99999985496,-0.000106759174391,-0.000523830772969,-6.54513358164e-05,1793192261876219648
+258,4.300000000,HOLD_POSE2,763,743,711.445503107,673.554496893,658.554496893,631,878,782,799.554496893,649,628,650,0.446948789387,-0.00556096501143,0.0696662482646,0.999999856891,-0.000107498370822,-0.000520020963501,-6.51138808043e-05,1793192261892886272
+259,4.316666667,HOLD_POSE2,763.139765587,742.860234413,711.139765587,674,658.860234413,631,878,782,800,649,628,650,0.446951144129,-0.00556181095173,0.0696679168717,0.999999858467,-0.000107698648921,-0.000516948950075,-6.50515080866e-05,1793192261909552896
+260,4.333333333,HOLD_POSE2,763.719224913,742.280775087,711.719224913,674,658.280775087,631,878,782,800,649,628,650,0.446950916073,-0.0055596809153,0.0696678023569,0.999999858439,-0.000106171883359,-0.000517226005736,-6.57823014815e-05,1793192261926219520
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,631,877,782,799,649,628,650,0.446949182591,-0.00555960216813,0.0696669998709,0.999999856991,-0.000105554966589,-0.00052017254557,-6.55539293168e-05,1793192261963407616
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.410167351,743,712,673.410167351,658,631,877,782,799,649.589832649,628,650,0.44694933153,-0.00555949753056,0.0696670149723,0.999999857057,-0.00010825638948,-0.000519461936473,-6.57764710758e-05,1793192261980074496
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,743,712,673,658.176271571,631,877,782,799.176271571,649.823728429,628,650,0.446949113738,-0.00555941209733,0.0696666697087,0.99999985696,-0.000109656653401,-0.000519342524567,-6.58744136236e-05,1793192261996741376
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,743,712,673,658.754962888,631,877,782,799.754962888,649.245037112,628,650,0.446948058713,-0.0055593705067,0.0696655017485,0.999999856503,-0.000108086432823,-0.000520572788042,-6.56879020478e-05,1793192262013408256
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,743,711.666788123,673,659,631,877.666423754,782,800,649,628,650,0.446947377702,-0.00555854671314,0.0696651193926,0.999999856099,-0.000106089650616,-0.000521726761404,-6.59471748128e-05,1793192262030074880
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,743,711.088864018,673,659,631,878.822271964,782,800,649,628,650,0.446946971367,-0.00555714846639,0.0696653139878,0.999999855729,-0.000103779599818,-0.000522824706907,-6.65338335164e-05,1793192262046741504
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.48494397,743,711,673,658.51505603,631,878.51505603,782,799.51505603,649,628.48494397,650.48494397,0.446948192307,-0.00555687807371,0.069665616393,0.999999856489,-0.000103831877521,-0.000521364139429,-6.64861235733e-05,1793192262063408128
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.940192713,743,711,673,658,631,877.940192713,782,799,649,628.940192713,650.940192713,0.446949001036,-0.00555689442444,0.0696656463872,0.999999857115,-0.000104499974448,-0.000520047818204,-6.6336001659e-05,1793192262080074752
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.349317202,743,711,673,658,631,877.349317202,782,799,649,628.349317202,650.349317202,0.446943523916,-0.00555763720374,0.0696630835163,0.999999854735,-0.000106824797384,-0.000524140429073,-6.63000290424e-05,1793192262096741120
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.236571245,743,711.236571245,673,658,631,877.236571245,781.763428755,799,649,628,650,0.44692995493,-0.00555777132745,0.0696565432583,0.999999848994,-0.000107380794138,-0.000534852720225,-6.64306488864e-05,1793192262113408000
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.815247855,743,711.815247855,673,658,631,877.815247855,781.184752145,799,649,628,650,0.446904684308,-0.00555702527509,0.0696442513062,0.999999838127,-0.000105378893467,-0.000555137721772,-6.68021778519e-05,1793192262130074880
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.608691251,743,712,673,658,631,877.608691251,781.391308749,799,649,628,650,0.44685711116,-0.00555604957118,0.0696247372734,0.999999818473,-0.000105013184455,-0.000589518415778,-6.70418305486e-05,1793192262146741248
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.033857088,743,712,673,658,631,877.033857088,781.966142912,799,649,628,650,0.446799078033,-0.00555496615968,0.069601836054,0.999999793413,-0.000105414855758,-0.000630510048606,-6.72196326793e-05,1793192262163407872
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.544226324,743,711.455773676,673.544226324,658,631,877,782,799.544226324,649,627.455773676,650,0.446731054426,-0.00555165647805,0.0695873328225,0.999999780376,-0.000101830722465,-0.000651384136458,-6.76532317974e-05,1793192262180074752
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.875182467,742.875182467,711,673.875182467,658,631,877,782,799.875182467,649,627.124817533,650,0.446660414451,-0.0055485263355,0.0695763007646,0.999999770655,-9.85149987596e-05,-0.000666640047224,-6.76446058185e-05,1793192262196741632
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.286018098,742.286018098,711,673.286018098,658,631,877,782,799.286018098,649,627.713981902,650,0.446582367109,-0.00554658245514,0.0695762268829,0.999999771545,-9.71258249219e-05,-0.000665679146477,-6.5931254893e-05,1793192262213408256
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742.298054658,711,673,658,630.701945342,877.298054658,782,799,649.298054658,628,650,0.446492021253,-0.00554411626153,0.0695784860399,0.999999774816,-9.45570865252e-05,-0.000661345068433,-6.36355911523e-05,1793192262230074624
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742.877323447,711,673,658,630.122676553,877.877323447,782,799,649.877323447,628,650,0.446390071771,-0.00554115726626,0.0695829464153,0.999999780277,-9.08754307784e-05,-0.000653828402585,-6.07905162252e-05,1793192262246741248
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.454198863,743,711,673.454198863,658.454198863,630.454198863,878,782,799.454198863,649.545801137,628,650,0.446261306529,-0.00553823019173,0.0695851372094,0.999999783657,-8.75295241774e-05,-0.000649388740409,-5.76019516474e-05,1793192262263407872
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.969651543,711,673.969651543,659,631,878,782,800,649,628,650,0.446123781876,-0.00553532443301,0.069586760633,0.999999786536,-8.4241704414e-05,-0.000645666035724,-5.42889318581e-05,1793192262280074752
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.394986421,711,673.394986421,659,631,878,782,800,649,628,650,0.445958374706,-0.00553264716188,0.0695891448371,0.999999790716,-8.03777619777e-05,-0.000639974588821,-5.03989798568e-05,1793192262296741376
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.815600148,742.184399852,711.184399852,673.184399852,659,631,878,782,800,649,628,650,0.44578200688,-0.00552921410847,0.0695918454578,0.999999794553,-7.49954686792e-05,-0.000634925784929,-4.62568844546e-05,1793192262313408000
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.225835478,742.774164522,711.774164522,673.774164522,659,631,878,782,800,649,628,650,0.445581544345,-0.00552411962487,0.0695952416546,0.999999797677,-6.62753965293e-05,-0.000631289699145,-4.1560504612e-05,1793192262330074624
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,743,712,673.642744488,659,631,878,782,799.642744488,649,628,650,0.445354372448,-0.00551786526762,0.0696013647688,0.999999802641,-5.47264776552e-05,-0.000624821542809,-3.63508211726e-05,1793192262346741504
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,743,712,673.06379478,659,631,878,782,799.06379478,649,628,650,0.445110626089,-0.0055108911526,0.0696091800666,0.999999808572,-4.14221227173e-05,-0.000616595950266,-3.08226077445e-05,1793192262363408128
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742.486750802,711.486750802,673,659.513249198,631,877.486750802,782,799.513249198,649,628,650,0.444808272396,-0.00550242247703,0.0696081215958,0.999999805585,-2.58842043911e-05,-0.000622577903813,-2.35910207322e-05,1793192262380074752
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.09142547,742,711.09142547,673,659.90857453,631,877,782,800,649,628,650,0.444494364403,-0.00549387759319,0.0696059161274,0.999999801698,-9.9116405934e-06,-0.000629474923558,-1.63503036096e-05,1793192262396741376
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.676997456,742,711.676997456,673,659.323002544,631,877,782,800,649,628,650,0.444157233571,-0.00548592115098,0.069603450657,0.999999800333,6.91517369151e-06,-0.000631808359452,-1.02003435382e-05,1793192262413408256
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.739532376,742.260467624,711.739532376,673,659,631,877,782,799.739532376,649,628,650,0.443803863704,-0.00547806362735,0.0696092063374,0.999999806844,4.69546780173e-05,-0.000619758821769,-2.58154249679e-06,1793192262430074624
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.158647816,742.841352184,711.158647816,673,659,631,877,782,799.158647816,649,628,650,0.44343051724,-0.00547032778993,0.0696250753516,0.999999819241,0.000115549511305,-0.000590015918262,6.84416806391e-06,1793192262446741248
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742.581138335,711.418861665,673,659,631.418861665,877,782,799,649,628,650,0.443022324316,-0.00546353169048,0.0696437700478,0.999999832266,0.000138689435296,-0.000562152786471,1.4750346433e-05,1793192262463408128
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742.004896991,711.995103009,673,659,631.995103009,877,782,799,649,628,650,0.442601038474,-0.00545708868073,0.0696635264426,0.999999846169,0.000144750499516,-0.000534995945884,2.20855879136e-05,1793192262480074752
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742.56935119,711.43064881,673,659,632,877,782.56935119,799,649,628.56935119,650,0.442136558928,-0.00544927546212,0.0696866642896,0.999999865557,0.000132025528758,-0.000501124244362,1.81658597943e-05,1793192262496741632
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,632,877,783,799,649,628.852115143,650,0.441666494219,-0.00544360411258,0.0697091512414,0.999999884038,0.000124897807473,-0.000464831857348,1.59751608685e-05,1793192262513408256
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,632,877,783,799,649,628.260676816,650,0.441180788313,-0.0054443921315,0.0697295990211,0.999999901886,0.000135040945835,-0.000421451695852,1.925970126e-05,1793192262530075136
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.323655465,743,711.323655465,673,659.323655465,632,877,783,799,649,628.323655465,650,0.440658901108,-0.00544541921862,0.0697502248431,0.999999916784,0.000140054879506,-0.000382657910904,1.97441116709e-05,1793192262546741760
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763.902387453,743,711.902387453,673,659.902387453,632,877,783,799,649,628.902387453,650,0.440108498962,-0.00544663471817,0.0697709909845,0.999999929523,0.00014102643019,-0.000347478696505,1.80217084016e-05,1793192262563408128
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.121741892,742.121741892,711,671.121741892,659.121741892,632.121741892,876,783,799,649,628.878258108,650.121741892,0.401221838049,-0.00538490646785,0.0697895955965,0.999999915576,0.000227321350006,-0.000341996320804,1.45690118827e-05,1793192263596742656
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.030351386,742.969648614,712,672,659.969648614,632.969648614,876.969648614,783.030351386,799.969648614,649,628.969648614,650.030351386,0.401100850863,-0.00539266619658,0.0697970044957,0.999999922753,0.000213570186062,-0.000329522492171,1.72105659955e-05,1793192263630075136
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.618052879,742.381947121,712,672,659.381947121,632.381947121,876.381947121,783.618052879,799.381947121,649,628.381947121,650.618052879,0.401058223933,-0.00538748452338,0.0697969901483,0.9999999216,0.000218540317973,-0.000329731881656,1.77786100613e-05,1793192263646741760
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.796772781,742,711.796772781,672,659,632.203227219,876,784,799,649,628.203227219,651,0.401021595256,-0.00538527322038,0.0697972237601,0.999999921469,0.000220068597682,-0.000329077258603,1.84381625731e-05,1793192263663408384
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.216289724,742,711.216289724,672,659,632.783710276,876,784,799,649,628.783710276,651,0.400996101296,-0.00538857589145,0.0697979176648,0.999999923252,0.000215207679337,-0.00032681874716,1.92675844704e-05,1793192263680075008
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,633,876.36132728,783.63867272,799,649,628.63867272,650.63867272,0.400979714139,-0.00538957599848,0.069800270228,0.999999924762,0.000215050589162,-0.000322242127543,1.97475477517e-05,1793192263696741632
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,633,876.937242227,783.062757773,799,649,628.062757773,650.062757773,0.400968735393,-0.00538920864238,0.0698036078474,0.999999926086,0.000217687042128,-0.000316288812796,2.00199720927e-05,1793192263713408256
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.73425556,742,712,671,659,633,877,783.26574444,799.26574444,649,628.26574444,650,0.400951953038,-0.0053907780123,0.0698114566314,0.999999930985,0.000212278114052,-0.00030422997608,2.03129698344e-05,1793192263780075008
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.15497908,742,712,671,659,633,877,783.84502092,799.84502092,649,628.84502092,650,0.400951857562,-0.00539058626684,0.0698133269989,0.999999931867,0.000212330393669,-0.000301292474706,2.00919404382e-05,1793192263796741888
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763,742,711.578651846,671,659,632.578651846,876.578651846,783.578651846,799.578651846,649,628.578651846,650,0.40095098617,-0.00539089616352,0.0698128089129,0.999999931391,0.000213931563241,-0.000301757288894,1.98537704188e-05,1793192263813408000
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763,742,711.003401867,671,659,632.003401867,876.003401867,783.003401867,799.003401867,649,628.003401867,650,0.400949831365,-0.00539138929025,0.0698114184193,0.999999930413,0.00021609848108,-0.000303464834519,1.9609339612e-05,1793192263830074368
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,659,632,876.584585143,783,799,649,628,650.584585143,0.400948392731,-0.00539073533228,0.0698123282146,0.999999930377,0.00021622534323,-0.00030347095385,1.99506526154e-05,1793192263846741504
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763,742.169875269,711,671,659.169875269,632.169875269,877,783,799,649,628,650.830124731,0.400947780341,-0.00539070705691,0.0698132423386,0.999999930563,0.000216112022407,-0.000302916295927,2.03010759977e-05,1793192263863408128
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763,742.748493919,711,671,659.748493919,632.748493919,877,783,799,649,628,650.251506081,0.400949160075,-0.00539220067967,0.0698141339519,0.999999931266,0.00021544998923,-0.000301036684417,2.06650358971e-05,1793192263880075264
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.326160603,742.673839397,711,671,659.673839397,633,876.673839397,783,799,649,628.326160603,650.326160603,0.400949248066,-0.00539273677103,0.0698143741156,0.999999931734,0.000214365703945,-0.000300255933286,2.06274700984e-05,1793192263896742144
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763.903095412,742.096904588,711,671,659.096904588,633,876.096904588,783,799,649,628.903095412,650.903095412,0.400948342879,-0.00539253664801,0.0698141134012,0.999999932023,0.000212956762772,-0.000300320059716,2.02811843785e-05,1793192263913408256
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,659.476049806,633,876.476049806,783.476049806,799,649,629,651,0.400949420076,-0.0053922862591,0.0698153600265,0.999999932433,0.000213789492446,-0.000298359838758,2.02529057226e-05,1793192263930074880
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711.049894857,671,659.950105143,633,876.950105143,783.950105143,799,649,628.950105143,650.950105143,0.400950734557,-0.00539196497969,0.0698167813913,0.999999932808,0.000215046686186,-0.000296189143694,2.02638145979e-05,1793192263946741760
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711.642156511,671,659.357843489,633,876.357843489,783.357843489,799,649,628.357843489,650.357843489,0.400950278266,-0.00539098340935,0.0698167945235,0.999999932613,0.000215998796121,-0.000296172752551,2.00028692572e-05,1793192263963408384
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.771008201,742,711.771008201,671,659.228991799,633,876.228991799,783,799,649,628.228991799,650,0.400950382571,-0.00539096668528,0.0698168759074,0.999999932601,0.000216485618581,-0.000295862390054,1.99322387707e-05,1793192263980075008
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.19245639,742,711.19245639,671,659.80754361,633,876.80754361,783,799,649,628.80754361,650,0.400951342636,-0.00539242281607,0.0698170614786,0.999999932869,0.000216262171465,-0.000295103275111,2.01521272737e-05,1793192263996741376
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.38471931,742,711.38471931,671,659.61528069,632.61528069,876.61528069,783,799,649,628.61528069,650,0.40095080594,-0.00539324289702,0.0698169067039,0.999999932985,0.0002148632897,-0.00029572156788,2.03071110905e-05,1793192264013407744
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.961209044,742,711.961209044,671,659.038790956,632.038790956,876.038790956,783,799,649,628.038790956,650,0.400949523156,-0.00539374592716,0.0698165822776,0.99999993302,0.000212878490891,-0.00029702645491,2.04297419646e-05,1793192264030074368
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.462966376,742,711.462966376,671,659,632.537033624,876.537033624,783.537033624,799,649,628,650,0.400948898927,-0.00539283463519,0.0698165273566,0.999999933229,0.000212634848665,-0.000296507810623,2.02834234378e-05,1793192264046740992
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.115986104,742,711.115986104,671,659,632.884013896,876.884013896,783.884013896,799,649,628.115986104,650,0.400948685354,-0.00539194540665,0.0698166349372,0.999999933319,0.000213045188183,-0.000295921553388,2.01251786921e-05,1793192264063407872
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.707972072,742,711.707972072,671,659,632.292027928,876.292027928,783.292027928,799,649,628.707972072,650,0.400949962106,-0.00539156546173,0.0698173296222,0.999999932864,0.000215623927015,-0.00029559770723,1.99976169824e-05,1793192264080074752
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.291925523,659,632.291925523,876.291925523,783,799,649,628.708074477,650,0.400950310412,-0.00539165832434,0.0698176138729,0.99999993284,0.000216209034814,-0.00029524938074,2.00318123743e-05,1793192264096741376
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.868058884,659,632.868058884,876.868058884,783,799,649,628.131941116,650,0.400949754817,-0.00539221149473,0.0698174985399,0.999999933238,0.000214853217861,-0.000294877221072,2.0223488452e-05,1793192264113408000
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.555994438,742,712,671.555994438,659,633,876.555994438,783,799,649,628,650,0.400949845968,-0.00539182150539,0.0698176759445,0.999999932986,0.000216277870197,-0.000294690321193,2.02552860672e-05,1793192264130074624
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763,742,711.979623587,671.020376413,659,632.979623587,876.020376413,783,799,649,628,650,0.40095005002,-0.00539117374055,0.0698179171069,0.999999932547,0.000218393706401,-0.000294618873795,2.0236925922e-05,1793192264146740992
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763,742,711.389849109,671.610150891,659,632.389849109,876.610150891,783,799,649,628,650,0.400948040755,-0.00539115127574,0.0698175100851,0.99999993243,0.000216745051343,-0.000296235903151,2.01440086732e-05,1793192264163407616
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.19595599,742,711,672,659,632.19595599,876.80404401,783,799,649,628.19595599,650,0.400947425885,-0.00539133216738,0.069817329524,0.999999932583,0.000215359624362,-0.000296735644971,2.00333509773e-05,1793192264180074496
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.774020868,742,711,672,659,632.774020868,876.225979132,783,799,649,628.774020868,650,0.400949530049,-0.00539190959861,0.0698175905554,0.999999933271,0.000214487485124,-0.000295056706169,1.98880998941e-05,1793192264196741120
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.64984546,742,711,672,659,633,876,783.35015454,799,649,628.64984546,650,0.400949900917,-0.00539226275037,0.0698179003706,0.999999933489,0.000214141990684,-0.000294568681851,1.98820342723e-05,1793192264213408000
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763.074951317,742,711,672,659,633,876,783.925048683,799,649,628.074951317,650,0.400949159305,-0.00539247195289,0.0698182414966,0.999999933407,0.000214134512581,-0.000294845021953,1.99653020267e-05,1793192264230074624
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_03/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5c6202886c1e3cdf445695eac6a3686114964293
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_03/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,0.575709271539,5.45948484089e-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
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+21,0.350000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
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+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
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+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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+378,6.300000000,pose2_to_pose3_retreat,0.57571214943,5.45186317249e-05,1.06002905344,0.546282881593,0.00872725460651,1.05969834335
+379,6.316666667,pose2_to_pose3_retreat,0.575711976796,5.4517132707e-05,1.06002904766,0.546282708994,0.00872725322308,1.05969833751
+380,6.333333333,pose2_to_pose3_retreat,0.575711801644,5.4515611819e-05,1.0600290418,0.546282533877,0.00872725181947,1.05969833159
+381,6.350000000,pose2_to_pose3_retreat,0.575711363277,5.45352303166e-05,1.06002907173,0.546282094995,0.00872726965908,1.05969836073
+382,6.366666667,pose2_to_pose3_retreat,0.575711170174,5.45532879145e-05,1.06002910283,0.546281901422,0.00872728610007,1.05969839125
+383,6.383333333,pose2_to_pose3_retreat,0.57571100138,5.45690722859e-05,1.06002913003,0.546281732217,0.00872730047135,1.05969841792
+384,6.400000000,pose2_to_pose3_retreat,0.575710809186,5.4587044864e-05,1.06002916099,0.546281539555,0.00872731683494,1.05969844828
+385,6.416666667,pose2_to_pose3_retreat,0.575710572699,5.46091593443e-05,1.06002919909,0.546281302494,0.00872733696963,1.05969848565
+386,6.433333333,pose2_to_pose3_retreat,0.575710380339,5.4627147441e-05,1.06002923007,0.546281109666,0.00872735334735,1.05969851605
+387,6.450000000,pose2_to_pose3_retreat,0.575710311293,5.46336040957e-05,1.0600292412,0.546281040452,0.00872735922597,1.05969852696
+388,6.466666667,pose2_to_pose3_retreat,0.575710279014,5.46366226034e-05,1.0600292464,0.546281008094,0.00872736197425,1.05969853206
+389,6.483333333,pose2_to_pose3_retreat,0.575710147055,5.46489624041e-05,1.06002926766,0.546280875814,0.00872737320933,1.05969855291
+390,6.500000000,pose2_to_pose3_retreat,0.575709957621,5.46663719622e-05,1.06002929738,0.546280685933,0.00872738908015,1.05969858208
+391,6.516666667,pose2_to_pose3_retreat,0.575709766139,5.46517845569e-05,1.06002924403,0.546280495425,0.00872737791343,1.05969853173
+392,6.533333333,pose2_to_pose3_retreat,0.575709478666,5.46298844646e-05,1.06002916394,0.546280209416,0.00872736114881,1.05969845613
+393,6.550000000,pose2_to_pose3_retreat,0.575709456266,5.46281779665e-05,1.0600291577,0.54628018713,0.00872735984248,1.05969845024
+394,6.566666667,pose2_to_pose3_retreat,0.57570945079,5.46277607791e-05,1.06002915617,0.546280181681,0.00872735952312,1.0596984488
+395,6.583333333,pose2_to_pose3_retreat,0.575709368584,5.46221623298e-05,1.06002914359,0.546280099716,0.0087273547348,1.05969843601
+396,6.600000000,pose2_to_pose3_retreat,0.575709284999,5.46186171426e-05,1.0600291642,0.546280015804,0.00872734988463,1.05969845158
+397,6.616666667,pose2_to_pose3_retreat,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398266,1.05969835126
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_03/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..214557fcc81ab38299d70f6412d525f50cb1ca40
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eb5042dd27a08a341d9fc1cc8ecaeae7a5fc834526b14fde2969520c8e4d0d8
+size 25436870
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2a1d479f9e84f91208c3db4dbd0d6dbead0df198
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_03/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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+44,0.733333333,BASELINE,764,742,712,671,659,632.534446902,876.465553098,783.465553098,799,649,628,650.465553098,0.400948284622,-0.00539332119334,0.0698196561219,0.999999934156,0.000215434801917,-0.000291315107655,2.02714398841e-05,1793192265108900352
+45,0.750000000,BASELINE,764,742,712,671,659,633,876,783.112728188,799,649.112728188,628.112728188,650.112728188,0.400947771893,-0.00539436324246,0.0698195798126,0.999999934185,0.000214986069523,-0.000291537279031,2.04014215091e-05,1793192265125566976
+46,0.766666667,BASELINE,764,742,712,671,659,633,876,783.689154798,799,649.689154798,628.689154798,650.689154798,0.400949162415,-0.00539415194413,0.0698199625569,0.999999934507,0.000214997302233,-0.000290436771136,2.02142741846e-05,1793192265142233344
+47,0.783333333,BASELINE,764,742,712,671,659.26452719,633,876,783.73547281,799,649.73547281,628.73547281,651,0.400949957713,-0.00539400130436,0.0698204639244,0.999999935038,0.00021367528711,-0.00028959631651,2.00273558132e-05,1793192265158899968
+48,0.800000000,BASELINE,764,742,712,671,659.838665766,633,876,783.161334234,799,649.161334234,628.161334234,651,0.400950056342,-0.00539392166136,0.0698211041326,0.999999935808,0.000210792794553,-0.000289060236701,1.98407053916e-05,1793192265175566336
+49,0.816666667,BASELINE,764,742,712,671,659.575210563,632.575210563,876.424789437,783,799.424789437,649,628,650.575210563,0.400949500652,-0.00539414886478,0.0698207958314,0.999999935493,0.000210511771278,-0.000290350823527,1.9873416663e-05,1793192265192233216
+50,0.833333333,BASELINE,764,742,711.984693923,671,659.015306077,632.015306077,876.984693923,783,799.984693923,649,628.015306077,650.015306077,0.400948728738,-0.00539445486276,0.0698201353074,0.999999934777,0.000211247690555,-0.000292268277875,1.99792866483e-05,1793192265208899840
+51,0.850000000,BASELINE,764,742,711.404911692,671,659.595088308,632.595088308,876.404911692,783,799.404911692,649,628.595088308,650.595088308,0.400949413606,-0.00539324406805,0.069820156251,0.999999935004,0.000211991852635,-0.000290975793088,1.96214631429e-05,1793192265225566976
+52,0.866666667,BASELINE,764,742,711.173410907,671,659.826589093,633,876,783,799,649,628.826589093,650.826589093,0.400949926669,-0.00539249374047,0.0698203122561,0.999999935212,0.000212531097283,-0.00028988208101,1.93814033506e-05,1793192265242233600
+53,0.883333333,BASELINE,764,742,711.748353703,671,659.251646297,633,876,783,799,649,628.251646297,650.251646297,0.400950041921,-0.00539280962179,0.0698207809954,0.999999935381,0.000212595856836,-0.000289248626002,1.94140247341e-05,1793192265258900480
+54,0.900000000,BASELINE,764,742,712,671,659,633,876.331428086,783,799.331428086,649,628,650,0.400949826367,-0.00539375480512,0.0698209658672,0.999999935454,0.000211975004733,-0.000289436632736,1.9634869567e-05,1793192265275567360
+55,0.916666667,BASELINE,764,742,712,671,659,633,876.920831874,783,799.920831874,649,628,650,0.400949353322,-0.00539518982209,0.0698209297836,0.999999935451,0.000210820488895,-0.000290264045694,2.00022230342e-05,1793192265292233984
+56,0.933333333,BASELINE,763.499668029,742,711.499668029,671.500331971,659.500331971,633,877,783,799.499668029,649,628,650,0.400951064219,-0.00539339092057,0.0698218410051,0.99999993529,0.000214211345692,-0.000288339216651,1.98566619084e-05,1793192265308900096
+57,0.950000000,BASELINE,763.078258825,742,711.078258825,672,659.921741175,633,877.078258825,783,799,649,628,650,0.400952817962,-0.00539164798982,0.0698227483957,0.999999935196,0.00021735710225,-0.000286313261936,1.96914636544e-05,1793192265325566464
+58,0.966666667,BASELINE,763.655951939,742,711.655951939,672,659.344048061,633,877.655951939,783,799,649,628,650,0.400952682585,-0.00539346449425,0.0698226933123,0.999999935807,0.000214437824463,-0.000286367222216,1.99088347212e-05,1793192265342233088
+59,0.983333333,BASELINE,763.763231427,742,711.763231427,671.763231427,659,633,877.763231427,783,799,649,628,650,0.400951858807,-0.00539371250799,0.0698220192123,0.999999935824,0.000213121475821,-0.000287297495384,1.98005420429e-05,1793192265358899712
+60,1.000000000,BASELINE,763.177815244,742,711.177815244,671.177815244,659,633,877.177815244,783,799,649,628,650,0.400950021343,-0.00539165088046,0.0698204335949,0.999999934972,0.000214165479764,-0.000289518161073,1.92127014361e-05,1793192265375566592
+61,1.016666667,BASELINE,763.40298387,742,711.40298387,671,659.40298387,632.59701613,876.59701613,783,799,649,628,650,0.400949860387,-0.00539148403912,0.0698203643066,0.999999934836,0.000215058288135,-0.000289319717825,1.93132870612e-05,1793192265392233728
+62,1.033333333,BASELINE,763.981768761,742,711.981768761,671,659.981768761,632.018231239,876.018231239,783,799,649,628,650,0.400950430806,-0.00539214379512,0.0698209565144,0.999999935011,0.000215885137637,-0.000288065942324,1.97141974825e-05,1793192265408900608
+63,1.050000000,BASELINE,764,742,711.439057533,671,660,632.560942467,876.560942467,783,799.560942467,649,628.560942467,650,0.400950966765,-0.00539119948145,0.0698209531389,0.999999934735,0.000216552284939,-0.00028853942205,1.94997130002e-05,1793192265425566720
+64,1.066666667,BASELINE,764,742,711.139290942,671,659.860709058,633,877,783,799.860709058,649,628.860709058,650.139290942,0.400951440312,-0.00539070238968,0.0698211832529,0.999999934717,0.000216483920824,-0.00028866204925,1.93867948034e-05,1793192265442233344
+65,1.083333333,BASELINE,764,742,711.715014116,671,659.284985884,633,877,783,799.284985884,649,628.284985884,650.715014116,0.400951721826,-0.00539177001416,0.0698222056382,0.999999935551,0.000214127295771,-0.000287509355649,1.96548198183e-05,1793192265458900224
+66,1.100000000,BASELINE,764,742,712,671,659.295995129,632.704004871,877,783,799,649,628.295995129,651,0.400951417411,-0.00539251205297,0.0698223205265,0.999999935899,0.000212646678769,-0.000287387332252,1.98033173771e-05,1793192265475566848
+67,1.116666667,BASELINE,764,742,712,671,659.882129934,632.117870066,877,783,799,649,628.882129934,651,0.400950538659,-0.00539293494686,0.0698215458702,0.999999935775,0.000212024740542,-0.000288275590147,1.98346519868e-05,1793192265492233216
+68,1.133333333,BASELINE,764,742,711.538339258,671,659.538339258,632.461660742,877,783,799.461660742,649,629,651,0.400950099495,-0.00539304645441,0.0698212737676,0.999999935245,0.000213815222137,-0.000288791203908,1.97975188003e-05,1793192265508899840
+69,1.150000000,BASELINE,763.960348085,742,711.039651915,671,659,633,876.960348085,783,799.960348085,649,628.960348085,651,0.400949822701,-0.00539317603391,0.0698211342447,0.999999934711,0.000215792686883,-0.000289175016814,1.97355836749e-05,1793192265525566976
+70,1.166666667,BASELINE,763.380686459,742,711.619313541,671,659,633,876.380686459,783,799.380686459,649,628.380686459,651,0.400950250246,-0.00539461918461,0.0698210775026,0.999999935554,0.000212046686861,-0.000289041315329,1.95705893646e-05,1793192265542233856
+71,1.183333333,BASELINE,763.197613173,742,712,671,659,632.802386827,876.197613173,783,799,649,628,650.802386827,0.400950281794,-0.00539497433016,0.0698208106011,0.999999935793,0.000210602384398,-0.000289283129682,1.94013874605e-05,1793192265558900224
+72,1.200000000,BASELINE,763.773307089,742,712,671,659,632.226692911,876.773307089,783,799,649,628,650.226692911,0.400949555708,-0.00539324786474,0.0698201416147,0.99999993489,0.000213561773143,-0.000290243394636,1.92241354052e-05,1793192265575566848
+73,1.216666667,BASELINE,763.651172466,742.348827534,712,671,659,632.348827534,876.651172466,783,799,649,628,650,0.400949066653,-0.0053926726005,0.069820139529,0.999999934738,0.000213975161042,-0.000290459092437,1.92964066894e-05,1793192265592233472
+74,1.233333333,BASELINE,763.075764733,742.924235267,712,671,659,632.924235267,876.075764733,783,799,649,628,650,0.400948731562,-0.00539284509668,0.0698205706271,0.999999935076,0.000212734799205,-0.000290191158136,1.95307553507e-05,1793192265608900096
+75,1.250000000,BASELINE,763.514562431,742.485437569,711.485437569,671.514562431,659,633,876,783.514562431,799,649,628.514562431,650,0.400948029126,-0.00539193748225,0.0698200282749,0.999999934128,0.000215858158624,-0.000291147987405,1.95232464884e-05,1793192265625566208
+76,1.266666667,BASELINE,764,742,711,671.895813054,659,633,876.104186946,783.895813054,799,649,628.895813054,650,0.400947901683,-0.00539129760693,0.0698196460558,0.99999993344,0.00021839991712,-0.000291614425241,1.95365119506e-05,1793192265642233088
+77,1.283333333,BASELINE,764,742,711,671.31962107,659,633,876.68037893,783.31962107,799,649,628.31962107,650,0.400950631525,-0.00539261269628,0.0698206580341,0.999999934859,0.000215309045085,-0.000289017828884,1.98100426655e-05,1793192265658899968
+78,1.300000000,BASELINE,764,742,711,671,659.260974812,633,877,783,799.260974812,649,628.260974812,650.260974812,0.400951799334,-0.0053941096862,0.0698211828008,0.999999935775,0.000212626161374,-0.000287827416578,1.98909526216e-05,1793192265675566848
+79,1.316666667,BASELINE,764,742,711,671,659.84705677,633,877,783,799.84705677,649,628.84705677,650.84705677,0.400951021254,-0.00539583327711,0.0698211006276,0.999999936076,0.000210451525868,-0.000288388746255,1.97319068911e-05,1793192265692233216
+80,1.333333333,BASELINE,763.572716461,742,711,671.427283539,659.572716461,633,877,783,799.572716461,649,628.572716461,650.572716461,0.40095091024,-0.0053950320242,0.0698212537685,0.999999935749,0.000211860589893,-0.000288486235517,1.98293620401e-05,1793192265708899840
+81,1.350000000,BASELINE,763,742,711,672,659.005460166,633,876.994539834,783.005460166,799,649,628,650.005460166,0.400951022612,-0.00539334841587,0.0698214814333,0.999999935197,0.000214513098498,-0.000288426545547,2.00124620459e-05,1793192265725566720
+82,1.366666667,BASELINE,763,742,711,672,659.585457699,633,876.414542301,783.585457699,799,649,628,650.585457699,0.400949855597,-0.0053926305913,0.0698208076722,0.999999934947,0.000214853214076,-0.000289061846635,1.96771504206e-05,1793192265742233344
+83,1.383333333,BASELINE,763.164082139,742,711.164082139,671.835917861,660,633,876,783.835917861,799,648.835917861,628.164082139,651,0.40094944369,-0.00539251510324,0.0698206046281,0.999999934989,0.000214566416769,-0.000289143848722,1.94937542118e-05,1793192265758899712
+84,1.400000000,BASELINE,763.739266465,742,711.739266465,671.260733535,660,633,876,783.260733535,799,648.260733535,628.739266465,651,0.400950923681,-0.00539390874855,0.0698215809494,0.999999935758,0.000212708910746,-0.000287839579226,1.96909768119e-05,1793192265775566592
+85,1.416666667,BASELINE,764,742,712,671.320836537,659.679163463,633,876,783,799,648.320836537,629,650.679163463,0.400951838131,-0.00539418702164,0.0698222208986,0.999999936077,0.000212384333527,-0.000286968632561,1.97170817212e-05,1793192265792233216
+86,1.433333333,BASELINE,764,742,712,671.907701451,659.092298549,633,876,783,799,648.907701451,629,650.092298549,0.40095228365,-0.00539354046027,0.0698225819378,0.999999936024,0.00021333081664,-0.000286456984733,1.96013007797e-05,1793192265808899840
+87,1.450000000,BASELINE,764,742,712,671.509820064,659.490179936,633,876,783.490179936,799.490179936,649.490179936,629,650,0.400951048675,-0.00539307448805,0.0698217402323,0.999999935432,0.000215349141809,-0.000287019381863,1.95219845457e-05,1793192265825566464
+88,1.466666667,BASELINE,763.928876568,742,711.928876568,671,660,633,876,783.928876568,799.928876568,649.928876568,628.928876568,650,0.400949721043,-0.00539269758132,0.069820844328,0.999999934831,0.000217111953569,-0.000287787666075,1.94707709191e-05,1793192265842233344
+89,1.483333333,BASELINE,763.353016875,742,711.353016875,671,660,633,876,783.353016875,799.353016875,649.353016875,628.353016875,650,0.400949961526,-0.00539271356503,0.0698211567212,0.999999934914,0.00021564192555,-0.000288594578811,1.95706967508e-05,1793192265858899968
+90,1.500000000,BASELINE,763,742,711.222424076,671,659.777575924,633,876,783,799,649,628,650.222424076,0.400950398855,-0.00539320974424,0.0698215260457,0.999999935272,0.000213699235745,-0.000288791469513,1.97238246168e-05,1793192265875566592
+91,1.516666667,BASELINE,763,742,711.797201622,671,659.202798378,633,876,783,799,649,628,650.797201622,0.400951148017,-0.00539446662591,0.0698219855577,0.99999993606,0.000211007778126,-0.000288021992722,1.99612325639e-05,1793192265892233216
+92,1.533333333,BASELINE,763.382459075,742,712,671.382459075,659.382459075,632.617540925,876,783.382459075,799,649,628,650.617540925,0.400951300897,-0.0053949070181,0.0698217842725,0.999999936018,0.000211400568341,-0.000287879633755,1.99566319683e-05,1793192265908899584
+93,1.550000000,BASELINE,763.973430097,742,712,671.973430097,659.973430097,632.026569903,876,783.973430097,799,649,628,650.026569903,0.400951128693,-0.00539490227048,0.0698212227288,0.999999935523,0.000213474851992,-0.00028807917158,1.98200913368e-05,1793192265925566208
+94,1.566666667,BASELINE,764,742,712,671.447642768,659.447642768,632.552357232,876.552357232,783.447642768,799,649,628,650.552357232,0.40095119965,-0.00539385632174,0.0698215180292,0.999999935899,0.000213026691246,-0.000287108867064,1.97596854197e-05,1793192265942233088
+95,1.583333333,BASELINE,763.870592171,742.129407829,712,671,659,633,877,783,799,649,628,650.870592171,0.400951163135,-0.00539298189297,0.0698217380961,0.999999936146,0.000212613341584,-0.000286561565999,1.96243906941e-05,1793192265958899712
+96,1.600000000,BASELINE,763.298026007,742.701973993,712,671,659,633,877,783,799,649,628,650.298026007,0.400950719382,-0.005392862691,0.0698215623908,0.999999935817,0.000212725853878,-0.000287651437949,1.92203646024e-05,1793192265975566336
+97,1.616666667,BASELINE,763.282851058,742.717148942,711.717148942,671,659.282851058,633,876.717148942,783,799,649,628.282851058,650,0.400950112156,-0.00539330263845,0.0698210878115,0.999999935367,0.00021314196039,-0.000288917969894,1.90732428066e-05,1793192265992233216
+98,1.633333333,BASELINE,763.872749954,742.127250046,711.127250046,671,659.872749954,633,876.127250046,783,799,649,628.872749954,650,0.400949327474,-0.00539434956832,0.0698202887908,0.999999934782,0.000213887632387,-0.000290376274329,1.92050024698e-05,1793192266008899840
+99,1.650000000,BASELINE,764,742,711.454007055,671.454007055,659.545992945,633,876,783.454007055,799,649,629,650,0.400949564835,-0.00539469661731,0.0698205707815,0.999999935086,0.000213008182701,-0.000289963475605,1.94146152655e-05,1793192266025566208
+100,1.666666667,BASELINE,764,742,711.967219443,672,659.032780557,633,876,783.967219443,799,649,628.967219443,650,0.400950042935,-0.00539479637012,0.0698211199551,0.999999935595,0.000211767306967,-0.000289099039912,1.96390589474e-05,1793192266042233088
+101,1.683333333,BASELINE,764,742,711.390217258,672,659.609782742,633,876,783.390217258,799,649,628.390217258,650,0.400949850796,-0.00539398639757,0.0698211686488,0.999999935503,0.000211946867259,-0.000289280590882,1.97542225449e-05,1793192266058899712
+102,1.700000000,BASELINE,764,742,711.185622002,671.814377998,659.814377998,633,876.185622002,783,799,649,628,650.185622002,0.400950090422,-0.00539325293353,0.0698213746143,0.999999935401,0.000212855321676,-0.000288963893727,1.97777716847e-05,1793192266075566336
+103,1.716666667,BASELINE,764,742,711.759031693,671.240968307,659.240968307,633,876.759031693,783,799,649,628,650.759031693,0.400951232057,-0.00539267930548,0.0698219091406,0.999999935275,0.000215286527489,-0.000287606293603,1.9609926695e-05,1793192266092232960
+104,1.733333333,BASELINE,764,742,711.657893514,671,659,632.657893514,876.657893514,783,799,649,628,650.657893514,0.400951021676,-0.00539234302336,0.0698218052767,0.999999934996,0.000215948188683,-0.000288093724027,1.93953010215e-05,1793192266108899840
+105,1.750000000,BASELINE,764,742,711.067812964,671,659,632.067812964,876.067812964,783,799,649,628,650.067812964,0.400949831294,-0.00539217878011,0.0698212386792,0.999999934607,0.000215327205136,-0.000289918514878,1.91467666009e-05,1793192266125566464
+106,1.766666667,BASELINE,764,742,711.507663054,671,659.507663054,632.507663054,876.507663054,783,798.492336946,649,628,650,0.400949960361,-0.00539222042586,0.0698214284589,0.999999935025,0.000213870672721,-0.000289560671803,1.90766112828e-05,1793192266142233344
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,783,799,648,628,651,0.400951623687,-0.0053944079332,0.0698228183447,0.999999936059,0.000213037827375,-0.000286520123768,2.00955273452e-05,1793192266185243136
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.568710621,711.431289379,671,659,632.431289379,876.568710621,783.568710621,799,648.568710621,628.568710621,651,0.400952490541,-0.00539292463701,0.0698232177703,0.999999935812,0.000215040538894,-0.000285879868905,2.01345874131e-05,1793192266201908736
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.854969205,711.145030795,671,659,632.145030795,876.854969205,783.854969205,799,649,628.854969205,650.854969205,0.400953015565,-0.00539192354304,0.0698234422345,0.99999993558,0.000216630343855,-0.000285497800118,2.00627743433e-05,1793192266218574592
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.254766694,711.745233306,671,659,632.745233306,876.254766694,783.254766694,799,649,628.254766694,650.254766694,0.400952467774,-0.00539243581562,0.0698231175913,0.999999935402,0.000216924263245,-0.00028592603494,1.9642991625e-05,1793192266235241216
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.668225097,742,712,671,659,633,876,783,799.331774903,648.668225097,628.331774903,650,0.400952586959,-0.00539286622506,0.0698227349366,0.999999935638,0.000215726299106,-0.000286014650952,1.95239852408e-05,1793192266251908096
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.091758767,742,712,671,659,633,876,783,799.908241233,648.091758767,628.908241233,650,0.400953198052,-0.00539323625858,0.0698223094969,0.999999936176,0.000213428037404,-0.000285852790452,1.96268081706e-05,1793192266268575232
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.481410663,742,712,671,659,632.518589337,876.481410663,783,799.518589337,648.481410663,628.518589337,650,0.400951397493,-0.00539325361271,0.0698208633904,0.999999935152,0.000214083105429,-0.000288931666326,1.95431066391e-05,1793192266285241856
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.055853313,711.944146687,671,659,632.055853313,877,783.055853313,799,649,628,650,0.400950648092,-0.00539321427256,0.0698200743387,0.999999934291,0.000215131570061,-0.000291130441795,1.94774994535e-05,1793192266301908224
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.648532071,711.351467929,671,659,632.648532071,877,783.648532071,799,649,628,650,0.400964389724,-0.00539327172401,0.0698274575704,0.999999937864,0.000214587523416,-0.000278973751222,1.99251844044e-05,1793192266318574592
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.764468625,711.235531375,671,659,633,877,784,799.235531375,649,628,650,0.400986935921,-0.00539437827708,0.0698383625406,0.999999942992,0.000213780841045,-0.000260565726751,2.04927591024e-05,1793192266335240960
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.185744896,711.814255104,671,659,633,877,784,799.814255104,649,628,650,0.401022311231,-0.00539701347429,0.0698543990291,0.999999950021,0.000212591472583,-0.000233048895537,2.12350248948e-05,1793192266351907584
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.608802001,742,712,671,659,633,876.608802001,784,799.608802001,649,628,650,0.401073333377,-0.00539857182798,0.0698728394683,0.999999957343,0.000211780436495,-0.000199958116611,2.18855217644e-05,1793192266368574464
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.032700783,742,712,671,659,633,876.032700783,784,799.032700783,649,628,650,0.401131751142,-0.00539962120221,0.0698924161576,0.999999963969,0.000211148222294,-0.000164232759043,2.24926432822e-05,1793192266385241088
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,876.54949239,783.45050761,799,649,628.54949239,650.54949239,0.401192846886,-0.00540017687798,0.069898799656,0.999999964534,0.000210403754717,-0.000161841965566,2.16804167026e-05,1793192266401907968
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742,712,671.132026606,659,633,877,783,799,649,629,650.867973394,0.401258350843,-0.005401096097,0.069903255412,0.99999996495,0.000209187242698,-0.000160997360052,2.05247691435e-05,1793192266418574592
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742,712,671.714473778,659,633,877,783,799,649,629,650.285526222,0.401338344034,-0.00540335693412,0.0699038431037,0.999999965958,0.000206383354579,-0.000158584032605,1.84889061569e-05,1793192266435241216
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.295024139,742,712,671.704975861,659,633,877,783,799,649,629,650,0.401427491804,-0.00540519542249,0.0699027115294,0.999999966126,0.000204252662089,-0.000160552661172,1.58937415903e-05,1793192266451907840
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.873750446,742,712,671.126249554,659,633,877,783,799,649,629,650,0.401525442829,-0.0054066277702,0.0698999266683,0.999999965461,0.000202769330552,-0.000166735082109,1.27607395582e-05,1793192266468574464
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.449293931,711.550706069,671,659.449293931,633,877,783,798.550706069,649,628.550706069,650,0.401648371213,-0.00541059510537,0.069899312072,0.999999966305,0.000196317350747,-0.000169606034377,9.16730952859e-06,1793192266485241344
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.975495888,711,671,659.975495888,633,877,783.024504112,798.049008224,649,628,650,0.401779973093,-0.00541523306038,0.0698994900808,0.999999967572,0.000188528924719,-0.000171124322554,5.44541695873e-06,1793192266501907712
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.387528931,711,671,659.387528931,633,877,783.612471069,799.224942138,649,628,650,0.401950765708,-0.00541902735553,0.0699039694694,0.999999970207,0.000181887937887,-0.000162784774052,1.72365106531e-06,1793192266518574336
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.198433451,671,659.198433451,633,877,783.801566549,799.801566549,649,628.198433451,650,0.402132633849,-0.00542394644376,0.069908036039,0.999999973003,0.000173185721527,-0.000154898410358,-2.5267815145e-06,1793192266535240960
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.7805201,671,659.7805201,633,877,783.2194799,799.2194799,649,628.7805201,650,0.4023359155,-0.00543104021762,0.0699113044596,0.999999976154,0.00016049830438,-0.000147888239637,-7.79934306495e-06,1793192266551907584
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.642685965,742,712,671,659.642685965,633,876.642685965,783,799,649,629,650,0.402562200332,-0.00544487521852,0.0699147669788,0.999999980113,0.000141730253941,-0.000139835178547,-1.15052275132e-05,1793192266568574464
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.06909557,742,712,671,659.06909557,633,876.06909557,783,799,649,629,650,0.402802408634,-0.00546279057496,0.069918346983,0.999999984184,0.000119281694003,-0.000131150872188,-1.42628283496e-05,1793192266585241344
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742.517760882,712,671,659.517760882,633,876,783,799,649,629,650,0.403071772253,-0.00547487297817,0.069922581475,0.999999987052,0.000101899795308,-0.000123076421756,-1.90875540525e-05,1793192266601907712
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.104701504,742.895298496,712,671,659.895298496,633,876.104701504,783,799.104701504,649,629,650.104701504,0.403357220738,-0.00548372585617,0.069928276612,0.999999990862,7.01648446687e-05,-0.000112914211069,-2.45658457263e-05,1793192266618574336
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.68379148,742.31620852,712,671,659.31620852,633,876.68379148,783,799.68379148,649,629,650.68379148,0.403697455441,-0.00548156581412,0.0699401835961,0.999999994738,-2.97459670109e-05,-9.29141911234e-05,-3.17226105843e-05,1793192266635240960
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711.738244153,671,659.261755847,633,876.738244153,783,799.738244153,649,628.738244153,650.738244153,0.404044757863,-0.00548349081188,0.0699466305894,0.999999995231,-4.57569473648e-05,-8.17979671585e-05,-2.74656587019e-05,1793192266651907584
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711.161633769,671,659.838366231,633,876.161633769,783,799.161633769,649,628.161633769,650.161633769,0.40440056171,-0.00549032952361,0.0699465100003,0.999999995878,3.91514769218e-05,-8.13676703316e-05,-9.47965115201e-06,1793192266668574208
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711.415578785,671.415578785,659.584421215,632.584421215,876,783,799,649,628,650,0.404788615536,-0.00549110284273,0.0699485376555,0.999999995133,5.93439438563e-05,-7.79999529168e-05,-1.13534303089e-05,1793192266685240832
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711.993025871,671.993025871,659.006974129,632.006974129,876,783,799,649,628,650,0.405189230749,-0.00548951368595,0.0699514020539,0.999999995604,5.43294868648e-05,-7.34881077629e-05,-2.0962614207e-05,1793192266701907456
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.420298853,742,711.420298853,672,659.579701147,632,876.579701147,783,799.579701147,649,628.579701147,650.579701147,0.40562200044,-0.0054976020554,0.0699557907567,0.999999997037,3.1815714676e-05,-6.6095433044e-05,-2.3352880403e-05,1793192266718574336
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.164302391,742.164302391,711.164302391,671.835697609,659.835697609,632,876.835697609,783,799.835697609,649,628.835697609,650.835697609,0.406065727509,-0.00550479688105,0.0699541049236,0.99999999715,1.45498109551e-05,-6.95119520584e-05,-2.56016775181e-05,1793192266735240960
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.743382891,742.743382891,711.743382891,671.256617109,659.256617109,632,876.256617109,783,799.256617109,649,628.256617109,650.256617109,0.406536123832,-0.00550943730226,0.0699370370017,0.999999994524,1.10721173104e-05,-0.000100304974935,-2.7716130078e-05,1793192266751907584
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.679751194,712,671,659.320248806,632.320248806,876.320248806,783,799,649,628,650,0.407030865824,-0.00551246351136,0.0699200632725,0.999999991735,3.77933443424e-06,-0.000124867565549,-3.03918637377e-05,1793192266768574464
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.104647587,712,671,659.895352413,632.895352413,876.895352413,783,799,649,628,650,0.40754498221,-0.00551420512695,0.0699031645003,0.999999988981,-6.54950635562e-06,-0.000144471965932,-3.35142665312e-05,1793192266785241344
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.468471244,712,671,660,632.531528756,877,783,799.468471244,649,628,650,0.408127677894,-0.00552461306869,0.0699124003751,0.999999991759,-1.63416521652e-05,-0.000122436300153,-3.49988810438e-05,1793192266801908224
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,712,671,660,632,877.042613681,783,799.957386319,649,628,650,0.408727302396,-0.00553636159482,0.0699272278859,0.999999994835,-2.61411288721e-05,-9.13265597883e-05,-3.61300858406e-05,1793192266818574848
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,712,671,660,632,877.63568171,783,799.36431829,649,628,650,0.409348552705,-0.00554052584292,0.0699391913964,0.999999996632,-3.75774002722e-05,-6.26489209425e-05,-3.74020602835e-05,1793192266835241216
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.776813699,742.776813699,712,671,660,632.223186301,877.776813699,783,799,649,628,650,0.409977464229,-0.00554611936917,0.0699422606839,0.999999996671,-4.75887959998e-05,-5.36871775199e-05,-3.88597563207e-05,1793192266851908352
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.198169751,742.198169751,712,671,660,632.801830249,877.198169751,783,799,649,628,650,0.41061857735,-0.00555398923491,0.069931164587,0.999999994747,-5.53308629301e-05,-7.61259553498e-05,-4.06132417967e-05,1793192266868576000
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.378719808,742.378719808,711.621280192,671.378719808,660,633,877,783,799.757439617,649,628.378719808,650,0.41129564715,-0.00556108518269,0.0699339187695,0.999999994158,-6.60196432146e-05,-7.46202433818e-05,-4.19227173184e-05,1793192266885242112
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.954695578,742.954695578,711.045304422,671.954695578,660,633,877,783,800.909391157,649,628.954695578,650,0.411991444942,-0.00556777803557,0.0699438868612,0.999999994176,-7.8243216951e-05,-6.06430590386e-05,-4.30009304905e-05,1793192266901907968
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.471133453,711.528866547,671.471133453,659.471133453,633,877,783,799.942266906,649,627.942266906,650,0.412741619534,-0.00556445231614,0.0699726617044,0.999999996345,-7.40554751677e-05,-1.30630537578e-05,-4.06804479228e-05,1793192266918574592
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.10642093,712,671.10642093,659.10642093,633,877,783,799.10642093,649,627.10642093,650,0.413494360551,-0.00555715572283,0.0699989487325,0.999999996811,-6.33579945353e-05,3.01241101693e-05,-3.81579121903e-05,1793192266935241216
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+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.714088268,711.714088268,671.714088268,660,633,877,783,799.714088268,649,628,650,0.414967382412,-0.00552552126168,0.0699791170763,0.999999999042,-2.04210172995e-05,-1.0552588274e-05,-3.72512128647e-05,1793192266968574464
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.136527721,711.136527721,671.136527721,660,633,877,783,799.136527721,649,628,650,0.415683451458,-0.00552717403268,0.0699161264731,0.999999990872,-3.73284041201e-05,-0.000122923670904,-4.18619607947e-05,1793192266985241088
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,671.438028361,659.561971639,633,877,783,799,649,628,650,0.416468350044,-0.00553422075279,0.0698939349435,0.999999985111,-4.92863050308e-05,-0.000159022524313,-4.53932284503e-05,1793192267001908224
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.987984964,742,711.012015036,672,659.024030073,632.987984964,877.012015036,783,799,649,628,650,0.417275215286,-0.00554285206716,0.06988533447,0.999999982601,-5.96044277689e-05,-0.000169982617863,-4.84943053211e-05,1793192267018575616
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.396605313,742,711.603394687,672,660.206789374,632.396605313,877.603394687,783,799,649,628,650,0.418113885579,-0.00554737621435,0.0699230804369,0.999999991047,-6.47342356261e-05,-0.000107279410922,-4.69651634603e-05,1793192267035241728
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742,712,672,660.809429637,632,877.809429637,783,799.190570363,649,628,650,0.418964949259,-0.00555131888196,0.0699569390874,0.999999995106,-6.8912392606e-05,-5.46597675022e-05,-4.52860656516e-05,1793192267051907840
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742,712,672,660.230814256,632,877.230814256,783,799.769185744,649,628,650,0.419841248673,-0.00555407752336,0.0699828822669,0.999999996276,-7.11527699545e-05,-2.25725793177e-05,-4.33016234752e-05,1793192267068574464
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.345443866,742,712,672,660,632,877.345443866,783,799.654556134,649,628,650,0.420728820963,-0.00555262665884,0.0700027297425,0.999999996713,-6.86990743118e-05,6.78457038065e-06,-4.25309694005e-05,1793192267085241088
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.920137595,742,712,672,660,632,877.920137595,783,799.079862405,649,628,650,0.421623874333,-0.00554838220382,0.0700185318731,0.999999996512,-6.31302108003e-05,3.43299600247e-05,-4.25658319681e-05,1793192267101907712
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.494216752,742,712,672.505783248,660,632,877.494216752,783,799,649,628,650,0.422432738678,-0.0055424537169,0.0699894024918,0.999999997144,-5.8449409371e-05,-1.4116232266e-05,-4.57865694882e-05,1793192267118574848
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.091674537,742.091674537,711.908325463,672.908325463,660,632.091674537,877,783,799,648.908325463,628,650,0.423224239716,-0.00553762323567,0.0699459497746,0.999999993597,-5.60797455677e-05,-8.47700186182e-05,-4.97422102775e-05,1793192267135241472
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.669494889,742.669494889,711.330505111,672.330505111,660,632.669494889,877,783,799,648.330505111,628,650,0.423997429437,-0.0055400567264,0.0698649961954,0.999999974705,-6.52058822146e-05,-0.000208151424098,-5.48683431744e-05,1793192267151908096
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.751583706,711,672.248416294,659.751583706,632.751583706,876.751583706,783,799,648.248416294,628,649.751583706,0.424839228037,-0.00554450444994,0.0698349931336,0.999999964832,-7.50999286162e-05,-0.000247664109525,-5.79549927995e-05,1793192267168574976
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.171190806,711,672.828809194,659.171190806,632.171190806,876.171190806,783,799,648.828809194,628,649.171190806,0.425772713737,-0.00555164393836,0.0698730789112,0.99999997927,-8.60201902749e-05,-0.000175096996308,-5.83161352496e-05,1793192267185241600
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.596498294,742.403501706,711.403501706,672.596498294,659.807003412,632,876.403501706,783,799,649,628,649.403501706,0.426701240225,-0.00555553084494,0.0699275281735,0.999999989962,-8.57368388408e-05,-9.90214910424e-05,-5.40355596158e-05,1793192267201908224
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.024190589,742.975809411,711.975809411,672.024190589,660.951618822,632,876.975809411,783,799,649,628,649.975809411,0.427627691957,-0.00555805702493,0.0699888231403,0.999999995365,-8.0766425469e-05,-2.14782447813e-05,-4.78131088099e-05,1793192267218574592
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,743,711.435031811,672.564968189,660.435031811,632,877.564968189,783,799,649,628.564968189,650,0.42850304735,-0.00555626187311,0.0700107167611,0.999999995524,-7.97911223418e-05,1.64494223185e-05,-4.81032248894e-05,1793192267235240960
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742.847176405,711.152823595,672.847176405,660,632,877.847176405,783,799.152823595,649,628.847176405,650,0.429366741261,-0.00555607238003,0.0700225926872,0.999999994831,-8.01749871174e-05,3.91819031789e-05,-4.87345607349e-05,1793192267251907840
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742.26507127,711.73492873,672.26507127,660,632,877.26507127,783,799.73492873,649,628.26507127,650,0.430204012553,-0.00556092890882,0.0700112135819,0.999999994965,-8.3881472073e-05,2.41423348287e-05,-4.95170048214e-05,1793192267268574464
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,742.312740792,712,672.312740792,660,632,877,783,799.687259208,649,628,650,0.430978232671,-0.00556307110483,0.0699658891075,0.999999993447,-8.69986237829e-05,-5.35602153053e-05,-5.1666090219e-05,1793192267285241344
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,742.886963398,712,672.886963398,660,632,877,783,799.113036602,649,628,650,0.431699735814,-0.00556294385358,0.0698921829935,0.999999977609,-8.96230340992e-05,-0.000183655130475,-5.49578203822e-05,1793192267301908224
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,742.538751799,712,673,660,632,877,783,799,649,628,649.538751799,0.432501269999,-0.00556050703859,0.0698688160966,0.999999971408,-9.3241598035e-05,-0.00021254293489,-5.75766836473e-05,1793192267318574848
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742.036568621,711.963431379,672.963431379,660,632,877,783,799,649,628,649,0.433324431657,-0.00555787766616,0.0698629716848,0.999999971784,-9.62874675634e-05,-0.000208837733604,-5.95579581203e-05,1793192267335241472
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742.62735266,711.37264734,672.37264734,660,632,877,783,799,649,628,649,0.434178083405,-0.00556090911869,0.0699356986952,0.999999990946,-8.69609725507e-05,-8.71142504972e-05,-5.43756927025e-05,1793192267351907840
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,743,711,672.214160799,660.428321597,632.214160799,877.214160799,783,799,649,628.214160799,649.214160799,0.434998565887,-0.00556608421106,0.0699881477287,0.999999994953,-8.68245251108e-05,-1.63328524528e-06,-5.0523330133e-05,1793192267368574464
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,743,711,672.794176921,661.588353843,632.794176921,877.794176921,783,799,649,628.794176921,649.794176921,0.435762384763,-0.00557492132823,0.0700059554863,0.99999999332,-0.000102387626339,2.19338549468e-05,-4.89428683719e-05,1793192267385241088
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,742.629697481,711.370302519,673,661.259394962,632.629697481,877.629697481,783,799,649,628.629697481,650,0.436494951487,-0.00557996966857,0.0700015482116,0.999999992856,-0.000107210134708,1.81643443827e-05,-4.96291702674e-05,1793192267401907712
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,742.055711882,711.944288118,673,660.111423765,632.055711882,877.055711882,783,799,649,628.055711882,650,0.437210328071,-0.00558293401033,0.0699849216666,0.999999993039,-0.000106124831853,-6.41557927903e-07,-5.15622944615e-05,1793192267418574848
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.529825204,742.529825204,711.470174796,673,660,632,877,783,799,649,628,650,0.437870091249,-0.00558296835535,0.0699510725986,0.99999999182,-0.000108519560414,-4.10048122636e-05,-5.387793227e-05,1793192267435241728
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.884293387,743,711.115706613,673,660,632,877,783,799.115706613,649,628,650,0.438511313434,-0.00558211209015,0.0699135914323,0.999999988083,-0.000111490557298,-9.07791016326e-05,-5.62326701133e-05,1793192267451908096
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.302030544,743,711.697969456,673,660,632,877,783,799.697969456,649,628,650,0.43910187934,-0.00557893466921,0.0698689298186,0.999999977333,-0.000115276799704,-0.000169156956049,-5.85792697385e-05,1793192267468574720
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632,877,783,799.723029343,649,628.276970657,650,0.439680365372,-0.00557606332484,0.0698317595666,0.999999965733,-0.000107280011847,-0.000231156257286,-5.99246812216e-05,1793192267485241344
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+187,3.116666667,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632,877.427260981,783,799,649,628.572739019,650,0.440839192103,-0.00557965146906,0.0698145441817,0.999999959065,-0.000106858622987,-0.000258459179853,-6.04090309612e-05,1793192267518574592
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+192,3.200000000,POSE1_TO_POSE2_PRESS,763.666475166,743,711.666475166,673.333524834,659.666475166,632,877,782.666475166,799.333524834,649,628,650,0.443360437319,-0.00560677100383,0.0698070355254,0.999999945168,-0.000139030847758,-0.000294923179277,-5.79182692074e-05,1793192267601908480
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.089630248,743,711.089630248,673.910369752,659.089630248,632,877,782.089630248,799.910369752,649,628,650,0.443753979488,-0.00560619819374,0.0697716763044,0.99999992577,-0.000143320974368,-0.000352908791434,-5.80897040547e-05,1793192267618575104
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763,742.346471217,711.346471217,673.346471217,659,631,877.653528783,782,799,649,628,650,0.444874863513,-0.00558403203202,0.0697213859947,0.999999900847,-0.000119035518393,-0.000424667107078,-6.15925887476e-05,1793192267668574464
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,742,711.239704486,673,659,631,878,782,799,649,628,650,0.445218006013,-0.00558278862228,0.0697174344986,0.999999900575,-0.000122541925162,-0.000424182259756,-6.2480629926e-05,1793192267685241088
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,742,711.815462161,673,659,631,878,782,799,649,628,650,0.445534630632,-0.00558947077486,0.0697150985139,0.999999900708,-0.00012852175491,-0.00042204982056,-6.27664450927e-05,1793192267701907968
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,742.390799414,712,673,659,631,877.609200586,782,799.390799414,649,628,650,0.445814524558,-0.00559256708707,0.0697131495493,0.999999898581,-0.0001282268159,-0.000427194629659,-6.24481591721e-05,1793192267718574848
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+219,3.650000000,POSE1_TO_POSE2_PRESS,763,742,711,673.011556359,658,631,877.988443641,781.011556359,799.011556359,649,628.988443641,650,0.447893468404,-0.00555266573419,0.0696587375787,0.999999847608,-9.65748057556e-05,-0.000539034063909,-6.99955911196e-05,1793192268051908352
+220,3.666666667,POSE1_TO_POSE2_PRESS,763,742,711,673.590787623,658,631,877.409212377,781.590787623,799.590787623,649,628.409212377,650,0.447902385522,-0.00555172523526,0.069658728813,0.999999848908,-9.56976862308e-05,-0.000536771132491,-7.00260355767e-05,1793192268068574720
+221,3.683333333,POSE1_TO_POSE2_PRESS,763,742.169542468,711,673.830457532,658,630.830457532,877.169542468,782,800,649,628.169542468,650,0.447908486455,-0.00555179025293,0.0696581066604,0.999999849083,-9.61067552207e-05,-0.000536387105898,-6.98991979716e-05,1793192268085241344
+222,3.700000000,POSE1_TO_POSE2_PRESS,763,742.747150553,711,673.252849447,658,630.252849447,877.747150553,782,800,649,628.747150553,650,0.447907809212,-0.00555427541217,0.0696560081689,0.999999846547,-9.96115048351e-05,-0.000540525347517,-6.9393803869e-05,1793192268101907968
+223,3.716666667,POSE1_TO_POSE2_PRESS,763,743,711,673,658,630.322031196,878,782,800,649,628.677968804,650,0.447908094748,-0.00555329249213,0.0696548795234,0.99999984543,-9.89789900866e-05,-0.000542679544707,-6.95796083075e-05,1793192268118574592
+224,3.733333333,POSE1_TO_POSE2_PRESS,763,743,711,673,658,630.894788379,878,782,800,649,628.105211621,650,0.447909129882,-0.00554960940662,0.0696545059771,0.999999845423,-9.51252980673e-05,-0.000543289011574,-7.03035637736e-05,1793192268135241216
+225,3.750000000,POSE1_TO_POSE2_PRESS,763,743,711,673,658,630.517657284,877.517657284,782,799.517657284,649,627.517657284,650,0.447909758896,-0.00555145435863,0.0696542094053,0.999999845073,-9.75171457437e-05,-0.000543590501376,-6.96754172197e-05,1793192268151908096
+226,3.766666667,POSE1_TO_POSE2_PRESS,763,743,711.071716584,673,658,630.071716584,877.071716584,782,799,649,627.071716584,650,0.447910415026,-0.00555415822729,0.0696539059775,0.999999844745,-0.000100825530439,-0.000543688654846,-6.88923957218e-05,1793192268168574976
+227,3.783333333,POSE1_TO_POSE2_PRESS,763,743,711.650414312,673,658,630.650414312,877.650414312,782,799,649,627.650414312,650,0.447911908884,-0.00555414004913,0.0696534316332,0.999999845203,-0.000100677807295,-0.000542839302703,-6.91654329846e-05,1793192268185241600
+228,3.800000000,POSE1_TO_POSE2_PRESS,763,743,711.771746305,673,658,631,877.771746305,782,799,648.771746305,628,650.228253695,0.447913127198,-0.00555252144828,0.0696536014092,0.999999845701,-9.84944740354e-05,-0.00054232317381,-6.91543021301e-05,1793192268201908480
+229,3.816666667,POSE1_TO_POSE2_PRESS,763,743,711.195216642,673,658,631,877.195216642,782,799,648.195216642,628,650.804783358,0.447913925076,-0.00554846087706,0.0696547540022,0.999999846243,-9.32051490807e-05,-0.000542315486458,-6.87095794768e-05,1793192268218574848
+230,3.833333333,POSE1_TO_POSE2_PRESS,762.62035923,742.62035923,711,672.62035923,657.62035923,630.62035923,877,782,799.37964077,648.37964077,628,651,0.447913260011,-0.0055509275559,0.0696546608009,0.999999845553,-9.55481471106e-05,-0.000543248093897,-6.81683919332e-05,1793192268235241216
+231,3.850000000,POSE1_TO_POSE2_PRESS,762.04635796,742.04635796,711,672.04635796,657.04635796,630.04635796,877,782,799.95364204,648.95364204,628,651,0.447911845981,-0.00555673591913,0.069653929804,0.999999844207,-0.000101798581556,-0.000544662093681,-6.75778183351e-05,1793192268251907840
+232,3.866666667,POSE1_TO_POSE2_PRESS,762.542939884,742,711,672.542939884,657.542939884,630,877,782,799.457060116,649,628,650.457060116,0.447913255542,-0.00555474462069,0.0696535296701,0.999999844647,-9.97342050248e-05,-0.000544191476259,-6.79301932989e-05,1793192268268574464
+233,3.883333333,POSE1_TO_POSE2_PRESS,763,742.13152101,711,673,658,630.13152101,877,782,799,649,628,650,0.447914764357,-0.00555198078007,0.0696534390498,0.999999845294,-9.68973622853e-05,-0.000543467568477,-6.83124736241e-05,1793192268285241600
+234,3.900000000,POSE1_TO_POSE2_PRESS,763,742.713051326,711,673,658,630.713051326,877,782,799,649,628,650,0.447915763964,-0.00554891832035,0.0696543079915,0.99999984612,-9.39170218809e-05,-0.000542443551968,-6.85136131405e-05,1793192268301908480
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.291288002,743,711,673,658,630.708711998,877,782,799,649,628,650,0.4479155338,-0.00554890752089,0.0696541566011,0.999999846012,-9.40307070403e-05,-0.000542634524662,-6.84227409175e-05,1793192268318575104
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.866316447,743,711,673,658,630.133683553,877,782,799,649,628,650,0.447914105729,-0.00555186930982,0.0696530113166,0.999999844992,-9.71582481638e-05,-0.000544009004867,-6.80474232901e-05,1793192268335241984
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.552731829,743,711,673,658,630,877.447268171,782,799.447268171,649,628,650,0.44791472451,-0.00555021773992,0.0696538179086,0.999999845313,-9.54419334828e-05,-0.000543738036609,-6.79234219672e-05,1793192268351908352
+238,3.966666667,POSE1_TO_POSE2_PRESS,763,742.969897958,711,673.030102042,658,630.030102042,878,782,799.969897958,649,628,650,0.447915903427,-0.00554744505431,0.0696551109462,0.999999845973,-9.25770102804e-05,-0.000543025264014,-6.78723260723e-05,1793192268368574464
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,742.385443126,711,673.614556874,658,630.614556874,878,782,799.385443126,649,628,650,0.447915980026,-0.00554976014265,0.0696544744058,0.999999845519,-9.5579305986e-05,-0.000543354873744,-6.77619610149e-05,1793192268385241088
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,742.196215277,711,673.803784723,658,630.803784723,877.803784723,782,799,649,628,650,0.447915863782,-0.00555136828897,0.0696539204192,0.999999845083,-9.72544510084e-05,-0.000543868472358,-6.76972250225e-05,1793192268401907968
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,742.772457563,711,673.227542437,658,630.227542437,877.227542437,782,799,649,628,650,0.44791537404,-0.0055516072397,0.0696535263217,0.999999844694,-9.63591889483e-05,-0.000544738418063,-6.77208627737e-05,1793192268418574592
+242,4.033333333,POSE1_TO_POSE2_PRESS,763,743,711,673,658,630,877,781.654002088,799,649,628,650,0.447915629643,-0.0055518415229,0.0696537633271,0.999999844829,-9.58904902329e-05,-0.000544621389454,-6.73439765018e-05,1793192268435241472
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+244,4.066666667,POSE1_TO_POSE2_PRESS,763,743,711.507180131,673,658,630.507180131,877,781,799,649,628,650,0.447916632718,-0.00555120571975,0.0696542837925,0.999999845242,-9.52766133006e-05,-0.000544017945784,-6.69554561698e-05,1793192268468575232
+245,4.083333333,POSE1_TO_POSE2_PRESS,763,743,711.902572562,673,658,630.902572562,877,781.097427438,799.097427438,649,628,650,0.447916670936,-0.00555019164533,0.0696539048863,0.999999845045,-9.46640386344e-05,-0.000544443134848,-6.7306293095e-05,1793192268485241856
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+247,4.116666667,HOLD_POSE2,763,743,711,673,658,631,878,782,799,649,628,651,0.447917733995,-0.00555243540627,0.0696545923664,0.999999845914,-9.5238216029e-05,-0.000542836614593,-6.65658593242e-05,1793192268540216064
+248,4.133333333,HOLD_POSE2,763,742.412577404,711,673,658,631,878,782,799.587422596,649,628,650.412577404,0.447917682052,-0.00555044946133,0.0696544000805,0.999999845929,-9.34296200352e-05,-0.000543057989058,-6.70851418298e-05,1793192268556882688
+249,4.150000000,HOLD_POSE2,763,742.17243357,711,673,658.17243357,630.82756643,878,781.82756643,799.82756643,649,628,650,0.447918364294,-0.0055493835379,0.06965492476,0.999999846395,-9.28654601248e-05,-0.000542270103361,-6.72970061827e-05,1793192268573549568
+250,4.166666667,HOLD_POSE2,763,742.75175402,711,673,658.75175402,630.24824598,878,781.24824598,799.24824598,649,628,650,0.447920778974,-0.00555048856421,0.0696571412434,0.99999984792,-9.52377623721e-05,-0.000539100693514,-6.6783464252e-05,1793192268590216448
+251,4.183333333,HOLD_POSE2,763,742.669905395,711,673,658.669905395,630.330094605,878,781,799,649,628,650,0.447921565537,-0.00555150004602,0.0696573848894,0.999999847954,-9.70973637053e-05,-0.000538726172393,-6.66230667598e-05,1793192268606883584
+252,4.200000000,HOLD_POSE2,763,742.092299567,711,673,658.092299567,630.907700433,878,781,799,649,628,650,0.447921131306,-0.00555244138633,0.0696561492641,0.999999846874,-9.85725319837e-05,-0.000540447312276,-6.67274637264e-05,1793192268623550464
+253,4.216666667,HOLD_POSE2,763,742.483848232,711,673,658,630.516151768,878,781.483848232,799.483848232,649,628,650,0.447919661462,-0.00555080237468,0.0696549774561,0.999999846029,-9.57217149276e-05,-0.000542493849812,-6.69317431635e-05,1793192268640216576
+254,4.233333333,HOLD_POSE2,763,743,711,673,658,630.061122647,877.938877353,781.938877353,800,649,628,650.061122647,0.447918146547,-0.00554906182307,0.069653957844,0.999999845289,-9.27908560971e-05,-0.000544339757498,-6.7121296528e-05,1793192268656882688
+255,4.250000000,HOLD_POSE2,763,743,711,673,658,630.650531194,877.349468806,781.349468806,800,649,628,650.650531194,0.447917944434,-0.00555068525541,0.0696541487657,0.999999845197,-9.62792741388e-05,-0.000543916721472,-6.70193843451e-05,1793192268673549312
+256,4.266666667,HOLD_POSE2,763,743,711,673.23592128,658,630.76407872,877,781,799.76407872,649,628,650.76407872,0.44791827378,-0.00555117174359,0.069654294231,0.99999984544,-9.67491553811e-05,-0.000543407925346,-6.6831475947e-05,1793192268690216192
+257,4.283333333,HOLD_POSE2,763,743,711,673.815458482,658,630.184541518,877,781,799.184541518,649,628,650.184541518,0.447919377191,-0.00555000228896,0.0696543734897,0.999999846178,-9.28225812469e-05,-0.000542774220919,-6.65183153179e-05,1793192268706882816
+258,4.300000000,HOLD_POSE2,763.39169679,743,711,673.60830321,658,630,877.39169679,781,799.39169679,649,628,650,0.447919808838,-0.0055501825919,0.0696548070943,0.999999846202,-9.33908398331e-05,-0.000542602877662,-6.67573005868e-05,1793192268723549696
+259,4.316666667,HOLD_POSE2,763.966393909,743,711,673.033606091,658,630,877.966393909,781,799.966393909,649,628,650,0.447919926638,-0.00555099350006,0.069655406249,0.999999845892,-9.60590791955e-05,-0.000542647549002,-6.7254247811e-05,1793192268740216320
+260,4.333333333,HOLD_POSE2,764,742.447131067,711,673,658,630,877.447131067,781,799.447131067,649,628,650,0.447919423696,-0.00555141982387,0.069654663084,0.999999845437,-9.61671401633e-05,-0.000543535209773,-6.66921699025e-05,1793192268756883200
+261,4.350000000,HOLD_POSE2,763.861862095,742,711,673.138137905,658,630,877,781,799,649,628,650,0.447919281938,-0.00555162780044,0.069654123188,0.99999984522,-9.58680060758e-05,-0.000544041596011,-6.62359085092e-05,1793192268773550080
+262,4.366666667,HOLD_POSE2,763.282777792,742,711,673.717222208,658,630,877,781,799,649,628,650,0.447920416174,-0.00555121504172,0.0696544982609,0.999999845796,-9.47766393094e-05,-0.000543163800513,-6.63273764049e-05,1793192268790216704
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,630,878,782,800,649,628,650,0.447920518979,-0.00555279552779,0.0696552000077,0.999999846049,-9.64101971932e-05,-0.000542410162866,-6.63219448479e-05,1793192268827352064
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742.329585015,711,673,658,631,878,781.670414985,799,649,628,650,0.447921282173,-0.00554737573649,0.0696549005586,0.999999846576,-9.14531364498e-05,-0.000542221574184,-6.69271224549e-05,1793192268894019328
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.39263742,658,631,877.30368129,781.69631871,800.30368129,649,627.30368129,650,0.447533260415,-0.00554184708934,0.0695561388955,0.999999745258,-8.57830963842e-05,-0.000705570524114,-6.55369216856e-05,1793192269077352192
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.792411229,742,711.792411229,672,660,632,876.792411229,783.792411229,798.207588771,649,628.207588771,650,0.411558241799,-0.00538949227144,0.0698610005607,0.999999949501,0.00022944659115,-0.000215857123215,4.19199752398e-05,1793192270027351808
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.83366148,659.83366148,632.83366148,877.66732296,783,799.16633852,649,628,650.83366148,0.405053626374,-0.00540490950835,0.0698027250843,0.99999992344,0.000201692912167,-0.000333607385144,3.38404762049e-05,1793192270210685696
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.248844826,659.248844826,632.248844826,876.497689653,783,799.751155174,649,628,650.248844826,0.404650745604,-0.00540620326604,0.0698261141229,0.999999935974,0.000204247059472,-0.000291735746747,3.50185911825e-05,1793192270227352832
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.08610307,742.91389693,711.91389693,671,659,632.91389693,876.91389693,783.91389693,799.08610307,649,628,650.91389693,0.403903738993,-0.00539415469449,0.0698467682486,0.999999942451,0.000221901912159,-0.000254183833603,3.53342695071e-05,1793192270260685568
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.651743655,742,711.651743655,671,659,632.348256345,876,783.651743655,799,649,628,650.651743655,0.402936987779,-0.00539516164155,0.0698183395485,0.999999931046,0.000215112883009,-0.000301049548819,3.16655031715e-05,1793192270310685440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.762794477,742.237205523,711.762794477,671.237205523,659,632.237205523,876,783.762794477,799,649,628.237205523,650.762794477,0.402656109458,-0.00539184867603,0.0698098478034,0.999999926032,0.000215472213221,-0.000317087142135,3.10266653115e-05,1793192270327351808
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.878979404,658.878979404,633,876,783.121020596,799,649,628,650,0.401653818489,-0.00538070407873,0.0697948800718,0.999999916934,0.000221443029495,-0.000340489218634,3.4095229923e-05,1793192270410685440
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.286269386,633,876.713730614,784,799,649,628,651,0.400946976441,-0.00539039180876,0.0698150364889,0.999999931914,0.00021443495145,-0.000299710602178,1.90739236235e-05,1793192270960685568
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.60439813,742,711.60439813,671.39560187,659.39560187,632.60439813,877,783,799,649,628,650,0.400947228635,-0.00539097234086,0.069815271241,0.999999931735,0.000215686378605,-0.000299399473891,1.91929769217e-05,1793192271027351808
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,763.501736844,742,711.501736844,671,659,633,876.501736844,783,799,649,628.501736844,650.498263156,0.400948235649,-0.00539380782443,0.069816075088,0.999999933257,0.000210426923551,-0.000298058704778,1.91772980244e-05,1793192271110685440
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_03/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..677a68fbf6808df8b108a42caeee1dcfd51bf3b0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,402 @@
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+3,0.050000000,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
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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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+382,6.366666667,pose2_to_pose3_retreat,0.575711976716,5.46466999801e-05,1.06002911977,0.546282706967,0.00872737651192,1.05969841828
+383,6.383333333,pose2_to_pose3_retreat,0.575711787212,5.46521010527e-05,1.0600291229,0.546282517272,0.00872738124134,1.0596984207
+384,6.400000000,pose2_to_pose3_retreat,0.575711612107,5.46570917129e-05,1.06002912579,0.546282341992,0.00872738561139,1.05969842294
+385,6.416666667,pose2_to_pose3_retreat,0.575711443759,5.46618898237e-05,1.06002912856,0.546282173475,0.00872738981283,1.0596984251
+386,6.433333333,pose2_to_pose3_retreat,0.575711374064,5.46638762112e-05,1.06002912971,0.54628210371,0.00872739155221,1.05969842599
+387,6.450000000,pose2_to_pose3_retreat,0.575711174268,5.46695705972e-05,1.06002913301,0.546281903714,0.00872739653847,1.05969842854
+388,6.466666667,pose2_to_pose3_retreat,0.57571111036,5.46713920651e-05,1.06002913406,0.546281839741,0.00872739813343,1.05969842936
+389,6.483333333,pose2_to_pose3_retreat,0.575711071631,5.46724958589e-05,1.0600291347,0.546281800974,0.00872739909996,1.05969842986
+390,6.500000000,pose2_to_pose3_retreat,0.575710953132,5.46758732056e-05,1.06002913666,0.546281682356,0.00872740205732,1.05969843137
+391,6.516666667,pose2_to_pose3_retreat,0.575710787023,5.46806075141e-05,1.0600291394,0.54628151608,0.0087274062029,1.0596984335
+392,6.533333333,pose2_to_pose3_retreat,0.575710647534,5.46845830803e-05,1.0600291417,0.546281376452,0.00872740968408,1.05969843528
+393,6.550000000,pose2_to_pose3_retreat,0.575710591251,5.46861872309e-05,1.06002914263,0.546281320111,0.00872741108875,1.059698436
+394,6.566666667,pose2_to_pose3_retreat,0.575710455185,5.46900652486e-05,1.06002914487,0.546281183909,0.00872741448452,1.05969843774
+395,6.583333333,pose2_to_pose3_retreat,0.575709966794,5.47076759317e-05,1.06002914877,0.546280695698,0.00872743267112,1.05969844072
+396,6.600000000,pose2_to_pose3_retreat,0.575709599102,5.47249274074e-05,1.06002914722,0.546280328867,0.00872745285186,1.05969843944
+397,6.616666667,pose2_to_pose3_retreat,0.575709458896,5.47098899415e-05,1.06002915286,0.546280188963,0.00872743877974,1.05969844356
+398,6.633333333,pose2_to_pose3_retreat,0.575709353908,5.46698529688e-05,1.06002916537,0.546280084166,0.00872739926377,1.05969845278
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_04/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5100081455606e7ac44cd169cbfe671076bffb87
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6153f400d232847beca80336dd99867f779221936d77906fa7ada7a12f15a12b
+size 24872712
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c02d35108b5d6e9a0314b1d75a2c42de0cafc6c0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_01/franka_data.csv
@@ -0,0 +1,392 @@
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+13,0.216666667,BASELINE,764,742,712,671,659,633,876,783.557096778,799,649,628.557096778,650,0.401008183094,-0.00551308403618,0.0798535694925,0.999999980932,9.28508205227e-05,-0.00016771650482,3.72342571939e-05,1793192272662972160
+14,0.233333333,BASELINE,764,742,712,671,659,633,876,783.857899609,799,649,629,650.142100391,0.40100744331,-0.00551322708331,0.0798530757727,0.99999998088,9.17098211708e-05,-0.000168607093013,3.74181784912e-05,1793192272679638784
+15,0.250000000,BASELINE,764,742,712,671,659,633,876,783.278963435,799,649,629,650.721036565,0.401006951086,-0.00551263964781,0.0798523033315,0.999999980537,9.373319371e-05,-0.000169605847419,3.70729769269e-05,1793192272696305408
+16,0.266666667,BASELINE,764,742,712,671.299270553,659,633,876,783.299270553,799.299270553,649,629,650.700729447,0.401007054029,-0.00551310335892,0.0798524810694,0.999999980542,9.36565566946e-05,-0.000169633544216,3.70010641464e-05,1793192272712972032
+17,0.283333333,BASELINE,764,742,712,671.876851501,659,633,876,783.876851501,799.876851501,649,629,650.123148499,0.401007710456,-0.005514544597,0.0798535424384,0.999999980871,9.16269894077e-05,-0.000168758193784,3.71832997089e-05,1793192272729638656
+18,0.300000000,BASELINE,763.547987374,742,712,671.547987374,659,632.547987374,876,783.547987374,799.547987374,649,628.547987374,650,0.401008527715,-0.00551308153358,0.0798540684921,0.999999980972,9.29987080973e-05,-0.000167424932353,3.70884325289e-05,1793192272746305280
+19,0.316666667,BASELINE,763,742.027215305,712,671.027215305,659,632,876.027215305,783.027215305,799,648.972784695,628,650,0.401009324457,-0.00551097061739,0.0798544349117,0.999999981012,9.50879585108e-05,-0.000166048980746,3.69176605034e-05,1793192272762972160
+20,0.333333333,BASELINE,763,742.616827925,712,671.616827925,659,632,876.616827925,783.616827925,799,648.383172075,628,650,0.401008796548,-0.00551173614406,0.0798545003105,0.999999981168,9.2957538869e-05,-0.000166355159413,3.6730115999e-05,1793192272779638784
+21,0.350000000,BASELINE,763,742.797102398,712,671.797102398,659.202897602,632.202897602,876.797102398,783.797102398,799,648.202897602,628,650,0.40100888932,-0.00551238449347,0.0798547543254,0.999999981302,9.20555227738e-05,-0.000166046345921,3.67446057045e-05,1793192272796305408
+22,0.366666667,BASELINE,763,742.2176088,712,671.2176088,659.7823912,632.7823912,876.2176088,783.2176088,799,648.7823912,628,650,0.401010134129,-0.00551281535138,0.0798553584285,0.9999999814,9.34335331478e-05,-0.000164596052249,3.71340888927e-05,1793192272812972032
+23,0.383333333,BASELINE,763,742,711.639462605,671,659.639462605,632.639462605,876.360537395,783,799,649,628,650.360537395,0.401009276982,-0.00551345889484,0.0798547213764,0.999999981196,9.37042256634e-05,-0.000165649131715,3.72502847475e-05,1793192272829638912
+24,0.400000000,BASELINE,763,742,711.062126575,671,659.062126575,632.062126575,876.937873425,783,799,649,628,650.937873425,0.401007155887,-0.0055142303306,0.0798533379918,0.999999980808,9.33090650489e-05,-0.000168207541382,3.72021472811e-05,1793192272846305536
+25,0.416666667,BASELINE,763.512632233,742,711.512632233,671,659,632,877,783,799,649,628,650.487367767,0.401008180473,-0.00551310061998,0.0798538727216,0.999999980807,9.45918053958e-05,-0.000167505739134,3.7159372254e-05,1793192272862972160
+26,0.433333333,BASELINE,763.910870441,742,712,671,659,632,876.910870441,783,799,648.910870441,628,650,0.401009365206,-0.00551201338524,0.0798545572635,0.999999980869,9.56690253433e-05,-0.000166530420844,3.71104128904e-05,1793192272879638784
+27,0.450000000,BASELINE,763.32290347,742,712,671,659,632,876.32290347,783,799,648.32290347,628,650,0.401009323269,-0.00551244693587,0.0798547857594,0.999999981038,9.44636030124e-05,-0.000166224569988,3.70232221778e-05,1793192272896305408
+28,0.466666667,BASELINE,763,742.262008076,712,671,659,632,876.262008076,783,799,648.262008076,628,650,0.401009046969,-0.00551288994571,0.0798546429962,0.999999981184,9.30561787167e-05,-0.000166155355468,3.69371468557e-05,1793192272912972032
+29,0.483333333,BASELINE,763,742.843197431,712,671,659,632,876.843197431,783,799,648.843197431,628,650,0.401008485166,-0.00551334447885,0.0798540479608,0.999999981304,9.14026733551e-05,-0.000166374414097,3.68524303201e-05,1793192272929638912
+30,0.500000000,BASELINE,763,742.580952794,712,671,659,632.419047206,876.580952794,783,799,649,628,650.419047206,0.40100845776,-0.00551288690736,0.0798543957178,0.999999981235,9.25090585779e-05,-0.000166175258823,3.68417290613e-05,1793192272946305536
+31,0.516666667,BASELINE,763,742.007075902,712,671,659,632.992924098,876.007075902,783,799,649,628,650.992924098,0.401008627803,-0.00551209233117,0.0798550918182,0.999999981094,9.46351690368e-05,-0.000165821581745,3.6858374991e-05,1793192272962972416
+32,0.533333333,BASELINE,763.568623898,742.568623898,712,671.568623898,659,632.431376102,876.568623898,783,799,649,628,651,0.401008159507,-0.00551277990488,0.0798542962679,0.999999980946,9.43631173187e-05,-0.000166861724552,3.68762967252e-05,1793192272979639040
+33,0.550000000,BASELINE,763.851083509,742.851083509,712,672,659,632,877,783,799,649,628,650.851083509,0.401007845259,-0.0055133910001,0.0798537199056,0.999999980815,9.40069829541e-05,-0.000167844828023,3.6889789829e-05,1793192272996305664
+34,0.566666667,BASELINE,763.257133573,742.257133573,712,672,659,632,877,783,799,649,628,650.257133573,0.401008015191,-0.00551371824514,0.0798538542314,0.999999980736,9.34890400727e-05,-0.00016860547006,3.68900004734e-05,1793192273012972288
+35,0.583333333,BASELINE,763,742.326711888,712,671.673288112,659,632,877,783,799,649,628,650.326711888,0.401007955655,-0.00551328025441,0.0798541706995,0.999999980774,9.35473764347e-05,-0.000168364331745,3.67958992108e-05,1793192273029638912
+36,0.600000000,BASELINE,763,742.902843416,712,671.097156584,659,632,877,783,799,649,628,650.902843416,0.401007720937,-0.00551225806451,0.0798546262191,0.999999980902,9.40456580461e-05,-0.000167358410523,3.66297979911e-05,1793192273046305536
+37,0.616666667,BASELINE,763,742.524142168,711.524142168,671,659,632,876.524142168,783,799.475857832,649,628.475857832,650.524142168,0.401007811097,-0.00551194039727,0.0798542830142,0.999999980786,9.53055200843e-05,-0.000167315116147,3.67360992302e-05,1793192273062972416
+38,0.633333333,BASELINE,763.049991982,742,711,671,659,632,876,783,800,649,628.950008018,650,0.401007895596,-0.0055119471936,0.0798538252771,0.999999980666,9.62429797458e-05,-0.00016746271106,3.68934973561e-05,1793192273079639040
+39,0.650000000,BASELINE,763.643162761,742,711,671,659,632,876,783,800,649,628.356837239,650,0.401007202561,-0.00551392665668,0.079853883461,0.999999981045,9.19989501274e-05,-0.000167562796753,3.70057179216e-05,1793192273096305664
+40,0.666666667,BASELINE,764,742,711.229006718,671.229006718,659.229006718,632.229006718,876.229006718,783,799.770993282,649,628.229006718,650.229006718,0.401007107411,-0.00551484755472,0.0798541567552,0.999999981213,9.01169717997e-05,-0.000167563359065,3.70917502256e-05,1793192273112972288
+41,0.683333333,BASELINE,764,742,711.803787956,671.803787956,659.803787956,632.803787956,876.803787956,783,799.196212044,649,628.803787956,650.803787956,0.401007914999,-0.00551417013788,0.0798547548419,0.999999981083,9.18014268785e-05,-0.000167413652206,3.71382411792e-05,1793192273129639168
+42,0.700000000,BASELINE,764,742,712,672,659.618100793,633,877,783.381899207,799,649,628.618100793,651,0.401008128096,-0.00551387214286,0.0798547299927,0.999999981001,9.26951736199e-05,-0.000167373695169,3.7295851022e-05,1793192273146305792
+43,0.716666667,BASELINE,764,742,712,672,659.038263617,633,877,783.961736383,799,649,628.038263617,651,0.401008033068,-0.0055137708018,0.0798543822763,0.999999980945,9.31790969846e-05,-0.000167390621357,3.751105367e-05,1793192273162972416
+44,0.733333333,BASELINE,764,742,712,671.452165731,659,632.452165731,876.452165731,783.452165731,799,649,628.547834269,651,0.401006358386,-0.00551291690391,0.0798532397834,0.999999980523,9.44113475483e-05,-0.000169342945851,3.69231882377e-05,1793192273179639040
+45,0.750000000,BASELINE,763.867632288,742,712,671.132367712,659,632,876.132367712,783,799,649,628.867632288,650.867632288,0.40100548187,-0.00551243492287,0.0798526749216,0.999999980312,9.51105989584e-05,-0.000170287410726,3.64988505946e-05,1793192273196305664
+46,0.766666667,BASELINE,763.289851718,742,712,671.710148282,659,632,876.710148282,783,799,649,628.289851718,650.289851718,0.401007666708,-0.00551338334531,0.0798542427222,0.999999980911,9.38384158521e-05,-0.000167380332732,3.68157030345e-05,1793192273212972544
+47,0.783333333,BASELINE,763,742,712,671.711681133,659,632,877,783,799,649,628.288318867,650,0.401008337861,-0.00551363775566,0.0798547142642,0.999999981114,9.32684674356e-05,-0.000166485994047,3.68197404948e-05,1793192273229639168
+48,0.800000000,BASELINE,763,742,712,671.13311786,659,632,877,783,799,649,628.86688214,650,0.401007485222,-0.00551319351906,0.0798540822264,0.999999980923,9.34054434355e-05,-0.000167617836418,3.65088738768e-05,1793192273246305792
+49,0.816666667,BASELINE,763,742,712,671,659,632,876.556749192,783,799,649,628.556749192,650,0.401007731789,-0.00551363128726,0.0798540260273,0.999999981004,9.2944758132e-05,-0.000167378400246,3.6575842058e-05,1793192273262972160
+50,0.833333333,BASELINE,763,742,712,671.019351006,659,632.019351006,876.019351006,783,799,648.980648994,628,650.019351006,0.401008220362,-0.0055142632926,0.0798540919805,0.999999981138,9.23931280308e-05,-0.000166840846569,3.67564195773e-05,1793192273279638784
+51,0.850000000,BASELINE,763,742,712,671.606825036,659,632.606825036,876.606825036,783,799,648.393174964,628,650.606825036,0.401006169892,-0.00551285946773,0.0798526919728,0.999999980481,9.44151388608e-05,-0.000169582036833,3.69574422804e-05,1793192273296305408
+52,0.866666667,BASELINE,763,742,711.807825559,671.807825559,659,632.807825559,877,783,799.192174441,648.192174441,628.192174441,650.807825559,0.40100562525,-0.00551224159022,0.0798523930539,0.999999980293,9.49248181837e-05,-0.000170373798664,3.70893338307e-05,1793192273312972032
+53,0.883333333,BASELINE,763,742,711.226775486,671.226775486,659,632.226775486,877,783,799.773224514,648.773224514,628.773224514,650.226775486,0.401008127731,-0.00551321412087,0.0798543222492,0.999999981065,9.23742107486e-05,-0.000167220783832,3.70813346494e-05,1793192273329638912
+54,0.900000000,BASELINE,763,742,711,671,659,632,876.650356508,783,799.650356508,649,628.650356508,650,0.401007846642,-0.00551300428505,0.0798542073689,0.999999980996,9.30266437687e-05,-0.000167277050905,3.70337893212e-05,1793192273346305536
+55,0.916666667,BASELINE,763,742,711,671,659,632,876.076901972,783,799.076901972,649,628.076901972,650,0.401005783756,-0.00551203760209,0.0798527840511,0.999999980389,9.57293819554e-05,-0.000169387618396,3.69609300247e-05,1793192273362972160
+56,0.933333333,BASELINE,763.510403786,742,711.510403786,671.510403786,659,632.510403786,876,783,799,649,628.510403786,650.510403786,0.401005881795,-0.00551130329196,0.0798531972211,0.999999980405,9.63666820469e-05,-0.000168982872623,3.67091693524e-05,1793192273379638784
+57,0.950000000,BASELINE,763.901908737,742.098091263,712,671.901908737,659,633,876.098091263,783,799,649,628.901908737,650.901908737,0.401006455028,-0.00551109109582,0.0798538819234,0.999999980584,9.60504036798e-05,-0.000168143207001,3.65242579706e-05,1793192273396305408
+58,0.966666667,BASELINE,763.32286777,742.67713223,712,671.32286777,659,633,876.67713223,783,799,649,628.32286777,650.32286777,0.401007717284,-0.0055132624165,0.0798545034353,0.999999981075,9.26270388436e-05,-0.000167081094389,3.68029630004e-05,1793192273412972032
+59,0.983333333,BASELINE,763.254934556,742.745065444,712,671.254934556,659,632.745065444,876.490130889,783,799.254934556,649,628.254934556,650.254934556,0.401007672013,-0.0055144185896,0.0798545613279,0.999999981199,9.06953500135e-05,-0.000167346324891,3.7043897759e-05,1793192273429638912
+60,1.000000000,BASELINE,763.83117584,742.16882416,712,671.83117584,659,632.16882416,875.33764832,783,799.83117584,649,628.83117584,650.83117584,0.401005978801,-0.0055142953219,0.0798539088632,0.99999998087,9.06436943478e-05,-0.000169284471942,3.72372288002e-05,1793192273446305536
+61,1.016666667,BASELINE,763.594390144,742,711.594390144,671.594390144,659,632.405609856,875.405609856,783,799.594390144,649,628.594390144,650.594390144,0.401006018164,-0.0055137603258,0.0798540366801,0.999999980819,9.22358801232e-05,-0.000168697999,3.73629540102e-05,1793192273462972160
+62,1.033333333,BASELINE,763.020705053,742,711.020705053,671.020705053,659,632.979294947,875.979294947,783,799.020705053,649,628.020705053,650.020705053,0.401006775465,-0.00551305471909,0.0798544878274,0.999999980877,9.45092353401e-05,-0.000167065382474,3.74606649333e-05,1793192273479639040
+63,1.050000000,BASELINE,763,742,711.569264132,671,659.569264132,633,876,783,799.569264132,649,628.569264132,650.569264132,0.401008425105,-0.00551439033291,0.0798550937566,0.999999981143,9.26122914304e-05,-0.000166540865394,3.74355458072e-05,1793192273496305408
+64,1.066666667,BASELINE,763,742,712,671,660,632.843049768,876.156950232,783,799.843049768,649,628.843049768,650.843049768,0.401009445344,-0.0055153018103,0.0798554310525,0.999999981346,9.09344436047e-05,-0.000166267129656,3.73375620688e-05,1793192273512972288
+65,1.083333333,BASELINE,763,742,712,671,660,632.263159063,876.736840937,783,799.263159063,649,628.263159063,650.263159063,0.401008679475,-0.00551486439328,0.0798550288339,0.999999981369,9.02677798458e-05,-0.000166557379674,3.70556203113e-05,1793192273529638912
+66,1.100000000,BASELINE,763,742,712,671.313412579,659.686587421,632,877,783,799,649,628.313412579,650,0.401008440048,-0.00551537897381,0.0798547207284,0.99999998142,8.95330811563e-05,-0.000166643269203,3.70779978927e-05,1793192273546305280
+67,1.116666667,BASELINE,763,742,712,671.887226523,659.112773477,632,877,783,799,649,628.887226523,650,0.40100863802,-0.0055166845292,0.0798544908175,0.999999981494,8.87418551301e-05,-0.000166559364163,3.73532216604e-05,1793192273562971904
+68,1.133333333,BASELINE,763,742.46286567,712,672,659.46286567,632,876.53713433,783,799,649,628.53713433,650,0.401007540914,-0.00551635663099,0.0798538990867,0.999999981384,8.78333223829e-05,-0.000167777089333,3.69807789372e-05,1793192273579639808
+69,1.150000000,BASELINE,763,742.960020783,711.960020783,671.960020783,659.960020783,632,876,783,799,649,628,650.039979217,0.401006193734,-0.0055157503293,0.079853251874,0.999999981223,8.69855486382e-05,-0.000169274775875,3.6528041333e-05,1793192273596307456
+70,1.166666667,BASELINE,763,742.368732586,711.368732586,671.368732586,659.368732586,632,876,783,799,649,628,650.631267414,0.401005766495,-0.00551681467122,0.0798530600254,0.999999981002,8.73713226091e-05,-0.000170242573501,3.71526880128e-05,1793192273612973056
+71,1.183333333,BASELINE,763.217959026,742,711.217959026,671,659,632.217959026,876,783,799,649,628,650.782040974,0.401005595344,-0.00551714162702,0.0798531095635,0.999999980888,8.83073597813e-05,-0.000170365246447,3.74459431149e-05,1793192273629639168
+72,1.200000000,BASELINE,763.797035059,742,711.797035059,671,659,632.797035059,876,783,799,649,628,650.202964941,0.40100584848,-0.00551624687322,0.0798535590339,0.999999980949,9.01550793801e-05,-0.000169087707312,3.71901449607e-05,1793192273646305792
+73,1.216666667,BASELINE,764,742,712,671,659,633,876.372324381,783,799,649,628,650,0.40100680465,-0.00551656706322,0.0798546659554,0.999999981229,9.03882028764e-05,-0.000167249218452,3.74166137846e-05,1793192273662972416
+74,1.233333333,BASELINE,764,742,712,671,659,633,876.945570204,783,799,649,628,650,0.401008140204,-0.00551754288656,0.0798561276645,0.999999981624,8.97500242618e-05,-0.000165108018287,3.7903333582e-05,1793192273679639040
+75,1.250000000,BASELINE,763.466954206,742.533045794,712,671.533045794,659.533045794,633,876.466954206,783,799,649,628,650,0.401006739742,-0.00552010014715,0.0798547586131,0.999999981536,8.62660819208e-05,-0.000167444589685,3.80587211802e-05,1793192273696305920
+76,1.266666667,BASELINE,763,743,712,671.880259081,659.880259081,632.880259081,876.119740919,783,799,649,628,650.119740919,0.401005515219,-0.00552221941736,0.0798535505674,0.999999981459,8.28656435306e-05,-0.00016959830985,3.81063442057e-05,1793192273712972800
+77,1.283333333,BASELINE,763,743,712,671.302264127,659.302264127,632.302264127,876.697735873,783,799,649,628,650.697735873,0.401006062536,-0.0055220275288,0.0798540952516,0.999999981685,8.09273568105e-05,-0.000169254418361,3.78745775593e-05,1793192273729639680
+78,1.300000000,BASELINE,763,742.723863206,712,671,659,632.276136794,876.723863206,783,799,649,628,651,0.40100641834,-0.00552107140046,0.0798544735232,0.999999981694,8.22520604189e-05,-0.000168556508811,3.7872578625e-05,1793192273746306048
+79,1.316666667,BASELINE,763,742.145017292,712,671,659,632.854982708,876.145017292,783,799,649,628,651,0.401006564203,-0.00551927749043,0.0798546693687,0.999999981452,8.71537482913e-05,-0.000167470514464,3.81224577005e-05,1793192273762972416
+80,1.333333333,BASELINE,763.43092296,742,712,671,659,632.56907704,876.43092296,783,799,649,628,650.56907704,0.401005969229,-0.00551966176684,0.0798542825423,0.999999981493,8.60293152606e-05,-0.000167847537677,3.79430729317e-05,1793192273779639296
+81,1.350000000,BASELINE,764,742,712,671,659,632.006027098,877,783,799.006027098,649,628.006027098,650.006027098,0.401005153355,-0.00552078036224,0.0798537197022,0.999999981626,8.29130261696e-05,-0.000168692440579,3.76307480083e-05,1793192273796305664
+82,1.366666667,BASELINE,764,742,712,671,659,632.594182408,877,783,799.594182408,649,628.594182408,650.594182408,0.401006920516,-0.00552249870368,0.0798549686012,0.999999981879,8.19713560151e-05,-0.000167492831396,3.83375201326e-05,1793192273812972288
+83,1.383333333,BASELINE,763.820146541,742,712,671.179853459,659,633,877,783,799.820146541,649,629,650.820146541,0.401007628795,-0.0055238801012,0.0798553843176,0.99999998194,8.16013585265e-05,-0.000167197573959,3.88072377739e-05,1793192273829639168
+84,1.400000000,BASELINE,763.240004436,742,712,671.759995564,659,633,877,783,799.240004436,649,629,650.240004436,0.401005980391,-0.00552451158399,0.0798539456714,0.99999998158,8.25036971178e-05,-0.000168915075671,3.87493581478e-05,1793192273846306048
+85,1.416666667,BASELINE,763,742,712,672,659,633,877,783,799,649,628.663120152,650,0.401005667563,-0.00552440036991,0.0798537350161,0.999999981546,8.19736027775e-05,-0.000169394076909,3.86404075492e-05,1793192273862972928
+86,1.433333333,BASELINE,763,742,712,672,659,633,877,783,799,649,628.088534654,650,0.40100629713,-0.00552376510176,0.0798543908429,0.999999981744,8.04327699697e-05,-0.000168999180231,3.8495420786e-05,1793192273879639552
+87,1.450000000,BASELINE,763,742,712,671.501070505,659,632.501070505,877,783,799,649,628,650.498929495,0.40100484218,-0.00552423220786,0.0798539834721,0.999999981589,7.98909567785e-05,-0.000170125454849,3.86933880265e-05,1793192273896306176
+88,1.466666667,BASELINE,763.087151158,742,712,671.087151158,659.087151158,632.087151158,877,783,799,649,628.087151158,650.912848842,0.401003737418,-0.00552500467684,0.079853645053,0.999999981471,7.95055232566e-05,-0.000170938216246,3.89496983459e-05,1793192273912972800
+89,1.483333333,BASELINE,763.666404184,742,712,671.666404184,659.666404184,632.666404184,877,783,799,649,628.666404184,650.333595816,0.401006753975,-0.00552636757162,0.0798547894937,0.999999981932,7.89755793429e-05,-0.000168416157368,3.91827091514e-05,1793192273929639424
+90,1.500000000,BASELINE,763.756348396,742,712,671.756348396,659.756348396,632.756348396,877,783,799.243651604,649,628.756348396,650.243651604,0.401007832547,-0.00552674543395,0.0798549930046,0.999999982145,7.83498281203e-05,-0.000167460497568,3.9101131169e-05,1793192273946305792
+91,1.516666667,BASELINE,763.181824581,742,712,671.181824581,659.181824581,632.181824581,877,783,799.818175419,649,628.181824581,650.818175419,0.401006279389,-0.00552578564905,0.0798539187585,0.999999982027,7.75939732378e-05,-0.000168631965062,3.85923502018e-05,1793192273962972416
+92,1.533333333,BASELINE,763,742,712,671,659,632.394765267,876.605234733,783,799.605234733,649,628,651,0.40100558328,-0.00552582679507,0.0798535873907,0.999999981875,7.7281694295e-05,-0.000169702005747,3.84597843785e-05,1793192273979639296
+93,1.550000000,BASELINE,763,742,712,671,659,632.972311763,876.027688237,783,799.027688237,649,628,651,0.401005283995,-0.00552633138448,0.0798535999846,0.999999981707,7.71747964651e-05,-0.000170725084662,3.8501410803e-05,1793192273996306176
+94,1.566666667,BASELINE,763.559069162,742.559069162,712,671,659,632.440930838,876.559069162,783,799,649,628,650.440930838,0.401007378073,-0.00552634654083,0.0798547553556,0.999999982068,7.84498265628e-05,-0.000167911533905,3.89302369914e-05,1793192274012972800
+95,1.583333333,BASELINE,764,742.855340443,712,671.144659557,659.144659557,632,877,783,799,649,628,650.144659557,0.401008924559,-0.0055263572799,0.0798556061829,0.99999998235,7.93388433736e-05,-0.000165723141906,3.92476829157e-05,1793192274029639680
+96,1.600000000,BASELINE,764,742.274665336,712,671.725334664,659.725334664,632,877,783,799,649,628,650.725334664,0.401008457307,-0.00552642898849,0.0798553656468,0.999999982346,7.88546436824e-05,-0.000166001331355,3.91706527364e-05,1793192274046306304
+97,1.616666667,BASELINE,763.697154184,742,712,671.697154184,659.697154184,632,877.302845816,783,799,649,628.302845816,650.697154184,0.401006911069,-0.00552650643164,0.0798544718801,0.999999982089,7.86366620245e-05,-0.000167658547164,3.91059594095e-05,1793192274062972672
+98,1.633333333,BASELINE,763.12248294,742,712,671.12248294,659.12248294,632,877.87751706,783,799,649,628.87751706,650.12248294,0.401004396365,-0.00552658902195,0.0798529917931,0.9999999816,7.8657629812e-05,-0.000170553536144,3.90523392801e-05,1793192274079639040
+99,1.650000000,BASELINE,763,742,712,671.452597348,659,632,877.094805303,783,799.452597348,648.547402652,628.547402652,650,0.401005013941,-0.00552695118346,0.0798535155988,0.999999981929,7.69067640017e-05,-0.000169445736391,3.89404457285e-05,1793192274096305920
+100,1.666666667,BASELINE,763.028557565,742,712,671.971442435,659,632,876,783,799.971442435,648.028557565,628,650.028557565,0.401006392214,-0.00552734604877,0.0798545565795,0.999999982441,7.48852228811e-05,-0.0001673420805,3.88148532019e-05,1793192274112972544
+101,1.683333333,BASELINE,763.619669024,742,712,671.380330976,659,632,876,783,799.380330976,648.619669024,628,650.619669024,0.401006042199,-0.00552689340947,0.0798550930004,0.999999982346,7.6985806269e-05,-0.000166979174191,3.87303404057e-05,1793192274129639424
+102,1.700000000,BASELINE,764,742,712,671.205660422,659,632.205660422,876,783.205660422,799,649,628,651,0.401005678767,-0.00552699019472,0.0798551728641,0.999999982217,7.76932348343e-05,-0.000167417750758,3.87553150175e-05,1793192274146306048
+103,1.716666667,BASELINE,764,742,712,671.782413151,659,632.782413151,876,783.782413151,799,649,628,651,0.401005291126,-0.00552807835803,0.0798544289188,0.999999982029,7.58868638103e-05,-0.000169302517774,3.89778479943e-05,1793192274162972672
+104,1.733333333,BASELINE,764,742,712,671.641092715,659,633,876,783.641092715,799,649,628,650.641092715,0.401005208067,-0.00552781813336,0.0798538799413,0.999999981868,7.70403233982e-05,-0.000169711591884,3.90688603602e-05,1793192274179639296
+105,1.750000000,BASELINE,764,742,712,671.064755186,659,633,876,783.064755186,799,649,628,650.064755186,0.401005309529,-0.00552674103955,0.0798534490774,0.999999981719,7.99868829284e-05,-0.000169226674096,3.90801960178e-05,1793192274196305920
+106,1.766666667,BASELINE,763.479014833,742,711.479014833,671,659,633,876.520985167,783,799,649,628,650.520985167,0.401004062335,-0.00552854961304,0.0798527997085,0.999999981603,7.70990739876e-05,-0.00017119991247,3.92372924753e-05,1793192274212972800
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,712,672,659,633,876,783,800,649,628,651,0.401010166623,-0.00553115023781,0.0798606347286,0.999999983534,7.47713827072e-05,-0.000160279139616,4.06512783152e-05,1793192274255369216
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.579477237,742,712,671.420522763,659.579477237,633,876.579477237,783.579477237,799.420522763,649,628,650.420522763,0.401004870602,-0.00552898805661,0.0798566752311,0.999999982368,7.48913620918e-05,-0.000167542032982,3.98109069207e-05,1793192274272035584
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.842892544,632.842892544,877,783.842892544,799,649,628,650.157107456,0.401002146958,-0.00552742728528,0.0798544694569,0.999999981663,7.55153030872e-05,-0.00017153923123,3.9314847841e-05,1793192274288701952
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.270148588,632.270148588,877,783.270148588,799,649,628,650.729851412,0.401006228679,-0.00552745757667,0.0798569032541,0.999999982283,7.7472502552e-05,-0.00016689685325,3.97296859356e-05,1793192274305368832
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,671.311666505,659,632.311666505,877,783,799.311666505,649,628,651,0.401007210588,-0.00552769445063,0.0798575483674,0.999999982445,7.7759747334e-05,-0.000165746915119,3.98933567671e-05,1793192274322035200
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,671.901580017,659,632.901580017,877,783,799.901580017,649,628,651,0.401005425071,-0.00552811575563,0.0798565965943,0.999999982212,7.65561038739e-05,-0.000167714928406,3.98327925732e-05,1793192274338701824
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.484922411,711.515077589,672,659,632.515077589,876.515077589,783,799.515077589,649,628,650.515077589,0.401006464375,-0.00552882628197,0.0798577487055,0.999999982503,7.53368012489e-05,-0.000166572981838,3.96415310535e-05,1793192274355368448
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.933767284,742.933767284,711.066232716,672,659,632.066232716,876.066232716,783,799,649,628.066232716,650.066232716,0.401008303152,-0.00552943205152,0.0798592236147,0.999999982799,7.44493765492e-05,-0.000165234015128,3.9465367383e-05,1793192274372035072
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.357967434,742.357967434,711.642032566,672,659,632.642032566,876.642032566,783,799,649,628.642032566,650.642032566,0.401011940793,-0.00552878628661,0.0798599407222,0.999999982344,7.61394081033e-05,-0.000167170509869,3.96067146696e-05,1793192274388701440
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,712,672,659.221882374,633,877,783,799,649,628.778117626,650.778117626,0.401022007252,-0.00552880071503,0.0798636329634,0.999999982633,7.63233945507e-05,-0.000165289811744,3.984864196e-05,1793192274405368064
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,712,672,659.808387483,633,877,783,799,649,628.191612517,650.191612517,0.401042638289,-0.0055299000494,0.0798722142877,0.999999984103,7.40324736217e-05,-0.000157136261374,4.02558539104e-05,1793192274422034688
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,712,672,659.610193827,632.610193827,877,783,799.389806173,649,628.389806173,650,0.40107603203,-0.00553060772592,0.0798812099018,0.999999985447,7.3350393621e-05,-0.000148687413543,4.02192557476e-05,1793192274438701568
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,712,672,659.031243154,632.031243154,877,783,799.968756846,649,628.968756846,650,0.401115618581,-0.00553112535954,0.0798904065413,0.999999986691,7.34489665599e-05,-0.000140095278664,3.99673089451e-05,1793192274455368448
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.545817617,742,711.454182383,670.908364767,659.545817617,632,876.454182383,783,799.454182383,649,628.454182383,650,0.401180344811,-0.00553264748417,0.0799012188629,0.999999988842,7.28244367145e-05,-0.000124557592782,3.87061976517e-05,1793192274472035072
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,670.244609257,660,632,876.122304628,783,799,649,628,650.122304628,0.40125068638,-0.00553404417573,0.0799111930512,0.999999990637,7.20933722723e-05,-0.000110256239124,3.70357309421e-05,1793192274488701696
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,671.394136082,660,632,876.697068041,783,799,649,628,650.697068041,0.401336496378,-0.00553476485867,0.079917725662,0.999999991689,7.11207849282e-05,-0.000101994332661,3.40638406338e-05,1793192274505368320
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.721649029,742,711,671.721649029,659.721649029,632,876.721649029,783,799,649,628,650.721649029,0.401430182067,-0.00553581866191,0.0799217938593,0.999999992439,6.90374052759e-05,-9.70845274494e-05,3.05147857153e-05,1793192274522034944
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.133100713,742,711,671.133100713,659.133100713,632,876.133100713,783,799,649,628,650.133100713,0.401532644508,-0.00553724369798,0.079923115687,0.999999992895,6.57161466728e-05,-9.59103407791e-05,2.63225324668e-05,1793192274538701312
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,711,671,659,632,876,783,799.448993844,649,628,650.448993844,0.401660308815,-0.00553804115049,0.0799270256027,0.999999993664,6.44900540489e-05,-8.97245751115e-05,2.15109651521e-05,1793192274555368192
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.029000401,742,711,671,659,632,876,783,799.970999599,649,628,650.970999599,0.401796957615,-0.00553886770411,0.0799318162767,0.99999999451,6.32253576885e-05,-8.19168271971e-05,1.64715816752e-05,1793192274572034816
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.605196747,742,711,671,659,632,876,783,799.394803253,649,628,650.394803253,0.40196416334,-0.005543703962,0.0799389544211,0.99999999618,4.96791447759e-05,-7.11393419179e-05,1.05486412318e-05,1793192274588701696
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.81983132,742,711.18016868,671.18016868,659,632.18016868,876,783,799,649,628,650.18016868,0.402142480898,-0.00554702509392,0.0799452964295,0.99999999739,3.69585298835e-05,-6.19567616079e-05,3.84124552977e-06,1793192274605368576
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.247524406,742,711.752475594,671.752475594,659,632.752475594,876,783,799,649,628,650.752475594,0.402344983408,-0.00554704854429,0.0799499056425,0.999999998069,2.60348359243e-05,-5.62455031599e-05,-4.57352106213e-06,1793192274622035200
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742.337611112,712,672,659.337611112,633,876,783.337611112,799,649,628.337611112,651,0.402555674626,-0.00554867482589,0.0799494118083,0.999999997874,-1.56027827947e-05,-6.19325803522e-05,-1.31136738629e-05,1793192274638701824
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742.932523674,712,672,659.932523674,633,876,783.932523674,799,649,628.932523674,651,0.402772606677,-0.00555152266324,0.0799450288211,0.9999999936,-8.06482145722e-05,-7.6306599192e-05,-2.17493873208e-05,1793192274655368192
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742.489615863,711.489615863,671.489615863,659.489615863,633,876.510384137,783.489615863,799,648.489615863,628.489615863,651,0.403021117864,-0.00555192249641,0.0799376522726,0.999999993264,-6.95713921134e-05,-8.96048144616e-05,-2.4562568317e-05,1793192274672034816
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742,711.086207766,671.086207766,659,632.913792234,876.827584469,783,799.086207766,648,628,650.913792234,0.403282774079,-0.00555179920378,0.0799310806915,0.999999993269,-5.10930918674e-05,-0.000100688452789,-2.67093896473e-05,1793192274688701696
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,711.662854753,671.662854753,659,632.337145247,875.674290493,783,799.662854753,648,628,650.337145247,0.40359622922,-0.00555048151992,0.0799312673524,0.999999993521,-4.5910322704e-05,-9.99562696395e-05,-2.93029859395e-05,1793192274705368320
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,712,672,659,632,875.244096514,783,799.755903486,648.244096514,628,650,0.403929117274,-0.00555005801345,0.0799325681468,0.999999993538,-4.81717412204e-05,-9.81705540335e-05,-3.10874504054e-05,1793192274722035200
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,712,672,659,632,875.831806275,783,799.168193725,648.831806275,628,650,0.404289360907,-0.00555089323538,0.0799354373005,0.999999993138,-6.09122998745e-05,-9.49017869338e-05,-3.1732904533e-05,1793192274738702080
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742.414105189,712,671.585894811,659,632,876.414105189,783,799,649,628.414105189,650,0.404686687007,-0.00555008155942,0.0799367554838,0.999999994017,-5.60902664007e-05,-8.77466662548e-05,-3.34720926117e-05,1793192274755368704
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,742.994234754,712,671.005765246,659,632,876.994234754,783,799,649,628.994234754,650,0.405098880317,-0.00554860960388,0.0799374518469,0.999999995263,-4.42269820266e-05,-7.90334163398e-05,-3.56497839826e-05,1793192274772035072
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742.431232517,712,671,659.568767483,632,876.431232517,783,799,649,629,650,0.405534339481,-0.00554758755735,0.079935343562,0.999999994429,-5.34405954689e-05,-8.27367924013e-05,-3.79685409635e-05,1793192274788701696
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742.142505788,712,671,659.857494212,632.142505788,876.142505788,783,799,649,628.857494212,650,0.405979830485,-0.00554655222311,0.0799314591256,0.999999993356,-5.95056044044e-05,-9.01005064899e-05,-4.03534645888e-05,1793192274805368576
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742.714021522,712,671,659.285978478,632.714021522,876.714021522,783,799,649,628.285978478,650,0.406454818951,-0.00554546329144,0.0799223123832,0.999999991697,-5.54549191009e-05,-0.000108108366521,-4.2933318028e-05,1793192274822035200
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.297407094,742.702592906,712,671.297407094,659,632.702592906,877,783,799,649,628,650,0.406954312634,-0.00554378347214,0.079916756713,0.999999990356,-5.47996190088e-05,-0.000119405656809,-4.50305947545e-05,1793192274838701568
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.892680918,742.107319082,712,671.892680918,659,632.107319082,877,783,799,649,628,650,0.407478349463,-0.00554151185187,0.0799147976638,0.999999989571,-5.75449511316e-05,-0.000123982008535,-4.66445492788e-05,1793192274855367936
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.473923069,632.473923069,877,783,799,649,628,650,0.4080180642,-0.00554128564791,0.0799048869274,0.999999986649,-5.83814784161e-05,-0.000144799167623,-4.82353648765e-05,1793192274872035072
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.05167468,711.94832532,671.94832532,659.94832532,633,876.94832532,783,799,648.94832532,628,650,0.408567995349,-0.00554171785547,0.0798953037434,0.999999983323,-5.94289166437e-05,-0.000165359538204,-4.97866183736e-05,1793192274888701952
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.625341007,711.374658993,671.374658993,659.374658993,633,876.374658993,783,799,648.374658993,628,650,0.409186296486,-0.00554425672779,0.0799066954922,0.999999985625,-6.68476415251e-05,-0.000147243962564,-5.09896441951e-05,1793192274905368832
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.795639502,742.795639502,711.204360498,671.204360498,659.204360498,632.795639502,876.204360498,783,799,648.204360498,628,650.204360498,0.409836473463,-0.00554585209305,0.0799289564906,0.999999989905,-7.2238092787e-05,-0.000110875082798,-5.17587417052e-05,1793192274922035200
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.206541973,742.206541973,711.793458027,671.793458027,659.793458027,632.206541973,876.793458027,783,799,648.793458027,628,650.793458027,0.410546661101,-0.00554567117501,0.0799716803611,0.999999995133,-7.38100364991e-05,-4.01418225635e-05,-5.17109086614e-05,1793192274938701568
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742,712,672,660,632,877,783,799,649,628,650.621869976,0.41122936151,-0.00554517728315,0.0799814283931,0.999999995487,-7.42470535223e-05,-2.71275802275e-05,-5.26928216247e-05,1793192274955368192
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742,712,672,660,632,877,783,799,649,628,650.039587346,0.411897221525,-0.00554451441657,0.0799733727505,0.999999994761,-7.40713230697e-05,-4.5275869544e-05,-5.4230695102e-05,1793192274972034816
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742,711.463267059,672,659.463267059,632,876.463267059,783,799.536732941,649,628,650,0.412570587154,-0.00554416702702,0.0799381261643,0.999999990512,-8.17102630313e-05,-9.40562106608e-05,-5.87541010537e-05,1793192274988701440
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742,711.112058909,672,659,632.112058909,876.112058909,783,800,649,628,650,0.413256242186,-0.00554318536251,0.0799071116783,0.999999985071,-8.73073985848e-05,-0.000135131366763,-6.30506614334e-05,1793192275005368320
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742,711.685083611,672,659,632.685083611,876.685083611,783,800,649,628,650,0.413990798684,-0.00553949987798,0.0799016655665,0.999999985323,-8.21604128221e-05,-0.000135318681884,-6.55181997779e-05,1793192275022035200
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742,712,671.734738333,659.265261667,633,877,783,800,649,628,650,0.414755103263,-0.00554026618236,0.079912251226,0.999999987545,-8.78870018055e-05,-0.000113329941327,-6.58922662232e-05,1793192275038701824
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742,712,671.145832437,659.854167563,633,877,783,800,649,628,650,0.415555703403,-0.00554646408822,0.0799423971565,0.999999990192,-0.000106880375772,-6.42843229169e-05,-6.37120998759e-05,1793192275055368192
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742,712,671.875346969,660,632.562326515,877,783,799.124653031,649,628,650,0.416321188042,-0.00555106119353,0.0799402906637,0.999999988963,-0.0001116893513,-7.61738207435e-05,-6.16148423027e-05,1793192275072034560
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742.019096088,712,672.980903912,659.980903912,632.019096088,877,782.980903912,798.038192177,649,628,650,0.417077839925,-0.00555495888744,0.079928483385,0.999999986395,-0.000111750265042,-0.000105674594639,-5.96248731645e-05,1793192275088701440
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742.591651591,712,672.408348409,659.408348409,632.591651591,877,782.408348409,799.183303183,649,628,650,0.417913474395,-0.0055538562714,0.0799431873325,0.999999990138,-0.000109508975745,-6.43180143813e-05,-5.99535297925e-05,1793192275105368832
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.169159886,742.830840114,712,672,659.169159886,633,877.169159886,782.338319771,799.830840114,649,628,650,0.418745638723,-0.00555389573984,0.0799580643551,0.99999999199,-0.000108077263009,-2.75385458028e-05,-5.98447973042e-05,1793192275122035968
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.758984693,742.241015307,712,672,659.758984693,633,877.758984693,783.517969385,799.241015307,649,628,650,0.419569173488,-0.00555677533134,0.0799733717783,0.999999992375,-0.000108658796745,-2.14139030318e-06,-5.86483706037e-05,1793192275138701824
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.65742461,742.34257539,712,672,660.34257539,633,877.65742461,783.65742461,799,649,628,650,0.420392330388,-0.00555719340601,0.079965577916,0.999999992434,-0.000107236518985,-1.2646029638e-05,-5.89311414884e-05,1793192275155368448
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.078141491,742.921858509,712,672,660.921858509,633,877.078141491,783.078141491,799,649,628,650,0.421215226163,-0.00555591065769,0.0799418218649,0.999999991583,-0.000104429676784,-4.79575667885e-05,-6.02359866817e-05,1793192275172035328
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742.499332811,711.499332811,672,660.499332811,632.499332811,877,783,799.500667189,649,628,650,0.422063722413,-0.0055619635571,0.0799527488306,0.999999991544,-0.00011170646471,-2.96977913424e-05,-5.96034147077e-05,1793192275188701952
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.078370777,742,711,672.078370777,660,632,877,783,799.921629223,649,628,650,0.422913518022,-0.00556841442105,0.0799696187747,0.999999991141,-0.00011945177729,-3.77676340468e-06,-5.86098675486e-05,1793192275205368576
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.649589778,742,711,672.649589778,660,632,877,783,799.350410222,649,628,650,0.423746381355,-0.00557017480741,0.0799898529062,0.999999990972,-0.00012025574203,1.7792745638e-05,-5.724604633e-05,1793192275222034944
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.77174629,742.22825371,711,672.77174629,660,632,877,783,799.45650742,649,628,650,0.424543658192,-0.00556927194574,0.0799833921623,0.999999990954,-0.000121412242074,-5.92607211476e-06,-5.75837871692e-05,1793192275238701312
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.18126761,742.81873239,711,672.18126761,660,632,877,783,800.63746478,649,628,650,0.425284461519,-0.00556414266919,0.0799345682526,0.99999998543,-0.000123128193968,-0.000101514749541,-6.06218045722e-05,1793192275255368192
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,742.597529017,711.402470983,672,660.402470983,632.402470983,877,783,800.195058034,649,628,650,0.426110805768,-0.00556654588466,0.0799088719385,0.999999981813,-0.000128926491278,-0.000125184793162,-6.38742143938e-05,1793192275272034816
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742.016776105,711.983223895,672,660.983223895,632.983223895,877,783,799.033552211,649,628,650,0.426975041898,-0.00557228575639,0.0798934204214,0.999999981576,-0.000136533138829,-0.000116997149026,-6.72215932565e-05,1793192275288701696
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742,711.441412201,672.558587799,661,633,877,783,799,649,628,650.558587799,0.427765456895,-0.0055775054633,0.0798995676237,0.999999980796,-0.000139956698329,-0.000120882905547,-6.48697232629e-05,1793192275305368576
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742.13373332,711.13373332,673,660.86626668,633,877.13373332,783,799,649,628,651,0.428555366,-0.00558052448906,0.0799089776711,0.999999980993,-0.000141182164395,-0.000118977282958,-6.26609889578e-05,1793192275322035456
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742.708687183,711.708687183,673,660.291312817,633,877.708687183,783,799,649,628,651,0.429350850797,-0.00557633395163,0.0799270329838,0.999999984238,-0.000135566084089,-9.67795306556e-05,-6.14838203677e-05,1793192275338702080
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,743,712,673,660.292916664,633,878,783,799,649,628,650.707083336,0.430146906794,-0.00557352872853,0.0799532184656,0.999999987886,-0.000131121350243,-5.9066909671e-05,-5.95522850086e-05,1793192275355368448
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,743,712,673,660.886672608,633,878,783,799,649,628,650.113327392,0.43094354939,-0.00557214628909,0.0799877540149,0.999999990193,-0.000127879644773,-5.41978536141e-06,-5.68459792354e-05,1793192275372035072
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.466477206,742.533522794,712,673,661,632.533522794,877.533522794,783,799,649,628,650,0.431709239941,-0.00557576245568,0.0800018727761,0.999999990102,-0.000128616639988,1.37733722113e-05,-5.53586577444e-05,1793192275388701696
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.957174328,742.042825672,712,673,661,632,877.042825672,783,799.042825672,649,628,650,0.432457637828,-0.00557985129604,0.0800056685467,0.999999989947,-0.00012985898095,1.65498885475e-05,-5.44871322587e-05,1793192275405368320
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.382876237,742.617123763,712,673,661,632,877.617123763,783,799.617123763,649,628,650,0.433082039843,-0.00557517313963,0.0799411227718,0.999999986943,-0.000125725465214,-8.35456854664e-05,-5.76892604346e-05,1793192275422034944
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,743,712,673,661,632,877.803305667,783,799.803305667,649,628,650,0.43371702925,-0.00557110303339,0.0798902584992,0.999999978335,-0.000121816088483,-0.00015746357848,-6.07921571227e-05,1793192275438701568
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,743,712,673,661,632,877.21318914,783,799.21318914,649,628,650,0.434373195359,-0.00556824913031,0.0798667595514,0.999999974943,-0.000118355029285,-0.000179021666486,-6.36965754467e-05,1793192275455368704
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,743,712,673,661,632,877.36955422,783,799,649,628,650,0.435057341743,-0.0055723684971,0.0798896198081,0.999999980929,-0.00012498141976,-0.000136276928734,-6.28448025359e-05,1793192275472035328
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,743,712,673,661,632,877.948127299,783,799,649,628,650,0.435757313655,-0.0055804319265,0.0799387007059,0.999999987147,-0.000137313243869,-5.71626858817e-05,-5.98685376002e-05,1793192275488702208
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,743,712,673,661,632.523928657,878,783,799.523928657,649,628,650,0.436379418549,-0.00558578264431,0.0799560492909,0.999999987666,-0.000138822463536,-4.5834676252e-05,-5.74118808829e-05,1793192275505368832
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,743,711.900910947,673,661,632.900910947,878,783,800,649,628,650,0.436978843122,-0.00558968665611,0.079964120766,0.999999987656,-0.00013866355751,-4.87958514789e-05,-5.54853418234e-05,1793192275522035200
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,743,711.327512004,673,661,632.327512004,878,783,800,649,628,650,0.437506412099,-0.0055879445529,0.0799427448437,0.999999985354,-0.000135621864409,-8.81990541511e-05,-5.58513628138e-05,1793192275538701568
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.252686366,743,711,673,660.747313634,632,878,783,799.747313634,649,628,650,0.438014777088,-0.00558763155228,0.0799212596813,0.999999981553,-0.000134938847747,-0.000124400639761,-5.66538864244e-05,1793192275555368192
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.841941263,743,711,673,660.158058737,632,878,783,799.158058737,649,628,650,0.438497563063,-0.00558922206154,0.079899629017,0.999999976656,-0.000137397497848,-0.000156337791372,-5.80378147756e-05,1793192275572034816
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.574028505,743,711.425971495,673.425971495,660.425971495,632,878,783,799.425971495,649,628,650,0.438969529771,-0.00559193195962,0.0798767733086,0.999999970413,-0.00014309351452,-0.000187448224694,-5.96702993736e-05,1793192275588701696
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,743,712,673.992029379,660.992029379,632,877.992029379,783,800,649,628,650,0.439436734337,-0.00559502880892,0.079853460819,0.999999963047,-0.000149891335866,-0.000218332057451,-6.13926228551e-05,1793192275605368576
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,743,712,673.418264919,660.418264919,632,877.418264919,783,800,649,628,650,0.439847414814,-0.0055964666819,0.0798295997269,0.999999954243,-0.000150663891595,-0.000254641825962,-6.30246751639e-05,1793192275622035456
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+191,3.183333333,POSE1_TO_POSE2_PRESS,763,743,711.251435344,673.748564656,660,632,877.748564656,782.251435344,799.251435344,649,628,650,0.440569595518,-0.00559447831514,0.0797628524717,0.99999992296,-0.000143218908116,-0.000359792595217,-6.41738929829e-05,1793192275655368704
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,742.668268404,711,673.668268404,660,632,878,782.331731596,799,649,628,650,0.440898301223,-0.00559489190952,0.0797340264244,0.999999905284,-0.000145275895014,-0.000405079863469,-6.50934398086e-05,1793192275672035072
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,742.089409437,711,673.089409437,660,632,878,782.910590563,799,649,628,650,0.441224069861,-0.00559739338541,0.0797126525592,0.999999890067,-0.000153558964865,-0.000437987975594,-6.672176433e-05,1793192275688701696
+194,3.233333333,POSE1_TO_POSE2_PRESS,763,742,711,673,659.510788598,632,877.510788598,782.510788598,799.978422804,649,628,650,0.44155270473,-0.00560263568398,0.0797231573355,0.999999897255,-0.000160766261413,-0.00041870580733,-6.57987735609e-05,1793192275705368064
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763,742,711,673.638792867,659,632,877,782,800.361207133,649,628,650,0.442159977311,-0.00560748228179,0.0797553697182,0.999999916236,-0.000161721798554,-0.000370689428922,-6.29538906788e-05,1793192275738701824
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,742.217202086,711.217202086,673.782797914,659,631.782797914,877.217202086,782,800,649,628,650,0.442420350768,-0.00560751322304,0.0797652043561,0.999999920918,-0.000159562701628,-0.000359011410168,-6.17579342582e-05,1793192275755368704
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,742.806950186,711.806950186,673.193049814,659,631.193049814,877.806950186,782,800,649,628,650,0.442641113208,-0.00560794038411,0.0797645828564,0.999999919551,-0.000161735912888,-0.000361965556992,-6.09957082766e-05,1793192275772035584
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.391194277,743,711.608805723,673.391194277,659.391194277,631.391194277,878,782,800,649,628,650.391194277,0.442837197571,-0.00560838519092,0.0797585450689,0.999999915873,-0.00016352062738,-0.000371295622245,-6.04522786632e-05,1793192275788701952
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763,742.87885418,712,673,659,631,878,782.87885418,799.12114582,649,628,650,0.443321312616,-0.00561480256952,0.0797465727258,0.999999905575,-0.000175107775596,-0.000393151856989,-6.01642130188e-05,1793192275838701312
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+205,3.416666667,POSE1_TO_POSE2_PRESS,763,742.872871765,712,673,659,631,878.872871765,782,800,649,628,650,0.443632779098,-0.00561409303857,0.079729642308,0.99999989586,-0.000169845821481,-0.000419433832668,-5.92288065027e-05,1793192275888701952
+206,3.433333333,POSE1_TO_POSE2_PRESS,763,743,711.546595231,673.453404769,659,631,878.546595231,782,800,649,628,650,0.443706434135,-0.00561378089966,0.079723726175,0.999999892432,-0.000169573046135,-0.000427634035626,-5.92544999855e-05,1793192275905368832
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+208,3.466666667,POSE1_TO_POSE2_PRESS,763,743,711,673.385536093,659,631,876.771072186,782,799.385536093,649,628,650,0.44382660795,-0.00561289789714,0.079715957626,0.999999887332,-0.00016974402006,-0.000439319828543,-5.93382448481e-05,1793192275938701824
+209,3.483333333,POSE1_TO_POSE2_PRESS,763,742.802979635,711,673,659,631,876.39404073,782,799.197020365,649,628,650,0.443872239832,-0.00561229798704,0.0797139347119,0.999999885762,-0.000168621650679,-0.000443322149593,-5.92333845709e-05,1793192275955368448
+210,3.500000000,POSE1_TO_POSE2_PRESS,763,742.223836676,711,673,659,631,877.552326648,782,799.776163324,649,628,650,0.443907489004,-0.00561087358899,0.0797130070313,0.999999885063,-0.000165664947972,-0.000446030811121,-5.90400292452e-05,1793192275972035072
+211,3.516666667,POSE1_TO_POSE2_PRESS,763,742,711,673.355937106,659,631,878,782,800,649,628,650,0.443936387869,-0.00561047982542,0.0797123035117,0.999999884479,-0.00016478603661,-0.000447690917333,-5.88188988216e-05,1793192275988701696
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+214,3.566666667,POSE1_TO_POSE2_PRESS,762.088239422,742.911760578,711,673,659,631.911760578,878,782,799.088239422,649,628,650,0.443991790561,-0.00561092595852,0.0797129941979,0.999999885336,-0.000164097108095,-0.000446186888274,-5.76053834676e-05,1793192276038701568
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+218,3.633333333,POSE1_TO_POSE2_PRESS,763,742.579976953,711,673.579976953,659,631.579976953,878,782,799.420023047,649,628,650,0.444007129996,-0.00559911048542,0.0797101419801,0.999999884032,-0.000152134139203,-0.000453136115469,-5.88196551976e-05,1793192276105368064
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+231,3.850000000,POSE1_TO_POSE2_PRESS,763,742.958167352,711,673.958167352,658.958167352,631,877.041832648,782,800,649,628,651,0.444016756859,-0.00555026847057,0.0797095525866,0.999999890481,-9.90793851118e-05,-0.00045250462798,-6.67870896827e-05,1793192276322035200
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+248,4.133333333,HOLD_POSE2,763,743,711.356084789,673,659,631,878.356084789,782,799.712169578,649,628,650,0.444019906317,-0.00555040897449,0.0797090425174,0.999999889995,-0.000100995229375,-0.00045328206675,-6.591839863e-05,1793192276628839680
+249,4.150000000,HOLD_POSE2,763,742.775770478,711,673.224229522,658.775770478,631.224229522,878,782.224229522,799.224229522,649,628,650,0.444019326647,-0.00555026207775,0.0797086376941,0.999999889691,-0.000101139714509,-0.000453911243496,-6.59741677236e-05,1793192276645506816
+250,4.166666667,HOLD_POSE2,763,742.189547929,711,673.810452071,658.189547929,631.810452071,878,782.810452071,799.810452071,649,628,650,0.444019191379,-0.00555035126387,0.0797086137804,0.999999890213,-9.98175590921e-05,-0.000453067707629,-6.58766416798e-05,1793192276662172928
+251,4.183333333,HOLD_POSE2,763,742.391419136,711,673.608580864,658.391419136,631.608580864,878,782.608580864,799.608580864,649,627.608580864,650,0.44401859978,-0.00555043511478,0.0797083927849,0.999999889852,-0.000100465783009,-0.000453724828661,-6.58513599238e-05,1793192276678839296
+252,4.200000000,HOLD_POSE2,763,742.969874958,711,673.030125042,658.969874958,631.030125042,878,782.030125042,799.030125042,649,627.030125042,650,0.444017790126,-0.00555051641629,0.0797080776155,0.999999889066,-0.00010205553774,-0.00045509902722,-6.58605995481e-05,1793192276695505920
+253,4.216666667,HOLD_POSE2,763,743,711,673,659,631,878,782,799,649,627.54773997,650,0.444019333829,-0.00555010737821,0.0797095143943,0.999999890275,-0.000100169392989,-0.000452924054474,-6.53895842602e-05,1793192276712172544
+254,4.233333333,HOLD_POSE2,763,743,711,673,658.874832851,631,878,782,799,649,628,650,0.444020617628,-0.0055498711402,0.0797105461284,0.99999989119,-9.9025725579e-05,-0.000451196876174,-6.50740824319e-05,1793192276728839168
+255,4.250000000,HOLD_POSE2,763,743,711,673,658.298865501,631,878,782,799,649,628,650,0.444020499709,-0.00555035427956,0.0797097724029,0.999999890681,-0.00010124392767,-0.000451784739879,-6.5413703288e-05,1793192276745505792
+256,4.266666667,HOLD_POSE2,763,743,711,673,658,631,878,782,799,649,628,650,0.444020149509,-0.00555024746979,0.0797091899912,0.999999890307,-0.000101397978239,-0.000452566591783,-6.54826877287e-05,1793192276762172672
+257,4.283333333,HOLD_POSE2,763,743,711,673,658,631,878,782,799,649,628,650,0.444019548786,-0.00554950437618,0.0797088139191,0.99999989008,-9.93257584095e-05,-0.000453557667713,-6.52597799128e-05,1793192276778839808
+258,4.300000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,631,878,782,799,649,628,650,0.44401857278,-0.00554979238769,0.0797084745355,0.999999889542,-0.000101343670777,-0.000454212348102,-6.58582767058e-05,1793192276811302400
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763.577014006,742.422985994,711,673.577014006,659,631,878,782,799.577014006,649,628,650.577014006,0.444019453756,-0.00554933134082,0.0797092582954,0.999999890087,-0.000100880011433,-0.000453151993947,-6.55867430303e-05,1793192276827969024
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763.846581864,742.153418136,711,674,659.153418136,631,878,782,799.846581864,649,628,651,0.444020105086,-0.00554929067481,0.0797098507552,0.999999890409,-0.000100511951592,-0.000452558476104,-6.53429330813e-05,1793192276844635136
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.271852423,742.728147577,711,674,659.728147577,631,878,782,799.271852423,649,628,651,0.444020125766,-0.00555040444334,0.0797099178737,0.999999890119,-0.000100406423524,-0.000453246966925,-6.51752569613e-05,1793192276861301248
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.689803116,659.379606232,631,878,782,799,649,628,650.689803116,0.444019857336,-0.00555130670446,0.0797097784062,0.999999889832,-0.000101028974171,-0.000453759926102,-6.50504152567e-05,1793192276877967360
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.101183775,658.20236755,631,878,782,799,649,628,650.101183775,0.44401932941,-0.00555201912348,0.0797094535141,0.999999889546,-0.000102305024185,-0.000454115333841,-6.4964020316e-05,1793192276894633984
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,742.519431415,711,673,658,631,878,782,799.480568585,649,628,650,0.444016859827,-0.00555297137315,0.0797081813062,0.999999888655,-0.000102597852036,-0.000456024115824,-6.48522002477e-05,1793192276911301120
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,742.060427356,711,673,658.060427356,631,878,781.939572644,800,649,628,650,0.444012680472,-0.00555360260238,0.0797059795298,0.999999887169,-0.000102536159711,-0.000459290388801,-6.48070683437e-05,1793192276927968000
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742.636293197,711,673,658.636293197,631,878,781.363706803,800,649,628,650,0.443997354987,-0.00555107090348,0.0796975260207,0.999999881641,-0.000101191409625,-0.000471385397297,-6.53757983406e-05,1793192276944634368
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742.7838025,711,673,659,631,878,781.2161975,800,649,628,650,0.443971630227,-0.0055490121557,0.0796858177644,0.999999872817,-0.000100115226887,-0.000489919046791,-6.57478946927e-05,1793192276961300992
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,742.196975076,711,673,659,631,878,781.803024924,800,649,628,650,0.44392807787,-0.00554776419387,0.0796685298573,0.999999857951,-9.94994524203e-05,-0.000519490533054,-6.57828995841e-05,1793192276977967360
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742.384265886,711,673,658.615734114,631,878,782,799.615734114,649,628,650,0.443869635411,-0.00554671095792,0.0796518166508,0.999999842387,-9.96271835402e-05,-0.000548630963456,-6.56055346088e-05,1793192276994633984
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742.962684308,711,673,658.037315692,631,878,782,799.037315692,649,628,650,0.44380366964,-0.00554575610821,0.0796353938133,0.999999826069,-0.000100130575016,-0.000577553602863,-6.53208685201e-05,1793192277011300608
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742.458226083,711,673,658.541773917,631.541773917,878,782,799.541773917,649,628,650,0.443731294519,-0.00554423111571,0.0796298920986,0.999999824021,-9.55651936956e-05,-0.000582102698388,-6.3093558005e-05,1793192277027967232
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742.12010849,711,673,658.87989151,631.87989151,878,782,800,649,628,650,0.443654178267,-0.00554296491307,0.0796270227301,0.9999998239,-9.22070921288e-05,-0.000583122846258,-6.05491966569e-05,1793192277044634112
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.695406362,711,673,658.304593638,631.304593638,878,782,800,649,628,650,0.443560769082,-0.00554282848602,0.0796312751885,0.999999827324,-9.47491075721e-05,-0.000577139062103,-5.73109886077e-05,1793192277061300992
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742.723504912,711,673,658.276495088,631,878,782,799.723504912,649,628,650,0.443452992686,-0.0055402123615,0.0796348608381,0.999999830433,-9.12678945761e-05,-0.000572655117357,-5.35759523969e-05,1793192277077967616
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742.135900411,711,673,658.864099589,631,878,782,799.135900411,649,628,650,0.44332905046,-0.00553480610702,0.0796376962011,0.999999833135,-8.10094070796e-05,-0.000569858776731,-4.92818904689e-05,1793192277094634240
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,658.553035109,631,878,782,799,649,628,650.446964891,0.443183225758,-0.00553192260583,0.0796443692253,0.999999839576,-7.61110492882e-05,-0.000559575257124,-4.39282614665e-05,1793192277111300864
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742.028114191,711,673,658.028114191,631,878,782,799.028114191,649,628,651,0.443028835638,-0.00552969461405,0.0796520023099,0.999999846745,-7.24326922728e-05,-0.000547543684347,-3.8189053819e-05,1793192277127967232
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742.603614235,711,673,658.603614235,631,878,782,799.603614235,649,628,651,0.442835859234,-0.00552545165864,0.0796558476008,0.999999848952,-6.11092794347e-05,-0.000545335770971,-3.11493280282e-05,1793192277144634112
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,631,878,782,800,649,628,651,0.442628346235,-0.00552125886604,0.0796581803068,0.999999850603,-5.00939152856e-05,-0.000543796228908,-2.38973302893e-05,1793192277161300992
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,631,878,782,800,649,628,651,0.442388663306,-0.00551717708591,0.0796571656131,0.999999851254,-3.9760274362e-05,-0.00054373581459,-1.61755688091e-05,1793192277177967616
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.334407061,743,711,673,659,631,878,782,799.665592939,649,627.665592939,651,0.442121104125,-0.00551215822625,0.0796575096293,0.99999985141,-2.7670088834e-05,-0.000544378214614,-8.1958352514e-06,1793192277194634240
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.930207263,743,711,673,659,631,878,782,799.069792737,649,627.069792737,651,0.441831755123,-0.00550640688712,0.0796589156968,0.999999851076,-1.42068788198e-05,-0.000545569977524,-1.44540138003e-08,1793192277211300864
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.49185911,743,711,673,659,631,878,782,799,649,627.50814089,650.49185911,0.441508986214,-0.00550128312734,0.0796586620415,0.999999850704,3.39808304469e-05,-0.000545338623797,6.58158942956e-06,1793192277227967744
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.083665344,743,711,673,659,631.083665344,877.916334656,782.083665344,799.083665344,649,628,650,0.441174554831,-0.00549612966128,0.0796572944107,0.999999848293,7.57596425977e-05,-0.000545479774501,1.12601584487e-05,1793192277244634624
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.658963414,743,711,673,659,631.658963414,877.341036586,782.658963414,799.658963414,649,628,650,0.440797649168,-0.00549031232578,0.0796506749011,0.999999847932,5.2804817807e-05,-0.000548919404445,5.90735081546e-06,1793192277261301248
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.759354874,743,711,673,659.240645126,632,877.240645126,783,800,649,628,650.240645126,0.440395048182,-0.00548402535133,0.0796428229264,0.999999844425,4.21547924553e-05,-0.000556195719901,4.4836083992e-06,1793192277277967360
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.168379927,743,711,673,659.831620073,632,877.831620073,783,800,649,628,650.831620073,0.439955040113,-0.00547705467949,0.0796331767366,0.999999836827,4.94180262956e-05,-0.000569057460599,8.77977734247e-06,1793192277294633984
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,742.586399291,711,673,660,632,878,783,800,649,628.413600709,650.586399291,0.439514675945,-0.00546945660205,0.0796454030286,0.999999848189,6.43242136016e-05,-0.000547152485353,1.04297320616e-05,1793192277311300864
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742.008002387,711,673,660,632,878,783,800,649,628.991997613,650.008002387,0.439074169902,-0.00546160853958,0.0796663442523,0.999999865792,8.22756798764e-05,-0.000511394963944,1.10253218505e-05,1793192277327967744
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.567682693,742.567682693,711.567682693,673,660,632,878,783,800,649,629,650,0.43861038828,-0.00545886287245,0.0797162540568,0.99999990217,8.08734774556e-05,-0.000434615663912,1.51300643693e-05,1793192277344634112
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.853856191,743,711.853856191,673.146143809,660,632,877.853856191,783,799.853856191,649,628.853856191,650,0.438130857328,-0.00545617599137,0.07976196181,0.999999929403,8.13064971934e-05,-0.00036636063135,1.90805806403e-05,1793192277361300736
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.266907229,743,711.266907229,673.733092771,660,632,877.266907229,783,799.266907229,649,628.266907229,650,0.43760480761,-0.00545345050791,0.0797937692978,0.999999942876,8.80939741911e-05,-0.000325552777366,2.24174173132e-05,1793192277377967872
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+297,4.950000000,POSE2_TO_POSE3_RETREAT,763.251396103,743,712,673,660,632.625698051,877.625698051,783,799,649,628,650,0.434388222837,-0.0054228394217,0.0798011894774,0.999999946835,0.000119663279826,-0.000302199336006,2.61964134851e-05,1793192277461300736
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,783,799,649,628.203378249,650.796621751,0.400955413099,-0.00547873163585,0.0798289747976,0.999999948718,0.000129695454797,-0.000290335631936,3.80587881738e-05,1793192278827967744
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.042423494,876.042423494,783.957576506,799,649,628.042423494,650,0.400952658219,-0.0054800488952,0.0798266996432,0.999999947987,0.000128093879561,-0.000293645486274,3.72868586043e-05,1793192278877967616
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.892046826,671,659,632.107953174,876.107953174,783,798.107953174,649,629,650.892046826,0.400952573707,-0.00548116089531,0.0798273762954,0.999999948684,0.000125863784348,-0.00029219967335,3.75420988936e-05,1793192278911301120
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,659.26399123,632.73600877,876.73600877,783,799,649,628.73600877,650,0.400951523907,-0.00548172083156,0.0798277102533,0.999999948596,0.000124720130815,-0.000293004770187,3.74254500056e-05,1793192278944634368
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,659.559489556,632.440510444,876.440510444,783,799,649,628.440510444,650,0.400953384863,-0.00548071493029,0.0798283535082,0.999999948873,0.000125789444652,-0.000291613857765,3.73232899115e-05,1793192278977967872
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,659,633,876.982756687,783,799,649,629,650.017243313,0.400954496456,-0.00548110832354,0.079829467949,0.999999949324,0.000125763353642,-0.000290062621805,3.74070970316e-05,1793192278994634496
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_04/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80dba4bdbde8868d8c16a3da9fce48f72e37a164
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,392 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_04/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f2d67762c89cf9b3fd800820a2c50c5e868dde20
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fc0e1a0da0cdd34f333ad94bc415f1f6288edaa0cb7e00e3007bd27c44d41e1
+size 25146003
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5c9379d15f881df8d9cd5f29bbd878478fbc320e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_02/franka_data.csv
@@ -0,0 +1,396 @@
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+5,0.083333333,BASELINE,764,742,712,671.904185256,659,632.095814744,876.904185256,783,799,649,628,651,0.400951454107,-0.00547971806252,0.0798279145811,0.999999948121,0.00012934310347,-0.000292618822869,3.744761545e-05,1793192279221444864
+6,0.100000000,BASELINE,764,742,712,671.508984265,659,632,877,783,799,649,628,650.508984265,0.400951582207,-0.00548057021261,0.0798284011215,0.999999948442,0.000128073980033,-0.000292058568184,3.76166297259e-05,1793192279238112000
+7,0.116666667,BASELINE,764,742,712,671,659,632,877,783,799,648.92073338,628,650,0.400952229298,-0.00548169298497,0.0798291941389,0.999999948942,0.000126534442172,-0.000290986066562,3.78317474478e-05,1793192279254778880
+8,0.133333333,BASELINE,764,742,712,671,659,632,877,783,799,648.340437513,628,650,0.400954212295,-0.00548188972396,0.0798300552602,0.999999949341,0.000127533653312,-0.000289178280623,3.77967085666e-05,1793192279271445504
+9,0.150000000,BASELINE,764,742,712,671.238425511,659,632,877,783,799,648.238425511,628.238425511,650,0.400955088576,-0.00548182515321,0.0798304849463,0.999999949571,0.000127461224341,-0.000288428240793,3.76912553291e-05,1793192279288112128
+10,0.166666667,BASELINE,764,742,712,671.815254811,659,632,877,783,799,648.815254811,628.815254811,650,0.400954394066,-0.00548138969843,0.0798303022848,0.999999949564,0.000125867787431,-0.000289179488843,3.74858610903e-05,1793192279304778496
+11,0.183333333,BASELINE,764,742.388679684,712,671.611320316,659,632,877,783,799,649,629,650,0.400952673978,-0.00548058172829,0.0798292974268,0.999999948961,0.000126800324392,-0.000290878469755,3.72829236816e-05,1793192279321444864
+12,0.200000000,BASELINE,764,742.960500484,712,671.039499516,659,632,877,783,799,649,629,650,0.400950470651,-0.00547959823343,0.0798279051597,0.99999994807,0.000128923069217,-0.00029302401087,3.70811438829e-05,1793192279338111488
+13,0.216666667,BASELINE,764,742.446104416,712,671,659,632.553895584,876.446104416,783,798.446104416,648.446104416,628.446104416,650,0.400952032541,-0.00548042835134,0.0798284555048,0.999999948449,0.000128703347394,-0.000291817480455,3.71420750945e-05,1793192279354778368
+14,0.233333333,BASELINE,764,742,712,671.144505042,659,632.855494958,876.144505042,783,798.144505042,648.144505042,628,650.144505042,0.40095351042,-0.00548122371256,0.0798291080531,0.999999948858,0.0001285894034,-0.000290446458976,3.72885303425e-05,1793192279371444992
+15,0.250000000,BASELINE,764,742,712,671.721971915,659,632.278028085,876.721971915,783,798.721971915,648.721971915,628,650.721971915,0.400953899499,-0.00548151172906,0.0798296349321,0.999999949076,0.00012931317219,-0.000289327836649,3.76328235349e-05,1793192279388111616
+16,0.266666667,BASELINE,763.70167963,742,712,672,659,632,877,783,799,649,628,651,0.400953718289,-0.00548033095022,0.0798298792799,0.99999994901,0.000129867978103,-0.000289334410828,3.74063371756e-05,1793192279404778496
+17,0.283333333,BASELINE,763.126369659,742,712,672,659,632,877,783,799,649,628,651,0.400953007569,-0.00547778639914,0.0798298612982,0.999999948682,0.000130265902427,-0.000290385726779,3.66498836314e-05,1793192279421445376
+18,0.300000000,BASELINE,763.456555395,742,711.543444605,671.543444605,659.456555395,632,876.543444605,783,799,649,628,650.543444605,0.400953385556,-0.00547789754778,0.0798300805811,0.999999949188,0.000128661348658,-0.000289360360119,3.66131138623e-05,1793192279438112000
+19,0.316666667,BASELINE,763.958588559,742,711.041411441,671,659.958588559,632,876.041411441,783,799,649,628,650,0.400954128064,-0.00547886625664,0.0798304113087,0.999999949902,0.000126577758904,-0.000287786460305,3.67843606448e-05,1793192279454778880
+20,0.333333333,BASELINE,763.37650727,742,711.62349273,671,659.37650727,632,876.62349273,783,799,649,628,650,0.400955628695,-0.00548127142357,0.0798313250994,0.999999950333,0.000125599104971,-0.000286682844939,3.70265912697e-05,1793192279471445248
+21,0.350000000,BASELINE,763.203259948,742,712,671,659.203259948,632.203259948,877,783,799,649,628.203259948,650,0.400955962288,-0.00548264947187,0.0798314806836,0.999999950443,0.000124965966049,-0.000286562507476,3.71314606625e-05,1793192279488111616
+22,0.366666667,BASELINE,763.778788902,742,712,671,659.778788902,632.778788902,877,783,799,649,628.778788902,650,0.400954158459,-0.00548214636016,0.0798302476181,0.999999949966,0.000124965635276,-0.000288243035931,3.6984754006e-05,1793192279504778240
+23,0.383333333,BASELINE,763.645710122,742,712,671,660,633,877,783.354289878,799,649,628.645710122,650.354289878,0.400953547007,-0.00548129858177,0.0798294489269,0.999999949598,0.000125934240621,-0.000289097906182,3.69639331357e-05,1793192279521445120
+24,0.400000000,BASELINE,763.070226557,742,712,671,660,633,877,783.929773443,799,649,628.070226557,650.929773443,0.400953679991,-0.00548023561771,0.0798289214284,0.999999949299,0.000127507781546,-0.00028943729367,3.70217064842e-05,1793192279538111744
+25,0.416666667,BASELINE,763.518274339,742.518274339,712,671.518274339,660,632.481725661,877,783.481725661,799,649,628,650.481725661,0.400954294014,-0.00548022089331,0.0798298635233,0.999999949815,0.000126826063176,-0.000287963749804,3.68924468981e-05,1793192279554778624
+26,0.433333333,BASELINE,764,742.894121647,712,672,659.894121647,632,877,783,799,649,628,650.105878353,0.400955061847,-0.00548026952625,0.0798310154797,0.999999950357,0.000126382290652,-0.000286281351198,3.68212933272e-05,1793192279571445504
+27,0.450000000,BASELINE,764,742.318523185,712,672,659.318523185,632,877,783,799,649,628,650.681476815,0.400956215429,-0.00547995286793,0.079832192281,0.999999950517,0.000128384792735,-0.000284790284633,3.71232511417e-05,1793192279588112128
+28,0.466666667,BASELINE,764,742,712,672,659.257875013,632.257875013,877.257875013,783.257875013,799.257875013,649,628.257875013,650.742124987,0.400955559129,-0.00547975823299,0.0798316115587,0.999999950108,0.000129361225379,-0.000285774958996,3.71755762993e-05,1793192279604778496
+29,0.483333333,BASELINE,764,742,712,672,659.83526407,632.83526407,877.83526407,783.83526407,799.83526407,649,628.83526407,650.16473593,0.400952660333,-0.00547971478831,0.0798288532175,0.99999994899,0.000129066330396,-0.000289827142746,3.69185998926e-05,1793192279621444864
+30,0.500000000,BASELINE,764,742,712,671.588990217,660,633,877.588990217,783.588990217,799.588990217,649,628.588990217,650.411009783,0.400952248535,-0.00548078013242,0.0798282499079,0.999999949083,0.000126658432453,-0.000290579110885,3.68149669291e-05,1793192279638111744
+31,0.516666667,BASELINE,764,742,712,671.013900561,660,633,877.013900561,783.013900561,799.013900561,649,628.013900561,650.986099439,0.400952829575,-0.00548228811786,0.0798285069121,0.999999949655,0.000123406999225,-0.000290013594568,3.67725504529e-05,1793192279654778368
+32,0.533333333,BASELINE,764,742,712,671.577939337,659.422060663,632.422060663,877,783,799,649,628,651,0.400953272064,-0.00548102007789,0.0798297254794,0.999999949831,0.000125419319272,-0.000288562022866,3.6617498391e-05,1793192279671444992
+33,0.550000000,BASELINE,764,742.165938157,711.834061843,672.165938157,659,632,877,783.165938157,799,649,628.165938157,651,0.400953575976,-0.00547997721209,0.0798305453229,0.999999949847,0.000127257836558,-0.000287703098379,3.65944253975e-05,1793192279688111872
+34,0.566666667,BASELINE,764,742.743382582,711.256617418,672.743382582,659,632,877,783.743382582,799,649,628.743382582,651,0.400953544743,-0.00547966327135,0.0798303173149,0.999999949505,0.00012834201191,-0.000288368293462,3.69055630937e-05,1793192279704778752
+35,0.583333333,BASELINE,764,742.680040669,711,672.680040669,659,632,876.680040669,783.680040669,799,649,628.680040669,650.680040669,0.400953305159,-0.00547970430301,0.0798299255192,0.999999949357,0.000128111941426,-0.000288962731757,3.70552080226e-05,1793192279721445376
+36,0.600000000,BASELINE,764,742.104157879,711,672.104157879,659,632,876.104157879,783.104157879,799,649,628.104157879,650.104157879,0.400952898923,-0.00548002926373,0.0798294027157,0.999999949364,0.00012683065515,-0.000289500574424,3.70756809823e-05,1793192279738112000
+37,0.616666667,BASELINE,763.519019992,742,711,671.519019992,659,632.480980008,876.480980008,783,799,649,628,650.480980008,0.400953059642,-0.00548067798317,0.0798294276634,0.999999949552,0.0001256053739,-0.000289381186142,3.7111101624e-05,1793192279754778112
+38,0.633333333,BASELINE,763.06730966,742,711.06730966,671.06730966,659,632.93269034,877,783,799,649,628,650.93269034,0.400953422665,-0.00548133981063,0.0798296494994,0.999999949794,0.000124557095159,-0.000288994062781,3.71382555098e-05,1793192279771444736
+39,0.650000000,BASELINE,763.647153675,742,711.647153675,671.647153675,659,632.352846325,877,783,799,649,628,650.352846325,0.400954372914,-0.00548155711033,0.0798304496143,0.999999950152,0.000124762452369,-0.000287673262641,3.70773298457e-05,1793192279788111616
+40,0.666666667,BASELINE,763.774271808,742,711.774271808,671.774271808,659,632,876.774271808,783,798.774271808,649,628.225728192,650.225728192,0.400955162302,-0.00548145786673,0.0798311542729,0.999999950381,0.00012574611419,-0.000286445194709,3.70773408814e-05,1793192279804778240
+41,0.683333333,BASELINE,763.19767064,742,711.19767064,671.19767064,659,632,876.19767064,783,798.19767064,649,628.80232936,650.80232936,0.400955701647,-0.00548086658669,0.0798317105538,0.999999950409,0.000127939576392,-0.000285361270242,3.71720722167e-05,1793192279821445120
+42,0.700000000,BASELINE,763.376951235,742,711.376951235,671.376951235,659,632.376951235,876.376951235,783.376951235,798.376951235,649,629,650.623048765,0.400955171332,-0.00548078751373,0.0798313458338,0.999999950143,0.000128529732956,-0.00028603094043,3.71486482042e-05,1793192279838111744
+43,0.716666667,BASELINE,763.950540584,742,711.950540584,671.950540584,659,632.950540584,876.950540584,783.950540584,798.950540584,649,629,650.049459416,0.400954083025,-0.00548097563565,0.0798305006701,0.999999949724,0.000128283518673,-0.000287615380296,3.70635879804e-05,1793192279854778624
+44,0.733333333,BASELINE,763.456365733,742,712,671.456365733,659.543634267,632.456365733,877,783.456365733,799,649,628.456365733,650,0.40095280384,-0.0054813471845,0.0798298366986,0.999999949471,0.000127547675343,-0.000288807848132,3.71477053015e-05,1793192279871445504
+45,0.750000000,BASELINE,763.134564299,742,712,671.134564299,659.865435701,632,877,783,799.134564299,649,628,650.134564299,0.400952209987,-0.00548130136163,0.0798296095756,0.999999949412,0.000127061927067,-0.000289221427004,3.71832684487e-05,1793192279888112128
+46,0.766666667,BASELINE,763.712306735,742,712,671.712306735,659.287693265,632,877,783,799.712306735,649,628,650.712306735,0.400953932544,-0.00547982394783,0.079830764871,0.999999949941,0.000127552018397,-0.000287191607719,3.70063441328e-05,1793192279904778496
+47,0.783333333,BASELINE,764,742,711.712355723,672,659,632.287644277,877,783,799.712355723,649,628,651,0.400954495229,-0.00547925592042,0.0798310863695,0.999999950026,0.00012790728372,-0.000286756654734,3.68546825854e-05,1793192279921445120
+48,0.800000000,BASELINE,764,742,711.139403474,672,659,632.860596526,877,783,799.139403474,649,628,651,0.400953907465,-0.00547958989302,0.0798305808433,0.999999949673,0.000128128818177,-0.000287903613981,3.67280785962e-05,1793192279938111744
+49,0.816666667,BASELINE,764,742,711.446879737,671.553120263,659,632.553120263,877,783,798.553120263,649,628.446879737,650.553120263,0.400954428895,-0.00547887445962,0.0798307127793,0.999999949587,0.00012992358651,-0.000287377824056,3.68875208686e-05,1793192279954778368
+50,0.833333333,BASELINE,764,742,711.963282933,671,659,632.036717067,877,783,798.036717067,649,628.963282933,650,0.400955216548,-0.00547798970969,0.0798310296074,0.999999949595,0.000131906024893,-0.000286413861633,3.71222404043e-05,1793192279971444992
+51,0.850000000,BASELINE,764,742,711.384261339,671,659,632.615738661,877,783,798.615738661,649,628.384261339,650,0.400954668615,-0.00547958791262,0.0798310498892,0.999999949804,0.000129188881122,-0.000286922213741,3.7110330988e-05,1793192279988111872
+52,0.866666667,BASELINE,763.806777992,742,711.193222008,671.193222008,659,632.806777992,877,783,799.193222008,649,628,650,0.400954164794,-0.00548052811363,0.0798310969385,0.999999950002,0.000126968404911,-0.000287236943787,3.70140916891e-05,1793192280004778496
+53,0.883333333,BASELINE,763.232329638,742,711.767670362,671.767670362,659,632.232329638,877,783,799.767670362,649,628,650,0.400953748007,-0.00548017007904,0.0798311968002,0.999999950188,0.000125727852226,-0.000287169658153,3.67514698275e-05,1793192280021445120
+54,0.900000000,BASELINE,763,742,711.657525392,671.657525392,659,632,877.342474608,783,799.657525392,649,628,650,0.400954157549,-0.0054809186525,0.079831345809,0.999999950289,0.000125584741779,-0.000286879018809,3.67612478387e-05,1793192280038111744
+55,0.916666667,BASELINE,763,742,711.082479488,671.082479488,659,632,877.917520512,783,799.082479488,649,628,650,0.400955128245,-0.00548241871314,0.0798315281931,0.999999950333,0.00012618689412,-0.00028643670206,3.69560100609e-05,1793192280054778368
+56,0.933333333,BASELINE,763.505792067,742,711.505792067,671,659,632,876.988415865,783,799.505792067,649,628,650,0.400954615709,-0.00548204104141,0.0798309847039,0.999999950159,0.000126092365361,-0.000287079810151,3.69731838347e-05,1793192280071444992
+57,0.950000000,BASELINE,764,742.094324375,712,671.094324375,659,632,876.094324375,783,799.905675625,649,628,650.094324375,0.400954096853,-0.0054813081382,0.0798305800079,0.999999950057,0.000125887059588,-0.000287530191128,3.69555164998e-05,1793192280088111616
+58,0.966666667,BASELINE,764,742.672827061,712,671.672827061,659,632,876.672827061,783,799.327172939,649,628,650.672827061,0.400954820446,-0.00548036576241,0.0798315116662,0.999999950502,0.000125711942595,-0.000286058321996,3.69116487183e-05,1793192280104778752
+59,0.983333333,BASELINE,764,742.750925197,712,672,659,632.249074803,877.249074803,783,799,649,628,650.750925197,0.400954392246,-0.0054796021133,0.0798313961585,0.999999950393,0.000126042369597,-0.000286316821847,3.67395914324e-05,1793192280121445376
+60,1.000000000,BASELINE,764,742.177612788,712,672,659,632.822387212,877.822387212,783,799,649,628,650.177612788,0.400952464677,-0.00547907112473,0.0798299174838,0.999999949558,0.000127030897564,-0.000288827860452,3.64006611466e-05,1793192280138112000
+61,1.016666667,BASELINE,763.592375567,742,712,671.592375567,659,632.592375567,877.184751133,783,799,649,628,650,0.400953462137,-0.00548033968509,0.0798306380076,0.999999949946,0.000126070517518,-0.000287878002669,3.66176491058e-05,1793192280154778624
+62,1.033333333,BASELINE,763.001785837,742,712,671.001785837,659,632.001785837,876.003571674,783,799,649,628,650,0.400955772518,-0.00548241598658,0.0798323456583,0.999999950876,0.000124235355377,-0.00028537469533,3.70841651751e-05,1793192280171445504
+63,1.050000000,BASELINE,763.577682522,742,712,671,659,632,876.577682522,783,799,649,628.577682522,650,0.400954510071,-0.00548043836407,0.0798314210869,0.999999950311,0.000126173677878,-0.00028653239664,3.68520289722e-05,1793192280188112128
+64,1.066666667,BASELINE,763.843738247,742,712,671,659,632,877,783,798.843738247,649,628.843738247,650,0.400953340977,-0.00547909815256,0.079830529375,0.99999994984,0.000127687216991,-0.000287529600441,3.66336945277e-05,1793192280204778496
+65,1.083333333,BASELINE,763.267458284,742,712,671,659,632,877,783,798.267458284,649,628.267458284,650,0.400952451935,-0.00547950429661,0.0798297474452,0.999999949649,0.000128028211582,-0.000288065554538,3.64581537496e-05,1793192280221445120
+66,1.100000000,BASELINE,763.308490963,742,711.691509037,671.308490963,659.308490963,632,877,783.308490963,798.308490963,649,628,650,0.400952817451,-0.00547944303312,0.0798300057585,0.99999994966,0.000128551998612,-0.000287779850503,3.65730041777e-05,1793192280238111488
+67,1.116666667,BASELINE,763.884153759,742,711.115846241,671.884153759,659.884153759,632,877,783.884153759,798.884153759,649,628,650,0.400954269489,-0.00547897696641,0.0798311649853,0.999999949845,0.000129234094936,-0.000286782540798,3.69393509647e-05,1793192280254778368
+68,1.133333333,BASELINE,764,742.470417554,711,672,659.529582446,632,876.529582446,783.529582446,798.529582446,649,628,650,0.400955823848,-0.00547980514193,0.0798323673241,0.99999995079,0.000127233882801,-0.000284382120784,3.68515238505e-05,1793192280271445248
+69,1.150000000,BASELINE,763.941573099,742.941573099,711.058426901,672,659,632,876.058426901,783,798.058426901,649,628,650.058426901,0.400957033634,-0.00548089501264,0.0798332391182,0.999999951703,0.000124878487964,-0.000282230913007,3.66739867918e-05,1793192280288111872
+70,1.166666667,BASELINE,763.361820011,742.361820011,711.638179989,672,659,632,876.638179989,783,798.638179989,649,628,650.638179989,0.400954938885,-0.00548141047114,0.0798310646417,0.999999950722,0.000125383701159,-0.000285457530664,3.6716971797e-05,1793192280304778752
+71,1.183333333,BASELINE,763.21567867,742,712,672,659.21567867,632,877,783,798.78432133,648.78432133,628,650.78432133,0.400953746198,-0.00548164693482,0.0798299932945,0.999999950168,0.000125604545971,-0.000287304762833,3.66480729254e-05,1793192280321445376
+72,1.200000000,BASELINE,763.789434597,742,712,672,659.789434597,632,877,783,798.210565403,648.210565403,628,650.210565403,0.400954051144,-0.00548142020165,0.0798307534004,0.999999950336,0.000125353272551,-0.000286861891577,3.63934205428e-05,1793192280338111744
+73,1.216666667,BASELINE,764,742,712,672,659.639061092,632.360938908,876.639061092,783,798.360938908,648,628,650,0.400953787669,-0.00548064963398,0.0798305245322,0.999999950071,0.000126060413238,-0.000287465768053,3.64808006909e-05,1793192280354778112
+74,1.233333333,BASELINE,764,742,712,672,659.068862224,632.931137776,876.068862224,783,798.931137776,648,628,650,0.400953194644,-0.00547956376979,0.0798297222909,0.999999949551,0.000127323209463,-0.000288676512873,3.67664795464e-05,1793192280371444992
+75,1.250000000,BASELINE,764,742,711.475387653,672,659.524612347,632.475387653,876,783,799,648.524612347,628,650,0.400952554203,-0.00547969619639,0.0798294993714,0.999999949697,0.000126511506035,-0.000288556191297,3.65461522034e-05,1793192280388111616
+76,1.266666667,BASELINE,764,742.11778413,711.11778413,671.88221587,659.88221587,632.11778413,876.11778413,783,799,649,628,650,0.400952145238,-0.00548012715187,0.0798295428179,0.99999994986,0.000125862675028,-0.000288294767704,3.64046642764e-05,1793192280404778496
+77,1.283333333,BASELINE,764,742.6972377,711.6972377,671.3027623,659.3027623,632.6972377,876.6972377,783,799,649,628,650,0.400952669094,-0.00548107231412,0.079830318419,0.999999949732,0.000126969129819,-0.000288196908464,3.68446252119e-05,1793192280421445120
+78,1.300000000,BASELINE,763.725687331,743,712,671.548625337,659,633,877,783.274312669,799,649,628,650.274312669,0.400952956719,-0.00548126304935,0.0798305100197,0.999999949678,0.000126996416399,-0.000288363871684,3.69147665594e-05,1793192280438112000
+79,1.316666667,BASELINE,763.151215122,743,712,672.697569755,659,633,877,783.848784878,799,649,628,650.848784878,0.400952985854,-0.00548062827229,0.0798300625932,0.999999949704,0.000125842851014,-0.000288820610034,3.65802423629e-05,1793192280454778624
+80,1.333333333,BASELINE,763,742.567347658,712,672.134695315,659,632.567347658,877,784,799,649,628,650.567347658,0.400953184396,-0.00548037967458,0.0798305052413,0.999999949923,0.000125935132012,-0.000288035626989,3.64790107429e-05,1793192280471444992
+81,1.350000000,BASELINE,763.019715067,742,712,671.019715067,659.019715067,632,876.980284933,783.980284933,799,649,628,650.019715067,0.400953466744,-0.00548031518425,0.079831271505,0.999999950221,0.000126372977905,-0.000286805651678,3.64670405983e-05,1793192280488111616
+82,1.366666667,BASELINE,763.602171175,742,712,671.602171175,659.602171175,632,876.397828825,783.397828825,799,649,628,650.602171175,0.400954413668,-0.0054815676677,0.0798321982581,0.99999995088,0.000123969783733,-0.000285536627306,3.66238809299e-05,1793192280504778240
+83,1.383333333,BASELINE,764,742.182137383,711.817862617,671.817862617,659.817862617,632,876,783,799.182137383,649,628,650.817862617,0.400955007851,-0.0054821659362,0.0798325923173,0.999999951209,0.000123105483882,-0.000284725341448,3.68573753617e-05,1793192280521445120
+84,1.400000000,BASELINE,764,742.756738546,711.243261454,671.243261454,659.243261454,632,876,783,799.756738546,649,628,650.243261454,0.400954841961,-0.00548135452358,0.0798318385449,0.99999995084,0.000125557143601,-0.000284900375597,3.72560416144e-05,1793192280538111744
+85,1.416666667,BASELINE,763.661249459,742.322498917,711.338750541,671.338750541,659,632,876,783.338750541,799.661249459,649,628,650,0.400954332263,-0.00548073442429,0.07983105687,0.999999950349,0.000126977333027,-0.000286001480001,3.71640353393e-05,1793192280554778368
+86,1.433333333,BASELINE,763.073796648,741.147593295,711.926203352,671.926203352,659,632,876,783.926203352,799.073796648,649,628,650,0.400953570149,-0.00548025478257,0.0798302547097,0.999999949771,0.000127640242326,-0.000287782482274,3.67117894057e-05,1793192280571445248
+87,1.450000000,BASELINE,763,741.506554562,712,671.493445438,659.506554562,632,876,783.493445438,799,649,628,650.506554562,0.400954594113,-0.00548147977126,0.0798313499626,0.999999950387,0.000125992072923,-0.000286362014604,3.67345125075e-05,1793192280588111872
+88,1.466666667,BASELINE,763.08570836,742,712,671.08570836,659.91429164,632,876.08570836,782.91429164,799,648.91429164,628,650.91429164,0.400955498728,-0.00548283831819,0.0798323593681,0.999999951023,0.000123890820136,-0.000285049683372,3.67780662904e-05,1793192280604778496
+89,1.483333333,BASELINE,763.663844484,742,712,671.663844484,659.336155516,632,876.663844484,782.336155516,799,648.336155516,628,650.336155516,0.400954243348,-0.00548355714548,0.0798313093539,0.999999950815,0.000121094075495,-0.000287001246904,3.65492438111e-05,1793192280621444864
+90,1.500000000,BASELINE,764,742,712,671.759602972,659,632.240397028,876.759602972,782.240397028,799,648.240397028,628,650,0.400953630523,-0.00548341258169,0.0798309421257,0.999999950711,0.00012024018113,-0.000287741793402,3.64088211392e-05,1793192280638111744
+91,1.516666667,BASELINE,764,742,712,671.185250356,659,632.814749644,876.185250356,782.814749644,799,648.814749644,628,650,0.400953910325,-0.00548206860921,0.0798315234126,0.999999950758,0.000122085262558,-0.000286800014851,3.6391202041e-05,1793192280654778368
+92,1.533333333,BASELINE,763.601834749,742,712,671,659,632.601834749,876.398165251,783,798.601834749,649,628,650,0.400952855779,-0.00548113873002,0.0798307458492,0.999999950142,0.000124031015214,-0.000288116973991,3.6354232606e-05,1793192280671444992
+93,1.550000000,BASELINE,763.014104227,742,712,671,659,632.014104227,876.985895773,783,798.014104227,649,628,650,0.400951165955,-0.00548040599926,0.0798293213415,0.999999949202,0.000126024697299,-0.00029050931122,3.63080505325e-05,1793192280688111616
+94,1.566666667,BASELINE,763,742,712,671.565669978,659,632,877,783,798.565669978,649,628,650,0.400952483609,-0.00548082137716,0.0798300395789,0.99999994994,0.000125026577898,-0.000288397986767,3.62594220058e-05,1793192280704778240
+95,1.583333333,BASELINE,763.144598132,742,711.855401868,672,659,632,877,783,799.144598132,649,628,650,0.400953460082,-0.00548107304967,0.079830606054,0.999999950408,0.000124837219685,-0.000286849443023,3.62846716948e-05,1793192280721445120
+96,1.600000000,BASELINE,763.721581496,742,711.278418504,672,659,632,877,783,799.721581496,649,628,650,0.400953195217,-0.00548075078808,0.0798305611785,0.999999949957,0.000127286231935,-0.000287314883044,3.65310159194e-05,1793192280738112000
+97,1.616666667,BASELINE,764,742,711.297969268,671.702030732,659.297969268,632.297969268,876.702030732,783,799.702030732,649,628.297969268,650.297969268,0.400953092299,-0.00548126294975,0.07983038527,0.999999949745,0.000127769025295,-0.00028782439606,3.66454289167e-05,1793192280754778624
+98,1.633333333,BASELINE,764,742,711.873801605,671.126198395,659.873801605,632.873801605,876.126198395,783,799.126198395,649,628.873801605,650.873801605,0.400953140401,-0.00548255322994,0.0798300871702,0.999999949758,0.000126418275013,-0.000288375008112,3.66368130523e-05,1793192280771444992
+99,1.650000000,BASELINE,763.5408743,742.4591257,712,671,659.5408743,633,876,783,799.4591257,649,629,650.5408743,0.400952968691,-0.00548224408486,0.0798298099171,0.999999949616,0.000126348775252,-0.000288902302381,3.66071731406e-05,1793192280788111616
+100,1.666666667,BASELINE,763.046527759,742.953472241,712,671.046527759,659.046527759,632.953472241,876.046527759,783,799.953472241,649,628.953472241,650,0.40095277689,-0.00548159138537,0.0798295973818,0.999999949464,0.000126568353553,-0.000289335152813,3.65626365305e-05,1793192280804778240
+101,1.683333333,BASELINE,763.627201597,742.372798403,712,671.627201597,659.627201597,632.372798403,876.627201597,783,799.372798403,649,628.372798403,650,0.4009530627,-0.00548214817787,0.0798300606464,0.999999949711,0.000125978242178,-0.000288758905888,3.6414825596e-05,1793192280821444864
+102,1.700000000,BASELINE,764,742,711.7943566,671.7943566,659.7943566,632.2056434,877,783,799,649,628,650,0.400953333946,-0.00548255767066,0.079830284283,0.999999949958,0.000125032987879,-0.000288323233798,3.63275694808e-05,1793192280838112000
+103,1.716666667,BASELINE,764,742,711.219917734,671.219917734,659.219917734,632.780082266,877,783,799,649,628,650,0.400953579072,-0.00548270299995,0.0798300781771,0.999999950207,0.000123450829663,-0.000288139664984,3.63489108016e-05,1793192280854779392
+104,1.733333333,BASELINE,764,742,711,671.361597923,659,633,876.638402077,783.361597923,798.638402077,649,628,650,0.400953570527,-0.0054816080405,0.0798304424867,0.999999950327,0.000123584333061,-0.00028767863421,3.62421876796e-05,1793192280871446016
+105,1.750000000,BASELINE,764,742,711,671.947503538,659,633,876.052496462,783.947503538,798.052496462,649,628,650,0.400953404624,-0.0054797437008,0.0798311606385,0.999999950367,0.000124782101527,-0.000287045487242,3.60560231756e-05,1793192280888112128
+106,1.766666667,BASELINE,764,742,711,672,659,632.469856396,876,783.469856396,798.530143604,649,628,650,0.400952802716,-0.00547960692976,0.0798306371763,0.999999949939,0.000125747905229,-0.000288070777503,3.63851326382e-05,1793192280904778496
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,876,783,799,649,628,650,0.400954572353,-0.00547817817073,0.0798312044499,0.999999949959,0.000131358294878,-0.000285472081401,3.65031353678e-05,1793192280947153152
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,671.428231303,659.428231303,632.428231303,876.571768697,783,799,649,628,650,0.40095316985,-0.00548067163405,0.0798304214625,0.999999949905,0.000126568616821,-0.00028783371595,3.6364193197e-05,1793192280963821312
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.851333749,742,711.851333749,671,659,632,877,783,798.851333749,649,628,650,0.400951926845,-0.00548201850048,0.0798297855205,0.999999949739,0.000123804021416,-0.000289622917045,3.62422963679e-05,1793192280980489216
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.259134554,742,711.259134554,671,659,632,877,783,798.259134554,649,628,650,0.40095115969,-0.00547994459456,0.079829588276,0.999999949307,0.000127081084365,-0.000289704312864,3.61712528154e-05,1793192280997155584
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.325231494,742,711,671.325231494,659,632,877,783.325231494,798.325231494,649,628,650,0.400951034077,-0.00547984844654,0.0798294461424,0.999999949357,0.000127019234537,-0.000289549943402,3.62378394064e-05,1793192281013822208
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.903503077,742,711,671.903503077,659,632,877,783.903503077,798.903503077,649,628,650,0.400951407603,-0.00548129105501,0.0798293468868,0.999999949783,0.000124359607837,-0.000289212141305,3.641150648e-05,1793192281030489088
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.480629566,672,659.480629566,632,877,783.519370434,799,649,628.480629566,650.480629566,0.400952634376,-0.00548092252339,0.0798299916101,0.999999949966,0.000125202244,-0.000288210636701,3.64367226794e-05,1793192281047154944
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.941422148,632.058577852,877,783.058577852,799,649,628.941422148,650.941422148,0.400954435599,-0.00548034000624,0.0798310283283,0.999999950248,0.00012634706646,-0.000286732208735,3.64009644053e-05,1793192281063820544
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.353983665,632.646016335,877,783.646016335,799,649,628.353983665,650.353983665,0.400959880203,-0.00548110069154,0.0798342587497,0.999999951871,0.000123886887472,-0.000282148147646,3.60831559275e-05,1793192281080487168
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,671.769643264,659,632.769643264,877,783.769643264,799,649,628.230356736,650.230356736,0.400970691623,-0.00548193607772,0.0798393757152,0.999999954277,0.000122728654309,-0.000273998071371,3.61775479244e-05,1793192281097153536
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671.190000488,659,632.190000488,877,783.190000488,799,649,628.809999512,650.809999512,0.400989640653,-0.00548288473152,0.0798473532156,0.999999957773,0.000123544539901,-0.000260440906674,3.68969525894e-05,1793192281113820160
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,671.388681505,659,632,877,783,798.611318495,649,628.611318495,651,0.401027608733,-0.00548388159154,0.0798610350937,0.999999964138,0.000123805286532,-0.000234511460404,3.74209562555e-05,1793192281130487040
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,712,671.966895044,659,632,877,783,798.033104956,649,628.033104956,651,0.401074851038,-0.00548490195836,0.0798774985877,0.999999971108,0.000123795331766,-0.000202548940255,3.78496769331e-05,1793192281147153920
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.539462166,632.539462166,877,783,798.539462166,649,628.539462166,651,0.401139880749,-0.00548419672461,0.0798916801927,0.99999997676,0.000124193176665,-0.000172438567094,3.63395007994e-05,1793192281163820544
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,876.887871062,783,799,649,628.887871062,650.887871062,0.401207260331,-0.00548402082509,0.0799038971224,0.999999980732,0.000124186291976,-0.000148050794328,3.45660491022e-05,1793192281180487168
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,876.313379209,783,799,649,628.313379209,650.313379209,0.401279875224,-0.00548645976262,0.07990858417,0.999999981215,0.000122408385428,-0.00014679629531,3.21925275727e-05,1793192281197153536
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,741.729254276,711.729254276,671.729254276,659.729254276,632.729254276,876.270745724,783,799,649,628,650,0.401364893439,-0.00548796303691,0.0799114245213,0.999999982007,0.000119818880866,-0.000144205120525,2.8882237532e-05,1793192281213820160
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,741.133568058,711.133568058,671.133568058,659.133568058,632.133568058,876.866431942,783,799,649,628,650,0.401464797727,-0.00548834335749,0.0799120485258,0.999999983142,0.000116255322019,-0.000140009709631,2.44476675515e-05,1793192281230486784
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,741.446804206,711,671.446804206,659,632,877,783,799.446804206,648.553195794,628,650.446804206,0.401586080664,-0.00549013342666,0.0799163753108,0.99999998463,0.000113061827656,-0.000132512695805,1.99519095034e-05,1793192281247153664
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.02301064,672,659,632.02301064,877,783,799.97698936,648.02301064,628,650.97698936,0.401714551483,-0.005492352539,0.079921810947,0.999999986188,0.00010970847442,-0.000123902526452,1.5384106814e-05,1793192281263820288
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.605549917,672,659,632.605549917,877,783,799.394450083,648.605549917,628,650.394450083,0.401867550379,-0.00549509632728,0.0799281856737,0.99999998876,9.98670969707e-05,-0.000111429048585,9.49450011821e-06,1793192281280486912
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.811964368,671.811964368,659,633,877,783.188035632,799,649,628,650.188035632,0.402033869758,-0.00549792663827,0.0799350421975,0.999999991032,8.99739156283e-05,-9.9141072233e-05,3.27835244348e-06,1793192281297153792
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.229591054,671.229591054,659,633,877,783.770408946,799,649,628,650.770408946,0.402228124083,-0.00550093839945,0.0799429091183,0.99999999299,7.99720953658e-05,-8.72421207622e-05,-3.62259774118e-06,1793192281313820416
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.351075936,711,671,659.351075936,632.648924064,877,783.648924064,799,649,628,650.648924064,0.402436113006,-0.00550349952152,0.0799438506447,0.999999993708,6.95839751292e-05,-8.71771393372e-05,-1.18875662968e-05,1793192281330486784
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.930632505,711,671,659.930632505,632.069367495,877,783.069367495,799,649,628,650.069367495,0.402653040442,-0.00550576736742,0.0799402851169,0.999999993547,5.89444494183e-05,-9.48137183968e-05,-2.10402402997e-05,1793192281347153408
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.493656218,742.493656218,711.506343782,671.506343782,659.493656218,632,877,783,799,649,628,650.506343782,0.40289150955,-0.00550640046855,0.0799341411686,0.999999994015,-1.18791028361e-06,-0.000106403733854,-2.54214591429e-05,1793192281363820032
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742,712,671.916761407,659,632.083238593,877,783,799,649,628.083238593,650.916761407,0.403140339169,-0.00550651007973,0.079928831584,0.999999991535,-5.24807671361e-05,-0.000115657955861,-2.82658010874e-05,1793192281380486400
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,712,671.329534811,659,632.670465189,877,783,799,649,628.670465189,650.329534811,0.403434165366,-0.00550479586412,0.079930696481,0.999999993844,-9.50885980556e-06,-0.000107514983465,-2.57327530778e-05,1793192281397153280
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,711.745785734,671,659.254214266,633,877,783,799,648.745785734,628.745785734,650,0.403752926899,-0.00550456137261,0.0799341215476,0.999999994532,1.28326104969e-05,-0.000100621763418,-2.54374663244e-05,1793192281413820160
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,711.166483723,671,659.833516277,633,877,783,799,648.166483723,628.166483723,650,0.404103575578,-0.00550621914389,0.0799395417501,0.999999995026,8.79199367076e-06,-9.53267201934e-05,-2.80038160301e-05,1793192281430486784
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742,711.410940241,671.410940241,659.589059759,632.589059759,877,783,799,648.410940241,628,650.410940241,0.404486827376,-0.00550910807541,0.0799382738101,0.999999995033,3.49696046491e-06,-9.4878861848e-05,-3.03258153274e-05,1793192281447153408
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,742,711.987606802,671.987606802,659.012393198,632.012393198,877,783,799,648.987606802,628,650.987606802,0.404883227537,-0.00551249351619,0.0799343086378,0.999999994823,-2.30396082137e-06,-9.63858039384e-05,-3.25492715383e-05,1793192281463820288
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.563522211,742,712,671.436477789,659,632,877,783,799,649,628.563522211,650.436477789,0.405316819533,-0.00551007521527,0.0799356039395,0.999999995335,-2.44614602168e-06,-9.00226392843e-05,-3.49401270756e-05,1793192281480487168
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632,877,783,798.857361989,648.857361989,628.857361989,650,0.405756452144,-0.00550872600196,0.0799351643113,0.999999995374,-3.55056346863e-06,-8.86843039778e-05,-3.70746726081e-05,1793192281497153536
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632,877,783,798.268175376,648.268175376,628.268175376,650,0.406212438416,-0.00551112277755,0.0799289315352,0.999999993862,-8.05647299985e-06,-0.000103618051544,-3.83952925641e-05,1793192281513820160
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.68425443,742,712,671,659.31574557,632.31574557,877.31574557,783,798.31574557,648.31574557,628,650.31574557,0.406693542177,-0.00551245442914,0.0799215928555,0.999999992121,-1.33866755186e-05,-0.0001181735227,-4.01821367475e-05,1793192281530486784
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.104732401,742,712,671,659.895267599,632.895267599,877.895267599,783,798.895267599,648.895267599,628,650.895267599,0.407195629347,-0.00551289626763,0.079913330294,0.999999990148,-1.9405499705e-05,-0.000132412980259,-4.23584686462e-05,1793192281547153408
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.470821668,742,712,671,660,632.529178332,877.529178332,783,799,649,628,650.529178332,0.407735404695,-0.00551211965461,0.0799081752476,0.999999988329,-1.6362535869e-05,-0.000145275242866,-4.4372173325e-05,1793192281563820032
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.953672042,742,711.953672042,671.046327958,659.953672042,632.046327958,876.953672042,783,799,648.953672042,628,650,0.408286246222,-0.00551129831376,0.0799040170015,0.999999986546,-1.23640593457e-05,-0.000156866669857,-4.63450434906e-05,1793192281580486912
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.368541315,742,711.368541315,671.631458685,659.368541315,632.631458685,876.368541315,783,799,648.368541315,628,650,0.408869102102,-0.00551308267666,0.0799034794966,0.999999986268,-2.05005102818e-05,-0.000157211200833,-4.82602170661e-05,1793192281597153792
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.215206351,742,711,672,659.215206351,632.784793649,876.215206351,783,799,648.215206351,628,650,0.409489584851,-0.00551584993016,0.0799162484599,0.999999989157,-2.92449850574e-05,-0.000135497152655,-4.97093618066e-05,1793192281613820416
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.796600616,742,711,672,659.796600616,632.203399384,876.796600616,783,799,648.796600616,628,650,0.410174092183,-0.00552028963723,0.0799516592635,0.999999995063,-3.9024052265e-05,-7.62489652778e-05,-5.03655272717e-05,1793192281630487040
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,672,660,632,877,783,799,649,628,650,0.410861513532,-0.00552260542959,0.0799734785124,0.999999996888,-4.34294779509e-05,-4.12134326904e-05,-5.13709457069e-05,1793192281647153664
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,672,660,632,877,783,799,649,628,650,0.411550502893,-0.00552377834151,0.079987984133,0.999999997424,-4.49433422942e-05,-1.92067521709e-05,-5.25642974861e-05,1793192281663820288
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,672,660,632,877,783,799,648.470889122,628,650,0.412229541271,-0.00552333903506,0.0799581722726,0.999999994919,-5.19557524605e-05,-6.5799627559e-05,-5.59710405964e-05,1793192281680486912
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.105182321,672,660,632,877.105182321,783,799,648,628.105182321,650,0.412912817511,-0.00552328304666,0.079926618311,0.999999990125,-5.88434651192e-05,-0.00011281157395,-5.96778286159e-05,1793192281697153536
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.693153005,672,660,632,877.693153005,783,799,648,628.693153005,650,0.413619375446,-0.00552560702285,0.0799041255097,0.999999986812,-6.30424695285e-05,-0.000135343665399,-6.39099112353e-05,1793192281713820160
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.722065756,742,711.722065756,672,660,632,877.722065756,783,799,648,628.722065756,650,0.414363350638,-0.00552812494913,0.0799036369378,0.999999987276,-6.94075485798e-05,-0.000127440348833,-6.62547849566e-05,1793192281730486784
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.140765728,742,711.140765728,672,660,632,877.140765728,783,799,648,628.140765728,650,0.415148166928,-0.0055308545726,0.0799271660233,0.999999991008,-7.81369028973e-05,-8.63167263351e-05,-6.65397668699e-05,1793192281747153664
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742,711.436911671,672,660,632,877,783,799,648,628,650,0.415919583034,-0.00552850207414,0.0799347807924,0.999999991651,-7.37195322587e-05,-8.45163721545e-05,-6.41904005213e-05,1793192281763820288
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742.013386768,712,672,660,632,877,783,799,648.013386768,628,650,0.416688183629,-0.00552436369006,0.0799372310999,0.999999991543,-6.49145016485e-05,-9.47319183886e-05,-6.10386897635e-05,1793192281780486912
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742.587987357,712,672,660,632,877,783,799,648.587987357,628,650,0.417518258081,-0.00551343483985,0.0799363571305,0.999999993707,-4.82768389188e-05,-8.19223386954e-05,-5.95395623683e-05,1793192281797153280
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.16757161,743,712,672,660,632.16757161,877,783,799,649,628,650,0.418354932191,-0.00550997744051,0.0799438870331,0.999999995777,-4.20081135589e-05,-5.77332464341e-05,-5.78572105062e-05,1793192281813819904
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.759784889,743,712,672,660,632.759784889,877,783,799,649,628,650,0.419208330386,-0.00552545337643,0.0799727131105,0.999999996514,-6.20152175499e-05,-4.70743720778e-06,-5.57105512415e-05,1793192281830486528
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.656983231,742.656983231,712,672,660,633,877,783,799,649,628,650,0.420030358838,-0.00553228615348,0.0799728626384,0.999999995903,-7.11671888877e-05,-9.81805771161e-07,-5.59259471805e-05,1793192281847153408
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.079880574,742.079880574,712,672,660,633,877,783,799,649,628,650,0.420830979516,-0.005533220555,0.0799534423478,0.999999995197,-7.29112611323e-05,-3.09002337552e-05,-5.77532871459e-05,1793192281863820032
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742.495236686,711.504763314,672,659.504763314,632.504763314,877,783,799,649,628,649.504763314,0.421669774208,-0.00553698913151,0.0799525280108,0.999999994793,-7.81829046766e-05,-3.16274554888e-05,-5.74604261903e-05,1793192281880486912
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742.928164264,711.071835736,672,659.071835736,632,877.071835736,783,799,649,628,649.071835736,0.422517059048,-0.00554169363314,0.0799574928809,0.999999994538,-8.44254947398e-05,-2.41576175323e-05,-5.6688866267e-05,1793192281897153536
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742.338586962,711.661413038,672,659.661413038,632,877.661413038,783,799,649,628,649.661413038,0.423381333595,-0.00554986199163,0.0799834032896,0.999999994076,-9.35814813394e-05,8.59098043205e-06,-5.49221170131e-05,1793192281913820160
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,742.246571358,711.753428642,672.246571358,660,632,877.753428642,783,799,648.753428642,628,650,0.424212236703,-0.00555378234776,0.0799841514222,0.999999993534,-9.97145126673e-05,-4.27865382586e-06,-5.45007925327e-05,1793192281930486784
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,742.825768538,711.174231462,672.825768538,660,632,877.174231462,783,799,648.174231462,628,650,0.424998121715,-0.0055519721316,0.0799509555403,0.999999990164,-0.000101769565373,-7.86874746009e-05,-5.58944514516e-05,1793192281947153408
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,742.597957223,711,672.597957223,660,632,877,783,799,648.402042777,628,650,0.425805781558,-0.00555292237794,0.0799191504225,0.999999985625,-0.000106301401856,-0.000117902715653,-5.95788395474e-05,1793192281963820032
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742.022940578,711,672.022940578,660,632,877,783,799,648.977059422,628,650,0.426622809702,-0.00555506027879,0.0798879436656,0.999999981597,-0.000111898843517,-0.000141976355454,-6.42487851536e-05,1793192281980486656
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.563975689,742,711,672.563975689,660,632.563975689,877,783,799,648.436024311,628,650,0.427457510162,-0.00556212698137,0.0798938635235,0.999999981626,-0.00012044624824,-0.00013494738602,-6.34752785951e-05,1793192281997153280
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.149162291,711.149162291,673,660,632.850837709,877,783,799.298324583,648.149162291,628,650,0.428286017989,-0.00556751969186,0.0799029023417,0.999999982214,-0.000125804504518,-0.000125990962284,-6.22151377762e-05,1793192282013820160
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.727942902,711.727942902,673,660,632.272057098,877,783,800.455885803,648.727942902,628,650,0.429094574646,-0.00556750106841,0.0799164810212,0.999999984155,-0.00012162429403,-0.00011520549642,-6.02048732216e-05,1793192282030487040
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877.305949773,783,800.388100454,649,628.305949773,650,0.429917010337,-0.0055693567685,0.079942344025,0.999999987861,-0.000120753054623,-7.94245197182e-05,-5.82114129884e-05,1793192282047153664
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877.883270325,783,799.233459351,649,628.883270325,650,0.430751756384,-0.00557287495268,0.0799791029558,0.999999990646,-0.000122816800343,-2.14730702128e-05,-5.62328577832e-05,1793192282063820288
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711.541216434,673.458783566,660,632.458783566,878,783.458783566,799,649,628.541216434,650,0.431536086925,-0.00557401279381,0.0800011301137,0.999999991282,-0.000119790012829,1.12862618704e-05,-5.43926474589e-05,1793192282080486912
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711.034571457,673.930857086,660,632.965428543,878,783.965428543,799.034571457,649,628,650,0.432301281564,-0.00557392883788,0.0800147079991,0.999999991516,-0.000115172959235,3.01639328776e-05,-5.28527764188e-05,1793192282097153280
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,711.622077191,672.755845617,660,632.377922809,878,783.377922809,799.622077191,649,628,650,0.432964771843,-0.00556395204977,0.0799528626777,0.999999990354,-0.000105755345955,-7.08667978101e-05,-5.55557497932e-05,1793192282113819904
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+179,2.983333333,POSE1_TO_POSE2_PRESS,763.212313215,743,711.212313215,672.787686785,660,632.787686785,878,783,800,649,628.787686785,650,0.434335376489,-0.00555043947161,0.0798687060295,0.999999977381,-9.36430042985e-05,-0.000180599295032,-6.20731631712e-05,1793192282147153664
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,673.986621821,658.013378179,631,878,782,800.986621821,649.973243643,628.013378179,650,0.444972085652,-0.00560211905555,0.0796830007754,0.999999865679,-0.000148304319616,-0.000493595245218,-5.48812612678e-05,1793192283130487040
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711,673.398075361,658.601924639,631,878,782,800.398075361,648.796150723,628.601924639,650,0.444972093883,-0.00560176022052,0.0796831236333,0.999999866023,-0.000147169664393,-0.000493267010234,-5.46113966815e-05,1793192283147153664
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.812428304,742.812428304,711,673,659,631,877.812428304,782,799.812428304,648.187571696,628.812428304,650,0.444972453901,-0.00560175835373,0.0796834597509,0.999999866537,-0.000146399924344,-0.000492484199292,-5.43312641938e-05,1793192283163820288
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.232840894,742.232840894,711,673,659,631,877.232840894,782,799.232840894,648.767159106,628.232840894,650,0.444973549138,-0.0056025025332,0.079684241571,0.999999867407,-0.000146392839321,-0.000490751346743,-5.40296723082e-05,1793192283180487168
+242,4.033333333,HOLD_POSE2,763,742,711,673,659,631,878,782,800,648,628,650,0.444972443077,-0.00560096504823,0.0796831034903,0.99999986696,-0.000144360825,-0.000492181735955,-5.47450063996e-05,1793192283216283392
+243,4.050000000,HOLD_POSE2,763,742.589032461,711,673,659,631,877.410967539,782,799.410967539,648.589032461,628,650.589032461,0.444973098123,-0.00560199025995,0.0796830559741,0.999999866835,-0.00014520691925,-0.000492258448331,-5.41040494817e-05,1793192283232950272
+244,4.066666667,HOLD_POSE2,763,742.823824091,711,673.176175909,658.823824091,631,877.352351818,782,799,649,628,650.823824091,0.444973503163,-0.0056022783488,0.0796830725148,0.999999866716,-0.000145477574612,-0.00049246674331,-5.36794049398e-05,1793192283249617152
+245,4.083333333,HOLD_POSE2,763,742.241040303,711,673.758959697,658.241040303,631,878.517919395,782,799,649,628,650.241040303,0.444973331203,-0.00560086518387,0.0796832368964,0.999999866613,-0.000144420137165,-0.000492978726382,-5.37540017229e-05,1793192283266283264
+246,4.100000000,HOLD_POSE2,763,742.337890803,711,674,658.337890803,631,878.662109197,782,799,649,628,650,0.444973345952,-0.00560132849362,0.0796831415968,0.999999866439,-0.000145046886128,-0.000493126431541,-5.39461600845e-05,1793192283282949888
+247,4.116666667,HOLD_POSE2,763,742.914104481,711,674,658.914104481,631,878.085895519,782,799,649,628,650,0.444973492393,-0.00560311532821,0.0796828631375,0.999999866213,-0.000146861534145,-0.000493017202304,-5.42212375767e-05,1793192283299616256
+248,4.133333333,HOLD_POSE2,763,743,711,674,659,631,877.511937668,782,799.488062332,649,628,650.488062332,0.444974477725,-0.0056030701034,0.0796836239316,0.999999867111,-0.000145175889628,-0.000491745308712,-5.3742008149e-05,1793192283316283136
+249,4.150000000,HOLD_POSE2,763,743,711,674,658.936453616,631,877.063546384,782,799.936453616,649,628,650.936453616,0.444975356612,-0.00560256448097,0.0796843162379,0.999999867972,-0.000143214246496,-0.000490620242003,-5.32769110157e-05,1793192283332950016
+250,4.166666667,HOLD_POSE2,763,743,711,674,658.34500802,631,877.65499198,782,799.34500802,649,628,650.34500802,0.444974130386,-0.00560090039201,0.0796829271688,0.999999866932,-0.000144053776338,-0.000492406937115,-5.4026958453e-05,1793192283349616896
+251,4.183333333,HOLD_POSE2,763,743,711,673.759153169,658.240846831,631,878,782,799,649,628,650.240846831,0.44497394798,-0.00560027264613,0.0796828514311,0.99999986658,-0.000144882426537,-0.000492836271551,-5.44275256786e-05,1793192283366283520
+252,4.200000000,HOLD_POSE2,763,743,711,673.181125305,658.818874695,631,878,782,799,649,628,650.818874695,0.444975226903,-0.0056010957612,0.0796846143326,0.99999986719,-0.000145695845373,-0.00049136532642,-5.43388271177e-05,1793192283382949888
+253,4.216666667,HOLD_POSE2,763,742.605603795,711,673,659,631,878,782,799,649,628,651,0.444975518262,-0.00560113169224,0.0796847650751,0.999999867399,-0.000146082405712,-0.000490853778932,-5.40712312066e-05,1793192283399616512
+254,4.233333333,HOLD_POSE2,763,742.031226002,711,673,659,631,878,782,799,649,628,651,0.44497535895,-0.00560080839417,0.0796841801135,0.999999867426,-0.000146274170459,-0.000490780049706,-5.37219959902e-05,1793192283416283136
+255,4.250000000,HOLD_POSE2,763.545177957,742.545177957,711,673.545177957,658.454822043,631,878,782,799,649,628,650.454822043,0.444976322826,-0.00560212805009,0.0796851172639,0.999999867802,-0.00014677868931,-0.000489886044094,-5.35180316734e-05,1793192283432949504
+256,4.266666667,HOLD_POSE2,763.875092132,743,711,674,658.124907868,631,878.124907868,782,799,649,628,650,0.444976800899,-0.00560278102913,0.0796855031532,0.999999867952,-0.000146771593057,-0.00048959013126,-5.34345638129e-05,1793192283449616384
+257,4.283333333,HOLD_POSE2,763.283367348,743,711,674,658.716632652,631,878.716632652,782,799,649,628,650,0.444975222059,-0.00560058944164,0.079683501782,0.999999867186,-0.000144785245203,-0.000491705707364,-5.377021344e-05,1793192283466283264
+258,4.300000000,HOLD_POSE2,763,743,711,673.699078037,659,631,878.699078037,782,799.300921963,649,628,650,0.444975070169,-0.00560029942688,0.0796831575209,0.999999867208,-0.000143539364934,-0.000492030882206,-5.37209729263e-05,1793192283482949888
+259,4.316666667,HOLD_POSE2,763,743,711,673.121621642,659,631,878.121621642,782,799.878378358,649,628,650,0.444976229585,-0.00560175687638,0.0796843360734,0.999999867959,-0.000142973942869,-0.000490710754636,-5.33180347929e-05,1793192283499616768
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,658,631,878,782,799,649,628,650,0.444976043596,-0.00560113630819,0.0796835538807,0.999999867741,-0.000142605289492,-0.000491217616199,-5.37273790912e-05,1793192283532164608
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,742.590082995,711,673.409917005,658,631,878,782,799,649,628,650,0.444976753142,-0.0056011931717,0.0796845993612,0.999999868453,-0.000144289695563,-0.000489317476064,-5.33237715496e-05,1793192283548830720
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,658.176877361,631,878,782,799,649,628,650,0.444976814638,-0.00560109300208,0.0796849404516,0.999999868515,-0.000145697469808,-0.000488775329678,-5.3290955312e-05,1793192283565497344
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,658.756189495,631,878,782,799,649,628,650,0.444975401679,-0.00560063554767,0.0796836789001,0.99999986711,-0.000146475846337,-0.000491322916402,-5.41017704967e-05,1793192283582163712
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,658.666435589,631,878.333564411,782,799,649,628,650,0.444975700092,-0.0056007018885,0.0796835987448,0.999999867049,-0.000146266551122,-0.000491513874442,-5.40585208249e-05,1793192283598830336
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,658.090468492,631,878.909531508,782,799,649,628,650,0.444977242168,-0.00560114887359,0.0796843771152,0.999999867967,-0.000145339510576,-0.000489992260176,-5.33946185174e-05,1793192283615497216
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.483242582,658,631,878.516757418,782,799,648.516757418,628,650,0.44497629735,-0.0056001134855,0.0796838341598,0.999999867366,-0.000144481305996,-0.000491450446848,-5.35596299985e-05,1793192283632164096
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,743,711.058398048,673.941601952,658,631,878,782.058398048,799,648.058398048,628,650,0.444974087083,-0.00559903220826,0.0796825357359,0.999999866192,-0.000143696468977,-0.000494033207635,-5.38460913319e-05,1793192283648830976
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,743,711.650599079,673.349400921,658,631,878,782.650599079,799,648.650599079,628,650,0.444964545583,-0.00560005640026,0.0796765823691,0.999999862348,-0.000143465019193,-0.000501819933909,-5.38308058191e-05,1793192283665497088
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,743,711.762668985,673.237331015,658.237331015,631,877.762668985,782.762668985,799,649,628,650,0.44494560032,-0.00560020365836,0.0796670120943,0.999999855003,-0.000143092486639,-0.000516326400701,-5.40951879611e-05,1793192283682163712
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,743,711.183807389,673.816192611,658.816192611,631,877.183807389,782.183807389,799,649,628,650,0.444913122597,-0.00559908896694,0.079652236918,0.999999842273,-0.00014251692926,-0.000540502891775,-5.47620250979e-05,1793192283698830336
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.609033305,659,631,877.390966695,782,799,649,628,650,0.444862573385,-0.00559712432024,0.0796350477576,0.999999825413,-0.000140568140898,-0.000571349875643,-5.45377703096e-05,1793192283715496704
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.036160973,659,631,877.963839027,782,799,649,628,650,0.444803616023,-0.00559476421351,0.0796167354381,0.999999805834,-0.000137980427212,-0.000605300450973,-5.38989159124e-05,1793192283732163328
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,658.460923949,631,878,782,799.539076051,649,628,650,0.444736654829,-0.00559385202268,0.079608617901,0.999999802238,-0.000138231101783,-0.000611230702144,-5.30407755125e-05,1793192283748830208
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,743,711.118031853,673,658,631,877.881968147,782,800,649,628,650,0.444665116894,-0.00559257367083,0.0796027835085,0.999999800014,-0.000137768376724,-0.000615075536828,-5.17172235523e-05,1793192283765496832
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,743,711.711320013,673,658,631,877.288679987,782,800,649,628,650,0.444577321986,-0.00558942816829,0.0796033765101,0.999999798848,-0.000133663125761,-0.00061812495672,-4.85791768357e-05,1793192283782163968
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,743,711.702894403,673,658.297105597,631,877.297105597,782,799.702894403,649,628,649.702894403,0.444475862345,-0.00558662296808,0.0796076290719,0.999999801365,-0.000129761904206,-0.00061515728581,-4.48635068647e-05,1793192283798830848
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,743,711.124219114,673,658.875780886,631,877.875780886,782,799.124219114,649,628,649.124219114,0.444361452517,-0.00558414027571,0.0796153498325,0.999999807318,-0.000126054043425,-0.000606487162675,-4.06004182361e-05,1793192283815497472
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.450402521,743,711,673,658.549597479,631,877.549597479,782,799,648.549597479,628,649.450402521,0.44422681532,-0.00557060863345,0.079621342531,0.999999814854,-0.000109713464764,-0.000597334037793,-3.80407532746e-05,1793192283832163584
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.976199265,743,711,673,658.023800735,631,877.023800735,782,799.023800735,648,628,650,0.444084757757,-0.00555346759197,0.0796265247864,0.999999822087,-8.92862341556e-05,-0.000588691996786,-3.59944525337e-05,1793192283848830208
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.405453035,743,711,673,658.594546965,631,877.594546965,782,799.594546965,648,628,650,0.443899233022,-0.00552278371166,0.0796239373919,0.999999821001,-5.42969393862e-05,-0.000594828646988,-3.5045631638e-05,1793192283865497088
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,631,878,782,799.826062847,648.173937153,628,650,0.443703621757,-0.0055022495874,0.0796226653682,0.999999819632,-2.89356533944e-05,-0.00059907414434,-3.17669632141e-05,1793192283882163968
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,631,878,782,799.225469701,648.774530299,628,650,0.443483268946,-0.00550661212816,0.0796246198596,0.999999820162,-2.71912226701e-05,-0.000598680773155,-2.27733376687e-05,1793192283898830848
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.359226258,658.640773742,631,878,782,799,649,628,650,0.443238698662,-0.00550612232753,0.0796291423777,0.999999823517,-1.92452993492e-05,-0.000593647642232,-1.33595974641e-05,1793192283915497472
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.934367195,658.065632805,631,878,782,799,649,628,650,0.442979572329,-0.00550271600407,0.0796352084208,0.999999828369,-7.57193876267e-06,-0.000585825761139,-3.6933444467e-06,1793192283932164096
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.4931523,658.5068477,631,878.5068477,782,800.0136954,648.4931523,628,650,0.442697223574,-0.00549478864858,0.0796492523711,0.999999842512,1.33054407389e-05,-0.000561060495552,3.31428413156e-06,1793192283948830720
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,659.082238758,631.082238758,878.835522483,782,800.917761242,648,628.082238758,650,0.442403477306,-0.0054873520966,0.0796628470305,0.999999855354,3.38150775185e-05,-0.000536723361353,8.71894032486e-06,1793192283965497344
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,659.677942067,631.677942067,877.644115866,782,800.322057933,648,628.677942067,650,0.442057246775,-0.00548661605985,0.0796672200916,0.99999985923,4.4626142993e-05,-0.000528686408551,6.2535687907e-06,1793192283982163712
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,743,711.264573219,673,660,632,877.264573219,782,799.735426781,648.264573219,628.735426781,650,0.441681482997,-0.00548278293213,0.0796675660803,0.999999859255,5.23966462571e-05,-0.00052792277203,6.46406316545e-06,1793192283998830336
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,743,711.84052716,673,660,632,877.84052716,782,799.15947284,648.84052716,628.15947284,650,0.441270961058,-0.0054753047854,0.0796631725384,0.999999854853,5.65886594997e-05,-0.000535719225673,9.82382978632e-06,1793192284015496960
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.414525819,742.585474181,711.585474181,673,659.585474181,632,878,782.414525819,799,649,628,650,0.440816206978,-0.00546780934896,0.0796521334995,0.999999848311,6.75754421966e-05,-0.000546531381531,1.07673160451e-05,1793192284032163584
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.987775777,742.012224223,711.012224223,673,659.012224223,632,878,782.987775777,799,649,628,650,0.440344516185,-0.00546030729237,0.0796385498644,0.999999840688,8.11639781238e-05,-0.000558498265478,1.07855956285e-05,1793192284048830208
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.420438659,742,711,673,659.579561341,632,877.420438659,783,799,649,628.579561341,650,0.439849414597,-0.00546035680767,0.0796303511099,0.999999836232,7.30395444123e-05,-0.000567517706794,1.1185977136e-05,1793192284065497344
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742.167964046,711,673.167964046,660,632,877.167964046,783,798.832035954,649,629,650,0.439353847936,-0.00545908605583,0.0796361442834,0.999999842991,7.15945204975e-05,-0.000555639980066,1.24964470971e-05,1793192284082163968
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742.747096903,711,673.747096903,660,632,877.747096903,783,798.252903097,649,629,650,0.438858391571,-0.00545418055548,0.079675901878,0.999999874622,8.76585488843e-05,-0.000492764088392,1.60143938228e-05,1793192284098830336
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,743,711.897188526,674,660,632,877.102811474,783,798.897188526,649,629,650,0.437799626476,-0.00544162880866,0.0797828017084,0.999999936096,0.000100441029307,-0.000342135469217,2.57555251917e-05,1793192284132163584
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711.770445845,672,659,632.770445845,877,783.770445845,798.229554155,649,628.770445845,650.229554155,0.400957191578,-0.00547353486601,0.0798311949011,0.999999949152,0.000130332844256,-0.000288813609045,3.60116341699e-05,1793192285548830464
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742.380209312,711.380209312,672,659.380209312,632,877,783,799,649,628,650.619790688,0.400957382376,-0.00547354732135,0.0798313556718,0.999999949391,0.000129943779976,-0.000288173185789,3.58905745307e-05,1793192285582163712
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742.954613255,711.954613255,672,659.954613255,632,877,783,799,649,628,650.045386745,0.400958013789,-0.00547507497129,0.0798316486252,0.999999949865,0.000129026668347,-0.000286952949449,3.57797018255e-05,1793192285598830336
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742.455411834,712,671.455411834,660,632.544588166,877,783.544588166,799,649,628,650,0.400957275475,-0.00547432990429,0.0798309453795,0.999999949888,0.000127673144155,-0.000287499158469,3.56123019765e-05,1793192285615496960
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.867067341,632.867067341,877,783.867067341,799,649,628,650,0.400956729034,-0.00547354248013,0.0798304753265,0.999999949822,0.000127103745043,-0.000287999855434,3.54409456132e-05,1793192285632163584
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.288663432,632.288663432,877,783.288663432,799,649,628,650,0.400957219385,-0.00547326653311,0.0798310731406,0.999999949594,0.000129287502744,-0.000287840172574,3.52725824993e-05,1793192285648830208
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711.711942193,671.288057807,659,632,877,783,799,648.711942193,628.288057807,650,0.400957801439,-0.00547429656445,0.0798317171005,0.999999949719,0.00012930203019,-0.000287378132242,3.54520357419e-05,1793192285665497088
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711.1368973,671.8631027,659,632,877,783,799,648.1368973,628.8631027,650,0.400958474854,-0.00547662771973,0.0798324070345,0.999999950195,0.000127155390754,-0.000286614858293,3.59780124743e-05,1793192285682163456
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711.44712417,672,659.44712417,632,876.55287583,783,799,648.44712417,628.55287583,650,0.400958232176,-0.00547573077458,0.0798326720075,0.999999950203,0.000127941447212,-0.000286236621884,3.59625042583e-05,1793192285698830080
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632,876.033583672,783.033583672,799,649,628.033583672,650.033583672,0.400957695897,-0.00547399578914,0.079832778292,0.999999950079,0.000129452684556,-0.00028601007438,3.57961046289e-05,1793192285715496704
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632,876.614072733,783.614072733,799,649,628.614072733,650.614072733,0.400957039563,-0.00547503843839,0.0798324626154,0.999999950199,0.000127851445117,-0.000286294636838,3.59276068877e-05,1793192285732163328
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632.192932687,877,783.807067313,799,649,628.807067313,650.807067313,0.400956416307,-0.0054757330002,0.0798320636911,0.999999950181,0.000127202029824,-0.000286642942679,3.59762904418e-05,1793192285748830208
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632.768561152,877,783.231438848,799,649,628.231438848,650.231438848,0.400955858664,-0.00547573710565,0.0798314996392,0.99999994989,0.000128440625881,-0.000287117688062,3.58606971657e-05,1793192285765496832
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_04/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..138a4ed05912e722a7ca03ff6f7f501c1b34d610
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_04/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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+377,6.283333333,pose2_to_pose3_retreat,0.57571161792,5.46417840755e-05,1.07002913454,0.546282348558,0.00872737270048,1.06969842753
+378,6.300000000,pose2_to_pose3_retreat,0.575711545371,5.46465120605e-05,1.07002913457,0.546282275983,0.00872737734403,1.06969842762
+379,6.316666667,pose2_to_pose3_retreat,0.575711356661,5.46296259789e-05,1.0700291329,0.546282087496,0.0087273612116,1.06969842594
+380,6.333333333,pose2_to_pose3_retreat,0.575711161788,5.46104355967e-05,1.07002913107,0.546281892869,0.00872734285794,1.06969842409
+381,6.350000000,pose2_to_pose3_retreat,0.575710866925,5.45813986186e-05,1.07002912829,0.546281598379,0.00872731508701,1.06969842129
+382,6.366666667,pose2_to_pose3_retreat,0.575710459786,5.45413051758e-05,1.07002912447,0.546281191756,0.00872727674169,1.06969841743
+383,6.383333333,pose2_to_pose3_retreat,0.575710344653,5.45299673265e-05,1.07002912338,0.546281076769,0.00872726589818,1.06969841634
+384,6.400000000,pose2_to_pose3_retreat,0.575710279279,5.45235295386e-05,1.07002912277,0.546281011478,0.00872725974109,1.06969841571
+385,6.416666667,pose2_to_pose3_retreat,0.575710251356,5.45207798278e-05,1.07002912251,0.54628098359,0.00872725711127,1.06969841545
+386,6.433333333,pose2_to_pose3_retreat,0.575710192127,5.45149472179e-05,1.07002912195,0.546280924437,0.00872725153297,1.06969841489
+387,6.450000000,pose2_to_pose3_retreat,0.575710126962,5.45085300151e-05,1.07002912134,0.546280859354,0.00872724539556,1.06969841427
+388,6.466666667,pose2_to_pose3_retreat,0.575709991746,5.44952144428e-05,1.07002912006,0.546280724309,0.00872723266056,1.06969841299
+389,6.483333333,pose2_to_pose3_retreat,0.575709870414,5.4494095382e-05,1.07002912189,0.546280602942,0.00872723140314,1.06969841438
+390,6.500000000,pose2_to_pose3_retreat,0.575709855412,5.44999778504e-05,1.07002912376,0.546280587829,0.00872723690193,1.06969841596
+391,6.516666667,pose2_to_pose3_retreat,0.575709739849,5.45452892981e-05,1.07002913818,0.546280471421,0.00872727925797,1.06969842818
+392,6.533333333,pose2_to_pose3_retreat,0.575709521579,5.46308720125e-05,1.07002916542,0.546280251552,0.00872735925861,1.06969845125
+393,6.550000000,pose2_to_pose3_retreat,0.57570931499,5.46598877795e-05,1.07002924273,0.546280044359,0.00872738608437,1.06969852486
+394,6.566666667,pose2_to_pose3_retreat,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684827,1.06969858496
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_04/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bcb9af9f76e12da80e4a33741b3aa4cc165a9930
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78761c9fe262059c3ba6ded0e4aba2d3348efdfb589c72ca683ab134ece4b15f
+size 25270984
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_04/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2a4dab6c1a2f5d7448b690021e73e425b8d62c3f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_04/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,764,742,712,672,659,633,877,783,799,649,628,650,0.400955594901,-0.0054788654757,0.0798317211192,0.999999950601,0.000123855689995,-0.000286620537767,3.6135539892e-05,1793192285887173632
+1,0.016666667,BASELINE,764,742,712,672,659,633,877,783.584581089,799,649,628.584581089,650,0.400954927971,-0.00547811343001,0.0798309974992,0.999999950065,0.000124890718706,-0.000288043892584,3.60847492973e-05,1793192285903840512
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+9,0.150000000,BASELINE,763.237694081,742,711,671,659.762305919,632.237694081,877,783.237694081,799,649,628.237694081,650.237694081,0.400956533645,-0.00547650479705,0.0798329804811,0.999999950792,0.000124655379944,-0.000285747225284,3.50049838461e-05,1793192286037174016
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+11,0.183333333,BASELINE,764,742,711,671.391931025,659.391931025,632.608068975,876.608068975,783.608068975,799,649,628.608068975,650.608068975,0.400957119401,-0.00547568196754,0.0798330655559,0.999999951106,0.000124361769886,-0.000284771151289,3.50443504251e-05,1793192286070507264
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+17,0.283333333,BASELINE,764,742,712,671.123265126,659,632.876734874,877,783,799,649,628,651,0.400955718506,-0.0054774607263,0.079833417626,0.999999950962,0.00012407685338,-0.000285366329487,3.53210187701e-05,1793192286170507008
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+19,0.316666667,BASELINE,764,742,711.974257895,671.025742105,659,633,877,783,799,649,628,650,0.400960117779,-0.00547491945472,0.0798351060421,0.999999951435,0.000126770755183,-0.000282523348511,3.52139654153e-05,1793192286203840768
+20,0.333333333,BASELINE,764,742,711.385730008,671.614269992,659,633,877,783,799,649,628,650,0.40095787472,-0.0054752404112,0.0798339266348,0.99999995083,0.000126974296539,-0.000284586853944,3.50473486709e-05,1793192286220507392
+21,0.350000000,BASELINE,763.800138352,742,711,671.800138352,659,632.800138352,877.199861648,783,798.800138352,649,628,650,0.40095619082,-0.00547518104688,0.0798331354386,0.999999950417,0.00012697693352,-0.000286045138786,3.49543625506e-05,1793192286237174016
+22,0.366666667,BASELINE,763.220131596,742,711,671.220131596,659,632.220131596,877.779868404,783,798.220131596,649,628,650,0.400955570463,-0.00547439829662,0.0798330826363,0.999999950375,0.00012659744206,-0.000286352268829,3.5001424938e-05,1793192286253840896
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+24,0.400000000,BASELINE,763,742,711,671.932295088,659.932295088,632.932295088,877.067704912,783,798.932295088,649,628,650,0.400955497818,-0.00547504210196,0.0798312745266,0.999999949955,0.000127492958877,-0.00028745770926,3.46922889707e-05,1793192286287174144
+25,0.416666667,BASELINE,763.507035891,742,711,671.492964109,659.492964109,632.492964109,877,783,799,649,628,650,0.400956568094,-0.00547621221326,0.0798318507945,0.999999950708,0.00012493707233,-0.000285950605648,3.47382463818e-05,1793192286303840512
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+27,0.450000000,BASELINE,764,742,711.675675922,671,659,632,877,783,798.324324078,649,628,650,0.400956765786,-0.00547604994657,0.0798330466322,0.999999951113,0.000123692465731,-0.000285037759398,3.50288889773e-05,1793192286337173504
+28,0.466666667,BASELINE,764,742,711.738932685,671,659.261067315,632.261067315,876.738932685,783,798.261067315,649,628,650.261067315,0.400955442823,-0.00547590102694,0.0798328535244,0.99999995078,0.000123837330019,-0.000286140664705,3.5042675854e-05,1793192286353840384
+29,0.483333333,BASELINE,764,742,711.161043207,671,659.838956793,632.838956793,876.161043207,783,798.838956793,649,628,650.838956793,0.400953397715,-0.00547688195947,0.0798318849162,0.999999950409,0.000122762129466,-0.00028792086894,3.48363896857e-05,1793192286370507008
+30,0.500000000,BASELINE,764,742,711,671.414206782,659.585793218,632.585793218,876,783.414206782,799,649,628.414206782,650.585793218,0.400954311784,-0.00547718842879,0.0798320497459,0.999999950377,0.000124473281849,-0.00028726953398,3.50463937849e-05,1793192286387174144
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+45,0.750000000,BASELINE,764,742.109613159,711.109613159,672,659,632,876,783,799,649,628,651,0.400957078522,-0.00547485613352,0.0798337371619,0.999999951148,0.000127428722156,-0.000283264036464,3.50419677159e-05,1793192286637173760
+46,0.766666667,BASELINE,764,742.702285566,711.702285566,672,659,632,876,783,799,649,628,651,0.400956844928,-0.00547588882708,0.0798338999291,0.999999951178,0.000127288119041,-0.000283207628638,3.51394261827e-05,1793192286653840384
+47,0.783333333,BASELINE,764,742.71333591,712,672,659,632,876.28666409,783,799,649,628,650.71333591,0.40095667727,-0.00547659068481,0.0798338294125,0.999999951296,0.000125903924305,-0.000283420929018,3.5061187075e-05,1793192286670507264
+48,0.800000000,BASELINE,764,742.137328708,712,672,659,632,876.862671292,783,799,649,628,650.137328708,0.400956576164,-0.00547695861499,0.0798335234319,0.999999951496,0.000123264515941,-0.000283906458156,3.48056084215e-05,1793192286687173888
+49,0.816666667,BASELINE,763.561821882,741.561821882,711.561821882,671.561821882,659,632.438178118,876.561821882,783,799.438178118,648.561821882,628,650,0.400956957953,-0.00547667880347,0.0798340953384,0.999999951538,0.000124475164759,-0.00028321942389,3.48686287387e-05,1793192286703840512
+50,0.833333333,BASELINE,763.013835864,741.013835864,711.013835864,671.013835864,659,632.986164136,876.013835864,783,799.972328271,648.013835864,628,650,0.400957434886,-0.00547620042574,0.0798349005166,0.999999951514,0.00012685105683,-0.000282229930787,3.5031972105e-05,1793192286720507136
+51,0.850000000,BASELINE,763.602268039,741.602268039,711.602268039,671.602268039,659,632.397731961,876.602268039,783,798.795463922,648.602268039,628,650,0.400955585069,-0.00547589688297,0.0798339800805,0.999999950937,0.000127564915644,-0.00028392378888,3.52196250389e-05,1793192286737173760
+52,0.866666667,BASELINE,764,742,712,672,659,632.186907264,877,783,798.186907264,649,628,650,0.400954667651,-0.00547576424949,0.0798334440762,0.999999950709,0.000127312691704,-0.000284839070276,3.52174412807e-05,1793192286753840640
+53,0.883333333,BASELINE,764,742,712,672,659,632.76363573,877,783,798.76363573,649,628,650,0.400955694881,-0.00547598807127,0.0798337098581,0.999999951211,0.000125045567229,-0.000284130521142,3.48193265794e-05,1793192286770507264
+54,0.900000000,BASELINE,764,742,712,671.65846331,659,632.65846331,877,783,798.65846331,649,628.34153669,650.34153669,0.400956286941,-0.00547710590007,0.0798340472104,0.999999951517,0.000124081029964,-0.000283454112568,3.49922850636e-05,1793192286787174400
+55,0.916666667,BASELINE,764,742,712,671.079748141,659,632.079748141,877,783,798.079748141,649,628.920251859,650.920251859,0.400956576799,-0.00547884456767,0.0798344342645,0.999999951689,0.000124021068092,-0.000282800023878,3.55618225364e-05,1793192286803842048
+56,0.933333333,BASELINE,764,742,711.504491774,671.495508226,659,632.495508226,877,783,798.495508226,649,629,650.504491774,0.400955637706,-0.00547826116398,0.0798338796358,0.999999951417,0.000124207187537,-0.000283713598011,3.5297056841e-05,1793192286820508416
+57,0.950000000,BASELINE,764,742,711.072298899,672,659,632.927701101,877.072298899,783.072298899,798.927701101,648.927701101,629,650,0.400954825808,-0.00547722370706,0.0798332565108,0.999999951095,0.000124683275291,-0.000284679116764,3.49540795273e-05,1793192286837174272
+58,0.966666667,BASELINE,764,742,711.664085789,672,659,632.335914211,877.664085789,783.664085789,798.335914211,648.335914211,629,650,0.400956339165,-0.00547559041277,0.0798332226469,0.999999950938,0.000126960267686,-0.000284217570328,3.50072422218e-05,1793192286853840640
+59,0.983333333,BASELINE,764,742,712,671.750425435,659,632.249574565,877.750425435,783.750425435,798.249574565,648.249574565,629,650,0.400957071413,-0.00547505584283,0.0798335382446,0.999999951002,0.000127735961011,-0.000283626342876,3.51434695303e-05,1793192286870507264
+60,1.000000000,BASELINE,764,742,712,671.173204856,659,632.826795144,877.173204856,783.173204856,798.826795144,648.826795144,629,650,0.400956778208,-0.00547596369792,0.0798343126218,0.999999951361,0.000126540722016,-0.000282864867768,3.53887455769e-05,1793192286887173888
+61,1.016666667,BASELINE,764,742,712,671,659,632.596777288,876.596777288,783.403222712,799,649,628.596777288,650,0.400956619585,-0.00547690366773,0.0798345226704,0.999999951622,0.000124705053943,-0.000282785679015,3.51665755352e-05,1793192286903840512
+62,1.033333333,BASELINE,764,742,712,671,659,632.020689725,876.020689725,783.979310275,799,649,628.020689725,650,0.400956518659,-0.00547785740532,0.0798344907867,0.999999951837,0.000122594828796,-0.000282998992008,3.47440075454e-05,1793192286920507392
+63,1.050000000,BASELINE,764,742,712,671.566671889,659.566671889,632,876.566671889,783.433328111,799,649.566671889,628.566671889,650,0.400957574218,-0.00547771585139,0.0798347888658,0.999999951878,0.000123815311827,-0.00028227867157,3.51012732346e-05,1793192286937174016
+64,1.066666667,BASELINE,763.847777528,742,712,671.847777528,659.847777528,632.152222472,877,783,799,649.847777528,628.847777528,650,0.400958035112,-0.00547741989151,0.0798347684668,0.999999951818,0.000124809500395,-0.000282027939441,3.53228981037e-05,1793192286953840384
+65,1.083333333,BASELINE,763.268486209,742,712,671.268486209,659.268486209,632.731513791,877,783,799,649.268486209,628.268486209,650,0.400956706769,-0.00547680520899,0.0798338200739,0.999999951496,0.000124820705062,-0.000283192240884,3.50824722418e-05,1793192286970507264
+66,1.100000000,BASELINE,763.30967134,742,711.69032866,671,659.30967134,632.69032866,877,783,799,649,628,650.30967134,0.400956232453,-0.0054766663067,0.0798334023659,0.999999951227,0.000125555531142,-0.000283819372446,3.50464009746e-05,1793192286987174144
+67,1.116666667,BASELINE,763.886849461,742,711.113150539,671,659.886849461,632.113150539,877,783,799,649,628,650.886849461,0.400956495881,-0.00547693840287,0.0798334430852,0.999999951004,0.000126915451026,-0.000283982474612,3.51868595854e-05,1793192287003840768
+68,1.133333333,BASELINE,764,742,711.462902182,671.462902182,660,632,877,783,799,649,628,650.537097818,0.400957460305,-0.00547618133233,0.0798343763658,0.99999995138,0.000126516110219,-0.000282844235366,3.5112064219e-05,1793192287020507392
+69,1.150000000,BASELINE,764,742,712,672,659.960546365,632.039453635,876.960546365,783,799,649,628,650.039453635,0.400958422972,-0.00547536155823,0.0798353849922,0.999999951852,0.000125637455158,-0.000281580146883,3.49843086937e-05,1793192287037174016
+70,1.166666667,BASELINE,764,742,712,672,659.373259886,632.626740114,876.373259886,783,799,649,628,650.626740114,0.400956987725,-0.00547715576971,0.0798344177094,0.99999995166,0.000124059967501,-0.000282974791622,3.48500038436e-05,1793192287053840384
+71,1.183333333,BASELINE,764,742,711.788768999,672,659,632.788768999,876,783,799.211231001,649,628,650.788768999,0.40095643838,-0.00547793937653,0.0798338779935,0.999999951513,0.000123745030723,-0.000283640421043,3.47819054726e-05,1793192287070507008
+72,1.200000000,BASELINE,764,742,711.209153496,672,659,632.209153496,876,783,799.790846504,649,628,650.209153496,0.400957434037,-0.00547696050045,0.0798340839493,0.999999951447,0.000125631968294,-0.000283034656135,3.48292704389e-05,1793192287087173632
+73,1.216666667,BASELINE,764,742,711.368629684,672,659,632,876.368629684,783,799.631370316,649,628.368629684,650.368629684,0.400958264885,-0.00547657284798,0.0798346183027,0.999999951684,0.000126509003335,-0.000281784565354,3.50118533788e-05,1793192287103840512
+74,1.233333333,BASELINE,764,742,711.945378347,672,659,632,876.945378347,783,799.054621653,649,628.945378347,650.945378347,0.400959002685,-0.00547651898545,0.0798353380611,0.999999952089,0.000126815872887,-0.000280170704546,3.52707769576e-05,1793192287120507392
+75,1.250000000,BASELINE,764,742,712,671.47981603,659,632.52018397,877,783,799,648.47981603,629,650.47981603,0.400956810493,-0.00547728657835,0.0798345696723,0.999999951602,0.000126202032722,-0.000282180239716,3.52486292452e-05,1793192287137174016
+76,1.266666667,BASELINE,764,742,712,671,659,632.902609662,877,783,799,648.097390338,628.902609662,650,0.400954644456,-0.00547767450609,0.0798336797211,0.99999995107,0.000125628869486,-0.00028432556326,3.51521122708e-05,1793192287153840384
+77,1.283333333,BASELINE,764,742,712,671,659,632.312221586,877,783,799,648.687778414,628.312221586,650,0.400954162437,-0.00547570552569,0.0798329624791,0.999999950806,0.000125749190075,-0.000285239441543,3.48279770946e-05,1793192287170507008
+78,1.300000000,BASELINE,764,742.27277869,712,671,659,632,877,783.27277869,799,649,628,650,0.400954625411,-0.00547564445635,0.0798330449068,0.999999950956,0.000125210359566,-0.000284969467801,3.46702221501e-05,1793192287187173632
+79,1.316666667,BASELINE,764,742.851731516,712,671,659,632,877,783.851731516,799,649,628,650,0.400956149072,-0.00547772487782,0.0798340249053,0.999999951569,0.000123931680133,-0.000283370706658,3.4699216873e-05,1793192287203840256
+80,1.333333333,BASELINE,764,742.572866125,712,671.427133875,659.427133875,632,877,783.572866125,799,649,628,650,0.400956649605,-0.00547709883843,0.0798342335467,0.999999951784,0.000123796947509,-0.000282664062194,3.47379263632e-05,1793192287220507392
+81,1.350000000,BASELINE,764,742,712,671.99865404,660,632,877,783,799,649,628.00134596,650.00134596,0.40095680006,-0.00547554539364,0.0798341782436,0.999999951864,0.000124054674463,-0.000282264253241,3.47797904454e-05,1793192287237174784
+82,1.366666667,BASELINE,764,742,712,671.410502943,660,632,877,783,799,649,628.589497057,650.589497057,0.40095788658,-0.00547587876019,0.0798348226237,0.999999952055,0.000123720141111,-0.000281739402382,3.47388881748e-05,1793192287253840640
+83,1.383333333,BASELINE,764,742,711.824070433,671.175929567,660,632,877,783,799,649,629,650.824070433,0.400958271613,-0.00547625972245,0.0798351007663,0.999999952044,0.000124013014934,-0.000281650429135,3.47339393621e-05,1793192287270506752
+84,1.400000000,BASELINE,764,742,711.241609053,671.758390947,660,632,877,783,799,649,629,650.241609053,0.400957035678,-0.00547675066727,0.0798345326207,0.999999951564,0.00012575567896,-0.00028256866633,3.48120705177e-05,1793192287287173632
+85,1.416666667,BASELINE,764,742,711.336172462,672,660,632,877,783.336172462,799,649,628.663827538,650,0.400956602591,-0.00547694500603,0.0798344977339,0.999999951467,0.000125959433776,-0.00028282079975,3.48259593312e-05,1793192287303840512
+86,1.433333333,BASELINE,764,742,711.910636676,672,660,632,877,783.910636676,799,649,628.089363324,650,0.400956738592,-0.00547692909919,0.0798348408412,0.999999951642,0.000125072351448,-0.000282600773573,3.47943107391e-05,1793192287320508160
+87,1.450000000,BASELINE,764,742,712,672,660,632,877,784,799,649,628,650.485451286,0.400957109527,-0.00547648838857,0.0798350542659,0.999999951851,0.000124733175452,-0.000281999995227,3.48520431793e-05,1793192287337174528
+88,1.466666667,BASELINE,764,742,712,671.937843269,659.937843269,632,877,784,799.062156731,649,628,650.937843269,0.400957281178,-0.00547608597235,0.0798350606567,0.999999951962,0.000124609863332,-0.000281649765417,3.49596863865e-05,1793192287353840384
+89,1.483333333,BASELINE,764,742,712,671.345561698,659.345561698,632,877,784,799.654438302,649,628,650.345561698,0.400955384056,-0.00547667759268,0.0798335050381,0.999999951166,0.00012546677757,-0.00028403464224,3.5352579687e-05,1793192287370507008
+90,1.500000000,BASELINE,764,742,712,671,659,632,876.759755211,783.759755211,799.759755211,649,628,650.240244789,0.40095476173,-0.0054765282661,0.0798327086106,0.999999950759,0.00012605564779,-0.000285218113722,3.52446348253e-05,1793192287387174144
+91,1.516666667,BASELINE,764,742,712,671,659,632,876.18301793,783.18301793,799.18301793,649,628,650.81698207,0.400955924912,-0.00547534115183,0.0798329755241,0.999999950903,0.000126269089195,-0.000284718868472,3.44352042411e-05,1793192287403841280
+92,1.533333333,BASELINE,764,742,712,671,659.396957331,632,876.396957331,783,799,649,628,650.603042669,0.400956548988,-0.00547606711242,0.0798338170754,0.999999951427,0.000124631387918,-0.000283592110418,3.44649503973e-05,1793192287420508160
+93,1.550000000,BASELINE,764,742,712,671,659.978437798,632,876.978437798,783,799,649,628,650.021562202,0.400956922464,-0.00547768235379,0.0798349257436,0.999999952122,0.000122133194551,-0.000282173656913,3.48847825455e-05,1793192287437174528
+94,1.566666667,BASELINE,764,742,712,671,659.451702948,632.548297052,877,783,799,649,628,650,0.400957679512,-0.00547707592433,0.0798347617665,0.999999951872,0.000125149076611,-0.000281740021175,3.48713187886e-05,1793192287453840896
+95,1.583333333,BASELINE,763.877467882,742,712,671.122532118,659,633,877,783,799.122532118,649,628,650,0.400958029923,-0.00547662271415,0.0798345902525,0.999999951688,0.000127047163917,-0.000281553275455,3.48014636821e-05,1793192287470507264
+96,1.600000000,BASELINE,763.284723261,742,712,671.715276739,659,633,877,783,799.715276739,649,628,650,0.400956763199,-0.0054770857934,0.0798345778862,0.999999951924,0.000123840891309,-0.000282168425612,3.4579240869e-05,1793192287487173888
+97,1.616666667,BASELINE,763.29921286,742,712,672,659.29921286,633,877,783.29921286,799.70078714,649,628,650.29921286,0.400956604276,-0.00547667619114,0.0798348045741,0.999999951978,0.000123118717329,-0.000282311354227,3.44493548123e-05,1793192287503840768
+98,1.633333333,BASELINE,763.875006702,742,712,672,659.875006702,633,877,783.875006702,799.124993298,649,628,650.875006702,0.400957469362,-0.00547545991526,0.0798352522347,0.999999951867,0.000124692749792,-0.00028201777918,3.44048213533e-05,1793192287520507392
+99,1.650000000,BASELINE,764,742,712,672,659.550331114,633,877,783.550331114,799,649,628,650.550331114,0.400957648117,-0.00547699365685,0.0798351232125,0.999999952007,0.000123946878466,-0.000281838743945,3.44988343926e-05,1793192287537174016
+100,1.666666667,BASELINE,764,742,712,672,659,632.975297181,877,783.024702819,799,648.975297181,628,650.024702819,0.400957600546,-0.0054790879566,0.0798348212741,0.999999952189,0.000122639301848,-0.000281748893884,3.46280656316e-05,1793192287553840640
+101,1.683333333,BASELINE,764,742,712,672,659,632.384554995,877,783.615445005,799,648.384554995,628,650.615445005,0.400956727453,-0.00547655505461,0.0798342210007,0.999999951772,0.000123199981366,-0.000282974918191,3.46840516204e-05,1793192287570507264
+102,1.700000000,BASELINE,764,742.202196291,712,671.797803709,659,632,877,783.797803709,799,648,628.202196291,650.797803709,0.400956054223,-0.00547491303359,0.0798337133767,0.999999951434,0.000124258436574,-0.000283706886393,3.4659741889e-05,1793192287587173632
+103,1.716666667,BASELINE,764,742.781504176,712,671.218495824,659,632,877,783.218495824,799,648,628.781504176,650.218495824,0.400955753753,-0.00547493257421,0.0798333785509,0.999999951245,0.000126245281567,-0.000283517401917,3.44856744728e-05,1793192287603840256
+104,1.733333333,BASELINE,764,742.641951781,712,671.358048219,659,632,876.641951781,783.358048219,799,648.358048219,628.641951781,650,0.400956361831,-0.00547520711505,0.079833185911,0.999999951326,0.000126253272903,-0.000283242107497,3.43781464411e-05,1793192287620507136
+105,1.750000000,BASELINE,764,742.067081374,712,671.932918626,659,632,876.067081374,783.932918626,799,648.932918626,628.067081374,650,0.400957520097,-0.00547563607561,0.0798330793741,0.999999951571,0.000125062935942,-0.000282914849386,3.43109124487e-05,1793192287637173504
+106,1.766666667,BASELINE,764,742,711.48416618,672,659,632.51583382,876.51583382,784,799,649,628.51583382,650,0.400957777512,-0.00547564084568,0.0798342885554,0.999999951854,0.00012457619228,-0.000282103352755,3.45136098866e-05,1793192287653840128
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,712,672,660,633,876,783,799,648,628,651,0.400955741151,-0.00547599511647,0.0798343702666,0.99999995156,0.000124374296974,-0.000283189699751,3.48460015172e-05,1793192287696292096
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742.578380184,712,672,659.421619816,633,876.578380184,783,799,648.578380184,628.578380184,650.421619816,0.400956846885,-0.00547555341167,0.0798346635305,0.999999951513,0.000125799462319,-0.000282736282293,3.47647043472e-05,1793192287712958720
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.155718231,742.844281769,711.844281769,672,659,632.844281769,876.844281769,783,799.155718231,649,628.844281769,650,0.400957980176,-0.00547543710653,0.079835189679,0.999999951636,0.000126828268184,-0.00028184298331,3.47381977594e-05,1793192287729625344
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.730253493,742.269746507,711.269746507,672,659,632.269746507,876.269746507,783,799.730253493,649,628.269746507,650,0.400959187584,-0.00547619599051,0.0798363421896,0.99999995222,0.000126791032836,-0.000279766586566,3.48590549457e-05,1793192287746292224
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.687957429,742,711.312042571,672,659.312042571,632,876.312042571,783,800,649,628,650.312042571,0.400958389955,-0.00547686307402,0.0798360453912,0.999999952234,0.00012554596782,-0.000280264495793,3.49625240354e-05,1793192287762958848
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.099748558,742,711.900251442,672,659.900251442,632,876.900251442,783,800,649,628,650.900251442,0.400955817813,-0.00547744891151,0.079834465914,0.999999951737,0.000123231940169,-0.00028304073707,3.50506041717e-05,1793192287779625472
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.481036427,742,712,672,659.518963573,632,877,783,799.037927147,649,628,650.518963573,0.400955819705,-0.0054771550315,0.0798342667938,0.999999951429,0.000124621314908,-0.000283504235111,3.51666090454e-05,1793192287796292096
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711.940003263,671.940003263,659,632,877,783,798.059996737,649,628,650,0.400956804912,-0.00547664394394,0.0798346208589,0.999999951315,0.000126509305933,-0.00028305940274,3.52422610075e-05,1793192287812958976
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711.363698969,671.363698969,659,632,877,783,798.636301031,649,628,650,0.400961728642,-0.00547580962785,0.0798373096428,0.999999952547,0.000126180013213,-0.000278862146341,3.49215786739e-05,1793192287829626880
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.212716123,711,671.212716123,659,632,877,783.212716123,799,649,628,650,0.40097189165,-0.00547570076648,0.0798420227499,0.999999954766,0.000125834492097,-0.000270957488967,3.48666145526e-05,1793192287846294016
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.789320698,711,671.789320698,659,632,877,783.789320698,799,649,628,650,0.400991017365,-0.00547683292346,0.0798501988187,0.999999958558,0.000125461209467,-0.00025671066866,3.52662083332e-05,1793192287862960384
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.624496935,742.624496935,711.375503065,671.624496935,659,632.375503065,877,783.624496935,799,649,628.375503065,650,0.401027804214,-0.00547756021772,0.079863372129,0.999999964813,0.000124610058494,-0.00023153210507,3.52055951001e-05,1793192287879626752
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.032800154,742.032800154,711.967199846,671.032800154,659,632.967199846,877,783.032800154,799,649,628.967199846,650,0.401074759361,-0.00547805441472,0.0798794225729,0.999999971756,0.000123483777462,-0.000200059652056,3.48800203551e-05,1793192287896293120
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.545484099,742,712,671,659,633,877.545484099,783.545484099,798.454515901,649,629,650.545484099,0.401138223147,-0.00547895165709,0.0798912594733,0.999999976794,0.000123150610751,-0.000173529876202,3.36724470216e-05,1793192287912959488
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.122224641,712,671,659.122224641,632.877775359,877.877775359,783.877775359,798.122224641,649,629,651,0.401204973891,-0.00548022646918,0.0799019768294,0.999999980505,0.000122197879991,-0.000151709203,3.22662475988e-05,1793192287929625600
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.69616922,712,671,659.69616922,632.30383078,877.30383078,783.30383078,798.69616922,649,629,651,0.401280291962,-0.00548280929064,0.079909470465,0.999999981795,0.000118783329242,-0.000146220450488,3.03172655991e-05,1793192287946292224
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.723193481,711.723193481,671.276806519,659.723193481,632,877,783,798.723193481,649,628.723193481,650.723193481,0.401364462205,-0.00548390158635,0.0799135818293,0.999999982706,0.000116786880642,-0.000142137663194,2.73103087513e-05,1793192287962959104
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.135028078,711.135028078,671.864971922,659.135028078,632,877,783,798.135028078,649,628.135028078,650.135028078,0.401458589586,-0.00548331730131,0.0799138887298,0.999999983211,0.000116385548958,-0.000139636341019,2.31133154911e-05,1793192287979625728
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.447192215,711.447192215,672,659,632.447192215,877,783.447192215,798.447192215,649,628,650.447192215,0.401579297331,-0.0054852134173,0.0799177681701,0.999999984775,0.000112453724709,-0.000132163579694,1.83438904463e-05,1793192287996292608
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.972619254,742.972619254,712,672,659.027380746,632.972619254,877,783.972619254,799,649,628,651,0.401709267681,-0.00548775456234,0.0799227594368,0.999999986571,0.000107395018445,-0.00012306898496,1.33572181821e-05,1793192288012959488
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.397634626,742.397634626,712,672,659.602365374,632.397634626,877,783.397634626,799,649,628,651,0.401866078684,-0.00548841388632,0.0799286959583,0.999999988709,0.000100839369885,-0.000111166051661,7.43713940639e-06,1793192288029626112
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.181025705,742,712,671.818974295,660,632,877,783,798.818974295,649,628,650.818974295,0.402033557707,-0.00548996610771,0.0799347827088,0.999999990664,9.35076969438e-05,-9.96308443955e-05,1.07152023185e-06,1793192288046292736
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.767927211,742,712,671.232072789,660,632,877,783,798.232072789,649,628,650.232072789,0.402224955364,-0.00549352028475,0.0799412062854,0.999999992462,8.443610892e-05,-8.89201133762e-05,-6.29303952038e-06,1793192288062959104
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,671.350397222,659.649602778,632.350397222,876.649602778,783,798.350397222,649,628,650,0.402429268197,-0.00549540934247,0.0799431032324,0.999999993147,7.59785100346e-05,-8.79519591026e-05,-1.40895980255e-05,1793192288079625728
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,671.929968906,659.070031094,632.929968906,876.070031094,783,798.929968906,649,628,650,0.402642028117,-0.00549620934274,0.0799420395747,0.99999999309,6.79224848677e-05,-9.33558571159e-05,-2.21687025435e-05,1793192288096292352
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,671.491564935,659.508435065,633,876.508435065,783,799,649,628,650,0.402880829122,-0.00549750314886,0.0799363369017,0.999999994386,9.7458334009e-06,-0.000102255022446,-2.60100985646e-05,1793192288112959232
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,671.086207995,659.913792005,633,877,783.086207995,799,648.913792005,628.086207995,650,0.403130931223,-0.00549826490387,0.0799309970513,0.999999992758,-4.07206787707e-05,-0.000109630582722,-2.83917389048e-05,1793192288129625600
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,671.660913952,659.339086048,633,877,783.660913952,799,648.339086048,628.660913952,650,0.403424790267,-0.00549562721241,0.0799313260097,0.99999999405,-8.46361152481e-06,-0.000105650511574,-2.58020074406e-05,1793192288146292480
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.763497998,876.763497998,783.763497998,799,648,628.763497998,650,0.40374172419,-0.00549614406031,0.0799337617174,0.999999994559,1.23908444768e-05,-0.000100438949272,-2.53109406918e-05,1793192288162959616
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.186640541,876.186640541,783.186640541,799,648,628.186640541,650,0.404091865685,-0.00550120067831,0.079939229296,0.999999995104,1.68355392521e-05,-9.34551201757e-05,-2.7840110639e-05,1793192288179626240
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.399849994,632,876.399849994,783,799,648.399849994,628,650.399849994,0.404468931304,-0.00550272884732,0.0799404851962,0.999999995375,1.58454623519e-05,-8.99813560775e-05,-3.00497904877e-05,1793192288196292608
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.990948008,632,876.990948008,783,799,648.990948008,628,650.990948008,0.404858874706,-0.00550256936108,0.0799397266529,0.999999995521,1.22559371715e-05,-8.81864542416e-05,-3.21066583343e-05,1793192288212959232
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.567574211,711.432425789,672,660,632,877.567574211,783,799,648.432425789,628,650.432425789,0.405285688723,-0.00550180535831,0.0799365253739,0.999999995253,9.65806773314e-06,-9.04825402572e-05,-3.48468124332e-05,1793192288229625856
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.856407971,711,671.856407971,660,632,877.856407971,783,799.143592029,648.143592029,628,650,0.405721467821,-0.00550155966934,0.0799324957165,0.999999994691,7.09268831268e-06,-9.5725752571e-05,-3.74759266732e-05,1793192288246292480
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.281541549,711,671.281541549,660,632,877.281541549,783,799.718458451,648.718458451,628,650,0.406182450971,-0.00550289895761,0.0799260921502,0.999999993191,4.57857189487e-06,-0.000109629480539,-3.9739619165e-05,1793192288262959104
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.699795629,742.300204371,711.300204371,671,659.699795629,632,877,783,799.699795629,649,628,650.300204371,0.406665810772,-0.00550461637427,0.0799190128591,0.999999991696,-1.67735941002e-06,-0.000121966000629,-4.15846618169e-05,1793192288279626240
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.111446501,742.888553499,711.888553499,671,659.111446501,632,877,783,799.111446501,649,628,650.888553499,0.40717064838,-0.00550669672956,0.0799112849872,0.99999999019,-1.15247921351e-05,-0.000132798271331,-4.30278726244e-05,1793192288296292864
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.467515302,743,712,671.467515302,659.467515302,632,877,783,798.532484698,649,628,650.532484698,0.407699645911,-0.00550773450265,0.0799087224537,0.999999988966,-1.05994863516e-05,-0.000141342011912,-4.44679777334e-05,1793192288312959488
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.955520333,743,711.955520333,671.955520333,659.955520333,632,877,783,798.044479667,649,628,650,0.40823916906,-0.00550847348076,0.0799073692745,0.999999987821,-8.05940607352e-06,-0.000148926154686,-4.59789298416e-05,1793192288329626368
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.376195514,743,711.376195514,671.376195514,659.376195514,632,877,783,798.623804486,649,628,650,0.408837368873,-0.00550854923858,0.0799060434598,0.999999987236,-1.6373671341e-05,-0.000151402357308,-4.83505088311e-05,1793192288346292736
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.200103129,742.799896871,711.200103129,671,659.200103129,632,877,783,799,649,628,650,0.409461254298,-0.00551010058944,0.0799170111832,0.999999989618,-2.39865802161e-05,-0.000132977449555,-5.00572814027e-05,1793192288362959104
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.770797256,742.229202744,711.770797256,671,659.770797256,632,877,783,799,649,628,650,0.410132709441,-0.00551438473863,0.0799507465394,0.999999995388,-3.03005764962e-05,-7.58436845651e-05,-5.05328322296e-05,1793192288379625728
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.643659254,742,711.643659254,671.712681492,660,632,877.356340746,783,799,649,628.356340746,650,0.410821275065,-0.00551734566651,0.0799735877029,0.999999997212,-3.6648855189e-05,-3.97856603908e-05,-5.14713621463e-05,1793192288396292352
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.048149169,742,711.048149169,672.903701662,660,632,877.951850831,783,799,649,628.951850831,650,0.411521324901,-0.00551941847246,0.0799891168839,0.999999997525,-4.30201433864e-05,-1.78732872721e-05,-5.27206351309e-05,1793192288412958976
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742,711.527406914,673,660.527406914,632.527406914,878,783,799,649,628.472593086,650,0.412183027515,-0.00552153917065,0.0799600149357,0.999999995143,-5.07726510662e-05,-6.309681353e-05,-5.6165481031e-05,1793192288429625856
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742.101618241,712,672.898381759,660.898381759,632.898381759,877.898381759,783,799,649,628,650,0.412852779436,-0.00552374788348,0.0799288072588,0.999999990529,-5.85493966319e-05,-0.000109224444788,-5.98692056507e-05,1793192288446292480
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742.677746324,712,672.322253676,660.322253676,632.322253676,877.322253676,783,799,649,628,650,0.413575869188,-0.00552634791078,0.0799060995194,0.999999987079,-6.58719697033e-05,-0.000131997041703,-6.38799183591e-05,1793192288462959104
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742.739347978,712,672,660,632,877,783,799,649,628,650,0.414321428034,-0.00552811063212,0.0799033365272,0.999999986992,-7.26514938458e-05,-0.000127737375562,-6.64892681205e-05,1793192288479625728
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742.147839081,712,672,660,632,877,783,799,649,628,650,0.415095507971,-0.00552881052519,0.0799258902615,0.999999990659,-7.87417034745e-05,-8.91644928412e-05,-6.7319807849e-05,1793192288496292352
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.434206779,742,712,672,660,632,877,783,799,648.565793221,628,650,0.415881259101,-0.00553134026182,0.0799341952206,0.999999991231,-7.61944529968e-05,-8.66114346439e-05,-6.50401353611e-05,1793192288512958720
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.986992629,742.013007371,712,672,660.013007371,632.013007371,877.013007371,783,799,648,628,650.013007371,0.416671248314,-0.00553441652052,0.0799375514013,0.99999999099,-7.09719557456e-05,-9.56837005219e-05,-6.18604688802e-05,1793192288529625600
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.412164533,742.587835467,712,672,660.587835467,632.587835467,877.587835467,783,799,648,628,650.587835467,0.417476314861,-0.00553476233001,0.0799322336791,0.999999991226,-7.45139113122e-05,-8.84657215022e-05,-6.45716822008e-05,1793192288546292480
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,743,711.837261247,672.162738753,661,633,877.837261247,783,799,648,628,650.837261247,0.418299967444,-0.00553397577636,0.0799366190217,0.999999992623,-7.60184180392e-05,-6.8221420623e-05,-6.57407885545e-05,1793192288562959104
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,743,711.262167478,672.737832522,661,633,877.262167478,783,799,648,628,650.262167478,0.419170714138,-0.00553031998834,0.0799655904408,0.999999995285,-7.23603418604e-05,-1.49704202803e-05,-6.30024323298e-05,1793192288579625984
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,742.678535836,711.321464164,672.678535836,660.678535836,632.678535836,877,783,799.321464164,648,628,650,0.420003832822,-0.00552323772415,0.0799701603913,0.99999999626,-6.15069940336e-05,-4.19705809551e-06,-6.06636749123e-05,1793192288596292608
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742.087751253,711.912248747,672.087751253,660.087751253,632.087751253,877,783,799.912248747,648,628,650,0.420805426978,-0.00551328478247,0.0799542869612,0.999999996863,-4.46254984171e-05,-2.90111655073e-05,-5.86596987727e-05,1793192288612959232
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742,711.506849495,672,660,632,877,783,799.506849495,648.493150505,628,650,0.42167233075,-0.00552496830445,0.079956123125,0.999999996238,-5.97318790301e-05,-2.6770507212e-05,-5.69188829091e-05,1793192288629625856
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742,711,672,660,632.071723716,877,783,799,649,628,650,0.422548798114,-0.00553893990171,0.0799635642539,0.999999995295,-7.79808437364e-05,-1.66352939722e-05,-5.52512862557e-05,1793192288646292224
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742,711,672,660,632.64606022,877,783,799,649,628,650,0.42341244605,-0.00554249619683,0.0799886339607,0.999999995298,-7.91486057696e-05,1.57491738477e-05,-5.37750857113e-05,1793192288662959104
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,742,711,672.219070745,660,633,877,783,799,649,628,650,0.424242496914,-0.00554438121324,0.0799888825253,0.99999999517,-8.22426729264e-05,2.74355558998e-06,-5.37521453277e-05,1793192288679625984
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,742,711,672.789951941,660,633,877,783,799,649,628,650,0.425018593648,-0.00554358228754,0.0799492702846,0.999999991061,-8.84302350547e-05,-8.31549794138e-05,-5.60630264616e-05,1793192288696292608
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.378435774,742.378435774,711.378435774,673.378435774,660,632.621564226,877.378435774,782.621564226,799.756871548,648.621564226,628,650,0.425835243643,-0.00554629293728,0.0799161090886,0.999999985584,-9.70905199203e-05,-0.000125828774117,-5.97773447747e-05,1793192288712959232
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.977166412,742.977166412,711.977166412,673.977166412,660,632.022833588,877.977166412,782.022833588,800.954332825,648.022833588,628,650,0.426675500437,-0.00555104657956,0.0798867031743,0.999999981914,-0.000107190224908,-0.000143340597381,-6.43086313227e-05,1793192288729625856
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.446048219,712,672.892096437,660.553951781,632.553951781,877.446048219,782.553951781,799.892096437,648.553951781,628,650,0.427534060574,-0.00555438616877,0.0798941305119,0.999999982975,-0.000108237762837,-0.000135573245621,-6.28866813142e-05,1793192288746292736
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.870751567,742.129248433,712,672.129248433,660.870751567,632.870751567,877,783,799,649,628,650,0.428384215347,-0.00555681766936,0.0799045140167,0.999999984418,-0.000107916222275,-0.000125499193955,-6.13814513639e-05,1793192288762959616
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.297579672,742.702420328,712,672.702420328,660.297579672,632.297579672,877,783,799,649,628,650,0.429203008028,-0.00555632276609,0.0799200349901,0.9999999866,-0.000104125093393,-0.000110944938425,-6.04008933194e-05,1793192288779625984
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.285722665,742.714277335,712,673,660.285722665,632,877,783,799,649,628,650,0.430031957652,-0.00555927764276,0.0799468859962,0.99999999003,-0.000105235633883,-7.3871472348e-05,-5.83753261327e-05,1793192288796292608
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.879963635,742.120036365,712,673,660.879963635,632,877,783,799,649,628,650,0.430871874513,-0.00556595753115,0.0799859709711,0.999999992166,-0.000111638910694,-1.24821596343e-05,-5.52213763675e-05,1793192288812959232
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.541432845,742.458567155,712,673,660.541432845,632.458567155,877,783,799,649,628,650.458567155,0.431670597732,-0.00556888248909,0.0800028650456,0.999999992107,-0.000113167981415,1.15654792934e-05,-5.33418745854e-05,1793192288829625856
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,743,711.966578251,672.966578251,660,632.966578251,877.033421749,783,799,649,628,650.966578251,0.432453456488,-0.00557052006129,0.0800095022728,0.999999992047,-0.000113255773763,1.90571566651e-05,-5.21096080223e-05,1793192288846292480
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,743,711.388310465,672.388310465,660,632.388310465,877.611689535,783,799,649,628,650.388310465,0.433147678977,-0.00556666556009,0.0799405037506,0.999999988394,-0.00010996150941,-8.92548811341e-05,-5.61695331705e-05,1793192288862959104
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.189171529,743,711.189171529,672.378343058,660.189171529,632,878,783,799,648.810828471,628.189171529,650,0.433851027589,-0.00556356530437,0.0798876546799,0.999999978515,-0.000107115510512,-0.000167152683324,-5.96341485171e-05,1793192288879625984
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.765047314,743,711.765047314,673.530094629,660.765047314,632,878,783,799,648.234952686,628.765047314,650,0.434573031939,-0.00556200687582,0.0798678182896,0.999999975831,-0.000105185857007,-0.000182877756283,-6.188183401e-05,1793192288896292864
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.649567648,743,712,673.649567648,661,632.350432352,878,783,799,648.350432352,629,650,0.435297969055,-0.00556245993946,0.0798884650885,0.999999982023,-0.000104988994107,-0.000145670669514,-6.09238337587e-05,1793192288912959232
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.057629189,743,712,673.057629189,661,632.942370811,878,783,799,648.942370811,629,650,0.436024927289,-0.00556429925548,0.0799370115313,0.999999990125,-0.000105986311465,-7.19845298135e-05,-5.77565830966e-05,1793192288929625600
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,742.480806619,711.480806619,673,661,632.480806619,877.480806619,783,799.519193381,649,628.480806619,650.519193381,0.436691688292,-0.00556025457388,0.079952493007,0.99999999128,-0.0001006491119,-6.43522041913e-05,-5.62815914515e-05,1793192288946292480
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,742.094778288,711.094778288,673,660.905221712,632,877.094778288,783,799.905221712,648.905221712,628.094778288,650.905221712,0.437344770082,-0.0055568834145,0.0799590913172,0.999999991474,-9.61721352784e-05,-6.87706890436e-05,-5.5443634518e-05,1793192288962959104
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,742.672363599,711.672363599,673,660.327636401,632,877.672363599,783,799.327636401,648.327636401,628.672363599,650.327636401,0.43796124334,-0.00556017608392,0.0799386051549,0.999999988594,-9.9557583476e-05,-9.82846925265e-05,-5.69209930373e-05,1793192288979625728
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,742.745653207,711.745653207,673.254346793,660.254346793,632,878,783,799.254346793,648,628.745653207,650,0.438544741606,-0.00556370655775,0.0799160894954,0.999999984278,-0.000103516189821,-0.000131665606649,-5.82465402511e-05,1793192288996292352
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,742.157905255,711.157905255,673.842094745,660.842094745,632,878,783,799.842094745,648,628.157905255,650,0.439085015765,-0.0055675487485,0.0798909135457,0.999999977911,-0.000108226099203,-0.000170115316319,-5.93730910592e-05,1793192289012958976
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,742,711,673.576132535,660.576132535,632,878,783,799.576132535,648.423867465,628,650,0.439594098414,-0.00557014142741,0.0798565680447,0.999999967141,-0.000116259549453,-0.000219856877732,-6.2163879652e-05,1793192289029625600
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,742.003400154,711,673,660,632,877.996599846,782.996599846,799,649,628,650,0.440091301467,-0.00557226681768,0.0798187644707,0.999999952469,-0.000125406641381,-0.000273933584215,-6.55397870966e-05,1793192289046292480
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,742.575400619,711,673,660,632,877.424599381,782.424599381,799,649,628,650,0.440518059461,-0.00557300869076,0.0797659804525,0.999999926576,-0.00011661333138,-0.000359284013657,-6.45261524307e-05,1793192289062959104
+190,3.166666667,POSE1_TO_POSE2_PRESS,763,743,711,672.85124111,660,632,877.14875889,782.14875889,799.14875889,649,628,650,0.440949253023,-0.00557451163291,0.0797213213965,0.999999898754,-0.000113795103817,-0.000430542200035,-6.46196535899e-05,1793192289079625728
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,743,711,672.273971448,660,632,877.726028552,782.726028552,799.726028552,649,628,650,0.441393223662,-0.00557820688991,0.0797000668714,0.999999883123,-0.000128188534509,-0.000461206684634,-6.79023406834e-05,1793192289096292608
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,743,711,672.31127471,660,631.68872529,877.68872529,782.68872529,799.68872529,649,628,650,0.441830891377,-0.0055819733138,0.0797034426043,0.999999885255,-0.000136843548551,-0.000453954632207,-6.84694575733e-05,1793192289112959232
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,743,711,672.903726059,660,631.096273941,877.096273941,782.096273941,799.096273941,649,628,650,0.442262865588,-0.00558580402304,0.0797290670242,0.999999902881,-0.000140315009442,-0.000412452302506,-6.65835805199e-05,1793192289129625856
+194,3.233333333,POSE1_TO_POSE2_PRESS,763,742.516400638,711,673,659.516400638,631.483599362,877.483599362,782.483599362,799,648.516400638,628,650,0.442665767882,-0.00559113948986,0.0797556555372,0.999999918276,-0.000141718454846,-0.000373139282371,-6.42652232552e-05,1793192289146292480
+195,3.250000000,POSE1_TO_POSE2_PRESS,763,742.06097612,711,673,659.06097612,631.93902388,878,782.93902388,799.06097612,648.06097612,628,650,0.443054085768,-0.00559613863361,0.0797789912483,0.999999930119,-0.000143328435401,-0.000339659791918,-6.20566561542e-05,1793192289162959104
+196,3.266666667,POSE1_TO_POSE2_PRESS,763,742.637878982,711,673,659.637878982,631.362121018,878,782.362121018,799.637878982,648.637878982,628,650,0.443366731181,-0.00559582170911,0.0797732218147,0.999999924915,-0.000150081047272,-0.000351944302739,-6.14870510991e-05,1793192289179625728
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,743,711,673,659.783960564,631,878,782,799.783960564,649,628,650,0.443653606487,-0.00559604108394,0.0797595478267,0.999999915899,-0.00015231830149,-0.000375849797635,-6.11427309124e-05,1793192289196292352
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,743,711,673,659.203679875,631,878,782,799.203679875,649,628,650,0.443897033506,-0.0055971646564,0.0797325468059,0.999999899406,-0.000146942687708,-0.000419348203534,-6.11782397177e-05,1793192289212958976
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.379676834,742.620323166,711.379676834,673,659,631,878,782,799.379676834,649,628,650,0.444135837393,-0.00559637106757,0.079715846681,0.999999889025,-0.000142335926861,-0.000444747923834,-6.23706412194e-05,1793192289229625600
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.964697226,742.035302774,711.964697226,673,659,631,878,782,799.964697226,649,628,650,0.444372140937,-0.00559454060567,0.079704717667,0.999999882433,-0.000138144990265,-0.000460359196317,-6.41887339744e-05,1793192289246292224
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763,743,711,673.120731155,659,631,878,782,799,649,628,650,0.444786119964,-0.00559619837273,0.0797050066944,0.99999988199,-0.000154733827202,-0.000456844901393,-5.80532202712e-05,1793192289279625728
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+204,3.400000000,POSE1_TO_POSE2_PRESS,763,743,711,673.720073142,658.720073142,631,878,782,799.279926858,649,628,650,0.445116045887,-0.00559420603777,0.0796993956461,0.999999878449,-0.00014001757974,-0.000468919779965,-6.00998564769e-05,1793192289312959232
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+207,3.450000000,POSE1_TO_POSE2_PRESS,763.030910157,742.030910157,711,673,659,631,878,782,800,649,628,650,0.445492047058,-0.00559367507977,0.0796905325629,0.99999987437,-0.000127596751202,-0.000480869995336,-6.11801226939e-05,1793192289362959104
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+220,3.666666667,POSE1_TO_POSE2_PRESS,763.568305907,743,711.568305907,673,658,631,878,781.431694093,799.568305907,649,627.568305907,650,0.445937103991,-0.00559196370414,0.0796649623906,0.999999850845,-0.000167079755835,-0.000516771724378,-5.77955271377e-05,1793192289579625728
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711.857403572,673,658.142596428,631,878,781.142596428,799.857403572,649,628,650,0.445938485597,-0.00559184114527,0.0796642574563,0.999999850241,-0.000166315622532,-0.000518227312003,-5.7432716812e-05,1793192289596292352
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711.281339331,673,658.718660669,631,878,781.718660669,799.281339331,649,628,650,0.445940275427,-0.00559395913584,0.0796642090317,0.999999849518,-0.000170346215673,-0.000518356593522,-5.70335114051e-05,1793192289612958976
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.696756164,742.696756164,711,673.303243836,658.696756164,631,877.696756164,781.696756164,799,649,628,650,0.44594122812,-0.00559456440759,0.0796636107672,0.999999848748,-0.000171367585593,-0.00051951700104,-5.69210278509e-05,1793192289629625600
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.104040907,742.104040907,711,673.895959093,658.104040907,631,877.104040907,781.104040907,799,649,628,650,0.445941381696,-0.00559372566388,0.0796624876347,0.999999847937,-0.00016951640255,-0.000521661703965,-5.70822440667e-05,1793192289646292224
+225,3.750000000,POSE1_TO_POSE2_PRESS,763,742.474639925,711.474639925,673.525360075,658.474639925,631,877.474639925,781.474639925,799.474639925,649,628,650,0.445940736597,-0.00559257563687,0.079661711075,0.999999847412,-0.000167850178641,-0.000523220342265,-5.69409281631e-05,1793192289662958848
+226,3.766666667,POSE1_TO_POSE2_PRESS,763,743,711.949570234,673,658.949570234,631,878,782,800,649,628.050429766,650,0.445940286706,-0.00559142858408,0.0796612631227,0.999999847185,-0.000166264485995,-0.000524180065653,-5.67485055604e-05,1793192289679625728
+227,3.783333333,POSE1_TO_POSE2_PRESS,763,743,711.372767544,673,658.372767544,631,878,782,800,649,628.627232456,650,0.445943649193,-0.00559100432104,0.079663474922,0.999999849463,-0.000165108333045,-0.000520190847164,-5.66949435515e-05,1793192289696292608
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.20771451,743,711,673.20771451,658,631,878,782,799.79228549,649,628.79228549,650,0.445945231709,-0.00559087335847,0.0796641417909,0.99999985047,-0.000164191783195,-0.000518551063693,-5.66246210136e-05,1793192289712959232
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.794918643,743,711,673.794918643,658,631,878,782,799.205081357,649,628.205081357,650,0.445943562257,-0.00559127824916,0.0796619861071,0.999999849175,-0.000163712982758,-0.000521203644117,-5.65236773796e-05,1793192289729625600
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+231,3.850000000,POSE1_TO_POSE2_PRESS,763.042286713,742.042286713,711.957713287,674,658,630.042286713,878,782,799.957713287,648.042286713,628,650.957713287,0.445943760104,-0.00559463797395,0.0796614771128,0.999999847643,-0.00016861099704,-0.000522609815181,-5.62396695673e-05,1793192289762959104
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.53379052,742,711.46620948,674,658.53379052,630.53379052,878,782,799.46620948,648,627.46620948,651,0.445943892839,-0.005592165623,0.0796615228754,0.999999847905,-0.000166183406691,-0.000522854367635,-5.65364089811e-05,1793192289779625728
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.890852378,742.109147622,711.109147622,673.890852378,659,631,878,782,799.109147622,648.109147622,627.109147622,650.890852378,0.445944095424,-0.00558994828606,0.079661600467,0.999999848382,-0.000163487124614,-0.000522771037458,-5.67268272215e-05,1793192289796292352
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.317191244,742.682808756,711.682808756,673.317191244,659,631,878,782,799.682808756,648.682808756,627.682808756,650.317191244,0.445944709147,-0.00559029574845,0.0796618476367,0.999999849495,-0.000161486205504,-0.00052130771151,-5.63150591137e-05,1793192289812958976
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.264192796,743,711.735807204,673,658.735807204,631,878,781.735807204,799.735807204,649,628,650.264192796,0.445945005191,-0.00559060356067,0.0796614474831,0.999999849627,-0.000160829564702,-0.000521289381909,-5.60106958474e-05,1793192289829625600
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.85512828,743,711.14487172,673,658.14487172,631,878,781.14487172,799.14487172,649,628,650.85512828,0.445944908343,-0.00559086233524,0.079660246747,0.999999848551,-0.000161835471273,-0.000523058163645,-5.58391663784e-05,1793192289846292224
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.562508192,742.562508192,711,673,658,631,878,781,799.437491808,648.562508192,628,650.562508192,0.445946148192,-0.00559035550671,0.0796608326743,0.999999849118,-0.000161206352172,-0.000522182111112,-5.57063705464e-05,1793192289862958848
+238,3.966666667,POSE1_TO_POSE2_PRESS,763,742.0169327,711,673,658,631,878,781,799.9830673,648.0169327,628,650,0.445947728384,-0.00558967760016,0.0796619346923,0.999999850126,-0.000160169339822,-0.000520578968783,-5.55961282246e-05,1793192289879625728
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,742.591806082,711,673,658,631,878,781,799.408193918,648.591806082,628,650,0.445946218207,-0.00559155576202,0.0796609220077,0.999999848194,-0.000163189426125,-0.000523321804812,-5.58145231097e-05,1793192289896292352
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,743,711,673,658,631,877.834099321,781.165900679,799.165900679,648.834099321,628,650,0.445945419357,-0.00559244548266,0.0796604148031,0.999999847106,-0.000165323583549,-0.000524711062441,-5.59856491413e-05,1793192289912958976
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,743,711,673,658,631,877.26191198,781.73808802,799.73808802,648.26191198,628,650,0.445946362529,-0.00559091453508,0.0796611455069,0.999999848117,-0.000165288122886,-0.000522785439888,-5.60410149083e-05,1793192289929625856
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.324175506,743,711,673,658,630.675824494,877.324175506,781.675824494,800.324175506,648.324175506,628,650.324175506,0.445946621267,-0.00558967752299,0.0796612174398,0.999999848676,-0.000163821022549,-0.000522166926916,-5.61506178756e-05,1793192289946292224
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.921996456,743,711,673,658,630.078003544,877.921996456,781.078003544,800.921996456,648.921996456,628,650.921996456,0.445946302256,-0.00558868862998,0.0796607332862,0.999999848848,-0.000161145435862,-0.000522651781123,-5.63060039495e-05,1793192289962958848
+244,4.066666667,HOLD_POSE2,763,743,711,673,658,630,878,781,800,649,628,650,0.445945414618,-0.00558776667833,0.0796601662187,0.999999847914,-0.000160166922126,-0.000524741286237,-5.62606025224e-05,1793192289994250240
+245,4.083333333,HOLD_POSE2,763,743,711,673.57659456,658.57659456,630.57659456,878,781.57659456,799.42340544,649,628,650,0.445947444036,-0.0055883467088,0.0796618940323,0.999999849536,-0.000160756113606,-0.000521483350813,-5.6037261566e-05,1793192290010916608
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+247,4.116666667,HOLD_POSE2,763,742.250886238,711,674,658.250886238,631,878,782,799,649,628,650,0.445945569118,-0.00558864901876,0.0796614972235,0.999999848448,-0.000161059706728,-0.000523493844514,-5.58351861826e-05,1793192290044249600
+248,4.133333333,HOLD_POSE2,763,742.333169996,711,673.666830004,658,631,878,782,799,649,628,650,0.445945753187,-0.00558892213078,0.0796613986932,0.999999848414,-0.000161601085739,-0.000523385075697,-5.59074899729e-05,1793192290060915968
+249,4.150000000,HOLD_POSE2,763,742.911479141,711,673.088520859,658,631,878,782,799,649,628,650,0.445948028963,-0.00558946805587,0.0796621959182,0.999999849676,-0.000162615827501,-0.000520636757393,-5.60551254025e-05,1793192290077582336
+250,4.166666667,HOLD_POSE2,763,743,711,673,658,631,878,781.511780438,799.488219562,649,628,650,0.445946855441,-0.00558965345547,0.0796607480166,0.999999848653,-0.000161971844522,-0.000522840706386,-5.56485186575e-05,1793192290094248960
+251,4.183333333,HOLD_POSE2,763,743,711,673,658,631,878,781,799.934228225,649,628,650,0.445945339319,-0.00558980691928,0.0796592308529,0.999999847438,-0.00016112287402,-0.000525468162341,-5.5198382424e-05,1793192290110915328
+252,4.200000000,HOLD_POSE2,763,743,711,673,658,631,878,781,799.348008867,649,628,650,0.445946045166,-0.00559022327458,0.0796603764397,0.999999848033,-0.000161024038511,-0.000524364428124,-5.51964370972e-05,1793192290127581952
+253,4.216666667,HOLD_POSE2,763,743,711,673.235085292,658,630.764914708,878,781.235085292,799.235085292,649,628,650,0.445947298547,-0.005589709704,0.0796614180012,0.999999848947,-0.000160252371431,-0.000522840536917,-5.53364666171e-05,1793192290144248832
+254,4.233333333,HOLD_POSE2,763,743,711,673.813613701,658,630.186386299,878,781.813613701,799.813613701,649,628,650,0.445949351837,-0.00558783757692,0.0796623075888,0.999999850323,-0.000158497744641,-0.000520702825924,-5.56839114263e-05,1793192290160915712
+255,4.250000000,HOLD_POSE2,763,743,711,674,658,630.39051615,878,782,799.60948385,649,628,650,0.445949790103,-0.00558828268409,0.0796623748025,0.99999985029,-0.000159354342254,-0.000520499062871,-5.57396004512e-05,1793192290177582592
+256,4.266666667,HOLD_POSE2,763,743,711,674,658,630.966645826,878,782,799.033354174,649,628,650,0.445949460742,-0.00558982917966,0.0796620511393,0.999999849585,-0.000161452062693,-0.000521214511028,-5.56566170859e-05,1793192290194249216
+257,4.283333333,HOLD_POSE2,763,743,711,673.457031757,658,631,878.542968243,782,799.542968243,649,628,650.542968243,0.44595087185,-0.00559155861892,0.0796631820481,0.999999849911,-0.000163734062576,-0.000519900005427,-5.54317460052e-05,1793192290210915840
+258,4.300000000,HOLD_POSE2,763.121829643,743,711.121829643,673,658,631,878.756340715,782,800,649,628,650.878170357,0.445951784707,-0.0055924734903,0.079663832995,0.999999850224,-0.000164816498885,-0.000518972613055,-5.52729386978e-05,1793192290227582208
+259,4.316666667,HOLD_POSE2,763.710372341,743,711.710372341,673,658,631,877.579255318,782,800,649,628,650.289627659,0.445950379111,-0.00559022479474,0.07966230285,0.99999985026,-0.000161260186931,-0.000520006072892,-5.54006147404e-05,1793192290244248832
+260,4.333333333,HOLD_POSE2,764,742.705427375,711.705427375,673.294572625,658,631,877.294572625,781.705427375,799.705427375,649,628,650,0.44594982387,-0.00558902282063,0.0796618222625,0.999999850159,-0.00015939089043,-0.000520771567779,-5.54451963011e-05,1793192290260915200
+261,4.350000000,HOLD_POSE2,764,742.12543462,711.12543462,673.87456538,658,631,877.87456538,781.12543462,799.12543462,649,628,650,0.445950092565,-0.00558883504602,0.0796623586224,0.999999849934,-0.000159156193319,-0.000521277423444,-5.54092651536e-05,1793192290277581824
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,630,878,782,800,649,628,650,0.445946832428,-0.00559044876173,0.079660679878,0.999999847505,-0.000164361174754,-0.000524364385361,-5.49259737765e-05,1793192290310196480
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.575336638,658,630.575336638,878,782,799.424663362,649.575336638,628,650,0.445948802272,-0.00559036411142,0.0796614331712,0.999999848526,-0.000163432786341,-0.000522701014673,-5.49741031354e-05,1793192290326862592
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.845086164,658,630.845086164,878,782,799,649.845086164,628,650,0.44595012836,-0.00559033648768,0.0796621215318,0.999999849359,-0.00016227485021,-0.000521474289405,-5.48895239656e-05,1793192290343528960
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.331285077,743,711,673,658,630,878.331285077,781.668714923,799.331285077,649,628,650,0.445949101417,-0.00559019025523,0.0796622722891,0.999999849577,-0.000159961833415,-0.00052180935809,-5.45194713223e-05,1793192290376862208
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.911110438,743,711,673,658,630,878.911110438,781.088889562,799.911110438,649,628,650,0.445948525007,-0.00558960149783,0.0796612725356,0.999999849175,-0.000160426610186,-0.000522385971302,-5.50185307956e-05,1793192290393528832
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.486414193,658,630.486414193,878.513585807,781.486414193,799.513585807,649,628,650,0.445946309676,-0.00558981735573,0.0796601370207,0.99999984845,-0.000160809624401,-0.000523659511644,-5.49672388372e-05,1793192290410195200
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.939135175,743,711,674,658,631,878,781.939135175,799.060864825,649,628,650,0.44594243608,-0.00559019092264,0.0796582015891,0.999999847,-0.00016124920006,-0.000526296334391,-5.48734590212e-05,1793192290426862080
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+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.393210278,658,630.393210278,877.606789722,782,799,649,628,650.606789722,0.445807376818,-0.00558623947645,0.0796063848946,0.999999798086,-0.000159596788687,-0.000612572535995,-5.57769212584e-05,1793192290493528832
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.968359729,658,630.968359729,877.031640271,782,799,649,628,650.031640271,0.445744170801,-0.00558535992719,0.0795913495934,0.999999782428,-0.000159152873939,-0.000637789168619,-5.51328200864e-05,1793192290510195456
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,658.973220975,630.026779025,878.026779025,781.973220975,799.973220975,648.026779025,628,650,0.444944225998,-0.00556909329967,0.079598871574,0.999999795658,-0.000133155276613,-0.000624651881362,-2.76251817806e-05,1793192290626861824
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.77822466,711,673,658,630.22177534,878.22177534,781,799,649,628,650,0.444292788979,-0.0055132757468,0.0796032815056,0.999999799833,-5.85046369255e-05,-0.000629816963904,-1.55250905966e-05,1793192290676862208
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_04/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0af27dba1060ed90b05277098d00822ed1e4269e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,398 @@
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+374,6.233333333,pose2_to_pose3_retreat,0.575713076797,5.45617492948e-05,1.0700290215,0.546283806686,0.00872729028355,1.06969831875
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+377,6.283333333,pose2_to_pose3_retreat,0.575711610139,5.45581035048e-05,1.07002904767,0.546282339993,0.00872728649299,1.06969834411
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+381,6.350000000,pose2_to_pose3_retreat,0.575711171853,5.4553173384e-05,1.07002912564,0.546281902037,0.00872728251875,1.06969841776
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+384,6.400000000,pose2_to_pose3_retreat,0.575710590787,5.45466371859e-05,1.070029229,0.546281321409,0.00872727724982,1.06969851541
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_04/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb0b1048184bd65fb9c7f9cd359ff61d7b08f9b7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e20f9d944e7325a4284467a075c2644f36460fe2cd7d72d0770ca6ae841291e
+size 25389808
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_04/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e4241481172012f3150c2587132212c2a45582dc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_04/franka_data.csv
@@ -0,0 +1,400 @@
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+23,0.383333333,BASELINE,763.367973313,742,711.367973313,671,659,633,877,783,798.367973313,648.367973313,628,650,0.400953633929,-0.00547870289017,0.079830331879,0.999999949889,0.000122925888233,-0.000289754217889,3.39711646413e-05,1793192293077864960
+24,0.400000000,BASELINE,763.939395718,742,711.939395718,671,659,633,877,783,798.939395718,648.939395718,628,650,0.400952613464,-0.0054797171993,0.0798298228524,0.999999949791,0.000121816572841,-0.000290527210637,3.4242895056e-05,1793192293094531584
+25,0.416666667,BASELINE,764,742,712,671.516981689,659,633,877,783,798.483018311,648.483018311,628,650.516981689,0.400954133365,-0.00547791218036,0.0798308335221,0.999999949874,0.000124103858974,-0.000289286723862,3.40945865062e-05,1793192293111198208
+26,0.433333333,BASELINE,764,742,712,671.90192032,659.09807968,632.90192032,877,783,798,648.09807968,628,650.90192032,0.400955460612,-0.00547651129873,0.0798317360897,0.999999949993,0.000125831011276,-0.000288146643091,3.39361692464e-05,1793192293127865088
+27,0.450000000,BASELINE,764,742,712,671.306727937,659.693272063,632.306727937,877,783,798,648.693272063,628,650.306727937,0.400954283809,-0.00547885411552,0.0798311769081,0.999999950217,0.000122676671715,-0.000288726230927,3.39790983573e-05,1793192293144531968
+28,0.466666667,BASELINE,764,742,712,671,659.721465702,632,877,783,798.557068596,649,628,650,0.400953115187,-0.00547952484234,0.0798301902827,0.999999950005,0.000121910513317,-0.000289794751818,3.38687098265e-05,1793192293161198848
+29,0.483333333,BASELINE,764,742,712,671,659.146762356,632,877,783,799.706475289,649,628,650,0.400951955265,-0.00547841761455,0.0798287491506,0.999999949335,0.000123683738394,-0.00029138316139,3.35952967024e-05,1793192293177865472
+30,0.500000000,BASELINE,764,742,712,671,659,632,877,783,799.573935114,649,628,650.426064886,0.400952945438,-0.00547791262206,0.0798290486944,0.999999949288,0.000125100846394,-0.00029094426112,3.35577288258e-05,1793192293194531840
+31,0.516666667,BASELINE,764,742,712,671,659,632,877,783,799.001751294,649,628,650.998248706,0.400954672986,-0.00547761416617,0.0798299452028,0.999999949453,0.000126395824021,-0.000289810094995,3.36010440722e-05,1793192293211198208
+32,0.533333333,BASELINE,764,742,712,671,659,632,877,783,799.594159742,649,628,650.405840258,0.400955198628,-0.00547806515642,0.0798314914718,0.999999950087,0.000125316206977,-0.000288058135291,3.38155065419e-05,1793192293227864832
+33,0.550000000,BASELINE,764,742,711.816197735,671,659,632,876.816197735,783.183802265,799.816197735,649,628,650,0.400956032058,-0.00547827070337,0.0798329375626,0.99999995058,0.000125218491663,-0.000286353791287,3.40806057154e-05,1793192293244531712
+34,0.566666667,BASELINE,764,742,711.240090205,671,659,632,876.240090205,783.759909795,799.240090205,649,628,650,0.400957530302,-0.00547794746816,0.0798341655764,0.99999995077,0.00012723209561,-0.000284755126154,3.44526617146e-05,1793192293261198848
+35,0.583333333,BASELINE,764,742.334989412,711,671.334989412,659,632,876.334989412,783.665010588,799,649,628,650,0.400957301379,-0.00547838954243,0.0798341618396,0.999999950842,0.000126154193131,-0.000284972581461,3.45226348652e-05,1793192293277865472
+36,0.600000000,BASELINE,764,742.909334625,711,671.909334625,659,632,876.909334625,783.090665375,799,649,628,650,0.400955838364,-0.00547937844369,0.0798332779956,0.999999950823,0.000122867355382,-0.000286487686459,3.43767645681e-05,1793192293294531840
+37,0.616666667,BASELINE,764,742.502738859,711,671.502738859,659,632,877,783,799,648.502738859,628,650,0.400955963323,-0.00547901727348,0.0798324163337,0.999999950645,0.000122771539694,-0.00028719489439,3.39942263757e-05,1793192293311198464
+38,0.633333333,BASELINE,763.913949321,742,711,671,659,632,877,783,799,648.086050679,628.086050679,650,0.40095611469,-0.0054785639333,0.0798315817315,0.999999950428,0.000123134286833,-0.000287834016341,3.3668530572e-05,1793192293327864832
+39,0.650000000,BASELINE,763.334802397,742,711,671,659,632,877,783,799,648.665197603,628.665197603,650,0.400954711675,-0.00547903259694,0.079830878362,0.999999950151,0.000122697132624,-0.000288950779919,3.39227730059e-05,1793192293344531456
+40,0.666666667,BASELINE,763.243625965,742,711.243625965,671.243625965,659.243625965,632,877,783.243625965,799,649,629,650,0.400953918024,-0.0054798187865,0.0798304828424,0.999999950034,0.000122151474953,-0.000289563446809,3.41258154426e-05,1793192293361198080
+41,0.683333333,BASELINE,763.821069715,742,711.821069715,671.821069715,659.821069715,632,877,783.821069715,799,649,629,650,0.400953959328,-0.00548104005199,0.0798305091404,0.999999950136,0.000121457145203,-0.000289485397267,3.4258703315e-05,1793192293377864704
+42,0.700000000,BASELINE,764,742,712,672,659.605415036,632.394584964,876.605415036,783.605415036,799,649,628.605415036,650,0.40095403967,-0.00548059260664,0.0798310740577,0.999999950296,0.000121517085613,-0.000288908193245,3.42450452081e-05,1793192293394531840
+43,0.716666667,BASELINE,764,742,712,672,659.033663679,632.966336321,876.033663679,783.033663679,799,649,628.033663679,650,0.40095413754,-0.00547939591964,0.0798318808119,0.999999950482,0.000121915689034,-0.000288106871717,3.41655887901e-05,1793192293411198720
+44,0.733333333,BASELINE,763.44280397,742,712,671.44280397,659,632.44280397,876.55719603,783,799,649,628,650,0.400954009728,-0.00547921449819,0.0798311157694,0.999999950413,0.000120636857307,-0.000288921678559,3.38242946591e-05,1793192293427865856
+45,0.750000000,BASELINE,763.14615588,742,711.85384412,671,659,632,876.85384412,783,799,649,628.14615588,650,0.400953807812,-0.00547889335332,0.0798304455837,0.999999950263,0.000120541849173,-0.000289501049095,3.36564623227e-05,1793192293444532736
+46,0.766666667,BASELINE,763.725932343,742,711.274067657,671,659,632,876.274067657,783,799,649,628.725932343,650,0.400953427933,-0.00547796922818,0.0798303485649,0.999999949914,0.000124270401467,-0.000289081948359,3.40518625971e-05,1793192293461198592
+47,0.783333333,BASELINE,764,742,711,671,659,632,876.303044583,783,799.303044583,648.696955417,628.696955417,650,0.400954063736,-0.00547760760519,0.0798310542476,0.999999950076,0.000124767648032,-0.000288310151034,3.40285070355e-05,1793192293477864960
+48,0.800000000,BASELINE,764,742,711,671,659,632,876.877768416,783,799.877768416,648.122231584,628.122231584,650,0.400955610099,-0.00547775026485,0.0798324795516,0.999999950699,0.000122368031778,-0.000287222161427,3.36297372154e-05,1793192293494531584
+49,0.816666667,BASELINE,763.549780874,742,711,671,659,632,876.549780874,783.450219126,799.549780874,648.450219126,628,650,0.400955083744,-0.0054787181479,0.0798322901624,0.999999950619,0.000122184688837,-0.000287549861975,3.38803224284e-05,1793192293511198208
+50,0.833333333,BASELINE,763.023062635,742,711,671.023062635,659,632.023062635,876,783.976937365,799,649,628,650,0.400954054497,-0.00547986287998,0.0798316893102,0.999999950359,0.000122603779274,-0.000288227353466,3.42930460713e-05,1793192293527865088
+51,0.850000000,BASELINE,763.621004335,742,711,671.621004335,659,632.621004335,876,783.378995665,799,649,628,650,0.400954446317,-0.0054798592758,0.07983170449,0.999999950332,0.000123116400601,-0.000288091508071,3.43749502121e-05,1793192293544531968
+52,0.866666667,BASELINE,764,742,711,671.790179198,659,632.790179198,876.209820802,783,799,649,628,650,0.400954926371,-0.00547953478552,0.0798317778067,0.999999950366,0.000123522364653,-0.000287805215877,3.43368904545e-05,1793192293561198592
+53,0.883333333,BASELINE,764,742,711,671.217158549,659,632.217158549,876.782841451,783,799,649,628,650,0.400955559156,-0.00547865484132,0.0798319517583,0.999999950504,0.00012374370491,-0.00028725850026,3.4091173162e-05,1793192293577865216
+54,0.900000000,BASELINE,763.64373461,742,711.35626539,671.35626539,659,632,877,783,799,649,628,650,0.400955234542,-0.00547776446247,0.0798319522215,0.999999950194,0.000124832659417,-0.000287873207274,3.40211135559e-05,1793192293594531584
+55,0.916666667,BASELINE,763.07006459,742,711.92993541,671.92993541,659,632,877,783,799,649,628,650,0.400954325692,-0.00547686771608,0.0798318468164,0.999999949608,0.000126451060107,-0.000289196651848,3.40582459433e-05,1793192293611198208
+56,0.933333333,BASELINE,763,742,712,672,659,632,876.481754434,783,798.481754434,648.481754434,628.518245566,650,0.400954241056,-0.00547862521021,0.0798318981689,0.99999995022,0.000123124528811,-0.000288513410051,3.40534421588e-05,1793192293627864832
+57,0.950000000,BASELINE,763.106463494,742,712,672,659.106463494,632,876,783,798.106463494,648.106463494,628.893536506,650,0.400954401101,-0.00548007447991,0.079831918596,0.999999950816,0.000120138472328,-0.000287713374932,3.40075253092e-05,1793192293644531456
+58,0.966666667,BASELINE,763.685236039,742,712,672,659.685236039,632,876,783,798.685236039,648.685236039,628.314763961,650,0.400955137925,-0.00547851813156,0.0798317050743,0.999999950655,0.000121714948573,-0.000287633753475,3.38051000952e-05,1793192293661198080
+59,0.983333333,BASELINE,763.737799429,742,712,672,659.737799429,632,876,783,799,649,628.262200571,650,0.400955403622,-0.005478237763,0.0798317797043,0.999999950621,0.00012225123859,-0.000287539816491,3.36636729224e-05,1793192293677864960
+60,1.000000000,BASELINE,763.162990424,742,712,672,659.162990424,632,876,783,799,649,628.837009576,650,0.40095510762,-0.00547947868017,0.0798321978828,0.999999950741,0.000121547367565,-0.000287428811821,3.35949705921e-05,1793192293694531840
+61,1.016666667,BASELINE,763.41313019,742.41313019,711.58686981,672,659,632.41313019,876.41313019,783,799.41313019,649,628.58686981,650,0.400953744048,-0.00547998013586,0.0798312538695,0.99999995057,0.000120603930936,-0.000288405448691,3.37168332552e-05,1793192293711198720
+62,1.033333333,BASELINE,763.989769881,742.989769881,711.010230119,672,659,632.989769881,876.989769881,783,799.989769881,649,628.010230119,650,0.40095195795,-0.00548018892591,0.0798297707251,0.999999950281,0.000119565678592,-0.000289812554533,3.39141181203e-05,1793192293727865344
+63,1.050000000,BASELINE,764,742.416001238,711.583998762,671.416001238,659.583998762,632.416001238,877,783,800,649,628,650,0.400953066879,-0.00547860227684,0.0798306673907,0.999999950196,0.000122195293565,-0.000289064893144,3.3436896648e-05,1793192293744531712
+64,1.066666667,BASELINE,764,742,711.826690173,671.173309827,659.826690173,632,877,783,799.826690173,649,628.173309827,650,0.400953651803,-0.00547785017859,0.0798312159964,0.99999995008,0.00012382194592,-0.000288800700671,3.32033371004e-05,1793192293761198336
+65,1.083333333,BASELINE,764,742,711.24957758,671.75042242,659.24957758,632,877,783,799.24957758,649,628.75042242,650,0.400952893995,-0.00547911809554,0.0798308534936,0.999999949899,0.000122957396932,-0.000289753642224,3.35658815913e-05,1793192293777864960
+66,1.100000000,BASELINE,764,742,711,671.674326113,659.325673887,632.325673887,877,783,799,649,628.674326113,650,0.400952761399,-0.00547932525441,0.0798307661615,0.999999949926,0.00012325736462,-0.0002895152072,3.36989076814e-05,1793192293794531328
+67,1.116666667,BASELINE,764,742,711,671.100492828,659.899507172,632.899507172,877,783,799,649,628.100492828,650,0.400953105208,-0.00547872412894,0.0798308885061,0.999999950112,0.000124444679382,-0.000288368958194,3.36570436254e-05,1793192293811197952
+68,1.133333333,BASELINE,764,742,711.486784085,671,659.513215915,633,876.513215915,783,799,649,628.486784085,650,0.400953420424,-0.00547902779422,0.0798310602574,0.999999950207,0.000123639731508,-0.000288380399829,3.36959581147e-05,1793192293827865088
+69,1.150000000,BASELINE,764,742,711.924514387,671,659,632.924514387,876.075485613,783.075485613,799,648.924514387,628.924514387,650,0.400953731777,-0.00547926583347,0.0798313146331,0.999999950282,0.000122844995742,-0.000288454747353,3.37406373221e-05,1793192293844532224
+70,1.166666667,BASELINE,764,742,711.345351746,671,659,632.345351746,876.654648254,783.654648254,799,648.345351746,628.345351746,650,0.400954057849,-0.0054777842504,0.0798320503287,0.999999950354,0.000124940654047,-0.00028730884097,3.37093500737e-05,1793192293861198848
+71,1.183333333,BASELINE,764,742,711.232807998,671,659,632,877,783.767192002,799,648.232807998,628.232807998,650,0.400954128854,-0.00547730287684,0.0798320711717,0.999999950303,0.000125438042439,-0.000287276812851,3.3632661616e-05,1793192293877865216
+72,1.200000000,BASELINE,764,742,711.80948649,671,659,632,877,783.19051351,799,648.80948649,628.80948649,650,0.400953823109,-0.00547829886872,0.0798310361373,0.999999950075,0.000123574696671,-0.000288890045347,3.34889130163e-05,1793192293894531328
+73,1.216666667,BASELINE,764,742,711.615977393,671,659,632,877.384022607,783,799,649,628.615977393,650,0.400954012346,-0.00547832834602,0.0798308325634,0.99999994998,0.000124227612902,-0.000288953325581,3.33791551656e-05,1793192293911197952
+74,1.233333333,BASELINE,764,742,711.042498247,671,659,632,877.957501753,783,799,649,628.042498247,650,0.40095444578,-0.00547788099584,0.0798310391884,0.999999949948,0.00012612192046,-0.000288251940855,3.32861665696e-05,1793192293927864576
+75,1.250000000,BASELINE,764,742,711,671,659,632,876.905332084,783,799,649,628.547333958,650,0.400953787802,-0.00547767688213,0.0798310186675,0.99999994996,0.000124868740663,-0.000288755753324,3.32724900742e-05,1793192293944531456
+76,1.266666667,BASELINE,764,742,711,671,659,632,876.271125093,783,799,649,628.864437454,650,0.400953189691,-0.00547791786791,0.0798309743095,0.999999950039,0.000123201254852,-0.000289194094373,3.33159063895e-05,1793192293961198080
+77,1.283333333,BASELINE,764,742,711,671,659,632,877.428540853,783,799,649,628.285729574,650,0.400953072831,-0.00547955021599,0.0798309114594,0.999999950327,0.000121002927177,-0.000289103089732,3.35252045166e-05,1793192293977864704
+78,1.300000000,BASELINE,763.708956415,742,711.291043585,671.291043585,659,632,877.708956415,783,799,649,628,650.291043585,0.400952702321,-0.00548031581223,0.0798304306134,0.999999950236,0.000120293893068,-0.00028969893888,3.36361540718e-05,1793192293994531328
+79,1.316666667,BASELINE,763.134070144,742,711.865929856,671.865929856,659,632,877.134070144,783,799,649,628,650.865929856,0.400952084436,-0.0054802361014,0.0798295421134,0.999999949779,0.000121037305071,-0.000290964647924,3.36511883493e-05,1793192294011197952
+80,1.333333333,BASELINE,763.452964103,742,712,671.547035897,659,632,876.547035897,783,799,649,628,651,0.40095257489,-0.00548064332726,0.0798303903133,0.999999949953,0.000120251255187,-0.000290659830817,3.3922176629e-05,1793192294027864576
+81,1.350000000,BASELINE,764,742,711.9571883,671,659.0428117,632.0428117,876.0428117,783,799,649,628,650.9571883,0.400953366499,-0.00548118223481,0.0798316725787,0.999999950305,0.000119163260151,-0.00028986200842,3.42167848833e-05,1793192294044531200
+82,1.366666667,BASELINE,764,742,711.378375696,671,659.621624304,632.621624304,876.621624304,783,799,649,628,650.378375696,0.40095370821,-0.00548151561904,0.0798317762672,0.99999995049,0.000120118856424,-0.00028887207674,3.38324844459e-05,1793192294061198080
+83,1.383333333,BASELINE,764,742.199723263,711.199723263,671,659.800276737,633,877,783,799.199723263,649,628,650,0.400954334882,-0.00548065970035,0.0798319291012,0.999999950565,0.000122490757526,-0.000287629419999,3.36886229399e-05,1793192294077864704
+84,1.400000000,BASELINE,764,742.776475134,711.776475134,671,659.223524866,633,877,783,799.776475134,649,628,650,0.400955499493,-0.00547755866908,0.0798321747099,0.999999950417,0.000127536295451,-0.000285909680059,3.39986511851e-05,1793192294094531328
+85,1.416666667,BASELINE,764,742.6484415,712,671,659,632.6484415,877,783,799.296883,649,628.3515585,650,0.40095548891,-0.00547724374436,0.0798320463218,0.999999950537,0.000126908508977,-0.000285766022913,3.40158336579e-05,1793192294111198208
+86,1.433333333,BASELINE,764,742.074414011,712,671,659,632.074414011,877,783,798.148828021,649,628.925585989,650,0.400954734655,-0.00547869189002,0.0798316812656,0.999999950825,0.000122690597817,-0.000286619723479,3.38477009997e-05,1793192294127864832
+87,1.450000000,BASELINE,764,742,711.486029717,671,659,632,876.486029717,783,798.513970283,649,628.486029717,650,0.400954299744,-0.00547884606381,0.0798317368362,0.99999995062,0.000122817725424,-0.000287314696898,3.35617692612e-05,1793192294144531456
+88,1.466666667,BASELINE,764,742,711,671.102345411,659.102345411,632,876.102345411,783,799,649,628,650,0.400954235403,-0.00547886057807,0.0798319620743,0.999999950462,0.000123384876586,-0.000287646436151,3.33417291039e-05,1793192294161198080
+89,1.483333333,BASELINE,764,742,711,671.680731762,659.680731762,632,876.680731762,783,799,649,628,650,0.400955673459,-0.00547912193177,0.079832685087,0.999999950863,0.000122988552788,-0.000286398621461,3.35097806401e-05,1793192294177864704
+90,1.500000000,BASELINE,764,742,711,672,659.74234511,632.25765489,877,783,799,649,628.25765489,650,0.400956169814,-0.0054791856228,0.0798329337424,0.999999950896,0.000123636880601,-0.000285979293451,3.37287139045e-05,1793192294194531328
+91,1.516666667,BASELINE,764,742,711,672,659.167224913,632.832775087,877,783,799,649,628.832775087,650,0.400955505869,-0.00547900576693,0.0798325979262,0.999999950473,0.000125572359037,-0.000286580772004,3.40103402548e-05,1793192294211197952
+92,1.533333333,BASELINE,764,742,711.415578858,671.584421142,659,632.584421142,876.584421142,783,799,649,628.584421142,650,0.400954357437,-0.00547899794254,0.0798314078698,0.999999950032,0.000125406869731,-0.000288174676505,3.41117159505e-05,1793192294227864832
+93,1.550000000,BASELINE,764,742,712,671,659,632.001517245,876.001517245,783.001517245,799.001517245,649,628,650.001517245,0.400953014735,-0.00547906257401,0.0798298726996,0.999999949584,0.000124378851833,-0.000290167937823,3.41385838164e-05,1793192294244531456
+94,1.566666667,BASELINE,764,742,712,671,659,632.581557127,876.581557127,783.581557127,799.581557127,649,628,650.581557127,0.400953332621,-0.0054798623718,0.0798302819193,0.999999950026,0.000122895437709,-0.000289298254304,3.39326942324e-05,1793192294261198080
+95,1.583333333,BASELINE,764,742,712,671.160750837,659,633,877,783.839249163,800,649,628,650.839249163,0.400953527737,-0.00548049303507,0.0798305562314,0.999999950387,0.00012162777153,-0.00028861040337,3.37260614864e-05,1793192294277864960
+96,1.600000000,BASELINE,764,742,712,671.737753576,659,633,877,783.262246424,800,649,628,650.262246424,0.40095340495,-0.00548068573773,0.079830481211,0.999999950542,0.000120918767705,-0.000288393393714,3.35175043355e-05,1793192294294531584
+97,1.616666667,BASELINE,764,742,712,672,659,633,877,783.314281133,799.685718867,648.685718867,628.314281133,650.314281133,0.400953708366,-0.00547977003858,0.0798308028498,0.99999995058,0.00012171940644,-0.000287944812064,3.33369223222e-05,1793192294311197952
+98,1.633333333,BASELINE,764,742,712,672,659,633,877,783.890412746,799.109587254,648.109587254,628.890412746,650.890412746,0.400954366883,-0.00547793084923,0.0798314549741,0.999999950517,0.000123777838283,-0.000287303290946,3.31796484439e-05,1793192294327864832
+99,1.650000000,BASELINE,764,742,712,672,659.475971479,632.524028521,877,783.524028521,799,648.475971479,628.524028521,650.524028521,0.400955747773,-0.00547806331621,0.0798324599785,0.999999951014,0.000123334408505,-0.000285756405321,3.32212400866e-05,1793192294344531200
+100,1.666666667,BASELINE,763.936969485,742,712,671.936969485,659.936969485,632,876.936969485,783.063030515,798.936969485,649,628,650.063030515,0.400956966816,-0.00547859655068,0.0798333711263,0.999999951515,0.000122419700574,-0.00028438328337,3.33213254256e-05,1793192294361198080
+101,1.683333333,BASELINE,763.355780414,742,712,671.355780414,659.355780414,632,876.355780414,783.644219586,798.355780414,649,628,650.644219586,0.400955460468,-0.00547861715838,0.0798328292963,0.999999950988,0.000122461786857,-0.000286186875636,3.35182668825e-05,1793192294377864704
+102,1.700000000,BASELINE,763.222781738,742,712,671.222781738,659,632,876.222781738,783.777218262,798.222781738,649,628,650.777218262,0.400954323205,-0.00547860257296,0.0798322338843,0.999999950626,0.000122649923555,-0.000287364621395,3.35769395199e-05,1793192294394531328
+103,1.716666667,BASELINE,763.797197559,742,712,671.797197559,659,632,876.797197559,783.202802441,798.797197559,649,628,650.202802441,0.400953768499,-0.00547853243944,0.0798315538993,0.999999950525,0.000123068583202,-0.00028755454381,3.34173714956e-05,1793192294411197952
+104,1.733333333,BASELINE,764,742,712,672,659,632,877,783,799,649,628,650,0.400953010345,-0.00547863804659,0.0798309702264,0.999999950244,0.000123424839823,-0.000288391223085,3.33051772951e-05,1793192294427864832
+105,1.750000000,BASELINE,764,742,712,672,659,632,877,783,799,649,628,650,0.400952141164,-0.00547883956159,0.0798304391144,0.999999949863,0.000123747040958,-0.000289580860349,3.3218836642e-05,1793192294444531456
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632,877,783,799,649,628,650,0.400955899245,-0.00547931207447,0.0798323383644,0.999999950558,0.000124315256336,-0.000286888529278,3.35438217273e-05,1793192294474169088
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711.424098326,671.575901674,659.575901674,632.575901674,877,783,799,649,628,650,0.400954693031,-0.00547892296354,0.0798317360906,0.999999950176,0.000124970924929,-0.000287942668126,3.34417552873e-05,1793192294490835968
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.151464372,671.848535628,660,633,876.848535628,783.151464372,799,649,628,650,0.400953799888,-0.0054788956281,0.0798312852906,0.999999950002,0.000124792513457,-0.000288629307974,3.34068492341e-05,1793192294507502848
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.726080195,671.273919805,660,633,876.273919805,783.726080195,799,649,628,650,0.400953781386,-0.00547987899773,0.0798312576682,0.999999950405,0.000122283902735,-0.000288289252919,3.35595715395e-05,1793192294524169472
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,671.30898746,660,633,876.30898746,783.69101254,799,648.69101254,628.30898746,650,0.400953590264,-0.00547962906437,0.0798313141068,0.999999950369,0.000122226780332,-0.000288430038903,3.3628192486e-05,1793192294540836096
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,671.8994478,660,633,876.8994478,783.1005522,799,648.1005522,628.8994478,650,0.400953241893,-0.0054782556506,0.0798314471207,0.999999949934,0.000124402847347,-0.000289008848229,3.36202010855e-05,1793192294557502720
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.519591372,742,712,671.519591372,659.519591372,632.519591372,877,783,799,648.480408628,629,650,0.400952847834,-0.00547818038457,0.0798307614,0.999999949651,0.000124505379778,-0.000289970484389,3.33712840501e-05,1793192294574169344
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.059066112,742,712,671.059066112,659,632.059066112,876.940933888,783,799,649,628.940933888,650,0.400952981373,-0.00547840912778,0.0798303289524,0.999999949596,0.000124110733195,-0.000290356903235,3.31329046616e-05,1793192294590835968
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.634631622,742,712,671.634631622,659,632.634631622,876.365368378,783,799,649,628.365368378,650,0.400957810448,-0.00547896638386,0.0798335806725,0.999999951246,0.000123090054064,-0.000285026290009,3.34190766142e-05,1793192294607502592
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.214375859,633,876.214375859,783,798.785624141,649,628,650,0.400965565224,-0.00547957285567,0.0798379333182,0.999999953403,0.000121848770875,-0.000277865224141,3.37378595685e-05,1793192294624169216
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.801383572,633,876.801383572,783,798.198616428,649,628,650,0.400978405502,-0.00548026487505,0.0798441996118,0.999999956407,0.000120224029964,-0.00026752243412,3.41133275033e-05,1793192294640835840
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711.617208403,671.617208403,659.617208403,633,877,783.382791597,798.382791597,649,628,650,0.401006107944,-0.00548081432973,0.0798554370192,0.999999961633,0.000120684813936,-0.000246985857253,3.41688158629e-05,1793192294657502720
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.038663908,671.038663908,659.038663908,633,877,783.961336092,798.961336092,649,628,650,0.401041410637,-0.00548129087939,0.0798692165675,0.999999967479,0.000122212098483,-0.000221236355806,3.40606723053e-05,1793192294674169344
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711.539350671,671,659,633,877,784,799,648.460649329,628,650,0.401102289414,-0.00548193668253,0.0798860228662,0.999999974566,0.000122017814421,-0.000186653839781,3.37566530202e-05,1793192294690835968
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,671.117063707,659,632.882936293,876.882936293,783.882936293,799,648.117063707,628.117063707,650.117063707,0.401166140185,-0.00548232355963,0.0799010911601,0.999999979614,0.000122302827751,-0.000157208835906,3.31600813332e-05,1793192294707502592
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,671.693742,659,632.306258,876.306258,783.306258,799,648.693742,628.693742,650.693742,0.401234468186,-0.00548164625344,0.0799084846663,0.999999980385,0.000124953720297,-0.00015041832048,3.14699685249e-05,1793192294724168960
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.274664788,632,876,783,799,649,628.725335212,650.725335212,0.401310190635,-0.00548263149333,0.0799127395076,0.999999981541,0.000123201305815,-0.000144589013364,2.88579044019e-05,1793192294740835840
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.860394541,632,876,783,799,649,628.139605459,650.139605459,0.401394287484,-0.0054854996096,0.0799134397295,0.999999983122,0.000116462032259,-0.000139848299884,2.52017067088e-05,1793192294757502464
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.556455008,632,876.443544992,783,799,649,628,650,0.401501217865,-0.00548740157721,0.0799159153447,0.999999984263,0.000111719305941,-0.0001362192436,2.09179413179e-05,1793192294774169088
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877,783,799,649,628,650,0.401616967126,-0.00548898540706,0.0799191096878,0.999999985305,0.00010753349605,-0.000132507267639,1.63757742227e-05,1793192294790835968
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877,783,799,649,628,650,0.401768689431,-0.0054902295962,0.0799258109627,0.99999998761,0.000101889024649,-0.000119535689793,1.05005780473e-05,1793192294807502592
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.823915286,742,712,672,659,632.176084714,877,783,799,649,628,650.176084714,0.40192844673,-0.00549155033124,0.0799327370051,0.999999989701,9.59669941776e-05,-0.000106627799413,4.39378041304e-06,1793192294824168960
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.250191257,742,712,672,659,632.749808743,877,783,799,649,628,650.749808743,0.402106348852,-0.00549304392411,0.0799401706228,0.999999991594,8.94181730177e-05,-9.38637316023e-05,-2.23602517074e-06,1793192294840835584
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.324571872,742,712,672,659,632.675428128,877,783,799,649,628,650.675428128,0.40230037504,-0.00549568115899,0.0799450143571,0.999999993129,8.0212729484e-05,-8.49336887125e-05,-9.74353515312e-06,1793192294857502464
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.900138609,742,712,672,659,632.099861391,877,783,799,649,628,650.099861391,0.402506870158,-0.0054992027845,0.079947855308,0.999999994344,6.89528910516e-05,-7.89685365116e-05,-1.7929783941e-05,1793192294874169088
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,876.508071792,783,799,648.508071792,628.491928208,650.491928208,0.40272782152,-0.00549955642974,0.0799427790592,0.999999993565,6.50906344919e-05,-8.93944594351e-05,-2.53352253657e-05,1793192294890835968
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,671.915752523,659,632.084247477,876.084247477,783,799,648.084247477,629,651,0.402959832007,-0.00549936377577,0.0799364732974,0.999999992725,5.70433138579e-05,-0.000101843474279,-3.04010124734e-05,1793192294907502592
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,671.340204092,659,632.659795908,876.659795908,783,799,648.659795908,629,651,0.403238638171,-0.0054998635241,0.079932689645,0.999999993999,1.55341292069e-05,-0.000106024581012,-2.27786406668e-05,1793192294924169216
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,671.234246986,659,633,876.765753014,783,799,649,628.765753014,650.765753014,0.403536762389,-0.00549953375507,0.079931598248,0.999999994197,-2.3833925126e-06,-0.00010566363531,-2.0851826715e-05,1793192294940835840
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,671.807111743,659,633,876.192888257,783,799,649,628.192888257,650.192888257,0.40386281197,-0.00549800486996,0.0799343986646,0.999999994661,1.38022220255e-05,-9.87368861068e-05,-2.71582765045e-05,1793192294957502464
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,876.394239658,783,798.605760342,649,628,650,0.404217059101,-0.00549937714662,0.0799391998544,0.999999995423,1.50720242722e-05,-8.96273978437e-05,-2.98961109282e-05,1793192294974169088
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,876.988607992,783,798.011392008,649,628,650,0.404585620204,-0.00550222214594,0.0799450167008,0.999999996334,8.77008202627e-06,-7.94098815425e-05,-3.08224017146e-05,1793192294990835712
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711.435263306,672,659,633,877,783,798.564736694,649,628,650,0.404997247076,-0.00550073537771,0.0799406890061,0.999999995865,1.2553183586e-05,-8.39283398966e-05,-3.26789410449e-05,1793192295007502592
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711,671.859838284,659,633,877,783,799,649,628,650,0.405420165848,-0.00550019182373,0.0799357992515,0.999999995248,1.39147309893e-05,-9.00514605435e-05,-3.46712236699e-05,1793192295024169216
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,671.285489093,659,633,877,783,799,649,628,650,0.405875457213,-0.00550283234018,0.0799297824568,0.999999994263,7.16439691335e-06,-0.000100253417184,-3.70276948142e-05,1793192295040836096
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.297144444,671,659,632.702855556,876.702855556,783,799,649,628.297144444,650,0.406343272076,-0.00550490029131,0.0799231018061,0.999999992951,2.28395583667e-06,-0.000111896231243,-3.96585464019e-05,1793192295057502720
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711.887965719,671,659,632.112034281,876.112034281,783,799,649,628.887965719,650,0.406823464345,-0.00550640235914,0.0799157650456,0.999999991286,-7.48414300959e-07,-0.000124963089433,-4.25605767513e-05,1793192295074169344
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.530578335,742,712,671.469421665,659.469421665,632.469421665,876.469421665,783,799,649,628.530578335,650,0.407336209178,-0.00550747066211,0.0799131970051,0.999999990317,-3.59686998085e-06,-0.000132108371757,-4.35900537982e-05,1793192295090835968
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.04824039,742,712,672,660,632.95175961,877,783,799,649,628,650,0.407859635431,-0.00550841668649,0.0799109269613,0.999999989297,-7.0857977251e-06,-0.000139243072257,-4.43497306811e-05,1793192295107502592
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.622201552,742,712,672,660,632.377798448,877,783,799,649,628,650,0.408416456015,-0.00550913625987,0.0798997438738,0.999999985717,-1.80235478269e-05,-0.000161362917962,-4.69442934863e-05,1793192295124170496
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,712,671.799154966,659.799154966,632,876.799154966,783,799,649,628,650,0.409007832851,-0.00551039448353,0.0799008048749,0.999999985449,-2.50131584079e-05,-0.000161478558542,-4.90030708203e-05,1793192295140837888
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,712,671.211493634,659.211493634,632,876.211493634,783,799,649,628,650,0.40966576306,-0.00551269011744,0.0799254473064,0.999999991345,-2.43988724621e-05,-0.00011921532958,-5.00299551411e-05,1793192295157504256
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.62909186,742,711.62909186,671.37090814,659.37090814,632,876.37090814,783,799.37090814,649,627.62909186,650.37090814,0.410350917391,-0.00551666686591,0.0799558899633,0.999999995756,-3.18790844835e-05,-6.98570130057e-05,-5.09090002743e-05,1793192295174170624
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.0496472,742,711.0496472,671.9503528,659.9503528,632,876.9503528,783,799.9503528,649,627.0496472,650.9503528,0.411051377979,-0.00552158879113,0.0799895936932,0.999999997563,-4.39102843108e-05,-1.65096106382e-05,-5.17049253227e-05,1793192295190836736
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.529803891,742,711.529803891,672,660,632.529803891,877,783,799.470196109,648.470196109,627.529803891,650.470196109,0.411716233377,-0.00552327269534,0.0799753859636,0.999999996461,-4.89733108656e-05,-4.25267193897e-05,-5.35857912791e-05,1793192295207503360
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.891764238,742,712,672,660,632.891764238,877,783,799,648,628,650,0.41238343042,-0.0055244057992,0.0799531352065,0.999999993851,-5.403972021e-05,-7.89084617306e-05,-5.61384754172e-05,1793192295224169728
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.317721471,742,712,672,660,632.317721471,877,783,799,648,628,650,0.413075064161,-0.00552447432964,0.0799155925462,0.999999988035,-6.19308985885e-05,-0.000127888664204,-6.11448695593e-05,1793192295240836352
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742,711.737484167,672,660,632,877,783,799,648.262515833,627.737484167,650,0.413802033906,-0.00552585656583,0.0798986008027,0.999999984907,-6.81570073779e-05,-0.000146265438569,-6.4400032663e-05,1793192295257502720
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742,711.149568383,672,660,632,877,783,799,648.850431617,627.149568383,650,0.41457280428,-0.00552886719823,0.0799070828218,0.999999987213,-7.23191901827e-05,-0.000126707921198,-6.54844684764e-05,1793192295274169600
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.431633397,742.431633397,711.431633397,672,660,632.431633397,877,783,799,648.568366603,627.431633397,650,0.415364350065,-0.00553284615883,0.0799276316744,0.999999990478,-7.74653771574e-05,-9.38596975639e-05,-6.50575373244e-05,1793192295290836480
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.989480388,711.989480388,672,660,633,877,783,799,648,628,650,0.416162339885,-0.00553708085446,0.0799514762673,0.999999992837,-8.287421716e-05,-5.78100765573e-05,-6.41626600584e-05,1793192295307503360
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.411922744,711.411922744,672,660,633,877,783,799,648,628,650,0.416925579148,-0.00553729074257,0.0799310353387,0.999999989891,-8.43428430165e-05,-9.36410158307e-05,-6.58414846407e-05,1793192295324169984
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.835223342,742,711.164776658,672,660,632.835223342,877.164776658,783,799.164776658,648.164776658,628,650,0.417723318546,-0.00553868546693,0.0799253042825,0.999999988957,-8.65495048697e-05,-0.000100714534898,-6.67141658372e-05,1793192295340836608
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.260658365,742,711.739341635,672,660,632.260658365,877.739341635,783,799.739341635,648.739341635,628,650,0.418606857383,-0.00554302679832,0.079956155678,0.999999993088,-9.05916118662e-05,-3.6270307473e-05,-6.55820232714e-05,1793192295357502976
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.321919018,742,711.678080982,672,660,632,877.678080982,783.321919018,799.678080982,648.678080982,628,650,0.419445620518,-0.00554030966245,0.0799690846103,0.999999994422,-8.47390565152e-05,-8.83973642673e-06,-6.2427564754e-05,1793192295374169600
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.911149624,742,711.088850376,672,660,632,877.088850376,783.911149624,799.088850376,648.088850376,628,650,0.420247203252,-0.00553173139361,0.0799671312823,0.999999995771,-7.06702797974e-05,-1.21441633454e-05,-5.75938378691e-05,1793192295390836480
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711.488860765,672,660,632.488860765,877.488860765,783.511139235,799,648.488860765,628,650,0.421104531718,-0.00552738028622,0.0799536727519,0.99999999587,-6.2825181277e-05,-3.39033399047e-05,-5.62540508568e-05,1793192295407503104
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.935445122,742.064554878,712,672,660,632.935445122,877.935445122,783,799,649,628,650,0.421973126484,-0.00552586060516,0.0799432431334,0.99999999539,-5.93413104742e-05,-5.11972225717e-05,-5.54718233003e-05,1793192295424169728
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.359526096,742.640473904,712,672,660,632.359526096,877.359526096,783,799,649,628,650,0.42285255539,-0.00554082396421,0.0799729895409,0.999999995173,-8.16503961991e-05,-7.16193465725e-06,-5.41917807833e-05,1793192295440836352
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742.778372799,711.778372799,672,660,632.221627201,877,783,799,648.778372799,628,650,0.423717488313,-0.00554954598914,0.0799873642252,0.999999994199,-9.336722462e-05,7.85295277837e-06,-5.31215140303e-05,1793192295457502976
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,742.188522928,711.188522928,672,660,632.811477072,877,783,799,648.188522928,628,650,0.424558337013,-0.00554789834751,0.0799761995539,0.999999994479,-8.74855434672e-05,-2.53481175369e-05,-5.23997792995e-05,1793192295474169600
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.395004528,742,711.395004528,672,660,633,877,783,799.395004528,648,628,650,0.425383243739,-0.0055505366238,0.0799400838374,0.999999990487,-9.33422708419e-05,-8.51440436085e-05,-5.53476787506e-05,1793192295490836224
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.975562001,742,711.975562001,672,660,633,877,783,799.975562001,648,628,650,0.426200661689,-0.00555518820543,0.0798922473954,0.999999980324,-0.000104713102751,-0.000157432871744,-6.0019384659e-05,1793192295507503104
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.550951268,712,672.550951268,660,632.449048732,877,783,799.449048732,648.550951268,628,650,0.427065758255,-0.00556349482666,0.079891887602,0.99999998059,-0.000118635172439,-0.000144504330678,-6.21639285076e-05,1793192295524169472
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.873893245,712,673,660,632,877,783,799,648.873893245,628,650,0.427923654872,-0.00556970730196,0.0798955449016,0.999999981195,-0.000127998987228,-0.00013124211517,-6.32616375992e-05,1793192295540836096
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.298761532,712,673,660,632,877,783,799,648.298761532,628,650,0.428748454525,-0.00556789130507,0.07990607711,0.999999982383,-0.000120733153906,-0.000130125713277,-6.10273338088e-05,1793192295557502720
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.716260544,742.283739456,712,673,660,632,877,783,799,648,628,650,0.429600707997,-0.00556494535197,0.0799276291979,0.999999986558,-0.000113171005871,-0.000102936175398,-5.90038157881e-05,1793192295574169600
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.125793265,742.874206735,712,673,660,632,877,783,799,648,628,650,0.430482639521,-0.00556077789455,0.0799610939874,0.99999999169,-0.000105288536128,-4.75610746e-05,-5.72081612587e-05,1793192295590836224
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632,877,783,799,648.4534733,628,650,0.431324374714,-0.00555355873125,0.0799906311311,0.999999993723,-9.71733388164e-05,-4.30243194551e-06,-5.56063505635e-05,1793192295607503104
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.029772868,743,712,673.029772868,660,632,877.029772868,783,799,648.970227132,628,650,0.432149036935,-0.00554601103611,0.0800148122394,0.999999994131,-8.92304026976e-05,2.89361142305e-05,-5.42175129152e-05,1793192295624169728
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.607270756,743,712,673.607270756,660,632,877.607270756,783,799,648.392729244,628,650,0.43285979788,-0.00554761767277,0.0799600201297,0.999999992868,-8.56155719964e-05,-6.18199862236e-05,-5.57813070164e-05,1793192295640836352
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.816351419,742.816351419,711.816351419,673.816351419,660.183648581,632.183648581,878,783,799,648,628,649.816351419,0.433574770594,-0.00555065121932,0.0799094311217,0.999999984793,-8.7633240622e-05,-0.000139076973677,-5.8244446394e-05,1793192295657502976
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.242354202,742.242354202,711.242354202,673.242354202,660.757645798,632.757645798,878,783,799,648,628,649.242354202,0.43429869564,-0.00555671769096,0.0798677758782,0.999999975271,-0.000101622896757,-0.000187641351219,-6.26191627012e-05,1793192295674169600
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,742,711,673,661,632.655244961,877.655244961,783,799,648.344755039,628.344755039,649.344755039,0.435063026673,-0.00556305990899,0.0798761609332,0.9999999779,-0.000111088579203,-0.000167118183533,-6.26937481051e-05,1793192295690836224
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,742,711,673,661,632.058553904,877.058553904,783,799,648.941446096,628.941446096,649.941446096,0.435856885074,-0.00556960363336,0.0799211138493,0.99999998673,-0.000117248284414,-9.6108031691e-05,-5.9625934175e-05,1793192295707502848
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,742,711.517784449,673,661,632,877,783,799,649,628.482215551,650,0.436560428631,-0.00557352732488,0.0799425410586,0.999999988078,-0.000119976907406,-7.81556498457e-05,-5.77969587758e-05,1793192295724169728
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,742,711.907991185,673,660.907991185,632,877,783,799,649,628,650.092008815,0.437245805379,-0.00557669901182,0.0799561543135,0.999999988388,-0.00012215912345,-7.14344530349e-05,-5.65524222316e-05,1793192295740836096
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,742,711.333239223,673,660.333239223,632,877,783,799,649,628,650.666760777,0.437887425711,-0.00557742089287,0.0799422005529,0.999999986362,-0.000123433260578,-9.33500257253e-05,-5.76670283083e-05,1793192295757502720
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,742,711.239817691,673,660,632,877.239817691,783,799.239817691,649,628,650.760182309,0.438502533829,-0.00557494194627,0.0799229668708,0.999999983362,-0.00012102835771,-0.000123110981665,-5.89299960879e-05,1793192295774169600
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,742,711.810535733,673,660,632,877.810535733,783,799.810535733,649,628,650.189464267,0.439081060352,-0.00556804649893,0.0798964479563,0.999999978331,-0.000113547116787,-0.000163696992268,-6.03976731512e-05,1793192295790836224
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.399784103,742,711.600215897,673,660,632,877.600215897,783,799.600215897,648.600215897,628,650,0.439641136075,-0.00556357212641,0.0798599565037,0.999999968224,-0.000112396999718,-0.000216586116251,-6.3320060812e-05,1793192295807502848
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.998241183,742,711.001758817,673,660,632,877.001758817,783,799.001758817,648.001758817,628,650,0.440192042713,-0.005560300908,0.0798185091892,0.99999995324,-0.000114393137931,-0.000275589283746,-6.69653678553e-05,1793192295824169728
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.573022672,711.573022672,673,660,632,877,782.426977328,799,648.573022672,628,650,0.440645633942,-0.00556114342866,0.0797556489676,0.999999921928,-0.000104939121681,-0.000375209783515,-6.59427972823e-05,1793192295840836352
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.848726031,743,711.848726031,673,660,632,877.151273969,782,799,649,628,650,0.441102531154,-0.00556219522131,0.079704865474,0.999999889248,-0.00010178343754,-0.000454719794184,-6.61309040946e-05,1793192295857502976
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.260244573,743,711.260244573,673,660,632,877.739755427,782,799,649,628,650,0.441569812357,-0.00556381680073,0.0796891681793,0.999999877549,-0.000116928548337,-0.000475761085471,-6.98578414784e-05,1793192295874169600
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,743,711,673,659.676127809,631.676127809,878,782,799.323872191,649,628,650,0.442055093113,-0.00556849927427,0.0797029173506,0.99999988718,-0.000124150970615,-0.00045315782222,-6.98161930305e-05,1793192295890836480
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,743,711,673,659.095471652,631.095471652,878,782,799.904528348,649,628,650,0.442554644893,-0.00557560859556,0.079740013326,0.999999911557,-0.000125091841669,-0.000395950715738,-6.67865988333e-05,1793192295907503104
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,743,711,673,659.47834754,631,878,782,799.52165246,648.52165246,628,650.47834754,0.443007026697,-0.00558024409993,0.0797668135563,0.999999926071,-0.00012988592449,-0.000356179265521,-6.4213119889e-05,1793192295924169728
+194,3.233333333,POSE1_TO_POSE2_PRESS,763,742.948698105,711,672.948698105,659.948698105,631.051301895,878.051301895,782,799,648.051301895,628,650.948698105,0.443439518634,-0.00558390943565,0.0797872586889,0.999999935628,-0.000134651158904,-0.000326768814773,-6.19369337709e-05,1793192295940836352
+195,3.250000000,POSE1_TO_POSE2_PRESS,763,742.370811652,711,672.370811652,659.370811652,631.629188348,878.629188348,782,799,648.629188348,628,650.370811652,0.443763125077,-0.00558261309112,0.0797632674376,0.999999921573,-0.000131337675216,-0.000368492047002,-6.17910399333e-05,1793192295957503232
+196,3.266666667,POSE1_TO_POSE2_PRESS,763,742,711,672.423891973,659,631.788054013,878.788054013,782,799,648.788054013,628,650,0.444073425873,-0.00558244916701,0.0797391488371,0.999999906258,-0.000130093730445,-0.000408237310799,-6.24612837006e-05,1793192295974169856
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,742,711,673.606852921,659,631.196573539,878.196573539,782,799,648.196573539,628,650,0.444359900035,-0.00558431308329,0.0797148021935,0.999999890365,-0.000132555737017,-0.000444440596421,-6.45929960139e-05,1793192295990836224
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,742.386653182,711,673.613346818,659,631,878,782.386653182,799.386653182,648.386653182,628,650,0.444639955948,-0.00558692856085,0.0797000785677,0.999999880091,-0.000137311060789,-0.00046564038143,-6.43570394655e-05,1793192296007502592
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,742.965771469,711,673.034228531,659,631,878,782.965771469,799.965771469,648.965771469,628,650,0.444916817064,-0.0055899181447,0.0796901450079,0.999999872866,-0.000143207933777,-0.000479371848133,-6.2942523992e-05,1793192296024169472
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+203,3.383333333,POSE1_TO_POSE2_PRESS,763,742.729566985,711,674,658,631,877.729566985,782,799,648.270433015,628,650,0.445803964435,-0.00559125295243,0.0796903680989,0.999999873561,-0.000129707544307,-0.000482140547858,-5.9959913619e-05,1793192296090836224
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+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711.979652889,673,658,631,878,782,799,649,628,650,0.446254698466,-0.00559628780487,0.0796618856649,0.999999848092,-0.000178439316293,-0.00051766500594,-6.32257457974e-05,1793192296140836352
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711.40492156,673,658,631,878,782,799,649,628,650,0.446373458633,-0.00559499660002,0.0796623580732,0.999999851595,-0.000167186598803,-0.000514700266282,-6.27842272541e-05,1793192296157502976
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.825604381,742.825604381,711,673.174395619,658,631,878,782,799,649,628.174395619,650,0.446483904092,-0.00559458537293,0.0796634713019,0.999999854743,-0.000159185762572,-0.000511172789067,-6.22618689578e-05,1793192296174169344
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.235352051,742.235352051,711,673.764647949,658,631,878,782,799,649,628.764647949,650,0.446574522617,-0.00559627250524,0.079666112605,0.999999857304,-0.000158939231966,-0.000506303431287,-6.15467435495e-05,1793192296190835968
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+211,3.516666667,POSE1_TO_POSE2_PRESS,763,742.930972643,711.930972643,673.069027357,658,631,878,782,799,649,628.069027357,650,0.446722151244,-0.00559393030975,0.0796676756399,0.999999860702,-0.000153517119581,-0.000501246260658,-6.14800308845e-05,1793192296224169472
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+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.345199958,711,673.345199958,658,631,878.345199958,781.345199958,800,648.345199958,628,650,0.446844548452,-0.00559570096257,0.0796572980909,0.999999854461,-0.000156540761507,-0.000512679343199,-6.10894276077e-05,1793192296274169600
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+216,3.600000000,POSE1_TO_POSE2_PRESS,763.172888328,742,711,673.827111672,658,630.172888328,878,781,800,648.827111672,628,650,0.446886793609,-0.00559573521739,0.0796515284724,0.999999850031,-0.000155126882946,-0.000521738108757,-6.05227137074e-05,1793192296307502592
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+222,3.700000000,POSE1_TO_POSE2_PRESS,763,743,711,673.297658935,658,630,877.297658935,781.297658935,799.297658935,649,628,650,0.446931114738,-0.00559294228336,0.079650169996,0.999999850394,-0.000148151764423,-0.0005232313274,-5.90988256857e-05,1793192296407502848
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+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.30857574,711,674,658,630.69142426,878,781,799,649,628,650,0.446937069058,-0.00559366126646,0.079647380541,0.999999849433,-0.00014822606275,-0.000525198086551,-5.76982448987e-05,1793192296590836224
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.3405376,711,674,657.681075199,631,878,781,799.6594624,648,628,650,0.446937205046,-0.00559316998452,0.0796463715176,0.999999847938,-0.000148341022546,-0.000528063358699,-5.71610488368e-05,1793192296724169984
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.921358204,711,674,658.842716409,631,878,781,799.078641796,648,628,650,0.446940619616,-0.00559434305802,0.0796488910335,0.999999849702,-0.000147908169297,-0.00052492548503,-5.63281351724e-05,1793192296740836096
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+246,4.100000000,HOLD_POSE2,763,742,711,674,658,630,877,782,799,649,628,650,0.446940095964,-0.00559114304287,0.0796468611087,0.999999849808,-0.000143026897916,-0.000525954039116,-5.74461109248e-05,1793192296829305344
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+248,4.133333333,HOLD_POSE2,763.843125958,743,711,673.843125958,658,630,878,781,799,648.843125958,628,650,0.446940187924,-0.00559378168276,0.0796465472614,0.999999848842,-0.000147738446838,-0.000526561024696,-5.67700569935e-05,1793192296862638592
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+250,4.166666667,HOLD_POSE2,763,742.687160224,711,673.312839776,658,630.312839776,878,781,799,648.312839776,628,650,0.446938673286,-0.00559309548926,0.0796452597883,0.999999847967,-0.000148239736897,-0.000528061090758,-5.69342370979e-05,1793192296895971840
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,658,630,878,782,799,649,628,650,0.446943749409,-0.00559205131038,0.0796480260328,0.999999849708,-0.000147725010878,-0.000524888773942,-5.70418717333e-05,1793192297117481216
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711.272388584,671.272388584,659.727611416,632.727611416,876,784,799.272388584,649,628,650,0.400954793363,-0.00548264572933,0.0798284652635,0.999999949633,0.000116782121609,-0.000293192338755,3.36866294483e-05,1793192299234147328
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_04/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..db0b5562a9fab95b9b5b2a3c865aefcc29e36257
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,400 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_04/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32eb74f3cd7611fd927d8e6620bf840dd0bf1c85
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74e15195630f2bf2158ee9cee053e2694e6a4afb1c6961fcbc7cc6768e09c30a
+size 25514563
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_04/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e53ed858dcc8354c88617fcf05072513594db723
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_05/franka_data.csv
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+3,0.050000000,BASELINE,764,742,711,671,659.741893144,632.258106856,876.741893144,783,799,649,628,650,0.400951583802,-0.00548282510821,0.0798278571863,0.999999949475,0.000115617701722,-0.000294217818984,3.34334361639e-05,1793192299579073024
+4,0.066666667,BASELINE,763.673924395,742,711.326075605,671,660,632,877,783.326075605,799,649,628,650,0.400951958268,-0.00548391166116,0.0798283317035,0.999999949733,0.000113872128338,-0.000294036892839,3.33113466059e-05,1793192299595739392
+5,0.083333333,BASELINE,763.094155853,742,711.905844147,671,660,632,877,783.905844147,799,649,628,650,0.400952982712,-0.00548520487322,0.0798288631815,0.999999950036,0.000112958691514,-0.000293376414963,3.31370038228e-05,1793192299612405760
+6,0.100000000,BASELINE,763.482810078,742,711.517189922,671,659.517189922,632,877,783.517189922,799.482810078,648.517189922,628,650,0.400954303265,-0.00548473089516,0.0798295332223,0.99999995064,0.000112744581897,-0.00029139067446,3.31654307961e-05,1793192299629072384
+7,0.116666667,BASELINE,764,742,711,671.058850249,659,632,876.941149751,783,799.941149751,648.058850249,628,650,0.400955481556,-0.00548395775312,0.079830126191,0.999999951183,0.000112777411764,-0.000289503391009,3.32219101247e-05,1793192299645738752
+8,0.133333333,BASELINE,764,742,711,671.631551877,659,632,876.368448123,783,799.368448123,648.631551877,628,650,0.400954916392,-0.00548356423946,0.0798298116217,0.999999950717,0.000113782463063,-0.00029071940163,3.31800478601e-05,1793192299662405376
+9,0.150000000,BASELINE,763.788723062,742,711.211276938,671.788723062,659,632,876.211276938,783.211276938,798.788723062,649,628.211276938,650.211276938,0.400954727034,-0.00548279505534,0.0798296339407,0.999999950494,0.000114863589641,-0.000291074813263,3.30677097678e-05,1793192299679072512
+10,0.166666667,BASELINE,763.196328659,742,711.803671341,671.196328659,659,632,876.803671341,783.803671341,798.196328659,649,628.803671341,650.803671341,0.400955215581,-0.00548134820819,0.079829703189,0.999999950709,0.000116081946505,-0.000289877810631,3.2828242004e-05,1793192299695739136
+11,0.183333333,BASELINE,763.38615237,742.38615237,712,671.38615237,659,632.38615237,876.61384763,783.61384763,798.38615237,649,629,651,0.400954650356,-0.0054824086939,0.079829346963,0.999999950382,0.000115618355311,-0.000291147157799,3.31816787613e-05,1793192299712406016
+12,0.200000000,BASELINE,763.963719422,742.963719422,712,671.963719422,659,632.963719422,876.036280578,783.036280578,798.963719422,649,629,651,0.400953562778,-0.00548471205757,0.0798287798304,0.999999949781,0.000114321027143,-0.000293639067751,3.38290166569e-05,1793192299729072640
+13,0.216666667,BASELINE,764,742.460506828,712,671.460506828,659.539493172,632.460506828,876.539493172,783,799,649,628.460506828,650.460506828,0.40095379473,-0.00548434111304,0.0798289471394,0.999999950036,0.000115459424498,-0.000292339197178,3.3677637591e-05,1793192299745739264
+14,0.233333333,BASELINE,763.882434892,742,712,671.117565108,659.882434892,632,876.882434892,783,799,648.882434892,628,650,0.400953887599,-0.00548375965283,0.0798289370468,0.9999999502,0.000116816532798,-0.000291256335105,3.35304145911e-05,1793192299762405632
+15,0.250000000,BASELINE,763.294690919,742,712,671.705309081,659.294690919,632,876.294690919,783,799,648.294690919,628,650,0.400953070517,-0.00548305315033,0.0798280205965,0.999999949777,0.000118395413438,-0.000292057779914,3.36139168162e-05,1793192299779072256
+16,0.266666667,BASELINE,763,742,712,672,659,632,876.288852477,783,799.288852477,648.288852477,628,650,0.400953207251,-0.00548347232878,0.0798279301491,0.999999949983,0.000116638847178,-0.000292086807882,3.33900583317e-05,1793192299795738880
+17,0.283333333,BASELINE,763,742,712,672,659,632,876.868171785,783,799.868171785,648.868171785,628,650,0.400954303131,-0.00548502347949,0.0798286703211,0.999999950802,0.000111528192593,-0.000291339102031,3.28571213378e-05,1793192299812405760
+18,0.300000000,BASELINE,763.445401181,742,712,672,659,632,877,783,799.554598819,649,628,650,0.400954812252,-0.00548426303859,0.0798294686741,0.999999950831,0.00011347614906,-0.000290440273299,3.32434088538e-05,1793192299829072384
+19,0.316666667,BASELINE,764,742,712,671.978175844,659.021824156,632.021824156,877,783,799.021824156,649,628.021824156,650.021824156,0.400955109765,-0.00548285626921,0.0798302280298,0.99999995061,0.000117403099589,-0.000289568404123,3.38663880611e-05,1793192299845739264
+20,0.333333333,BASELINE,764,742,712,671.406557923,659.593442077,632.593442077,877,783,799.593442077,649,628.593442077,650.593442077,0.400954431036,-0.00548232246823,0.079829573181,0.999999950183,0.000118800000972,-0.000290497243935,3.36301600808e-05,1793192299862405888
+21,0.350000000,BASELINE,764,742,712,671.17154122,659.82845878,633,877,783,799.82845878,649,628.82845878,650.82845878,0.400954253347,-0.00548205636215,0.0798292638675,0.999999950028,0.000119095201568,-0.000290940868672,3.3380008192e-05,1793192299879072512
+22,0.366666667,BASELINE,764,742,712,671.765604122,659.234395878,633,877,783,799.234395878,649,628.234395878,650.234395878,0.400955309765,-0.00548244961311,0.0798298056391,0.999999950541,0.000116676812356,-0.000290189364253,3.30955604808e-05,1793192299895739136
+23,0.383333333,BASELINE,764,742,711.649259657,671.649259657,659,633,877,783,799,649,628.350740343,650,0.400954865497,-0.00548357771663,0.0798296730138,0.999999950753,0.000114378682061,-0.00029036857721,3.3128237795e-05,1793192299912405760
+24,0.400000000,BASELINE,764,742,711.069940918,671.069940918,659,633,877,783,799,649,628.930059082,650,0.40095344323,-0.00548518472551,0.0798291008822,0.999999950768,0.000112158924572,-0.000291154341031,3.33675862862e-05,1793192299929072128
+25,0.416666667,BASELINE,764,742,711.505489724,671,659,633,877,783,799.505489724,649,629,650.505489724,0.400953152374,-0.00548532175213,0.0798293467706,0.999999950656,0.000113500857216,-0.000290987890296,3.3641202478e-05,1793192299945739008
+26,0.433333333,BASELINE,764,742,712,671.082073167,659,632.917926833,876.917926833,783,799.917926833,648.917926833,628.917926833,650.917926833,0.400953123096,-0.00548520634522,0.0798296618801,0.999999950569,0.000114913839653,-0.000290710053022,3.38332004015e-05,1793192299962405632
+27,0.450000000,BASELINE,764,742,712,671.66903263,659,632.33096737,876.33096737,783,799.33096737,648.33096737,628.33096737,650.33096737,0.400953747296,-0.00548477969304,0.0798297118631,0.999999950759,0.00011375546771,-0.000290551304208,3.34941658553e-05,1793192299979072512
+28,0.466666667,BASELINE,764,742,712,671.747245831,659,632.252754169,876.252754169,783,799,648.252754169,628,650,0.400953751509,-0.00548457318313,0.0798295610421,0.9999999508,0.000113115042962,-0.000290679693902,3.33078998298e-05,1793192299995739392
+29,0.483333333,BASELINE,764,742,712,671.167710578,659,632.832289422,876.832289422,783,799,648.832289422,628,650,0.400952954151,-0.00548465129101,0.0798291506053,0.999999950651,0.000113144262414,-0.000291179319553,3.33191453553e-05,1793192300012406272
+30,0.500000000,BASELINE,764.410902409,742,711.589097591,671.410902409,659,632.589097591,877,783,799.410902409,649,628,650.410902409,0.400953762475,-0.00548470144345,0.079829555822,0.999999950856,0.000112962050426,-0.000290546557824,3.33130234023e-05,1793192300029072896
+31,0.516666667,BASELINE,764.9891398,742,711.0108602,671.9891398,659,632.0108602,877,783,799.9891398,649,628,650.9891398,0.400955224693,-0.00548474021138,0.0798302932037,0.999999951204,0.000112693735568,-0.000289452645168,3.32998287556e-05,1793192300045739264
+32,0.533333333,BASELINE,764.427710381,742,711,671.427710381,659,632,877,783,799.427710381,649,628,650.427710381,0.400953987328,-0.0054846436702,0.0798293673181,0.999999950721,0.000113764125937,-0.000290737057719,3.2992783328e-05,1793192300062405888
+33,0.550000000,BASELINE,764,742,711,671.154687986,659,632,877,783,799,649,628,650,0.400953359879,-0.00548437273722,0.0798288276354,0.999999950428,0.000114536130352,-0.000291460343394,3.28107574095e-05,1793192300079072512
+34,0.566666667,BASELINE,764,742,711,671.734761218,659,632,877,783,799,649,628,650,0.400954551774,-0.00548362935668,0.0798294375432,0.999999950711,0.000114417120638,-0.000290515366207,3.29879972121e-05,1793192300095739136
+35,0.583333333,BASELINE,764,742,711.315225738,671.684774262,659,632.315225738,877,783,798.684774262,649,628,650,0.400954820652,-0.00548355042854,0.0798300863752,0.999999950928,0.000114402002925,-0.000289752253089,3.31483316844e-05,1793192300112405760
+36,0.600000000,BASELINE,764,742,711.896019969,671.103980031,659,632.896019969,877,783,798.103980031,649,628,650,0.400954311915,-0.00548403128209,0.0798307679996,0.999999951092,0.000114474411185,-0.000289142355041,3.32944239285e-05,1793192300129072640
+37,0.616666667,BASELINE,764,742.470798677,711.529201323,671.470798677,659,632.529201323,877,783,798.470798677,649,628,650.470798677,0.400953927285,-0.00548513171884,0.0798302283096,0.999999951117,0.00011266381975,-0.000289805367556,3.29382629877e-05,1793192300145739264
+38,0.633333333,BASELINE,763.955450864,742.955450864,711.044549136,672,659,632.044549136,877,783,798.955450864,649,628,650.955450864,0.400953514332,-0.00548617173332,0.0798294181447,0.999999951069,0.000110709438351,-0.000290771319002,3.25334367973e-05,1793192300162406144
+39,0.650000000,BASELINE,763.378309819,742.378309819,711.621690181,672,659,632.621690181,877,783,798.378309819,649,628,650.378309819,0.400952439218,-0.00548487408171,0.0798285584885,0.999999950551,0.000111945173514,-0.000292040361139,3.28562288625e-05,1793192300179072768
+40,0.666666667,BASELINE,763,742,711.796938706,672,659,632.796938706,876.796938706,783,798.203061294,649,628.203061294,650.203061294,0.400951911974,-0.00548424488873,0.0798281965522,0.999999950315,0.000112535087414,-0.000292595724972,3.3082537441e-05,1793192300195739392
+41,0.683333333,BASELINE,763,742,711.207519215,672,659,632.207519215,876.207519215,783,798.792480785,649,628.792480785,650.792480785,0.400952427143,-0.00548488755058,0.0798287816114,0.999999950619,0.000111896217886,-0.000291793195966,3.31252699715e-05,1793192300212405760
+42,0.700000000,BASELINE,763.375060294,742,711.375060294,672,659,632.375060294,876,783,799,649,628.624939706,651,0.40095297423,-0.00548420179742,0.0798291895695,0.99999995079,0.000112318312552,-0.000291058967002,3.3009561309e-05,1793192300229072384
+43,0.716666667,BASELINE,763.953923036,742,711.953923036,672,659,632.953923036,876,783,799,649,628.046076964,651,0.40095353866,-0.00548279420235,0.0798295012933,0.999999950886,0.000113316920142,-0.00029036185134,3.28077579468e-05,1793192300245738752
+44,0.733333333,BASELINE,764,742,712,671.471086052,659,632.471086052,876.528913948,783,799,649,628,651,0.400954552173,-0.00548324007034,0.0798303562677,0.999999951184,0.000113692240259,-0.000289155458244,3.31041666099e-05,1793192300262405632
+45,0.750000000,BASELINE,764,742.10594006,712,671,659,632,877,783,799,649,628,651,0.400955319789,-0.00548381905719,0.0798309763898,0.999999951361,0.000114143761757,-0.000288331114629,3.33964064732e-05,1793192300279072000
+46,0.766666667,BASELINE,764,742.693746115,712,671,659,632,877,783,799,649,628,651,0.400954792292,-0.00548427444179,0.0798303145948,0.999999950917,0.000115187063824,-0.000289444847561,3.34737046554e-05,1793192300295738624
+47,0.783333333,BASELINE,764,742.72236748,712,671.27763252,659.27763252,632,877,783.27763252,799,649,628,651,0.400954591838,-0.00548474261838,0.0798302490833,0.999999950785,0.000115050913101,-0.000289959184477,3.34275579282e-05,1793192300312405504
+48,0.800000000,BASELINE,764,742.142744539,712,671.857255461,659.857255461,632,877,783.857255461,799,649,628,651,0.40095474712,-0.00548522470929,0.0798308321698,0.999999950993,0.000113631831233,-0.000289821537915,3.32471359464e-05,1793192300329072128
+49,0.816666667,BASELINE,764,742.434865738,712,672,660,632,877,783.565134262,799,649,628.434865738,651,0.400955029459,-0.00548454341446,0.0798311577608,0.999999951178,0.000114190673836,-0.000288975662092,3.31398242618e-05,1793192300345738752
+50,0.833333333,BASELINE,764,743,712,671.988232679,659.988232679,632,877,783,799,649,628.988232679,650.988232679,0.400955343932,-0.00548348138983,0.0798313863036,0.999999951345,0.000115377186649,-0.000287931431605,3.30575334236e-05,1793192300362405376
+51,0.850000000,BASELINE,764,743,712,671.413772034,659.413772034,632,877,783,799,649,628.413772034,650.413772034,0.400955209799,-0.00548239028379,0.0798309972811,0.999999951157,0.000115674674495,-0.000288467610448,3.30294192186e-05,1793192300379072000
+52,0.866666667,BASELINE,764,742.835013785,711.835013785,671.164986215,659,632.164986215,877,783,799,648.835013785,628,650,0.400954853348,-0.00548233050436,0.0798305481873,0.99999995102,0.000115112715413,-0.000289163988291,3.30520578973e-05,1793192300395738624
+53,0.883333333,BASELINE,764,742.24518927,711.24518927,671.75481073,659,632.75481073,877,783,799,648.24518927,628,650,0.400953924431,-0.00548492638351,0.0798299444104,0.99999995101,0.00011233768675,-0.000290272877347,3.32053848821e-05,1793192300412405248
+54,0.900000000,BASELINE,764,742,711,672,659,633,877,783.338139909,799,648.338139909,628,650.338139909,0.400953992021,-0.00548533833107,0.0798300373119,0.99999995109,0.000111762461421,-0.000290212090445,3.32675043276e-05,1793192300429072128
+55,0.916666667,BASELINE,764,742,711,672,659,633,877,783.916847985,799,648.916847985,628,650.916847985,0.400954768571,-0.00548419652989,0.0798306258622,0.999999951237,0.000112752276721,-0.000289319142625,3.32647345595e-05,1793192300445738752
+56,0.933333333,BASELINE,764,742,711,671.50622405,659.49377595,632.50622405,876.50622405,783.50622405,798.50622405,649,628,650.50622405,0.400955766071,-0.00548409570595,0.0798314192199,0.999999951646,0.000112508810796,-0.00028800131045,3.32392836933e-05,1793192300462405376
+57,0.950000000,BASELINE,763.92868192,742.07131808,711.07131808,671,659.92868192,632.07131808,876.07131808,783.07131808,798.07131808,649,628.07131808,650,0.400956479547,-0.00548410447476,0.0798320040925,0.999999951948,0.000112348432039,-0.000287020138951,3.31844853127e-05,1793192300479072000
+58,0.966666667,BASELINE,763.344576487,742.655423513,711.655423513,671,659.344576487,632.655423513,876.655423513,783.655423513,798.655423513,649,628.655423513,650,0.400954884269,-0.00548364532024,0.0798308428322,0.999999951176,0.000114273382951,-0.000288972218838,3.29460381931e-05,1793192300495738880
+59,0.983333333,BASELINE,763.239838316,742.760161684,712,671.239838316,659,633,877,783.760161684,799,649,629,650,0.400953681947,-0.00548330527279,0.0798299133286,0.99999995062,0.000115732981943,-0.000290325917415,3.28185489258e-05,1793192300512405760
+60,1.000000000,BASELINE,763.824698251,742.175301749,712,671.824698251,659,633,877,783.175301749,799,649,629,650,0.400953044913,-0.00548313656784,0.0798293172205,0.999999950384,0.00011652314493,-0.000290818809335,3.2850679064e-05,1793192300529072128
+61,1.016666667,BASELINE,764,742,711.597444969,672,659,632.597444969,877,783,798.597444969,649,628.597444969,650,0.400952548277,-0.00548276771239,0.0798287569008,0.99999995011,0.000116909697003,-0.000291596598549,3.29127146699e-05,1793192300545738752
+62,1.033333333,BASELINE,764,742,711.022585759,672,659,632.022585759,877,783,798.022585759,649,628.022585759,650,0.400952111735,-0.00548231318726,0.0798282118995,0.99999994982,0.000117123492904,-0.000292496331295,3.29875506037e-05,1793192300562405376
+63,1.050000000,BASELINE,764,742.552770896,711.552770896,671.447229104,659,632,877,783,798.552770896,649,628.552770896,650.552770896,0.400952787411,-0.00548275014399,0.0798293162075,0.999999950349,0.00011568149479,-0.00029124166697,3.3131498182e-05,1793192300579072000
+64,1.066666667,BASELINE,764,742.868509919,711.868509919,671,659,632,877,783.131490081,799,649,628.868509919,650.868509919,0.400953513523,-0.00548303584984,0.0798302848467,0.999999950881,0.000114664628212,-0.000289806884709,3.31823842299e-05,1793192300595738624
+65,1.083333333,BASELINE,764,742.278126716,711.278126716,671,659,632,877,783.721873284,799,649,628.278126716,650.278126716,0.400954256918,-0.00548266646204,0.0798305446121,0.999999951317,0.000115367769967,-0.000288050986509,3.28986267312e-05,1793192300612405248
+66,1.100000000,BASELINE,764,742,711.30563237,671.30563237,659.30563237,632.30563237,877,783.69436763,798.69436763,649,628.30563237,650.30563237,0.400955169538,-0.00548296316562,0.0798309758971,0.99999995154,0.000115477415016,-0.000287231562703,3.28941705468e-05,1793192300629071872
+67,1.116666667,BASELINE,764,742,711.883491328,671.883491328,659.883491328,632.883491328,877,783.116508672,798.116508672,649,628.883491328,650.883491328,0.400956232887,-0.00548385315645,0.0798315599545,0.999999951576,0.000115058432833,-0.000287246256229,3.31384879075e-05,1793192300645738496
+68,1.133333333,BASELINE,764,742,712,672,659.541079226,632.541079226,877,783.458920774,798.458920774,649,628.541079226,650.541079226,0.40095559041,-0.00548408896326,0.0798314060628,0.999999951394,0.000114822432498,-0.000287958116409,3.32789616813e-05,1793192300662405376
+69,1.150000000,BASELINE,764,742,711.965438984,672,659,632.034561016,877,783.965438984,798.965438984,649,628,650,0.40095453407,-0.00548414866473,0.0798310495175,0.999999951162,0.000114584839611,-0.000288845165427,3.33817597222e-05,1793192300679071744
+70,1.166666667,BASELINE,764,742,711.376578405,672,659,632.623421595,877,783.376578405,798.376578405,649,628,650,0.400953749172,-0.00548403356893,0.0798304316586,0.999999951027,0.000113580576656,-0.000289718219551,3.3300899367e-05,1793192300695738368
+71,1.183333333,BASELINE,764,742,711.208843645,671.791156355,659,633,877,783,798.208843645,649,628.208843645,650,0.400953016232,-0.00548413259444,0.0798299462458,0.99999995092,0.000112770228626,-0.000290409481861,3.32389167728e-05,1793192300712405248
+72,1.200000000,BASELINE,764,742,711.788166009,671.211833991,659,633,877,783,798.788166009,649,628.788166009,650,0.400952375466,-0.00548461146099,0.0798296957863,0.999999950866,0.000112303876307,-0.000290778254264,3.32104224179e-05,1793192300729071872
+73,1.216666667,BASELINE,764,742,712,671,659,632.634306269,877,783,799,648.634306269,628.634306269,650,0.400953264542,-0.00548458306149,0.0798300773964,0.999999950959,0.000113351372602,-0.000290060395091,3.31487255737e-05,1793192300745738496
+74,1.233333333,BASELINE,764,742,712,671,659,632.05781308,877,783,799,648.05781308,628.05781308,650,0.400955035476,-0.00548426225495,0.079830823355,0.999999951131,0.000115271507532,-0.000288716161063,3.30678895821e-05,1793192300762405376
+75,1.250000000,BASELINE,764,742,711.481586482,671.518413518,659,632,876.481586482,783.518413518,799,648.518413518,628,650,0.40095462448,-0.00548422805155,0.0798307385547,0.999999951008,0.000115581296021,-0.000288998536126,3.3226098767e-05,1793192300779072768
+76,1.266666667,BASELINE,764,742.096671068,711,671.903328932,659,632,876.096671068,784,799,649,628,650,0.400954090654,-0.00548422420632,0.0798304865532,0.999999950857,0.000115584884311,-0.000289506216424,3.33405089944e-05,1793192300795740160
+77,1.283333333,BASELINE,764,742.685417828,711,671.314582172,659,632,876.685417828,784,799,649,628,650,0.400954169548,-0.00548421228207,0.0798298548057,0.999999950727,0.000114943503257,-0.000290237867142,3.30963478133e-05,1793192300812406272
+78,1.300000000,BASELINE,764,742.730435502,711,671.269564498,659,632.269564498,877,783.730435502,799,649,628,650,0.400953988069,-0.00548368744578,0.0798295637705,0.999999950564,0.000115451738996,-0.000290613538948,3.29619760509e-05,1793192300829072128
+79,1.316666667,BASELINE,764,742.151567111,711,671.848432889,659,632.848432889,877,783.151567111,799,649,628,650,0.400953507832,-0.00548257408357,0.0798296636757,0.999999950361,0.000117279068922,-0.00029058075312,3.29535789605e-05,1793192300845738752
+80,1.333333333,BASELINE,763.57443006,742,711.42556994,671.57443006,659,633,877.42556994,783,799,649,628,650,0.400953215714,-0.00548310993599,0.0798298436278,0.999999950321,0.000117287910942,-0.000290695629048,3.31373922382e-05,1793192300862405632
+81,1.350000000,BASELINE,763.002086149,742,712,671,659.002086149,632.997913851,877.997913851,783,799,649,628,650.002086149,0.400952993943,-0.00548422568283,0.079830052559,0.99999995034,0.000116646919028,-0.000290857811204,3.33876275711e-05,1793192300879072512
+82,1.366666667,BASELINE,763.576744826,742,712,671,659.576744826,632.423255174,877.423255174,783,799,649,628,650.576744826,0.400953765753,-0.00548394302954,0.0798304222515,0.999999950931,0.000114687956968,-0.000289628306404,3.31557703342e-05,1793192300895739136
+83,1.383333333,BASELINE,764,742,711.84426444,671.15573556,659.84426444,632,877.15573556,783,799.15573556,649,628,651,0.400954253099,-0.00548356492327,0.0798306510435,0.999999951331,0.00011366042823,-0.000288670423503,3.2986037328e-05,1793192300912405760
+84,1.400000000,BASELINE,764,742,711.253163113,671.746836887,659.253163113,632,877.746836887,783,799.746836887,649,628,651,0.400953945211,-0.0054829199738,0.0798304859419,0.999999951208,0.000115236762818,-0.000288471871571,3.29899753517e-05,1793192300929072128
+85,1.416666667,BASELINE,764,742.330431354,711,672,659,632,877.669568646,783,799.669568646,649,628,651,0.400953651659,-0.00548265294239,0.0798305041619,0.999999951049,0.000115800965065,-0.000288788681976,3.30650715576e-05,1793192300945738752
+86,1.433333333,BASELINE,764,742.908402095,711,672,659,632,877.091597905,783,799.091597905,649,628,651,0.400953368846,-0.0054826690246,0.0798306597154,0.999999950864,0.000115606938261,-0.000289491571,3.31934752131e-05,1793192300962405376
+87,1.450000000,BASELINE,764,742.5164499,711.4835501,671.5164499,659.4835501,632,877.4835501,783,799,649,628,650.5164499,0.400953508147,-0.00548335878359,0.0798302843965,0.999999950667,0.00011622946021,-0.000289923717009,3.31688208051e-05,1793192300979072000
+88,1.466666667,BASELINE,764,742,712,671.058049138,659.941950862,632.058049138,877.941950862,783,799,649,628,650,0.400953785543,-0.00548407452809,0.0798299769467,0.999999950557,0.000116731660995,-0.000290109398922,3.30999171021e-05,1793192300995738624
+89,1.483333333,BASELINE,764,742,712,671.631506125,659.368493875,632.631506125,877.368493875,783,799,649,628,650,0.400954583219,-0.0054838945144,0.0798311597845,0.999999951236,0.000114800171627,-0.000288559489508,3.28940656987e-05,1793192301012405248
+90,1.500000000,BASELINE,764,742,712,672,659.212742001,633,877,783,799,649,628,650,0.40095492392,-0.00548332913881,0.0798317491211,0.999999951605,0.000113876703412,-0.000287667155206,3.27210077404e-05,1793192301029072128
+91,1.516666667,BASELINE,764,742,712,672,659.807963123,633,877,783,799,649,628,650,0.400954443045,-0.00548207093871,0.0798312714288,0.999999951423,0.000114765510572,-0.000287957045319,3.26069076407e-05,1793192301045738752
+92,1.533333333,BASELINE,764,742,711.609663692,672,659.609663692,633,876.609663692,783,799,649,628.390336308,650,0.400955111989,-0.00548159508588,0.0798314249629,0.999999951621,0.000114812011709,-0.000287255944069,3.25537663925e-05,1793192301062405376
+93,1.550000000,BASELINE,764,742,711.033409936,672,659.033409936,633,876.033409936,783,799,649,628.966590064,650,0.400956328593,-0.00548149186546,0.0798318791506,0.999999951999,0.000114457321995,-0.000286082832985,3.25296598766e-05,1793192301079072000
+94,1.566666667,BASELINE,764,742,711.520667354,672,659,633,876,783,799,649,629,650.520667354,0.40095471902,-0.00548298609948,0.0798307045369,0.999999951345,0.000113844700658,-0.00028860605925,3.25006615394e-05,1793192301095738624
+95,1.583333333,BASELINE,764,742.081797172,712,672,659,633,876,783,799,649,628.918202828,650.918202828,0.400952929847,-0.00548440971447,0.0798294779425,0.99999995067,0.000113203634703,-0.000291188061075,3.24703514018e-05,1793192301112405504
+96,1.600000000,BASELINE,764,742.69791159,712,672,659,633,876,783,799,649,628.30208841,650.30208841,0.400951103704,-0.00548472980168,0.0798285666303,0.999999950321,0.000112480458926,-0.000292667949731,3.24334389565e-05,1793192301129072128
+97,1.616666667,BASELINE,764,742.705275872,711.705275872,672,658.705275872,633,876.294724128,783,798.705275872,649,628,650,0.400951957128,-0.00548438519856,0.0798292838409,0.999999950652,0.000112663524264,-0.000291452364529,3.25377577443e-05,1793192301145739008
+98,1.633333333,BASELINE,764,742.127031494,711.127031494,672,658.127031494,633,876.872968506,783,798.127031494,649,628,650,0.400955388254,-0.00548340117314,0.0798315676665,0.999999951627,0.000113718380184,-0.000287643773272,3.27779388902e-05,1793192301162405632
+99,1.650000000,BASELINE,763.55111586,742,711.44888414,672,658.44888414,632.55111586,876.55111586,783,798.44888414,649,628,650,0.400955100626,-0.00548375141552,0.079831103802,0.999999951447,0.000113429478573,-0.000288352998516,3.3056338779e-05,1793192301179072256
+100,1.666666667,BASELINE,763.049355483,742,711.975322259,672,659,632,876,783,799,649,628.024677741,650.024677741,0.400953830773,-0.0054844594705,0.0798299480093,0.999999950966,0.000112822425984,-0.000290218818625,3.33353863594e-05,1793192301195738624
+101,1.683333333,BASELINE,764.225302423,742,711.387348788,672,659,632,876,783,799,649,628.612651212,650.612651212,0.400954038413,-0.00548476057494,0.0798306556954,0.9999999511,0.000113588626627,-0.000289452306929,3.33836132009e-05,1793192301212405248
+102,1.700000000,BASELINE,764.604624743,742,711.197687629,671.802312371,659,632,876.197687629,783,799,649,628.802312371,650.802312371,0.400953885635,-0.00548434419929,0.0798306514077,0.999999950991,0.000114820955131,-0.000289357155596,3.3272189239e-05,1793192301229072128
+103,1.716666667,BASELINE,763.44589326,742,711.77705337,671.22294663,659,632,876.77705337,783,799,649,628.22294663,650.22294663,0.400953036992,-0.00548254257535,0.0798292725028,0.999999950409,0.000116953242761,-0.000290558208665,3.28525253593e-05,1793192301245738752
+104,1.733333333,BASELINE,763.709790408,742,711.645104796,671.354895204,659,632,877,783,799,649,628,650,0.400953530963,-0.00548277729243,0.0798295216887,0.999999950638,0.000116108902805,-0.000290105030282,3.28787190964e-05,1793192301262405120
+105,1.750000000,BASELINE,764.863567727,742,711.068216137,671.931783863,659,632,877,783,799,649,628,650,0.400954864764,-0.00548428577796,0.0798307892749,0.999999951369,0.000113402627944,-0.000288617099922,3.31838049038e-05,1793192301279071744
+106,1.766666667,BASELINE,764.484936222,742,711.515063778,671.484936222,659,632.515063778,877,783,799,649,628,650,0.400956232906,-0.00548481166441,0.079832483369,0.999999951964,0.000113098852677,-0.000286647962272,3.33830980714e-05,1793192301295738624
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,876,784,799,649,628,650,0.400953374812,-0.00548667555272,0.0798302781601,0.999999951225,0.000111460087961,-0.000289874140284,3.31734839133e-05,1793192301338300416
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,671.420480873,659.579519127,633,876,783.420480873,799,649,628,650.579519127,0.400955133723,-0.00548430392946,0.0798307797658,0.999999951528,0.00011338711674,-0.000288119463232,3.27942121399e-05,1793192301354967040
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,671.15788511,659.84211489,633,876.15788511,783,799,649,628,650.84211489,0.400956124099,-0.00548273140439,0.0798310979811,0.999999951572,0.000115251136163,-0.000287245454734,3.26199379884e-05,1793192301371633408
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.690159907,877,783,799,649,628,650,0.400954693889,-0.00548368539494,0.0798307728185,0.999999950893,0.000115967372258,-0.000289276209902,3.29482790554e-05,1793192301404966912
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.112380473,877,783,799,649,628,650,0.400954869843,-0.00548398984644,0.0798306213436,0.999999951335,0.0001126697953,-0.00028909329015,3.25568581973e-05,1793192301421633536
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+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742.037963784,711.037963784,671.037963784,659.037963784,632,877,784,799,649,628,650.962036216,0.401119059376,-0.00548550237567,0.0798894770318,0.999999976892,0.000116626577611,-0.000177513288528,3.32168213345e-05,1793192301538302208
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.541672829,742.541672829,711.541672829,671.541672829,659,632.541672829,877,783.458327171,799,649,628,651,0.401186477697,-0.00548720040125,0.0799005960299,0.999999980347,0.000112700879982,-0.000160066220173,3.13635506734e-05,1793192301554967808
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.884219673,712,671.884219673,659.115780327,632.884219673,877,783,799,649,628.115780327,650.884219673,0.401256730473,-0.00548890601769,0.0799096106084,0.999999982822,0.000109382337186,-0.000146738482766,2.93215612626e-05,1793192301571633664
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.328641106,712,671.328641106,659.671358894,632.328641106,877,783,799,649,628.671358894,650.328641106,0.401335393669,-0.00549031975532,0.0799124801602,0.999999983285,0.000109428951357,-0.000143977372735,2.69255007892e-05,1793192301588300544
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,671.242343022,660,632,877,783,799,649,629,650.242343022,0.401427012935,-0.00549179036368,0.0799150528961,0.999999984122,0.000106858789927,-0.000140650196935,2.35568520527e-05,1793192301604967424
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,671.835636785,660,632,877,783,799,649,629,650.835636785,0.40153739462,-0.00549334332968,0.079917195796,0.999999985457,0.000100499126608,-0.000136503269195,1.87797429638e-05,1793192301621634304
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.570554497,672,660,632.429445503,877,783,799,649,628.570554497,650.570554497,0.401671627881,-0.00549459409916,0.0799228791375,0.9999999871,9.69601109013e-05,-0.000127308926725,1.38066848256e-05,1793192301638300928
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.022880195,711.022880195,672,659.977119805,632.977119805,876.977119805,783,799,649,628.022880195,650,0.401816099569,-0.00549578636005,0.0799298800715,0.999999988782,9.42382312794e-05,-0.000116101135999,8.70235138142e-06,1793192301654967808
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.602414642,711.602414642,672,659.397585358,632.397585358,876.397585358,783,799,649,628.602414642,650,0.401987300925,-0.00549837245989,0.0799359302219,0.999999991076,8.5100367791e-05,-0.000102963705608,2.23098868411e-06,1793192301671634176
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.819347405,742.819347405,712,672,659,632,876.180652595,783,799,649,628.819347405,650.180652595,0.402168445727,-0.00550046056644,0.0799417837031,0.999999992905,7.70425188448e-05,-9.07308360196e-05,-4.66797325976e-06,1793192301688300544
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.243942558,742.243942558,712,672,659,632,876.756057442,783,799,649,628.243942558,650.756057442,0.402371318385,-0.00550146048471,0.0799472074326,0.999999994139,7.13446603376e-05,-8.04745654019e-05,-1.25013010377e-05,1793192301704967168
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.337753137,742.337753137,712,671.662246863,659.337753137,632,877,783,799,649,628.337753137,650.662246863,0.402578885925,-0.00550303090386,0.0799461562099,0.999999994236,6.44902812251e-05,-8.34561269546e-05,-2.01187336762e-05,1793192301721633536
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.924078698,742.924078698,712,671.075921302,659.924078698,632,877,783,799,649,628.924078698,650.075921302,0.402789908725,-0.00550502118829,0.0799403396892,0.999999993382,5.67847498938e-05,-9.618018767e-05,-2.75772771815e-05,1793192301738300160
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.495799218,711.495799218,671,660,632,876.495799218,783,799,649,628.495799218,650,0.403049808248,-0.00550627976792,0.0799340766318,0.999999994174,1.63521196197e-05,-0.000104792397959,-2.00798273301e-05,1793192301754967296
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.083387683,671,660,632.083387683,876.083387683,783,799,648.916612317,628.083387683,650,0.403324082714,-0.0055067155885,0.079928881443,0.999999993554,-2.01317622395e-05,-0.000110981696198,-1.30145424716e-05,1793192301771634432
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.66250092,671,660,632.66250092,876.66250092,783,799,648.33749908,628.66250092,650,0.403640593273,-0.0055029072777,0.0799304294113,0.999999994094,-4.20117763618e-06,-0.000106403218375,-2.17436548933e-05,1793192301788301312
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.760763681,742,712,671,660,633,877,783,799,648.239236319,629,650.239236319,0.403975569375,-0.00550268468397,0.079934392406,0.999999994669,6.61252507933e-06,-9.9307054444e-05,-2.74907223318e-05,1793192301804967680
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.187349804,742,712,671,660,633,877,783,799,648.812650196,629,650.812650196,0.404336339074,-0.00550747080397,0.0799417288334,0.999999995591,1.0278703797e-05,-8.86940577467e-05,-2.90723158862e-05,1793192301821633792
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.396610353,742,712,671,659.603389647,633,877,783,799,649,629,651,0.404720960386,-0.005507699679,0.079941485645,0.999999995869,9.10294905292e-06,-8.49121360504e-05,-3.11451862682e-05,1793192301838300416
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.985688408,742,712,671,659.014311592,633,877,783,799,649,629,651,0.405117156435,-0.00550571700681,0.0799375642083,0.999999995859,5.57749304535e-06,-8.44452095864e-05,-3.3456464204e-05,1793192301854967296
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,671.565071624,659.565071624,633,877,783,798.434928376,648.434928376,628.434928376,650.434928376,0.405564452713,-0.00550853413472,0.0799330905528,0.999999995009,2.68479442796e-06,-9.33751886044e-05,-3.54342179011e-05,1793192301871633920
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.856356561,742,712,672,659.856356561,632.856356561,877.143643439,783,798,648.143643439,628,650,0.406021404372,-0.00551066754478,0.0799284849423,0.99999999404,-2.9945246431e-07,-0.000102484151175,-3.76542675181e-05,1793192301888300544
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.279503902,742,712,672,659.279503902,632.279503902,877.720496098,783,798,648.720496098,628,650,0.40650363792,-0.00551037851474,0.0799235228428,0.99999999296,-3.6073126926e-06,-0.000111427245892,-4.06300944131e-05,1793192301904967424
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.295294112,742,712,671.704705888,659,632,877.704705888,783,798,648.704705888,628,650,0.406999950937,-0.00551105760751,0.0799195811366,0.999999991898,-9.39384682235e-06,-0.000119504702995,-4.28323086649e-05,1793192301921634304
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.868160852,742,712,671.131839148,659,632,877.131839148,783,798,648.131839148,628,650,0.407509498526,-0.00551264672313,0.0799165985861,0.99999999083,-1.75103026e-05,-0.000126768473026,-4.43073374288e-05,1793192301938301184
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,712,671.458175222,659.458175222,632,877,783,798.458175222,648.458175222,628,650,0.408039703529,-0.00551294171296,0.0799072305296,0.999999988038,-1.78314644864e-05,-0.000146736702628,-4.55363551054e-05,1793192301954968064
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711.948367,672,660,632,877,783,798.948367,649,628,650,0.408585867787,-0.00551317253016,0.0798980750414,0.999999984901,-1.68624275404e-05,-0.000166518194199,-4.67455797602e-05,1793192301971634944
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711.372008822,672,660,632,877,783,798.372008822,649,628,650,0.409231463265,-0.00551668269956,0.0799104787539,0.999999987844,-2.64634753705e-05,-0.000145806220404,-4.85010307234e-05,1793192301988301824
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.203802763,711,672,660,632.203802763,877,783.203802763,798,649,628,650,0.40989434351,-0.00551999055846,0.0799313004822,0.999999991997,-3.50403348556e-05,-0.000110883722782,-4.98349872047e-05,1793192302004968192
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.778619267,711,672,660,632.778619267,877,783.778619267,798,649,628,650,0.410588689856,-0.00552293012002,0.0799674468277,0.999999996604,-4.17527050026e-05,-5.00916083013e-05,-5.04016317946e-05,1793192302021634304
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.639271153,743,711.360728847,672,660,632.639271153,877,783.639271153,798.360728847,649,628,650,0.411252831716,-0.00552511920713,0.0799767742328,0.999999996812,-4.76683491448e-05,-3.73990014901e-05,-5.20105420191e-05,1793192302038300672
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.052593449,743,711.947406551,672,660,632.052593449,877,783.052593449,798.947406551,649,628,650,0.411898054437,-0.00552683822127,0.0799693031216,0.999999995615,-5.30849497472e-05,-5.48343696066e-05,-5.42722937021e-05,1793192302054967552
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.530220209,742.469779791,711.469779791,672,660,632.530220209,877,783,798.469779791,649,628,650,0.412580837351,-0.00552820883995,0.0799316279869,0.999999990484,-6.12036085967e-05,-0.000108919896149,-5.85045986885e-05,1793192302071634176
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.888896663,742,711.111103337,672,660,632.888896663,877,783,798.111103337,648.888896663,628,650,0.413285005388,-0.00552988536632,0.0798988700602,0.999999983923,-6.8944312761e-05,-0.000153245602445,-6.25801416711e-05,1793192302088300544
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.314477496,742,711.685522504,672,660,632.314477496,877,783,798.685522504,648.314477496,628,650,0.414062927977,-0.00553298063711,0.0798990208468,0.99999998508,-7.39992931537e-05,-0.000141821143244,-6.51927576732e-05,1793192302104967424
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742,712,672,660,632,877,783,799,648.260430205,628,650,0.414849316569,-0.00553647387296,0.0799120934944,0.999999987675,-8.33227807338e-05,-0.00011520663919,-6.65892958445e-05,1793192302121634048
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742,712,672,660,632,877,783,799,648.835929011,628,650,0.41564594744,-0.00554044856756,0.0799407990162,0.999999990539,-9.78103111499e-05,-7.02152090309e-05,-6.65146226527e-05,1793192302138300416
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.423309712,742.423309712,712,672,660,632,877,783,799.423309712,648.576690288,628,650,0.416404805669,-0.00554207964128,0.0799368007204,0.99999998963,-9.63873338244e-05,-8.46882200483e-05,-6.54062188927e-05,1793192302154967040
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.984977717,743,712,672,660,632.015022283,877,783,799.984977717,648,628,650,0.417151881971,-0.0055428191779,0.0799206348601,0.999999986725,-8.88667414212e-05,-0.000120674878333,-6.39517651031e-05,1793192302171633664
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.408455737,743,712,672,660,632.591544263,877,783,799.408455737,648,628,650,0.418021604469,-0.00554516829032,0.0799371448942,0.999999991016,-9.05876771166e-05,-7.44363544815e-05,-6.49711798919e-05,1793192302188300544
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.167622824,743,712,672,660,633,877.167622824,783,799,648.167622824,628,650,0.418891604336,-0.00554342654569,0.0799517626508,0.999999993426,-8.74153384422e-05,-3.69956504622e-05,-6.43321838096e-05,1793192302204967168
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.742623699,743,712,672,660,633,877.742623699,783,799,648.742623699,628,650,0.419762278247,-0.00553174268609,0.0799617815556,0.999999995384,-7.2350749784e-05,-2.09365168e-05,-5.96627094421e-05,1793192302221633792
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.682107066,712,672.317892934,660,633,877.682107066,783,799.317892934,649,628,650,0.42061247541,-0.00552579659271,0.0799579551014,0.99999999596,-6.3639584008e-05,-2.77369768807e-05,-5.70990656376e-05,1793192302238300160
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.106620401,712,672.893379599,660,633,877.106620401,783,799.893379599,649,628,650,0.421446079895,-0.00552449990366,0.0799429095306,0.999999995206,-6.00766991591e-05,-5.30609322671e-05,-5.62418102437e-05,1793192302254966784
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.516336498,742.483663502,712,672.516336498,660,632.516336498,877,783,800,649,628,650,0.422315662162,-0.00553800787256,0.079962223538,0.999999995273,-7.6715003526e-05,-2.40158103483e-05,-5.47038821018e-05,1793192302271633408
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.074720477,742.925279523,712,672.074720477,660.074720477,632,877,783,799.925279523,649,628,650,0.423190790689,-0.00555227938012,0.0799861399263,0.999999994069,-9.43471392858e-05,1.12884513651e-05,-5.3226095002e-05,1793192302288300032
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.648467436,742.351532564,712,672.648467436,660.648467436,632,877,783,799.351532564,649,628,650,0.424048320031,-0.00554916622685,0.0799886113705,0.999999994702,-8.79368666174e-05,5.82389793195e-06,-5.31837115127e-05,1793192302304966656
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.776741422,742.223258578,712,672.776741422,660.776741422,632,877,783,799.223258578,649,628,650,0.424893590786,-0.00554920499433,0.0799689405738,0.999999994046,-8.82092997029e-05,-3.41801246587e-05,-5.44023472406e-05,1793192302321633792
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.200298344,742.799701656,712,672.200298344,660.200298344,632,877,783,799.799701656,649,628,650,0.425719469166,-0.0055542299507,0.0799142418008,0.999999985137,-9.90534553281e-05,-0.00012882395275,-5.76158553196e-05,1793192302338301696
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,742.61454253,712,672.38545747,660,632,877,783,799.61454253,649,628,650,0.42657531408,-0.00555953093787,0.0798922747555,0.99999998034,-0.000111341383778,-0.000152087737721,-6.15844143523e-05,1793192302354968320
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742.023827689,712,672.976172311,660,632,877,783,799.023827689,649,628,650,0.427447116222,-0.00556497891205,0.0798877374663,0.999999980656,-0.000124398125659,-0.000137341409503,-6.59550404824e-05,1793192302371634688
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742,712,672.444060105,660,632,877,783.555939895,799,649,628,650,0.428293434768,-0.00556149094612,0.079899168526,0.999999982353,-0.000113147070091,-0.000136349105652,-6.2448699784e-05,1793192302388301056
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742.134097394,712,672.134097394,660,632,877,783.865902606,799,649,628,650,0.429146142208,-0.00555643476463,0.0799148023186,0.999999985287,-0.000100922700857,-0.00012538600707,-5.93240432205e-05,1793192302404967424
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742.708479231,712,672.708479231,660,632,877,783.291520769,799,649,628,650,0.430023343274,-0.0055474628467,0.0799420312912,0.999999991156,-8.88572580406e-05,-7.97874752479e-05,-5.85396468832e-05,1793192302421634304
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,742.710616243,712,673,660.289383757,632.289383757,877,783,799,648.710616243,628,650,0.430894242012,-0.00554384916328,0.0799732341709,0.999999994278,-8.47641135701e-05,-3.18479124504e-05,-5.69599462229e-05,1793192302438300672
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,742.122989373,712,673,660.877010627,632.877010627,877,783,799,648.122989373,628,650,0.431758645424,-0.00554575775492,0.0800085326152,0.99999999439,-8.8887336585e-05,1.85043480975e-05,-5.45605933874e-05,1793192302454967296
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.458222817,742.458222817,712,673,661,633,877.458222817,783,799.458222817,648.458222817,628,650,0.432529667414,-0.00554982639834,0.0799805633667,0.999999993847,-9.06440679687e-05,-3.23398353019e-05,-5.51724825034e-05,1793192302471633920
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,673.037603746,660.962396254,633,878,783,799.962396254,649,628,650,0.433275765412,-0.00555415102929,0.0799354080663,0.999999988223,-9.2240590362e-05,-0.000108712525576,-5.68115330591e-05,1793192302488300544
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,673.615070339,660.384929661,633,878,783,799.384929661,649,628,650,0.43401890567,-0.00555394215799,0.0798839485767,0.999999979092,-0.000100530182447,-0.000167022285846,-6.17538556751e-05,1793192302504967168
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+182,3.033333333,POSE1_TO_POSE2_PRESS,763,742.519144256,711,674,660,632,877.519144256,783,799.519144256,649,628,650,0.437762988677,-0.00557662357095,0.0799506755242,0.999999987932,-0.000118503261934,-8.24804237413e-05,-5.73506697572e-05,1793192302588300544
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763.638371693,742.638371693,711,673.361628307,659,631,878,782,799.638371693,649,628,650,0.44477686122,-0.00558195081385,0.079704459231,0.999999882016,-0.000134305157918,-0.000462359835785,-6.44478555874e-05,1793192302821635328
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.781230953,743,711,673,658.781230953,631,878,782,799.781230953,649,628,650,0.445102066277,-0.00558339928101,0.079690928611,0.99999987256,-0.000135039895702,-0.000482158457065,-6.45506611862e-05,1793192302838301952
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.196071301,743,711,673,658.196071301,631,878,782,799.196071301,649,628,650,0.44541203744,-0.00558306499485,0.0796880367507,0.999999872541,-0.000120334056612,-0.000486048199689,-6.47690331862e-05,1793192302854967552
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,743,711,673.385100328,658,631,878,782,799.385100328,649,628,650,0.445708737852,-0.00558398475657,0.0796872695822,0.999999873879,-0.000117200758551,-0.00048407734966,-6.46162245222e-05,1793192302871633920
+200,3.333333333,POSE1_TO_POSE2_PRESS,763,743,711,673.964262345,658,631,878,782,799.964262345,649,628,650,0.445998750828,-0.00558553646435,0.0796875730987,0.999999875952,-0.000119899152122,-0.000479153200746,-6.42763686582e-05,1793192302888300288
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+208,3.466666667,POSE1_TO_POSE2_PRESS,763,743,711,673.395620924,657.791241847,630,878,781,799.395620924,649,628,650.395620924,0.447377141578,-0.00559212082774,0.0796411650993,0.999999844803,-0.000145638602438,-0.000533769648595,-6.53719237839e-05,1793192303021633536
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+236,3.933333333,POSE1_TO_POSE2_PRESS,763,743,711,674,658,630.858550079,878.141449921,781,799,649,628,650.858550079,0.447880473548,-0.0055911797016,0.0796210034154,0.999999826426,-0.000144660098454,-0.000568106351956,-5.89574435936e-05,1793192303488300288
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.439915179,743,711,673.560084821,658,630.560084821,878,781,799.439915179,649,628,650.560084821,0.447881141518,-0.00559137378842,0.0796213027371,0.999999826958,-0.000142920965872,-0.000567651574847,-5.85583176157e-05,1793192303504966912
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,673.018746148,657.981253852,630,878,781,800,649,628.018746148,650,0.447881735224,-0.00559142111209,0.0796217433804,0.999999827546,-0.000140380278285,-0.000567299964535,-5.80770537862e-05,1793192303521633536
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711,673.593125248,657.406874752,630,878,781,800,649,628.593125248,650,0.44788037079,-0.00559031939142,0.0796203632191,0.999999825942,-0.000141719040682,-0.000569725742477,-5.86952957189e-05,1793192303538300160
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630.167850276,878,781,799.832149724,649,628.832149724,650,0.447879611373,-0.0055897027516,0.0796196102238,0.99999982495,-0.000143278539124,-0.000571023925125,-5.91880137299e-05,1793192303554967040
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630.743415547,878,781,799.256584453,649,628.256584453,650,0.447880321569,-0.00559026439252,0.0796203806397,0.999999825458,-0.000145374214118,-0.000569583133834,-5.93758291084e-05,1793192303571633664
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.67205384,743,711,674,657.32794616,630.67205384,878,781,799.32794616,648.67205384,628,650,0.447880160061,-0.00559051499824,0.0796200375091,0.999999825131,-0.000146159280066,-0.000569957212474,-5.93599377994e-05,1793192303588300288
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.08031164,743,711,674,657.91968836,630.08031164,878,781,799.91968836,648.08031164,628,650,0.447879297364,-0.00559051541085,0.0796187986547,0.999999824134,-0.000145890107386,-0.000571791151248,-5.91801872143e-05,1793192303604966912
+244,4.066666667,POSE1_TO_POSE2_PRESS,763.500269833,743,711,674.500269833,658,630,878,781,799.499730167,648.500269833,628,650,0.447879277757,-0.00559223618911,0.0796190135899,0.999999823832,-0.000147710510743,-0.000571863421819,-5.90750970205e-05,1793192303621633536
+245,4.083333333,POSE1_TO_POSE2_PRESS,763.921529582,742.921529582,711,674.921529582,658.078470418,630,878,781,799,649,628,650,0.44787946346,-0.00559374629487,0.0796194144563,0.999999823769,-0.000149157163307,-0.000571614563206,-5.89162485244e-05,1793192303638300160
+246,4.100000000,POSE1_TO_POSE2_PRESS,763.347298607,742.347298607,711,674.347298607,658.652701393,630,878,781,799,649,628,650,0.447880109831,-0.00559221862859,0.0796195476869,0.999999824546,-0.000146169451742,-0.000571084634714,-5.83436947862e-05,1793192303654966784
+247,4.116666667,HOLD_POSE2,764,743,711,674,658,631,878,781,800,649,628,650,0.447884406653,-0.00559037566545,0.0796220286332,0.999999827132,-0.000144591692195,-0.000566902372329,-5.87384838313e-05,1793192303693383424
+248,4.133333333,HOLD_POSE2,763.420471382,743,711,674,658,631,878,781,800,649,628,650,0.447883260367,-0.00558985980086,0.0796211778139,0.99999982663,-0.000143981608073,-0.000567920621927,-5.89465821427e-05,1793192303710049792
+249,4.150000000,HOLD_POSE2,763.157547199,743,711,674.157547199,658,630.842452801,878,781,799.842452801,649,628,650,0.447882315729,-0.00558991091878,0.0796204212301,0.999999826154,-0.000143460412959,-0.000568896072363,-5.88926048353e-05,1793192303726716416
+250,4.166666667,HOLD_POSE2,763.73157409,743,711,674.73157409,658,630.26842591,878,781,799.26842591,649,628,650,0.447881904152,-0.00559146086807,0.0796199137602,0.999999825748,-0.000143174197871,-0.000569758382441,-5.81458245693e-05,1793192303743383040
+251,4.183333333,HOLD_POSE2,763.694645356,743,711,674.389290713,657.694645356,630,878,781,799,649,628,650,0.447881678955,-0.00559251905172,0.0796197043336,0.999999825136,-0.000143924859106,-0.000570667411195,-5.79005449251e-05,1793192303760049920
+252,4.200000000,HOLD_POSE2,763.121081209,743,711,673.242162418,657.121081209,630,878,781,799,649,628,650,0.447881617465,-0.0055931452909,0.0796197566947,0.999999824341,-0.000145586264929,-0.000571617475437,-5.8095760454e-05,1793192303776716800
+253,4.216666667,HOLD_POSE2,763,743,711,673,657.468461774,630,878,781,799.468461774,649,628,650,0.44788397622,-0.00559252057289,0.0796217865848,0.999999826275,-0.000144974205453,-0.000568385316757,-5.80593083184e-05,1793192303793383168
+254,4.233333333,HOLD_POSE2,763,742.939374202,711,673,657.939374202,630,878,781,799.939374202,648.939374202,628,650,0.447886595169,-0.00559169528003,0.0796239254775,0.999999828585,-0.000143800204229,-0.000564615496386,-5.79694579984e-05,1793192303810049792
+255,4.250000000,HOLD_POSE2,763,742.361332981,711,673,657.361332981,630,878,781,799.361332981,648.361332981,628,650,0.44788590743,-0.00559201509133,0.0796224783967,0.999999828024,-0.000143022389494,-0.00056580828663,-5.79529574959e-05,1793192303826716416
+256,4.266666667,HOLD_POSE2,763.214874454,742.214874454,711,673.214874454,657,630,878,781,799,648.214874454,628,650.214874454,0.447885113093,-0.00559177289505,0.0796213951682,0.999999827327,-0.000142596426386,-0.000567140705582,-5.80022373226e-05,1793192303843383040
+257,4.283333333,HOLD_POSE2,763.788024228,742.788024228,711,673.788024228,657,630,878,781,799,648.788024228,628,650.788024228,0.447884141021,-0.00559059362389,0.0796209186166,0.999999826406,-0.000142757130374,-0.000568705937202,-5.81611973298e-05,1793192303860050176
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+259,4.316666667,HOLD_POSE2,764,743,711,673.068437141,657.931562859,630.931562859,878,781,799,649,627.068437141,650.068437141,0.447883059189,-0.00558914186391,0.0796199021904,0.999999825501,-0.000140802500745,-0.000570818639944,-5.77886823287e-05,1793192303893383680
+260,4.333333333,HOLD_POSE2,764,743,711,673.526952572,658,630.473047428,878,781,799.526952572,649,628.053905145,650,0.447884671897,-0.00559064546068,0.079621327868,0.999999826622,-0.000142391563931,-0.000568425611434,-5.80723306243e-05,1793192303910050304
+261,4.350000000,HOLD_POSE2,763.87863899,743,711,674,657.87863899,630,878,781,799.87863899,649,628.87863899,650,0.447886121462,-0.00559214800321,0.0796224929658,0.999999827605,-0.000144077837427,-0.000566238236448,-5.83574361293e-05,1793192303926716928
+262,4.366666667,HOLD_POSE2,763.300190295,743,711,674,657.300190295,630,878,781,799.300190295,649,628.300190295,650,0.447885903133,-0.00559255685218,0.0796216819808,0.99999982735,-0.000144682868685,-0.000566533800977,-5.83671062787e-05,1793192303943383552
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,657,630,878,781,799,649,628,650,0.447884171647,-0.00559119463498,0.0796204082818,0.999999826301,-0.000142849846646,-0.00056891988475,-5.76409320897e-05,1793192303981115648
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.58919657,657,630,878,781,799.58919657,649,628,650,0.447885701512,-0.00559291892773,0.0796216201222,0.999999826763,-0.000144809921666,-0.000567604190414,-5.77054810274e-05,1793192303997782016
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.175922861,742,711,674,657,630,878,781,800,649,628,650,0.447886512177,-0.00559306700504,0.0796222193128,0.999999827065,-0.000145388488223,-0.000566908109206,-5.78489942842e-05,1793192304014448384
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.756960714,742,711,674,657,630,878,781,800,649,628,650,0.447885666669,-0.00558958537533,0.0796214076943,0.999999827007,-0.000142785718834,-0.000567638872246,-5.81743465113e-05,1793192304031114752
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.665246167,742,711,674,657,630,878,781,800,649,628,650,0.447885525012,-0.00558859783512,0.0796213555878,0.999999827268,-0.000142556770552,-0.000567228560902,-5.82566206583e-05,1793192304047781120
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.089786222,742,711,674,657,630,878,781,800,649,628,650,0.447885889463,-0.00558940368038,0.0796218496116,0.999999827759,-0.000144034728192,-0.000565997755314,-5.81641084991e-05,1793192304064447488
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.479502303,742,711,674,657,630,878,781,799.520497697,649,628,650,0.447887038083,-0.00559006367896,0.0796227309327,0.999999828349,-0.000144036025411,-0.00056496729871,-5.802405195e-05,1793192304081114368
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.949644284,742.050355716,711,673.949644284,657,630,878,781,799,649,628,650,0.447887748789,-0.0055906264875,0.0796233143151,0.999999828698,-0.000143691699501,-0.000564448367552,-5.7911327586e-05,1793192304097780992
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.349234432,742.650765568,711,673.349234432,657,630,878,781,799,649,628,650,0.447882092453,-0.00559042217563,0.0796198610962,0.999999826201,-0.000142553968048,-0.000569112434082,-5.8193173801e-05,1793192304114447872
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.241589604,742.758410396,711,673,657,630,878,781,799,649,628,650.241589604,0.447867855959,-0.00558986626358,0.0796118066026,0.999999819138,-0.000141105331804,-0.000581704534757,-5.85850127814e-05,1793192304131114752
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.819085471,742.180914529,711,673,657,630,878,781,799,649,628,650.819085471,0.447841689612,-0.00558882148655,0.0795973544953,0.999999805354,-0.000139224413486,-0.000605319776005,-5.9129785692e-05,1793192304147781632
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.605010685,742,711,673,657,630,878,781,799,649,628,650.605010685,0.447802424881,-0.00558766163241,0.0795822975039,0.999999789184,-0.000138937884857,-0.000631536823655,-5.90642482117e-05,1793192304164448256
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.029833048,742,711,673,657,630,878,781,799,649,628,650.029833048,0.447757184857,-0.00558644928169,0.079566964572,0.999999771461,-0.000139378693152,-0.000658940778927,-5.87202961187e-05,1793192304181114368
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.554814724,657,630,878,781,799,649,628,650,0.447698005247,-0.00558413296494,0.0795567277983,0.999999763466,-0.000135646037043,-0.000671821898586,-5.76553034638e-05,1793192304197780992
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742.139425343,711,673.860574657,657,630,878,781,799,648.860574657,628,650,0.447632776626,-0.00558211257468,0.0795484303079,0.999999757212,-0.000132841473693,-0.000681730855984,-5.63270866334e-05,1793192304214447872
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742.722270334,711,673.277729666,657,630,878,781,799,648.277729666,628,650,0.447550735303,-0.00558122539823,0.0795454137597,0.99999975517,-0.000133714657786,-0.000684714023473,-5.42871746151e-05,1793192304231114496
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.300472359,657,630,878,781,799.300472359,648.300472359,628,650,0.447457618321,-0.00557985810735,0.0795440205718,0.999999754167,-0.000132963352139,-0.000686530731079,-5.15957791641e-05,1793192304247781376
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.874448114,657,630,878,781,799.874448114,648.874448114,628,650,0.447354419784,-0.00557805379487,0.0795441050395,0.999999754107,-0.000130733363138,-0.000687285674489,-4.83113744436e-05,1793192304264448256
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.450266605,742.549733395,711,674,657.450266605,630,878,781,799.549733395,648.549733395,628,650,0.447229564345,-0.00557406258938,0.0795453131423,0.999999756435,-0.000124743406979,-0.000685291246053,-4.40921492526e-05,1793192304281115392
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.972852132,742,711,674,658,630,878,781,799,648.027147868,628,650,0.447097220874,-0.00556954838973,0.0795469280697,0.999999759369,-0.000117922330502,-0.000682487989135,-3.95763026823e-05,1793192304297782016
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.384669936,742,711,674,658,630,878,781,799,648.615330064,628,650,0.446935440363,-0.00556687970727,0.0795504488811,0.999999762282,-0.000115681087976,-0.00067887781198,-3.4339509105e-05,1793192304314448128
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,657.799048821,630,878,781,799,649,628,650,0.446757418556,-0.00555792404528,0.079555030886,0.999999766252,-0.000103696958453,-0.000675173414467,-2.97404938789e-05,1793192304331114496
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742.358799064,711,673.641200936,657,630,878,781,799,649,628,650,0.446313664175,-0.00551018891896,0.0795675337263,0.999999774814,-3.7047419353e-05,-0.000669702336668,-2.23221883709e-05,1793192304364448000
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742.933631483,711,673.066368517,657,630,878,781,799,649,628,650,0.446062786656,-0.00547964585861,0.0795730436415,0.999999775724,2.72479129974e-06,-0.000669494906198,-1.79173040574e-05,1793192304381114624
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,742.493266639,711,673.506733361,657,630.506733361,877.493266639,781,799,649,628,650,0.445779684964,-0.00548304143058,0.079576030432,0.999999776844,5.99275576846e-06,-0.000667996471356,-7.52524173353e-06,1793192304397781504
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.009037427,742.009037427,711,674.990962573,658.990962573,631,877.009037427,782,799.009037427,649,628,650.990962573,0.443592019051,-0.00546242454289,0.0796271529249,0.99999981353,0.000103857766154,-0.000601579629314,1.60111922237e-05,1793192304497781248
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.158571642,742,711,673.841428358,658.158571642,631,877.841428358,782,799.158571642,648.841428358,628,650,0.442683467573,-0.00544049692146,0.0796408087155,0.999999828654,0.000110664624114,-0.000574588016919,1.71201419735e-05,1793192304531114752
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.675921441,742.324078559,711,673,659,631,877,782,800,648.324078559,628,650,0.441630685837,-0.00543341601393,0.0796720089516,0.99999985997,0.000108492262756,-0.000517588325387,1.97971749953e-05,1793192304564448768
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.102626899,742.897373101,711,673,659,631,877,782,800,648.897373101,628,650,0.441058079461,-0.00542939465782,0.0796822533316,0.99999986823,0.000109847112377,-0.000501007439465,2.15550589067e-05,1793192304581116160
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742.263365964,711,672,660,632,877.473268072,783,799,648.736634036,628.263365964,650,0.41717037582,-0.00538291944879,0.0798054003362,0.999999931703,0.000195909108017,-0.000311425734664,3.50328030948e-05,1793192305064447744
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,659,632.665471559,876.665471559,783,798.334528441,649,628,650,0.402961197159,-0.00544192487813,0.079828632635,0.999999945005,0.000139756052872,-0.000298770840015,3.4563658433e-05,1793192305464448256
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.756264167,742,711.243735833,671,659,633,877,783,798.243735833,649,628,650,0.402688638957,-0.00544229438196,0.0798270608789,0.99999994407,0.000138533330304,-0.000302502996933,3.40640843305e-05,1793192305481114880
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.179743803,742,711.820256197,671,659,633,877,783,798.820256197,649,628,650,0.402448071683,-0.00544315117475,0.0798247809535,0.999999943691,0.000134859209813,-0.000305518043518,3.30175250855e-05,1793192305497781248
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.402734218,742,711.597265782,671,659,633,877,783,799,649,628.402734218,650.402734218,0.402243794934,-0.0054456817979,0.0798259067659,0.999999945106,0.000134896087172,-0.000300802005324,3.33070953143e-05,1793192305514447872
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.987911169,742,711.012088831,671,659,633,877,783,799,649,628.987911169,650.987911169,0.402055958143,-0.00544897068345,0.0798285754124,0.999999947281,0.000136614084301,-0.000292583706655,3.42019458093e-05,1793192305531114496
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711.567244241,671,659,632.432755759,877,783.567244241,799,649,628.432755759,651,0.401897083605,-0.00545002758364,0.0798391109206,0.999999952353,0.000129178860683,-0.000278109464699,3.55259469745e-05,1793192305547781120
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.146059569,659,632,877,783.853940431,799,649,628,650.853940431,0.401744494546,-0.00545243248492,0.0798471270337,0.999999956291,0.000121675504308,-0.000266903246165,3.70846868951e-05,1793192305564448000
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.723709414,659,632,877,783.276290586,799,649,628,650.276290586,0.401608673118,-0.00545895970631,0.0798472082586,0.999999957358,0.000114541351243,-0.000265743620746,3.93103054461e-05,1793192305581114624
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877,783,799,649,628,650,0.401485093142,-0.00546894803272,0.079843350287,0.999999957524,9.77882304175e-05,-0.000271695108675,3.96465828357e-05,1793192305597781248
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877,783,799,649,628,650,0.401372736314,-0.00548210955013,0.0798358808026,0.999999956286,7.2216300465e-05,-0.000284166168629,3.82506846224e-05,1793192305614448128
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711.539076593,672,659,632,876.539076593,783,799,649,628.460923407,650,0.401281879135,-0.00548654972902,0.0798299614716,0.999999951979,9.17095866259e-05,-0.000294016008685,3.44281573232e-05,1793192305631114752
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711.047718602,672,659,632,876,783,799,649,628.952281398,650,0.401199021031,-0.00548808128099,0.0798246722469,0.999999946342,0.000121323092467,-0.000302777761429,3.03862950583e-05,1793192305647781120
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711.62670317,672,659,632,876,783,799,649,628.37329683,650,0.401139488252,-0.0054838939214,0.0798216589065,0.999999944333,0.000125830339321,-0.000307439355806,3.13214371476e-05,1793192305664447744
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742.205132755,712,672,659,632,876,783.205132755,799,649,628.205132755,650,0.401088426875,-0.00548274026655,0.0798201124724,0.999999943751,0.000125887196181,-0.000309189158748,3.24478342867e-05,1793192305681114368
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742.782555054,712,672,659,632,876,783.782555054,799,649,628.782555054,650,0.401052740008,-0.00548709239572,0.0798212282845,0.999999945766,0.000117867167616,-0.00030565443457,3.39213346191e-05,1793192305697780992
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.358705441,743,711.641294559,672,659.358705441,632,876.358705441,783.641294559,799,649,629,650,0.401024701211,-0.00548796686327,0.0798216352699,0.99999994657,0.000114662171526,-0.000304192383072,3.4331699475e-05,1793192305714447872
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.934087583,743,711.065912417,672,659.934087583,632,876.934087583,783.065912417,799,649,629,650,0.401001282243,-0.00548674064315,0.0798216140874,0.999999946676,0.000114365704146,-0.0003039823331,3.40998754769e-05,1793192305731114752
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.958931113,742.479465557,711.520534443,672,659.479465557,632,877,783,799,649,629,650,0.400983973135,-0.00548683735349,0.079820445397,0.999999946057,0.000113234013474,-0.000306438532277,3.40451989716e-05,1793192305747781120
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.107168455,742.107168455,712,672,659,632,877,783.107168455,798.892831545,649,628.892831545,650,0.400969150376,-0.00548691284389,0.0798192085336,0.999999945381,0.000112442414575,-0.000308921854328,3.40750339895e-05,1793192305764448000
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.688299442,742.688299442,712,672,659,632,877,783.688299442,798.311700558,649,628.311700558,650,0.400961827846,-0.00548613754465,0.0798183267385,0.999999944903,0.000113632793612,-0.000309999580123,3.4377270456e-05,1793192305781114880
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742.733475508,712,672,659,632,877,783.733475508,798,649,628,650,0.4009583071,-0.0054862810507,0.0798193302727,0.999999945504,0.000113349728703,-0.000308152243072,3.44392730126e-05,1793192305797781504
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742.158612333,712,672,659,632,877,783.158612333,798,649,628,650,0.40095918459,-0.00548748751054,0.0798225149198,0.999999947333,0.000111362055771,-0.000302920939159,3.42233520949e-05,1793192305814447872
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.573581225,659,632.426418775,877,783.426418775,798.426418775,649,628,650,0.400957784424,-0.00548818259185,0.0798234428293,0.999999947825,0.000110815761415,-0.000301492518569,3.42482265571e-05,1793192305831114240
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711.984935621,671,659,632.984935621,877,783.984935621,799,649,628,650.015064379,0.400955595298,-0.0054886309133,0.0798235355615,0.999999947828,0.000110825248592,-0.00030146669301,3.43483603693e-05,1793192305847781120
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.406020958,671,659,632.406020958,877,783.406020958,799,649,628,650.593979042,0.400956360826,-0.0054871366834,0.0798245547595,0.999999948348,0.000111079688567,-0.000299700655978,3.3831070523e-05,1793192305864448000
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.172440188,711.172440188,671.172440188,659,632.172440188,877,783,799,649,628,650.827559812,0.400956224321,-0.00548679832692,0.0798247550404,0.999999948588,0.000110897032013,-0.000299003574272,3.34996427876e-05,1793192305881114880
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742.674917922,712,671.674917922,659,632.674917922,876.674917922,783,799,649,628.325082078,650,0.400954282824,-0.00548946758294,0.0798232971378,0.999999948369,0.000109475337963,-0.000300234832026,3.37007780185e-05,1793192305914447872
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742.10131578,712,671.10131578,659,632.10131578,876.10131578,783,799,649,628.89868422,650,0.400956559467,-0.00548816841536,0.0798250817278,0.999999949028,0.000110024625615,-0.000297821749516,3.37900148535e-05,1793192305931114496
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.486140476,659,632,876.486140476,783,799,649,628.513859524,650,0.400956514279,-0.00548760962003,0.0798257208063,0.999999949268,0.000109915080834,-0.000297067695712,3.36619828405e-05,1793192305947781120
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.924881981,742,712,672,659.075118019,632.075118019,877,783,799,649,628,650,0.40095596909,-0.00548746742196,0.0798260496199,0.999999949415,0.000109584929925,-0.000296709657966,3.35208055197e-05,1793192305964447744
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.345640114,742,712,672,659.654359886,632.654359886,877,783,799,649,628,650,0.400955411038,-0.00548905514942,0.079825945383,0.999999949533,0.000108722776456,-0.000296620855735,3.36042055407e-05,1793192305981114624
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.231562215,742.231562215,711.768437785,672,659.768437785,633,877,783,799,649,628,650,0.400955628545,-0.00548914415906,0.0798263927611,0.999999949697,0.000109195115355,-0.000295883483949,3.37078938041e-05,1793192305997781248
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.805746784,742.805746784,711.194253216,672,659.194253216,633,877,783,799,649,628,650,0.400956993579,-0.00548701564697,0.0798276563156,0.999999949923,0.000111641985929,-0.000294186480528,3.38416008003e-05,1793192306014447872
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742.620028739,711,672,659,633,877,783,799,649,628,650,0.400956869452,-0.00548727105315,0.0798277931542,0.999999949874,0.000112232127641,-0.000294111554868,3.39808576778e-05,1793192306031114752
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742.045783876,711,672,659,633,877,783,799,649,628,650,0.400955983941,-0.00548874532104,0.0798273539197,0.999999949687,0.000111872951677,-0.000294865973274,3.41229521224e-05,1793192306047781632
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711.545663003,671.454336997,659,633,877,783.545663003,799,649,628,650,0.400954478229,-0.00548804659495,0.0798267279565,0.9999999494,0.000111207658262,-0.000296146250554,3.36322868439e-05,1793192306064448000
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.864866607,742,712,671.135133393,659,633,877,783.864866607,799,649,628,650,0.400953351125,-0.0054876329771,0.0798262855234,0.999999949207,0.000110260853578,-0.000297192745287,3.32552532662e-05,1793192306081114368
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.286760669,742,712,671.713239331,659,633,877,783.286760669,799,649,628,650,0.400953641248,-0.00548877107913,0.0798264977397,0.999999949357,0.000108478180538,-0.000297323549067,3.34304108235e-05,1793192306097780992
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.289847126,742,712,672,659,632.710152874,877,783,799,649,628.289847126,650,0.400954632987,-0.00548892090589,0.079826982437,0.99999994979,0.000107711711522,-0.000296144687495,3.34147465473e-05,1793192306114447872
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.864980422,742,712,672,659,632.135019578,877,783,799,649,628.864980422,650,0.400956315302,-0.00548809800874,0.0798277353275,0.999999950499,0.000107945455603,-0.000293676769125,3.32112631798e-05,1793192306131114496
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742.449802476,712,671.550197524,659,632.449802476,877,783.449802476,799,649,629,650,0.400956641263,-0.00548790417479,0.0798283675298,0.999999950751,0.00010863056152,-0.000292571609423,3.3157667121e-05,1793192306147781376
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.962786346,742.962786346,711.962786346,671.037213654,659,632.962786346,877,783.962786346,798.962786346,649,628.962786346,650,0.400956538274,-0.00548793526723,0.0798288978957,0.999999950844,0.000109410645144,-0.000291960467898,3.31672716179e-05,1793192306164448256
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.380982809,742.380982809,711.380982809,671.619017191,659,632.380982809,877,783.380982809,798.380982809,649,628.380982809,650,0.400956247351,-0.00548843377764,0.0798284798066,0.999999950674,0.000109554252608,-0.000292460736884,3.34288411827e-05,1793192306181114880
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.19847699,742,711.19847699,672,659.19847699,632.19847699,877,783,798.19847699,649,628,650.19847699,0.400955884394,-0.00548884281884,0.0798281389456,0.999999950515,0.000109313166223,-0.000293083234249,3.35103205904e-05,1793192306197781504
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763.773490382,742,711.773490382,672,659.773490382,632.773490382,877,783,798.773490382,649,628,650.773490382,0.400955384779,-0.00548908212542,0.0798279445964,0.999999950379,0.000108342266073,-0.000293937614556,3.3250145768e-05,1793192306214448128
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.654919538,632.654919538,877.345080462,783,799,649,628,650.654919538,0.400954972132,-0.00548864273948,0.0798278162564,0.999999950232,0.00010889871369,-0.000294234340249,3.32120784518e-05,1793192306231114496
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.085554458,632.085554458,877.914445542,783,799,649,628,650.085554458,0.400954616011,-0.00548776223817,0.079827730819,0.999999950078,0.000110447859134,-0.000294168618985,3.33183696439e-05,1793192306247780864
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.494638645,783,799,649,628,650,0.400953963922,-0.00548801116829,0.0798276636732,0.999999949986,0.000111208280234,-0.000294193497229,3.33286729366e-05,1793192306264447744
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_04/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..deed0be94cabe456cc013732fd32ed9b545d4dfd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,402 @@
+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
+7,0.116666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+8,0.133333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+9,0.150000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+10,0.166666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+11,0.183333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+12,0.200000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+13,0.216666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+14,0.233333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+15,0.250000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
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+367,6.116666667,pose2_to_pose3_retreat,0.575782020494,5.46223030215e-05,1.07002913377,0.546352750899,0.00872735233043,1.06969842399
+368,6.133333333,pose2_to_pose3_retreat,0.575759611318,5.45603336652e-05,1.07002911227,0.54633034188,0.00872729108292,1.0696984078
+369,6.150000000,pose2_to_pose3_retreat,0.575742805982,5.45363302398e-05,1.07002912448,0.546313537172,0.00872726908752,1.0696984167
+370,6.166666667,pose2_to_pose3_retreat,0.575730667619,5.45249130527e-05,1.07002912647,0.546301398913,0.00872725805475,1.06969841937
+371,6.183333333,pose2_to_pose3_retreat,0.57572313598,5.45347563911e-05,1.07002913847,0.546293866862,0.00872726642643,1.06969842944
+372,6.200000000,pose2_to_pose3_retreat,0.575718604394,5.45593746273e-05,1.07002916642,0.546289334772,0.00872728908255,1.06969845072
+373,6.216666667,pose2_to_pose3_retreat,0.575716324597,5.45962196866e-05,1.07002913411,0.546287054168,0.00872732309289,1.06969841588
+374,6.233333333,pose2_to_pose3_retreat,0.575715414865,5.46146571412e-05,1.07002911414,0.54628614403,0.00872734011707,1.06969839503
+375,6.250000000,pose2_to_pose3_retreat,0.575715068283,5.46216812865e-05,1.07002910653,0.546285797293,0.00872734660279,1.06969838709
+376,6.266666667,pose2_to_pose3_retreat,0.575714200472,5.46392691273e-05,1.07002908748,0.546284929095,0.00872736284248,1.06969836719
+377,6.283333333,pose2_to_pose3_retreat,0.575713617793,5.46510782282e-05,1.07002907469,0.546284346155,0.00872737374638,1.06969835383
+378,6.300000000,pose2_to_pose3_retreat,0.575713457352,5.46543298758e-05,1.07002907116,0.546284185642,0.00872737674878,1.06969835016
+379,6.316666667,pose2_to_pose3_retreat,0.575713431816,5.4654847394e-05,1.0700290706,0.546284160096,0.00872737722663,1.06969834957
+380,6.333333333,pose2_to_pose3_retreat,0.575713389345,5.46557081573e-05,1.07002906967,0.546284117606,0.00872737802141,1.0696983486
+381,6.350000000,pose2_to_pose3_retreat,0.575713160246,5.46584706492e-05,1.07002908247,0.546283888553,0.00872738093604,1.06969836126
+382,6.366666667,pose2_to_pose3_retreat,0.575712956691,5.46590404861e-05,1.07002911171,0.546283685188,0.00872738215018,1.06969839047
+383,6.383333333,pose2_to_pose3_retreat,0.575712891027,5.4659224308e-05,1.07002912114,0.546283619586,0.00872738254184,1.06969839989
+384,6.400000000,pose2_to_pose3_retreat,0.575712837303,5.46593747037e-05,1.07002912886,0.546283565912,0.00872738286229,1.0696984076
+385,6.416666667,pose2_to_pose3_retreat,0.575712835057,5.46593809923e-05,1.07002912918,0.546283563668,0.00872738287568,1.06969840792
+386,6.433333333,pose2_to_pose3_retreat,0.57571269396,5.46597759842e-05,1.07002914945,0.546283422703,0.00872738371728,1.06969842816
+387,6.450000000,pose2_to_pose3_retreat,0.575712349476,5.4660740343e-05,1.07002919893,0.546283078541,0.00872738577201,1.06969847759
+388,6.466666667,pose2_to_pose3_retreat,0.5757118424,5.4662159866e-05,1.07002927177,0.546282571939,0.00872738879655,1.06969855035
+389,6.483333333,pose2_to_pose3_retreat,0.575711504111,5.46631068826e-05,1.07002932036,0.546282233966,0.00872739081433,1.06969859888
+390,6.500000000,pose2_to_pose3_retreat,0.57571145399,5.46632471953e-05,1.07002932756,0.546282183891,0.00872739111329,1.06969860608
+391,6.516666667,pose2_to_pose3_retreat,0.575711126808,5.46641631181e-05,1.07002937456,0.546281857015,0.00872739306482,1.06969865302
+392,6.533333333,pose2_to_pose3_retreat,0.575710672206,5.46550223065e-05,1.07002941409,0.546281402745,0.00872738507307,1.06969869318
+393,6.550000000,pose2_to_pose3_retreat,0.575710370901,5.46206732621e-05,1.0700293703,0.546281101407,0.00872735069813,1.0696986517
+394,6.566666667,pose2_to_pose3_retreat,0.57571022622,5.46041794265e-05,1.07002934927,0.54628095671,0.00872733419186,1.06969863178
+395,6.583333333,pose2_to_pose3_retreat,0.575710118638,5.45919149167e-05,1.07002933363,0.546280849115,0.00872732191811,1.06969861697
+396,6.600000000,pose2_to_pose3_retreat,0.575709925662,5.45699153815e-05,1.07002930558,0.546280656117,0.00872729990199,1.06969859041
+397,6.616666667,pose2_to_pose3_retreat,0.575709705721,5.45635846187e-05,1.07002924379,0.546280435917,0.00872729275517,1.06969853038
+398,6.633333333,pose2_to_pose3_retreat,0.57570945546,5.46469183544e-05,1.07002902945,0.546280184221,0.0087273713096,1.06969831833
+399,6.650000000,pose2_to_pose3_retreat,0.575709272079,5.4681094121e-05,1.07002904025,0.546280000526,0.00872740433931,1.06969832709
+400,6.666666667,pose2_to_pose3_retreat,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684824,1.06969858496
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_05/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a9f7d0aae2ce380e66dca2198069d2c2a4ba1ec5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:942e39dab6a49ccd07aeed36a4aff62137974006f16a300055f86758546bfd73
+size 24773716
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_05/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0bd0998d71c22aa27637b88c9d408777af9690ac
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_01/franka_data.csv
@@ -0,0 +1,392 @@
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+37,0.616666667,BASELINE,764,742,711.535108987,670.535108987,659,633,876,783,799,649,628,650,0.400915827023,-0.0154366341573,0.0599157298294,0.999999973884,-2.62192681295e-05,-0.000222165110239,-4.6770300351e-05,1793192308562585856
+38,0.633333333,BASELINE,764,742,711.888310934,671,659,632.888310934,875.888310934,783,799.111689066,649,628,650,0.400914318236,-0.0154363406808,0.0599143756764,0.999999973489,-2.50055720968e-05,-0.000224061318878,-4.6842458889e-05,1793192308579252736
+39,0.650000000,BASELINE,764,742,711.31861652,671,659,632.31861652,875.31861652,783,799.68138348,649,628,650,0.400915227971,-0.0154371227768,0.0599153696229,0.999999973779,-2.4020751023e-05,-0.000222990625563,-4.6272039587e-05,1793192308595919616
+40,0.666666667,BASELINE,763.737002729,742,711,671,659.262997271,632,875,783,799.474005459,649,628.262997271,650,0.400914879039,-0.0154373944256,0.0599154669856,0.999999973761,-2.37395613183e-05,-0.000223153696078,-4.60172291869e-05,1793192308612586496
+41,0.683333333,BASELINE,763.140263347,742,711,671,659.859736653,632,875,783,798.280526694,649,628.859736653,650,0.400912932865,-0.0154370183195,0.0599144265884,0.999999973352,-2.43512760684e-05,-0.00022488240627,-4.61629248078e-05,1793192308629253120
+42,0.700000000,BASELINE,763.43868749,742,711,671,659.56131251,632,875.43868749,783,798.43868749,649,629,650,0.400913640331,-0.015436714458,0.0599149042913,0.999999973516,-2.46853057598e-05,-0.000224080340235,-4.63400386446e-05,1793192308645919744
+43,0.716666667,BASELINE,764,742,711.012224641,670.987775359,659,632.012224641,876,783,799,649,628.987775359,650,0.400915126625,-0.0154364535134,0.0599158113075,0.999999973845,-2.49516933849e-05,-0.000222535702107,-4.65243958591e-05,1793192308662586368
+44,0.733333333,BASELINE,764,742,711.588172909,670.411827091,659,632.588172909,876,783,799,649,628.411827091,650,0.400914926694,-0.015437147954,0.0599150047509,0.999999973798,-2.60335290291e-05,-0.000222608287515,-4.65975900257e-05,1793192308679252992
+45,0.750000000,BASELINE,764,742,711.831316812,670,659,633,876,783,799,649,628,650,0.400914818745,-0.015437878242,0.0599145391283,0.999999973773,-2.71614778805e-05,-0.000222596963185,-4.65501307996e-05,1793192308695919872
+46,0.766666667,BASELINE,764,742,711.239359228,670,659,633,876,783,799,649,628,650,0.400914941608,-0.0154386984812,0.0599149290066,0.999999973804,-2.84051378037e-05,-0.000222375085301,-4.61999176692e-05,1793192308712586496
+47,0.783333333,BASELINE,764,742,711,670.344920334,659,633,876,783,799.344920334,649,628,650,0.400914843016,-0.0154381866042,0.0599149846725,0.999999973872,-2.80857464462e-05,-0.000222090916069,-4.62935133514e-05,1793192308729252864
+48,0.800000000,BASELINE,764,742,711,670.923987776,659,633,876,783,799.923987776,649,628,650,0.400914594091,-0.0154367704282,0.0599148134604,0.999999973964,-2.67052871875e-05,-0.00022176446071,-4.66883859599e-05,1793192308745919232
+49,0.816666667,BASELINE,764,742,711,671,659,633,876,783,799.501780308,649,628,650,0.400915541927,-0.0154373658071,0.0599152807622,0.999999974198,-2.52762109044e-05,-0.000220957087397,-4.63001408054e-05,1793192308762585856
+50,0.833333333,BASELINE,764,742,711,670.927921152,659,633,875.927921152,783,799,649,628,650,0.400916353378,-0.0154380594583,0.0599156538056,0.999999974369,-2.39097479864e-05,-0.000220427287105,-4.58507005841e-05,1793192308779252992
+51,0.850000000,BASELINE,764,742,711,670.351557793,659,633,875.351557793,783,799,649,628,650,0.400914945492,-0.015437314142,0.0599146923873,0.999999973967,-2.30327409978e-05,-0.000222347868928,-4.58009926644e-05,1793192308795919616
+52,0.866666667,BASELINE,764,742,711.230426161,670.230426161,659.230426161,633,875.230426161,783,799,649,628,650,0.400914166183,-0.0154366467383,0.059914250542,0.999999973766,-2.31948433313e-05,-0.000223188433138,-4.60030508479e-05,1793192308812586240
+53,0.883333333,BASELINE,764,742,711.821199736,670.821199736,659.821199736,633,875.821199736,783,799,649,628,650,0.400914369862,-0.0154361011767,0.0599146212209,0.999999973885,-2.49819363613e-05,-0.000222340032966,-4.65988284955e-05,1793192308829252864
+54,0.900000000,BASELINE,764,742,712,671.402284583,659.597715417,633,876,783,799.402284583,649,628,650,0.400914843568,-0.0154353346934,0.0599151366366,0.999999973968,-2.4419428388e-05,-0.000221986797701,-4.67856616559e-05,1793192308845919744
+55,0.916666667,BASELINE,764,742,712,671.979164416,659.020835584,633,876,783,799.979164416,649,628,650,0.400915434469,-0.015434472328,0.0599157148695,0.999999974036,-2.28371716759e-05,-0.000221848468634,-4.67950090891e-05,1793192308862586112
+56,0.933333333,BASELINE,764,742,711.4491643,671.4491643,659,633,876,783.5508357,799.4491643,649,628,650,0.400914801325,-0.0154356855574,0.0599151898808,0.999999973942,-2.34080003098e-05,-0.00022231029893,-4.63279878284e-05,1793192308879252736
+57,0.950000000,BASELINE,764,742,711,671,659,633,876.122804,783.877196,799,648.877196,628.122804,650,0.400914383645,-0.01543649746,0.0599147916819,0.999999973877,-2.38561182262e-05,-0.000222623958381,-4.59904759591e-05,1793192308895919360
+58,0.966666667,BASELINE,764,742,711,671,659,633,876.69657962,783.30342038,799,648.30342038,628.69657962,650,0.40091492565,-0.0154355499634,0.0599150109002,0.999999973945,-2.35573324395e-05,-0.00022231090705,-4.61941104808e-05,1793192308912585984
+59,0.983333333,BASELINE,764,742,711,671,659,633,876.718091604,783,799,648.281908396,628.718091604,650,0.400914848749,-0.0154349621691,0.0599148105637,0.999999973889,-2.36629015606e-05,-0.000222480783235,-4.65132435622e-05,1793192308929252864
+60,1.000000000,BASELINE,764,742,711,671,659,633,876.119796615,783,799,648.880203385,628.119796615,650,0.400914077249,-0.0154347780696,0.0599141393596,0.999999973696,-2.42222793031e-05,-0.000223192650299,-4.69620010301e-05,1793192308945919744
+61,1.016666667,BASELINE,764,742,711.460923303,671,659,633,876.460923303,783,799,649,628,650,0.40091472439,-0.0154346056975,0.0599148444663,0.999999973877,-2.32559693564e-05,-0.00022250715877,-4.68672218209e-05,1793192308962586112
+62,1.033333333,BASELINE,764,742,711.962800177,671,659,633,876.962800177,783,799,648.962800177,628,650,0.400915724118,-0.0154345176315,0.0599158378548,0.999999974138,-2.21579256636e-05,-0.000221488808001,-4.66490569841e-05,1793192308979252992
+63,1.050000000,BASELINE,764,742,711.387150046,671,659,633,876.387150046,783,799,648.387150046,628,650,0.400916686441,-0.0154356073579,0.0599160164637,0.999999974251,-2.46819412097e-05,-0.000220716273943,-4.66146309421e-05,1793192308995919616
+64,1.066666667,BASELINE,764,742,711,671,659,633,876,783,799,648.188143375,628,650,0.400916941197,-0.0154367748994,0.0599157695819,0.999999974216,-2.64350817922e-05,-0.000220700882764,-4.64740378571e-05,1793192309012586240
+65,1.083333333,BASELINE,764,742,711,671,659,633,876,783,799,648.762704134,628,650,0.40091574272,-0.015438102261,0.0599146488083,0.999999973887,-2.66049643184e-05,-0.000222240545964,-4.61153940944e-05,1793192309029252864
+66,1.100000000,BASELINE,764,742,711.348702471,671,659.348702471,633,876,783,799,649,628,650,0.400915621434,-0.0154381737672,0.0599147048866,0.99999997389,-2.72498808696e-05,-0.000222155585028,-4.60797143259e-05,1793192309045919488
+67,1.116666667,BASELINE,764,742,711.942748137,671,659.942748137,633,876,783,799,649,628,650,0.400916258049,-0.0154373616674,0.059915588985,0.999999974127,-2.8229026092e-05,-0.00022092755648,-4.62712684613e-05,1793192309062585856
+68,1.133333333,BASELINE,764,742,711.479408035,671,660,633,876,783,799.520591965,649,628,650,0.400916112179,-0.0154360384248,0.0599155436473,0.99999997422,-2.62765584056e-05,-0.00022070742907,-4.64618088219e-05,1793192309079252992
+69,1.150000000,BASELINE,764.096563048,742,711.096563048,671,659.903436952,633,876.096563048,783,799.903436952,649,628.096563048,650,0.400915814443,-0.0154352142443,0.0599153193856,0.999999974239,-2.46422479151e-05,-0.000220788601852,-4.6559207767e-05,1793192309095919872
+70,1.166666667,BASELINE,764.671816462,742,711.671816462,671,659.328183538,633,876.671816462,783,799.328183538,649,628.671816462,650,0.400915177589,-0.0154371343081,0.0599146995585,0.999999973987,-2.61351362095e-05,-0.000221830507399,-4.61954142916e-05,1793192309112586752
+71,1.183333333,BASELINE,764.744669651,742,712,670.744669651,659,633,876.744669651,783.255330349,798.744669651,649,629,650,0.400914529881,-0.0154374910156,0.0599142369423,0.999999973803,-2.57419233968e-05,-0.000222736332106,-4.6032681239e-05,1793192309129253632
+72,1.200000000,BASELINE,764.150183272,742,712,670.150183272,659,633,876.150183272,783.849816728,798.150183272,649,629,650,0.400913867757,-0.0154357711127,0.0599139831496,0.999999973707,-2.2843397319e-05,-0.000223461400387,-4.61370172677e-05,1793192309145919744
+73,1.216666667,BASELINE,764,742,712,670.430714719,659.861429439,632.569285281,876.430714719,783.569285281,798.430714719,649,628.569285281,650,0.400914850686,-0.0154358292201,0.0599148255667,0.999999974066,-2.25212205171e-05,-0.000221893940779,-4.6095921008e-05,1793192309162586368
+74,1.233333333,BASELINE,764,742,711.992995666,671,660.985991332,632.007004334,876.992995666,783,799,649,628,650,0.400916365765,-0.0154364941912,0.0599160148471,0.999999974565,-2.30898149774e-05,-0.000219592253497,-4.60084267048e-05,1793192309179252736
+75,1.250000000,BASELINE,764,742,711.417938512,671,659.835877024,632.582061488,876.417938512,783,799,649,628,650,0.400915941629,-0.0154376344873,0.0599152838923,0.999999974286,-2.52734457029e-05,-0.000220590705564,-4.61448461507e-05,1793192309195919360
+76,1.266666667,BASELINE,764.161015264,742,711,671,659,633,876.161015264,783,799,649,628,650,0.400915468085,-0.0154383195161,0.0599148510583,0.999999974107,-2.62532832078e-05,-0.000221280580705,-4.61787863603e-05,1793192309212585984
+77,1.283333333,BASELINE,764.750334091,742,711,671,659,633,876.750334091,783,799,649,628,650,0.400914863118,-0.0154377935256,0.0599152112314,0.999999974202,-2.40310084778e-05,-0.000221149635489,-4.59401299085e-05,1793192309229252864
+78,1.300000000,BASELINE,764.66607888,742,711,671,659,633,876.66607888,783,799,648.66607888,628,650,0.40091472959,-0.0154375370681,0.0599150777187,0.999999974139,-2.36591319753e-05,-0.000221466712768,-4.59932967993e-05,1793192309245919744
+79,1.316666667,BASELINE,764.086705103,742,711,671,659,633,876.086705103,783,799,648.086705103,628,650,0.400914942597,-0.0154374787341,0.0599145813165,0.999999973959,-2.46474126133e-05,-0.000222113114269,-4.62609718906e-05,1793192309262586624
+80,1.333333333,BASELINE,763.509575723,742,711,671,659,633,876,783,799,648.490424277,628.490424277,650,0.400916506385,-0.0154368763326,0.0599154584129,0.999999974357,-2.374765662e-05,-0.000220422292128,-4.62128155671e-05,1793192309279253248
+81,1.350000000,BASELINE,763.067001328,742,711.067001328,671,659,633,876,783,799,648.932998672,628.932998672,650,0.400917945379,-0.015436342913,0.0599164415555,0.999999974789,-2.25415401372e-05,-0.000218612200208,-4.60793288992e-05,1793192309295919616
+82,1.366666667,BASELINE,763.642384264,742,711.642384264,671,659,633,876,783,799,648.357615736,628.357615736,650,0.400916633719,-0.0154370594258,0.0599163952313,0.999999974739,-2.15320684418e-05,-0.000219018152838,-4.57201332649e-05,1793192309312585984
+83,1.383333333,BASELINE,764,742,711.777161893,671,659.222838107,633,876,783,799,648.222838107,628.222838107,650,0.400915534694,-0.0154369818567,0.0599160214742,0.999999974543,-2.20001054162e-05,-0.000219856103673,-4.57605377234e-05,1793192309329252608
+84,1.400000000,BASELINE,764,742,711.188380551,671,659.811619449,633,876,783,799,648.811619449,628.811619449,650,0.400914784854,-0.0154356002519,0.059915110009,0.999999974101,-2.48944969898e-05,-0.000221403479108,-4.64571626982e-05,1793192309345919488
+85,1.416666667,BASELINE,764,742,711,671,659.606812008,633,876,783,799.393187992,649,628.606812008,650.393187992,0.400914570248,-0.0154357488554,0.0599145184524,0.999999974016,-2.52362606899e-05,-0.000221718524666,-4.66139572295e-05,1793192309362586368
+86,1.433333333,BASELINE,764,742,711,671,659.028636976,633,876,783,799.971363024,649,628.028636976,650.971363024,0.400914607458,-0.0154366173912,0.0599140774062,0.9999999741,-2.43770641609e-05,-0.00022145378372,-4.6516772357e-05,1793192309379252992
+87,1.450000000,BASELINE,764,742,711.545985909,671,659,633,876.545985909,783,799.454014091,649,628.545985909,650.454014091,0.400915189904,-0.0154389657156,0.05991443693,0.999999974031,-2.63841752189e-05,-0.000221669055752,-4.58866393872e-05,1793192309395919872
+88,1.466666667,BASELINE,764,742,711.876655237,671,659,633,876.876655237,783,799.123344763,649,629,650,0.400915590251,-0.01544038315,0.0599146884718,0.999999973968,-2.74853933531e-05,-0.000221903051798,-4.54699390587e-05,1793192309412586496
+89,1.483333333,BASELINE,764,742,711.288283547,671,659,633,876.288283547,783,799.711716453,649,629,650,0.400915196938,-0.0154380002718,0.0599143756224,0.999999973974,-2.46081378085e-05,-0.00022211333388,-4.59626155551e-05,1793192309429253376
+90,1.500000000,BASELINE,764,742,711,671,659,633,876,783,799.702952009,649,629,650,0.40091549479,-0.0154366559395,0.0599149666289,0.999999974167,-2.37339427109e-05,-0.000221301984594,-4.61297871324e-05,1793192309445919744
+91,1.516666667,BASELINE,764,742,711,671,659,633,876,783,799.120541066,649,629,650,0.400916456619,-0.0154363092999,0.0599164259362,0.999999974543,-2.47840134204e-05,-0.000219509192054,-4.59842582173e-05,1793192309462586112
+92,1.533333333,BASELINE,764,742,711,671,659,633,876,783,799,649,629,650,0.40091615066,-0.0154373432237,0.0599156232851,0.999999974219,-2.622615346e-05,-0.000220778638416,-4.6154069054e-05,1793192309479252736
+93,1.550000000,BASELINE,764,742,711.030658638,671,659,633,876,783,799,649,628.969341362,650.030658638,0.400915538238,-0.0154386299826,0.0599143145439,0.999999973744,-2.76063010523e-05,-0.000222705835345,-4.63920158632e-05,1793192309495919360
+94,1.566666667,BASELINE,764,742,711.606307178,671,659,633,876,783,799,649,628.393692822,650.606307178,0.400915359714,-0.0154380063251,0.0599145033812,0.999999973916,-2.60655437533e-05,-0.000222118648547,-4.63782009595e-05,1793192309512586240
+95,1.583333333,BASELINE,764,742,712,671,659,633,876,783,799,649,628.186460803,650.813539197,0.400915386862,-0.015437320352,0.0599148907828,0.999999974099,-2.43511912576e-05,-0.000221502402526,-4.6317812546e-05,1793192309529252864
+96,1.600000000,BASELINE,764,742,712,671,659,633,876,783,799,649,628.776362074,650.223637926,0.400915859018,-0.015436499548,0.0599157078124,0.999999974306,-2.22612349866e-05,-0.0002208232817,-4.61566542195e-05,1793192309545919744
+97,1.616666667,BASELINE,764,742,711.641368343,671,659,632.641368343,876,783,799,649,628.641368343,650,0.400916572409,-0.0154359254987,0.0599159721582,0.999999974492,-2.19540195613e-05,-0.000220030221086,-4.60578776163e-05,1793192309562586368
+98,1.633333333,BASELINE,764,742,711.063758651,671,659,632.063758651,876,783,799,649,628.063758651,650,0.400917433095,-0.0154355021163,0.059915899039,0.999999974666,-2.27353336194e-05,-0.000219167589661,-4.59971908759e-05,1793192309579252992
+99,1.650000000,BASELINE,764,742,711,671,659,632.512446146,876.512446146,783,799,649,628,650,0.400917576038,-0.0154367073018,0.0599156255769,0.999999974579,-2.42050769126e-05,-0.000219383942451,-4.61079561687e-05,1793192309595919616
+100,1.666666667,BASELINE,764,742,711,671,659,633,876.909735613,783,799,649,628.090264387,650,0.400917363726,-0.0154378266369,0.0599152168625,0.999999974415,-2.52980811279e-05,-0.000219989998711,-4.62063239447e-05,1793192309612585984
+101,1.683333333,BASELINE,764,742,711,671,659,633,876.322065846,783,799,649,628.677934154,650,0.400915684525,-0.01543735936,0.0599141998189,0.999999974009,-2.38443381767e-05,-0.000222005777885,-4.61191447801e-05,1793192309629252608
+102,1.700000000,BASELINE,764,742,711,671,659.261654086,633,876,783,799.261654086,649,628.738345914,650,0.400915337546,-0.01543754111,0.0599139319508,0.999999973891,-2.40702249187e-05,-0.000222510018018,-4.61255285778e-05,1793192309645919488
+103,1.716666667,BASELINE,764,742,711,671,659.840584489,633,876,783,799.840584489,649,628.159415511,650,0.400916605989,-0.0154385098563,0.0599145725174,0.999999974123,-2.63327958909e-05,-0.000221181397119,-4.62453648893e-05,1793192309662586368
+104,1.733333333,BASELINE,764,742,711.419431812,670.580568188,659.580568188,633,876,783,799.580568188,649,628,650,0.400917422383,-0.0154384686022,0.0599152112777,0.999999974405,-2.62475242839e-05,-0.000219945745753,-4.61039356983e-05,1793192309679253248
+105,1.750000000,BASELINE,764,742,711.998247612,670.001752388,659.001752388,633,876,783,799.001752388,649,628,650,0.400918066997,-0.0154380435482,0.0599158493516,0.999999974704,-2.52700732403e-05,-0.000218745422679,-4.58632256881e-05,1793192309695920128
+106,1.766666667,BASELINE,764,742,711.429733715,670.570266285,659.570266285,633,876,783.570266285,799,649,628.570266285,650,0.400915702834,-0.0154379838873,0.0599147617191,0.999999974153,-2.58430202158e-05,-0.000221173842473,-4.59073540741e-05,1793192309712586496
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,742,711,670,659,633,876,783,799,649,628,650,0.400915572421,-0.0154393832345,0.0599139311226,0.999999973766,-2.85688409319e-05,-0.000222675961693,-4.54567176364e-05,1793192309753336320
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.42119228,742,711.57880772,670.57880772,659,633,876.57880772,783,799,648.42119228,628.57880772,650,0.400915486665,-0.0154378825482,0.0599145155473,0.999999973976,-2.44163360355e-05,-0.000222197208227,-4.56055983e-05,1793192309770003200
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,877,783,799,648.156762832,629,650,0.400915549623,-0.0154367288755,0.0599150225286,0.999999974164,-2.18265904592e-05,-0.000221600435667,-4.57073012263e-05,1793192309786669824
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,877,783,799,648.732439666,629,650,0.400916009985,-0.0154365025194,0.0599153225595,0.999999974331,-2.3412972669e-05,-0.000220688283082,-4.5682932117e-05,1793192309803336448
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.693984532,671,659.306015468,633,876.693984532,783,799.306015468,649,628.693984532,650,0.400916915914,-0.0154370170229,0.0599155551423,0.999999974492,-2.44138708208e-05,-0.000219846749818,-4.56966847397e-05,1793192309820003072
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.122233248,671,659.877766752,633,876.122233248,783,799.877766752,649,628.122233248,650,0.400918208763,-0.0154381748694,0.0599157291549,0.999999974649,-2.49063498569e-05,-0.000219066540578,-4.57435412776e-05,1793192309836669952
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.469428899,671,659.530571101,633,876,783,799.530571101,649,628,650.469428899,0.40092107166,-0.0154387199476,0.0599166976259,0.999999975081,-2.5166106496e-05,-0.00021708808175,-4.55719085655e-05,1793192309853336320
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,783,799.064219309,649,628,650.935780691,0.400925336823,-0.0154389382543,0.0599180610862,0.999999975709,-2.52847349541e-05,-0.00021419955444,-4.54042706986e-05,1793192309870003200
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,783,799.640773005,649,628,650.359226995,0.400937383104,-0.0154378789256,0.0599208522665,0.999999977295,-2.4782315646e-05,-0.000206650029142,-4.57424834203e-05,1793192309886669824
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711.783705154,671,659,633,876,783,800,649,628.216294846,650,0.400954715809,-0.0154375127677,0.0599241638858,0.999999979291,-2.37172689163e-05,-0.000196849248196,-4.58821235358e-05,1793192309903336704
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711.209888958,671,659,633,876,783,800,649,628.790111042,650,0.400980786627,-0.0154382923761,0.0599283357564,0.999999981916,-2.17222356064e-05,-0.00018332728844,-4.56935359793e-05,1793192309920003328
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,671,659,632.624897999,876.375102001,783,799.624897999,648.624897999,629,650,0.401019659152,-0.0154403221588,0.0599345265779,0.999999985325,-2.351580287e-05,-0.00016345569924,-4.55993196602e-05,1793192309936669696
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,671,659,632.033462128,876.966537872,783,799.033462128,648.033462128,629,650,0.401065914852,-0.015443072959,0.0599418817961,0.999999988795,-2.7494382617e-05,-0.000139922064997,-4.55595303548e-05,1793192309953336576
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671,659,632.546248801,876.453751199,783,799.546248801,648.546248801,628.453751199,650,0.401117534219,-0.01544668699,0.0599430016518,0.999999989861,-2.94618805447e-05,-0.000131556240611,-4.5865736202e-05,1793192309970003200
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.875617923,742,711,671,659,633,876,783,799.875617923,649,628,650,0.401174108717,-0.0154502840752,0.0599443859926,0.9999999907,-3.12998757399e-05,-0.000124433057462,-4.6235237165e-05,1793192309986669824
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.300652421,742,711,671,659,633,876,783,799.300652421,649,628,650,0.401247468311,-0.0154536322377,0.0599480830755,0.999999991336,-3.31056429898e-05,-0.000118516246485,-4.67588625386e-05,1793192310003336960
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.279918184,742,711,671,659,633,876.279918184,783,799,649,628.279918184,650,0.401331727557,-0.0154582076844,0.0599511844374,0.9999999921,-3.60735414143e-05,-0.000110822663082,-4.70804568264e-05,1793192310020003584
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.866632058,742,711,671,659,633,876.866632058,783,799,649,628.866632058,650,0.401427933027,-0.0154641282578,0.0599536328776,0.999999992955,-4.03151577439e-05,-0.000101181703436,-4.71806211425e-05,1793192310036670208
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.552499122,742,711,671,659.447500878,633,876.552499122,783,799,649,629,650,0.401543115569,-0.0154688462604,0.0599537800676,0.999999993119,-4.48984092573e-05,-9.69641922056e-05,-4.84097435612e-05,1793192310053336576
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.026652216,742,711,671,659.973347784,633,876,783,799,649,628.973347784,650,0.4016651183,-0.0154734235606,0.0599532098833,0.99999999306,-4.97976759081e-05,-9.43694267514e-05,-4.99366889386e-05,1793192310070002944
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.605846241,742,711,671,659.394153759,633,876,783,799,649,628.394153759,650,0.401812774352,-0.0154824182793,0.059951802575,0.999999992699,-5.91648196448e-05,-9.23394746578e-05,-5.07525321686e-05,1793192310086669568
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.182284653,671,659,633,876,783,799,649,628.182284653,650,0.401972121313,-0.0154912716814,0.0599505388768,0.999999991815,-7.53688783996e-05,-8.96404477829e-05,-5.15116670562e-05,1793192310103336192
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.752853268,671,659,633,876,783,799,649,628.752853268,650,0.402156371027,-0.0154998240644,0.0599495810823,0.999999989351,-0.000106136226991,-8.55162270486e-05,-5.21500075541e-05,1793192310120003072
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711.664760828,671,659,632.664760828,876.335239172,783,799.335239172,649,628.664760828,650,0.402363291676,-0.0155090081368,0.0599502261461,0.999999987674,-0.000125824307851,-7.78880627401e-05,-5.2475528865e-05,1793192310136669696
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.073344537,671,659,632.073344537,876.926655463,783,799.926655463,649,628.073344537,650,0.402587536616,-0.0155186749232,0.0599520960535,0.999999986944,-0.000137046033908,-6.75823166397e-05,-5.25620056496e-05,1793192310153336576
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711.507451832,671,659.507451832,632.507451832,876.492548168,783,799.492548168,649,628.507451832,650,0.402852787244,-0.0155274161409,0.0599558740677,0.999999988223,-0.000132970941106,-5.60787505917e-05,-5.22259516404e-05,1793192310170003456
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.914025824,633,876,783,799.085974176,649,628.914025824,650,0.403125729401,-0.0155357615246,0.0599579629244,0.99999998938,-0.000127326428443,-4.82341082899e-05,-5.19819434524e-05,1793192310186670080
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.339878487,633,876,783,799.660121513,649,628.339878487,650,0.403409382139,-0.0155426033459,0.0599489266519,0.999999988866,-0.000125067126898,-6.21282191685e-05,-5.2600242138e-05,1793192310203336448
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711.766859203,671,659,633,876,783,799.766859203,649,628,650,0.403708231933,-0.0155426781652,0.0599390412446,0.999999987907,-0.000123916174814,-7.70239815425e-05,-5.38267306192e-05,1793192310220002816
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711.195476542,671,659,633,876,783,799.195476542,649,628,650,0.40402912968,-0.0155329353828,0.0599279239087,0.999999986342,-0.00012437322196,-9.33729442154e-05,-5.59355839426e-05,1793192310236669696
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711.392102514,671,659.392102514,633,876,783,799,649,628,650,0.404373123989,-0.015526524332,0.059915845484,0.999999985134,-0.000116783925211,-0.000113119258468,-5.74213132258e-05,1793192310253336320
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711.988103908,671,659.988103908,633,876,783,799,649,628,650,0.404729128828,-0.0155218458293,0.0599032672797,0.999999983708,-0.000105010415246,-0.000134632243257,-5.85830090649e-05,1793192310270002944
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783,799,649,628.566431159,650,0.405175909704,-0.0155293466572,0.0599098223558,0.999999984626,-0.000108477407775,-0.000124978678395,-5.79809997395e-05,1793192310286669568
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711.856329533,671,659.856329533,633,876.143670467,783,799,649,628.856329533,650,0.405637308518,-0.0155363360674,0.0599218971844,0.999999986468,-0.000112664273978,-0.000105567290549,-5.68031829864e-05,1793192310303336448
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.281276169,671,659.281276169,633,876.718723831,783,799,649,628.281276169,650,0.406137047752,-0.0155410451138,0.0599493755091,0.999999989844,-0.000118080639041,-5.87630919578e-05,-5.40043086927e-05,1793192310320003072
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,670.706668693,659.293331307,633,876.706668693,783,799,649,628,650,0.406656115954,-0.0155444003811,0.0599746059172,0.999999991572,-0.000117943486769,-1.76173323353e-05,-5.13262087403e-05,1793192310336669696
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,670.132488066,659.867511934,633,876.132488066,783,799,649,628,650,0.407193690687,-0.0155464594766,0.0599976840664,0.99999999232,-0.000112489134025,1.81107745994e-05,-4.87637435809e-05,1793192310353336320
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,670.458694106,659.541305894,633,876,783,799,649,628.458694106,650.458694106,0.407720648085,-0.0155460545014,0.0599972066751,0.999999992451,-0.000112343557035,8.09003874685e-06,-4.90974257408e-05,1793192310370002944
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,671,659.053254451,632.946745549,876,783,799,648.946745549,628.946745549,650.946745549,0.408249695946,-0.0155450677963,0.0599888704246,0.999999992191,-0.000113212224638,-1.66882966064e-05,-5.02293915289e-05,1793192310386669824
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,671,659.630864578,632.369135422,876,783,799,648.369135422,628.369135422,650.369135422,0.408830684905,-0.0155456307025,0.0599727236674,0.999999991508,-0.000108388281343,-5.16573730898e-05,-5.06678744837e-05,1793192310403336448
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,671,659.794785545,632.205214455,876.205214455,783,799.205214455,648.205214455,628,650,0.409434044272,-0.0155466667697,0.0599653110749,0.999999991046,-0.000105036043956,-6.5554072458e-05,-5.07791404201e-05,1793192310420003328
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,671,659.226208459,632.773791541,876.773791541,783,799.773791541,648.773791541,628,650,0.410077013729,-0.0155485406384,0.0599733636176,0.999999992408,-0.000104289680615,-4.21390005197e-05,-5.0311020137e-05,1793192310436670208
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,671,659.358891437,633,877,783,799.641108563,649,628,650,0.410741377854,-0.0155524093765,0.0599814719213,0.999999992521,-0.000109357940806,-2.2069475798e-05,-5.01265763557e-05,1793192310453336576
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,671,659.954908198,633,877,783,799.045091802,649,628,650,0.411419877752,-0.0155575961568,0.0599896170667,0.999999991741,-0.000118268015951,-4.21040865512e-06,-5.01295621996e-05,1793192310470003200
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,671,659.464801333,632.464801333,877,783,799,649,628,650,0.412087050989,-0.0155562828821,0.0599692477182,0.999999991319,-0.000114465254214,-3.9737171282e-05,-5.17831613181e-05,1793192310486670080
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+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,671.436322474,660,632.563677526,876.436322474,782.872644948,799,649,628,650,0.415787264376,-0.0155623103277,0.0599810017268,0.999999992194,-0.000111272503902,-2.69393007755e-05,-5.00525430446e-05,1793192310570003200
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+158,2.633333333,POSE1_TO_POSE2_PRESS,764.59155934,742,711.59155934,672,660,632.59155934,877,783.40844066,799,649,628,650.59155934,0.417385758432,-0.0155682860125,0.0600059331798,0.99999999244,-0.000113421513703,8.36748455316e-06,-4.67545500103e-05,1793192310603336704
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.832470694,742,711.832470694,671.832470694,660,632.832470694,877,783,799,649,628,650.832470694,0.41817952888,-0.0155681660627,0.0599899733068,0.999999992249,-0.000113032408798,-1.96207354313e-05,-4.83793438085e-05,1793192310620003072
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.257557865,742,711.257557865,671.257557865,660,632.257557865,877,783,799,649,628,650.257557865,0.419000275261,-0.0155676665196,0.0599707144419,0.999999990246,-0.000120191524931,-4.91111138773e-05,-5.14698665465e-05,1793192310636669696
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711.325806255,671,660,632,877,783,799,649,628,650,0.419796014716,-0.0155672833286,0.0599476827333,0.999999987947,-0.000121021815545,-8.06606088931e-05,-5.43476500512e-05,1793192310653336320
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711.916029217,671,660,632,877,783,799,649,628,650,0.420571459096,-0.0155669945661,0.0599215890743,0.999999985077,-0.000116715779599,-0.000113881233092,-5.70527792207e-05,1793192310670003200
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711.503910501,671.496089499,660,632,877,783,799,649,628,650,0.42134572703,-0.015563013866,0.0598950379832,0.999999977669,-0.000110477873109,-0.000170418632352,-5.84281425949e-05,1793192310686669824
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+170,2.833333333,POSE1_TO_POSE2_PRESS,763.492149273,742,711.492149273,671.507850727,660.507850727,633,877.507850727,783,799,649,628.492149273,650,0.427248999611,-0.0155710942273,0.0599845591134,0.999999992132,-0.000114474473987,-2.02102181429e-06,-5.12675526838e-05,1793192310803336448
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+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672.042785563,660.042785563,633,877,783.957214437,800,649.042785563,629,650,0.431892059111,-0.015573902377,0.0599670506641,0.999999991206,-0.000120569523916,-1.40173831668e-05,-5.34333699315e-05,1793192310903336960
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+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711,672.234057726,661,633,877,783,800,649.234057726,629,649.234057726,0.433993053227,-0.015579679587,0.0599755558071,0.999999990407,-0.000127105894318,-2.10781094323e-05,-5.08563441309e-05,1793192310953336320
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+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.943568234,711.943568234,672,661,633,876.056431766,783,799.056431766,649,629,649.943568234,0.435272714209,-0.0155766850857,0.059916578084,0.999999984158,-0.000123977800398,-0.000114556882729,-5.64876298634e-05,1793192310986669824
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.481481596,712,672,661,632.481481596,876.518518404,783,799,649,628.481481596,650,0.435884652054,-0.0155763364579,0.0599114440344,0.999999982636,-0.0001261217879,-0.000124699885078,-5.71884097801e-05,1793192311003336704
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+192,3.200000000,POSE1_TO_POSE2_PRESS,763.683389657,743,711,672.316610343,660.683389657,633,877.683389657,783,799.683389657,649,628.316610343,650,0.440837150629,-0.0156030402171,0.0599137059596,0.999999974011,-0.000157846188451,-0.000155495276699,-5.37029593782e-05,1793192311170003712
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.09485539,743,711,672.90514461,660.09485539,633,877.09485539,783,799.09485539,649,628.90514461,650,0.441146562243,-0.0156015922972,0.0598636906281,0.999999958563,-0.000164811311036,-0.000228761560597,-5.81313320555e-05,1793192311186670080
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+256,4.266666667,HOLD_POSE2,763.724542184,743,711.275457816,672.724542184,660,632,876.724542184,782,800,648,628.724542184,650,0.444093977123,-0.0156332640929,0.0597473589198,0.999999897013,-0.000208305074239,-0.000398783338608,-5.96184780195e-05,1793192312260015104
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742.276241683,711.723758317,672.276241683,660.276241683,632,876.723758317,783,799,648.723758317,629,650,0.4377998871,-0.0154339574367,0.0598489623382,0.999999967666,5.49321564855e-05,-0.000248279865727,-2.64123596769e-06,1793192312876064768
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_05/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e034a3776c5da40cb3e46bdfd9e5a3e8295b08c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,392 @@
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+352,5.866666667,pose2_to_pose3_retreat,0.576012961012,-0.00994551329859,1.05002925778,0.546583693127,-0.00127277746164,1.04969854906
+353,5.883333333,pose2_to_pose3_retreat,0.575944648886,-0.00994544722336,1.05002904215,0.546515377971,-0.0012727217004,1.0496983326
+354,5.900000000,pose2_to_pose3_retreat,0.575888793673,-0.00994537186483,1.05002902882,0.546459523622,-0.00127264331971,1.04969832169
+355,5.916666667,pose2_to_pose3_retreat,0.575843168408,-0.00994552362024,1.05002903883,0.546413900612,-0.00127278750218,1.04969832984
+356,5.933333333,pose2_to_pose3_retreat,0.575807218924,-0.00994543609598,1.05002921295,0.546377949496,-0.00127270550308,1.04969850446
+357,5.950000000,pose2_to_pose3_retreat,0.575778603896,-0.00994553093036,1.05002903798,0.546349336274,-0.00127279421242,1.04969832972
+358,5.966666667,pose2_to_pose3_retreat,0.575756657744,-0.00994533640224,1.05002904248,0.546327387478,-0.00127260855442,1.049698336
+359,5.983333333,pose2_to_pose3_retreat,0.575740916453,-0.0099452633951,1.05002916042,0.546311644429,-0.00127254157398,1.04969845175
+360,6.000000000,pose2_to_pose3_retreat,0.575730147716,-0.0099454423638,1.05002918066,0.546300877569,-0.00127271435115,1.04969846754
+361,6.016666667,pose2_to_pose3_retreat,0.575724183587,-0.00994534267239,1.05002917093,0.546294912628,-0.00127261728616,1.04969846098
+362,6.033333333,pose2_to_pose3_retreat,0.575720200602,-0.0099453319486,1.05002916128,0.546290929869,-0.00127260571414,1.04969845341
+363,6.050000000,pose2_to_pose3_retreat,0.575717781526,-0.00994538158925,1.05002915224,0.546288511703,-0.00127265222336,1.04969844559
+364,6.066666667,pose2_to_pose3_retreat,0.575716473068,-0.00994540843948,1.05002914734,0.546287203736,-0.00127267737982,1.04969844136
+365,6.083333333,pose2_to_pose3_retreat,0.575715559176,-0.00994542719298,1.05002914393,0.546286290188,-0.00127269495032,1.04969843841
+366,6.100000000,pose2_to_pose3_retreat,0.575714628045,-0.00994546140621,1.05002917387,0.546285359587,-0.00127272742715,1.04969846675
+367,6.116666667,pose2_to_pose3_retreat,0.575714003178,-0.0099454878913,1.05002920177,0.546284735117,-0.00127275262305,1.04969849308
+368,6.133333333,pose2_to_pose3_retreat,0.575713554677,-0.0099455069011,1.0500292218,0.546284286901,-0.00127277070752,1.04969851199
+369,6.150000000,pose2_to_pose3_retreat,0.575713439968,-0.00994551176305,1.05002922692,0.546284172265,-0.0012727753328,1.04969851682
+370,6.166666667,pose2_to_pose3_retreat,0.575713413886,-0.00994551286852,1.05002922808,0.5462841462,-0.00127277638446,1.04969851792
+371,6.183333333,pose2_to_pose3_retreat,0.57571307414,-0.0099455272687,1.05002924325,0.54628380667,-0.0012727900837,1.04969853224
+372,6.200000000,pose2_to_pose3_retreat,0.575712914359,-0.00994553404104,1.05002925038,0.546283646991,-0.00127279652639,1.04969853897
+373,6.216666667,pose2_to_pose3_retreat,0.575712477973,-0.00994555253735,1.05002926987,0.546283210882,-0.00127281412237,1.04969855736
+374,6.233333333,pose2_to_pose3_retreat,0.575712442772,-0.00994555402935,1.05002927144,0.546283175703,-0.00127281554174,1.04969855885
+375,6.250000000,pose2_to_pose3_retreat,0.575712017048,-0.00994557207371,1.05002929044,0.546282750251,-0.00127283270777,1.04969857679
+376,6.266666667,pose2_to_pose3_retreat,0.575711860772,-0.00994557869751,1.05002929742,0.546282594074,-0.00127283900914,1.04969858338
+377,6.283333333,pose2_to_pose3_retreat,0.575711720412,-0.00994556564662,1.05002928674,0.546282453442,-0.0012728268648,1.04969857306
+378,6.300000000,pose2_to_pose3_retreat,0.575711415674,-0.00994553697172,1.05002926324,0.54628214811,-0.00127280017951,1.04969855038
+379,6.316666667,pose2_to_pose3_retreat,0.575711261702,-0.00994552248332,1.05002925137,0.546281993836,-0.00127278669639,1.04969853892
+380,6.333333333,pose2_to_pose3_retreat,0.575711242963,-0.00994552072007,1.05002924992,0.546281975061,-0.00127278505549,1.04969853752
+381,6.350000000,pose2_to_pose3_retreat,0.57571123932,-0.00994552037726,1.05002924964,0.546281971411,-0.00127278473646,1.04969853725
+382,6.366666667,pose2_to_pose3_retreat,0.575711237936,-0.00994552024705,1.05002924953,0.546281970024,-0.00127278461528,1.04969853715
+383,6.383333333,pose2_to_pose3_retreat,0.575711133169,-0.00994551038881,1.05002924146,0.546281865053,-0.00127277544106,1.04969852935
+384,6.400000000,pose2_to_pose3_retreat,0.575710857204,-0.00994548442124,1.05002922018,0.546281588548,-0.00127275127525,1.0496985088
+385,6.416666667,pose2_to_pose3_retreat,0.575710416796,-0.00994544298017,1.05002918622,0.54628114728,-0.00127271270957,1.04969847602
+386,6.433333333,pose2_to_pose3_retreat,0.575710081072,-0.00994541138942,1.05002916033,0.546280810899,-0.00127268331075,1.04969845103
+387,6.450000000,pose2_to_pose3_retreat,0.575710006294,-0.00994542251407,1.05002917805,0.546280736368,-0.00127269364213,1.04969846759
+388,6.466666667,pose2_to_pose3_retreat,0.575709808602,-0.00994545550992,1.05002922954,0.546280539407,-0.00127272428783,1.04969851574
+389,6.483333333,pose2_to_pose3_retreat,0.575709500577,-0.00994550692109,1.05002930977,0.54628023252,-0.0012727720372,1.04969859076
+390,6.500000000,pose2_to_pose3_retreat,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473493,1.0496984415
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_05/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..25b4a631ecbce617904d2d8535a05acf141325f4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:876dec2f9d692be59b0dc938de0b6b6609db68417c405aa2d7e6dc84a6899b95
+size 24967576
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_05/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9e5fb6f587c212dba04267256d099e4e020aa219
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_02/franka_data.csv
@@ -0,0 +1,395 @@
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+35,0.583333333,BASELINE,763.299200986,742,711,671,659.700799014,633,875.299200986,783,799,648.299200986,628.299200986,650,0.400959665809,-0.0153940494411,0.0598436124916,0.999999947803,0.000185214069516,-0.000264279781984,1.56549424483e-05,1793192315247675136
+36,0.600000000,BASELINE,763.873326904,742,711,671,659.126673096,633,875.873326904,783,799,648.873326904,628.873326904,650,0.40095991294,-0.0153945047145,0.0598444485914,0.999999947991,0.000185281691639,-0.000263509291754,1.58884452078e-05,1793192315264341760
+37,0.616666667,BASELINE,764,742,711.459432301,670.540567699,659,633,876,783,799.459432301,648.540567699,628.540567699,649.540567699,0.400959720574,-0.0153941086465,0.0598438469469,0.99999994751,0.000186748407405,-0.000264296818192,1.58563380568e-05,1793192315281008640
+38,0.633333333,BASELINE,764,742,712,670,659,633,876,783,799.951845917,648.048154083,628,649.048154083,0.400959474658,-0.0153933990926,0.0598430138769,0.999999946938,0.000188411084223,-0.000265284538355,1.57647407572e-05,1793192315297675520
+39,0.650000000,BASELINE,764,742,712,670,659,633,876,783,799.371685738,648.628314262,628,649.628314262,0.400960011729,-0.0153918888618,0.0598441208051,0.999999947483,0.000187862838992,-0.00026361104016,1.58466360618e-05,1793192315314342144
+40,0.666666667,BASELINE,764,742,711.793332073,670.206667927,659,633,875.793332073,783,799,649,628,650,0.400960460671,-0.0153911781105,0.0598447312556,0.999999947875,0.000187441415961,-0.000262417886915,1.58815957526e-05,1793192315331008768
+41,0.683333333,BASELINE,764,742,711.218199248,670.781800752,659,633,875.218199248,783,799,649,628,650,0.400960752488,-0.0153918927381,0.0598444565439,0.999999948001,0.000187246102208,-0.000262081132995,1.58328746931e-05,1793192315347675392
+42,0.700000000,BASELINE,764,742,711.365533498,671,659.365533498,633,875.365533498,783,799.365533498,649,628,650,0.400960656342,-0.0153926970394,0.059844075281,0.999999947942,0.00018694745497,-0.000262523159742,1.57592223618e-05,1793192315364342016
+43,0.716666667,BASELINE,764,742,711.954523494,671,659.954523494,633,875.954523494,783,799.954523494,649,628,650,0.400960323028,-0.0153935561597,0.0598436288815,0.999999947769,0.00018658563832,-0.000263441267632,1.56703291454e-05,1793192315381008640
+44,0.733333333,BASELINE,763.465956044,742,712,670.465956044,660,633,876,783,799.465956044,649,628,650.534043956,0.400959845532,-0.0153943170815,0.0598436721557,0.999999947787,0.000185888833407,-0.000263854696442,1.58883500865e-05,1793192315397675264
+45,0.750000000,BASELINE,763.112320769,742,711.887679231,670.112320769,660,633,875.887679231,783,799.112320769,648.887679231,628,650.887679231,0.40095962108,-0.0153946059089,0.0598438974446,0.999999947767,0.000185811379461,-0.000263975057616,1.60686385516e-05,1793192315414341888
+46,0.766666667,BASELINE,763.688732647,742,711.311267353,670.688732647,660,633,875.311267353,783,799.688732647,648.311267353,628,650.311267353,0.400960492008,-0.0153929780673,0.0598447055006,0.999999947523,0.000188408793873,-0.000263058986804,1.59869172636e-05,1793192315431008768
+47,0.783333333,BASELINE,764,742,711,670.737008737,659.737008737,633,875.262991263,783,799.737008737,648.262991263,628.262991263,650,0.400960776149,-0.0153923393129,0.0598447143906,0.999999947457,0.000189068303399,-0.000262850938737,1.57363900278e-05,1793192315447675392
+48,0.800000000,BASELINE,764,742,711,670.165277875,659.165277875,633,875.834722125,783,799.165277875,648.834722125,628.834722125,650,0.400960371432,-0.0153928617009,0.0598437850965,0.999999947605,0.000187452802412,-0.000263474076559,1.52876923932e-05,1793192315464342272
+49,0.816666667,BASELINE,764,742,711,670.421628415,659,633,875.578371585,783,799,649,629,650.421628415,0.400958218675,-0.0153948844997,0.0598422087805,0.999999947506,0.000184409760243,-0.000265974943846,1.54119171677e-05,1793192315481008896
+50,0.833333333,BASELINE,764,742,711,671,659,633,875,783,799,649,628.985681425,650.985681425,0.40095550039,-0.0153973727951,0.0598404647283,0.999999947299,0.000180980735211,-0.000269070574573,1.57543172437e-05,1793192315497675520
+51,0.850000000,BASELINE,764,742,711,671,659,633,875,783,799,649,628.408210069,650.408210069,0.400958496211,-0.0153941730649,0.0598424714111,0.999999947477,0.000185201621846,-0.000265527804072,1.5514834918e-05,1793192315514342400
+52,0.866666667,BASELINE,764,742,711.168854791,671,659,633,875.168854791,783,799,649,628,650,0.400960155804,-0.0153924565992,0.0598436598371,0.99999994754,0.000187598656319,-0.000263607111544,1.54084317558e-05,1793192315531009024
+53,0.883333333,BASELINE,764,742,711.744939268,671,659,633,875.744939268,783,799,649,628,650,0.400958592794,-0.0153943173455,0.0598428748605,0.999999947384,0.000185597078366,-0.000265598409529,1.56229776649e-05,1793192315547676672
+54,0.900000000,BASELINE,764,742,711.675259597,670.675259597,659.324740403,633,875.675259597,783,799,649,628,650,0.400958585169,-0.0153953508879,0.0598432445775,0.999999947798,0.000183800775834,-0.000265272382441,1.58454935654e-05,1793192315564343552
+55,0.916666667,BASELINE,764,742,711.092505518,670.092505518,659.907494482,633,875.092505518,783,799,649,628,650,0.400959813333,-0.0153957271977,0.059844531725,0.999999948666,0.000182167569411,-0.000263105187501,1.6074341796e-05,1793192315581009920
+56,0.933333333,BASELINE,764,742,711,670,659.509714017,633,875.490285983,783,799,648.509714017,628,650,0.400960353236,-0.0153951340011,0.0598442912598,0.999999948329,0.000184070678544,-0.000263070601764,1.59052203058e-05,1793192315597676288
+57,0.950000000,BASELINE,764,742,711.072411883,670,659.072411883,633,876,783,799.072411883,648.072411883,628.072411883,650,0.400960571889,-0.0153942034002,0.0598437485426,0.999999947778,0.000186376811756,-0.000263560390719,1.56365331074e-05,1793192315614342656
+58,0.966666667,BASELINE,764,742,711.649846146,670,659.649846146,633,876,783,799.649846146,648.649846146,628.649846146,650,0.400959455786,-0.0153921954993,0.05984310815,0.999999947344,0.000186840004955,-0.000264900838039,1.51971682385e-05,1793192315631009280
+59,0.983333333,BASELINE,763.773099873,742,712,670.226900127,660,633,876,783,799.773099873,649,628.773099873,650,0.40095865389,-0.0153914529747,0.0598429343859,0.999999947179,0.000186732627867,-0.000265596431277,1.51881273553e-05,1793192315647675904
+60,1.000000000,BASELINE,763.196631673,742,712,670.803368327,660,633,876,783,799.196631673,649,628.196631673,650,0.40095833607,-0.0153926599204,0.0598434795216,0.999999947432,0.000185746215841,-0.000265298546216,1.58420544171e-05,1793192315664342528
+61,1.016666667,BASELINE,763.386438873,742,711.613561127,671,660,633,876,783,799,649,628.386438873,650,0.40095952905,-0.0153934276374,0.0598443056103,0.999999947783,0.000186322854588,-0.000263550392902,1.6104642934e-05,1793192315681009408
+62,1.033333333,BASELINE,763.97292725,742,711.02707275,671,660,633,876,783,799,649,628.97292725,650,0.400961504132,-0.0153939679769,0.0598452771411,0.999999948178,0.000187708644733,-0.000261051472884,1.61646454724e-05,1793192315697676032
+63,1.050000000,BASELINE,763.447023892,742,711.552976108,670.447023892,660,632.447023892,876,783,799,649,629,650.552976108,0.400960099919,-0.0153926496945,0.0598444455018,0.999999947526,0.000188647200981,-0.000262885747075,1.58553864885e-05,1793192315714342656
+64,1.066666667,BASELINE,763.132298092,742,712,670,660,632.132298092,875.867701908,783,798.867701908,649,629,650.867701908,0.400959044883,-0.015392060042,0.0598438084087,0.999999947131,0.000188863648794,-0.000264241343381,1.56396383946e-05,1793192315731009536
+65,1.083333333,BASELINE,763.710221396,742,712,670,660,632.710221396,875.289778604,783,798.289778604,649,629,650.289778604,0.400959716848,-0.0153942276384,0.0598441205484,0.999999947785,0.000186720691991,-0.000263278235282,1.57990602495e-05,1793192315747675904
+66,1.100000000,BASELINE,764,742,712,670.291852947,659.708147053,633,875.291852947,783,798.291852947,649,628.708147053,650,0.400959927384,-0.0153943467696,0.0598443505337,0.999999947998,0.000186626241011,-0.00026253673403,1.58086139492e-05,1793192315764342528
+67,1.116666667,BASELINE,764,742,712,670.877213739,659.122786261,633,875.877213739,783,798.877213739,649,628.122786261,650,0.400959673872,-0.0153924058201,0.0598444978987,0.999999947767,0.000188591911646,-0.000262018096263,1.56674496849e-05,1793192315781009152
+68,1.133333333,BASELINE,764,742,711.541351913,671,659,633,876,783,799,649,628.458648087,650.458648087,0.400960173334,-0.0153928290849,0.0598447455436,0.999999947874,0.00018773030204,-0.000262229564705,1.5660919456e-05,1793192315797676032
+69,1.150000000,BASELINE,763.961157698,742,711.038842302,670.961157698,659,633,876.038842302,783,799.038842302,649,628.961157698,650.961157698,0.400960825174,-0.0153938474603,0.0598450088029,0.999999948075,0.000186147040055,-0.000262587097088,1.56949492996e-05,1793192315814342656
+70,1.166666667,BASELINE,763.383708191,742,711.616291809,670.383708191,659,633,876.616291809,783,799.616291809,649,628.383708191,650.383708191,0.400960818451,-0.0153944158824,0.0598451194755,0.999999948373,0.000184963465376,-0.000262282694465,1.57958527928e-05,1793192315831009792
+71,1.183333333,BASELINE,763.192979834,741.807020166,711.807020166,670.192979834,659,633,876.807020166,783,799.807020166,648.807020166,628,650,0.400960493573,-0.015394312642,0.0598449384222,0.99999994839,0.00018437425319,-0.000262636965263,1.57502048605e-05,1793192315847676416
+72,1.200000000,BASELINE,763.768159833,741.231840167,711.231840167,670.768159833,659,633,876.231840167,783,799.231840167,648.231840167,628,650,0.400959538584,-0.0153928791618,0.0598441796001,0.99999994785,0.000184962186813,-0.000264295751018,1.54143091112e-05,1793192315864343296
+73,1.216666667,BASELINE,764,741.34517791,711,671,659,633,875.65482209,783,799,648.34517791,628.34517791,650,0.400958354951,-0.015393342474,0.0598438769081,0.999999947707,0.00018450855476,-0.000265142200711,1.55557187953e-05,1793192315881009664
+74,1.233333333,BASELINE,764,741.923437114,711,671,659,633,875.076562886,783,799,648.923437114,628.923437114,650,0.400957016927,-0.0153950865951,0.0598438822177,0.999999947834,0.000183351605718,-0.000265440120588,1.60194288704e-05,1793192315897675776
+75,1.250000000,BASELINE,764,742,711.512460224,671,659.512460224,633,875,783,799,649,628.487539776,650.512460224,0.400958588812,-0.0153949695389,0.059844130365,0.999999948094,0.000184260368541,-0.000263834201362,1.58863364678e-05,1793192315914342400
+76,1.266666667,BASELINE,764,742,712,671,659.899588652,633,875.100411348,783,799,648.899588652,628.100411348,651,0.400960541347,-0.0153947079741,0.0598445520691,0.999999948455,0.000185030177946,-0.000261928366326,1.5751326416e-05,1793192315931009024
+77,1.283333333,BASELINE,764,742,712,671,659.324471327,633,875.675528673,783,799,648.324471327,628.675528673,651,0.400962194036,-0.0153951060145,0.0598456190819,0.999999949213,0.000183652716768,-0.00025997821148,1.60378265498e-05,1793192315947675648
+78,1.300000000,BASELINE,764,742,711.743459355,670.743459355,659,633,876,783,799.256540645,648.256540645,628.743459355,650.743459355,0.40096186644,-0.0153950150341,0.0598455169658,0.999999949078,0.000183738686132,-0.000260438803641,1.59653438193e-05,1793192315964342272
+79,1.316666667,BASELINE,764,742,711.154816569,670.154816569,659,633,876,783,799.845183431,648.845183431,628.154816569,650.154816569,0.400958975289,-0.0153942909969,0.0598439013654,0.999999947782,0.000185719125047,-0.0002640202045,1.54281433715e-05,1793192315981009152
+80,1.333333333,BASELINE,764,742,711.426511453,670,659,633,876,783,799.573488547,649,628,650,0.400959038262,-0.0153944515783,0.0598438298399,0.999999947767,0.000186440876162,-0.000263557788581,1.56192789084e-05,1793192315997676032
+81,1.350000000,BASELINE,764,742,712,670.005225813,659.010451626,633,875.994774187,783,799,649,628,650,0.400960148412,-0.0153949164133,0.0598443062015,0.999999948205,0.000186707158124,-0.000261672047913,1.60645610058e-05,1793192316014342912
+82,1.366666667,BASELINE,764,742,712,670.583573724,660.167147447,633,875.416426276,783,799,649,628,650,0.400960486321,-0.0153941272423,0.0598444385874,0.999999948213,0.000186283613513,-0.000261953897121,1.58770704046e-05,1793192316031009792
+83,1.383333333,BASELINE,764,742,712,670.839432904,660.839432904,633,875.160567096,783.160567096,799,649,628.160567096,650,0.400960510627,-0.0153936275081,0.0598443012383,0.999999948221,0.000185767357366,-0.000262300761167,1.5698046173e-05,1793192316047676416
+84,1.400000000,BASELINE,764,742,712,670.265922978,660.265922978,633,875.734077022,783.734077022,799,649,628.734077022,650,0.400959728417,-0.0153938721408,0.0598434701907,0.999999948229,0.000185012667698,-0.000262814828968,1.55407955191e-05,1793192316064343040
+85,1.416666667,BASELINE,764,742,711.683749166,670,659.683749166,633,875.683749166,783.683749166,799.316250834,649,628.683749166,650,0.400958703719,-0.0153938749516,0.059843060697,0.999999948165,0.000184289828088,-0.000263572082918,1.54008372532e-05,1793192316081009408
+86,1.433333333,BASELINE,764,742,711.094085063,670,659.094085063,633,875.094085063,783.094085063,799.905914937,649,628.094085063,650,0.400957469379,-0.0153936686964,0.0598430156559,0.999999948039,0.000183594524351,-0.000264539582352,1.52758290548e-05,1793192316097675776
+87,1.450000000,BASELINE,764,742,711,670,659,633,875.486079075,783,799.513920925,649,628,650,0.400958806703,-0.0153932756663,0.0598435536862,0.999999948212,0.000184601369323,-0.000263188919893,1.51691695208e-05,1793192316114342656
+88,1.466666667,BASELINE,764,742,711,670,659.063774978,633,876,783,799,649,628.063774978,650,0.400960310314,-0.0153927573686,0.0598441022289,0.999999948348,0.000185880758308,-0.000261773473329,1.50700480791e-05,1793192316131009536
+89,1.483333333,BASELINE,764,742,711,670,659.636169932,633,876,783,799,649,628.636169932,650,0.400959246378,-0.0153915228258,0.0598438517892,0.999999947772,0.000186756546606,-0.000263351257641,1.50032631612e-05,1793192316147675904
+90,1.500000000,BASELINE,763.789836061,742,711,670.210163939,659.789836061,633,876,783,799,649,629,650,0.40095870307,-0.0153913242195,0.0598439735767,0.999999947531,0.000186931713869,-0.000264136986476,1.5007203051e-05,1793192316164342528
+91,1.516666667,BASELINE,763.213052654,742,711,670.786947346,659.213052654,633,876,783,799,649,629,650,0.400959067969,-0.0153929327479,0.0598447446942,0.999999947882,0.000185884686059,-0.000263541017789,1.51345184973e-05,1793192316181009152
+92,1.533333333,BASELINE,763.374249361,742,711,671,659.374249361,633,876,783,799.374249361,649,628.625750639,650,0.4009596658,-0.0153936260892,0.0598450217398,0.999999948145,0.00018593473603,-0.000262497582237,1.52847112255e-05,1793192316197675776
+93,1.550000000,BASELINE,763.967712631,742,711,671,659.967712631,633,876,783,799.967712631,649,628.032287369,650,0.400960400069,-0.0153937833662,0.0598450093864,0.999999948355,0.000186627391431,-0.000261192046086,1.54483041714e-05,1793192316214342400
+94,1.566666667,BASELINE,764,742,711.544465254,671,660,633,875.455534746,783,799.455534746,649,628,650,0.400960738375,-0.015394786162,0.0598448394201,0.999999948682,0.000184239412249,-0.000261631426329,1.54956114097e-05,1793192316231009024
+95,1.583333333,BASELINE,764,742,712,671,659.879846994,633,875.120153006,783,799,649,628.120153006,650,0.400960808511,-0.0153952822675,0.0598447380722,0.999999948833,0.000182737103287,-0.000262107458779,1.55500333221e-05,1793192316247675648
+96,1.600000000,BASELINE,764,742,712,671,659.30455083,633,875.69544917,783,799,649,628.69544917,650,0.400959949108,-0.0153936747383,0.0598449310043,0.999999948305,0.000185261147768,-0.000262342035142,1.56567497382e-05,1793192316264342528
+97,1.616666667,BASELINE,764,742,712,671,659,633,876.27734232,783,799,649,628.72265768,650,0.400959249587,-0.0153931711791,0.0598447182109,0.999999947847,0.000186968119579,-0.000262874185515,1.56615061296e-05,1793192316281009152
+98,1.633333333,BASELINE,764,742,712,671,659,633,876.866656125,783,799,649,628.133343875,650,0.400958729911,-0.0153939094326,0.0598440490328,0.999999947473,0.000187755998278,-0.000263741065194,1.55515716867e-05,1793192316297676032
+99,1.650000000,BASELINE,764,742,712,671,659,633,876.55174831,783,799,649,628,650,0.400959679912,-0.0153935392298,0.0598448618239,0.999999947768,0.000187563058293,-0.000262758958449,1.55222641247e-05,1793192316314342656
+100,1.666666667,BASELINE,764,742.027528576,712,671,659.027528576,633,876,783,799,649,628,650,0.400961012239,-0.0153929526948,0.0598460645364,0.999999948257,0.00018706824444,-0.000261246736332,1.55423937293e-05,1793192316331009280
+101,1.683333333,BASELINE,764,742.605574609,712,671,659.605574609,633,876,783,799,649,628,650,0.400961395336,-0.0153945224417,0.0598463980213,0.999999948736,0.000186272596233,-0.000259946539602,1.60796452712e-05,1793192316347676160
+102,1.700000000,BASELINE,764,742.818032738,711.818032738,670.818032738,659.818032738,633,876,783,799,648.818032738,628.181967262,650,0.400961490253,-0.0153957630637,0.0598463983442,0.999999949094,0.000184754701725,-0.000259635318396,1.63373235823e-05,1793192316364342784
+103,1.716666667,BASELINE,764,742.245191693,711.245191693,670.245191693,659.245191693,633,876,783,799,648.245191693,628.754808307,650,0.400960966143,-0.0153962967104,0.0598456830201,0.99999994919,0.000181685390099,-0.00026144846083,1.59944660738e-05,1793192316381009152
+104,1.733333333,BASELINE,764,742,711.33754494,670.33754494,659,633,876,783,799,648.33754494,628.66245506,650.33754494,0.400960615578,-0.0153957566964,0.0598453927832,0.999999949106,0.000181312536572,-0.000262040336598,1.57611295506e-05,1793192316397675776
+105,1.750000000,BASELINE,764,742,711.927686856,670.927686856,659,633,876,783,799,648.927686856,628.072313144,650.927686856,0.400960394882,-0.0153944132236,0.0598454206542,0.999999948893,0.000182957538955,-0.000261718294946,1.56097514701e-05,1793192316414342656
+106,1.766666667,POSE1_TO_POSE2_PRESS,763,743,711,670,659,633,875,783,799,649,629,650,0.400960105804,-0.0153973299607,0.0598446495361,0.99999994935,0.000180201226897,-0.000261858231535,1.60299637701e-05,1793192316445098752
+107,1.783333333,POSE1_TO_POSE2_PRESS,763.569522382,742.430477618,711.569522382,670,659.569522382,633,875.569522382,783,799,649,629,650,0.400960816595,-0.0153958336602,0.0598454633178,0.999999949054,0.000183673746286,-0.00026056066127,1.62394907048e-05,1793192316461765632
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,670.141640534,660,633,875.858359466,783,799,649,628.858359466,650,0.400960867771,-0.0153946828673,0.0598457699043,0.999999948738,0.000185839760301,-0.000260237407734,1.62324814745e-05,1793192316478432256
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,670.72179524,660,633,875.27820476,783,799,649,628.27820476,650,0.400958876806,-0.0153946017537,0.0598445062321,0.999999948392,0.000183960879915,-0.000262930604641,1.55550838498e-05,1793192316495098624
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.691405797,671,660,633,875.308594203,783,799,648.691405797,628.308594203,650,0.400958838734,-0.0153940316518,0.0598438986175,0.999999948175,0.000184238637864,-0.000263576603638,1.52812482732e-05,1793192316511765248
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.098485114,671,660,633,875.901514886,783,799,648.098485114,628.901514886,650,0.400960599983,-0.0153930110155,0.0598438954685,0.99999994808,0.000186503437099,-0.000262336395377,1.53792388298e-05,1793192316528431872
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.482250983,671,660,633,876,783,799,648.482250983,628.517749017,650,0.400960690704,-0.015393222936,0.0598442513144,0.999999947976,0.000186774085373,-0.000262545313663,1.52952816912e-05,1793192316545098496
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.940213274,742,711.940213274,671,659.940213274,633,875.940213274,783,799.059786726,649,628,650,0.400960874572,-0.0153936709503,0.0598448998325,0.999999947956,0.000186738422172,-0.000262647793048,1.52672485073e-05,1793192316561765376
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.369289089,742,711.369289089,671,659.369289089,633,875.369289089,783,799.630710911,649,628,650,0.400964699556,-0.01539403847,0.059847439168,0.99999994866,0.000187479872139,-0.000259372545192,1.60271706672e-05,1793192316578432000
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.209527596,742,711.209527596,671,659.209527596,633,875.209527596,783,799.790472404,649,628,650,0.400972637948,-0.01539475712,0.0598513394818,0.999999950404,0.000186480781961,-0.000253258822812,1.66162705028e-05,1793192316595098624
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.802799114,742,711.802799114,671,659.802799114,633,875.802799114,783,799.197200886,649,628,650,0.400988109928,-0.0153961188552,0.0598577323887,0.999999953973,0.00018229394118,-0.000241946514216,1.68925139527e-05,1793192316611765248
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,670.615837626,659.615837626,633,875.615837626,783,799,649,628.384162374,650.384162374,0.401020073883,-0.0153972824387,0.0598706038265,0.999999959327,0.000182495770724,-0.000218425274473,1.82380571405e-05,1793192316628431872
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,670.040403357,659.040403357,633,875.040403357,783,799,649,628.959596643,650.959596643,0.401060249084,-0.015398347364,0.0598867008824,0.999999964879,0.000184882689594,-0.000188825287778,2.01159975828e-05,1793192316645098496
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711.463257267,670,659,633,875,783,799,649,628.463257267,650.463257267,0.401119926032,-0.0154014935919,0.059902677902,0.999999969605,0.000184676489738,-0.000161981630362,2.11450572934e-05,1793192316661765120
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.887283748,742,711.112716252,670.112716252,659,633,875.112716252,783,799,649,628.112716252,650,0.401184175711,-0.0154056570776,0.0599174789293,0.999999973443,0.00018328835322,-0.000137937060819,2.21956104129e-05,1793192316678431744
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.316599455,742,711.683400545,670.683400545,659,633,875.683400545,783,799,649,628.683400545,650,0.401261020921,-0.0154133151093,0.0599275387153,0.999999976158,0.000177893615482,-0.000124419521139,2.3593947668e-05,1793192316695098368
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.265739162,742,712,671,659.265739162,632.734260838,876,783,799,649,628.734260838,650.265739162,0.401342811412,-0.0154192635171,0.0599331396724,0.999999977824,0.00017453913283,-0.000115403976519,2.38630592096e-05,1793192316711765248
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.862599479,742,712,671,659.862599479,632.137400521,876,783,799,649,628.137400521,650.862599479,0.401430763907,-0.0154230816677,0.0599331847579,0.999999978379,0.000173726886362,-0.000111998090662,2.27251122693e-05,1793192316728431872
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.553488382,671,660,632.446511618,876,783,799,649,628.446511618,650.553488382,0.401537580373,-0.0154275342694,0.0599325132051,0.999999978801,0.000172142127367,-0.000111032555745,2.09215278264e-05,1793192316745098752
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.026308376,671,659.973691624,633,875.973691624,783.026308376,799,649,628.973691624,650,0.401651563391,-0.0154322898996,0.059931696242,0.999999979201,0.000170352540278,-0.000110544552291,1.8941582085e-05,1793192316761765376
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.601034473,671,659.398965527,633,875.398965527,783.601034473,799,649,628.398965527,650,0.401797342867,-0.015439407294,0.0599323155285,0.999999980058,0.000169108907128,-0.000104798197948,1.74347559503e-05,1793192316778432000
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.823899423,742,712,671,659.176100577,633,875,783.823899423,799.176100577,649,628.176100577,650,0.401956399488,-0.0154474751708,0.0599337999532,0.999999981322,0.000166103151352,-9.75508219141e-05,1.57821907031e-05,1793192316795098624
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.2480616,742,712,671,659.7519384,633,875,783.2480616,799.7519384,649,628.7519384,650,0.402145594374,-0.0154577005821,0.0599372481872,0.999999983473,0.000159097488097,-8.68962217365e-05,1.3798807032e-05,1793192316811764992
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.337857696,742,711.662142304,670.662142304,659.662142304,633,875,783,799.324284607,649,629,650,0.402348220209,-0.0154686045905,0.0599385077834,0.999999985178,0.0001518672823,-8.02980657872e-05,1.14879291594e-05,1793192316828431616
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.931406733,742,711.068593267,670.068593267,659.068593267,633,875,783,798.137186535,649,629,650,0.402561010631,-0.0154800221634,0.0599381110147,0.999999986578,0.000144467141553,-7.67698333358e-05,8.929202851e-06,1793192316845098240
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.509670119,670.509670119,659.509670119,633,875.509670119,783,798.509670119,649,628.490329881,650,0.402807931691,-0.0154898836107,0.0599402608967,0.999999987965,0.000138175401302,-7.02843277596e-05,6.08030463909e-06,1793192316861765120
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711.914619719,670.914619719,659.914619719,633,876,783,799.085380281,649,628,650,0.403063835998,-0.0154992795467,0.0599413103983,0.999999989085,0.000132247237174,-6.58143855318e-05,3.05453040564e-06,1793192316878432256
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.342081308,670.342081308,659.342081308,633,876,783,799.657918692,649,628,650,0.403345550756,-0.0155071795523,0.0599341827802,0.999999989047,0.000127567186043,-7.50494979021e-05,-7.64119636145e-07,1793192316895098880
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.238307758,670,659.238307758,633,876,783,800,649,628,650,0.403643137652,-0.0155103909071,0.0599267930583,0.999999988417,0.00012539910897,-8.61355913103e-05,-4.72561842217e-06,1793192316911765248
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711.830349985,670,659.830349985,633,876,783,800,649,628,650,0.403964284493,-0.0155066426165,0.0599190142803,0.999999986904,0.000126959705642,-9.99692061193e-05,-8.89915592085e-06,1793192316928431872
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.588644234,742,711.588644234,670,660,633,876,783,799.588644234,649,628,650,0.404304728406,-0.015497629519,0.0599057963838,0.999999988149,9.05767964379e-05,-0.000123541129544,-1.53462040326e-05,1793192316945098496
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.012071157,742,711.012071157,670,660,633,876,783,799.012071157,649,628,650,0.404652922805,-0.0154865018596,0.0598903939149,0.999999987579,3.89542219799e-05,-0.000151024355595,-2.2706386914e-05,1793192316961765120
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.566218302,742,711,670.566218302,660,633,876,783,799,649,628,650,0.40507201052,-0.015494123212,0.0598911656368,0.999999987576,3.760503796e-05,-0.000150730561096,-2.67111425158e-05,1793192316978431744
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711.14323482,671,660,633,876,783,799.14323482,649,628,650,0.405512284699,-0.0155027829076,0.0598996741799,0.999999989676,3.09269789825e-05,-0.000137099939143,-2.99268793276e-05,1793192316995098624
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711.716320958,671,660,633,876,783,799.716320958,649,628,650,0.406011590473,-0.0155133555138,0.0599303631706,0.999999995875,5.03063129504e-06,-8.52276982967e-05,-3.09900782212e-05,1793192317011765504
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.70071829,742,711.70071829,671,660,633,876,783,800,649,628,650,0.406534899025,-0.0155201925766,0.0599598948841,0.99999999868,-1.51608899122e-05,-3.72769367087e-05,-3.19430916811e-05,1793192317028432384
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.108078296,742,711.108078296,671,660,633,876,783,800,649,628,650,0.407081735346,-0.0155233680317,0.0599882922291,0.999999998996,-2.976049841e-05,6.82996613694e-06,-3.2788100664e-05,1793192317045099008
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.469470969,742,711.469470969,671,660,633,876,783.469470969,800,649,628,650,0.407610086947,-0.0155236476941,0.0599911247099,0.999999998702,-3.70205828832e-05,2.27336625894e-06,-3.49312136576e-05,1793192317061765376
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.043929788,742.043929788,712,670.956070212,660,633,876,783.956070212,799.956070212,649,628,650,0.408136595523,-0.0155229868158,0.0599870066041,0.999999998481,-3.85175827262e-05,-1.48720024552e-05,-3.65207598201e-05,1793192317078432000
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.621736499,742.621736499,712,670.378263501,660,633,876,783.378263501,799.378263501,649,628,650,0.408690811687,-0.0155187450302,0.0599677153826,0.999999998151,1.01291562968e-05,-5.30990614041e-05,-2.78641432772e-05,1793192317095098624
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.796266333,742.796266333,712,670.203733667,660,633,876.203733667,783,799,649,628,650,0.409277948195,-0.0155161957299,0.0599571745195,0.999999996364,3.59914004796e-05,-7.35750510533e-05,-2.37162980492e-05,1793192317111765248
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.206325572,742.206325572,712,670.793674428,660,633,876.793674428,783,799,649,628,650,0.409927490017,-0.0155168547844,0.0599632212477,0.999999997606,1.86622847038e-05,-6.04012791593e-05,-2.81154918849e-05,1793192317128431872
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711.62392214,671,660,633,876.62392214,783,799,649,628,650,0.410595954451,-0.0155223646315,0.0599689206664,0.999999998475,2.95044912654e-06,-4.5862248042e-05,-3.06230426582e-05,1793192317145098496
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711.045572644,671,660,633,876.045572644,783,799,649,628,650,0.411274596298,-0.0155304834536,0.0599744332861,0.999999998946,-1.18915396504e-05,-3.05889193503e-05,-3.21131823195e-05,1793192317161765632
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711.530890143,671.530890143,660,633,876.530890143,783,799.530890143,649,628,650,0.411947902417,-0.0155297075392,0.0599609911368,0.999999998001,-8.84578552573e-06,-5.26312092145e-05,-3.39090449182e-05,1793192317178433024
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.893111362,671.893111362,660,632.893111362,876.893111362,783,799.893111362,648.893111362,628.106888638,650,0.41261773453,-0.0155277266335,0.0599420414627,0.99999999555,-3.88122434033e-06,-8.70920310419e-05,-3.60459588462e-05,1793192317195100160
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.318438656,671.318438656,660,632.318438656,876.318438656,783,799.318438656,648.318438656,628.681561344,650,0.413274360331,-0.015523801948,0.0599060844691,0.999999986103,2.78454403771e-06,-0.000161931979004,-3.95609924652e-05,1793192317211766016
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632.26352114,876,783,799.26352114,648,628.73647886,650,0.414001406247,-0.0155251674489,0.0598981292822,0.999999983181,4.85987061052e-07,-0.000178829491188,-4.072642502e-05,1793192317228432128
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632.854537155,876,783,799.854537155,648,628.145462845,650,0.414815967913,-0.0155331074082,0.0599249737585,0.999999991504,-1.29531196821e-05,-0.000123718177086,-3.89718559753e-05,1793192317245098752
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.56329742,742,711,671,660,632.56329742,876.873405161,783,799.56329742,648.43670258,628,650,0.415645320808,-0.0155390022233,0.0599665821752,0.99999999781,-2.08624446587e-05,-5.16948938717e-05,-3.56732600808e-05,1793192317261765120
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742,711,671,660,632.015762699,877.984237301,783,799,649,628,650,0.416477915278,-0.0155440742193,0.0600114347371,0.999999998861,-2.68063335377e-05,2.31084021808e-05,-3.20297778486e-05,1793192317278431744
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742,711,671,660,632.587216628,877.412783372,783,799,649,628,650,0.417254549282,-0.0155436774619,0.0600007298625,0.999999999054,-2.71065055079e-05,1.26932698584e-06,-3.39987601007e-05,1793192317295098624
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.164133497,742,711.164133497,671,660,633,877,783,799.164133497,649,628,650,0.418036129256,-0.0155438574019,0.0599875172476,0.999999998637,-3.0440469249e-05,-2.17754871316e-05,-3.6399573531e-05,1793192317311765504
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.755262231,742,711.755262231,671,660,633,877,783,799.755262231,649,628,650,0.418830576182,-0.0155455376271,0.0599677807174,0.999999997185,-4.16668782516e-05,-4.79570440356e-05,-3.99238007919e-05,1793192317328432640
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711.659650635,671,660,633,876.659650635,783,800,649,628,650,0.419641311819,-0.0155445998037,0.0599429489616,0.999999994728,-4.34975857682e-05,-8.23449741885e-05,-4.32560191282e-05,1793192317345099264
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711.078832135,671,660,633,876.078832135,783,800,649,628,650,0.420463555987,-0.015541812234,0.0599145172454,0.999999990666,-3.8689889892e-05,-0.000122531002621,-4.64525760269e-05,1793192317361765376
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711.497407893,671.497407893,660,633,876.497407893,783,800,649,628,650,0.421238419517,-0.0155391638791,0.0598826929034,0.999999979982,-3.81220001374e-05,-0.000190084699222,-4.95108374674e-05,1793192317378431744
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711.927277201,671.927277201,660.072722799,633,876.927277201,783,799.927277201,649,628.072722799,649.927277201,0.422022434122,-0.0155374395102,0.0598591861333,0.99999996832,-3.84707713542e-05,-0.000243298278163,-5.18229249362e-05,1793192317395098368
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711.353383037,671.353383037,660.646616963,633,876.353383037,783,799.353383037,649,628.646616963,649.353383037,0.422920790888,-0.0155419321553,0.0598966718406,0.999999983847,-4.05482160546e-05,-0.000168067854291,-4.91424019221e-05,1793192317411764992
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711.226568728,671.226568728,660.773431272,632.773431272,876,783,799.226568728,649,628.773431272,649.226568728,0.423810670206,-0.0155457680797,0.0599402833656,0.99999999394,-4.24254572486e-05,-9.07897316554e-05,-4.55793815485e-05,1793192317428432128
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711.816228277,671.816228277,660.183771723,632.183771723,876,783,799.816228277,649,628.183771723,649.816228277,0.424686964016,-0.0155485515679,0.0599937119095,0.999999998156,-4.39818600054e-05,-1.02300302031e-05,-4.06021026662e-05,1793192317445099264
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.398951896,712,672,660.398951896,632.398951896,876.398951896,783,800,649,628,650,0.425554660618,-0.015549489812,0.0600088065004,0.999999997961,-4.75252472085e-05,1.53641631079e-05,-3.97838856227e-05,1793192317461766144
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.978535134,712,672,660.978535134,632.978535134,876.978535134,783,800,649,628,650,0.426418464654,-0.0155495925944,0.0600065448267,0.999999997686,-5.19682708579e-05,1.60719087839e-05,-4.08487454163e-05,1793192317478433024
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,712,672,661,633,876.444129678,783,799.444129678,649,628,650,0.427229026194,-0.0155507672163,0.0599801683715,0.999999997277,-5.69452328587e-05,-1.26804957586e-05,-4.51884085363e-05,1793192317495099136
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,711.865062226,672,660.865062226,633,876.269875549,783,799,649,628,650,0.428024394309,-0.0155523514599,0.0599556075139,0.999999996038,-6.24105698864e-05,-4.04693577453e-05,-4.88950350925e-05,1793192317511765504
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711.279926933,672,660.279926933,633,877.440146134,783,799,649,628,650,0.428775903754,-0.015555164807,0.0599401983435,0.999999994459,-6.94367777671e-05,-6.12633912998e-05,-5.00694393803e-05,1793192317528431872
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.697842213,711.302157787,672,660,633,877.697842213,783,799,649,628,650,0.429529260922,-0.0155537473215,0.0599204565534,0.999999991404,-6.98518410925e-05,-9.83016377912e-05,-5.14664949142e-05,1793192317545098496
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.11855541,711.88144459,672,660,633,877.11855541,783,799,649,628,650,0.430284312718,-0.0155484494576,0.0598967410303,0.999999985245,-6.4203383209e-05,-0.000150238531849,-5.30677585706e-05,1793192317561765120
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.540630893,742,712,672,660.459369107,633,877,783,798.540630893,649,628.459369107,650,0.431122452397,-0.0155497013905,0.0599234578061,0.999999991607,-6.69581355867e-05,-9.78587396402e-05,-5.22222873125e-05,1793192317578432000
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.036805941,742,712,671.963194059,660.963194059,633,877,783,798.073611882,649,628.963194059,650,0.431975487392,-0.0155528816785,0.059962262702,0.9999999959,-7.19603701167e-05,-2.14379917387e-05,-5.06261766985e-05,1793192317595098624
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.612235224,742,712,671.387764776,660.387764776,633,877,783,799.224470447,649,628.387764776,650,0.432733621069,-0.015559617493,0.059988056049,0.999999995727,-7.82089639645e-05,1.39804944753e-05,-4.72586747292e-05,1793192317611766016
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671.191841072,660.191841072,633,877,783,800,649,628.191841072,650,0.433461068008,-0.0155634220626,0.0599959051108,0.999999995388,-8.16594018657e-05,2.12790211507e-05,-4.58581822361e-05,1793192317628432896
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,712,671.780076925,660.780076925,633,877,783,800,649,628.780076925,650,0.434125108105,-0.0155611699003,0.0599666765022,0.99999999524,-7.93281050731e-05,-2.95257759075e-05,-4.85220549267e-05,1793192317645099008
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,712,672,661,633,876.635244111,783,800,649,628.635244111,650,0.434790362343,-0.0155589083879,0.0599374328777,0.999999992407,-7.96135822511e-05,-7.83608029537e-05,-5.2030761322e-05,1793192317661765120
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,712,672,661,633,876.052689033,783,800,649,628.052689033,650,0.435456341517,-0.0155566412925,0.0599081802889,0.999999987171,-8.14615599683e-05,-0.000126019658576,-5.60439257017e-05,1793192317678431744
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.522145355,712,672.522145355,661,633,876.522145355,783,799.477854645,649,628,650,0.436111353504,-0.0155561228916,0.0599059669032,0.99999998602,-8.65091879697e-05,-0.000131352366976,-5.67688198008e-05,1793192317695098368
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.903776432,712,672.903776432,661,633,877,783,799.096223568,649,628.096223568,650,0.436754349651,-0.0155556440514,0.0599069717524,0.999999985618,-8.84490522555e-05,-0.000133088448918,-5.6822819596e-05,1793192317711764992
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.329640838,712,672.329640838,661,633,877,783,799.670359162,649,628.670359162,650,0.437343083374,-0.0155544980528,0.0599106064593,0.999999986283,-7.3373396529e-05,-0.000137865223913,-5.51687074776e-05,1793192317728431872
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,712,672.251272537,661,633,877,783,799.748727463,649,629,650,0.437916238815,-0.0155541356805,0.0599113094617,0.999999986425,-6.07167282021e-05,-0.000143432319179,-5.37737703335e-05,1793192317745098752
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,712,672.841324029,661,633,877,783,799.158675971,649,629,650,0.438468390744,-0.0155548298347,0.0599080597844,0.999999986033,-5.13214681391e-05,-0.000150064965764,-5.2728266771e-05,1793192317761765376
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,711.576749802,673,661,633,877,783,799.423250198,649,628.576749802,650,0.439030130224,-0.0155592190265,0.0599265999432,0.999999988041,-8.05960892112e-05,-0.000121437006073,-5.17278892055e-05,1793192317778432256
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711.002167916,672.997832084,661,633,877,783,800,649,628,650,0.43959517041,-0.0155649735585,0.0599530914763,0.99999998784,-0.000123911267389,-7.99431725308e-05,-5.07494701931e-05,1793192317795098880
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711.575891077,672.424108923,661,633,877,783,800,649,628,650,0.440100627841,-0.0155723541134,0.0599627782392,0.999999989459,-0.000118803797791,-6.5945492498e-05,-5.11841160725e-05,1793192317811765504
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,712,672,661,632.846276046,877,783,800,649,628.153723954,650,0.440573160638,-0.0155783785548,0.059960915596,0.999999988931,-0.000119838794026,-7.06907161484e-05,-5.2727314814e-05,1793192317828432128
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,712,672,661,632.256793291,877,783,800,649,628.743206709,650,0.440952362627,-0.015580558845,0.0599263140407,0.999999980526,-0.00013828573724,-0.000128566141829,-5.74129103977e-05,1793192317845098496
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742,712,672,661,632,877.327480802,783,800,649,628.672519198,650,0.441312734547,-0.0155823817819,0.059886287396,0.999999968695,-0.000148681862226,-0.00019140939183,-6.21766069939e-05,1793192317861765120
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,712,672,661,632,877.907734445,783,800,649,628.092265555,650,0.441658572065,-0.0155839288881,0.0598420732858,0.999999952767,-0.000152863795061,-0.000258087156127,-6.70005870984e-05,1793192317878431744
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,712,672,661,632,877.519343054,783,799.519343054,649,628,650,0.441993316073,-0.0155883950502,0.0598187010624,0.999999948149,-0.000126383445681,-0.000290050768134,-5.9990979317e-05,1793192317895098624
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,712,672.052288047,661,632,877.052288047,783,799.052288047,648.947711953,628,650,0.442325213584,-0.0155936027552,0.0598013890343,0.999999945117,-9.78849455834e-05,-0.000312254174456,-5.17885637173e-05,1793192317911765248
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742,712,672.624861711,661,632,877.624861711,783,799.624861711,648.375138289,628,650,0.442649658183,-0.0156006973229,0.0598051673139,0.999999947021,-0.000106991599011,-0.000302649387287,-5.39803941682e-05,1793192317928432128
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,712,673,661,632,877.5861131,783,799.79305655,648.20694345,628,650,0.442953765215,-0.015606656843,0.059807443966,0.9999999471,-0.000116913222804,-0.000298414809866,-5.54905396345e-05,1793192317945098496
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742,712,673,661,632,876.385818,783,799.192909,648.807091,628,650,0.443219229695,-0.0156104597086,0.0598068674414,0.999999943883,-0.000128383334735,-0.000304383931691,-5.5705445361e-05,1793192317961765120
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.609847785,742.390152215,711.609847785,672.609847785,661,632,876.390152215,783,799.390152215,649,628,650,0.443455182784,-0.0156094471181,0.0598002768911,0.999999936562,-0.000154852283982,-0.000315495373305,-5.79637153586e-05,1793192317978431744
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.03488032,742.96511968,711.03488032,672.03488032,661,632,876.96511968,783,799.96511968,649,628,650,0.443677156339,-0.0156061534445,0.0597908374944,0.999999926241,-0.000188426188915,-0.000329042733916,-6.11899277316e-05,1793192317995098368
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,712,672.710913955,660.710913955,632,877,783,800,649,628,650,0.444201450909,-0.0156302192765,0.0597719113053,0.99999991299,-0.000194728463022,-0.000363692147031,-6.1883364976e-05,1793192318045098752
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+213,3.550000000,POSE1_TO_POSE2_PRESS,763.086803815,742.913196185,711,672.913196185,659.913196185,631.913196185,877,782.913196185,799.086803815,649,628,649.086803815,0.444947025569,-0.0156450979615,0.0597096982313,0.999999861153,-0.00022339483911,-0.000472868651508,-6.46832206893e-05,1793192318228432128
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.674407999,742.325592001,711,672.325592001,659.325592001,631.325592001,877,782.325592001,799.674407999,649,628,649.674407999,0.444964003815,-0.0156433651912,0.0597092573491,0.999999861685,-0.000219285904945,-0.000473696184425,-6.4460296165e-05,1793192318245098752
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.741786896,742,711.258213104,672,659.258213104,631.258213104,877,782,800,649,628,650,0.444978293839,-0.0156420704909,0.0597101869435,0.999999862801,-0.000216951530327,-0.000472468258352,-6.40586277332e-05,1793192318261765376
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+235,3.916666667,POSE1_TO_POSE2_PRESS,763.86487015,742.86487015,712,672,660,631.86487015,877,782,799,649,628,650,0.445002257613,-0.0156387646137,0.0597046062948,0.999999860271,-0.000213173681626,-0.000479747521278,-6.21017895323e-05,1793192318595098368
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+241,4.016666667,HOLD_POSE2,764,743,712,672,660,632,877,782,800,649,628,650,0.445016786431,-0.0156345969441,0.0597124029764,0.999999866977,-0.000210650370784,-0.000466801672659,-6.13829880594e-05,1793192318714105088
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+247,4.116666667,HOLD_POSE2,764,742.513644851,712,673,660,631.486355149,877,782,800.513644851,649,628,650,0.445028614379,-0.0156333623599,0.0597175239928,0.999999872585,-0.000206212902264,-0.000456748661994,-6.07128800554e-05,1793192318814105600
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+251,4.183333333,HOLD_POSE2,764,742.807890008,712,672,660,632,877.192109992,782,800,649,628.192109992,650.807890008,0.445030008358,-0.0156313643107,0.0597182408238,0.999999873611,-0.000203408834648,-0.000455781444409,-6.05416406998e-05,1793192318880771840
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+253,4.216666667,HOLD_POSE2,764,743,711.030577844,672,660,631.030577844,877,782,800,649,628,650.030577844,0.445029260109,-0.0156329378612,0.059716671181,0.999999873123,-0.000204183564069,-0.000456472230596,-6.08022187154e-05,1793192318914106368
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+256,4.266666667,HOLD_POSE2,763.708977934,742,712,672.708977934,660,631.291022066,877,782,799.708977934,649,628,650,0.445030731103,-0.0156311043328,0.059718796982,0.999999874256,-0.000202800217272,-0.00045465773572,-6.03830356555e-05,1793192318964105472
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,743,712,672.463292695,660,632,877,782,800.463292695,648.536707305,628,650,0.444798199207,-0.0156153732302,0.0596428816716,0.999999822545,-0.000197130966081,-0.000558073749105,-6.78528765484e-05,1793192319246635520
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.70572434,743,712,672.70572434,660,631.29427566,877.70572434,782,799.29427566,649,628,650,0.444625749959,-0.0156041880971,0.059628634313,0.999999813621,-0.00019019693521,-0.000576164052871,-6.7951426281e-05,1793192319279968768
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.707741321,743,712,672.707741321,660,631.292258679,877.707741321,782.292258679,799.292258679,649,628,650,0.444524553529,-0.0155977085886,0.0596300330566,0.999999816089,-0.000186784006243,-0.000573112117177,-6.69035920439e-05,1793192319296635392
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.127456121,743,712,672.127456121,660,631.872543879,877.127456121,782.872543879,799.872543879,649,628,650,0.444417586278,-0.0155906613844,0.0596369659433,0.999999823963,-0.000184095595995,-0.000560251752957,-6.55783862352e-05,1793192319313302016
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.768902596,743,711,672,660,632,877.231097404,782.768902596,799.231097404,649,628,650,0.443570781993,-0.0155409107002,0.0596733315435,0.999999860852,-0.00015019280295,-0.000502666483768,-5.53640519995e-05,1793192319396635392
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.411755457,742.411755457,711.411755457,672.588244543,660,632,876.411755457,782.411755457,800,648.411755457,628.588244543,650,0.440864198347,-0.0154697350866,0.0597127039706,0.999999895263,-2.8872301357e-05,-0.000455744967723,-3.05988304779e-05,1793192319529969152
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.536827962,742,712,672.463172038,660.463172038,632.463172038,877,783,799.536827962,649,628.536827962,650,0.437142571858,-0.0154238011947,0.0598173357471,0.999999947305,0.000104364457823,-0.000307272271061,9.09466211411e-06,1793192319646635520
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711.379472941,671,660,633,876.620527059,783,799,648.379472941,628,650,0.410383784996,-0.0153885276821,0.0597516747656,0.99999989692,0.00019004345431,-0.000412082582071,1.5190655891e-05,1793192320196635136
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711.260623523,671,660,632.739376477,875,783,799.260623523,649,628,650,0.400955690492,-0.0153863784812,0.0598316243446,0.999999941285,0.000193568633506,-0.000282431391762,1.39233044452e-05,1793192320846635776
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.015172266,742,711.015172266,671,660,632.984827734,875.984827734,783,799.015172266,649,628,650,0.400958688152,-0.0153878000914,0.0598353972369,0.999999943504,0.000191826862904,-0.000275652155379,1.44965931781e-05,1793192320896635392
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.575845708,742,711,671,659.424154292,633,876,783,799,649,628.575845708,650,0.400958753393,-0.0153889591703,0.0598356178038,0.999999943694,0.000191347250724,-0.000275284423084,1.47299775068e-05,1793192320913302016
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.836190351,742,711.163809649,671,659.163809649,633,876,783,799,649,628.836190351,650,0.400958517097,-0.0153896338533,0.0598357033568,0.999999943753,0.000191182093686,-0.0002751755959,1.49158440716e-05,1793192320929968640
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_05/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8fa7e4516af2242ee1d349d0f306d0ec5b3e6076
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,395 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_05/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..548cc176140b860be116e37ca262a736c2ce1309
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93fc84cfbe392efb8e583d72f7dee0f3b38c1739a686b2cdd02802fd383c27f4
+size 25160623
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_05/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3c1878404ee8048b2b53e10008b9427c5a4ae357
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_03/franka_data.csv
@@ -0,0 +1,398 @@
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+28,0.466666667,BASELINE,763.732724957,742,711.267275043,671,659.267275043,633,875,783,799.732724957,649,628.267275043,650.732724957,0.400957009646,-0.0153938208402,0.0598399076969,0.999999946169,0.000187134009935,-0.000269138976603,1.43863407671e-05,1793192321851951104
+29,0.483333333,BASELINE,763.15338958,742,711.84661042,671,659.84661042,633,875,783,799.15338958,649,628.84661042,650.15338958,0.400957827409,-0.0153915815324,0.0598395079456,0.999999946112,0.000188182684085,-0.000268646241592,1.38749560154e-05,1793192321868617728
+30,0.500000000,BASELINE,763,742,712,670.576962519,660,633,875.423037481,783,799.423037481,649,629,650.423037481,0.40095773592,-0.0153908638521,0.0598397686737,0.999999945969,0.000189252817524,-0.000268430022432,1.37920991943e-05,1793192321885284608
+31,0.516666667,BASELINE,763,742,712,670.001582801,660,633,875.998417199,783,799.998417199,649,629,650.998417199,0.400957316996,-0.0153906941332,0.0598402672504,0.999999945795,0.000190330678756,-0.000268313380851,1.38635618167e-05,1793192321901950976
+32,0.533333333,BASELINE,763.585195398,742,712,670.585195398,660,633,876,783,799.414804602,649,628.414804602,650.414804602,0.40095581378,-0.0153929023834,0.059839246694,0.999999946019,0.000186541007343,-0.000270132908135,1.38720722481e-05,1793192321918617344
+33,0.550000000,BASELINE,764,742,711.830265519,670.830265519,659.830265519,633,876,783.169734481,799,649,628.169734481,650,0.400955310763,-0.015394342921,0.0598389925574,0.999999946246,0.000184465538024,-0.000270710839414,1.40106363679e-05,1793192321935283968
+34,0.566666667,BASELINE,764,742,711.251202162,670.251202162,659.251202162,633,876,783.748797838,799,649,628.748797838,650,0.400957227023,-0.0153939162364,0.059840596812,0.999999946506,0.000186556390968,-0.000268281678034,1.44632545947e-05,1793192321951950592
+35,0.583333333,BASELINE,764,742,711.327207284,670.327207284,659,633,876,784,799,649,629,650,0.400957653928,-0.0153928431937,0.0598409225584,0.999999946233,0.000188580671692,-0.000267879112427,1.45491918501e-05,1793192321968617472
+36,0.600000000,BASELINE,764,742,711.905115773,670.905115773,659,633,876,784,799,649,629,650,0.400956939714,-0.0153912749214,0.0598402687316,0.999999945553,0.000190553946024,-0.000269029293179,1.43541838138e-05,1793192321985284352
+37,0.616666667,BASELINE,764,742,712,671,659.481441045,633,876,783.518558955,799,649,629,650,0.400957253021,-0.01539180238,0.0598403594342,0.999999945935,0.000189166829562,-0.000268591846888,1.42599246881e-05,1793192322001950976
+38,0.633333333,BASELINE,764,742,711.941457491,670.941457491,659.941457491,633,876,783,799,648.941457491,628.941457491,650,0.400957651293,-0.0153927236112,0.0598405438759,0.999999946459,0.000187269748969,-0.00026797483508,1.42053447045e-05,1793192322018617600
+39,0.650000000,BASELINE,764,742,711.354543274,670.354543274,659.354543274,633,876,783,799,648.354543274,628.354543274,650,0.400956994671,-0.0153934832136,0.0598402543511,0.999999946404,0.000186727779345,-0.000268551928353,1.43302647919e-05,1793192322035283968
+40,0.666666667,BASELINE,764,742,711.229233833,670.229233833,659.229233833,633,876.229233833,783,799,648.229233833,628,650,0.400956177311,-0.0153935716406,0.0598396549802,0.999999946102,0.000186738176049,-0.000269663787489,1.43294207365e-05,1793192322051950592
+41,0.683333333,BASELINE,764,742,711.808224416,670.808224416,659.808224416,633,876.808224416,783,799,648.808224416,628,650,0.400955114701,-0.0153926360123,0.0598385828572,0.999999945424,0.000187591353492,-0.000271591573135,1.41366902616e-05,1793192322068617216
+42,0.700000000,BASELINE,763.613229208,742,712,671,659.613229208,633,876.613229208,783,799,649,628,650,0.400956319775,-0.0153932269334,0.0598392223489,0.999999946028,0.000186112970304,-0.000270375724237,1.42255333657e-05,1793192322085283840
+43,0.716666667,BASELINE,763.034902851,742,712,671,659.034902851,633,876.034902851,783,799,649,628,650,0.400958647963,-0.0153945739071,0.0598407095502,0.999999947257,0.000183479837496,-0.000267602930686,1.44538311274e-05,1793192322101950720
+44,0.733333333,BASELINE,763,742,711.462954131,671,659.537045869,633,876,783,799.537045869,649,628,650.537045869,0.400956786913,-0.0153969068321,0.0598400519477,0.999999947225,0.000182725731606,-0.00026822058368,1.48155606956e-05,1793192322118617600
+45,0.750000000,BASELINE,763.112340468,742,711.112340468,671,659.887659532,633,876,783.112340468,799.887659532,648.887659532,628,650.887659532,0.400955120998,-0.0153983452801,0.0598394363208,0.999999947028,0.000182642472066,-0.00026899896626,1.49875820222e-05,1793192322135284224
+46,0.766666667,BASELINE,763.703646559,742,711.703646559,671,659.296353441,633,876,783.703646559,799.296353441,648.296353441,628,650.296353441,0.400955434209,-0.0153957001192,0.0598395869827,0.999999946478,0.000184904833001,-0.000269534195688,1.43142402832e-05,1793192322151951360
+47,0.783333333,BASELINE,764,742,712,670.710356834,659,633,876,783.710356834,799.289643166,648.289643166,628,650,0.40095584336,-0.0153935576593,0.0598397540205,0.999999946003,0.000187350162121,-0.000269624761826,1.40031695256e-05,1793192322168617984
+48,0.800000000,BASELINE,764,742,712,670.129694857,659,633,876,783.129694857,799.870305143,648.870305143,628,650,0.400956348905,-0.0153919202879,0.059839937512,0.999999945602,0.000189979328694,-0.000269268552831,1.40560902575e-05,1793192322185284352
+49,0.816666667,BASELINE,764,742,711.553270208,670,659,633,876,783,800,649,628,650,0.400955862775,-0.0153920552211,0.0598397205717,0.999999945703,0.000189091660819,-0.000269533440474,1.37927608379e-05,1793192322201950976
+50,0.833333333,BASELINE,763.977554083,741.977554083,711,670.022445917,659.022445917,633,875.977554083,783,799.977554083,649,628,650,0.400955176259,-0.0153927221365,0.0598394261226,0.999999945968,0.000187181544342,-0.000269899740201,1.34693808141e-05,1793192322218617600
+51,0.850000000,BASELINE,763.388971104,741.388971104,711,670.611028896,659.611028896,633,875.388971104,783,799.388971104,649,628,650,0.400956628922,-0.0153939510103,0.0598400813516,0.999999946794,0.000184993156386,-0.000268318609206,1.39253844579e-05,1793192322235283968
+52,0.866666667,BASELINE,763,741.19639399,711.19639399,670.80360601,660,633,875.19639399,783,799.19639399,649,628,650.19639399,0.400957596753,-0.0153947307734,0.0598407909122,0.999999947243,0.000184149519002,-0.000267205681283,1.43041530956e-05,1793192322251950848
+53,0.883333333,BASELINE,763,741.775488559,711.775488559,670.224511441,660,633,875.775488559,783,799.775488559,649,628,650.775488559,0.400957619824,-0.0153946353828,0.0598416063453,0.999999946964,0.000185926312373,-0.00026700511125,1.45324187216e-05,1793192322268617728
+54,0.900000000,BASELINE,763.352709147,742,712,670.352709147,660.352709147,633,876,783,799.647290853,649,628,650.647290853,0.400956889954,-0.0153939596567,0.0598411163225,0.999999946472,0.000187000289827,-0.000268108579814,1.43387464409e-05,1793192322285284352
+55,0.916666667,BASELINE,763.928743165,742,712,670.928743165,660.928743165,633,876,783,799.071256835,649,628,650.071256835,0.400955683346,-0.0153929164795,0.0598397997241,0.999999945841,0.000187629265222,-0.000270037726578,1.38779157037e-05,1793192322301950976
+56,0.933333333,BASELINE,764,742,711.495160806,671,659.990321612,633,876,783.504839194,799,649,628,650,0.400954636121,-0.0153930889722,0.0598389733357,0.999999945539,0.00018747574281,-0.000271249782487,1.40676917596e-05,1793192322318617344
+57,0.950000000,BASELINE,764,742,711.082699246,671,659.082699246,633,876,783.917300754,799,649,628,650.082699246,0.400954141235,-0.0153934622763,0.059838559388,0.999999945482,0.000187089908976,-0.000271716240567,1.43010289329e-05,1793192322335283712
+58,0.966666667,BASELINE,764,742,711.671296609,671,659.671296609,633,876,783.328703391,799,649,628,650.671296609,0.400956887546,-0.0153940142146,0.0598402451528,0.999999946632,0.000185958678199,-0.000268240879395,1.42390108961e-05,1793192322351950592
+59,0.983333333,BASELINE,764,742,712,671,660,633,876,783.255829908,799.255829908,649,628,650.744170092,0.400957979233,-0.0153943239884,0.0598409190916,0.99999994704,0.000185468247928,-0.000267055084863,1.42692958657e-05,1793192322368617216
+60,1.000000000,BASELINE,764,742,712,671,660,633,876,783.835223222,799.835223222,649,628,650.164776778,0.400956978221,-0.0153943274821,0.0598403133139,0.99999994652,0.000185788276283,-0.00026876504192,1.44163219676e-05,1793192322385283840
+61,1.016666667,BASELINE,764,742,712,671,660,633,876,783.588687395,799.588687395,649,628,650.411312605,0.400956309795,-0.0153926878174,0.0598399414369,0.999999946049,0.000187362111951,-0.000269440040948,1.41025791003e-05,1793192322401950464
+62,1.033333333,BASELINE,764,742,712,671,660,633,876,783.013911093,799.013911093,649,628,650.986088907,0.400955773545,-0.0153903951294,0.0598396625166,0.999999945595,0.000189434235219,-0.000269703727251,1.36057175981e-05,1793192322418617344
+63,1.050000000,BASELINE,764,742,712,670.438484992,659.438484992,633,876,783,799.561515008,648.438484992,628,650.438484992,0.400956066894,-0.0153932874751,0.0598401594659,0.999999946366,0.000185995573081,-0.00026921341014,1.40481240584e-05,1793192322435283712
+64,1.066666667,BASELINE,763.858528204,742,712,670.141471796,659,633,875.858528204,783,800,648.141471796,628,650,0.400956493215,-0.0153954362062,0.0598405528492,0.999999946989,0.000183343358193,-0.000268703144693,1.43742055694e-05,1793192322451950592
+65,1.083333333,BASELINE,763.26411751,742,712,670.73588249,659,633,875.26411751,783,800,648.73588249,628,650,0.400957279388,-0.0153947924249,0.0598405530421,0.999999947073,0.000183646657338,-0.000268188887336,1.42532719904e-05,1793192322468617216
+66,1.100000000,BASELINE,763.319527043,742,712,671,659.319527043,633,875.319527043,783,800,649,628,650,0.400956541499,-0.0153937974272,0.0598400568602,0.999999946483,0.000185559942247,-0.000269074780786,1.41519193408e-05,1793192322485283840
+67,1.116666667,BASELINE,763.894562472,742,712,671,659.894562472,633,875.894562472,783,800,649,628,650,0.400954584901,-0.0153925215809,0.0598391637542,0.999999945344,0.000188760645126,-0.000271080298651,1.40662245004e-05,1793192322501950464
+68,1.133333333,BASELINE,763.531633724,742,711.531633724,671,660,633,876,783,800,649,628,650,0.400955334685,-0.0153930024729,0.0598390625542,0.999999945774,0.000187088330095,-0.000270658873056,1.39206394556e-05,1793192322518617856
+69,1.150000000,BASELINE,763,742,711.043214831,671,660,633,875.956785169,783,799.956785169,649,628,650,0.400956619729,-0.0153938540175,0.0598391862949,0.99999994653,0.000184494395948,-0.000269649914141,1.37770829794e-05,1793192322535285248
+70,1.166666667,BASELINE,763,742,711.634830076,671,660,633,875.365169924,783,799.365169924,649,628,650,0.400956986042,-0.0153944037519,0.0598399081989,0.999999947021,0.000184089585188,-0.000268100124942,1.3829912918e-05,1793192322551951616
+71,1.183333333,BASELINE,763.221097676,742,712,671,660,633,875,783,799,649,628,650,0.400957028218,-0.0153940162413,0.0598402870859,0.999999946985,0.000185326843035,-0.000267381814172,1.38133970391e-05,1793192322568617984
+72,1.200000000,BASELINE,763.798741656,742,712,671,660,633,875,783,799,649,628,650,0.400956547684,-0.0153921173118,0.0598401128173,0.999999946093,0.000189212131767,-0.000268004361027,1.36850527893e-05,1793192322585284864
+73,1.216666667,BASELINE,764,742,712,670.624258246,660,633,875,783,799,649,628,650,0.400956808543,-0.015391730948,0.0598406366025,0.999999945906,0.000190399737869,-0.000267860863227,1.36657210239e-05,1793192322601951488
+74,1.233333333,BASELINE,764,742,712,670.047602475,660,633,875,783,799,649,628,650,0.400957465834,-0.0153921533731,0.0598415336462,0.999999946102,0.000190144857641,-0.000267307751322,1.37046796639e-05,1793192322618617856
+75,1.250000000,BASELINE,763.460917693,742,712,670.539082307,660,633,875.539082307,783,799,649,628,650,0.400956259687,-0.0153928808637,0.0598410084164,0.99999994623,0.000187870159742,-0.000268415471498,1.40452984446e-05,1793192322635284224
+76,1.266666667,BASELINE,763,742,711.875168971,671,659.875168971,633,876,783,799,649,628.124831029,650,0.400955424684,-0.0153937263817,0.0598405609048,0.999999946389,0.00018589533535,-0.000269182740298,1.43724436857e-05,1793192322651950848
+77,1.283333333,BASELINE,763,742,711.296109873,671,659.296109873,633,876,783,799,649,628.703890127,650,0.400956550272,-0.0153949014916,0.0598408618456,0.9999999467,0.000185672966407,-0.000268167433904,1.45517979833e-05,1793192322668617216
+78,1.300000000,BASELINE,763.282932814,742,711.282932814,671,659,633,875.717067186,783,799,649,628.717067186,650,0.400957818281,-0.015394805713,0.0598415853787,0.999999947099,0.000185634190523,-0.000266707102313,1.44741154048e-05,1793192322685283840
+79,1.316666667,BASELINE,763.861958291,742,711.861958291,671,659,633,875.138041709,783,799,649,628.138041709,650,0.400959235335,-0.015393379934,0.05984275116,0.999999947587,0.000185787547041,-0.000264781046457,1.41274405705e-05,1793192322701950720
+80,1.333333333,BASELINE,764,742,712,671,659.436423963,633,875,783,799.436423963,649,628,650.436423963,0.400958857038,-0.0153926826589,0.0598426100278,0.999999947403,0.000186123429645,-0.000265241977278,1.40906614587e-05,1793192322718617600
+81,1.350000000,BASELINE,764,742,711.990265505,671,659.990265505,633,875,783,799.990265505,649,628,650.990265505,0.40095791297,-0.0153922434672,0.0598420551272,0.999999947006,0.000186515189841,-0.000266456359915,1.41521785081e-05,1793192322735284736
+82,1.366666667,BASELINE,764,742,711.400744113,671,659.400744113,633,875,783,799.400744113,649,628,650.400744113,0.40095674442,-0.0153935933898,0.0598412224652,0.999999946521,0.00018683197508,-0.000268043007575,1.4290474687e-05,1793192322751951104
+83,1.383333333,BASELINE,763.81456512,742,711.18543488,671,659.18543488,633,875.18543488,783,799,649,628.18543488,650,0.400956406598,-0.0153946267548,0.0598409205806,0.999999946344,0.000186882581288,-0.00026866411463,1.43654774837e-05,1793192322768617472
+84,1.400000000,BASELINE,763.235481401,742,711.764518599,671,659.764518599,633,875.764518599,783,799,649,628.764518599,650,0.400957832276,-0.0153949881183,0.0598417454522,0.999999946824,0.000186368131692,-0.000267235532413,1.43061184945e-05,1793192322785283840
+85,1.416666667,BASELINE,763.342778157,742,711.657221843,671,660,633,876,783,799,648.657221843,628.657221843,650.342778157,0.400957914349,-0.0153945422109,0.0598418494159,0.999999946942,0.000186404814124,-0.000266773698357,1.41655774779e-05,1793192322801950720
+86,1.433333333,BASELINE,763.920472857,742,711.079527143,671,660,633,876,783,799,648.079527143,628.079527143,650.920472857,0.400957075608,-0.0153935430554,0.059841459319,0.999999946814,0.000186819204527,-0.000266974407001,1.39693998938e-05,1793192322818617344
+87,1.450000000,BASELINE,764,741.499925784,711,671,660,633,876,783.500074216,799,648.500074216,628,650.499925784,0.400955882775,-0.0153944706072,0.0598405431694,0.999999946764,0.000184727522859,-0.000268600734957,1.41583548251e-05,1793192322835283968
+88,1.466666667,BASELINE,763.919517595,741.080482405,711.080482405,670.919517595,659.919517595,633,876,783.919517595,799,649,628,650,0.400954849123,-0.0153954690895,0.059839674849,0.999999946703,0.000182714313154,-0.000270193358294,1.43039505588e-05,1793192322851950592
+89,1.483333333,BASELINE,763.335968757,741.664031243,711.664031243,670.335968757,659.335968757,633,876,783.335968757,799,649,628,650,0.400955163783,-0.015394988373,0.059839630413,0.999999946542,0.00018369228199,-0.00027015275507,1.37942199625e-05,1793192322868617472
+90,1.500000000,BASELINE,763.245293605,742,712,670.245293605,659.245293605,633,876,783.245293605,799,649,628.245293605,650,0.40095565244,-0.0153936462807,0.059840211773,0.999999946416,0.000185525323636,-0.000269380382743,1.35175308538e-05,1793192322885284352
+91,1.516666667,BASELINE,763.823453148,742,712,670.823453148,659.823453148,633,876,783.823453148,799,649,628.823453148,650,0.400956377214,-0.0153911352926,0.0598416423446,0.99999994633,0.000188518707775,-0.000267614992242,1.35570814749e-05,1793192322901950976
+92,1.533333333,BASELINE,764,742,712,670.597076755,660,633,876,783.597076755,799,649,629,650,0.400957901948,-0.0153924479652,0.0598421917314,0.99999994684,0.000188529522936,-0.000265685604853,1.37296935128e-05,1793192322918617600
+93,1.550000000,BASELINE,764,742,712,670.017030494,660,633,876,783.017030494,799,649,629,650,0.400959778341,-0.0153954414994,0.0598423537538,0.99999994761,0.000187229216156,-0.000263684125111,1.39607986781e-05,1793192322935283968
+94,1.566666667,BASELINE,764,742,712,670.565969021,659.434030979,633,876,783,799.565969021,649,628.434030979,650,0.400958060535,-0.0153951190542,0.0598407234963,0.999999947027,0.000185512241119,-0.000267096835854,1.38236854074e-05,1793192322951950592
+95,1.583333333,BASELINE,764,742,712,671,659,633,875.851960555,783,799.851960555,649,628,650,0.40095633989,-0.0153948186839,0.0598393074148,0.999999946511,0.00018408646363,-0.000270005119722,1.37104729828e-05,1793192322968617216
+96,1.600000000,BASELINE,764,742,712,671,659,633,875.272855468,783,799.272855468,649,628,650,0.40095492755,-0.0153948746608,0.059838672839,0.99999994635,0.000183545303141,-0.000270967722526,1.36992880483e-05,1793192322985284096
+97,1.616666667,BASELINE,764,742,711.694540339,670.694540339,659,633,875.305459661,783,799,649,628,650,0.400955118943,-0.0153945820788,0.0598390217611,0.999999946451,0.000184003755306,-0.000270280961471,1.37489926094e-05,1793192323001950720
+98,1.633333333,BASELINE,764,742,711.116929066,670.116929066,659,633,875.883070934,783,799,649,628,650,0.400956739194,-0.0153939789454,0.0598402469381,0.999999946781,0.000185352820013,-0.000268124687056,1.38529471311e-05,1793192323018617600
+99,1.650000000,BASELINE,763.541724515,742,711.458275485,670.458275485,659,633,875.541724515,783,799.458275485,648.541724515,628,650,0.400956677685,-0.0153942830215,0.059840641591,0.999999946758,0.000185697710123,-0.00026797054637,1.38729208648e-05,1793192323035284224
+100,1.666666667,BASELINE,763.033708646,742,712,671,659.033708646,633,875.033708646,783,800,648.033708646,628,650,0.400956234296,-0.0153948035665,0.0598408032497,0.999999946674,0.000185658325289,-0.000268309250079,1.3877759527e-05,1793192323051951104
+101,1.683333333,BASELINE,763.622977549,742,712,671,659.622977549,633,875.622977549,783,800,648.622977549,628,650,0.400956532232,-0.0153950967315,0.0598405991402,0.999999947051,0.000183486298435,-0.000268395270498,1.39844637315e-05,1793192323068617472
+102,1.700000000,BASELINE,764,742,711.790939733,671,659.790939733,633,876,783,799.790939733,649,628,650,0.400956677174,-0.0153953593115,0.0598406860842,0.999999947187,0.000182811216809,-0.00026834520297,1.40475447912e-05,1793192323085284096
+103,1.716666667,BASELINE,764,742,711.210516838,671,659.210516838,633,876,783,799.210516838,649,628,650,0.400956550345,-0.0153955675621,0.0598412900387,0.999999946901,0.000184795222795,-0.000268053396637,1.40331361952e-05,1793192323101950720
+104,1.733333333,BASELINE,764,741.634249351,711,670.634249351,659,633,875.634249351,783,799,649,628,650,0.40095617208,-0.0153957100024,0.0598412221638,0.999999946871,0.000184831255537,-0.00026814347553,1.39798115736e-05,1793192323118617344
+105,1.750000000,BASELINE,764,741.06034669,711,670.06034669,659,633,875.06034669,783,799,649,628,650,0.400955650719,-0.0153958149894,0.0598407719446,0.999999946987,0.000183758679227,-0.000268450888743,1.39043394876e-05,1793192323135283968
+106,1.766666667,BASELINE,764,741.513317791,711,670.513317791,659.513317791,633,875.513317791,783,799,649,628,650,0.400956872407,-0.015394226135,0.0598417044352,0.999999947272,0.000184916310243,-0.000266593147121,1.38097606114e-05,1793192323151951104
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,670,660,633,876,783,799,649,629,650,0.400953893527,-0.0153960929412,0.0598408105775,0.999999946453,0.000184804252387,-0.000269674440474,1.47059652913e-05,1793192323195045120
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,741.405890086,711.405890086,670,659.405890086,633,876,783,799.594109914,649,628.405890086,650,0.400954233764,-0.0153943129584,0.0598408405908,0.999999946205,0.000186000916954,-0.000269811389731,1.39646065097e-05,1793192323211712000
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,741.182556697,711,670.182556697,659.182556697,633,876,783,799.817443303,649,628,650,0.400955110045,-0.0153932743168,0.0598409897107,0.999999946216,0.000186912004623,-0.000269162046944,1.35750284601e-05,1793192323228378624
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,741.758791227,711,670.758791227,659.758791227,633,876,783,799.241208773,649,628,650,0.400957142288,-0.0153938343545,0.0598413956803,0.999999946784,0.000187207254828,-0.00026681708987,1.39440544695e-05,1793192323245045248
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.65619297,742,711,670.65619297,659.65619297,633,876,783,799,649,628,650,0.400957271977,-0.0153950955472,0.0598414509435,0.999999947099,0.000185791747293,-0.000266613283845,1.42009498589e-05,1793192323261711616
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.064854942,742,711,670.064854942,659.064854942,633,876,783,799,649,628,650,0.400956031882,-0.015396861551,0.0598412537084,0.999999947227,0.000183144544243,-0.000267951044041,1.43771144618e-05,1793192323278377984
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.514788938,742,711,670.514788938,659,633,876,783,799,649,628.514788938,650,0.400955484586,-0.0153947291238,0.0598408179818,0.999999946648,0.000185017986577,-0.000268837450096,1.41286013005e-05,1793192323295044864
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711.092603804,671,659.092603804,633,876,783,799.092603804,649,629,650,0.400955919076,-0.0153927460765,0.0598407737208,0.999999946274,0.000186902310497,-0.000268936031752,1.38675163745e-05,1793192323311711744
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711.668391739,671,659.668391739,633,876,783,799.668391739,649,629,650,0.400961030984,-0.0153940481758,0.0598429253228,0.999999947449,0.00018593776436,-0.000265214045424,1.38137969261e-05,1793192323328378368
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,670.751234932,660,633,875.751234932,782.751234932,799.751234932,648.751234932,629,650,0.400973042112,-0.015395307658,0.0598484163644,0.999999949991,0.000185777694736,-0.000255541218257,1.42780924441e-05,1793192323345044992
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,670.164634454,660,633,875.164634454,782.164634454,799.164634454,648.164634454,629,650,0.400994422727,-0.0153965092639,0.0598584425319,0.999999954179,0.000186710144511,-0.000237786851722,1.54458782075e-05,1793192323361711360
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.583118527,742,712,670.416881473,659.583118527,633,875,782.416881473,799.416881473,648.416881473,628.583118527,650,0.401032628868,-0.0153997678282,0.0598742752949,0.99999996088,0.000184481246695,-0.000209535349926,1.73472829248e-05,1793192323378377984
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.003586342,742,712,670.996413658,659.003586342,633,875,782.996413658,799.996413658,648.996413658,628.003586342,650,0.401077399667,-0.0154038289367,0.0598923735634,0.999999967727,0.000181018915639,-0.000177188278238,1.95349169113e-05,1793192323395044608
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.573062043,742,711.426937957,671,659,633,875,783.573062043,799.426937957,649,628,650,0.401141662377,-0.0154059240208,0.0599088235474,0.999999972137,0.000181078411525,-0.000150054676271,2.04828751237e-05,1793192323411710976
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711.149542474,671,659.149542474,633,875.149542474,783.850457526,799.149542474,649,628.149542474,650,0.401208863237,-0.0154086779313,0.059923286277,0.999999975316,0.00018097388125,-0.000127114895204,2.14077252238e-05,1793192323428377856
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711.725595226,671,659.725595226,633,875.725595226,783.274404774,799.725595226,649,628.725595226,650,0.401284097842,-0.0154133457982,0.0599321104322,0.999999976757,0.000180338985583,-0.000116043720535,2.22886851391e-05,1793192323445044992
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.692465999,742,711.692465999,671,660,633,875.692465999,783,799.692465999,649,628.692465999,650,0.401367136527,-0.015419216472,0.0599365378639,0.999999978118,0.000177623478691,-0.000108241102968,2.23094201772e-05,1793192323461711616
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.105172829,742,711.105172829,671,660,633,875.105172829,783,799.105172829,649,628.105172829,650,0.401457274466,-0.0154261813212,0.0599369656601,0.999999979454,0.000173015270347,-0.000103411844498,2.15476212169e-05,1793192323478378240
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.475856474,742,711.475856474,671,660,633,875.475856474,783,799,649,628,650,0.401565724566,-0.0154309450688,0.0599352884598,0.999999979822,0.000170454689459,-0.000104459754146,1.97452062954e-05,1793192323495044864
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,670.944755928,660,633,876,783,799,648.944755928,628,650,0.401682156812,-0.0154355908404,0.0599335977108,0.99999998008,0.000168350763462,-0.000105747003712,1.77784409806e-05,1793192323511711488
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,670.367967006,660,633,876,783,799,648.367967006,628,650,0.401836233188,-0.0154436559197,0.059936114216,0.999999981308,0.000166340983028,-9.71899863986e-05,1.64031969098e-05,1793192323528378112
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.791376965,742,712,670.208623035,659.791376965,633,876,782.791376965,799,648.208623035,628,650,0.402001389667,-0.0154520128701,0.0599384190306,0.999999982671,0.000162900863531,-8.89052639773e-05,1.47503568163e-05,1793192323545044480
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.215137434,742,712,670.784862566,659.215137434,633,876,782.215137434,799,648.784862566,628,650,0.402186070478,-0.015460884128,0.0599403508233,0.999999984317,0.000156940331134,-8.11003557049e-05,1.26083624607e-05,1793192323561711104
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.367953533,742,712,671,659.367953533,633,876,782.367953533,799.367953533,649,628,650,0.402387704316,-0.0154720411276,0.0599403769013,0.999999985795,0.000149908326453,-7.63563131981e-05,1.03645295412e-05,1793192323578377984
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.955126504,742,712,671,659.955126504,633,876,782.955126504,799.955126504,649,628,650,0.402599438449,-0.0154845599277,0.0599392675922,0.999999987155,0.000142237959199,-7.34358732443e-05,8.06002301386e-06,1793192323595045120
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.464185809,633,876,783,799.464185809,649,628,650,0.402853642012,-0.0154934408277,0.0599417211464,0.999999988599,0.000135212091663,-6.70497090834e-05,4.84619475414e-06,1793192323611711744
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.884957172,671,659,633,876,783,799,649,628.115042828,650,0.403117572445,-0.0155014788618,0.0599423734888,0.999999989569,0.000129484936054,-6.39752715163e-05,1.35335139557e-06,1793192323628378624
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.309420607,671,659,633,876,783,799,649,628.690579393,650,0.403406371025,-0.0155073480139,0.059934635849,0.999999988873,0.000128742795576,-7.53049328149e-05,-2.95515093489e-06,1793192323645044992
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,670.727532555,659.272467445,633,876,783,799,649,628.727532555,650,0.40370516485,-0.0155074494252,0.0599250582049,0.999999987079,0.000133139146921,-8.97894548661e-05,-7.35713628909e-06,1793192323661711360
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,670.138259484,659.861740516,633,876,783,799,649,628.138259484,650,0.404015580411,-0.0155008445203,0.0599133411362,0.999999983806,0.000143510168454,-0.000107942222287,-1.1867816746e-05,1793192323678377984
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,670.443232529,660,633,876,783,799.443232529,649,628,650,0.404358438968,-0.0154924204128,0.0599009920202,0.999999987607,8.71362006749e-05,-0.000129882330598,-1.79824622192e-05,1793192323695044608
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.977829152,742,711,671,660,633,876,783,800,649,628,650,0.404714006855,-0.015484151492,0.0598890735857,0.999999988055,1.35636469012e-05,-0.000152010573031,-2.44736218312e-05,1793192323711710976
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.403087398,742,711,671,660,633,876,783,800,649,628,650,0.405138458898,-0.0154936496049,0.0598927181958,0.999999988145,2.12978473126e-05,-0.000149891306392,-2.80939739178e-05,1793192323728378112
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.172351445,742,711,670.827648555,660,633,876,783.172351445,799.827648555,649,628,650,0.405590920649,-0.0155030764703,0.0599043629733,0.999999990541,2.20809352676e-05,-0.000132179133556,-3.09620211925e-05,1793192323745044992
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.749427146,742,711,670.250572854,660,633,876,783.749427146,799.250572854,649,628,650,0.406109156131,-0.0155123360275,0.0599347941422,0.999999996434,6.54107327166e-06,-7.78509210339e-05,-3.20634682345e-05,1793192323761711616
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,670.333596808,659.666403192,633,876,783.666403192,799,649,628,650,0.406632943826,-0.0155185428965,0.0599627764444,0.999999998848,-1.25281710837e-05,-3.22991868904e-05,-3.3218260559e-05,1793192323778378496
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,670.923210756,659.076789244,633,876,783.076789244,799,649,628,650,0.407160992593,-0.0155224069966,0.0599888793799,0.999999998798,-3.4306023252e-05,6.51709016023e-06,-3.44139925664e-05,1793192323795045376
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711.503967283,671,659.503967283,633,876,783,799.503967283,649,628,650,0.407684179881,-0.0155238680419,0.0599858612565,0.999999997903,-5.06553514096e-05,-7.71059704362e-06,-3.96009296082e-05,1793192323811712000
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783,799.91743319,649,628,650,0.408212629664,-0.0155243553502,0.0599774721432,0.9999999964,-6.45193016378e-05,-3.15504159197e-05,-4.51842108019e-05,1793192323828378368
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783,799.343774326,649,628,650,0.408776709694,-0.0155211912433,0.0599630729602,0.999999994296,-6.84354041813e-05,-6.53197934862e-05,-4.95702582862e-05,1793192323845045248
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711.770598746,670.770598746,660,633,876,783,799,649,628,650,0.409378261195,-0.0155187864001,0.0599564600354,0.999999995025,-4.25414393204e-05,-7.84098989807e-05,-4.46338300015e-05,1793192323861711872
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711.198145912,670.198145912,660,633,876,783,799,649,628,650,0.410035848306,-0.0155175169763,0.0599614908495,0.999999997444,2.79311431488e-05,-6.0575773117e-05,-2.57563701571e-05,1793192323878379008
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711.389146515,670.389146515,660,633,876.389146515,783,799.389146515,649,628,650,0.410702717464,-0.0155197756423,0.059965565927,0.999999997923,3.75934694662e-05,-4.71438792523e-05,-2.27827701948e-05,1793192323895045888
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711.984294521,670.984294521,660,633,876.984294521,783,799.984294521,649,628,650,0.411374500216,-0.0155239019641,0.0599691350687,0.999999998839,1.50648244477e-05,-3.60423842875e-05,-2.82281563344e-05,1793192323911712512
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.435763202,742,712,671.564236798,660,632.435763202,876.435763202,783,799.435763202,649,628,650,0.412041943911,-0.015521325864,0.059951313622,0.999999997124,1.17734038014e-05,-6.70956975634e-05,-3.33429353062e-05,1793192323928378624
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742,712,671.858208203,660.141791797,632.141791797,876,783,799.141791797,649,628,650,0.412710327476,-0.0155192137182,0.0599297629098,0.999999993411,9.78930890525e-06,-0.000107985450313,-3.76879702547e-05,1793192323945044736
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742,712,671.28664002,660.71335998,632.71335998,876,783,799.71335998,649,628,650,0.413381916173,-0.0155190584714,0.0598986659904,0.999999983807,1.0187341229e-05,-0.000175226608572,-3.9727041446e-05,1793192323961711360
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.294223903,742,711.705776097,671,660.705776097,632.705776097,876,783,800,649,628,650,0.414126096638,-0.0155224832914,0.0598971466771,0.999999983232,4.49837774925e-06,-0.000178573774779,-4.03412305574e-05,1793192323978377984
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.884439486,742,711.115560514,671,660.115560514,632.115560514,876,783,800,649,628,650,0.414943305104,-0.0155295096883,0.0599253826763,0.999999992272,-7.31415381839e-06,-0.000117643064429,-3.95219767707e-05,1793192323995044608
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711.464931575,671,660,632.464931575,876,783,799.535068425,649.464931575,628,650,0.415777495472,-0.0155373966281,0.0599705297317,0.999999998337,-1.69806399309e-05,-4.21040229453e-05,-3.55682897882e-05,1793192324011711232
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876.042948458,783,799,649.957051542,628,650,0.416611614762,-0.0155446196625,0.0600150567074,0.999999998772,-2.50020297429e-05,2.9134889841e-05,-3.13531245048e-05,1793192324028377856
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876.619624856,783,799,649.380375144,628,650,0.417393471921,-0.0155409886237,0.0600007127138,0.999999999258,-1.90724893073e-05,2.73724714962e-06,-3.33718919058e-05,1793192324045044736
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.80403068,742,712,671.19596932,660.19596932,633,877,783,799,649,628,650,0.41818554734,-0.0155383121075,0.0599834242978,0.99999999883,-1.87576416915e-05,-2.62227272434e-05,-3.60653869992e-05,1793192324061711360
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.228329442,742,712,671.771670558,660.771670558,633,877,783,799,649,628,650,0.418997422751,-0.0155374851807,0.059960430443,0.999999996959,-2.93224468362e-05,-6.01477585273e-05,-4.0066309296e-05,1793192324078377984
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.358392492,742,712,671.641607508,660.641607508,632.641607508,876.641607508,783,799,649,628.358392492,650,0.419809253707,-0.0155386388718,0.0599342859509,0.999999994142,-3.14355209001e-05,-9.40186873136e-05,-4.34459611695e-05,1793192324095044864
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.952358366,742,712,671.047641634,660.047641634,632.047641634,876.047641634,783,799,649,628.952358366,650,0.420621055411,-0.0155410944343,0.0599060705283,0.999999990358,-2.79932245775e-05,-0.000127854052846,-4.64172483562e-05,1793192324111711488
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,712,671.530488632,660,632,876.530488632,783,799,649,628.469511368,650,0.421404761058,-0.0155374306122,0.059874952051,0.999999978473,-3.1100060931e-05,-0.000198961349254,-5.00047355262e-05,1793192324128377856
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711.893505159,672,660,632.106494841,877,783,799.106494841,649,628.106494841,650,0.422209792003,-0.0155346948171,0.0598573328008,0.9999999684,-3.42019723482e-05,-0.000243490318223,-5.2377701124e-05,1793192324145044480
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711.3207527,672,660,632.6792473,877,783,799.6792473,649,628.6792473,650,0.42311891654,-0.0155383584951,0.0598999244972,0.999999985794,-3.47818756105e-05,-0.000157423214738,-4.91979625395e-05,1793192324161711360
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711,672,660,633,877,783.25886226,799.74113774,649.25886226,629,650,0.424029059427,-0.0155423321537,0.059948105827,0.999999995594,-3.84173658101e-05,-7.28160233702e-05,-4.50989059739e-05,1793192324178377984
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,660,633,877,783.847212094,799.152787906,649.847212094,629,650,0.424940498623,-0.0155467003653,0.060003401814,0.999999998102,-4.59420979652e-05,9.9329596643e-06,-3.98297138718e-05,1793192324195044608
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711.43011283,672,660.43011283,632.56988717,877,783.56988717,799,649.56988717,629,650,0.425806071627,-0.0155482107386,0.0600108379111,0.999999997607,-4.91450690595e-05,2.78722300719e-05,-3.99133258461e-05,1793192324211711232
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660.989037996,632.010962004,877,783,799.010962004,649,629,650,0.426654866808,-0.0155487168071,0.0600011532063,0.999999997581,-5.0793280188e-05,2.24216014488e-05,-4.19027095776e-05,1793192324228377856
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660.415378974,632.584621026,877,783,799.584621026,649,629,650,0.427468311408,-0.0155491293268,0.0599744086508,0.99999999756,-5.04519934205e-05,-1.66884898703e-05,-4.53343492384e-05,1793192324245044224
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.159037165,712,672,660,633,877,783,799.840962835,649,629,650,0.428271895928,-0.0155499844213,0.0599506517643,0.999999996129,-5.26589346343e-05,-5.14040065823e-05,-4.82356384383e-05,1793192324261710848
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.735440197,712,672,660,633,877,783,799.264559803,649,629,650,0.429049604301,-0.0155520009773,0.0599347355067,0.999999994087,-6.15532649637e-05,-7.45867108083e-05,-4.97451134052e-05,1793192324278377472
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.680731295,712,672,660.319268705,633,877,783,799,649,628.680731295,650,0.429834299941,-0.0155525179835,0.0599174791074,0.999999991185,-6.42595917453e-05,-0.000104375821304,-5.10546087939e-05,1793192324295044096
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.090603233,712,672,660.909396767,633,877,783,799,649,628.090603233,650,0.430624923359,-0.0155517628099,0.0598990857671,0.999999986966,-6.171617501e-05,-0.000139769635684,-5.21944465459e-05,1793192324311710720
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660.513579532,632.513579532,877,783,799.486420468,649,628,650,0.431470786768,-0.0155532614225,0.0599370209905,0.999999994211,-6.57582600245e-05,-6.86516039346e-05,-5.04012458394e-05,1793192324328377600
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660.061653956,632.061653956,877,783.061653956,800,649,628,650,0.43231745399,-0.0155550935876,0.0599817307236,0.999999996264,-7.04628500871e-05,1.38708941772e-05,-4.81072012069e-05,1793192324345044736
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660.641820779,632.641820779,877,783.641820779,800,649,628,650,0.433086617446,-0.0155562930089,0.0599974905146,0.999999995995,-7.06935834165e-05,2.9831751876e-05,-4.60751102797e-05,1793192324361711104
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.224523043,712,672,661,633,876.775476957,783.775476957,800,649,628.224523043,650,0.433823123434,-0.0155569039927,0.0599935671313,0.999999996219,-7.13806793944e-05,1.82949390834e-05,-4.61667798149e-05,1793192324378377728
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.811316356,712,672,661,633,876.188683644,783.188683644,800,649,628.811316356,650,0.434506936377,-0.0155565655264,0.0599578847435,0.999999995408,-7.280412117e-05,-3.76096493274e-05,-4.96851585994e-05,1793192324395044352
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.604655547,712,672,661,633,876.395344453,783,800,649,628.604655547,650,0.435199924509,-0.0155567935501,0.0599292240886,0.999999992028,-7.3544531692e-05,-8.79637544536e-05,-5.28928590094e-05,1793192324411710976
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.021938056,712,672,661,633,876.978061944,783,800,649,628.021938056,650,0.43589726117,-0.015557290061,0.0599038913779,0.999999986494,-7.39612202007e-05,-0.000135687211097,-5.5953313507e-05,1793192324428377856
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.552843466,712,672,661,633,877,783,799.447156534,649,628,650,0.43656111079,-0.015553760487,0.0599099511525,0.999999988173,-7.35653914599e-05,-0.000122993175928,-5.58054354121e-05,1793192324445044992
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.872452335,712,672.127547665,661,633,876.872452335,783,799.127547665,649,628.127547665,650,0.437209850321,-0.0155500719414,0.0599140252888,0.999999989361,-6.7511195468e-05,-0.000116967499265,-5.51322610546e-05,1793192324461712128
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.296929338,712,672.703070662,661,633,876.296929338,783,799.703070662,649,628.703070662,650,0.437810121005,-0.0155463782379,0.0599068120921,0.999999987547,-4.16952146114e-05,-0.000142663939602,-5.30549570042e-05,1793192324478379264
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,712,672.713688842,661,633,876.286311158,783,800,649,628.713688842,650,0.438411977047,-0.0155481677772,0.0599098896061,0.999999987061,-5.26712114631e-05,-0.000142835747107,-5.19755417421e-05,1793192324495045888
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,712,672.122222957,661,633,876.877777043,783,800,649,628.122222957,650,0.43901552275,-0.015555801439,0.0599239351144,0.999999986655,-0.000102860651826,-0.000115803016086,-5.19596913881e-05,1793192324511712256
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,712,672,661,632.542151576,877,783.457848424,800,649,628,650,0.43961967488,-0.0155624303581,0.0599539741813,0.999999990218,-0.000109679608733,-7.00338724461e-05,-5.12711231379e-05,1793192324528378368
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.034864287,712,672.034864287,661,632,876.965135713,783.965135713,800,649,628.034864287,650,0.440216033767,-0.0155686329141,0.0599851393827,0.999999992824,-0.000105818183192,-2.42865039827e-05,-5.0637108307e-05,1793192324545044992
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.610520542,712,672.610520542,661,632,876.389479458,783.389479458,800,649,628.610520542,650,0.440689058177,-0.0155722813735,0.059969154986,0.999999990858,-0.000111515758562,-5.45760982768e-05,-5.35672178155e-05,1793192324561711360
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.809683392,711.809683392,672.809683392,661,632.190316608,876.190316608,783,800,649,628.809683392,650,0.441135815749,-0.0155758156058,0.0599422011055,0.999999985712,-0.000123950482239,-9.93814014302e-05,-5.77488852755e-05,1793192324578377728
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.221226785,711.221226785,672.221226785,661,632.778773215,876.778773215,783,800,649,628.221226785,650,0.441527623506,-0.015579110877,0.0598922991974,0.99999997136,-0.000150479237951,-0.000174553394141,-6.45487969548e-05,1793192324595044352
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.359099659,711.359099659,672.359099659,660.640900341,632.640900341,877,783,800.359099659,649,628,650,0.441912001757,-0.0155846891742,0.0598518048863,0.999999957109,-0.000159542471693,-0.000235664871337,-6.92125698934e-05,1793192324611711232
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.934528291,711.934528291,672.934528291,660.065471709,632.065471709,877,783,800.934528291,649,628,650,0.442291904298,-0.0155916428127,0.0598169779069,0.99999994331,-0.000158084116528,-0.000288306002134,-7.25894888121e-05,1793192324628377856
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.486266297,712,673,660,632,877,783,800.486266297,649,628.513733703,650,0.442673222977,-0.0155981784719,0.0598078308859,0.999999946609,-0.00011952777826,-0.000298344817936,-5.90298360691e-05,1793192324645044480
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.091957017,877,783,800,649,628.908042983,650,0.443047406319,-0.0156033830521,0.059803913779,0.999999949941,-8.74441106713e-05,-0.00030056111497,-4.61905757395e-05,1793192324661711360
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.662544741,877,783,800,649,628.337455259,650,0.443383504331,-0.0156019387584,0.0598100575493,0.999999950144,-0.000113840854196,-0.000290530471191,-4.84186982791e-05,1793192324678377984
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.7566205,742.2433795,712,672.7566205,660,632.7566205,877,782.7566205,800,649,628.2433795,650,0.443700106976,-0.0156035554305,0.0598135809898,0.999999949395,-0.000130516275573,-0.000285725495845,-5.03551691492e-05,1793192324695044352
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.160953385,742.839046615,712,672.160953385,660,632.160953385,877,782.160953385,800,649,628.839046615,650,0.443988490384,-0.0156096027977,0.059813311548,0.999999948183,-0.000133120249131,-0.000288484586287,-5.18694791242e-05,1793192324711711232
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.422369825,742.577630175,712,672,660,632,876.577630175,782.422369825,800,649,628.577630175,650,0.444243236301,-0.0156125404377,0.0598092548544,0.999999944754,-0.00013817832226,-0.000297587317515,-5.32887694221e-05,1793192324728378112
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.278391823,742,711,671.721608177,660,633,876,783,799.278391823,649,628.721608177,650,0.415761390885,-0.015400919651,0.0598275157513,0.999999942336,0.000173301051587,-0.00029109252237,2.36425659375e-05,1793192326862337792
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.30585482,742,711,671.69414518,660,633,875.69414518,783,799.30585482,649,628.69414518,650,0.414954330116,-0.0154005023456,0.0598408773025,0.999999945428,0.000176374831363,-0.000278167422682,2.5681605588e-05,1793192326879004160
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.88471545,742,711,671.11528455,660,633,875.11528455,783,799.88471545,649,628.11528455,650,0.414137599432,-0.0154017256708,0.0598407795373,0.999999945147,0.000176793535069,-0.000278914354922,2.56272168953e-05,1793192326895670784
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.539741892,742,711.460258108,671,660,633,875.460258108,783,800,648.539741892,628.460258108,650,0.413343777453,-0.015400601008,0.0598325990736,0.999999940878,0.000181304301984,-0.000291106767355,2.5104621514e-05,1793192326912337408
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,712,671.034952166,660,633,876,783,799.965047834,648.034952166,628.965047834,650,0.41255495553,-0.0153985479787,0.0598198598948,0.999999934078,0.000186600882999,-0.000310555241233,2.40926937886e-05,1793192326929004032
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,712,671.609283386,660,633,876,783,799.390716614,648.609283386,628.390716614,650,0.411755378428,-0.0153911793244,0.0597677899026,0.999999902894,0.000188320001821,-0.000398054438963,1.73262617519e-05,1793192326945670656
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.189297826,742,711.810702174,671.810702174,660,632.810702174,876,783,799,649,628,650,0.41100091488,-0.0153864633657,0.0597350837381,0.999999881624,0.000190513549142,-0.000447538759849,1.28879926253e-05,1793192326962337536
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.781405797,742,711.218594203,671.218594203,660,632.218594203,876,783,799,649,628,650,0.410342449098,-0.0153873921229,0.0597435821906,0.999999894565,0.000193716643927,-0.000416130583303,1.34038608939e-05,1793192326979004672
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,711.364262329,671,660,632.364262329,876,783,799.364262329,649,628,650,0.4097029622,-0.015389920021,0.0597784971061,0.999999915916,0.00019285404537,-0.00036146179437,1.78834882857e-05,1793192326995671296
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.941704539,671,660,632.941704539,876,783,799.941704539,649,628,650,0.409074582492,-0.0153933837958,0.0598288719192,0.999999938742,0.000189612050796,-0.000293180029405,2.46828550467e-05,1793192327012337920
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,711.482348193,671,660,633,876,783.517651807,800,649,628.517651807,650,0.408470071051,-0.0153944226166,0.0598473582006,0.999999946603,0.00018876608307,-0.000265429372381,2.66306940231e-05,1793192327029004544
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,711.095374217,671,660,633,876,783.904625783,799.904625783,649,628.904625783,650,0.407873486936,-0.0153950107677,0.0598574190966,0.999999950734,0.000188427353248,-0.000249538265145,2.75103366268e-05,1793192327045670912
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,711.683127606,671,660,633,876,783.316872394,799.316872394,649,628.316872394,650,0.407303991712,-0.0153946780686,0.059842469283,0.999999944927,0.000189318282515,-0.000271376876212,2.56878013071e-05,1793192327062337536
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,711.732566852,671,660,633,876,783,799,649,628.267433148,650,0.406750563329,-0.0153920115987,0.0598296816014,0.999999939886,0.00019241204571,-0.000287503225679,2.34186101722e-05,1793192327079004160
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,711.152294588,671,660,633,876,783,799,649,628.847705412,650,0.406215929726,-0.0153866151202,0.059819423149,0.99999993608,0.000198082649594,-0.000296947459398,2.06269281851e-05,1793192327095670784
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.575661821,742,711.424338179,671,660,633,876,783,799.424338179,649,629,650,0.405724712555,-0.0153872237086,0.0598202254422,0.999999937869,0.000195223296071,-0.00029283774409,1.98988044997e-05,1793192327112338176
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.000324111,742,711.999675889,671,660,633,876,783,799.999675889,649,629,650,0.405248944953,-0.0153899691826,0.0598249636694,0.999999941578,0.000189328581981,-0.00028390489543,1.99049919216e-05,1793192327129005568
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.572720246,742.572720246,712,671,659.427279754,633,876,783,799.427279754,649,628.427279754,650,0.404815954404,-0.0153867624366,0.0598166490076,0.999999937514,0.000195529758255,-0.00029389257477,1.91724849169e-05,1793192327145671680
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.848587196,742.848587196,712,671,659,633,876,783,799,648.848587196,628,650,0.404388535899,-0.015383678974,0.0598039595513,0.999999930368,0.00020234319236,-0.000313036863019,1.81327004807e-05,1793192327162338304
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.253333995,742.253333995,712,671,659,633,876,783,799,648.253333995,628,650,0.403977380093,-0.0153809667292,0.0597784677076,0.999999913186,0.000210931369865,-0.000358990903983,1.61934058248e-05,1793192327179005184
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763,742,711.668184535,671,659,633,876,783,799.331815465,648.331815465,628.331815465,650,0.403611678111,-0.0153783940233,0.0597646259554,0.999999904062,0.000217017597537,-0.000380201520949,1.50360014094e-05,1793192327195671808
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742,711.09052115,671,659,633,876,783,799.90947885,648.90947885,628.90947885,650,0.403279653693,-0.0153759247045,0.0597594159627,0.999999902045,0.000221250086256,-0.000383079297097,1.44579133736e-05,1793192327212338176
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,742,711.48363779,671,659.48363779,633,876,783,799.51636221,649,628.51636221,650,0.403006299341,-0.0153758614393,0.0597760656059,0.999999911935,0.000225241415809,-0.000353673294554,1.76755738572e-05,1793192327229004288
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,876,783,799,649,628,650,0.402748875006,-0.0153761864893,0.059796917355,0.999999922852,0.000229286630071,-0.000318206223283,2.16486686174e-05,1793192327245670656
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,876,783,799,649,628,650,0.402536882331,-0.0153759804123,0.0598190353188,0.999999932417,0.000234223665285,-0.000282178278374,2.60745112318e-05,1793192327262337280
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,741.38993139,711.38993139,671,660,633,876,784,800,649,628,650,0.401932863206,-0.0153690490318,0.059834249706,0.999999935885,0.000238448595484,-0.000265378431974,3.07724967174e-05,1793192327312337152
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,741.964286994,711.964286994,671,660,633,876,784,800,649,628,650,0.401747578053,-0.0153688731095,0.0598236740664,0.999999930726,0.00023695250015,-0.000285475861451,3.00695591513e-05,1793192327329003776
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711.880286771,671,659.880286771,633,876,783,799,649,628.880286771,650,0.40147060491,-0.0153831805912,0.0598167204248,0.999999941888,0.000161527913579,-0.000300211387501,2.33770381027e-06,1793192327362337024
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711.290237619,671,659.290237619,633,876,783,799,649,628.290237619,650,0.401372872604,-0.0153955056887,0.0598201485781,0.999999941608,0.000170880955535,-0.000295912458261,4.42521496337e-06,1793192327379003648
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.707069964,742,711,671,659,633,876,783,799,648.707069964,628,650,0.401285608274,-0.0153992321401,0.0598227121715,0.999999941465,0.000175280778774,-0.000293790412135,5.78466148512e-06,1793192327395670784
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.130564092,742,711,671,659,633,876,783,799,648.130564092,628,650,0.401208477647,-0.0153946345271,0.059824438813,0.999999941535,0.000174885554986,-0.000293775734511,6.43929270092e-06,1793192327412338688
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763,742,711.447724626,670.552275374,659,633,876,783,799,648.447724626,628,650,0.401150496284,-0.0153903475108,0.0598257019256,0.999999941726,0.000178186497754,-0.000291108724556,7.23986898892e-06,1793192327429005056
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.612352762,742,711.387647238,670.612352762,659,633,876,783,799.612352762,649,628,650.612352762,0.40106248283,-0.0153871400722,0.059827844244,0.999999942804,0.000181436826859,-0.000285302002606,8.65244335456e-06,1793192327462337792
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711.195700797,671,659.195700797,633,876,783,800,649,628.195700797,651,0.401029199557,-0.0153871752912,0.0598283311747,0.999999942921,0.000181643411341,-0.000284742593744,9.20641356052e-06,1793192327479004160
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711.774812525,671,659.774812525,633,876,783,800,649,628.774812525,651,0.401001968201,-0.0153857878612,0.0598277740268,0.999999941608,0.00018400034581,-0.000287809813991,9.70687850419e-06,1793192327495670528
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,670.067769545,659.067769545,633,875.067769545,783,800.932230455,649,629,650.067769545,0.400969159542,-0.0153873210443,0.0598262061556,0.999999941233,0.000181562431129,-0.00029062091567,1.043031035e-05,1793192327529003776
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711.493674995,670.506325005,659.506325005,633,875.506325005,783,799.98734999,649,629,650,0.400963955471,-0.0153868344461,0.0598270739134,0.999999941225,0.00018381977452,-0.00028922327048,1.0533050226e-05,1793192327545670912
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,659.256381564,633,875.256381564,783,799.256381564,649,628,650.743618436,0.400956551234,-0.0153874295002,0.0598310527147,0.999999942679,0.000186004854783,-0.000282703474289,1.11142288664e-05,1793192327595671040
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,659.83923663,633,875.83923663,783,799.83923663,649,628,650.16076337,0.400953336579,-0.0153899774948,0.0598303944988,0.999999943052,0.00018171366869,-0.000284167143005,1.11479366615e-05,1793192327612337152
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.415727158,742,711.415727158,670.584272842,659.584272842,633,876.415727158,783,799.584272842,649,628.415727158,650,0.400953089409,-0.0153887435278,0.0598304771215,0.999999942808,0.000183987268262,-0.000283570682006,1.09298008775e-05,1793192327629004032
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.989793593,742,711.989793593,670.010206407,659.010206407,633,876.989793593,783,799.010206407,649,628.989793593,650,0.400953972473,-0.0153860691135,0.0598308419096,0.999999942313,0.000188761217957,-0.000282189573053,1.0615744657e-05,1793192327645670656
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.422902277,741.422902277,712,670,659.577097723,633,875.845804555,783,799,648.422902277,628.422902277,650,0.400954091389,-0.0153864965997,0.0598316646389,0.999999942709,0.000187702431532,-0.000281481107556,1.08276047533e-05,1793192327662337024
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763,741.162246421,711.837753579,670.162246421,659.837753579,633,875.324492842,783,799,648.162246421,628,650,0.400953877691,-0.0153869094423,0.059832200404,0.999999942991,0.000186621148339,-0.000281195302658,1.09438531869e-05,1793192327679003904
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763,741.741243052,711.258756948,670.741243052,659.258756948,633,876.482486105,783,799,648.741243052,628,650,0.400952845162,-0.0153871404492,0.059831977774,0.999999942938,0.000185753270155,-0.000281963880177,1.07900588249e-05,1793192327695670784
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_05/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e48fde7b2563a121e6909f11811ff90ba26a881
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,398 @@
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+373,6.216666667,pose2_to_pose3_retreat,0.575711714839,-0.0099454947462,1.05002916275,0.546282446998,-0.00127275874443,1.04969845376
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+377,6.283333333,pose2_to_pose3_retreat,0.575711492577,-0.00994548412902,1.05002916437,0.546282224608,-0.0012727485648,1.04969845538
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+383,6.383333333,pose2_to_pose3_retreat,0.575710394202,-0.00994542325749,1.05002920551,0.546281125325,-0.00127269085912,1.04969849427
+384,6.400000000,pose2_to_pose3_retreat,0.575710330554,-0.00994541804222,1.05002921455,0.546281061569,-0.00127268602889,1.04969850274
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+389,6.483333333,pose2_to_pose3_retreat,0.575709464625,-0.00994541106525,1.05002925644,0.546280195286,-0.00127268035345,1.04969854204
+390,6.500000000,pose2_to_pose3_retreat,0.575709449097,-0.00994541713245,1.05002924935,0.546280179858,-0.00127268606294,1.0496985354
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+393,6.550000000,pose2_to_pose3_retreat,0.575709370576,-0.00994544781327,1.05002921346,0.546280101844,-0.00127271493487,1.04969850183
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+396,6.600000000,pose2_to_pose3_retreat,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473499,1.0496984415
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_05/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..572da31b67eeb361329d591d917bd0f3c8421d88
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b02a322165aa11b00ea3a49f39e01dfcdc92e30c6e640c2fb575f3b506acedd0
+size 25216091
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fbebbfbc4acf72fc0c75490bb0a8dbeb8eda4394
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_04/franka_data.csv
@@ -0,0 +1,399 @@
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+21,0.350000000,BASELINE,763.812220223,742,711.187779777,670.812220223,660,633,875.812220223,783,799.187779777,649,628,650,0.400954388856,-0.0153907679465,0.0598376202531,0.999999945955,0.000183111571169,-0.000272836417295,1.10116198696e-05,1793192328541410816
+22,0.366666667,BASELINE,763.236916533,742,711.763083467,670.236916533,660,633,875.236916533,783,799.763083467,649,628,650,0.400953999292,-0.0153898133545,0.0598371969212,0.999999945731,0.000183859958976,-0.000273158463851,1.08395701031e-05,1793192328558077440
+23,0.383333333,BASELINE,763.337883602,741.662116398,712,670.337883602,660,633,875.337883602,783,799.662116398,649,628,650,0.400954065112,-0.0153897294771,0.0598370088737,0.999999945689,0.000184103904765,-0.000273152280057,1.07483251309e-05,1793192328574744576
+24,0.400000000,BASELINE,763.912331239,741.087668761,712,670.912331239,660,633,875.912331239,783,799.087668761,649,628,650,0.400954449763,-0.0153902552171,0.0598369855571,0.999999945774,0.000183994673269,-0.000272916290836,1.07136543817e-05,1793192328591411712
+25,0.416666667,BASELINE,763.497715195,741.502284805,711.497715195,671,659.497715195,633,876,783,799,649.502284805,628,650,0.400955471165,-0.015391365941,0.059837715391,0.99999994643,0.000182241704277,-0.000271679651838,1.08695383598e-05,1793192328608078080
+26,0.433333333,BASELINE,763.092492006,742,711.092492006,671,659.092492006,633,875.907507994,783,799.092492006,649.907507994,628,650,0.400956170973,-0.0153921011379,0.059838328732,0.999999946931,0.000180836852361,-0.00027076656652,1.09943745315e-05,1793192328624744704
+27,0.450000000,BASELINE,763.669401773,742,711.669401773,671,659.669401773,633,875.330598227,783,799.669401773,649.330598227,628,650,0.400954585847,-0.015390317761,0.0598376215404,0.999999946107,0.00018280569173,-0.000272491928819,1.07768592983e-05,1793192328641411072
+28,0.466666667,BASELINE,764,742,711.754564397,671,659.754564397,633,875,783,799.754564397,648.754564397,628,650,0.400953546492,-0.0153902456374,0.0598371067261,0.99999994581,0.000183017560259,-0.00027343901189,1.07517066916e-05,1793192328658077440
+29,0.483333333,BASELINE,764,742,711.179706277,671,659.179706277,633,875,783,799.179706277,648.179706277,628,650,0.400953239666,-0.01539247035,0.0598368501197,0.999999946225,0.000180871230653,-0.00027334149213,1.09847423132e-05,1793192328674744320
+30,0.500000000,BASELINE,764,742,711,671,659,633,875.404606219,783,799,648.404606219,628,650,0.400953761295,-0.0153918001777,0.059837496135,0.999999946021,0.000183346842183,-0.000272425268553,1.1237643019e-05,1793192328691411200
+31,0.516666667,BASELINE,764,742,711,671,659,633,875.993218341,783,799,648.993218341,628,650,0.400954659687,-0.0153898134762,0.0598385526424,0.999999945519,0.000187924409714,-0.000271136716702,1.14995779164e-05,1793192328708077568
+32,0.533333333,BASELINE,763.428075782,742.571924218,711,670.428075782,659,633,875.428075782,783,799,649,628,650,0.4009545027,-0.0153900141784,0.0598379871546,0.999999945912,0.00018485298202,-0.000271802544266,1.1354696018e-05,1793192328724744448
+33,0.550000000,BASELINE,763.150048004,742.849951996,711,670,659,633,875,783,799,649,628,650,0.400954345461,-0.0153903038865,0.0598375928435,0.999999946184,0.000182548200071,-0.000272365953126,1.11969645541e-05,1793192328741411328
+34,0.566666667,BASELINE,763.726844566,742.273155434,711,670,659,633,875,783,799,649,628,650,0.400954222492,-0.0153907742223,0.0598377391412,0.999999946106,0.000182677383565,-0.00027257328752,1.10161738295e-05,1793192328758077952
+35,0.583333333,BASELINE,764,742,711,670,659,633,875,783,799,649,628,650,0.400954357543,-0.0153911636437,0.0598376874514,0.999999946212,0.000182152960307,-0.000272536266062,1.10035309594e-05,1793192328774744576
+36,0.600000000,BASELINE,764,742,711,670,659,633,875,783,799,649,628,650,0.400954724709,-0.0153914802745,0.0598374576521,0.999999946482,0.000181040552557,-0.000272279422151,1.11421538461e-05,1793192328791411200
+37,0.616666667,BASELINE,764,742,711.462948388,670,659,633,875.462948388,783,799,648.537051612,628,650,0.400954883624,-0.0153915344306,0.0598374451918,0.999999946564,0.000180962058407,-0.000272037327456,1.09844893831e-05,1793192328808077824
+38,0.633333333,BASELINE,764,742,712,670,659,633,876,783,799,648.052379621,628,650,0.40095497226,-0.0153915286762,0.0598375460373,0.999999946582,0.000181256162646,-0.000271782941451,1.07957870646e-05,1793192328824744448
+39,0.650000000,BASELINE,764,742,712,670,659,633,876,783,799,648.634551626,628,650,0.40095492881,-0.0153916463941,0.0598381889099,0.999999946476,0.00018244558314,-0.000271363245998,1.11165570498e-05,1793192328841411072
+40,0.666666667,BASELINE,764,742,712,670.212064808,659,633,876,783,799,648.787935192,628,650,0.40095497202,-0.0153918939735,0.0598384873881,0.999999946458,0.000182839684423,-0.000271156295645,1.13127467882e-05,1793192328858077696
+41,0.683333333,BASELINE,764,742,712,670.781722054,659,633,876,783,799,648.218277946,628,650,0.400955161357,-0.015392360531,0.0598382051342,0.99999994659,0.000181892685532,-0.000271308084892,1.12988641495e-05,1793192328874744576
+42,0.700000000,BASELINE,764,742,711.644177123,671,659.355822877,633,876,783,799.355822877,648.355822877,628,650,0.400954307992,-0.0153924094747,0.0598376673698,0.999999946653,0.0001806924259,-0.000271886856175,1.09991468046e-05,1793192328891411456
+43,0.716666667,BASELINE,764,742,711.067315959,671,659.932684041,633,876,783,799.932684041,648.932684041,628,650,0.400952806897,-0.0153921989955,0.0598369708815,0.999999946673,0.000179334839936,-0.000272730870032,1.05218680434e-05,1793192328908078336
+44,0.733333333,BASELINE,764,742,711,671,660,633,876,783,799.474242524,649,628,650,0.400954426963,-0.0153925266889,0.0598382986715,0.999999946819,0.000180434209588,-0.000271451825827,1.09307880316e-05,1793192328924744960
+45,0.750000000,BASELINE,764,742,711.11714574,671,660,633,876,783,799,649,628,650,0.400955965184,-0.0153928339921,0.0598394590468,0.999999946947,0.00018141426312,-0.00027030935618,1.13365516911e-05,1793192328941411072
+46,0.766666667,BASELINE,764,742,711.693531185,671,660,633,876,783,799,649,628,650,0.400955566096,-0.0153927826393,0.0598389147359,0.999999946952,0.000180654104005,-0.000270801830016,1.12709768388e-05,1793192328958077696
+47,0.783333333,BASELINE,763.730224442,742,712,671,659.730224442,633,875.730224442,783,799,649,628,650,0.400955194465,-0.0153927643478,0.0598382986042,0.999999946911,0.000180023399873,-0.000271375601004,1.11886302082e-05,1793192328974744576
+48,0.800000000,BASELINE,763.15414017,742,712,671,659.15414017,633,875.15414017,783,799,649,628,650,0.400954854009,-0.0153927835949,0.0598376009259,0.999999946818,0.000179539681492,-0.000272041678515,1.1087240547e-05,1793192328991411200
+49,0.816666667,BASELINE,763.430700371,742,712,670.569299629,659.430700371,633,875.430700371,783,799,649,628,650,0.400954604324,-0.015393127779,0.0598374972111,0.999999946926,0.000178980653455,-0.000272007233401,1.1184412605e-05,1793192329008077824
+50,0.833333333,BASELINE,763.981535051,742,711.981535051,670,660,633,875.981535051,783,799.018464949,649,628,650,0.400954444435,-0.0153935881028,0.0598376426255,0.99999994711,0.000178450131429,-0.000271673888816,1.13573860904e-05,1793192329024744704
+51,0.850000000,BASELINE,763.402114907,742,711.402114907,670,660,633,875.402114907,783,799.597885093,649,628,650,0.400956005176,-0.0153939705669,0.0598387647026,0.999999947341,0.000179621384887,-0.000270034472011,1.16295474496e-05,1793192329041411328
+52,0.866666667,BASELINE,763.175706207,742,711,670,659.824293793,633,875,783,799.824293793,649,628.175706207,650,0.400956617206,-0.0153938801331,0.0598393208712,0.999999947358,0.000180755426055,-0.000269208618706,1.17792265562e-05,1793192329058078208
+53,0.883333333,BASELINE,763.749900805,742,711,670,659.250099195,633,875,783,799.250099195,649,628.749900805,650,0.400955077631,-0.0153927172025,0.059838593602,0.999999946894,0.000181805072495,-0.000270227866003,1.16511251595e-05,1793192329074744576
+54,0.900000000,BASELINE,763.676539611,742,711.323460389,670,659.323460389,633,875.323460389,783,799,649,628.676539611,650,0.400955234156,-0.0153923487698,0.059838882199,0.99999994711,0.000181266923139,-0.000269799365159,1.14073654287e-05,1793192329091410944
+55,0.916666667,BASELINE,763.103470085,742,711.896529915,670,659.896529915,633,875.896529915,783,799,649,628.103470085,650,0.400956699533,-0.0153925934384,0.0598399547236,0.999999947848,0.000179503497461,-0.000268253660494,1.10743540426e-05,1793192329108077568
+56,0.933333333,BASELINE,763.486590259,742.486590259,712,670.486590259,660,633,875.513409741,783,799,649,628.486590259,650,0.400956010337,-0.0153937276155,0.0598401259527,0.999999947772,0.00017899226254,-0.000268875886029,1.11395320277e-05,1793192329124744192
+57,0.950000000,BASELINE,764,742.921758583,711.921758583,670.921758583,660,633,875,783,799,649,628.921758583,650,0.400955090445,-0.015394790522,0.0598399807658,0.999999947507,0.00017892255508,-0.00026990030198,1.12661468065e-05,1793192329141411072
+58,0.966666667,BASELINE,764,742.343856366,711.343856366,670.343856366,660,633,875,783,799,649,628.343856366,650,0.400955729012,-0.0153941466528,0.0598390831177,0.999999947183,0.000179910543766,-0.000270442662015,1.12248122515e-05,1793192329158077952
+59,0.983333333,BASELINE,764,742,711.232682331,670.232682331,660,633,875.232682331,783,799,649,628,650,0.400955303793,-0.0153933227136,0.0598381208846,0.999999946759,0.000180905083334,-0.000271351523478,1.11629699597e-05,1793192329174745088
+60,1.000000000,BASELINE,764,742,711.807217851,670.807217851,660,633,875.807217851,783,799,649,628,650,0.400953315676,-0.0153922342183,0.0598370637642,0.999999946184,0.000181909247502,-0.000272798843106,1.10709980201e-05,1793192329191411456
+61,1.016666667,BASELINE,764,742,712,671,659.608651164,633,875.608651164,783,799.391348836,649,628,650,0.400953612457,-0.0153922551586,0.0598374152513,0.999999946297,0.000181697300476,-0.000272518281415,1.12226825508e-05,1793192329208078080
+62,1.033333333,BASELINE,764,742,712,671,659.019674587,633,875.019674587,783,799.980325413,649,628,650,0.400955063092,-0.0153928363544,0.0598384780729,0.999999946757,0.00018087122787,-0.000271365154673,1.14974114747e-05,1793192329224744448
+63,1.050000000,BASELINE,764,742,711.439242833,671,659,633,875.560757167,783,799.439242833,649,628,650,0.40095551712,-0.0153944817397,0.0598393536397,0.999999947436,0.000179081134357,-0.000270042979785,1.16403343855e-05,1793192329241411328
+64,1.066666667,BASELINE,764,742,711.139719052,670.860280948,659,633,876,783,799,649,628,650,0.400955498551,-0.0153953354897,0.059839707553,0.999999947752,0.000178060174622,-0.000269546901215,1.16115665505e-05,1793192329258077952
+65,1.083333333,BASELINE,764,742,711.715019133,670.284980867,659,633,876,783,799,649,628,650,0.400954114008,-0.0153936066215,0.0598384553604,0.999999946926,0.000179540890889,-0.00027164443192,1.10617451025e-05,1793192329274744832
+66,1.100000000,BASELINE,764,742,712,670.291076822,659.291076822,633,875.708923178,783,799,649,628,650,0.400953777413,-0.0153930274289,0.0598380318804,0.999999946716,0.00017988306783,-0.000272194458989,1.09505436274e-05,1793192329291411456
+67,1.116666667,BASELINE,764,742,712,670.867878155,659.867878155,633,875.132121845,783,799,649,628,650,0.400954469495,-0.0153935767718,0.0598384218746,0.999999947115,0.000179107640789,-0.000271225437755,1.12698968258e-05,1793192329308078080
+68,1.133333333,BASELINE,764,742,711.544235117,670.544235117,660,633,875,783,799,649,628,650,0.400954020594,-0.0153926722986,0.0598379268508,0.999999946956,0.000178909899702,-0.000271954262194,1.09683012572e-05,1793192329324744704
+69,1.150000000,BASELINE,763.954330593,742,711.045669407,670.045669407,659.954330593,633,875,783,799,649,628,650,0.400953378815,-0.0153914562917,0.0598373242186,0.999999946644,0.000179141273964,-0.000272962145593,1.05520439999e-05,1793192329341411840
+70,1.166666667,BASELINE,763.37921766,742,711.62078234,670.62078234,659.37921766,633,875,783,799,649,628,650,0.400954431094,-0.015391636307,0.0598385225023,0.999999946496,0.000182357545425,-0.000271356976334,1.09453554575e-05,1793192329358077952
+71,1.183333333,BASELINE,763.196262248,742,711.803737752,670.803737752,659.196262248,633,875.196262248,783,799,649,628,650.196262248,0.400955199414,-0.015391896186,0.0598392250186,0.999999946557,0.000183794712881,-0.000270146630788,1.12425462053e-05,1793192329374744320
+72,1.200000000,BASELINE,763.772452653,742,711.227547347,670.227547347,659.772452653,633,875.772452653,783,799,649,628,650.772452653,0.40095541804,-0.0153923106669,0.0598389678193,0.999999947043,0.000181787857865,-0.000269700592143,1.13536647421e-05,1793192329391410944
+73,1.216666667,BASELINE,764,741.642886011,711,670.357113989,659.642886011,633,876,783,799,649,628,650.642886011,0.400954936982,-0.0153923890857,0.0598382048147,0.999999946832,0.000181502163151,-0.000270675528996,1.12805351757e-05,1793192329408077568
+74,1.233333333,BASELINE,764,741.052696024,711,670.947303976,659.052696024,633,876,783,799,649,628,650.052696024,0.400953999265,-0.0153922481683,0.0598371116882,0.999999946165,0.00018233981059,-0.000272577887624,1.10871532133e-05,1793192329424744192
+75,1.250000000,BASELINE,764,741.527071824,711.527071824,670.472928176,659.527071824,633,875.472928176,783,799,649,628,650,0.400953728675,-0.0153925339945,0.0598373442135,0.999999946425,0.000180870061585,-0.000272596379281,1.1243639243e-05,1793192329441411072
+76,1.266666667,BASELINE,764,742,711.894768107,670.105231893,660,633,875.105231893,783,799.105231893,649,628,650,0.400953715828,-0.0153929248064,0.0598378029035,0.999999946748,0.000179604151933,-0.000272245662988,1.13821856154e-05,1793192329458077952
+77,1.283333333,BASELINE,764,742,711.319227005,670.680772995,660,633,875.680772995,783,799.680772995,649,628,650,0.400954562597,-0.0153935978417,0.0598386915258,0.99999994695,0.000180260280995,-0.000271070308219,1.12872540485e-05,1793192329474744832
+78,1.300000000,BASELINE,764,742,711.261374359,671,660,633,875.738625641,783,799.738625641,649,628,650,0.400954634213,-0.0153934422454,0.0598387187171,0.999999946638,0.000182030544913,-0.000271043914227,1.11781191436e-05,1793192329491411456
+79,1.316666667,BASELINE,764,742,711.848277995,671,660,633,875.151722005,783,799.151722005,649,628,650,0.400953740413,-0.0153922546278,0.0598376730373,0.999999945677,0.00018518841051,-0.000272448496072,1.10512946668e-05,1793192329508077568
+80,1.333333333,BASELINE,763.570812794,741.570812794,711.570812794,671,660,633,875,783,799,649,628,650,0.400954389589,-0.0153921438742,0.059838341225,0.999999946161,0.000183906294156,-0.00027153312644,1.11987126801e-05,1793192329524744448
+81,1.350000000,BASELINE,763.008012087,741.008012087,711,671,659.991987913,632.991987913,875.008012087,783,799,649,628,650,0.40095553069,-0.0153924105679,0.0598395679434,0.999999947122,0.000181099150773,-0.000269867470574,1.14374301928e-05,1793192329541411072
+82,1.366666667,BASELINE,763.587230684,741.587230684,711,671,659.412769316,632.412769316,875.587230684,783,799,649,628,650,0.400953391029,-0.015392820463,0.0598380147141,0.999999946654,0.000179926856645,-0.000272375547254,1.13686891621e-05,1793192329558077696
+83,1.383333333,BASELINE,763.834873994,742,711.165126006,671,659.165126006,632.165126006,876,783,799,649,628,650,0.400952360724,-0.0153926831984,0.059837344932,0.999999946232,0.000180275185564,-0.000273695856585,1.13213571085e-05,1793192329574744320
+84,1.400000000,BASELINE,763.260260073,742,711.739739927,671,659.739739927,632.739739927,876,783,799,649,628,650,0.400954081455,-0.0153911890597,0.0598388659673,0.999999945924,0.000184394433033,-0.000272070680227,1.1327116117e-05,1793192329591411200
+85,1.416666667,BASELINE,763.321319658,742,711.678680342,670.678680342,659.678680342,633,876,783,799.321319658,649,628,650,0.400954450437,-0.0153917400007,0.0598391066649,0.999999945984,0.000184694600877,-0.000271644949255,1.13782729217e-05,1793192329608078080
+86,1.433333333,BASELINE,763.908666494,742,711.091333506,670.091333506,659.091333506,633,876,783,799.908666494,649,628,650,0.400953700277,-0.0153939841055,0.0598382873441,0.999999946353,0.000181832873622,-0.000272212263976,1.14670154987e-05,1793192329624744704
+87,1.450000000,BASELINE,764,742,711,670.488969094,659.488969094,633,876,783,800,649,628,650,0.400955515253,-0.0153942201738,0.0598395725319,0.99999994708,0.000181699852307,-0.00026961679353,1.14644481034e-05,1793192329641411328
+88,1.466666667,BASELINE,764,742,711,671,660,633,876,783,799.932160607,649,628,650,0.400957367111,-0.0153939856818,0.0598409198433,0.9999999477,0.000182046415615,-0.000267074634507,1.14364400292e-05,1793192329658078208
+89,1.483333333,BASELINE,764,742,711,671,660,633,876,783,799.354306793,649,628,650,0.400955945281,-0.0153929933016,0.0598398208793,0.999999947069,0.000182221071977,-0.000269311583726,1.13435721827e-05,1793192329674744576
+90,1.500000000,BASELINE,763.777651722,742,711,671,660,633,875.777651722,783,799,649,628,650,0.400955211265,-0.0153927454671,0.0598393109193,0.999999946811,0.000182027294981,-0.000270406151234,1.11753510179e-05,1793192329691411200
+91,1.516666667,BASELINE,763.202896635,742,711,671,660,633,875.202896635,783,799,649,628,650,0.40095556739,-0.0153936776869,0.0598397344902,0.999999947149,0.000181249576301,-0.000269690121661,1.08877000071e-05,1793192329708077824
+92,1.533333333,BASELINE,763,742,711,670.619210367,660,633,875,783,799.380789633,649,628,650,0.400956479269,-0.0153940122535,0.0598402864837,0.999999947776,0.000180002908346,-0.00026819104932,1.09638994428e-05,1793192329724744448
+93,1.550000000,BASELINE,763,742,711,670.030650938,660,633,875,783,799.969349062,649,628,650,0.400957694384,-0.0153940207234,0.0598409085482,0.999999948557,0.000178500368084,-0.000266264726212,1.12386261405e-05,1793192329741411072
+94,1.566666667,BASELINE,763.550732927,742,711.550732927,670,659.449267073,633,875,783,799.449267073,649,628,650,0.400957526262,-0.0153939850964,0.0598406444927,0.999999948375,0.000178993060593,-0.00026662291826,1.11413258728e-05,1793192329758077952
+95,1.583333333,BASELINE,764,742,712,670.130293232,659.130293232,633,875.130293232,783,799.130293232,648.869706768,628,650,0.400957043568,-0.0153937987677,0.0598402065706,0.999999948015,0.00017973221552,-0.000267478274506,1.09879852977e-05,1793192329774744576
+96,1.600000000,BASELINE,764,742,712,670.704978619,659.704978619,633,875.704978619,783,799.704978619,648.295021381,628,650,0.400955747151,-0.015393106702,0.0598393416818,0.999999947231,0.000180938113406,-0.000269601238223,1.07132183215e-05,1793192329791411456
+97,1.616666667,BASELINE,764,742,711.713584857,671,659.713584857,633,876,783,799.713584857,648.286415143,628,650,0.400955348699,-0.0153929290841,0.059839195367,0.999999947011,0.000181593986109,-0.000269968804597,1.08508882661e-05,1793192329808077824
+98,1.633333333,BASELINE,764,742,711.125026503,671,659.125026503,633,876,783,799.125026503,648.874973497,628,650,0.400955897521,-0.0153932941641,0.0598398070858,0.999999947391,0.000181669629731,-0.000268484578422,1.14236435194e-05,1793192329824744192
+99,1.650000000,BASELINE,764,742,711,671,659,633,876,783,799,649,628,650.456448213,0.40095620168,-0.0153945055229,0.0598399819329,0.999999947573,0.000180584361963,-0.000268536791321,1.14798999474e-05,1793192329841410816
+100,1.666666667,BASELINE,763.96424577,742,711,670.96424577,659.03575423,633,876,783,799,648.96424577,628.03575423,650.96424577,0.400956467375,-0.0153957451031,0.0598400717177,0.999999947699,0.000179349631119,-0.000268895453159,1.14061868299e-05,1793192329858077440
+101,1.683333333,BASELINE,763.38883466,742,711,670.38883466,659.61116534,633,876,783,799,648.38883466,628.61116534,650.38883466,0.400957148565,-0.015393965351,0.0598406561657,0.999999947817,0.000180585174901,-0.000267624493849,1.14735001775e-05,1793192329874744320
+102,1.700000000,BASELINE,763,742,711,670.186162624,660,633,876,783,799,648.186162624,628.813837376,650.186162624,0.400957418139,-0.0153925546938,0.0598408445879,0.999999947841,0.000181538590529,-0.000266890948996,1.14688825924e-05,1793192329891410944
+103,1.716666667,BASELINE,763,742,711,670.760297403,660,633,876,783,799,648.760297403,628.239702597,650.760297403,0.400956829885,-0.0153919132491,0.0598402076725,0.999999947673,0.000181904036919,-0.000267277402723,1.13143573624e-05,1793192329908077824
+104,1.733333333,BASELINE,763.344467319,742,711,671,659.655532681,633,876,783,799.344467319,649,628,650.655532681,0.4009571571,-0.015392591634,0.0598404517518,0.999999947773,0.000181396147278,-0.000267243274232,1.14212547249e-05,1793192329924744704
+105,1.750000000,BASELINE,763.935829931,742,711,671,659.064170069,633,876,783,799.935829931,649,628,650.064170069,0.400958140473,-0.0153942160004,0.0598413272797,0.999999948064,0.000180262298275,-0.000266907695499,1.17155254563e-05,1793192329941411584
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,711,670,660,633,876,783,799,649,628,650,0.400952041891,-0.0153913296164,0.0598376023975,0.999999945796,0.000183628499759,-0.000273078799206,1.07777437806e-05,1793192329971997440
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711.575100809,670.575100809,660,633,876,783,799,649,628,650,0.400953468658,-0.0153928507816,0.0598382061371,0.999999946422,0.000182480936847,-0.000271534662832,1.12012796401e-05,1793192329988665088
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783,799,649,628.149507379,650,0.40095458502,-0.0153937555131,0.059838834751,0.999999946839,0.000181934753981,-0.000270351529609,1.14790135944e-05,1793192330005332224
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783,799,649,628.72195018,650,0.400954823289,-0.0153929164403,0.0598395337309,0.999999946674,0.000183089790715,-0.000270189623352,1.13442944903e-05,1793192330021998848
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783,799.304948801,648.695051199,629,650,0.400955196711,-0.0153932499828,0.0598399937763,0.999999946981,0.000182566383893,-0.000269400175514,1.14170520463e-05,1793192330038665216
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783,799.897917201,648.102082799,629,650,0.400955697782,-0.015394691043,0.0598402281516,0.999999947732,0.000180457712063,-0.000268018024008,1.16857682247e-05,1793192330055331328
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,741.520649638,711.520649638,671,660,633,876,783,799.520649638,648.479350362,628.520649638,650,0.400954769283,-0.0153938496578,0.0598392590515,0.999999946975,0.00018180635968,-0.000269934911366,1.14332557565e-05,1793192330071997952
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,741.057970592,711.057970592,670.942029408,659.942029408,633,875.942029408,783,799,649,628,650,0.400954179613,-0.0153926764556,0.0598384882837,0.999999946162,0.000183582502841,-0.00027175134541,1.1142112355e-05,1793192330088664576
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,741.632898037,711.632898037,670.367101963,659.367101963,633,875.367101963,783,799,649,628,650,0.400959262571,-0.0153927769689,0.0598417179617,0.999999947708,0.00018275938704,-0.000266554025197,1.14730755786e-05,1793192330105331200
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.792952658,742,712,670,659,633,875,783,799.207047342,649,628,650,0.400967956826,-0.015393171155,0.0598457082458,0.99999994966,0.000182211079114,-0.000259496516183,1.18638925437e-05,1793192330121997824
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.220177917,742,712,670,659,633,875,783,799.779822083,649,628,650,0.400983030059,-0.0153940840831,0.0598510420606,0.999999952296,0.000182148190539,-0.000249153179441,1.23604348254e-05,1793192330138664704
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.365685,742,711.634315,670.365685,659,633,875,783,799.634315,649,628,650,0.401014593089,-0.015396289163,0.0598645856306,0.999999958013,0.000181770008737,-0.000225256695584,1.39188739136e-05,1793192330155331072
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.959720842,742,711.040279158,670.959720842,659,633,875,783,799.040279158,649,628,650,0.40105645312,-0.015399301123,0.0598832557569,0.999999964849,0.000181194942925,-0.000192896990658,1.61404111434e-05,1793192330171997696
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711.5389608,670.4610392,659.5389608,633,876.077921599,783,799,649,628,650,0.401121240902,-0.0154037697333,0.0599031693109,0.999999971362,0.000179317664004,-0.000157463892551,1.80854217448e-05,1793192330188664320
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.883902448,742,712,670.116097552,659.883902448,633,876.883902448,783,799,649,628,650,0.401189279169,-0.0154080818251,0.0599212362959,0.999999976035,0.000177411699611,-0.000126757008391,1.96664637204e-05,1793192330205331456
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.310808053,742,712,670.689191947,659.310808053,633,876.310808053,783,799,649,628,650,0.401263547726,-0.0154113607437,0.0599316785866,0.999999977681,0.000175765669763,-0.000115533967353,1.98939852916e-05,1793192330221998080
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,876,783,799.26978138,649,628,650,0.40134518021,-0.0154158085802,0.0599385414078,0.999999978968,0.000174688088987,-0.000105599440139,1.9907554304e-05,1793192330238664448
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,876,783,799.859252362,649,628,650,0.401435538906,-0.0154216415785,0.0599411625748,0.999999979896,0.000174284117664,-9.71917961261e-05,1.96675905784e-05,1793192330255330816
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742,711.559287172,670.559287172,659,633,875.559287172,783,799.559287172,649,628,650,0.401539078951,-0.0154269256473,0.0599397235072,0.999999980355,0.000172100478848,-9.66370252984e-05,1.82379015017e-05,1793192330271997440
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.019569411,742,711.019569411,670.019569411,659,633,875.019569411,783,799,649,628,650,0.401647872678,-0.0154321019476,0.0599371388228,0.9999999807,0.000169299310008,-9.83266817657e-05,1.64347804134e-05,1793192330288664064
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.595829449,742,711.595829449,670.595829449,659,633,875.595829449,783,799,649,628,650,0.401788504022,-0.0154391105192,0.0599381932458,0.999999981913,0.00016481079995,-9.3794310437e-05,1.46242648258e-05,1793192330305330688
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.824048008,876,783,799,649,628,650,0.40193856063,-0.0154468306259,0.0599392948297,0.999999983078,0.000160601811976,-8.88136857129e-05,1.28081753012e-05,1793192330321997568
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.234854042,876,783,799,649,628,650,0.402110753458,-0.0154562218475,0.0599405071758,0.999999984181,0.000157049312001,-8.27802908423e-05,1.0978995049e-05,1793192330338664192
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.652721661,670.652721661,659,632.347278339,876,783,799,648.652721661,628.347278339,650,0.402310412562,-0.0154665050706,0.0599405680099,0.999999985776,0.000149319433944,-7.79769354737e-05,8.47121418855e-06,1793192330355330816
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711.075269594,670.075269594,659,632.924730406,876,783,799,648.075269594,628.924730406,650,0.402528276146,-0.0154773795071,0.0599398656298,0.999999987612,0.000138820817635,-7.39888413428e-05,5.51366126054e-06,1793192330371997696
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.497896314,742,711.502103686,670.502103686,659,633,876,783,799.502103686,648.502103686,628.497896314,650,0.402776837155,-0.015486866847,0.0599443826077,0.999999989211,0.000132599808527,-6.31351155663e-05,3.06245626184e-06,1793192330388664320
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742,711.920906507,671,659.079093493,633,876,783,799.920906507,649,628,650,0.403032791728,-0.0154960570542,0.0599479491023,0.999999990404,0.000127409581004,-5.43919337512e-05,4.49469217209e-07,1793192330405330944
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742,711.346245135,671,659.653754865,633,876,783,799.346245135,649,628,650,0.403306242972,-0.0155046881999,0.0599406586578,0.99999999009,0.000124660631984,-6.5320204593e-05,-3.65270052967e-06,1793192330421997312
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.23486762,742,711.23486762,671,660,633,875.76513238,783,799.23486762,649,628,650,0.403591397272,-0.0155084051036,0.059931185217,0.999999988769,0.000126684848127,-7.97036009514e-05,-7.77556595506e-06,1793192330438664192
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.82575968,742,711.82575968,671,660,633,875.17424032,783,799.82575968,649,628,650,0.403894291651,-0.0155046727456,0.0599184026785,0.999999985756,0.000135944474114,-9.93244539263e-05,-1.19298027086e-05,1793192330455330816
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.593400955,742,711.593400955,671,659.593400955,633,875.406599045,783,799.593400955,649,628,650,0.404234636551,-0.0154939021407,0.059907382593,0.999999989145,8.41269113887e-05,-0.000119629348715,-1.79501019971e-05,1793192330471997440
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.016765558,742,711.016765558,671,659.016765558,633,875.983234442,783,799.016765558,649,628,650,0.40459064294,-0.0154801881994,0.0598970995511,0.99999998984,6.76737386214e-06,-0.000140220302988,-2.47507729717e-05,1793192330488664064
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.558422302,742,711,671,660.116844604,632.441577698,876,783,799,649,628,650,0.404999700224,-0.0154884042582,0.059896848815,0.999999989411,1.1565821667e-05,-0.000142196799892,-2.87257009458e-05,1793192330505330944
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660.866289976,632.133710024,876,783,799,648.866289976,628.133710024,650,0.405428211317,-0.0154967265388,0.059902742336,0.99999999043,1.66801677131e-05,-0.000133514709266,-3.21729798571e-05,1793192330521997568
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660.29052892,632.70947108,876,783,799,648.29052892,628.70947108,650,0.405915785358,-0.0155032289005,0.0599279558244,0.999999995128,1.47051660597e-05,-9.14377230131e-05,-3.41555789296e-05,1793192330538664192
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.29542837,671,660,633,876,783,799,648.29542837,628.70457163,650,0.406424750624,-0.0155093154488,0.0599544030674,0.99999999824,2.13565091598e-07,-4.74504122597e-05,-3.56099240558e-05,1793192330555330816
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711.891771308,671,660,633,876,783,799,648.891771308,628.108228692,650,0.406955504416,-0.0155149784629,0.0599821069791,0.999999998967,-2.70270726986e-05,-1.51729656079e-06,-3.65262056018e-05,1793192330571997952
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783,799.469494558,649,628,650.469494558,0.407491085617,-0.0155171852477,0.0599867601724,0.999999998113,-4.57366839292e-05,-1.61472148704e-06,-4.09926508163e-05,1793192330588664832
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.956846161,742,711.956846161,671,660,633,876,783,799.956846161,649,628,650.956846161,0.408028912449,-0.0155186732169,0.0599852369913,0.999999996858,-6.28643654886e-05,-1.35512499378e-05,-4.63440279755e-05,1793192330605331200
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.382391793,742,711.382391793,671,660,633,876,783,799.382391793,649,628,650.382391793,0.408581209228,-0.0155207463374,0.0599705970856,0.99999999405,-8.3804273093e-05,-4.55908880475e-05,-5.28990157199e-05,1793192330621997824
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.198202606,742.198202606,711,671,660,633,876,783,799,648.801797394,628,650,0.409155116034,-0.0155202551657,0.0599610395557,0.999999995055,-5.84026394831e-05,-6.50456968313e-05,-4.74199217368e-05,1793192330638664192
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.791021616,742.791021616,711,671,660,633,876,783,799,648.208978384,628,650,0.409772047825,-0.0155146585522,0.0599616009094,0.999999996315,5.92638393432e-05,-5.94444244408e-05,-1.79812728313e-05,1793192330655330560
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.624960194,742.624960194,711.375039806,671.375039806,660,633,876,783,799,648.375039806,628,650,0.410434142098,-0.0155137203803,0.0599688546019,0.999999995328,8.65060365703e-05,-4.14342648862e-05,-1.19581362124e-05,1793192330671997440
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.045733546,742.045733546,711.954266454,671.954266454,660,633,876,783,799,648.954266454,628,650,0.411120824632,-0.0155153184527,0.0599797518744,0.999999997605,6.45175934217e-05,-1.66682056172e-05,-1.86833527439e-05,1793192330688664064
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.530943362,742,711.469056638,671.469056638,660,633,876,783,799,649,628,650,0.411810139079,-0.0155198987485,0.0599663307432,0.999999998204,3.37509107157e-05,-4.15767411525e-05,-2.68983801501e-05,1793192330705330688
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.106976014,671,660,633,876.106976014,783,799,648.893023986,628,650,0.412493137892,-0.0155230099031,0.0599467635815,0.999999996211,9.05213415179e-06,-7.94195026056e-05,-3.44759297807e-05,1793192330721997312
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.681149421,671,660,633,876.681149421,783,799,648.318850579,628,650,0.413147568823,-0.0155185883574,0.0599094592846,0.999999987115,1.41402462351e-05,-0.000155152534766,-3.871164925e-05,1793192330738663680
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.737413534,742,711.737413534,671,660,633,876.737413534,783,799.262586466,648.262586466,628,650,0.413855902028,-0.0155169009604,0.0598972742134,0.999999983063,1.37156695146e-05,-0.000178965741722,-4.07109254721e-05,1793192330755330304
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.14690548,742,711.14690548,671,660,633,876.14690548,783,799.85309452,648.85309452,628,650,0.414631549222,-0.0155186280054,0.0599164583712,0.999999989669,6.40677202574e-06,-0.000137940768538,-3.99173013813e-05,1793192330771997184
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742,711.434904539,671,660,633,876.434904539,783,799.565095461,649,628,650,0.41546584702,-0.0155277214044,0.0599590040932,0.999999997478,-6.27339873968e-06,-6.04277454172e-05,-3.67786945013e-05,1793192330788663808
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.013706718,742,712,671,660,632.986293282,876.986293282,783,799,649,628,650,0.416318490976,-0.0155389675751,0.0600079693595,0.999999998894,-2.03912992035e-05,2.66368257328e-05,-3.29785378105e-05,1793192330805330432
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.587307971,742,712,671,660,632.412692029,876.412692029,783,799,649,628,650,0.417127149855,-0.0155385024342,0.0600031385396,0.999999999162,-2.05781276507e-05,1.02738651122e-05,-3.38769657808e-05,1793192330821997056
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,712,671.160782325,660,632.160782325,876,783,799.160782325,649,628,650,0.417935562861,-0.0155373780916,0.0599938092505,0.99999999909,-2.15532103691e-05,-9.08781176368e-06,-3.56668485753e-05,1793192330838663680
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,712,671.733931178,660,632.733931178,876,783,799.733931178,649,628,650,0.418743345219,-0.0155345630614,0.0599729425112,0.999999998256,-2.45499685185e-05,-3.61404463022e-05,-3.97430904164e-05,1793192330855330560
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711.681347639,671.681347639,660,633,876,783,799.681347639,649,628,650,0.41954395335,-0.0155341065658,0.0599487541494,0.999999996285,-2.65928214479e-05,-6.97296267528e-05,-4.31245991737e-05,1793192330871996928
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711.086599668,671.086599668,660,633,876,783,799.086599668,649,628,650,0.420338345346,-0.0155356936173,0.0599216877765,0.999999992621,-2.7809165202e-05,-0.000108982381027,-4.59041577932e-05,1793192330888663552
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.506957841,742,711.493042159,671,660,633,876.493042159,783,799,649,628.493042159,650,0.421129563268,-0.015536261158,0.0598904293723,0.999999982999,-3.04651476049e-05,-0.000175190902623,-4.87989902223e-05,1793192330905330432
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.069959364,742,712,671.069959364,660.069959364,633,877,783,799,649,629,650,0.421937148755,-0.0155363826918,0.0598658726746,0.999999971738,-3.25866263494e-05,-0.000229874817059,-5.11918293987e-05,1793192330921997056
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.645790163,742,712,671.645790163,660.645790163,633,877,783,799,649,629,650,0.422866998033,-0.0155345355337,0.0598949414627,0.999999984224,-2.90690631798e-05,-0.00016800717632,-4.98127360644e-05,1793192330938663680
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660.77358952,633,877,783,799,649,628.77358952,650,0.423785860171,-0.0155351511442,0.0599365534602,0.999999994113,-2.84502011124e-05,-9.37492209334e-05,-4.6640822311e-05,1793192330955330560
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660.185314177,633,877,783,799,649,628.185314177,650,0.42468716205,-0.0155397029212,0.0599982128856,0.999999998649,-3.24642427394e-05,3.11800536958e-07,-4.06034988942e-05,1793192330971997184
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.397351066,742,712,672,660,633,877,783,799,649,628,650,0.425560444078,-0.0155451569592,0.0600153208758,0.999999998026,-3.95145853003e-05,2.9626991842e-05,-3.88564921837e-05,1793192330988664320
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.977436296,742,712,672,660,633,877,783,799,649,628,650,0.426420840259,-0.0155510259296,0.0600119405083,0.999999997661,-4.79612644994e-05,2.91668072931e-05,-3.90825206214e-05,1793192331005331968
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.445578877,742,712,671.445578877,660,633,877,783,799,649,628,650,0.427266741363,-0.0155491893545,0.0599884181902,0.999999997776,-4.99289337659e-05,4.67054119087e-06,-4.39776797237e-05,1793192331021998080
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,712,671.130289758,660.130289758,633,877,783,799,649,628,650,0.428104120335,-0.0155474184659,0.0599650581277,0.999999997266,-5.14124952811e-05,-2.22693721809e-05,-4.82501515346e-05,1793192331038664192
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,712,671.702795783,660.702795783,633,877,783,799,649,628,650,0.428914565409,-0.0155469289885,0.0599450155584,0.999999995933,-5.21429306504e-05,-5.42015693827e-05,-4.97677903331e-05,1793192331055330816
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,711.714306334,672,661,633,877,783,799,649,628,650,0.429708665598,-0.0155450158202,0.059923155048,0.999999992993,-5.19928590271e-05,-9.30254310441e-05,-5.15546705998e-05,1793192331071997696
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,711.120189876,672,661,633,877,783,799,649,628,650,0.430485120487,-0.0155415656952,0.0598993319665,0.999999987566,-5.0892229233e-05,-0.000139289239838,-5.3632212423e-05,1793192331088664576
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.539483013,742.460516987,711.460516987,672,660.539483013,633,877,783,799,649,628.460516987,650,0.431340026469,-0.0155471831274,0.0599312732045,0.999999993855,-5.76990702227e-05,-7.94215116226e-05,-5.15096621671e-05,1793192331105330944
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.03759916,743,712,672.03759916,660.03759916,633,877,783,799,649,629,650,0.432209401207,-0.0155544681951,0.0599755212531,0.999999996665,-6.57096856396e-05,3.02980550863e-06,-4.84110812868e-05,1793192331121997568
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.611486347,743,712,672.611486347,660.611486347,633,877,783,799,649,629,650,0.433001371135,-0.0155527397477,0.0599935922862,0.999999996694,-6.22869065705e-05,2.36947259974e-05,-4.65838145871e-05,1793192331138664192
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,672.809473744,661,633,877,783.190526256,799,649,628.809473744,650,0.433773791505,-0.0155505293129,0.0599949753326,0.999999996942,-5.98575018112e-05,1.97285961327e-05,-4.63094087949e-05,1793192331155330816
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,672.219634436,661,633,877,783.780365564,799,649,628.219634436,650,0.434505239226,-0.0155473087082,0.0599613829879,0.999999996372,-5.95100525802e-05,-3.58603356178e-05,-4.92895547147e-05,1793192331171997440
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.636528291,712,672.363471709,661,633,877,783.636528291,799.363471709,649,628,650,0.435220032918,-0.0155481652192,0.0599336964132,0.999999993103,-6.46278445972e-05,-8.25517926735e-05,-5.29302898611e-05,1793192331188664320
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.05741682,712,672.94258318,661,633,877,783.05741682,799.94258318,649,628,650,0.435924946098,-0.0155514405935,0.0599095136038,0.99999998803,-7.29880439339e-05,-0.000123964570484,-5.69629378608e-05,1793192331205331456
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660.482061967,632.482061967,877,783,799.482061967,648.482061967,628,650,0.436607816033,-0.0155511496038,0.0599109637289,0.999999988318,-7.35785231185e-05,-0.000121199037774,-5.71078924123e-05,1793192331221998336
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.907044169,742,712,673,660.092955831,632.092955831,876.907044169,783.092955831,799.092955831,648.092955831,628.092955831,650,0.437280473217,-0.015549682414,0.0599133247059,0.999999988946,-6.84543057247e-05,-0.000119345427298,-5.63787481682e-05,1793192331238665472
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.3316299,742,712,673,660.6683701,632.6683701,876.3316299,783.6683701,799.6683701,648.6683701,628.6683701,650,0.437912715881,-0.0155441477127,0.0599057710445,0.999999986979,-3.81079726849e-05,-0.000147460553029,-5.33336065249e-05,1793192331255331584
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.25012382,742,712,672.74987618,661,633,876.25012382,783.74987618,800,649,628.74987618,650,0.438556531883,-0.015543235943,0.0599106240423,0.99999998704,-4.32331981616e-05,-0.000146146435598,-5.18875476624e-05,1793192331271998208
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.840501307,742,712,672.159498693,661,633,876.840501307,783.159498693,800,649,628.159498693,650,0.43921609152,-0.015548612937,0.0599323543267,0.999999988457,-9.66118386321e-05,-0.00010479851192,-5.26167867199e-05,1793192331288665344
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.42262732,742,712,672,661,632.57737268,877,783,800,649,628.42262732,650,0.439845614153,-0.0155573887949,0.059960126913,0.999999991425,-0.000102599048386,-6.27192822653e-05,-5.18654636065e-05,1793192331305331712
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.998317769,742.001682231,712,672.001682231,661,632.001682231,876.998317769,783,800,649,629,650,0.440463628916,-0.015567403628,0.0599899617846,0.999999994354,-9.11506696859e-05,-2.06289590651e-05,-5.05833811207e-05,1793192331321998080
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.424936762,742.575063238,712,672.575063238,661,632.575063238,876.424936762,783,800,649,629,650,0.440949409493,-0.0155708984319,0.0599605275556,0.9999999895,-0.000116178025447,-6.67686556112e-05,-5.51811227581e-05,1793192331338665216
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,712,673,661,633,876.152396872,783,800,649,628.847603128,650,0.441422869861,-0.0155736323816,0.0599250852952,0.999999981705,-0.000134693957107,-0.000121777579279,-6.01419146892e-05,1793192331355331840
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,712,673,661,633,876.741045437,783,800,649,628.258954563,650,0.441861062478,-0.0155741883088,0.059872444421,0.999999968321,-0.000134570274813,-0.000202175586968,-6.61419765723e-05,1793192331371997696
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,712,672.67369226,660.67369226,632.67369226,877,782.67369226,800,649,628.32630774,650,0.442296171844,-0.015578347712,0.0598359212144,0.999999956335,-0.000133499784097,-0.000254290598834,-6.95946203413e-05,1793192331388663808
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,712,672.091089693,660.091089693,632.091089693,877,782.091089693,800,649,628.908910307,650,0.442728859478,-0.0155853374258,0.0598120574555,0.999999948423,-0.000131685633527,-0.000284191038518,-7.10464224102e-05,1793192331405330432
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.515860559,742.515860559,712,672.484139441,660,632,877.484139441,782.484139441,799.515860559,649,628.515860559,650,0.443141663219,-0.0155898801651,0.0598129286016,0.999999950543,-0.00012307163102,-0.000283092078703,-6.02155601688e-05,1793192331421997056
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.058195857,742,711.941804143,672.941804143,660,632,877.941804143,783,799,649,628,650,0.4435454449,-0.0155943075236,0.0598176221639,0.999999953781,-0.00011441105551,-0.000277479875852,-4.84990219703e-05,1793192331438663680
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.633975596,742,711.366024404,672.366024404,660,632,877.366024404,783,799,649,628,650,0.443901759581,-0.0156017419296,0.0598155423342,0.999999952007,-0.000116544121861,-0.000282822423184,-4.91503330768e-05,1793192331455330304
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.215423207,711.215423207,672.215423207,660,632,877,783,799,649,628,650,0.444235002742,-0.0156115067044,0.0598062184149,0.999999945805,-0.000123837705436,-0.000300900288349,-5.01246753332e-05,1793192331471996928
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.806761229,711.806761229,672.806761229,660,632,877,783,799,649,628,650,0.444527985922,-0.0156253379864,0.059784253515,0.999999930637,-0.000140136422782,-0.000341201360158,-5.16627087933e-05,1793192331488663808
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660.388798174,632,877,783,799.777596347,649,628,650,0.444800273932,-0.0156349106122,0.0597676894856,0.999999917544,-0.000158173477201,-0.000370398151352,-5.19547958667e-05,1793192331505330432
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660.966320395,632,877,783,800.932640789,649,628,650,0.445062516456,-0.0156424160719,0.0597537470565,0.999999905294,-0.000177054328181,-0.000394204887872,-5.16420961612e-05,1793192331521997312
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.458239804,743,712,673,661,632,877,782.458239804,800.458239804,649,628.541760196,650,0.445306488992,-0.0156413430666,0.0597544410254,0.999999902167,-0.000192320898288,-0.000394878457469,-5.24401948776e-05,1793192331538663680
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763.707064602,743,711.292935398,673,661,632,877,782,799.292935398,649,628.292935398,649.292935398,0.445750111515,-0.0156397778055,0.0597611200776,0.999999902695,-0.000205040565398,-0.000386882201534,-5.37647653234e-05,1793192331571997184
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,672.709666409,660.709666409,632,877,782.290333591,799.290333591,649,628,649.290333591,0.445945087203,-0.0156453500669,0.0597653667929,0.999999904121,-0.000209493293398,-0.000380781122354,-5.36316319508e-05,1793192331588663808
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711,672.130615821,660.130615821,632,877,782.869384179,799.869384179,649,628,649.869384179,0.446127217414,-0.0156567010834,0.0597693710376,0.999999904685,-0.000217764154938,-0.000374720592264,-5.28421681896e-05,1793192331605330432
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711,672.445446479,660,632,877,782.554553521,800,649,628,650,0.446269267653,-0.015660527526,0.0597649576934,0.999999901298,-0.000219192866991,-0.00038286083175,-5.26848080825e-05,1793192331621997312
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711.020621448,673,660,632,877,782,800,649,628,650,0.446398541242,-0.0156621278999,0.0597579717018,0.999999896586,-0.000218730376896,-0.000395223626091,-5.27486136657e-05,1793192331638663936
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711.595341738,673,660,632,877,782,800,649,628,650,0.446498189736,-0.0156628044239,0.0597477384066,0.999999890121,-0.000221000950097,-0.000409905028591,-5.3808022136e-05,1793192331655330560
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.824982001,743,711.824982001,673,660.175017999,631.824982001,876.824982001,782,799.824982001,649,628,649.824982001,0.446589185816,-0.0156645458423,0.059737285083,0.999999882815,-0.000224271613777,-0.000425516970381,-5.48336697448e-05,1793192331671997184
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.233513219,743,711.233513219,673,660.766486781,631.233513219,876.233513219,782,799.233513219,649,628,649.233513219,0.446659593687,-0.0156688211491,0.059726308209,0.999999873736,-0.000229921966506,-0.000443343104243,-5.57789841208e-05,1793192331688663808
+210,3.500000000,POSE1_TO_POSE2_PRESS,763,743,711.350652115,672.649347885,660.649347885,631,876.350652115,782,799.350652115,649,628,649.350652115,0.446718462496,-0.0156734261946,0.0597160398774,0.999999864186,-0.00023790792889,-0.000460284411063,-5.62661569356e-05,1793192331705330688
+211,3.516666667,POSE1_TO_POSE2_PRESS,763,743,711.930053083,672.069946917,660.069946917,631,876.930053083,782,799.930053083,649,628,649.930053083,0.446769803775,-0.0156782463463,0.0597062337642,0.999999854202,-0.000247417533064,-0.000476648500284,-5.64544599528e-05,1793192331721997056
+212,3.533333333,POSE1_TO_POSE2_PRESS,763,743,712,672,660,631.505804163,876.494195837,782,800,649,628,650,0.446812096521,-0.0156795805941,0.0596991766205,0.999999850098,-0.000247760065801,-0.000484918206964,-5.72046447123e-05,1793192331738663936
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.083069376,742.916930624,712,672.083069376,660,631.916930624,876,782,800,649,628,650,0.446851709417,-0.0156802649427,0.0596932558945,0.999999847199,-0.000247118228415,-0.00049110756509,-5.78677766694e-05,1793192331755330304
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.672622068,742.327377932,712,672.672622068,660,631.327377932,876,782,800,649,628,650,0.4468825577,-0.0156799049037,0.0596919628147,0.999999846825,-0.000248148514974,-0.000491388777592,-5.75297757824e-05,1793192331771997184
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742,712,672.743249536,660,631,876.513500928,782,799.743249536,649,628,650,0.446911585331,-0.0156796779637,0.0596936753501,0.999999848325,-0.000248688122795,-0.000488102252105,-5.71061749314e-05,1793192331788663808
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+217,3.616666667,POSE1_TO_POSE2_PRESS,763.589850045,742.410149955,712,672,660,631,877.589850045,782,799.410149955,649,628,650,0.446959824459,-0.0156784367554,0.0597038403092,0.99999985628,-0.000246757931779,-0.000472653761655,-5.61240566629e-05,1793192331821997056
+218,3.633333333,POSE1_TO_POSE2_PRESS,763.014334009,742.985665991,712,672,660,631,877.014334009,782,799.985665991,649,628,650,0.446979184935,-0.0156768048291,0.0597082306407,0.999999860542,-0.000244181569291,-0.000464960800065,-5.57042235004e-05,1793192331838663680
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+221,3.683333333,POSE1_TO_POSE2_PRESS,763.268098479,743,711.731901521,672.268098479,659.731901521,631,876.268098479,782,800.731901521,649,628,650,0.446995660087,-0.0156762031354,0.0597091257888,0.999999861578,-0.000239886789573,-0.000465079416309,-5.47589765795e-05,1793192331888664320
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+233,3.883333333,POSE1_TO_POSE2_PRESS,763,742.694873266,711,673,660.305126734,631,876,782,799.305126734,649,628,650,0.447019344601,-0.0156689904085,0.0597176346501,0.999999869949,-0.000232259384068,-0.000450909511201,-5.32727908257e-05,1793192332088664576
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+235,3.916666667,POSE1_TO_POSE2_PRESS,763.86038142,743,711.86038142,672.13961858,660,631.86038142,876.86038142,781.13961858,799,649,628,650,0.447022839815,-0.0156704299357,0.059719236823,0.999999870955,-0.000234750601992,-0.000447424145578,-5.28534798948e-05,1793192332121997824
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.563877036,743,712,672,660,631.563877036,877,781.436122964,799,649,628,650,0.447024063326,-0.0156685343611,0.0597194679805,0.999999871917,-0.000232917826213,-0.000446169544578,-5.33663065983e-05,1793192332138664448
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+238,3.966666667,POSE1_TO_POSE2_PRESS,763,743,712,672,659.415961578,631,877,782,799.584038422,649,628,650,0.447025140092,-0.0156677714368,0.0597200154447,0.999999872681,-0.000232292343017,-0.000444770843972,-5.34594680055e-05,1793192332171997440
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,742.836316925,712,672,659.163683075,631,877,782,799.836316925,649,628,650,0.44702516047,-0.0156692551714,0.0597204290104,0.999999872518,-0.000233702097659,-0.000444453295194,-5.29897684903e-05,1793192332188664320
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,742.241602818,712,672,659.758397182,631,877,782,799.241602818,649,628,650,0.447025375168,-0.0156694762863,0.0597209653528,0.999999872919,-0.000232630025709,-0.000444137103836,-5.27931163913e-05,1793192332205330944
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,742.341841829,711.658158171,672,660,631,877,782,799,649,628,650,0.447026194164,-0.0156685833893,0.0597210575082,0.999999873379,-0.000231909178135,-0.000443481053041,-5.27620190632e-05,1793192332221997568
+242,4.033333333,POSE1_TO_POSE2_PRESS,763,742.917575756,711.082424244,672,660,631,877,782,799,649,628,650,0.447027426627,-0.0156669282725,0.0597208457456,0.99999987388,-0.000231428642352,-0.000442592466536,-5.28441962162e-05,1793192332238664192
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.493869089,743,711.493869089,672.493869089,659.506130911,631,876.506130911,781.506130911,799.493869089,648.506130911,627.506130911,650,0.447027856705,-0.0156661264985,0.0597209375602,0.99999987438,-0.000229695630693,-0.000442347659514,-5.30039515009e-05,1793192332255331072
+244,4.066666667,HOLD_POSE2,763,742,712,672,660,631,876,782,799,649,628,650,0.447028985273,-0.0156656038428,0.0597223862601,0.999999875137,-0.000227949816449,-0.000441561827661,-5.27994310543e-05,1793192332298255104
+245,4.083333333,HOLD_POSE2,763,742.576592426,712,672.576592426,660,631.576592426,876.576592426,782,799,649,628,650,0.447027251778,-0.0156666051437,0.0597210504404,0.999999873908,-0.000229663904532,-0.000443453391956,-5.28027951077e-05,1793192332314921728
+246,4.100000000,HOLD_POSE2,763.153225072,743,711.846774928,673,660,631.846774928,877.153225072,782,799.153225072,649,628,650,0.447026053399,-0.0156673190988,0.0597201096007,0.999999873005,-0.000230813346131,-0.000444898018836,-5.27258565883e-05,1793192332331588352
+247,4.116666667,HOLD_POSE2,763.72996902,743,711.27003098,673,660,631.27003098,877.72996902,782,799.72996902,649,628,650,0.447026334099,-0.0156672388213,0.0597202604975,0.999999873023,-0.000230402087644,-0.000445107297208,-5.24269592567e-05,1793192332348255232
+248,4.133333333,HOLD_POSE2,764,742.692986764,711.307013236,673,660,631,877.692986764,782,800,649,628,650,0.447027478927,-0.0156667078507,0.0597206801715,0.999999873447,-0.000229785930718,-0.000444477321556,-5.23952220754e-05,1793192332364921600
+249,4.150000000,HOLD_POSE2,764,742.115678226,711.884321774,673,660,631,877.115678226,782,800,649,628,650,0.447029384536,-0.0156657800886,0.0597213364776,0.999999874226,-0.000228989380667,-0.000443108464325,-5.25986934479e-05,1793192332381588224
+250,4.166666667,HOLD_POSE2,763.528771341,742,712,672.528771341,660,631,876.528771341,782,799.528771341,649,628,650,0.447029052946,-0.0156649881945,0.059721355572,0.999999874222,-0.000228722229965,-0.000443220120245,-5.28996628228e-05,1793192332398255104
+251,4.183333333,HOLD_POSE2,763.059691863,742,712,672,660,631,876,781.940308137,799.059691863,649,628,650,0.447028235835,-0.015664412167,0.0597211881998,0.999999874019,-0.000228656079653,-0.000443684631816,-5.31195295604e-05,1793192332414921472
+252,4.200000000,HOLD_POSE2,763.640740741,742,712,672,660,631,876,781.359259259,799.640740741,649,628,650,0.447028074576,-0.0156654241788,0.0597207868394,0.999999873799,-0.000229186821887,-0.000443990700513,-5.24176450913e-05,1793192332431588096
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+256,4.266666667,HOLD_POSE2,763,742.93908738,712,672.93908738,660,632,877,782,800,649,628,650,0.447031951144,-0.0156654211323,0.0597242069908,0.999999875611,-0.000229909427096,-0.000439592569939,-5.17502302634e-05,1793192332498254848
+257,4.283333333,HOLD_POSE2,763,742.468024665,712,673,660,631.468024665,877,781.468024665,799.468024665,649,628,650,0.447030894204,-0.0156642795231,0.0597232793609,0.999999875485,-0.000228094553613,-0.000440783865287,-5.20855119805e-05,1793192332514921728
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711.166257558,671.833742442,660,632.166257558,876.833742442,783,799,648.833742442,628.833742442,650,0.420863697426,-0.0153985101702,0.0598249028521,0.999999944092,0.000163038484538,-0.00029124119967,2.03438549816e-05,1793192333586100736
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,762.00384909,742,711.99615091,671.00384909,660,633,876.00384909,783,799.99615091,648,628.00384909,650,0.418949738065,-0.0153946901928,0.0597091028409,0.999999868105,0.000164007672761,-0.000486631156328,9.06129169204e-06,1793192333619433984
+323,5.383333333,POSE2_TO_POSE3_RETREAT,762.582953936,742,711.417046064,671.582953936,660,633,876.582953936,783,799.417046064,648,628.582953936,650,0.418122316223,-0.0153984850767,0.0597299990018,0.999999894596,0.000163263548098,-0.000429004961572,1.03575258118e-05,1793192333636100608
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,711,671.83879165,660,633,876.83879165,783,799,648.16120835,628.83879165,650,0.417300152262,-0.0154010196297,0.0597575250767,0.999999917709,0.000163595224827,-0.00037101465361,1.28838256541e-05,1793192333652767488
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.262725791,660,633,876.262725791,783,799,648.737274209,628.262725791,650,0.416491519109,-0.015400310816,0.0598021127332,0.999999937235,0.000166695396035,-0.000312087333539,1.85756066669e-05,1793192333669434112
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711.476704356,671,660,633,876,783,799.476704356,649,628,650,0.414077303744,-0.0153982392004,0.0598403893972,0.999999943452,0.00018391078868,-0.000280482076069,2.45434891567e-05,1793192333719433728
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742.645197012,711.354802988,671,660,633,876,783,800,649,628,650,0.412461215714,-0.0153905838956,0.0598029423532,0.999999921999,0.000192123783906,-0.000344427678499,2.144794111e-05,1793192333752766976
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.223786346,742.776213654,711,671,660.223786346,633,876,783,799.776213654,648.776213654,628,650,0.411669608328,-0.0153845559035,0.059768294615,0.999999899873,0.000197401297033,-0.000401217476589,1.76668497506e-05,1793192333769433856
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.051597638,742,711,671.948402362,660.051597638,633,876,783,799,648.948402362,628.948402362,650,0.409640135389,-0.0153852041786,0.0597860718013,0.999999917801,0.000201228853645,-0.000351536707292,1.807103579e-05,1793192333819433984
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.460470319,660,633,876,783,799,648.460470319,628.460470319,650.539529681,0.409024463046,-0.0153897828327,0.0598266522276,0.999999938201,0.000193486758655,-0.000292654628045,2.26938399944e-05,1793192333836100352
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,632.871447833,876,783,799,648.128552167,628,650.871447833,0.408414005117,-0.015393052271,0.0598577814957,0.999999951372,0.000187663531532,-0.000247691748951,2.6209871885e-05,1793192333852767232
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,632.295410107,876,783,799,648.704589893,628,650.295410107,0.407819488158,-0.0153917152161,0.0598554449761,0.999999950278,0.000192844601737,-0.000248163090544,2.58896730332e-05,1793192333869433856
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742,711.280518571,671,660,632.280518571,876,783,799,649,628,650,0.407237281649,-0.0153887979458,0.0598444886797,0.999999945486,0.000195465512279,-0.000265006593095,2.4328018653e-05,1793192333886100480
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,876,783,799,649,628,650,0.406165027178,-0.015382674613,0.0598205311773,0.999999935308,0.000199502418601,-0.000298623839098,2.01737357363e-05,1793192333919433984
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763,742,711.968549764,670.968549764,660,633,876,783,799,649,628.031450236,650,0.405684911451,-0.0153821297704,0.0598219782914,0.999999937613,0.000204683845927,-0.00028722649565,1.94786669271e-05,1793192333936100608
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763,742,711.38937555,670.38937555,660,633,876,783,799,649,628.61062445,650,0.405219937631,-0.0153813713839,0.0598237928942,0.999999938229,0.000204275929164,-0.000285338295197,1.99074078927e-05,1793192333952767232
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711.178612023,671,659.178612023,632.821387977,876,783,799.178612023,649,628,650,0.402301359177,-0.0153733920597,0.0598325909452,0.999999936402,0.000239446985224,-0.00026267791291,2.93630506596e-05,1793192334102767360
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,659.405452709,633,875.594547291,783,799,649,628,650,0.402105479018,-0.0153679733758,0.0598352094037,0.999999935464,0.000245000049402,-0.000260992884925,3.05028073943e-05,1793192334119433728
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,659.993167707,633,875.006832293,783,799,649,628,650,0.401916220444,-0.0153608412278,0.0598329469859,0.99999993211,0.000251290940536,-0.000267734542003,3.08500250899e-05,1793192334136100352
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,763,742,711.151511928,671,659.848488072,633,876,783,799,649,628,650,0.401596712093,-0.0153657305559,0.0598226980826,0.999999923692,0.000258796231681,-0.000291068782811,3.03149634904e-05,1793192334169433856
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,742,711.729775741,671,659.270224259,633,876,783,799,649,628,650,0.401474106812,-0.0153735129459,0.0598225156214,0.999999912468,0.000297441669078,-0.000292772736126,2.96042630476e-05,1793192334186100480
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763,742,711.694617511,671,659.305382489,633,876,783,799,648.694617511,628,650,0.401368986987,-0.0153832388559,0.0598233880024,0.999999920827,0.000268462256272,-0.000292990544175,2.07321591875e-05,1793192334202767872
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742,711.121341677,671,659.878658323,633,876,783,799,648.121341677,628,650,0.401279206086,-0.0153946696962,0.0598251857317,0.999999941156,0.000180159702645,-0.000291904646427,4.70055616291e-06,1793192334219435264
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,763,742,711.064096956,670,659,633,875,783,799,648.064096956,628,650,0.400981414182,-0.0153854688956,0.0598274002081,0.999999943574,0.000169956601764,-0.000289739862003,4.26145152278e-06,1793192334336101376
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763,742,711,670.527612836,659.527612836,633,875.527612836,783,799.527612836,648.527612836,628,650,0.400971321168,-0.0153850099499,0.0598275237744,0.999999943426,0.000171726030557,-0.00028920074811,4.65147853301e-06,1793192334352768000
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,876,783,799.24687427,649,628,650,0.400954632937,-0.0153852300972,0.0598334492427,0.999999945544,0.000175547000698,-0.000279395991523,5.82392708312e-06,1793192334502767616
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_05/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..06c70c295aade3f2b2aaa8c605bf97e55a1ad850
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,399 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_05/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dc5daabd104dca08330775a3fda7bd7d61b4a969
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45f4c72c04f603074a5f8b8be23bb2f3f85aa8702609ee0c4b82ab83c74bb73f
+size 25418238
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d005384e553318e3eba3c51bf821676afee0168e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_05/franka_data.csv
@@ -0,0 +1,402 @@
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+15,0.250000000,BASELINE,763,742,711,670.309150799,660,632.309150799,875.309150799,783,798.618301598,648.309150799,628,650,0.400955889945,-0.0153910646177,0.0598393634405,0.999999948283,0.000173490794102,-0.000270695568496,7.61080027216e-06,1793192335247961856
+16,0.266666667,BASELINE,763.272719317,742,711.272719317,670.272719317,660,632.272719317,875,783,798.272719317,648.272719317,628,650,0.400956893872,-0.0153905674942,0.0598397626878,0.999999948418,0.000174000794965,-0.000269874605167,7.40261300982e-06,1793192335264628480
+17,0.283333333,BASELINE,763.863007735,742,711.863007735,670.863007735,660,632.863007735,875,783,798.863007735,648.863007735,628,650,0.400956902138,-0.01538705634,0.0598393684764,0.999999947544,0.000179082751247,-0.000269794831938,7.19894683058e-06,1793192335281295104
+18,0.300000000,BASELINE,764,742,711.555860793,670.555860793,659.555860793,633,875.444139207,783,799,649,628,650,0.400955267771,-0.0153866022357,0.0598387749416,0.999999947559,0.000177233326668,-0.000270966224559,6.89571715716e-06,1793192335297961984
+19,0.316666667,BASELINE,763.977577666,742,711.022422334,670.022422334,659,633,875.977577666,783,799,649,628,650,0.40095324043,-0.0153871132921,0.0598381348799,0.999999947812,0.000173492802317,-0.000272458429297,6.58684385853e-06,1793192335314629120
+20,0.333333333,BASELINE,763.401294894,742,711.598705106,670.598705106,659,633,875.401294894,783,799,649,628,650,0.400953768497,-0.0153886439849,0.0598378335045,0.999999947564,0.000174782886218,-0.000272535072647,6.88181351205e-06,1793192335331296000
+21,0.350000000,BASELINE,763,741.821804617,712,671,659,633,875.178195383,783,799,649,628.178195383,650,0.400954507807,-0.015389434408,0.0598379129106,0.999999947573,0.000175385469309,-0.00027211008104,7.037717985e-06,1793192335347962624
+22,0.366666667,BASELINE,763,741.234958741,712,671,659,633,875.765041259,783,799,649,628.765041259,650,0.400955731552,-0.0153885271911,0.0598388655522,0.999999948172,0.000174411425824,-0.000270534703991,6.87470812387e-06,1793192335364628736
+23,0.383333333,BASELINE,763,741.34718278,711.65281722,671,659,632.65281722,875.65281722,783.34718278,799,649,628.65281722,650,0.400956058633,-0.0153878607712,0.0598390872949,0.99999994795,0.000176178011152,-0.000270212444095,6.81599780415e-06,1793192335381295360
+24,0.400000000,BASELINE,763,741.926183213,711.073816787,671,659,632.073816787,875.073816787,783.926183213,799,649,628.073816787,650,0.400955787,-0.0153873551339,0.0598388210087,0.999999947171,0.000179774543525,-0.000270726903755,6.8269293865e-06,1793192335397961984
+25,0.416666667,BASELINE,763,742,711,670.494674228,659,632.505325772,875,783.494674228,799,649,628,650,0.400956106112,-0.0153886509456,0.0598392428085,0.999999947855,0.000176924309851,-0.000270070096388,6.99800585896e-06,1793192335414628352
+26,0.433333333,BASELINE,763.083719892,742,711.083719892,670.083719892,659,633,875.083719892,783,799,649,628,650,0.400956581263,-0.0153899222251,0.0598397730321,0.99999994859,0.000174024649739,-0.000269226786912,7.1829411879e-06,1793192335431294976
+27,0.450000000,BASELINE,763.657610636,742,711.657610636,670.657610636,659,633,875.657610636,783,799,649,628,650,0.400957464621,-0.0153895087167,0.0598403494019,0.999999948433,0.000176350869262,-0.000268293557256,7.31201326817e-06,1793192335447962112
+28,0.466666667,BASELINE,763.762628303,741.762628303,711.762628303,671,659,633,875.762628303,783,799,648.762628303,628,650,0.400957531843,-0.0153892955319,0.0598404777271,0.999999948488,0.000176437180439,-0.000268032709894,7.29076215922e-06,1793192335464628992
+29,0.483333333,BASELINE,763.174185111,741.174185111,711.174185111,671,659,633,875.174185111,783,799,648.174185111,628,650,0.400956392003,-0.015389378625,0.0598399433969,0.999999948857,0.000173210678774,-0.000268766312471,7.0471838337e-06,1793192335481295872
+30,0.500000000,BASELINE,763,741.409898878,711,671,659,633,875.409898878,783,799,648.409898878,628,650,0.400956655479,-0.0153887674519,0.0598402684409,0.999999948735,0.000174525836101,-0.000268365537892,7.10268960897e-06,1793192335497962240
+31,0.516666667,BASELINE,763,741.992149917,711,671,659,633,875.992149917,783,799,648.992149917,628,650,0.400957509015,-0.0153878643574,0.0598409548302,0.999999948401,0.00017775064681,-0.000267487786249,7.28395272732e-06,1793192335514628352
+32,0.533333333,BASELINE,763,741.433157914,711,671,659.566842086,633,875.433157914,783,799,649,628,650,0.400955502581,-0.0153895968245,0.059839663961,0.999999948172,0.000176512558075,-0.000269151119669,7.59150132289e-06,1793192335531294976
+33,0.550000000,BASELINE,763,741.141215879,711,671,659.858784121,633,875.141215879,783,799.141215879,648.858784121,628,650,0.400954228428,-0.015390600119,0.0598387206949,0.999999947902,0.000176056507735,-0.000270443642032,7.76020801268e-06,1793192335547961856
+34,0.566666667,BASELINE,763,741.714930863,711,671,659.285069137,633,875.714930863,783,799.714930863,648.285069137,628,650,0.400955316721,-0.0153892598756,0.059838924787,0.999999947514,0.000178182391754,-0.000270494127919,7.49840041746e-06,1793192335564628736
+35,0.583333333,BASELINE,763,742,711.298780813,671,659,633,876,783,800,648.298780813,628,650,0.40095558962,-0.0153887687255,0.0598395293451,0.999999947588,0.000178349093468,-0.000270109342622,7.49736234381e-06,1793192335581295360
+36,0.600000000,BASELINE,763,742,711.892640212,671,659,633,876,783,800,648.892640212,628,650,0.400955057227,-0.0153891161472,0.0598405294069,0.99999994812,0.000176580889581,-0.000269294679642,7.75386253633e-06,1793192335597962240
+37,0.616666667,BASELINE,763,742,712,671,659,633,875.528034486,783,799.528034486,649,628,650.471965514,0.400954365128,-0.0153898059072,0.0598400408912,0.999999948145,0.000175309323005,-0.000270025910266,7.86707455316e-06,1793192335614628864
+38,0.633333333,BASELINE,763.047881699,742,711.952118301,671,659,633,875.047881699,783,799,648.952118301,628,650.952118301,0.400953912178,-0.0153904752006,0.0598393916268,0.999999948099,0.000174352873202,-0.000270815484892,7.91502011239e-06,1793192335631295232
+39,0.650000000,BASELINE,763.621582643,742,711.378417357,671,659,633,875.621582643,783,799,648.378417357,628,650.378417357,0.400956472517,-0.0153900901128,0.0598405845055,0.999999948498,0.000175653365749,-0.000268499445797,7.59347879254e-06,1793192335647961600
+40,0.666666667,BASELINE,763.79856946,742,711.20143054,671,659,633,876,783,799,648,628,650,0.400957453888,-0.0153897415108,0.0598411766506,0.999999948671,0.00017614351506,-0.000267538406317,7.37225333521e-06,1793192335664628480
+41,0.683333333,BASELINE,763.20681013,742,711.79318987,671,659,633,876,783,799,648,628,650,0.400955375561,-0.0153894636104,0.0598406047041,0.999999948414,0.000175063394492,-0.00026920306295,7.34541832627e-06,1793192335681295360
+42,0.700000000,BASELINE,763,742,711.623475553,671,659,633,876,783,799.376524447,648.376524447,628,650,0.400955414412,-0.0153891928667,0.0598404922334,0.999999948383,0.000175458852004,-0.000269060596835,7.37693089266e-06,1793192335697961984
+43,0.716666667,BASELINE,763,742,711.04466711,671,659,633,876,783,799.95533289,648.95533289,628,650,0.400956590696,-0.015388925968,0.0598406266114,0.999999948472,0.00017664704913,-0.000267947272027,7.43979011169e-06,1793192335714628352
+44,0.733333333,BASELINE,763.529556697,742,711.529556697,670.470443303,659,633,876,783,799.470443303,649,628,650,0.400955043954,-0.0153891040408,0.0598399068738,0.999999947701,0.000178340241646,-0.000269693029129,7.62210791945e-06,1793192335731295232
+45,0.750000000,BASELINE,763.896630194,742,711.896630194,670.103369806,659.103369806,633,876,783,799,649,628,650.103369806,0.400953736011,-0.0153891013819,0.0598392144414,0.999999947047,0.000179549427908,-0.000271310353827,7.66618648429e-06,1793192335747962112
+46,0.766666667,BASELINE,763.322941514,742,711.322941514,670.677058486,659.677058486,633,876,783,799,649,628,650.677058486,0.400954550634,-0.0153881071157,0.0598389712171,0.999999947279,0.000178364309564,-0.000271255507765,7.03584336475e-06,1793192335764628736
+47,0.783333333,BASELINE,763,742,711.260197375,671,659.739802625,633,876,783,799.260197375,649,628,650.739802625,0.400954693446,-0.0153877632398,0.0598389607234,0.999999947463,0.00017759600394,-0.000271086956307,6.72325091086e-06,1793192335781295104
+48,0.800000000,BASELINE,763,742,711.85550743,671,659.14449257,633,876,783,799.85550743,649,628,650.14449257,0.400953971022,-0.0153882570126,0.0598392499675,0.999999947589,0.000177364518432,-0.000270771961707,6.81989492335e-06,1793192335797961728
+49,0.816666667,BASELINE,763,742,712,670.563754578,659,633,876,783,799.563754578,648.563754578,628,650,0.400954607855,-0.0153896403453,0.0598395156859,0.9999999481,0.000175124100817,-0.000270337501822,6.9789939067e-06,1793192335814628096
+50,0.833333333,BASELINE,763.012310365,742,711.987689635,670.012310365,659,633,876,783,799,648,628.012310365,650,0.400955644044,-0.0153912447734,0.0598397594622,0.999999948702,0.000172352199465,-0.000269886915392,7.15566598605e-06,1793192335831295232
+51,0.850000000,BASELINE,763.588261375,742,711.411738625,670.588261375,659,633,876,783,799,648,628.588261375,650,0.400955018072,-0.0153899180218,0.0598393438475,0.999999948137,0.00017472679505,-0.000270451105134,7.22041534573e-06,1793192335847961856
+52,0.866666667,BASELINE,763.831945962,741.831945962,711.168054038,671,659,633,875.831945962,783,799,648.168054038,628.831945962,650,0.400954794358,-0.0153892983588,0.059839259141,0.999999947876,0.000176185964811,-0.00027046733989,7.34195506691e-06,1793192335864628224
+53,0.883333333,BASELINE,763.242520948,741.242520948,711.757479052,671,659,633,875.242520948,783,799,648.757479052,628.242520948,650,0.400955579245,-0.0153904516174,0.0598400041383,0.999999948387,0.000175349837756,-0.000269109657448,7.60588832895e-06,1793192335881294848
+54,0.900000000,BASELINE,763.33974104,741.33974104,712,670.66025896,659.33974104,633,875.33974104,783,799,649,628.33974104,650.33974104,0.400956145478,-0.015390939508,0.0598404315953,0.999999948611,0.000174941518017,-0.000268539641647,7.72008917222e-06,1793192335897961728
+55,0.916666667,BASELINE,763.916995326,741.916995326,712,670.083004674,659.916995326,633,875.916995326,783,799,649,628.916995326,650.916995326,0.40095655885,-0.0153909622391,0.0598406370596,0.999999948635,0.000174832278767,-0.00026852028431,7.72961194533e-06,1793192335914628352
+56,0.933333333,BASELINE,763.50595752,742,711.50595752,670.49404248,659.50595752,633,875.50595752,783.49404248,799,649,628.50595752,650.50595752,0.400955781857,-0.0153899551925,0.0598404230481,0.999999948203,0.000176478577136,-0.000269064127661,7.35446945251e-06,1793192335931294976
+57,0.950000000,BASELINE,763,742,711,670.929293884,659,633,875.070706116,783.929293884,799,649,628,650,0.400954912182,-0.0153889115981,0.0598401672261,0.999999947761,0.00017806443946,-0.00026967102026,6.99685076388e-06,1793192335947961600
+58,0.966666667,BASELINE,763,742,711,670.355113732,659,633,875.644886268,783.355113732,799,649,628,650,0.400954806058,-0.0153888392189,0.0598401153149,0.999999947824,0.000177120598705,-0.000270053361734,7.22401483825e-06,1793192335964628224
+59,0.983333333,BASELINE,763,742,711.225854904,670.225854904,659,633,875.774145096,783,799.225854904,649,628,650,0.400955909456,-0.0153894454777,0.0598407383865,0.999999948403,0.000175828933604,-0.000268744398122,7.44560836171e-06,1793192335981294592
+60,1.000000000,BASELINE,763,742,711.817827984,670.817827984,659,633,875.182172016,783,799.817827984,649,628,650,0.400958973527,-0.0153911518306,0.059842455627,0.999999949806,0.000173973433731,-0.000264693773793,7.65817187589e-06,1793192335997961472
+61,1.016666667,BASELINE,763,742,712,671,659,633,875.399129939,783,800,648.600870061,628,650,0.400958075272,-0.015390435459,0.0598419630235,0.999999949427,0.000174769645602,-0.000265597719274,7.68900447893e-06,1793192336014628096
+62,1.033333333,BASELINE,763,742,712,671,659,633,875.975688142,783,800,648.024311858,628,650,0.400955415615,-0.0153886420952,0.059840488061,0.999999948251,0.000176744643152,-0.000268704157559,7.6390508465e-06,1793192336031294976
+63,1.050000000,BASELINE,763.550798388,742,711.449201612,671,659,633,875.449201612,783,799.449201612,648,628,650,0.400955669255,-0.0153886640232,0.059840542393,0.999999948513,0.000175188216333,-0.000268765268348,6.93874101121e-06,1793192336047962112
+64,1.066666667,BASELINE,763.870871024,742,711.129128976,670.870871024,659.129128976,633,875.129128976,783,799,648.129128976,628,650,0.400956305182,-0.0153889119644,0.0598407803934,0.999999948801,0.000174264863503,-0.000268302327055,6.53628426505e-06,1793192336064629248
+65,1.083333333,BASELINE,763.280817959,742,711.719182041,670.280817959,659.719182041,633,875.719182041,783,799,648.719182041,628,650,0.40095784788,-0.0153896813983,0.0598414336798,0.999999948961,0.000176156193028,-0.000266447336572,7.29920799555e-06,1793192336081295616
+66,1.100000000,BASELINE,763,742,711.69649079,670,660,633,876,783,799,649,628,650,0.400957633987,-0.0153903477415,0.0598413315928,0.999999948922,0.000176151475103,-0.000266584833208,7.65002764728e-06,1793192336097961984
+67,1.116666667,BASELINE,763,742,711.117363367,670,660,633,876,783,799,649,628,650,0.400955824926,-0.0153909204676,0.0598405435473,0.999999948704,0.000174424947013,-0.00026853171735,7.62661350666e-06,1793192336114628608
+68,1.133333333,BASELINE,763,742,711,670,660,633,875.540237966,783,799,649,628,650,0.400955166414,-0.0153910537096,0.0598402673356,0.999999948546,0.000174179711911,-0.000269281220846,7.61594873982e-06,1793192336131295232
+69,1.150000000,BASELINE,763.035932572,742,711.035932572,670.035932572,659.964067428,633,875.035932572,783,799.035932572,648.964067428,628,650,0.400954876419,-0.0153910596744,0.0598401542473,0.999999948438,0.000174260973236,-0.000269626274849,7.60221735223e-06,1793192336147961600
+70,1.166666667,BASELINE,763.605478853,742,711.605478853,670.605478853,659.394521147,633,875.605478853,783,799.605478853,648.394521147,628,650,0.400955716372,-0.0153908343203,0.0598405317312,0.999999948861,0.000173599809523,-0.00026848451102,7.49482378283e-06,1793192336164628480
+71,1.183333333,BASELINE,763.817031346,741.817031346,711.817031346,670.817031346,659.182968654,633,875.817031346,783,799.817031346,648,628,650,0.400956503881,-0.0153902963024,0.0598408730899,0.999999949058,0.000173753089377,-0.000267652588711,7.41958290073e-06,1793192336181295360
+72,1.200000000,BASELINE,763.221636075,741.221636075,711.221636075,670.221636075,659.778363925,633,875.221636075,783,799.221636075,648,628,650,0.400957173178,-0.0153890535141,0.0598411330192,0.999999948747,0.000175742192866,-0.000267519074822,7.41681683801e-06,1793192336197962240
+73,1.216666667,BASELINE,763,741.363795038,711.363795038,670.363795038,659.636204962,633,875.727590076,783,799,648,628,650,0.400957226439,-0.0153889406201,0.0598412027596,0.999999948581,0.000176353598129,-0.000267739186646,7.22815683283e-06,1793192336214628608
+74,1.233333333,BASELINE,763,741.943317455,711.943317455,670.943317455,659.056682545,633,876.88663491,783,799,648,628,650,0.400956914395,-0.015389497744,0.0598411597196,0.999999948505,0.000176148039882,-0.000268168995532,6.929263293e-06,1793192336231295232
+75,1.250000000,BASELINE,763,742,712,671,659,633,876.481850932,783,799,648,628,650,0.400956186213,-0.0153912171351,0.059841095545,0.999999948756,0.000174491716374,-0.000268305418003,7.29941573623e-06,1793192336247962112
+76,1.266666667,BASELINE,763.092567337,742,711.907432663,671,659,633,875.907432663,783,799,648.092567337,628,650,0.400955668025,-0.0153926560571,0.059841045378,0.999999949053,0.000172925382675,-0.00026820127154,7.63702103272e-06,1793192336264628480
+77,1.283333333,BASELINE,763.667481654,742,711.332518346,671,659,633,875.332518346,783,799,648.667481654,628,650,0.400956479144,-0.0153919769377,0.0598410801404,0.999999949422,0.000172647522897,-0.000267009314152,7.42707713888e-06,1793192336281295360
+78,1.300000000,BASELINE,763.75034353,742,711.24965647,671,659.24965647,633,875,783,799,649,628.24965647,650,0.400957024431,-0.0153912149558,0.0598410070357,0.999999949524,0.000172912942383,-0.000266454896081,7.35696086659e-06,1793192336297961728
+79,1.316666667,BASELINE,763.158208822,742,711.841791178,671,659.841791178,633,875,783,799,649,628.841791178,650,0.400957205049,-0.0153903393034,0.059840785959,0.999999949263,0.000173923631279,-0.000266775053247,7.47865985844e-06,1793192336314628352
+80,1.333333333,BASELINE,763.423293695,741.576706305,712,670.576706305,659.576706305,632.576706305,875,783,799,649,628.576706305,650,0.400956780154,-0.0153909851297,0.0598407321626,0.999999949146,0.000173637237827,-0.000267393846963,7.62180460646e-06,1793192336331295488
+81,1.350000000,BASELINE,764,741.000896926,711.999103074,670.000896926,659,632.000896926,875.001793852,783,799,649,628.000896926,650,0.400956135648,-0.0153921816298,0.0598407399033,0.999999949081,0.000172883387907,-0.000268120377094,7.77218886748e-06,1793192336347962624
+82,1.366666667,BASELINE,764,741.564172313,711.435827687,670.564172313,659,632.564172313,876.128344626,783,799,649,628.564172313,650,0.400956218095,-0.0153908353083,0.0598410905041,0.999999948616,0.000175551838706,-0.00026812826473,7.55916352658e-06,1793192336364628992
+83,1.383333333,BASELINE,763.863740424,742,711.136259576,670.863740424,659.136259576,633,876.863740424,783,799.136259576,649,628.863740424,650,0.40095635923,-0.0153900129469,0.0598412119565,0.999999948306,0.000177284409485,-0.000268149266011,7.41357871324e-06,1793192336381295360
+84,1.400000000,BASELINE,763.261519392,742,711.738480608,670.261519392,659.738480608,633,876.261519392,783,799.738480608,649,628.261519392,650,0.400956701058,-0.0153909823508,0.059840549799,0.999999948546,0.000175816589264,-0.000268215111513,7.49861753552e-06,1793192336397961728
+85,1.416666667,BASELINE,763.328299391,742,712,670.328299391,660,633,876,783,799.671700609,649,628,650.328299391,0.40095725976,-0.0153907451698,0.0598410406413,0.999999948778,0.000175643247674,-0.000267462823588,7.53302654998e-06,1793192336414628352
+86,1.433333333,BASELINE,763.908598289,742,712,670.908598289,660,633,876,783,799.091401711,649,628,650.908598289,0.400957984932,-0.0153895818255,0.0598424165155,0.999999949002,0.000176463535721,-0.000266082544178,7.52857259779e-06,1793192336431294976
+87,1.450000000,BASELINE,763.516111836,742,712,671,660,633,876,783,799,649,628,650.516111836,0.400956772067,-0.015389646028,0.0598417510728,0.999999948633,0.000176707883709,-0.000267302991157,7.54749939107e-06,1793192336447961600
+88,1.466666667,BASELINE,763,742,711.941684495,671,660,632.941684495,875.941684495,783,799,649,628,650,0.400955297386,-0.0153899094796,0.0598408050125,0.999999948213,0.000176824410171,-0.000268794985234,7.55969265012e-06,1793192336464628224
+89,1.483333333,BASELINE,763,742,711.366602017,671,660,632.366602017,875.366602017,783,799,649,628,650,0.400954713385,-0.0153899048963,0.0598407541177,0.999999948334,0.000176762404996,-0.000268384653851,7.47348101589e-06,1793192336481295104
+90,1.500000000,BASELINE,763,742,711,670.785758958,660,632.214241042,875.214241042,783,799,648.785758958,628,650,0.400954461791,-0.0153900585422,0.0598406061942,0.999999948353,0.000176588184556,-0.000268431370482,7.4728381472e-06,1793192336497962240
+91,1.516666667,BASELINE,763,742,711,670.194786281,660,632.805213719,875.805213719,783,799,648.194786281,628,650,0.400954794719,-0.0153904904258,0.0598402876506,0.999999948188,0.00017621663946,-0.000269281782115,7.6226634739e-06,1793192336514628864
+92,1.533333333,BASELINE,763,742,711,670.388001257,659.611998743,633,875.611998743,782.611998743,799,648,628,650,0.400954971077,-0.0153904860825,0.0598402012327,0.999999948317,0.000175301687398,-0.000269403020544,7.57602744381e-06,1793192336531295232
+93,1.550000000,BASELINE,763,742,711,670.966764597,659.033235403,633,875.033235403,782.033235403,799,648,628,650,0.400955070457,-0.0153902672667,0.0598402289402,0.999999948588,0.000174119567498,-0.000269165758666,7.4328005605e-06,1793192336547961856
+94,1.566666667,BASELINE,763.541587221,741.458412779,711,670.458412779,659,633,875.541587221,782.541587221,799,648,628,650,0.400956845855,-0.0153897269892,0.0598413173494,0.999999948978,0.00017533745607,-0.00026691675724,7.4944854306e-06,1793192336564628480
+95,1.583333333,BASELINE,763.88123791,741.11876209,711.11876209,670,659.11876209,633,876,783,799,648.11876209,628,650,0.400957984168,-0.0153895077666,0.0598420788294,0.999999949291,0.000176026984884,-0.000265284244203,7.52212973713e-06,1793192336581295360
+96,1.600000000,BASELINE,763.293833388,741.706166612,711.706166612,670,659.706166612,633,876,783,799,648.706166612,628,650,0.40095620558,-0.0153906327276,0.0598412952266,0.999999949296,0.0001740545947,-0.000266568068121,7.3661856407e-06,1793192336597961984
+97,1.616666667,BASELINE,763.290122254,742,712,670,660,633,876,783,799,649,628,650,0.400955299274,-0.015391294898,0.0598408353721,0.999999949138,0.000173318932493,-0.00026763981889,7.35783288254e-06,1793192336614628864
+98,1.633333333,BASELINE,763.870625899,742,712,670,660,633,876,783,799,649,628,650,0.400955266027,-0.0153914938643,0.0598406995551,0.999999948819,0.000173821103024,-0.000268499307012,7.49720330044e-06,1793192336631295488
+99,1.650000000,BASELINE,763.552528841,742,712,670.447471159,659.552528841,633,876,783,799.447471159,648.552528841,628,650,0.400955774171,-0.0153915193791,0.0598405329827,0.999999948926,0.000173994880204,-0.000267987720851,7.48340879399e-06,1793192336647961856
+100,1.666666667,BASELINE,763,742,712,670.976790802,659.023209198,633,876,783,800,648.023209198,628,650,0.400956393509,-0.015391480525,0.0598403951361,0.999999949136,0.000174090251512,-0.000267142590264,7.4342351514e-06,1793192336664628736
+101,1.683333333,BASELINE,763,742,712,670.40243169,659.59756831,633,876,783,800,648.59756831,628,650,0.400955966429,-0.0153910943284,0.0598411488921,0.9999999489,0.000174560117822,-0.000267713964458,7.58798521058e-06,1793192336681295360
+102,1.700000000,BASELINE,763,742,711.823260906,670,659.823260906,633,875.823260906,783.176739094,799.823260906,649,628.176739094,650,0.400955526925,-0.0153911513711,0.0598417056345,0.999999948748,0.000174699588944,-0.00026818818104,7.7352046164e-06,1793192336697961984
+103,1.716666667,BASELINE,763,742,711.232827493,670,659.232827493,633,875.232827493,783.767172507,799.232827493,649,628.767172507,650,0.400955058344,-0.0153922459065,0.0598418012258,0.999999948791,0.000174065701891,-0.000268434980107,7.86713765895e-06,1793192336714628608
+104,1.733333333,BASELINE,763,742,711.351788312,670.351788312,659,633,875,783.648211688,799,648.648211688,628.648211688,650,0.400955807424,-0.0153921933128,0.0598419439751,0.999999948932,0.000175040336098,-0.000267275139333,7.7479490983e-06,1793192336731294976
+105,1.750000000,BASELINE,763,742,711.932616487,670.932616487,659,633,875,783.067383513,799,648.067383513,628.067383513,650,0.40095734929,-0.0153913938545,0.0598421174278,0.999999949131,0.000177062234968,-0.000265199473397,7.46526206112e-06,1793192336747961600
+106,1.766666667,BASELINE,763,742,712,670.49242476,659,632.49242476,875.50757524,783,799.50757524,648.50757524,628,650,0.400958071331,-0.0153921491078,0.0598428134613,0.999999949891,0.000174700939536,-0.000263894091758,7.57454600406e-06,1793192336764628736
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,671,660,633,876,783,799,648,628,650,0.400956441637,-0.0153891981198,0.0598403466426,0.999999948852,0.000175577644181,-0.000267238673354,7.22737721496e-06,1793192336807895296
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742,711,671,659.406610872,632.406610872,876,782.406610872,799,648.593389128,628,650,0.400956775668,-0.0153907382259,0.0598413186012,0.999999949298,0.000173712894529,-0.000266778469112,7.54898722845e-06,1793192336824561920
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,742,711,670.818967799,659,632.181032201,876,782.181032201,799,649,628.181032201,650,0.400956659082,-0.0153915251863,0.0598415908395,0.999999949394,0.000172979368018,-0.000266892523134,7.64000070879e-06,1793192336841228288
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,742,711,670.24383361,659,632.75616639,876,782.75616639,799,649,628.75616639,650,0.400955561517,-0.0153906725701,0.0598403398068,0.999999948732,0.000174708481968,-0.000268256721087,7.22901211304e-06,1793192336857894144
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.331147054,742,711.331147054,670.331147054,659.331147054,633,876,783,799,649,628.668852946,650,0.400955276988,-0.0153903786307,0.0598402203387,0.999999948491,0.000175915024469,-0.000268368463203,7.13066679859e-06,1793192336874560512
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.906014691,742,711.906014691,670.906014691,659.906014691,633,876,783,799,649,628.093985309,650,0.400955590844,-0.0153904958713,0.0598409336897,0.999999948562,0.00017673696004,-0.000267558411544,7.26242351853e-06,1793192336891227136
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.504899714,742,711.504899714,670.504899714,659.504899714,632.504899714,875.504899714,783,799.495100286,649,628,650,0.400955689947,-0.0153917504839,0.0598411747236,0.999999948633,0.000175591018142,-0.000268031068472,7.82948094248e-06,1793192336907893760
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742,711,670.085044816,659.085044816,632.085044816,875,783,799.914955184,648.914955184,628,650,0.400956851713,-0.015392824759,0.0598418070465,0.999999948914,0.000174503311724,-0.000267674572148,8.37388897364e-06,1793192336924560640
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742,711,670.663842954,659.663842954,632.663842954,875,783,799.336157046,648.336157046,628,650,0.400964426772,-0.0153915614471,0.059845247057,0.999999950407,0.000175986671238,-0.00026104867955,8.2928608247e-06,1793192336941227264
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,711.241290916,671,659.758709084,633,875.241290916,783,799,648,628,650,0.400978608662,-0.0153910360682,0.0598512637531,0.999999952862,0.000177695784895,-0.000250249123129,8.69421034329e-06,1793192336957893888
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,711.816868287,671,659.183131713,633,875.816868287,783,799,648,628,650,0.401001943713,-0.0153915330278,0.0598608502109,0.999999956503,0.000179717660084,-0.000233667338423,9.76384992617e-06,1793192336974560512
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.400255041,742,711.599744959,671,659,633,875.599744959,783,799,648.400255041,628,650,0.401044834493,-0.0153941646184,0.0598780412097,0.999999963575,0.000178781470073,-0.00020188641674,1.13954050512e-05,1793192336991227136
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.987286036,742,711.012713964,671,659,633,875.012713964,783,799,648.987286036,628,650,0.401096850808,-0.0153977923181,0.05989878081,0.999999971055,0.00017646492153,-0.000163012932365,1.32891738455e-05,1793192337007893760
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.433638355,742,711.566361645,671,659.566361645,632.433638355,875,783,799,649,628,650,0.401162422884,-0.0154025841232,0.0599146938559,0.99999997495,0.000173728994274,-0.000140319017764,1.51484129818e-05,1793192337024560640
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.144885223,742,712,670.855114777,660,632.144885223,875,783,799.144885223,649,628,650,0.401231707424,-0.0154071819974,0.0599285870426,0.999999977977,0.00017127906589,-0.000120145266732,1.65444921943e-05,1793192337041227520
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.722286737,742,712,670.277713263,660,632.722286737,875,783,799.722286737,649,628,650,0.401311178711,-0.0154111240128,0.0599367694472,0.999999979799,0.00016971062555,-0.000106425549875,1.65602130377e-05,1793192337057894144
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.703075715,742,711.703075715,670.296924285,659.703075715,633,875,783,799.703075715,649,628,650,0.401397500899,-0.0154156292907,0.0599402583487,0.999999981099,0.000166618060638,-9.89600330805e-05,1.57174482253e-05,1793192337074560768
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.130999498,742,711.130999498,670.869000502,659.130999498,633,875,783,799.130999498,649,628,650,0.401490171633,-0.015420656529,0.0599393979037,0.999999982028,0.000162113129647,-9.72901199798e-05,1.40791473142e-05,1793192337091227392
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.456806898,742,711.456806898,671,659.456806898,633,875.456806898,783,799,649,628,650,0.40160070731,-0.0154273903606,0.059937202497,0.999999982343,0.000160230887012,-9.73621108683e-05,1.26425303798e-05,1793192337107894016
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.951846268,742,712,671,660,633,875.951846268,783,799,649,628,650,0.401719393273,-0.0154347479045,0.0599348605155,0.999999982556,0.00015878490477,-9.77159220154e-05,1.12431658186e-05,1793192337124560640
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.372969166,742,712,671,660,633,875.372969166,783,799,649,628,650,0.401869428733,-0.0154433933616,0.0599352728788,0.999999983606,0.000153562136352,-9.5473919065e-05,9.5941915493e-06,1793192337141227264
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.205147622,742,712,671,659.794852378,633,875.410295243,783,799,649,628,650,0.402033483989,-0.0154515964181,0.0599365871175,0.999999984706,0.000149338683091,-9.07020006936e-05,7.71981773814e-06,1793192337157894144
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.781887158,742,712,671,659.218112842,633,876.563774317,783,799,649,628,650,0.402222933832,-0.0154589981363,0.0599395349585,0.999999985883,0.000146925329042,-8.13475477633e-05,5.43716909584e-06,1793192337174560512
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711.643850028,670.643850028,659,633,876.643850028,783,799.356149972,649,628.356149972,650,0.402434903817,-0.0154689438575,0.0599430431889,0.999999987744,0.000139482044425,-7.10511639093e-05,3.07858180919e-06,1793192337191227136
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.071093474,670.071093474,659,633,876.071093474,783,799.928906526,649,628.928906526,650,0.402660570327,-0.0154804368146,0.0599468922423,0.999999989871,0.000128979609902,-6.0181906889e-05,6.73809235421e-07,1793192337207894016
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.481189768,742,711,670.518810232,659,633,875.481189768,783,799.481189768,649,628.481189768,650,0.4029156165,-0.0154908876836,0.0599483622975,0.999999990929,0.000123032645045,-5.47770847823e-05,-2.01483314809e-06,1793192337224560896
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742,711,671,659.108451326,632.891548674,875,783,799.108451326,649,628,650,0.403179008564,-0.0155000927437,0.0599470686276,0.999999991415,0.00011905660584,-5.44987945349e-05,-5.13238474427e-06,1793192337241227520
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,711,671,659.686435051,632.313564949,875,783,799.686435051,649,628,650,0.403460507837,-0.0155045435352,0.0599352692337,0.999999989983,0.000120818551355,-7.30627710998e-05,-9.93270185914e-06,1793192337257894144
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.26320889,742,711,671,660,632.26320889,875.26320889,782.73679111,799.73679111,649,628,650,0.403758698213,-0.0155009222696,0.059924711588,0.999999987484,0.000129190410793,-9.01314113589e-05,-1.47474233957e-05,1793192337274560512
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.838547936,742,711,671,660,632.838547936,875.838547936,782.161452064,799.161452064,649,628,650,0.404076681961,-0.0154877286354,0.0599156264884,0.99999998368,0.000145400734304,-0.000105426783823,-1.95792263393e-05,1793192337291227136
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.577361573,742,711,671,659.577361573,633,876,782,799,649,628,650,0.404424845148,-0.0154804414866,0.0599034219453,0.99999998792,8.43713528549e-05,-0.000128059162839,-2.53461303917e-05,1793192337307893760
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.009998831,742,711.009998831,670.990001169,659,633,876,782.009998831,799,649,628,650,0.404786101608,-0.0154757858866,0.0598903683221,0.999999987804,-5.12806090305e-06,-0.000152902318775,-3.1418440876e-05,1793192337324560384
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.589167757,742,711.589167757,670.410832243,659,633,876,782.589167757,799,649,628,650,0.405222535175,-0.0154897729894,0.0598982498081,0.999999989524,-1.23043262923e-07,-0.000140671388905,-3.41115163247e-05,1793192337341227776
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.832265543,742,712,670.167734457,659.167734457,633,876,783,799,649,628,650,0.405679162537,-0.0155019071481,0.0599124813003,0.99999999252,1.52631537468e-06,-0.000116753232954,-3.64299292103e-05,1793192337357894912
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.255168681,742,712,670.744831319,659.744831319,633,876,783,799,649,628,650,0.406185073568,-0.0155095191237,0.0599422102261,0.999999997204,-5.01394177021e-06,-6.4311953201e-05,-3.78339632345e-05,1793192337374561792
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.320145386,742,711.679854614,671,660,633,876,783,799,649,628,650,0.406705615854,-0.0155135869952,0.0599687090337,0.999999998721,-2.22895678099e-05,-2.24008920897e-05,-3.94952972623e-05,1793192337391228672
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.894046426,742,711.105953574,671,660,633,876,783,799,649,628,650,0.407237755311,-0.0155148457173,0.0599926475678,0.999999997927,-4.80743303123e-05,1.11636463381e-05,-4.13605741983e-05,1793192337407895040
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711.481393288,670.518606712,660,633,876.481393288,783,799,649,628,649.518606712,0.407769462768,-0.0155164998184,0.0599897983661,0.999999996905,-6.3351514073e-05,-4.52954000616e-06,-4.64311740351e-05,1793192337424561408
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711.929696152,670,659.929696152,633,876.929696152,783,799.070303848,649,628,649.070303848,0.408305471809,-0.0155181561826,0.0599800395024,0.999999995123,-7.73918721086e-05,-3.21701469557e-05,-5.22428921272e-05,1793192337441227776
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711.351482814,670,659.351482814,633,876.351482814,783,799.648517186,649,628,649.648517186,0.408873264523,-0.0155191821432,0.0599641807731,0.999999991191,-9.96849214435e-05,-6.55498373455e-05,-5.81656018012e-05,1793192337457894144
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,670.224401899,659.224401899,633,876,783,800,648.775598101,628,650,0.409470860032,-0.0155187504035,0.0599558046995,0.999999993376,-6.70349508811e-05,-7.88951701992e-05,-5.02977630648e-05,1793192337474560768
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,670.796676688,659.796676688,633,876,783,800,648.203323312,628,650,0.410114656474,-0.0155160589035,0.0599590284086,0.999999996617,5.0788932057e-05,-6.1182786854e-05,-2.10515039092e-05,1793192337491227136
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.618857033,742,711,671,660,633,876.381142967,783,800,648.381142967,628,650,0.410780520289,-0.0155162684277,0.0599670394786,0.999999996308,7.32081558401e-05,-4.26421461675e-05,-1.43430781268e-05,1793192337507893760
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.027672237,742,711,671,660,633,876.972327763,783,800,648.972327763,628,650,0.411458545062,-0.0155180766604,0.0599776887872,0.999999998593,4.30513853958e-05,-2.36450668728e-05,-2.00548949871e-05,1793192337524560896
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742,711,671,660,633,876.447927999,783,799.447927999,649,628,650,0.412144824964,-0.0155266434194,0.0599554466751,0.999999997523,1.77001433709e-05,-6.24963980694e-05,-2.71236524247e-05,1793192337541227776
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.131044231,742,711,671,660,633,876,783,799,649,628,650,0.412830959733,-0.0155331604224,0.0599300821857,0.999999993505,-1.32240536508e-06,-0.000108970028671,-3.33617534632e-05,1793192337557894144
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.709298996,742,711,671,660,633,876,783,799,649,628,650,0.413515215632,-0.015531549659,0.0598995741668,0.999999984581,4.4745056389e-07,-0.000171761514778,-3.65376953661e-05,1793192337574560512
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.714098692,742.285901308,711.285901308,671,660,632.714098692,876,783,799.285901308,649,628,650,0.414272139456,-0.015534656284,0.0599036500456,0.999999985757,-3.48637356995e-06,-0.000164674505028,-3.68375622987e-05,1793192337591227392
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.139166849,742.860833151,711.860833151,671,660,632.139166849,876,783,799.860833151,649,628,650,0.415102526648,-0.0155425319297,0.0599426883437,0.999999995548,-1.31863050749e-05,-8.69441773683e-05,-3.42298755645e-05,1793192337607894016
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.447979676,742.552020324,712,671,660.447979676,632.447979676,876,783,800,649,628,650,0.415920889403,-0.0155482705438,0.0599787354549,0.999999998977,-2.20388628698e-05,-2.38451395168e-05,-3.14936091441e-05,1793192337624560896
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660.961903299,633,876,783,799.961903299,649,628,650,0.416735791102,-0.0155530034897,0.0600106235217,0.999999998708,-3.00516673205e-05,2.89361516819e-05,-2.90313279244e-05,1793192337641227520
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660.384945941,633,876,783,799.384945941,649,628,650,0.41755605566,-0.0155531651898,0.0599971957044,0.999999999067,-3.00143329519e-05,1.87057842385e-06,-3.10252664951e-05,1793192337657894144
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711.807874973,671,660,633,876,783,799,649,628,650,0.418376466229,-0.0155531493197,0.0599813197954,0.999999998574,-3.26152923424e-05,-2.61723242263e-05,-3.32005699734e-05,1793192337674561024
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711.230576274,671,660,633,876,783,799,649,628,650,0.41919716947,-0.0155527774553,0.0599605359349,0.999999996963,-4.05055225823e-05,-5.61745824324e-05,-3.57394750567e-05,1793192337691227648
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711.352768406,671,660,633,876,783,799,649,628,650,0.419997525803,-0.0155519702136,0.059935879934,0.999999994338,-4.1019141047e-05,-9.0071293983e-05,-3.90901197904e-05,1793192337707894272
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711.940133741,671,660,633,876,783,799,649,628,650,0.420784351067,-0.0155508734388,0.0599086488954,0.999999990397,-3.66271881564e-05,-0.000126557881309,-4.29805849299e-05,1793192337724560640
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.480268352,742,712,671.519731648,660,633,876,783,799,648.480268352,628,650,0.421593166355,-0.0155487459995,0.0598804182846,0.999999980483,-3.8425889879e-05,-0.000188239532359,-4.608510257e-05,1793192337741227008
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742,711.902019152,671.902019152,660,633,876.097980848,783,799,648.097980848,628,650,0.422431626905,-0.0155473209453,0.0598663869033,0.999999972769,-4.09231711278e-05,-0.00022472313672,-4.78293029128e-05,1793192337757893632
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742,711.326049214,671.326049214,660,633,876.673950786,783,799,648.673950786,628,650,0.423402533608,-0.0155498930323,0.0599221783703,0.999999990388,-4.34009265637e-05,-0.000124331436382,-4.33724819983e-05,1793192337774560512
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.240108761,742,711,671,660.240108761,632.759891239,877,783,799,649,628,650,0.424343371803,-0.015553438741,0.0599714294593,0.999999997334,-4.73032909431e-05,-3.96544102779e-05,-3.90093894702e-05,1793192337791227392
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.793466024,742,711,671,660.793466024,632.206533976,877,783,799,649,628,650,0.425244982428,-0.0155582546476,0.0600121479076,0.999999997687,-5.30642163049e-05,2.45210938665e-05,-3.47685757165e-05,1793192337807894016
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711.385821771,671,661,632.385821771,877,783,799,648.614178229,628,650,0.426110007405,-0.0155619523942,0.0600169453831,0.999999996871,-5.79089288003e-05,4.09623321711e-05,-3.50334490522e-05,1793192337824560384
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,712,671.001317486,661,633,877,782.998682514,799,648.001317486,628,650,0.426953236079,-0.0155649738094,0.0600003244258,0.999999996927,-6.21982069254e-05,2.89025884376e-05,-3.7984622461e-05,1793192337841227008
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,712,671.580137005,661,633,877,782.419862995,799,648.580137005,628,650,0.427792333473,-0.015563408118,0.059971683761,0.999999997042,-6.21797055563e-05,-1.60893633972e-05,-4.23184533159e-05,1793192337857893632
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.842462516,742,711.842462516,672.157537484,660.842462516,633,876.842462516,782.157537484,799,649,628,650,0.428623126815,-0.0155619856706,0.059944177852,0.999999995067,-6.36306346797e-05,-6.09845469525e-05,-4.58135638189e-05,1793192337874560512
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.268810281,742,711.268810281,672.731189719,660.268810281,633,876.268810281,782.731189719,799,649,628,650,0.429431986035,-0.0155609415837,0.0599196692543,0.999999990935,-6.89628733093e-05,-0.000105624127023,-4.70933036104e-05,1793192337891226880
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.304694787,742.304694787,711.304694787,673,660.304694787,633,876.304694787,783,799.304694787,649,628,650,0.430260189273,-0.0155606259017,0.0599111108202,0.999999989517,-6.95221525911e-05,-0.000117638210718,-4.78946710511e-05,1793192337907893504
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.878070055,742.878070055,711.878070055,673,660.878070055,633,876.878070055,783,799.878070055,649,628,650,0.431105450063,-0.0155609525286,0.0599166172741,0.999999991577,-6.58726264604e-05,-0.000100883063487,-4.82742087694e-05,1793192337924560128
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.532155372,711.532155372,672.532155372,660.532155372,633,876.532155372,783,800,649,628,650,0.4319687964,-0.0155638616264,0.0599563603599,0.999999995842,-7.16642024533e-05,-3.31998829927e-05,-4.55771238509e-05,1793192337941227264
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711.060631999,672.060631999,660.060631999,632.939368001,876.060631999,783,800,649,628,650,0.432828354168,-0.0155669764834,0.059999370721,0.999999995299,-7.86612285292e-05,3.75921774339e-05,-4.24349749431e-05,1793192337957894144
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711.641270814,672.641270814,660.641270814,632.358729186,876.641270814,783,800,649,628,650,0.433613525687,-0.0155658740009,0.0599910971296,0.999999996199,-7.41274159398e-05,1.70779372674e-05,-4.26024342904e-05,1793192337974560768
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,712,673,661,632.219289075,877,783,800,648.780710925,628,650,0.434385174544,-0.0155654866973,0.0599715896258,0.999999996217,-7.24109585896e-05,-1.88368179568e-05,-4.43611839421e-05,1793192337991227136
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,712,673,661,632.793071155,877,783,800,648.206928845,628,650,0.43513496339,-0.0155662555201,0.0599339218751,0.999999992811,-7.52489120603e-05,-7.96473668185e-05,-4.86923429477e-05,1793192338007893760
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,712,672.625194279,661,633,877,783,800,648.374805721,628,650,0.435854880491,-0.0155664315315,0.0599151312744,0.999999988648,-8.68420123437e-05,-0.000111759472368,-5.16989230066e-05,1793192338024560384
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,712,672.038974034,661,633,877,783,800,648.961025966,628,650,0.436557947962,-0.0155662731592,0.0599069886023,0.99999998505,-0.000103373578243,-0.000127683807173,-5.39583551652e-05,1793192338041226752
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,712,672.543049723,661,632.456950277,877,783,799.456950277,649,628.543049723,650,0.437238570474,-0.0155643352296,0.0599038010393,0.999999985347,-7.58829892671e-05,-0.000144912687315,-5.04703836714e-05,1793192338057893632
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742,712,672.876781914,661,632.123218086,877,783,799.123218086,649,628.876781914,650,0.437917739014,-0.0155626349677,0.0599024581877,0.99999998518,-5.44423275879e-05,-0.000156254303654,-4.75504614997e-05,1793192338074560256
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,712,672.302313898,661,632.697686102,877,783,799.697686102,649,628.302313898,650,0.438597436796,-0.0155622692319,0.0599065786738,0.999999986004,-6.66394535835e-05,-0.000145695303888,-4.82098713937e-05,1793192338091227136
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,711.727036705,672,661,633,877,783,800,649,628,650,0.439286706793,-0.0155664876248,0.0599281473565,0.999999989667,-8.01520838953e-05,-0.000109452029963,-4.75694617246e-05,1793192338107894016
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,711.150860701,672,661,633,877,783,800,649,628,650,0.439986609741,-0.0155757981532,0.0599690978207,0.999999993443,-9.51259998345e-05,-4.46781866956e-05,-4.54851881076e-05,1793192338124560896
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.436651588,711.436651588,672.436651588,661,633,877,783,800,649,628.436651588,650,0.440584534222,-0.0155816448197,0.0599749075629,0.999999992919,-0.000101865100133,-4.00202840113e-05,-4.6734637416e-05,1793192338141227776
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,711.972479842,673,661,632.972479842,877,783,800,649,628.972479842,650,0.441142530409,-0.0155862342738,0.0599659928236,0.999999991288,-0.000106852563638,-5.9768991552e-05,-4.93474256459e-05,1793192338157894400
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,711.394898699,673,661,632.394898699,877,783,800,649,628.394898699,650,0.441625448292,-0.0155902526867,0.0599119070966,0.999999979354,-0.000135211054936,-0.000141145200787,-5.55750945278e-05,1793192338174561280
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.818314965,711.181685035,673,661,632,877,783,800,649,628.181685035,650,0.44210477104,-0.0155947277374,0.0598637982274,0.999999964329,-0.000151951712534,-0.000211101381625,-6.07340590068e-05,1793192338191227648
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.243887187,711.756112813,673,661,632,877,783,800,649,628.756112813,650,0.442576322392,-0.0156001898879,0.0598286093304,0.999999954808,-0.000143578476638,-0.000256371268501,-6.35828411248e-05,1793192338207894016
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.331611578,711.668388422,672.668388422,660.668388422,632,877,783,799.668388422,649,628.668388422,650.331611578,0.44304678204,-0.0156057064374,0.0598135890601,0.999999947518,-0.000153296569583,-0.000278136558251,-6.40681129367e-05,1793192338224560896
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+214,3.566666667,POSE1_TO_POSE2_PRESS,763,743,712,672,660,631.113434246,877.113434246,782,800,648.113434246,628,650,0.447871939639,-0.0156760404783,0.0597212968442,0.999999872165,-0.000236507917235,-0.000443206085949,-5.7458388381e-05,1793192338591227136
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+249,4.150000000,HOLD_POSE2,763,743,712,673,660,631.672381454,877,781.327618546,800.672381454,648.327618546,628,650,0.44800440443,-0.0156701641915,0.0597052762521,0.999999861889,-0.000235657275619,-0.000466538709144,-5.50410089924e-05,1793192339200524032
+250,4.166666667,HOLD_POSE2,763,743,712,673,660,631.095026458,877,781.904973542,800.095026458,648.904973542,628,650,0.448004375662,-0.015669885798,0.0597055365429,0.999999862075,-0.000235211103934,-0.000466341271505,-5.52359997772e-05,1793192339217190400
+251,4.183333333,HOLD_POSE2,763,743,712,673,660,631,877,782,800.480579095,649,628,650,0.448004276793,-0.0156704969783,0.0597054384033,0.99999986187,-0.000235931727221,-0.000466415121088,-5.52624400823e-05,1793192339233857280
+252,4.200000000,HOLD_POSE2,763.057150177,743,712,673,660,631.057150177,876.942849823,781.942849823,800.885699647,649,628,650.057150177,0.448004140968,-0.0156711357929,0.0597052939491,0.999999861634,-0.000236644302634,-0.000466561665575,-5.52395379183e-05,1793192339250524160
+253,4.216666667,HOLD_POSE2,763.645908666,743,712,673,660,631.645908666,876.354091334,781.354091334,799.708182667,649,628,650.645908666,0.448003789843,-0.0156704013983,0.0597053755491,0.999999861846,-0.000235143708833,-0.000466887244504,-5.50665457386e-05,1793192339267191040
+254,4.233333333,HOLD_POSE2,763.769179205,743,712,672.769179205,660,631.769179205,876.230820795,781.230820795,799.230820795,649,628,650.769179205,0.448004687315,-0.0156697873534,0.0597058161649,0.999999862246,-0.00023484605268,-0.000466171124073,-5.51367311137e-05,1793192339283857920
+255,4.250000000,HOLD_POSE2,763.190070939,743,712,672.190070939,660,631.190070939,876.809929061,781.809929061,799.809929061,649,628,650.190070939,0.448007468806,-0.0156693549054,0.0597067985024,0.999999862928,-0.000236363519573,-0.000463883174533,-5.55738491979e-05,1793192339300524544
+256,4.266666667,HOLD_POSE2,763,742.612638195,712,672.387361805,660,631,877,781.612638195,799.612638195,649,628,650,0.448008397148,-0.0156698932814,0.0597072123915,0.999999863424,-0.000235908109792,-0.000463074922408,-5.53229031615e-05,1793192339317191168
+257,4.283333333,HOLD_POSE2,763,742.036024005,712,672.963975995,660,631,877,781.036024005,799.036024005,649,628,650,0.448008420101,-0.0156709059705,0.0597073485552,0.99999986383,-0.000234488816744,-0.000462989602127,-5.47357914046e-05,1793192339333857536
+258,4.300000000,HOLD_POSE2,763,742.538518598,712,673,660,631,877,781.538518598,799.538518598,649,628,650,0.448007525203,-0.0156714645924,0.0597067356897,0.999999863114,-0.00023530060006,-0.000464124032536,-5.47158727663e-05,1793192339350524160
+259,4.316666667,HOLD_POSE2,763.116009119,743,712,673,660,631,877,782,800,649,628,650,0.44800670048,-0.0156718496378,0.0597061818886,0.999999862494,-0.000235703684209,-0.00046525525604,-5.47098274257e-05,1793192339367191040
+260,4.333333333,HOLD_POSE2,763.706111189,743,712,673,660,631,877,782,800,649,628,650,0.448006412502,-0.0156716489859,0.0597060734478,0.999999862574,-0.000233828954473,-0.000466041199807,-5.46060143106e-05,1793192339383857408
+261,4.350000000,HOLD_POSE2,764,742.708552471,712,672.708552471,660,631,876.708552471,781.708552471,800,649,628,650,0.44800635878,-0.015670884126,0.0597059347542,0.999999862574,-0.000233934903425,-0.000465983763539,-5.46474022891e-05,1793192339400524032
+262,4.366666667,HOLD_POSE2,764,742.127944497,712,672.127944497,660,631,876.127944497,781.127944497,800,649,628,650,0.448006537475,-0.0156695594856,0.0597057660451,0.999999862493,-0.000236005988139,-0.000465089565466,-5.48328519265e-05,1793192339417190656
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,660,631,877,782,800,649,627,650,0.44800989666,-0.0156694627072,0.0597091411165,0.999999865283,-0.00023228675353,-0.000460959048887,-5.47148392598e-05,1793192339450120704
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.409561358,743,712,672.590438642,660,631,876.409561358,781.409561358,800,649,627,650,0.448008977527,-0.0156715602522,0.0597077953573,0.999999864084,-0.000234507087628,-0.000462476564438,-5.43549780074e-05,1793192339466787328
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,743,712,673,659.82142597,631,876.17857403,781,800,649,627,650,0.448007804089,-0.0156722852042,0.0597065146708,0.999999863075,-0.000235548691389,-0.000464133794464,-5.42754588977e-05,1793192339483453952
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,743,712,673,659.238505737,631,876.761494263,781,800,649,627,650,0.448006054828,-0.0156699021868,0.0597053813281,0.999999862509,-0.00023392128972,-0.00046610738108,-5.48307200401e-05,1793192339500120064
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742.659376686,712,673,659,631,877,781,800,649,627.340623314,650,0.448005629021,-0.0156684641337,0.0597049459566,0.999999862304,-0.000233612476071,-0.000466657453508,-5.52035185924e-05,1793192339516786432
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,742.082873047,712,673,659,631,877,781,800,649,627.917126953,650,0.4480061197,-0.0156676804651,0.0597049939275,0.999999862353,-0.000234216779612,-0.000466221747767,-5.54499624756e-05,1793192339533453056
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.501051375,742.501051375,712,673,659.501051375,631,877,781,800.501051375,649,628,650,0.448006130946,-0.0156680791034,0.0597050632997,0.999999862489,-0.000234888062259,-0.000465597284982,-5.54034711284e-05,1793192339550119680
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.914679087,743,712,672.914679087,660,631,877,781,800.914679087,649,628,650,0.448004563416,-0.0156685810341,0.059704454019,0.999999862117,-0.000235542993913,-0.00046606908991,-5.53627599504e-05,1793192339566786304
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.33562186,743,712,672.33562186,660,631,877,781,800.33562186,649,628,650,0.447994325578,-0.0156685320657,0.0596998967082,0.999999858698,-0.000236038233996,-0.000473068173833,-5.56400893673e-05,1793192339583452928
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.243536362,743,712,672,659.756463638,631,877.243536362,781.243536362,799.756463638,649,628,650,0.447974529799,-0.0156673628464,0.0596906557708,0.999999851669,-0.000235858313852,-0.000487690571589,-5.64902378993e-05,1793192339600119552
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.822833776,743,712,672,659.177166224,631,877.822833776,781.822833776,799.177166224,649,628,650,0.447941556589,-0.0156646491487,0.0596749575666,0.999999839263,-0.000234747557183,-0.00051282315219,-5.81301261519e-05,1793192339616786176
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.601279626,742.601279626,712,672.398720374,659.398720374,631,877.601279626,782,799,649,628,649.601279626,0.447891576014,-0.0156605511931,0.0596558625546,0.999999825224,-0.000232189554369,-0.000540404398724,-6.00207716312e-05,1793192339633452800
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.026895677,742.026895677,712,672.973104323,659.973104323,631,877.026895677,782,799,649,628,649.026895677,0.447834102529,-0.0156558433769,0.0596352710153,0.99999980994,-0.000228993940498,-0.000569064451843,-6.20218929171e-05,1793192339650119424
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742.560164,712,673,660,631,877,782,799.560164,649,628,649,0.447758767714,-0.015649630976,0.0596221038236,0.999999801484,-0.000223281725713,-0.000585813489339,-6.32447929174e-05,1793192339666785792
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742.275826378,711.275826378,673,659.275826378,631,877.724173622,781.275826378,800,649,627.275826378,649.724173622,0.447590408891,-0.0156423155589,0.0596093386825,0.999999791467,-0.000222250412995,-0.000603093242185,-6.28394717527e-05,1793192339700120064
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,631,877.697889897,781,799.697889897,649,627.302110103,650,0.447490410791,-0.0156380727602,0.0596104601715,0.999999792608,-0.000221709624559,-0.000601514948404,-6.17096745394e-05,1793192339716786944
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,631,877.12056676,781,799.12056676,649,627.87943324,650,0.447380342442,-0.0156318650373,0.0596149204097,0.999999797504,-0.000218247784773,-0.000594726905109,-6.04910282917e-05,1793192339733453568
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.455144314,742,711,672.544855686,659.455144314,631.455144314,877,781.455144314,799.455144314,649,628,650,0.447245176404,-0.0156226406208,0.0596184174463,0.9999998026,-0.000211543110933,-0.000588685759639,-5.91524742979e-05,1793192339750119936
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.968677991,742.031322009,711.031322009,672,660,631.968677991,877,781.968677991,800,649,628,650,0.447101108188,-0.0156124874797,0.0596216021733,0.999999807502,-0.000203981424124,-0.000583136977962,-5.77851853099e-05,1793192339766786048
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.376526047,742.623473953,711.623473953,672,660,631.376526047,877,781.376526047,800,649,628,650,0.446916263847,-0.0155999631495,0.0596237473168,0.999999809248,-0.00019640138423,-0.000582874027004,-5.64701116708e-05,1793192339783452416
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.209999164,743,712,672.209999164,660,631,877,781.209999164,800,649,628,649.790000836,0.446716702299,-0.0155879208072,0.0596241105992,0.999999809178,-0.000189070508044,-0.000585559696906,-5.49281016521e-05,1793192339800119296
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.786698907,743,712,672.786698907,660,631,877,781.786698907,800,649,628,649.213301093,0.446491441584,-0.0155767201137,0.059621362395,0.999999805944,-0.000182174722368,-0.00059339424916,-5.29898154218e-05,1793192339816785920
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.637519973,743,711.637519973,673,660,631,876.637519973,782,799.637519973,649,628,649.362480027,0.44624587175,-0.0155631062863,0.0596239653332,0.999999808468,-0.000171094146627,-0.000592624094751,-5.08575917106e-05,1793192339833452544
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.062277996,743,711.062277996,673,660,631,876.062277996,782,799.062277996,649,628,649.937722004,0.445988381217,-0.0155480760402,0.0596297091875,0.999999814237,-0.000157557258056,-0.000586803306396,-4.86115339037e-05,1793192339850119680
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,743,711.526105508,673,660,631.526105508,876,782,799.526105508,649,628,650,0.445699293524,-0.015534817813,0.0596342102353,0.999999820071,-0.000147736034714,-0.000579568698166,-4.61688724645e-05,1793192339866786304
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742.886215359,711.886215359,672.886215359,660,631.886215359,876.113784641,782,800,648.886215359,628,650,0.445392159706,-0.0155215993314,0.0596371560261,0.99999982447,-0.000138213360671,-0.000574485382568,-4.38683936628e-05,1793192339883452928
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742.307924821,711.307924821,672.307924821,660,631.307924821,876.692075179,782,800,648.307924821,628,650,0.445027016071,-0.0155076648388,0.0596343687224,0.999999823353,-0.000128067873453,-0.000578885068838,-4.22457920371e-05,1793192339900119552
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.269188132,742,711.269188132,672.269188132,660,631,876.730811868,782,799.730811868,648.269188132,628,649.730811868,0.444658547497,-0.0155025505763,0.0596373064578,0.999999830942,-0.000109907712514,-0.00056964411741,-3.92759654037e-05,1793192339916786176
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.844959875,742,711.844959875,672.844959875,660,631,876.155040125,782,799.155040125,648.844959875,628,649.155040125,0.444286292105,-0.0155074818466,0.0596467645521,0.999999847542,-8.26194839733e-05,-0.000544867577071,-3.47717580129e-05,1793192339933452544
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.578496886,742,712,672.578496886,660,631.421503114,876,782,799,649,628,649.421503114,0.443885853254,-0.0155092777274,0.059668852943,0.999999868305,-7.30635952684e-05,-0.000507174675877,-2.87378346715e-05,1793192339950119168
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.001669362,742,712,672.001669362,660,631.998330638,876,782,799,649,628,649.998330638,0.443475028772,-0.0155099182133,0.0596955956134,0.999999889319,-7.00420958228e-05,-0.000464722079941,-2.21402092098e-05,1793192339966785792
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742,712,672.58436451,659.41563549,632,876.58436451,782,799.58436451,648.41563549,628,650,0.443021645689,-0.0154991241553,0.0597199988094,0.999999907371,-5.1495095418e-05,-0.000426999839889,-1.66351279141e-05,1793192339983452672
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,742,711.83087945,672.83087945,659.16912055,632,876.83087945,782.16912055,799.83087945,648,628,650,0.44253609333,-0.01548705847,0.0597368385323,0.9999999185,-2.54165916515e-05,-0.000402763455972,-1.16760038324e-05,1793192340000119808
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742.486689512,711,671.513310488,660,632.486689512,876,783,798.486689512,648,628.486689512,650,0.424742146066,-0.015402719362,0.0598100085895,0.999999941702,0.000148361100653,-0.000307057578246,1.73111016497e-05,1793192340383452672
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.899489878,660,632.100510122,876.100510122,783,798.100510122,648.100510122,628.100510122,650,0.423852099335,-0.0154000232413,0.0598330955381,0.999999947393,0.000153264924731,-0.000285190194513,1.97762650115e-05,1793192340400119296
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711.2569098,671,660,632.7430902,876.7430902,783,799,648.7430902,628.7430902,650,0.42205786641,-0.0153993333928,0.0598445411922,0.999999954558,0.000158089277555,-0.00025574201847,2.20825371881e-05,1793192340433453312
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,711.834515623,671,660,632.165484377,876.165484377,783,799,648.165484377,628.165484377,650,0.421138651146,-0.0153983074714,0.0598410833061,0.999999951016,0.000164568590703,-0.000265335011213,2.19467028662e-05,1793192340450120192
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,660.539575981,632.460424019,876,783,799,649,628,650,0.409170584295,-0.0153866904103,0.0598198756486,0.999999934467,0.000196385385868,-0.000303389386056,2.12782454161e-05,1793192340700119552
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_05/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..956dc139aafb83e4d2dcb0485d1a5887777ef1a2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,402 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_06/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c291b500e1bb857561cc176531386643616565c2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a80e31c265b93a8e608ab958b7a7b830ecf5a7335e7ea6498d343e35e2358ded
+size 24599135
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_06/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38c2eb2f65720f658479f5f8a77113af776758ce
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_01/franka_data.csv
@@ -0,0 +1,388 @@
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+59,0.983333333,BASELINE,764,742,711.768624689,670.768624689,661.768624689,633,875.768624689,783,800,649.768624689,628.768624689,650,0.400927059844,-0.0154528107614,0.0499196446766,0.999999972875,-1.48607485684e-05,-0.000228806792628,-4.0935094488e-05,1793192344051633664
+60,1.000000000,BASELINE,764,742,711.193559102,670.193559102,661.193559102,633,875.193559102,783,800,649.193559102,628.193559102,650,0.400928926207,-0.0154532206379,0.0499205495013,0.999999973447,-1.55002086089e-05,-0.000226305882213,-4.06474411713e-05,1793192344068300544
+61,1.016666667,BASELINE,764,742,711.39002089,670.39002089,661,633,875.78004178,783,799.60997911,649.39002089,628.39002089,650,0.400929256154,-0.0154525705894,0.0499206806561,0.999999973563,-1.4151842272e-05,-0.000225865449202,-4.07206711617e-05,1793192344084967424
+62,1.033333333,BASELINE,764,742,711.97792067,670.97792067,661,633,876.955841341,783,799.02207933,649.97792067,628.97792067,650,0.400928806594,-0.0154513827832,0.049920419286,0.999999973446,-1.17949430513e-05,-0.000226470409019,-4.09769969732e-05,1793192344101634304
+63,1.050000000,BASELINE,764,742,712,671,661,633,875.880309319,783,799.55984534,649.44015466,629,650,0.400929339203,-0.015452836406,0.0499207755638,0.999999973601,-1.43034316713e-05,-0.000225627899979,-4.10586624287e-05,1793192344118300928
+64,1.066666667,BASELINE,764,742,712,671,660.860294289,633,875.139705711,783,800,649,629,650.139705711,0.400929718937,-0.0154540943162,0.0499210032503,0.999999973691,-1.65731561198e-05,-0.000225056491357,-4.11357163388e-05,1793192344134967552
+65,1.083333333,BASELINE,764,742,712,671,660.286128473,633,875.713871527,783,800,649,629,650.713871527,0.400929504069,-0.0154544230546,0.0499207560887,0.999999973571,-1.75099468112e-05,-0.000225503808888,-4.12196243444e-05,1793192344151634176
+66,1.100000000,BASELINE,764,742.288770845,711.711229155,671,660,633,876,783,799.711229155,649,628.711229155,650.711229155,0.400928264742,-0.0154541489312,0.0499199391368,0.99999997324,-1.80835087916e-05,-0.000226907360553,-4.13065323088e-05,1793192344168300544
+67,1.116666667,BASELINE,764,742.864398769,711.135601231,671,660,633,876,783,799.135601231,649,628.135601231,650.135601231,0.400926007746,-0.0154532759412,0.0499185561707,0.999999972696,-1.82962492255e-05,-0.000229260809089,-4.13964203453e-05,1793192344184967168
+68,1.133333333,BASELINE,764,742.549955532,711,671,660,633,876,783,799,649,628,650.450044468,0.400926704428,-0.0154540011078,0.0499191128872,0.999999972865,-1.89202409793e-05,-0.000228518336208,-4.11348240107e-05,1793192344201634048
+69,1.150000000,BASELINE,764,742,711.038271531,671,660.038271531,633,875.961728469,783,799.038271531,649.038271531,628,651,0.400928242832,-0.0154551752291,0.0499201941615,0.999999973236,-1.96098923362e-05,-0.000226894971436,-4.07800527118e-05,1793192344218300928
+70,1.166666667,BASELINE,764,742,711.619324881,671,660.619324881,633,875.380675119,783,799.619324881,649.619324881,628,651,0.40092880972,-0.0154557318103,0.0499202374782,0.999999973377,-1.9433366963e-05,-0.000226309271508,-4.06400108925e-05,1793192344234968064
+71,1.183333333,BASELINE,764,742,711.80174277,671,661,633.19825723,875.19825723,783,800,649.80174277,628,651,0.400928353011,-0.0154555758886,0.0499199758302,0.999999973225,-1.912302236e-05,-0.000227000113958,-4.068271051e-05,1793192344251634432
+72,1.200000000,BASELINE,764,742,711.226839763,671,661,633.773160237,875.773160237,783,800,649.226839763,628,651,0.400925951689,-0.015454066366,0.0499191348154,0.999999972508,-1.85584501856e-05,-0.000230116110216,-4.10725792359e-05,1793192344268300544
+73,1.216666667,BASELINE,764,742,711,671,661,633.651527176,875.651527176,783,800,649.348472824,628.348472824,650.651527176,0.400925317425,-0.0154527736437,0.0499187298642,0.999999972433,-1.66292603964e-05,-0.000230548271373,-4.12973562123e-05,1793192344284967168
+74,1.233333333,BASELINE,764,742,711,671,661,633.075947693,875.075947693,783,800,649.924052307,628.924052307,650.075947693,0.400925834788,-0.0154516222147,0.0499186091042,0.999999972774,-1.3810722245e-05,-0.000229231323715,-4.14145395941e-05,1793192344301634560
+75,1.250000000,BASELINE,764.514818352,742,711.514818352,671,661,633,875.514818352,783,799.485181648,649.485181648,628.485181648,650,0.400926899876,-0.015453318095,0.0499190441414,0.99999997301,-1.50399318806e-05,-0.000228210487017,-4.09187380791e-05,1793192344318300928
+76,1.266666667,BASELINE,764.895301371,742,711.895301371,671,660.895301371,633,875.895301371,783.104698629,799,649,628,650,0.400927961,-0.0154546844455,0.0499196262878,0.999999973229,-1.63943671544e-05,-0.000227226815906,-4.05210043239e-05,1793192344334967296
+77,1.283333333,BASELINE,764.31978521,742,711.31978521,671,660.31978521,633,875.31978521,783.68021479,799,649,628,650,0.400928629889,-0.0154526226341,0.0499204900471,0.999999973454,-1.55450521337e-05,-0.000226207864754,-4.09832813495e-05,1793192344351633920
+78,1.300000000,BASELINE,764,742,711,671,660.260588083,633,875,783.739411917,799,649.260588083,628.260588083,650,0.4009289472,-0.0154512918066,0.0499206271731,0.999999973504,-1.38564621564e-05,-0.000226038191211,-4.13236324612e-05,1793192344368300544
+79,1.316666667,BASELINE,764,742,711,671,660.847035057,633,875,783.152964943,799,649.847035057,628.847035057,650,0.400928824871,-0.0154508750564,0.0499198556621,0.999999973328,-1.11183798662e-05,-0.000226930518185,-4.15115182275e-05,1793192344384967424
+80,1.333333333,BASELINE,764,742,711,671,660.57172905,633,875.42827095,783,799,649.57172905,628.57172905,650,0.400929083315,-0.0154520855152,0.049920096253,0.999999973443,-1.14767317442e-05,-0.000226444720624,-4.12972478111e-05,1793192344401634048
+81,1.350000000,BASELINE,763.992351467,742,711.007648533,671,660,633,875.992351467,783,799,649.007648533,628,650,0.400929473081,-0.0154538324338,0.049920686171,0.999999973656,-1.29437436674e-05,-0.000225486461462,-4.09470256068e-05,1793192344418301184
+82,1.366666667,BASELINE,763.414427608,742,711.585572392,671,660,633,875.414427608,783,799,649.585572392,628,650,0.40092963603,-0.0154527653302,0.0499206931666,0.999999973597,-1.56041585669e-05,-0.000225560418539,-4.10411127753e-05,1793192344434967552
+83,1.383333333,BASELINE,763,742,712,670.837332978,660.162667022,633,875.162667022,783,799,650,628,650,0.400929615517,-0.0154517184784,0.0499205661463,0.999999973517,-1.66356748101e-05,-0.000225819033783,-4.11777833585e-05,1793192344451633920
+84,1.400000000,BASELINE,763,742,712,670.262340142,660.737659858,633,875.737659858,783,799,650,628,650,0.400929129965,-0.0154507229601,0.0499200994249,0.999999973389,-1.35382848913e-05,-0.000226545717668,-4.14223937327e-05,1793192344468300544
+85,1.416666667,BASELINE,763.31980491,742,711.68019509,670.31980491,661,633,875.68019509,783,799,650,628,650.31980491,0.400928920677,-0.0154511212663,0.0499198643848,0.999999973355,-1.3039256454e-05,-0.000226734689867,-4.13740844926e-05,1793192344484967424
+86,1.433333333,BASELINE,763.907951197,742,711.092048803,670.907951197,661,633,875.092048803,783,799,650,628,650.907951197,0.400928943197,-0.0154526891006,0.0499198237435,0.999999973403,-1.47204570853e-05,-0.000226472479786,-4.10799927295e-05,1793192344501634048
+87,1.450000000,BASELINE,764,742,711.488100661,671,660.511899339,633,875.976201321,783,799.488100661,649.511899339,628.488100661,650.511899339,0.400928542813,-0.015452832413,0.0499198015112,0.999999973328,-1.56408004321e-05,-0.000226771447831,-4.09179880802e-05,1793192344518300928
+88,1.466666667,BASELINE,764,742,712,671,660.066452888,633,876.867094224,783,799.933547112,649,628.933547112,650,0.400928096395,-0.0154526053362,0.0499197853067,0.999999973239,-1.61901859294e-05,-0.000227139831355,-4.08250157273e-05,1793192344534968064
+89,1.483333333,BASELINE,764,742,712,671,660.642401833,633,875.715196334,783,799.357598167,649,628.357598167,650,0.400927898654,-0.0154515649786,0.0499197891288,0.999999973225,-1.49778115872e-05,-0.00022724210187,-4.10734107306e-05,1793192344551634432
+90,1.500000000,BASELINE,764,742,711.782499138,671,660.782499138,633,875,783,799,649,628.217500862,650,0.400927903492,-0.0154514940266,0.0499198758546,0.999999973236,-1.5093785818e-05,-0.000227155841766,-4.12292695422e-05,1793192344568300800
+91,1.516666667,BASELINE,764,742,711.208792092,671,660.208792092,633,875,783,799,649,628.791207908,650,0.400928240099,-0.0154530106926,0.0499200983537,0.999999973289,-1.73852272977e-05,-0.000226760820705,-4.12335796709e-05,1793192344584967168
+92,1.533333333,BASELINE,764,742,711,671,660.376613295,633,875.376613295,783,799,649,628.623386705,650.376613295,0.400927989897,-0.0154536705368,0.0499197838757,0.999999973226,-1.73171750071e-05,-0.000227061866735,-4.11318612256e-05,1793192344601633792
+93,1.550000000,BASELINE,764,742,711,671,660.968712136,633,875.968712136,783,799,649,628.031287864,650.968712136,0.400927403943,-0.0154538401364,0.0499191621573,0.999999973097,-1.58990994141e-05,-0.000227761179064,-4.09694767725e-05,1793192344618300416
+94,1.566666667,BASELINE,764,742,711,671,661,633,875.45146528,783,799.54853472,649,628,650.45146528,0.400929001734,-0.0154526067413,0.0499204407489,0.999999973515,-1.49031638904e-05,-0.000225957234253,-4.11145061999e-05,1793192344634967040
+95,1.583333333,BASELINE,764,742,711,670.8733145,661,633,875,783,800.1266855,649.1266855,628.1266855,650.1266855,0.400930351913,-0.015451859182,0.049921541706,0.99999997387,-1.45807199531e-05,-0.00022438951025,-4.11823718795e-05,1793192344651634176
+96,1.600000000,BASELINE,764,742,711,670.298653386,661,633,875,783,800.701346614,649.701346614,628.701346614,650.701346614,0.400930395693,-0.0154531063834,0.0499216396292,0.999999973904,-1.65565448751e-05,-0.000224150938653,-4.09167298938e-05,1793192344668301056
+97,1.616666667,BASELINE,764,742,711,670.275753392,661,633,875.275753392,783,800.448493216,650,628.724246608,650.724246608,0.400929168844,-0.0154527818569,0.0499208341596,0.999999973643,-1.61068730235e-05,-0.000225340876199,-4.09347561062e-05,1793192344684967680
+98,1.633333333,BASELINE,764,742,711,670.849884932,661,633,875.849884932,783,799.300230136,650,628.150115068,650.150115068,0.400926567116,-0.0154507566467,0.0499190511765,0.999999973054,-1.30326993872e-05,-0.00022807652788,-4.12597246751e-05,1793192344701634560
+99,1.650000000,BASELINE,764,742,711.437705521,670.562294479,661,633,875.562294479,783.437705521,799,650,628,650.437705521,0.400927430822,-0.0154512324155,0.0499194718376,0.999999973198,-1.27192631176e-05,-0.000227455226178,-4.12959720714e-05,1793192344718300928
+100,1.666666667,BASELINE,763.970360169,742.029639831,711.970360169,670.029639831,660.970360169,633,875,784,799,649.970360169,628.029639831,650.970360169,0.400929391902,-0.0154525199519,0.0499205839578,0.999999973572,-1.34146838851e-05,-0.000225780624301,-4.12306970318e-05,1793192344734967296
+101,1.683333333,BASELINE,763.391989072,742.608010928,711.391989072,670.608010928,660.391989072,633,875,784,799,649.391989072,628.608010928,650.391989072,0.400928955544,-0.015452443855,0.0499200539538,0.999999973369,-1.46927153756e-05,-0.000226608393601,-4.11782678423e-05,1793192344751633920
+102,1.700000000,BASELINE,763.185450885,742.814549115,711,671,660,633,875.185450885,783.814549115,799,649,628.814549115,650.185450885,0.400928919641,-0.0154525800677,0.0499198109505,0.999999973295,-1.57324351793e-05,-0.000226889209769,-4.10297917558e-05,1793192344768300544
+103,1.716666667,BASELINE,763.760932443,742.239067557,711,671,660,633,875.760932443,783.239067557,799,649,628.239067557,650.760932443,0.400929725953,-0.0154531627986,0.0499201715526,0.999999973498,-1.6270950055e-05,-0.000226019702403,-4.06793148284e-05,1793192344784967168
+104,1.733333333,BASELINE,763.657012783,742,711,671,660,633,875.657012783,783,799,649,628,650.657012783,0.400929640648,-0.0154527665078,0.0499200555548,0.999999973508,-1.54960282938e-05,-0.000226021191478,-4.073319563e-05,1793192344801633792
+105,1.750000000,BASELINE,763.070286792,742,711,671,660,633,875.070286792,783,799,649,628,650.070286792,0.400928921728,-0.0154516744896,0.0499196008685,0.999999973378,-1.37877323393e-05,-0.000226641641156,-4.10744272133e-05,1793192344818300672
+106,1.766666667,BASELINE,763,742,711,671,660.512574745,633,875.512574745,783,799,649,627.487425255,650,0.400929207951,-0.0154520009594,0.0499201063638,0.999999973523,-1.34947838963e-05,-0.000226019563025,-4.10632781859e-05,1793192344834967808
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,671,661,633,875,783,799,649,628,650,0.400928993061,-0.0154506807248,0.049920979511,0.999999973585,-1.36368701638e-05,-0.000225630190607,-4.16612099594e-05,1793192344877906432
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742,711,671,661,633,875.574331378,783,799,649,628.574331378,650,0.400929710357,-0.0154517870363,0.0499205820397,0.999999973573,-1.39187419664e-05,-0.000225764037128,-4.11113453837e-05,1793192344894572544
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.153382882,742,711,671,661,633,875.846617118,783,799,649,628.846617118,650,0.400929968429,-0.0154527263501,0.0499201533733,0.999999973519,-1.45779149844e-05,-0.000226024978421,-4.07811976835e-05,1793192344911238656
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.74594974,742,711,671,661,633,875.25405026,783,799,649,628.25405026,650,0.400928911598,-0.0154531874969,0.0499196353851,0.999999973338,-1.63174214478e-05,-0.000226649832504,-4.10801691515e-05,1793192344927904768
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875,783,799,649.32969629,628,650.32969629,0.400930090103,-0.0154524828003,0.0499196547026,0.999999973464,-1.55819535344e-05,-0.000226105152917,-4.12884447182e-05,1793192344944571136
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875,783,799,649.906823332,628,650.906823332,0.400932946184,-0.0154509031604,0.0499200772578,0.999999973816,-1.29890646466e-05,-0.000224682760672,-4.14286547296e-05,1793192344961238016
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875,783,799.483046645,650,628,650.516953355,0.400942290859,-0.0154520136104,0.0499230013012,0.999999975272,-1.5303665588e-05,-0.000218020590788,-4.10999967083e-05,1793192344977904896
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660.939649443,633,875,783,800,649.939649443,628,650,0.400954154242,-0.0154536645833,0.0499264680169,0.999999977034,-1.82082121796e-05,-0.000209628534475,-4.06968946866e-05,1793192344994571520
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660.351370667,633,875,783,800,649.351370667,628,650,0.400977122262,-0.0154555131706,0.0499304687963,0.999999980022,-1.80081092163e-05,-0.000194928921538,-4.04322582698e-05,1793192345011237888
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660.233243442,633,875.233243442,783,799.766756558,649,628,650.233243442,0.401006008006,-0.0154575415289,0.0499349544552,0.999999983232,-1.83005001572e-05,-0.000177737733093,-4.01213317823e-05,1793192345027904512
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660.812422245,633,875.812422245,783,799.187577755,649,628,650.812422245,0.401043670631,-0.0154598365145,0.0499401592632,0.999999986722,-1.93233341853e-05,-0.00015685116201,-3.97417501294e-05,1793192345044571392
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.389162988,671.389162988,660.610837012,633,875.610837012,783.389162988,799.389162988,649,628.389162988,650.610837012,0.401093246806,-0.015462048511,0.0499453142809,0.999999990034,-1.92637043352e-05,-0.000134165977007,-3.94970060415e-05,1793192345061238016
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711.964735946,671.964735946,660.035264054,633,875.035264054,783.964735946,799.964735946,649,628.964735946,650.035264054,0.401148529604,-0.0154642207558,0.0499504454495,0.999999992934,-1.86855718729e-05,-0.000110619249887,-3.9316849412e-05,1793192345077904640
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,671.459888643,660,633,875,783.459888643,799.459888643,649,628.459888643,650,0.401215169308,-0.0154664244129,0.0499533676861,0.999999993812,-1.84867205305e-05,-0.000102606783812,-3.87973741487e-05,1793192345094571520
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,875.118494699,783,799.118494699,649,628,650.118494699,0.401285105787,-0.0154696456841,0.0499554768993,0.999999994331,-1.91453656406e-05,-9.75502523181e-05,-3.81443165196e-05,1793192345111238144
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,875.708909015,783,799.708909015,649,628,650.708909015,0.40136522007,-0.0154769115636,0.0499549223198,0.999999994024,-2.31205079347e-05,-0.000100228242828,-3.70474502987e-05,1793192345127905024
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.706567874,671,660.293432126,633,875.706567874,782.706567874,799.706567874,649,628,650.706567874,0.401463090855,-0.015483865399,0.0499551643657,0.999999993951,-2.69285629707e-05,-0.000100325576284,-3.61583350897e-05,1793192345144571392
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.127773978,671,660.872226022,633,875.127773978,782.127773978,799.127773978,649,628,650.127773978,0.401578229774,-0.0154905157723,0.0499561811273,0.99999999411,-3.0574125963e-05,-9.79132291411e-05,-3.54712571178e-05,1793192345161238016
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.551762464,742,711,671,660.551762464,633,875.448237536,782.448237536,799,649,628.448237536,650,0.401710297389,-0.015500184977,0.0499547742403,0.999999993716,-3.48695478617e-05,-0.0001009870548,-3.39749149967e-05,1793192345177904640
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.023978362,742,711,671,660,633.023978362,876,783,799.023978362,649.023978362,628.976021638,650,0.401848234025,-0.0155106098463,0.0499525834607,0.999999993123,-3.92909337071e-05,-0.00010567152851,-3.23114657845e-05,1793192345194571264
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.611891642,742,711,671,660,633.611891642,876,783,799.611891642,649.611891642,628.388108358,650,0.402011408866,-0.0155186929679,0.0499481049719,0.999999992351,-4.23449292998e-05,-0.000111682796418,-3.21098668672e-05,1793192345211238144
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.803456861,742,711,671,660,633.803456861,876,783,799.803456861,649.803456861,628,650.196543139,0.402190054722,-0.0155277838806,0.0499462331408,0.999999992058,-4.53882492075e-05,-0.000113363179362,-3.11968446147e-05,1793192345227905024
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.225141239,742,711,671,660,633.225141239,876,783,799.225141239,649.225141239,628,650.774858761,0.402398752019,-0.015538832362,0.0499494245766,0.999999992725,-4.84108319247e-05,-0.000106631094463,-2.89019280432e-05,1793192345244571904
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.353100589,742,711,671,660,633,875.646899411,783,799,649,628,650.646899411,0.402637956134,-0.0155514286685,0.0499541866821,0.999999993732,-5.30969127805e-05,-9.50282423976e-05,-2.62094106761e-05,1793192345261238784
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.931295432,742,711,671,660,633,875.068704568,783,799,649,628,650.068704568,0.402896607729,-0.0155650116823,0.0499599500571,0.999999994772,-5.88434392628e-05,-8.03203772591e-05,-2.32634308712e-05,1793192345277905152
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660.503749972,633,875.503749972,783,799,649,628,650.503749972,0.403199526848,-0.015568688419,0.0499687098512,0.999999996853,-4.93732829448e-05,-5.90885319332e-05,-1.90996223048e-05,1793192345294571520
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660.921841027,633,875.921841027,783,799,649.078158973,628,651,0.403511801047,-0.0155694852798,0.049977667701,0.999999998503,-3.60424309103e-05,-3.83241272254e-05,-1.50694083409e-05,1793192345311238144
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660.329480943,633,875.329480943,783,799,649.670519057,628,651,0.403846349091,-0.0155601241785,0.0499852702312,0.999999999508,-1.08120834141e-05,-2.64228038374e-05,-1.29985135246e-05,1793192345327905024
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660.256954992,633,875,783,799,650,628.256954992,650.743045008,0.404199513756,-0.0155564981798,0.0499902378519,0.999999999772,8.32536596633e-06,-1.6855219301e-05,-1.01281612892e-05,1793192345344571648
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660.835965829,633,875,783,799,650,628.835965829,650.164034171,0.40457601164,-0.0155600603019,0.0499919029949,0.999999999732,1.98262489719e-05,-1.02126389595e-05,-6.25580516226e-06,1793192345361238016
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660.587195886,633,875.412804114,783,799,650,628.587195886,650,0.404969531752,-0.0155635252477,0.0499837209438,0.999999999233,3.1139809465e-05,-2.34704171056e-05,-3.61879814453e-06,1793192345377905152
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660.011216394,633,875.988783606,783,799,650,628.011216394,650,0.405369780491,-0.0155669517809,0.0499716464421,0.999999998107,4.23793238444e-05,-4.45945136395e-05,-1.47010650231e-06,1793192345394572288
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711.563907484,671,660,633,876,783,799,650,628.563907484,650.563907484,0.405800376627,-0.0155647633076,0.0499494968773,0.999999995946,2.24333850015e-05,-8.72007810731e-05,7.33215604291e-08,1793192345411238912
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.857256169,875.857256169,783,799,649.857256169,628.857256169,650.857256169,0.406243828875,-0.0155633120283,0.0499304080558,0.999999992481,1.24556238658e-05,-0.00012197697319,1.94032617846e-06,1793192345427905024
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.266720498,875.266720498,783,799,649.266720498,628.266720498,650.266720498,0.406725720343,-0.0155645231793,0.0499215485877,0.99999999079,3.56912836061e-05,-0.000130851573671,4.86010968895e-06,1793192345444571392
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.317026552,875.634053103,783,799,649.317026552,628,650,0.407250277461,-0.0155654817721,0.0499250427147,0.999999990816,6.09328989988e-05,-0.000120707640576,9.2542380803e-06,1793192345461238016
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.895182003,876.790364006,783,799,649.895182003,628,650,0.407809977539,-0.0155662323375,0.0499387122684,0.99999999153,8.78267854107e-05,-9.48984944602e-05,1.48627573593e-05,1793192345477904640
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711.529730172,671,660.470269828,633,876.529730172,783,799.470269828,650,628,650,0.408418353373,-0.0155693933096,0.0499637913778,0.999999992938,0.000105196974928,-5.12779203757e-05,2.07005378845e-05,1793192345494571776
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.954232191,742,711,671,661,633,875.954232191,783,799.954232191,649.954232191,628,650,0.409037787538,-0.0155724086389,0.0499896598479,0.999999992558,0.000119029022903,-7.28683273089e-06,2.5751601522e-05,1793192345511238400
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.36581647,742,711,671,661,633,875.36581647,783,799.36581647,649.36581647,628,650,0.409660534306,-0.0155673684696,0.0499949308827,0.999999993048,0.000115916062676,-5.66778602147e-06,2.0872988507e-05,1793192345527905536
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.21914786,742,711.21914786,671,660.78085214,633,875.21914786,783,799,649.21914786,628,650,0.410275877496,-0.0155575767677,0.0499871856683,0.999999991951,0.000122336618816,-2.90792487552e-05,1.69035732761e-05,1793192345544572416
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.798440186,742,711.798440186,671,660.201559814,633,875.798440186,783,799,649.798440186,628,650,0.410879053713,-0.0155399764654,0.0499580497352,0.999999985084,0.000144424419561,-9.36254936779e-05,1.44283209491e-05,1793192345561239296
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711.622630411,671,660,633,876,783,799,649.622630411,628,650,0.411534862883,-0.0155349767378,0.0499396929048,0.999999980671,0.000153665326046,-0.000121924018208,1.33718617758e-05,1793192345577905920
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711.043894685,671,660,633,876,783,799,649.043894685,628,650,0.41221875722,-0.0155367007352,0.0499270878538,0.999999979174,0.000156051070547,-0.000130880591509,1.3072477218e-05,1793192345594572288
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660.529396615,633,876,783,799.529396615,649,628,650.529396615,0.412981890708,-0.0155468761703,0.0499516786968,0.999999984299,0.000153883216584,-8.60977122257e-05,1.76095898373e-05,1793192345611238400
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.894617969,742,711.105382031,671,661,633,876,783,799.894617969,649,628,651,0.413744689573,-0.015556383412,0.0499719339114,0.99999998708,0.000151401115584,-4.95296411226e-05,2.15370270061e-05,1793192345627904768
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.304175353,742,711.695824647,671,661,633,876,783,799.304175353,649,628,651,0.414476014551,-0.0155596224183,0.0499581816086,0.999999986128,0.000149192746166,-7.10739884781e-05,2.08311634474e-05,1793192345644571392
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.560927382,742,712,671,660.719536309,633,876,783,799,649,628,650.719536309,0.415217378216,-0.0155597152111,0.0499395982643,0.999999984198,0.000146928544839,-9.83616659205e-05,1.84597900608e-05,1793192345661238016
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.717872356,742,712,671,660.141063822,633,876,783,799,649,628,650.141063822,0.415969408654,-0.0155564649718,0.0499158816592,0.999999980763,0.000144605018561,-0.00013175196439,1.43187166341e-05,1793192345677904640
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.564890243,742,712,671.435109757,660.870219514,633,876,783,799,649.435109757,628,650,0.416766016545,-0.0155584599016,0.0499271266966,0.999999984308,0.000137332288888,-0.000110868996985,1.52513937582e-05,1793192345694571520
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,712,672,661.989233964,633,876,783,799,650,628,650,0.417577297428,-0.0155621414137,0.0499495346026,0.999999988907,0.000128765507164,-7.2714110884e-05,1.78481596488e-05,1793192345711238656
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,712,672,661.401567581,633,876,783,799,650,628,650,0.418404485673,-0.0155655561315,0.0499659290659,0.999999989357,0.000136384691572,-4.69453768099e-05,2.19351233111e-05,1793192345727905024
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.18344428,712,672,660.81655572,633,876,783,799,649.81655572,628.18344428,650,0.419216387787,-0.0155664868009,0.0499688947874,0.99999998817,0.000145268084353,-4.43589744761e-05,2.4288861788e-05,1793192345744571392
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.76272813,712,672,660.23727187,633,876,783,799,649.23727187,628.76272813,650,0.419995305147,-0.0155620573429,0.0499428837128,0.999999983219,0.000156879409602,-9.17958516635e-05,2.29026136196e-05,1793192345761237760
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.658937281,712,671.658937281,660.682125438,633,876,783,799.341062719,649,629,650,0.42083622905,-0.0155631751277,0.0499452973737,0.999999983951,0.000159175450259,-7.89149878556e-05,2.31052633739e-05,1793192345777904384
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.081261267,712,671.081261267,661.837477465,633,876,783,799.918738733,649,629,650,0.421720170146,-0.0155681413294,0.049967430782,0.999999987396,0.000155008983334,-2.41885064681e-05,2.44102159037e-05,1793192345794571008
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,712,671,662,633,876,783,799.50539355,649.49460645,628.50539355,650,0.422546775158,-0.015570453397,0.0499725553479,0.999999988013,0.000152058573215,-1.50452546919e-05,2.50363152287e-05,1793192345811237888
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.071663043,712,671.071663043,661.856673913,632.928336957,876,783,799,649.928336957,628,650,0.423364785166,-0.0155724173844,0.0499726374325,0.999999988342,0.000149655833801,-1.64918031132e-05,2.54476016167e-05,1793192345827904768
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.659412882,712,671.659412882,660.681174237,632.340587118,876,783,799,649.340587118,628,650,0.42418848906,-0.0155750035275,0.0499564569454,0.999999987651,0.000149763612654,-4.04648309647e-05,2.51121767687e-05,1793192345844571648
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.755744472,712,671.755744472,660.244255528,632.244255528,876.244255528,783,799,649,628,650,0.425025355133,-0.0155770072955,0.0499574370149,0.999999987464,0.000150755807898,-4.05853804877e-05,2.64219063306e-05,1793192345861238272
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.174907815,712,671.174907815,660.825092185,632.825092185,876.825092185,783,799,649,628,650,0.425880358645,-0.0155782085581,0.0499820641191,0.99999998782,0.000152966718096,-7.83751030233e-06,2.99986384761e-05,1793192345877905152
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,712,671.401738401,661,633,876.598261599,783,799.401738401,649,628,650,0.426682966176,-0.0155749752977,0.0499862530597,0.999999987102,0.000156096997391,-2.11514466823e-05,3.13485096872e-05,1793192345894571776
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,712,671.976578993,661,633,876.023421007,783,799.976578993,649,628,650,0.427462997126,-0.0155698312774,0.0499816355445,0.999999985282,0.000159623416839,-5.43126279787e-05,3.17388644545e-05,1793192345911238144
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.550037069,711.449962931,671.449962931,661,633,876,783,800,649,628,650,0.428214354129,-0.0155625927515,0.0499483684395,0.9999999806,0.000169025862403,-9.71375561277e-05,2.81753762673e-05,1793192345927904512
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711.128206287,671.256412575,661,633,876,783,800,649.128206287,628.128206287,650.128206287,0.428983564741,-0.0155578298998,0.0499252231804,0.999999976573,0.000176481876665,-0.000122678114502,2.5664002995e-05,1793192345944571136
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711.723763067,672.447526133,661,633,876,783,800,649.723763067,628.723763067,650.723763067,0.429822296699,-0.0155624159196,0.0499434109292,0.999999980639,0.000175932775004,-8.37156991572e-05,2.76000813156e-05,1793192345961237760
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+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742,711.61858813,672,660.38141187,632,876.38141187,782.38141187,799.61858813,649,628.38141187,650,0.444208289077,-0.0155543428892,0.0498336954409,0.999999954788,0.000161250740669,-0.000253317983651,1.5892235156e-05,1793192346927904256
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742,711.044697622,672,660.955302378,632,876.955302378,782.955302378,799.044697622,649,628.955302378,650,0.444210066898,-0.0155550170792,0.0498345511533,0.999999955075,0.000161734852189,-0.000251852686647,1.61699349319e-05,1793192346944570880
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.54188717,711,672.54188717,661,632,877,783,799.54188717,649,629,650,0.444209281965,-0.0155520521987,0.0498335270312,0.999999954603,0.000162837522698,-0.000253064963863,1.53836583997e-05,1793192346961237504
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.871967964,742.871967964,711.128032036,672.871967964,661,632,877,783,800,649.128032036,628.871967964,650,0.444208801277,-0.0155498581168,0.049832772901,0.999999954225,0.000163892601515,-0.000253911066444,1.48077968865e-05,1793192346977904384
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.291170656,742.291170656,711.708829344,672.291170656,661,632,877,783,800,649.708829344,628.291170656,650,0.444210161978,-0.0155514768085,0.0498335350481,0.999999954418,0.00016459462032,-0.000252662477002,1.52938375313e-05,1793192346994571008
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.287279512,742.287279512,712,672.287279512,661,632,876.712720488,783,799.712720488,649.712720488,628.287279512,650,0.444210679742,-0.0155522070328,0.0498337793411,0.999999954523,0.000164187907059,-0.00025249121192,1.56548847021e-05,1793192347011237888
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.863370097,742.863370097,712,672.863370097,661,632,876.136629903,783,799.136629903,649.136629903,628.863370097,650,0.444210350077,-0.0155520440531,0.0498335030193,0.999999954537,0.000162666550885,-0.000253403014536,1.58902720853e-05,1793192347027904512
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,712,672.562489728,661,632,876.875020544,783,799,649,629,650,0.444210402468,-0.0155506692447,0.0498333148444,0.999999954325,0.000163888547731,-0.00025346968081,1.56303456929e-05,1793192347044571136
+238,3.966666667,HOLD_POSE2,764,742,712,672,661,632,877,783,800,649,628,650,0.444210234529,-0.0155506053454,0.0498341683963,0.999999954465,0.000163246888695,-0.000253313158712,1.58897381078e-05,1793192347089018112
+239,3.983333333,HOLD_POSE2,764,742,711.422014692,672,661,632.577985308,876.422014692,783,799.422014692,649,628,650,0.444211014785,-0.0155495705473,0.0498342348684,0.999999954218,0.000166271678624,-0.000252341915547,1.55264226539e-05,1793192347105684736
+240,4.000000000,HOLD_POSE2,764,742.155397504,711.155397504,672,661,632.844602496,876.155397504,783,799.155397504,649,628.155397504,650,0.444211487728,-0.0155493564402,0.0498342383269,0.99999995412,0.000167765894196,-0.000251756183548,1.53021167049e-05,1793192347122351360
+241,4.016666667,HOLD_POSE2,764,742.731259142,711.731259142,672,661,632.268740858,876.731259142,783,799.731259142,649,628.731259142,650,0.444211129163,-0.0155513629038,0.0498340712871,0.999999954443,0.000165118785094,-0.000252213541579,1.54539332624e-05,1793192347139018240
+242,4.033333333,HOLD_POSE2,763.686926217,743,712,672.313073783,660.686926217,632.313073783,876.686926217,783,800,649,629,650,0.444210158932,-0.0155511913366,0.049833405569,0.999999954407,0.000163699949705,-0.000253300473323,1.50422905216e-05,1793192347155684864
+243,4.050000000,HOLD_POSE2,763.099902535,743,712,672.900097465,660.099902535,632.900097465,876.099902535,783,800,649,629,650,0.444208653473,-0.0155491139205,0.0498323034908,0.999999954061,0.000163355894529,-0.000254938302829,1.4137602281e-05,1793192347172351488
+244,4.066666667,HOLD_POSE2,763.48049225,743,711.51950775,673,660.48049225,632.51950775,876.48049225,783,800,649,629,650,0.444208880589,-0.0155492729968,0.0498320306331,0.999999954054,0.0001632700451,-0.000255006955718,1.43753010155e-05,1793192347189018112
+245,4.083333333,HOLD_POSE2,764,743,711.059322233,672.940677767,660.940677767,632,877,783,799.940677767,649,628.940677767,650,0.444209410856,-0.0155499069029,0.0498319841254,0.999999954127,0.000163064358145,-0.000254826328035,1.48056155925e-05,1793192347205684736
+246,4.100000000,HOLD_POSE2,764,743,711.636360577,672.363639423,660.363639423,632,877,783,799.363639423,649,628.363639423,650,0.444209485744,-0.0155506817777,0.0498324288461,0.999999954289,0.000161350680472,-0.000255278754515,1.487223673e-05,1793192347222351360
+247,4.116666667,HOLD_POSE2,764,742.78754743,711.78754743,672,660.424905139,632,877,783,799.21245257,649,628,650,0.444208955875,-0.0155511710466,0.0498322910653,0.999999954244,0.000160173045263,-0.000256185883295,1.5007368423e-05,1793192347239017984
+248,4.133333333,HOLD_POSE2,764,742.213068113,711.213068113,672,661.573863774,632,877,783,799.786931887,649,628,650,0.44420739548,-0.0155511736326,0.0498311606813,0.99999995385,0.000159908845689,-0.00025786784095,1.52592445362e-05,1793192347255684608
+249,4.150000000,HOLD_POSE2,764,742,711,672.370813404,661.629186596,632,877,783,800,649,628.370813404,650,0.444207567225,-0.0155516901072,0.049831036623,0.999999953816,0.000160060580036,-0.000257900118494,1.53633453059e-05,1793192347272351488
+250,4.166666667,HOLD_POSE2,764,742,711,672.960237995,661.039762005,632,877,783,800,649,628.960237995,650,0.444208760143,-0.0155525095422,0.0498315058387,0.999999953994,0.000160457526119,-0.000256959835538,1.53803258852e-05,1793192347289017856
+251,4.183333333,HOLD_POSE2,763.458525058,742.541474942,711.541474942,672.458525058,661,632,877,783,799.458525058,649,629,650,0.444209815726,-0.0155522534444,0.0498326825364,0.999999954503,0.000160083789789,-0.000255216842195,1.52020433135e-05,1793192347305684736
+252,4.200000000,HOLD_POSE2,763,743,712,672.120807334,660.879192666,632,876.879192666,783,799.120807334,649,628.879192666,650,0.444210492319,-0.0155516357684,0.0498334849959,0.999999954835,0.000159978543892,-0.000253993211403,1.49798597972e-05,1793192347322351360
+253,4.216666667,HOLD_POSE2,763,743,712,672.695212682,660.304787318,632,876.304787318,783,799.695212682,649,628.304787318,650,0.444209783212,-0.0155499525949,0.0498326901342,0.999999954421,0.000161090732013,-0.000254937668625,1.46458762969e-05,1793192347339017984
+254,4.233333333,POSE2_TO_POSE3_RETREAT,763,743,712,672,661,632,877,783,800,650,629,650,0.444210246165,-0.0155492517756,0.0498327180653,0.999999953891,0.000163956831565,-0.000255179728985,1.48181805036e-05,1793192347376958464
+255,4.250000000,POSE2_TO_POSE3_RETREAT,763.59541569,743,712,672,661,632,877,783,800,649.40458431,628.40458431,650,0.444211941184,-0.0155499249351,0.0498340546991,0.999999954748,0.000161689439277,-0.000253250176284,1.49907195898e-05,1793192347393625088
+256,4.266666667,POSE2_TO_POSE3_RETREAT,764,742.815497191,712,672,660.815497191,632,877,783,799.815497191,649,628.184502809,650,0.44421295731,-0.0155501900004,0.0498347274645,0.999999955212,0.000160527010994,-0.000252152803451,1.50392109945e-05,1793192347410291968
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764,742.239827256,712,672,660.239827256,632,877,783,799.239827256,649,628.760172744,650,0.444212534102,-0.0155495898594,0.0498339927528,0.999999954857,0.000161707232767,-0.000252819747065,1.48247071133e-05,1793192347426958592
+258,4.300000000,POSE2_TO_POSE3_RETREAT,763.664486128,742,711.664486128,672,660.335513872,632,877,783,799,649,628.664486128,650,0.444213215731,-0.0155490882604,0.0498339889011,0.999999954913,0.000162087121223,-0.000252364790455,1.46463874499e-05,1793192347443624960
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763.089379837,742,711.089379837,672,660.910620163,632,877,783,799,649,628.089379837,650,0.44421468633,-0.0155486570309,0.0498345069609,0.999999955262,0.000161895486902,-0.000251108678291,1.44939071608e-05,1793192347460291328
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763.499020601,742,711.499020601,672,660.500979399,632,876.500979399,783,799,649,628,650,0.444212403613,-0.0155505886893,0.0498338038747,0.999999955223,0.000159567062491,-0.000252741169516,1.46082441973e-05,1793192347476958208
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742.087874227,712,672.087874227,660,632,876,783,799.087874227,649,628,650,0.444208161501,-0.015552020208,0.0498321293545,0.999999954682,0.000157708880934,-0.000256031164219,1.45917929197e-05,1793192347493624832
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.665616989,712,672.665616989,660,632,876,783,799.665616989,649,628,650,0.444196846617,-0.0155482397512,0.0498262920852,0.99999995173,0.000160664076345,-0.000265598018894,1.35725386717e-05,1793192347510291712
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.756670884,712,672.756670884,660,632,876.243329116,783,799.756670884,649,628.243329116,650.243329116,0.444177323344,-0.0155452605532,0.0498169740602,0.999999946943,0.000162809395914,-0.000281871089113,1.24471875388e-05,1793192347526958336
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.179000897,712,672.179000897,660,632,876.820999103,783,799.179000897,649,628.820999103,650.820999103,0.444146521521,-0.0155433823069,0.0498028733817,0.999999939281,0.000163841923591,-0.000307358682289,1.11760564595e-05,1793192347543624960
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.39572461,712,672,660.39572461,632,877,783,799.39572461,649,629,650.60427539,0.444095716072,-0.015540312539,0.0497834577929,0.999999927627,0.000164808645224,-0.000342778385712,9.30929560796e-06,1793192347560291840
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.969128105,712,672,660.969128105,632,877,783,799.969128105,649,629,650.030871895,0.444035929066,-0.0155367077821,0.0497616558279,0.999999913025,0.000165745820084,-0.000382657571724,7.17509907005e-06,1793192347576958464
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711.440458944,672.559541056,661,632.559541056,877,783,800,649,629,650,0.443967488274,-0.0155318081837,0.049748093638,0.999999907086,0.000168185790785,-0.00039688731118,4.71682408278e-06,1793192347593625088
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.852363083,711.147636917,672.852363083,661,632.852363083,877,783,800,649,629,650,0.443893947674,-0.0155268256326,0.049737924051,0.999999902425,0.000170439201444,-0.000407545765763,2.77443770317e-06,1793192347610291456
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.273854172,711.726145828,672.273854172,661,632.273854172,877,783,800,649,629,650,0.443806960623,-0.0155218160213,0.0497362872461,0.999999900334,0.000171898575782,-0.000412041189216,2.39146920746e-06,1793192347626958080
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,661,632,877,783,799.697487808,649,628.697487808,650,0.443710405578,-0.0155151651111,0.0497395215258,0.999999901785,0.000175201497088,-0.000407100725542,2.09805309306e-06,1793192347643624704
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,661,632,877,783,799.123047412,649,628.123047412,650,0.443605249869,-0.0155070388377,0.0497471344234,0.999999906278,0.000180161582614,-0.000393678342802,1.88513563497e-06,1793192347660291328
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.537986567,742,711.537986567,672,661,632,877,783,799,649,628.462013433,650,0.443473103762,-0.0154996758963,0.0497503079362,0.999999907229,0.000182489586795,-0.000390176529265,1.34708478587e-06,1793192347676958208
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.049348546,742.049348546,711.049348546,672,661,632,877,783,799.049348546,649,629,650.049348546,0.443330555967,-0.0154921359228,0.0497522459954,0.999999907288,0.00018443888494,-0.000389108672839,6.77422086914e-07,1793192347693624832
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.629999848,742.629999848,711.629999848,672,661,632,877,783,799.629999848,649,629,650.629999848,0.443155232809,-0.0154804497013,0.0497539116658,0.99999990778,0.000190035663537,-0.000385130255215,-4.55000771198e-07,1793192347710291456
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.208490699,742.791509301,711.791509301,672,661,632.208490699,877,783,800,649,629,650.791509301,0.442966391509,-0.0154682070425,0.0497552957082,0.999999907915,0.000195732279137,-0.000381911502287,-1.63027651191e-06,1793192347726958336
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.783186748,742.216813252,711.216813252,672,661,632.783186748,877,783,800,649,629,650.216813252,0.442753806165,-0.0154549870258,0.0497561850827,0.999999907463,0.000201604253747,-0.000380027069623,-2.88082146121e-06,1793192347743626240
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.285379241,742,711.35731038,672.35731038,661.35731038,632.64268962,876.64268962,783,800,649,628.64268962,650,0.442516800843,-0.0154433592419,0.049762392746,0.999999910633,0.000205571028007,-0.000369400582452,-4.10305971565e-06,1793192347760293120
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.137825433,742,711.931087284,672.931087284,661.931087284,632.068912716,876.068912716,783,800,649,628.068912716,650,0.442265001337,-0.0154326960666,0.0497718223463,0.999999915801,0.000208383590316,-0.000353477965202,-5.30814926844e-06,1793192347776959744
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.691259957,742.308740043,712,672.691259957,661,632.691259957,877,783.691259957,800,649,628.691259957,650,0.441359885788,-0.0154215097175,0.0498103201282,0.999999942746,0.000182735558975,-0.000284663516486,-9.10599239468e-06,1793192347826958592
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.73343024,742,712,672.73343024,661,632.73343024,876.73343024,783.73343024,799.73343024,649,628.73343024,650,0.440992316296,-0.0154263517372,0.0498168645296,0.999999948946,0.000162518063616,-0.000274923160761,-1.05928100104e-05,1793192347843625216
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.159186341,742,712,672.159186341,661,632.159186341,876.159186341,783.159186341,799.159186341,649,628.159186341,650,0.440584656204,-0.015430571401,0.0498155126896,0.999999950494,0.000141177115511,-0.000280930923264,-1.26265285511e-05,1793192347860291584
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.426297663,742,712,672,661,632,876,783.426297663,799,649,628,650,0.440143318901,-0.0154228512207,0.0498123313031,0.999999951442,0.000130269234568,-0.000282614692078,-1.656708401e-05,1793192347876958976
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.405441442,742,712,672,660.405441442,632.594558558,876.594558558,783.405441442,799.594558558,649,628.594558558,650,0.439159366211,-0.0154043868718,0.0497889684958,0.999999941688,0.0001114971219,-0.000321715940522,-2.62779804608e-05,1793192347910293504
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,742,712,672.749233146,660.749233146,632.250766854,877,783,799.250766854,649,629,650,0.438081425995,-0.015398654884,0.0497668702207,0.999999932821,7.49592502355e-05,-0.000357021040344,-3.57175114934e-05,1793192347943626240
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,711.738581686,671,660.522836628,633,875,783,799.261418314,649,628,650,0.413586190987,-0.0153660385737,0.0497974909605,0.999999938615,-9.10600323536e-05,-0.00033031425617,-7.32890155506e-05,1793192348460292096
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711.679645011,671,660,633,875,783,799.320354989,649,628,650,0.412813597472,-0.0153681792796,0.0497816283097,0.99999993002,-9.49467464844e-05,-0.000354145635177,-7.43340390231e-05,1793192348476958720
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,711.09374539,671,660,633,875,783,799.90625461,649,628,650,0.412080743819,-0.0153739944481,0.0497750327155,0.999999929459,-9.75047194881e-05,-0.000355229012226,-7.3402263843e-05,1793192348493625856
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711.486189975,671,660.972379951,633,875,783,800.486189975,649,628,650,0.411372409463,-0.0153880067503,0.0497972161678,0.999999939042,-9.22347762686e-05,-0.00032989544347,-6.76535980866e-05,1793192348510292480
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.119611407,742,712,670.119611407,660,633.119611407,875.119611407,783,799,649,628,650,0.400958490387,-0.0154459651009,0.0498456855345,0.999999947207,-0.0001579145362,-0.000278951523921,-5.32479238972e-05,1793192349526958080
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763,742,711.538056368,670.461943632,660,633,875,783,799,649,628,650,0.40095928873,-0.0154448669173,0.0498460442626,0.999999947844,-0.000155614778752,-0.000277969671612,-5.31782996257e-05,1793192349543624704
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.621377286,742.621377286,711.621377286,671,660,633,875.621377286,783.621377286,799.621377286,649,628,650,0.400960758005,-0.0154445925135,0.0498471264653,0.999999948747,-0.000153741825616,-0.00027588802749,-5.24915424182e-05,1793192349576958208
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_06/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9e436562ead24c7755a7f8868cb3f22ff89b20dd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,388 @@
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+384,6.400000000,pose2_to_pose3_retreat,0.575709475219,-0.00994527662489,1.040029186,0.546280201969,-0.00127255875762,1.03969848277
+385,6.416666667,pose2_to_pose3_retreat,0.575709277344,-0.00994532441797,1.04002923298,0.54628000514,-0.0012726028768,1.03969853302
+386,6.433333333,pose2_to_pose3_retreat,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471563,1.03969857335
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_06/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e326cdad0b3e3bb66441fca8b4138395540021c6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0411a46916733f0c6ea001b7f912599ad88ea8efc047d495cab00809d3d7f10
+size 24847479
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8259891a3e7ba8cfafaf6e00f5fc6c226b655741
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_02/franka_data.csv
@@ -0,0 +1,392 @@
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+55,0.916666667,BASELINE,764,742,711.084289884,670.084289884,660,633,875.084289884,783,799,649,628,650.915710116,0.400960773042,-0.0154493662942,0.0498496541488,0.999999949589,-0.000155212820481,-0.000272218319794,-5.127170458e-05,1793192350647892224
+56,0.933333333,BASELINE,764,742,711,670.496376769,660,633,875,783,799,649,628,651,0.40096044324,-0.0154493612164,0.0498497413912,0.999999949537,-0.000155440443526,-0.0002722670678,-5.13324983732e-05,1793192350664559104
+57,0.950000000,BASELINE,764,742,711,670.924636605,660.075363395,633,875,783,799,649,628,651,0.400960276397,-0.0154490440895,0.0498498712138,0.999999949601,-0.000155326102828,-0.000272084376753,-5.14054977752e-05,1793192350681225728
+58,0.966666667,BASELINE,764,742,711,670.346485406,660.653514594,633,875,783,799,649,628,651,0.400961713863,-0.0154471158235,0.0498502006902,0.999999950489,-0.000153371577363,-0.000269885235493,-5.15778235819e-05,1793192350697892352
+59,0.983333333,BASELINE,763.769485394,742,711,670,660.769485394,633,875,783,799.230514606,649,628,650.769485394,0.400962125815,-0.0154472501734,0.0498503499298,0.999999950473,-0.000154676250783,-0.000269176738818,-5.17107773184e-05,1793192350714559232
+60,1.000000000,BASELINE,763.194207041,742,711,670,660.194207041,633,875,783,799.805792959,649,628,650.194207041,0.400961003978,-0.0154504694261,0.0498502296026,0.999999949083,-0.000160855468017,-0.000270697689297,-5.17848451695e-05,1793192350731226112
+61,1.016666667,BASELINE,763.389033754,742,711,670.389033754,660,633,875.389033754,783,800,649,628,650,0.400959752587,-0.0154504300097,0.0498495707886,0.999999948617,-0.000161188535116,-0.000272217499356,-5.17928568637e-05,1793192350747892736
+62,1.033333333,BASELINE,763.976332449,742,711,670.976332449,660,633,875.976332449,783,800,649,628,650,0.400958435169,-0.0154487298636,0.0498486375434,0.999999948626,-0.000158542203272,-0.000273736728128,-5.1767204071e-05,1793192350764559104
+63,1.050000000,BASELINE,763.444078704,742,711,671,660,633,876,783,800,649,628,650,0.400959050551,-0.0154471162349,0.049849145374,0.999999949163,-0.000156344518305,-0.000272984391491,-5.20493173257e-05,1793192350781225472
+64,1.066666667,BASELINE,763,742,711,671,660,633,876,783,800,649,628.13447143,650,0.400959969612,-0.0154463260049,0.0498498262899,0.999999949691,-0.000154887531893,-0.000271855785991,-5.21705374452e-05,1793192350797892352
+65,1.083333333,BASELINE,763,742,711,671,660,633,876,783,800,649,628.710672916,650,0.400961619636,-0.0154482286528,0.0498508769998,0.999999950128,-0.000155801807372,-0.000269804497525,-5.17207811186e-05,1793192350814559488
+66,1.100000000,BASELINE,763,742,711,671,660,633,875.714394479,783,799.714394479,649,628.714394479,650,0.400961770573,-0.015448347576,0.049851270884,0.999999950216,-0.000155827295393,-0.000269487706517,-5.15923069479e-05,1793192350831226368
+67,1.116666667,BASELINE,763,742,711,671,660,633,875.140741637,783,799.140741637,649,628.140741637,650,0.400960409607,-0.0154466675243,0.0498510023269,0.999999949954,-0.000154956397166,-0.000270920242267,-5.17878617788e-05,1793192350847892992
+68,1.133333333,BASELINE,763.448761706,742,711,670.551238294,660,633,875,783,799,649,628.448761706,650.448761706,0.400959548023,-0.0154466684987,0.0498499810408,0.999999949524,-0.000155487512633,-0.000272198724284,-5.18007950891e-05,1793192350864559616
+69,1.150000000,BASELINE,763.957924892,742,711.042075108,670,660,633,875,783,799.042075108,649,628.957924892,650.957924892,0.400958990028,-0.0154472161434,0.0498488982833,0.999999949136,-0.000156205755336,-0.000273222341894,-5.17414099833e-05,1793192350881225984
+70,1.166666667,BASELINE,763.381663106,742,711.618336894,670,660,633,875,783,799.618336894,649,628.381663106,650.381663106,0.40096022517,-0.0154477658214,0.0498501420062,0.999999949994,-0.000153512897805,-0.000271646056441,-5.1517646559e-05,1793192350897892608
+71,1.183333333,BASELINE,763.194029893,742,712,670.194029893,660,633,875,783,800,649,628,650,0.400960161746,-0.0154477690788,0.0498501385391,0.999999950182,-0.000152038324051,-0.000271782239986,-5.15176573016e-05,1793192350914559232
+72,1.200000000,BASELINE,763.768607444,742,712,670.768607444,660,633,875,783,800,649,628,650,0.400957551462,-0.0154467006504,0.0498476889791,0.999999949064,-0.000152953149867,-0.00027527706069,-5.19565526183e-05,1793192350931225856
+73,1.216666667,BASELINE,764,742,711.647499128,670.647499128,660.352500872,633,875.705001744,783,799.647499128,649,628,650,0.400957730669,-0.0154480760839,0.0498478012156,0.999999948804,-0.000154922155452,-0.000275165040767,-5.17200070776e-05,1793192350947892480
+74,1.233333333,BASELINE,764,742,711.057324502,670.057324502,660.942675498,633,876.885350996,783,799.057324502,649,628,650,0.400959790689,-0.0154510992916,0.0498496407438,0.999999949118,-0.000157601941812,-0.000272621107921,-5.1028045434e-05,1793192350964559104
+75,1.250000000,BASELINE,763.477378609,742,711.522621391,670.522621391,660.477378609,633,875.954757219,783,799.522621391,649,628.522621391,650.522621391,0.400960703497,-0.0154512790732,0.0498501156061,0.999999949101,-0.000159606527083,-0.000271500421751,-5.10914535407e-05,1793192350981225728
+76,1.266666667,BASELINE,763.101049178,742,712,671,660,633,875,783.101049178,799.898950822,649,628.898950822,650.898950822,0.400961161213,-0.0154508890702,0.0498503018917,0.999999949104,-0.000160595050577,-0.000270874375833,-5.12668531957e-05,1793192350997892352
+77,1.283333333,BASELINE,763.67751182,742,712,671,660,633,875,783.67751182,799.32248818,649,628.32248818,650.32248818,0.400960058485,-0.0154492575418,0.0498498212066,0.99999994937,-0.000157144982661,-0.000271855132674,-5.15868219758e-05,1793192351014558976
+78,1.300000000,BASELINE,764,742,711.747137446,670.747137446,660,633,875,784,799,649,628,650,0.400960389456,-0.0154485356838,0.0498499762668,0.999999949654,-0.000155947794312,-0.000271474828197,-5.17053637665e-05,1793192351031225344
+79,1.316666667,BASELINE,764,742,711.173198618,670.173198618,660,633,875,784,799,649,628,650,0.400962540889,-0.0154489688944,0.0498509385748,0.999999949971,-0.000157611236095,-0.000269366294267,-5.15681403909e-05,1793192351047891968
+80,1.333333333,BASELINE,763.587434646,742.412565354,711,670,660,633,875.412565354,784,799,649,628.412565354,650,0.400961676329,-0.0154490707747,0.0498507930553,0.999999949985,-0.000157156450412,-0.000269586131729,-5.15241302852e-05,1793192351064558592
+81,1.350000000,BASELINE,763,742.996627626,711.003372374,670.003372374,660,633,875.996627626,783.996627626,799.006744749,649.003372374,628.996627626,650.003372374,0.400959516837,-0.0154490287416,0.0498501712636,0.999999949866,-0.000155803312171,-0.000270813300456,-5.15201064671e-05,1793192351081225216
+82,1.366666667,BASELINE,763,742.41739681,711.58260319,670.58260319,660,633,875.41739681,783.41739681,800.165206379,649.58260319,628.41739681,650.58260319,0.400958820466,-0.0154488648768,0.0498499810578,0.999999949242,-0.000157376719463,-0.00027221406063,-5.1464823821e-05,1793192351097891840
+83,1.383333333,BASELINE,763,742,711.83936715,670.83936715,660,633,875,783,800.678734301,649.83936715,628.16063285,650.83936715,0.400958602004,-0.0154486078542,0.0498499615873,0.999999949028,-0.000157493101764,-0.000272933978918,-5.14431293541e-05,1793192351114558720
+84,1.400000000,BASELINE,763,742,711.264435347,670.264435347,660,633,875,783,799.528870694,649.264435347,628.735564653,650.264435347,0.400959616151,-0.0154481105621,0.0498503824715,0.999999949874,-0.000153851573548,-0.000271897892537,-5.15080644009e-05,1793192351131225344
+85,1.416666667,BASELINE,763,742,711,670,660,633,875,783,799.311427582,649,628.688572418,650,0.400960148305,-0.0154486315535,0.0498503711694,0.999999949918,-0.000154225086196,-0.000271533966725,-5.14524455923e-05,1793192351147891968
+86,1.433333333,BASELINE,763,742,711,670,660,633,875,783,799.888083474,649,628.111916526,650,0.400960269969,-0.0154500197694,0.0498499917944,0.999999949278,-0.00015801802162,-0.0002717424887,-5.12941566984e-05,1793192351164558592
+87,1.450000000,BASELINE,763,742,711,670.477074961,660,633,875,783,800,649,628.477074961,650,0.400959874409,-0.0154498106228,0.0498495229695,0.999999949081,-0.000158888521261,-0.00027191386438,-5.15313295459e-05,1793192351181225472
+88,1.466666667,BASELINE,763,742,711,670.932806442,660,633,875,783,799.932806442,649,628.932806442,650,0.400959571834,-0.0154492583494,0.0498493082393,0.999999949133,-0.000158794502207,-0.000271730772626,-5.17711248926e-05,1793192351197892096
+89,1.483333333,BASELINE,763,742,711,670.356651467,660,633,875,783,799.356651467,649,628.356651467,650,0.400960917045,-0.0154490207472,0.0498511813268,0.99999995024,-0.000156725414979,-0.000268930504707,-5.1309433823e-05,1793192351214558720
+90,1.500000000,BASELINE,763.21921291,742,711,670,660,633,875.21921291,783,799.21921291,649,628,650,0.400961726347,-0.0154488839066,0.0498519371877,0.999999950637,-0.000155967105434,-0.000267916227595,-5.11903217627e-05,1793192351231225088
+91,1.516666667,BASELINE,763.794605063,742,711,670,660,633,875.794605063,783,799.794605063,649,628,650,0.400961664899,-0.0154489107846,0.0498508777679,0.999999949893,-0.000157338560273,-0.000269803845797,-5.16278354162e-05,1793192351247891968
+92,1.533333333,BASELINE,763.620583419,742,711,670.379416581,660,633,875.620583419,783,799.620583419,649,628.379416581,650,0.400961746802,-0.0154494074346,0.0498505468017,0.999999949781,-0.000157548895223,-0.000270085551395,-5.16777608077e-05,1793192351264558592
+93,1.550000000,BASELINE,763.030542915,742,711,670.969457085,660,633,875.030542915,783,799.030542915,649,628.969457085,650,0.400961908284,-0.0154501648671,0.0498506202186,0.999999950022,-0.000157114662727,-0.000269475773698,-5.15125260074e-05,1793192351281225216
+94,1.566666667,BASELINE,763,742,711.548984427,671,660.548984427,633,875,783,799,649,628.451015573,650,0.400961172438,-0.0154502251166,0.0498504433488,0.999999949927,-0.000157545819122,-0.000269596508283,-5.14123169184e-05,1793192351297891840
+95,1.583333333,BASELINE,763.127048898,742,711.872951102,670.872951102,661,633,875,783,799,649,628,650,0.40096036622,-0.0154503254871,0.0498501777387,0.999999949789,-0.000157884601989,-0.000269934622943,-5.12765421167e-05,1793192351314558720
+96,1.600000000,BASELINE,763.70197971,742,711.29802029,670.29802029,661,633,875,783,799,649,628,650,0.400959484606,-0.0154507014639,0.0498496474614,0.999999949567,-0.000157731204082,-0.00027089847865,-5.10028746577e-05,1793192351331225344
+97,1.616666667,BASELINE,764,742,711.282713507,670.282713507,660.717286493,633,875,783,799,649,628,650,0.400959552627,-0.0154494178039,0.0498496052137,0.999999949617,-0.000156769184077,-0.000271237259011,-5.11824411897e-05,1793192351347891968
+98,1.633333333,BASELINE,764,742,711.869692636,670.869692636,660.130307364,633,875,783,799,649,628,650,0.400960642676,-0.015446347988,0.0498500881997,0.999999949959,-0.000154936898252,-0.000270903312562,-5.1849793139e-05,1793192351364558592
+99,1.650000000,BASELINE,763.549337444,741.549337444,712,671,660.450662556,632.549337444,875.450662556,783,799,649,628.450662556,650,0.400960663333,-0.015445941292,0.0498506411358,0.999999950174,-0.000153353840716,-0.000270975714935,-5.20209519127e-05,1793192351381225216
+100,1.666666667,BASELINE,763,741.029861486,711.970138514,670.970138514,660.970138514,632.029861486,875.970138514,783,799,649,628.970138514,650,0.4009604304,-0.0154463510665,0.0498511637022,0.99999995034,-0.000151990961987,-0.000271134390124,-5.20163242533e-05,1793192351397892096
+101,1.683333333,BASELINE,763,741.608026529,711.391973471,670.391973471,660.391973471,632.608026529,875.391973471,783,799,649,628.391973471,650,0.400961144041,-0.0154477995938,0.049850762145,0.999999950267,-0.000153365124647,-0.000270748179962,-5.13836948968e-05,1793192351414558720
+102,1.700000000,BASELINE,763,742,711,670,660,633,875,783,799.18506389,649,628,650,0.400961572238,-0.015448293013,0.0498503816252,0.999999950263,-0.000153705306319,-0.000270619993939,-5.1127349511e-05,1793192351431225344
+103,1.716666667,BASELINE,763,742,711,670,660,633,875,783,799.759727164,649,628,650,0.400961399516,-0.0154467757238,0.0498500453937,0.999999950403,-0.000151868734941,-0.000271035004405,-5.16631630785e-05,1793192351447891968
+104,1.733333333,BASELINE,763.342070705,742,711,670,660,633,875,783.342070705,799.657929295,649,628,650,0.400961501523,-0.0154469402649,0.0498502090116,0.999999950505,-0.000151730017174,-0.000270766292188,-5.15139175114e-05,1793192351464558592
+105,1.750000000,BASELINE,763.929932885,742,711,670,660,633,875,783.929932885,799.070067115,649,628,650,0.400961800935,-0.0154483132683,0.0498507317913,0.999999950579,-0.000152811274902,-0.000270006297936,-5.08724296297e-05,1793192351481225472
+106,1.766666667,BASELINE,763.489746226,742,711,670,660,633,875,783.489746226,799,649.510253774,628,650,0.400962222724,-0.0154481962251,0.0498509477275,0.99999995066,-0.000153733822534,-0.000269126809369,-5.11631385517e-05,1793192351497891840
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,875,783,799,649,628,650,0.40095767866,-0.0154468923237,0.0498485557997,0.999999949921,-0.000149895888594,-0.000273966412878,-5.13078771256e-05,1793192351540797184
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.425748746,742,711.425748746,670.425748746,660,633,875,783,799,649,628.574251254,650,0.400958136612,-0.0154478082483,0.0498486472509,0.99999994964,-0.000151998937445,-0.000273778258679,-5.15882171229e-05,1793192351557463808
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.152055441,742,711,670.152055441,660,633,875,783,799,649,629,650,0.400958547736,-0.0154484926096,0.049848891916,0.999999949476,-0.000153639374632,-0.000273445161931,-5.16857298618e-05,1793192351574130432
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.740045831,742,711,670.740045831,660,633,875,783,799,649,629,650,0.400958824607,-0.0154485130915,0.0498495758372,0.999999949654,-0.000153953529009,-0.000272696522483,-5.12590865355e-05,1793192351590797056
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660,633,875,783,799,649,629,650,0.400959776482,-0.01544916593,0.0498504005603,0.99999994979,-0.000155309487012,-0.000271478221976,-5.09750529889e-05,1793192351607463680
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660,633,875,783,799,649,629,650,0.400961263268,-0.015450319883,0.0498513368625,0.999999949888,-0.000157491028086,-0.000269887735989,-5.08040313827e-05,1793192351624130304
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.519171062,742,711,671,660,633,875,783,799,649,628.519171062,650,0.400965125894,-0.0154491169731,0.0498524834664,0.999999950978,-0.000155048548854,-0.000267218595655,-5.09658980719e-05,1793192351640796928
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.057628735,742,711,670.942371265,660,633,875.057628735,783,799,649,628.057628735,650,0.400970260861,-0.0154479208191,0.0498540999585,0.999999952326,-0.000152376425621,-0.000263670672243,-5.10621160358e-05,1793192351657463808
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.641041162,742,711,670.358958838,660,633,875.641041162,783,799,649,628.641041162,650,0.400982710404,-0.0154510458054,0.0498596234658,0.999999954318,-0.000155965995756,-0.000254054476813,-4.99577577271e-05,1793192351674130432
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.775563134,742,711,670,660,632.775563134,875.775563134,783,799,649,628.775563134,650,0.401004287236,-0.0154530881631,0.0498682452215,0.999999958168,-0.000157796531583,-0.00023746707378,-4.87253995989e-05,1793192351690797056
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.19219423,742,711,670,660,632.19219423,875.19219423,783,799,649,628.19219423,650,0.401040460938,-0.0154533991201,0.0498818218695,0.999999964593,-0.000156813920562,-0.000209730924905,-4.72883370579e-05,1793192351707463936
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,711,670,660,632,874.613569313,783,799,649,628,650,0.401094284113,-0.0154571829515,0.0498985387472,0.99999997148,-0.000157311140685,-0.000173903196011,-4.52777622932e-05,1793192351724130560
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,711,670,660,632,874.037275187,783,799,649,628,650,0.401156778935,-0.0154626730965,0.0499167985027,0.999999977518,-0.000158535440049,-0.000134099860919,-4.29854058928e-05,1793192351740797184
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.537950549,742,711.537950549,670,660.537950549,632.537950549,874.537950549,783,799,649.537950549,628,650.537950549,0.401224125195,-0.0154668068654,0.049925854229,0.999999979051,-0.000159571208028,-0.000121424189537,-4.11267382916e-05,1793192351757463808
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.883911099,742,711.883911099,670.116088901,660.883911099,633,875,783,799,649.883911099,628,650.883911099,0.401294855849,-0.0154709930235,0.0499328644375,0.999999980011,-0.000160412157677,-0.000112622599661,-3.95133659095e-05,1793192351774130688
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.293572026,742,711.293572026,670.706427974,660.293572026,633,875,783,799,649.293572026,628,650.293572026,0.401378041987,-0.0154757763939,0.0499341184557,0.999999980096,-0.000160510491325,-0.000111983716053,-3.87795599398e-05,1793192351790797312
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.291162893,742,711,670.708837107,660,632.708837107,875,783,799,649.291162893,628,650,0.401472550742,-0.015481739894,0.0499339795491,0.999999979644,-0.000162400262722,-0.000113506137218,-3.81323027005e-05,1793192351807463680
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.870353959,742,711,670.129646041,660,632.129646041,875,783,799,649.870353959,628,650,0.401578260208,-0.0154888708182,0.0499324627143,0.999999978642,-0.000166062184861,-0.000117166594126,-3.75706624327e-05,1793192351824130304
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.554631281,742,711,670,660,632,875,783,799,649.554631281,628,650,0.401705789698,-0.0154964973125,0.0499315715676,0.99999997778,-0.000168964768145,-0.000120656834357,-3.65021983634e-05,1793192351840797696
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.019633058,742,711,670.019633058,660,632.019633058,875,783,798.980366942,649,628,650.019633058,0.401840633439,-0.0155043502911,0.0499308558041,0.999999976958,-0.000171611793998,-0.000124047499,-3.52835888631e-05,1793192351857465600
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.607026718,742,711,670.607026718,660,632.607026718,875,783,798.392973282,649,628,650.607026718,0.402005017311,-0.0155146198555,0.0499299936693,0.999999976489,-0.000173201304232,-0.000125978176655,-3.39498671695e-05,1793192351874131968
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.808320448,742,711.191679552,671,660.191679552,633,875.191679552,783,798.191679552,649,628,651,0.402183461306,-0.0155258539273,0.0499298031881,0.999999976057,-0.000175773039023,-0.000126263306893,-3.23781484143e-05,1793192351890798336
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.229207593,742,711.770792407,671,660.770792407,633,875.770792407,783,798.770792407,649,628,651,0.402390324383,-0.0155390375137,0.0499309702905,0.999999975689,-0.000180330100167,-0.000123222365529,-3.03253770089e-05,1793192351907464704
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742,712,671.349421591,660.650578409,633,875.650578409,783.349421591,799.349421591,649,628,650.650578409,0.402627327446,-0.0155497163006,0.0499358797666,0.999999977214,-0.000179227349739,-0.000112618438799,-2.77000595801e-05,1793192351924131072
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742,712,671.927734002,660.072265998,633,875.072265998,783.927734002,799.927734002,649,628,650.072265998,0.402884073919,-0.0155587543041,0.0499432407082,0.999999979774,-0.000174417104416,-9.70603304238e-05,-2.46996920537e-05,1793192351940797440
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.503409231,742,711.496590769,670.993181538,660,633,875,783.496590769,799.496590769,649,628,650,0.40317877133,-0.0155652680349,0.0499528962147,0.999999983751,-0.000162619694378,-7.51242355219e-05,-2.02524588188e-05,1793192351957464320
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.921402477,742,711,670,660,632.921402477,875,783,799,649,628,650,0.403483014465,-0.0155688223674,0.049962378897,0.999999987585,-0.000147049328691,-5.43286174699e-05,-1.59743557377e-05,1793192351974131200
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.346910071,742,711,670,660,632.346910071,875,783,799,649,628,650,0.403813290747,-0.015555979356,0.0499687037849,0.999999992327,-0.000113969701262,-4.64751545416e-05,-1.40669674722e-05,1793192351990797824
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.234413609,742,711,670.234413609,660.234413609,632.234413609,875.234413609,783,799,649.234413609,628,650.234413609,0.404165065298,-0.0155439169035,0.0499742498534,0.999999995908,-8.14142575422e-05,-3.71735190371e-05,-1.32216788312e-05,1793192352007464704
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.826150353,742,711,670.826150353,660.826150353,632.826150353,875.826150353,783,799,649.826150353,628,650.826150353,0.404549610236,-0.0155330442791,0.0499786087455,0.99999999834,-4.96578435872e-05,-2.56643946047e-05,-1.3995378088e-05,1793192352024131584
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.591129703,742,711,671,660.591129703,633,876,783,799.408870297,649.591129703,628.408870297,650.591129703,0.404942416442,-0.0155252332808,0.0499707022444,0.99999999899,-1.97994979229e-05,-3.81384347143e-05,-1.319197252e-05,1793192352040797952
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.012160949,742,711,671,660.012160949,633,876,783,799.987839051,649.012160949,628.987839051,650.012160949,0.405338659496,-0.0155186959824,0.0499576930872,0.999999998053,9.26921149171e-06,-6.05899650724e-05,-1.17324588596e-05,1793192352057464576
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.561200371,742,711,671,660,633,876,783,799.438799629,649.561200371,628.438799629,650,0.405751660156,-0.0155186012942,0.049934699834,0.999999993852,2.85820436849e-05,-0.000106640948566,-1.02882435186e-05,1793192352074131456
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.861304035,742,711,671,659.861304035,632.861304035,876,783,799,649.861304035,628,650,0.40618099825,-0.0155194970526,0.0499152045687,0.999999988408,4.80833519098e-05,-0.000144224681156,-8.3977894687e-06,1793192352090798592
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.269922139,742,711,671,659.269922139,632.269922139,876,783,799,649.269922139,628,650,0.406662486075,-0.0155231743461,0.0499078254494,0.999999985984,6.88829919196e-05,-0.000152519782586,-5.04979828722e-06,1793192352107465728
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.313946863,742,711.313946863,671,659.313946863,632.313946863,876,783,799.313946863,649,628.313946863,650,0.407197590548,-0.0155270019947,0.0499131459867,0.999999986437,9.11277801838e-05,-0.000137190214874,-6.71160900236e-08,1793192352124132352
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.89150753,742,711.89150753,671,659.89150753,632.89150753,876,783,799.89150753,649,628.89150753,650,0.407777715715,-0.0155309558935,0.0499291301264,0.999999988211,0.000114586027675,-0.000102023568401,6.28817810947e-06,1793192352140799232
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711.53202349,671,660.46797651,633,876,783,800,649,628.53202349,650,0.408381885488,-0.015535550802,0.0499529969885,0.999999988403,0.000138406965898,-6.20604782658e-05,1.3667288534e-05,1793192352157465600
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660.954954991,633,876,783,799.954954991,649,628,650.045045009,0.40899090764,-0.0155399037931,0.0499770495694,0.999999986284,0.000162502332442,-2.41161677106e-05,2.10441663314e-05,1793192352174132224
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660.367628901,633,876,783,799.367628901,649,628,650.632371099,0.409591395057,-0.0155395595611,0.0499813888287,0.99999998155,0.000188891568206,-2.38307243586e-05,2.5543394586e-05,1793192352190798336
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.783411874,742,711,671,660,633,876.216588126,783,799,649,628,650.783411874,0.410194493885,-0.0155384776543,0.0499742631776,0.999999980141,0.00019280033884,-4.4687265973e-05,2.34440642472e-05,1793192352207464704
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.204397416,742,711,671,660,633,876.795602584,783,799,649,628,650.204397416,0.410801962464,-0.0155361613641,0.0499479527927,0.999999982199,0.000159091567183,-0.00010092161073,1.03030784282e-05,1793192352224131584
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.373906365,742,711,671,660,633,876.626093635,783,799.373906365,649,628,650,0.411471701728,-0.0155423996395,0.0499296087248,0.999999988226,8.29163294575e-05,-0.000129012876269,5.30619450245e-06,1793192352240798208
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.951822369,742,711,671,660,633,876.048177631,783,799.951822369,649,628,650,0.41217541691,-0.0155533054308,0.0499156112152,0.999999989807,-1.64293300757e-05,-0.000141748798922,4.75287075904e-06,1793192352257464576
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.474217313,742,711.525782687,671,660.525782687,632.474217313,876,783,799.474217313,649,628,650,0.412939673069,-0.0155590038701,0.0499430941157,0.999999995673,2.85134703903e-06,-9.22012965805e-05,1.19964533173e-05,1793192352274131456
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742.102072796,711.897927204,671,660.897927204,632.102072796,876.102072796,783,799,649,628,650,0.41369909527,-0.0155625555328,0.0499671767597,0.999999998044,3.24522187558e-05,-5.00903488278e-05,1.87027619164e-05,1793192352290798592
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742.691196161,711.308803839,671,660.308803839,632.691196161,876.691196161,783,799,649,628,650,0.414409179253,-0.015558123409,0.0499570339594,0.999999995537,5.98180332758e-05,-7.04920969472e-05,1.94618790858e-05,1793192352307465472
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.27662169,742.72337831,711.27662169,671,660,633,876.72337831,783,799.27662169,649,628,650.27662169,0.415141613494,-0.0155552147999,0.0499388775958,0.999999991747,7.76405596561e-05,-0.00010085520099,1.74750341459e-05,1793192352324132096
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.857973705,742.142026295,711.857973705,671,660,633,876.142026295,783,799.857973705,649,628,650.857973705,0.41589866918,-0.0155539845154,0.0499118933773,0.999999986205,8.49500696138e-05,-0.00014219187672,1.24631989886e-05,1793192352340798464
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,783,800,649,628,650.565680328,0.416720174935,-0.0155572809048,0.0499227161043,0.999999988748,8.97155876126e-05,-0.000119513381597,1.31371989086e-05,1793192352357464576
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.990747795,742,711.990747795,671,660,633,876,783,799.990747795,649,628,650,0.417561962867,-0.0155619763459,0.0499456940783,0.999999992564,9.37807294181e-05,-7.63642352468e-05,1.567904547e-05,1793192352374131200
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.402999428,742,711.402999428,671,660,633,876,783,799.402999428,649,628,650,0.418369152623,-0.0155626487754,0.0499644782703,0.99999999312,0.000105477206126,-4.72412076603e-05,2.0078899712e-05,1793192352390797824
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.181896593,742,711,671,660,633,876,783,799,649,628,650,0.419167278041,-0.0155627320801,0.0499686915058,0.999999992234,0.000114806751079,-4.28190437824e-05,2.27640569313e-05,1793192352407464448
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.760570657,742,711,671,660,633,876,783,799,649,628,650,0.419945631048,-0.0155615303061,0.0499411205972,0.999999988429,0.000118973223416,-9.22777491131e-05,2.17088846397e-05,1793192352424131072
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711.337845536,671,660,633,876,783,799,649,628,650,0.420790823339,-0.0155640834089,0.0499419867626,0.999999989054,0.000121695171797,-8.129405341e-05,2.17517230192e-05,1793192352440797952
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711.914132887,671,660,633,876,783,799,649,628,650,0.421683188872,-0.0155692865975,0.0499629230108,0.99999999175,0.000123397615763,-2.76518202278e-05,2.25695062631e-05,1793192352457465088
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.491714456,712,671,660.983428911,633,876.491714456,783,799,649,628,650,0.422545716646,-0.0155744982714,0.0499674891806,0.999999991715,0.000124991147609,-1.92955698902e-05,2.39707316081e-05,1793192352474131456
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.929405953,711.929405953,671,661.929405953,633,876.929405953,783,799,649,628,650,0.423397033623,-0.0155793011844,0.0499673609815,0.999999991898,0.00012290635922,-2.14092198658e-05,2.52849583164e-05,1793192352490797568
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.342693428,711.342693428,671,661.342693428,633,876.342693428,783,799,649,628,650,0.424204582123,-0.0155811047508,0.0499538670308,0.999999994371,9.40685063408e-05,-4.20990713733e-05,2.52162733069e-05,1793192352507464448
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.758196059,742,711.241803941,671.241803941,660.758196059,633,876,783,799,649.241803941,628,650,0.425034034487,-0.0155817331841,0.0499547188007,0.99999999518,8.42569195252e-05,-4.31505151237e-05,2.60665722672e-05,1793192352524131072
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.176809507,742,711.823190493,671.823190493,660.176809507,633,876,783,799,649.823190493,628,650,0.425894248134,-0.015580711294,0.0499757172925,0.999999994347,0.000101165278157,-1.66223378798e-05,2.82074663114e-05,1793192352540797696
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.399282568,742,711.600717432,671.600717432,660.798565137,633,876.399282568,783,799.399282568,649.600717432,628,650,0.426709299374,-0.0155759793793,0.0499795513851,0.999999991899,0.000120007585471,-3.03625055051e-05,2.96383195527e-05,1793192352557464320
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.973060801,742,711.026939199,671.026939199,661.946121602,633,876.973060801,783,799.973060801,649.026939199,628,650,0.427504613552,-0.0155696260986,0.0499758842391,0.999999987866,0.000139695071711,-6.17008674236e-05,3.07588684803e-05,1793192352574131200
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.54713666,711.54713666,671,661.45286334,632.45286334,876.45286334,783,799.45286334,649,628,650,0.428300072168,-0.0155634352681,0.0499433701795,0.999999982598,0.000152033414664,-0.000104641533107,2.71884002717e-05,1793192352590798080
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712,671,661,632.125584734,876,783,799,649,628,650,0.429103247002,-0.0155600376978,0.0499213092963,0.999999978637,0.000159851653267,-0.000128698988121,2.47151325024e-05,1793192352607464704
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,712,671,661,632.720311107,876,783,799,649,628,650,0.429935220371,-0.0155670448973,0.049943606652,0.999999984851,0.000152136801451,-8.00800306348e-05,2.72039260734e-05,1793192352624131072
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.693702536,711.693702536,671.306297464,661,633,876,783,799.612594928,649,628,650,0.430721209586,-0.0155693374591,0.049947930939,0.999999987526,0.000137897447253,-7.19967625926e-05,2.73697844941e-05,1793192352640797696
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.115475557,711.115475557,671.884524443,661,633,876,783,800.769048887,649,628,650,0.43146637423,-0.0155674443861,0.049936298815,0.999999987739,0.00011786566962,-9.99009004974e-05,2.54733513916e-05,1793192352657464064
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742,711.458384137,672,661,633,876,783,800.541615863,649,628.458384137,650,0.432207655675,-0.0155665261472,0.0499242804269,0.999999985814,0.000121020566557,-0.000114583998156,2.44152370804e-05,1793192352674130688
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+177,2.950000000,POSE1_TO_POSE2_PRESS,763.378063717,742,712,672,661,633,876,783,800,649,629,650,0.43370590995,-0.015564636571,0.0499436603428,0.999999986183,0.000146467082474,-7.36623020106e-05,2.74911818473e-05,1793192352707464192
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,742,711.79253517,671.79253517,661,632.79253517,876.20746483,783,800,649.20746483,628.79253517,650,0.434436514088,-0.0155624148441,0.0499650846568,0.999999985965,0.000159467022459,-4.17670930883e-05,2.99164485944e-05,1793192352724131072
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,742,711.214726156,671.214726156,661,632.214726156,876.785273844,783,800,649.785273844,628.214726156,650,0.435119941484,-0.0155583456071,0.0499725482226,0.9999999848,0.000166905655409,-4.04414309468e-05,3.01043925686e-05,1793192352740798720
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.725233924,742.362616962,711.362616962,671,661,632.362616962,876.637383038,783,799.637383038,649.637383038,628.362616962,650,0.435750027271,-0.0155570221092,0.0499571505895,0.99999998184,0.000170737746996,-7.95350048254e-05,2.90455933766e-05,1793192352757465344
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+182,3.033333333,POSE1_TO_POSE2_PRESS,764.484989398,742.484989398,712,671.515010602,660.484989398,632.484989398,876,783,799.515010602,649,629,650,0.436987551761,-0.0155582831063,0.0499321000902,0.999999976436,0.000178024332148,-0.000120976861111,2.82789042101e-05,1793192352790798080
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+187,3.116666667,POSE1_TO_POSE2_PRESS,763.577232449,742,712,672,661,632.422767551,876,783,799.577232449,649,629,650,0.439783784994,-0.015555850954,0.0499246292131,0.999999976186,0.000183669768293,-0.000113400688282,3.21423813335e-05,1793192352874131968
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.003082085,742,712,672,661,632.996917915,876,783,799.003082085,649,629,650,0.440233589725,-0.0155524670422,0.0498975702089,0.999999976174,0.000147539864754,-0.000158064589642,2.99908981954e-05,1793192352890799104
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+190,3.166666667,POSE1_TO_POSE2_PRESS,763.17004145,742,711.17004145,672,661,632,876.82995855,783,799.82995855,649,628,649.82995855,0.44114297987,-0.0155570244547,0.0499079440548,0.999999976421,0.000164755197688,-0.000137410844777,3.36514542536e-05,1793192352924132608
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.749401371,742,711.749401371,672,661,632,876.250598629,783,799.250598629,649,628,649.250598629,0.441560839754,-0.0155625897668,0.0499178510787,0.999999979042,0.000163130277302,-0.000118973915868,3.39175401044e-05,1793192352940798464
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.675491867,742,712,672,661,632.324508133,876.649016266,783,799,649,628,649.324508133,0.441943088642,-0.0155666895204,0.0499196089253,0.999999983167,0.000141853191815,-0.0001130583161,2.75870429441e-05,1793192352957464576
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.103627113,742,712,672,661,632.896372887,877.792745774,783,799,649,628,649.896372887,0.44229819299,-0.0155696721504,0.0499151550537,0.999999987485,0.000105596225492,-0.000116687111903,1.62282943155e-05,1793192352974130944
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.474896279,742,711.525103721,672,661,632.525103721,877.050207442,783,799.474896279,649,628.474896279,650,0.442602805194,-0.0155724788378,0.0499038593042,0.999999984643,0.000105726522314,-0.000138904203377,1.55516858403e-05,1793192352990797824
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,711.644906879,672,661,632,876.644906879,783,800,649,628.355093121,650,0.443143486786,-0.0155723099191,0.0498675587552,0.999999972266,0.000122310834935,-0.000200662633662,1.55863661313e-05,1793192353024131072
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.230686341,712,672,660.769313659,632,876.769313659,783,800,649,628.230686341,650,0.443380914665,-0.0155725906205,0.0498480258675,0.999999964673,0.000127451492957,-0.000232767763258,1.51434371495e-05,1793192353040797952
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.811355925,712,672,660.188644075,632,876.188644075,783,800,649,628.811355925,650,0.443597390774,-0.0155770042502,0.0498330963661,0.999999957653,0.000127674264581,-0.000261025613279,1.60979052732e-05,1793192353057464832
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.612444582,711.612444582,671.612444582,660.387555418,632,876,783,800,649,629,650,0.443802232669,-0.015575367084,0.0498254107441,0.999999953534,0.000133530044162,-0.00027355151505,1.64414534042e-05,1793192353074131200
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+208,3.466666667,POSE1_TO_POSE2_PRESS,763,742.388348762,712,672,660.611651238,632,876.388348762,782.388348762,799.611651238,649,628.611651238,650,0.444917871987,-0.0155799853913,0.0498022691216,0.999999947039,0.00012910883465,-0.0002983431006,1.56183664407e-05,1793192353224130560
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+232,3.866666667,POSE1_TO_POSE2_PRESS,763.474426452,743,712,672,660.525573548,632,877,782.474426452,799.525573548,649,629,650,0.445147306598,-0.0155664783271,0.0497903470503,0.999999944369,0.000116444625051,-0.000312404205021,1.03266833765e-05,1793192353624130816
+233,3.883333333,POSE1_TO_POSE2_PRESS,763,742.89510463,712,672.10489537,661,632,877,782.10489537,799.89510463,649,628.89510463,650,0.445148739979,-0.0155663397826,0.0497913916353,0.999999944954,0.000116341673408,-0.000310569251918,1.01638792387e-05,1793192353640797440
+234,3.900000000,POSE1_TO_POSE2_PRESS,763,742.3025186,712,672.6974814,661,632,877,782.6974814,799.3025186,649,628.3025186,650,0.445151221707,-0.015565868678,0.0497930855873,0.999999945737,0.000116131860426,-0.000308106549643,1.04380367292e-05,1793192353657464064
+235,3.916666667,POSE1_TO_POSE2_PRESS,763,742,712,672.717974323,661,632,877,783,799,649,628,650,0.445152764261,-0.0155655631322,0.0497936358345,0.999999946022,0.000116859783275,-0.00030689679279,1.06492708427e-05,1793192353674131200
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,742,712,672.141816924,661,632,877,783,799,649,628,650,0.445153327326,-0.0155654302516,0.0497929932833,0.99999994579,0.000118565694555,-0.000306993764162,1.07948806058e-05,1793192353690798592
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.434175675,742.434175675,711.565824325,672,660.565824325,632,877,783,799.434175675,649.434175675,628,650,0.445153489372,-0.015565490983,0.049792844472,0.999999945736,0.000118731227804,-0.000307105828923,1.08192859034e-05,1793192353707464960
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711.010362916,672,660.010362916,632,877,782.989637084,799.989637084,649.989637084,628,650,0.445153484772,-0.0155656059825,0.0497928346513,0.999999945726,0.000118388250961,-0.00030727054343,1.08016059628e-05,1793192353724130816
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711.600451113,672,660.600451113,632,877,782.399548887,799.399548887,649.399548887,628,650,0.445151482548,-0.015565220387,0.049791581736,0.99999994493,0.00011773424556,-0.000310104913215,1.06434743216e-05,1793192353740797440
+240,4.000000000,HOLD_POSE2,764,742,711,672,661,632,878,782,799,649,628,650,0.445151608912,-0.0155651886477,0.0497914724094,0.999999944824,0.000116003072287,-0.000311108847197,1.03370101612e-05,1793192353780860672
+241,4.016666667,HOLD_POSE2,763.424480049,742,711,672,661,631.424480049,877.424480049,782.575519951,799,649,628,650,0.445152483124,-0.0155650215739,0.0497921835308,0.999999945016,0.000117446993471,-0.000309940267496,1.0528918571e-05,1793192353797527296
+242,4.033333333,HOLD_POSE2,763,742,711.153956454,672,660.846043546,631.153956454,876.846043546,783,799,649,628,650,0.445153540462,-0.0155651186566,0.0497928316587,0.999999945296,0.000118145857742,-0.000308765816887,1.06668145911e-05,1793192353814194176
+243,4.050000000,HOLD_POSE2,763,742,711.740589719,672,660.259410281,631.740589719,876.259410281,783,799,649,628,650,0.445155112454,-0.0155659581208,0.0497933027502,0.999999945827,0.000116750826036,-0.000307574866511,1.06529150793e-05,1793192353830860800
+244,4.066666667,HOLD_POSE2,763,742,712,672,660,632,876,783,799.323101457,649,628,650,0.445156686901,-0.0155655606525,0.0497942980379,0.999999946242,0.000117126086982,-0.000306078057424,1.06195765747e-05,1793192353847527424
+245,4.083333333,HOLD_POSE2,763,742,712,672,660,632,876,783,799.902345766,649,628,650,0.445158263294,-0.0155641825898,0.0497957088886,0.999999946564,0.000118904770367,-0.000304338774966,1.05708275583e-05,1793192353864194048
+246,4.100000000,HOLD_POSE2,763,742,712,672,660.480054435,632,876,783,799.519945565,649,628.480054435,650,0.445158575395,-0.0155635128225,0.0497956668981,0.999999946701,0.000117984275457,-0.000304251653569,1.03966863419e-05,1793192353880860672
+247,4.116666667,HOLD_POSE2,763.057158723,742.057158723,712,672,660.942841277,632,876,783,799,649,628.942841277,650,0.445158612391,-0.0155631312128,0.0497953227372,0.999999946781,0.000116723378932,-0.000304483175669,1.02254346729e-05,1793192353897527296
+248,4.133333333,HOLD_POSE2,763.631611414,742.631611414,712,672,660.368388586,632,876,783,799,649,628.368388586,650,0.445158479808,-0.0155640576484,0.0497949100561,0.999999946683,0.000117335164368,-0.000304566521775,1.03104456213e-05,1793192353914193920
+249,4.150000000,HOLD_POSE2,763.788520738,743,711.788520738,672,660,632,876.211479262,782.788520738,799,649,628,650,0.445158893927,-0.015564449295,0.049795142007,0.999999946879,0.000117197711608,-0.000303974132453,1.03191288395e-05,1793192353930860544
+250,4.166666667,HOLD_POSE2,763.19897207,743,711.19897207,672,660,632,876.80102793,782.19897207,799,649,628,650,0.445160285407,-0.0155638848792,0.0497965263906,0.999999947598,0.000115720817572,-0.00030217370556,1.01913581037e-05,1793192353947527168
+251,4.183333333,HOLD_POSE2,763,743,711.383098421,672,660.383098421,632,877,782.383098421,799.383098421,649,628,650,0.445160132305,-0.0155631274486,0.0497965984921,0.999999947424,0.000117377443993,-0.000302109329093,1.02087501758e-05,1793192353964193792
+252,4.200000000,HOLD_POSE2,763,743,711.961359345,672,660.961359345,632,877,782.961359345,799.961359345,649,628,650,0.445159192343,-0.01556227169,0.0497960020754,0.999999946788,0.000120630385119,-0.000302929351684,1.03000927809e-05,1793192353980860416
+253,4.216666667,HOLD_POSE2,763.538150115,742.461849885,712,672,661,632,877,783,800,649,628,650,0.445161287027,-0.0155633619299,0.0497967866634,0.999999947498,0.000119001527503,-0.000301213152383,1.06083107308e-05,1793192353997527296
+254,4.233333333,HOLD_POSE2,763.885400721,742,712,672,661,632,877,782.885400721,799.885400721,649,628.114599279,650,0.445162841367,-0.0155643417723,0.0497973573272,0.999999948046,0.000117310240009,-0.000300046260637,1.08602123789e-05,1793192354014193920
+255,4.250000000,HOLD_POSE2,763.309901875,742,712,672,661,632,877,782.309901875,799.309901875,649,628.690098125,650,0.445161348572,-0.0155643171826,0.0497966699042,0.999999947576,0.000116773788835,-0.000301819005506,1.08231607683e-05,1793192354030860544
+256,4.266666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632,876,784,800,649,629,650,0.445159702067,-0.0155605924897,0.0497958473564,0.999999946777,0.000119546263345,-0.000303411249527,9.78575876402e-06,1793192354068058880
+257,4.283333333,POSE2_TO_POSE3_RETREAT,763.578716174,742.578716174,712,672,660,632,876.578716174,783.421283826,800,649,628.421283826,650,0.445161214794,-0.0155604347347,0.0497964763797,0.999999946916,0.000119832920628,-0.000302835009299,9.96171891191e-06,1793192354084725504
+258,4.300000000,POSE2_TO_POSE3_RETREAT,763.843713046,743,712,672,660.156286954,632,877,783,799.843713046,649.156286954,628.156286954,650,0.445162524216,-0.0155605563504,0.0497972052604,0.999999947192,0.000119795138117,-0.000301930937152,1.01370281882e-05,1793192354101392128
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763.269207173,743,712,672,660.730792827,632,877,783,799.269207173,649.730792827,628.730792827,650,0.445163289599,-0.0155614255527,0.0497982013565,0.999999947835,0.000118889165104,-0.000300149597096,1.03105957916e-05,1793192354118058752
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763.312393192,742.687606808,712,672,661,632,877,783,799,649.687606808,628.687606808,650,0.445164107366,-0.0155622535761,0.04979902471,0.999999948267,0.000118067090934,-0.000299022854256,1.0555803638e-05,1793192354134725632
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.900249323,742.099750677,712,672,661,632,877,783,799,649.099750677,628.099750677,650,0.445164971325,-0.0155630452886,0.0497996957419,0.999999948516,0.000117318997376,-0.000298473324079,1.08641826071e-05,1793192354151392256
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.481054445,712,672.481054445,661,632,877,782.518945555,799.481054445,649,628.481054445,650,0.445163539349,-0.0155633170901,0.0497991835552,0.99999994823,0.000117248788276,-0.000299454761674,1.09277810147e-05,1793192354168058880
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.939818081,712,672.939818081,661,632,877,782.060181919,800,649,629,650,0.445161002802,-0.0155632371924,0.0497980487427,0.999999947671,0.000117371296886,-0.000301271692462,1.08393171462e-05,1793192354184725504
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.362723492,712,672.362723492,661,632,877,782.637276508,800,649,629,650,0.445153008965,-0.0155610490937,0.0497936430042,0.999999945692,0.000117959194439,-0.00030757749547,9.87442998448e-06,1793192354201392128
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.213643242,712,672,661,632,877,783,800,649,628.786356758,650,0.445138311449,-0.0155592779578,0.0497865379054,0.999999942001,0.000117882238287,-0.000319410813971,8.82009498739e-06,1793192354218058752
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.788778364,712,672,661,632,877,783,800,649,628.211221636,650,0.445112271074,-0.0155582123379,0.0497748653944,0.999999935161,0.000116680326194,-0.000340596882352,7.61441120288e-06,1793192354234725376
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,661,631.627416193,877,783,799.627416193,649,628.372583807,650,0.445068320537,-0.0155557111583,0.0497589722792,0.999999924378,0.000118398236771,-0.000370390458395,6.08069724705e-06,1793192354251392256
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,661,631.038578291,877,783,799.038578291,649,628.961421709,650,0.445013974629,-0.0155523767549,0.0497406294509,0.999999910486,0.000121810862788,-0.00040517998268,4.35658877866e-06,1793192354268058880
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.4595906,712,672,661,631.5404094,877,782.4595906,799.5404094,649,628.4595906,650,0.444946180481,-0.0155482771166,0.0497261057997,0.999999902593,0.000122521325956,-0.000424025534328,2.3381402921e-06,1793192354284725504
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,661,632,877,782,799.881926831,649,628.118073169,650,0.44487410869,-0.0155435975502,0.0497143020496,0.999999895842,0.000123595738389,-0.000439362825624,5.14128057715e-07,1793192354301392128
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,661,632,877,782,799.306714932,649,628.693285068,650,0.444789125696,-0.0155368804141,0.0497119921444,0.999999892748,0.000126812709772,-0.000445445159153,-4.771990847e-07,1793192354318058752
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,661,632,877.267325903,782.267325903,799,649,629,650,0.444695328644,-0.0155300903031,0.0497124017346,0.999999891544,0.000130750667685,-0.000447006992261,-1.08749634048e-06,1793192354334725376
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,661,632,877.840028948,782.840028948,799,649,629,650,0.444591462945,-0.0155232168302,0.0497159179143,0.999999892513,0.000135512237349,-0.000443404875371,-1.26252775572e-06,1793192354351392256
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.571566357,672,661,632,877.143132715,783,799.428433643,649,629,650,0.444462118138,-0.0155152262528,0.0497199850091,0.999999894496,0.000138763385694,-0.000437893228695,-1.63490427745e-06,1793192354368058880
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,661,632,876.022336127,783,799.977663873,649,629,650,0.444321464632,-0.0155066504203,0.0497241031076,0.999999896725,0.000141566614923,-0.000431862135532,-2.13331684752e-06,1793192354384725504
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,661,632,876.601577799,783,799.398422201,649,629,650,0.444145076248,-0.0154942778963,0.0497241689579,0.999999896046,0.000147798276596,-0.000431332977577,-3.86708089327e-06,1793192354401392384
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.179566067,711.179566067,672.179566067,661,632,877,783,799.359132134,649,628.820433933,650.179566067,0.443957533237,-0.015481755209,0.0497245407732,0.99999989561,0.000153654444432,-0.000430281059303,-5.42770231982e-06,1793192354418058752
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.754792479,711.754792479,672.754792479,661,632,877,783,800.509584957,649,628.245207521,650.754792479,0.443745411865,-0.0154689016498,0.0497255867594,0.999999895763,0.000158683238984,-0.000428077278018,-6.60681675724e-06,1793192354434725376
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.661361303,742.661361303,712,672.661361303,661,632,877,783,800.661361303,649,628,650.661361303,0.443510681347,-0.0154560940671,0.0497274667842,0.999999895271,0.000164153356304,-0.000427141341875,-7.86417924681e-06,1793192354451392000
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.071110415,742.071110415,712,672.071110415,661,632,877,783,800.071110415,649,628,650.071110415,0.443259151968,-0.015443320644,0.0497299665085,0.999999894289,0.000169951381707,-0.00042714742806,-9.17968100307e-06,1793192354468058624
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.509156939,742.509156939,712,672,660.490843061,632,877,783,800,649,628,650,0.442971824121,-0.0154302795528,0.0497360678485,0.999999899988,0.000170902328338,-0.000413132622138,-1.17202029156e-05,1793192354484725504
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.912685714,742.912685714,712,672,660.087314286,632,877,783,799.912685714,649,628,650,0.442675334427,-0.0154197586036,0.0497438617264,0.999999907213,0.00016879032016,-0.000396086643719,-1.41105868773e-05,1793192354501392128
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.338666909,742.338666909,712,672,660.661333091,632,877,783,799.338666909,649,628,650,0.442355108289,-0.0154234897174,0.0497583401416,0.999999918632,0.000153305796384,-0.000372849822152,-1.47287331355e-05,1793192354518059008
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.23564739,742.23564739,711.76435261,672.23564739,661.23564739,632.23564739,876.76435261,783,799,649,628,650,0.442018482358,-0.0154276835764,0.0497756205581,0.999999931696,0.000136595644385,-0.000343105449917,-1.51356723499e-05,1793192354534725888
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.810386865,742.810386865,711.189613135,672.810386865,661.810386865,632.810386865,876.189613135,783,799,649,628,650,0.441658257458,-0.0154325433163,0.0497969330002,0.9999999467,0.000118121837702,-0.000303996838034,-1.52386886253e-05,1793192354551393792
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742.60286989,711,672.60286989,661.60286989,632.60286989,876.39713011,783,799.39713011,649,628,650,0.441254089699,-0.0154296949474,0.0498109598918,0.99999995476,0.000105628765257,-0.000281128042606,-1.70332158924e-05,1793192354568060160
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.010216724,711,672.010216724,661.010216724,632.010216724,876.989783276,783,799.989783276,649,628,650,0.440828287122,-0.0154230515677,0.0498213998146,0.999999959745,9.60802483473e-05,-0.000266254760357,-1.9660541755e-05,1793192354584726016
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.567978764,711.567978764,672,661,632.567978764,877,783,800,649,628,650,0.440321406816,-0.0154135396297,0.0498211015434,0.999999960088,8.93179487257e-05,-0.000267006349528,-2.35526752602e-05,1793192354601392640
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.855235182,742.855235182,711.855235182,672,661,633,876.855235182,783,799.855235182,649,628,650,0.439799871671,-0.0154052918619,0.0498159652139,0.999999958265,8.05546138535e-05,-0.000276051504808,-2.78717171451e-05,1793192354618059520
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.281871237,742.281871237,711.281871237,672,661,633,876.281871237,783,799.281871237,649,628,650,0.439239159334,-0.0154009358472,0.0497970627244,0.999999949592,6.5722199694e-05,-0.000308839611846,-3.33890015856e-05,1793192354634726656
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742,711.29984207,672,661,633,876,783,799,649,628,650,0.43866457783,-0.015398682556,0.049779688916,0.99999994103,4.7500225717e-05,-0.000337914538627,-3.86967667879e-05,1793192354651393280
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742,711.889629217,672,661,633,876,783,799,649,628,650,0.438076584877,-0.0153984625824,0.0497637933289,0.999999932673,2.60005705927e-05,-0.000363398851301,-4.380192908e-05,1793192354668059904
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.470316545,742,712,672,661,633,876.470316545,783.470316545,799.470316545,649,628,650,0.437464902468,-0.0153981712503,0.0497715907668,0.999999937553,4.1858830956e-06,-0.000350194699764,-4.73309643914e-05,1793192354684726528
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.798274947,742,712,672,661.596549894,633,876,783,799,649,629,650,0.4354858645,-0.0153926484762,0.0498342265202,0.999999960252,-5.17290478587e-05,-0.000272249145581,-5.19609326722e-05,1793192354734726656
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.262282567,633,875.868858716,783.868858716,799,649,628,650,0.415418445668,-0.0153679167954,0.0498142431207,0.99999995074,-6.35599333748e-05,-0.000299222322624,-7.03345980646e-05,1793192355134725632
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,661.418934595,632.709467298,875,783,799.290532702,649,628,650,0.413805523239,-0.015366149168,0.0498100871025,0.999999949344,-6.9627829271e-05,-0.000302445254312,-7.06401166593e-05,1793192355168059136
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.239685548,632.119842774,875,783,799.880157226,649,628,650,0.412976994339,-0.0153650313846,0.0497780436181,0.99999992769,-7.59427981419e-05,-0.000365172902524,-7.41782979201e-05,1793192355184725760
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.80596374,633,875,783.19403626,799,649,628,650,0.410115191343,-0.0153633416278,0.0498139651939,0.999999944262,-7.63507150524e-05,-0.000317142802874,-7.11830083261e-05,1793192355251392768
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.220766982,633,875,783.779233018,799,649,628,650,0.409421483652,-0.0153636797177,0.0497939690171,0.999999930872,-8.29422434978e-05,-0.000354902165907,-7.36340866228e-05,1793192355268059136
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.520291791,633,875,783,799.479708209,649,628.479708209,650,0.407632294942,-0.0153686455408,0.0498216520861,0.999999946439,-0.000117636799562,-0.000296603847602,-7.28726413598e-05,1793192355318059008
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.639343953,660,633,875,783,799.360656047,649,628.360656047,650,0.400956355323,-0.0154080293221,0.0498429969565,0.999999956694,-5.77386048021e-05,-0.000282197173607,-6.0350694553e-05,1793192356118060544
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,669.465719827,660.534280173,633,875,783,799.465719827,649,628.465719827,650,0.400955370533,-0.0154090177885,0.0498416148477,0.999999956325,-5.67793453498e-05,-0.000283685442019,-6.04043354682e-05,1793192356151393024
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,669.21846991,660.890765045,633,875,783.109234955,799,649,628,650,0.400955250059,-0.0154101077168,0.0498417038955,0.999999956333,-5.79624963042e-05,-0.000283458704584,-6.02185758169e-05,1793192356168059648
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,763,742,711,670.732259153,660,632.732259153,875,783.732259153,799.267740847,649,628,650.267740847,0.40095598563,-0.0154094792615,0.0498430992985,0.999999956751,-5.84022049456e-05,-0.000281899660308,-6.01682795945e-05,1793192356201392640
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,763,742,711.439417595,670,660,632.439417595,875,783,799.560582405,649,628,651,0.400956786374,-0.0154092760609,0.0498441961984,0.999999957158,-5.85232362374e-05,-0.000280456392228,-6.00328092884e-05,1793192356234726144
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.017527352,742,711.982472648,670.017527352,660,633,875,783,799.017527352,649,628,650.982472648,0.400956516276,-0.015409951007,0.0498444928208,0.999999957074,-6.00277488671e-05,-0.000280445443855,-5.99836425449e-05,1793192356251393024
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.592606809,742,711.407393191,670.592606809,660,633,875,783,799.592606809,649,628,650.407393191,0.400956786454,-0.0154111432053,0.0498443662481,0.99999995713,-5.98366375684e-05,-0.000280409815035,-5.9421127207e-05,1793192356268059648
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.828795542,742,711,670.828795542,660,633,875,783,799.828795542,649,628,650,0.400957066438,-0.0154116436704,0.0498443832505,0.999999957196,-5.96863397796e-05,-0.000280251500636,-5.91985146789e-05,1793192356284726272
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_06/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1465a6e530cdd88584b4536ebc9429a45a62d346
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,392 @@
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+390,6.500000000,pose2_to_pose3_retreat,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471543,1.03969857335
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_06/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1ccbf08528c04a4ed362f0fb28a16f9413c371b7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3c6f89ecb2a08a0f2c8061041d57b849cff4c1789ad3e64179a73ec427dd801
+size 25105133
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0bb1da44ae99c92567587035d09fb8d456c1a5d1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_03/franka_data.csv
@@ -0,0 +1,396 @@
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+53,0.883333333,BASELINE,763.742756118,742,711,670.257243882,660,632.257243882,875.742756118,783,800,649,628,650,0.400956989312,-0.0154111250024,0.0498466165209,0.99999995826,-5.95834456102e-05,-0.000276396579761,-5.94533751209e-05,1793192357306361600
+54,0.900000000,BASELINE,763.673893722,742,711,670,660,632.326106278,875.673893722,783,800,649,628.326106278,650.326106278,0.400956544229,-0.0154109204583,0.0498466114707,0.999999958218,-5.93211091105e-05,-0.000276629080291,-5.93470622312e-05,1793192357323028224
+55,0.916666667,BASELINE,763.084160104,742,711,670,660,632.915839896,875.084160104,783,800,649,628.915839896,650.915839896,0.400955607246,-0.0154112945551,0.0498465161877,0.999999958045,-5.93844982473e-05,-0.000277250567061,-5.92865115677e-05,1793192357339694592
+56,0.933333333,BASELINE,763.495919908,742,711,670.495919908,660,633,875,783,799.504080092,649,628.504080092,650.504080092,0.400956098918,-0.0154115128754,0.0498464675151,0.999999958303,-5.92450022666e-05,-0.000276342312803,-5.93126955993e-05,1793192357356361216
+57,0.950000000,BASELINE,763.926056767,742,711,670.926056767,660,633,875.073943233,783,799,649,628,650,0.400956672675,-0.0154116102205,0.0498463354019,0.999999958567,-5.89966690056e-05,-0.000275436949337,-5.93346726092e-05,1793192357373028096
+58,0.966666667,BASELINE,763.351080872,742,711,670.351080872,660,633,875.648919128,783,799,649,628,650,0.400956191173,-0.0154110635576,0.0498455853292,0.999999958386,-5.82397083657e-05,-0.000276276644425,-5.92303108682e-05,1793192357389694720
+59,0.983333333,BASELINE,763.224025222,742,711,670,660,633,876,783,799.224025222,649,628.224025222,650.224025222,0.400955645013,-0.0154108344068,0.0498452335373,0.999999958193,-5.75941026192e-05,-0.000277113073953,-5.92108951652e-05,1793192357406361600
+60,1.000000000,BASELINE,763.799335565,742,711,670,660,633,876,783,799.799335565,649,628.799335565,650.799335565,0.400954997465,-0.0154111031344,0.0498455062739,0.999999957982,-5.71231079759e-05,-0.000277944383011,-5.93246799807e-05,1793192357423029248
+61,1.016666667,BASELINE,764,742,711,670,660,633,875.614571,783,799.614571,649,629,650.614571,0.400956536089,-0.0154116403416,0.0498460303725,0.999999958236,-5.70465127798e-05,-0.000277078046042,-5.91693166032e-05,1793192357439695616
+62,1.033333333,BASELINE,764,742,711,670,660,633,875.022702057,783,799.022702057,649,629,650.022702057,0.40095924565,-0.0154123213494,0.0498466891035,0.999999958737,-5.71811622218e-05,-0.000275302431447,-5.88697945358e-05,1793192357456361728
+63,1.050000000,BASELINE,764,742,711,670,660,633,875,783,799,649,628.442780843,650.557219157,0.4009585255,-0.0154119254589,0.0498468415636,0.999999958758,-5.75921919755e-05,-0.000275127703669,-5.89294700609e-05,1793192357473028352
+64,1.066666667,BASELINE,764,742,711,670.134988654,660,633,875,783,799,649,628.134988654,650.865011346,0.400957572292,-0.0154118460624,0.0498467564698,0.999999958707,-5.78430870944e-05,-0.000275255168663,-5.89462981239e-05,1793192357489694976
+65,1.083333333,BASELINE,764,742,711,670.707330713,660,633,875,783,799,649,628.707330713,650.292669287,0.400956307209,-0.0154129312508,0.0498459671436,0.999999958486,-5.75394412197e-05,-0.000276154834817,-5.87778846901e-05,1793192357506361856
+66,1.100000000,BASELINE,763.711953878,742,711,671,660,633,875.288046122,783,799.288046122,649,628.711953878,650,0.400955766986,-0.0154128960211,0.0498455915119,0.999999958341,-5.75762788369e-05,-0.000276642303752,-5.89240121382e-05,1793192357523028736
+67,1.116666667,BASELINE,763.122476043,742,711,671,660,633,875.877523957,783,799.877523957,649,628.122476043,650,0.400955985307,-0.0154116883073,0.0498456487993,0.999999958275,-5.79694223369e-05,-0.000276698420483,-5.93992972895e-05,1793192357539695360
+68,1.133333333,BASELINE,763,742,711,670.541212732,660,632.541212732,876,783,800,649.458787268,628,650,0.400957046808,-0.0154120535862,0.0498466021447,0.999999958576,-5.86286941764e-05,-0.000275530646332,-5.91021402413e-05,1793192357556362240
+69,1.150000000,BASELINE,763.037799273,742,711.037799273,670.037799273,660,632.037799273,875.962200727,783,800,649.962200727,628,650,0.400958211522,-0.0154127232614,0.0498476570838,0.999999958918,-5.92775803453e-05,-0.000274243322017,-5.86528069776e-05,1793192357573029120
+70,1.166666667,BASELINE,763.615425895,742,711.615425895,670.615425895,660,632.615425895,875.384574105,783,800,649.384574105,628,650,0.400957692193,-0.0154118485827,0.0498468067836,0.999999958495,-5.87813731292e-05,-0.000275832675489,-5.89233254343e-05,1793192357589695488
+71,1.183333333,BASELINE,763.804555372,742,711.804555372,670.804555372,660,633,875,783.195444628,799.804555372,649,628,650.195444628,0.400957213513,-0.0154118359509,0.0498461289067,0.999999958203,-5.89058941177e-05,-0.000276833158217,-5.90484033986e-05,1793192357606361856
+72,1.200000000,BASELINE,763.219771283,742,711.219771283,670.219771283,660,633,875,783.780228717,799.219771283,649,628,650.780228717,0.400956815811,-0.0154135405772,0.0498457945095,0.99999995818,-6.02669493096e-05,-0.000276660569242,-5.88837537095e-05,1793192357623028224
+73,1.216666667,BASELINE,763.36144473,742,711.36144473,670.36144473,660,633,875,783.63855527,799,649.36144473,628,650.63855527,0.400956452827,-0.0154140454662,0.0498454050548,0.999999958059,-6.01478387914e-05,-0.000277125310118,-5.88730167529e-05,1793192357639694848
+74,1.233333333,BASELINE,763.940512399,742,711.940512399,670.940512399,660,633,875,783.059487601,799,649.940512399,628,650.059487601,0.400956110746,-0.0154138280029,0.0498449824506,0.999999957879,-5.91375324313e-05,-0.000277973782135,-5.89549494133e-05,1793192357656361472
+75,1.250000000,BASELINE,764,742,711.481300133,670.481300133,660,633,875.518699867,783,799.518699867,649.481300133,628,650,0.400956239783,-0.0154115536049,0.049845696698,0.999999958154,-5.7836660902e-05,-0.00027720441037,-5.92036321867e-05,1793192357673028608
+76,1.266666667,BASELINE,764,742,711.096345649,670,660,633,875.903654351,783,799.903654351,649,628,650.096345649,0.400956558891,-0.0154097039295,0.0498464879473,0.999999958459,-5.70080714459e-05,-0.000276229443054,-5.94034758944e-05,1793192357689695488
+77,1.283333333,BASELINE,764,742,711.671798858,670,660,633,875.328201142,783,799.328201142,649,628,650.671798858,0.40095755495,-0.0154111374186,0.0498470148518,0.999999958667,-5.86934775082e-05,-0.000275153200332,-5.92655145234e-05,1793192357706362112
+78,1.300000000,BASELINE,763.747502504,742,712,670,660,633,875,783,799,649.252497496,628,650.747502504,0.400957832843,-0.0154116446721,0.0498470168065,0.999999958718,-5.89443954153e-05,-0.000274932386081,-5.91828795322e-05,1793192357723028736
+79,1.316666667,BASELINE,763.159841157,742,712,670,660,633,875,783,799,649.840158843,628,650.159841157,0.400957157448,-0.0154109224453,0.0498463219457,0.999999958562,-5.72911811378e-05,-0.000275847063179,-5.9173684498e-05,1793192357739695104
+80,1.333333333,BASELINE,763.421547217,742,711.578452783,670,660.421547217,633,875.421547217,783,799,649.578452783,628,650,0.40095688472,-0.0154113177853,0.0498460797808,0.999999958451,-5.84421690624e-05,-0.000276001913105,-5.92073493419e-05,1793192357756361728
+81,1.350000000,BASELINE,763.999411493,742,711,670.000588507,660.999411493,633,875.999411493,783,799,649,628,650,0.400956762974,-0.0154121292115,0.0498460071576,0.999999958353,-6.06356610723e-05,-0.000275872520857,-5.92570258149e-05,1793192357773028608
+82,1.366666667,BASELINE,763.423730642,742,711,670.576269358,660.423730642,633,875.423730642,783,799,649,628,650,0.40095716746,-0.0154115173506,0.0498463317708,0.999999958653,-5.77521634248e-05,-0.000275393923649,-5.93051583487e-05,1793192357789695232
+83,1.383333333,BASELINE,763.151556563,742,711,671,660,633,875,783,799,649,628,650,0.400957255178,-0.0154110852354,0.0498465284815,0.999999958789,-5.56372210542e-05,-0.000275334475773,-5.93012912208e-05,1793192357806361856
+84,1.400000000,BASELINE,763.725746171,742,711,671,660,633,875,783,799,649,628,650,0.400956459551,-0.0154111543617,0.0498463685211,0.999999958491,-5.56654835118e-05,-0.000276443874295,-5.91524170203e-05,1793192357823028480
+85,1.416666667,BASELINE,764,742,711,671,660,633,875,783.310552641,799,649,628,650.310552641,0.400956068505,-0.0154115928062,0.0498461261636,0.999999958277,-5.71846090875e-05,-0.000276874276859,-5.92988414299e-05,1793192357839695360
+86,1.433333333,BASELINE,764,742,711,671,660,633,875,783.90506687,799,649,628,650.90506687,0.400956047397,-0.015412368946,0.0498458084642,0.999999958136,-6.0066942706e-05,-0.000276683822389,-5.97152795308e-05,1793192357856362240
+87,1.450000000,BASELINE,764,742,711,670.03154907,660,633,875,783.515774535,799,649.484225465,628.484225465,650.515774535,0.400956894931,-0.0154131786463,0.0498464255915,0.999999958473,-6.0703319954e-05,-0.000275433720936,-5.92024378324e-05,1793192357873028864
+88,1.466666667,BASELINE,763.9396903,742,711.0603097,669.120619399,660,633,875.0603097,783,799,649.9396903,628.9396903,650.0603097,0.400957721468,-0.0154137049248,0.0498471359537,0.999999958827,-6.06574352377e-05,-0.000274279802377,-5.86311689729e-05,1793192357889695232
+89,1.483333333,BASELINE,763.364940123,742,711.635059877,670.270119754,660,633,875.635059877,783,799,649.364940123,628.364940123,650.635059877,0.400956960906,-0.015411759222,0.0498471263349,0.999999958553,-5.84323706224e-05,-0.00027566391767,-5.90677995471e-05,1793192357906361856
+90,1.500000000,BASELINE,763,742,712,671,660,633,875.790119712,783.209880288,799,649,628,650.790119712,0.400956663954,-0.0154110115371,0.0498472810743,0.99999995853,-5.73752561535e-05,-0.000275933763251,-5.92301734214e-05,1793192357923028480
+91,1.516666667,BASELINE,763,742,712,671,660,633,875.215177199,783.784822801,799,649,628,650.215177199,0.4009571734,-0.0154123476644,0.0498477216959,0.999999958951,-5.83496546602e-05,-0.000274265466786,-5.89155097825e-05,1793192357939695360
+92,1.533333333,BASELINE,763.371411245,742,711.628588755,671,660,633,875,783.628588755,799.371411245,649.371411245,628,650,0.400956802446,-0.015411909817,0.0498469590078,0.999999958777,-5.82343207447e-05,-0.000274904919519,-5.9014577512e-05,1793192357956361984
+93,1.550000000,BASELINE,763.964965228,742,711.035034772,671,660,633,875,783.035034772,799.964965228,649.964965228,628,650,0.40095590492,-0.0154104109475,0.0498454766149,0.999999958243,-5.74672130561e-05,-0.000276924647274,-5.93610998047e-05,1793192357973028864
+94,1.566666667,BASELINE,763.456385925,742,711,671,660,633,875,783,799.456385925,649.456385925,628.543614075,650,0.400956149587,-0.0154104735833,0.0498458431632,0.999999958402,-5.65877274545e-05,-0.000276557292514,-5.92364307702e-05,1793192357989695488
+95,1.583333333,BASELINE,763,742,711,671,660,633,875,783.121062382,799,649,628.878937618,650,0.40095683194,-0.0154107136092,0.0498464579318,0.999999958667,-5.61582299328e-05,-0.000275726287756,-5.9057409967e-05,1793192358006362112
+96,1.600000000,BASELINE,763,742,711,671,660,633,875,783.697511879,799,649,628.302488121,650,0.400958891185,-0.0154112524559,0.0498475701334,0.999999959162,-5.74479194312e-05,-0.000273714470008,-5.87851208695e-05,1793192358023028480
+97,1.616666667,BASELINE,763,742,711,671,660,633,875,783.720501488,799,649,628,650,0.400959208545,-0.0154125785628,0.0498479902605,0.999999959238,-5.91076892369e-05,-0.000273118131946,-5.86198625368e-05,1793192358039695104
+98,1.633333333,BASELINE,763,742,711,671,660,633,875,783.13240119,799,649,628,650,0.400957602645,-0.0154147739047,0.0498476462496,0.999999958852,-6.11760745346e-05,-0.000274084662999,-5.85727797514e-05,1793192358056361728
+99,1.650000000,BASELINE,763,742,711,670.551216844,660,633,875,783,798.551216844,649.448783156,628.448783156,650.448783156,0.400958285733,-0.0154143465357,0.0498478024526,0.999999959073,-6.08128270298e-05,-0.00027332706469,-5.87153396885e-05,1793192358073028608
+100,1.666666667,BASELINE,763,742,711,670.027762996,660,633,875.027762996,783,798.027762996,650,628.972237004,651,0.400959506287,-0.0154132447227,0.0498480462667,0.999999959428,-5.98034439893e-05,-0.000272211602736,-5.889688212e-05,1793192358089694976
+101,1.683333333,BASELINE,763,742,711,670.602896277,660,633,875.602896277,783,798.602896277,650,628.397103723,651,0.400958211333,-0.0154138694663,0.0498471520135,0.999999958959,-5.99841807809e-05,-0.000273916959382,-5.87606590149e-05,1793192358106361600
+102,1.700000000,BASELINE,763,742,711,671,660,633,875.821590937,783,799,649.821590937,628,650.821590937,0.400957783714,-0.0154139106753,0.0498469210933,0.999999958837,-5.97053800325e-05,-0.000274453664337,-5.86190071678e-05,1793192358123028224
+103,1.716666667,BASELINE,763,742,711,671,660,633,875.245231723,783,799,649.245231723,628,650.245231723,0.400959290727,-0.0154126502818,0.0498481697699,0.999999959489,-5.84015582776e-05,-0.000272383634244,-5.84652462642e-05,1793192358139695104
+104,1.733333333,BASELINE,763.338754339,742,711,670.661245661,660,633,875.338754339,783,799.338754339,649,628,650,0.400957966604,-0.0154120623687,0.0498474298044,0.999999959132,-5.80754922812e-05,-0.000273675824587,-5.88593809286e-05,1793192358156361984
+105,1.750000000,BASELINE,763.928388875,742,711,670.071611125,660,633,875.928388875,783,799.928388875,649,628,650,0.400954545752,-0.0154119724919,0.0498452170581,0.999999958019,-5.847354841e-05,-0.000277458062603,-5.9659284987e-05,1793192358173028608
+106,1.766666667,BASELINE,763.492528252,742,711.507471748,670.507471748,660,633,875.492528252,783,799.492528252,649.507471748,628,650,0.400956018066,-0.0154124724953,0.0498461347037,0.999999958366,-5.93538831066e-05,-0.000276076678424,-5.93899126179e-05,1793192358189695232
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660,633,876,783,799,649,628,650,0.400957161854,-0.0154120793132,0.0498470412566,0.999999958976,-5.68421413929e-05,-0.000274503118333,-5.88577882326e-05,1793192358232867584
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.587837651,671,660,633,874.824324698,783,799.587837651,649,628.587837651,650,0.40095785901,-0.0154133706544,0.0498473623195,0.999999959041,-5.88768395114e-05,-0.00027384931561,-5.88109827042e-05,1793192358249534464
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.827061459,742,711.827061459,671,660,633,874.172938541,783,800.172938541,649,628.827061459,650,0.400957831877,-0.0154136134142,0.0498472891014,0.999999958966,-5.95128064176e-05,-0.000273970779979,-5.88783975076e-05,1793192358266201344
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.248381333,742,711.248381333,671,660,633,874.751618667,783,800.751618667,649,628.248381333,650,0.400956105448,-0.0154113960341,0.0498462908369,0.999999958566,-5.68671257114e-05,-0.000275911145301,-5.92137915412e-05,1793192358282867712
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,742,711,671,660,632.66925595,875,783,800.66925595,649,628,650.33074405,0.400955695459,-0.0154105320317,0.0498462264947,0.999999958485,-5.67045703023e-05,-0.00027624079879,-5.9203778404e-05,1793192358299534336
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742,711,671,660,632.089795772,875,783,800.089795772,649,628,650.910204228,0.400956275422,-0.0154106857554,0.0498468644528,0.999999958646,-5.8409299764e-05,-0.000275359213411,-5.8934022603e-05,1793192358316200704
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,742,711.484482644,670.515517356,660,632.484482644,875,783,800,649,628,650.515517356,0.400959261354,-0.0154119005061,0.0498482896802,0.999999959271,-5.88546218528e-05,-0.000273041515314,-5.86748876769e-05,1793192358332867328
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742,711.940634386,670.059365614,660,632.940634386,875,783,799.940634386,649,628,650,0.400962867731,-0.0154131055393,0.0498499165587,0.999999960036,-5.8865568261e-05,-0.000270278909873,-5.84187606377e-05,1793192358349533952
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742,711.351886773,670.648113227,660,632.351886773,875,783,799.351886773,649,628,650,0.400968072389,-0.0154124888443,0.0498520542184,0.999999961329,-5.70625300475e-05,-0.000265897367861,-5.81720877902e-05,1793192358366200320
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,711.233358682,670.766641318,660,632.233358682,875,783,799,649,628,650,0.400980204746,-0.0154131486738,0.0498571169882,0.999999963868,-5.74190925629e-05,-0.000256216445308,-5.76225848186e-05,1793192358382867200
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,711.813401188,670.186598812,660,632.813401188,875,783,799,649,628,650,0.401002629076,-0.0154157049418,0.0498665253784,0.999999968057,-6.09840151236e-05,-0.000238662623363,-5.66231894247e-05,1793192358399533824
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.39015733,742,712,670,660.39015733,633,875,783.39015733,799,649.39015733,628,650,0.401042560291,-0.0154173885531,0.0498802188936,0.999999974673,-5.97807463108e-05,-0.000209895594199,-5.4982973964e-05,1793192358416200960
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.965354896,742,712,670,660.965354896,633,875,783.965354896,799,649.965354896,628,650,0.401090794514,-0.015418658289,0.0498959447193,0.999999981553,-5.63160637289e-05,-0.000175810466316,-5.30388361075e-05,1793192358432867584
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.44624307,670,660.44624307,633,875,783.44624307,799,649.44624307,628,650,0.401158863228,-0.0154241151255,0.04991346847,0.999999987299,-5.85685665911e-05,-0.000139279386568,-5.0722444659e-05,1793192358449534208
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.859489732,742,711.140510268,670.140510268,660,633,875,783,799,649,628,650.140510268,0.401228719079,-0.0154297182773,0.0499278941241,0.999999990758,-6.07892125125e-05,-0.000111496242369,-4.85438535673e-05,1793192358466201088
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.280521802,742,711.719478198,670.719478198,660,633,875,783,799,649,628,650.719478198,0.40130018481,-0.015434940595,0.0499322926947,0.999999990778,-6.17670304651e-05,-0.000111499917347,-4.68697131688e-05,1793192358482867456
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742,711.702685793,671,660,633,875,783,799,649,628.297314207,651,0.401382119551,-0.0154408608238,0.0499343510312,0.999999990734,-6.48604653102e-05,-0.000110627049346,-4.5682679451e-05,1793192358499534080
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742,711.125913758,671,660,633,875,783,799,649,628.874086242,651,0.401473894539,-0.0154474370478,0.0499342096855,0.999999990611,-6.99424552634e-05,-0.000108930282614,-4.49534973986e-05,1793192358516200704
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,711,670.551502982,660,633,875,783,799,649,628.551502982,650.551502982,0.401589360518,-0.015455258192,0.0499342949741,0.99999999028,-7.24699365802e-05,-0.000110680489048,-4.40136465005e-05,1793192358532867328
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742,711,670.022890128,660,633,875,783,799,649,628,650.022890128,0.40171219102,-0.0154634522386,0.0499343559768,0.999999989863,-7.43455393301e-05,-0.000113568498752,-4.2995602505e-05,1793192358549534464
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742,711,670.613192073,660,633,875,783,799,649,628,650.613192073,0.401853568452,-0.0154722716142,0.049932246023,0.999999988821,-7.77464682434e-05,-0.000120798151013,-4.14976923235e-05,1793192358566201088
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,742,711,670.800301709,659.800301709,633,875,783,799,649,628,650.800301709,0.402009804068,-0.0154814493274,0.0499317416751,0.999999988312,-8.09734499509e-05,-0.00012339588201,-3.99043223326e-05,1793192358582867712
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742,711,670.221010596,659.221010596,633,875,783,799,649,628,650.221010596,0.402194282573,-0.0154913081792,0.0499342893138,0.999999988889,-8.38697869318e-05,-0.000117189109923,-3.81294994939e-05,1793192358599534336
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742,711.356090985,670.356090985,659.356090985,633,875,783,799,649,628,650,0.402400046058,-0.0155027213388,0.0499357395787,0.999999989072,-8.66096218618e-05,-0.000114299421495,-3.59146350009e-05,1793192358616200704
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742,711.931841977,670.931841977,659.931841977,633,875,783,799,649,628,650,0.402618939517,-0.0155150932972,0.0499365129124,0.999999989022,-8.92529164613e-05,-0.00011345592474,-3.34283241124e-05,1793192358632867328
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742,711.483696413,671,660,633,875.516303587,783,799.516303587,649,628,650,0.402887363366,-0.0155272760775,0.0499460416974,0.999999991187,-9.03320888246e-05,-9.24762929137e-05,-3.02281093348e-05,1793192358649533952
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742,711,670.899152788,660,633,875.899152788,783,799.899152788,649,628,650,0.403168987397,-0.0155362676192,0.0499561408623,0.999999993384,-8.69895754527e-05,-7.03202375623e-05,-2.68259635973e-05,1793192358666200576
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,711,670.319769887,660,633,875.319769887,783,799.319769887,649,628,650,0.403481689411,-0.0155302367796,0.0499633679068,0.999999996176,-6.36620804783e-05,-5.54118997041e-05,-2.292049748e-05,1793192358682867200
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,711,670.2592633,659.7407367,633,875,783,799,649,628,650,0.403810056034,-0.0155201982197,0.0499697845766,0.999999998282,-3.42160568059e-05,-4.31197864262e-05,-2.01487549256e-05,1793192358699533824
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,711,670.837865706,659.162134294,633,875,783,799,649,628,650,0.404157717009,-0.0155052232815,0.0499752030934,0.99999999924,2.76626340319e-06,-3.40501232328e-05,-1.87734395793e-05,1793192358716200704
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.415111659,742,711,671,659.415111659,633,875,783,799,649,628,650,0.404538362414,-0.0155068060731,0.049978532907,0.999999999247,2.23860798389e-05,-2.7908663871e-05,-1.50377336699e-05,1793192358732867328
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.991829523,742,711,671,659.991829523,633,875,783,799,649,628,650,0.404931848908,-0.0155148349182,0.049981049572,0.999999999063,3.52465373895e-05,-2.29071772978e-05,-1.0383109356e-05,1793192358749533696
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.422115465,742,711,670.422115465,660,633,875.577884535,783,799,649.577884535,628.577884535,650,0.40532430488,-0.0155230952936,0.0499597613019,0.999999996926,4.56532795001e-05,-6.32346302059e-05,-8.06885997721e-06,1793192358766200320
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742,711,670,660,633,875.838082266,783,799,649.838082266,628.838082266,650,0.405731828858,-0.0155282026963,0.0499387822523,0.999999992983,6.09007085804e-05,-0.000101427734914,-6.11797578146e-06,1793192358782866944
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742,711,670,660,633,875.259595925,783,799,649.259595925,628.259595925,650,0.406178156598,-0.0155251898293,0.0499194788587,0.999999987282,8.86925756151e-05,-0.000132453856836,-5.01539965071e-06,1793192358799533568
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.317732109,742,711,670,660,633,875.317732109,783,799.635464218,649,628,650,0.406653384297,-0.0155245679804,0.0499078428468,0.999999982032,0.000114119095518,-0.000151349201799,-2.40721195849e-06,1793192358816200448
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.894117275,742,711,670,660,633,875.894117275,783,800.78823455,649,628,650,0.407152138352,-0.0155258925638,0.0499024485428,0.99999997767,0.000137620083584,-0.00016036936776,1.42663426605e-06,1793192358832867072
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.529619141,742,711,670.470380859,660,633,876,783,800.529619141,649.470380859,628,650,0.407735208038,-0.0155292548373,0.0499240709463,0.999999980368,0.000161406888396,-0.000114676766526,7.77839803853e-06,1793192358849533952
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.047630173,742,711,671,660,633,876,783,799.952369827,649.952369827,628,650,0.408338974458,-0.0155330556025,0.0499512372882,0.999999980955,0.000185450950619,-5.89955021792e-05,1.47425949568e-05,1793192358866200832
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.636389697,742,711,671,660,633,876,783,799.363610303,649.363610303,628,650,0.408962307229,-0.0155366283092,0.0499723146835,0.999999976906,0.000211687002259,-2.97172791897e-05,2.22270930367e-05,1793192358882867968
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711.222464513,670.777535487,660,633,876,783,799,649,628.222464513,650,0.409584763067,-0.0155389211469,0.0499834093989,0.999999971264,0.000237447971953,-1.67223320006e-05,2.84909772934e-05,1793192358899534848
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711.804203558,670.195796442,660,633,876,783,799,649,628.804203558,650,0.410205802646,-0.0155391470286,0.0499783823387,0.999999964574,0.000262441695127,-3.0024463104e-05,3.27836008381e-05,1793192358916200960
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.619540244,742,712,670.380459756,660,633,876,783,799,649,628.619540244,650,0.410812595551,-0.0155370558936,0.0499524802923,0.999999974986,0.000203090150173,-8.70894467081e-05,3.46122559021e-05,1793192358932867584
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.046065621,742,712,670.953934379,660,633,876,783,799,649,628.046065621,650,0.411412160813,-0.0155337892895,0.0499159879471,0.999999980448,0.00010094855523,-0.000166356201688,3.51908897306e-05,1793192358949534208
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742.52812174,711.47187826,671,660,633,876.52812174,783,799.52812174,649,628,650,0.412138079602,-0.0155378110239,0.0499205277056,0.999999990162,1.44812775503e-05,-0.000138829719969,1.38655413426e-05,1793192358966200832
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.106076347,742.893923653,711.106076347,671,660.212152694,633,876.787847306,783,799.893923653,649,628,650,0.412882906333,-0.0155447538096,0.0499319751041,0.999999993483,-5.10407480719e-05,-0.000102068050216,-3.27034267872e-06,1793192358982867456
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.701108849,742.298891151,711.701108849,671,661.402217698,633,875.597782302,783,799.298891151,649,628,650,0.413664017761,-0.015562226771,0.0499587432953,0.999999997463,-2.63267359575e-05,-6.573268605e-05,7.7236925812e-06,1793192358999534080
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.286160048,712,671,661.427679905,633,875.286160048,783,799,649.286160048,628,650,0.414417459782,-0.0155691697699,0.0499586448592,0.999999997568,1.0102168823e-06,-6.84805043478e-05,1.31512058575e-05,1793192359016200960
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.861137331,712,671,660.277725338,633,875.861137331,783,799,649.861137331,628,650,0.41514297556,-0.0155654850304,0.0499314303245,0.999999993311,3.09944691737e-05,-0.000110674414334,1.29605095642e-05,1793192359032867840
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,711.5628566,671,660,633,876,783,799.4371434,649.5628566,628,650,0.415908028431,-0.0155618427036,0.0499197622133,0.999999990497,5.40282811402e-05,-0.000126224930615,1.24234761878e-05,1793192359049534208
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.986190122,742.986190122,711,671,660,633,876,783,800,649,628,650,0.416687492478,-0.0155583779435,0.0499139286142,0.999999988442,7.47489437708e-05,-0.000131859969701,1.19024651813e-05,1793192359066200576
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.395621598,742.395621598,711,671,660,633,876,783,800,649,628,650,0.417543062229,-0.0155617650956,0.0499450311139,0.999999992677,9.12903583953e-05,-7.76890946059e-05,1.66562345111e-05,1793192359082867200
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742.191070883,711.191070883,671,660,633,876.191070883,783,800,649,628,650,0.41837881445,-0.0155643106631,0.04996360502,0.999999992938,0.000106107091121,-4.94891755518e-05,2.03851750267e-05,1793192359099533824
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742.769897364,711.769897364,671,660,633,876.769897364,783,800,649,628,650,0.419174349305,-0.0155651483344,0.0499567536359,0.999999990125,0.000117423786844,-7.39942216594e-05,2.20343473424e-05,1793192359116200448
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.345997393,743,712,671,660,633,877,783,800,649,628.345997393,650,0.419994628871,-0.0155651220339,0.0499477746861,0.999999988698,0.000124442521674,-8.15844678045e-05,2.14812273827e-05,1793192359132867328
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.920298374,743,712,671,660,633,877,783,800,649,628.920298374,650,0.420831236004,-0.0155645256486,0.0499373918794,0.999999988495,0.000128625281291,-7.80136187869e-05,1.94749425836e-05,1793192359149534208
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,671,660.506715408,633,876.493284592,783,800,649,628.493284592,650.506715408,0.421698693515,-0.0155689201464,0.0499587548218,0.999999991282,0.000125555115498,-3.47483147112e-05,2.15744166348e-05,1793192359166201088
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.906396862,712,671,661,633,876.093603138,783,800,649,628,650.906396862,0.422566622072,-0.0155734766831,0.0499781636379,0.999999992639,0.000118955161699,9.95679141096e-07,2.38746437324e-05,1793192359182867712
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.327196321,712,671,661,633,876.672803679,783,800,649,628,650.327196321,0.423411203497,-0.0155747015343,0.0499608957275,0.999999994078,0.00010010661389,-3.54636962089e-05,2.37839817178e-05,1793192359199534592
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,712,671.250619811,661,633,877,783,800,649,628,650,0.424261656418,-0.0155758541626,0.0499528683359,0.99999999415,9.1907762212e-05,-5.15805852955e-05,2.43274720537e-05,1793192359216201216
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671.826638539,661,633,877,783,800,649,628,650,0.425119732871,-0.0155769130187,0.0499568386162,0.999999994061,9.75362251925e-05,-4.12852697063e-05,2.56943310384e-05,1793192359232867584
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.400249111,712,671.599750889,661,633,876.599750889,783,800,649,628.400249111,650,0.425974636807,-0.0155779818864,0.0499731054767,0.999999993534,0.000107534482158,-2.39968305346e-05,2.81566526363e-05,1793192359249533952
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.972822833,712,671.027177167,661,633,876.027177167,783,800,649,628.972822833,650,0.426828174785,-0.0155790550645,0.0499946665483,0.99999999238,0.00011941412468,-3.69754879492e-06,3.10906183334e-05,1793192359266200576
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.435140006,711.435140006,671,661,633,876.564859994,783,799.435140006,649,628.435140006,650,0.427592717611,-0.015571276024,0.0499638396363,0.999999988136,0.000134929535788,-6.86059916285e-05,2.85580909304e-05,1793192359282867456
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,711.15400167,671.15400167,661,633,877,783,799,649,628,650,0.428380549897,-0.0155651672396,0.0499381732786,0.999999981679,0.000149275478191,-0.000116911597978,2.62954449361e-05,1793192359299534336
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,711.73248898,671.73248898,661,633,877,783,799,649,628,650,0.429244800022,-0.0155648781545,0.0499339268226,0.999999981085,0.00015989855883,-0.000107750335065,2.55275165767e-05,1793192359316200960
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,712,672,661.309808044,633,877,783,799,649,628.309808044,650.309808044,0.430080164262,-0.0155669905936,0.0499371806547,0.999999983052,0.000155594408952,-9.49564619591e-05,2.58873408407e-05,1793192359332867584
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+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,712,671.962308545,661,632,876.962308545,783.037691455,800,649,628.962308545,650,0.432410392779,-0.0155639192405,0.0499144751756,0.999999984063,0.000118881840193,-0.000130844564584,2.49129214301e-05,1793192359382867200
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671.372030021,661,632,876.372030021,783.627969979,800,649,628.372030021,650,0.433174649949,-0.0155649384123,0.0499306576736,0.999999985812,0.000134073286414,-9.8222704417e-05,2.74280212965e-05,1793192359399533824
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,712,671.214205174,661,632.214205174,876.214205174,784,800,649,628.214205174,650,0.433941009895,-0.0155656076973,0.0499487215274,0.999999986757,0.000145275998284,-6.72622614063e-05,2.92790384387e-05,1793192359416200704
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,712,671.793548138,661,632.793548138,876.793548138,784,800,649,628.793548138,650,0.434710954391,-0.0155656805595,0.0499699923748,0.999999987582,0.000149679448235,-3.91338932297e-05,2.99980492946e-05,1793192359432867328
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+181,3.016666667,POSE1_TO_POSE2_PRESS,763.058266569,742.941733431,712,672,661,632.058266569,877,784,799.058266569,649,629,650,0.436025485371,-0.0155603573688,0.0499389529556,0.999999979329,0.00016021410233,-0.000122153371215,2.74362964841e-05,1793192359466200576
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.529421333,743,712,672,661,632.529421333,877.529421333,783.470578667,799.529421333,649,629,650,0.436668757685,-0.0155601862454,0.0499268688102,0.999999976272,0.000170215900038,-0.000133130806602,2.75558345233e-05,1793192359482867200
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.883122499,712,672,661,633,877.883122499,783,799.883122499,649,628.883122499,650,0.437320793029,-0.015560347527,0.0499241879972,0.999999975336,0.000180666854608,-0.000126023016618,2.83723348263e-05,1793192359499533824
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.30319265,712,672,661,633,877.30319265,783,799.30319265,649,628.30319265,650,0.438002865332,-0.015560442841,0.0499536434271,0.999999979009,0.000190857839033,-6.77298997956e-05,3.11275273251e-05,1793192359516200704
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.725539777,742,712,672,661,633,877,783,799.274460223,649,628,650,0.43863834272,-0.0155611145161,0.049966486876,0.999999978936,0.000197968004677,-4.28568600383e-05,3.31627306265e-05,1793192359532867328
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+187,3.116666667,POSE1_TO_POSE2_PRESS,763.424791818,742.424791818,712,672,661.424791818,633,876.575208182,783,799.575208182,649,628,650.424791818,0.439746219765,-0.0155613665565,0.0499380983267,0.999999973852,0.000206955766671,-9.12139732576e-05,3.38514294934e-05,1793192359566200576
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.999970666,742.999970666,712,672,661.999970666,633,876.000029334,783,799.000029334,649,628,650.999970666,0.440248080652,-0.0155594820059,0.0499088088563,0.999999967502,0.000212746148687,-0.000136634933342,3.26550570548e-05,1793192359582867200
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+190,3.166666667,POSE1_TO_POSE2_PRESS,763.816990524,742,712,672,661,632.816990524,877,783,800,649,628.816990524,650,0.441219063955,-0.0155624992529,0.049911950205,0.999999978806,0.00015079788579,-0.000135459571684,3.60263128176e-05,1793192359616200448
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.239517108,742,712,672,661,632.239517108,877,783,800,649,628.239517108,650,0.441689510912,-0.0155666118674,0.0499200105665,0.999999979667,0.00015903671657,-0.000118008864053,3.80480356912e-05,1793192359632867328
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,742.335268305,712,672,661,632,877,783,799.664731695,649,628,650,0.442124513798,-0.015570176863,0.0499200844983,0.999999979093,0.000163921956756,-0.0001160284493,3.84825950658e-05,1793192359649533696
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,742.908148638,712,672,661,632,877,783,799.091851362,649,628,650,0.442534396664,-0.0155733537488,0.0499144982713,0.999999977622,0.000166430433008,-0.000125012172637,3.77922966221e-05,1793192359666200320
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.496244635,743,712,672,661,632,877,783,799.496244635,649,628.496244635,650,0.442876627605,-0.015574116379,0.0498964371862,0.999999979977,0.00012604766127,-0.000153645552078,2.34808755574e-05,1793192359682866944
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763.336546644,742.336546644,711.336546644,672,661,632,877,783,800,649,629,650,0.443482196493,-0.0155778010554,0.0498434158885,0.999999966497,9.03962745065e-05,-0.000242417247504,8.28925298653e-06,1793192359716200448
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+198,3.300000000,POSE1_TO_POSE2_PRESS,763.819121624,742,711,672,661,632,877,782.180878376,800,649,628.180878376,649.180878376,0.444041719917,-0.0155812411446,0.0498105369231,0.999999951771,0.000101179634173,-0.000293492300511,9.07664785027e-06,1793192359749533696
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+228,3.800000000,POSE1_TO_POSE2_PRESS,763.229374776,743,711.770625224,672.770625224,660,631.770625224,876.229374776,782.770625224,799.770625224,649,628,650.229374776,0.446111941162,-0.0155819086982,0.0497583076247,0.999999936528,8.09484427018e-05,-0.000346911552629,6.54826639764e-06,1793192360249533952
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.805748924,743,711.194251076,672.194251076,660,631.194251076,876.805748924,782.194251076,799.194251076,649,628,650.805748924,0.446110562141,-0.0155829976009,0.0497575750528,0.999999935796,8.00558432174e-05,-0.000349211562152,7.05042140661e-06,1793192360266200576
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.611421098,742.611421098,711.388578902,672,660.388578902,631.388578902,876.611421098,782.388578902,799,649,628.388578902,650.611421098,0.44611273068,-0.0155798262521,0.0497589201094,0.999999935978,8.50492895038e-05,-0.000347510814645,6.89891295518e-06,1793192360282866944
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.025309337,742.025309337,711.974690663,672,660.974690663,631.974690663,876.025309337,782.974690663,799,649,628.974690663,650.025309337,0.446116702609,-0.0155744892179,0.049761321322,0.999999936561,9.30348886055e-05,-0.000343776294836,6.41511673066e-06,1793192360299533568
+232,3.866666667,POSE1_TO_POSE2_PRESS,763,742,712,672,661,632,876.554244232,782.445755768,799.554244232,649,628.445755768,650,0.446122719411,-0.015573429565,0.0497641454904,0.99999993854,9.18628140882e-05,-0.00033829570159,6.16712563414e-06,1793192360316200704
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.133159856,742.133159856,711.866840144,672,660.866840144,632,877,782,800,649,628,650,0.446127998503,-0.015572799937,0.0497664477028,0.999999940221,9.08043696459e-05,-0.000333581331628,5.98888757225e-06,1793192360332867840
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.710933536,742.710933536,711.289066464,672,660.289066464,632,877,782,800,649,628,650,0.44613050628,-0.0155729615874,0.049766943396,0.999999940787,9.15052878871e-05,-0.000331688455949,6.00801815578e-06,1793192360349534208
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.712524317,711,671.712524317,660,632,877,782,799.712524317,649,628,650,0.446134712604,-0.0155714411133,0.049768913898,0.999999941874,9.35206707119e-05,-0.000327823138164,6.07652296601e-06,1793192360366200832
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.137215165,711,671.137215165,660,632,877,782,799.137215165,649,628,650,0.44614061959,-0.0155682364213,0.0497723610442,0.999999943454,9.685215415e-05,-0.000321982923187,6.19446345492e-06,1793192360382867200
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742,711.448117313,671.448117313,660,632,877,782.448117313,799.448117313,649,628,650,0.446144365637,-0.0155673699324,0.049774321295,0.999999944473,9.75033805692e-05,-0.00031860510874,6.15328251098e-06,1793192360399533824
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.963860947,742,712,672,660.036139053,632,877,783,799.963860947,649,628,650,0.446147259999,-0.0155672968149,0.0497757161744,0.999999945268,9.72797797523e-05,-0.00031616948354,6.08203460076e-06,1793192360416200448
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.382628183,742,712,672,660.617371817,632,877,783,799.382628183,649,628,650,0.446147516943,-0.0155681441417,0.0497756078337,0.999999945295,9.65230546837e-05,-0.000316312216555,6.30900269631e-06,1793192360432867072
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.196163967,742.196163967,712,672,660.803836033,632,876.803836033,783,799.196163967,649,628,649.803836033,0.446148001581,-0.0155686541236,0.0497757747749,0.999999945461,9.56589666166e-05,-0.000316047387829,6.36044205359e-06,1793192360449533696
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.770254036,742.770254036,712,672,660.229745964,632,876.229745964,783,799.770254036,649,628,649.229745964,0.446148924892,-0.0155685141828,0.0497764720693,0.999999945896,9.45880349003e-05,-0.000314997357695,6.07371076848e-06,1793192360466200832
+242,4.033333333,HOLD_POSE2,763,742,712,672,661,632,877,782,800,649,628,650,0.44614829535,-0.0155677141092,0.0497751808808,0.99999994482,0.000101008879183,-0.00031639606735,7.08952225039e-06,1793192360501768448
+243,4.050000000,HOLD_POSE2,763.591324699,742.591324699,712,672,660.408675301,632,876.408675301,782,800,649,628,650,0.446149807575,-0.0155665604831,0.049776833322,0.99999994539,0.000102009794043,-0.000314271647831,6.88948066452e-06,1793192360518435328
+244,4.066666667,HOLD_POSE2,764,742.821550125,711.821550125,672,660.178449875,632,876.178449875,782,800,649,628,650,0.446151465971,-0.0155655164619,0.0497783917751,0.999999945993,0.000102381938497,-0.000312229858653,6.71271312783e-06,1793192360535101952
+245,4.083333333,HOLD_POSE2,764,742.243821207,711.243821207,672,660.756178793,632,876.756178793,782,800,649,628,650,0.446153451425,-0.0155647176798,0.0497797399314,0.999999946677,0.00010134721836,-0.000310372953271,6.58802090436e-06,1793192360551768320
+246,4.100000000,HOLD_POSE2,764,742,711,672,660.668855705,632,877,782.331144295,799.668855705,649,628.331144295,650,0.446153850832,-0.0155650935339,0.0497798988864,0.999999946727,0.000100402649567,-0.00031051629798,6.65789618201e-06,1793192360568434688
+247,4.116666667,HOLD_POSE2,764,742,711,672,660.095908099,632,877,782.904091901,799.095908099,649,628.904091901,650,0.446153092098,-0.0155663271136,0.0497791894801,0.999999946314,9.95239098229e-05,-0.000312120235966,6.86984568267e-06,1793192360585101568
+248,4.133333333,HOLD_POSE2,764,742,711,672,660.480342022,632,876.519657978,782.519657978,799,649,628.519657978,650,0.446152738365,-0.0155652243164,0.0497789462745,0.999999946165,9.94621906424e-05,-0.000312621177229,6.74462621378e-06,1793192360601767936
+249,4.150000000,HOLD_POSE2,763.941206729,742,711,672,661,632,876.058793271,782,799,649,628,650,0.446152664392,-0.0155638446421,0.0497788625486,0.999999946092,9.9834182099e-05,-0.000312737806608,6.60446385753e-06,1793192360618434560
+250,4.166666667,HOLD_POSE2,763.348804129,742,711,672,661,632,876.651195871,782,799,649,628,650,0.446154390511,-0.0155642152632,0.0497793755785,0.999999946229,0.000102651707673,-0.000311379073331,6.94391909799e-06,1793192360635101440
+251,4.183333333,HOLD_POSE2,763,742,711,672,660.762956246,632,877,782,799.237043754,649,628.237043754,650,0.446155135876,-0.0155647720466,0.0497793469126,0.999999946417,0.000102760329605,-0.000310736835015,7.02127343814e-06,1793192360651768064
+252,4.200000000,HOLD_POSE2,763,742,711,672,660.186493988,632,877,782,799.813506012,649,628.813506012,650,0.446154476918,-0.0155655953923,0.0497785426029,0.99999994668,9.89901230129e-05,-0.000311120532502,6.72333038889e-06,1793192360668434688
+253,4.216666667,HOLD_POSE2,763.389297225,742.389297225,711,672,660.389297225,632,877,782.389297225,800,649,629,650,0.446153853567,-0.0155663255028,0.0497786445464,0.999999946516,9.81582805362e-05,-0.000311908063226,6.73582487753e-06,1793192360685101312
+254,4.233333333,HOLD_POSE2,763.964767577,742.964767577,711,672,660.964767577,632,877,782.964767577,800,649,629,650,0.446153247243,-0.0155670110257,0.0497791798863,0.999999946153,9.8731647926e-05,-0.000312888718648,6.89677949572e-06,1793192360701767936
+255,4.250000000,HOLD_POSE2,763.448950303,742.448950303,711.551049697,672,661,631.448950303,877,783,799.448950303,649,628.448950303,650,0.446154895214,-0.0155645751779,0.0497804471019,0.999999946494,0.000102219748795,-0.000310673268531,6.7823126216e-06,1793192360718434560
+256,4.266666667,HOLD_POSE2,763.137026408,742,712,672,660.862973592,631,876.862973592,782.862973592,799.137026408,649,628,650,0.446156140331,-0.015562976856,0.0497812785413,0.999999946827,0.00010393240149,-0.000309027349683,6.73841134215e-06,1793192360735101184
+257,4.283333333,HOLD_POSE2,763.719716675,742,712,672,660.280283325,631,876.280283325,782.280283325,799.719716675,649,628,650,0.446155597048,-0.0155647645704,0.0497805374269,0.999999947027,9.92523548996e-05,-0.000309911695364,6.98243672055e-06,1793192360751767808
+258,4.300000000,HOLD_POSE2,763.702348853,742,711.702348853,672,660,631,876,782,799.702348853,649,628,650,0.446156181833,-0.0155660686206,0.0497810931101,0.999999947545,9.64825195591e-05,-0.000309109890725,7.18801184324e-06,1793192360768434688
+259,4.316666667,HOLD_POSE2,763.128822285,742,711.128822285,672,660,631,876,782,799.128822285,649,628,650,0.446157812157,-0.0155669243907,0.0497828507189,0.999999948368,9.54831474648e-05,-0.00030674529203,7.35794966061e-06,1793192360785101312
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,743,712,672,660,632,877,782,800,649,628,650,0.446154613252,-0.0155627874944,0.0497796286911,0.999999946219,0.000101023018678,-0.000311949744555,6.60298192923e-06,1793192360817755648
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.591296105,743,711.408703895,672,660,632,876.408703895,782,800,649,628,650,0.44615392985,-0.0155624298642,0.0497794018976,0.99999994608,0.000102545625919,-0.000311896886564,6.64016806189e-06,1793192360834422272
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.821267949,742.821267949,711,672,660,632,876.178732051,782,800,649,628,650,0.446153755431,-0.015562421001,0.049779295014,0.999999946167,0.00010253752268,-0.00031162425709,6.53236525255e-06,1793192360851088896
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.24247225,742.24247225,711,672,660,632,876.75752775,782,800,649,628,650,0.446154720289,-0.0155631927978,0.0497794565296,0.999999946754,9.91031645196e-05,-0.000310859703625,6.10002745514e-06,1793192360867755520
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,742,711.332960042,672,660,632,876.667039958,782,799.667039958,649,628.332960042,650,0.446155802387,-0.0155634263758,0.0497803431832,0.999999947076,9.84688946934e-05,-0.000310028648776,5.87957351585e-06,1793192360884422400
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,742,711.905967452,672,660,632,876.094032548,782,799.094032548,649,628.905967452,650,0.44615696901,-0.0155632719252,0.0497817526247,0.999999947211,9.98533472928e-05,-0.000309149649836,5.81187715918e-06,1793192360901089024
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742,712,672.492537173,660.492537173,632,876,782,799,649,628.507462827,650,0.446155482874,-0.0155631042153,0.0497806860946,0.999999946773,0.000100699825664,-0.00031028581977,6.02254779563e-06,1793192360917755648
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742,712,672.839363329,660.919681665,632,876.080318335,782,799.080318335,649,628,650,0.446152448463,-0.0155629795289,0.049778797897,0.999999946034,0.00010117126539,-0.000312501335673,6.21987535015e-06,1793192360934422528
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,742,712,671.681812319,660.34090616,632,876.65909384,782,799.65909384,649,628,650,0.446143037457,-0.0155631380021,0.0497748270613,0.999999944117,9.99706587277e-05,-0.000318960075807,5.99524192632e-06,1793192360951089152
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742,711.762522408,671.474955185,660.237477592,631.762522408,876.762522408,782,799.762522408,649,628,650,0.44612209004,-0.0155616037147,0.0497662411578,0.999999938884,0.00010045412083,-0.000334836117331,5.11619178731e-06,1793192360967755776
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742,711.184700152,672.630599696,660.815299848,631.184700152,876.184700152,782,799.184700152,649,628,650,0.446084609038,-0.0155576434216,0.0497510410992,0.99999992833,0.000103351132023,-0.000364208708408,3.29925428621e-06,1793192360984422400
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.60940579,660.60940579,631.39059421,876.39059421,782.39059421,799,649,628,650,0.446027417322,-0.0155537949475,0.0497319796412,0.999999914655,0.000104388170684,-0.00039974096883,1.00035659475e-06,1793192361001089024
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.035299055,660.035299055,631.964700945,876.964700945,782.964700945,799,649,628,650,0.445960964936,-0.0155499990089,0.0497111039841,0.999999898538,0.000104551340284,-0.000438167223341,-1.5249801792e-06,1793192361017755648
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742,711.553499828,672,660,632,877,783,799,649,628,650,0.445891291755,-0.0155456710407,0.0497026349596,0.999999894957,0.000105956177972,-0.000445926263543,-2.91450764763e-06,1793192361034422272
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.140759441,742.140759441,712,672,660,632,876.859240559,782.859240559,799,649,628,650,0.445817244178,-0.0155413207397,0.049697215259,0.999999893029,0.000107615744398,-0.000449828622787,-3.81041723855e-06,1793192361051089152
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.72022187,742.72022187,712,672,660,632,876.27977813,782.27977813,799,649,628,650,0.445730220598,-0.0155370094654,0.049698766102,0.999999893625,0.000109815691553,-0.000447972683577,-3.39978963175e-06,1793192361067755776
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711.702296175,672,660.297703825,631.702296175,876,782,799,649,628,650,0.44563018658,-0.0155307061064,0.049703047858,0.999999896051,0.00011305834829,-0.000441706039935,-3.41277471638e-06,1793192361084422400
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711.126663176,672,660.873336824,631.126663176,876,782,799,649,628,650,0.445518006333,-0.015522542985,0.0497098791289,0.999999900097,0.000117274453617,-0.00043132166817,-3.82123450546e-06,1793192361101089024
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.542864727,742.542864727,711,672.457135273,661,631.457135273,876.457135273,782,799.457135273,649,628,650,0.445373940202,-0.0155111939271,0.0497115549418,0.999999899237,0.000124583599225,-0.000431253366785,-4.9495799315e-06,1793192361117755648
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,742,711.042969699,672.957030301,660.957030301,632,876.957030301,782.042969699,799.957030301,649,628,650,0.445218330912,-0.0154989981873,0.0497120775514,0.999999897142,0.000132519439185,-0.000433723230604,-6.24768449959e-06,1793192361134422272
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742,711.625443644,672.374556356,660.374556356,632,876.374556356,782.625443644,799.374556356,649,628,650,0.445030736245,-0.0154874570014,0.0497163825224,0.999999897435,0.000137367731817,-0.000431519950939,-7.12725697797e-06,1793192361151088896
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742,712,672.205090504,660,632,876,783,799.205090504,649,628.205090504,650,0.444830812424,-0.0154748234416,0.0497204314794,0.999999897457,0.000143127468544,-0.000429574305217,-8.12709129509e-06,1793192361167755520
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742,712,672.779644404,660,632,876,783,799.779644404,649,628.779644404,650,0.44460867808,-0.0154602220098,0.0497240192356,0.999999896995,0.000150529139527,-0.000428092778309,-9.34357302912e-06,1793192361184422400
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.353492455,742,712,672.646507545,660,632,876,783,800,649,628.646507545,650,0.444358907276,-0.0154475589527,0.0497267995455,0.999999897097,0.000153831129081,-0.000426643255895,-1.0810298516e-05,1793192361201089536
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.926901435,742,712,672.073098565,660,632,876,783,800,649,628.073098565,650,0.444091943114,-0.0154361018057,0.0497290775233,0.999999897571,0.000154582604676,-0.000425213644145,-1.24327070392e-05,1793192361217757184
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,660.51663106,632,876,782.48336894,800,649,628,650,0.443787083378,-0.0154245131435,0.0497345445554,0.999999902016,0.000154943704125,-0.000414420620504,-1.47297685338e-05,1793192361234423552
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742.105670555,711.894329445,672.105670555,661,632,876,782.105670555,800,649,628,650,0.443467647799,-0.0154156546503,0.0497397200709,0.999999906612,0.000151834474738,-0.000404265836014,-1.70557667574e-05,1793192361251089664
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.681043381,711.318956619,672.681043381,661,632,876,782.681043381,800,649,628,650,0.443108033804,-0.0154190170789,0.0497415287119,0.999999909684,0.000133553268894,-0.000403028960043,-1.90722430481e-05,1793192361267756032
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.90390447,742,711,670.09609553,660,633,876.80780894,783,799,649,629,650.90390447,0.403056566297,-0.0153940335885,0.0498579621896,0.999999943026,-0.000194301904415,-0.000267488748741,-6.81559790381e-05,1793192362251089664
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,670,660,633,876.01151118,783,799,649,628.50575559,650.50575559,0.402766353317,-0.0153946008617,0.0498460041042,0.999999934309,-0.000201309077307,-0.000293128812549,-7.02324200983e-05,1793192362267756288
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,763,742,711,670,660.320109778,633,875,782.320109778,799,649.679890222,628,650.679890222,0.400966522659,-0.0154086608261,0.0498469399687,0.99999994808,-0.000158896186782,-0.0002745997836,-5.64615048192e-05,1793192362751089408
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,763,742,711.646961665,670.646961665,660,632.646961665,875,783.646961665,799,649,628,650,0.4009648817,-0.0154077797505,0.0498466708802,0.999999948552,-0.000155678012518,-0.000274697079149,-5.65837715108e-05,1793192362817756416
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,763,742,711.199065993,671,660,633,875,783.199065993,799.800934007,649,628,650,0.400967133316,-0.0154097739307,0.0498482323755,0.999999949022,-0.000157872915785,-0.00027177336812,-5.63208534265e-05,1793192362851089664
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763,742,711.386740784,670.613259216,660,633,875,783,800,649.386740784,628,650,0.400966147806,-0.0154110940123,0.0498478160501,0.999999948121,-0.000161061284525,-0.000273242062011,-5.61713988293e-05,1793192362867756032
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763,742,711.977045483,670.022954517,660,633,875,783,800,649.977045483,628,650,0.400964036496,-0.0154119282386,0.0498467701754,0.999999946786,-0.000164514732058,-0.000276066728428,-5.61304410638e-05,1793192362884422400
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.555337442,742,711.444662558,670,660,633,875,783,799.444662558,649.444662558,628,650,0.400965344567,-0.0154101378987,0.0498478930602,0.999999947864,-0.000160967221301,-0.000274212504853,-5.62904428801e-05,1793192362901089024
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.867041635,742,711.132958365,670.132958365,660,633,875,783,799,649,628,650,0.400966581508,-0.0154090495096,0.0498487906559,0.999999948729,-0.00015849711144,-0.00027247395434,-5.63750311589e-05,1793192362917755648
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,763,742,711.708568719,670.708568719,660,633,875,783,799,649,628,650,0.400966232422,-0.0154115517103,0.0498479926652,0.999999948318,-0.00016104419592,-0.000272550664368,-5.60832646278e-05,1793192362951089408
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763,742,711.122583713,670.122583713,660,633,875,783,799,649,628,650,0.400963906934,-0.0154117166913,0.0498468348717,0.999999947864,-0.000159898902973,-0.000274880365244,-5.60840512576e-05,1793192362967756288
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,670,660,633,875,783,799.457728828,649,628,650,0.400963674196,-0.0154108054901,0.0498466881249,0.999999948022,-0.000158853822346,-0.000274868832934,-5.62901075658e-05,1793192362984422912
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.614487508,742,711,670,660,633,875.614487508,783,799.385512492,649.614487508,628,650,0.400965304698,-0.01540998825,0.0498477634181,0.999999948763,-0.000158895399983,-0.000272075586865,-5.65764541322e-05,1793192363017755904
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.233462618,742,711,670.766537382,660,633,875.233462618,783,798.233462618,649.233462618,628,650,0.400965801579,-0.0154113675261,0.0498487105113,0.999999948633,-0.000160585205642,-0.000271685987094,-5.59786423398e-05,1793192363051089152
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_06/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..42a55b2c0d13c3cbae42dfd78f9f8d154bae72e0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,396 @@
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+376,6.266666667,pose2_to_pose3_retreat,0.575711460934,-0.00994557666514,1.04002907381,0.54628219208,-0.00127284409309,1.03969836504
+377,6.283333333,pose2_to_pose3_retreat,0.575711024104,-0.00994551977799,1.04002914343,0.546281754935,-0.00127278832637,1.03969843325
+378,6.300000000,pose2_to_pose3_retreat,0.575710790064,-0.00994548929966,1.04002918073,0.546281520727,-0.00127275844833,1.03969846979
+379,6.316666667,pose2_to_pose3_retreat,0.575710715967,-0.0099454796502,1.04002919254,0.546281446577,-0.00127274898891,1.03969848136
+380,6.333333333,pose2_to_pose3_retreat,0.575710660574,-0.00994547243653,1.04002920136,0.546281391144,-0.00127274191733,1.03969849001
+381,6.350000000,pose2_to_pose3_retreat,0.575710542077,-0.00994545700502,1.04002922025,0.546281272562,-0.00127272678975,1.03969850851
+382,6.366666667,pose2_to_pose3_retreat,0.575710512279,-0.00994545312453,1.040029225,0.546281242742,-0.00127272298569,1.03969851317
+383,6.383333333,pose2_to_pose3_retreat,0.57571044908,-0.00994544489429,1.04002923507,0.546281179498,-0.00127271491755,1.03969852304
+384,6.400000000,pose2_to_pose3_retreat,0.575710366948,-0.00994543419843,1.04002924816,0.546281097307,-0.00127270443235,1.03969853586
+385,6.416666667,pose2_to_pose3_retreat,0.575710364974,-0.00994543394143,1.04002924848,0.546281095332,-0.00127270418041,1.03969853617
+386,6.433333333,pose2_to_pose3_retreat,0.575710353421,-0.00994543243687,1.04002925032,0.54628108377,-0.00127270270548,1.03969853797
+387,6.450000000,pose2_to_pose3_retreat,0.575710335731,-0.00994543013313,1.04002925314,0.546281066067,-0.00127270044711,1.03969854073
+388,6.466666667,pose2_to_pose3_retreat,0.575710107661,-0.00994540043226,1.04002928949,0.546280837833,-0.00127267133122,1.03969857635
+389,6.483333333,pose2_to_pose3_retreat,0.575709850805,-0.00994538793497,1.04002928378,0.546280580385,-0.00127266092898,1.03969856845
+390,6.500000000,pose2_to_pose3_retreat,0.575709700698,-0.00994539155084,1.04002925613,0.546280429718,-0.00127266651771,1.03969853883
+391,6.516666667,pose2_to_pose3_retreat,0.575709685996,-0.00994539190499,1.04002925342,0.546280414961,-0.00127266706509,1.03969853593
+392,6.533333333,pose2_to_pose3_retreat,0.575709529229,-0.00994539568127,1.04002922455,0.546280257611,-0.00127267290175,1.03969850498
+393,6.550000000,pose2_to_pose3_retreat,0.575709332999,-0.0099453481057,1.04002926292,0.546280061813,-0.00127262368107,1.03969854798
+394,6.566666667,pose2_to_pose3_retreat,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471554,1.03969857335
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_06/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f6b1ecad87d55a8edd2a4c9d5c2122de02458d7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb571b634aa494c235b0f33398e4586a51946645b6cbfd92e472451b507a84b7
+size 25304461
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f66ff0c23c1fec614d69ce21ac0918ad6ab8ccd2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_04/franka_data.csv
@@ -0,0 +1,399 @@
+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,763,742,711,671,660,633,875,783,799,649,628,651,0.400963133906,-0.0154108806345,0.0498477128907,0.999999948028,-0.000159994879229,-0.000274229636377,-5.60748930896e-05,1793192363201052416
+1,0.016666667,BASELINE,763,742,711,671,660,633,875,783,799,649.577985448,628,650.422014552,0.400963223385,-0.0154119168786,0.0498481004054,0.99999994852,-0.000159410048643,-0.00027280966188,-5.58871539069e-05,1793192363217718784
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+3,0.050000000,BASELINE,762.269008896,742,711.730991104,669.538017792,660,633,875,783.730991104,799,649.269008896,628,650,0.400962120227,-0.0154107932385,0.0498475151996,0.999999948517,-0.000157764281555,-0.000273783867304,-5.58501700616e-05,1793192363251052032
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+9,0.150000000,BASELINE,763,742,711.212978526,670,660,633,875.212978526,783,799.787021474,649,628,650,0.400964698126,-0.0154124460703,0.0498485671969,0.999999948601,-0.000162170192508,-0.000270896336015,-5.58075852751e-05,1793192363351051264
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+16,0.266666667,BASELINE,763,742,711.727232788,671,660,632.727232788,875.272767212,783,799,649,628.727232788,650,0.400965570111,-0.0154090289274,0.0498492077313,0.999999949643,-0.000157262997452,-0.000269823107048,-5.6372230069e-05,1793192363467717888
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+18,0.300000000,BASELINE,763,742,711,670.564046921,660,632.435953079,875.564046921,783,799.435953079,649,628,650,0.400965038115,-0.0154111854635,0.0498491474688,0.999999949348,-0.000159050518848,-0.000269973541291,-5.58744277796e-05,1793192363501051392
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+21,0.350000000,BASELINE,763,742,711,670.177508359,660,633,875.644983282,783,799.822491641,649,628,650,0.40096423458,-0.0154112155793,0.0498489675105,0.999999949257,-0.000158423024856,-0.000270685088164,-5.58419254731e-05,1793192363551051520
+22,0.366666667,BASELINE,763,742,711,670.751888666,660,633,874.496222668,783,799.248111334,649,628,650,0.400961597522,-0.0154112456829,0.0498466511338,0.999999948318,-0.000158049308674,-0.00027430418108,-5.60423269186e-05,1793192363567718656
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+24,0.400000000,BASELINE,763,742,711,670.07274807,660,633,875.854503859,783,799,649,628,650,0.400966008464,-0.0154128623794,0.0498498364675,0.999999949648,-0.000160381084568,-0.000268111674715,-5.56641029409e-05,1793192363601051392
+25,0.416666667,BASELINE,763,742,711,670.506799465,660,633,875.493200535,783,799,649,628,650,0.40096706968,-0.0154122140121,0.0498503650393,0.999999949903,-0.000160693282614,-0.000266949045783,-5.57577505622e-05,1793192363617718016
+26,0.433333333,BASELINE,763,742,711,671,660,633,875,783,799.084497062,649,628,650,0.400967241339,-0.0154114709924,0.0498502909969,0.999999949897,-0.000160634068234,-0.000266973060575,-5.592163697e-05,1793192363634384640
+27,0.450000000,BASELINE,763,742,711,671,660,633,875,783,799.661060007,649,628,650,0.40096425722,-0.0154115419049,0.049848456615,0.999999949038,-0.000159455806129,-0.000270816631454,-5.61759116794e-05,1793192363651051264
+28,0.466666667,BASELINE,763,742,711,670.764346071,660,633,875,783,799.764346071,649,628,650,0.400962734353,-0.0154120212657,0.0498477395688,0.99999994862,-0.0001590131203,-0.000272626149648,-5.61252089874e-05,1793192363667717632
+29,0.483333333,BASELINE,763,742,711,670.192560755,660,633,875,783,799.192560755,649,628,650,0.400963295785,-0.0154130832282,0.0498486162646,0.999999948847,-0.000159619643762,-0.000271534341269,-5.56394934737e-05,1793192363684384512
+30,0.500000000,BASELINE,763,742,711,670,660,633,875,783,799,649,628,650.39587569,0.400963907666,-0.0154131500621,0.049849092136,0.999999949051,-0.000159408716973,-0.000270899107487,-5.56867401565e-05,1793192363701051136
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+48,0.800000000,BASELINE,763,742,711.832311636,670,660,633,875.167688364,783,799,649,628,650.832311636,0.400963839994,-0.0154107819196,0.0498492714741,0.999999949197,-0.000159014338839,-0.000270490667699,-5.61786120487e-05,1793192364001051392
+49,0.816666667,BASELINE,763,742,712,670,660,632.578804774,875,783,799.421195226,649,628,650.578804774,0.400964193265,-0.0154115623887,0.04984959304,0.999999949373,-0.000158941325238,-0.000269945994516,-5.58624122322e-05,1793192364017718016
+50,0.833333333,BASELINE,763,742,711.985765204,670.014234796,660.014234796,632,875,783,799.985765204,649,628,650,0.400964390655,-0.0154134833762,0.0498498737341,0.999999949531,-0.000158998354557,-0.000269446539201,-5.52839163898e-05,1793192364034384384
+51,0.850000000,BASELINE,763,742,711.408863945,670.591136055,660.591136055,632,875,783,799.408863945,649,628,650,0.400964807302,-0.0154137085489,0.0498499979243,0.999999949211,-0.000161135880377,-0.000269283753561,-5.56641516304e-05,1793192364051051008
+52,0.866666667,BASELINE,763.167795414,742,711,671,660.832204586,632.167795414,875.167795414,783,799,649,628,650,0.400965406727,-0.0154141459102,0.0498502542167,0.999999949091,-0.000162709413945,-0.000268737642626,-5.58977008839e-05,1793192364067717632
+53,0.883333333,BASELINE,763.743866151,742,711,671,660.256133849,632.743866151,875.743866151,783,799,649,628,650,0.400966450881,-0.0154150995632,0.0498508319371,0.999999949461,-0.000162910656494,-0.000267258834824,-5.57743376858e-05,1793192364084384512
+54,0.900000000,BASELINE,764,742,711.326488361,671,660,633,875.673511639,782.673511639,799.326488361,648.673511639,628,650,0.400966686805,-0.015414957821,0.0498510176999,0.99999994968,-0.000162485201464,-0.000266710390856,-5.5720480449e-05,1793192364101051136
+55,0.916666667,BASELINE,764,742,711.914355496,671,660,633,875.085644504,782.085644504,799.914355496,648.085644504,628,650,0.400966275677,-0.0154139391315,0.0498508896709,0.999999949777,-0.00016155802733,-0.000266906773997,-5.57222680284e-05,1793192364117718016
+56,0.933333333,BASELINE,763.505412996,742,711.505412996,671,660,633,875,782.494587004,799.505412996,648.494587004,628,650,0.400965518838,-0.0154125504228,0.0498507361159,0.99999994981,-0.000159740654196,-0.000267851297293,-5.58451615741e-05,1793192364134384896
+57,0.950000000,BASELINE,763,742,711,671,660,633,875.073473022,783,799,649,628,650,0.400965010877,-0.0154113676657,0.0498506565608,0.999999949894,-0.000158019022159,-0.000268532173952,-5.59645111604e-05,1793192364151051776
+58,0.966666667,BASELINE,763,742,711,671,660,633,875.652060538,783,799,649,628,650,0.400966619208,-0.0154120345908,0.0498511156675,0.999999950437,-0.00015799923847,-0.000266523426463,-5.59175154136e-05,1793192364167718400
+59,0.983333333,BASELINE,763,742,711,670.773299114,660,633,875.773299114,783,799,649,628,650,0.400967284296,-0.0154127502372,0.0498512819714,0.999999950594,-0.000158042081738,-0.000265949189004,-5.57346233437e-05,1793192364184384768
+60,1.000000000,BASELINE,763,742,711,670.204613099,660,633,875.204613099,783,799,649,628,650,0.400966526475,-0.0154135393811,0.0498510065736,0.999999950169,-0.00015817939966,-0.000267538952921,-5.5346727562e-05,1793192364201051392
+61,1.016666667,BASELINE,763.382707331,742,711,670,660,633,875.382707331,783,799,649,628,650,0.400966252328,-0.0154136720868,0.0498508050403,0.999999950128,-0.000158294910443,-0.000267590869178,-5.55096567942e-05,1793192364217718016
+62,1.033333333,BASELINE,763.980500477,742,711,670,660,633,875.980500477,783,799,649,628,650,0.400966250013,-0.0154134358669,0.0498506450197,0.999999950303,-0.000158398165363,-0.000266778497695,-5.59821558896e-05,1793192364234384896
+63,1.050000000,BASELINE,764,742,711.558732129,670.558732129,660,633,876,783,799,649,628.558732129,650,0.400965066664,-0.0154133463792,0.049849706624,0.999999949721,-0.000159404619199,-0.000268314571816,-5.61818562547e-05,1793192364251051264
+64,1.066666667,BASELINE,763.865210263,742,711.865210263,670.865210263,660,633,876,782.865210263,799,649,628.865210263,650,0.400964190687,-0.0154132515922,0.0498491650602,0.999999949332,-0.000160149391434,-0.000269312234302,-5.6202670765e-05,1793192364267717888
+65,1.083333333,BASELINE,763.294055523,742,711.294055523,670.294055523,660,633,876,782.294055523,799,649,628.294055523,650,0.400964438708,-0.015413123632,0.049849993159,0.999999949663,-0.000159948407629,-0.000268310496665,-5.56741436284e-05,1793192364284384512
+66,1.100000000,BASELINE,763,742,711,670,660,633,875.712634893,782.287365107,799,649,628.287365107,650,0.400964741415,-0.0154130063941,0.0498503713809,0.999999949725,-0.000160481916031,-0.000267751761978,-5.57211158471e-05,1793192364301051136
+67,1.116666667,BASELINE,763,742,711,670,660,633,875.120320218,782.879679782,799,649,628.879679782,650,0.400965102153,-0.0154129005344,0.0498502721971,0.9999999495,-0.000161794861737,-0.000267663138563,-5.63788034403e-05,1793192364317717760
+68,1.133333333,BASELINE,763,742,711,670,660,632.539287808,875.460712192,783,799,649,628.539287808,650,0.400964567247,-0.0154127303297,0.0498500660161,0.999999949408,-0.000161173720957,-0.000268397658306,-5.6293957173e-05,1793192364334384384
+69,1.150000000,BASELINE,763,742,711,670,660,632.038775209,876,783,799,649,628,650,0.400963926796,-0.0154125139155,0.0498498551377,0.999999949389,-0.000160064625693,-0.000269183861829,-5.60417606306e-05,1793192364351050752
+70,1.166666667,BASELINE,763,742,711,670,660,632.615542648,876,783,799,649,628,650,0.400964989757,-0.0154118839433,0.0498499575247,0.99999994993,-0.000159026019621,-0.000267775778144,-5.60939116166e-05,1793192364367717376
+71,1.183333333,BASELINE,763,742,711,670,660,633,876,783,799,649,628,650,0.400965866116,-0.0154115492116,0.0498503247244,0.999999950433,-0.000157760110504,-0.000266673908178,-5.59596563165e-05,1793192364384384512
+72,1.200000000,BASELINE,763,742,711,670,660,633,876,783,799,649,628,650,0.400966369432,-0.0154118047108,0.0498512213254,0.999999950861,-0.000156039787433,-0.000266184206302,-5.54527461756e-05,1793192364401051904
+73,1.216666667,BASELINE,763,742,711,670.347133828,660,633,876,783,799,649,628,650,0.40096635129,-0.0154118065681,0.0498510700851,0.99999995078,-0.000156024167411,-0.000266480388181,-5.55462265984e-05,1793192364417718784
+74,1.233333333,BASELINE,763,742,711,670.940581446,660,633,876,783,799,649,628,650,0.40096596314,-0.0154116284501,0.0498501753338,0.999999950336,-0.000157218144014,-0.00026733420519,-5.60657227953e-05,1793192364434385152
+75,1.250000000,BASELINE,763.52054296,742,711,670.47945704,660,633,875.47945704,783,799,649,628,650,0.400966044315,-0.0154129602571,0.0498498165831,0.99999995007,-0.000158478993751,-0.000267616240687,-5.59170928482e-05,1793192364451051520
+76,1.266666667,BASELINE,764,742,711,670,660,633,875,783,799,649,628,650,0.400965991063,-0.0154140333017,0.0498495251267,0.999999949868,-0.000159255342754,-0.000267947782024,-5.57360456775e-05,1793192364467717888
+77,1.283333333,BASELINE,764,742,711,670,660,633,875,783,799,649,628,650,0.400965033916,-0.0154130396127,0.0498492707493,0.999999949885,-0.000157649314617,-0.000268827165464,-5.57580167086e-05,1793192364484384512
+78,1.300000000,BASELINE,763.746877059,741.746877059,711,670,660,633,875,783,799,649,628,650,0.400964465438,-0.0154130735849,0.0498495150872,0.99999994988,-0.000157608582343,-0.000268895921011,-5.56245870853e-05,1793192364501051392
+79,1.316666667,BASELINE,763.159359975,741.159359975,711,670,660,633,875,783,799,649,628,650,0.400964410421,-0.0154144651736,0.049850418265,0.999999949846,-0.000159635721902,-0.000267893777035,-5.52858616923e-05,1793192364517718016
+80,1.333333333,BASELINE,763.423550095,741.423550095,711.423550095,670.423550095,660,633,875,783,799,649,628,650,0.400964939594,-0.0154135511623,0.0498507793458,0.999999950262,-0.000158007027635,-0.000267265350102,-5.54948108819e-05,1793192364534384640
+81,1.350000000,BASELINE,763.995310071,742,711.995310071,670.995310071,660,633,875,783,799,649,628,650,0.400965680373,-0.015411792578,0.0498509385964,0.99999995083,-0.000155056646684,-0.00026677995717,-5.59050963592e-05,1793192364551051520
+82,1.366666667,BASELINE,763.420918679,742,711.420918679,670.420918679,660,633,875,783,799,649,628,650,0.40096571304,-0.0154116825036,0.0498510903251,0.999999950547,-0.000156845435414,-0.000266772762149,-5.6010714782e-05,1793192364567718144
+83,1.383333333,BASELINE,763,742,711.153705826,670,660,633.153705826,875,783,799,649,628,650,0.400965595168,-0.0154116707424,0.0498509990622,0.999999950293,-0.000158040559908,-0.000267012477123,-5.6053717677e-05,1793192364584384768
+84,1.400000000,BASELINE,763,742,711.728969802,670,660,633.728969802,875,783,799,649,628,650,0.400965064421,-0.0154119286184,0.0498502413635,0.999999950123,-0.000157607483689,-0.000267929374769,-5.5924989395e-05,1793192364601051392
+85,1.416666667,BASELINE,763.312969044,742,712,670.312969044,660,633.687030956,875,783,799,649,628,650,0.400965099814,-0.0154124509128,0.0498501558375,0.999999950181,-0.000157593344154,-0.000267752653391,-5.57804784361e-05,1793192364617718016
+86,1.433333333,BASELINE,763.904750162,742,712,670.904750162,660,633.095249838,875,783,799,649,628,650,0.400965639559,-0.0154132087675,0.0498506691242,0.99999995044,-0.000157952419214,-0.000266601668859,-5.56219073053e-05,1793192364634384640
+87,1.450000000,BASELINE,764,742,711.513303021,670.513303021,660,632.513303021,875,783,799,649,628,650,0.400964983565,-0.0154134974836,0.0498504318877,0.99999995028,-0.000157820403831,-0.000267305403132,-5.55080161628e-05,1793192364651051264
+88,1.466666667,BASELINE,763.934028856,742,711,670,660,632.065971144,875,783,799.065971144,649,628,650,0.400964276165,-0.0154137698012,0.0498501545922,0.999999950072,-0.000157784426991,-0.000268134870062,-5.53567374933e-05,1793192364667718144
+89,1.483333333,BASELINE,763.360799318,742,711,670,660,632.639200682,875,783,799.639200682,649,628,650,0.40096493721,-0.0154146080092,0.049850676302,0.999999950125,-0.000159211259423,-0.000267195391873,-5.48520794656e-05,1793192364684384768
+90,1.500000000,BASELINE,763.21817846,742,711.21817846,670,660,633,875,783,799.78182154,649,628,650,0.400965038143,-0.0154151480662,0.0498507820084,0.999999950001,-0.000160334613276,-0.000267011328491,-5.4736574707e-05,1793192364701051648
+91,1.516666667,BASELINE,763.806919204,742,711.806919204,670,660,633,875,783,799.193080796,649,628,650,0.400964187762,-0.0154151817324,0.0498501811593,0.999999949579,-0.000160942527857,-0.000268110289366,-5.52820221561e-05,1793192364717718272
+92,1.533333333,BASELINE,764,742,712,670,660,633,875,783,799.389256196,649,628,650,0.400964746197,-0.0154146475981,0.0498507545461,0.999999949882,-0.000160212179955,-0.0002673782222,-5.54692376724e-05,1793192364734384896
+93,1.550000000,BASELINE,764,742,712,670,660,633,875,783,799.96846823,649,628,650,0.400965992129,-0.0154138363789,0.0498519009565,0.999999950535,-0.000158828764091,-0.000265752619026,-5.54816371456e-05,1793192364751051264
+94,1.566666667,BASELINE,763.455512854,742,711.455512854,670,660,633,875,783,799.455512854,649.544487146,628,650,0.400965766168,-0.0154135335331,0.0498515206746,0.999999950656,-0.000157552847115,-0.000266064355739,-5.54577352364e-05,1793192364767718144
+95,1.583333333,BASELINE,763,742,711,670,660,633,875,783,799,649.879963642,628,650,0.400965481889,-0.0154134177641,0.0498510761887,0.999999950665,-0.000156738153734,-0.000266514455931,-5.54377390779e-05,1793192364784384768
+96,1.600000000,BASELINE,763,742,711,670,660,633,875,783,799,649.305496482,628,650,0.400965297647,-0.0154138994214,0.0498507213984,0.999999950375,-0.000157646118914,-0.000267066107414,-5.54404414495e-05,1793192364801051392
+97,1.616666667,BASELINE,763.269141509,742,711.269141509,670,660,633,875,783,799.269141509,649,628,650,0.400965782827,-0.0154141374123,0.0498507785698,0.999999950247,-0.000158732720901,-0.000266918511156,-5.5354543282e-05,1793192364817717760
+98,1.633333333,BASELINE,763.843973497,742,711.843973497,670,660,633,875,783,799.843973497,649,628,650,0.400967028335,-0.0154140986473,0.0498513036467,0.999999950303,-0.000160022218223,-0.000265976710446,-5.51680127693e-05,1793192364834384384
+99,1.650000000,BASELINE,763.566803344,742,711.566803344,670,660,633,875,783,799.566803344,649.433196656,628.433196656,650,0.40096686536,-0.0154140341966,0.0498514439067,0.999999950378,-0.000160268549878,-0.000265527719733,-5.52610816847e-05,1793192364851051008
+100,1.666666667,BASELINE,763,742,711,670.026812086,660,633,875,783,799,649.973187914,628.973187914,650,0.400966282492,-0.0154139522872,0.0498514724661,0.999999950481,-0.000160064196838,-0.000265223453805,-5.54394726268e-05,1793192364867718144
+101,1.683333333,BASELINE,763,742,711,670.600654208,660,633,875,783,799,649.399345792,628.399345792,650,0.40096783859,-0.015413709415,0.0498521470323,0.999999951017,-0.000158593835378,-0.000264126102999,-5.52334200424e-05,1793192364884384768
+102,1.700000000,BASELINE,763,742,711,671,660,633,875.175855625,783,799,649,628,650,0.400968394071,-0.0154131792699,0.0498523835665,0.999999951311,-0.000157143333605,-0.000263889366691,-5.51889885141e-05,1793192364901051392
+103,1.716666667,BASELINE,763,742,711,671,660,633,875.754167795,783,799,649,628,650,0.40096665958,-0.0154119916831,0.0498516176372,0.999999951054,-0.000155738282166,-0.000265622200391,-5.55144368632e-05,1793192364917718016
+104,1.733333333,BASELINE,763,742,711,670.661317178,660,633,875.661317178,783,799.338682822,649,628.338682822,650.338682822,0.400965861254,-0.0154116172949,0.0498512654938,0.999999950904,-0.000155381060379,-0.000266409547902,-5.54514780607e-05,1793192364934384640
+105,1.750000000,BASELINE,763,742,711,670.072215762,660,633,875.072215762,783,799.927784238,649,628.927784238,650.927784238,0.400965755119,-0.0154118441773,0.0498512192996,0.999999950835,-0.000155798592914,-0.000266497812832,-5.51013350395e-05,1793192364951051264
+106,1.766666667,POSE1_TO_POSE2_PRESS,763,742,711,671,660,633,875,783,799,649,628,650,0.40096399597,-0.0154142958811,0.0498499189324,0.999999949631,-0.000160397419208,-0.000268230924044,-5.53461027599e-05,1793192364981823744
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,670.427775083,660,633,875.572224917,783,799,649,628,650,0.400964043944,-0.015413216361,0.0498499927206,0.999999950072,-0.000157659808341,-0.000268147599162,-5.56461237277e-05,1793192364998491136
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.149580709,742,711.149580709,670.149580709,660,633,875.850419291,783,799.149580709,649,628,650,0.400964209442,-0.0154125491384,0.0498501038718,0.999999950386,-0.000155708310251,-0.000268080419055,-5.58134942018e-05,1793192365015158528
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.742131261,742,711.742131261,670.742131261,660,633,875.257868739,783,799.742131261,649,628,650,0.400964722974,-0.0154131028976,0.04985032567,0.999999950345,-0.000156084813939,-0.000268061050232,-5.55880322185e-05,1793192365031825152
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,670.672853594,660,633,875.327146406,783,799.672853594,649,628,650,0.400965304597,-0.0154133799294,0.0498504684752,0.999999950282,-0.000157054334581,-0.000267780802808,-5.53504940541e-05,1793192365048491264
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,670.093644433,660,633,875.906355567,783,799.093644433,649,628,650,0.400965938682,-0.0154134437459,0.0498505504171,0.999999950199,-0.000158480768328,-0.000267299551255,-5.51036513368e-05,1793192365065157120
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.517785965,742,711.517785965,670,660,632.517785965,875.517785965,783.482214035,799.482214035,649,628.482214035,650,0.400966737504,-0.0154125695323,0.0498511282383,0.999999950724,-0.000156795806736,-0.000266247026578,-5.54878598142e-05,1793192365081823744
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,742,711.057418668,670.057418668,660,632.057418668,875,783.942581332,799.942581332,649,628.942581332,650,0.400967592982,-0.0154118609528,0.0498517547259,0.999999951236,-0.000155106437312,-0.000265224285044,-5.59055581338e-05,1793192365098490368
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742,711.632554529,670.632554529,660,632.632554529,875,783.367445471,799.367445471,649,628.367445471,650,0.400968672835,-0.0154142769583,0.0498519577318,0.999999950616,-0.000158787726035,-0.000265463470242,-5.55278845169e-05,1793192365115156992
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.212973507,742,711.787026493,670.787026493,660,633,875,783,799,649,628,650,0.400974160172,-0.0154158332933,0.0498540887219,0.999999951327,-0.000160548591759,-0.000261800650005,-5.50451514352e-05,1793192365131823872
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.802739304,742,711.197260696,670.197260696,660,633,875,783,799,649,628,650,0.400987445218,-0.0154158687008,0.0498596306976,0.999999954336,-0.00015891184868,-0.000251234409769,-5.43765474023e-05,1793192365148491264
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.615023297,742,711,670.384976703,660.384976703,633,875,783,799.384976703,649,628.384976703,650,0.401015471812,-0.0154160808131,0.0498699430776,0.999999959662,-0.000157067536856,-0.000230568636815,-5.33341145049e-05,1793192365165157888
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.036569381,742,711,670.963430619,660.963430619,633,875,783,799.963430619,649,628.963430619,650,0.401050907046,-0.0154163817318,0.0498826529138,0.999999965635,-0.000155118907264,-0.000204827154507,-5.21038068608e-05,1793192365181824256
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.539184703,742,711,670.460815297,660.460815297,633,875,783,799.460815297,649,628.460815297,650,0.401114722592,-0.0154226139712,0.0499014172122,0.999999972796,-0.000159911606888,-0.000162371578137,-4.9709082915e-05,1793192365198490368
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.882788932,742,711.117211068,670,660,633,875,783,799,649,628,650,0.401180458706,-0.0154285947799,0.0499182871216,0.999999977451,-0.000164064644089,-0.00012623939058,-4.73653340495e-05,1793192365215156992
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.294906203,742,711.705093797,670,660,633,875,783,799,649,628,650,0.401246216153,-0.0154319585929,0.0499259092203,0.999999978341,-0.000163822199213,-0.000120028756958,-4.55418300932e-05,1793192365231823872
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742,711.711537039,670.288462961,660,633,875,783,799,649,628,650,0.401322387696,-0.0154367248945,0.0499309407401,0.999999978881,-0.000164708459612,-0.000114755551796,-4.40386514183e-05,1793192365248490496
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742,711.132711202,670.867288798,660,633,875,783,799,649,628,650,0.401409041922,-0.0154429029216,0.0499333646183,0.999999979085,-0.000166730859336,-0.000110425949688,-4.2857907906e-05,1793192365265156864
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,741.554937584,711,670.554937584,660,633,875,783,799,649.445062416,628.445062416,650,0.401511548542,-0.0154498879876,0.0499336592276,0.999999978755,-0.000168250479428,-0.000111535948259,-4.17395176746e-05,1793192365281823744
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,741.0223138,711,670,660,633,875,783.0223138,799,649.9776862,628.9776862,650,0.401619660829,-0.0154571246583,0.0499332021444,0.999999978214,-0.000169728096983,-0.00011450276861,-4.06625628098e-05,1793192365298490368
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,741.594410578,711,670,660,633,875,783.594410578,799,649.405589422,628.405589422,650,0.401749698173,-0.0154646452903,0.0499298309721,0.999999976474,-0.000173855988873,-0.000123349293094,-4.01494978763e-05,1793192365315157504
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742,711,670.172295431,660,633,875.172295431,783.827704569,799.172295431,649,628,650,0.401889929784,-0.0154734129903,0.0499278111092,0.999999975161,-0.000177296466302,-0.000129242668135,-3.92355942751e-05,1793192365331824384
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,742,711,670.764279171,660,633,875.764279171,783.235720829,799.764279171,649,628,650,0.402054993226,-0.0154852183778,0.0499290828531,0.999999975086,-0.000179062494742,-0.000127942570301,-3.73453021146e-05,1793192365348490752
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742,711,671,660,632.650569456,875.650569456,783,799.650569456,649,628.349430544,650,0.402249227361,-0.0154973044525,0.049931789334,0.999999975413,-0.000181625294475,-0.000122331335769,-3.49444674127e-05,1793192365365157120
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742,711,671,660,632.069938651,875.069938651,783,799.069938651,649,628.930061349,650,0.402462762263,-0.0155095762446,0.0499354451068,0.999999975939,-0.00018471527705,-0.000113867643163,-3.22058327181e-05,1793192365381823744
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742,711,671,659.494375643,632.505624357,875,783,799,649,628.494375643,650,0.402709773459,-0.0155201321951,0.0499411621083,0.999999977598,-0.000183406626327,-0.000101462578777,-2.95290797467e-05,1793192365398490368
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742,711.080205298,671,659.080205298,633,875.080205298,783,799,649.080205298,628,650,0.402966978498,-0.0155294172253,0.0499472321142,0.999999979641,-0.000179664251471,-8.79226194692e-05,-2.66101846501e-05,1793192365415157248
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742,711.653017402,671,659.653017402,633,875.653017402,783,799,649.653017402,628,650,0.403258635025,-0.0155323397113,0.0499537364829,0.999999983695,-0.000164674127973,-7.07274773106e-05,-2.21520445186e-05,1793192365431824128
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,711.76556489,671,659.76556489,633,875.76556489,783,799,649.76556489,628,650,0.403564038741,-0.0155279094451,0.0499595460597,0.999999988072,-0.000141566054501,-5.87437387679e-05,-1.91060713319e-05,1793192365448490752
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,711.170924878,671,659.170924878,633,875.170924878,783,799,649.170924878,628,650,0.40389056472,-0.0155121818208,0.0499642881024,0.999999992718,-0.000105984912563,-5.47672196786e-05,-1.82298649483e-05,1793192365465157376
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.411410973,742,711.411410973,670.588589027,659.822821946,633,875.411410973,783,799.411410973,649,628.411410973,650,0.404258798768,-0.0155081651831,0.0499700082302,0.999999995721,-8.0604042716e-05,-4.28623275859e-05,-1.4966311979e-05,1793192365481824000
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.988783364,742,711.988783364,670.011216636,660.977566727,633,875.988783364,783,799.988783364,649,628.988783364,650,0.404643857663,-0.0155088727075,0.0499761229132,0.999999997797,-5.93379196245e-05,-2.77591639953e-05,-1.07397136784e-05,1793192365498490880
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.437658587,742,712,670,660.437658587,633,876,783,799.437658587,649,628.437658587,650,0.405034591507,-0.0155200741573,0.0499637044164,0.999999997373,-5.16330918674e-05,-5.02743538946e-05,-7.74167998478e-06,1793192365515157248
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.136186182,742,711.863813818,670,660,633,875.863813818,783,799,649,628,650,0.405431667236,-0.0155286362568,0.0499490570339,0.999999996141,-4.07875474361e-05,-7.76459220519e-05,-5.05531186503e-06,1793192365531823616
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.71119822,742,711.28880178,670,660,633,875.28880178,783,799,649,628,650,0.40584881574,-0.0155280237872,0.0499284107674,0.999999992822,-1.89560926257e-05,-0.000118264431065,-3.29477827539e-06,1793192365548490240
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.703928028,742,711,670.296071972,660,633,875.592143944,783,799,649,628,650,0.406294555625,-0.0155266753856,0.0499123507478,0.999999989211,4.81758718775e-06,-0.000146808092853,-1.43786437048e-06,1793192365565157376
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.109103197,742,711,670.890896803,660,633,876.781793607,783,799,649,628,650,0.406769145832,-0.0155245843883,0.0499009185004,0.999999986221,3.05510811702e-05,-0.000163167576488,5.16302767857e-07,1793192365581825280
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742,711,670.529902175,660,633,876.059804349,783,799,649,628,650,0.40732753619,-0.0155263834081,0.0499124380186,0.999999989007,5.44360672335e-05,-0.000137805979858,5.75934754075e-06,1793192365598491648
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.046700186,742,711.046700186,670.046700186,660,633,875.046700186,783,799,649,628,650,0.40790663245,-0.0155293195807,0.0499300528366,0.99999999169,7.78409754692e-05,-0.000102075784974,1.19225950972e-05,1793192365615157760
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.633842978,742,711.633842978,670.633842978,660,633,875.633842978,783,799,649,628,650,0.408507516236,-0.0155353036758,0.0499585442349,0.999999993245,0.000100495251911,-5.48056626012e-05,2.01857229714e-05,1793192365631823872
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.782504729,742,711.782504729,670.782504729,660,633,876,783,799,649,628,650.217495271,0.409112053409,-0.015539141704,0.0499772075968,0.999999991489,0.000124926893025,-2.61332893217e-05,2.7077595287e-05,1793192365648490496
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.204635968,742,711.204635968,670.204635968,660,633,876,783,799,649,628,650.795364032,0.409722643936,-0.0155394238585,0.0499795866315,0.9999999875,0.000152303494189,-2.82760062466e-05,3.16973986877e-05,1793192365665157120
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.373522692,742,711,670,660,633,876,783,799,649,628,650.626477308,0.410333178677,-0.0155389197073,0.0499647986943,0.999999981429,0.000178502860163,-6.37856167178e-05,3.47920402441e-05,1793192365681823744
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.95184028,742,711,670,660,633,876,783,799,649,628,650.04815972,0.410943682812,-0.0155379844407,0.0499405984555,0.99999997158,0.000204056770653,-0.000117589616108,3.70504663346e-05,1793192365698490112
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.47151243,742,711,670,660,633,876,783,799.52848757,649,628,650,0.411637071891,-0.0155371757329,0.0499251631598,0.999999983653,0.000120214337284,-0.000134583826387,1.14070498314e-05,1793192365715156992
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742.106916048,711,670.106916048,660.106916048,633,876,783,799.893083952,649,628,650,0.412348424439,-0.0155400325566,0.0499183554873,0.9999999896,4.5934088982e-05,-0.000136357330073,-9.80004952376e-06,1793192365731823616
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742.694025706,711,670.694025706,660.694025706,633,876,783,799.305974294,649,628,650,0.413106639929,-0.0155593008011,0.0499467211576,0.999999994651,5.92335460358e-05,-8.47879718901e-05,3.01499418945e-07,1793192365748490752
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742.721845298,711.278154702,671,661,633,876.278154702,783,799,649,628.278154702,650,0.413854510988,-0.0155686045723,0.0499581683049,0.999999996828,4.46466349125e-05,-6.54787981435e-05,7.99298674498e-06,1793192365765157376
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742.140960238,711.859039762,671,661,633,876.859039762,783,799,649,628.859039762,650,0.414591123754,-0.0155670634867,0.0499512021395,0.999999996611,-2.90472148604e-07,-8.12800693994e-05,1.30614788193e-05,1793192365781823744
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742,711.563126336,670.563126336,660.563126336,633,876.563126336,783,799,649.436873664,629,650,0.41534260899,-0.0155625045397,0.0499290896893,0.999999993115,1.1955182512e-05,-0.000115946050435,1.35770833095e-05,1793192365798490112
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742,711,670,660,633,876,783,799,649.986354717,628.986354717,650,0.416101072744,-0.0155571595437,0.0499033272912,0.999999987078,4.2139077594e-05,-0.000154620230027,1.26902392603e-05,1793192365815156992
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742,711,670,660,633,876,783,799,649.413052858,628.413052858,650,0.416950307758,-0.0155592353515,0.0499269140004,0.999999992276,5.65652814044e-05,-0.000109771810523,1.41159147623e-05,1793192365831823616
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742,711.165654873,670.165654873,660.165654873,633,876,783,799,649,628,650,0.417791879515,-0.015561754337,0.049949161334,0.999999994867,7.18940836002e-05,-6.94860643994e-05,1.63800789338e-05,1793192365848490496
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742,711.758296581,670.758296581,660.758296581,633,876,783,799,649,628,650,0.418613698648,-0.0155654156435,0.0499679563334,0.999999994935,8.95493946132e-05,-4.09609260573e-05,2.08055053244e-05,1793192365865157632
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742,711.65869373,671,660.65869373,633,875.65869373,783,799,649,628,650,0.419414977142,-0.0155650318628,0.0499586363017,0.999999992316,0.00010684915891,-5.90612298912e-05,2.1520817305e-05,1793192365881824512
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,742,711.082317973,671,660.082317973,633,875.082317973,783,799,649,628,650,0.420202108548,-0.0155618620899,0.0499299524703,0.99999998616,0.000123904044919,-0.000109274096971,1.96808443529e-05,1793192365898490880
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.494189585,742,711.494189585,671,660,632.505810415,875.988379171,783,799,649,628,650,0.421095599262,-0.0155669093954,0.0499478463363,0.999999989423,0.000128607146986,-6.46480172964e-05,2.082991123e-05,1793192365915157248
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.927855246,742,711.927855246,671,660.144289507,632.072144754,876.927855246,783,799.072144754,649,628,650,0.421999411013,-0.015572945445,0.049970486026,0.999999991406,0.000128606892336,-1.19532290854e-05,2.24598829193e-05,1793192365931824128
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.339703569,742,711.339703569,671,661.320592863,632.660296431,876.339703569,783,799.660296431,649,628,650,0.422850293709,-0.015576261059,0.0499715629147,0.999999993591,0.000109686075868,-1.45677458528e-05,2.3967424773e-05,1793192365948490496
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.244154399,742,711.244154399,671,661.755845601,633,876.244154399,783,799.755845601,649,628,650,0.423701388774,-0.0155783239443,0.0499661194022,0.999999994942,9.42650344037e-05,-2.48669406691e-05,2.47376383036e-05,1793192365965157120
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.822141651,742,711.822141651,671,661.177858349,633,876.822141651,783,799.177858349,649,628,650,0.424552774332,-0.0155786739715,0.0499517605307,0.99999999516,8.36292404083e-05,-4.5673413256e-05,2.44997013908e-05,1793192365981823744
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876.601712292,783,799,649,628,650,0.425417193878,-0.0155787306503,0.0499620700143,0.999999994843,9.1506023968e-05,-3.53764609008e-05,2.62432608311e-05,1793192365998490880
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876.026384686,783,799,649,628,650,0.426287407013,-0.0155786569351,0.0499833446453,0.99999999373,0.000107611695902,-1.12539558176e-05,2.88676004376e-05,1793192366015157760
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711.449112003,671,660.449112003,632.449112003,876.550887997,783,799,649,628,650,0.427104742499,-0.0155744983155,0.0499725765238,0.999999990466,0.000125577506265,-4.97255849159e-05,2.87334612461e-05,1793192366031824128
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.130967855,711,671,660.130967855,632,876.869032145,783,799,649,628,650,0.427921858881,-0.0155703808587,0.0499567976823,0.99999998541,0.000142784364218,-8.94856741593e-05,2.80253219045e-05,1793192366048490752
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.720550294,711,671,660.720550294,632,876.279449706,783,799,649,628,650,0.428747107772,-0.0155670950707,0.0499288657235,0.999999979748,0.000157020494086,-0.000123222436728,2.5771464321e-05,1793192366065157120
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.695646785,711,671.304353215,661,632,876,783,799,649,628,650,0.429594862264,-0.015566776826,0.0499259195074,0.999999979232,0.000165088090251,-0.000116812561835,2.52301996102e-05,1793192366081823744
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.117051617,711,671.882948383,661,632,876,783,799,649,628,650,0.430462895715,-0.0155691325301,0.0499454870648,0.999999982857,0.00016759743727,-7.42279651262e-05,2.62320920815e-05,1793192366098490368
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.541656948,742,711.458343052,671.541656948,661,632,876,783.458343052,799,648.541656948,628,650,0.431252467752,-0.015570620671,0.0499387025973,0.999999987357,0.000128070960697,-9.04418333731e-05,2.65405346472e-05,1793192366115156736
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,742,712,671.033667837,661,632,876,783.966332163,799.033667837,648.033667837,628.033667837,650,0.432024006894,-0.0155716427521,0.0499260651309,0.999999989177,8.21929353678e-05,-0.000119073095337,2.66869494756e-05,1793192366131823616
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742,712,671.621194883,661,632,876,783.378805117,799.621194883,648.621194883,628.621194883,650,0.432826235976,-0.015568617338,0.0499270836118,0.999999988198,0.00010720291829,-0.000106669248232,2.70610005875e-05,1793192366148490240
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742,711.794678366,672,661,632,876.205321634,783,799.794678366,649,628.794678366,650,0.433622454839,-0.015567225756,0.0499371938642,0.999999987888,0.000127127436713,-8.52220691529e-05,2.82691952467e-05,1793192366165157120
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,742,711.216722642,672,661,632,876.783277358,783,799.216722642,649,628.216722642,650,0.434407766012,-0.0155687993824,0.0499638045897,0.999999988901,0.000137822452431,-4.73623272393e-05,3.09912602679e-05,1793192366181823744
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,742,711,671.637548594,661,632.362451406,877,783,799,649,628.362451406,650,0.435134867193,-0.0155672345948,0.0499655042106,0.99999998753,0.00014422009669,-5.68038037398e-05,3.02180253678e-05,1793192366198490368
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,742,711,671.057643645,661,632.942356355,877,783,799,649,628.942356355,650,0.43582704511,-0.0155637869086,0.049952258356,0.999999984191,0.000148039522466,-9.46237558431e-05,2.73477771658e-05,1793192366215156992
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,742,711.518504446,671.518504446,661,632.481495554,876.481495554,783,799,649,628.481495554,650,0.436499479505,-0.0155645108132,0.049931605225,0.999999979571,0.000154750512304,-0.000127196966089,2.70525346853e-05,1793192366231823872
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.096012649,742,712,672,661,632,876,783,799,649,628,650,0.437178425494,-0.0155653965308,0.0499187103289,0.999999976163,0.000162660625678,-0.000143019941524,2.759544111e-05,1793192366248490496
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.682588772,742,712,672,661,632,876,783,799,649,628,650,0.437901775656,-0.0155647564973,0.0499496323063,0.999999981292,0.000175066837506,-7.62187167355e-05,3.09686144082e-05,1793192366265157376
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.735320811,742,711.735320811,672.264679189,661.264679189,632.264679189,876.264679189,783.264679189,799.264679189,649,628,650.264679189,0.438573549216,-0.0155643088453,0.0499646484926,0.999999981245,0.000185322038629,-4.54463931917e-05,3.31794244454e-05,1793192366281823744
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.158520177,742,711.158520177,672.841479823,661.841479823,632.841479823,876.841479823,783.841479823,799.841479823,649,628,650.841479823,0.439184501305,-0.0155640880581,0.0499609078621,0.999999979155,0.000193040672325,-5.71609536456e-05,3.40195240385e-05,1793192366298490368
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,742,711,672.16180759,661.580903795,632.580903795,877,784,799.580903795,649.419096205,628.419096205,650.580903795,0.439750930399,-0.0155621120218,0.0499403230828,0.999999974684,0.00020336854397,-9.02281949414e-05,3.36560081074e-05,1793192366315157248
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,742,711,671.005956425,661.002978212,632.002978212,877,784,799.002978212,649.997021788,628.997021788,650.002978212,0.440300486187,-0.01555947078,0.0499133546955,0.999999967785,0.000214685266795,-0.000131387691223,3.2836345128e-05,1793192366331824128
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.574634974,742.574634974,711.574634974,671.574634974,661,632,876.425365026,782.850730052,799,649.425365026,629,650,0.440840760486,-0.0155604344845,0.0499162076456,0.999999967678,0.00021838764488,-0.000125690569375,3.39421594918e-05,1793192366348490496
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.844103644,742.844103644,711.844103644,672,660.844103644,632,876.155896356,782.311792711,799.155896356,648.844103644,628.844103644,650,0.441378203936,-0.0155624314486,0.0499226445591,0.999999968529,0.000220936562097,-0.000113472275666,3.54036469585e-05,1793192366365157376
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.252644832,742.252644832,711.252644832,672,660.252644832,632,876.747355168,783.494710336,799.747355168,648.252644832,628.252644832,650,0.441907872656,-0.0155672630886,0.049938663204,0.999999971498,0.0002203729971,-8.37124567434e-05,3.78309916504e-05,1793192366381824000
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,742,711.330873726,672,660.330873726,632,877,783.669126274,799.669126274,648.330873726,628,650,0.442383929634,-0.0155710936768,0.0499408100957,0.99999997929,0.000182898517999,-8.06411565863e-05,3.82771639109e-05,1793192366398490624
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,742,711.908471407,672,660.908471407,632,877,783.091528593,799.091528593,648.908471407,628,650,0.442820009696,-0.0155741778064,0.04993261318,0.999999987606,0.000117900527088,-9.74707941814e-05,3.72460270125e-05,1793192366415157248
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.482265869,742.482265869,712,672,661,632,876.517734131,783,799.482265869,649,628,650,0.443193571546,-0.0155735621735,0.0499040789229,0.999999986443,7.4880216727e-05,-0.000144850370795,2.29255914576e-05,1793192366431823616
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711.943028029,672,660.943028029,632,876.056971971,783,800,649,628,650,0.443551149153,-0.0155725200392,0.049871672961,0.999999979517,4.08429903534e-05,-0.000198085960253,7.6870230736e-06,1793192366448490240
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711.353094137,672,660.353094137,632,876.646905863,783,800,649,628,650,0.443869325863,-0.0155740053627,0.0498388730782,0.99999996679,5.21261303549e-05,-0.000252288350515,7.26919340209e-06,1793192366465157376
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.767771973,742.767771973,711.232228027,672,660.232228027,632,876.767771973,783,800,649,628,650,0.44419761444,-0.0155765844485,0.0498191587303,0.999999958338,6.17762585315e-05,-0.00028186359523,7.72770645092e-06,1793192366481824256
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.189325285,742.189325285,711.810674715,672,660.810674715,632,876.189325285,783,800,649,628,650,0.444540978332,-0.0155807941767,0.0498189530402,0.999999959839,6.89917996125e-05,-0.000274723296259,9.4927207946e-06,1793192366498490624
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.388833112,742,712,672,660.611166888,632,876.388833112,783,799.611166888,649,628,650,0.444855882961,-0.0155839861954,0.049826747938,0.999999963844,7.49679821362e-05,-0.000257977173464,1.17899161929e-05,1793192366515156992
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.966851294,742,712,672,660.033148706,632,876.966851294,783,799.033148706,649,628,650,0.44515694089,-0.0155866830523,0.0498384354874,0.99999996869,8.03411607271e-05,-0.000236557377881,1.43460421356e-05,1793192366531823360
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.538598832,711.461401168,672.538598832,660.538598832,632,876.461401168,783,799,649.538598832,628,650,0.44540421316,-0.0155868119077,0.0498352720698,0.999999968161,8.70281786916e-05,-0.000236419370898,1.44879237868e-05,1793192366548489984
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763.293050136,742.293050136,711,672.293050136,660.293050136,632,876.706949864,783,799,649.293050136,628,650,0.445833823639,-0.0155889153474,0.0498158243339,0.999999961541,9.43409418443e-05,-0.000260431387656,1.39301388611e-05,1793192366581823488
+203,3.383333333,POSE1_TO_POSE2_PRESS,763,742,711.292887826,672,660,632.292887826,876.707112174,782.707112174,799,649,628,650,0.446015680953,-0.0155892039717,0.0498040985673,0.999999956999,9.64433158282e-05,-0.000276626402968,1.33737601097e-05,1793192366598490368
+204,3.400000000,POSE1_TO_POSE2_PRESS,763,742,711.87206915,672,660,632.87206915,876.12793085,782.12793085,799,649,628,650,0.446184657899,-0.0155880323642,0.0497941606414,0.999999953037,9.90857369368e-05,-0.000289734337701,1.27274508639e-05,1793192366615157248
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+206,3.433333333,POSE1_TO_POSE2_PRESS,763.976396014,742.023603986,711.023603986,672,660.023603986,632,877.952792027,782,799.023603986,649,628,650,0.446442921595,-0.015588900669,0.0497708034172,0.999999940779,9.9508148532e-05,-0.000329273887033,1.09289043029e-05,1793192366648490496
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.389318942,742.610681058,711.610681058,672,660.610681058,632,876.778637885,782,799.610681058,649,628,650,0.446539556187,-0.0155921529837,0.0497614128348,0.999999936245,9.59308594564e-05,-0.000343814860492,9.95272296251e-06,1793192366665157120
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.194489851,742.805510149,711.805510149,672,660.805510149,632,876.194489851,782,799.805510149,649,628,650,0.446629561291,-0.0155938223981,0.0497514449499,0.999999931349,9.3037643154e-05,-0.000358568889883,8.63442813967e-06,1793192366681823488
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.771864442,742.228135558,711.228135558,672,660.228135558,632,876.771864442,782,799.228135558,649,628,650,0.446706515165,-0.0155923756169,0.0497403405524,0.999999925951,9.14911352298e-05,-0.000373742352706,6.64262769112e-06,1793192366698490112
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+224,3.733333333,POSE1_TO_POSE2_PRESS,763.473143482,742,711.526856518,672,660.473143482,631.473143482,876,782,799.526856518,649,628,650,0.447051382389,-0.0155828733479,0.0497243624061,0.99999991566,9.27600326867e-05,-0.000400078341943,3.70050809316e-06,1793192366948490752
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.950130845,742.049869155,711.049869155,672,660.950130845,631.950130845,876,782,799,649,628,650,0.447052199751,-0.0155816703609,0.0497245998896,0.999999915812,9.30071852801e-05,-0.000399641527659,3.4540314949e-06,1793192366965156864
+226,3.766666667,POSE1_TO_POSE2_PRESS,763.362437337,742.637562663,711.637562663,672,660.362437337,631.362437337,876,782,799,649,628,650,0.447053103009,-0.0155835880708,0.0497250166435,0.999999916218,9.14556032106e-05,-0.000398979047973,3.86117214281e-06,1793192366981823744
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.222219254,742.777780746,712,672,660.222219254,631.222219254,876.222219254,782,799,649,628,650,0.447054132398,-0.0155843235645,0.0497253603976,0.999999916467,9.11261215368e-05,-0.000398429535854,3.95063118508e-06,1793192366998490624
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.801989409,742.198010591,712,672,660.801989409,631.801989409,876.801989409,782,799,649,628,650,0.44705536473,-0.0155831568719,0.0497255866951,0.999999916465,9.27630001668e-05,-0.000398061788654,3.52894032427e-06,1793192367015156992
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.621419423,742.378580577,712,672,660.621419423,631.621419423,877,782,799,649,628,650,0.44705524648,-0.0155819527878,0.0497251720516,0.999999916296,9.1747212728e-05,-0.000398722182287,3.32016440431e-06,1793192367031823872
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.046477148,742.953522852,712,672,660.046477148,631.046477148,877,782,799,649,628,650,0.447054427713,-0.0155807293097,0.0497244249655,0.999999916036,8.93555437281e-05,-0.000399915850729,3.22182295197e-06,1793192367048490752
+231,3.850000000,POSE1_TO_POSE2_PRESS,763,742.460788652,711.460788652,672,660,631,877,782,799,649,628,650,0.447053831869,-0.0155809984998,0.0497245758794,0.999999915506,9.0083784819e-05,-0.000401078859516,2.86894492512e-06,1793192367065157632
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.124065852,742,711.124065852,672,660,631,877,782,799.124065852,649,628,650,0.447053568117,-0.0155813367506,0.0497247461175,0.99999991519,9.0872993453e-05,-0.000401690759873,2.59731240783e-06,1793192367081824000
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.702405956,742,711.702405956,672,660,631,877,782,799.702405956,649,628,650,0.447054448547,-0.0155814471953,0.0497246979346,0.999999915749,9.08807503332e-05,-0.000400294617908,2.70513211458e-06,1793192367098490368
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742,711.718181527,672,660,631.281818473,876.718181527,782,799.718181527,649,628,650,0.447055048823,-0.0155812691034,0.0497242652655,0.999999915808,9.08386263265e-05,-0.000400156732159,2.71916897279e-06,1793192367115157248
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742,711.137632169,672,660,631.862367831,876.137632169,782,799.137632169,649,628,650,0.447055352134,-0.0155807851596,0.0497234250368,0.999999915337,9.07436279958e-05,-0.000401352612582,2.6337949253e-06,1793192367131823616
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742,711.437518307,672,660,631.562481693,876,782,799.437518307,649.437518307,628,650,0.447056185981,-0.0155814884589,0.049724408965,0.999999915816,8.93619134581e-05,-0.00040046601551,3.03632843726e-06,1793192367148490240
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660.011259804,631.011259804,876,782,800,649.988740196,628,650,0.447057160153,-0.0155825311023,0.049725920144,0.999999916563,8.7650865332e-05,-0.000398971118121,3.57590091959e-06,1793192367165156864
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660.598752595,631.598752595,876,782,800,649.401247405,628,650,0.447056878765,-0.0155820599542,0.0497254053641,0.9999999162,8.9547770532e-05,-0.000399462316002,3.36965936252e-06,1793192367181823744
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660.815260285,631.815260285,876,782,799.815260285,649,628,650,0.447056817345,-0.0155815533611,0.0497248444778,0.999999915927,9.04294379839e-05,-0.00039994774503,3.07981077868e-06,1793192367198490880
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660.23251702,631.23251702,876,782,799.23251702,649,628,650,0.447057229825,-0.0155809704053,0.04972418426,0.999999915857,8.91238754345e-05,-0.000400420745606,2.60983909009e-06,1793192367215157504
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660.344904459,631,876,782,799,649,628,650,0.447057620194,-0.015581013373,0.0497242370378,0.999999916048,8.77023034213e-05,-0.000400257579187,2.57262892732e-06,1793192367231824128
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660.918792753,631,876,782,799,649,628,650,0.447057995881,-0.0155814718946,0.0497247631771,0.999999916412,8.62037121832e-05,-0.000399672058223,2.82273137458e-06,1793192367248490752
+243,4.050000000,HOLD_POSE2,764,743,711,672,660,631,876,782,799,649,628,650,0.447055688231,-0.0155787072749,0.0497234913,0.999999914546,9.21140104431e-05,-0.00040300794375,2.8606849942e-06,1793192367279939584
+244,4.066666667,HOLD_POSE2,763.40886255,743,711.59113745,672,660,631.59113745,876.59113745,782,799.59113745,649,628,650,0.447056167797,-0.0155797789722,0.0497236982404,0.999999914882,9.18028963726e-05,-0.000402243937077,2.77579880326e-06,1793192367296606720
+245,4.083333333,HOLD_POSE2,763.179456415,743,712,672,660,631.820543585,876.820543585,782.179456415,799.820543585,649,628,650,0.447056925667,-0.0155811611476,0.0497239666795,0.999999915348,9.07847441924e-05,-0.000401315341357,2.75295157396e-06,1793192367313273856
+246,4.100000000,HOLD_POSE2,763.761453324,743,712,672,660,631.238546676,876.238546676,782.761453324,799.238546676,649,628,650,0.447058307804,-0.0155832397596,0.0497243730669,0.999999916101,8.81806276419e-05,-0.000400017554137,2.86926454819e-06,1793192367329940224
+247,4.116666667,HOLD_POSE2,763.662284497,742.662284497,712,672,660,631.337715503,876,782.662284497,799.337715503,649,628,650,0.447058626479,-0.0155827028662,0.0497243205396,0.999999916287,8.80298662517e-05,-0.000399586659021,2.76153321178e-06,1793192367346606592
+248,4.133333333,HOLD_POSE2,763.090005463,742.090005463,712,672,660,631.909994537,876,782.090005463,799.909994537,649,628,650,0.447058206516,-0.0155803493483,0.0497239492687,0.999999916081,8.95831062952e-05,-0.000399757872179,2.49818975086e-06,1793192367363273216
+249,4.150000000,HOLD_POSE2,763,742,711.516995968,672,660,632,876.483004032,782,799.516995968,649,628,650,0.447058330127,-0.0155799785584,0.0497245743153,0.999999916046,8.83514889032e-05,-0.000400119987778,2.5588876764e-06,1793192367379939584
+250,4.166666667,HOLD_POSE2,763,742,711,672,660,632,876.941630345,782,799.058369655,649,628,650,0.447058677868,-0.0155799317201,0.0497253636664,0.999999916074,8.68565898395e-05,-0.000400375133535,2.62022393192e-06,1793192367396605952
+251,4.183333333,HOLD_POSE2,763,742,711,672,660,632,876.345826004,782,799.654173996,649,628,650,0.447060155214,-0.0155794606049,0.0497259538099,0.999999916423,8.77229280163e-05,-0.000399317322662,2.13061804369e-06,1793192367413272576
+252,4.200000000,HOLD_POSE2,763.240880048,742,711.240880048,672,660,632,876.240880048,782,800.240880048,649,628,650,0.447060533426,-0.0155790624498,0.0497258276181,0.999999916516,8.83458110735e-05,-0.000398949314891,1.84886487515e-06,1793192367429939200
+253,4.216666667,HOLD_POSE2,763.814999261,742,711.814999261,672,660,632,876.814999261,782,800.814999261,649,628,650,0.447059391071,-0.0155787652294,0.0497247104309,0.999999916256,8.8631892477e-05,-0.00039953559717,1.85466012547e-06,1793192367446605824
+254,4.233333333,HOLD_POSE2,763.609169754,742,712,672,660,632,876.609169754,782,800.218339507,649,628,650,0.447058554653,-0.0155773404687,0.0497242449646,0.999999915685,9.08288931968e-05,-0.00040046913091,1.93362971018e-06,1793192367463272704
+255,4.250000000,HOLD_POSE2,763.032524881,742,712,672,660,632,876.032524881,782,799.065049761,649,628,650,0.447057863688,-0.0155753796353,0.0497240893495,0.999999914958,9.39344130793e-05,-0.000401567760419,2.04738898152e-06,1793192367479939328
+256,4.266666667,HOLD_POSE2,763,742,712,672,660,632,876.557748172,782,799,649,628,650,0.447058071955,-0.0155777212749,0.0497246993732,0.999999915364,9.1503248853e-05,-0.000401117624647,2.18912512347e-06,1793192367496606464
+257,4.283333333,HOLD_POSE2,763.145812931,742.145812931,712,672.145812931,660,631.854187069,877,782.145812931,799,649.145812931,628,650,0.44705842915,-0.0155796004291,0.0497250134146,0.999999915729,8.93092128423e-05,-0.000400700368304,2.25688317307e-06,1793192367513273088
+258,4.300000000,HOLD_POSE2,763.724895503,742.724895503,712,672.724895503,660,631.275104497,877,782.724895503,799,649.724895503,628,650,0.447059069147,-0.0155793411612,0.0497243119817,0.999999915792,8.88031870617e-05,-0.000400655896253,2.09985304269e-06,1793192367529939712
+259,4.316666667,HOLD_POSE2,763.697577677,743,711.697577677,672.697577677,659.697577677,631.302422323,877,782.697577677,799,649.697577677,628,650,0.447059421929,-0.0155793186187,0.0497243679397,0.99999991589,8.8303905697e-05,-0.000400520730316,2.26666143583e-06,1793192367546606336
+260,4.333333333,HOLD_POSE2,763.12145887,743,711.12145887,672.12145887,659.12145887,631.87854113,877,782.12145887,799,649.12145887,628,650,0.447059514777,-0.0155795103161,0.0497251093473,0.999999916019,8.78107281541e-05,-0.000400303485128,2.72654828812e-06,1793192367563272704
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,743,712,673,660,632,878,782,799,649,628,651,0.447055565558,-0.0155791276246,0.0497220347168,0.999999914185,9.00795888127e-05,-0.000404365039224,2.10922105205e-06,1793192367595942400
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,742.407693787,712,672.407693787,660,631.407693787,877.407693787,782,799.592306213,649,628,650.407693787,0.447056628577,-0.0155776009355,0.0497232861243,0.99999991468,9.13980796293e-05,-0.00040284002099,2.3043938647e-06,1793192367612609024
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.18102485,742,712,672,660,631,877,782,800,649,628,650,0.447057410974,-0.0155769237284,0.0497239693704,0.999999914975,9.20432321325e-05,-0.000401961411141,2.44073610058e-06,1793192367629275648
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.761820883,742,712,672,660,631,877,782,800,649,628,650,0.447057573649,-0.0155781224978,0.0497233979019,0.999999914831,9.12013997968e-05,-0.000402510314646,2.44715825974e-06,1793192367645942272
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.338611597,712,672,660,631.338611597,876.661388403,782,799.661388403,649,628,650,0.44705784983,-0.0155795954759,0.0497237019635,0.999999915172,8.8950633109e-05,-0.000402166310341,2.55721089609e-06,1793192367662608640
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.912617873,712,672,660,631.912617873,876.087382127,782,799.087382127,649,628,650,0.447058204917,-0.0155812590773,0.0497246146726,0.999999915841,8.57204090234e-05,-0.000401201577855,2.73930496003e-06,1793192367679274752
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.502041776,712,672,660,631.502041776,876.497958224,782,799,649,628,650.497958224,0.447057277368,-0.0155802659177,0.0497239984593,0.999999915494,8.52214144122e-05,-0.000402175870444,2.17038617726e-06,1793192367695941376
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.915452071,742.084547929,712,672,660,631.084547929,877,782.084547929,799,649,628,650.915452071,0.447054863077,-0.0155791112483,0.049722521709,0.999999914565,8.53258876601e-05,-0.000404459046027,1.61448836271e-06,1793192367712607744
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.333485925,742.666514075,712,672,660,631.666514075,877,782.666514075,799,649,628,650.333485925,0.447045056912,-0.0155798130995,0.0497175974137,0.999999911257,8.60953258401e-05,-0.000412394255493,1.92860159107e-06,1793192367729274368
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,743,712,672,660.489907708,631.755046146,877,782.755046146,799.244953854,649,628,650,0.447025423887,-0.0155778176855,0.0497089830399,0.999999904865,8.77203448121e-05,-0.000427286986554,1.06745046011e-06,1793192367745941248
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,743,712,672,661.637321681,631.181339159,877,782.181339159,799.818660841,649,628,650,0.446992602208,-0.0155722022655,0.0496954162038,0.999999893971,9.04936406438e-05,-0.000451517422592,-1.37102570209e-06,1793192367762608128
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742.606685423,711.606685423,672,661.606685423,631.393314577,876.606685423,782,800,649,628,650,0.446938011423,-0.0155682434963,0.0496775967385,0.99999987779,9.29555500675e-05,-0.000485561253182,-3.12376458796e-06,1793192367779274496
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.03159408,711.03159408,672,661.03159408,631.96840592,876.03159408,782,800,649,628,650,0.446873359688,-0.0155650503748,0.0496578118498,0.999999858089,9.52735473122e-05,-0.0005241405062,-4.55957898447e-06,1793192367795941120
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.560751501,742,711.560751501,672,660.439248499,631.439248499,876,782,800,649,628,650,0.446800081025,-0.0155614541328,0.0496452793016,0.999999851188,9.53958066634e-05,-0.000537106472221,-6.36725227528e-06,1793192367812607744
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.15015492,712,671.84984508,660,631.15015492,876.15015492,782,799.84984508,649,628,650,0.446721466919,-0.0155568000252,0.0496357429892,0.999999845791,9.65636633651e-05,-0.000546836379967,-7.99639099628e-06,1793192367829273856
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.728313119,712,671.271686881,660,631.728313119,876.728313119,782,799.271686881,649,628,650,0.446629074049,-0.0155491973611,0.0496335454837,0.999999842727,0.000101075730796,-0.0005515862503,-9.05501710829e-06,1793192367845940480
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.695398031,743,712,671.609203937,660,631.695398031,877,782,799.304601969,649,628,650,0.446527549383,-0.0155419895844,0.0496348117919,0.999999843404,0.000104984530678,-0.000549613490605,-9.73871250804e-06,1793192367862607360
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.120766394,743,712,672.758467212,660,631.120766394,877,782,799.879233606,649,628,650,0.446417929387,-0.015535131876,0.0496391487714,0.999999847369,0.000108358533559,-0.000541681118573,-1.00900317389e-05,1793192367879273984
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.465014563,743,712,672.534985437,660,631.465014563,877.465014563,782.465014563,800,649.465014563,628,650,0.446288262673,-0.0155252156916,0.0496456488705,0.999999852513,0.000113887492422,-0.000530931614758,-1.07187849913e-05,1793192367895940608
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.947103132,743,712,672,660,632,877.894206263,783,799.947103132,649.947103132,628,650.052896868,0.446150139917,-0.0155145754868,0.0496531824786,0.999999858163,0.000119866529518,-0.00051882327071,-1.13440099607e-05,1793192367912607232
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.367831443,743,712,672,660,632,876.735662886,783,799.367831443,649.367831443,628,650.632168557,0.44598095098,-0.0155048287963,0.0496652729998,0.999999866846,0.000124618398369,-0.000500652342966,-1.11995368472e-05,1793192367929273856
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742.789575655,712,672.210424345,660,632,876,782.789575655,799,648.789575655,628,650.789575655,0.44579351995,-0.0154934918553,0.0496761507001,0.999999874087,0.000129965038042,-0.00048456613138,-1.14515419729e-05,1793192367945940736
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,763,742,711,670,659.185746983,633,875,783,799.814253017,649,629,650,0.404353607454,-0.0153785821763,0.0497883511692,0.999999921089,-0.000108255413156,-0.000375229581187,-7.28453884285e-05,1793192368979274752
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,763,741.817844382,711,670.817844382,659.182155618,633,875,783.817844382,799,649,628,650,0.402048571306,-0.0153906020902,0.0498165543019,0.999999919052,-0.000185454875457,-0.000348864818688,-7.61272723053e-05,1793192369112608000
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,659.403707876,633,875,783.596292124,799,649,628,650,0.401873547171,-0.0153925818207,0.0498164572215,0.999999918621,-0.000190352812259,-0.000347425728326,-7.62891955533e-05,1793192369129274368
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,742,711,670.15297645,659,633,875.84702355,783,799.84702355,649.15297645,628.84702355,650,0.401470066268,-0.0153871108211,0.0498307893464,0.999999947009,-7.2767001505e-05,-0.000313587517281,-4.84779166603e-05,1793192369179274240
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.299076113,742,711,670.700923887,659.299076113,633,875.299076113,783,799,649.700923887,628,650,0.401286352525,-0.0153832334271,0.0498341404702,0.999999949058,-8.2164342923e-05,-0.000304045835411,-5.18589159582e-05,1793192369212607744
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.868575458,742,711,670.131424542,659.868575458,633,875.868575458,783,799,649.131424542,628,650,0.401216392269,-0.0153882277951,0.0498366102476,0.999999950226,-9.30414880317e-05,-0.000296881969656,-5.24719452098e-05,1793192369229274624
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,763,742,711,670,659.367240954,633,875.367240954,783,799,649,628.632759046,650.367240954,0.400998839416,-0.0154052291197,0.0498402749993,0.99999994966,-0.000126516993078,-0.000285762879801,-5.48994739504e-05,1793192369329274112
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763,742,711,670,659.9560515,633,875.9560515,783,799,649,628.0439485,650.9560515,0.400985913883,-0.0154033139077,0.0498407137697,0.999999950238,-0.000124814088805,-0.00028442263073,-5.52162249993e-05,1793192369345940992
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,763,742,712,670.307950924,660,633,875.692049076,783.692049076,799.692049076,649,628,650,0.400973880857,-0.0154070951668,0.049843451177,0.999999950994,-0.000131884425073,-0.000278578569751,-5.48790374668e-05,1793192369395941376
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,763,742,711.158370561,670.841629439,660,632.158370561,875.158370561,783.158370561,799.158370561,649.841629439,628,650,0.40097281719,-0.0154079953339,0.0498450461114,0.999999951489,-0.000132958525194,-0.000276263200102,-5.49697811176e-05,1793192369429274368
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.426676845,742,711,671,660,632.426676845,875,783,799,649.573323155,628.426676845,650,0.400971743335,-0.0154077418675,0.0498452682959,0.999999951686,-0.000132918657451,-0.000275567132582,-5.49911757159e-05,1793192369445940992
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711.827751219,671,660.172248781,633,875,783,799,649.827751219,628,650,0.4009657696,-0.0154109198752,0.0498434468548,0.999999950731,-0.000134320620625,-0.000278464866735,-5.43443876183e-05,1793192369495940864
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,670,660,633,875,783,799.769950762,649,628,650,0.400967926456,-0.0154110477924,0.0498473407382,0.999999952371,-0.000133840177828,-0.000272790563197,-5.41289281702e-05,1793192369612607488
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,763,742,711.390811152,670,660,633,875,783,799.390811152,649,628,650,0.400968711392,-0.0154104072758,0.049847652078,0.999999952579,-0.000134401147665,-0.000271669208578,-5.45406716716e-05,1793192369645941248
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763,742,711.981429987,670,660,633,875,783,799.981429987,649,628,650,0.400970912477,-0.0154104721741,0.0498489139831,0.999999952993,-0.000135533177145,-0.000269587529508,-5.44645634569e-05,1793192369662607872
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763,742,711.440181949,670,659.440181949,633,875,783,799.440181949,649,628,650.559818051,0.400969393064,-0.0154101971398,0.0498478200871,0.999999952557,-0.000135729301797,-0.000271029189301,-5.48301716405e-05,1793192369679274496
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.713041749,659.713041749,633,875,783,799.713041749,649,628,651,0.400966952531,-0.0154099352481,0.0498466918062,0.999999952233,-0.000134398018867,-0.000272840061787,-5.50409505948e-05,1793192369712607744
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,670.712012214,660,633,875,783.287987786,799.712012214,649,628,650.712012214,0.400966330411,-0.0154102193341,0.0498463857711,0.999999952038,-0.000134499324323,-0.000273528221443,-5.49236204603e-05,1793192369729274368
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_06/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41b326ea69f66c91ca9030463716a41a1a6782eb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,399 @@
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+353,5.883333333,pose2_to_pose3_retreat,0.576593966806,-0.00994547675936,1.04002914908,0.547164696621,-0.00127274887093,1.03969843543
+354,5.900000000,pose2_to_pose3_retreat,0.576442050124,-0.00994545319838,1.04002905387,0.547012780259,-0.00127272408495,1.03969834371
+355,5.916666667,pose2_to_pose3_retreat,0.576312236966,-0.00994543976704,1.04002908638,0.546882968353,-0.00127270647821,1.03969837445
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+358,5.966666667,pose2_to_pose3_retreat,0.576022853199,-0.009945449076,1.04002935876,0.546593581953,-0.00127272537557,1.03969863581
+359,5.983333333,pose2_to_pose3_retreat,0.57595402171,-0.00994551635002,1.04002936908,0.546524752841,-0.00127278367499,1.0396986646
+360,6.000000000,pose2_to_pose3_retreat,0.575897427049,-0.00994552626425,1.04002883887,0.546468157987,-0.00127279395778,1.03969814233
+361,6.016666667,pose2_to_pose3_retreat,0.575851036114,-0.00994541008161,1.04002916713,0.546421766038,-0.00127268159622,1.03969846088
+362,6.033333333,pose2_to_pose3_retreat,0.575813536466,-0.00994531057116,1.0400292231,0.546384264776,-0.00127258775842,1.03969851098
+363,6.050000000,pose2_to_pose3_retreat,0.575783856187,-0.00994540900502,1.04002918877,0.546354584731,-0.00127268553651,1.03969847266
+364,6.066666667,pose2_to_pose3_retreat,0.575761675039,-0.00994552395006,1.04002918728,0.546332405947,-0.00127279247971,1.03969847067
+365,6.083333333,pose2_to_pose3_retreat,0.575745211595,-0.0099455257378,1.04002920312,0.546315943928,-0.00127278924214,1.03969849155
+366,6.100000000,pose2_to_pose3_retreat,0.575733704535,-0.00994545971676,1.04002925619,0.546304434719,-0.00127273019633,1.03969855321
+367,6.116666667,pose2_to_pose3_retreat,0.57572643496,-0.00994547082887,1.04002919818,0.546297164719,-0.00127274291683,1.03969849066
+368,6.133333333,pose2_to_pose3_retreat,0.575721968168,-0.00994547354482,1.04002914729,0.546292697592,-0.00127274681885,1.03969843842
+369,6.150000000,pose2_to_pose3_retreat,0.575719784402,-0.00994546397856,1.04002909565,0.546290513466,-0.00127273836867,1.03969838955
+370,6.166666667,pose2_to_pose3_retreat,0.575718379253,-0.00994545782313,1.04002906242,0.546289108085,-0.00127273293138,1.03969835809
+371,6.183333333,pose2_to_pose3_retreat,0.575717475623,-0.00994545386467,1.04002904105,0.546288204307,-0.00127272943475,1.03969833787
+372,6.200000000,pose2_to_pose3_retreat,0.575716420932,-0.00994544924447,1.04002901611,0.546287149442,-0.00127272535358,1.03969831426
+373,6.216666667,pose2_to_pose3_retreat,0.57571528644,-0.00994541372372,1.04002901424,0.546286014878,-0.00127269009386,1.03969831186
+374,6.233333333,pose2_to_pose3_retreat,0.575714238881,-0.00994536963992,1.04002902173,0.546284967297,-0.00127264613334,1.03969831814
+375,6.250000000,pose2_to_pose3_retreat,0.575713599754,-0.00994534274388,1.04002902631,0.546284328156,-0.00127261931251,1.03969832196
+376,6.266666667,pose2_to_pose3_retreat,0.575713577177,-0.00994534179378,1.04002902647,0.546284305578,-0.00127261836507,1.0396983221
+377,6.283333333,pose2_to_pose3_retreat,0.575713310977,-0.00994533059146,1.04002902837,0.546284039373,-0.00127260719407,1.03969832369
+378,6.300000000,pose2_to_pose3_retreat,0.575712977906,-0.00994531657502,1.04002903076,0.546283706295,-0.00127259321682,1.03969832569
+379,6.316666667,pose2_to_pose3_retreat,0.575712677922,-0.00994530395094,1.0400290329,0.546283406304,-0.00127258062804,1.03969832748
+380,6.333333333,pose2_to_pose3_retreat,0.575712636216,-0.00994530219588,1.0400290332,0.546283364598,-0.00127257887789,1.03969832773
+381,6.350000000,pose2_to_pose3_retreat,0.575712215904,-0.00994528450811,1.04002903621,0.546282944276,-0.00127256123958,1.03969833025
+382,6.366666667,pose2_to_pose3_retreat,0.575712142594,-0.00994528584156,1.04002904032,0.546282870984,-0.00127256252296,1.0396983341
+383,6.383333333,pose2_to_pose3_retreat,0.575711760563,-0.00994530291666,1.04002906998,0.54628248909,-0.00127257920261,1.03969836195
+384,6.400000000,pose2_to_pose3_retreat,0.575711589239,-0.00994531057409,1.04002908329,0.546282317827,-0.0012725866827,1.03969837444
+385,6.416666667,pose2_to_pose3_retreat,0.575711587732,-0.00994531064144,1.0400290834,0.546282316321,-0.00127258674848,1.03969837455
+386,6.433333333,pose2_to_pose3_retreat,0.575711527903,-0.00994531331552,1.04002908805,0.546282256513,-0.00127258936064,1.03969837891
+387,6.450000000,pose2_to_pose3_retreat,0.5757112262,-0.00994532680031,1.04002911148,0.546281954919,-0.00127260253312,1.03969840091
+388,6.466666667,pose2_to_pose3_retreat,0.575710609555,-0.00994535436163,1.04002915936,0.546281338494,-0.00127262945613,1.03969844587
+389,6.483333333,pose2_to_pose3_retreat,0.575710380038,-0.00994536333596,1.0400291739,0.546281109047,-0.00127263821616,1.03969845983
+390,6.500000000,pose2_to_pose3_retreat,0.575710168739,-0.00994536180586,1.04002916231,0.546280897717,-0.00127263666642,1.03969845153
+391,6.516666667,pose2_to_pose3_retreat,0.575710029032,-0.00994536079419,1.04002915465,0.54628075799,-0.00127263564175,1.03969844605
+392,6.533333333,pose2_to_pose3_retreat,0.575709874936,-0.00994535967832,1.04002914619,0.546280603871,-0.00127263451155,1.03969844
+393,6.550000000,pose2_to_pose3_retreat,0.575709498735,-0.00994535695411,1.04002912555,0.546280227614,-0.00127263175234,1.03969842523
+394,6.566666667,pose2_to_pose3_retreat,0.575709366653,-0.00994536259141,1.04002913037,0.546280095435,-0.00127263777772,1.03969842844
+395,6.583333333,pose2_to_pose3_retreat,0.57570935672,-0.00994536373853,1.04002913205,0.546280085487,-0.00127263899794,1.0396984296
+396,6.600000000,pose2_to_pose3_retreat,0.575709295734,-0.0099453707817,1.04002914239,0.546280024405,-0.0012726464899,1.03969843674
+397,6.616666667,pose2_to_pose3_retreat,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471562,1.03969857335
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_06/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a3aa1d8d7a3ba58192a360ae596733c48113f4a7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cdec001c23b49eedf78962f7fdf2fbc2f0e345d14fabaaf2f69ba54cc2cff5d
+size 25419984
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_06/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..080acba0cfe476c9afbc0b35ba4789bccca2a04e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_05/franka_data.csv
@@ -0,0 +1,401 @@
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+32,0.533333333,BASELINE,763.429932445,742,711,671,660,632.570067555,875.570067555,783,799,649,628.570067555,650.429932445,0.400968839224,-0.0154125833695,0.0498498603089,0.999999953869,-0.000135444182717,-0.000266406509277,-5.42600727369e-05,1793192370512425728
+33,0.550000000,BASELINE,763.149443607,742,711,670.850556393,660,633,875.850556393,783,799,649,628.850556393,650,0.400968442128,-0.0154124503876,0.0498493129191,0.999999953789,-0.000134762628749,-0.000267055728694,-5.42379596996e-05,1793192370529092608
+34,0.566666667,BASELINE,763.722595136,742,711,670.277404864,660,633,875.277404864,783,799,649,628.277404864,650,0.400968997608,-0.0154134019747,0.0498498324788,0.999999953753,-0.000136744867078,-0.000266192726534,-5.41851763407e-05,1793192370545759488
+35,0.583333333,BASELINE,763.704270283,742.295729717,711,670,660,633,875,783,799,649,628,650,0.400968896577,-0.0154137460119,0.049849787277,0.999999953616,-0.000137380184907,-0.000266376331282,-5.42149585158e-05,1793192370562426112
+36,0.600000000,BASELINE,763.13115153,742.86884847,711,670,660,633,875,783,799,649,628,650,0.40096817975,-0.0154135201788,0.0498492123394,0.999999953385,-0.000136752116313,-0.000267541633958,-5.4322185637e-05,1793192370579092736
+37,0.616666667,BASELINE,763,742.539692746,711,670,660.460307254,633,875,783,799,649,628,650,0.40096783441,-0.0154134962839,0.0498492396979,0.999999953287,-0.000137030059596,-0.000267728418163,-5.44927308157e-05,1793192370595759360
+38,0.633333333,BASELINE,763,742,711,670.055189431,660.944810569,633,875.055189431,783,799,649,628,650,0.400967579408,-0.0154135368046,0.0498493225947,0.99999995323,-0.000137325724964,-0.000267763144843,-5.46234753313e-05,1793192370612425984
+39,0.650000000,BASELINE,763,742,711,670.631025881,660.368974119,633,875.631025881,783,799,649,628,650,0.400967136688,-0.0154136196965,0.0498482433401,0.999999953176,-0.000135252253998,-0.000269102689771,-5.42014928325e-05,1793192370629092608
+40,0.666666667,BASELINE,763,742,711,671,660,633,875.793532102,783,799.206467898,649,628,650.206467898,0.400967075295,-0.0154139925185,0.0498480819948,0.999999953278,-0.000134508814379,-0.000269164647922,-5.38655158521e-05,1793192370645759232
+41,0.683333333,BASELINE,763,742,711,671,660,633,875.218793658,783,799.781206342,649,628,650.781206342,0.400967694064,-0.0154148824802,0.0498495578967,0.999999953662,-0.000136137711585,-0.000266947813085,-5.368294434e-05,1793192370662425856
+42,0.700000000,BASELINE,763,742,711.365638794,670.634361206,660,633,875,783,799.634361206,649,628,650.634361206,0.400968695968,-0.0154142213593,0.0498503797106,0.999999954057,-0.000135271745744,-0.000265865028107,-5.38851180958e-05,1793192370679092480
+43,0.716666667,BASELINE,763,742,711.95602998,670.04397002,660,633,875,783,799.04397002,649,628,650.04397002,0.400969933381,-0.0154126068123,0.0498507994669,0.999999954457,-0.00013287222694,-0.000265479325746,-5.43237886963e-05,1793192370695759360
+44,0.733333333,BASELINE,763,742,711.463713348,670.536286652,660,633,875.536286652,783,799.536286652,649.536286652,628,650,0.400969737692,-0.0154128452369,0.0498505449387,0.999999954324,-0.000133831060092,-0.000265554652571,-5.40539232796e-05,1793192370712425984
+45,0.750000000,BASELINE,763,742,711.114812524,671,660,633,875.885187476,783,800,649.885187476,628.114812524,650,0.400969627089,-0.0154132891363,0.0498504184509,0.999999954191,-0.000135076367972,-0.000265469831999,-5.38302315626e-05,1793192370729092608
+46,0.766666667,BASELINE,763,742,711.689670757,671,660,633,875.310329243,783,800,649.310329243,628.689670757,650,0.400970319501,-0.0154139588976,0.0498510224244,0.999999954235,-0.000136386712666,-0.000264594660533,-5.4020010824e-05,1793192370745759232
+47,0.783333333,BASELINE,763,742,712,671,660,633,875,783,799.73560417,649,628.73560417,650,0.400970155473,-0.0154138027355,0.0498508487118,0.999999954248,-0.000136035838306,-0.000264711711184,-5.40832324262e-05,1793192370762425856
+48,0.800000000,BASELINE,763,742,712,671,660,633,875,783,799.161035236,649,628.161035236,650,0.400968986723,-0.0154126776504,0.0498497626653,0.999999954223,-0.000133736122982,-0.000265992776349,-5.39979843061e-05,1793192370779092480
+49,0.816666667,BASELINE,763,742,711.574861758,670.574861758,660,633,875,783,799.425138242,649,628,650,0.400968822934,-0.0154131037775,0.0498497744742,0.999999954101,-0.000134486260276,-0.000266086797279,-5.39405960122e-05,1793192370795759104
+50,0.833333333,BASELINE,763,742,711,670.015526417,660,632.984473583,875.015526417,783,800,649.015526417,628,650,0.400969000409,-0.0154140796378,0.0498501742856,0.999999953934,-0.000136337789834,-0.000265778929883,-5.39079052966e-05,1793192370812425984
+51,0.850000000,BASELINE,763,742,711,670.594867327,660,632.405132673,875.594867327,783,800,649.594867327,628,650,0.400967359335,-0.0154130826634,0.0498491391372,0.99999995358,-0.000135056987336,-0.000267662989325,-5.43781023878e-05,1793192370829092608
+52,0.866666667,BASELINE,763,742,711.172921719,670.827078281,660,632.172921719,875.827078281,783,799.827078281,649.827078281,628,650,0.400966714775,-0.0154124712269,0.0498487080775,0.999999953546,-0.000133786577858,-0.000268385218405,-5.45715194058e-05,1793192370845759232
+53,0.883333333,BASELINE,763,742,711.747984196,670.252015804,660,632.747984196,875.252015804,783,799.252015804,649.252015804,628,650,0.400968387671,-0.0154127563838,0.0498496818657,0.999999954266,-0.000132540338104,-0.00026640553495,-5.41212662496e-05,1793192370862425856
+54,0.900000000,BASELINE,763,742,711.670332427,670.329667573,660,633,875.329667573,783,799,649,628,650,0.400968895491,-0.015412854373,0.0498501208246,0.999999954474,-0.000132599334916,-0.000265606244623,-5.40659002122e-05,1793192370879092480
+55,0.916666667,BASELINE,763,742,711.083483969,670.916516031,660,633,875.916516031,783,799,649,628,650,0.40096849441,-0.0154128063485,0.0498501425513,0.999999954284,-0.000133676575387,-0.000265727804892,-5.43185942767e-05,1793192370895759104
+56,0.933333333,BASELINE,763,742,711,670.504423519,660,633,875.504423519,783,799,649,628,650,0.400968276922,-0.0154125945219,0.0498499684918,0.999999953969,-0.000135129757427,-0.000266157620686,-5.44184292226e-05,1793192370912425728
+57,0.950000000,BASELINE,763,742,711.073504717,670.073504717,660,633,875,783,799,649,628,650,0.400968308091,-0.0154124723144,0.0498499028865,0.999999953748,-0.00013632670796,-0.000266378625223,-5.44278966935e-05,1793192370929092608
+58,0.966666667,BASELINE,763,742,711.652529228,670.652529228,660,633,875,783,799,649,628,650,0.400969839962,-0.0154131532893,0.0498508064803,0.999999954322,-0.000135332647656,-0.000264811950953,-5.39902279213e-05,1793192370945759232
+59,0.983333333,BASELINE,763,742,712,671,660,633,875.229583424,783.229583424,799,649,628,650,0.400970111583,-0.0154133986847,0.0498507134528,0.999999954404,-0.000134755314362,-0.000264815268826,-5.39106058099e-05,1793192370962425856
+60,1.000000000,BASELINE,763,742,712,671,660,633,875.803681043,783.803681043,799,649,628,650,0.400968492066,-0.0154129904472,0.0498491248898,0.999999953745,-0.000134803323841,-0.000267174525618,-5.43682704917e-05,1793192370979092736
+61,1.016666667,BASELINE,763,742,711.610801304,671,660,633,875.610801304,783.610801304,799.389198696,649,628,650,0.400969179237,-0.0154133013047,0.0498498015681,0.999999953977,-0.000134937259709,-0.000266274165811,-5.41775090532e-05,1793192370995759360
+62,1.033333333,BASELINE,763,742,711.019349077,671,660,633,875.019349077,783.019349077,799.980650923,649,628,650,0.400971065119,-0.0154139858518,0.0498516554166,0.999999954669,-0.00013511584864,-0.000263679892238,-5.36497822402e-05,1793192371012425984
+63,1.050000000,BASELINE,763.558464526,742,711.558464526,671,660,632.441535474,875,783,799.441535474,649,628,650,0.400968887303,-0.0154136261522,0.049850443861,0.999999953952,-0.000136655503443,-0.000265571928592,-5.37860928196e-05,1793192371029092608
+64,1.066666667,BASELINE,763.864706039,742,711.864706039,670.864706039,660,632.135293961,875,783,799.135293961,649.135293961,628.135293961,650,0.400967372156,-0.0154131081587,0.049849628547,0.999999953494,-0.000137462948819,-0.000266839704559,-5.3965834779e-05,1793192371045759232
+65,1.083333333,BASELINE,763.289576548,742,711.289576548,670.289576548,660,632.710423452,875,783,799.710423452,649.710423452,628.710423452,650,0.400968458129,-0.0154121903734,0.0498504384424,0.99999995405,-0.000135740359006,-0.000265584760932,-5.42137591551e-05,1793192371062425856
+66,1.100000000,BASELINE,763,742,711,670,660,633,875,783.292086748,799.707913252,649.707913252,628.707913252,650,0.400968442957,-0.0154120567541,0.0498504659616,0.999999954002,-0.000135787981165,-0.000265705265601,-5.43825716902e-05,1793192371079092736
+67,1.116666667,BASELINE,763,742,711,670,660,633,875,783.880375879,799.119624121,649.119624121,628.119624121,650,0.400967311125,-0.0154127183504,0.0498497000805,0.999999953342,-0.000137630758496,-0.000267220599337,-5.44711576469e-05,1793192371095759360
+68,1.133333333,BASELINE,763,742.463700724,711,670.463700724,660,633,875,783.536299276,799,649,628,650,0.400968547222,-0.0154133050107,0.0498503920908,0.999999953958,-0.000136391659565,-0.000265578354349,-5.43073730566e-05,1793192371112425984
+69,1.150000000,BASELINE,763,742.954931768,711,670.954931768,660,633,875.045068232,783,799,649,628.045068232,650,0.400970250521,-0.015413810368,0.0498513286688,0.999999954795,-0.000134629663655,-0.000263358462655,-5.41122381222e-05,1793192371129092608
+70,1.166666667,BASELINE,763,742.381654421,711,670.381654421,660,633,875.618345579,783,799,649,628.618345579,650,0.400970345816,-0.0154135870086,0.0498507703229,0.999999954484,-0.000135958695363,-0.000263814385951,-5.4304641795e-05,1793192371145759232
+71,1.183333333,BASELINE,763,742,711,670.192601706,660.192601706,633,875.807398294,783,799,649,628.807398294,650.192601706,0.40096964264,-0.0154133227776,0.0498502761672,0.999999954143,-0.000136487400315,-0.00026479935655,-5.44624371005e-05,1793192371162426112
+72,1.200000000,BASELINE,763,742,711,670.76880737,660.76880737,633,875.23119263,783,799,649,628.23119263,650.76880737,0.400967349153,-0.0154129771429,0.0498499098584,0.999999953741,-0.000135422098288,-0.000266838028386,-5.45513031099e-05,1793192371179092736
+73,1.216666667,BASELINE,763,742,711,671,660.64623375,633,875.35376625,783,799.35376625,649,628,650.64623375,0.400966959734,-0.0154127422494,0.0498496526709,0.999999953545,-0.000135814552289,-0.000267361377207,-5.46048188522e-05,1793192371195759360
+74,1.233333333,BASELINE,763,742,711,671,660.05540939,633,875.94459061,783,799.94459061,649,628,650.05540939,0.400967846227,-0.0154125815632,0.0498494686052,0.999999953488,-0.000137183845975,-0.000266869310757,-5.46346464405e-05,1793192371212425984
+75,1.250000000,BASELINE,763,742,711,670.475415918,660,633,874.950831836,783,799.475415918,649,628,650,0.400968001892,-0.0154130360105,0.0498497411212,0.999999953377,-0.00013819644808,-0.000266768264626,-5.46025374458e-05,1793192371229092352
+76,1.266666667,BASELINE,763,742,711,670.102555113,660,633,874.102555113,783.102555113,799,649,628,650.102555113,0.400968156922,-0.0154133813776,0.0498499775134,0.999999953349,-0.000138694362725,-0.000266632042246,-5.45348106178e-05,1793192371245759232
+77,1.283333333,BASELINE,763,742,711,670.676383148,660,633,874.676383148,783.676383148,799,649,628,650.676383148,0.400968656589,-0.0154129329521,0.0498498307718,0.999999953722,-0.000136996756267,-0.000266148219174,-5.43328634166e-05,1793192371262425856
+78,1.300000000,BASELINE,763,742.256394578,711,671,660,633,875,783.743605422,799,649,628,650.743605422,0.400969330657,-0.0154132786758,0.0498499989598,0.999999953949,-0.000136492263595,-0.000265586241044,-5.41906877029e-05,1793192371279092736
+79,1.316666667,BASELINE,763,742.844403411,711,671,660,633,875,783.155596589,799,649,628,650.155596589,0.400970230289,-0.0154146515319,0.0498505744697,0.999999953986,-0.00013753091421,-0.000264923179179,-5.41258189332e-05,1793192371295759360
+80,1.333333333,BASELINE,763.425576424,742.574423576,711,671,660,633,875,783,799,649,628,650,0.400970618844,-0.0154148680188,0.0498511284142,0.999999954281,-0.000136955283445,-0.00026412407857,-5.40349575282e-05,1793192371312425984
+81,1.350000000,BASELINE,763.995715139,742,711,670.995715139,660,633,875,783,799,649,628,650,0.400970807692,-0.015414665202,0.0498516623078,0.999999954661,-0.000135806468948,-0.000263295682001,-5.39385758734e-05,1793192371329092864
+82,1.366666667,BASELINE,763.417657804,742,711,670.417657804,660,633,875,783,799,649,628,650,0.40096888051,-0.0154140334882,0.049850550349,0.999999954178,-0.000135687337936,-0.000265099287341,-5.43554312067e-05,1793192371345759488
+83,1.383333333,BASELINE,763,742,711,670.159600657,660,633,875.159600657,783.159600657,799.159600657,649.159600657,628,650,0.40096774057,-0.0154130933658,0.0498499248314,0.999999953973,-0.000134938161593,-0.000266206237067,-5.45914524631e-05,1793192371362425856
+84,1.400000000,BASELINE,763,742,711,670.734779088,660,633,875.734779088,783.734779088,799.734779088,649.734779088,628,650,0.400968650497,-0.0154113501904,0.0498505659384,0.999999954493,-0.000132548435365,-0.000265499193476,-5.43566071836e-05,1793192371379092480
+85,1.416666667,BASELINE,763,742,711.316503953,670.683496047,660,633,875.683496047,783.683496047,799.683496047,650,628,650,0.400968715326,-0.0154104800949,0.0498501444831,0.999999954562,-0.000131904541995,-0.000265559486931,-5.43713954652e-05,1793192371395759360
+86,1.433333333,BASELINE,763,742,711.90383036,670.09616964,660,633,875.09616964,783.09616964,799.09616964,650,628,650,0.400968057031,-0.0154103570663,0.0498488138267,0.999999954246,-0.000132754502907,-0.000266276366551,-5.459978733e-05,1793192371412425984
+87,1.450000000,BASELINE,763,742,712,670.48642848,660,633,875,783,799.48642848,649.51357152,628.48642848,650.48642848,0.400968045654,-0.0154120905656,0.0498492947218,0.999999953858,-0.000135311529452,-0.000266473892959,-5.44608287751e-05,1793192371429092608
+88,1.466666667,BASELINE,763.067148076,742,711.932851924,671,660,633,875,783,800,649,628.932851924,650.932851924,0.400968075275,-0.01541397185,0.0498499313995,0.99999995348,-0.000137768812118,-0.000266674863258,-5.42630634292e-05,1793192371445759232
+89,1.483333333,BASELINE,763.640682933,742,711.359317067,671,660,633,875,783,800,649,628.359317067,650.359317067,0.400967458838,-0.015414226261,0.0498490679273,0.999999953332,-0.000136953216824,-0.000267668688786,-5.41642501571e-05,1793192371462426112
+90,1.500000000,BASELINE,763.784031638,742,711,671,660,632.784031638,875,783,799.784031638,649,628.215968362,650,0.400967658408,-0.0154148899873,0.049849111448,0.999999953376,-0.000137237031239,-0.000267399852021,-5.39614775082e-05,1793192371479092736
+91,1.516666667,BASELINE,763.205809955,742,711,671,660,632.205809955,875,783,799.205809955,649,628.794190045,650,0.400969226704,-0.0154162402762,0.0498506763082,0.999999953737,-0.000139364934454,-0.000265013095628,-5.3584329191e-05,1793192371495759360
+92,1.533333333,BASELINE,763,742,711.379408315,671,659.620591685,632.379408315,875.379408315,783,799,649,628.620591685,650,0.400968747887,-0.0154156071142,0.0498502060419,0.999999953657,-0.000138364328602,-0.000265790727589,-5.38153237864e-05,1793192371512425984
+93,1.550000000,BASELINE,763,742,711.968493241,671,659.031506759,632.968493241,875.968493241,783,799,649,628.031506759,650,0.400967137753,-0.0154138778161,0.0498486110811,0.999999953326,-0.000135634780405,-0.000268317130234,-5.43824030851e-05,1793192371529092608
+94,1.566666667,BASELINE,763,742.547827209,711.452172791,671,659.547827209,633,875.452172791,783,799,649,628,650,0.400968906431,-0.0154136985988,0.0498501421804,0.999999954138,-0.000135442118405,-0.000265409880438,-5.41927365802e-05,1793192371545759232
+95,1.583333333,BASELINE,763,742.874424147,711.125575853,671,660,633,875.125575853,783,799,649,628,650,0.400970490711,-0.0154135140909,0.0498516319369,0.999999954887,-0.00013497651539,-0.000262857368776,-5.39738320825e-05,1793192371562425856
+96,1.600000000,BASELINE,763,742.300369339,711.699630661,671,660,633,875.699630661,783,799,649,628,650,0.400970734572,-0.0154129978726,0.0498523431857,0.999999955208,-0.000133024177925,-0.000262668303769,-5.38032233543e-05,1793192371579092480
+97,1.616666667,BASELINE,763,742,712,670.719198708,660,633,875.719198708,783,799,649,628,650,0.400969606636,-0.0154129597553,0.0498518829644,0.999999954871,-0.000132900090138,-0.00026400261292,-5.38362649129e-05,1793192371595759360
+98,1.633333333,BASELINE,763,742,712,670.130218509,660,633,875.130218509,783,799,649,628,650,0.400966973153,-0.0154134463531,0.0498501370567,0.999999953807,-0.000134782503158,-0.000267008822449,-5.40928123006e-05,1793192371612425984
+99,1.650000000,BASELINE,763,742,711.549076371,670,660.450923629,633,875.450923629,783,799.450923629,649,628.450923629,650,0.400966457232,-0.0154137426285,0.0498500311027,0.999999953634,-0.000135580933402,-0.000267275356841,-5.39852149408e-05,1793192371629092608
+100,1.666666667,BASELINE,763,742,711,670,660.970264032,633,875.970264032,783,799.970264032,649,628.970264032,650,0.400966653139,-0.0154139972611,0.049850421952,0.999999953734,-0.000136082960857,-0.000266682251976,-5.37886146085e-05,1793192371645759232
+101,1.683333333,BASELINE,763,742,711,670,660.393383235,633,875.393383235,783,799.393383235,649,628.393383235,650,0.400968887077,-0.0154144796795,0.0498513888374,0.999999954192,-0.000136792603505,-0.000264580551709,-5.38562161815e-05,1793192371662425856
+102,1.700000000,BASELINE,763,742,711.183162673,670.183162673,660,633,875,783,799,649,628,650,0.400969878965,-0.0154152073472,0.0498517209841,0.999999954262,-0.000138008739929,-0.000263678191878,-5.3874295654e-05,1793192371679092480
+103,1.716666667,BASELINE,763,742,711.758990568,670.758990568,660,633,875,783,799,649,628,650,0.400968208138,-0.0154164607815,0.0498506923742,0.999999953505,-0.000140310700617,-0.000265346985436,-5.37862093459e-05,1793192371695759104
+104,1.733333333,BASELINE,763,742,712,670.656824251,660,633,875,783,799.343175749,649,628,650,0.400968187976,-0.0154157636151,0.0498507339037,0.999999953546,-0.00014001796587,-0.0002653381231,-5.38466933444e-05,1793192371712425984
+105,1.750000000,BASELINE,763,742,712,670.066623256,660,633,875,783,799.933376744,649,628,650,0.400969355997,-0.0154136623647,0.0498515457425,0.999999954159,-0.000137857514082,-0.000264121648333,-5.40141214185e-05,1793192371729092608
+106,1.766666667,BASELINE,763,742,711.486528171,670,660,633,875,783,799.486528171,649,628,650,0.400968682921,-0.0154143616625,0.0498507726949,0.999999953848,-0.000137664874198,-0.00026538178866,-5.40767207323e-05,1793192371745759232
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,875,783,799,650,628,650,0.400968158259,-0.0154144603911,0.0498510935461,0.999999953993,-0.000137172995471,-0.000265098385861,-5.40408166312e-05,1793192371788832256
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742,711.410771935,671,659.410771935,633,875,783,799,649.410771935,628,650,0.400967828658,-0.0154147355126,0.0498504562887,0.999999953961,-0.000136458114759,-0.000265617194573,-5.38951923167e-05,1793192371805498624
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,742,711,671,659.175452585,633,875,783,799,649,628,650,0.400967590356,-0.0154148947164,0.0498501553956,0.999999953944,-0.000135936370801,-0.000265959828482,-5.38345466136e-05,1793192371822165248
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,742,711,671,659.754763631,633,875,783,799,649,628,650,0.400967562207,-0.0154147870997,0.0498506287493,0.999999953964,-0.000135859190755,-0.00026589694163,-5.39695054739e-05,1793192371838831616
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.331073808,741.668926192,711.331073808,670.668926192,660,633,875,783,799.331073808,649,628.331073808,650.331073808,0.400967958188,-0.0154149038083,0.0498506607767,0.999999953744,-0.000137483710267,-0.000265826896157,-5.42772476118e-05,1793192371855497984
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.905181082,741.094818918,711.905181082,670.094818918,660,633,875,783,799.905181082,649,628.905181082,650.905181082,0.400968665513,-0.0154151851889,0.0498503688369,0.999999953341,-0.000140357407251,-0.000265751595712,-5.4711825866e-05,1793192371872164608
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.508563379,741.491436621,711.508563379,670.491436621,660,633,875,783,799.508563379,649,628.508563379,650.508563379,0.400968589549,-0.0154141437588,0.0498500653318,0.999999953481,-0.000138776598375,-0.000266076549193,-5.46112969866e-05,1793192371888831232
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742.078812238,711,671,660,633,875.078812238,783,799,649.078812238,628,650.078812238,0.400968970099,-0.01541314121,0.0498501027371,0.999999953839,-0.000136495007979,-0.000265956042586,-5.43984154565e-05,1793192371905497600
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742.658039939,711,671,660,633,875.658039939,783,799,649.658039939,628,650.658039939,0.400973233172,-0.0154140471613,0.0498523192681,0.999999954919,-0.00013535927662,-0.000262504331592,-5.41443198593e-05,1793192371922164224
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742.763622444,711,671,660,633,875.763622444,783,799,649.763622444,628,651,0.400981825077,-0.0154154632792,0.0498562261964,0.999999956772,-0.000135228680943,-0.000255548224452,-5.35121180502e-05,1793192371938830592
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742.186567703,711,671,660,633,875.186567703,783,799,649.186567703,628,651,0.400996655875,-0.0154176146706,0.0498625693955,0.999999959652,-0.000136546728794,-0.000243541435788,-5.23349738254e-05,1793192371955497472
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,711,670.609991259,660,633,875,783,799,649,628,650.609991259,0.401029950115,-0.0154186014351,0.049874778388,0.999999965706,-0.000134903034176,-0.000218660247713,-5.07556031466e-05,1793192371972163840
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,711,670.033643286,660,633,875,783,799,649,628,650.033643286,0.401072065858,-0.0154190317618,0.0498897899526,0.999999972507,-0.000131844271753,-0.000187627899588,-4.89840556858e-05,1793192371988830720
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742,711,670,660,633,875.55313975,783,799,649,628,650,0.401137525831,-0.0154253492904,0.0499068065672,0.999999978192,-0.000137302059176,-0.00015020682835,-4.69260633687e-05,1793192372005497600
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.133351765,742,711,670,660,633,875.866648235,783,799,649,628,650,0.401205850118,-0.0154313210136,0.0499217324606,0.99999998169,-0.000142144582229,-0.000119983293206,-4.4921533472e-05,1793192372022164480
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.690618736,742,711,670,660,633,875.309381264,783,799,649,628,650,0.401278679474,-0.0154350332725,0.0499296169831,0.999999982308,-0.000143352892873,-0.000113899183428,-4.31434052172e-05,1793192372038830848
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.733239476,742,711,670.266760524,660,633,875.266760524,783,799,649,628,650,0.401357596402,-0.0154394114516,0.0499342177982,0.999999982606,-0.000144571631233,-0.000110166113075,-4.1829151902e-05,1793192372055497472
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.133540436,742,711,670.866459564,660,633,875.866459564,783,799,649,628,650,0.401444111103,-0.0154446207521,0.0499347202827,0.999999982546,-0.000145803384149,-0.000109367328734,-4.10938517994e-05,1793192372072164096
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,711,671,660,633,876,783,799,649,628,650,0.401550822865,-0.0154522549748,0.0499340999738,0.999999981952,-0.00014840809234,-0.000111687271566,-3.99573350419e-05,1793192372088830720
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742,711,670.979383617,660,633,875.979383617,783,799.020616383,649,628,650,0.40166422657,-0.0154605730992,0.0499330995929,0.999999981182,-0.000151339905062,-0.000115037166578,-3.871963946e-05,1793192372105497344
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742,711,670.388690172,660,633,875.388690172,783,799.611309828,649,628,650,0.401802685206,-0.0154685935381,0.0499304836532,0.999999980202,-0.000152441016311,-0.000122162357911,-3.78623663474e-05,1793192372122163968
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,742,711,670.197885713,660,633,875,783.197885713,799.802114287,649,628,650,0.401954329495,-0.0154778568074,0.0499294357883,0.9999999796,-0.000154107929984,-0.000125350844738,-3.65861902717e-05,1793192372138830592
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742,711,670.776538616,660,633,875,783.776538616,799.223461384,649,628,650,0.402131345303,-0.015489511502,0.0499314051779,0.999999979785,-0.000156863547696,-0.000120964413484,-3.4503970744e-05,1793192372155497472
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.353241736,742,711,670.646758264,660,633,875.353241736,783.646758264,799,649.353241736,628.353241736,650,0.40232800888,-0.0155005297698,0.0499341679094,0.999999979899,-0.000159877554566,-0.000116589430679,-3.23799815885e-05,1793192372172164096
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.928718247,742,711,670.071281753,660,633,875.928718247,783.071281753,799,649.928718247,628.928718247,650,0.402537033466,-0.015511147644,0.0499374297559,0.999999979953,-0.000163054121928,-0.000112221650003,-3.02297137263e-05,1793192372188830720
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.496960939,741.496960939,711,670.503039061,660,633,875.496960939,783,799,649.496960939,628.496960939,650,0.402788931754,-0.0155213393642,0.0499406957218,0.999999981662,-0.000158907205588,-0.000103291324154,-2.75009832215e-05,1793192372205497600
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.079530087,741.079530087,711.079530087,670.920469913,660.079530087,633.079530087,875,783,799.079530087,649,628,650,0.403053212069,-0.0155297249513,0.0499447242095,0.999999983932,-0.000151536651345,-9.25886225589e-05,-2.44812147223e-05,1793192372222163968
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.67104419,741.67104419,711.67104419,670.32895581,660.67104419,633.67104419,875,783,799.67104419,649,628,650,0.403358182437,-0.0155268712128,0.0499536577701,0.999999988553,-0.00013007890396,-7.46285696619e-05,-2.01143327552e-05,1793192372238830848
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,670.256092433,660.743907567,633.743907567,875.256092433,783,799.743907567,649,628,650,0.403678080871,-0.0155190648945,0.0499608802194,0.999999992789,-0.000102220095019,-6.06665461271e-05,-1.71231054404e-05,1793192372255497472
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,670.83303965,660.16696035,633.16696035,875.83303965,783,799.16696035,649,628,650,0.404016682461,-0.0155050535553,0.0499659588397,0.999999996337,-6.63414829514e-05,-5.17136011728e-05,-1.58554176984e-05,1793192372272164096
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.589463783,742,711.589463783,670.589463783,660.410536217,633,876,783,799,649,628.410536217,650,0.404383731877,-0.0155071597299,0.0499692142338,0.999999997867,-4.6198299036e-05,-4.4559089191e-05,-1.21227946419e-05,1793192372288830720
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.011743516,742,711.011743516,670.011743516,660.988256484,633,876,783,799,649,628.988256484,650,0.404762366188,-0.0155158294944,0.0499717271492,0.999999998719,-3.24631075412e-05,-3.8136959367e-05,-7.38636768848e-06,1793192372305497088
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742,711.575665443,670,660.424334557,633,876,783,799,649,628.424334557,650,0.405163693934,-0.0155228911353,0.0499594327761,0.999999997926,-2.02640952995e-05,-6.09371657373e-05,-4.92137460952e-06,1793192372322163968
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742,711.83967932,670,660,633,875.83967932,783,799,649,628,650,0.405571757171,-0.0155276116949,0.0499439789441,0.999999995996,-5.05187268475e-06,-8.92972285036e-05,-2.79611651832e-06,1793192372338830592
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742,711.262703247,670,660,633,875.262703247,783,799,649,628,650,0.405996101393,-0.0155263347644,0.0499211125138,0.999999991316,1.80741802712e-05,-0.000130530925083,-1.43130560138e-06,1793192372355497472
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.316616673,742,711.316616673,670.316616673,660,633,875.316616673,783,799,649,628,650,0.40645787557,-0.0155246789854,0.0499055640795,0.999999986615,4.29858716075e-05,-0.000157867905638,6.26654696477e-07,1793192372372164096
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.897895899,742,711.897895899,670.897895899,660,633,875.897895899,783,799,649,628,650,0.40695093781,-0.0155227065234,0.0498961328176,0.999999982521,6.93901957109e-05,-0.000173588508436,3.26402456907e-06,1793192372388830720
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.526037252,742,711.526037252,671,660,633,875.526037252,783,799.473962748,649,628,650,0.407511212336,-0.0155250657045,0.049912104566,0.999999985942,9.38537151129e-05,-0.000138670404367,8.802591949e-06,1793192372405497600
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742,711,671,660,633,875.050196196,783,799.949803804,649,628,650,0.408090641102,-0.0155285212113,0.0499341911109,0.999999988626,0.000117951148302,-9.27657943698e-05,1.51510192664e-05,1793192372422164480
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742,711,671,660,633,875.64016485,783,799.35983515,649,628,650,0.408722034721,-0.0155338405393,0.0499638247932,0.99999998856,0.000142559018672,-4.47507701922e-05,2.35604618269e-05,1793192372438831104
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742,711,671,660,633,876,783,799.225369301,649,628,650,0.409347219002,-0.0155385931966,0.049981693116,0.999999985617,0.000165877182992,-1.78238359597e-05,3.05522877038e-05,1793192372455497472
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742,711,671,660,633,876,783,799.80312444,649,628,650,0.409962694367,-0.0155424598115,0.0499811652044,0.999999981573,0.000187178771104,-2.38700924284e-05,3.53275377783e-05,1793192372472164096
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742,711,671,660,633,876,783,800,649,628,650,0.410570378584,-0.0155403577871,0.0499599319101,0.9999999736,0.000214845083,-7.24086412493e-05,3.73935386982e-05,1793192372488830720
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742,711,671,660,633,876,783,800,649,628,650,0.41117403556,-0.0155351705903,0.0499279960641,0.999999958855,0.000245801300366,-0.00014291133141,3.80591363151e-05,1793192372505497344
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.532227317,742,711.532227317,671,660,633,876,783,800,649,628,650,0.411869673264,-0.0155373940228,0.0499208254975,0.999999977682,0.000156797625515,-0.000141031937663,1.26511171827e-05,1793192372522164224
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.888507274,742,711.888507274,671,660,633,876,783,800,649,628,650,0.412589562796,-0.0155432870573,0.0499224638874,0.999999988909,8.01903370069e-05,-0.000125274044852,-7.6042570421e-06,1793192372538830848
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.298453673,742,711.298453673,671,660,633,876,783,800,649,628,650,0.413380519724,-0.0155622701173,0.0499530202346,0.999999992123,9.9867663095e-05,-7.59365384559e-05,3.61968447657e-06,1793192372555497472
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.284951281,742,711,671,660,633,876.284951281,783,799.715048719,649,628,650,0.41414073297,-0.0155700666298,0.0499585891024,0.999999989753,0.000126525989503,-6.61491039619e-05,1.04683526385e-05,1793192372572164096
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.861551387,742,711,671,660,633,876.861551387,783,799.138448613,649,628,650,0.414869480026,-0.0155664136666,0.0499385831844,0.999999982376,0.000160329401317,-9.6841327216e-05,1.28389116169e-05,1793192372588830976
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.563999603,742.436000397,711,671,660,633,876.563999603,783,799,649,628,650,0.415626178447,-0.0155611218044,0.0499194877883,0.999999987715,8.97439676067e-05,-0.000127896138323,1.26330832992e-05,1793192372605497856
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742.989944242,711,671,660.010055758,633,876,783,799,649,628,650,0.416392832634,-0.0155554975163,0.0499014989429,0.999999987441,-1.17796485626e-05,-0.000157614105014,1.16845141899e-05,1793192372622164736
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742.3993726,711,671,660.6006274,633,876,783,799,649,628,650,0.417224354534,-0.0155605785428,0.0499307814702,0.999999994517,4.8670082133e-06,-0.000103542431942,1.48552464923e-05,1793192372638830848
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742,711.187513234,671,660.812486766,633,876,783,799,649,628,650,0.418061073664,-0.0155640230777,0.049953601604,0.999999997423,2.3834517165e-05,-6.52712269237e-05,1.80464916394e-05,1793192372655497472
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742,711.766700193,671,660.233299807,633,876,783,799,649,628,650,0.418908648608,-0.0155640493428,0.0499629232236,0.999999996838,4.76497726917e-05,-6.00037133548e-05,2.1280583475e-05,1793192372672164096
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.345089761,742,711.654910239,671.345089761,660.345089761,633,876,783,799.345089761,649,628,650,0.419743402596,-0.0155647397835,0.0499540117889,0.999999994926,6.88860428187e-05,-7.02956653957e-05,2.14985072239e-05,1793192372688830720
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.922941466,742,711.077058534,671.922941466,660.922941466,633,876,783,799.922941466,649,628,650,0.420569508855,-0.0155658782084,0.0499328022168,0.999999991753,8.83827945178e-05,-9.10824276123e-05,1.96820350676e-05,1793192372705497600
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711.506509549,671.493490451,660.493490451,632.493490451,876,783,800,649,628,650,0.421444577546,-0.0155709687755,0.049954356921,0.999999993763,9.93498524446e-05,-4.61931274155e-05,2.16525036365e-05,1793192372722163968
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660.090164791,632.090164791,876,783,799.909835209,649,628,650,0.422322632884,-0.0155762148651,0.0499764643839,0.999999993835,0.000108395190327,-3.51607723385e-06,2.3824864046e-05,1793192372738830848
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660.669520422,632.669520422,876,783,799.330479578,649,628,650,0.423176016157,-0.0155790053331,0.0499658694762,0.999999992817,0.000114135132822,-2.76707130535e-05,2.39310991769e-05,1793192372755497728
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711.751487918,671,661,632.751487918,876.248512082,783.248512082,799.248512082,649,628,650,0.424049144489,-0.0155812484801,0.0499595846572,0.99999999298,0.000108810030792,-3.99835245621e-05,2.45106913396e-05,1793192372772164608
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711.172979489,671,661,632.172979489,876.827020511,783.827020511,799.827020511,649,628,650,0.424948492176,-0.0155827648461,0.0499590231543,0.999999995059,8.87917837613e-05,-3.65717166356e-05,2.57188489039e-05,1793192372788830976
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711.402767946,671,660.597232054,632.402767946,877,783.597232054,800,649,628,650,0.425833923341,-0.0155820133952,0.0499739526149,0.999999995019,9.3687446463e-05,-2.07640813826e-05,2.74425867226e-05,1793192372805497600
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711.977337637,671,660.022662363,632.977337637,877,783.022662363,800,649,628,650,0.426713418321,-0.0155802946008,0.0499954897874,0.999999993605,0.000109210205214,3.31027005692e-07,2.93862465936e-05,1793192372822163968
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.435120922,742,712,671,660,632.435120922,876.435120922,783,799.435120922,649,628,650,0.427490159885,-0.0155732795647,0.0499651564412,0.99999998907,0.000129355746381,-6.59551904199e-05,2.78644605489e-05,1793192372838830592
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.151481343,742,712,671.151481343,660.151481343,632.151481343,876,783,799.151481343,649,628.151481343,650,0.428288898764,-0.0155675330478,0.0499379346053,0.999999981995,0.000145636579055,-0.000118763736529,2.63631324904e-05,1793192372855497216
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.733896545,742,712,671.733896545,660.733896545,632.733896545,876,783,799.733896545,649,628.733896545,650,0.429162218441,-0.0155660138808,0.0499256235318,0.999999980804,0.000150383096095,-0.000123023765211,2.53248122152e-05,1793192372872163840
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.311470893,712,671.688529107,661,633,876,783,799.688529107,649,628.688529107,650,0.430033516182,-0.0155663085002,0.049926894274,0.999999983875,0.0001375472131,-0.000112705229263,2.5049220278e-05,1793192372888830976
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.884972747,712,671.115027253,661,633,876,783,799.115027253,649,628.115027253,650,0.430903112887,-0.0155681290026,0.0499395909842,0.999999989575,0.000109919792851,-9.01221912205e-05,2.54152884566e-05,1793192372905497856
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.542946846,712,671,661,633,876.457053154,783,799.457053154,649,628.457053154,650,0.431709103027,-0.0155677656544,0.0499297043811,0.99999998743,0.000115341577119,-0.00010579252782,2.53676486161e-05,1793192372922163968
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.969970523,742,711.969970523,671.030029477,661,633,876.969970523,783,800,649,629,650,0.432500253222,-0.015566909339,0.0499159390323,0.99999998319,0.000128900215929,-0.000127919098195,2.5341768739e-05,1793192372938830592
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.373362732,742,711.373362732,671.626637268,661,633,876.373362732,783,800,649,629,650,0.433312503281,-0.015567089634,0.0499358937074,0.999999985761,0.00013953626065,-9.07792996305e-05,2.76847991043e-05,1793192372955497216
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.214829187,742,711.214829187,672,661.214829187,633,876.214829187,783,800,649,628.785170813,650,0.434114801318,-0.01556758324,0.0499547963352,0.999999986985,0.000147281957928,-5.89089815017e-05,2.94429108181e-05,1793192372972163840
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.788946206,742,711.788946206,672,661.788946206,633,876.788946206,783,800,649,628.211053794,650,0.434900455374,-0.0155686008383,0.0499719394856,0.999999987622,0.0001501937392,-3.58515205786e-05,3.02227845852e-05,1793192372988830720
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711.635345035,672,661.635345035,633,876.635345035,783,799.635345035,649,628,650,0.435629702174,-0.0155664290979,0.0499570979865,0.999999985019,0.000153213603937,-7.52357360761e-05,2.87483455245e-05,1793192373005497344
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711.05871101,672,661.05871101,633,876.05871101,783,799.05871101,649,628,650,0.436326158595,-0.01556240335,0.0499236633597,0.999999976061,0.000156296298255,-0.000150918177476,2.59634425309e-05,1793192373022164224
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.529560966,711,671.470439034,661,632.470439034,876,783,799,649,628.529560966,650,0.437043926988,-0.0155609527897,0.0499229212039,0.999999976854,0.000165285502865,-0.000135245878236,2.61155063724e-05,1793192373038830848
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.882672483,711.117327517,671.234655033,661.117327517,632,876,783,799,649,629,650,0.437762982614,-0.0155603417828,0.0499305468582,0.999999978768,0.000174777296968,-0.000105701778623,2.72651954321e-05,1793192373055497472
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.302110217,711.697889783,672.395779565,661.697889783,632,876,783,799,649,629,650,0.438477582013,-0.0155618929545,0.0499565784726,0.999999980723,0.000183609880106,-6.22759073129e-05,3.10392454917e-05,1793192373072164096
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,711.724095714,672.448191429,661.724095714,632.275904286,876,783,799.275904286,649,629,650,0.439143742797,-0.0155636410443,0.0499612472558,0.999999979766,0.00019111682154,-5.32935227392e-05,3.31954927998e-05,1793192373088830720
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,711.148845478,671.297690956,661.148845478,632.851154522,876,783,799.851154522,649,629,650,0.439757349427,-0.0155656027828,0.0499427381554,0.999999976659,0.000197185490338,-8.16810509306e-05,3.35964837115e-05,1793192373105497344
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.574719434,742,711,671.425280566,661,632.574719434,876,783,799.574719434,649,628.574719434,650,0.440354513858,-0.0155656053738,0.049927645775,0.99999997285,0.000204669340725,-0.000106170484172,3.37398460957e-05,1793192373122163712
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.000985766,742,711,671.999014234,661,632.000985766,876,783,799.000985766,649,628.000985766,650,0.440945938845,-0.0155649240834,0.049913746071,0.99999996846,0.00021264719035,-0.000129299207871,3.37932778598e-05,1793192373138830336
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,742.590675265,711.590675265,672,661.590675265,632,876,783,799,649,628.590675265,650,0.441507419398,-0.015565892796,0.0499262283872,0.999999970414,0.000216422488739,-0.000105462901791,3.47867376455e-05,1793192373155497472
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.17858439,743,712,672,661.82141561,632.17858439,876,783,799,649,628.82141561,650,0.442052910004,-0.0155678349712,0.0499346483904,0.999999971634,0.000217920771971,-8.93668989897e-05,3.54529302655e-05,1793192373172164096
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.758003184,743,712,672,661.241996816,632.758003184,876,783,799,649,628.241996816,650,0.442562626805,-0.0155719557186,0.0499338485797,0.999999972282,0.000214324508171,-9.08255067823e-05,3.53809373834e-05,1793192373188830976
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.667126434,712,672,661,633,876.332873566,783,799,649,628,650,0.443021320207,-0.015573580131,0.0499176385832,0.999999970445,0.000209406724866,-0.000119057893733,3.29331500833e-05,1793192373205497856
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.095518178,712,672,661,633,876.904481822,783,799,649,628,650,0.443443419937,-0.0155734141884,0.049890376505,0.999999965011,0.000203541156465,-0.000166492255303,2.87814588983e-05,1793192373222164224
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.508510083,742,711.508510083,672,661,632.508510083,876.508510083,783,799.491489917,649,628,650,0.443826830924,-0.0155724285031,0.0498521694159,0.999999964995,0.000127526860199,-0.000230904311652,2.07324308462e-05,1793192373238830848
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.079999124,742,711.079999124,672,661,632,876,782.920000876,800,649,628,650,0.444204335889,-0.0155723744873,0.0498165921319,0.999999957082,4.73480817359e-05,-0.000288860752059,1.2357110295e-05,1793192373255497216
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.658607314,742,711.658607314,672,661,632,876,782.341392686,800,649,628,650,0.44459340946,-0.0155791523319,0.0498110919467,0.999999958845,2.89320086365e-05,-0.000285351382148,6.82160044482e-06,1793192373272164096
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.236185791,711.763814209,672.236185791,661,632,876.236185791,782.236185791,799.763814209,649,628,650,0.444970534043,-0.0155852132507,0.0498123789981,0.999999962516,2.19462154815e-05,-0.000272881263468,4.67010421977e-06,1793192373288830464
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.81228229,711.18771771,672.81228229,661,632,876.81228229,782.81228229,799.18771771,649,628,650,0.44533046201,-0.0155902423933,0.0498234340146,0.999999968848,3.1410501324e-05,-0.000247515134504,7.38876793978e-06,1793192373305497088
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.610859573,711.389140427,673,660.610859573,631.610859573,876.610859573,782.610859573,799,649,628,650,0.44565464934,-0.0155935074084,0.0498265638053,0.99999997077,3.85671741687e-05,-0.000238513410785,9.15026014876e-06,1793192373322163968
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.033633257,711.966366743,673,660.033633257,631.033633257,876.033633257,782.033633257,799,649,628,650,0.445961561939,-0.015595919756,0.0498258630436,0.999999970766,4.46084935741e-05,-0.000237421204167,1.04491163835e-05,1793192373338830592
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763.858790873,743,711.141209127,672,660.141209127,632,877.717581745,782.858790873,799,649,628,650,0.446431688484,-0.0155920951572,0.0497912320284,0.999999954704,6.0741417033e-05,-0.000294669168809,8.46583573408e-06,1793192373372163840
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+211,3.516666667,POSE1_TO_POSE2_PRESS,763.358414828,742,711.641585172,672,660,631,876,782,800,649,628,650,0.447700270443,-0.0156038975779,0.0497286857278,0.999999920826,6.80499398413e-05,-0.000392012693465,6.60788538163e-06,1793192373522163968
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.935012321,742,711.064987679,672,660,631,876,782,800,649,628,650,0.447773669724,-0.0156036887258,0.0497267284446,0.999999920296,6.90261685642e-05,-0.000393198280792,6.19135713671e-06,1793192373538830592
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.491734971,742.508265029,711,672,660,631.508265029,876,782,800,649,628,649.491734971,0.447823823321,-0.0156029267622,0.0497232331215,0.999999917129,6.93117907226e-05,-0.000401131609038,5.59117221137e-06,1793192373555497216
+214,3.566666667,POSE1_TO_POSE2_PRESS,763,743,711.084145891,672,660.084145891,631.915854109,876,782,800,649,628,649.084145891,0.447869463653,-0.0156021007715,0.049719516631,0.999999913809,6.95068638317e-05,-0.000409300245542,4.96707704055e-06,1793192373572163840
+215,3.583333333,POSE1_TO_POSE2_PRESS,763,743,711.678540107,672,660.678540107,631.321459893,876,782,800,649,628,649.678540107,0.447905641593,-0.0156013125728,0.0497156437122,0.999999911989,6.96848118056e-05,-0.000413698203939,4.3394579228e-06,1793192373588830464
+216,3.600000000,POSE1_TO_POSE2_PRESS,763,742.7363389,712,672,660.7363389,631.2636611,876,782,799.7363389,649,628,650,0.447938472052,-0.0156020446231,0.0497143629478,0.999999911752,6.88817029026e-05,-0.000414407206169,4.32350473542e-06,1793192373605497344
+217,3.616666667,POSE1_TO_POSE2_PRESS,763,742.162139871,712,672,660.162139871,631.837860129,876,782,799.162139871,649,628,650,0.447967359871,-0.0156045672106,0.0497161352023,0.999999913381,6.69231130652e-05,-0.000410771385139,5.02796681464e-06,1793192373622163968
+218,3.633333333,POSE1_TO_POSE2_PRESS,763,742.419932591,712,672.419932591,660,631.580067409,876.419932591,782,799.419932591,649,628,650,0.447987244373,-0.0156043795002,0.0497177132943,0.999999914244,6.52537208266e-05,-0.000408938247459,4.85318573018e-06,1793192373638830336
+219,3.650000000,POSE1_TO_POSE2_PRESS,763.005072268,742.994927732,712,673,660,631,877,782,800,649,628,650,0.448003511658,-0.0156031399524,0.0497191999735,0.999999914799,6.37130348847e-05,-0.000407828329783,4.33880085932e-06,1793192373655497216
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.586703675,742.413296325,712,673,660,631,877,782,800,649,628,650,0.448011307326,-0.0156035632933,0.0497189802072,0.999999914597,6.38672433157e-05,-0.00040829701589,4.54812847123e-06,1793192373672163840
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.167490726,712,673,660,631,877,782,800,649,628,650,0.448017482887,-0.0156038200124,0.049718180136,0.999999914101,6.38013010759e-05,-0.000409518817962,4.61171901981e-06,1793192373688830464
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.746204629,712,673,660,631,877,782,800,649,628,650,0.448019680759,-0.0156036676417,0.0497159553002,0.999999912879,6.31948449577e-05,-0.000412589670037,4.31749594708e-06,1793192373705497088
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.677689566,743,711.677689566,672.677689566,660,631,877,782,800,649,628,650,0.448022967461,-0.0156031007082,0.0497155575389,0.9999999126,6.33976571745e-05,-0.00041323195186,4.38351862141e-06,1793192373722164224
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.103620897,743,711.103620897,672.103620897,660,631,877,782,800,649,628,650,0.448027104654,-0.0156022099579,0.0497165869142,0.999999913063,6.42325927259e-05,-0.00041197726608,4.73093095452e-06,1793192373738831872
+225,3.750000000,POSE1_TO_POSE2_PRESS,763,743,711.481694108,672,660,631,876.518305892,782,799.518305892,649,628,649.518305892,0.448026889346,-0.0156003849758,0.0497154611943,0.999999912138,6.63922320863e-05,-0.000413884006849,3.90093421366e-06,1793192373755498496
+226,3.766666667,POSE1_TO_POSE2_PRESS,763.068411057,742.931588943,711.931588943,672,660,631,876,782,799.068411057,649,628,649.068411057,0.448025897247,-0.0155985084058,0.0497140803841,0.999999911051,6.85039512766e-05,-0.000416167701875,2.95227630933e-06,1793192373772165120
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.647108443,742.352891557,711.352891557,672,660,631,876,782,799.647108443,649,628,649.647108443,0.448026261902,-0.0155977819275,0.0497143375293,0.999999911121,6.80818112038e-05,-0.000416069089178,3.05293065638e-06,1793192373788831488
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.773486481,742.226513519,711.226513519,672,660,631,876,782,799.773486481,649,628,650,0.448026459806,-0.0155973811402,0.0497141475756,0.999999910966,6.7159811785e-05,-0.000416590484578,2.99009718704e-06,1793192373805497856
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.192975456,742.807024544,711.807024544,672,660,631,876,782,799.192975456,649,628,650,0.448026397109,-0.0155974893458,0.049713258891,0.999999910458,6.54566273953e-05,-0.000418080834599,2.671763379e-06,1793192373822164224
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.383545204,742.616454796,712,672.383545204,660,631,876.383545204,782,799,649,628,650,0.448027004783,-0.0155989901446,0.0497129465551,0.999999910489,6.28863582655e-05,-0.000418401543771,2.7052641238e-06,1793192373838830592
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.958078822,742.041921178,712,672.958078822,660,631,876.958078822,782,799,649,628,650,0.448027946273,-0.0156011843929,0.0497129212151,0.999999910782,5.98843196353e-05,-0.000418139823886,2.91396280262e-06,1793192373855497472
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.456095281,742,712,672.456095281,660.543904719,631,877.543904719,782,799,649,628,650,0.448028224668,-0.0156002109417,0.0497132435518,0.999999910779,6.19703403339e-05,-0.000417842995838,3.01255525091e-06,1793192373872164096
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.128967407,742,712,672,660.871032593,631,877.742065186,782,799,649,628,650,0.448028305224,-0.0155990591281,0.0497132222818,0.999999910618,6.38757046629e-05,-0.000417939992928,3.08076737863e-06,1793192373888830976
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.708261499,742,712,672,660.291738501,631,876.583477001,782,799,649,628,650,0.448027877207,-0.0155981551016,0.0497119056576,0.999999910006,6.37518850596e-05,-0.000419421792405,3.07315878048e-06,1793192373905498368
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.713621316,742,712,672,660,631,876,782,799,649,628,650,0.448027376603,-0.0155988743221,0.0497111567425,0.999999909678,6.24440677391e-05,-0.000420398192191,3.17015355091e-06,1793192373922165248
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.13669809,742,712,672,660,631,876,782,799,649,628,650,0.448026802355,-0.0156012404021,0.0497109837946,0.999999909636,5.99350294519e-05,-0.000420861840575,3.37327332058e-06,1793192373938831104
+237,3.950000000,POSE1_TO_POSE2_PRESS,763,742.437892815,712,672.437892815,660,631,876.437892815,782,799,649,628,650,0.448027127173,-0.015601550614,0.049711073504,0.999999909782,5.98110415773e-05,-0.000420530564481,3.63725726596e-06,1793192373955497728
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.012172793,742.987827207,712,672.987827207,660,631.012172793,877,782,799,649,628,650,0.44802772705,-0.0156011518078,0.049711257187,0.999999909976,6.05034667844e-05,-0.000419966967046,3.89924251416e-06,1793192373972164096
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.606210414,742.393789586,712,672.393789586,660,631.606210414,877,782,799,649,628,650,0.448028130111,-0.0155973767276,0.0497120342499,0.999999909653,6.48196727052e-05,-0.000420097310222,3.16228761748e-06,1793192373988830976
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.805576995,742.194423005,712,672.194423005,660,631.805576995,876.805576995,782,799,649,628,650,0.448028640754,-0.0155959193541,0.0497125614481,0.99999990965,6.62720921274e-05,-0.000419879940989,2.91014606319e-06,1793192374005497344
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.22881941,742.77118059,712,672.77118059,660,631.22881941,876.22881941,782,799,649,628,650,0.448029362959,-0.0155990197718,0.0497125972848,0.999999910294,6.20928495305e-05,-0.000418978792192,3.6113943269e-06,1793192374022163968
+242,4.033333333,POSE1_TO_POSE2_PRESS,763,742.653947018,712,672.653947018,660,631,876.346052982,782,799,649,628,650,0.448029123585,-0.0155995883895,0.049712328256,0.99999991017,6.0502983676e-05,-0.000419508258965,3.42975572451e-06,1793192374038830848
+243,4.050000000,POSE1_TO_POSE2_PRESS,763,742.080314434,712,672.080314434,660,631,876.919685566,782,799,649,628,650,0.448028251834,-0.0155984919844,0.0497118587343,0.999999909548,6.06160055813e-05,-0.000420978561256,2.66749200922e-06,1793192374055497984
+244,4.066666667,POSE1_TO_POSE2_PRESS,763,742.506779052,712,672,660.506779052,631.506779052,877,782,799.506779052,649,628,650,0.448028837037,-0.0155981377121,0.0497119477713,0.999999909523,6.1086365784e-05,-0.000420969223061,2.78961577453e-06,1793192374072164608
+245,4.083333333,HOLD_POSE2,763,742,712,673,660,631,876,782,800,649,628,649,0.44803110667,-0.0155980116417,0.0497136169532,0.999999911059,5.99139997448e-05,-0.000417474549872,2.79678209378e-06,1793192374114818048
+246,4.100000000,HOLD_POSE2,763,742.57615015,712,673,660,631,876.57615015,782,799.42384985,649,628,649.57615015,0.448030625148,-0.0155976772541,0.0497124167399,0.999999910343,6.15476781759e-05,-0.000418950153595,2.5780795408e-06,1793192374131485184
+247,4.116666667,HOLD_POSE2,763,743,712,672.845362704,660,631,877,782,799.154637296,649,628,649.845362704,0.448030135109,-0.0155976407335,0.0497115580948,0.999999909761,6.27313546851e-05,-0.000420161818477,2.53475480777e-06,1793192374148152064
+248,4.133333333,HOLD_POSE2,763,743,712,672.260371594,660,631,877,782,799.739628406,649,628,649.260371594,0.448029621368,-0.0155984331735,0.0497116500294,0.999999909564,6.26626813963e-05,-0.00042063894494,2.97950447963e-06,1793192374164818176
+249,4.150000000,HOLD_POSE2,763,743,711.678728554,672,660,631,877,782,799.678728554,649,628,649.321271446,0.448030001968,-0.0155988058608,0.0497119235873,0.999999909803,6.23091873482e-05,-0.000420120336986,3.19626554005e-06,1793192374181484800
+250,4.166666667,HOLD_POSE2,763,743,711.099770976,672,660,631,877,782,799.099770976,649,628,649.900229024,0.448031099903,-0.015598841872,0.049712342822,0.999999910392,6.17272436228e-05,-0.00041880306808,3.23016095075e-06,1793192374198151936
+251,4.183333333,HOLD_POSE2,763,743,711.479414208,672,660,631,877,782.479414208,799.479414208,649,628,650,0.448030866741,-0.0155985879286,0.0497120032499,0.999999910274,6.08663992272e-05,-0.000419211933177,2.99892058403e-06,1793192374214818560
+252,4.200000000,HOLD_POSE2,763.058143499,743,711.941856501,672.058143499,660,631,877,782.941856501,800,649,628,649.941856501,0.448030440057,-0.0155982962231,0.0497115875347,0.999999910039,6.00877488004e-05,-0.000419886435955,2.7259368653e-06,1793192374231484928
+253,4.216666667,HOLD_POSE2,763.632405364,743,711.367594636,672.632405364,660,631,877,782.367594636,800,649,628,649.367594636,0.448030755665,-0.0155982052095,0.0497118983475,0.999999910077,6.05541665444e-05,-0.000419728674771,2.57243533321e-06,1793192374248151296
+254,4.233333333,HOLD_POSE2,763.788522922,743,711,672.577045844,660,631.211477078,877,782,799.788522922,649,627.788522922,649.211477078,0.448030847144,-0.0155978296845,0.0497121924045,0.99999991014,6.08978586625e-05,-0.000419530656058,2.45438753958e-06,1793192374264818176
+255,4.250000000,HOLD_POSE2,763.200896093,743,711,671.401792187,660,631.799103907,877,782,799.200896093,649,627.200896093,649.799103907,0.448030539967,-0.0155969481053,0.0497124566581,0.999999910245,6.10232612874e-05,-0.000419261032158,2.39940056783e-06,1793192374281484800
+256,4.266666667,HOLD_POSE2,763,742.616812397,711,671.766375205,660,631.616812397,877,782,799,649,627.383187603,650,0.448030983128,-0.0155972849822,0.0497126049958,0.999999910381,6.16346121711e-05,-0.000418846293468,2.60630111509e-06,1793192374298151168
+257,4.283333333,HOLD_POSE2,763,742.03456921,711,672.930861581,660,631.03456921,877,782,799,649,627.96543079,650,0.448031816068,-0.0155982548139,0.0497126931185,0.999999910532,6.24984000303e-05,-0.00041835617155,2.94924513325e-06,1793192374314817792
+258,4.300000000,HOLD_POSE2,763,742.540310727,711.540310727,673,660,631,877,782,799,649,628,650,0.448029950819,-0.0155979816804,0.0497115163223,0.999999909429,6.19558037563e-05,-0.000421065907266,2.6952605693e-06,1793192374331484672
+259,4.316666667,HOLD_POSE2,763.114806452,743,712,673,660.114806452,631,876.885193548,782,799,649,628,650,0.448028701167,-0.0155975578728,0.0497107844653,0.999999908625,6.14105796441e-05,-0.000423051308506,2.45970311583e-06,1793192374348151552
+260,4.333333333,HOLD_POSE2,763.689625131,743,712,673,660.689625131,631,876.310374869,782,799,649,628,650,0.448030600525,-0.015596844698,0.0497121553265,0.999999909366,6.1210518225e-05,-0.000421325126819,2.44895098751e-06,1793192374364818176
+261,4.350000000,HOLD_POSE2,764,743,712,672.727888087,660.727888087,631,876.272111913,782,799.272111913,648.727888087,628,650,0.448030222149,-0.0155967292458,0.0497117679507,0.999999909157,6.1002391881e-05,-0.00042185198578,2.31419174016e-06,1793192374381484800
+262,4.366666667,HOLD_POSE2,764,743,712,672.136401373,660.136401373,631,876.863598627,782,799.863598627,648.136401373,628,650,0.448027170422,-0.0155973153342,0.0497093169513,0.999999907828,6.07847998336e-05,-0.00042502321423,2.03388668194e-06,1793192374398151168
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,661,632,877,782,799,649,628,650,0.448031420822,-0.0155971944942,0.0497124298807,0.999999909667,6.37151663083e-05,-0.000420235652992,2.90601437339e-06,1793192374430853632
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.425522346,742.574477654,712,672.574477654,660.425522346,631.425522346,876.425522346,782,799,649,628,650,0.448031219329,-0.015597200276,0.0497120598436,0.999999909589,6.1817505716e-05,-0.000420707861716,2.47068340505e-06,1793192374447519744
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.148749136,743,711.851250864,673,660,631,876.148749136,782,799,649,628,650,0.448031384796,-0.0155971732937,0.0497121035458,0.999999909702,6.05704129726e-05,-0.000420621523546,2.32164021318e-06,1793192374464186112
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.722431773,743,711.277568227,673,660,631,876.722431773,782,799,649,628,650,0.448032598564,-0.0155970527141,0.049713329182,0.999999910369,6.11818050414e-05,-0.000418939577639,2.99043876583e-06,1793192374480852736
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.693803112,742.693803112,711,672.693803112,660,631,876.693803112,782,799,649,628,649.693803112,0.44803262649,-0.0155965381761,0.0497133316752,0.99999991032,6.21345647645e-05,-0.000418915717982,3.04012135012e-06,1793192374497519104
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.100587038,742.100587038,711,672.100587038,660,631,876.100587038,782,799,649,628,649.100587038,0.448031542845,-0.0155956543542,0.0497121876331,0.999999909599,6.34073115884e-05,-0.000420446095523,2.50946435689e-06,1793192374514185472
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,660,631,876,782,799.480983461,649,628,649,0.448029027037,-0.0155955731738,0.0497104529771,0.999999908667,6.20135319466e-05,-0.000422867033074,2.07712256251e-06,1793192374530851584
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742.059664625,711.059664625,672,660.059664625,631,876.059664625,782,800,649,628,649.059664625,0.448025412328,-0.0155955661575,0.0497083307668,0.999999907427,6.03998686935e-05,-0.000426023424805,1.67981710918e-06,1793192374547517952
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742.633934207,711.633934207,672,660.633934207,631,876.633934207,782,800,649,628,649.633934207,0.448014841779,-0.0155947852878,0.0497039060343,0.999999903944,6.15856843989e-05,-0.000433954731626,1.41155772684e-06,1793192374564184576
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742.785846966,711.785846966,672,660.785846966,631,876.785846966,782,799.785846966,649,628,650,0.447995181231,-0.0155936716417,0.0496955898158,0.999999897267,6.270380256e-05,-0.000448924505447,7.24126747019e-07,1793192374580851200
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.195168181,711.195168181,672,660.195168181,631,876.195168181,782,799.195168181,649,628,650,0.447959538568,-0.0155919729054,0.0496804315531,0.999999884554,6.37028941515e-05,-0.000476269372879,-7.00295397069e-07,1793192374597517568
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.388193856,742.388193856,711.388193856,672,660,631,876,782,798.611806144,649,627.611806144,650,0.447904131676,-0.0155892345648,0.0496615657624,0.999999867082,6.36714500566e-05,-0.00051164058044,-2.45706012115e-06,1793192374614184192
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.967945432,742.967945432,711.967945432,672,660,631,876,782,798.032054568,649,627.032054568,650,0.447838971947,-0.0155859832222,0.0496408704577,0.999999846212,6.31314789589e-05,-0.000550972459032,-4.37782238034e-06,1793192374630850560
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.457646789,742.457646789,712,672,660.542353211,631,876.542353211,782,799.084706422,649,627.542353211,650,0.447769840354,-0.0155817241789,0.0496315026957,0.999999841166,6.40524439889e-05,-0.000559938959374,-5.74784600674e-06,1793192374647517696
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,660.88356092,631,877,782,800,649,628,650,0.447695659359,-0.0155771343357,0.0496241073728,0.999999837268,6.53817131305e-05,-0.000566692576855,-7.03058352432e-06,1793192374664184576
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,660.309510877,631,877,782,800,649,628,650,0.447602547531,-0.0155714762134,0.0496218583729,0.999999834217,6.7979606282e-05,-0.000571733813302,-8.09695853699e-06,1793192374680851200
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,742.274018437,712,672,660,631,876.725981563,782,800,649,628,650,0.447503060815,-0.0155643652696,0.0496226682584,0.999999834417,7.22122113479e-05,-0.00057085047435,-8.96290211998e-06,1793192374697517824
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742.868638465,712,672,660,631,876.131361535,782,800,649,628,650,0.447396115486,-0.0155555545251,0.0496270570404,0.99999983838,7.83574293074e-05,-0.000563035381449,-9.59434085203e-06,1793192374714184448
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742.552016535,712,672,660,631,876,782,799.552016535,649,628,650,0.447255343618,-0.0155443541679,0.0496297815325,0.999999840651,8.46899481789e-05,-0.000558043301946,-1.06114235345e-05,1793192374730850816
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.023036629,742,711.976963371,671.976963371,660,631,876.023036629,782,799.023036629,649,628,650,0.447103759559,-0.0155325137396,0.0496319355458,0.999999842338,9.10421037343e-05,-0.000553982435451,-1.17425423695e-05,1793192374747517440
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.599039317,742,711.400960683,671.400960683,660,631,876.599039317,782,799.599039317,649,628,650,0.446922882642,-0.0155215741011,0.0496317239147,0.999999842313,9.6590750954e-05,-0.000553059331532,-1.29860710328e-05,1793192374764184064
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.820773019,742,711,671.179226981,660,631,876.820773019,782,799.820773019,649,628,650,0.446728140955,-0.0155088797095,0.0496310769649,0.999999841018,0.000102475594364,-0.000554300750356,-1.4614258152e-05,1793192374780850688
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.230999104,742,711,671.769000896,660,631,876.230999104,782,799.230999104,649,628,650,0.446501639909,-0.0154921657881,0.049629432851,0.999999836818,0.000109130546034,-0.000560500341171,-1.71235643857e-05,1793192374797517568
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.352615617,742.352615617,711.352615617,672,660.352615617,631,876.352615617,782,799,649,628,650,0.446259542679,-0.0154771806666,0.0496326631674,0.999999838739,0.000116073756148,-0.000555600893526,-1.88573592047e-05,1793192374814184448
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.932264764,742.932264764,711.932264764,672,660.932264764,631,876.932264764,782,799,649,628,650,0.446007403736,-0.0154633086409,0.0496390319128,0.999999844483,0.000123202563711,-0.000543555268654,-2.00918369222e-05,1793192374830851072
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.495488779,742.495488779,712,672.504511221,660.495488779,631.504511221,877,782,799.504511221,648.495488779,628,650.504511221,0.445729893873,-0.0154520079067,0.049656410811,0.999999859544,0.000123741180482,-0.000514930839336,-2.11468094451e-05,1793192374847517696
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742.076662782,712,672.923337218,660,632,876.923337218,782.076662782,799.923337218,648.076662782,628,650.923337218,0.445442196392,-0.0154426918399,0.0496756115103,0.999999875148,0.000121682572663,-0.000484159027291,-2.20620094044e-05,1793192374864184064
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742.654598785,712,672.345401215,660,632,876.345401215,782.654598785,799.345401215,648.654598785,628,650.345401215,0.445109835698,-0.0154441282319,0.0496971985981,0.999999890967,0.000108343267444,-0.000453689849053,-2.2218586909e-05,1793192374880850688
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742.76208162,711.76208162,672,660,632,876,783,799,649,628,650,0.444745778291,-0.0154454913528,0.0497127751601,0.999999900391,9.40952983707e-05,-0.000435711318426,-2.27793035815e-05,1793192374897517312
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742.170765411,711.170765411,672,660,632,876,783,799,649,628,650,0.444334639425,-0.0154467456388,0.0497194238408,0.99999990146,7.8497624358e-05,-0.000436286076074,-2.39403181706e-05,1793192374914183936
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,660,632,876.411802647,782.588197353,799.411802647,649,628,650,0.443895057474,-0.015440778975,0.0497225349884,0.999999903857,6.88936819941e-05,-0.000432219082921,-2.6944928853e-05,1793192374930850816
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,660,632,876.990818488,782.009181512,799.990818488,649,628,650,0.443443926169,-0.0154318802317,0.0497242097143,0.999999906772,6.17235053561e-05,-0.000426267298614,-3.06981349639e-05,1793192374947517696
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742.545015573,711,672.545015573,660.545015573,632,877,782.545015573,799.454984427,649,628,650,0.442944662568,-0.0154231590609,0.0497239000269,0.999999906083,5.39149565106e-05,-0.000428650362395,-3.44421326812e-05,1793192374964184320
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,660.890945801,632,876.890945801,783,799.109054199,649,628,650,0.442446944078,-0.0154157125215,0.0497285588055,0.999999909385,4.47785191484e-05,-0.000421666141818,-3.77149983869e-05,1793192374980850944
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,660.279750543,632,876.279750543,783,799.720249457,649,628,650,0.441959911163,-0.0154141218622,0.0497562421556,0.999999930014,2.95751702639e-05,-0.000370931805613,-3.88192144922e-05,1793192374997517568
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,742.685043373,711.314956627,672.370086746,660.314956627,632,876,783,799.685043373,648.685043373,628.314956627,649.685043373,0.441432883374,-0.0154138135726,0.0497900422161,0.999999949982,1.16138981316e-05,-0.000313620362316,-3.92763332317e-05,1793192375014183936
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763,742.104252643,711.895747357,671.208505285,660.895747357,632,876,783,799.104252643,648.104252643,628.895747357,649.104252643,0.440872098496,-0.0154145876464,0.0498290049913,0.999999967755,-8.67515669024e-06,-0.000250757610903,-3.91872798476e-05,1793192375030850560
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.953073894,742,711,672,661,632,876.046926106,783,799,649,628.953073894,649.046926106,0.439608768493,-0.0154023744577,0.0498458366947,0.99999997238,-4.22366849845e-05,-0.000226530591011,-4.62663248975e-05,1793192375064183808
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.377736343,742,711,672,661,632,876.622263657,783,799,649,628.377736343,649.622263657,0.438879918347,-0.015397374891,0.0498088413495,0.999999954743,-6.25450778569e-05,-0.000289420412335,-5.32657935217e-05,1793192375080850944
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763.203695093,742,711,671.796304907,661,632,876.796304907,783,799,649,628.203695093,650,0.438148577562,-0.015392694682,0.0497778325234,0.999999936691,-8.34256075052e-05,-0.000340725907339,-5.96911849206e-05,1793192375097518080
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.796775623,742,711,671.203224377,661,632,876.203224377,783,799,649,628.796775623,650,0.437412475693,-0.0153886249604,0.0497582675853,0.999999923924,-0.000105399838298,-0.000369886694363,-6.50191648584e-05,1793192375114184960
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763.621080211,742,711,671.378919789,661,632.378919789,876.378919789,783,799,649,628.621080211,650,0.436670124476,-0.015388755653,0.0497766556481,0.999999928945,-0.000129822730641,-0.000347690981545,-6.60892887412e-05,1793192375130851072
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.044636973,742,711,671.955363027,661,632.955363027,876.955363027,783,799,649,628.044636973,650,0.43592451562,-0.0153910759393,0.0498148278657,0.99999994118,-0.000155522061224,-0.000298724131908,-6.49398755451e-05,1793192375147517440
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.531078206,742,711.531078206,672,660.468921794,632.468921794,877,783,799,649,628,650,0.435110933485,-0.0153874140198,0.0498090385071,0.999999933249,-0.000174606459021,-0.00031356526426,-6.84875677275e-05,1793192375164184064
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.89108552,742,712,672,660,632,876.89108552,783,799,649,628,650,0.434296671878,-0.0153833185636,0.0497993656996,0.999999929173,-0.000163282802423,-0.000331323563783,-7.2236203681e-05,1793192375180850688
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.303662033,742,712,672,660,632,876.303662033,783,799,649,628,650,0.433504491222,-0.0153795244005,0.0497888425475,0.999999939714,-2.08025727978e-05,-0.000338368308546,-7.51355593273e-05,1793192375197517312
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,660.280211859,632.280211859,876,783,799,648.719788141,628.280211859,650,0.432691987016,-0.015378416506,0.0497956597511,0.999999942103,7.19329607128e-05,-0.000325822047138,-6.6776999849e-05,1793192375214184192
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,660.860287292,632.860287292,876,783,799,648.139712708,628.860287292,650,0.431857733838,-0.0153801832718,0.0498210334162,0.999999949993,0.000111435139228,-0.000292310836117,-4.63709907759e-05,1793192375230851328
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,742.436721124,711.563278876,672,660.563278876,633,876,783,799,648.436721124,628.563278876,650,0.430965203289,-0.0153749650199,0.0498154537175,0.99999994918,9.76102057288e-05,-0.000299860691162,-4.68696175934e-05,1793192375247517952
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.587329018,742.412670982,711.587329018,671.412670982,660,632.412670982,876,783,799.587329018,649,628,650,0.4291410745,-0.0153660663448,0.0497755324167,0.999999932942,3.70055186655e-05,-0.000359355197554,-6.00815885498e-05,1793192375280850944
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.833090468,742,711.833090468,671.166909532,660,632.166909532,876,783,799.833090468,649,628,649.833090468,0.428237995409,-0.0153653967546,0.0497644972123,0.999999925732,7.458145878e-06,-0.00037991991686,-6.43536271508e-05,1793192375297517824
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.242722176,742,711.242722176,671.757277824,660,632.757277824,876,783,799.242722176,649,628,649.242722176,0.427360253999,-0.0153670528801,0.0497872036922,0.99999993476,-2.1248253475e-05,-0.000354873796014,-6.39818341119e-05,1793192375314184192
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,632.495319857,875.495319857,783,799,649,628,650,0.42462862781,-0.0153654822798,0.0497979057703,0.999999947514,-3.9806136338e-05,-0.000314768508644,-6.5631534589e-05,1793192375364184320
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.141186243,633,875.929406879,783,799,649,628.070593121,650,0.423756743014,-0.0153704696754,0.0498324021011,0.999999968099,-2.86616797688e-05,-0.000243106680951,-6.22873463899e-05,1793192375380851200
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,661.292164699,633,875.35391765,783,799,649,628.64608235,650,0.422856491493,-0.0153724027404,0.0498455382581,0.999999972195,-3.12428810699e-05,-0.000225773584652,-6.04936516583e-05,1793192375397517824
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711.227265367,671,661.545469266,632.772734633,875.227265367,783,799.227265367,648.772734633,628.772734633,650,0.421944637655,-0.0153721052918,0.0498400515255,0.99999996853,-3.96592939512e-05,-0.000239988453364,-6.14187308742e-05,1793192375414184704
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,743,711,672,660,633,876,783,800,649,628,650,0.418280450739,-0.0153698782066,0.0497982085371,0.999999936088,-4.78735834964e-05,-0.000348064927654,-6.62060015286e-05,1793192375480850688
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,762.281746826,742.281746826,711,671.281746826,660,633,876,783,800,649,628,650,0.416579085638,-0.0153630938366,0.0497876658137,0.999999934553,-4.09586696595e-05,-0.00035254833732,-7.01841365248e-05,1793192375514184192
+329,5.483333333,POSE2_TO_POSE3_RETREAT,762.303212459,742,711,671,660.606424918,633,876,783,799.696787541,649,628,650,0.415785070764,-0.0153637219588,0.0498039385949,0.999999946626,-5.31259549174e-05,-0.0003147117447,-6.98762636956e-05,1793192375530850816
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,661.075521316,633,875.537760658,783,799,649,628.462239342,650,0.414172010186,-0.015368753579,0.0498185136202,0.999999953201,-7.36853134076e-05,-0.000289002161874,-6.81670648384e-05,1793192375564184320
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.571265537,660,633,875.571265537,783,799,649,628,650,0.406226355607,-0.0154096265771,0.0498178663817,0.999999944652,-7.16663006657e-05,-0.000319745914557,-5.76363672874e-05,1793192375764184064
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763,742,711,670.004655031,660,632.995344969,875.004655031,782.995344969,799,649,628.004655031,650,0.405685674602,-0.015403181184,0.0497859671269,0.999999924641,-7.81016489418e-05,-0.000375109388638,-6.25400799125e-05,1793192375780850432
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,762.087863186,742,711,670,660.912136814,633,875,783,800,649,628,650,0.403713690229,-0.0154193368192,0.0498518239807,0.999999950132,-0.000154204195123,-0.000269251590472,-5.88227836767e-05,1793192375864183552
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,711,670.766563773,660,632.766563773,875.233436227,783,799.766563773,649,628,650,0.402529048111,-0.0154246801457,0.049842139565,0.999999933746,-0.000192272902369,-0.000302835977589,-6.18795689172e-05,1793192375930850304
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,742,711,670.96801438,659.03198562,632.96801438,875.03198562,783,799,649,628,650,0.401874965912,-0.0154275935042,0.0498177276667,0.999999915646,-0.000211449550537,-0.000345907386222,-6.59140596389e-05,1793192375980850176
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,763,742,711.549464847,671,659.450535153,633,875.549464847,783,799,649,628.549464847,650,0.401228454845,-0.0154201063066,0.0498408400731,0.999999950896,-0.000110077596625,-0.000290241995191,-4.3006413168e-05,1793192376080851200
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,763,742,711,670,660,633,875,782.822957805,799,649,628.822957805,650,0.401070478025,-0.015436229921,0.0498393175525,0.999999946277,-0.000140668889968,-0.000292725789958,-4.43780497342e-05,1793192376130850304
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_06/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..49434ea557b23ee3bf5067942aa3ca170133e663
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,401 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_07/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..df1cde36d7aad8a2d30f3b2f1948922015316cdd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59e6532edc38f2d339090f6f275e0398b6ff41b74cc96a2d5ca886fa56ceae72
+size 24851899
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_07/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6e48d5642231c6777258e59b88b530e7c6b229f9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_01/franka_data.csv
@@ -0,0 +1,392 @@
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+18,0.300000000,BASELINE,763,742,712,670,660,633,876.551195618,783,799,648.551195618,628,651,0.400994479349,-0.0155015222281,0.0698382468184,0.999999980899,6.67272937367e-05,-0.000182933092481,1.68643076554e-05,1793192378636794624
+19,0.316666667,BASELINE,762.97474113,742,712,670,659.97474113,632.97474113,876,783,799,648,628,650.97474113,0.40099615848,-0.0155021911706,0.0698395088883,0.999999981222,6.69742717795e-05,-0.000181062029543,1.69609132067e-05,1793192378653461248
+20,0.333333333,BASELINE,762.400464998,742,712,670,659.400464998,632.400464998,876,783,799,648,628,650.400464998,0.400994881297,-0.0155017084992,0.0698381333363,0.999999980896,6.63842707856e-05,-0.000183106406244,1.65486184293e-05,1793192378670127616
+21,0.350000000,BASELINE,762.178341068,742.178341068,712,670.178341068,659,632,876,782.821658932,799,648,628.178341068,650,0.400994139718,-0.0155011725265,0.0698375603764,0.999999980635,6.69020993068e-05,-0.000184351203913,1.6383965239e-05,1793192378686794240
+22,0.366666667,BASELINE,762.767584132,742.767584132,712,670.767584132,659,632,876,782.232415868,799,648,628.767584132,650,0.400994632185,-0.0155005137464,0.069838836608,0.999999980528,6.99723930451e-05,-0.000183753752493,1.67898841191e-05,1793192378703461120
+23,0.383333333,BASELINE,763,743,711.648795989,670.648795989,659,632.351204011,876,782.351204011,799,648.351204011,628.648795989,650.351204011,0.400994335801,-0.0155006288378,0.0698387138703,0.99999998054,6.96156991033e-05,-0.000183830029517,1.6765510065e-05,1793192378720127744
+24,0.400000000,BASELINE,763,743,711.06883866,670.06883866,659,632.93116134,876,782.93116134,799,648.93116134,628.06883866,650.93116134,0.400993525606,-0.0155012479827,0.0698376799278,0.999999980627,6.70268703488e-05,-0.000184345132955,1.64608689304e-05,1793192378736794368
+25,0.416666667,BASELINE,763,742.493710607,711.506289393,670.506289393,659,633,876,783,799,648.493710607,628,650.493710607,0.400993142013,-0.0155004462295,0.069837323155,0.999999980527,6.65188340825e-05,-0.000185090267982,1.62375492233e-05,1793192378753460736
+26,0.433333333,BASELINE,763,742,712,671,659,633,876.082553697,783,799,648,628,650,0.400992967268,-0.0154997003161,0.0698371485697,0.999999980447,6.62037221141e-05,-0.000185649290033,1.60392305901e-05,1793192378770127616
+27,0.450000000,BASELINE,763,742,712,671,659,633,876.669739764,783,799,648,628,650,0.400993717942,-0.0155004655401,0.0698375301543,0.999999980647,6.53548318704e-05,-0.000184881264095,1.59267873029e-05,1793192378786794240
+28,0.466666667,BASELINE,763.25327342,742,712,670.49345316,659.25327342,632.74672658,876.49345316,783,799.25327342,648,628,650,0.400994227573,-0.0155004435515,0.0698378448635,0.999999980764,6.56698037127e-05,-0.000184119250432,1.60859306834e-05,1793192378803461120
+29,0.483333333,BASELINE,763.832112123,742,712,669.335775755,659.832112123,632.167887877,875.335775755,783,799.832112123,648,628,650,0.400994427361,-0.0154994096561,0.069838073609,0.999999980774,6.74808389891e-05,-0.000183364965173,1.65941797542e-05,1793192378820128000
+30,0.500000000,BASELINE,763.178509036,742,712,669.821490964,659.589254518,632.410745482,875.410745482,783,799.178509036,648,628,650,0.400994332588,-0.0155000893224,0.0698379901262,0.999999980712,6.75891983131e-05,-0.000183660890928,1.66001749538e-05,1793192378836794368
+31,0.516666667,BASELINE,762.021410125,742,712,670.978589875,659.010705062,632.989294938,875.989294938,783,798.021410125,648,628,650,0.400994117477,-0.0155014690389,0.0698377790872,0.999999980622,6.70019545915e-05,-0.000184385864832,1.64009817729e-05,1793192378853460992
+32,0.533333333,BASELINE,762.563407184,742,712,670.436592816,659.563407184,633,876,783,798.563407184,648,628,650.563407184,0.400994698918,-0.0155003472202,0.0698384762209,0.999999980748,6.82633912643e-05,-0.00018321080118,1.66781381072e-05,1793192378870127872
+33,0.550000000,BASELINE,763,742,712,670,660,632.861959236,876,783,799,648.138040764,628,650.861959236,0.400994884361,-0.0154994923029,0.0698387546681,0.999999980795,6.89279925449e-05,-0.000182693809172,1.68164361599e-05,1793192378886794496
+34,0.566666667,BASELINE,763,742,712,670,660,632.28540391,876,783,799,648.71459609,628,650.28540391,0.400993764131,-0.0154996350636,0.069837648684,0.999999980582,6.75859116397e-05,-0.000184381104391,1.64850951819e-05,1793192378903461120
+35,0.583333333,BASELINE,762.700369692,742,711.700369692,670,659.700369692,632.299630308,876,783,799.299630308,648.700369692,628,650.299630308,0.400993492016,-0.0154999855051,0.0698373844002,0.999999980531,6.67861803379e-05,-0.000184962639754,1.63064770553e-05,1793192378920127744
+36,0.600000000,BASELINE,762.107023892,742,711.107023892,670,659.107023892,632.892976108,876,783,799.892976108,648.107023892,628,650.892976108,0.400994051276,-0.0155005395278,0.0698379452011,0.999999980642,6.65180922954e-05,-0.000184460243578,1.62775669341e-05,1793192378936794368
+37,0.616666667,BASELINE,762.471793741,742,711,670,659,633,876,783,799.528206259,648.471793741,628,650.528206259,0.400994806669,-0.0155001993036,0.0698386129357,0.999999980829,6.65540864628e-05,-0.000183439048863,1.62287384032e-05,1793192378953460736
+38,0.633333333,BASELINE,762.952898963,742,711.047101037,670.047101037,659,632.952898963,876,783,799,649,628,650,0.40099539625,-0.0154998012582,0.0698392036211,0.999999980994,6.65724598764e-05,-0.000182531973451,1.62142504426e-05,1793192378970127360
+39,0.650000000,BASELINE,762.381079851,742,711.618920149,670.618920149,659,632.381079851,876,783,799,649,628,650,0.400993657787,-0.0155009514213,0.069838673799,0.999999980748,6.56490406395e-05,-0.000184168111457,1.66311578224e-05,1793192378986793984
+40,0.666666667,BASELINE,762.198613436,742,712,670.801386564,659.198613436,632,876,783,799,648.801386564,628,650,0.400993157404,-0.0155014797097,0.069838582813,0.999999980676,6.55148454286e-05,-0.000184590153717,1.68092647109e-05,1793192379003461120
+41,0.683333333,BASELINE,762.794038577,742,712,670.205961423,659.794038577,632,876,783,799,648.205961423,628,650,0.400995130593,-0.0155007655487,0.0698393685819,0.999999980953,6.69574485928e-05,-0.00018258654224,1.65102697618e-05,1793192379020127744
+42,0.700000000,BASELINE,762.621326173,742,712,670.378673827,659.621326173,632.378673827,876,783,799,648,628,650,0.400994587809,-0.0154999994949,0.0698389522242,0.99999998093,6.6520532179e-05,-0.000182900728013,1.620320364e-05,1793192379036794368
+43,0.716666667,BASELINE,762.042396997,742,712,670.957603003,659.042396997,632.957603003,876,783,799,648,628,650,0.400992714496,-0.0154992059985,0.0698379001418,0.999999980746,6.50896630788e-05,-0.000184440642339,1.58918692225e-05,1793192379053461248
+44,0.733333333,BASELINE,762.530543294,742,712,670.469456706,659,633,876,783,799,648,628,650,0.400992762593,-0.0155003322795,0.0698376379845,0.999999980609,6.57329186079e-05,-0.000184945827075,1.60342657168e-05,1793192379070127616
+45,0.750000000,BASELINE,763,742,712,670,659,633,876.106209498,783,799,648.106209498,628,650,0.40099302165,-0.0155013024882,0.0698375946419,0.99999998053,6.66068686776e-05,-0.000185044725945,1.61844332977e-05,1793192379086794240
+46,0.766666667,BASELINE,763,742,712,670,659,633,876.696455285,783,799,648.696455285,628,650,0.40099355018,-0.0155008700557,0.0698382640475,0.999999980705,6.77852343586e-05,-0.000183664661005,1.62066164862e-05,1793192379103460864
+47,0.783333333,BASELINE,763,742,712,670,659.281303966,633,876.718696034,782.718696034,799.281303966,649,628,650,0.400993382561,-0.0155002826649,0.0698382957801,0.99999998071,6.78638268871e-05,-0.00018360099249,1.62831893261e-05,1793192379120127488
+48,0.800000000,BASELINE,763,742,712,670,659.860438533,633,876.139561467,782.139561467,799.860438533,649,628,650,0.400992477894,-0.0154995312119,0.0698376523763,0.999999980536,6.67780346288e-05,-0.00018493105865,1.64173472173e-05,1793192379136794368
+49,0.816666667,BASELINE,762.561935208,742,712,670.438064792,659.561935208,633,876,782.438064792,799.561935208,648.561935208,628,650,0.400994079318,-0.0155012474695,0.069838695327,0.999999980984,6.4351767948e-05,-0.000183337834161,1.66878672358e-05,1793192379153460992
+50,0.833333333,BASELINE,762.015008465,742,712,671,659,633,876.015008465,783,799,648,628,650,0.40099637025,-0.0155036132054,0.0698402189184,0.99999998159,6.16670197227e-05,-0.000180909712142,1.69814281203e-05,1793192379170127872
+51,0.850000000,BASELINE,762.584428499,742,712,671,659,633,876.584428499,783,799,648,628,650,0.400994739669,-0.0155010288835,0.0698397194859,0.999999981192,6.51552941527e-05,-0.00018192539556,1.6526838761e-05,1793192379186794496
+52,0.866666667,BASELINE,763,742,712,671,659.16042655,632.83957345,876.83957345,783,799,648.16042655,628,650,0.400993795169,-0.0154990352072,0.069839373617,0.999999980884,6.79972854853e-05,-0.000182609906091,1.61727815686e-05,1793192379203461120
+53,0.883333333,BASELINE,763,742,712,671,659.754192929,632.245807071,876.245807071,783,799,648.754192929,628,650,0.400994703892,-0.0154986369672,0.0698394425495,0.999999980849,6.9093554302e-05,-0.000182399861378,1.60902791563e-05,1793192379220127744
+54,0.900000000,BASELINE,763,742,712,670.660739602,659.660739602,632,876,783,799,649,628,650,0.400995038059,-0.0154990652525,0.0698394860571,0.999999980922,6.83534458808e-05,-0.000182267260843,1.6174911632e-05,1793192379236794112
+55,0.916666667,BASELINE,763,742,712,670.081817283,659.081817283,632,876,783,799,649,628,650,0.400994966346,-0.0155000774158,0.0698395116039,0.99999998107,6.63160751937e-05,-0.000182189368798,1.63776123224e-05,1793192379253460992
+56,0.933333333,BASELINE,763,742,712,670,659,632.495581442,875.504418558,782.504418558,799.495581442,648.504418558,628,650,0.400993950113,-0.0154999832557,0.0698391472155,0.999999980932,6.6356873528e-05,-0.000182955877193,1.61513350061e-05,1793192379270127616
+57,0.950000000,BASELINE,763,742,712,670,659.073756828,633,875.073756828,782.073756828,799.926243172,648,628,650,0.400993144854,-0.0154998415647,0.0698388229695,0.999999980796,6.67151708197e-05,-0.000183583963931,1.59473827895e-05,1793192379286794240
+58,0.966666667,BASELINE,763,742,712,670,659.659057697,633,875.659057697,782.659057697,799.340942303,648,628,650,0.400994881001,-0.0155006330948,0.0698392222458,0.999999981013,6.69032576291e-05,-0.000182288133098,1.63879479207e-05,1793192379303460864
+59,0.983333333,BASELINE,763,742,712,670.243342752,659.756657248,633,876,783,799,648,628,650,0.400995888599,-0.0155008187867,0.0698397798199,0.999999981122,6.70461622913e-05,-0.000181620504344,1.65494166866e-05,1793192379320127488
+60,1.000000000,BASELINE,763,742,712,670.826210572,659.173789428,633,876,783,799,648,628,650,0.400995879688,-0.0155001591803,0.0698405582596,0.999999981083,6.71260263866e-05,-0.000181829377176,1.63214750578e-05,1793192379336794368
+61,1.016666667,BASELINE,763,742,712,670.596999278,659.403000722,633,876,783,799.403000722,648,628,650,0.400994207046,-0.0154996250002,0.0698396753542,0.999999980807,6.76535882984e-05,-0.000183156942565,1.62021279144e-05,1793192379353460992
+62,1.033333333,BASELINE,763,742,712,670.022791148,659.977208852,633,876,783,799.977208852,648,628,650,0.400991827598,-0.0154991441052,0.0698380866568,0.999999980428,6.83713463464e-05,-0.000184959763793,1.61289151444e-05,1793192379370127616
+63,1.050000000,BASELINE,763,742,712,670.552633646,659.447366354,633,876,783,799.447366354,648,628,650,0.400992034552,-0.0154998038491,0.0698372955429,0.999999980378,6.73478123051e-05,-0.000185622670504,1.58779635924e-05,1793192379386794496
+64,1.066666667,BASELINE,763,742,712,670.869322808,659,633,876,783,799,648,628,650,0.400992280859,-0.0155003034465,0.0698368211204,0.999999980353,6.64306190427e-05,-0.000186109305741,1.56362774223e-05,1793192379403461120
+65,1.083333333,BASELINE,763,742,712,670.282310002,659,633,876,783,799,648,628,650,0.400992291286,-0.015500079165,0.0698373374917,0.999999980369,6.61361054817e-05,-0.000186144915492,1.5452600616e-05,1793192379420127744
+66,1.100000000,BASELINE,763,742,712,670,659,632.697265752,876.302734248,782.697265752,799,648,627.697265752,650,0.400991929372,-0.0154998054161,0.0698372132763,0.999999980218,6.70958349336e-05,-0.000186607988945,1.54639203852e-05,1793192379436794368
+67,1.116666667,BASELINE,763,742,712,670,659,632.114045421,876.885954579,782.114045421,799,648,627.114045421,650,0.400991222478,-0.0154994858353,0.0698364955513,0.99999997991,6.92176321674e-05,-0.000187467111472,1.56559062974e-05,1793192379453460992
+68,1.133333333,BASELINE,763,742,712,670,659.461843042,632.461843042,876.538156958,782.461843042,799,648,627.461843042,650,0.400992216843,-0.0155001378781,0.0698376408456,0.999999980378,6.75431544554e-05,-0.000185542971563,1.5965294644e-05,1793192379470127616
+69,1.150000000,BASELINE,763,742,712,670,659.964039576,633,876,783,799,648,628,650,0.400993440016,-0.0155009868335,0.0698390728732,0.999999980957,6.52283174171e-05,-0.000183210192842,1.628490154e-05,1793192379486794496
+70,1.166666667,BASELINE,763,742,712,670,659.389756286,633,876,783,799,648,628,650,0.400991897835,-0.0155012479754,0.0698380180593,0.999999980521,6.71413653164e-05,-0.000184887950435,1.63302715763e-05,1793192379503461120
+71,1.183333333,BASELINE,762.809200789,742,712,670,659,633,875.809200789,783,799,648,628,650,0.400991839388,-0.0155013051585,0.069837881826,0.999999980417,6.83671733606e-05,-0.000184996076937,1.64006230964e-05,1793192379520127744
+72,1.200000000,BASELINE,762.215397078,742,712,670,659,633,875.215397078,783,799,648,628,650,0.400994914872,-0.0155009315418,0.0698396858105,0.999999981018,6.81413994833e-05,-0.000181788842076,1.65237403062e-05,1793192379536794368
+73,1.216666667,BASELINE,762,742,712,670.367671324,659.367671324,633,875.367671324,783,799,648.367671324,628,650,0.40099522911,-0.0155008162044,0.0698399772705,0.999999981025,6.80418480348e-05,-0.000181795463376,1.64739045995e-05,1793192379553460992
+74,1.233333333,BASELINE,762,742,712,670.944628927,659.944628927,633,875.944628927,783,799,648.944628927,628,650,0.400993971587,-0.015500847885,0.0698394077695,0.999999980694,6.80141450707e-05,-0.000183631479634,1.63256204346e-05,1793192379570127616
+75,1.250000000,BASELINE,762,742,712,670.481758406,659.481758406,632.481758406,875.481758406,783,799,648.481758406,628,650,0.40099400705,-0.0155013403342,0.0698395219185,0.999999980863,6.70629110327e-05,-0.000183050755123,1.63709661294e-05,1793192379586794240
+76,1.266666667,BASELINE,762,742,712,669.905754226,659.094245774,632.094245774,875,783,799,648,628,650,0.400994091486,-0.0155016757902,0.0698395781231,0.999999981022,6.62408373064e-05,-0.00018248176084,1.64128802166e-05,1793192379603461120
+77,1.283333333,BASELINE,762,742,712,669.315288719,659.684711281,632.684711281,875,783,799,648,628,650,0.400993711063,-0.0155009271068,0.0698389471185,0.999999980844,6.6615016866e-05,-0.00018332535225,1.63284979634e-05,1793192379620127744
+78,1.300000000,BASELINE,762.269972711,742,712,669.269972711,660,632.730027289,875.539945421,783,799,648,628,650,0.400993904258,-0.0155008923029,0.0698390798532,0.999999980909,6.66941683385e-05,-0.000182932359058,1.6391301006e-05,1793192379636794368
+79,1.316666667,BASELINE,762.849271434,742,712,669.849271434,660,632.150728566,876.698542868,783,799,648,628,650,0.400994754685,-0.0155016754391,0.0698400876557,0.999999981252,6.64352861311e-05,-0.000181122527106,1.66227442134e-05,1793192379653460992
+80,1.333333333,BASELINE,763,742,712,670,660,632.425524083,876.574475917,783,799,648.425524083,628,650.425524083,0.400994152639,-0.0155011425713,0.0698392204193,0.999999981046,6.63056743355e-05,-0.000182336802357,1.62864166542e-05,1793192379670127616
+81,1.350000000,BASELINE,763,742,712,670,659.999294789,633,876,782.999294789,799,648.999294789,628,651,0.400993041185,-0.015500148817,0.0698376965547,0.999999980643,6.622060554e-05,-0.000184612043227,1.575137708e-05,1793192379686794496
+82,1.366666667,BASELINE,763,742,712,670,659.424325717,633,876,782.424325717,799,648.424325717,628,651,0.400993093149,-0.0155007458124,0.0698384730895,0.999999980667,6.5385121188e-05,-0.000184756886212,1.60091481463e-05,1793192379703461120
+83,1.383333333,BASELINE,763,742,712,670,659,633,876,782.154474193,799.154474193,648.154474193,628,650.845525807,0.400993137165,-0.015501055045,0.069838863127,0.999999980666,6.50166550523e-05,-0.000184877577321,1.61690132348e-05,1793192379720127488
+84,1.400000000,BASELINE,763,742,712,670,659,633,876,782.74406478,799.74406478,648.74406478,628,650.25593522,0.400993158795,-0.0155005537199,0.0698381644956,0.999999980596,6.59636659483e-05,-0.000184930238482,1.60531009513e-05,1793192379736794112
+85,1.416666667,BASELINE,762.671393864,742,712,670,659.657212273,632.671393864,876,783,799.671393864,649,628,650,0.400992904673,-0.0155001821644,0.0698382620254,0.99999998056,6.74618759473e-05,-0.000184573972671,1.61686186365e-05,1793192379753460992
+86,1.433333333,BASELINE,762.090725629,742,712,670,660.818548741,632.090725629,876,783,799.090725629,649,628,650,0.400992439029,-0.0154999101505,0.0698389702622,0.999999980547,6.93828911479e-05,-0.000183904033498,1.64616580394e-05,1793192379770127872
+87,1.450000000,BASELINE,762,742,712,670,660.028844024,632.485577988,876,783,799,648.514422012,628,650,0.400993485472,-0.0155001960083,0.0698396261573,0.999999980686,6.98388711038e-05,-0.000182977354435,1.64144441222e-05,1793192379786794496
+88,1.466666667,BASELINE,762.062156172,742,712,670.062156172,659,632.937843828,876,783,799,648.062156172,628,650,0.400994597772,-0.0155005544789,0.0698401679296,0.999999980842,6.97945045121e-05,-0.000182150258203,1.6317855489e-05,1793192379803460864
+89,1.483333333,BASELINE,762.64785472,742,712,670.64785472,659,632.35214528,876,783,799,648.64785472,628,650,0.400993906328,-0.0155006544342,0.0698398300845,0.999999980902,6.78207862519e-05,-0.00018256239726,1.63360897738e-05,1793192379820127488
+90,1.500000000,BASELINE,762.767736299,742,711.767736299,670.767736299,659,632,876,783,799.232263701,649,628,650,0.400993949387,-0.0155000279255,0.0698396866286,0.999999980862,6.7789110658e-05,-0.000182798659316,1.63082708929e-05,1793192379836794112
+91,1.516666667,BASELINE,762.185271743,742,711.185271743,670.185271743,659,632,876,783,799.814728257,649,628,650,0.40099509991,-0.0154983060742,0.0698398362676,0.999999980668,7.06855940415e-05,-0.000182769738803,1.62110143072e-05,1793192379853460992
+92,1.533333333,BASELINE,762.391744344,742,711.391744344,670,659,632,876,783,799.216511312,648.608255656,628,650,0.400993890362,-0.015498898787,0.0698392217936,0.999999980571,6.91945324446e-05,-0.00018386723983,1.62262288098e-05,1793192379870127616
+93,1.550000000,BASELINE,762.966219028,742,711.966219028,670,659,632,876,783,798.067561944,648.033780972,628,650,0.400991579952,-0.015500571135,0.0698382508969,0.999999980509,6.56568874092e-05,-0.000185490163604,1.62939057846e-05,1793192379886793984
+94,1.566666667,BASELINE,763,742,711.460153069,670.539846931,659,632.539846931,876,783,798.539846931,648.539846931,628,650,0.400993272276,-0.0155011125721,0.0698392968257,0.999999980968,6.44362557362e-05,-0.000183452097214,1.60639176739e-05,1793192379903460864
+95,1.583333333,BASELINE,763,742,711.11732161,670.88267839,659,633,875.88267839,782.88267839,799.11732161,649,628,650,0.4009944672,-0.0155011659946,0.06983995701,0.9999999812,6.4339285625e-05,-0.000182228148727,1.59151350926e-05,1793192379920127488
+96,1.600000000,BASELINE,763,742,711.710617478,670.289382522,659,633,875.289382522,782.289382522,799.710617478,649,628,650,0.400992629597,-0.0154995261914,0.0698385410229,0.999999980387,6.82137218392e-05,-0.00018523502983,1.61712527269e-05,1793192379936794112
+97,1.616666667,BASELINE,763,742,712,670,659,632.704693463,875.295306537,782,800,649,628,650,0.400992759519,-0.0154986746163,0.069838467091,0.999999980285,6.95524969318e-05,-0.000185285661583,1.61759394722e-05,1793192379953460736
+98,1.633333333,BASELINE,763,742,712,670,659,632.128199735,875.871800265,782,800,649,628,650,0.400994762893,-0.0154985735823,0.0698396710476,0.999999980871,6.84768469923e-05,-0.00018252138951,1.59412168552e-05,1793192379970127616
+99,1.650000000,BASELINE,763,742,712,670.44634645,659,632.44634645,875.55365355,782.44634645,799.55365355,648.55365355,628,650,0.400994775251,-0.0154983732384,0.069839722539,0.999999980931,6.85411611937e-05,-0.000182180275357,1.58512243183e-05,1793192379986794752
+100,1.666666667,BASELINE,763,742,712,671,659,633,875.020420216,783,798.979579784,648.020420216,628,650,0.400994210764,-0.0154981660931,0.0698394238527,0.99999998083,6.89087920793e-05,-0.000182597090068,1.57996379026e-05,1793192380003462400
+101,1.683333333,BASELINE,763,742,712,671,659,633,875.596795501,783,798.403204499,648.596795501,628,650,0.400993442895,-0.0154985469778,0.0698385641967,0.999999980448,6.865889855e-05,-0.00018478282627,1.5666845439e-05,1793192380020128512
+102,1.700000000,BASELINE,763,742,712,670.821714216,659,633,876,783,798.178285784,649,628,650,0.400993248834,-0.0154988442848,0.0698384476758,0.999999980349,6.86626635315e-05,-0.000185316977155,1.56621748175e-05,1793192380036794880
+103,1.716666667,BASELINE,763,742,712,670.22831444,659,633,876,783,798.77168556,649,628,650,0.400994390802,-0.0154989469924,0.0698400614432,0.999999980911,6.92570375948e-05,-0.000182005637882,1.59558183493e-05,1793192380053461760
+104,1.733333333,BASELINE,763,742,712,670.355837976,659,633,876,783,799,649,628,650,0.400994785206,-0.015499523168,0.0698403547221,0.999999981039,6.87051977798e-05,-0.000181504874767,1.60213626667e-05,1793192380070128384
+105,1.750000000,BASELINE,763,742,712,670.934207402,659,633,876,783,799,649,628,650,0.400994712103,-0.0155003954376,0.0698398222034,0.999999980898,6.74365468548e-05,-0.000182761769665,1.59442599313e-05,1793192380086795264
+106,1.766666667,BASELINE,763,742,712,671,659,633,876,783,799.507903816,648.492096184,628,650,0.400993084926,-0.015499599957,0.0698387006432,0.999999980506,6.78504e-05,-0.000184762577833,1.57438476123e-05,1793192380103461632
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,741,712,670,660,633,876,783,799,649,628,650,0.400992132534,-0.0154978639423,0.0698385061186,0.999999980116,7.10565719395e-05,-0.00018566066978,1.57762682497e-05,1793192380146052608
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,741.578792202,712,670,660.578792202,633,876,783,799,648.421207798,628,650,0.40099265333,-0.0154982996568,0.069838769009,0.999999980219,7.04429374948e-05,-0.000185318146627,1.60462016034e-05,1793192380162720000
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,742,712,670,660.686752718,633,876,782.843376359,799,648.156623641,628,650,0.400993288286,-0.0154988203478,0.0698391169938,0.999999980369,6.9617112661e-05,-0.00018480554575,1.62099933064e-05,1793192380179386880
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,742,712,670,659.536225639,633,876,782.268112819,799,648.731887181,628,650,0.400994228381,-0.0154995681725,0.0698396924272,0.999999980645,6.82241232318e-05,-0.000183838343433,1.60900786664e-05,1793192380196053504
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,742,712,670,659,633,876,782.30679106,799,649,628,650,0.400993402398,-0.0154997292825,0.0698389572782,0.99999998044,6.89225870288e-05,-0.000184702107895,1.59641629385e-05,1793192380212720128
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742,712,670,659,633,876,782.881380956,799,649,628,650,0.400991034801,-0.0154993782472,0.0698370781179,0.999999979807,7.14466867026e-05,-0.00018716412881,1.58330088498e-05,1793192380229386752
+113,1.883333333,POSE1_TO_POSE2_PRESS,762.529920335,742,712,670,659,633,875.529920335,782.529920335,799,648.529920335,628,650,0.40099139245,-0.0155001880005,0.0698374136723,0.999999979938,7.05767522507e-05,-0.00018676038294,1.620770716e-05,1793192380246053376
+114,1.900000000,POSE1_TO_POSE2_PRESS,762.061157474,742,712,670,659,633,875.061157474,782.061157474,799,648,628,650,0.400992647309,-0.0155011071347,0.0698383996447,0.999999980243,6.89257732848e-05,-0.000185707101413,1.66081840512e-05,1793192380262719744
+115,1.916666667,POSE1_TO_POSE2_PRESS,762.64127816,742,712,670,659,633,875.64127816,782.64127816,799,648,628,650,0.400995499587,-0.0155003919788,0.0698400158371,0.999999980349,6.81394879926e-05,-0.000185468296676,1.6110731378e-05,1793192380279386368
+116,1.933333333,POSE1_TO_POSE2_PRESS,762.781474548,742,712,670,659,632.781474548,876,782.781474548,799,648,628,650,0.401001946194,-0.0155001642995,0.0698435082988,0.999999980539,6.71931816808e-05,-0.000184796672508,1.60643486215e-05,1793192380296052736
+117,1.950000000,POSE1_TO_POSE2_PRESS,762.20888293,742,712,670,659,632.20888293,876,782.20888293,799,648,628,650,0.401014216517,-0.0155007264549,0.0698500407884,0.99999998086,6.59876011674e-05,-0.000183423772084,1.67488125672e-05,1793192380312719360
+118,1.966666667,POSE1_TO_POSE2_PRESS,762,742,712,670,659,632.376091359,876,782,799,648.376091359,628,650,0.401041094951,-0.0155023000497,0.0698607356575,0.999999982234,6.73270192878e-05,-0.000175151510835,1.79033087649e-05,1793192380329386240
+119,1.983333333,POSE1_TO_POSE2_PRESS,762,742,712,670,659,632.968177244,876,782,799,648.968177244,628,650,0.401076363027,-0.0155044545284,0.06987382104,0.999999984083,7.01280655763e-05,-0.000162916850068,1.93277511176e-05,1793192380346053120
+120,2.000000000,POSE1_TO_POSE2_PRESS,762.547154714,742,712,670,659.547154714,632.452845286,876,782.547154714,799.547154714,648.452845286,628,650,0.401132327755,-0.0155072195707,0.0698852577693,0.999999986316,6.87880034551e-05,-0.000149187536009,1.94829549386e-05,1793192380362720000
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742,711.875082867,670,660,632,876,783,799.875082867,648,628,650,0.401193010271,-0.0155099264206,0.0698952578546,0.999999988077,6.73578826354e-05,-0.000137614478303,1.92848170807e-05,1793192380379386624
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742,711.299019522,670,660,632,876,783,799.299019522,648,628,650,0.401266485776,-0.0155122978574,0.0699004076084,0.999999988633,6.64519974779e-05,-0.000134135481131,1.80709292191e-05,1793192380396052992
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742,711.281601915,670,659.718398085,632.281601915,876,782.718398085,799,648,628,650,0.401351066998,-0.0155146733328,0.0699040392367,0.999999989021,6.62948789038e-05,-0.000131526975853,1.62318708573e-05,1793192380412719616
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742,711.867142967,670,659.132857033,632.867142967,876,782.132857033,799,648,628,650,0.40144763486,-0.0155170531671,0.0699060323184,0.999999989233,6.69459206142e-05,-0.000129858011815,1.37180523076e-05,1793192380429386240
+125,2.083333333,POSE1_TO_POSE2_PRESS,762.551832777,742,712,670,659,633,876,782,799,648,628,650,0.401562550872,-0.0155200674931,0.0699057734751,0.999999989014,6.73199831485e-05,-0.000131636097015,1.05840143887e-05,1793192380446052608
+126,2.100000000,POSE1_TO_POSE2_PRESS,762,742,712,670,659,633,876,782.027806147,799,648,628,650,0.401684671934,-0.0155231298689,0.0699050691061,0.999999988712,6.75999905461e-05,-0.000133989188036,7.23065688159e-06,1793192380462719488
+127,2.116666667,POSE1_TO_POSE2_PRESS,762,742,712,670,659,633,876,782.606262819,799,648,628,650,0.401842836823,-0.0155234561273,0.0699086300642,0.999999989555,6.76272052772e-05,-0.000127695026635,3.13877694553e-06,1793192380479386112
+128,2.133333333,POSE1_TO_POSE2_PRESS,762.182820815,742,711.817179185,670,659.182820815,633,876,783,799,648,628,650,0.402011229456,-0.0155247400106,0.0699124752011,0.99999999044,6.64909180628e-05,-0.00012123558476,-1.14831591637e-06,1793192380496052992
+129,2.150000000,POSE1_TO_POSE2_PRESS,762.755331633,742,711.244668367,670,659.755331633,633,876,783,799,648,628,650,0.402201422923,-0.0155280651104,0.0699169260759,0.99999999146,6.28745791235e-05,-0.00011442384164,-5.85151254678e-06,1793192380512719616
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742,711.338148491,670,659.661851509,632.661851509,875.661851509,782.661851509,799,648,628,650,0.402411907599,-0.0155298202094,0.0699194972037,0.999999992325,5.17547304404e-05,-0.000112001679083,-1.13095165035e-05,1793192380529386240
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742,711.928656796,670,659.071343204,632.071343204,875.071343204,782.071343204,799,648,628,650,0.4026375356,-0.015530403619,0.0699206654791,0.999999992868,3.50350210625e-05,-0.000112855454486,-1.73308327514e-05,1793192380546052864
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742,712,670.507526538,659,632.507526538,875,782,799,648,628,650,0.402899526662,-0.0155258928385,0.0699243076901,0.999999993914,8.97508084446e-06,-0.000107517744548,-2.30350424853e-05,1793192380562719488
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.084897135,633,875.16979427,782.084897135,799,648,628,650,0.403174347344,-0.0155209484859,0.0699295836208,0.999999994639,-1.1087803945e-05,-9.9129426627e-05,-2.78097307544e-05,1793192380579386112
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659.662849993,633,876.325699986,782.662849993,799,648,628,650,0.403494657642,-0.0155175516868,0.0699423732653,0.999999996522,1.11326166182e-05,-7.79654820113e-05,-2.74391330802e-05,1793192380596052992
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,712,670.756066784,659.756066784,633,876.756066784,783,799.243933216,648.243933216,628,650,0.403823276714,-0.0155158408424,0.0699487875853,0.999999997082,1.90709729411e-05,-6.87460572518e-05,-2.73169907483e-05,1793192380612719616
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,712,670.170600747,659.170600747,633,876.170600747,783,799.829399253,648.829399253,628,650,0.404163528949,-0.0155164905166,0.0699462757622,0.999999996689,7.01289711925e-06,-7.62502503192e-05,-2.75427127482e-05,1793192380629386240
+137,2.283333333,POSE1_TO_POSE2_PRESS,762.590053099,742,712,670,659,633,876,783,799.590053099,649,628,650,0.404544102792,-0.0155192955664,0.069949722413,0.999999997204,-1.31877685906e-06,-6.87007932107e-05,-2.94886609722e-05,1793192380646053120
+138,2.300000000,POSE1_TO_POSE2_PRESS,762.011528003,742,712,670,659,633,876,783,799.011528003,649,628,650,0.404941257663,-0.015522986949,0.0699556193049,0.99999999794,-8.11808111994e-06,-5.49609801292e-05,-3.21419998998e-05,1793192380662720000
+139,2.316666667,POSE1_TO_POSE2_PRESS,762.567662358,742,712,670,659.567662358,632.432337642,876,783,799.567662358,649,628,650,0.405362343492,-0.0155233678453,0.0699550217218,0.999999997713,-1.06253453974e-05,-5.80631878703e-05,-3.30142136056e-05,1793192380679386368
+140,2.333333333,POSE1_TO_POSE2_PRESS,762.855018666,742,712,670.144981334,659.855018666,632,875.855018666,783,799.855018666,648.855018666,628,650,0.405790614495,-0.0155229985941,0.0699518330723,0.999999997194,-1.06293949319e-05,-6.58741944029e-05,-3.40390707046e-05,1793192380696052736
+141,2.350000000,POSE1_TO_POSE2_PRESS,762.283248498,742,712,670.716751502,659.283248498,632,875.283248498,783,799.283248498,648.283248498,628,650,0.406238604481,-0.0155206192328,0.0699414056742,0.999999995615,-3.52148963665e-06,-8.65387094527e-05,-3.56198744791e-05,1793192380712719616
+142,2.366666667,POSE1_TO_POSE2_PRESS,762,742,712,670.707872566,659,632.292127434,875.292127434,783,799,648.292127434,628,650.292127434,0.406718577494,-0.0155176889308,0.0699282680036,0.999999993737,-1.47268692872e-06,-0.000105202137679,-3.81663047664e-05,1793192380729386240
+143,2.383333333,POSE1_TO_POSE2_PRESS,762,742,712,670.128956702,659,632.871043298,875.871043298,783,799,648.871043298,628,650.871043298,0.407229949056,-0.0155142177569,0.069912469593,0.999999991693,-4.39052434736e-06,-0.000121901053988,-4.16607136905e-05,1793192380746052864
+144,2.400000000,POSE1_TO_POSE2_PRESS,762.459632399,742,711.540367601,670,659.459632399,633,875.540367601,783,799,649,628,650.540367601,0.40780431854,-0.0155149557695,0.0699205344976,0.999999993781,-1.3559148517e-05,-0.000102220813993,-4.24808554555e-05,1793192380762719744
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742,711.049651673,670.049651673,660,633,875.049651673,783,799,648.950348327,628,650,0.408398855045,-0.0155178701204,0.0699351344797,0.999999996203,-2.41947165621e-05,-7.2274630536e-05,-4.22487878316e-05,1793192380779386624
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742,711.625449031,670.625449031,660,633,875.625449031,783,799,648.374550969,628,650,0.40901577268,-0.0155310633091,0.0699465123853,0.999999997778,-3.13915511702e-05,-4.4025958901e-05,-3.89884499869e-05,1793192380796053248
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742,712,670.798410094,659.798410094,632.798410094,876.201589906,782.798410094,799,648,628.201589906,650,0.409629027258,-0.0155439240335,0.0699503728712,0.999999997874,-4.22163068313e-05,-3.28960656106e-05,-3.72596605521e-05,1793192380812719616
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742,712,670.221629915,659.221629915,632.221629915,876.778370085,782.221629915,799,648,628.778370085,650,0.410235464279,-0.0155561659893,0.0699402422653,0.999999996038,-5.97931892852e-05,-5.36268918665e-05,-3.83813219274e-05,1793192380829386496
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742.364185709,712,670,659.364185709,632,877,782.364185709,799,648,628.635814291,650,0.410891470758,-0.0155587402179,0.0699385816818,0.99999999551,-6.29301262014e-05,-5.85874031743e-05,-3.98401309695e-05,1793192380846052864
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742.955639841,712,670,659.955639841,632,877,782.955639841,799,648,628.044360159,650,0.411578410807,-0.0155552813453,0.0699422067774,0.999999996069,-5.70558806783e-05,-5.37065209933e-05,-4.15093354355e-05,1793192380862719232
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742.466469808,711.466469808,671.067060384,660,632.533530192,876.466469808,783,799,648,628,650,0.412317378537,-0.0155544900563,0.0699729030557,0.999999997438,-5.97105458092e-05,-3.85187339605e-06,-3.92916072256e-05,1793192380879386112
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742,711.110559723,671.889440277,660,633,876,783,799,648,628,650,0.413060856937,-0.0155540540513,0.0700017255228,0.999999996435,-6.28251326293e-05,4.23033888732e-05,-3.73370970087e-05,1793192380896052736
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742,711.688599555,671.311400445,660,633,876,783,799,648,628,650,0.413805570208,-0.0155542057281,0.0700133437283,0.999999995527,-6.49603165538e-05,5.73974966155e-05,-3.78281675929e-05,1793192380912719360
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876,783,799,648,628,650,0.414517146178,-0.0155515341704,0.0699948253524,0.999999996859,-6.42029103817e-05,2.20263670685e-05,-4.092056215e-05,1793192380929385984
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876,783,799,648,628,650,0.415190022139,-0.0155455654378,0.069941111326,0.999999994477,-6.0067330776e-05,-7.22816690473e-05,-4.70509684393e-05,1793192380946052864
+156,2.600000000,POSE1_TO_POSE2_PRESS,762.574794206,742,711.574794206,671,660,633,876.425205794,783,799,648.425205794,628,650,0.415945091898,-0.0155447470976,0.0699058297555,0.999999988232,-6.44373195766e-05,-0.000128905867151,-5.26120080591e-05,1793192380962719488
+157,2.616666667,POSE1_TO_POSE2_PRESS,762,742,711.020687712,671,660,633,876.979312288,783,799,649,628,650,0.416734829526,-0.0155460424402,0.0698802900425,0.999999981834,-7.21509784799e-05,-0.000166730901396,-5.76793532388e-05,1793192380979386112
+158,2.633333333,POSE1_TO_POSE2_PRESS,762,742,711.594431275,671,660,633,876.405568725,783,799,649,628,650,0.417567227033,-0.015548442637,0.0699169117223,0.999999989666,-7.77607048644e-05,-0.000107342572127,-5.56730274535e-05,1793192380996052736
+159,2.650000000,POSE1_TO_POSE2_PRESS,762,742,711.831312258,671,660,633,876.168687742,783,799,649,628,650,0.418399959693,-0.0155502473472,0.0699497317459,0.999999993797,-7.99589590179e-05,-5.65372738049e-05,-5.30610588395e-05,1793192381012719104
+160,2.666666667,POSE1_TO_POSE2_PRESS,762,742,711.255818911,671,660,633,876.744181089,783,799,649,628,650,0.419233500556,-0.0155506159883,0.0699733837323,0.999999995718,-7.39301423779e-05,-2.64307280001e-05,-4.8988528768e-05,1793192381029385984
+161,2.683333333,POSE1_TO_POSE2_PRESS,762.328889387,742,711.328889387,671,660,633,876.671110613,783,799.328889387,648.671110613,628,650,0.42007173356,-0.0155533845294,0.0699945296719,0.999999995961,-7.6350284402e-05,6.0679433135e-06,-4.70258322826e-05,1793192381046052608
+162,2.700000000,POSE1_TO_POSE2_PRESS,762.920971906,742,711.920971906,671,660,633,876.079028094,783,799.920971906,648.079028094,628,650,0.420913721401,-0.0155580735862,0.0700136701508,0.99999999443,-8.5531690433e-05,4.04809072431e-05,-4.67515264498e-05,1793192381062719488
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742,711.499021186,671.500978814,660,632.499021186,876,783,799.499021186,648.500978814,628,650,0.421747545629,-0.0155594690245,0.0700034198824,0.99999999477,-8.78112590799e-05,1.9233135886e-05,-4.8772575427e-05,1793192381079386368
+164,2.733333333,POSE1_TO_POSE2_PRESS,762.921178424,742,711.078821576,671.921178424,660.078821576,632.078821576,876.078821576,783,799,649,628,650,0.422565747325,-0.0155592604271,0.0699796714526,0.999999994499,-8.79726031543e-05,-2.38394617328e-05,-5.19001045736e-05,1793192381096053504
+165,2.750000000,POSE1_TO_POSE2_PRESS,762.345253685,742,711.654746315,671.345253685,660.654746315,632.654746315,876.654746315,783,799,649,628,650,0.423293352735,-0.0155521352533,0.0698993459021,0.999999983571,-8.14797377241e-05,-0.000150482936205,-5.9776041229e-05,1793192381112719872
+166,2.766666667,POSE1_TO_POSE2_PRESS,762,742,711.765473616,671.234526384,660.765473616,632.765473616,876.765473616,783,799,649,628,650,0.42405464692,-0.0155479760442,0.0698483571465,0.999999969769,-7.84687030801e-05,-0.000223610791871,-6.56035730988e-05,1793192381129386496
+167,2.783333333,POSE1_TO_POSE2_PRESS,762,742,711.179923045,671.820076955,660.179923045,632.179923045,876.179923045,783,799,649,628,650,0.424866364431,-0.0155482561016,0.0698412778285,0.999999970943,-8.06690520363e-05,-0.000216639892914,-6.83651852334e-05,1793192381146053376
+168,2.800000000,POSE1_TO_POSE2_PRESS,762.401652786,742,711.401652786,672,660,632,876.401652786,783,799.401652786,648.598347214,628,650,0.425733050457,-0.0155523294109,0.0698862744495,0.999999983481,-8.44401139074e-05,-0.000147577320808,-6.42632777537e-05,1793192381162719744
+169,2.816666667,POSE1_TO_POSE2_PRESS,762.98146552,742,711.98146552,672,660,632,876.98146552,783,799.98146552,648.01853448,628,650,0.426624118656,-0.015558085282,0.0699543702424,0.999999993117,-8.89078914925e-05,-5.09729267949e-05,-5.71169383551e-05,1793192381179386112
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742.559815868,711.440184132,672,660.559815868,632.559815868,877,783,799.440184132,648,628,650,0.427481616173,-0.0155605374149,0.0699828788019,0.999999994074,-9.223190068e-05,-1.78778598038e-05,-5.50088194053e-05,1793192381196052736
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742.863222659,711.136777341,672,660.863222659,632.863222659,877,783,799,648.136777341,628,650,0.428325647893,-0.015562790075,0.0700057372754,0.999999994027,-9.46067571667e-05,1.17291041972e-05,-5.34597173415e-05,1793192381212719872
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742.290533685,711.709466315,672,660.290533685,632.290533685,877,783,799,648.709466315,628,650,0.429130296872,-0.0155647547015,0.0700147550452,0.999999993481,-9.4077020127e-05,3.6903233537e-05,-5.31619822633e-05,1793192381229387008
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,742,712,672,660.290719256,632.290719256,877,783,799,648.709280744,628,650,0.429888034227,-0.015565591113,0.0700038484138,0.999999993633,-9.61186586243e-05,2.28648879661e-05,-5.45152093756e-05,1793192381246053632
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,742,712,672,660.880790426,632.880790426,877,783,799,648.119209574,628,650,0.430597466906,-0.0155652658083,0.0699724257425,0.999999992764,-0.000100808027312,-3.15503148657e-05,-5.7568422506e-05,1793192381262720000
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,742.464372828,711.535627172,672,661,633,877,783,799.464372828,648.464372828,628,650,0.431267871086,-0.0155606457174,0.0699136997759,0.999999984328,-9.88886705709e-05,-0.000132594456303,-6.31102503158e-05,1793192381279386368
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,743,711,672,661,632.954501958,876.954501958,783,799.954501958,649,628,650,0.431937436133,-0.0155557278473,0.0698552901273,0.999999966059,-9.63112814359e-05,-0.000232141824393,-6.86809774097e-05,1793192381296052736
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,743,711,672,661,632.382796258,876.382796258,783,799.382796258,649,628,650,0.432711574019,-0.0155599414754,0.0698804850319,0.999999976359,-0.000105474282131,-0.000177845108666,-6.72990889426e-05,1793192381312719360
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,742.809339321,711,672,661,632.190660679,876.190660679,783,799.190660679,649,628,650,0.433478415571,-0.01556517747,0.0699185500566,0.999999985848,-0.000112371874455,-0.000107635267469,-6.39586835648e-05,1793192381329385984
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,742.232333665,711,672,661,632.767666335,876.767666335,783,799.767666335,649,628,650,0.434230472348,-0.0155724851365,0.069982694434,0.999999991806,-0.000114678961397,-5.17987866936e-06,-5.66496400488e-05,1793192381346052608
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,742,711,672,660.646015258,632.646015258,876.646015258,783,799.646015258,648.646015258,628,650,0.434908085974,-0.0155759868181,0.0700077036393,0.999999991764,-0.000111722204469,3.34225133508e-05,-5.36014781355e-05,1793192381362719488
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,742,711,672,660.053419423,632.053419423,876.053419423,783,799.053419423,648.053419423,628,650,0.435535519535,-0.0155769229926,0.0700063329293,0.999999992618,-0.000105217239846,2.89834019971e-05,-5.34254565862e-05,1793192381379386624
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,742,711.525746043,672,660.525746043,632,876.525746043,783,799,648,628,650,0.436139762353,-0.015577865406,0.069986956935,0.999999990968,-0.000122214116473,1.03871262067e-06,-5.59090079516e-05,1793192381396053248
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,742.102597772,712,672.102597772,661,632,877,783.102597772,799,648,628,650,0.436736501498,-0.0155782449206,0.0699668975328,0.999999988579,-0.0001370020183,-2.55895192455e-05,-5.84625736842e-05,1793192381412720128
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,742.674948223,712,672.674948223,661,632,877,783.674948223,799,648,628,650,0.437309404375,-0.0155760443254,0.0699518767868,0.999999988979,-0.000131014851689,-3.55274533983e-05,-6.01302502084e-05,1793192381429386496
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,743,712,673,661,632.255221358,877.255221358,783.744778642,799,648.255221358,628,650,0.437851544145,-0.0155751055505,0.0699352352148,0.99999998858,-0.000127422366429,-5.20319923257e-05,-6.24205833486e-05,1793192381446053120
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,743,712,673,661,632.845908097,877.845908097,783.154091903,799,648.845908097,628,650,0.43835324855,-0.0155758253243,0.0699164632151,0.999999986814,-0.000126977473565,-7.71677382702e-05,-6.55293421201e-05,1793192381462719744
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,743,712,672.572035104,661,632.572035104,877.572035104,783,799,648.572035104,628,650,0.438807335174,-0.0155798277646,0.0698898665322,0.9999999813,-0.000131971335454,-0.000124895407479,-6.62205075381e-05,1793192381479386112
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.006935393,743,712,672,660.993064607,632,877,783,799,648,628,650,0.43924451479,-0.015584943646,0.0698606788713,0.999999971948,-0.00013881792361,-0.000180185925934,-6.60766152727e-05,1793192381496052480
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.582585107,743,712,672,660.417414893,632,877,783,799,648,628,650,0.439673427759,-0.0155863575949,0.0698454864511,0.999999967541,-0.000140184370273,-0.000201793847736,-6.74258576615e-05,1793192381512719616
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.841981861,742.841981861,712,672.158018139,660.158018139,632,877,783,799,648,628,650,0.440103250555,-0.0155894663294,0.0698390331135,0.999999965078,-0.000144763479613,-0.000210316581343,-6.82275490644e-05,1793192381529386752
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.267120297,742.267120297,712,672.732879703,660.732879703,632,877,783,799,648,628,650,0.440535473516,-0.0155970458177,0.0698556330062,0.999999968276,-0.000157817422166,-0.000184321291018,-6.75848304933e-05,1793192381546053120
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,742.315870895,712,672.684129105,660.684129105,632,877,783,799.315870895,648.315870895,628,650,0.440929828534,-0.0156035615795,0.0698694504106,0.999999969319,-0.00017144354753,-0.000165680607967,-6.72229419197e-05,1793192381562719744
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,742.90591859,712,672.09408141,660.09408141,632,877,783,799.90591859,648.90591859,628,650,0.441291314047,-0.0156091540233,0.0698808526063,0.999999968762,-0.000185566328398,-0.000153423745769,-6.71048146095e-05,1793192381579386112
+194,3.233333333,POSE1_TO_POSE2_PRESS,763,743,712,672.487391831,660.487391831,632,877,783,799.512608169,648.512608169,628,650,0.441611099503,-0.0156138745852,0.0698812887431,0.999999967519,-0.000189558355414,-0.000156717116873,-6.685011109e-05,1793192381596052992
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763,742.357569985,711.357569985,672.357569985,661,632,877,783,799.642430015,648,628.642430015,650,0.44215232254,-0.0156201495738,0.0698519059055,0.999999956486,-0.000194125591139,-0.0002116480075,-6.74474288486e-05,1793192381629385984
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,742,711,672,661,632,877,782.777867443,799.777867443,648.222132557,628.777867443,650,0.442380835833,-0.0156225563811,0.0698283929811,0.999999946688,-0.000197457254822,-0.000250928851821,-6.8331867729e-05,1793192381646052608
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,742,711,672,661,632,877,782.191562364,799.191562364,648.808437636,628.191562364,650,0.442593922123,-0.0156256064531,0.0698073627623,0.999999937374,-0.000202230072366,-0.000282018259268,-6.94243411397e-05,1793192381662719744
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,742.390974314,711,672,660.609025686,632,877,782.390974314,799,649,628,650,0.442794071738,-0.0156282954587,0.0697955442057,0.999999931439,-0.000205100328849,-0.00030019702968,-7.02683415161e-05,1793192381679386624
+200,3.333333333,POSE1_TO_POSE2_PRESS,763,742.971682298,711,672,660.028317702,632,877,782.971682298,799,649,628,650,0.442987943406,-0.0156308092448,0.0697881959215,0.999999927339,-0.000207047302907,-0.000312110474303,-7.0991761957e-05,1793192381696053248
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+203,3.383333333,POSE1_TO_POSE2_PRESS,763,742.687523738,712,672.687523738,660.312476262,632,877.312476262,782.312476262,799.687523738,649,628,650,0.443436922499,-0.015640082946,0.0697791206099,0.999999917155,-0.000230510594076,-0.000327959881399,-7.06903191454e-05,1793192381746053376
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+206,3.433333333,POSE1_TO_POSE2_PRESS,763,742.454488197,711.454488197,673,660,632,878,782.545511803,800,649,628,650,0.443725082974,-0.0156447339709,0.0697503878865,0.999999900008,-0.000238374821389,-0.000371402561444,-7.22632402342e-05,1793192381796052992
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+208,3.466666667,POSE1_TO_POSE2_PRESS,763,742.392272155,712,672.392272155,660,631.392272155,878,782,799.392272155,649,628,650,0.443868678264,-0.015645298002,0.0697513790733,0.999999900537,-0.000236903598441,-0.000370915582181,-7.22794837209e-05,1793192381829386496
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+210,3.500000000,POSE1_TO_POSE2_PRESS,763,742,712,672.754063247,660.754063247,631,877.245936753,782,799.754063247,648.245936753,628,650,0.443967185215,-0.0156465710303,0.0697515983891,0.999999901228,-0.00023507845024,-0.000370498738547,-7.08030272186e-05,1793192381862719744
+211,3.516666667,POSE1_TO_POSE2_PRESS,763,742.338698816,712,673,660.661301184,631.338698816,877,782,799.661301184,648.338698816,628,649.661301184,0.443998906141,-0.015646185555,0.0697488980661,0.999999900062,-0.000233830656379,-0.000374442517072,-7.06575124175e-05,1793192381879386368
+212,3.533333333,POSE1_TO_POSE2_PRESS,763,742.932708003,712,673,660.067291997,631.932708003,877,782,799.067291997,648.932708003,628,649.067291997,0.444023441313,-0.0156444870975,0.0697452772321,0.999999898576,-0.000231586358498,-0.000379680046786,-7.11191272509e-05,1793192381896053248
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+214,3.566666667,POSE1_TO_POSE2_PRESS,763,743,712,672,660,632,877,782,800.830657157,649,628,650,0.444051084552,-0.0156467248821,0.069739992285,0.99999989511,-0.000230773981236,-0.000389244215843,-7.07981950057e-05,1793192381929386240
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+216,3.600000000,POSE1_TO_POSE2_PRESS,763,743,712,672.245136581,660,632,877.245136581,782.245136581,799.245136581,649,628,650,0.44407041914,-0.015643686831,0.0697416889183,0.999999896869,-0.000227217891883,-0.000386947828522,-7.00399024366e-05,1793192381962719744
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+218,3.633333333,POSE1_TO_POSE2_PRESS,763,742.584521369,712,673,660,632,877.584521369,782.584521369,799.584521369,648.584521369,628,650,0.44407635625,-0.0156445955582,0.0697399375517,0.999999895729,-0.000227765804108,-0.00038973658472,-6.90662500035e-05,1793192381996053248
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+226,3.766666667,POSE1_TO_POSE2_PRESS,763,742.946660037,711,672.946660037,660,632,877,782.053339963,799,648.053339963,628,650,0.444079944548,-0.0156394681582,0.0697365916032,0.999999894789,-0.000223144953291,-0.000394712673125,-6.95019386825e-05,1793192382129385984
+227,3.783333333,POSE1_TO_POSE2_PRESS,763,742.373636261,711,672.373636261,660,632,877,782.626363739,799,648.626363739,628,650,0.444080095041,-0.0156393509213,0.0697359113096,0.999999894135,-0.000224267470396,-0.000395735859643,-6.94737990694e-05,1793192382146052608
+228,3.800000000,POSE1_TO_POSE2_PRESS,763,742,711,672.206159568,660,631.793840432,877,782.793840432,799,649,628,650,0.444079782572,-0.0156385653939,0.0697352196941,0.999999893866,-0.000223518054239,-0.00039684727507,-6.94220138876e-05,1793192382162719488
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+232,3.866666667,POSE1_TO_POSE2_PRESS,763,742,711,672.461863193,660,632,877,782,799.461863193,649,628,650,0.444079285787,-0.0156404427991,0.0697347291625,0.99999989328,-0.000224098211429,-0.000398078076352,-6.89471499015e-05,1793192382229385728
+233,3.883333333,POSE1_TO_POSE2_PRESS,763,742,711.113369873,672,660,631.886630127,877,782,799.113369873,648.886630127,628,650,0.44407923856,-0.0156389614132,0.0697342002251,0.999999893312,-0.000223101933853,-0.000398528159137,-6.91129032053e-05,1793192382246052352
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+240,4.000000000,HOLD_POSE2,763,742,712,672,660,632,877,783,799,648,628,650,0.444080075616,-0.0156399882902,0.0697343617148,0.999999893302,-0.000223529701899,-0.000398511481174,-6.79683027013e-05,1793192382386166784
+241,4.016666667,HOLD_POSE2,763,742,712,672.583146298,660,631.416853702,877,783,799,648.583146298,628,650,0.444081596428,-0.0156409337167,0.0697357277722,0.999999894119,-0.000224382934674,-0.000396003997512,-6.77807763197e-05,1793192382402833408
+242,4.033333333,HOLD_POSE2,763,742.163910398,712,673,660,631.163910398,877.327820796,782.836089602,799.327820796,649,628,650,0.444082598763,-0.0156409653003,0.0697364562693,0.999999894684,-0.000224320762345,-0.000394603728907,-6.7824425839e-05,1793192382419499776
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+256,4.266666667,POSE2_TO_POSE3_RETREAT,763,743,712,673,661,632,877,782,800,648,628,650,0.444083820849,-0.0156368831803,0.0697348471007,0.999999894546,-0.000220246908735,-0.000397272060835,-6.76263479937e-05,1793192382674054656
+257,4.283333333,POSE2_TO_POSE3_RETREAT,763,743,712,673,660.418883461,631.418883461,877,782,800,648.581116539,628,650,0.444084162725,-0.0156354728473,0.0697353078763,0.999999895091,-0.000218626127341,-0.000396719646268,-6.80776584903e-05,1793192382690722304
+258,4.300000000,POSE2_TO_POSE3_RETREAT,763,742.834125722,712,672.834125722,660,631.165874278,877,782,800,649,628,650.165874278,0.444084086462,-0.0156350184725,0.0697353950622,0.999999895265,-0.000217730829842,-0.000396750697094,-6.81998386353e-05,1793192382707389696
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763,742.239966333,712,672.239966333,660,631.760033667,877,782,800,649,628,650.760033667,0.444082930576,-0.0156370323688,0.0697345176446,0.99999989449,-0.000218708721468,-0.00039828824745,-6.74722088215e-05,1793192382724055808
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,743,712,672,660.49243957,632,877,782,799.49243957,649,628,650,0.444082293125,-0.0156360013271,0.069733359468,0.999999894197,-0.000217712022644,-0.000399530290077,-6.77007788849e-05,1793192382774054656
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,743,711.563791411,672.436208589,660,631.436208589,877.436208589,782.563791411,800,648.436208589,628,650,0.443887344986,-0.0156245866674,0.0696668211623,0.999999838102,-0.000214637995658,-0.000522025289544,-7.22293030604e-05,1793192382890721792
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742.791717463,711,673,660,632,877.791717463,783,800,649,628,650,0.442930921404,-0.0155756051862,0.0696684136002,0.999999845113,-0.00018046795561,-0.000524019035701,-5.10748898138e-05,1793192383024054784
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+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.152125412,742.152125412,711.847874588,672.152125412,660,632,877.152125412,783,799.847874588,648,628,650,0.440684634163,-0.0154834831148,0.0697568670297,0.999999928835,3.68045766191e-05,-0.000375390598649,7.56549245399e-06,1793192383157388544
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742.424240781,712,672,660,632,877,783,800,648.424240781,628,650,0.44027892202,-0.0154807683989,0.0697673625657,0.999999935732,4.59368056987e-05,-0.000355241156224,1.51544806131e-05,1793192383174054912
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,743,712,672.001020239,660.001020239,632,877,783,799.998979761,648.998979761,628,650,0.439859071581,-0.0154806083604,0.0697770212351,0.999999941509,5.36999524845e-05,-0.000337060686014,2.21224426951e-05,1793192383190721280
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,743,712,672.588295818,660.588295818,632,877,783,799.411704182,648.411704182,628,650,0.439360652546,-0.0154811332255,0.0697715687311,0.999999938379,3.38923018569e-05,-0.00034912343305,1.4371009731e-05,1793192383207388416
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.745644379,743,712,673,661,632,877.745644379,783,799.745644379,648.745644379,628,650,0.438308838128,-0.0154580544525,0.0697423549905,0.999999922807,5.97534561569e-05,-0.000388261139476,8.23497702331e-06,1793192383240721408
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.677612847,712,673,661,632.322387153,877.677612847,783.322387153,799.677612847,649,628.322387153,649.677612847,0.437764103544,-0.0154344800778,0.0697416757242,0.999999922161,9.34948787881e-05,-0.000383252133148,7.3742818139e-06,1793192383257388032
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742.09871329,712,673,661,632.90128671,877.09871329,783.90128671,799.09871329,649,628.90128671,649.09871329,0.437216192462,-0.0154065104592,0.069756009206,0.999999928387,0.000129736454033,-0.000355464125566,6.25874099903e-06,1793192383274054912
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,660.736569162,632.736569162,876,783,799,648.263430838,628,649.263430838,0.418960582261,-0.0153952250932,0.0698219697196,0.999999937996,0.000189452928323,-0.000294947047015,3.34884679307e-05,1793192383657388032
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,660.162673813,632.162673813,876,783,799,648.837326187,628,649.837326187,0.418149404848,-0.0153979691193,0.0698793942648,0.999999960126,0.000191460373493,-0.000203839844276,3.92442630774e-05,1793192383674054656
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742,712,671.588459151,660,632.411540849,876,783,799,649,628.411540849,650,0.417300862507,-0.0153978124431,0.0698747234167,0.999999957354,0.000192349267155,-0.000216276732658,3.89533323419e-05,1793192383690721536
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742,712,671.014118208,660,632.985881792,876,783,799,649,628.985881792,650,0.416437539146,-0.0153965082873,0.0698454884522,0.999999944395,0.00019279567651,-0.000269674293623,3.62703968003e-05,1793192383707388416
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,632.421951937,876.578048063,783,799,648.421951937,628.421951937,650,0.415610612979,-0.0153938964913,0.069813482819,0.999999935891,0.000195252315948,-0.000298453104945,3.19310075775e-05,1793192383724055040
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711.833814013,671,660,632.166185987,876.833814013,782.833814013,799,648.166185987,628,650,0.414772424267,-0.0153909154086,0.0697813174817,0.99999992246,0.00019717149706,-0.00033971953593,2.81736082106e-05,1793192383740721920
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,711.256746539,671,660,632.743253461,876.256746539,782.256746539,799,648.743253461,628,650,0.413904122043,-0.01538710277,0.0697489299245,0.999999894685,0.000197636602552,-0.000413394535305,2.59583418086e-05,1793192383757389312
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711.320506304,671,660,633,876,782.320506304,799,648.679493696,628,650,0.413110026431,-0.0153853632999,0.0697491918529,0.999999892957,0.000200107923131,-0.00041635634657,2.62534873295e-05,1793192383774055680
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,711.897907698,671,660,633,876,782.897907698,799,648.102092302,628,650,0.412375409612,-0.0153852855346,0.0697756232916,0.999999912992,0.000204187283389,-0.000362639485211,2.85608008839e-05,1793192383790721280
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,876,783,799.353370195,648,628.646629805,650,0.410401676893,-0.0153914612938,0.0698833561626,0.999999962087,0.000201006066773,-0.000184402594118,3.76718609582e-05,1793192383840721152
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742,711.224536798,671,660,633,876.224536798,783,799,648,628.775463202,650,0.409701324268,-0.0153883051673,0.0698639899605,0.99999995396,0.00020415165075,-0.00022158043784,3.61187642923e-05,1793192383857388032
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711.800861991,671,660,633,876.800861991,783,799,648,628.199138009,650,0.408993620778,-0.0153822021469,0.0698166953752,0.999999929686,0.000218845852736,-0.000302921753649,3.1201022613e-05,1793192383874055168
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711.623232995,671,660,632.623232995,876.623232995,783,799,648,628,650,0.408333487778,-0.0153789202327,0.0697858041712,0.999999914716,0.000216743181093,-0.000350529202007,2.6819715614e-05,1793192383890721792
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,711.047549852,671,660,632.047549852,876.047549852,783,799,648,628,650,0.407698469913,-0.015377127737,0.0697635732223,0.999999906247,0.00020577251042,-0.000380326671784,2.27216224927e-05,1793192383907388672
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,632.540190703,876,783,799,648.540190703,628,650,0.407159993291,-0.01537835119,0.0697811595566,0.999999916369,0.000205456060453,-0.000352740097588,2.49986990032e-05,1793192383924055040
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742,711.127335071,670.872664929,659.872664929,633,876,783,799,649,628.127335071,650,0.40663270001,-0.0153790669564,0.0697985908123,0.999999924441,0.000207231215546,-0.000327762846775,2.72899355374e-05,1793192383940721664
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.285866976,742,712,670.285866976,659,632.714133024,876,783,799.285866976,648.714133024,628.714133024,650,0.405620319376,-0.0153759877894,0.0698027887748,0.999999919708,0.000218046200102,-0.000335114522502,2.71523518178e-05,1793192383974054400
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.859454431,742,712,670.859454431,659,632.140545569,876,783,799.859454431,648.140545569,628.140545569,650,0.405150959149,-0.0153760202645,0.0697988522425,0.999999916614,0.000222238401869,-0.000341623882409,2.59842598957e-05,1793192383990721536
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.192304459,633,876,783.615391081,799,648,628.192304459,650,0.403663185262,-0.0153779734425,0.0698504379168,0.99999994455,0.00022293799286,-0.000245645048262,2.9267719295e-05,1793192384057388288
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.770729366,633,876,782.458541268,799,648,628.770729366,650,0.403329999479,-0.0153773586446,0.0698436810603,0.999999941212,0.000225771030687,-0.000256559579576,2.79351007592e-05,1793192384074054912
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.654868786,633,876,782.345131214,799,648.345131214,628.654868786,650,0.403019392358,-0.0153751254795,0.0698328167054,0.99999993606,0.000228044175906,-0.000274191530963,2.63609061115e-05,1793192384090721280
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.083108695,633,876,782.916891305,799,648.916891305,628.083108695,650,0.402723611435,-0.0153718296207,0.0698192551804,0.999999929381,0.000229949669889,-0.000296234445605,2.46280816558e-05,1793192384107387648
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763,742,712,670.495910147,659,633,876,783,799.504089853,649,628,650,0.402467766002,-0.0153680661789,0.0698103374824,0.999999922369,0.000239147917614,-0.00031227340864,2.35800461656e-05,1793192384124054528
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.092153747,742,712,670.092153747,659.092153747,633,876.092153747,783,800,649,628,650,0.402226230024,-0.0153647634366,0.0698027781019,0.999999916039,0.000247335969819,-0.000325932884922,2.26694556332e-05,1793192384140721408
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.670921956,742,712,670.670921956,659.670921956,633,876.670921956,783,800,649,628,650,0.402024388972,-0.0153643133323,0.0697982206977,0.999999914829,0.000243640180821,-0.000332419651735,2.1869636796e-05,1793192384157388544
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.751554255,742,712,671,660,633,877,783,799.751554255,649,628,650,0.401840414231,-0.0153640457964,0.0697949412819,0.999999914237,0.000239432736221,-0.000337249583104,2.14638086888e-05,1793192384174055424
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.17567059,742,712,671,660,633,877,783,799.17567059,649,628,650,0.401679986327,-0.0153640188759,0.0697933461856,0.999999914496,0.000234550957788,-0.000339895895358,2.15772389064e-05,1793192384190722048
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.603143269,632.603143269,876.603143269,783,799,649,628,650,0.401545826585,-0.0153622634163,0.0697951934925,0.999999914598,0.000236569249375,-0.000338215249622,2.12128192625e-05,1793192384207388160
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.032089141,632.032089141,876.032089141,783,799,649,628,650,0.401423197048,-0.015359749227,0.0697985518172,0.999999914607,0.000241616276458,-0.000334635317131,2.06386508807e-05,1793192384224054528
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.562112211,742,712,671,659,632.562112211,876,783.562112211,799,649,628,650,0.401329325076,-0.0153600636381,0.0697988165983,0.999999913129,0.000253051820318,-0.000330738040401,1.7868202044e-05,1793192384240721408
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.847053658,742,712,671,659.152946342,633,876,783.847053658,799,649,628,650,0.401243277986,-0.0153607492115,0.0697990567033,0.999999912495,0.000260041638439,-0.000327330505377,1.5560320932e-05,1793192384257388288
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.269396625,742,712,671,659.730603375,633,876,783.269396625,799,649,628,650,0.401174204992,-0.0153619977982,0.0697997397419,0.999999914803,0.000253630084683,-0.000325335380621,1.49000363455e-05,1793192384274054656
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,712,670.692036997,659.692036997,633,876,783,799.307963003,649,628,650,0.401114015775,-0.0153624155003,0.0697993998292,0.999999915297,0.000250413584402,-0.000326315839097,1.47451982989e-05,1793192384290721536
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659,633,876.880923882,783,798.119076118,648,628,650,0.400947846809,-0.0153638390729,0.0698065912518,0.999999922432,0.000242317853726,-0.000310164368974,1.47208218968e-05,1793192384457388288
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659,633,876.303130612,783,798.696869388,648,628,650,0.400947764447,-0.0153631988289,0.069808506079,0.999999923138,0.000242350171799,-0.000307853658671,1.47037301036e-05,1793192384474055424
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763,742,712,671.273287163,659.273287163,633,876.273287163,783,799,648.273287163,628.273287163,650,0.400945773527,-0.0153631122969,0.0698082953147,0.999999922754,0.000242585749313,-0.000308916875422,1.46417183118e-05,1793192384490722048
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_07/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2a30a5e64ae1b1fa05de1e78dd70983a85150a96
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,392 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_07/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f67854afcd6a011b64f5b033de6d85f415a3e613
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9ff96918657e342706deef42924b7cd21e9a6cb2e73bdcf0e4ff1a580a10b66
+size 24981093
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_07/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7a0ffb24a31f1f8ac2de6ee9ea877609223df636
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_02/franka_data.csv
@@ -0,0 +1,394 @@
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+15,0.250000000,BASELINE,763,742,712,671,659.277362856,632.277362856,876,783,799.722637144,648.277362856,628,650,0.400942731326,-0.0153681953596,0.0698111757979,0.999999926211,0.000235431623904,-0.000303252081781,1.36861067575e-05,1793192385278844928
+16,0.266666667,BASELINE,763,742,712,670.698928669,659.301071331,632.301071331,876,783,799.698928669,648.301071331,628,650,0.400943171958,-0.0153684741227,0.0698113220897,0.99999992638,0.000235299508667,-0.000302803938244,1.35295158681e-05,1793192385295511808
+17,0.283333333,BASELINE,763,742,712,670.12153433,659.87846567,632.87846567,876,783,799.12153433,648.87846567,628,650,0.4009423796,-0.0153683296141,0.0698107406872,0.999999925592,0.000236913078381,-0.000304171115098,1.29400273934e-05,1793192385312178688
+18,0.300000000,BASELINE,763,742,711.547828612,670,659.547828612,633,876,783,799,649,628,650,0.400941089597,-0.0153667936422,0.0698097950452,0.999999924629,0.000238530261845,-0.000306080306124,1.26701157851e-05,1793192385328845312
+19,0.316666667,BASELINE,763,742,711,670.025686349,659.025686349,632.974313651,876,783,799,648.974313651,628,650,0.400939771736,-0.0153650142957,0.0698088336508,0.999999923684,0.000240037413365,-0.000307988076351,1.25145397263e-05,1793192385345511936
+20,0.333333333,BASELINE,763,742,711,670.616644994,659.616644994,632.383355006,876,783,799,648.383355006,628,650,0.400940760582,-0.015366042911,0.0698096626225,0.999999924303,0.000239101921002,-0.0003066845338,1.30001275949e-05,1793192385362178560
+21,0.350000000,BASELINE,763,742,711.203450565,670.796549435,659.796549435,632.203450565,876,783,799,648,628,650,0.400941501629,-0.0153664904873,0.0698102515127,0.999999924658,0.000238832269482,-0.000305722233436,1.33310434166e-05,1793192385378845440
+22,0.366666667,BASELINE,763,742,711.782587125,670.217412875,659.217412875,632.782587125,876,783,799,648,628,650,0.400941785097,-0.0153658651332,0.0698103970751,0.999999924529,0.000239792140723,-0.000305390061283,1.33763462063e-05,1793192385395511808
+23,0.383333333,BASELINE,763.359002161,742,712,670,659,633,876,783,798.640997839,648.359002161,628,650,0.400942375485,-0.0153661982397,0.0698108285225,0.999999925126,0.000238798824157,-0.000304213624632,1.33319805219e-05,1793192385412178432
+24,0.400000000,BASELINE,763.933781491,742,712,670,659,633,876,783,798.066218509,648.933781491,628,650,0.400943150346,-0.0153671074259,0.0698114318003,0.999999926153,0.000236631550033,-0.000302529745314,1.32337198752e-05,1793192385428845312
+25,0.416666667,BASELINE,763.490872033,742,712,670.509127967,659,633,876,783.509127967,798.509127967,649,628,650,0.400942774832,-0.0153669240968,0.0698115730006,0.999999925851,0.000236698025046,-0.000303477451746,1.31946745841e-05,1793192385445511680
+26,0.433333333,BASELINE,763,742,712,671,659,633,876.173592225,783.913203888,799,648.913203888,628,650,0.400942283397,-0.0153668734212,0.0698115802379,0.999999925451,0.000236929709103,-0.000304609081534,1.32330404883e-05,1793192385462178560
+27,0.450000000,BASELINE,763,742,712,671,659,633,877.355029892,783.322485054,799,648.322485054,628,650,0.400941988583,-0.0153684188082,0.0698111590223,0.999999925499,0.000236431937254,-0.000304819158258,1.36760773723e-05,1793192385478845184
+28,0.466666667,BASELINE,763,742,712,670.737369022,659,632.737369022,877.474738043,783,799,648.262630978,628,650,0.400941369401,-0.0153685906003,0.0698107520695,0.999999925416,0.000236274666242,-0.000305209515299,1.3738264093e-05,1793192385495511808
+29,0.483333333,BASELINE,763,742,712,670.158989013,659,632.158989013,876.317978026,783,799,648.841010987,628,650,0.400940360244,-0.0153671109829,0.0698103622641,0.999999925177,0.000236526763606,-0.00030581661498,1.33425723198e-05,1793192385512178432
+30,0.500000000,BASELINE,763.417759187,742,712,670.417759187,659,632,876,783,799,648.582240813,628,650,0.40094104439,-0.0153675868146,0.0698111744758,0.999999925447,0.000237127700861,-0.000304451498163,1.36224956931e-05,1793192385528845312
+31,0.516666667,BASELINE,763.993888763,742,712,670.993888763,659,632,876,783,799,648.006111237,628,650,0.400942370459,-0.0153688039473,0.0698124423661,0.999999925907,0.000237860881542,-0.000302338724057,1.41585413516e-05,1793192385545511936
+32,0.533333333,BASELINE,763.433852575,742,712,671,659.566147425,632.566147425,876,783,799.566147425,648,628,650,0.400943007614,-0.0153697075224,0.0698120333965,0.999999926673,0.00023475454555,-0.00030224001956,1.39455244079e-05,1793192385562178304
+33,0.550000000,BASELINE,763,742,712,671,659.85579995,633,876.14420005,783,800,648,628,650,0.400942901927,-0.0153700082564,0.0698113670128,0.999999926902,0.00023292947797,-0.00030290724168,1.37028396672e-05,1793192385578844928
+34,0.566666667,BASELINE,763,742,712,671,659.259449906,633,876.740550094,783,800,648,628,650,0.400940490166,-0.0153684292775,0.0698099498592,0.999999925449,0.00023525099608,-0.000305908377026,1.33923105289e-05,1793192385595511808
+35,0.583333333,BASELINE,763.324602873,742,712,671,659,633,876.675397127,783,800,648,628,650,0.40094017428,-0.0153682164004,0.069810020224,0.999999925391,0.000235235368883,-0.000306118000603,1.31987216627e-05,1793192385612178432
+36,0.600000000,BASELINE,763.899185474,742,712,671,659,633,876.100814526,783,800,648,628,650,0.400941472448,-0.0153690555708,0.0698112361407,0.99999992641,0.000233419884327,-0.000304177855001,1.30951895683e-05,1793192385628845312
+37,0.616666667,BASELINE,763.525782321,742,711.525782321,671,659,633,876,783,799.525782321,648,628,650,0.400940829155,-0.015367899873,0.0698110271246,0.999999925955,0.000234301183596,-0.000304993957066,1.3136501365e-05,1793192385645511936
+38,0.633333333,BASELINE,763,742,711.050716656,671,659,633,876.050716656,783,799,648,628,650,0.400939970191,-0.0153664767704,0.0698106024648,0.999999925249,0.000235838790995,-0.000306115669082,1.32161693952e-05,1793192385662178816
+39,0.650000000,BASELINE,763,742,711.641825257,671,659,633,876.641825257,783,799,648,628,650,0.400941215159,-0.0153667274695,0.0698111108934,0.999999925246,0.00023825492916,-0.000304244356985,1.33761181283e-05,1793192385678845440
+40,0.666666667,BASELINE,763.228325421,742,712,670.771674579,659,633,876.771674579,783,799,648,628,650,0.40094178644,-0.0153671276609,0.0698112696961,0.999999925364,0.000238722291767,-0.000303492770623,1.32828329482e-05,1793192385695511808
+41,0.683333333,BASELINE,763.807739306,742,712,670.192260694,659,633,876.192260694,783,799,648,628,650,0.400941321814,-0.0153677577214,0.0698108908906,0.999999925676,0.000236193086369,-0.000304462949687,1.2800158327e-05,1793192385712178432
+42,0.700000000,BASELINE,763.616925887,742,711.616925887,670,659.383074113,633,876.383074113,783,799,648.383074113,628,650,0.400942135338,-0.0153676167746,0.0698112486878,0.999999926013,0.000235964947719,-0.000303529193892,1.28525922181e-05,1793192385728845056
+43,0.716666667,BASELINE,763.043616772,742,711.043616772,670,659.956383228,633,876.956383228,783,799,648.956383228,628,650,0.400943583592,-0.0153670929446,0.0698119722825,0.999999926361,0.000236879521284,-0.000301649942038,1.31707615672e-05,1793192385745511936
+44,0.733333333,BASELINE,763.543888837,742,711,670.543888837,660,633,876.456111163,783,799.543888837,648.456111163,628.543888837,650,0.400943414264,-0.0153674362711,0.0698121754291,0.999999926653,0.000236104905644,-0.000301294453867,1.30704907769e-05,1793192385762178560
+45,0.750000000,BASELINE,763.869126143,742,711.130873857,671,659.869126143,633,876.130873857,783,800,648.130873857,628.869126143,650,0.400943621253,-0.0153679232299,0.0698124345997,0.999999926997,0.000235207402668,-0.000300858270541,1.29883487013e-05,1793192385778845184
+46,0.766666667,BASELINE,763.287954587,742,711.712045413,671,659.287954587,633,876.712045413,783,800,648.712045413,628.287954587,650,0.400945581328,-0.0153686587016,0.0698130339849,0.999999927537,0.000234365661859,-0.00029971272729,1.30871344271e-05,1793192385795511808
+47,0.783333333,BASELINE,763,742,711.709708414,671,659.290291586,633,876.709708414,783,799.709708414,648.709708414,628.290291586,650,0.400946434751,-0.015369449404,0.0698135414205,0.999999927912,0.000233863673113,-0.000298843385571,1.32522683962e-05,1793192385812178432
+48,0.800000000,BASELINE,763,742,711.134335051,671,659.865664949,633,876.134335051,783,799.134335051,648.134335051,628.865664949,650,0.400946201383,-0.0153702943458,0.0698139585569,0.999999928127,0.000233695338859,-0.000298245288307,1.34825598805e-05,1793192385828845056
+49,0.816666667,BASELINE,763,742,711.441366212,670.558633788,659.558633788,633,876,783,799.441366212,648,628.558633788,650,0.400945242556,-0.0153684469788,0.0698135590581,0.999999927086,0.000236701699114,-0.000299368444618,1.33808828618e-05,1793192385845511680
+50,0.833333333,BASELINE,763,742,712,670.017605379,659,633,876.017605379,783,799.982394621,648,628,650,0.400944112464,-0.0153658949311,0.0698129436753,0.99999992571,0.000240498463974,-0.000300942836521,1.31787777589e-05,1793192385862178560
+51,0.850000000,BASELINE,763,742,712,670.608099414,659,633,876.608099414,783,799.391900586,648,628,650,0.400944599718,-0.0153670969054,0.0698133973607,0.99999992642,0.000238549559569,-0.000300140539241,1.29989818625e-05,1793192385878845184
+52,0.866666667,BASELINE,763.193238147,742,712,671,659.193238147,633,877,783,799.193238147,648.193238147,628.193238147,650,0.400944177637,-0.0153681947701,0.0698131608769,0.999999926669,0.000236898766559,-0.000300622181771,1.2906602558e-05,1793192385895512064
+53,0.883333333,BASELINE,763.767808789,742,712,671,659.767808789,633,877,783,799.767808789,648.767808789,628.767808789,650,0.400941961089,-0.0153690871865,0.069811562426,0.999999926008,0.000235836261042,-0.000303637526836,1.29867295091e-05,1793192385912178688
+54,0.900000000,BASELINE,763.657083163,742,712,671,660,633,877,783,799.657083163,649,628.657083163,650,0.400941085447,-0.0153696562974,0.0698111110018,0.999999925882,0.00023538066278,-0.000304402969111,1.30723632601e-05,1793192385928845312
+55,0.916666667,BASELINE,763.081610685,742,712,671,660,633,877,783,799.081610685,649,628.081610685,650,0.400941119167,-0.0153700061526,0.0698114374558,0.999999926122,0.000235336650375,-0.000303642596473,1.31617315502e-05,1793192385945512192
+56,0.933333333,BASELINE,763,742,712,671,659.493014446,633,876.493014446,783,799,649,628.506985554,650,0.400941403827,-0.015370459393,0.0698116097091,0.999999926677,0.000233117505175,-0.000303521788774,1.33051132337e-05,1793192385962178816
+57,0.950000000,BASELINE,763,742,712,670.904273665,659.095726335,633,876.095726335,783,799,649,629,650,0.400941651017,-0.0153706651593,0.0698116714496,0.999999927061,0.000231507836879,-0.000303484896402,1.33757185113e-05,1793192385978845440
+58,0.966666667,BASELINE,763,742,712,670.325742144,659.674257856,633,876.674257856,783,799,649,629,650,0.40094150008,-0.0153695365984,0.0698113043268,0.999999926346,0.000234785001276,-0.000303338190717,1.30342510465e-05,1793192385995512064
+59,0.983333333,BASELINE,763,742,712,670.251887679,660,633,876.748112321,783,799,648.748112321,628.748112321,650,0.400941707434,-0.0153690267112,0.0698113485567,0.999999926132,0.000236274575586,-0.000302889434386,1.30031718975e-05,1793192386012178688
+60,1.000000000,BASELINE,763,742,712,670.828355659,660,633,876.171644341,783,799,648.171644341,628.171644341,650,0.40094237648,-0.0153693140414,0.0698119228522,0.999999926572,0.0002354606771,-0.00030205145817,1.33720564218e-05,1793192386028845568
+61,1.016666667,BASELINE,763,742,712,671,660,633,876,783,799,648.402599086,628,650,0.400942410969,-0.0153692419272,0.0698118328628,0.999999926558,0.000235427301209,-0.000302124294158,1.33406296452e-05,1793192386045512192
+62,1.033333333,BASELINE,763,742,712,671,660,633,876,783,799,648.975899273,628,650,0.400942176409,-0.0153690174093,0.069811461218,0.999999926352,0.00023572486518,-0.000302583312508,1.31394717617e-05,1793192386062178816
+63,1.050000000,BASELINE,763,742,712,671,659.433727268,632.433727268,876.566272732,783,799.566272732,649,628,650,0.400943062112,-0.0153698862531,0.0698120123567,0.999999927006,0.000234109358828,-0.0003016686179,1.32662229582e-05,1793192386078845440
+64,1.066666667,BASELINE,763,742,712,671,659,632.15413846,876.84586154,783,800,649,628,650.15413846,0.400943444383,-0.0153702912465,0.0698124092007,0.999999927308,0.000233464744943,-0.000301161343581,1.33920396291e-05,1793192386095512064
+65,1.083333333,BASELINE,763,742,712,671,659,632.733029094,876.266970906,783,800,649,628,650.733029094,0.400942303901,-0.0153692858116,0.069812269272,0.999999926541,0.000235726916877,-0.000301942897933,1.34756278794e-05,1793192386112178688
+66,1.100000000,BASELINE,763,742,712,671,659,633,876,783.309534427,799.690465573,649,628,650.690465573,0.400941959717,-0.0153696325774,0.0698121677771,0.99999992668,0.000235394739263,-0.000301744033035,1.33960267054e-05,1793192386128845568
+67,1.116666667,BASELINE,763,742,712,671,659,633,876,783.883998161,799.116001839,649,628,650.116001839,0.400942297081,-0.0153711366866,0.0698120991776,0.999999927593,0.00023284206789,-0.00030070603109,1.31767523365e-05,1793192386145512192
+68,1.133333333,BASELINE,763,742,712,671,659.461362943,633,876,783.538637057,799.461362943,648.538637057,628,650.461362943,0.400941641648,-0.0153699232263,0.0698119081482,0.999999926771,0.000235230838576,-0.000301582862649,1.30929554214e-05,1793192386162178560
+69,1.150000000,BASELINE,763,742,712,670.959793132,659.959793132,633,876.040206868,783,799.959793132,648.040206868,628,650.959793132,0.400940888816,-0.0153682175763,0.0698117183121,0.99999992564,0.00023843367004,-0.000302817163174,1.30574224119e-05,1793192386178845184
+70,1.166666667,BASELINE,763,742,712,670.370779365,659.370779365,633,876.629220635,783,799.370779365,648.629220635,628,650.370779365,0.400942235329,-0.0153691793362,0.0698119675949,0.999999926442,0.00023568197193,-0.000302317559259,1.32127770056e-05,1793192386195511808
+71,1.183333333,BASELINE,763,742.214211006,712,670.214211006,659,633,876.785788994,783,799,648.785788994,628.214211006,650,0.400942590407,-0.0153692540658,0.0698119348062,0.999999926681,0.000234635907825,-0.000302336908811,1.32594830274e-05,1793192386212178688
+72,1.200000000,BASELINE,763,742.792365735,712,670.792365735,659,633,876.207634265,783,799,648.207634265,628.792365735,650,0.400941261041,-0.0153678217341,0.0698114227788,0.999999925974,0.000236487709274,-0.000303237958344,1.31215955448e-05,1793192386228845312
+73,1.216666667,BASELINE,763,743,712,671,659,633,876,783,799,648,628.63263026,650,0.400940566175,-0.015367785204,0.0698107977894,0.999999925576,0.000237054185529,-0.000304111945862,1.30213344576e-05,1793192386245511936
+74,1.233333333,BASELINE,763,743,712,671,659,633,876,783,799,648,628.059391909,650,0.400940226873,-0.0153685308609,0.0698101094978,0.999999925352,0.000236900384301,-0.000304970768173,1.29421586586e-05,1793192386262178816
+75,1.250000000,BASELINE,763,742.468007215,712,670.468007215,659,632.468007215,876,783,799,648,628.531992785,650,0.4009415171,-0.0153693454203,0.0698112351699,0.999999926027,0.000236446449924,-0.000303093419309,1.3141783261e-05,1793192386278845184
+76,1.266666667,BASELINE,763,742,712,670,659,632.121324533,876,783,799,648,628.878675467,650,0.400942598195,-0.0153700914481,0.0698122652078,0.999999926766,0.000235496104864,-0.000301385410735,1.33097708319e-05,1793192386295511808
+77,1.283333333,BASELINE,763,742,712,670,659,632.695175902,876,783,799,648,628.304824098,650,0.400942196746,-0.0153705521555,0.0698121565204,0.999999927361,0.000232823594781,-0.000301488617389,1.32395617643e-05,1793192386312178432
+78,1.300000000,BASELINE,763,742,711.729991065,670,659,633,876,783,799.270008935,648.270008935,628,650,0.400942215909,-0.0153708641443,0.069812272454,0.999999927808,0.000231008778736,-0.000301407251434,1.3134004289e-05,1793192386328845312
+79,1.316666667,BASELINE,763,742,711.154045788,670,659,633,876,783,799.845954212,648.845954212,628,650,0.400942711652,-0.015371007626,0.0698126428969,0.999999928092,0.000230165781746,-0.00030111675362,1.29883949491e-05,1793192386345511936
+80,1.333333333,BASELINE,763,741.579195428,711.420804572,670.420804572,659,633,876,783.420804572,799.579195428,649,628,650,0.400942890943,-0.0153702959757,0.0698128013698,0.999999927838,0.000231445158924,-0.00030097251233,1.31461671861e-05,1793192386362178816
+81,1.350000000,BASELINE,763,741.004744801,711.995255199,670.995255199,659,633,876,783.995255199,799.004744801,649,628,650,0.400942954689,-0.0153692720958,0.0698128824474,0.999999927384,0.000233499466813,-0.000300881672855,1.34147114541e-05,1793192386378845440
+82,1.366666667,BASELINE,763,741.590962527,712,671,659,632.409037473,876.590962527,783.409037473,799,648.409037473,628,650,0.400942968579,-0.0153686177868,0.0698128155832,0.999999926977,0.000235174283702,-0.000300942489195,1.31557320516e-05,1793192386395511808
+83,1.383333333,BASELINE,763,742,712,671.180166178,659,632,876.819833822,783,799,648,628,650,0.400943157558,-0.0153682207081,0.0698128367968,0.99999992677,0.000236184169884,-0.000300842326836,1.30491506726e-05,1793192386412178432
+84,1.400000000,BASELINE,763,742,712,671.754744798,659,632,876.245255202,783,799,648,628,650,0.400943730744,-0.0153683800092,0.0698130535238,0.999999927008,0.000235745336281,-0.000300386991438,1.32858108155e-05,1793192386428845312
+85,1.416666667,BASELINE,763,742,712,671.338481314,659,632.330759343,876.330759343,783,799,648,628,650,0.400943069102,-0.0153692229748,0.0698124358865,0.999999927159,0.000234615121059,-0.00030076592984,1.33392835212e-05,1793192386445512192
+86,1.433333333,BASELINE,763,742,712,670.184313558,659,632.907843221,876.907843221,783,799,648,628,650,0.400941487852,-0.0153705750819,0.0698111968777,0.999999927243,0.000232970017141,-0.000301766172278,1.32563320683e-05,1793192386462178816
+87,1.450000000,BASELINE,763,742,712,670.49386926,659.49386926,633,877,783,799.98773852,648.49386926,628.49386926,650,0.400941478203,-0.0153699967618,0.0698110848769,0.999999926746,0.000233973351392,-0.000302655476847,1.27796751877e-05,1793192386478845184
+88,1.466666667,BASELINE,763.0806084,742,712,671,660,633,876.9193916,783,800.838783201,649,628.9193916,650,0.400941984895,-0.0153691135009,0.0698113441789,0.999999926325,0.000235243210072,-0.000303079820942,1.23796146612e-05,1793192386495512064
+89,1.483333333,BASELINE,763.661229602,742,712,671,660,633,876.338770398,783,799.677540796,649,628.338770398,650,0.40094384178,-0.0153686143452,0.0698125781158,0.999999927068,0.000235044254358,-0.000300750798611,1.29187925501e-05,1793192386512178688
+90,1.500000000,BASELINE,763.760195432,742,712,670.760195432,660,633,876.239804568,783,799,649,628,650,0.400944844226,-0.0153690022989,0.069813395411,0.999999927604,0.000234486163975,-0.000299383939786,1.33013328214e-05,1793192386528845312
+91,1.516666667,BASELINE,763.184486761,742,712,670.184486761,660,633,876.815513239,783,799,649,628,650,0.400944649825,-0.015370632863,0.069813629099,0.999999927856,0.000233425018935,-0.000299364823076,1.34644643063e-05,1793192386545511936
+92,1.533333333,BASELINE,763,742,712,670.390454355,659.609545645,633,877,783,799,649,628,650,0.400944040126,-0.0153703846574,0.0698130117646,0.999999927551,0.000233585047206,-0.00030026816111,1.32253900126e-05,1793192386562178560
+93,1.550000000,BASELINE,763,742,712,670.965033569,659.034966431,633,877,783,799,649,628,650,0.400943234588,-0.0153692504887,0.0698119931172,0.999999926982,0.000234320938761,-0.000301606497105,1.27966493061e-05,1793192386578845184
+94,1.566666667,BASELINE,763,742,712,671,659,633,876.44257144,783.55742856,799,649,628,650.55742856,0.400942373468,-0.0153704372266,0.0698121241228,0.999999927022,0.000233630880933,-0.000301987738348,1.32746233227e-05,1793192386595511808
+95,1.583333333,BASELINE,763.146939582,742,711.853060418,671,659.146939582,633,876,783.853060418,799.146939582,649,628,650.853060418,0.400942061861,-0.0153713449256,0.0698125040791,0.999999927207,0.000233088908906,-0.000301777088855,1.36524146514e-05,1793192386612178432
+96,1.600000000,BASELINE,763.724612672,742,711.275387328,671,659.724612672,633,876,783.275387328,799.724612672,649,628,650.275387328,0.400943371637,-0.0153709938041,0.0698133954244,0.999999927701,0.000233251889056,-0.000300013191798,1.35643037888e-05,1793192386628845056
+97,1.616666667,BASELINE,764,742.299570105,711.299570105,671,659.700429895,633,876,783,799.700429895,648.700429895,628,650,0.400943633357,-0.0153703510603,0.0698133365883,0.99999992758,0.000234099720756,-0.000299763010707,1.33694773111e-05,1793192386645511936
+98,1.633333333,BASELINE,764,742.872053495,711.872053495,671,659.127946505,633,876,783,799.127946505,648.127946505,628,650,0.400942940283,-0.0153694426437,0.0698124121213,0.9999999269,0.000235571463455,-0.000300891849825,1.30774311612e-05,1793192386662178816
+99,1.650000000,BASELINE,763.541559412,742.541559412,712,671,659,633,876,783,799,648.458440588,628,650,0.400944316095,-0.0153697672999,0.0698138915784,0.999999927461,0.000235637805172,-0.000298956680312,1.33602995445e-05,1793192386678845696
+100,1.666666667,BASELINE,763.047899701,742,712,671,659.047899701,633,876,783,799,648.952100299,628,650,0.400946045464,-0.015370314193,0.0698157751338,0.99999992826,0.000235321154974,-0.000296506314014,1.37408609834e-05,1793192386695512320
+101,1.683333333,BASELINE,763.627047294,742,712,671,659.627047294,633,876,783,799,648.372952706,628,650,0.400945091858,-0.0153693897109,0.0698144667602,0.999999927802,0.000235243071768,-0.000298122797149,1.33696996459e-05,1793192386712178688
+102,1.700000000,BASELINE,763.794981561,742,712,671,660,633,876,783,799,648,628,650,0.400944024533,-0.0153685007608,0.0698133203426,0.999999927353,0.000235144778137,-0.000299725252046,1.2854753052e-05,1793192386728845056
+103,1.716666667,BASELINE,763.219138367,742,712,671,660,633,876,783,799,648,628,650,0.400942751522,-0.0153676760792,0.0698124668611,0.999999926921,0.000235009929142,-0.000301302333349,1.20797365612e-05,1793192386745511680
+104,1.733333333,BASELINE,763.343243049,742,712,671,659.656756951,633,876.343243049,783.343243049,799,648,628,650,0.400942802405,-0.01536855092,0.0698124386632,0.999999927297,0.000233414711287,-0.000301288748502,1.21945975427e-05,1793192386762178560
+105,1.750000000,BASELINE,763.897354399,742,712,671,659.102645601,633,876.897354399,783.897354399,799,648,628,650,0.400943666611,-0.0153704698472,0.0698129174708,0.999999928165,0.000230922328862,-0.000300297952272,1.28561467215e-05,1793192386778845184
+106,1.766666667,BASELINE,763.512011152,742,712,671,659,633,877,783.512011152,799,648.487988848,628,650,0.400941682376,-0.0153706494053,0.0698116271903,0.99999992754,0.000230922567542,-0.000302373566834,1.2872897009e-05,1793192386795512064
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876,783,799,649,628,651,0.400945274161,-0.0153713943575,0.0698154896734,0.999999928499,0.000233509134122,-0.000297114895329,1.40670720168e-05,1793192386838008320
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876.576172079,783,799.576172079,649,628,650.423827921,0.400943665527,-0.0153702318929,0.069813519888,0.999999927763,0.00023322692501,-0.000299840142132,1.32051462905e-05,1793192386854674944
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.152286734,742,711.847713266,671,659.847713266,633,876.847713266,783,799.847713266,649,628,650,0.400942554334,-0.0153694691579,0.0698122679508,0.999999927271,0.000233065259468,-0.000301624603405,1.26686222176e-05,1793192386871341312
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.728241764,742,711.271758236,671,659.271758236,633,876.271758236,783,799.271758236,649,628,650,0.400942827048,-0.015369818488,0.0698130130978,0.999999927477,0.000233238951308,-0.000300791759185,1.30373794529e-05,1793192386888007680
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.686088837,742,711.313911163,671,659,633,876.313911163,783,799,649,628,650,0.400942721526,-0.0153697352254,0.0698129148849,0.999999927194,0.000234348905441,-0.000300861304305,1.31934234965e-05,1793192386904674304
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.091741014,742,711.908258986,671,659,633,876.908258986,783,799,649,628,650,0.400942278104,-0.0153692655003,0.0698120632451,0.999999926473,0.000236295281777,-0.00030173701084,1.31594373946e-05,1793192386921341184
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659.487709583,633,877,783,799,648.512290417,628.487709583,650,0.400944332944,-0.015369188445,0.0698133381239,0.99999992756,0.000234427498575,-0.000299594513248,1.28927624953e-05,1793192386938007808
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742,711.935781951,671,660,633,876.935781951,783,799,648.064218049,628.935781951,650,0.400947051619,-0.0153691161192,0.0698150580816,0.999999928847,0.000232344227708,-0.000296922958549,1.26413709099e-05,1793192386954674176
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742,711.361045746,671,660,633,876.361045746,783,799,648.638954254,628.361045746,650,0.400951422457,-0.0153685115996,0.0698172305761,0.999999929177,0.000234082505094,-0.000294425160529,1.28491264355e-05,1793192386971341056
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,711.21909027,671,660,633,876,783,799.21909027,649,628,650.21909027,0.400963485526,-0.0153692779005,0.0698229469275,0.999999931713,0.000234429836842,-0.000285364101933,1.35380495357e-05,1793192386988007936
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,711.808349604,671,660,633,876,783,799.808349604,649,628,650.808349604,0.400988545182,-0.0153723603034,0.0698346508846,0.999999937707,0.00023242706377,-0.00026521393383,1.50399404877e-05,1793192387004674816
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.390528154,742,712,671,660,633,876.781056307,783,799.609471846,649,628,651,0.401032028849,-0.0153758159705,0.0698522222771,0.999999945617,0.000230925010286,-0.000234877482263,1.64745140372e-05,1793192387021341184
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.969293765,742,712,671,660,633,877.938587529,783,799.030706235,649,628,651,0.401084393028,-0.015379451554,0.0698726218179,0.999999953541,0.000229664306958,-0.000199631164752,1.78766402194e-05,1793192387038007808
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.454482722,742,712,671.545517278,660,633,876.908965445,783,799.545517278,649,628,651,0.401144278642,-0.0153821912212,0.0698846225995,0.999999955679,0.000229288778446,-0.0001890229374,1.83940450951e-05,1793192387054674176
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742,712,671.878999994,660,633,876,783,799.878999994,649,628,650.878999994,0.401208057656,-0.0153848848087,0.0698944125766,0.999999957352,0.000229081433756,-0.000180219849863,1.84193171946e-05,1793192387071340800
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742,712,671.305753505,660,633,876,783,799.305753505,649,628,650.305753505,0.401284813521,-0.0153875937814,0.0698976982601,0.999999958601,0.00022931732772,-0.000173004243741,1.67904725428e-05,1793192387088007680
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.277916382,742,712,671,659.722083618,633,876.277916382,783,799,649,628,650,0.401372359344,-0.0153910498011,0.0698997731414,0.999999959545,0.000228751088876,-0.000168431568296,1.46073966699e-05,1793192387104674304
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.87350053,742,712,671,659.12649947,633,876.87350053,783,799,649,628,650,0.401472238449,-0.0153953597207,0.0699004640349,0.999999960181,0.000227267985266,-0.00016687985189,1.17908159804e-05,1793192387121340928
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.548432619,742,712,671,659,633,876.548432619,783,799,648.548432619,628,650,0.401593084142,-0.0154008503832,0.0699006485957,0.99999996106,0.000221867655923,-0.000169076568858,8.24286043973e-06,1793192387138007808
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.02506049,742,712,671,659.02506049,633,876.02506049,783.02506049,799,648.02506049,628.02506049,650,0.401721259573,-0.0154067550683,0.0699009092019,0.999999962093,0.000215263601747,-0.000171625269053,4.48105504835e-06,1793192387154674432
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.60186063,742,712,671,659.60186063,633,876.60186063,783.60186063,799,648.60186063,628.60186063,650,0.401886325932,-0.0154147646921,0.0699058502492,0.999999966155,0.000205415335296,-0.000159668124595,3.53385723252e-07,1793192387171340800
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.817252759,633,876.817252759,784,799.182747241,649,628.817252759,650,0.402059424483,-0.0154221900868,0.069910323592,0.999999969435,0.000196817237644,-0.000149585804933,-4.023497587e-06,1793192387188007680
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.22725967,633,876.22725967,784,799.77274033,649,628.22725967,650,0.402250422471,-0.015428313546,0.0699137546712,0.999999971396,0.00019100509894,-0.000143681468577,-8.95574501477e-06,1793192387204674304
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.643732457,742,711.643732457,671,659.356267543,632.643732457,876,783.643732457,799.643732457,649,628.356267543,650,0.402468087382,-0.0154378386039,0.0699164146906,0.999999974301,0.000179368671726,-0.000137896031658,-1.4504164263e-05,1793192387221341184
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.064256187,742,711.064256187,671,659.935743813,632.064256187,876,783.064256187,799.064256187,649,628.935743813,650,0.40270245967,-0.015449494832,0.0699185916261,0.999999977593,0.000164083210914,-0.000132185087005,-2.04386279329e-05,1793192387238007808
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742,711.510267693,671,660,632.510267693,876.510267693,783,799,649,628.489732307,650,0.402982869968,-0.0154589038443,0.0699258018871,0.99999998923,8.30422988609e-05,-0.00011820258467,-2.59135519049e-05,1793192387254674176
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,877,783,799,649,628,650,0.403273348999,-0.0154680000912,0.0699337019511,0.999999994133,8.27031609231e-06,-0.000103494608938,-3.08808511937e-05,1793192387271340800
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,877,783,799,649,628,650,0.403589003401,-0.0154769072426,0.069941963129,0.99999999519,1.76844137958e-05,-9.05676820835e-05,-3.32281882318e-05,1793192387288007424
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,712,671.238383667,660,633,876.761616333,783,799,648.761616333,628,650,0.403914425256,-0.0154850675467,0.0699462498062,0.999999995427,3.01490476209e-05,-8.49695506891e-05,-3.18994659933e-05,1793192387304674304
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,712,671.830720789,660,633,876.169279211,783,799,648.169279211,628,650,0.404254349862,-0.0154921189269,0.0699446351213,0.999999994501,4.71431346361e-05,-9.02532581521e-05,-2.51125094463e-05,1793192387321340928
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742,712,671.586144397,660,633,876,783,799,648,628,650,0.404640209733,-0.015493498817,0.0699470384722,0.999999995188,4.41187415733e-05,-8.40184305105e-05,-2.48775547518e-05,1793192387338007296
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,742,712,671.006691739,660,633,876,783,799,648,628,650,0.405044449787,-0.0154926093596,0.0699510495698,0.999999996404,3.30843046807e-05,-7.31746630967e-05,-2.72642687506e-05,1793192387354673920
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876.567231541,783,799.567231541,648.567231541,628.567231541,650,0.405483117057,-0.0155002737382,0.0699515996909,0.999999996659,2.60606519638e-05,-7.29788731913e-05,-2.60119705179e-05,1793192387371341056
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876.85454605,783,799.85454605,648.85454605,628.85454605,650,0.40592272125,-0.0155083453849,0.0699475808424,0.999999996239,1.66094496364e-05,-8.11455479197e-05,-2.57120536808e-05,1793192387388007936
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876.262938805,783,799.262938805,648.262938805,628.262938805,650,0.406363965452,-0.0155173597122,0.0699296715467,0.99999999303,-4.31546266311e-07,-0.000114580962857,-2.8463801235e-05,1793192387404674560
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876,783,799,648.321254457,628,650,0.406846549834,-0.0155205274302,0.0699145694807,0.999999990305,-5.67107890587e-06,-0.000135557180084,-3.13339860794e-05,1793192387421341184
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876,783,799,648.899516505,628,650,0.407362206927,-0.0155190177887,0.0699017132318,0.99999998867,-1.46929492862e-06,-0.00014656588675,-3.4298922557e-05,1793192387438007808
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876.474529649,783,799,649,628,650,0.407945567315,-0.0155170148126,0.0699130658712,0.99999999207,-9.15489611244e-06,-0.000120428676342,-3.56847402588e-05,1793192387454674176
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742.048805245,712,671,660,633,877,783.048805245,799,649,628,650,0.408545717456,-0.0155149436506,0.0699288896249,0.999999995337,-1.79893594812e-05,-8.74898240792e-05,-3.6704042075e-05,1793192387471341056
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742.622497717,712,671,660,633,877,783.622497717,799,649,628,650,0.409173301232,-0.0155132550246,0.0699380416652,0.999999997087,-1.22918159282e-05,-6.54203540292e-05,-3.73533266661e-05,1793192387488007680
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.196192762,742.803807238,712,671,660,633,877,783.803807238,799,649,628,650,0.409795584777,-0.0155129585015,0.0699398373294,0.99999999744,-9.92308178177e-06,-5.94840341878e-05,-3.85136293298e-05,1793192387504674304
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.769892723,742.230107277,712,671,660,633,877,783.230107277,799,649,628,650,0.410407669767,-0.015515340614,0.0699274781137,0.999999995498,-1.39595257576e-05,-8.4590554904e-05,-4.06572149392e-05,1793192387521341184
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.640313589,742,712,671,660,633,876.640313589,783,799,649,628,650,0.411066765814,-0.0155179192383,0.0699297382676,0.999999995583,-1.71439740394e-05,-8.24023241727e-05,-4.18282107205e-05,1793192387538008064
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.039741804,742,712,671,660,633,876.039741804,783,799,649,628,650,0.411757345584,-0.0155206294684,0.0699417891516,0.99999999699,-1.9757832623e-05,-6.1934540505e-05,-4.23478538529e-05,1793192387554674688
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876.538479761,783,799,648.461520239,628.538479761,650,0.412506994642,-0.0155227289083,0.0699715702675,0.999999998909,-2.1075563843e-05,-1.21313556013e-05,-3.98800151205e-05,1793192387571341056
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742.113852479,712,671,660,633,877,783,799.113852479,648.113852479,628.886147521,650,0.413259181392,-0.0155245770723,0.0699972816454,0.999999998551,-2.38773374072e-05,2.98186062539e-05,-3.79276749508e-05,1793192387588007680
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742.684153287,712,671,660,633,877,783,799.684153287,648.684153287,628.315846713,650,0.414004760497,-0.015525591364,0.0700016398517,0.999999998189,-3.29970406562e-05,3.19499582559e-05,-3.88907641728e-05,1793192387604674304
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.266409693,742.733590307,712,671,660,633,877.266409693,783,799.733590307,649,628,650,0.414721493516,-0.015524755151,0.069976762835,0.99999999821,-3.91491375465e-05,-1.44935201449e-05,-4.28669290151e-05,1793192387621340928
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.863506327,742.136493673,712,671,660,633,877.863506327,783,799.136493673,649,628,650,0.415402420793,-0.015521621958,0.0699155969496,0.999999990506,-4.16176281211e-05,-0.000121231584146,-5.05831406047e-05,1793192387638007296
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.555838012,742,712,671.444161988,660,632.555838012,877.111676024,783,799,649,628,650,0.416165109245,-0.0155225162262,0.0698916637745,0.999999985023,-4.46558912405e-05,-0.000157967541895,-5.4822129478e-05,1793192387654674432
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.01990397,742,712,672,660,632.01990397,876.01990397,783,799.01990397,649,628,650,0.41695393592,-0.0155246137585,0.0698805365005,0.999999982506,-4.78668887465e-05,-0.000171327752024,-5.7818902663e-05,1793192387671341312
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.594487344,742,712,672,660,632.594487344,876.594487344,783,799.594487344,649,628,650,0.417795973807,-0.0155269838015,0.0699188041049,0.999999990982,-5.11862877743e-05,-0.000111352876227,-5.49136693129e-05,1793192387688007936
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.173849182,712,672,660.173849182,633,877,783,799.826150818,649,628.173849182,650,0.418640788641,-0.0155292162122,0.0699524877322,0.999999995395,-5.30975321784e-05,-6.05953153939e-05,-5.21331868214e-05,1793192387704674816
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.764672034,712,672,660.764672034,633,877,783,799.235327966,649,628.764672034,650,0.419492263873,-0.0155311185144,0.069975176783,0.999999996924,-5.16313469754e-05,-3.19452983454e-05,-4.9651917236e-05,1793192387721341184
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.651793322,712,672,660.651793322,633,877.348206678,783.348206678,798.651793322,649,629,650,0.420352425658,-0.0155346693392,0.0699967002386,0.99999999739,-5.41449083873e-05,3.85998113141e-08,-4.7845717862e-05,1793192387738007552
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.073083297,712,672,660.073083297,633,877.926916703,783.926916703,798.073083297,649,629,650,0.42121833767,-0.0155393114411,0.0700174521009,0.999999996576,-5.92929537969e-05,3.42294354047e-05,-4.64863966706e-05,1793192387754674176
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.503225895,712,672,660.503225895,632.496774105,878,783.496774105,798.503225895,649,628.496774105,650,0.422020115717,-0.0155396506138,0.0699924976264,0.99999999667,-6.40009570222e-05,-5.29874448393e-06,-5.03629344216e-05,1793192387771340800
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.921033376,743,712,672,660.921033376,632.078966624,877.921033376,783,799,649,628,650,0.422806465839,-0.0155384567766,0.0699544573873,0.999999994062,-6.71599669176e-05,-6.54716323379e-05,-5.54963905034e-05,1793192387788007680
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.346682107,743,712,672,660.346682107,632.653317893,877.346682107,783,799,649,628,650,0.423554184369,-0.0155315475199,0.0698757698582,0.999999978376,-6.10006178168e-05,-0.00018831117169,-6.37673137154e-05,1793192387804675072
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.234208932,743,712,672,660.468417864,633,877,783,799,648.765791068,628,650,0.42435690611,-0.015528673512,0.0698382776015,0.999999966561,-5.84895313257e-05,-0.000242440880664,-6.84001831759e-05,1793192387821341952
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.825058462,743,712,672,661.650116924,633,877,783,799,648.174941538,628,650,0.425243383856,-0.0155319441601,0.0698635152485,0.999999977408,-6.1533820394e-05,-0.000191943026437,-6.74932249841e-05,1793192387838008064
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.592681247,743,712,672.407318753,661.592681247,633,877,783,799.407318753,648.407318753,628,650,0.426128154978,-0.0155374706046,0.0699128803284,0.999999989019,-6.59078708353e-05,-0.000117182480935,-6.23357873118e-05,1793192387854674688
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.014033843,743,712,672.985966157,661.014033843,633,877,783,799.985966157,648.985966157,628,650,0.427012208197,-0.0155439458944,0.0699723940201,0.999999995438,-7.08412522562e-05,-3.2216431478e-05,-5.53904893451e-05,1793192387871341312
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,743,712,672.439316454,661,633,877,783,800,649,628,650,0.427850947847,-0.0155470943191,0.069995396167,0.999999995639,-7.59203734955e-05,6.17304845129e-08,-5.43856303409e-05,1793192387888007424
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742.861713943,712,672,661,633,877,783,800,649,628,650,0.428685101799,-0.0155502393532,0.0700130323241,0.999999994939,-8.08396905064e-05,2.62696732724e-05,-5.3819096195e-05,1793192387904674304
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742.274426589,712,672,661,633,877,783,800,649,628,650,0.429508023375,-0.0155536418688,0.0700161922604,0.999999994214,-8.52283769524e-05,3.70203246237e-05,-5.41963435619e-05,1793192387921341184
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,742,712,672.310277226,661,632.689722774,877,783,800,649,628,650.310277226,0.430273850387,-0.0155545223445,0.0699908419546,0.99999999464,-8.67316845728e-05,-4.81121009469e-06,-5.63363868487e-05,1793192387938007808
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,742,712,672.892714852,661,632.107285148,877,783,800,649,628,650.892714852,0.430989596722,-0.0155531906068,0.0699404838226,0.999999990223,-8.57040746157e-05,-9.27653338867e-05,-6.00226703856e-05,1793192387954674688
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,742,712,673,661,632.468180254,877,783,799.531819746,649,628,650.531819746,0.431684840938,-0.0155489925582,0.0698895678328,0.999999978263,-8.64487300128e-05,-0.000178158944604,-6.52753319135e-05,1793192387971341312
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742.042101064,712,673,661,633,877,783,799,648.957898936,628,650,0.432383392775,-0.0155450349935,0.0698460821664,0.999999962497,-8.80085363796e-05,-0.000249665986646,-7.01923108601e-05,1793192387988008192
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742.616396424,712,673,661,633,877,783,799,648.383603576,628,650,0.433182272243,-0.015552298371,0.0698981145742,0.999999981605,-9.48141765555e-05,-0.0001529427829,-6.63952175454e-05,1793192388004674560
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,743,712,672.803047075,661,632.803047075,877,783,799.196952925,648.196952925,628.196952925,650,0.433965450764,-0.0155588018467,0.0699482030866,0.999999990849,-0.000100662110277,-6.58553984356e-05,-6.19110185532e-05,1793192388021341184
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,743,712,672.209895295,661,632.209895295,877,783,799.790104705,648.790104705,628.790104705,650,0.43471704474,-0.0155637766729,0.0699943811861,0.999999992959,-0.000104583483511,1.84817878712e-06,-5.6044608803e-05,1793192388038007808
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,743,712,672.374209335,661,632.374209335,877,783,799.625790665,649,628.625790665,650,0.435405559042,-0.0155669517905,0.0700021882462,0.999999992637,-0.000107389411421,1.42980071544e-05,-5.4666787039e-05,1793192388054674176
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,743,712,672.953359141,661,632.953359141,877,783,799.046640859,649,628.046640859,650,0.436059526919,-0.0155691412746,0.0699889809188,0.999999992436,-0.000109584451517,-3.51258251829e-06,-5.57471976555e-05,1793192388071340800
+182,3.033333333,POSE1_TO_POSE2_PRESS,762.473840749,743,712,672.473840749,661,633,877,783,799,649,628,650,0.436676580246,-0.0155695391311,0.0699705011462,0.99999999146,-0.000115059067041,-2.17434869501e-05,-5.8039188591e-05,1793192388088007936
+183,3.050000000,POSE1_TO_POSE2_PRESS,762.101333409,743,712,672.101333409,660.898666591,633,877,783.101333409,799.101333409,649,628.101333409,650,0.437281957594,-0.0155694956585,0.0699514400161,0.999999990137,-0.000120146763611,-4.01809351145e-05,-6.06395448223e-05,1793192388104674816
+184,3.066666667,POSE1_TO_POSE2_PRESS,762.690617335,743,712,672.690617335,660.309382665,633,877,783.690617335,799.690617335,649,628.690617335,650,0.437846680599,-0.0155680826867,0.0699318031703,0.999999988731,-0.000121988144907,-5.94356813198e-05,-6.42137786774e-05,1793192388121341696
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,743,712,673,660.274957748,633,877.274957748,784,800.274957748,649,628.725042252,650,0.43838950203,-0.0155681393634,0.0699083369837,0.999999986164,-0.00011964187848,-9.44627847592e-05,-6.65985696448e-05,1793192388138008064
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,743,712,673,660.85383392,633,877.85383392,784,800.85383392,649,628.14616608,650,0.438908115005,-0.0155698204835,0.0698806381218,0.99999998057,-0.000112666888548,-0.000146923510653,-6.76686360479e-05,1793192388154674432
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,743,712,672.56780024,661,633,877.56780024,783.56780024,800.56780024,649,628,650,0.439387224791,-0.0155716476942,0.069852893089,0.999999971938,-0.000117306465945,-0.000193933374733,-6.89368094937e-05,1793192388171340800
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.01030648,743,712,672,661,633,877,783,800,649,628,650,0.439853158796,-0.0155736280657,0.0698258333982,0.99999996129,-0.000125915820469,-0.000237972836109,-7.0242224453e-05,1793192388188007424
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.583672299,743,712,672,661,633,877,783,800,649,628,650,0.440328273714,-0.0155812798716,0.0698370671934,0.99999996389,-0.000137063725295,-0.000220325169922,-6.99263096542e-05,1793192388204674304
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711.838402688,672,661,633,877.161597312,783,800,649,628,650,0.44079282281,-0.0155891587372,0.0698509539006,0.999999966373,-0.000150192804744,-0.000199658772627,-6.95181597061e-05,1793192388221341184
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711.24839055,672,661,633,877.75160945,783,800,649,628,650,0.441229360682,-0.0155976395687,0.069871873814,0.999999968801,-0.0001685742301,-0.000170989335174,-6.88654827096e-05,1793192388238008064
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711.335758077,672.335758077,661,632.664241923,877.664241923,783,799.664241923,649,628.335758077,650,0.441634556811,-0.0156055777881,0.0698811181693,0.999999968715,-0.000178575029013,-0.000161559276726,-6.76785715421e-05,1793192388254674944
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711.915643355,672.915643355,661,632.084356645,877.084356645,783,799.084356645,649,628.915643355,650,0.442016964566,-0.0156131214777,0.0698818733119,0.999999967368,-0.000182482335789,-0.000166118029428,-6.61032227622e-05,1793192388271342080
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.507697106,712,673,661,632,877,783,799,649,628.507697106,650,0.442314195998,-0.0156145573716,0.0698538719624,0.999999956862,-0.000188262749363,-0.000214987221557,-6.79224396451e-05,1793192388288008192
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742,712,673,661,632,877.067660634,783,799,649,628,650,0.442594819568,-0.0156145386978,0.0698223053452,0.999999942848,-0.000192818189566,-0.000268632346062,-7.04450881678e-05,1793192388304674560
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,712,673,661,632,877.637432839,783,799,649,628,650,0.442859800987,-0.0156114417572,0.069800609533,0.999999934463,-0.000185916729408,-0.000301741374326,-7.38994891963e-05,1793192388321341184
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.782430181,742,712,673,660.782430181,632,877.782430181,783,799,649,628,650,0.443117191203,-0.0156110394732,0.0697838553418,0.999999927403,-0.000180402436347,-0.000327176573346,-7.48633445128e-05,1793192388338007808
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.184156992,742,712,673,660.184156992,632,877.184156992,783,799,649,628,650,0.443361298316,-0.0156153522961,0.0697757479944,0.999999924203,-0.000177315407382,-0.000339184113443,-7.14692461005e-05,1793192388354674432
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.398955292,742.398955292,712,673,660.398955292,632,877,783,799.797910584,649,628,650,0.443585970035,-0.0156212435631,0.0697672292333,0.999999916437,-0.000195567154069,-0.000352172637675,-6.96677472945e-05,1793192388371341312
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+226,3.766666667,POSE1_TO_POSE2_PRESS,763.056089558,743,712,673,660,631.943910442,877,782,800,649,628,650,0.445048620008,-0.0156403315322,0.0697143256656,0.999999877465,-0.000234886794685,-0.000429674151509,-7.26503159423e-05,1793192388821341440
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+242,4.033333333,HOLD_POSE2,763,742,711,673,660,631,877,782,799,649,628,650,0.445051747317,-0.0156350903291,0.0697127143469,0.999999878354,-0.000227717981885,-0.000431571814765,-7.19947382347e-05,1793192389106791168
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+244,4.066666667,HOLD_POSE2,763,742.827288594,712,673,660.172711406,631.827288594,877.172711406,782,800,649,628,650,0.445053469243,-0.0156357551942,0.0697135706526,0.99999987939,-0.000226465002578,-0.000429951981747,-7.12406308488e-05,1793192389140125184
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+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632,878,782,800,649,628,650,0.445054431987,-0.0156376959969,0.0697120290449,0.999999878189,-0.000229540874691,-0.000431095096715,-7.1337546204e-05,1793192389393892096
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763.425819432,743,712,673,660,631.425819432,878,782,800,649,628,650,0.445056001693,-0.0156355973859,0.0697138212533,0.999999879502,-0.0002270633661,-0.00042940280072,-7.10679186745e-05,1793192389410558976
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763.148978466,742.851021534,711.851021534,673,660,631.148978466,877.851021534,782,800,649,628,650.148978466,0.445056836367,-0.0156341252102,0.0697147331963,0.999999880248,-0.000225177288067,-0.000428690643904,-7.0872688589e-05,1793192389427225856
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.31050751,660,631.68949249,877,782,800,649,628,650.68949249,0.445054629587,-0.0156348546795,0.0697123954954,0.999999878977,-0.000224800018461,-0.000431861628059,-7.07501368274e-05,1793192389460559104
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.903087712,660,631.096912288,877,782,800,649,628,650.096912288,0.445054009545,-0.0156353291138,0.0697124821298,0.999999878982,-0.000224611231553,-0.000431995026225,-7.04647017487e-05,1793192389477225472
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.635153063,743,712,673,660,632,878,782,799.364846937,648.635153063,628,650.364846937,0.445051702285,-0.0156348458659,0.0697116849559,0.999999878323,-0.000226598554138,-0.000432405801665,-7.09365824415e-05,1793192389527225344
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.196239894,743,712,672.196239894,660,632,877.196239894,782.803760106,799.803760106,649,628,650,0.445026589864,-0.0156328377238,0.0696972478068,0.999999868951,-0.000225992687616,-0.000453659998155,-7.22285499616e-05,1793192389560558848
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,743,712,672.387780857,659.612219143,632,877,782.612219143,800,649,628,650,0.444992904049,-0.0156310959865,0.0696834268176,0.999999857847,-0.000225375502196,-0.000477683505705,-7.30158207971e-05,1793192389577225472
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.545524988,742.454475012,712,673,659.545524988,632,877.545524988,782,799.454475012,649,628,650,0.444878951587,-0.0156255813564,0.0696505421724,0.999999827141,-0.000222266675208,-0.000539237209932,-7.4417364702e-05,1793192389610558720
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.879282159,742,711.879282159,673,660,631.879282159,878,782,799.120717841,649,628,650,0.44480360068,-0.0156218264963,0.0696352673614,0.999999811995,-0.000219955408486,-0.000567482111217,-7.47948269647e-05,1793192389627225088
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742.277202372,711.277202372,673,660,631.277202372,877.722797628,782,800,649,628,650,0.444628947875,-0.015611377605,0.0696222009117,0.999999804102,-0.000213693097707,-0.000583776856651,-7.30468322288e-05,1793192389660558592
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742.869931843,711.869931843,673,660,631.869931843,877.130068157,782,800,649,628,650,0.444525128639,-0.0156064698102,0.0696212988736,0.999999803503,-0.000210798137311,-0.000586106011113,-7.09812414066e-05,1793192389677225216
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.759743454,660,632,877,782.759743454,799.240256546,649,628,650,0.442035325879,-0.0154927837948,0.0697083792327,0.999999891822,-8.33642685041e-06,-0.000465010038568,-7.15506817041e-06,1793192389860558592
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.16865778,660,632,877,782.16865778,799.83134222,649,628,650,0.441676051957,-0.0154845692547,0.0697227696383,0.999999901288,3.3852992156e-06,-0.000444309518107,1.56172311434e-06,1793192389877225216
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,742.415067263,711.415067263,672.830134525,660,632,877,782.415067263,800.415067263,649,628,650,0.441287459301,-0.0154872220338,0.0697376709359,0.999999914003,3.1461042996e-05,-0.000413401352324,1.01705729463e-05,1793192389893891840
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742.9958535,711.9958535,673.991707,660,632,877,782.9958535,800.9958535,649,628,650,0.44088716091,-0.0154942136785,0.069752776211,0.999999926042,6.60662607805e-05,-0.000378417700953,1.87363260475e-05,1793192389910558464
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,743,712,673.430197868,660,631.430197868,877.569802132,783,800.430197868,649,628,650,0.440428650628,-0.0154948206149,0.0697697103036,0.99999993861,2.87892084995e-05,-0.00034885511783,1.58573969723e-05,1793192389927225088
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.144238696,742.855761304,712,673,660,631.144238696,877.855761304,783,800,649,628,650,0.439948661348,-0.0154933498707,0.0697821131764,0.999999946209,6.49926645045e-06,-0.000327621741499,1.42520867172e-05,1793192389943891712
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.720283067,742.279716933,712,673,660,631.720283067,877.279716933,783,800,649,628,650,0.439405623858,-0.0154857966427,0.069780911618,0.999999944543,3.06234756675e-05,-0.000331206720656,1.67059643972e-05,1793192389960558336
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632.304919771,877,783,800,649,628,650,0.43883495133,-0.0154761251486,0.0697658228694,0.999999936029,4.80943695107e-05,-0.000354009265138,1.75225217039e-05,1793192389977225216
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632.897667238,877,783,800,649,628,650,0.438238192765,-0.0154644541256,0.0697376253676,0.999999920108,5.92848979027e-05,-0.000394952147221,1.67935378081e-05,1793192389993891840
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,742,711.950274829,672.950274829,660.950274829,632,876.950274829,783,799,648,628.049725171,649.950274829,0.437054320689,-0.0154489833396,0.069741884442,0.999999925176,8.1920118763e-05,-0.000377815766076,1.38503016557e-05,1793192390027225344
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,742,711.374580893,672.374580893,660.374580893,632,876.374580893,783,799,648,628.625419107,649.374580893,0.436421477362,-0.0154272251594,0.0697736666299,0.999999936671,0.000115089174035,-0.000336447517429,1.46855279836e-05,1793192390043893248
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,762.925612918,742.074387082,711.925612918,671.925612918,660.925612918,632,877,783,799,649,628,650,0.421553793604,-0.015384618824,0.0696999539814,0.999999849631,0.000200509970905,-0.000509949756118,2.2014012281e-05,1793192390343891968
+316,5.266666667,POSE2_TO_POSE3_RETREAT,762.351407761,742.648592239,711.351407761,671.351407761,660.351407761,632,877,783,799,649,628,650,0.420694358981,-0.0153858769683,0.0696949895495,0.999999854316,0.000196085087038,-0.000502483037497,2.07008926009e-05,1793192390360559360
+317,5.283333333,POSE2_TO_POSE3_RETREAT,762,743,711.229362909,671.229362909,660,632.229362909,877,782.770637091,799.229362909,649,628,650,0.419866453393,-0.0153900951323,0.0697275198386,0.999999884191,0.000191512161605,-0.000440887309189,2.36606729259e-05,1793192390377226240
+318,5.300000000,POSE2_TO_POSE3_RETREAT,762,743,711.820489142,671.820489142,660,632.820489142,877,782.179510858,799.820489142,649,628,650,0.419088276936,-0.0153989819961,0.069819188786,0.999999938821,0.000186705733604,-0.000293916432279,3.33598968732e-05,1793192390393892352
+319,5.316666667,POSE2_TO_POSE3_RETREAT,762.403260778,743,712,671.596739222,660.403260778,633,876.596739222,782.403260778,799.596739222,648.596739222,628.403260778,650,0.418275917615,-0.0153995976001,0.0698673879674,0.999999956504,0.000190807414226,-0.00022155846734,3.86705461106e-05,1793192390410558976
+320,5.333333333,POSE2_TO_POSE3_RETREAT,762.982388831,743,712,671.017611169,660.982388831,633,876.017611169,782.982388831,799.017611169,648.017611169,628.982388831,650,0.417448650749,-0.0153966059996,0.0698966294124,0.999999962841,0.000198794038131,-0.000181740174467,4.20672803865e-05,1793192390427225600
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,712,671.135926556,660,632.864073444,876,783,799,649,628.864073444,650,0.415717243932,-0.0153910100634,0.069816710844,0.9999999383,0.000192450237295,-0.000292123420519,3.20335096408e-05,1793192390460559104
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,712,671.722391345,660,632.277608655,876,783,799,649,628.277608655,650,0.414885635306,-0.0153914657214,0.0697896578034,0.999999926945,0.000190879807829,-0.000329895858913,2.90561897626e-05,1793192390477225728
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742.30653961,712,671.69346039,660,632.30653961,876,783.30653961,799,649,628,650,0.414036572734,-0.0153898235384,0.0697626089029,0.999999909416,0.000191200060948,-0.000379358449957,2.64217061881e-05,1793192390493892096
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,762.534598185,742.534598185,712,671,660,633,876,783.534598185,799,649,628.465401815,650,0.412470722566,-0.0153865306312,0.0697748207801,0.999999913071,0.000198792196316,-0.000365486387338,2.75459432525e-05,1793192390527225344
+327,5.450000000,POSE2_TO_POSE3_RETREAT,762.040861888,742,712,671,660,633,876.040861888,783,799,649,629,650,0.411808581274,-0.0153877075366,0.0698288106118,0.999999943952,0.000204782050121,-0.000262898997015,3.23043182661e-05,1793192390543891968
+328,5.466666667,POSE2_TO_POSE3_RETREAT,762.615161998,742,712,671,660,633,876.615161998,783,799,649,629,650,0.411149401405,-0.0153895570078,0.0698702805375,0.999999958581,0.000205243510397,-0.000198485361989,3.62869941242e-05,1793192390560558592
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,876.805020992,783,799,649,628.805020992,650,0.410476777335,-0.0153900425971,0.0698901415707,0.99999996349,0.000206182510551,-0.000170398357593,3.83705959859e-05,1793192390577225472
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,876.213997872,783,799,649,628.213997872,650,0.409776845096,-0.0153877578503,0.0698661103238,0.99999995433,0.000208091497693,-0.000216098507286,3.65967728813e-05,1793192390593892608
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742,712,671.369509846,660,633,876.369509846,783,799,648.630490154,628,650,0.409074310446,-0.0153834740202,0.0698263221046,0.999999936622,0.000210447881559,-0.000285377491188,3.20679626381e-05,1793192390610559232
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742,712,671.948751819,660,633,876.948751819,783,799,648.051248181,628,650,0.408370298721,-0.0153780555195,0.0697775903,0.999999909239,0.000213058204663,-0.000368039711274,2.59754340313e-05,1793192390627225600
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.900118457,742,712,671,660,632.099881543,876.099881543,783,799,649,628,650,0.407220752161,-0.0153773041458,0.0697789102661,0.999999917468,0.000207912101117,-0.000348177088411,2.4693280276e-05,1793192390660559104
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.313493403,742,712,671,660,632.686506597,876.686506597,783,799,649,628,650,0.406706383208,-0.0153770859915,0.0697991331796,0.999999924241,0.000212156765196,-0.000325212457998,2.72926850314e-05,1793192390677225728
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,876.730112275,783,799.269887725,648.730112275,628,650,0.40619225952,-0.01537700292,0.0698077659828,0.999999924881,0.000217734054063,-0.000319428195585,2.82057418419e-05,1793192390693892096
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,660.4288875,633,876,783,799.142225,648,628,650,0.405214596191,-0.0153786322871,0.0698057747022,0.999999920809,0.000221428668414,-0.000329582429387,2.69467110343e-05,1793192390727225600
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.25311815,742,712,671,660,632.25311815,876.74688185,783,799.74688185,648,628.74688185,650,0.40371526531,-0.0153678062809,0.0698491044471,0.999999940689,0.00023846360661,-0.00024688020676,2.8426660797e-05,1793192390793892096
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,763,742.909491365,712,671,660,632.909491365,877,783,800,648.909491365,629,650,0.403057714077,-0.0153575659835,0.0698336006653,0.999999929988,0.000253465541063,-0.000274007303007,2.6454779272e-05,1793192390827225344
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763,742.512228809,712,671,659.512228809,633,877,783,800,649,628.512228809,650,0.402765389034,-0.0153560091335,0.0698224442086,0.999999924563,0.000253472634547,-0.000293274832559,2.48066965044e-05,1793192390843891968
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742,711.934844011,671,659,633,876.934844011,783,799.934844011,648.934844011,628,650,0.402486533156,-0.0153559982904,0.0698119194843,0.999999919752,0.000251212377287,-0.000311205734296,2.32248801402e-05,1793192390860558848
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,742,711.363594012,671,659,633,876.363594012,783,799.363594012,648.363594012,628,650,0.40226270756,-0.0153632912863,0.0698061259471,0.999999918872,0.000243017728254,-0.000320455155447,2.24923638943e-05,1793192390877225984
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,659,633,876.812411395,783,799,648.812411395,628.812411395,650,0.401870581537,-0.0153766522981,0.0697969586481,0.999999917277,0.000231041715038,-0.00033400747573,2.24695685142e-05,1793192390910558976
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,742,711.394438169,671,659.394438169,633,876.605561831,783,799,649,628.605561831,650,0.401711544639,-0.0153741888106,0.0697959105385,0.999999915936,0.000232443321759,-0.000336999698785,2.30215034439e-05,1793192390927225600
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763,742,711.970125523,671,659.970125523,633,876.029874477,783,799,649,628.029874477,650,0.401563566582,-0.0153676549259,0.0697962275308,0.999999914303,0.000236767219626,-0.000338783673155,2.36776161962e-05,1793192390943892224
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763,742.545016744,712,671,660,633,876.545016744,783,799,649,628.545016744,650,0.40144648011,-0.0153658875689,0.0697970972378,0.999999915576,0.000235494702882,-0.000335985447817,2.24467112967e-05,1793192390960558592
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.123056707,742.876943293,712,671,659.876943293,633,876.876943293,783,799.123056707,648.876943293,629,650,0.401338153512,-0.0153646252494,0.0697975687711,0.999999916305,0.000236330813355,-0.000333383472638,1.98496011107e-05,1793192390977225216
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659,633,876,783,799.030527314,648.030527314,629,650.969472686,0.401031405135,-0.0153601530233,0.0697982643574,0.999999914489,0.000250466137099,-0.000328834896394,1.25076049861e-05,1793192391060559360
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,659,633,876,783,799.616122536,648.616122536,629,650.383877464,0.4010050179,-0.0153587721137,0.0697980107504,0.999999914924,0.000248965476305,-0.000328649456036,1.25195898366e-05,1793192391077225728
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.357621099,742,712,670.357621099,660,633.642378901,876.642378901,783.357621099,799.642378901,649,628,650.357621099,0.400962879197,-0.0153605037487,0.0698023032831,0.999999918663,0.000245944368298,-0.000319400592639,1.29579938038e-05,1793192391127225600
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_07/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..202ce5445b5b02273955e566048180c94c129ce5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,394 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_07/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..405a28bad34a0e7186a7a40218be1b12aa7d74e0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d0a8557a06af5f44ad5457d92d0d4197dad6bcd437264323729ef6e19a1c80e
+size 25111099
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4afb2c2e1a75f5bbcb2dcf9e440d0a9d5d8fdba
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_03/franka_data.csv
@@ -0,0 +1,396 @@
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+14,0.233333333,BASELINE,764,742,711.879170766,671,659,633,876.120829234,783,799,648,628.879170766,650,0.400942237624,-0.0153651068011,0.0698090763921,0.999999923613,0.000240780923048,-0.000307679133588,1.14955827444e-05,1793192392011114240
+15,0.250000000,BASELINE,764,742,711.287536179,671,659,633,876.712463821,783,799,648,628.287536179,650,0.40094294874,-0.0153639096623,0.0698099277302,0.999999923628,0.000241689602736,-0.000306921569973,1.13615717015e-05,1793192392027780864
+16,0.266666667,BASELINE,764,742,711.29715233,671,659,633,877,783,799,648,628.29715233,650,0.400943324334,-0.0153637963862,0.0698100995956,0.999999923765,0.000241316357641,-0.00030676715759,1.14130485503e-05,1793192392044447744
+17,0.283333333,BASELINE,764,742,711.875273032,671,659,633,877,783,799,648,628.875273032,650,0.400943382681,-0.0153647079417,0.0698096289945,0.999999924016,0.000239731005826,-0.00030718304675,1.1639910978e-05,1793192392061114624
+18,0.300000000,BASELINE,763.54933529,742,712,670.54933529,659.45066471,633,877,783,799.45066471,648,628.54933529,650,0.400943358272,-0.0153633605825,0.0698099767547,0.999999923678,0.000241671479544,-0.000306766224029,1.15586038495e-05,1793192392077780992
+19,0.316666667,BASELINE,763.02591107,742,712,670.02591107,660,633,876.97408893,783,799.97408893,648,628.02591107,650,0.400943299452,-0.0153615671649,0.0698104944398,0.999999923219,0.000244301942853,-0.000306184505682,1.13994015104e-05,1793192392094447616
+20,0.333333333,BASELINE,763.614300208,742,712,670.614300208,660,633,876.385699792,783,799.385699792,648,628.614300208,650,0.400942987865,-0.0153635804866,0.0698098137715,0.999999923806,0.000240855198745,-0.000306996016421,1.13895744957e-05,1793192392111114496
+21,0.350000000,BASELINE,764,742,712,671,659.800613423,632.800613423,876,783,799,648.199386577,628.800613423,650.199386577,0.400943182236,-0.015364976822,0.0698096367298,0.99999992425,0.000238952222164,-0.000307034792633,1.14703330165e-05,1793192392127781120
+22,0.366666667,BASELINE,764,742,712,671,659.221811995,632.221811995,876,783,799,648.778188005,628.221811995,650.778188005,0.400944339401,-0.0153651990875,0.0698104180446,0.999999924438,0.000239986897732,-0.00030560312396,1.17234677239e-05,1793192392144447744
+23,0.383333333,BASELINE,764,742,712,671,659.356289493,632,876.712578987,783,799,648.643710507,628,650.643710507,0.400944851634,-0.0153666360795,0.0698112041809,0.999999925109,0.000238378510238,-0.000304653564897,1.20110366978e-05,1793192392161114112
+24,0.400000000,BASELINE,764,742,712,671,659.933956137,632,877.867912273,783,799,648.066043863,628,650.066043863,0.400944963145,-0.0153688278306,0.0698119933132,0.999999926072,0.000235127880288,-0.000304003559996,1.23200011063e-05,1793192392177780736
+25,0.416666667,BASELINE,763.492267017,742,712,671,660,632.507732983,876.984534034,783,799.507732983,648,628,650,0.40094374099,-0.0153656871958,0.0698105852029,0.999999924649,0.000238572203015,-0.000306013478993,1.18365231714e-05,1793192392194447616
+26,0.433333333,BASELINE,763,742,711.916525286,671,660,633,876,783,799.916525286,648,628,650,0.400942522924,-0.0153629322396,0.0698091810196,0.99999992334,0.000241614051279,-0.000307916187403,1.14079353853e-05,1793192392211114240
+27,0.450000000,BASELINE,763,742,711.325791817,671,660,633,876,783,799.325791817,648,628,650,0.400942375879,-0.0153667038842,0.0698095242931,0.999999924705,0.000236958388213,-0.000307080861437,1.19345234216e-05,1793192392227780864
+28,0.466666667,BASELINE,763,742,711,671.259677735,660,633,876,783,799,648,628,650,0.400942872992,-0.0153685473681,0.0698101483838,0.999999925554,0.000234521583691,-0.000306175116799,1.21714527544e-05,1793192392244447744
+29,0.483333333,BASELINE,763,742,711,671.838674352,660,633,876,783,799,648,628,650,0.40094416221,-0.0153680198435,0.0698111177881,0.99999992579,0.000234813251456,-0.000305182780229,1.20521963652e-05,1793192392261114368
+30,0.500000000,BASELINE,763.414047063,742,711.414047063,671.585952937,659.585952937,633,876,783.414047063,798.585952937,648,628,650,0.400944765897,-0.0153668476683,0.0698116523462,0.999999925851,0.000236242367932,-0.000303887566285,1.18641929142e-05,1793192392277781760
+31,0.516666667,BASELINE,763.988020025,742,711.988020025,671.011979975,659.011979975,633,876,783.988020025,798.011979975,648,628,650,0.400945104796,-0.0153654264965,0.0698120189447,0.999999925838,0.000238110824575,-0.000302475365814,1.16496358764e-05,1793192392294449664
+32,0.533333333,BASELINE,763.425932993,742,712,671,659.574067007,633,876,783.425932993,798.574067007,648.574067007,628,650,0.400943779711,-0.0153653608948,0.069810771854,0.999999924613,0.000239696614837,-0.000305258749815,1.1713620113e-05,1793192392311115008
+33,0.550000000,BASELINE,763,742,712,670.841187488,660,632.841187488,876,783,799.158812512,648.841187488,628,650,0.400943071412,-0.0153656351376,0.0698101567959,0.999999924,0.000240336920378,-0.00030675367607,1.18398862125e-05,1793192392327781120
+34,0.566666667,BASELINE,763,742,712,670.26058227,660,632.26058227,876,783,799.73941773,648.26058227,628,650,0.400944095451,-0.0153667352319,0.0698113117239,0.999999925103,0.00023848210104,-0.000304589028909,1.21157978031e-05,1793192392344448000
+35,0.583333333,BASELINE,763.31882447,742,712,670,660,632.31882447,876.31882447,783,799.68117553,648.31882447,628,650,0.400944298507,-0.0153664343905,0.0698113925464,0.999999925195,0.000238994747578,-0.000303889299823,1.1956357033e-05,1793192392361114880
+36,0.600000000,BASELINE,763.897255399,742,712,670,660,632.897255399,876.897255399,783,799.102744601,648.897255399,628,650,0.400943833067,-0.0153649928213,0.0698105987663,0.999999924465,0.000241435129995,-0.000304382396745,1.14424256699e-05,1793192392377781504
+37,0.616666667,BASELINE,764,742,712,670.472961303,660,633,876.527038697,783.472961303,799,649,628.472961303,650,0.400943982641,-0.0153654088748,0.069811284881,0.999999924992,0.000240067408105,-0.000303730193583,1.1472656968e-05,1793192392394447872
+38,0.633333333,BASELINE,764,742,711.952057458,671,659.952057458,633,876.047942542,783.952057458,799.047942542,648.952057458,628.952057458,650,0.400944144083,-0.0153660820075,0.0698121091743,0.999999925664,0.00023810995041,-0.000303053092422,1.16147814797e-05,1793192392411114496
+39,0.650000000,BASELINE,764,742,711.378567523,671,659.378567523,633,876.621432477,783.378567523,799.621432477,648.378567523,628.378567523,650,0.400942979453,-0.0153651749315,0.0698109442167,0.999999924986,0.000238704292344,-0.000304814800717,1.16950610737e-05,1793192392427780864
+40,0.666666667,BASELINE,764,742,711.202338529,671,659,633,877,783,800,648,628.202338529,650.202338529,0.400942421831,-0.0153647702456,0.0698101777536,0.99999992455,0.000238789715607,-0.000306176881757,1.16512097441e-05,1793192392444447744
+41,0.683333333,BASELINE,764,742,711.797647719,671,659,633,877,783,800,648,628.797647719,650.797647719,0.400943043108,-0.0153653412739,0.0698101852247,0.999999924589,0.000237886745243,-0.000306762828827,1.13662782202e-05,1793192392461114624
+42,0.700000000,BASELINE,763.619057803,742,712,670.619057803,659.380942197,633,877,783,800,648.380942197,628.619057803,650.619057803,0.400944534299,-0.0153658740321,0.0698113943905,0.99999992528,0.000237430634899,-0.000304848900263,1.16091743612e-05,1793192392477781248
+43,0.716666667,BASELINE,763.04195029,742,712,670.04195029,659.95804971,633,877,783,800,648.95804971,628.04195029,650.04195029,0.40094647345,-0.0153663870831,0.0698132223663,0.999999926298,0.000237204634127,-0.00030164766643,1.21238741615e-05,1793192392494448128
+44,0.733333333,BASELINE,763,742,711.469831395,670.530168605,660,633,875.939662791,783,799.469831395,648.469831395,628,650,0.400943996353,-0.0153675561139,0.0698113515993,0.999999925648,0.000235865453327,-0.000304838708768,1.2003297008e-05,1793192392511115008
+45,0.750000000,BASELINE,763,742,711.105950918,671,660,633,875.105950918,783,799,648,628,650,0.400941896539,-0.0153683330567,0.0698097339687,0.999999925014,0.000235137888051,-0.00030747613486,1.18636086708e-05,1793192392527781632
+46,0.766666667,BASELINE,763,742,711.700427692,671,660,633,875.700427692,783,799,648,628,650,0.400943132536,-0.0153670650353,0.0698106203922,0.999999925106,0.000237632750548,-0.000305250482254,1.18654158174e-05,1793192392544448256
+47,0.783333333,BASELINE,763.285808099,742,711.714191901,671,659.714191901,633,876,783,798.714191901,648.285808099,628,650,0.400943062845,-0.0153662407705,0.0698105722912,0.999999925126,0.000237919497528,-0.000304969925516,1.16207769552e-05,1793192392561114624
+48,0.800000000,BASELINE,763.861948231,742,711.138051769,671,659.138051769,633,876,783,798.138051769,648.861948231,628,650,0.400941666801,-0.0153658672862,0.0698095748738,0.999999925077,0.000235963177991,-0.000306665252463,1.11257911975e-05,1793192392577781248
+49,0.816666667,BASELINE,764,742,711.437906831,671,659,633,876.437906831,783,798.437906831,648.562093169,628.437906831,650,0.400943429059,-0.0153655990065,0.0698110917743,0.999999925227,0.000238289979442,-0.000304358684857,1.14028356671e-05,1793192392594447872
+50,0.833333333,BASELINE,764,742,712,670.985873096,659,633,876.985873096,783,799,648.014126904,628.985873096,650,0.400946106189,-0.01536539208,0.0698133280166,0.999999925422,0.000241809099635,-0.000300903385541,1.19093127341e-05,1793192392611114752
+51,0.850000000,BASELINE,764,742,712,670.39667911,659,633,876.39667911,783,799,648.60332089,628.39667911,650,0.400945511182,-0.0153663331243,0.0698125935324,0.999999925779,0.000238921250317,-0.00030202185043,1.18519157527e-05,1793192392627781632
+52,0.866666667,BASELINE,763.810857846,742,712,670.189142154,659.189142154,633,876.189142154,783,799,648.810857846,628.189142154,650,0.400944565418,-0.0153668838957,0.0698118547731,0.999999925767,0.000237549427693,-0.000303147609635,1.17597625131e-05,1793192392644448512
+53,0.883333333,BASELINE,763.231986152,742,712,670.768013848,659.768013848,633,876.768013848,783,799,648.231986152,628.768013848,650,0.400942896916,-0.0153666305052,0.0698111072046,0.999999925004,0.000239301395328,-0.000304288398797,1.15959936153e-05,1793192392661115392
+54,0.900000000,BASELINE,763.345035732,742.345035732,712,670.654964268,659.654964268,633,877,783,799,648,628.654964268,650,0.400943155784,-0.015366879241,0.0698112233956,0.99999992519,0.000238632367014,-0.000304205174881,1.15939539236e-05,1793192392677781760
+55,0.916666667,BASELINE,763.920820499,742.920820499,712,670.079179501,659.079179501,633,877,783,799,648,628.079179501,650,0.400944703618,-0.0153674637829,0.0698119172418,0.999999926006,0.000236344252765,-0.000303303369513,1.17000736391e-05,1793192392694448128
+56,0.933333333,BASELINE,764,742.505429946,712,670.494570054,659.494570054,633,876.505429946,783,799.494570054,648.494570054,628,650,0.400944591131,-0.0153675487374,0.0698119263379,0.999999925959,0.000236244399194,-0.000303529040315,1.1887173875e-05,1793192392711114752
+57,0.950000000,BASELINE,763.929897873,742,712,671,659.929897873,633,876,783,800,649,628,650,0.400944239161,-0.0153673241202,0.0698118343899,0.999999925794,0.000236584711805,-0.000303801928808,1.19901065671e-05,1793192392727781376
+58,0.966666667,BASELINE,763.338703975,742,712,671,659.338703975,633,876,783,800,649,628,650,0.400944074821,-0.0153653904575,0.0698118029007,0.999999925776,0.000237603438144,-0.000303089538795,1.13714180757e-05,1793192392744448000
+59,0.983333333,BASELINE,763.247398934,742,712,671,659,633,876.247398934,783,799.752601066,648.752601066,628,650,0.400943810007,-0.0153647728901,0.0698117199629,0.999999925667,0.000238620358834,-0.000302655815105,1.12052045831e-05,1793192392761114624
+60,1.000000000,BASELINE,763.82667259,742,712,671,659,633,876.82667259,783,799.17332741,648.17332741,628,650,0.400943410412,-0.0153659208062,0.0698115680091,0.999999925438,0.00023963485747,-0.000302595909858,1.16459661927e-05,1793192392777781504
+61,1.016666667,BASELINE,763.597252437,742,711.597252437,671,659.402747563,633,876.597252437,783,799,648.402747563,628,650,0.400943747501,-0.0153652857594,0.0698115150671,0.999999925359,0.000239693137795,-0.000302812493798,1.15726372266e-05,1793192392794448384
+62,1.033333333,BASELINE,763.022543245,742,711.022543245,671,659.977456755,633,876.022543245,783,799,648.977456755,628,650,0.400944399132,-0.0153638894385,0.0698115044004,0.999999925345,0.000239343140331,-0.000303147130673,1.12798063397e-05,1793192392811115264
+63,1.050000000,BASELINE,763.550262465,742,711.550262465,671,659.449737535,633,876,783,799,648.449737535,628,650,0.40094335869,-0.0153652051367,0.069811039657,0.999999925,0.000238943348073,-0.000304584189432,1.15859264904e-05,1793192392827781376
+64,1.066666667,BASELINE,763.871663549,742,711.871663549,670.871663549,659,633,876.128336451,783,799,648,628,650,0.400942618454,-0.0153662334947,0.0698107655715,0.999999924873,0.000238298233294,-0.000305497823856,1.17644857383e-05,1793192392844448000
+65,1.083333333,BASELINE,763.274040985,742,711.274040985,670.274040985,659,633,876.725959015,783,799,648,628,650,0.400943228589,-0.0153658062589,0.0698112564516,0.999999925597,0.00023676348501,-0.00030433287773,1.13871766153e-05,1793192392861114624
+66,1.100000000,BASELINE,763,742,711.312224853,670.312224853,659,633,877,783,799,648.312224853,628,650,0.400944239307,-0.0153662121176,0.0698117156262,0.999999926274,0.000235705443879,-0.000302926969803,1.13752296284e-05,1793192392877781248
+67,1.116666667,BASELINE,763,742,711.888872658,670.888872658,659,633,877,783,799,648.888872658,628,650,0.400945589278,-0.0153673235232,0.0698121479495,0.999999926911,0.000235051125695,-0.000301316991597,1.16727075327e-05,1793192392894447872
+68,1.133333333,BASELINE,763,742,711.540075836,671,659.459924164,633,877,783,799,648.540075836,628,650,0.400944468426,-0.0153664936074,0.0698120565586,0.999999926367,0.000236301106038,-0.000302148529908,1.16067135804e-05,1793192392911114752
+69,1.150000000,BASELINE,763,742,711.030929226,671,659.969070774,633,876.969070774,783,799,648.030929226,628,650,0.400942952759,-0.0153652354443,0.0698119007716,0.999999925585,0.000237997778356,-0.000303407509687,1.14630732874e-05,1793192392927781632
+70,1.166666667,BASELINE,763,742,711.625429601,671,659.374570399,633,876.374570399,783,799,648.625429601,628,650,0.400944990439,-0.0153646182729,0.0698128496164,0.99999992569,0.000239550587475,-0.000301835106316,1.14856176181e-05,1793192392944448512
+71,1.183333333,BASELINE,763.214050466,742,712,671,659.214050466,633,876,783,799,649,628.214050466,650,0.400946315632,-0.0153642556577,0.0698134688035,0.999999925911,0.000240017528485,-0.000300728527786,1.1451670459e-05,1793192392961114880
+72,1.200000000,BASELINE,763.792657827,742,712,671,659.792657827,633,876,783,799,649,628.792657827,650,0.400946427364,-0.0153643265861,0.069813526539,0.999999926338,0.000238635089488,-0.000300415311715,1.13215106557e-05,1793192392977781504
+73,1.216666667,BASELINE,763.630341864,742,711.630341864,671,659.630341864,633,876,783,799,648.630341864,628.630341864,650,0.400945545755,-0.0153652741963,0.0698128632732,0.999999926153,0.000238584448833,-0.00030106020887,1.155035442e-05,1793192392994448128
+74,1.233333333,BASELINE,763.054239088,742,711.054239088,671,659.054239088,633,876,783,799,648.054239088,628.054239088,650,0.400944109391,-0.0153667114107,0.0698117973465,0.999999925627,0.000239277583669,-0.000302240187844,1.19796925282e-05,1793192393011114496
+75,1.250000000,BASELINE,763.517868105,742,711.517868105,671,659,633,876,783,799,648,628,650,0.400943588971,-0.0153665749972,0.0698113870333,0.999999925404,0.000238967903609,-0.000303221829692,1.19273693968e-05,1793192393027781120
+76,1.266666667,BASELINE,763.906375383,742,712,671.093624617,659,633,876.093624617,783,799,648.093624617,628,650,0.400943327399,-0.015366274898,0.0698111375022,0.999999925225,0.000238806981842,-0.000303942807711,1.1842268339e-05,1793192393044448000
+77,1.283333333,BASELINE,763.308737797,742,712,671.691262203,659,633,876.691262203,783,799,648.691262203,628,650,0.400943946807,-0.0153659740826,0.0698113866945,0.999999925111,0.000240007960078,-0.000303371515554,1.18502063435e-05,1793192393061114880
+78,1.300000000,BASELINE,763,742,712,671.722095505,659,633,877,783,799,649,628.277904495,650,0.40094404261,-0.0153659584033,0.0698115080279,0.999999924983,0.000240648776471,-0.000303284641904,1.18729862637e-05,1793192393077781504
+79,1.316666667,BASELINE,763,742,712,671.147203562,659,633,877,783,799,649,628.852796438,650,0.400943578855,-0.0153662474397,0.0698114927226,0.999999924841,0.00024069096614,-0.000303715450506,1.19116272532e-05,1793192393094448128
+80,1.333333333,BASELINE,763.427401204,742,712,671,659.427401204,632.572598796,876.572598796,783,799,649,628.572598796,650,0.400942950196,-0.0153674529574,0.0698111009724,0.999999925183,0.000238295650167,-0.000304491421038,1.16100558265e-05,1793192393111114752
+81,1.350000000,BASELINE,763.998036558,742,712,670.998036558,659.998036558,632.001963442,876,783,799,648.998036558,628,650,0.400942268257,-0.0153689598982,0.0698105838768,0.999999925676,0.000235084634729,-0.000305380009046,1.11939915217e-05,1793192393127781376
+82,1.366666667,BASELINE,763.406581398,742,712,670.406581398,659.406581398,632.593418602,876,783,799,648.406581398,628,650,0.400942630411,-0.0153662589643,0.0698113340948,0.999999925074,0.000238854539981,-0.000304412593962,1.15593992554e-05,1793192393144448000
+83,1.383333333,BASELINE,763,742,711.818961321,670,659,633,876,783,799,648,628,650,0.400942887152,-0.0153651367998,0.0698118697367,0.99999992494,0.000240140953213,-0.000303829929771,1.18385523089e-05,1793192393161114624
+84,1.400000000,BASELINE,763,742,711.239775394,670,659,633,876,783,799,648,628,650,0.400942912066,-0.0153674867251,0.0698119334747,0.999999925853,0.000235965575677,-0.000304093424412,1.19280108111e-05,1793192393177781248
+85,1.416666667,BASELINE,763,742,711.335971384,670.335971384,659,633,876,783,799,648.335971384,628,650,0.400943192817,-0.0153679086392,0.0698119100813,0.999999926031,0.00023558014217,-0.000303808107251,1.18958757292e-05,1793192393194447872
+86,1.433333333,BASELINE,763,742,711.90928855,670.90928855,659,633,876,783,799,648.90928855,628,650,0.400943654305,-0.0153669685165,0.0698118251342,0.999999925694,0.000237872101332,-0.000303135083942,1.1777841289e-05,1793192393211114752
+87,1.450000000,BASELINE,763.494171024,742,712,671,659,633,876.494171024,783,799,648.505828976,628,650,0.400943373516,-0.0153661075827,0.0698115975699,0.999999925334,0.000238757319331,-0.000303630334803,1.16350084223e-05,1793192393227781632
+88,1.466666667,BASELINE,764,742,712,671,659,632.919682146,877,783,799.080317854,648,628,650,0.400943022193,-0.0153653551595,0.0698113526875,0.999999924993,0.000239392496082,-0.000304256341504,1.15185180819e-05,1793192393244448512
+89,1.483333333,BASELINE,764,742,712,671,659,632.339198942,877,783,799.660801058,648,628,650,0.400943100469,-0.0153651857769,0.0698111668926,0.999999924797,0.000240117174335,-0.000304329143198,1.15950977447e-05,1793192393261114880
+90,1.500000000,BASELINE,764,742,712,671,659,632.240144735,877,783,799.759855265,648,628,650,0.400942839097,-0.0153655937039,0.0698109158472,0.999999924996,0.000238894321976,-0.000304635918217,1.15666198635e-05,1793192393277781248
+91,1.516666667,BASELINE,764,742,712,671,659,632.81788641,877,783,799.18211359,648,628,650,0.400942100247,-0.0153668132164,0.0698105730723,0.999999925743,0.000234933619092,-0.000305271614357,1.13904514369e-05,1793192393294447872
+92,1.533333333,BASELINE,763.608143183,742,712,671,659.391856817,633,876.608143183,783,799,648.391856817,628,650,0.400943271963,-0.0153670017016,0.0698114960069,0.999999926133,0.000235147979889,-0.000303822068165,1.14993878138e-05,1793192393311114496
+93,1.550000000,BASELINE,763.035908697,742,712,671,659.964091303,633,876.035908697,783,799,648.964091303,628,650,0.40094532314,-0.0153667155894,0.0698130015668,0.999999926354,0.00023728418581,-0.000301412653186,1.17395622637e-05,1793192393327781120
+94,1.566666667,BASELINE,763,742,712,671,659.445831096,633,876,783,799,649,628,650,0.400945095717,-0.0153662107352,0.069812933254,0.999999925734,0.000239376963337,-0.000301809347794,1.19122543997e-05,1793192393344448000
+95,1.583333333,BASELINE,763,742,712,671,659.14245692,633,876.14245692,783,799,649,628,650.14245692,0.400944794729,-0.0153660353133,0.0698127902045,0.999999925448,0.000240258626342,-0.000302053426833,1.20150706763e-05,1793192393361114880
+96,1.600000000,BASELINE,763,742,712,671,659.721597283,633,876.721597283,783,799,649,628,650.721597283,0.400944735894,-0.0153669146172,0.0698127410749,0.999999926364,0.000237436686508,-0.00030125376703,1.19175413167e-05,1793192393377781760
+97,1.616666667,BASELINE,763,742,712,671,660,633,876.700652996,783,799,649,628,651,0.400945134873,-0.0153677811668,0.06981294015,0.999999926811,0.000236149861307,-0.000300778604661,1.20048699635e-05,1793192393394448384
+98,1.633333333,BASELINE,763,742,712,671,660,633,876.124190673,783,799,649,628,651,0.400945957665,-0.0153686359094,0.0698133689963,0.999999926828,0.000236284142134,-0.000300603840236,1.22633277224e-05,1793192393411114752
+99,1.650000000,BASELINE,763,742,711.549077279,670.549077279,659.549077279,633,876,783,798.549077279,649,628,650.549077279,0.400944955384,-0.0153688928853,0.069812911082,0.99999992643,0.000236303478429,-0.000301914265744,1.2155676841e-05,1793192393427781376
+100,1.666666667,BASELINE,763.026320429,742,711,670.026320429,659.026320429,632.973679571,876,783,798.026320429,648.973679571,628,650,0.400943499304,-0.0153689238286,0.0698121858427,0.999999925921,0.000236305700354,-0.000303603528303,1.19346890287e-05,1793192393444447744
+101,1.683333333,BASELINE,763.615725016,742,711,670.615725016,659.615725016,632.384274984,876,783,798.615725016,648.384274984,628,650,0.400943056294,-0.0153676307307,0.0698109508702,0.999999925528,0.000236617027462,-0.000304672684733,1.14397363812e-05,1793192393461114368
+102,1.700000000,BASELINE,763.798174422,742,711,671,660,632.201825578,876,783,799.201825578,648,628,650.201825578,0.400943591284,-0.0153667727033,0.0698112035386,0.999999925472,0.000237767808335,-0.000303964841646,1.13148337901e-05,1793192393477781248
+103,1.716666667,BASELINE,763.218263445,742,711,671,660,632.781736555,876,783,799.781736555,648,628,650.781736555,0.400945958389,-0.0153667297058,0.0698142430455,0.999999926033,0.000240491160958,-0.00029992809644,1.18831561885e-05,1793192393494448128
+104,1.733333333,BASELINE,763.358103771,742,711.358103771,670.641896229,659.641896229,633,876,783,799.641896229,648,628,650.641896229,0.400946046639,-0.0153673291196,0.0698142645148,0.999999926568,0.000238422979502,-0.000299796835912,1.18468729906e-05,1793192393511115008
+105,1.750000000,BASELINE,763.932332292,742,711.932332292,670.067667708,659.067667708,633,876,783,799.067667708,648,628,650.067667708,0.400944759542,-0.015368316245,0.0698124645218,0.999999927073,0.000233462985401,-0.000302022634501,1.14456949651e-05,1793192393527781632
+106,1.766666667,BASELINE,763.481936915,742,712,670.518063085,659.518063085,633,876.518063085,783,799,648.518063085,628,650,0.400945149729,-0.0153670964549,0.0698127786452,0.999999926729,0.00023551727225,-0.000301570149703,1.13728068568e-05,1793192393544448256
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,877,783,799,649,628,650,0.400945370251,-0.0153673365488,0.0698133809593,0.999999926077,0.000239058727871,-0.000300933729635,1.16772336719e-05,1793192393586734848
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.573350986,742,712,671,659,633,877,783,799,648.426649014,628,650,0.400944602445,-0.0153688322895,0.0698129190546,0.999999926513,0.000236227449333,-0.000301710143218,1.18565178139e-05,1793192393603401472
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.84945353,742,712,671,659,633,877,783,799.30109294,648.15054647,628,650,0.40094392419,-0.0153693858745,0.0698125349496,0.999999926652,0.000234692105227,-0.000302445972905,1.18808994797e-05,1793192393620067840
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.261077069,742,712,671,659,633,877,783,800.477845862,648.738922931,628,650,0.400943506369,-0.0153671994155,0.0698123771075,0.999999925944,0.000236925689486,-0.000303063773796,1.14547827488e-05,1793192393636734208
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,742,712,670.677736441,659.322263559,633,876.677736441,783,800.355472883,649,628,650,0.400942865364,-0.0153656990839,0.0698116722646,0.999999925292,0.000238425272782,-0.000304047687708,1.11874205423e-05,1793192393653401344
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742,712,670.098412784,659.901587216,633,876.098412784,783,799.196825568,649,628,650,0.400942046332,-0.0153647460561,0.0698105310954,0.999999924686,0.00023933936511,-0.000305323639102,1.1046692145e-05,1793192393670068480
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.479342429,742,711.520657571,670.479342429,659.520657571,633,876,783,799,649,628,650,0.400944803253,-0.0153664709614,0.0698128050694,0.9999999259,0.000238549313789,-0.000301923743596,1.17009887404e-05,1793192393686735104
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.943305866,742,711.056694134,671,659,633,876.056694134,783,799,649,628,650.056694134,0.400948733381,-0.0153685379518,0.0698157661235,0.999999927473,0.000237379797269,-0.000297576084787,1.24047188677e-05,1793192393703401216
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.366711081,742,711.633288919,671,659,633,876.633288919,783,799,649,628,650.633288919,0.400956711544,-0.0153687165767,0.0698186190695,0.99999992908,0.000235928458656,-0.000293311820814,1.20698328744e-05,1793192393720067840
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.20887503,742,711.79112497,671,659,632.79112497,876.79112497,783.20887503,799,648.79112497,628,650.79112497,0.400973078435,-0.0153692214153,0.0698259574067,0.999999932447,0.00023635437696,-0.000281221452075,1.25417215468e-05,1793192393736734208
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.782698714,742,711.217301286,671,659,632.217301286,876.217301286,783.782698714,799,648.217301286,628,650.217301286,0.401004102202,-0.0153702962176,0.0698411326663,0.999999938452,0.000240060258379,-0.000255457230943,1.44232154465e-05,1793192393753401088
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.63225082,742,711,671,659,632.36774918,876,783.63225082,799,648,628.36774918,650,0.401049749406,-0.0153739635676,0.069858644108,0.999999945953,0.000238106140021,-0.000226158847999,1.58714464718e-05,1793192393770067712
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.040357544,742,711,671,659,632.959642456,876,783.040357544,799,648,628.959642456,650,0.401104309638,-0.0153792110822,0.0698775794606,0.999999953824,0.000232702237095,-0.0001947063815,1.70556028047e-05,1793192393786734336
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742,711.538144961,671,659,633,876,783,799,648.538144961,628.461855039,650,0.401171021108,-0.0153791453477,0.0698892359663,0.999999955754,0.000234335363665,-0.000182474771011,1.68012074532e-05,1793192393803401472
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.115368872,742,712,671,659,632.884631128,876,783,799,649,628.115368872,650,0.40124124819,-0.0153796646675,0.0698983466946,0.999999957061,0.000235746799022,-0.000173328946168,1.61021246331e-05,1793192393820068608
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.691400063,742,712,671,659,632.308599937,876,783,799,649,628.691400063,650,0.401321962655,-0.0153840724867,0.0698994189674,0.999999957871,0.000234216978961,-0.000170888630463,1.40477370241e-05,1793192393836734976
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,741.727085434,712,671,659,632.272914566,876,783,799,649,628.727085434,650,0.401413963997,-0.0153882281239,0.0698994151583,0.999999958523,0.00023185787,-0.000170487092064,1.13825129323e-05,1793192393853401344
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,741.139243548,712,671,659,632.860756452,876,783,799,649,628.139243548,650,0.401518989725,-0.0153920927575,0.0698981696141,0.999999958985,0.000228541810622,-0.000172438182641,8.01241966961e-06,1793192393870067712
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.555711393,741.444288607,711.555711393,671,659.444288607,633,876,783,799,649,628.444288607,650,0.401648338722,-0.0153978858639,0.0699002978431,0.999999960319,0.000224284125412,-0.000170400947991,4.77313802067e-06,1793192393886734848
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742,711.026069922,671,660,633,876,783,799.026069922,649,628.973930078,650,0.401786781804,-0.0154044063967,0.0699035036325,0.999999962,0.000219440552416,-0.000166862080188,1.53066619124e-06,1793192393903401728
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742,711.599182846,671,660,633,876,783,799.599182846,649,628.400817154,650,0.4019576283,-0.0154136303526,0.0699073463141,0.999999965825,0.000208435958249,-0.000157790459375,-2.63075992563e-06,1793192393920068096
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659.827742235,633,876,783,799.827742235,648.827742235,628,650.172257765,0.402137271682,-0.0154223080023,0.0699104940567,0.999999969106,0.000197810246878,-0.000150353968,-7.21690262667e-06,1793192393936734464
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659.25475581,633,876,783,799.25475581,648.25475581,628,650.74524419,0.402337379514,-0.0154297147613,0.0699120251401,0.99999997147,0.000188065944091,-0.00014672133102,-1.27910763041e-05,1793192393953401344
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.330889648,633,876.330889648,783,799,648.330889648,628,650.669110352,0.402565892537,-0.0154390063049,0.0699158252062,0.999999974619,0.000176492648604,-0.000138852696342,-1.8249370001e-05,1793192393970067968
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659.926669213,633,876.926669213,783,799,648.926669213,628,650.073330787,0.402817145032,-0.0154498066919,0.0699214416805,0.999999978222,0.000163455172887,-0.000127592981832,-2.36148979061e-05,1793192393986734592
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.502060247,742,712,671,660,633,876.497939753,783,799,648.497939753,628,650,0.403101563436,-0.0154610128098,0.0699300496518,0.999999990405,7.80668672329e-05,-0.000110841121938,-2.84721958939e-05,1793192394003401216
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+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.349319159,633,876,783,799,648.650680841,628.650680841,650,0.4037153628,-0.0154812612267,0.0699422441415,0.999999995286,-3.11469715681e-06,-8.94214402229e-05,-3.77216358805e-05,1793192394036734464
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.767114537,742,712,671,659.232885463,633,876,783,799,648.767114537,628.767114537,650,0.404049744164,-0.0154920312524,0.0699456878973,0.999999995749,1.01460665644e-05,-8.47900938383e-05,-3.47834941569e-05,1793192394053401088
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.174842374,742,712,671,659.825157626,633,876,783,799,648.174842374,628.174842374,650,0.404405367481,-0.0155051502234,0.0699485167443,0.999999995625,4.12569375109e-05,-8.14491064892e-05,-2.03658796489e-05,1793192394070067712
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.406942741,742,712,671,660,633,876,783,799,648,628,650,0.404803808728,-0.0155117654163,0.0699500348124,0.999999996285,3.13697354981e-05,-7.79456391747e-05,-1.92317648966e-05,1793192394086734592
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.984335294,742,712,671,660,633,876,783,799,648,628,650,0.405220184451,-0.0155156564721,0.0699510038549,0.999999996945,4.31030398738e-06,-7.43741164489e-05,-2.36615045885e-05,1793192394103401472
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876.560464712,783,799.560464712,648.560464712,628.560464712,650,0.405655010852,-0.0155078486632,0.0699486682984,0.999999996464,1.7800703144e-05,-7.8294629445e-05,-2.50204864529e-05,1793192394120068096
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.860693132,742,712,671,660,633,877,783,800,649,628.860693132,650,0.406093162984,-0.0155031832538,0.0699422441661,0.999999995309,2.56517058671e-05,-8.9516478504e-05,-2.66528808066e-05,1793192394136734464
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.273006359,742,712,671,660,633,877,783,800,649,628.273006359,650,0.406540363308,-0.0155096821857,0.069922956956,0.999999991864,1.17118239809e-05,-0.00012356629924,-2.94409167289e-05,1793192394153401088
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.310041979,742,712,670.689958021,660,633,877,783,799.689958021,649,628,650,0.407036019322,-0.0155131954814,0.0699096563198,0.999999989419,2.98531372811e-06,-0.000141794984005,-3.23480385931e-05,1793192394170067712
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.889066229,742,712,670.110933771,660,633,877,783,799.110933771,649,628,650,0.407573713956,-0.0155141185377,0.0699015494367,0.999999988673,-1.21824753687e-06,-0.000146297773112,-3.5358475859e-05,1793192394186734592
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.533782019,742,712,670.466217981,660,632.533782019,876.533782019,783,799.466217981,648.533782019,628,650,0.408180583063,-0.015510171722,0.0699139082428,0.999999992339,-3.89344531776e-06,-0.000118124693199,-3.67969050095e-05,1793192394203401216
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.042772709,876.042772709,783,799.957227291,648,628,650,0.408802672695,-0.0155056779342,0.0699300364522,0.99999999573,-6.12392875654e-06,-8.40865304643e-05,-3.78359490652e-05,1793192394220067840
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.617422153,876.617422153,783,799.382577847,648,628,650,0.409410173123,-0.0155087340168,0.0699327249194,0.999999996536,-7.32847823146e-06,-7.34116549631e-05,-3.85413459424e-05,1793192394236734720
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.196738848,742,712,671,660,633,877,783,799,648.196738848,628,650.196738848,0.410020720474,-0.0155108350305,0.0699322266282,0.999999996646,-8.1590284631e-06,-7.12601281041e-05,-3.9549489383e-05,1793192394253401344
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.785351973,742,712,671,660,633,877,783,799,648.785351973,628,650.785351973,0.4106373368,-0.0155110336899,0.0699253807924,0.999999995414,-8.24462822217e-06,-8.60858340587e-05,-4.11606585314e-05,1793192394270067968
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876.629975505,783,799,649,628.370024495,650.629975505,0.411319476075,-0.0155126903164,0.0699330441033,0.999999996361,-1.29680832142e-05,-7.29511126724e-05,-4.22898899577e-05,1793192394286734848
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876.047564827,783,799,649,628.952435173,650.047564827,0.412039224108,-0.0155151837848,0.0699490353559,0.999999997904,-2.03535683757e-05,-4.3767700608e-05,-4.31424993069e-05,1793192394303401216
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.470834915,742,712,671.529165085,660,632.470834915,876.529165085,783,799,649,628.470834915,650,0.412807129031,-0.0155194571137,0.0699782986887,0.999999998965,-2.09664649492e-05,3.06072899652e-07,-4.03684547062e-05,1793192394320067840
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742.1049146,712,672,660,632.1049146,877,783,799.1049146,648.8950854,628,650,0.413569252965,-0.0155232151762,0.0700010692527,0.999999998463,-2.27485956008e-05,3.30520504186e-05,-3.82600085455e-05,1793192394336734208
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742.678540985,712,672,660,632.678540985,877,783,799.678540985,648.321459015,628,650,0.414286416672,-0.0155239641033,0.0699895599018,0.999999998608,-3.24451475245e-05,9.27440029601e-06,-4.05660598383e-05,1793192394353401088
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742.740691362,712,671.740691362,660,633,876.740691362,783,799.740691362,648,628,650,0.414988885184,-0.0155209303971,0.0699554327116,0.99999999695,-3.74453146639e-05,-5.11250939354e-05,-4.56513691807e-05,1793192394370067712
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742.150820051,712,671.150820051,660,633,876.150820051,783,799.150820051,648,628,650,0.415672620585,-0.0155130746481,0.0698924726454,0.999999985347,-3.64586035838e-05,-0.000158209556086,-5.42796340154e-05,1793192394386734336
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.431641969,742,712,671,660,632.568358031,876,783,799,648.431641969,628,650,0.416470035746,-0.0155139933488,0.0698842728413,0.999999983365,-3.68281489222e-05,-0.000169409417062,-5.66848081234e-05,1793192394403400960
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.98855326,742,712,671,660,632.01144674,876.01144674,783,799.01144674,649,628,650.01144674,0.417306935486,-0.0155179311271,0.0698953945417,0.99999998686,-3.77520321569e-05,-0.000147040310231,-5.68745314454e-05,1793192394420067840
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.414256732,742,712,671,660,632.585743268,876.585743268,783,799.585743268,649,628,650.585743268,0.418165180194,-0.0155221115914,0.0699316237253,0.999999993274,-4.30248820319e-05,-9.36288949112e-05,-5.32419337544e-05,1793192394436734464
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.164303307,742,712,671,660.164303307,633,877,783,799.835696693,649,628,650.835696693,0.419019490862,-0.0155266637313,0.0699638674843,0.999999996503,-4.80483485777e-05,-4.65315978536e-05,-5.02081224607e-05,1793192394453401344
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.75389924,742,712,671,660.75389924,633,877,783,799.24610076,649,628,650.24610076,0.41986361837,-0.0155321779388,0.0699857951266,0.999999997314,-5.24262961487e-05,-1.5778150553e-05,-4.87242466596e-05,1793192394470067712
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.662604151,742.337395849,712,671.337395849,660.662604151,633,877,783,799,649,628,650,0.42071223163,-0.015536730163,0.0700009749541,0.999999997143,-5.80662521725e-05,6.21397245814e-06,-4.79873632735e-05,1793192394486734336
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.083477492,742.916522508,712,671.916522508,660.083477492,633,877,783,799,649,628,650,0.421564058718,-0.0155405931639,0.0700113202376,0.999999996531,-6.46103872706e-05,2.19289510682e-05,-4.77856705478e-05,1793192394503400960
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742.506295462,712,672,660.493704538,633,877,783,799,649,628,650,0.422362099145,-0.0155385571545,0.0699701460212,0.999999995676,-6.39666537389e-05,-4.30705316126e-05,-5.19638650019e-05,1793192394520067840
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.070204978,742,712,672,661,632.929795022,877,783,799,649,628,650,0.423152319754,-0.0155352752241,0.0699183186815,0.99999998874,-6.21325477506e-05,-0.000123979612394,-5.73454915728e-05,1793192394536734720
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.644164459,742,712,672,661,632.355835541,877,783,799,649,628,650,0.423951430098,-0.0155301821569,0.0698523113091,0.999999971459,-6.04434766861e-05,-0.000221504387585,-6.60692357303e-05,1793192394553401600
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.775491284,742,712,672.224508716,660.775491284,632.224508716,877,783,799,648.775491284,628,650,0.424787646327,-0.0155296343695,0.0698321184225,0.999999965051,-6.15426857566e-05,-0.000247517640431,-6.96098235543e-05,1793192394570068224
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.18473116,742,712,672.81526884,660.18473116,632.81526884,877,783,799,648.18473116,628,650,0.425684395222,-0.0155365015054,0.0698866648064,0.999999983346,-6.71905447855e-05,-0.000156870870076,-6.46948915541e-05,1793192394586734592
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,742,712,672.602231209,660,632.602231209,877,783,799,648.397768791,628,650,0.426566080911,-0.0155421009178,0.0699373435882,0.999999992006,-7.08110620134e-05,-8.63527398295e-05,-5.93072296374e-05,1793192394603401216
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742,712,672.023489428,660,632.023489428,877,783,799,648.976510572,628,650,0.427440913235,-0.0155471235532,0.0699862627227,0.999999995544,-7.35091985166e-05,-2.4992548693e-05,-5.37044899026e-05,1793192394620068096
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742,712,672,660.553110116,632.553110116,877,783,799.553110116,649,628,650,0.428309421037,-0.0155496730617,0.0700080979632,0.99999999548,-7.79891382515e-05,1.41406080754e-05,-5.25139642064e-05,1793192394636734720
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742.131519406,712,672.131519406,661,633,877,783,800,649,628,650,0.429162229409,-0.0155517844699,0.0700212052208,0.999999994423,-8.30201252655e-05,3.92589041785e-05,-5.21556756165e-05,1793192394653401344
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742.716480607,712,672.716480607,661,633,877,783,800,649,628,650,0.429961832981,-0.0155527461431,0.0700081711082,0.999999994332,-8.96910874743e-05,1.92997815443e-05,-5.40231736989e-05,1793192394670067968
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,742.70160628,712,672.70160628,661,632.70160628,877,783.29839372,800,648.70160628,628,650,0.430707861296,-0.015549985432,0.069965196975,0.999999992958,-8.74851509097e-05,-5.48078738191e-05,-5.85424890867e-05,1793192394686734592
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,742.122560063,712,672.122560063,661,632.122560063,877,783.877439937,800,648.122560063,628,650,0.431403499668,-0.0155437236538,0.0698940629283,0.99999997872,-7.6930096841e-05,-0.000179844618716,-6.55559552169e-05,1793192394703401216
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,742,711.543228658,672.456771342,661,632,877,783.543228658,799.543228658,648.456771342,628,650,0.432154255783,-0.0155445871369,0.0698693985774,0.999999971528,-8.58295341984e-05,-0.000211907138268,-6.83519477632e-05,1793192394720068096
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742,711.035848988,672.964151012,660.964151012,632,877,783,799,649,628,650.035848988,0.432923621959,-0.0155477518578,0.0698621829129,0.999999970322,-9.90614731366e-05,-0.00021146437693,-6.94638707146e-05,1793192394736734720
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742,711.609966145,672.390033855,660.390033855,632,877,783,799,649,628,650.609966145,0.433750219868,-0.0155567454436,0.0699296247141,0.999999988389,-9.89188358587e-05,-9.77640895951e-05,-6.22915146864e-05,1793192394753401088
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.184505953,742.184505953,712,672.184505953,660.184505953,632.184505953,877,783,799.184505953,649,628,650.815494047,0.434547957031,-0.0155633788801,0.0699811155049,0.999999993604,-9.69518183977e-05,-1.27594845553e-05,-5.68252121397e-05,1793192394770067712
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.759941375,742.759941375,712,672.759941375,660.759941375,632.759941375,877,783,799.759941375,649,628,650.240058625,0.435284544472,-0.0155650116563,0.069998809458,0.999999994272,-9.1119323661e-05,1.14449991903e-05,-5.49736796501e-05,1793192394786734592
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,712,673,661,632.653910227,877,783,800,648.653910227,628,650,0.435977471577,-0.0155666884606,0.0699958089216,0.999999993293,-0.00010125283735,8.66459424874e-06,-5.55593453173e-05,1793192394803401216
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,712,673,661,632.060093647,877,783,800,648.060093647,628,650,0.436639147107,-0.0155683967797,0.0699779955227,0.999999990692,-0.000122814624029,-1.34312639579e-05,-5.78895275703e-05,1793192394820067840
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.483260309,742.483260309,712,673,661,632.516739691,877,783,799.483260309,648.516739691,628,650,0.437263622001,-0.0155659532392,0.0699569043378,0.999999990559,-0.000118870134544,-3.36908547325e-05,-6.01320307687e-05,1793192394836734464
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.091502203,742.091502203,711.908497797,672.908497797,660.908497797,632.908497797,877,783,799.091502203,649,628,650,0.437875235688,-0.0155634836953,0.0699342167535,0.99999999009,-0.000112125495598,-5.77572846117e-05,-6.25462532339e-05,1793192394853401344
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.665428386,742.665428386,711.334571614,672.334571614,660.334571614,632.334571614,877,783,799.665428386,649,628,650,0.438441124773,-0.0155633416896,0.0699050582924,0.999999986932,-0.000105758811446,-0.000102984432384,-6.59178736023e-05,1793192394870067712
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711.247463892,672.494927784,660.247463892,632,877.247463892,783,799.752536108,649,628,650,0.438982198467,-0.0155644650245,0.0698723875726,0.999999979445,-0.000107037178956,-0.000158029015371,-6.84063972732e-05,1793192394886734336
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711.840834619,673.681669238,660.840834619,632,877.840834619,783,799.159165381,649,628,650,0.439488584982,-0.0155673570617,0.0698348073943,0.999999964775,-0.000119001855916,-0.000226796476962,-6.96605215692e-05,1793192394903400960
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.576271487,743,712,673.576271487,661,632,878,783,799,649,628,650,0.440011960064,-0.0155714392774,0.0698262820578,0.999999961052,-0.000124163146311,-0.000239826352827,-7.04472066486e-05,1793192394920067584
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.002750329,742.997249671,712,672.997249671,661,632,877.997249671,783,799.002750329,649,628,650,0.440541435853,-0.0155759819493,0.0698285346005,0.999999962447,-0.000126924694182,-0.000232267318885,-7.10532817614e-05,1793192394936734464
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.575213245,742.424786755,712,672.424786755,661,632,877.424786755,783,799.575213245,649,628,650,0.441044648733,-0.0155855324319,0.0698571628998,0.999999967985,-0.000149189744995,-0.00019211508338,-6.97407386991e-05,1793192394953401344
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,712,672.152151417,660.847848583,632,877,783,800,649,628,650,0.441530886253,-0.0155952311044,0.0698790749529,0.999999970504,-0.000167310691012,-0.000162225597624,-6.84218626288e-05,1793192394970067968
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742,712,672.741962692,660.258037308,632,877,783,800,649,628,650,0.441968294682,-0.0156053560437,0.0698816678934,0.999999969598,-0.000173511226186,-0.000161856653976,-6.70847698761e-05,1793192394986734592
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.67393201,742.32606799,712,673,660.32606799,632,877.65213598,783,800.32606799,649,628,650.32606799,0.442351286973,-0.0156113288198,0.0698646554852,0.99999996277,-0.000179401709713,-0.00019410738734,-6.78104707026e-05,1793192395003401216
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.094264572,742.905735428,712,673,660.905735428,632,878.811470856,783,800.905735428,649,628,650.905735428,0.442691957074,-0.0156140722495,0.0698323950126,0.999999948735,-0.000185051049667,-0.000251728080916,-7.0140509575e-05,1793192395020067840
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632,877,782.373339734,799.373339734,649,628,650.626660266,0.44361113981,-0.0156192666173,0.0697599088381,0.999999909758,-0.000206528989598,-0.000363798028984,-7.40371989944e-05,1793192395070067712
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632,877,782.205600194,799.205600194,649,628,650.794399806,0.443894339779,-0.0156214620089,0.0697489117472,0.999999899805,-0.000222914391783,-0.000381017205146,-7.43352018391e-05,1793192395086734336
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632,877,782.801400013,799.801400013,649,628,650.198599987,0.444167868008,-0.0156206781889,0.0697471030367,0.999999900815,-0.000208231089561,-0.000386504516956,-7.50001944409e-05,1793192395103400960
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,742.614054577,712,673.385945423,660,632,877.385945423,782.614054577,799.614054577,649,628,650,0.444406775446,-0.0156224097281,0.0697421835661,0.999999899778,-0.000199073120247,-0.000394235159979,-7.34291332411e-05,1793192395120067840
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+208,3.466666667,POSE1_TO_POSE2_PRESS,763,742.597141186,711.597141186,673,660,631,877,782,799.402858814,649,628,650.402858814,0.44570469353,-0.0156528021055,0.0697116754294,0.999999872145,-0.000249934211894,-0.00043280517385,-7.69543893102e-05,1793192395270067968
+209,3.483333333,POSE1_TO_POSE2_PRESS,763,743,711.825508452,673,660,631.174491548,877,782,799,649,628,650,0.44577067949,-0.015652436328,0.0697074000112,0.999999869213,-0.000250245520968,-0.000439340978275,-7.70103442268e-05,1793192395286734848
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+211,3.516666667,POSE1_TO_POSE2_PRESS,763,743,711.350350279,673,660,632,877.350350279,782,799.350350279,649,628,650,0.445865279067,-0.0156503899151,0.0697014420569,0.999999866094,-0.000244819212303,-0.000449400850202,-7.69069429508e-05,1793192395320067840
+212,3.533333333,POSE1_TO_POSE2_PRESS,763,743,711.929633217,673,660,632,877.929633217,782,799.929633217,649,628,650,0.445901848757,-0.01565108842,0.0696998275635,0.99999986387,-0.000245492463328,-0.000454072766443,-7.6226367073e-05,1793192395336734208
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+214,3.566666667,POSE1_TO_POSE2_PRESS,763.922110142,742.922110142,711.077889858,673,660,632,877.922110142,782,799.922110142,648.922110142,628,650,0.445950832887,-0.0156503273123,0.0696976284214,0.999999862192,-0.000247114259787,-0.000456848512601,-7.64147366258e-05,1793192395370067456
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+242,4.033333333,HOLD_POSE2,764,742,712,673,660,631,877,782,799,649,628,650,0.446003373051,-0.0156426243761,0.0696928538621,0.999999860523,-0.000236606429086,-0.000466437971805,-7.3529950549e-05,1793192395855890688
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+251,4.183333333,HOLD_POSE2,763.216406799,742,712,672.216406799,660,631,877.783593201,781.783593201,799.216406799,648.783593201,628,650,0.446006032506,-0.0156431281146,0.0696937231758,0.999999861866,-0.000234202843198,-0.000464907560918,-7.26465366356e-05,1793192396005890560
+252,4.200000000,HOLD_POSE2,763.806394208,742,712,672.806394208,660,631,877.193605792,781.193605792,799.806394208,648.193605792,628,650,0.446006035503,-0.0156421490948,0.069693970257,0.999999861587,-0.000234197981348,-0.00046549581108,-7.27451289957e-05,1793192396022557440
+253,4.216666667,HOLD_POSE2,763.613358358,742,711.613358358,673,659.613358358,631.386641642,877.386641642,781.386641642,800,648.386641642,628,650,0.446005173624,-0.0156421638112,0.0696931440925,0.999999860881,-0.000234271709992,-0.000466960853269,-7.2810826923e-05,1793192396039224064
+254,4.233333333,HOLD_POSE2,763.037868196,742,711.037868196,673,659.037868196,631.962131804,877.962131804,781.962131804,800,648.962131804,628,650,0.44600388931,-0.015642663901,0.0696917937194,0.999999859966,-0.000234383824822,-0.000468854149634,-7.28604581338e-05,1793192396055890432
+255,4.250000000,HOLD_POSE2,763.5400284,742,711.5400284,673,659,631.4599716,877.4599716,782,800,648.4599716,628,650,0.446003858048,-0.0156429002033,0.0696923329104,0.999999860217,-0.000234589276865,-0.000468304603935,-7.22763994386e-05,1793192396072557312
+256,4.266666667,HOLD_POSE2,763.88302056,742,712,673,659,631,877.11697944,782,799.88302056,648,628,650,0.446004029722,-0.0156430016905,0.0696926984058,0.999999860425,-0.000234697182667,-0.000467871606163,-7.18565360904e-05,1793192396089223936
+257,4.283333333,HOLD_POSE2,763.310412438,742,712,673,659,631,877.689587562,782,799.310412438,648,628,650,0.446004648052,-0.0156426504494,0.0696918689711,0.999999860143,-0.000234399544396,-0.000468562740861,-7.22500551738e-05,1793192396105890816
+258,4.300000000,HOLD_POSE2,763,742.27363804,712,673,659,631,878,782,799,648.27363804,628,650,0.446005495817,-0.0156425497722,0.0696919364537,0.999999860464,-0.000233736149791,-0.000468204064954,-7.22735513133e-05,1793192396122557696
+259,4.316666667,HOLD_POSE2,763,742.87123504,712,673,659,631,878,782,799,648.87123504,628,650,0.446006615211,-0.0156427457366,0.069693065793,0.999999861499,-0.000232639737772,-0.000466602522509,-7.18589787732e-05,1793192396139224320
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,631,877,782,800,649,628,650,0.446005790498,-0.0156395745095,0.0696937487784,0.999999862021,-0.000230533257558,-0.000466380176481,-7.28093032424e-05,1793192396171930880
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.422367072,742,711.577632928,672.422367072,659.577632928,631,877,782,799.422367072,649,628,650,0.446005678823,-0.0156416295093,0.069692423738,0.999999861119,-0.000232808559052,-0.000467241747518,-7.24366350149e-05,1793192396188597504
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,742.158975139,712,672,660,631,877,782,799,648.841024861,628,650.158975139,0.446005481258,-0.0156428393272,0.0696916636461,0.999999860581,-0.000234007553339,-0.000467831596262,-7.21899238215e-05,1793192396205264384
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,742.750407778,712,672,660,631,877,782,799,648.249592222,628,650.750407778,0.446005050046,-0.015641750011,0.0696924403747,0.999999861047,-0.000232278687037,-0.000467682283444,-7.22858514304e-05,1793192396221931008
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.334160242,742.665839758,712,672.334160242,660,631,877,782,799,648,628,650.665839758,0.44600509343,-0.0156417420881,0.0696921539241,0.999999860872,-0.000232522391451,-0.00046793889885,-7.22609846097e-05,1793192396238597632
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.91230505,742.08769495,712,672.91230505,660,631,877,782,799,648,628,650.08769495,0.446005483336,-0.0156425237365,0.0696910912013,0.999999860229,-0.000234206353507,-0.000468491899674,-7.21479206471e-05,1793192396255264000
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.513463887,742,711.513463887,672.513463887,660,631.486536113,877,782,799.486536113,648.486536113,628,650,0.446004853326,-0.01564203542,0.0696916235659,0.999999860366,-0.000233651526552,-0.000468447395896,-7.23283618788e-05,1793192396271930624
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742.060295333,711.060295333,672.060295333,659.939704667,632,877.060295333,781.939704667,800,648.939704667,628,650,0.446003581003,-0.0156412333851,0.0696920183043,0.999999860432,-0.000232695375386,-0.000468744727052,-7.25783003817e-05,1793192396288597504
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,742.636003154,711.636003154,672.636003154,659.363996846,632,877.636003154,781.363996846,800,648.363996846,628,650,0.445998377,-0.0156396907213,0.0696887985836,0.999999858681,-0.00023173052859,-0.000472877364306,-7.2973702774e-05,1793192396305264384
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742.781927194,712,673,659.218072806,632,877.781927194,781.218072806,799.781927194,648.218072806,628,650,0.445985407792,-0.0156384253473,0.0696821113002,0.999999854134,-0.000230848505544,-0.000482734310365,-7.35418209469e-05,1793192396321930752
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742.188919642,712,673,659.811080358,632,877.188919642,781.811080358,799.188919642,648.811080358,628,650,0.445959087791,-0.0156376367204,0.0696694622018,0.999999844537,-0.000230108882235,-0.000502433116968,-7.44068910216e-05,1793192396338597376
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742,712,673,660,631.607239596,877,782,799,649,628,650,0.445912849072,-0.0156370140256,0.069653507878,0.999999828354,-0.000232256262103,-0.000532661592989,-7.49751384499e-05,1793192396355264000
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742,712,673,660,631.030855347,877,782,799,649,628,650,0.445857297925,-0.0156364689074,0.0696360082898,0.999999808161,-0.000235753377094,-0.000567812914716,-7.54046149826e-05,1793192396371930880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.543484456,711.456515544,672.456515544,660,631,877,782,799,649,628,650,0.445787630306,-0.0156316835383,0.0696239683087,0.999999800888,-0.000230792075756,-0.00058245094302,-7.55605094626e-05,1793192396388597504
+274,4.566666667,POSE2_TO_POSE3_RETREAT,762.878960296,743,711.121039704,672.121039704,659.878960296,631,877,782,799,649,628,650,0.445714693911,-0.015626767309,0.0696150018734,0.999999795837,-0.000226086051748,-0.00059289994048,-7.53726706625e-05,1793192396405264128
+275,4.583333333,POSE2_TO_POSE3_RETREAT,762.288485779,743,711.711514221,672.711514221,659.288485779,631,877,782,799,649,628,650,0.44563217664,-0.015622273703,0.0696167581065,0.999999797133,-0.000224225531742,-0.000591602221601,-7.39117259491e-05,1793192396421930752
+276,4.600000000,POSE2_TO_POSE3_RETREAT,762.592192389,743,712,673,659.296096195,631.296096195,877.296096195,782,799.296096195,648.703903805,628,650,0.445535371319,-0.0156170581872,0.0696206485255,0.999999801914,-0.000220766561504,-0.000585084243833,-7.14856848047e-05,1793192396438597376
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.750098133,743,712,673,659.875049066,631.875049066,877.875049066,782,799.875049066,648.124950934,628,650,0.445424916825,-0.0156111530408,0.0696265777034,0.999999809901,-0.000215780613535,-0.000573579423589,-6.8137700215e-05,1793192396455264000
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.548985079,743,712,673,660,631.548985079,877.548985079,782,800,648.451014921,628,650,0.445287438658,-0.0156037933879,0.06962952138,0.999999812683,-0.000212092444087,-0.00057045861055,-6.50285040099e-05,1793192396471930624
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,742.973864727,712,673,660,631,877,782,799.973864727,649,628,650,0.445140663312,-0.0155959515689,0.0696314789538,0.99999981396,-0.000208472161993,-0.000569896859378,-6.19450944204e-05,1793192396488597504
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742.399235566,712,673,660,631,877,782,799.399235566,649,628,650,0.444954859052,-0.0155863918766,0.069629985684,0.999999813468,-0.000198780654603,-0.00057461549037,-5.80236209516e-05,1793192396505264384
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742.18151078,712,673,660,631.18151078,877,782,799.18151078,649,628,650,0.44475611862,-0.0155769319853,0.0696271035886,0.99999981174,-0.000189927068986,-0.000580977409346,-5.39717027626e-05,1793192396521931008
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742.776181147,712,673,660,631.776181147,877,782,799.776181147,649,628,650,0.444527932559,-0.0155676992651,0.0696210602126,0.99999980734,-0.000182980784182,-0.000591079822856,-4.96228634334e-05,1793192396538597376
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.358832492,743,712,673,660,632,877,782,800,649,628,650,0.444272264637,-0.0155550055238,0.0696195602613,0.999999806475,-0.000169412866591,-0.000596986245678,-4.42309900495e-05,1793192396555264000
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.934230088,743,712,673,660,632,877,782,800,649,628,650,0.444000010648,-0.015540222962,0.069620802389,0.999999807525,-0.00015184861398,-0.00060036027558,-3.82096170013e-05,1793192396571930624
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.4917602,742.4917602,712,672.4917602,660,632,877,782,799.4917602,649,627.4917602,650,0.443704118506,-0.0155256512868,0.0696317017411,0.999999820252,-0.000129910442039,-0.000584532524114,-3.0678106744e-05,1793192396588597504
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742.08464294,712,672,660,632,877,782.08464294,799.08464294,649,627.08464294,650,0.443400200124,-0.0155118362167,0.0696443650303,0.999999834809,-0.000101714028683,-0.000565257333058,-2.28062792194e-05,1793192396605264128
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742.676460826,712,672,660,632,877,782.676460826,799.676460826,649,627.676460826,650,0.443066468018,-0.0155023915933,0.0696601299046,0.999999853231,-3.94009337349e-05,-0.000540173811627,-1.40630608356e-05,1793192396621931008
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,742.737917174,712,672.262082826,660,632,877,783,800,648.737917174,628,650,0.442710509756,-0.0154959710071,0.0696777976154,0.999999868884,-8.07037327776e-07,-0.000512062257516,-4.77615400422e-06,1793192396638597376
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742.159767333,712,672.840232667,660,632,877,783,800,648.159767333,628,650,0.442327747184,-0.0154931973542,0.0696977601109,0.999999884601,9.18194285203e-06,-0.000480298955642,5.1664304119e-06,1793192396655264000
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.415290095,742,712,672.584709905,660,632,877,783,799.584709905,648.415290095,628,650,0.441905612292,-0.0154958127819,0.0697161310748,0.999999897164,8.70210963482e-06,-0.000453255359929,1.252216037e-05,1793192396671930624
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.989166612,742,712,672.010833388,660,632,877,783,799.010833388,648.989166612,628,650,0.44146844234,-0.0155004861325,0.0697338942817,0.999999908215,4.2245606537e-06,-0.000428014074382,1.88900505137e-05,1793192396688597248
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.43482648,742,711.43482648,672.56517352,660,632,877,783,799,649,628,650,0.441006204953,-0.0154995187644,0.0697525021486,0.999999925395,1.97163888809e-05,-0.000385435673868,1.61227897172e-05,1793192396705264128
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742,711.144776869,673,660,632,877,783,799.144776869,649,628,650,0.440530707274,-0.0154965345542,0.0697711104239,0.999999939563,3.11241453802e-05,-0.000345943560333,1.51056509154e-05,1793192396721931008
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742,711.735327481,673,660,632,877,783,799.735327481,649,628,650,0.440015865788,-0.015487674581,0.0697896699129,0.999999949147,2.87738313289e-05,-0.000316981362104,2.00184028928e-05,1793192396738597376
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742.319093187,712,672.680906813,660,632.319093187,877,783,799.680906813,649,628,650,0.439443781329,-0.0154787843122,0.0697887077901,0.999999948081,3.617507816e-05,-0.000319507595123,2.1060989408e-05,1793192396755264512
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,742.897348373,712,672.102651627,660,632.897348373,877,783,799.102651627,649,628,650,0.438825205053,-0.0154698694369,0.0697718905521,0.999999938079,5.14963747898e-05,-0.000347608187303,1.89602946118e-05,1793192396771931392
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763.471625373,742.528374627,712,672.471625373,660.471625373,632.528374627,877,783,799.471625373,649,628,650,0.438171040747,-0.0154615999096,0.0697504983795,0.999999927658,7.30211611748e-05,-0.000372842308054,1.84599567164e-05,1793192396788598272
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.954294165,742,711.954294165,672.954294165,661,632,876.954294165,783,800,649,628,650,0.437511725802,-0.0154532140682,0.0697312616117,0.999999918066,9.36427193754e-05,-0.000393415034531,1.80065410551e-05,1793192396805264640
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.372446756,742,711.372446756,672.372446756,661,632,876.372446756,783,800,649,628,650,0.436882093601,-0.0154418299377,0.0697488910943,0.999999928847,8.79632237767e-05,-0.000366565710607,1.40517597444e-05,1793192396821931264
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.21285285,742.21285285,711.21285285,672,661,632,876.21285285,783,800,649,628,650,0.436226685908,-0.0154281727063,0.0697742296522,0.999999940685,9.76686514651e-05,-0.000329997369806,1.38985677204e-05,1793192396838597888
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742,711.235426858,672,660,633,876,783.764573142,799,648.764573142,629,650,0.425577326933,-0.0154049313788,0.06986824321,0.999999960872,0.000180443315835,-0.000210326697809,3.81922501614e-05,1793192397055264256
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,660.500638543,632.499361457,876,783,799,648.499361457,628,650,0.422807704277,-0.0153976072906,0.0697794641276,0.999999914753,0.000188552134663,-0.000366206635406,2.88975022645e-05,1793192397105264384
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742.751851552,712,671.751851552,660.248148448,633,877,783,799,648.248148448,628.248148448,650.248148448,0.420062128034,-0.0153888423625,0.0697203922051,0.999999875801,0.000191568380156,-0.000459533878514,2.29607219712e-05,1793192397155264256
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742.178327022,712,671.178327022,660.821672978,633,877,783,799,648.821672978,628.821672978,650.821672978,0.419288660253,-0.0153994458773,0.0698060354755,0.999999930609,0.000187882940382,-0.000320003567139,3.28598105659e-05,1793192397171930880
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742.9816479,712,671.9816479,660.0183521,633,877,783,799,648.0183521,628.0183521,650.0183521,0.417666507522,-0.0154012486391,0.0699023211798,0.999999966249,0.00019158673857,-0.000170111496454,4.31150477502e-05,1793192397205264128
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742.44400011,712,671.44400011,660,632.44400011,877,783,799,648,628,650.55599989,0.416788613504,-0.0153944826159,0.0698676050751,0.999999954581,0.000196839438625,-0.000224907389746,3.88383287023e-05,1793192397221930752
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,762.691699082,742,712,671,660,632.308300918,876.691699082,783,799,648,628,650,0.414202201592,-0.0153865916491,0.0697693971078,0.999999913215,0.000197156452675,-0.000366025520172,2.69074974355e-05,1793192397271930624
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,762.458211669,742,711.541788331,671,660,632.541788331,876,783,799,648,628,650,0.412639738627,-0.0153833530422,0.0697693381365,0.999999908133,0.000201937693089,-0.000377121519868,2.71004195442e-05,1793192397305264384
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.347015228,742,712,671,659,633,876.652984772,783,799.347015228,649,628,650,0.402332411935,-0.0153520347586,0.0698149540315,0.999999917565,0.000264625979207,-0.000307142937124,2.25229874205e-05,1793192397655264256
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_07/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd1f99166e249aa4c5904763f2110466491a91fc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,396 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_07/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..381aa08f5f1fc175df8308775e066a242744dc0d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80f294c1f274509d6511b2d6d78083a2ed802bc932468960db6bc7a6ee23c64c
+size 25295893
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a9534b5a82d6598aef8af8c024feab4320ce5d0f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_04/franka_data.csv
@@ -0,0 +1,399 @@
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+5,0.083333333,BASELINE,764,742,712,671,659.910096631,632.089903369,876.910096631,783,799,649,628,650.910096631,0.400950070866,-0.0153685146928,0.0698153803811,0.999999927271,0.000235767609713,-0.000299533987671,1.23200335299e-05,1793192398639080192
+6,0.100000000,BASELINE,763.515328068,742,711.515328068,671,659.515328068,632.484671932,877,783,799,649,628,650.515328068,0.400949436024,-0.0153679484772,0.0698146614069,0.99999992678,0.000236150220893,-0.000300884527712,1.18901331666e-05,1793192398655746816
+7,0.116666667,BASELINE,763,742,711,670.939834071,659.060165929,633,876.939834071,783,799,648.939834071,628,650,0.400948664401,-0.0153671235041,0.0698136674151,0.999999926096,0.000236973254512,-0.000302528668854,1.13390200484e-05,1793192398672413696
+8,0.133333333,BASELINE,763,742,711,670.350949246,659.649050754,633,876.350949246,783,799,648.350949246,628,650,0.400949033006,-0.0153669545972,0.0698135734769,0.999999925929,0.00023848844344,-0.000301896099167,1.11224411833e-05,1793192398689080064
+9,0.150000000,BASELINE,763,742,711,670.235028549,660,633,876.235028549,783,799,648,628,650,0.400949608123,-0.015367205441,0.0698140837494,0.99999992633,0.00023827467665,-0.000300731734362,1.11706325538e-05,1793192398705746688
+10,0.166666667,BASELINE,763,742,711,670.816718495,660,633,876.816718495,783,799,648,628,650,0.400950487839,-0.0153680754072,0.0698154852182,0.999999927564,0.000235510742064,-0.000298782984736,1.1609353606e-05,1793192398722413568
+11,0.183333333,BASELINE,763,742,711.393846099,671,659.606153901,633,876.606153901,783,799,648.393846099,628.393846099,650,0.400950346313,-0.0153688998341,0.0698157352495,0.999999927815,0.000234891976825,-0.000298421269063,1.18367471208e-05,1793192398739080448
+12,0.200000000,BASELINE,763,742,711.968874921,671,659.031125079,633,876.031125079,783,799,648.968874921,628.968874921,650,0.40094973498,-0.0153697033115,0.0698154555802,0.999999927617,0.000235260062868,-0.000298789643305,1.1966922754e-05,1793192398755747072
+13,0.216666667,BASELINE,763.542265332,742,712,671,659,633,876,783,799,648.457734668,628.457734668,650,0.400949567472,-0.0153694914803,0.0698147665326,0.999999927188,0.000235981906549,-0.000299660673199,1.18234562622e-05,1793192398772413696
+14,0.233333333,BASELINE,763.880307738,742,712,671,659,633,876.119692262,783,799,648.119692262,628,650.119692262,0.400949527524,-0.0153691256476,0.0698142576373,0.999999926769,0.00023700042496,-0.00030025878025,1.174222404e-05,1793192398789080064
+15,0.250000000,BASELINE,763.286520825,742,712,671,659,633,876.713479175,783,799,648.713479175,628,650.713479175,0.400949892237,-0.0153683799596,0.0698145551083,0.999999926442,0.000239113871326,-0.000299661919569,1.1969523896e-05,1793192398805746944
+16,0.266666667,BASELINE,763,742,711.702478472,670.702478472,659,633,876.404956944,783,799,649,628,650.702478472,0.400950008117,-0.0153678345352,0.0698146382781,0.999999926682,0.000238371303777,-0.000299458021458,1.18275019304e-05,1793192398822413568
+17,0.283333333,BASELINE,763,742,711.127522804,670.127522804,659,633,875.255045607,783,799,649,628,650.127522804,0.400949891963,-0.0153674758536,0.0698145216155,0.999999927445,0.000234965548096,-0.000299620554793,1.1341093168e-05,1793192398839080192
+18,0.300000000,BASELINE,763,742,711.447997909,670.447997909,659,633,875.447997909,783,799.447997909,648.552002091,628,650,0.400948912647,-0.0153678079642,0.0698143784748,0.9999999274,0.000233936104671,-0.000300578042493,1.12331777703e-05,1793192398855746816
+19,0.316666667,BASELINE,763,742,712,671,659,632.975730341,876,783,800,648,628.024269659,650,0.400947835066,-0.0153682965969,0.0698142789891,0.999999927161,0.000233644123513,-0.000301597995433,1.12502905386e-05,1793192398872413696
+20,0.333333333,BASELINE,763,742,712,671,659,632.385704891,876,783,800,648,628.614295109,650,0.400950201561,-0.0153678443731,0.0698153730781,0.999999927738,0.000234755238814,-0.000298792466607,1.16672796953e-05,1793192398889080320
+21,0.350000000,BASELINE,763,742,712,671,659,632.200475791,876,783,799.799524209,648,629,650.200475791,0.40095132003,-0.0153678317894,0.0698160806585,0.999999927951,0.000235830905696,-0.000297217652649,1.20006438604e-05,1793192398905746944
+22,0.366666667,BASELINE,763,742,712,671,659,632.779398472,876,783,799.220601528,648,629,650.779398472,0.400950082544,-0.0153686491335,0.0698160586098,0.999999927487,0.00023683965493,-0.000297966113115,1.2176145437e-05,1793192398922413568
+23,0.383333333,BASELINE,763,742,712,670.643788391,659.356211609,633,876.356211609,783,799,648,628.643788391,650.643788391,0.400949549159,-0.0153680854449,0.0698156725937,0.999999927184,0.000237294183779,-0.000298630088907,1.2004476809e-05,1793192398939080192
+24,0.400000000,BASELINE,763,742,712,670.068273945,659.931726055,633,876.931726055,783,799,648,628.068273945,650.068273945,0.400949449256,-0.0153666715191,0.0698150624998,0.999999926978,0.000237407505143,-0.000299242051507,1.16190717312e-05,1793192398955746816
+25,0.416666667,BASELINE,763.505691502,742,712,670.505691502,659.494308498,633,876.494308498,783,799,648.505691502,628,650,0.400950260219,-0.0153657691664,0.0698156026676,0.999999926927,0.000238655222433,-0.000298413745215,1.17782213159e-05,1793192398972413696
+26,0.433333333,BASELINE,763.91761823,742,712,670.91761823,659,633,876.08238177,783,799,648.91761823,628,650,0.400950660005,-0.0153652736943,0.069816055189,0.999999926838,0.000239681131161,-0.000297881371837,1.19656966832e-05,1793192398989080320
+27,0.450000000,BASELINE,763.32267736,742,712,670.32267736,659,633,876.67732264,783,799,648.32267736,628,650,0.400947738755,-0.0153668813213,0.069814999121,0.999999926399,0.000238377013226,-0.000300396359126,1.1873376129e-05,1793192399005746944
+28,0.466666667,BASELINE,763.263475735,742,711.736524265,670,659,633,876.736524265,783,799,648,628,650.263475735,0.400947456172,-0.0153680084574,0.0698150970608,0.999999926628,0.00023708287026,-0.000300654614424,1.19052624165e-05,1793192399022413568
+29,0.483333333,BASELINE,763.839213825,742,711.160786175,670,659,633,876.160786175,783,799,648,628,650.839213825,0.400950300844,-0.015368566132,0.069816562691,0.999999927653,0.000235800549359,-0.000298238268641,1.20843543748e-05,1793192399039080192
+30,0.500000000,BASELINE,763.584739048,742,711.415260952,670.415260952,659,633,876,783,799,648,628,650.584739048,0.400950578886,-0.0153679317004,0.0698167012761,0.999999927467,0.000237444616684,-0.000297556066371,1.20862814345e-05,1793192399055746816
+31,0.516666667,BASELINE,763.008572187,742,711.991427813,670.991427813,659,633,876,783,799,648,628,650.008572187,0.400949862406,-0.0153668353499,0.0698163256558,0.999999926808,0.000240222605139,-0.000297545812568,1.20195603814e-05,1793192399072413440
+32,0.533333333,BASELINE,763.580578247,742,712,671,659,633,876,783,799,648.580578247,628,650,0.400950452312,-0.0153666529745,0.0698163777979,0.999999926877,0.00023966545338,-0.000297761075619,1.20174004622e-05,1793192399089080064
+33,0.550000000,BASELINE,763.83324069,742,712,671,659.16675931,633,876.16675931,783,799,648.83324069,628,650,0.400950727497,-0.0153665450002,0.0698165513189,0.999999927042,0.000238857363533,-0.00029785964158,1.19550123077e-05,1793192399105746944
+34,0.566666667,BASELINE,763.254872951,742,712,671,659.745127049,633,876.745127049,783,799,648.254872951,628,650,0.400950177163,-0.0153665865979,0.0698170084907,0.999999927414,0.000237554214578,-0.000297661759861,1.17415574088e-05,1793192399122414592
+35,0.583333333,BASELINE,763,742,712,670.67810216,659.67810216,633,877,783,799.32189784,648.32189784,628,650,0.400950442975,-0.0153670255739,0.0698171286192,0.999999927673,0.000236815835176,-0.000297381715513,1.16706114731e-05,1793192399139081472
+36,0.600000000,BASELINE,763,742,712,670.102589503,659.102589503,633,877,783,799.897410497,648.897410497,628,650,0.400951351806,-0.015367777634,0.0698169832002,0.999999927845,0.00023652242267,-0.000297036937373,1.17119445679e-05,1793192399155747328
+37,0.616666667,BASELINE,763,742.472526724,712,670.472526724,659.472526724,633,876.527473276,783,799.527473276,649,628,650,0.400950288002,-0.0153676157915,0.0698163720396,0.999999927301,0.000237436812494,-0.000298134467218,1.16992216755e-05,1793192399172413952
+38,0.633333333,BASELINE,763.048848258,742.951151742,712,671,659.951151742,632.951151742,876.048848258,783,799,649,628,650,0.400949035017,-0.0153673076693,0.0698157793092,0.999999926722,0.000238400976742,-0.000299307302403,1.16786605984e-05,1793192399189080320
+39,0.650000000,BASELINE,763.639492586,742.360507414,712,671,659.360507414,632.360507414,876.639492586,783,799,649,628,650,0.400950429951,-0.0153675759645,0.0698165115782,0.999999927489,0.000237011214605,-0.00029784516009,1.17012227359e-05,1793192399205747200
+40,0.666666667,BASELINE,763.774413795,742,711.774413795,671,659.225586205,632.225586205,876.774413795,783.225586205,799,648.774413795,628,650,0.400949966343,-0.0153678334549,0.0698159685283,0.999999927738,0.000235171286769,-0.000298472906868,1.15189368525e-05,1793192399222414080
+41,0.683333333,BASELINE,763.195448856,742,711.195448856,671,659.804551144,632.804551144,876.195448856,783.804551144,799,648.195448856,628,650,0.400946591349,-0.0153680740197,0.0698134277031,0.999999927167,0.000232626178554,-0.000302374445927,1.10157584119e-05,1793192399239080704
+42,0.700000000,BASELINE,763,742,711.380762005,671,659.619237995,633,876,783.619237995,799,648,628,650,0.400947397444,-0.0153686195972,0.0698143692946,0.999999927348,0.000233326253385,-0.000301217341212,1.14322189962e-05,1793192399255747072
+43,0.716666667,BASELINE,763,742,711.955569305,671,659.044430695,633,876,783.044430695,799,648,628,650,0.40095033432,-0.0153693206163,0.0698170856078,0.999999927904,0.000235680150091,-0.000297482232232,1.23173493265e-05,1793192399272413696
+44,0.733333333,BASELINE,763.537937639,742,712,671,659,632.462062361,876.537937639,783,799,648,628,650.537937639,0.400950744819,-0.0153696143445,0.0698172532842,0.99999992854,0.000234005826175,-0.000296674552725,1.20793403592e-05,1793192399289080320
+45,0.750000000,BASELINE,764,742,712,671,659,632,876.879082835,783,798.879082835,648,628.120917165,650.879082835,0.400951060939,-0.0153695447982,0.0698172564364,0.999999928875,0.000233191822227,-0.00029619510804,1.18574391748e-05,1793192399305746944
+46,0.766666667,BASELINE,764,742,712,671,659,632,876.296188311,783,798.296188311,648,628.703811689,650.296188311,0.400951825066,-0.0153682176795,0.0698174467227,0.999999928036,0.000236954038603,-0.000296032767566,1.20565516663e-05,1793192399322413568
+47,0.783333333,BASELINE,763.716006765,742,711.716006765,671,659.283993235,632,876,783,798.283993235,648.283993235,628.716006765,650,0.40095141004,-0.0153680622679,0.0698169627022,0.999999927622,0.000237573707006,-0.000296932055966,1.20698156964e-05,1793192399339080192
+48,0.800000000,BASELINE,763.138627854,742,711.138627854,671,659.861372146,632,876,783,798.861372146,648.861372146,628.138627854,650,0.400949776865,-0.0153691173149,0.0698157820738,0.99999992765,0.000234946895144,-0.000298928084223,1.18910847665e-05,1793192399355747328
+49,0.816666667,BASELINE,763,741.562823205,711.437176795,670.562823205,660,632.437176795,876,783,799,649,628.437176795,650,0.400949283637,-0.0153693855104,0.0698154812205,0.999999927421,0.000235372972026,-0.000299364512923,1.18070005793e-05,1793192399372414208
+50,0.833333333,BASELINE,763,741,711.987227427,670.012772573,659.987227427,632.987227427,876,783,799,648.987227427,628.987227427,650,0.400949162834,-0.0153693776463,0.0698154635728,0.99999992712,0.000236756508701,-0.000299279991246,1.17530374186e-05,1793192399389080832
+51,0.850000000,BASELINE,763,741,711.398621978,670.601378022,659.398621978,632.398621978,876,783,799,648.398621978,628.398621978,650,0.400949594209,-0.0153681324222,0.0698156817821,0.999999927273,0.000237818539451,-0.000297925057801,1.17088313793e-05,1793192399405747200
+52,0.866666667,BASELINE,763.187336507,741.187336507,711.187336507,671,659,632.187336507,876,783,799,648.187336507,628.187336507,650,0.400949666744,-0.0153674834799,0.0698157232712,0.999999927409,0.000237773112268,-0.000297505390933,1.16530696624e-05,1793192399422413824
+53,0.883333333,BASELINE,763.767741115,741.767741115,711.767741115,671,659,632.767741115,876,783,799,648.767741115,628.767741115,650,0.400948986365,-0.0153680856519,0.0698153939671,0.999999927511,0.000235404024802,-0.000299048093709,1.15730619088e-05,1793192399439080448
+54,0.900000000,BASELINE,763.654509404,742,711.654509404,671,659,633,876.345490596,783,799,648.654509404,629,650,0.400949396065,-0.0153683769261,0.0698158432915,0.999999927708,0.000234743541658,-0.000298908272806,1.15385311175e-05,1793192399455746816
+55,0.916666667,BASELINE,763.078531265,742,711.078531265,671,659,633,876.921468735,783,799,648.078531265,629,650,0.400950532992,-0.0153684607907,0.0698168120634,0.999999927972,0.000235222921801,-0.000297645987862,1.15343394281e-05,1793192399472413440
+56,0.933333333,BASELINE,763.4970768,742,711.4970768,671,659,632.5029232,876.5029232,783,799,648.4970768,628.5029232,650,0.400950018712,-0.0153680180783,0.0698162105973,0.999999928132,0.000234319819532,-0.000297828481928,1.13398302427e-05,1793192399489080576
+57,0.950000000,BASELINE,764,742,712,671,659,632.074695997,876,783,799,649,628,650,0.400949516319,-0.0153674299896,0.0698155943715,0.999999928179,0.000233931545513,-0.000297980722355,1.11902353202e-05,1793192399505747456
+58,0.966666667,BASELINE,764,742,712,671,659,632.666646138,876,783,799,649,628,650,0.400950901362,-0.0153664108583,0.0698165925336,0.999999927554,0.000238619689865,-0.000296344019419,1.15597188632e-05,1793192399522414336
+59,0.983333333,BASELINE,764,742,712,671,659.25159667,633,876.25159667,783,799,648.74840333,628.25159667,650,0.400951035423,-0.0153661424824,0.069817099777,0.999999927259,0.000240285628482,-0.000295985214871,1.17681554598e-05,1793192399539080704
+60,1.000000000,BASELINE,764,742,712,671,659.827524154,633,876.827524154,783,799,648.172475846,628.827524154,650,0.400949556856,-0.0153668418978,0.069816974182,0.99999992741,0.000238055671784,-0.000297273736461,1.17689880582e-05,1793192399555747072
+61,1.016666667,BASELINE,763.598559708,742,711.598559708,671,660,633,877,783,799.401440292,648.401440292,629,650,0.40094879334,-0.0153679123674,0.0698163401746,0.999999927681,0.000235775387598,-0.000298190031169,1.1441190888e-05,1793192399572413696
+62,1.033333333,BASELINE,763.025503457,742,711.025503457,671,660,633,877,783,799.974496543,648.974496543,629,650,0.400948335507,-0.0153691414628,0.0698154888206,0.999999928,0.000233473588516,-0.000298947198587,1.09729043003e-05,1793192399589080320
+63,1.050000000,BASELINE,763,742,711,671,660,633,876.434231509,783,799.434231509,648.434231509,628.434231509,650,0.400948191413,-0.0153682380469,0.0698149996271,0.999999927469,0.000234697729248,-0.000299756155316,1.11794088107e-05,1793192399605746944
+64,1.066666667,BASELINE,763.154438769,742,711,671,659.845561231,633,876,783,799.308877538,648.154438769,628.154438769,650,0.400948568186,-0.0153677614927,0.0698149721615,0.999999927173,0.000235820002664,-0.000299853014832,1.14887406571e-05,1793192399622413824
+65,1.083333333,BASELINE,763.733620415,742,711,671,659.266379585,633,876,783,800.46724083,648.733620415,628.733620415,650,0.400950337275,-0.0153687320795,0.069816168164,0.999999927633,0.000236210450634,-0.000297984805662,1.19944323242e-05,1793192399639080704
+66,1.100000000,BASELINE,763.689019904,742,711.310980096,671,659,633,876,783,800.378039809,649,628.689019904,650,0.400950242456,-0.0153690313273,0.069816266787,0.999999927519,0.000236966175585,-0.000297757992438,1.22304178535e-05,1793192399655747328
+67,1.116666667,BASELINE,763.113211824,742,711.886788176,671,659,633,876,783,799.226423648,649,628.113211824,650,0.40094856035,-0.0153687588687,0.069815430891,0.999999926916,0.000238032967262,-0.000298928978034,1.22367239211e-05,1793192399672414208
+68,1.133333333,BASELINE,763.461099285,742,712,671,659,633,876,783,799,648.538900715,628.461099285,650,0.400948151758,-0.0153689647958,0.069815243101,0.999999927524,0.00023541814308,-0.000298978312305,1.18886416684e-05,1793192399689080832
+69,1.150000000,BASELINE,764,742,711.963695565,670.963695565,659.036304435,632.963695565,876,783,799,648.036304435,628.963695565,650,0.400948135791,-0.0153692682551,0.0698152675978,0.999999928343,0.000232309503153,-0.000298686339374,1.1487549124e-05,1793192399705746944
+70,1.166666667,BASELINE,764,742,711.369108955,670.369108955,659.630891045,632.369108955,876,783,799,648.630891045,628.369108955,650,0.400949364773,-0.0153692711749,0.0698161174949,0.999999927998,0.000235462570482,-0.000297367069811,1.1604991018e-05,1793192399722413824
+71,1.183333333,BASELINE,763.781918223,742,711,670,659.781918223,632.218081777,876,783,799.218081777,649,628,650,0.400950566548,-0.0153689585735,0.0698169521033,0.999999928055,0.000237053063385,-0.000295908435151,1.15768667613e-05,1793192399739080704
+72,1.200000000,BASELINE,763.20683452,742,711,670,659.20683452,632.79316548,876,783,799.79316548,649,628,650,0.400951723788,-0.0153681294612,0.0698177616843,0.999999928785,0.00023608560771,-0.00029422165831,1.1310449361e-05,1793192399755747328
+73,1.216666667,BASELINE,763,742,711,670.367819141,659,632.632180859,876,783,799.632180859,648.632180859,628.367819141,650.367819141,0.400951304841,-0.0153685679493,0.0698175122936,0.999999929041,0.000234159755976,-0.000294898429114,1.10356265809e-05,1793192399772413952
+74,1.233333333,BASELINE,763,742,711,670.942231225,659,632.057768775,876,783,799.057768775,648.057768775,628.942231225,650.942231225,0.400950000598,-0.0153697184103,0.0698166681103,0.999999929025,0.000231695602068,-0.000296902733608,1.07560827676e-05,1793192399789080576
+75,1.250000000,BASELINE,763,742,711.517137629,671,659,632.517137629,876,783,799.517137629,648.517137629,628.482862371,650.482862371,0.40094952322,-0.0153696073452,0.0698160193258,0.999999928457,0.000232529304543,-0.000298150962396,1.10097931017e-05,1793192399805747456
+76,1.266666667,BASELINE,763,742,712,671,659,632.904648698,876,783,799.904648698,648.904648698,628.095351302,650,0.400949311657,-0.015369315367,0.0698156292157,0.999999927971,0.000233611962188,-0.000298923734035,1.12867711953e-05,1793192399822414080
+77,1.283333333,BASELINE,763,742,712,671,659,632.309385327,876,783,799.309385327,648.309385327,628.690614673,650,0.400950008988,-0.0153688144361,0.069816480746,0.999999928245,0.000234066544958,-0.000297646993268,1.13731280152e-05,1793192399839080448
+78,1.300000000,BASELINE,763,742,711.725981468,670.725981468,659,632.274018532,876.274018532,783,798.725981468,648.274018532,628.725981468,650,0.400949930906,-0.0153685069511,0.0698166873406,0.999999927966,0.000235423844249,-0.000297508033974,1.15211786619e-05,1793192399855746816
+79,1.316666667,BASELINE,763,742,711.155412345,670.155412345,659,632.844587655,876.844587655,783,798.155412345,648.844587655,628.155412345,650,0.40094901365,-0.0153684088187,0.0698161959675,0.999999927086,0.000237758088815,-0.000298600413993,1.17359961042e-05,1793192399872413440
+80,1.333333333,BASELINE,763,742,711.423032636,670.423032636,659,633,876.576967364,783,798.423032636,648.576967364,628,650,0.400948451167,-0.0153673945942,0.0698155804815,0.999999926732,0.000238374807246,-0.000299296279054,1.16660798477e-05,1793192399889080320
+81,1.350000000,BASELINE,763,742,712,671,659,633,876,783,799,648.00449186,628,650,0.400948028222,-0.015366066588,0.0698149215903,0.99999992658,0.000238333767373,-0.000299842023616,1.14937779968e-05,1793192399905747456
+82,1.366666667,BASELINE,763,742,712,671,659,633,876,783,799,648.594541638,628,650,0.400948482821,-0.0153685390734,0.069814661089,0.999999926946,0.000236362230457,-0.000300167891325,1.18694286821e-05,1793192399922414080
+83,1.383333333,BASELINE,763.180327434,742,712,671,659.180327434,633,876.180327434,783,799,649,628,650,0.400949104671,-0.015370127277,0.06981472169,0.999999927456,0.000234762769292,-0.000299716617093,1.20171470303e-05,1793192399939080704
+84,1.400000000,BASELINE,763.756747425,742,712,671,659.756747425,633,876.756747425,783,799,649,628,650,0.400950093894,-0.0153697731396,0.0698154875978,0.999999928288,0.000233980579047,-0.000297558336224,1.16642078396e-05,1793192399955747584
+85,1.416666667,BASELINE,763.667690076,742,712,670.667690076,659.667690076,632.667690076,876.667690076,783,799,649,628,650,0.400950447305,-0.0153695293292,0.0698162823384,0.999999928754,0.000233546423065,-0.000296336076905,1.15118486275e-05,1793192399972414208
+86,1.433333333,BASELINE,763.092753687,742,712,670.092753687,659.092753687,632.092753687,876.092753687,783,799,649,628,650,0.400950336496,-0.0153693660708,0.0698170981302,0.999999928956,0.000233366374268,-0.000295797226744,1.15059370985e-05,1793192399989080832
+87,1.450000000,BASELINE,763,742,712,670.4944261,659,632,876,783,799,648.5055739,628,650,0.400950452678,-0.0153692896475,0.0698175031298,0.999999928323,0.000235634064967,-0.000296123781497,1.1906608423e-05,1793192400005746944
+88,1.466666667,BASELINE,763,742,712,671,659.082376926,632.082376926,876.082376926,783,799,648,628,650,0.400950756725,-0.0153693259393,0.069817789168,0.999999927819,0.000237500095173,-0.000296318667385,1.22618916927e-05,1793192400022413568
+89,1.483333333,BASELINE,763,742,712,671,659.66078889,632.66078889,876.66078889,783,799,648,628,650,0.400951929078,-0.0153699403661,0.0698178347033,0.999999929096,0.000234112264117,-0.000294718294743,1.18729188544e-05,1793192400039080448
+90,1.500000000,BASELINE,763,742,712,671,660,633,877,783,799,648,628,650,0.400951937487,-0.0153699334907,0.0698175264505,0.999999929488,0.000232469130553,-0.000294700349442,1.15817488153e-05,1793192400055747072
+91,1.516666667,BASELINE,763,742,712,671,660,633,877,783,799,648,628,650,0.400950295307,-0.0153690455459,0.0698167164902,0.999999928638,0.000233300155194,-0.000296926446672,1.14292730932e-05,1793192400072413696
+92,1.533333333,BASELINE,763.391868423,742,712,671,660,633,876.608131577,783,799.391868423,648,628,650,0.400950106848,-0.0153682573888,0.0698168186008,0.999999928017,0.00023575555395,-0.000297077150961,1.14145805944e-05,1793192400089080064
+93,1.550000000,BASELINE,763.965302794,742,712,671,660,633,876.034697206,783,799.965302794,648,628,650,0.400950591947,-0.0153675154668,0.0698173433047,0.999999927496,0.000238963580466,-0.000296266255417,1.14637277281e-05,1793192400105746688
+94,1.566666667,BASELINE,763.445639835,742,712,671,660,633,876,783,799.445639835,648.554360165,628,650,0.40095101895,-0.0153673595675,0.0698172837418,0.999999928034,0.00023750352385,-0.000295626741936,1.13132416556e-05,1793192400122413312
+95,1.583333333,BASELINE,763,742,712,671,659.85837678,633,876,783,799,649,628,650,0.40095105354,-0.0153675873801,0.069817079247,0.999999928442,0.000236119952844,-0.000295361151712,1.12288335156e-05,1793192400139080192
+96,1.600000000,BASELINE,763,742,712,671,659.279754956,633,876,783,799,649,628,650,0.400949888831,-0.0153688827305,0.0698165436555,0.999999928239,0.000235900076194,-0.000296215296023,1.13879912825e-05,1793192400155746816
+97,1.616666667,BASELINE,763.297600798,742,712,671,659,633,876.297600798,783,799,649,628,650,0.400949562347,-0.0153688922345,0.0698165317388,0.999999928321,0.000235218350862,-0.000296482458054,1.13670487839e-05,1793192400172413184
+98,1.633333333,BASELINE,763.873771408,742,712,671,659,633,876.873771408,783,799,649,628,650,0.400950020484,-0.0153676981193,0.069817010009,0.999999928668,0.000234104311176,-0.00029620017411,1.11775230678e-05,1793192400189080064
+99,1.650000000,BASELINE,763.539960789,742,712,671,659,633,876.539960789,783,799,648.539960789,628,650,0.400950522665,-0.015368394426,0.0698170870407,0.999999928554,0.000235224468231,-0.000295687258687,1.14445553756e-05,1793192400205746688
+100,1.666666667,BASELINE,763.04829283,742,712,671,659.04829283,633,876,783,799,648,628,650,0.400951047501,-0.0153694543927,0.0698170567734,0.999999928324,0.000236854694679,-0.000295146504015,1.18134628058e-05,1793192400222413312
+101,1.683333333,BASELINE,763.627240654,742,712,671,659.627240654,633,876,783,799,648,628,650,0.400951685501,-0.0153686827598,0.0698170843708,0.999999928281,0.00023720235446,-0.000295010810758,1.18943724862e-05,1793192400239080960
+102,1.700000000,BASELINE,763.794799013,742,712,671,659.794799013,633,876,783,799.205200987,648.205200987,628.205200987,650,0.400951909358,-0.0153680661527,0.069817234953,0.999999928371,0.000236902656624,-0.000294948857201,1.18307000025e-05,1793192400255748096
+103,1.716666667,BASELINE,763.218623986,742,712,671,659.218623986,633,876,783,799.781376014,648.781376014,628.781376014,650,0.400951384503,-0.0153677298101,0.0698176078741,0.999999928701,0.000235432628748,-0.000295020214492,1.15056436325e-05,1793192400272414464
+104,1.733333333,BASELINE,763.356454437,742,712,670.643545563,659,633,876.356454437,783,799.643545563,649,628.643545563,650,0.400949585271,-0.0153690865765,0.0698168498571,0.999999928632,0.000233449181461,-0.000296830349022,1.13400663285e-05,1793192400289080832
+105,1.750000000,BASELINE,763.930862398,742,712,670.069137602,659,633,876.930862398,783,799.069137602,649,628.069137602,650,0.400947006822,-0.0153714785919,0.0698154003298,0.99999992831,0.000231151804508,-0.000299703656263,1.12720022261e-05,1793192400305747200
+106,1.766666667,BASELINE,763.480689654,742,712,670.519310346,659.519310346,632.480689654,876.480689654,783,799,649,628,650,0.400947586892,-0.0153701626419,0.0698155611839,0.999999927981,0.000233544681845,-0.000298952439754,1.10581383953e-05,1793192400322413824
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660,633,876,783,800,649,628,650,0.400951360576,-0.015366999112,0.069816728859,0.999999927423,0.000240744532222,-0.00029508009358,1.11611445152e-05,1793192400364787712
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.424599424,742,711.575400576,671,660,633,876,783,799.424599424,649,628.575400576,650,0.400950850681,-0.0153678612671,0.0698170671872,0.999999927937,0.000238356357767,-0.000295278122882,1.11088348729e-05,1793192400381454592
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,742,711.849155418,670.849155418,660,633,876,783,799.150844582,649,628.849155418,650.150844582,0.4009503352,-0.0153687016907,0.069817234083,0.999999928356,0.000236235392939,-0.000295560520962,1.11370247054e-05,1793192400398121216
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,742,711.273588999,670.273588999,660,633,876,783,799.726411001,649,628.273588999,650.726411001,0.400949803991,-0.0153694809266,0.069816918289,0.999999928522,0.00023486678978,-0.000296080469963,1.13918708914e-05,1793192400414787584
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.311280783,742,711.311280783,670,659.688719217,633,876,783,799.688719217,649,628.311280783,650.688719217,0.40095078776,-0.0153701968865,0.069817545198,0.999999929137,0.000233827110964,-0.000294811680254,1.16835919834e-05,1793192400431453952
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.904579298,742,711.904579298,670,659.095420702,633,876,783,799.095420702,649,628.904579298,650.095420702,0.400953144085,-0.015370855519,0.069819026188,0.999999930154,0.000233085434876,-0.000291922308507,1.20087214101e-05,1793192400448120064
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.516533703,742,711.516533703,670.483466297,659.483466297,633,876,783,799.483466297,649,628.516533703,650,0.40095259888,-0.0153692116567,0.0698186328298,0.99999992928,0.000235665133942,-0.000292858743685,1.16232404824e-05,1793192400464786688
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742,711.059604524,671,659.940395476,633,876.119209048,783,799.940395476,648.940395476,628,650,0.400952456939,-0.0153675816488,0.0698183963795,0.999999928415,0.000238360673981,-0.000293646959425,1.12280452119e-05,1793192400481453568
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742,711.635857748,671,659.364142252,633,877.271715496,783,799.364142252,648.364142252,628,650,0.40096063066,-0.0153698967572,0.0698226337648,0.999999930827,0.000236542670595,-0.000286794781624,1.19291505947e-05,1793192400498120192
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,877.56659692,783.21670154,799,648.21670154,628.21670154,650,0.400975053331,-0.0153720393407,0.0698294604181,0.999999934347,0.000234636879096,-0.000275845290713,1.27058358752e-05,1793192400514786816
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,876.38914771,783.805426145,799,648.805426145,628.805426145,650,0.401000203909,-0.0153738857414,0.0698407322051,0.999999939614,0.000232580377219,-0.000257861725003,1.36122731136e-05,1793192400531453696
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.387723926,742,712,670.612276074,659,633,876,783.612276074,799,648.612276074,629,650.387723926,0.40104079702,-0.0153747234593,0.0698550589879,0.999999945793,0.000232662576977,-0.00023253842797,1.44300078895e-05,1793192400548120576
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.966849136,742,712,670.033150864,659,633,876,783.033150864,799,648.033150864,629,650.966849136,0.401089013393,-0.0153750632377,0.0698708938812,0.999999951828,0.000233800554014,-0.000203591844941,1.52039544548e-05,1793192400564787456
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,670,659.541695841,633,876,783,799,648.541695841,629,650.458304159,0.40115080745,-0.0153779512913,0.0698818707762,0.999999953842,0.000233854384417,-0.000193368378655,1.54009240612e-05,1793192400581453568
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,670.118917019,660,633,876,783,799,648.881082981,628.881082981,650,0.40121677184,-0.0153814286411,0.0698907168916,0.999999955513,0.000233321817683,-0.000185215857047,1.51819624457e-05,1793192400598120192
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,670.706520748,660,633,876,783,799,648.293479252,628.293479252,650,0.40129592347,-0.0153866187516,0.0698923275537,0.999999956955,0.000230737535938,-0.000180744897624,1.3461770915e-05,1793192400614786816
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.71021416,633,876,783,799,648,628,650,0.401387073309,-0.0153914829941,0.0698942296952,0.999999958301,0.000227369740809,-0.000177693486721,1.11978624055e-05,1793192400631453696
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.131278222,633,876,783,799,648,628,650,0.401490195032,-0.0153960220833,0.0698964226764,0.999999959553,0.000223220151345,-0.000176058510358,8.39142984341e-06,1793192400648120064
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.552301909,742,712,671,659,633,876.895396183,783,799,648,628,650.447698091,0.401614850961,-0.0153996407214,0.0698973448322,0.999999960755,0.000219258045306,-0.000174341320938,4.54950859772e-06,1793192400664786944
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,877.973516687,783,799,648,628,650.973516687,0.401747375569,-0.015403225796,0.0698980292513,0.999999962004,0.000215144360058,-0.00017235199878,4.29297640157e-07,1793192400681454080
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,877.398931188,783,799,648,628,650.398931188,0.401912054737,-0.0154117026935,0.0699015064118,0.999999964971,0.00020675568429,-0.000165229553212,-3.16578432766e-06,1793192400698120448
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,876.824228969,783.175771031,799,648.175771031,628,650,0.402088663551,-0.0154204857259,0.0699046379118,0.999999967857,0.000197756015817,-0.000158512719148,-7.27554016557e-06,1793192400714787072
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,876.249261742,783.750738258,799,648.750738258,628,650,0.402292365937,-0.0154299640245,0.0699069843769,0.999999970706,0.000187368713925,-0.000152717076387,-1.25541789745e-05,1793192400731453440
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.335008409,633,876,783.664991591,799,649,628.335008409,650,0.402513115103,-0.0154403193765,0.0699101017775,0.999999973706,0.000175386523741,-0.000146651430894,-1.79346304122e-05,1793192400748120064
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659.926398132,633,876,783.073601868,799,649,628.926398132,650,0.402746910159,-0.0154513459368,0.0699138091739,0.999999976721,0.000162183767392,-0.000140379152184,-2.33929994227e-05,1793192400764786688
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.506676683,742.506676683,712,671,660,633,876.506676683,783,799,649,628.493323317,650,0.403020096239,-0.0154630440583,0.0699201471415,0.99999998918,6.81091031913e-05,-0.00012727451443,-2.83290679856e-05,1793192400781453568
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.915324808,742.915324808,712,671,660,633,876.915324808,783,799.084675192,649,628,650.084675192,0.403305668195,-0.0154768152859,0.0699273350183,0.999999992841,-2.35434176292e-05,-0.000112665105414,-3.27172181839e-05,1793192400798120192
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.341374458,742.341374458,712,671,660,633,876.341374458,783,799.658625542,649,628,650.658625542,0.403630454824,-0.0155020138671,0.069937273244,0.999999994295,-3.47751947545e-05,-9.49725719432e-05,-3.43683550329e-05,1793192400814787072
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.238568785,742,711.761431215,671,660,633,876.238568785,783,799.761431215,649,628,650.761431215,0.403967358873,-0.0155252741188,0.0699440919562,0.999999995642,-2.72232196918e-05,-8.46648343397e-05,-2.84070881394e-05,1793192400831453952
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.827308349,742,711.172691651,671,660,633,876.827308349,783,799.172691651,649,628,650.172691651,0.404322048827,-0.0155456892931,0.0699463318522,0.999999996276,7.89950947997e-06,-8.51964861702e-05,-1.1272350335e-05,1793192400848120832
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.590243463,742,711.409756537,671,660,632.590243463,877,783,799,649,628.409756537,650,0.404710647824,-0.0155400335307,0.0699483308134,0.99999999658,1.09932268007e-05,-8.10344753434e-05,-1.23176155888e-05,1793192400864787200
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.01040669,742,711.98959331,671,660,632.01040669,877,783,799,649,628.98959331,650,0.405113321655,-0.0155235563394,0.0699502297683,0.999999996974,7.92458912598e-07,-7.49242363049e-05,-2.09089700182e-05,1793192400881453568
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.564856794,876.435143206,783,799,649,628.435143206,650,0.405536761285,-0.0155035858031,0.0699454637618,0.999999996002,2.62188813872e-05,-8.17902226427e-05,-2.48837070842e-05,1793192400898119936
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.140135091,742,712,671,660,633,876.140135091,783,799.140135091,648.859864909,628.140135091,650,0.405968391787,-0.0154910640894,0.0699378795194,0.999999994302,4.09939372467e-05,-9.44536446171e-05,-2.81734980497e-05,1793192400914786816
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.715719022,742,712,671,660,633,876.715719022,783,799.715719022,648.284280978,628.715719022,650,0.406424294852,-0.0155018868644,0.0699219165263,0.999999991612,2.06482351205e-05,-0.000124394825726,-2.959709274e-05,1793192400931453696
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,671.300376495,660,633,876.699623505,783,799.699623505,648.300376495,629,650,0.406918887486,-0.0155104131306,0.0699089316116,0.999999989323,6.75580920522e-06,-0.000142409830107,-3.20517187985e-05,1793192400948120576
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,712,671.893888859,660,633,876.106111141,783,799.106111141,648.893888859,629,650,0.407451237124,-0.0155166982469,0.0698988529862,0.9999999883,-8.38900188996e-07,-0.000148786143887,-3.5512523238e-05,1793192400964787456
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,876.473547666,783,799,648.526452334,628.526452334,650.473547666,0.40803632477,-0.0155161378049,0.069909093888,0.999999991348,-8.20890263478e-06,-0.000126282754332,-3.59074930633e-05,1793192400981454336
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,712,671.950088606,660,633,877,783,799.049911394,648.049911394,628,650.950088606,0.408633780882,-0.0155140294285,0.0699229485481,0.999999994417,-1.42361607278e-05,-9.83954179075e-05,-3.58140931404e-05,1793192400998120960
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,712,671.376651473,660,633,877,783,799.623348527,648.623348527,628,650.376651473,0.409240541025,-0.0155113168625,0.0699283074089,0.999999996072,-6.69237249652e-06,-7.99838693647e-05,-3.759915473e-05,1793192401014787328
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.797159499,742,712,671,660,633,877,783,799.797159499,649,628.202840501,650,0.409857454489,-0.0155089428615,0.0699293696663,0.999999996516,-2.46947085086e-06,-7.3512337068e-05,-3.94739952483e-05,1793192401031453696
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.206078479,742,712,671,660,633,877,783,799.206078479,649,628.793921521,650,0.410493801561,-0.0155072168804,0.0699222081439,0.999999995087,-4.60280877623e-06,-8.98942206071e-05,-4.15206742272e-05,1793192401048120320
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.377346203,742,712,671,660,633,877,783,799,649,629,650,0.411171059445,-0.0155084431956,0.0699276305284,0.999999995675,-8.18710687797e-06,-8.21989046165e-05,-4.27291612441e-05,1793192401064786688
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.956672694,742,712,671,660,633,877,783,799,649,629,650,0.411870215442,-0.0155112497723,0.0699397886406,0.999999997077,-1.25480533896e-05,-6.16159011935e-05,-4.34889932007e-05,1793192401081453568
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.468324255,742,712,671,660,633,877,783,799,649,628.468324255,650,0.412617072373,-0.0155184439802,0.0699697215544,0.999999998903,-1.74466862727e-05,-1.57455518551e-05,-4.05146661946e-05,1793192401098120192
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876.891328281,783,799,649,628,650,0.413361561483,-0.0155247427747,0.0699947061045,0.999999998773,-2.27318096832e-05,2.19663192742e-05,-3.81363025927e-05,1793192401114786816
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,633,876.304015416,783,799,649,628,650,0.414078638254,-0.0155255356031,0.069991567307,0.999999998667,-2.95277826879e-05,1.4741271381e-05,-3.97123284902e-05,1793192401131453440
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742,711.720818476,671.279181524,660,633,876.558363048,783,799.279181524,649,628,650,0.414796912282,-0.015522723587,0.0699596992614,0.999999997538,-3.54693953735e-05,-4.0940336145e-05,-4.46107274979e-05,1793192401148120064
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742,711.142038394,671.857961606,660,633,877.715923212,783,799.857961606,649,628,650,0.415516471213,-0.015516043098,0.069897000947,0.999999986727,-4.04941674241e-05,-0.000148622217215,-5.30744704155e-05,1793192401164786688
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.436015324,742,711.436015324,671.563984676,660,633,877.563984676,783,800,649,628,650,0.41630647152,-0.0155171484593,0.0698815027232,0.99999998241,-4.13927910553e-05,-0.000174255095213,-5.57023803792e-05,1793192401181453568
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.986302999,742.013697001,712,671.013697001,660,633,877.013697001,783,799.986302999,649,628,650,0.417120001234,-0.015520802332,0.0698821541669,0.999999982793,-4.1080410628e-05,-0.000171908604327,-5.63429708951e-05,1793192401198120192
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.414157089,742.585842911,712,671.585842911,660,633,877.585842911,783,799.414157089,649,628,650,0.417958821963,-0.0155251238398,0.0699153869273,0.999999990699,-4.61055946387e-05,-0.000116756525765,-5.33396761836e-05,1793192401214786816
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742.836775703,712,672,660,632.836775703,877.836775703,783.163224297,799.163224297,649,628.163224297,650,0.418801695651,-0.0155286713233,0.0699471059226,0.999999995276,-4.90585823072e-05,-6.6979796686e-05,-5.05372841941e-05,1793192401231453184
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742.245669905,712,672,660,632.245669905,877.245669905,783.754330095,799.754330095,649,628.754330095,650,0.419655193846,-0.0155301897537,0.0699748566828,0.999999997261,-4.6579446799e-05,-3.12941883147e-05,-4.8261545668e-05,1793192401248120064
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,742,712,671.661549507,660,632,876.661549507,783.661549507,799.661549507,649,628.661549507,650.338450493,0.420530932336,-0.0155332062099,0.06999502564,0.999999997594,-5.05972966014e-05,-1.91143269465e-06,-4.74110986244e-05,1793192401264786688
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742,712,671.08239707,660,632,876.08239707,783.08239707,799.08239707,649,628.08239707,650.91760293,0.421422487821,-0.015537288044,0.0700098025084,0.99999999685,-5.92357248156e-05,2.29888078445e-05,-4.75743019506e-05,1793192401281453568
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.494881151,742,712,671,660.494881151,632,876.494881151,783,799,649,628.494881151,650.505118849,0.42223439202,-0.0155381571586,0.0699761540765,0.999999996282,-6.14712976414e-05,-3.24572941362e-05,-5.10197738428e-05,1793192401298119936
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.928293896,742.071706104,712,671.071706104,660.928293896,632.071706104,877,783,799.071706104,649,628.928293896,650,0.423030125708,-0.0155376531664,0.0699303215802,0.999999990802,-6.24967584631e-05,-0.000106696542173,-5.57280922496e-05,1793192401314786560
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.352470278,742.647529722,712,671.647529722,660.352470278,632.647529722,877,783,799.647529722,649,628.352470278,650,0.423805058294,-0.0155312422118,0.0698553010427,0.999999971843,-6.24812597708e-05,-0.000219363934464,-6.54871031857e-05,1793192401331453184
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.228151018,743,712,672,660,633,877,783.228151018,799.771848982,648.771848982,628,650,0.42462687004,-0.0155289356424,0.0698249471004,0.999999961578,-6.27769905981e-05,-0.000260706940046,-7.02448476815e-05,1793192401348119808
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.816343545,743,712,672,660,633,877,783.816343545,799.183656455,648.183656455,628,650,0.425522661168,-0.0155331061375,0.0698650807931,0.999999977774,-6.35638685944e-05,-0.000189494080917,-6.71101751682e-05,1793192401364786688
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.601198746,742.601198746,712,672,660.398801254,633,877,783.601198746,799.398801254,648,628.398801254,650,0.42643964994,-0.0155382370873,0.0699172885197,0.999999989333,-6.60754967302e-05,-0.000114763650964,-6.16210502029e-05,1793192401381453312
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.021344639,742.021344639,712,672,660.978655361,633,877,783.021344639,799.978655361,648,628.978655361,650,0.427366262233,-0.0155438040764,0.0699749777669,0.999999995339,-6.93701485417e-05,-3.84362735082e-05,-5.5063021019e-05,1793192401398119936
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742.553816825,712,672,661,633,877,783,800,648,628.446183175,650,0.428242703122,-0.0155511314226,0.0700003684511,0.999999995685,-7.63553907277e-05,4.55137211906e-06,-5.27141854965e-05,1793192401414786560
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.131558687,743,712,672,660.868441313,633,877,783,800,648.131558687,628,650,0.429100583247,-0.0155570777699,0.0700158946682,0.999999994619,-8.36701898586e-05,3.32030537578e-05,-5.1558948146e-05,1793192401431453184
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.718860756,743,712,672,660.281139244,633,877,783,800,648.718860756,628,650,0.429900807697,-0.0155580070275,0.0700015246096,0.999999994206,-9.16380328963e-05,1.66062161877e-05,-5.39812935781e-05,1793192401448119808
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.698173967,743,712,672,660.301826033,633,877,783,799.698173967,649,628.301826033,650,0.430657055343,-0.0155540408787,0.0699583385287,0.999999992574,-9.0006807817e-05,-5.74354404431e-05,-5.87463202341e-05,1793192401464786432
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.119191053,743,712,672,660.880808947,633,877,783,799.119191053,649,628.880808947,650,0.431372920498,-0.0155455794397,0.0698886916468,0.999999977709,-7.95610738837e-05,-0.000184226776335,-6.56625528762e-05,1793192401481453056
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,742.539918343,711.539918343,672.460081657,661,633,877,783,799.460081657,649,628.539918343,650,0.432164962124,-0.0155450620978,0.0698656874824,0.999999970872,-8.6049053254e-05,-0.000214970880498,-6.81045818893e-05,1793192401498119680
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742,711.039194943,673,661,633,877,783.039194943,799.960805057,649,628.039194943,650,0.432978999818,-0.0155470206701,0.0698600678648,0.9999999704,-9.61043097182e-05,-0.000212666936206,-6.88298580513e-05,1793192401514786304
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742,711.6150959,673,661,633,877,783.6150959,799.3849041,649,628.6150959,650,0.43382383242,-0.0155546835682,0.069926932574,0.999999988702,-9.48979483871e-05,-9.87645255468e-05,-6.19291866548e-05,1793192401531452928
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.194356553,742.194356553,712,673,661,632.805643447,877.194356553,783.805643447,799.194356553,649,629,650,0.434628138772,-0.0155602894778,0.06997667153,0.999999993989,-9.23858184685e-05,-1.57458461953e-05,-5.69152488344e-05,1793192401548119808
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.780387899,742.780387899,712,673,661,632.219612101,877.780387899,783.219612101,799.780387899,649,629,650,0.435350775221,-0.0155617500666,0.0699918980224,0.99999999463,-8.72422553642e-05,5.03477015385e-06,-5.57035290679e-05,1793192401564786432
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,712,673,661,632.364053553,878,783.364053553,800,649,628.635946447,650,0.436065008005,-0.0155640494506,0.0699886826973,0.999999993582,-9.82221640811e-05,1.15318536627e-06,-5.64523092587e-05,1793192401581453312
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,712,673,661,632.946301302,878,783.946301302,800,649,628.053698698,650,0.43677420404,-0.0155668515635,0.0699744143338,0.999999991078,-0.000118865618342,-1.75096028812e-05,-5.83761081481e-05,1793192401598119936
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.478935463,742.478935463,712,673,661,633,877.478935463,784,799.478935463,649,628.521064537,650.521064537,0.437441809679,-0.0155656895931,0.0699502945067,0.999999990037,-0.000120783435845,-3.94995228689e-05,-6.14598221982e-05,1793192401614786560
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+191,3.183333333,POSE1_TO_POSE2_PRESS,763,742.252520946,712,673,660.252520946,632,877,783,799.252520946,649,628,650,0.442379412242,-0.0156117051507,0.0698702450023,0.999999963414,-0.000183657285239,-0.000186952993876,-6.7006245e-05,1793192401764786688
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+193,3.216666667,POSE1_TO_POSE2_PRESS,763.90733498,742.90733498,711.09266502,673,660,632,877.90733498,783,799.90733498,649,628,650,0.443140730823,-0.0156186702969,0.0697996396516,0.999999935049,-0.00017548136952,-0.000306379232027,-7.23919399185e-05,1793192401798120192
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763,742.36598592,711.63401408,673,660,632,878,782.36598592,799.63401408,648.63401408,628,650,0.444188452678,-0.0156303522717,0.0697393151448,0.999999893682,-0.000224286418354,-0.00039601295894,-7.42014846877e-05,1793192401848121088
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+198,3.300000000,POSE1_TO_POSE2_PRESS,763,742.808603331,712,672.191396669,660,632,877.191396669,782,800,649,628,650,0.444798255447,-0.0156303432005,0.0697271545939,0.999999890836,-0.000214056264592,-0.000408298544486,-7.61605871974e-05,1793192401881454592
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,743,712,672,660,631.608388964,877,782.391611036,800,648.608388964,628,650,0.445061218762,-0.0156322607311,0.0697212344672,0.999999888816,-0.000211226260287,-0.000414594624475,-7.65623622205e-05,1793192401898120960
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+241,4.016666667,POSE1_TO_POSE2_PRESS,763.757705674,743,712,673,660,631,877.242294326,782,800,649,628,650,0.446941230932,-0.0156544149883,0.0696629074514,0.999999828753,-0.000248541509757,-0.000524610686206,-7.41932795212e-05,1793192402598120704
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.657362938,743,711.657362938,673,659.657362938,631,877,782,799.657362938,649,628,650,0.446941214947,-0.0156550357754,0.0696629631063,0.999999828598,-0.000248682578972,-0.000524843690694,-7.41577447725e-05,1793192402614787072
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.078150421,743,711.078150421,673,659.078150421,631,877,782,799.078150421,649,628,650,0.446941007461,-0.0156574324038,0.0696625449561,0.999999828074,-0.000250448402923,-0.00052499664716,-7.42095108574e-05,1793192402631453440
+244,4.066666667,POSE1_TO_POSE2_PRESS,763,742.502102265,711.497897735,672.502102265,659.497897735,631,877.497897735,782,799.497897735,649,628,650,0.446940118269,-0.0156569287401,0.0696617226193,0.999999827755,-0.000249315711084,-0.000526183128945,-7.39100103447e-05,1793192402648120320
+245,4.083333333,HOLD_POSE2,764,743,711,673,659,631,877,782,800,649,628,650,0.446943002789,-0.0156571461349,0.0696635371803,0.999999828618,-0.000251771651154,-0.00052341987065,-7.35359734613e-05,1793192402691077376
+246,4.100000000,HOLD_POSE2,763.421065254,742.421065254,711,673,659,631,877.578934746,781.421065254,799.421065254,649,628,650,0.446941560857,-0.0156553702969,0.0696634443394,0.99999982871,-0.000249084936447,-0.000524478834627,-7.388018046e-05,1793192402707744000
+247,4.116666667,HOLD_POSE2,763,742.157292064,711.157292064,673,659.157292064,631,878,781.157292064,799,649,628,650,0.446940763033,-0.0156541384358,0.0696632977004,0.999999828844,-0.00024693469866,-0.000525214763166,-7.40532450757e-05,1793192402724410880
+248,4.133333333,HOLD_POSE2,763,742.734109406,711.734109406,673,659.734109406,631,878,781.734109406,799,649,628,650,0.446941683158,-0.0156543574554,0.0696630075725,0.999999829109,-0.000246215337494,-0.000525089100276,-7.37698432825e-05,1793192402741077760
+249,4.150000000,HOLD_POSE2,763.309519832,743,712,673,660,631,878,782,799.309519832,649,628,650,0.446942350763,-0.0156550106698,0.0696629337837,0.999999828908,-0.000247609049965,-0.00052482368412,-7.37145031096e-05,1793192402757744128
+250,4.166666667,HOLD_POSE2,763.883727091,743,712,673,660,631,878,782,799.883727091,649,628,650,0.446942802423,-0.0156560351882,0.0696630449983,0.999999828302,-0.000250809767929,-0.000524438757268,-7.38541909846e-05,1793192402774410752
+251,4.183333333,HOLD_POSE2,763.529048591,743,712,673,660,631,878,782,800,648.529048591,627.529048591,650,0.446942036815,-0.015654898808,0.0696623862372,0.999999827985,-0.000249270775565,-0.000525724562247,-7.42074457457e-05,1793192402791077376
+252,4.200000000,HOLD_POSE2,763,743,711.939433519,672.939433519,660,631,878,781.939433519,799.939433519,648.060566481,627.060566481,650,0.446941090367,-0.0156535152825,0.0696617150449,0.999999827788,-0.000246953059391,-0.000527142640998,-7.45573324473e-05,1793192402807743744
+253,4.216666667,HOLD_POSE2,763,743,711.357686677,672.357686677,660,631,878,781.357686677,799.357686677,648.642313323,627.642313323,650,0.446941247383,-0.0156547263903,0.0696626191974,0.999999828044,-0.000248290130303,-0.00052604857094,-7.44116150021e-05,1793192402824410368
+254,4.233333333,HOLD_POSE2,763,743,711.221195496,672.221195496,660,631,877.778804504,781.221195496,799.221195496,649,628,650,0.446941523072,-0.0156552538303,0.0696630094424,0.999999828239,-0.000248501748564,-0.000525620739782,-7.41025473208e-05,1793192402841076992
+255,4.250000000,HOLD_POSE2,763,743,711.795504491,672.795504491,660,631,877.204495509,781.795504491,799.795504491,649,628,650,0.446941988209,-0.0156546898718,0.0696625792922,0.99999982834,-0.0002469167093,-0.000526256483506,-7.3532709545e-05,1793192402857743872
+256,4.266666667,HOLD_POSE2,763,743,712,673,660,631,877,782,800,649,627.622622532,650,0.446942424759,-0.0156551569557,0.0696626611507,0.999999828544,-0.000247335484954,-0.000525699987521,-7.33227128208e-05,1793192402874410752
+257,4.283333333,HOLD_POSE2,763,743,712,673,660,631,877,782,800,649,627.03656685,650,0.446942845501,-0.0156561941744,0.0696630261344,0.999999828805,-0.00024886230891,-0.000524484219448,-7.33116971546e-05,1793192402891077376
+258,4.300000000,HOLD_POSE2,763,743,712,673,660,631,877,782,800,648.453831424,627,650,0.446943514399,-0.0156549306453,0.0696634188437,0.999999829384,-0.000246708056022,-0.000524391768384,-7.33453087004e-05,1793192402907743744
+259,4.316666667,HOLD_POSE2,763,743,712,673,659.872911593,631,877,782,799.872911593,648,627.127088407,650,0.446943520419,-0.0156541243395,0.0696635735816,0.99999982955,-0.000245224856455,-0.000524780350378,-7.32849708017e-05,1793192402924410368
+260,4.333333333,HOLD_POSE2,763,743,712,673,659.297615489,631,877,782,799.297615489,648,627.702384511,650,0.4469411304,-0.0156554705124,0.0696628825494,0.999999828192,-0.000246972213233,-0.00052660177484,-7.28828239607e-05,1793192402941076992
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,743,712,673,659,631,877,782,800,649,628,650,0.446943501182,-0.0156540807404,0.0696629063112,0.999999828655,-0.000247173300821,-0.000525557017931,-7.33862358284e-05,1793192402978718976
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,742.408175368,711.408175368,673,659.591824632,631,877.591824632,782,799.408175368,648.408175368,628,650,0.44694345496,-0.0156552303065,0.0696628981974,0.999999828768,-0.000246510555737,-0.000525721983262,-7.28964171182e-05,1793192402995385856
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,742.179426818,711.179426818,672.820573182,659.820573182,631,877.820573182,782,799,648.179426818,628,650,0.446943116114,-0.0156556554937,0.069662519177,0.999999828719,-0.000245757748982,-0.000526206245207,-7.26068309224e-05,1793192403012052480
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,742.757644389,711.757644389,672.242355611,659.242355611,631,877.242355611,782,799,648.757644389,628,650,0.446942126885,-0.0156544706903,0.0696613157864,0.999999828313,-0.000244804772677,-0.000527400169972,-7.27622777436e-05,1793192403028719104
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,743,711.665847026,672.334152974,659.334152974,631,877,781.665847026,799.334152974,649,627.665847026,650,0.446942251406,-0.0156541381907,0.0696612817383,0.999999828091,-0.000245709310514,-0.000527331909425,-7.32461314481e-05,1793192403045385472
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,743,711.090571667,672.909428333,659.909428333,631,877,781.090571667,799.909428333,649,627.090571667,650,0.446943179601,-0.0156544207076,0.0696620914793,0.999999828,-0.000247954217263,-0.000526352864953,-7.39669611902e-05,1793192403062052352
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742.504344985,711.495655015,673,659.504344985,631,877,781,800,649,627.495655015,650,0.446941869832,-0.015654716121,0.06966135,0.999999827318,-0.000248912524686,-0.000527216864266,-7.38217056238e-05,1793192403078718976
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,742.082592382,712,673,659,631,877,781,800,649,628,650,0.446940192285,-0.0156551442157,0.0696605093311,0.999999826663,-0.00024942341455,-0.00052826443023,-7.34791095952e-05,1793192403095385344
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742.661503325,712,673,659,631,877,781,800,649,628,650,0.446938817655,-0.0156563551444,0.0696608144548,0.999999826843,-0.000248690366223,-0.000528345562443,-7.2923161763e-05,1793192403112052224
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.239379745,743,712,672.760620255,659,631.239379745,877.239379745,781.239379745,800.239379745,649,628,650,0.44693026857,-0.015655829543,0.0696568236076,0.999999823825,-0.000247634944356,-0.000534497937778,-7.30699733395e-05,1793192403128719104
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.815799537,743,712,672.184200463,659,631.815799537,877.815799537,781.815799537,800.815799537,649,628,650,0.446911618052,-0.0156528589549,0.0696467841526,0.999999816148,-0.000246125629503,-0.000549198455081,-7.42062507226e-05,1793192403145385728
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.390224869,659.390224869,631.609775131,877.609775131,781.609775131,801,648.609775131,628,650,0.446873080321,-0.0156506214694,0.0696311320838,0.999999800678,-0.000244601510313,-0.000577198299911,-7.52084712546e-05,1793192403162052352
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.963713581,659.963713581,631.036286419,877.036286419,781.036286419,801,648.036286419,628,650,0.446825202825,-0.0156487282753,0.0696128441257,0.999999780627,-0.000243070438106,-0.000611443995169,-7.61477338269e-05,1793192403178718976
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.445677978,742.445677978,712,673,660,631,877,781.554322022,800.445677978,648.554322022,628,650,0.446758395137,-0.0156452342866,0.0695993400184,0.999999766772,-0.000242869433195,-0.000633746284692,-7.6389198091e-05,1793192403195385344
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742.143017207,711.856982793,672.856982793,660,631,877.143017207,782,800,649,628,649.856982793,0.446687187964,-0.0156408344083,0.0695892276453,0.999999756865,-0.000241333899346,-0.000649775215304,-7.62854556722e-05,1793192403212052224
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742.722347746,711.277652254,672.277652254,660,631,877.722347746,782,800,649,628,649.277652254,0.446606459899,-0.0156340007406,0.0695884768751,0.999999758765,-0.000235452930062,-0.000649126731853,-7.52723612845e-05,1793192403228719104
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,743,711,672,659.700546969,631,878,781.700546969,800,649,628,649.299453031,0.446514966583,-0.015629046381,0.069590434166,0.999999761954,-0.000232164862818,-0.000645621610002,-7.32446050464e-05,1793192403245385728
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,743,711,672,659.12548975,631,878,781.12548975,800,649,628,649.87451025,0.446413565381,-0.0156258216592,0.0695948838445,0.999999766317,-0.000231263195753,-0.000639487356316,-7.02829960552e-05,1793192403262052352
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.449805857,743,711.449805857,672.449805857,659,631,878,781.449805857,800,648.550194143,628,650,0.446290201014,-0.0156188371162,0.069600115641,0.999999773976,-0.000225289511467,-0.000629920278544,-6.70288289625e-05,1793192403278718976
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.974166168,712,673,659,631,878,782,800,648,628,650,0.446159182957,-0.0156108067979,0.0696054847418,0.999999782301,-0.000218045042134,-0.000619515580966,-6.3679491816e-05,1793192403295385856
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.383582486,712,673,659,631,878,782,800,648,628,650,0.445994870439,-0.0156028578059,0.0696090828589,0.999999788189,-0.000213970166595,-0.000611747291628,-6.00348787381e-05,1793192403312052480
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.797365532,742.202634468,711.797365532,673,659,631,878,782,800,648.202634468,628,650,0.445815920557,-0.0155939407211,0.0696111166558,0.999999792842,-0.00020796633953,-0.000606548077884,-5.62533183502e-05,1793192403328718848
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.219240384,742.780759616,711.219240384,673,659,631,878,782,800,648.780759616,628,650,0.445609847008,-0.0155832297181,0.0696102516975,0.999999795273,-0.000198388079968,-0.000606109476378,-5.22179889156e-05,1793192403345385472
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.643408655,711.356591345,672.643408655,659,631,878,782,799.643408655,649,628,650,0.445381928136,-0.0155708763035,0.0696131803047,0.999999800507,-0.00018527500297,-0.000602046503027,-4.69022599742e-05,1793192403362052352
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,742.068977907,711.931022093,672.068977907,659,631,878,782,799.068977907,649,628,650,0.445140664074,-0.015557519549,0.069618426377,0.999999807246,-0.000170002527326,-0.000595769423603,-4.08043426486e-05,1793192403378719232
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,659.517847748,631,877.482152252,782,799,649,627.482152252,650,0.44485220674,-0.0155426295013,0.0696203427802,0.999999811278,-0.000152782223947,-0.000594033970141,-3.50075749145e-05,1793192403395385856
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742,711.895341463,672.104658537,659.895341463,631.104658537,877,782,799,649,627.104658537,650,0.444548782189,-0.0155287524256,0.0696218991589,0.999999815771,-0.000126902716013,-0.000592890650834,-2.88939735703e-05,1793192403412052480
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,742,711.31626545,672.68373455,659.31626545,631.68373455,877,782,799,649,627.68373455,650,0.444206705222,-0.0155204156575,0.069623883305,0.999999822785,-6.29759420009e-05,-0.000591621991166,-2.1157869039e-05,1793192403428719104
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742,711.262194128,673,659.262194128,632,877,782.262194128,799,649,628,650,0.443846447198,-0.0155131714396,0.0696303482867,0.99999983004,-2.2971062124e-05,-0.00058242432804,-1.31654413219e-05,1793192403445385472
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742,711.839911857,673,659.839911857,632,877,782.839911857,799,649,628,650,0.443464310165,-0.015507241994,0.0696422054917,0.999999841049,-1.17537194634e-05,-0.000563684928876,-4.86455561239e-06,1793192403462052096
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742,712,673,660,632,877.416162968,782.583837032,799.416162968,649,628,650,0.443056078554,-0.0155065870936,0.0696584669433,0.999999853933,-3.24625746104e-06,-0.000540470648807,3.7555311423e-06,1793192403478718976
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742,712,673,660,632,877.991851872,782.008148128,799.991851872,649,628,650,0.442637844232,-0.0155079540619,0.0696764166553,0.999999867022,4.22243754144e-06,-0.000515541032296,1.24979756492e-05,1793192403495385600
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742.579423633,711.420576367,672.420576367,659.420576367,632,877.420576367,782,799.420576367,649,628,650,0.442176869918,-0.0155060268827,0.0696984228461,0.999999884914,-1.42919228383e-05,-0.000479473254401,8.58244366706e-06,1793192403512052480
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.165454128,742.834545872,711.165454128,672,659.165454128,632,877,782,799,649,628,650,0.441704392502,-0.0155025721337,0.0697202910153,0.999999901863,-1.47745635119e-05,-0.000442720537776,7.4087543961e-06,1793192403528719104
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.747177614,742.252822386,711.747177614,672,659.747177614,632,877,782,799,649,628,650,0.441204518074,-0.0154953931285,0.0697416654063,0.999999917556,3.10476931587e-05,-0.000404646895808,1.3590539317e-05,1793192403545385728
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742,711.679427313,672,660.320572687,632,877,782.320572687,799.320572687,648.679427313,628,650,0.440685214392,-0.0154900095144,0.0697655631605,0.999999934104,4.57718915843e-05,-0.000359664342576,1.84021995524e-05,1793192403562052352
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,711.112434133,672,660.887565867,632,877,782.887565867,799.887565867,648.112434133,628,650,0.440150975618,-0.0154860059957,0.0697914005968,0.99999995123,3.65913795082e-05,-0.000309370985661,2.21606615423e-05,1793192403578719744
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.464156524,711,672.464156524,660.535843476,632,877,783,799.535843476,648,628,650,0.439536853893,-0.0154752127396,0.0697911293685,0.999999949906,5.15211952327e-05,-0.000311510365783,2.22349893923e-05,1793192403595386368
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.955736633,742.955736633,711,672.955736633,660,632,877,783,799.044263367,648,628,650,0.438896974884,-0.0154623629147,0.0697824497466,0.999999943099,7.22522000157e-05,-0.000328846689936,2.10138527911e-05,1793192403612052992
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.361434891,742.361434891,711,672.361434891,660,632,877,783,799.638565109,648,628,650,0.438182556026,-0.0154448265161,0.069749532551,0.999999925862,9.09646006016e-05,-0.000373867105138,1.50184279839e-05,1793192403628719616
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,742,711.225524883,672,660,632,877,783,799.774475117,648,628,649.774475117,0.43748057564,-0.0154269241008,0.0697332292843,0.999999916315,0.000107352924703,-0.000394622875743,1.09029709644e-05,1793192403645385984
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742,711.80108908,672,660,632,877,783,799.19891092,648,628,649.19891092,0.436797901167,-0.0154084535887,0.0697427126566,0.999999921402,0.000120134026713,-0.00037771725902,9.70543022724e-06,1793192403662052352
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+305,5.083333333,POSE2_TO_POSE3_RETREAT,763.446351696,743,712,673,660,632,877.446351696,783,799.446351696,648.446351696,628,650,0.434638192649,-0.0154062926463,0.0698307645548,0.999999956023,0.000143207626734,-0.000258717932045,2.2616514097e-05,1793192403712052224
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,742.869122922,712,673,660,632,877,783,799,648.130877078,628,650,0.433848242745,-0.0154104942637,0.0698458964485,0.999999960222,0.000137395423464,-0.000245203355481,2.35355756901e-05,1793192403728719104
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742.297451265,712,673,660,632,877,783,799,648.702548735,628,650,0.433017300299,-0.0154134096134,0.0698382426339,0.999999955951,0.000144323064624,-0.000258027920805,2.6260070951e-05,1793192403745385984
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742,711.444158251,672,660,632,877,783,798.555841749,648.444158251,628,650,0.430437278082,-0.0153998638437,0.0697911382456,0.999999931327,0.000164829049269,-0.000330891860283,2.62323837712e-05,1793192403795385856
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632,877,783,798.034025464,648.965974536,628,650,0.429518090007,-0.0153910740233,0.069734431376,0.999999894097,0.000172721286112,-0.000426020694379,2.189422629e-05,1793192403812052480
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,660.190272266,632,877,783,799,648,628,650,0.427790218264,-0.0154002188597,0.0697670371773,0.999999918987,0.000178389054326,-0.000359983715818,2.47928947482e-05,1793192403845385984
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,660.081257478,632,876.081257478,783,799,648,628,650,0.425176008878,-0.0154040715016,0.0698746548678,0.999999961283,0.000182235246965,-0.000206553688649,3.95005819907e-05,1793192403895386112
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,660.093730038,632.093730038,877.906269962,783,799,648,628,650.093730038,0.423355440665,-0.0153991607555,0.0698186527002,0.999999938431,0.000189775499543,-0.000293401708356,3.2232258443e-05,1793192403928720640
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.251829998,742,711.748170002,672,660.748170002,633,876.748170002,783,799,648.251829998,628,650.748170002,0.421368705945,-0.0153867183266,0.0697085198525,0.999999859617,0.000199641968121,-0.000490264190596,2.34399578152e-05,1793192403962052864
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711.116572623,671,660,633,876,783,799,648.883427377,628.883427377,650,0.414579114661,-0.0153904062373,0.0697850315081,0.99999992406,0.000193454783093,-0.000337080295228,2.88330795408e-05,1793192404095386112
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711.469066711,671,660,633,876.469066711,783,799.469066711,648.530933289,628.530933289,650,0.413746952417,-0.0153861728463,0.0697578361203,0.999999903279,0.000197053956693,-0.000392315481957,2.64539056982e-05,1793192404112052736
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,632.943155467,876.943155467,783,799.943155467,648,628.056844533,650,0.412940273533,-0.0153818739228,0.0697388982983,0.99999988459,0.000201392094195,-0.00043548736596,2.47297519411e-05,1793192404128719104
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742,712,671.219575908,660,632,876,783,799,648,628.780424092,650.219575908,0.411599505051,-0.0153874129495,0.0698434066557,0.999999950457,0.000201270217916,-0.000239764859372,3.30006147466e-05,1793192404162052608
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,742,712,671.795150277,660,632,876,783,799,648,628.204849723,650.795150277,0.410938360968,-0.0153909450571,0.0698914171555,0.999999965087,0.000201575722426,-0.000166520394019,3.82620985928e-05,1793192404178719232
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742,712,671.631521897,660,632.368478103,876,783,799,648.368478103,628,650.631521897,0.410238625944,-0.015391427318,0.0698902775819,0.999999963472,0.000204499517611,-0.000172421012329,3.8825689051e-05,1793192404195386112
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742,712,671.059435469,660,632.940564531,876,783,799,648.940564531,628,650.059435469,0.409517566933,-0.0153902243382,0.0698619793654,0.999999952856,0.000208870090134,-0.000222054485921,3.67933848979e-05,1793192404212052992
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742,711.467404807,671,660,633,876,783,799,648.467404807,628,650.532595193,0.408837513197,-0.0153850739248,0.0698171062394,0.999999932475,0.000207378558718,-0.000301851575929,3.04815867947e-05,1793192404228719616
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742,711.697279549,671,659.302720451,632.302720451,876,783,799,648,628,650.302720451,0.407613517416,-0.0153766206619,0.0697823915887,0.999999916167,0.000211345006716,-0.000349842207893,2.47000751532e-05,1793192404262052608
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763,742,711.726518029,671,659.273481971,632,876,783,799,648,628,650,0.40705975424,-0.0153740412712,0.0697919327194,0.999999920984,0.000215403477484,-0.000333131604723,2.56073522777e-05,1793192404278719232
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,742,712,670.146696614,659.146696614,632,876.146696614,783,799.146696614,649,628,650,0.401546829921,-0.015375860827,0.0698056691186,0.99999992106,0.000229954560815,-0.000322816100276,2.81157575785e-05,1793192404562052352
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,763,741.55549206,712,671,659,633,876.44450794,783,799,648,628,650,0.40095383245,-0.0153714481367,0.0698135612742,0.999999927914,0.000230196651159,-0.000301732830203,1.17751270523e-05,1793192405062052608
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.70873966,742,711.29126034,671,659,632.29126034,876,783,799.70873966,648.70873966,628,650,0.400952534058,-0.0153703383964,0.0698132883163,0.999999927167,0.000232784473434,-0.000302216263012,1.19103706857e-05,1793192405095385856
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.554805062,633,876,783,798.554805062,648.554805062,628,650,0.40095357686,-0.0153691031876,0.069814511829,0.999999927695,0.000233015252894,-0.000300297320557,1.16068335515e-05,1793192405145385728
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.036660916,742,712,670.963339084,659,632.963339084,876,783,798.036660916,648,628,650,0.400953947625,-0.0153692752112,0.0698150654643,0.999999927889,0.000233313564993,-0.000299418554311,1.16001195837e-05,1793192405162052352
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,670,659.767370809,632.767370809,876.767370809,783,799,648,628,650,0.400952579073,-0.0153702043883,0.0698139537724,0.999999927696,0.000232623251793,-0.000300588169713,1.18492139176e-05,1793192405212052736
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_07/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..acf3dd9d53ede5f70d0ab6dbc97bcbcd88ea1bc5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,399 @@
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+384,6.400000000,pose2_to_pose3_retreat,0.575710565089,-0.00994530176772,1.0600291337,0.546281294022,-0.00127257658794,1.05969842797
+385,6.416666667,pose2_to_pose3_retreat,0.575710090513,-0.00994528919678,1.06002913037,0.546280818445,-0.0012725673892,1.05969842537
+386,6.433333333,pose2_to_pose3_retreat,0.575710016063,-0.00994528722467,1.06002912985,0.546280743837,-0.00127256594611,1.05969842496
+387,6.450000000,pose2_to_pose3_retreat,0.575709862969,-0.0099452849047,1.06002913056,0.546280590492,-0.0012725644713,1.05969842583
+388,6.466666667,pose2_to_pose3_retreat,0.575709776168,-0.00994530409676,1.06002915206,0.546280504404,-0.00127258127455,1.05969844654
+389,6.483333333,pose2_to_pose3_retreat,0.575709749227,-0.00994531005353,1.06002915873,0.546280477684,-0.00127258648988,1.05969845296
+390,6.500000000,pose2_to_pose3_retreat,0.575709666075,-0.00994532843872,1.06002917932,0.546280395216,-0.00127260258669,1.0596984728
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+392,6.533333333,pose2_to_pose3_retreat,0.575709517962,-0.00994536118728,1.060029216,0.546280248318,-0.00127263125909,1.05969850813
+393,6.550000000,pose2_to_pose3_retreat,0.575709481319,-0.00994536928926,1.06002922507,0.546280211976,-0.00127263835262,1.05969851688
+394,6.566666667,pose2_to_pose3_retreat,0.575709448649,-0.00994537651271,1.06002923316,0.546280179575,-0.00127264467697,1.05969852467
+395,6.583333333,pose2_to_pose3_retreat,0.575709392966,-0.00994538882451,1.06002924695,0.546280124349,-0.00127265545634,1.05969853795
+396,6.600000000,pose2_to_pose3_retreat,0.575709275609,-0.00994538912086,1.06002924079,0.546280007039,-0.00127265564443,1.05969853046
+397,6.616666667,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365052,1.05969844436
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_07/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c0bd928fcbc4200d080fb53d0a23179a2f6b293f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11da8a75613915e36c7512eacd97549e9dd02729b1a0a23a928663403b40d199
+size 25499217
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_07/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..79cc0c827c237d2c512f97fd2ca86b6aab11510e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_07/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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+48,0.800000000,BASELINE,763,742,712,671,659.144553341,633,876.144553341,783,799,648,628.144553341,650,0.400952321664,-0.0153741230474,0.0698164815107,0.999999929783,0.000227633590943,-0.000297464665782,1.14458029502e-05,1793192406190815488
+49,0.816666667,BASELINE,763,742,711.562737944,671,659,633,876,783,799,648,628,650,0.400951863036,-0.0153726870464,0.0698158931681,0.99999992909,0.000229967084428,-0.00029800714027,1.12212538761e-05,1793192406207482368
+50,0.833333333,BASELINE,763,742,711.016188486,670.983811514,659.032376972,633,876,783,799,648.016188486,628,650.016188486,0.400951774008,-0.0153706045997,0.069815299033,0.99999992827,0.00023337266549,-0.000298124721624,1.08922197141e-05,1793192406224148992
+51,0.850000000,BASELINE,763,742,711.590493899,670.409506101,660.180987799,633,876,783,799,648.590493899,628,650.590493899,0.400951871741,-0.0153725675173,0.0698162120903,0.999999929265,0.000230605399781,-0.000296916387613,1.14422900178e-05,1793192406240815872
+52,0.866666667,BASELINE,763.168822838,742,712,670.168822838,660.831177162,633,876,783,799,649,628,650.831177162,0.400951842923,-0.0153733274975,0.069816647378,0.999999929667,0.000229225058165,-0.00029662487533,1.16751837513e-05,1793192406257482752
+53,0.883333333,BASELINE,763.757149707,742,712,670.757149707,660.242850293,633,876,783,799,649,628,650.242850293,0.40095149964,-0.0153710983256,0.0698158954666,0.999999928606,0.000231291052873,-0.0002986115526,1.11199326021e-05,1793192406274149376
+54,0.900000000,BASELINE,763.658889159,742,712,670.658889159,660,632.658889159,876,783,799,649,628,650,0.400951582427,-0.0153711275896,0.0698156862792,0.999999928651,0.000230837130213,-0.000298812760185,1.10892240495e-05,1793192406290816000
+55,0.916666667,BASELINE,763.077996912,742,712,670.077996912,660,632.077996912,876,783,799,649,628,650,0.400951964716,-0.0153727444051,0.0698158585955,0.999999929473,0.000228611849727,-0.000297758884649,1.14272389551e-05,1793192406307482368
+56,0.933333333,BASELINE,763,742,712,670.498343864,660,632,876.498343864,783,799,648.501656136,628.498343864,650,0.400951275434,-0.0153721355902,0.0698160673207,0.999999929128,0.000229624139989,-0.00029814445029,1.12235668805e-05,1793192406324148992
+57,0.950000000,BASELINE,763.073520079,742,711.926479921,671,659.926479921,632,876.926479921,783,799,648,629,650,0.400950549036,-0.015371392087,0.0698162773649,0.999999928703,0.000230881495144,-0.000298606292674,1.10421898975e-05,1793192406340815616
+58,0.966666667,BASELINE,763.645585904,742,711.354414096,671,659.354414096,632,876.354414096,783,799,648,629,650,0.400950697932,-0.015372075985,0.0698164580604,0.999999928969,0.000230395647097,-0.000298071489097,1.15816992579e-05,1793192406357482240
+59,0.983333333,BASELINE,763.774650614,742,711.225349386,671,659,632.225349386,876,783,798.774650614,648,629,650,0.400950993372,-0.0153723254594,0.0698162811106,0.999999929088,0.000229848780995,-0.000298091134341,1.16703841502e-05,1793192406374148864
+60,1.000000000,BASELINE,763.182352526,742,711.817647474,671,659,632.817647474,876,783,798.182352526,648,629,650,0.400951527439,-0.0153718675386,0.0698155217876,0.999999928968,0.000229202555793,-0.000299013618764,1.10249670486e-05,1793192406390815744
+61,1.016666667,BASELINE,763.40004876,742,711.59995124,670.59995124,659,633,876.40004876,783,798.40004876,648.40004876,629,650,0.400952181787,-0.0153718528822,0.0698157312965,0.999999929166,0.000229304547632,-0.000298277144626,1.08829622274e-05,1793192406407482368
+62,1.033333333,BASELINE,763.978047703,742,711.021952297,670.021952297,659,633,876.978047703,783,798.978047703,648.978047703,629,650,0.40095288964,-0.0153720353993,0.0698163717626,0.999999929504,0.000229739362339,-0.000296802730434,1.09648859171e-05,1793192406424148992
+63,1.050000000,BASELINE,764,742,711.554247264,670.554247264,659,632.445752736,877,783,799,648.445752736,629,650.554247264,0.40095268423,-0.0153719589641,0.0698168127401,0.999999929539,0.000229860279332,-0.00029658090766,1.12099829534e-05,1793192406440815616
+64,1.066666667,BASELINE,764,742,712,670.86715229,659,632.13284771,877,782.86715229,799,648,628.86715229,650.86715229,0.400952624302,-0.0153720269751,0.0698171472762,0.99999992955,0.000230018425922,-0.000296411114305,1.14614695159e-05,1793192406457482496
+65,1.083333333,BASELINE,764,742,712,670.280100406,659,632.719899594,877,782.280100406,799,648,628.280100406,650.280100406,0.400953185046,-0.0153726237985,0.0698171448177,0.99999992952,0.000230346229456,-0.000296250135331,1.17127767989e-05,1793192406474149120
+66,1.100000000,BASELINE,763.697180788,742,712,670.302819212,659,633,877,782.302819212,799,648,628,650,0.400953752673,-0.0153730952457,0.0698172635531,0.999999929807,0.000229567201776,-0.000295886781362,1.16286409571e-05,1793192406490815744
+67,1.116666667,BASELINE,763.118031993,742,712,670.881968007,659,633,877,782.881968007,799,648,628,650,0.400954326582,-0.0153734522842,0.0698174928809,0.999999930383,0.00022777816482,-0.000295338755508,1.12384054376e-05,1793192406507482368
+68,1.133333333,BASELINE,763.459968742,742,712,671,659,632.540031258,876.540031258,783.459968742,799,648.459968742,628,650,0.400954041433,-0.0153724270753,0.0698173362734,0.999999929749,0.000230226623703,-0.000295591774621,1.11065167629e-05,1793192406524148992
+69,1.150000000,BASELINE,763.962435388,742,712,670.962435388,659.037564612,632.037564612,876,783.962435388,799,649,628,650,0.400953507381,-0.0153712094393,0.0698170540938,0.999999928882,0.000233330200422,-0.000296092386265,1.1045708067e-05,1793192406540816128
+70,1.166666667,BASELINE,763.386431133,742,712,670.386431133,659.613568867,632.613568867,876,783.386431133,799,649,628,650,0.400952557512,-0.0153723050701,0.069816387995,0.99999992926,0.000230276688119,-0.000297202884352,1.10558652562e-05,1793192406557482752
+71,1.183333333,BASELINE,763,742,711.806609533,670.193390467,659.806609533,632.806609533,876,783.193390467,799.193390467,648.806609533,628,650,0.400951654935,-0.0153729463995,0.0698158153577,0.999999929347,0.000228654750874,-0.000298163418794,1.10621123441e-05,1793192406574149376
+72,1.200000000,BASELINE,763,742,711.219006447,670.780993553,659.219006447,632.219006447,876,783.780993553,799.780993553,648.219006447,628,650,0.400950848759,-0.015372661668,0.0698154332351,0.999999928854,0.000229950976337,-0.00029881826329,1.10603889721e-05,1793192406590816000
+73,1.216666667,BASELINE,763.365154237,742,711.365154237,671,659.365154237,632.365154237,876.365154237,783.634845763,799.634845763,648.365154237,628,650,0.400951325699,-0.015372415822,0.0698160311989,0.999999928866,0.000230301566719,-0.000298501369251,1.1222730248e-05,1793192406607482624
+74,1.233333333,BASELINE,763.947269537,742,711.947269537,671,659.947269537,632.947269537,876.947269537,783.052730463,799.052730463,648.947269537,628,650,0.40095256502,-0.0153721930802,0.0698172114935,0.999999929178,0.000230090295835,-0.000297607104285,1.14825526346e-05,1793192406624148992
+75,1.250000000,BASELINE,763.478055826,742,712,670.478055826,659.478055826,633,876.478055826,783,799,649,628,650,0.40095380606,-0.0153735447211,0.0698175688027,0.999999930156,0.000228318369957,-0.000295675029752,1.16250459493e-05,1793192406640815616
+76,1.266666667,BASELINE,763.096096953,742,712,670.096096953,659,633,876.096096953,783,799,649,628,650.096096953,0.400954668109,-0.0153745827876,0.0698176628762,0.99999993084,0.00022713996488,-0.000294262030411,1.17131152561e-05,1793192406657482240
+77,1.283333333,BASELINE,763.671343084,742,712,670.671343084,659,633,876.671343084,783,799,649,628,650.671343084,0.400953639624,-0.0153732754218,0.0698168531664,0.999999929759,0.00022969601565,-0.000295952621883,1.15880925092e-05,1793192406674149120
+78,1.300000000,BASELINE,763.746005738,742,712,671,659,633,877,783,799.253994262,648.746005738,628.253994262,650.746005738,0.400952478018,-0.0153725905959,0.0698161135755,0.999999929242,0.000230213953126,-0.000297299897025,1.13891343949e-05,1793192406690816000
+79,1.316666667,BASELINE,763.153485079,742,712,671,659,633,877,783,799.846514921,648.153485079,628.846514921,650.153485079,0.400951138989,-0.0153727354984,0.0698154674401,0.999999929484,0.00022801547017,-0.000298189596179,1.10916344046e-05,1793192406707482624
+80,1.333333333,BASELINE,763.427815174,742,712,671,659,633,876.572184826,783,799.572184826,648.427815174,629,650,0.400951321349,-0.0153725137758,0.0698153566867,0.999999929556,0.000227876519909,-0.000298061004978,1.09697094965e-05,1793192406724149248
+81,1.350000000,BASELINE,763.994844893,742,712,671,659.005155107,633,876,783,799,649,628.994844893,649.994844893,0.400952032755,-0.0153721615388,0.0698154387831,0.999999929567,0.000228464231052,-0.000297574105484,1.0910102003e-05,1793192406740815872
+82,1.366666667,BASELINE,763.421665414,742,712,671,659.578334586,633,876,783,799,649,628.421665414,649.421665414,0.400952432879,-0.0153715510535,0.0698161469989,0.999999929485,0.000229785453267,-0.000296831790196,1.09537476418e-05,1793192406757482496
+83,1.383333333,BASELINE,763,742,711.843855965,671,660,633,876,783,799,648.843855965,628,649.156144035,0.40095291737,-0.0153711692024,0.069816695163,0.999999929477,0.00023081635463,-0.000296058566418,1.09489485557e-05,1793192406774149120
+84,1.400000000,BASELINE,763,742,711.253161124,671,660,633,876,783,799,648.253161124,628,649.746838876,0.400953636655,-0.0153714236427,0.0698167979014,0.999999929681,0.000231039289724,-0.000295199323755,1.08093272034e-05,1793192406790816000
+85,1.416666667,BASELINE,763.330267824,742,711.330267824,671,659.669732176,633,876,783,799,648.330267824,628,650,0.400954276309,-0.0153719971031,0.0698176178034,0.999999930173,0.000230075570318,-0.000294278196084,1.09322629472e-05,1793192406807482880
+86,1.433333333,BASELINE,763.908247084,742,711.908247084,671,659.091752916,633,876,783,799,648.908247084,628,650,0.400954856236,-0.0153728098389,0.0698189756011,0.999999930879,0.00022822182205,-0.000293310652725,1.1252124923e-05,1793192406824149504
+87,1.450000000,BASELINE,763.514174667,742,712,671,659,633,876,783,799,648.514174667,628,650,0.400954352729,-0.0153714054613,0.0698181585253,0.999999930177,0.000229870237595,-0.000294423824434,1.0950947052e-05,1793192406840816384
+88,1.466666667,BASELINE,763.064291619,742,712,671,659,633,876.064291619,783,799,648.064291619,628,650,0.400953720515,-0.0153699280027,0.0698170572272,0.999999929358,0.000231735371035,-0.000295753904729,1.06177211399e-05,1793192406857483008
+89,1.483333333,BASELINE,763.650582514,742,712,671,659,633,876.650582514,783,799,648.650582514,628,650,0.40095370326,-0.015371254098,0.0698169804588,0.999999929784,0.000229994303278,-0.000295657182962,1.09758060503e-05,1793192406874149376
+90,1.500000000,BASELINE,764,742,712,670.766166962,659,633,876.766166962,783,799.467666077,649,628,650,0.400953454754,-0.0153723104916,0.069816949287,0.999999929997,0.000228897028429,-0.000295784690272,1.11182801818e-05,1793192406890815488
+91,1.516666667,BASELINE,764,742,712,670.187401411,659,633,876.187401411,783,800.625197178,649,628,650,0.400952865124,-0.0153729690417,0.0698169853758,0.999999929897,0.000228749427513,-0.000296242963075,1.09427018451e-05,1793192406907482368
+92,1.533333333,BASELINE,764,742,712,670.391767424,659,633,876,783.391767424,800.216465152,649,628,650,0.400952216629,-0.0153735670692,0.0698164045869,0.999999929785,0.000228180291442,-0.000297058116919,1.09960568156e-05,1793192406924149248
+93,1.550000000,BASELINE,764,742,712,670.971129419,659,633,876,783.971129419,799.057741162,649,628,650,0.400951539948,-0.0153741361159,0.0698155284113,0.999999929665,0.000227409306758,-0.000298044160321,1.11590345802e-05,1793192406940815616
+94,1.566666667,BASELINE,764,742,712,671,659,633,876,783.455407589,799,648.455407589,628.544592411,650.544592411,0.400954214997,-0.0153743756072,0.0698173411519,0.999999930619,0.000227316734367,-0.000294891288753,1.13315688619e-05,1793192406957482240
+95,1.583333333,BASELINE,764,742,711.878897852,671,659.121102148,632.878897852,876,783,799,648,628.878897852,650.878897852,0.40095620507,-0.0153744258106,0.0698187599414,0.999999931325,0.000227416343248,-0.00029240459082,1.14923146411e-05,1793192406974149120
+96,1.600000000,BASELINE,764,742,711.289407445,671,659.710592555,632.289407445,876,783,799,648,628.289407445,650.289407445,0.40095486598,-0.0153738107511,0.0698181096149,0.99999993089,0.000228121643085,-0.000293334008025,1.16055274662e-05,1793192406990815488
+97,1.616666667,BASELINE,763.705261833,742,711.294738167,671,660,632,876,783,799,648.294738167,628.294738167,650,0.400953914961,-0.0153733307996,0.0698177975061,0.999999930554,0.000228506024036,-0.000294188979845,1.14009999556e-05,1793192407007482112
+98,1.633333333,BASELINE,763.126270908,742,711.873729092,671,660,632,876,783,799,648.873729092,628.873729092,650,0.400953338207,-0.0153729811495,0.0698178115827,0.999999930312,0.000228580902856,-0.000294972154641,1.08900358226e-05,1793192407024148736
+99,1.650000000,BASELINE,763,742,711.549217117,671,659.549217117,632.450782883,876,783,799.450782883,648.549217117,628.549217117,650,0.400952837106,-0.0153720573755,0.0698174693173,0.999999929509,0.000230585247256,-0.000296130938878,1.08935651078e-05,1793192407040815360
+100,1.666666667,BASELINE,763.027247575,742,711.027247575,671,659,633,876,783,799.972752425,648,628,650,0.400952396681,-0.0153710933616,0.0698170250287,0.99999992863,0.00023284565799,-0.000297322317398,1.10308343455e-05,1793192407057482240
+101,1.683333333,BASELINE,763.602730489,742,711.602730489,671,659,633,876,783,799.397269511,648,628,650,0.400952752492,-0.0153725416461,0.0698165277504,0.999999929498,0.000229430217807,-0.000297061613732,1.09717162302e-05,1793192407074148864
+102,1.700000000,BASELINE,763.817403937,742,712,671,659.182596063,632.817403937,876,783,798.817403937,648,628,650,0.400952796283,-0.0153736925753,0.0698161647357,0.999999930057,0.000226973858765,-0.000297063610542,1.10436809789e-05,1793192407090815488
+103,1.716666667,BASELINE,763.227768712,742,712,671,659.772231288,632.227768712,876,783,798.227768712,648,628,650,0.400952144525,-0.0153741806464,0.0698161010186,0.99999992995,0.000226655462956,-0.000297651213566,1.14078527974e-05,1793192407107482112
+104,1.733333333,BASELINE,763.355259774,742,712,671,660,632.355259774,876,783,798.710519548,648.355259774,628,650,0.400951442176,-0.015373837245,0.0698160877904,0.99999992943,0.000228457918096,-0.000298012710393,1.16033469136e-05,1793192407124148736
+105,1.750000000,BASELINE,763.934129854,742,712,671,660,632.934129854,876,783,799.868259708,648.934129854,628,650,0.400950707984,-0.0153729704919,0.0698161063415,0.999999928642,0.000231595295325,-0.000298231889793,1.16926706639e-05,1793192407140815360
+106,1.766666667,BASELINE,764,742,712,671,659.490585781,633,876,783,800,649,628,650,0.400951536812,-0.0153724677468,0.0698165521046,0.999999928842,0.000231454033612,-0.000297679908904,1.14587544425e-05,1793192407157481984
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,743,712,670,659,633,876,783,799,648,628,650,0.400952169749,-0.015373082949,0.0698176347521,0.999999930193,0.000227930391987,-0.000295858518173,1.13844667267e-05,1793192407200124928
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.57996411,742.42003589,711.42003589,670.57996411,659,633,876.57996411,783,799,648,628.57996411,650,0.400952373233,-0.0153732181324,0.069816668086,0.999999929801,0.000228497100516,-0.00029676379332,1.08718171795e-05,1793192407216790784
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.84072229,742,711.15927771,671,659,633,877,783,799,648,628.84072229,650,0.40095260609,-0.0153735194047,0.069816249454,0.999999929723,0.000228373177427,-0.000297130055303,1.06082296457e-05,1793192407233456640
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.263117068,742,711.736882932,671,659,633,877,783,799,648,628.263117068,650,0.400952916091,-0.0153742568933,0.0698172701806,0.999999930471,0.00022643537726,-0.000296080651498,1.09987793097e-05,1793192407250123008
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.312033415,742,712,671,659,633,877,783,799.312033415,648.312033415,628,650,0.400953494229,-0.0153745456068,0.0698177662922,0.999999930643,0.000226615810083,-0.000295350205576,1.12914072852e-05,1793192407266790144
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.8851301,742,712,671,659,633,877,783,799.8851301,648.8851301,628,650,0.400954296703,-0.0153744588516,0.0698178234838,0.999999930333,0.000228568466146,-0.000294886616355,1.15021088952e-05,1793192407283457024
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.527326236,742,711.527326236,671,659,632.527326236,876.527326236,783,799.527326236,649,628.472673764,650.472673764,0.400954654611,-0.0153733817171,0.069818035381,0.99999992998,0.000230657096177,-0.000294463801086,1.13613949174e-05,1793192407300123392
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742,711.062215199,671,659,632.062215199,876,783,799,648.937784801,628.937784801,650.937784801,0.400955437013,-0.015372187688,0.0698185281352,0.9999999298,0.000232361409232,-0.000293740122577,1.11816060045e-05,1793192407316789504
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742,711.638343287,671,659,632.638343287,876,783,799,648.361656713,628.361656713,650.361656713,0.400960646408,-0.0153720788679,0.0698210204871,0.999999931165,0.000230609607066,-0.000290446808532,1.14067274145e-05,1793192407333456128
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.214093403,742,712,671,659.214093403,633,876,783,799,648,628,650,0.400971779885,-0.0153724487421,0.0698262396202,0.999999933567,0.000230420728061,-0.00028218327387,1.20066782896e-05,1793192407350122752
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.789206099,742,712,671,659.789206099,633,876,783,799,648,628,650,0.400992902962,-0.0153736258243,0.0698360568426,0.999999937543,0.000232867359701,-0.000265538605348,1.32386928392e-05,1793192407366789376
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.626580074,742,712,671,659.626580074,633,876,783,799,648,628,650,0.401029161755,-0.0153766786865,0.0698501605054,0.999999944358,0.000230793333315,-0.000240448120296,1.42857967025e-05,1793192407383456256
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.0371003,742,712,671,659.0371003,633,876,783,799,648,628,650,0.401074178037,-0.0153808168706,0.069866744293,0.999999952174,0.000226103665431,-0.000210470904906,1.52259118065e-05,1793192407400123136
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659.543433901,633,875.456566099,783,799,648.543433901,628,650,0.401134111531,-0.0153833564456,0.0698794566018,0.999999955145,0.000224481066436,-0.000197681556249,1.54942765218e-05,1793192407416789760
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.876776923,633,875.123223077,783,799,648.876776923,628,650,0.401198883928,-0.0153858938417,0.0698899995975,0.99999995736,0.000223793883472,-0.000186978784746,1.53318805324e-05,1793192407433456128
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659.297521246,633,875.702478754,783,799,648.297521246,628,650,0.401277856567,-0.015388820536,0.0698934765737,0.999999958261,0.00022580618082,-0.000179725821995,1.37422702759e-05,1793192407450123008
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659.279510582,633,876,783.279510582,799,648.279510582,628,650,0.401365926247,-0.0153931450956,0.0698957220457,0.999999959215,0.000224423847774,-0.000176255952666,1.17286569459e-05,1793192407466789888
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.854193914,633,876,783.854193914,799,648.854193914,628,650,0.401463602707,-0.0153989458486,0.0698966670068,0.999999960251,0.000219456668633,-0.000176781160019,9.26728194132e-06,1793192407483456256
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.438745943,742,712,671,659.561254057,633,876,783.561254057,799,649,628,650,0.401582114148,-0.0154049818754,0.0698992568169,0.999999961905,0.000214931807248,-0.000173069645507,6.45059090511e-06,1793192407500122880
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.973721234,876.026278766,783,798.973721234,648.973721234,628,650,0.401709280225,-0.0154111792902,0.0699023500291,0.999999963823,0.000210146203124,-0.00016787407416,3.43702074277e-06,1793192407516789504
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.394069783,876.605930217,783,798.394069783,648.394069783,628,650,0.401869535169,-0.0154190908439,0.0699042682237,0.99999996757,0.000196703357362,-0.000161758450604,-1.17866414873e-06,1793192407533456128
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,670.815076577,659.184923423,632.184923423,876.815076577,783,798.184923423,648,628,650,0.40204091434,-0.0154267698419,0.0699061340874,0.999999970379,0.000185803353802,-0.000157109531094,-6.00806306815e-06,1793192407550123008
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,670.237481183,659.762518817,632.762518817,876.237481183,783,798.762518817,648,628,650,0.402235915007,-0.0154339550232,0.06990788883,0.99999997158,0.00018030289983,-0.00015557505602,-1.129126821e-05,1793192407566790144
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,670,660,633,876,783,799,648,628.337763397,650,0.402450675398,-0.0154434779047,0.0699097335046,0.99999997386,0.000170805342002,-0.000151109404985,-1.64873214577e-05,1793192407583456768
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,670,660,633,876,783,799,648,628.911366605,650,0.402679232832,-0.015454633062,0.0699116409734,0.999999976748,0.00015851684702,-0.000144597090368,-2.16225223297e-05,1793192407600122880
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.49816502,742,712,670.50183498,659.49816502,633,876.50183498,783,799,648.50183498,628.49816502,650,0.402944096372,-0.0154670195421,0.0699187442025,0.9999999896,5.67464609715e-05,-0.000130005609459,-2.60550333958e-05,1793192407616789760
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.092682072,742,712,671,659,633,876.907317928,783,799,649,628,650,0.403222955984,-0.015481986796,0.0699271423632,0.999999992052,-4.48471891484e-05,-0.000113916376415,-3.01183766278e-05,1793192407633456128
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.669409594,742,712,671,659,633,876.330590406,783,799,649,628,650,0.40354025825,-0.015509257227,0.0699373441735,0.999999992877,-6.0107945238e-05,-9.77164332579e-05,-3.29244040049e-05,1793192407650122752
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.75504129,742.24495871,712,671,659.24495871,633,876,783,799,649,628,650.24495871,0.403871692847,-0.0155317530364,0.0699436888811,0.999999994363,-4.9117024958e-05,-8.98561969014e-05,-2.8045293697e-05,1793192407666789376
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.181074944,742.818925056,712,671,659.818925056,633,876,783,799,649,628,650.818925056,0.404222108765,-0.0155478359799,0.0699448530571,0.999999995571,-2.86709215114e-06,-9.31971439299e-05,-1.28441620486e-05,1793192407683456256
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.401901792,742.598098208,712,671,660,633,876.401901792,783,799,649,628,650.598098208,0.404598084797,-0.0155430540757,0.0699479792568,0.999999996209,1.19243841447e-05,-8.55057621741e-05,-1.13618831179e-05,1793192407700122880
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.989031202,742.010968798,712,671,660,633,876.989031202,783,799,649,628,650.010968798,0.404985840908,-0.0155286560258,0.0699520097098,0.999999997149,1.22173546323e-05,-7.27298248523e-05,-1.62023194051e-05,1793192407716789760
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.42815091,742,712,671,660,633,876.42815091,783,799,649,628,650,0.405406413653,-0.0155061542606,0.0699480630717,0.999999996257,2.8950369175e-05,-7.83404859208e-05,-2.26044825912e-05,1793192407733456384
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742,712,670.847567824,660,633,876.304864352,783,799,649,628,650,0.405835226522,-0.0154915723555,0.069941318745,0.999999994863,3.79060322527e-05,-8.98878486599e-05,-2.75364092807e-05,1793192407750123008
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742,712,670.272947187,660,633,877.454105625,783,799,649,628,650,0.40628513146,-0.0154993532343,0.0699272463342,0.999999992466,2.44540535345e-05,-0.000116908481364,-2.83139017168e-05,1793192407766789632
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.301292092,742,712,670.301292092,660,632.698707908,877.698707908,783,799,649,628,650,0.40677357603,-0.0155078909037,0.0699141833081,0.999999990264,1.26248793361e-05,-0.000135603218733,-3.04099484613e-05,1793192407783456256
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.875186394,742,712,670.875186394,660,632.124813606,877.124813606,783,799,649,628,650,0.40729689043,-0.0155171133007,0.0699020335484,0.99999998866,2.26398010903e-06,-0.000146764879129,-3.36989931568e-05,1793192407800122880
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.538885377,742,712,670.538885377,660,632,876.538885377,783,799,649,628,650,0.407861371321,-0.0155185382511,0.0699087955116,0.999999991029,-1.13208652586e-05,-0.000128784982334,-3.50459274025e-05,1793192407816789504
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.049498284,742,712,670.049498284,660,632.049498284,876.049498284,783,799.049498284,648.950501716,628,650,0.408440570199,-0.015517510578,0.0699206836339,0.999999993797,-2.34675325219e-05,-0.000102817094845,-3.58317707011e-05,1793192407833456384
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.628372788,742,712,670.628372788,660,632.628372788,876.628372788,783,799.628372788,648.371627212,628,650,0.409054811425,-0.0155134298629,0.0699311814181,0.999999996236,-1.06501671819e-05,-7.80401864802e-05,-3.63896269547e-05,1793192407850123008
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.20672676,712,671,660,632.79327324,877,783,799.79327324,648.20672676,628,650,0.409671683308,-0.0155102432059,0.0699350044022,0.999999996967,-2.66977926454e-06,-6.82597312738e-05,-3.74041876403e-05,1793192407866789632
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.784147304,712,671,660,632.215852696,877,783,799.215852696,648.784147304,628,650,0.410293272342,-0.0155086597367,0.069926858413,0.999999995581,-3.36285781784e-06,-8.5370290463e-05,-3.92376916202e-05,1793192407883456256
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.641145174,742.641145174,712,671,660,632.358854826,877,783.358854826,799,648.641145174,628,650,0.410960508043,-0.0155099849141,0.0699262177363,0.999999995236,-6.76775280594e-06,-8.8345528581e-05,-4.09503798214e-05,1793192407900123136
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.068057322,742.068057322,712,671,660,632.931942678,877,783.931942678,799,648.068057322,628,650,0.411654994362,-0.0155130465268,0.0699300576623,0.999999995589,-1.17915772059e-05,-8.28821095954e-05,-4.25909420523e-05,1793192407916789760
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.478905372,633,877,783.478905372,799,648,628.521094628,650,0.412393738371,-0.0155204446472,0.0699619625973,0.999999998509,-2.24431088152e-05,-2.93451804096e-05,-4.02215605811e-05,1793192407933456384
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742,711.889751395,671,659.110248605,633,877.110248605,783,799,648.110248605,628.889751395,650,0.413137923927,-0.0155270907419,0.0699922900021,0.999999998571,-3.15000568925e-05,2.06941902991e-05,-3.79025092248e-05,1793192407950123008
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742,711.309811542,671,659.690188458,633,877.690188458,783,799,648.690188458,628.309811542,650,0.413879882974,-0.0155280433436,0.0699997841998,0.99999999841,-3.0532676603e-05,2.82333464001e-05,-3.81000368204e-05,1793192407966789888
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742,711.267230931,671,660,632.732769069,877.732769069,783,799,648.732769069,628,650,0.414598193842,-0.0155247720397,0.0699753589248,0.999999998512,-3.05778778549e-05,-1.7358979922e-05,-4.17178658304e-05,1793192407983457024
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742,711.840950458,671,660,632.159049542,877.159049542,783,799,648.159049542,628,650,0.41528938258,-0.0155166563157,0.0699143250356,0.999999990608,-3.17844139588e-05,-0.00012388808897,-4.9258456666e-05,1793192408000123648
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.425003107,877,783,799.425003107,648.425003107,628,650,0.416057212678,-0.0155160126398,0.0698842604587,0.99999998315,-3.50524624444e-05,-0.00017197049716,-5.38340157816e-05,1793192408016790016
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742,712,671.012898961,660.012898961,633,877,783,800,649,628,650,0.416855976562,-0.0155183687843,0.0698673872706,0.999999978468,-3.92668223079e-05,-0.000195599872997,-5.71249311927e-05,1793192408033456384
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742,712,671.595490525,660.595490525,633,877,783,800,649,628,650,0.417722645797,-0.0155266371722,0.0699084990425,0.999999988916,-5.03535627153e-05,-0.000129334470105,-5.39064661494e-05,1793192408050123008
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742,712,672,660.824374058,633,877,783,800,649,628,650,0.41858556179,-0.015532560799,0.0699451103212,0.999999994387,-5.74113133216e-05,-7.29433227952e-05,-5.10742436313e-05,1793192408066789376
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742,712,672,660.249817756,633,877,783,800,649,628,650,0.41943995233,-0.0155331583532,0.0699714988284,0.999999996504,-5.53173043258e-05,-3.89813290422e-05,-4.91193629076e-05,1793192408083456000
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,742,711.674530412,672,660,632.674530412,877,783,799.674530412,648.674530412,628.325469588,650,0.420309629305,-0.0155362469242,0.0699927483334,0.999999997272,-5.6111203262e-05,-7.78211530445e-06,-4.73989757865e-05,1793192408100122880
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742,711.098680712,672,660,632.098680712,877,783,799.098680712,648.098680712,628.901319288,650,0.421191065923,-0.0155412518065,0.0700100444603,0.999999996974,-5.91267375572e-05,2.12917210981e-05,-4.58589820599e-05,1793192408116789760
+163,2.716666667,POSE1_TO_POSE2_PRESS,762.510467269,742,711.489532731,672,660,632.489532731,877,783,799,648.489532731,628.510467269,650,0.422027552184,-0.0155419272954,0.0699878438301,0.999999996616,-6.43166609836e-05,-1.57009842366e-05,-4.88284834395e-05,1793192408133456384
+164,2.733333333,POSE1_TO_POSE2_PRESS,762.078100964,742,711.921899036,672,660.078100964,633,877,783,799,649,628,650,0.422846426512,-0.0155408144844,0.0699503636763,0.999999993269,-6.829146701e-05,-7.71193492911e-05,-5.33979773258e-05,1793192408150123520
+165,2.750000000,POSE1_TO_POSE2_PRESS,762.65267079,742,711.34732921,672,660.65267079,633,877,783,799,649,628,650,0.423612437688,-0.0155340253334,0.0698676779992,0.999999974748,-6.16835989772e-05,-0.00020695419063,-6.22100230345e-05,1793192408166789888
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,742.229303889,711.229303889,672,660.770696111,633,877,783,799.229303889,649,628,650,0.424436080295,-0.0155316336702,0.0698280575184,0.999999961272,-6.00858818035e-05,-0.000263266689311,-6.73583972403e-05,1793192408183456512
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,742.809090719,711.809090719,672,660.190909281,633,877,783,799.809090719,649,628,650,0.425347810634,-0.0155359634117,0.0698542606651,0.999999974108,-6.6146004373e-05,-0.000207202893428,-6.6906980746e-05,1793192408200122880
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,742.605809014,712,672,660.394190986,633,877,783.394190986,799.605809014,648.605809014,628.394190986,650,0.426270690754,-0.0155409080411,0.0699060394899,0.999999987259,-6.95332307424e-05,-0.000129702071423,-6.18487907148e-05,1793192408216789504
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742.018100289,712,672,660.981899711,633,877,783.981899711,799.018100289,648.018100289,628.981899711,650,0.427199044512,-0.0155461545332,0.0699703740225,0.999999995081,-7.16082679877e-05,-4.16773056316e-05,-5.45290255717e-05,1793192408233456128
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742.561028911,712,672,661,633,877.561028911,783.438971089,799.561028911,648.561028911,628.438971089,650,0.428093013921,-0.0155510820702,0.0699975757429,0.999999995682,-7.64722748387e-05,-2.16706743666e-06,-5.27557265769e-05,1793192408250122752
+171,2.850000000,POSE1_TO_POSE2_PRESS,762.862196373,743,711.862196373,672,661,633,877.862196373,783,799.862196373,649,628,650,0.428973023857,-0.0155556048447,0.0700159162802,0.99999999493,-8.23680627818e-05,2.59025500634e-05,-5.18179042421e-05,1793192408266789376
+172,2.866666667,POSE1_TO_POSE2_PRESS,762.291954703,743,711.291954703,672,661,633,877.291954703,783,799.291954703,649,628,650,0.429812656602,-0.0155588892497,0.0700101525627,0.999999994175,-9.12235469399e-05,2.29084039134e-05,-5.2948789191e-05,1793192408283456256
+173,2.883333333,POSE1_TO_POSE2_PRESS,762.566444907,742.716777546,711.283222454,672,661,633,877,783.283222454,799,649,628,650,0.430596927493,-0.0155570046977,0.0699726597795,0.999999993516,-8.99373996262e-05,-4.10565442543e-05,-5.65058378641e-05,1793192408300123136
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.72715492,742.13642254,711.86357746,672,661,633,877,783.86357746,799,649,628,650,0.431323117452,-0.0155496973219,0.0699018795995,0.999999980719,-7.80115262176e-05,-0.000168986795103,-6.26082073656e-05,1793192408316789760
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.547834128,742,711.547834128,672,660.547834128,632.547834128,877,783.547834128,799.452165872,649,628,650,0.432112648719,-0.0155473629133,0.0698688592156,0.999999970745,-8.5009060866e-05,-0.000216489721302,-6.64445358885e-05,1793192408333456384
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742,711.04238046,672,660.04238046,632.04238046,877,783,800,649,628,650,0.432926351495,-0.0155472196445,0.069853893655,0.999999966685,-9.70828593958e-05,-0.000229048417231,-6.88656573442e-05,1793192408350123008
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742,711.621153045,672,660.621153045,632.621153045,877,783,800,649,628,650,0.433799620788,-0.0155554667285,0.0699205765393,0.999999986797,-9.98035658847e-05,-0.000112148710351,-6.21886842547e-05,1793192408366789632
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.198885308,742,712,672,661,632.801114692,877,783,799.801114692,649,628,650,0.434638868074,-0.0155621083022,0.069972635955,0.999999993194,-9.88114429253e-05,-2.45511604812e-05,-5.69644226235e-05,1793192408383456256
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.774646325,742,712,672,661,632.225353675,877,783,799.225353675,649,628,650,0.435413645852,-0.0155657075318,0.069996984788,0.999999994366,-9.07837338079e-05,7.52058068172e-06,-5.44929620385e-05,1793192408400122880
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,712,672.357180271,661.357180271,632.357180271,877,783.357180271,799.357180271,649,628,650,0.436148727898,-0.01556844002,0.0699985856505,0.999999993495,-9.94639607826e-05,1.12563021983e-05,-5.46840526535e-05,1793192408416789760
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,712,672.944069983,661.944069983,632.944069983,877,783.944069983,799.944069983,649,628,650,0.436858280815,-0.0155706150901,0.069985556858,0.999999991326,-0.000118889380402,-3.23141254633e-06,-5.65874808438e-05,1793192408433456384
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.476221319,742.523778681,712,672.476221319,661.476221319,632.476221319,877,783.476221319,800,649,628.523778681,650,0.437551649875,-0.0155700159248,0.0699556161171,0.99999999005,-0.000122575347211,-3.48286031469e-05,-6.05208004218e-05,1793192408450123264
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,742.89764416,712,672.10235584,661,632.10235584,877,783,799.89764416,649,628.89764416,650,0.438225588528,-0.0155686802755,0.0699217303355,0.999999987499,-0.000122777559288,-7.59450697968e-05,-6.44942603136e-05,1793192408466789888
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,742.32080587,712,672.67919413,661,632.67919413,877,783,799.32080587,649,628.32080587,650,0.438817357893,-0.0155652852407,0.0698778150421,0.999999979475,-0.000114516068537,-0.000152834613519,-6.76625896966e-05,1793192408483456256
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,742,712,673,661,632.744447656,877,783,799,648.744447656,628,650,0.439402519041,-0.0155648134388,0.0698399818749,0.999999968014,-0.000109328024906,-0.000217199496374,-6.95991949463e-05,1793192408500122880
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,742,712,673,661,632.168691015,877,783,799,648.168691015,628,650,0.439979400119,-0.015568004416,0.0698097695487,0.999999956376,-0.000107990978067,-0.000265871110709,-6.99924633416e-05,1793192408516789248
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,742,712,672.583585729,660.583585729,632.416414271,877,783,799,648.416414271,628,650,0.440571955604,-0.0155763150614,0.0698177263486,0.999999956976,-0.000128693857675,-0.000254017446751,-7.0441558548e-05,1793192408533455872
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.005263504,742,712,672.005263504,660,632.994736496,877,783,799.005263504,649,628,650,0.441170825872,-0.0155867519619,0.0698415566077,0.999999961406,-0.000158305980685,-0.000217033239866,-7.08788213372e-05,1793192408550122496
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.58001994,742,712,672.58001994,660,632.41998006,877,783,799.58001994,649,628,650,0.44175012799,-0.0155976893644,0.0698714337701,0.999999969049,-0.00016365308346,-0.000174810687593,-6.7532731308e-05,1793192408566789632
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.844119586,742,711.844119586,672.844119586,660,632,877.155880414,783,800,649,628.155880414,650,0.442294053466,-0.0156075079619,0.0698851816741,0.999999970918,-0.00016909895929,-0.000159009562302,-6.54680526848e-05,1793192408583456512
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.265263218,742,711.265263218,672.265263218,660,632,877.734736782,783,800,649,628.734736782,650,0.442741985816,-0.0156142907239,0.0698551634164,0.999999959392,-0.00017481285385,-0.000214902029928,-6.6880437723e-05,1793192408600123136
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.310342032,742,711.310342032,672,660,632,877.689657968,783,799.689657968,649,628.689657968,650,0.443162822756,-0.0156194907018,0.0698191385708,0.999999943746,-0.000176645180564,-0.000276603770587,-6.92447528747e-05,1793192408616789760
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.883197179,742,711.883197179,672,660,632,877.116802821,783,799.116802821,649,628.116802821,650,0.443560740119,-0.0156233518288,0.069778032855,0.999999923132,-0.000175194153577,-0.000343219474,-7.24142895439e-05,1793192408633456384
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763,742,711.644699409,672.355300591,660.355300591,632,877.355300591,782.644699409,799.355300591,649,628,650,0.44471616107,-0.015634881919,0.0697277218117,0.999999886827,-0.000224136349207,-0.000412695547267,-7.6096999295e-05,1793192408683456256
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+198,3.300000000,POSE1_TO_POSE2_PRESS,763.796568017,742.796568017,711.203431983,672.796568017,660,631.203431983,877,782.203431983,799.796568017,648.203431983,628,650,0.445396185782,-0.015645556063,0.06972043029,0.999999883675,-0.000231920035852,-0.000415723591016,-7.77025268684e-05,1793192408716789760
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.620279908,743,711.379720092,673,660,631.379720092,877.379720092,782,800,648.379720092,628,650,0.445683078397,-0.0156503145326,0.0697181528986,0.999999879897,-0.000237937489221,-0.00042156904639,-7.6626213539e-05,1793192408733456128
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763,742.131424309,712,673,660,631.868575691,877,782,800,649,628,650.131424309,0.446404824464,-0.015657003064,0.0696899897385,0.999999856252,-0.000237167308821,-0.000475005501503,-7.49446844521e-05,1793192408783455744
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+204,3.400000000,POSE1_TO_POSE2_PRESS,763.27978556,742.72021444,711.72021444,673,660,631.27978556,877.27978556,782,800,648.72021444,628,650.72021444,0.446779845203,-0.0156651740013,0.0696731498895,0.999999832865,-0.000259050963547,-0.000511515701853,-7.42645116273e-05,1793192408816789504
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+226,3.766666667,POSE1_TO_POSE2_PRESS,763.943161874,742,711,672.943161874,659,631,877.056838126,781,800,648.943161874,628,650.056838126,0.447904786802,-0.0156787054139,0.0696539438431,0.99999980837,-0.000280517215902,-0.000546769886719,-7.49186585523e-05,1793192409183457024
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.36563547,742,711,672.36563547,659,631,877.63436453,781,800,648.36563547,628,650.63436453,0.447906987281,-0.0156778924544,0.0696546260309,0.999999809037,-0.000279521934624,-0.000546113443337,-7.45232197801e-05,1793192409200123136
+228,3.800000000,POSE1_TO_POSE2_PRESS,763,742.211127402,711.211127402,672,659,631,877.788872598,781,800,648.211127402,628,650.788872598,0.44790820512,-0.0156773481711,0.0696550411313,0.999999809309,-0.000279050046275,-0.000545894574563,-7.424986756e-05,1793192409216789504
+229,3.816666667,POSE1_TO_POSE2_PRESS,763,742.786572704,711.786572704,672,659,631,877.213427296,781,800,648.786572704,628,650.213427296,0.447907727336,-0.0156772675112,0.0696549953505,0.9999998089,-0.000279481316033,-0.000546430777222,-7.41871858672e-05,1793192409233455872
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+235,3.916666667,POSE1_TO_POSE2_PRESS,763,742.268170929,712,672.731829071,659.268170929,631,877,781.268170929,799.731829071,649,627.268170929,650,0.447909845742,-0.0156760538633,0.0696542246052,0.999999809651,-0.000275261338222,-0.000547302648543,-7.34101843604e-05,1793192409333456384
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,742.844453119,712,672.155546881,659.844453119,631,877,781.844453119,799.155546881,649,627.844453119,650,0.447910802122,-0.015674901736,0.0696550363687,0.999999810211,-0.000275347757312,-0.000546220556188,-7.35128676142e-05,1793192409350123008
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+238,3.966666667,POSE1_TO_POSE2_PRESS,763,742.02018619,711.02018619,672,659,631,877,781,799.97981381,649,627.02018619,650,0.447911653338,-0.0156748757427,0.0696559643631,0.999999811104,-0.000275169315318,-0.000544728214876,-7.31051285544e-05,1793192409383456000
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+241,4.016666667,POSE1_TO_POSE2_PRESS,763,743,711.252117552,672,659,631,877,781,799,648.252117552,627.252117552,650,0.447910545752,-0.0156748097228,0.0696529086182,0.999999809908,-0.000273034314187,-0.000547951264264,-7.33886463718e-05,1793192409433456128
+242,4.033333333,POSE1_TO_POSE2_PRESS,763,743,711,672.330404066,659.330404066,631,877.330404066,781,799.330404066,648.330404066,627.330404066,650,0.447910169149,-0.0156735780848,0.069652793657,0.999999810274,-0.000270886767981,-0.000548346869845,-7.34047700027e-05,1793192409450122752
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+247,4.116666667,HOLD_POSE2,763,743,711,672,659,631,878,781,800,649,628,650,0.44791017909,-0.0156708728406,0.0696522297091,0.999999809995,-0.000269969815548,-0.000549331940941,-7.32196513095e-05,1793192409555652352
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+255,4.250000000,HOLD_POSE2,763,743,712,672.338664895,659,631,877.661335105,781,800,648.338664895,628.338664895,650,0.447914121911,-0.0156733767512,0.0696539337717,0.999999811227,-0.000271609611966,-0.000546348281897,-7.2653785531e-05,1793192409688985088
+256,4.266666667,HOLD_POSE2,763,742.761539335,711.761539335,672.238460665,659.238460665,631,877.761539335,781,800,648,627.761539335,650,0.44791453757,-0.015672446798,0.06965407055,0.9999998115,-0.000270462403874,-0.000546427096391,-7.25744353916e-05,1793192409705652224
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+259,4.316666667,HOLD_POSE2,763,742.96528681,711,673,659.03471319,631,877,781,799.03471319,648.96528681,627,650,0.447912796724,-0.0156738890643,0.069654166444,0.999999810047,-0.000272525810227,-0.00054807403393,-7.24539110828e-05,1793192409755652608
+260,4.333333333,HOLD_POSE2,763.555219446,743,711.555219446,673,659.555219446,631,877.555219446,781,799.555219446,649,627.555219446,650,0.447913741435,-0.0156741555148,0.0696537859002,0.999999810346,-0.000271943816308,-0.000547833738876,-7.23413934351e-05,1793192409772319232
+261,4.350000000,HOLD_POSE2,763.856901204,742.856901204,712,672.856901204,659.856901204,631,878,781,799.856901204,648.856901204,628,650,0.447914865944,-0.0156737412635,0.0696536976381,0.999999811041,-0.000270853496875,-0.000547105822258,-7.23273041898e-05,1793192409788985600
+262,4.366666667,HOLD_POSE2,763.277956805,742.277956805,712,672.277956805,659.277956805,631,878,781,799.277956805,648.277956805,628,650,0.447916138647,-0.0156713551843,0.0696546502429,0.999999812883,-0.000268224495946,-0.000544994489735,-7.26008815289e-05,1793192409805652224
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,631,877,781,800,649,628,650,0.447916194063,-0.0156724397079,0.0696547651988,0.999999810551,-0.000274857082581,-0.0005459195878,-7.2960999849e-05,1793192409842716160
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.025003043,743,711,672,659,631,877,782,800,648.974996957,628,650.025003043,0.447105301549,-0.0156270954103,0.0695749925721,0.999999739535,-0.000244564380291,-0.000675907173446,-6.53338780294e-05,1793192410159382784
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711.197423704,672.197423704,659,631,877.197423704,781.802576296,800,648.197423704,628,650.802576296,0.446756412266,-0.0156071245125,0.0695716021185,0.999999742644,-0.000227673577847,-0.000677777943719,-5.91055167123e-05,1793192410192716544
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.069100454,743,711.069100454,672.069100454,659.930899546,631,877.069100454,781.930899546,800,648.069100454,628,650,0.446087702844,-0.0155708748648,0.0695875882338,0.999999769685,-0.000191088745467,-0.000649725205058,-4.44129169782e-05,1793192410242716160
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.518051147,742.481948853,711.518051147,672,659.481948853,631,877.518051147,782,800,648,628,650,0.445823626287,-0.0155572593743,0.0696007943214,0.999999788143,-0.000175056421484,-0.000625833717159,-3.7447605142e-05,1793192410259382784
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.315951892,742.684048108,712,672.684048108,659,631.684048108,877.315951892,782,800,648.684048108,628,650,0.445221478385,-0.0155331767458,0.0696213393163,0.999999822219,-8.31951462849e-05,-0.000590026469787,-2.25868505158e-05,1793192410292716032
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,743,711.738220277,673,659.261779723,631.738220277,877,782,800,649,628,650,0.4448689889,-0.0155249180391,0.0696255365982,0.999999828163,-4.3901893062e-05,-0.00058440113012,-1.49265502725e-05,1793192410309382912
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,743,711.161861854,673,659.838138146,631.161861854,877,782,800,649,628,650,0.44448193027,-0.0155196041154,0.06962491105,0.999999826356,-3.69705590581e-05,-0.000588105617933,-7.25725501977e-06,1793192410326049792
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742.585836308,711.414163692,672.585836308,660,631,877.414163692,782,799.585836308,648.585836308,628,650,0.444062166061,-0.0155181847349,0.0696282060456,0.999999828814,-2.46248073157e-05,-0.000584607893256,-1.80439117775e-07,1793192410342716416
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,631.57928089,877.42071911,782,799,648.57928089,628,650,0.443156105806,-0.0155154719657,0.0696475447755,0.999999845958,-1.79372123324e-05,-0.000554748023407,4.21675390093e-06,1793192410376049408
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.16579363,742,711.83420637,672,660,632,877,782,799.16579363,649,628,650,0.442674830401,-0.0155111007675,0.0696663906051,0.999999861853,-2.06823953569e-05,-0.000525213865079,4.04557722493e-06,1793192410392716032
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.676985604,742,711,672.323014396,660,632,877,782.323014396,799.676985604,648.676985604,628,650,0.441652377652,-0.0154940739042,0.0697188331445,0.99999990147,4.48561206743e-06,-0.000443682574876,1.35999848918e-05,1793192410426049536
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.09982767,742,711,672.90017233,660,632,877,782.90017233,799.09982767,648.09982767,628,650,0.441109186625,-0.0154845623678,0.0697373229003,0.999999915401,2.17552499557e-05,-0.000410470201253,1.54531199975e-05,1793192410442716160
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,742,711.068122162,673,661,632,877.931877838,783,799.068122162,648.068122162,628.931877838,650,0.439953894233,-0.0154644628821,0.0697996691809,0.999999955409,5.81401327253e-05,-0.000292312177313,1.88287313123e-05,1793192410476049920
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742,711.647715473,673,661,632,877.352284527,783,799.647715473,648.647715473,628.352284527,650,0.439268089788,-0.0154403367745,0.0697898172692,0.999999946497,8.82848492381e-05,-0.000314588260583,1.57052313271e-05,1793192410492716800
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.805850293,742,712,673,660.194149707,632.805850293,877.805850293,783,800.805850293,648.194149707,628,650,0.43782558724,-0.0154004249783,0.0697371176042,0.999999913815,0.000142144635578,-0.000389945071609,1.03388495979e-05,1793192410526049536
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632,876.137995946,783,799.137995946,648,628,650,0.432383805162,-0.0154150968426,0.0698351006534,0.999999953942,0.000157153263631,-0.000257897317567,3.01311607984e-05,1793192410642716416
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.437308415,742,712,672.437308415,660,632,876.437308415,783,799,648,628,650,0.431505469673,-0.0154091714152,0.0698222310829,0.999999946972,0.000164410573851,-0.000279515885364,2.99363354856e-05,1793192410659382784
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.39733478,742,712,672.39733478,660,632.60266522,877,783,799,648.60266522,628,650,0.429659141072,-0.0153961988378,0.0697499521816,0.99999990719,0.000174293722552,-0.00039324679445,2.44741887024e-05,1793192410692716032
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742.189374847,712,672,660,632.810625153,877,783,799,648.810625153,628,650,0.428738881045,-0.0153945581704,0.0697260675762,0.999999892193,0.000176336545371,-0.000428958027583,2.2685459164e-05,1793192410709382400
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742.769122436,712,672,660,632.230877564,877,783,799,648.230877564,628,650,0.427888475366,-0.0154015920023,0.069768616959,0.999999919794,0.000168590072705,-0.00036235971636,2.61723343987e-05,1793192410726049280
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,712,671.505072975,660.494927025,632.505072975,876.494927025,783,799,648,628.505072975,650,0.425276785603,-0.0154042002763,0.0698736184785,0.999999961602,0.000183810622383,-0.000203648439299,3.92057950113e-05,1793192410776049920
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,660.929659467,632,877,783,799,648,628,650,0.424350666596,-0.0153994509154,0.0698500788226,0.999999953004,0.00018412387191,-0.000242356261702,3.67952490722e-05,1793192410792716800
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,660.333355659,632,877,783,799,648,628,650,0.423380384058,-0.0153990190672,0.0698170298844,0.999999937904,0.000188340591189,-0.000295993482128,3.3293117989e-05,1793192410809383168
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,660.253679382,632,877,783,799,648,628,650,0.422393309171,-0.0153955953824,0.0697664790964,0.999999907508,0.000191871169982,-0.000383848699378,2.87935832261e-05,1793192410826049536
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,660.828963909,632,877,783,799,648,628,650,0.421384945445,-0.0153883787601,0.0696937401192,0.999999848158,0.000194531884505,-0.000515084205449,2.30295769597e-05,1793192410842716160
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,711.599359669,671,660.599359669,632.400640331,876.599359669,782.599359669,799,648,628,650,0.420508495837,-0.0153883891121,0.0697028647088,0.999999858807,0.000194116803493,-0.000494100166807,2.38874714028e-05,1793192410859382784
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.565364911,660,632.434635089,876.565364911,782.565364911,799,648.565364911,628,650,0.418901626646,-0.0153945570512,0.0698238865215,0.999999939085,0.000197138856551,-0.000285825157951,3.5651499234e-05,1793192410892716544
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742,711.156375293,671.843624707,660,632.156375293,876.843624707,783.156375293,799,648.843624707,628,650,0.418088033015,-0.0153963689191,0.0698801516967,0.999999958868,0.000201190999996,-0.000200168042506,4.14688183886e-05,1793192410909383424
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711.734223858,671.265776142,660,632.734223858,876.265776142,783.734223858,799,648.265776142,628,650,0.417195685277,-0.0153947046191,0.0698749517675,0.999999954418,0.000202453804919,-0.00022031430853,4.04748593262e-05,1793192410926050304
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.470010038,742,711.529989962,671.470010038,660,632.470010038,876,783,799,648,628.529989962,650,0.409549278312,-0.0153842421017,0.0698603336711,0.999999950484,0.000214627496136,-0.000227337722424,3.58400565713e-05,1793192411092716288
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.300766495,632.699233505,876.699233505,783,799,648,628.300766495,650,0.408213060956,-0.0153779307111,0.0697856494909,0.999999915623,0.000213785163555,-0.000349825995488,2.59214552387e-05,1793192411126049280
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.276489201,633,876.723510799,783,799,648,628,650,0.407604368,-0.0153763815552,0.0697760940173,0.999999911352,0.000211447278063,-0.000363319085302,2.41841764931e-05,1793192411142715904
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.851970163,633,876.148029837,783,799,648,628,650,0.407041442759,-0.0153741670806,0.0697927593465,0.999999921056,0.000214544012448,-0.000333465967321,2.56950856112e-05,1793192411159382784
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.435676206,742,711.564323794,671,660,633,876,783,799.871352411,648.435676206,628,650,0.40652354713,-0.0153745879698,0.0698040837934,0.999999925016,0.000213996658254,-0.000321655920458,2.66568963603e-05,1793192411176049664
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711.021942618,671,660,633,876,783,800.956114764,648.978057382,628.021942618,650,0.406021935473,-0.0153759597457,0.0698129505709,0.999999926878,0.000212436447836,-0.000316806351914,2.73501043402e-05,1793192411192716800
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.8201115,633,876,783,799.359777,648,628.8201115,650,0.405080445206,-0.0153802249351,0.0698063198902,0.999999920872,0.000219728709903,-0.000330626867492,2.57096730865e-05,1793192411226050304
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.241031463,633,876,783,800.517937073,648,628.241031463,650,0.404682320698,-0.0153812162921,0.0698206998654,0.999999930049,0.000217297193719,-0.000303197084753,2.74884174879e-05,1793192411242716672
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.089202639,742.910797361,711.089202639,671,659,632.089202639,876.910797361,783,799.178405279,648,628,650,0.403945231559,-0.0153681722183,0.0698482816346,0.999999939133,0.000240575833363,-0.000251029746829,2.90172854352e-05,1793192411276049408
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.496449554,742.503550446,711.496449554,671,659,632.496449554,876.503550446,783,799,648,628,650,0.403620378476,-0.0153629936718,0.0698524285641,0.999999940279,0.000244948058055,-0.000242106583902,2.87620475422e-05,1793192411292716288
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.917155438,742,712,671,659,633,876,783,799,648,628,650,0.403303612841,-0.0153582180871,0.069852303248,0.999999939725,0.000248320187475,-0.000241037586204,2.80698476748e-05,1793192411309383168
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.337936514,742,712,671,659,633,876,783,799,648,628,650,0.402995794804,-0.0153522069877,0.0698370182814,0.999999930395,0.000257761724379,-0.000268540408391,2.5587944029e-05,1793192411326049536
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.240429231,742,711.759570769,670.759570769,659.240429231,633,876,782.759570769,799.240429231,648,628,650,0.402710168753,-0.0153476795604,0.0698257123039,0.999999923061,0.000263912539556,-0.000289240040946,2.38323485444e-05,1793192411342716416
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.608309475,742,711.391690525,670.391690525,660,633,876.391690525,782.391690525,799.608309475,648,628.391690525,650,0.402231116603,-0.0153521941571,0.0698143573575,0.999999918853,0.000258180263991,-0.00030836845049,2.3354929601e-05,1793192411376049920
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.035642052,742,711.964357948,670.964357948,660,633,876.964357948,782.964357948,799.035642052,648,628.964357948,650,0.402020486723,-0.0153635075593,0.0698087868462,0.999999919685,0.000246832742921,-0.000314840692522,2.4077548001e-05,1793192411392716288
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763,742,711.44466285,671,659.44466285,632.44466285,876.44466285,783,799.55533715,648,628.44466285,650,0.401847033634,-0.0153771119666,0.0698028547681,0.999999920855,0.000229311713441,-0.000324097052345,2.58299810518e-05,1793192411409382656
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742,711.14389142,670.85610858,659,632,876,782.85610858,799.85610858,648,628,650.14389142,0.401686075221,-0.0153856520257,0.0697993196258,0.999999921146,0.000218345885664,-0.000330562632481,2.75798244639e-05,1793192411426049536
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763,742,711.721473983,670.278526017,659,632,876,782.278526017,799.278526017,648,628,650.721473983,0.401555339138,-0.0153784697694,0.0698030812138,0.999999919688,0.000228372480492,-0.000328059827902,2.91158605643e-05,1793192411442716160
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,670.628884136,659,632,876,783,799.371115864,648.371115864,628,650,0.401131267796,-0.0153756837643,0.0698054669196,0.999999925709,0.000217722311009,-0.000318034714218,5.77246465923e-06,1793192411526049792
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.791983275,742,712,671,659,632,876.208016725,783,798.791983275,648.208016725,628,650,0.401081680906,-0.0153759376289,0.0698057468648,0.999999925816,0.000216817040845,-0.000318280989159,7.39506927391e-06,1793192411542716416
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.219040499,742,712,671,659,632,876.780959501,783,798.219040499,648.780959501,628,650,0.401044299757,-0.0153723948472,0.0698056368447,0.999999924879,0.000220915188158,-0.000318397078692,7.88753164678e-06,1793192411559382784
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763,742,711.645276651,671,659.354723349,632.354723349,876.645276651,783.354723349,798.709446698,649,628.354723349,650,0.401018094868,-0.0153705940012,0.0698062421203,0.99999992488,0.000223883170055,-0.000316288646214,8.80955211344e-06,1793192411576049408
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,763,742,711.52069769,670.47930231,659.47930231,633,876,783.47930231,800,649,628.47930231,650,0.400985637915,-0.0153701386663,0.0698081737022,0.999999925835,0.000227406792089,-0.000310655921697,1.04097508697e-05,1793192411609382656
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.111194239,742,712,670,659,633,876,783,799.888805761,649,628,650,0.400974271628,-0.015370451776,0.0698089535174,0.999999926107,0.000228325991855,-0.000309094782235,1.06784678196e-05,1793192411626049792
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.686397603,742,712,670,659,633,876,783,799.313602397,649,628,650,0.400966827482,-0.0153703728158,0.0698093970835,0.999999926049,0.000228439973234,-0.000309192753117,1.08045883963e-05,1793192411642716416
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.738174051,742,712,670.261825949,659,632.738174051,876,783,799,648.738174051,628.261825949,650,0.400961825681,-0.0153712002785,0.0698099149853,0.99999992639,0.000227673303209,-0.000308645065479,1.1126847653e-05,1793192411659383040
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.985389401,742,711,670.014610599,659,633,876,783,799.014610599,649,628,650.985389401,0.400956681559,-0.0153731789068,0.0698102860139,0.999999927789,0.000224594867372,-0.000306358003769,1.11533405079e-05,1793192411709382912
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.406370255,742,711,670.593629745,659,633,876,783,799.593629745,649,628,650.406370255,0.400956938268,-0.0153709312805,0.069812192128,0.999999927641,0.000228613313866,-0.000303855452316,1.12561745489e-05,1793192411726049536
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763,742,711.171170413,671,659.171170413,632.828829587,876,783,799.828829587,648.828829587,628,650,0.40095649395,-0.0153698456672,0.0698130001282,0.999999927293,0.000231331598402,-0.000302938157653,1.13389195523e-05,1793192411742716416
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763,742,711.745231054,671,659.745231054,632.254768946,876,783,799.254768946,648.254768946,628,650,0.4009543996,-0.0153714951279,0.0698112234559,0.999999926515,0.000230989642374,-0.000305752141766,1.13743802202e-05,1793192411759382784
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.679672682,632.320327318,876,783,799,648,628.320327318,650,0.400953914853,-0.015372315102,0.069810774947,0.999999926551,0.000229913395521,-0.000306444128477,1.13934609395e-05,1793192411776049408
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,763,742,711.514814603,671,659,633,876,783,799.485185397,648,628.514814603,650,0.400955403277,-0.0153725583278,0.0698125699117,0.999999927757,0.000228336546569,-0.00030366621243,1.16502022151e-05,1793192411809382912
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763,742,711.075257161,671,659.075257161,632.924742839,876,783,800,648,628,650,0.400955797322,-0.0153727960882,0.0698136385812,0.99999992822,0.000228385890631,-0.000302091031002,1.1856997174e-05,1793192411826049792
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763,742,711.653806917,671,659.653806917,632.346193083,876,783,800,648,628,650,0.400954382637,-0.0153741619518,0.0698130967321,0.999999928576,0.000225626928301,-0.000303003276516,1.14103602608e-05,1793192411842716416
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763,742,711.769509077,670.769509077,659.769509077,632.230490923,876,783,799.769509077,648.230490923,628.230490923,650.230490923,0.400953796522,-0.0153752566581,0.0698128970667,0.999999928903,0.000223834086433,-0.00030325712577,1.12503233693e-05,1793192411859383040
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763,742,711.195604929,670.195604929,659.195604929,632.804395071,876,783,799.195604929,648.804395071,628.804395071,650.804395071,0.400954444909,-0.0153759473616,0.0698132072278,0.9999999292,0.000223480687729,-0.000302530016674,1.15172978458e-05,1793192411876049664
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.443684279,742,711,671,659,632.556315721,876,783,799,648.443684279,628,650,0.400954539785,-0.0153727492085,0.069813076902,0.999999927732,0.000229710039154,-0.000302717698246,1.14485003969e-05,1793192411926049536
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763,742,711.135669439,671,659,632.864330561,876,783,799,648,628.135669439,650,0.400954142612,-0.0153736766544,0.0698130015016,0.999999927858,0.000229027410038,-0.000302827962457,1.12262908958e-05,1793192411942716416
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763,742,711.714544546,671,659,632.285455454,876,783,799,648,628.714544546,650,0.400952434769,-0.0153752309492,0.0698125810383,0.999999928362,0.000225337810996,-0.000303929992036,1.1226267939e-05,1793192411959383296
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_07/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce5d9d81810e089934b6cec82b2d108505704cd8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,402 @@
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+342,5.700000000,pose2_to_pose3_retreat,0.581693629349,-0.00994549294961,1.06002897947,0.552264358875,-0.00127276587748,1.05969827073
+343,5.716666667,pose2_to_pose3_retreat,0.5811685908,-0.00994540849109,1.06002920384,0.55173931939,-0.0012726850442,1.0596984831
+344,5.733333333,pose2_to_pose3_retreat,0.580673232355,-0.00994527194019,1.06002916433,0.551243960732,-0.00127254881909,1.05969845356
+345,5.750000000,pose2_to_pose3_retreat,0.580210409445,-0.00994540315102,1.06002919832,0.550781138924,-0.00127267617518,1.0596984907
+346,5.766666667,pose2_to_pose3_retreat,0.579775443788,-0.00994546929507,1.06002933073,0.55034617453,-0.00127273795916,1.05969862504
+347,5.783333333,pose2_to_pose3_retreat,0.579368283925,-0.00994536612844,1.06002914538,0.549939013508,-0.00127263875032,1.05969843927
+348,5.800000000,pose2_to_pose3_retreat,0.578992410062,-0.00994546412284,1.06002920409,0.549563139904,-0.00127273611217,1.05969849143
+349,5.816666667,pose2_to_pose3_retreat,0.578644201054,-0.00994553042013,1.06002958398,0.549214932488,-0.00127279756442,1.05969885676
+350,5.833333333,pose2_to_pose3_retreat,0.578313716678,-0.00994564490547,1.06002913086,0.548884451199,-0.00127290071959,1.0596984258
+351,5.850000000,pose2_to_pose3_retreat,0.578001331472,-0.00994538821248,1.06002915246,0.548572061659,-0.00127265890786,1.05969844274
+352,5.866666667,pose2_to_pose3_retreat,0.577709708124,-0.00994534843739,1.06002914329,0.548280438225,-0.00127261942155,1.05969843363
+353,5.883333333,pose2_to_pose3_retreat,0.577438083987,-0.0099455453711,1.06002943082,0.548008816273,-0.00127280937148,1.0596987101
+354,5.900000000,pose2_to_pose3_retreat,0.577187114267,-0.00994542247684,1.06002912764,0.54775784594,-0.00127268795313,1.05969842277
+355,5.916666667,pose2_to_pose3_retreat,0.57696275847,-0.00994542164238,1.06002915626,0.547533488883,-0.00127269160109,1.05969844572
+356,5.933333333,pose2_to_pose3_retreat,0.576763056142,-0.00994542637344,1.0600292094,0.547333786648,-0.00127269642227,1.0596984882
+357,5.950000000,pose2_to_pose3_retreat,0.576587461609,-0.0099453222717,1.06002927161,0.547158191222,-0.00127259506272,1.059698558
+358,5.966666667,pose2_to_pose3_retreat,0.576433421274,-0.0099454762331,1.06002893181,0.547004152889,-0.00127274209488,1.05969822178
+359,5.983333333,pose2_to_pose3_retreat,0.576300870789,-0.00994544900315,1.06002914557,0.546871601769,-0.00127271690786,1.05969843848
+360,6.000000000,pose2_to_pose3_retreat,0.576186711373,-0.00994536844786,1.06002915647,0.546757440773,-0.00127264185848,1.05969844575
+361,6.016666667,pose2_to_pose3_retreat,0.576090303153,-0.0099454066011,1.06002902443,0.54666103277,-0.00127267926519,1.05969831562
+362,6.033333333,pose2_to_pose3_retreat,0.576008399253,-0.00994540112985,1.06002916992,0.546579127754,-0.00127267782641,1.0596984569
+363,6.050000000,pose2_to_pose3_retreat,0.575939458752,-0.0099455022856,1.06002935497,0.546510190178,-0.00127276869367,1.05969865013
+364,6.066666667,pose2_to_pose3_retreat,0.575883245574,-0.0099453702875,1.06002929174,0.546453976301,-0.0012726393317,1.05969858107
+365,6.083333333,pose2_to_pose3_retreat,0.575837300592,-0.00994546753503,1.06002918032,0.546408032175,-0.00127273365828,1.05969846712
+366,6.100000000,pose2_to_pose3_retreat,0.575801461188,-0.00994537179363,1.06002918227,0.546372190998,-0.0012726440883,1.05969846523
+367,6.116666667,pose2_to_pose3_retreat,0.57577405463,-0.00994544259113,1.06002897409,0.546344784407,-0.00127271474774,1.0596982637
+368,6.133333333,pose2_to_pose3_retreat,0.575754216156,-0.00994543477619,1.06002924524,0.546324946781,-0.00127270434599,1.05969852681
+369,6.150000000,pose2_to_pose3_retreat,0.575740055824,-0.00994540972087,1.06002944306,0.54631078716,-0.00127267697321,1.05969872188
+370,6.166666667,pose2_to_pose3_retreat,0.575729831101,-0.00994540782941,1.06002935065,0.546300562491,-0.00127267463893,1.05969863621
+371,6.183333333,pose2_to_pose3_retreat,0.575722884442,-0.0099453988184,1.06002907062,0.546293614634,-0.00127266945858,1.05969836252
+372,6.200000000,pose2_to_pose3_retreat,0.575718166016,-0.00994542690016,1.06002904502,0.546288896477,-0.00127269676289,1.05969833332
+373,6.216666667,pose2_to_pose3_retreat,0.575715207361,-0.00994544037356,1.06002906925,0.546285938102,-0.00127270941736,1.05969835419
+374,6.233333333,pose2_to_pose3_retreat,0.575713679148,-0.00994534671744,1.06002909882,0.546284408851,-0.00127261911646,1.05969838809
+375,6.250000000,pose2_to_pose3_retreat,0.575712855218,-0.00994529622311,1.06002911476,0.546283584362,-0.00127257043108,1.05969840636
+376,6.266666667,pose2_to_pose3_retreat,0.575712028138,-0.00994524553572,1.06002913076,0.54628275672,-0.00127252155956,1.05969842471
+377,6.283333333,pose2_to_pose3_retreat,0.575711398974,-0.0099452807504,1.06002913516,0.54628212792,-0.00127255551734,1.05969842966
+378,6.300000000,pose2_to_pose3_retreat,0.575711106259,-0.00994530632607,1.06002913624,0.546281835473,-0.00127258017952,1.05969843084
+379,6.316666667,pose2_to_pose3_retreat,0.575710877846,-0.00994532628339,1.06002913709,0.546281607269,-0.00127259942402,1.05969843176
+380,6.333333333,pose2_to_pose3_retreat,0.575710774185,-0.00994533534067,1.06002913747,0.546281503703,-0.00127260815779,1.05969843218
+381,6.350000000,pose2_to_pose3_retreat,0.57571077166,-0.00994533556121,1.06002913748,0.546281501181,-0.00127260837046,1.05969843219
+382,6.366666667,pose2_to_pose3_retreat,0.575710754052,-0.0099453370997,1.06002913754,0.546281483589,-0.001272609854,1.05969843226
+383,6.383333333,pose2_to_pose3_retreat,0.575710713945,-0.00994534060403,1.06002913769,0.546281443519,-0.00127261323316,1.05969843242
+384,6.400000000,pose2_to_pose3_retreat,0.575710596716,-0.00994535084674,1.06002913812,0.546281326397,-0.00127262311003,1.05969843289
+385,6.416666667,pose2_to_pose3_retreat,0.575710409469,-0.0099453672073,1.06002913881,0.546281139321,-0.00127263888623,1.05969843365
+386,6.433333333,pose2_to_pose3_retreat,0.575710386084,-0.00994536925047,1.0600291389,0.546281115958,-0.00127264085643,1.05969843374
+387,6.450000000,pose2_to_pose3_retreat,0.575710334585,-0.00994537375019,1.06002913909,0.546281064506,-0.00127264519543,1.05969843395
+388,6.466666667,pose2_to_pose3_retreat,0.575710035467,-0.00994539988521,1.06002914019,0.546280765663,-0.00127267039697,1.05969843515
+389,6.483333333,pose2_to_pose3_retreat,0.575709754433,-0.00994537583744,1.06002923998,0.546280484659,-0.00127264631781,1.05969853299
+390,6.500000000,pose2_to_pose3_retreat,0.575709565208,-0.00994535715409,1.06002931224,0.546280295444,-0.00127262765667,1.05969860382
+391,6.516666667,pose2_to_pose3_retreat,0.575709423247,-0.00994534313737,1.06002936644,0.54628015349,-0.0012726136566,1.05969865695
+392,6.533333333,pose2_to_pose3_retreat,0.575709357742,-0.00994533678963,1.06002938689,0.546280087973,-0.00127260736579,1.0596986769
+393,6.550000000,pose2_to_pose3_retreat,0.575709316527,-0.0099453348558,1.06002932144,0.546280046505,-0.00127260631262,1.05969861098
+394,6.566666667,pose2_to_pose3_retreat,0.57570926926,-0.00994533263802,1.06002924639,0.546279998946,-0.00127260510481,1.05969853538
+395,6.583333333,pose2_to_pose3_retreat,0.575709251302,-0.00994533179539,1.06002921787,0.546279980877,-0.00127260464591,1.05969850666
+396,6.600000000,pose2_to_pose3_retreat,0.575709233819,-0.0099453309751,1.06002919011,0.546279963287,-0.00127260419918,1.0596984787
+397,6.616666667,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365057,1.05969844436
+398,6.633333333,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365053,1.05969844436
+399,6.650000000,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365052,1.05969844436
+400,6.666666667,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_08/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..89ca7834385a90781ff4fed0fee9d427c355be50
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:615bb9cafe8d6976b00f4f09351cd2eb84d9208c5287775724edff617b3085af
+size 25008179
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_08/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6504446d4df8512e321cd0644a507a3fe0ccd35
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_01/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,763,742,712,671,659.420993151,633,876,783,800,648,628,650,0.401037660996,-0.0155145624124,0.0798723737169,0.999999986149,9.05591337455e-05,-0.000135789524106,3.258392076e-05,1793192413477712896
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+24,0.400000000,BASELINE,763,742,712,670.929078069,659.070921931,633,876.929078069,783.929078069,799,648,628.070921931,651,0.40103931907,-0.0155142240756,0.0798755629491,0.999999986448,9.14016045108e-05,-0.000132923058988,3.28916054389e-05,1793192413861046272
+25,0.416666667,BASELINE,763,742,712,670.490488731,659,633,876.490488731,783.490488731,799.509511269,648,628.509511269,650.490488731,0.401039254857,-0.0155135159286,0.079875400616,0.999999986295,9.30040375771e-05,-0.000132982201997,3.2787820616e-05,1793192413877713152
+26,0.433333333,BASELINE,763,742,712,670.088157883,659,632.911842117,876,783,800,648,628.911842117,650,0.401039021973,-0.0155134450679,0.079875076981,0.999999986199,9.35919855007e-05,-0.000133317315844,3.26852942017e-05,1793192413894379776
+27,0.450000000,BASELINE,763,742,712,670.664532903,659,632.335467097,876,783,800,648,628.335467097,650,0.401038353511,-0.0155155487014,0.0798748618587,0.999999986443,9.02862420915e-05,-0.000133762559654,3.27106997477e-05,1793192413911046144
+28,0.466666667,BASELINE,763,742,712,671,659,632.240054485,876,783,799.759945515,648.240054485,628,650,0.40103797601,-0.0155166755211,0.0798745732657,0.999999986566,8.80152627143e-05,-0.000134347410097,3.27408018783e-05,1793192413927712768
+29,0.483333333,BASELINE,763,742,712,671,659,632.814387611,876,783,799.185612389,648.814387611,628,650,0.401038003677,-0.0155164421161,0.0798741823641,0.999999986533,8.71852043859e-05,-0.000135126664362,3.27774440562e-05,1793192413944379392
+30,0.500000000,BASELINE,762.60056188,742,711.60056188,671,659,633,876,783,799,648.60056188,628,650,0.401038018594,-0.0155158781834,0.0798743040793,0.999999986533,8.76445121624e-05,-0.00013482536765,3.27906253551e-05,1793192413961046016
+31,0.516666667,BASELINE,762.010393885,742,711.010393885,671,659,633,876,783,799,648.010393885,628,650,0.401038027423,-0.0155151564253,0.0798746705668,0.999999986548,8.87194863791e-05,-0.000134008112765,3.27926041905e-05,1793192413977712896
+32,0.533333333,BASELINE,762.566753624,742,711.566753624,671,659,633,876,783,799,648,628,650,0.401035617074,-0.0155133998364,0.0798724485729,0.999999985917,9.04468504382e-05,-0.000137642702568,3.22566164132e-05,1793192413994379776
+33,0.550000000,BASELINE,763,742,711.856213776,671,659,633,876,783,799,648,628,650,0.40103455336,-0.0155125427184,0.0798714036918,0.999999985571,9.17291309398e-05,-0.000139357612846,3.19808786967e-05,1793192414011046400
+34,0.566666667,BASELINE,763,742,711.278823883,671,659,633,876,783,799,648,628,650,0.401037681362,-0.0155144540027,0.0798740484679,0.999999986155,9.16339414565e-05,-0.000135042833998,3.25190383884e-05,1793192414027713024
+35,0.583333333,BASELINE,763.296419216,742,711.296419216,671,659,633,876,783,799,648,628.296419216,650,0.401038121413,-0.0155147305774,0.079874598592,0.999999986214,9.20774163787e-05,-0.00013427084962,3.26295779846e-05,1793192414044379648
+36,0.600000000,BASELINE,763.869657542,742,711.869657542,671,659,633,876,783,799,648,628.869657542,650,0.40103605125,-0.0155134805343,0.079873192569,0.999999985792,9.30239376274e-05,-0.000136807399263,3.23407730415e-05,1793192414061046016
+37,0.616666667,BASELINE,763.541620915,742,712,671,659,632.541620915,876,783,799,648,629,650,0.401036333584,-0.0155128630743,0.0798732307479,0.999999985667,9.45034551923e-05,-0.0001367089643,3.23300666438e-05,1793192414077712640
+38,0.633333333,BASELINE,762.94972997,742,712,671,659.05027003,632.05027003,876,783,799,648,629,650,0.401037283326,-0.015512682222,0.0798737176159,0.999999985686,9.5529056596e-05,-0.000135833658353,3.2414098746e-05,1793192414094379264
+39,0.650000000,BASELINE,762.37238376,742,712,671,659.62761624,632.62761624,876,783,799,648,629,650,0.401037971768,-0.0155151272194,0.0798744526259,0.999999986299,9.01507469672e-05,-0.000134943613167,3.26333360357e-05,1793192414111046144
+40,0.666666667,BASELINE,762.204574005,742,712,670.795425995,660,632.795425995,876,783,799,648,628.795425995,650.204574005,0.401037935923,-0.0155162405286,0.0798746735589,0.999999986542,8.74810481399e-05,-0.000134873307316,3.27385341988e-05,1793192414127713280
+41,0.683333333,BASELINE,762.780825993,742,712,670.219174007,660,632.219174007,876,783,799,648,628.219174007,650.780825993,0.401036584166,-0.0155149343747,0.0798739604967,0.999999986154,8.97324587562e-05,-0.000136292335728,3.26365416441e-05,1793192414144379904
+42,0.700000000,BASELINE,763,742,712,670.364121412,660.364121412,632.364121412,876.364121412,783,799,648,628,651,0.401035452606,-0.0155147239627,0.0798730835531,0.999999985939,9.00866069211e-05,-0.000137670851047,3.24582136409e-05,1793192414161046272
+43,0.716666667,BASELINE,763,742,712,670.951740057,660.951740057,632.951740057,876.951740057,783,799,648,628,651,0.401034456202,-0.0155151861156,0.0798721060193,0.999999985831,8.92762178603e-05,-0.000139024499432,3.22330310458e-05,1793192414177712640
+44,0.733333333,BASELINE,763,742,712,671,659.931689321,633,876.46584466,783,799.53415534,648.53415534,628,650.46584466,0.401036026584,-0.0155150001035,0.079872702221,0.999999986001,8.93295774359e-05,-0.000137793935979,3.21164856092e-05,1793192414194379008
+45,0.750000000,BASELINE,762.885528445,742,712,671,659.114471555,633,876,783,799.885528445,649,628,650,0.401037319867,-0.0155145331453,0.0798732675832,0.999999986108,8.9919879527e-05,-0.000136654957883,3.20024606776e-05,1793192414211045888
+46,0.766666667,BASELINE,762.311766375,742,712,671,659.688233625,633,876,783,799.311766375,649,628,650,0.401036579868,-0.01551317165,0.0798731442319,0.999999985869,9.23544496382e-05,-0.000136811186924,3.18595475657e-05,1793192414227712768
+47,0.783333333,BASELINE,762.262124756,742,712,671,659.737875244,633,876,783,799,648.737875244,628,650,0.401035478917,-0.0155128147195,0.0798727532318,0.999999985727,9.26571146021e-05,-0.000137680773409,3.17014766418e-05,1793192414244379392
+48,0.800000000,BASELINE,762.836169539,742,712,671,659.163830461,633,876,783,799,648.163830461,628,650,0.401033948444,-0.0155136531884,0.0798720437384,0.999999985699,9.042288133e-05,-0.00013939923233,3.15253683904e-05,1793192414261046016
+49,0.816666667,BASELINE,763,742,712,671,659,632.575351431,876,783,798.575351431,648,628,650,0.401034125257,-0.0155131854345,0.0798718881638,0.999999985522,9.21294557433e-05,-0.000139520299921,3.16453577077e-05,1793192414277712896
+50,0.833333333,BASELINE,763,742,711.981724195,671,659,632,876,783,798.018275805,648,628,650,0.401035010332,-0.0155122608584,0.0798720041737,0.999999985301,9.52797659697e-05,-0.000138934892958,3.18984035652e-05,1793192414294379520
+51,0.850000000,BASELINE,763,742,711.406871236,671,659,632,876,783,798.593128764,648,628,650,0.401036699754,-0.0155133113674,0.079873653915,0.999999985723,9.44669108423e-05,-0.00013626299743,3.26022276171e-05,1793192414311046144
+52,0.866666667,BASELINE,763,742,711.168207304,671,659,632,876,783,799,648,628,650,0.401037373933,-0.0155139555286,0.0798743227114,0.999999985985,9.32692749104e-05,-0.000135090003328,3.28896047744e-05,1793192414327712768
+53,0.883333333,BASELINE,763,742,711.743832191,671,659,632,876,783,799,648,628,650,0.401035589076,-0.0155136154684,0.0798726155455,0.99999998587,9.11396553271e-05,-0.000137547522347,3.21682992486e-05,1793192414344379392
+54,0.900000000,BASELINE,763,742,712,671,659,632.32781377,876,783,799,648,628.32781377,650,0.401035142934,-0.0155143495267,0.0798724833376,0.999999986021,8.89242289577e-05,-0.000137955287594,3.19339774094e-05,1793192414361046016
+55,0.916666667,BASELINE,763,742,712,671,659,632.918496427,876,783,799,648,628.918496427,650,0.401035770287,-0.0155159449045,0.0798736140648,0.999999986386,8.66399955315e-05,-0.000136719386285,3.20901604317e-05,1793192414377712896
+56,0.933333333,BASELINE,763,742,712,671,659.499488255,632.500511745,876,783,798.500511745,648.499488255,628.500511745,650,0.401036352592,-0.0155140273011,0.0798738602853,0.999999986082,9.06777841405e-05,-0.000136280265714,3.22754408045e-05,1793192414394379520
+57,0.950000000,BASELINE,763,742,711.921814873,671,659.921814873,632,876,783,798.078185127,648.921814873,628,650,0.401036684728,-0.015511991805,0.0798738988407,0.999999985701,9.48578062155e-05,-0.000136200612703,3.23929249943e-05,1793192414411046144
+58,0.966666667,BASELINE,763,742,711.347834656,671,659.347834656,632,876,783,798.652165344,648.347834656,628,650,0.4010354762,-0.0155127745427,0.079873518342,0.999999985647,9.35226505173e-05,-0.000137591684097,3.20509583474e-05,1793192414427713024
+59,0.983333333,BASELINE,763,742,711.226845813,671,659,632.226845813,876,783,799.226845813,648,628,650.226845813,0.401034671726,-0.015513407746,0.0798732537553,0.99999998561,9.26520266e-05,-0.000138458346305,3.19983341854e-05,1793192414444379648
+60,1.000000000,BASELINE,763,742,711.802603428,671,659,632.802603428,876,783,799.802603428,648,628,650.802603428,0.401034488729,-0.0155138109502,0.079873167453,0.999999985604,9.24958993392e-05,-0.000138518414364,3.2390747976e-05,1793192414461046272
+61,1.016666667,BASELINE,763,741.611165433,712,671,659.388834567,632.611165433,876,783,799.611165433,648,628,650.611165433,0.401034789497,-0.0155137648317,0.0798732560476,0.999999985791,9.16991391934e-05,-0.000137685758304,3.24352124713e-05,1793192414477712896
+62,1.033333333,BASELINE,763,741.019470137,712,671,659.980529863,632.019470137,876,783,799.019470137,648,628,650.019470137,0.401035342652,-0.0155134842949,0.0798734358884,0.999999986076,9.05681514321e-05,-0.000136387354902,3.22981466638e-05,1793192414494379520
+63,1.050000000,BASELINE,763,741.558588044,712,671,659.441411956,632.558588044,876.558588044,783,799,648,628,650,0.401035888739,-0.0155137685976,0.0798739226141,0.999999986012,9.18856747767e-05,-0.000135943704696,3.24248523326e-05,1793192414511046144
+64,1.066666667,BASELINE,763,742,712,671,659,633,876.864515832,783,799,648.135484168,628,650.135484168,0.401036138558,-0.0155138163666,0.0798741799343,0.999999985931,9.29307987247e-05,-0.000135818402487,3.24887425052e-05,1793192414527713024
+65,1.083333333,BASELINE,763,742,712,671,659,633,876.289882352,783,799,648.710117648,628,650.710117648,0.40103542886,-0.0155130351564,0.0798736598292,0.999999985836,9.28229456237e-05,-0.000136630703712,3.23199360695e-05,1793192414544379648
+66,1.100000000,BASELINE,763,742,712,671,659,633,876,783,799,648.708156436,628,650.708156436,0.401035018259,-0.0155131413229,0.0798733820166,0.999999985736,9.30935074955e-05,-0.000137145783235,3.24295670003e-05,1793192414561046272
+67,1.116666667,BASELINE,763,742,712,671,659,633,876,783,799,648.119210314,628,650.119210314,0.401034912147,-0.0155141508568,0.0798733508626,0.999999985633,9.374930335e-05,-0.0001373582851,3.28226527239e-05,1793192414577713152
+68,1.133333333,BASELINE,763,742,712,670.537862714,659,632.537862714,876,783,799,648.462137286,628,650,0.401035477307,-0.0155130653059,0.0798736103757,0.999999985543,9.55781749755e-05,-0.000136798275567,3.26402487266e-05,1793192414594379520
+69,1.150000000,BASELINE,763,742,712,670.04143483,659.04143483,632,876,783,799,649,628,650,0.401036164817,-0.0155116949982,0.0798739272077,0.999999985479,9.72749219021e-05,-0.000136142854198,3.2334896338e-05,1793192414611046144
+70,1.166666667,BASELINE,763,742,712,670.619156779,659.619156779,632,876,783,799,649,628,650,0.401036230965,-0.0155135207778,0.0798740311657,0.999999985759,9.34084203674e-05,-0.000136789973468,3.23285295672e-05,1793192414627712768
+71,1.183333333,BASELINE,763,742,712,671,660,632,876,783,799.196236314,649,628,650,0.401035749851,-0.0155140253486,0.0798736338765,0.999999985811,9.14839848999e-05,-0.000137745316141,3.2174697243e-05,1793192414644379392
+72,1.200000000,BASELINE,763,742,712,671,660,632,876,783,799.772073261,649,628,650,0.401034210111,-0.0155119741663,0.0798722669719,0.999999985441,9.33162923216e-05,-0.000139296888018,3.17356067192e-05,1793192414661046016
+73,1.216666667,BASELINE,763,741.645126701,712,670.645126701,660,632,876,783,799.645126701,648.645126701,628,650,0.401034892343,-0.0155132102976,0.0798729037193,0.999999985752,9.16046244925e-05,-0.000138161772314,3.18629076922e-05,1793192414677712896
+74,1.233333333,BASELINE,763,741.057764962,712,670.057764962,660,632,876,783,799.057764962,648.057764962,628,650,0.401037030259,-0.0155166000496,0.079874853121,0.999999986494,8.7571189088e-05,-0.000135266524638,3.23612692249e-05,1793192414694379776
+75,1.250000000,BASELINE,763,741.522288249,711.477711751,670,659.477711751,632,876,783,798.477711751,648,628,650,0.401037025172,-0.0155163794644,0.0798743764942,0.9999999864,8.85084898399e-05,-0.000135321983002,3.24791758342e-05,1793192414711046400
+76,1.266666667,BASELINE,763,741.899531986,711.100468014,670.100468014,659,632,876,783,798.100468014,648.100468014,628,650,0.401036670263,-0.0155156875717,0.0798737898467,0.999999986234,8.9695023378e-05,-0.00013576379844,3.24890237453e-05,1793192414727713280
+77,1.283333333,BASELINE,763,741.326415554,711.673584446,670.673584446,659,632,876,783,798.673584446,648.673584446,628,650,0.401035769272,-0.0155146310105,0.0798739304845,0.999999986159,8.9503417768e-05,-0.000136509114564,3.21857369124e-05,1793192414744379648
+78,1.300000000,BASELINE,763,741.248638988,711.751361012,671,659,632,876.248638988,783,799,648.751361012,628,650,0.401035393882,-0.0155142028828,0.079873963642,0.999999986124,8.96601219575e-05,-0.000136702409914,3.20258936687e-05,1793192414761046016
+79,1.316666667,BASELINE,763,741.826257843,711.173742157,671,659,632,876.826257843,783,799,648.173742157,628,650,0.401035713925,-0.0155146062496,0.0798738545899,0.999999986141,9.0277682732e-05,-0.000136165314038,3.20558439046e-05,1793192414777712896
+80,1.333333333,BASELINE,763,742,711.413170171,670.586829829,659.413170171,632.413170171,876.586829829,783,799,648,628,650,0.401034285464,-0.0155136793241,0.0798730641802,0.999999985817,9.10652315588e-05,-0.000138043198146,3.19050240222e-05,1793192414794379520
+81,1.350000000,BASELINE,763,742,712,670.003983929,659.996016071,632.996016071,876.003983929,783.003983929,799,648,628.003983929,650,0.401032130876,-0.0155121908284,0.0798719921926,0.999999985343,9.1928255143e-05,-0.000140926174782,3.16802987594e-05,1793192414811046400
+82,1.366666667,BASELINE,763,742,712,670.580913466,659.419086534,632.419086534,876.580913466,783.580913466,799,648,628.580913466,650,0.401033723511,-0.0155122416191,0.0798725787604,0.999999985498,9.31289804479e-05,-0.000138948427821,3.2010615558e-05,1793192414827713024
+83,1.383333333,BASELINE,763,742,712,671,659,632.157851339,876.842148661,783.842148661,798.842148661,648,628.842148661,650,0.40103465328,-0.015512450072,0.0798730124668,0.999999985605,9.37065692693e-05,-0.000137727668198,3.22620323073e-05,1793192414844379648
+84,1.400000000,BASELINE,763,742,712,671,659,632.734811473,876.265188527,783.265188527,798.265188527,648,628.265188527,650,0.401033823084,-0.0155130771316,0.0798730403132,0.999999985595,9.26296777416e-05,-0.000138516774216,3.23039627564e-05,1793192414861046528
+85,1.416666667,BASELINE,763,741.68248423,712,671,659,632.68248423,876,783,798.31751577,648,628.31751577,650,0.401034112672,-0.0155131813531,0.0798733890772,0.999999985654,9.2724140611e-05,-0.000138009968747,3.23727690649e-05,1793192414877712896
+86,1.433333333,BASELINE,763,741.094894065,712,671,659,632.094894065,876,783,798.905105935,648,628.905105935,650,0.401035354733,-0.0155128408558,0.0798740108092,0.99999998577,9.38149409285e-05,-0.000136400879359,3.24644355945e-05,1793192414894379520
+87,1.450000000,BASELINE,763,741.488728612,712,671,659,632.488728612,876,783.488728612,799,648,628.511271388,650,0.40103518543,-0.0155131765665,0.0798737314647,0.999999985872,9.19949399371e-05,-0.000136903381042,3.24117189484e-05,1793192414911046144
+88,1.466666667,BASELINE,763,742,712,671,659,632.929417188,876,783.929417188,799,648,628,650,0.401034849794,-0.0155135101624,0.0798734114451,0.999999985962,8.99881955285e-05,-0.000137604916031,3.23049393663e-05,1793192414927712768
+89,1.483333333,BASELINE,763,742,712,671,659,632.354735858,876,783.354735858,799,648,628,650,0.401035267612,-0.0155128984965,0.0798740404015,0.999999986018,9.06516927648e-05,-0.000136823336695,3.20106515826e-05,1793192414944379392
+90,1.500000000,BASELINE,763,742,711.780757656,671,659.219242344,632.219242344,876,783,798.780757656,648.219242344,627.780757656,650,0.401035269972,-0.0155130120705,0.079874011071,0.999999986015,9.08644303076e-05,-0.000136740355299,3.18825682464e-05,1793192414961046016
+91,1.516666667,BASELINE,763,742,711.207913539,671,659.792086461,632.792086461,876,783,798.207913539,648.792086461,627.207913539,650,0.401034602269,-0.0155142953372,0.0798729200322,0.999999985913,9.03501666827e-05,-0.00013778409733,3.20225453235e-05,1793192414977713152
+92,1.533333333,BASELINE,763,742,711,671,659.621367425,632.621367425,876,783,798.378632575,649,627.378632575,650,0.401034133155,-0.0155149701596,0.0798722473791,0.999999985798,9.02465383222e-05,-0.000138710295814,3.19371359427e-05,1793192414994380032
+93,1.550000000,BASELINE,763,742,711,671,659.027014755,632.027014755,876,783,798.972985245,649,627.972985245,650,0.401033777185,-0.0155152983303,0.0798718130948,0.999999985673,9.03768630494e-05,-0.000139569525768,3.17233161019e-05,1793192415011046656
+94,1.566666667,BASELINE,762.448393802,742,711.551606198,671.551606198,659.551606198,632,877.103212397,783,799,648.448393802,628,650,0.401033326502,-0.0155140338744,0.0798718243568,0.99999998552,9.14629126654e-05,-0.00013992002112,3.18997813857e-05,1793192415027713280
+95,1.583333333,BASELINE,762.128631805,742,712,671.742736391,659.871368195,632.128631805,877.871368195,783,799,648.128631805,628,650,0.40103298788,-0.0155131159167,0.0798719871656,0.999999985433,9.20150333365e-05,-0.000140147745381,3.20345256778e-05,1793192415044379648
+96,1.600000000,BASELINE,762.702726912,742,712,670.594546177,659.297273088,632.702726912,877.297273088,783,799,648.702726912,628,650,0.40103305295,-0.0155136605382,0.0798726013232,0.999999985584,9.05605113972e-05,-0.000140034193339,3.1960428209e-05,1793192415061046272
+97,1.616666667,BASELINE,763,742,711.722787274,670.277212726,659,632.722787274,876.722787274,783,799,649,628,650,0.401033898975,-0.0155133565818,0.0798733135704,0.999999985706,9.09658092445e-05,-0.000138879772276,3.2035459414e-05,1793192415077712640
+98,1.633333333,BASELINE,763,742,711.147881921,670.852118079,659,632.147881921,876.147881921,783,799,649,628,650,0.401035583651,-0.0155121413563,0.0798741311539,0.99999998579,9.33683265865e-05,-0.000136607584958,3.22706366137e-05,1793192415094379520
+99,1.650000000,BASELINE,763.439728073,742,711,671,659,632,876,783,799.439728073,648.560271927,628,650.439728073,0.40103593378,-0.0155124262924,0.0798741043322,0.999999985742,9.42992177322e-05,-0.000136336396925,3.21918002764e-05,1793192415111046400
+100,1.666666667,BASELINE,763.969015965,742,711.030984035,671,659,632,876,783,799.969015965,648,628,650.969015965,0.401035766573,-0.0155131414539,0.0798737708645,0.999999985648,9.46975663738e-05,-0.000136786968271,3.20176480701e-05,1793192415127713024
+101,1.683333333,BASELINE,763.391066048,742,711.608933952,671,659,632,876,783,799.391066048,648,628,650.391066048,0.40103462541,-0.0155122803043,0.0798731863502,0.999999985515,9.46915594778e-05,-0.000137745879118,3.2080573126e-05,1793192415144379904
+102,1.700000000,BASELINE,763,742,711.813929262,671,659,632,876,783,798.813929262,648,628,650,0.401033684902,-0.0155121553794,0.0798725230976,0.999999985484,9.36777205735e-05,-0.00013868110223,3.20013517995e-05,1793192415161046528
+103,1.716666667,BASELINE,763,742,711.238494079,671,659,632,876,783,798.238494079,648,628,650,0.401033164278,-0.0155135710499,0.0798716950806,0.99999998566,9.0554931299e-05,-0.000139566757178,3.162468043e-05,1793192415177712896
+104,1.733333333,BASELINE,763,742,711,670.654471621,659,632,876,783,798,648,628,650,0.40103427578,-0.0155134930806,0.079872444409,0.999999985748,9.09675727993e-05,-0.000138623637297,3.18069834192e-05,1793192415194379520
+105,1.750000000,BASELINE,763,742,711,670.064370847,659,632,876,783,798,648,628,650,0.401036542535,-0.0155123578811,0.079874310216,0.999999985768,9.38826676794e-05,-0.000136386071473,3.23849404048e-05,1793192415211046400
+106,1.766666667,BASELINE,763,742,711,670.51609084,659,632,876,783,798.51609084,648,628,650,0.401036111984,-0.0155135929572,0.0798740866038,0.999999985836,9.26459546671e-05,-0.000136789181262,3.21624965781e-05,1793192415227712768
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,741,712,671,659,632,876,783,799,648,628,651,0.401033399072,-0.0155131672883,0.0798716069437,0.99999998552,9.07482390436e-05,-0.000140433963955,3.16618927616e-05,1793192415270768128
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,741,711.422809846,671,659,632,876,783,799,648,628,650.422809846,0.401033520581,-0.0155146845942,0.0798723011977,0.999999985596,9.01286651422e-05,-0.000140218793801,3.19873385521e-05,1793192415287435008
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,741.158415639,711.158415639,671,659,632,876,783,799,648,628,650,0.401033836678,-0.0155153443241,0.0798728905283,0.999999985692,8.9778589593e-05,-0.000139736369256,3.20998672327e-05,1793192415304101632
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,741.750693036,711.750693036,671,659,632,876,783,799,648,628,650,0.401034685702,-0.0155136553628,0.0798731924994,0.999999985841,9.01666040972e-05,-0.000138522000133,3.16292680044e-05,1793192415320768256
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,742,711.664781463,670.664781463,659,632,876,783,799,648,628,650,0.401034559235,-0.0155131448794,0.0798731296646,0.999999985705,9.15211459916e-05,-0.000138614539773,3.16192425432e-05,1793192415337434368
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742,711.085890889,670.085890889,659,632,876,783,799,648,628,650,0.401033723679,-0.0155134910378,0.0798728016503,0.999999985359,9.35782614733e-05,-0.000139657078026,3.19440104931e-05,1793192415354100736
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,742,711.488239223,670,659,632.488239223,876,783,799,648,628,650,0.401034386206,-0.0155146500178,0.079873166913,0.99999998561,9.19213620909e-05,-0.000138928417855,3.20888347489e-05,1793192415370767360
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742,711.936758363,670.063241637,659,632.936758363,876,783,798.936758363,648,628,650,0.401035302942,-0.0155157741725,0.0798736298638,0.999999985901,8.96494034053e-05,-0.000138300434644,3.21683875413e-05,1793192415387434240
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742,711.347604962,670.652395038,659,632.347604962,876,783,798.347604962,648,628,650,0.401036163225,-0.0155154311027,0.0798739007555,0.999999985697,8.76435539062e-05,-0.00014107579485,3.19658522303e-05,1793192415404100864
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,711.237307343,671,659.237307343,632,876,783,798,648,628,650,0.401042345295,-0.0155153223702,0.0798765459197,0.999999985631,8.77495495667e-05,-0.00014145608444,3.20797138893e-05,1793192415420767744
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,711.81611637,671,659.81611637,632,876,783,798,648,628,650,0.401056185784,-0.0155155508652,0.0798826078265,0.99999998576,9.0894636672e-05,-0.000138389701494,3.26488926924e-05,1793192415437434624
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.606909028,632,876.393090972,783,798.393090972,648,628,650,0.401080576126,-0.0155165685341,0.0798891253115,0.999999986017,9.16627460507e-05,-0.000135990200516,3.27206393295e-05,1793192415454101248
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659.030788513,632,876.969211487,783,798.969211487,648,628,650,0.401109878653,-0.0155179536553,0.0798958549218,0.999999986335,9.13240962562e-05,-0.00013390121035,3.25607735181e-05,1793192415470767616
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659,632,876.457397485,783,799,648,628,650,0.401165906081,-0.015519062418,0.0799033223849,0.999999987481,9.20070030901e-05,-0.000124824966771,3.14930833714e-05,1793192415487434240
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.119498915,742,712,671,659,632,876,783,799,648,628,650.119498915,0.401227781594,-0.0155205036484,0.0799101334468,0.999999988537,9.22649841115e-05,-0.000116230304699,3.00465850138e-05,1793192415504100864
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.710845098,742,712,671,659,632,876,783,799,648,628,650.710845098,0.40130679084,-0.0155233192521,0.0799141881903,0.99999998935,9.06173912853e-05,-0.000111094844393,2.73067234624e-05,1793192415520767488
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.704219095,742,711.704219095,671,659,632.295780905,876,783,799,648,628,650.704219095,0.401400014491,-0.0155257772955,0.0799191824661,0.999999990384,8.92183358631e-05,-0.000103423944995,2.40112193762e-05,1793192415537434112
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.125417158,742,711.125417158,671,659,632.874582842,876,783,799,648,628,650.125417158,0.401506839337,-0.0155278932034,0.0799250757429,0.999999991564,8.80570961302e-05,-9.33269846745e-05,2.01840431231e-05,1793192415554100736
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,711.45077093,670.54922907,659,632.54922907,876.45077093,783,799,648,628,650,0.401633873304,-0.0155312549768,0.0799305831902,0.9999999927,8.42028539633e-05,-8.52705435905e-05,1.54542217628e-05,1793192415570767616
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742,712,670.026914986,659,632,876.973085014,783.026914986,799,648,628.026914986,650,0.401767614734,-0.0155349337168,0.0799358888232,0.999999993759,7.94081509633e-05,-7.78956494291e-05,1.04281008704e-05,1793192415587434752
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742,712,670.617273951,659,632,876.382726049,783.617273951,799,648,628.617273951,650,0.401924742514,-0.0155380332136,0.079939203936,0.999999994841,7.05205690214e-05,-7.29719423338e-05,4.42631588337e-06,1793192415604101120
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,742,712,670.796478319,659,632,876,783.796478319,799,648,628.796478319,650,0.402092729815,-0.0155402691478,0.0799407422993,0.999999996225,4.83522377711e-05,-7.21547606278e-05,-2.43408313473e-06,1793192415620767488
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742,712,670.217808822,659,632,876,783.217808822,799,648,628.217808822,650,0.402280734252,-0.0155409132927,0.0799390056119,0.999999996826,1.70374347306e-06,-7.89070630255e-05,-1.08771491354e-05,1793192415637434112
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742,712,670.359377622,659.359377622,632.359377622,876,783,799,648,628,650,0.402483823093,-0.0155424868897,0.0799342205908,0.999999995532,-2.26992311958e-05,-8.96585578847e-05,-1.95287994491e-05,1793192415654100736
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742,712,670.935668978,659.935668978,632.935668978,876,783,799,648,628,650,0.402696016622,-0.015544621487,0.0799275956512,0.999999993746,-3.36752231845e-05,-0.000102823892581,-2.83063482441e-05,1793192415670767360
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.479743827,876,783,799,648,628,650,0.402949252274,-0.0155445072448,0.0799287766503,0.999999994129,-2.60770900652e-05,-0.00010113155403,-2.8896411233e-05,1793192415687434240
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632,876,783,799,648,627.89537701,650,0.403217775339,-0.0155439789268,0.0799312080834,0.999999994697,-1.85322305525e-05,-9.71441464733e-05,-2.87260996699e-05,1793192415704100864
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632,876,783,799,648,627.316731461,650,0.403532196142,-0.0155428548352,0.0799348608714,0.999999995159,-2.18033488706e-05,-9.12170735663e-05,-2.97720017564e-05,1793192415720767744
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659.737840161,632.262159839,876,783,799.262159839,648,627.262159839,650.262159839,0.403868337923,-0.0155437458167,0.0799363524951,0.999999995282,-2.42684834789e-05,-8.87996534488e-05,-3.10246893486e-05,1793192415737434624
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.158651712,632.841348288,876,783,799.841348288,648,627.841348288,650.841348288,0.404230746759,-0.0155470736164,0.0799352306334,0.999999995033,-2.57589457361e-05,-9.06264396319e-05,-3.2527441579e-05,1793192415754101248
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742,712,670.582451592,659,632.582451592,876,783,799.582451592,648,628,650.582451592,0.404620137483,-0.0155513203375,0.0799341344039,0.999999994974,-3.12249317308e-05,-8.9101993195e-05,-3.37339438006e-05,1793192415770767616
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,742,712,670.007378862,659,632.007378862,876,783,799.007378862,648,628,650.007378862,0.405019707386,-0.0155559137308,0.0799330478445,0.999999994939,-3.81907238614e-05,-8.63132606215e-05,-3.48286827016e-05,1793192415787434240
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742,712,670.567049497,659,632.567049497,875.432950503,783,799,648,628,650,0.405452607607,-0.0155570365998,0.0799298399379,0.999999994482,-3.6633974619e-05,-9.13497218241e-05,-3.67420309414e-05,1793192415804101120
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659.145877757,633,875.291755515,783,799.145877757,648,628,650.145877757,0.405893068501,-0.0155585507519,0.0799252995642,0.999999993558,-3.86400459415e-05,-9.94339353118e-05,-3.87798963756e-05,1793192415820767488
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659.738196916,633,876.476393831,783,799.738196916,648,628,650.738196916,0.406355342013,-0.0155614004318,0.0799167657195,0.999999991016,-5.18887186911e-05,-0.000116534152589,-4.11662681886e-05,1793192415837434112
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.678240273,876.678240273,783,799.678240273,648.321759727,628,650.678240273,0.406852041012,-0.0155587833449,0.0799120344634,0.999999989697,-5.30135034142e-05,-0.00012619998758,-4.32438880668e-05,1793192415854100736
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.101613335,876.101613335,783,799.101613335,648.898386665,628,650.101613335,0.407376008632,-0.0155518360096,0.0799103152523,0.999999989545,-4.45349077626e-05,-0.000129977019501,-4.50769445264e-05,1793192415870767616
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659.526757505,632.473242495,876,783,799,648.526757505,628.473242495,650,0.407914002303,-0.0155489832573,0.079903589308,0.999999987409,-4.42333379291e-05,-0.000144944063365,-4.70732030236e-05,1793192415887434496
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742,711.951015439,671,659.048984561,632.951015439,876.048984561,783,799,648,628.951015439,650,0.408461416534,-0.0155476587946,0.0798978649959,0.999999985169,-4.64579515086e-05,-0.00015844342452,-4.8992897183e-05,1793192415904101376
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742,711.361307925,671,659.638692075,632.361307925,876.638692075,783,799,648,628.361307925,650,0.409079700918,-0.0155535358293,0.0799150199819,0.999999988765,-5.72593818116e-05,-0.000129318049196,-4.96820496955e-05,1793192415920768000
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742,711.224375071,671,659.775624929,632.224375071,877,783,799,648,628,650,0.40972485852,-0.0155581963272,0.0799383281576,0.999999992586,-6.49433788855e-05,-9.02178888683e-05,-4.97049517745e-05,1793192415937434624
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742,711.8036916,671,659.1963084,632.8036916,877,783,799,648,628,650,0.410412527133,-0.0155609323716,0.0799713701326,0.9999999959,-6.76958724151e-05,-3.53385051641e-05,-4.86739046831e-05,1793192415954101248
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659.381387288,633,876.618612712,783,799,648,628,650,0.411089789144,-0.0155597828531,0.0799754291776,0.999999995634,-7.20313427951e-05,-3.29602716388e-05,-4.95606938099e-05,1793192415970767616
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659.958252206,633,876.041747794,783,799,648,628,650,0.411761717295,-0.0155566418138,0.0799646332051,0.999999994047,-7.71781578492e-05,-5.74911706896e-05,-5.14304577587e-05,1793192415987434240
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.469355547,876.530644453,783,799,648,628,650,0.412430129276,-0.0155539694514,0.0799297702818,0.999999990124,-7.6318722335e-05,-0.000103320887292,-5.70279784207e-05,1793192416004101120
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742,711.893615664,671.106384336,660,632,877,783,799,648.106384336,628,650,0.413111229966,-0.01555204996,0.0799005364298,0.99999998541,-7.70028741377e-05,-0.000139264716274,-6.21025998972e-05,1793192416020768000
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742,711.300979989,671.699020011,660,632,877,783,799,648.699020011,628,650,0.413851580619,-0.0155534044949,0.0799056134157,0.999999986718,-8.6884070358e-05,-0.000122428141692,-6.34579259736e-05,1793192416037435392
+154,2.566666667,POSE1_TO_POSE2_PRESS,762.714152234,742,711.285847766,672,660,632.285847766,877,783,799,648.714152234,628,650,0.414615339935,-0.0155544523354,0.0799205826044,0.999999989023,-9.42404066616e-05,-9.43679232621e-05,-6.45484141429e-05,1793192416054101760
+155,2.583333333,POSE1_TO_POSE2_PRESS,762.133318006,742,711.866681994,672,660,632.866681994,877,783,799,648.133318006,628,650,0.41540325639,-0.0155551836764,0.0799457602551,0.999999991467,-9.89911631477e-05,-5.4725233396e-05,-6.53655975138e-05,1793192416070767616
+156,2.600000000,POSE1_TO_POSE2_PRESS,762.442258598,742,712,671.557741402,660.442258598,632.557741402,877,783,799,648,628,650,0.416169081244,-0.0155529854351,0.0799392723583,0.999999990482,-9.62917971983e-05,-7.49140482791e-05,-6.44413543669e-05,1793192416087434240
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742,712,671.016626255,660.983373745,632.016626255,877,783,799,648,628,650,0.416930254926,-0.0155500653711,0.0799243093838,0.999999987734,-9.14837906725e-05,-0.000110419053855,-6.30051066886e-05,1793192416104100608
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742,712,671.60324548,660.39675452,632.60324548,877,783,799,648,628,650,0.417757597896,-0.0155523192113,0.079942199345,0.999999992201,-9.04742858045e-05,-5.99429338984e-05,-6.18012195764e-05,1793192416120767232
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742,711.811617746,672,660.188382254,632.811617746,877,783,799,648,628,650,0.418589513934,-0.0155538715995,0.0799593748627,0.999999994127,-8.8316603593e-05,-1.72424086913e-05,-6.04054463131e-05,1793192416137434112
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742,711.229578841,672,660.770421159,632.229578841,877,783,799,648,628,650,0.419430986122,-0.0155539581848,0.0799750574283,0.999999994732,-8.37596106229e-05,9.20969001243e-06,-5.86086947307e-05,1793192416154101504
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,742,711,672,660.651677818,632,877,783,799,648.348322182,628,650,0.42024280507,-0.015552224211,0.079965227811,0.99999999505,-7.96481994436e-05,-6.1860732255e-06,-5.93135799937e-05,1793192416170768384
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742,711,672,660.076472072,632,877,783,799,648.923527928,628,650,0.421035309015,-0.0155493043956,0.0799387805464,0.999999994032,-7.58270230515e-05,-4.88399120515e-05,-6.16479344956e-05,1793192416187434752
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742,711,671.501939046,660.498060954,632,877,783,799,649,628,650,0.421894339839,-0.0155521040439,0.0799532988488,0.999999994139,-8.4949366335e-05,-2.91939403679e-05,-6.04366279604e-05,1793192416204101120
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742,711.07475532,671.07475532,660.92524468,632,877,783,799,648.92524468,628,650,0.422758205419,-0.0155554168099,0.0799734311199,0.999999993834,-9.42795822266e-05,-1.56545468067e-06,-5.86664917369e-05,1793192416220767744
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742,711.667129109,671.667129109,660.332870891,632,877,783,799,648.332870891,628,650,0.423584915664,-0.0155562101331,0.0799889423049,0.999999994103,-9.1307003076e-05,1.51915826363e-05,-5.67913538314e-05,1793192416237434112
+166,2.766666667,POSE1_TO_POSE2_PRESS,762.747061271,742.252938729,711.747061271,672,660.252938729,632,877,783,799,648,628,650.252938729,0.424382260146,-0.015555110701,0.0799782317175,0.999999994119,-9.09624696163e-05,-1.27655824077e-05,-5.76535441142e-05,1793192416254100736
+167,2.783333333,POSE1_TO_POSE2_PRESS,762.169671599,742.830328401,711.169671599,672,660.830328401,632,877,783,799,648,628,650.830328401,0.425141936531,-0.0155515833837,0.0799338857974,0.99999998885,-9.39889963893e-05,-9.80787904771e-05,-6.20269743878e-05,1793192416270767616
+168,2.800000000,POSE1_TO_POSE2_PRESS,762.407183167,742.592816833,711.407183167,672,660.592816833,632,876.592816833,783,799,648,628,650.592816833,0.425953891151,-0.0155507906381,0.0799079743323,0.999999985634,-9.61104367894e-05,-0.000122460723578,-6.70685798989e-05,1793192416287434496
+169,2.816666667,POSE1_TO_POSE2_PRESS,762.983815296,742.016184704,711.983815296,672,660.016184704,632,876.016184704,783,799,648,628,650.016184704,0.426787601272,-0.0155511358827,0.0798897343543,0.999999985213,-9.78552261921e-05,-0.000121486148416,-7.2388245885e-05,1793192416304101632
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742,712,672,660,632,877.14175827,783,799.570879135,648,628,650,0.427582220445,-0.0155520732852,0.0798938862598,0.999999984531,-9.76266042475e-05,-0.000128381371959,-7.01772031234e-05,1793192416320768000
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742,711.843904156,672,660,632,877.843904156,783,799.843904156,648,628,650,0.428377703095,-0.0155530710136,0.0799016094985,0.999999984741,-9.6753726554e-05,-0.000128725857927,-6.77276792302e-05,1793192416337434624
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742,711.264513375,672,660,632,877.264513375,783,799.264513375,648,628,650,0.42917858849,-0.0155541859592,0.07991726382,0.999999987302,-9.42883193485e-05,-0.000110690005354,-6.52211869051e-05,1793192416354100992
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,742.313325424,711.313325424,672,660.313325424,632.313325424,877,783,799.313325424,648.313325424,628,650,0.429991420828,-0.0155567532226,0.0799497080244,0.999999991444,-9.68670417637e-05,-6.21915250114e-05,-6.21410509576e-05,1793192416370767360
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,742.889860446,711.889860446,672,660.889860446,632.889860446,877,783,799.889860446,648.889860446,628,650,0.430814289176,-0.0155605405084,0.0799962566,0.999999992838,-0.000103683094287,1.18971412644e-05,-5.85790245001e-05,1793192416387433984
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,742.535542946,711.535542946,672,661,633,877,783,799.535542946,648.535542946,628,650,0.431560174007,-0.0155621166376,0.0800046359313,0.999999993115,-0.000100363503235,2.21484987547e-05,-5.66191418709e-05,1793192416404100864
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742.03966935,711.03966935,672,660.96033065,632.96033065,877.03966935,783,799,648,628,650,0.432281973241,-0.0155627158291,0.0799996308354,0.999999993904,-9.47970302395e-05,1.08601819485e-05,-5.55648769332e-05,1793192416420767488
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742.629775786,711.629775786,672,660.370224214,632.370224214,877.629775786,783,799,648,628,650,0.432921823737,-0.0155570047761,0.0799339790047,0.999999989863,-9.1265505606e-05,-9.01265334281e-05,-6.1826821678e-05,1793192416437434368
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,743,712,672,660,632,877.785553015,783,799,648,628,650,0.433575880445,-0.0155534888483,0.079886109616,0.999999981047,-9.07388529098e-05,-0.000158834328189,-6.66574033326e-05,1793192416454101248
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,743,712,672,660,632,877.210033243,783,799,648,628,650,0.43425385681,-0.0155536689378,0.0798681812107,0.999999978078,-9.52716214773e-05,-0.000173192857682,-6.90779447641e-05,1793192416470767872
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.368384815,743,712,672.368384815,660.368384815,632.368384815,877,783,799.368384815,648,628,650,0.43494076489,-0.0155570565357,0.0798921820984,0.999999982783,-0.000111612214634,-0.000132145110499,-6.71824964135e-05,1793192416487434496
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.94846839,743,712,672.94846839,660.94846839,632.94846839,877,783,799.94846839,648,628,650,0.435632805695,-0.0155622873841,0.0799402783868,0.999999987195,-0.000134738379354,-5.92571785179e-05,-6.28067887923e-05,1793192416504101120
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711.477904872,672.477904872,661,632.477904872,877.522095128,783,799.477904872,648,628,650,0.436232302191,-0.0155667551067,0.0799479401593,0.999999988251,-0.000124838441333,-6.45037192617e-05,-6.1253054061e-05,1793192416520767744
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.90173416,742.90173416,711.09826584,672,660.90173416,632,878,783.09826584,799,648,628,650,0.436815091545,-0.0155711587002,0.0799469622823,0.999999988136,-0.000115905522528,-8.1454330731e-05,-6.04949760364e-05,1793192416537434112
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.309614487,742.309614487,711.690385513,672,660.309614487,632,878,783.690385513,799,648,628,650,0.437359261161,-0.0155756139206,0.0799223764541,0.999999982789,-0.000128014805849,-0.000118941354921,-6.23529019241e-05,1793192416554100736
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,742,711.723770743,672,660.276229257,632,877.723770743,783.723770743,799.276229257,648,628,650.276229257,0.437876039374,-0.0155800515317,0.0798953949182,0.999999975414,-0.000138163970493,-0.000160941213853,-6.46605286049e-05,1793192416570767616
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,742,711.144805206,672,660.855194794,632,877.144805206,783.144805206,799.855194794,648,628,650.855194794,0.438362797664,-0.0155844698435,0.0798657877838,0.999999965434,-0.000146164922174,-0.000207886957613,-6.74610093202e-05,1793192416587434496
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,742,711.429715652,672,660.570284348,632,877.429715652,783,799.570284348,648,628,650.570284348,0.438829703085,-0.0155893519797,0.0798429875786,0.999999956098,-0.000157184098085,-0.000241252092594,-6.99679686967e-05,1793192416604101376
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,742.002831194,712,672.002831194,660.002831194,632,878,783,799,648,628.002831194,650,0.439289714051,-0.0155943904526,0.0798224083794,0.999999946569,-0.000169202427915,-0.000270174737836,-7.23791682654e-05,1793192416620768256
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,742.591904939,712,672.591904939,660.591904939,632,878,783,799,648,628.591904939,650,0.439693200981,-0.0155997679444,0.0797916202558,0.999999930748,-0.000179665012211,-0.00031712025056,-7.52330744883e-05,1793192416637434624
+190,3.166666667,POSE1_TO_POSE2_PRESS,763,743,712,673,660.822203396,632,878,783,799,648,628.822203396,650,0.440077364444,-0.0156046406316,0.0797566058138,0.999999910419,-0.000188710367673,-0.000370787080769,-7.78927629253e-05,1793192416654100992
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,743,712,673,660.243487001,632,878,783,799,648,628.243487001,650,0.440417954824,-0.0156083750184,0.0797120612922,0.999999881236,-0.000194559966449,-0.00043961005476,-8.01145035232e-05,1793192416670767616
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.334141368,742.665858632,711.665858632,672.665858632,660,632,878,783,799,648,628,650,0.440761852888,-0.0156129657751,0.079687781923,0.999999863006,-0.000201627703616,-0.000476028002209,-8.2043442463e-05,1793192416687434240
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.910979438,742.089020562,711.089020562,672.089020562,660,632,878,783,799,648,628,650,0.4411081534,-0.0156181785382,0.0796782217324,0.999999855014,-0.000209580210618,-0.000488909222846,-8.37597109987e-05,1793192416704100864
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.514403605,742.485596395,711,672,660.485596395,632,877.514403605,782.514403605,799,648,628,650,0.441436364861,-0.0156278780825,0.0796917297992,0.999999862772,-0.000221766883225,-0.000467389494747,-8.26035345661e-05,1793192416720767744
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.061516906,743,711.061516906,672.061516906,660.938483094,632,877,782,799.061516906,648,628,650,0.441757059715,-0.0156382098925,0.0797090422348,0.999999872083,-0.000234516605766,-0.000440789162732,-8.08803554911e-05,1793192416737434624
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.65213535,743,711.65213535,672.65213535,660.34786465,632,877,782,799.65213535,648,628,650,0.442041496731,-0.0156469374992,0.0797228687373,0.999999876676,-0.00024546330324,-0.000424485301083,-7.87889068821e-05,1793192416754100992
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.761511471,742.761511471,712,673,659.761511471,631.761511471,877,782,800,648,628,650,0.44230285241,-0.0156533880801,0.0797289270448,0.999999877519,-0.000253500317357,-0.000417946846925,-7.75891357701e-05,1793192416770767616
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.18127044,742.18127044,712,673,659.18127044,631.18127044,877,782,800,648,628,650,0.442531132659,-0.0156565756971,0.0797238535783,0.999999873381,-0.000257367773394,-0.000425402159443,-7.76671328936e-05,1793192416787433984
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+204,3.400000000,POSE1_TO_POSE2_PRESS,763,742.69769213,711.69769213,673,659,631,877.69769213,782,800.69769213,648,628,650,0.44341731869,-0.0156755566298,0.0796735053994,0.999999830681,-0.000275979437051,-0.000506219046991,-7.88453686994e-05,1793192416887434752
+205,3.416666667,POSE1_TO_POSE2_PRESS,763,742.123370523,711.123370523,673,659,631,877.123370523,782,800.123370523,648,628,650,0.443508738149,-0.0156818353852,0.0796656382803,0.999999821172,-0.000282910858711,-0.000521018189422,-7.84746775362e-05,1793192416904102400
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.45175262,742,711,673,659,631,877.45175262,782,799.54824738,648.45175262,628,650,0.443587950348,-0.0156836444772,0.0796636512917,0.999999819322,-0.000284643885997,-0.000523637641735,-7.83389559359e-05,1793192416920768768
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742,711,673,659.0278671,631,877.9721329,782.0278671,799,649,628,650.0278671,0.443662927551,-0.0156841952752,0.0796634362268,0.99999981971,-0.000284934791209,-0.000522754305012,-7.82359346566e-05,1793192416937434880
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742,711,673,659.619603655,631,877.380396345,782.619603655,799,649,628,650.619603655,0.443719788013,-0.0156840279576,0.0796665243275,0.999999822057,-0.000284821960258,-0.000518417234155,-7.74938695996e-05,1793192416954101504
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.793169712,742,711.206830288,673,659.793169712,631,877.206830288,782.793169712,799.206830288,649,628,650.793169712,0.443770535941,-0.0156841376253,0.0796682929164,0.999999823068,-0.00028556373766,-0.00051611608974,-7.70813706418e-05,1793192416970767872
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.214060661,742,711.785939339,673,659.214060661,631,877.785939339,782.214060661,799.785939339,649,628,650.214060661,0.44381028177,-0.015684745845,0.0796676864839,0.999999821696,-0.000287843745026,-0.000517479458329,-7.72620656422e-05,1793192416987434496
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.362358815,742.362358815,712,673,659,631,878,781.637641185,800,649,628,650,0.443840833481,-0.0156854510663,0.0796659055066,0.999999819608,-0.000290353106107,-0.000520130483156,-7.70973004095e-05,1793192417004101120
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.937201206,742.937201206,712,673,659,631,878,781.062798794,800,649,628,650,0.443865993858,-0.0156862131683,0.0796634357878,0.999999817087,-0.000292996958121,-0.000523536576814,-7.67299607763e-05,1793192417020767488
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.476742447,743,711.476742447,672.476742447,659,631,877.476742447,781.523257553,800,649,628,650,0.443880184454,-0.0156854673056,0.0796615722831,0.999999815205,-0.000293204269439,-0.000526953254051,-7.70756680889e-05,1793192417037434112
+214,3.566666667,POSE1_TO_POSE2_PRESS,763,742.890826023,711,672.109173977,659,631,877.109173977,782,800,649,628,650,0.443891427798,-0.0156849200777,0.0796595868541,0.999999813314,-0.000292814239845,-0.000530717105706,-7.72687135325e-05,1793192417054100480
+215,3.583333333,POSE1_TO_POSE2_PRESS,763,742.311435609,711,672.688564391,659,631,877.688564391,782,800,649,628,650,0.443895771781,-0.0156860249293,0.079656756072,0.999999811066,-0.000291138494214,-0.000535970661204,-7.64275859251e-05,1793192417070767104
+216,3.600000000,POSE1_TO_POSE2_PRESS,763,742,711,673,659,631,878,781.733965791,799.733965791,648.733965791,627.733965791,650,0.443902003431,-0.0156858807343,0.0796563230674,0.999999811102,-0.000289492319081,-0.000536904168877,-7.56531188506e-05,1793192417087433728
+217,3.616666667,POSE1_TO_POSE2_PRESS,763,742,711,673,659,631,878,781.158728256,799.158728256,648.158728256,627.158728256,650,0.44391042906,-0.015684284811,0.0796586769256,0.999999813806,-0.000287880512927,-0.000532816618386,-7.4956129301e-05,1793192417104100352
+218,3.633333333,POSE1_TO_POSE2_PRESS,763,742.41667992,711.41667992,673,659,631.41667992,877.58332008,781.41667992,799.41667992,648.41667992,627.41667992,650,0.443914075991,-0.0156857948119,0.0796594900297,0.999999814085,-0.000289053210197,-0.000531736784442,-7.43936095917e-05,1793192417120767232
+219,3.650000000,POSE1_TO_POSE2_PRESS,763,742.992153112,711.992153112,673,659,631.992153112,877.007846888,781.992153112,799.992153112,648.992153112,627.992153112,650,0.443915901801,-0.0156884884549,0.0796597159653,0.999999813439,-0.00029128705874,-0.000531803166505,-7.38823352426e-05,1793192417137433856
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.582347325,743,712,673,659,631.417652675,877.582347325,781.417652675,800,648.417652675,628,650,0.443917861314,-0.0156870472234,0.0796599681938,0.999999814057,-0.000290640819215,-0.000531000984616,-7.38361643365e-05,1793192417154100480
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.830570282,743,711.830570282,673,659,631,877.830570282,781,800,648,628,650,0.443919531898,-0.0156859992252,0.0796601036042,0.99999981431,-0.000290650347869,-0.000530511797869,-7.38832727213e-05,1793192417170767360
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.251503564,743,711.251503564,673,659,631,877.251503564,781,800,648,628,650,0.443920499454,-0.0156860401627,0.0796599557,0.999999813641,-0.00029234161453,-0.000530808382056,-7.41403610608e-05,1793192417187433984
+223,3.716666667,POSE1_TO_POSE2_PRESS,763,743,711,673,659,631,877,781,800,648,628,650,0.443919801401,-0.0156862348174,0.0796588836982,0.999999812478,-0.000292736375888,-0.00053278283138,-7.41058870294e-05,1793192417204101120
+224,3.733333333,POSE1_TO_POSE2_PRESS,763,743,711,673,659,631,877,781,800,648,628,650,0.44391782449,-0.0156865474964,0.0796571021724,0.999999810929,-0.000292135678132,-0.000536045548842,-7.384755087e-05,1793192417220768768
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+226,3.766666667,POSE1_TO_POSE2_PRESS,763.049019122,743,711,672.049019122,659,631,878,782,800.049019122,648.049019122,627.950980878,650,0.44391823958,-0.0156865347467,0.0796557710975,0.999999810373,-0.000291293510057,-0.000537537498862,-7.38610200758e-05,1793192417254100992
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.641997452,743,711,672.641997452,659,631,878,782,800.641997452,648.641997452,627.358002548,650,0.443919229866,-0.0156861243574,0.0796567739501,0.99999981097,-0.000291689594186,-0.000536226657861,-7.37488515499e-05,1793192417270767616
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711.229438268,672.770561732,659,631,878,781.770561732,800.770561732,648.770561732,627.229438268,650,0.443919681163,-0.0156856366467,0.079657326821,0.999999810895,-0.000292461388231,-0.000535928044481,-7.38687131639e-05,1793192417287434240
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711.808442247,672.191557753,659,631,878,781.191557753,800.191557753,648.191557753,627.808442247,650,0.443919311271,-0.0156850311311,0.0796571941124,0.999999809799,-0.000293805603342,-0.0005371716328,-7.43420893985e-05,1793192417304101120
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711.041843678,672.958156322,659,631,877.041843678,781.958156322,800,648,628,650,0.443920501793,-0.0156809225739,0.0796569061536,0.999999812263,-0.000287802741266,-0.00053588887294,-7.39402199899e-05,1793192417337434880
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.454580794,742.454580794,711,672.454580794,659,631,877,781.454580794,799.454580794,648,628,650,0.443923264433,-0.0156814366047,0.0796581086637,0.999999813967,-0.000286832082312,-0.000533293834237,-7.34239786957e-05,1793192417354101504
+233,3.883333333,POSE1_TO_POSE2_PRESS,763,742,711,672,659,631,877.131697475,781,799.131697475,648,628,650,0.44392613129,-0.0156818217596,0.0796594209407,0.999999815614,-0.000286245572761,-0.000530552565049,-7.3142889888e-05,1793192417370767872
+234,3.900000000,POSE1_TO_POSE2_PRESS,763,742,711,672,659,631,877.711092924,781,799.711092924,648,628,650,0.443928824258,-0.0156810055942,0.0796607458744,0.999999817078,-0.000286191947707,-0.000527736511598,-7.37097411067e-05,1793192417387434496
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.288485531,742.288485531,711,672.288485531,659,631,877.711514469,781.288485531,800,648.288485531,628,650,0.44393095368,-0.0156802016885,0.0796621116647,0.999999818517,-0.000284358782607,-0.000526016489877,-7.35770154039e-05,1793192417404100864
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.863886266,742.863886266,711,672.863886266,659,631,877.136113734,781.863886266,800,648.863886266,628,650,0.443932522624,-0.0156794099755,0.0796635180894,0.999999819926,-0.000280755764104,-0.000525386533468,-7.27485208855e-05,1793192417420767488
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.560787451,743,711,672.560787451,659,631.439212549,877.439212549,782,800,648.560787451,628,650,0.443936254206,-0.0156788197575,0.0796654928443,0.999999821804,-0.000280607094439,-0.000521915302775,-7.24960780985e-05,1793192417437434112
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.014895073,742.985104927,711,672.014895073,659,631.985104927,877.985104927,781.985104927,800,648,627.985104927,650,0.443940612835,-0.0156782550997,0.0796676258215,0.999999823807,-0.000281473445962,-0.000517602183565,-7.24389255361e-05,1793192417454100992
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.605232913,742.394767087,711,672.605232913,659,631.394767087,877.394767087,781.394767087,800,648,627.394767087,650,0.443943308337,-0.0156762659066,0.0796690682133,0.999999825579,-0.000280202850312,-0.000514775832227,-7.30307985375e-05,1793192417470767872
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.808172832,742,711,673,659,631,877.191827168,781,800,648.191827168,627.191827168,650,0.443945271143,-0.0156749971598,0.0796700831471,0.999999826816,-0.000278971815459,-0.000513001335057,-7.33027843155e-05,1793192417487434496
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.229135179,742,711,673,659,631,877.770864821,781,800,648.770864821,627.770864821,650,0.443945754972,-0.0156751826616,0.0796702352402,0.999999826984,-0.000277820635667,-0.000513350045982,-7.29290654494e-05,1793192417504101120
+242,4.033333333,HOLD_POSE2,763,742,711,672,659,632,878,782,799,648,628,651,0.443947208178,-0.015676047626,0.0796711356648,0.99999982799,-0.000277846830975,-0.000511377749225,-7.28983884025e-05,1793192417539698688
+243,4.050000000,HOLD_POSE2,763,742.591042361,711,672.591042361,659,631.408957639,878,782,799.591042361,648,628,651,0.443950352386,-0.0156751346808,0.0796724708743,0.999999829982,-0.000275088987915,-0.000509040931116,-7.23765920429e-05,1793192417556365312
+244,4.066666667,HOLD_POSE2,763,742.821764336,711,673,659,631,878,782,800,648,628,650.821764336,0.443953196846,-0.0156740240918,0.0796740454193,0.999999831826,-0.000273121309575,-0.000506530916437,-7.19728759788e-05,1793192417573032192
+245,4.083333333,HOLD_POSE2,763,742.243215804,711,673,659,631,878,782,800,648,628,650.243215804,0.44395536808,-0.0156724695998,0.0796761575065,0.999999833352,-0.000272928321005,-0.000503631906126,-7.18343652205e-05,1793192417589698816
+246,4.100000000,HOLD_POSE2,763,742.333850966,711,673,659,631,877.666149034,782,800,648,628,650,0.443956550921,-0.015670818617,0.0796769902992,0.999999834563,-0.000271061925168,-0.00050223152812,-7.18568607695e-05,1793192417606365696
+247,4.116666667,HOLD_POSE2,763,742.909842984,711,673,659,631,877.090157016,782,800,648,628,650,0.443957016885,-0.01566909765,0.0796768952235,0.99999983554,-0.000267981812329,-0.000501918103571,-7.19961336934e-05,1793192417623032576
+248,4.133333333,HOLD_POSE2,763.483803737,742.516196263,711.483803737,673,659,631,877,782,799.516196263,648.483803737,628,650,0.443957511148,-0.0156696794636,0.0796768858971,0.999999834718,-0.000271062593246,-0.000501819783955,-7.25685784484e-05,1793192417639699200
+249,4.150000000,HOLD_POSE2,763.940678748,742.059321252,712,673,659,631,877.059321252,782,799,648.940678748,628,650,0.443957955713,-0.0156706701789,0.079676854628,0.999999833671,-0.000274744801393,-0.000501824925311,-7.31099869882e-05,1793192417656365824
+250,4.166666667,HOLD_POSE2,763.347767683,742.652232317,712,673,659,631,877.652232317,782,799,648.347767683,628,650,0.443957906018,-0.0156714951343,0.0796764828527,0.999999833742,-0.000273553044798,-0.000502401636918,-7.2649177643e-05,1793192417673031936
+251,4.183333333,HOLD_POSE2,763,742.762079006,711.762079006,673,659,631,877.762079006,781.762079006,799,648.237920994,628,650,0.44395735071,-0.0156722522837,0.0796759866145,0.999999833364,-0.000273507344344,-0.000503233202622,-7.22682726682e-05,1793192417689698560
+252,4.200000000,HOLD_POSE2,763,742.186636273,711.186636273,673,659,631,877.186636273,781.186636273,799,648.813363727,628,650,0.443956078124,-0.0156729132417,0.0796753138094,0.999999832348,-0.000275087473035,-0.000504426311813,-7.20007224292e-05,1793192417706365184
+253,4.216666667,HOLD_POSE2,763,742.388732057,711,672.611267943,659.388732057,631,877.388732057,781,799.388732057,648.611267943,628,650,0.443955823893,-0.0156718201217,0.0796751435263,0.999999832739,-0.000273550472051,-0.000504484465985,-7.20273076607e-05,1793192417723031808
+254,4.233333333,HOLD_POSE2,763,742.964064722,711,672.035935278,659.964064722,631,877.964064722,781,799.964064722,648.035935278,628,650,0.443956058496,-0.0156698850026,0.0796752144655,0.999999833797,-0.000270517175021,-0.000503997814929,-7.21950848709e-05,1793192417739698432
+255,4.250000000,HOLD_POSE2,763,742.4467369,711,672.5532631,659.4467369,631,877.4467369,781,799.4467369,648,628,650,0.443956685596,-0.0156691161678,0.0796759853403,0.999999835087,-0.000267991912999,-0.000502803522909,-7.20689949488e-05,1793192417756365056
+256,4.266666667,HOLD_POSE2,763,742.140661344,711,672.859338656,659,631,877,781.140661344,799.140661344,648,628,650,0.443957401532,-0.0156688774147,0.0796767889427,0.999999835942,-0.00026666147002,-0.000501832309756,-7.19212608219e-05,1793192417773032192
+257,4.283333333,HOLD_POSE2,763,742.719573085,711,672.280426915,659,631,877,781.719573085,799.719573085,648,628,650,0.443958312785,-0.0156700481235,0.0796775492291,0.999999835405,-0.000268948203237,-0.000501703013591,-7.17670883841e-05,1793192417789698816
+258,4.300000000,HOLD_POSE2,763,742.705824684,711,672.294175316,659.294175316,631.294175316,877,782,799.705824684,648,628,650,0.443958716166,-0.0156703594882,0.0796778669306,0.999999835135,-0.000270536735269,-0.000501391883141,-7.17417634933e-05,1793192417806365440
+259,4.316666667,HOLD_POSE2,763,742.13527128,711,672.86472872,659.86472872,631.86472872,877,782,799.13527128,648,628,650,0.443958642399,-0.0156698634981,0.0796777688229,0.999999835117,-0.00027146930625,-0.000500909919154,-7.18374910486e-05,1793192417823031808
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+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.592373768,742,711,672.592373768,659,631,877.592373768,781.592373768,799.592373768,648,628,650,0.443958146613,-0.0156693127655,0.0796760996505,0.999999834718,-0.000270500310299,-0.000502207274253,-7.19868233316e-05,1793192417872431104
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.819429307,659,631,878,782,800,648.180570693,628,650,0.443958237161,-0.0156690522947,0.0796764728566,0.999999834876,-0.000270328685347,-0.000502005994573,-7.18408304462e-05,1793192417889097728
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.240448043,659,631,878,782,800,648.759551957,628,650,0.443956576774,-0.0156690293093,0.0796759017114,0.999999834151,-0.000270526612844,-0.000503373650465,-7.16154223399e-05,1793192417905764608
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.663953906,742.336046094,711,672.336046094,659,631.336046094,878,782,799.663953906,648.663953906,628,650,0.443957067917,-0.0156692291206,0.0796763336087,0.999999834534,-0.000270510384117,-0.000502660281152,-7.13286247845e-05,1793192417922431232
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.089226323,742.910773677,711,672.910773677,659,631.910773677,878,782,799.089226323,648.089226323,628,650,0.443959087214,-0.0156695871766,0.0796774779313,0.999999835703,-0.000270342047892,-0.000500468834177,-7.0998224518e-05,1793192417939097856
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,631.504786983,877.504786983,782,799,648,627.504786983,650,0.443958509239,-0.015669425396,0.0796771533641,0.999999835588,-0.000271156079339,-0.000500245446431,-7.10835616824e-05,1793192417955764736
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,743,711.080730629,672.919269371,659,631.080730629,877.080730629,782,799.080730629,648,627.080730629,650,0.443956427934,-0.0156689886584,0.0796760877338,0.999999834929,-0.000271627240873,-0.000501280343919,-7.12599914299e-05,1793192417972431360
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,743,711.661868571,672.338131429,659,631.661868571,877.661868571,782,799.661868571,648,627.661868571,650,0.443947986987,-0.0156674397864,0.0796721019493,0.999999832333,-0.000268854047299,-0.00050787274826,-7.15274619107e-05,1793192417989097728
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742.757824837,712,672.242175163,659,631.757824837,878,781.757824837,800,648,628,650.242175163,0.443930864883,-0.0156660935799,0.0796656858172,0.999999826952,-0.000266582746823,-0.000519497620098,-7.17754832678e-05,1793192418005764096
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742.178675076,712,672.821324924,659,631.178675076,878,781.178675076,800,648,628,650.821324924,0.443901663385,-0.0156650293723,0.0796558879785,0.999999817504,-0.000265009805611,-0.000538124917522,-7.19964421077e-05,1793192418022430720
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742,711.604060698,672.604060698,659,631,877.604060698,781.395939302,800,648.395939302,627.604060698,650.604060698,0.44385597833,-0.0156625499064,0.0796457300881,0.999999806616,-0.000263622299889,-0.000558629851338,-7.21438545529e-05,1793192418039098112
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742,711.031469769,672.031469769,659,631,877.031469769,781.968530231,800,648.968530231,627.031469769,650.031469769,0.443802938996,-0.0156594390112,0.0796354115568,0.9999997948,-0.000262317527547,-0.000579972509772,-7.22584536582e-05,1793192418055765504
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.556669291,742,711,672.556669291,659.556669291,631,877.556669291,781.443330709,800,648.443330709,627.556669291,650,0.443736285735,-0.0156552504618,0.0796325034474,0.999999794881,-0.000259178772973,-0.000581463311847,-7.04571119663e-05,1793192418072431872
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.856230354,742,711,672.856230354,659.856230354,631,878,781.143769646,800.143769646,648,628,650.143769646,0.443662608428,-0.0156507123161,0.0796313253347,0.999999796196,-0.000255681775828,-0.000581002201099,-6.83429305998e-05,1793192418089098240
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.275041228,742,711,672.275041228,659.275041228,631,878,781.724958772,800.724958772,648,628,650.724958772,0.443569969302,-0.0156453012036,0.0796340995287,0.999999799133,-0.000251419331785,-0.000578115010368,-6.56159429649e-05,1793192418105764352
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.302808361,659,631,878,782,800.394383278,648,628,650.697191639,0.4434637806,-0.0156398600655,0.0796368592666,0.999999802746,-0.000247757721703,-0.000573814627589,-6.21397741738e-05,1793192418122430976
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.877657697,659,631,878,782,799.244684607,648,628,650.122342303,0.443345419057,-0.0156343919531,0.0796396060171,0.999999806944,-0.00024463589702,-0.000568244642832,-5.79905462833e-05,1793192418139097600
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,659.452183289,631,878,782,799.452183289,648,628,650.452183289,0.443195261641,-0.0156291810929,0.0796387164776,0.99999980772,-0.000237517887297,-0.000570422023338,-5.25748292596e-05,1793192418155764224
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,660,631,878,782,799.972504553,648,628,650.972504553,0.443035297429,-0.0156237859421,0.0796370668877,0.999999807758,-0.000229136509276,-0.000574273619377,-4.68090127851e-05,1793192418172430848
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,660,631,878,782,799.379205024,648,628,650.379205024,0.44285042774,-0.01561316719,0.0796400078012,0.999999813471,-0.000216990620805,-0.000569474081721,-4.08850635229e-05,1793192418189097728
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,659.792106464,631,878,782,799,648,627.792106464,650.207893536,0.442647844217,-0.0156027916429,0.0796431286347,0.999999819517,-0.000203201383971,-0.000564369268312,-3.40833632579e-05,1793192418205764608
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,659.215991147,631,878,782,799,648,627.215991147,650.784008853,0.442413885906,-0.0155928468629,0.0796465681428,0.999999826192,-0.000186501443875,-0.000558723749919,-2.57269878756e-05,1793192418222431488
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.359616125,742,711,672.640383875,659,631,877.640383875,782,799,648,627.359616125,651,0.442156033464,-0.0155801777783,0.0796505037868,0.999999836875,-0.000136065513714,-0.000554459417128,-1.76294677875e-05,1793192418239098112
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.934918743,742,711,672.065081257,659,631,877.065081257,782,799,648,627.934918743,651,0.441883850049,-0.0155658747402,0.079654736998,0.999999846001,-6.53957907297e-05,-0.000551023473481,-9.68720012578e-06,1793192418255764480
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.476938211,742.523061789,711,672.523061789,659,631.523061789,877,782,799.523061789,648.523061789,628,651,0.441575778657,-0.0155547534633,0.0796581487595,0.999999849536,-4.99505748899e-05,-0.000546284858736,-2.40931891627e-06,1793192418272431104
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,659.110792136,632,877,782,799.889207864,648.889207864,628,650.889207864,0.441250798425,-0.0155426355534,0.0796591429567,0.999999851205,-4.41044243519e-05,-0.000543726639848,2.27183705295e-06,1793192418289097472
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,659.689855816,632,877,782,799.310144184,648.310144184,628,650.310144184,0.440873699527,-0.0155245899394,0.0796503619928,0.999999846942,-4.90567810017e-05,-0.000551086327965,-3.66408049696e-06,1793192418305764352
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,742.732193106,711,672.732193106,660,632,877,782,799,648,628,650,0.440467269627,-0.015508372782,0.0796408431866,0.999999841948,-3.44638552465e-05,-0.000561153345743,-4.82378633437e-06,1793192418322431232
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742.155525224,711,672.155525224,660,632,877,782,799,648,628,650,0.440027012384,-0.0154942643798,0.0796304734293,0.999999835062,2.67059386047e-06,-0.000574342718699,-4.75099349992e-07,1793192418339097856
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,660,632,877.418826096,782.418826096,799,648,628,650,0.439578915287,-0.0154835386565,0.0796291217744,0.999999836825,1.56337475793e-05,-0.000571055862164,2.94611879408e-07,1793192418355764480
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,660,632,877.992321912,782.992321912,799,648,628,650,0.439127922993,-0.0154740621345,0.0796311004455,0.999999842062,1.96706002615e-05,-0.000561684442443,-2.57369165891e-07,1793192418372431104
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742.58306365,711,672,660,632,877.41693635,783,799,648,628,650,0.438672278247,-0.0154732253016,0.0796720423995,0.999999874471,2.34761996635e-05,-0.000500501248848,2.09977650161e-06,1793192418389097216
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,743,711.170450103,672.170450103,660,632,877,783,799,648,628,650,0.438199183931,-0.0154685682567,0.0797163594447,0.999999904537,3.37751565833e-05,-0.000435616231202,4.95350246461e-06,1793192418405764096
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,743,711.749237763,672.749237763,660,632,877,783,799,648,628,650,0.437684437988,-0.0154544784847,0.0797674953539,0.999999932099,5.96373957346e-05,-0.000363547306189,8.90228536751e-06,1793192418422430720
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.326317153,742.673682847,712,673,660,632,877.326317153,783.326317153,799.326317153,648,628,650,0.437121191871,-0.0154419075119,0.0798015663155,0.999999947132,8.20206099548e-05,-0.000314370751352,1.34382398554e-05,1793192418439097344
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.9020907,742.0979093,712,673,660,632,877.9020907,783.9020907,799.9020907,648,628,650,0.436520869258,-0.0154304975989,0.0798225918134,0.999999954696,0.000101744251811,-0.000282694489836,1.84230639415e-05,1793192418455764224
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763.513459838,742.486540162,712,672.513459838,660,632,877.513459838,783.513459838,799.513459838,648,628,650,0.435889779711,-0.0154251713375,0.0798229866677,0.999999955757,0.000108161294168,-0.000276459800975,1.8920267993e-05,1793192418472430848
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,742.928132165,711.928132165,672,660,632,877.071867835,783,799,648,628,650,0.435245432115,-0.0154220190702,0.0798185444909,0.999999955087,0.000111768711413,-0.000277462693931,1.86735752991e-05,1793192418489097216
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763,742.349150498,711.349150498,672,660,632,877.650849502,783,799,648,628,650,0.434552013754,-0.0154254115573,0.0798097978061,0.999999950366,0.000114788740641,-0.000292753504546,1.9665731309e-05,1793192418505763840
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.229397789,660,632.229397789,877.770602211,783,799,648.229397789,628,650,0.433842567522,-0.0154284246162,0.0798043648027,0.999999947649,0.000113485805967,-0.000302298072705,2.09417891701e-05,1793192418522430464
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.807287668,660,632.807287668,877.192712332,783,799,648.807287668,628,650,0.433108772424,-0.0154308612626,0.079803965814,0.999999948227,0.000105615594551,-0.000303113174677,2.26491394931e-05,1793192418539097088
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742,711.38419488,672.61580512,660,632.61580512,877,783.38419488,799,648.61580512,628,650,0.432297804451,-0.0154270471615,0.0797783157162,0.999999930286,0.000114400374348,-0.000354787539617,2.16168634756e-05,1793192418555763712
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763,742,711.960610425,672.039389575,660,632.039389575,877,783.960610425,799,648.039389575,628,650,0.431448225311,-0.0154201056818,0.0797400319647,0.999999897895,0.000131517991297,-0.00043190784673,1.92138954199e-05,1793192418572430592
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632,876.450270617,783.450270617,799.549729383,648,628,650,0.430681794621,-0.0154163523316,0.079748495758,0.999999902337,0.000137801691212,-0.000419475371054,1.94196692303e-05,1793192418589097216
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,742,711.283941647,672,660,632,876,783,799.283941647,648,628,650,0.42918934979,-0.0154213238086,0.0798425930114,0.999999953688,0.000140477716888,-0.000268488240054,2.83553275359e-05,1793192418622430464
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,660,632,876.292505303,783,799,648,628,650,0.428398807647,-0.0154249456311,0.0798767543477,0.999999966987,0.000140251332568,-0.000212848923795,3.24211921413e-05,1793192418639097344
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,660,632,876.866575633,783,799,648,628,650,0.427557223983,-0.0154260946696,0.0798776320737,0.999999967472,0.000140984273299,-0.000209870903457,3.36826273499e-05,1793192418655763968
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,660,632.451223105,876.548776895,783,799,648,628,650,0.426661113903,-0.0154208740549,0.0798348866447,0.999999952231,0.000146803178192,-0.000270379752884,2.96932793064e-05,1793192418672430592
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742,711.038483658,672,660,632.961516342,876.038483658,783,799,648,628,650,0.425749434728,-0.015414065553,0.0797816652793,0.999999927768,0.000153847087288,-0.000346696936974,2.44340060736e-05,1793192418689096960
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742,712,671.350080075,660,632,877.649919925,783,799,648,628,650,0.422223905005,-0.0154076095888,0.0797690591789,0.99999991991,0.000164342366797,-0.00036399798406,2.60324825399e-05,1793192418755764480
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711.489473025,672,660,632,877,783,799,648,628,650,0.420605605292,-0.0154137077884,0.0798618172201,0.999999964384,0.000173522395168,-0.000199670996077,3.54160012934e-05,1793192418789098496
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742,711.679745206,672,660,632,876.320254794,783,798.320254794,648,628,650,0.418843474821,-0.0154106016958,0.0798491610819,0.999999956741,0.000181983315258,-0.000228237729679,3.6156958918e-05,1793192418822430976
+319,5.316666667,POSE2_TO_POSE3_RETREAT,762.741297517,742,712,671.741297517,660,632,876,783,798.258702483,648.258702483,628,650,0.417951828013,-0.015407559896,0.0798185429431,0.999999942851,0.000183752454591,-0.000281948016997,3.22081543285e-05,1793192418839097600
+320,5.333333333,POSE2_TO_POSE3_RETREAT,762.16606233,742,712,671.16606233,660,632,876,783,798.83393767,648.83393767,628,650,0.417094690329,-0.0154060148039,0.0798002279975,0.999999934526,0.000181142900465,-0.000312073178111,2.73082032922e-05,1793192418855764224
+321,5.350000000,POSE2_TO_POSE3_RETREAT,762.407842812,742,712,671.407842812,660,632,876,783,799,648.592157188,628,650,0.416252851573,-0.0154058779218,0.0798026866123,0.999999932258,0.000180501195245,-0.000319540888431,2.82469947629e-05,1793192418872431104
+322,5.366666667,POSE2_TO_POSE3_RETREAT,762.981208123,742,712,671.981208123,660,632,876,783,799,648.018791877,628,650,0.41541722192,-0.0154063125601,0.0798135761518,0.999999932681,0.00018065813926,-0.000317813098747,3.15554329307e-05,1793192418889097984
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,712,671.425997223,660,632,876.574002777,783,799,648,628,649.425997223,0.414603563918,-0.0154045498485,0.0797982761045,0.99999992548,0.0001841767834,-0.000338036972766,2.91585591647e-05,1793192418905764608
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,711.837648946,671,660,632,876.837648946,783,799,648,628,649.162351054,0.413813424749,-0.0154042180099,0.0797914586693,0.999999923733,0.000186714544879,-0.000341916805349,2.76486491427e-05,1793192418922431744
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742,711.262286861,671,660,632,876.262286861,783,799,648,628,649.737713139,0.413081222078,-0.0154077156396,0.0798084780711,0.999999936497,0.000186467215905,-0.000302326128429,2.8886929757e-05,1793192418939098624
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742,711.313619886,671,660,632,876.313619886,783,799.313619886,648,628,650,0.412344702388,-0.0154084818391,0.0798157820932,0.999999940873,0.000185770045674,-0.000287958489701,2.86912113813e-05,1793192418955765248
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711.522688641,671,660,632,877,782.522688641,799.045377282,648,628,649.522688641,0.410867036378,-0.0154056437847,0.0798042541767,0.999999932131,0.000183790290143,-0.000318208296685,2.65247207413e-05,1793192418989097728
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,762.222430743,742,711.222430743,671.222430743,659,632,877,783,799.777569257,648,628.222430743,650,0.408889126917,-0.0154002502057,0.0798322602744,0.999999943132,0.000197947105921,-0.000271539662819,2.86085828021e-05,1793192419039097600
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.297518213,659,632.297518213,876,783,799,648,629,650.297518213,0.405556272154,-0.0153892920637,0.0797979968788,0.999999924417,0.00022172549838,-0.00031831529381,2.60718801201e-05,1793192419139098624
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742,711,670.722420146,659,632,876,782.722420146,799,648,628.722420146,650,0.405128912143,-0.0153891912856,0.0798176335711,0.999999933975,0.000224494714498,-0.000284408234854,2.76474615254e-05,1793192419155764992
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742,711,670.333145313,659,632.333145313,877,783,798.666854687,648,628,650,0.401879454888,-0.0153800943653,0.079846730702,0.999999935463,0.000240666763576,-0.000264787017645,3.22844310066e-05,1793192419339097344
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,742,711.243501583,670,659.243501583,632,876.756498417,783,799,648,628,650,0.401732738212,-0.0153798279867,0.0798533302187,0.999999938194,0.000240747545025,-0.000254087587791,3.30367883813e-05,1793192419355763968
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763,742,711.816738509,670,659.816738509,632,876.183261491,783,799,648,628,650,0.40160570783,-0.0153776656258,0.0798586860746,0.999999940538,0.000238086145536,-0.00024727558851,3.3084766227e-05,1793192419372430592
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763,742,712,670.400732497,659.599267503,632,876,783,799,648,628,650.400732497,0.401497019997,-0.0153773672041,0.0798602842814,0.999999942082,0.00023493443622,-0.000244036531238,3.29852859168e-05,1793192419389097472
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,712,670.989781612,659.010218388,632,876,783,799,648,628,650.989781612,0.401396951883,-0.0153779447049,0.0798601166529,0.999999943256,0.000231552314891,-0.000242476509541,3.28165104538e-05,1793192419405764096
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.696434482,742,711.696434482,670,659,633,876,783,799.696434482,648,628,650.696434482,0.401116236715,-0.0153748511495,0.0798454629888,0.999999931361,0.000253520639559,-0.000268582942497,2.94826425944e-05,1793192419472431104
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.122229834,742,711.122229834,670,659,633,876,783,799.122229834,648,628,650.122229834,0.401081256581,-0.0153753896943,0.0798446181114,0.999999931175,0.000255218699324,-0.000267642920626,2.96918925087e-05,1793192419489097728
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.790385148,659.209614852,633,876.790385148,783,798,648,628,650,0.40100483964,-0.0153762586288,0.0798453435892,0.999999931424,0.000253135281003,-0.000268672319982,2.98291918234e-05,1793192419555764224
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763,742,711,671.215356763,659.784643237,633,876.215356763,783,798,648,628,650,0.400999134113,-0.0153747422296,0.0798447129794,0.999999930707,0.000255506167837,-0.000269172987778,2.91188918518e-05,1793192419572430848
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.955813118,742,711.955813118,671,659.044186882,633,876,783,798.955813118,648,628,650,0.400993193559,-0.0153753982144,0.0798440901761,0.999999930939,0.000255678350317,-0.000268166476465,2.89441247748e-05,1793192419605764096
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_08/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..64150f5313b65d2288c6c93aaca1f33d61d49a2d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,394 @@
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+357,5.950000000,pose2_to_pose3_retreat,0.57584129885,-0.00994541000969,1.0700293477,0.546412028874,-0.00127268165279,1.06969862815
+358,5.966666667,pose2_to_pose3_retreat,0.575804590029,-0.00994540258487,1.07002931874,0.546375319881,-0.00127267457896,1.06969860538
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+360,6.000000000,pose2_to_pose3_retreat,0.57575621137,-0.00994544493071,1.07002914107,0.546326942051,-0.00127271401527,1.06969843024
+361,6.016666667,pose2_to_pose3_retreat,0.575741098787,-0.00994541069128,1.0700289512,0.546311828085,-0.00127268450248,1.06969823957
+362,6.033333333,pose2_to_pose3_retreat,0.575730106302,-0.00994541378966,1.07002906372,0.546300836137,-0.00127268562357,1.06969835628
+363,6.050000000,pose2_to_pose3_retreat,0.575722878871,-0.00994540368726,1.0700290483,0.546293608638,-0.0012726757963,1.06969833965
+364,6.066666667,pose2_to_pose3_retreat,0.575718479213,-0.00994538379243,1.07002893088,0.546289208375,-0.00127265812534,1.06969821767
+365,6.083333333,pose2_to_pose3_retreat,0.575716114231,-0.00994537986857,1.07002901351,0.546286843158,-0.0012726549489,1.06969830157
+366,6.100000000,pose2_to_pose3_retreat,0.575714866579,-0.00994537843,1.07002907069,0.54628559539,-0.00127265386284,1.06969835978
+367,6.116666667,pose2_to_pose3_retreat,0.57571418565,-0.00994537764487,1.0700291019,0.546284914399,-0.0012726532701,1.06969839154
+368,6.133333333,pose2_to_pose3_retreat,0.575713639172,-0.00994537701476,1.07002912695,0.54628436787,-0.0012726527944,1.06969841703
+369,6.150000000,pose2_to_pose3_retreat,0.575713398821,-0.00994537673763,1.07002913797,0.546284127497,-0.00127265258518,1.06969842825
+370,6.166666667,pose2_to_pose3_retreat,0.575713314856,-0.00994537664082,1.07002914181,0.546284043524,-0.00127265251209,1.06969843216
+371,6.183333333,pose2_to_pose3_retreat,0.575712996852,-0.00994538446512,1.07002914915,0.546283725518,-0.0012726603709,1.06969843875
+372,6.200000000,pose2_to_pose3_retreat,0.575712559613,-0.00994540101156,1.07002915412,0.546283288297,-0.00127267692567,1.06969844197
+373,6.216666667,pose2_to_pose3_retreat,0.575712366832,-0.00994540830701,1.07002915631,0.546283095522,-0.00127268422479,1.06969844339
+374,6.233333333,pose2_to_pose3_retreat,0.575712221263,-0.00994541381579,1.07002915797,0.546282949959,-0.00127268973634,1.06969844447
+375,6.250000000,pose2_to_pose3_retreat,0.575712089535,-0.00994541880075,1.07002915946,0.546282818237,-0.00127269472381,1.06969844544
+376,6.266666667,pose2_to_pose3_retreat,0.575712054053,-0.00994542014352,1.07002915987,0.546282782755,-0.00127269606726,1.0696984457
+377,6.283333333,pose2_to_pose3_retreat,0.575711985998,-0.00994542271892,1.07002916064,0.546282714703,-0.00127269864395,1.0696984462
+378,6.300000000,pose2_to_pose3_retreat,0.575711850698,-0.00994542783909,1.07002916218,0.546282579408,-0.0012727037667,1.0696984472
+379,6.316666667,pose2_to_pose3_retreat,0.575711571713,-0.00994543839672,1.07002916535,0.546282300434,-0.00127271432964,1.06969844926
+380,6.333333333,pose2_to_pose3_retreat,0.575711290998,-0.00994544901983,1.07002916854,0.54628201973,-0.0012727249581,1.06969845133
+381,6.350000000,pose2_to_pose3_retreat,0.575711267876,-0.00994544989485,1.0700291688,0.546281996609,-0.00127272583356,1.0696984515
+382,6.366666667,pose2_to_pose3_retreat,0.575710848339,-0.00994546577137,1.07002917357,0.546281577089,-0.00127274171807,1.06969845459
+383,6.383333333,pose2_to_pose3_retreat,0.575710520456,-0.00994546215706,1.07002917396,0.546281249193,-0.00127273814551,1.06969845503
+384,6.400000000,pose2_to_pose3_retreat,0.575710401068,-0.00994545422209,1.07002917272,0.54628112979,-0.00127273024042,1.06969845437
+385,6.416666667,pose2_to_pose3_retreat,0.575710194596,-0.00994544049915,1.07002917057,0.546280923291,-0.00127271656914,1.06969845323
+386,6.433333333,pose2_to_pose3_retreat,0.575709870621,-0.00994541896661,1.07002916721,0.546280599275,-0.00127269511766,1.06969845144
+387,6.450000000,pose2_to_pose3_retreat,0.575709665452,-0.00994540533031,1.07002916508,0.54628039408,-0.00127268153269,1.06969845031
+388,6.466666667,pose2_to_pose3_retreat,0.575709553665,-0.0099453979005,1.07002916392,0.546280282278,-0.00127267413085,1.0696984497
+389,6.483333333,pose2_to_pose3_retreat,0.575709483446,-0.00994542603278,1.07002916722,0.546280212074,-0.00127270224497,1.06969845211
+390,6.500000000,pose2_to_pose3_retreat,0.5757094639,-0.00994543575084,1.07002916837,0.546280192534,-0.00127271195593,1.06969845294
+391,6.516666667,pose2_to_pose3_retreat,0.575709408134,-0.00994546347748,1.07002917166,0.546280136785,-0.00127273966228,1.06969845532
+392,6.533333333,pose2_to_pose3_retreat,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.00127264096047,1.06969858376
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_08/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..51f4e828f340f8709b518a800a93a5fe401c6b37
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0899cc76523176cb3b29becc6e18230748fa73471693187fb9c7d850b0c552b
+size 25137803
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ac7a820ab74467271b424ffc16fd6fc7a1e6785
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_02/franka_data.csv
@@ -0,0 +1,396 @@
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+21,0.350000000,BASELINE,763.221811783,741.778188217,711.221811783,671,659.221811783,632.221811783,876.443623565,783,798.221811783,648.221811783,628,650.221811783,0.400986939217,-0.0153805271945,0.0798503133076,0.999999934407,0.000251807684128,-0.000258877518282,2.75776025218e-05,1793192420533003008
+22,0.366666667,BASELINE,763.816565421,741.183434579,711.816565421,671,659.816565421,632.816565421,877.633130841,783,798.816565421,648.816565421,628,650.816565421,0.400987892273,-0.0153785934984,0.0798505367404,0.999999934035,0.000254112529785,-0.000258076614457,2.74626453582e-05,1793192420549669888
+23,0.383333333,BASELINE,764,741.399690451,711.600309549,671,659.600309549,633,877.600309549,783,799,648.600309549,628,651,0.40098672863,-0.0153783171397,0.0798495844152,0.999999933693,0.000253945765607,-0.000259566333103,2.74002300991e-05,1793192420566336512
+24,0.400000000,BASELINE,764,741.977629561,711.022370439,671,659.022370439,633,877.022370439,783,799,648.022370439,628,651,0.400984621011,-0.0153787798982,0.0798481077409,0.999999933361,0.000252676745778,-0.000262077593176,2.73612467734e-05,1793192420583003136
+25,0.416666667,BASELINE,764,742,711.553291011,671,659.553291011,633,877,783,799,648,628,651,0.400986419265,-0.0153802288814,0.0798485966244,0.999999934234,0.000250915250318,-0.00026044254806,2.72491166301e-05,1793192420599669760
+26,0.433333333,BASELINE,763.868481785,742,712,671,659.868481785,633,877,783,799,648,628,651,0.40098799779,-0.0153810588595,0.0798492588904,0.999999934863,0.000250107316525,-0.000258809645099,2.71587732896e-05,1793192420616336640
+27,0.450000000,BASELINE,763.281042045,742,712,671,659.281042045,633,877,783,799,648,628,651,0.4009882694,-0.0153796053299,0.0798502478414,0.999999934488,0.000252673745174,-0.000257762932595,2.71541663798e-05,1793192420633003008
+28,0.466666667,BASELINE,763,742,712,670.697928724,659,632.697928724,876.697928724,783,799,648,628,650.697928724,0.400987955499,-0.01537914787,0.0798505166012,0.999999934419,0.000252926771125,-0.000257782764961,2.71823690976e-05,1793192420649669632
+29,0.483333333,BASELINE,763,742,712,670.118783828,659,632.118783828,876.118783828,783,799,648,628,650.118783828,0.40098710454,-0.015379604051,0.0798501247686,0.99999993463,0.000251057837926,-0.000258780881232,2.72406663103e-05,1793192420666336512
+30,0.500000000,BASELINE,763,742,712,670,659,632,876,783.458890514,799,648,628,650.458890514,0.400987112763,-0.0153792871497,0.0798503367852,0.999999934699,0.00025100265596,-0.000258573706154,2.71898250788e-05,1793192420683003136
+31,0.516666667,BASELINE,763,742,712,670,659,632.03584942,876.03584942,783.96415058,799,648,628.03584942,650.96415058,0.400987333147,-0.0153787702412,0.0798506292577,0.999999934714,0.000251409193846,-0.000258127595859,2.71079527199e-05,1793192420699670016
+32,0.533333333,BASELINE,763,742,712,670,659,632.607783977,876.607783977,783.392216023,799,648,628.607783977,650.392216023,0.400987411037,-0.0153782453471,0.079849794941,0.999999934476,0.000251721971313,-0.000258759024939,2.69831497926e-05,1793192420716337920
+33,0.550000000,BASELINE,763.186143014,742,712,670.186143014,659,633,877,783,799,648,628.813856986,650,0.400987737912,-0.0153785651243,0.079849643102,0.999999934639,0.000251233079778,-0.00025859836783,2.70450858722e-05,1793192420733005056
+34,0.566666667,BASELINE,763.778522699,742,712,670.778522699,659,633,877,783,799,648,628.221477301,650,0.400988608173,-0.0153807283038,0.0798509806955,0.999999935673,0.000248994633716,-0.000256709069585,2.75145593268e-05,1793192420749670656
+35,0.583333333,BASELINE,764,742,712,671,659,632.637822523,876.637822523,783,799,648,628,650,0.400987468612,-0.0153807963451,0.0798502293386,0.999999935107,0.00024973803921,-0.00025817750084,2.75850435369e-05,1793192420766337024
+36,0.600000000,BASELINE,764,742,712,671,659,632.059377601,876.059377601,783,799,648,628,650,0.400985128923,-0.0153796133144,0.0798482306046,0.999999933575,0.000252262000863,-0.000261650936703,2.74172788957e-05,1793192420783003648
+37,0.616666667,BASELINE,763.481996665,742,712,671,659.518003335,632,876.518003335,783,799,648,628.518003335,650,0.400986246406,-0.0153806816316,0.0798491939049,0.999999934114,0.000252289476085,-0.000259552289405,2.74830165261e-05,1793192420799670016
+38,0.633333333,BASELINE,763.096578199,742,712,671,659.903421801,632,877,783,799,648,629,650,0.400987406865,-0.0153816936084,0.0798501889202,0.99999993478,0.000251768827756,-0.000257479699519,2.74992465549e-05,1793192420816336896
+39,0.650000000,BASELINE,763.681809972,742,712,671,659.318190028,632,877,783,799,648,629,650,0.400986783799,-0.0153811174645,0.0798496300069,0.999999934923,0.000249919797539,-0.000258764015906,2.71298358601e-05,1793192420833003776
+40,0.666666667,BASELINE,764,742,712,671,659,632,876.73429737,783,799,648,628.73429737,650,0.400986524911,-0.0153802782414,0.0798491972818,0.999999934938,0.00024928943549,-0.000259336183838,2.68942528563e-05,1793192420849670400
+41,0.683333333,BASELINE,764,742,712,671,659,632,876.152000351,783,799,648,628.152000351,650,0.400986699956,-0.0153791255497,0.0798489149146,0.999999934807,0.000250111161196,-0.000259059800793,2.6818130457e-05,1793192420866336768
+42,0.700000000,BASELINE,763.574920004,742,711.574920004,671,659,632,876.425079996,783,799,648,628,650.425079996,0.40098757648,-0.0153798745586,0.0798501790629,0.999999935436,0.000248666496646,-0.000258011234292,2.68808681797e-05,1793192420883003648
+43,0.716666667,BASELINE,763,742,711,671,659.000317756,632.000317756,877,783,799,648,628,651,0.400988699216,-0.0153812941467,0.079851987357,0.999999936328,0.000246423249962,-0.000256691844078,2.69924430376e-05,1793192420899670272
+44,0.733333333,BASELINE,763,742,711,671,659.575899405,632.575899405,877,783,799,648,628,651,0.400986955138,-0.0153805633468,0.0798498964137,0.999999935422,0.000247818765311,-0.00025889652549,2.67155574486e-05,1793192420916336896
+45,0.750000000,BASELINE,763.155328109,742,711.155328109,671,660,633,877.155328109,783,799,648,628.155328109,650.844671891,0.40098623329,-0.0153797892571,0.0798488664564,0.999999934783,0.000249433782528,-0.000259825093566,2.66038739357e-05,1793192420933003520
+46,0.766666667,BASELINE,763.745527285,742,711.745527285,671,660,633,877.745527285,783,799,648,628.745527285,650.254472715,0.400988373371,-0.0153788939696,0.0798508069351,0.999999934898,0.00025166333743,-0.000257180935293,2.69547056183e-05,1793192420949670400
+47,0.783333333,BASELINE,763.670999849,742,712,671,659.670999849,633,877.670999849,783.329000151,799,648,628.670999849,650,0.400988831278,-0.0153790077371,0.0798512403589,0.99999993498,0.000252345085891,-0.000256179233046,2.7088534825e-05,1793192420966337024
+48,0.800000000,BASELINE,763.092625305,742,712,671,659.092625305,633,877.092625305,783.907374695,799,648,628.092625305,650,0.400988014137,-0.0153798863446,0.0798505314707,0.999999935043,0.000251853633634,-0.000256422473637,2.70578812856e-05,1793192420983003648
+49,0.816666667,BASELINE,763,742,712,671,659.484207981,632.515792019,876.515792019,784,799,648.484207981,628.484207981,650,0.400987387119,-0.0153808760494,0.0798504494358,0.999999934863,0.000251692814998,-0.000257268614776,2.71486223126e-05,1793192420999670528
+50,0.833333333,BASELINE,763,742,712,671,660,632,876.061811366,783.938188634,799,648.938188634,628.938188634,650,0.4009870053,-0.0153817818686,0.0798505274941,0.999999934755,0.00025139647134,-0.000257964870623,2.72737930098e-05,1793192421016337152
+51,0.850000000,BASELINE,763,742,712,671,660,632,876.648449215,783.351550785,799,648.351550785,628.351550785,650,0.400988397595,-0.0153817955596,0.0798509499512,0.999999935645,0.000249414096845,-0.000256412347915,2.74947524191e-05,1793192421033003776
+52,0.866666667,BASELINE,763.231996663,742,712,671,660,632,877,783.231996663,799,648,628.231996663,650.231996663,0.400988443143,-0.0153817136753,0.0798508437446,0.99999993604,0.000247996916209,-0.000256243968873,2.75214093809e-05,1793192421049670400
+53,0.883333333,BASELINE,763.810922667,742,712,671,660,632,877,783.810922667,799,648,628.810922667,650.810922667,0.400986474758,-0.0153814888671,0.0798499469709,0.999999935699,0.000247424930326,-0.000258145447509,2.72575051662e-05,1793192421066337024
+54,0.900000000,BASELINE,764,742,712,671,660.38859292,632,876.61140708,783.61140708,799,648.38859292,629,651,0.400986429262,-0.0153822352522,0.0798498637079,0.999999935775,0.000247343281867,-0.000257911796301,2.74369744901e-05,1793192421083003392
+55,0.916666667,BASELINE,764,742,712,671,660.965654115,632,876.034345885,783.034345885,799,648.965654115,629,651,0.400987316371,-0.0153834526679,0.079850174999,0.999999936052,0.000247499447971,-0.000256642603171,2.78314807962e-05,1793192421099670272
+56,0.933333333,BASELINE,763.458554224,742,712,671,659.917108447,632.541445776,876.541445776,783.541445776,799,649,628.458554224,650.458554224,0.400987613369,-0.0153818237865,0.0798505563578,0.999999935658,0.000249430833206,-0.000256340350834,2.75147591824e-05,1793192421116337152
+57,0.950000000,BASELINE,763,742,711.880369203,670.880369203,659.119630797,632.880369203,876.880369203,783.880369203,799,648.880369203,628,650,0.400987709253,-0.0153803229511,0.0798506926437,0.999999935267,0.000251022893991,-0.000256350055843,2.71746574578e-05,1793192421133003776
+58,0.966666667,BASELINE,763,742,711.292502234,670.292502234,659.707497766,632.292502234,876.292502234,783.292502234,799,648.292502234,628,650,0.400987164137,-0.0153800283152,0.0798498523566,0.999999935063,0.000250847114507,-0.00025734125472,2.69192164175e-05,1793192421149670400
+59,0.983333333,BASELINE,763,742,711.290889472,670.290889472,660,632.290889472,876,783,799,648,628.290889472,650,0.400986694702,-0.0153799165827,0.0798494777003,0.999999934865,0.000251103353676,-0.000257859169817,2.6938666746e-05,1793192421166337024
+60,1.000000000,BASELINE,763,742,711.869849357,670.869849357,660,632.869849357,876,783,799,648,628.869849357,650,0.400986300214,-0.0153799859812,0.0798495641624,0.999999934672,0.000251787424709,-0.000257908387926,2.72303443933e-05,1793192421183003392
+61,1.016666667,BASELINE,763,742,711.553333209,671.446666791,660,633,876.446666791,783,799,648,628.553333209,650,0.400985696451,-0.0153800869859,0.0798493343179,0.999999934671,0.000251236376793,-0.000258479430841,2.69655243079e-05,1793192421199670272
+62,1.033333333,BASELINE,763.022677095,742,711.022677095,671.977322905,659.977322905,632.977322905,876.977322905,783,799.022677095,648,628,650.022677095,0.400985128249,-0.0153802132744,0.0798490599786,0.999999934752,0.000250301578804,-0.000259110809366,2.65752318475e-05,1793192421216336896
+63,1.050000000,BASELINE,763.594190595,742,711.594190595,671.405809405,659.405809405,632.405809405,876.405809405,783,799.594190595,648,628,650.594190595,0.400986889531,-0.0153807296623,0.0798499287421,0.999999935533,0.000248747766412,-0.000257540054395,2.7053967489e-05,1793192421233003520
+64,1.066666667,BASELINE,763.828030917,742,711.828030917,671,659,632.171969083,876,783,799.828030917,648,628,650.828030917,0.40098798901,-0.015381353242,0.0798506920271,0.999999936153,0.000247508025544,-0.000256293913226,2.73421154377e-05,1793192421249669888
+65,1.083333333,BASELINE,763.234909505,742,711.234909505,671,659,632.765090495,876,783,799.234909505,648,628,650.234909505,0.400987467733,-0.0153822393341,0.079851196995,0.99999993639,0.000247037446014,-0.000255842751429,2.71635140503e-05,1793192421266336768
+66,1.100000000,BASELINE,763.350413573,742,711.350413573,671,659.350413573,633,876,783.350413573,799,648.350413573,628,650,0.40098705444,-0.0153817005427,0.0798510804391,0.999999936129,0.000247797405062,-0.000256155513859,2.68798098264e-05,1793192421283003392
+67,1.116666667,BASELINE,763.930622608,742,711.930622608,671,659.930622608,633,876,783.930622608,799,648.930622608,628,650,0.400986711961,-0.0153802273359,0.0798505562979,0.99999993554,0.000249364331103,-0.000256969245261,2.65271808966e-05,1793192421299670272
+68,1.133333333,BASELINE,764,742,712,671,659.49447976,633,876.50552024,783.49447976,799,648.49447976,628.50552024,650.50552024,0.400987225138,-0.0153804862589,0.0798506714455,0.999999935716,0.00024906926229,-0.000256538268665,2.68370972639e-05,1793192421316336896
+69,1.150000000,BASELINE,764,742,712,671,659.081824724,633,877,783,799.081824724,648.081824724,629,651,0.400987830662,-0.015380868736,0.0798508963936,0.999999935939,0.000248693118903,-0.000255996301304,2.71788235921e-05,1793192421333003520
+70,1.166666667,BASELINE,764,742,712,671,659.671333501,633,877,783,799.671333501,648.671333501,629,651,0.400988288136,-0.0153805582226,0.0798512639034,0.999999935815,0.000249382962929,-0.000255814546381,2.71596193817e-05,1793192421349669888
+71,1.183333333,BASELINE,764,742,711.743874301,670.743874301,659.743874301,633,876.743874301,783.256125699,799.743874301,648.743874301,628.743874301,650.743874301,0.400988997395,-0.0153801883989,0.079851761338,0.999999936023,0.000249638958688,-0.000254754031245,2.71233151608e-05,1793192421366336768
+72,1.200000000,BASELINE,764,742,711.16502501,670.16502501,659.16502501,633,876.16502501,783.83497499,799.16502501,648.16502501,628.16502501,650.16502501,0.400990023907,-0.0153797438427,0.0798524224803,0.999999936647,0.000249348296895,-0.000252586260333,2.70654645757e-05,1793192421383003904
+73,1.216666667,BASELINE,763.588537378,742,711,670.411462622,659.411462622,633,876.411462622,783.588537378,798.588537378,648.411462622,628,650,0.400989430513,-0.015381068811,0.0798517847357,0.999999936937,0.000247022115781,-0.000253698420161,2.72667870946e-05,1793192421399670528
+74,1.233333333,BASELINE,763.012991566,742,711,670.987008434,659.987008434,633,876.987008434,783.012991566,798.012991566,648.987008434,628,650,0.400988191133,-0.0153830994308,0.0798506290206,0.999999937082,0.000243884209661,-0.000256118551908,2.7571462747e-05,1793192421416337152
+75,1.250000000,BASELINE,763,742.561346451,711.561346451,670.438653549,660,633,876.438653549,783,798.561346451,649,628.561346451,650,0.400987691759,-0.0153814214574,0.0798505305535,0.99999993589,0.000248155325426,-0.000256688915367,2.73932624419e-05,1793192421433003776
+76,1.266666667,BASELINE,763,742.860332437,712,670.279335126,660,633,876,783,799,648.860332437,628.860332437,650,0.400987385733,-0.0153802665153,0.0798505770061,0.999999935111,0.000251028140056,-0.000256944384425,2.72432745704e-05,1793192421449670400
+77,1.283333333,BASELINE,763,742.269041591,712,671.461916818,660,633,876,783,799,648.269041591,628.269041591,650,0.400987649648,-0.0153810797664,0.0798510131145,0.999999935822,0.000248826193388,-0.000256319756181,2.72205722555e-05,1793192421466337024
+78,1.300000000,BASELINE,763,742,712,671.684394227,659.684394227,632.684394227,876,783,799,648,628,650,0.400987254466,-0.0153812841247,0.0798507925213,0.999999935803,0.000248509707144,-0.000256698797139,2.72429193323e-05,1793192421483003392
+79,1.316666667,BASELINE,763,742,712,671.105293445,659.105293445,632.105293445,876,783,799,648,628,650,0.400986309012,-0.0153809801263,0.0798500236568,0.999999935175,0.00024976736652,-0.000257915788028,2.73028775404e-05,1793192421499670016
+80,1.333333333,BASELINE,763.471105393,742,712,671,659.471105393,632,876,783,799,648,628.471105393,650,0.400986684819,-0.015381305676,0.0798505086269,0.99999993567,0.000248670189769,-0.000257057080116,2.72734206822e-05,1793192421516336896
+81,1.350000000,BASELINE,763.953320129,742,712,671,660,632,876,783.046679871,799,648.046679871,628.953320129,650,0.400987325523,-0.0153817394797,0.0798511610889,0.999999936353,0.000247129992492,-0.000255893440475,2.72066683945e-05,1793192421533003520
+82,1.366666667,BASELINE,763.380270996,742,712,671,660,632,876,783.619729004,799,648.619729004,628.380270996,650,0.400987642334,-0.0153818164003,0.0798505602531,0.999999936363,0.000246495169248,-0.000256492799799,2.694343077e-05,1793192421549670400
+83,1.383333333,BASELINE,763.200369076,742,712,670.799630924,660,632.200369076,876.200369076,784,799.200369076,648.799630924,628.200369076,650,0.400987900224,-0.015381409275,0.0798504759353,0.999999936336,0.000246812675025,-0.000256312687099,2.67466123193e-05,1793192421566336768
+84,1.400000000,BASELINE,763.795983015,742,712,670.204016985,660,632.795983015,876.795983015,784,799.795983015,648.204016985,628.795983015,650,0.400988041888,-0.0153800473282,0.0798514104923,0.999999936232,0.000249008729829,-0.000254595000337,2.66808112311e-05,1793192421583003392
+85,1.416666667,BASELINE,763.62055178,742,712,670,660,633,876.62055178,783.62055178,799.62055178,648,628.62055178,650,0.400987925382,-0.0153809929298,0.0798509986367,0.999999936491,0.000247909209054,-0.000254654989388,2.66548652417e-05,1793192421599670016
+86,1.433333333,BASELINE,763.043415945,742,712,670,660,633,876.043415945,783.043415945,799.043415945,648,628.043415945,650,0.400987674373,-0.0153831407345,0.0798498853174,0.999999936933,0.000245092735894,-0.000255641124651,2.66496832471e-05,1793192421616336640
+87,1.450000000,BASELINE,763.532667473,742,712,670.532667473,660,632.467332527,876,783,799,648.532667473,628.532667473,650.532667473,0.400986762616,-0.0153825766321,0.0798499662873,0.999999935972,0.000247315873154,-0.000257207028009,2.71057505212e-05,1793192421633003264
+88,1.466666667,BASELINE,763.889131658,742,712,671,659.889131658,632.110868342,876,783.110868342,799,648.889131658,628.889131658,650.889131658,0.400986167763,-0.0153817636789,0.0798500749008,0.999999935133,0.000249432208639,-0.000258388165371,2.74502549387e-05,1793192421649669632
+89,1.483333333,BASELINE,763.301456193,742,712,671,659.301456193,632.698543807,876,783.698543807,799,648.301456193,628.301456193,650.301456193,0.400987166962,-0.0153808292401,0.079849884589,0.999999935342,0.000249326162069,-0.000257711727863,2.71536013109e-05,1793192421666336256
+90,1.500000000,BASELINE,763,742,712,671,659,633,876.280682978,783.719317022,799.280682978,648,628.280682978,650,0.400987148355,-0.0153804149312,0.0798498320412,0.999999935219,0.000249637253946,-0.000257897679182,2.70703464486e-05,1793192421683003136
+91,1.516666667,BASELINE,763,742,712,671,659,633,876.856991092,783.143008908,799.856991092,648,628.856991092,650,0.40098605776,-0.0153805484414,0.0798499245914,0.999999934744,0.000250387690645,-0.000258991928647,2.72118506545e-05,1793192421699670016
+92,1.533333333,BASELINE,763,742,712,671,659.435030828,632.564969172,876.564969172,783,799.564969172,648,628.129938343,650,0.40098779928,-0.0153808294939,0.0798508480572,0.999999935139,0.000250753012418,-0.000257096778672,2.73211992756e-05,1793192421716336640
+93,1.550000000,BASELINE,763,742,712,671,659.986196671,632,876.013803329,783,799,648,627.027606657,650,0.400990422634,-0.0153811387034,0.0798520266128,0.999999935798,0.000251001117185,-0.000254266512531,2.74182215757e-05,1793192421733003264
+94,1.566666667,BASELINE,763,742,712,671,659.400748224,632,876.599251776,783,799,648,628.198503552,650,0.400990855386,-0.0153805973285,0.0798524120487,0.999999935808,0.000251658753719,-0.000253570082059,2.74442821894e-05,1793192421749669888
+95,1.583333333,BASELINE,763,742,712,670.81742025,659,632,876.81742025,783,799,648,629,650,0.400990268362,-0.0153806356753,0.0798522261731,0.999999935891,0.000251077430716,-0.00025382509343,2.73893023099e-05,1793192421766336256
+96,1.600000000,BASELINE,763,742,712,670.238693004,659,632,876.238693004,783,799,648,629,650,0.400987468708,-0.0153819318575,0.0798508007098,0.999999936122,0.000247807908743,-0.000256144469988,2.71584870072e-05,1793192421783003136
+97,1.616666667,BASELINE,763.341286745,742,712,670.341286745,659,632,876.341286745,783.341286745,799,648,629,650,0.400986434195,-0.0153821943056,0.0798502780368,0.99999993607,0.000247087873317,-0.000257033522328,2.72178545446e-05,1793192421799669760
+98,1.633333333,BASELINE,763.922145674,742,712,670.922145674,659,632,876.922145674,783.922145674,799,648,629,650,0.400986638754,-0.0153817311057,0.0798503890933,0.999999935828,0.000248157494653,-0.00025691853349,2.74809210034e-05,1793192421816336384
+99,1.650000000,BASELINE,763.50352978,742,712,671,659.49647022,632,876.50352978,783.50352978,799,648,628.50352978,650.49647022,0.400987070049,-0.0153831927169,0.0798503851756,0.999999936484,0.000245842214496,-0.00025661099447,2.72719722616e-05,1793192421833003264
+100,1.666666667,BASELINE,763.069979382,742,712,670.930020618,660,632,876.139958765,783,799,648,628,651,0.400987691813,-0.0153843800783,0.0798505231849,0.999999937154,0.000243661874585,-0.000256111488278,2.6980724823e-05,1793192421849670144
+101,1.683333333,BASELINE,763.644902802,742,712,670.355097198,660,632,877.289805604,783,799,648,628,651,0.400989434696,-0.0153814388887,0.0798518136887,0.999999936959,0.000246235543264,-0.000254441865833,2.66227988877e-05,1793192421866337792
+102,1.700000000,BASELINE,763.772854565,742,712,670.227145435,659.772854565,632,877.772854565,783,799,648.227145435,628,650.772854565,0.400990296087,-0.0153797620582,0.0798524967711,0.999999936676,0.000248439915744,-0.000253414400174,2.65710134652e-05,1793192421883004672
+103,1.716666667,BASELINE,763.178788868,742,712,670.821211132,659.178788868,632,877.178788868,783,799,648.821211132,628,650.178788868,0.400989733556,-0.0153801276153,0.0798521986528,0.999999936261,0.000250047743925,-0.000253424245149,2.70137533476e-05,1793192421899670272
+104,1.733333333,BASELINE,763.402431021,742,712,671,659.402431021,632.402431021,877,783,799,649,628,650,0.400988902464,-0.0153813289097,0.0798518107582,0.999999936318,0.000248886630455,-0.0002543149646,2.72764474457e-05,1793192421916336896
+105,1.750000000,BASELINE,763.978120463,742,712,671,659.978120463,632.978120463,877,783,799,649,628,650,0.400987955747,-0.0153828900137,0.0798513842122,0.999999936572,0.000246533406099,-0.000255584926485,2.74616265628e-05,1793192421933003520
+106,1.766666667,BASELINE,764,742,712,671,659.446187016,633,877,783,799.553812984,648.446187016,628.553812984,650.553812984,0.400986343382,-0.0153813033615,0.079850584991,0.999999935702,0.000247942534385,-0.000257664939797,2.70223047888e-05,1793192421949669888
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,671,660,632,877,783,799,648,628,650,0.400986888625,-0.0153832431843,0.0798508472875,0.999999937164,0.000243376274317,-0.000256345884576,2.69475286607e-05,1793192421990995968
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742,711,671,659.418051904,632.581948096,876.418051904,783,799,648,628,650,0.400987249194,-0.0153812628873,0.0798506852629,0.999999936326,0.000246623445643,-0.000256527155765,2.68038224763e-05,1793192422007662848
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,742,711.161814322,670.838185678,659,633,876.161814322,783,798.838185678,648,628,650,0.400987555218,-0.0153800609618,0.0798505905036,0.999999935777,0.000248838663993,-0.000256534765255,2.67282155659e-05,1793192422024329472
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,742,711.736370421,670.263629579,659,633,876.736370421,783,798.263629579,648,628,650,0.400987722117,-0.0153808444378,0.0798506673187,0.99999993599,0.000248421667928,-0.000256099413754,2.68263102791e-05,1793192422040995840
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.309086305,742,712,670.309086305,659,633,877,783,798.309086305,648,628,650,0.400987031566,-0.0153816740517,0.0798505032802,0.999999935945,0.000248205584989,-0.000256479322474,2.68896625014e-05,1793192422057662208
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.880241867,742,712,670.880241867,659,633,877,783,798.880241867,648,628,650,0.400985613999,-0.0153825427852,0.0798501350259,0.99999993568,0.000248159853049,-0.00025755047712,2.69235571242e-05,1793192422074328832
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.529145601,742,712,671,659,632.529145601,876.529145601,783,799,648,628.470854399,650,0.400986658469,-0.0153809188291,0.0798507755839,0.999999935646,0.000249130840844,-0.00025677007714,2.66730805455e-05,1793192422090995456
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659,632,876.064518316,783,798.935481684,648,629,650,0.40098829153,-0.0153791054623,0.0798516346244,0.999999935742,0.000249972034139,-0.000255603556113,2.63969542153e-05,1793192422107662336
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659,632,876.64142016,783,798.35857984,648,629,650,0.400989411547,-0.0153810398755,0.0798521032463,0.999999936404,0.000247640245156,-0.000255271754456,2.6516287059e-05,1793192422124329216
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659,632,876.78228153,783,798.21771847,648,628.78228153,650,0.400996159545,-0.0153826583148,0.0798551324182,0.999999937889,0.000246398163186,-0.000250559756306,2.70106184891e-05,1793192422140995840
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659,632,876.206974543,783,798.793025457,648,628.206974543,650,0.401012151137,-0.0153837577874,0.0798623671282,0.999999940636,0.000246945854768,-0.000238653568491,2.81208608491e-05,1793192422157662464
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.377216236,742,712,671,659,632.377216236,876,783.377216236,799,648,628,650,0.401038797232,-0.0153848657196,0.0798715349353,0.999999944236,0.000248428544456,-0.000221350303864,2.85515090611e-05,1793192422174329088
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.96639908,742,712,671,659,632.96639908,876,783.96639908,799,648,628,650,0.401071430343,-0.0153859784056,0.0798817889956,0.999999948028,0.000250436631382,-0.000201014294631,2.86002775554e-05,1793192422190995456
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.548044869,633,876.548044869,783.451955131,798.451955131,648,628,650,0.401129355608,-0.0153880174719,0.0798932445585,0.999999953505,0.000247577552163,-0.000175789724002,2.8155960579e-05,1793192422207661824
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.872367729,742,712,671,660,632.872367729,877,783,798.127632271,648,628,650,0.40119158334,-0.0153900132813,0.0799034830324,0.999999957434,0.000245506632231,-0.000155283377224,2.73202139969e-05,1793192422224328448
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.298384567,742,712,671,660,632.298384567,877,783,798.701615433,648,628,650,0.401263508121,-0.0153916618815,0.0799092110283,0.999999957523,0.000247221459667,-0.000152311374303,2.52198637402e-05,1793192422240995072
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632,876.717112283,783,799.282887717,648,628,650,0.401347673623,-0.0153946554186,0.0799135792413,0.999999959051,0.000245242240981,-0.000145797452482,2.23042055474e-05,1793192422257661952
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632,876.127948261,783,799.872051739,648,628,650,0.40144509188,-0.0153991050893,0.0799164752468,0.999999962032,0.000239263559744,-0.000135448773193,1.85058315228e-05,1793192422274328576
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.453565948,876,783,800,648,628,650,0.401562052466,-0.0154031290796,0.0799191382896,0.999999963876,0.000235207900251,-0.000129371870185,1.37491466895e-05,1793192422290995200
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742,712,670.967285702,659.967285702,632.967285702,876.032714298,783,799.967285702,648,628,650,0.401686097936,-0.0154071049576,0.0799219020692,0.999999965485,0.000231320250237,-0.000124282372653,8.68434343316e-06,1793192422307661824
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742,712,670.392177446,659.392177446,632.392177446,876.607822554,783,799.392177446,648,628,650,0.401837724542,-0.0154122410507,0.0799274075424,0.999999968774,0.000221373275437,-0.000115915889202,2.9187400939e-06,1793192422324328704
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.183182071,742,712,670.183182071,659.183182071,632,876.816817929,783,799,648,628,650,0.401998671265,-0.0154173418743,0.0799313600383,0.999999971667,0.000211242421858,-0.000109686513406,-3.40656389683e-06,1793192422340995328
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.759080182,742,712,670.759080182,659.759080182,632,876.240919818,783,799,648,628,650,0.402179598963,-0.0154223670842,0.0799319831734,0.99999997396,0.000200717359933,-0.000108038790475,-1.09317849257e-05,1793192422357661952
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.657174544,742,712,671,659.657174544,632.342825456,876.342825456,783,799,648,628.342825456,650,0.402374426102,-0.0154293101196,0.0799292312027,0.999999982224,0.000149686457781,-0.000113035469852,-1.91852417623e-05,1793192422374328832
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.06778545,742,712,671,659.06778545,632.93221455,876.93221455,783,799,648,628.93221455,650,0.402579249883,-0.0154376324755,0.0799240518209,0.999999989651,6.95233316903e-05,-0.000122810871804,-2.79624540568e-05,1793192422390995456
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659.512533527,632.487466473,876.487466473,783,799,648,628.487466473,650.512533527,0.402822399107,-0.0154466427205,0.07992101084,0.999999989169,6.6792714171e-05,-0.000127369047399,-3.12700644013e-05,1793192422407662080
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742,711.908700222,671,659.908700222,632.091299778,876.091299778,783,799,648,628,650.908700222,0.403078730649,-0.0154555370526,0.0799192499328,0.99999998838,7.36277160005e-05,-0.00012931742896,-3.31019494481e-05,1793192422424328704
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,711.331922524,671,659.331922524,632.668077476,876.668077476,783,799,648,628,650.331922524,0.403378674063,-0.0154633396812,0.0799228180005,0.999999989176,7.78189660665e-05,-0.000120993728519,-3.08664538725e-05,1793192422440995328
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,711,671,659.243842907,632.756157093,877,783,799,648,628,650,0.40369817176,-0.0154734953655,0.079927509941,0.999999990828,7.03328242774e-05,-0.000111709557208,-3.03157926267e-05,1793192422457661952
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,711,671,659.818236086,632.181763914,877,783,799,648,628,650,0.404044176972,-0.0154868408211,0.0799337253885,0.999999993268,4.70169617495e-05,-0.000101123384537,-3.20490709995e-05,1793192422474328576
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.403641045,742,711.403641045,670.596358955,660,632,877,783,799,648,628,650,0.404419195797,-0.0155064608709,0.0799334409937,0.999999994365,2.34441797712e-05,-9.82675758253e-05,-3.26200239619e-05,1793192422490995200
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.994143784,742,711.994143784,670.005856216,660,632,877,783,799,648,628,650,0.404807646183,-0.0155289856828,0.0799301475598,0.999999994567,-2.47539923263e-07,-9.89904641692e-05,-3.26528896267e-05,1793192422507661824
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.426341853,742,712,670.573658147,660,632,876.426341853,783,799,648,628,650,0.40522969578,-0.0155396556064,0.0799241705519,0.999999993477,-1.60232755475e-05,-0.000107508257944,-3.50810170343e-05,1793192422524328704
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.151487503,742,711.848512497,671.151487503,660,632.151487503,876.151487503,783,799.151487503,648,628,650,0.405660505386,-0.0155475549959,0.0799178854648,0.999999992011,-2.76794068871e-05,-0.000117586979021,-3.72156100056e-05,1793192422540995584
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.724929904,742,711.275070096,671.724929904,660,632.724929904,876.724929904,783,799.724929904,648,628,650,0.406114777707,-0.0155480680661,0.0799108171249,0.999999990181,-2.80816065389e-05,-0.000131796039929,-3.84657595032e-05,1793192422557663232
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.69375755,742,711.30624245,671.69375755,660,632.69375755,876.69375755,783,799.69375755,648,628,650,0.406598359997,-0.0155406935069,0.0799079655537,0.999999989349,-2.13774857429e-05,-0.000138671710075,-4.01995563754e-05,1793192422574330112
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.105189433,742,711.894810567,671.105189433,660,632.105189433,876.105189433,783,799.105189433,648,628,650,0.407108963273,-0.0155260473229,0.0799090014312,0.999999989438,-8.12203071042e-06,-0.000138786710894,-4.23792290949e-05,1793192422590996224
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.475589098,742,711.524410902,671,659.524410902,632,876,783,799,648,628,650,0.407630496817,-0.0155120012196,0.0798988705015,0.999999986263,6.89479230275e-06,-0.000159527883163,-4.44570383815e-05,1793192422607662848
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.94554415,742,711,671,659.05445585,632,876.05445585,783,799.05445585,648,628,650,0.408162076059,-0.0155006900975,0.0798880971086,0.999999982304,1.88852744381e-05,-0.000181312151391,-4.64920712051e-05,1793192422624329472
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.368755254,742,711,671,659.631244746,632,876.631244746,783,799.631244746,648,628,650,0.408767197699,-0.0155143599753,0.0798944699103,0.999999984372,-1.82900673912e-06,-0.00017004839383,-4.83294205351e-05,1793192422640995840
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.207319258,742,711.207319258,671,660,632,876.792680742,783,799.792680742,648,628,650,0.409398040543,-0.0155261015485,0.079911729027,0.999999988764,-1.99857598193e-05,-0.000140265636259,-4.89665737013e-05,1793192422657662720
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.782127436,742,711.782127436,671,660,632,876.217872564,783,799.217872564,648,628,650,0.410074476113,-0.0155344250564,0.0799482849527,0.999999995293,-3.36091014311e-05,-7.76565639022e-05,-4.74762890271e-05,1793192422674330112
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.366238866,876,783,799,648,628,650,0.41074793701,-0.0155377597175,0.0799640226523,0.999999996523,-4.18610869492e-05,-5.41724411541e-05,-4.76066571925e-05,1793192422690996992
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.956028956,876,783,799,648,628,650,0.41141958215,-0.0155380491996,0.0799670529611,0.999999996227,-4.68344106482e-05,-5.4570085335e-05,-4.87262676491e-05,1793192422707662848
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.464005468,742,712,671,660,632.464005468,876.535994532,783,799,648,628,650,0.412083660309,-0.0155312891594,0.0799350426799,0.999999992094,-4.84762121503e-05,-0.00010246970474,-5.44281859458e-05,1793192422724329472
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.114519584,877.114519584,783,799,648,628,650,0.412760428039,-0.0155252819542,0.0799046005219,0.99999998638,-5.09728944267e-05,-0.000145077404366,-5.99580787189e-05,1793192422740996608
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.690429456,877.690429456,783,799,648,628,650,0.413490776871,-0.0155245959178,0.0798918492995,0.999999984922,-5.79951315993e-05,-0.000150946708222,-6.33076190678e-05,1793192422757662720
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742,712,671.268951889,660,632.731048111,877.731048111,783,799,648.268951889,628,650,0.414234217001,-0.0155263213054,0.0798974214623,0.999999986854,-6.2698171112e-05,-0.000134924719312,-6.44758868186e-05,1793192422774329088
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742,712,671.850511019,660,632.149488981,877.149488981,783,799,648.850511019,628,650,0.414992873461,-0.015530849531,0.0799242911981,0.999999991548,-6.47055695627e-05,-9.34581183824e-05,-6.31088256145e-05,1793192422790995712
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742,711.566028748,672,660,632,877,783,799,648.566028748,628,650,0.415769052868,-0.0155334617989,0.0799281048563,0.999999991129,-6.56155319219e-05,-9.87253676207e-05,-6.0745088325e-05,1793192422807662336
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742,711.01786501,672,659.98213499,632,877,783,799,648,628,650,0.416552363215,-0.0155352568979,0.0799241407018,0.999999989064,-6.60510818675e-05,-0.000118836857281,-5.81898433401e-05,1793192422824328960
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742,711.594743705,672,659.405256295,632,877,783,799,648,628,650,0.417369103117,-0.0155322244369,0.0799264097354,0.999999991404,-6.35228123062e-05,-9.74914969887e-05,-6.04322956589e-05,1793192422840995840
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.171368881,741.828631119,712,672,659.171368881,632.171368881,877,783.171368881,799,648,628,650,0.418197253072,-0.0155305891344,0.0799345374305,0.99999999377,-6.12763567e-05,-7.01120125398e-05,-6.15620927499e-05,1793192422857662464
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.747395378,741.252604622,712,672,659.747395378,632.747395378,877,783.747395378,799,648,628,650,0.419052345823,-0.0155322529772,0.0799564993295,0.999999996009,-5.96953555648e-05,-2.84840013208e-05,-6.00645491206e-05,1793192422874329088
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.669490409,741.330509591,712,672,660,632.669490409,877,783.669490409,799,648,628,650,0.419870155854,-0.0155323751396,0.0799561091519,0.999999996179,-5.7715367321e-05,-2.6423113601e-05,-6.01033025255e-05,1793192422890995712
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.080840451,741.919159549,712,672,660,632.080840451,877,783.080840451,799,648,628,650,0.420658846645,-0.0155312931918,0.0799382611646,0.999999995056,-5.54237552994e-05,-5.52656328496e-05,-6.13419615291e-05,1793192422907662336
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742,711.498987682,671.498987682,660,632,877.501012318,783,799.501012318,648,628,650,0.421520898552,-0.0155356459868,0.0799428778583,0.99999999483,-6.44227733939e-05,-5.05826567145e-05,-6.02645756522e-05,1793192422924328960
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742,711.080759946,671.080759946,660,632.080759946,877.919240054,783,799.919240054,648.080759946,628,650.080759946,0.422392297859,-0.0155404412702,0.0799538105747,0.999999994858,-7.41492815718e-05,-3.65569444376e-05,-5.873436297e-05,1793192422940995584
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,742,711.654265234,671.654265234,660,632.654265234,877.345734766,783,799.345734766,648.654265234,628,650.654265234,0.423249472815,-0.0155426575533,0.079981459607,0.9999999954,-7.73478478699e-05,1.90875129577e-06,-5.66908721128e-05,1793192422957662208
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,742,712,672,660,633,877,783,799,649,628,650.771649321,0.424069503537,-0.0155419048977,0.0799798365256,0.999999995139,-7.95687583541e-05,-1.23646482562e-05,-5.69049968079e-05,1793192422974329088
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,742,712,672,660,633,877,783,799,649,628,650.196683165,0.424833152833,-0.0155366456644,0.079933781053,0.999999989251,-8.03056767273e-05,-0.000106691172377,-6.05459751831e-05,1793192422990995712
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.391317422,742,712,672,660,633,877.391317422,783,799,649,628.391317422,650,0.425639152467,-0.0155350190235,0.0799014896972,0.999999984061,-7.93594876371e-05,-0.000146090502307,-6.50910017582e-05,1793192423007662592
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.98609505,742,712,672,660,633,877.98609505,783,799,649,628.98609505,650,0.426467171542,-0.0155352811003,0.0798763548106,0.999999982223,-7.75381897554e-05,-0.000156931174402,-7.01060759486e-05,1793192423024329472
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.437818677,742.562181323,712,672,660.562181323,633,878,783,799,648.437818677,628.437818677,650.562181323,0.427310563582,-0.0155405554501,0.0798832170539,0.999999982385,-8.44291555983e-05,-0.000152643418572,-6.93012598951e-05,1793192423040995840
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.138165545,743,712,672,661,632.861834455,878,783.138165545,799,648,628,650.861834455,0.428148586059,-0.0155452265365,0.0798938684547,0.999999983426,-8.92551879469e-05,-0.000143508535383,-6.77233217108e-05,1793192423057662208
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.715246926,743,712,672,661,632.284753074,878,783.715246926,799,648,628,650.284753074,0.428968381757,-0.0155476000545,0.0799141238004,0.999999986956,-8.68589426922e-05,-0.000120126034808,-6.41319494188e-05,1793192423074328832
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.710339009,743,712,672,661,632.289660991,877.710339009,783.710339009,799,648,628,650,0.429791001406,-0.0155499378451,0.0799418374668,0.999999990979,-8.81546972069e-05,-8.10682532764e-05,-6.08133751072e-05,1793192423090995712
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.138523173,743,712,672,661,632.861476827,877.138523173,783.138523173,799,648,628,650,0.43061637178,-0.015552240834,0.0799768161811,0.999999993645,-9.30467786287e-05,-2.67413942595e-05,-5.7760529708e-05,1793192423107662336
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,742.548162379,712,672,661,632.548162379,877,783.451837621,799.451837621,648,628,650,0.431398344771,-0.0155560732132,0.0799958119917,0.999999994303,-9.11612667153e-05,2.52900410997e-06,-5.54765925732e-05,1793192423124328960
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.04628839,742.04628839,712,672,661.04628839,632,877.04628839,784,800,648.04628839,628.04628839,650,0.432158697169,-0.0155594122059,0.0800032116092,0.999999994662,-8.69848014362e-05,1.3540319992e-05,-5.40882971227e-05,1793192423140995584
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.619794665,742.619794665,712,672,661.619794665,632,877.619794665,784,800,648.619794665,628.619794665,650,0.432830817379,-0.0155515625928,0.0799367312054,0.999999990633,-8.13941241598e-05,-9.21779642691e-05,-6.01013857406e-05,1793192423157662464
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,672,661.806732007,632,878.193267993,783.806732007,799.806732007,648.806732007,628.806732007,650,0.433510776642,-0.0155459400049,0.0798842848482,0.999999980281,-7.86746792946e-05,-0.000170264513592,-6.52548431127e-05,1793192423174329344
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,672,661.233323382,632,878.766676618,783.233323382,799.233323382,648.233323382,628.233323382,650,0.434206154729,-0.0155446977724,0.0798594421775,0.999999975491,-8.16026889323e-05,-0.000194001964132,-6.87174858605e-05,1793192423190995968
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.646905109,743,712,672.353094891,661,632.353094891,878.293810219,783,799.353094891,648,628,650,0.434912228697,-0.015549426385,0.0798781721918,0.999999980197,-9.67715652315e-05,-0.000160341310621,-6.73228022188e-05,1793192423207662336
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.051561301,743,712,672.948438699,661,632.948438699,877.103122601,783,799.948438699,648,628,650,0.435625640779,-0.0155582514341,0.0799267962561,0.999999986989,-0.000120338570675,-8.73013578734e-05,-6.25956369353e-05,1793192423224328960
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,742.473042636,712,673,661,633,877,783,799.473042636,648,628,650,0.436264973173,-0.0155637250473,0.0799376833651,0.999999987633,-0.00011618933776,-8.63155372772e-05,-6.1509696458e-05,1793192423240995584
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.103596766,742,711.896403234,672.896403234,660.896403234,632.896403234,877,783,799.207193533,648,628,650,0.436889393528,-0.0155684913469,0.0799392311368,0.999999987002,-0.000112482650262,-9.79554236903e-05,-6.12161645453e-05,1793192423257662464
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.67894332,742,711.32105668,672.32105668,660.32105668,632.32105668,877,783,800.35788664,648,628,650,0.437477894988,-0.015571483833,0.0799145443839,0.999999981238,-0.000122758548942,-0.000135977487796,-6.29588186229e-05,1793192423274329600
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,711.260113999,672.260113999,660,632,877.260113999,783,800.739886001,648,628,650,0.438034040078,-0.0155757768655,0.0798888432464,0.999999973869,-0.000132110082143,-0.000174817834372,-6.51715505836e-05,1793192423290996480
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,711.848637951,672.848637951,660,632,877.848637951,783,800.151362049,648,628,650,0.438549333211,-0.0155817119179,0.0798618613876,0.999999964802,-0.000140294546217,-0.000214691310137,-6.79777847293e-05,1793192423307663360
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.56965531,742.43034469,711.56965531,673,660,631.56965531,878,783,799.56965531,648,628,650,0.43904181759,-0.0155866478203,0.0798314692168,0.999999952516,-0.000150765903366,-0.000259156504813,-7.12448686667e-05,1793192423324329728
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,742.990405261,711.009594739,673,660,631.009594739,877.990405261,783,799.009594739,648,628,650.009594739,0.439525380312,-0.0155913512182,0.0797997619941,0.999999937374,-0.000162345783918,-0.000305481119341,-7.46793062588e-05,1793192423340996352
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,742.416819306,711.583180694,673,660,631.583180694,877.416819306,783,799.583180694,648,628,650.583180694,0.43994872507,-0.0156027226866,0.0797601622225,0.999999910793,-0.000192542496042,-0.00036765253236,-7.85716380591e-05,1793192423357662464
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.15771293,742,711.84228707,672.84228707,660,631.84228707,877.15771293,783,799.84228707,648,628,650.84228707,0.440363677643,-0.0156127270174,0.0797200428923,0.999999881282,-0.000212858910573,-0.000430665878552,-8.15717213794e-05,1793192423374329088
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.319184714,711,672.319184714,660,631.319184714,878,783,799,648,628,650,0.441149505137,-0.0156246719017,0.0796634835685,0.999999840548,-0.000212323479044,-0.000516636967549,-8.31179719656e-05,1793192423407662080
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.909881571,711,672.909881571,660,631.909881571,878,783,799,648,628,650,0.441543160824,-0.0156295722757,0.0796709178909,0.999999845852,-0.000227415591369,-0.00049947462294,-8.42838583553e-05,1793192423424328448
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+196,3.266666667,POSE1_TO_POSE2_PRESS,763.645926768,742.354073232,712,672.354073232,659.645926768,632,878,782.645926768,799,648.354073232,628,650,0.442642654673,-0.0156376723228,0.0797591050941,0.999999904821,-0.000222159523007,-0.000368262120277,-7.33884791924e-05,1793192423474329088
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.22063858,712,672.22063858,660,631.77936142,878,782.77936142,799.22063858,648,628,650,0.442941689946,-0.0156428960954,0.0797665717383,0.999999907915,-0.000225151469856,-0.000358207851654,-7.18557967779e-05,1793192423490995456
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.792440075,712,672.792440075,660,631.207559925,878,782.207559925,799.792440075,648,628,650,0.443195589149,-0.01565335245,0.0797580333089,0.999999899912,-0.00023565313401,-0.000373332766155,-7.25688639005e-05,1793192423507662336
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.622112296,743,711.622112296,673,660,631.377887704,878,782,800,648,628,650,0.443410445593,-0.0156598642184,0.0797408025629,0.999999886809,-0.000245127904696,-0.000401253294272,-7.27348034048e-05,1793192423524328704
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.028888481,743,711.028888481,673,660,631.971111519,878,782,800,648,628,650,0.443603053875,-0.0156641281988,0.079718618573,0.999999869852,-0.000254017509579,-0.000436465295632,-7.25889668616e-05,1793192423540995328
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+202,3.366666667,POSE1_TO_POSE2_PRESS,763,743,711.125814623,672.874185377,659.125814623,631,878,782,799.874185377,648.125814623,628,650,0.443949504282,-0.0156715257262,0.0797023477914,0.999999854827,-0.00026889671005,-0.000461063879032,-7.38951577669e-05,1793192423574328832
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+204,3.400000000,POSE1_TO_POSE2_PRESS,763,742.716206931,711.716206931,672.283793069,660,631,877.716206931,782,799,648.716206931,628,650,0.444247002823,-0.0156734013587,0.0797027566407,0.999999855195,-0.000268347574579,-0.000460339051006,-7.54113153531e-05,1793192423607662336
+205,3.416666667,POSE1_TO_POSE2_PRESS,763,742.127911107,711.127911107,672.872088893,660,631,877.127911107,782,799,648.127911107,628,650,0.44437211543,-0.0156741150841,0.0797028592117,0.99999985332,-0.000272812159699,-0.000461948970172,-7.44123890902e-05,1793192423624328960
+206,3.433333333,POSE1_TO_POSE2_PRESS,763,742.454899163,711,673,660,631,877.454899163,782,799.454899163,648,628,650,0.444475146359,-0.0156758061559,0.0796973951917,0.999999849456,-0.000276563011723,-0.000468029304318,-7.44970872756e-05,1793192423640995584
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.035774758,743,711.035774758,673,660,631,877.964225242,782,800,648,628,650,0.444570716086,-0.0156775545088,0.0796908387578,0.999999845266,-0.000279710751693,-0.000475004397099,-7.48430811543e-05,1793192423657662208
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.610465203,743,711.610465203,673,660,631,877.389534797,782,800,648,628,650,0.444646308789,-0.0156760752177,0.0796911241672,0.999999845276,-0.000276760353435,-0.000476748015654,-7.45899236061e-05,1793192423674328832
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.815059121,743,711.815059121,673,660,631,877.184940879,782,800,648,628,650.184940879,0.444715767484,-0.0156748311957,0.0796918087932,0.999999846036,-0.000273642817898,-0.000477024635637,-7.41244304679e-05,1793192423690995456
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.241035353,743,711.241035353,673,660,631,877.758964647,782,800,648,628,650.758964647,0.444772321304,-0.0156740821387,0.0796933332998,0.999999848383,-0.000270173655468,-0.000474214949973,-7.32122208499e-05,1793192423707662080
+211,3.516666667,POSE1_TO_POSE2_PRESS,763,742.6555067,711,673,659.6555067,631,877.6555067,781.6555067,800,648,627.6555067,650.6555067,0.444817580742,-0.0156746157914,0.0796921620832,0.999999847784,-0.000269805322775,-0.000475732138538,-7.29060578602e-05,1793192423724328704
+212,3.533333333,POSE1_TO_POSE2_PRESS,763,742.061650116,711,673,659.061650116,631,877.061650116,781.061650116,800,648,627.061650116,650.061650116,0.444854664687,-0.01567607794,0.0796890395533,0.999999845044,-0.000271681541616,-0.000480381357449,-7.30385848112e-05,1793192423740995584
+213,3.550000000,POSE1_TO_POSE2_PRESS,763,742.516389767,711.516389767,673,659.516389767,631,877,781.516389767,800,648,627.516389767,650,0.444880464294,-0.0156757461512,0.079687898823,0.99999984483,-0.000270182417872,-0.000481708731976,-7.27818038692e-05,1793192423757662464
+214,3.566666667,POSE1_TO_POSE2_PRESS,763,743,711.907652518,672.907652518,660,631,877.092347482,782,800,648,627.907652518,650,0.444902779093,-0.0156748452981,0.0796868030399,0.999999844646,-0.000268255943481,-0.000483189265087,-7.26225424365e-05,1793192423774329344
+215,3.583333333,POSE1_TO_POSE2_PRESS,763,743,711.333000161,672.333000161,660,631,877.666999839,782,800,648,627.333000161,650,0.444913720684,-0.0156720577024,0.0796847430286,0.999999843087,-0.000266139594974,-0.000487479395207,-7.32081263469e-05,1793192423790995712
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.246930296,743,711.246930296,672,660,631,877.753069704,782,800,648,627.246930296,650,0.444921104825,-0.0156709453381,0.0796818394536,0.999999840545,-0.000265199458565,-0.000493143296222,-7.34090604285e-05,1793192423807662080
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+221,3.683333333,POSE1_TO_POSE2_PRESS,763,743,711.150138325,672.849861675,659,631,878,782,800,648.150138325,628,650,0.444935833883,-0.015670544358,0.0796752018797,0.999999835137,-0.000266071367311,-0.000503701051332,-7.22249842652e-05,1793192423890995712
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+224,3.733333333,POSE1_TO_POSE2_PRESS,763,743,712,672.901643749,659.901643749,631.901643749,878,782,800,648.098356251,628,650,0.444936151614,-0.0156689034435,0.0796722832172,0.999999834601,-0.000262243949102,-0.000506764502584,-7.22163657313e-05,1793192423940995584
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+226,3.766666667,POSE1_TO_POSE2_PRESS,763.057966455,742.942033545,711.942033545,672.942033545,659,631.057966455,878.057966455,782,799.057966455,648,628,650.057966455,0.444937231035,-0.0156683824723,0.079671069588,0.9999998334,-0.000260514557033,-0.000510130427116,-7.14070668065e-05,1793192423974330624
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+231,3.850000000,POSE1_TO_POSE2_PRESS,763.03681514,742.96318486,711,672,659,631,877,781.03681514,799.03681514,648,628,650,0.444943109717,-0.0156689008945,0.079674616173,0.99999983601,-0.000261589839403,-0.000504547755941,-7.05855198209e-05,1793192424057662208
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+233,3.883333333,POSE1_TO_POSE2_PRESS,763,742.113639556,711,672.886360444,659.886360444,631,878.113639556,782,799,648.886360444,628,650,0.444941473091,-0.0156661204733,0.0796731489318,0.999999835135,-0.000259346815705,-0.000507288640912,-7.16075620661e-05,1793192424090995456
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+236,3.933333333,POSE1_TO_POSE2_PRESS,763.864144898,742.135855102,711,672,659,631,878.135855102,781.135855102,799.864144898,648,627.135855102,650,0.444945693251,-0.0156665245856,0.0796756073749,0.999999837802,-0.000259256144917,-0.000502225559307,-7.03665672587e-05,1793192424140995584
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+244,4.066666667,HOLD_POSE2,763,742,712,672,659,631,878,782,799,648,628,650,0.444948948784,-0.0156663079032,0.0796754549236,0.999999837598,-0.000259335963956,-0.00050260790799,-7.02492177182e-05,1793192424288864256
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+254,4.233333333,HOLD_POSE2,764,742.184864061,711.184864061,673,659,631,877.184864061,781.184864061,800,648,628,650,0.444950852314,-0.0156645778385,0.0796755532525,0.999999838579,-0.000256792217588,-0.000501945813573,-7.03554407951e-05,1793192424455530752
+255,4.250000000,HOLD_POSE2,763.603681978,742.396318022,711,672.603681978,659,631,877,781.396318022,800,648,628,650,0.444951152011,-0.0156643197081,0.0796749989577,0.999999838461,-0.00025660800932,-0.000502247195555,-7.0554799389e-05,1793192424472197376
+256,4.266666667,HOLD_POSE2,763.029278253,742.970721747,711,672.029278253,659,631,877,781.970721747,800,648,628,650,0.444951522675,-0.0156640302893,0.0796741709196,0.999999838218,-0.000256478247242,-0.000502808168512,-7.0482272976e-05,1793192424488864256
+257,4.283333333,HOLD_POSE2,763.547893224,742.452106776,711,672.547893224,659,631,877,782,799.452106776,648,627.452106776,650.547893224,0.444953659202,-0.0156639314078,0.0796768242208,0.99999984017,-0.000255252014431,-0.000499546029425,-7.04321127205e-05,1793192424505531136
+258,4.300000000,HOLD_POSE2,763.872068229,742.127931771,711,672.872068229,659,630.872068229,877,782,799.127931771,648,627,650.872068229,0.444955512237,-0.0156639258751,0.0796789623017,0.999999841818,-0.000254245887402,-0.00049676486242,-7.03417404315e-05,1793192424522197760
+259,4.316666667,HOLD_POSE2,763.282214163,742.717785837,711,672.282214163,659,630.282214163,877,782,799.717785837,648,627,650.282214163,0.444955999221,-0.0156642204457,0.0796785649541,0.999999841985,-0.000254247130073,-0.000496461743029,-7.010183743e-05,1793192424538864128
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,660,631,877,782,799,648,628,651,0.444953725658,-0.0156635553442,0.0796770748631,0.999999840378,-0.000254674338118,-0.000499533145767,-6.96601560835e-05,1793192424575644928
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.425476462,743,711.574523538,673,659.425476462,631,877.574523538,782,799,648.574523538,628,650.425476462,0.444954246121,-0.0156635296892,0.0796767057301,0.999999840553,-0.000253657781452,-0.00049970504278,-6.96182713094e-05,1793192424592311808
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,743,711.85075291,673,659,631,877.85075291,782,799,648.85075291,628,650,0.444954864827,-0.0156633811361,0.0796768806095,0.999999840947,-0.000252929272324,-0.000499293402939,-6.95594225907e-05,1793192424608978944
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,743,711.275458255,673,659,631,877.275458255,782,799,648.275458255,628,650,0.444955763983,-0.0156628817526,0.0796786084513,0.999999841966,-0.000253023036629,-0.000497215972157,-6.94521478109e-05,1793192424625645824
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,743,711.30866967,673,659.30866967,631,877,781.69133033,799,648,628,650,0.444955591872,-0.0156631883825,0.0796788008563,0.999999841637,-0.000254381151015,-0.000497194666416,-6.93754848394e-05,1793192424642312704
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,743,711.900912642,673,659.900912642,631,877,781.099087358,799,648,628,650,0.444954435593,-0.0156642354928,0.079677582663,0.999999840066,-0.000256900817575,-0.00049906231272,-6.93269447914e-05,1793192424658979072
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742.519505297,711.519505297,672.519505297,660,631,877.960989405,781.480494703,799.480494703,648.480494703,628,650,0.444953635786,-0.0156636941293,0.0796766199855,0.999999840159,-0.000255386455519,-0.000499661390444,-6.92648292208e-05,1793192424675645440
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.057428678,742.057428678,711,672.057428678,659.942571322,631,878.942571322,781.942571322,800,648.942571322,628,650,0.444952499683,-0.015663082424,0.0796756093827,0.999999840303,-0.000253543197822,-0.000500321583187,-6.91936685366e-05,1793192424692312064
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.63342187,742.63342187,711,672.63342187,659.36657813,631,878.36657813,781.36657813,800,648.36657813,628,650,0.44494768017,-0.0156647175157,0.0796737024475,0.999999837909,-0.000256049030274,-0.000503835186523,-6.90654630856e-05,1793192424708978432
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.786040057,711,673,659,631,878,781,799.786040057,648,628,650,0.444938115614,-0.0156652215589,0.0796691872829,0.999999833744,-0.000257492181088,-0.000511278047064,-6.93094723217e-05,1793192424725645056
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.197546299,711,673,659,631,878,781,799.197546299,648,628,650,0.444920244929,-0.0156637457176,0.0796601064502,0.999999826365,-0.000257075122615,-0.000525599015653,-7.02050380432e-05,1793192424742311680
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.617755557,742,711,673,659,631,878,781.382244443,799.382244443,648,628,650,0.444886470256,-0.0156612557717,0.0796467058032,0.999999814163,-0.000254581166338,-0.000549388516861,-7.09608704853e-05,1793192424758978304
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.04236241,742,711,673,659,631,878,781.95763759,799.95763759,648,628,650,0.444844659272,-0.0156582533971,0.0796311223465,0.999999798903,-0.000251037750212,-0.000577962483103,-7.16460955235e-05,1793192424775644928
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.536699306,742,711,672.463300694,659,631,877.463300694,782,799.463300694,648,628,650,0.444788157395,-0.015654725592,0.0796227623073,0.999999790959,-0.000250157354265,-0.000591967875289,-7.12524775104e-05,1793192424792311552
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.885004671,742,711,672.114995329,659,631,877,781.885004671,799,648,628,650.114995329,0.444726618414,-0.0156511878429,0.0796163432193,0.99999978508,-0.000249401544155,-0.000602226578073,-7.0437845229e-05,1793192424808978432
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.3109292,742,711,672.6890708,659,631,877,781.3109292,799,648,628,650.6890708,0.444649631534,-0.0156477771008,0.0796153809087,0.99999978555,-0.00024829818956,-0.000602150142209,-6.8284745693e-05,1793192424825645056
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,631,877,781,799.271066993,648,628,650.728933007,0.444563171686,-0.0156431847179,0.0796166055265,0.999999788785,-0.000244654651482,-0.000598584648783,-6.53555324949e-05,1793192424842311680
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,631,877,781,799.862422142,648,628,650.137577858,0.444465518744,-0.0156371961283,0.0796204141817,0.999999795205,-0.00023800967577,-0.000590896544129,-6.15092766937e-05,1793192424858978048
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742.444891772,711,673,659,631,877.444891772,781,799.555108228,648,628,650,0.444340924344,-0.0156321079812,0.0796244938095,0.999999799348,-0.000234560132177,-0.00058570026295,-5.69287130623e-05,1793192424875644672
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.024458095,742.975541905,711,672.975541905,659,631,878,781,799.024458095,648,628,650,0.444206730863,-0.0156271430529,0.0796285853312,0.99999980279,-0.000231732937323,-0.000581383276275,-5.20921957763e-05,1793192424892311552
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.599313161,742.400686839,711,672.400686839,659,631,878,781,799.599313161,648,628,650,0.4440403375,-0.0156188075085,0.0796310957357,0.999999806359,-0.000221109252922,-0.000579852565916,-4.65057752057e-05,1793192424908978688
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.822235255,742,711.177764745,672.177764745,659.177764745,631,878,781.177764745,800,648,628,650,0.443862919413,-0.0156099258632,0.0796335145945,0.99999981036,-0.000209383111586,-0.000577741893458,-4.06456898841e-05,1793192424925645568
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.235509698,742,711.764490302,672.764490302,659.764490302,631,878,781.764490302,800,648,628,650,0.443660138167,-0.0155997878743,0.0796357228453,0.999999815472,-0.00019512068883,-0.000574296976,-3.41560195391e-05,1793192424942312192
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,742.348138867,712,673,660,631,877.651861133,782,800,648,628,650.348138867,0.44343718178,-0.0155889887816,0.0796411735301,0.999999822675,-0.000179856519839,-0.00056710049164,-2.64358289657e-05,1793192424958978560
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.929724196,712,673,660,631,877.070275804,782,800,648,628,650.929724196,0.44320069682,-0.0155777463809,0.0796487984472,0.999999831064,-0.000163920622845,-0.000557388372667,-1.78905055232e-05,1793192424975644928
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,743,712,673,660,631.506444339,877,782,800,648,628,651,0.442927219927,-0.0155651082023,0.0796556062671,0.999999845192,-9.67985895408e-05,-0.000547863651458,-9.53650074442e-06,1793192424992311296
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.081891097,743,712,672.918108903,660,631.918108903,877.081891097,782,799.918108903,648,628,651,0.442643188606,-0.0155522582245,0.079662637768,0.999999855249,-3.23808891463e-05,-0.000537077241864,-1.55393679355e-06,1793192425008977920
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.653720294,743,712,672.346279706,660,631.346279706,877.653720294,782,799.346279706,648,628,651,0.442326430332,-0.0155392888269,0.0796716794034,0.999999865179,-2.62326335679e-05,-0.000518588318402,4.36369393949e-06,1793192425025644800
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.766795195,743,712,672.233204805,660,631.233204805,878,782.233204805,799,648,628,650.766795195,0.441986944874,-0.0155262607992,0.0796819790727,0.999999874966,-2.0676866831e-05,-0.000499593132336,6.83254202768e-06,1793192425042311680
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.175557731,743,712,672.824442269,660,631.824442269,878,782.824442269,799,648,628,650.175557731,0.441612567043,-0.015513142759,0.0796942101648,0.99999988475,-1.60307316165e-05,-0.000479820697021,4.00657255459e-06,1793192425058978816
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,743,711.592873872,673,660,632,877.592873872,783,799,648,628,650,0.441196335449,-0.0155014848621,0.079695620228,0.999999887137,-4.5722251292e-06,-0.000475056194955,5.08989052093e-06,1793192425075645440
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,743,711.013802547,673,660,632,877.013802547,783,799,648,628,650,0.440762427393,-0.0154904436409,0.0796924601496,0.999999886334,9.76341056153e-06,-0.000476630127226,7.82425267632e-06,1793192425092312320
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,660,632,877.56273983,783,799,648,628,650.56273983,0.440268111406,-0.0154829861354,0.079679204495,0.999999877814,2.02978424086e-05,-0.000493887468965,5.94737826742e-06,1793192425108978688
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742.861354145,711,673,659.861354145,632,878,783,799,648,628,650.861354145,0.439766317981,-0.0154734854243,0.0796677395562,0.999999870421,3.13798923726e-05,-0.000508095670043,3.47728054791e-06,1793192425125645056
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742.287252928,711,673,659.287252928,632,878,783,799,648,628,650.287252928,0.439245672412,-0.0154572926298,0.0796626730885,0.999999868182,4.44734011851e-05,-0.000511524438126,-5.02359855399e-07,1793192425142311424
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742,711.296893324,672.703106676,659.296893324,632,878,783,799,648,628.296893324,650,0.438714675192,-0.0154453833906,0.0796819455203,0.999999882511,5.81693613596e-05,-0.000481242359458,8.37508879995e-07,1793192425158978048
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,742,711.89109885,672.10890115,659.89109885,632,878,783,799,648,628.89109885,650,0.438173311654,-0.0154377637483,0.0797255911901,0.999999910317,7.24686242777e-05,-0.000417201871143,7.50439143732e-06,1793192425175644928
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632,877.530222067,783,799.469777933,648.469777933,628.530222067,650.469777933,0.437606394087,-0.0154369550019,0.0797707382339,0.999999934271,7.59418635019e-05,-0.000354342790718,1.14879722517e-05,1793192425192312064
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,742.045024087,712,672.045024087,660.045024087,632,877.045024087,783,799.954975913,648.954975913,628,651,0.437027863382,-0.0154374040686,0.0798139319814,0.99999995349,7.83126206195e-05,-0.000294383756803,1.50147593216e-05,1793192425208979456
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763,742.620873947,712,672.620873947,660.620873947,632,877.620873947,783,799.379126053,648.379126053,628,651,0.436380021373,-0.0154346635674,0.0798301247124,0.999999959913,9.63267228622e-05,-0.00026549016438,2.02549965074e-05,1793192425225646592
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763,743,712,672.798413472,660.798413472,632,878,783,798.798413472,648,628,650.798413472,0.435714480354,-0.0154308945123,0.0798375552313,0.999999962088,0.000110013637523,-0.000251337092594,2.34857700223e-05,1793192425242312960
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,743,712,672.208329489,660.208329489,632,878,783,798.208329489,648,628,650.208329489,0.435014829851,-0.0154251432287,0.0798280992187,0.999999957815,0.00011536119756,-0.000265591946885,2.28439058925e-05,1793192425258978816
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.374566899,743,712,672.374566899,660,632,878,783,798.374566899,648,628,650,0.434277201321,-0.0154239412083,0.0798196721437,0.99999995638,0.000109609864029,-0.000273396225512,2.19329942123e-05,1793192425275645184
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.472312574,743,712,672.472312574,660,632,877.472312574,783.527687426,799,648,628,650,0.432708331764,-0.015422187664,0.0797908595953,0.999999939118,0.000122082805937,-0.000326231623799,2.07805462743e-05,1793192425308978176
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632.834166042,877,783.165833958,799,648.834166042,628,650,0.426039866992,-0.0154158131912,0.0798053872194,0.999999940006,0.000147916694547,-0.00031198029347,2.78877801416e-05,1793192425442311424
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632.246169443,877,783.753830557,799,648.246169443,628,650,0.425154004767,-0.0154149250657,0.0797738421764,0.999999924469,0.000146740473736,-0.000359086903307,2.41987578721e-05,1793192425458978048
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632.33857409,877,783.66142591,799,648,628,650,0.424234514726,-0.0154123270988,0.0797525854154,0.999999910407,0.000149275960929,-0.000395475260948,2.24000326011e-05,1793192425475644672
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632.920974877,877,783.079025123,799,648,628,650,0.423290807396,-0.0154084977767,0.0797387378402,0.999999897877,0.000154484462892,-0.000424144786152,2.19626192131e-05,1793192425492311296
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742.495065886,712,672,660,633,877,783,799.495065886,648,628,650,0.422433921422,-0.0154061406445,0.0797613567723,0.999999913719,0.00017078455524,-0.000377823674469,2.53831776238e-05,1793192425508977920
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,743,712,672,660,633,877,783,799.931780624,648.068219376,628,650.068219376,0.421595042329,-0.0154051156525,0.0797932128246,0.999999932859,0.000185198920769,-0.000314818311241,2.95481894274e-05,1793192425525644800
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,743,712,672,660,633,877,783,799.355896064,648.644103936,628,650.644103936,0.420788734066,-0.0154122840791,0.0798512056748,0.999999961328,0.000172622394344,-0.00021526369581,3.47460200396e-05,1793192425542311424
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.226409004,742.773590996,712,672,660,632.773590996,877,783,799,648.773590996,628,651,0.419955755735,-0.0154165707582,0.0798810878176,0.999999971377,0.000167627048389,-0.000166521005295,3.76683968852e-05,1793192425558978048
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.819101223,742.180898777,712,672,660,632.180898777,877,783,799,648.180898777,628,651,0.419079630593,-0.0154161953632,0.0798654926252,0.999999964028,0.000174896493775,-0.000199981548458,3.69095586599e-05,1793192425575644672
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.59879621,660,632,877,783,799,648,628,650.59879621,0.418183718583,-0.0154113277261,0.0798331482441,0.999999950714,0.000180749217919,-0.0002545542123,3.32392035972e-05,1793192425592311296
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.021345657,660,632,877,783,799,648,628,650.021345657,0.417279114356,-0.0154044866702,0.0797934460314,0.999999931616,0.000185979582699,-0.000318401319384,2.8289834099e-05,1793192425608977920
+323,5.383333333,POSE2_TO_POSE3_RETREAT,762.895262243,742,712,671,660,632.552368879,877,783,799,648,628,650,0.416425008503,-0.0154034018945,0.0798079734014,0.999999933768,0.00018490074718,-0.000312093598224,2.95364951118e-05,1793192425625644800
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,762.719787879,742.719787879,711.280212121,671,660,632.280212121,877,783,799.719787879,648,628,650,0.414762671923,-0.0154042673331,0.0797949537698,0.999999924795,0.000178297966397,-0.000343263683027,2.81023271941e-05,1793192425658978048
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742.695877925,711.304122075,671,660,632.304122075,877,783,799.39175585,648,628,650,0.413985542358,-0.0154061587406,0.0797911530917,0.999999925693,0.000177698625377,-0.000341052457414,2.68528780933e-05,1793192425675644672
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742.116843677,711.883156323,671,660,632.883156323,877,783,798.233687355,648,628,650,0.413245114155,-0.0154086187378,0.0798031745671,0.999999935732,0.000180687378011,-0.000308532501228,2.63957138952e-05,1793192425692311296
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,712,671.459666864,660,632.540333136,877.459666864,783,798.459666864,648,628,650,0.41250301439,-0.0154054725131,0.0798143793951,0.999999940731,0.000182835326613,-0.000290533592823,2.6465124869e-05,1793192425708977920
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632,877.964474279,783,799,648,628.035525721,650,0.411759636229,-0.0154012169179,0.0798238129538,0.999999943733,0.000184547630408,-0.000278870525052,2.65868114842e-05,1793192425725644544
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632,877.388824088,783,799,648,628.611175912,650,0.411003247253,-0.0154016426481,0.0798094553919,0.999999935608,0.000182868185033,-0.000307723360546,2.54793541769e-05,1793192425742311168
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.191376399,742,712,671.808623601,660,632.191376399,876.808623601,783,799,648.191376399,628.808623601,650,0.410281745502,-0.015401926677,0.0798013904815,0.999999930102,0.000183728131695,-0.000324684427788,2.48956945878e-05,1793192425758977792
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742,711,670.531400548,660.734299726,632.734299726,876.734299726,783,799,648,628,650,0.40611232318,-0.0153921653497,0.0797782120045,0.999999910701,0.000212136962439,-0.000364667385591,2.47683771344e-05,1793192425875644928
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,763,742,711.846146485,670.153853515,659.846146485,632,877,783,799,648,628.153853515,650,0.404018634484,-0.0153674658083,0.0798414179652,0.999999934454,0.000251379519618,-0.00025889527993,2.95460986155e-05,1793192425958978048
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763,742,711.257404452,670.742595548,659.257404452,632,877,783,799,648,628.742595548,650,0.403654238959,-0.0153626977152,0.0798439454886,0.999999930535,0.000259624547468,-0.000265602104737,3.1317847915e-05,1793192425975644672
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763,742,711.325929732,671,659.325929732,632.325929732,876.674070268,783,799,648,628.674070268,650,0.403324295491,-0.0153587597212,0.0798450414145,0.99999992836,0.000265001844087,-0.000268427660286,3.16294721677e-05,1793192425992311552
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742,711.905062715,671,659.905062715,632.905062715,876.094937285,783,799,648,628.094937285,650,0.403021116628,-0.0153554666018,0.0798450251829,0.999999927597,0.000268151301523,-0.000268237994989,3.08067769423e-05,1793192426008978176
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,632.518978656,876.481021344,783,799,648,628,650.481021344,0.402752292773,-0.015368395817,0.079843124946,0.999999929631,0.000252831834145,-0.000275429142006,3.08812107071e-05,1793192426025645056
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.944817274,632,876.944817274,783,799,648,628,650.944817274,0.402495360358,-0.0153842588419,0.0798410464245,0.99999993218,0.000233482053463,-0.000283127598558,3.10550136994e-05,1793192426042311424
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.381474637,632,876.381474637,783,799,648,628,650.381474637,0.402285902156,-0.0153978478932,0.0798407278325,0.999999937597,0.000210365263006,-0.000282171169599,3.05240512189e-05,1793192426058978048
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,659,632,876,783,799,648,628,650,0.402088322933,-0.0154042021833,0.0798423489352,0.999999940912,0.000200020134876,-0.000277901576398,3.0648999908e-05,1793192426075644672
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659,632,876,783,799,648,628,650,0.401915660315,-0.0153953813041,0.0798480386159,0.999999940495,0.00021646402337,-0.000266682504299,3.21497455682e-05,1793192426092311296
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763,742,711.615494518,671,659.384505482,632,876.384505482,783,799.384505482,648,628.384505482,650.384505482,0.401768444218,-0.0153926651126,0.0798537002686,0.999999942145,0.00022037585035,-0.000256948914682,3.35032943462e-05,1793192426108978176
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,711.03857942,671,659.96142058,632,876.96142058,783,799.96142058,648,628.96142058,650.96142058,0.401633961747,-0.0153930037549,0.0798593478964,0.999999944888,0.000218016535099,-0.000247958671375,3.47831847652e-05,1793192426125644800
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763,742,711.539006179,671,659.460993821,632,876.460993821,783,799.460993821,648,629,651,0.401522547915,-0.0153907459773,0.0798608061343,0.999999946329,0.000214481504341,-0.000245389183688,3.35372020079e-05,1793192426142311680
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,659,632,876,783,799,648,628.290443981,650.290443981,0.401322615478,-0.0153852316961,0.0798562305734,0.999999943493,0.000217779339703,-0.000254416508492,2.92925825481e-05,1793192426175644672
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.294161948,632.294161948,876.294161948,783,799,648,628.294161948,650,0.401243252186,-0.0153847989563,0.0798523709514,0.999999939795,0.000226562238927,-0.000261334443985,2.79968492074e-05,1793192426192311552
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,659.873206219,632.873206219,876.873206219,783,799,648,628.873206219,650,0.401177543611,-0.0153868187543,0.0798492048821,0.999999935617,0.000238866360761,-0.000266321890709,2.79487366378e-05,1793192426208978176
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.448366152,742,712,671,660,633,877,783,799,648,629,650,0.40113119784,-0.0153848784623,0.0798471782992,0.999999934419,0.000242796996253,-0.000267264320042,2.79512562422e-05,1793192426225644800
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.178935722,742,712,670.821064278,660,632.178935722,877,783,799.178935722,648,628.821064278,650,0.401039267091,-0.0153843725757,0.0798471959223,0.999999934855,0.000240621433,-0.000267481983185,2.90581047769e-05,1793192426275644672
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.864947225,659.067526387,633,877,783,799.067526387,648,628,650,0.401001575731,-0.0153813796467,0.0798446401039,0.999999932551,0.000247694500023,-0.000269627175998,2.91011154232e-05,1793192426325644800
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_08/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1b7b431545e00d01769d25cfb6e25871a8a94b8a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,396 @@
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+376,6.266666667,pose2_to_pose3_retreat,0.575713054199,-0.00994540948995,1.0700289347,0.546283782981,-0.00127268487085,1.06969822773
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+381,6.350000000,pose2_to_pose3_retreat,0.575711098285,-0.00994531902645,1.07002899317,0.54628182575,-0.00127259875718,1.06969828924
+382,6.366666667,pose2_to_pose3_retreat,0.575710769327,-0.00994532471308,1.0700289646,0.546281497211,-0.00127260300977,1.06969826103
+383,6.383333333,pose2_to_pose3_retreat,0.575710693655,-0.0099453260212,1.07002895803,0.546281421636,-0.00127260398801,1.06969825454
+384,6.400000000,pose2_to_pose3_retreat,0.575710472126,-0.00994532985072,1.0700289388,0.546281200388,-0.00127260685182,1.06969823553
+385,6.416666667,pose2_to_pose3_retreat,0.575710316792,-0.00994533253594,1.07002892531,0.546281045253,-0.00127260885988,1.06969822221
+386,6.433333333,pose2_to_pose3_retreat,0.575710131362,-0.00994533574143,1.07002890921,0.546280860058,-0.00127261125702,1.06969820631
+387,6.450000000,pose2_to_pose3_retreat,0.57571004678,-0.00994533720358,1.07002890186,0.546280775584,-0.00127261235045,1.06969819905
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..27ab500aca0247189e8c07fd0b197389218ee67c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e4dd1e0d00621599b6eb111ff1a2a7458f42da312ca407ae76fe0fd9073559c
+size 25517093
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0889cfa252aed8fd81aca86d0c7622e32a449d01
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_03/franka_data.csv
@@ -0,0 +1,402 @@
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+8,0.133333333,BASELINE,763,742,712,671,659,632.364488638,877,783,799,648,629,650,0.400986843669,-0.0153848740197,0.0798490744548,0.999999936309,0.000241785472236,-0.000261105874785,2.72989146166e-05,1793192427093020416
+9,0.150000000,BASELINE,763.21723926,742,712,670.78276074,659.21723926,632,877,783,799,648,629,650,0.40098655204,-0.0153847972663,0.0798488443782,0.999999936451,0.000240942022255,-0.000261350702395,2.72214443807e-05,1793192427109687040
+10,0.166666667,BASELINE,763.810746256,742,712,670.189253744,659.810746256,632,877,783,799,648,629,650,0.400986906654,-0.0153844684584,0.0798489210035,0.999999936375,0.00024089468228,-0.000261730774923,2.67668457607e-05,1793192427126353664
+11,0.183333333,BASELINE,763.608737866,742,712,670.391262134,660,632.391262134,877,783,799,648.391262134,629,650,0.400986794213,-0.0153845397709,0.0798486430897,0.999999936418,0.000240413818782,-0.000262020359299,2.66467124024e-05,1793192427143021056
+12,0.200000000,BASELINE,763.034303811,742,712,670.965696189,660,632.965696189,877,783,799,648.965696189,629,650,0.400986463117,-0.0153847984025,0.0798481991961,0.999999936517,0.000239729998415,-0.000262267581091,2.66831610977e-05,1793192427159688960
+13,0.216666667,BASELINE,763,742,712,670.459280098,660,633,876.459280098,783.540719902,799,648.459280098,628.459280098,650,0.400986706669,-0.0153849959471,0.0798486971333,0.999999936922,0.000239107775956,-0.000261265585474,2.68999864708e-05,1793192427176354816
+14,0.233333333,BASELINE,763,742,711.88089168,670.11910832,660,632.88089168,876.11910832,783.88089168,798.88089168,648.11910832,628,650,0.400986992152,-0.0153851870499,0.0798491263728,0.999999937134,0.000238957513688,-0.000260572306479,2.70886564518e-05,1793192427193020672
+15,0.250000000,BASELINE,763,742,711.289304532,670.710695468,660,632.289304532,876.710695468,783.289304532,798.289304532,648.710695468,628,650,0.400987299196,-0.0153853679891,0.0798490458246,0.999999936503,0.000240663904185,-0.00026141836253,2.71201969647e-05,1793192427209687040
+16,0.266666667,BASELINE,763.294210287,742,711.294210287,671,660,632.294210287,877,783.294210287,798.294210287,648.705789713,628,650.294210287,0.400987898927,-0.0153855861843,0.0798493730485,0.999999936461,0.000241564199322,-0.000260744551171,2.71556979891e-05,1793192427226353664
+17,0.283333333,BASELINE,763.869999315,742,711.869999315,671,660,632.869999315,877,783.869999315,798.869999315,648.130000685,628,650.869999315,0.40098877878,-0.015385840036,0.0798500905373,0.999999936981,0.000241693007678,-0.000258616125929,2.71949894837e-05,1793192427243020544
+18,0.300000000,BASELINE,763.552112107,742,711.552112107,671,659.552112107,633,877,783.552112107,799,648.447887893,628,650.552112107,0.400988948648,-0.0153863539558,0.0798507401609,0.999999937352,0.000240412449087,-0.000258360754755,2.73461255991e-05,1793192427259687424
+19,0.316666667,BASELINE,763.026092292,742,711.026092292,671,659,633,876.973907708,783,799,648.973907708,628,650,0.400988831562,-0.0153868572937,0.0798512644012,0.999999937635,0.000238802589631,-0.000258739757203,2.75011500054e-05,1793192427276354304
+20,0.333333333,BASELINE,763.598094471,742,711.598094471,671,659,633,876.401905529,783,799,648.401905529,628,650,0.4009870426,-0.0153855524648,0.0798495794061,0.999999937046,0.000238902044741,-0.000260963142598,2.70551235886e-05,1793192427293020672
+21,0.350000000,BASELINE,764,742,712,671,659.177031913,632.822968087,876.177031913,783,799,648,628.177031913,650,0.400985710627,-0.015385220395,0.0798485058312,0.999999936566,0.000239317342099,-0.000262434504914,2.68937382719e-05,1793192427309687040
+22,0.366666667,BASELINE,764,742,712,671,659.772355959,632.227644041,876.772355959,783,799,648,628.772355959,650,0.400985458429,-0.0153871867666,0.0798488769245,0.999999936354,0.00024047891353,-0.000262128981985,2.74049048255e-05,1793192427326353664
+23,0.383333333,BASELINE,763.643879845,742,712,671.356120155,660,632.356120155,877,783,799.356120155,648,629,650.356120155,0.4009860573,-0.0153874012911,0.0798495524242,0.999999936697,0.000240015710683,-0.000261223076765,2.75741372169e-05,1793192427343020288
+24,0.400000000,BASELINE,763.067272718,742,712,671.932727282,660,632.932727282,877,783,799.932727282,648,629,650.932727282,0.400987183099,-0.0153865311835,0.079850416393,0.999999937383,0.00023854655095,-0.000259945452947,2.75316657501e-05,1793192427359687168
+25,0.416666667,BASELINE,763,742,712,671.491857631,660,632.491857631,877,783,799.491857631,648,628.491857631,650.491857631,0.400987138076,-0.0153858148767,0.0798498697285,0.999999937377,0.000238814908736,-0.000259750876822,2.7268700812e-05,1793192427376354048
+26,0.433333333,BASELINE,763,742,712,671,659.914520651,632,877,783,799,648,628,650,0.400986858207,-0.0153852169555,0.0798491902348,0.999999937257,0.000239237969072,-0.000259847818094,2.70215950397e-05,1793192427393020672
+27,0.450000000,BASELINE,763,742,712,671,659.324920386,632,877,783,799,648,628,650,0.400986105327,-0.0153851974194,0.0798488261827,0.999999937008,0.000239219960666,-0.000260820365436,2.70397731198e-05,1793192427409687552
+28,0.466666667,BASELINE,763.260034114,742,712,671,659,632,877,783,799,648,628,650,0.400985760975,-0.015385362303,0.0798486395858,0.99999993676,0.000239472010709,-0.000261537554548,2.70523610811e-05,1793192427426354176
+29,0.483333333,BASELINE,763.839285448,742,712,671,659,632,877,783,799,648,628,650,0.40098591813,-0.0153857535798,0.0798486708326,0.999999936514,0.000240055583822,-0.000261941266484,2.7058086626e-05,1793192427443020800
+30,0.500000000,BASELINE,764,742,712,671,659.414043119,632.414043119,877,783.414043119,799,648,628,650.414043119,0.400986164311,-0.0153861867039,0.0798488283431,0.999999936709,0.00023966423333,-0.000261565544404,2.69393183991e-05,1793192427459687424
+31,0.516666667,BASELINE,764,742,712,671,659.987075249,632.987075249,877,783.987075249,799,648,628,650.987075249,0.400986444677,-0.0153866358971,0.0798490343377,0.999999937073,0.00023889852051,-0.000260890526331,2.67727456302e-05,1793192427476353536
+32,0.533333333,BASELINE,763.435036699,742,712,670.435036699,660,633,876.435036699,783.435036699,799,648,628,650.435036699,0.400986162521,-0.0153853764421,0.0798494724913,0.999999936784,0.000240082056147,-0.000260922331534,2.66793771134e-05,1793192427493020160
+33,0.550000000,BASELINE,763.146116688,742,712,670.146116688,659.853883312,632.853883312,876,783,799,648,628,650,0.400986334399,-0.0153851083488,0.0798500062024,0.999999936903,0.000240114984709,-0.000260425835067,2.67686206239e-05,1793192427509686784
+34,0.566666667,BASELINE,763.73686538,742,712,670.73686538,659.26313462,632.26313462,876,783,799,648,628,650,0.4009879274,-0.0153879769405,0.0798508143924,0.999999938304,0.000236509750826,-0.000258272088415,2.74084109072e-05,1793192427526353664
+35,0.583333333,BASELINE,763.679562643,742,712,671,659.320437357,632,876.320437357,783.320437357,799,648,628,650,0.400988187815,-0.0153894213004,0.0798507712741,0.999999938853,0.0002346629694,-0.000257823530999,2.74614391651e-05,1793192427543020800
+36,0.600000000,BASELINE,763.101754831,742,712,671,659.898245169,632,876.898245169,783.898245169,799,648,628,650,0.400987377917,-0.0153897217389,0.0798500443979,0.999999938728,0.000234228550098,-0.000258744555648,2.70431890765e-05,1793192427559687424
+37,0.616666667,BASELINE,763.474016649,742,711.525983351,671,659.525983351,632,877,783.525983351,798.525983351,648,628,650,0.400987252142,-0.015388368271,0.0798499674576,0.999999938303,0.000235600081739,-0.000259137198049,2.71065758559e-05,1793192427576354304
+38,0.633333333,BASELINE,763.94954067,742,711.05045933,671,659,632,877,783,798.05045933,648.05045933,628,650,0.400987262868,-0.0153866972736,0.0798499895935,0.999999937792,0.000237452568029,-0.00025940633134,2.72306975669e-05,1793192427593020928
+39,0.650000000,BASELINE,763.361305357,742,711.638694643,671,659,632,877,783,798.638694643,648.638694643,628,650,0.400987169916,-0.0153854098199,0.0798495870709,0.999999937076,0.000240316871178,-0.000259562823861,2.69049249345e-05,1793192427609687040
+40,0.666666667,BASELINE,763.223338608,742,712,671,659.223338608,632.223338608,877,783,799,648.776661392,628.223338608,650,0.400987015246,-0.0153854827882,0.0798494156545,0.999999936889,0.000240876397404,-0.000259770490601,2.68434303949e-05,1793192427626353664
+41,0.683333333,BASELINE,763.802264592,742,712,671,659.802264592,632.802264592,877,783,799,648.197735408,628.802264592,650,0.400986762311,-0.0153877217455,0.0798496121928,0.999999937548,0.00023776638514,-0.00026005963409,2.72027048351e-05,1793192427643020544
+42,0.700000000,BASELINE,763.62098917,742,712,671,660,633,876.62098917,783.37901083,799,648.37901083,629,650,0.400986361959,-0.0153887472632,0.0798495101003,0.999999937746,0.000236627374568,-0.000260340094456,2.71919336247e-05,1793192427659686912
+43,0.716666667,BASELINE,763.045373652,742,712,671,660,633,876.045373652,783.954626348,799,648.954626348,629,650,0.400985885136,-0.0153891433321,0.0798492530988,0.999999937707,0.000236510783886,-0.000260616050606,2.6989208232e-05,1793192427676353536
+44,0.733333333,BASELINE,763,742,712,670.471748682,659.471748682,633,876,784,799,648.471748682,629,650.528251318,0.40098739688,-0.0153885571448,0.0798501721519,0.999999937977,0.000237791470346,-0.000258389018948,2.71364263931e-05,1793192427693020928
+45,0.750000000,BASELINE,763.10504952,742,712,670.10504952,659.10504952,632.89495048,876,784,799,648,628.89495048,650.89495048,0.400988603526,-0.0153878883885,0.0798509756695,0.999999938112,0.000238989826243,-0.000256740227798,2.72926913772e-05,1793192427709687808
+46,0.766666667,BASELINE,763.697356195,742,712,670.697356195,659.697356195,632.302643805,876,784,799,648,628.302643805,650.302643805,0.400987605733,-0.0153872265171,0.0798507765016,0.999999937525,0.000239251707575,-0.000258766988289,2.73520220188e-05,1793192427726354432
+47,0.783333333,BASELINE,763.716747393,742,712,671.283252607,660,632,876.283252607,783.716747393,799,648.283252607,628,650,0.400987653007,-0.0153873215694,0.0798505875318,0.999999937755,0.000237831789247,-0.000259200295654,2.7215618527e-05,1793192427743021056
+48,0.800000000,BASELINE,763.137548442,742,712,671.862451558,660,632,876.862451558,783.137548442,799,648.862451558,628,650,0.400988792183,-0.0153882074665,0.0798504092171,0.999999938834,0.000234654702805,-0.000257968740834,2.68747092426e-05,1793192427759687168
+49,0.816666667,BASELINE,763,742,712,671.560045058,660,632,876.560045058,783,798.560045058,648.560045058,628,650,0.400988146204,-0.0153877727403,0.0798499796751,0.999999938318,0.000236243720737,-0.000258545819801,2.6599469079e-05,1793192427776353536
+50,0.833333333,BASELINE,763,742,712,671,660,632,876.0167678,783,798.0167678,648,628,650,0.400986992676,-0.0153869756403,0.0798494923738,0.999999937331,0.000239223048316,-0.000259643483964,2.63647338304e-05,1793192427793020160
+51,0.850000000,BASELINE,763,742,712,671,660,632,876.588207857,783,798.588207857,648,628,650,0.400987440966,-0.0153877969102,0.0798496826511,0.999999937433,0.000239091092374,-0.00025932868368,2.67933369931e-05,1793192427809687296
+52,0.866666667,BASELINE,763.1655964,742,712,670.8344036,660,632.1655964,876.8344036,783,799.1655964,648,628,650,0.400987719378,-0.0153882695825,0.0798497788699,0.999999937498,0.000238917144759,-0.000259211846696,2.7051007793e-05,1793192427826354432
+53,0.883333333,BASELINE,763.758328295,742,712,670.241671705,660,632.758328295,876.241671705,783,799.758328295,648,628,650,0.400987559611,-0.0153878430903,0.0798496324765,0.999999937468,0.000238634884812,-0.00025960563166,2.68677796152e-05,1793192427843021056
+54,0.900000000,BASELINE,763.65698296,742,712,670.34301704,660,633,876,783,800,648,628,650,0.400987648794,-0.0153866426829,0.0798500062783,0.999999937292,0.000239898882719,-0.000259129347964,2.67504277428e-05,1793192427859687424
+55,0.916666667,BASELINE,763.077831186,742,712,670.922168814,660,633,876,783,800,648,628,650,0.400987909357,-0.0153849095083,0.0798507381852,0.999999937011,0.00024222733267,-0.000258054104414,2.66784254725e-05,1793192427876354048
+56,0.933333333,BASELINE,763.496645177,742,712,671,660,632.503354823,876.496645177,783.496645177,799.503354823,648.496645177,628,650,0.400987721628,-0.0153857777462,0.0798501090677,0.99999993751,0.000239437052089,-0.000258732462502,2.65940876038e-05,1793192427893020672
+57,0.950000000,BASELINE,763.92786102,742,712,670.92786102,660,632,876.92786102,783.92786102,799,648.92786102,628,650,0.400987125204,-0.0153868995844,0.0798492011333,0.999999937898,0.000236537682025,-0.000259903978225,2.65395233984e-05,1793192427909687296
+58,0.966666667,BASELINE,763.339902221,742,712,670.339902221,660,632,876.339902221,783.339902221,799,648.339902221,628,650,0.40098410411,-0.0153869469012,0.0798478104448,0.999999936699,0.000238540639985,-0.000262655057834,2.67115455813e-05,1793192427926353920
+59,0.983333333,BASELINE,763.245596949,742.245596949,712,670.245596949,660,632.245596949,876,783,799,648,628,650.245596949,0.400984178727,-0.0153871650789,0.0798482359343,0.99999993661,0.000239289977704,-0.000262296313042,2.68521166003e-05,1793192427943020288
+60,1.000000000,BASELINE,763.827725866,742.827725866,712,670.827725866,660,632.827725866,876,783,799,648,628,650.827725866,0.400988495276,-0.0153876173808,0.0798511500618,0.99999993804,0.000238321528539,-0.000257676296938,2.6949591334e-05,1793192427959686912
+61,1.016666667,BASELINE,763.594930073,742.594930073,712,671,659.594930073,633,876,783,798.594930073,648,628,650.594930073,0.400988855468,-0.015387374586,0.0798513364748,0.999999938321,0.000237941943398,-0.000256934606983,2.69466195361e-05,1793192427976353792
+62,1.033333333,BASELINE,763.019597263,742.019597263,712,671,659.019597263,633,876,783,798.019597263,648,628,650.019597263,0.400987552684,-0.0153868396216,0.0798503763483,0.999999938125,0.000237809875301,-0.000257823092606,2.69014270814e-05,1793192427993020672
+63,1.050000000,BASELINE,763,742,711.447682341,670.447682341,659,633,876.552317659,783,798.552317659,648,628,650,0.400988137391,-0.0153870454048,0.079850541871,0.999999938145,0.000238013113804,-0.000257544284112,2.70485361984e-05,1793192428009687296
+64,1.066666667,BASELINE,763,742,711.128361697,670.128361697,659.128361697,633,877,783,799,648,628,650,0.400988270811,-0.0153869916257,0.0798505757977,0.999999937975,0.000238541719661,-0.000257705238927,2.71099490123e-05,1793192428026353664
+65,1.083333333,BASELINE,763,742,711.719734514,670.719734514,659.719734514,633,877,783,799,648,628,650,0.400986536309,-0.0153859073615,0.0798499918659,0.999999937095,0.000240201301477,-0.000259600934383,2.68377877181e-05,1793192428043020288
+66,1.100000000,BASELINE,763,742,712,670.694670364,660,632.694670364,877,783,799,648,628,650,0.400985712047,-0.0153857988919,0.0798494916269,0.999999936669,0.000240843495951,-0.000260644962278,2.6825907458e-05,1793192428059686912
+67,1.116666667,BASELINE,763,742,712,670.114280192,660,632.114280192,877,783,799,648,628,650,0.400985707788,-0.0153865694809,0.0798490667839,0.999999936657,0.000240569162509,-0.00026092175326,2.70485050767e-05,1793192428076353536
+68,1.133333333,BASELINE,763,742,712,670.461913265,659.538086735,632.461913265,877,783,799,648,628,650.461913265,0.400986204434,-0.0153861501501,0.0798491758676,0.999999937003,0.00024028397832,-0.000259862043003,2.70108095498e-05,1793192428093020160
+69,1.150000000,BASELINE,763.037993266,742,712,671,659,633,876.962006734,783,799,648,628,650.962006734,0.400986731991,-0.0153855754206,0.0798493805573,0.999999937403,0.000239905149319,-0.000258680872337,2.69031740591e-05,1793192428109687040
+70,1.166666667,BASELINE,763.627358538,742,712,671,659,633,876.372641462,783,799,648,628,650.372641462,0.400985925865,-0.0153869793649,0.0798490729392,0.999999937344,0.00023820592156,-0.000260492458168,2.67066990156e-05,1793192428126354176
+71,1.183333333,BASELINE,764,742,712,671,659.213005027,633,876.213005027,783,799,648,628.213005027,650,0.400985206323,-0.0153876152132,0.0798491003394,0.99999993725,0.000237594322125,-0.000261410930288,2.66931697793e-05,1793192428143021056
+72,1.200000000,BASELINE,764,742,712,671,659.792257423,633,876.792257423,783,799,648,628.792257423,650,0.400984635658,-0.0153869303741,0.0798497037804,0.999999937104,0.000238852823877,-0.000260793755628,2.69942031367e-05,1793192428159687680
+73,1.216666667,BASELINE,764,742,712,671,659.630214693,632.630214693,877,783,799,648,629,650,0.400985752198,-0.0153864454306,0.079850366282,0.999999937455,0.000238808720438,-0.000259487862506,2.69590278292e-05,1793192428176353792
+74,1.233333333,BASELINE,764,742,712,671,659.053651164,632.053651164,877,783,799,648,629,650,0.400987812199,-0.0153860722656,0.0798510618094,0.999999938082,0.000238036220255,-0.000257796848711,2.67358498206e-05,1793192428193020160
+75,1.250000000,BASELINE,763.481205237,742,712,671,659,632,876.481205237,783,799,648,628.481205237,650,0.400986244814,-0.0153859654337,0.0798499682747,0.999999937416,0.000239001906716,-0.00025947166798,2.68495287432e-05,1793192428209686784
+76,1.266666667,BASELINE,763.094139977,742,712,671,659,632.094139977,876.094139977,783.094139977,799,648,628,650,0.400984751893,-0.0153859791559,0.0798489218018,0.999999936834,0.000239608697,-0.000261140858651,2.69149787882e-05,1793192428226353408
+77,1.283333333,BASELINE,763.687085678,742,712,671,659,632.687085678,876.687085678,783.687085678,799,648,628,650,0.400985625497,-0.0153864868519,0.0798490972858,0.999999937428,0.000237368917115,-0.000260950440464,2.65417582393e-05,1793192428243020032
+78,1.300000000,BASELINE,764,742,712,671,659.271675102,632.728324898,876.728324898,783.728324898,799,648,628,650,0.400985191153,-0.0153867510848,0.0798490175334,0.999999937359,0.000237027044908,-0.000261540306779,2.63879312039e-05,1793192428259686912
+79,1.316666667,BASELINE,764,742,712,671,659.846926966,632.153073034,876.153073034,783.153073034,799,648,628,650,0.400983295273,-0.0153867432656,0.0798486525733,0.99999993655,0.000238805943824,-0.000263002083128,2.64792601622e-05,1793192428276353792
+80,1.333333333,BASELINE,763.574960986,742,712,671,660,632,876.425039014,783,799,648,628,650,0.400984437696,-0.0153869592045,0.0798496043976,0.999999936895,0.000239262235602,-0.000261222665166,2.69684602779e-05,1793192428293020416
+81,1.350000000,BASELINE,763,742,711.995750436,671,660,632.004249564,877.004249564,783,799,648,628.004249564,650.004249564,0.400986659583,-0.0153872608384,0.0798510136859,0.999999937645,0.000239227523348,-0.000258301181754,2.75930944027e-05,1793192428309687296
+82,1.366666667,BASELINE,763,742,711.408109,671,660,632.591891,877.591891,783,799,648,628.591891,650.591891,0.400985839273,-0.0153881891738,0.0798496808784,0.999999937623,0.000237620249682,-0.000259926870686,2.70061213554e-05,1793192428326353664
+83,1.383333333,BASELINE,763,742.176926182,711.176926182,671,660,633,877.823073818,783,799,648,629,651,0.40098541833,-0.0153887745113,0.0798490122351,0.99999993775,0.000236222238481,-0.000260743022252,2.66955410838e-05,1793192428343020288
+84,1.400000000,BASELINE,763,742.756037004,711.756037004,671,660,633,877.243962996,783,799,648,629,651,0.400985905219,-0.0153885801537,0.0798498533552,0.999999938225,0.000235299917719,-0.000259718951911,2.70132505729e-05,1793192428359687168
+85,1.416666667,BASELINE,763,742.666076585,712,670.666076585,660,632.666076585,877.333923415,783.333923415,799,648,628.666076585,650.666076585,0.400986072111,-0.0153882052199,0.0798501936121,0.999999938421,0.000234818009971,-0.00025940227207,2.70017215895e-05,1793192428376353536
+86,1.433333333,BASELINE,763,742.089081491,712,670.089081491,660,632.089081491,877.910918509,783.910918509,799,648,628.089081491,650.089081491,0.40098600607,-0.01538769884,0.0798501692774,0.999999938414,0.000234656690552,-0.00025960052053,2.67505312013e-05,1793192428393020160
+87,1.450000000,BASELINE,763,742.486812728,712,670.486812728,660,632,877.513187272,783.513187272,799,648,628,650.486812728,0.400985872287,-0.0153871412951,0.0798497580453,0.999999937655,0.000237200933842,-0.000260225640885,2.66013938471e-05,1793192428409687040
+88,1.466666667,BASELINE,763,742.936053266,712,670.936053266,660,632.063946734,877,783,799,648,628,651,0.400985767532,-0.0153866990299,0.0798493851919,0.999999936919,0.000239723442768,-0.000260752575014,2.65130462811e-05,1793192428426353408
+89,1.483333333,BASELINE,763,742.347090134,712,670.347090134,660,632.652909866,877,783,799,648,628,651,0.40098600265,-0.015387279931,0.0798499073925,0.99999993756,0.000238011893578,-0.000259833502019,2.67708193244e-05,1793192428443020032
+90,1.500000000,BASELINE,763.237609288,742,712,670.237609288,660,632.762390712,877,783,799,648,628,650.762390712,0.400986214913,-0.0153870698796,0.0798502663139,0.999999937915,0.000237291015613,-0.000259120585637,2.68405822941e-05,1793192428459686656
+91,1.516666667,BASELINE,763.816190195,742,712,670.816190195,660,632.183809805,877,783,799,648,628,650.183809805,0.400986394379,-0.0153857248036,0.0798503909279,0.999999937861,0.00023799176056,-0.000258703506058,2.66405489735e-05,1793192428476353280
+92,1.533333333,BASELINE,764,742,712,671.392658767,660,632.392658767,877,783,799,648,628,650.392658767,0.400986302346,-0.0153852690798,0.0798503238864,0.999999937402,0.000239598304239,-0.000259001862949,2.65916505173e-05,1793192428493020160
+93,1.550000000,BASELINE,764,742,712,671.968143862,660,632.968143862,877,783,799,648,628,650.968143862,0.400986083898,-0.0153852274483,0.079850167608,0.999999936749,0.000241626598032,-0.000259633335053,2.66131221323e-05,1793192428509686784
+94,1.566666667,BASELINE,764,742,712,670.919334869,659.459667434,632.459667434,876.459667434,783,799,648.540332566,628.540332566,650.459667434,0.400985660928,-0.0153864907922,0.0798499771767,0.999999937484,0.000238485193278,-0.000259720704232,2.65132452625e-05,1793192428526353408
+95,1.583333333,BASELINE,764,742,712,670.11677482,659.11677482,632,876,783,799,648.88322518,628.88322518,650,0.400985318508,-0.015387512131,0.0798497116772,0.999999938066,0.000235841821006,-0.000259900517903,2.64350357195e-05,1793192428543020032
+96,1.600000000,BASELINE,764,742,712,670.71141404,659.71141404,632,876,783,799,648.28858596,628.28858596,650,0.400985354753,-0.0153872302094,0.0798491471741,0.999999937736,0.000236476174436,-0.00026058910669,2.64745920531e-05,1793192428559686912
+97,1.616666667,BASELINE,763.702333188,742,712,671,659.702333188,632,876.297666812,783,799,648,628,650,0.400984956244,-0.0153869868773,0.0798486362359,0.999999937365,0.000237186210797,-0.000261366777597,2.64628757689e-05,1793192428576354048
+98,1.633333333,BASELINE,763.123988262,742,712,671,659.123988262,632,876.876011738,783,799,648,628,650,0.400984147793,-0.0153867799323,0.0798481758057,0.999999936955,0.000237967610608,-0.000262228446414,2.64028131399e-05,1793192428593021952
+99,1.650000000,BASELINE,763,742,712,671,659.452608326,632,876.547391674,783,799,648,628,650,0.400985211652,-0.0153865959056,0.0798491662701,0.999999937087,0.000239028340744,-0.000260757084672,2.64222468702e-05,1793192428609688064
+100,1.666666667,BASELINE,763.029223821,742,712,671,660,632.029223821,876.029223821,783,799,648,628,650,0.400986681469,-0.0153864683476,0.0798504712063,0.999999937373,0.000239965418135,-0.000258785999995,2.64773208865e-05,1793192428626353920
+101,1.683333333,BASELINE,763.615290576,742,712,671,660,632.615290576,876.615290576,783,799,648,628,650,0.400986151109,-0.0153872975987,0.0798502239832,0.999999937884,0.000237093927051,-0.00025942407419,2.67981415957e-05,1793192428643020800
+102,1.700000000,BASELINE,763.80115664,742,712,671,660,633,877.19884336,783,799,648,628,650,0.400985593532,-0.0153876560809,0.0798498481918,0.999999938057,0.000235556350814,-0.000260143504841,2.69111602588e-05,1793192428659687424
+103,1.716666667,BASELINE,763.222407067,742,712,671,660,633,877.777592933,783,799,648,628,650,0.400984983957,-0.0153871151214,0.0798492267601,0.999999937598,0.000236567326387,-0.000261018373471,2.66271563819e-05,1793192428676353792
+104,1.733333333,BASELINE,763,742,712,671,660,633,877.289201612,783.355399194,799,648,628,650,0.400984139883,-0.0153866928374,0.0798483368818,0.999999937151,0.000237324715101,-0.000262056724127,2.64839996448e-05,1793192428693020416
+105,1.750000000,BASELINE,763,742,712,671,660,633,876.134766491,783.932616755,799,648,628,650,0.40098314945,-0.0153863446233,0.0798472794553,0.999999936711,0.000237923830559,-0.000263197110315,2.64287510209e-05,1793192428709687552
+106,1.766666667,POSE1_TO_POSE2_PRESS,763,743,712,671,660,633,877,783,799,648,628,650,0.400984678174,-0.0153886682747,0.0798490261681,0.999999937469,0.000237374149145,-0.000260786708721,2.65764571005e-05,1793192428741274880
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742.396251913,711.396251913,671,660,632.396251913,877,783,799,648,628,650,0.400985853312,-0.015389329007,0.0798499116636,0.999999938033,0.000236276686683,-0.000259583037741,2.69160425601e-05,1793192428757940992
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.198728623,742,711,671,660,632,876.801271377,783.198728623,799,648,628.198728623,650,0.400986630808,-0.015389121748,0.079850334654,0.999999938255,0.000236079082482,-0.000258901029872,2.69722363752e-05,1793192428774607360
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.776966013,742,711,671,660,632,876.223033987,783.776966013,799,648,628.776966013,650,0.400986648934,-0.0153872569007,0.0798498744064,0.999999937826,0.000237599922549,-0.000259215233221,2.64872419062e-05,1793192428791274240
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.646638748,742,711.353361252,671,659.646638748,632.353361252,876.353361252,783.646638748,799.353361252,648,629,650,0.400986571978,-0.0153859463067,0.0798499102637,0.999999937467,0.000239165342442,-0.000259176319183,2.63516299195e-05,1793192428807940864
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.07140024,742,711.92859976,671,659.07140024,632.92859976,876.92859976,783.07140024,799.92859976,648,629,650,0.400986435321,-0.0153849837312,0.0798502576278,0.99999993715,0.000240758754133,-0.000258915680994,2.64353969281e-05,1793192428824607488
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.498543928,633,877,783,799.501456072,648,628.501456072,650.498543928,0.400985802481,-0.0153878190326,0.079850340893,0.999999937932,0.000237407800753,-0.000258948723088,2.68307601487e-05,1793192428841274112
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.071222459,742,712,671,660,633,876.928777541,783,799,648,628,650.928777541,0.400985433764,-0.0153904635826,0.0798504820142,0.999999938688,0.000234212798031,-0.000258899516966,2.71785746644e-05,1793192428857940736
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.669697404,742,712,671,660,633,876.330302596,783,799,648,628,650.330302596,0.400987540859,-0.0153877117286,0.0798513285001,0.999999938205,0.000237359335316,-0.000257933340608,2.68475005038e-05,1793192428874607360
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,670.741547259,660,633,876.258452741,783,799.258452741,648,628,650,0.400993095612,-0.0153863526701,0.0798536605796,0.99999993875,0.000239179325816,-0.000254123893283,2.67195095924e-05,1793192428891274240
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,670.164763413,660,633,876.835236587,783,799.835236587,648,628,650,0.401002896779,-0.0153867090904,0.0798578224351,0.999999940534,0.000239365434762,-0.000246812445675,2.68416523072e-05,1793192428907940608
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,670.410349229,659.589650771,633,877,783,799.589650771,648,628.410349229,650,0.401026485675,-0.0153878331371,0.0798669145831,0.999999944686,0.000238643003957,-0.000230057738081,2.74192618884e-05,1793192428924607232
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,670.984793619,659.015206381,633,877,783,799.015206381,648,628.984793619,650,0.401055588167,-0.0153892641513,0.0798779783133,0.999999949436,0.000237557255777,-0.000209526750578,2.81790087896e-05,1793192428941273600
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.42276028,742,712,671,659.57723972,633,876.42276028,783,799,648,629,650,0.401104462915,-0.0153942135611,0.0798887152842,0.999999955735,0.000231141963899,-0.00018528272727,2.7800838655e-05,1793192428957940480
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659.83452082,633,876.16547918,783,799,648.16547918,628.83452082,650,0.401159060243,-0.0153976956996,0.0798981099446,0.999999959741,0.000228254568683,-0.000166394222734,2.70222086896e-05,1793192428974607104
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659.257947663,633,876.742052337,783,799,648.742052337,628.257947663,650,0.40122653836,-0.0153972950811,0.0799041920263,0.999999959216,0.000234491411254,-0.000161061052613,2.53255972906e-05,1793192428991273984
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.319545747,742,711.680454253,671,659,632.680454253,877,783,799,648.680454253,628.319545747,650,0.401308530026,-0.0153989300016,0.0799093921463,0.999999960323,0.000236244770424,-0.00015174523477,2.2724908809e-05,1793192429007940608
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.897784127,742,711.102215873,671,659,632.102215873,877,783,799,648.102215873,628.897784127,650,0.401402271332,-0.0154022128206,0.0799138782617,0.999999962659,0.000234368463867,-0.000139205210277,1.93923124554e-05,1793192429024607488
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.51751169,742,711.48248831,671,659.48248831,632.48248831,877,783,799,648,628.51751169,650.48248831,0.401507461054,-0.0154077511763,0.0799160417769,0.999999965015,0.000227078068025,-0.000134797381035,1.53421307587e-05,1793192429041274112
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.067781477,742,712,671,660,633,877,783,799,648.067781477,628.067781477,651,0.401619332935,-0.0154136509402,0.0799181299719,0.999999967363,0.000218704121956,-0.000131607230654,1.10025750532e-05,1793192429057940736
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.647042294,742,712,671,660,633,877,783,799,648.647042294,628.647042294,651,0.401763078021,-0.0154186231405,0.0799234132184,0.999999969998,0.00021092640184,-0.000124428715611,5.64213856752e-06,1793192429074607104
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.775638266,742.224361734,712,671,660,633,876.775638266,783,798.775638266,648.775638266,628.775638266,650.775638266,0.401921455563,-0.0154230595186,0.0799284836721,0.999999972619,0.000203162893713,-0.000116134176049,-3.48496171458e-07,1793192429091273728
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.201346785,742.798653215,712,671,660,633,876.201346785,783,798.201346785,648.201346785,628.201346785,650.201346785,0.402102654862,-0.0154266601918,0.0799332222393,0.99999997525,0.000195421552305,-0.000106099009773,-7.32203026576e-06,1793192429107940352
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.374606723,742.625393277,712,670.625393277,660,632.625393277,876.374606723,783,798.374606723,648,628,650,0.402291627599,-0.0154327810553,0.0799311959217,0.999999980068,0.000165726306281,-0.000110288047689,-1.53282022518e-05,1793192429124607232
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.951457586,742.048542414,712,670.048542414,660,632.048542414,876.951457586,783,798.951457586,648,628,650,0.402484797106,-0.0154402625294,0.0799255173522,0.999999984543,0.000124178499626,-0.000122156503356,-2.38918794328e-05,1793192429141274368
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.540544785,712,670.540544785,660.540544785,632.540544785,876.459455215,783,799,648,628.540544785,650,0.402704052846,-0.0154495916098,0.079919975061,0.999999987995,7.48516440323e-05,-0.000132163864336,-3.06494324122e-05,1793192429157940736
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.871570485,742.871570485,712,671,660.871570485,633,876.25685903,783.128429515,799,648,628.871570485,650,0.402940691137,-0.0154583463612,0.0799163363467,0.999999988986,4.35290384575e-05,-0.00013768600215,-3.42914982601e-05,1793192429174607104
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.291861498,742.291861498,712,671,660.291861498,633,877.416277004,783.708138502,799,648,628.291861498,650,0.403229986602,-0.0154644865018,0.0799193424771,0.999999988381,7.79818378768e-05,-0.0001280487056,-2.75693998656e-05,1793192429191273728
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,711.714220763,671,660,632.714220763,877.714220763,783.714220763,799.285779237,648,628,650.285779237,0.403543860808,-0.0154721072358,0.0799232290257,0.999999988839,8.46122017205e-05,-0.000120349607022,-2.60590087061e-05,1793192429207940608
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,711.138677157,671,660,632.138677157,877.138677157,783.138677157,799.861322843,648,628,650.861322843,0.403882656483,-0.0154812292095,0.0799280082696,0.999999991,6.30321497853e-05,-0.000114615734851,-2.98330013959e-05,1793192429224607232
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,711.435996858,671,660,632.435996858,876.564003142,783,800,648,628,650.564003142,0.404243929756,-0.015493842852,0.0799277291844,0.999999992217,4.42000367507e-05,-0.000112145605874,-3.21840376626e-05,1793192429241273600
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.010697212,742,711.989302788,671,660,632.989302788,876,783,799.989302788,648,628,650,0.4046129983,-0.0155075442192,0.0799258540223,0.999999992948,2.6252664013e-05,-0.000110695880586,-3.40691844799e-05,1793192429257940480
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.601804604,742,711.398195396,671,660,632.398195396,876,783,799.398195396,648,628,650,0.405017881339,-0.015520124799,0.0799245007692,0.999999993466,8.98054023088e-06,-0.000108398316433,-3.51843139886e-05,1793192429274607104
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632.189016204,876,783.189016204,799,648,628,650.189016204,0.405435456086,-0.0155343710104,0.0799200052264,0.999999992744,-1.04251169652e-05,-0.00011430767754,-3.65685352392e-05,1793192429291273472
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660,632.768186312,876,783.768186312,799,648,628,650.768186312,0.405879228111,-0.0155520552995,0.0799090235912,0.999999989267,-3.423466108e-05,-0.000137157194694,-3.85081965223e-05,1793192429307940352
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.655099131,742,711,670.655099131,660,633,876,783.655099131,799,648,628,650.655099131,0.406358359257,-0.0155629830301,0.0799034461802,0.999999987127,-5.01452674653e-05,-0.000147142658692,-3.97487666783e-05,1793192429324606976
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.080023266,742,711,670.080023266,660,633,876,783.080023266,799,648,628,650.080023266,0.40686108791,-0.0155694016674,0.0799014753617,0.999999986299,-6.07843964611e-05,-0.000148543097719,-4.05227876334e-05,1793192429341273600
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.492648553,742.492648553,711,670.492648553,659.507351447,633,876.492648553,783,799.492648553,648,628,650,0.407378023876,-0.0155469980333,0.0798981778244,0.999999985975,-3.85162558931e-05,-0.000157307284794,-4.26633934244e-05,1793192429357940480
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.932591539,742.932591539,711,671,659.067408461,632.932591539,877,783,799.932591539,648.067408461,628,650,0.407901718871,-0.015521731289,0.079894288852,0.999999984862,-1.24023826158e-05,-0.000167634952283,-4.49486449697e-05,1793192429374607104
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.338479402,742.338479402,711,671,659.661520598,632.338479402,877,783,799.338479402,648.661520598,628,650,0.408460282187,-0.0155104969539,0.0798874543292,0.999999982552,2.19740023626e-06,-0.000180878354784,-4.6638053702e-05,1793192429391273728
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742,711.248517479,671,660,632.248517479,877,783,799,648.751482521,628,650,0.40906774612,-0.0155104259532,0.0798981330178,0.99999998544,3.20909359615e-06,-0.000163918504707,-4.7325198759e-05,1793192429407940352
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742,711.826093122,671,660,632.826093122,877,783,799,648.173906878,628,650,0.409739958573,-0.015525136152,0.0799320006801,0.999999993094,-1.37709938687e-05,-0.00010696699209,-4.66852617239e-05,1793192429424606976
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.402858246,742.402858246,711.597141754,671,660,633,877,783,798.597141754,648,628,650.402858246,0.41042722567,-0.0155351834957,0.0799564866389,0.999999996115,-3.15093220349e-05,-6.77532867711e-05,-4.67583065561e-05,1793192429441273856
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.97927417,742.97927417,711.02072583,671,660,633,877,783,798.02072583,648,628,650.97927417,0.411120978526,-0.0155432220075,0.0799769308112,0.999999997006,-4.9574311787e-05,-3.6181309735e-05,-4.71385152184e-05,1793192429457940480
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.430447408,711.569552592,671,660,633,877,783,798.569552592,648.569552592,628.569552592,651,0.411767602488,-0.0155418390014,0.079952197862,0.999999994129,-5.70207446379e-05,-7.74322591966e-05,-4.99536045953e-05,1793192429474607104
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.8433351,742,712,671,660.1566649,633,877,783,799,649,628.8433351,651,0.412427239125,-0.0155387112198,0.0799248517877,0.999999989726,-6.00644734222e-05,-0.000118599986537,-5.36055730685e-05,1793192429491273728
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.266110143,742,712,671,660.733889857,633,877,783,799,649,628.266110143,651,0.413126526316,-0.01553184298,0.0798950141847,0.999999985283,-5.23525011122e-05,-0.000152253021703,-5.92603179658e-05,1793192429507940352
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.310279745,742,712,671,660.689720255,633,877,783,799,648.689720255,628,651,0.413871234971,-0.0155284447351,0.0798930859482,0.999999986232,-4.82195857178e-05,-0.000146434124155,-6.13765337473e-05,1793192429524607232
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.885955426,742,712,671,660.114044574,633,877,783,799,648.114044574,628,651,0.414654794683,-0.015528014529,0.0799150298193,0.999999991352,-4.71479945133e-05,-0.000106853147157,-6.04660902747e-05,1793192429541273856
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.52858028,742.47141972,712,671.47141972,660,633,877.47141972,783,799.47141972,648.47141972,628.47141972,651,0.415431531722,-0.0155342231785,0.0799304350071,0.999999993016,-5.09944887243e-05,-8.93310096195e-05,-5.81970068218e-05,1793192429557940480
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742.941571793,712,672,660,632.941571793,877.941571793,783.058428207,799.941571793,648.941571793,628.941571793,651,0.416207143136,-0.0155412698279,0.0799410968993,0.99999999354,-5.6916607191e-05,-8.07896693816e-05,-5.61533712851e-05,1793192429574607104
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742.3623537,712,672,660,632.3623537,877.3623537,783.6376463,799.3623537,648.3623537,628.3623537,651,0.416987745541,-0.0155411670173,0.079923878495,0.999999990388,-7.05097727736e-05,-0.000103723317534,-5.91109663841e-05,1793192429591273984
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.215675035,742.215675035,712,672,659.784324965,632.215675035,877,783.784324965,799,648,628,650.784324965,0.417802012935,-0.0155400274451,0.0799247219739,0.999999991008,-7.43862397576e-05,-9.41149667571e-05,-5.99450808017e-05,1793192429607940608
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.791716464,742.791716464,712,672,659.208283536,632.791716464,877,783.208283536,799,648,628,650.208283536,0.418672530328,-0.0155371555723,0.0799557446336,0.999999995985,-6.20273003171e-05,-3.01329460467e-05,-5.72311204934e-05,1793192429624607232
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.6331165,742.6331165,712,672,659.3668835,632.6331165,877,783,799,648,628,650,0.419509728216,-0.0155350864402,0.0799608697929,0.999999996383,-6.04079928068e-05,-1.76711131219e-05,-5.72107316113e-05,1793192429641273856
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.058444706,742.058444706,712,672,659.941555294,632.058444706,877,783,799,648,628,650,0.420328055224,-0.0155334719488,0.0799513276317,0.999999995581,-6.48711882941e-05,-3.43882777976e-05,-5.87158751557e-05,1793192429657940480
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742,712,672,660,632,877,783,799,648,628,650,0.421164975391,-0.0155377939277,0.0799435158793,0.999999994827,-6.68229174764e-05,-4.90121960853e-05,-5.89757263079e-05,1793192429674607104
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742,712,672,660,632.118168257,877,783,799.118168257,648,628,650,0.422013048825,-0.0155424500175,0.0799437348223,0.999999994563,-6.92491503476e-05,-5.15885391473e-05,-5.84561451447e-05,1793192429691273728
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,742,712,672,660,632.698487779,877,783,799.698487779,648,628,650,0.422896509343,-0.0155457842511,0.0799745953013,0.999999995646,-7.46431737723e-05,-7.97414671985e-06,-5.54396259059e-05,1793192429707940352
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.276520021,742.276520021,712,672,660,633,877,783.276520021,799.446959959,648.276520021,628,650,0.423738307295,-0.0155452078375,0.0799800053923,0.999999995375,-7.83962312866e-05,-1.07077524031e-05,-5.46757230125e-05,1793192429724607232
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.852078787,742.852078787,712,672,660,633,877,783.852078787,798.295842426,648.852078787,628,650,0.42453504995,-0.0155404023089,0.0799578925178,0.999999993162,-8.03746895842e-05,-6.35637530933e-05,-5.63478804566e-05,1793192429741273856
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.572995359,743,712,672,660.427004641,632.572995359,877,783.572995359,798.427004641,649,628,650.427004641,0.425350288207,-0.0155390027835,0.0799217908064,0.999999988715,-7.71095973823e-05,-0.000113878222243,-6.04687010545e-05,1793192429757940480
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.001757492,742.998242508,712,672.001757492,661,632,876.998242508,783.001757492,799,648.998242508,628,651,0.426172027611,-0.0155388023853,0.079880981167,0.999999981955,-7.20906253139e-05,-0.000163130240152,-6.54255471204e-05,1793192429774607104
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.591896336,742.408103664,712,672.591896336,661,632,876.408103664,783.591896336,799,648.408103664,628,651,0.42702842033,-0.0155456257056,0.0798839791971,0.999999982578,-8.71188964511e-05,-0.000151008180997,-6.67082522324e-05,1793192429791273728
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.821847242,742.178152758,712,672.821847242,661,632.178152758,876.178152758,783.821847242,799.178152758,648.178152758,628,651,0.427874386421,-0.015551016722,0.0798897714102,0.999999983064,-9.66698295526e-05,-0.000141624082548,-6.68546699089e-05,1793192429807940352
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.244294836,742.755705164,712,672.244294836,661,632.755705164,876.755705164,783.244294836,799.755705164,648.755705164,628,651,0.428696977059,-0.0155531966645,0.0799018278862,0.999999983936,-9.39411490272e-05,-0.000138378203364,-6.44536512582e-05,1793192429824606976
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.331687888,743,712,672.331687888,661,633,877,783.331687888,799.668312112,648.668312112,628,650.668312112,0.42953427109,-0.0155562441298,0.0799267895147,0.999999988289,-9.39936775342e-05,-0.000103898147278,-6.15776603094e-05,1793192429841273600
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.90651993,743,712,672.90651993,661,633,877,783.90651993,799.09348007,648.09348007,628,650.09348007,0.430382343422,-0.0155599275335,0.0799612112782,0.999999992599,-9.60849741114e-05,-4.65218449593e-05,-5.83534903649e-05,1793192429857940224
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.507255465,743,712,672.507255465,661,632.507255465,877.492744535,784,799,648,628,650,0.431209185963,-0.0155576700935,0.0799879072152,0.999999994583,-8.77289587413e-05,-7.77383910996e-06,-5.54753263981e-05,1793192429874606848
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.080357454,742.919642546,712,672.080357454,661,632,877.919642546,784,799,648,628.080357454,650.080357454,0.432014524169,-0.0155536064224,0.0800020836215,0.999999995509,-7.74866089037e-05,9.86056814029e-06,-5.36707280499e-05,1793192429891273728
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.662820442,742.337179558,712,672.662820442,661,632,877.337179558,784,799,648,628.662820442,650.662820442,0.432711255805,-0.0155454656684,0.0799474079523,0.99999999264,-6.81350758872e-05,-8.18265802445e-05,-5.8154334539e-05,1793192429907940608
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.757305656,742,712,673,661,632,877.242694344,783.757305656,799,648,628.757305656,650.757305656,0.433414317009,-0.015542272844,0.0798973598856,0.999999983385,-6.96588104384e-05,-0.00015620954812,-6.30635560538e-05,1793192429924607232
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.180990765,742,712,673,661,632,877.819009235,783.180990765,799,648,628.180990765,650.180990765,0.434126079274,-0.0155458817053,0.0798536731595,0.999999972556,-8.6132264987e-05,-0.000206805283362,-6.85578516622e-05,1793192429941273856
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.39351705,742,711.60648295,673,661,632,878,783,799,648,628,650,0.434840437577,-0.0155553810758,0.0798575147223,0.999999972646,-0.000104253851601,-0.000197739096219,-6.88310668903e-05,1793192429957940224
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.967197501,742,711.032802499,673,661,632,878,783,799,648,628,650,0.435555984378,-0.0155675772902,0.0798831161025,0.999999977176,-0.000123129999324,-0.000161357965454,-6.6713921297e-05,1793192429974606848
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.442740621,742,711.557259379,672.442740621,660.442740621,632,877.442740621,783,799,648,628,650,0.436208953147,-0.0155758764299,0.0798756311933,0.999999971049,-0.000129797934892,-0.00019117274683,-6.71401351231e-05,1793192429991273728
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,742,711.85488026,672,660,632,877,783,799,648,628,650,0.436846595329,-0.0155836286625,0.0798615696674,0.999999962289,-0.0001387341011,-0.000227062779829,-6.79582734293e-05,1793192430007940352
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,742,711.276557449,672,660,632,877,783,799,648,628,650,0.437449814512,-0.0155904538229,0.0798338659215,0.999999949107,-0.000156651423654,-0.000269104245193,-6.94859143214e-05,1793192430024606976
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,742,711,672.299065296,660,632,877,783,799,648,628,650,0.438035903372,-0.0155968461301,0.0798108436077,0.999999937383,-0.000169386600447,-0.000302385864087,-7.14511380188e-05,1793192430041273856
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+245,4.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672.300314914,658,630,877,779.300314914,800,648,628,650,0.445767216584,-0.0157328113964,0.0795613924511,0.999999707495,-0.000343568605294,-0.000679240929074,-7.48444228182e-05,1793192431057941248
+246,4.100000000,POSE1_TO_POSE2_PRESS,763.725638042,742,711,672,658,630,877.274361958,779.274361958,800,648,628,650,0.445767656557,-0.0157322897034,0.0795617944081,0.999999707999,-0.000342696809016,-0.000678939030906,-7.48549184489e-05,1793192431074607872
+247,4.116666667,POSE1_TO_POSE2_PRESS,763.149841619,742,711,672,658,630,877.850158381,779.850158381,800,648,628,650,0.445769150631,-0.0157299596466,0.0795627286014,0.999999709594,-0.000340095451223,-0.000677877850043,-7.50184560747e-05,1793192431091274240
+248,4.133333333,HOLD_POSE2,764,743,711,673,659,630,877,779,800,648,627,650,0.445772014366,-0.0157270441237,0.0795655090406,0.99999971158,-0.000340676162727,-0.000674643079615,-7.50739744071e-05,1793192431123776512
+249,4.150000000,HOLD_POSE2,763.423002674,742.423002674,711,673,658.423002674,630,877,779,799.423002674,648,627.576997326,650,0.445774506928,-0.0157279269909,0.0795665097679,0.999999713683,-0.000338895592101,-0.000672422440832,-7.50449863697e-05,1793192431140443136
+250,4.166666667,HOLD_POSE2,763,742.154192229,711,673,658.154192229,630,877,779.154192229,799,648,627.845807771,650,0.445776494305,-0.0157286546098,0.0795673172862,0.999999715358,-0.000337713934742,-0.000670542814331,-7.48671372638e-05,1793192431157110016
+251,4.183333333,HOLD_POSE2,763,742.731929978,711,673,658.731929978,630,877,779.731929978,799,648,627.268070022,650,0.445777094008,-0.0157289557823,0.079567594085,0.999999715877,-0.000338177411991,-0.000669599902678,-7.42803866183e-05,1793192431173776384
+252,4.200000000,HOLD_POSE2,763.313953241,743,711,673.313953241,659,630,877,780,799.313953241,648,627,650,0.445777478114,-0.0157286886293,0.0795679877438,0.999999715954,-0.000338893680209,-0.000669141739539,-7.41103679375e-05,1793192431190443520
+253,4.216666667,HOLD_POSE2,763.899686308,743,711,673.899686308,659,630,877,780,799.899686308,648,627,650,0.445777675583,-0.0157279294941,0.0795684825646,0.999999715648,-0.000339828781897,-0.000669103208584,-7.43011015507e-05,1793192431207110656
+254,4.233333333,HOLD_POSE2,764,742.519893915,711,673.039787829,658.519893915,630,877.480106085,780,800,648,627.480106085,650,0.445778571311,-0.0157275070755,0.0795684831162,0.99999971589,-0.000339205486738,-0.000669034816369,-7.45143780828e-05,1793192431223777024
+255,4.250000000,HOLD_POSE2,764,742.059245747,711,672,658.059245747,630.059245747,877.940754253,780,800,648,628,650,0.445779610583,-0.0157271017828,0.0795684512534,0.99999971631,-0.000338273626897,-0.000668854673001,-7.47232196647e-05,1793192431240443392
+256,4.266666667,HOLD_POSE2,764,742.636792329,711,672,658.636792329,630.636792329,877.363207671,780,800,648,628,650,0.445780643265,-0.0157262375722,0.0795690293951,0.999999717313,-0.000337459727046,-0.000667750879994,-7.48525081618e-05,1793192431257110016
+257,4.283333333,HOLD_POSE2,763.787098717,743,711,672,658.787098717,630.787098717,877,780,799.787098717,648,627.787098717,650,0.445781156584,-0.0157258317987,0.0795689492112,0.99999971745,-0.000337067558729,-0.000667722423824,-7.50473035319e-05,1793192431273776640
+258,4.300000000,HOLD_POSE2,763.213425953,743,711,672,658.213425953,630.213425953,877,780,799.213425953,648,627.213425953,650,0.445780789818,-0.0157262028691,0.0795677534631,0.999999716119,-0.000337390034903,-0.000669516177852,-7.53531034416e-05,1793192431290443008
+259,4.316666667,HOLD_POSE2,763.370267327,742.629732673,711,672.370267327,658,630,877.370267327,780,799,648,627,650,0.44578105853,-0.0157263527366,0.0795683582726,0.999999717143,-0.000336228758551,-0.000668617807576,-7.49338568684e-05,1793192431307109632
+260,4.333333333,HOLD_POSE2,763.959897253,742.040102747,711,672.959897253,658,630,877.959897253,780,799,648,627,650,0.445781703725,-0.0157263715538,0.0795700298113,0.999999719554,-0.000334188442174,-0.000666124504984,-7.40850609957e-05,1793192431323776256
+261,4.350000000,HOLD_POSE2,763.460438579,742.539561421,711,673,658,630,878,780,799,648,627,650,0.445784631703,-0.0157244244399,0.079571176437,0.999999721779,-0.000332921297205,-0.000663355256428,-7.45939217702e-05,1793192431340443648
+262,4.366666667,HOLD_POSE2,763.117939089,742.882060911,711,673,658.117939089,630,877.882060911,780,799.117939089,648.117939089,627,650,0.445786759756,-0.0157232077297,0.0795719547541,0.999999722989,-0.000332653834222,-0.000661618456181,-7.49909324093e-05,1793192431357110528
+263,4.383333333,HOLD_POSE2,763.694143976,742.305856024,711,673,658.694143976,630,877.305856024,780,799.694143976,648.694143976,627,650,0.445785132304,-0.015725386545,0.0795714508109,0.999999720325,-0.000336051509102,-0.000663971598104,-7.4568359942e-05,1793192431373777152
+264,4.400000000,HOLD_POSE2,764,742.273379277,711,673,659,630,877,780,800.273379277,648.726620723,627.273379277,650.273379277,0.44578463538,-0.0157264647466,0.0795711725504,0.999999719329,-0.000337617718807,-0.000664709975953,-7.42739475264e-05,1793192431390443520
+265,4.416666667,HOLD_POSE2,764,742.856042966,711,673,659,630,877,780,800.856042966,648.143957034,627.856042966,650.856042966,0.445785417466,-0.0157262977816,0.0795711496132,0.999999720234,-0.000337111921836,-0.000663621509423,-7.4124527497e-05,1793192431407109888
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,659,630,878,780,800,648,627,651,0.445784349377,-0.015723301813,0.079570991489,0.999999721498,-0.000332348161051,-0.000664089875021,-7.43821097273e-05,1793192431439859712
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.4190013,742.4190013,711,672.4190013,658.4190013,630,878.5809987,780,800,648,627.5809987,650.4190013,0.445786231968,-0.0157240028881,0.0795722476679,0.999999722529,-0.000332880528363,-0.000662295740188,-7.41358916e-05,1793192431456526336
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.160107046,742,711,672.160107046,658,630,878.679785908,780,800,648.160107046,627.839892954,650,0.445787492311,-0.015724161105,0.0795729471485,0.999999723163,-0.000333228569879,-0.000661172729869,-7.40530300577e-05,1793192431473193216
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.73432617,742,711,672.73432617,658,630,877.531347661,780,800,648.73432617,627.26567383,650,0.445787143233,-0.015722915236,0.0795722067455,0.999999722775,-0.000333099858362,-0.000661785562621,-7.43926853759e-05,1793192431489859584
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.316687696,630,877.316687696,780,799.683312304,648.683312304,627,650,0.445786508562,-0.0157235141107,0.0795716289027,0.999999721938,-0.000333772273536,-0.000662729853417,-7.42170185481e-05,1793192431506526208
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.906060227,630,877.906060227,780,799.093939773,648.093939773,627,650,0.445785627983,-0.0157257014071,0.0795711910329,0.999999720713,-0.000335134501115,-0.000663959547062,-7.35976321111e-05,1793192431523192832
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.487020459,711,673,658.512979541,630,877.512979541,779.512979541,799.974040919,648,627.487020459,650,0.445786388585,-0.0157242364431,0.0795717612271,0.999999721918,-0.000332673588416,-0.000663361130781,-7.37849798973e-05,1793192431539859712
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.93385507,742.93385507,711,673,658,630,877,779.06614493,800.93385507,648,627.93385507,650,0.445786339314,-0.0157223100781,0.0795719004323,0.999999722863,-0.000330050080758,-0.000663208880095,-7.41316282401e-05,1793192431556526336
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.356590482,742.356590482,711,673,658,630,877,779.643409518,800.356590482,648,627.356590482,650,0.445777627312,-0.0157221695605,0.079567232274,0.999999718284,-0.000331771744526,-0.000669182779947,-7.45272244386e-05,1793192431573192704
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.780903242,658,630.219096758,877,780,799.780903242,648,627,650.219096758,0.445761524506,-0.0157207682199,0.0795597624256,0.999999710678,-0.000331940178242,-0.000680296002949,-7.52144530346e-05,1793192431589859328
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.207764919,658,630.792235081,877,780,799.207764919,648,627,650.792235081,0.445733478797,-0.0157173294974,0.0795477652867,0.999999697966,-0.000329598725197,-0.000699713930567,-7.63729345133e-05,1793192431606526208
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.376144686,742.376144686,711,672,658,630.623855314,877.376144686,779.623855314,799.376144686,648,627,650.623855314,0.445691426064,-0.0157158039871,0.0795365090423,0.999999683288,-0.000328510880413,-0.000720875469719,-7.64418925685e-05,1793192431623193088
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.966179299,742.966179299,711,672,658,630.033820701,877.966179299,779.033820701,799.966179299,648,627,650.033820701,0.445641408412,-0.0157153664005,0.0795256740972,0.999999667238,-0.000328135883835,-0.000743028493199,-7.58913069752e-05,1793192431639859968
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.544672976,658,630,878,779,800,648,627,650.544672976,0.445574319019,-0.0157114321208,0.0795213353715,0.999999667322,-0.000325241195859,-0.000744360210078,-7.41815901331e-05,1793192431656526336
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,630,877.878200326,779.121799674,799.878200326,648,627,650.878200326,0.445500185462,-0.015707603695,0.079518565721,0.999999667956,-0.000322539161324,-0.000744897476712,-7.20042960134e-05,1793192431673192960
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,630,877.303546801,779.696453199,799.303546801,648,627,650.303546801,0.44540372102,-0.01570495935,0.0795201612916,0.999999666959,-0.000321123055055,-0.000747188138519,-6.83505895376e-05,1793192431689859584
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711.278024489,673,658.278024489,630,877.278024489,780,799.278024489,648,627,650.278024489,0.445300004872,-0.0157003596949,0.0795251410188,0.999999671641,-0.000318493737411,-0.00074239593264,-6.42452464094e-05,1793192431706525952
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711.867341274,673,658.867341274,630,877.867341274,780,799.867341274,648,627,650.867341274,0.445188169301,-0.0156935707615,0.0795339098431,0.999999682553,-0.000314506038202,-0.00072967333829,-5.96342249794e-05,1793192431723192576
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711.551260311,672.551260311,659,630,877.551260311,780.448739689,799.551260311,648,627,650.551260311,0.445042713241,-0.0156859430182,0.0795386713795,0.999999688374,-0.000308236529657,-0.000724741154341,-5.46939141592e-05,1793192431739859200
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.027816549,659,630,877.027816549,780.972183451,799.027816549,648.027816549,627.027816549,650,0.444885756159,-0.0156779701392,0.0795422226919,0.999999692925,-0.000300984147257,-0.000721872758972,-4.95735020653e-05,1793192431756526336
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,711,672.606472269,659,630,877.606472269,780.393527731,799.606472269,648.606472269,627.606472269,650,0.444694455384,-0.0156679880465,0.079544860892,0.999999702133,-0.000287394733631,-0.000715057351889,-4.27808996226e-05,1793192431773192960
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.817016548,659,630,877.817016548,780,799.817016548,648.817016548,628,650,0.444488128434,-0.0156585148041,0.0795472814153,0.999999708925,-0.000274190511698,-0.000711120811743,-3.57424371024e-05,1793192431789859072
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.245064096,659,630,877.245064096,780,799.245064096,648.245064096,628,650,0.444249860284,-0.015650123229,0.079549239221,0.999999710931,-0.00026180509585,-0.000713303897115,-2.81813492505e-05,1793192431806525696
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,711,672,659,630.337616444,877,780,799.337616444,648,627.662383556,650,0.443997557542,-0.0156404827378,0.0795525194777,0.999999718092,-0.000240883311166,-0.000710913233094,-1.98464319611e-05,1793192431823192576
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711,672,659,630.928339758,877,780,799.928339758,648,627.071660242,650,0.443734733216,-0.0156299059489,0.0795567911598,0.999999728557,-0.000213561914939,-0.000705093685573,-1.0931383511e-05,1793192431839859200
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.491010302,742.491010302,711,672.508989698,659,631,877,780,800,648,627.508989698,650,0.443430615518,-0.0156176077149,0.0795614867907,0.999999742073,-0.000164145771482,-0.00069921507222,-2.88044220372e-06,1793192431856525568
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.087752517,742,711.087752517,672.912247483,658.912247483,631,877,780,799.912247483,648,628,650,0.443114855346,-0.0156047454067,0.079566835778,0.99999975334,-0.000120368828384,-0.000691968513994,3.15066591049e-06,1793192431873192192
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,660,632,877,782.946441718,799,648,628,650,0.437238633625,-0.0154604465707,0.079753624727,0.999999922082,6.39636233162e-05,-0.000389215175756,1.60312112773e-05,1793192432073193728
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_08/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dd43da196d4081e38e93442143dd809ab488ff15
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,402 @@
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+390,6.500000000,pose2_to_pose3_retreat,0.575712546736,-0.00994547276169,1.07002922231,0.546283277,-0.00127274341431,1.0696985075
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+396,6.600000000,pose2_to_pose3_retreat,0.575710405995,-0.00994554244211,1.07002920918,0.546281135926,-0.00127281436697,1.0696984906
+397,6.616666667,pose2_to_pose3_retreat,0.575710062846,-0.00994555084098,1.07002919086,0.54628079269,-0.00127282308619,1.06969847164
+398,6.633333333,pose2_to_pose3_retreat,0.575709684354,-0.00994553258095,1.0700292246,0.546280414187,-0.00127280475869,1.06969850802
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+400,6.666666667,pose2_to_pose3_retreat,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.00127264096044,1.06969858376
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e02d34c299494f076495c13e31d33dbc5f319d0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d12f79263e4c0e0b944848d0a6c01c4c857546e85422f5889ecb37118cc89af
+size 26164057
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9d8da72a3c13c8504a186f906f30193d28e3412e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_04/franka_data.csv
@@ -0,0 +1,412 @@
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+49,0.816666667,BASELINE,763.56012733,742,711.56012733,671,659.43987267,632.56012733,876.56012733,783,799,648,628.56012733,650,0.400980545693,-0.015393619713,0.0798438036157,0.999999937349,0.000228054916717,-0.000269379970086,2.69528670619e-05,1793192434640500992
+50,0.833333333,BASELINE,763.018617991,742,711.018617991,670.981382009,660,632.018617991,876,783,799,648,628.018617991,650.018617991,0.400982948292,-0.0153941438886,0.0798453297862,0.999999938601,0.000226022977002,-0.000266447530467,2.67836532549e-05,1793192434657167872
+51,0.850000000,BASELINE,763.58937045,742,711.58937045,670.41062955,660,632.58937045,876,783,799,648,628.58937045,650.58937045,0.400982167407,-0.0153943093861,0.0798456293107,0.999999937893,0.000227671124984,-0.000267685107471,2.69293422265e-05,1793192434673834496
+52,0.866666667,BASELINE,764,742,712,670.161593465,660,632.838406535,876.161593465,783,799,648,628.838406535,650.838406535,0.400981666878,-0.0153940987159,0.0798459444024,0.999999937425,0.000229059130404,-0.000268247765525,2.69368804231e-05,1793192434690501120
+53,0.883333333,BASELINE,764,742,712,670.737587633,660,632.262412367,876.737587633,783,799,648,628.262412367,650.262412367,0.400981885314,-0.0153929233769,0.0798462994157,0.999999937581,0.000229780009365,-0.000267079617829,2.65901358544e-05,1793192434707167744
+54,0.900000000,BASELINE,764,742,712,671,660,632,877,783.323988925,799,648,628.323988925,650,0.400981371797,-0.0153926284236,0.079845901717,0.999999937571,0.000229519182263,-0.000267348718727,2.65223195217e-05,1793192434723834368
+55,0.916666667,BASELINE,764,742,712,671,660,632,877,783.919099105,799,648,628.919099105,650,0.400980245766,-0.0153930701969,0.0798448741319,0.99999993742,0.000228436841304,-0.000268820541787,2.66879166575e-05,1793192434740500992
+56,0.933333333,BASELINE,764,741.502121358,712,671,660,632.497878642,877,783.502121358,799,648.497878642,628.502121358,650,0.400980115862,-0.0153922925094,0.0798448462339,0.999999936966,0.000230119119657,-0.00026908221895,2.66176579655e-05,1793192434757167616
+57,0.950000000,BASELINE,763.926199596,741.073800404,712,671,660,632.926199596,876.926199596,783,799,648.926199596,628,650,0.400980415375,-0.0153915272674,0.0798451441603,0.999999936633,0.000231849577978,-0.000268840382794,2.65567283808e-05,1793192434773833984
+58,0.966666667,BASELINE,763.352233097,741.647766903,712,671,660,632.352233097,876.352233097,783,799,648.352233097,628,650,0.40098256303,-0.0153921466518,0.0798465843492,0.999999937465,0.000230958722138,-0.000266476442652,2.68105118244e-05,1793192434790500608
+59,0.983333333,BASELINE,763,742,712,671,660,632.228868693,876.228868693,783,799,648,628.228868693,650,0.400983315808,-0.0153928173458,0.079847017891,0.999999937943,0.000229924053472,-0.00026555080822,2.70347173076e-05,1793192434807167488
+60,1.000000000,BASELINE,763,742,712,671,660,632.821305295,876.821305295,783,799,648,628.821305295,650,0.400981852763,-0.0153935695474,0.0798458523299,0.999999937866,0.000228660931722,-0.000266909984818,2.72119369493e-05,1793192434823834368
+61,1.016666667,BASELINE,763,742,711.596902353,671,660,632.596902353,877,783,799,648,628.596902353,650,0.400981152958,-0.0153932792304,0.0798454012328,0.999999937446,0.000229264932251,-0.000267988745132,2.6990030825e-05,1793192434840500992
+62,1.033333333,BASELINE,763,742,711.019707276,671,660,632.019707276,877,783,799,648,628.019707276,650,0.400980782795,-0.0153925386508,0.079845258712,0.999999936875,0.000230675340915,-0.000268946393879,2.65957427108e-05,1793192434857167872
+63,1.050000000,BASELINE,763.55588657,742,711,671,660,632.55588657,877,783,799,648.55588657,628.55588657,650.55588657,0.40098195007,-0.0153916930389,0.0798454826796,0.999999937041,0.000232236652717,-0.000266972427576,2.66369494691e-05,1793192434873834496
+64,1.066666667,BASELINE,763.865283873,742,711.134716127,670.865283873,660,632.865283873,876.865283873,783,799,648.865283873,628.865283873,650.865283873,0.400982883724,-0.0153913269559,0.0798458310407,0.999999937179,0.000233371841562,-0.00026545209005,2.67338187291e-05,1793192434890501120
+65,1.083333333,BASELINE,763.275328807,742,711.724671193,670.275328807,660,632.275328807,876.275328807,783,799,648.275328807,628.275328807,650.275328807,0.400982844257,-0.0153925938657,0.0798465559785,0.999999937152,0.000233049029593,-0.00026581487739,2.69667624308e-05,1793192434907167744
+66,1.100000000,BASELINE,763,742,712,670.308865121,660,632.308865121,876.308865121,783.308865121,799,648,628.308865121,650,0.400982837437,-0.0153932664056,0.0798469219198,0.999999937409,0.000231769480306,-0.000265958934264,2.70278493787e-05,1793192434923834368
+67,1.116666667,BASELINE,763,742,712,670.888017458,660,632.888017458,876.888017458,783.888017458,799,648,628.888017458,650,0.400982859188,-0.0153934188135,0.079846973704,0.999999937912,0.000229652692222,-0.000265911580548,2.69385448309e-05,1793192434940500992
+68,1.133333333,BASELINE,763.462594959,742,712,671,659.537405041,632.537405041,876.537405041,783.537405041,799,648,628.537405041,650.462594959,0.400982668716,-0.01539257422,0.079846586007,0.999999937496,0.000230932488194,-0.00026638909093,2.67320345912e-05,1793192434957167616
+69,1.150000000,BASELINE,763.963814216,742,712,671,659,632,876.036185784,783,799,648,628,650.963814216,0.400982477002,-0.0153916916342,0.0798461336278,0.999999936972,0.000232625148218,-0.000266906092928,2.65158855064e-05,1793192434973834240
+70,1.166666667,BASELINE,763.388586434,742,712,671,659,632,876.611413566,783,799,648,628,650.388586434,0.400983024584,-0.0153938031442,0.0798462869903,0.999999938163,0.000228339667449,-0.00026613721996,2.65746644355e-05,1793192434990500864
+71,1.183333333,BASELINE,763.192321338,742,712,671,659.192321338,632.192321338,877.192321338,783,799,648,628.192321338,650,0.400982769417,-0.0153951936747,0.0798459704279,0.999999938551,0.000226234411734,-0.00026645817605,2.6748628215e-05,1793192435007167488
+72,1.200000000,BASELINE,763.785054934,742,712,671,659.785054934,632.785054934,877.785054934,783,799,648,628.785054934,650,0.400980842928,-0.0153950831288,0.0798446754839,0.999999937293,0.000228668375091,-0.000269048151749,2.7162406405e-05,1793192435023834368
+73,1.216666667,BASELINE,764,742,711.631787866,671,659.631787866,633,877.263575731,783,799,648,629,650,0.4009802746,-0.015394091832,0.0798441926646,0.999999936817,0.000229939041415,-0.000269734955926,2.71435562085e-05,1793192435040500992
+74,1.233333333,BASELINE,764,742,711.054079248,671,659.054079248,633,876.108158496,783,799,648,629,650,0.400980479006,-0.0153925994265,0.0798441719086,0.999999936791,0.000230547842829,-0.000269338939194,2.68785594943e-05,1793192435057167616
+75,1.250000000,BASELINE,763.479761372,742,711.520238628,670.479761372,659.520238628,632.479761372,876,783,798.479761372,648,628.479761372,650,0.400980685806,-0.0153914237587,0.0798451083707,0.999999936773,0.000231620927477,-0.000268501762435,2.66772660983e-05,1793192435073833984
+76,1.266666667,BASELINE,763.096818885,742,712,670.096818885,659.903181115,632.096818885,876.096818885,783,798.096818885,648,628,650.096818885,0.400981082046,-0.0153906568944,0.0798460360185,0.999999936833,0.000232526051642,-0.000267507330568,2.65760763579e-05,1793192435090500608
+77,1.283333333,BASELINE,763.686704064,742,712,670.686704064,659.313295936,632.686704064,876.686704064,783,798.686704064,648,628,650.686704064,0.400982441783,-0.0153918053392,0.0798464153207,0.999999937285,0.000232331615106,-0.000265944082986,2.6951175828e-05,1793192435107167232
+78,1.300000000,BASELINE,764,742,712,671,659.271553096,632.728446904,877,783,799,648,628,650.728446904,0.400983347574,-0.0153924397448,0.0798467115485,0.999999937469,0.000232494831265,-0.000265088294287,2.71511055107e-05,1793192435123834112
+79,1.316666667,BASELINE,764,742,712,671,659.850697585,632.149302415,877,783,799,648,628,650.149302415,0.400983739177,-0.0153924918921,0.0798469136767,0.999999937351,0.000233063164857,-0.00026503385271,2.71526182852e-05,1793192435140500992
+80,1.333333333,BASELINE,764,742,712,671,660,632.427354722,877,783,799,648,628,650.427354722,0.40098299418,-0.0153924719153,0.079846760101,0.999999937306,0.000232518709576,-0.000265688591889,2.70514408915e-05,1793192435157167872
+81,1.350000000,BASELINE,764,742,712,671,660,633,877,783,799,648,628,651,0.40098186462,-0.0153924290228,0.079846484452,0.999999937289,0.00023158980182,-0.000266579303883,2.69161799107e-05,1793192435173834496
+82,1.366666667,BASELINE,764,742,712,671,660,633,877,783,799,648,628,651,0.400982595485,-0.0153927746888,0.0798464776297,0.999999937677,0.000231036805237,-0.000265586169792,2.70692629072e-05,1793192435190500864
+83,1.383333333,BASELINE,763.8399896,742,711.8399896,670.8399896,660,632.8399896,876.8399896,783,799,648,628,650.8399896,0.400983141046,-0.0153930647371,0.0798465772375,0.999999938022,0.000230331466518,-0.000264898098598,2.70660739222e-05,1793192435207167488
+84,1.400000000,BASELINE,763.250955119,742,711.250955119,670.250955119,660,632.250955119,876.250955119,783,799,648,628,650.250955119,0.400983189765,-0.0153932056616,0.0798469622087,0.999999938255,0.000229217663948,-0.000265027969816,2.66438844382e-05,1793192435223834112
+85,1.416666667,BASELINE,763.331958352,742,711,670.331958352,660,632,876,783,798.668041648,648,628,650.331958352,0.400982375766,-0.0153936151318,0.0798467358635,0.999999938057,0.000228963626925,-0.000265988975291,2.66564220542e-05,1793192435240500736
+86,1.433333333,BASELINE,763.910328184,742,711,670.910328184,660,632,876,783,798.089671816,648,628,650.910328184,0.400980921375,-0.0153942239427,0.0798460557404,0.999999937539,0.000229347790818,-0.000267566928703,2.69916560459e-05,1793192435257167616
+87,1.450000000,BASELINE,763.514335918,742,711,671,659.514335918,632,876,783,798.971328164,648,628.485664082,650.514335918,0.40098174683,-0.0153932107411,0.0798469453645,0.999999937607,0.000230572729757,-0.000266263847751,2.69345190133e-05,1793192435273834752
+88,1.466666667,BASELINE,763,742,711.060412153,670.939587847,659,632.060412153,876,783,799.939587847,648,628.939587847,650,0.400982656108,-0.0153920210704,0.0798478373812,0.99999993772,0.000231665226232,-0.000264901182092,2.6801046835e-05,1793192435290501376
+89,1.483333333,BASELINE,763,742,711.634895376,670.365104624,659,632.634895376,876,783,799.365104624,648,628.365104624,650,0.400980718926,-0.0153918623642,0.0798462987547,0.999999937336,0.000230317930726,-0.000267529934108,2.66306567028e-05,1793192435307167744
+90,1.500000000,BASELINE,763.216089436,742,711.783910564,670.216089436,659.216089436,632.783910564,876.216089436,783,799.216089436,648,628,650,0.400979912326,-0.0153921564586,0.0798454312737,0.999999937322,0.000228898026029,-0.000268803685456,2.65919047165e-05,1793192435323834112
+91,1.516666667,BASELINE,763.808985477,742,711.191014523,670.808985477,659.808985477,632.191014523,876.808985477,783,799.808985477,648,628,650,0.400981077184,-0.0153932401257,0.0798457341049,0.999999937961,0.000227351508976,-0.000267714650044,2.67826971609e-05,1793192435340500736
+92,1.533333333,BASELINE,763.609540308,742,711,671,660,632,877,783,799.609540308,648,628,650,0.400981259008,-0.0153927928271,0.079845906834,0.999999937853,0.000228238447859,-0.000267379152087,2.66244753071e-05,1793192435357167360
+93,1.550000000,BASELINE,763.033494843,742,711,671,660,632,877,783,799.033494843,648,628,650,0.400980973596,-0.0153916178597,0.0798460177257,0.999999937387,0.000230282009969,-0.000267401810931,2.6300366722e-05,1793192435373834240
+94,1.566666667,BASELINE,763,742,711.54316791,671,660,632,876.45683209,783,798.45683209,648,628,650,0.400983515708,-0.0153916014894,0.0798477720521,0.999999938085,0.000231055526934,-0.000264050509078,2.68549305523e-05,1793192435390500864
+95,1.583333333,BASELINE,763.119233499,742,711.880766501,671,660,632,876,783.119233499,798,648,628.119233499,650,0.400985593419,-0.0153917456917,0.0798490439714,0.999999938709,0.000231160819602,-0.000261536828844,2.72977996584e-05,1793192435407167488
+96,1.600000000,BASELINE,763.692878166,742,711.307121834,671,660,632,876,783.692878166,798,648,628.692878166,650,0.400985235987,-0.0153922292552,0.0798480907172,0.999999938821,0.00022901825927,-0.000263009241662,2.71082531696e-05,1793192435423834368
+97,1.616666667,BASELINE,763.723870875,741.723870875,711,670.723870875,660,632.276129125,876,783.723870875,798.276129125,648,628.723870875,650.276129125,0.400983897218,-0.015392193463,0.0798470048548,0.999999938287,0.000229309432686,-0.000264800626439,2.68869667347e-05,1793192435440500992
+98,1.633333333,BASELINE,763.12955035,741.12955035,711,670.12955035,660,632.87044965,876,783.12955035,798.87044965,648,628.12955035,650.87044965,0.400981427625,-0.0153915592025,0.0798457661843,0.999999937006,0.000232405066465,-0.000266959571536,2.66291054736e-05,1793192435457167616
+99,1.650000000,BASELINE,763,741.449895745,711.449895745,670.449895745,660,633,876,783,799,648,628,650.550104255,0.400982837201,-0.0153902993984,0.0798466772854,0.999999937178,0.000232981019415,-0.00026583246937,2.63943882309e-05,1793192435473834240
+100,1.666666667,BASELINE,763.025195506,742,711.974804494,671,659.974804494,632.974804494,876.025195506,783,799.025195506,648,628.025195506,650,0.40098513595,-0.0153890956208,0.0798480692177,0.99999993777,0.000232622056282,-0.000263933543129,2.61877164253e-05,1793192435490500608
+101,1.683333333,BASELINE,763.600490503,742,711.399509497,671,659.399509497,632.399509497,876.600490503,783,799.600490503,648,628.600490503,650,0.400983240311,-0.0153929220216,0.0798468761497,0.999999938683,0.000227185149821,-0.000265181461473,2.64525171427e-05,1793192435507167488
+102,1.700000000,BASELINE,763.818483378,742,711.181516622,671,659.181516622,632,876.818483378,783,799.818483378,648,628.818483378,650,0.400981505742,-0.0153948806768,0.0798458349573,0.999999938921,0.000224518604804,-0.000266534021266,2.66295931481e-05,1793192435523833856
+103,1.716666667,BASELINE,763.224432164,742,711.775567836,671,659.775567836,632,876.224432164,783,799.224432164,648,628.224432164,650,0.400980137238,-0.0153925944881,0.0798451389344,0.999999937675,0.000228148287941,-0.000268124400541,2.6607296313e-05,1793192435540500480
+104,1.733333333,BASELINE,763,742,711.641622274,671,660,632,876.358377726,783.358377726,799,648,628.358377726,650,0.400980507848,-0.0153919296379,0.0798454758012,0.999999937754,0.000228551706787,-0.000267499262132,2.646655413e-05,1793192435557167616
+105,1.750000000,BASELINE,763,742,711.065638044,671,660,632,876.934361956,783.934361956,799,648,628.934361956,650,0.400981934446,-0.0153922492623,0.0798464398374,0.999999938639,0.000226996142372,-0.000265528864333,2.6253892079e-05,1793192435573834496
+106,1.766666667,BASELINE,763.508744806,741.491255194,711,671,660,632,877,783.491255194,799,648,628.491255194,650.508744806,0.400982207757,-0.0153923305993,0.0798468773512,0.999999938468,0.000227747591459,-0.000265504803133,2.650621436e-05,1793192435590501120
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659,632,877,783,799,648,628,650,0.400983589489,-0.0153949146866,0.0798469241443,0.999999938716,0.000227057072456,-0.000265124631621,2.68618656489e-05,1793192435633601280
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659,632.592228844,876.407771156,783,799,648,628,650,0.400983815847,-0.0153934451535,0.0798473682482,0.999999938402,0.000229570313481,-0.000264127099418,2.703103e-05,1793192435650267648
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.180493951,741.819506049,712,671,659,632.819506049,876,783,799.180493951,648,628,650,0.400983748865,-0.0153928393718,0.0798474565409,0.999999938327,0.00023016591989,-0.000263887814246,2.70533585593e-05,1793192435666934528
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.759996736,741.240003264,712,671,659,632.240003264,876,783,799.759996736,648,628,650,0.400983033406,-0.015394143041,0.0798467582597,0.999999938787,0.000226522309068,-0.000265324747192,2.67510847034e-05,1793192435683601152
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.664684132,741.335315868,712,671,659.335315868,632.335315868,876,783,799.329368264,648,628.335315868,650,0.400982363066,-0.0153942176067,0.0798464377133,0.999999938714,0.000225842957423,-0.00026619277866,2.66072675509e-05,1793192435700267520
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.092322595,741.907677405,712,671,659.907677405,632.907677405,876,783,798.18464519,648,628.907677405,650,0.40098172462,-0.0153934232792,0.0798463841999,0.99999993827,0.000227259137012,-0.000266658635127,2.65754686027e-05,1793192435716934144
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,742,711.505281684,670.505281684,660,633,876,783,798.494718316,648,628.505281684,650,0.400980657293,-0.0153933537382,0.0798453457467,0.999999937697,0.000228092852241,-0.000268099912783,2.6497235206e-05,1793192435733601024
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742,711,670.080763084,660,632.919236916,876.080763084,783,799,648,628,650,0.400980530015,-0.0153936782934,0.0798447732082,0.999999937391,0.000228658260446,-0.000268754097157,2.65348274934e-05,1793192435750267904
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742,711,670.64399182,660,632.35600818,876.64399182,783,799,648,628,650,0.400986511184,-0.0153955244042,0.0798481155723,0.99999993883,0.000228290043353,-0.000263585644413,2.73176926398e-05,1793192435766935040
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,711.218594218,671,660,632,877,783,799,648,628,650.218594218,0.400997337921,-0.0153963497108,0.0798529752548,0.999999940943,0.000228238153,-0.000255437675471,2.77991070439e-05,1793192435783601920
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,711.812736684,671,660,632,877,783,799,648,628,650.812736684,0.401016489418,-0.0153954212599,0.0798604417132,0.999999944133,0.000228729716899,-0.000242170852121,2.77626243264e-05,1793192435800268544
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,711.606248552,671,660,632,877,783,798.606248552,648,628,650.606248552,0.40105234351,-0.0153966054642,0.0798715195875,0.9999999494,0.000228494354101,-0.00021957313612,2.78925602784e-05,1793192435816935168
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,711.031275672,671,660,632,877,783,798.031275672,648,628,650.031275672,0.401095884861,-0.0153987620037,0.0798842595921,0.999999955067,0.00022792442814,-0.000192680938807,2.8099089275e-05,1793192435833601536
+120,2.000000000,POSE1_TO_POSE2_PRESS,763,742,711.556543635,671,659.443456365,632,876.443456365,783,798.556543635,648,628.556543635,650,0.401158418172,-0.0154018185729,0.0798945975819,0.999999959457,0.000226139963619,-0.000170894073812,2.72535597962e-05,1793192435850268160
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.142759856,742,711.857240144,671,659.142759856,632.142759856,876.142759856,783,798.857240144,648,628.857240144,650,0.401225634184,-0.0154044488055,0.0799032986637,0.999999962519,0.000224813934154,-0.000154111171809,2.59110095373e-05,1793192435866935040
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.721818466,742,711.278181534,671,659.721818466,632.721818466,876.721818466,783,798.278181534,648,628.278181534,650,0.401303822505,-0.0154056178523,0.0799074193575,0.999999962884,0.000225102481211,-0.000151723704031,2.32344333436e-05,1793192435883601408
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.701456559,742,711.298543441,670.701456559,660,633,876.701456559,783,798.298543441,648,628,650,0.401393991169,-0.0154081033474,0.0799108520202,0.999999963804,0.000224269562687,-0.000147304176387,1.99392355092e-05,1793192435900268032
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.126889225,742,711.873110775,670.126889225,660,633,876.126889225,783,798.873110775,648,628,650,0.401495236479,-0.0154118059892,0.0799136485508,0.999999965199,0.000222399772264,-0.000141005870118,1.60720796849e-05,1793192435916934400
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,712,670.457640978,660,632.542359022,876.457640978,783,798.542359022,648,628,650,0.401621301936,-0.0154157921276,0.0799187861572,0.999999967703,0.000216788875968,-0.000132151936537,1.14799396545e-05,1793192435933601024
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.044515571,741.955484429,711.955484429,671,660,632,876.955484429,783,798.044515571,648,628,650,0.401756871654,-0.0154201149393,0.0799247476731,0.999999970513,0.000209727116947,-0.000122247198897,6.62139160641e-06,1793192435950267648
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.625610821,741.374389179,711.374389179,671,660,632,876.374389179,783,798.625610821,648,628,650,0.401922205428,-0.0154275273609,0.0799326421098,0.99999997453,0.000197958497218,-0.000108407623186,1.0285335577e-06,1793192435966934528
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,741.204900283,711.204900283,670.795099717,660,632,876.204900283,783,799,648,628.204900283,650.204900283,0.402093387551,-0.0154346893555,0.0799365965642,0.99999997754,0.000185979645011,-0.000101493906563,-5.55751786094e-06,1793192435983601408
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,741.780919011,711.780919011,670.219080989,660,632,876.780919011,783,799,648,628.780919011,650.780919011,0.402275162273,-0.0154413977721,0.0799334148628,0.999999979093,0.00017362001796,-0.000107124410601,-1.39424552931e-05,1793192436000268288
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711.643220683,670.356779317,660,632.356779317,876.643220683,783,799,648,628.643220683,650.643220683,0.402475013796,-0.015448724628,0.0799290568594,0.999999986582,0.00011351434223,-0.000116081987085,-2.18258922004e-05,1793192436016934912
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.067457558,670.932542442,660,632.932542442,876.067457558,783,799,648,628.067457558,650.067457558,0.402685960505,-0.0154564310699,0.0799239768656,0.999999991202,2.41031216617e-05,-0.000127081652016,-2.94015190735e-05,1793192436033601536
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,741.477823563,711,671,660,632.477823563,876.522176437,783,799,648.522176437,628,650,0.402947156101,-0.0154646096298,0.0799243500072,0.999999990504,5.63883640595e-05,-0.000123497776986,-2.36908818983e-05,1793192436050268160
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,741.110958504,711.110958504,671,660,632.110958504,877.110958504,783,799,649,628,650,0.403222977989,-0.0154729437224,0.0799259742746,0.999999988644,9.22657147415e-05,-0.000117688462738,-1.86608635839e-05,1793192436066934784
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,741.688419675,711.688419675,671,660,632.688419675,877.688419675,783,799,649,628,650,0.403532256638,-0.0154816683023,0.0799298160437,0.999999990753,7.53442084335e-05,-0.000110659697948,-2.39055073214e-05,1793192436083601408
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.736141157,877.472282313,783,799,648.736141157,628,650,0.403858211945,-0.0154914964316,0.0799314325549,0.999999992291,5.57334160131e-05,-0.000107450444458,-2.76937212039e-05,1793192436100268032
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.163071566,876.326143132,783,799,648.163071566,628,650,0.404203710267,-0.0155026177871,0.0799304413322,0.999999993103,3.29711055678e-05,-0.000108717198055,-2.97751746011e-05,1793192436116934656
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,670.57792692,660,632.42207308,876.42207308,783,799.844146159,648,628.42207308,650,0.404585083728,-0.015512015642,0.0799322789889,0.999999994096,2.22069043242e-05,-0.000101555774039,-3.16455716395e-05,1793192436133601536
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,670.011800263,660,633,877,783.011800263,800.976399474,648,628.988199737,650,0.40498153212,-0.0155207788297,0.0799349976514,0.999999995121,1.59538735426e-05,-9.15731548297e-05,-3.34387636635e-05,1793192436150268672
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,670.590942885,660,633,877,783.590942885,799.818114229,648,628.409057115,650,0.405416734617,-0.015531986036,0.0799259780927,0.999999993626,-2.8442090748e-06,-0.000107120679382,-3.55560087671e-05,1793192436166935040
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,671.170012742,660.170012742,632.829987258,877,783.829987258,799,648,628,650,0.405861478637,-0.0155429958261,0.079916873711,0.999999991496,-2.14238771211e-05,-0.00012294555838,-3.78728533186e-05,1793192436183601664
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,671.748907513,660.748907513,632.251092487,877,783.251092487,799,648,628,650,0.406329170038,-0.0155535308268,0.0799075653305,0.999999988672,-3.94782536317e-05,-0.000139437474915,-4.06697358914e-05,1793192436200268288
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,671.676022166,660.676022166,632.323977834,876.676022166,783.323977834,799,648,628,650,0.406821760145,-0.0155540905834,0.0799060305774,0.999999987984,-4.25215384002e-05,-0.000143090454827,-4.18121291096e-05,1793192436216935168
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,712,671.103881264,660.103881264,632.896118736,876.103881264,783.896118736,799,648,628,650,0.407333422406,-0.0155470094259,0.0799104503273,0.999999989179,-3.40665120098e-05,-0.000136908967753,-4.16872039798e-05,1793192436233601792
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.517357988,876.482642012,783.517357988,799,648.482642012,628,650.482642012,0.407856311911,-0.0155259946488,0.0799009616002,0.999999986649,-1.06238295199e-05,-0.000157094198314,-4.3711986984e-05,1793192436250268416
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.928903817,742,712,671,660,632.071096183,877,783,798.928903817,649,628,650.928903817,0.408395371906,-0.0155056446345,0.0798914686552,0.999999983121,1.11892539296e-05,-0.000177521860568,-4.60323109424e-05,1793192436266935040
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.349456941,742,712,671,660,632.650543059,877,783,798.349456941,649,628,650.349456941,0.409032245063,-0.0155121497836,0.0799040076639,0.99999998643,-2.42353080592e-06,-0.000157859147099,-4.70558651483e-05,1793192436283601920
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.228402193,742,712,671.228402193,660,633,876.771597807,783,798.228402193,648.771597807,628,650,0.409690386605,-0.0155228403893,0.0799271495153,0.999999991617,-1.86622010986e-05,-0.000119286812733,-4.67870487591e-05,1793192436300268800
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.803848806,742,712,671.803848806,660,633,876.196151194,783,798.803848806,648.196151194,628,650,0.410380844239,-0.0155398905632,0.0799664017955,0.9999999969,-3.88907574884e-05,-5.19823626922e-05,-4.45545469887e-05,1793192436316935168
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,671.611714129,660.388285871,633,876.388285871,783,799,648,628,650,0.411034834099,-0.015547526323,0.0799712482549,0.999999996449,-5.25031412834e-05,-4.79382775398e-05,-4.52502168135e-05,1793192436333601792
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,671.022627705,660.977372295,633,876.977372295,783,799,648,628,650,0.411669964767,-0.0155502934539,0.0799583018744,0.999999993974,-6.26939961144e-05,-7.66090504616e-05,-4.74601794992e-05,1793192436350268416
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.443352338,671,660.443352338,632.443352338,877,783.556647662,799.556647662,648,628,650,0.412346715478,-0.0155399996215,0.079919851273,0.999999988837,-5.33531765073e-05,-0.000128844677233,-5.3645310924e-05,1793192436366935040
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.135046452,671.135046452,660,632.135046452,877,783.864953548,800,648,628,650.135046452,0.413047971711,-0.015531224255,0.0798905359233,0.999999983427,-4.68701491299e-05,-0.000165752982641,-5.89462795012e-05,1793192436383601408
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.711859682,671.711859682,660,632.711859682,877,783.288140318,800,648,628,650.711859682,0.413823952211,-0.0155291228281,0.0798944366926,0.999999985616,-5.22878343322e-05,-0.00014944296077,-6.08355125044e-05,1793192436400268288
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.712517808,742,711.712517808,672,660,632.712517808,876.712517808,783,799.712517808,648,628.287482192,650.712517808,0.414605793021,-0.0155304294443,0.0799105035933,0.999999989273,-5.96903441291e-05,-0.000118809882621,-6.1445328301e-05,1793192436416934912
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.138083754,742,711.138083754,672,660,632.138083754,876.138083754,783,799.138083754,648,628.861916246,650.138083754,0.415393483421,-0.0155351378162,0.0799387141824,0.999999993038,-6.90740176123e-05,-7.38801683366e-05,-6.07780872216e-05,1793192436433601536
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742,711.448165936,671.551834064,659.551834064,632,876.448165936,783,799,648,628.551834064,650,0.416141149745,-0.0155359633304,0.079933999188,0.999999991528,-7.06945884e-05,-9.15184498809e-05,-5.97552051643e-05,1793192436450268160
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742,712,671.037473482,659.037473482,632,877,783,799,648,628,650,0.41688417754,-0.0155358377157,0.0799206473068,0.999999988153,-7.00236926996e-05,-0.000123903765046,-5.86442937378e-05,1793192436466935040
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742,712,671.61692902,659.61692902,632,877,783,799,648,628,650,0.417743303421,-0.0155397271622,0.0799330753785,0.999999992289,-7.17418063976e-05,-8.32113669558e-05,-5.78879268305e-05,1793192436483601664
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742,711.804656305,672,660,632,877,783,799,648.195343695,628,650,0.418605807467,-0.0155411390006,0.07994506066,0.999999994636,-7.05658199572e-05,-4.97482617976e-05,-5.72157915591e-05,1793192436500268032
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742,711.228271991,672,660,632,877,783,799,648.771728009,628,650,0.419474900964,-0.0155377179755,0.0799561822268,0.999999995899,-6.37445543465e-05,-3.03867367523e-05,-5.6707960084e-05,1793192436516934656
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,742,711.35378228,672,660,632,877.35378228,783,799,648.64621772,628,650.35378228,0.420302886823,-0.0155358730886,0.0799486305783,0.999999995704,-5.98145374592e-05,-4.15986430867e-05,-5.73126577781e-05,1793192436533601280
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742,711.939554558,672,660,632,877.939554558,783,799,648.060445442,628,650.939554558,0.421103916633,-0.0155350617421,0.0799288341125,0.999999993957,-5.7780434829e-05,-7.28588416971e-05,-5.86468878698e-05,1793192436550267904
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,742,712,672,660.518786897,632,878,783,799,648.518786897,628,650.481213103,0.421972782565,-0.0155419445287,0.0799490408026,0.999999995013,-6.94341916151e-05,-4.38448227558e-05,-5.68380059507e-05,1793192436566934784
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.097230292,742.097230292,712,672,661,632.097230292,878,783,799,648.902769708,628,650,0.422847803492,-0.0155485541395,0.0799719174744,0.999999995268,-7.94804519747e-05,-1.2122174637e-05,-5.47679145592e-05,1793192436583601408
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.675493202,742.675493202,712,672,661,632.675493202,878,783,799,648.324506798,628,650,0.423714658999,-0.0155494323268,0.0799852314814,0.999999995862,-7.3781972051e-05,-1.31039665523e-06,-5.3194761085e-05,1793192436600268032
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.747430925,742.747430925,712,672,661,632.747430925,878.252569075,783.252569075,799,648,628,650,0.424555146067,-0.015546484807,0.0799671373463,0.99999999528,-6.96000790809e-05,-3.98697619414e-05,-5.48362402403e-05,1793192436616934912
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.171872974,742.171872974,712,672,661,632.171872974,878.828127026,783.828127026,799,648,628,650,0.425361912923,-0.0155386449193,0.0799088780401,0.999999985876,-6.73576174926e-05,-0.000141565636389,-6.05886361012e-05,1793192436633601280
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,742,712,672,660.58770448,632,878.175408959,783.58770448,799,648,628,650,0.426208502603,-0.0155365000377,0.0798894509118,0.999999983278,-7.00512435203e-05,-0.000156063178423,-6.46670456261e-05,1793192436650268160
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742,712,672,660,632,877,783,799,648,628,650,0.427072038848,-0.0155367821829,0.0798865587636,0.999999985981,-7.48469884939e-05,-0.000133442766932,-6.8031299037e-05,1793192436666934528
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742,712,672,660,632,877,783,799,648,628,650,0.427897811892,-0.015547553351,0.0798917416421,0.999999983979,-8.20373256552e-05,-0.000145265631268,-6.48885775448e-05,1793192436683601408
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.156951064,742,711.843048936,672.156951064,660.156951064,632.156951064,877.156951064,783,799.156951064,648,628,650,0.428734785876,-0.0155557509045,0.0799026128085,0.99999998407,-8.7692620161e-05,-0.000142438321848,-6.23047574668e-05,1793192436700268032
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.732938623,742,711.267061377,672.732938623,660.732938623,632.732938623,877.732938623,783,799.732938623,648,628,650,0.429601664693,-0.0155570772807,0.0799286708755,0.999999989094,-8.92495737123e-05,-0.000100497180022,-6.12131229647e-05,1793192436716934912
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.309046179,711,673,661.618092358,633,878,783.309046179,799.690953821,648,628,650,0.430474888092,-0.0155567270024,0.0799614594819,0.999999992936,-9.0801119498e-05,-4.9058396126e-05,-5.89537673132e-05,1793192436733601536
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+176,2.933333333,POSE1_TO_POSE2_PRESS,763.939116591,743,711.060883409,672,660.939116591,632.060883409,877,783,799.939116591,648.939116591,628,650,0.432833798049,-0.0155461575151,0.0799474946801,0.999999991799,-7.18940808295e-05,-8.83034513009e-05,-5.86073869377e-05,1793192436783601408
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+178,2.966666667,POSE1_TO_POSE2_PRESS,763,743,711.781650901,672.218349099,660,632.781650901,877.218349099,783.218349099,799.218349099,648,628,650,0.434239962425,-0.0155582996788,0.0798263879438,0.999999959078,-9.96794350369e-05,-0.000258510630068,-7.12723958734e-05,1793192436816934656
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,743,711.206100124,672.793899876,660,632.206100124,877.793899876,783.793899876,799.793899876,648,628,650,0.434981472899,-0.0155699816228,0.0798235346787,0.999999958152,-0.000105227839672,-0.000259523676873,-7.25978459126e-05,1793192436833601024
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+181,3.016666667,POSE1_TO_POSE2_PRESS,763,742.054537038,711,673,660,632,877.054537038,782.109074075,799.054537038,648,628,650,0.436394885835,-0.0155890345901,0.0798264138047,0.999999946559,-0.000149758927391,-0.000281822930203,-7.09243322324e-05,1793192436866934528
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+256,4.266666667,HOLD_POSE2,763,743,711,673,658,630,878,778,799,648,628,650,0.446732142987,-0.0157679419039,0.0795363963166,0.999999675053,-0.000390176092557,-0.000701462508936,-7.48731583423e-05,1793192438131682048
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+261,4.350000000,HOLD_POSE2,763.904959882,743,711,672.904959882,658,629.095040118,877.904959882,779,799.095040118,648,627.904959882,650.095040118,0.44675740377,-0.0157619260124,0.0795502774047,0.999999694334,-0.000383638310851,-0.000677125790047,-7.51996478562e-05,1793192438215015680
+262,4.366666667,HOLD_POSE2,764,743,711,673,658,629.485608557,877.514391443,779,799.485608557,648,627.514391443,650.485608557,0.446763140864,-0.015760116569,0.0795530369388,0.999999698417,-0.000381877844454,-0.000672075670095,-7.51616475001e-05,1793192438231682560
+263,4.383333333,HOLD_POSE2,763.937193488,742.937193488,711,672.937193488,658,629.937193488,877,779,800,648,627,651,0.446768248131,-0.0157581043412,0.079555387861,0.999999702226,-0.000379643939769,-0.000667670531029,-7.50664831814e-05,1793192438248348928
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+266,4.433333333,HOLD_POSE2,763.806316981,742.806316981,711,672.806316981,658,629,877.806316981,778.193683019,800,648,627,650.193683019,0.446770727705,-0.0157584422117,0.079556913196,0.999999703922,-0.000379447586602,-0.000665331520079,-7.42288189298e-05,1793192438298348288
+267,4.450000000,HOLD_POSE2,764,743,711,673,658,629.388861116,878,778.388861116,799.611138884,648,627,650.388861116,0.446774244927,-0.0157570623814,0.0795588153476,0.999999706791,-0.000377394044815,-0.000662170404182,-7.43139648723e-05,1793192438315015168
+268,4.466666667,HOLD_POSE2,764,743,711,673,658,629.967816134,878,778.967816134,799.032183866,648,627,650.967816134,0.446778679312,-0.0157547958366,0.0795612298138,0.999999710876,-0.000373427134384,-0.00065822422381,-7.44324175842e-05,1793192438331681792
+269,4.483333333,HOLD_POSE2,764,742.457763835,711,673,658,630,878.542236165,779,799.542236165,648,627,650.457763835,0.4467790729,-0.0157546529402,0.0795617779287,0.999999711453,-0.000373838706872,-0.000657125509545,-7.43310415988e-05,1793192438348348416
+270,4.500000000,HOLD_POSE2,764,742.116330806,711,672.883669194,658,630,878.767338387,779,799.883669194,648,627,650,0.44677978505,-0.0157547855154,0.0795624401551,0.99999971201,-0.000374497200469,-0.000655917479031,-7.41943888778e-05,1793192438365015296
+271,4.516666667,HOLD_POSE2,764,742.690195725,711,672.309804275,658,630,877.619608551,779,799.309804275,648,627,650,0.446782685589,-0.0157555098958,0.0795639832585,0.999999713299,-0.000375113202732,-0.000653620298562,-7.39698827465e-05,1793192438381681920
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.987253398,742.987253398,711.012746602,672,660,632,876.012746602,782.012746602,800,648,628,650.987253398,0.418056507127,-0.0154046862512,0.079820723182,0.999999942674,0.000188052598534,-0.000279794988139,3.16709193687e-05,1793192439481164544
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742.43799739,711,672,660,632,876.56200261,782,799.43799739,648,628,650.43799739,0.417200067051,-0.0154028683676,0.0798147836257,0.999999939865,0.000184335240485,-0.000292300337056,2.91696000962e-05,1793192439497831680
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.859510297,742,711.140489703,672,660,632,877,782,799,648,628,650,0.416342028105,-0.0154002749476,0.0798100273994,0.999999936328,0.000182754176423,-0.000305287744661,2.72852626428e-05,1793192439514498560
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.268683822,742,711.731316178,672,660,632,877,782,799,648,628,650,0.415473087717,-0.0153949675378,0.0798062156766,0.999999929087,0.000188852384056,-0.000324677380151,2.72848447575e-05,1793192439531164928
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632.315302698,877,782.315302698,799,648,628,650,0.414646748296,-0.0153937343487,0.0797982934315,0.999999923345,0.000193544942324,-0.00033937565405,2.59794208525e-05,1793192439547831552
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632.893584308,877,782.893584308,799,648,628,650,0.413855940348,-0.0153958992727,0.0797869427965,0.999999918998,0.000197065115359,-0.00035016108653,2.3585553799e-05,1793192439564497920
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.468779433,742,712,672,659.531220567,632.531220567,876.531220567,783,799,648,628,650,0.413116442044,-0.0153977203072,0.0798041487886,0.999999931926,0.000190670951435,-0.00031509557088,2.25288469353e-05,1793192439581164544
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.955706733,659.044293267,632,876,783,799,648,628,650.044293267,0.412387654679,-0.0153991058949,0.0798253390929,0.999999945178,0.000183419477461,-0.000274809532122,2.19366323019e-05,1793192439597830912
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.367737583,659.632262417,632,876,783,799,648,628,650.632262417,0.411648306234,-0.0153960985447,0.0798163856606,0.999999936872,0.000193089357489,-0.000297366687619,2.33443513434e-05,1793192439614497536
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.204037462,742,711.204037462,671,660,632.795962538,876.795962538,783,799,648,628,650.204037462,0.410183453465,-0.0153922777329,0.0797982461283,0.999999924709,0.000198195366121,-0.000332766213928,2.38056840793e-05,1793192439647831296
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.373267669,742.373267669,711.373267669,671,660,633,877,783,799,648,628,650,0.409529866156,-0.0153954324316,0.0798115271805,0.999999933105,0.000195572580846,-0.000308077621458,2.50941181008e-05,1793192439664498432
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.94961483,742.94961483,711.94961483,671,660,633,877,783,799,648,628,650,0.408917458424,-0.0154010712946,0.0798369971874,0.999999947018,0.000191895651214,-0.00026152972871,2.72494201401e-05,1793192439681165312
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.475324237,742.475324237,711.475324237,671,659.475324237,632.475324237,877,783,799,648,628,650,0.408317769228,-0.0153990087623,0.0798503008513,0.999999949512,0.00019912131288,-0.000245966405112,2.87511911909e-05,1793192439697831680
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,659.102166753,632.102166753,877,782.897833247,799,648,628,650,0.407719087586,-0.0153956290102,0.0798533771554,0.99999994747,0.000207027807061,-0.000247648705915,2.94745553262e-05,1793192439714498304
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,659.691841141,632.691841141,877,782.308158859,799,648,628,650,0.407119399925,-0.0153894842798,0.0798132130619,0.999999926524,0.000213199341767,-0.000317458367066,2.6782341361e-05,1793192439731164928
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.276413124,659.723586876,632.723586876,877.276413124,782.276413124,799,648,628,650,0.40655532785,-0.0153850833664,0.0797885217626,0.999999912679,0.000217691702387,-0.000355869252388,2.46669863014e-05,1793192439747831552
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.855399758,659.144600242,632.144600242,877.855399758,782.855399758,799,648,628,650,0.406030242143,-0.0153825913094,0.0797807676416,0.999999910688,0.000220345968414,-0.000359909704743,2.31830857137e-05,1793192439764497920
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.432806938,742,711,672,659,632,877.134386124,783,799,648,628,650,0.405571070841,-0.0153763841888,0.0797912623204,0.999999917839,0.000228205207114,-0.000334242057757,2.29351875256e-05,1793192439781165056
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742.009567589,711,671.990432411,659.009567589,632,876,783,799,648,628,650,0.40513449504,-0.0153689732558,0.0798078337898,0.999999926744,0.000237902094101,-0.000298963734724,2.31414551934e-05,1793192439797831936
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742.579256161,711,671.420743839,659.579256161,632,876,783,799,648,628,650,0.404736188668,-0.0153634868286,0.0798245257084,0.999999928272,0.000253745830766,-0.000280000075123,2.58487374762e-05,1793192439814498304
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.844404834,742.844404834,711.155595166,671,659.844404834,632,876.155595166,782.844404834,799,648,628,650.155595166,0.404345068439,-0.0153586312655,0.0798382231895,0.9999999293,0.000265257929024,-0.000265050679301,2.80429097514e-05,1793192439831164672
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.249279333,742.249279333,711.750720667,671,659.249279333,632,876.750720667,782.249279333,799,648,628,650.750720667,0.403974247772,-0.0153555577871,0.079843461889,0.999999930421,0.000264533876908,-0.000261440903672,2.878763269e-05,1793192439847831296
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.336343172,742,712,671.336343172,659.336343172,632.336343172,877,782.336343172,799,648,628,650.663656828,0.403618361181,-0.0153505017507,0.0798440013881,0.999999927723,0.00027046306017,-0.000265617717057,2.91577528367e-05,1793192439864497920
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711.18152809,671,659.81847191,632,876.18152809,783,799,648,628.18152809,650,0.402074826775,-0.0154005137129,0.0798499770455,0.999999943064,0.000205244608268,-0.00026607872137,3.08002472719e-05,1793192439964497664
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,632,876,783,799.401177371,648,628,650,0.401906984355,-0.015398175172,0.0798520714119,0.999999943438,0.000208850215027,-0.000261712330372,3.18207738896e-05,1793192439981164288
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,632,876,783,799.978289359,648,628,650,0.401748295465,-0.0153889259088,0.0798543010609,0.999999941439,0.000222679705474,-0.000257760828133,3.31032229291e-05,1793192439997831168
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.448625901,742,711.551374099,671.551374099,660,632.551374099,876.551374099,783,800,648,628.551374099,650,0.401624408035,-0.0153905355412,0.0798563210138,0.999999943325,0.000216641054771,-0.000255460399572,3.40107091671e-05,1793192440014497792
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.128153123,742,711.871846877,671.871846877,659.871846877,633,877,783,799.871846877,648,628.871846877,650.128153123,0.401507182026,-0.0153911528609,0.0798574150226,0.999999944869,0.000211126187257,-0.000254047497603,3.38620272229e-05,1793192440031164416
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.718833812,742,711.281166188,671.281166188,659.281166188,633,877,783,799.281166188,648,628.281166188,650.718833812,0.401409088356,-0.015386656743,0.0798551967181,0.99999994477,0.000210304798657,-0.000255604899291,2.99543462636e-05,1793192440047831040
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711.30320029,671,659,633,877,783,799,648,628.30320029,650.69679971,0.401320021099,-0.0153848543525,0.0798523932012,0.999999941409,0.000221053779679,-0.000259979866792,2.69657305598e-05,1793192440064497664
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711.881830838,671,659,633,877,783,799,648,628.881830838,650.118169162,0.401239153536,-0.0153854989719,0.0798490580715,0.999999934713,0.000242313403297,-0.000266914339829,2.48120033996e-05,1793192440081164544
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,712,670.542733783,659.457266217,633,877,783,799,648,628.542733783,650,0.401177567214,-0.0153860250531,0.0798456147307,0.999999932719,0.000244279395194,-0.000272489662949,2.52877178316e-05,1793192440097830912
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.967390589,742,712,670.032609411,659.967390589,632.967390589,877,783,799,648,628,650,0.401122149374,-0.0153864193959,0.0798422523078,0.999999932019,0.000241452780642,-0.000277428779301,2.63624998298e-05,1793192440114497792
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.379657657,742,712,670.620342343,659.379657657,632.379657657,877,783,799,648,628,650,0.401087505145,-0.0153850889672,0.0798407401298,0.999999932042,0.00024132877425,-0.000277475276927,2.61480734724e-05,1793192440131164416
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.204882074,742,712,671,659.204882074,632,877,783,799.204882074,648.204882074,628,650,0.401057598178,-0.0153844945042,0.0798403735683,0.999999932408,0.000240449631615,-0.000276906558146,2.62802559187e-05,1793192440147830784
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.783595374,742,712,671,659.783595374,632,877,783,799.783595374,648.783595374,628,650,0.401036334899,-0.0153852428967,0.0798420973177,0.999999933395,0.000238192654898,-0.000275215305308,2.70448665537e-05,1793192440164497664
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.060238341,742,711.060238341,671,660,632,877,783,800,649,628.939761659,650.939761659,0.401003185782,-0.0153840487547,0.0798397484508,0.999999931844,0.000240482846866,-0.000278808223513,2.73115708807e-05,1793192440197830912
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.088002214,742,711,671,659.911997786,632.088002214,876.911997786,783,799,648,628,650,0.400993698279,-0.0153857095698,0.0798409553056,0.999999933507,0.000236015765873,-0.000276659332729,2.72291924997e-05,1793192440231165952
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.6781649,742,711,671,659.3218351,632.6781649,876.3218351,783,799,648,628,650,0.400990282097,-0.0153843701606,0.0798405361436,0.999999932312,0.000240687988928,-0.000276942812529,2.73516582201e-05,1793192440247832832
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.735541387,742,711.264458613,671,659,632.735541387,876,783,799.264458613,648,628.264458613,650.264458613,0.400988776502,-0.0153839859981,0.0798411365078,0.999999932349,0.000241962195552,-0.000275712858091,2.71913692776e-05,1793192440264499200
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.153888199,742,711.846111801,671,659,632.153888199,876,783,799.846111801,648,628.846111801,650.846111801,0.400989562487,-0.0153847475691,0.0798429597028,0.999999933871,0.000239160783563,-0.000272667673943,2.66919412705e-05,1793192440281165056
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_08/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ebba96a2f32b58d81001c6c3002ac57a5b72bb30
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,412 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0a58fe5adb4c8e8c1dd33096ea16e31e22b1c1a9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09a135486736f1e1fdc3da9ae543dec3a287c13cd665cb009002cdc1b1d73b26
+size 25972740
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..11d6b7cb42ef85a25ee21474bd09777ea5264c74
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+8,0.133333333,BASELINE,764,742,712,671,660,632.344682488,876,783,799,648,628.344682488,650,0.400984280938,-0.0153881972771,0.0798457351428,0.999999936284,0.000234478250448,-0.000267910553278,2.60010746418e-05,1793192440965069312
+9,0.150000000,BASELINE,764,742,712,671,660,632,876.481080534,783,799.240540267,648,628,650,0.400985111843,-0.0153880180668,0.0798459277701,0.999999936454,0.000234808583649,-0.000266968744309,2.61537773833e-05,1793192440981735936
+10,0.166666667,BASELINE,764,742,712,671,660,632,877.638866456,783,799.819433228,648,628,650,0.400985512183,-0.0153878326592,0.0798460518758,0.999999936898,0.000233967906654,-0.000266022345279,2.63504681788e-05,1793192440998402816
+11,0.183333333,BASELINE,764,742,711.60462892,671,659.60462892,632,877.20925784,783,799.20925784,648,628,650,0.400984589088,-0.0153871559279,0.0798458310897,0.999999936345,0.000235174865124,-0.000267035268237,2.63711404767e-05,1793192441015069440
+12,0.200000000,BASELINE,764,742,711.03003061,671,659.03003061,632,876.06006122,783,798.06006122,648,628,650,0.400983066061,-0.0153862564727,0.0798454539594,0.999999935332,0.000237310045263,-0.000268936379124,2.63120211493e-05,1793192441031735808
+13,0.216666667,BASELINE,763.443584289,742,711,671,659.556415711,632,876.556415711,783,798.556415711,648,628,650,0.400983755055,-0.0153873924621,0.0798457204585,0.999999936067,0.000235634560285,-0.000267697574776,2.60860960667e-05,1793192441048402176
+14,0.233333333,BASELINE,763.141524166,741.858475834,711.141524166,671,659.858475834,632.141524166,877,783,799,648,628.141524166,650.141524166,0.400984208097,-0.01538847513,0.0798458108785,0.99999993666,0.00023418847939,-0.000266764405892,2.59253701679e-05,1793192441065069056
+15,0.250000000,BASELINE,763.720478158,741.279521842,711.720478158,671,659.279521842,632.720478158,877,783,799,648,628.720478158,650.720478158,0.400983554809,-0.0153890460532,0.0798452473598,0.999999936533,0.000234100968904,-0.000267311099735,2.59945966307e-05,1793192441081735680
+16,0.266666667,BASELINE,764,741.298287,712,671,659.298287,633,876.701713,783,799,648,628.701713,651,0.40098260643,-0.0153887391044,0.0798447983654,0.999999936114,0.000234916955192,-0.000268158310343,2.60411103987e-05,1793192441098402560
+17,0.283333333,BASELINE,764,741.875026801,712,671,659.875026801,633,876.124973199,783,799,648,628.124973199,651,0.400981382579,-0.0153876126565,0.0798444562804,0.999999935419,0.000236576361441,-0.000269286055221,2.60664217183e-05,1793192441115069696
+18,0.300000000,BASELINE,764,742,712,671,660,633,876,783,799,648,628.451248962,651,0.400983046873,-0.0153878620028,0.0798458030243,0.99999993588,0.000236594007288,-0.000267537786797,2.62228521455e-05,1793192441131736576
+19,0.316666667,BASELINE,764,742,712,671,660,633,876,783,799,648,628.972845298,650.972845298,0.400985375062,-0.0153884615823,0.0798474929219,0.999999936629,0.000236091608919,-0.000265153593907,2.63966181835e-05,1793192441148402944
+20,0.333333333,BASELINE,764,742,712,671,660,633,876,783,799,648,628.400417808,650.400417808,0.400984991234,-0.0153884516085,0.0798466922529,0.999999936845,0.000234266316805,-0.00026597568134,2.61901417488e-05,1793192441165069568
+21,0.350000000,BASELINE,764,742,712,670.820212795,659.820212795,632.820212795,876,783,799,648.179787205,628,650.179787205,0.400984698823,-0.0153884189993,0.0798460764652,0.999999937,0.000232921122899,-0.000266590264437,2.60194941742e-05,1793192441181735936
+22,0.366666667,BASELINE,764,742,712,670.221902729,659.221902729,632.221902729,876,783,799,648.778097271,628,650.778097271,0.400984619219,-0.0153883336975,0.0798458910587,0.99999993702,0.000232693539794,-0.000266721802425,2.59322518798e-05,1793192441198402304
+23,0.383333333,BASELINE,764,742,711.638337787,670.361662213,659,632.361662213,876,783,799,648.638337787,628,650.638337787,0.400984011561,-0.0153883338636,0.0798458355458,0.999999936913,0.00023281231272,-0.000267010177199,2.60253895547e-05,1793192441215068928
+24,0.400000000,BASELINE,764,742,711.063465456,670.936534544,659,632.936534544,876,783,799,648.063465456,628,650.063465456,0.400983092601,-0.0153883844155,0.0798458566088,0.999999936731,0.000233135272315,-0.000267391011712,2.62248663215e-05,1793192441231735808
+25,0.416666667,BASELINE,764,742,711.511900078,671,659,632.488099922,876.511900078,783,799,648,628,650,0.400984439937,-0.0153881385844,0.0798460311814,0.99999993665,0.000234668869641,-0.000266341009393,2.63223273605e-05,1793192441248402432
+26,0.433333333,BASELINE,763.910301678,742,712,671,659.089698322,632.089698322,876.910301678,783,799.089698322,648,628,650,0.400985580224,-0.0153879302233,0.0798460794962,0.999999936606,0.00023579624997,-0.000265511177198,2.63031995327e-05,1793192441265069056
+27,0.450000000,BASELINE,763.319248041,742,712,671,659.680751959,632.680751959,876.319248041,783,799.680751959,648,628,650,0.400983991252,-0.0153881368765,0.079845315633,0.999999936716,0.000233813399073,-0.00026690443354,2.57031776227e-05,1793192441281735680
+28,0.466666667,BASELINE,763.265821928,742.265821928,712,670.734178072,659.734178072,633,876,783,799.734178072,648,628,650,0.40098306438,-0.0153880608291,0.0798451017974,0.999999936482,0.00023364400934,-0.00026793271604,2.56714197152e-05,1793192441298402048
+29,0.483333333,BASELINE,763.843863771,742.843863771,712,670.156136229,659.156136229,633,876,783,799.156136229,648,628,650,0.400982915175,-0.015387652737,0.0798455339942,0.999999935844,0.000235604612144,-0.000268532320117,2.63071136971e-05,1793192441315068928
+30,0.500000000,BASELINE,764,742.581920149,711.581920149,670.418079851,659.418079851,633,876.418079851,783,799,648.418079851,628,650.418079851,0.400983218429,-0.0153884953824,0.0798459306214,0.999999936433,0.000233915278228,-0.000267821624099,2.62424948327e-05,1793192441331736064
+31,0.516666667,BASELINE,764,742.009119896,711.009119896,670.990880104,659.990880104,633,876.990880104,783,799,648.990880104,628,650.990880104,0.400983689126,-0.015389800893,0.0798463140851,0.999999937468,0.000230875198289,-0.000266626020321,2.59187085126e-05,1793192441348403712
+32,0.533333333,BASELINE,764,742,711,671,660,633,876.419416795,783,799.580583205,648.419416795,628.580583205,650.419416795,0.400985125336,-0.0153900580502,0.079846867474,0.999999937706,0.000231366856649,-0.00026527808304,2.61804095084e-05,1793192441365069824
+33,0.550000000,BASELINE,764,742,711.16739868,671,660,632.83260132,876.16739868,783,799.83260132,648,628.83260132,650,0.400985699514,-0.015390030037,0.0798471303356,0.999999937718,0.000231983300502,-0.000264680280867,2.6314734646e-05,1793192441381735936
+34,0.566666667,BASELINE,764,742,711.746440733,671,660,632.253559267,876.746440733,783,799.253559267,648,628.253559267,650,0.40098411549,-0.0153893424821,0.0798466720124,0.999999937209,0.000232766086877,-0.000265933166698,2.61125409102e-05,1793192441398402816
+35,0.583333333,BASELINE,764,742,712,671,659.675532918,632.324467082,877,783,799.324467082,648,628,650,0.400983616091,-0.0153896869671,0.0798461805575,0.999999937074,0.000233133643759,-0.000266126978011,2.6005919422e-05,1793192441415069440
+36,0.600000000,BASELINE,764,742,712,671,659.098297765,632.901702235,877,783,799.901702235,648,628,650,0.400983961642,-0.0153908354371,0.079845663292,0.999999937233,0.000233177726441,-0.000265495743598,2.5973751112e-05,1793192441431736064
+37,0.616666667,BASELINE,764,742,712,671,659.476394305,633,877,783,799.523605695,648,628,650,0.400983780577,-0.0153885388052,0.0798454535191,0.999999936593,0.000235134513599,-0.000266209664901,2.56355513894e-05,1793192441448402688
+38,0.633333333,BASELINE,764,742,712,670.947831295,660,632.947831295,877.052168705,783,799,648,628,650,0.400983573674,-0.0153858788515,0.0798453794948,0.999999935854,0.000237347922039,-0.000267055383247,2.52908547567e-05,1793192441465069056
+39,0.650000000,BASELINE,764,742,712,670.355443862,660,632.355443862,877.644556138,783,799,648,628,650,0.400984218449,-0.0153867785629,0.0798460576577,0.999999935829,0.000238153592966,-0.000266407003099,2.55292957924e-05,1793192441481735680
+40,0.666666667,BASELINE,764,742,712,670.231519931,660,632.231519931,877.768480069,783,799,648.231519931,628,650,0.400984700269,-0.0153873375933,0.0798466225781,0.999999936035,0.000237854460743,-0.000265880983193,2.57476676679e-05,1793192441498402304
+41,0.683333333,BASELINE,764,742,712,670.810347577,660,632.810347577,877.189652423,783,799,648.810347577,628,650,0.400984937637,-0.0153873855611,0.0798470176209,0.999999936584,0.000235897990997,-0.00026553851839,2.59359333769e-05,1793192441515068928
+42,0.700000000,BASELINE,764,742,712,670.615116762,660,633,877,783,799,648.615116762,628,650,0.400984622191,-0.0153887071897,0.0798467667976,0.999999936754,0.000235125578874,-0.000265551881884,2.62577122705e-05,1793192441531735552
+43,0.716666667,BASELINE,764,742,712,670.042672683,660,633,877,783,799,648.042672683,628,650,0.400984037347,-0.0153906494972,0.0798462012316,0.99999993674,0.000234930180357,-0.000265738647209,2.66445546446e-05,1793192441548402432
+44,0.733333333,BASELINE,764,742,712,670.545941954,660,633,877,783,798.454058046,648.545941954,628.545941954,650,0.400984928264,-0.01539000243,0.0798466994215,0.999999937248,0.000234322278663,-0.000264402999379,2.62312327492e-05,1793192441565069568
+45,0.750000000,BASELINE,764,742,712,671,660,633,877,783,798.133464411,648.866535589,629,650.133464411,0.400985486399,-0.0153891781291,0.0798470171218,0.999999937559,0.000233927018539,-0.000263611126704,2.58628602537e-05,1793192441581736192
+46,0.766666667,BASELINE,764,742,712,671,660,633,877,783,798.712983337,648.287016663,629,650.712983337,0.400984535051,-0.0153884585659,0.0798464452348,0.99999993708,0.000234353481014,-0.000265046459915,2.58601229075e-05,1793192441598402560
+47,0.783333333,BASELINE,764,742,712,671.291193221,659.708806779,633,877.291193221,783.291193221,799,648,629,651,0.40098397792,-0.0153887508562,0.0798462812916,0.999999936996,0.000233671179365,-0.000265955032015,2.59660210228e-05,1793192441615068928
+48,0.800000000,BASELINE,764,742,712,671.868118684,659.131881316,633,877.868118684,783.868118684,799,648,629,651,0.400983807611,-0.0153900360236,0.0798465176416,0.999999937298,0.000231900907187,-0.00026634672195,2.61785172714e-05,1793192441631735552
+49,0.816666667,BASELINE,764,742,712,671.55657873,659.44342127,632.55657873,877.113157461,783.55657873,799,648,628.55657873,650.55657873,0.400983849854,-0.0153900004648,0.079846594427,0.99999993721,0.000232454749398,-0.000266183529217,2.62911094655e-05,1793192441648402432
+50,0.833333333,BASELINE,764,742,712,671,660,632,876.018683118,783,799,648.018683118,628.018683118,650,0.400983938494,-0.0153895465893,0.0798466167472,0.999999937008,0.000233667526333,-0.000265873697618,2.63601007734e-05,1793192441665069056
+51,0.850000000,BASELINE,764,742,712,671,660,632,876.607375513,783,799,648.607375513,628.607375513,650,0.400983520993,-0.0153882707342,0.0798464199838,0.999999936884,0.000233971819874,-0.00026610666407,2.60020835439e-05,1793192441681735936
+52,0.866666667,BASELINE,764,742,711.806637504,671,659.806637504,632,876.806637504,783,799.193362496,648.806637504,628.806637504,650.193362496,0.400983315777,-0.0153879983304,0.07984623261,0.999999936917,0.000233602727349,-0.000266327447931,2.57943209095e-05,1793192441698402816
+53,0.883333333,BASELINE,764,742,711.226068119,671,659.226068119,632,876.226068119,783,799.773931881,648.226068119,628.226068119,650.773931881,0.400983535658,-0.0153897353297,0.0798460640383,0.999999937262,0.000231885184464,-0.000266523836234,2.58874419497e-05,1793192441715069696
+54,0.900000000,BASELINE,763.648871339,742,711.351128661,671,659.351128661,632.351128661,876.351128661,783,799.648871339,648,628.351128661,650.648871339,0.400983449132,-0.0153902399102,0.079846276497,0.999999937341,0.000231489946244,-0.000266560328945,2.59856178908e-05,1793192441731736064
+55,0.916666667,BASELINE,763.073825316,742,711.926174684,671,659.926174684,632.926174684,876.926174684,783,799.073825316,648,628.926174684,650.073825316,0.400983167208,-0.0153899585679,0.0798467319414,0.999999937252,0.00023193795162,-0.000266494855039,2.60870173764e-05,1793192441748402432
+56,0.933333333,BASELINE,763,742,712,671,660,632.501728621,876.501728621,783,799,648,628.501728621,650,0.400983568554,-0.0153891013364,0.0798464624229,0.999999936989,0.000233450304262,-0.000266147952668,2.62172757874e-05,1793192441765069056
+57,0.950000000,BASELINE,763.072931214,742.072931214,712,671,660,632.072931214,876.072931214,783,799,648,628,650,0.400984011334,-0.0153882682966,0.0798461422239,0.999999936702,0.000234986110577,-0.000265870626419,2.62751694859e-05,1793192441781735680
+58,0.966666667,BASELINE,763.66909623,742.66909623,712,671,660,632.66909623,876.66909623,783,799,648,628,650,0.400984029354,-0.0153882173683,0.0798462245058,0.99999993644,0.000235565467097,-0.000266389853789,2.57833978798e-05,1793192441798402304
+59,0.983333333,BASELINE,764,742.74299979,712,671.25700021,660,633,877,783,799,648,628.25700021,650,0.400984249529,-0.0153884678319,0.0798464080556,0.999999936705,0.000234554698097,-0.000266322738193,2.54031982355e-05,1793192441815068928
+60,1.000000000,BASELINE,764,742.165401073,712,671.834598927,660,633,877,783,799,648,628.834598927,650,0.400984721885,-0.015389094271,0.0798467179337,0.999999937622,0.000231560304858,-0.000265524180932,2.51621805288e-05,1793192441831735808
+61,1.016666667,BASELINE,764,742,712,671.180924583,660,632.590462291,877,783,799,648,628.590462291,650.409537709,0.40098427084,-0.015388636121,0.0798464103517,0.999999937221,0.000233133492174,-0.000265640783198,2.53170981959e-05,1793192441848402944
+62,1.033333333,BASELINE,764,742,712,670.033181774,660,632.016590887,877,783,799,648,628.016590887,650.983409113,0.400983449266,-0.0153877427617,0.0798458550038,0.999999936285,0.000236539495978,-0.000266124608221,2.56308914139e-05,1793192441865069824
+63,1.050000000,BASELINE,764,742,711.430411978,670.569588022,660,632,877,783,799,648,628,650.430411978,0.400985032855,-0.0153886579417,0.0798469347927,0.999999937146,0.000234350762616,-0.000264805580144,2.57871686187e-05,1793192441881736448
+64,1.066666667,BASELINE,764,742,711,671,660,632.155028086,876.844971914,783,799,648,628,650.155028086,0.400985827818,-0.015389145368,0.0798474847452,0.999999937605,0.000232978650738,-0.000264284384515,2.57885046027e-05,1793192441898402816
+65,1.083333333,BASELINE,764,742,711,671,660,632.737421268,876.262578732,783,799,648,628,650.737421268,0.400984251385,-0.0153883051812,0.0798464399047,0.999999936818,0.000234316875129,-0.000266110529558,2.53756422817e-05,1793192441915069184
+66,1.100000000,BASELINE,763.684178113,742,711.315821887,671,660,632.684178113,876,783,799,648,628.315821887,651,0.400983312142,-0.0153888859262,0.0798456649926,0.999999936769,0.000233737660519,-0.000266811779016,2.53151687589e-05,1793192441931735552
+67,1.116666667,BASELINE,763.109055554,742,711.890944446,671,660,632.109055554,876,783,799,648,628.890944446,651,0.400982896053,-0.0153906333053,0.0798451117011,0.999999937323,0.000231584162231,-0.000266589450276,2.5544018625e-05,1793192441948402176
+68,1.133333333,BASELINE,763.475246324,742,712,671,660,632.475246324,876.475246324,783,799,648,629,651,0.400982616136,-0.0153902673489,0.0798451973941,0.999999937142,0.000231673658762,-0.000267188519066,2.55463397788e-05,1793192441965069056
+69,1.150000000,BASELINE,763.939058097,742,712,671,660,633,877,783,799,648,628.939058097,650.939058097,0.400982273708,-0.0153895348179,0.0798453459326,0.99999993681,0.000232198573498,-0.000267978598131,2.55063721357e-05,1793192441981735936
+70,1.166666667,BASELINE,763.359777515,742,712,671,660,633,877,783,799,648,628.359777515,650.359777515,0.400981128594,-0.0153898903678,0.0798447572926,0.999999936654,0.000231962906743,-0.000268758559633,2.55575567894e-05,1793192441998402816
+71,1.183333333,BASELINE,763.218882908,742,712,670.781117092,660,632.781117092,877,783.218882908,799,648,628,650,0.400981302624,-0.0153896075282,0.0798449327769,0.999999936669,0.000232577874685,-0.000268168866348,2.55940274405e-05,1793192442015069184
+72,1.200000000,BASELINE,763.796526948,742,712,670.203473052,660,632.203473052,877,783.796526948,799,648,628,650,0.400983638805,-0.0153882783332,0.079846360703,0.999999936955,0.000234587079663,-0.000265334233619,2.56063810392e-05,1793192442031735808
+73,1.216666667,BASELINE,764,742,712,670.372970051,660,632.372970051,876.627029949,783.627029949,799,648,628,650,0.400984208843,-0.0153877667581,0.0798465190082,0.999999937102,0.000234916648679,-0.000264491264786,2.56033018338e-05,1793192442048402432
+74,1.233333333,BASELINE,764,742,712,670.948760054,660,632.948760054,876.051239946,783.051239946,799,648,628,650,0.400983818458,-0.0153876998022,0.0798459868976,0.999999937175,0.000234332836768,-0.000264731356751,2.55918303171e-05,1793192442065069056
+75,1.250000000,BASELINE,764,742,712,671,659.477938336,632.477938336,876,783,799,648,628,650,0.400984423829,-0.0153881926143,0.0798465290132,0.999999937265,0.000234547699836,-0.000264183293608,2.57700178118e-05,1793192442081735424
+76,1.266666667,BASELINE,764,742,712,671,659,632.098948798,876.098948798,783,799,648,628,650,0.40098472164,-0.0153886136651,0.0798469287661,0.999999937229,0.0002348952347,-0.000263997631475,2.59132022671e-05,1793192442098402048
+77,1.283333333,BASELINE,764,742,712,671,659,632.695072987,876.695072987,783,799,648,628,650,0.400982985365,-0.015388399401,0.0798460859567,0.99999993655,0.000235517384223,-0.000266019720459,2.57874232846e-05,1793192442115068928
+78,1.300000000,BASELINE,764,742,711.718615641,671,659.281384359,633,877,783,799,648,628,650.281384359,0.400982907244,-0.0153877291514,0.0798459764396,0.999999936234,0.000236292800631,-0.000266529096322,2.56798975508e-05,1793192442131735808
+79,1.316666667,BASELINE,764,742,711.142579791,671,659.857420209,633,877,783,799,648,628,650.857420209,0.400984565458,-0.0153865814165,0.0798466347892,0.999999936301,0.000237228710342,-0.000265454435276,2.55914857054e-05,1793192442148402944
+80,1.333333333,BASELINE,764,742,711.432120266,671,660,632.567879734,877,783,799,648,628,650.567879734,0.400984251509,-0.0153868346883,0.0798465603731,0.999999936416,0.000236649347727,-0.000265528763764,2.56696924265e-05,1793192442165069568
+81,1.350000000,BASELINE,764,742,711.993427822,671,659.993427822,632.006572178,876.993427822,783,799,648,628,650,0.400983308645,-0.0153875476129,0.0798462584432,0.999999936552,0.000235565231643,-0.000265967544898,2.58014509763e-05,1793192442181735936
+82,1.366666667,BASELINE,764,742,711.401959985,671,659.401959985,632.598040015,876.401959985,783,799,648,628,650,0.400984128113,-0.015388154603,0.0798471597555,0.999999937141,0.000233918301983,-0.000265205532745,2.58215007629e-05,1793192442198402560
+83,1.383333333,BASELINE,763.814798076,742,711.185201924,671,659.185201924,633,876.185201924,783,799,648,628,650.185201924,0.400984963118,-0.0153888673844,0.0798477174728,0.999999937547,0.000232967668001,-0.000264506450506,2.58451924249e-05,1793192442215068928
+84,1.400000000,BASELINE,763.23676925,742,711.76323075,671,659.76323075,633,876.76323075,783,799,648,628,650.76323075,0.400985831079,-0.0153898045569,0.0798475463999,0.999999937573,0.000233493928063,-0.000263940847099,2.58766087763e-05,1793192442231735552
+85,1.416666667,BASELINE,763,742,712,671,660,632.661179227,877,783,799,648,628,650.661179227,0.40098487612,-0.0153891239361,0.0798467631867,0.999999937084,0.000234447763684,-0.000264965552805,2.56659575456e-05,1793192442248402432
+86,1.433333333,BASELINE,763,742,712,671,660,632.087281304,877,783,799,648,628,650.087281304,0.400982656403,-0.0153873208744,0.0798455552647,0.999999936234,0.000235698255356,-0.000267093630481,2.52873574685e-05,1793192442265069056
+87,1.450000000,BASELINE,763.499428315,742,712,671,660,632,876.500571685,783,799,648,628,650,0.400983427932,-0.0153875406368,0.0798459037004,0.999999936448,0.000235203879174,-0.000266738626373,2.51552305433e-05,1793192442281736192
+88,1.466666667,BASELINE,764,742,712,671,660,632,876.086943189,783,799,648,628,650,0.400984585898,-0.0153880088495,0.0798465683212,0.99999993678,0.000234777381115,-0.000265868402039,2.51568506734e-05,1793192442298403328
+89,1.483333333,BASELINE,764,742,712,671,660,632,876.666008987,783,799,648,628,650,0.40098489435,-0.0153878296925,0.0798474425477,0.999999936696,0.000236506565267,-0.000264602831262,2.56652849857e-05,1793192442315069696
+90,1.500000000,BASELINE,764,742,712,671,660,632.244513073,877,783,798.755486927,648,628,650.244513073,0.400984662155,-0.0153878068976,0.0798475631387,0.999999936581,0.000237402725274,-0.000264210923689,2.59004591707e-05,1793192442331736064
+91,1.516666667,BASELINE,764,742,712,671,660,632.822251604,877,783,798.177748396,648,628,650.822251604,0.400983693159,-0.0153879971949,0.0798466566657,0.99999993643,0.000237163629471,-0.000265009655305,2.57632310128e-05,1793192442348402432
+92,1.533333333,BASELINE,763.602188656,742,712,671,659.602188656,632.602188656,877,783,798.397811344,648,628,650.602188656,0.400983703407,-0.0153874817188,0.0798466117005,0.999999936564,0.000236374378366,-0.000265235306577,2.54799574029e-05,1793192442365068800
+93,1.550000000,BASELINE,763.027597081,742,712,671,659.027597081,632.027597081,877,783,798.972402919,648,628,650.027597081,0.400984148814,-0.0153866526097,0.0798469495738,0.999999936824,0.000235340648086,-0.000265206291284,2.51317838e-05,1793192442381735680
+94,1.566666667,BASELINE,763.559832038,742,712,671,659.559832038,632.559832038,877,783,799,648,628,650,0.400984319831,-0.0153889810647,0.0798470639872,0.999999937397,0.000233037994323,-0.000265030069047,2.56744578652e-05,1793192442398402560
+95,1.583333333,BASELINE,764,742,712,671,659.854269048,633,876.854269048,783.145730952,799,648,628,650.145730952,0.400984529698,-0.0153907223928,0.0798472729487,0.999999937762,0.000231767284349,-0.000264720315195,2.61184863624e-05,1793192442415069184
+96,1.600000000,BASELINE,764,742,712,671,659.27485126,633,876.27485126,783.72514874,799,648,628,650.72514874,0.400984896376,-0.0153902423801,0.0798477968305,0.99999993748,0.000233758098268,-0.000264035281049,2.6135197128e-05,1793192442431736064
+97,1.616666667,BASELINE,764,742,712,671,659.303004455,633,876.303004455,784,799,648,628,650.696995545,0.400984423537,-0.0153896236836,0.0798476371023,0.999999937258,0.000234157084697,-0.000264541025573,2.5926266341e-05,1793192442448402944
+98,1.633333333,BASELINE,764,742,712,671,659.879450469,633,876.879450469,784,799,648,628,650.120549531,0.400983193088,-0.0153888798341,0.0798468604611,0.999999937092,0.000233119551565,-0.000266121369438,2.55137089173e-05,1793192442465069568
+99,1.650000000,BASELINE,764,742,712,671,660,632.54789985,876.54789985,783.54789985,799,648,628.45210015,650,0.400983357015,-0.0153889074884,0.0798467745175,0.999999937096,0.000233145814416,-0.000266068435089,2.56820719088e-05,1793192442481735936
+100,1.666666667,BASELINE,764,742,712,671.024646403,659.975353597,632.024646403,876,783,799,648.024646403,628.975353597,650,0.400983753645,-0.0153891561173,0.0798468063138,0.999999937125,0.000233401285064,-0.000265705108556,2.59816600149e-05,1793192442498402304
+101,1.683333333,BASELINE,764,742,712,671.617968299,659.382031701,632.617968299,876,783,799,648.617968299,628.382031701,650,0.40098101224,-0.015389796328,0.0798453407314,0.9999999367,0.000232454994202,-0.000268144831291,2.57647826476e-05,1793192442515068928
+102,1.700000000,BASELINE,764,742,712,671.793701106,659.206298894,632.793701106,876.412597788,783,799,648.793701106,628,650,0.400980098793,-0.0153901344824,0.079844749753,0.999999936571,0.000232015668822,-0.000269020650125,2.55676764123e-05,1793192442531735552
+103,1.716666667,BASELINE,764,742,712,671.214395295,659.785604705,632.214395295,877.57120941,783,799,648.214395295,628,650,0.40098249046,-0.0153899264915,0.0798457401374,0.999999936988,0.000232492982638,-0.000267068790071,2.54063181822e-05,1793192442548402432
+104,1.733333333,BASELINE,764,742,712,671,660,632,877.638375841,783,799,648.361624159,628,650,0.400983000251,-0.015389927784,0.0798461467065,0.99999993728,0.000231920897522,-0.0002664606912,2.55409476235e-05,1793192442565069312
+105,1.750000000,BASELINE,764,742,712,671,660,632,877.064287161,783,799,648.935712839,628,650,0.400982404388,-0.0153900520364,0.0798462102676,0.999999937498,0.000230732260607,-0.000266642090216,2.58494782597e-05,1793192442581736192
+106,1.766666667,BASELINE,763.478612264,742.521387736,712,671,660,632.521387736,877,783,799,648.478612264,628,650.521387736,0.400983609629,-0.01538941954,0.07984671863,0.999999937156,0.000233846884517,-0.000265215266496,2.57815506749e-05,1793192442598402816
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,877,783,799,649,629,650,0.400985040806,-0.0153905887093,0.0798480448458,0.999999938381,0.000230319760789,-0.000263703768895,2.55179576753e-05,1793192442640620032
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,877,783,799,648.425603461,628.425603461,650,0.400983879735,-0.0153880192381,0.0798468491794,0.999999936771,0.000235235718829,-0.000265483385924,2.53016820545e-05,1793192442657286656
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.850938495,876.850938495,783,799,648.149061505,628,650.149061505,0.400983272753,-0.0153870393161,0.0798462146595,0.99999993603,0.000237327078798,-0.000266418794611,2.52553423803e-05,1793192442673953280
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.275505597,876.275505597,783,799,648.724494403,628,650.724494403,0.40098425067,-0.0153906060963,0.0798471852271,0.999999937815,0.00023133903793,-0.000264939453589,2.56950827262e-05,1793192442690619648
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.691595436,671,659.691595436,632,876,783,799,648.691595436,628,650.691595436,0.400985130323,-0.0153916696293,0.0798477423199,0.999999938352,0.000230275893277,-0.000263804121281,2.59968319612e-05,1793192442707286272
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.099898312,671,659.099898312,632,876,783,799,648.099898312,628,650.099898312,0.400985919714,-0.015390433743,0.0798479196054,0.999999937761,0.000233736632914,-0.00026298478669,2.6171826059e-05,1793192442723952640
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671,659.961207671,632,876,783,798.519396165,648,628,650.480603835,0.400985658721,-0.0153900149711,0.0798475866907,0.999999937778,0.000233108793136,-0.000263512560181,2.58026801399e-05,1793192442740619520
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711.058620109,671,660.941379891,632.058620109,876.058620109,783,798.058620109,648,628,650.941379891,0.400985386334,-0.0153898484863,0.0798472920175,0.999999937906,0.000231940669385,-0.000264092460989,2.54154383636e-05,1793192442757286144
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711.634766041,671,660.365233959,632.634766041,876.634766041,783,798.634766041,648,628,650.365233959,0.400986897015,-0.0153904439672,0.0798482499082,0.999999937933,0.000233334767517,-0.000262716779887,2.58442511812e-05,1793192442773952512
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.785369527,742,712,671,660.214630473,633,877,783,799,648,628.214630473,650,0.400991826988,-0.0153906769598,0.0798505920078,0.999999938669,0.000234160832262,-0.000259121908313,2.62126004986e-05,1793192442790619136
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.199065871,742,712,671,660.800934129,633,877,783,799,648,628.800934129,650,0.40100267811,-0.0153902822353,0.0798553311264,0.999999940598,0.000234003239814,-0.000251684089634,2.64762458056e-05,1793192442807285504
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.382466559,742,712,671,660.617533441,632.617533441,877,783.382466559,799,648,628.617533441,650,0.401028015705,-0.01539243868,0.0798644992198,0.999999945273,0.000231787216466,-0.000234523555131,2.69690147482e-05,1793192442823952384
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.961546314,742,712,671,660.038453686,632.038453686,877,783.961546314,799,648,628.038453686,650,0.401060800312,-0.0153959065949,0.0798759441005,0.999999950961,0.000228513022905,-0.000212364898602,2.75795684604e-05,1793192442840619008
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.461785558,742,712,671,660,632.538214442,877,783.461785558,799,648,628,650,0.401115806394,-0.0153968138308,0.0798864629869,0.999999955481,0.000230613283202,-0.000187399680503,2.71374201267e-05,1793192442857285888
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.885114896,877,783,798.885114896,648,628,650.114885104,0.401175356143,-0.0153979106525,0.0798963193058,0.999999958862,0.00023216342108,-0.000166389026963,2.62810783501e-05,1793192442873953024
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742,712,671,660,632.307743325,877,783,798.307743325,648,628,650.692256675,0.40124683428,-0.0154005038939,0.079903773513,0.999999960131,0.000229960062647,-0.000162101653388,2.40587680898e-05,1793192442890619392
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.274326399,742,711.725673601,671,660,632,876.725673601,783,798.274326399,648,628.274326399,650.725673601,0.401328166751,-0.015403756845,0.0799089043716,0.999999961632,0.000228421689206,-0.000155248225767,2.13929919513e-05,1793192442907285760
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.861758381,742,711.138241619,671,660,632,876.138241619,783,798.861758381,648,628.861758381,650.138241619,0.401420746578,-0.0154077627632,0.0799113834493,0.999999963343,0.000227642304133,-0.000145466003177,1.82210610786e-05,1793192442923952384
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.554497129,742,711,671,659.554497129,632,876.445502871,783,799,648,629,650,0.401536534106,-0.0154127500174,0.0799148894969,0.999999966072,0.00022110456672,-0.000136998640785,1.41483413735e-05,1793192442940619008
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742,711.027617668,671,659,632.027617668,876.972382332,783,799.027617668,648,629,650,0.401660614453,-0.0154180422913,0.0799188640346,0.999999969006,0.000212797714831,-0.000128878476761,9.75266903913e-06,1793192442957285888
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742,711.599972287,671,659,632.599972287,876.400027713,783,799.599972287,648,629,650,0.401807387144,-0.0154233938632,0.0799258451899,0.999999971914,0.000204551228206,-0.000119624967307,4.45504081057e-06,1793192442973952512
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.173679222,742,712,671,659.173679222,632.826320778,876.173679222,783,799.826320778,648,629,650.173679222,0.401963663169,-0.0154286241831,0.0799314605017,0.999999974554,0.000195881509633,-0.000111896291135,-1.45057084818e-06,1793192442990618880
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.750525253,742,712,671,659.750525253,632.249474747,876.750525253,783,799.249474747,648,629,650.750525253,0.402141999548,-0.0154335730362,0.0799339052391,0.99999997682,0.000186229331195,-0.000107707257698,-8.76751201244e-06,1793192443007285760
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.336286259,877,783,799.336286259,648,629,651,0.402331874732,-0.0154412620632,0.079931671506,0.999999981902,0.000152742011894,-0.000112213451425,-1.65586953458e-05,1793192443023952896
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.928841024,877,783,799.928841024,648,629,651,0.402530543133,-0.0154510392531,0.079925872523,0.999999986978,0.000101091011369,-0.000123345882743,-2.47112778677e-05,1793192443040619520
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.507565569,712,671,659.492434431,632.492434431,876.492434431,783,799.492434431,648.507565569,628.492434431,650.492434431,0.40276776524,-0.0154604903658,0.079924465252,0.999999990288,5.43450434823e-05,-0.000124639294278,-3.05873303034e-05,1793192443057285888
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.915799832,712,670.915799832,659.084200168,632,876,783,799,648.915799832,628.084200168,650.084200168,0.403017423113,-0.0154697981413,0.0799242894593,0.999999991612,2.0855512442e-05,-0.000123218472269,-3.40472537658e-05,1793192443073952256
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.340346032,712,670.340346032,659.659653968,632,876,783,799,648.340346032,628.659653968,650.659653968,0.403308936976,-0.0154785292834,0.0799278016009,0.999999991359,6.08030332152e-05,-0.000113796269992,-2.5223336968e-05,1793192443090618880
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.240430348,712,670,660,632.240430348,876.240430348,783,799,648,628.759569652,650.759569652,0.403617127516,-0.0154882628457,0.0799299389783,0.999999991213,7.24363225396e-05,-0.000108764817231,-2.2278085929e-05,1793192443107285760
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.828911749,712,670,660,632.828911749,876.828911749,783,799,648,628.171088251,650.171088251,0.40394945948,-0.0154994475281,0.0799300862236,0.999999992625,4.30814473185e-05,-0.000110089488751,-2.78428918296e-05,1793192443123952384
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.589786806,742.589786806,712,670.410213194,660,633,877,783,799,648.410213194,628.410213194,650,0.404316480095,-0.0155092888013,0.0799303610571,0.99999999353,2.79562499282e-05,-0.000106033256347,-3.02561020337e-05,1793192443140619008
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.011428419,742.011428419,712,670.988571581,660,633,877,783,799,648.988571581,628.988571581,650,0.404697719479,-0.0155185794147,0.0799306881886,0.999999994356,1.86637567734e-05,-9.97714070765e-05,-3.13774822056e-05,1793192443157286144
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.564395508,742,712,671,660.564395508,633,876.435604492,783,798.435604492,648.435604492,629,650,0.405112603472,-0.0155277209288,0.0799290613651,0.99999999441,2.6687334422e-06,-0.000100337732385,-3.32504482047e-05,1793192443173952768
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660.857126921,632.857126921,876.142873079,783,798.142873079,648,628.857126921,650,0.40553336865,-0.0155367273835,0.0799252620072,0.999999993673,-1.23709382298e-05,-0.000106046349744,-3.54142287119e-05,1793192443190619392
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660.27024389,632.27024389,876.72975611,783,798.72975611,648,628.27024389,650,0.405970303117,-0.0155453234495,0.0799148334238,0.999999990869,-2.40217463027e-05,-0.000127308022725,-3.8434695336e-05,1793192443207286016
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.312343134,877,783,799,648.312343134,628,650.312343134,0.406443844412,-0.015554155458,0.0799085283113,0.999999988755,-3.71500634163e-05,-0.00013949747378,-4.06317981058e-05,1793192443223952896
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.891263683,877,783,799,648.891263683,628,650.891263683,0.406948628808,-0.0155631888388,0.0799057424818,0.999999987425,-5.15394005598e-05,-0.000143944002164,-4.21261798051e-05,1793192443240620032
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,877.470024413,783.470024413,799,648.529975587,628,651,0.407471870003,-0.0155460729623,0.0799015931007,0.999999986623,-3.48642536975e-05,-0.00015391415878,-4.30010503479e-05,1793192443257286656
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.951625556,877.951625556,783.951625556,799,648.048374444,628,650.951625556,0.40800399132,-0.0155234182743,0.0798973860393,0.999999985445,-1.11877974837e-05,-0.000164497855683,-4.38770854909e-05,1793192443273953536
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632.37733829,877.37733829,783.37733829,799,648.62266171,628,650.37733829,0.40858625053,-0.0155062923748,0.0798959801673,0.999999984783,1.05017284158e-05,-0.000167864141871,-4.63233737415e-05,1793192443290620160
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,877,783,799,648.798454058,628,650,0.409195166438,-0.0155001271782,0.0799073312638,0.999999987587,1.64680709883e-05,-0.000149268157604,-4.76905281727e-05,1793192443307287040
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,632,877,783,799,648.210762451,628,650,0.409855154382,-0.0155149617995,0.0799431236765,0.999999994942,-7.6899308929e-06,-8.8594245142e-05,-4.69901495452e-05,1793192443323953920
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,671.37191597,660,632.37191597,877,783,799,648,628.37191597,650,0.410538453451,-0.0155289949299,0.0799650928624,0.999999997085,-2.90208600118e-05,-5.30229729326e-05,-4.66502159069e-05,1793192443340620288
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,671.951791214,660,632.951791214,877,783,799,648,628.951791214,650,0.411234787067,-0.015542579901,0.0799793326984,0.999999997233,-4.87710118913e-05,-3.14880101761e-05,-4.65118275353e-05,1793192443357286400
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.471304184,742,712,672,660,632.471304184,877,783,799,648.528695816,628.471304184,650,0.411898168543,-0.0155439168698,0.0799546085212,0.999999994304,-6.20712904571e-05,-7.05725195553e-05,-5.05823413312e-05,1793192443373952512
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.104998688,742,712,671.895001312,660,632,877.104998688,783,799,648.895001312,628,650.104998688,0.412568791949,-0.0155414337593,0.079926801912,0.999999989815,-6.93113413275e-05,-0.000111908992756,-5.51545867844e-05,1793192443390618880
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.679814215,742,712,671.320185785,660,632,877.679814215,783,799,648.320185785,628,650.679814215,0.413285188694,-0.0155268270151,0.079901011633,0.999999987207,-5.20517619629e-05,-0.000138727042199,-6.02641743134e-05,1793192443407285504
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,712,671.260881613,660,632.260881613,877.739118387,783,799,648,628,651,0.414025594965,-0.01551986034,0.0798977042996,0.999999987968,-4.32158806363e-05,-0.000135275148807,-6.24329337047e-05,1793192443423952384
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,712,671.849810546,660,632.849810546,877.150189454,783,799,648,628,651,0.41479619227,-0.0155225007185,0.0799226682921,0.999999992739,-4.49724320845e-05,-9.37601180954e-05,-6.09037298733e-05,1793192443440619008
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.566842672,742,712,671.566842672,660,632.566842672,877,783,799,648,628,650.566842672,0.415583519959,-0.0155274463878,0.0799305732844,0.999999993028,-4.79493538165e-05,-9.05552756747e-05,-5.8694566339e-05,1793192443457285888
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.014444229,742,711.985555771,671,660,632.014444229,877,783,799,648,628,650.014444229,0.416376935392,-0.0155330434739,0.0799324468876,0.999999992075,-5.14645118902e-05,-0.000100113394205,-5.63723776547e-05,1793192443473952768
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.589945003,742,711.410054997,671,660,632.589945003,877,783,799,648,628,650.589945003,0.417184359302,-0.0155332906918,0.0799268725168,0.999999991887,-5.96594284434e-05,-9.60222632303e-05,-5.8701195185e-05,1793192443490619136
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.831174232,742,711.168825768,671.168825768,660,632.831174232,877,783,799,648,628,650.831174232,0.418006153279,-0.0155332916196,0.0799312834936,0.999999993264,-6.28151069145e-05,-7.73125177408e-05,-5.95767716048e-05,1793192443507285504
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.243916242,742,711.756083758,671.756083758,660,632.243916242,877,783,799,648,628,650.243916242,0.418863563211,-0.0155326821214,0.0799604430102,0.999999996704,-5.34811060962e-05,-2.23707477493e-05,-5.68505107086e-05,1793192443523952384
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.338460781,742,712,672,660.338460781,632,877,783.338460781,799,648,628,650,0.419705303488,-0.01553060555,0.0799630827838,0.999999996985,-5.0115630463e-05,-1.54527850911e-05,-5.72668027783e-05,1793192443540619008
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.91737025,742,712,672,660.91737025,632,877,783.91737025,799,648,628,650,0.420535911719,-0.015527486743,0.0799468824489,0.999999995995,-5.09903040205e-05,-4.26518101267e-05,-5.9915621747e-05,1793192443557285632
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.506124611,742.493875389,711.506124611,671.506124611,660.506124611,632,877,783.506124611,798.012249222,648.493875389,628,650,0.42141404524,-0.015532452031,0.0799492160227,0.999999995692,-5.93869988037e-05,-3.99113039695e-05,-5.91277744684e-05,1793192443573952256
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.069958449,743,711.069958449,671.139916897,660,632.069958449,877,783,797.209875346,649,628,650,0.422300154366,-0.0155385549064,0.0799576136161,0.999999995622,-6.81866463418e-05,-2.81498657951e-05,-5.75627044666e-05,1793192443590619136
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.645883824,743,711.645883824,672.291767648,660,632.645883824,877,783,798.937651472,649,628,650,0.423186716691,-0.0155431505403,0.0799875503883,0.999999995923,-7.08427241578e-05,1.28018624948e-05,-5.45148248353e-05,1793192443607286016
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.773049728,712,672.773049728,660,632.773049728,877,783,799.773049728,648.773049728,628,650,0.424030903882,-0.0155425136165,0.0799895564279,0.999999995783,-7.40225021854e-05,2.37153001029e-06,-5.43049986664e-05,1793192443623952640
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.183775518,712,672.183775518,660,632.183775518,877,783,799.183775518,648.183775518,628,650,0.424807439715,-0.0155335229649,0.0799469713247,0.999999991178,-7.80383627301e-05,-9.00897649616e-05,-5.86260970418e-05,1793192443640619008
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.601083754,742.398916246,712,672,660,632.398916246,877,783,799.398916246,648,628,650,0.425652444855,-0.0155293534016,0.0799127919675,0.999999986808,-7.2096609432e-05,-0.000130812485049,-6.38312045532e-05,1793192443657285632
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.021375245,742.978624755,712,672,660,632.978624755,877,783,799.978624755,648,628,650,0.426528480826,-0.0155273687973,0.0798824221689,0.999999984725,-6.16419801262e-05,-0.000148086834257,-6.94369524532e-05,1793192443673952000
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742.444822361,711.444822361,671.444822361,660,633,877.555177639,783,799.444822361,648,628,650,0.427409433398,-0.0155350088079,0.0798866706517,0.999999984135,-7.23032354584e-05,-0.000147374611299,-6.91658329267e-05,1793192443690618880
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742,711,671.130228863,660.130228863,632.869771137,877.869771137,783,799,648,628,650,0.428284156248,-0.0155417825495,0.0798957780668,0.999999984431,-8.15492487835e-05,-0.000140809868049,-6.82665960949e-05,1793192443707285760
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742,711,671.700612976,660.700612976,632.299387024,877.299387024,783,799,648,628,650,0.429137187287,-0.0155443830501,0.0799168285703,0.999999987534,-8.3279660474e-05,-0.000116791794653,-6.60048461397e-05,1793192443723952384
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,742.283212052,711.283212052,672,661,632.283212052,877.283212052,783,799,648.283212052,628,650,0.430001366797,-0.0155459344814,0.0799472105353,0.999999991714,-8.48011130185e-05,-7.38168276153e-05,-6.27060276232e-05,1793192443740619264
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,742.879305702,711.879305702,672,661,632.879305702,877.879305702,783,799,648.879305702,628,650,0.430877862645,-0.0155463269419,0.0799879015326,0.999999994548,-8.60917153409e-05,-9.89902720762e-06,-5.8261496306e-05,1793192443757286400
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.45985735,743,712,672.45985735,661,632.54014265,877.54014265,783.45985735,799.45985735,649,628,650,0.431704823384,-0.0155453833109,0.0799984191689,0.99999999553,-7.58050783121e-05,2.25128227354e-06,-5.6474126833e-05,1793192443773952768
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.963536152,743,711.963536152,673,661,632.036463848,877.036463848,784,800,649,628,650,0.432514134347,-0.0155438986176,0.0799961509371,0.999999996384,-6.37782525283e-05,-5.86126281147e-06,-5.59378370609e-05,1793192443790619392
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.386920666,743,711.386920666,673,661,632.613079334,877.613079334,784,800,649,628,650,0.433248284262,-0.0155394237675,0.0799179574693,0.999999988406,-6.95132152734e-05,-0.000119446820387,-6.39411454693e-05,1793192443807286016
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.193322631,743,711.193322631,672.806677369,660.806677369,632.806677369,878,783.806677369,799.806677369,649,628,650,0.433995684776,-0.0155388430341,0.0798668162836,0.999999976717,-7.42490360049e-05,-0.000190393118673,-6.93020625433e-05,1793192443823952384
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.780965683,743,711.780965683,672.219034317,660.219034317,632.219034317,878,783.219034317,799.219034317,649,628,650,0.434770112687,-0.0155462051347,0.0798708536586,0.999999979438,-7.69469080591e-05,-0.00017436808807,-6.92732934667e-05,1793192443840619264
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.636761346,743,712,672,660.363238654,632,878,783,799,648.636761346,628,650.363238654,0.435526622504,-0.0155527626158,0.0798896445567,0.999999981576,-9.58186312949e-05,-0.000151952337174,-6.76543156439e-05,1793192443857285888
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.057679412,743,712,672,660.942320588,632,878,783,799,648.057679412,628,650.942320588,0.436272485003,-0.0155588419766,0.079917202277,0.999999982251,-0.000124301162574,-0.000125739100184,-6.50904056301e-05,1793192443873952512
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+256,4.266666667,HOLD_POSE2,764,743,711,673,658.153904094,630,877.153904094,779,799.846095906,648,627.846095906,650,0.447747976825,-0.0157600185016,0.0795466204675,0.999999689636,-0.000379063543775,-0.000686706386971,-7.39738205753e-05,1793192445143939840
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.989347592,743,711,673,659,630,878,780,800,648.010652408,627.010652408,650.010652408,0.443610609977,-0.0155575265251,0.0796105432154,0.999999804006,-8.04122358885e-05,-0.00062087141961,6.29285831191e-06,1793192445914316032
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.888849622,711,672.111150378,659,631,877.111150378,781.888849622,800,648,627.888849622,651,0.441102731846,-0.0155247157411,0.0796720732123,0.999999864895,-2.3555812384e-05,-0.000519120589477,1.29689426084e-05,1793192445997649152
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.197302503,742.802697497,711,672.197302503,660,632,877,782,799,648,628,650,0.438503043564,-0.0154467092743,0.0796463901639,0.999999852051,6.81095641514e-05,-0.000539631729021,7.49900448459e-06,1793192446064315648
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,712,672.354149479,660,632,876.354149479,783,799,648,628,650.645850521,0.423393472228,-0.0153970983971,0.0797345344395,0.999999890515,0.000173668370426,-0.000433887418353,2.34687826521e-05,1793192446364315648
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,632.325401218,877,783.325401218,799,648,629,650.674598782,0.404368468391,-0.0153632430669,0.0798340597607,0.999999931127,0.000252394629442,-0.000270665793215,2.79851751567e-05,1793192446814317056
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,632.904303193,877,783.904303193,799,648,629,650.095696807,0.403976967205,-0.015357660145,0.0798405972816,0.999999931202,0.00025737885567,-0.000265615351831,2.82831151222e-05,1793192446830983936
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.482458392,742,712,671,659.517541608,632.517541608,877,783.517541608,799,648,629,650,0.403624072619,-0.0153503696023,0.0798377785372,0.999999925299,0.000269523028114,-0.00027558400456,2.84919107306e-05,1793192446847650304
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.939816173,742,712,671,659,632,877,783,799,648,629,650,0.403285200387,-0.0153435775023,0.0798339466214,0.999999918752,0.000281729440876,-0.000286874218056,2.87587626819e-05,1793192446864316416
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.364503303,742,712,671,659,632,877,783,799,648,629,650,0.403000906057,-0.0153439463357,0.0798373027602,0.999999919371,0.000282331571345,-0.0002840167509,2.96736450294e-05,1793192446880982784
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.802569284,742,711.197430716,671,659,632,876.197430716,783,799.802569284,648,628.197430716,650,0.402494565978,-0.0153589891837,0.0798435493925,0.999999924826,0.000265405389312,-0.000281172662771,2.91429379755e-05,1793192446914316032
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.613573073,742,711,671,659,632,876,783,799.613573073,648,628,650.386426927,0.402279714396,-0.0153772448811,0.0798463565875,0.9999999326,0.000239001353301,-0.000277158667532,2.93569395632e-05,1793192446930982656
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,763,741.457349717,711.542650283,671,659,632.542650283,876,783,799.542650283,648,628,651,0.401916098223,-0.0153939149905,0.0798492463995,0.99999994092,0.000213149376779,-0.00026790944696,3.08478836681e-05,1793192446964316160
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763,741.119333913,711.880666087,671,659,632.880666087,876,783,799.880666087,648.119333913,628,650.880666087,0.401764078123,-0.0153880841661,0.0798497735703,0.999999940108,0.000221024411178,-0.000264433959129,3.17411106107e-05,1793192446980983040
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.027485668,742,712,671,659.027485668,632.027485668,877,783,799,648,628,650,0.401236779644,-0.015378959935,0.0798432458532,0.999999928674,0.000255008843332,-0.000277746525888,2.18852979925e-05,1793192447064316160
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.602445978,742,712,671,659.602445978,632.602445978,877,783,799,648,628,650,0.401180232173,-0.0153830948162,0.079842138106,0.999999930529,0.000246585251225,-0.000278538412326,2.35195750066e-05,1793192447080982784
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.818734038,742,711.818734038,671,659.818734038,633,877,783,799,648,628,650,0.401128717401,-0.0153846995512,0.0798406691645,0.999999931386,0.000241308055314,-0.000279990842,2.45508868102e-05,1793192447097649408
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.351134997,742,711.351134997,670.648865003,659.351134997,632.648865003,876.648865003,783,799,648,628,650,0.401059293767,-0.0153786266722,0.0798387500908,0.999999930189,0.000244986587184,-0.000281067951781,2.45795716367e-05,1793192447130982656
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.930243747,742,711.930243747,670.069756253,659.930243747,632.069756253,876.069756253,783,799,648,628,650,0.40103728126,-0.0153779546734,0.0798408218415,0.999999931063,0.000246976696801,-0.000276103673056,2.5362140044e-05,1793192447147649280
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,712,670.505444885,660,632,876.505444885,783,799,648,628,650.505444885,0.401021671635,-0.0153796900612,0.0798421358936,0.999999932002,0.00024442507531,-0.00027493393932,2.57607973856e-05,1793192447164315904
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.00874349,633,877,782.00874349,798.017486981,648,628.00874349,650.00874349,0.400985215955,-0.015383615026,0.0798397856254,0.999999931212,0.000242922555333,-0.000279100761005,2.58334116563e-05,1793192447264315904
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.286247218,670.286247218,659.713752782,632.286247218,876,783,800,648,628,650.286247218,0.400981702944,-0.0153799074712,0.0798391355361,0.999999930727,0.000244876836863,-0.000279196818766,2.50992915655e-05,1793192447330984448
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.859651818,670.859651818,659.140348182,632.859651818,876,783,800,648,628,650.859651818,0.400980529613,-0.0153790972168,0.0798391407945,0.99999993042,0.000245576666013,-0.000279676477583,2.51448022974e-05,1793192447347649792
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.548048401,742,712,671,659.451951599,633,876,783,799.548048401,648,628,650.548048401,0.400981707093,-0.015379654625,0.079839814304,0.999999930846,0.000245362982979,-0.000278338036235,2.51634012225e-05,1793192447364316160
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.048405123,742,711.951594877,671,660,632.951594877,876.048405123,783,799,648,628,650.048405123,0.400983562693,-0.0153806085464,0.0798407710693,0.999999931497,0.000244867383968,-0.000276425898039,2.51828870093e-05,1793192447380983040
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.623427278,742,711.376572722,671,660,632.376572722,876.623427278,783,799,648,628,650.623427278,0.400984507168,-0.015381054085,0.0798424533136,0.999999932058,0.00024452563975,-0.000274682679436,2.5306908739e-05,1793192447397649920
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711.203607136,671,659.796392864,632,877,783,799,648,628.203607136,650.796392864,0.4009844952,-0.0153811935115,0.0798430550591,0.999999932375,0.000243986614478,-0.000274003755193,2.53481099237e-05,1793192447414316288
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711.793574084,671,659.206425916,632,877,783,799,648,628.793574084,650.206425916,0.400982668311,-0.0153807520675,0.0798416064769,0.999999932232,0.000243073233631,-0.000275344409435,2.52321529048e-05,1793192447430982656
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.046269433,742,711.046269433,671,659.953730567,632.953730567,876.046269433,783,799,648,629,650,0.400985456452,-0.0153797310049,0.0798428771687,0.999999932961,0.000243396972365,-0.000272425598608,2.49055451365e-05,1793192447464315904
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763,742,711.526380945,670.473619055,659.473619055,632.473619055,876.526380945,783,799,648,628.473619055,650.526380945,0.400984745821,-0.0153800669752,0.079842952241,0.999999932774,0.000243741277178,-0.000272764276544,2.53472864495e-05,1793192447480982784
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763,742,712,670.099065972,659.099065972,632.099065972,876.900934028,783,799,648,628,650.900934028,0.400983943432,-0.0153805223204,0.0798428579352,0.999999932645,0.000243662866486,-0.000273277914824,2.56600784245e-05,1793192447497649664
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763,742,712,670.674146381,659.674146381,632.674146381,876.325853619,783,799,648,628,650.325853619,0.400983865757,-0.0153811911903,0.0798423687964,0.999999933069,0.000241572349119,-0.000273632146394,2.5096078888e-05,1793192447514316288
+398,6.633333333,POSE2_TO_POSE3_RETREAT,763.258810747,742,712,671,660,633,876,783,799.258810747,648,628.258810747,650.258810747,0.400983895731,-0.0153813825128,0.0798422854142,0.999999933215,0.000241174161206,-0.000273482781412,2.4737318903e-05,1793192447530982912
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,660,633,876.435855382,783,799.564144618,648,629,650.564144618,0.400984223466,-0.0153821911282,0.0798428718392,0.9999999332,0.000242330000139,-0.000272492654368,2.49783245536e-05,1793192447564316416
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,742,711.415303289,670.415303289,660,633,876.415303289,783,798.415303289,648,629,650.584696711,0.400983608391,-0.0153848657626,0.0798433620383,0.999999933726,0.00023983447988,-0.000272677023171,2.59657540311e-05,1793192447597649408
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.757511399,659.242488601,633,877.515022798,783,798.757511399,648.757511399,629,650.242488601,0.400983188137,-0.0153836037299,0.0798428666383,0.999999934055,0.000239144345963,-0.000272129816345,2.53856241183e-05,1793192447630982912
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764,742.340382197,711.340382197,671,659.340382197,633,877.659617803,783,799,648.659617803,628.659617803,650,0.400983243345,-0.0153824575936,0.0798430442435,0.999999933775,0.000240498455547,-0.000271987523789,2.51495745699e-05,1793192447647649536
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,764,742.508477795,712,671,660,633,877,783,799.491522205,648,628,650,0.400983715481,-0.0153812876457,0.0798438112423,0.999999933343,0.000242319832697,-0.000271963504581,2.51222178711e-05,1793192447680982272
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_08/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0dfad36d994bcd0709a62164d9530990d1b33d4e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_08/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,0.57570927523,-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
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+365,6.083333333,pose2_to_pose3_retreat,0.57648685371,-0.00994542115193,1.07002889723,0.547057582859,-0.00127269528275,1.06969818977
+366,6.100000000,pose2_to_pose3_retreat,0.576357168676,-0.00994541507289,1.07002900614,0.546927898382,-0.0012726873045,1.06969829889
+367,6.116666667,pose2_to_pose3_retreat,0.57624121694,-0.00994545504318,1.07002915465,0.546811947825,-0.00127272363101,1.06969843813
+368,6.133333333,pose2_to_pose3_retreat,0.576138031186,-0.00994562697694,1.0700291618,0.546708763363,-0.00127289114439,1.06969844626
+369,6.150000000,pose2_to_pose3_retreat,0.576048784427,-0.00994546149698,1.07002911239,0.546619514621,-0.0012727319526,1.06969840856
+370,6.166666667,pose2_to_pose3_retreat,0.575972257538,-0.00994546672962,1.07002873628,0.546542988181,-0.00127273553394,1.06969803576
+371,6.183333333,pose2_to_pose3_retreat,0.575908641777,-0.009945429369,1.07002909516,0.546479372098,-0.00127269951784,1.06969838801
+372,6.200000000,pose2_to_pose3_retreat,0.575857647155,-0.00994550879458,1.07002918299,0.54642837809,-0.00127277710877,1.06969846936
+373,6.216666667,pose2_to_pose3_retreat,0.575819331003,-0.00994541730831,1.07002924257,0.546390060962,-0.00127268906532,1.06969852565
+374,6.233333333,pose2_to_pose3_retreat,0.575789065341,-0.0099453603728,1.07002922372,0.546359794314,-0.00127263542672,1.0696985081
+375,6.250000000,pose2_to_pose3_retreat,0.575766242418,-0.00994533533645,1.07002914397,0.546336970889,-0.00127261187658,1.06969843404
+376,6.266666667,pose2_to_pose3_retreat,0.575749795022,-0.00994527142391,1.07002912977,0.546320522899,-0.00127254974823,1.06969842591
+377,6.283333333,pose2_to_pose3_retreat,0.575737930263,-0.00994533681883,1.07002922309,0.546308657595,-0.00127261705125,1.06969851776
+378,6.300000000,pose2_to_pose3_retreat,0.575729567783,-0.00994541130501,1.07002916818,0.546300296384,-0.00127268711331,1.06969846588
+379,6.316666667,pose2_to_pose3_retreat,0.575723530189,-0.00994546047362,1.07002910056,0.546294260011,-0.00127273205345,1.06969840062
+380,6.333333333,pose2_to_pose3_retreat,0.575719624499,-0.00994539929931,1.07002912678,0.5462903536,-0.00127267355907,1.06969842075
+381,6.350000000,pose2_to_pose3_retreat,0.575716951341,-0.00994535742999,1.07002914473,0.546287679948,-0.00127263352396,1.06969843453
+382,6.366666667,pose2_to_pose3_retreat,0.575715324048,-0.00994540789116,1.07002899515,0.546286052873,-0.0012726831922,1.06969828637
+383,6.383333333,pose2_to_pose3_retreat,0.575713999123,-0.00994545089452,1.07002886931,0.546284728138,-0.00127272550174,1.06969816178
+384,6.400000000,pose2_to_pose3_retreat,0.575712961361,-0.00994548457734,1.07002877074,0.546283690526,-0.00127275864112,1.0696980642
+385,6.416666667,pose2_to_pose3_retreat,0.575712263769,-0.00994545369914,1.0700287868,0.54628299257,-0.00127272901519,1.06969807983
+386,6.433333333,pose2_to_pose3_retreat,0.575711774806,-0.00994541964137,1.07002881716,0.546282503244,-0.00127269621038,1.06969810962
+387,6.450000000,pose2_to_pose3_retreat,0.575711625163,-0.00994540921821,1.07002882645,0.546282353489,-0.00127268617068,1.06969811874
+388,6.466666667,pose2_to_pose3_retreat,0.575711412962,-0.00994539443777,1.07002883962,0.546282141131,-0.001272671934,1.06969813166
+389,6.483333333,pose2_to_pose3_retreat,0.57571100482,-0.00994536600947,1.07002886496,0.546281732687,-0.00127264455157,1.06969815653
+390,6.500000000,pose2_to_pose3_retreat,0.575710692209,-0.00994534423513,1.07002888436,0.546281419843,-0.00127262357829,1.06969817558
+391,6.516666667,pose2_to_pose3_retreat,0.57571045943,-0.00994536327412,1.07002892562,0.546281187334,-0.00127264175806,1.06969821542
+392,6.533333333,pose2_to_pose3_retreat,0.575710206098,-0.00994541660592,1.07002899532,0.546280934703,-0.00127269280811,1.06969828253
+393,6.550000000,pose2_to_pose3_retreat,0.575710174173,-0.00994542332684,1.0700290041,0.546280902867,-0.00127269924148,1.06969829098
+394,6.566666667,pose2_to_pose3_retreat,0.575710100362,-0.00994543886566,1.07002902441,0.54628082926,-0.00127271411548,1.06969831053
+395,6.583333333,pose2_to_pose3_retreat,0.575709940177,-0.00994547258798,1.07002906849,0.546280669518,-0.00127274639503,1.06969835296
+396,6.600000000,pose2_to_pose3_retreat,0.575709871106,-0.00994548712889,1.07002908749,0.546280600639,-0.00127276031382,1.06969837126
+397,6.616666667,pose2_to_pose3_retreat,0.575709685162,-0.00994552627392,1.07002913865,0.54628041521,-0.00127279778406,1.06969842051
+398,6.633333333,pose2_to_pose3_retreat,0.575709615286,-0.00994554098441,1.07002915787,0.546280345527,-0.00127281186519,1.06969843902
+399,6.650000000,pose2_to_pose3_retreat,0.575709559551,-0.00994555271786,1.07002917321,0.546280289947,-0.00127282309663,1.06969845378
+400,6.666666667,pose2_to_pose3_retreat,0.575709530437,-0.00994555398386,1.07002918194,0.546280260812,-0.00127282443308,1.06969846245
+401,6.683333333,pose2_to_pose3_retreat,0.575709463031,-0.00994553143496,1.07002920595,0.546280192833,-0.00127280379037,1.06969848752
+402,6.700000000,pose2_to_pose3_retreat,0.575709389395,-0.0099455068022,1.07002923218,0.546280118571,-0.00127278123994,1.06969851491
+403,6.716666667,pose2_to_pose3_retreat,0.575709307225,-0.00994547931421,1.07002926144,0.546280035701,-0.00127275607566,1.06969854547
+404,6.733333333,pose2_to_pose3_retreat,0.575709252741,-0.00994543231124,1.07002928899,0.546279980593,-0.00127271119698,1.0696985728
+405,6.750000000,pose2_to_pose3_retreat,0.575709255314,-0.00994542416336,1.07002929062,0.546279983139,-0.00127270315899,1.06969857406
+406,6.766666667,pose2_to_pose3_retreat,0.575709270305,-0.00994537670484,1.07002930011,0.546279997966,-0.00127265634057,1.06969858136
+407,6.783333333,pose2_to_pose3_retreat,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.00127264096047,1.06969858376
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15b7a2277e3f3d076b5af135dbba565779d58227
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c59503182bdb5625897f529e2c683a443012f82c7ab9a58daf68d2b9d2c0353c
+size 24667936
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d6b842ecb787cc31464019b210c9751654eac85
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_01/franka_data.csv
@@ -0,0 +1,390 @@
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+32,0.533333333,BASELINE,764.437950545,742,710,672.437950545,665,632,876.437950545,783,799,650,628.562049455,651,0.400904676514,0.0044045591311,0.0599155636441,0.999999963182,-0.000138852537952,-0.000230675455384,-3.38268486864e-05,1793192450066983168
+33,0.550000000,BASELINE,764,742,710.14027594,672.14027594,665,632.14027594,876.14027594,783,799,649.85972406,629,651,0.400903651342,0.00440478267594,0.0599148618482,0.999999963126,-0.000137921190116,-0.000231512385191,-3.35800460306e-05,1793192450083649536
+34,0.566666667,BASELINE,764,742,710.730316778,672.730316778,665,632.730316778,876.730316778,783,799,649.269683222,629,651,0.400905431756,0.00440647558303,0.0599157316558,0.999999963472,-0.000137582942334,-0.000230149127059,-3.40453982794e-05,1793192450100316160
+35,0.583333333,BASELINE,764.314213949,742.314213949,711,672.685786051,664.685786051,633,877,783,799,649.314213949,629,651,0.400905940941,0.00440595120828,0.0599158044743,0.999999963472,-0.00013815278208,-0.000229828976996,-3.38991783086e-05,1793192450116982784
+36,0.600000000,BASELINE,764.892939326,742.892939326,711,672.107060674,664.107060674,633,877,783,799,649.892939326,629,651,0.400905379982,0.00440356028265,0.059915206372,0.99999996318,-0.000139487067576,-0.000230386935491,-3.32381249701e-05,1793192450133649408
+37,0.616666667,BASELINE,764.53036126,742.53036126,711,671.53036126,664.46963874,632.53036126,876.53036126,783,799.46963874,650,628.53036126,651,0.400906556308,0.00440465570474,0.0599162681304,0.999999963693,-0.000138512142338,-0.000228697431359,-3.35557539551e-05,1793192450150316032
+38,0.633333333,BASELINE,764.045678557,742,711,671.045678557,665,632.045678557,876,783,800,650,628.045678557,650.954321443,0.400907817343,0.0044063310364,0.0599174523514,0.999999964272,-0.000137181184276,-0.000226886932552,-3.40455766992e-05,1793192450166982656
+39,0.650000000,BASELINE,764.619409855,742,711,671.619409855,665,632.619409855,876,783,800,650,628.619409855,650.380590145,0.400905499019,0.00440556210578,0.0599156968135,0.999999963578,-0.000137793755178,-0.000229575021355,-3.3957943453e-05,1793192450183649536
+40,0.666666667,BASELINE,765,742,711,672,665,633,876.397863383,783,799.801068309,650,629,650.198931691,0.400903828858,0.0044050766102,0.0599145113499,0.999999963015,-0.000138340267744,-0.00023169290062,-3.39228290993e-05,1793192450200316416
+41,0.683333333,BASELINE,765,742,711,672,665,633,877.579727828,783,799.210136086,650,629,650.789863914,0.400903435918,0.00440514963143,0.0599144492336,0.999999962724,-0.000138756610452,-0.000232687165687,-3.39912047162e-05,1793192450216982784
+42,0.700000000,BASELINE,765,742,711,672.374938933,665,632.625061067,877.250122135,783,799.374938933,650,629,651,0.400904624402,0.0044051949922,0.0599153371294,0.999999963097,-0.000138859058506,-0.000231000637989,-3.41105928403e-05,1793192450233649408
+43,0.716666667,BASELINE,765,742,711,672.95678173,665,632.04321827,876.086436539,783,799.95678173,650,629,651,0.400906685568,0.004405225089,0.0599167492735,0.999999963828,-0.00013878828896,-0.000227834758995,-3.42581313723e-05,1793192450250316032
+44,0.733333333,BASELINE,765,742,711,672.466683736,665,632.533316264,876.533316264,783,799.466683736,650,628.466683736,650.466683736,0.400906584081,0.00440545635088,0.0599161292614,0.999999963802,-0.000137459819115,-0.000228795361419,-3.39560557455e-05,1793192450266982656
+45,0.750000000,BASELINE,764.888738825,741.888738825,710.888738825,672,665,632.888738825,876.888738825,783,799.111261175,650,628,650.111261175,0.40090633602,0.00440544345352,0.0599155407572,0.999999963669,-0.00013694878032,-0.000229723140683,-3.36836914318e-05,1793192450283649280
+46,0.766666667,BASELINE,764.30296247,741.30296247,710.30296247,672,665,632.30296247,876.30296247,783,799.69703753,650,628,650.69703753,0.400906202908,0.00440432040713,0.0599157820468,0.99999996334,-0.000140354377136,-0.000229098825859,-3.36919029912e-05,1793192450300316160
+47,0.783333333,BASELINE,764.279632495,741.279632495,710.279632495,672,665,632.279632495,876,783,799.720367505,650,628,651,0.400906310655,0.00440381297856,0.0599162832565,0.999999963355,-0.000141768883028,-0.000228151703388,-3.37259893408e-05,1793192450316983040
+48,0.800000000,BASELINE,764.858819489,741.858819489,710.858819489,672,665,632.858819489,876,783,799.141180511,650,628,651,0.40090667642,0.00440396502645,0.0599170629039,0.999999963749,-0.000141050446082,-0.000226858775241,-3.37877938935e-05,1793192450333650176
+49,0.816666667,BASELINE,765,742,710.563497477,672,665,633,876,783,799,650,628,651,0.40090714766,0.00440397101717,0.059917224723,0.999999963862,-0.000140154668712,-0.000226939736044,-3.36216963729e-05,1793192450350316800
+50,0.833333333,BASELINE,765,742,710.01365271,672.01365271,665,633,876,783.01365271,799,650,628.01365271,651,0.400907623307,0.00440394845416,0.0599171790616,0.999999963881,-0.000139218292916,-0.000227467772999,-3.3390731209e-05,1793192450366983168
+51,0.850000000,BASELINE,765,742,710.588826754,672.588826754,665,633,876,783.588826754,799,650,628.588826754,651,0.400906881949,0.00440468777098,0.059916790429,0.999999963752,-0.000138963127156,-0.000228170081635,-3.35131011441e-05,1793192450383649536
+52,0.866666667,BASELINE,765,742,711,672.832226502,665,632.832226502,876.167773498,783.832226502,799,650,629,651,0.400906142613,0.00440530974567,0.0599162396451,0.999999963621,-0.000138747830439,-0.0002288485237,-3.37019454236e-05,1793192450400315904
+53,0.883333333,BASELINE,765,742,711,672.243821099,665,632.243821099,876.756178901,783.243821099,799,650,629,651,0.40090540835,0.00440563752697,0.0599152823251,0.999999963483,-0.000138632491071,-0.00022946712885,-3.40574502846e-05,1793192450416982528
+54,0.900000000,BASELINE,765,742,711,672,665,632,877,783,799,650,629,651,0.400905924896,0.00440576241394,0.0599154410209,0.999999963672,-0.000138213609403,-0.000228911085409,-3.39453034427e-05,1793192450433649408
+55,0.916666667,BASELINE,765,742,711,672,665,632,877,783,799,650,629,651,0.40090732649,0.00440574373687,0.0599163893876,0.999999964091,-0.00013757994718,-0.000227523883709,-3.35022554416e-05,1793192450450316032
+56,0.933333333,BASELINE,764.503688452,742,711,672,665,632.496311548,876.503688452,783,799,650,629,650.503688452,0.400907291332,0.00440572853639,0.0599167357753,0.999999964031,-0.000138009659688,-0.000227510004418,-3.36118917277e-05,1793192450466982400
+57,0.950000000,BASELINE,764,742,711,672,665,632.926676984,876,783,799,650,628.926676984,650.073323016,0.40090721329,0.00440559445156,0.0599170235313,0.999999963928,-0.000138708354303,-0.000227515657756,-3.37734654729e-05,1793192450483649280
+58,0.966666667,BASELINE,764,742,711,672,665,632.353158513,876,783,799,650,628.353158513,650.646841487,0.400908446485,0.00440464547982,0.0599175832766,0.99999996406,-0.000140054991516,-0.000226121575966,-3.36724078981e-05,1793192450500315904
+59,0.983333333,BASELINE,764,742,711,672,665,632,876.226665285,783,799,650,628.226665285,651,0.400908628706,0.00440457271981,0.0599173367632,0.999999963983,-0.000140561207344,-0.000226144076065,-3.37009143593e-05,1793192450516982784
+60,1.000000000,BASELINE,764,742,711,672,665,632,876.816594367,783,799,650,628.816594367,651,0.400907126589,0.00440590421527,0.0599157981043,0.999999963572,-0.000139720526944,-0.000228436852655,-3.39370658521e-05,1793192450533649408
+61,1.016666667,BASELINE,764,742,711,672,665,632.399683068,876.600316932,783,799,650,629,651,0.400905690928,0.00440634869035,0.0599154678322,0.999999963478,-0.000138214754662,-0.000229755462921,-3.39632294925e-05,1793192450550315776
+62,1.033333333,BASELINE,764,742,711,672,665,632.979685652,876.020314348,783,799,650,629,651,0.400904285248,0.00440639298056,0.0599156827314,0.999999963526,-0.000136408922066,-0.000230634571819,-3.38946557853e-05,1793192450566982400
+63,1.050000000,BASELINE,764,742.555772479,711,672,665,633,876,783,799,650,629,651,0.400904633789,0.00440663178711,0.0599154982095,0.999999963592,-0.000136310228408,-0.000230384036612,-3.40398136098e-05,1793192450583649280
+64,1.066666667,BASELINE,764.13114259,742.86885741,711,672,665,633,876,783,799.13114259,650,629,651,0.400905095551,0.00440648763325,0.0599153841238,0.999999963588,-0.000136943304807,-0.000230015920329,-3.4110383663e-05,1793192450600315904
+65,1.083333333,BASELINE,764.704574816,742.295425184,711,672,665,633,876,783,799.704574816,650,629,651,0.40090572443,0.00440502810161,0.0599155564841,0.999999963339,-0.000139835366263,-0.000229389532426,-3.39032370065e-05,1793192450616982784
+66,1.100000000,BASELINE,765,742,711,672,664.712106201,633,876,783,800,650,628.712106201,651,0.400905200588,0.0044042046311,0.0599148744684,0.999999963049,-0.000140175815478,-0.000230474895484,-3.36715750671e-05,1793192450633649408
+67,1.116666667,BASELINE,765,742,711,672,664.118281059,633,876,783,800,650,628.118281059,651,0.400903451805,0.00440405707323,0.059913284547,0.999999962714,-0.00013780478491,-0.000233379256678,-3.34138618906e-05,1793192450650316288
+68,1.133333333,BASELINE,765,742,711,672,664.461785176,633,876.461785176,783,799.538214824,649.538214824,628.461785176,651,0.400904439763,0.00440406804393,0.0599142749656,0.999999962937,-0.000138842682254,-0.000231788774017,-3.35049022993e-05,1793192450666982656
+69,1.150000000,BASELINE,764.961615223,742,711,672,665,633,876.961615223,783,799,649.076769554,629,651,0.400906032249,0.00440411350759,0.0599157826946,0.999999963282,-0.000140583835706,-0.00022921600676,-3.36558989349e-05,1793192450683649536
+70,1.166666667,BASELINE,764.385638219,742,711,672,665,633,876.385638219,783,799,650.228723563,629,651,0.400906557858,0.00440408981978,0.0599155468684,0.999999963483,-0.000140299264471,-0.000228543884052,-3.34317130314e-05,1793192450700316160
+71,1.183333333,BASELINE,764,741.805628169,711,672,665,633,876,783,799,650.805628169,628.805628169,651,0.400907667962,0.00440439934549,0.0599159397197,0.999999963944,-0.000139236671977,-0.000227194624152,-3.32833453467e-05,1793192450716982528
+72,1.200000000,BASELINE,764,741.217446809,711,672,665,633,876,783,799,650.217446809,628.217446809,651,0.400909962289,0.00440538398271,0.0599176063108,0.999999964922,-0.000136597759533,-0.000224473441687,-3.32885900906e-05,1793192450733649152
+73,1.216666667,BASELINE,764,741.364305575,711,672,665,633,876.364305575,783.364305575,799,650,628.364305575,651,0.400909004056,0.00440562057772,0.0599174361303,0.999999964688,-0.00013699878767,-0.000225232062241,-3.35417645222e-05,1793192450750316032
+74,1.233333333,BASELINE,764,741.94228714,711,672,665,633,876.94228714,783.94228714,799,650,628.94228714,651,0.400906138102,0.0044054184238,0.0599161886289,0.999999963739,-0.000139182830988,-0.000228031690305,-3.3940357045e-05,1793192450766982912
+75,1.250000000,BASELINE,764.51768264,742,710.48231736,672,665,633,876.48231736,783.48231736,799,650,629,651,0.400906390457,0.0044048374716,0.0599160191554,0.999999963369,-0.000140985634389,-0.000228547353853,-3.39219275865e-05,1793192450783649536
+76,1.266666667,BASELINE,765,742,710,672,664.907979626,632.907979626,876,783,799,650,628.907979626,651,0.400907056071,0.00440453138864,0.05991610697,0.999999963232,-0.000141982370424,-0.000228538682413,-3.3861454262e-05,1793192450800316160
+77,1.283333333,BASELINE,765,742,710,672,664.337648935,632.337648935,876,783,799,650,628.337648935,651,0.400908071747,0.00440587245451,0.0599169105503,0.999999963974,-0.000139009090658,-0.000227121505572,-3.38228948842e-05,1793192450816983040
+78,1.300000000,BASELINE,764.756374961,742,710,672,664,632,876,783,799,650,628.243625039,651,0.40090766998,0.00440646931907,0.0599167882514,0.999999964096,-0.00013764473033,-0.000227418536704,-3.38050855766e-05,1793192450833649664
+79,1.316666667,BASELINE,764.159221035,742,710,672,664,632,876,783,799,650,628.840778965,651,0.400905211333,0.00440598625895,0.0599153223915,0.999999963324,-0.000138615103597,-0.000230203087473,-3.38173870907e-05,1793192450850316032
+80,1.333333333,BASELINE,764.423995651,741.576004349,710.423995651,672,664.423995651,632.423995651,876.423995651,783,799,650,629,651,0.400904731701,0.00440593131458,0.0599147706332,0.999999963169,-0.00013865777048,-0.000230808926656,-3.41053944226e-05,1793192450866982912
+81,1.350000000,BASELINE,765,741.002123546,711,672,664.997876454,632.997876454,876.997876454,783,799,650,628.997876454,651,0.400904971508,0.00440602848969,0.0599145524972,0.999999963239,-0.000138364459285,-0.000230624108384,-3.44898674402e-05,1793192450883649792
+82,1.366666667,BASELINE,765,741.57444628,711,672,664.42555372,632.42555372,876.42555372,783,799,650,628.42555372,651,0.400905189692,0.00440517719797,0.059914677703,0.999999963204,-0.000138423413626,-0.000230832811322,-3.38610198163e-05,1793192450900316416
+83,1.383333333,BASELINE,765,742,711,672.151564499,664.151564499,632.151564499,876,783,799,650,628.151564499,651,0.400905553839,0.00440479273464,0.0599149021399,0.999999963247,-0.000138416226479,-0.000230699491466,-3.35308198683e-05,1793192450916983040
+84,1.400000000,BASELINE,765,742,711,672.742587263,664.742587263,632.742587263,876,783,799,650,628.742587263,651,0.400906341203,0.00440576183077,0.0599154142954,0.999999963516,-0.000138217263409,-0.000229574483341,-3.40665428008e-05,1793192450933649664
+85,1.416666667,BASELINE,764.673335944,742,710.673335944,672.673335944,665,633,876,783,799.326664056,650,628.673335944,651,0.40090609765,0.00440704458723,0.0599151010665,0.999999963738,-0.000136721172336,-0.000229482226046,-3.41986254221e-05,1793192450950316288
+86,1.433333333,BASELINE,764.094618679,742,710.094618679,672.094618679,665,633,876,783,799.905381321,650,628.094618679,651,0.400905058646,0.0044085693632,0.0599141509731,0.99999996392,-0.000134224220398,-0.000230186836897,-3.40192601084e-05,1793192450966982912
+87,1.450000000,BASELINE,764.480886772,742,710.480886772,672,665.480886772,632.519113228,876,783,800,650,628.480886772,651,0.400905595091,0.00440716955546,0.0599143293272,0.999999963643,-0.000136965098923,-0.000229791755372,-3.3920943078e-05,1793192450983649536
+88,1.466666667,BASELINE,765,742,711,672.055984333,665.944015667,632.055984333,876.055984333,783,799.944015667,650,629,651,0.40090624147,0.00440548882555,0.0599146388942,0.999999963293,-0.000140238389085,-0.000229347650571,-3.38678745537e-05,1793192451000316160
+89,1.483333333,BASELINE,765,742,711,672.633128702,665.366871298,632.633128702,876.633128702,783,799.366871298,650,629,651,0.400905044723,0.00440651420772,0.0599141167376,0.999999963214,-0.000138937781209,-0.000230448056458,-3.40885600284e-05,1793192451016983040
+90,1.500000000,BASELINE,765,742,711,672.785052991,665,632.785052991,876.785052991,783,799.214947009,650,629,650.785052991,0.400905122372,0.00440693766217,0.0599144797788,0.999999963393,-0.00013839148634,-0.000229996890188,-3.41076572536e-05,1793192451033649664
+91,1.516666667,BASELINE,765,742,711,672.195079951,665,632.195079951,876.195079951,783,799.804920049,650,629,650.195079951,0.400907423506,0.00440631091084,0.0599163872576,0.999999964019,-0.000139161269534,-0.000226838638222,-3.37750359486e-05,1793192451050316288
+92,1.533333333,BASELINE,765,742,711,672,665,632.388033945,876.388033945,783,799.611966055,650,628.611966055,650.388033945,0.400908021824,0.00440572286103,0.0599167581187,0.999999964166,-0.000139334762575,-0.000226115516184,-3.3547868071e-05,1793192451066982912
+93,1.550000000,BASELINE,765,742,711,672,665,632.967759426,876.967759426,783,799.032240574,650,628.032240574,650.967759426,0.400907778938,0.00440515392999,0.0599163698799,0.99999996408,-0.000139213684097,-0.000226595365418,-3.33727949091e-05,1793192451083649792
+94,1.566666667,BASELINE,765.544271105,742,710.455728895,672.544271105,665,632.455728895,876.455728895,783,799,650,628,651,0.400905527278,0.00440457287113,0.0599146621906,0.999999963218,-0.00014058451866,-0.000229507363364,-3.35665619895e-05,1793192451100316416
+95,1.583333333,BASELINE,765.877516205,742,710.122483795,673,665,632.122483795,876.24496759,783,799,650,628,651,0.40090387878,0.00440443637711,0.0599134421477,0.999999962615,-0.000141157714643,-0.000231746506214,-3.373222914e-05,1793192451116983040
+96,1.600000000,BASELINE,765.292159936,742,710.707840064,673,665,632.707840064,877.415680128,783,799,650,628,651,0.400904956704,0.00440598261492,0.0599143585789,0.999999963199,-0.00013838458005,-0.00023090163949,-3.37096225925e-05,1793192451133649664
+97,1.616666667,BASELINE,764.709396176,742.290603824,711,672.709396176,665,633,877.418792352,783,799,650,628.290603824,651,0.400906358141,0.00440754936795,0.0599152150393,0.999999963728,-0.000136554437593,-0.000229673979659,-3.38605712507e-05,1793192451150316544
+98,1.633333333,BASELINE,764.129215795,742.870784205,711,672.129215795,665,633,876.258431591,783,799,650,628.870784205,651,0.400908081948,0.00440913656358,0.0599160117408,0.999999964207,-0.000135663954018,-0.000228064879922,-3.41844616085e-05,1793192451166983168
+99,1.650000000,BASELINE,764,742.551414049,711,672,665,633,876,783,799,650,628.551414049,651,0.400907071916,0.00440727608642,0.0599157675691,0.999999963834,-0.00013790645492,-0.000228407879379,-3.38304945579e-05,1793192451183649536
+100,1.666666667,BASELINE,764,742,711,672,665,633,876.02558834,783,799,650,628,651,0.40090542355,0.00440459743088,0.0599152528524,0.999999963251,-0.000140855164584,-0.000229233703927,-3.33175699637e-05,1793192451200316416
+101,1.683333333,BASELINE,764,742,711,672,665,633,876.60006396,783,799,650,628,651,0.400906885503,0.0044055587464,0.0599153322887,0.999999963592,-0.000139696249854,-0.000228418254925,-3.35612173508e-05,1793192451216983040
+102,1.700000000,BASELINE,764.179316972,742,711,672,665,633,876.820683028,783,799,649.820683028,628.179316972,651,0.400907737232,0.00440599246936,0.0599153808258,0.999999963851,-0.000138630468954,-0.000227908123586,-3.37176980561e-05,1793192451233649664
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+104,1.733333333,BASELINE,764.647902577,742,711,672,664.647902577,633,876.352097423,783,799,649.352097423,629,651,0.400906421683,0.00440502032596,0.0599151264796,0.999999963854,-0.000137862564902,-0.000228378083206,-3.36190755426e-05,1793192451266982912
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+106,1.766666667,BASELINE,764.502845308,742,711,672,664.502845308,633,876.497154692,783,799,650,629,651,0.40090456254,0.00440646240175,0.0599143037375,0.999999963605,-0.000137364678694,-0.000229772989807,-3.35349655988e-05,1793192451300315904
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,742,710,672,665,633,876,782,800,650,628,651,0.400905233071,0.00440678315087,0.0599143785535,0.999999963819,-0.000134737618262,-0.000230385830672,-3.36039355438e-05,1793192451343664384
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.407833608,742,710.592166392,672,665,633,876,782.592166392,799.407833608,650,628.592166392,651,0.400905883889,0.00440554522759,0.0599148748349,0.999999963497,-0.000138841093207,-0.000229337943047,-3.3676415659e-05,1793192451360330752
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,633,876.181114985,783,799,650,628.818885015,651,0.40090655753,0.00440467396128,0.0599154866133,0.999999963368,-0.00014158525307,-0.000228214364846,-3.37141504191e-05,1793192451376996864
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764.339508792,742,711,672,665,633,876.660491208,783.339508792,799,650,628.339508792,651,0.400909024993,0.00440407141013,0.0599166385001,0.999999963853,-0.000141203160078,-0.000226339026261,-3.35658250843e-05,1793192451410329344
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.912453188,742,711,672,665,633,876.087546812,783.912453188,799,650,628.912453188,651,0.400911469086,0.00440319717431,0.0599165223981,0.999999963883,-0.000141183737613,-0.00022624066751,-3.34084760194e-05,1793192451426995712
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,742,711,672.475470877,665,633,876,783.524529123,799,650,629,651,0.40091880733,0.00440446553401,0.0599184264484,0.999999965117,-0.000140269824425,-0.000221280984742,-3.35425477822e-05,1793192451443662592
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.960164027,742,710.960164027,673,665,632.960164027,876,783,799,650,629,651,0.400928100872,0.00440593489875,0.0599208770549,0.999999966638,-0.000139379004923,-0.000214845022822,-3.37468127176e-05,1793192451460329472
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.350950154,742,710.350950154,673,665,632.350950154,876,783,799,650,629,651,0.400952724908,0.00440475382014,0.0599259318479,0.999999969489,-0.000141124182154,-0.000199840576085,-3.42030958863e-05,1793192451476996608
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.243787812,742,710,672.756212188,665,632,876,783,799,650,628.756212188,650.756212188,0.400983615696,0.00440456342245,0.0599305554095,0.999999972609,-0.000141636897262,-0.000183016702959,-3.5004110255e-05,1793192451493663232
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.818854668,742,710,672.181145332,665,632,876,783,799,650,628.181145332,650.181145332,0.401023022262,0.00440571924404,0.059934592978,0.999999976073,-0.000140474840743,-0.000163720443971,-3.62735738567e-05,1793192451510329600
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,742,710,672,665,632,876,783,799.393871397,650,628,650.393871397,0.40107067906,0.0044073110313,0.0599378362677,0.999999978619,-0.000139958654049,-0.000147454599132,-3.7833534763e-05,1793192451526995968
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,742,710,672,665,632,876,783,799.968865125,650,628,650.968865125,0.401122129743,0.00440910329808,0.0599407143075,0.999999980666,-0.000139739471414,-0.000132582292913,-3.95270813824e-05,1793192451543662592
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,742,710.559395558,672,665,632.559395558,876,783,799.440604442,650,628.559395558,651,0.401188316529,0.00440767892675,0.05994137625,0.999999980459,-0.000142271520685,-0.00013132018993,-3.99529706695e-05,1793192451560329472
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,742,711,672,665,633,876,783,799,650,629,651,0.401261472128,0.00440643722237,0.0599423136952,0.999999980372,-0.000144383300555,-0.000129522483538,-4.04259684215e-05,1793192451576996096
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,742,711,672,665,633,876,783,799,650,629,651,0.401352522398,0.00440626715604,0.0599444266578,0.999999980991,-0.000144807130148,-0.000123883725289,-4.1248607501e-05,1793192451593662464
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,742,711,672,665,633,876,783,799,650,629,651,0.401459280958,0.00440518199288,0.0599475076642,0.999999981713,-0.00014620314254,-0.00011588030807,-4.20741020051e-05,1793192451610329344
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,742,711,672,665,633,876,783,799,650,629,651,0.401580143632,0.00440327518494,0.0599514578551,0.999999982466,-0.000148472055874,-0.000105753717299,-4.29021602784e-05,1793192451626996224
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,742,711,672,665,633,876,783,799,650,628.538587481,651,0.401722228941,0.00440441381697,0.0599534690424,0.999999983211,-0.000149062003943,-9.68622550856e-05,-4.44549467515e-05,1793192451643662848
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,742,710.951696809,672,665,632.951696809,876.048303191,783,799,650,628,651,0.401872615647,0.00440616537245,0.059954921644,0.999999983913,-0.000149014232738,-8.85647609766e-05,-4.60880839667e-05,1793192451660329984
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,742,710.371908299,672,665,632.371908299,876.628091701,783,799,650,628,651,0.402050514014,0.00440550147514,0.0599560598461,0.999999984666,-0.00014699925089,-8.30879685254e-05,-4.64256246098e-05,1793192451676996608
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,742,710.206775025,672.206775025,665,632,876.793224975,783,799.206775025,650,628.206775025,651,0.402241285814,0.00440488365454,0.0599563784432,0.999999985273,-0.0001453657728,-7.82496827569e-05,-4.69123326692e-05,1793192451693662976
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,742,710.783481054,672.783481054,665,632,876.216518946,783,799.783481054,650,628.783481054,651,0.402455088819,0.00440434826757,0.0599552307255,0.999999985657,-0.000144414824497,-7.45537184145e-05,-4.76659087665e-05,1793192451710329600
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,742,711,673,665,632.358645679,876.358645679,783,800,650.358645679,629,651,0.402690797529,0.0044036238425,0.0599532666242,0.999999985971,-0.000143215518068,-7.20814705249e-05,-4.8492109222e-05,1793192451726996224
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,742,711,673,665,632.932883776,876.932883776,783,800,650.932883776,629,651,0.40293967442,0.00440278578105,0.0599508117707,0.999999986244,-0.000141866916208,-7.03448340661e-05,-4.9361966378e-05,1793192451743662848
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+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,633,876.68690911,783,799.68690911,650,628.68690911,650,0.403853437602,0.00440828529732,0.0599419206679,0.999999988164,-0.000123505510952,-7.62987235842e-05,-5.09523129461e-05,1793192451793663232
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.264953722,742,711,672,665,633,877,783,800,650,629,650,0.404184563648,0.00440890310817,0.0599284839897,0.99999998671,-0.000119835444539,-9.76548265653e-05,-5.17882336476e-05,1793192451810329856
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.843134751,742,711,672,665,633,877,783,800,650,629,650,0.404535873869,0.00440978936426,0.0599137869018,0.99999998419,-0.000117344034767,-0.000122807289297,-5.26113524227e-05,1793192451826995968
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+138,2.300000000,POSE1_TO_POSE2_PRESS,765,742.989788135,711,672,665,633,877,783,799.010211865,650,629,650,0.405318060992,0.00441293968088,0.0598979741316,0.999999981406,-0.000101890648088,-0.000155170830449,-5.22360199812e-05,1793192451860329472
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,742.419322163,711,672,665,633,876.419322163,783,799,650,628.419322163,650.580677837,0.405815161196,0.00441353048372,0.0599182505621,0.999999986127,-0.000104522161205,-0.000118701160224,-5.22516818467e-05,1793192451876996096
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+141,2.350000000,POSE1_TO_POSE2_PRESS,765,742,710.252750789,672,665,632.252750789,876,783,799,650,628,651,0.406870798328,0.00441226938152,0.0599717203721,0.999999986057,-0.000156908574665,-2.3690198786e-05,-5.19956805359e-05,1793192451910329856
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,742,710.325085281,672,665,632,876,783,799,650,628,651,0.407416369985,0.00441147872322,0.0599900329531,0.999999984492,-0.000168287201487,4.30637511071e-06,-5.17438825784e-05,1793192451926996992
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+154,2.566666667,POSE1_TO_POSE2_PRESS,764.707931973,742.707931973,711,673,665,632,877,782.292068027,799.584136055,650,629,650,0.415329338531,0.00441369527928,0.0599474764273,0.999999988594,-0.000110070164238,-8.96264618069e-05,-5.1609548276e-05,1793192452126996224
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.131928454,742.131928454,711,673,665,632,877,782.868071546,800.736143092,650,629,650,0.416174730432,0.00441250882176,0.0600039885791,0.99999999272,-0.000109039655999,9.89919529074e-06,-5.0720510692e-05,1793192452143662848
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.438247907,711,673,665,632.438247907,877.438247907,783,800.123504186,650,628.561752093,650.438247907,0.416966218712,0.00441266567875,0.0600183723567,0.999999992438,-0.000108662706642,2.82243405578e-05,-5.01883823898e-05,1793192452160329472
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.992956409,711,672.992956409,665,632.992956409,877.992956409,783,799,650,628,650.992956409,0.417741879471,0.0044131797174,0.0600199245087,0.999999992628,-0.000108514958958,2.21288931413e-05,-4.97805865483e-05,1793192452176996096
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.394741048,711,672.394741048,665,632.394741048,877.394741048,783,799,650,628,650.394741048,0.418533196041,0.00441017722537,0.0599949648564,0.99999999247,-0.000111307993289,-8.8992307536e-06,-5.09086860051e-05,1793192452193662464
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,672.19601783,665,632,877,783,799.19601783,650,628.19601783,650.19601783,0.419331384961,0.00440905136491,0.059969113841,0.999999991277,-0.000112960768271,-4.41040934766e-05,-5.23597320265e-05,1793192452210329344
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,672.772311064,665,632,877,783,799.772311064,650,628.772311064,650.772311064,0.420142906222,0.00441156617764,0.0599415335791,0.999999988381,-0.000112401435239,-8.74118450032e-05,-5.44372956721e-05,1793192452226996224
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.348919682,742,711,672.651080318,665.348919682,632,877.348919682,783,799.651080318,650,628.651080318,650.651080318,0.420928036812,0.00441226673039,0.0599126264243,0.999999982685,-0.000108795541643,-0.000141028425686,-5.3895437002e-05,1793192452243662848
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.92573427,742,711,672.07426573,665.92573427,632,877.92573427,783,799.07426573,650,628.07426573,650.07426573,0.421695930455,0.00441178230946,0.059882852618,0.999999973065,-0.000103199804144,-0.000201378157476,-5.16427173563e-05,1793192452260329472
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.487907658,742,711,672.512092342,666,632,877.487907658,783,799,650,628,650,0.422513049051,0.00441237123884,0.0598842566261,0.999999974117,-0.000104770500527,-0.000194855356059,-5.31085330038e-05,1793192452276995840
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711,673,666,632.098176484,877.196352968,783,799,650,628,650,0.423352825947,0.00441224167431,0.0599006679902,0.999999979458,-0.000107677051836,-0.000162844159134,-5.4505713035e-05,1793192452293662464
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711,673,666,632.676031395,878.352062789,783,799,650,628,650,0.42426776658,0.00440782664826,0.059967892284,0.999999990847,-0.000111936075027,-5.45834607806e-05,-5.2882667254e-05,1793192452310329088
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711,673,665.747087933,633,878.494175866,783,799,650,628,650.252912067,0.425153096862,0.00440617401118,0.0600094874657,0.99999999233,-0.000111755278509,1.30538986832e-05,-5.17788381729e-05,1793192452326995712
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711,673,665.171450347,633,877.342900695,783,799,650,628,650.828549653,0.426000643324,0.00440804628801,0.0600183789245,0.999999992658,-0.000105909103267,2.88543306505e-05,-5.13375499407e-05,1793192452343662592
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711,673,665.404422894,632.595577106,877,783,799,650,628.404422894,651,0.426813042967,0.00440671745774,0.0600030643166,0.999999992842,-0.000106615694535,1.4347244206e-05,-5.23830637194e-05,1793192452360329984
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711,673,665.980396061,632.019603939,877,783,799,650,628.980396061,651,0.427610533792,0.00440403076457,0.0599774818489,0.999999992393,-0.000110101873772,-1.30158490682e-05,-5.40592571539e-05,1793192452376997376
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.570376847,742.570376847,711,673,666,632,877,783,799.570376847,650,629,650.429623153,0.428368780567,0.0044040863607,0.0599605040243,0.999999991679,-0.000110733410377,-3.6418645283e-05,-5.52624099562e-05,1793192452393663488
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.841751691,743,711,673,666,632.158248309,877.158248309,783,799.841751691,650,628.841751691,650,0.42911980244,0.00440491672311,0.0599424316343,0.999999990315,-0.000109673122972,-6.51210463332e-05,-5.56837213216e-05,1793192452410329856
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.260832408,743,711,673,666,632.739167592,877.739167592,783,799.260832408,650,628.260832408,650,0.429855220348,0.00440755835453,0.0599206259346,0.999999987223,-0.000104362738553,-0.000108351057234,-5.40613034933e-05,1793192452426996224
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632.684332478,878,783,799,649.684332478,628,650.315667522,0.430625981127,0.00441020148261,0.0599192269396,0.999999987122,-0.000104248285053,-0.00010945520932,-5.39277849211e-05,1793192452443662592
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632.111433817,878,783,799,649.111433817,628,650.888566183,0.431425542068,0.00441284583017,0.0599344569604,0.99999998971,-0.00010836789182,-7.62318411402e-05,-5.50075406095e-05,1793192452460329216
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.462785741,742.537214259,711,673,666,632,877.537214259,783,799.462785741,649.462785741,628.462785741,650.537214259,0.432205577275,0.00441221213043,0.0599718020147,0.999999992409,-0.000109472521837,-1.3841228813e-05,-5.48323098674e-05,1793192452476995840
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.961347229,742.038652771,711,673,666.038652771,632.038652771,877.038652771,782.961347229,799.961347229,649.961347229,629,650,0.432973278393,0.00441105692941,0.0600108431049,0.999999991354,-0.000109227642608,4.90976765704e-05,-5.43134362634e-05,1793192452493662464
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.366359484,742.633640516,711,673,666.633640516,632.633640516,877.633640516,782.366359484,799.366359484,649.366359484,629,650,0.43363131665,0.00441378898036,0.0599974316681,0.999999993408,-0.000100038043402,1.85534850953e-05,-5.32103387736e-05,1793192452510329600
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,711,673,666.779237824,633,878,782.220762176,799,649.220762176,629,650,0.434280270343,0.00441538379896,0.0599761008531,0.999999993895,-9.49586863796e-05,-1.98110380259e-05,-5.2915605212e-05,1793192452526996736
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,711,673,666.204720881,633,878,782.795279119,799,649.795279119,629,650,0.434914666809,0.00441515628873,0.0599420798285,0.999999991394,-9.64656815642e-05,-7.07070586451e-05,-5.39162137955e-05,1793192452543663360
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.629637323,711,673,666,633,878,783,799,650,629,650.370362677,0.435544121197,0.00441515704676,0.0599230251572,0.999999988523,-9.51866834449e-05,-0.00010478374536,-5.39768532291e-05,1793192452560329984
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.054240119,711,673,666,633,878,783,799,650,629,650.945759881,0.436170839589,0.0044152841752,0.0599122559319,0.999999985911,-9.23653462235e-05,-0.000129549166336,-5.35171212651e-05,1793192452576996352
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.536019836,742,711,673,666,632.463980164,878,783,799.536019836,650,628.463980164,650.463980164,0.436760001325,0.00441400108462,0.0599225186576,0.999999987662,-9.68581551596e-05,-0.000111441997954,-5.36291924024e-05,1793192452593662976
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,742,711,673,666,632,877.875124766,783,799.875124766,649.875124766,628.124875234,650,0.437331307436,0.00441256517283,0.0599310745651,0.999999988674,-0.00010043483185,-9.85472981995e-05,-5.34211535213e-05,1793192452610329600
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,742,711,673,666,632,877.296982325,783,799.296982325,649.296982325,628.703017675,650,0.437851989737,0.00441110729815,0.0599254898445,0.99999998657,-9.79230867843e-05,-0.000120768684256,-5.18351806559e-05,1793192452626995968
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.720577057,742.279422943,711,673.279422943,666,632.279422943,877.279422943,783,799,649,629,650.279422943,0.438367883108,0.00440960283551,0.0599232374189,0.999999985688,-9.46967915523e-05,-0.00013089660223,-5.02244680338e-05,1793192452643662848
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.146006757,742.853993243,711,673.853993243,666,632.853993243,877.853993243,783,799,649,629,650.853993243,0.43887871802,0.00440804916329,0.0599245048121,0.999999986481,-9.0715735325e-05,-0.000128250495676,-4.85876235551e-05,1793192452660329728
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,710.56139941,674,666.43860059,632.56139941,877.56139941,783,799.43860059,649.43860059,628.56139941,651,0.439379498128,0.00440727709531,0.059943828668,0.999999989714,-9.27464120552e-05,-9.82056108732e-05,-4.82226803015e-05,1793192452676996608
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.973779997,710.026220003,674,666.973779997,632,877.026220003,783,800,650,628.026220003,651,0.43987386245,0.00440668391396,0.0599684491119,0.999999992355,-9.66238847879e-05,-6.02025671702e-05,-4.82612051528e-05,1793192452693663744
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.394751865,710.605248135,674,666.394751865,632,877.605248135,783,800,650,628.605248135,651,0.440305181605,0.00440424810076,0.0599750422209,0.99999999292,-9.62565487058e-05,-5.12166452829e-05,-4.76703002205e-05,1793192452710329856
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,711,673.816202752,666,632,878,783,799.816202752,650,629,650.816202752,0.440702860375,0.00440294378182,0.0599701109354,0.999999992477,-9.52720906733e-05,-6.11412079792e-05,-4.72310026765e-05,1793192452726995968
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742,711,673.23867967,666,632,878,783,799.23867967,650,629,650.23867967,0.441028475644,0.00440406332093,0.059940492384,0.999999988344,-9.29656493348e-05,-0.000111575332398,-4.71164744745e-05,1793192452743662592
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,711,673.336385858,666,632.336385858,878,783,799,649.663614142,628.663614142,650,0.441331457076,0.0044067356889,0.0599051183137,0.999999980662,-8.95997383848e-05,-0.000168353706854,-4.80112942572e-05,1793192452760329216
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,711,673.909720261,666,632.909720261,878,783,799,649.090279739,628.090279739,650,0.441618495324,0.00441050186183,0.059865690086,0.999999968757,-8.54875422279e-05,-0.000229600936547,-4.96170937278e-05,1793192452776995840
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.496967729,742.496967729,710.503032271,674,665.503032271,632.503032271,878,783,799.496967729,649.496967729,628.496967729,650,0.44189731656,0.00441071424477,0.0598473477359,0.999999963144,-8.43768121357e-05,-0.000253222396497,-4.97066292953e-05,1793192452793662720
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.914772147,743,710.085227853,674,665,632,878,783,799.914772147,650,629,650,0.442170771616,0.00441059851724,0.0598343755052,0.999999959337,-8.33459229101e-05,-0.000268187533175,-4.95468428174e-05,1793192452810329856
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.335711016,743,710.664288984,674,665,632,878,783,799.335711016,650,629,650,0.442422031867,0.00441243006734,0.0598296850697,0.999999958141,-7.95273322389e-05,-0.000273740951438,-4.95843958355e-05,1793192452826996480
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.242053697,742.757946303,711,673.757946303,665,632,878,783,799.484107394,650,628.757946303,650,0.442656819182,0.00441414273183,0.0598265309395,0.999999957613,-7.63197421257e-05,-0.000276545289275,-4.97165100149e-05,1793192452843663104
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.818029905,742.181970095,711,673.181970095,665,632,878,783,800.63605981,650,628.181970095,650,0.442868881421,0.0044156913888,0.0598254962028,0.99999995805,-7.39550514197e-05,-0.000275557163047,-4.99790750014e-05,1793192452860329472
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764.388404212,743,710.388404212,673,664,631,877.388404212,783,799,650,628.611595788,650,0.444004545392,0.00443487667653,0.0598126169137,0.999999953459,-5.17878564762e-05,-0.000296561836639,-4.95130211791e-05,1793192453026995712
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742.792528968,710.207471032,673,664,631,877.207471032,783,799,650,629,650,0.444047781046,0.0044372020298,0.0598124461267,0.999999953333,-5.00647962982e-05,-0.000297226952072,-4.98416559678e-05,1793192453043662592
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742.216834416,710.783165584,673,664,631,877.783165584,783,799,650,629,650,0.444075988983,0.00443934777408,0.0598094907853,0.999999951791,-4.79289604301e-05,-0.000302731008725,-4.97392159785e-05,1793192453060329216
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.358492625,711,673.358492625,664,631,878,783,799,650,628.641507375,650,0.444097521788,0.00444118938097,0.0598065649972,0.999999950596,-4.52238322804e-05,-0.00030702489483,-4.99793253942e-05,1793192453076995840
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.933597661,711,673.933597661,664,631,878,783,799,650,628.066402339,650,0.444115021274,0.00444284721878,0.0598036570659,0.999999949607,-4.21747197969e-05,-0.000310587558727,-5.04264138198e-05,1793192453093662976
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.476727412,711,674,664,631.523272588,878.523272588,783,799,650,628,650.523272588,0.444127152932,0.00444597710323,0.0598024462196,0.999999949207,-3.8521668317e-05,-0.0003123015561,-5.06992997983e-05,1793192453110329600
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.112411044,710.887588956,673.887588956,664,632,878.887588956,783,799,650,628.112411044,651,0.444137752289,0.00444871664115,0.0598018946896,0.999999949075,-3.51577789114e-05,-0.000313098032193,-5.08229023453e-05,1793192453126996224
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.691428474,710.308571526,673.308571526,664,632,878.308571526,783,799,650,628.691428474,651,0.444144899666,0.00444903829752,0.0598031603845,0.999999949786,-3.3321400378e-05,-0.00031108763304,-5.04212328677e-05,1793192453143662848
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.732004558,710.267995442,673.267995442,664,632,878.267995442,783,799.267995442,649.732004558,628.732004558,650.732004558,0.444150492917,0.00444981389622,0.0598043677192,0.999999950255,-3.19414006757e-05,-0.000309767389092,-5.01424960152e-05,1793192453160329472
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.158233535,710.841766465,673.841766465,664,632,878.841766465,783,799.841766465,649.158233535,628.158233535,650.158233535,0.444154312952,0.00445110743087,0.0598055084665,0.999999950454,-3.1082117036e-05,-0.000309234593767,-5.00040220003e-05,1793192453176996096
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742,711,674,664,631.573884895,878.573884895,782.573884895,800.426115105,649.426115105,628,650,0.444153858051,0.00445156542609,0.0598037111051,0.99999994957,-2.97010569608e-05,-0.000312251056511,-4.97712185937e-05,1793192453193662720
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.01426762,711,674,664,631.01426762,878,782.01426762,800.98573238,649.98573238,628,650,0.444151904031,0.00445175169553,0.0598008822351,0.999999948304,-2.81382747363e-05,-0.000316462194542,-4.95187637285e-05,1793192453210328832
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.59354996,711,674,664,631.59354996,878,782.59354996,800.40645004,649.40645004,628,650,0.444155048399,0.00445377709705,0.0598015105871,0.99999994894,-2.72473797593e-05,-0.000314461677858,-4.99105590448e-05,1793192453226995456
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.82762763,711,674,664,632,878,782.82762763,800,649,628,650,0.444157669245,0.00445559983456,0.0598023220305,0.999999949535,-2.65790532886e-05,-0.000312538993967,-5.04368570098e-05,1793192453243662336
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.249886916,711,674,664,632,878,782.249886916,800,649,628,650,0.444159058922,0.00445694596655,0.0598035640502,0.999999950038,-2.64341416103e-05,-0.000310799349846,-5.12794649866e-05,1793192453260329984
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742,710.674674613,673.674674613,664,631.674674613,878,782,800,649.325325387,628,650,0.444160042511,0.00445904360793,0.0598040125488,0.999999950213,-2.53845482007e-05,-0.000310229350874,-5.18473153119e-05,1793192453276996864
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742,710.101389379,673.101389379,664,631.101389379,878,782,800,649.898610621,628,650,0.444160716583,0.0044617140426,0.0598038562334,0.999999950137,-2.36454151565e-05,-0.000310550843875,-5.22057481159e-05,1793192453293662720
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742,710,673,664,631,878,782.485484911,800,649.514515089,628,650.485484911,0.444160248522,0.00446345975352,0.0598023162231,0.999999949515,-2.13210999524e-05,-0.000312663746085,-5.25086013482e-05,1793192453310329088
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.073852171,710.073852171,673.073852171,664,631,877.926147829,782.926147829,799.926147829,649,628,650.926147829,0.444159620901,0.00446477105944,0.0598007560556,0.999999948876,-1.88912714877e-05,-0.000314820989237,-5.27135833901e-05,1793192453326995712
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.652468431,710.652468431,673.652468431,664,631,877.347531569,782.347531569,799.347531569,649,628,650.347531569,0.444159579938,0.00446447124829,0.0598010900608,0.99999994899,-1.65996159949e-05,-0.000314650625154,-5.23312546625e-05,1793192453343662336
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664,631.230128324,877.230128324,782,799.230128324,649,628,650,0.444160289634,0.00446376316953,0.0598017606659,0.999999949344,-1.61725362623e-05,-0.000313601109983,-5.2015286051e-05,1793192453360329216
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664,631.80634989,877.80634989,782,799.80634989,649,628,650,0.444162128257,0.00446244109137,0.0598029374884,0.999999950055,-1.85496185253e-05,-0.000311229427067,-5.17991173799e-05,1793192453376996096
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.618684485,710.618684485,673.618684485,664,632,877.618684485,782,799.618684485,649,628,650,0.444162472617,0.00446402852553,0.0598032240338,0.999999950259,-1.64900119472e-05,-0.000310633023023,-5.21287870496e-05,1793192453393663232
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.044354611,710.044354611,673.044354611,664,632,877.044354611,782,799.044354611,649,628,650,0.44416206061,0.00446708869724,0.0598030599386,0.999999950195,-1.21846413026e-05,-0.000310935230043,-5.27347492796e-05,1793192453410330112
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.545263092,710.545263092,673.545263092,664.545263092,631.454736908,877.545263092,782.545263092,799,649.545263092,628,650,0.444162105677,0.00446517711521,0.0598030651733,0.9999999501,-1.64512139862e-05,-0.000311073158144,-5.2563121662e-05,1793192453426996224
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.866378513,711,674,664.866378513,631,878,783,799.267242974,649.866378513,628,650,0.44416216943,0.00446375201699,0.059803008535,0.99999994997,-1.95803546585e-05,-0.000311337629476,-5.23934143977e-05,1793192453443662592
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.286499032,711,674,664.286499032,631,878,783,800.427001937,649.286499032,628,650,0.444162167839,0.00446534127826,0.0598026979296,0.999999949794,-1.65148736326e-05,-0.000312070636551,-5.24474625271e-05,1793192453460329216
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.291153991,711,674,664,631.291153991,877.708846009,783,800.417692017,649,628.291153991,650,0.444162040831,0.00446654276073,0.0598025959891,0.99999994972,-1.51809157902e-05,-0.000312364818822,-5.25082671124e-05,1793192453476995840
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.866632847,711,674,664,631.866632847,877.133367153,783,799.266734306,649,628.866632847,650,0.444161791349,0.00446736556007,0.0598026978191,0.999999949753,-1.55378672373e-05,-0.000312230469181,-5.25756696851e-05,1793192453493662464
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.561333662,711,674,664,632,877.438666338,783,799.438666338,649,628.561333662,650,0.444161286851,0.00446724166016,0.0598018274032,0.999999949346,-1.47096333153e-05,-0.000313569122536,-5.26014724352e-05,1793192453510329088
+238,3.966666667,HOLD_POSE2,764,743,711,674,664,632,877,783,800,649,628,650,0.444161065739,0.00446560321908,0.0598011334955,0.999999949007,-1.51529580757e-05,-0.000314666458703,-5.23676685232e-05,1793192453554678784
+239,3.983333333,HOLD_POSE2,764,743,711,674,664,632,877.576909027,782.423090973,799.423090973,649,628,650,0.444161777317,0.00446621180883,0.0598018455622,0.999999949492,-1.5264288261e-05,-0.000313132850113,-5.22487953888e-05,1793192453571345152
+240,4.000000000,HOLD_POSE2,764,743,710.846624529,674,664,631.846624529,878,782.153375471,799,649,628,650.153375471,0.444162545814,0.00446691417395,0.0598024846124,0.999999949883,-1.49747939859e-05,-0.000311923432197,-5.20890199781e-05,1793192453588011520
+241,4.016666667,HOLD_POSE2,764,743,710.271375325,674,664,631.271375325,878,782.728624675,799,649,628,650.728624675,0.444163470877,0.0044678744772,0.0598029228243,0.999999950016,-1.35827941618e-05,-0.000311605731037,-5.18167389623e-05,1793192453604677888
+242,4.033333333,HOLD_POSE2,764,742.688176884,710,674,663.688176884,631.311823116,878,782.688176884,799,649,628,650.688176884,0.444163498433,0.00446799155436,0.0598027240156,0.999999949875,-1.29974847149e-05,-0.000312075617066,-5.18646635933e-05,1793192453621344256
+243,4.050000000,HOLD_POSE2,764,742.097879392,710,674,663.097879392,631.902120608,878,782.097879392,799,649,628,650.097879392,0.444162724466,0.00446735558638,0.0598019563142,0.999999949489,-1.31325921131e-05,-0.000313248859726,-5.21985486555e-05,1793192453638011136
+244,4.066666667,HOLD_POSE2,764,742.482986418,710.482986418,674,663.482986418,632,878,782.482986418,799,649.482986418,628,650,0.444163813506,0.00446800414285,0.059802987037,0.999999949988,-1.43674215948e-05,-0.000311596240826,-5.2203580948e-05,1793192453654678016
+245,4.083333333,HOLD_POSE2,764,742.938521979,711,674,664,632,878,783,799.061478021,650,628.061478021,650.061478021,0.444165032534,0.00446875439167,0.0598041855621,0.999999950553,-1.55399412822e-05,-0.000309730946829,-5.21535135286e-05,1793192453671344896
+246,4.100000000,HOLD_POSE2,764,742.364196691,711,674,664,632,878,783,799.635803309,650,628.635803309,650.635803309,0.444164246768,0.00446822301207,0.0598038018195,0.999999950244,-1.43691642397e-05,-0.000310777245,-5.21890956828e-05,1793192453688011520
+247,4.116666667,HOLD_POSE2,763.785558245,742.214441755,711,674,664,631.785558245,878,783,799.785558245,650,628.785558245,651,0.444163462036,0.00446783894468,0.0598028464969,0.999999949811,-1.42029554778e-05,-0.000312170160973,-5.22061266571e-05,1793192453704678144
+248,4.133333333,HOLD_POSE2,763.199444258,742.800555742,711,674,664,631.199444258,878,783,799.199444258,650,628.199444258,651,0.444162679093,0.00446771020011,0.0598009005071,0.999999949164,-1.57778729357e-05,-0.000314163837698,-5.21910045687e-05,1793192453721344512
+249,4.150000000,HOLD_POSE2,763.382997916,743,711,673.617002084,664.382997916,631.382997916,878.382997916,783,799.382997916,650,628.382997916,650.617002084,0.444163139915,0.00446822054593,0.0598014239851,0.999999949381,-1.4960691391e-05,-0.00031350266347,-5.22442318403e-05,1793192453738011136
+250,4.166666667,HOLD_POSE2,763.963546223,743,711,673.036453777,664.963546223,631.963546223,878.963546223,783,799.963546223,650,628.963546223,650.036453777,0.44416424227,0.00446906053467,0.0598032212148,0.99999995004,-1.29096649167e-05,-0.000311472116851,-5.23327137217e-05,1793192453754677504
+251,4.183333333,HOLD_POSE2,764,742.458258499,711,673,664.458258499,631.458258499,878.458258499,783,800,649.458258499,629,650,0.444164965074,0.00446673282552,0.0598032762776,0.999999950167,-1.41635425853e-05,-0.000311082684158,-5.18989112119e-05,1793192453771344128
+252,4.200000000,HOLD_POSE2,764,742,711,673,664,631,878.118952099,783,800,649.118952099,629,650,0.444165351961,0.00446504535369,0.059803140772,0.999999950195,-1.53994023221e-05,-0.000310983940291,-5.15879809881e-05,1793192453788010752
+253,4.216666667,HOLD_POSE2,764,742,711,673,664,631,878.692998761,783,800,649.692998761,629,650,0.444164550968,0.00446661931486,0.0598027227458,0.999999949991,-1.5719185615e-05,-0.000311576667229,-5.18810199234e-05,1793192453804677632
+254,4.233333333,HOLD_POSE2,764,742,711,673.273906954,664,631,878.726093046,782.726093046,799.726093046,649.726093046,628.726093046,650,0.444163836209,0.0044673762785,0.0598021110958,0.999999949722,-1.57814916741e-05,-0.000312418832241,-5.19783315451e-05,1793192453821344768
+255,4.250000000,HOLD_POSE2,764,742,711,673.862703278,664,631,878.137296722,782.137296722,799.137296722,649.137296722,628.137296722,650,0.444163220584,0.00446719400398,0.0598012768518,0.999999949379,-1.55477963063e-05,-0.000313547756633,-5.1850630788e-05,1793192453838012160
+256,4.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,664,631,878,782,799,649,628,650,0.444165113416,0.00446903454915,0.0598024114044,0.999999950089,-1.20022287173e-05,-0.000311471580202,-5.16039752572e-05,1793192453870560768
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764,742.574430036,710.425569964,674.148860071,664,631.574430036,878,782.574430036,799,649.574430036,628,650,0.444164171132,0.00446874197843,0.0598018322072,0.999999949692,-1.26029026406e-05,-0.000312691822215,-5.17793153604e-05,1793192453887226880
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,742.850713806,710.149286194,674.850713806,663.850713806,632,878,782.850713806,799,650,628,650,0.444163720488,0.00446823822089,0.0598015753447,0.999999949477,-1.38534290767e-05,-0.000313299498458,-5.19411742151e-05,1793192453903892992
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742.274639291,710.725360709,674.274639291,663.274639291,632,878,782.274639291,799,650,628,650,0.444164675377,0.00446713070974,0.0598022399919,0.99999994978,-1.69617929817e-05,-0.000312155935229,-5.20644921084e-05,1793192453920559104
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742.309206566,710.690793434,673.690793434,663.618413133,632,878,782.309206566,799,649.690793434,628,650,0.444165731808,0.00446758885431,0.0598029001337,0.999999950157,-1.67201119173e-05,-0.000310946888954,-5.21415656886e-05,1793192453937225472
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742.900132902,710.099867098,673.099867098,664.800265803,632,878,782.900132902,799,649.099867098,628,650,0.444166880755,0.00446947347628,0.0598035561706,0.999999950598,-1.34261866448e-05,-0.000309678180793,-5.21765058182e-05,1793192453953892096
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,710,673.479979646,664.520020354,631.520020354,878,783,799,649,628,650,0.444164552871,0.0044696037083,0.0598027915186,0.999999950146,-1.18557260492e-05,-0.000311174094658,-5.23243182228e-05,1793192453970558976
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,710.05733245,674,664,631,878,782.94266755,799.05733245,649.05733245,628,650,0.444160034799,0.00446939869032,0.0598008865669,0.999999949133,-1.0956282014e-05,-0.000314415873125,-5.25081340138e-05,1793192453987225856
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.199480761,663.199480761,631.800519239,878,782,799.199480761,650,628.800519239,650,0.44407037327,0.00447270613175,0.0597576457232,0.999999925491,-8.55177011294e-06,-0.000382277865129,-5.29981707443e-05,1793192454037225216
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,710.038437992,673,663.961562008,631.038437992,878.961562008,782.961562008,799,650,628.038437992,650,0.443949245153,0.0044711598589,0.0597208504524,0.999999906003,-9.47138759435e-06,-0.000430197025965,-5.32358746224e-05,1793192454070558464
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.460593571,710.539406429,673.539406429,664,631.539406429,878.460593571,783,799.539406429,649.460593571,628.539406429,650.539406429,0.443877376534,0.00447240932906,0.0597158324816,0.999999903935,-7.19929699794e-06,-0.00043498991052,-5.35006002147e-05,1793192454087224832
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,710,672,664.12424352,632.12424352,877,783,799,649,628.87575648,650,0.411229090906,0.00455742899075,0.0597376555681,0.999999888099,0.000161010713839,-0.000443646516013,3.25001205079e-05,1793192454987225344
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742,710.641170238,671,664.641170238,632,876.641170238,783,799,649,628.358829762,650.641170238,0.407486596202,0.00455176669823,0.0598504969452,0.999999958488,0.000131906251304,-0.000253695925616,3.5549742117e-05,1793192455087225088
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742,710,671.516182561,664,632,876,783,799,649.516182561,629,650.516182561,0.406382890011,0.00454950827735,0.0598286356779,0.999999948648,0.000147390939449,-0.000282628497578,3.31921326631e-05,1793192455120558592
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,710.246372658,672,664,632,877,783,798.246372658,650,628.753627342,650,0.404942482403,0.00454977355359,0.0598262819002,0.999999950003,0.0001463694899,-0.000278507430632,3.16736148295e-05,1793192455170558720
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632,876.88155917,782,799,650,628.11844083,650.88155917,0.401175729753,0.00452825407272,0.0598434944732,0.999999958866,0.000112380217696,-0.000262445880598,2.75802381021e-05,1793192455453891840
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632,876.294571799,782,799,650,628.705428201,650.294571799,0.401120305412,0.00452708710809,0.0598395087619,0.999999957882,0.0001082255302,-0.000267962863923,2.68003595414e-05,1793192455470558464
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,710.712880416,672,664,632,876,782.287119584,799,650,629,650,0.401074799207,0.0045263833991,0.059837249522,0.999999957252,0.00010585939694,-0.000271287393052,2.6314742737e-05,1793192455487225344
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.986822449,664,632.986822449,876,783,799,650,628.013177551,650,0.400990848195,0.00452519989053,0.0598348684781,0.999999955814,0.000104563528914,-0.000277108564916,2.54681773535e-05,1793192455537225472
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,710.825848933,671.174151067,664,632,876,783,799.174151067,650,629,650.174151067,0.400977243272,0.00452364082833,0.0598386436406,0.999999958349,0.00010099483085,-0.000269187191875,2.53231910504e-05,1793192455570558976
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,710.235051429,671.764948571,664,632,876,783,799.764948571,650,629,650.764948571,0.400972195565,0.00452293145197,0.0598395104435,0.999999958981,9.86320709388e-05,-0.000267678657457,2.56629054721e-05,1793192455587225600
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.772709422,742,710.227290578,672,664,633,876,783,799.227290578,650,628.772709422,650.227290578,0.400963762764,0.00452257204443,0.0598425152184,0.999999959485,0.000100763149461,-0.000265019454758,2.53298842597e-05,1793192455687225344
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_09/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b157b72b89a81eb19e0c2717942dab2c4c6d52d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,390 @@
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+335,5.583333333,pose2_to_pose3_retreat,0.579169755136,0.0100545060446,1.05002922403,0.549740486154,0.0187272379078,1.04969850776
+336,5.600000000,pose2_to_pose3_retreat,0.578776987278,0.0100545004053,1.05002891375,0.549347718468,0.018727233266,1.04969820823
+337,5.616666667,pose2_to_pose3_retreat,0.578418607692,0.010054502873,1.05002920427,0.548989338978,0.01872723593,1.04969849515
+338,5.633333333,pose2_to_pose3_retreat,0.578097524069,0.0100544961779,1.05002926422,0.548668255468,0.0187272293882,1.04969854902
+339,5.650000000,pose2_to_pose3_retreat,0.57781071305,0.0100545953838,1.05002921573,0.548381441119,0.0187273170683,1.04969849459
+340,5.666666667,pose2_to_pose3_retreat,0.57755844625,0.0100545265676,1.05002917019,0.54812917594,0.0187272541794,1.04969846028
+341,5.683333333,pose2_to_pose3_retreat,0.577322325315,0.0100545383044,1.0500291688,0.547893055453,0.018727267546,1.04969846179
+342,5.700000000,pose2_to_pose3_retreat,0.577100983157,0.0100546755825,1.0500292904,0.547671712608,0.0187274023386,1.0496985795
+343,5.716666667,pose2_to_pose3_retreat,0.576895637431,0.0100546575204,1.0500288777,0.547466366872,0.0187273848357,1.04969818219
+344,5.733333333,pose2_to_pose3_retreat,0.576706679157,0.0100547847722,1.05002915017,0.547277406712,0.0187275051713,1.0496984411
+345,5.750000000,pose2_to_pose3_retreat,0.576536548289,0.0100546943654,1.05002928557,0.547107277932,0.0187274217032,1.04969857266
+346,5.766666667,pose2_to_pose3_retreat,0.576388263426,0.0100546607723,1.05002928845,0.546958990443,0.0187273791852,1.04969857515
+347,5.783333333,pose2_to_pose3_retreat,0.576262623486,0.0100546409729,1.05002904239,0.546833352991,0.0187273682193,1.04969833938
+348,5.800000000,pose2_to_pose3_retreat,0.576155694399,0.0100544528862,1.05002924045,0.546726427297,0.0187271913495,1.04969853155
+349,5.816666667,pose2_to_pose3_retreat,0.576065363721,0.0100543620245,1.050029165,0.546636096239,0.0187270991894,1.04969845895
+350,5.833333333,pose2_to_pose3_retreat,0.575988841644,0.0100545715033,1.05002914682,0.546559572097,0.018727301709,1.04969843961
+351,5.850000000,pose2_to_pose3_retreat,0.575923931037,0.010054623996,1.05002916925,0.546494661187,0.0187273530209,1.04969845763
+352,5.866666667,pose2_to_pose3_retreat,0.575870586421,0.0100545460267,1.05002911336,0.546441318672,0.0187272820185,1.04969839815
+353,5.883333333,pose2_to_pose3_retreat,0.575826640966,0.0100544796367,1.05002910932,0.546397373473,0.0187272168026,1.04969840071
+354,5.900000000,pose2_to_pose3_retreat,0.575791865487,0.0100545538071,1.05002914465,0.546362596253,0.0187272851731,1.04969843813
+355,5.916666667,pose2_to_pose3_retreat,0.575766473286,0.0100545617896,1.05002902511,0.546337204445,0.0187272945436,1.04969832034
+356,5.933333333,pose2_to_pose3_retreat,0.575748586233,0.0100545537453,1.05002895932,0.546319317518,0.0187272870116,1.04969825668
+357,5.950000000,pose2_to_pose3_retreat,0.575736503555,0.0100547131791,1.0500291566,0.546307231611,0.0187274352447,1.04969844712
+358,5.966666667,pose2_to_pose3_retreat,0.575728629693,0.0100545428044,1.05002929097,0.546299359278,0.0187272696542,1.04969857089
+359,5.983333333,pose2_to_pose3_retreat,0.57572439611,0.0100544678579,1.05002935625,0.546295126422,0.0187271969694,1.0496986308
+360,6.000000000,pose2_to_pose3_retreat,0.575721229531,0.010054521156,1.05002935936,0.546291959763,0.0187272499215,1.04969863199
+361,6.016666667,pose2_to_pose3_retreat,0.575718973984,0.0100545591201,1.05002936158,0.54628970416,0.0187272876391,1.04969863283
+362,6.033333333,pose2_to_pose3_retreat,0.575717606418,0.0100545821383,1.05002936292,0.54628833656,0.0187273105078,1.04969863335
+363,6.050000000,pose2_to_pose3_retreat,0.575716744784,0.0100545651605,1.05002933897,0.546287475239,0.0187272946834,1.0496986117
+364,6.066666667,pose2_to_pose3_retreat,0.575716003097,0.0100545263622,1.0500292993,0.546286734081,0.0187272578365,1.04969857618
+365,6.083333333,pose2_to_pose3_retreat,0.575715401416,0.0100544948877,1.05002926711,0.546286132828,0.018727227945,1.04969854737
+366,6.100000000,pose2_to_pose3_retreat,0.575714948543,0.0100544711976,1.05002924289,0.546285680278,0.0187272054464,1.04969852568
+367,6.116666667,pose2_to_pose3_retreat,0.575714451885,0.0100544452169,1.05002921633,0.546285183973,0.0187271807724,1.0496985019
+368,6.133333333,pose2_to_pose3_retreat,0.575714081687,0.0100544258516,1.05002919653,0.546284814039,0.0187271623811,1.04969848417
+369,6.150000000,pose2_to_pose3_retreat,0.575713928562,0.0100544178415,1.05002918834,0.546284661023,0.0187271547738,1.04969847683
+370,6.166666667,pose2_to_pose3_retreat,0.575713671967,0.0100544044188,1.05002917461,0.546284404611,0.0187271420262,1.04969846455
+371,6.183333333,pose2_to_pose3_retreat,0.575713612861,0.0100544013269,1.05002917145,0.546284345547,0.0187271390898,1.04969846172
+372,6.200000000,pose2_to_pose3_retreat,0.575713456913,0.0100543931691,1.05002916311,0.54628418971,0.0187271313423,1.04969845425
+373,6.216666667,pose2_to_pose3_retreat,0.575713198823,0.0100543796682,1.05002914931,0.546283931805,0.0187271185205,1.04969844189
+374,6.233333333,pose2_to_pose3_retreat,0.575713007433,0.0100543696564,1.05002913907,0.546283740551,0.0187271090122,1.04969843272
+375,6.250000000,pose2_to_pose3_retreat,0.575712733933,0.0100543565471,1.05002912356,0.546283467222,0.018727096539,1.04969841863
+376,6.266666667,pose2_to_pose3_retreat,0.575712432093,0.0100543603929,1.05002909303,0.546283165217,0.0187270998107,1.04969838777
+377,6.283333333,pose2_to_pose3_retreat,0.575712351729,0.0100543614168,1.0500290849,0.546283084808,0.0187271006818,1.04969837956
+378,6.300000000,pose2_to_pose3_retreat,0.575712135565,0.010054364171,1.05002906303,0.546282868525,0.0187271030249,1.04969835746
+379,6.316666667,pose2_to_pose3_retreat,0.575711533537,0.0100543718415,1.05002900213,0.546282266167,0.0187271095504,1.04969829592
+380,6.333333333,pose2_to_pose3_retreat,0.575710711058,0.0100543823209,1.05002891892,0.546281443237,0.0187271184655,1.04969821185
+381,6.350000000,pose2_to_pose3_retreat,0.575710181209,0.0100544545277,1.05002894989,0.546280912794,0.0187271886306,1.04969824212
+382,6.366666667,pose2_to_pose3_retreat,0.575709957723,0.0100544971441,1.05002897866,0.546280689002,0.0187272301936,1.04969827058
+383,6.383333333,pose2_to_pose3_retreat,0.575709813669,0.0100545246136,1.05002899721,0.54628054475,0.0187272569842,1.04969828892
+384,6.400000000,pose2_to_pose3_retreat,0.575709542973,0.0100545762322,1.05002903206,0.546280273683,0.018727307327,1.04969832338
+385,6.416666667,pose2_to_pose3_retreat,0.575709418809,0.0100545364894,1.05002897116,0.546280149249,0.0187272665921,1.04969826044
+386,6.433333333,pose2_to_pose3_retreat,0.575709339014,0.0100545092395,1.05002892994,0.546280069278,0.0187272386936,1.04969821786
+387,6.450000000,pose2_to_pose3_retreat,0.575709324179,0.0100545146146,1.05002892457,0.54628005428,0.0187272435193,1.04969821261
+388,6.466666667,pose2_to_pose3_retreat,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_09/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6114b33eb5b38a797cfcb3b5e0d3d711c2fbf602
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd1d7395d2c44521083564ec4da24e1a13ce62a8319bd91e15968f616c6188f4
+size 25052047
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b5e586b213fddbc1607a98856c7a678c76ad968
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_02/franka_data.csv
@@ -0,0 +1,396 @@
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+26,0.433333333,BASELINE,764,742.114290967,710,672,664,632.885709033,876.885709033,783,799,649.885709033,628.885709033,651,0.40095964386,0.00451770061989,0.0598443183253,0.999999961157,9.22019783472e-05,-0.000261883851436,2.45339622874e-05,1793192456631204096
+27,0.450000000,BASELINE,764,742.693599557,710,672,664,632.306400443,876.306400443,783,799,649.306400443,628.306400443,651,0.400959485766,0.00451800830506,0.0598441798142,0.999999961176,9.3519477694e-05,-0.00026136620073,2.43053268124e-05,1793192456647870464
+28,0.466666667,BASELINE,764,742.727808352,710.272191648,671.727808352,664.272191648,632,876,783,798.727808352,649.272191648,628,651,0.40096044771,0.00451867621787,0.0598446805967,0.999999961441,9.42300437461e-05,-0.000260103309863,2.41866323861e-05,1793192456664536832
+29,0.483333333,BASELINE,764,742.150020726,710.849979274,671.150020726,664.849979274,632,876,783,798.150020726,649.849979274,628,651,0.400962667148,0.00451974856674,0.0598458991293,0.999999961982,9.42591914034e-05,-0.000258003720332,2.41913713802e-05,1793192456681203456
+30,0.500000000,BASELINE,764,742,711,671.426272172,664.573727828,632,876,783,798.426272172,650,628,651,0.400962888909,0.00451977251665,0.059846277367,0.9999999622,9.36939864004e-05,-0.000257367288236,2.41622107958e-05,1793192456697870080
+31,0.516666667,BASELINE,764.002081306,742,710.997918694,671.997918694,664.002081306,632,876,783.002081306,799,650,628.002081306,651,0.400962407678,0.00451942872288,0.0598463563446,0.999999962302,9.29251577927e-05,-0.000257253071234,2.41215821995e-05,1793192456714536960
+32,0.533333333,BASELINE,764.58926442,742,710.41073558,671.41073558,664.58926442,632,876,783.58926442,799,650,628.58926442,651,0.400961253278,0.00451906718053,0.0598451525402,0.999999961615,9.35112973193e-05,-0.000259690307458,2.41992491591e-05,1793192456731203840
+33,0.550000000,BASELINE,764.825694615,742,710.174305385,671.174305385,664.825694615,632,876,783.825694615,799,650,629,650.825694615,0.400961044558,0.0045192853526,0.0598448476165,0.99999996133,9.46502834906e-05,-0.000260377660336,2.41986807612e-05,1793192456747870464
+34,0.566666667,BASELINE,764.245640239,742,710.754359761,671.754359761,664.245640239,632,876,783.245640239,799,650,629,650.245640239,0.400963037197,0.00452085298696,0.0598466351125,0.999999961977,9.70761889015e-05,-0.000256991625237,2.40159956772e-05,1793192456764537344
+35,0.583333333,BASELINE,764,742,711,671.667671845,664,632,876,783,799,650,629,650,0.400963209004,0.00451998027508,0.0598468766197,0.999999962318,9.54528086974e-05,-0.000256271217322,2.40296743469e-05,1793192456781203968
+36,0.600000000,BASELINE,764,742,711,671.091235625,664,632,876,783,799,650,629,650,0.400962043338,0.00451731503334,0.0598459825377,0.999999962425,9.08550696492e-05,-0.000257508816766,2.41875898758e-05,1793192456797870080
+37,0.616666667,BASELINE,764.483681962,742,710.516318038,671.483681962,664.483681962,632,876.483681962,783,799,650,629,650.483681962,0.400961422268,0.00451745212312,0.0598456855106,0.999999962168,9.17652472211e-05,-0.000258163349661,2.43807882129e-05,1793192456814536704
+38,0.633333333,BASELINE,764.940126706,742.059873294,710.059873294,672,664.940126706,632,877,783,799,650,629,651,0.400961016254,0.00451812852222,0.0598455778719,0.999999961886,9.35885110604e-05,-0.000258586122004,2.45348436158e-05,1793192456831203328
+39,0.650000000,BASELINE,764.350128792,742.649871208,710.649871208,672,664.350128792,632,877,783,799,650,629,651,0.400961607671,0.00451891442522,0.0598461530612,0.999999961993,9.43262145002e-05,-0.000257927608723,2.42835810441e-05,1793192456847869952
+40,0.666666667,BASELINE,764,742.764245359,710.764245359,672,664,632.235754641,877,783,799.235754641,650,629,651,0.400961804305,0.00451875125215,0.059846463373,0.999999961966,9.52297556e-05,-0.000257704286868,2.42543337755e-05,1793192456864536576
+41,0.683333333,BASELINE,764,742.184367728,710.184367728,672,664,632.815632272,877,783,799.815632272,650,629,651,0.400961424688,0.00451720274517,0.0598463870521,0.999999961743,9.63753642176e-05,-0.000258116199098,2.45491546688e-05,1793192456881203200
+42,0.700000000,BASELINE,764,742,710.392255135,672,664,633,877,783,799.607744865,650,628.607744865,651,0.400962822052,0.00451842413432,0.0598471780517,0.999999962084,9.66922207797e-05,-0.000256654359726,2.4719529404e-05,1793192456897870080
+43,0.716666667,BASELINE,764,742,710.967360766,672,664,633,877,783,799.032639234,650,628.032639234,651,0.400965047758,0.004520936716,0.0598483733544,0.999999962685,9.66227529247e-05,-0.000254319067382,2.48318933117e-05,1793192456914536704
+44,0.733333333,BASELINE,764,742,711,671.446776389,664,633,876.446776389,783,799,650,628,651,0.400963099799,0.00451972923012,0.0598475411226,0.999999962275,9.55514457443e-05,-0.000256347206876,2.46354325433e-05,1793192456931203584
+45,0.750000000,BASELINE,764.137950504,742,711,671,664.137950504,633,876.137950504,783,799.137950504,650,628,650.862049496,0.400961531032,0.00451848907155,0.0598468575471,0.999999961966,9.45840864903e-05,-0.000257917320922,2.44907088192e-05,1793192456947870208
+46,0.766666667,BASELINE,764.7169758,742,711,671,664.7169758,633,876.7169758,783,799.7169758,650,628,650.2830242,0.400961977597,0.00451786010777,0.0598470393301,0.999999962195,9.41418165618e-05,-0.000257183541452,2.45708172717e-05,1793192456964536576
+47,0.783333333,BASELINE,764.703893712,742,711,671.296106288,664.703893712,632.703893712,877,783,800,650,628.296106288,650,0.400962356851,0.00451774665067,0.059847127167,0.999999962302,9.41603289144e-05,-0.00025674448296,2.47255541641e-05,1793192456981203200
+48,0.800000000,BASELINE,764.124662575,742,711,671.875337425,664.124662575,632.124662575,877,783,800,650,628.875337425,650,0.400962671746,0.00451812610012,0.0598471251765,0.999999962294,9.46194225851e-05,-0.000256587224659,2.495164776e-05,1793192456997869824
+49,0.816666667,BASELINE,764,742,711,672,664,632.45124732,876.54875268,783,799.54875268,650,628.54875268,650.45124732,0.400962344954,0.00451757930683,0.0598466806338,0.999999962354,9.39952522386e-05,-0.000256596000419,2.48018802894e-05,1793192457014536704
+50,0.833333333,BASELINE,764.026785702,742,710.973214298,672,664,632.973214298,876,783,799.026785702,650,628,651,0.400961883069,0.00451685601503,0.0598461640976,0.999999962429,9.31035906799e-05,-0.000256654722817,2.45562826577e-05,1793192457031203328
+51,0.850000000,BASELINE,764.613600791,742,710.386399209,672,664,632.386399209,876,783,799.613600791,650,628,651,0.400962276017,0.00451775344551,0.0598466798548,0.999999962417,9.28305292116e-05,-0.000256805707904,2.44622112039e-05,1793192457047869696
+52,0.866666667,BASELINE,764.801318319,742,710.198681681,672,664,632.198681681,876,783.198681681,799.801318319,649.801318319,628,651,0.400962130371,0.00451842331713,0.0598467264942,0.999999962327,9.23604151861e-05,-0.000257341772789,2.43210438947e-05,1793192457064536576
+53,0.883333333,BASELINE,764.219580979,742,710.780419021,672,664,632.780419021,876,783.780419021,799.219580979,649.219580979,628,651,0.400960946325,0.00451865445825,0.0598458686806,0.999999962081,9.15103864466e-05,-0.000258620266436,2.40890764034e-05,1793192457081204224
+54,0.900000000,BASELINE,764.357516512,742,711,672,664,633,876,783.642483488,799,649.357516512,628,651,0.400962018996,0.00451890433417,0.0598464295642,0.999999962501,9.14054428808e-05,-0.00025703296134,2.40424500329e-05,1793192457097870848
+55,0.916666667,BASELINE,764.931800771,742,711,672,664,633,876,783.068199229,799,649.931800771,628,651,0.40096445995,0.0045191655693,0.0598478506256,0.999999963316,9.17522559189e-05,-0.000253708078443,2.4108198836e-05,1793192457114536704
+56,0.933333333,BASELINE,764.495786363,742,711,671.495786363,664.504213637,632.495786363,876,783,799,650,628,650.495786363,0.400963899645,0.00451848782138,0.0598481562974,0.99999996329,9.12675121486e-05,-0.000253975099045,2.42201803173e-05,1793192457131203328
+57,0.950000000,BASELINE,764,742,711,671.079092715,664.920907285,632.079092715,876.079092715,783,799,650,628,650.079092715,0.400962911774,0.00451791692941,0.0598480936285,0.99999996307,9.10304662297e-05,-0.000254913998493,2.43263939476e-05,1793192457147870208
+58,0.966666667,BASELINE,764,742,711,671.671618093,664.328381907,632.671618093,876.671618093,783,799,650,628,650.671618093,0.400961773808,0.00451886110774,0.0598466155945,0.999999962324,9.31287945838e-05,-0.000257072263404,2.43547215434e-05,1793192457164537088
+59,0.983333333,BASELINE,764,742,710.741359047,672,664.258640953,633,876.741359047,783,799.258640953,650,628,651,0.400961190457,0.00451884684653,0.0598457775365,0.999999962063,9.29380544035e-05,-0.000258153124724,2.43518484242e-05,1793192457181203968
+60,1.000000000,BASELINE,764,742,710.161176814,672,664.838823186,633,876.161176814,783,799.838823186,650,628,651,0.400961296599,0.0045176410577,0.0598457350935,0.999999962409,8.9901554698e-05,-0.000257894562991,2.43101867187e-05,1793192457197870592
+61,1.016666667,BASELINE,764.415108201,742,710.415108201,672,665,632.584891799,876,783,799.584891799,650,628.415108201,651,0.400962316249,0.00451756984031,0.0598466801918,0.999999962769,8.9955819388e-05,-0.000256478099175,2.42576374685e-05,1793192457214537216
+62,1.033333333,BASELINE,764.989894057,742,710.989894057,672,665,632.010105943,876,783,799.010105943,650,628.989894057,651,0.400963687293,0.00451793505308,0.0598480051628,0.999999963134,9.11989935886e-05,-0.000254616230803,2.42009001619e-05,1793192457231203840
+63,1.050000000,BASELINE,764.420494492,742,711,672,664.420494492,632,877.159011016,783,799,650,629,650.420494492,0.400963897681,0.00451734655584,0.0598478370966,0.999999963103,9.08052110896e-05,-0.00025485688245,2.44410615336e-05,1793192457247870208
+64,1.066666667,BASELINE,764.165974558,742,711,671.834025442,664.165974558,632.165974558,877.668050883,783,799,650,628.834025442,650.165974558,0.400963735141,0.00451677571495,0.0598474707224,0.999999962978,9.04102425237e-05,-0.000255471948156,2.45777068489e-05,1793192457264536576
+65,1.083333333,BASELINE,764.743983825,742,711,671.256016175,664.743983825,632.743983825,876.51203235,783,799,650,628.256016175,650.743983825,0.400962698368,0.00451629107873,0.0598466783792,0.999999962639,9.00850579393e-05,-0.000256923090303,2.44441808332e-05,1793192457281203200
+66,1.100000000,BASELINE,764.678375996,742,710.678375996,671.321624004,664.678375996,632.678375996,876,783,799,650,628,650.678375996,0.400962892112,0.00451692185293,0.0598469625161,0.99999996261,9.11890479342e-05,-0.000256656565509,2.431519904e-05,1793192457297870080
+67,1.116666667,BASELINE,764.101029306,742,710.101029306,671.898970694,664.101029306,632.101029306,876,783,799,650,628,650.101029306,0.400964064238,0.00451843948804,0.0598481025605,0.999999962824,9.34293721679e-05,-0.000255024326645,2.41898303563e-05,1793192457314537216
+68,1.133333333,BASELINE,764.4708707,742,710.4708707,672,664,632,876,783,799,650,628,650.4708707,0.40096429321,0.00451944673235,0.0598483756805,0.99999996279,9.47498375066e-05,-0.000254675271529,2.41590435484e-05,1793192457331204096
+69,1.150000000,BASELINE,764.956696055,742,711,672,664,632.043303945,876,783,798.956696055,650,628,651,0.400964265371,0.00452015796502,0.0598484071777,0.999999962714,9.55894511102e-05,-0.000254656114045,2.41673112148e-05,1793192457347870976
+70,1.166666667,BASELINE,764.362794417,742,711,672,664,632.637205583,876,783,798.362794417,650,628,651,0.400963515805,0.00451848194154,0.0598477044783,0.999999962789,9.27958943475e-05,-0.000255370951221,2.44170719765e-05,1793192457364537344
+71,1.183333333,BASELINE,764,741.774643191,711,671.774643191,664,633,876.225356809,783,798.225356809,650,628.225356809,651,0.400963093509,0.00451751232395,0.0598477860582,0.999999962917,9.12008917449e-05,-0.000255428700192,2.45863419386e-05,1793192457381203968
+72,1.200000000,BASELINE,764,741.195518926,711,671.195518926,664,633,876.804481074,783,798.804481074,650,628.804481074,651,0.400963184962,0.00451765162937,0.0598490988079,0.999999963138,9.1487391452e-05,-0.000254454945402,2.46292566481e-05,1793192457397870336
+73,1.216666667,BASELINE,764,741.381277852,710.618722148,671.381277852,664,632.618722148,876.618722148,783,799.381277852,650,628.618722148,651,0.400963080499,0.00451737551516,0.0598482426093,0.999999962958,9.10058641076e-05,-0.00025535210684,2.44197621713e-05,1793192457414536704
+74,1.233333333,BASELINE,764,741.956888306,710.043111694,671.956888306,664,632.043111694,876.043111694,783,799.956888306,650,628.043111694,651,0.400962876179,0.0045168876667,0.0598462809245,0.999999962571,9.01328828654e-05,-0.000257202851175,2.40816178544e-05,1793192457431203584
+75,1.250000000,BASELINE,764,742,710,671.457279782,664.542720218,632,876,783,799.457279782,650,628,650.457279782,0.400960840259,0.00451745032326,0.0598460510413,0.999999962009,9.24149806119e-05,-0.000258543979963,2.44245454173e-05,1793192457447870208
+76,1.266666667,BASELINE,764.127474343,742,710.127474343,671.127474343,664.872525657,632.127474343,876.127474343,783,799.127474343,650,628,650.127474343,0.400959778143,0.00451771175451,0.0598463049455,0.999999961759,9.40349400108e-05,-0.000258897596504,2.4746365737e-05,1793192457464537088
+77,1.283333333,BASELINE,764.705494254,742,710.705494254,671.705494254,664.294505746,632.705494254,876.705494254,783,799.705494254,650,628,650.705494254,0.400962681948,0.00451660793331,0.0598477731956,0.999999962678,9.24118131332e-05,-0.000255906773813,2.47986964361e-05,1793192457481203712
+78,1.300000000,BASELINE,764.716465612,742,710.716465612,671.716465612,664.283534388,632.716465612,877,783,799.716465612,650,628,651,0.400963298126,0.00451640984286,0.0598478136398,0.999999962999,9.1238566824e-05,-0.000255092587585,2.45943344205e-05,1793192457497870592
+79,1.316666667,BASELINE,764.138404508,742,710.138404508,671.138404508,664.861595492,632.138404508,877,783,799.138404508,650,628,651,0.400961537989,0.00451715259747,0.0598463709235,0.999999962705,9.05326425798e-05,-0.000256539423906,2.41233279816e-05,1793192457514537216
+80,1.333333333,BASELINE,764,742.437691973,710.437691973,671.437691973,664.562308027,632.437691973,877,783,799,650,628.437691973,650.562308027,0.400960232611,0.00451731899401,0.0598455372899,0.999999962278,9.0395735825e-05,-0.000258249040522,2.4095300538e-05,1793192457531203584
+81,1.350000000,BASELINE,764,742.986534904,711,672,664.013465096,633,876.986534904,783,799,650,628.986534904,650,0.400959133142,0.00451730223121,0.0598449481292,0.999999961829,9.04658857951e-05,-0.000259946296472,2.42079266404e-05,1793192457547870464
+82,1.366666667,BASELINE,764,742.398163823,711,672,664.601836177,633,876.398163823,783,799,650,628.398163823,650,0.400960712839,0.00451721198748,0.0598466104521,0.999999962321,9.1728502472e-05,-0.000257583826569,2.4371921723e-05,1793192457564537088
+83,1.383333333,BASELINE,764,742,711,672,665,633,876.188181738,783,799,650,628.188181738,650.188181738,0.400961735442,0.0045171799175,0.059847504463,0.999999962563,9.26380573728e-05,-0.000256304167854,2.45097964237e-05,1793192457581203712
+84,1.400000000,BASELINE,764,742,711,672,665,633,876.770287355,783,799,650,628.770287355,650.770287355,0.400961591871,0.00451726962356,0.0598467901542,0.999999962292,9.28085425767e-05,-0.000257291174892,2.45929929366e-05,1793192457597870336
+85,1.416666667,BASELINE,764,742,711,672,664.65332457,632.65332457,877,783,799,650,628.65332457,651,0.400961946113,0.00451781691276,0.0598467434816,0.999999962355,9.22796831807e-05,-0.000257251254821,2.4424297918e-05,1793192457614537728
+86,1.433333333,BASELINE,764,742,711,672,664.080663596,632.080663596,877,783,799,650,628.080663596,651,0.400962624862,0.00451866248434,0.0598471320176,0.999999962636,9.12949455771e-05,-0.000256541916951,2.40914036465e-05,1793192457631205632
+87,1.450000000,BASELINE,764,742,711,672,664,632.492185297,877,783,799,650,628,651,0.400964017765,0.004517218332,0.0598479533894,0.999999963177,8.98881299189e-05,-0.000254892204674,2.44122167657e-05,1793192457647872000
+88,1.466666667,BASELINE,764.067762714,742,711,671.932237286,664,632.932237286,877,783,799,650,628,650.932237286,0.40096526601,0.00451569733878,0.0598487412758,0.999999963675,8.86599303105e-05,-0.000253328812462,2.47971529862e-05,1793192457664538112
+89,1.483333333,BASELINE,764.664395072,742,711,671.335604928,664,632.335604928,877,783,799,650,628,650.335604928,0.400964471415,0.00451650654338,0.059848713962,0.999999963531,8.93658697233e-05,-0.000253642423665,2.48460717515e-05,1793192457681203968
+90,1.500000000,BASELINE,764.748102362,742,711,671,664.251897638,632.251897638,876.748102362,783,799.251897638,650,628.251897638,650.251897638,0.400963511536,0.00451722045288,0.0598483335144,0.999999963213,9.06185431196e-05,-0.000254450505234,2.48286057534e-05,1793192457697870080
+91,1.516666667,BASELINE,764.172338083,742,711,671,664.827661917,632.827661917,876.172338083,783,799.827661917,650,628.827661917,650.827661917,0.400962339149,0.0045178118407,0.05984749904,0.999999962668,9.25741563519e-05,-0.000255894330952,2.47257883745e-05,1793192457714536704
+92,1.533333333,BASELINE,764,742,711,671.402437634,665,632.597562366,876,783,799.597562366,650,629,651,0.400961995185,0.00451712976272,0.0598470498335,0.999999962608,9.17548938461e-05,-0.00025643508966,2.46336675581e-05,1793192457731203584
+93,1.550000000,BASELINE,764,742,711,671.976791101,665,632.023208899,876,783,799.023208899,650,629,651,0.400962005111,0.0045159036777,0.0598467652082,0.999999962752,8.97502426888e-05,-0.000256590070664,2.45461161574e-05,1793192457747870720
+94,1.566666667,BASELINE,764,742,710.43597897,671.43597897,665,632.56402103,876.56402103,783,799.56402103,650,628.43597897,650.43597897,0.400961902217,0.00451563595984,0.0598469745507,0.999999963025,8.83027142337e-05,-0.000256034124348,2.44854476366e-05,1793192457764536832
+95,1.583333333,BASELINE,764.150104221,742,710.150104221,671.150104221,664.849895779,633,876.849895779,783,800,650,628,650,0.400961848364,0.00451596437601,0.0598471615797,0.99999996311,8.83963621541e-05,-0.000255671171915,2.44480190324e-05,1793192457781202944
+96,1.600000000,BASELINE,764.731336498,742,710.731336498,671.731336498,664.268663502,633,876.268663502,783,800,650,628,650,0.400961949009,0.00451788908955,0.0598472247748,0.999999962635,9.28491798722e-05,-0.000255948520697,2.44740884455e-05,1793192457797869568
+97,1.616666667,BASELINE,764.689865311,742,710.689865311,672,664,633,876,783,800,650,628.310134689,650,0.40096097354,0.00451868521795,0.0598466535643,0.999999962125,9.42720848996e-05,-0.000257422784245,2.4400468693e-05,1793192457814536960
+98,1.633333333,BASELINE,764.113159336,742,710.113159336,672,664,633,876,783,800,650,628.886840664,650,0.400959073113,0.004518511289,0.0598455370604,0.999999961593,9.30906769107e-05,-0.000259925836625,2.4241162719e-05,1793192457831204352
+99,1.650000000,BASELINE,764.459688961,742.459688961,710.459688961,672,664.459688961,633,876,783,799.540311039,650,629,650.459688961,0.400960180228,0.00451795611199,0.0598460012766,0.999999961914,9.28881744203e-05,-0.000258741937438,2.4437296661e-05,1793192457847870464
+100,1.666666667,BASELINE,764.9672343,742.9672343,711,672,664.9672343,632.9672343,876,783,799,650,629,650.9672343,0.400961958728,0.00451734835958,0.0598468605105,0.999999962433,9.28879421765e-05,-0.000256703014874,2.47006634789e-05,1793192457864536832
+101,1.683333333,BASELINE,764.374146616,742.374146616,711,672,664.374146616,632.374146616,876,783,799,650,629,650.374146616,0.400962663205,0.00451743308147,0.0598478760116,0.999999962817,9.22601654828e-05,-0.000255434006692,2.46299505457e-05,1793192457881203456
+102,1.700000000,BASELINE,764,742,711,672,664.213821786,632,876,783,799,650,628.786178214,650.213821786,0.400962545386,0.00451779753727,0.0598480614152,0.999999962885,9.18669490438e-05,-0.000255314802651,2.4580540511e-05,1793192457897870336
+103,1.716666667,BASELINE,764,742,711,672,664.793041832,632,876,783,799,650,628.206958168,650.793041832,0.400961022355,0.004518640028,0.0598468282722,0.999999962412,9.18745707236e-05,-0.000257160489401,2.45675348283e-05,1793192457914536960
+104,1.733333333,BASELINE,764,742,711,672,665,632,876,783,799,650,628,651,0.400961383578,0.00451831944245,0.0598470757955,0.999999962413,9.29502578501e-05,-0.000256764079282,2.46350938926e-05,1793192457931203840
+105,1.750000000,BASELINE,764,742,711,672,665,632,876,783,799,650,628,651,0.400962792348,0.00451735224712,0.0598481464921,0.999999962674,9.46197337559e-05,-0.000255121180211,2.47474427599e-05,1793192457947870720
+106,1.766666667,BASELINE,764,742,711,671.470783554,664.470783554,632,876,783,799,650,628,651,0.40096357206,0.00451529001267,0.0598486084702,0.999999963264,8.99589720744e-05,-0.000254475291224,2.49425092407e-05,1793192457964537088
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632,877,784,799,650,628,650,0.400963617307,0.00451965543741,0.0598480934878,0.999999962788,9.44483492426e-05,-0.000254793879187,2.41742213589e-05,1793192458006699776
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.577301414,710.422698586,672,665.422698586,632.577301414,877,783.422698586,799,650,628.577301414,650.577301414,0.400965716232,0.0045173779104,0.0598491373304,0.999999963574,9.1210787934e-05,-0.000252856305168,2.44043559816e-05,1793192458023366912
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,710.153585362,672,665,633,876.846414638,783,799,650,628.846414638,651,0.400966400203,0.00451590816284,0.0598494006431,0.999999963874,8.93030550728e-05,-0.000252335283901,2.45780118987e-05,1793192458040034048
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,710.727087591,672,665,633,876.272912409,783,799,650,628.272912409,651,0.400963215559,0.00451664696001,0.0598475299135,0.999999962866,9.10311979021e-05,-0.000255687251049,2.45972497597e-05,1793192458056700416
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.30993581,742.69006419,711,672,665,633,876,783,799,650.30993581,628.30993581,650.69006419,0.400961062203,0.00451705833857,0.0598463649356,0.999999962261,9.14335017269e-05,-0.00025791623485,2.44172581821e-05,1793192458073366784
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.901269432,742.098730568,711,672,665,633,876,783,799,650.901269432,628.901269432,650.098730568,0.400959845179,0.00451717244625,0.0598458407259,0.999999962031,9.06320458877e-05,-0.000259125636182,2.40563816391e-05,1793192458090033408
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.51647753,742,711,672,664.51647753,632.51647753,876.48352247,783,799.48352247,650.51647753,628.51647753,650.48352247,0.400960187209,0.00451643692312,0.059845599312,0.999999962262,8.87746125572e-05,-0.000258869127754,2.4104082957e-05,1793192458106699776
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671.936475701,664,632,876.936475701,783,800,650,628.063524299,651,0.400961290995,0.00451566388469,0.0598457994053,0.999999962629,8.7335417586e-05,-0.000257923500412,2.42849711077e-05,1793192458123366400
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,671.359956209,664,632,876.359956209,783,800,650,628.640043791,651,0.400966022978,0.00451596306446,0.0598491072028,0.999999963348,9.09828970589e-05,-0.000253785500297,2.48801129452e-05,1793192458140032768
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.214320996,711,671.214320996,664.214320996,632.214320996,876.214320996,783,799.785679004,650,628.785679004,650.785679004,0.400974916703,0.00451638120161,0.0598536634586,0.999999964859,9.30053608622e-05,-0.000246966784903,2.52783820342e-05,1793192458156699392
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.784871173,711,671.784871173,664.784871173,632.784871173,876.784871173,783,799.215128827,650,628.215128827,650.215128827,0.40099072778,0.00451699706125,0.0598602948131,0.999999967641,9.23268383441e-05,-0.000235692374834,2.53494231235e-05,1793192458173366016
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.628438174,710.628438174,672,664.628438174,632.628438174,877,783,798.628438174,650,628,650,0.401022559696,0.00451641064465,0.0598719596437,0.999999972751,9.04360575528e-05,-0.000213729938268,2.52912725905e-05,1793192458190032896
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.031977984,710.031977984,672,664.031977984,632.031977984,877,783,798.031977984,650,628,650,0.401064088684,0.00451509651621,0.0598866711296,0.99999997866,8.78115228391e-05,-0.000185298268431,2.51549251446e-05,1793192458206700032
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.54514302,710.54514302,672,664,632.54514302,877,783,798.54514302,650,628,650,0.40112576831,0.00451345751255,0.059901524928,0.999999983053,8.46791405255e-05,-0.000161522583641,2.51691546592e-05,1793192458223366912
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,743,710.879044339,672,664,632.879044339,876.879044339,783,799,650,628.120955661,650,0.401191396418,0.00451218205711,0.0599148191837,0.999999986408,8.23262891346e-05,-0.000140611992356,2.51805296621e-05,1793192458240033536
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,743,710.304030357,672,664,632.304030357,876.304030357,783,799,650,628.695969643,650,0.401267561605,0.00451234042153,0.0599222287749,0.999999987858,8.30077355697e-05,-0.000129466594233,2.51491673649e-05,1793192458256699904
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.728756387,710.271243613,672,664,632.271243613,876,783,798.728756387,650,628.728756387,650.271243613,0.401353477141,0.00451061079193,0.0599271019285,0.999999989161,8.0272042054e-05,-0.000120870800353,2.50100884387e-05,1793192458273366272
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.153190758,710.846809242,672,664,632.846809242,876,783,798.153190758,650,628.153190758,650.846809242,0.401450332086,0.00450676292574,0.059929129323,0.99999999035,7.37024852593e-05,-0.000115135537924,2.47501567468e-05,1793192458290032896
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,633,876,783,798.436016504,650,628,651,0.40157060384,0.00449799747391,0.0599335114973,0.999999992084,6.24330167257e-05,-0.000106274951623,2.52832927447e-05,1793192458306699264
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664.029231509,633,876,783,799.029231509,650,628,651,0.401700468855,0.00448771211706,0.0599385313114,0.999999993767,4.96464719002e-05,-9.65617318234e-05,2.60252246036e-05,1793192458323366144
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664.604876993,633,876,783,799.604876993,650,628,651,0.401850900312,0.00448235506374,0.0599395057961,0.999999994624,4.03653609287e-05,-9.20990346451e-05,2.52934080897e-05,1793192458340033024
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664.820026088,633,876,783,799.820026088,650,628.179973912,651,0.402010505949,0.00447876854944,0.0599394691817,0.999999995226,3.24002273327e-05,-8.90341042283e-05,2.38801748243e-05,1793192458356699904
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664.246129928,633,876,783,799.246129928,650,628.753870072,651,0.402190191772,0.00447905734589,0.0599372195,0.999999995444,2.73154722251e-05,-8.90285701695e-05,2.09754742875e-05,1793192458373366528
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.337714732,742,711,672,664,632.662285268,876,783,798.662285268,650,628.662285268,651,0.402395830833,0.00447855830311,0.059935896294,0.999999995768,2.32063007661e-05,-8.71751378303e-05,1.80747183142e-05,1793192458390033152
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.929030095,742,711,672,664,632.070969905,876,783,798.070969905,650,628.070969905,651,0.402620959018,0.00447746764707,0.0599352688075,0.999999996166,1.98297252695e-05,-8.3934060454e-05,1.51769241325e-05,1793192458406699776
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.490723393,742,710.490723393,672,664,632,876,783,799.018553214,650,628.509276607,650.490723393,0.402881951167,0.0044759643885,0.0599378843869,0.999999996917,1.33216954088e-05,-7.64317572603e-05,1.21379756946e-05,1793192458423366400
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,710.087597027,672,664.087597027,632.087597027,876,783,799.912402973,649.912402973,628.912402973,650,0.403152198789,0.00447440246299,0.0599402823958,0.999999997511,6.32662322107e-06,-6.9686306129e-05,9.02896377953e-06,1793192458440033024
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,710.663595947,672,664.663595947,632.663595947,876,783,799.336404053,649.336404053,628.336404053,650,0.403446778168,0.00447282719971,0.0599390011415,0.999999997505,-1.00266897599e-06,-7.04011682752e-05,5.63664870857e-06,1793192458456699648
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.237750291,742,711,672,665,633,876.237750291,783,799,649.237750291,628.237750291,650.237750291,0.403750299906,0.00447080732698,0.0599319328203,0.999999996723,-9.57352585013e-06,-8.03711539528e-05,1.7714639867e-06,1793192458473366528
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.809314715,742,711,672,665,633,876.809314715,783,799,649.809314715,628.809314715,650.809314715,0.404066377176,0.00446816319886,0.0599167391475,0.999999994459,-1.98876055406e-05,-0.000103335828358,-2.75765483204e-06,1793192458490033152
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,742,711,672,665,633,877,783,799,650,628.603603742,650.603603742,0.40441554297,0.00446696093394,0.0599032029607,0.999999991283,-2.9908307341e-05,-0.000128388154071,-7.52425081077e-06,1793192458506700032
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,742,711,672,665,633,877,783,799,650,628.008753647,650.008753647,0.40478127436,0.00446648053081,0.0598904965866,0.999999987199,-3.97821306191e-05,-0.000154485651394,-1.24097384218e-05,1793192458523366912
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.431494506,742,711,671.431494506,665,633,877,783.568505494,798.431494506,650,628.568505494,650.568505494,0.405202071493,0.00446355510912,0.0598879621347,0.999999985452,-4.96742723531e-05,-0.000162349434459,-1.646007124e-05,1793192458540033536
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665,633,877,783.85469069,798.290618621,650,628.85469069,651,0.405644704385,0.00446055348224,0.0598928307806,0.999999985762,-5.98684631661e-05,-0.000156439498889,-2.04738052386e-05,1793192458556699904
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,671,665,633,877,783.278458132,799.443083737,650,628.278458132,651,0.406149653441,0.00445743416001,0.0599192032096,0.99999999108,-7.0957584961e-05,-0.000110490404406,-2.44159933251e-05,1793192458573366528
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.303979369,742,710.696020631,671.303979369,664.696020631,632.696020631,876.696020631,783,799.696020631,650,628,650.696020631,0.406674173176,0.00445491648677,0.0599469706007,0.99999999439,-8.14902730235e-05,-6.13858492375e-05,-2.84748411505e-05,1793192458590033408
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.892219374,742,710.107780626,671.892219374,664.107780626,632.107780626,876.107780626,783,799.107780626,650,628,650.107780626,0.407216994125,0.00445296143399,0.0599760424675,0.999999995237,-9.15026236952e-05,-9.33051855296e-06,-3.26427815917e-05,1793192458606700032
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,742,710.47200348,671.52799652,664.47200348,632,876,783,799,650,628,650,0.407764275356,0.00445138988405,0.0599810587265,0.999999994896,-9.40531369305e-05,-1.09993850029e-05,-3.52252115317e-05,1793192458623366912
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.950419423,742,711,671.049580577,665,632,876.049580577,783,799,650,628,650,0.40831430011,0.00445018559881,0.0599796734561,0.999999994969,-8.98889776481e-05,-2.59883540237e-05,-3.61400571679e-05,1793192458640033792
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.376123865,742,711,671.623876135,665,632,876.623876135,783,799,650,628,650,0.408882771079,0.00445195763479,0.0599676503274,0.999999997728,-3.23779554108e-05,-5.43992743793e-05,-2.31708675264e-05,1793192458656700928
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.198648185,711,672,665,632,877,782.801351815,799,650,628,650,0.409475834235,0.00445355557734,0.0599594467673,0.99999999728,3.38057204914e-06,-7.17329212692e-05,-1.68028854705e-05,1793192458673367296
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.774324568,711,672,665,632,877,782.225675432,799,650,628,650,0.410115572579,0.00445482309576,0.0599584926324,0.999999997419,-2.14647582338e-06,-6.80422396208e-05,-2.29637950194e-05,1793192458690033408
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.359874271,742.640125729,711,672,665,632,877,782.359874271,799,650,628,650.359874271,0.410781500281,0.00445209624136,0.0599642074526,0.999999998275,-8.33392023011e-06,-5.15670839908e-05,-2.68408093443e-05,1793192458706699776
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.951790124,742.048209876,711,672,665,632,877,782.951790124,799,650,628,650.951790124,0.411464314466,0.00444679387467,0.0599742223158,0.9999999991,-1.49471782885e-05,-2.68486896768e-05,-2.92452017239e-05,1793192458723366400
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.468083805,742,710.468083805,672,665,632,877,783,799,650,628.531916195,650.468083805,0.412160642031,0.00444669702362,0.0599616230699,0.999999998218,-7.26275399212e-06,-5.09437495514e-05,-3.02654677643e-05,1793192458740033024
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.109921353,710.109921353,672,665,632.109921353,877,783,799,650,628.890078647,650,0.412851248594,0.00444665753684,0.0599426351452,0.999999995515,-1.3946007067e-05,-8.84659873394e-05,-3.08072271297e-05,1793192458756699648
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.683390766,710.683390766,672,665,632.683390766,877,783,799,650,628.316609234,650,0.413512676001,0.00444491348723,0.0599051615849,0.999999982301,-8.65652900463e-05,-0.000164359237554,-2.98486407732e-05,1793192458773366016
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.263933845,743,711,672,665,633,877,783,799,650,628,650.263933845,0.414229210814,0.00444224102377,0.0598945534332,0.999999974554,-0.000126160728149,-0.000184534679699,-3.03676830452e-05,1793192458790032640
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.853196097,743,711,672,665,633,877,783,799,650,628,650.853196097,0.415013671846,0.00443842418468,0.0599170599404,0.999999982394,-0.000125050541623,-0.000136031614211,-3.27080703655e-05,1793192458806699264
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,711,672,665.436895704,632.563104296,877,782.563104296,799.436895704,650,628,651,0.415848268368,0.00443734357811,0.0599598981108,0.999999991154,-0.000112987117385,-6.19484851205e-05,-3.29886577481e-05,1793192458823365888
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.981492536,742.981492536,711,672,666,632.018507464,877,782.018507464,799.981492536,649.981492536,628,650.981492536,0.416698125656,0.00443701861832,0.0600076698505,0.999999994558,-9.75484929129e-05,1.74808451652e-05,-3.25934295643e-05,1793192458840032768
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.407153934,742.407153934,711,672,666,632.592846066,877,782.592846066,799.407153934,649.407153934,628,650.407153934,0.417506726591,0.0044321223098,0.0600010131341,0.999999995431,-8.98880719638e-05,2.5758951304e-06,-3.24267099525e-05,1793192458856699392
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,672.166816181,665.833183819,632.833183819,877,783,799,649.166816181,628,650,0.418313220989,0.0044282327932,0.0599903403195,0.99999999574,-8.46036883078e-05,-1.61022906036e-05,-3.32052486074e-05,1793192458873366016
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,672.739888866,665.260111134,632.260111134,877,783,799,649.739888866,628,650,0.419114585174,0.00442679517192,0.0599698868833,0.999999994754,-8.51057977369e-05,-4.39696411892e-05,-3.62858260506e-05,1793192458890032640
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.32302664,711,673,665.32302664,632.32302664,877,782.67697336,799,650,628,650.32302664,0.419906125361,0.00442470726024,0.0599472235271,0.999999992752,-8.52616284752e-05,-7.61594005537e-05,-3.77782521227e-05,1793192458906699264
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.914529764,711,673,665.914529764,632.914529764,877,782.085470236,799,650,628,650.914529764,0.420689500507,0.00442207887409,0.0599227234454,0.999999989391,-8.51296572299e-05,-0.00011194163343,-3.79507209551e-05,1793192458923366144
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.503321175,711,673,666,633,877.496678825,782.496678825,799.496678825,649.503321175,628,650.503321175,0.421472147915,0.00442240037719,0.0598900171425,0.999999979766,-8.39650650389e-05,-0.000178712624792,-3.84565445661e-05,1793192458940032768
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.076324834,711,672.923675166,665.923675166,633,878,783,799.923675166,649.076324834,628,650,0.422272276643,0.004422518192,0.0598650472676,0.999999968791,-8.39538063652e-05,-0.000232029547837,-3.91447247732e-05,1793192458956699648
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.649955799,711,672.350044201,665.350044201,633,878,783,799.350044201,649.649955799,628,650,0.423187108105,0.00441806246072,0.0598995163195,0.999999981507,-9.25936814341e-05,-0.000163580954218,-4.06542176468e-05,1793192458973366272
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.776568594,711,672.223431406,665.223431406,632.776568594,877.776568594,783,799,649.776568594,628,650,0.424091412543,0.00441382238391,0.0599425446317,0.999999990307,-9.98374792463e-05,-8.80257199486e-05,-4.08694172253e-05,1793192458990032896
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.203336123,711,672.796663877,665.796663877,632.203336123,877.203336123,783,799,649.203336123,628,650,0.424979236162,0.00440991993203,0.0599989732066,0.999999993735,-0.000104895599543,-1.34441891357e-06,-3.90582897066e-05,1793192459006699520
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711,673,665.615543407,632,877.384456593,783,799,649.384456593,628,650.384456593,0.425823521698,0.004408210615,0.060015516073,0.999999991932,-0.000117918927276,2.64477661934e-05,-3.91393516296e-05,1793192459023365888
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711,673,665.019746798,632,877.980253202,783,799,649.980253202,628,650.980253202,0.426643873819,0.00440770688853,0.0600101333234,0.999999989795,-0.000135320817087,2.18679516172e-05,-4.02605711009e-05,1793192459040032512
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,877.443307018,783,799,650,628,651,0.427458909237,0.00440290350091,0.059986766299,0.999999989843,-0.000136120522618,-4.13007052254e-06,-4.20529610229e-05,1793192459056699136
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,877,783,799,650,628,650.867722663,0.428267271205,0.00439869152279,0.0599638765272,0.999999989426,-0.000135202614115,-3.09810753257e-05,-4.36966957003e-05,1793192459073366016
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,877,783,799,650,628,650.292780462,0.429053910412,0.00439695193376,0.0599446469728,0.999999988795,-0.000130441272644,-5.82295533435e-05,-4.47659625812e-05,1793192459090032640
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.290127113,711,673,665,632,877.290127113,783,799,650,628,650,0.429813505979,0.00439665607237,0.0599236392139,0.999999986603,-0.000124577890365,-9.6036078926e-05,-4.52875379486e-05,1793192459106699264
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.881299789,711,673,665,632,877.881299789,783,799,650,628,650,0.430545040114,0.00439785827099,0.0599007863321,0.999999981582,-0.000117570993953,-0.000144797984796,-4.52408102232e-05,1793192459123366144
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711,673,665.462884447,632,878,783,799,650,628,650,0.43135537323,0.00439401286719,0.0599275071353,0.999999987285,-0.000121772714323,-9.19906665739e-05,-4.62584025531e-05,1793192459140033024
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.958395557,711,673.041604443,666.041604443,632,878,783,799,650,628,650,0.432180623117,0.00438909369327,0.0599659825219,0.999999990562,-0.000127948266134,-1.64035094621e-05,-4.72910327515e-05,1793192459156699648
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.38549731,711,673.61450269,666.61450269,632,878,783,799,650,628,650,0.432943553324,0.00438665638772,0.0599955198874,0.99999999108,-0.000123369690763,2.42240511005e-05,-4.51010808389e-05,1793192459173366272
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.19257856,711,674,666.80742144,632,878,783.19257856,799.19257856,650,628.19257856,650,0.433678852231,0.00438529073232,0.060006016516,0.99999999145,-0.000118174959584,3.5209256017e-05,-4.35258645278e-05,1793192459190032640
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.781305287,711,674,666.218694713,632,878,783.781305287,799.781305287,650,628.781305287,650,0.434357311677,0.0043861295391,0.0599773449633,0.999999992717,-0.000111712750208,-1.47820224409e-05,-4.32152039074e-05,1793192459206699520
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.363629342,743,711,673.636370658,666,632.363629342,877.636370658,783.636370658,799.636370658,650,629,650,0.435016608145,0.00440383049533,0.0599451233156,0.999999992792,-8.89154556184e-05,-6.71099205015e-05,-4.47888591993e-05,1793192459223366400
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.942169284,743,711,673.057830716,666,632.942169284,877.057830716,783.057830716,799.057830716,650,629,650,0.435664578954,0.00443149724422,0.0599108035081,0.99999998998,-5.64638716947e-05,-0.00012081879394,-4.74761744359e-05,1793192459240033024
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.479330935,743,711,673.520669065,666.520669065,632.479330935,877.520669065,783,799,649.479330935,628.479330935,650,0.43630225445,0.00444476009278,0.0599107744902,0.999999990478,-3.90387703616e-05,-0.000122682121247,-4.96935050467e-05,1793192459256699648
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.098360935,742.901639065,711,673.901639065,666.80327813,632,878,783,799,649.098360935,628.098360935,650,0.436929155065,0.00445235597203,0.0599140383793,0.999999990963,-2.80358031577e-05,-0.000121211432397,-5.09557514295e-05,1793192459273366272
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.672169155,742.327830845,711,673.327830845,665.65566169,632,878,783,799,649.672169155,628.672169155,650,0.437509500019,0.00444029197649,0.0599148106053,0.999999989414,-4.00087256685e-05,-0.000131457753143,-4.78537122662e-05,1793192459290032896
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.747430233,742,711,673.252569767,665,632,878,783,799,650,628.747430233,650,0.438070882913,0.00443565296241,0.0599072353115,0.99999998612,-4.89757427401e-05,-0.000152549107526,-4.57285767938e-05,1793192459306699520
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.158243536,742,711,673.841756464,665,632,878,783,799,650,628.158243536,650,0.438606993732,0.00444090972776,0.0598885347097,0.999999979847,-5.393658393e-05,-0.000188094375909,-4.49054276195e-05,1793192459323366400
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.423634293,742,710.576365707,673.576365707,665,632,878,783,799,650,628.423634293,650,0.43913886851,0.00444086380591,0.0598894373782,0.999999978162,-7.8362748936e-05,-0.000188452319002,-4.49512195845e-05,1793192459340032768
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.997179163,742,710.002820837,673.002820837,665,632,878,783,799.002820837,650,629,650,0.43966889308,0.00443888029438,0.0598974942766,0.999999977466,-0.000109769935269,-0.000175967168642,-4.53179377127e-05,1793192459356699392
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.419519928,742,710.580480072,673.580480072,665,632,878,783,799.580480072,650,629,650,0.44013884968,0.00443884740641,0.0598965548624,0.999999977112,-0.000107205971779,-0.000179334725637,-4.60613575281e-05,1793192459373366016
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.157092291,742,711,673.842907709,665,632,878,783,799.842907709,650,628.842907709,650,0.440584544743,0.00443999752136,0.0598866619776,0.999999974291,-0.000102903879727,-0.000196446351231,-4.73070811538e-05,1793192459390032640
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.730927058,742,711,673.269072942,665,632,878,783,799.269072942,650,628.269072942,650,0.440965877663,0.00444428596707,0.0598530168668,0.999999963084,-9.39907904408e-05,-0.000250018946375,-4.98853421327e-05,1793192459406699264
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,742.313242153,711,673,664.373515693,632,878.313242153,783,799,650,628,650,0.441327029285,0.00444802511252,0.0598179718111,0.999999948659,-8.56897342881e-05,-0.000304404951496,-5.17423747493e-05,1793192459423366144
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.195422711,711,673,663,631,878,782.195422711,799,650,628,650,0.443132453712,0.00448804015485,0.0597086731716,0.999999892321,1.58760475621e-05,-0.000461398068686,-4.7089032318e-05,1793192459523366400
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742,711,673,662.224488141,631,878,782.387755929,799,649.612244071,628,650.387755929,0.44336700365,0.00448928653122,0.0597058508694,0.999999889634,1.41807498797e-05,-0.000467129775085,-4.81822465465e-05,1793192459540032768
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742,711,673,661.061559951,631,878,782.969220024,799,649.030779976,628,650.969220024,0.443590135737,0.00449037533404,0.0597028977579,0.999999887223,1.19139554157e-05,-0.000472237725728,-4.90209804599e-05,1793192459556699392
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,710.120548422,673.120548422,662,631,878,782.120548422,799.120548422,649.120548422,628.879451578,650,0.443969444921,0.00449646418563,0.0597054599836,0.999999889164,1.92410929418e-05,-0.00046757644338,-5.17115680591e-05,1793192459590032640
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,710.694817424,673.694817424,662,631,878,782.694817424,799.694817424,649.694817424,628.305182576,650,0.444127328909,0.0044992646706,0.0597087834766,0.999999891133,2.38454431204e-05,-0.000463109857463,-5.19165317508e-05,1793192459606699520
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.72267356,710.72267356,674,661.72267356,630.72267356,878,782.72267356,799.72267356,650,628,650.27732644,0.444266166709,0.00450303809273,0.0597075357883,0.999999889268,2.81362495902e-05,-0.000466799943764,-5.26361194329e-05,1793192459623366144
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.130819226,710.130819226,674,661.130819226,630.130819226,878,782.130819226,799.130819226,650,628,650.869180774,0.444383403395,0.00450791496475,0.0597011037255,0.999999882955,3.20714523161e-05,-0.000479740864601,-5.39393643956e-05,1793192459640032768
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.450643598,710.450643598,673.549356402,661,630,878,782.450643598,799,649.549356402,628,650.549356402,0.444475304766,0.00451886784907,0.0596912697974,0.99999987528,4.31622364043e-05,-0.000494306085533,-5.69021170047e-05,1793192459656699392
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,673,661,630,878,782.971046718,799,649,628.028953282,650.028953282,0.444558994377,0.00453154739123,0.0596806715452,0.999999866971,5.63955898654e-05,-0.000509161990214,-6.02546615449e-05,1793192459673365760
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,673,661,630,878,782.396590543,799,649,628.603409457,650.603409457,0.444623412967,0.0045442755945,0.059673859518,0.999999859878,7.17422284387e-05,-0.000520810949154,-6.20793088888e-05,1793192459690032640
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,673.177358179,661,630,878,782,799.177358179,649.177358179,628.822641821,651,0.444684066257,0.00455184734284,0.0596689413168,0.99999985452,8.11819582535e-05,-0.000529536082691,-6.29394215551e-05,1793192459706699520
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,673.750175342,661,630,878,782,799.750175342,649.750175342,628.249824658,651,0.444736323979,0.0045479216415,0.0596682458171,0.999999853726,7.74509365542e-05,-0.000531741904579,-6.16488922631e-05,1793192459723366656
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.664784199,711,673.664784199,660.664784199,630,878,782.335215801,800,649.664784199,628,650.664784199,0.444779611597,0.0045463359291,0.0596673325162,0.999999852898,7.53629072353e-05,-0.000533698287306,-6.07539176366e-05,1793192459740033280
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.070289338,711,673.070289338,660.070289338,630,878,782.929710662,800,649.070289338,628,650.070289338,0.444815961121,0.00454656012539,0.0596662507527,0.999999852052,7.4545681337e-05,-0.000535461736794,-6.01648921795e-05,1793192459756699392
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742,711,673,660.506664001,630,878,782.493335999,799.493335999,649.506664001,628,650,0.444840905767,0.00454669715274,0.0596663067436,0.999999851486,7.22754811818e-05,-0.00053684752161,-5.99938569273e-05,1793192459773366272
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.081401465,710.918598535,673,660.918598535,630,878,782,799,650,628.081401465,650,0.444862705095,0.00454664386406,0.0596662351821,0.999999850839,6.99136123771e-05,-0.000538383729016,-5.98118549075e-05,1793192459790032896
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.656966134,710.343033866,673,660.343033866,630,878,782,799,650,628.656966134,650,0.44487469378,0.00454550618131,0.0596644631537,0.999999849506,6.81779759144e-05,-0.000541140526402,-5.92230316662e-05,1793192459806699776
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.762062321,710.237937679,673.237937679,660,630,878,782.237937679,799,650,629,650,0.444885997695,0.00454537658243,0.0596642068849,0.999999849248,6.66788790802e-05,-0.000541833992936,-5.89358647016e-05,1793192459823366400
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.173114485,710.826885515,673.826885515,660,630,878,782.826885515,799,650,629,650,0.444896291424,0.00454673412795,0.0596661866936,0.999999850586,6.55287300752e-05,-0.000539483594696,-5.90937068054e-05,1793192459840033024
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.410508634,711,673.589491366,660,630,878,782.589491366,799,650,628.589491366,650,0.444904835242,0.00454744538724,0.0596678117273,0.999999851936,6.61566012506e-05,-0.000536933470029,-5.87604026061e-05,1793192459856699648
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.991915021,711,673.008084979,660,630,878,782.008084979,799,650,628.008084979,650,0.444912650559,0.0045478875928,0.0596692890656,0.999999853287,6.75246752852e-05,-0.000534300197842,-5.82226305972e-05,1793192459873366272
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.431493007,711,673.568506993,660,630,877.431493007,782,799,650,628,650.568506993,0.44491811432,0.00454604102131,0.0596714520294,0.99999985559,6.3574093606e-05,-0.000530482162066,-5.80258663499e-05,1793192459890033152
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.144922323,711,673.855077677,660,630,877.289844646,782.144922323,799,650,628,650.855077677,0.444922919436,0.00454509062508,0.0596733930991,0.999999857577,6.11368008263e-05,-0.000527024048934,-5.79214162843e-05,1793192459906699776
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.721014002,711,673.278985998,660,630,878.442028005,782.721014002,799,650,628,650.278985998,0.444925863631,0.00454690253576,0.0596746452284,0.999999858654,6.34249581053e-05,-0.000524686477452,-5.80773098607e-05,1793192459923366656
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742.699216456,711,673.300783544,660.300783544,630,878.699216456,783,799,650,628,650,0.444929156184,0.00454782691032,0.0596759329144,0.999999859795,6.46593621643e-05,-0.000522380107498,-5.78701420197e-05,1793192459940033280
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742.115993288,711,673.884006712,660.884006712,630,878.115993288,783,799,650,628,650,0.44493277585,0.00454791787726,0.0596772539886,0.999999860997,6.49042786353e-05,-0.00052010303591,-5.73220548472e-05,1793192459956700160
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.469044849,711,674,660.530955151,630,878,782.530955151,799.469044849,650,628,650,0.44493621192,0.0045472124156,0.0596791062348,0.999999862755,6.30915303838e-05,-0.000516943895017,-5.72625373054e-05,1793192459973366784
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.946477848,710.946477848,673.946477848,660,630,877.946477848,782,799.946477848,649.946477848,628,650,0.444939631239,0.00454637088978,0.059681057971,0.999999864615,6.09585318434e-05,-0.000513585950755,-5.73100270567e-05,1793192459990033152
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.371847603,710.371847603,673.371847603,660,630,877.371847603,782,799.371847603,649.371847603,628,650,0.444943331232,0.00454612965686,0.0596826944741,0.999999866255,6.06810797015e-05,-0.000510424452753,-5.72184459202e-05,1793192460006699776
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.201727986,710,673,660,630,877.201727986,782,799.201727986,649,628,650,0.444946257336,0.00454555780009,0.0596840886371,0.999999867486,6.0121376902e-05,-0.000508097910508,-5.70127907444e-05,1793192460023366400
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.77336959,710,673,660,630,877.77336959,782,799.77336959,649,628,650,0.444947764344,0.0045443796702,0.0596850384151,0.999999867977,5.90441040781e-05,-0.000507302447575,-5.65979551754e-05,1793192460040033024
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.640304503,710.359695497,673,660.359695497,630,878,782,800,649.359695497,628,650,0.444948754868,0.00454385949202,0.0596854230772,0.999999868221,5.95699453703e-05,-0.000506785061643,-5.63840966183e-05,1793192460056699648
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.044332819,710.955667181,673,660.955667181,630,878,782,800,649.955667181,628,650,0.444949406123,0.00454377150812,0.0596854365269,0.999999868299,6.11488376761e-05,-0.000506450338505,-5.63022555275e-05,1793192460073366528
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742,710.466542518,673,661,630,878,782,800,650,628,650.533457482,0.444954507882,0.00454420192949,0.0596883583199,0.999999870922,6.04722879291e-05,-0.000501317822554,-5.63788449716e-05,1793192460090033152
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.109539379,710,673,661,630,878,782,799.890460621,649.890460621,628,650.890460621,0.444959789648,0.00454481437192,0.0596912657141,0.99999987352,6.00833191889e-05,-0.000496144864256,-5.64738542205e-05,1793192460106700032
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.684570442,710,673,661,630,878,782,799.315429558,649.315429558,628,650.315429558,0.444964316437,0.00454602327537,0.059693118671,0.999999875248,6.16867084127e-05,-0.000492438573387,-5.65930324023e-05,1793192460123366656
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,710.26630376,673,661,630,878,782,799,649.26630376,628.26630376,650,0.444968174343,0.00454586544036,0.0596951189527,0.999999877043,6.10430084998e-05,-0.000488872269149,-5.64895610609e-05,1793192460140033536
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,710.856180749,673,661,630,878,782,799,649.856180749,628.856180749,650,0.44497121952,0.00454404694562,0.0596972982422,0.999999878919,5.76689760139e-05,-0.000485476055616,-5.61155587258e-05,1793192460156699904
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.562989967,742.562989967,711,673.437010033,661,630,878,782,799,649.562989967,628.562989967,650,0.444973310197,0.00454312258259,0.0596978683419,0.999999879579,5.65743877299e-05,-0.000484260338672,-5.59837461613e-05,1793192460173366528
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.014848227,742,711,673.985151773,661,630,878,782.014848227,799,649.014848227,628,650,0.444975160625,0.0045425452712,0.0596979771957,0.999999879893,5.62330072681e-05,-0.000483654376881,-5.59462366398e-05,1793192460190032896
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.589899548,742,711,673.410100452,661,630,878,782.589899548,799,649.589899548,628,650,0.444979557847,0.0045441850077,0.0597002589899,0.999999881828,5.65806525479e-05,-0.000479528824869,-5.65205155135e-05,1793192460206699520
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742,710.834777545,673.165222455,660.834777545,630,878,782.834777545,799,650,628,650,0.444983180243,0.0045449533338,0.0597023423654,0.999999883488,5.73189451613e-05,-0.000475960883066,-5.65663228451e-05,1793192460223366400
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742,710.258779455,673.741220545,660.258779455,630,878,782.258779455,799,650,628,650,0.444984876268,0.00454355516157,0.0597039324325,0.999999884495,5.90284641327e-05,-0.000473779270569,-5.52982455826e-05,1793192460240033280
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742,710,673.674491468,660.325508532,630,878.325508532,782.325508532,799,650,628.325508532,650,0.444985612565,0.00454300405234,0.0597046698045,0.999999884854,5.8391475876e-05,-0.000473126894434,-5.50746365287e-05,1793192460256700160
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742,710,673.083440807,660.916559193,630,878.916559193,782.916559193,799,650,628.916559193,650,0.444985565938,0.00454314395706,0.0597047115681,0.999999884683,5.58402626728e-05,-0.000473722033107,-5.57030798935e-05,1793192460273367040
+244,4.066666667,HOLD_POSE2,764,742,711,674,661,630,878,783,800,649,628,650,0.444989077729,0.00454415420721,0.0597064597828,0.999999886374,5.9011855748e-05,-0.000469665168154,-5.64246957669e-05,1793192460304537600
+245,4.083333333,HOLD_POSE2,764,742,711,673.425058359,661,630.574941641,878.574941641,782.425058359,799.425058359,649.574941641,628,650,0.444991245404,0.00454243098423,0.0597068040559,0.999999887306,5.54795601572e-05,-0.000468181523039,-5.58283241989e-05,1793192460321203712
+246,4.100000000,HOLD_POSE2,764,742,710.846741065,673.153258935,660.846741065,630.846741065,878.846741065,782,799.153258935,649.846741065,628,650,0.444992949424,0.00454127927961,0.0597072806777,0.999999888074,5.29871046682e-05,-0.000466885467832,-5.53402156048e-05,1793192460337870080
+247,4.116666667,HOLD_POSE2,764,742,710.258850519,673.741149481,660.258850519,630.258850519,878.258850519,782,799.741149481,649.258850519,628,650,0.444993338549,0.00454174836068,0.0597081326312,0.999999888416,5.34435620971e-05,-0.000466121404148,-5.51591330889e-05,1793192460354536704
+248,4.133333333,HOLD_POSE2,764,742.32402426,710.32402426,673.67597574,660.32402426,630.32402426,878,782,800,649,628,650.32402426,0.444994867192,0.0045412627315,0.0597096036005,0.99999988932,5.31405589642e-05,-0.000464228180765,-5.50332364929e-05,1793192460371203840
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+250,4.166666667,HOLD_POSE2,763.519707435,743,710.519707435,673,661,631,878,782,799.519707435,649.480292565,628,650.039414869,0.444998394628,0.00454164487047,0.0597116932547,0.999999890781,5.49091411285e-05,-0.000460892979344,-5.47772721368e-05,1793192460404537344
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+254,4.233333333,HOLD_POSE2,764,742.198021611,711,673.198021611,661,630.198021611,878,782.198021611,799.198021611,649.198021611,628.801978389,650,0.4450061278,0.00454070599304,0.0597148594759,0.999999893651,5.17641881237e-05,-0.000454935543255,-5.52493352319e-05,1793192460471203584
+255,4.250000000,HOLD_POSE2,764,742,710.61403992,673,661,630.38596008,878,782.38596008,799,649,628.61403992,650,0.445007581844,0.00454174284467,0.059715917779,0.999999894326,5.28966483663e-05,-0.000453290481277,-5.54771508468e-05,1793192460487869952
+256,4.266666667,HOLD_POSE2,764,742,710.03200783,673,661,630.96799217,878,782.96799217,799,649,628.03200783,650,0.445009472734,0.00454370379795,0.0597171846246,0.999999895175,5.50259220635e-05,-0.000451119020369,-5.57960090875e-05,1793192460504536576
+257,4.283333333,HOLD_POSE2,764,742,710.540608707,673,661,630.459391293,878,782.459391293,799.540608707,649,628.540608707,650,0.445011245964,0.00454400154025,0.0597175072308,0.999999895378,5.61129785014e-05,-0.000450570275587,-5.5506656148e-05,1793192460521203200
+258,4.300000000,HOLD_POSE2,764,742,710.886380717,673.113619283,661,630,878,782.113619283,799.886380717,649.113619283,628.886380717,650,0.445013041809,0.00454405733553,0.0597181607134,0.999999895822,5.6933849034e-05,-0.000449517137281,-5.52085643282e-05,1793192460537870336
+259,4.316666667,HOLD_POSE2,764,742,710.309529535,673.690470465,661,630,878,782.690470465,799.309529535,649.690470465,628.309529535,650,0.445014957773,0.00454352130997,0.059720387225,0.999999897399,5.69167400384e-05,-0.000446022557119,-5.5019146472e-05,1793192460554537216
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,661,631,878,782,800,650,628,650,0.445017383037,0.00454031407313,0.0597222945213,0.999999899042,5.13845726903e-05,-0.000443029406781,-5.47742917868e-05,1793192460591899136
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,661,630.417833892,878,782,799.417833892,649.417833892,628,650,0.445018830087,0.00454209397518,0.0597220630651,0.999999899088,5.36310716551e-05,-0.000442624780874,-5.50619409198e-05,1793192460608566016
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.162252389,711,673.162252389,661,630.162252389,878,782.162252389,799,649,628,650,0.445020476954,0.00454292772044,0.0597223759326,0.999999899474,5.53718899939e-05,-0.000441527488339,-5.51396192629e-05,1793192460625232640
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.73705059,711,673.73705059,661,630.73705059,878,782.73705059,799,649,628,650,0.44502263188,0.00454135575095,0.0597240728073,0.999999900731,5.58269562511e-05,-0.00043866900923,-5.46834222005e-05,1793192460641899008
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.687764,742.687764,711,674,661.312236,630.687764,878,782.687764,799,649.312236,628.312236,650,0.44502289294,0.00453978121227,0.0597243095165,0.999999901013,5.44874417617e-05,-0.000438237312212,-5.43370007927e-05,1793192460658565632
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.112252132,742.112252132,711,674,661.887747868,630.112252132,878,782.112252132,799,649.887747868,628.887747868,650,0.445021557102,0.00453820450733,0.0597233150212,0.99999990047,5.16347455355e-05,-0.000439851866154,-5.40831417072e-05,1793192460675232512
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.478264298,742,711,674,661.521735702,630.478264298,878.478264298,782.478264298,799,650,628.521735702,650,0.445021080168,0.00453994718898,0.0597229259834,0.999999900138,5.23929785067e-05,-0.000440444674391,-5.46489352446e-05,1793192460691899136
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.92973707,661.07026293,631,878.92973707,782.92973707,799,650,628,650,0.445020719338,0.00454229860173,0.059722663277,0.999999899914,5.40181123887e-05,-0.000440668144712,-5.53678320715e-05,1793192460708565760
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.35325395,661.64674605,631,878.35325395,782.35325395,799,650,628,650,0.445019695562,0.00454324087717,0.0597222537649,0.999999900094,5.55851714913e-05,-0.000440014380177,-5.57588728324e-05,1793192460725232384
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.226852042,711,673,661.773147958,631,878,782.226852042,799,649.773147958,628,650,0.445013430401,0.00454416141615,0.059719294803,0.999999898347,5.64656106867e-05,-0.000443825986925,-5.59931881544e-05,1793192460741898752
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.812691073,711,673,661.187308927,631,878,782.812691073,799,649.187308927,628,650,0.444998870895,0.00454504755772,0.0597123014085,0.999999893473,5.62594929946e-05,-0.000454703918444,-5.59794898263e-05,1793192460758565376
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,661.393320006,630.606679994,878.393320006,782.606679994,799,649.393320006,628,650.393320006,0.444970386273,0.00454464443995,0.0597016936603,0.999999885439,5.72484609205e-05,-0.000471969328809,-5.55750419116e-05,1793192460775232256
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,661.971500248,630.028499752,878.971500248,782.028499752,799,649.971500248,628,650.971500248,0.44493535685,0.00454363537091,0.0596893871669,0.999999875611,5.87991185409e-05,-0.000492236852317,-5.49869418396e-05,1793192460791898880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.449061833,710.449061833,673.550938167,662,630,878.449061833,782.550938167,799,649.449061833,628.550938167,650.449061833,0.444882484019,0.00454431460223,0.0596806990416,0.999999873006,5.75280154489e-05,-0.000497544660117,-5.59190200214e-05,1793192460808565760
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.128531566,710.128531566,673.871468434,662,630.128531566,878.128531566,782.871468434,799,649.128531566,628.871468434,650.128531566,0.444823298379,0.0045451350322,0.0596726262922,0.999999869988,5.73528605546e-05,-0.000503518691334,-5.65943173735e-05,1793192460825232384
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.699550614,710.699550614,673.300449386,662,630.699550614,878.699550614,782.300449386,799,649.699550614,628.300449386,650.699550614,0.444745564942,0.0045461402077,0.0596660262013,0.999999864205,6.14543221636e-05,-0.000514456498156,-5.61142702333e-05,1793192460841899008
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,661.720016523,631,878.720016523,782,799,649.720016523,628.279983477,650.720016523,0.444657367296,0.00454633050928,0.0596630152557,0.999999861955,6.46635389024e-05,-0.000518517364628,-5.52053621824e-05,1793192460858565632
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,661.129130286,631,878.129130286,782,799,649.129130286,628.870869714,650.129130286,0.444557549858,0.0045456159483,0.059663989814,0.999999863733,6.68819776792e-05,-0.000514941852275,-5.3820233063e-05,1793192460875232256
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,661.453039437,631,878,782,799,649.453039437,628.546960563,650,0.444437562039,0.00454707855042,0.0596670450745,0.999999866349,7.00822282003e-05,-0.000509487375548,-5.30425801836e-05,1793192460891898880
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.967390978,710.967390978,673.032609022,662,631,878,782.032609022,799.032609022,649.967390978,628,650,0.444309962821,0.00454912647519,0.0596706672599,0.999999869164,7.36424277146e-05,-0.000503495404254,-5.23560529521e-05,1793192460908565248
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.39053442,710.39053442,673.60946558,662,631,878,782.60946558,799.60946558,649.39053442,628,650,0.444149471731,0.00455078181441,0.0596740400208,0.999999871986,7.86277087719e-05,-0.000497302462821,-5.03550909871e-05,1793192460925232128
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.815120119,742.184879881,710.184879881,673.815120119,662,631,878.184879881,782.815120119,799.815120119,649,628,650,0.443979082104,0.00455228796801,0.059678604998,0.999999875377,8.35430100244e-05,-0.000489826104772,-4.83475531507e-05,1793192460941898752
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.242728886,742.757271114,710.757271114,673.242728886,662,631,878.757271114,782.242728886,799.242728886,649,628,650,0.443787944997,0.0045534814258,0.0596856688805,0.999999879991,8.83116317989e-05,-0.000479659684602,-4.632623243e-05,1793192460958565376
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.340830423,743,711,673,662,631,878.659169577,782,799,649,628,650,0.443562997015,0.00455459175496,0.0596886696859,0.999999881559,9.36445792233e-05,-0.000475575363528,-4.40541322168e-05,1793192460975232000
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.932612796,743,711,673,662,631,878.067387204,782,799,649,628,650,0.443313154213,0.00455564087699,0.0596886788661,0.999999880922,9.9393037656e-05,-0.000475969264379,-4.15973839514e-05,1793192460991898880
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.514953046,742.485046954,711,673.514953046,662,631,878,782,799,649,628,650,0.443018711312,0.00455709311989,0.0596828047628,0.999999873853,0.000107977261464,-0.000489054040804,-3.82313783336e-05,1793192461008565760
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.905220056,742.094779944,711,673.905220056,662.094779944,631,878,782.094779944,799,649.094779944,628.094779944,650,0.442713325326,0.00455851065605,0.0596769379512,0.999999866766,0.000116461341314,-0.000501691878983,-3.47869854977e-05,1793192461025232640
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.331955802,742.668044198,711,673.331955802,662.668044198,631,878,782.668044198,799,649.668044198,628.668044198,650,0.442381628309,0.00455949146,0.0596749246637,0.99999986506,0.000122600189098,-0.000503840347125,-3.15367344068e-05,1793192461041899008
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.753022607,710.753022607,673.246977393,663,631,877.753022607,783,799.246977393,649.753022607,629,650.246977393,0.4420351426,0.00456175252662,0.0596768502916,0.999999865249,0.000131207667211,-0.000501499171815,-2.80195142198e-05,1793192461058565632
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.166290971,710.166290971,673.833709029,663,631,877.166290971,783,799.833709029,649.166290971,629,650.833709029,0.441668312859,0.00456577478543,0.0596841944851,0.999999867938,0.000143211114174,-0.000492981822088,-2.41350384126e-05,1793192461075232256
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.414995737,710,673.585004263,663.414995737,631.414995737,877.414995737,783,799.585004263,649,628.585004263,650.585004263,0.441265496339,0.00456654826321,0.0597012803738,0.999999877828,0.000153401344013,-0.000469530416006,-1.87820386187e-05,1793192461091898880
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.994128876,710,673.005871124,663.994128876,631.994128876,877.994128876,783,799.005871124,649,628.005871124,650.005871124,0.440848446485,0.00456603679643,0.0597222192575,0.999999889778,0.000162874417291,-0.000440172353423,-1.28482143563e-05,1793192461108565504
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,743,710.573265147,673,664,632,877.426734853,783,799,649.573265147,628.573265147,650,0.440398722748,0.00456831791762,0.0597438753538,0.999999900607,0.000174248728593,-0.000410330144911,-7.1938532747e-06,1793192461125232384
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742.848521483,710.848521483,673.151478517,664.151478517,632,877.151478517,782.848521483,799,650,628.848521483,650.151478517,0.439941726071,0.00456965975122,0.05976961389,0.999999913757,0.000184588624428,-0.00037203656163,-1.35021115408e-06,1793192461141899264
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.272892486,710.272892486,673.727107514,664.727107514,632,877.727107514,782.272892486,799,650,628.272892486,650.727107514,0.439465301724,0.00456829142959,0.0598067629726,0.999999933481,0.000191977560193,-0.000310092424947,5.03144441981e-06,1793192461158566144
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.30985263,710.30985263,674,665,632,877.69014737,782.30985263,799,649.69014737,628,651,0.438953738735,0.00456988637091,0.0598349151965,0.999999943823,0.000202591433827,-0.00026682808648,1.06825595363e-05,1793192461175233024
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.899012417,710.899012417,674,665,632,877.100987583,782.899012417,799,649.100987583,628,651,0.43841050104,0.00457415245466,0.0598549574821,0.999999947628,0.000216112330089,-0.00024040207321,1.56751520827e-05,1793192461191900160
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.519304245,711,674,665.480695755,632,877,783,799,649,628.480695755,650.519304245,0.437756404584,0.00458121527244,0.0598349285988,0.99999993627,0.000231091468942,-0.000271445041223,1.93531845814e-05,1793192461208566272
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.939633472,665.879266944,632,877.060366528,783,799,649.060366528,628.939633472,650,0.437077315852,0.00458833535686,0.0598051009629,0.999999919465,0.000245552903556,-0.000316640178228,2.26436070441e-05,1793192461225232640
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.363939755,664.727879511,632,877.636060245,783,799,649.636060245,628.363939755,650,0.436380649282,0.00459100537926,0.0597623891398,0.999999895038,0.00025301969254,-0.000381159146661,2.49466105801e-05,1793192461241899264
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.210952533,711,673.210952533,664.421905065,632,878,783,799,649.789047467,628.210952533,650,0.435696649486,0.00459344608328,0.0597426067614,0.999999884792,0.000257443857762,-0.000404260838891,2.66807848353e-05,1793192461258565632
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.784467378,711,673.784467378,665.568934755,632,878,783,799,649.215532622,628.784467378,650,0.435034420007,0.00459549265962,0.0597622330258,0.99999990326,0.000256638692226,-0.000356179010828,2.74373170438e-05,1793192461275232512
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.631441369,665.631441369,632,878,783,799,649,628.631441369,650,0.43434286891,0.0045978931359,0.0597783136643,0.999999923361,0.000223857039489,-0.000320675247664,1.82382614593e-05,1793192461291899392
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.040982332,665.040982332,632,878,783,799,649,628.040982332,650,0.433633663987,0.00460050668686,0.0597922595648,0.999999942384,0.000171823102148,-0.000292744440008,3.04518263574e-06,1793192461308566016
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.460577885,743,711,673,665,632,877.460577885,783,799,649,628.539422115,650,0.432826917213,0.00459401062009,0.0597925861832,0.999999939276,0.000173533381913,-0.000302079657634,9.03777865533e-06,1793192461325232384
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,665,632,877,783,799.117268501,649.117268501,628.882731499,650,0.432021737592,0.00458618001165,0.0597944562348,0.999999937522,0.000176139290985,-0.000306070873978,1.58437554794e-05,1793192461341898752
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,665,632,877,783,799.688120993,649.688120993,628.311879007,650,0.431250759166,0.00457581550919,0.0598062251105,0.999999947091,0.000166704994071,-0.00027864127059,1.96840577532e-05,1793192461358565376
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_09/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..68c12bf433f16542eec78dc9d2118b30f1ee43ba
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,396 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_09/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..543cb9d95dcad4af6929750c87ac3bcc016bcc2f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25b84fd629314e9d3dedd4137927fe83541329eb83e36da992f71d3ad772277c
+size 25180927
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32fe657eb63c4f026d18fc57b0f23c371292ea6d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_03/franka_data.csv
@@ -0,0 +1,398 @@
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+9,0.150000000,BASELINE,764,742,711,672,664.214218477,632.785781523,877,783,799,649.785781523,628.785781523,651,0.400961090629,0.00452156997595,0.0598443863431,0.999999959095,0.000120370553547,-0.00025852179379,2.20713064919e-05,1793192463125558272
+10,0.166666667,BASELINE,764,742,711,672,664.800797464,632.199202536,877,783,799,649.199202536,628.199202536,651,0.400962655591,0.00452230674013,0.0598458323636,0.999999959084,0.000123134742231,-0.000257239399766,2.23111201682e-05,1793192463142225152
+11,0.183333333,BASELINE,764,742,711,672,665,632,877.382346292,783,799,649.382346292,628.382346292,651,0.400962207411,0.00452206804067,0.0598454758199,0.999999958865,0.000123320680036,-0.000258002458565,2.22726184968e-05,1793192463158891776
+12,0.200000000,BASELINE,764,742,711,672,665,632,877.96130849,783,799,649.96130849,628.96130849,651,0.400960724001,0.00452132772359,0.0598441923345,0.999999958539,0.000122180790845,-0.000259817361005,2.20909973105e-05,1793192463175558656
+13,0.216666667,BASELINE,764,742,711,672,664.459407967,632.540592033,876.918815934,783,799,650,628.459407967,651,0.400960425676,0.00452092234812,0.0598442303244,0.999999958606,0.000121467906415,-0.000259883690282,2.22287872087e-05,1793192463192225024
+14,0.233333333,BASELINE,764,742,710.881138854,672,664,632.881138854,876.118861146,783,799,650,628,651,0.400960263139,0.00452078464762,0.0598443944423,0.999999958655,0.000121273033074,-0.000259778755556,2.23226858789e-05,1793192463208891392
+15,0.250000000,BASELINE,764,742,710.306844681,672,664,632.306844681,876.693155319,783,799,650,628,651,0.400960295699,0.00452158067189,0.0598446792209,0.999999958527,0.000122945819737,-0.000259497412698,2.21607618793e-05,1793192463225558016
+16,0.266666667,BASELINE,764,742,710.273589315,671.726410685,664,632,876.726410685,783,799,650,628,651,0.400960650858,0.00452081760673,0.0598450536128,0.999999958846,0.000121857376731,-0.000258772769751,2.22769402159e-05,1793192463242224640
+17,0.283333333,BASELINE,764,742,710.861067492,671.138932508,664,632,876.138932508,783,799,650,628,651,0.400961376134,0.00451826579912,0.0598455308179,0.999999959664,0.000117600976421,-0.000257539528879,2.27121852113e-05,1793192463258891264
+18,0.300000000,BASELINE,764.442021021,742,711,671.442021021,664,632,876,783,799,650,628,651,0.400961660004,0.00451890816132,0.059846190489,0.999999959895,0.000117815796055,-0.000256557522761,2.25362736604e-05,1793192463275558144
+19,0.316666667,BASELINE,765,742,711,672,664,632.020913697,876,783,799,650,628.020913697,651,0.400961815532,0.00452049219322,0.0598468636429,0.999999959938,0.000119351487448,-0.00025570921273,2.21804446612e-05,1793192463292224512
+20,0.333333333,BASELINE,765,742,711,672,664,632.59874385,876,783,799,650,628.59874385,651,0.400962194154,0.00452080621556,0.0598463908274,0.999999959797,0.000119181744316,-0.000256348909914,2.20744551256e-05,1793192463308891136
+21,0.350000000,BASELINE,764.824705116,742,711,672.175294884,664,633,876,783,799.175294884,650,629,651,0.400961936519,0.00452086212188,0.059845738494,0.999999959493,0.000119433649159,-0.00025741819618,2.20354727684e-05,1793192463325558016
+22,0.366666667,BASELINE,764.251060903,742,711,672.748939097,664,633,876,783,799.748939097,650,629,651,0.40096023302,0.00452033147171,0.0598446782149,0.999999958817,0.0001206437291,-0.000259463703226,2.21487610688e-05,1793192463342224640
+23,0.383333333,BASELINE,764,742,711,672.668276851,664,633,876.331723149,783,800,650,629,651,0.400960085625,0.00451946099325,0.0598446783408,0.999999958843,0.00012028009651,-0.000259519041261,2.22855367804e-05,1793192463358891520
+24,0.400000000,BASELINE,764,742,711,672.07837936,664,633,876.92162064,783,800,650,629,651,0.400961149317,0.00451832603231,0.0598455037616,0.999999959416,0.000118691671029,-0.00025802546568,2.24405923467e-05,1793192463375558144
+25,0.416666667,BASELINE,764.504688954,742,711,672.504688954,664,633,876.495311046,783,799.495311046,649.495311046,629,650.495311046,0.400961233625,0.00451989932441,0.0598453151103,0.999999959426,0.000119089851428,-0.000257816929183,2.22599482177e-05,1793192463392224768
+26,0.433333333,BASELINE,764.914510785,742,711,672.914510785,664,633,876.085489215,783,799.085489215,649.085489215,628.914510785,650.085489215,0.400961219382,0.00452170593484,0.0598451319833,0.999999959333,0.000120048262649,-0.000257748085445,2.20883273416e-05,1793192463408891392
+27,0.450000000,BASELINE,764.340688484,742,711,672.340688484,664,633,876.659311516,783,799.659311516,649.659311516,628.340688484,650.659311516,0.400961499432,0.00452247483988,0.0598458680058,0.999999959138,0.000122468004725,-0.000257352432168,2.22620793741e-05,1793192463425558272
+28,0.466666667,BASELINE,764,742,711,672,664,632.767127815,877,783,800,650,628,651,0.400961365567,0.00452267029017,0.0598458227003,0.999999958891,0.000123785618832,-0.000257681006553,2.22418535057e-05,1793192463442225152
+29,0.483333333,BASELINE,764,742,711,672,664,632.193949514,877,783,800,650,628,651,0.40096062683,0.00452202772638,0.0598446356065,0.999999958576,0.000123492645897,-0.000259067925921,2.19381593966e-05,1793192463458893056
+30,0.500000000,BASELINE,764,742.392587093,710.607412907,672,664,632,876.607412907,783,799.607412907,650,628,651,0.400959960745,0.00452149151474,0.0598444510523,0.999999958665,0.000121892243296,-0.000259492491489,2.18257841809e-05,1793192463475559680
+31,0.516666667,BASELINE,764,742.985955539,710.014044461,672,664,632,876.014044461,783,799.014044461,650,628,651,0.400959331816,0.00452100969495,0.0598447792282,0.999999958957,0.000119623180165,-0.000259424879099,2.18112554569e-05,1793192463492225792
+32,0.533333333,BASELINE,764,742.436953103,710,672,664.563046897,632,876.563046897,783,799,650,628.563046897,650.436953103,0.400961090179,0.00451981053416,0.059845552653,0.999999959593,0.000118391671045,-0.000257508902112,2.20397807383e-05,1793192463508892160
+33,0.550000000,BASELINE,764,742,710,672,664.860413484,632,877,783,798.860413484,650,628.860413484,650.139586516,0.400962200797,0.00451886853191,0.0598459534873,0.999999959958,0.00011748711799,-0.00025648732315,2.22324486697e-05,1793192463525558528
+34,0.566666667,BASELINE,764,742,710,672,664.284365311,632,877,783,798.284365311,650,628.284365311,650.715634689,0.400961105067,0.00451878499445,0.0598451555471,0.999999959459,0.000117526247669,-0.000258402476102,2.22945729273e-05,1793192463542224896
+35,0.583333333,BASELINE,764.29831916,742,710.29831916,672,664.29831916,632,876.70168084,783,798.596638321,650,628.29831916,651,0.400959564241,0.00451875140867,0.059844305596,0.999999958984,0.000117593832143,-0.000260207674448,2.22841927036e-05,1793192463558891776
+36,0.600000000,BASELINE,764.887473512,742,710.887473512,672,664.887473512,632,876.112526488,783,799.774947025,650,628.887473512,651,0.400957589484,0.00451876652142,0.0598434049385,0.999999958531,0.000117689157567,-0.000261905676858,2.22031269346e-05,1793192463575558656
+37,0.616666667,BASELINE,764.531882033,742,711,672.468117967,664.531882033,632,876,783,799.531882033,649.531882033,629,651,0.400958800268,0.00452021838091,0.0598442156351,0.999999958905,0.000118340271867,-0.00026019092775,2.20474016184e-05,1793192463592225536
+38,0.633333333,BASELINE,764,742,711,672.953468186,664.046531814,632,876.046531814,783,799.046531814,649.046531814,628.953468186,651,0.400960685516,0.00452187878766,0.0598454228767,0.999999959431,0.000119186387204,-0.000257783567951,2.19063438258e-05,1793192463608892416
+39,0.650000000,BASELINE,764,742,711,672.377573975,664.622426025,632,876.622426025,783,799.622426025,649.622426025,628.377573975,651,0.400961687899,0.00452205284643,0.0598465449514,0.999999959526,0.00012075814985,-0.000256662890486,2.21326716681e-05,1793192463625559296
+40,0.666666667,BASELINE,764,742.197763222,711,672,664.802236778,632.197763222,876.802236778,783,799.802236778,650,628.197763222,651,0.40096237799,0.00452194554028,0.0598470641462,0.999999959658,0.000121339298471,-0.000255867121883,2.21790923306e-05,1793192463642225664
+41,0.683333333,BASELINE,764,742.772039907,711,672,664.227960093,632.772039907,876.227960093,783,799.227960093,650,628.772039907,651,0.400962473522,0.00452130255475,0.0598464355424,0.999999959868,0.000120034456707,-0.000255689934291,2.18829949188e-05,1793192463658892032
+42,0.700000000,BASELINE,764,742.643138313,711,671.643138313,664,632.643138313,876,783,799,650,628.643138313,651,0.400962137972,0.00452137621869,0.0598464294977,0.999999959989,0.000118690231809,-0.000255853538588,2.17398112753e-05,1793192463675558912
+43,0.716666667,BASELINE,764,742.051375334,711,671.051375334,664,632.051375334,876,783,799,650,628.051375334,651,0.400961518666,0.00452192161134,0.0598468332474,0.999999960053,0.000117320083338,-0.000256241466368,2.16972818832e-05,1793192463692225280
+44,0.733333333,BASELINE,764,742,711,671.527656544,664,632.527656544,876,783,799.527656544,650,628.527656544,650.472343456,0.400962614093,0.00452156964024,0.0598464748048,0.999999960081,0.000118279152793,-0.000255671692611,2.19284308351e-05,1793192463708891904
+45,0.750000000,BASELINE,764,742,711,672,664,632.895237306,876.104762694,783,800,650,629,650.104762694,0.400963628039,0.00452112004266,0.0598462465259,0.999999960104,0.000119292426359,-0.000255091503438,2.21153882615e-05,1793192463725558528
+46,0.766666667,BASELINE,764,742,711,672,664,632.321334823,876.678665177,783,800,650,629,650.678665177,0.400963547072,0.00452061530625,0.0598469256314,0.999999960131,0.000119556789871,-0.000254872405227,2.19879347848e-05,1793192463742225664
+47,0.783333333,BASELINE,764,742,710.74059995,672,664,632.25940005,876.74059995,783,799.74059995,650,629,651,0.400963031591,0.00452039668525,0.0598469188403,0.999999960016,0.000119642471048,-0.000255289294031,2.19299783563e-05,1793192463758892800
+48,0.800000000,BASELINE,764,742,710.151172336,672,664,632.848827664,876.151172336,783,799.151172336,650,629,651,0.400961963288,0.00452054208097,0.0598460394017,0.999999959719,0.000119500819632,-0.000256515331631,2.19604410978e-05,1793192463775559168
+49,0.816666667,BASELINE,764,742.432199566,710.432199566,671.567800434,664,632.567800434,876,783,799,650,629,650.567800434,0.400961814076,0.00452081888746,0.0598458543885,0.999999959702,0.000119529079566,-0.000256569841057,2.19217171932e-05,1793192463792225536
+50,0.833333333,BASELINE,764,742.986670206,711,671.013329794,664,632,876,783,799,650,628.986670206,650,0.400961976604,0.00452113899054,0.0598459008033,0.999999959774,0.000119627381894,-0.000256248241986,2.18629912391e-05,1793192463808891904
+51,0.850000000,BASELINE,764,742.41197388,711,671.58802612,664,632,876,783,799,650,628.41197388,650,0.4009619162,0.00452137350213,0.0598456057578,0.999999959482,0.000120207168166,-0.000257105821737,2.19669620498e-05,1793192463825558528
+52,0.866666667,BASELINE,764,742,711,672,664,632,876.162579167,783,799,650,628,650,0.400961519543,0.0045212959362,0.0598452360275,0.999999959253,0.00012040597693,-0.000257896740359,2.20323588109e-05,1793192463842225152
+53,0.883333333,BASELINE,764,742,711,672,664,632,876.736769433,783,799,650,628,650,0.400960271572,0.00452042826552,0.0598446772132,0.999999959185,0.000119640242818,-0.000258518889079,2.20000954088e-05,1793192463858891776
+54,0.900000000,BASELINE,764,742,711,672,664,632,877,783,799,650,628.320951492,650,0.400961624203,0.00452077511797,0.0598457049546,0.999999959638,0.000119574544102,-0.000256784294134,2.20747671323e-05,1793192463875558656
+55,0.916666667,BASELINE,764,742,711,672,664,632,877,783,799,650,628.913591676,650,0.400965178269,0.00452215007661,0.0598480757314,0.999999960522,0.000120101432488,-0.000253054691743,2.22399605252e-05,1793192463892225792
+56,0.933333333,BASELINE,764.493767432,742,711,672,664,632,876.506232568,783,799,650,629,650.493767432,0.400964122421,0.00452155017707,0.0598476326126,0.999999960323,0.000120052384349,-0.00025386132168,2.2248101328e-05,1793192463908892416
+57,0.950000000,BASELINE,765,742,711,672,664,632,876.071223294,783.071223294,799,650,629,651,0.400962456984,0.00452062876196,0.0598467550538,0.999999959966,0.00011986892771,-0.000255351539444,2.22547078029e-05,1793192463925559040
+58,0.966666667,BASELINE,765,742,711,672,664,632,876.644503362,783.644503362,799,650,629,651,0.400962041159,0.00451981711122,0.0598462007765,0.999999959797,0.000119430983832,-0.000256202420324,2.24394639958e-05,1793192463942225664
+59,0.983333333,BASELINE,764.775801018,742,710.775801018,671.775801018,664,632.224198982,876.775801018,783.775801018,799.224198982,650,628.775801018,651,0.400961451393,0.00451955962159,0.0598458349864,0.999999959701,0.000118830281305,-0.000256847600903,2.25205229699e-05,1793192463958892032
+60,1.000000000,BASELINE,764.185632939,742,710.185632939,671.185632939,664,632.814367061,876.185632939,783.185632939,799.814367061,650,628.185632939,651,0.400960577697,0.00452020671152,0.0598457768716,0.999999959726,0.000117963901166,-0.000257157008664,2.24323127948e-05,1793192463975558656
+61,1.016666667,BASELINE,764.397249396,742,710,671.397249396,664.397249396,633,876,783.397249396,799.602750604,650,628.397249396,651,0.400961647744,0.00452138402802,0.0598463330978,0.999999959809,0.000120030502788,-0.000255906071199,2.20780308096e-05,1793192463992225536
+62,1.033333333,BASELINE,764.976788418,742,710,671.976788418,664.976788418,633,876,783.976788418,799.023211582,650,628.976788418,651,0.400963609733,0.00452280465461,0.0598471712324,0.999999959905,0.00012344298982,-0.000253939123194,2.16016539163e-05,1793192464008892160
+63,1.050000000,BASELINE,764.446181325,742,710,672,664.446181325,633,877.10763735,784,799,650,628.446181325,651,0.400962283355,0.0045227175247,0.0598467863886,0.999999959716,0.000122327580267,-0.00025523319609,2.14616544621e-05,1793192464025559040
+64,1.066666667,BASELINE,764,742,710.129980498,672,664,633,877.870019502,783.870019502,799,650,628,651,0.400961231061,0.00452207580913,0.0598463810015,0.999999959653,0.000120596687213,-0.000256298079629,2.14792217872e-05,1793192464042225664
+65,1.083333333,BASELINE,764,742,710.703535862,672,664,633,877.296464138,783.296464138,799,650,628,651,0.400961582327,0.00451975618126,0.0598460796409,0.999999960068,0.000117410081759,-0.000256116506341,2.19866106883e-05,1793192464058892544
+66,1.100000000,BASELINE,764,742,711,672.285164185,664,633,877,783,799.285164185,650,628.285164185,651,0.400961176952,0.0045191736066,0.0598453517334,0.999999959885,0.000117135898873,-0.000256946036388,2.2078483827e-05,1793192464075559168
+67,1.116666667,BASELINE,764,742,711,672.875429852,664,633,877,783,799.875429852,650,628.875429852,651,0.400959962035,0.00452044953164,0.0598441674569,0.999999959063,0.000119977761223,-0.000258857361224,2.17257903236e-05,1793192464092225536
+68,1.133333333,BASELINE,764,742.457272139,711,672.542727861,664,633,876.542727861,783,799.542727861,649.542727861,629,650.542727861,0.400960587045,0.00452125313482,0.0598454009479,0.999999959168,0.000121197547611,-0.000257862326389,2.19402569887e-05,1793192464108892160
+69,1.150000000,BASELINE,764,742.963441958,711,672,664,633,876,783,799,649.036558042,629,650,0.400961666766,0.00452188558923,0.0598471392082,0.999999959503,0.000121930301038,-0.000256184699556,2.22722525351e-05,1793192464125558784
+70,1.166666667,BASELINE,764,742.388620741,711,672,664,633,876,783,799,649.611379259,629,650,0.400962195,0.00452185833882,0.0598467872312,0.999999959585,0.00012188065298,-0.000255903423799,2.21009635165e-05,1793192464142225408
+71,1.183333333,BASELINE,764.186103278,742,711,672,664,633,876.186103278,783.186103278,799,650,629,650.186103278,0.400962392028,0.00452180081627,0.0598466655826,0.999999959689,0.0001216110611,-0.00025564046927,2.19087737985e-05,1793192464158891776
+72,1.200000000,BASELINE,764.760624538,742,711,672,664,633,876.760624538,783.760624538,799,650,629,650.760624538,0.400961897795,0.00452168011245,0.0598470246543,0.99999995984,0.000120882422297,-0.000255415753104,2.16729619936e-05,1793192464175558656
+73,1.216666667,BASELINE,764.65494505,742,710.65494505,672,664.34505495,633,876.65494505,783.65494505,799,650,629,651,0.400961811958,0.00452020089325,0.0598472072733,0.999999960264,0.00011825416759,-0.000254968049328,2.19034271038e-05,1793192464192225536
+74,1.233333333,BASELINE,764.063437133,742,710.063437133,672,664.936562867,633,876.063437133,783.063437133,799,650,629,651,0.400962017815,0.00451775136442,0.0598472638623,0.999999960869,0.000114269126201,-0.000254361078299,2.24669270931e-05,1793192464208892416
+75,1.250000000,BASELINE,764,742.516874341,710.516874341,671.483125659,664.483125659,633,876,783,799,650,628.483125659,651,0.400961892623,0.00451965065318,0.0598472281327,0.999999960408,0.000117597503737,-0.000254658531867,2.24413561337e-05,1793192464225558784
+76,1.266666667,BASELINE,764,742.905371911,711,671.094628089,664.094628089,633,876,783,799,650,628.094628089,651,0.400961703698,0.00452160698812,0.0598471205599,0.999999959926,0.000120750696791,-0.000255089498214,2.22861351863e-05,1793192464242225408
+77,1.283333333,BASELINE,764,742.333731287,711,671.666268713,664.666268713,633,876,783,799,650,628.666268713,651,0.400961393978,0.0045212173943,0.0598467067368,0.999999960052,0.000118592044779,-0.000255645803332,2.18340801968e-05,1793192464258892032
+78,1.300000000,BASELINE,764,742,711,672,664.754073183,632.754073183,876,783,799.245926817,650,629,650.754073183,0.400961610735,0.00452069509787,0.0598467571318,0.999999960237,0.000117336747505,-0.00025550842462,2.17398711448e-05,1793192464275558400
+79,1.316666667,BASELINE,764,742,711,672,664.163168475,632.163168475,876,783,799.836831525,650,629,650.163168475,0.40096256602,0.00451998665068,0.0598474587168,0.99999996051,0.000117348646143,-0.000254397969453,2.21476364099e-05,1793192464292225024
+80,1.333333333,BASELINE,764,742,711,672,664.41898336,632.41898336,876,783.41898336,799.58101664,650,628.58101664,650.41898336,0.400962068968,0.00452072941117,0.0598466913741,0.99999996013,0.00011879020293,-0.000255243719623,2.19062719593e-05,1793192464308891904
+81,1.350000000,BASELINE,764,742,711,672,664.997796286,632.997796286,876,783.997796286,799.002203714,650,628.002203714,650.997796286,0.400961017894,0.00452202576373,0.0598453636798,0.999999959495,0.000120777131356,-0.000256835703276,2.1417284054e-05,1793192464325558528
+82,1.366666667,BASELINE,764,742.574126166,711,672,664.425873834,632.425873834,876.574126166,783.425873834,799,649.425873834,628.574126166,651,0.400962277685,0.00452030881123,0.0598461981092,0.999999960023,0.000118287468643,-0.000255888796563,2.19707421128e-05,1793192464342225408
+83,1.383333333,BASELINE,764.150492451,742.849507549,710.849507549,672,664,632.150492451,876.849507549,783.150492451,799,649.150492451,628.849507549,650.849507549,0.400962970195,0.00451924747708,0.0598468660904,0.999999960406,0.000116438354076,-0.000255215632915,2.22643066397e-05,1793192464358892288
+84,1.400000000,BASELINE,764.726988786,742.273011214,710.273011214,672,664,632.726988786,876.273011214,783.726988786,799,649.726988786,628.273011214,650.273011214,0.400962031887,0.00452007462257,0.0598470395105,0.999999960381,0.00011645089005,-0.000255344829795,2.1810904364e-05,1793192464375559168
+85,1.416666667,BASELINE,764.688563576,742,710.311436424,672,664,633,876,783.688563576,799,650,628.311436424,650,0.400961884424,0.00452065915738,0.0598471030643,0.999999960281,0.000117787142415,-0.000255133997788,2.16874221487e-05,1793192464392225792
+86,1.433333333,BASELINE,764.096963087,742,710.903036913,672,664,633,876,783.096963087,799,650,628.903036913,650,0.400962448396,0.00452102544278,0.059847067784,0.999999960108,0.000120314192442,-0.000254617280307,2.186073166e-05,1793192464408891904
+87,1.450000000,BASELINE,764,742,711,672,664,632.517121675,876,783,799,650,628.517121675,650,0.40096276154,0.00451993222302,0.0598472820616,0.999999960259,0.000119349637803,-0.000254458055772,2.20932247792e-05,1793192464425558528
+88,1.466666667,BASELINE,764,742,711,672,664.059874651,632.059874651,876.059874651,783,799,650,628,650,0.400962860475,0.0045187907075,0.0598475320513,0.999999960418,0.000117971198169,-0.000254461647976,2.22763305565e-05,1793192464442225152
+89,1.483333333,BASELINE,764,742,711,672,664.632249103,632.632249103,876.632249103,783,799,650,628,650,0.400961546749,0.00451968472901,0.0598476689834,0.999999960111,0.000118908709974,-0.000255259034357,2.19373980304e-05,1793192464458892288
+90,1.500000000,BASELINE,764,742.211547589,711,672,664.788452411,633,877,783,799,650,628.211547589,650,0.400960568405,0.00452017146798,0.0598471499135,0.999999959825,0.000119188879506,-0.00025625743604,2.18184024873e-05,1793192464475558912
+91,1.516666667,BASELINE,764,742.803289936,711,672,664.196710064,633,877,783,799,650,628.803289936,650,0.400960192809,0.00451992623589,0.0598454518726,0.999999959577,0.000118287668958,-0.000257617103695,2.20946792147e-05,1793192464492225536
+92,1.533333333,BASELINE,764,742.614011416,711,672,664,632.614011416,877,783,799.385988584,650,629,650.385988584,0.40096058417,0.00451954333555,0.0598455363426,0.999999959848,0.000117137330134,-0.00025709133874,2.20529556489e-05,1793192464508891648
+93,1.550000000,BASELINE,764,742.035816111,711,672,664,632.035816111,877,783,799.964183889,650,629,650.964183889,0.400961357445,0.00451909188195,0.0598465084309,0.999999960377,0.000115862935412,-0.000255626704642,2.18528808095e-05,1793192464525558016
+94,1.566666667,BASELINE,764,742,711,672,664,632.541432051,877,783,800,650,629,651,0.400961728976,0.00452032786075,0.0598464172098,0.999999960202,0.000117600676647,-0.000255525993727,2.17224049789e-05,1793192464542224896
+95,1.583333333,BASELINE,764,742,711,671.882211584,664.117788416,633,876.882211584,783,799.882211584,650,628.882211584,651,0.400961829564,0.00452090641866,0.0598462071582,0.999999960031,0.000118605078712,-0.000255729431624,2.1733698658e-05,1793192464558891776
+96,1.600000000,BASELINE,764,742,711,671.309060883,664.690939117,633,876.309060883,783,799.309060883,650,628.309060883,651,0.400960985267,0.00451851265023,0.0598458091656,0.99999996006,0.000116005478997,-0.000256760496059,2.22752961493e-05,1793192464575558400
+97,1.616666667,BASELINE,764,742,711,671.272319546,664.727680454,633,876.544639091,783,799,650,628.272319546,650.727680454,0.400961374581,0.00451820584633,0.059846434617,0.999999960223,0.000116222910219,-0.0002560063651,2.25201851602e-05,1793192464592225280
+98,1.633333333,BASELINE,764,742,711,671.863331083,664.136668917,633,877.726662165,783,799,650,628.863331083,650.136668917,0.400963207574,0.00452034138979,0.0598482577913,0.999999960534,0.000119737075939,-0.00025316304333,2.24178400971e-05,1793192464608891648
+99,1.650000000,BASELINE,764,742,711,672,664,633,877.11036984,783,799.44481508,650,629,650.44481508,0.400963084136,0.00452091887595,0.0598482805734,0.999999960546,0.000119878546862,-0.000253071965656,2.21923823958e-05,1793192464625558272
+100,1.666666667,BASELINE,764,742,711,672,664,633,876,783,799.976711254,650,629,651,0.400962398025,0.0045209692418,0.0598477928222,0.999999960476,0.000118987873789,-0.000253786100444,2.19509048027e-05,1793192464642224896
+101,1.683333333,BASELINE,764,742,711,672,664,633,876,783,799.401658361,650,629,651,0.400962323919,0.00451963484976,0.059848040372,0.999999960581,0.00011767979702,-0.000253962925643,2.22072761895e-05,1793192464658892800
+102,1.700000000,BASELINE,764,742,711,672,664,632.82647671,876,783,799.17352329,650,629,651,0.400962194348,0.00451896694817,0.0598480385018,0.999999960627,0.000116749759074,-0.000254200830778,2.22916207203e-05,1793192464675559936
+103,1.716666667,BASELINE,764,742,711,672,664,632.250996881,876,783,799.749003119,650,629,651,0.400961936295,0.00451984293287,0.0598474588648,0.999999960544,0.000116695426112,-0.000254580223983,2.1977475078e-05,1793192464692225792
+104,1.733333333,BASELINE,764,742.334007619,711,672,664,632,876,783,799.665992381,649.665992381,628.665992381,651,0.400962471015,0.00451990725439,0.0598476839883,0.999999960697,0.0001168583801,-0.000253905596944,2.19465814651e-05,1793192464708891904
+105,1.750000000,BASELINE,764,742.926379787,711,672,664,632,876,783,799.073620213,649.073620213,628.073620213,651,0.400963618968,0.00451934373107,0.0598485316174,0.999999961032,0.00011718941182,-0.000252415654812,2.21347914526e-05,1793192464725558272
+106,1.766666667,BASELINE,764,742.492763872,711,672,664,632.507236128,876,783,799.507236128,649.507236128,628,651,0.40096389518,0.00451991993589,0.0598490027899,0.999999960907,0.000118401660881,-0.00025232857299,2.23094000175e-05,1793192464742225152
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,877,783,799,650,629,650,0.400961020578,0.00452172139323,0.0598474164166,0.999999959995,0.000119582171072,-0.000255397935675,2.19351024011e-05,1793192464785573888
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671.590535546,664,633,876.409464454,783.590535546,799,649.409464454,629,650.590535546,0.4009615663,0.00452208943031,0.0598474048132,0.999999960045,0.000120059544062,-0.000254990197139,2.18113503927e-05,1793192464802240512
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664.177093811,632.822906189,876,783.822906189,799,649,629,651,0.400962032659,0.00452173758308,0.0598475129354,0.999999960196,0.000119812303264,-0.000254517501371,2.17735360295e-05,1793192464818907136
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664.754658181,632.245341819,876,783.245341819,799,649,629,651,0.400962319552,0.00451975782771,0.0598478917989,0.999999960574,0.000117926459352,-0.000253897914682,2.19300564776e-05,1793192464835573248
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.330805033,742,711,672,664.669194967,632,876.330805033,783,799,649.330805033,628.669194967,651,0.40096238487,0.00451851497924,0.0598476116661,0.999999960535,0.000116899024265,-0.000254502950978,2.21839632924e-05,1793192464852239872
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.905905033,742,711,672,664.094094967,632,876.905905033,783,799,649.905905033,628.094094967,651,0.400962286557,0.00451781632651,0.0598468448736,0.999999960189,0.000116505512405,-0.000256012354545,2.25097885908e-05,1793192464868906496
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.521893895,742,711,671.521893895,664,632.478106105,876.521893895,783,799,650,628.478106105,651,0.40096231671,0.00451848824417,0.0598471522766,0.999999960323,0.000116391599332,-0.00025556833571,2.21651847635e-05,1793192464885573120
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671.051864446,664.051864446,633,876.051864446,783,799,650,628.948135554,651,0.400962910834,0.00451938033032,0.0598478267678,0.999999960619,0.000116320916147,-0.000254477618478,2.17534969723e-05,1793192464902239744
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,671.647912526,664.647912526,633,876.647912526,783,799,650,628.352087474,651,0.400969158698,0.00451976936096,0.0598501480694,0.999999961612,0.000116129930323,-0.000250610954706,2.20140212984e-05,1793192464918906624
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,633,876.763862294,783,799,650,628.236137706,651,0.400982168028,0.00451997778766,0.0598557043797,0.999999963935,0.000116178564636,-0.00024111743343,2.22486350951e-05,1793192464935573248
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,633,876.186927285,783,799,650,628.813072715,651,0.401004935599,0.00451992556417,0.0598659295004,0.999999967977,0.000116573022137,-0.000223503151487,2.24458544193e-05,1793192464952240128
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.389353176,711,672,665,632.610646824,876,783,799,650,628.610646824,651,0.401047256158,0.0045183839666,0.0598813511204,0.999999974162,0.000114989834466,-0.000194785070135,2.2629995698e-05,1793192464968906752
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.965319969,711,672,665,632.034680031,876,783,799,650,628.034680031,651,0.401098948297,0.00451612852488,0.0598992633785,0.999999980497,0.000112458778463,-0.000160745031806,2.28078687796e-05,1793192464985573120
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.446529265,711,672,665,632.553470735,876.553470735,783,799,650,628.553470735,651,0.401163795575,0.00451686757654,0.05991264992,0.999999983067,0.000113603758541,-0.000142904401151,2.32122530241e-05,1793192465002239744
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,710.859999425,672,664.859999425,633,877,783,799,650,629,650.859999425,0.401233884992,0.00451734674901,0.0599240731597,0.999999985118,0.000113857610528,-0.000127501217167,2.33178953952e-05,1793192465018906368
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,710.280999958,672,664.280999958,633,877,783,799,650,629,650.280999958,0.40131776926,0.00451640941857,0.059930249318,0.99999998685,0.000110578632936,-0.000116486610752,2.24412682364e-05,1793192465035572992
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,710.295324228,672,664,633,876.704675772,783,799.295324228,650,628.704675772,650.295324228,0.401411250492,0.00451507269842,0.0599340984753,0.999999988069,0.000107643363576,-0.000108649352277,2.16990997642e-05,1793192465052239872
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,710.869125711,672,664,633,876.130874289,783,799.869125711,650,628.130874289,650.869125711,0.401513781216,0.00451335937209,0.0599357533764,0.999999988874,0.000105032195583,-0.000103808188422,2.10837197447e-05,1793192465068906496
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,633,876,783,799.554232871,650,628.445767129,651,0.401640097319,0.00450907769316,0.059938441679,0.99999999018,9.84988126147e-05,-9.75196353093e-05,2.07044665771e-05,1793192465085573376
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664.023774719,632.976225281,876,783,799,650,628.976225281,651,0.401774178346,0.00450361528592,0.0599412445546,0.999999991568,9.02921890126e-05,-9.10647236192e-05,2.04528617228e-05,1793192465102240000
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664.614347351,632.385652649,876,783,799,650,628.385652649,651,0.401925827838,0.00448809600733,0.0599394993529,0.999999993204,6.98239676535e-05,-9.08395345454e-05,2.15811019559e-05,1793192465118906624
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664.799502136,632.200497864,876.200497864,783,799,650,628,651,0.402093377607,0.00447754333661,0.0599380001931,0.999999994275,5.45261318369e-05,-8.95517995679e-05,2.13664092629e-05,1793192465135573248
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664.221673971,632.778326029,876.778326029,783,799,650,628,651,0.402290851152,0.00447633765819,0.0599369640762,0.999999994907,4.89587917571e-05,-8.6264388671e-05,1.86243614175e-05,1793192465152239872
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.354061117,711,672,664.354061117,632.645938883,877,783,799.354061117,650,628,651,0.402510442205,0.0044762506149,0.0599372627433,0.999999995539,4.46397062311e-05,-8.17748674249e-05,1.55298522336e-05,1793192465168906240
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.928493508,711,672,664.928493508,632.071506492,877,783,799.928493508,650,628,651,0.402743799443,0.00447685982148,0.0599383921934,0.999999996152,4.1097546614e-05,-7.65371400324e-05,1.22159672263e-05,1793192465185572864
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.49579723,711,672,664.49579723,632.50420277,876.49579723,783,799.49579723,650,628,651,0.403013074509,0.00447395014795,0.0599419049818,0.999999997189,3.02962514958e-05,-6.79240982659e-05,9.51281141827e-06,1793192465202240000
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,633,876,783,799.082716869,650,628.082716869,651,0.403290162326,0.00447126323885,0.0599442991358,0.999999997886,1.97058496181e-05,-6.16042823734e-05,6.65830486972e-06,1793192465218906880
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,633,876,783,799.677469976,650,628.677469976,651,0.40358400051,0.00447305237175,0.059937671036,0.999999997231,1.68099212199e-05,-7.24507766099e-05,2.32937903737e-06,1793192465235573504
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.262718555,711,671.737281445,664.262718555,633,876.262718555,783,800,650,629,651,0.403899022096,0.00447258726644,0.0599283180693,0.999999996162,9.68440527621e-06,-8.7052232218e-05,-2.12097131921e-06,1793192465252239616
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.83670613,711,671.16329387,664.83670613,633,876.83670613,783,800,650,629,651,0.404239141764,0.00446945133896,0.0599157366796,0.999999994346,-2.45232705261e-06,-0.000106102566481,-6.71518522719e-06,1793192465268906240
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.588436178,711,671.411563822,665,632.588436178,876.588436178,783,799.588436178,650,629,650.588436178,0.404594846354,0.00446771552963,0.0599008950788,0.999999991027,-1.26233671072e-05,-0.000132883389916,-1.13028824057e-05,1793192465285573120
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.013232536,711,671.986767464,665,632.013232536,876.013232536,783,799.013232536,650,629,650.013232536,0.404956747577,0.00446653641431,0.0598851548071,0.99999998639,-2.20128378578e-05,-0.000162737893665,-1.58879883822e-05,1793192465302239744
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.576118899,711,672,664.423881101,632,876,783,799,650,628.423881101,650,0.405383074613,0.00446600064711,0.0598862610072,0.999999985813,-2.94659227091e-05,-0.000164594312692,-2.03514250143e-05,1793192465318906368
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.836979128,711,672,664.163020872,632.163020872,876.163020872,783,799.163020872,650,628.163020872,650.163020872,0.405839031734,0.00446404614488,0.0598962958631,0.999999987759,-3.92349768414e-05,-0.000149459952237,-2.45961410731e-05,1793192465335572992
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.257191028,711,672,664.742808972,632.742808972,876.742808972,783,799.742808972,650,628.742808972,650.742808972,0.406366860614,0.00445842588058,0.0599281429487,0.9999999938,-5.50414331282e-05,-9.25736268208e-05,-2.82890155839e-05,1793192465352239872
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664.680717746,632.680717746,876.680717746,783,799.680717746,650.319282254,629,651,0.406917465322,0.00445587524286,0.0599587953462,0.999999996365,-6.65608877899e-05,-4.23968626881e-05,-3.22940949968e-05,1793192465368906752
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664.106887148,632.106887148,876.106887148,783,799.106887148,650.893112852,629,651,0.407486228156,0.00445577186978,0.0599884952799,0.999999996542,-7.46625244965e-05,2.43069783647e-06,-3.65480807295e-05,1793192465385573376
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664.466301504,632,876,783,799,650.533698496,629,651,0.408026710227,0.00445255683786,0.0599885571238,0.999999995545,-8.49422555587e-05,-9.19934951463e-06,-4.01274580592e-05,1793192465402240000
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,710.959186563,672,665,632.040813437,876.040813437,782.959186563,799,650,628.959186563,650.959186563,0.408562907945,0.00444879273131,0.059981069237,0.999999993946,-9.49357564344e-05,-3.46701123556e-05,-4.350740516e-05,1793192465418906880
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,710.364730166,672,665,632.635269834,876.635269834,782.364730166,799,650,628.364730166,650.364730166,0.409128805047,0.00444724259099,0.0599631994647,0.999999991851,-9.42831026907e-05,-7.25816963289e-05,-4.62768274292e-05,1793192465435573504
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.223429359,742,710.223429359,672.223429359,665,633,877,782.223429359,799,650,628,650.223429359,0.40973327438,0.00444802504803,0.0599545632451,0.999999993578,-5.92349858473e-05,-8.76789864546e-05,-4.05896380824e-05,1793192465452240128
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.801591475,742,710.801591475,672.801591475,665,633,877,782.801591475,799,650,628,650.801591475,0.410398983768,0.00445251090697,0.0599605868886,0.999999997092,3.04218786478e-05,-6.65546360193e-05,-2.1476114622e-05,1793192465468906496
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.622875911,742,711,672.622875911,665,632.622875911,877,783,799,650,628,651,0.411091864038,0.00445341989676,0.0599657200429,0.999999997103,5.32769505387e-05,-5.08070573684e-05,-1.93694652347e-05,1793192465485573120
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.048717141,742,711,672.048717141,665,632.048717141,877,783,799,650,628,651,0.41179894016,0.00445246009232,0.0599703879463,0.999999998091,4.1230324831e-05,-3.78686623751e-05,-2.61483374894e-05,1793192465502240000
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,877,783,799,650,628,651,0.412475116369,0.00444728597717,0.0599526349558,0.999999996516,3.5823850773e-05,-6.96447533709e-05,-2.88865025186e-05,1793192465518906624
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,877,783,799,650,628,651,0.413149073773,0.00444314382312,0.0599310250304,0.999999993123,2.67767400384e-05,-0.000109973935294,-3.07190054204e-05,1793192465535573248
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,877,783,799,650,628,651,0.413826065052,0.00444568234258,0.0599010653288,0.999999984925,-2.25695655311e-06,-0.000170998891666,-3.0057947822e-05,1793192465552240128
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,672.566903727,665,632,877,783,799,650,628,650.716548136,0.414585372377,0.00444411184694,0.0599065233717,0.999999984401,-6.23096393297e-05,-0.000162443933768,-3.04433128813e-05,1793192465568906752
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,673.725449872,665,632,877,783,799,650,628,650.137275064,0.415430587962,0.00443825302628,0.0599489447239,0.999999984216,-0.000154734925895,-8.12727215483e-05,-3.1920764346e-05,1793192465585573632
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.438249829,711,673.123500341,665.438249829,632.438249829,877,783,799.438249829,650,628,650,0.416274026664,0.00443579571422,0.0599852647114,0.999999985526,-0.000166019905972,-1.91922388354e-05,-3.18867663922e-05,1793192465602240256
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,710.987398244,672,665.987398244,632.987398244,877,783,799.987398244,650,628,650,0.417115835836,0.00443435790785,0.0600186279692,0.999999987302,-0.000152220541369,3.51846556949e-05,-3.14196436637e-05,1793192465618906368
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,710.413439552,672,665.413439552,632.413439552,877,783,799.413439552,650,628,650,0.417909641569,0.00443127503197,0.0600046934669,0.999999989105,-0.000143592353882,1.05185802313e-05,-3.25694862868e-05,1793192465635573248
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,710.1666018,672,665.1666018,632,877,783,799,650,628,650.1666018,0.418704749986,0.00442775218868,0.0599878183316,0.999999990124,-0.000135231422903,-1.80391451085e-05,-3.37581467463e-05,1793192465652240128
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,710.762309864,672,665.762309864,632,877,783,799,650,628,650.762309864,0.419503213601,0.00442309614792,0.0599633691853,0.999999989647,-0.000127558849075,-5.66203581224e-05,-3.50467879261e-05,1793192465668906496
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.34507371,742.65492629,711,672,665.65492629,632.34507371,877,783,799.34507371,650,628,651,0.420301459973,0.00442199629668,0.0599355852013,0.999999988187,-0.000113789674445,-9.65602364882e-05,-3.67978607855e-05,1793192465685573376
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.919243795,742.080756205,711,672,665.080756205,632.919243795,877,783,799.919243795,650,628,651,0.421099562083,0.00442325741983,0.0599055872008,0.9999999852,-9.59729325175e-05,-0.000137402138778,-3.88559445496e-05,1793192465702240256
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.508323928,742.491676072,711,672,665.491676072,632.508323928,877,783,799.508323928,650,628.491676072,650.508323928,0.421915412922,0.00442145524996,0.0598827257425,0.999999977977,-8.89374951089e-05,-0.000186019857335,-3.91480503513e-05,1793192465718906880
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.933430548,711,672.066569452,666,632,877,782.933430548,799,649.933430548,629,650.066569452,0.42274654672,0.0044188921246,0.0598701955717,0.999999971837,-8.41162366482e-05,-0.000218447186102,-3.91218935345e-05,1793192465735573248
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.336670831,711,672.663329169,666,632,877,782.336670831,799,649.336670831,629,650.663329169,0.423676264687,0.00441426149176,0.0599306459179,0.999999989562,-8.28759762823e-05,-0.000111790632362,-3.88629514142e-05,1793192465752239872
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711,672.748961448,665.748961448,632,877.251038552,782.251038552,799.251038552,649.251038552,628.748961448,651,0.424582443759,0.00440986782128,0.0599817919839,0.999999995463,-8.34196291135e-05,-2.5284798681e-05,-3.84079545383e-05,1793192465768906496
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672.172967146,665.172967146,632,877.827032854,782.827032854,799.827032854,649.827032854,628.172967146,651,0.425458153141,0.00440578088505,0.0600208941737,0.999999994951,-8.62724611015e-05,3.5137037699e-05,-3.76991757565e-05,1793192465785573376
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.40209103,711,672.40209103,665,632,877.59790897,783,799.59790897,650,628.40209103,650.59790897,0.42630745399,0.00440253028372,0.0600196919817,0.999999991313,-0.000119338913867,4.05368802606e-05,-3.85940606814e-05,1793192465802240000
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.976747413,711,672.976747413,665,632,877.023252587,783,799.023252587,650,628.976747413,650.023252587,0.42714542104,0.00439963861237,0.0600011923613,0.99999998527,-0.000165372141915,2.23229374081e-05,-4.01771897462e-05,1793192465818906624
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,877.567451431,783,799,650,629,650,0.42796508019,0.00439736220842,0.0599783957103,0.999999986592,-0.000157856028204,-1.16494256174e-05,-4.19790998348e-05,1793192465835573504
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632.153986107,877.846013893,783,799,650,629,650,0.428768214571,0.00439691105699,0.0599552300599,0.999999987278,-0.000145990027574,-4.77738770395e-05,-4.29834448897e-05,1793192465852240128
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632.72732343,877.27267657,783,799,650,629,650,0.429528449414,0.00440135996789,0.0599315529889,0.999999987012,-0.000128427629613,-8.79494042763e-05,-4.17906515727e-05,1793192465868906752
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711,672.696541602,665.303458398,632.696541602,877.303458398,783,799.303458398,650,628.696541602,650,0.430307821213,0.00441849437989,0.0599181851157,0.99999998804,-0.000101998780685,-0.000108011968451,-4.30047163718e-05,1793192465885573376
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711,672.117869412,665.882130588,632.117869412,877.882130588,783,799.882130588,650,628.117869412,650,0.43110454874,0.00444713358068,0.0599141669056,0.999999990612,-6.75287330608e-05,-0.000109833595803,-4.64016193291e-05,1793192465902240000
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.542374672,711,672.457625328,666,632,878,783,799.542374672,650,628,650,0.431945802752,0.00445400469961,0.059955140828,0.999999996623,-5.60907516835e-05,-3.76564168322e-05,-4.67912632642e-05,1793192465918906368
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.033317674,711,673,666,632.033317674,877.966682326,783,799.033317674,650,628,650,0.432792494726,0.00445460239945,0.0600046654904,0.999999996465,-5.13084612946e-05,4.78546414823e-05,-4.63486223985e-05,1793192465935573248
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.625971367,711,673,666,632.625971367,877.374028633,783,799.625971367,650,628,650,0.433539271481,0.00444335904395,0.0600045335808,0.999999996455,-5.93569811485e-05,3.94472657127e-05,-4.48474450029e-05,1793192465952239872
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632.787552403,877.212447597,783,799.787552403,650,628.212447597,650.212447597,0.434265371762,0.00443655557898,0.0599919098075,0.999999996999,-6.19463748712e-05,1.42222615713e-05,-4.42975943235e-05,1793192465968906496
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632.21164462,877.78835538,783,799.21164462,650,628.78835538,650.78835538,0.434956098383,0.00443734797796,0.0599579146695,0.999999996656,-5.51961724947e-05,-3.97747255539e-05,-4.53752947276e-05,1793192465985573120
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632,878,783,799.364985533,650,629,650.635014467,0.435630203921,0.0044341760339,0.0599346070124,0.999999994077,-5.65049840442e-05,-8.07885498332e-05,-4.61064539831e-05,1793192466002240000
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632,878,783,799.942035365,650,629,650.057964635,0.436294652218,0.0044287007228,0.0599175090094,0.999999990432,-6.24962531899e-05,-0.000114258879238,-4.66362654628e-05,1793192466018906624
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.469192246,711,673.530807754,666,632,878,783,799.469192246,650,629,650,0.436950431892,0.00442620382242,0.0599209317962,0.999999990779,-6.44849384316e-05,-0.000109549127054,-4.77822317406e-05,1793192466035572992
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.118492166,711,673.881507834,665.881507834,632,878,783,799.118492166,649.881507834,629,650,0.437588547331,0.00442462574403,0.0599216171485,0.999999990593,-6.32404727673e-05,-0.000111838644863,-4.80263237679e-05,1793192466052239616
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.696873379,711,673.303126621,665.303126621,632,878,783,799.696873379,649.303126621,629,650,0.4381618617,0.00442532293616,0.0599027843439,0.999999985243,-5.11822923901e-05,-0.000157840775936,-4.45030413827e-05,1793192466068906496
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711,673.275460351,665,632,878,783,800,649.275460351,629,650,0.438737962806,0.00442506627776,0.0598934703818,0.999999981775,-4.91922950928e-05,-0.000179537153924,-4.23910544238e-05,1793192466085573376
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.770149033,711,674,659,630,878.770149033,782.770149033,799.229850967,649.770149033,628,650.229850967,0.445877452959,0.00456925602255,0.0596481285784,0.999999831723,9.65801922359e-05,-0.000569214867069,-5.67511978589e-05,1793192467018906368
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.653356795,743,711,674,659,630,878.653356795,782.653356795,799,650,628,650,0.4458794361,0.00456955142,0.0596491628782,0.999999832693,9.64681775023e-05,-0.000567535957897,-5.66606571597e-05,1793192467035572992
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.078775204,743,711,674,659,630,878.078775204,782.078775204,799,650,628,650,0.44588239657,0.00457110192015,0.059651101486,0.999999833708,9.87739106477e-05,-0.000565350899728,-5.66232069538e-05,1793192467052239360
+244,4.066666667,HOLD_POSE2,764,742,711,673,659,630,878,782,800,649,629,650,0.445888827689,0.00457029244695,0.0596541536981,0.999999836582,0.000101423948731,-0.000559795904173,-5.63717552542e-05,1793192467083625216
+245,4.083333333,HOLD_POSE2,764,742,710.407707554,673,659.592292446,630,878.592292446,782,800,649.592292446,628.407707554,650.592292446,0.445890632007,0.0045684427831,0.0596554875518,0.999999837854,9.9327561435e-05,-0.000557964973713,-5.56944135028e-05,1793192467100292096
+246,4.100000000,HOLD_POSE2,763.818965154,742.181034846,710.181034846,673,659.818965154,629.818965154,878.818965154,782,799.818965154,649.818965154,628,650.818965154,0.445892936326,0.00456674722349,0.059657093761,0.999999839331,9.67603202832e-05,-0.000555812220194,-5.52168580696e-05,1793192467116958720
+247,4.116666667,HOLD_POSE2,763.238063918,742.761936082,710.761936082,673,659.238063918,629.238063918,878.238063918,782,799.238063918,649.238063918,628,650.238063918,0.445896345036,0.00456539204608,0.059659301544,0.999999841263,9.3153065515e-05,-0.000552948629556,-5.51805867984e-05,1793192467133625344
+248,4.133333333,HOLD_POSE2,763.338792796,742.661207204,711,673,659,629.338792796,878,782,799,649.338792796,628,650,0.445899777564,0.00456619510613,0.0596610975498,0.999999843322,9.33975052633e-05,-0.000549143494048,-5.54530024883e-05,1793192467150291968
+249,4.150000000,HOLD_POSE2,763.912840985,742.087159015,711,673,659,629.912840985,878,782,799,649.912840985,628,650,0.44590322663,0.00456849683155,0.0596626076201,0.999999845456,9.63165354808e-05,-0.000544684556403,-5.59397682882e-05,1793192467166958592
+250,4.166666667,HOLD_POSE2,763.51453692,742,711,673,659,630,878,782,799.48546308,650,628,650,0.44590666284,0.00456637637424,0.0596640937327,0.999999847016,9.43107188965e-05,-0.000542218763551,-5.54192449287e-05,1793192467183625472
+251,4.183333333,HOLD_POSE2,763,742,710.939881444,673,659,630,878,782,799.939881444,650,628,650,0.445910144714,0.00456383837285,0.0596656496949,0.999999848552,9.16464508282e-05,-0.000539900685499,-5.48043864056e-05,1793192467200292096
+252,4.200000000,HOLD_POSE2,763,742,710.344862679,673,659,630,878,782,799.344862679,650,628,650,0.445914053362,0.00456462871727,0.0596678652965,0.999999850853,9.09676895873e-05,-0.000535722315823,-5.49545434184e-05,1793192467216958720
+253,4.216666667,HOLD_POSE2,763,742,710,673.243062112,659,630,878,782,799,650,628,650,0.445915394674,0.00456529069871,0.0596685292748,0.999999851589,9.0848309043e-05,-0.000534330587497,-5.53067561327e-05,1793192467233625600
+254,4.233333333,HOLD_POSE2,763,742,710,673.821207174,659,630,878,782,799,650,628,650,0.445913196684,0.00456577572019,0.059667054201,0.999999850183,9.15000850836e-05,-0.00053678049489,-5.59375207663e-05,1793192467250292224
+255,4.250000000,HOLD_POSE2,763.396249376,742.396249376,710.396249376,673.603750624,659,630,878,782,799,649.603750624,628,650,0.445915008111,0.00456654859946,0.0596677796142,0.999999850811,9.1891319496e-05,-0.000535534026765,-5.60186886972e-05,1793192467266958848
+256,4.266666667,HOLD_POSE2,763.969902454,742.969902454,710.969902454,673.030097546,659,630,878,782,799,649.030097546,628,650,0.445918614583,0.00456745035478,0.0596694902011,0.999999852344,9.21659075991e-05,-0.00053263266488,-5.58537982766e-05,1793192467283625472
+257,4.283333333,HOLD_POSE2,764,742.439144059,710.439144059,673.560855941,659,630,878,782.560855941,799.560855941,649.560855941,628,650,0.445918788126,0.00456616059684,0.0596697433611,0.999999852529,9.33003912871e-05,-0.000532136939529,-5.53917694309e-05,1793192467300292096
+258,4.300000000,HOLD_POSE2,764,742,710.149669131,673.850330869,659,630,878,783,800,649.850330869,628.149669131,650,0.445918778918,0.00456541196656,0.059669925133,0.999999852643,9.37018586178e-05,-0.000531879221251,-5.51147038438e-05,1793192467316958720
+259,4.316666667,HOLD_POSE2,764,742,710.729576254,673.270423746,659,630,878,783,800,649.270423746,628.729576254,650,0.4459187908,0.00456656768346,0.0596701336728,0.999999852775,9.18593314142e-05,-0.000531922769261,-5.54166282184e-05,1793192467333625344
+260,4.333333333,HOLD_POSE2,764,742.304549222,710.695450778,673.304549222,659,630,878,783,799.695450778,649.304549222,628.695450778,650,0.44591862495,0.00456771728256,0.0596700801086,0.999999852534,9.2155985336e-05,-0.000532295459212,-5.56842829229e-05,1793192467350291968
+261,4.350000000,HOLD_POSE2,764,742.875210737,710.124789263,673.875210737,659,630,878,783,799.124789263,649.875210737,628.124789263,650,0.445918303802,0.00456886153594,0.0596697975203,0.999999851967,9.43218360363e-05,-0.000532955750342,-5.59219930888e-05,1793192467366958592
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,742,710,673,659,630,878,782,800,650,628,650,0.445920442253,0.00456676613997,0.059671222926,0.999999853872,9.21527486248e-05,-0.000529828599956,-5.51788696026e-05,1793192467398939392
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.582716915,742,710,673,659,630,878,782,799.417283085,650,628,650,0.445920018489,0.00456754524291,0.0596706592638,0.999999853221,9.44484685934e-05,-0.000530632358461,-5.53693749987e-05,1793192467415606016
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.162905847,710.162905847,673,659,630,878,782,799,650,628.162905847,650,0.44591952329,0.00456774548138,0.059670179168,0.999999852723,9.52811882306e-05,-0.000531408682739,-5.55052069906e-05,1793192467432272640
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.736718428,710.736718428,673,659,630,878,782,799,650,628.736718428,650,0.445918847908,0.00456648561705,0.0596699098564,0.999999852615,9.24236989694e-05,-0.000532115808262,-5.55031331696e-05,1793192467448938496
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.687686625,711,673.312313375,659,630,878,782,799,650,628.687686625,650.312313375,0.445918834117,0.00456696519098,0.0596701062397,0.999999852712,9.23402992954e-05,-0.000531946792451,-5.55169906225e-05,1793192467465604864
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.110580547,711,673.889419453,659,630,878,782,799,650,628.110580547,650.889419453,0.445919381251,0.00456891953551,0.0596706974593,0.999999852983,9.46088921892e-05,-0.000531034946312,-5.55443552941e-05,1793192467482271488
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742,710.521721455,674,659,629.521721455,878,782,799,649.521721455,628,650.521721455,0.445916571124,0.00456916652342,0.0596684576509,0.999999851558,9.36335272634e-05,-0.00053384611198,-5.59002807089e-05,1793192467498938112
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,710.067949394,673.932050606,659,629.067949394,878,782,799.067949394,649.067949394,628,650,0.445912289259,0.00456880074477,0.0596654096555,0.99999984951,9.21554310969e-05,-0.000537892608867,-5.62084844298e-05,1793192467515604736
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742,710.642891179,673.357108821,659,629.642891179,878,782,799.642891179,649.642891179,628,650,0.445902963797,0.00456688247496,0.0596613383505,0.999999845883,9.26634203104e-05,-0.000544571951231,-5.55795426473e-05,1793192467532271872
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.781587949,742.218412051,711,673.218412051,659,629.781587949,877.781587949,782.218412051,799.781587949,650,628,650,0.445884835164,0.00456652814985,0.0596531001681,0.999999838414,9.3242871267e-05,-0.0005580241229,-5.55570938524e-05,1793192467548938752
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.205117796,742.794882204,711,673.794882204,659,629.205117796,877.205117796,782.794882204,799.205117796,650,628,650,0.44585227488,0.00456873770851,0.0596380309332,0.99999982429,9.39394743586e-05,-0.000582579465029,-5.65289113424e-05,1793192467565605376
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.631362009,711,674,659.368637991,629.368637991,877.368637991,782.631362009,799,650,628,650,0.445804015362,0.00456944127206,0.0596192855912,0.999999806722,9.43484292787e-05,-0.000611889847457,-5.69583802972e-05,1793192467582272000
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742.059105459,711,674,659.940894541,629.940894541,877.940894541,782.059105459,799,650,628,650,0.445747084312,0.00456931299383,0.0595985097363,0.99999978664,9.45985006734e-05,-0.000643826695908,-5.70882810862e-05,1793192467598938368
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.536106572,742.536106572,711,673.463893428,659.463893428,630,878.536106572,782,799.536106572,650,628,650.536106572,0.445673872893,0.00457120831808,0.0595856508148,0.999999777152,9.69135903162e-05,-0.000658032349316,-5.7425306462e-05,1793192467615605248
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.871067818,711,673,659,630,878.742135636,782,799.871067818,650,628,651,0.445594561705,0.00457341114446,0.0595747648538,0.999999768756,0.000100186996597,-0.000670173551729,-5.76018693276e-05,1793192467632271872
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.295661838,711,673,659,630,877.591323677,782,799.295661838,650,628,651,0.4455006214,0.00457587167996,0.0595675532485,0.99999976003,0.00010595527117,-0.000682238064927,-5.71401604124e-05,1793192467648938752
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742,710.7210054,673.2789946,659,630,877.2789946,782,799,650,628,650.7210054,0.445397429726,0.00457742986498,0.0595644674886,0.999999756167,0.000109448751924,-0.000687391590892,-5.63923219279e-05,1793192467665605376
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742,710.147141189,673.852858811,659,630,877.852858811,782,799,650,628,650.147141189,0.445284460278,0.00457803435493,0.0595657423384,0.999999757582,0.000110538000959,-0.000685240888366,-5.53420729115e-05,1793192467682272000
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742,710,674,659,630,878,782.4380665,799,650,628,650,0.445158359678,0.00457824024358,0.0595718575321,0.999999764833,0.000113105226818,-0.000674268668643,-5.38839128349e-05,1793192467698938880
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.02682012,710.02682012,674,659.02682012,630,878,782.97317988,799.02682012,649.97317988,628,650.02682012,0.445025390871,0.00457836322731,0.0595793423859,0.999999773638,0.000116276652146,-0.000660659684135,-5.22793639495e-05,1793192467715605248
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.608019223,710.608019223,674,659.608019223,630,878,782.391980777,799.608019223,649.391980777,628,650.608019223,0.444844045968,0.00457961355577,0.0595806391704,0.999999776563,0.000121402835032,-0.000655423000096,-5.05562852169e-05,1793192467732271872
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.812723981,660.187276019,630,878,782.187276019,800,649.187276019,628.187276019,650.812723981,0.44465452879,0.00458105918353,0.0595836672421,0.999999780793,0.000127370880572,-0.000647931214576,-4.87364715353e-05,1793192467748938496
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.237490898,660.762509102,630,878,782.762509102,800,649.762509102,628.762509102,650.237490898,0.444448082119,0.00458290938902,0.0595902818117,0.999999787685,0.000135082910435,-0.000635767808881,-4.67162639797e-05,1793192467765605120
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,710.661238271,673,660.661238271,630,877.661238271,782.661238271,799.661238271,650,628.661238271,650,0.44421643108,0.00458441047702,0.059598399106,0.999999795162,0.000140921697751,-0.000622797990878,-4.40361943399e-05,1793192467782271744
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,710.08426867,673,660.08426867,630,877.08426867,782.08426867,799.08426867,650,628.08426867,650,0.443967057005,0.00458566607545,0.0596075730755,0.999999802987,0.000145443273528,-0.000609261124778,-4.08921277348e-05,1793192467798938624
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.494980708,710.505019292,673.505019292,660.505019292,630,877.505019292,782.505019292,799,649.494980708,628.505019292,650,0.443692634091,0.00458564170822,0.0596237202872,0.999999818344,0.000151869698188,-0.000582114249607,-3.72957130082e-05,1793192467815605248
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.906037004,742,710.906037004,674,661,630,878,782.906037004,799,649.093962996,628.906037004,650,0.443400603421,0.00458593361218,0.0596388751246,0.999999831674,0.000159580660557,-0.000556831287022,-3.35540047331e-05,1793192467832272128
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.329676893,742,710.329676893,674,661,630,878,782.329676893,799,649.670323107,628.329676893,650,0.443040170801,0.00458897312565,0.0596428121974,0.999999831795,0.000172213724546,-0.000553068047407,-2.94635665938e-05,1793192467848940032
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.820370384,742.820370384,710,674,661,630.820370384,878,782,799,649.179629616,628,650,0.442252680502,0.00459385905293,0.0596351404061,0.999999818703,0.000190096695676,-0.000570950882311,-2.17512379664e-05,1793192467882272512
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742.595258828,710.404741172,674,661.404741172,631,878,782,799,649.404741172,628,650,0.441823913799,0.00459529295117,0.0596351429128,0.999999814723,0.000200144265669,-0.000574639595255,-1.68930657167e-05,1793192467898938880
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,710.788767267,671.788767267,664,632,876,783,798.211232733,649,628.788767267,651,0.400959258362,0.00451808141757,0.0598400808981,0.999999951827,0.000155521882598,-0.000267842445347,2.04733643949e-05,1793192469415604992
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,710.214035859,671.214035859,664,632,876,783,798.785964141,649,628.214035859,651,0.40095645615,0.00451879465639,0.0598382612311,0.999999950811,0.000156663962546,-0.000270985680118,2.00384477868e-05,1793192469432271616
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,710,671.369647098,664,632,876,783,799,649,628,650.630352902,0.400956635614,0.00451816679156,0.059838550134,0.999999950948,0.000156292833154,-0.000270685640323,2.01634924229e-05,1793192469448938240
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,710,671.958641861,664,632,876,783,799,649,628,650.041358139,0.400958584397,0.00451674311915,0.059840090257,0.999999951767,0.000155023769079,-0.000268342369885,2.06208166783e-05,1793192469465604864
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,710.538943044,672,664,632,876.538943044,783,799,649.538943044,628,650,0.400957903101,0.00451590320235,0.0598398997317,0.99999995186,0.000154551672371,-0.000268268159072,2.064478571e-05,1793192469482271744
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,710.882551249,672,664,632.117448751,876.882551249,783,799,650,628,650.117448751,0.400956962183,0.00451568056048,0.0598395111738,0.999999951774,0.00015436275283,-0.00026870122109,2.05896813225e-05,1793192469498938112
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,710.27196549,672,664,632.72803451,876.27196549,783,799.27196549,649.72803451,628,651,0.400955805476,0.00451802103608,0.0598391048517,0.999999951286,0.000154474443838,-0.000270464215711,2.03519335989e-05,1793192469532271872
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,710.859793272,672,664,632.140206728,876.859793272,783,799.859793272,649.140206728,628,651,0.400957219841,0.00451641466258,0.0598403875742,0.99999995212,0.000152462853748,-0.000268496229751,2.06198975074e-05,1793192469548938496
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,710.558835454,672,664,632,877,783,799.558835454,649.441164546,628.441164546,650.558835454,0.400956284774,0.00451641214838,0.0598395258503,0.999999951706,0.000152636999113,-0.000269933925584,2.06232774133e-05,1793192469565605120
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,710.020478083,672.020478083,664,632,876.979521917,783,799,650,628.979521917,650.020478083,0.400954726047,0.00451688882083,0.0598380819785,0.999999950936,0.00015351975402,-0.000272281034776,2.05566409418e-05,1793192469582271744
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,710.598828563,672.598828563,664,632,876.401171437,783,799,650,628.401171437,650.598828563,0.400956225108,0.00451673389487,0.059839077642,0.999999951219,0.000155055770024,-0.000270341934156,2.08402958778e-05,1793192469598938368
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.64658053,664,632,876,783,799.176709735,650,628,651,0.400957552782,0.00451687195777,0.0598400834773,0.999999951527,0.000156123895873,-0.000268570501528,2.09932777933e-05,1793192469615604992
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.492943479,664,632,876,783,799.753528261,650,628,651,0.400958492399,0.00451767341036,0.0598411123436,0.999999951902,0.000156132617837,-0.000267178705361,2.08503879103e-05,1793192469632271616
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_09/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a2c01ed04f1f85eff67c2c37225c33b666831c5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,398 @@
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+391,6.516666667,pose2_to_pose3_retreat,0.575710155385,0.0100545374676,1.05002891275,0.546280885813,0.0187272677829,1.04969820858
+392,6.533333333,pose2_to_pose3_retreat,0.57571010153,0.0100545364046,1.05002890705,0.54628083194,0.0187272666663,1.04969820311
+393,6.550000000,pose2_to_pose3_retreat,0.575709886709,0.0100545558911,1.0500289277,0.546280616839,0.0187272852525,1.04969822503
+394,6.566666667,pose2_to_pose3_retreat,0.575709729002,0.0100545908171,1.05002898058,0.546280458748,0.0187273189212,1.04969827914
+395,6.583333333,pose2_to_pose3_retreat,0.575709455413,0.0100546514066,1.05002907231,0.546280184493,0.0187273773293,1.04969837302
+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_0030_20/position_09/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7fcf04af5bb68607a48c6ecece3d961b8428d292
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adcf503954bc15da8efa0aa414b068c22e18baf8718c1ba0a7b6a36e382999e3
+size 25371410
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f7869edc009b312b08836186d2fa5f900da31cff
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_04/franka_data.csv
@@ -0,0 +1,401 @@
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+25,0.416666667,BASELINE,764.509037007,742,711,671.490962993,664,632,876,783,799.018074014,650,628,651,0.40095840584,0.00451454377814,0.0598417839397,0.999999953615,0.000148907582017,-0.000264887404959,2.07741594186e-05,1793192470199441664
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+27,0.450000000,BASELINE,764.33508317,742,711,671.66491683,664.66491683,632,876,783,799.33508317,649.33508317,628.66491683,650.33508317,0.400958160215,0.00451577440693,0.0598416359572,0.999999953327,0.000151457857665,-0.000264534588458,2.06842906606e-05,1793192470232776704
+28,0.466666667,BASELINE,764,742,710.759352234,672,664.759352234,632,876,783,799,649,628.759352234,650,0.400958078478,0.00451645075089,0.0598416768623,0.999999953023,0.000153542027443,-0.000264478031638,2.07464836121e-05,1793192470249443584
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+30,0.500000000,BASELINE,764,742,710.402394846,672.402394846,664,632,876.402394846,782.597605154,799,649,628,650,0.400956481705,0.00451598219866,0.0598412695346,0.999999952426,0.000153691858628,-0.000266612204899,2.10749448615e-05,1793192470282775808
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+52,0.866666667,BASELINE,764,742,710.170560584,672,664,632.829439416,876.829439416,783,799.829439416,650,629,650,0.40095715328,0.00451479630804,0.0598415308365,0.999999952843,0.000152663515188,-0.000265662831587,2.07532157782e-05,1793192470649443328
+53,0.883333333,BASELINE,764,742,710.744563796,672,664,632.255436204,876.255436204,783,799.255436204,650,629,650,0.400957281918,0.00451482204611,0.0598418950531,0.999999953319,0.000151272471131,-0.000264673145478,2.06488902859e-05,1793192470666110208
+54,0.900000000,BASELINE,764,742,711,672,664,632.328002789,876,783,799,650,629,650.328002789,0.400957628479,0.00451573120167,0.0598420220154,0.999999953492,0.000150600281178,-0.000264428168723,2.0345375245e-05,1793192470682776576
+55,0.916666667,BASELINE,764,742,711,672,664,632.919007634,876,783,799,650,629,650.919007634,0.400958149778,0.00451734870676,0.0598419587402,0.999999953422,0.000150504489157,-0.000264780321364,1.98821443087e-05,1793192470699442944
+56,0.933333333,BASELINE,764,742,711,672,664.499422679,632.500577321,876.998845357,783,799,650,628.500577321,650.500577321,0.400957343301,0.00451637727791,0.0598423204176,0.999999953417,0.000150147594247,-0.000264950449627,2.0561818681e-05,1793192470716109312
+57,0.950000000,BASELINE,764,742,710.922184721,671.922184721,664.922184721,632.077815279,877.844369443,783,799,650,628.077815279,650.077815279,0.400956579459,0.00451525706146,0.0598426844558,0.99999995342,0.000149902580359,-0.000265025179111,2.12468382448e-05,1793192470732775936
+58,0.966666667,BASELINE,764,742,710.345974735,671.345974735,664.345974735,632.654025265,876.69194947,783,799,650,628.654025265,650.654025265,0.400957439198,0.00451581713859,0.0598426313875,0.999999953411,0.000150639719865,-0.000264674034729,2.08036216705e-05,1793192470749442560
+59,0.983333333,BASELINE,764,742,710.234269036,671.234269036,664,632.765730964,876,783,799,650,628.765730964,651,0.400957948069,0.00451573530905,0.0598425339468,0.999999953533,0.000150307677347,-0.000264417651996,2.0609823559e-05,1793192470766108672
+60,1.000000000,BASELINE,764,742,710.820574466,671.820574466,664,632.179425534,876,783,799,650,628.179425534,651,0.40095792969,0.0045146888856,0.0598423698276,0.999999953849,0.000148368973685,-0.00026430366767,2.07908268394e-05,1793192470782775296
+61,1.016666667,BASELINE,764,742,711,672,664.401705735,632,876,783.401705735,799,650,628,651,0.400958405169,0.0045147917021,0.0598429470912,0.999999954084,0.000148633746334,-0.000263259365833,2.08312373019e-05,1793192470799441920
+62,1.033333333,BASELINE,764,742,711,672,664.980555274,632,876,783.980555274,799,650,628,651,0.400959098428,0.00451540130938,0.059843851289,0.999999954282,0.000149870205931,-0.000261804813493,2.08096492696e-05,1793192470816108800
+63,1.050000000,BASELINE,764,742,711,672,665,632,876,783.440375503,799,650,628,650.440375503,0.40095904811,0.00451547128243,0.0598438835612,0.999999954182,0.000150054133697,-0.000262081815787,2.07912789946e-05,1793192470832775424
+64,1.066666667,BASELINE,764,742,711,671.862352732,664.862352732,632,876.137647268,783,799.137647268,650,628,650.137647268,0.400959146018,0.00451564964044,0.0598439842583,0.999999954118,0.000150311151206,-0.000262181796541,2.0745196637e-05,1793192470849442048
+65,1.083333333,BASELINE,764,742,711,671.287676712,664.287676712,632,876.712323288,783,799.712323288,650,628,650.712323288,0.400959796605,0.00451623167461,0.0598443984307,0.999999954201,0.000150916387055,-0.000261528638418,2.06107735678e-05,1793192470866108672
+66,1.100000000,BASELINE,764,742,711,671.293586135,664,632,876.706413865,783,799.706413865,650,628.293586135,651,0.40095900706,0.00451664496793,0.0598439148984,0.999999954042,0.000150656146635,-0.000262308343523,2.03404677131e-05,1793192470882775552
+67,1.116666667,BASELINE,764,742,711,671.881451321,664,632,876.118548679,783,799.118548679,650,628.881451321,651,0.400956773985,0.00451688912211,0.0598425315427,0.999999953635,0.000149528387226,-0.00026452429371,1.99339583727e-05,1793192470899442176
+68,1.133333333,BASELINE,764,742,710.537670643,671.537670643,664,632,876,783,799,650,629,651,0.400957468675,0.00451642699475,0.0598425035776,0.999999953739,0.000150207455239,-0.00026372982668,2.01566349754e-05,1793192470916108800
+69,1.150000000,BASELINE,764,742,710,671.041234352,664,632,876.041234352,783,799,650,628.958765648,651,0.400958815357,0.00451588346421,0.0598428202144,0.999999953957,0.0001512789427,-0.000262259588724,2.04885995987e-05,1793192470932775424
+70,1.166666667,BASELINE,764,742,710,671.61743894,664,632,876.61743894,783,799,650,628.38256106,651,0.400959026084,0.00451659843497,0.0598431658125,0.999999954025,0.000151520325681,-0.00026188767265,2.01764948388e-05,1793192470949441792
+71,1.183333333,BASELINE,764,742,710,672.193101519,664,632,876.806898481,783,799.386203038,650,628,650.806898481,0.400958404878,0.00451673891238,0.0598427641182,0.999999953797,0.00015137590032,-0.00026284935286,2.00440535965e-05,1793192470966108416
+72,1.200000000,BASELINE,764,742,710,672.767693411,664,632,876.232306589,783,800.535386821,650,628,650.232306589,0.400956140111,0.00451574442378,0.0598408860771,0.999999952977,0.000150469274009,-0.000266445679003,2.02665546247e-05,1793192470982775296
+73,1.216666667,BASELINE,764,742,710.351132913,672.648867087,664,632,876.351132913,783,800.297734175,650,628,650.351132913,0.400955922127,0.0045152537389,0.0598409907058,0.999999953137,0.000149347874137,-0.000266470768889,2.03838467347e-05,1793192470999441920
+74,1.233333333,BASELINE,764,742,710.940577189,672.059422811,664,632,876.940577189,783,799.118845622,650,628,650.940577189,0.400957093281,0.004515104982,0.0598424409584,0.99999995396,0.000148080709061,-0.000264072086384,2.04297343009e-05,1793192471016108288
+75,1.250000000,BASELINE,764,742,711,672,664,632,876.478480411,783,799,650,628.521519589,651,0.400958733516,0.00451393196067,0.0598431905049,0.999999954476,0.000147939887291,-0.00026216846912,2.07393235903e-05,1793192471032775168
+76,1.266666667,BASELINE,764,742,711,672,664,632.100891157,876,783,799,649.899108843,628.899108843,651,0.400959767538,0.00451309842631,0.0598436115889,0.999999954747,0.000148032913466,-0.000261061385659,2.09468950717e-05,1793192471049441792
+77,1.283333333,BASELINE,764,742,711,672,664,632.677351286,876,783,799,649.322648714,628.322648714,651,0.400957696162,0.00451440641892,0.0598428547064,0.999999954041,0.000148632986434,-0.000263447283431,2.05342285055e-05,1793192471066108672
+78,1.300000000,BASELINE,764,742,711,672,664,633,876,783,799,649.253417416,628.253417416,651,0.400957103813,0.00451523281912,0.0598426344841,0.999999953775,0.000149167750408,-0.000264163676911,2.04061571992e-05,1793192471082775296
+79,1.316666667,BASELINE,764,742,711,672,664,633,876,783,799,649.828982642,628.828982642,651,0.400958391627,0.0045154470121,0.0598430964717,0.999999954073,0.000149619492619,-0.000262757772695,2.06398674525e-05,1793192471099441920
+80,1.333333333,BASELINE,764,742.414004206,710.585995794,672,664,633,876,783,799,650,629,651,0.400958525228,0.00451511373067,0.0598431781743,0.999999954344,0.000148502208021,-0.000262379446486,2.03798850736e-05,1793192471116108544
+81,1.350000000,BASELINE,763.997028485,742.997028485,710.002971515,672,664,632.997028485,876.002971515,783,799,649.997028485,629,650.997028485,0.400958171351,0.00451454925796,0.0598430986296,0.999999954598,0.000146740774119,-0.000262438317715,1.9916760437e-05,1793192471132775168
+82,1.366666667,BASELINE,763.418110832,742.418110832,710.581889168,672,664,632.418110832,876.581889168,783,799,649.418110832,629,650.418110832,0.400957904421,0.00451403255605,0.0598429247687,0.99999995414,0.000148688433733,-0.000263040313,2.0531275249e-05,1793192471149441792
+83,1.383333333,BASELINE,763.159579637,742,710.840420363,672,664,632.159579637,876.840420363,783,799,649.159579637,628.840420363,650.159579637,0.40095766843,0.00451364683218,0.0598428518385,0.999999953878,0.000149608552589,-0.000263475948793,2.10062417471e-05,1793192471166108672
+84,1.400000000,BASELINE,763.73407945,742,710.26592055,672,664,632.73407945,876.26592055,783,799,649.73407945,628.26592055,650.73407945,0.400957512884,0.00451360166184,0.059843041336,0.999999954136,0.000147856981417,-0.000263479036362,2.11183712893e-05,1793192471182775296
+85,1.416666667,BASELINE,764,742,710.31551253,672,664,633,876,783,799,649.68448747,628,651,0.400958339636,0.00451412116894,0.0598434883769,0.999999954394,0.000147687106007,-0.0002626033782,2.09900062422e-05,1793192471199441920
+86,1.433333333,BASELINE,764,742,710.902920371,672,664,633,876,783,799,649.097079629,628,651,0.400960012891,0.00451512729111,0.0598441573575,0.999999954651,0.000148880268998,-0.000260970454254,2.06543931557e-05,1793192471216108544
+87,1.450000000,BASELINE,764,742,711,672,664,633,876.485081909,783,799,649.485081909,628,651,0.400959054462,0.00451545452468,0.0598434376844,0.999999954439,0.000148759701093,-0.000261867580562,2.04586110731e-05,1793192471232775168
+88,1.466666667,BASELINE,764,742,711,671.934673049,664,632.934673049,876.934673049,783,799,650,628,650.934673049,0.400957840844,0.00451571925354,0.059842619038,0.999999954179,0.000148523635412,-0.000263001808122,2.03125460174e-05,1793192471249441792
+89,1.483333333,BASELINE,764,742,711,671.361255107,664,632.361255107,876.361255107,783,799,650,628,650.361255107,0.400958694962,0.00451654325719,0.0598431689877,0.999999954287,0.000149412270982,-0.000262084124553,2.03378385443e-05,1793192471266108416
+90,1.500000000,BASELINE,764,742,711,671.21374748,664,632.21374748,876,783,799,650,628.21374748,650.21374748,0.400959132929,0.0045168541389,0.0598436300616,0.999999954348,0.000150108391688,-0.000261445593318,2.04341671646e-05,1793192471282775040
+91,1.516666667,BASELINE,764,742,711,671.791448222,664,632.791448222,876,783,799,650,628.791448222,650.791448222,0.400958862302,0.00451629131478,0.0598439398044,0.999999954331,0.000150476712356,-0.000261282381942,2.06514507433e-05,1793192471299441664
+92,1.533333333,BASELINE,764,742,711,672,664,633,876.377629413,782.622370587,799,650,629,651,0.400959002707,0.00451543143156,0.0598439005765,0.999999954539,0.00014929613758,-0.000261167278089,2.06065464926e-05,1793192471316108288
+93,1.550000000,BASELINE,764,742,711,672,664,633,876.968601713,782.031398287,799,650,629,651,0.400959375324,0.00451440372384,0.0598436641965,0.999999954871,0.000147240509638,-0.00026107935271,2.04135184495e-05,1793192471332775168
+94,1.566666667,BASELINE,764,742.548196846,711,671.451803154,664,633,876.451803154,782.548196846,799,650,628.451803154,650.451803154,0.400958866361,0.00451383308407,0.0598433997233,0.999999954845,0.000146785428771,-0.000261430645579,2.04459223709e-05,1793192471349441792
+95,1.583333333,BASELINE,764,742.873402566,710.873402566,671.253194868,664,632.873402566,876.126597434,783,799.126597434,650,628.126597434,650,0.400958507532,0.00451328352413,0.0598432376337,0.999999954781,0.000146582265416,-0.00026177886542,2.05781407561e-05,1793192471366108672
+96,1.600000000,BASELINE,764,742.29697797,710.29697797,672.406044061,664,632.29697797,876.70302203,783,799.70302203,650,628.70302203,650,0.400958857929,0.0045127177375,0.0598434449356,0.999999954652,0.000146955109618,-0.000262028597423,2.102007548e-05,1793192471382775296
+97,1.616666667,BASELINE,764,742,710,672.716013428,664,632.283986572,876.716013428,783,799.716013428,650,628.716013428,650.283986572,0.400958960069,0.00451295758777,0.0598436853188,0.999999954632,0.000147283323852,-0.000261900257613,2.12416316199e-05,1793192471399441920
+98,1.633333333,BASELINE,764,742,710,672.130224158,664,632.869775842,876.130224158,783,799.130224158,650,628.130224158,650.869775842,0.40095879838,0.00451405361728,0.0598439608585,0.99999995473,0.0001475641082,-0.000261370127338,2.12289835216e-05,1793192471416108544
+99,1.650000000,BASELINE,764,742,710.449078055,672,664,632.550921945,876,783,799,650,628,651,0.400957813183,0.00451484603059,0.0598433976252,0.999999954417,0.000147966155249,-0.000262372091285,2.07861187264e-05,1793192471432775168
+100,1.666666667,BASELINE,764.0266265,742,711,672,664,632,876,783,799,649.9733735,628.0266265,650.9733735,0.400956688736,0.00451554297629,0.059842650582,0.999999954004,0.000148456537182,-0.000263710014439,2.02566637372e-05,1793192471449442048
+101,1.683333333,BASELINE,764.60626384,742,711,672,664,632,876,783,799,649.39373616,628.60626384,650.39373616,0.400957561299,0.00451605968016,0.0598430656763,0.999999953965,0.000150061637205,-0.000262929629024,2.04829593555e-05,1793192471466108672
+102,1.700000000,BASELINE,764.815748733,742,711,672,664,632,876,783,798.815748733,649.184251267,629,650.184251267,0.400958290853,0.00451615785675,0.0598435018373,0.999999954091,0.000150562264528,-0.000262151393812,2.06475281683e-05,1793192471482775040
+103,1.716666667,BASELINE,764.241255871,742,711,672,664,632,876,783,798.241255871,649.758744129,629,650.758744129,0.400958717518,0.00451536959835,0.0598439826173,0.999999954568,0.000148723633978,-0.000261377712797,2.0681360445e-05,1793192471499442176
+104,1.733333333,BASELINE,764.341014834,742,711,672,664,632,876,783,798.341014834,649.658985166,629,651,0.400957794005,0.00451413705985,0.059843480823,0.999999954645,0.000146680883153,-0.000262227853322,2.0761116334e-05,1793192471516108800
+105,1.750000000,BASELINE,764.928916578,742,711,672,664,632,876,783,798.928916578,649.071083422,629,651,0.400955892994,0.00451258287267,0.0598422676675,0.999999954428,0.000144490353743,-0.000264253603278,2.08741198671e-05,1793192471532775424
+106,1.766666667,BASELINE,764.490558437,742,711,671.490558437,664,632,876.509441563,783,798.490558437,649.509441563,629,651,0.400957326507,0.00451315177742,0.0598425797106,0.999999954483,0.00014608593421,-0.000263161631453,2.09373735113e-05,1793192471549442048
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,710,672,664,632,878,783,800,650,628,650,0.400958723381,0.00451474182015,0.059842947051,0.999999954334,0.000149554957876,-0.000261799706788,2.06674965982e-05,1793192471592445952
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.571434278,710.571434278,672,664,632,876.857131445,783,799.428565722,650,628,650.571434278,0.400958107231,0.00451452797931,0.0598426945299,0.999999954054,0.00014977712171,-0.000262733405027,2.07190456057e-05,1793192471609112576
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.851730805,711,672,664,632.148269195,876,783,799,650,628,650.851730805,0.400958099849,0.00451438446313,0.0598427829686,0.999999953962,0.000149908695472,-0.000263001614112,2.08193988603e-05,1793192471625779200
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.258695338,711,672,664,632.741304662,876,783,799,650,628,650.258695338,0.4009599186,0.00451445190132,0.0598438941913,0.999999954431,0.000149768524319,-0.000261273541381,2.10661512713e-05,1793192471642446080
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671.67356795,664,633,876.6528641,783,799,649.67356795,628.32643205,650,0.400959702414,0.00451483599806,0.0598442526993,0.999999954508,0.000149677609806,-0.000261034545931,2.09926041835e-05,1793192471659112704
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671.094559466,664,633,877.810881068,783,799,649.094559466,628.905440534,650,0.400957911696,0.00451546510901,0.0598440287951,0.999999954284,0.000149624807575,-0.00026194772247,2.0671225701e-05,1793192471675779328
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671.480985305,664,633,877.038029391,783,799,649.480985305,628.519014695,650.480985305,0.400957420308,0.00451476328122,0.0598435804437,0.999999954156,0.00014875985476,-0.000262916390825,2.08161222872e-05,1793192471692445952
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.943002177,876,783,799,650,628.056997823,650.943002177,0.40095788038,0.00451385893233,0.0598434192435,0.999999954172,0.000147880003504,-0.000263331173124,2.10691447544e-05,1793192471709112832
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.356360769,876,783,799,650,628.643639231,650.356360769,0.400964825057,0.00451348670466,0.0598463334475,0.999999955357,0.000148334765619,-0.000258498404313,2.14811944552e-05,1793192471725780736
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,671.771197355,664.228802645,632,876,783,799,650,629,650.228802645,0.400978606477,0.00451341277548,0.0598521312997,0.99999995788,0.000148517930862,-0.000248423754003,2.16185949153e-05,1793192471742447872
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,671.188321197,664.811678803,632,876,783,799,650,629,650.811678803,0.401002967795,0.00451380046511,0.059862391615,0.999999962274,0.000148280798194,-0.000230237259972,2.133097393e-05,1793192471759113472
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664.612336359,632,876,783,799,649.612336359,628.612336359,651,0.401049939592,0.0045127512072,0.0598801318069,0.99999996976,0.000146280311243,-0.000196533595658,2.13873839582e-05,1793192471775780096
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664.039640699,632,876,783,799,649.039640699,628.039640699,651,0.401107703382,0.00451101609367,0.059901442148,0.999999977401,0.000143438174333,-0.000155423577536,2.16080000806e-05,1793192471792446976
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671.537050379,664,632.537050379,876,783,799,649.537050379,628,651,0.401174392667,0.00450862940596,0.0599157108955,0.999999980499,0.000140327827359,-0.000137167693517,2.22731543403e-05,1793192471809113600
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.116294719,711,672,664,633,876,783,799,650,628,650.883705281,0.401244322701,0.00450655064647,0.0599278357938,0.999999982854,0.000137711339241,-0.000121705974895,2.27087790824e-05,1793192471825780224
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.704698246,711,672,664,633,876,783,799,650,628,650.295301754,0.401324714334,0.00450591865331,0.0599333833489,0.999999984221,0.000137180684881,-0.000110687938287,2.20784060015e-05,1793192471842446592
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.709802981,711,672.290197019,664,632.709802981,876.290197019,783,799.290197019,649.709802981,628,650.290197019,0.401418377209,0.00450472072505,0.0599375015345,0.999999985617,0.000133891384256,-0.000101885457535,2.14044493005e-05,1793192471859112960
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.127230799,711,672.872769201,664,632.127230799,876.872769201,783,799.872769201,649.127230799,628,650.872769201,0.40152541093,0.00450295261395,0.0599401796219,0.999999987074,0.000127822731712,-9.53151626977e-05,2.06865818907e-05,1793192471875779584
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672.547387584,664.452612416,632.452612416,876.547387584,783,799.547387584,649.452612416,628.452612416,651,0.401649285963,0.00449261299885,0.0599432090788,0.999999989225,0.000114680173646,-8.90770824906e-05,2.1524657836e-05,1793192471892446464
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,710.968833959,672,664.968833959,632.968833959,876,783,799,650,629,651,0.401779440889,0.00448023186764,0.0599459783962,0.999999991295,9.97462448251e-05,-8.3348086503e-05,2.26683399487e-05,1793192471909113088
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,710.399383415,672,664.399383415,632.399383415,876,783,799,650,629,651,0.401936783273,0.00447395656592,0.059942559009,0.999999992298,8.80111549002e-05,-8.48084806279e-05,2.15813526137e-05,1793192471925779968
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,710.177101224,672,664.177101224,632.177101224,876.177101224,783,799,650,629,651,0.402104777703,0.00447076229406,0.0599408704761,0.999999993131,7.98217506501e-05,-8.349694727e-05,1.98814493341e-05,1793192471942446592
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,710.770104556,672,664.770104556,632.770104556,876.770104556,783,799,650,629,651,0.402297787231,0.00447480347168,0.0599432466585,0.9999999938,7.99589881128e-05,-7.56758569074e-05,1.67421827404e-05,1793192471959113216
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664.646914564,632.646914564,876.646914564,783,799,650,628.646914564,651,0.402515020394,0.00447316120168,0.0599428929831,0.999999994687,7.33724136299e-05,-7.10623341557e-05,1.39118613191e-05,1793192471975779840
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664.070279167,632.070279167,876.070279167,783,799,650,628.070279167,651,0.402747590353,0.00446792055514,0.0599408109456,0.999999995637,6.25287734845e-05,-6.84796267938e-05,1.12771429013e-05,1793192471992446464
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.504549241,742.504549241,710.495450759,672,664,632,876,783,799,650,628.504549241,650.495450759,0.40301600641,0.00446804276103,0.0599415592547,0.999999996182,5.59165055836e-05,-6.66990656779e-05,7.84446730646e-06,1793192472009113088
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.918922375,742.918922375,710,672,664,632,876.081077625,783,799,650,628.918922375,650.081077625,0.403292844617,0.00446871597993,0.0599421116035,0.999999996609,4.95445310399e-05,-6.56502594817e-05,4.25927492546e-06,1793192472025779712
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.330179011,742.330179011,710,672,664,632,876.669820989,783,799,650,628.330179011,650.669820989,0.403591265813,0.00446817874092,0.0599389772241,0.999999996814,4.09998499552e-05,-6.84862104152e-05,4.12569264995e-07,1793192472042446080
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,710.254639803,672,664,632,876.745360197,782.745360197,798.745360197,649.745360197,628,650.745360197,0.403902915807,0.00446699835833,0.0599317626051,0.999999996362,3.1302087027e-05,-7.92680320968e-05,-3.56355911916e-06,1793192472059112960
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,710.83444705,672,664,632,876.16555295,782.16555295,798.16555295,649.16555295,628,650.16555295,0.404231458563,0.00446499670057,0.0599193376418,0.999999994748,2.01318734345e-05,-0.000100196493841,-7.7049562345e-06,1793192472075780352
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.411600617,742,711,672,664,632,876,782.411600617,798.411600617,649,628,650,0.404587373723,0.00446507180668,0.0599048157641,0.999999991972,1.19966158018e-05,-0.000125494543761,-1.27405584184e-05,1793192472092446976
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.987693651,742,711,672,664,632,876,782.987693651,798.987693651,649,628,650,0.404954228005,0.0044659768725,0.0598894558739,0.999999988189,5.07425078283e-06,-0.000152538859003,-1.81335213613e-05,1793192472109113600
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.436165114,742,710.436165114,671.436165114,664,632,876,782.436165114,799.563834886,649.563834886,628,650,0.4054039477,0.00446132450257,0.0598937130127,0.999999988454,-9.68535960744e-06,-0.000150034754976,-2.20867472981e-05,1793192472125779968
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,710.143084838,671.143084838,664.143084838,632.143084838,876.143084838,782.143084838,799.856915162,650,628,650.143084838,0.405869110291,0.00445729467523,0.0599041073124,0.999999990237,-2.31827200648e-05,-0.000135321707337,-2.5998413208e-05,1793192472142446592
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,710.732018078,671.732018078,664.732018078,632.732018078,876.732018078,782.732018078,799.267981922,650,628,650.732018078,0.406376756302,0.00445558266619,0.0599322905726,0.999999995458,-3.22138874009e-05,-8.45756802038e-05,-2.98785029078e-05,1793192472159112960
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.684425648,876.684425648,783,799,650,628,651,0.406909506478,0.00445315554388,0.0599604882979,0.999999997758,-4.27572739332e-05,-3.89120884906e-05,-3.37996052303e-05,1793192472175779840
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.10535887,876.10535887,783,799,650,628,651,0.407463217719,0.00445013132934,0.0599886981042,0.999999997796,-5.45633062297e-05,2.50787097795e-06,-3.77549519423e-05,1793192472192446976
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,710.529841225,672,664.529841225,632,876,782.529841225,799,650,628,650.529841225,0.408004107486,0.00444766395466,0.0599879836541,0.999999996947,-6.51048179368e-05,-9.63171028913e-06,-4.21168299087e-05,1793192472209114112
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,710.045811371,672,664,632,876,782.045811371,799,650,628,650,0.408545305671,0.00444535756914,0.0599801392901,0.999999995488,-7.52626508892e-05,-3.45016693257e-05,-4.6575622905e-05,1793192472225780992
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,710.632375019,672,664,632,876,782.632375019,799,650,628,650,0.409123805525,0.00444348958603,0.0599640702206,0.999999992766,-8.42113873968e-05,-6.90275969903e-05,-5.1111110884e-05,1793192472242447616
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.784206552,742,710.784206552,671.784206552,664,632,876.215793448,783,799,650,628,650,0.409735452242,0.00444250918466,0.0599576254457,0.999999994683,-4.78345923467e-05,-8.03859386014e-05,-4.34021863529e-05,1793192472259114240
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.206069365,742,710.206069365,671.206069365,664,632,876.793930635,783,799,650,628,650,0.410402756583,0.00444301914234,0.059967341046,0.9999999964,6.46493456385e-05,-5.28430512177e-05,-1.51333866777e-05,1793192472275780864
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.373659669,742,710.373659669,671.747319338,664.373659669,632,877,783,799.373659669,650,628,650,0.411083739907,0.00444856954737,0.0599720674471,0.999999998581,3.47361940235e-05,-3.89451440149e-05,-1.06638450942e-05,1793192472292446976
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.954270327,742,710.954270327,672.908540655,664.954270327,632,877,783,799.954270327,650,628,650,0.411772299299,0.00445691159852,0.0599740305853,0.99999999654,-7.40434298456e-05,-3.26044945648e-05,-1.93754968272e-05,1793192472309113088
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,672.471250758,665,632,877,783,799.471250758,650,628,650.528749242,0.412449469766,0.00444807825203,0.0599541365925,0.999999990169,-0.000120510756156,-6.73764530367e-05,-2.44679520323e-05,1793192472325780224
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,877,783,799,650,628,650.894854226,0.413128706304,0.00443907887231,0.0599307109928,0.999999981998,-0.000151871295013,-0.000110170966441,-2.83081932325e-05,1793192472342447360
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,877,783,799,650,628,650.307253584,0.413821890423,0.00443605537697,0.0598996551457,0.999999974964,-0.000138359674684,-0.000173648453496,-2.78224967277e-05,1793192472359113984
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,877,783,799,650,628,650,0.414588883998,0.00443326258008,0.0599045453326,0.99999997757,-0.000128066137576,-0.000166346511048,-2.80617682719e-05,1793192472375780608
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,877,783,799,650,628,650,0.415436771057,0.0044307226228,0.0599488315078,0.999999988901,-0.000121299540658,-8.14720173377e-05,-2.90955873156e-05,1793192472392447232
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665.43474627,632,877,783,799.43474627,650,628,650,0.416262467733,0.00442865087657,0.0599844785184,0.999999993125,-0.000111575415284,-2.07561413627e-05,-2.95078557879e-05,1793192472409113600
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665.989194363,632,877,783,799.989194363,650,628.010805637,650.010805637,0.417080635338,0.00442669900583,0.0600164076759,0.999999993988,-0.000101012657254,3.06021106279e-05,-2.97360900943e-05,1793192472425779968
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665.416760606,632,877,783,799.416760606,650,628.583239394,650.583239394,0.417882558713,0.0044230636225,0.0600011260913,0.999999994824,-9.68521438338e-05,3.94261334414e-06,-3.09050277406e-05,1793192472442446592
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.16097238,711,672.16097238,665,632,877,782.83902762,799,650,628.83902762,650.83902762,0.418690530785,0.00441965011437,0.0599835852802,0.999999994873,-9.26433722831e-05,-2.52929638867e-05,-3.21134370456e-05,1793192472459113216
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.752892171,711,672.752892171,665,632,877,782.247107829,799,650,628.247107829,650.247107829,0.419514696089,0.00441683059993,0.0599599961791,0.999999993656,-8.83054067526e-05,-6.14250951666e-05,-3.34275179068e-05,1793192472475780096
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.662122534,710.662122534,672.662122534,665,632,877,782,798.662122534,649.662122534,628,650,0.42033029682,0.00441555971063,0.0599331894602,0.999999990722,-8.61787052059e-05,-9.93992848715e-05,-3.53285958696e-05,1793192472492446720
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.082106835,710.082106835,672.082106835,665,632,877,782,798.082106835,649.082106835,628,650,0.421139759756,0.00441539863606,0.0599040768523,0.999999986006,-8.56366953101e-05,-0.000138693575111,-3.76503423558e-05,1793192472509113344
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.494070585,710.494070585,672,665,632,877,782.494070585,798.494070585,649,628,650,0.42194619359,0.00441093996439,0.0598826153324,0.999999977538,-9.40868397552e-05,-0.00018624381258,-3.72047103257e-05,1793192472525780736
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.92909483,742.92909483,711,672,665,632,877,782.92909483,799,649.07090517,628.07090517,650,0.422769913991,0.00440573432893,0.0598721485941,0.999999970583,-0.000103279027809,-0.000216427369629,-3.64272573693e-05,1793192472542447616
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.342884632,742.342884632,711,672,665,632,877,782.342884632,799,649.657115368,628.657115368,650,0.423722894717,0.00440025052673,0.0599324173436,0.999999987492,-0.000107087482958,-0.000110503886875,-3.65548229479e-05,1793192472559113728
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.241571228,742,711,672.241571228,665,632,877,782.241571228,799,649.758428772,628.758428772,650,0.42465118013,0.00439721466195,0.0599827276137,0.999999991853,-0.000119671543119,-2.52586565306e-05,-3.65434499817e-05,1793192472575779840
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.823555028,742,711,672.823555028,665,632,877,782.823555028,799,649.176444972,628.176444972,650,0.425544666027,0.00439762833251,0.0600190047991,0.999999988406,-0.000144621838667,3.08476166057e-05,-3.63362907201e-05,1793192472592446464
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,877,783,799.398133802,649,628,650,0.426402999069,0.00439559355875,0.060016771394,0.999999987651,-0.000148186520685,3.65378344234e-05,-3.74756650799e-05,1793192472609113088
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,877,783,799.969490706,649,628,650,0.427246037484,0.00439249349707,0.0599977825042,0.99999998888,-0.000142446584928,2.02926457188e-05,-3.92008996352e-05,1793192472625779712
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,877,783,798.909709831,649,628.545145085,650,0.428065033977,0.00438871094007,0.0599767258514,0.999999988689,-0.00014428988389,-1.10717459739e-05,-4.09849022103e-05,1793192472642446336
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,877,783,798.124722827,649.124722827,628.875277173,650,0.428877616893,0.00438890683122,0.0599550431157,0.999999988192,-0.000140735036412,-4.52564253943e-05,-4.19638918515e-05,1793192472659113216
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,877,783,798.718132899,649.718132899,628.281867101,650,0.429671195037,0.00440419773162,0.0599314459911,0.999999988788,-0.000115287377288,-8.68343012449e-05,-3.99053216903e-05,1793192472675779840
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.698592961,742,711,672.698592961,665,632,877,783,799,650,628.301407039,650,0.430479417918,0.00442872647305,0.0599212162635,0.999999990775,-8.095582511e-05,-0.000100861379457,-4.15065508699e-05,1793192472692446464
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.124489292,742,711,672.124489292,665,632,877,783,799,650,628.875510708,650,0.431300890515,0.00446161310782,0.059923080628,0.999999994132,-3.8586612991e-05,-8.99619980149e-05,-4.64189667783e-05,1793192472709113088
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.453315364,742,711,672.906630728,665.453315364,632,877.453315364,783,799.453315364,650,628.546684636,650.453315364,0.432154664391,0.00445791770834,0.0599629851942,0.999999997879,-3.98315691001e-05,-2.33876708121e-05,-4.59194081107e-05,1793192472725779712
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711,673.967270126,666,632,878,783,799.967270126,649.967270126,628,650.967270126,0.433010151724,0.00444444527504,0.0600100873679,0.999999996249,-5.28002544623e-05,5.27215689045e-05,-4.39763200158e-05,1793192472742446080
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711,673.377905187,666,632,878,783,799.377905187,649.377905187,628,650.377905187,0.433742675592,0.00443695598589,0.0600004718584,0.999999996875,-5.97796303054e-05,2.88235181491e-05,-4.2967580689e-05,1793192472759112704
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.207587049,742.207587049,711,673.207587049,665.792412951,632,877.792412951,783,799.207587049,649.207587049,628,650,0.434475752414,0.00443235473212,0.059982134438,0.999999997207,-6.11886861697e-05,-4.7168525343e-06,-4.26538448144e-05,1793192472775779328
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.786158376,742.786158376,711,673.786158376,665.213841624,632,877.213841624,783,799.786158376,649.786158376,628,650,0.435209817556,0.00443291476113,0.0599482098595,0.999999996125,-5.26428776973e-05,-5.54892709388e-05,-4.35821676955e-05,1793192472792446208
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.636933443,742.636933443,710.636933443,673.636933443,665,632,877,783,799.636933443,649.636933443,628.363066557,650,0.435914986114,0.00442991806453,0.0599273843183,0.999999993426,-5.44308566618e-05,-9.04921103427e-05,-4.4679827435e-05,1793192472809112832
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.0610004,742.0610004,710.0610004,673.0610004,665,632,877,783,799.0610004,649.0610004,628.9389996,650,0.436603212516,0.00442483605417,0.0599142387651,0.999999990251,-6.22775517468e-05,-0.000116249218123,-4.58767696018e-05,1793192472825779456
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.487065316,742,710.512934684,672.487065316,665,632,877.512934684,783,799,649.512934684,628.487065316,650.512934684,0.437253415698,0.00442316102088,0.0599109467609,0.999999988576,-6.3474799907e-05,-0.000129073764408,-4.64659007946e-05,1793192472842446080
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.089513085,742.089513085,711,672.089513085,665,632,878,783,799,650,628.089513085,650.910486915,0.437890950249,0.00442247612474,0.0599059101159,0.999999986538,-6.08485342458e-05,-0.000145203160264,-4.62417590015e-05,1793192472859112704
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.682283305,742.682283305,711,672.682283305,665,632,878,783,799,650,628.682283305,650.317716695,0.438482583811,0.00442508883433,0.0598845021793,0.999999980506,-4.11544996534e-05,-0.000188526271142,-4.18500767878e-05,1793192472875779328
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.731744668,710.731744668,673,664.731744668,632,878,783,799,649.731744668,629,650,0.439090899748,0.00442527717169,0.0598777088505,0.999999978086,-3.27280388499e-05,-0.000202850152236,-4.01111871669e-05,1793192472892445952
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742.153625335,710.153625335,673,664.153625335,632,878,783,799,649.153625335,629,650,0.439718485596,0.00442266509601,0.0598877969801,0.999999981577,-3.7316849218e-05,-0.000183676775181,-4.14365610732e-05,1793192472909112832
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.420524284,710.420524284,673.420524284,664,631.579475716,878,783,799.420524284,649,629,650,0.440286102502,0.00442558434831,0.0598926590213,0.999999982523,-3.74273335826e-05,-0.000178017193806,-4.31633966957e-05,1793192472925779200
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.993237302,710.993237302,673.993237302,664,631.006762698,878,783,799.993237302,649,629,650,0.440832016558,0.00443050540108,0.0598956297294,0.999999982632,-3.59171015433e-05,-0.000177248285527,-4.50355223755e-05,1793192472942445824
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.416055576,711,673.416055576,664,631,878,782.416055576,799.416055576,649.583944424,628.416055576,650,0.441280503115,0.00443923371874,0.059855280494,0.99999996949,-3.40877968061e-05,-0.000239779208306,-4.86103418173e-05,1793192472959112448
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.171047406,711,673,663.828952594,631,878,782.171047406,799,649.828952594,628,650,0.441721400787,0.00444991850035,0.0598149767564,0.999999952069,-4.57686488392e-05,-0.000301873576637,-5.13780259703e-05,1793192472975779328
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.749063683,711,673,663.250936317,631,878,782.749063683,799,649.250936317,628,650,0.442147012429,0.00446515000718,0.0597760128753,0.999999929417,-8.96029547441e-05,-0.0003611296218,-5.21769053432e-05,1793192472992445952
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.672498428,710.672498428,673.327501572,663,631,878,783,799,649.327501572,628.327501572,650,0.442580734664,0.00448780648496,0.0597568488422,0.999999920934,-8.62295271269e-05,-0.000384301375407,-5.48512836992e-05,1793192473009112576
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.093737112,710.093737112,673.906262888,663,631,878,783,799,649.906262888,628.906262888,650,0.443020679331,0.00451615941172,0.0597528752872,0.999999925054,-4.6638246442e-05,-0.000379789198408,-5.89645479937e-05,1793192473025779456
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,710.479416109,673.520583891,662.520583891,631,878,782.520583891,799,649.520583891,628.520583891,650,0.443414870336,0.00452351984611,0.0597595150433,0.999999929643,-2.4837484441e-05,-0.000369872944092,-5.73691443903e-05,1793192473042446080
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742,711,673,662,631,878.053205286,782,799,649.053205286,628,650,0.44379549636,0.00452661249672,0.0597675424445,0.999999933785,-5.15919373307e-06,-0.000359830633481,-5.40780512951e-05,1793192473059112960
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,711,673,662,631,878.644383777,782,799,649.644383777,628,650,0.444128371899,0.004527574531,0.059768860889,0.999999934142,2.78232419888e-05,-0.000359074016652,-4.4796871562e-05,1793192473075779584
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.768710658,742.231289342,711,673.231289342,661.768710658,630.768710658,878.768710658,782,799.231289342,649.768710658,628,650,0.444437469456,0.00452930975129,0.059761904264,0.999999928784,4.86232303362e-05,-0.000372078050827,-4.03294513602e-05,1793192473092446208
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.188255763,742.811744237,711,673.811744237,661.188255763,630.188255763,878.188255763,782,799.811744237,649.188255763,628,650,0.444710670593,0.00453221221044,0.0597424551943,0.999999915408,5.10320051309e-05,-0.000405855828236,-4.31291157645e-05,1793192473109112832
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,742.610325586,711,673.610325586,661,630,878,782.389674414,800,649,628,650,0.444957204944,0.00453397404073,0.0597220199616,0.99999989958,5.10875491326e-05,-0.000442889842404,-4.56026026145e-05,1793192473125779200
+200,3.333333333,POSE1_TO_POSE2_PRESS,763,742.033607224,711,673.033607224,661,630,878,782.966392776,800,649,628,650,0.445190939245,0.00453518836876,0.0597011113683,0.999999881686,5.00135411349e-05,-0.000481486854737,-4.79195242538e-05,1793192473142445824
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.540344288,742.540344288,711,673.540344288,661,630,878,783,800,649.540344288,628,650,0.445393480095,0.00453919092595,0.0596886801667,0.999999871519,5.36399766038e-05,-0.000501573740336,-5.00833792113e-05,1793192473159112448
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,673.882533584,660.882533584,630,878,783,799.882533584,650,628.117466416,650.117466416,0.445589041631,0.00454303827766,0.0596782818109,0.99999986278,5.74722601534e-05,-0.000518103895765,-5.20035840423e-05,1793192473175779328
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+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.707293495,711,673,660,630,878,783,799.292706505,650,628.707293495,650.707293495,0.445932019377,0.00454855318593,0.0596737553148,0.999999858634,6.39281425744e-05,-0.000525071018832,-5.4264755849e-05,1793192473209112576
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.128427049,711,673,660,630,878,783,799.871572951,650,628.128427049,650.128427049,0.446092465413,0.0045519907156,0.0596775807831,0.999999861712,6.63819592403e-05,-0.000518700167218,-5.58491925553e-05,1793192473225779200
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742,711,673,660,630,877.551762949,783,800,650,628,650,0.446228943658,0.00455703047847,0.0596791089505,0.999999862918,7.09576283103e-05,-0.000515594087199,-5.73791312142e-05,1793192473242446080
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742,711,673,660,630,877.024179412,783,800,650,628,650,0.446357319138,0.00456229887113,0.0596800621664,0.999999863609,7.59770772844e-05,-0.000513370973939,-5.88269535536e-05,1793192473259112448
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742,711,673,660,630,877.59798939,783,800,650,628,650,0.446456844338,0.00456238017741,0.0596828348762,0.999999865203,7.73324139063e-05,-0.000510059739408,-5.87613665178e-05,1793192473275779328
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742,711,673,659.822349921,629.822349921,878,782.822349921,800,650,628,650,0.446546509363,0.0045623373906,0.0596839058056,0.999999865417,7.81258386697e-05,-0.000509532261462,-5.86435349492e-05,1793192473292446208
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742,711,673,659.22899865,629.22899865,878,782.22899865,800,650,628,650,0.446613101565,0.00456200422594,0.0596809945685,0.999999862403,7.76043894712e-05,-0.000515518774503,-5.84034511807e-05,1793192473309112832
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.645697267,742.354302733,710.645697267,673,659,629.354302733,878,782,800,649.645697267,628,650,0.446670055165,0.00456343994896,0.0596772118591,0.999999858691,7.98977022241e-05,-0.000522320781198,-5.84434756664e-05,1793192473325779456
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+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742,710.258008194,674,659,629,877.258008194,782,799.741991806,649.741991806,628,650,0.446828659164,0.00456471361447,0.0596621418092,0.999999846342,8.47701229909e-05,-0.000544756980739,-5.80577992129e-05,1793192473409112576
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742,710.951479152,673.951479152,659,629,878,782,799.951479152,649.951479152,628,650,0.446891208263,0.00457073651083,0.0596680010239,0.999999851737,9.10886486969e-05,-0.00053365636622,-5.86475838253e-05,1793192473575779328
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742,710.36468086,673.36468086,659,629,878,782,799.36468086,649.36468086,628,650,0.446893762967,0.00457129983911,0.0596684607256,0.99999985259,9.18272567847e-05,-0.000531888537411,-5.90033219971e-05,1793192473592445952
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742,710.219732395,673,659,629,878,782,799,649.219732395,628,650,0.446895687731,0.00457117660016,0.0596691110515,0.999999853488,9.19583471144e-05,-0.000530187494991,-5.88972026147e-05,1793192473609112576
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742,710.800229772,673,659,629,878,782,799,649.800229772,628,650,0.446896578238,0.00456992612905,0.0596700743515,0.99999985446,9.10919916996e-05,-0.000528596105102,-5.80327879587e-05,1793192473625779200
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.622882261,742,711,673,659,629,878.377117739,782,799.377117739,650,628,650,0.44689752401,0.00456916351964,0.05967052147,0.999999854864,9.07251736247e-05,-0.000527929625334,-5.77083158406e-05,1793192473642446592
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.047888196,742,711,673,659,629,878.952111804,782,799.952111804,650,628,650,0.446898498781,0.00456865689473,0.0596706977442,0.999999854972,9.06204663276e-05,-0.000527748452453,-5.76671553913e-05,1793192473659114240
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.537915927,742,710.462084073,673,659.537915927,629,878.462084073,782.537915927,799.462084073,650,628,650,0.446899086912,0.00456719301124,0.0596716091712,0.999999855572,9.00379619186e-05,-0.000526758389009,-5.72308452298e-05,1793192473675781120
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.877113501,742,710.122886499,673,659.877113501,629,878,782.877113501,799,650,628.122886499,650.122886499,0.446899767449,0.00456647168257,0.0596724406726,0.999999856117,9.00701149946e-05,-0.000525752836532,-5.69017279859e-05,1793192473692447744
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.298870994,742,710.701129006,673,659.298870994,629,878,782.298870994,799,650,628.701129006,650.701129006,0.446900920556,0.00456882415194,0.0596727285209,0.999999856295,9.25407319495e-05,-0.00052496220201,-5.71028411014e-05,1793192473709114112
+235,3.916666667,POSE1_TO_POSE2_PRESS,763,742,711,673,659,629,878,782,799,650,628.719503558,650.719503558,0.446901222323,0.00457013965912,0.0596726505873,0.999999856124,9.26047699793e-05,-0.000525238491585,-5.74589287736e-05,1793192473725780224
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,742,711,673,659,629,878,782,799,650,628.138932601,650.138932601,0.446900613328,0.00457034582658,0.0596721813412,0.999999855577,9.00942551601e-05,-0.000526656174254,-5.7980807931e-05,1793192473742446592
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.436957746,742,711,673,659,629.436957746,878,782,799,650,628,650.436957746,0.446901661811,0.00456835069358,0.0596726194331,0.999999856295,8.84556959928e-05,-0.000525635345572,-5.73921196408e-05,1793192473759112960
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742,711,673,658.988362981,629.988362981,877.988362981,782,799,650,628,650.988362981,0.446903271323,0.00456574799654,0.0596733647901,0.99999985741,8.71839176494e-05,-0.000523822220111,-5.64753571932e-05,1793192473775779584
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742,711,673,658.400745144,629.400745144,877.400745144,782,799,650,628,650.400745144,0.446906841444,0.00456734900277,0.0596751906668,0.999999858706,9.04893390664e-05,-0.000520762850645,-5.66125107536e-05,1793192473792446208
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.815803987,742,711,673,658.184196013,629,877,782,799,649.815803987,628.184196013,650.184196013,0.446910851343,0.00456828734705,0.059677121124,0.999999860257,9.24387066188e-05,-0.000517415491567,-5.67586303012e-05,1793192473809112832
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.236602958,742,711,673,658.763397042,629,877,782,799,649.236602958,628.763397042,650.763397042,0.446915804337,0.00456780462465,0.0596792758521,0.99999986238,9.14800409993e-05,-0.000513450544176,-5.69239772389e-05,1793192473825779712
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.341016444,742,711,673.341016444,659,629.341016444,877,782,799,649,629,650.658983556,0.44691819459,0.00456885488214,0.0596804811528,0.999999863435,9.2265758369e-05,-0.000511240550171,-5.70026045135e-05,1793192473842446848
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.91754353,742,711,673.91754353,659,629.91754353,877,782,799,649,629,650.08245647,0.446918814979,0.00457096383662,0.0596810307659,0.999999863758,9.42561706329e-05,-0.000510242551248,-5.7021341991e-05,1793192473859113984
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742,710.50934378,674,659,629.50934378,877.49065622,782,799,649.49065622,629,650,0.446921720533,0.00457093180951,0.0596827476869,0.999999865449,9.4784807425e-05,-0.000506825511619,-5.69732109678e-05,1793192473875780352
+245,4.083333333,HOLD_POSE2,764,742,711,674,659,629,878,782,800,650,628,650,0.446928690615,0.0045680398899,0.0596862293393,0.999999868256,9.25950704857e-05,-0.000501771381289,-5.60388058705e-05,1793192473918731776
+246,4.100000000,HOLD_POSE2,764,742,710.42069145,674,658.42069145,629,877.42069145,782,799.42069145,650,628,650,0.446930087786,0.00456923386134,0.0596872700909,0.999999869093,9.19651367989e-05,-0.000500164004601,-5.65001765622e-05,1793192473935398144
+247,4.116666667,HOLD_POSE2,764,742,710,674,658.157981092,629,877,782,799.157981092,650,628,650,0.446931420741,0.00457006802249,0.059688077453,0.999999869795,9.19519255649e-05,-0.00049873474221,-5.67338251842e-05,1793192473952064768
+248,4.133333333,HOLD_POSE2,764,742,710,674,658.734966912,629,877,782,799.734966912,650,628,650,0.446932583383,0.00456994787847,0.0596882658091,0.999999870142,9.35744138923e-05,-0.000497777882418,-5.63634989438e-05,1793192473968731392
+249,4.150000000,HOLD_POSE2,764,742,710.312903431,674,659,629,877,782,800,649.687096569,628,650,0.446933041901,0.00456871496114,0.0596883245884,0.999999870322,9.25302900103e-05,-0.000497640307519,-5.61081433702e-05,1793192473985397760
+250,4.166666667,HOLD_POSE2,764,742,710.891647624,674,659,629,877,782,800,649.108352376,628,650,0.4469329022,0.0045665366387,0.0596882732801,0.999999870354,8.92206292852e-05,-0.000498198791902,-5.59504661644e-05,1793192474002064128
+251,4.183333333,HOLD_POSE2,764,742.475071034,710.524928966,673.524928966,659,629,877,782,799.524928966,649.475071034,628.475071034,650,0.446934143989,0.0045674698493,0.0596889467526,0.999999870956,8.9558915728e-05,-0.000496885614492,-5.6319393507e-05,1793192474018730752
+252,4.200000000,HOLD_POSE2,763.940979225,743,710.059020775,673,659,629,877.059020775,782.059020775,799.059020775,649.940979225,628.940979225,650,0.446935472511,0.00456889354117,0.0596896671541,0.999999871572,9.05560139618e-05,-0.000495417599938,-5.67217334599e-05,1793192474035397376
+253,4.216666667,HOLD_POSE2,763.361889102,743,710.638110898,673,659,629,877.638110898,782.638110898,799.638110898,649.361889102,628.361889102,650,0.446934761256,0.0045683236488,0.0596893299782,0.999999871168,8.99540267054e-05,-0.00049638415712,-5.63496359868e-05,1793192474052064000
+254,4.233333333,HOLD_POSE2,763,742.784749838,711,673,659,629.215250162,878,782.784749838,799.784749838,649.215250162,628,650,0.446935826657,0.00456825151802,0.0596901276162,0.999999871663,9.03065391368e-05,-0.000495343765468,-5.61626788612e-05,1793192474068730624
+255,4.250000000,HOLD_POSE2,763,742.210861049,711,673,659,629.789138951,878,782.210861049,799.210861049,649.789138951,628,650,0.446939852229,0.00456900873176,0.0596928160221,0.99999987364,9.22493893672e-05,-0.00049095949994,-5.62841929906e-05,1793192474085397248
+256,4.266666667,HOLD_POSE2,763,742,711,673,659.372559351,629.627440649,878,782.372559351,799,650,628,650,0.4469402424,0.00456851010961,0.0596930060144,0.999999873905,9.23204413714e-05,-0.000490438669704,-5.60035095654e-05,1793192474102064128
+257,4.283333333,HOLD_POSE2,763,742,711,673,659.96151615,629.03848385,878,782.96151615,799,650,628,650,0.446938520985,0.00456728204756,0.0596917448278,0.999999873181,9.13042779075e-05,-0.000492161877576,-5.54892136447e-05,1793192474118730752
+258,4.300000000,HOLD_POSE2,763,742.542695665,711,673,659.457304335,629,877.457304335,782.457304335,799,650,628,650.542695665,0.446941754314,0.00456654134868,0.0596926903612,0.999999874412,9.08289085348e-05,-0.000489741242049,-5.55023282288e-05,1793192474135397120
+259,4.316666667,HOLD_POSE2,763.122548363,743,711,673,659,629,877,782,799,650,628,650.877451637,0.446944610923,0.00456597389009,0.0596937168701,0.99999987554,9.02608820002e-05,-0.000487531530588,-5.55475514023e-05,1793192474152064000
+260,4.333333333,HOLD_POSE2,763.699497532,743,711,673,659,629,877,782,799,650,628,650.300502468,0.446944786293,0.00456592245835,0.0596944715976,0.999999875805,8.92091025787e-05,-0.000487178091091,-5.55751138919e-05,1793192474168730624
+261,4.350000000,HOLD_POSE2,764,743,710.724520277,673,659,629,877.550959446,782,799,649.724520277,628,650,0.446946418045,0.00456603259548,0.0596954214195,0.999999876561,8.8716385653e-05,-0.000485715999139,-5.55631725704e-05,1793192474185397504
+262,4.366666667,HOLD_POSE2,764,743,710.149589242,673,659,629,878.700821516,782,799,649.149589242,628,650,0.446949632911,0.00456631836084,0.0596965833123,0.999999877846,8.88313795732e-05,-0.000483048782455,-5.5508289908e-05,1793192474202064128
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,659,629,877,782,799,649,628,650,0.44695397896,0.0045675083302,0.059699445891,0.999999879685,9.26494090713e-05,-0.000478516027064,-5.53886028421e-05,1793192474234570240
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,742.42354825,710.42354825,674,659,629.57645175,877.57645175,782,799,649,628,650,0.446958412211,0.0045664476553,0.0597023193977,0.999999882416,9.09083309348e-05,-0.000473104709587,-5.54588708203e-05,1793192474251236608
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,742,710,674,659,630,878,782,799,649.152272284,628.152272284,650,0.446961797253,0.00456547943504,0.0597042485082,0.999999884326,8.92091667061e-05,-0.000469376361827,-5.54582922809e-05,1793192474267902720
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742,710,674,659,630,878,782,799,649.726344453,628.726344453,650,0.44696227872,0.00456476731733,0.0597035616063,0.999999884038,8.76261051726e-05,-0.000470309901547,-5.52614662751e-05,1793192474284569088
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.298934119,742,710,674,659,629.701065881,878,782,799.298934119,650,628.701065881,650,0.44696254521,0.00456507590379,0.0597029192253,0.999999883635,8.77011474234e-05,-0.00047114307077,-5.5336594775e-05,1793192474301235712
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.87017331,742,710,674,659,629.12982669,878,782,799.87017331,650,628.12982669,650,0.446962615872,0.00456631427015,0.0597023173995,0.999999883127,8.92865896917e-05,-0.000471884810446,-5.5659452089e-05,1793192474317902336
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,710,673.536696015,659,629.463303985,877.536696015,782,799.536696015,649.536696015,628,650,0.446963213837,0.00456493353265,0.0597031111314,0.999999883818,8.88474771168e-05,-0.000470532241347,-5.54013247865e-05,1793192474334568960
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.939702765,742.060297235,710.060297235,673,659,629.939702765,877,782,799,649,628,650,0.446963115867,0.00456331087837,0.0597038892843,0.999999884572,8.79677252775e-05,-0.000469126566246,-5.51255386234e-05,1793192474351235584
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.364699193,742.635300807,710.635300807,673,659,629.364699193,877,782,799,649,628,650,0.44695575344,0.00456619876747,0.0597010307331,0.999999882875,8.84095034266e-05,-0.000472525589577,-5.61576469663e-05,1793192474367902208
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,659.210399614,629,877.210399614,782,799,649.210399614,628.210399614,650,0.446939450504,0.00456783229648,0.0596947608067,0.999999878198,8.90060700344e-05,-0.000482151418528,-5.66780433539e-05,1793192474384568832
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,659.78566351,629,877.78566351,782,799,649.78566351,628.78566351,650,0.446907643397,0.00456729057786,0.0596825750478,0.999999868085,8.98710628259e-05,-0.000502575455844,-5.6311054834e-05,1793192474401235456
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742.629996065,711,673,660,629.370003935,877.629996065,782,799,650,628.629996065,650,0.44685901971,0.0045660612416,0.0596682680976,0.999999857442,8.94982162173e-05,-0.00052341450832,-5.60696710612e-05,1793192474417902336
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742.040265493,711,673,660,629.959734507,877.040265493,782,799,650,628.040265493,650,0.446800409505,0.00456442356395,0.0596527014778,0.999999846291,8.83902794195e-05,-0.000544500019173,-5.5902877553e-05,1793192474434569472
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,660,630,877,782,799.540939152,650,628,650,0.446726868479,0.00456685172622,0.0596454778285,0.999999840471,9.19514708748e-05,-0.000554513079645,-5.58482209771e-05,1793192474451236096
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.120157995,742,711,673.120157995,660,630,877.120157995,782,799.879842005,650,628,650,0.446647602517,0.00456905627224,0.0596401565077,0.99999983603,9.54973178958e-05,-0.000561902262728,-5.55612365285e-05,1793192474467902464
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.694235522,742,711,673.694235522,660,630,877.694235522,782,799.305764478,650,628,650,0.446550842861,0.00456929050445,0.0596397119739,0.999999835578,9.76926269993e-05,-0.000562444484516,-5.43655463437e-05,1793192474484569088
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.725517078,742,711,673.725517078,660,630,878,782,799,650,628,650,0.446445846755,0.00456993901219,0.0596408076751,0.999999836114,0.000100375549962,-0.000561121209544,-5.32945633388e-05,1793192474501235456
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.138238642,742,711,673.138238642,660,630,878,782,799,650,628,650,0.446331464553,0.00457105962042,0.0596436585988,0.999999837762,0.000103614148262,-0.000557672049938,-5.23656943332e-05,1793192474517902080
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.442646129,742,711,673,660,630,877.557353871,782,799,649.557353871,628,650.442646129,0.446190835436,0.00457221454343,0.0596474002835,0.999999840325,0.000107583109355,-0.000552429817343,-5.09584904339e-05,1793192474534569216
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.978434392,742,711,673.021565608,660,630,877.021565608,782,799,649.021565608,628.021565608,650.978434392,0.446040505358,0.00457349007592,0.0596511983188,0.99999984296,0.000111922713183,-0.000546910874967,-4.94124870941e-05,1793192474551236864
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.399436589,742,711,673.600563411,660,630,877.600563411,782,799,649.600563411,628.600563411,650.399436589,0.445848281823,0.00457761008831,0.0596493647145,0.99999984121,0.000120030927745,-0.000548507803784,-4.80851023994e-05,1793192474567903232
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742,710.822149651,674,660.177850349,630,878,782,799,649.822149651,629,650,0.445640963165,0.00458046647233,0.05964663194,0.999999838243,0.000126612712766,-0.000552561236855,-4.6473669779e-05,1793192474584569600
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,742,710.248668635,674,660.751331365,630,878,782,799,649.248668635,629,650,0.445400065217,0.00458051189627,0.0596418989486,0.999999832631,0.000129798932187,-0.000562079198886,-4.42303686316e-05,1793192474601235712
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.33295924,742,710.33295924,674,661,630,878,782,799.33295924,649,628.66704076,650,0.445146808837,0.00458097117691,0.0596393316517,0.999999830572,0.000135791456017,-0.000564528196563,-4.15331363652e-05,1793192474617902080
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.920824218,742,710.920824218,674,661,630,878,782,799.920824218,649,628.079175782,650,0.444884091109,0.00458174729648,0.059638422359,0.999999831223,0.000143932420636,-0.000561565362895,-3.84883849051e-05,1793192474634568448
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.498398482,742,710.498398482,674,661.501601518,630,878,782,799.498398482,649.501601518,628.501601518,650,0.444597294032,0.0045844433112,0.059652225422,0.999999843775,0.000151973892657,-0.000536742575542,-3.55125660042e-05,1793192474651236096
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742,710.08081025,673.91918975,662,630,878,782,799,649.91918975,629,650.08081025,0.444299405377,0.00458748544066,0.0596682481575,0.999999857104,0.00016050083884,-0.00050890140096,-3.24299480608e-05,1793192474667903488
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742,710.657165338,673.342834662,662,630,878,782,799,649.342834662,629,650.657165338,0.443956483495,0.00459081755988,0.0596838400709,0.999999867936,0.0001720997765,-0.000483415239106,-2.8626622446e-05,1793192474684569344
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742,710.767327129,673.232672871,662,630.232672871,877.767327129,782.232672871,799,649.232672871,628.767327129,650.767327129,0.443590165662,0.00459247456326,0.0596987787461,0.99999987793,0.00018234710517,-0.000458586657779,-2.4230469515e-05,1793192474701235712
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742,710.193063939,673.806936061,662,630.806936061,877.193063939,782.806936061,799,649.806936061,628.193063939,650.193063939,0.443189499927,0.00459167230527,0.0597127583922,0.999999887162,0.000190610117027,-0.000434723481445,-1.89639786923e-05,1793192474717902848
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742,710.564512454,673.564512454,663,631,877.435487546,782,799.435487546,649,628,649.435487546,0.441780703208,0.00459691634392,0.0597141408077,0.999999873657,0.000222268728517,-0.000450853045578,-3.63971514674e-06,1793192474767902464
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.860241105,742,711,674,663.139758895,631,877.139758895,782,799.139758895,649,628,649.139758895,0.441267200901,0.00459863921454,0.0597173123378,0.999999872603,0.000232556344969,-0.000448005149478,1.56659468689e-06,1793192474784568832
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,742,711,673.700241802,664,631.299758198,878,782.299758198,799.700241802,649.299758198,628.299758198,650,0.440171262722,0.00459648241393,0.0597530384732,0.999999891132,0.000247330405899,-0.000395468779342,1.29646084669e-05,1793192474817902592
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.111323357,664,631.888676643,878,782.888676643,799.111323357,649.888676643,628.888676643,650,0.439608177963,0.00459534745119,0.0597858885336,0.999999909512,0.000252454816089,-0.000341912214695,1.84014416867e-05,1793192474834569984
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.469508427,742,711,673,664.469508427,632,877.530491573,783,799,649.530491573,629,650,0.439011548828,0.00459672792328,0.0598234131882,0.999999925081,0.000260390926061,-0.000285405818049,2.40562750663e-05,1793192474851236608
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,631.951846192,877,783,798.951846192,649,629,650,0.438397730303,0.00459926717528,0.0598572624707,0.999999935374,0.000269812509811,-0.000235744149604,2.96130431765e-05,1793192474867903232
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,631.376500935,877,783,798.376500935,649,629,650,0.437681322637,0.00460807369102,0.0598389444252,0.999999921814,0.000288321998251,-0.000268546723125,3.35398749462e-05,1793192474884569856
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.228448231,742.771551769,711,673,664.228448231,631.771551769,877,782.228448231,798.771551769,649,629,650.771551769,0.436163267069,0.00462052711045,0.0597578090144,0.999999875029,0.000304121017323,-0.000395211591716,3.55066962741e-05,1793192474917902336
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,743,710.106987856,674,665.786024288,632,877,783,798.106987856,650,629,650,0.433098943475,0.00461664302541,0.05979758334,0.999999936622,0.000201808791243,-0.000292989333072,1.36511510769e-05,1793192474984568832
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.412947446,742,711,673,664.412947446,632,877.587052554,783,799.412947446,649,628,650,0.427890433021,0.00458283515738,0.0597718503707,0.999999926107,0.000132833932386,-0.000360091782223,2.17985288053e-05,1793192475084568576
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,664,632,877.836186046,783,799,649,628,650,0.426991835752,0.00458546243848,0.0597516471838,0.999999916416,0.00012747813995,-0.000387884028197,2.15196392522e-05,1793192475101235200
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,664,632,877.259764076,783,799,649,628,650,0.426134959117,0.00458315311496,0.0597803350699,0.999999934771,0.000122166581791,-0.000338972353568,2.51137730196e-05,1793192475117901824
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,664.32438655,632,877,783,798.67561345,649.32438655,628,650,0.425247942171,0.00458609778884,0.059807102715,0.999999946255,0.000117644322035,-0.000304776867216,2.75819870865e-05,1793192475134568448
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,664.914877197,632,877,783,798.085122803,649.914877197,628,650,0.424336200258,0.00459335247579,0.0598322951268,0.999999953158,0.000113769548021,-0.000282653517903,2.91265750238e-05,1793192475151235328
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,710.504295363,672.504295363,664.504295363,632,877,783,798.991409273,650,628.495704637,650,0.423445747429,0.00459330513649,0.059843228325,0.999999960408,0.00010299734057,-0.000260155275162,2.99051110683e-05,1793192475167902208
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,710,672,664.074153443,632,877,783,799.925846557,649.925846557,629,650,0.422556495747,0.00459277694849,0.0598501505393,0.999999966025,9.22626026788e-05,-0.000241876111519,3.05405609237e-05,1793192475184568832
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,710,672,664.647545931,632,877,783,799.352454069,649.352454069,629,650,0.421651189254,0.00459729198584,0.0598462387881,0.999999963643,8.96018693053e-05,-0.000252427097319,3.10813887071e-05,1793192475201235456
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.221704315,742.221704315,710.221704315,672,664.778295685,632,877,782.778295685,799,649.221704315,628.778295685,650,0.420727253335,0.00460259621159,0.0598212148502,0.999999950969,8.90056878464e-05,-0.000298610620864,3.11836550662e-05,1793192475217902080
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.79708459,742.79708459,710.79708459,672,664.20291541,632,877,782.20291541,799,649.79708459,628.20291541,650,0.419773598504,0.00460915939848,0.0597625114909,0.999999914671,9.17030018203e-05,-0.000401637295859,3.05863019147e-05,1793192475234568448
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.299138849,742,711,672,665,632,877,783,799,650,628,650.700861151,0.415567255537,0.00460858552278,0.0598359222014,0.999999919289,0.000283409604346,-0.000282796302837,3.35788132583e-05,1793192475317902080
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.283167197,742,711,672,664.716832803,632,877,783,799,650,628,650.716832803,0.414770063883,0.00460747363823,0.0598441951206,0.999999925785,0.000267436221494,-0.000275123373359,3.48541700641e-05,1793192475334568448
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,710.671721937,671.328278063,664,632,876.328278063,783,799.671721937,650,628,650,0.407148069052,0.00460357673468,0.0598403077696,0.999999941815,0.000202616592424,-0.000272373201193,3.36152016944e-05,1793192475517901568
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.252214177,664,632,876.252214177,783,800,650,628,650.252214177,0.406606675924,0.00460278711017,0.0598296251341,0.999999939315,0.000195873979064,-0.00028626492364,3.24893047892e-05,1793192475534568192
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.838559292,664,632,876.838559292,783,800,650,628,650.838559292,0.406113313408,0.00460093582081,0.0598294906029,0.999999942679,0.000188241919617,-0.000279741730328,3.08449971305e-05,1793192475551234816
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632,877,783,800,650,628,651,0.40563595087,0.00459999440067,0.0598307058249,0.999999944392,0.00018623519212,-0.000275000567292,3.01051212248e-05,1793192475567901696
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632,877,783,800,650,628,651,0.405164667419,0.00459939868161,0.0598324338803,0.999999945489,0.000186365786709,-0.000270936479103,2.97088804654e-05,1793192475584568320
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.149236865,742,710.850763135,672,663.850763135,632,877.149236865,783,799,650,628,650.149236865,0.404268293711,0.00459933220247,0.0597918037884,0.999999925565,0.000188838752309,-0.000335183568453,2.93467382705e-05,1793192475617901568
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.724723431,742,710.275276569,672,663.275276569,632,877.724723431,783,799,650,628,650.724723431,0.403873995049,0.00459887132264,0.0597722262143,0.999999912772,0.000187336916188,-0.000372145243953,2.94596747679e-05,1793192475634568448
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,710.899774576,672,663.899774576,632,876.200450848,783,799,649.100225424,628.899774576,651,0.403246928908,0.00459509452674,0.0597868154877,0.99999992505,0.000185331747951,-0.000338610976984,2.99188619192e-05,1793192475667901696
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632.48097951,876,783,799.48097951,649,629,651,0.402988311466,0.00459341357164,0.059807761212,0.999999936326,0.000186860437077,-0.000302344863533,3.1923250615e-05,1793192475684568320
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.369040188,742,711,672,664,632.369040188,876.630959812,783,800,649,628.369040188,650.369040188,0.402511110392,0.00459096701884,0.0598431589134,0.999999950956,0.000194006104643,-0.000243231349066,3.58830327621e-05,1793192475717901824
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.209451161,742,711,672.209451161,663.790548839,632,876.790548839,783,799.790548839,649.209451161,628.209451161,650.209451161,0.402288727379,0.00458998825135,0.0598491590802,0.999999951996,0.000198055183218,-0.000235326112281,3.74682666302e-05,1793192475734568448
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,710.039094491,672.039094491,663,632,876,783,798.039094491,649.039094491,628.039094491,650.039094491,0.401725922066,0.00458623678438,0.0598351985783,0.999999942147,0.000199555288001,-0.000272420455855,4.08639181523e-05,1793192475784568320
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,710,672,663.541105022,632,876,783,798.541105022,649,628,650.541105022,0.401595677094,0.00458447891681,0.059835715515,0.999999943094,0.000193756444349,-0.000273183037974,4.05269634547e-05,1793192475801234944
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,710,672,664,632,876,783,799.120257679,649.120257679,628,650.879742321,0.401473748102,0.00458189342385,0.0598370514369,0.999999947114,0.000173236283922,-0.000272792659749,3.66729272403e-05,1793192475817901824
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,710,672,664,632,876,783,799.694860882,649.694860882,628,650.305139118,0.401373236558,0.00457626758422,0.0598410094519,0.999999958688,9.83585197512e-05,-0.000269360016661,1.98684404532e-05,1793192475834568704
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.861775174,742,710.861775174,672.861775174,664,632.861775174,876,783,799.138224826,650,628.861775174,650.861775174,0.401210996819,0.004566771766,0.0598411694354,0.999999961814,5.97066758577e-05,-0.00026946917304,1.3923972782e-05,1793192475867901696
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.554996022,742,711,672.554996022,664,633,876.445003978,783,799,650,629,651,0.401147557795,0.00456165565886,0.0598356672475,0.999999960131,5.61178956743e-05,-0.000276297716,1.57821423576e-05,1793192475884568320
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.973149143,742,711,672,664,632.973149143,876.973149143,783,799,650,628.973149143,651,0.401088514654,0.00455596754531,0.0598291695203,0.999999958081,5.08492027748e-05,-0.000284500723694,1.76350756302e-05,1793192475901235200
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.397938013,742,711,672,664,632.397938013,876.397938013,783,799,650,628.397938013,651,0.40105207501,0.00454291338378,0.059828655042,0.999999958128,3.86270756948e-05,-0.00028606742414,2.04518527858e-05,1793192475917901824
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.176579664,742,711,672,664,632,876,782.823420336,799,650,628,650.823420336,0.401019811526,0.0045363219968,0.0598282698234,0.999999957863,3.36157201108e-05,-0.000287494478531,2.21578637094e-05,1793192475934568704
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.74954062,742,711,672,664,632,876,782.25045938,799,650,628,650.25045938,0.400996922577,0.00454423807443,0.0598281747631,0.999999957121,4.47909124793e-05,-0.000288608059059,2.13704560364e-05,1793192475951236352
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632,876.668335498,782.334167749,799,650,628,650,0.400980958608,0.00454536639774,0.0598288043827,0.999999957319,4.66969439777e-05,-0.000287598767861,2.16503687495e-05,1793192475967902976
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632,877.85571012,782.92785506,799,650,628,650,0.400970372677,0.0045412232526,0.0598299967992,0.999999958288,4.14044107466e-05,-0.000284940823554,2.27591780041e-05,1793192475984568832
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632,876.986450021,783,799,649.493225011,628,650.506774989,0.400964184593,0.00454050277556,0.0598302609045,0.999999958848,4.04495481887e-05,-0.00028310070246,2.2830907481e-05,1793192476001235456
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.91672489,664,632,876.08327511,783,799,649.08327511,628,650.91672489,0.400959335418,0.00454061692086,0.0598307581947,0.999999959379,4.0675145251e-05,-0.000281199097052,2.26698355786e-05,1793192476017902592
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.342447596,664,632,876.657552404,783,799,649.657552404,628,650.342447596,0.400958793706,0.00454286054616,0.0598333875209,0.99999996006,4.4323040665e-05,-0.00027826794266,2.19819892184e-05,1793192476034569216
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.238340422,664,632,877,783,799,649.761659578,628,650,0.400958708639,0.00454277193718,0.0598353609833,0.999999960723,4.55418272281e-05,-0.000275675758354,2.19892358749e-05,1793192476051236096
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.82874573,664,632,877,783,799,649.17125427,628,650,0.400959298107,0.00453923826492,0.0598363656355,0.999999961379,4.31724520366e-05,-0.000273584284368,2.30232401945e-05,1793192476067902720
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.588715937,664,632,876.588715937,783,799,649.411284063,628,650,0.400959688539,0.00454049863023,0.05983724854,0.999999961736,4.43343093525e-05,-0.000272070280007,2.32335858365e-05,1793192476084568832
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.009391863,664,632,876.009391863,783,799,649.990608137,628,650,0.40095999765,0.00454371771519,0.0598380817016,0.999999961967,4.69389368408e-05,-0.000270792214825,2.31074058569e-05,1793192476101235456
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,710.433012813,671.566987187,664,632,876,783,798.433012813,650,628.566987187,650,0.400959108442,0.00454203510068,0.0598377785469,0.999999962049,4.51272222386e-05,-0.000270801078256,2.30505848465e-05,1793192476117902080
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,710.139113084,672,664,632,876.139113084,783,798.139113084,650,628.860886916,650,0.400958261915,0.0045406593687,0.0598375843143,0.999999962079,4.38175777064e-05,-0.000270907455,2.30493868891e-05,1793192476134568704
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,710.698535246,672,664,632,876.698535246,783,798.698535246,650,628.301464754,650,0.400957604008,0.00454045488442,0.0598377757493,0.999999961965,4.42447452596e-05,-0.000271244379133,2.32127922766e-05,1793192476151235328
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,710.720455507,672,664,632,876.720455507,783,799,649.720455507,628.279544493,650,0.40095712597,0.00454000069107,0.0598379847509,0.999999961983,4.34557586866e-05,-0.000271302912746,2.32663885281e-05,1793192476167901952
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,710.114218199,672,664,632,876.114218199,783,799,649.114218199,628.885781801,650,0.40095685814,0.00453925467237,0.0598382142818,0.99999996215,4.1245499968e-05,-0.000271036102189,2.31916551188e-05,1793192476184568320
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,710.470486798,672,664,632,876,783,799,649.470486798,628.529513202,650,0.400957305076,0.00453875518866,0.0598384776054,0.999999962225,4.25416433803e-05,-0.000270526065266,2.35606805876e-05,1793192476201234944
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,710.950326804,671.950326804,664,632,876,783.049673196,799,650,628,650,0.400957851893,0.00453842233773,0.0598387038083,0.99999996227,4.43855952424e-05,-0.00027003120681,2.39532313032e-05,1793192476217901568
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,710.376626256,671.376626256,664,632,876,783.623373744,799,650,628,650,0.400957701952,0.00453924361975,0.0598384556481,0.999999962252,4.34215457824e-05,-0.000270292129654,2.35072054237e-05,1793192476234569216
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.797868025,742,710.202131975,671.202131975,664,632,876,783.59573605,799,650,628,650,0.400957600656,0.00453928299376,0.0598385220933,0.999999962278,4.31617720759e-05,-0.000270249096282,2.33850086975e-05,1793192476251236352
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.209444154,742,710.790555846,671.790555846,664,632,876,782.418888308,799,650,628,650,0.400957592322,0.00453782807308,0.059839189777,0.999999962387,4.4247931033e-05,-0.000269625175967,2.38816778528e-05,1793192476267902464
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.372858187,742,710.627141813,672,664,632,876,782.372858187,799,650,628,650.372858187,0.400958395037,0.00453860655406,0.0598400780591,0.999999962752,4.52969107479e-05,-0.000268110763723,2.36923285077e-05,1793192476284568832
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.951777429,742,710.048222571,672,664,632,876,782.951777429,799,650,628,650.951777429,0.40095964598,0.00454061933037,0.0598410882553,0.999999963254,4.63253432207e-05,-0.000266104218801,2.31238492221e-05,1793192476301235200
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,710,671.470734127,664,632,876,783,799,650,628.529265873,651,0.400958315794,0.00454105704309,0.0598400661234,0.99999996274,4.68477777694e-05,-0.000267935427094,2.31305393107e-05,1793192476317902336
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,710,671,664,632,876,783,799,649.316445168,629,650.316445168,0.400957994685,0.00454178281229,0.0598397991451,0.999999962484,4.82152988064e-05,-0.000268631938218,2.33463398733e-05,1793192476351236096
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,710,671.264454601,664,632,876,782.735545399,799,649.264454601,628.735545399,650.264454601,0.400958066926,0.00454147943835,0.0598398980633,0.999999962537,4.7359226673e-05,-0.000268578457455,2.34062495083e-05,1793192476367902464
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,710,671.85009418,664,632,876,782.14990582,799,649.85009418,628.14990582,650.85009418,0.400957248208,0.00454030979814,0.0598393821027,0.999999962405,4.44597218352e-05,-0.000269568089014,2.33669610873e-05,1793192476384568832
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_09/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5788d74fca7ac6e31cf9cf1931d35ba79d9fe129
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,401 @@
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+354,5.900000000,pose2_to_pose3_retreat,0.57681176185,0.010054441395,1.05002922399,0.547382493179,0.0187271743245,1.04969850773
+355,5.916666667,pose2_to_pose3_retreat,0.57663286842,0.0100545977078,1.05002938641,0.547203599221,0.0187273288342,1.04969867001
+356,5.933333333,pose2_to_pose3_retreat,0.576473931675,0.0100545576606,1.05002930986,0.547044662007,0.0187272874058,1.04969859888
+357,5.950000000,pose2_to_pose3_retreat,0.576337206619,0.0100546357448,1.05002920234,0.546907937383,0.0187273668609,1.04969848879
+358,5.966666667,pose2_to_pose3_retreat,0.57621901182,0.0100545303135,1.05002929482,0.54678974208,0.0187272594803,1.0496985751
+359,5.983333333,pose2_to_pose3_retreat,0.576119122074,0.0100546102444,1.05002930668,0.546689851701,0.0187273373081,1.04969859014
+360,6.000000000,pose2_to_pose3_retreat,0.576032408079,0.0100546098368,1.05002920698,0.546603137939,0.0187273378189,1.0496984942
+361,6.016666667,pose2_to_pose3_retreat,0.575958038582,0.0100546163722,1.05002899191,0.546528768171,0.0187273436377,1.0496982843
+362,6.033333333,pose2_to_pose3_retreat,0.575896370204,0.0100546491135,1.05002910002,0.546467098831,0.0187273729753,1.04969838847
+363,6.050000000,pose2_to_pose3_retreat,0.57584563042,0.0100545803977,1.05002924242,0.546416360075,0.0187273078337,1.04969853198
+364,6.066666667,pose2_to_pose3_retreat,0.575804984643,0.0100546700129,1.05002920023,0.546375713074,0.0187273932574,1.04969848933
+365,6.083333333,pose2_to_pose3_retreat,0.575773633926,0.0100545100165,1.05002926127,0.546344364849,0.0187272416843,1.04969854923
+366,6.100000000,pose2_to_pose3_retreat,0.575751613169,0.0100546271117,1.05002918318,0.546322342991,0.0187273552349,1.04969847563
+367,6.116666667,pose2_to_pose3_retreat,0.575735646808,0.0100545579934,1.05002925937,0.546306376847,0.0187272866131,1.04969854548
+368,6.133333333,pose2_to_pose3_retreat,0.575724903681,0.0100545438701,1.05002933058,0.546295633112,0.0187272701299,1.04969860892
+369,6.150000000,pose2_to_pose3_retreat,0.575718254313,0.0100545279165,1.0500292237,0.546288984932,0.0187272585353,1.04969851059
+370,6.166666667,pose2_to_pose3_retreat,0.575714503709,0.0100544949083,1.05002910408,0.546285235505,0.0187272298015,1.0496983983
+371,6.183333333,pose2_to_pose3_retreat,0.575712781393,0.0100544920148,1.05002907351,0.546283512499,0.0187272243777,1.04969836277
+372,6.200000000,pose2_to_pose3_retreat,0.575712082167,0.0100544908401,1.0500290611,0.546282812993,0.0187272221758,1.04969834834
+373,6.216666667,pose2_to_pose3_retreat,0.575711979177,0.0100544906671,1.05002905927,0.546282709962,0.0187272218515,1.04969834622
+374,6.233333333,pose2_to_pose3_retreat,0.575711930229,0.0100544905849,1.0500290584,0.546282660994,0.0187272216973,1.04969834521
+375,6.250000000,pose2_to_pose3_retreat,0.575711860755,0.0100544904682,1.05002905717,0.546282591492,0.0187272214785,1.04969834377
+376,6.266666667,pose2_to_pose3_retreat,0.575711623176,0.0100544968663,1.05002905444,0.546282353916,0.0187272278963,1.04969834134
+377,6.283333333,pose2_to_pose3_retreat,0.575711274676,0.0100545094175,1.05002905113,0.546282005465,0.0187272406481,1.04969833891
+378,6.300000000,pose2_to_pose3_retreat,0.575710847714,0.0100545247946,1.05002904708,0.546281578563,0.0187272562708,1.04969833594
+379,6.316666667,pose2_to_pose3_retreat,0.575710602463,0.0100545336273,1.05002904475,0.546281333347,0.0187272652446,1.04969833424
+380,6.333333333,pose2_to_pose3_retreat,0.575710546701,0.0100545356355,1.05002904422,0.546281277593,0.0187272672849,1.04969833385
+381,6.350000000,pose2_to_pose3_retreat,0.575710533381,0.0100545361153,1.0500290441,0.546281264275,0.0187272677723,1.04969833375
+382,6.366666667,pose2_to_pose3_retreat,0.575710468826,0.0100545384402,1.05002904348,0.546281199729,0.0187272701344,1.04969833331
+383,6.383333333,pose2_to_pose3_retreat,0.57571036898,0.0100545420362,1.05002904253,0.546281099897,0.0187272737878,1.04969833261
+384,6.400000000,pose2_to_pose3_retreat,0.575710220749,0.0100545473747,1.05002904113,0.546280951687,0.0187272792117,1.04969833158
+385,6.416666667,pose2_to_pose3_retreat,0.575709987084,0.0100545570506,1.05002903152,0.546280717871,0.0187272884571,1.04969832407
+386,6.433333333,pose2_to_pose3_retreat,0.575709910372,0.0100545606397,1.05002902594,0.54628064105,0.0187272917199,1.04969831967
+387,6.450000000,pose2_to_pose3_retreat,0.575709858909,0.0100545630475,1.0500290222,0.546280589514,0.0187272939089,1.04969831673
+388,6.466666667,pose2_to_pose3_retreat,0.575709808626,0.0100545654001,1.05002901855,0.546280539159,0.0187272960476,1.04969831385
+389,6.483333333,pose2_to_pose3_retreat,0.575709767622,0.0100545673185,1.05002901557,0.546280498097,0.0187272977917,1.0496983115
+390,6.500000000,pose2_to_pose3_retreat,0.575709467973,0.0100545813382,1.05002899379,0.54628019802,0.0187273105371,1.04969829434
+391,6.516666667,pose2_to_pose3_retreat,0.575709380129,0.0100545854481,1.0500289874,0.546280110051,0.0187273142735,1.04969828931
+392,6.533333333,pose2_to_pose3_retreat,0.57570929444,0.0100545589786,1.05002895826,0.546280024641,0.0187272886914,1.04969825861
+393,6.550000000,pose2_to_pose3_retreat,0.575709278284,0.0100545456525,1.0500289465,0.546280008647,0.018727275875,1.04969824577
+394,6.566666667,pose2_to_pose3_retreat,0.575709235818,0.0100545106274,1.05002891559,0.546279966608,0.0187272421896,1.04969821203
+395,6.583333333,pose2_to_pose3_retreat,0.575709231816,0.0100545073264,1.05002891268,0.546279962646,0.0187272390148,1.04969820885
+396,6.600000000,pose2_to_pose3_retreat,0.575709220007,0.0100544975863,1.05002890408,0.546279950956,0.0187272296472,1.04969819946
+397,6.616666667,pose2_to_pose3_retreat,0.575709211842,0.0100545767237,1.05002890278,0.546279941135,0.0187273031039,1.04969819658
+398,6.633333333,pose2_to_pose3_retreat,0.575709212178,0.0100545880677,1.05002890362,0.546279941243,0.0187273136719,1.04969819731
+399,6.650000000,pose2_to_pose3_retreat,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_09/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..adabde3a7f626ba4c8e880f8631a1844e535511e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38a215b99203c8113507bbcc6a394d5b49585c9039ef533fff7576b6767e8258
+size 25560481
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..26fd326aa4f0e5105b60c94978fd4247e864c744
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_05/franka_data.csv
@@ -0,0 +1,404 @@
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+0,0.000000000,BASELINE,764,742,711,672,664,632,876,783,799,650,628,650,0.400958941127,0.00454078574651,0.0598411421536,0.999999963339,4.75629135742e-05,-0.00026556901871,2.3063700926e-05,1793192476618718720
+1,0.016666667,BASELINE,764,742,710.419297539,672,664,632,876,783,799,650,628.580702461,650,0.400958185125,0.00454160788606,0.0598414801639,0.999999963285,4.84445394931e-05,-0.00026558789655,2.33532631914e-05,1793192476635385344
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+3,0.050000000,BASELINE,764,742,710.730826906,672,664,632.730826906,876.730826906,783,798.269173094,650,629,650.730826906,0.40095900684,0.00454020908381,0.0598419727345,0.999999963592,4.58886516936e-05,-0.000264884426632,2.33921284129e-05,1793192476668718848
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+9,0.150000000,BASELINE,764,742,711,672,664,632.779498952,876,783,799,650,628.220501048,651,0.400958463807,0.00453959646893,0.0598423210059,0.999999963685,4.56569601766e-05,-0.00026455939167,2.3513780836e-05,1793192476768718848
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+12,0.200000000,BASELINE,764,742,710.031260914,672,664,632.968739086,876,783,799,650,629,650.031260914,0.400956538211,0.00453997019062,0.0598407702519,0.99999996289,4.97563280255e-05,-0.000266766530952,2.40664371497e-05,1793192476818718976
+13,0.216666667,BASELINE,764,742,710,672,664,632.453421144,876,783,799,650,628.453421144,650.546578856,0.400957741604,0.00453894938664,0.0598412873891,0.999999963189,4.7773588721e-05,-0.000266022719186,2.38998140481e-05,1793192476835385600
+14,0.233333333,BASELINE,764,742,710.12412613,672,664,632,876,783,799,650,628,650.87587387,0.400958524415,0.00453867803973,0.0598416680318,0.999999963377,4.67572921779e-05,-0.000265518571766,2.36750865855e-05,1793192476852052480
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+18,0.300000000,BASELINE,764,742,711,671,664,632.448475883,876,783,799.551524117,649,628,651,0.400957281921,0.00453995807972,0.0598412723844,0.999999963346,4.63862427242e-05,-0.00026572443002,2.33786810445e-05,1793192476918718976
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+20,0.333333333,BASELINE,764,742,711,671,664,632.392750013,876,783,799,649.607249987,628,651,0.400957229474,0.00453965498276,0.0598419815357,0.999999963416,4.69829033963e-05,-0.000265320512445,2.37808904822e-05,1793192476952052480
+21,0.350000000,BASELINE,764,742,711,671.184035238,664,632,876.184035238,783,799,649.815964762,628,650.815964762,0.400957417123,0.00453959169745,0.0598421371552,0.999999963485,4.70825731369e-05,-0.000265040631221,2.38093192847e-05,1793192476968718848
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+27,0.450000000,BASELINE,764,742,710.665935616,671.334064384,664,632,876,783,799.665935616,649.665935616,628,650,0.400956954746,0.00453866968593,0.059841743242,0.999999963298,4.56839062282e-05,-0.000265974691248,2.3983100831e-05,1793192477068718848
+28,0.466666667,BASELINE,764,742,711,671.245785422,664.245785422,632,876.245785422,783,799.754214578,650,628,650,0.400957461325,0.00453810700375,0.0598421717546,0.999999963474,4.5415893714e-05,-0.000265364756379,2.39089842611e-05,1793192477085385472
+29,0.483333333,BASELINE,764,742,711,671.83120196,664.83120196,632,876.83120196,783,799.16879804,650,628,650,0.400957449662,0.00453807633504,0.0598420441421,0.999999963371,4.60119208881e-05,-0.000265657275651,2.37972871298e-05,1793192477102052096
+30,0.500000000,BASELINE,764,742,710.587635978,672,664.587635978,632,876.587635978,783,799,650,628.412364022,650,0.400957153972,0.00453916341945,0.0598419617639,0.999999963324,4.63503665158e-05,-0.000265802639001,2.35117667394e-05,1793192477118718976
+31,0.516666667,BASELINE,764,742,710.008197684,672,664.008197684,632,876.008197684,783,799,650,628.991802316,650,0.400956743206,0.00454070337505,0.0598418977129,0.999999963299,4.65844498491e-05,-0.000265888380344,2.31558197553e-05,1793192477135385600
+32,0.533333333,BASELINE,764,742,710,671.429779532,664,632.570220468,876,783,799,649.429779532,628.429779532,650,0.400958649822,0.00454024501768,0.059842918439,0.999999963718,4.79556236411e-05,-0.000264059729119,2.31744257556e-05,1793192477152051968
+33,0.550000000,BASELINE,764,742,710,671.147162354,664,633,876,783,799,649,628,650,0.400959832033,0.00454004608805,0.0598434125699,0.999999963946,4.88962268061e-05,-0.00026301673271,2.32413727646e-05,1793192477168718848
+34,0.566666667,BASELINE,764,742,710,671.719877517,664,633,876,783,799,649,628,650,0.400958823294,0.00454068027804,0.059842338917,0.999999963613,4.85445514475e-05,-0.000264325076745,2.34325653316e-05,1793192477185385472
+35,0.583333333,BASELINE,764,742,710,672,664,632.698962318,876,783,799,649.301037682,628,650,0.400957292392,0.0045409709928,0.0598413339065,0.999999963187,4.85543292273e-05,-0.000265916428256,2.36082657166e-05,1793192477202052096
+36,0.600000000,BASELINE,764,742,710,672,664,632.109717004,876,783,799,649.890282996,628,650,0.400955261582,0.00454093287109,0.0598403946129,0.999999962669,4.89101551821e-05,-0.000267778725783,2.37691342103e-05,1793192477218718720
+37,0.616666667,BASELINE,764,742,710.473784127,672,664,632,876,783,799,650,628,650.473784127,0.400956560341,0.00454065137608,0.0598415126472,0.999999963151,4.89832573002e-05,-0.000265983465423,2.34834402363e-05,1793192477235385344
+38,0.633333333,BASELINE,764.05522322,742,710.94477678,671.94477678,664,632,876,783,799,650,628,650.94477678,0.400958477599,0.00454028980396,0.0598430009185,0.999999963831,4.8801592808e-05,-0.0002634774631,2.3165112447e-05,1793192477252051968
+39,0.650000000,BASELINE,764.629632567,742,710.370367433,671.370367433,664,632,876,783,799,650,628,650.370367433,0.400959047487,0.0045396989003,0.0598435444851,0.999999964264,4.68328847033e-05,-0.000262157134689,2.35005761375e-05,1793192477268719872
+40,0.666666667,BASELINE,764.794931568,742.205068432,710.205068432,671.205068432,664,632,876,783,799,650,628,650,0.400959541238,0.00453945020615,0.0598438349825,0.999999964528,4.57962171029e-05,-0.000261316157109,2.36824011715e-05,1793192477285386752
+41,0.683333333,BASELINE,764.217632448,742.782367552,710.782367552,671.782367552,664,632,876,783,799,650,628,650,0.40095989679,0.00453982267485,0.0598436661201,0.999999964492,4.64513462245e-05,-0.000261345274956,2.35853484375e-05,1793192477302052864
+42,0.700000000,BASELINE,764,742.634107238,711,672,664,632,876,783,799,650,628,650,0.400959611134,0.00453993708537,0.0598432969862,0.99999996419,4.7317833057e-05,-0.000262357550286,2.3424430279e-05,1793192477318719232
+43,0.716666667,BASELINE,764,742.046814675,711,672,664,632,876,783,799,650,628,650,0.400958937488,0.00453989534623,0.0598428066692,0.999999963725,4.83122113136e-05,-0.000263964729076,2.32248674888e-05,1793192477335386112
+44,0.733333333,BASELINE,764,742,711,672,664.533905778,632,876,783,799.533905778,650,628.533905778,650.533905778,0.400958119582,0.00454082340286,0.059842070181,0.999999963515,4.85661855493e-05,-0.000264716356195,2.31478511026e-05,1793192477352052736
+45,0.750000000,BASELINE,764,742,711,672,664.886941569,632,876,783,799.886941569,649.886941569,629,651,0.400957285883,0.00454153535078,0.0598414471459,0.999999963382,4.84566543468e-05,-0.000265247278141,2.30691382098e-05,1793192477368719360
+46,0.766666667,BASELINE,764,742,711,672,664.311869613,632,876,783,799.311869613,649.311869613,629,651,0.400956438704,0.00454102089958,0.0598413748719,0.999999963467,4.7123731722e-05,-0.000265179119945,2.29401158683e-05,1793192477385385984
+47,0.783333333,BASELINE,764,742,710.731706594,672.268293406,664,632,876.268293406,783,799,649.268293406,628.731706594,651,0.400956855635,0.00454102643535,0.0598417395775,0.999999963594,4.76456971624e-05,-0.000264590434181,2.30983340807e-05,1793192477402052608
+48,0.800000000,BASELINE,764,742,710.145511076,672.854488924,664,632,876.854488924,783,799,649.854488924,628.145511076,651,0.400958770413,0.00454164810607,0.0598426220622,0.999999963767,5.03655279725e-05,-0.000263384972854,2.35969049519e-05,1793192477418719232
+49,0.816666667,BASELINE,764.435654028,742,710.435654028,672.564345972,664,632,877,783,799.435654028,650,628,650.564345972,0.400958577939,0.00454153425584,0.0598422937174,0.999999963652,5.04929535721e-05,-0.000263806093097,2.35168010682e-05,1793192477435385856
+50,0.833333333,BASELINE,764.984871172,742,710.984871172,672,664,632,876.984871172,783,799.984871172,649.984871172,628,650.015128828,0.400957713557,0.00454115607518,0.0598415936865,0.999999963448,4.97527254543e-05,-0.000264741595549,2.32606948237e-05,1793192477452052736
+51,0.850000000,BASELINE,764.406485709,742,710.406485709,672,664,632,876.406485709,783,799.406485709,649.406485709,628,650.593514291,0.40095773874,0.00453997868893,0.0598419406417,0.999999963474,4.85784330313e-05,-0.000264831806445,2.3565736288e-05,1793192477468719104
+52,0.866666667,BASELINE,764,742,710.170506135,672,664,632,876,783,799,649.341012271,628,651,0.400958134591,0.00453889216763,0.0598423453727,0.999999963647,4.77316590534e-05,-0.000264315432304,2.37724663028e-05,1793192477485385728
+53,0.883333333,BASELINE,764,742,710.744202503,672,664,632,876,783,799,650.488405005,628,651,0.400959406949,0.00453802051174,0.0598428867242,0.999999964165,4.76593572047e-05,-0.000262364686539,2.37467224592e-05,1793192477502052352
+54,0.900000000,BASELINE,764,742,711,672,664,632,876,783,799,650.67332852,628,650.67332852,0.400959189573,0.00453863406301,0.0598427918806,0.999999964096,4.82963509807e-05,-0.00026251285573,2.37177500735e-05,1793192477518718976
+55,0.916666667,BASELINE,764,742,711,672,664,632,876,783,799,650.083800684,628,650.083800684,0.400957773481,0.00454044268694,0.0598421851223,0.999999963554,4.9504079807e-05,-0.000264349917887,2.36861798411e-05,1793192477535385600
+56,0.933333333,BASELINE,764,742,710.500464579,671.500464579,664,632,876,783,799,650,628,650.499535421,0.400957921099,0.0045395445297,0.0598416518561,0.999999963634,4.79735103119e-05,-0.000264335283136,2.35982478579e-05,1793192477552052480
+57,0.950000000,BASELINE,764,742,710.081383758,671,664,632,876,783,799,649.918616242,628,651,0.400958155761,0.00453836639338,0.0598412454145,0.999999963781,4.62366323694e-05,-0.000264096531876,2.35180352061e-05,1793192477568718848
+58,0.966666667,BASELINE,764,742,710.660408189,671,664,632,876,783,799,649.339591811,628,651,0.400957338273,0.00453821885843,0.0598415400085,0.99999996372,4.60127672221e-05,-0.000264363566998,2.35421319153e-05,1793192477585385472
+59,0.983333333,BASELINE,764,742,711,671,664,632,876,783,799.235688788,649.235688788,628,650.764311212,0.400957202791,0.00453860957462,0.0598418894651,0.999999963783,4.59992303616e-05,-0.00026412788912,2.35563817666e-05,1793192477602052352
+60,1.000000000,BASELINE,764,742,711,671,664,632,876,783,799.805659522,649.805659522,628,650.194340478,0.400958034611,0.00453976370279,0.0598423167344,0.99999996402,4.6284006129e-05,-0.000263179203753,2.35566656332e-05,1793192477618718976
+61,1.016666667,BASELINE,764,742,710.610878733,671.389121267,664,632,876,783,799.221757466,650,628,650,0.400957393104,0.00453973980094,0.0598417987846,0.999999963761,4.58936930276e-05,-0.000264226022329,2.35797848284e-05,1793192477635385600
+62,1.033333333,BASELINE,764,742,710.020437156,671.979562844,664,632,876,783,798.040874312,650,628,650,0.400955989339,0.0045391064197,0.0598407918051,0.999999963242,4.51541080703e-05,-0.000266305258119,2.36147183751e-05,1793192477652052224
+63,1.050000000,BASELINE,764,742,710.559052518,672,664,632,876,783,798.559052518,650,628,650.559052518,0.400957579705,0.00453943498443,0.0598415000214,0.999999963629,4.75432455814e-05,-0.000264457657709,2.33360721248e-05,1793192477668719104
+64,1.066666667,BASELINE,764,742,710.862736056,672,664,632,876.137263944,783,799,650,628,650.862736056,0.400958732635,0.00453971354059,0.059842304224,0.999999963959,4.958415906e-05,-0.000262837828148,2.32148594557e-05,1793192477685385728
+65,1.083333333,BASELINE,764,742,710.287351247,672,664,632,876.712648753,783,799,650,628,650.287351247,0.400958146706,0.00453972239318,0.0598432185096,0.999999964038,5.01555538255e-05,-0.000262394389746,2.36320316085e-05,1793192477702052608
+66,1.100000000,BASELINE,764,742,710.294200694,672,664,632,876.705799306,783,799,650,628,650.294200694,0.400957913189,0.00453945265393,0.0598432549035,0.999999964058,4.88453566771e-05,-0.000262553228763,2.37575876945e-05,1793192477718719232
+67,1.116666667,BASELINE,764,742,710.881905123,672,664,632,876.118094877,783,799,650,628,650.881905123,0.40095803125,0.00453890498282,0.0598424154855,0.999999964013,4.56580250538e-05,-0.000263312918434,2.35922185242e-05,1793192477735385856
+68,1.133333333,BASELINE,764,742,711,672,664,632,876,783,799,650,628,650.53664263,0.400957962579,0.00453993577067,0.0598422255339,0.999999963838,4.76885036249e-05,-0.000263640115967,2.32992414221e-05,1793192477752052480
+69,1.150000000,BASELINE,764,742,710.957125566,672,664,632,876,783,799,650,628.042874434,650.042874434,0.400957795241,0.0045411897336,0.0598422421565,0.999999963658,5.0588635157e-05,-0.000263809954368,2.30007509681e-05,1793192477768718848
+70,1.166666667,BASELINE,764,742,710.382113429,672,664,632,876,783,799,650,628.617886571,650.617886571,0.400956986128,0.00454028697597,0.0598427955783,0.999999963899,4.7996734499e-05,-0.000263376612387,2.30321198412e-05,1793192477785385472
+71,1.183333333,BASELINE,764,742,710.196975188,672,664,632.196975188,876,783,799,650,628.803024812,650.803024812,0.400956712888,0.00453956649204,0.059843053705,0.999999964084,4.60277121791e-05,-0.000263019943882,2.31015280072e-05,1793192477802052096
+72,1.200000000,BASELINE,764,742,710.784139017,672,664,632.784139017,876,783,799,650,628.215860983,650.215860983,0.400957501163,0.00453920707435,0.0598427268812,0.999999964168,4.52925506472e-05,-0.000262815157985,2.32462883093e-05,1793192477818718720
+73,1.216666667,BASELINE,764,742.366411729,711,672,664,632.633588271,876,783,799,650,628,650,0.400958679038,0.00453970668893,0.0598426403793,0.999999964217,4.61620142495e-05,-0.000262492435494,2.31021873678e-05,1793192477835385600
+74,1.233333333,BASELINE,764,742.945840904,711,672,664,632.054159096,876,783,799,650,628,650,0.400960083411,0.00454070571128,0.0598426935913,0.999999964242,4.79643441728e-05,-0.000262101149293,2.27901537913e-05,1793192477852052480
+75,1.250000000,BASELINE,764,742.475733694,711,672,664,632,876,783,799,650,628,650,0.400958517593,0.00453906628307,0.0598420317048,0.999999963837,4.55422742536e-05,-0.00026403109299,2.32223432127e-05,1793192477868719104
+76,1.266666667,BASELINE,764,742,710.897750091,672,664,632,876,783,799,650,628.102249909,650.102249909,0.400957081219,0.00453796113716,0.0598416200725,0.999999963515,4.41190723431e-05,-0.00026545583912,2.36115577823e-05,1793192477885385728
+77,1.283333333,BASELINE,764,742,710.321335317,672,664,632,876,783,799,650,628.678664683,650.678664683,0.40095766528,0.00454059517481,0.0598427108647,0.99999996381,4.93477894576e-05,-0.000263427952665,2.34456416134e-05,1793192477902052352
+78,1.300000000,BASELINE,763.741148226,742,710,672,664,632,876,783,799.258851774,650,628.741148226,650.741148226,0.400958092996,0.00454183250491,0.0598432303981,0.99999996396,5.15566203583e-05,-0.000262446263128,2.33089140011e-05,1793192477918718976
+79,1.316666667,BASELINE,763.156209018,742,710,672,664,632,876,783,799.843790982,650,628.156209018,650.156209018,0.400958323757,0.00454131033837,0.0598430302905,0.999999963955,4.99611618982e-05,-0.000262782515924,2.32089565638e-05,1793192477935385600
+80,1.333333333,BASELINE,763.425514045,742,710.425514045,672,664,632,876,783,799.574485955,649.574485955,628,650.425514045,0.400959213401,0.00454100083241,0.0598433101361,0.999999964174,4.98396857661e-05,-0.000261944102873,2.35311029567e-05,1793192477952052224
+81,1.350000000,BASELINE,764,742.006034176,711,672,664,632,876,783,799,649.006034176,628,651,0.40096031608,0.00454076970831,0.0598437544411,0.999999964467,5.0242320338e-05,-0.000260703397523,2.39991113921e-05,1793192477968718848
+82,1.366666667,BASELINE,764,742.583602107,711,672,664,632,876,783,799,649.583602107,628,651,0.400958858476,0.00454062367984,0.0598432124974,0.999999964203,4.94194392721e-05,-0.00026189694612,2.37157668203e-05,1793192477985385472
+83,1.383333333,BASELINE,764,742.84085315,710.84085315,672,664,632,876,783,799,649.84085315,628,650.84085315,0.400957691109,0.00454042440968,0.0598427691605,0.999999963983,4.88309209159e-05,-0.000262859515593,2.35316666354e-05,1793192478002052096
+84,1.400000000,BASELINE,764,742.270535383,710.270535383,672,664,632,876,783,799,649.270535383,628,650.270535383,0.400957273594,0.00454008758458,0.0598425805833,0.999999963885,4.88479005754e-05,-0.000263225328943,2.36039736352e-05,1793192478018718976
+85,1.416666667,BASELINE,764,742,710.311782968,672,664,632.311782968,876,783,799,649,628.311782968,650,0.40095772016,0.00453981201473,0.0598426016094,0.999999963923,4.88727439016e-05,-0.000263073774525,2.36184694164e-05,1793192478035385344
+86,1.433333333,BASELINE,764,742,710.904931082,672,664,632.904931082,876,783,799,649,628.904931082,650,0.400958946506,0.00453959172403,0.0598428117899,0.999999964085,4.89046837075e-05,-0.000262455327175,2.35807940883e-05,1793192478052051968
+87,1.450000000,BASELINE,764,742,711,672,664,632.513180573,876.486819427,783,798.513180573,649.486819427,628.513180573,650,0.400958611578,0.0045398232372,0.0598431652579,0.999999964143,4.78316792933e-05,-0.000262446761577,2.34179059895e-05,1793192478068718592
+88,1.466666667,BASELINE,763.933778501,742,710.933778501,671.933778501,664,632,876.933778501,783,798.066221499,650,628,650.066221499,0.400957989501,0.00454008250263,0.0598433959814,0.999999964146,4.68803946859e-05,-0.000262619500105,2.32552019286e-05,1793192478085385216
+89,1.483333333,BASELINE,763.356975586,742,710.356975586,671.356975586,664,632,876.356975586,783,798.643024414,650,628,650.643024414,0.400957451096,0.00453989084402,0.0598424694507,0.999999963892,4.84936920195e-05,-0.000263292595042,2.32781868863e-05,1793192478102052096
+90,1.500000000,BASELINE,763.222842006,742,710.222842006,671,664,632,876.222842006,783,799,649.777157994,628.222842006,650.777157994,0.400957655387,0.00453944290671,0.0598421908398,0.99999996391,4.83875335934e-05,-0.000263236964301,2.33602413356e-05,1793192478118718720
+91,1.516666667,BASELINE,763.807555049,742,710.807555049,671,664,632,876.807555049,783,799,649.192444951,628.807555049,650.192444951,0.400959065735,0.00453857880085,0.0598429643799,0.999999964367,4.54891669884e-05,-0.000261997962727,2.35382181739e-05,1793192478135385344
+92,1.533333333,BASELINE,764,742,711,671.388761323,664,632,876.611238677,783,799,649.388761323,629,650,0.400960268389,0.00453896845839,0.0598441544879,0.999999964739,4.60142688816e-05,-0.000260469836916,2.36788602077e-05,1793192478152052224
+93,1.550000000,BASELINE,764,742,711,671.968247243,664,632,876.031752757,783,799,649.968247243,629,650,0.400961369149,0.00453997320667,0.0598455489623,0.999999965066,4.82189091277e-05,-0.000258799867913,2.38011859661e-05,1793192478168718848
+94,1.566666667,BASELINE,764,742.546026443,711,672,664,632.546026443,876.546026443,783,799,650,629,650.546026443,0.400959226851,0.00454059550874,0.0598437504767,0.99999996437,4.97037407662e-05,-0.000261205610477,2.36763406903e-05,1793192478185385472
+95,1.583333333,BASELINE,764,742.876548708,711,672,664,633,876.876548708,783,799.123451292,649.876548708,628.876548708,650.876548708,0.400957467439,0.00454089333866,0.0598422870317,0.999999963824,5.04640147299e-05,-0.000263149484419,2.36003063977e-05,1793192478202052352
+96,1.600000000,BASELINE,764,742.300060988,711,672,664,633,876.300060988,783,799.699939012,649.300060988,628.300060988,650.300060988,0.400957803054,0.00454008179607,0.059842732375,0.99999996407,4.87184697431e-05,-0.000262531344472,2.37559798423e-05,1793192478218718976
+97,1.616666667,BASELINE,764,742,711,672,664,632.719025795,876,783,799.719025795,649.280974205,628,650.280974205,0.400958157234,0.00453938645746,0.0598430021787,0.999999964211,4.72589606597e-05,-0.000262253487878,2.38366131543e-05,1793192478235385600
+98,1.633333333,BASELINE,764,742,711,672,664,632.133054359,876,783,799.133054359,649.866945641,628,650.866945641,0.400958531566,0.00453881725821,0.0598430814345,0.99999996424,4.61099433799e-05,-0.000262345008577,2.38357904651e-05,1793192478252052224
+99,1.650000000,BASELINE,764,742,711,672,664,632,876,783,799.450265256,650,628.450265256,650.549734744,0.400958009311,0.00453890011502,0.0598425592263,0.999999964073,4.67628032118e-05,-0.000262882051636,2.36827659904e-05,1793192478268718848
+100,1.666666667,BASELINE,764,742,711,672,664,632,876,783,799.967662476,650,628.967662476,650,0.40095723569,0.00453912601576,0.0598418875762,0.999999963852,4.7837769181e-05,-0.000263542287461,2.35004062018e-05,1793192478285385216
+101,1.683333333,BASELINE,764,742,711,672,664,632,876,783,799.393437748,650,628.393437748,650,0.400956663588,0.00453853899173,0.0598416725834,0.999999963745,4.71157756059e-05,-0.000264073673244,2.35757274353e-05,1793192478302051840
+102,1.700000000,BASELINE,764,742,711,672,664,632,876,783,799,650,628,650.180948027,0.400956682705,0.00453851945151,0.05984182075,0.99999996383,4.69150278361e-05,-0.000263787260206,2.35803089867e-05,1793192478318718720
+103,1.716666667,BASELINE,764,742,711,672,664,632,876,783,799,650,628,650.755684207,0.400957988463,0.00453973489803,0.0598427592423,0.999999964332,4.78486413693e-05,-0.000261721112375,2.34309432923e-05,1793192478335385344
+104,1.733333333,BASELINE,764,742,710.659040536,672,664,632,876,782.659040536,799,650,628,651,0.400958753808,0.00454070030995,0.0598432763999,0.999999964473,4.93395276636e-05,-0.000260905155343,2.34080890043e-05,1793192478352051968
+105,1.750000000,BASELINE,764,742,710.065972528,672,664,632,876,782.065972528,799,650,628,651,0.400959119565,0.00454148084415,0.0598434820191,0.999999964347,5.1242466627e-05,-0.000261013600595,2.34787783908e-05,1793192478368718592
+106,1.766666667,BASELINE,764,742,710,671.487481463,664.512518537,632.512518537,876.512518537,782.512518537,799,649.487481463,628,651,0.400958759096,0.00454019374299,0.0598431110554,0.999999964275,4.77716667305e-05,-0.00026195175589,2.34230501988e-05,1793192478385385472
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,876,783,799,650,629,650,0.400959102575,0.00453887430588,0.0598435825519,0.999999964444,4.61720030771e-05,-0.000261616186595,2.31869117907e-05,1793192478428493824
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.590126787,876.590126787,783,799,650,628.409873213,650,0.400959201254,0.00453999854773,0.0598438134381,0.999999964475,4.90244490505e-05,-0.000260972294895,2.32304122706e-05,1793192478445160704
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.1768954,742,711,672,664,633,876.8231046,783,799,650,628.1768954,650,0.400958825664,0.00454030756793,0.0598436687389,0.999999964392,5.04091002412e-05,-0.0002610102938,2.34262698618e-05,1793192478461827328
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.756028076,742,711,672,664,633,876.243971924,783,799,650,628.756028076,650,0.400957371648,0.00453876287969,0.0598426700073,0.99999996406,4.84561763833e-05,-0.000262598823673,2.39685678391e-05,1793192478478493952
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.66667526,742,710.66667526,672,664,632.66667526,876.33332474,783,799,650,628.66667526,650,0.400957274514,0.00453828182727,0.0598424724037,0.999999964013,4.75405388788e-05,-0.000262936867457,2.4062082313e-05,1793192478495160576
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.09071511,742,710.09071511,672,664,632.09071511,876.90928489,783,799,650,628.09071511,650,0.400958165089,0.00453857502204,0.0598428579614,0.999999964176,4.73799681572e-05,-0.000262364651066,2.38289160238e-05,1793192478511827200
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,710,672,664,632,876.515726394,783,799.484273606,650,628,650.484273606,0.400959446699,0.00453982021337,0.0598439789252,0.999999964528,4.85116900587e-05,-0.000260850358275,2.33957943573e-05,1793192478528493824
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,710,672,664,632.060597666,876,783,799.939402334,650,628,651,0.400960607825,0.00454092285611,0.0598450130414,0.999999964826,4.9660117377e-05,-0.000259523337701,2.30303026735e-05,1793192478545160448
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,710,672,664,632.650163504,876,783,799.349836496,650,628,651,0.400960079109,0.00453922760782,0.0598440889433,0.999999964372,4.88454837558e-05,-0.000261368420283,2.35814716718e-05,1793192478561827072
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,710.235859561,671.764140439,664,632.764140439,876,783,799,650,628,650.764140439,0.400966814511,0.00453871502406,0.0598468941473,0.999999965591,4.82566970024e-05,-0.000256747543461,2.38675518293e-05,1793192478578493696
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,710.815908405,671.184091595,664,632.184091595,876,783,799,650,628,650.184091595,0.40098415042,0.00453992829993,0.0598551415129,0.999999969116,4.79974880991e-05,-0.000242690907607,2.37667884342e-05,1793192478595160576
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.606465661,742,711,671.393534339,664,632.393534339,876.393534339,783.393534339,799,650,628,650,0.401019253569,0.00453966607939,0.0598695251193,0.999999975167,4.7757034265e-05,-0.000216355226752,2.3991832641e-05,1793192478611827456
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.029966155,742,711,671.970033845,664,632.970033845,876.970033845,783.970033845,799,650,628,650,0.401062617207,0.00453871785923,0.0598867616369,0.999999981589,4.75253001283e-05,-0.000184310671622,2.43683539237e-05,1793192478628494336
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.55476668,742,711,672,664,632.44523332,876.44523332,783.44523332,799,650,628,650.55476668,0.401123743041,0.00453896524894,0.0599030729434,0.999999986581,4.61565353571e-05,-0.000155294826021,2.43146801284e-05,1793192478645160704
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,710.861469697,672,664,632,876.138530303,783,799,649.861469697,628,650.861469697,0.401188418604,0.0045387435191,0.0599171634216,0.999999990014,4.44412878758e-05,-0.000131932074885,2.43036142116e-05,1793192478661827328
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,710.282225495,672,664,632,876.717774505,783,799,649.282225495,628,650.282225495,0.401261288832,0.00453682080142,0.0599243500505,0.999999990884,4.18220906656e-05,-0.000126025506091,2.45031388777e-05,1793192478678493952
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.29617367,710.29617367,672,664,632.29617367,876.70382633,783,799,649.29617367,628,650.29617367,0.401345173402,0.0045359026972,0.0599295943576,0.999999992008,4.10502384208e-05,-0.000117159929889,2.39283394877e-05,1793192478695160320
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.87376985,710.87376985,672,664,632.87376985,876.12623015,783,799,649.87376985,628,650.87376985,0.401439523731,0.004535939171,0.0599329930813,0.999999993297,4.20337228421e-05,-0.000105482722296,2.261778184e-05,1793192478711826944
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.548873591,710.548873591,672.451126409,664,633,876,783,799,650,628.451126409,650.548873591,0.401553318722,0.00453554678742,0.0599377727486,0.99999999422,3.92510636309e-05,-9.77247884813e-05,2.16672705448e-05,1793192478728493824
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,710.028788407,672.971211593,664,632.971211593,876,783,799,650,628.971211593,650,0.401673928561,0.00453496236542,0.0599427439882,0.999999995009,3.5309067768e-05,-9.11223326387e-05,2.07627639236e-05,1793192478745160704
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,710.613644715,672.386355285,664,632.386355285,876,783,799,650,628.386355285,650,0.401821134336,0.00453298522232,0.059943955894,0.999999995724,2.93179172317e-05,-8.56673059879e-05,1.88019441326e-05,1793192478761827328
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,710.802998995,671.802998995,664,632,876,783,799.197001005,650,628,650.197001005,0.40197747408,0.00453196986332,0.0599440064053,0.999999996225,2.41784626733e-05,-8.1803654255e-05,1.65425339637e-05,1793192478778493696
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,710.222562354,671.222562354,664,632,876,783,799.777437646,650,628,650.777437646,0.402151591834,0.00453282648636,0.0599417964204,0.999999996408,2.06967190912e-05,-8.10373978e-05,1.37019585041e-05,1793192478795160576
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,710,671,664,632,876,783,799.643217392,650,628,650.643217392,0.402350354156,0.00453302923954,0.0599410396719,0.99999999679,1.69055244319e-05,-7.75583564102e-05,1.09379789836e-05,1793192478811827200
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,710,671,664,632,876,783,799.06455129,650,628,650.06455129,0.402564442979,0.00453282535042,0.0599411866926,0.999999997262,1.29218814695e-05,-7.23922310231e-05,8.22163428452e-06,1793192478828494080
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,710,671.508975256,664,632,876,783,799.508975256,649.491024744,628,650.508975256,0.402809313379,0.00453039569154,0.0599396775294,0.999999997386,4.10652559059e-06,-7.20141824025e-05,5.08958643112e-06,1793192478845160704
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,710.084221792,672,664,632,876.084221792,783,799.915778208,649.084221792,628.084221792,651,0.403064882264,0.00452784804173,0.0599388191474,0.999999997473,-4.88756292893e-06,-7.09029168766e-05,1.86509901173e-06,1793192478861827072
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,710.673657098,672,664,632,876.673657098,783,799.326342902,649.673657098,628.673657098,651,0.403361443385,0.00452626900125,0.0599431119404,0.999999998026,-1.13146821311e-05,-6.17871159955e-05,-1.60080167269e-06,1793192478878493952
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.25889332,742,711,672,664,632,877,783,799,650,629,650.74110668,0.40366536945,0.00452494450091,0.0599404636769,0.999999997689,-1.78885731826e-05,-6.53709327382e-05,-5.3447412686e-06,1793192478895160576
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.838920913,742,711,672,664,632,877,783,799,650,629,650.161079087,0.403978431058,0.00452393573519,0.0599292056462,0.999999996064,-2.46445213473e-05,-8.4707502867e-05,-9.43356334295e-06,1793192478911827456
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.583663283,742,711,672,664,632.416336717,876.583663283,783,799,650,629,650.416336717,0.404312264848,0.00452328173376,0.0599129408214,0.999999993069,-3.36745502727e-05,-0.000111918274063,-1.42563718474e-05,1793192478928494080
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.007251684,742,711,672,664,632.992748316,876.007251684,783,799,650,629,650.992748316,0.404654085207,0.0045227641336,0.0598947509638,0.999999988759,-4.3578927092e-05,-0.000142156550467,-1.93613864171e-05,1793192478945160448
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.422574502,876.577425498,783,799,650,628.422574502,650.422574502,0.405056642745,0.00451988973271,0.0598880663449,0.999999985676,-5.39616621177e-05,-0.000158696853525,-2.34678090285e-05,1793192478961827072
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,710.838360302,672,664,632,877,783,799,650,628,650,0.405483706802,0.00451739746772,0.0598888483918,0.999999984633,-6.33178927338e-05,-0.000161142435287,-2.75160516033e-05,1793192478978493952
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,710.255626681,672,664,632,877,783,799,650,628,650,0.405972597693,0.00451597894771,0.0599087002603,0.999999988951,-6.99840570142e-05,-0.000127323967842,-3.14458718578e-05,1793192478995160576
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,710.323542119,672,664,632,876.676457881,783,799.323542119,650,628,650.323542119,0.406492836843,0.00451335780582,0.0599354751925,0.999999992874,-8.06145715751e-05,-8.06003003288e-05,-3.54584164547e-05,1793192479011826944
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,710.899925152,672,664,632,876.100074848,783,799.899925152,650,628,650.899925152,0.407037574006,0.00450979684173,0.059967660346,0.999999994485,-9.43431375748e-05,-2.37915044418e-05,-3.95356086201e-05,1793192479028493568
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.475637627,876,783,800,650,628,650.524362373,0.407578190786,0.00450523978029,0.0599802812044,0.999999993311,-0.000106902971659,-8.19043551192e-06,-4.33854234019e-05,1793192479045160448
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.052254699,711,672,664,632.947745301,876.052254699,783,800,650,628,650,0.408119626703,0.00450061547599,0.0599867664596,0.999999991796,-0.000118957589566,-5.31538336876e-06,-4.72198673795e-05,1793192479061827072
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.639577541,711,672,664,632.360422459,876.639577541,783,800,650,628,650,0.408678315216,0.00449744562856,0.0599725160634,0.99999998947,-0.000128353401734,-4.40956770048e-05,-5.13861017302e-05,1793192479078493952
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.776237786,711,672,664.223762214,632,877.223762214,783,799.776237786,650,628,650.223762214,0.409261301868,0.00449426419496,0.0599615388085,0.999999989745,-0.00011371083184,-7.23875175881e-05,-4.83713315621e-05,1793192479095160320
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.197038005,711,672,664.802961995,632,877.802961995,783,799.197038005,650,628,650.802961995,0.409882885136,0.00449106435736,0.0599557608121,0.999999994041,-6.08842271488e-05,-8.40188563835e-05,-3.39498149783e-05,1793192479111826944
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,878,783,799,650,628.37966016,650.62033984,0.410547549925,0.00449272929472,0.0599613084887,0.999999997596,-2.44468948475e-06,-6.57094620629e-05,-2.19904071372e-05,1793192479128493824
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,878,783,799,650,628.955068504,650.044931496,0.411234427006,0.00449690245127,0.0599726955454,0.999999997691,5.8888806839e-05,-3.19629875722e-05,-1.13004331468e-05,1793192479145160448
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.458498156,742.541501844,711,672.541501844,665,632,877.458498156,783,799,650,628.458498156,650,0.411906316582,0.00448972151079,0.0599652850205,0.999999998008,4.01337548646e-05,-4.58268869509e-05,-1.65517467911e-05,1793192479161827072
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.127001761,742.872998239,710.872998239,672.872998239,665,632,877,783,799,650,628,650,0.412579957443,0.00448242611444,0.0599499401046,0.999999996657,1.93055396739e-05,-7.62535666133e-05,-2.23255172136e-05,1793192479178493952
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.705858149,742.294141851,710.294141851,672.294141851,665,632,877,783,799,650,628,650,0.413264345488,0.0044781450767,0.0599120304103,0.999999988128,1.52361122412e-05,-0.000151260854099,-2.51541829041e-05,1793192479195160576
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,710.285062381,672.285062381,664.714937619,632,877,783,799.570124762,650,628,650,0.413997876522,0.00447606705919,0.0598969088554,0.999999983614,1.85660394365e-05,-0.000178029690275,-2.70797726051e-05,1793192479211827200
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,710.864626044,672.864626044,664.135373956,632,877,783,800.729252088,650,628,650,0.414782177838,0.00447626500715,0.0599053299895,0.999999987163,2.95403260581e-05,-0.000154962827627,-2.80723843776e-05,1793192479228494080
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.439258138,711,672.560741862,664.439258138,632,877,783,800.121483724,649.560741862,628,650,0.415620978839,0.00447277336027,0.0599490226577,0.999999996106,-3.44162455576e-05,-7.59753899406e-05,-2.88360934742e-05,1793192479245160704
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.987309893,711,672,665,632,877,783,799,649.012690107,628,650,0.41647484762,0.00446819637854,0.0600023299931,0.999999992319,-0.00011905615219,1.78490455758e-05,-2.94961202071e-05,1793192479261827072
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.400166998,711,672,665,632,877,783,799,649.599833002,628,650,0.417258921529,0.0044653906442,0.0600042630978,0.999999993878,-0.000106232606697,1.18267392763e-05,-2.86206583702e-05,1793192479278493952
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,877.185600238,783,799,649.814399762,628,650,0.41806223688,0.00446308865904,0.0599977635488,0.999999995059,-9.50208298562e-05,-3.28569543881e-06,-2.90337607974e-05,1793192479295160576
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,877.768423243,783,799,649.231576757,628,650,0.418906732835,0.00446186480115,0.0599732163824,0.999999994958,-8.72585708844e-05,-3.78528783264e-05,-3.22046563973e-05,1793192479311827200
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.346921106,711,672.346921106,665,632,878,783,799,649.346921106,628,650,0.419737202597,0.00446047962239,0.0599501087469,0.999999994211,-7.61060217768e-05,-6.78507460343e-05,-3.43810137349e-05,1793192479328494080
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.92256738,711,672.92256738,665,632,878,783,799,649.92256738,628,650,0.420558424851,0.0044589880848,0.0599279501952,0.999999992892,-6.27182538803e-05,-9.48360617773e-05,-3.590167163e-05,1793192479345160704
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.507075792,710.507075792,672.507075792,665,632,877.507075792,783,799,649.507075792,628,650,0.421340118487,0.00445999697895,0.0598934011124,0.999999983898,-5.31756390453e-05,-0.000167597361357,-3.58868567797e-05,1793192479361827328
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,710.065129727,672.065129727,665,632.065129727,877,783,799,649.065129727,628,650,0.422129219789,0.00446042695157,0.0598634823083,0.999999971141,-4.62932175587e-05,-0.000233011773549,-3.57752510108e-05,1793192479378493696
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,710.659017757,672.659017757,665,632.659017757,877,783,799,649.659017757,628,650,0.423028336811,0.00445300191179,0.0598867888473,0.999999981361,-5.61559232733e-05,-0.000181020577873,-3.68152865231e-05,1793192479395160576
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.247184329,711,673,665,632.752815671,877,783,799,650,628.247184329,650,0.423954436034,0.00444744505547,0.0599272313577,0.999999991001,-6.74693044439e-05,-0.000109921385725,-3.69119028461e-05,1793192479411827200
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.82763698,711,673,665,632.17236302,877,783,799,650,628.82763698,650,0.424916914363,0.00444440699195,0.059990777587,0.999999996017,-8.07385719642e-05,-1.30596710046e-05,-3.573654642e-05,1793192479428493824
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.403427955,743,711,673,665,632,877.403427955,783,799.403427955,650,628.596572045,650,0.425814263966,0.0044420876082,0.0600114338278,0.99999999546,-8.52945291788e-05,2.28450786344e-05,-3.58184596754e-05,1793192479445160704
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.977249965,743,711,673,665,632,877.977249965,783,799.977249965,650,628.022750035,650,0.426684105385,0.00444007177018,0.060013974813,0.999999995079,-8.61702840698e-05,3.30037029234e-05,-3.643140044e-05,1793192479461827072
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.447270565,743,711,673,665,632,877.447270565,783,800,650,628,650,0.427533915326,0.00443686246893,0.0599890226335,0.999999995181,-8.97845735511e-05,4.79940227497e-06,-3.94046483582e-05,1793192479478493696
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.867541936,711,673,665,632,877.132458064,783,799.867541936,649.867541936,628,650,0.428372592151,0.00443411900989,0.0599648305313,0.999999994643,-9.14920972858e-05,-2.43836592012e-05,-4.18144647663e-05,1793192479495160576
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.273236182,711,673,665,632,877.726763818,783,799.273236182,649.273236182,628,650,0.429175333997,0.00443317161682,0.0599472461081,0.999999994086,-8.61570160942e-05,-5.14572900895e-05,-4.19199857668e-05,1793192479511827200
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,877.688871864,783,799,649.311128136,628,650,0.429985675396,0.00443193575996,0.0599266099354,0.999999991832,-8.19408634545e-05,-8.86534530618e-05,-4.19786610433e-05,1793192479528493824
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,877.112967921,783,799,649.887032079,628,650,0.430802484114,0.00443045441511,0.0599033766681,0.999999986983,-7.86769399129e-05,-0.000134464076814,-4.19974696873e-05,1793192479545160704
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.462239098,711,673,665.462239098,632,877.462239098,783,799,650,628.462239098,650,0.431678737177,0.00442572034126,0.0599365935843,0.999999993113,-8.14114241011e-05,-7.28930671549e-05,-4.28109408681e-05,1793192479561827328
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665.962676235,632,878,783,799.037323765,650,629,650,0.432563713776,0.00442034196827,0.0599815634072,0.99999999534,-8.54678467118e-05,1.03355396085e-05,-4.36872139891e-05,1793192479578493696
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,711,673,665.386903841,632,878,783,799.613096159,650,629,650,0.433365270527,0.00441711959865,0.0599973579737,0.999999994872,-8.74782803181e-05,2.79786677903e-05,-4.26719613864e-05,1793192479595160576
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.805118737,711,673.194881263,665,632,878,783,799.805118737,650,629,650,0.434145637595,0.00441446502052,0.0599973181844,0.999999994934,-8.84910148028e-05,2.29994015002e-05,-4.20904257271e-05,1793192479611827200
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.211016278,711,673.788983722,665,632,878,783,799.211016278,650,629,650,0.434882596991,0.00441297358285,0.0599648411571,0.999999994876,-8.74599274277e-05,-2.83226409348e-05,-4.23973744097e-05,1793192479628493824
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711,674,665,632,878,783,799,650,628.629950343,650,0.435615148399,0.00440911624599,0.0599384927247,0.999999992102,-9.10974204024e-05,-7.52050673893e-05,-4.29148047869e-05,1793192479645160704
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711,674,665,632,878,783,799,650,628.056065383,650,0.436345271701,0.00440395569553,0.0599155201222,0.99999998716,-9.73065182228e-05,-0.000119642006814,-4.35481752325e-05,1793192479661827328
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.518188601,711,673.481811399,665,632,878,783,799,649.481811399,628.518188601,650,0.43703827622,0.00440329322228,0.0599126058053,0.999999986196,-0.000100278080618,-0.000124695808238,-4.47653836497e-05,1793192479678493952
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.904378443,711,673.095621557,665,632,878,783,799,649.095621557,628.904378443,650,0.43771530192,0.00440324694049,0.0599074290823,0.999999984941,-9.96271805683e-05,-0.000134741632219,-4.51371970167e-05,1793192479695160576
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.310591988,711,673.689408012,665,632,878,783,799,649.689408012,628.310591988,650,0.438330019496,0.00440387363115,0.0598791514838,0.999999977186,-8.1930337232e-05,-0.000193009550165,-4.07753830761e-05,1793192479711827200
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.724575803,742,711,674,664.724575803,632,878,783,799.275424197,650,628.275424197,650,0.438962017088,0.00440539672778,0.0598678815405,0.999999973373,-6.91131294486e-05,-0.000216777552161,-3.85460205654e-05,1793192479728493824
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.147081658,742,711,674,664.147081658,632,878,783,799.852918342,650,628.852918342,650,0.439612966401,0.00440790295259,0.0598752646498,0.999999976807,-6.16476360989e-05,-0.000202707960796,-3.86554126539e-05,1793192479745160448
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.427944416,742.427944416,711,673.572055584,664.427944416,632,878,783,799.572055584,649.572055584,629,650,0.440239001524,0.0044126847248,0.059886547502,0.999999980027,-5.59589370367e-05,-0.00018758896798,-4.03123947218e-05,1793192479761827328
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,711,673.002179573,664.995640855,632,878,782.997820427,799,649.002179573,629,650,0.44085607155,0.00441830189268,0.0598989791154,0.99999998295,-5.08046580542e-05,-0.000172374449187,-4.24964918685e-05,1793192479778493696
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,711,673.590515449,663.818969101,632,878,782.409484551,799,649.590515449,629,650,0.441351744064,0.00443946044857,0.0598619623132,0.999999972711,-2.60855404195e-05,-0.000227910352432,-4.42149333875e-05,1793192479795160576
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.823458756,710.823458756,673.823458756,663,631.823458756,877.823458756,782,799,650,628.823458756,650,0.441838765972,0.00446459831991,0.0598243328005,0.999999958514,2.90050613522e-06,-0.000284058371916,-4.76914212329e-05,1793192479811827456
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.242721836,710.242721836,673.242721836,663,631.242721836,877.242721836,782,799,650,628.242721836,650,0.442305982197,0.00449884693948,0.0597853004642,0.999999939261,4.16557998801e-05,-0.000341607858906,-5.51930014418e-05,1793192479828494080
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,710.334726504,673,663,631,877.334726504,782,799,650,628.334726504,650,0.442773990556,0.0045183990634,0.0597658891556,0.999999929027,6.68287485006e-05,-0.000366015700619,-5.92654058082e-05,1793192479845160448
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,710.909813348,673,663,631,877.909813348,782,799,650,628.909813348,650,0.443242567702,0.00452739792869,0.0597605673128,0.999999927558,8.22484873238e-05,-0.00036662519388,-6.08753879724e-05,1793192479861827072
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,711,673.483415225,663,631,878,782,799,650,628.516584775,650,0.443695766407,0.00452403430921,0.0597688268656,0.999999933033,8.1904038465e-05,-0.000351544669419,-6.03484864211e-05,1793192479878493696
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.058767758,711,673.941232242,662.941232242,631,878,782,799,650,628,650,0.444138653845,0.00451906251095,0.0597788586404,0.999999938872,7.95721131964e-05,-0.000335238264352,-5.94931415985e-05,1793192479895160320
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.652573274,711,673.347426726,662.347426726,631,878,782,799,650,628,650,0.444513705089,0.00452038287123,0.0597820277642,0.999999938668,8.58392381028e-05,-0.000334339093744,-5.92659555273e-05,1793192479911827200
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711,673.240388919,662,630.759611081,878,782.240388919,799.240388919,650,628,650,0.444858351793,0.00452208833448,0.0597746696646,0.999999930951,0.000107211208611,-0.000351759995572,-5.35686622134e-05,1793192479928493824
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711,673.819758003,662,630.180241997,878,782.819758003,799.819758003,650,628,650,0.445160124041,0.00452433684372,0.0597524667876,0.999999909943,0.000149883008157,-0.000395014621418,-4.0157794162e-05,1793192479945160448
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711,673.605661024,661.605661024,630,878,782.605661024,799.605661024,649.605661024,628,650.394338976,0.445436435976,0.00452665304663,0.0597285851821,0.999999899573,9.37959071801e-05,-0.00043653924802,-3.85858467107e-05,1793192479961827072
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711,673.033242268,661.033242268,630,878,782.033242268,799.033242268,649.033242268,628,650.966757732,0.445701250297,0.00452899981957,0.0597039454767,0.99999988518,-6.88978352903e-06,-0.000477282623109,-4.23602431856e-05,1793192479978493696
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,711,673.552492919,661.552492919,630,878,782,799.552492919,649,628,650.447507081,0.44595530687,0.00452984655684,0.05969582614,0.999999880567,-1.59817532276e-05,-0.00048644833979,-4.44725473334e-05,1793192479995160320
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,674,661.862696738,630,878,782,800,649.137303262,628,650.137303262,0.446203161306,0.00453002324024,0.0596917124445,0.999999878685,-1.91662652006e-05,-0.000490021204725,-4.62850015422e-05,1793192480011827200
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,674,661.283504994,630,878,782,800,649.716495006,628,650.716495006,0.446433189804,0.00452834110437,0.0596972122419,0.999999882548,-2.15128555409e-05,-0.000481860103194,-4.74622343515e-05,1793192480028493824
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.704100598,711,673.704100598,660.704100598,629.704100598,878,782.295899402,800,650,628,650.704100598,0.446642981329,0.00452748023377,0.0597009526663,0.999999885174,-2.1484434665e-05,-0.000476314273339,-4.81117785052e-05,1793192480045160448
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.124492346,711,673.124492346,660.124492346,629.124492346,878,782.875507654,800,650,628,650.124492346,0.446833369596,0.00452740679382,0.0597030062004,0.999999886657,-1.91788488633e-05,-0.000473275970916,-4.82553738113e-05,1793192480061827072
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742,711,673,660,629,878,782.54755201,799.54755201,650,628.45244799,650,0.446992637313,0.00452871934273,0.0597000419906,0.999999884726,-1.7316259365e-05,-0.000477332020826,-4.90060129518e-05,1793192480078493952
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.02906985,710.97093015,673.02906985,660,629,878,782,799,650,628.97093015,650.02906985,0.447141821742,0.00453048998591,0.0596955081776,0.999999881683,-1.55563503945e-05,-0.000483628606177,-4.99471551518e-05,1793192480095160320
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.613550308,710.386449692,673.613550308,660,629,878,782,799,650,628.386449692,650.613550308,0.447260998643,0.00453376945589,0.0596872095088,0.999999875754,-1.34430431977e-05,-0.000495656006233,-5.13554862859e-05,1793192480111826944
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.802286113,743,710,673.802286113,659.802286113,629,878,782,799,650,628,650.802286113,0.447371157547,0.00453571329078,0.0596799921845,0.999999869948,-1.13957330058e-05,-0.000507204382651,-5.21348747131e-05,1793192480128493568
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.218740979,743,710,673.218740979,659.218740979,629,878,782,799,650,628,650.218740979,0.447463718154,0.00453505068345,0.0596748850644,0.999999864552,-9.47721374706e-06,-0.000517817961055,-5.1686904845e-05,1793192480145160192
+211,3.516666667,POSE1_TO_POSE2_PRESS,763,742.641379543,710.358620457,673.358620457,659.358620457,629,878.358620457,782,799.358620457,650,628,650,0.447546322074,0.00453571598903,0.0596724776081,0.999999862823,-6.74595409781e-06,-0.000521188083347,-5.16771843133e-05,1793192480161827072
+212,3.533333333,POSE1_TO_POSE2_PRESS,763,742.067725872,710.932274128,673.932274128,659.932274128,629,878.932274128,782,799.932274128,650,628,650,0.447622955852,0.00453717752737,0.0596716889029,0.999999863334,-3.52736518286e-06,-0.000520214941771,-5.19302434044e-05,1793192480178493696
+213,3.550000000,POSE1_TO_POSE2_PRESS,763,742.507602771,711,674,659.492397229,629,878.492397229,782,800,650,628,650,0.447679863774,0.00454103035681,0.0596701854732,0.999999862633,1.7331790959e-06,-0.000521536213242,-5.22633313927e-05,1793192480195160320
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.085058463,743,711,674,658.914941537,629,878.085058463,782,800,650,628,650,0.447731785893,0.00454430900576,0.0596687914432,0.99999986178,6.50034824909e-06,-0.000523112655736,-5.24434873573e-05,1793192480211827200
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.6737818,743,711,674,658.3262182,629,878.6737818,782,800,650,628,650,0.447769821135,0.00454229221121,0.059668611749,0.999999861155,6.72746158238e-06,-0.000524381364679,-5.16546361681e-05,1793192480228493824
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711,674,658,629,878.741367313,782,799.482734625,650,628.258632687,650.258632687,0.447800948745,0.00454226235724,0.059667073083,0.999999859616,9.03790955439e-06,-0.000527302457546,-5.13634412193e-05,1793192480245160192
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711,674,658,629,878.161328798,782,798.322657596,650,628.838671202,650.838671202,0.447823492157,0.0045447016974,0.0596638456071,0.999999856908,1.39373415223e-05,-0.000532276986904,-5.16906894719e-05,1793192480261827072
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,710.585535972,674,658.414464028,629,878,782,798.828928057,650,628.585535972,650.585535972,0.447839926775,0.00455160651531,0.0596615833384,0.99999985495,2.05612939943e-05,-0.000535570545193,-5.32982209144e-05,1793192480278493952
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,710.011379021,674,658.988620979,629,878,782,799.977241958,650,628.011379021,650.011379021,0.447854007675,0.00456023188101,0.059659692964,0.999999853239,2.78497038188e-05,-0.000538216425468,-5.53990452497e-05,1793192480295160576
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,710.575801962,673.424198038,658.424198038,629,878,782,800,650,628,650,0.447860101651,0.00457804336576,0.0596585667482,0.999999851004,4.63997748772e-05,-0.000540691941231,-5.90871559053e-05,1793192480311828224
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.839090267,742.839090267,711,673,658,629,878,782,799.839090267,650,628,650,0.447864318969,0.00459194832626,0.0596569876381,0.999999848408,6.13633295961e-05,-0.000543686816399,-6.1824007139e-05,1793192480328495616
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.260054148,742.260054148,711,673,658,629,878,782,799.260054148,650,628,650,0.447864079398,0.00459521947929,0.0596541915261,0.999999845698,6.64155723906e-05,-0.000548040205909,-6.20055991725e-05,1793192480345161472
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.318531463,742.318531463,711,673.318531463,658,629,878.318531463,782,799,650,628,650,0.447862485269,0.00459449058626,0.059651097325,0.999999842793,6.69516390363e-05,-0.000553296426198,-6.15939567493e-05,1793192480361827584
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.896749856,742.896749856,711,673.896749856,658,629,878.896749856,782,799,650,628,650,0.447859786818,0.00459050060386,0.0596477601026,0.99999983972,6.38058347193e-05,-0.000559288691526,-6.06986722167e-05,1793192480378494208
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.528926613,743,711,673.528926613,658,629,878.528926613,782,799.471073387,650,628,650,0.447858571991,0.00459119591208,0.0596452105424,0.999999837672,6.37979570387e-05,-0.000562902066413,-6.10422356799e-05,1793192480395161088
+226,3.766666667,POSE1_TO_POSE2_PRESS,763,742.954157183,711,673.045842817,658,629,878,782,799.954157183,650,628,650,0.44785791246,0.0045927516311,0.0596431156083,0.999999836069,6.45568356803e-05,-0.000565601318072,-6.1551657223e-05,1793192480411827968
+227,3.783333333,POSE1_TO_POSE2_PRESS,763,742.364041052,711,673.635958948,658,629,878,782,799.364041052,650,628,650,0.447860016645,0.00459243037778,0.0596443853832,0.999999837135,6.63204170302e-05,-0.00056358724252,-6.08328978636e-05,1793192480428494336
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.222695361,742.222695361,711,673.777304639,657.777304639,629,878,782,799.222695361,650,628,650,0.447860838824,0.00459321993953,0.0596445295415,0.9999998372,6.84157970517e-05,-0.000563239914072,-6.06617522129e-05,1793192480445160960
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.803989494,742.803989494,711,673.196010506,657.196010506,629,878,782,799.803989494,650,628,650,0.447859596635,0.00459579820907,0.0596428611576,0.999999835655,7.10454610934e-05,-0.000565576491971,-6.13724103523e-05,1793192480461827584
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.61935218,710.61935218,673,657.38064782,629,878,782,799.61935218,649.61935218,628,650.38064782,0.447858359496,0.00459755159206,0.0596419043277,0.999999834167,7.42591589745e-05,-0.000567775117741,-6.15022058683e-05,1793192480478494208
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.045052308,710.045052308,673,657.954947692,629,878,782,799.045052308,649.045052308,628,650.954947692,0.447857124928,0.00459888531943,0.0596413094962,0.9999998327,7.77699801148e-05,-0.000569903561206,-6.13364913573e-05,1793192480495161088
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.471195727,742,710,673.528804273,657.471195727,629,878,782,799.528804273,649.528804273,628,650.471195727,0.447858739942,0.00459537241757,0.0596415849737,0.999999833726,7.2273421729e-05,-0.000568935283487,-6.03156822922e-05,1793192480511827456
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.106408659,742.106408659,710.106408659,674,657,629,878,782,799.893591341,650,628,650,0.447860902291,0.00459227062793,0.0596423737798,0.999999835128,6.72449547917e-05,-0.000567168925842,-5.95163659612e-05,1793192480528494336
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.701394237,742.701394237,710.701394237,674,657,629,878,782,799.298605763,650,628,650,0.447864463965,0.00459295078996,0.0596451793775,0.999999837436,6.78863055282e-05,-0.000562948537665,-6.00682539248e-05,1793192480545161216
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.71324398,710.71324398,674.28675602,657.28675602,629,878,782,799,650,628,650,0.447865872153,0.00459461022574,0.0596460307144,0.999999837988,7.01396734791e-05,-0.000561629020235,-6.06374978274e-05,1793192480561828096
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.137578201,710.137578201,674.862421799,657.862421799,629,878,782,799,650,628,650,0.447865110682,0.00459725629039,0.0596449131128,0.999999836771,7.40171660986e-05,-0.000563232160613,-6.12242280907e-05,1793192480578494720
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.438509609,710.438509609,674.561490391,658,629,878,782.438509609,799,650,628,650,0.447865802736,0.00459690102676,0.0596449657406,0.999999837106,7.35454501197e-05,-0.000562694441332,-6.12668212556e-05,1793192480595161856
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.984922324,711,673.984922324,657.984922324,628.984922324,878,783,799.015077676,650,628,650,0.447866923873,0.00459561839601,0.0596453757592,0.999999837908,7.17732201234e-05,-0.00056151328998,-6.11216749545e-05,1793192480611828480
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.395098108,711,673.395098108,657.395098108,628.395098108,878,783,799.604901892,650,628,650,0.447867001121,0.004594914336,0.0596454003492,0.999999837949,7.24910412102e-05,-0.000561433366185,-6.03339484799e-05,1793192480628494592
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.80884834,742.19115166,710.80884834,673,657.19115166,628.19115166,878,782.80884834,800,650,628,650,0.447867742047,0.00459502932152,0.0596457755843,0.999999838217,7.37725177065e-05,-0.000560850390754,-5.97583800825e-05,1793192480645160960
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.22985114,742.77014886,710.22985114,673,657.77014886,628.77014886,878,782.22985114,800,650,628,650,0.447869829569,0.00459680614541,0.0596468622763,0.999999838942,7.61976475094e-05,-0.000559246726656,-5.96132791626e-05,1793192480661827584
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.345274801,742.654725199,710,673.345274801,657.654725199,629,878,782,799.654725199,649.654725199,628,650,0.447871863126,0.00459587219373,0.0596479062801,0.999999839854,7.3614563542e-05,-0.000557960155715,-5.96181301416e-05,1793192480678494720
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.917852177,742.082147823,710,673.917852177,657.082147823,629,878,782,799.082147823,649.082147823,628,650,0.447873861156,0.00459315367425,0.0596489221811,0.999999840864,6.77344537896e-05,-0.000556882334757,-5.97216980098e-05,1793192480695162112
+244,4.066666667,POSE1_TO_POSE2_PRESS,763.509199686,742,710.490800314,674,657.490800314,629,878,782,799,649.490800314,628,650,0.447876600257,0.00459392717649,0.0596500102628,0.999999842309,7.03160620764e-05,-0.000553949050923,-5.9823570457e-05,1793192480711828480
+245,4.083333333,POSE1_TO_POSE2_PRESS,763.066418046,742.066418046,711,674,657.933581954,629,878,782,799.066418046,650,628,650,0.447879198395,0.00459498167942,0.0596510925403,0.999999843704,7.35888204445e-05,-0.00055099296527,-5.98555973224e-05,1793192480728494848
+246,4.100000000,POSE1_TO_POSE2_PRESS,763.662842868,742.662842868,711,674,657.337157132,629,878,782,799.662842868,650,628,650,0.447879681114,0.00459361094894,0.0596520320201,0.99999984428,7.10665794894e-05,-0.000550335013802,-5.93325322724e-05,1793192480745161216
+247,4.116666667,HOLD_POSE2,763,742,711,673,657,629,878,782,800,650,628,650,0.44788104677,0.00459304693246,0.0596508085165,0.999999844183,7.16833197108e-05,-0.00055039113037,-5.97074564266e-05,1793192480783448064
+248,4.133333333,HOLD_POSE2,763,742,710.424910939,673.575089061,657,629,878,782,799.424910939,650,628.575089061,650,0.447881173337,0.00459347057498,0.0596521922378,0.999999844971,6.95688386625e-05,-0.000549212632415,-5.98695852734e-05,1793192480800115200
+249,4.150000000,HOLD_POSE2,763.153462844,742,710.153462844,673.846537156,657,629,878,782,799,650,628.846537156,650,0.447881470093,0.00459366585948,0.0596530826191,0.999999845533,6.81811595661e-05,-0.000548354139782,-5.99479722388e-05,1793192480816782080
+250,4.166666667,HOLD_POSE2,763.741130491,742,710.741130491,673.258869509,657,629,878,782,799,650,628.258869509,650,0.447882248381,0.00459321503235,0.059652577154,0.999999845471,6.8849879362e-05,-0.000548401063746,-5.97894215837e-05,1793192480833448960
+251,4.183333333,HOLD_POSE2,764,742,710.675335147,673,657,629,877.675335147,782.324664853,799.324664853,650,628,650.324664853,0.447882604788,0.00459355407331,0.0596526159606,0.999999845567,7.03055406447e-05,-0.000548037707656,-5.98077563568e-05,1793192480850115584
+252,4.200000000,HOLD_POSE2,764,742,710.095055038,673,657,629,877.095055038,782.904944962,799.904944962,650,628,650.904944962,0.44788262904,0.00459451499353,0.0596530832836,0.999999845786,7.23807769552e-05,-0.000547351329713,-5.99653566412e-05,1793192480866781952
+253,4.216666667,HOLD_POSE2,763.51814449,742.48185551,710,673,657.48185551,629,877.48185551,782.51814449,799.51814449,650,628,650.51814449,0.447883935768,0.00459329217056,0.0596540265225,0.999999846171,7.16805076682e-05,-0.000546779116993,-5.96015926547e-05,1793192480883448320
+254,4.233333333,HOLD_POSE2,763,742.942111908,710.057888092,673.057888092,657.942111908,629,878,782,799.057888092,649.942111908,628,650,0.44788544033,0.00459195340047,0.0596549929179,0.999999846602,7.07907562453e-05,-0.000546154077977,-5.91628447847e-05,1793192480900114688
+255,4.250000000,HOLD_POSE2,763,742.368022135,710.631977865,673.631977865,657.368022135,629,878,782,799.631977865,649.368022135,628,650,0.447886468684,0.00459339543129,0.0596553344409,0.999999847157,7.30598124059e-05,-0.000544858541996,-5.89662067903e-05,1793192480916781312
+256,4.266666667,HOLD_POSE2,763.212365601,742.212365601,711,673.787634399,657.212365601,629,877.787634399,782.212365601,800,649.212365601,628,650,0.447886961788,0.004594585091,0.0596550629753,0.999999847174,7.39950653982e-05,-0.000544686638399,-5.91055859423e-05,1793192480933447936
+257,4.283333333,HOLD_POSE2,763.804000986,742.804000986,711,673.195999014,657.804000986,629,877.195999014,782.804000986,800,649.804000986,628,650,0.447886498974,0.00459532403378,0.0596536967563,0.999999846235,7.25482410144e-05,-0.000546521462083,-5.98450677244e-05,1793192480950114304
+258,4.300000000,HOLD_POSE2,764,743,710.613424116,673.386575884,657.613424116,629,877.773151769,782.613424116,800,650,628,650,0.447886276892,0.0045951633831,0.059653410959,0.999999845876,7.28752253831e-05,-0.000547135730241,-5.98350767811e-05,1793192480966781184
+259,4.316666667,HOLD_POSE2,764,743,710.035337748,673.964662252,657.035337748,629,878.929324503,782.035337748,800,650,628,650,0.447886174069,0.00459455707205,0.0596536604047,0.999999845805,7.40809581013e-05,-0.000547145332865,-5.94537955851e-05,1793192480983448064
+260,4.333333333,HOLD_POSE2,764,742.460923661,710,674,657.539076339,629,878.460923661,782,799.460923661,650,628,650.539076339,0.447889609672,0.00459421704088,0.0596566505635,0.999999848101,7.35292368557e-05,-0.000543023313164,-5.9301934086e-05,1793192481000114688
+261,4.350000000,HOLD_POSE2,763.883748206,742,710.116251794,674,657.883748206,629,878,782,799,650,628.116251794,650.883748206,0.447892776922,0.00459361008577,0.0596590966172,0.999999850083,7.25974834936e-05,-0.000539507966021,-5.91106214696e-05,1793192481016781568
+262,4.366666667,HOLD_POSE2,763.294360925,742,710.705639075,674,657.294360925,629,878,782,799,650,628.705639075,650.294360925,0.447893914356,0.00459184621054,0.0596586019518,0.999999850226,7.05847336659e-05,-0.000539556556107,-5.86979524909e-05,1793192481033447936
+263,4.383333333,HOLD_POSE2,763.290131731,742,710.709868269,674,657.290131731,629,878,782,799,650,629,650.290131731,0.447895187077,0.0045922249822,0.0596592427768,0.999999850854,7.03999010505e-05,-0.000538411688548,-5.87195847216e-05,1793192481050114560
+264,4.400000000,HOLD_POSE2,763.869740769,742,710.130259231,674,657.869740769,629,878,782,799,650,629,650.869740769,0.447896594779,0.00459474156788,0.0596610165309,0.999999851966,7.20388626933e-05,-0.000536076055316,-5.91745385705e-05,1793192481066781184
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.413399563,710.413399563,674,658,629,878.586600437,782,799.413399563,650,628,650,0.447895870195,0.00459349898878,0.0596595889378,0.999999851341,7.21991049491e-05,-0.000537225090998,-5.91172024571e-05,1793192481116172544
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.748567817,710,674,657.251432183,629,878.251432183,782,799,650,628.748567817,650,0.447896880264,0.00459401490164,0.0596599505878,0.999999851706,7.12446141141e-05,-0.000536675571556,-5.90828764536e-05,1793192481149505536
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.672167611,710.327832389,674,657.327832389,629,878,782,799,650,628.672167611,650.327832389,0.44789741272,0.00459418767136,0.0596602487681,0.99999985175,7.25402623978e-05,-0.00053642115525,-5.90756634742e-05,1793192481166171904
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.091873562,710.908126438,674,657.908126438,629,878,782,799,650,628.091873562,650.908126438,0.447897986153,0.0045942035539,0.0596601442857,0.999999851709,7.55708408101e-05,-0.000536075834892,-5.91086850436e-05,1793192481182838016
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.516875849,742.483124151,711,674,657.516875849,629,877.516875849,782.483124151,799.483124151,650,628,650.516875849,0.447895689923,0.00459401231347,0.0596589866711,0.999999851016,7.37534876229e-05,-0.000537589722382,-5.93757568551e-05,1793192481199504640
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,629,878,782,800,649.217697254,629,651,0.44786769226,0.00459375978965,0.059646054201,0.999999840621,7.24794588224e-05,-0.000556768956059,-5.92646740527e-05,1793192481249504000
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,629,878,782,800,649.807814617,629,651,0.447834528788,0.00459298931331,0.0596338754154,0.999999828732,7.20183365806e-05,-0.000577779182502,-5.93292644434e-05,1793192481266170880
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.543101811,711,674,658,629,878,782.543101811,800,649.543101811,628,650,0.44764929011,0.00459506301753,0.0595889796251,0.999999791566,7.61872570657e-05,-0.000638263331002,-6.06850548012e-05,1793192481316171520
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.29123213,711,673.29123213,658,629,878,782.29123213,799.29123213,650,628,650,0.447476682432,0.00459791144755,0.0595786027555,0.999999783831,8.26747085864e-05,-0.000649549734268,-5.99012127125e-05,1793192481349504256
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.707123601,742.292876399,711,673,658.292876399,629,878,782.292876399,799,650,628,650.292876399,0.447370624348,0.00459918870288,0.0595795493667,0.999999784649,8.64663079872e-05,-0.000647910507472,-5.86330202576e-05,1793192481366171136
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.027060365,711,673,659.972939635,629,878,782,799,649.972939635,628.027060365,650.972939635,0.446959660166,0.00460746231475,0.0595902865458,0.99999979005,0.000103971276051,-0.000637281847606,-5.44300626605e-05,1793192481416171520
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.354540603,711,673.354540603,659,629.645459397,878,782,800,650,628.645459397,650.354540603,0.446081373219,0.00460755031787,0.0595880915691,0.999999781182,0.000120644185604,-0.000648947147998,-4.41348135945e-05,1793192481482838016
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.328688742,659,629.671311258,878.671311258,782.328688742,799.328688742,650,628.671311258,651,0.444830614474,0.0046185400232,0.0595845528433,0.999999774495,0.00015615047781,-0.000652348741399,-3.26936096425e-05,1793192481549504000
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.991091925,711,674,661,630.991091925,877.008908075,782.991091925,799.991091925,650,628.991091925,650,0.443274205135,0.00462646742182,0.0596674587677,0.999999850902,0.000197357374091,-0.000508947398293,-1.47702976546e-05,1793192481616171264
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,663.472107255,631.472107255,877.527892745,783,799,649.472107255,629,650,0.43996540943,0.00462223715049,0.0597271142751,0.999999873548,0.000246545290194,-0.000437926674758,1.84543269534e-05,1793192481716172288
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.655001777,742,710.655001777,672,664.344998223,632,876.344998223,783,799,649.655001777,628,650.655001777,0.426272292545,0.00459174346589,0.0597616537098,0.999999923951,0.000146164615601,-0.000360849114057,2.28401340481e-05,1793192481999504128
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.077669187,742,710.077669187,672,664.922330813,632,876.922330813,783,799,649.077669187,628,650.077669187,0.425359498487,0.00458619287817,0.0597936887269,0.999999919711,0.000240078825596,-0.000319686714247,2.71957657052e-05,1793192482016171264
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.928649422,664,632,877,783,799,650,628.071350578,650,0.423558109998,0.00458853593624,0.0598350677491,0.999999930802,0.000243887906997,-0.000279315116272,2.99519480648e-05,1793192482049505280
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.356332682,664,632,877,783,799,650,628.643667318,650,0.422685998623,0.00458107169498,0.0598482400647,0.999999945583,0.000219053685345,-0.000244907466644,2.94895512198e-05,1793192482066171392
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742,711.822915404,672.822915404,664.822915404,632,877,783,799,649.177084596,629,650,0.420828875885,0.00457229610271,0.0598151325263,0.99999993502,0.000185938579326,-0.000307319905123,3.06866156871e-05,1793192482099504640
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.444308148,742.555691852,710,673,664,632,876.444308148,783,799,649.444308148,628.555691852,650.444308148,0.418093866064,0.00456615560617,0.0597447306974,0.999999910369,0.000138411949171,-0.000399238602823,2.67049473571e-05,1793192482149504256
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.132329081,742.867670919,710.132329081,673,664,632,876.132329081,783,799,649.132329081,628.867670919,650,0.417280090385,0.00456386371758,0.0597801201583,0.99999993516,0.000126989756289,-0.000335832294295,2.77521693656e-05,1793192482166171136
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.11454597,742,710.11454597,672.11454597,664,632,877,783,798.11454597,650,628,650.88545403,0.414836977327,0.00456216868919,0.059840391327,0.999999946508,0.000170362878243,-0.000277086108875,3.44002717981e-05,1793192482216171008
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,742.461646604,710.461646604,672.461646604,664,632,877,783,798.461646604,650,628.461646604,651,0.41402633408,0.00456389671663,0.0598416040798,0.999999947787,0.000166952195012,-0.000274612441164,3.37653031571e-05,1793192482232837632
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.609206904,742.390793096,711,672.390793096,664,632,876.390793096,782.390793096,799,650,628.390793096,650.390793096,0.412399049822,0.00457030730985,0.0597926951511,0.999999922185,0.000159917940077,-0.000359136144454,3.2811442374e-05,1793192482266170880
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742.847763634,711,672,664,632,877,782.847763634,799,650,629,651,0.40664844566,0.00456316449231,0.0598255701136,0.999999949469,0.000132484035429,-0.000287214753454,3.19042914528e-05,1793192482416171008
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,743,710.572493435,672,664,632,877,783,799,650,628.572493435,651,0.406146489486,0.00456256928971,0.0598264392557,0.999999951661,0.000121614796863,-0.000284473948959,3.10145856384e-05,1793192482432837376
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742.421741367,710.578258633,672,664,632,877,783.578258633,799,650,628.578258633,651,0.405191973304,0.00456236831708,0.0598262416434,0.999999954631,0.000106733121173,-0.000280135601935,2.94863015659e-05,1793192482466170624
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.250515652,742,711,672,664,632,877,783.250515652,799.749484348,650,629,651,0.404302085186,0.0045603791986,0.0597879607861,0.999999935337,9.86714499375e-05,-0.00034459395285,2.90829823867e-05,1793192482499504128
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.909339088,742,711,672.909339088,663.090660912,632,876.090660912,783,799.090660912,650,628.090660912,650.090660912,0.403561780202,0.00455853303377,0.0597663018179,0.999999910109,0.000193231042951,-0.000376356393735,2.82777845553e-05,1793192482532839168
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.514905891,663.485094109,632,876,783,799,650,628.485094109,650,0.403272013734,0.00455814326266,0.059780992715,0.999999918902,0.000202432770282,-0.000346932892266,2.92351705037e-05,1793192482549505024
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,710.938062077,672,664,632,876.061937923,783,799,650,629,650.061937923,0.402998746685,0.00455753213142,0.0598002924962,0.999999931219,0.000201055240361,-0.000310169664848,3.05699686522e-05,1793192482566170880
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,710.814368713,672,664,632.814368713,876.185631287,783,799,649.185631287,628.185631287,651,0.402311372802,0.00455080594014,0.0598495212719,0.999999954643,0.000182440307677,-0.000236857212432,3.64546765445e-05,1793192482616172032
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632.608838423,876.391161577,783,799,649.391161577,628,650.608838423,0.402104349647,0.00455079441522,0.0598467314136,0.99999995208,0.000181777672852,-0.000247707371982,3.79131632014e-05,1793192482632838656
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632.033521844,876.966478156,783,799,649.966478156,628,650.033521844,0.401905025178,0.0045514287283,0.0598393589,0.999999947147,0.000182213753396,-0.000266390933222,3.92552710143e-05,1793192482649504768
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,710.295835595,672.295835595,663.295835595,632,876,783,799,650,628.704164405,651,0.401384434681,0.00454330026739,0.059837044101,0.999999955107,0.000123862894567,-0.000271240518317,2.9525939999e-05,1793192482716171008
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,710.873503966,672.873503966,663.873503966,632,876,783,799,650,628.126496034,651,0.401295699554,0.00453618929131,0.0598402878059,0.999999963441,4.89900372305e-05,-0.000265601875061,1.32044008848e-05,1793192482732837888
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_09/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3785dd077891b5510d8d0d5481fe1d54ab5c52fd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,404 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_10/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bce871e0be0d2d1d3746d46c116490b608dbef90
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:332c042af365f1fc80d6b80c35c893f6ff2eb5f8c1c5d0339dfa67a161aa334a
+size 24669900
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..626b7be9e7037fa677acd9e3ac9ae6c5898732f8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_01/franka_data.csv
@@ -0,0 +1,391 @@
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+6,0.100000000,BASELINE,764.481724582,742,710,672,665,633,875.481724582,783.518275418,799.518275418,650,629,651,0.400928601621,0.00455146506213,0.0499196980851,0.999999972857,3.69032757168e-05,-0.000227722295688,-3.26610538241e-05,1793192484818408704
+7,0.116666667,BASELINE,764.942431288,742,710,672,665,633,876,783.057568712,799,650,628.942431288,651,0.400930573532,0.00454991965317,0.0499207435646,0.999999973518,3.44227544514e-05,-0.000225192065566,-3.26775287448e-05,1793192484835075072
+8,0.133333333,BASELINE,764.367377442,742,710,672,665,633,876,783.632622558,799,650,628.367377442,651,0.400929855646,0.00455189911466,0.0499205092438,0.999999973361,3.59402623613e-05,-0.000225592362275,-3.30959373609e-05,1793192484851741696
+9,0.150000000,BASELINE,764,742,710,672,665,633,876,783.786915177,799,650,628,651,0.400929699172,0.00455358223635,0.0499204989974,0.99999997328,3.7610113437e-05,-0.000225614958032,-3.35059526061e-05,1793192484868408320
+10,0.166666667,BASELINE,764,742,710,672,665,633,876,783.196885536,799,650,628,651,0.400930535829,0.00455474113584,0.0499208851365,0.999999973338,3.95494578159e-05,-0.000224969404718,-3.39011200216e-05,1793192484885074944
+11,0.183333333,BASELINE,764.384853642,742,710,672,665,633,876,783,799.384853642,650,628.384853642,651,0.400930541366,0.00455553457543,0.0499204183371,0.999999973104,4.07476866298e-05,-0.000225775290552,-3.40257030545e-05,1793192484901741568
+12,0.200000000,BASELINE,764.962441029,742,710,672,665,633,876,783,799.962441029,650,628.962441029,651,0.400930130681,0.00455614499371,0.0499195243882,0.999999972723,4.15747667898e-05,-0.00022730805344,-3.40147781383e-05,1793192484918408448
+13,0.216666667,BASELINE,764.46227511,742,710,672,665,632.46227511,876,783,799.46227511,650,628.46227511,651.53772489,0.400931128885,0.00455592804423,0.0499204735231,0.999999973147,4.23290055681e-05,-0.000225309104202,-3.39096181188e-05,1793192484935075072
+14,0.233333333,BASELINE,764,742,710,672,665,632,876,783,799,650,628.115564671,651.884435329,0.400931655124,0.00455592130239,0.049921159173,0.999999973425,4.3007794373e-05,-0.000223946358419,-3.38741449052e-05,1793192484951741184
+15,0.250000000,BASELINE,764,742,710,672,665,632,876,783,799,650,628.704531043,651.295468957,0.400929846591,0.00455701138194,0.0499202403713,0.999999972893,4.33982614054e-05,-0.000226195976462,-3.41509864089e-05,1793192484968408064
+16,0.266666667,BASELINE,763.711410816,742,710,672,665,632,876,783,799,650,628.711410816,651,0.400928721612,0.00455832186786,0.0499201315236,0.999999972638,4.38389094201e-05,-0.000227179026155,-3.45332508039e-05,1793192484985074688
+17,0.283333333,BASELINE,763.132293911,742,710,672,665,632,876,783,799,650,628.132293911,651,0.400928284778,0.00455985424063,0.0499208380706,0.999999972665,4.43300754737e-05,-0.00022688699946,-3.50216462293e-05,1793192485001741312
+18,0.300000000,BASELINE,763.445744238,742,710,672,665,632,876,783,799,650,628,651,0.400928891608,0.00455958710306,0.0499206137321,0.99999997286,4.35019614609e-05,-0.0002261765243,-3.5085744016e-05,1793192485018407936
+19,0.316666667,BASELINE,764,742,710,672,665,632.023289615,876,783,799,650,628,650.976710385,0.400929779175,0.00455880802601,0.0499201254625,0.999999973091,4.23225377298e-05,-0.000225387285276,-3.50204738734e-05,1793192485035074560
+20,0.333333333,BASELINE,764,742,710,672,665,632.596739558,876,783,799,650,628,650.403260442,0.400929999014,0.00455852156728,0.0499199131637,0.999999973045,4.20714440115e-05,-0.000225664108651,-3.48667784992e-05,1793192485051741184
+21,0.350000000,BASELINE,764,742,710,672,665,632.825282435,876,783,799,650,628,650.174717565,0.400930696259,0.00455910906143,0.0499202671345,0.999999973142,4.26954226006e-05,-0.000225127975711,-3.48040543932e-05,1793192485068408064
+22,0.366666667,BASELINE,764,742,710,672,665,632.23657536,876,783,799,650,628,650.76342464,0.400932524706,0.00456176736813,0.0499219628689,0.999999973569,4.53928662168e-05,-0.000222665560247,-3.49568847701e-05,1793192485085074688
+23,0.383333333,BASELINE,764,742,710,672,665,632.347092598,876,783,799,650,628,650.652907402,0.400931989621,0.00456203693722,0.0499215694816,0.999999973319,4.63987044924e-05,-0.000223581482367,-3.49418963979e-05,1793192485101741312
+24,0.400000000,BASELINE,764,742,710,672,665,632.927375145,876,783,799,650,628,650.072624855,0.400929866625,0.00456070166222,0.0499197725434,0.999999972612,4.62680585236e-05,-0.000226767099338,-3.48141610514e-05,1793192485118407936
+25,0.416666667,BASELINE,764,742,710,672,665,632.495529354,876,783,799,650,628,650,0.40093021571,0.00456136007442,0.0499200674695,0.999999972833,4.58801465734e-05,-0.000225830032534,-3.50662722102e-05,1793192485135075584
+26,0.433333333,BASELINE,764,742,710,672,665,632,876,783,799,650,628.080392384,650.080392384,0.400930719327,0.00456198076489,0.0499205212305,0.999999973106,4.56609343922e-05,-0.000224626721642,-3.52838798536e-05,1793192485151742976
+27,0.450000000,BASELINE,764,742,710,672,665,632,876,783,799,650,628.651928912,650.651928912,0.40093000644,0.00456062853061,0.0499201170907,0.999999972896,4.66972146112e-05,-0.000225400035498,-3.49587105297e-05,1793192485168408832
+28,0.466666667,BASELINE,764.231916282,742,710,672,665,632.231916282,875.768083718,783,799,650,628.768083718,651,0.400929413644,0.00455978481459,0.0499194285712,0.9999999727,4.65911467691e-05,-0.000226298519974,-3.49100185543e-05,1793192485185075200
+29,0.483333333,BASELINE,764.825066697,742,710,672,665,632.825066697,875.174933303,783,799,650,628.174933303,651,0.400929007902,0.00455973316962,0.0499182971001,0.999999972524,4.47057509568e-05,-0.000227391970875,-3.52919693061e-05,1793192485201742080
+30,0.500000000,BASELINE,764.591328729,742,710,672,665,633,875.408671271,783,799,650,628.408671271,651,0.4009290901,0.00456014466307,0.0499186409604,0.999999972596,4.52792505988e-05,-0.000226991510063,-3.50996556115e-05,1793192485218408704
+31,0.516666667,BASELINE,764.011717036,742,710,672,665,633,875.988282964,783,799,650,628.988282964,651,0.400929376394,0.00456074987965,0.0499196019274,0.99999997277,4.68812655169e-05,-0.000225966170703,-3.46671366038e-05,1793192485235075584
+32,0.533333333,BASELINE,764,742,710,672,665,633,876,783.562095409,798.437904591,650,629,651,0.400929469647,0.0045587877464,0.0499198042826,0.999999972868,4.54782716705e-05,-0.000225869107828,-3.43280880223e-05,1793192485251742208
+33,0.550000000,BASELINE,764,742,710,672,665,632.863999629,875.863999629,783.863999629,798.136000371,650,628.863999629,651,0.400929558667,0.00455758433398,0.0499200090073,0.999999972952,4.47182513257e-05,-0.000225679219568,-3.41222190548e-05,1793192485268408576
+34,0.566666667,BASELINE,764,742,710,672,665,632.28941055,875.28941055,783.28941055,798.71058945,650,628.28941055,651,0.400929646879,0.00455899855231,0.0499202718495,0.999999973,4.62317079231e-05,-0.000225128212671,-3.43396228779e-05,1793192485285075200
+35,0.583333333,BASELINE,764,742,710,672,665,632,875.294497834,783,799,650,628,650.705502166,0.400929631417,0.00455992503022,0.0499201806658,0.999999972932,4.68365710661e-05,-0.000225269304541,-3.45977336801e-05,1793192485301741568
+36,0.600000000,BASELINE,764,742,710,672,665,632,875.887863893,783,799,650,628,650.112136107,0.400929510744,0.00456035652975,0.0499197302023,0.999999972746,4.65193572802e-05,-0.000226112765955,-3.48971555853e-05,1793192485318408448
+37,0.616666667,BASELINE,764,742,710,672,665,632.468730023,876,783,799,650,628.468730023,650.468730023,0.400929989762,0.00456047873909,0.0499198674031,0.999999972863,4.62034532164e-05,-0.000225639018007,-3.50305554568e-05,1793192485335075072
+38,0.633333333,BASELINE,764,742,710.046111778,672,665,632.953888222,876,783,799,650,628.953888222,651,0.400930420908,0.00456039297543,0.0499200138337,0.999999973006,4.58249285362e-05,-0.000225072442868,-3.50886108646e-05,1793192485351741952
+39,0.650000000,BASELINE,764,742,710.616988496,672,665,632.383011504,876,783,799,650,628.383011504,651,0.400928716977,0.00455876060622,0.0499187069178,0.999999972645,4.47302903227e-05,-0.000226942483751,-3.47294875626e-05,1793192485368409344
+40,0.666666667,BASELINE,764.195104803,742,710.804895197,672,665,632.195104803,875.804895197,783.195104803,799,650,628.195104803,651,0.400927708058,0.00455848033114,0.0499179945153,0.999999972376,4.43057128594e-05,-0.000228226314079,-3.45983023512e-05,1793192485385076224
+41,0.683333333,BASELINE,764.787980835,742,710.212019165,672,665,632.787980835,875.212019165,783.787980835,799,650,628.787980835,651,0.400928116102,0.00456095664717,0.0499184941814,0.999999972302,4.52472263258e-05,-0.000228315003582,-3.49318274779e-05,1793192485401742592
+42,0.700000000,BASELINE,764.626791068,742,710,672,665,632.626791068,875,783.626791068,799,650,629,651,0.400928195537,0.00456140149482,0.049918817594,0.9999999723,4.67189275896e-05,-0.000228022681212,-3.49614453508e-05,1793192485418408960
+43,0.716666667,BASELINE,764.045820519,742,710,672,665,632.045820519,875,783.045820519,799,650,629,651,0.40092809204,0.00456071544458,0.0499190428882,0.999999972336,4.84857789782e-05,-0.000227518253402,-3.48218811345e-05,1793192485435075328
+44,0.733333333,BASELINE,764,742,710,672,665.529128736,632,875.529128736,783.529128736,799,650,629,651,0.400929393069,0.00456190728319,0.0499193823011,0.999999972439,4.95353843947e-05,-0.000226846692848,-3.47744328619e-05,1793192485451741952
+45,0.750000000,BASELINE,764,742,710,672,665.897476207,632.102523793,876,783.897476207,799,650,628.897476207,651,0.400930629808,0.00456253487297,0.0499196910949,0.99999997259,4.97796766181e-05,-0.000226131808555,-3.47289099051e-05,1793192485468408064
+46,0.766666667,BASELINE,764,742,710,672,665.328803755,632.671196245,876,783.328803755,799,650,628.328803755,651,0.400931027452,0.00455986590986,0.0499198162457,0.999999972935,4.66416455147e-05,-0.000225285007601,-3.4656280142e-05,1793192485485074944
+47,0.783333333,BASELINE,764,742,710,672,665,633,876,783,799,650.251426643,628.251426643,651,0.400931346856,0.00455890697376,0.0499200623505,0.999999973147,4.47182498782e-05,-0.000224715988957,-3.4757512106e-05,1793192485501741824
+48,0.800000000,BASELINE,764,742,710,672,665,633,876,783,799,650.84750036,628.84750036,651,0.400931559011,0.00456029208402,0.0499204742552,0.999999973189,4.44598347048e-05,-0.000224527744721,-3.50970677914e-05,1793192485518408960
+49,0.816666667,BASELINE,764.429450183,742,710,672,665,632.570549817,876.429450183,783,799,650.570549817,629,651,0.40093244681,0.00455944098432,0.0499204770106,0.99999997339,4.29264486706e-05,-0.00022395645504,-3.4935942751e-05,1793192485535075840
+50,0.833333333,BASELINE,765,742,710,672,665,632,876.993469036,783,799,650,628.993469036,651,0.400933544054,0.00455785504895,0.0499203401613,0.999999973637,4.10076895612e-05,-0.000223265242374,-3.46098447368e-05,1793192485551742208
+51,0.850000000,BASELINE,765,742,710,672,665,632,876.417543183,783,799,650,628.417543183,651,0.400932649893,0.00455923053485,0.0499202957135,0.999999973437,4.37060624012e-05,-0.000223599924499,-3.49079630068e-05,1793192485568408576
+52,0.866666667,BASELINE,764.838009668,742,710,672,665,632.161990332,876,783,799,650.161990332,628,651,0.400931942378,0.00456042926362,0.0499202375489,0.999999973329,4.55005188117e-05,-0.000223691282137,-3.51412356674e-05,1793192485585074944
+53,0.883333333,BASELINE,764.248965335,742,710,672,665,632.751034665,876,783,799,650.751034665,628,651,0.40093172692,0.0045611620087,0.0499201432231,0.999999973476,4.49119863739e-05,-0.00022314116508,-3.52035562746e-05,1793192485601741568
+54,0.900000000,BASELINE,764,742,710,672,665,632.665194414,876,783.334805586,799,650.665194414,628.334805586,651,0.400931868581,0.00456196318696,0.0499203719492,0.999999973468,4.59238425783e-05,-0.000222966752139,-3.52160171463e-05,1793192485618408192
+55,0.916666667,BASELINE,764,742,710,672,665,632.085284082,876,783.914715918,799,650.085284082,628.914715918,651,0.400932271681,0.00456281446383,0.0499208371753,0.999999973344,4.81073126222e-05,-0.000223067384996,-3.51919766596e-05,1793192485635074816
+56,0.933333333,BASELINE,764,742,710,672,665,632,876,783.508642824,799,650,628.508642824,651,0.400931646836,0.00456120861449,0.0499206033508,0.999999973122,4.64564719728e-05,-0.00022443184802,-3.50506835518e-05,1793192485651741952
+57,0.950000000,BASELINE,764,742,710,672.066910389,665,632.066910389,876,783,799,650,628.066910389,651,0.400930943835,0.00455951348869,0.0499202918862,0.999999972915,4.45670887559e-05,-0.000225756274397,-3.49083689715e-05,1793192485668409344
+58,0.966666667,BASELINE,764,742,710,672.638507975,665,632.638507975,876,783,799,650,628.638507975,651,0.400930988197,0.00456034053566,0.0499203039381,0.999999972996,4.58650705195e-05,-0.000225135068271,-3.49108400468e-05,1793192485685075968
+59,0.983333333,BASELINE,764,742,710,672.781641176,665,632.781641176,876,783.218358824,799,650.218358824,629,651,0.400930816682,0.00456131684257,0.0499200069021,0.999999972963,4.70704922709e-05,-0.000225011298164,-3.50370413461e-05,1793192485701742336
+60,1.000000000,BASELINE,764,742,710,672.187590279,665,632.187590279,876,783.812409721,799,650.812409721,629,651,0.400930273745,0.00456254995526,0.0499191780725,0.999999972737,4.81166623106e-05,-0.000225743379644,-3.53761237349e-05,1793192485718408704
+61,1.016666667,BASELINE,764,742,710.396961541,672,665,632,875.603038459,783.603038459,799,650.603038459,629,651,0.40093032156,0.00456238537799,0.0499192304527,0.999999972766,4.8011279947e-05,-0.000225637194741,-3.53650340351e-05,1793192485735075328
+62,1.033333333,BASELINE,764,742,710.977129299,672,665,632,875.022870701,783.022870701,799,650.022870701,629,651,0.40093064202,0.00456157573693,0.0499196895301,0.999999972914,4.73744315263e-05,-0.000225144131978,-3.51923324276e-05,1793192485751741696
+63,1.050000000,BASELINE,764,742,710.44878518,672,665,632,875,783,799,650,628.44878518,651,0.400931443022,0.00456103153586,0.0499200348931,0.999999973079,4.62737978923e-05,-0.000224640528554,-3.51655750856e-05,1793192485768408320
+64,1.066666667,BASELINE,764,742,710,672,665,632,875.128073819,783,799.128073819,650,628,651,0.400932143046,0.0045603496911,0.0499202821861,0.999999973239,4.49921333114e-05,-0.000224203982804,-3.50813727378e-05,1793192485785075200
+65,1.083333333,BASELINE,764,742,710,672,665,632,875.715782109,783,799.715782109,650,628,651,0.400932409897,0.00455913477313,0.0499201942711,0.999999973375,4.31290869461e-05,-0.00022400964775,-3.4769515611e-05,1793192485801741824
+66,1.100000000,BASELINE,764,742,710,672,665,632,876,783,799.700737554,650,628.299262446,650.700737554,0.400932850907,0.00455921497708,0.0499203759544,0.999999973459,4.36800571995e-05,-0.000223549591253,-3.4633480907e-05,1793192485818408448
+67,1.116666667,BASELINE,764,742,710,672,665,632,876,783,799.121216714,650,628.878783286,650.121216714,0.400933455016,0.00456050805893,0.0499208101157,0.99999997349,4.64917469634e-05,-0.000222840687426,-3.46621033979e-05,1793192485835075072
+68,1.133333333,BASELINE,764,742,710,672,665,632,876,783,799,650,628.542397332,650.457602668,0.400933329076,0.00455997679864,0.049921020088,0.999999973511,4.61996206426e-05,-0.000222830243013,-3.45113991775e-05,1793192485851741696
+69,1.150000000,BASELINE,764,742,710.035842869,672,665,632.035842869,875.964157131,783,799,650,628.035842869,651,0.400933054018,0.00455899818398,0.049921171725,0.999999973539,4.50864973772e-05,-0.000222957515546,-3.43271629739e-05,1793192485868408064
+70,1.166666667,BASELINE,764,742,710.608190131,672,665,632.608190131,875.391809869,783,799,650,628.608190131,651,0.400933437145,0.00455854593298,0.0499213377375,0.999999973717,4.3972333537e-05,-0.000222381006041,-3.43509567237e-05,1793192485885074944
+71,1.183333333,BASELINE,764,742,710.813644895,672,665,633,875,783,799,650,628.813644895,651,0.4009335071,0.00455845287493,0.049921277767,0.99999997376,4.32937957433e-05,-0.000222313250912,-3.43877163335e-05,1793192485901741568
+72,1.200000000,BASELINE,764,742,710.222853967,672,665,633,875,783,799,650,628.222853967,651,0.400932897395,0.00455913935267,0.0499207273583,0.999999973515,4.35606720267e-05,-0.000223349616198,-3.44526150123e-05,1793192485918408192
+73,1.216666667,BASELINE,764,742,710,672,665,632.63965835,875.36034165,783.36034165,799,650,628,651,0.400932349864,0.0045594532368,0.0499203999013,0.999999973354,4.39451282708e-05,-0.000223995188246,-3.44570597211e-05,1793192485935075072
+74,1.233333333,BASELINE,764,742,710,672,665,632.061063136,875.938936864,783.938936864,799,650,628,651,0.40093183999,0.0045595414465,0.0499202074828,0.999999973243,4.44008009278e-05,-0.000224404062598,-3.44248883578e-05,1793192485951742208
+75,1.250000000,BASELINE,764,742,710,672,665,632,876,783.486602387,799,650.513397613,628,651,0.400931483089,0.00456025407853,0.0499197661792,0.999999973113,4.43830059892e-05,-0.000224931984897,-3.47824001166e-05,1793192485968409088
+76,1.266666667,BASELINE,764,742,710,672,665,632.087276728,876,783,799.087276728,650.912723272,628,651,0.400931272829,0.00456099910893,0.0499194385497,0.999999973024,4.46355787759e-05,-0.000225227066769,-3.50999567646e-05,1793192485985075712
+77,1.283333333,BASELINE,764,742,710,672,665,632.660633361,876,783,799.660633361,650.339366639,628,651,0.40093177875,0.00456151425272,0.0499199075676,0.999999973178,4.67050699153e-05,-0.000224147134827,-3.49389146813e-05,1793192486001742080
+78,1.300000000,BASELINE,763.757137681,742,710,672,665,632.757137681,876,783,799.757137681,650,628,651,0.400931975156,0.00456142996475,0.0499201689646,0.999999973247,4.70697494121e-05,-0.000223771028966,-3.48779081394e-05,1793192486018408448
+79,1.316666667,BASELINE,763.162040824,742,710,672,665,632.162040824,876,783,799.162040824,650,628,651,0.400931722658,0.00456047629294,0.0499201292394,0.999999973197,4.4961860969e-05,-0.000224415714958,-3.49619878179e-05,1793192486035075072
+80,1.333333333,BASELINE,763.841560281,742,710.42078014,672.42078014,665,632.42078014,876,783,799,650,628.42078014,651,0.400931529129,0.00455992540732,0.0499201374079,0.999999973212,4.38630724505e-05,-0.000224598460118,-3.47577074035e-05,1793192486051741696
+81,1.350000000,BASELINE,764.998015523,742,710.999007761,672.999007761,665,632.999007761,876,783,799,650,628.999007761,651,0.400931357664,0.00455952523614,0.0499201634972,0.999999973252,4.3141868691e-05,-0.000224608356346,-3.44455284386e-05,1793192486068408320
+82,1.366666667,BASELINE,764.42466963,742,710.42466963,672.42466963,665,633,876,783,799.57533037,650,629,650.42466963,0.400931543243,0.00455912451603,0.0499201316084,0.999999973227,4.36100912333e-05,-0.000224611794362,-3.45507541031e-05,1793192486085075200
+83,1.383333333,BASELINE,764,742.154250656,710,672.154250656,665,633,875.845749344,783,799.845749344,650,628.845749344,650.154250656,0.400931433397,0.00455904043482,0.0499199645799,0.999999973147,4.38469497662e-05,-0.000224900471866,-3.46996025915e-05,1793192486101741824
+84,1.400000000,BASELINE,764,742.740454607,710,672.740454607,665,633,875.259545393,783,799.259545393,650,628.259545393,650.740454607,0.400930494545,0.0045598430507,0.0499194193942,0.99999997291,4.34301865374e-05,-0.00022598794618,-3.49686003304e-05,1793192486118408960
+85,1.416666667,BASELINE,764,742.675187088,710,672.350374176,665,633,875,783,799,650,628,651,0.400930579319,0.00456068925615,0.0499194854133,0.99999997295,4.43552585847e-05,-0.000225614725366,-3.5075720674e-05,1793192486135075584
+86,1.433333333,BASELINE,764,742.092295269,710,671.184590538,665,633,875,783,799,650,628,651,0.400931477412,0.00456157009548,0.049920037063,0.999999973205,4.63464809514e-05,-0.000224080914532,-3.5054221911e-05,1793192486151741696
+87,1.450000000,BASELINE,764,741.516533968,710,671.483466032,665,632.516533968,875.483466032,783,799,650,628,651,0.4009307941,0.00456058784648,0.0499199799215,0.999999973116,4.62168061228e-05,-0.000224595298889,-3.4490909266e-05,1793192486168408320
+88,1.466666667,BASELINE,764,741.057838617,710,672,665,632,876,783,799,650,628.057838617,651,0.400929899346,0.00455948797995,0.0499197266374,0.999999972961,4.56248659208e-05,-0.000225485055776,-3.39557787261e-05,1793192486185074944
+89,1.483333333,BASELINE,764,741.631789506,710,672,665,632,876,783,799,650,628.631789506,651,0.400929772574,0.00456046619989,0.0499187451084,0.999999972811,4.44684024829e-05,-0.000226286010733,-3.45816860109e-05,1793192486201741568
+90,1.500000000,BASELINE,763.788573249,742,710,672,665,632.211426751,876,783,799,650,629,651,0.400930036418,0.0045609436948,0.0499187221392,0.999999972872,4.37447785393e-05,-0.00022609799778,-3.49470123451e-05,1793192486218408448
+91,1.516666667,BASELINE,763.198759282,742,710,672,665,632.801240718,876,783,799,650,629,651,0.400930999342,0.0045605250497,0.0499204146901,0.999999973314,4.37958009284e-05,-0.000224140044029,-3.48459808788e-05,1793192486235075328
+92,1.533333333,BASELINE,763.384411483,742,710,672,665,633,876,783,799.384411483,650,629,650.615588517,0.400932997035,0.00456050629941,0.049921713063,0.999999973711,4.56485890517e-05,-0.000222030187522,-3.45819146198e-05,1793192486251742208
+93,1.550000000,BASELINE,763.964205796,742,710,672,665,633,876,783,799.964205796,650,629,650.035794204,0.400935520665,0.00456069080154,0.0499228110892,0.999999974076,4.84171512947e-05,-0.000219843124011,-3.42349835035e-05,1793192486268408832
+94,1.566666667,BASELINE,764.540540411,742,710,672,665,632.459459589,876,783,799.459459589,650,629,650.540540411,0.400932284157,0.00456006974593,0.0499202369523,0.999999973237,4.67814431722e-05,-0.00022392731355,-3.45464906067e-05,1793192486285075200
+95,1.583333333,BASELINE,764.884687191,742,710,672,665,632,876,783,799,650,629,651,0.40092968272,0.00455949931434,0.0499182439847,0.999999972594,4.48001429738e-05,-0.000227135359387,-3.48370899778e-05,1793192486301741568
+96,1.600000000,BASELINE,764.315171348,742,710,672,665,632,876,783,799,650,629,651,0.400931075603,0.00455933706144,0.0499194918889,0.999999973112,4.25990559696e-05,-0.00022526705765,-3.48746884475e-05,1793192486318408192
+97,1.616666667,BASELINE,764,742,710,672,665,632.267641005,876,783,799,650,629,651,0.400931536672,0.00455977594195,0.0499200232681,0.999999973293,4.26205888799e-05,-0.000224452635887,-3.49129474341e-05,1793192486335075072
+98,1.633333333,BASELINE,764,742,710,672,665,632.866929711,876,783,799,650,629,651,0.400930843082,0.00456095971775,0.0499196667644,0.999999973059,4.53962843046e-05,-0.000224944130987,-3.49520248986e-05,1793192486351741696
+99,1.650000000,BASELINE,764,742,710,672,665,633,876.446876084,783,799,650,629,651,0.400932274626,0.00456169040955,0.0499203168635,0.999999973366,4.68751944269e-05,-0.000223237740754,-3.51447134077e-05,1793192486368408320
+100,1.666666667,BASELINE,764,742,710,672,665.02115684,632.97884316,876.97884316,783,799,650,629,651,0.400934209475,0.0045622153773,0.0499212177728,0.999999973805,4.78746478106e-05,-0.00022101409085,-3.53573270538e-05,1793192486385074944
+101,1.683333333,BASELINE,764,742,710,672,665.591677003,632.408322997,876.408322997,783,799,650,629,651,0.400933463035,0.00456075645654,0.0499211709357,0.999999973766,4.60354195477e-05,-0.000221648575609,-3.49488478039e-05,1793192486401741824
+102,1.700000000,BASELINE,764.168578862,742,710,672.168578862,665.831421138,632,876,783,799,650,629,651,0.400932897781,0.00455998109803,0.0499211060243,0.999999973671,4.52242903232e-05,-0.000222277717062,-3.47100486616e-05,1793192486418408448
+103,1.716666667,BASELINE,764.761546222,742,710,672.761546222,665.238453778,632,876,783,799,650,629,651,0.400932788653,0.00456092657207,0.049920995612,0.999999973446,4.70013471192e-05,-0.000222893406927,-3.48984104085e-05,1793192486435074816
+104,1.733333333,BASELINE,764.65312978,742,710,672.65312978,665.34687022,632,876,783,799,650,629,651,0.400932367679,0.00456103373772,0.0499204728095,0.999999973272,4.74002151153e-05,-0.000223575562208,-3.49875400452e-05,1793192486451741440
+105,1.750000000,BASELINE,764.07294682,742,710,672.07294682,665.92705318,632,876,783,799,650,629,651,0.40093173695,0.00456057703832,0.0499196726239,0.999999973133,4.68720823911e-05,-0.000224302423689,-3.50099239437e-05,1793192486468408064
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,742,711,672,665,632,876,783,799,650,629,651,0.400933091046,0.00455916304662,0.0499217585951,0.99999997381,4.41072655974e-05,-0.000221926727509,-3.4387929228e-05,1793192486499478272
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.430056436,742,710.430056436,672.569943564,665,632,876,783.569943564,800.709830692,650,628.430056436,651,0.400931421649,0.00455946847506,0.0499201435166,0.999999973312,4.34761553568e-05,-0.000224264954867,-3.45174208251e-05,1793192486516145152
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,710,672.853743542,665.146256458,632.146256458,876,784,801.561230627,650,628.146256458,651,0.400930241679,0.00455990349747,0.0499189821401,0.999999972941,4.34146160277e-05,-0.000225898774038,-3.4677588401e-05,1793192486532811776
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,710,672.257849206,665.742150794,632.742150794,876,784,799.773547619,650,628.742150794,651,0.400930566357,0.00456073693219,0.0499192155841,0.999999972978,4.51041148231e-05,-0.000225367023743,-3.49320635166e-05,1793192486549478400
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,710,672,665.670685968,632.670685968,876,784,799,650.329314032,629,651,0.400931471453,0.00456042445485,0.0499198210088,0.999999973195,4.56896891875e-05,-0.000224282723248,-3.49331430088e-05,1793192486566145280
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,710,672,665.090182545,632.090182545,876,784,799,650.909817455,629,651,0.400932819273,0.00455923791526,0.0499207101675,0.99999997355,4.5433227952e-05,-0.000222776956537,-3.47409410396e-05,1793192486582811904
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,710,672,665.486480741,632.486480741,876,783.513519259,799,650.513519259,629,651,0.400935443316,0.00456064588855,0.0499212131968,0.999999973821,4.67460216495e-05,-0.000221260756817,-3.48828765098e-05,1793192486599478528
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,710,672,665.937662468,632.937662468,876,783,799.062337532,650,629,651,0.400939440417,0.00456222121256,0.0499219930322,0.99999997428,4.80376940695e-05,-0.000218865468326,-3.50710270695e-05,1793192486616144896
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,710,672,665.362629712,632.362629712,876,783,799.637370288,650,629,651,0.400952799701,0.00456124820271,0.0499256335568,0.999999976395,4.67818482681e-05,-0.000209255893513,-3.5133825282e-05,1793192486632811520
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,710,672,665,632,876,783,799.562609758,650,629,650.781304879,0.400971342632,0.00456069877143,0.0499299157109,0.999999978936,4.59029022798e-05,-0.000196903207907,-3.53600673763e-05,1793192486649478144
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,710,672,665,632,876,783,798.378475639,650,629,650.18923782,0.400998735453,0.00456087250385,0.0499352933004,0.999999982138,4.5667426711e-05,-0.000179867288502,-3.58653525367e-05,1793192486666145024
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,710,672,665.39100712,632,876,783.39100712,798.39100712,650.39100712,629,650,0.401037335229,0.0045602146912,0.0499405694189,0.999999985776,4.42792039651e-05,-0.000158609729947,-3.64843553831e-05,1793192486682812416
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,710,672,665.965698413,632,876,783.965698413,798.965698413,650.965698413,629,650,0.401081199721,0.00455916624203,0.0499457978698,0.999999989251,4.2349452909e-05,-0.000135368962235,-3.71567796379e-05,1793192486699479808
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,710.539982499,672,666,632,875.460017501,783.460017501,799,650.460017501,628.460017501,650.539982499,0.401137203295,0.00455823319905,0.0499496406749,0.999999991996,3.99816759423e-05,-0.000113759858433,-3.83254891995e-05,1793192486716146176
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,710.882210068,672,665.882210068,632.117789932,875.117789932,783,799,650,628.117789932,651,0.401196641577,0.00455768601459,0.0499532413527,0.999999993898,3.83516790702e-05,-9.5918827175e-05,-3.91524193616e-05,1793192486732812544
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,710.290110785,672,665.290110785,632.709889215,875.709889215,783,799,650,628.709889215,651,0.401266807801,0.00455866308367,0.0499562212192,0.999999994159,3.98044890425e-05,-9.28337824285e-05,-3.84762429233e-05,1793192486749478912
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,710,672,665,633,876,783,799.295064905,650,629,650.704935095,0.401346689864,0.00455810895766,0.0499572491483,0.999999994371,3.89785568455e-05,-9.12490766061e-05,-3.75797263055e-05,1793192486766145280
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,710,672,665,633,876,783,799.873589283,650,629,650.126410717,0.401435905621,0.00455608386114,0.0499564019132,0.999999994538,3.5963509401e-05,-9.11056988778e-05,-3.64715359226e-05,1793192486782811904
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,710.449730597,672,665,633,876,783,799.550269403,650,628.550269403,650.449730597,0.401543259903,0.00455454498293,0.0499549240669,0.999999994393,3.31643916128e-05,-9.40334835913e-05,-3.56643406992e-05,1793192486799479808
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,710.974307122,672,665,633,876,783,799,650.025692878,628.025692878,651,0.401657550284,0.00455307796963,0.0499535157205,0.999999994188,3.03773014516e-05,-9.73826045399e-05,-3.49001344841e-05,1793192486816147456
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,710.387706927,672,665,633,876,783,799,650.612293073,628.612293073,651,0.401812546725,0.00455021197863,0.0499574738959,0.999999994938,2.65347535612e-05,-9.11836386668e-05,-3.32371564767e-05,1793192486832813056
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,710.196512056,672,665,632.803487944,876,783,799,650.803487944,629,651,0.401974669293,0.00454750277094,0.0499594930568,0.999999995296,2.28086329018e-05,-8.88176567287e-05,-3.15972140386e-05,1793192486849478912
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,710.776089222,672,665,632.223910778,876,783,799,650.223910778,629,651,0.402150682952,0.00454509918462,0.0499577324552,0.999999994953,1.93094667591e-05,-9.39233922364e-05,-3.00021755197e-05,1793192486866145536
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742.355395672,710.644604328,672,665,632.355395672,876,783,799,650.355395672,628.644604328,651,0.402352029403,0.00454218967369,0.0499570018635,0.999999995039,1.47641106587e-05,-9.43432876142e-05,-2.83396264606e-05,1793192486882811904
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.934531749,710.065468251,672,665,632.934531749,876,783,799,650.934531749,628.065468251,651,0.402569324207,0.00453896165618,0.0499569197176,0.999999995385,9.56012221122e-06,-9.18131988767e-05,-2.66345757835e-05,1793192486899478784
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.490831737,710,672,665,632.490831737,876,783.509168263,799.509168263,650.490831737,628.509168263,651,0.402817775063,0.00453519402416,0.0499587477401,0.999999995731,4.28388721636e-06,-8.90768803332e-05,-2.41943827063e-05,1793192486916145408
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.083216733,710,672,665,632.083216733,875.916783267,783.916783267,799.916783267,650,628.916783267,651,0.403079161089,0.00453170056494,0.049961715206,0.999999996273,-5.19107664874e-07,-8.35322766678e-05,-2.17980372494e-05,1793192486932811776
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.657179555,710,672,665,632.657179555,875.342820445,783.342820445,799.342820445,650,628.342820445,651,0.403393411256,0.00453022953873,0.0499699664952,0.999999997897,-2.47700953514e-06,-6.15816453498e-05,-2.02128120665e-05,1793192486949478656
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.760369044,710,672,665,632.760369044,875.239630956,783,799.239630956,650,628.239630956,651,0.403724081496,0.00452626045883,0.0499777076164,0.999999998885,-7.64080235501e-06,-4.30719600844e-05,-1.77845815318e-05,1793192486966145536
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.165327782,710,672,665,632.165327782,875.834672218,783,799.834672218,650,628.834672218,651,0.404079105263,0.0045185863735,0.0499846920779,0.999999999306,-1.75594343248e-05,-2.96657390239e-05,-1.41060419003e-05,1793192486982812160
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,710,672,665.415573796,632,876,783,799.584426204,650,629,651,0.404460841969,0.00451081539046,0.0499907747241,0.999999999527,-2.40489003812e-05,-1.61897232716e-05,-1.02432217054e-05,1793192486999478784
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,710,672,665.991035266,632,876,783,799.008964734,650,629,651,0.40485285619,0.00450300712723,0.049996510406,0.99999999955,-2.92190304736e-05,-2.68685504951e-06,-6.30950157443e-06,1793192487016145408
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,710.559940362,672,666,632,875.440059638,783,799.559940362,650,629,651,0.405260843404,0.00449946288127,0.0499901550945,0.999999999404,-3.10148723504e-05,-1.48402542552e-05,-3.2929919855e-06,1793192487032811776
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632.134683641,875.134683641,783,799.865316359,650.134683641,629,651,0.405676482274,0.0044948350153,0.0499799116805,0.999999998827,-3.37297599211e-05,-3.47624863507e-05,-7.73402731649e-09,1793192487049478656
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632.729737281,875.729737281,783,799.270262719,650.729737281,629,651,0.406117411621,0.00448627251656,0.0499570321426,0.999999996012,-3.97686123688e-05,-7.98520200682e-05,4.24576141809e-06,1793192487066145280
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.316005771,742,710.683994229,672,666,633,876,783,799,650.683994229,628.683994229,650.683994229,0.406585476455,0.00447908744357,0.0499375064861,0.999999993026,-3.28071529568e-05,-0.000113183795839,7.76297976071e-06,1793192487082811904
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.894964088,742,710.105035912,672,666,633,876,783,799,650.105035912,628.105035912,650.105035912,0.407076121132,0.00447304854368,0.0499207716357,0.999999990482,-1.50279643115e-05,-0.000136731792084,1.06675327432e-05,1793192487099478528
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.527864546,742,710,672,665.527864546,633,876,783,799.472135454,650,628.472135454,650.472135454,0.407635270552,0.00446586661437,0.0499277819574,0.999999993081,3.52741004036e-06,-0.000116652607795,1.47642998985e-05,1793192487116145152
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.048567558,710.048567558,672,665.048567558,633,876,783,800,650,628.951432442,651,0.408213665221,0.00445849146844,0.0499416736335,0.999999996036,1.81337813189e-05,-8.51495770923e-05,1.8694534474e-05,1793192487132812288
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.621295907,710.621295907,672,665.621295907,633,876,783,800,650,628.378704093,651,0.408835904146,0.00445176509383,0.0499730348499,0.999999999167,-1.17356612637e-05,-3.47089918257e-05,1.79757897814e-05,1793192487149479168
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.798293363,710.798293363,672,666,632.798293363,876,783,799.798293363,650,628.201706637,651,0.409467309394,0.00444702956628,0.0499963358752,0.999999999299,-3.25241981672e-05,8.66534888565e-07,1.85536843866e-05,1793192487166146048
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.202887898,710.202887898,672,666,632.202887898,876,783,799.202887898,650,628.797112102,651,0.410116605788,0.00444617985157,0.0500039047053,0.999999999105,-3.5588269842e-05,7.42786122604e-06,2.16624099499e-05,1793192487182812160
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.375682162,742.375682162,710,672,666,632.375682162,876,783,799.375682162,650.375682162,628.624317838,651,0.410729590959,0.00445412194707,0.049986035146,0.999999998946,-1.75281851258e-05,-3.53542117577e-05,2.34750155675e-05,1793192487199478784
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.945550173,742.945550173,710,672,666,632.945550173,876,783,799.945550173,650.945550173,628.054449827,651,0.411323807251,0.00446660842958,0.0499550167715,0.999999994261,1.14507366419e-05,-0.000103641328308,2.46176712821e-05,1793192487216145408
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,710.520574745,672,665.479425255,633,876.520574745,783,799.479425255,651,628,650.479425255,0.412010263785,0.00446939107022,0.0499409819469,0.999999992883,1.98019176986e-05,-0.000115168180029,2.40471799638e-05,1793192487232811776
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,742.9009324,710.9009324,672,665.0990676,633,876.9009324,783,799,651,628.0990676,650.0990676,0.412718680155,0.00446868177609,0.0499354851195,0.999999993245,2.15553000266e-05,-0.000111695851529,2.38740039694e-05,1793192487249478400
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,742.307861459,710.307861459,672,665.692138541,633,876.307861459,783,799,651,628.692138541,650.692138541,0.413488008671,0.00445567170892,0.0499636165441,0.99999999764,1.27499826743e-06,-6.33302589992e-05,2.65845155797e-05,1793192487266145024
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.72080077,742,710.27919923,672.27919923,665.72080077,633,876,783,799,650.72080077,628.72080077,650.72080077,0.414251377252,0.00444905871129,0.0499719223783,0.999999998458,-9.5884657774e-06,-4.72881181152e-05,2.75107007588e-05,1793192487282811904
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.140227609,742,710.859772391,672.859772391,665.140227609,633,876,783,799,650.140227609,628.140227609,650.140227609,0.415008312639,0.00444935085285,0.0499588280275,0.999999997409,-1.02871858365e-05,-6.61366323312e-05,2.65108442307e-05,1793192487299478528
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,710.564117755,672.564117755,665,632.564117755,876.435882245,783,799,650,628,650,0.415760163066,0.00445086712035,0.0499388157272,0.999999994794,-8.71668064053e-06,-9.84569018672e-05,2.53491246702e-05,1793192487316145408
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.010529649,742.010529649,710,672.010529649,665.010529649,632,876.989470351,783,799,650,628,650.010529649,0.416511758625,0.00445270320856,0.049917497733,0.999999990775,-6.645821621e-06,-0.000133497391689,2.41732090689e-05,1793192487332811776
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.582984837,742.582984837,710,672.582984837,665.582984837,632,876.417015163,783,799,650,628,650.582984837,0.417336170906,0.00445080362868,0.0499440660958,0.99999999596,-1.64370887985e-05,-8.47615081255e-05,2.4990463195e-05,1793192487349478400
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.837757284,742.837757284,710.162242716,672.837757284,666,632,876.324485433,783,799.162242716,650,628,650.837757284,0.418158096677,0.00444996443339,0.0499682230598,0.999999998538,-2.06859356184e-05,-4.24994888536e-05,2.627707414e-05,1793192487366145024
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.240249151,742.240249151,710.759750849,672.240249151,666,632,877.519501698,783,799.759750849,650,628,650.240249151,0.418973351583,0.00445197004226,0.0499859107119,0.999999999379,-1.00655541424e-05,-1.76055823145e-05,2.88228775422e-05,1793192487382811648
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,710.65500804,672,666,632,877.65500804,783,799.65500804,650,628,650,0.419781158515,0.00445197673726,0.0499751075774,0.999999998941,-3.9827351303e-06,-3.47649579451e-05,2.98837956637e-05,1793192487399478272
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,710.078016268,672,666,632,877.078016268,783,799.078016268,650,628,650,0.420583956811,0.00445063920478,0.0499451449894,0.999999996335,-9.51331550389e-07,-8.02042794153e-05,2.9946159625e-05,1793192487416145152
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.494737663,710.494737663,672,666,632,877.494737663,783,799.494737663,650,628.494737663,650,0.421446024066,0.00444742489856,0.0499631416294,0.999999998703,-7.50279242603e-06,-4.09873998548e-05,2.92843214384e-05,1793192487432812032
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.06883585,743,711,672,666,632,877.93116415,783,799.93116415,650,628.93116415,650.06883585,0.422309570924,0.00444434823321,0.0499855241183,0.999999999475,-1.41183810662e-05,5.19028189676e-06,2.8701791663e-05,1793192487449478656
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.658106602,743,711,672,666,632,877.341893398,783,799.341893398,650,628.341893398,650.658106602,0.423114241514,0.00444453075833,0.0499843728423,0.999999999506,-9.8908106236e-06,3.92233533644e-06,2.95749619001e-05,1793192487466145280
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,742.755651173,711,672.244348827,666,632,877,782.755651173,799,650.244348827,628.244348827,650.755651173,0.423928397301,0.00444426563893,0.0499782944729,0.999999999487,-8.92263255245e-06,-5.55662818089e-06,3.02525506934e-05,1793192487482811648
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,742.173594509,711,672.826405491,666,632,877,782.173594509,799,650.826405491,628.826405491,650.173594509,0.424755662436,0.00444338184229,0.049965406502,0.999999999104,-1.24591710357e-05,-2.63838141182e-05,3.06598318317e-05,1793192487499478272
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,742.404035057,711,673,666,632,876.595964943,782.404035057,799,650.595964943,629,650,0.425608073034,0.00444147602689,0.0499754544565,0.999999999307,-1.14673255801e-05,-1.56400365009e-05,3.17749473225e-05,1793192487516144896
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,742.979783091,711,673,666,632,876.020216909,782.979783091,799,650.020216909,629,650,0.426471170286,0.00443913585843,0.0499952500709,0.999999999376,-8.55093827102e-06,8.52125173168e-06,3.319088901e-05,1793192487532811776
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,711,672.446927607,666,632.553072393,876,783,799.553072393,650,629,650,0.427236669528,0.00443885809867,0.0499869533789,0.999999998941,-8.58582209037e-06,-2.81321192842e-05,3.53921089581e-05,1793192487549479424
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.869272941,742.869272941,711,672,666,632.869272941,876.130727059,783,799.869272941,650,628.869272941,650,0.427996082255,0.00443942125347,0.0499727222808,0.999999997059,-8.31812834973e-06,-6.67519150368e-05,3.68382082689e-05,1793192487566146560
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.275850847,742.275850847,711,672,666,632.275850847,876.724149153,783,799.275850847,650,628.275850847,650,0.428746523542,0.00444269508884,0.0499411054148,0.999999993888,-6.59935125399e-06,-0.000104498381576,3.55104869829e-05,1793192487582812672
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.308684314,742.308684314,711,672.308684314,666.308684314,632,877,783,799,650,628,650,0.42953693738,0.00444295934651,0.0499392377713,0.999999994751,-6.65085845382e-06,-9.61124719788e-05,3.48796284276e-05,1793192487599479040
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.88550002,742.88550002,711,672.88550002,666.88550002,632,877,783,799,650,628,650,0.430362072398,0.00444060940492,0.0499632110937,0.999999998223,-8.24008167661e-06,-4.76547536259e-05,3.48540833799e-05,1793192487616145152
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.538790777,743,711.461209223,673,666.538790777,632,877,783,799.461209223,650,628.461209223,650,0.431121454271,0.00443812818382,0.049960395921,0.999999997737,-8.78147585518e-06,-5.65447627894e-05,3.53915870308e-05,1793192487632811776
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.037510822,743,711.924978356,673,666,632,877,783,799.962489178,650,629,650,0.431861494633,0.00443559796124,0.0499506317466,0.999999996168,-9.33012541713e-06,-7.92548877783e-05,3.59877322851e-05,1793192487649478400
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.626551214,743,710.746897571,673,666,632,877,783,799.373448786,650,629,650,0.432556591178,0.00443282531511,0.0499362449409,0.999999994638,-1.38011097648e-05,-9.63339793882e-05,3.53957613005e-05,1793192487666145024
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,742.788059349,710.211940651,673,666.211940651,632,877,783,799,650,629,650,0.433259157752,0.00443090700337,0.0499353905766,0.999999994946,-1.59178904534e-05,-9.27594246842e-05,3.53717544108e-05,1793192487682811904
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,742.208994019,710.791005981,673,666.791005981,632,877,783,799,650,629,650,0.433974664065,0.00443046857357,0.0499579771741,0.999999997816,-1.39567082612e-05,-5.34085210758e-05,3.63315777089e-05,1793192487699478528
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,742.368834021,711,673,666.631165979,632,877,783,799,650,628.631165979,650,0.434663390478,0.00443152965055,0.049978055679,0.999999998913,-1.23133460491e-05,-2.46638095971e-05,3.76002974181e-05,1793192487716145152
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,742.945963281,711,673,666.054036719,632,877,783,799,650,628.054036719,650,0.435336993176,0.00443343755867,0.0499967177628,0.999999999177,-1.08494695382e-05,-1.90883893878e-06,3.90434631623e-05,1793192487732812032
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.478767997,743,711,673,666.521232003,632,877,783,799,650,628,650,0.435922144192,0.00443387700029,0.0499711511635,0.999999997343,-7.56579832534e-06,-6.04510737595e-05,4.00229569173e-05,1793192487749478656
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.901326453,711,673,667,632.098673547,877,783,799.098673547,650,628.098673547,650,0.436497493038,0.0044341710789,0.0499450895221,0.999999992453,-4.8282610806e-06,-0.000115832504376,4.06603127391e-05,1793192487766145024
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.312127961,711,673,667,632.687872039,877,783,799.687872039,650,628.687872039,650,0.437069536522,0.00443449664062,0.0499392799497,0.99999999272,-5.74018967394e-06,-0.000113751943366,3.98349488532e-05,1793192487782811648
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.272003677,711,673.272003677,666.727996323,632.727996323,877,783,799.727996323,650,629,650,0.437644355018,0.00443416593604,0.0499467881501,0.999999995102,-7.79410150725e-06,-9.06011853932e-05,3.90663672793e-05,1793192487799478528
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.850427319,711,673.850427319,666.149572681,632.149572681,877,783,799.149572681,650,629,650,0.438222299605,0.00443309592857,0.0499692992052,0.999999998247,-1.11344902266e-05,-4.37142446181e-05,3.83617526051e-05,1793192487816145408
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711,673.573912158,666,632,877,783,799,650,629,650.426087842,0.438713570133,0.00443578946298,0.0499588748325,0.999999997154,-5.27055667622e-06,-6.44087116285e-05,3.89330403863e-05,1793192487832811776
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711,673.000802858,666,632,877,783,799.000802858,650,629,650.999197142,0.439174519231,0.00443980366477,0.0499369254059,0.999999993286,3.80414891336e-06,-0.00010871463003,3.9943918402e-05,1793192487849478656
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,711,673.588795986,666,632,877,783,799.588795986,650,629,650.411204014,0.439568412908,0.00444969527403,0.0498871954586,0.99999998252,1.32663290096e-05,-0.0001827969952,3.69956912477e-05,1793192487866145280
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.174387619,743,711,673.825612381,665.825612381,632,877,783,800,650,629,650.174387619,0.439956364435,0.00445824496131,0.0498448322524,0.999999968471,2.229199071e-05,-0.000247667356184,3.49595891717e-05,1793192487882811904
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.754393589,743,711,673.245606411,665.245606411,632,877,783,800,650,629,650.754393589,0.440330494847,0.0044636733958,0.0498196037698,0.999999956554,3.03023307831e-05,-0.00029111099498,3.50450518768e-05,1793192487899478528
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.667253087,743,710.667253087,673,665,632,877,782.667253087,800,650,629,651,0.440706839664,0.00446874660997,0.0498139821133,0.99999995379,3.88984148114e-05,-0.000299458536091,3.50814314313e-05,1793192487916145152
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.090113614,743,710.090113614,673,665,632,877,782.090113614,800,650,629,651,0.44108481087,0.00447355892522,0.0498227610801,0.999999958466,4.79247096265e-05,-0.000282029050979,3.50817609142e-05,1793192487932811776
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,710.485140119,673,665,631.514859881,877,782.485140119,799.514859881,650,629,651,0.441423696242,0.00447831560907,0.0498302118235,0.999999961634,5.51378288081e-05,-0.000269181507555,3.51098888165e-05,1793192487949478656
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665,631,877,783,799,650,629,650.938413672,0.441750088938,0.00448305540194,0.049835983569,0.999999963925,6.19314870658e-05,-0.000259009957436,3.50374176546e-05,1793192487966145280
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711,673,665,631,877,783,799.472950448,650.236475224,629,650,0.442289062995,0.00449146083395,0.0498208282314,0.999999958433,7.31325917752e-05,-0.000276890559895,3.34337839651e-05,1793192487999478528
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665,631,877,783,800.630555637,650.815277818,629,650,0.442512595692,0.00449379186152,0.0498091216072,0.999999951724,7.6890369712e-05,-0.000299214068948,3.33227972137e-05,1793192488016145152
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.60797259,711,673,665,631,877.39202741,782.60797259,800.60797259,650.60797259,628.60797259,650.39202741,0.442713606954,0.00449554593941,0.0497991827091,0.99999994682,7.93888537623e-05,-0.000314602672854,3.28966034836e-05,1793192488032812032
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.032185278,711,673,665,631,877.967814722,782.032185278,800.032185278,650.032185278,628.032185278,650.967814722,0.442904061481,0.00449702957668,0.0497900724184,0.999999942793,8.12970535973e-05,-0.000326740594047,3.23226588416e-05,1793192488049478400
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.541925496,711,673,665,631,877.458074504,782.541925496,800,650,628,651,0.443061626141,0.00450058223938,0.0497791306982,0.999999937673,8.3191358605e-05,-0.000341720105405,3.09791714537e-05,1793192488066145024
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,673,665,631,877,782.287974362,800,650,628.712025638,651,0.443331424433,0.00450532593134,0.0497568924697,0.999999923025,8.85122860091e-05,-0.000381020634416,3.06487352805e-05,1793192488099478272
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.297261793,743,711,673,664.702738207,630.702738207,877,782,799.702738207,650,629,651,0.443444930285,0.00450578882361,0.0497503444891,0.999999917949,8.9371500107e-05,-0.00039390309897,3.09075203992e-05,1793192488116145152
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.87574071,743,711,673,664.12425929,630.12425929,877,782,799.12425929,650,629,651,0.443551210424,0.00450526439924,0.0497481642298,0.999999916625,8.80449529319e-05,-0.000397555069509,3.07987461323e-05,1793192488132812032
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.552025092,743,711,673,664.447974908,630.447974908,877,782,799.447974908,650.447974908,629,651,0.443636546653,0.00450596244989,0.0497459447105,0.999999914932,8.9064430479e-05,-0.000401566383311,3.07849982182e-05,1793192488149478400
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764.599768504,742,711,673,664,630,877,782,799,650,628.200115748,650.799884252,0.443826972296,0.00451249724992,0.04973557218,0.999999908109,9.1164379819e-05,-0.000417873584278,2.92156678102e-05,1793192488199478272
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.444527591,742,711,673,664,630,877,782,799,650,628.777736205,650.222263795,0.443869623192,0.00451016172458,0.0497334502019,0.999999906215,9.00490684819e-05,-0.000422584477516,2.97286072594e-05,1793192488216144896
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.35315429,742.35315429,711,673,664.35315429,630.35315429,877,782.35315429,799,650,629,650,0.443905862612,0.00451071548316,0.049732549621,0.999999905745,9.1907410579e-05,-0.000423303371734,2.96083806041e-05,1793192488232811520
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.927194922,742.927194922,711,673,664.927194922,630.927194922,877,782.927194922,799,650,629,650,0.44393809187,0.00451307639314,0.0497324129835,0.999999906163,9.56256745527e-05,-0.000421525402903,2.90921295174e-05,1793192488249478144
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.498594531,743,711,673,665,630.498594531,877,782.498594531,799,650,629,650,0.443963815662,0.00451420792205,0.0497356309368,0.999999908919,9.61397188832e-05,-0.000414861935987,2.84486587952e-05,1793192488266145024
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.078406035,742.921593965,711,673,664.921593965,630,877,782.078406035,799,650,629,650,0.443986960684,0.00451512650414,0.0497391164837,0.999999911646,9.64384445194e-05,-0.000408197632724,2.79602617081e-05,1793192488282811904
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.673634916,742.326365084,711,673,664.326365084,630,877,782.673634916,799,650,629,650,0.443999336045,0.00451581848192,0.0497411540857,0.999999912249,9.83857222624e-05,-0.000406205389486,2.86158562154e-05,1793192488299478528
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+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742,711,673.83721047,664,630,877,783,799.83721047,650,629,650,0.444013622255,0.00451303798837,0.0497409008319,0.999999912084,9.48093340133e-05,-0.00040740041909,2.94599812214e-05,1793192488332811776
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+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.199454371,711,673.199454371,664,630,877,782,799.199454371,650,628.800545629,650.800545629,0.444011121711,0.00451534534171,0.0497290690237,0.999999904304,9.55493629807e-05,-0.000426003900731,2.79911810207e-05,1793192488532811776
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.399167694,711,674,664,630,877,782,799.399167694,650,628,650,0.444041606638,0.00451654604451,0.0497443443616,0.99999991536,9.90952356444e-05,-0.000398366045457,2.76434663328e-05,1793192488699478528
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742,711,673.811165017,664,630.188834983,877,782.188834983,799,650,628,650,0.444041382516,0.00451656692562,0.0497442690066,0.999999915286,9.80356800654e-05,-0.000398822873604,2.75172648901e-05,1793192488716145408
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742,711,673.23161334,664,630.76838666,877,782.76838666,799,650,628,650,0.444042390543,0.00451778942412,0.049744815461,0.999999915526,9.95203798522e-05,-0.000397854699362,2.74981122842e-05,1793192488732812032
+241,4.016666667,HOLD_POSE2,764,743,711,674,664,630,877,782,799,650,629,650,0.444042757865,0.00451726684992,0.0497454574887,0.999999915311,0.00010133426131,-0.000397887321804,2.81809827031e-05,1793192488768423936
+242,4.033333333,HOLD_POSE2,764,743,711,673.424176621,664,630,877,782,799.575823379,650,628.424176621,650,0.444043195666,0.00451653655887,0.0497452671807,0.999999915674,9.85715924121e-05,-0.000397706879952,2.76713995083e-05,1793192488785090560
+243,4.050000000,HOLD_POSE2,764,743,711,673,664.15530139,630,877.15530139,782,799.84469861,650,628.15530139,650,0.444043755198,0.00451598337621,0.0497453482214,0.999999915999,9.69404100499e-05,-0.000397316963706,2.72570107515e-05,1793192488801757184
+244,4.066666667,HOLD_POSE2,764,743,711,673,664.745002039,630,877.745002039,782,799.254997961,650,628.745002039,650,0.444044655224,0.00451592558979,0.0497461882614,0.999999916241,9.84741498846e-05,-0.000396341118855,2.71088937617e-05,1793192488818423552
+245,4.083333333,HOLD_POSE2,764,743,710.671132464,673.328867536,664.671132464,630,877.671132464,782,799.328867536,650,629,650,0.444046497389,0.00451610666945,0.049747079372,0.999999916874,9.89322887808e-05,-0.000394625277592,2.71207000495e-05,1793192488835090432
+246,4.100000000,HOLD_POSE2,764,743,710.091712597,673.908287403,664.091712597,630,877.091712597,782,799.908287403,650,629,650,0.444049057334,0.00451646973258,0.0497480093914,0.999999917803,9.85709659655e-05,-0.000392345659769,2.7254346132e-05,1793192488851757056
+247,4.116666667,HOLD_POSE2,764,742.516627859,710,673.516627859,664,630,877,782,800,650,628.516627859,650,0.444054296316,0.00451617922878,0.0497504563795,0.999999919882,9.79058392536e-05,-0.000387185429573,2.71557548783e-05,1793192488868423680
+248,4.133333333,HOLD_POSE2,764,742.057724895,710,673.057724895,664.057724895,630.057724895,877,782.057724895,800,650,628.057724895,650,0.444059753042,0.00451578472746,0.0497531205814,0.999999922029,9.7173641861e-05,-0.000381797501014,2.70293322858e-05,1793192488885090560
+249,4.150000000,HOLD_POSE2,764,742.632823645,710,673.632823645,664.632823645,630.632823645,877,782.632823645,800,650,628.632823645,650,0.444062646027,0.00451555966451,0.0497551748707,0.999999923087,9.6352347293e-05,-0.000379223843188,2.70448844408e-05,1793192488901757184
+250,4.166666667,HOLD_POSE2,764,743,710.214198136,673.785801864,665,630.785801864,877.214198136,782.785801864,799.785801864,650,629,650,0.444064422431,0.00451547510773,0.0497562764205,0.999999923619,9.6280686648e-05,-0.000377833760181,2.70790988014e-05,1793192488918423808
+251,4.183333333,HOLD_POSE2,764,743,710.806655081,673.193344919,665,630.193344919,877.806655081,782.193344919,799.193344919,650,629,650,0.444064227031,0.00451563867498,0.0497556954992,0.999999923231,9.75328267595e-05,-0.000378533787151,2.71462693003e-05,1793192488935090432
+252,4.200000000,HOLD_POSE2,764,742.612019702,711,673,664.612019702,630,877.612019702,782,799,650,629,650,0.444065241299,0.00451629794865,0.0497559071833,0.999999923549,9.7115581598e-05,-0.000377808218236,2.70284004986e-05,1793192488951757056
+253,4.216666667,HOLD_POSE2,764,742.036087063,711,673,664.036087063,630,877.036087063,782,799,650,629,650,0.444066841575,0.00451719736129,0.0497565028356,0.999999924207,9.58896231331e-05,-0.000376392036776,2.68208916616e-05,1793192488968423680
+254,4.233333333,HOLD_POSE2,764,742,710.458603566,673,664.541396434,630,877.541396434,782.541396434,799,650,629,650,0.444066898611,0.00451541482782,0.0497564872622,0.999999924232,9.52728105083e-05,-0.000376431683783,2.75337511936e-05,1793192488985090304
+255,4.250000000,HOLD_POSE2,764,742.121090697,710,673,664.878909303,630,877.878909303,783.121090697,799,650,629,650,0.444067115133,0.00451415127408,0.0497566188041,0.999999924224,9.52009219974e-05,-0.0003764345391,2.8038561429e-05,1793192489001757184
+256,4.266666667,HOLD_POSE2,764,742.708906599,710,673,664.291093401,630,877.291093401,783.708906599,799,650,629,650,0.444068343995,0.00451557905332,0.0497574748619,0.999999924252,9.70724110705e-05,-0.00037592049042,2.75043441418e-05,1793192489018423808
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764,742,710,673,664,630,878,782,799,650,629,650,0.444069513242,0.00451367544145,0.0497582832659,0.99999992524,9.21193385356e-05,-0.000374559557505,2.71942410867e-05,1793192489055592704
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,742,710.57795861,673,664.57795861,630,877.42204139,782.57795861,799,650,629,650,0.444068364077,0.00451376149234,0.049757097494,0.999999924381,9.35621931785e-05,-0.000376450195244,2.77236815092e-05,1793192489072259328
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742,710.845313733,673.154686267,664.845313733,630.154686267,877,782.845313733,799.154686267,650,629,650.154686267,0.444067807227,0.00451408030954,0.0497566211887,0.999999924027,9.43849321265e-05,-0.000377171230183,2.79137932633e-05,1793192489088925952
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742,710.271917931,673.728082069,664.271917931,630.728082069,877,782.271917931,799.728082069,650,629,650.728082069,0.444068853673,0.00451502918576,0.0497580652891,0.999999925047,9.35291231983e-05,-0.00037472634878,2.71853998794e-05,1793192489105591808
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742,710.311838149,673.688161851,664,630.688161851,877,782,799.688161851,650,628.688161851,650.688161851,0.444068356776,0.00451476634279,0.0497577436738,0.999999925041,9.31828987444e-05,-0.000374840762945,2.69888734661e-05,1793192489122258176
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,710.904938644,673.095061356,664,630.095061356,877,782,799.095061356,650,628.095061356,650.095061356,0.44406646786,0.00451341058993,0.0497558294714,0.999999924112,9.32962939403e-05,-0.000377263533304,2.72720643877e-05,1793192489138924800
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,710.513557684,673,664.486442316,630.486442316,877,782,799.972884633,650,628.486442316,650,0.444065701183,0.0045144798914,0.0497560239994,0.999999923735,9.62703746134e-05,-0.000377518493942,2.72347092564e-05,1793192489155591680
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.065105474,710.065105474,673,664.934894526,630.934894526,877,782.065105474,800.869789051,650,629,650,0.444064243547,0.004515718068,0.0497560894154,0.999999923228,9.90667986853e-05,-0.000378143834097,2.71624365316e-05,1793192489172258560
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.63886988,710.63886988,673,664.36113012,630.36113012,877,782.63886988,799.72226024,650,629,650,0.444055714018,0.00451465928373,0.0497520014609,0.999999920927,9.62092297128e-05,-0.000384895632358,2.72953715535e-05,1793192489188924928
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.218115407,743,711,673,664,630.218115407,877,782.781884593,799,650,629,650,0.444039348062,0.00451476084903,0.0497448738096,0.99999991623,9.52222162106e-05,-0.000397158337093,2.71665254067e-05,1793192489205591296
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.806669807,743,711,673,664,630.806669807,877,782.193330193,799,650,629,650,0.444009673013,0.00451683310841,0.0497325836522,0.999999907213,9.74120839254e-05,-0.000418780557006,2.65930799635e-05,1793192489222258176
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.611342592,743,710.611342592,673,664,630.611342592,877,782.388657408,799.777314815,650,628.611342592,650.388657408,0.44396037316,0.00451745896767,0.0497167998006,0.999999893998,9.8020161197e-05,-0.000449108626453,2.64073467936e-05,1793192489238924800
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.032567193,743,710.032567193,673,664,630.032567193,877,782.967432807,800.934865613,650,628.032567193,650.967432807,0.443901473518,0.00451737729734,0.0496993069516,0.999999877883,9.78544804699e-05,-0.000483695303087,2.64112692139e-05,1793192489255591424
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.453994088,710,673.546005912,664,630,877,783,799.907988176,650,628.546005912,651,0.443831160506,0.00451862706413,0.049687169775,0.999999872519,9.85546051992e-05,-0.000494589193297,2.51003280994e-05,1793192489272258304
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.123095147,710.123095147,673.876904853,664,630,877,783,799,650,629,650.876904853,0.443754867796,0.00451974643526,0.0496766199638,0.999999867427,9.9525901379e-05,-0.000504648176924,2.39113031507e-05,1793192489288924928
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.69482042,710.69482042,673.30517958,664,630,877,783,799,650,629,650.30517958,0.443659261757,0.00452010124144,0.0496706916154,0.999999861047,0.000101297360041,-0.00051681283898,2.34523373996e-05,1793192489305591808
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.27584374,743,710.72415626,673,664,630.27584374,877.27584374,782.72415626,799,650,628.72415626,650.27584374,0.443555589194,0.00452170209654,0.0496684231826,0.999999858496,0.000104191050136,-0.000521191397687,2.26208603107e-05,1793192489322258432
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.867512758,743,710.132487242,673,664,630.867512758,877.867512758,782.132487242,799,650,628.132487242,650.867512758,0.443442680929,0.00452472960625,0.0496703451435,0.999999860433,0.00010836963083,-0.00051665531347,2.13628791123e-05,1793192489338925056
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.551087701,742.551087701,710,673,664,631,877.551087701,782,799,650,628.448912299,650.551087701,0.443306184772,0.00452712857536,0.0496718027594,0.999999861705,0.000112166800157,-0.000513418353919,2.02491740799e-05,1793192489355591680
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.027259586,710.027259586,673.027259586,664.027259586,631,877.027259586,782.027259586,799.027259586,650,629,650.027259586,0.443161283656,0.00452942014033,0.0496730486011,0.999999862725,0.000115961537342,-0.000510621463571,1.91847717347e-05,1793192489372258048
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.603809373,710.603809373,673.603809373,664.603809373,631,877.603809373,782.603809373,799.603809373,650,629,650.603809373,0.44298415868,0.00453320178461,0.0496727268032,0.999999862789,0.000121924777379,-0.000509139062613,1.82750196901e-05,1793192489388924672
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,710.816599227,673.816599227,665,631,877.816599227,782.816599227,799.816599227,650,629,651,0.442794805662,0.00453705942607,0.0496736648871,0.999999863217,0.000128372767871,-0.000506742351793,1.72819889577e-05,1793192489405591296
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,710.230326466,673.230326466,665,631,877.230326466,782.230326466,799.230326466,650,629,651,0.442578591628,0.0045410840082,0.0496773705229,0.999999864467,0.000135885597034,-0.00050233719909,1.61060220913e-05,1793192489422258176
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.351664633,743,710.351664633,673,665,631,877,782.351664633,799.351664633,650,629,650.648335367,0.442343162853,0.00454421469504,0.0496862749296,0.999999870846,0.000141856390084,-0.000487813263192,1.49095766512e-05,1793192489438925312
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.930885202,743,710.930885202,673,665,631,877,782.930885202,799.930885202,650,629,650.069114798,0.442095300538,0.00454676695852,0.0496985433691,0.999999880203,0.000146829359654,-0.000466741641861,1.36998797685e-05,1793192489455592192
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.493376188,743,711,673,665,631,877,783,800,650,629,650,0.441810284368,0.00455035169865,0.0497118190592,0.999999888711,0.000154650023065,-0.000445533701747,1.27237728654e-05,1793192489472258560
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,665,631.082190469,877,783,799.917809531,650,628.917809531,650.082190469,0.441510560557,0.00455440697082,0.0497234734724,0.999999895313,0.000162762222049,-0.000427490691058,1.15873278069e-05,1793192489488925184
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,665,631.65956374,877,783,799.34043626,650,628.34043626,650.65956374,0.441152554776,0.00456045429495,0.0497245377605,0.999999893594,0.000170306274487,-0.000428627081703,9.2941920776e-06,1793192489505591552
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.241433509,742.758566491,710.758566491,673,665,632,877.241433509,783,799,650,628,650.758566491,0.440774980582,0.00456584298827,0.049727224569,0.999999893708,0.000178006889018,-0.000425261487033,7.1063508613e-06,1793192489522258176
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.829763909,742.170236091,710.170236091,673,665,632,877.829763909,783,799,650,628,650.170236091,0.44036929009,0.00457028534622,0.0497322426502,0.999999896412,0.000185932454894,-0.000415427342338,5.06979921759e-06,1793192489538924544
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,742.411971034,710.411971034,673,665,632,877.588028966,783,799,650,628.411971034,650.411971034,0.439930472427,0.00457468545855,0.0497334540466,0.999999897262,0.000191134394655,-0.000411021470744,2.43616167016e-06,1793192489555591680
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,742.99168492,710.99168492,673,665,632,877.00831508,783,799,650,628.99168492,650.99168492,0.439478166333,0.00457906836955,0.0497331154695,0.999999897374,0.000195227351364,-0.000408825837361,-4.40592175405e-07,1793192489572258560
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.433029405,743,711,673,665,632,877,783,800.13394119,650,628.433029405,650.433029405,0.438992080847,0.00458424259938,0.0497381703067,0.999999900461,0.000203013549614,-0.000397302712954,-3.68933313781e-06,1793192489588925440
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,665.142040693,632,877.142040693,783,800.857959307,650,628.142040693,650,0.438496982274,0.00458930089813,0.0497465065025,0.999999905051,0.000210249292079,-0.000381638143204,-6.79975991619e-06,1793192489605592320
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,665.716650414,632,877.716650414,783,800.283349586,650,628.716650414,650,0.437975932441,0.004593971072,0.0497645966879,0.999999914126,0.000215645008491,-0.000353774633346,-9.47248039991e-06,1793192489622258688
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742.700046828,710.700046828,673,666,632,877.700046828,783,799.700046828,650,629,650.299953172,0.43742988597,0.00459819442295,0.0497914892408,0.999999925331,0.00022154644339,-0.000316410757184,-1.17833400832e-05,1793192489638925056
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.472858946,710.472858946,673,666,632.472858946,877,783,799.472858946,650,629,650.527141054,0.436231409454,0.00460014423769,0.0498423846705,0.999999943281,0.000225467871562,-0.000249475851527,-1.9073537763e-05,1793192489672258304
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.681397673,742,710.681397673,672.318602327,665,632.681397673,875.681397673,783,799.681397673,650,628,651,0.400969381807,0.00457440559368,0.0498483988429,0.999999960742,5.69408039513e-05,-0.000270582538709,-4.53673257302e-05,1793192491172258048
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.85595922,742,710.14404078,672,665.85595922,633,875.14404078,783,800,650,628.85595922,651,0.400969316809,0.00457419095229,0.0498480942582,0.999999960933,5.58990725897e-05,-0.000270077400649,-4.5471013943e-05,1793192491205591808
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.561189809,742,710,672,665.561189809,632.561189809,875.438810191,783,800,650.438810191,628.561189809,651,0.400969264558,0.00457336682603,0.0498479748487,0.999999960928,5.4779173724e-05,-0.000270378079824,-4.51561435124e-05,1793192491222258176
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,710.018233206,672,665,632.018233206,876,783,799.981766794,651,628,651,0.400969409022,0.00457241687622,0.0498480316721,0.999999960939,5.3747166296e-05,-0.000270606283933,-4.47799708819e-05,1793192491238924800
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_10/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d53f34a9b59b7eade47c50d3fb906ae28c7cb824
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,391 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_10/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dda9989ed34875c9b1d2fe25a30f9b4830aa8c8a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c2285aad190a2975972218d88f188c34592adf9aa199004276b4fb0c99de707
+size 24729865
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca9addb78848227d52975ff80b6f8f79b569c1f2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_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,764,742,710,672,666,632,876,783,799,650,628,651,0.400966839301,0.00457265348816,0.0498470819773,0.999999960546,5.69140817377e-05,-0.000271382999839,-4.49383371063e-05,1793192491382510848
+1,0.016666667,BASELINE,764,742,710,672,666,632.590806656,876,783,799.590806656,650,628.590806656,651,0.400969193752,0.00457385509197,0.0498488148175,0.999999961279,5.64906644377e-05,-0.000268730461226,-4.5097965828e-05,1793192491399177984
+2,0.033333333,BASELINE,764,742,710,672,665.821181132,632.821181132,876,783,800,650,629,651,0.40097039839,0.004574302714,0.0498499429298,0.9999999617,5.61192670882e-05,-0.000267232342483,-4.51464777e-05,1793192491415844608
+3,0.050000000,BASELINE,764,742,710,672,665.239464975,632.239464975,876,783,800,650,629,651,0.400969012382,0.00457305153782,0.0498497085284,0.999999961428,5.5865075952e-05,-0.000268335249849,-4.49446319209e-05,1793192491432510976
+4,0.066666667,BASELINE,764,742.337792303,710.337792303,672,665,632.337792303,876,783,800,650,629,651,0.400969048892,0.00457201629781,0.0498496443715,0.99999996152,5.44668679348e-05,-0.000268310706304,-4.4755734504e-05,1793192491449177600
+5,0.083333333,BASELINE,764,742.911929777,710.911929777,672,665,632.911929777,876,783,800,650,629,651,0.400970080706,0.00457113214324,0.0498496993305,0.999999961863,5.22682187683e-05,-0.000267497312339,-4.45758967572e-05,1793192491465844224
+6,0.100000000,BASELINE,764,742.513004239,711,672,665,633,876,783,799.513004239,650,629,651,0.400968393577,0.00457248931661,0.0498487086889,0.999999961166,5.40591107727e-05,-0.000269703914377,-4.47814350906e-05,1793192491482511104
+7,0.116666667,BASELINE,764,742,711,672,665.063760444,633,876,783,799,650.063760444,628.936239556,651,0.400966718271,0.00457392109551,0.0498477997233,0.999999960469,5.62830647709e-05,-0.000271788112157,-4.50043022017e-05,1793192491499177984
+8,0.133333333,BASELINE,764,742,711,672,665.653141791,633,876,783,799,650.653141791,628.346858209,651,0.400969201626,0.0045726200994,0.04984912585,0.999999961416,5.6117995371e-05,-0.000268352377161,-4.47943984177e-05,1793192491515844352
+9,0.150000000,BASELINE,764,742,711,672,665.761127321,633,876,783,799.238872679,650.761127321,628.238872679,651,0.400970378321,0.00457185733859,0.0498496730562,0.999999961834,5.55297208786e-05,-0.000266935341766,-4.46453148511e-05,1793192491532510976
+10,0.166666667,BASELINE,764,742,711,672,665.180617394,633,876,783,799.819382606,650.180617394,628.819382606,651,0.400969686221,0.0045718643655,0.0498491062451,0.999999961509,5.4336175742e-05,-0.000268405463889,-4.45832167709e-05,1793192491549177600
+11,0.183333333,BASELINE,764,742,711,671.605144271,665.789711459,632.605144271,875.605144271,783,799.605144271,650,629,651,0.400969869771,0.00457174964187,0.049849417491,0.999999961612,5.42588644191e-05,-0.000268038712351,-4.45859428762e-05,1793192491565844224
+12,0.200000000,BASELINE,764,742,711,671.031946045,666.936107911,632.031946045,875.031946045,783,799.031946045,650,629,651,0.400970448821,0.0045715799278,0.0498501253244,0.999999961907,5.46857166909e-05,-0.000266842309479,-4.46179477891e-05,1793192491582510592
+13,0.216666667,BASELINE,764,742,711,672.084237816,665.915762184,632,875.542118908,783.542118908,799,650,628.457881092,651,0.40096852791,0.00457301320223,0.0498490028783,0.999999961345,5.62047224007e-05,-0.000268605299679,-4.47461767778e-05,1793192491599177472
+14,0.233333333,BASELINE,764,742,711,672.879349249,665.241301501,632,875.879349249,783.879349249,799,650,628.120650751,651,0.400966985236,0.00457407749475,0.0498480449323,0.999999960902,5.69251240203e-05,-0.000270072686136,-4.48943889726e-05,1793192491615844096
+15,0.250000000,BASELINE,764,742,711,672.283422464,666.433155073,632,875.283422464,783.283422464,799,650,628.716577536,651,0.400967513797,0.00457331556418,0.0498481605465,0.999999961146,5.42456762299e-05,-0.000269687534522,-4.50989478471e-05,1793192491632510976
+16,0.266666667,BASELINE,764,742,710.698259862,672,666.698259862,632.301740138,875.301740138,783,799.301740138,650,629,651,0.400967688843,0.00457346193075,0.0498484962974,0.999999961239,5.47610273863e-05,-0.000269234264843,-4.51327648124e-05,1793192491649178112
+17,0.283333333,BASELINE,764,742,710.122859758,672,666.122859758,632.877140242,875.877140242,783,799.877140242,650,629,651,0.400967543271,0.0045744320677,0.0498490316988,0.99999996119,5.81738671881e-05,-0.000268719216242,-4.50117292304e-05,1793192491665844480
+18,0.300000000,BASELINE,764,742,710.460019834,672,665.539980166,632.539980166,876,783,799.539980166,650.460019834,629,651,0.400968637879,0.00457335910989,0.0498496172076,0.999999961481,5.78502292616e-05,-0.000267717921036,-4.49327592927e-05,1793192491682511104
+19,0.316666667,BASELINE,764,742,711,672,665.044555159,632,876,783,799,650.955444841,629,651,0.400970017233,0.00457196879407,0.0498502354111,0.999999961863,5.66793928062e-05,-0.000266549454917,-4.48660348224e-05,1793192491699177472
+20,0.333333333,BASELINE,764,742,711,672,665.624585336,632,876,783,799,650.375414664,629,651,0.400970772239,0.00457343064768,0.0498510830559,0.99999996224,5.75181797152e-05,-0.000264958423695,-4.4809226659e-05,1793192491715844096
+21,0.350000000,BASELINE,764,742,710.795825329,672,665.795825329,632.204174671,876,783,799,650,628.795825329,651,0.400970407887,0.00457377260962,0.0498509684372,0.999999962162,5.73904090918e-05,-0.000265305502963,-4.46617879739e-05,1793192491732510720
+22,0.366666667,BASELINE,764,742,710.217044885,672,665.217044885,632.782955115,876,783,799,650,628.217044885,651,0.400967989812,0.00457205987047,0.0498490883228,0.99999996124,5.54892644877e-05,-0.000269208495446,-4.43480665903e-05,1793192491749177600
+23,0.383333333,BASELINE,764,742,710.359567383,672,665,632.640432617,875.640432617,783,799.359567383,650,628,651,0.400968905088,0.00457191453059,0.0498496546763,0.99999996151,5.62240021181e-05,-0.000268077107089,-4.42068446957e-05,1793192491765844480
+24,0.400000000,BASELINE,764,742,710.934878778,672,665,632.065121222,875.065121222,783,799.934878778,650,628,651,0.400971820406,0.00457270964571,0.0498516889347,0.999999962483,5.85402951724e-05,-0.000263925040433,-4.4169124183e-05,1793192491782511616
+25,0.416666667,BASELINE,764.521331201,742,711,672,665,632,875.521331201,783,799.478668799,650,628,651,0.400970061271,0.00457196221001,0.0498501723579,0.999999962034,5.63615970034e-05,-0.000266068336103,-4.43067334178e-05,1793192491799177984
+26,0.433333333,BASELINE,764.892405536,742,710.892405536,672.107594464,665,632,875.892405536,783,799,650,628,651,0.400968346355,0.00457127751381,0.0498488680232,0.999999961591,5.42068332286e-05,-0.000268153336449,-4.44143246117e-05,1793192491815844352
+27,0.450000000,BASELINE,764.313204331,742,710.313204331,672.686795669,665,632,875.313204331,783,799,650,628,651,0.400969440503,0.00457173083467,0.0498504805881,0.999999962024,5.46718118034e-05,-0.000266460721863,-4.42922485736e-05,1793192491832510720
+28,0.466666667,BASELINE,764,742,710.265651876,672.734348124,665.265651876,632.265651876,875.265651876,783,799,650,628,651,0.400969576142,0.00457221546309,0.0498505803017,0.999999961967,5.55699698467e-05,-0.000266466887994,-4.44264510015e-05,1793192491849177344
+29,0.483333333,BASELINE,764,742,710.844101822,672.155898178,665.844101822,632.844101822,875.844101822,783,799,650,628,651,0.400968583162,0.00457273695532,0.049848898673,0.999999961331,5.69781852498e-05,-0.000268473323666,-4.48624145645e-05,1793192491865843712
+30,0.500000000,BASELINE,764,742,711,672,666,632.580773058,876,783,799,650,628.419226942,651,0.400969568206,0.0045724755534,0.0498494188316,0.999999961703,5.60357036595e-05,-0.000267305756425,-4.47399107435e-05,1793192491882510592
+31,0.516666667,BASELINE,764,742,711,672,666,632.006874626,876,783,799,650,628.993125374,651,0.400971283031,0.00457192530697,0.0498507513277,0.99999996244,5.4225945227e-05,-0.000264967158107,-4.4411363423e-05,1793192491899177472
+32,0.533333333,BASELINE,764,742,710.418332628,672,665.418332628,632.581667372,875.418332628,783,799,650,629,651,0.400971262049,0.00457226998684,0.0498509087091,0.999999962462,5.46673541684e-05,-0.000264781386458,-4.44892185925e-05,1793192491915844352
+33,0.550000000,BASELINE,764,742,710,672,665,633,875.167669388,783,799,650,628.832330612,651,0.40097052674,0.00457253496964,0.0498506214447,0.99999996229,5.43307781695e-05,-0.000265468931126,-4.46692640887e-05,1793192491932511232
+34,0.566666667,BASELINE,764,742,710,672,665,633,875.746999283,783,799,650,628.253000717,651,0.400968089289,0.00457257764166,0.0498492774689,0.999999961655,5.20170896473e-05,-0.000268236551955,-4.50881090923e-05,1793192491949178112
+35,0.583333333,BASELINE,764,742,710,672,665,632.675378712,876,783,799.324621288,650,628.324621288,651,0.40096737907,0.00457347140722,0.049848786518,0.99999996141,5.25242606745e-05,-0.00026903267048,-4.51931757849e-05,1793192491965844736
+36,0.600000000,BASELINE,764,742,710,672,665,632.099080761,876,783,799.900919239,650,628.900919239,651,0.400968007963,0.00457502501979,0.0498489569112,0.999999961468,5.52184245699e-05,-0.000268300297046,-4.50549723438e-05,1793192491982511104
+37,0.616666667,BASELINE,764,742,710,672,665,632.474533651,876,783,800,650,629,651,0.400967540627,0.00457370229475,0.0498486223361,0.999999961356,5.46965009032e-05,-0.000268864624176,-4.48079844998e-05,1793192491999177472
+38,0.633333333,BASELINE,764,742.049144234,710,672,665,632.950855766,875.950855766,783,800,650,629,651,0.400967188366,0.00457185253952,0.0498484153317,0.99999996133,5.35262895601e-05,-0.000269237726596,-4.45574242334e-05,1793192492015844352
+39,0.650000000,BASELINE,764,742.640906079,710,672,665,632.359093921,875.359093921,783,800,650,629,651,0.4009706197,0.00457077744938,0.0498507744785,0.99999996264,5.25707503281e-05,-0.000264526870027,-4.45167992412e-05,1793192492032510720
+40,0.666666667,BASELINE,764,742.772625625,710,672,665.227374375,632.227374375,875.227374375,783,799.772625625,650.227374375,628.772625625,651,0.400971773517,0.00457057711767,0.0498515805403,0.999999963012,5.24708779128e-05,-0.000263145341215,-4.44743515437e-05,1793192492049177344
+41,0.683333333,BASELINE,764,742.194327296,710,672,665.805672704,632.805672704,875.805672704,783,799.194327296,650.805672704,628.194327296,651,0.400969412271,0.0045717268664,0.0498499896092,0.999999961953,5.36916204387e-05,-0.000266902214348,-4.44290907314e-05,1793192492065844480
+42,0.700000000,BASELINE,764,742,710.38149385,672,666,632.61850615,876,783,799,650.61850615,628,651,0.400968736757,0.00457211456778,0.0498496840215,0.999999961691,5.52342066365e-05,-0.000267605906794,-4.42152424976e-05,1793192492082511360
+43,0.716666667,BASELINE,764,742,710.956061278,672,666,632.043938722,876,783,799,650.043938722,628,651,0.400968914389,0.00457211659788,0.0498500289445,0.999999961833,5.69396774922e-05,-0.000266764388056,-4.39160723744e-05,1793192492099177728
+44,0.733333333,BASELINE,764,742,710.45599225,672,665.45599225,632.54400775,876,783.54400775,799,650.54400775,628.54400775,651,0.400969634686,0.00457247300364,0.0498503309944,0.999999962033,5.68263786152e-05,-0.000265975323253,-4.43024326285e-05,1793192492115844352
+45,0.750000000,BASELINE,764,742,710,672,665,632.869189999,876,783.869189999,799,650.869189999,629,651,0.400970049573,0.00457279824898,0.0498504963857,0.999999962173,5.60576274451e-05,-0.000265540123168,-4.47261298482e-05,1793192492132510976
+46,0.766666667,BASELINE,764,742,710,672,665,632.290105536,876,783.290105536,799,650.290105536,629,651,0.400969263859,0.00457291615055,0.049850205626,0.999999962091,5.35588027567e-05,-0.000266302702163,-4.50832475634e-05,1793192492149177600
+47,0.783333333,BASELINE,764,742,710,672,665,632,876,783,799,650,629,651,0.400969068626,0.00457216811641,0.0498502932489,0.999999962118,5.18333400334e-05,-0.0002665522238,-4.50295546169e-05,1793192492165844224
+48,0.800000000,BASELINE,764,742,710,672,665,632,876,783,799,650,629,651,0.400969466176,0.00457055077043,0.0498507607296,0.999999962258,5.08842541785e-05,-0.000266286687848,-4.45634493727e-05,1793192492182510592
+49,0.816666667,BASELINE,764,742,710.441207305,671.558792695,665,632.441207305,876,783,799.441207305,650,629,651,0.400969907428,0.00457056925341,0.0498510306082,0.999999962258,5.33579160469e-05,-0.000265889079187,-4.4051942949e-05,1793192492199177728
+50,0.833333333,BASELINE,764.018040284,742.018040284,710.981959716,671.018040284,665,633,876,783.018040284,799.981959716,650,629,651,0.400970339217,0.00457112719235,0.0498512111937,0.999999962201,5.67684283178e-05,-0.000265474274254,-4.35705982297e-05,1793192492215844608
+51,0.850000000,BASELINE,764.605997673,742.605997673,710.394002327,671.605997673,665,633,876,783.605997673,799.394002327,650,629,651,0.400970048744,0.00457288285461,0.049850484841,0.999999962084,5.66230390692e-05,-0.000265795453948,-4.44818516038e-05,1793192492232511232
+52,0.866666667,BASELINE,764.808850966,742.808850966,710.191149034,672,665.191149034,633,875.808850966,783.808850966,799.191149034,650,629,651,0.400969605408,0.00457326595954,0.0498499738548,0.99999996205,5.56031148685e-05,-0.000266068600999,-4.49084221508e-05,1793192492249177856
+53,0.883333333,BASELINE,764.229399833,742.229399833,710.770600167,672,665.770600167,633,875.229399833,783.229399833,799.770600167,650,629,651,0.400968851539,0.00457086083741,0.0498499003666,0.999999962179,5.28066514537e-05,-0.00026624417403,-4.43504030041e-05,1793192492265844480
+54,0.900000000,BASELINE,764,742,710.652500973,672,666,632.652500973,875.347499027,783,799.652500973,650,629,651,0.400969358082,0.00457063921753,0.0498502285038,0.999999962222,5.30745456759e-05,-0.000266046801918,-4.42581180476e-05,1793192492282511104
+55,0.916666667,BASELINE,764,742,710.07727472,672,666,632.07727472,875.92272528,783,799.07727472,650,629,651,0.400970690611,0.00457184851659,0.0498508198391,0.999999962206,5.53506115651e-05,-0.00026560502692,-4.44710436218e-05,1793192492299177472
+56,0.933333333,BASELINE,764,742,710.496565135,672,665.503434865,632.496565135,876,783,799,650,629,651,0.400969447345,0.00457220270606,0.0498504679764,0.999999962225,5.46538598679e-05,-0.000265647641911,-4.46477428052e-05,1793192492315844096
+57,0.950000000,BASELINE,764,742,710.927548093,672,665,632.927548093,875.927548093,783,799,650,629,651,0.400968015629,0.00457232821132,0.0498500480231,0.99999996222,5.35338451594e-05,-0.000265874924808,-4.47744791972e-05,1793192492332510720
+58,0.966666667,BASELINE,764,742,710.335437009,672,665,632.335437009,875.335437009,783,799,650,629,651,0.40096809928,0.00457176527526,0.0498501895302,0.999999962004,5.26869181803e-05,-0.000266887576951,-4.45831810473e-05,1793192492349177856
+59,0.983333333,BASELINE,764,742,710,672,665.251051601,632,875.251051601,783,799,650,629,651,0.400968165774,0.00457220441477,0.049850145737,0.99999996188,5.35143299273e-05,-0.000267199766629,-4.45079495516e-05,1793192492365844736
+60,1.000000000,BASELINE,764,742,710,672,665.830192507,632,875.830192507,783,799,650,629,651,0.400968209846,0.00457395312673,0.0498498597824,0.999999961871,5.6529867929e-05,-0.00026659655004,-4.45844009016e-05,1793192492382511616
+61,1.016666667,BASELINE,764,742,710,672,665.592995182,632.407004818,876,783,799.407004818,650,628.592995182,651,0.400969152581,0.00457333890384,0.0498503906356,0.999999962085,5.64495052663e-05,-0.000265868516895,-4.42509647643e-05,1793192492399177984
+62,1.033333333,BASELINE,764,742,710,672,665.017148899,632.982851101,876,783,799.982851101,650,628.017148899,651,0.400970468115,0.00457174444335,0.0498512603327,0.99999996239,5.50848421343e-05,-0.00026508870501,-4.37474913131e-05,1793192492415844352
+63,1.050000000,BASELINE,764,742,710.550661761,672,666.101323523,632.449338239,876,783,799.449338239,650,628.550661761,651,0.400969055219,0.00457127479075,0.0498503993434,0.999999962049,5.35119539439e-05,-0.0002665848878,-4.43924625286e-05,1793192492432510976
+64,1.066666667,BASELINE,764.125340507,742.125340507,710.874659493,672,666.749318986,632.125340507,876,783,799,650.125340507,629,651,0.400968150379,0.00457116012438,0.0498497891066,0.999999961812,5.26587189372e-05,-0.000267556429729,-4.4907563437e-05,1793192492449177600
+65,1.083333333,BASELINE,764.727060043,742.727060043,710.272939957,672,665.545879913,632.727060043,876,783,799,650.727060043,629,651,0.400969494796,0.00457226342702,0.0498503338002,0.999999962059,5.45649462051e-05,-0.000266268463281,-4.47950917765e-05,1793192492465844224
+66,1.100000000,BASELINE,764.685535294,742.685535294,710,672,665,632.685535294,876,783,799,650.685535294,629,651,0.400970588968,0.00457183253429,0.0498513483967,0.999999962425,5.48955954736e-05,-0.000264882430258,-4.44292797858e-05,1793192492482510848
+67,1.116666667,BASELINE,764.11001431,742.11001431,710,672,665,632.11001431,876,783,799,650.11001431,629,651,0.400971475397,0.00457012801261,0.0498527530883,0.999999962891,5.39182615186e-05,-0.000263414986273,-4.38531545836e-05,1793192492499177984
+68,1.133333333,BASELINE,764.463669894,742.463669894,710,672,665,632,876,783,799,650,629,651,0.400970700649,0.00457086000639,0.049852169265,0.999999962662,5.3757444793e-05,-0.000264297823758,-4.3974600549e-05,1793192492515844608
+69,1.150000000,BASELINE,764.961770359,743,710,672,665,632,876,783,799,650,628.961770359,651,0.40096958397,0.00457200708836,0.0498511624575,0.999999962296,5.37037186528e-05,-0.000265645407092,-4.42396596318e-05,1793192492532511488
+70,1.166666667,BASELINE,764.368186443,743,710,672,665,632,876,783,799,650,628.368186443,651,0.400969203204,0.0045708191408,0.04985083792,0.999999962359,5.24024471492e-05,-0.000265675381929,-4.41960885641e-05,1793192492549177856
+71,1.183333333,BASELINE,764,743,710,671.780988673,665.219011327,632.219011327,875.780988673,783,799,650,628.219011327,651,0.400969202597,0.00457027817486,0.0498506117998,0.999999962383,5.1555972214e-05,-0.000265742891319,-4.42374676988e-05,1793192492565844224
+72,1.200000000,BASELINE,764,743,710,671.204222571,665.795777429,632.795777429,875.204222571,783,799,650,628.795777429,651,0.40096982298,0.00457079405251,0.0498505464441,0.999999962346,5.14524067946e-05,-0.000265871713369,-4.44176128939e-05,1793192492582510848
+73,1.216666667,BASELINE,764,743,710,671,665.627660185,633,875.372339815,783.372339815,799,650,629,651,0.400970282068,0.0045707192259,0.0498508334417,0.999999962453,5.14603007169e-05,-0.000265474466076,-4.43857301964e-05,1793192492599177472
+74,1.233333333,BASELINE,764,743,710,671,665.051209505,633,875.948790495,783.948790495,799,650,629,651,0.400970652737,0.00457032058441,0.049851313594,0.999999962637,5.15292949134e-05,-0.000264788835789,-4.42376171135e-05,1793192492615844352
+75,1.250000000,BASELINE,764,742.464648394,710,671.535351606,665,632.464648394,875.464648394,783.464648394,799,650.535351606,628.464648394,651,0.400968650061,0.00457243383478,0.0498499570725,0.999999961919,5.44980734919e-05,-0.000266848768182,-4.45275436284e-05,1793192492632510976
+76,1.266666667,BASELINE,764.121186995,742.121186995,710,672,665,632,875.121186995,783,799.121186995,650.878813005,628.121186995,651.121186995,0.400967074321,0.0045742172268,0.049848978126,0.999999961327,5.72105299227e-05,-0.000268456314839,-4.47777103226e-05,1793192492649177856
+77,1.283333333,BASELINE,764.700551755,742.700551755,710,672,665,632,875.700551755,783,799.700551755,650.299448245,628.700551755,651.700551755,0.400967987566,0.0045738275925,0.049850103717,0.999999961589,5.78850000343e-05,-0.00026734145576,-4.47160882738e-05,1793192492665844992
+78,1.300000000,BASELINE,764.721578867,743,710.278421133,672,665.278421133,632.278421133,876,783,799.721578867,650,628.721578867,651.721578867,0.400969171358,0.00457271321656,0.0498510666257,0.99999996198,5.72267226029e-05,-0.000266062415619,-4.44399376079e-05,1793192492682511616
+79,1.316666667,BASELINE,764.145309251,743,710.854690749,672,665.854690749,632.854690749,876,783,799.145309251,650,628.145309251,651.145309251,0.400970644575,0.00457082352882,0.0498518555007,0.999999962506,5.51427026541e-05,-0.000264607738448,-4.39342891966e-05,1793192492699178240
+80,1.333333333,BASELINE,764,742.57180048,710.57180048,672,665.57180048,632.57180048,876,783,799,650,628,651,0.400970114948,0.00457022068159,0.0498511811321,0.999999962547,5.41274521675e-05,-0.000264674225042,-4.38524408372e-05,1793192492715844608
+81,1.350000000,BASELINE,764,742,710.000804245,672,665.000804245,632,876,783,799,650,628.000804245,651,0.400968912686,0.00457005065419,0.0498500160853,0.999999962427,5.34697311358e-05,-0.000265251900945,-4.39133129697e-05,1793192492732510720
+82,1.366666667,BASELINE,764,742,710.593119193,672,665.593119193,632,876,783,799,650,628.593119193,651,0.40096967812,0.00456909279639,0.049850830723,0.999999962753,5.07281548441e-05,-0.000264572045209,-4.38458563215e-05,1793192492749177344
+83,1.383333333,BASELINE,764,742,710.818903342,672,665.818903342,632,876,783,799,650,628.818903342,651,0.400970450388,0.00456914836626,0.0498514572192,0.999999962977,5.00712260668e-05,-0.000263855018726,-4.38174706133e-05,1793192492765843968
+84,1.400000000,BASELINE,764,742,710.240443102,672,665.240443102,632,876,783,799,650,628.240443102,651,0.400971237649,0.00457142760619,0.0498516708941,0.999999962981,5.39884452501e-05,-0.000263056431797,-4.38748146284e-05,1793192492782510848
+85,1.416666667,BASELINE,764,742,710,672,665,632,876,783,799,650,628.336955916,651,0.400970866541,0.00457181133499,0.0498514482018,0.999999962822,5.47375600613e-05,-0.000263489929504,-4.39715112928e-05,1793192492799177472
+86,1.433333333,BASELINE,764,742,710,672,665,632,876,783,799,650,628.913600016,651,0.400969671447,0.00457084672223,0.0498509151068,0.999999962551,5.32330944201e-05,-0.000264799850897,-4.40962008299e-05,1793192492815844352
+87,1.450000000,BASELINE,764,742,710.497397253,672,665,632.497397253,876,783,799,650,629,651,0.400968694162,0.00457193235898,0.0498502313451,0.99999996225,5.44136141423e-05,-0.000265665643466,-4.42725683539e-05,1793192492832511232
+88,1.466666667,BASELINE,764,742,710.918188023,672,665.081811977,633,876,783.081811977,799,650,628.918188023,651,0.400967904752,0.00457307550114,0.0498496290901,0.999999962,5.57168281975e-05,-0.000266310450841,-4.44241961053e-05,1793192492849177856
+89,1.483333333,BASELINE,764,742,710.33769374,672,665.66230626,633,876,783.66230626,799,650,628.33769374,651,0.400968026539,0.00457236666995,0.0498496855119,0.999999962109,5.48835563139e-05,-0.000266085358659,-4.43695079004e-05,1793192492865844224
+90,1.500000000,BASELINE,764.241739477,742,710.241739477,672,665.758260523,632.758260523,875.758260523,783.758260523,799,650,628,651,0.400967877522,0.00457205341293,0.0498497010898,0.999999962121,5.41089539802e-05,-0.000266201968558,-4.43505929746e-05,1793192492882510592
+91,1.516666667,BASELINE,764.819696885,742,710.819696885,672,665.180303115,632.180303115,875.180303115,783.180303115,799,650,628,651,0.400967351865,0.00457229033143,0.0498496598611,0.999999961999,5.34159509434e-05,-0.000266793827155,-4.43814325165e-05,1793192492899177216
+92,1.533333333,BASELINE,764.604584064,742,710.604584064,672,665,632.395415936,875.395415936,783,799,650.395415936,628.395415936,651,0.400967640424,0.00457190796043,0.0498496083178,0.999999962033,5.28173667561e-05,-0.000266779542599,-4.44211292292e-05,1793192492915844352
+93,1.550000000,BASELINE,764.02987987,742,710.02987987,672,665,632.97012013,875.97012013,783,799,650.97012013,628.97012013,651,0.400968298162,0.00457124479314,0.0498495520978,0.999999962137,5.22615936078e-05,-0.000266490422562,-4.44648419352e-05,1793192492932511232
+94,1.566666667,BASELINE,764,742,710,672,665.557736581,633,876,783,799,650.442263419,628.442263419,651,0.400970429623,0.00457301112469,0.0498514022803,0.999999962808,5.44881254391e-05,-0.000263495335222,-4.45566511638e-05,1793192492949177856
+95,1.583333333,BASELINE,764.143830763,742.143830763,710,672.143830763,665.856169237,632.856169237,876.143830763,783,799.143830763,650.143830763,628.143830763,651,0.400971888925,0.00457368554416,0.0498526972546,0.999999963293,5.55185239542e-05,-0.000261426491358,-4.45848155805e-05,1793192492965844736
+96,1.600000000,BASELINE,764.723171532,742.723171532,710,672.723171532,665.276828468,632.276828468,876.723171532,783,799.723171532,650.723171532,628.723171532,651,0.400971068245,0.00457065028095,0.049851994516,0.999999963155,5.24650774094e-05,-0.000262611607115,-4.44122807809e-05,1793192492982511104
+97,1.616666667,BASELINE,764.699063518,742.699063518,710.300936482,672.699063518,665,632,876.699063518,783,799.699063518,650.699063518,628.699063518,651,0.4009703406,0.00457012529389,0.0498512168259,0.999999962872,5.24577145053e-05,-0.000263695629616,-4.43803506333e-05,1793192492999177728
+98,1.633333333,BASELINE,764.122740631,742.122740631,710.877259369,672.122740631,665,632,876.122740631,783,799.122740631,650.122740631,628.122740631,651,0.400969698091,0.00457189745598,0.0498503705477,0.999999962456,5.52378171533e-05,-0.000264687141799,-4.44770875466e-05,1793192493015844352
+99,1.650000000,BASELINE,764,742,710.546750935,672,665,632.453249065,876,783,799,650,628.453249065,651,0.400970149263,0.00457223042997,0.0498504811489,0.999999962525,5.60399650737e-05,-0.000264276059224,-4.43559363373e-05,1793192493032510976
+100,1.666666667,BASELINE,764,742,710,672,665.029808508,633,875.970191492,783,799,650,629,651,0.40097080991,0.00457214321829,0.049850837999,0.999999962709,5.62768159628e-05,-0.000263559990742,-4.4178511879e-05,1793192493049177344
+101,1.683333333,BASELINE,764,742,710,672,665.618746249,633,875.381253751,783,799,650,629,651,0.400969848473,0.00457147945513,0.0498509569069,0.999999962552,5.59498779103e-05,-0.000264242474847,-4.40515050983e-05,1793192493065843968
+102,1.700000000,BASELINE,764,742,710.204243109,672,666,632.795756891,875.204243109,783,799.204243109,650,629,651,0.400969337464,0.00457086635581,0.0498510849187,0.999999962524,5.53038791015e-05,-0.000264493937646,-4.40119884365e-05,1793192493082510848
+103,1.716666667,BASELINE,764,742,710.783423341,672,666,632.216576659,875.783423341,783,799.783423341,650,629,651,0.400969653324,0.00457034626216,0.0498512296431,0.999999962728,5.40721679269e-05,-0.000263954157574,-4.41330808474e-05,1793192493099177728
+104,1.733333333,BASELINE,764,742,710.639863066,672,665.639863066,632,876,783,799.639863066,650,629,651,0.400970680898,0.00456950796996,0.0498518685604,0.999999963102,5.26850978583e-05,-0.000262843672086,-4.39754248102e-05,1793192493115844096
+105,1.750000000,BASELINE,764,742,710.064622697,672,665.064622697,632,876,783,799.064622697,650,629,651,0.400972133568,0.00456847962332,0.0498528026504,0.999999963573,5.12052345459e-05,-0.000261392314274,-4.36512772558e-05,1793192493132510976
+106,1.766666667,BASELINE,764,742,710.521318655,672,665,632.521318655,876,783,799,650.521318655,629,651,0.400973345999,0.00457176594269,0.0498527794126,0.99999996358,5.38459724954e-05,-0.000260754971293,-4.41386220988e-05,1793192493149177600
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,673,665,632,876,783,799,650,629,651,0.40097223615,0.00457163651375,0.0498523516462,0.999999963326,5.52351705868e-05,-0.000261418211531,-4.42462801996e-05,1793192493191544320
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.577170726,742,711,672.422829274,665.577170726,632.577170726,876,783,799,650,628.422829274,651,0.40097224459,0.00457024720406,0.049852499091,0.999999963452,5.35135554113e-05,-0.000261335903216,-4.39955253896e-05,1793192493208211456
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.153356967,710.846643033,672.153356967,666,633,876,783,799.153356967,650.153356967,628.153356967,650.846643033,0.400972119827,0.0045697136796,0.0498526010372,0.999999963483,5.2959458355e-05,-0.000261344953895,-4.3913539399e-05,1793192493224878336
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.72684627,710.27315373,672.72684627,666,633,876,783,799.72684627,650.72684627,628.72684627,650.27315373,0.400971630143,0.00457152463943,0.0498525783366,0.999999963255,5.56038599878e-05,-0.000261604289031,-4.42939075587e-05,1793192493241544960
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.690523803,710,672.690523803,666,633,876,783.309476197,799.690523803,650.690523803,629,650.309476197,0.400970587757,0.00457165280715,0.049851966552,0.999999962951,5.56283653026e-05,-0.00026274440373,-4.4369318594e-05,1793192493258211328
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+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,710.198282838,672,665.198282838,632.801717162,876.198282838,783,799,650.801717162,629,651,0.40100378489,0.0045709637384,0.0498647240703,0.999999969103,5.19754675373e-05,-0.000239080903322,-4.39647590161e-05,1793192493358210816
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,710.38379385,672,665,633,876,783,799,650.61620615,629,651,0.401043567888,0.00457037787073,0.0498791257788,0.999999975825,5.17401580532e-05,-0.000209221762695,-4.35898235877e-05,1793192493374877440
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,710.963393812,672,665,633,876,783,799,650.036606188,629,651,0.401093679912,0.00457046380678,0.0498970042931,0.99999998293,5.31546703517e-05,-0.000171597587486,-4.32191263739e-05,1793192493391544320
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.458941493,876.541058507,783,799,650,629,651,0.401162645267,0.00457030471089,0.0499154537287,0.999999988962,5.31755388248e-05,-0.000131940711526,-4.28905910477e-05,1793192493408210944
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.118038733,876.881961267,783,799,650.118038733,628.881961267,651,0.401233077001,0.00456956450731,0.0499310872031,0.999999992753,5.22093951497e-05,-9.98689957502e-05,-4.23516564653e-05,1793192493424877824
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.692875196,876.307124804,783,799,650.692875196,628.307124804,651,0.401304264827,0.00456663940339,0.0499356742545,0.999999993247,4.77872055579e-05,-9.76813702378e-05,-4.09874989189e-05,1793192493441544448
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,672.274374966,665,633,876,783.274374966,799.274374966,651,628.274374966,651,0.40138401104,0.004564267284,0.0499378148729,0.999999993407,4.4166148659e-05,-9.82299198265e-05,-3.98197232599e-05,1793192493458210816
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,672.863518995,665,633,876,783.863518995,799.863518995,651,628.863518995,651,0.401473575621,0.00456252956093,0.0499371488887,0.999999993191,4.14641692659e-05,-0.000101917470468,-3.88772413512e-05,1793192493474877184
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.44508554,711,672.55491446,665.44508554,633,875.55491446,783.55491446,799.55491446,650.55491446,629,651,0.401585129174,0.00456163561139,0.049937601761,0.999999993059,4.20917464372e-05,-0.000103446185342,-3.75500064002e-05,1793192493491544064
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,711,672,665.975712631,633,875.024287369,783,799,650,628.975712631,651,0.401704947305,0.0045608395264,0.0499385492659,0.999999993001,4.33495540163e-05,-0.000104000969197,-3.60880382737e-05,1793192493508210944
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,711,672,665.398333594,633,875.601666406,783,799,650,628.398333594,651,0.401861993357,0.00455647860902,0.0499430786986,0.99999999404,3.60982165893e-05,-9.71995152838e-05,-3.41995919294e-05,1793192493524877824
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,743,711,672,665.177700006,632.822299994,876,783,799.177700006,650,628.177700006,651,0.40202368194,0.00455284878711,0.0499452452061,0.99999999452,2.95790202035e-05,-9.50252510732e-05,-3.2497554437e-05,1793192493541544448
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,743,711,672,665.750740253,632.249259747,876,783,799.750740253,650,628.750740253,651,0.402195699028,0.00455084547927,0.0499421547667,0.999999993889,2.46886644384e-05,-0.000103145384108,-3.12102325517e-05,1793192493558211072
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.665836827,710.665836827,672,665.665836827,632.334163173,875.665836827,783,799.665836827,650,629,651,0.40239527111,0.0045481344599,0.0499405567833,0.999999993598,2.12048261393e-05,-0.000107245746094,-2.9201470189e-05,1793192493574877440
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.07442083,710.07442083,672,665.07442083,632.92557917,875.07442083,783,799.07442083,650,629,651,0.402616056201,0.00454487861431,0.0499401077547,0.999999993609,1.88037834517e-05,-0.000108251520619,-2.66373125566e-05,1793192493591544064
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,710,672,665.505693251,633,875.505693251,783,799,650,628.494306749,651,0.402875689943,0.00454171220222,0.0499455937354,0.999999994799,1.46009533024e-05,-9.7855344738e-05,-2.4779272643e-05,1793192493608210432
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,710.083846722,672,665.916153278,632.916153278,876,783,799.083846722,650,628.083846722,651,0.403147899243,0.00453834535593,0.0499522348159,0.999999996084,1.00297829352e-05,-8.49004507817e-05,-2.28595952454e-05,1793192493624877312
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,710.660040872,672,665.339959128,632.339959128,876,783,799.660040872,650,628.660040872,651,0.403461114793,0.00453372596494,0.0499606419731,0.999999997574,4.81870971386e-06,-6.65584611612e-05,-1.99811246291e-05,1793192493641544192
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,710.764855957,672,665.235144043,632,876.235144043,783.235144043,799.764855957,650,629,651,0.403788963094,0.00452886991414,0.0499681674391,0.999999998573,2.17842550546e-07,-5.0686046546e-05,-1.68914071649e-05,1793192493658210816
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,710.191322817,672,665.808677183,632,876.808677183,783.808677183,799.191322817,650,629,651,0.40413786895,0.00452367329325,0.0499744240878,0.999999999167,-3.5048941346e-06,-3.83675281263e-05,-1.34976905552e-05,1793192493674877696
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,710.394565516,672,666,632.394565516,876.605434484,783.605434484,799,650,628.605434484,651,0.404523122251,0.00451684225689,0.0499804525539,0.99999999959,-1.06071791889e-05,-2.46380377598e-05,-1.00429502094e-05,1793192493691544320
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,710.986638465,672,666,632.986638465,876.013361535,783.013361535,799,650,628.013361535,651,0.404926569961,0.0045091930823,0.0499863667986,0.999999999738,-1.94011626997e-05,-1.02022583483e-05,-6.55766334732e-06,1793192493708210944
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711,672,666,633,876,783,799.565340592,650,628.565340592,651,0.405336085863,0.00450297238077,0.0499733306215,0.999999999027,-2.53735232993e-05,-3.59850575132e-05,-2.75384722633e-06,1793192493724877312
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.142929233,742.142929233,711,672.142929233,666,632.857070767,876,783.142929233,799.857070767,650,629,650.857070767,0.405752230042,0.00449718687277,0.0499577821888,0.999999997365,-3.04575478959e-05,-6.58952180544e-05,8.47394311049e-07,1793192493741544192
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.718084083,742.718084083,711,672.718084083,666,632.281915917,876,783.718084083,799.281915917,650,629,650.281915917,0.406187994727,0.0044926176774,0.0499359596938,0.999999993884,-3.30522034818e-05,-0.000105478648057,3.81379888637e-06,1793192493758210816
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.700688079,743,711,672.700688079,666,632,876,783.700688079,799,650,629,650.299311921,0.406649622027,0.00448603619717,0.0499186142121,0.999999990129,-3.8653530528e-05,-0.000134879344754,7.50525865658e-06,1793192493774877440
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.113621685,743,711,672.113621685,666,632,876,783.113621685,799,650,629,650.886378315,0.407136113353,0.00447752013269,0.0499055728685,0.999999986884,-4.71454315992e-05,-0.000154490502696,1.18937771374e-05,1793192493791544320
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743,711,672,666,632.468016902,876,783,799.468016902,650,629,651,0.407713612417,0.00446886030344,0.0499177937129,0.999999990787,-4.2488519772e-05,-0.000127869578421,1.64262808801e-05,1793192493808210944
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,711,672,666,633,876.047888866,783,799.952111134,650,628.952111134,651,0.408315866444,0.00446012685541,0.0499371630942,0.999999995398,-2.95684725382e-05,-8.88053768166e-05,2.10619701874e-05,1793192493824877568
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,711,672,666,633,876.622656204,783,799.377343796,650,628.377343796,651,0.408950181867,0.00445096303424,0.0499684794677,0.999999998259,3.95455106476e-05,-3.49095345544e-05,2.6452744592e-05,1793192493841544448
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,710.802097954,672,666,632.802097954,876.802097954,783,799,650,628,650.802097954,0.409582389181,0.00444438989507,0.0499898479299,0.999999996324,7.98014846658e-05,-6.2481362881e-07,3.13638962963e-05,1793192493858210816
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,710.225937562,672,666,632.225937562,876.225937562,783,799,650,628,650.225937562,0.41021056714,0.00444276843389,0.0499922025369,0.999999997262,6.48999511799e-05,-3.82364187237e-06,3.53583253395e-05,1793192493874877184
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,710.358201826,672,666,632,876,783.358201826,799,650.358201826,628,650,0.410816794638,0.00445048682112,0.0499717001352,0.999999997925,2.2824396149e-05,-5.34512668372e-05,2.77830587803e-05,1793192493891544320
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,710.947488641,672,666,632,876,783.947488641,799,650.947488641,628,650,0.411408861317,0.00446423057908,0.0499364521033,0.999999990394,-3.67818019723e-05,-0.000133031273564,1.2743890768e-05,1793192493908211200
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.52956622,743,711,672,666,632.52956622,876,783.47043378,799.52956622,650.47043378,628.52956622,650.52956622,0.412130481504,0.00447360555925,0.049929790513,0.999999991589,-1.56493768015e-05,-0.000128015506424,1.37591583903e-05,1793192493924877568
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,711,672,666.109457709,632.890542291,876.109457709,783,800,650,629,651,0.412872193384,0.00447805333415,0.0499315329102,0.999999993888,7.01561470975e-06,-0.000109059178109,1.67873835374e-05,1793192493941544192
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,711,672,666.683069603,632.316930397,876.683069603,783,800,650,629,651,0.413645360183,0.00446341967469,0.0499570536356,0.999999997578,2.68613451415e-06,-6.60814398468e-05,2.16915725748e-05,1793192493958210816
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.735926172,743,711,672.264073828,666.735926172,632.264073828,876.735926172,783,799.735926172,650,628.735926172,651,0.414391483242,0.00445400443326,0.0499629393784,0.999999998139,-2.23673121077e-06,-5.60133895906e-05,2.405246676e-05,1793192493974877440
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.145794391,743,711,672.854205609,666.145794391,632.854205609,876.145794391,783,799.145794391,650,628.145794391,651,0.415104214885,0.00445103248911,0.0499445813656,0.99999999595,-7.89226410083e-06,-8.65796727887e-05,2.32730977155e-05,1793192493991544320
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.564142229,711,672.564142229,666,633,876.435857771,783,799,650,628,650.564142229,0.415862087233,0.00445114926609,0.0499259110877,0.999999992941,-1.14308844937e-05,-0.000116255111246,2.17160165937e-05,1793192494008210944
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.014636443,711,672.014636443,666,632.985363557,877,783,799,650.014636443,628,650.014636443,0.416636986112,0.00445235072533,0.0499084319073,0.999999989413,-1.41588951836e-05,-0.000143433641382,2.00007669464e-05,1793192494024877568
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.589923552,711,672.589923552,666,632.410076448,877,783,799,650.589923552,628,650.589923552,0.417496737385,0.0044562803603,0.0499405025268,0.999999995968,-1.24429074588e-05,-8.61644917061e-05,2.20015531105e-05,1793192494041544192
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.164621551,742.835378449,711,672.835378449,666,632,876.835378449,783,799,651,628,651,0.418338401134,0.00445875821238,0.0499646740908,0.999999998595,-8.45562301109e-06,-4.63169863813e-05,2.43596350944e-05,1793192494058210816
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.737857259,742.262142741,711,672.262142741,666,632,876.262142741,783,799,651,628,651,0.41913516902,0.00445763253212,0.049969239071,0.999999998383,1.16934351534e-06,-4.9712490032e-05,2.76045762729e-05,1793192494074877440
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,742.322030734,711,672,666,632,876,783,799,650.677969266,628,651,0.419930665352,0.00445662002167,0.0499593974521,0.999999997543,4.83506262016e-06,-6.38399123204e-05,2.85547045721e-05,1793192494091544064
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,742.915420897,711,672,666,632,876,783,799,650.084579103,628,651,0.420725090169,0.0044557028739,0.0499374161018,0.999999995828,3.47921713636e-06,-8.7010593328e-05,2.75711069838e-05,1793192494108210944
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.503614398,743,711,672.496385602,666,632,876,783,799.496385602,650,628,651,0.421608313494,0.00445062831019,0.0499572674635,0.999999998635,-4.8884784377e-06,-4.43354859783e-05,2.7226221244e-05,1793192494124877568
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.925369748,711,673,666,632.074630252,876.074630252,783,799.925369748,650,628,650.925369748,0.422498659558,0.00444586585743,0.049979431561,0.999999999555,-1.26339458554e-05,-2.47243163985e-08,2.70318900159e-05,1793192494141544192
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.351504178,711,673,666,632.648495822,876.648495822,783,799.351504178,650,628,650.351504178,0.423337910262,0.00444781422056,0.049970549443,0.999999999435,-8.4200087858e-06,-1.79915521459e-05,2.71344514732e-05,1793192494158210816
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.222869242,711,673,666,632.777130758,877,783,799,650,628.222869242,650.222869242,0.424174559569,0.00444904467228,0.0499630416933,0.99999999911,-6.70214511485e-06,-3.12647056882e-05,2.75215254526e-05,1793192494174877440
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.798045549,711,673,666,632.201954451,877,783,799,650,628.798045549,650.798045549,0.42500709677,0.00444914026487,0.0499577065149,0.999999998869,-8.93002173898e-06,-3.71181992719e-05,2.835835094e-05,1793192494191544064
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.615480295,711,672.615480295,666,632,877,783,799,650,628.615480295,650.615480295,0.425844885284,0.00444675042991,0.0499707978644,0.999999999275,-5.09681138587e-06,-2.26990943538e-05,3.01427322724e-05,1793192494208210688
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.022892782,711,672.022892782,666,632,877,783,799,650,628.022892782,650.022892782,0.42668551529,0.00444301570297,0.0499938600095,0.999999999468,2.01611937781e-06,2.68973509876e-06,3.24398463409e-05,1793192494224877568
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.556636027,711,672.556636027,666,632,877,783,799,650,628,650,0.427467330977,0.00444125260351,0.0499761472746,0.999999998387,-4.2589854314e-06,-4.50508593591e-05,3.43232831278e-05,1793192494241544192
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.13420502,742.86579498,711,673,666,632,877.13420502,783,799,650,628,650,0.428253825839,0.00444098983582,0.0499560767754,0.999999995341,-8.93265737506e-06,-8.93913244986e-05,3.53133357045e-05,1793192494258211072
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.707083226,742.292916774,711,673,666,632,877.707083226,783,799,650,628,650,0.429063340621,0.00444537219932,0.0499336552654,0.999999993033,-6.61324545668e-06,-0.00011301233516,3.34375381977e-05,1793192494274878208
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,742.288181834,710.711818166,673,666.288181834,632,877.711818166,783,799,650,628.288181834,650,0.42987237326,0.00444561238542,0.0499320927681,0.999999994,-3.24939101814e-06,-0.000104546674466,3.25435417467e-05,1793192494291544832
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,742.877881211,710.122118789,673,666.877881211,632,877.122118789,783,799,650,628.877881211,650,0.430680901394,0.0044415187132,0.0499523545426,0.999999997512,1.2072377188e-06,-6.25095195714e-05,3.26767796073e-05,1793192494308210944
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.540874521,743,710.459125479,673,666.540874521,632,877,783,799,650,629,650,0.431428260264,0.0044399454459,0.0499426438849,0.999999996094,-9.12285202541e-07,-8.19353099904e-05,3.31175941647e-05,1793192494324877568
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632,877.038024518,782.961975482,799.038024518,650,629,650,0.432160727562,0.00443878139023,0.0499262676644,0.999999992863,-5.1414520406e-06,-0.000114532665154,3.36259857244e-05,1793192494341544192
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632,877.614981256,782.385018744,799.614981256,650,629,650,0.432908559402,0.00443408752702,0.0499263662961,0.999999993662,-1.49285199594e-05,-0.000106299399959,3.39536208676e-05,1793192494358210816
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.808686687,711,672.808686687,666.191313313,632,877.808686687,782.191313313,799.808686687,650,629,650,0.433659639093,0.00443182480752,0.0499364406175,0.999999995671,-1.60679994408e-05,-8.51015008665e-05,3.40127979222e-05,1793192494374877440
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.233607607,711,672.233607607,666.766392393,632,877.233607607,782.766392393,799.233607607,650,629,650,0.434417233958,0.00443443885038,0.0499665257167,0.99999999872,1.3918668164e-07,-3.78971368425e-05,3.3533460327e-05,1793192494391544320
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711,672.350162427,666.649837573,632,877,783,799,650,629,650,0.435108274903,0.00443570541809,0.0499806007392,0.999999999154,3.20826910597e-06,-2.18985248501e-05,3.46863048435e-05,1793192494408210688
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672.939878085,666.060121915,632,877,783,799,650,629,650,0.435753784914,0.00443605015052,0.0499837229413,0.999999998942,-2.71069311214e-06,-2.72484047105e-05,3.69557583717e-05,1793192494424877312
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.519321299,711,673,666,632.519321299,877,782.480678701,800.038642599,650,629,650,0.43634899471,0.00443328816688,0.0499549218364,0.999999995549,-8.48148994563e-06,-8.56893667236e-05,3.85704592929e-05,1793192494441544960
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711,673,666.097261417,632.902738583,877,782.097261417,800.902738583,650,628.902738583,650,0.436946555489,0.00443055200962,0.0499304537485,0.999999990375,-1.31705428959e-05,-0.000132238501462,3.98782443708e-05,1793192494458212096
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711,673,666.673542157,632.326457843,877,782.673542157,800.326457843,650,628.326457843,650,0.437583818689,0.00442968006576,0.0499451749257,0.99999999502,-1.261477281e-05,-9.05354435515e-05,4.00405309901e-05,1793192494474877952
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711,673,667,632,877,783,799.745767862,650,628.254232138,650,0.438200893072,0.00443059881066,0.0499621086638,0.999999997727,-9.64191152254e-06,-5.28563619689e-05,4.07407599381e-05,1793192494491543808
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711,673,667,632,877,783,799.159316122,650,628.840683878,650,0.43879158553,0.00443385755054,0.0499819336799,0.999999998897,-3.51049966051e-06,-2.04356426321e-05,4.21439487688e-05,1793192494508210432
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711,673,666.577955708,632,877,783,799.422044292,650,629,650,0.439307342636,0.00443834686703,0.0499700072724,0.999999998301,2.34329610216e-07,-3.95960164288e-05,4.27720122192e-05,1793192494524877568
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.001493988,742.998506012,711,673,666.001493988,632,877,783,799.998506012,650,629,650.001493988,0.439795018915,0.00444328039552,0.049946239167,0.999999996024,3.06559640647e-06,-7.79981494026e-05,4.31106230042e-05,1793192494541544448
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.576427576,742.423572424,711,673,666.576427576,632,877,783,799.423572424,650,629,650.576427576,0.440232435968,0.00444254176005,0.0499229235691,0.999999992163,-3.0840001081e-06,-0.000117424408837,4.33184245134e-05,1793192494558211328
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.848105026,742,711,673,667,632.151894974,877,783,799,650,629,650.848105026,0.440672293071,0.00444190165637,0.0499075288702,0.999999988769,-1.95893101881e-05,-0.00014298969877,4.0400376259e-05,1793192494574878464
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.271143674,742,711,673,667,632.728856326,877,783,799,650,629,650.271143674,0.441118978562,0.00444153728612,0.0499143001918,0.99999998905,-6.50742880902e-05,-0.000129766142887,2.8734878463e-05,1793192494591545344
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.312589173,711,673,667,632.687410827,877.312589173,783,799,650,629,650,0.441543760752,0.00443733942727,0.0499242800628,0.999999989684,-8.62466534562e-05,-0.000112103010563,2.50130372021e-05,1793192494608211712
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.902325718,711,673,667,632.097674282,877.902325718,783,799,650,629,650,0.441949123041,0.00442974272616,0.0499371046931,0.999999991817,-8.58630018164e-05,-9.05036681587e-05,2.83341902671e-05,1793192494624877824
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711,673,666.516519103,632,877.516519103,783,799,650,628.516519103,650,0.442303580706,0.00442853965683,0.0499352050359,0.999999995082,-2.7439838412e-05,-9.05374725786e-05,2.97772948466e-05,1793192494641544192
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711,673.062571196,666,632,877,783,799.062571196,650,628.062571196,650,0.442640066466,0.00442895585414,0.0499290773734,0.99999999415,3.47428997563e-05,-9.76942361224e-05,3.0800199303e-05,1793192494658210816
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711,673.638694683,666,632,877,783,799.638694683,650,628.638694683,650,0.442911981104,0.00443224575319,0.0499122369978,0.999999990753,3.32252039976e-05,-0.000128068202336,3.14340059389e-05,1793192494674877696
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711,673.78162943,666,632,877,783,800,650,629,650,0.443172061605,0.00443487157837,0.0498954166305,0.999999986655,3.10313028034e-05,-0.000157157877884,3.20674708429e-05,1793192494691544576
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711,673.19597878,666,632,877,783,800,650,629,650,0.443412238101,0.00443638048942,0.0498786299171,0.999999982138,2.77000837543e-05,-0.00018408748658,3.27003609437e-05,1793192494708212224
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,710.614187137,673.385812863,666,632,877,783,799.614187137,650,629,650,0.443627804068,0.0044438220438,0.0498622924521,0.999999976757,3.05865439174e-05,-0.000210818910236,3.32452230386e-05,1793192494724878592
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,710.034336263,673.965663737,666,632,877,783,799.034336263,650,629,650,0.443830992608,0.00445424732028,0.0498461809274,0.999999970569,3.66000796629e-05,-0.000237450662448,3.37458129913e-05,1793192494741544192
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,710.543736473,674,666,632,878.087472946,782.456263527,799,650.543736473,629,650,0.444022695269,0.00447330999249,0.0498472955629,0.999999969874,5.38488104193e-05,-0.000237286115389,3.23778378873e-05,1793192494758210816
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,673.879097865,666,632,878.758195731,782.120902135,799.120902135,650.879097865,629,650,0.444206597136,0.00448772383797,0.0498493092541,0.999999969643,6.66943227003e-05,-0.000235107445997,3.14710096806e-05,1793192494774877440
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,673.304913203,666,632,877.609826405,782.695086797,799.695086797,650.304913203,629,650,0.444363963038,0.00448267016928,0.0498506285683,0.999999970799,6.03801094663e-05,-0.000231700976084,3.27340492429e-05,1793192494791544064
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.276214284,743,711,673,666,631.723785716,877,783,799.723785716,650,629,650,0.444505673228,0.00447840450791,0.049848830592,0.999999970629,5.46332686232e-05,-0.000233753408804,3.34216346142e-05,1793192494808210688
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.865203537,743,711,673,666,631.134796463,877,783,799.134796463,650,629,650,0.444629655452,0.00447503115757,0.0498435027098,0.999999968935,4.95288999349e-05,-0.000241987303721,3.34575965966e-05,1793192494824877568
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.553448123,743,711,673,665.553448123,631.446551877,877,783,799.446551877,650,629,650,0.444729666717,0.00447542875591,0.0498394910061,0.999999967625,4.98492097912e-05,-0.000247392347411,3.25855784977e-05,1793192494841544448
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,710.974450153,673.025549847,665.025549847,632,877,783,799.974450153,650,629,650,0.44482167965,0.0044767980499,0.0498359618289,0.999999966471,5.16557459965e-05,-0.000251788602774,3.14947874665e-05,1793192494858211584
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,710.397237205,673.602762795,665.602762795,632,877,783,799.397237205,650,629,650,0.444894601915,0.00447498353103,0.049834417088,0.999999966328,5.07908959782e-05,-0.000252530801878,3.14986846126e-05,1793192494874877696
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742.817689039,710.182310961,673.817689039,666,631.817689039,877.182310961,783,799,650,629,650,0.444961702478,0.00447383342663,0.0498330292484,0.999999966281,5.0581873164e-05,-0.000252759214862,3.1489848734e-05,1793192494891544320
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742.232986724,710.767013276,673.232986724,666,631.232986724,877.767013276,783,799,650,629,650,0.445015953544,0.00447414979841,0.0498319877169,0.999999966448,5.18203728387e-05,-0.000251853614248,3.14529089e-05,1793192494908210944
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.348513131,742.348513131,711,673.348513131,666,631,877.651486869,783,799.348513131,650,629,650,0.445058912283,0.00447501547786,0.0498297824287,0.999999965864,5.24099599748e-05,-0.000254071390426,3.12041101947e-05,1793192494924877568
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.927891641,742.927891641,711,673.927891641,666,631,877.072108359,783,799.927891641,650,629,650,0.445094390657,0.00447624503495,0.0498268062337,0.999999964769,5.25696884255e-05,-0.000258358183434,3.08149699193e-05,1793192494941544448
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,742.493816333,711,674,666,631.506183667,877,783,800,650,628.493816333,650,0.445117410423,0.00447573707175,0.0498244103504,0.999999963751,5.34397081972e-05,-0.000262107031059,3.06929252625e-05,1793192494958211072
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.915848474,742.084151526,711,674,666,631.915848474,877,782.915848474,799.915848474,650,628,650.084151526,0.445137347774,0.00447504715829,0.0498222982848,0.999999962816,5.42045515012e-05,-0.000265506452317,3.06014655721e-05,1793192494974877696
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.338874339,742.661125661,711,674,666,631.338874339,877,782.338874339,799.338874339,650,628,650.661125661,0.445149604936,0.00447473813085,0.0498213652606,0.999999962364,5.37621378802e-05,-0.000267307334364,3.04667704438e-05,1793192494991544576
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711,673.758074975,665.758074975,631,877.241925025,782.241925025,799,650,628.241925025,651,0.445159876124,0.00447504669636,0.0498208352091,0.999999961951,5.49441704042e-05,-0.000268618966209,3.03858173811e-05,1793192495008210944
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711,673.171831408,665.171831408,631,877.828168592,782.828168592,799,650,628.828168592,651,0.445167320786,0.00447623424786,0.0498208786865,0.999999961587,5.84381875343e-05,-0.000269234275126,3.03813524437e-05,1793192495024877568
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.590525694,711,673,665.409474306,631,877.590525694,783,799.409474306,650,628.590525694,650.590525694,0.445170988132,0.00447677022996,0.0498194310341,0.999999961111,5.88481977898e-05,-0.000270936705847,3.01367214738e-05,1793192495041544192
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.011267419,711,673,665.988732581,631,877.011267419,783,799.988732581,650,628.011267419,650.011267419,0.445173089258,0.00447703604604,0.0498173651013,0.999999960586,5.79794587991e-05,-0.00027308989952,2.97925083292e-05,1793192495058210816
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.566897434,711,673,665.433102566,631,877,783,799.433102566,650,628.566897434,650.566897434,0.445174284964,0.00447770465091,0.0498173449435,0.999999960273,5.85229483859e-05,-0.00027414741666,2.95375223861e-05,1793192495074877440
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.143296832,743,711,673,665.143296832,631,877,782.856703168,799,650,629,650.856703168,0.44517564131,0.00447808502231,0.0498172605483,0.999999960113,5.86323706553e-05,-0.000274732053939,2.92992288653e-05,1793192495091544064
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.714489111,743,711,673,665.714489111,631,877,782.285510889,799,650,629,650.285510889,0.445177530972,0.00447758084662,0.0498168631519,0.999999960402,5.73619796931e-05,-0.000273969538371,2.91054948134e-05,1793192495108210944
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.703846115,743,710.703846115,673,665.703846115,631.296153885,877.296153885,782.296153885,799.296153885,650,628.703846115,650,0.445178562608,0.00447734331973,0.0498168155615,0.99999996045,5.66532012727e-05,-0.000273959622414,2.89192850764e-05,1793192495124877568
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+230,3.833333333,POSE1_TO_POSE2_PRESS,764.360248625,742,711,673.639751375,665.639751375,631.360248625,877,782.360248625,799,650,629,650,0.445180673773,0.00447963902892,0.0498166311409,0.999999960176,5.89605148262e-05,-0.00027447695874,2.88794559009e-05,1793192495241544192
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.951507371,742,711,673.048492629,665.048492629,631.951507371,877,782.951507371,799,650,629,650,0.445180639215,0.00447978014376,0.0498170072667,0.999999960248,6.1264077937e-05,-0.000273654414194,2.94014747523e-05,1793192495258211072
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.468431731,742.531568269,711,673,665.531568269,631.468431731,877,783,799,650,629,650,0.445183851893,0.00447964098653,0.0498185971684,0.999999960823,6.1408710413e-05,-0.000271535119711,2.91901415662e-05,1793192495274877952
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,710.890500697,673.109499303,665.890500697,631.109499303,877,783,799,650,629,650,0.445186052031,0.00447976033185,0.0498195211959,0.99999996112,6.15517162686e-05,-0.000270437968254,2.88935685561e-05,1793192495291544832
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,710.317352046,673.682647954,665.317352046,631.682647954,877,783,799,650,629,650,0.445182736362,0.00448108027438,0.0498171665569,0.999999960058,6.25045673825e-05,-0.000274159410614,2.85134976439e-05,1793192495308211200
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.736799296,710,673.736799296,665.263200704,631.736799296,877.263200704,783,799,650,629,650,0.445180563829,0.00448130380012,0.0498156775662,0.999999959398,6.22138377272e-05,-0.000276637375541,2.83814821084e-05,1793192495324877568
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.147060628,710,673.147060628,665.852939372,631.147060628,877.852939372,783,799,650,629,650,0.44517980952,0.00448016706485,0.0498152625353,0.999999959246,6.03802691224e-05,-0.000277572630096,2.85572145493e-05,1793192495341543936
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.434773698,742,710.434773698,673,665.565226302,631,877.565226302,783,799,649.565226302,629,650,0.445181928605,0.00448030758675,0.0498158853303,0.999999959907,6.01151065296e-05,-0.000275243291695,2.85057936181e-05,1793192495358210816
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.986104949,742,711,673,665,631.013895051,877.013895051,783,799.027790101,649.013895051,629,650.013895051,0.445184859324,0.00448085825528,0.0498168057561,0.999999960785,6.03728781214e-05,-0.000271992249522,2.8368185927e-05,1793192495374877696
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.410503128,742,711,673,665,631.589496872,877.589496872,783,800.178993744,649.589496872,629,650.589496872,0.445182012255,0.00448083623231,0.0498158204717,0.99999995987,6.0707422908e-05,-0.000275323028431,2.7797025214e-05,1793192495391544320
+240,4.000000000,HOLD_POSE2,764,743,711,674,665,632,878,784,799,650,629,650,0.445181023935,0.00448142785114,0.0498160399763,0.999999959643,6.5041342597e-05,-0.000275109890042,2.82603497529e-05,1793192495432636928
+241,4.016666667,HOLD_POSE2,764,743,711,673.404105046,665,632,878,783.404105046,799.595894954,650,629,650,0.445182187452,0.00448047454421,0.04981591744,0.999999959849,6.18741302442e-05,-0.000275108973594,2.8095981203e-05,1793192495449302784
+242,4.033333333,HOLD_POSE2,764.186122942,743,711,673,665,631.813877058,877.813877058,783,799.813877058,650,629,650,0.44518254969,0.00448025519735,0.0498156396917,0.999999959805,5.95974423629e-05,-0.000275795429069,2.78542305565e-05,1793192495465970688
+243,4.050000000,HOLD_POSE2,764.764410631,743,711,673,665,631.235589369,877.235589369,783,799.235589369,650,629,650,0.445181223617,0.00448158231882,0.0498150349085,0.999999959249,5.91971067035e-05,-0.00027793019089,2.74494342596e-05,1793192495482642432
+244,4.066666667,HOLD_POSE2,764.316760677,742.658380338,711,673.341619662,665,631.341619662,877.341619662,783,799.341619662,650,629,650.341619662,0.445182432568,0.00448279722584,0.049816244665,0.999999959484,6.11941017949e-05,-0.000276656752816,2.73717456498e-05,1793192495499308032
+245,4.083333333,HOLD_POSE2,763.163825743,742.081912871,711,673.918087129,665,631.918087129,877.918087129,783,799.918087129,650,629,650.918087129,0.445185384231,0.00448393499051,0.0498187018343,0.999999960244,6.48391515431e-05,-0.00027304033393,2.75189285546e-05,1793192495515969536
+246,4.100000000,HOLD_POSE2,763.502871608,742.502871608,711,674,665.502871608,631.497128392,877.497128392,782.497128392,799.497128392,649.497128392,629,651,0.445185136134,0.00448219262501,0.049818351387,0.999999960414,6.18755952721e-05,-0.000273079764127,2.77499212075e-05,1793192495532635392
+247,4.116666667,HOLD_POSE2,764,743,711,674,665.912085841,631,877,782.087914159,799,649.087914159,628.912085841,651,0.445184165314,0.00448037334938,0.0498174149509,0.999999960347,5.85715276776e-05,-0.000274031331522,2.79728599404e-05,1793192495549302016
+248,4.133333333,HOLD_POSE2,764,743,711,674,665.333293975,631,877,782.666706025,799,649.666706025,628.333293975,651,0.445182118265,0.00448078821061,0.0498158030977,0.999999959557,5.94778834493e-05,-0.000276694945553,2.80733207154e-05,1793192495565969408
+249,4.150000000,HOLD_POSE2,764,742.754882609,710.754882609,674,665.245117391,631,877,782.754882609,799,650,628.245117391,650.754882609,0.44518087917,0.0044814797897,0.0498149892091,0.999999958985,6.07851861533e-05,-0.000278474478905,2.80468622598e-05,1793192495582636544
+250,4.166666667,HOLD_POSE2,764,742.176987867,710.176987867,674,665.823012133,631,877,782.176987867,799,650,628.823012133,650.176987867,0.445180736976,0.00448254704768,0.0498152586566,0.999999958715,6.26368241254e-05,-0.000279053762531,2.78480951508e-05,1793192495599302656
+251,4.183333333,HOLD_POSE2,764,742.400093761,710.400093761,673.599906239,665.599906239,631,877.400093761,782.400093761,799.400093761,650,629,650,0.445181874904,0.00448299776233,0.0498156691117,0.999999959024,6.35728395852e-05,-0.000277733708532,2.78167666596e-05,1793192495615969024
+252,4.200000000,HOLD_POSE2,764,742.976816474,710.976816474,673.023183526,665.023183526,631,877.976816474,782.976816474,799.976816474,650,629,650,0.445183577967,0.00448317629237,0.0498161418173,0.999999959586,6.41046363443e-05,-0.000275575156094,2.7859357093e-05,1793192495632635648
+253,4.216666667,HOLD_POSE2,764,743,711,673.564226304,665,631,877.435773696,782.435773696,800,650,629,650,0.445184073211,0.00448275823808,0.0498164643882,0.999999959862,6.32536181722e-05,-0.000274765554428,2.79028306748e-05,1793192495649302272
+254,4.233333333,HOLD_POSE2,764,743,710.850384012,673.850384012,665,631,877.149615988,782.149615988,799.850384012,650,629,650,0.445184354364,0.00448204208174,0.0498167137446,0.999999960051,6.24171089136e-05,-0.000274257752873,2.80232905275e-05,1793192495665968640
+255,4.250000000,HOLD_POSE2,764,743,710.27206516,673.27206516,665,631,877.72793484,782.72793484,799.27206516,650,629,650,0.445184167017,0.00448054335197,0.0498167713332,0.999999960027,6.17881212124e-05,-0.000274452830867,2.83642373732e-05,1793192495682635520
+256,4.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,666,632,877,782,800,650,629,650,0.445180564617,0.00448491681799,0.0498144473701,0.999999958244,6.37264357915e-05,-0.000280527645972,2.74624385732e-05,1793192495719740416
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764,742.592768949,711,674,665.407231051,631.407231051,877,782.592768949,800,650,628.407231051,650,0.445182584255,0.00448432402987,0.0498146645167,0.99999995893,6.48420098065e-05,-0.000277810430451,2.74968313242e-05,1793192495736407552
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.819243006,665,631,877,782.819243006,800,650,628,650,0.445184161102,0.00448407578671,0.0498152322887,0.999999959463,6.56849041427e-05,-0.000275687138894,2.74882637447e-05,1793192495753074176
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.2417483,665,631,877,782.2417483,800,650,628,650,0.445184766083,0.00448458377408,0.0498165696371,0.999999959676,6.59293028397e-05,-0.000274867431421,2.73854039251e-05,1793192495769740032
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742.66217085,711,673,665,631,877.33782915,782,799.66217085,650,628.33782915,650,0.44518444629,0.00448473937118,0.0498169390484,0.999999959687,6.5209076615e-05,-0.000275005332411,2.73114728723e-05,1793192495786406656
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742.081093793,711,673,665,631,877.918906207,782,799.081093793,650,628.918906207,650,0.445183460631,0.00448464123587,0.0498166115134,0.999999959552,6.37942892527e-05,-0.000275832742496,2.72583714728e-05,1793192495803073280
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.494767282,711,673,665,631,877.505232718,782,799.494767282,650,629,650.494767282,0.445181844079,0.00448411537791,0.0498157254414,0.999999959003,6.45262714864e-05,-0.000277613250419,2.7584077291e-05,1793192495819739904
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.92871563,710.92871563,673,665,631,877,782.07128437,799.92871563,650,628.92871563,650.92871563,0.445179933639,0.00448359351513,0.0498146267135,0.999999958395,6.53227137425e-05,-0.000279577723479,2.79185639602e-05,1793192495836406528
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.341323813,710.341323813,673,665,631,877,782.658676187,799.341323813,650,628.341323813,650.341323813,0.445176636266,0.00448360285147,0.0498126442201,0.999999957867,6.40649092521e-05,-0.000281754906438,2.7871792875e-05,1793192495853074176
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.242755255,710,673,665,631,877.242755255,782.757244745,799.242755255,650,628.242755255,650.242755255,0.445165782564,0.0044837763719,0.0498077587565,0.999999955599,6.35937351016e-05,-0.000289810676836,2.77092267758e-05,1793192495869741056
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.822239121,710,673,665,631,877.822239121,782.177760879,799.822239121,650,628.822239121,650.822239121,0.445144447388,0.00448417763396,0.0497988465496,0.999999950739,6.42137050486e-05,-0.000306020703345,2.73860400778e-05,1793192495886407168
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,710.400218384,673.400218384,665.400218384,631,877.599781616,782.400218384,800,650,629,650.599781616,0.445101792783,0.00448433721508,0.0497813568369,0.9999999406,6.36870803467e-05,-0.000337652072697,2.71078651727e-05,1793192495903073536
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,710.977531916,673.977531916,665.977531916,631,877.022468084,782.977531916,800,650,629,650.022468084,0.445049704408,0.00448438985332,0.0497600716089,0.999999926948,6.26530917499e-05,-0.000376107329988,2.6849607759e-05,1793192495919740160
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,666,631.550268019,877.550268019,783,799.449731981,650,629,650,0.444979307379,0.00448705869102,0.0497404168445,0.999999915369,6.5943885828e-05,-0.000405285048139,2.56288169996e-05,1793192495936406528
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.872993855,711,674,666,632,877.872993855,782.872993855,799,650,629,650.127006145,0.444905936961,0.00448935987646,0.0497236467098,0.999999905041,6.88976716747e-05,-0.000429622208508,2.44127915373e-05,1793192495953073408
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.280922399,711,674,666,632,877.280922399,782.280922399,799,650,629,650.719077601,0.444824393514,0.00448992687974,0.0497171976103,0.999999901528,6.99761375649e-05,-0.000437610119795,2.33569397908e-05,1793192495969740032
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.304078157,711,674,665.695921843,632,877,782.304078157,799,650,629,650.695921843,0.444732800527,0.00449096542896,0.0497155185646,0.9999999002,7.1751057422e-05,-0.000440376125286,2.28236890298e-05,1793192495986406912
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.882694683,711,674,665.117305317,632,877,782.882694683,799,650,629,650.117305317,0.444632134271,0.00449242971557,0.0497181461845,0.999999900882,7.41547739018e-05,-0.000438427508515,2.27622710497e-05,1793192496003073792
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.541977435,711,673.541977435,665.458022565,631.541977435,877,783,799,650,628.541977435,650,0.444509609396,0.00449544827178,0.0497211476545,0.999999902435,7.91238911684e-05,-0.000434048457062,2.17120062669e-05,1793192496019740416
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,665.966775703,631.033224297,877.033224297,783,799.033224297,650,628.033224297,650,0.44437946342,0.00449872687395,0.049724194791,0.999999904163,8.46062721921e-05,-0.000429066080208,2.04617178749e-05,1793192496036407040
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,665.379737094,631.620262906,877.620262906,783,799.620262906,650,628.620262906,650,0.44421493361,0.00449975209809,0.0497264185033,0.999999905919,8.77702759296e-05,-0.000424328767655,2.00686637141e-05,1793192496053073408
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.204951421,711,673.204951421,665,632,877.795048579,782.795048579,800,650,629,650,0.444037149983,0.00450168715715,0.0497295679178,0.999999907681,9.1893104742e-05,-0.000419304870386,1.94138583024e-05,1793192496069740032
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.785334944,711,673.785334944,665,632,877.214665056,782.214665056,800,650,629,650,0.443835087897,0.004505288861,0.0497344130429,0.999999909456,9.77723187469e-05,-0.000413756004838,1.82795743262e-05,1793192496086406656
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.635803004,665.364196996,632,877,782.364196996,799.635803004,650,629,650,0.443605833542,0.00450910890522,0.0497371031681,0.999999909594,0.000104721178742,-0.000411761139182,1.72734440102e-05,1793192496103073280
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.057833952,665.942166048,632,877,782.942166048,799.057833952,650,629,650,0.443360618171,0.00451305710866,0.0497385283774,0.99999990875,0.000112297887481,-0.000411852357924,1.63425357094e-05,1793192496119739904
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.483060959,711,673,666,632,877,783,799,650,628.483060959,650,0.443089152295,0.00451712898361,0.0497424577729,0.999999912147,0.000119847367911,-0.000401402905133,1.47714032189e-05,1793192496136407040
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,666,632,877,783,799,650,628.09368923,650,0.442807791999,0.00452135608004,0.0497481512698,0.999999916549,0.000127654076759,-0.000387860588798,1.30646855544e-05,1793192496153074176
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,666,632,877,783,799,650,628.682773406,650,0.442489547027,0.0045263312227,0.0497617004065,0.99999992427,0.000136836928321,-0.000364161538049,1.10174512474e-05,1793192496169740544
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.267416684,711,673,666,632,877,783,799,650,629,650,0.442154555015,0.00453162123162,0.0497777065252,0.999999933312,0.000144003684028,-0.000335498582176,8.91989919786e-06,1793192496186407168
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.84687791,711,673,666,632,877,783,799,650,629,650,0.44180002115,0.004537278653,0.0497965796591,0.99999994359,0.000148817886948,-0.000301043320761,6.76363224577e-06,1793192496203073536
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742.575865559,711,673.424134441,666,632,877,783,799,650,629,650,0.44139227268,0.00454340709759,0.0498091482156,0.999999947401,0.000156818787395,-0.00028386535143,5.07543691099e-06,1793192496219739904
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.000590741,742.000590741,711,673.999409259,666,632,877.000590741,783,799.000590741,650,629,650.000590741,0.44096536728,0.00454970622482,0.049819441187,0.999999948984,0.000165963270416,-0.00027290222863,3.55303338751e-06,1793192496236406784
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,710.227690034,672,665.227690034,632,876,783,799,650,629,651,0.402008136671,0.00459775891244,0.0498061748873,0.999999927266,8.91904552404e-05,-0.00036744763063,-4.99475991795e-05,1793192497219739904
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,665.597901946,632,876,783,799,650,629,651,0.401693853045,0.00458680433626,0.0498138047205,0.9999999385,6.40851195973e-05,-0.000342959105723,-3.56586202435e-05,1793192497253073408
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,710.694533237,672,665.694533237,632.305466763,875,783,799,650,629,651,0.401205196475,0.00457128251433,0.0498371696888,0.999999954142,4.66686827018e-05,-0.000296366722982,-4.12846954182e-05,1793192497336407040
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,710.117106712,672,665.117106712,632.882893288,875,783,799,650,629,651,0.401141604673,0.00457292564614,0.0498354747383,0.999999953331,4.95240812263e-05,-0.000298509114712,-4.2153489043e-05,1793192497353073664
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,710,672,665,633,875.459321152,783,799,650,628.540678848,651,0.4010959125,0.00457149206867,0.0498359935572,0.999999953876,4.91942422629e-05,-0.000296738336659,-4.21260256958e-05,1793192497369740032
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742.431204942,711,672,665.431204942,632.568795058,876.431204942,783,799,650,629,651,0.400974780643,0.00457092175584,0.0498483367635,0.999999961328,5.26235854247e-05,-0.000269835440435,-4.19985281772e-05,1793192497603073792
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.940233192,710.940233192,672,665.940233192,632.940233192,876,783,799.940233192,650,628.059766808,651,0.400971183256,0.00456867258526,0.0498479908844,0.999999961333,5.09715576068e-05,-0.000270189195665,-4.16277313094e-05,1793192497703073280
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.353240963,710.353240963,672,665.353240963,632.353240963,876,783,799.353240963,650,628.646759037,651,0.400971577272,0.00456952309661,0.0498486562468,0.999999961325,5.19911518395e-05,-0.000269982237655,-4.19027732831e-05,1793192497719739904
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.230902938,710,672,665,632,876,783,799,650,629,651,0.400972275034,0.00457033144866,0.0498495007471,0.999999961595,5.18843160103e-05,-0.00026897554596,-4.20662850709e-05,1793192497736406784
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742.81074246,710,672,665,632,876,783,799,650,629,651,0.400973431812,0.00457107609024,0.0498506159574,0.999999962281,5.00752382148e-05,-0.000266760310365,-4.20612543264e-05,1793192497753073664
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742.612262467,710.387737533,672,665,632.387737533,876,783.387737533,799,650,629,651,0.400973140391,0.00457059317225,0.0498506157012,0.999999962319,4.88401828368e-05,-0.000266862344136,-4.19603080684e-05,1793192497769740032
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742.036645697,710.963354303,672,665,632.963354303,876,783.963354303,799,650,629,651,0.400972147243,0.00456951543703,0.0498500749429,0.999999962044,4.78832715787e-05,-0.000268087216918,-4.1812885697e-05,1793192497786406912
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,665.536674259,632.463325741,876,783.463325741,799.536674259,650,629,651,0.400972036752,0.00456935318627,0.049849755058,0.999999961984,4.998049612e-05,-0.000267970756722,-4.15425252786e-05,1793192497803073536
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,710.886515491,672,665.886515491,632,876,783,799.886515491,650,628.886515491,651,0.400972080774,0.00456934809053,0.0498496017618,0.999999961987,5.18368137034e-05,-0.00026763514829,-4.13552242085e-05,1793192497819739904
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,710.294323682,672,665.294323682,632,876,783,799.294323682,650,628.294323682,651,0.40097252342,0.00456974334762,0.0498500878323,0.999999962215,5.18009721539e-05,-0.000266759820211,-4.15535488324e-05,1793192497836406528
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,710,672,665,632,876,783,799.291451618,650,628.291451618,651,0.400972621469,0.00456948758885,0.0498505822678,0.999999962323,5.11111209762e-05,-0.00026649693042,-4.14952042604e-05,1793192497853073408
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,710,672,665,632,876,783,799.87088683,650,628.87088683,651,0.40097237902,0.00456858856081,0.049851084969,0.999999962312,4.97750423188e-05,-0.000266839191323,-4.11832446589e-05,1793192497869740032
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,710,672,665,632.448162999,876,783,799.551837001,650,628.551837001,651,0.400973217841,0.00456946126308,0.0498515988392,0.999999962552,5.08756637314e-05,-0.000265689124044,-4.14360686074e-05,1793192497886406912
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,710,672,665,632.975455031,876,783,799,650,628,651,0.400974287093,0.00457080790722,0.0498520595177,0.999999962836,5.26238340792e-05,-0.00026421415601,-4.18382518195e-05,1793192497903073536
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,710,672,665,632.405190303,876,783,799,650,628,651,0.400973586933,0.00457139781107,0.0498512663627,0.999999962583,5.32362196473e-05,-0.00026502854567,-4.19609274649e-05,1793192497919740416
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742.172369556,710,672,665,632,876,783,799.172369556,650,628,651,0.40097295067,0.00457165109602,0.0498507565889,0.999999962405,5.32261109631e-05,-0.000265690599717,-4.2018059025e-05,1793192497936407040
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742.767835946,710,672,665,632,876,783,799.767835946,650,628,651,0.40097247125,0.00457107811909,0.0498509424001,0.999999962413,5.16880331836e-05,-0.000265978732023,-4.19143066272e-05,1793192497953073664
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_10/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..84d2666e8e1b3e342c89fed03f0ba018ea88f700
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,392 @@
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+386,6.433333333,pose2_to_pose3_retreat,0.575709443064,0.0100545016147,1.04002907622,0.546280172716,0.0187272289253,1.03969836243
+387,6.450000000,pose2_to_pose3_retreat,0.575709427093,0.0100545007862,1.0400290485,0.546280156788,0.0187272282584,1.03969833512
+388,6.466666667,pose2_to_pose3_retreat,0.575709422619,0.0100545005541,1.04002904073,0.546280152325,0.0187272280715,1.03969832747
+389,6.483333333,pose2_to_pose3_retreat,0.575709386398,0.0100544986752,1.04002897786,0.546280116203,0.0187272265589,1.03969826554
+390,6.500000000,pose2_to_pose3_retreat,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_10/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0906a92480fba8941a6f2f5a990704a6cae4cae9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96a2d3d996c2320382bdeacde2099dc726911656b90fa7bb985fd905362302b4
+size 25048523
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_10/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2dccba7757dacb649797f044cd83d5149c0d97ec
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_10/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,764,743,710,672,665,632,876,783,799,650,629,651,0.400973746704,0.00456842086348,0.0498533621077,0.999999963424,4.86931630677e-05,-0.000262920625371,-4.06599448912e-05,1793192498103576576
+1,0.016666667,BASELINE,763.420961307,743,710,672,665,632.579038693,876,783,799,650,629,651,0.4009725919,0.00456892253731,0.0498524730239,0.999999963043,4.8203832171e-05,-0.000264387407154,-4.1103073561e-05,1793192498120242944
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+9,0.150000000,BASELINE,764,742,710,672,665,632,875.762587485,783,799,650,629,651,0.400970838161,0.00457100967074,0.0498508224532,0.999999962268,5.41475642452e-05,-0.000266101390164,-4.14898299898e-05,1793192498253576448
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+12,0.200000000,BASELINE,764.972855007,742,710,671.027144993,665.972855007,632,875,783,799.972855007,650,629,651,0.400974317001,0.00457244251907,0.0498525074392,0.999999963222,5.53033502606e-05,-0.000262219900965,-4.16907178682e-05,1793192498303576320
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+21,0.350000000,BASELINE,764,742,710.184618465,672,665.815381535,632.815381535,876,783,799,650,629,651,0.400971357934,0.00456878882118,0.0498520895851,0.999999962985,5.12569643628e-05,-0.00026399211933,-4.13595619496e-05,1793192498453576192
+22,0.366666667,BASELINE,764,742,710.773441992,672,665.226558008,632.226558008,876,783,799,650,629,651,0.40097392302,0.00456904191266,0.049853527853,0.999999963708,5.08826507941e-05,-0.000261282573565,-4.15580399873e-05,1793192498470242816
+23,0.383333333,BASELINE,764,742,711,672,665,632.356966295,876,783.356966295,799.356966295,650,629,651,0.400974097497,0.00456913773819,0.0498535328525,0.999999963681,5.0958562755e-05,-0.000261382299414,-4.14733982365e-05,1793192498486909440
+24,0.400000000,BASELINE,764,742,711,672,665,632.937176563,876,783.937176563,799.937176563,650,629,651,0.400972776905,0.00456913521082,0.0498526414971,0.999999963187,5.13160422592e-05,-0.000263238921833,-4.12116955691e-05,1793192498503576320
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+26,0.433333333,BASELINE,764.910406601,742,710.089593399,672,665.910406601,632.910406601,876.910406601,783,799,650,628,651,0.400973639099,0.00456897905484,0.0498532091062,0.999999963792,4.92765694706e-05,-0.000261314956783,-4.12702720665e-05,1793192498536909568
+27,0.450000000,BASELINE,764.325612211,742,710.674387789,672,665.325612211,632.325612211,876.325612211,783,799,650,628,651,0.400973772914,0.00456895953046,0.0498527898184,0.99999996378,4.94264054131e-05,-0.000261357942094,-4.11013524526e-05,1793192498553576192
+28,0.466666667,BASELINE,764,742,710.742116917,672,665,632.257883083,875.742116917,783,799,650,628,651,0.400973023061,0.00456921631237,0.0498521409107,0.999999963475,4.97650485879e-05,-0.00026245611899,-4.11073030406e-05,1793192498570242816
+29,0.483333333,BASELINE,764,742,710.160253719,672,665,632.839746281,875.160253719,783,799,650,628,651,0.400971163049,0.00456982021958,0.0498512035303,0.999999962798,5.03408914493e-05,-0.000264879939609,-4.13329441572e-05,1793192498586909696
+30,0.500000000,BASELINE,764,742,710.418173985,672.418173985,665,633,875.418173985,783,799,650,628,651,0.400971867372,0.00456983090601,0.0498520236171,0.99999996305,5.05032675602e-05,-0.000263917953161,-4.12025334261e-05,1793192498603576320
+31,0.516666667,BASELINE,764,742,710.995295845,672.995295845,665,633,875.995295845,783,799,650,628,651,0.400973546398,0.00456961610928,0.049853511717,0.999999963651,5.05084850015e-05,-0.000261669021845,-4.09367874301e-05,1793192498620243200
+32,0.533333333,BASELINE,764,742,710.43019742,672.43019742,665,632.43019742,876,783.56980258,799,650,628.56980258,651,0.40097345494,0.00457010035028,0.049853142746,0.999999963659,5.00693116861e-05,-0.000261692864823,-4.11390867766e-05,1793192498636909568
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+36,0.600000000,BASELINE,764,742,710.09816768,672,665.09816768,633,876,783,799,650,629,651,0.400972556876,0.00456969775766,0.0498531837053,0.99999996347,4.93638759891e-05,-0.000262481769661,-4.15516232704e-05,1793192498703576064
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+38,0.633333333,BASELINE,764,742,710.055293935,672,665.055293935,632.055293935,876,783,799,650,629,650.944706065,0.400975490111,0.00457109859895,0.0498545936083,0.999999964365,5.06811182711e-05,-0.000258793163598,-4.15674800604e-05,1793192498736909568
+39,0.650000000,BASELINE,764,742,710.641401841,672,665.641401841,632.641401841,876,783,799,650,629,650.358598159,0.400973664054,0.00456974709553,0.0498536485557,0.999999963841,4.96232808059e-05,-0.000261063777537,-4.12406817479e-05,1793192498753577472
+40,0.666666667,BASELINE,764,742.22476686,710.77523314,672,665.77523314,633,876.22476686,783,799,650,628.77523314,650.22476686,0.400972598389,0.00456937712821,0.0498531207688,0.99999996347,4.98210704891e-05,-0.000262457984356,-4.11512513391e-05,1793192498770244352
+41,0.683333333,BASELINE,764,742.803808536,710.196191464,672,665.196191464,633,876.803808536,783,799,650,628.196191464,650.803808536,0.400972731245,0.00457055424635,0.0498532506711,0.999999963344,5.19979646219e-05,-0.000262470808694,-4.14359573805e-05,1793192498786910464
+42,0.700000000,BASELINE,764,742.617500304,710.382499696,672,665,632.617500304,876.617500304,783,799,650,628,651,0.400973769045,0.00457025691141,0.0498535010271,0.999999963695,5.07689644295e-05,-0.000261342971002,-4.16146857919e-05,1793192498803577088
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+51,0.850000000,BASELINE,764,742,710.410175085,672,666,632.410175085,876,783,800,650,628,651,0.400973719884,0.00456978774422,0.0498534630048,0.999999963735,4.93076203954e-05,-0.000261518526052,-4.13229196952e-05,1793192498953576960
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+53,0.883333333,BASELINE,764,742,710.766585992,672,665.233414008,632,876,783,800,650,628,651,0.400972219904,0.00456883718766,0.049852893539,0.9999999634,4.94053502274e-05,-0.000262787475109,-4.12557068798e-05,1793192498986909952
+54,0.900000000,BASELINE,764,742.350723618,711,672,665,632,876,783,799.649276382,650,628,651,0.400971879932,0.00456921961821,0.0498524697876,0.999999963206,5.10838993456e-05,-0.00026322003383,-4.11453556e-05,1793192499003576320
+55,0.916666667,BASELINE,764,742.927461119,711,672,665,632,876,783,799.072538881,650,628,651,0.4009723412,0.00457020101284,0.0498523933932,0.99999996318,5.32153124243e-05,-0.000262920738173,-4.09977615101e-05,1793192499020242944
+56,0.933333333,BASELINE,764,742.498369766,710.498369766,672,665,632.501630234,875.498369766,783,799.501630234,650,628.501630234,651,0.400971987164,0.0045688284362,0.0498523254022,0.99999996327,5.05581166021e-05,-0.000263115045329,-4.09241701763e-05,1793192499036909824
+57,0.950000000,BASELINE,764,742,710,672,665,633,875.077698289,783,799.922301711,650,628.922301711,651,0.40097180449,0.00456747828099,0.0498524184161,0.999999963415,4.7671782793e-05,-0.000263108378946,-4.08703515644e-05,1793192499053576448
+58,0.966666667,BASELINE,764,742,710,672,665,633,875.668753897,783,799.331246103,650,628.331246103,651,0.400973529004,0.00456851384683,0.0498535672118,0.999999963881,4.78233606502e-05,-0.000261304671183,-4.08768288294e-05,1793192499070243584
+59,0.983333333,BASELINE,764,742,710,672,665,632.745590663,876,783,799,650,628.254409337,650.745590663,0.400973907809,0.00456920349046,0.0498539623851,0.999999963954,4.89361627083e-05,-0.000260804578804,-4.09612968523e-05,1793192499086910208
+60,1.000000000,BASELINE,764,742,710,672,665,632.166820128,876,783,799,650,628.833179872,650.166820128,0.400972570892,0.00456945209797,0.0498533967216,0.999999963526,5.12744851896e-05,-0.000261966540932,-4.11451998101e-05,1793192499103576320
+61,1.016666667,BASELINE,764,742,710,672,665,632,875.59105069,783,799.40894931,650,629,650.40894931,0.400972281311,0.00456909063179,0.0498532740064,0.999999963517,5.10577468542e-05,-0.000262055562234,-4.10691804223e-05,1793192499120243200
+62,1.033333333,BASELINE,764,742,710,672,665,632,875.016496587,783,799.983503413,650,629,650.983503413,0.400972415851,0.0045684821151,0.049853330664,0.999999963678,4.98063316912e-05,-0.000261710094057,-4.08879049802e-05,1793192499136909824
+63,1.050000000,BASELINE,764,742,710,672,665,632,875.556392383,783,799.443607617,650,629,651,0.400975356991,0.00456836864116,0.0498545819668,0.999999964497,5.01338993179e-05,-0.000258480098374,-4.09952545369e-05,1793192499153576448
+64,1.066666667,BASELINE,764,742.134107037,710,672,665,632.134107037,876,783.134107037,799,650,628.865892963,651,0.400976883599,0.00456802489643,0.0498551610113,0.999999964907,4.99406562993e-05,-0.000256932743144,-4.0959509768e-05,1793192499170243072
+65,1.083333333,BASELINE,764,742.728555468,710,672,665,632.728555468,876,783.728555468,799,650,628.271444532,651,0.400973269839,0.00456684048196,0.0498533112117,0.999999963862,4.77994353919e-05,-0.000261453986751,-4.04032862779e-05,1793192499186909952
+66,1.100000000,BASELINE,764,742.688980659,710,672,665,633,876,783.688980659,799,650,628.311019341,651,0.400971644755,0.00456703158856,0.0498528101925,0.999999963427,4.79321763485e-05,-0.000263109880119,-4.02665092638e-05,1793192499203576576
+67,1.116666667,BASELINE,764,742.116588345,710,672,665,633,876,783.116588345,799,650,628.883411655,651,0.400971690907,0.00456837864918,0.0498534426551,0.999999963516,4.99758988161e-05,-0.00026235780367,-4.04822247398e-05,1793192499220243712
+68,1.133333333,BASELINE,764,742,710.461351872,672,665,633,876,783.461351872,799,650,628.538648128,651,0.400973156807,0.00456891345092,0.0498539582086,0.999999963892,5.02726079328e-05,-0.000260803212735,-4.0874205669e-05,1793192499236910336
+69,1.150000000,BASELINE,764,742,710.958575492,672,665,633,876,783.958575492,799,650,628.041424508,651,0.400974896835,0.00456921042438,0.0498544504708,0.999999964328,5.01073860521e-05,-0.000259091961654,-4.12899720483e-05,1793192499253576960
+70,1.166666667,BASELINE,764,742,710.369065235,672,665,633,876,783.369065235,799,650,628.630934765,651,0.400975458971,0.00456910962599,0.0498550302227,0.999999964617,4.97427848112e-05,-0.00025802389476,-4.14239079291e-05,1793192499270243328
+71,1.183333333,BASELINE,763.783899045,742,710,672,665,632.783899045,875.783899045,783,799,650.216100955,628.783899045,651,0.400975700569,0.00456891183753,0.049855435338,0.999999964763,4.88997450389e-05,-0.000257634822404,-4.13120769717e-05,1793192499286909696
+72,1.200000000,BASELINE,763.206005525,742,710,672,665,632.206005525,875.206005525,783,799,650.793994475,628.206005525,651,0.400975405531,0.0045685516699,0.0498555480798,0.999999964671,4.72557115042e-05,-0.000258382511056,-4.07887873486e-05,1793192499303576320
+73,1.216666667,BASELINE,763.370548757,742,710,672,665.370548757,632,875.370548757,783,799,650.629451243,628.370548757,651,0.400974834466,0.0045683836959,0.0498550567707,0.999999964472,4.78261972117e-05,-0.000259058333165,-4.07080870646e-05,1793192499320242944
+74,1.233333333,BASELINE,763.94636114,742,710,672,665.94636114,632,875.94636114,783,799,650.05363886,628.94636114,651,0.400974110498,0.00456832218662,0.0498542308508,0.999999964213,4.96234048456e-05,-0.000259694345117,-4.08725569568e-05,1793192499336909568
+75,1.250000000,BASELINE,764,742,710.520883505,671.479116495,665.479116495,632.520883505,875.479116495,783,799,650,629,651,0.400973822602,0.00456945349702,0.0498535092003,0.99999996392,5.01946684129e-05,-0.000260673982967,-4.11026228946e-05,1793192499353576704
+76,1.266666667,BASELINE,764,742.098250625,711,671.098250625,665,633,875.098250625,783,799,650,629,651,0.400973644509,0.00457027170076,0.0498531172675,0.999999963749,5.04918475796e-05,-0.000261257898987,-4.11933215461e-05,1793192499370243584
+77,1.283333333,BASELINE,764,742.690589999,711,671.690589999,665,633,875.690589999,783,799,650,629,651,0.400973793327,0.00456889915237,0.0498543295761,0.99999996421,5.0043987793e-05,-0.000259674275905,-4.05492761106e-05,1793192499386910208
+78,1.300000000,BASELINE,764,742.724150019,710.724150019,672,665,632.724150019,876,783,798.724150019,650,629,650.724150019,0.400973477638,0.00456838165866,0.0498542546555,0.999999964133,5.03738464906e-05,-0.000259935303583,-4.03793695528e-05,1793192499403577088
+79,1.316666667,BASELINE,764,742.146632061,710.146632061,672,665,632.146632061,876,783,798.146632061,650,629,650.146632061,0.400972653967,0.00456879924801,0.0498527720281,0.999999963464,5.15542137521e-05,-0.000262213630998,-4.07279786313e-05,1793192499420243456
+80,1.333333333,BASELINE,764,742.431020386,710,672,665,632.431020386,876,783,798.431020386,650,629,650.431020386,0.40097372727,0.00456892417935,0.0498538841619,0.999999963899,5.07818473974e-05,-0.00026067118897,-4.0905854908e-05,1793192499436910080
+81,1.350000000,BASELINE,764.00865322,743,710,672,665.00865322,632.99134678,876,783,799,650,629,651,0.400975393429,0.00456894424445,0.0498558269938,0.999999964681,4.93852352448e-05,-0.000257907779412,-4.10216017211e-05,1793192499453576704
+82,1.366666667,BASELINE,764.582016396,743,710,672,665.582016396,632.417983604,876,783,799,650,629,651,0.400973620983,0.00456862015103,0.0498543561367,0.999999964001,5.06170891538e-05,-0.000260316535295,-4.0874450157e-05,1793192499470243072
+83,1.383333333,BASELINE,764.839931093,742.839931093,710.160068907,672,666,632,876,783,799.160068907,650,628.839931093,651,0.400972274111,0.00456858616824,0.0498532618369,0.999999963496,5.10690682471e-05,-0.000262176137542,-4.07894959462e-05,1793192499486909952
+84,1.400000000,BASELINE,764.24926376,742.24926376,710.75073624,672,666,632,876,783,799.75073624,650,628.24926376,651,0.400972072068,0.00456933260668,0.0498531805066,0.999999963475,4.94231206936e-05,-0.000262558472211,-4.08718576618e-05,1793192499503577088
+85,1.416666667,BASELINE,764,742,710.665548933,672,665.665548933,632.334451067,876,783,799.665548933,650.334451067,628.334451067,651,0.400972066415,0.00456913434783,0.0498534504973,0.999999963586,4.89028789907e-05,-0.000262210639092,-4.10058614357e-05,1793192499520243712
+86,1.433333333,BASELINE,764,742,710.086910269,672,665.086910269,632.913089731,876,783,799.086910269,650.913089731,628.913089731,651,0.40097220415,0.00456824635168,0.0498539769926,0.999999963795,4.92045316326e-05,-0.000261329699807,-4.11775698239e-05,1793192499536910336
+87,1.450000000,BASELINE,764,742,710,672.488598729,665,632.511401271,876,783,799,650.511401271,628.511401271,651,0.400973200304,0.00456849662233,0.0498540794033,0.999999963837,5.10869476784e-05,-0.000260855815256,-4.08602282091e-05,1793192499553576704
+88,1.466666667,BASELINE,764,742,710,672.935038869,665.064961131,632,875.935038869,783,799,650,628.064961131,651,0.400974197555,0.00456877993442,0.0498541405319,0.999999963892,5.26470050079e-05,-0.00026038815084,-4.05140024124e-05,1793192499570243072
+89,1.483333333,BASELINE,764,742,710,672.34735841,665.65264159,632,875.34735841,783,799,650,628.65264159,651,0.400973982794,0.0045677102758,0.0498544726113,0.999999964314,4.93649930922e-05,-0.000259391624263,-4.06308828748e-05,1793192499586909696
+90,1.500000000,BASELINE,764,742,710,672,666,632.23833986,875.23833986,783,799,650,628.76166014,651,0.400974189406,0.00456726292806,0.0498548825339,0.999999964621,4.78150949042e-05,-0.00025847452784,-4.07858054212e-05,1793192499603576320
+91,1.516666667,BASELINE,764,742,710,672,666,632.821173049,875.821173049,783,799,650,628.178826951,651,0.400975005066,0.00456771506045,0.04985540497,0.999999964773,4.8768771628e-05,-0.00025767223882,-4.0995713491e-05,1793192499620242944
+92,1.533333333,BASELINE,764,742,710.397689362,672,665.602310638,633,876,783,799,650,628.397689362,651,0.40097548828,0.00456732474586,0.0498554871525,0.999999964764,4.84475354321e-05,-0.000257755592488,-4.10646815581e-05,1793192499636909824
+93,1.550000000,BASELINE,764,742,710.971409659,672,665.028590341,633,876,783,799,650,628.971409659,651,0.400975824342,0.00456656153541,0.0498553744638,0.999999964684,4.75619791871e-05,-0.000258230961879,-4.10712647703e-05,1793192499653576960
+94,1.566666667,BASELINE,764,742,710.452965886,672,665,633,876,783,799,650,629,651,0.400975142219,0.00456838620061,0.0498547569394,0.999999964623,4.95314902667e-05,-0.000258038358704,-4.14324313291e-05,1793192499670243584
+95,1.583333333,BASELINE,764,742,710.126257983,672,665.126257983,632.873742017,876,783,799,650,629,651,0.4009745659,0.00456967307111,0.0498543197666,0.999999964521,5.08499488931e-05,-0.000258156092096,-4.15567099647e-05,1793192499686910208
+96,1.600000000,BASELINE,764,742,710.718394984,672,665.718394984,632.281605016,876,783,799,650,629,651,0.400974577035,0.00456847472026,0.0498546457703,0.999999964277,4.92135688268e-05,-0.000259548203894,-4.07382763587e-05,1793192499703576576
+97,1.616666667,BASELINE,764,742,710.697225433,672,666,632,876,783,799,650,628.697225433,651,0.40097507921,0.00456805798202,0.0498551015677,0.999999964265,4.94353203762e-05,-0.000259606626274,-4.03856622333e-05,1793192499720243200
+98,1.633333333,BASELINE,764,742,710.119880678,672,666,632,876,783,799,650,628.119880678,651,0.400976026684,0.00456835004686,0.0498556750681,0.999999964464,5.13421129908e-05,-0.000258455596404,-4.04554751273e-05,1793192499736909824
+99,1.650000000,BASELINE,764,742.454528877,710,672,665.545471123,632.454528877,875.545471123,783,799,650,628.454528877,651,0.400975167383,0.00456917664425,0.0498549664225,0.999999964217,5.14348136801e-05,-0.000259330341454,-4.08533414927e-05,1793192499753576448
+100,1.666666667,BASELINE,764,742.971043632,710.028956368,672.028956368,665,633,875,783,799,650,629,651.028956368,0.400973916394,0.00457014192515,0.0498539671887,0.999999963873,5.11127481589e-05,-0.000260641628746,-4.13207516907e-05,1793192499770243328
+101,1.683333333,BASELINE,764,742.381374188,710.618625812,672.618625812,665,633,875,783,799,650,629,651.618625812,0.400974249124,0.00457108022569,0.0498538471674,0.999999963957,5.1964636307e-05,-0.000260126460856,-4.14701232778e-05,1793192499786909952
+102,1.700000000,BASELINE,764,742,710.796022333,673,665,633,875.203977667,783,799,650,629,651.796022333,0.400974642431,0.0045712403712,0.049854049196,0.999999964151,5.21578825909e-05,-0.000259333943918,-4.15068460918e-05,1793192499803576832
+103,1.716666667,BASELINE,764,742,710.218575747,673,665,633,875.781424253,783,799,650,629,651.218575747,0.400975146651,0.00456997576888,0.0498548408756,0.999999964547,5.11452013434e-05,-0.000258033620223,-4.13373168221e-05,1793192499820243456
+104,1.733333333,BASELINE,764,742,710,672.641121959,665.358878041,633,876,783,799,650,628.641121959,651,0.400975168335,0.00456955407321,0.0498551592068,0.999999964682,4.98660688746e-05,-0.000257790066956,-4.11509489083e-05,1793192499836910080
+105,1.750000000,BASELINE,764,742,710,672.063663729,665.936336271,633,876,783,799,650,628.063663729,651,0.400974896124,0.00456964576266,0.049855189238,0.999999964658,4.84246500944e-05,-0.000258190155843,-4.0954325143e-05,1793192499853576448
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,743,711,672,665,633,876,783,799,650,628,651,0.400977390994,0.00457069417127,0.0498563401558,0.9999999651,5.39865675998e-05,-0.000255409779081,-4.06395547963e-05,1793192499884475136
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742.408788759,711,672,665.591211241,632.408788759,876,782.408788759,799,650,628,651,0.400974901537,0.00456942352915,0.0498550778707,0.999999964479,5.26432397258e-05,-0.000258127536901,-4.0500347143e-05,1793192499901142272
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,710.821397448,672,665.821397448,632.178602552,875.821397448,782.178602552,799,650,628,651,0.400973244398,0.0045683420557,0.0498542307218,0.999999964078,5.16401375479e-05,-0.000259895182247,-4.03955541625e-05,1793192499917809152
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,710.242566069,672,665.242566069,632.757433931,875.242566069,782.757433931,799,650,628,651,0.400973452393,0.00456768448835,0.0498543138473,0.999999964185,5.13994437677e-05,-0.000259533729747,-4.0367880682e-05,1793192499934475776
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,710,672,665,633,875,783,799,650,628.333555835,651,0.400974146824,0.00456797418628,0.0498544280469,0.999999964431,4.93290825555e-05,-0.000258937619319,-4.06916317779e-05,1793192499951142400
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,710,672,665,633,875,783,799,650,628.907723214,651,0.400975192147,0.00456894719703,0.0498545646619,0.999999964767,4.59388850312e-05,-0.000258172237676,-4.12688840924e-05,1793192499967808768
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,710.485033235,672,665,633,875.485033235,783,799,650,629,651,0.400975008312,0.0045682900865,0.0498538053063,0.999999964625,4.56533799555e-05,-0.000258797905768,-4.11121381359e-05,1793192499984475136
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.935765328,875.935765328,783,799,650.064234672,629,651,0.400974917896,0.00456751892696,0.0498532233306,0.999999964475,4.60683601943e-05,-0.00025934223379,-4.08493798799e-05,1793192500001141760
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632.34601309,875.34601309,783,799,650.65398691,629,651,0.40097751737,0.00456836847724,0.0498554961782,0.999999965009,4.73503086883e-05,-0.000257041864708,-4.08692036173e-05,1793192500017808384
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,710.760646654,672,665.239353346,632,875.239353346,783,799.239353346,650.760646654,629,651,0.400985176032,0.00456874502619,0.0498594016565,0.999999966595,4.81186937212e-05,-0.000250676374687,-4.06832718186e-05,1793192500034474752
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,710.181506372,672,665.818493628,632,875.818493628,783,799.818493628,650.181506372,629,651,0.401000016736,0.00456845010052,0.0498656248234,0.999999969581,4.81580219624e-05,-0.000238540023407,-4.02052486585e-05,1793192500051141632
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,710.394949651,672,666,632.394949651,876,783,799.605050349,650,628.605050349,650.605050349,0.40103338611,0.00456797797029,0.0498780542026,0.999999975235,4.76928880033e-05,-0.000213678841829,-3.99530225524e-05,1793192500067808256
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,710.97018045,672,666,632.97018045,876,783,799.02981955,650,628.02981955,650.02981955,0.401075213195,0.00456742495214,0.0498933165083,0.999999981357,4.69974840911e-05,-0.000183009204672,-3.98038650875e-05,1793192500084474880
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.556115765,742.556115765,710.443884235,672,665.443884235,632.443884235,876,783,799.556115765,650,628,650.556115765,0.40114031523,0.0045666261449,0.0499112779819,0.999999988008,4.82001556566e-05,-0.000141737244047,-3.96419026071e-05,1793192500101142528
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.859035826,742.859035826,710.140964174,672,665,632.140964174,876,783,800,650,628.140964174,650.859035826,0.401207663436,0.00456572525038,0.0499268335417,0.999999992198,4.85162132287e-05,-0.00010822007806,-3.92293522576e-05,1793192500117809408
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.279391034,742.279391034,710.720608966,672,665,632.720608966,876,783,800,650,628.720608966,650.279391034,0.401278041644,0.00456454847954,0.049934442653,0.999999993166,4.57501817071e-05,-0.00010063975132,-3.80391510999e-05,1793192500134475776
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,672.299850764,665,632.700149236,876,783,799.700149236,650,629,650.299850764,0.401356085993,0.00456257801662,0.0499385623467,0.99999999377,4.32021144663e-05,-9.6093289949e-05,-3.68736753708e-05,1793192500151141888
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,672.878717532,665,632.121282468,876,783,799.121282468,650,629,650.878717532,0.401441263808,0.00455986901041,0.04993943508,0.999999994074,4.08568666962e-05,-9.43698900318e-05,-3.57312071273e-05,1793192500167808256
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,710.545416399,672.545416399,665,632,876,783,799.454583601,650,629,651,0.401544205828,0.00455671049776,0.0499391211819,0.999999993968,3.59236055504e-05,-9.79737095853e-05,-3.42674490103e-05,1793192500184474880
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,710.030250961,672,665.030250961,632.030250961,876,783,799.969749039,650,628.969749039,651,0.401653915617,0.00455355866976,0.0499387010942,0.999999993757,3.04664289908e-05,-0.000102393904556,-3.27521194206e-05,1793192500201141760
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,710.616891873,672,665.616891873,632.616891873,876,783,799.383108127,650,628.383108127,651,0.401801502443,0.00455272109359,0.0499421126457,0.999999994506,2.79894958355e-05,-9.58595227052e-05,-3.18545233353e-05,1793192500217808384
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.201222059,710.798777941,672,665.798777941,632.798777941,876,783.201222059,799,650.201222059,628,651,0.401955529222,0.0045516087607,0.0499435825147,0.999999994694,2.57998094659e-05,-9.49459232611e-05,-3.05287772193e-05,1793192500234475008
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742.781202718,710.218797282,672,665.218797282,632.218797282,876,783.781202718,799,650.781202718,628,651,0.402121677854,0.0045499792556,0.0499413975704,0.999999993833,2.41508056024e-05,-0.000104612276347,-2.83971279769e-05,1793192500251142144
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,743,710.358673591,672,665.358673591,632.358673591,876,783.641326409,799,650.641326409,628.358673591,651,0.402314237953,0.00454778067024,0.0499407859179,0.999999993637,2.1284316497e-05,-0.000107567241854,-2.65150581588e-05,1793192500267809024
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,743,710.934624142,672,665.934624142,632.934624142,876,783.065375858,799,650.065375858,628.934624142,651,0.402522797584,0.00454523734778,0.0499411273326,0.99999999387,1.76803001321e-05,-0.000106456590037,-2.47841781326e-05,1793192500284475648
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,743,710.491139867,672,665.491139867,633,876,783,799.508860133,650,628.491139867,651,0.402765155162,0.00454113290655,0.0499441904125,0.99999999467,1.40705212991e-05,-9.97575704793e-05,-2.26121443894e-05,1793192500301142016
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.914176632,710.085823368,671.914176632,665,632.914176632,876,783,799.914176632,650,628.085823368,651,0.40302036566,0.00453688008993,0.0499482881171,0.999999995578,1.0166187349e-05,-9.12538467593e-05,-2.03147355798e-05,1793192500317808384
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.319750044,710.680249956,671.319750044,665,632.319750044,876,783,799.319750044,650,628.680249956,651,0.403326098617,0.00453293256364,0.0499564519576,0.999999996924,4.5206430457e-06,-7.62956458606e-05,-1.7609083632e-05,1793192500334475008
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,671,665.266220581,632,876,783,799,650,629,651,0.403649379401,0.00452813933629,0.0499647780595,0.999999998123,-1.42778714211e-06,-5.94677894706e-05,-1.47113263074e-05,1793192500351141632
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,671,665.842347613,632,876,783,799,650,629,651,0.403993087533,0.00452236163152,0.0499732930488,0.999999999084,-7.72880539472e-06,-4.04634745241e-05,-1.15899399438e-05,1793192500367808512
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,710.58152587,671.41847413,665.58152587,632,876,783,799,650,629,651,0.404364840667,0.00451670024993,0.0499799793382,0.99999999952,-1.19712394932e-05,-2.73737329254e-05,-8.20935466117e-06,1793192500384475392
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,710.005399559,671.994600441,665.005399559,632,876,783,799,650,629,651,0.404747159216,0.004511082691,0.0499859766995,0.999999999733,-1.54381409714e-05,-1.65121949184e-05,-4.73112117975e-06,1793192500401142016
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.583721053,710,672,665.583721053,632.583721053,876.583721053,783,799,650,629,650.416278947,0.405150666253,0.00450152814936,0.0499789350454,0.999999999321,-2.40228677907e-05,-2.79489527213e-05,-7.87095662203e-07,1793192500417808640
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.829988387,710,672,666,633,876.829988387,783,799,650,628.829988387,650.170011613,0.405562505816,0.00449361423754,0.0499674949203,0.99999999829,-3.11314973853e-05,-4.9412772771e-05,3.12391242096e-06,1793192500434475008
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.250804955,710,672,666,633,876.250804955,783,799,650,628.250804955,650.749195045,0.405993916993,0.00448973852181,0.0499457657648,0.999999994913,-3.45710288982e-05,-9.45012836118e-05,6.94484997845e-06,1793192500451141888
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.325920145,710,672,665.674079855,632.674079855,876,783,799,650,628,650.674079855,0.406452351839,0.00448453229116,0.0499260168845,0.99999999099,-4.11946512172e-05,-0.000127375401019,9.95427466999e-06,1793192500467808512
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.900767711,710,672,665.099232289,632.099232289,876,783,799,650,628,650.099232289,0.406931426548,0.00447830985519,0.0499077804729,0.999999987273,-5.0250181009e-05,-0.000150920558794,1.23438921041e-05,1793192500484474880
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.514176242,710.485823758,672,665,632,876,783,799,650,628.485823758,650.485823758,0.407463037086,0.00446931525758,0.0499122283095,0.999999988713,-5.83341441538e-05,-0.000137495189722,1.63258098832e-05,1793192500501141760
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.071953548,711,672,665.071953548,632,876,783,798.928046452,650.071953548,629,650.928046452,0.408016275494,0.00446011026126,0.0499239114072,0.999999991733,-5.87473224678e-05,-0.000112478765386,2.07818890236e-05,1793192500517808640
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.650645589,711,672,665.650645589,632,876,783,798.349354411,650.650645589,629,650.349354411,0.408644635965,0.00445349682081,0.0499532180222,0.999999997825,-6.56598573513e-06,-6.01545156621e-05,2.623762262e-05,1793192500534475776
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.77167239,711,672,666,632,876,782.77167239,798.22832761,650.77167239,628.77167239,650.22832761,0.409281467439,0.00444690432902,0.0499758550555,0.999999997955,5.05894078051e-05,-2.29010945785e-05,3.17058924346e-05,1793192500551142400
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.195528986,711,672,666,632,876,782.195528986,798.804471014,650.195528986,628.195528986,650.804471014,0.409931202916,0.00444034374914,0.0499883321862,0.999999992622,0.0001153218735,-8.60535692266e-06,3.71932586703e-05,1793192500567808768
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632,876,782.381260689,799.381260689,650.381260689,628.381260689,650.618739311,0.410552539773,0.00444559593716,0.0499763796725,0.999999988255,0.000141407738983,-4.0414999602e-05,4.31278657771e-05,1793192500584475136
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632,876,782.95838235,799.95838235,650.95838235,628.95838235,650.04161765,0.411159287692,0.00445691657214,0.0499518771788,0.999999983287,0.000147640098225,-9.59098659643e-05,4.92922289264e-05,1793192500601141504
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,710.454096525,672,665.454096525,632,876,783.545903475,799.454096525,650.454096525,629,650.545903475,0.411807204004,0.00448028371224,0.0499252886217,0.999999988996,5.95317021227e-05,-0.000134167861605,2.15382900178e-05,1793192500617808384
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,710,672,665.13206501,632,876,783.86793499,799.13206501,650,628.86793499,650.86793499,0.412490751428,0.00449388499808,0.0499121602458,0.999999988813,-1.78786006564e-05,-0.000148505752171,3.10045285217e-07,1793192500634475008
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,710,672,665.710892952,632,876,783.289107048,799.710892952,650,628.289107048,650.289107048,0.413284011745,0.00447128222934,0.0499451147877,0.999999995624,-3.42953221926e-05,-8.64559925125e-05,1.00749900305e-05,1793192500651141632
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,710,672.288668717,666,632.288668717,876.288668717,783,799.711331283,650,628.288668717,650.288668717,0.414059564364,0.004458002075,0.0499582295128,0.999999997257,-3.59424595717e-05,-6.25449329917e-05,1.68164915e-05,1793192500667808256
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,710,672.865394603,666,632.865394603,876.865394603,783,799.134605397,650,628.865394603,650.865394603,0.414817446893,0.00445402478227,0.0499515464558,0.999999996587,-2.28513044339e-05,-7.66917690296e-05,2.05409561036e-05,1793192500684475136
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.440684224,710,673,666,632.559315776,877,783,799,650,628.559315776,651,0.415571293147,0.00445223972992,0.0499319842053,0.999999993782,-1.18851219763e-05,-0.000108777457429,2.1507581401e-05,1793192500701141760
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,710.015942393,673,666,632.015942393,876.984057607,783,799.015942393,650,628.015942393,650.984057607,0.41632540689,0.00445125060594,0.0499096487946,0.999999989358,-2.12588661206e-06,-0.00014426305579,2.16159058674e-05,1793192500717808384
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,710.605811532,673,666,632.605811532,876.394188468,783,799.605811532,650,628.605811532,650.394188468,0.417133390927,0.00445488718904,0.0499286400488,0.999999994132,-1.25263059368e-05,-0.000105529363873,2.1052278637e-05,1793192500734475008
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.807966649,711,672.807966649,666,633,876.192033351,783,799.807966649,650,629,650,0.417953688156,0.00445834165651,0.0499490100813,0.999999997314,-1.6859266362e-05,-6.80252528625e-05,2.14552948006e-05,1793192500751141888
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.2290922,711,672.2290922,666,633,876.7709078,783,799.2290922,650,629,650,0.418798789615,0.00446142926143,0.0499721575894,0.999999999132,-8.96964899027e-06,-3.29980705234e-05,2.38055633701e-05,1793192500767808768
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.346892431,711,672,666,632.653107569,877,783,799.346892431,650,628.653107569,650,0.419619537361,0.00446190423424,0.0499648965023,0.999999998469,1.95551305236e-06,-4.90529392815e-05,2.55194639252e-05,1793192500784475392
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.920984334,711,672,666,632.079015666,877,783,799.920984334,650,628.079015666,650,0.42042433445,0.00446066804638,0.0499377191057,0.999999994672,1.48688246713e-05,-9.85643337217e-05,2.68165709445e-05,1793192500801142016
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,711,672.507561421,666,632,877,783,799.492438579,650,628,650.507561421,0.42129438325,0.00445744029952,0.0499524606652,0.999999998004,2.38673829962e-06,-5.76939404275e-05,2.5636602603e-05,1793192500817808640
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.094615044,743,711,672.905384956,666,632,877.094615044,783,799,650,628.094615044,650.905384956,0.422168983502,0.00445389315761,0.0499711506014,0.99999999958,-1.1136790696e-05,-1.06572705685e-05,2.45340726606e-05,1793192500834475264
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.673901948,743,711,672.326098052,666,632,877.673901948,783,799,650,628.673901948,650.326098052,0.42301355025,0.00445033814761,0.0499757943729,0.999999999606,-9.23247649718e-06,-5.92754106148e-06,2.58534271191e-05,1793192500851142144
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,711,672.252317647,666,632,877.747682353,783,799,650,629,650.252317647,0.423854610658,0.00444891061329,0.0499702123371,0.999999999481,-7.92209851926e-06,-1.60396202237e-05,2.68055819507e-05,1793192500867808512
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,711,672.829611342,666,632,877.170388658,783,799,650,629,650.829611342,0.424691155141,0.00445022319061,0.0499514598301,0.999999998576,-7.37668875468e-06,-4.5267414209e-05,2.72847970417e-05,1793192500884475136
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.594267413,743,711,673,666,632,877,783,799,650,628.594267413,650.594267413,0.425570033559,0.00444881886047,0.0499638752957,0.999999999147,-7.33498874255e-07,-2.97142280593e-05,2.86808409396e-05,1793192500901141760
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.018637158,743,711,673,666,632,877,783,799,650,628.018637158,650.018637158,0.426466638963,0.00444627684435,0.0499893421316,0.99999999949,8.46309352115e-06,4.59068042713e-06,3.04608004008e-05,1793192500917808384
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,711,673,666.569537855,632,877,783,799,650,628.569537855,650,0.4272530218,0.00444225320384,0.0499831664795,0.999999999002,9.15736746544e-07,-2.98548333984e-05,3.32107925667e-05,1793192500934475008
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.155620686,743,710.844379314,673,666.844379314,632,877,783,799,650,628.844379314,650,0.428037490415,0.00444029976657,0.0499685950748,0.99999999701,-6.47552201403e-06,-6.87415369573e-05,3.48138818597e-05,1793192500951141632
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.734865598,743,710.265134402,673,666.265134402,632,877,783,799,650,628.265134402,650,0.428826787717,0.00444411670424,0.0499340512313,0.999999992942,-1.1916746461e-05,-0.000113455780905,3.32065645467e-05,1793192500967808768
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.687796976,742.687796976,710.312203024,672.687796976,666,632.312203024,877,783,799,650,628.312203024,650,0.429652146745,0.00444468389874,0.0499285455479,0.999999993493,-5.17650146096e-06,-0.000109359784808,3.20453680485e-05,1793192500984475648
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.112069651,742.112069651,710.887930349,672.112069651,666,632.887930349,877,783,799,650,628.887930349,650,0.430507944712,0.00444250805013,0.0499475503938,0.999999997389,1.1845877468e-05,-6.40640432838e-05,3.12607332325e-05,1793192501001142272
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.472660693,742,711,672.472660693,666,632.527339307,877,783,799.472660693,650,628.527339307,650,0.431286920694,0.00444046451136,0.0499413712403,0.999999996209,2.78946916316e-06,-8.10922646484e-05,3.16000315721e-05,1793192501017808640
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,742,711,672.94121363,666,632.05878637,877,783,799.94121363,650,628.05878637,650,0.432048184592,0.00443829505559,0.0499298433681,0.999999993389,-1.22770536852e-05,-0.00010972483799,3.21068571632e-05,1793192501034475008
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,742,711,672.362000347,666,632.637999653,877,783,799.362000347,650,628.637999653,650,0.432817029441,0.0044347277598,0.0499248528828,0.999999993389,-2.47467571289e-05,-0.000107728012434,3.1691781321e-05,1793192501051141632
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.783227956,742.216772044,711,672.216772044,666.216772044,632.783227956,876.783227956,783,799,650,629,650,0.433583984014,0.00443338736911,0.0499319182155,0.999999995207,-2.47933436818e-05,-8.94537384364e-05,3.11441185175e-05,1793192501067808256
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.205190249,742.794809751,711,672.794809751,666.794809751,632.205190249,876.205190249,783,799,650,629,650,0.434347788434,0.00443575826983,0.0499590754053,0.99999999856,-4.13594517682e-06,-4.40519657694e-05,3.03754902228e-05,1793192501084474880
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,711,673,667,632,876.741012814,783,799,650,629,650,0.43506492035,0.00443694452385,0.0499720288722,0.999999998979,4.3780351498e-06,-3.16256204637e-05,3.19815132816e-05,1793192501101142016
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,711,673,667,632,877.889829341,783,799,650,629,650,0.435756366806,0.00443747882769,0.0499771655618,0.999999998675,6.20909198189e-06,-3.7346739704e-05,3.48943851236e-05,1793192501117808896
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.533290349,743,711,673,666.466709651,632,877.466709651,783,799.533290349,650,628.466709651,650,0.436388461391,0.0044336405883,0.0499472424348,0.9999999945,-1.40909843296e-06,-9.78940105708e-05,3.76067922212e-05,1793192501134475520
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.88019659,742.88019659,710.88019659,673,666,632,877,783,800,650,628.11980341,650,0.437023993292,0.00443049631871,0.0499245861175,0.999999989453,-8.66423482536e-06,-0.000139455220765,3.9650617746e-05,1793192501151142144
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.306357393,742.306357393,710.306357393,673,666,632,877,783,800,650,628.693642607,650,0.437696411139,0.00443173981927,0.0499435636786,0.999999995386,-1.07449153136e-05,-8.70225188272e-05,3.92412118547e-05,1793192501167808512
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.271259136,710,673,666,632,877,783,800,649.728740864,628.728740864,650,0.43833866949,0.00443408082362,0.0499583449983,0.999999997735,-6.89649959066e-06,-5.36234115516e-05,4.00945511805e-05,1793192501184475136
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.853201949,710,673,666,632,877,783,800,649.146798051,628.146798051,650,0.438946384947,0.00443767884183,0.0499683201977,0.999999998211,3.7427415918e-06,-4.20242270244e-05,4.23941620121e-05,1793192501201141760
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.429116107,743,710.429116107,673,666,632,877,783,799.570883893,649.429116107,628.429116107,650,0.439469208799,0.0044455377901,0.0499393639329,0.999999995013,1.49549336732e-05,-8.90930272162e-05,4.25829329025e-05,1793192501217808384
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.996912551,742.996912551,711,673.003087449,666,632,877,783,799,650,629,650,0.439963254558,0.00445481238761,0.0498973105112,0.999999986614,2.63333776232e-05,-0.00015591389266,4.20667695496e-05,1793192501234475008
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.405617054,742.405617054,711,673.594382946,666,632,877,783,799,650,629,650,0.440430710503,0.0044599345943,0.049862220785,0.999999975406,3.25609280298e-05,-0.000215142808178,4.2916101317e-05,1793192501251141632
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711,673.818896856,665.818896856,632,877,782.818896856,799.181103144,650,629,650,0.440899770907,0.00446428289045,0.0498397675754,0.999999966672,3.7405919987e-05,-0.00025175300498,4.33301466305e-05,1793192501267808768
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,711,673.242171349,665.242171349,632,877,782.242171349,799.757828651,650,629,650,0.441372336365,0.0044669405691,0.0498449190071,0.999999969766,3.92306949816e-05,-0.000238952305596,4.27933030068e-05,1793192501284475648
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,877.335177567,782.335177567,799.664822433,650,628.664822433,650,0.441820904212,0.00446647919576,0.0498503231716,0.999999973639,1.11074307086e-05,-0.000226889597913,3.34707630529e-05,1793192501301142272
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,877.912977713,782.912977713,799.087022287,650,628.087022287,650,0.442252101053,0.00446376005651,0.0498559102798,0.999999975903,-3.86941057737e-05,-0.000215361095253,1.77885841614e-05,1793192501317808640
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.486891175,711,673.486891175,665.486891175,631.513108825,877.513108825,783,799,650,628.486891175,650,0.442621890027,0.00445962202894,0.0498484681155,0.999999973809,1.59923723431e-06,-0.000228195479609,1.752355748e-05,1793192501334474752
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.937769984,711,673.937769984,665.937769984,631,877,782.937769984,799,650,629,650.062230016,0.442975021046,0.00445657652836,0.0498371009666,0.999999967749,5.26685871145e-05,-0.000247659540363,1.98183530401e-05,1793192501351141632
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.344382645,711,673.344382645,665.344382645,631,877,782.344382645,799,650,629,650.655617355,0.443278907859,0.00446500358916,0.0498119517372,0.999999956887,5.9361017697e-05,-0.000286838394184,2.06290973953e-05,1793192501367808256
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.242007162,711,673.242007162,665,631,877,782,799,650,629,650.757992838,0.443561532214,0.00447993538913,0.0497856216872,0.999999943004,7.22366705919e-05,-0.000329132807593,2.11023294397e-05,1793192501384474880
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.818719079,711,673.818719079,665,631,877,782,799,650,629,650.181280921,0.443814749787,0.00450386348053,0.0497576585213,0.999999924802,9.3663945456e-05,-0.000375736150494,2.11087695464e-05,1793192501401141760
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.605350691,710.605350691,673.605350691,665,631,877,782.394649309,799.394649309,650,628.605350691,650,0.444062795874,0.00452093333991,0.0497437687757,0.999999915039,0.000109039597417,-0.000397033563278,1.99245396992e-05,1793192501417808640
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.029778767,710.029778767,673.029778767,665,631,877,782.970221233,799.970221233,650,628.029778767,650,0.444308471172,0.00453485912069,0.0497363308316,0.999999909722,0.000121640951641,-0.000406729756249,1.81944603773e-05,1793192501434475776
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742,710,673,664.444176035,631,877,782.444176035,800,650,628,650,0.444535119068,0.00452792360795,0.049738669663,0.999999912985,0.000113297119214,-0.000400968357278,2.04688914215e-05,1793192501451142144
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.141063864,710.141063864,673.141063864,664,630.858936136,877,782,799.858936136,650,628.141063864,650,0.444750222421,0.00452247691482,0.0497404047913,0.999999915823,0.000106347212189,-0.000395662524682,2.22706013508e-05,1793192501467808512
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.723456532,710.723456532,673.723456532,664,630.276543468,877,782,799.276543468,650,628.723456532,650,0.444932455781,0.00452524905662,0.049738582327,0.999999916216,0.000107333576454,-0.000394420523816,2.19098120034e-05,1793192501484474880
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.697506188,711,673.697506188,664,630,877,782,799,650,628.697506188,650,0.445090018712,0.00452994270898,0.0497316128087,0.999999912017,0.00011153809867,-0.000403797947254,2.17439880728e-05,1793192501501141504
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.121502823,711,673.121502823,664,630,877,782,799,650,628.121502823,650,0.445225275068,0.00453637375703,0.0497199894153,0.999999903354,0.000118652422262,-0.000422777266179,2.17544484371e-05,1793192501517808384
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.452462347,711,673.452462347,664,630,877,782.452462347,799,650,628.452462347,650,0.445343794925,0.00454091701792,0.0497113893048,0.999999898767,0.000123312912285,-0.000432237915392,2.07352041721e-05,1793192501534475264
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664,630,877,783,799,650,629,650.026735617,0.44545702483,0.00454488585474,0.0497038678009,0.999999895377,0.000127331772645,-0.00043892190862,1.95053958147e-05,1793192501551142144
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664,630,877,783,799,650,629,650.619053456,0.445552998101,0.00454737900975,0.0497020661796,0.999999894033,0.000131654416858,-0.000440697922013,1.96444939666e-05,1793192501567808768
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,673.793428523,664,630,877,782.793428523,799.206571477,650,628.793428523,650.793428523,0.445640304459,0.00454802774897,0.0497001617164,0.999999893203,0.000132952605546,-0.00044218992798,1.96370079561e-05,1793192501584475392
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,673.214561097,664,630,877,782.214561097,799.785438903,650,628.214561097,650.214561097,0.445711990755,0.0045453523672,0.0496980719054,0.999999893318,0.00012879993211,-0.000443170077934,1.93653388459e-05,1793192501601141760
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742.638994406,711,673,664.361005594,629.638994406,877,782,800,650,628,650.361005594,0.445771927513,0.00454428961627,0.0496975488052,0.999999893239,0.0001281720568,-0.000443524262404,1.95057550305e-05,1793192501617808384
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.065371654,711,673,664.934628346,629.065371654,877,782,800,650,628,650.934628346,0.445824944293,0.00454417663703,0.0496979484317,0.999999893051,0.000129620139397,-0.000443509779546,1.98888721489e-05,1793192501634475008
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742,711,673,664.490752722,629.509247278,877,782.509247278,800,650,628.509247278,650.490752722,0.445865280827,0.00454572302017,0.0497006180522,0.999999894941,0.000132364037384,-0.000438435045477,1.92945521329e-05,1793192501651141632
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+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711,673.073805824,663.073805824,629,877,782.073805824,799,650,628.073805824,650.073805824,0.44594196443,0.00455585224025,0.049669180119,0.999999869951,0.000149200925938,-0.000487421985481,1.60336924008e-05,1793192501867808512
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711,673.652857614,663.652857614,629,877,782.652857614,799,650,628.652857614,650.652857614,0.445945417123,0.00455562924632,0.049670816855,0.999999870915,0.000149103313186,-0.000485468313083,1.60952980404e-05,1793192501884475136
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711,673.768939124,663.768939124,629,877.231060876,782.768939124,799,650,629,650.768939124,0.445949612009,0.00455494462033,0.049672927224,0.999999872637,0.000148509217125,-0.000482088757975,1.61514241736e-05,1793192501901141760
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711,673.192006047,663.192006047,629,877.807993953,782.192006047,799,650,629,650.192006047,0.445954917875,0.00455356898298,0.0496757465683,0.999999875477,0.000147171941268,-0.000476574816574,1.61993480967e-05,1793192501917808384
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.383462459,743,711,673.383462459,663.383462459,629,877.616537541,782,799.383462459,650,629,650.383462459,0.445959432897,0.00455570637036,0.0496778457456,0.999999876932,0.000150934346827,-0.000472336225338,1.58980040746e-05,1793192501934475008
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.958200402,743,711,673.958200402,663.958200402,629,877.041799598,782,799.958200402,650,629,650.958200402,0.445963553437,0.00455959609493,0.0496795856951,0.999999877663,0.000157240532169,-0.000468733793585,1.54224411821e-05,1793192501951141888
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.45613582,743,711,674,663.45613582,629,877.54386418,782,800,650.54386418,628.45613582,651,0.445967192021,0.00455689157567,0.049681560991,0.999999880097,0.000152062385783,-0.000465225870486,1.57587880536e-05,1793192501967808512
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,673.870567684,663.129432316,629,877.870567684,782.129432316,800,650.870567684,628.129432316,650.870567684,0.445969645782,0.0045547658376,0.0496830418386,0.999999881731,0.000148054407827,-0.000462993589144,1.59844702604e-05,1793192501984475136
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711,673.288332165,663.711667835,629,877.288332165,782.711667835,800,650.288332165,628.711667835,650.288332165,0.445968086827,0.00455647426383,0.0496827283428,0.999999880229,0.000151291262609,-0.000465198054242,1.56002288691e-05,1793192502001141760
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711,673,664,629.29092153,877,783,800,650.29092153,628.70907847,650.29092153,0.445968124918,0.00455599441093,0.0496826590238,0.999999880078,0.000150803782523,-0.000465677792655,1.56936482632e-05,1793192502017808384
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,673,664,629.867249992,877,783,800,650.867249992,628.132750008,650.867249992,0.445969729784,0.0045533677593,0.049682829253,0.999999881249,0.000146662565041,-0.000464465497916,1.62556740394e-05,1793192502034475008
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.44131961,743,710.55868039,673,664,629.55868039,877.44131961,783,799.55868039,650.55868039,628,650.55868039,0.445969526067,0.00455377889424,0.0496825814533,0.999999881027,0.000147444492325,-0.000464706945338,1.58933976615e-05,1793192502051141888
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.984886994,742.984886994,710.015113006,673,664,629.015113006,877.984886994,783,799,650,628,650,0.445968834317,0.00455505001006,0.0496822322165,0.999999880415,0.000149631163048,-0.000465346160876,1.52860666189e-05,1793192502067808256
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.395911922,742.395911922,710.604088078,673,664,629.604088078,877.395911922,783,799,650,628,650,0.445970163475,0.00455445523485,0.0496827816389,0.999999880829,0.000149212649258,-0.000464569263597,1.58771812643e-05,1793192502084474880
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.190373079,711,673,663.809626921,629.809626921,877,782.809626921,799,650,628.190373079,650,0.445971361571,0.00455413723536,0.0496832113586,0.999999881153,0.000148673428749,-0.000464037349098,1.60978442302e-05,1793192502101141760
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.771141553,711,673,663.228858447,629.228858447,877,782.228858447,799,650,628.771141553,650,0.445972290899,0.004554386816,0.0496833956057,0.999999881292,0.000147886676696,-0.000464007817388,1.55588271143e-05,1793192502117808384
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,711,673.348411909,663,629.348411909,877,782.348411909,799.348411909,650,628.651588091,650,0.445974220227,0.00455452300734,0.0496843879009,0.999999882282,0.000147430551213,-0.000462022378347,1.53779929231e-05,1793192502134475264
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,711,673.923407303,663,629.923407303,877,782.923407303,799.923407303,650,628.076592697,650,0.445976799888,0.00455458545794,0.0496859056957,0.999999883816,0.000147189442867,-0.000458764949771,1.54300966445e-05,1793192502151142144
+243,4.050000000,HOLD_POSE2,764,742,711,673,663,629,878,783,799,650,629,650,0.445983646332,0.00455244919505,0.0496897556615,0.999999886816,0.000147492720165,-0.000452076274848,1.54975220122e-05,1793192502181781760
+244,4.066666667,HOLD_POSE2,764,742.579265925,710.420734075,673.579265925,663.579265925,629,877.420734075,782.420734075,799,650,628.420734075,650,0.445988438828,0.0045528631461,0.0496920543452,0.999999888818,0.000147396934936,-0.000447645874094,1.58297292471e-05,1793192502198448896
+245,4.083333333,HOLD_POSE2,764,743,710,674,664,629,877,782,799.316222585,650,628.158111292,650,0.445993571498,0.00455312871787,0.0496946228477,0.999999890961,0.000147297709781,-0.000442858395003,1.60328296013e-05,1793192502215115520
+246,4.100000000,HOLD_POSE2,764,743,710,674,664,629,877,782,800.471681302,650,628.735840651,650,0.445999606972,0.00455300049984,0.0496979074337,0.999999893503,0.00014718935525,-0.000437123250052,1.58932879637e-05,1793192502231781888
+247,4.116666667,HOLD_POSE2,764,742.687873008,710.312126992,673.687873008,663.687873008,629,877,782,800.687873008,650,628.687873008,650,0.446004643664,0.00455269893493,0.0497006681826,0.999999895754,0.000145720176156,-0.000432441054708,1.58572551533e-05,1793192502248448256
+248,4.133333333,HOLD_POSE2,764,742.112802337,710.887197663,673.112802337,663.112802337,629,877,782,800.112802337,650,628.112802337,650,0.446008838956,0.00455225133825,0.0497029876378,0.999999897765,0.000143104604008,-0.000428645891114,1.59084208077e-05,1793192502265114880
+249,4.150000000,HOLD_POSE2,764,742,711,673,663.473545446,629.473545446,877,782.473545446,800,650,628,650,0.4460094552,0.00455263039871,0.0497028112454,0.999999897616,0.00014451513293,-0.000428526093001,1.57437269483e-05,1793192502281781760
+250,4.166666667,HOLD_POSE2,764,742.061811235,711,673,664,630,877,782.938188765,800,650,628.061811235,650,0.446009439889,0.00455306179764,0.0497022500278,0.999999897139,0.000146508796261,-0.000428968255097,1.55720067902e-05,1793192502298448640
+251,4.183333333,HOLD_POSE2,764,742.643069789,711,673,664,630,877,782.356930211,800,650,628.643069789,650,0.446011456617,0.00455223782705,0.0497035730135,0.99999989835,0.00014514673875,-0.000426595999854,1.57838981653e-05,1793192502315115264
+252,4.200000000,HOLD_POSE2,764,743,711,673,664,630,877.220980023,782.220980023,800,650,628.779019977,650,0.446012518563,0.004552326039,0.0497040585492,0.999999898792,0.000144975834847,-0.000425615219836,1.58129991266e-05,1793192502331781888
+253,4.216666667,HOLD_POSE2,764,743,711,673,664,630,877.793562671,782.793562671,800,650,628.206437329,650,0.446012061352,0.00455386563006,0.049703211613,0.999999898019,0.00014670018264,-0.000426848424521,1.55512611573e-05,1793192502348448256
+254,4.233333333,HOLD_POSE2,764,742.633214779,711,673.366785221,664,630,877.633214779,782.633214779,799.633214779,650,628,650,0.446013347488,0.00455269532216,0.0497042076193,0.999999898594,0.000145374260757,-0.000425940970563,1.58861562233e-05,1793192502365114880
+255,4.250000000,HOLD_POSE2,764,742.059631391,711,673.940368609,664,630,877.059631391,782.059631391,799.059631391,650,628,650,0.446015616544,0.00454999713893,0.0497062427,0.99999989992,0.000142328558236,-0.000423826586177,1.65574405507e-05,1793192502381781504
+256,4.266666667,HOLD_POSE2,764,742.531752688,711,673.468247312,664,630,877,782.531752688,799,650,628,650,0.446014924478,0.00455042932681,0.0497057246884,0.999999899544,0.000143239239305,-0.000424419091552,1.62389783818e-05,1793192502398448128
+257,4.283333333,HOLD_POSE2,764.121803228,743,711,673,664,630,877,783,799,650,628.121803228,650,0.446014581204,0.00455091343771,0.0497053712251,0.999999899335,0.000144059426777,-0.00042464532013,1.59057616172e-05,1793192502415115008
+258,4.300000000,HOLD_POSE2,764.699142398,743,711,673,664,630,877,783,799,650,628.699142398,650,0.446016827304,0.00455023338629,0.0497067410163,0.999999900493,0.000142824394706,-0.000422327106828,1.59468408185e-05,1793192502431781888
+259,4.316666667,HOLD_POSE2,764.725849126,743,710.725849126,673,664,630,877,782.725849126,799.274150874,650,629,650,0.446017097989,0.00455086720153,0.0497067449492,0.999999900443,0.000142766665955,-0.000422471748505,1.57809663862e-05,1793192502448448768
+260,4.333333333,HOLD_POSE2,764.153376866,743,710.153376866,673,664,630,877,782.153376866,799.846623134,650,629,650,0.446015219097,0.00455293072053,0.0497052626028,0.999999899076,0.000143990037547,-0.000425296382914,1.53898922501e-05,1793192502465115136
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,710,674,664,630,877,782,800,650,628,650,0.446016268487,0.00454936706293,0.049706114135,0.999999900163,0.000141972588465,-0.000423371583532,1.6564040495e-05,1793192502497720320
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,710.577460831,674,664,629.422539169,877.577460831,782,799.422539169,650,628,650.577460831,0.446015797,0.00454946615636,0.0497062643842,0.999999899963,0.000142293200437,-0.000423752856209,1.61332316024e-05,1793192502514386944
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.845368124,664,629,877.845368124,782,799,650,628,650.845368124,0.446015466375,0.00454997598152,0.0497063674187,0.999999899772,0.000143196598831,-0.00042390994555,1.58327795437e-05,1793192502531053568
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.268987323,664,629,877.268987323,782,799,650,628,650.268987323,0.446015519943,0.00455160605223,0.0497063416777,0.999999899604,0.000145689511392,-0.000423455588721,1.58878676291e-05,1793192502547720192
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.306454203,664,629.306454203,877,782,799.306454203,650.306454203,628,650.306454203,0.446015745206,0.00455240250669,0.0497060457291,0.999999899516,0.000145679340899,-0.000423671589275,1.57271056617e-05,1793192502564386816
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.881073775,664,629.881073775,877,782,799.881073775,650.881073775,628,650.881073775,0.446016120712,0.00455246949803,0.0497055133331,0.9999998995,0.000143478826044,-0.000424474191813,1.53774622582e-05,1793192502581053696
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,664,630,877,782,799.529995817,650.529995817,628,650.529995817,0.446015032126,0.0045519150938,0.0497052863222,0.999999899579,0.000142952313328,-0.000424463347253,1.54383371499e-05,1793192502597720064
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.938855791,711,674,664,629.938855791,877,782,799,650,628.061144209,650,0.446012542226,0.00455116712316,0.0497046716868,0.999999899345,0.000142743297512,-0.000425076993553,1.55996769274e-05,1793192502614386432
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.360614382,711,674,664,629.360614382,877,782,799,650,628.639385618,650,0.446001432789,0.00455015364088,0.0497001048926,0.999999896218,0.000141524667889,-0.000432767323619,1.57045947927e-05,1793192502631053312
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.21623212,710.78376788,673.78376788,664,629,877.21623212,782,799.21623212,650,628.78376788,650,0.445981332819,0.00455013548839,0.0496922103058,0.999999889865,0.000141233606172,-0.000447304882923,1.55184939167e-05,1793192502647719936
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.790767165,710.209232835,673.209232835,664,629,877.790767165,782,799.790767165,650,628.209232835,650,0.445946335274,0.00455176662644,0.0496788014703,0.999999877786,0.000142479551569,-0.000473188499697,1.48501664883e-05,1793192502664386560
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.635821496,742.635821496,710.364178504,673,664,629,877.635821496,782,800,650,628.364178504,650,0.445895496572,0.00455304586178,0.049664024193,0.999999863404,0.00014418364084,-0.000502184465968,1.46340621831e-05,1793192502681053440
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.063053723,742.063053723,710.936946277,673,664,629,877.063053723,782,800,650,628.936946277,650,0.445835584582,0.00455412353918,0.0496484631169,0.999999847188,0.000146150139645,-0.000532963084133,1.46769760899e-05,1793192502697720064
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.529920525,742.529920525,711,673.529920525,664,629.529920525,877,782,800,650,629,650,0.445770290131,0.00455454504653,0.0496436976231,0.999999845284,0.000149676218817,-0.000535564545458,1.41498697328e-05,1793192502714386688
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.755718919,664.12214054,630,877,782,800,650,628.87785946,650,0.445699391521,0.00455534216165,0.0496413314924,0.999999845214,0.000153146586235,-0.000534731042593,1.34717526148e-05,1793192502731053312
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.595674724,664.702162638,630,877,782,800,650,628.297837362,650,0.44560998005,0.00455785165296,0.0496429537379,0.999999845178,0.000155684857355,-0.000534087476299,1.24918677781e-05,1793192502747719936
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,710.721030259,672.557939481,664.721030259,630,877,782,799.721030259,650,628,650,0.445511065731,0.00455872983743,0.0496470580872,0.999999847761,0.000156411762558,-0.000529021530693,1.21943748492e-05,1793192502764386560
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,710.14761652,673.704766961,664.14761652,630,877,782,799.14761652,650,628,650,0.445402121454,0.00455788622745,0.0496537822206,0.999999853043,0.00015522682647,-0.000519287899463,1.26171256933e-05,1793192502781053184
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.562603936,710.437396064,673.562603936,664,630,877,782,799.437396064,650,628,650,0.445266843921,0.00455921786319,0.0496626395072,0.999999857832,0.000159074750806,-0.000508798544191,1.24731327677e-05,1793192502797719808
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.025994988,710.974005012,673,664.025994988,630,877,782,799.974005012,650,628,650,0.445120627396,0.00456126972299,0.0496720306167,0.999999862153,0.000164594543396,-0.000498452601445,1.21591368002e-05,1793192502814386176
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.605339146,710.394660854,673,664.605339146,630,877,782,799.394660854,650,628,650,0.444935887977,0.00456260004834,0.0496770429492,0.999999862343,0.000168561740159,-0.00049673650051,1.24087547313e-05,1793192502831052800
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.816131564,710,673.183868436,665,630,877,782.183868436,799.183868436,650,628.183868436,650,0.444740231471,0.00456442252229,0.0496824874647,0.999999863251,0.00017318056003,-0.000493307647213,1.23838576175e-05,1793192502847719680
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742.239343686,710,673.760656314,665,630,877,782.760656314,799.760656314,650,628.760656314,650,0.444521245616,0.00456729669782,0.0496888555369,0.999999865672,0.000179191871723,-0.000486218711313,1.17723328777e-05,1793192502864386560
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_10/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f043ed54e1efe0bc58e938d1174086967b42a87b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,397 @@
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+365,6.083333333,pose2_to_pose3_retreat,0.575736667365,0.0100546101539,1.04002915229,0.546307397311,0.0187273387772,1.03969844657
+366,6.100000000,pose2_to_pose3_retreat,0.575729141824,0.0100546193494,1.0400291749,0.546299871473,0.0187273467754,1.03969846434
+367,6.116666667,pose2_to_pose3_retreat,0.575724059874,0.0100546182935,1.04002916984,0.546294789436,0.018727345337,1.03969845708
+368,6.133333333,pose2_to_pose3_retreat,0.575720986068,0.0100545992053,1.04002911516,0.546291715865,0.0187273270995,1.03969840379
+369,6.150000000,pose2_to_pose3_retreat,0.575719461009,0.0100545897347,1.04002908802,0.546290190922,0.018727318051,1.03969837734
+370,6.166666667,pose2_to_pose3_retreat,0.575718319106,0.0100545826436,1.04002906771,0.546289049107,0.0187273112759,1.03969835755
+371,6.183333333,pose2_to_pose3_retreat,0.57571717528,0.0100545706458,1.04002905234,0.546287905439,0.0187272998249,1.03969834245
+372,6.200000000,pose2_to_pose3_retreat,0.575716508122,0.0100545540133,1.04002905319,0.546287238512,0.0187272839644,1.03969834296
+373,6.216666667,pose2_to_pose3_retreat,0.575716113615,0.0100545441781,1.04002905369,0.546286844142,0.0187272745857,1.03969834327
+374,6.233333333,pose2_to_pose3_retreat,0.575715613469,0.0100545317093,1.04002905432,0.546286344169,0.0187272626956,1.03969834365
+375,6.250000000,pose2_to_pose3_retreat,0.575715545359,0.0100545300113,1.04002905441,0.546286276082,0.0187272610765,1.0396983437
+376,6.266666667,pose2_to_pose3_retreat,0.575714867439,0.0100545131105,1.04002905527,0.546285598397,0.0187272449601,1.03969834423
+377,6.283333333,pose2_to_pose3_retreat,0.575714671518,0.0100545082262,1.04002905552,0.546285402544,0.0187272403025,1.03969834438
+378,6.300000000,pose2_to_pose3_retreat,0.575714435001,0.0100545023297,1.04002905582,0.54628516611,0.0187272346797,1.03969834456
+379,6.316666667,pose2_to_pose3_retreat,0.575714394754,0.0100545013264,1.04002905587,0.546285125876,0.0187272337229,1.03969834459
+380,6.333333333,pose2_to_pose3_retreat,0.575714279012,0.0100544984409,1.04002905602,0.546285010174,0.0187272309713,1.03969834468
+381,6.350000000,pose2_to_pose3_retreat,0.575714224433,0.0100544970802,1.04002905609,0.546284955614,0.0187272296738,1.03969834472
+382,6.366666667,pose2_to_pose3_retreat,0.575714069788,0.0100544932248,1.04002905628,0.546284801023,0.0187272259974,1.03969834484
+383,6.383333333,pose2_to_pose3_retreat,0.575713609369,0.0100544817464,1.04002905687,0.546284340763,0.0187272150518,1.03969834519
+384,6.400000000,pose2_to_pose3_retreat,0.575713278387,0.010054473495,1.04002905729,0.546284009896,0.0187272071833,1.03969834545
+385,6.416666667,pose2_to_pose3_retreat,0.57571307493,0.0100544687149,1.04002905806,0.546283806507,0.0187272026306,1.0396983461
+386,6.433333333,pose2_to_pose3_retreat,0.575713020845,0.0100544691862,1.04002906135,0.546283752427,0.0187272031138,1.03969834925
+387,6.450000000,pose2_to_pose3_retreat,0.57571266573,0.0100544722803,1.04002908296,0.546283397347,0.0187272062866,1.03969836992
+388,6.466666667,pose2_to_pose3_retreat,0.575712001528,0.0100544780675,1.04002912338,0.546282733208,0.0187272122209,1.03969840858
+389,6.483333333,pose2_to_pose3_retreat,0.575711470147,0.0100544826974,1.04002915572,0.546282201877,0.0187272169685,1.03969843951
+390,6.500000000,pose2_to_pose3_retreat,0.575711283608,0.0100544843227,1.04002916707,0.546282015356,0.0187272186352,1.03969845036
+391,6.516666667,pose2_to_pose3_retreat,0.575710991434,0.0100544868684,1.04002918485,0.54628172321,0.0187272212456,1.03969846737
+392,6.533333333,pose2_to_pose3_retreat,0.575710377128,0.0100544973633,1.04002920144,0.546281108701,0.0187272310764,1.03969848458
+393,6.550000000,pose2_to_pose3_retreat,0.575709704835,0.0100545202038,1.04002917371,0.54628043561,0.0187272514231,1.03969846246
+394,6.566666667,pose2_to_pose3_retreat,0.575709389041,0.0100544862732,1.04002886268,0.54628011954,0.0187272165518,1.0396981513
+395,6.583333333,pose2_to_pose3_retreat,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_10/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc89dfeae4577fc5bad6fa6900db3a95fbebf922
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7855b5e25133f0db44f3381f95bc47274ea1237ecb370606ac3fbd6f555f01c
+size 25253337
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_10/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32470355a1ae9fb5ffb8bb8a9ec88b94a00d82f5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_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
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+1,0.016666667,BASELINE,763.593099243,742,710.593099243,672,665,632,875.406900757,783,799,650,628,651,0.400977651684,0.0045780343705,0.0498554527217,0.999999963798,6.16109084376e-05,-0.000258870886107,-3.99179247262e-05,1793192504899112960
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+13,0.216666667,BASELINE,764.442469713,742,710.442469713,672,665,632.442469713,875.884939425,783,799,650.442469713,629,651,0.400977656037,0.00457634919352,0.0498552364739,0.999999964273,5.85964463988e-05,-0.000257806796567,-3.94548044554e-05,1793192505099112192
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+16,0.266666667,BASELINE,764,742,710.303465329,672,665.696534671,632,876,783,799,650,628,651,0.400979121778,0.00457686247425,0.049856778705,0.999999964694,6.03705076991e-05,-0.000255657229082,-4.00915296434e-05,1793192505149111808
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+18,0.300000000,BASELINE,764,742,711,671.539182019,665.921635963,632.460817981,876,783,799,650,628.460817981,651,0.400978479614,0.00457649615587,0.0498558910906,0.999999964451,5.93261353659e-05,-0.000256833003553,-4.01838476334e-05,1793192505182445312
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+20,0.333333333,BASELINE,764,742,710.375853467,671.624146533,665.751706935,632.375853467,876,783,799,650,629,651,0.400977892104,0.00457892763741,0.049856127607,0.999999964371,6.26442359144e-05,-0.000256371502754,-4.00940416845e-05,1793192505215779072
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+22,0.366666667,BASELINE,763.217845079,742,710,672,665,632,876,783,799,650,628.217845079,651,0.400978842787,0.00457942653369,0.0498569272119,0.999999964551,6.22118553255e-05,-0.000255712951602,-4.04819612153e-05,1793192505249112064
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+27,0.450000000,BASELINE,764,742,711,672,665,632.688565882,875.688565882,783,799,650,628.688565882,651,0.400980452125,0.00457789366095,0.0498572929177,0.999999965091,5.99544849682e-05,-0.000254168489113,-4.02621138354e-05,1793192505332445696
+28,0.466666667,BASELINE,764,742,710.733804772,672,665,632.733804772,875.733804772,783,799,650,628.733804772,651,0.400981092761,0.0045787075482,0.0498575798763,0.99999996517,6.0265112313e-05,-0.00025374219688,-4.05448365722e-05,1793192505349112320
+29,0.483333333,BASELINE,764,742,710.159027777,672,665,632.159027777,875.159027777,783,799,650,628.159027777,651,0.400980206872,0.00457748561801,0.049857260116,0.999999964987,5.8238560422e-05,-0.000254916192795,-4.06375760398e-05,1793192505365778944
+30,0.500000000,BASELINE,764,742,710,672,665,632,875.424676185,783,799,650.424676185,628,651,0.40097985814,0.00457623210017,0.0498574560557,0.999999965148,5.6525305214e-05,-0.0002547215904,-4.03249338825e-05,1793192505382445824
+31,0.516666667,BASELINE,764,742,710,672,665.011623206,632,876,783,799.011623206,650.988376794,628.011623206,651,0.400979722026,0.00457499156834,0.0498578388846,0.999999965434,5.49654825299e-05,-0.000254012223637,-3.98642304423e-05,1793192505399112192
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+39,0.650000000,BASELINE,763.348529737,742.651470263,710,672,665,632,876.348529737,783,799,650,629,651,0.400981081146,0.00457546638073,0.0498577807528,0.999999965633,5.65942164059e-05,-0.000252838709467,-4.00399399525e-05,1793192505532445440
+40,0.666666667,BASELINE,763.229773652,742.770226348,710,672,665.229773652,632.229773652,876.229773652,783,799,650,629,651,0.400979736892,0.00457457174774,0.0498572655647,0.999999965428,5.53588450581e-05,-0.000253924471942,-4.00266177314e-05,1793192505549112320
+41,0.683333333,BASELINE,763.806506908,742.193493092,710,672,665.806506908,632.806506908,876.806506908,783,799,650,629,651,0.400979073297,0.00457439351847,0.04985757484,0.999999965223,5.63720211933e-05,-0.000254571418276,-3.96088545764e-05,1793192505565778688
+42,0.700000000,BASELINE,764,742,710,672,665.620706459,632.620706459,876.241412918,783,799,650,628.620706459,651,0.400979456263,0.00457554759788,0.0498581741792,0.999999965431,5.71064505031e-05,-0.000253562533923,-3.97835107748e-05,1793192505582445312
+43,0.716666667,BASELINE,764,742,710,672,665.049912442,632.049912442,875.099824885,783,799,650,628.049912442,651,0.400980367625,0.00457737434296,0.0498589199679,0.999999965844,5.7700144062e-05,-0.000251717641737,-4.0257271968e-05,1793192505599111936
+44,0.733333333,BASELINE,764,742,710,672,665,632,875,783,799.541620577,650,628.541620577,651,0.400978581543,0.00457643042709,0.0498575498958,0.999999965126,5.81077056773e-05,-0.000254518797818,-3.98842373495e-05,1793192505615778560
+45,0.750000000,BASELINE,764,742,710,672,665,632.131966673,875.131966673,783,799.868033327,650,629,651,0.400977081173,0.00457545301815,0.0498562976224,0.99999996451,5.81525913605e-05,-0.000256962736863,-3.95912830024e-05,1793192505632445184
+46,0.766666667,BASELINE,764,742,710,672,665,632.711546198,875.711546198,783,799.288453802,650,629,651,0.400977426619,0.00457526252175,0.0498561326,0.999999964637,5.70278262814e-05,-0.00025668499229,-3.98451743726e-05,1793192505649112064
+47,0.783333333,BASELINE,764,742.288305164,710,672,665,633,875.711694836,783.288305164,799,650,629,651,0.400977963984,0.00457512836542,0.0498565861235,0.999999964908,5.58989113586e-05,-0.000255882821716,-3.97985681172e-05,1793192505665779200
+48,0.800000000,BASELINE,764,742.862269528,710,672,665,633,875.137730472,783.862269528,799,650,629,651,0.400978691506,0.00457505003207,0.049857652516,0.999999965321,5.47658845435e-05,-0.000254561038107,-3.9454222129e-05,1793192505682445824
+49,0.816666667,BASELINE,764,742.567514524,710.432485476,672,665.432485476,632.567514524,875,783.567514524,799,650,629,651,0.400978462352,0.00457566888753,0.0498574128276,0.999999965185,5.49413299121e-05,-0.000255016773802,-3.97147468871e-05,1793192505699112448
+50,0.833333333,BASELINE,764,742,710.998392252,672,666,632.001607748,875,783,799,650,629,651,0.400977931096,0.00457650571628,0.0498567606369,0.999999964875,5.55310173791e-05,-0.000256033689386,-4.01651680105e-05,1793192505715778816
+51,0.850000000,BASELINE,764,742,710.395684269,672,666,632.604315731,875,783,799,650,629,651,0.400977379176,0.00457653967008,0.0498560567538,0.999999964558,5.65406343084e-05,-0.000257039584299,-4.02128659503e-05,1793192505732445440
+52,0.866666667,BASELINE,764,742,710,672,665.802391234,632.802391234,875.197608766,783,799,650,628.802391234,651,0.400977674835,0.00457666407885,0.0498560291591,0.99999996455,5.73019853872e-05,-0.000256895996515,-4.02564350758e-05,1793192505749112320
+53,0.883333333,BASELINE,764,742,710,672,665.227093019,632.227093019,875.772906981,783,799,650,628.227093019,651,0.400979590471,0.00457696137411,0.0498572941538,0.999999965131,5.75888261188e-05,-0.000254555403466,-4.02921127992e-05,1793192505765778944
+54,0.900000000,BASELINE,764,742,710,672,665,632.347260558,876,783,799.347260558,650,628.347260558,651,0.400979790462,0.00457621950379,0.0498573759851,0.999999965199,5.7451944837e-05,-0.000254346528909,-4.01166184462e-05,1793192505782445568
+55,0.916666667,BASELINE,764,742,710,672,665,632.920998037,876,783,799.920998037,650,628.920998037,651,0.400978871542,0.00457479990885,0.0498566861792,0.999999964934,5.70387198737e-05,-0.000255527921868,-3.9803401564e-05,1793192505799112704
+56,0.933333333,BASELINE,764,742,710.508033734,672.508033734,665,632.491966266,875.491966266,783,800,650,628.491966266,651,0.400978107561,0.00457641021626,0.0498563497397,0.999999964507,5.78628599539e-05,-0.000256971133693,-4.00511344899e-05,1793192505815779328
+57,0.950000000,BASELINE,764,742,711,672.903973439,665,632,875.096026561,783,799.903973439,650,628,651,0.400977686127,0.0045779079398,0.0498563513136,0.999999964263,5.8693116775e-05,-0.000257700685412,-4.02513952207e-05,1793192505832445696
+58,0.966666667,BASELINE,764,742,711,672.321884838,665,632,875.678115162,783,799.321884838,650,628,651,0.400978873348,0.00457638676371,0.0498577782042,0.999999965083,5.8554189634e-05,-0.000254606246027,-3.97579557059e-05,1793192505849112320
+59,0.983333333,BASELINE,764,742.256664499,711,672,665,632.256664499,875.743335501,783,799,650,628.256664499,651,0.400979642624,0.00457574743994,0.0498583758446,0.999999965466,5.85420838497e-05,-0.000253123410986,-3.9618477887e-05,1793192505865778944
+60,1.000000000,BASELINE,764,742.830835672,711,672,665,632.830835672,875.169164328,783,799,650,628.830835672,651,0.400979894882,0.00457619901087,0.0498579476616,0.999999965316,5.86868623342e-05,-0.000253634209766,-3.99168681167e-05,1793192505882445568
+61,1.016666667,BASELINE,764,742.596743544,710.596743544,672,665,632.596743544,875.403256456,783,799,650,628.596743544,651,0.400980028723,0.00457572713188,0.0498579877177,0.999999965443,5.77951421465e-05,-0.000253332938756,-3.99511456818e-05,1793192505899112448
+62,1.033333333,BASELINE,764,742.025053899,710.025053899,672,665,632.025053899,875.974946101,783,799,650,628.025053899,651,0.400980113102,0.00457486954394,0.0498582233491,0.999999965684,5.64704945345e-05,-0.000252692480328,-3.98751079758e-05,1793192505915778816
+63,1.050000000,BASELINE,764,742,710,672,665.570058567,632.570058567,876,783,799,650,628.570058567,651,0.400979390837,0.00457464504196,0.0498576112027,0.999999965382,5.54863474958e-05,-0.000254098282611,-3.98971869205e-05,1793192505932445696
+64,1.066666667,BASELINE,764,742,710,672,665.839530031,632.839530031,876,783,799,650,628.839530031,651,0.400978736756,0.00457516564073,0.0498570412734,0.999999965066,5.55119413615e-05,-0.000255315070257,-3.99971483211e-05,1793192505949112320
+65,1.083333333,BASELINE,764,742,710,672,665.264052919,632.264052919,876,783,799,650,628.264052919,651,0.400978354629,0.00457753817618,0.0498566810157,0.999999964783,5.8108564835e-05,-0.000255800479184,-4.02868991304e-05,1793192505965779200
+66,1.100000000,BASELINE,764,742,710,672,665.31130254,632,875.68869746,783,799,650,628,651,0.400978125822,0.00457713890652,0.0498565972439,0.999999964765,5.81633314781e-05,-0.000255897467703,-4.00546696387e-05,1793192505982445824
+67,1.116666667,BASELINE,764,742,710,672,665.886554822,632,875.113445178,783,799,650,628,651,0.400978027013,0.00457438945599,0.0498567479014,0.999999964971,5.60628876558e-05,-0.00025566511913,-3.93798592103e-05,1793192505999112448
+68,1.133333333,BASELINE,764,742,710,672,666,632,875.474610335,783,799,650,628.474610335,651,0.400978076225,0.00457525275133,0.0498568032192,0.999999964922,5.73671729891e-05,-0.00025553688814,-3.95784637987e-05,1793192506015778816
+69,1.150000000,BASELINE,764,742.064477663,710,672,666,632,875.935522337,783,799,650,629,650.935522337,0.400978273806,0.00457678982091,0.0498568856698,0.999999964872,5.92154486082e-05,-0.000255252929596,-3.99359699137e-05,1793192506032445184
+70,1.166666667,BASELINE,764,742.643700003,710,672,666,632,875.356299997,783,799,650,629,650.356299997,0.400979365564,0.00457662074209,0.049857371703,0.999999965345,5.87294203793e-05,-0.000253521562104,-3.98491479052e-05,1793192506049112064
+71,1.183333333,BASELINE,764,742.778807788,710,671.778807788,666,632.221192212,875.221192212,783,799.221192212,650,628.778807788,650.221192212,0.400979794042,0.00457688833279,0.0498574134939,0.99999996548,5.89864189869e-05,-0.000252930273322,-3.98362196621e-05,1793192506065778944
+72,1.200000000,BASELINE,764,742.204080785,710,671.204080785,666,632.795919215,875.795919215,783,799.795919215,650,628.204080785,650.795919215,0.400979162388,0.00457785385883,0.0498567452458,0.999999965077,6.04310083281e-05,-0.000254161188977,-3.99413969059e-05,1793192506082445824
+73,1.216666667,BASELINE,763.629709945,742,710,671.370290055,665.629709945,632.629709945,876,783,799.629709945,650,628,651,0.400979512347,0.00457690328507,0.0498571952341,0.99999996532,5.89000625337e-05,-0.000253566032788,-3.99505702139e-05,1793192506099112704
+74,1.233333333,BASELINE,763.055535247,742,710,671.944464753,665.055535247,632.055535247,876,783,799.055535247,650,628,651,0.400980402791,0.0045748976915,0.0498582609323,0.999999965907,5.57307633878e-05,-0.000251965426871,-3.99068829863e-05,1793192506115779072
+75,1.250000000,BASELINE,763.535882785,742,710,672,665.535882785,632,876,783,799.535882785,650,628.535882785,651,0.400980230705,0.00457417171573,0.0498582769834,0.999999965803,5.56036835703e-05,-0.000252439369531,-3.96979749446e-05,1793192506132445440
+76,1.266666667,BASELINE,764,742.12586851,710,672,665.87413149,632.12586851,875.87413149,783,799.87413149,650,629,651,0.400980037931,0.00457404887903,0.0498584433095,0.999999965678,5.61147270306e-05,-0.00025284460847,-3.9556424507e-05,1793192506149112064
+77,1.283333333,BASELINE,764,742.704071523,710,672,665.295928477,632.704071523,875.295928477,783,799.295928477,650,629,651,0.400980179677,0.0045756011382,0.0498595535935,0.99999996574,5.77483234624e-05,-0.000252204640362,-3.97205160859e-05,1793192506165778944
+78,1.300000000,BASELINE,764,742.719719784,710,672.280280216,665,632.719719784,875.280280216,783,799,650,628.719719784,651,0.400980247366,0.00457635332509,0.0498596143356,0.999999965716,5.8996192613e-05,-0.000252008935052,-3.97372459647e-05,1793192506182445568
+79,1.316666667,BASELINE,764,742.145601915,710,672.854398085,665,632.145601915,875.854398085,783,799,650,628.145601915,651,0.400980237417,0.00457626673929,0.0498585747683,0.999999965603,5.98396763613e-05,-0.000252278982023,-3.95994860989e-05,1793192506199111936
+80,1.333333333,BASELINE,763.568371034,742,710,672.136742067,665,632,876,783,799.431628966,650,628.431628966,651,0.400979854562,0.00457611149315,0.0498582794406,0.999999965555,5.8745598336e-05,-0.000252697745293,-3.97779891957e-05,1793192506215778816
+81,1.350000000,BASELINE,763.010120471,742.010120471,710,671.010120471,665.020240942,632,876,783,800,650,629,651,0.400979347379,0.0045759328093,0.0498582163497,0.999999965521,5.70399789384e-05,-0.000253177978431,-4.00574868664e-05,1793192506232445696
+82,1.366666667,BASELINE,763.600236101,742.600236101,710,671.600236101,666.200472201,632,876,783,800,650,629,651,0.400978976469,0.00457574792631,0.0498569702698,0.999999965188,5.80168248147e-05,-0.000254285101051,-3.99664328768e-05,1793192506249112064
+83,1.383333333,BASELINE,764,742.814043142,710.185956858,672,666.628086284,632,875.814043142,783,799.814043142,650,629,651,0.400978731326,0.00457613759691,0.0498563775292,0.999999964971,5.91355440869e-05,-0.000254870615124,-4.00295315664e-05,1793192506265778176
+84,1.400000000,BASELINE,764,742.237552091,710.762447909,672,665.475104183,632,875.237552091,783,799.237552091,650,629,651,0.40097875031,0.0045777339066,0.0498571568882,0.999999965,6.05522165856e-05,-0.000254360681916,-4.04163714156e-05,1793192506282444800
+85,1.416666667,BASELINE,764,742.337704521,710.662295479,672,665,632,875.337704521,783,799,650,628.662295479,651,0.400978766457,0.00457786001827,0.0498576492455,0.999999965029,6.06844090352e-05,-0.000254243930189,-4.0247260212e-05,1793192506299111680
+86,1.433333333,BASELINE,764,742.912095918,710.087904082,672,665,632,875.912095918,783,799,650,628.087904082,651,0.400978780614,0.00457695571258,0.0498579404519,0.999999965057,5.9916348215e-05,-0.000254402747491,-3.96884997213e-05,1793192506315778304
+87,1.450000000,BASELINE,764,742.499565542,710.500434458,672,665,632,876,783,799,650,628.500434458,651,0.400979133865,0.00457655848358,0.0498578003703,0.999999965333,5.85835054864e-05,-0.000253610634073,-3.97826456989e-05,1793192506332444928
+88,1.466666667,BASELINE,764,742,710.910705029,672,665.089294971,632,875.910705029,783,799,650,629,651,0.400979498696,0.00457607255374,0.0498577495697,0.999999965608,5.73012672628e-05,-0.000252805664835,-3.98768727353e-05,1793192506349111808
+89,1.483333333,BASELINE,764,742,710.33277864,672,665.66722136,632,875.33277864,783,799,650,629,651,0.400979591609,0.0045745998653,0.0498586137654,0.999999965639,5.68543772564e-05,-0.000252870591671,-3.93259740177e-05,1793192506365779200
+90,1.500000000,BASELINE,764,742,710,672,665.7562912,632,875.2437088,783,799.2437088,650,628.7562912,651,0.400979152796,0.00457363939094,0.0498587066707,0.999999965537,5.65550608043e-05,-0.000253393276069,-3.8966979709e-05,1793192506382446336
+91,1.516666667,BASELINE,764,742,710,672,665.181757126,632,875.818242874,783,799.818242874,650,628.181757126,651,0.400977992186,0.00457337422748,0.0498577525788,0.999999965256,5.64560697833e-05,-0.000254537348654,-3.88684882609e-05,1793192506399112704
+92,1.533333333,BASELINE,764,742.391953311,710,672,665.391953311,632.391953311,876,783,799.608046689,650,628,651,0.40097894136,0.00457454759537,0.0498578480232,0.999999965397,5.68378886508e-05,-0.000253855619617,-3.91628500565e-05,1793192506415779072
+93,1.550000000,BASELINE,764,742.965282661,710,672,665.965282661,632.965282661,876,783,799.034717339,650,628,651,0.400980866835,0.00457638664232,0.0498584291394,0.99999996573,5.74422018485e-05,-0.00025232900264,-3.96390043247e-05,1793192506432445440
+94,1.566666667,BASELINE,764,742.44401332,710,672,665.44401332,633,876,783,799.55598668,650,628.55598668,651,0.400980508465,0.00457665314759,0.0498588329669,0.999999965787,5.8215785162e-05,-0.00025189752274,-3.98114830388e-05,1793192506449112064
+95,1.583333333,BASELINE,764,742,710,672,665,633,876,783,799.855328812,650,629,651,0.40098028768,0.00457667395407,0.0498591133981,0.999999965889,5.84115250131e-05,-0.000251423791255,-3.99528332506e-05,1793192506465778688
+96,1.600000000,BASELINE,764,742,710,672,665,633,876,783,799.276074806,650,629,651,0.400980922399,0.00457626118044,0.0498590574827,0.999999966179,5.68386860658e-05,-0.000250611093016,-4.0059474614e-05,1793192506482445312
+97,1.616666667,BASELINE,764,742,710,672,665.300782663,633,876,783,799,650,629,651,0.400981663927,0.00457627270151,0.0498593886173,0.999999966378,5.67125906453e-05,-0.000249826826821,-4.01771615675e-05,1793192506499112192
+98,1.633333333,BASELINE,764,742,710,672,665.875457811,633,876,783,799,650,629,651,0.400982502717,0.00457667058504,0.0498600721994,0.999999966494,5.79038989762e-05,-0.000249068450874,-4.03049066213e-05,1793192506515778816
+99,1.650000000,BASELINE,764,742,710,672,665.539857546,632.539857546,876,783,799,650,629,650.539857546,0.400981376999,0.00457624553586,0.0498596692809,0.99999996632,5.84545364846e-05,-0.000249672925197,-4.00810837879e-05,1793192506532445696
+100,1.666666667,BASELINE,764,742,710,672,665,632,876,783,799,650,629,650.046738826,0.400979902506,0.00457562738765,0.0498590839494,0.999999966097,5.8797698084e-05,-0.00025053674572,-3.9762564018e-05,1793192506549112320
+101,1.683333333,BASELINE,764,742,710,672,665,632,876,783,799,650,629,650.623607084,0.400980637073,0.0045754015599,0.0498598392711,0.999999966226,5.87981389289e-05,-0.000250065280313,-3.94732440229e-05,1793192506565778688
+102,1.700000000,BASELINE,764,742,710,672.201182295,665.201182295,632.201182295,876,783,799,650,629,651,0.400980943442,0.0045756706143,0.0498599010185,0.999999966167,5.91083483427e-05,-0.000250237274482,-3.94060624563e-05,1793192506582445312
+103,1.716666667,BASELINE,764,742,710,672.780084746,665.780084746,632.780084746,876,783,799,650,629,651,0.400980445865,0.00457686881092,0.0498586605788,0.999999965754,6.00001488585e-05,-0.00025161736533,-3.97559462623e-05,1793192506599111936
+104,1.733333333,BASELINE,764,742,710,672.643770222,666,632.643770222,876,783,799.356229778,650,628.643770222,650.643770222,0.400980831226,0.00457718837854,0.0498585952789,0.999999965758,6.01889631194e-05,-0.000251531578129,-3.99261619802e-05,1793192506615778560
+105,1.750000000,BASELINE,764,742,710,672.069314329,666,632.069314329,876,783,799.930685671,650,628.069314329,650.069314329,0.400981757474,0.00457696969873,0.0498592498687,0.999999966017,5.99471285727e-05,-0.000250547795184,-3.99863131855e-05,1793192506632445184
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,710,672,665,633,877,783,799,651,628,651,0.400983233918,0.00457679413707,0.0498600902471,0.999999966341,5.90003322567e-05,-0.000249470692334,-4.00051737881e-05,1793192506663744768
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742.602477694,710,672,665,632.397522306,876.397522306,783,799,650.397522306,628.602477694,651,0.400981785908,0.0045765101118,0.0498593558915,0.999999966129,5.83581995581e-05,-0.000250477614439,-3.99646369854e-05,1793192506680411904
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.804487181,710.195512819,672,665,632,876,783,799,650,628.804487181,651,0.400980861988,0.00457587755008,0.0498589900427,0.999999966035,5.71842547321e-05,-0.000251139984284,-3.98617221789e-05,1793192506697078784
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.229766341,710.770233659,672,665,632,876,783,799,650,628.229766341,651,0.400980954573,0.00457456898241,0.0498593389333,0.999999966169,5.49788304984e-05,-0.000251134075974,-3.96378217461e-05,1793192506713745152
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,876,783,799,650,628.34584034,651,0.400980492944,0.00457449927385,0.0498590707755,0.999999966059,5.45024682717e-05,-0.000251675562532,-3.96332103131e-05,1793192506730411520
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,876,783,799,650,628.922037025,651,0.400979662166,0.00457525474111,0.0498583916157,0.999999965788,5.51777948573e-05,-0.000252581656301,-3.97746622838e-05,1793192506747077888
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,710.486610612,672,665,632.513389388,876,783,799.513389388,650.513389388,628.486610612,651,0.400978056323,0.00457575321308,0.0498574320998,0.999999965205,5.68830674652e-05,-0.000254465557103,-4.00188743813e-05,1793192506763744256
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,710.103898287,672,665,632.896101713,876,783,799.896101713,650.896101713,628,651,0.400977050816,0.00457597021551,0.0498567654313,0.999999964766,5.80997519202e-05,-0.000255882197097,-4.01981029233e-05,1793192506780411136
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,710.679801558,672,665,632.320198442,876,783,799.320198442,650.320198442,628,651,0.400979323584,0.00457509120684,0.0498576284525,0.999999965231,5.63646402649e-05,-0.000254480994407,-4.00090646077e-05,1793192506797078016
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,710.745199922,672,665,632,875.745199922,783,799,650,628.254800078,651,0.400986756819,0.00457514654079,0.0498609319216,0.999999966814,5.59835742987e-05,-0.00024829926152,-3.9816970993e-05,1793192506813744896
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,710.171334391,672,665,632,875.171334391,783,799,650,628.828665609,651,0.401000652088,0.00457637187624,0.0498672913655,0.999999969695,5.72980699497e-05,-0.000236131258837,-3.9621051485e-05,1793192506830412032
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,710.415149972,672,665,632.415149972,875.415149972,783,799.415149972,650,629,651,0.401028714609,0.00457591324574,0.0498773647336,0.999999974245,5.77979672722e-05,-0.00021589705398,-3.9481576317e-05,1793192506847078400
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.993145138,741.993145138,711,671.993145138,665.006854862,633,876,783,799.993145138,650,629,651,0.401063153537,0.00457473143352,0.0498890861885,0.99999997911,5.79162409336e-05,-0.000192034453917,-3.93616005051e-05,1793192506863744768
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.414015964,741.414015964,711,671.414015964,665.585984036,633,876,783,799.414015964,650,629,651,0.401126496332,0.00457301415042,0.0499064246009,0.999999986191,5.51212485333e-05,-0.000151886209769,-3.88637965621e-05,1793192506880411392
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.163600577,741.163600577,710.836399423,671.327201154,665.836399423,632.836399423,876,783,799,650,629,651,0.401191764943,0.00457208778127,0.0499214374325,0.999999990671,5.35216658656e-05,-0.000119673943876,-3.83705062706e-05,1793192506897077760
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.737424359,741.737424359,710.262575641,672.474848719,665.262575641,632.262575641,876,783,799,650,629,651,0.401261862485,0.00457314460314,0.0499306189486,0.999999992011,5.49195344007e-05,-0.000107360881258,-3.78885338428e-05,1793192506913744128
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,710,672.378219863,665,632,875.689109931,783,798.689109931,650,629,651,0.401337544901,0.00457253084408,0.0499356196045,0.999999992709,5.51154131031e-05,-0.000100925677888,-3.68496408065e-05,1793192506930411008
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,710,671.231892669,665,632,875.115946335,783,798.115946335,650,629,651,0.401417938833,0.00457050774705,0.0499370931966,0.999999992956,5.42972673311e-05,-9.94491633595e-05,-3.53409176357e-05,1793192506947078144
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,710.474352814,671.948705628,665,632,876.423058442,782.525647186,798.474352814,650,628.525647186,651,0.401520144394,0.00456820462818,0.0499362853229,0.999999993065,4.73270365698e-05,-0.000102133103538,-3.46315148879e-05,1793192506963745024
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,710.93301784,672.93301784,665.06698216,632,877.86603568,782.06698216,799,650,628.06698216,651,0.401631171638,0.00456584884396,0.0499351665765,0.999999993064,3.98994545729e-05,-0.000105477520044,-3.39790412894e-05,1793192506980411904
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,710.355741215,672.355741215,665.644258785,632,876.711482431,782.644258785,799,650,628.644258785,651,0.401767266673,0.00456363282433,0.0499360871693,0.999999993047,4.08731309826e-05,-0.000105815890997,-3.22160267335e-05,1793192506997078528
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.220421282,742,710.220421282,672.220421282,665.779578718,632.220421282,876,783,799,650,629,651,0.401915127107,0.00456063652757,0.0499369990899,0.999999993093,3.87958186693e-05,-0.000106716715863,-3.03272977433e-05,1793192507013744640
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.794794661,742,710.794794661,672.794794661,665.205205339,632.794794661,876,783,799,650,629,651,0.402081880383,0.00455638726341,0.0499378970846,0.999999993207,3.18192340834e-05,-0.000108520728174,-2.82366969105e-05,1793192507030411264
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.631985129,742,710.631985129,672.631985129,665,632.631985129,876,783,799,650,629,651,0.402270036095,0.00455405284097,0.049938663045,0.999999993466,2.78376665166e-05,-0.000107682790513,-2.64141777381e-05,1793192507047077888
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.059405865,742,710.059405865,672.059405865,665,632.059405865,876,783,799,650,629,651,0.402470088561,0.0045527828002,0.049939355613,0.999999993816,2.55209055881e-05,-0.000105376301244,-2.47406739858e-05,1793192507063744512
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,710.535572404,672,665.535572404,632,876,783,799,650,629,651,0.402706174329,0.00454907166035,0.0499379707688,0.999999993546,2.02331746295e-05,-0.000109467202969,-2.27078277222e-05,1793192507080411392
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,710.871764643,672,666,632,876,783,799,650,629,651,0.402958177121,0.00454508958898,0.0499382998304,0.999999993637,1.5322225296e-05,-0.000109861281876,-2.05232399157e-05,1793192507097078016
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,710.296222393,672,666,632,876,783,799,650,629,651,0.403251151149,0.00454114816922,0.049945446141,0.999999995264,1.29252218054e-05,-9.47769641626e-05,-1.79544524525e-05,1793192507113744384
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,710,672,665.721448238,632,876,783,799,650,629,651,0.403566867222,0.00453678235656,0.0499553965342,0.999999997081,1.07394608544e-05,-7.41189118554e-05,-1.51294020939e-05,1793192507130411008
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,710,672,665.147488692,632,876,783,799,650,629,651,0.403906701513,0.00453196646991,0.0499683206933,0.999999998759,8.77772551719e-06,-4.75498420537e-05,-1.20325817349e-05,1793192507147077376
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,710.437231141,671.562768859,665,632.437231141,876,783,799,650,628.562768859,650.562768859,0.4042672775,0.00452555059384,0.0499766859043,0.999999999431,1.17530882151e-06,-3.25844011129e-05,-8.61478686979e-06,1793192507163744256
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,671.025429621,665,632.974570379,876.025429621,783,799,650,628,650.025429621,0.404637508694,0.00451867514975,0.0499830248418,0.999999999708,-8.02310872113e-06,-2.22277294747e-05,-5.09632685074e-06,1793192507180410880
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711,671.608309331,665,632.391690669,876.608309331,783,799,650,628,650.608309331,0.405062148568,0.00451385514942,0.049979507351,0.999999999643,-9.44503811385e-06,-2.49322932714e-05,-1.80451343811e-06,1793192507197077504
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,710.812111884,672,665.187888116,632.187888116,877,783,799,650,628,651,0.405480868457,0.00450879480639,0.049969687777,0.999999999016,-1.23943585534e-05,-4.25595303173e-05,1.75517401078e-06,1793192507213744128
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,710.239295803,672,665.760704197,632.760704197,877,783,799,650,628,651,0.405887459969,0.00450324207186,0.0499469570725,0.999999995694,-1.84728577024e-05,-9.07589733428e-05,5.86365684874e-06,1793192507230411008
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.332033352,710.332033352,672,665.667966648,633,876.667966648,783,799.332033352,650,628,650.667966648,0.406331461281,0.00449674300445,0.0499278912605,0.999999992027,-2.57317445627e-05,-0.000123293880914,9.06833473085e-06,1793192507247077888
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.902295719,710.902295719,672,665.097704281,633,876.097704281,783,799.902295719,650,628,650.097704281,0.406802303612,0.00448956495662,0.0499114549524,0.999999988907,-3.38375427745e-05,-0.000144589721212,1.1624546364e-05,1793192507263744512
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,710.504435282,672,665.495564718,632.504435282,876,783,799.504435282,650.495564718,628.495564718,650.495564718,0.407328684332,0.00448088253687,0.0499108001073,0.999999988722,-4.48687293125e-05,-0.000142441548664,1.59131652279e-05,1793192507280410880
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.91021012,710,672,666,632,876,783,799,650.91021012,628.91021012,651,0.407881473233,0.00447195948449,0.0499178164784,0.999999990089,-5.5893065191e-05,-0.000127565982321,2.05939957633e-05,1793192507297077504
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.336469263,710,672,666,632,876,783,799,650.336469263,628.336469263,651,0.408514706845,0.0044634159013,0.0499485927891,0.999999995187,-6.36204944331e-05,-7.02175788248e-05,2.54582211773e-05,1793192507313744640
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,710,672,666,632,876.237521444,783,799,650,628,651,0.409147233415,0.00445574077716,0.0499732788355,0.99999999914,-6.17855534249e-06,-2.73041123262e-05,3.06138904395e-05,1793192507330411264
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,710,672,666,632,876.811866425,783,799,650,628,651,0.409778757306,0.00444929719476,0.0499893284206,0.999999989012,0.000143678522925,-4.86049128398e-06,3.61828486613e-05,1793192507347077888
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,710.385973314,672,665.614026686,632,876.614026686,783,799.385973314,650,628,651,0.410395921082,0.00445194103184,0.0499824905938,0.999999980458,0.000191349349707,-2.64735085277e-05,4.2063013126e-05,1793192507363744512
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,710.959964205,672,665.040035795,632,876.040035795,783,799.959964205,650,628,651,0.411006089657,0.00445901158601,0.0499645037168,0.999999978519,0.000189242608959,-6.9547653629e-05,4.80947742529e-05,1793192507380411136
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,710.442624125,672,665.557375875,632,876,783,799.442624125,650,628,651,0.411651777712,0.00448144608103,0.0499357127293,0.99999998865,8.75369124884e-05,-0.000121046206448,1.96069246958e-05,1793192507397078016
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.150269935,710.150269935,672.150269935,666,632,876,783,799.150269935,650,628.150269935,651,0.412338402705,0.00449427772363,0.0499203146691,0.999999989527,2.18770111024e-06,-0.000144709389776,-1.13600729692e-06,1793192507413744896
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.725425143,710.725425143,672.725425143,666,632,876,783,799.725425143,650,628.725425143,651,0.413133245703,0.0044767002753,0.0499450753622,0.999999995987,-1.57985086452e-05,-8.78826055282e-05,7.33795123741e-06,1793192507430411520
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.292711761,742.707288239,711,673,666,632.292711761,876.292711761,783,800,650,628.707288239,650.707288239,0.413892279534,0.00446604916652,0.0499580948485,0.999999997742,-2.42529935609e-05,-6.11450859294e-05,1.37489237737e-05,1793192507447078400
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.852810625,742.147189375,711,673,666,632.852810625,876.852810625,783,800,650,628.147189375,650.147189375,0.414618602405,0.00446172514645,0.0499603889494,0.99999999763,-2.40004156831e-05,-6.18935800651e-05,1.8275395467e-05,1793192507463744768
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.550723001,742,711,672.550723001,666,633,877,783,799.550723001,650,628,650.449276999,0.415362541737,0.00445950915462,0.0499381373377,0.999999994843,-2.74959260897e-06,-9.95778779342e-05,1.97488245666e-05,1793192507480411136
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,672.055453735,666,632.944546265,876.944546265,783,799.055453735,650,628.055453735,651,0.416119622486,0.00445835594339,0.049911171598,0.999999989295,2.12140661337e-05,-0.000143390186485,1.99858664789e-05,1793192507497078016
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,711,672.63111009,666,632.36888991,876.36888991,783,799.63111009,650,628.63111009,651,0.416941072174,0.00446012330752,0.0499220636651,0.999999992481,4.08764145647e-07,-0.000121175926631,1.88338639719e-05,1793192507513744640
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,711,672.793151659,666,632,876.206848341,783,800,650.206848341,628.793151659,651,0.417780625307,0.00446328427508,0.0499396925939,0.999999995898,-1.06495069468e-05,-8.79415655722e-05,1.89010398508e-05,1793192507530411520
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,672.217267332,666,632,876.782732668,783,800,650.782732668,628.217267332,651,0.41865247656,0.00446893155599,0.0499693406871,0.999999999153,-4.31819971213e-06,-3.50463571668e-05,2.11433393433e-05,1793192507547078144
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,672.367392247,666,632,877.367392247,783,799.632607753,650.632607753,628.367392247,651,0.419463612509,0.00447013403096,0.0499664675585,0.999999998616,9.29823985237e-06,-4.63178475698e-05,2.31539902586e-05,1793192507563745024
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711,672.957368274,666,632,877.957368274,783,799.042631726,650.042631726,628.957368274,651,0.420237964193,0.0044686436299,0.0499438915184,0.999999994661,2.73283604479e-05,-9.6464592129e-05,2.5024297288e-05,1793192507580411648
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.537472637,742.537472637,711,672.462527363,666.537472637,632,877.462527363,783,799,649.462527363,628.462527363,650.462527363,0.421119693253,0.00446366025328,0.0499536270361,0.999999997814,9.9062433934e-06,-6.0862575489e-05,2.38609807811e-05,1793192507597078016
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.884301233,743,711,672.115698767,666.884301233,632,877.115698767,783,799,649.115698767,628,650,0.422004869291,0.00445883959443,0.0499656591049,0.999999999443,-5.89624134484e-06,-2.35322255904e-05,2.29343566035e-05,1793192507613744384
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.310467948,743,711,672.689532052,666.310467948,632,877.689532052,783,799,649.689532052,628,650,0.422870577283,0.00445574054231,0.0499768194709,0.999999999689,-4.35140342777e-06,-5.80444580582e-06,2.38805852751e-05,1793192507630411008
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.264158777,742.735841223,711,673,666,632,877.735841223,783,799,650,628.264158777,650.264158777,0.423735018053,0.00445555632955,0.0499747808096,0.999999999655,-2.93258462006e-06,-9.08740937986e-06,2.447978112e-05,1793192507647077888
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.839720922,742.160279078,711,673,666,632,877.160279078,783,799,650,628.839720922,650.839720922,0.424597965072,0.0044588082725,0.0499571824867,0.999999999005,-1.66232313878e-06,-3.71388691088e-05,2.46698777036e-05,1793192507663744512
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.572799269,742,711,672.572799269,666,632,877,783,799,649.572799269,628.572799269,650.572799269,0.425466775586,0.00445733515896,0.0499674946036,0.999999999416,1.86600879973e-06,-2.23779475048e-05,2.57811434736e-05,1793192507680411136
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.018795824,742.018795824,711,672,666.018795824,632,877.018795824,783,799,649.018795824,628.018795824,650.018795824,0.42633614258,0.00445398946765,0.049987858891,0.999999999585,5.98802843683e-06,6.93432287576e-06,2.73074202389e-05,1793192507697078016
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.59600217,742.59600217,711,672,666.59600217,632,877.59600217,783,799,649.59600217,628.59600217,650.59600217,0.427154811006,0.00444918992743,0.049986835426,0.99999999928,1.85628932313e-06,-2.23445023266e-05,3.06009412287e-05,1793192507713745152
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,711,672.17260703,666.82739297,632,877.82739297,783,799,649.82739297,629,650.82739297,0.427968057669,0.00444685391361,0.0499749941446,0.999999997779,-2.65779746893e-06,-5.81526694583e-05,3.24637295768e-05,1793192507730411776
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,711,672.747808929,666.252191071,632,877.252191071,783,799,649.252191071,629,650.252191071,0.428768658365,0.00445026391799,0.0499379209974,0.999999993526,-8.06368554045e-06,-0.000109190107691,3.09894252495e-05,1793192507747077888
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,742.68228186,711,673,666,632,877.31771814,783,799.31771814,649.31771814,629,650,0.429611107155,0.00445244277345,0.0499316316979,0.999999993854,3.64156519316e-06,-0.00010677363939,2.96278163775e-05,1793192507763744512
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,742.116504949,711,673,666,632,877.883495051,783,799.883495051,649.883495051,629,650,0.43048622885,0.00445366040794,0.0499493769216,0.999999997225,2.8706355762e-05,-6.2622974982e-05,2.83541946549e-05,1793192507780411392
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.520527561,742.479472439,711,673,666.479472439,632,877.520527561,783,799.041055123,650,628.520527561,650,0.431288379478,0.00444948379444,0.0499429760743,0.999999996319,1.65041880027e-05,-7.89761293014e-05,2.91838648329e-05,1793192507797078016
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.079072087,743,711,673,667,632,877,783,798.079072087,650,628.079072087,650,0.432070569507,0.00444410330065,0.0499315089418,0.999999993869,-4.44514284637e-06,-0.000106403472536,3.03248787361e-05,1793192507813744896
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.65236233,743,711,673,667,632,877,783,798.65236233,650,628.65236233,650,0.432846272798,0.00443994130925,0.0499275124573,0.999999993846,-1.96637386065e-05,-0.000104982105358,3.00028354401e-05,1793192507830411520
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.773085552,743,711,673,667,632,877,783,799.226914448,650,629,650,0.43362994103,0.00443898733717,0.0499355498456,0.999999995603,-2.29788275358e-05,-8.59972017898e-05,2.9504041421e-05,1793192507847078400
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.196589317,743,711,673,667,632,877,783,799.803410683,650,629,650,0.434425880076,0.0044429756021,0.0499621264791,0.999999998757,-7.95551311031e-06,-3.99541158345e-05,2.87329471832e-05,1793192507863745024
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.611820411,710.611820411,673,666.611820411,632,877.388179589,783,800,650,628.611820411,650,0.43516691614,0.00444619781654,0.0499734568982,0.999999999039,9.89189948198e-06,-3.00341442848e-05,3.03535467641e-05,1793192507880411392
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.022770707,710.022770707,673,666.022770707,632,877.977229293,783,800,650,628.022770707,650,0.435879541677,0.00444902362491,0.0499768979035,0.999999998269,2.92006886925e-05,-3.88066941055e-05,3.32117689594e-05,1793192507897077760
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.553626028,710.553626028,673.553626028,666,632,877.446373972,783,799.446373972,650,628.553626028,650,0.436533788889,0.00444504213641,0.0499462623366,0.999999994055,1.39313229553e-05,-0.000102249706159,3.52189962253e-05,1793192507913744128
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.869386324,711,673.869386324,666,632,877,783,799,650,629,650,0.437198147166,0.00444182121102,0.0499261131682,0.999999989514,4.04919207983e-07,-0.000140112616187,3.66027739089e-05,1793192507930410752
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.28860854,711,673.28860854,666,632,877,783,799,650,629,650,0.437905444099,0.00444216500574,0.0499468283333,0.99999999597,-2.32216418556e-06,-8.22361887702e-05,3.59557518801e-05,1793192507947077376
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.288123818,710.711876182,673,666.288123818,632,877,783,799,650,629,650,0.438570602404,0.00444156720964,0.0499589964363,0.999999997863,-1.28031812465e-06,-5.3706183379e-05,3.72649339455e-05,1793192507963744256
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.86086002,710.13913998,673,666.86086002,632,877,783,799,650,629,650,0.439194135593,0.0044400392981,0.049962721641,0.999999997707,3.48452469719e-06,-5.41649517242e-05,4.05064795027e-05,1793192507980411136
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,710.44997481,673,666.55002519,632,877,783,799.44997481,650,628.55002519,650,0.439752706894,0.00444515366461,0.0499341821466,0.999999994131,1.19712973132e-05,-9.94620396569e-05,4.12452287111e-05,1793192507997078016
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632,877,783,799.95705534,650,628.04294466,650,0.440287630369,0.00445274072783,0.0498959332943,0.999999986365,2.22340581201e-05,-0.000158379908162,4.11338263388e-05,1793192508013745152
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,711,673,666,632,877,783,799.381460317,650,628.618539683,650,0.440787803176,0.00446455982008,0.0498656759252,0.999999976809,3.97108704593e-05,-0.000207775454211,4.04393485942e-05,1793192508030411520
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,711,673,665.80554722,631.80554722,877,783,799.19445278,650,629,650,0.441287965534,0.004472850519,0.0498474303242,0.999999969868,5.24504466197e-05,-0.000236456537138,4.00033863498e-05,1793192508047077632
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711,673,665.229009026,631.229009026,877,783,799.770990974,650,629,650,0.441788107452,0.00447420818661,0.0498527869587,0.99999997245,5.58817053412e-05,-0.000224435233031,4.0075388106e-05,1793192508063744256
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.64436401,711,673,665.35563599,631.35563599,877.35563599,783,800.35563599,650,629,650.35563599,0.44226402927,0.004473473927,0.0498543206681,0.999999975217,1.76177452664e-05,-0.000219943127729,2.96798283049e-05,1793192508080411136
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.054376928,711,673,665.945623072,631.945623072,877.945623072,783,800.945623072,650,629,650.945623072,0.4427239909,0.0044713611639,0.0498533352096,0.999999974475,-4.81218369677e-05,-0.000220412488564,1.23865287525e-05,1793192508097077760
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,711,673,666,631.473862161,877.473862161,783,799.947724323,650,628.473862161,650.473862161,0.44311120718,0.0044742903875,0.049837050091,0.999999968847,-4.307240266e-05,-0.000245531117504,1.28768476527e-05,1793192508113744640
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.104624018,711,673.104624018,666,631,877.104624018,783,799,650,628.104624018,650.104624018,0.443480071533,0.00447934408109,0.049816884864,0.999999960955,-2.89326757324e-05,-0.000277546088349,1.48988809284e-05,1793192508130411264
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.678326645,711,673.678326645,666,631,877.678326645,783,799,650,628.678326645,650.678326645,0.443799767555,0.00449162777591,0.04978628734,0.999999945651,-6.25841525313e-06,-0.00032926082337,1.56936187478e-05,1793192508147078144
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711,674,665.741431945,631,877.741431945,783,799,650,629,651,0.444112600639,0.00450106689362,0.0497631957206,0.999999931741,3.66673451627e-05,-0.000367294247839,1.63565921809e-05,1793192508163744768
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665.152844913,631,877.152844913,783,799,650,629,651,0.444416674303,0.00450687538235,0.0497496841385,0.999999919079,0.000105440764135,-0.000387865758116,1.68513902913e-05,1793192508180411392
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711,673.571098627,665,630.571098627,877,782.571098627,799.428901373,650,629,651,0.444719331382,0.00451241656396,0.0497488882081,0.999999918822,0.00012485342706,-0.000382690910134,1.77307321638e-05,1793192508197078016
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,710.991800626,673,664.991800626,630,877,782.008199374,800,650,629,650.991800626,0.445020672672,0.00451792080677,0.0497524961334,0.999999923806,0.000127002754449,-0.000368656995063,1.87374853383e-05,1793192508213744640
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,710.415882197,673,664.415882197,630,877,782.584117803,800,650,629,650.415882197,0.445265312516,0.00452735949518,0.0497521987108,0.999999923842,0.000132676149738,-0.00036652968742,1.92266813025e-05,1793192508230411264
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.839953382,710.160046618,673,664,630,877,783,799.839953382,650,628.839953382,650.160046618,0.445497874042,0.00453600674914,0.0497492704775,0.999999922507,0.000137801816479,-0.000368263557197,1.94446421109e-05,1793192508247077888
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.263997457,710.736002543,673,664,630,877,783,799.263997457,650,628.263997457,650.736002543,0.445699047989,0.00454259732341,0.0497395056191,0.999999917597,0.000141504115397,-0.000380031375671,1.89577507294e-05,1793192508263744256
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.319627422,742,710.680372578,673,664,630,877.319627422,783,799.319627422,650,628.319627422,651,0.445881447675,0.00454499378465,0.0497307755775,0.999999913945,0.00014053408746,-0.00038988640763,1.86833750785e-05,1793192508280410880
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.90974218,742,710.09025782,673,664,630,877.90974218,783,799.90974218,650,628.90974218,651,0.446047959475,0.00454384094282,0.0497229212585,0.999999911381,0.000135610064248,-0.000398122727559,1.85888426436e-05,1793192508297077504
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.509205943,742.490794057,710,673,664,630,878,783,799.509205943,650,629,651,0.446187340311,0.00454203094726,0.0497144543971,0.999999905846,0.000133702505804,-0.000412401109896,1.88702986901e-05,1793192508313743872
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,710,673.069623247,664,630,877.930376753,783,799.069623247,650,629,650.930376753,0.446317559824,0.00454047515506,0.0497058005254,0.999999899663,0.000132465124567,-0.000427505190996,1.91168790413e-05,1793192508330410752
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,710,673.644200743,664,630,877.355799257,783,799.644200743,650,629,650.355799257,0.446416865879,0.00454162362013,0.049696592513,0.999999893995,0.000132137969871,-0.000440685139147,1.86181251302e-05,1793192508347077376
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,710.219135365,673.780864635,664,630,877,782.780864635,799.780864635,650,629,650,0.446507596091,0.00454296551963,0.0496874426601,0.999999887542,0.00013241033094,-0.000455028381691,1.82463049163e-05,1793192508363744000
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,710.794650725,673.205349275,664,630,877,782.205349275,799.205349275,650,629,650,0.446584379392,0.00454462200155,0.0496783873932,0.99999987986,0.000133657684945,-0.000471263489443,1.80809171111e-05,1793192508380410880
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,673,664,629.61983242,877.38016758,782,799.38016758,650,629,650.38016758,0.446646509661,0.00454799373244,0.0496694526485,0.999999873859,0.000135611844287,-0.000483333183941,1.67548196513e-05,1793192508397077504
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711,673,664,629.028767191,877.971232809,782,799.971232809,650,629,650.971232809,0.446700511179,0.00455231699641,0.0496605847625,0.999999868805,0.000137958103424,-0.000493092120418,1.47848194594e-05,1793192508413744128
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+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.874514096,711,673,663.125485904,629.125485904,877,782,800,650,628.874514096,650.125485904,0.44676570423,0.00456157754971,0.0496418869337,0.999999848342,0.000149644935843,-0.000529839901412,1.38803567778e-05,1793192508447077632
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.299701106,711,673,663.700298894,629.700298894,877,782,800,650,628.299701106,650.700298894,0.446796327726,0.00456326775292,0.0496391414711,0.999999847559,0.000149028893627,-0.000531513221852,1.28638722841e-05,1793192508463745024
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.282224251,711,673.282224251,664,630,877.282224251,782.282224251,800,650,628.282224251,651,0.446823258008,0.00456349563257,0.0496381607342,0.9999998478,0.000148925645783,-0.000531101335692,1.23527917615e-05,1793192508480411904
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.871897638,711,673.871897638,664,630,877.871897638,782.871897638,800,650,628.871897638,651,0.446846164981,0.00456213048773,0.0496391024523,0.999999849153,0.000149381025328,-0.000528417869426,1.23922877057e-05,1793192508497078016
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.546242261,711,673.546242261,664,629.546242261,878,782.546242261,800,650,629,650.546242261,0.446860316531,0.00456286113905,0.0496395367813,0.99999984901,0.000150996947394,-0.000528236718351,1.20914326325e-05,1793192508513744640
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.033239654,711,673,663.966760346,629,877.966760346,782,800,650,628.966760346,650,0.446871472841,0.00456414286006,0.0496396764535,0.999999848329,0.000152877078545,-0.000528992607974,1.17387277796e-05,1793192508530411264
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.609296852,711,673,663.390703148,629,877.390703148,782,800,650,628.390703148,650,0.446873397566,0.00456492506266,0.0496373038801,0.999999845675,0.000153811961155,-0.000533709593384,1.20818575531e-05,1793192508547077632
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.815528027,710.815528027,673.184471973,663.184471973,629,877,782,799.815528027,650,628.184471973,650,0.446875332459,0.00456564007127,0.0496353812662,0.99999984352,0.000154150511995,-0.000537636041467,1.20447854847e-05,1793192508563744512
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.242212286,710.242212286,673.757787714,663.757787714,629,877,782,799.242212286,650,628.757787714,650,0.446877288785,0.00456621344331,0.0496344071105,0.999999842453,0.000153232070183,-0.000539896135492,1.12062956029e-05,1793192508580411648
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.659851982,742.340148018,710.340148018,674,663.659851982,629,877.340148018,782,799.340148018,650,628.659851982,650,0.446878739399,0.00456720336418,0.0496336773319,0.999999841657,0.000153533126135,-0.000541294792298,1.06823621691e-05,1793192508597078272
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.070875245,742.929124755,710.929124755,674,663.070875245,629,877.929124755,782,799.929124755,650,628.070875245,650,0.446879820069,0.00456849800338,0.0496331263226,0.99999984106,0.000154726282053,-0.000542063281559,1.03885363487e-05,1793192508613744896
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.512896146,742.487103854,711,673.487103854,663,629,878,782.512896146,800,650,628.512896146,650,0.446881175462,0.00456893660518,0.049632854338,0.99999984113,0.000154697087993,-0.000541951112451,9.91270498744e-06,1793192508630411264
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742,711,673.094568635,663.094568635,629,877.905431365,783,800,650,628.905431365,650.094568635,0.446882323948,0.00456906056423,0.0496327515873,0.999999841292,0.000154397919599,-0.000541743501202,9.52021255272e-06,1793192508647077888
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742,711,673.669201337,663.669201337,629,877.330798663,783,800,650,628.330798663,650.669201337,0.446882231322,0.00456818174733,0.0496333141638,0.999999841461,0.000153577108277,-0.000541662951868,9.67716908115e-06,1793192508663744512
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.243610108,711,673.756389892,663.756389892,629,877,782.756389892,800,650,628.243610108,650.756389892,0.446882375635,0.00456848200139,0.0496332143609,0.999999841284,0.000154551287166,-0.000541710306617,9.81232038369e-06,1793192508680411136
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.817715049,711,673.182284951,663.182284951,629,877,782.182284951,800,650,628.817715049,650.182284951,0.446882841393,0.00457038184783,0.0496322159379,0.99999984063,0.000157960648255,-0.000541931183063,9.91788951159e-06,1793192508697077760
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711,673,663,629,877,782,800,650,629,650,0.44688172072,0.0045714177384,0.0496311900793,0.999999839546,0.000158648300858,-0.000543732165019,9.74214734211e-06,1793192508713744384
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711,673,663,629,877,782,800,650,629,650,0.446879861997,0.004572051694,0.0496301514571,0.999999838258,0.000158069743197,-0.000546268253492,9.43553177641e-06,1793192508730411520
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.424626252,711,673.575373748,663,629,877,782,800,650,629,650.575373748,0.446879794838,0.00457084901649,0.0496288716826,0.999999838482,0.000154859575033,-0.000546786943813,8.89512111066e-06,1793192508747078400
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742,711,673.846716374,663,629,877.153283626,782,800,650,628.846716374,651,0.446879270513,0.0045704064971,0.0496277865268,0.999999838097,0.000153944854775,-0.000547753035359,8.60841254781e-06,1793192508763745280
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742,711,673.27155938,663,629,877.72844062,782,800,650,628.27155938,651,0.446877457654,0.00457208718355,0.0496272410875,0.999999836015,0.000159392274633,-0.000549984608119,9.02390801545e-06,1793192508780411648
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.310146757,711,673,663,629,877.689853243,782.310146757,799.689853243,650,628,650.689853243,0.446876759041,0.00457250746483,0.0496266231652,0.999999835157,0.000160719420507,-0.000551154516483,9.11588029146e-06,1793192508797078016
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.897710981,711,673,663,629,877.102289019,782.897710981,799.102289019,650,628,650.102289019,0.446877057091,0.00457180034967,0.0496259404087,0.999999835414,0.000158361098916,-0.000551374796453,8.918470306e-06,1793192508813744384
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673,663,629,877.478575682,782.521424318,799.478575682,650,628.478575682,650,0.446877233726,0.00457228797309,0.0496257934736,0.99999983514,0.000158831966074,-0.000551735195145,8.98663126964e-06,1793192508830411520
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,673.057671254,663,629,877.942328746,782.057671254,799.942328746,650,629,650,0.44687775077,0.00457297254473,0.0496259849566,0.99999983502,0.000159776795559,-0.000551678326158,9.0890220516e-06,1793192508847078656
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,673.633559595,663,629,877.366440405,782.633559595,799.366440405,650,629,650,0.446881556593,0.00457316393215,0.0496282024886,0.999999837283,0.00015962186587,-0.000547606618667,8.99598533853e-06,1793192508863745024
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,710.787005389,673.787005389,663,629,877.212994611,782.787005389,799,650,629,650,0.446884480705,0.00457262264148,0.0496300111575,0.999999838964,0.000159168578071,-0.000544663026814,8.95748183951e-06,1793192508880411392
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,710.20136531,673.20136531,663,629,877.79863469,782.20136531,799,650,629,650,0.446885862216,0.00457079949127,0.0496311044983,0.999999839646,0.000158193296809,-0.000543693133885,9.01438712176e-06,1793192508897078272
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,710.380345519,673.380345519,663,629,877.619654481,782.380345519,799.380345519,650,628.619654481,650,0.446888881751,0.00457023275287,0.0496328640224,0.999999841339,0.000156836471059,-0.000540963415593,9.10119392496e-06,1793192508913745152
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,710.959997347,673.959997347,663,629,877.040002653,782.959997347,799.959997347,650,628.040002653,650,0.446892759633,0.00457032439168,0.0496349726357,0.99999984355,0.000155279710752,-0.000537311524504,9.20366953661e-06,1793192508930411776
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,711,673.462545714,663.537454286,629,877.537454286,782.462545714,799.462545714,650,628,650.537454286,0.446896849078,0.00456999752501,0.049637327122,0.999999845569,0.000155680423474,-0.000533421698599,9.3078502751e-06,1793192508947078144
+244,4.066666667,HOLD_POSE2,764,743,711,673,664,629,877,782,799,650,629,650,0.446907085942,0.00457191176643,0.0496409972075,0.999999849986,0.000155039367603,-0.000525283578241,8.29712934497e-06,1793192508989411840
+245,4.083333333,HOLD_POSE2,764,742.411578254,711,673,664,629,877,782,799.588421746,650,629,650.588421746,0.446915901873,0.00457105813443,0.0496461946223,0.999999854487,0.000154511772659,-0.000516794074302,8.72342759462e-06,1793192509006078976
+246,4.100000000,HOLD_POSE2,764,742.174185239,711,673,663.825814761,629,877,782,800,650,628.825814761,651,0.446923902075,0.0045700626763,0.0496506786073,0.999999858376,0.000154010169369,-0.000509360812311,9.0103108302e-06,1793192509022746112
+247,4.116666667,HOLD_POSE2,764,742.753762144,711,673,663.246237856,629,877,782,800,650,628.246237856,651,0.446930003784,0.00456873713761,0.0496535021855,0.999999860965,0.000153569057913,-0.000504385803382,8.97272530033e-06,1793192509039412480
+248,4.133333333,HOLD_POSE2,764,743,711,673,663.332756378,629,877.665512756,782.332756378,799.667243622,650,628.332756378,651,0.446934648986,0.00456772674496,0.0496553713179,0.999999863025,0.000152801598912,-0.000500518066997,9.07984682138e-06,1793192509056078848
+249,4.150000000,HOLD_POSE2,764,743,711,673,663.911320159,629,878.822640317,782.911320159,799.088679841,650,628.911320159,651,0.446938218264,0.00456694915102,0.0496565354003,0.999999864699,0.000151793066746,-0.000497468274029,9.29386355905e-06,1793192509072745216
+250,4.166666667,HOLD_POSE2,764,742.517750797,711,673.482249203,664,629.482249203,878.035501594,783,799,650,629,651,0.446943194453,0.00456745435988,0.0496594238698,0.999999867108,0.000152082131528,-0.000492518549218,9.0145819408e-06,1793192509089412096
+251,4.183333333,HOLD_POSE2,764,742.053976522,711,674,664,629.946023478,877,782.946023478,799.053976522,650,629,650.946023478,0.44694866062,0.00456807148087,0.04966268884,0.999999869706,0.000152566928571,-0.000487067883579,8.71836249405e-06,1793192509106078720
+252,4.200000000,HOLD_POSE2,764,742.647498298,711,674,664,629.352501702,877,782.352501702,799.647498298,650,629,650.352501702,0.446956478803,0.00456748605635,0.0496665970322,0.999999873083,0.000152660270051,-0.000480047746751,9.14544912149e-06,1793192509122745088
+253,4.216666667,HOLD_POSE2,764.235313355,743,711,674,664,629.235313355,877.235313355,782,800,650,629,650.235313355,0.446961440918,0.00456656612197,0.0496685937947,0.999999875046,0.0001517540708,-0.000476224763075,9.44209978452e-06,1793192509139411712
+254,4.233333333,HOLD_POSE2,764.814782049,743,711,674,664,629.814782049,877.814782049,782,800,650,629,650.814782049,0.446962225917,0.00456515695339,0.0496677950135,0.999999874995,0.000149386002626,-0.000477077746393,9.54798251418e-06,1793192509156078848
+255,4.250000000,HOLD_POSE2,764.610468916,743,710.610468916,673.610468916,664,629.610468916,877.610468916,782.389531084,800,650,629,651,0.446964537467,0.00456479825241,0.0496692134778,0.999999876337,0.000148385920798,-0.000474563260888,9.84256180357e-06,1793192509172745728
+256,4.266666667,HOLD_POSE2,764.037937113,743,710.037937113,673.037937113,664,629.037937113,877.037937113,782.962062887,800,650,629,651,0.446967566188,0.00456493305833,0.0496716735984,0.999999878322,0.000148028515283,-0.000470466747117,1.02257902686e-05,1793192509189412608
+257,4.283333333,HOLD_POSE2,764,743,710.550971141,673.550971141,664,629.550971141,877,783,799.449028859,650,629,650.449028859,0.446971011952,0.00456425636769,0.049673714898,0.999999879954,0.000147042022496,-0.000467298279884,1.01203990945e-05,1793192509206078976
+258,4.300000000,HOLD_POSE2,764,742.861595979,711,673.861595979,664,629.861595979,877.138404021,782.861595979,799.138404021,650,628.861595979,650,0.446973203209,0.00456387597829,0.0496747868627,0.999999880802,0.000146816642618,-0.000465554795624,9.95054257712e-06,1793192509222745088
+259,4.316666667,HOLD_POSE2,764,742.282559921,711,673.282559921,664,629.282559921,877.717440079,782.282559921,799.717440079,650,628.282559921,650,0.446971306318,0.00456462225107,0.0496728674128,0.999999879253,0.000149156518436,-0.000468138308759,9.68584204874e-06,1793192509239411712
+260,4.333333333,HOLD_POSE2,764,742.292915687,711,673.292915687,664,629.292915687,878,782,799.707084313,650,628.292915687,650,0.446970381002,0.00456477583478,0.0496721666616,0.999999878697,0.000149822071825,-0.000469116470445,9.47775960898e-06,1793192509256078592
+261,4.350000000,HOLD_POSE2,764,742.864997932,711,673.864997932,664,629.864997932,878,782,799.135002068,650,628.864997932,650,0.446970381658,0.00456436454953,0.049672627405,0.999999879096,0.000148891893432,-0.000468564633894,9.32363768542e-06,1793192509272745216
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,664,629,878,782,800,650,629,650,0.446975727679,0.00456335858171,0.0496756696625,0.999999881963,0.000146625032619,-0.000463103295081,1.05239279819e-05,1793192509305584896
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.407152297,664,629.592847703,877.407152297,782.592847703,800,650,629,650,0.44697662302,0.00456164501303,0.0496760992409,0.999999882314,0.000145592714857,-0.000462667327005,1.06376855364e-05,1793192509322251776
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.181201489,711,673,664,629.818798511,877,782.818798511,800,650,629,650.181201489,0.44697736027,0.00456073192853,0.0496763520586,0.99999988258,0.000144840231007,-0.000462330371238,1.058379869e-05,1793192509338918400
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.759702106,711,673,664,629.240297894,877,782.240297894,800,650,629,650.759702106,0.446977750893,0.00456157397091,0.0496762173141,0.99999988266,0.000144701305766,-0.000462210507998,1.01623377637e-05,1793192509355585024
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,710.663566715,673.336433285,664,629,877,782,799.663566715,650,629,650.663566715,0.446978611331,0.00456268106065,0.04967659769,0.999999882915,0.000146195843316,-0.000461193656276,9.86507346512e-06,1793192509372251392
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,710.088092782,673.911907218,664,629,877,782,799.088092782,650,629,650.088092782,0.446979805579,0.00456397647028,0.0496773440665,0.999999883287,0.000148850979487,-0.000459539481445,9.6560526675e-06,1793192509388917760
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.515438648,710,674,664,629,877,782,799.484561352,650,629,650,0.446976285711,0.00456329672437,0.0496753916533,0.999999882117,0.000145754533649,-0.000463067703574,9.51870824011e-06,1793192509405584640
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,710.059037196,674,664,629.059037196,877,782,799.940962804,650,629,650,0.44697126932,0.00456245308507,0.0496727743428,0.999999880386,0.000142333005564,-0.000467846276979,9.39573266086e-06,1793192509422251776
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.757466895,663.757466895,629.757466895,877,782,799,650,629,650,0.446938564023,0.00456433495427,0.0496611526964,0.999999869064,0.00014811950077,-0.000489740814571,9.28672232668e-06,1793192509455584768
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742,710.108383291,672,665.216766582,632,876,783,799.783233418,650,628,650.891616709,0.413984656154,0.00459133506356,0.0498081972718,0.999999946387,9.99278885897e-05,-0.000308102030383,-4.81047954094e-05,1793192510422251264
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742.957683701,710.042316299,672.957683701,665.957683701,632,876,783,799.042316299,650,629,651,0.412379844007,0.00459717814993,0.049766195407,0.999999923376,8.51957239514e-05,-0.000378914768506,-4.91217343988e-05,1793192510455584768
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742.9928419,710,672,665.0071581,633,876,783,799,650.0071581,629,651,0.405082041758,0.00458728173249,0.0497603363153,0.999999905563,8.33468405995e-05,-0.000423691784223,-4.91220702501e-05,1793192510655585024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742.405189462,710,672,665.594810538,633,876,783,799,650.594810538,629,651,0.404687978594,0.00458840276726,0.0497808725603,0.999999921623,8.49043812881e-05,-0.000383479160728,-4.98858057332e-05,1793192510672251648
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.755268593,742,710.244731407,672,665,632.244731407,875.244731407,783,799.755268593,650,629,651,0.402197358316,0.00459914653724,0.0498082381824,0.99999992717,9.9463508088e-05,-0.000364494000443,-5.39518563631e-05,1793192510805584128
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.176463828,742,710.823536172,672,665,632.823536172,875.823536172,783,799.176463828,650,629,651,0.401997522037,0.00459839306799,0.0498047047919,0.999999925808,9.66809906834e-05,-0.000368866857283,-5.45337252512e-05,1793192510822251008
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.439425565,742,710.439425565,672,665,632,876,783,799.439425565,650,628.439425565,651,0.401572669276,0.00457934086575,0.0498298407788,0.999999949806,1.19819312783e-05,-0.000314053514744,-4.01909186774e-05,1793192510872251648
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.725323054,742,710.725323054,672,665,632,876,783,799.725323054,650,628.725323054,651,0.401366091469,0.00456434638706,0.0498407413737,0.999999955762,4.44019130466e-05,-0.000292579442767,-3.00278118515e-05,1793192510905584896
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,710.695851923,672,665.304148077,632.304148077,876,783,799.695851923,650,628.695851923,651,0.401280259812,0.00456389427519,0.0498408252375,0.999999956198,4.34684911829e-05,-0.000291099691156,-3.12442728051e-05,1793192510922251520
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,710,672,665.542245127,633,876,783,799.457754873,650,628,651,0.401146155226,0.00456811895243,0.049837489963,0.999999954907,4.81645734106e-05,-0.000294472028902,-3.3932835169e-05,1793192510955584768
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,710,672,665.032474449,632.967525551,876,783,800,650,628,651,0.401093868505,0.00456871904043,0.0498373433152,0.999999954826,4.84657506546e-05,-0.000294614037941,-3.46590441713e-05,1793192510972251392
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,710,672,665.621143105,632.378856895,876,783,800,650,628,651,0.401066075198,0.00456836931587,0.0498409774717,0.99999995705,4.94243313414e-05,-0.000286832683057,-3.44073598333e-05,1793192510988917760
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,710,672,665.793738399,632,876,783,799.793738399,650,628,651,0.401041161098,0.0045686395743,0.049843768309,0.999999958698,5.1125317982e-05,-0.000280718377105,-3.44613016605e-05,1793192511005584384
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,710,672,665.215030484,632,876,783,799.215030484,650,628,651,0.401021445979,0.0045700293353,0.0498450363656,0.999999959383,5.4166866021e-05,-0.000277614260185,-3.50671123002e-05,1793192511022251264
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.060965047,742,710,672,665,632,876,783,799,650,628.939034953,650.060965047,0.400997989197,0.00456925227998,0.049849381084,0.999999961739,5.00688135563e-05,-0.000269700974127,-3.57156005225e-05,1793192511055584768
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.513726762,742,710.513726762,672,665,632,876,783,799,650,628.486273238,650.513726762,0.400990758272,0.00456977998271,0.0498492286663,0.999999961524,5.1793036555e-05,-0.000270149284983,-3.58980638984e-05,1793192511072251392
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,710.909283093,671.909283093,665,632.090716907,876,783.090716907,799.090716907,650,628,651,0.40098472426,0.00457022950269,0.0498488835099,0.999999961286,5.34678783573e-05,-0.00027068328591,-3.60477470705e-05,1793192511088917760
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,710.318342579,671.318342579,665,632.681657421,876,783.681657421,799.681657421,650,628,651,0.400983546318,0.00456938612369,0.0498491255714,0.999999961918,5.16534977394e-05,-0.00026869145298,-3.60672196753e-05,1793192511105584896
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,710,671.267078659,665,632.732921341,876,783.732921341,799.732921341,650,628.267078659,651,0.400982095508,0.00456887312365,0.0498495248534,0.999999962261,5.08299033087e-05,-0.00026759180142,-3.59094983507e-05,1793192511122251520
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,710,671.846054398,665,632.153945602,876,783.153945602,799.153945602,650,628.846054398,651,0.40098032604,0.00456874594348,0.0498501077389,0.999999962272,5.11633588236e-05,-0.000267534048145,-3.55448482149e-05,1793192511138918144
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742.422395896,710,672,665.422395896,632,876,783,799.422395896,650,628.577604104,651,0.400979838471,0.00456995614123,0.0498508311933,0.999999962422,5.21789063952e-05,-0.000266728368809,-3.58987044054e-05,1793192511155584512
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.997783263,710,672,665.997783263,632,876,783,799.997783263,650,628.002216737,651,0.400979815204,0.00457165073625,0.0498516055616,0.99999996262,5.34415071796e-05,-0.00026565179123,-3.65128030445e-05,1793192511172251136
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.41506019,710,672,665.41506019,632.58493981,876,783,799.41506019,650.58493981,628.58493981,651,0.400978915319,0.00456972589898,0.0498518675665,0.999999962822,5.1873734919e-05,-0.000265250065291,-3.61559669619e-05,1793192511188918016
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_10/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..304666d3424a4378edbe783dfb39fac87e119318
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,400 @@
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+334,5.566666667,pose2_to_pose3_retreat,0.584747341268,0.0100544598965,1.04002902844,0.555318072664,0.0187271934101,1.03969832195
+335,5.583333333,pose2_to_pose3_retreat,0.584097133312,0.0100545722448,1.04002927767,0.55466786427,0.018727304189,1.03969856912
+336,5.600000000,pose2_to_pose3_retreat,0.583475325923,0.0100546264027,1.04002931246,0.554046056803,0.0187273578945,1.0396985987
+337,5.616666667,pose2_to_pose3_retreat,0.5828837523,0.0100545593941,1.04002915778,0.553454483711,0.0187272931382,1.03969845567
+338,5.633333333,pose2_to_pose3_retreat,0.58231281428,0.0100545234212,1.04002919515,0.552883544697,0.0187272532897,1.03969847985
+339,5.650000000,pose2_to_pose3_retreat,0.581757391739,0.0100545111872,1.04002907781,0.552328123424,0.0187272454902,1.03969836616
+340,5.666666667,pose2_to_pose3_retreat,0.581216261176,0.0100546340666,1.04002914233,0.551786992154,0.0187273661478,1.03969843515
+341,5.683333333,pose2_to_pose3_retreat,0.58069206622,0.0100545151057,1.0400292043,0.551262796119,0.0187272431169,1.03969848574
+342,5.700000000,pose2_to_pose3_retreat,0.580201275311,0.0100545675605,1.04002918819,0.550772004325,0.0187272927196,1.03969847408
+343,5.716666667,pose2_to_pose3_retreat,0.579747477358,0.0100545050512,1.0400290182,0.550318209162,0.0187272401086,1.03969831553
+344,5.733333333,pose2_to_pose3_retreat,0.579337705865,0.0100545511482,1.04002930737,0.54990843481,0.0187272758387,1.03969858756
+345,5.750000000,pose2_to_pose3_retreat,0.578962122104,0.0100546272553,1.04002915201,0.549532852298,0.0187273568809,1.0396984504
+346,5.766666667,pose2_to_pose3_retreat,0.578618636253,0.0100546282557,1.04002918922,0.549189366858,0.0187273588703,1.03969847675
+347,5.783333333,pose2_to_pose3_retreat,0.578291010574,0.0100546430525,1.0400292659,0.548861740152,0.0187273701888,1.03969855349
+348,5.800000000,pose2_to_pose3_retreat,0.577977564313,0.0100544368831,1.04002938709,0.548548296573,0.0187271730693,1.03969867348
+349,5.816666667,pose2_to_pose3_retreat,0.577678853353,0.0100545137751,1.04002925747,0.548249584189,0.0187272450122,1.03969854092
+350,5.833333333,pose2_to_pose3_retreat,0.577398176353,0.0100545082109,1.04002928481,0.547968908656,0.01872724452,1.03969857064
+351,5.850000000,pose2_to_pose3_retreat,0.577141201462,0.0100547142066,1.04002921011,0.547711930145,0.0187274382386,1.03969849597
+352,5.866666667,pose2_to_pose3_retreat,0.576913541535,0.0100545814976,1.04002917959,0.54748427206,0.0187273118582,1.03969846743
+353,5.883333333,pose2_to_pose3_retreat,0.576717058283,0.0100545956565,1.04002912679,0.547287790262,0.0187273314457,1.03969842767
+354,5.900000000,pose2_to_pose3_retreat,0.576550044013,0.0100544485663,1.04002915848,0.54712077423,0.0187271780456,1.03969845064
+355,5.916666667,pose2_to_pose3_retreat,0.57640787944,0.0100544533488,1.04002906915,0.546978612192,0.0187271912759,1.03969835742
+356,5.933333333,pose2_to_pose3_retreat,0.576285910425,0.0100544465945,1.04002935323,0.546856643386,0.0187271852906,1.03969864296
+357,5.950000000,pose2_to_pose3_retreat,0.576178932039,0.0100544399061,1.0400290371,0.546749663887,0.0187271748126,1.03969832863
+358,5.966666667,pose2_to_pose3_retreat,0.576085774151,0.0100544468096,1.040029185,0.546656506259,0.0187271825043,1.03969847438
+359,5.983333333,pose2_to_pose3_retreat,0.576003889331,0.0100545608533,1.04002919766,0.546574621468,0.0187272967479,1.03969848955
+360,6.000000000,pose2_to_pose3_retreat,0.575933300358,0.010054566191,1.04002915444,0.546504032227,0.0187273012651,1.03969844839
+361,6.016666667,pose2_to_pose3_retreat,0.575876213121,0.0100545600338,1.04002914643,0.546446943967,0.0187272917379,1.03969844194
+362,6.033333333,pose2_to_pose3_retreat,0.575830946194,0.0100545646439,1.04002907429,0.546401677143,0.0187272967199,1.03969837053
+363,6.050000000,pose2_to_pose3_retreat,0.57579651362,0.010054515569,1.04002913425,0.546367245333,0.0187272499139,1.03969842291
+364,6.066666667,pose2_to_pose3_retreat,0.575770757574,0.0100544623972,1.04002921687,0.546341489533,0.0187271971984,1.03969849568
+365,6.083333333,pose2_to_pose3_retreat,0.575753092468,0.0100544833093,1.04002921784,0.546323823763,0.0187272158613,1.03969849621
+366,6.100000000,pose2_to_pose3_retreat,0.575739322392,0.0100545955383,1.04002916283,0.5463100521,0.0187273231837,1.03969845324
+367,6.116666667,pose2_to_pose3_retreat,0.575729197934,0.0100545413947,1.04002895696,0.54629992726,0.0187272678605,1.03969825001
+368,6.133333333,pose2_to_pose3_retreat,0.575722553652,0.0100544751821,1.04002904573,0.546293284814,0.0187272078455,1.03969833783
+369,6.150000000,pose2_to_pose3_retreat,0.575718129835,0.0100544502864,1.04002915694,0.546288862458,0.0187271878266,1.03969844692
+370,6.166666667,pose2_to_pose3_retreat,0.575715338957,0.0100545821371,1.04002911249,0.546286070197,0.0187273148175,1.03969839814
+371,6.183333333,pose2_to_pose3_retreat,0.575713620302,0.0100546533731,1.04002908053,0.546284350769,0.018727383341,1.03969836388
+372,6.200000000,pose2_to_pose3_retreat,0.575712877745,0.0100546395047,1.04002904617,0.546283608229,0.0187273695568,1.03969833017
+373,6.216666667,pose2_to_pose3_retreat,0.575712177247,0.010054626422,1.04002901376,0.546282907748,0.0187273565534,1.03969829836
+374,6.233333333,pose2_to_pose3_retreat,0.575711629458,0.0100546161912,1.04002898841,0.546282359972,0.0187273463848,1.03969827349
+375,6.250000000,pose2_to_pose3_retreat,0.575711451088,0.0100546128599,1.04002898016,0.546282181606,0.0187273430737,1.0396982654
+376,6.266666667,pose2_to_pose3_retreat,0.575711365372,0.0100546112591,1.04002897619,0.546282095892,0.0187273414825,1.03969826151
+377,6.283333333,pose2_to_pose3_retreat,0.575711238026,0.0100546088807,1.0400289703,0.546281968549,0.0187273391186,1.03969825572
+378,6.300000000,pose2_to_pose3_retreat,0.575711216236,0.0100546084737,1.04002896929,0.54628194676,0.0187273387141,1.03969825473
+379,6.316666667,pose2_to_pose3_retreat,0.575711188265,0.0100546079513,1.040028968,0.546281918789,0.0187273381949,1.03969825346
+380,6.333333333,pose2_to_pose3_retreat,0.57571116554,0.0100546075269,1.04002896695,0.546281896065,0.018727337773,1.03969825243
+381,6.350000000,pose2_to_pose3_retreat,0.575711137151,0.0100546069967,1.04002896563,0.546281867677,0.0187273372461,1.03969825114
+382,6.366666667,pose2_to_pose3_retreat,0.575711126804,0.0100546068035,1.04002896516,0.54628185733,0.018727337054,1.03969825067
+383,6.383333333,pose2_to_pose3_retreat,0.575711087618,0.0100546060716,1.04002896334,0.546281818144,0.0187273363266,1.03969824889
+384,6.400000000,pose2_to_pose3_retreat,0.575711019853,0.0100546044384,1.04002896122,0.546281750382,0.0187273347072,1.03969824688
+385,6.416666667,pose2_to_pose3_retreat,0.575710907324,0.0100545979737,1.04002896799,0.54628163787,0.018727328328,1.0396982544
+386,6.433333333,pose2_to_pose3_retreat,0.575710768315,0.0100545899877,1.04002897637,0.546281498883,0.0187273204476,1.03969826368
+387,6.450000000,pose2_to_pose3_retreat,0.57571054042,0.0100545768952,1.0400289901,0.546281271021,0.0187273075282,1.03969827891
+388,6.466666667,pose2_to_pose3_retreat,0.575710301764,0.0100545631845,1.04002900447,0.546281032402,0.0187272939989,1.03969829485
+389,6.483333333,pose2_to_pose3_retreat,0.575710139642,0.0100545538707,1.04002901424,0.546280870304,0.0187272848082,1.03969830568
+390,6.500000000,pose2_to_pose3_retreat,0.575710114734,0.0100545524397,1.04002901574,0.546280845399,0.0187272833962,1.03969830734
+391,6.516666667,pose2_to_pose3_retreat,0.575709934954,0.0100545421114,1.04002902657,0.546280665647,0.0187272732045,1.03969831935
+392,6.533333333,pose2_to_pose3_retreat,0.575709792495,0.0100545339272,1.04002903515,0.546280523208,0.0187272651285,1.03969832886
+393,6.550000000,pose2_to_pose3_retreat,0.575709676977,0.010054524043,1.04002901437,0.546280407675,0.0187272551845,1.03969830794
+394,6.566666667,pose2_to_pose3_retreat,0.575709487933,0.0100544977678,1.04002889412,0.546280218502,0.0187272283528,1.03969818461
+395,6.583333333,pose2_to_pose3_retreat,0.575709385,0.0100544834611,1.04002882864,0.546280115498,0.0187272137432,1.03969811747
+396,6.600000000,pose2_to_pose3_retreat,0.575709322286,0.0100544812778,1.04002884101,0.546280052748,0.0187272115042,1.03969813162
+397,6.616666667,pose2_to_pose3_retreat,0.575709279962,0.0100544828009,1.04002887333,0.546280010402,0.0187272130487,1.03969816643
+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_0030_20/position_10/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9a053289c00130a8fffe6514887a7ed3bf6a64f1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa2c7ff8585f2baa29dc4ba9040c2a2f181836d33a490cd8d42901ace15e0fd5
+size 25432858
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_10/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e26ba25083bd713e5441d44d494e459d91322e3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_05/franka_data.csv
@@ -0,0 +1,403 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+21,0.350000000,BASELINE,763.210454395,742.789545605,710,672,665,632,875.789545605,783,799.210454395,650.789545605,628,651,0.400978657338,0.00456745469889,0.0498557980424,0.999999964805,4.93936758736e-05,-0.000258164534603,-3.60777663276e-05,1793192512039653632
+22,0.366666667,BASELINE,763.789451147,742.210548853,710,672,665,632,875.210548853,783,799.789451147,650.210548853,628,651,0.400980442679,0.00456806016079,0.0498571857964,0.999999965543,4.89165035988e-05,-0.000255376306329,-3.61123496251e-05,1793192512056320256
+23,0.383333333,BASELINE,764,742,710.366236381,672,665,632,875.366236381,783,799.633763619,650,628,651,0.400980593822,0.00456872237982,0.0498572641415,0.999999965567,4.92616022155e-05,-0.00025518366833,-3.63432687705e-05,1793192512072987136
+24,0.400000000,BASELINE,764,742,710.941757902,672,665,632,875.941757902,783,799.058242098,650,628,651,0.400979811105,0.00456941703266,0.0498565942273,0.999999965184,5.00765860498e-05,-0.00025647427559,-3.66863836961e-05,1793192512089654016
+25,0.416666667,BASELINE,764,742.517262258,711,672,665,632,876,783,799,650,628,651,0.400980169466,0.00456812758923,0.0498565817191,0.999999965438,4.88549180373e-05,-0.000255802025079,-3.60790108316e-05,1793192512106320896
+26,0.433333333,BASELINE,764,743,711,672,665,632,875.904747177,783,799,650,628.095252823,651,0.40098041011,0.00456712493547,0.0498565394067,0.999999965629,4.81311538749e-05,-0.000255266559896,-3.55537637035e-05,1793192512122987776
+27,0.450000000,BASELINE,764,743,711,672,665,632,875.313808361,783,799,650,628.686191639,651,0.400979369577,0.00456877723319,0.0498559568066,0.999999965121,5.11917514088e-05,-0.000256592994949,-3.60128030009e-05,1793192512139654144
+28,0.466666667,BASELINE,764,742.728234256,711,672,665,632.271765744,875,783,799,650,628.728234256,651,0.400978852881,0.00456944196032,0.0498556608546,0.999999964955,5.18715500178e-05,-0.000257038590035,-3.64641528595e-05,1793192512156320512
+29,0.483333333,BASELINE,764,742.148734911,711,672,665,632.851265089,875,783,799,650,628.148734911,651,0.400978929352,0.00456898841302,0.0498556894885,0.999999965183,4.98554537544e-05,-0.000256486767009,-3.69067955645e-05,1793192512172987136
+30,0.500000000,BASELINE,763.573867925,742,710.573867925,672,664.573867925,632.573867925,875,783,799.426132075,650,628,651,0.400977955917,0.0045682482269,0.0498554709295,0.999999965028,4.84428261424e-05,-0.000257396493848,-3.66638521685e-05,1793192512189653760
+31,0.516666667,BASELINE,763.000600417,742,710.000600417,672,664.000600417,632.000600417,875,783,799.999399583,650,628,651,0.400976619969,0.00456740906977,0.0498551670193,0.999999964738,4.72385650052e-05,-0.000258810866518,-3.61841887116e-05,1793192512206320384
+32,0.533333333,BASELINE,763.572783117,742,710,672,664.572783117,632,875.572783117,783,799.427216883,650,628,651,0.400980281266,0.00456779183968,0.0498574009111,0.999999965698,4.83687298521e-05,-0.000254869997042,-3.61476413102e-05,1793192512222987264
+33,0.550000000,BASELINE,764,742,710,672,665,632,875.848309431,783,799,650,628,651,0.40098236268,0.00456777979462,0.0498586071305,0.999999966275,4.90098557507e-05,-0.000252489385511,-3.6025284861e-05,1793192512239653888
+34,0.566666667,BASELINE,764,742,710,672,665,632,875.253257108,783,799,650,628,651,0.400979811092,0.00456661003831,0.0498568018878,0.99999996577,4.82144629047e-05,-0.000254685513176,-3.56507675164e-05,1793192512256320768
+35,0.583333333,BASELINE,764,742,710,672,665,632,875,783,799.331025712,650,628,651,0.400978859109,0.00456703176731,0.0498561492553,0.999999965425,4.83630253884e-05,-0.000255989102365,-3.57730149963e-05,1793192512272987392
+36,0.600000000,BASELINE,764,742,710,672,665,632,875,783,799.907328805,650,628,651,0.400979092371,0.00456863272588,0.0498563506629,0.999999965202,4.92110225529e-05,-0.000256631354942,-3.62633461554e-05,1793192512289653760
+37,0.616666667,BASELINE,764,742,710,672,665,632.481105492,875.481105492,783.481105492,799.518894508,650,628.481105492,651,0.400979025154,0.00456906872463,0.0498560508526,0.999999965212,4.89910444043e-05,-0.000256601985918,-3.64841415295e-05,1793192512306320384
+38,0.633333333,BASELINE,763.94385186,742,710.05614814,672,665,633,875.94385186,783.94385186,799,650,628.94385186,651,0.400978947427,0.00456900423065,0.0498557345437,0.999999965278,4.84607544955e-05,-0.000256432928174,-3.65669926549e-05,1793192512322987008
+39,0.650000000,BASELINE,763.352115311,742,710.647884689,672,665,633,875.352115311,783.352115311,799,650,628.352115311,651,0.400979318664,0.00456629491276,0.049856176976,0.999999965449,4.69224800844e-05,-0.000256158982617,-3.58266691218e-05,1793192512339653632
+40,0.666666667,BASELINE,763,742,710.765557107,671.765557107,665.234442893,632.765557107,875,783,799,650,628,651,0.400979218072,0.00456535477253,0.0498561906759,0.999999965426,4.66638613825e-05,-0.000256323241675,-3.56165177689e-05,1793192512356320512
+41,0.683333333,BASELINE,763,742,710.186608338,671.186608338,665.813391662,632.186608338,875,783,799,650,628,651,0.400978424143,0.00456701437902,0.0498555743679,0.999999965121,4.82856534105e-05,-0.000257131427562,-3.61854364868e-05,1793192512372987136
+42,0.700000000,BASELINE,763.388845212,742,710.388845212,671.388845212,665.611154788,632,875.388845212,783,799,650,628.388845212,651,0.400979448058,0.00456716835374,0.0498563402867,0.999999965458,4.78449225547e-05,-0.000255894939674,-3.62270837301e-05,1793192512389654016
+43,0.716666667,BASELINE,763.962636319,742,710.962636319,671.962636319,665.037363681,632,875.962636319,783,799,650,628.962636319,651,0.400981336591,0.00456660620692,0.049857763632,0.999999966096,4.64231968264e-05,-0.000253685946482,-3.60179455753e-05,1793192512406321152
+44,0.733333333,BASELINE,764,742,710.449785137,672,665.550214863,632.550214863,875.449785137,783,799,650,629,651,0.400980607504,0.00456717858173,0.0498579229375,0.999999966105,4.81491560307e-05,-0.000253332952703,-3.59736781384e-05,1793192512422987520
+45,0.750000000,BASELINE,764,742.136612911,710,672,665.863387089,632.863387089,875.136612911,783,799.136612911,650,628.863387089,650.863387089,0.400980198234,0.00456757133018,0.0498580931317,0.999999966111,4.9615952881e-05,-0.000253046271645,-3.58417589345e-05,1793192512439654144
+46,0.766666667,BASELINE,764,742.716071109,710,672,665.283928891,632.283928891,875.716071109,783,799.716071109,650,628.283928891,650.283928891,0.400981416712,0.0045671256403,0.0498585840261,0.999999966255,4.95319405997e-05,-0.000252555489807,-3.53884815429e-05,1793192512456320768
+47,0.783333333,BASELINE,764,742.705984418,710,672,665.294015582,632.294015582,876,783,800,650,628.294015582,650.294015582,0.400980866332,0.00456780279606,0.0498581356696,0.999999965996,5.0163309554e-05,-0.000253437154379,-3.55125381576e-05,1793192512472987392
+48,0.800000000,BASELINE,764,742.129494185,710,672,665.870505815,632.870505815,876,783,800,650,628.870505815,650.870505815,0.400978616527,0.00456955872259,0.0498567849303,0.999999965345,5.14819790268e-05,-0.000255637392956,-3.6191266757e-05,1793192512489653760
+49,0.816666667,BASELINE,764,742,710,671.55463593,665.55463593,632.55463593,875.55463593,783,799.55463593,650,628.55463593,651,0.400978624118,0.00456899208529,0.0498563440879,0.999999965277,5.11670143395e-05,-0.00025595289433,-3.62791535701e-05,1793192512506320384
+50,0.833333333,BASELINE,764,742,710.020290687,671.020290687,665,632,875.020290687,783,799,650,628,651,0.400979270954,0.00456778311788,0.0498561815622,0.999999965379,5.03566864239e-05,-0.000255727242057,-3.6200925136e-05,1793192512522987520
+51,0.850000000,BASELINE,764,742,710.610415531,671.610415531,665,632,875.610415531,783,799,650,628,651,0.40097950442,0.00456743107958,0.0498564324433,0.99999996547,4.89256690935e-05,-0.00025563785956,-3.62645426804e-05,1793192512539654144
+52,0.866666667,BASELINE,764,742,711,672,665,632,875.803187354,783,799.196812646,650,628,651,0.400979290108,0.00456767087392,0.0498565292355,0.99999996544,4.82477777297e-05,-0.000255876239208,-3.63149968541e-05,1793192512556320768
+53,0.883333333,BASELINE,764,742,711,672,665,632,875.224032032,783,799.775967968,650,628,651,0.400978205912,0.00456906040572,0.0498563266834,0.999999965177,4.9032964165e-05,-0.000256751353629,-3.63398788952e-05,1793192512572987392
+54,0.900000000,BASELINE,764,742,710.646552747,672,665,632.353447253,875.353447253,783,800,650,628,651,0.400978810199,0.00456850047532,0.0498568969443,0.99999996537,4.93268847108e-05,-0.000255975931969,-3.60935407101e-05,1793192512589654016
+55,0.916666667,BASELINE,764,742,710.070130822,672,665,632.929869178,875.929869178,783,800,650,628,651,0.400980479678,0.00456671071299,0.0498579547397,0.999999965849,4.93108867042e-05,-0.000254159258042,-3.56761013472e-05,1793192512606320640
+56,0.933333333,BASELINE,764,742,710,672,665,632.495783831,876,783.504216169,799.495783831,650,628,651,0.400980376758,0.00456698478406,0.0498571743149,0.999999965699,4.96578826062e-05,-0.000254655644771,-3.5859217185e-05,1793192512622987008
+57,0.950000000,BASELINE,764,742,710.08051702,672,665,632,876,783.91948298,799,650,628.08051702,651,0.400980010935,0.00456763427147,0.0498562954097,0.999999965497,5.00252437775e-05,-0.000255340531893,-3.61325081257e-05,1793192512639653632
+58,0.966666667,BASELINE,764,742,710.671013441,672,665,632,876,783.328986559,799,650,628.671013441,651,0.400979534949,0.00456885086687,0.0498564055137,0.999999965515,5.02031212837e-05,-0.000255189977092,-3.64500528567e-05,1793192512656320256
+59,0.983333333,BASELINE,764,742,711,671.743571013,665,632,876,783,799.256428987,650,629,651,0.400978863792,0.00456917538218,0.0498560147688,0.999999965354,4.96708367711e-05,-0.000255906204221,-3.65524369441e-05,1793192512672987136
+60,1.000000000,BASELINE,764,742,711,671.164547266,665,632,876,783,799.835452734,650,629,651,0.400977947102,0.00456837763623,0.0498549939423,0.999999964966,4.82451488194e-05,-0.000257712866975,-3.63841430331e-05,1793192512689654016
+61,1.016666667,BASELINE,764,742,710.587370085,671.412629915,665.412629915,632,875.587370085,783,799.587370085,650,629,651,0.40097821033,0.00456875938143,0.049855493146,0.99999996498,5.00008100026e-05,-0.000257305626438,-3.65195238155e-05,1793192512706320640
+62,1.033333333,BASELINE,764,742,710.010926025,671.989073975,665.989073975,632,875.010926025,783,799.010926025,650,629,651,0.400978941986,0.00456960938485,0.049856595802,0.999999965145,5.30194674043e-05,-0.000256019465816,-3.67754635109e-05,1793192512722987008
+63,1.050000000,BASELINE,764,742,710,672,665.425184813,632.574815187,875,783,799.574815187,650,628.425184813,651,0.400979873177,0.0045683208169,0.0498572674131,0.999999965618,4.96224493069e-05,-0.000254895992358,-3.64681654327e-05,1793192512739653632
+64,1.066666667,BASELINE,764,742.158989098,710,672,665,633,875.158989098,783,799.841010902,650,628.158989098,651,0.400979853177,0.00456756460946,0.0498573750994,0.999999965768,4.75986531551e-05,-0.000254716880385,-3.62887479337e-05,1793192512756320256
+65,1.083333333,BASELINE,764,742.738541944,710,672,665,633,875.738541944,783,799.261458056,650,628.738541944,651,0.400977306853,0.00456832591743,0.0498560131007,0.999999965076,4.95352396705e-05,-0.000257027513404,-3.64763901982e-05,1793192512772986880
+66,1.100000000,BASELINE,764,743,710,672,665,633,875.684022834,783,799.315977166,650,628.684022834,651,0.400977370753,0.00456858794043,0.0498560708486,0.99999996503,5.09539613713e-05,-0.000256944830225,-3.63841152205e-05,1793192512789653504
+67,1.116666667,BASELINE,764,743,710,672,665,633,875.108328223,783,799.891671777,650,628.108328223,651,0.400979580126,0.00456843957608,0.0498572955575,0.999999965515,5.19470239693e-05,-0.000254894960574,-3.6061762244e-05,1793192512806320128
+68,1.133333333,BASELINE,764,743,710.468585317,672,665,632.531414683,875.468585317,783,799.531414683,650,628,651,0.400979600545,0.00456765092062,0.0498570842648,0.999999965465,4.960272287e-05,-0.00025559218403,-3.57998978784e-05,1793192512822986752
+69,1.150000000,BASELINE,764,742.953341988,710.953341988,672.046658012,665,632.046658012,876,783,799,650,628,651,0.400979126326,0.00456684490679,0.0498565760938,0.999999965295,4.68994690871e-05,-0.000256792720068,-3.56014189431e-05,1793192512839653376
+70,1.166666667,BASELINE,764,742.365094218,710.365094218,672.634905782,665,632.634905782,876,783,799,650,628,651,0.40097879984,0.00456756008874,0.0498564853847,0.99999996527,4.90087027665e-05,-0.000256444555067,-3.59759530872e-05,1793192512856320256
+71,1.183333333,BASELINE,764,742,710,672.780182446,665.219817554,632.780182446,876,783,799,650,628.219817554,651,0.400979549734,0.00456731801834,0.0498569354803,0.999999965556,4.93517881711e-05,-0.000255244309156,-3.60891031165e-05,1793192512872986880
+72,1.200000000,BASELINE,764,742,710,672.200728499,665.799271501,632.200728499,876,783,799,650,628.799271501,651,0.400982060658,0.00456550981845,0.049858270369,0.999999966349,4.68053358197e-05,-0.000252650001164,-3.57746111062e-05,1793192512889653760
+73,1.216666667,BASELINE,764,742,710,671.62429668,666,632,876,783,799,650,629,651,0.400982684416,0.0045656294662,0.0498588394513,0.999999966572,4.61891998882e-05,-0.000251885794425,-3.57188419721e-05,1793192512906320384
+74,1.233333333,BASELINE,764,742,710,671.049466655,666,632,876,783,799,650,629,651,0.400982307956,0.00456677089353,0.0498590026481,0.999999966498,4.65961520792e-05,-0.000252091560722,-3.5800198698e-05,1793192512922987008
+75,1.250000000,BASELINE,764,742,710.525799998,671.525799998,665.474200002,632,876,783,799.525799998,650.525799998,629,651,0.400979235221,0.00456702645792,0.0498571774063,0.999999965507,4.77206103138e-05,-0.000255777567069,-3.58578244696e-05,1793192512939653376
+76,1.266666667,BASELINE,764,742,711,672,665,632,876,783,799.896110568,650.896110568,628.896110568,651,0.400976982955,0.00456737557976,0.0498557802883,0.999999964784,4.8827190034e-05,-0.000258370298762,-3.59650285741e-05,1793192512956320256
+77,1.283333333,BASELINE,764,742,711,672,665,632,876,783,799.304974998,650.304974998,628.304974998,651,0.4009797694,0.00456855468803,0.0498572691859,0.99999996578,4.95330674812e-05,-0.000254298646189,-3.63152369101e-05,1793192512972986880
+78,1.300000000,BASELINE,764,742.279693824,710.720306176,672,665.279693824,632.279693824,876,783,799.279693824,650,628,651,0.400980504145,0.00456855582793,0.0498575965506,0.999999966112,4.88783661139e-05,-0.000253095021165,-3.64785864833e-05,1793192512989653504
+79,1.316666667,BASELINE,764,742.857470689,710.142529311,672,665.857470689,632.857470689,876,783,799.857470689,650,628,651,0.400979052294,0.00456730155069,0.0498566860139,0.999999965743,4.67736310073e-05,-0.00025494799007,-3.64427917447e-05,1793192513006320128
+80,1.333333333,BASELINE,764,743,710.432407867,672,666,632.567592133,876.432407867,783,799.567592133,650,628,651,0.400978715369,0.00456743270857,0.0498564751083,0.999999965531,4.65588401788e-05,-0.000255817114186,-3.6445296699e-05,1793192513022986752
+81,1.350000000,BASELINE,764.006592315,742.993407685,710.993407685,672.006592315,665.993407685,632.006592315,876.993407685,783,799,650,628,651,0.400978761818,0.00456799927398,0.0498565010228,0.999999965377,4.69669929416e-05,-0.000256342443808,-3.64592946667e-05,1793192513039653632
+82,1.366666667,BASELINE,764.596448448,742.403551552,710.403551552,672.596448448,665.403551552,632.596448448,876.403551552,783,799,650,628,651,0.400980424768,0.00456694874741,0.0498572094274,0.999999965698,4.7733363631e-05,-0.000254955126551,-3.63804913652e-05,1793192513056320000
+83,1.383333333,BASELINE,764.81677666,742,710,672.81677666,665.36644668,632.81677666,876,783,799,650.18322334,628,651,0.400980781987,0.00456686806882,0.0498572784828,0.999999965706,4.88407039864e-05,-0.000254698973551,-3.647661843e-05,1793192513072986624
+84,1.400000000,BASELINE,764.236675889,742,710,672.236675889,666.526648222,632.236675889,876,783,799,650.763324111,628,651,0.400978310882,0.00456888816375,0.0498559626534,0.999999965036,5.0686613959e-05,-0.000256893018853,-3.69516596215e-05,1793192513089653248
+85,1.416666667,BASELINE,764,742.340251424,710.340251424,672,666.319497151,632.340251424,876,783,799,650.659748576,628.340251424,651,0.400978717722,0.00456873751309,0.0498563408295,0.999999965306,4.96548039008e-05,-0.000256081330524,-3.66709501307e-05,1793192513106320128
+86,1.433333333,BASELINE,764,742.914991672,710.914991672,672,665.170016655,632.914991672,876,783,799,650.085008328,628.914991672,651,0.400981107938,0.00456709086395,0.0498578864524,0.999999966214,4.66397744548e-05,-0.000253198200501,-3.58694049129e-05,1793192513122986752
+87,1.450000000,BASELINE,764,742.511530412,710.511530412,672,665.976939175,633,876,783,799,650,629,651,0.400980203822,0.00456583248243,0.0498571082856,0.999999965938,4.51117954148e-05,-0.000254561106901,-3.58823972223e-05,1793192513139653632
+88,1.466666667,BASELINE,764,742,710.063827222,672,666.872345556,632.936172778,876,783,799,650,629,651,0.400978982201,0.00456488615101,0.049856164215,0.999999965546,4.40898267232e-05,-0.000256255064156,-3.60238568879e-05,1793192513156320000
+89,1.483333333,BASELINE,764,742,710.656577499,672,665.686845001,632.343422501,876,783,799,650,629,651,0.400979868156,0.00456596721768,0.0498571879505,0.999999965925,4.51220393687e-05,-0.000254584733205,-3.60582415055e-05,1793192513172986624
+90,1.500000000,BASELINE,764,742,710.7567649,672,665.2432351,632,876,783,799,650,628.7567649,651,0.400980628742,0.00456734398642,0.0498577037093,0.999999966084,4.76718739811e-05,-0.000253477500848,-3.61813514812e-05,1793192513189653504
+91,1.516666667,BASELINE,764,742,710.178499361,672,665.821500639,632,876,783,799,650,628.178499361,651,0.400981216644,0.00456912805319,0.0498575197843,0.999999965927,5.23120710954e-05,-0.000253145876954,-3.64266711823e-05,1793192513206320384
+92,1.533333333,BASELINE,764,742,710.397860344,672.397860344,665.602139656,632.397860344,876,783,799.397860344,650.397860344,628,651,0.400980066423,0.00456908777721,0.0498569605658,0.999999965613,5.13398318229e-05,-0.000254586950728,-3.63694447694e-05,1793192513222987520
+93,1.550000000,BASELINE,764,742,710.973369126,672.973369126,665.026630874,632.973369126,876,783,799.973369126,650.973369126,628,651,0.400978140114,0.00456823291496,0.0498562337753,0.999999965222,4.78615865671e-05,-0.000256819550889,-3.61771286515e-05,1793192513239654912
+94,1.566666667,BASELINE,764,742,710.439695767,672.439695767,665,633,876,783,799.439695767,650.439695767,628,651,0.40097830385,0.00456827936518,0.0498563147101,0.999999965297,4.8503977698e-05,-0.000256404899904,-3.61966217278e-05,1793192513256320768
+95,1.583333333,BASELINE,764,742.14593961,710,672,665,632.85406039,876,783,799,650,628.14593961,651,0.400978902773,0.00456860114507,0.0498567293632,0.999999965528,4.91315699874e-05,-0.000255365207158,-3.63073004554e-05,1793192513272986624
+96,1.600000000,BASELINE,764,742.726058998,710,672,665,632.273941002,876,783,799,650,628.726058998,651,0.400980494712,0.00456961194729,0.0498580202573,0.999999966156,4.91203357702e-05,-0.000252848095907,-3.66586884949e-05,1793192513289653248
+97,1.616666667,BASELINE,764,742.697907131,710.302092869,672,665.302092869,632,875.697907131,783,799,650,629,651,0.400980864771,0.00456918678782,0.0498579655481,0.999999966223,4.87669852088e-05,-0.000252646359705,-3.66692707226e-05,1793192513306320128
+98,1.633333333,BASELINE,764,742.12552865,710.87447135,672,665.87447135,632,875.12552865,783,799,650,629,651,0.400980141599,0.00456747685853,0.0498567069137,0.999999965792,4.8107539619e-05,-0.000254516213643,-3.63749304467e-05,1793192513322987008
+99,1.650000000,BASELINE,764,742.452393429,711,672,665.547606571,632,875,783,799.452393429,650,628.547606571,651,0.400980427411,0.00456751477469,0.049857008139,0.999999965825,4.90080526908e-05,-0.000254234441967,-3.62352676887e-05,1793192513339653376
+100,1.666666667,BASELINE,764.032374537,742.967625463,710.967625463,672,665.032374537,632,875.032374537,783,799.967625463,650,628.032374537,651,0.40098093932,0.00456800773635,0.0498576942982,0.999999965974,5.02676147009e-05,-0.000253412934185,-3.61482101901e-05,1793192513356320000
+101,1.683333333,BASELINE,764.620975918,742.379024082,710.379024082,672,665.620975918,632,875.620975918,783,799.379024082,650,628.620975918,651,0.400980465975,0.00456788290981,0.0498574653878,0.999999965903,5.01669018076e-05,-0.000253702978576,-3.62184170641e-05,1793192513372986880
+102,1.700000000,BASELINE,764.793329563,742,710.206670437,672,666,632,876.206670437,783,799.206670437,650.206670437,629,651,0.400979761493,0.00456763841049,0.0498571963281,0.999999965766,4.9935848284e-05,-0.00025429656901,-3.61731943952e-05,1793192513389653760
+103,1.716666667,BASELINE,764.212892214,742,710.787107786,672,666,632,876.787107786,783,799.787107786,650.787107786,629,651,0.400978638995,0.00456717748099,0.0498568546578,0.999999965507,4.94690715799e-05,-0.000255439127464,-3.59192154766e-05,1793192513406320384
+104,1.733333333,BASELINE,764,742,710.636581214,672,665.636581214,632.363418786,876.636581214,783.363418786,800,650.636581214,629,651,0.400979226992,0.004566478307,0.0498571558533,0.999999965649,4.83735625741e-05,-0.000255117549919,-3.57233515975e-05,1793192513422986752
+105,1.750000000,BASELINE,764,742,710.062660253,672,665.062660253,632.937339747,876.062660253,783.937339747,800,650.062660253,629,651,0.400980805755,0.00456564113518,0.0498578294144,0.999999966022,4.691387445e-05,-0.000253947904569,-3.55611495265e-05,1793192513439653376
+106,1.766666667,BASELINE,764,742,710,672,665.51239263,633,876.51239263,783.48760737,799.48760737,650,629,651,0.400980666341,0.00456714628567,0.0498575466855,0.999999965832,4.90706598748e-05,-0.000254235998019,-3.59323502474e-05,1793192513456320000
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,666,632,876,783,799,650,629,651,0.400980053492,0.00456602001515,0.0498574998869,0.999999966002,4.56512559638e-05,-0.000254223268316,-3.58084242727e-05,1793192513498476032
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665.42266367,632.57733633,876,783,799,650,628.42266367,651,0.400980585394,0.00456660591255,0.0498580690142,0.99999996613,4.84859227373e-05,-0.000253147819654,-3.61168353401e-05,1793192513515142656
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.153843238,710.846156762,672,665.153843238,632.846156762,875.846156762,783,799,650,628.153843238,651,0.400980753014,0.00456715676581,0.0498583913167,0.999999966169,4.99950403635e-05,-0.000252670433601,-3.63370868678e-05,1793192513531809280
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.728083769,710.271916231,672,665.728083769,632.271916231,875.271916231,783,799,650,628.728083769,651,0.400979925179,0.00456761185644,0.0498580391371,0.99999996598,4.78819177167e-05,-0.000253827333638,-3.63164306937e-05,1793192513548475904
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.698162279,710.301837721,672,666,632,875.301837721,783,799,650,628.698162279,651,0.400979730128,0.00456758985114,0.0498577799194,0.999999965927,4.76083241565e-05,-0.000254092508181,-3.62890974514e-05,1793192513565142784
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.124846,710.875154,672,666,632,875.875154,783,799,650,628.124846,651,0.400980104214,0.00456713873672,0.0498576043132,0.999999965998,4.89892379984e-05,-0.000253555647869,-3.62557587287e-05,1793192513581809664
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665.533727043,632,876,783,799,650,628.466272957,651,0.400981009186,0.00456765492642,0.049858417794,0.999999966228,4.937202022e-05,-0.000252577992848,-3.62132575326e-05,1793192513598476032
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,876,783,799,650,628.939932548,651,0.40098221773,0.00456826525189,0.0498594613248,0.999999966525,4.92524510407e-05,-0.000251428095393,-3.61805397053e-05,1793192513615142912
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,876,783,799,650,628.365659345,651,0.400984759856,0.00456737626057,0.0498601171199,0.999999967015,4.72111445273e-05,-0.000249854170493,-3.62534070399e-05,1793192513631809536
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.208849719,710.791150281,672,665.208849719,632,876,783,799.208849719,650,628,651,0.400991247883,0.00456710395027,0.049862608313,0.99999996824,4.63112938232e-05,-0.000245078552842,-3.6225708811e-05,1793192513648475904
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.783772141,710.216227859,672,665.783772141,632,876,783,799.783772141,650,628,651,0.401004652299,0.00456791256126,0.0498683165996,0.999999970687,4.74121920868e-05,-0.000234690994228,-3.60217388107e-05,1793192513665142528
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,710.369350682,672,666,632,876,783,799.630649318,650,628,651,0.401036795141,0.0045666516972,0.0498796322625,0.999999976012,4.64277960596e-05,-0.000211071231148,-3.5630059207e-05,1793192513681809152
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,710.961352989,672,666,632,876,783,799.038647011,650,628,651,0.401080233864,0.00456414331424,0.0498943281592,0.999999982301,4.41863449907e-05,-0.000179474842054,-3.51252246323e-05,1793192513698475776
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.46013498,711,672,665.46013498,632.53986502,876,783,799.53986502,650,628,651,0.401147324871,0.00456402963992,0.049912868852,0.999999988846,4.32189196444e-05,-0.000138610953769,-3.50435704112e-05,1793192513715142656
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.116757093,710.883242907,672,665,632.883242907,876,783,799.883242907,650,628,651,0.401216454663,0.00456393768653,0.0499291105024,0.999999993039,4.26671588861e-05,-0.000104387970433,-3.47052945619e-05,1793192513731809280
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.690993647,710.309006353,672,665,632.309006353,876,783,799.309006353,650,628,651,0.401287100359,0.00456327552133,0.0499352918744,0.999999993633,4.33954206571e-05,-9.8721551583e-05,-3.32457154726e-05,1793192513748476160
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.727469556,710,672,665,632,876,783,799.272530444,650,628.272530444,651,0.401362710098,0.00456221830185,0.0499378558249,0.999999993968,4.19451367881e-05,-9.61992236836e-05,-3.24007237463e-05,1793192513765142784
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.137427646,710,672,665,632,876,783,799.862572354,650,628.862572354,651,0.401444103187,0.00456070082461,0.0499362052996,0.999999994021,3.79567393106e-05,-9.73399177982e-05,-3.22717568242e-05,1793192513781809664
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,710.444218805,672,665,632.444218805,876,783,799.555781195,650,628.555781195,651,0.401546085956,0.00455905963228,0.0499348933345,0.999999993628,3.73071437609e-05,-0.000101925727524,-3.10306170766e-05,1793192513798476032
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,710.976751509,672,665,633,875.976751509,783,799.023248491,650.023248491,628.023248491,651,0.401656114395,0.00455736652907,0.0499339059872,0.999999993131,3.74779709411e-05,-0.00010707948129,-2.94586334605e-05,1793192513815142656
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,710.399334046,672,665,633,875.399334046,783,799.600665954,650.600665954,628.600665954,651,0.401808906209,0.00455533143511,0.0499382061221,0.999999993977,3.30401853242e-05,-0.000100836893661,-2.80498380453e-05,1793192513831809536
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,710.176866746,672,665,632.823133254,875.176866746,783.176866746,800,650.823133254,628.823133254,651,0.401965720353,0.00455350845422,0.0499404126739,0.999999994328,2.92629827136e-05,-9.89237443826e-05,-2.64867335355e-05,1793192513848476160
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,710.750339197,672,665,632.249660803,875.750339197,783.750339197,800,650.249660803,628.249660803,651,0.402131554143,0.00455216111559,0.0499379245776,0.99999999364,2.69670709734e-05,-0.000106718921549,-2.45776067523e-05,1793192513865142528
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,876,783.666597323,799.666597323,650,628,651,0.402319407504,0.00454919143896,0.0499372119635,0.999999993554,2.38455171151e-05,-0.000108660562864,-2.27217505634e-05,1793192513881809152
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,876,783.076139039,799.076139039,650,628,651,0.402524238114,0.00454497092914,0.0499378682571,0.999999993952,2.00873876321e-05,-0.000106089091232,-2.09069661431e-05,1793192513898475776
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,632,876,783,799,650,628.504322124,651,0.402763765275,0.00454037246407,0.0499388793082,0.999999994092,1.21969136935e-05,-0.000106385814536,-1.87040656508e-05,1793192513915142912
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,710.916981539,672,665.083018461,632,876,783,799,650,629,651,0.40301797908,0.00453593546553,0.0499413165824,0.999999994486,4.65692564694e-06,-0.000103618125029,-1.64282940518e-05,1793192513931809536
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,710.339979999,672,665.660020001,632,876,783,799,650,629,651,0.403329019477,0.00453279216571,0.0499519277886,0.99999999669,2.84248311413e-06,-8.0089813789e-05,-1.40607979874e-05,1793192513948476160
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,710.239148689,672,666,632,876,783,799,650,628.760851311,651,0.403648457279,0.00452876221297,0.0499617047638,0.999999998152,7.44781693309e-07,-5.97229647374e-05,-1.13457017526e-05,1793192513965142784
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,710.821328488,672,666,632,876,783,799,650,628.178671512,651,0.403979940169,0.00452346045947,0.0499702851305,0.999999999002,-1.75922170139e-06,-4.38908686649e-05,-8.13201346077e-06,1793192513981809408
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.596574538,742,711,672,666,632.403425462,876,783,799,650,628,651,0.404350271121,0.00451778012293,0.0499789058636,0.999999999591,-6.4415970891e-06,-2.74861852466e-05,-4.61715833576e-06,1793192513998476032
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.014514255,742,711,672,666,632.985485745,876,783,799,650,628,651,0.404737803795,0.00451193215182,0.0499875444705,0.999999999868,-1.20885448716e-05,-1.08279633683e-05,-9.68948094794e-07,1793192514015142656
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.126856982,742,711,672,665.436571509,632.436571509,876.563428491,783,799,650,628.563428491,651,0.405147030071,0.00450661164511,0.0499809562903,0.99999999957,-1.81909522814e-05,-2.2900284641e-05,2.14329692195e-06,1793192514031809280
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.859510188,742,711,672,665,632.140489812,876.859510188,783,799.140489812,650,629,651,0.405560682483,0.00450087882797,0.0499696390529,0.999999998686,-2.45332240909e-05,-4.46677256396e-05,5.4720871983e-06,1793192514048476160
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.284847529,742,711,672,665,632.715152471,876.284847529,783,799.715152471,650,629,651,0.405986298922,0.00449383011103,0.0499449104603,0.999999995026,-3.1580780414e-05,-9.41265015908e-05,9.51245241476e-06,1793192514065142784
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.289380445,710.710619555,672.289380445,665.289380445,632.710619555,876.289380445,783.289380445,799.710619555,650,628.710619555,651,0.406439361358,0.00448686577214,0.0499250685377,0.999999990886,-4.02418599124e-05,-0.000128235412065,1.2793109916e-05,1793192514081809664
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.863181251,710.136818749,672.863181251,665.863181251,632.136818749,876.863181251,783.863181251,799.136818749,650,628.136818749,651,0.406919399407,0.00447998436417,0.0499100295228,0.999999987766,-5.04888071145e-05,-0.000147257565225,1.5327081857e-05,1793192514098476288
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743,710.451130421,673,666,632.451130421,876.548869579,783.548869579,798.548869579,650,628.451130421,651,0.407458437974,0.00447295039288,0.049917637916,0.999999989818,-6.05171862141e-05,-0.000127840578335,1.89272134524e-05,1793192514115142912
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.957526097,710.957526097,672.957526097,666,632.957526097,876,783,798.042473903,650.042473903,629,651,0.408020688657,0.00446571644253,0.0499331706157,0.999999992716,-7.04952273758e-05,-9.52413622507e-05,2.29514665332e-05,1793192514131809792
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.379245289,710.379245289,672.379245289,666,632.379245289,876,783,798.620754711,650.620754711,629,651,0.408642723355,0.00445656234198,0.0499592168965,0.999999995188,-8.07015522408e-05,-4.81732106202e-05,2.81149518478e-05,1793192514148476416
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,710.19744235,672,666,632.19744235,876.19744235,782.80255765,799,650.80255765,629,651,0.409271492478,0.00444850677029,0.0499796994712,0.99999999896,-2.74885222623e-05,-1.43197204184e-05,3.3441530498e-05,1793192514165142784
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,710.771094308,672,666,632.771094308,876.771094308,782.228905692,799,650.228905692,629,651,0.409913093435,0.00444254435246,0.0499895808753,0.99999998848,0.000146564697947,-5.64564651749e-06,3.90788687891e-05,1793192514181809408
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.355226109,742,711,672.355226109,666,632.644773891,876.644773891,782.355226109,799,650,628.644773891,651,0.410529161978,0.00444535261347,0.0499790943278,0.9999999762,0.000210803444432,-3.46234036158e-05,4.43078940823e-05,1793192514198476288
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.946316325,742,711,672.946316325,666,632.053683675,876.053683675,782.946316325,799,650,628.053683675,651,0.411128277406,0.00445398445662,0.0499550838056,0.999999974434,0.000202127239587,-8.86013377887e-05,4.92658067234e-05,1793192514215142912
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.476819886,742,710.476819886,672.476819886,666,632,876,783,799,650,628.523180114,651,0.411794667214,0.00447499597659,0.0499335233199,0.999999987494,0.000101782103792,-0.000119186206663,2.11563214486e-05,1793192514231809536
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.09895216,710.09895216,672.09895216,666.09895216,632,876,783,799.09895216,650,629,651,0.412487776662,0.00449223563695,0.0499210557888,0.999999991141,9.47591462246e-06,-0.000132721451091,-3.53752356638e-06,1793192514248475904
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.67631655,710.67631655,672.67631655,666.67631655,632,876,783,799.67631655,650,629,651,0.413277578333,0.00448526020779,0.0499513674436,0.999999997169,3.09278850407e-07,-7.51235049673e-05,4.25294144774e-06,1793192514265142784
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.74870968,711,673,666.497419361,632.25129032,876.25129032,783,799.74870968,650.25129032,628.74870968,651,0.414051892043,0.00447639053986,0.049964609743,0.999999998602,-9.52835590215e-06,-5.0795147208e-05,1.11389614913e-05,1793192514281809408
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.176786139,711,673,665.353572277,632.823213861,876.823213861,783,799.176786139,650.823213861,628.176786139,651,0.414806444037,0.00446510392201,0.0499560724474,0.999999997278,-2.02221512931e-05,-6.89170255634e-05,1.68709584332e-05,1793192514298476288
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.411880355,710.588119645,673,665.82376071,632.588119645,877,783,799.411880355,650.588119645,628.411880355,651,0.415560524699,0.00446127421601,0.0499369195055,0.999999994663,-7.16150354062e-06,-0.000101470172115,1.8052001776e-05,1793192514315142912
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.007765373,743,710.007765373,673,666.992234627,632.007765373,877,783,799.992234627,650,629,651,0.416315561056,0.00446082565,0.0499136689411,0.999999990026,1.60139794201e-05,-0.000139268187414,1.72118605468e-05,1793192514331809536
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.583725677,743,710.583725677,673,666.416274323,632.583725677,877,783,799.416274323,650,629,651,0.417155959264,0.00446366142123,0.0499381152604,0.999999995939,1.65298803381e-06,-8.84028651017e-05,1.74642412552e-05,1793192514348476160
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.840195175,743,711,672.840195175,666,633,877,783,799.159804825,650,629,650.840195175,0.417996820089,0.0044673270722,0.0499611655825,0.999999998854,-6.29882625467e-06,-4.38048931621e-05,1.82464714848e-05,1793192514365143040
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.263806256,743,711,672.263806256,666,633,877,783,799.736193744,650,629,650.263806256,0.418838886823,0.00447315607886,0.049980576775,0.999999999668,2.45699867485e-06,-1.55448449033e-05,2.04099296917e-05,1793192514381809664
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.678476187,711,672,666,632.678476187,876.678476187,783,800,650,629,650,0.419662406546,0.00447490256673,0.0499741319791,0.999999999184,1.42586154196e-05,-3.06920690567e-05,2.20548324364e-05,1793192514398476544
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.085600204,711,672,666,632.085600204,876.085600204,783,800,650,629,650,0.420470273353,0.0044732035853,0.0499458658479,0.999999995919,2.86307480479e-05,-8.24731521515e-05,2.32620966875e-05,1793192514415143168
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.492863128,711,672.492863128,666.492863128,632,876.492863128,783,800,650,629,650,0.421358299752,0.00446777582529,0.0499566281721,0.999999998406,1.21361862012e-05,-5.06443299793e-05,2.18201072989e-05,1793192514431809536
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,711,673,666.931315878,632,877,783,799.931315878,650,629,650,0.422255864006,0.00446220211193,0.0499730917962,0.99999999974,-6.43763872801e-06,-8.15237322192e-06,2.02881973607e-05,1793192514448476160
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,711,673,666.357043037,632,877,783,799.357043037,650,629,650,0.423124066936,0.00446018570601,0.0499830441532,0.999999999729,-1.97619882686e-06,8.97617098481e-06,2.13851297547e-05,1793192514465142784
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,711,672.776511338,666,632.223488662,877,783,799.223488662,650,629,650.223488662,0.42398922991,0.00445993609429,0.0499817121797,0.999999999722,-1.06101312987e-07,8.25537260916e-06,2.21065173678e-05,1793192514481809408
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,711,672.185692366,666,632.814307634,877,783,799.814307634,650,629,650.814307634,0.424849396491,0.00446259041953,0.049961833063,0.999999999513,-2.49518380108e-06,-2.18029494136e-05,2.22106524497e-05,1793192514498476288
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,711,672,666,632.603685357,877,783,799.603685357,650,628.603685357,651,0.425731894151,0.00446226394638,0.0499726390025,0.999999999601,8.47151339353e-06,-1.22369833987e-05,2.40168139298e-05,1793192514515142912
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,711,672,666,632.025717402,877,783,799.025717402,650,628.025717402,651,0.426624627351,0.00446057120535,0.049997509632,0.999999999199,2.55599164666e-05,1.54910264301e-05,2.66031099087e-05,1793192514531809536
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.545878667,743,710.454121333,672.545878667,666,632,877,783,799.545878667,650,628.545878667,650.454121333,0.427437050027,0.00445722751375,0.0499849695575,0.999999999149,1.23689405949e-05,-2.64782668534e-05,2.91043631928e-05,1793192514548476416
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,710.119036878,673,666,632,877,783,799.880963122,650,629,650,0.428252822162,0.00445544360646,0.0499689823992,0.999999997269,7.31110049049e-08,-6.72065796248e-05,3.07609328843e-05,1793192514565143296
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,710.699399085,673,666,632,877,783,799.300600915,650,629,650,0.429096069055,0.00446000257106,0.0499463878209,0.99999999547,-3.28892756324e-06,-9.05468815037e-05,2.91592943203e-05,1793192514581809920
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,711,673,666.285079073,632,877,783,799,650,629,650,0.429955960792,0.00446194753325,0.0499410700585,0.999999995777,5.35626114859e-06,-8.7450327341e-05,2.77556016766e-05,1793192514598476544
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,711,673,666.87647293,632,877,783,799,650,629,650,0.430833737201,0.00446108377411,0.0499543160739,0.99999999772,2.69031029129e-05,-5.59476183182e-05,2.65646001492e-05,1793192514615143168
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.541902816,742.541902816,711,673,667,632,877,783,799.458097184,650,629,650,0.431640252549,0.00445501771409,0.0499415143031,0.999999996219,1.51731787055e-05,-8.10839137505e-05,2.7518951897e-05,1793192514631809536
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711,673,666.9634394,632,877,783,799.9634394,650,629,650,0.432428706107,0.00444806235589,0.0499235315852,0.999999992697,-4.822854432e-06,-0.00011726661518,2.88241759241e-05,1793192514648476160
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711,673,666.393459972,632,877,783,799.393459972,650,629,650,0.43322814053,0.00444817181659,0.049930296992,0.999999994837,-1.72366581096e-05,-9.64384376005e-05,2.69845564786e-05,1793192514665142784
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711,673,666.177676095,632.177676095,877,783,799,650,629,650,0.4340281002,0.0044486914812,0.0499448493729,0.999999997225,-1.42742467297e-05,-6.82987784715e-05,2.61065227289e-05,1793192514681809664
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711,673,666.751390408,632.751390408,877,783,799,650,629,650,0.434829230796,0.00445012548621,0.0499767588415,0.999999999077,2.29615901021e-05,-2.38618968141e-05,2.73718533848e-05,1793192514698476288
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.339256964,711,673,666.660743036,632.660743036,877,783,799.678513929,650,628.660743036,650.339256964,0.435579172644,0.00445047722622,0.0499786256233,0.999999998398,3.28050592e-05,-3.49884763448e-05,3.00495021599e-05,1793192514715142912
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.937945793,711,673,666.062054207,632.062054207,877,783,800.875891585,650,628.062054207,650.937945793,0.436289970097,0.00445000135153,0.0499575185778,0.999999995268,2.17014158499e-05,-8.86047751794e-05,3.38071590952e-05,1793192514731809792
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711,673,666.517794551,632,877.517794551,783,799.964410897,650,628.517794551,651,0.436996207021,0.00444931063115,0.0499420320142,0.999999993946,1.02465698002e-05,-0.000104295436512,3.35597481936e-05,1793192514748476160
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.904717728,711,673,666.904717728,632,877.904717728,783,799,650,629,650.904717728,0.437705752567,0.00444825126495,0.0499346261296,0.999999994007,2.41258471044e-07,-0.000104301826818,3.32744587042e-05,1793192514765143040
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.328151607,711,673,666.328151607,632,877.328151607,783,799,650,629,650.328151607,0.438434674178,0.00444545530789,0.0499647539834,0.999999998265,-2.23711857202e-06,-4.72368935352e-05,3.51371698466e-05,1793192514781809664
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.253065397,742.253065397,711,673,666,632,877,783,799,650,628.746934603,650,0.439102553001,0.00444511848803,0.0499727427518,0.999999998824,1.24458486976e-07,-3.16865448184e-05,3.67197545739e-05,1793192514798476288
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.840426095,742.840426095,711,673,666,632,877,783,799,650,628.159573905,650,0.439689795229,0.00444803014889,0.0499514861434,0.999999996722,8.87953690456e-06,-7.09762961788e-05,3.79322967633e-05,1793192514815142912
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.578515108,742.578515108,711,673,665.578515108,632,877,783,799.421484892,649.578515108,628.421484892,650.421484892,0.440251855686,0.00445826994178,0.0499107225428,0.999999989353,2.50710854e-05,-0.000138650647211,3.79607936902e-05,1793192514831809280
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.000191982,710.999808018,673,665.000191982,632,877,783,799.999808018,649.000191982,629,651,0.440804518009,0.00447124199972,0.0498626954678,0.999999974805,4.40344461774e-05,-0.000216890320618,3.75473289365e-05,1793192514848476160
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.575884585,710.424115415,673,665.575884585,632,877,783,799.424115415,649.575884585,629,651,0.441342718285,0.00448034462831,0.049853840834,0.999999972005,5.65335444142e-05,-0.00022688855191,3.62751380368e-05,1793192514865143040
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,710.151456289,673,666,632,877,783,799,650,629,650.848543711,0.441873834934,0.00448659747223,0.0498467903524,0.999999969954,6.46710389526e-05,-0.000233815730551,3.52248887724e-05,1793192514881809920
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,710.726689848,673,666,632,877,783,799,650,629,650.273310152,0.442385131597,0.00448487657233,0.0498447879176,0.999999970611,6.06046951684e-05,-0.000232150054146,3.47956357044e-05,1793192514898476288
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.689833348,711,673,665.689833348,631.689833348,877.310166652,782.689833348,799,650,629,650,0.442863661573,0.00448615355861,0.0498404200936,0.999999971234,3.16950778283e-05,-0.000236241542741,2.68011738983e-05,1793192514915142912
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.098894546,711,673,665.098894546,631.098894546,877.901105454,782.098894546,799,650,629,650,0.443312530129,0.00449014432141,0.0498339110486,0.999999969588,-1.97034151527e-05,-0.000245544589218,1.19584583674e-05,1793192514931809536
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.481352336,711,673,665,631,877.518647664,782.481352336,799.962704671,650,629,650.481352336,0.443707556106,0.00449510911587,0.0498030504569,0.999999954769,-2.02744864382e-05,-0.00029990182206,1.05031524045e-05,1793192514948476160
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.059415398,742.940584602,711,673.118830797,665,631,877,783,800.881169203,650,629,651,0.444089849625,0.00450033566357,0.0497694120979,0.999999935404,-1.01993066556e-05,-0.00035909678884,1.17067433672e-05,1793192514965142784
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.637174183,742.362825817,711,674.274348365,665,631,877,783,799.725651635,650,629,651,0.444455473277,0.00450613787236,0.0497542388985,0.999999927143,3.63241040903e-06,-0.00038149738773,1.26329127173e-05,1793192514981809408
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.786644222,742.213355778,711,674.786644222,665,631,877.213355778,782.786644222,799.213355778,650.213355778,629,650.786644222,0.444817455883,0.00450915506483,0.0497469751902,0.999999924267,3.71764073426e-05,-0.000387169231557,1.35485918751e-05,1793192514998476032
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.21312512,742.78687488,711,674.21312512,665,631,877.78687488,782.21312512,799.78687488,650.78687488,629,650.21312512,0.445173292044,0.00450747090415,0.0497530634003,0.999999928021,0.000103996465654,-0.000364601461698,1.44465625384e-05,1793192515015142656
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.371531829,743,711,674,664.628468171,631,877.628468171,782.371531829,800,650.628468171,629,650.371531829,0.445493809422,0.00451079557365,0.0497562027621,0.999999929079,0.000130009205031,-0.000353126932949,1.55070653415e-05,1793192515031809280
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.962775389,743,711,674,664.037224611,631,877.037224611,782.962775389,800,650.037224611,629,650.962775389,0.445793440465,0.00451708230079,0.0497575982723,0.999999930538,0.000131889841787,-0.000348212581504,1.66636844334e-05,1793192515048475904
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+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.976439959,711,674,664,629,877,782.976439959,799.976439959,650.976439959,628.976439959,650,0.44710979833,0.00456572758404,0.0496472716615,0.999999856672,0.000156279670572,-0.000511961913492,1.1285311633e-05,1793192515165142784
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.399533523,711,674,664,629,877,782.399533523,799.399533523,650.399533523,628.399533523,650,0.447236900156,0.00456727044644,0.0496475275938,0.99999985716,0.000155450776567,-0.000511272283415,1.07127582684e-05,1793192515181809408
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742.177258481,711,674,664,629,877.177258481,782.177258481,799.177258481,650.177258481,628.177258481,650.177258481,0.44735717982,0.00456947056798,0.0496491278783,0.999999858669,0.000155582754737,-0.000508283408813,1.01766849679e-05,1793192515198476544
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742.753792646,711,674,664,629,877.753792646,782.753792646,799.753792646,650.753792646,628.753792646,650.753792646,0.447462092511,0.00457315116908,0.049653756323,0.999999862432,0.000157879102761,-0.000500115473598,9.72278328505e-06,1793192515215143168
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664,628.661089081,877.661089081,783,799.661089081,650.661089081,629,650.661089081,0.447549944826,0.0045750399202,0.0496560333933,0.999999863941,0.000158768270094,-0.000496807257661,9.65051116469e-06,1793192515231809536
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664,628.069572626,877.069572626,783,799.069572626,650.069572626,629,650.069572626,0.447625081287,0.00457559312541,0.0496565578789,0.999999863808,0.000158608602682,-0.000497121208007,9.8626846565e-06,1793192515248476160
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+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.085634822,711,674,663,628.085634822,877.914365178,782,799.085634822,650,628.914365178,650,0.447725834057,0.00457702744464,0.0496509237793,0.999999856743,0.000161752464801,-0.000510141939018,1.02199706529e-05,1793192515281809408
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,711,674,663,628.603101865,877.396898135,782,799.396898135,650,629,650.396898135,0.447824594474,0.00458544270879,0.0496346952236,0.999999843925,0.000167470820762,-0.00053296173698,7.36934603464e-06,1793192515348476160
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+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.143311282,710.856688718,672.286622565,663,628,877,782,799.856688718,650,628.856688718,650,0.447836576303,0.00458780665453,0.0496227033808,0.999999831452,0.000173138108154,-0.000554142785906,6.71889206504e-06,1793192515398476032
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711,673.949849112,663,628.050150888,878.899698223,782,799.050150888,650,628.949849112,651,0.447852103693,0.00458987704629,0.0496237343201,0.99999983239,0.000170734785988,-0.00055320687768,5.69364445237e-06,1793192515481809408
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711,673.375443427,663,628.624556573,877.750886854,782,799.624556573,650,628.375443427,651,0.447852775761,0.00458815435018,0.0496235150662,0.999999832453,0.000170676385271,-0.000553106339399,6.02151536042e-06,1793192515498476032
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764.742075218,742.257924782,711,673.742075218,663,628.742075218,877,783,800,650,629,651,0.447848842785,0.00459088937786,0.0496156364594,0.999999825218,0.000175124148318,-0.000564683760457,5.27531178647e-06,1793192515731809536
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+250,4.166666667,HOLD_POSE2,764,743,710.240238654,674,663,628,877.240238654,782,800,650.759761346,628.240238654,650,0.447854644916,0.00459103466717,0.0496190929967,0.999999827817,0.000174344376775,-0.00056030549042,5.18593458846e-06,1793192515904380928
+251,4.183333333,HOLD_POSE2,764,743,710.335362358,673.664637642,663,628,877,782,800,650.664637642,628.335362358,650.335362358,0.447855454587,0.00459234989659,0.0496194559012,0.999999827956,0.000176017333788,-0.000559535821557,5.02950757648e-06,1793192515921047808
+252,4.200000000,HOLD_POSE2,764,743,710.911868329,673.088131671,663,628,877,782,800,650.088131671,628.911868329,650.911868329,0.447857014434,0.00459504425339,0.0496198963841,0.999999827966,0.000179651544707,-0.00055836527516,4.70650043103e-06,1793192515937714432
+253,4.216666667,HOLD_POSE2,764,743,711,673.50039138,663,628.50039138,877.50039138,782.50039138,799.49960862,650,629,650.49960862,0.447858355089,0.00459321179766,0.0496210499306,0.999999829277,0.000177704623835,-0.000556639699764,4.4983491386e-06,1793192515954381056
+254,4.233333333,HOLD_POSE2,764,743,711,674,663,629,877.911125895,783,799,650,629,650,0.447859568145,0.00459102801204,0.0496220817009,0.999999830589,0.000175101318384,-0.000555106383424,4.38495234264e-06,1793192515971047680
+255,4.250000000,HOLD_POSE2,764,743,711,674,663,629,877.33475954,783,799,650,629,650,0.447860298264,0.00459139800071,0.049621739674,0.999999830667,0.000174422124588,-0.000555177044858,4.67761225733e-06,1793192515987714304
+256,4.266666667,HOLD_POSE2,764,743,711,674,663,629,877,782.758408549,799,650,629,650,0.447861309344,0.00459200374492,0.0496215073977,0.99999983059,0.000175021012113,-0.000555125552153,4.84818077495e-06,1793192516004380928
+257,4.283333333,HOLD_POSE2,764,743,711,674,663,629,877,782.182078891,799,650,629,650,0.447862709709,0.00459293614135,0.049621427187,0.999999830295,0.00017739075146,-0.000554904808178,4.84958494143e-06,1793192516021047552
+258,4.300000000,HOLD_POSE2,764,742.607196692,711,674,663,628.607196692,877.392803308,782,799.392803308,650,629,650.392803308,0.447864479718,0.0045931987322,0.0496229428218,0.999999831016,0.000178886129483,-0.000553123648845,4.63856774236e-06,1793192516037714176
+259,4.316666667,HOLD_POSE2,764,742.03298293,711,674,663,628.03298293,877.96701707,782,799.96701707,650,629,650.96701707,0.447866420442,0.00459315198323,0.0496251954744,0.999999832202,0.000179977696743,-0.000550621834513,4.32944684695e-06,1793192516054381056
+260,4.333333333,HOLD_POSE2,764,742.55883962,710.44116038,673.44116038,663,628,878,782.55883962,799.44116038,650,629,650.44116038,0.447865918294,0.00459137141576,0.0496245230231,0.999999832511,0.000175835413426,-0.000551397104118,4.66951348742e-06,1793192516071047680
+261,4.350000000,HOLD_POSE2,764,743,710.14797881,673.14797881,663,628,877.85202119,783,799,650,629,650,0.447865981256,0.00458972423225,0.0496242354345,0.999999833008,0.000172716767925,-0.000551476780177,5.0251813211e-06,1793192516087714304
+262,4.366666667,HOLD_POSE2,764,743,710.726196501,673.726196501,663,628,877.273803499,783,799,650,629,650,0.447868120069,0.00458877205306,0.0496255850821,0.99999983426,0.000173501620746,-0.000548953426375,5.31118509956e-06,1793192516104380928
+263,4.383333333,HOLD_POSE2,764.302598395,743,710.697401605,673.697401605,663,628,877,782.697401605,799,650,629,650,0.447870150221,0.00458889002122,0.0496267182415,0.99999983524,0.000173623340426,-0.000547127464666,5.17036277684e-06,1793192516121047296
+264,4.400000000,HOLD_POSE2,764.877367045,743,710.122632955,673.122632955,663,628,877,782.122632955,799,650,629,650,0.44787208264,0.00458997052687,0.0496276566819,0.99999983598,0.000173148609054,-0.000545928768121,4.64563433804e-06,1793192516137713920
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,663,628,877,783,800,650,629,650,0.44787509678,0.0045874137482,0.0496291191683,0.999999837849,0.000173139174219,-0.00054249535896,4.94901769692e-06,1793192516169607680
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.421063524,711,673,663,628,877,782.421063524,800,650,629,650,0.447878356249,0.00458926485297,0.0496310737671,0.999999839176,0.000174080915175,-0.000539739480999,4.96899021137e-06,1793192516186274304
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.157198863,711,673,663,628,877.157198863,782.157198863,800,650,628.842801137,650,0.447880293327,0.00459029621738,0.0496322238722,0.99999984,0.000174533608979,-0.000538064925647,4.91721452508e-06,1793192516202941184
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.733663514,711,673,663,628,877.733663514,782.733663514,800,650,628.266336486,650,0.447878703451,0.00458914124906,0.049631228309,0.999999839498,0.000173681963158,-0.000539274370034,4.67407889807e-06,1793192516219607808
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.684759811,743,710.684759811,673,663,628,877.684759811,782.684759811,800,650,628,650,0.447878780681,0.00458875655599,0.0496310887888,0.999999839632,0.000173664911332,-0.000539029661479,4.79961438618e-06,1793192516236274688
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.09879299,743,710.09879299,673,663,628,877.09879299,782.09879299,800,650,628,650,0.447880289615,0.00458903337136,0.0496316844339,0.999999840312,0.000174364604531,-0.000537536133882,5.24176272152e-06,1793192516252941056
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.481692402,743,710.481692402,673.481692402,663,628.481692402,877,782.481692402,799.518307598,650,628.481692402,650,0.447878878724,0.00458964513304,0.0496310577474,0.999999840067,0.000174192656697,-0.000538048644341,5.14758082369e-06,1793192516269607424
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.9390087,710.9390087,674,663,629,877,783,799,650,629,650,0.447875489796,0.0045901106017,0.0496296224442,0.999999839026,0.000173776789142,-0.000540116506888,4.97579659253e-06,1793192516286274048
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.360345727,710.360345727,674,663,629,877,783,799,650,629,650,0.447860337582,0.00458875788316,0.0496234277644,0.999999832744,0.000172790880263,-0.000551932853052,5.06847832448e-06,1793192516302940928
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.216284202,710.216284202,673.783715798,663,629,877,783,799,650,629,650.216284202,0.447836779776,0.00458873005323,0.0496151330761,0.999999823149,0.00017420120932,-0.000568620833396,5.15172495126e-06,1793192516319607552
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.789558414,710.789558414,673.210441586,663,629,877,783,799,650,629,650.789558414,0.44779934804,0.0045908890313,0.049603372199,0.999999807832,0.000179566672435,-0.000593349735958,5.21939836227e-06,1793192516336274432
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,710.626889059,673,663,629,877.373110941,783,799,650,628.626889059,651,0.447746327737,0.00459107661236,0.0495901324739,0.999999791695,0.000179081518225,-0.000620094000408,4.8956306284e-06,1793192516352941312
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,710.037375091,673,663,629,877.962624909,783,799,650,628.037375091,651,0.447684266116,0.00459012079031,0.0495760350211,0.999999774686,0.000175203027069,-0.000648007169729,4.34482841773e-06,1793192516369607936
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.457351391,710.542648609,673,663,629,878,782.457351391,799,650,628,650.457351391,0.447612542575,0.00459118185441,0.0495697989304,0.999999771304,0.000177244912006,-0.000652657332519,3.84735707145e-06,1793192516386274304
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.121163052,710.878836948,673,663,628.878836948,877.878836948,782,799,650,628.121163052,650.121163052,0.447535232609,0.00459277636394,0.0495655386454,0.999999769346,0.000179999840468,-0.00065490314032,3.2434572161e-06,1793192516402940928
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.696428835,710.303571165,673,663,628.303571165,877.303571165,782,799,650,628.696428835,650.696428835,0.447439436671,0.00459585847419,0.0495666889962,0.999999769199,0.000183925169986,-0.00065403954063,2.22714760471e-06,1793192516419607552
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,710,673,663,628.272351062,877,782,799.272351062,650,628.727648938,650.727648938,0.447331439193,0.00459888094841,0.0495680308525,0.999999769061,0.000188188561979,-0.000653039390014,1.37970070791e-06,1793192516436274176
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,710,673,663,628.849006713,877,782,799.849006713,650,628.150993287,650.150993287,0.447209808637,0.00460183678961,0.0495695866828,0.99999976893,0.000192829679321,-0.000651886667714,7.20928367869e-07,1793192516452941056
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,710.43527877,673,663.43527877,629,877,782.43527877,799.56472123,650,628.43527877,650,0.44706516248,0.0046046465614,0.0495686466572,0.999999767571,0.000199155870222,-0.000652070415639,-9.86049298827e-08,1793192516469607680
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.975487345,710.975487345,673,663.975487345,629,877,782.975487345,799.024512655,650,628.975487345,650.024512655,0.446910804807,0.00460732194448,0.0495668852771,0.999999765771,0.000205871225026,-0.000652744144622,-9.71190647179e-07,1793192516486274560
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.396419093,710.396419093,673,663.396419093,629,877,782.396419093,799.603580907,650,628.396419093,650.603580907,0.446721442215,0.00460812923366,0.0495665715381,0.999999764681,0.000207867949808,-0.000653777606892,-1.75388130752e-06,1793192516502941184
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742.181182586,710.181182586,673.181182586,663.181182586,629.181182586,877.181182586,782,799.818817414,650,628,650.818817414,0.446522185825,0.00460941420938,0.0495692466787,0.999999766471,0.00021096353047,-0.000650034961752,-2.56273677181e-06,1793192516519607808
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.755601158,710.755601158,673.755601158,663.755601158,629.755601158,877.755601158,782,799.244398842,650,628,650.244398842,0.44630145611,0.00461173594874,0.0495784088389,0.999999774369,0.000216444051286,-0.000635926323945,-3.42837983492e-06,1793192516536274432
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.337957553,743,711,673.662042447,664,629.662042447,877.662042447,782,799,650,628,650,0.446066257809,0.00461536451601,0.0495917029419,0.999999785406,0.000222711128877,-0.000616093123682,-4.1583318269e-06,1793192516552941056
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.92619243,743,711,673.07380757,664,629.07380757,877.07380757,782,799,650,628,650,0.445820344651,0.00461996086597,0.0496080569912,0.999999798395,0.000229560698227,-0.000592020548593,-4.78779673786e-06,1793192516569607680
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,743,711,673.506309533,664,629.506309533,877.506309533,782,799,650,628.506309533,650,0.445520739241,0.00462409710491,0.0496208162782,0.999999805977,0.00023662542414,-0.000576213783875,-5.65516587364e-06,1793192516586274048
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.829784773,743,710.914892386,673.914892386,664,630,877.914892386,782,799.085107614,650,628.914892386,650.085107614,0.44520592691,0.00462808149437,0.0496328887049,0.999999811983,0.000243655398496,-0.000562693972052,-6.43339732761e-06,1793192516602940928
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.673975289,743,710.336987645,673.336987645,664,630,877.336987645,782,799.663012355,650,628.336987645,650.663012355,0.444847667565,0.00463156887688,0.0496439704138,0.999999814335,0.000250305410745,-0.000555549336708,-6.49785499182e-06,1793192516619607552
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.238397589,743,710.238397589,673,664,630,877,782.238397589,799.761602411,650,628,650.761602411,0.444463796729,0.00463638772692,0.049651584564,0.999999815165,0.000257343813608,-0.000550806935117,-7.4809456423e-06,1793192516636274432
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.810258576,743,710.810258576,673,664,630,877,782.810258576,799.189741424,650,628,650.189741424,0.444044101331,0.00464306899357,0.0496543483964,0.999999813926,0.000264925485228,-0.000549424706505,-9.74899255757e-06,1793192516652941312
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.604486252,743,711,673,664,630,877,783,799,650,628.395513748,650.395513748,0.443599146184,0.004646249137,0.0496538920303,0.999999810968,0.000270648650954,-0.000551973505607,-1.1807531754e-05,1793192516669608192
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.012580217,743,711,673,664,630,877,783,799,650,628.987419783,650.987419783,0.443141648326,0.00464769079806,0.049651836675,0.999999807137,0.00027544897565,-0.000556474255921,-1.37620398585e-05,1793192516686274560
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763.567147439,742.432852561,711,673.567147439,664,630.567147439,877.567147439,782.432852561,799,650,629,650.432852561,0.442662326666,0.00464996519098,0.0496618331059,0.99999981763,0.000277897582508,-0.000535941390584,-1.67097842277e-05,1793192516702941184
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.145794199,710.854205801,673.854205801,664.145794199,631,877.854205801,782,799.145794199,650,629,650.145794199,0.442177025782,0.00465124419858,0.0496793756738,0.999999834036,0.000279340119288,-0.000503505006249,-1.94785722167e-05,1793192516719607808
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,743,710,673,665,631,877,782,800,649.131731706,629,650.131731706,0.440547971537,0.0046406330669,0.0497815558924,0.999999904424,0.000270190576622,-0.000342645202696,-2.72493463869e-05,1793192516769607936
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,743,710.455798714,673,665,631.455798714,877,782,800,649.455798714,629,650,0.439920920976,0.00461937458289,0.0497868624712,0.999999912806,0.000249393460747,-0.000333654012029,-2.9411223277e-05,1793192516786274560
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,665.047006677,632,877,782.047006677,799.952993323,649.952993323,628.952993323,650,0.439275031603,0.00459441837012,0.0497836722185,0.999999917519,0.000224742188579,-0.000336844008477,-3.14469345188e-05,1793192516802941184
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,665.627661635,632,877,782.627661635,799.372338365,649.372338365,628.372338365,650,0.438563096017,0.00458161192394,0.0497651134606,0.999999909498,0.00021105356739,-0.000367754514731,-3.48766049327e-05,1793192516819607808
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,743,710.024317822,671.024317822,665,632,876,783,799,649.975682178,628.975682178,651,0.401142139429,0.00456580733042,0.0498397112945,0.999999955665,5.48092987731e-05,-0.000290973566297,-3.16338694703e-05,1793192517836274432
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,743,710.603153148,671.603153148,665,632,876,783,799,649.396846852,628.396846852,651,0.401098902348,0.00456379847016,0.0498400115448,0.999999956378,5.15783387892e-05,-0.000289058962829,-3.2075233057e-05,1793192517852941056
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.521717407,742,710,672,665.478282593,632.521717407,876.521717407,783,799.521717407,650,628.521717407,651,0.400978144668,0.00456295195324,0.0498531768591,0.999999964017,4.76551318054e-05,-0.000261782046682,-3.41220473314e-05,1793192518252941312
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,710,672,665.111010583,632.888989417,876.888989417,783,799.888989417,650,628.888989417,651,0.400979357255,0.00456373587514,0.049854076539,0.999999964326,4.92474473356e-05,-0.000260292630924,-3.41984752366e-05,1793192518269607936
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,710,672,665.687608315,632.312391685,876.312391685,783,799.312391685,650,628.312391685,651,0.400980783133,0.00456145120067,0.0498549368321,0.999999964693,4.69946627805e-05,-0.000259380032707,-3.35806057944e-05,1793192518286274816
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,710,671.736405954,665.736405954,632,875.736405954,783,799,650,628.263594046,651,0.400981482751,0.00456074889867,0.049855380748,0.999999964934,4.64972889161e-05,-0.000258562736503,-3.34033637794e-05,1793192518302941440
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,710,671.161143764,665.161143764,632,875.161143764,783,799,650,628.838856236,651,0.400981323657,0.00456191756081,0.0498553323481,0.99999996503,4.80754760123e-05,-0.000257858123303,-3.37471104305e-05,1793192518319608064
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,710,671.42423694,665,632.42423694,875.42423694,783,799,650,628.57576306,651,0.400980500009,0.0045623961755,0.0498549819975,0.999999964868,4.8205365543e-05,-0.000258437345144,-3.39123937935e-05,1793192518336274688
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,710.013327583,672,665,633,876,783,799,650,628.013327583,651,0.40097943831,0.0045626093813,0.0498545167947,0.999999964611,4.77788598108e-05,-0.000259497450413,-3.40054484775e-05,1793192518352941056
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,710.592759511,672,665,633,876,783,799,650,628.592759511,651,0.400979249131,0.00456295450671,0.0498541639075,0.999999964548,4.76570466711e-05,-0.000259763735785,-3.39802421311e-05,1793192518369607680
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,665.170644158,633,876,783,799,650,629,651,0.400979101847,0.00456330811806,0.0498541936566,0.999999964492,4.84622444686e-05,-0.000259840050138,-3.39138260095e-05,1793192518386274304
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,665.744869381,633,876,783,799,650,629,651,0.400979053642,0.00456368179903,0.0498551283575,0.999999964445,5.14598645853e-05,-0.000259467074517,-3.37499469287e-05,1793192518402941184
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742,710.681357868,672,665.681357868,632.681357868,876,783,799.318642132,650,629,651,0.400979558754,0.00456394213182,0.0498555302415,0.999999964489,5.17632049532e-05,-0.000259232090116,-3.37732358747e-05,1793192518419607808
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_10/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ffd36fff8254bd22e67dee841d01029906414d5c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,403 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_11/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..711630877981b07d5e1624203431b56882f28981
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8ee170c6a049e68f2430b575759c2181c05675c6693684e4066da23cbdd3146
+size 25011069
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0df47739a02c707dc229ecb58a10055468188bbf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_11/depth_01/franka_data.csv
@@ -0,0 +1,394 @@
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+54,0.900000000,BASELINE,763,742.342586998,711.657413002,672,663,632,877,783,799,650,628.657413002,650.657413002,0.401004457395,0.00447657559423,0.0698461674913,0.999999984587,3.23688764624e-05,-0.000170673229858,2.54927796366e-05,1793192520976286976
+55,0.916666667,BASELINE,763,742.918482682,711.081517318,672,663,632,877,783,799,650,628.081517318,650.081517318,0.401005652271,0.00447751180327,0.0698468538637,0.99999998465,3.55982380251e-05,-0.000169649375064,2.55144968124e-05,1793192520992953600
+56,0.933333333,BASELINE,763.492891775,742.507108225,711,672,663,632,877.492891775,783,799,650,628,650.492891775,0.401006052094,0.00447589455236,0.0698470455604,0.999999984783,3.37683636898e-05,-0.000169165314197,2.601358335e-05,1793192521009620224
+57,0.950000000,BASELINE,763.930989326,742,711,672,663,632,877.930989326,783,799,649.930989326,628.069010674,650.930989326,0.401006352908,0.00447425280179,0.0698471741671,0.999999984916,3.14222367341e-05,-0.000168768611937,2.64251675631e-05,1793192521026287104
+58,0.966666667,BASELINE,763.34008663,742,711,672,663,632,877.34008663,783,799,649.34008663,628.65991337,650.34008663,0.401006896374,0.00447560985327,0.0698474425013,0.999999985005,3.14806578505e-05,-0.000168359452848,2.55797530129e-05,1793192521042953984
+59,0.983333333,BASELINE,763,742.243962179,711,672,663.243962179,632,877,783,799.243962179,649.243962179,628.756037821,650.243962179,0.401006770321,0.00447644061391,0.069847463559,0.999999984988,3.20322771313e-05,-0.000168417682593,2.51550093806e-05,1793192521059620608
+60,1.000000000,BASELINE,763,742.818717742,711,672,663.818717742,632,877,783,799.818717742,649.818717742,628.181282258,650.818717742,0.401005736451,0.00447655776606,0.0698471493293,0.999999984828,3.32526340552e-05,-0.000169109654506,2.5300662064e-05,1793192521076287232
+61,1.016666667,BASELINE,763.39377723,742.60622277,711.39377723,672,664,632,877,783,799.60622277,650,628,651,0.401005539151,0.00447698544303,0.0698469282183,0.999999984696,3.46603859367e-05,-0.000169591688246,2.54004272043e-05,1793192521092953856
+62,1.033333333,BASELINE,763.968976707,742.031023293,711.968976707,672,664,632,877,783,799.031023293,650,628,651,0.401005727277,0.00447755618595,0.0698467500094,0.999999984576,3.61544749224e-05,-0.000169976998588,2.54790508868e-05,1793192521109620224
+63,1.050000000,BASELINE,763.456277967,742.543722033,711.456277967,672,663.456277967,632,876.456277967,783,799,650,628,651,0.401004881044,0.004476627386,0.0698461583125,0.999999984499,3.50201226684e-05,-0.000170640628918,2.56251048908e-05,1793192521126286848
+64,1.066666667,BASELINE,763,743,711.123057522,672,663,632,876.123057522,783,799.123057522,650,628,650.876942478,0.401004379498,0.00447617018312,0.069845783751,0.999999984432,3.44614498508e-05,-0.000171142650274,2.56694394548e-05,1793192521142953472
+65,1.083333333,BASELINE,763,743,711.720175642,672,663,632,876.720175642,783,799.720175642,650,628,650.279824358,0.401005432974,0.00447785906829,0.0698463364812,0.999999984393,3.66977566847e-05,-0.000170960972398,2.5307106047e-05,1793192521159620352
+66,1.100000000,BASELINE,763.306430949,742.693569051,711.693569051,672,663.306430949,632,876.693569051,783,799.693569051,649.693569051,628,650.306430949,0.401006367167,0.00447772540718,0.0698466361466,0.999999984542,3.60700546967e-05,-0.000170236748012,2.51989787299e-05,1793192521176287232
+67,1.116666667,BASELINE,763.883106209,742.116893791,711.116893791,672,663.883106209,632,876.116893791,783,799.116893791,649.116893791,628,650.883106209,0.401007196164,0.00447598442544,0.0698467126319,0.999999984852,3.29165564993e-05,-0.000169034046808,2.5315038154e-05,1793192521192953856
+68,1.133333333,BASELINE,764,742,711,672,663.545101235,632.454898765,876.454898765,783,799.454898765,649.454898765,628,650.545101235,0.401007339189,0.0044762063091,0.0698477335774,0.999999985007,3.35998632029e-05,-0.000167950803207,2.54962906872e-05,1793192521209620480
+69,1.150000000,BASELINE,763.974125952,742.025874048,711,672,663.025874048,632.974125952,876.974125952,783,799.948251903,650,628.025874048,650.025874048,0.401007239089,0.00447692400136,0.0698488616352,0.999999985098,3.52151311094e-05,-0.000167046468398,2.56754108199e-05,1793192521226287104
+70,1.166666667,BASELINE,763.394068104,742.605931896,711,672,663.605931896,632.394068104,876.394068104,783,798.788136207,650,628.605931896,650.605931896,0.401005666972,0.00447757259993,0.0698471409185,0.999999984696,3.58987053348e-05,-0.000169323602794,2.54538555082e-05,1793192521242953728
+71,1.183333333,BASELINE,763.190373009,742.809626991,711,672,663.809626991,632,876.190373009,783,798.190373009,649.809626991,629,650.809626991,0.401004989752,0.00447789010197,0.0698461971841,0.999999984496,3.59009958607e-05,-0.000170517307348,2.53420026975e-05,1793192521259620352
+72,1.200000000,BASELINE,763.784101329,742.215898671,711,672,663.215898671,632,876.784101329,783,798.784101329,649.215898671,629,650.215898671,0.401006208602,0.00447750608906,0.0698468996906,0.999999984731,3.44598077374e-05,-0.000169415481134,2.5462583459e-05,1793192521276286976
+73,1.216666667,BASELINE,764,742,711,672.366264206,663.366264206,632,877,783,799,649.366264206,629,650.366264206,0.401006878038,0.0044775776389,0.069847378637,0.999999984872,3.41867775082e-05,-0.000168631552396,2.55137403938e-05,1793192521292953600
+74,1.233333333,BASELINE,764,742,711,672.941818346,663.941818346,632,877,783,799,649.941818346,629,650.941818346,0.40100723353,0.00447790950549,0.0698477298371,0.999999984959,3.4581253732e-05,-0.000168029276043,2.55252273019e-05,1793192521309620224
+75,1.250000000,BASELINE,764,742.515242592,711,672.484757408,663.484757408,632,877,783,799.515242592,650,629,651,0.401006085099,0.00447733090323,0.0698475720785,0.999999984737,3.50432367198e-05,-0.000169224897074,2.57117836623e-05,1793192521326286848
+76,1.266666667,BASELINE,764,742.909072977,711.090927023,672,663,632,876.909072977,783,799.909072977,650,629,651,0.401005225266,0.00447665398221,0.0698474865895,0.999999984579,3.51673107458e-05,-0.000170102225127,2.58748731138e-05,1793192521342953984
+77,1.283333333,BASELINE,764,742.31968521,711.68031479,672,663,632,876.31968521,783,799.31968521,650,629,651,0.401006874663,0.00447599936706,0.0698481110462,0.999999984976,3.33973555519e-05,-0.000168126303057,2.58013900297e-05,1793192521359620608
+78,1.300000000,BASELINE,764,742,711.733883265,671.733883265,663,632,876.266116735,783,799,650,628.733883265,651,0.401007586647,0.0044762316174,0.0698484433788,0.999999985109,3.35614677682e-05,-0.000167315950992,2.57018980797e-05,1793192521376286976
+79,1.316666667,BASELINE,764,742,711.152331724,671.152331724,663,632,876.847668276,783,799,650,628.152331724,651,0.401007187492,0.0044775150916,0.0698484294497,0.999999984931,3.60180784643e-05,-0.000167887178275,2.55715771778e-05,1793192521392953600
+80,1.333333333,BASELINE,764,742,711,671,663,632,876.576314553,783,799,650,628.423685447,651,0.401005593174,0.00447698276737,0.0698476504403,0.999999984666,3.48269390408e-05,-0.000169730357599,2.54474390947e-05,1793192521409620480
+81,1.350000000,BASELINE,764,742,711,671,663,632,876.002261505,783,799,650,628.997738495,651,0.401003574689,0.00447580600936,0.0698465999009,0.99999998436,3.23411992079e-05,-0.000172024957659,2.5325495307e-05,1793192521426287104
+82,1.366666667,BASELINE,763.426387569,742.573612431,711,671.573612431,663,632,876.573612431,783,799,649.426387569,628.426387569,650.426387569,0.401006372311,0.00447653178988,0.0698476658126,0.999999984809,3.39293977039e-05,-0.000169103905871,2.51734622963e-05,1793192521442953728
+83,1.383333333,BASELINE,763.153888021,743,711,672,663,632,876.846111979,783,799,649.153888021,628,650.153888021,0.401007746437,0.00447714532204,0.069848104514,0.999999984999,3.51527971033e-05,-0.000167731903341,2.51546658517e-05,1793192521459620352
+84,1.400000000,BASELINE,763.746697662,743,711,672,663,632,876.253302338,783,799,649.746697662,628,650.746697662,0.401005006117,0.00447741723574,0.0698467304019,0.999999984459,3.52897541556e-05,-0.000170836957656,2.55162280494e-05,1793192521476286976
+85,1.416666667,BASELINE,764,743,711,672,663,632,876.330424271,783,799,650,628,651,0.401004455664,0.00447728900192,0.0698462888721,0.999999984366,3.49305812306e-05,-0.00017145905422,2.54865054523e-05,1793192521492953856
+86,1.433333333,BASELINE,764,743,711,672,663,632,876.907374105,783,799,650,628,651,0.401005539044,0.00447686222284,0.0698465431308,0.99999998461,3.42012517079e-05,-0.000170228645779,2.51648499694e-05,1793192521509620480
+87,1.450000000,BASELINE,764,742.519234097,711.480765903,672,663.480765903,632,876.519234097,783,799.480765903,650,628.480765903,651,0.401005841154,0.00447676531115,0.0698468630749,0.999999984654,3.48761221555e-05,-0.000169821490067,2.52321336775e-05,1793192521526287104
+88,1.466666667,BASELINE,763.94469799,742.05530201,712,672,664,632.05530201,876.05530201,783,800,650,629,651,0.401006063496,0.00447679668969,0.0698472788207,0.999999984676,3.56763388239e-05,-0.000169504590539,2.53676704414e-05,1793192521542953728
+89,1.483333333,BASELINE,763.352444306,742.647555694,712,672,664,632.647555694,876.647555694,783,800,650,629,651,0.401006962091,0.00447746116095,0.0698485027761,0.999999984859,3.50861249796e-05,-0.000168535322303,2.54436813891e-05,1793192521559620352
+90,1.500000000,BASELINE,763.234381974,742.765618026,711.765618026,672,664,632.765618026,877,783,799.765618026,650,629,650.765618026,0.401007506423,0.00447796798979,0.0698488828425,0.999999984937,3.48285275784e-05,-0.000168147124478,2.53069793397e-05,1793192521576286976
+91,1.516666667,BASELINE,763.813231628,742.186768372,711.186768372,672,664,632.186768372,877,783,799.186768372,650,629,650.186768372,0.401007530098,0.00447824313386,0.0698480226579,0.999999984861,3.50597716384e-05,-0.00016861291723,2.48576561745e-05,1793192521592953600
+92,1.533333333,BASELINE,764,742,711,672,663.611243902,632.388756098,877,783,799,649.611243902,628.611243902,650.388756098,0.401006745844,0.00447814026417,0.0698473663426,0.999999984693,3.55800760701e-05,-0.000169485850218,2.49336158e-05,1793192521609620480
+93,1.550000000,BASELINE,764,742,711,672,663.037303335,632.962696665,877,783,799,649.037303335,628.037303335,650.962696665,0.401005576731,0.00447785732716,0.0698468071408,0.99999998448,3.62380748025e-05,-0.000170552725024,2.52597945199e-05,1793192521626287360
+94,1.566666667,BASELINE,764,742,711.550521441,672,663,632.449478559,876.449478559,783,799,649.550521441,628,650.449478559,0.401006295476,0.00447743935161,0.0698477239446,0.999999984749,3.44136243613e-05,-0.000169338137596,2.53275292901e-05,1793192521642953984
+95,1.583333333,BASELINE,764,742.137051053,712,672,663,632,876,783,799,650,628.137051053,650.137051053,0.401006557332,0.00447723938932,0.0698481635056,0.999999984899,3.31156808137e-05,-0.000168717217067,2.53013025724e-05,1793192521659620608
+96,1.600000000,BASELINE,764,742.716288109,712,672,663,632,876,783,799,650,628.716288109,650.716288109,0.401004921659,0.00447777311838,0.0698467322369,0.999999984567,3.4073238167e-05,-0.000170523407601,2.50298791138e-05,1793192521676287232
+97,1.616666667,BASELINE,763.705386716,743,712,672,663,632,876,783,799,650,629,650.705386716,0.401004715498,0.00447765062406,0.069846322943,0.999999984503,3.48574196359e-05,-0.000170734406615,2.50870670974e-05,1793192521692953856
+98,1.633333333,BASELINE,763.127937003,743,712,672,663,632,876,783,799,650,629,650.127937003,0.401005881707,0.00447689813816,0.0698468947715,0.999999984696,3.54751556814e-05,-0.000169413980105,2.54597306425e-05,1793192521709620480
+99,1.650000000,BASELINE,763.44738409,743,711.55261591,672,663,632,876,783,799,650,629,650.44738409,0.401006361281,0.00447611069466,0.0698473603867,0.999999984906,3.29220907692e-05,-0.000168688430264,2.54499977541e-05,1793192521726287104
+100,1.666666667,BASELINE,764,742.97735844,711,672,663,632,876,783,799,650,629,651,0.401006645196,0.00447538327112,0.0698477937037,0.999999985104,2.96998026858e-05,-0.000168133605369,2.53286643931e-05,1793192521742953472
+101,1.683333333,BASELINE,764,742.388542292,711,672,663,632,876,783,799,650,629,651,0.401006923284,0.00447640549987,0.0698481752928,0.999999985115,3.23095823264e-05,-0.000167614176845,2.51381741761e-05,1793192521759620352
+102,1.700000000,BASELINE,764,742,711,672,663.197014711,632,876.197014711,783,799,650,629,651,0.401006895044,0.00447708433393,0.0698482451811,0.999999985019,3.40218140532e-05,-0.000167867490484,2.50061590899e-05,1793192521776287232
+103,1.716666667,BASELINE,764,742,711,672,663.776248727,632,876.776248727,783,799,650,629,651,0.401006272513,0.00447709696341,0.0698477103528,0.999999984725,3.39927534822e-05,-0.000169619966208,2.49875889751e-05,1793192521792953856
+104,1.733333333,BASELINE,763.645627444,742.354372556,711,672,663.645627444,632,877,783,799.354372556,650,629,651,0.401006384949,0.00447763609044,0.0698476666585,0.999999984684,3.49563924754e-05,-0.000169645174204,2.51233811624e-05,1793192521809620480
+105,1.750000000,BASELINE,763.068202345,742.931797655,711,672,663.068202345,632,877,783,799.931797655,650,629,651,0.401006959996,0.00447850661056,0.0698479320983,0.999999984801,3.65448658665e-05,-0.00016858318909,2.5356333536e-05,1793192521826286848
+106,1.766666667,BASELINE,763.507048266,743,711.507048266,672.507048266,663,632,876.492951734,783,799.492951734,650,629,650.492951734,0.401007722692,0.00447779365179,0.069848280988,0.999999984968,3.60376874059e-05,-0.000167716842456,2.52372273958e-05,1793192521842953472
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,743,712,672,663,632,877,783,799,649,628,651,0.401007229859,0.00447947739462,0.0698485507615,0.999999984807,3.73418305169e-05,-0.000168382960294,2.52580743959e-05,1793192521885542656
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742.420925275,711.420925275,671.420925275,663.579074725,632,876.420925275,783,799,649,628,651,0.401007727062,0.004479205662,0.0698487564119,0.999999985014,3.71486465867e-05,-0.000167218843321,2.51084499432e-05,1793192521902209536
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.156475146,742.156475146,711,671.156475146,663.843524854,632,876,783,799,649,628,651,0.401008006545,0.00447904516057,0.0698487972012,0.999999985128,3.7239338001e-05,-0.000166530457436,2.50023434205e-05,1793192521918876416
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.729419418,742.729419418,711,671.729419418,663.270580582,632,876,783,799,649,628,651,0.401007706555,0.00447918070839,0.0698483992014,0.999999984999,3.80855826999e-05,-0.000167108261591,2.50120627628e-05,1793192521935543040
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,711,672,663,632,876,783,799.31114429,649.31114429,628,651,0.401007660475,0.00447851413505,0.0698483761052,0.999999984942,3.74218143258e-05,-0.00016755232723,2.53175720316e-05,1793192521952209408
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,711,672,663,632,876,783,799.90072675,649.90072675,628,651,0.401007841618,0.004477129756,0.0698486885044,0.999999984947,3.54067587703e-05,-0.000167876712323,2.58877790879e-05,1793192521968876032
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,711.481598421,672,663,632,876,783,799.518401579,650,628.481598421,651,0.401006386838,0.00447714918838,0.0698480333062,0.999999984704,3.52690901234e-05,-0.000169366319851,2.57579733573e-05,1793192521985542400
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.939444531,743,711.939444531,671.939444531,663,632,876.121110939,783,799,650,629,650.939444531,0.401005268468,0.00447743879143,0.0698475261095,0.999999984457,3.54692431319e-05,-0.000170807541518,2.55413698787e-05,1793192522002209024
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.36177644,743,711.36177644,671.36177644,663,632,877.276447119,783,799,650,629,650.36177644,0.401009851375,0.00447760832928,0.069849955741,0.999999984624,3.53082254811e-05,-0.000169820908095,2.5793877384e-05,1793192522018875648
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742.785100751,711,671.214899249,663,632,877.570201503,783,799,649.785100751,628.785100751,650.214899249,0.401020305734,0.00447752975726,0.0698551961008,0.999999985123,3.5527651586e-05,-0.000166762697455,2.61321064915e-05,1793192522035542272
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742.210088118,711,671.789911882,663,632,876.420176236,783,799,649.210088118,628.210088118,650.789911882,0.401040599068,0.00447703541974,0.0698651464854,0.999999986147,3.63845991934e-05,-0.000160233080253,2.66139819401e-05,1793192522052208896
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,711,672,663,632,876.373476915,782.626523085,799.373476915,649.373476915,628,651,0.401073839576,0.00447604894598,0.0698777427961,0.999999987978,3.54141425887e-05,-0.000148508235961,2.71042722942e-05,1793192522068875776
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,711,672,663,632,876.961965645,782.038034355,799.961965645,649.961965645,628,651,0.401114533815,0.00447477914782,0.0698918623756,0.999999990111,3.33916438009e-05,-0.000133792482721,2.75994071767e-05,1793192522085542656
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.542036739,742,711,672,663,632,876.457963261,782.542036739,799.457963261,650,628,651,0.401171544447,0.00447433254251,0.0699007708276,0.999999991646,3.15373742627e-05,-0.000122395469365,2.70767987085e-05,1793192522102209280
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663.120867782,632,876,783,799,650,628.120867782,650.879132218,0.401233173127,0.00447440307569,0.069907875183,0.999999992756,3.00789281921e-05,-0.000113573543522,2.61557374855e-05,1793192522118875904
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663.697217768,632,876,783,799,650,628.697217768,650.302782232,0.40130795609,0.00447620806391,0.0699095378205,0.999999992808,3.0068311695e-05,-0.000113591511287,2.39981382608e-05,1793192522135542272
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.27813402,711,672,663.72186598,632,876,783,799,649.72186598,628.72186598,650.27813402,0.401392070326,0.00447715940577,0.069909635415,0.999999992657,2.88288079501e-05,-0.000115685494762,2.17097889186e-05,1793192522152208896
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.864104137,711,672,663.135895863,632,876,783,799,649.135895863,628.135895863,650.864104137,0.401486512323,0.00447716593981,0.0699080008346,0.999999992261,2.62291834503e-05,-0.000120077192736,1.92767267151e-05,1793192522168875520
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.555169955,711.444830045,672,663,632,876.444830045,783,799,649.444830045,628.444830045,651,0.401603472542,0.00447734186225,0.0699077698937,0.999999991876,2.30323577723e-05,-0.000124336329558,1.60567696973e-05,1793192522185542400
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.022877094,712,672.022877094,663,632.022877094,877,783,799,649.977122906,629,651,0.401728621742,0.00447753306989,0.0699080084682,0.99999999149,1.95341480459e-05,-0.000128375920853,1.25666094309e-05,1793192522202209280
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.575556008,712,672.575556008,663,632.575556008,877,783,799,649.424443992,629,651,0.401885956993,0.00447689380731,0.0699093053668,0.999999991653,1.32322501246e-05,-0.000128258081973,8.32130444652e-06,1793192522218876160
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.860046868,743,711.860046868,672.860046868,663,632.860046868,876.860046868,783,799,649,628.860046868,650.860046868,0.402052402105,0.00447680001318,0.0699112156616,0.999999991917,7.3339560155e-06,-0.000126872619597,3.88265711105e-06,1793192522235542784
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.256863828,743,711.256863828,672.256863828,663,632.256863828,876.256863828,783,799,649,628.256863828,650.256863828,0.402248999848,0.00447851166142,0.0699151562321,0.99999999264,2.77154864006e-06,-0.000121291458981,-1.19593189764e-06,1793192522252209152
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,743,711,671.662352432,663,632,876,783,799,649.337647568,628.337647568,650.337647568,0.402464393775,0.00447950326639,0.0699181657266,0.999999993076,-3.51755248135e-06,-0.000117425599174,-6.83648271196e-06,1793192522268875776
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,743,711,671.074272704,663,632,876,783,799,649.925727296,628.925727296,650.925727296,0.402693728795,0.00447996081767,0.0699204846453,0.999999993262,-1.10873375003e-05,-0.000114831972093,-1.28938393931e-05,1793192522285542144
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742.494337543,711,671,663,632,876.505662457,782.494337543,798.494337543,650,628.494337543,650.494337543,0.40296314507,0.00447980582844,0.0699239931426,0.99999999373,-1.52709409426e-05,-0.000109375948353,-1.85137000849e-05,1793192522302209024
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742.084152217,711.084152217,671,663,632,877,782.084152217,798.084152217,650,628,650,0.403245507891,0.00447921409766,0.0699287909698,0.999999994449,-1.64629692787e-05,-0.000101475792492,-2.31131880577e-05,1793192522318875648
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742.661072467,711.661072467,671,663,632,877,782.661072467,798.661072467,650,628,650,0.403569754427,0.00447658344095,0.0699401317652,0.999999996415,-3.00357295318e-06,-8.16864935497e-05,-2.21080298959e-05,1793192522335542528
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.236938793,743,712,671.236938793,663,632.236938793,876.763061207,783,799,650,628,650.236938793,0.40390379782,0.00447085863333,0.0699471152266,0.999999997215,6.00817246059e-06,-7.15528028393e-05,-2.03296620842e-05,1793192522352209152
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.81130418,743,712,671.81130418,663,632.81130418,876.18869582,783,799,650,628,650.81130418,0.404251792981,0.00446072741866,0.0699478933701,0.999999996985,8.68597874008e-06,-7.51697489833e-05,-1.74501597632e-05,1793192522368876032
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,743,711.60324429,672,663,633,876.39675571,783,799,649.60324429,628,651,0.404640936969,0.00445861495823,0.0699538138682,0.999999997671,-1.17621857216e-05,-6.4667601243e-05,-1.83966677938e-05,1793192522385542400
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,711.012368681,672,663,633,876.987631319,783,799,649.012368681,628,651,0.405050213753,0.00446042581848,0.0699622503563,0.999999997711,-4.35251492391e-05,-4.72574315606e-05,-2.1215120576e-05,1793192522402209024
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.43330045,742.43330045,711,672,663.56669955,632.43330045,876.43330045,782.43330045,799,649.56669955,628.56669955,651,0.405483920568,0.00446697783688,0.0699643710039,0.999999998355,-2.54927227752e-05,-4.62019427421e-05,-2.24981938103e-05,1793192522418875648
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742.144814829,711,672,664,632.144814829,876.144814829,782,799,649.855185171,628.855185171,650.855185171,0.405923485395,0.00447294739653,0.0699628140322,0.99999999839,-8.12135396914e-06,-5.0811822172e-05,-2.39007451507e-05,1793192522435542272
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742.720844109,711,672,664,632.720844109,876.720844109,782,799,649.279155891,628.279155891,650.279155891,0.406378938198,0.0044768807283,0.0699507083231,0.999999997122,4.1114008131e-06,-7.12502354982e-05,-2.57568143463e-05,1793192522452209152
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.295300389,743,711.295300389,672,663.704699611,633,877,782.295300389,799,649,628,650,0.406858868316,0.00448299567475,0.0699349428843,0.999999995102,1.48057494321e-05,-9.39918482352e-05,-2.72622295489e-05,1793192522468875776
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.868277615,743,711.868277615,672,663.131722385,633,877,782.868277615,799,649,628,650,0.407361814993,0.0044911620374,0.0699157361273,0.999999992238,2.40535055216e-05,-0.000118899207604,-2.84379180318e-05,1793192522485542400
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.543499205,742.543499205,711.543499205,672,663.456500795,632.543499205,877.456500795,783,798.543499205,649,628,650,0.407936339613,0.00449892193503,0.0699188907935,0.999999993479,2.68873785841e-05,-0.000106620781091,-3.0839617199e-05,1793192522502209024
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.048172061,742,711,672,663.951827939,632,877.951827939,783,798.048172061,649.048172061,628.048172061,650,0.408535113397,0.004506190152,0.0699290585009,0.999999995614,2.86505719245e-05,-8.26503175693e-05,-3.34635114782e-05,1793192522518875904
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.627676659,742,711,672,663.372323341,632,877.372323341,783,798.627676659,649.627676659,628.627676659,650,0.409165674441,0.00450937352442,0.0699429516727,0.999999997256,3.97227502004e-05,-5.21565251735e-05,-3.45014112189e-05,1793192522535542528
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,672.205021137,663.205021137,632,877,782.794978863,799,649.794978863,628.794978863,650,0.4097895538,0.00451440120395,0.0699493417341,0.999999997551,4.72439886087e-05,-3.7224242317e-05,-3.57889449817e-05,1793192522552209152
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,672.778483649,663.778483649,632,877,782.221516351,799,649.221516351,628.221516351,650,0.410401425535,0.00452274326863,0.069942248032,0.999999996863,4.83838689261e-05,-5.02573899722e-05,-3.7525093463e-05,1793192522568876032
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.63900393,742.36099607,711,673,664,632,877,782.36099607,799.36099607,649,628,650.36099607,0.411056777188,0.0045299446291,0.0699403109835,0.999999996091,5.58563749316e-05,-5.64232131966e-05,-3.89083370791e-05,1793192522585542656
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.050795481,742.949204519,711,673,664,632,877,782.949204519,799.949204519,649,628,650.949204519,0.411739495253,0.00453642802546,0.0699416195537,0.999999995234,6.73146609719e-05,-5.82667143072e-05,-4.00694608865e-05,1793192522602209024
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.528908326,742.471091674,711,673,664,632,877,783,800,649,628,650.471091674,0.412486923802,0.00454245573242,0.0699719290044,0.999999996559,7.1998853161e-05,-5.28508447216e-06,-4.08581643115e-05,1793192522618876160
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.106916675,711,673,664,632,877,782.893083325,800,649.106916675,628,650,0.413239254986,0.00454866832588,0.0700018149735,0.999999995123,7.70569146248e-05,4.57562498427e-05,-4.14926917718e-05,1793192522635543040
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.681028769,711,673,664,632,877,782.318971231,800,649.681028769,628,650,0.413986282416,0.00455587702736,0.0700178725234,0.999999993233,8.65465077636e-05,6.56752060618e-05,-4.16073311781e-05,1793192522652209920
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.743875011,743,711,673,664,632,877,782.256124989,799.743875011,649.743875011,628,650,0.414705276006,0.00456397897315,0.0700030145139,0.999999993911,9.52210917683e-05,3.5932167669e-05,-4.2648105692e-05,1793192522668876544
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.167548383,743,711,673,664,632,877,782.832451617,799.167548383,649.167548383,628,650,0.415389222428,0.00457319763366,0.0699495065768,0.99999999214,0.000102876770632,-5.58971651813e-05,-4.48467130428e-05,1793192522685542912
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,743,711.419606863,672.580393137,664,632,877.419606863,783,799,649.419606863,628,650.419606863,0.416141064477,0.00458071864696,0.0699113897411,0.999999985765,0.000112750067867,-0.000116144244778,-4.76218327634e-05,1793192522702209280
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.010937968,743,712,672.010937968,664,632,877.989062032,783,799,650,628,651,0.416921809842,0.00458748066685,0.069880842317,0.999999978085,0.00012320753937,-0.000161523112164,-5.05898366991e-05,1793192522718875904
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.588666886,743,712,672.588666886,664,632,877.411333114,783,799,650,628,651,0.417758238334,0.00459096939483,0.0699156365216,0.999999986109,0.000116835675675,-0.000107233828247,-5.13081755261e-05,1793192522735542528
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.834224313,711.834224313,672.834224313,664.165775687,632,877,782.834224313,799,650,628,650.834224313,0.418595066171,0.00459468842457,0.0699477482923,0.999999990309,0.000115412546004,-5.85974061444e-05,-5.12652797929e-05,1793192522752209152
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.258648488,711.258648488,672.258648488,664.741351512,632,877,782.258648488,799,650,628,650.258648488,0.419432881145,0.00459897676371,0.0699732290419,0.99999999053,0.000126222766712,-2.3934952377e-05,-4.9340600336e-05,1793192522768875776
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.321686677,711.321686677,672.321686677,664.678313323,632,877,782.321686677,799.321686677,649.678313323,628.321686677,650,0.420269534129,0.00460124637365,0.0699968850985,0.999999990475,0.00012839363338,1.23152969123e-05,-4.91326547873e-05,1793192522785542400
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.90590597,711.90590597,672.90590597,664.09409403,632,877,782.90590597,799.90590597,649.09409403,628.90590597,650,0.421105238757,0.00460186847261,0.0700190519987,0.999999989863,0.000123513812002,4.98613647463e-05,-5.03257578448e-05,1793192522802209280
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.508321236,743,711.508321236,673,664,632,877,783,799.508321236,649,628.508321236,650,0.421951954697,0.00459327159309,0.0700115908575,0.999999991498,0.00011445044169,3.5477971044e-05,-5.14377601943e-05,1793192522818875904
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,743,711,673,664,632,877,783,799,649,628,650,0.422784561498,0.00458319180712,0.0699898640187,0.999999993178,0.000104328501633,-2.19337862347e-06,-5.24922967767e-05,1793192522835542528
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,743,711,673,664,632,877,783,799,649,628,650,0.423511102879,0.00457498807165,0.0699120568524,0.999999986243,9.25366932732e-05,-0.000126940232743,-5.32729197876e-05,1793192522852209152
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,743,711,673,664,632,877,783,799,649.225457233,628,650,0.424279351602,0.0045709203976,0.0698617509252,0.999999974803,8.43449524452e-05,-0.000200618141668,-5.50643763214e-05,1793192522868876032
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,743,711,673,664,632,877,783,799,649.80036375,628,650,0.425112245073,0.00457326344459,0.0698540707569,0.999999975913,8.17331657589e-05,-0.000195141342441,-5.84225837179e-05,1793192522885542656
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,742.613559597,711,673.386440403,664.772880806,632,877,783,799,649.613559597,628,650.386440403,0.425964215508,0.00457624345052,0.0698930955952,0.999999985725,8.44832176186e-05,-0.000134554131318,-5.7519232556e-05,1793192522902209024
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742.021540692,711,673.978459308,665.956918617,632,877,783,799,649.021540692,628,650.978459308,0.426826334455,0.00457956230563,0.0699569665558,0.999999993469,9.00856590569e-05,-4.46492917643e-05,-5.43488175868e-05,1793192522918875648
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.555970188,742.555970188,711,674,665.444029812,632,877.555970188,783,799,649,628.555970188,650.444029812,0.427680844096,0.00458248490221,0.0699877867634,0.999999994051,9.44289433405e-05,-7.59364496581e-06,-5.40655677505e-05,1793192522935542784
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.867440203,743,711,674,664.867440203,632,877.867440203,783,798.867440203,649,628.867440203,650,0.428524671842,0.00458457705084,0.0700133474724,0.999999993531,9.65596057077e-05,2.61221541469e-05,-5.41406287992e-05,1793192522952209664
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.292098078,743,711,674,664.292098078,632,877.292098078,783,798.292098078,649,628.292098078,650,0.429333779106,0.00458394527681,0.0700255086665,0.999999992771,9.14583770862e-05,5.53476100498e-05,-5.50483945825e-05,1793192522968876288
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.290210449,742.709789551,711,674,664.290210449,632,877,783,798.580420898,649,628.290210449,650,0.430093744613,0.00458360187401,0.0700172702057,0.999999993485,8.85761076075e-05,4.57162530532e-05,-5.56205803253e-05,1793192522985542656
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.879703108,742.120296892,711,674,664.879703108,632,877,783,799.759406216,649,628.879703108,650,0.430803032179,0.00458355585673,0.0699879944112,0.999999994562,8.79821604863e-05,-3.98655358386e-06,-5.58466959261e-05,1793192523002209024
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.539315147,742,711,673.539315147,665,632,877.460684853,783,799.539315147,649,628.539315147,650,0.431467721737,0.00458609303758,0.069929278882,0.999999988698,9.10875471341e-05,-0.00010532617995,-5.66801785098e-05,1793192523018875648
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742.039294754,711,673.039294754,664.960705246,632,878,783,799,649.039294754,628.039294754,650,0.432128462807,0.00458894313624,0.0698687695874,0.999999971967,9.47066022644e-05,-0.000209221966824,-5.76520761915e-05,1793192523035542272
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742.615312486,711,673.615312486,664.384687514,632,878,783,799,649.615312486,628.615312486,650,0.432891453367,0.00458702098795,0.0698868574072,0.99999998005,9.23867506795e-05,-0.000167199925643,-5.83875806265e-05,1793192523052208896
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.191143205,743,711,674,664.38228641,632,878,783,799,650,629,650,0.433650496758,0.00458397408598,0.0699208976484,0.999999988937,8.93757050143e-05,-0.000103710711279,-5.81631042481e-05,1793192523068875776
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.766598018,743,711,674,665.533196037,632,878,783,799,650,629,650,0.434401604127,0.00457866575931,0.0699870117546,0.999999994817,8.49749470206e-05,2.94030639457e-06,-5.60084949241e-05,1793192523085542400
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,711,674,665.649335123,632,878.350664877,783,798.649335123,650,628.649335123,650,0.435075726519,0.00457553982556,0.0700148654175,0.999999994298,7.97129991223e-05,4.51001317427e-05,-5.49088020469e-05,1793192523102209024
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,711,674,665.059391813,632,878.940608187,783,798.059391813,650,628.059391813,650,0.435697317673,0.00457390306196,0.0700166118172,0.99999999485,7.38634134779e-05,4.32539715101e-05,-5.45289386142e-05,1793192523118875648
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743.520867927,711,674,664.479132073,632,878.479132073,783,799.041735854,649.479132073,628.520867927,650.520867927,0.436285604627,0.00457286553717,0.0699901829533,0.999999995789,7.33548448468e-05,3.5523501796e-06,-5.50359098235e-05,1793192523135542272
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.90082855,743.90082855,711,674,664,632,877.90082855,783,799.90082855,649,629,650.90082855,0.436863139025,0.00457256156073,0.0699597167432,0.999999994918,7.37373675718e-05,-4.01828905747e-05,-5.57893572149e-05,1793192523152209152
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.326702231,743.326702231,711,674,664,632,877.326702231,783,799.326702231,649,629,650.326702231,0.437407032103,0.00457544945004,0.0699250201714,0.99999999207,7.55240881877e-05,-8.29408639246e-05,-5.72477833016e-05,1793192523168875776
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,743,711,674,664,632,877.253435378,783,799,649,629,650,0.437920712502,0.00457960347076,0.0698905355841,0.999999987163,7.7025331283e-05,-0.000127507087969,-5.90117851301e-05,1793192523185542400
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,743,711,674,664,632,877.841510333,783,799,649,629,650,0.438394499621,0.00458542930868,0.0698563309066,0.999999979857,7.81496257943e-05,-0.000174460947832,-6.11792732945e-05,1793192523202209024
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.423120956,743,711,674,664,632,878,783,799,649.423120956,628.576879044,650,0.438839604587,0.00459189512675,0.0698293195098,0.999999969184,9.31905010324e-05,-0.000222177389784,-5.98654120266e-05,1793192523218875904
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.997673061,743,711,674,663.997673061,632,878,783,799.002326939,649.997673061,628,650,0.439274073005,0.00459859037419,0.0698050068535,0.999999955476,0.000113304633965,-0.000270052241523,-5.72819544891e-05,1793192523235542528
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.423324523,743,711,674,663.423324523,632,878,783,799.576675477,649.423324523,628,650,0.439695096512,0.00460364272536,0.0697917266178,0.999999949901,0.000118404331914,-0.000287705744043,-5.83368956127e-05,1793192523252209152
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.151874709,743,711,674,662.544375873,631.848125291,878,783,800,649,628.151874709,650,0.440116092493,0.00460803082532,0.0697851790707,0.999999947097,0.000122358266539,-0.000295567557938,-5.8949102398e-05,1793192523268876032
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.729458593,743,711,674,660.81162422,631.270541407,878,783,800,649,628.729458593,650,0.440537011411,0.00461055701122,0.0697975034402,0.999999952639,0.000123100594856,-0.000275982991332,-5.83203123803e-05,1793192523285542400
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.68672498,743,711,673.68672498,660,631.31327502,878,782.68672498,799.68672498,649.31327502,629,650.31327502,0.440924696334,0.00461288092053,0.0698115200002,0.999999957724,0.000122820426378,-0.00025703467759,-5.83069402028e-05,1793192523302209024
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.097416967,743,711,673.097416967,660,631.902583033,878,782.097416967,799.097416967,649.902583033,629,650.902583033,0.441283098082,0.00461502659966,0.0698270275828,0.999999962395,0.000121639315134,-0.000238646980363,-5.88358252379e-05,1793192523318875648
+194,3.233333333,POSE1_TO_POSE2_PRESS,763,743,711,673.482740406,659.517259594,632,878.482740406,782.482740406,799,649.517259594,628.517259594,650.517259594,0.441592501024,0.00461976289441,0.0698257100971,0.999999959995,0.000128575411091,-0.000245162213772,-5.80800889886e-05,1793192523335542528
+195,3.250000000,POSE1_TO_POSE2_PRESS,763,743,711,674,659,631.939186934,878.939186934,782.939186934,799,649,628,650.060813066,0.441885381758,0.00462529005754,0.0698192021423,0.999999955259,0.000137617444132,-0.000259380580355,-5.71332203857e-05,1793192523352208896
+196,3.266666667,POSE1_TO_POSE2_PRESS,763,743,711,674,659,631.363421457,878.363421457,782.363421457,799,649,628,650.636578543,0.442120527403,0.00463316963938,0.0697969581969,0.999999942885,0.000150879470363,-0.000297064992928,-5.6722206589e-05,1793192523368875776
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.211886296,742.788113704,711,674,658.788113704,631,878,782.211886296,799.211886296,649,628.211886296,651,0.442339790041,0.00464059489957,0.0697718613504,0.999999927926,0.000161948638784,-0.000338652709721,-5.6876529832e-05,1793192523385542656
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.786410607,742.213589393,711,674,658.213589393,631,878,782.786410607,799.786410607,649,628.786410607,651,0.44253186929,0.00464724259897,0.0697418818386,0.999999909139,0.000169264785484,-0.000386920828805,-5.79984131336e-05,1793192523402209280
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.62767745,742.37232255,711,674.37232255,658.37232255,631,878,782.62767745,799.62767745,649,628.62767745,650.62767745,0.442711437213,0.00466567454244,0.069721351056,0.999999892225,0.000188830207389,-0.000419503271806,-6.25256998675e-05,1793192523418875904
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.035026623,742.964973377,711,674.964973377,658.964973377,631,878,782.035026623,799.035026623,649,628.035026623,650.035026623,0.442883601362,0.00469108001575,0.0697064117186,0.999999876326,0.000215644349351,-0.000442803450619,-6.90681927811e-05,1793192523435542528
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.542905229,743,711,675,658.457094771,631,878,782,799.542905229,649,628,650.542905229,0.443041014487,0.00470423989088,0.0697049013179,0.999999870651,0.00023102972207,-0.000447638341369,-7.03086728806e-05,1793192523452208896
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,674.880626198,658,630.880626198,878.119373802,782.119373802,800,649,628.119373802,651,0.443190519369,0.0047117739818,0.0697033544788,0.999999866398,0.000240227031645,-0.000452229068223,-7.05942035299e-05,1793192523468875776
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,674.306211011,658,630.306211011,878.693788989,782.693788989,800,649,628.693788989,651,0.443313410836,0.00470079522932,0.0696984533017,0.999999865588,0.000228572563354,-0.000460310414327,-6.85090788119e-05,1793192523485542400
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.724631979,743,711,674.275368021,658.275368021,630.275368021,878.724631979,782.724631979,800,649.275368021,629,650.724631979,0.443420554154,0.00469774352952,0.0696892431552,0.999999859652,0.000225445641294,-0.000474581607078,-6.81325797595e-05,1793192523502209024
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.134873961,743,711,674.865126039,658.865126039,630.865126039,878.134873961,782.134873961,800,649.865126039,629,650.134873961,0.443509717668,0.00470374221348,0.0696751134223,0.999999847678,0.000232054691558,-0.000495919799529,-6.97068331953e-05,1793192523518875904
+206,3.433333333,POSE1_TO_POSE2_PRESS,763,743,711,675,658.553186174,630.553186174,878,782,799.553186174,650,629,650.446813826,0.443579628612,0.00470793840032,0.0696623168036,0.999999837096,0.000237532979809,-0.00051427233903,-7.00702180281e-05,1793192523535542528
+207,3.450000000,POSE1_TO_POSE2_PRESS,763,743,711,674.974042455,658,630.025957545,878,782,799.025957545,650,628.974042455,650.974042455,0.443643088258,0.00471139120599,0.0696501129294,0.999999826885,0.000242414522026,-0.000531562060574,-7.00528267374e-05,1793192523552209152
+208,3.466666667,POSE1_TO_POSE2_PRESS,763,743,711,674.398102765,658,630.601897235,878,782,799.601897235,650,628.398102765,650.398102765,0.44369080808,0.00471041709692,0.0696420930769,0.999999819795,0.0002417560403,-0.000545089556978,-6.95745733491e-05,1793192523568875776
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.177392379,743,711,674,658,630.822607621,878.177392379,782,799.822607621,649.822607621,628.177392379,650.177392379,0.443735675677,0.00471086396903,0.0696361555515,0.999999813956,0.000243421282267,-0.000555012793687,-6.92502846241e-05,1793192523585542400
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.751892291,743,711,674,658,630.248107709,878.751892291,782,799.248107709,649.248107709,628.751892291,650.751892291,0.443774158325,0.00471449182537,0.0696348794888,0.999999811228,0.000250288372362,-0.000556867594887,-6.92706586371e-05,1793192523602209024
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.664210157,743,711,674,657.664210157,630,878.664210157,782,799,649,629,651,0.443806967724,0.00471506038832,0.0696356191701,0.999999811088,0.000252102649186,-0.000556371960548,-6.86980334363e-05,1793192523618875648
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.073168908,743,711,674,657.073168908,630,878.073168908,782,799,649,629,651,0.443835464593,0.00471330342289,0.0696378911238,0.999999812933,0.000250076019319,-0.000554089637534,-6.76746385475e-05,1793192523635542528
+213,3.550000000,POSE1_TO_POSE2_PRESS,763,743,711,674.506520791,657.506520791,630,878,782,799.506520791,649.506520791,628.493479209,651,0.443850134962,0.00471228475096,0.0696362100569,0.999999811831,0.000247515420874,-0.000557224788454,-6.76359913393e-05,1793192523652209408
+214,3.566666667,POSE1_TO_POSE2_PRESS,763,743,711,674.915884859,658,630,878,782,799.915884859,649.915884859,628,651,0.443861930429,0.00471193955209,0.0696340573162,0.99999981019,0.000245780751533,-0.000560911095477,-6.77590301725e-05,1793192523668876032
+215,3.583333333,POSE1_TO_POSE2_PRESS,763,743,711,674.341157102,658,630,878,782,799.341157102,649.341157102,628,651,0.443868351772,0.00471491406142,0.0696324110729,0.999999807931,0.000249303452999,-0.000563347672797,-6.80136151164e-05,1793192523685542656
+216,3.600000000,POSE1_TO_POSE2_PRESS,763,743,711,674,658,630,878,782,799,649,628,651,0.44387343479,0.00471685094034,0.0696310210802,0.999999806201,0.000251155509549,-0.000565571099795,-6.81723033901e-05,1793192523702209280
+217,3.616666667,POSE1_TO_POSE2_PRESS,763,743,711,674,658,630,878,782,799,649,628,651,0.443876563029,0.00471727223933,0.0696300053712,0.999999805264,0.000250567394965,-0.000567483195855,-6.81909234255e-05,1793192523718875904
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+224,3.733333333,POSE1_TO_POSE2_PRESS,763.110409229,742.110409229,711,674,658,630.889590771,878.110409229,782.110409229,799.889590771,649,629,650.110409229,0.443885321695,0.00471487285772,0.069628200833,0.999999803138,0.000250688872741,-0.000571400526916,-6.61881597894e-05,1793192523835542784
+225,3.750000000,POSE1_TO_POSE2_PRESS,763,742.470074812,711,674,657.529925188,630.529925188,878,782,799.529925188,649,629,650,0.443886780827,0.00471373202848,0.0696291272956,0.999999804437,0.000249259921865,-0.000569779190917,-6.59325549071e-05,1793192523852209408
+226,3.766666667,POSE1_TO_POSE2_PRESS,763,743,711,674,657.048585025,630.048585025,878,782.048585025,799.097170051,649,628.951414975,650.048585025,0.443887958222,0.00471274706098,0.0696299255293,0.999999805781,0.000247646172607,-0.000568145138356,-6.57288233234e-05,1793192523868876288
+227,3.783333333,POSE1_TO_POSE2_PRESS,763,743,711,674,657.626242919,630.626242919,878,782.626242919,800.252485838,649,628.373757081,650.626242919,0.44389019499,0.00471342117279,0.0696309299389,0.999999806783,0.000247534761707,-0.000566361528586,-6.63031090802e-05,1793192523885542656
+228,3.800000000,POSE1_TO_POSE2_PRESS,763,743,711,674,657.797849186,630.797849186,878,782.797849186,800.797849186,649,628.202150814,650.797849186,0.443891491665,0.0047136364755,0.0696314700017,0.999999807447,0.000247031853769,-0.000565394752121,-6.640272855e-05,1793192523902209280
+229,3.816666667,POSE1_TO_POSE2_PRESS,763,743,711,674,657.225149132,630.225149132,878,782.225149132,800.225149132,649,628.774850868,650.225149132,0.443891065117,0.00471301076566,0.0696311589013,0.999999807499,0.000245811318602,-0.000565925258676,-6.56322687193e-05,1793192523918876160
+230,3.833333333,POSE1_TO_POSE2_PRESS,763,742.639101191,711,674.360898809,657,630,878.360898809,782,799.639101191,649,629,650,0.443892875695,0.00471280914158,0.0696316283941,0.999999808265,0.000245375813296,-0.000564742330167,-6.5772977381e-05,1793192523935542528
+231,3.850000000,POSE1_TO_POSE2_PRESS,763,742.044406295,711,674.955593705,657,630,878.955593705,782,799.044406295,649,629,650,0.443896135518,0.00471288224714,0.0696326035679,0.999999809491,0.000245448863081,-0.000562449410684,-6.65039557618e-05,1793192523952209408
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.532097691,742.532097691,710.467902309,674.467902309,657.532097691,630,878.467902309,782,799,649,628.467902309,650,0.443899697192,0.00471232674667,0.0696347567358,0.999999811804,0.000244543744817,-0.000558770756261,-6.6070445216e-05,1793192523968876288
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.892527787,743,710.107472213,674,657.892527787,630,878,782,799.107472213,649,628.107472213,650,0.44390299197,0.00471176254364,0.0696368406589,0.999999813949,0.000243754394872,-0.000555322050862,-6.5593583643e-05,1793192523985543168
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.315675148,743,710.684324852,674,657.315675148,630,878,782,799.684324852,649,628.684324852,650,0.443905014707,0.00471138187743,0.069638206988,0.999999815036,0.0002438154022,-0.000553366025111,-6.53377986362e-05,1793192524002209536
+235,3.916666667,POSE1_TO_POSE2_PRESS,763,743,711,674,657.257468905,630,878.257468905,782,799.742531095,649,628.742531095,650,0.443906726441,0.00471081159484,0.0696391250644,0.999999815946,0.000243464159334,-0.000551876190036,-6.53147432633e-05,1793192524018875904
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,743,711,674,657.826130607,630,878.826130607,782,799.173869393,649,628.173869393,650,0.443908062279,0.00471001213016,0.0696395013554,0.999999816646,0.000242614645462,-0.000550949821508,-6.55729792453e-05,1793192524035542272
+237,3.950000000,POSE1_TO_POSE2_PRESS,763,743,711,674,658,630,878.582678529,782,799,649.417321471,628,650,0.443909853562,0.00470946156521,0.0696402579232,0.999999817635,0.000242055376258,-0.000549403204141,-6.55362342709e-05,1793192524052208896
+238,3.966666667,POSE1_TO_POSE2_PRESS,763,743,711,674,657.982332805,630,878,782,799,649.982332805,628,650,0.443911869857,0.00470906148444,0.0696412180018,0.999999818756,0.000241706149353,-0.000547533270796,-6.53718622323e-05,1793192524068875776
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,743,711,674,657.406234116,630,878,782,799,649.406234116,628,650,0.44391465832,0.00470995314071,0.0696433170657,0.999999820102,0.000243955650685,-0.000544078050306,-6.52797050814e-05,1793192524085542656
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.168952407,743,711,674,657.168952407,630,877.831047593,782,799,649,628,650,0.443917876097,0.00470970429666,0.0696453342738,0.999999821887,0.000244197674508,-0.000540692052544,-6.51515148759e-05,1793192524102209536
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.741957433,743,711,674,657.741957433,630,877.258042567,782,799,649,628,650,0.443922120584,0.00470672792618,0.0696471557225,0.99999982474,0.000239638780822,-0.000537471602353,-6.4937151e-05,1793192524118876160
+242,4.033333333,HOLD_POSE2,763,743,711,674,658,631,879,782,799,650,629,650,0.443931807066,0.00470839203629,0.0696520040284,0.99999982892,0.000241380786397,-0.000528824623439,-6.5117049612e-05,1793192524154500864
+243,4.050000000,HOLD_POSE2,763,743,710.420772265,673.420772265,657.420772265,630.420772265,878.420772265,782,799.579227735,649.420772265,629,650,0.443934102892,0.00470791218308,0.0696525518163,0.999999829785,0.000241218246076,-0.000527274641707,-6.50054836682e-05,1793192524171167744
+244,4.066666667,HOLD_POSE2,763,742.84299999,710.15700001,673.15700001,657.15700001,630,878,782.15700001,799.84299999,649,629,650,0.443936747765,0.00470726523279,0.069653732758,0.999999831125,0.000240545211543,-0.000525055754744,-6.48439893044e-05,1793192524187834624
+245,4.083333333,HOLD_POSE2,763,742.269092507,710.730907493,673.730907493,657.730907493,630,878,782.730907493,799.269092507,649,629,650,0.443940319518,0.00470617456259,0.0696565950151,0.999999833719,0.000238516579277,-0.000521060615396,-6.45499119221e-05,1793192524204500736
+246,4.100000000,HOLD_POSE2,763,742,710.687544826,674,657.687544826,630,878.312455174,782.687544826,799,649,628.687544826,650,0.443942875898,0.00470499526082,0.0696584774442,0.999999835357,0.000237342965099,-0.000518461829307,-6.44357667673e-05,1793192524221167360
+247,4.116666667,HOLD_POSE2,763,742,710.099252366,674,657.099252366,630,878.900747634,782.099252366,799,649,628.099252366,650,0.443944535901,0.00470373771465,0.0696594948754,0.999999836161,0.000236924166094,-0.000517095752421,-6.44804668711e-05,1793192524237833984
+248,4.133333333,HOLD_POSE2,763,742.481618242,710.481618242,674,657.481618242,630,878.518381758,782,799,649,628,650,0.443944888668,0.00470507685875,0.0696594752707,0.99999983543,0.000238610506788,-0.000517731380834,-6.44966416434e-05,1793192524254500864
+249,4.150000000,HOLD_POSE2,763,742.939183734,711,674,657.939183734,630.060816266,878,782.060816266,799,649,628,650,0.443945350304,0.00470665024621,0.0696595490937,0.999999834827,0.000240171154049,-0.000518171314254,-6.45187897943e-05,1793192524271167744
+250,4.166666667,HOLD_POSE2,763,742.361399272,711,674,657.361399272,630.638600728,878,782.638600728,799,649,628,650,0.443948992621,0.00470573499684,0.0696622061964,0.999999837981,0.000237031549749,-0.000513494393815,-6.46409266232e-05,1793192524287834112
+251,4.183333333,HOLD_POSE2,763,742.214234061,711,674,657.214234061,630.785765939,878,782.785765939,799,649,628,650,0.443951421888,0.00470489379487,0.0696634318946,0.99999983994,0.000235192351089,-0.000510500702959,-6.47628003929e-05,1793192524304500736
+252,4.200000000,HOLD_POSE2,763,742.786274597,711,674,657.786274597,630.213725403,878,782.213725403,799,649,628,650,0.44395182516,0.00470417626445,0.0696622669091,0.999999839947,0.000235525046217,-0.00051031828564,-6.48842348007e-05,1793192524321167360
+253,4.216666667,HOLD_POSE2,762.629478594,742.629478594,711,674.370521406,658,630,878,782,799,649,628,650,0.443953600101,0.00470300450054,0.0696628766013,0.999999840977,0.000234146182351,-0.000508953666312,-6.47111984424e-05,1793192524337833984
+254,4.233333333,HOLD_POSE2,762.037951013,742.037951013,711,674.962048987,658,630,878,782,799,649,628,650,0.443956193206,0.00470156179834,0.0696645448415,0.99999984261,0.000231746419042,-0.00050688389487,-6.43625181056e-05,1793192524354500608
+255,4.250000000,HOLD_POSE2,762.542079265,742.542079265,711,674.457920735,658,630,878,782,799,649,628,650,0.443959165064,0.00470296154383,0.0696669176004,0.999999843595,0.000233683941074,-0.000504054987331,-6.42638872909e-05,1793192524371169536
+256,4.266666667,HOLD_POSE2,763,743,711,674,657.879668076,630.120331924,878,782,799.120331924,649,628,650,0.443961918224,0.00470407474183,0.0696688610034,0.999999844608,0.000235062096702,-0.000501403888083,-6.42120304484e-05,1793192524387837696
+257,4.283333333,HOLD_POSE2,763,743,711,674,657.305149727,630.694850273,878,782,799.694850273,649,628,650,0.443963747916,0.00470337086727,0.0696690015242,0.999999845932,0.000233206633668,-0.000499620350813,-6.42720163626e-05,1793192524404502272
+258,4.300000000,HOLD_POSE2,763,743,711,674,657.275528408,630.724471592,878,782,799.724471592,649,628,650,0.443963870145,0.00470247261076,0.0696684647206,0.999999846227,0.000232065523855,-0.000499567064089,-6.42263805965e-05,1793192524421167616
+259,4.316666667,HOLD_POSE2,763,743,711,674,657.86318452,630.13681548,878,782,799.13681548,649,628,650,0.443962058101,0.00470135415199,0.0696671606216,0.99999984536,0.000231733657132,-0.000501473862578,-6.40610930904e-05,1793192524437834240
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,658,630,879,782,800,650,628,650,0.443962719669,0.00470123353804,0.0696689448892,0.99999984633,0.000229066574163,-0.000500731486992,-6.43167012746e-05,1793192524470492160
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,742.421564996,711,674,658,630,878.421564996,782,799.421564996,649.421564996,628,650,0.4439642162,0.00470350065145,0.0696695887674,0.9999998462,0.000231612518595,-0.000499787022478,-6.45700818306e-05,1793192524487158784
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.155656138,742.155656138,711,674,658,630,878,782,799,649.155656138,628,650,0.443965483876,0.00470495819156,0.0696701075418,0.999999846098,0.000233807352633,-0.000498957850264,-6.4639831785e-05,1793192524503825408
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.729615304,742.729615304,711,674,658,630,878,782,799,649.729615304,628,650,0.44396613654,0.00470424012274,0.0696702901183,0.999999846091,0.000235058629585,-0.000498438508983,-6.42161015055e-05,1793192524520491776
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.688615842,743,711,674,658,630.311384158,878,782,799.311384158,649.688615842,628,650,0.44396728252,0.00470301311077,0.0696709666767,0.999999847031,0.000234354661705,-0.000496903699689,-6.40459526927e-05,1793192524537158144
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.099891168,743,711,674,658,630.900108832,878,782,799.900108832,649.099891168,628,650,0.443968867884,0.00470133279848,0.0696720832101,0.999999848807,0.000231909215903,-0.000494464443564,-6.41016613003e-05,1793192524553825024
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,658,630.519259101,878,782,799.519259101,649.480740899,628.480740899,650,0.443967554302,0.00470111063939,0.0696718343299,0.999999848531,0.000231597015475,-0.000495164136463,-6.41373871817e-05,1793192524570491648
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742.940747008,711,674,658,630,878.059252992,782,799,649.940747008,628.940747008,650.059252992,0.443964755798,0.00470105477768,0.0696707452583,0.999999847532,0.000231520641202,-0.000497208236947,-6.41669286734e-05,1793192524587158528
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,742.366289209,711,674,658,630,878.633710791,782,799,649.366289209,628.366289209,650.633710791,0.443954196705,0.00469985404189,0.0696647767735,0.999999843862,0.000229704449539,-0.000505364713654,-6.41782019702e-05,1793192524603825152
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,674.20899578,657.79100422,630,878.79100422,782,799,649,628,650.79100422,0.443932991447,0.00469917461375,0.069655391992,0.999999835815,0.000229089291821,-0.000521331208762,-6.40523273553e-05,1793192524620491520
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,674.785736215,657.214263785,630,878.214263785,782,799,649,628,650.214263785,0.443893053419,0.00469941246792,0.0696399959662,0.999999819564,0.000230587448681,-0.000551040049677,-6.36851300768e-05,1793192524637158144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,674.629333235,657,630,878,782,799,649.370666765,628.370666765,650,0.44383684368,0.00469946045952,0.0696225557648,0.999999798699,0.000232006356957,-0.000587237638202,-6.26716573739e-05,1793192524653824768
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,674.039561365,657,630,878,782,799,649.960438635,628.960438635,650,0.443771015554,0.00469939622135,0.0696039072278,0.999999774156,0.000233378420467,-0.000627270797391,-6.12761642335e-05,1793192524670491392
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.540976813,711,674,657.540976813,630.540976813,878,782.540976813,799.540976813,649.459023187,628.459023187,650,0.443703291563,0.00469880235303,0.0695974475359,0.999999770581,0.000232680249648,-0.000633273887628,-6.05120776479e-05,1793192524687158272
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,743,710.88013118,674,658,630.88013118,877.88013118,782.88013118,799.88013118,649.11986882,628,650,0.443631292604,0.00469836014489,0.0695938026384,0.999999769337,0.000232611978792,-0.00063535834804,-5.94770959631e-05,1793192524703824896
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,743,710.304969839,674,658,630.304969839,877.304969839,782.304969839,799.304969839,649.695030161,628,650,0.443543573969,0.00469863862446,0.069597520239,0.999999771012,0.000235501616725,-0.000631852566714,-5.72407458947e-05,1793192524720491264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,743,710.27561298,674,658.27561298,630,877.27561298,782,799.27561298,649.72438702,628,650,0.44344386994,0.00469819537608,0.0696026683513,0.999999774139,0.000239043237812,-0.000625785546373,-5.45265469964e-05,1793192524737158144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,743,710.862315081,674,658.862315081,630,877.862315081,782,799.862315081,649.137684919,628,650,0.443330637793,0.00469693750089,0.0696094311067,0.999999778845,0.000243320763334,-0.000616827611582,-5.12729920191e-05,1793192524753824768
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,659,630,878,782.443205369,799.556794631,649,628,650.443205369,0.443191696359,0.00469403534766,0.0696178041882,0.999999785654,0.000242975167245,-0.000606128204107,-4.7582097483e-05,1793192524770491392
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,659,630.022299601,878.022299601,782.977700399,799,649,628,650.977700399,0.443043708154,0.00469063053503,0.0696267250579,0.999999793061,0.000241347616896,-0.000594741507692,-4.37137710213e-05,1793192524787158272
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,659,630.601046105,878.601046105,782.398953895,799,649,628,650.398953895,0.442866690015,0.00468726404343,0.0696369935034,0.999999801771,0.000243105274274,-0.000579529719322,-3.87642752416e-05,1793192524803824640
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,658.821073178,631,878.821073178,782,799.178926822,649,628,650,0.442676618633,0.00468434294422,0.0696467331268,0.999999809362,0.00024560160917,-0.000565536349506,-3.35363343759e-05,1793192524820491264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,658.245113689,631,878.245113689,782,799.754886311,649,628,650,0.442457582564,0.00468241015635,0.0696552993105,0.999999814838,0.000249737044765,-0.000554246612164,-2.76905338013e-05,1793192524837158400
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,658.338626029,631,878,782,800,649,628,650,0.442215590163,0.0046781014609,0.0696637413904,0.999999820942,0.000252234701616,-0.00054224284758,-2.15753811944e-05,1793192524853825024
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,658.928129947,631,878,782,800,649,628,650,0.441956590081,0.00467203252643,0.0696720915264,0.999999827451,0.000253518977634,-0.00052971008037,-1.52606731175e-05,1793192524870491392
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742.086189091,710.086189091,673.086189091,658.086189091,631,877.086189091,783,799.913810909,649,628.913810909,650,0.441358722095,0.00465882371618,0.0696917501284,0.999999845063,0.00026151550873,-0.000491410022199,-1.26579531064e-07,1793192524903824384
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742.66062174,710.66062174,673.66062174,658.66062174,631,877.66062174,783,799.33937826,649,628.33937826,650,0.441019224472,0.00465533483943,0.0697064450487,0.999999856324,0.00026826101178,-0.000464037183266,7.53848549915e-06,1793192524920491264
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,659,631,878,783,799,649,628.232954301,650,0.440656947607,0.0046501715806,0.0697193381609,0.999999866058,0.000271766096846,-0.000440223706991,1.51861761993e-05,1793192524937158400
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,659,631,878,783,799,649,628.802254662,650,0.440261781444,0.00464259080141,0.0697296297704,0.999999874278,0.000270592573849,-0.000421549341936,2.28087808915e-05,1793192524953825280
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.987626504,743,711,674,659.987626504,631,878.987626504,783,799,649.987626504,629,650,0.439333305794,0.0046286532253,0.069715720217,0.99999988048,0.0002077715824,-0.000442251969155,1.68691440064e-05,1793192524987158784
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.432911273,743,711,674,660,631.567088727,878.432911273,783,799,649.432911273,629,650,0.438804616082,0.0046178015041,0.0696990077105,0.999999872647,0.000190650041634,-0.00046685811343,2.00521681183e-05,1793192525003825152
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742.854966454,711,674,660.145033546,632,878,783,799,649,629,650,0.438278199478,0.00460781560585,0.0696889271969,0.999999869904,0.000174294872046,-0.00047884439662,2.28376142964e-05,1793192525020492032
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742.280380049,711,674,660.719619951,632,878,783,799,649,629,650,0.437761642275,0.00460064526462,0.0696988730281,0.999999884508,0.000158916766044,-0.000452943196914,2.39208304828e-05,1793192525037158656
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742.300654588,711.300654588,674,661.601309176,632,878,783,799.601309176,649,628.699345412,650,0.437221662213,0.00459085077485,0.0697225544256,0.999999900088,0.000170296545907,-0.000412489124529,2.59801131223e-05,1793192525053825280
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,742.88783449,711.88783449,674,662.77566898,632,878,783,800.77566898,649,628.11216551,650,0.436659359989,0.00457855545766,0.0697593258871,0.999999913978,0.000207176721476,-0.000358166088176,2.89695919922e-05,1793192525070491392
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.050115353,743,711,673.949884647,663,631.949884647,877.949884647,783,799.050115353,649,628,650,0.435427442871,0.00456842944105,0.0698246617445,0.999999948632,0.00017658329925,-0.00026505840057,3.60346067575e-05,1793192525103824640
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.626702253,743,711,673.373297747,663,631.373297747,877.373297747,783,799.626702253,649,628,650,0.434729652452,0.00456707158418,0.0698259605524,0.999999947677,0.000164571388633,-0.00027596206578,3.75198611141e-05,1793192525120491520
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742.361578967,711,673.361578967,663.361578967,632,878,782.361578967,799.638421033,649,628,650,0.432549902582,0.00455906647828,0.0698100382572,0.999999940571,0.00016077274524,-0.000302329291442,4.00952365795e-05,1793192525170491648
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,664,632,878,783,799,649.532849347,628,650,0.430954084634,0.00455392474339,0.0697874206035,0.999999929786,0.000160461246531,-0.000336116739992,4.13091695009e-05,1793192525203824640
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,663.781384759,632,877.890692379,783,799,649.890692379,628,650,0.430114572788,0.00455296047983,0.0697538863161,0.9999999092,0.00015830263037,-0.000393469591933,4.14951665987e-05,1793192525220491008
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,662.632664644,632,877.316332322,783,799,649.316332322,628,650,0.429293106382,0.00455424406301,0.0697353968752,0.999999899964,0.000163993517273,-0.000414221096474,3.99936953519e-05,1793192525237157888
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.735140946,662.529718108,632,877.264859054,783,799,649,628,650.264859054,0.428498727071,0.00455158331901,0.0697531003522,0.99999991212,0.000161397051826,-0.000384790835301,4.05835977109e-05,1793192525253824768
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.145574552,663.708850896,632,877.854425448,783,799,649,628,650.854425448,0.427737555422,0.00454408697689,0.0698151749967,0.999999944826,0.000148640600728,-0.000293839597867,4.37374458319e-05,1793192525270491392
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742.015226519,711,673.015226519,663.984773481,632,877,783,799,649,629,650,0.426056777122,0.00453711513545,0.0698812037695,0.999999968522,0.000153126925681,-0.000192918313785,4.7858636248e-05,1793192525303824640
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742.592671044,711,673.592671044,663.407328956,632,877,783,799,649,629,650,0.425168171758,0.00453049710598,0.0698527954544,0.999999961726,0.000137433853282,-0.000235614351212,4.63219837838e-05,1793192525320491264
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,663.172164142,632,877,783,799,649,629,650,0.42428181752,0.0045246679194,0.0698244606146,0.999999951704,0.000125339286902,-0.0002808280591,4.49289456365e-05,1793192525337158144
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,663.756562357,632,877,783,799,649,629,650,0.423400853488,0.00452072755807,0.0697963017075,0.999999936477,0.000121861073514,-0.000332070137322,4.38797813664e-05,1793192525353824512
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742.662355733,711,673.662355733,663.662355733,632,877,783,799,649,628.662355733,650,0.422468888153,0.00451664543462,0.0697482991878,0.999999904474,0.000118723456108,-0.000418318568929,4.43473004767e-05,1793192525370491136
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742.083641609,711,673.083641609,663.083641609,632,877,783,799,649,628.083641609,650,0.421500509158,0.0045124620966,0.0696861288089,0.999999852021,0.000115829015153,-0.000529560686183,4.58976945809e-05,1793192525387157760
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711.495596256,673,663,632,877.495596256,783,799,649,628.495596256,650,0.420654161053,0.00450272716753,0.06971819361,0.999999884907,0.000100801391864,-0.000466808798042,4.59916501612e-05,1793192525403824384
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742.074566522,711.925433478,673,663.074566522,632,877.925433478,783,799,649,629,650.074566522,0.419834247058,0.00449253582932,0.0697694925735,0.999999926111,8.62064776989e-05,-0.000371762279738,4.62510765777e-05,1793192525420491264
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742.651139241,711.348860759,673,663.651139241,632,877.348860759,783,799,649,629,650.651139241,0.419053496829,0.00448558626062,0.0698430977236,0.999999961809,8.83251715737e-05,-0.000257201115982,4.92810827036e-05,1793192525437158144
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.223674753,743,711,672.776325247,663.776325247,632,877,783,799.223674753,649,628.776325247,650.776325247,0.418245950526,0.00447752495439,0.069882049647,0.999999975101,8.26819990242e-05,-0.000200940308225,5.08493669471e-05,1793192525453824768
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.790025243,743,711,672.209974757,663.209974757,632,877,783,799.790025243,649,628.209974757,650.209974757,0.4173973518,0.00446776043531,0.069867911906,0.999999969242,6.51474399948e-05,-0.000233997200386,5.01782551611e-05,1793192525470491392
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.620991752,743,711,672.379008248,663,632,877,783,800,649,628.379008248,650,0.416544702003,0.00446139226851,0.069838351754,0.999999961365,5.34818689305e-05,-0.00026860038503,4.75722604608e-05,1793192525487158016
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.01867382,743,711,672.98132618,663,632,877,783,800,649,628.98132618,650,0.415689665388,0.00445702521534,0.0697997047986,0.999999951772,4.52742759918e-05,-0.000304114635005,4.38262428551e-05,1793192525503824640
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742.442856632,711,672.442856632,663,632,877,783,799.442856632,649,628.442856632,650.557143368,0.414805611504,0.0044492416228,0.0697674979812,0.999999930917,3.27814222548e-05,-0.000367693420375,4.35017143826e-05,1793192525520491264
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.132223209,662.867776791,632,877,782.867776791,799,649,628,650.867776791,0.413947861563,0.00444125602358,0.0697441118254,0.999999912292,2.07273699934e-05,-0.000416038552009,4.35591790362e-05,1793192525537157888
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.88115388,742.88115388,711,673,662.88115388,632,877,782.88115388,799.88115388,649,628.88115388,650.88115388,0.411846687887,0.00441858371065,0.0698480048804,0.999999972312,-8.45048747121e-06,-0.000230978561206,4.42071735649e-05,1793192525587157760
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,672.537579466,663.462420534,632,877.462420534,783,799.537579466,649,629,651,0.411164103892,0.00442604633024,0.0698750624066,0.999999981438,-3.59554837929e-06,-0.000187214898247,4.54121862011e-05,1793192525603824384
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742.958998353,711,672,663.958998353,632,877.958998353,783,799,649,629,651,0.410466162625,0.00443795455153,0.06988851388,0.999999984512,6.7194179815e-06,-0.000169518971492,4.68350087161e-05,1793192525620491008
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diff --git a/Obstacle_avoidance/cylinder_0030_20/position_11/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b5a73fd84120ba0e2279a78ccfc4356d395c691e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_11/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,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
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+365,6.083333333,pose2_to_pose3_retreat,0.575716739302,0.0100545499864,1.06002925332,0.546287470915,0.0187272839479,1.05969853931
+366,6.100000000,pose2_to_pose3_retreat,0.575714880072,0.0100545745362,1.06002929422,0.54628561159,0.0187273080742,1.05969857759
+367,6.116666667,pose2_to_pose3_retreat,0.575713754764,0.0100545667398,1.06002920223,0.54628448635,0.0187273006109,1.05969848834
+368,6.133333333,pose2_to_pose3_retreat,0.575713349328,0.0100545639308,1.06002916908,0.546284080938,0.018727297922,1.05969845619
+369,6.150000000,pose2_to_pose3_retreat,0.57571320948,0.0100545629619,1.06002915765,0.546283941099,0.0187272969945,1.0596984451
+370,6.166666667,pose2_to_pose3_retreat,0.575713020437,0.0100545616522,1.06002914219,0.546283752067,0.0187272957407,1.0596984301
+371,6.183333333,pose2_to_pose3_retreat,0.575712499098,0.0100545580402,1.06002909958,0.546283230759,0.0187272922831,1.05969838876
+372,6.200000000,pose2_to_pose3_retreat,0.575711941074,0.0100545541741,1.06002905396,0.546282672769,0.0187272885821,1.0596983445
+373,6.216666667,pose2_to_pose3_retreat,0.575711725736,0.0100545526822,1.06002903635,0.546282457444,0.018727287154,1.05969832742
+374,6.233333333,pose2_to_pose3_retreat,0.575711616188,0.0100545519232,1.0600290274,0.546282347902,0.0187272864274,1.05969831873
+375,6.250000000,pose2_to_pose3_retreat,0.57571130787,0.0100545734408,1.06002904332,0.546282039026,0.0187273060423,1.05969833443
+376,6.266666667,pose2_to_pose3_retreat,0.575711210606,0.0100545817794,1.06002905104,0.546281941548,0.01872731365,1.05969834202
+377,6.283333333,pose2_to_pose3_retreat,0.575711117605,0.0100545897526,1.06002905842,0.546281848342,0.0187273209243,1.05969834927
+378,6.300000000,pose2_to_pose3_retreat,0.575710824294,0.0100546148986,1.0600290817,0.546281554387,0.0187273438661,1.05969837215
+379,6.316666667,pose2_to_pose3_retreat,0.575710511241,0.0100546417372,1.06002910655,0.546281240645,0.0187273683521,1.05969839656
+380,6.333333333,pose2_to_pose3_retreat,0.575710427861,0.0100546488855,1.06002911317,0.546281157081,0.0187273748738,1.05969840306
+381,6.350000000,pose2_to_pose3_retreat,0.575710400523,0.0100546512293,1.06002911534,0.546281129683,0.0187273770121,1.05969840519
+382,6.366666667,pose2_to_pose3_retreat,0.575710310312,0.0100546589632,1.0600291225,0.546281039274,0.0187273840682,1.05969841223
+383,6.383333333,pose2_to_pose3_retreat,0.575710203441,0.0100546681254,1.06002913098,0.546280932168,0.0187273924272,1.05969842056
+384,6.400000000,pose2_to_pose3_retreat,0.575710157921,0.0100546720279,1.0600291346,0.546280886548,0.0187273959877,1.05969842411
+385,6.416666667,pose2_to_pose3_retreat,0.57571004659,0.0100546815726,1.06002914343,0.546280774972,0.0187274046957,1.05969843279
+386,6.433333333,pose2_to_pose3_retreat,0.575709930268,0.0100546937268,1.06002914473,0.546280658423,0.0187274160868,1.05969843429
+387,6.450000000,pose2_to_pose3_retreat,0.575709886878,0.0100546985246,1.06002914425,0.546280614952,0.0187274206133,1.05969843393
+388,6.466666667,pose2_to_pose3_retreat,0.575709720284,0.0100547169449,1.06002914242,0.546280448046,0.0187274379923,1.05969843254
+389,6.483333333,pose2_to_pose3_retreat,0.575709365272,0.0100547509742,1.06002916322,0.546280092519,0.0187274703019,1.05969845408
+390,6.500000000,pose2_to_pose3_retreat,0.575709283085,0.0100547449616,1.06002923369,0.54628001061,0.0187274652189,1.05969852416
+391,6.516666667,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628183,1.05969855726
+392,6.533333333,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628183,1.05969855726
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_11/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_20/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e88407ef8be2693bd3e81e8ceb6867c2de67faa7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eab6a1419a8ef862c76296f33fa5446e7cdb841e3f9bde3d2da0a6c34649feb
+size 25131461
diff --git a/Obstacle_avoidance/cylinder_0030_20/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_20/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a69ba7a3964182576e89f36b12abe93148f5641d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_20/position_11/depth_02/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,764,742,712,673,663,633,878,783,799,650,629,650,0.400948583778,0.00447397991485,0.0698179547507,0.99999995605,3.56908072913e-05,-0.000292737758266,3.04937359873e-05,1793192526798240256
+1,0.016666667,BASELINE,764,742.606921741,711.393078259,673,663,632.393078259,878,783,799,650,629,650.606921741,0.400948341539,0.00447349619667,0.0698175092882,0.999999956243,3.5110004742e-05,-0.000292136083674,3.06084195609e-05,1793192526814906880
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+3,0.050000000,BASELINE,763.212084686,743,711,671.424169373,663,632.787915314,878,783,799,649.212084686,629,651,0.400951098486,0.00447326062693,0.0698196767967,0.999999957134,3.45750857027e-05,-0.000289124622156,3.07048830978e-05,1793192526848239872
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+21,0.350000000,BASELINE,764,742.232530548,711,671.767469452,662.232530548,632,877,783,799,650,628.232530548,650.232530548,0.400950704046,0.00447501763568,0.0698194435766,0.999999956849,3.48407884277e-05,-0.000290201782311,2.95255249327e-05,1793192527148239872
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+40,0.666666667,BASELINE,764,742.744916894,711.744916894,672.744916894,663,632,876.744916894,783,799,650,629,650.744916894,0.400950766726,0.0044722397002,0.0698198699865,0.999999957382,3.16454417492e-05,-0.000288663314656,3.01305952289e-05,1793192527464906752
+41,0.683333333,BASELINE,764,742.164534458,711.164534458,672.164534458,663,632,876.164534458,783,799,650,629,650.164534458,0.400950383038,0.00447375613144,0.0698197322829,0.999999957105,3.33681769811e-05,-0.00028942913652,3.01099402151e-05,1793192527481573632
+42,0.700000000,BASELINE,764,742,711,672.411465276,663,632,876.822930551,783,799,650,628.588534724,650,0.400951089648,0.00447415890412,0.0698198861943,0.999999957267,3.47714025191e-05,-0.000288729085289,2.985947461e-05,1793192527498240256
+43,0.716666667,BASELINE,764,742,711,672.985730934,663,632,877.971461869,783,799,650,628.014269066,650,0.400952227646,0.00447412104652,0.0698201554862,0.999999957601,3.6048210786e-05,-0.000287449046577,2.95180821288e-05,1793192527514906880
+44,0.733333333,BASELINE,764,742.560037564,711,672.439962436,663,632,877.439962436,783,799,650,628,650,0.400951041874,0.00447542533684,0.0698200236051,0.999999957429,3.64138598348e-05,-0.000287991549929,2.96143678565e-05,1793192527531573504
+45,0.750000000,BASELINE,764,743,711,672,663,632,877,783,799,649.860833105,628.139166895,650.139166895,0.400950550377,0.00447598435781,0.0698203319184,0.999999957516,3.60588461049e-05,-0.000287716429376,2.97878430654e-05,1793192527548240384
+46,0.766666667,BASELINE,764,743,711,672,663,632,877,783,799,649.26591362,628.73408638,650.73408638,0.400952526446,0.00447399072675,0.0698221152844,0.999999958484,3.34197922553e-05,-0.000284611618887,3.01775809564e-05,1793192527564907008
+47,0.783333333,BASELINE,764,743,711,672,663,632.317041323,877,783,799,649,629,651,0.400952699593,0.00447344122547,0.0698224416124,0.999999958561,3.36324842794e-05,-0.000284317412749,3.01583379896e-05,1793192527581573376
+48,0.800000000,BASELINE,764,743,711,672,663,632.890326183,877,783,799,649,629,651,0.400951415557,0.0044740589186,0.0698215903131,0.99999995792,3.61500536275e-05,-0.000286294831912,2.98085428828e-05,1793192527598240256
+49,0.816666667,BASELINE,764,742.523844742,711.476155258,672,663,632.523844742,877,783.476155258,799,649,628.523844742,650.523844742,0.400950992943,0.00447487473462,0.0698208608533,0.999999957647,3.66953216711e-05,-0.000287189218546,2.97106819677e-05,1793192527614907136
+50,0.833333333,BASELINE,764,742.063904477,712,672,662.936095523,632.063904477,877.063904477,783.936095523,799,649,628.063904477,650.063904477,0.400950702401,0.00447571595969,0.0698201925251,0.999999957444,3.68520029183e-05,-0.000287876523135,2.96810901742e-05,1793192527631573760
+51,0.850000000,BASELINE,764,742.643206845,712,672,662.356793155,632.643206845,877.643206845,783.356793155,799,649,628.643206845,650.643206845,0.400949833495,0.00447638410949,0.06981978477,0.999999957101,3.76376777195e-05,-0.000288960025767,2.9721426973e-05,1793192527648240384
+52,0.866666667,BASELINE,764,742.777994151,711.777994151,672,662.222005849,633,877.777994151,783,799,649.222005849,628.777994151,651,0.400949918546,0.00447646314198,0.0698198184864,0.999999957154,3.77125716999e-05,-0.000288771432053,2.96934995109e-05,1793192527664907008
+53,0.883333333,BASELINE,764,742.200002324,711.200002324,672,662.799997676,633,877.200002324,783,799,649.799997676,628.200002324,651,0.400951533265,0.00447559752587,0.0698205601016,0.999999957838,3.66477298698e-05,-0.000286543034075,2.95561104272e-05,1793192527681573632
+54,0.900000000,BASELINE,764,742.375056833,711,672,663,632.624943167,877,783,799,650,628.375056833,651,0.400950788655,0.00447464509883,0.0698199845022,0.999999957633,3.50655289152e-05,-0.000287453085173,2.95949783421e-05,1793192527698240256
+55,0.916666667,BASELINE,764,742.948564233,711,672,663,632.051435767,877,783,799,650,628.948564233,651,0.400948795675,0.00447364673829,0.0698187119364,0.99999995695,3.32095822515e-05,-0.000290023756655,2.9727107597e-05,1793192527714906880
+56,0.933333333,BASELINE,764,743,711,672.536667672,663,632.536667672,877.536667672,783,799,650,629,650.463332328,0.400949620086,0.00447427435776,0.0698196526183,0.999999957194,3.54989060701e-05,-0.000288908097044,2.97424898197e-05,1793192527731573504
+57,0.950000000,BASELINE,764,742.876472727,711,672.876472727,663,633,877.876472727,783,799,650,629,650.123527273,0.400950343927,0.00447496937163,0.0698203661005,0.999999957365,3.79448155168e-05,-0.000287999899809,2.97775698163e-05,1793192527748240384
+58,0.966666667,BASELINE,764,742.299458821,711,672.299458821,663,633,877.299458821,783,799,650,629,650.700541179,0.400949679532,0.00447532369886,0.0698194449885,0.999999956959,3.94662692075e-05,-0.000289186637476,2.99271894729e-05,1793192527764907008
+59,0.983333333,BASELINE,764,742.278376465,711,672,663,632.721623535,877,783,799,649.721623535,629,651,0.400949241711,0.00447552656711,0.0698190852719,0.999999956832,3.86748189344e-05,-0.000289737415627,2.98681916592e-05,1793192527781573888
+60,1.000000000,BASELINE,764,742.857098024,711,672,663,632.142901976,877,783,799,649.142901976,629,651,0.400949048342,0.00447556602372,0.0698193312543,0.999999957002,3.53879375011e-05,-0.000289602046409,2.9584112934e-05,1793192527798240512
+61,1.016666667,BASELINE,764,742.570926494,711,672,663.429073506,632,877,783,799,649.429073506,629,650.570926494,0.400949931094,0.0044760039943,0.0698197957377,0.999999957247,3.57892188236e-05,-0.000288708061,2.95366339891e-05,1793192527814907136
+62,1.033333333,BASELINE,764,742.001163035,711,672,663.998836965,632,877,783,799,649.998836965,629,650.001163035,0.400951166698,0.00447657263459,0.069820331866,0.999999957517,3.73998209792e-05,-0.000287565331095,2.95667343372e-05,1793192527831573504
+63,1.050000000,BASELINE,764,742,711,672,663.405637038,632.594362962,877,783,799.594362962,649.405637038,629,650,0.400951670458,0.00447499881527,0.0698210294045,0.999999957864,3.49773403743e-05,-0.00028661614084,2.99853762075e-05,1793192527848240128
+64,1.066666667,BASELINE,764.18470451,742,711,672,663,632.81529549,877,783,799.81529549,649.18470451,628.81529549,650.18470451,0.400951879238,0.00447428633172,0.0698213195251,0.999999958021,3.36023910145e-05,-0.000286229040125,3.00233878998e-05,1793192527864906496
+65,1.083333333,BASELINE,764.763861643,742,711,672,663,632.236138357,877,783,799.236138357,649.763861643,628.236138357,650.763861643,0.400951461255,0.00447542266478,0.0698207388637,0.999999957781,3.44821536453e-05,-0.000287041485377,2.92468333329e-05,1793192527881573376
+66,1.100000000,BASELINE,764.658384833,742.341615167,711,672.341615167,663,632.341615167,877,783.341615167,799,649.658384833,628.341615167,650.658384833,0.400950887674,0.00447567020772,0.0698202991122,0.999999957547,3.55858016978e-05,-0.000287732279949,2.91401145822e-05,1793192527898240512
+67,1.116666667,BASELINE,764.081597593,742.918402407,711,672.918402407,663,632.918402407,877,783.918402407,799,649.081597593,628.918402407,650.081597593,0.400950206978,0.00447530589659,0.0698199563648,0.999999957317,3.6843575185e-05,-0.000288339328669,2.94945190573e-05,1793192527914907136
+68,1.133333333,BASELINE,764,742.49733969,711,673,663,633,877.50266031,783.49733969,799,649.50266031,629,650.50266031,0.400949776252,0.00447459366965,0.0698202744102,0.999999957277,3.49830961065e-05,-0.000288690549999,2.96783395885e-05,1793192527931573760
+69,1.150000000,BASELINE,764,742.087254731,711,672.912745269,663,632.912745269,877.912745269,783,799,650.087254731,629,651,0.400949747827,0.00447401460992,0.0698206894741,0.999999957334,3.31594588295e-05,-0.000288692512507,2.98088351104e-05,1793192527948240384
+70,1.166666667,BASELINE,764,742.66680213,711,672.33319787,663,632.33319787,877.33319787,783,799,650.66680213,629,651,0.40095175679,0.00447451033761,0.0698210375831,0.999999957789,3.44427062661e-05,-0.00028696179198,2.9797060889e-05,1793192527964907008
+71,1.183333333,BASELINE,764,742.753972621,711,672.246027379,662.753972621,632,877,783,799,650.753972621,629,650.753972621,0.400952728861,0.0044746024573,0.0698212580159,0.999999958085,3.50689838813e-05,-0.000285850883566,2.98239649065e-05,1793192527981573632
+72,1.200000000,BASELINE,764,742.175183012,711,672.824816988,662.175183012,632,877,783,799,650.175183012,629,650.175183012,0.400952298493,0.00447414868051,0.0698213057615,0.99999995817,3.48066827578e-05,-0.000285578296487,2.99031828437e-05,1793192527998240256
+73,1.216666667,BASELINE,764,742.4013414,711,672.1973172,662.4013414,632.4013414,876.5986586,783,799,650,629,650,0.400952127654,0.00447469709269,0.0698213370191,0.999999958196,3.41263879042e-05,-0.000285608395002,2.95081878983e-05,1793192528014906880
+74,1.233333333,BASELINE,764,742.976882582,711,671.046234836,662.976882582,632.976882582,876.023117418,783,799,650,629,650,0.400952069463,0.0044756804989,0.0698213611203,0.999999958197,3.32646654426e-05,-0.000285769872365,2.89073637447e-05,1793192528031573504
+75,1.250000000,BASELINE,764,743,711,672.126548145,663,632.436725927,876.563274073,783,799,650,628.436725927,650.563274073,0.400950955974,0.00447620981035,0.06982081389,0.999999957758,3.588935236e-05,-0.000286964622665,2.91132096271e-05,1793192528048240384
+76,1.266666667,BASELINE,764,742.851762954,711.148237046,673,663,632.148237046,877,783.148237046,799,650,628,651,0.400949878034,0.00447644895493,0.0698203656141,0.999999957388,3.76377104039e-05,-0.000288001314329,2.9372140045e-05,1793192528064907008
+77,1.283333333,BASELINE,764,742.272276765,711.727723235,673,663,632.727723235,877,783.727723235,799,650,628,651,0.400949031987,0.00447589923224,0.0698202747697,0.999999957294,3.64122240732e-05,-0.000288452391821,2.9687298059e-05,1793192528081573888
+78,1.300000000,BASELINE,764,742,711.69366292,672.69366292,663,632.69366292,877,783.69366292,799.30633708,650,628,650.69366292,0.400949324942,0.0044751276979,0.0698206942553,0.999999957506,3.52033597092e-05,-0.00028784831171,2.98795810964e-05,1793192528098240512
+79,1.316666667,BASELINE,764,742,711.115822254,672.115822254,663,632.115822254,877,783.115822254,799.884177746,650,628,650.115822254,0.400950627383,0.00447415957407,0.0698215660415,0.999999957986,3.40092272982e-05,-0.000286309055616,2.99629612158e-05,1793192528114907136
+80,1.333333333,BASELINE,764,742.458316981,711,672,663,632,877,783,799.541683019,650,628,650.458316981,0.400950256558,0.00447459922846,0.0698209811962,0.99999995777,3.49500014516e-05,-0.000286953201912,2.99502320673e-05,1793192528131573760
+81,1.350000000,BASELINE,764,742.967526655,711,671.967526655,663,632,877,783,799.032473345,650,628,650.967526655,0.400949547827,0.0044752674054,0.0698200862719,0.999999957398,3.63246718195e-05,-0.000288078902316,2.99220092655e-05,1793192528148240384
+82,1.366666667,BASELINE,764,742.377134613,711,671.377134613,663,632,877,783,799.622865387,650,628,650.377134613,0.400950240391,0.00447379846091,0.0698201376741,0.999999957409,3.59589535275e-05,-0.000288074143739,3.00415371272e-05,1793192528164906752
+83,1.383333333,BASELINE,764,742.209268788,711,671.209268788,663,632.209268788,877,783,800,650,628.209268788,650.209268788,0.400950560936,0.00447279566736,0.0698201132462,0.999999957404,3.50171927338e-05,-0.000288208807721,3.00099256543e-05,1793192528181573376
+84,1.400000000,BASELINE,764,742.788618579,711,671.788618579,663,632.788618579,877,783,800,650,628.788618579,650.788618579,0.400950223588,0.00447261723734,0.0698199547165,0.99999995737,3.30567305757e-05,-0.00028859003327,2.97110321223e-05,1793192528198240256
+85,1.416666667,BASELINE,764,742.634532681,711.365467319,672.365467319,663,632.634532681,877,783,800,650,629,651,0.400949900482,0.00447303230642,0.0698199973766,0.999999957362,3.27870131112e-05,-0.000288667208005,2.95411361398e-05,1793192528214906880
+86,1.433333333,BASELINE,764,742.059120716,711.940879284,672.940879284,663,632.059120716,877,783,800,650,629,651,0.400949585557,0.00447378831424,0.0698201556113,0.99999995737,3.34885530451e-05,-0.00028856971911,2.94453435037e-05,1793192528231573760
+87,1.450000000,BASELINE,764,742.526969116,711.473030884,673,663,632.526969116,877,783,799.473030884,650,629,651,0.400949272956,0.00447449129755,0.0698192255246,0.999999957043,3.44277077085e-05,-0.000289612174423,2.9206074259e-05,1793192528248240384
+88,1.466666667,BASELINE,764,743,711,672.887345794,663,632.887345794,877,783,799,649.887345794,628.887345794,651,0.400949139918,0.00447486538,0.0698186224826,0.999999956888,3.49502199815e-05,-0.000290098689975,2.90891479789e-05,1793192528264906752
+89,1.483333333,BASELINE,764,743,711,672.308397085,663,632.308397085,877,783,799,649.308397085,628.308397085,651,0.400949749025,0.00447390321946,0.0698198889728,0.9999999576,3.36355559969e-05,-0.000287743770321,2.95466242881e-05,1793192528281573376
+90,1.500000000,BASELINE,764,742.729793742,711,672,663,632,877,783,799,649.270206258,628.270206258,650.729793742,0.400950071989,0.00447360383319,0.0698203943395,0.999999957798,3.4215264071e-05,-0.00028695208161,2.98566669849e-05,1793192528298240000
+91,1.516666667,BASELINE,764,742.151584115,711,672,663,632,877,783,799,649.848415885,628.848415885,650.151584115,0.400950068782,0.00447405993173,0.0698200321147,0.999999957412,3.69543336859e-05,-0.00028794229257,2.9998652664e-05,1793192528314906624
+92,1.533333333,BASELINE,764,742,711,672,663,632.421551537,877,783,799,650,629,650.421551537,0.40095090358,0.00447452800999,0.0698207532983,0.999999957602,3.66682145113e-05,-0.00028732780051,2.99165603824e-05,1793192528331573248
+93,1.550000000,BASELINE,764,742,711,672,663,632.992884404,877,783,799,650,629,650.992884404,0.400952036129,0.00447500034479,0.0698218594274,0.999999957995,3.53072167842e-05,-0.000286143142057,2.97548510503e-05,1793192528348240128
+94,1.566666667,BASELINE,764,742,711,672,663,633,877,783,799,649.417184513,629,650.417184513,0.400952028242,0.00447435219199,0.0698218661897,0.999999958038,3.53423309656e-05,-0.00028598850187,2.97736978518e-05,1793192528364907008
+95,1.583333333,BASELINE,764,742,711,671.829168057,663,632.829168057,877,783,799,649.170831943,628.829168057,650.170831943,0.400951695779,0.0044740011637,0.069821530467,0.99999995795,3.5304607565e-05,-0.000286304312511,2.97149652793e-05,1793192528381573632
+96,1.600000000,BASELINE,764,742,711,671.246334724,663,632.246334724,877,783,799,649.753665276,628.246334724,650.753665276,0.40095061521,0.00447440080104,0.0698204021989,0.999999957559,3.50487558236e-05,-0.0002877233974,2.94636401142e-05,1793192528398240512
+97,1.616666667,BASELINE,764,742.331871706,711.331871706,671.331871706,663,632.331871706,877,783.331871706,798.668128294,650,628.331871706,650.668128294,0.400950223825,0.00447499449267,0.0698203740839,0.999999957496,3.58188745551e-05,-0.000287863176291,2.93104167636e-05,1793192528414906880
+98,1.633333333,BASELINE,764,742.906690965,711.906690965,671.906690965,663,632.906690965,877,783.906690965,798.093309035,650,628.906690965,650.093309035,0.400950336959,0.00447573024223,0.0698211513389,0.999999957672,3.73400576806e-05,-0.00028706643578,2.92290091189e-05,1793192528431573504
+99,1.650000000,BASELINE,764,743,712,672,663,632.520505298,877,783.041010597,798.479494702,650,628.520505298,650.479494702,0.40095062391,0.00447577087514,0.0698210251048,0.999999957727,3.77169843429e-05,-0.000286820460293,2.92775494835e-05,1793192528448240128
+100,1.666666667,BASELINE,764,742.946277461,712,672,663,632.053722539,877,782.053722539,799,650,628,650.946277461,0.400950966125,0.00447557940703,0.0698208345818,0.99999995779,3.76281861745e-05,-0.000286605991496,2.93606924434e-05,1793192528464907008
+101,1.683333333,BASELINE,764,742.353852941,712,672,663,632.646147059,877,782.646147059,799,650,628,650.353852941,0.400951524742,0.00447441127733,0.0698217550327,0.999999958154,3.50928209128e-05,-0.000285637226904,2.95383016895e-05,1793192528481573632
+102,1.700000000,BASELINE,764,742,711.766331108,672,663,633,877.233668892,783,799.233668892,649.766331108,628.233668892,650,0.400951077079,0.00447365406381,0.069821565539,0.999999958056,3.34912450248e-05,-0.000286166377664,2.95756850648e-05,1793192528498240256
+103,1.716666667,BASELINE,764,742,711.186081067,672,663,633,877.813918933,783,799.813918933,649.186081067,628.813918933,650,0.400949136886,0.00447350632734,0.0698197297591,0.999999957277,3.32746795442e-05,-0.000288917258669,2.94050833427e-05,1793192528514907392
+104,1.733333333,BASELINE,764,742,711,672,663,632.610473428,877.610473428,783,799.610473428,649.389526572,628.610473428,650,0.400949542723,0.00447311633511,0.0698200178218,0.999999957375,3.37780479118e-05,-0.000288506945326,2.95320849463e-05,1793192528531574016
+105,1.750000000,BASELINE,764,742,711,672,663,632.037057346,877.037057346,783,799.037057346,649.962942654,628.037057346,650,0.400951056087,0.00447261197765,0.0698213085179,0.999999957886,3.46212859708e-05,-0.000286604280934,2.97995804934e-05,1793192528548240384
+106,1.766666667,BASELINE,764,742,711,672,663,632,877,783,799,649.461904062,628.538095938,650.538095938,0.400951439684,0.00447394303139,0.0698216720851,0.999999958183,3.49868737157e-05,-0.000285523695583,2.97799072697e-05,1793192528564907008
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,663,633,877,783,799,650,628,650,0.400950325657,0.0044753891813,0.0698212233726,0.999999957778,3.48657646375e-05,-0.00028699996573,2.93067079902e-05,1793192528606469376
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.42305916,672,663,633,877,783,799,650,628.57694084,650.57694084,0.40094931179,0.00447498155095,0.0698206172733,0.999999957526,3.45905021311e-05,-0.000287874954229,2.96558758877e-05,1793192528623136768
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.153521242,711,672,663,632.846478758,877,783,799,650,629,651,0.400948833605,0.00447467652129,0.0698203001365,0.999999957404,3.46211495999e-05,-0.000288280754169,2.97853158475e-05,1793192528639803904
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.729110838,711,672,663,632.270889162,877,783,799,650,629,651,0.400949828146,0.00447465356656,0.0698207774302,0.999999957642,3.54928201606e-05,-0.000287396637423,2.93106687422e-05,1793192528656470528
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.687919907,711.312080093,672.312080093,663,632.312080093,877.312080093,783,799,649.687919907,629,651,0.40095082636,0.00447404936271,0.0698209303603,0.999999957819,3.52098878587e-05,-0.000286814884046,2.93230603963e-05,1793192528673136896
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.098389918,711.901610082,672.901610082,663,632.901610082,877.901610082,783,799,649.098389918,629,651,0.400951827842,0.00447292840846,0.06982079492,0.999999957941,3.39004739924e-05,-0.000286501942121,2.9768446226e-05,1793192528689803264
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.517361258,672.517361258,663,632.517361258,877.517361258,783,799,649.482638742,629,650.517361258,0.400951372275,0.00447414971288,0.0698206725116,0.999999957802,3.54644497097e-05,-0.000286820975329,2.95275923068e-05,1793192528706469888
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,672.061598553,663,632.061598553,877,783,799,650,629,650.061598553,0.40095125334,0.00447557055959,0.0698208813926,0.999999957753,3.72255375588e-05,-0.000286800566875,2.92339443795e-05,1793192528723136000
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672.637504351,663,632.637504351,877,783,799,650,629,650.637504351,0.400956382147,0.00447473974333,0.0698238345239,0.999999958906,3.58262918915e-05,-0.000282888990222,2.9647319865e-05,1793192528739802880
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672.787684419,663,632.787684419,877,783,799.212315581,649.787684419,629,650.787684419,0.400966761771,0.00447429427013,0.0698288118463,0.999999961212,3.49159586459e-05,-0.000274720686387,2.97705467627e-05,1793192528756469504
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672.214732465,663,632.214732465,877,783,799.785267535,649.214732465,629,650.214732465,0.400986060363,0.00447450333553,0.0698372274323,0.999999965337,3.48360855598e-05,-0.000259321963737,2.94009311499e-05,1793192528773136384
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.370370721,742,711.370370721,672,663,632.370370721,877,783,799.629629279,649.370370721,628.629629279,650.370370721,0.401023913275,0.00447509488253,0.0698535613228,0.999999972306,3.52411943952e-05,-0.000230855965261,2.91983314374e-05,1793192528789803264
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.962757943,742,711.962757943,672,663,632.962757943,877,783,799.037242057,649.962757943,628.037242057,650.962757943,0.401072888466,0.00447591570586,0.0698746417941,0.999999980005,3.59370226863e-05,-0.000194556865142,2.90958483384e-05,1793192528806469888
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.914791194,742.542604403,711.457395597,672,663,633,877,783,799.542604403,650,628.542604403,651,0.401134427346,0.00447355569862,0.069891630613,0.999999984594,3.31051556292e-05,-0.000169863539516,2.93584401781e-05,1793192528823136512
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.120466787,742.879533213,711,672.120466787,663,633,877,783,800,650,629,651,0.401198268557,0.00447163657394,0.0699055245935,0.999999987843,3.03656809132e-05,-0.000150133236946,2.92048010236e-05,1793192528839802880
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.694031146,742.305968854,711,672.694031146,663,633,877,783,800,650,629,651,0.401267599205,0.00447217827511,0.0699088107328,0.99999998853,2.88638175783e-05,-0.000146141395495,2.73935255893e-05,1793192528856469504
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.274873694,672.725126306,663,632.725126306,877,783,800,649.725126306,629,651,0.401346592901,0.00447314069463,0.0699094671195,0.999999988615,2.81724455882e-05,-0.000146089388557,2.51963156373e-05,1793192528873136128
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.864038091,672.135961909,663,632.135961909,877,783,800,649.135961909,629,651,0.401436635326,0.00447458416368,0.0699071166461,0.999999988011,2.84077898482e-05,-0.000150542190373,2.25578280967e-05,1793192528889803008
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.445144937,711.554855063,672,663,632.445144937,877,783,799.554855063,649.445144937,629,651,0.401543705898,0.0044747859375,0.0699043713386,0.999999987092,2.39607776397e-05,-0.00015767010848,1.95565313739e-05,1793192528906469888
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.976286915,711,672,663,632.976286915,877.023713085,783,799,650,628.976286915,650.976286915,0.40165749238,0.00447470523616,0.0699017076947,0.999999986067,1.82768067858e-05,-0.000165114898864,1.63789336724e-05,1793192528923136512
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.400544967,711,672,663,632.400544967,877.599455033,783,799,650,628.400544967,650.400544967,0.401808698906,0.00447672054237,0.0699037026234,0.999999986795,1.64982108324e-05,-0.000161253547608,1.16309625249e-05,1793192528939803392
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.174059244,877.825940756,783,799.174059244,650,628,650,0.401970359565,0.00447818474193,0.0699063335871,0.999999987728,1.35773830286e-05,-0.000155927032733,6.84001560687e-06,1793192528956470272
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.746062223,877.253937777,783,799.746062223,650,628,650,0.402155921012,0.00447838897113,0.0699104186885,0.999999989124,8.04512274034e-06,-0.00014725078144,1.9508157906e-06,1793192528973136384
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.330473063,711,672,663,633,877.330473063,783,799.669526937,650,628.330473063,650,0.402364221202,0.00447890619278,0.0699142629579,0.999999990196,1.20574809015e-06,-0.000139975858593,-3.6036322197e-06,1793192528989803008
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.924790191,711,672,663,633,877.924790191,783,799.075209809,650,628.924790191,650,0.402590675639,0.00447967330228,0.0699179149517,0.999999990977,-6.6772049979e-06,-0.000133819731567,-9.68920358351e-06,1793192529006469632
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.492695103,711,672,663,632.492695103,877.492695103,783,798.492695103,649.492695103,628.492695103,650,0.402850581584,0.0044801728634,0.0699228057756,0.999999991848,-1.03395067332e-05,-0.000126352243704,-1.52279510265e-05,1793192529023136256
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.087120404,672,663.087120404,632,877,783,798.087120404,649.087120404,628,650,0.403121964073,0.00447974877703,0.069928119955,0.999999992769,-1.41165148923e-05,-0.000117656675226,-2.04816262368e-05,1793192529039802624
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.661404524,672,663.661404524,632,877,783,798.661404524,649.661404524,628,650,0.403430420537,0.00447437655591,0.0699347978202,0.999999994136,-2.19543601175e-05,-0.000103156284404,-2.45842406183e-05,1793192529056469248
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.236318036,711.763681964,672,663.763681964,632.236318036,877.236318036,783,799,649.763681964,628,650,0.403754806051,0.00446565194149,0.0699422325579,0.999999995642,-1.47515518291e-05,-8.95110091599e-05,-2.20513185208e-05,1793192529073136128
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.81213571,711.18786429,672,663.18786429,632.81213571,877.81213571,783,799,649.18786429,628,650,0.404102075567,0.00445211120618,0.0699507546349,0.99999999688,1.40589874184e-05,-7.70942124115e-05,-9.98563991333e-06,1793192529089803008
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,743,711.399726668,672,663,633,877.600273332,783,799,649,628.399726668,650,0.40447756151,0.00445249669993,0.0699549805754,0.999999996899,2.88078607326e-05,-7.25491534558e-05,-1.04272093653e-05,1793192529106469888
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,711.993018756,672,663,633,877.006981244,783,799,649,628.993018756,650,0.404866711091,0.00445962589321,0.0699571261354,0.999999996603,3.67474495497e-05,-7.18159402081e-05,-1.69253446092e-05,1793192529123136512
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.429799754,711.429799754,672,663,632.429799754,877.570200246,783,799,649.570200246,629,650.570200246,0.405297945797,0.00446404325429,0.0699630252897,0.999999997715,2.59193331407e-05,-5.95304361252e-05,-1.88091176708e-05,1793192529139803136
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.146109792,711,672.146109792,663,632.146109792,878,783,799,650,629,650.853890208,0.405733048606,0.00446869953698,0.0699646930735,0.999999998247,9.32290584393e-06,-5.47241835552e-05,-2.06177275341e-05,1793192529156469760
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.718865262,711,672.718865262,663,632.718865262,878,783,799,650,629,650.281134738,0.406177983073,0.00447414776613,0.0699538745978,0.999999996871,-2.34646527006e-05,-7.21592703036e-05,-2.2367294941e-05,1793192529173136128
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.698663154,742.698663154,711,672.698663154,663,632.698663154,877.698663154,783,799,649.698663154,629,650,0.406640169486,0.0044811057838,0.0699385263624,0.99999999488,-1.98153587132e-05,-9.62940321215e-05,-2.39593120303e-05,1793192529189802752
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.106824757,742.106824757,711,672.106824757,663,632.106824757,877.106824757,783,799,649.106824757,629,650,0.407118987564,0.00448951930255,0.0699188112446,0.999999991447,1.8960608898e-05,-0.000126887567969,-2.53994440895e-05,1793192529206469376
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.474259734,742.474259734,711,672,663,632.474259734,877,783,799,649.474259734,628.525740266,650.474259734,0.407683216693,0.004494188413,0.0699157597152,0.999999991497,2.51751647693e-05,-0.000124973438581,-2.74513015379e-05,1793192529223136512
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,711,672,663,632.947499473,877,783,799,649.947499473,628,651,0.408269639014,0.00449842993517,0.0699178728566,0.999999992788,2.51251944026e-05,-0.000113641400819,-2.96308958446e-05,1793192529239804160
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,711,672,663,632.37397368,877,783,799,649.37397368,628,651,0.408889618575,0.00450661256974,0.069934817683,0.999999995724,3.40780372411e-05,-7.98999237283e-05,-3.1741058955e-05,1793192529256471040
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,711,672,663,632,877.204915821,783,799.204915821,649,628.204915821,651,0.409501605952,0.00451433184503,0.0699436050879,0.999999996728,4.09978624286e-05,-6.10102950467e-05,-3.37894340818e-05,1793192529273137920
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,711,672,663,632,877.793857225,783,799.793857225,649,628.793857225,651,0.410098615422,0.00452118275436,0.0699371049531,0.999999995942,4.41076797683e-05,-6.99539989144e-05,-3.57220144386e-05,1793192529289804032
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,711,672.376380541,663.376380541,632.376380541,878,783,799.623619459,649,628.623619459,650.623619459,0.410739591744,0.00452850280854,0.0699336177196,0.999999994843,5.49705920358e-05,-7.70933612404e-05,-3.67220694448e-05,1793192529306470144
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,711,672.9554476,663.9554476,632.9554476,878,783,799.0445524,649,628.0445524,650.0445524,0.411404244851,0.00453607550399,0.0699317529784,0.999999993391,7.00086611219e-05,-8.32610585072e-05,-3.72199456111e-05,1793192529323136000
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,711,672.468521523,663.468521523,632.468521523,878,783,799.531478477,649.531478477,628,650,0.412149968684,0.00454237204311,0.0699532126608,0.999999995622,7.23419731051e-05,-4.44893556895e-05,-3.9275214753e-05,1793192529339802624
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.892761603,742.892761603,711.107238397,672,663.107238397,632.107238397,878,783,799.892761603,649.892761603,628.107238397,650,0.412903610207,0.00454832314419,0.0699772668757,0.999999996393,7.43741357648e-05,-2.89658166661e-06,-4.09077991364e-05,1793192529356469504
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.317079976,742.317079976,711.682920024,672,663.682920024,632.682920024,878,783,799.317079976,649.317079976,628.682920024,650,0.413662320226,0.00455322993249,0.0700041622553,0.999999995417,7.9716580401e-05,3.46569610965e-05,-4.01269505276e-05,1793192529373136896
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.264919987,742.264919987,711.735080013,672.264919987,664,632.735080013,878,783,799,649.264919987,628.735080013,650.264919987,0.414389177998,0.00455999371241,0.0700044055861,0.999999994944,8.77115120013e-05,2.80103377461e-05,-4.04327911032e-05,1793192529389803776
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.854667147,742.854667147,711.145332853,672.854667147,664,632.145332853,878,783,799,649.854667147,628.145332853,650.854667147,0.415076980777,0.00456903441197,0.0699719699601,0.99999999368,9.89587463534e-05,-3.28315689994e-05,-4.20710571372e-05,1793192529406470400
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,711,673,663.56344271,632,878,783,799.43655729,650,628,651,0.415807932395,0.00457896633719,0.0699257440039,0.999999987258,0.00011055125548,-0.00010602557118,-4.49515358712e-05,1793192529423136512
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.984229475,711,672.984229475,663.015770525,632.015770525,878,783,799.984229475,649.984229475,628.015770525,651,0.416556028861,0.00458897972337,0.0698771266453,0.999999975223,0.000121829290444,-0.000179976067653,-4.81694552524e-05,1793192529439802624
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.408829614,711,672.408829614,663.591170386,632.591170386,878,783,799.408829614,649.408829614,628.591170386,651,0.417411800305,0.0045915415218,0.069903679643,0.999999982403,0.000117941233416,-0.000137430438509,-4.89463540322e-05,1793192529456469504
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711.16699584,672.16699584,664,633,878,783,799.16699584,649.16699584,629,651,0.418262613081,0.00459574154824,0.0699309552021,0.999999987116,0.000119471661148,-9.52849569474e-05,-4.91475381072e-05,1793192529473136384
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711.743865835,672.743865835,664,633,878,783,799.743865835,649.743865835,629,651,0.419101255268,0.00460396243711,0.0699600042124,0.999999988368,0.000134301204291,-5.41215995055e-05,-4.79356895912e-05,1793192529489803008
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.327425123,712,673,664,633,878,783,799.672574877,649.672574877,628.672574877,650.672574877,0.419942788168,0.00460947857676,0.0699857654768,0.999999988859,0.000140745184443,-1.45911407684e-05,-4.75383578312e-05,1793192529506469888
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.916326338,712,673,664,633,878,783,799.083673662,649.083673662,628.083673662,650.083673662,0.420786629501,0.00461283474965,0.0700089012023,0.99999998871,0.000140492596996,2.36353110535e-05,-4.77914852487e-05,1793192529523136768
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,673,664,632.503160592,877.503160592,783,799,649.496839408,628.496839408,650.496839408,0.421631727265,0.00461494563032,0.0700125500318,0.999999988226,0.000143194480047,2.52748849015e-05,-4.90375487694e-05,1793192529539803392
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,711.924591994,673,664,632,877,783,799.150816013,649.924591994,628.924591994,650.924591994,0.422466628966,0.00461507778433,0.0700034788701,0.999999988344,0.000143948856412,6.31874467763e-06,-5.05085118271e-05,1793192529556470016
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,711.349701578,673,664,632,877,783,800.300596843,649.349701578,628.349701578,650.349701578,0.423232615993,0.00460346946154,0.0699315309175,0.999999984432,0.000128562429879,-0.000108922272607,-5.23799024887e-05,1793192529573136384
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,711,673,664,632,877.460114318,783,800.539885682,649,628,650,0.424010644547,0.00458819318252,0.0698743695481,0.999999974146,0.000105692950713,-0.00019377760402,-5.46565213873e-05,1793192529589802752
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,711,673,664,632,878.63475226,783,799.36524774,649,628,650,0.424807372822,0.00456722083604,0.0698401706415,0.999999969025,7.1202841901e-05,-0.000231446224214,-5.75624309489e-05,1793192529606469376
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.60108647,743,711,673,664,632,878.60108647,783,799.39891353,649,628,650,0.425668007652,0.00456071337183,0.069870544932,0.999999979911,6.2343119479e-05,-0.000182067342969,-5.60554945789e-05,1793192529623136256
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.022158113,743,711,673,664,632,878.022158113,783,799.977841887,649,628,650,0.426557481083,0.00456073337182,0.0699300587048,0.999999992141,6.50494380992e-05,-9.34071611747e-05,-5.25572045959e-05,1793192529639803136
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.555980287,743,711,673.555980287,664,632,877.444019713,783,799.444019713,649,628,650.555980287,0.427422344231,0.00456901928162,0.0699719717238,0.999999994542,8.14105709271e-05,-4.14189173109e-05,-5.07237253024e-05,1793192529656469760
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711,673.866505044,664,632,877.133494956,782.866505044,799.133494956,649,628.133494956,651,0.428285110223,0.00457601910055,0.0700077713437,0.999999994443,9.27081046982e-05,6.19717069737e-06,-4.98086838565e-05,1793192529673136384
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711,673.290951739,664,632,877.709048261,782.290951739,799.709048261,649,628.709048261,651,0.429144174906,0.00457767079051,0.0700256464518,0.999999994037,8.54383940021e-05,4.41680683683e-05,-5.17155797647e-05,1793192529689803264
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711,673,664.29052024,632,878.29052024,782.29052024,799.70947976,649,628.70947976,650.70947976,0.429944700336,0.00458030197955,0.0700218417663,0.999999994125,8.46740954371e-05,4.23348065925e-05,-5.27949888007e-05,1793192529706469632
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711,673,664.878042915,632,878.878042915,782.878042915,799.121957085,649,628.121957085,650.121957085,0.430685380311,0.00458393452251,0.0699958735584,0.999999994493,9.0560360621e-05,-1.90742269077e-07,-5.30284476384e-05,1793192529723136000
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711,673.46051418,664.53948582,632,878.53948582,783,799,649.46051418,628.46051418,650,0.43136551397,0.0045869535537,0.0699348140429,0.999999988075,9.77014867888e-05,-0.000106974963462,-5.34940016731e-05,1793192529739802624
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664,632.04114807,878,783,799,650,629,650,0.432036401206,0.00458961815179,0.0698698647399,0.999999968859,0.000103999930891,-0.000220321453352,-5.40792622534e-05,1793192529756469504
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664,632.615123839,878,783,799,650,629,650,0.432792932262,0.00458977424977,0.0698735783299,0.999999973804,9.51299029207e-05,-0.00020067361822,-5.5427334452e-05,1793192529773136128
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.810846965,742.810846965,711,674,664.378306071,632.810846965,878,783,799,649.810846965,628.810846965,650,0.433565194934,0.00458866301757,0.069899066019,0.999999983123,9.05207173851e-05,-0.000149809750082,-5.58285504242e-05,1793192529789803008
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.236708923,742.236708923,711,674,665.526582154,632.236708923,878,783,799,649.236708923,628.236708923,650,0.434369476452,0.00458497237598,0.0699688707436,0.999999993426,9.45836634566e-05,-3.54115821483e-05,-5.43026205353e-05,1793192529806470656
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.349527038,742.349527038,711,674,665.650472962,632,878,783,799,649.349527038,628,650,0.435091900584,0.00457792829797,0.0700016079397,0.9999999949,8.44987359374e-05,1.53554424423e-05,-5.31343992691e-05,1793192529823137536
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.94424974,742.94424974,711,674,665.05575026,632,878,783,799,649.94424974,628,650,0.435756901137,0.00456853176107,0.0700083420011,0.999999996326,6.44889764422e-05,2.14847678594e-05,-5.22171135271e-05,1793192529839804160
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.478428264,711,674,664.478428264,632,878,783,799,649.478428264,628,650.521571736,0.436377701362,0.00455716686501,0.0699887160417,0.999999997314,5.03400560363e-05,-6.42633647761e-06,-5.28865086184e-05,1793192529856470272
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.902926691,742.097073309,711,674,664.097073309,632,878,783,799,649,628,650.902926691,0.436986207925,0.00454856181461,0.0699647587248,0.999999996956,4.08479033831e-05,-3.90600718414e-05,-5.37938844177e-05,1793192529873136640
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.327526289,742.672473711,711,674,664.672473711,632,878,783,799,649,628,650.327526289,0.437556666087,0.00455455910912,0.0699328941372,0.999999994155,5.13146893007e-05,-7.76144496184e-05,-5.50651921495e-05,1793192529889803264
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.254113522,742.745886478,711,674,664.491772957,632,878,783,799.254113522,649,628.254113522,650,0.438103901174,0.00456289500277,0.0698978516556,0.999999988845,5.95545939563e-05,-0.000124606997531,-5.68920717261e-05,1793192529906469632
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.843997672,742.156002328,711,674,663.312004657,632,878,783,799.843997672,649,628.843997672,650,0.438620450615,0.004574320983,0.0698586100949,0.999999979431,6.48520280949e-05,-0.000182749242877,-5.94530510432e-05,1793192529923136512
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.574116255,742,711,674,663,632,878,783,800,649,628.574116255,650,0.439088758626,0.00457908159009,0.0698185421313,0.999999963353,7.53986199495e-05,-0.000253559070128,-5.75915887257e-05,1793192529939803648
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.004874913,742.004874913,711,674,662.98537526,632,878,783,800,649,628.004874913,650,0.439539850284,0.00458149489676,0.0697784851403,0.999999940786,8.78464529843e-05,-0.000328292645231,-5.41801816065e-05,1793192529956470784
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.581608942,742.581608942,711,674,661.255173174,632,878,783,800,649,628.581608942,650,0.440006054396,0.00458968392205,0.0697745713627,0.99999993914,0.00010192536207,-0.000329018743945,-5.54781418108e-05,1793192529973137408
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711,674,660,632,878,783,799.839172212,649,628.839172212,650,0.440469243539,0.00459811654518,0.0697766700042,0.999999940113,0.000114730903651,-0.000321491450166,-5.70387177324e-05,1793192529989804032
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711,674,660,632,878,783,799.253387581,649,628.253387581,650,0.440924466301,0.00460719283108,0.0697946553187,0.999999947855,0.000124171816841,-0.000292156136521,-5.92932060153e-05,1793192530006469888
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711,673.671609672,659.671609672,631.671609672,878,782.671609672,799,649,628,650.328390328,0.441346245139,0.00461520251214,0.0698091690884,0.999999951828,0.000134449702423,-0.000273206213622,-6.02079939027e-05,1793192530023136512
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711,673.092886138,659.092886138,631.092886138,878,782.092886138,799,649,628,650.907113862,0.441742529518,0.0046223991157,0.069821036485,0.999999953261,0.000145365614742,-0.000262173115753,-6.01015229279e-05,1793192530039803136
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711,673.485315564,659,631,878.485315564,782.485315564,799,649.485315564,628.485315564,651,0.442073695751,0.00463339992881,0.0698098217809,0.999999944522,0.000166238604074,-0.000282336902721,-6.00505650329e-05,1793192530056469760
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711,674,659,631,879,783,799,649.936770994,628.936770994,650.936770994,0.442385948813,0.00464563228412,0.0697928241505,0.999999932369,0.000186724794251,-0.000311019183015,-6.05262571922e-05,1793192530073136384
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711,674,659,631,879,783,799,649.360387298,628.360387298,650.360387298,0.442645746293,0.00466195682766,0.06976470857,0.999999915131,0.000188621964574,-0.000360429511859,-6.51900058114e-05,1793192530089803264
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.780085394,743,711,674,659,631,878.780085394,782.780085394,799,649,628.219914606,650,0.442899603296,0.00467505062674,0.0697406957873,0.999999899755,0.000185339128904,-0.000401810480589,-6.84698068433e-05,1793192530106469888
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.193246069,743,711,674,659,631,878.193246069,782.193246069,799,649,628.806753931,650,0.443143548663,0.00468275396816,0.0697235284735,0.999999890191,0.000173413519497,-0.00042979456022,-6.94405086547e-05,1793192530123136512
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.388748433,742.611251567,711,674,658.611251567,631,878,782.388748433,799.388748433,649.388748433,629,650,0.443371413,0.00468498354212,0.069714350225,0.999999881856,0.0001874228745,-0.000443740427751,-6.52250051088e-05,1793192530139802880
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.968364278,742.031635722,711,674,658.031635722,631,878,782.968364278,799.968364278,649.968364278,629,650,0.443591381906,0.00468452561054,0.0697090944402,0.99999987375,0.000214165757675,-0.000450793826802,-5.84631824217e-05,1793192530156468992
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.455564531,742,711,674,658.544435469,631,878,782.455564531,799.455564531,650,628.455564531,650,0.443770768305,0.00468999679837,0.0696957052057,0.99999986291,0.000221066097146,-0.000470684835434,-6.1363192945e-05,1793192530173135872
+202,3.366666667,POSE1_TO_POSE2_PRESS,763.120240508,742.120240508,711,674,659,630.879759492,878,782.120240508,799.120240508,650,628,650,0.443941507491,0.00469472661596,0.0696835242451,0.999999852702,0.000225582918204,-0.000489467034449,-6.42704369526e-05,1793192530189802752
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.695812771,742.695812771,711,674,659,630.304187229,878,782.695812771,799.695812771,650,628,650,0.444088373254,0.00469535275894,0.0696776969576,0.999999846854,0.00022541171343,-0.000501243794253,-6.50928031949e-05,1793192530206469376
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.722213972,743,711,674,659,630.277786028,878.277786028,782.722213972,800,649.722213972,628.277786028,650.277786028,0.444224904085,0.00469721879569,0.0696718515591,0.999999841794,0.000226441538442,-0.000510641356207,-6.61909471975e-05,1793192530223136000
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+206,3.433333333,POSE1_TO_POSE2_PRESS,763,743,711,674,658.551402485,630.551402485,879,782,800,649,628.551402485,650.551402485,0.444449138156,0.00470291827386,0.0696606144074,0.999999832816,0.000234352386319,-0.000524280397218,-6.76508655993e-05,1793192530256469504
+207,3.450000000,POSE1_TO_POSE2_PRESS,763,742.972072587,711,674,658,630,878.972072587,782,799.972072587,649.027927413,628.027927413,650,0.444539672233,0.00470514167283,0.0696552762541,0.999999827559,0.000240492259084,-0.000531516036125,-6.73489463136e-05,1793192530273135872
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+210,3.500000000,POSE1_TO_POSE2_PRESS,762.244632075,742.755367925,711,674,657.244632075,630,878,782,799,649.244632075,628.244632075,650,0.444712079422,0.00470885182054,0.0696323151382,0.999999811075,0.000229141426915,-0.000566348329768,-6.77784766597e-05,1793192530323136000
+211,3.516666667,POSE1_TO_POSE2_PRESS,762.338949328,743,711,674,657,630,878,782,799,649.338949328,628,650,0.444751909092,0.00471007250083,0.0696273358277,0.999999808056,0.000228075900159,-0.000572106125223,-6.75507578667e-05,1793192530339802624
+212,3.533333333,POSE1_TO_POSE2_PRESS,762.928822601,743,711,674,657,630,878,782,799,649.928822601,628,650,0.444786459746,0.0047125301438,0.0696244671901,0.999999805656,0.000232545850938,-0.000574517193955,-6.73838621443e-05,1793192530356469248
+213,3.550000000,POSE1_TO_POSE2_PRESS,763,742.49209952,711,673.49209952,657,630,878,782,799,650,628,650,0.444806725684,0.00471224202878,0.0696209882447,0.999999801832,0.000232799884143,-0.000581066504884,-6.70965994159e-05,1793192530373135872
+214,3.566666667,POSE1_TO_POSE2_PRESS,763,742.085241342,711,673.085241342,657,630,878,782,799,650,628.085241342,650.085241342,0.444824177859,0.00471248580123,0.0696174738021,0.99999979772,0.00023336718752,-0.000587900318259,-6.68829656232e-05,1793192530389802496
+215,3.583333333,POSE1_TO_POSE2_PRESS,763,742.661111079,711,673.661111079,657,630,878,782,799,650,628.661111079,650.661111079,0.444836717159,0.00471795966058,0.069614237082,0.999999793281,0.000239067441154,-0.000593103167883,-6.71881909875e-05,1793192530406469120
+216,3.600000000,POSE1_TO_POSE2_PRESS,763,742.757885083,710.757885083,674,657.242114917,630,878,782,799,649.757885083,628.757885083,650.757885083,0.444847855446,0.00472238948985,0.0696127073325,0.99999979099,0.000243487372177,-0.0005951029918,-6.77162643548e-05,1793192530423136000
+217,3.616666667,POSE1_TO_POSE2_PRESS,763,742.169539376,710.169539376,674,657.830460624,630,878,782,799,649.169539376,628.169539376,650.169539376,0.444856990247,0.00472532632792,0.0696136185968,0.999999791831,0.000246076407387,-0.000592522403238,-6.85630162959e-05,1793192530439802624
+218,3.633333333,POSE1_TO_POSE2_PRESS,763,742.413171812,710.413171812,674,658,630,878,782.413171812,799.413171812,649,628.413171812,650,0.444864086361,0.0047280392764,0.0696153463808,0.999999792343,0.000248744033559,-0.000590542253786,-6.85646387016e-05,1793192530456469248
+219,3.650000000,POSE1_TO_POSE2_PRESS,763,742.993602045,710.993602045,674,658,630,878,782.993602045,799.993602045,649,628.993602045,650,0.444870357183,0.00473066159078,0.0696174047049,0.999999792715,0.000251443474519,-0.00058880517155,-6.82241394131e-05,1793192530473135872
+220,3.666666667,POSE1_TO_POSE2_PRESS,763,743,711,674,658,630.568633653,878.568633653,782.431366347,800,649,629,650.568633653,0.444872092027,0.00472906872842,0.0696172074241,0.999999792491,0.000249653076136,-0.000589953862745,-6.81548891489e-05,1793192530489802752
+221,3.683333333,POSE1_TO_POSE2_PRESS,763,743,711,674,657.856061647,630.856061647,878.856061647,782,800,649.143938353,629,650.856061647,0.444873839208,0.00472824956459,0.069617314211,0.999999792494,0.000248611254968,-0.000590392662473,-6.8117053842e-05,1793192530506469120
+222,3.700000000,POSE1_TO_POSE2_PRESS,763,743,711,674,657.279755983,630.279755983,878.279755983,782,800,649.720244017,629,650.279755983,0.444875775307,0.00472989558787,0.0696184098842,0.999999793208,0.000249968356201,-0.00058860244919,-6.81645026227e-05,1793192530523136000
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.304901819,742.695098181,711,674,657,630,878.304901819,782,799.695098181,649.695098181,628.695098181,650.304901819,0.444875911444,0.00473064057574,0.0696175596367,0.999999792448,0.000250304314185,-0.000589752875435,-6.8139831991e-05,1793192530539802624
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.897438846,742.102561154,711,674,657,630,878.897438846,782,799.102561154,649.102561154,628.102561154,650.897438846,0.444874349552,0.00473053555408,0.0696148736662,0.999999790289,0.000249676956494,-0.000593677412369,-6.80471260793e-05,1793192530556469248
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.522477277,742.477522723,711,674,657,630,879,782,799,649,628,651,0.444873612633,0.00473154419765,0.069613944053,0.999999789145,0.000250957295661,-0.000595043640959,-6.82117305e-05,1793192530573135872
+226,3.766666667,POSE1_TO_POSE2_PRESS,763,743,711,673.945387713,657,630,878.945387713,782,799.054612287,649.054612287,628,651,0.444873101761,0.00473267635042,0.0696133170967,0.999999788207,0.000252566194448,-0.000595920840335,-6.8377596425e-05,1793192530589802752
+227,3.783333333,POSE1_TO_POSE2_PRESS,763,743,711,673.371980153,657,630,878.371980153,782,799.628019847,649.628019847,628,651,0.444873097832,0.00473276732939,0.0696120728388,0.999999787206,0.000253502929016,-0.000597239513347,-6.80437985278e-05,1793192530606469120
+228,3.800000000,POSE1_TO_POSE2_PRESS,763,742.793694949,711,673,657,630,878,782,799.793694949,650,628,650.793694949,0.444872464471,0.0047324544268,0.0696109089435,0.999999786481,0.000253166489176,-0.000598600813685,-6.79800978605e-05,1793192530623136000
+229,3.816666667,POSE1_TO_POSE2_PRESS,763,742.206402131,711,673,657,630,878,782,799.206402131,650,628,650.206402131,0.444870668722,0.00473139566788,0.0696098934555,0.999999786265,0.000250478852008,-0.000600040834698,-6.84151913025e-05,1793192530639802880
+230,3.833333333,POSE1_TO_POSE2_PRESS,763,742.377993859,711,673.377993859,657.377993859,630,878,782,799.377993859,650,628.377993859,650,0.444872203376,0.00473236126052,0.0696108628925,0.999999787239,0.000250298497886,-0.000598486093963,-6.84615853688e-05,1793192530656469248
+231,3.850000000,POSE1_TO_POSE2_PRESS,763,742.960820057,711,673.960820057,657.960820057,630,878,782,799.960820057,650,628.960820057,650,0.444875542752,0.00473442383575,0.0696129079471,0.999999788851,0.000251476823736,-0.000595308511846,-6.82973458322e-05,1793192530673135872
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.535506054,743,711,674,657.464493946,630.535506054,878.535506054,782,800,649.464493946,628.464493946,650.535506054,0.444876127653,0.00473262248275,0.0696132189845,0.999999789362,0.00025089064957,-0.000594715594685,-6.81382344197e-05,1793192530689803776
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.889973769,743,711,674,657,630.889973769,878.889973769,782,800,649.110026231,628.110026231,651,0.444876437133,0.00473111465377,0.0696133662063,0.999999789643,0.000250361043444,-0.000594489353999,-6.79442930298e-05,1793192530706471424
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.313670297,743,711,674,657,630.313670297,878.313670297,782,800,649.686329703,628.686329703,651,0.444876420678,0.00473203085823,0.0696133487992,0.999999789283,0.000250610076705,-0.000595027637348,-6.76011804243e-05,1793192530723137536
+235,3.916666667,POSE1_TO_POSE2_PRESS,763,742.732165226,711,674,657,630,878,782.267834774,800,649.732165226,628.732165226,650.732165226,0.444877832637,0.00473188619238,0.0696140919854,0.999999790017,0.000250259126227,-0.000593950399577,-6.75183304432e-05,1793192530739803392
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,742.144447658,711,674,657,630,878,782.855552342,800,649.144447658,628.144447658,650.144447658,0.444880950594,0.00473047449863,0.0696157435701,0.99999979205,0.000249191597898,-0.000590943698415,-6.77463195733e-05,1793192530756469504
+237,3.950000000,POSE1_TO_POSE2_PRESS,763,742,711,674,657,630,878,782.56248816,800,649,628.43751184,650.43751184,0.444882002937,0.00473124646163,0.0696166089036,0.999999792266,0.000250205238605,-0.000590132997595,-6.78802072568e-05,1793192530773136128
+238,3.966666667,POSE1_TO_POSE2_PRESS,763,742.017418639,711,674,657,630,878.017418639,782,799.982581361,649.017418639,629,650.982581361,0.444882359229,0.0047326267888,0.0696171849556,0.999999791922,0.000251742629886,-0.000590052529213,-6.79649890906e-05,1793192530789802752
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,742.59168966,711,674,657,630,878.59168966,782,799.40831034,649.59168966,629,650.40831034,0.444881982403,0.00473070728507,0.0696167038943,0.999999792578,0.000248342875312,-0.000590439613813,-6.7460229957e-05,1793192530806469376
+240,4.000000000,POSE1_TO_POSE2_PRESS,763,743,711,674,657,630,878.830292926,782,799,649.830292926,628.830292926,650,0.44488180677,0.00472969987037,0.0696163026325,0.999999792734,0.000246869920011,-0.000590821124715,-6.72118026239e-05,1793192530823136000
+241,4.016666667,POSE1_TO_POSE2_PRESS,763,743,711,674,657,630,878.243058359,782,799,649.243058359,628.243058359,650,0.444882126131,0.00473093645329,0.0696160977002,0.999999791679,0.000250137437158,-0.000591188922728,-6.7594024192e-05,1793192530839803136
+242,4.033333333,POSE1_TO_POSE2_PRESS,763,743,711,674,657,630,878,782,799.33946477,649,628.33946477,650.33946477,0.444883193087,0.00473122837,0.0696161697779,0.999999791618,0.000251371268964,-0.000590756272646,-6.76978974656e-05,1793192530856470016
+243,4.050000000,POSE1_TO_POSE2_PRESS,763,743,711,674,657,630,878,782,799.918660641,649,628.918660641,650.918660641,0.444884787997,0.00473085316037,0.069616437481,0.999999792264,0.000251168905575,-0.000589758343558,-6.76052002719e-05,1793192530873136896
+244,4.066666667,HOLD_POSE2,763,742,711,675,657,630,878,782,800,649,629,651,0.444893039011,0.0047302814076,0.0696221103268,0.999999797593,0.000250641258892,-0.000580895010258,-6.74827461581e-05,1793192530904323584
+245,4.083333333,HOLD_POSE2,763,742.573943314,711,674.426056686,657,630,878,782,800,649.573943314,628.426056686,651,0.444896181166,0.00473047284552,0.0696229190658,0.999999799095,0.000250390579683,-0.00057843737701,-6.72622970255e-05,1793192530920990208
+246,4.100000000,HOLD_POSE2,763.152016827,743,711,673.847983173,657,630,878.152016827,782,800,649.847983173,628.152016827,651,0.444899470332,0.00473061392649,0.0696242590832,0.999999800906,0.000249861707722,-0.000575544052114,-6.71258559425e-05,1793192530937656832
+247,4.116666667,HOLD_POSE2,763.741989449,743,711,673.258010551,657,630,878.741989449,782,800,649.258010551,628.741989449,651,0.444903183033,0.00473060993064,0.0696271296974,0.99999980361,0.000248531370953,-0.000571395512424,-6.72314394125e-05,1793192530954322944
+248,4.133333333,HOLD_POSE2,763.673971518,743,711,673.326028482,657,630,879,782,799.673971518,649.326028482,628.673971518,650.673971518,0.444906136303,0.00473016464669,0.069629182536,0.999999805623,0.00024758619357,-0.000568277229286,-6.72023517898e-05,1793192530970989568
+249,4.150000000,HOLD_POSE2,763.094544277,743,711,673.905455723,657,630,879,782,799.094544277,649.905455723,628.094544277,650.094544277,0.444908499322,0.00472937638089,0.0696305997755,0.999999807106,0.000246940373276,-0.000565959691565,-6.7068593896e-05,1793192530987656448
+250,4.166666667,HOLD_POSE2,763,743,711,673.518352829,657,630,878.518352829,782,799.481647171,650,628.481647171,650.481647171,0.444910639238,0.00472849629132,0.0696317978158,0.9999998084,0.000245893994681,-0.000564173532894,-6.66705934089e-05,1793192531004323328
+251,4.183333333,HOLD_POSE2,763,743,711,673.057249916,657,630,878,782.057249916,800,649.942750084,628.942750084,650.942750084,0.444912702904,0.00472761888284,0.0696328815539,0.999999809604,0.000244837870313,-0.000562540522579,-6.62972747827e-05,1793192531020990464
+252,4.200000000,HOLD_POSE2,763,743,711,673.633235266,657,630,878,782.633235266,800,649.366764734,628.366764734,650.366764734,0.444914469845,0.00472692799487,0.0696333168774,0.999999810355,0.000244401117539,-0.000561356371677,-6.66144403203e-05,1793192531037656576
+253,4.216666667,HOLD_POSE2,763,743,711,674,657,630,878,782.786212836,800,649,628,650,0.444915303883,0.00472673165733,0.0696332789948,0.99999981061,0.000244502497061,-0.000560842678885,-6.67430168812e-05,1793192531054322688
+254,4.233333333,HOLD_POSE2,763,743,711,674,657,630,878,782.197655817,800,649,628,650,0.444914502541,0.00472740226897,0.0696324115795,0.999999809996,0.000245547224947,-0.000561504302279,-6.65409960903e-05,1793192531070989568
+255,4.250000000,HOLD_POSE2,763,743,711,674,657,630.385746562,878,782,800,649,628,650,0.444915200229,0.00472669857328,0.0696326136517,0.999999810769,0.000243739011647,-0.000560958156839,-6.61812536317e-05,1793192531087656192
+256,4.266666667,HOLD_POSE2,763,743,711,674,657,630.966542595,878,782,800,649,628,650,0.444916655889,0.00472529997082,0.0696333565012,0.999999812233,0.00024048823297,-0.000559801313408,-6.57417605329e-05,1793192531104322560
+257,4.283333333,HOLD_POSE2,763,743,711,674,657,630.458566412,878.541433588,782,799.458566412,649.541433588,628,650,0.44492023001,0.00472579383681,0.0696358537402,0.999999814184,0.000240938586065,-0.000556034305578,-6.63745746562e-05,1793192531120989440
+258,4.300000000,HOLD_POSE2,763.118445432,742.881554568,711,674,657.118445432,630,879,782,799,649.881554568,628.118445432,650,0.444923758429,0.00472634061966,0.069638181887,0.99999981598,0.000241663062525,-0.000552418869743,-6.68799907736e-05,1793192531137656320
+259,4.316666667,HOLD_POSE2,763.705271513,742.294728487,711,674,657.705271513,630,879,782,799,649.294728487,628.705271513,650,0.44492659405,0.00472663920526,0.0696394173015,0.99999981709,0.000242576886485,-0.000550033744155,-6.66224237797e-05,1793192531154323200
+260,4.333333333,HOLD_POSE2,763.709963496,742.290036504,711,674,658,630,879,782,799.290036504,649.290036504,629,650,0.444927603958,0.00472753546504,0.0696400269725,0.999999816948,0.000245023404475,-0.00054925228453,-6.62459497127e-05,1793192531170990080
+261,4.350000000,HOLD_POSE2,763.127278193,742.872721807,711,674,658,630,879,782,799.872721807,649.872721807,629,650,0.44492677171,0.00472903478209,0.0696400052643,0.999999815535,0.000249016421075,-0.000550088934871,-6.57494976177e-05,1793192531187656704
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,657,630,879,782,799,649,628,650,0.444929542026,0.00472520389243,0.0696407295761,0.999999818276,0.00024293952821,-0.000547788963721,-6.59999736809e-05,1793192531220269568
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,657.586519061,630,878.413480939,782,799,649.586519061,628,650,0.444929715442,0.00472567459812,0.0696413074986,0.999999818394,0.000243709669602,-0.000547212850177,-6.61527867861e-05,1793192531236935680
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,657.829113218,630,878.170886782,782,799.170886782,649.829113218,628.170886782,650,0.444929604236,0.00472600342876,0.0696415624776,0.999999818441,0.000243853527385,-0.000547059530429,-6.61741761345e-05,1793192531253602048
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,657.249886086,630,878.750113914,782,799.750113914,649.249886086,628.750113914,650,0.444928812915,0.00472599324377,0.0696410457709,0.99999981832,0.00024250085725,-0.000547916492127,-6.5881523538e-05,1793192531270268672
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,657,630,878.67176732,782.32823268,800,649.32823268,628.67176732,650,0.444928945587,0.00472560679773,0.0696409627519,0.999999818548,0.000242104293756,-0.000547663601497,-6.59876244247e-05,1793192531286935296
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,657,630,878.094489556,782.905510444,800,649.905510444,628.094489556,650,0.444929779333,0.0047249348653,0.0696412087914,0.99999981904,0.000242433172,-0.000546568615304,-6.63962777587e-05,1793192531303602176
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,657.481579322,630,878,782.518420678,800,649.518420678,628,650.481579322,0.44492854546,0.00472460782069,0.0696406267834,0.999999818769,0.000242489149352,-0.000547075997461,-6.60928093853e-05,1793192531320268800
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742.941330498,711,674,658,630.058669502,878.058669502,782,799.941330498,649,628.058669502,651,0.444925690815,0.00472439083489,0.0696392643329,0.999999817812,0.000242443842466,-0.000548887248796,-6.57188896144e-05,1793192531336935424
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742.352881572,711,674,658,630.647118428,878.647118428,782,799.352881572,649,628.647118428,651,0.44491185486,0.00472455814887,0.0696323179752,0.999999811952,0.000241966246854,-0.000559640438801,-6.59673325378e-05,1793192531353601792
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,657.768136961,630.768136961,878.768136961,782,799,649,629,650.768136961,0.444886270529,0.00472448865104,0.0696215337432,0.999999801198,0.000242037794531,-0.000578515127362,-6.58878578532e-05,1793192531370268672
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,657.188941493,630.188941493,878.188941493,782,799,649,629,650.188941493,0.444843087049,0.00472406440748,0.0696050003494,0.99999978258,0.000242931962551,-0.00060955587545,-6.53171602745e-05,1793192531386935296
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.388846337,742.388846337,711,674,657.388846337,630.388846337,878,782.388846337,799.388846337,649.388846337,629,650.388846337,0.444781678601,0.00472349550467,0.0695864156457,0.999999761257,0.00024335101958,-0.000643520732955,-6.4400410396e-05,1793192531403601920
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.96595271,742.96595271,711,674,657.96595271,630.96595271,878,782.96595271,799.96595271,649.96595271,629,650.96595271,0.444711446526,0.00472285656501,0.0695668377985,0.999999737886,0.000243540051421,-0.000678901300935,-6.33161191248e-05,1793192531420268288
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.462472775,743,711,674,657.462472775,630.462472775,878.537527225,782.462472775,800,649.462472775,628.462472775,651,0.444638172929,0.00472341726926,0.0695615479766,0.999999733667,0.000245373704653,-0.000684534365888,-6.22077325989e-05,1793192531436935424
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,657,630,879,782,800,649,628.11298953,650.88701047,0.444559980213,0.0047241551501,0.0695583734424,0.999999731082,0.000247565701043,-0.000687628242544,-6.09442700535e-05,1793192531453602560
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,657,630,879,782,800,649,628.706459415,650.293540585,0.444461680143,0.00472532662816,0.069560384726,0.999999730224,0.000250843059177,-0.000687855310635,-5.90277808245e-05,1793192531470269184
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,657.292810178,630,878.707189822,782,799.707189822,649,628.707189822,650,0.44435230322,0.00472498339244,0.0695655180094,0.999999733107,0.000253694884372,-0.000682830143497,-5.62898918021e-05,1793192531486935552
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,657.872193427,630,878.127806573,782,799.127806573,649,628.127806573,650,0.444232085396,0.00472315770758,0.0695737067912,0.999999739569,0.000256130240623,-0.000672664618166,-5.27480996151e-05,1793192531503602176
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,743,711,674,658,630,878.448841941,782,799.448841941,649,628,650.448841941,0.44408387739,0.00472035646792,0.0695801306657,0.999999745785,0.000257583515428,-0.000663094914064,-4.88508107312e-05,1793192531520268800
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742.974862305,711,674.025137695,658,630.025137695,879,782,800,649.025137695,628,651,0.443926327771,0.00471745571162,0.0695860381901,0.999999751807,0.000258944476106,-0.00065369893541,-4.48376744007e-05,1793192531536935424
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742.389173204,711,674.610826796,658,630.610826796,879,782,800,649.610826796,628,651,0.443737118813,0.00471849272731,0.0695915701814,0.999999756579,0.000264445011652,-0.000644416554899,-4.04848366634e-05,1793192531553602048
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,742.194369666,711,674.805630334,658,630.805630334,879,782.194369666,800,650,628.194369666,650.805630334,0.443530171354,0.00471819941991,0.0695968550035,0.999999760147,0.000269972563582,-0.000636840215833,-3.54376276172e-05,1793192531570268928
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.773662148,711,674.226337852,658,630.226337852,879,782.773662148,800,650,628.773662148,650.226337852,0.443288095217,0.00471527158758,0.0696016503399,0.999999761496,0.000275553617192,-0.000632642462133,-2.90153107056e-05,1793192531586935552
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,743,711,674.352718646,658,630.352718646,878.647281354,782.647281354,799.647281354,649.647281354,629,650,0.443030539744,0.00471182920564,0.069612312566,0.999999769387,0.000279433992563,-0.000618589828017,-2.2103597865e-05,1793192531603602176
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,743,711,674.931623873,658,630.931623873,878.068376127,782.068376127,799.068376127,649.068376127,629,650,0.442763057871,0.00470805686008,0.0696267370312,0.999999781132,0.000282223780746,-0.000598217590589,-1.48780512685e-05,1793192531620268800
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,743,711,674.494103156,658.505896844,631,878,782.505896844,799,649,628.494103156,650,0.442468573779,0.00470318743575,0.0696478732153,0.999999798895,0.000288353642778,-0.000564814823951,-6.75976400373e-06,1793192531636935424
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.918250088,658.918250088,631,878,783,799.163499823,649,628.081749912,650,0.442163940399,0.00469853829212,0.0696686289804,0.999999815018,0.000295127671908,-0.00053184655367,1.3680944847e-06,1793192531653601792
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.328728842,658.328728842,631,878,783,800.342542315,649,628.671271158,650,0.441818729679,0.00469617001741,0.0696814384687,0.999999822733,0.000303124238488,-0.000512416990737,8.81274571608e-06,1793192531670268416
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.256356319,743,711,673.256356319,658.256356319,631,878,783,800.487287362,649,629,650,0.441446247409,0.00469218582213,0.0696949049587,0.999999834484,0.000306429174177,-0.000486717543658,1.54751887922e-05,1793192531686935296
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.835849761,743,711,673.835849761,658.835849761,631,878,783,799.328300479,649,629,650,0.441039389374,0.00468616475922,0.0697091995982,0.999999850966,0.000303820308855,-0.000453114909033,2.11516580883e-05,1793192531703601920
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.587893008,743,711,674,659.412106992,631,878,783,799,649,629,650,0.440605318547,0.00467233373532,0.0697237574325,0.999999872674,0.000272840351324,-0.000424058339679,1.96259490951e-05,1793192531720268544
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.012914792,743,711,674,659.987085208,631,878,783,799,649,629,650,0.440160492803,0.00465541609103,0.0697384192853,0.99999989456,0.000230647687405,-0.000396798447474,1.52538247595e-05,1793192531736935168
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,659.426262365,631.573737635,878,783,799,649,629,650,0.439654560599,0.00462204859211,0.0697342138863,0.999999900915,0.000187984988923,-0.000403140662155,1.75943648657e-05,1793192531753602816
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.158444852,743,711.158444852,674,659.158444852,631.841555148,878,783,799,649,628.841555148,650,0.439122769897,0.00459522140535,0.0697242190391,0.999999898172,0.00016702881416,-0.000418742644168,2.03032237725e-05,1793192531770270208
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.737279187,743,711.737279187,674,659.737279187,631.262720813,878,783,799,649,628.262720813,650,0.438526096233,0.00458674998343,0.0697000137269,0.999999874614,0.000203693544418,-0.000456864321196,2.35800810278e-05,1793192531786936576
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,660.633042838,631,878,783.316521419,799,649,628.316521419,650,0.437931776793,0.00458445652631,0.0696954577599,0.999999871844,0.000213391231382,-0.000458445335049,2.45879503265e-05,1793192531803602944
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,661.792205434,631,878,783.896102717,799,649,628.896102717,650,0.437339413876,0.00458729755389,0.0697072322944,0.999999887281,0.000200676704248,-0.000429657532151,2.37100718037e-05,1793192531820269568
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.528555209,742.528555209,711.528555209,674,662.942889582,631.471444791,878,783.528555209,799,649,628.528555209,650,0.436736015189,0.00458092348294,0.06974542347,0.999999912845,0.000182345336625,-0.000374572473973,2.74883806653e-05,1793192531836935680
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763,742.046895933,711,674,663.953104067,632,878,783,799,649,628,650,0.436126427703,0.00457317225854,0.069788152618,0.999999936374,0.000163691866946,-0.000315316579912,3.21200222433e-05,1793192531853602304
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,742.634275882,711,674,663.365724118,632,878,783,799,649,628,650,0.435473292969,0.00457274616643,0.0698166843873,0.999999949718,0.000155465324205,-0.000274188851689,3.48655051806e-05,1793192531870269440
+302,5.033333333,POSE2_TO_POSE3_RETREAT,762.780030612,743,711,674,663,632,877.780030612,783,799,649,628.219969388,650,0.434779873975,0.00457184250737,0.0698326909118,0.999999954101,0.000159257677696,-0.000255194445046,3.62099839995e-05,1793192531886936320
+303,5.050000000,POSE2_TO_POSE3_RETREAT,762.197119711,743,711,674,663,632,877.197119711,783,799,649,628.802880289,650,0.434019987453,0.00457015088019,0.0698280312347,0.999999945468,0.000182880774847,-0.00027271921925,3.52428567303e-05,1793192531903602688
+304,5.066666667,POSE2_TO_POSE3_RETREAT,762.379839089,742.620160911,711,674,663,632,877,783,799,649,629,650,0.43324996196,0.00456687202955,0.0698231802763,0.999999945063,0.000176551330618,-0.000278196671311,3.61956352977e-05,1793192531920269056
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,742.52724017,711,673.47275983,663.52724017,632,877.52724017,783,799,649.52724017,628.47275983,650,0.431666915688,0.004563259008,0.0698130934031,0.999999946693,0.000152021233902,-0.000286289525317,3.92593805714e-05,1793192531953601792
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742.895658094,711,673,663.895658094,632,877.895658094,783,799,649.895658094,628,650,0.430845789921,0.00456364727447,0.0697998082036,0.999999939804,0.0001544559465,-0.000308114078201,4.00115039211e-05,1793192531970268416
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742.301388942,711,673,663.301388942,632,877.301388942,783,799,649.301388942,628,650,0.429975712416,0.00456174062614,0.0697483474415,0.999999909035,0.00017421236116,-0.000387342264896,3.93201168166e-05,1793192531986935040
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763,742.284126544,711,673.284126544,662.715873456,632,877,783,799,649,628.284126544,650,0.429133455255,0.00455644364706,0.0697356530964,0.999999902546,0.000170293542455,-0.000405420604553,3.92772041216e-05,1793192532003601920
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742.860634126,711,673.860634126,662.139365874,632,877,783,799,649,628.860634126,650,0.428319826573,0.0045476578405,0.0697628514107,0.999999924114,0.000142011676403,-0.000360572572185,3.99016054621e-05,1793192532020268800
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,743,711,673.564358385,662.87128323,632,877,783.435641615,799.435641615,649,629,650,0.427493067777,0.00454314588217,0.0698131936299,0.999999947698,0.000145490308287,-0.00028565416597,4.2886523164e-05,1793192532036935680
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,743,711,673.010104863,664,632,877,783.989895137,799.989895137,649,629,650,0.426661376202,0.00453995251413,0.0698697199963,0.99999996574,0.00015858292359,-0.000202985235421,4.6562264264e-05,1793192532053602304
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,743,711,673.580908204,664,632,877,783.419091796,799.419091796,649,629,650,0.425788246351,0.00453431975276,0.0698599717304,0.999999963951,0.000143286110299,-0.000222206559848,4.68123844461e-05,1793192532070268672
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742.840563247,711,673.840563247,664,632,877.159436753,783,799,649,629,650,0.424908879978,0.00452899011557,0.0698458627043,0.999999959968,0.000130575442922,-0.000246681846011,4.64982358545e-05,1793192532086935296
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742.240694424,711,673.240694424,664,632,877.759305576,783,799,649,629,650,0.42401228573,0.00452449783655,0.0698197074057,0.999999950387,0.000125008810608,-0.00028567080624,4.46253371149e-05,1793192532103601920
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,664,632,877.655499262,783,799,649.344500738,629,650.344500738,0.423064375983,0.00451922890663,0.0697728286911,0.999999922777,0.000124181267327,-0.000370149239957,4.48939212929e-05,1793192532120268544
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,664,632,877.08013742,783,799,649.91986258,629,650.91986258,0.422082078094,0.00451343951795,0.0697120625454,0.999999873243,0.000126529540119,-0.000485111638245,4.65975821759e-05,1793192532136935168
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742.493827595,711.493827595,673,663.012344809,632,877,783,799,649.506172405,629,650.506172405,0.421185252801,0.00450502319193,0.0697034663826,0.999999873839,0.000107408167009,-0.000488602860855,4.52973132349e-05,1793192532153602048
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,743,711.930612922,673,662.138774156,632.069387078,877,783,799,649,628.930612922,650,0.420317089794,0.00449620374179,0.069713332351,0.999999889598,8.69577083224e-05,-0.00045967780936,4.4039732453e-05,1793192532170268672
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,743,711.341415519,673,663.317168962,632.658584481,877,783,799,649,628.341415519,650,0.419560033606,0.00448754886835,0.0697982624436,0.99999994332,8.25774944874e-05,-0.000323040866385,4.67435245174e-05,1793192532186935296
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,664,632.755918479,877,783,799.244081521,649,628.244081521,650,0.418773034524,0.0044800964071,0.0698597041966,0.999999970137,7.86451074735e-05,-0.000226171481057,4.88527264627e-05,1793192532203601664
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,664,632.175520041,877,783,799.824479959,649,628.824479959,650,0.417944777388,0.00447430073353,0.0698887816683,0.99999997896,7.53297764587e-05,-0.000184097309566,5.01426512951e-05,1793192532220268032
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742.599171442,711,673,663.599171442,632,877,783,800,649,629,650.400828558,0.417079885077,0.00446625686844,0.0698670658867,0.999999973539,6.5265206592e-05,-0.000215104472689,4.89214453981e-05,1793192532236935424
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742.024578534,711,673,663.024578534,632,877,783,800,649,629,650.975421466,0.416199110995,0.00445723838368,0.069823330573,0.999999958963,5.22747546575e-05,-0.000277793338632,4.66116317257e-05,1793192532253603072
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.129040658,742.129040658,711,672.129040658,663,632,877,783,799.870959342,649,628,650.129040658,0.414461204729,0.00444193648672,0.0697653185118,0.999999931793,2.05664213012e-05,-0.000366274467788,4.28251661882e-05,1793192532286935552
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742.69202615,711.30797385,673,662.69202615,632,877,783,799,649,628.30797385,650.69202615,0.412888035269,0.00442687286678,0.0697577946214,0.999999920826,8.0403619241e-06,-0.000395295974318,4.49968946511e-05,1793192532320269056
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742.11592067,711.88407933,673,662.11592067,632,877,783,799,649,628.88407933,650.11592067,0.412220671984,0.00441644760417,0.0698092858444,0.99999995674,-1.01613666552e-05,-0.000290710715033,4.36253890985e-05,1793192532336935680
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.965018398,742,711.034981602,672.034981602,663,632.965018398,876.069963204,783,799,649,628.034981602,651,0.410884728912,0.00440080966665,0.0698991700803,0.999999987714,-3.66562492829e-05,-0.000145714503734,4.46811765477e-05,1793192532370268672
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.374230506,742,711.625769494,672.625769494,663,632.374230506,877.251538988,783,799,649,628.625769494,651,0.410161392972,0.00441200345559,0.0698731099978,0.999999979976,-1.97722516052e-05,-0.000193586855371,4.67121219578e-05,1793192532386935040
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742.221948204,711,672,662,632.221948204,877.778051796,783,799,650,628.221948204,650,0.400965716814,0.00446717183272,0.0698139278939,0.999999953878,3.36452997551e-05,-0.000300059564889,3.28038314166e-05,1793192532936935424
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